Upload starVLA checkpoint stacking_cups_20261029_30hz_qwendd_qwen3vl2b_delta_joint_uniform_left_s2_h30_c18_v512_3cam_2gpu_gb32_20k step 20000

StarVLA/stacking_cups/stacking_cups_20261029_30hz_qwendd_qwen3vl2b_delta_joint_uniform_left_s2_h30_c18_v512_3cam_2gpu_gb32_20k/checkpoints/steps_20000_pytorch_model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0e9e8f3aaa4053508c1427fc45347fc8378b269659bba17ed05ffc41c15b65c
+size 5848235293

StarVLA/stacking_cups/stacking_cups_20261029_30hz_qwendd_qwen3vl2b_delta_joint_uniform_left_s2_h30_c18_v512_3cam_2gpu_gb32_20k/config.full.yaml

@@ -0,0 +1,382 @@
+run_id: stacking_cups_20261029_30hz_qwendd_qwen3vl2b_delta_joint_uniform_left_s2_h30_c18_v512_3cam_2gpu_gb32_20k
+run_root_dir: /scratch/wangpc/DiscreteRTCv2/results/Checkpoints
+seed: 42
+wandb_entity: 401910710-university-of-california-berkeley
+wandb_project: starVLA_piper
+is_debug: false
+version_id: '0.21'
+framework:
+  name: QwenDiscreteDiffusion_UniformBSpline
+  state_conditioning: instruction
+  action_tokens:
+    vocab_size: 512
+    bounds_file: ./data/processed/FINAL/StateDeltaJoint/20261029_stacking_cups_30hz_cleanup_spline_uniform_left_s2_h30_c18_v512/encoder.json
+    low:
+    - - -0.0349340207138973
+      - -0.06649718296914553
+      - -0.045087747093006544
+      - -0.025788505337782104
+      - -0.052413915760725065
+      - -0.028997606008105848
+      - 0.0030518232590707184
+    - - -0.05128268420974119
+      - -0.09384674257062764
+      - -0.060710492225373815
+      - -0.03716885855522513
+      - -0.09387771711637435
+      - -0.04367563426891906
+      - -0.15615974342844965
+    - - -0.04830984868833081
+      - -0.08782133864491527
+      - -0.060040628845222724
+      - -0.03502554189017112
+      - -0.09216801590612485
+      - -0.04169612154938868
+      - -0.2457506625932709
+    - - -0.03876459529411473
+      - -0.07833210915331605
+      - -0.05340130905649506
+      - -0.02880224827438939
+      - -0.060642837901362545
+      - -0.034410253195582545
+      - -0.17792980487785662
+    - - -0.035328806360179814
+      - -0.07356367590023301
+      - -0.050732689267935435
+      - -0.028646182462675914
+      - -0.05791597322902567
+      - -0.032200252736694926
+      - -0.15897331433197268
+    - - -0.032927297254828576
+      - -0.07382402054009778
+      - -0.05375585731756522
+      - -0.027530534073395507
+      - -0.055698964734642496
+      - -0.033346330706071466
+      - -0.15258409428641467
+    - - -0.032648568061456544
+      - -0.07308142837898518
+      - -0.052108549220665275
+      - -0.027269849514277446
+      - -0.055706318499490745
+      - -0.033950819767838154
+      - -0.15222401482785924
+    - - -0.03235058604969108
+      - -0.0740241498017689
+      - -0.050879839231270624
+      - -0.027124141772305252
+      - -0.055244973741314755
+      - -0.0340578350783054
+      - -0.1521617455909801
+    - - -0.03255362510415435
+      - -0.07347508717356906
+      - -0.051189495250120266
+      - -0.027164780382749887
+      - -0.05495648233466744
+      - -0.03408389157249023
+      - -0.1505737697331073
+    - - -0.032543271730301394
+      - -0.07346318596167081
+      - -0.051295172408519885
+      - -0.027157242411392606
+      - -0.054937870722468335
+      - -0.03397644873512076
+      - -0.15052256995515337
+    - - -0.03248724141115923
+      - -0.07337227537125991
+      - -0.05156890473342961
+      - -0.027288126767270788
