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geometry_profile.z4oAs9/comparison.txt +42 -0
geometry_profile.z4oAs9/run1_group0/profile_rank0.jsonl +21 -0
geometry_profile.z4oAs9/run1_group0/profile_rank1.jsonl +21 -0
geometry_profile.z4oAs9/run1_group0/profile_rank2.jsonl +21 -0
geometry_profile.z4oAs9/run1_group0/profile_rank3.jsonl +21 -0
geometry_profile.z4oAs9/run1_group0/train.log +683 -0
geometry_profile.z4oAs9/run2_group1/profile_rank0.jsonl +21 -0
geometry_profile.z4oAs9/run2_group1/profile_rank1.jsonl +21 -0
geometry_profile.z4oAs9/run2_group1/profile_rank2.jsonl +21 -0
geometry_profile.z4oAs9/run2_group1/profile_rank3.jsonl +21 -0
geometry_profile.z4oAs9/run2_group1/train.log +683 -0
geometry_profile.z4oAs9/run3_group1/profile_rank0.jsonl +21 -0
geometry_profile.z4oAs9/run3_group1/profile_rank1.jsonl +21 -0
geometry_profile.z4oAs9/run3_group1/profile_rank2.jsonl +21 -0
geometry_profile.z4oAs9/run3_group1/profile_rank3.jsonl +21 -0
geometry_profile.z4oAs9/run3_group1/train.log +683 -0
geometry_profile.z4oAs9/run4_group0/profile_rank0.jsonl +21 -0
geometry_profile.z4oAs9/run4_group0/profile_rank1.jsonl +21 -0
geometry_profile.z4oAs9/run4_group0/profile_rank2.jsonl +21 -0
geometry_profile.z4oAs9/run4_group0/profile_rank3.jsonl +21 -0
geometry_profile.z4oAs9/run4_group0/train.log +683 -0

geometry_profile.z4oAs9/comparison.txt ADDED Viewed

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+Matched global sample indices, token/frame counts, and training settings: PASS
+Measured optimizer updates; excludes warmup, checkpoint saving, and periodic logging.
+Run | BS | grouping | max-rank wall s/update | samples/s | padding % | VGGT fallback % | single-sample VGGT %
+run1_group0 | 8 | 0 | 15.453 | 4.141 | 9.01 | 73.75 | 73.75
+run2_group1 | 8 | 1 | 12.944 | 4.944 | 9.01 | 72.50 | 9.69
+run3_group1 | 8 | 1 | 12.941 | 4.945 | 9.01 | 72.50 | 9.69
+run4_group0 | 8 | 0 | 15.399 | 4.156 | 9.01 | 73.75 | 73.75
+VGGT fallback % counts micro-batches with ANY single-sample calls, including mixed groups.
+Single-sample VGGT % counts samples processed individually; grouping may reduce this without eliminating fallback.
+Stage timings: CUDA stream elapsed seconds/update, from the slowest wall-time rank.
+Nested rows overlap: vision/geometry/language are within forward; VGGT is within geometry;
+DeepSpeed backward/step are within backward_and_engine_step. Do NOT sum all rows.