+      - -0.05486770411327686
+      - -0.033959790836980426
+      - -0.15030912894704498
+    - - -0.03274989252604223
+      - -0.07361679151121592
+      - -0.051220219292633005
+      - -0.027392545317129754
+      - -0.05505909772745129
+      - -0.03379485086092203
+      - -0.15017411880841827
+    - - -0.03222884669103177
+      - -0.07392458662514945
+      - -0.04986925188445269
+      - -0.028215408147724514
+      - -0.05524281443336724
+      - -0.03364352287751003
+      - -0.14802782027511016
+    - - -0.03626375112204813
+      - -0.0766331273472391
+      - -0.04834172257733757
+      - -0.028007193481644172
+      - -0.05628795365122684
+      - -0.03335408651326687
+      - -0.1386748429048696
+    - - -0.039328000500438366
+      - -0.07942962301019847
+      - -0.05366651526706368
+      - -0.02778000583777125
+      - -0.058855989584353036
+      - -0.03341925268730508
+      - -0.1453925133797117
+    - - -0.045410184149124684
+      - -0.08407257370289088
+      - -0.06065160893790123
+      - -0.03190732053956222
+      - -0.06483207543266437
+      - -0.03837018279848268
+      - -0.0885247371887367
+    - - -0.06317023111540226
+      - -0.124482766032917
+      - -0.08917685949474603
+      - -0.04522455786589549
+      - -0.13594848941298354
+      - -0.04773940538629699
+      - -0.19810827067701473
+    - - -0.13345472050508583
+      - -0.24556940345637168
+      - -0.21860169635320628
+      - -0.0864628670365915
+      - -0.272703708835457
+      - -0.10054259383187376
+      - -1.3081540809983627
+    high:
+    - - 0.037632176785295866
+      - 0.0667579562356912
+      - 0.07553968099351882
+      - 0.03200941671312428
+      - 0.03426411321574907
+      - 0.018647978140260996
+      - 0.5119430621214288
+    - - 0.05396009342551081
+      - 0.09348015373246113
+      - 0.10789310303096325
+      - 0.0495584780736335
+      - 0.044768275503473315
+      - 0.026287529089756925
+      - 0.6664962245296717
+    - - 0.04449591326556785
+      - 0.09460428756464451
+      - 0.11730481242592648
+      - 0.04081366110083499
+      - 0.0514230088744538
+      - 0.02530613666362269
+      - 0.6708813708750607
+    - - 0.038613171093747095
+      - 0.0721479952727911
+      - 0.10253051338847051
+      - 0.03436491425012983
+      - 0.03269598790465029
+      - 0.023813718271115072
+      - 0.6266908171804153
+    - - 0.03055812812906064
+      - 0.068826621012718
+      - 0.09491003104619382
+      - 0.030858692490280965
+      - 0.03428048259661955
+      - 0.02003571281394351
+      - 0.6146968154169611
+    - - 0.030566472168633323
+      - 0.07016099662016925
+      - 0.09235713783815727
+      - 0.03208007148382951
+      - 0.03408706359154778
+      - 0.018763684556321557
+      - 0.6118322996386628
+    - - 0.03007104953028892
+      - 0.06837542730912628
+      - 0.09104988439094738
+      - 0.03279434489001468
+      - 0.03466170928857202
+      - 0.018942073224129215
+      - 0.6103884516136708
+    - - 0.03003111006876983
+      - 0.06764753764656034
+      - 0.09276434776971992
+      - 0.032877747602794244
+      - 0.03466006314343632
+      - 0.018840504511402987
+      - 0.6101387641834398
+    - - 0.029749380244994985
+      - 0.06767442239670834
+      - 0.09332891399193198
+      - 0.03292700652454532
+      - 0.03447906694245059
+      - 0.018694498104911306
+      - 0.6112400553522177
+    - - 0.029974066067382864
+      - 0.06766346075417048
+      - 0.09352158505420752
+      - 0.032917869589566794
+      - 0.034467390230338416
+      - 0.018795482279002976
+      - 0.6110322146694345
+    - - 0.029922459194488764
+      - 0.06811162166539599
+      - 0.09322071240273813
+      - 0.03281632486236444
+      - 0.03442336850418962
+      - 0.018786267271521086
+      - 0.6101657709731529
+    - - 0.03040178702417505
+      - 0.06887631630026642
+      - 0.09102723754723366
+      - 0.03268295106507327
+      - 0.034258994141525244
+      - 0.01869502388051006
+      - 0.6096177100143713
+    - - 0.03135779678046335
+      - 0.06916429127428755
+      - 0.09170401318752133
+      - 0.03262034528471104
+      - 0.03494593373101186
+      - 0.018930911955540815
+      - 0.6083943413307027
+    - - 0.03161455226024709
+      - 0.06786697624847743
+      - 0.0978276279375707
+      - 0.03187429551049044
+      - 0.0341621857065622
+      - 0.019088800281438886
+      - 0.615185207354581
+    - - 0.03622315835566691
+      - 0.0743148366799963
+      - 0.09377213689137472
+      - 0.03367273434881364
+      - 0.033969352013191415
+      - 0.021140613521042826
+      - 0.644985937014253
+    - - 0.04418288187482402
+      - 0.07804472879589117
+      - 0.09828670986859891
+      - 0.03777063157888348
+      - 0.04414552504789975
+      - 0.026339927465625076
+      - 0.7192634896584856
+    - - 0.07132971930114172
+      - 0.14167076301654152
+      - 0.1519309458058636
+      - 0.049487528484402035
+      - 0.07584930964199997
+      - 0.03609164668379842
+      - 1.0070503759414915
+    - - 0.11097310092179181
+      - 0.24270283454442962
+      - 0.3009586145141817
+      - 0.1199975304199424
+      - 0.19807870743115968
+      - 0.08426771353534743
+      - 1.5005296811451807
+  qwenvl:
+    base_vlm: ./playground/Pretrained_models/Qwen3-VL-2B-Instruct-Action
+    attn_implementation: flash_attention_2
+    vl_hidden_dim: 2048
+    num_vl_layers: 28
+  action_model:
+    action_model_type: LayerwiseDD
+    action_dim: 7
+    state_dim: 7
+    action_horizon: 18
+    repeated_diffusion_steps: 2
+    add_pos_embed: true
+    max_seq_len: 1024
+    num_target_vision_tokens: 32
+    representation: bin
+    num_bins: 512
+    action_low: -1.0
+    action_high: 1.0
+    num_inference_steps: 8
+    train_mask_schedule: cosine
+    decode_schedule: cosine
+    no_mask_token_prob: 0.0
+    l1_loss_weight: 0.0
+    use_simple_max: false
+    target_space: tokens
+    diffusion_model_cfg:
+      action_dit_hidden_dim: 1024
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: true
+      norm_type: ada_norm
+      positional_embeddings: null
+      attention_head_dim: 64
+      num_layers: 28
+      input_embedding_dim: 1024
+      cross_attention_dim: 1024
+      num_attention_heads: 16
+      output_dim: 512
+    future_action_window_size: 17
+    past_action_window_size: 0
+  action_representation:
+    type: continuous_uniform_bspline
+    mode: uniform_left
+    action_dim: 7
+    frequency_hz: 30.0
+    executable_horizon: 30
+    num_control_points: 18
+    degree: 3
+    span_length_steps: 2
+    regularization: 0.0001
+    end_padding: true
+    implementation_version: uniform_left_direct_fit_v1
+    vocab_size: 512
+    rtc_conditioning_space: spline_parameter_rows
+datasets:
+  vla_data:
+    dataset_py: lerobot_datasets
+    data_root_dir: ./data
+    data_mix: stacking_cups_20261029_30hz_delta_joint_uniform_left_bspline_v512