+Stage | run1_group0 | run2_group1 | run3_group1 | run4_group0
+batch_fetch_and_count | 0.0494 | 0.0495 | 0.0500 | 0.0494
+prepare_inputs | 0.0009 | 0.0009 | 0.0009 | 0.0009
+vision_forward | 0.5698 | 0.5686 | 0.5740 | 0.5710
+geometry_total | 5.7040 | 3.5201 | 3.6040 | 5.1406
+vggt_single | 4.9886 | 0.2224 | 0.3008 | 3.8018
+vggt_batched | 0.7136 | 3.2959 | 3.3015 | 1.3374
+language_forward | 2.7255 | 2.7278 | 2.7362 | 2.7229
+forward_other | 0.0086 | 0.0086 | 0.0086 | 0.0087
+forward_and_loss | 9.0080 | 6.8250 | 6.9228 | 8.4432
+backward_and_communication | 6.2690 | 5.9422 | 5.8389 | 6.7786
+deepspeed_step | 0.0875 | 0.0875 | 0.0901 | 0.0876
+backward_and_engine_step | 6.3567 | 6.0299 | 5.9291 | 6.8663
+gradient_clipping | 0.0001 | 0.0001 | 0.0001 | 0.0001
+optimizer | 0.0000 | 0.0000 | 0.0000 | 0.0000
+CPU batch-fetch/count seconds/update (includes any Accelerate transfer/counting): run1_group0=0.0495, run2_group1=0.0495, run3_group1=0.0501, run4_group0=0.0495
+run1_group0: VGGT single samples=944, batched samples=336, mixed micro-batches=0
+run1_group0: per-rank wall seconds/update={'0': 15.452541990298778, '1': 15.452617829758674, '2': 15.452734756935389, '3': 15.452592207398265}; frames={'9': 1152, '7': 18, '4': 14, '5': 13, '3': 17, '1': 22, '8': 17, '2': 13, '6': 14}
+run2_group1: VGGT single samples=124, batched samples=1156, mixed micro-batches=116
+run2_group1: per-rank wall seconds/update={'0': 12.943016465287656, '1': 12.94319071881473, '2': 12.943038933724164, '3': 12.943200625199825}; frames={'9': 1152, '7': 18, '4': 14, '5': 13, '3': 17, '1': 22, '8': 17, '2': 13, '6': 14}
+run3_group1: VGGT single samples=124, batched samples=1156, mixed micro-batches=116
+run3_group1: per-rank wall seconds/update={'0': 12.940326074138284, '1': 12.940355461277068, '2': 12.940380939282477, '3': 12.94038850646466}; frames={'9': 1152, '7': 18, '4': 14, '5': 13, '3': 17, '1': 22, '8': 17, '2': 13, '6': 14}
+run4_group0: VGGT single samples=944, batched samples=336, mixed micro-batches=0
+run4_group0: per-rank wall seconds/update={'0': 15.397712098155171, '1': 15.39763207770884, '2': 15.397717728372664, '3': 15.3978534149006}; frames={'9': 1152, '7': 18, '4': 14, '5': 13, '3': 17, '1': 22, '8': 17, '2': 13, '6': 14}
+Stream timing includes stalls and rank waits; it is not isolated kernel compute time.
+Compare phase deltas across repetitions before naming the cause; fallback/padding counts alone do not prove a time bottleneck.

geometry_profile.z4oAs9/run1_group0/profile_rank0.jsonl ADDED Viewed

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+{"type": "config", "rank": 0, "world_size": 4, "micro_batch": 8, "accumulation": 2, "global_batch": 64, "seed": 42, "max_steps": 30, "workers": 8, "prefetch": 4, "first_step": 11, "last_step": 30, "model": "/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/Qwen3.5-4B", "supervised_token_loss": true, "NCCL_NVLS_ENABLE": "0", "vggt_group_by_shape": false, "note": "CUDA stream elapsed times include stalls; nested regions overlap. Update boundary synchronization is enabled. Backward includes recomputation and communication."}