+    controls_dataset_path: ./data/processed/FINAL/StateDeltaJoint/20261029_stacking_cups_30hz_cleanup_spline_uniform_left_s2_h30_c18_v512
+    include_state: true
+    episode_split: train
+    action_type: delta_qpos
+    action_mode: abs
+    sequential_step_sampling: false
+    per_device_batch_size: 16
+    load_all_data_for_training: true
+    obs_image_size:
+    - 224
+    - 224
+    delete_pause_frame: false
+    video_backend: torchvision_av
+    num_workers: 2
+    persistent_workers: true
+    prefetch_factor: 2
+    pin_memory: true
+trainer:
+  pretrained_checkpoint: null
+  freeze_modules: qwen_vl_interface
+  max_train_steps: 20000
+  num_warmup_steps: 500
+  save_interval: 5000
+  eval_interval: 1000
+  repeated_diffusion_steps: 2
+  learning_rate:
+    base: 1.0e-05
+    qwen_vl_interface: 1.0e-06
+    action_model: 0.0001
+    project_layers: 0.0001
+  lr_scheduler_type: cosine_with_min_lr
+  scheduler_specific_kwargs:
+    min_lr: 1.0e-06
+  loss_scale:
+    vla: 1.0
+    vlm: 0.0
+  max_grad_norm: 1.0
+  weight_decay: 0.0
+  logging_frequency: 20
+  gradient_clipping: 1.0
+  gradient_accumulation_steps: 1
+  gradient_checkpointing: true
+  optimizer:
+    name: AdamW
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+  save_format: pt
+  is_resume: true
+  max_wall_time_hours: 60
+  wall_time_safety_minutes: 20
+  save_training_state: true
+config_yaml: /scratch/wangpc/DiscreteRTCv2/examples/realRobots/Piper/train_files/starvla_qwendd_qwen3vl2b_stacking_cups_20261029_30hz_delta_joint_uniform_left_s2_h30_c18_v512_3cam_2gpu_gb32_20k.yaml
+output_dir: /scratch/wangpc/DiscreteRTCv2/results/Checkpoints/stacking_cups_20261029_30hz_qwendd_qwen3vl2b_delta_joint_uniform_left_s2_h30_c18_v512_3cam_2gpu_gb32_20k

StarVLA/stacking_cups/stacking_cups_20261029_30hz_qwendd_qwen3vl2b_delta_joint_uniform_left_s2_h30_c18_v512_3cam_2gpu_gb32_20k/config.yaml

@@ -0,0 +1,361 @@
+datasets:
+  vla_data:
+    action_mode: abs
+    controls_dataset_path: ./data/processed/FINAL/StateDeltaJoint/20261029_stacking_cups_30hz_cleanup_spline_uniform_left_s2_h30_c18_v512
+    data_mix: stacking_cups_20261029_30hz_delta_joint_uniform_left_bspline_v512
+    data_root_dir: ./data
+    dataset_py: lerobot_datasets
+    delete_pause_frame: false
+    episode_split: train
+    num_workers: 2
+    obs_image_size:
+    - 224
+    - 224
+    per_device_batch_size: 16
+    persistent_workers: true
+    pin_memory: true
+    prefetch_factor: 2
+    video_backend: torchvision_av
+framework:
+  action_model:
+    action_dim: 7
+    action_high: 1.0
+    action_horizon: 18
+    action_low: -1.0
+    add_pos_embed: true
+    decode_schedule: cosine
+    diffusion_model_cfg:
+      action_dit_hidden_dim: 1024
+      attention_head_dim: 64
+      cross_attention_dim: 1024
+      dropout: 0.2
+      final_dropout: true
+      input_embedding_dim: 1024
+      interleave_self_attention: true
+      norm_type: ada_norm
+      num_attention_heads: 16
+      num_layers: 28
+      output_dim: 512
+      positional_embeddings: null
+    l1_loss_weight: 0.0
+    max_seq_len: 1024
+    no_mask_token_prob: 0.0
+    num_bins: 512
+    num_inference_steps: 8
+    num_target_vision_tokens: 32
+    repeated_diffusion_steps: 2
+    representation: bin
+    state_dim: 7
+    target_space: tokens
+    train_mask_schedule: cosine
+    use_simple_max: false
+  action_representation:
+    action_dim: 7
+    degree: 3
+    end_padding: true
+    executable_horizon: 30