+{"type": "update", "rank": 0, "step": 11, "wall_ms": 15675.964085385203, "cuda_stream_ms": {"batch_fetch_and_count": 49.355552673339844, "prepare_inputs": 0.9586879909038544, "vision_forward": 633.1754150390625, "vggt_single": 6262.735549926758, "geometry_total": 6264.923095703125, "language_forward": 2810.7373046875, "forward_and_loss": 9717.55810546875, "backward_and_communication": 5762.58056640625, "backward_and_engine_step": 5850.070556640625, "micro_step_total": 15609.31494140625, "deepspeed_step": 87.33843231201172, "gradient_clipping": 0.06595200300216675, "optimizer": 0.01708799973130226}, "cpu_call_ms": {"batch_fetch_and_count": 49.36356656253338, "prepare_inputs": 0.5634892731904984, "vision_forward": 622.4207878112793, "vggt_single": 6262.813279405236, "geometry_total": 6263.668803498149, "language_forward": 2741.9419083744287, "forward_and_loss": 9717.821337282658, "backward_and_communication": 5760.7001680880785, "backward_and_engine_step": 5850.064469501376, "micro_step_total": 15609.300119802356, "deepspeed_step": 89.19805474579334, "gradient_clipping": 0.06648898124694824, "optimizer": 0.017309561371803284}, "calls": {"batch_fetch_and_count": 1, "prepare_inputs": 2, "vision_forward": 2, "vggt_single": 16, "geometry_total": 2, "language_forward": 2, "forward_and_loss": 2, "backward_and_communication": 2, "backward_and_engine_step": 2, "micro_step_total": 2, "deepspeed_step": 1, "gradient_clipping": 1, "optimizer": 1}, "counts": {"micro_steps": 2, "samples": 16, "token_slots": 50464, "frames": 135, "vggt_single_samples": 16, "vggt_single_frames": 135, "geometry_microbatches": 2, "vggt_fallback_microbatches": 2, "valid_tokens": 44439, "supervised_tokens": 63}, "frame_histogram": {"9": 13, "7": 2, "4": 1}, "input_shapes": {"(8, 3210)": 1, "(8, 3098)": 1}, "sample_indices": [2355533, 1658617, 592889, 2416829, 1864270, 1995665, 783966, 1211660, 804348, 152209, 855744, 45004, 642006, 1042078, 1074583, 542592], "padding_fraction": 0.119392041851617}
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 80%|████████  | 24/30 [07:11<01:30, 15.09s/it][TrainingProfile] step=24 wall_s=15.249 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run1_group0/profile_rank0.jsonl
 83%|████████▎ | 25/30 [07:26<01:15, 15.15s/it][TrainingProfile] step=25 wall_s=15.292 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run1_group0/profile_rank0.jsonl
 87%|████████▋ | 26/30 [07:42<01:01, 15.33s/it][TrainingProfile] step=26 wall_s=15.748 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run1_group0/profile_rank0.jsonl
 90%|█████████ | 27/30 [07:58<00:46, 15.52s/it][TrainingProfile] step=27 wall_s=15.942 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run1_group0/profile_rank0.jsonl
 93%|█████████▎| 28/30 [08:14<00:31, 15.70s/it][TrainingProfile] step=28 wall_s=16.137 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run1_group0/profile_rank0.jsonl
 97%|█████████▋| 29/30 [08:30<00:15, 15.69s/it][TrainingProfile] step=29 wall_s=15.669 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run1_group0/profile_rank0.jsonl

+[INFO] Running in WANDB offline mode
+[INFO] Running in WANDB offline mode
+[INFO] Running in WANDB offline mode
+[INFO] Running in WANDB offline mode
+Trainer._get_train_sampler replaced with custom implementation.
+warmup_ratio is deprecated and will be removed in v5.2. Use `warmup_steps` instead.
+Trainer._get_train_sampler replaced with custom implementation.
+[2026-09-18 06:45:29,522] [INFO] [real_accelerator.py:222:get_accelerator] Setting ds_accelerator to cuda (auto detect)
+warmup_ratio is deprecated and will be removed in v5.2. Use `warmup_steps` instead.
+[2026-09-18 06:45:29,558] [INFO] [real_accelerator.py:222:get_accelerator] Setting ds_accelerator to cuda (auto detect)
+Trainer._get_train_sampler replaced with custom implementation.
+warmup_ratio is deprecated and will be removed in v5.2. Use `warmup_steps` instead.