+    frequency_hz: 30.0
+    implementation_version: uniform_left_direct_fit_v1
+    num_control_points: 18
+    regularization: 0.0001
+    rtc_conditioning_space: spline_parameter_rows
+    span_length_steps: 2
+    vocab_size: 512
+  action_tokens:
+    bounds_file: ./data/processed/FINAL/StateDeltaJoint/20261029_stacking_cups_30hz_cleanup_spline_uniform_left_s2_h30_c18_v512/encoder.json
+    high:
+    - - 0.037632176785295866
+      - 0.0667579562356912
+      - 0.07553968099351882
+      - 0.03200941671312428
+      - 0.03426411321574907
+      - 0.018647978140260996
+      - 0.5119430621214288
+    - - 0.05396009342551081
+      - 0.09348015373246113
+      - 0.10789310303096325
+      - 0.0495584780736335
+      - 0.044768275503473315
+      - 0.026287529089756925
+      - 0.6664962245296717
+    - - 0.04449591326556785
+      - 0.09460428756464451
+      - 0.11730481242592648
+      - 0.04081366110083499
+      - 0.0514230088744538
+      - 0.02530613666362269
+      - 0.6708813708750607
+    - - 0.038613171093747095
+      - 0.0721479952727911
+      - 0.10253051338847051
+      - 0.03436491425012983
+      - 0.03269598790465029
+      - 0.023813718271115072
+      - 0.6266908171804153
+    - - 0.03055812812906064
+      - 0.068826621012718
+      - 0.09491003104619382
+      - 0.030858692490280965
+      - 0.03428048259661955
+      - 0.02003571281394351
+      - 0.6146968154169611
+    - - 0.030566472168633323
+      - 0.07016099662016925
+      - 0.09235713783815727
+      - 0.03208007148382951
+      - 0.03408706359154778
+      - 0.018763684556321557
+      - 0.6118322996386628
+    - - 0.03007104953028892
+      - 0.06837542730912628
+      - 0.09104988439094738
+      - 0.03279434489001468
+      - 0.03466170928857202
+      - 0.018942073224129215
+      - 0.6103884516136708
+    - - 0.03003111006876983
+      - 0.06764753764656034
+      - 0.09276434776971992
+      - 0.032877747602794244
+      - 0.03466006314343632
+      - 0.018840504511402987
+      - 0.6101387641834398
+    - - 0.029749380244994985
+      - 0.06767442239670834
+      - 0.09332891399193198
+      - 0.03292700652454532
+      - 0.03447906694245059
+      - 0.018694498104911306
+      - 0.6112400553522177
+    - - 0.029974066067382864
+      - 0.06766346075417048
+      - 0.09352158505420752
+      - 0.032917869589566794
+      - 0.034467390230338416
+      - 0.018795482279002976
+      - 0.6110322146694345
+    - - 0.029922459194488764
+      - 0.06811162166539599
+      - 0.09322071240273813
+      - 0.03281632486236444
+      - 0.03442336850418962
+      - 0.018786267271521086
+      - 0.6101657709731529
+    - - 0.03040178702417505
+      - 0.06887631630026642
+      - 0.09102723754723366
+      - 0.03268295106507327
+      - 0.034258994141525244
+      - 0.01869502388051006
+      - 0.6096177100143713
+    - - 0.03135779678046335
+      - 0.06916429127428755
+      - 0.09170401318752133
+      - 0.03262034528471104
+      - 0.03494593373101186
+      - 0.018930911955540815
+      - 0.6083943413307027
+    - - 0.03161455226024709
+      - 0.06786697624847743
+      - 0.0978276279375707
+      - 0.03187429551049044
+      - 0.0341621857065622
+      - 0.019088800281438886
+      - 0.615185207354581
+    - - 0.03622315835566691
+      - 0.0743148366799963
+      - 0.09377213689137472
+      - 0.03367273434881364
+      - 0.033969352013191415
+      - 0.021140613521042826
+      - 0.644985937014253
+    - - 0.04418288187482402