+[2026-09-18 06:45:29,757] [INFO] [real_accelerator.py:222:get_accelerator] Setting ds_accelerator to cuda (auto detect)
+[2026-09-18 06:45:29,825] [INFO] [comm.py:658:init_distributed] cdb=None
+[2026-09-18 06:45:29,869] [INFO] [comm.py:658:init_distributed] cdb=None
+[2026-09-18 06:45:29,869] [INFO] [comm.py:689:init_distributed] Initializing TorchBackend in DeepSpeed with backend nccl
+Trainer._get_train_sampler replaced with custom implementation.
+warmup_ratio is deprecated and will be removed in v5.2. Use `warmup_steps` instead.
+[2026-09-18 06:45:30,002] [INFO] [real_accelerator.py:222:get_accelerator] Setting ds_accelerator to cuda (auto detect)
+[TrainingFix] Qwen3.5 FlashAttention MRoPE packing guard enabled
+[2026-09-18 06:45:30,087] [INFO] [comm.py:658:init_distributed] cdb=None
+[2026-09-18 06:45:30,302] [INFO] [comm.py:658:init_distributed] cdb=None
+[TrainingFix] Qwen3.5 FlashAttention MRoPE packing guard enabled
+[TrainingFix] Qwen3.5 FlashAttention MRoPE packing guard enabled
+[TrainingFix] Qwen3.5 FlashAttention MRoPE packing guard enabled
+[VGGTEncoder] eval KV-cache window: start=8 recent=48 (total=56 frames)
+[FeatureFusion] geometry fusion delta scaled by 0.5
+[FeatureFusion] importance gate ENABLED on geometry delta
+[FeatureFusion] learnable geometry scale ENABLED (init 0.5)
+[VGGTEncoder] eval KV-cache window: start=8 recent=48 (total=56 frames)
+[FeatureFusion] geometry fusion delta scaled by 0.5
+[FeatureFusion] importance gate ENABLED on geometry delta
+[FeatureFusion] learnable geometry scale ENABLED (init 0.5)
+[VGGTEncoder] eval KV-cache window: start=8 recent=48 (total=56 frames)
+[FeatureFusion] geometry fusion delta scaled by 0.5
+[FeatureFusion] importance gate ENABLED on geometry delta
+[FeatureFusion] learnable geometry scale ENABLED (init 0.5)
+[VGGTEncoder] eval KV-cache window: start=8 recent=48 (total=56 frames)
+[FeatureFusion] geometry fusion delta scaled by 0.5
+[FeatureFusion] importance gate ENABLED on geometry delta
+[FeatureFusion] learnable geometry scale ENABLED (init 0.5)
+Loading weights from local directory
+Loading weights from local directory
+Loading weights from local directory
+Loading weights from local directory
+>>>>> STOP loss up-weight: 3.0 on token ids [48964]
+Qwen3_5Config {
+  "architectures": [
+    "Qwen3_5ForConditionalGeneration"
+  ],
+  "dtype": "bfloat16",
+  "feature_fusion_method": "deepstack_language_add",
+  "fusion_num_layers": 1,
+  "geometry_encoder_layers": [
+    11,
+    17,
+    23
+  ],
+  "geometry_encoder_path": "/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/VGGT-1B",
+  "geometry_encoder_streaming": true,
+  "geometry_encoder_type": "vggt",
+  "geometry_frame_strict": true,
+  "geometry_fusion_layers": [
+    0,
+    1,
+    2
+  ],
+  "geometry_fusion_scale": 0.5,
+  "geometry_importance_gate": true,
+  "geometry_learnable_scale": true,
+  "geometry_merger_type": "mlp",
+  "geometry_spatial_bias": false,
+  "image_token_id": 248056,
+  "include_camera_token": false,
+  "model_type": "qwen3_5",
+  "pos_encoding_type": "none",
+  "reference_frame": "first",
+  "supervised_token_loss": true,
+  "text_config": {
+    "attention_bias": false,
+    "attention_dropout": 0.0,
+    "attn_output_gate": true,
+    "bos_token_id": null,
+    "dtype": "bfloat16",
+    "eos_token_id": 248044,
+    "full_attention_interval": 4,
+    "head_dim": 256,
+    "hidden_act": "silu",
+    "hidden_size": 2560,
+    "initializer_range": 0.02,
+    "intermediate_size": 9216,
+    "layer_types": [
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention"
+    ],
+    "linear_conv_kernel_dim": 4,
+    "linear_key_head_dim": 128,
+    "linear_num_key_heads": 16,
+    "linear_num_value_heads": 32,
+    "linear_value_head_dim": 128,
+    "mamba_ssm_dtype": "float32",
+    "max_position_embeddings": 262144,
+    "mlp_only_layers": [],
+    "model_type": "qwen3_5_text",
+    "mtp_num_hidden_layers": 1,
+    "mtp_use_dedicated_embeddings": false,
+    "num_attention_heads": 16,
+    "num_hidden_layers": 32,
+    "num_key_value_heads": 4,
+    "pad_token_id": null,
+    "partial_rotary_factor": 0.25,
+    "rms_norm_eps": 1e-06,
+    "rope_parameters": {
+      "mrope_interleaved": true,
+      "mrope_section": [
+        11,
+        11,
+        10
+      ],
+      "partial_rotary_factor": 0.25,
+      "rope_theta": 10000000,
+      "rope_type": "default"
+    },
+    "tie_word_embeddings": true,
+    "use_cache": true,
+    "vocab_size": 248320
+  },
+  "tie_word_embeddings": true,
+  "transformers_version": "5.3.0",
+  "use_cache": false,
+  "use_geometry_encoder": true,
+  "video_token_id": 248057,
+  "vision_config": {
+    "deepstack_visual_indexes": [],
+    "depth": 24,
+    "dtype": "bfloat16",
+    "hidden_act": "gelu_pytorch_tanh",
+    "hidden_size": 1024,
+    "in_channels": 3,
+    "initializer_range": 0.02,
+    "intermediate_size": 4096,
+    "model_type": "qwen3_5",
+    "num_heads": 16,
+    "num_position_embeddings": 2304,
+    "out_hidden_size": 2560,
+    "patch_size": 16,
+    "spatial_merge_size": 2,
+    "temporal_patch_size": 2
+  },
+  "vision_end_token_id": 248054,
+  "vision_language_fusion_layers": null,
+  "vision_start_token_id": 248053
+}
+Loading datasets: [{'annotation_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN/train_r2r_rxr.json', 'data_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN', 'tag': '3d', 'sampling_rate': 1.0, 'dataset_name': 'train_r2r_rxr'}]
+>>>>> STOP loss up-weight: 3.0 on token ids [48964]
+Qwen3_5Config {
+  "architectures": [
+    "Qwen3_5ForConditionalGeneration"
+  ],
+  "dtype": "bfloat16",
+  "feature_fusion_method": "deepstack_language_add",
+  "fusion_num_layers": 1,
+  "geometry_encoder_layers": [
+    11,
+    17,
+    23
+  ],
+  "geometry_encoder_path": "/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/VGGT-1B",
+  "geometry_encoder_streaming": true,
+  "geometry_encoder_type": "vggt",
+  "geometry_frame_strict": true,
+  "geometry_fusion_layers": [
+    0,
+    1,
+    2
+  ],
+  "geometry_fusion_scale": 0.5,
+  "geometry_importance_gate": true,
+  "geometry_learnable_scale": true,
+  "geometry_merger_type": "mlp",
+  "geometry_spatial_bias": false,
+  "image_token_id": 248056,
+  "include_camera_token": false,
+  "model_type": "qwen3_5",
+  "pos_encoding_type": "none",
+  "reference_frame": "first",
+  "supervised_token_loss": true,
+  "text_config": {
+    "attention_bias": false,
+    "attention_dropout": 0.0,
+    "attn_output_gate": true,
+    "bos_token_id": null,
+    "dtype": "bfloat16",
+    "eos_token_id": 248044,
+    "full_attention_interval": 4,
+    "head_dim": 256,
+    "hidden_act": "silu",
+    "hidden_size": 2560,
+    "initializer_range": 0.02,
+    "intermediate_size": 9216,
+    "layer_types": [