+      - 0.07804472879589117
+      - 0.09828670986859891
+      - 0.03777063157888348
+      - 0.04414552504789975
+      - 0.026339927465625076
+      - 0.7192634896584856
+    - - 0.07132971930114172
+      - 0.14167076301654152
+      - 0.1519309458058636
+      - 0.049487528484402035
+      - 0.07584930964199997
+      - 0.03609164668379842
+      - 1.0070503759414915
+    - - 0.11097310092179181
+      - 0.24270283454442962
+      - 0.3009586145141817
+      - 0.1199975304199424
+      - 0.19807870743115968
+      - 0.08426771353534743
+      - 1.5005296811451807
+    low:
+    - - -0.0349340207138973
+      - -0.06649718296914553
+      - -0.045087747093006544
+      - -0.025788505337782104
+      - -0.052413915760725065
+      - -0.028997606008105848
+      - 0.0030518232590707184
+    - - -0.05128268420974119
+      - -0.09384674257062764
+      - -0.060710492225373815
+      - -0.03716885855522513
+      - -0.09387771711637435
+      - -0.04367563426891906
+      - -0.15615974342844965
+    - - -0.04830984868833081
+      - -0.08782133864491527
+      - -0.060040628845222724
+      - -0.03502554189017112
+      - -0.09216801590612485
+      - -0.04169612154938868
+      - -0.2457506625932709
+    - - -0.03876459529411473
+      - -0.07833210915331605
+      - -0.05340130905649506
+      - -0.02880224827438939
+      - -0.060642837901362545
+      - -0.034410253195582545
+      - -0.17792980487785662
+    - - -0.035328806360179814
+      - -0.07356367590023301
+      - -0.050732689267935435
+      - -0.028646182462675914
+      - -0.05791597322902567
+      - -0.032200252736694926
+      - -0.15897331433197268
+    - - -0.032927297254828576
+      - -0.07382402054009778
+      - -0.05375585731756522
+      - -0.027530534073395507
+      - -0.055698964734642496
+      - -0.033346330706071466
+      - -0.15258409428641467
+    - - -0.032648568061456544
+      - -0.07308142837898518
+      - -0.052108549220665275
+      - -0.027269849514277446
+      - -0.055706318499490745
+      - -0.033950819767838154
+      - -0.15222401482785924
+    - - -0.03235058604969108
+      - -0.0740241498017689
+      - -0.050879839231270624
+      - -0.027124141772305252
+      - -0.055244973741314755
+      - -0.0340578350783054
+      - -0.1521617455909801
+    - - -0.03255362510415435
+      - -0.07347508717356906
+      - -0.051189495250120266
+      - -0.027164780382749887
+      - -0.05495648233466744
+      - -0.03408389157249023
+      - -0.1505737697331073
+    - - -0.032543271730301394
+      - -0.07346318596167081
+      - -0.051295172408519885
+      - -0.027157242411392606
+      - -0.054937870722468335
+      - -0.03397644873512076
+      - -0.15052256995515337
+    - - -0.03248724141115923
+      - -0.07337227537125991
+      - -0.05156890473342961
+      - -0.027288126767270788
+      - -0.05486770411327686
+      - -0.033959790836980426
+      - -0.15030912894704498
+    - - -0.03274989252604223
+      - -0.07361679151121592
+      - -0.051220219292633005
+      - -0.027392545317129754
+      - -0.05505909772745129
+      - -0.03379485086092203
+      - -0.15017411880841827
+    - - -0.03222884669103177
+      - -0.07392458662514945
+      - -0.04986925188445269
+      - -0.028215408147724514
+      - -0.05524281443336724
+      - -0.03364352287751003
+      - -0.14802782027511016
+    - - -0.03626375112204813
+      - -0.0766331273472391
+      - -0.04834172257733757
+      - -0.028007193481644172