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention"
+    ],
+    "linear_conv_kernel_dim": 4,
+    "linear_key_head_dim": 128,
+    "linear_num_key_heads": 16,
+    "linear_num_value_heads": 32,
+    "linear_value_head_dim": 128,
+    "mamba_ssm_dtype": "float32",
+    "max_position_embeddings": 262144,
+    "mlp_only_layers": [],
+    "model_type": "qwen3_5_text",
+    "mtp_num_hidden_layers": 1,
+    "mtp_use_dedicated_embeddings": false,
+    "num_attention_heads": 16,
+    "num_hidden_layers": 32,
+    "num_key_value_heads": 4,
+    "pad_token_id": null,
+    "partial_rotary_factor": 0.25,
+    "rms_norm_eps": 1e-06,
+    "rope_parameters": {
+      "mrope_interleaved": true,
+      "mrope_section": [
+        11,
+        11,
+        10
+      ],
+      "partial_rotary_factor": 0.25,
+      "rope_theta": 10000000,
+      "rope_type": "default"
+    },
+    "tie_word_embeddings": true,
+    "use_cache": true,
+    "vocab_size": 248320
+  },
+  "tie_word_embeddings": true,
+  "transformers_version": "5.3.0",
+  "use_cache": false,
+  "use_geometry_encoder": true,
+  "video_token_id": 248057,
+  "vision_config": {
+    "deepstack_visual_indexes": [],
+    "depth": 24,
+    "dtype": "bfloat16",
+    "hidden_act": "gelu_pytorch_tanh",
+    "hidden_size": 1024,
+    "in_channels": 3,
+    "initializer_range": 0.02,
+    "intermediate_size": 4096,
+    "model_type": "qwen3_5",
+    "num_heads": 16,
+    "num_position_embeddings": 2304,
+    "out_hidden_size": 2560,
+    "patch_size": 16,
+    "spatial_merge_size": 2,
+    "temporal_patch_size": 2
+  },
+  "vision_end_token_id": 248054,
+  "vision_language_fusion_layers": null,
+  "vision_start_token_id": 248053
+}
+Loading datasets: [{'annotation_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN/train_r2r_rxr.json', 'data_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN', 'tag': '3d', 'sampling_rate': 1.0, 'dataset_name': 'train_r2r_rxr'}]
+>>>>> STOP loss up-weight: 3.0 on token ids [48964]
+Vision Module - Attention Blocks:
+Trainable Block Indices: None
+Non-Trainable Block Indices: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23]
+Merger Module Trainable: True
+LLM Module - Embed Tokens Trainable: True
+LLM Module - Trainable Layer Indices: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31]
+LLM Module - Non-Trainable Layer Indices: None
+Qwen3_5Config {
+  "architectures": [
+    "Qwen3_5ForConditionalGeneration"
+  ],
+  "dtype": "bfloat16",
+  "feature_fusion_method": "deepstack_language_add",
+  "fusion_num_layers": 1,
+  "geometry_encoder_layers": [
+    11,
+    17,
+    23
+  ],
+  "geometry_encoder_path": "/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/VGGT-1B",
+  "geometry_encoder_streaming": true,
+  "geometry_encoder_type": "vggt",
+  "geometry_frame_strict": true,
+  "geometry_fusion_layers": [
+    0,
+    1,
+    2
+  ],
+  "geometry_fusion_scale": 0.5,
+  "geometry_importance_gate": true,
+  "geometry_learnable_scale": true,
+  "geometry_merger_type": "mlp",
+  "geometry_spatial_bias": false,
+  "image_token_id": 248056,
+  "include_camera_token": false,
+  "model_type": "qwen3_5",
+  "pos_encoding_type": "none",
+  "reference_frame": "first",
+  "supervised_token_loss": true,
+  "text_config": {
+    "attention_bias": false,
+    "attention_dropout": 0.0,
+    "attn_output_gate": true,
+    "bos_token_id": null,
+    "dtype": "bfloat16",