+      - -0.05628795365122684
+      - -0.03335408651326687
+      - -0.1386748429048696
+    - - -0.039328000500438366
+      - -0.07942962301019847
+      - -0.05366651526706368
+      - -0.02778000583777125
+      - -0.058855989584353036
+      - -0.03341925268730508
+      - -0.1453925133797117
+    - - -0.045410184149124684
+      - -0.08407257370289088
+      - -0.06065160893790123
+      - -0.03190732053956222
+      - -0.06483207543266437
+      - -0.03837018279848268
+      - -0.0885247371887367
+    - - -0.06317023111540226
+      - -0.124482766032917
+      - -0.08917685949474603
+      - -0.04522455786589549
+      - -0.13594848941298354
+      - -0.04773940538629699
+      - -0.19810827067701473
+    - - -0.13345472050508583
+      - -0.24556940345637168
+      - -0.21860169635320628
+      - -0.0864628670365915
+      - -0.272703708835457
+      - -0.10054259383187376
+      - -1.3081540809983627
+    vocab_size: 512
+  name: QwenDiscreteDiffusion_UniformBSpline
+  qwenvl:
+    attn_implementation: flash_attention_2
+    base_vlm: ./playground/Pretrained_models/Qwen3-VL-2B-Instruct-Action
+    num_vl_layers: 28
+    vl_hidden_dim: 2048
+  state_conditioning: instruction
+output_dir: /scratch/wangpc/DiscreteRTCv2/results/Checkpoints/stacking_cups_20261029_30hz_qwendd_qwen3vl2b_delta_joint_uniform_left_s2_h30_c18_v512_3cam_2gpu_gb32_20k
+run_id: stacking_cups_20261029_30hz_qwendd_qwen3vl2b_delta_joint_uniform_left_s2_h30_c18_v512_3cam_2gpu_gb32_20k
+run_root_dir: /scratch/wangpc/DiscreteRTCv2/results/Checkpoints
+seed: 42
+trainer:
+  eval_interval: 1000
+  freeze_modules: qwen_vl_interface
+  gradient_clipping: 1.0
+  is_resume: true
+  learning_rate:
+    action_model: 0.0001
+    base: 1.0e-05
+    project_layers: 0.0001
+    qwen_vl_interface: 1.0e-06
+  logging_frequency: 20
+  lr_scheduler_type: cosine_with_min_lr
+  max_train_steps: 20000
+  max_wall_time_hours: 60
+  num_warmup_steps: 500
+  optimizer:
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+  pretrained_checkpoint: null
+  save_format: pt
+  save_interval: 5000
+  save_training_state: true
+  scheduler_specific_kwargs:
+    min_lr: 1.0e-06
+  wall_time_safety_minutes: 20
+wandb_entity: 401910710-university-of-california-berkeley
+wandb_project: starVLA_piper

StarVLA/stacking_cups/stacking_cups_20261029_30hz_qwendd_qwen3vl2b_delta_joint_uniform_left_s2_h30_c18_v512_3cam_2gpu_gb32_20k/dataset_statistics.json

@@ -0,0 +1,127 @@
+{
+  "new_embodiment": {
+    "action": {
+      "mean": [
+        0.00014026445569470525,
+        5.224418146099197e-06,
+        -2.0700779714388773e-05,
+        -0.00035273749381303787,
+        0.00010694975208025426,
+        0.00034764246083796024,
+        0.165033221244812
+      ],
+      "std": [
+        0.005998279899358749,
+        0.016307635232806206,
+        0.012577102519571781,
+        0.0042123207822442055,
+        0.006469639018177986,
+        0.0024854582734405994,
+        0.2064134031534195
+      ],
+      "max": [
+        0.03759439289569855,
+        0.066811203956604,
+        0.07543313503265381,
+        0.03193952515721321,
+        0.03434807062149048,
+        0.01848304271697998,
+        0.5120000243186951
+      ],
+      "min": [
+        -0.0348542183637619,
+        -0.06613051891326904,
+        -0.04529130458831787,
+        -0.02577851340174675,
+        -0.05229005217552185,
+        -0.02900737151503563,
+        0.004999999888241291