+    "eos_token_id": 248044,
+    "full_attention_interval": 4,
+    "head_dim": 256,
+    "hidden_act": "silu",
+    "hidden_size": 2560,
+    "initializer_range": 0.02,
+    "intermediate_size": 9216,
+    "layer_types": [
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention"
+    ],
+    "linear_conv_kernel_dim": 4,
+    "linear_key_head_dim": 128,
+    "linear_num_key_heads": 16,
+    "linear_num_value_heads": 32,
+    "linear_value_head_dim": 128,
+    "mamba_ssm_dtype": "float32",
+    "max_position_embeddings": 262144,
+    "mlp_only_layers": [],
+    "model_type": "qwen3_5_text",
+    "mtp_num_hidden_layers": 1,
+    "mtp_use_dedicated_embeddings": false,
+    "num_attention_heads": 16,
+    "num_hidden_layers": 32,
+    "num_key_value_heads": 4,
+    "pad_token_id": null,
+    "partial_rotary_factor": 0.25,
+    "rms_norm_eps": 1e-06,
+    "rope_parameters": {
+      "mrope_interleaved": true,
+      "mrope_section": [
+        11,
+        11,
+        10
+      ],
+      "partial_rotary_factor": 0.25,
+      "rope_theta": 10000000,
+      "rope_type": "default"
+    },
+    "tie_word_embeddings": true,
+    "use_cache": true,
+    "vocab_size": 248320
+  },
+  "tie_word_embeddings": true,
+  "transformers_version": "5.3.0",
+  "use_cache": false,
+  "use_geometry_encoder": true,
+  "video_token_id": 248057,
+  "vision_config": {
+    "deepstack_visual_indexes": [],
+    "depth": 24,
+    "dtype": "bfloat16",
+    "hidden_act": "gelu_pytorch_tanh",
+    "hidden_size": 1024,
+    "in_channels": 3,
+    "initializer_range": 0.02,
+    "intermediate_size": 4096,
+    "model_type": "qwen3_5",
+    "num_heads": 16,
+    "num_position_embeddings": 2304,
+    "out_hidden_size": 2560,
+    "patch_size": 16,
+    "spatial_merge_size": 2,
+    "temporal_patch_size": 2
+  },
+  "vision_end_token_id": 248054,
+  "vision_language_fusion_layers": null,
+  "vision_start_token_id": 248053
+}
+Loading datasets: [{'annotation_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN/train_r2r_rxr.json', 'data_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN', 'tag': '3d', 'sampling_rate': 1.0, 'dataset_name': 'train_r2r_rxr'}]
+>>>>> STOP loss up-weight: 3.0 on token ids [48964]
+Qwen3_5Config {
+  "architectures": [
+    "Qwen3_5ForConditionalGeneration"
+  ],
+  "dtype": "bfloat16",
+  "feature_fusion_method": "deepstack_language_add",
+  "fusion_num_layers": 1,
+  "geometry_encoder_layers": [
+    11,
+    17,
+    23
+  ],
+  "geometry_encoder_path": "/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/VGGT-1B",
+  "geometry_encoder_streaming": true,
+  "geometry_encoder_type": "vggt",
+  "geometry_frame_strict": true,
+  "geometry_fusion_layers": [
+    0,
+    1,
+    2
+  ],
+  "geometry_fusion_scale": 0.5,
+  "geometry_importance_gate": true,
+  "geometry_learnable_scale": true,
+  "geometry_merger_type": "mlp",
+  "geometry_spatial_bias": false,
+  "image_token_id": 248056,
+  "include_camera_token": false,
+  "model_type": "qwen3_5",
+  "pos_encoding_type": "none",
+  "reference_frame": "first",
+  "supervised_token_loss": true,
+  "text_config": {
+    "attention_bias": false,
+    "attention_dropout": 0.0,
+    "attn_output_gate": true,
+    "bos_token_id": null,
+    "dtype": "bfloat16",
+    "eos_token_id": 248044,
+    "full_attention_interval": 4,
+    "head_dim": 256,
+    "hidden_act": "silu",
+    "hidden_size": 2560,