+      ],
+      "q01": [
+        -0.019984018169343472,
+        -0.043581908643245695,
+        -0.030247079730033873,
+        -0.012758355615660548,
+        -0.02331809937953949,
+        -0.007226189728826284,
+        0.004999999888241291
+      ],
+      "q99": [
+        0.01864010140299797,
+        0.04127757489681242,
+        0.04415842026472085,
+        0.014189526438713074,
+        0.016859889030456543,
+        0.008237954340875148,
+        0.4740000069141388
+      ],
+      "mask": [
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true
+      ]
+    },
+    "state": {
+      "mean": [
+        -0.010670647956430912,
+        1.3879731893539429,
+        -1.2703251838684082,
+        -0.012102882377803326,
+        0.658750593662262,
+        0.14268440008163452,
+        0.16506068408489227
+      ],
+      "std": [
+        0.1844319850206375,
+        0.7526837587356567,
+        0.6470263600349426,
+        0.14516067504882812,
+        0.3265678286552429,
+        0.14933079481124878,
+        0.20641155540943146
+      ],
+      "max": [
+        0.2932676672935486,
+        2.360836982727051,
+        -0.036966074258089066,
+        0.29798007011413574,
+        1.1390891075134277,
+        0.6821619272232056,
+        0.5120000243186951
+      ],
+      "min": [
+        -0.4688303470611572,
+        0.011397000402212143,
+        -2.138482093811035,
+        -0.404916375875473,
+        0.0708429142832756,
+        -0.20790362358093262,
+        0.004999999888241291
+      ],
+      "q01": [
+        -0.420484721660614,
+        0.02143264375627041,
+        -2.0374081993103026,
+        -0.35327208042144775,
+        0.08759755425155163,
+        -0.12971286475658417,
+        0.004999999888241291
+      ],
+      "q99": [
+        0.24153611063957214,
+        2.28004941701889,
+        -0.05579817667603493,
+        0.24551546573638916,
+        1.1297039437294005,
+        0.5469544357061384,
+        0.4740000069141388
+      ]
+    },
+    "num_transitions": 25998,
+    "num_trajectories": 45
+  }
+}

StarVLA/stacking_cups/stacking_cups_20261029_30hz_qwendd_qwen3vl2b_delta_joint_uniform_left_s2_h30_c18_v512_3cam_2gpu_gb32_20k/summary.jsonl

@@ -0,0 +1,6 @@
+{"steps": 678}
+{"steps": 2224}
+{"steps": 5000}
+{"steps": 10000}
+{"steps": 15000}
+{"steps": 20000}

StarVLA/stacking_cups/stacking_cups_20261029_30hz_qwendd_qwen3vl2b_delta_joint_uniform_left_s2_h30_c18_v512_3cam_2gpu_gb32_20k/wall_time_ledger.json

@@ -0,0 +1,39 @@
+{
+  "budget_hours": 60.0,
+  "safety_minutes": 20.0,
+  "sessions": [
+    {
+      "started_at": "2026-10-31T08:48:32+00:00",
+      "elapsed_seconds": 4476.8,
+      "start_step": 0,
+      "last_step": 678,
+      "end_reason": "signal",
+      "signal": "SIGUSR1"
+    },
+    {
+      "started_at": "2026-10-31T10:05:51+00:00",
+      "elapsed_seconds": 1995.9,
+      "start_step": 678,
+      "last_step": 2224,
+      "end_reason": "signal",
+      "signal": "SIGUSR1"
+    },
+    {
+      "started_at": "2026-10-31T10:40:44+00:00",
+      "elapsed_seconds": 29655.8,
+      "start_step": 2224,
+      "last_step": 10380,
+      "end_reason": "running",
+      "signal": null
+    },
+    {
+      "started_at": "2026-10-31T20:10:51+00:00",
+      "elapsed_seconds": 15415.9,
+      "start_step": 10000,
+      "last_step": 20000,
+      "end_reason": "completed",
+      "signal": null
+    }
+  ],
+  "total_elapsed_seconds": 51544.4
+}