+    "initializer_range": 0.02,
+    "intermediate_size": 9216,
+    "layer_types": [
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention"
+    ],
+    "linear_conv_kernel_dim": 4,
+    "linear_key_head_dim": 128,
+    "linear_num_key_heads": 16,
+    "linear_num_value_heads": 32,
+    "linear_value_head_dim": 128,
+    "mamba_ssm_dtype": "float32",
+    "max_position_embeddings": 262144,
+    "mlp_only_layers": [],
+    "model_type": "qwen3_5_text",
+    "mtp_num_hidden_layers": 1,
+    "mtp_use_dedicated_embeddings": false,
+    "num_attention_heads": 16,
+    "num_hidden_layers": 32,
+    "num_key_value_heads": 4,
+    "pad_token_id": null,
+    "partial_rotary_factor": 0.25,
+    "rms_norm_eps": 1e-06,
+    "rope_parameters": {
+      "mrope_interleaved": true,
+      "mrope_section": [
+        11,
+        11,
+        10
+      ],
+      "partial_rotary_factor": 0.25,
+      "rope_theta": 10000000,
+      "rope_type": "default"
+    },
+    "tie_word_embeddings": true,
+    "use_cache": true,
+    "vocab_size": 248320
+  },
+  "tie_word_embeddings": true,
+  "transformers_version": "5.3.0",
+  "use_cache": false,
+  "use_geometry_encoder": true,
+  "video_token_id": 248057,
+  "vision_config": {
+    "deepstack_visual_indexes": [],
+    "depth": 24,
+    "dtype": "bfloat16",
+    "hidden_act": "gelu_pytorch_tanh",
+    "hidden_size": 1024,
+    "in_channels": 3,
+    "initializer_range": 0.02,
+    "intermediate_size": 4096,
+    "model_type": "qwen3_5",
+    "num_heads": 16,
+    "num_position_embeddings": 2304,
+    "out_hidden_size": 2560,
+    "patch_size": 16,
+    "spatial_merge_size": 2,
+    "temporal_patch_size": 2
+  },
+  "vision_end_token_id": 248054,
+  "vision_language_fusion_layers": null,
+  "vision_start_token_id": 248053
+}
+Loading datasets: [{'annotation_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN/train_r2r_rxr.json', 'data_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN', 'tag': '3d', 'sampling_rate': 1.0, 'dataset_name': 'train_r2r_rxr'}]
+Total training samples: 2429620
+Total training samples: 2429620
+Total training samples: 2429620
+Total training samples: 2429620
+Formatting inputs...Skip in lazy mode
+Formatting inputs...Skip in lazy mode
+Formatting inputs...Skip in lazy mode
+Formatting inputs...Skip in lazy mode
+The tokenizer has new PAD/BOS/EOS tokens that differ from the model config and generation config. The model config and generation config were aligned accordingly, being updated with the tokenizer's values. Updated tokens: {'eos_token_id': 248046, 'pad_token_id': 248044}.
+The tokenizer has new PAD/BOS/EOS tokens that differ from the model config and generation config. The model config and generation config were aligned accordingly, being updated with the tokenizer's values. Updated tokens: {'eos_token_id': 248046, 'pad_token_id': 248044}.
+The tokenizer has new PAD/BOS/EOS tokens that differ from the model config and generation config. The model config and generation config were aligned accordingly, being updated with the tokenizer's values. Updated tokens: {'eos_token_id': 248046, 'pad_token_id': 248044}.
+The tokenizer has new PAD/BOS/EOS tokens that differ from the model config and generation config. The model config and generation config were aligned accordingly, being updated with the tokenizer's values. Updated tokens: {'eos_token_id': 248046, 'pad_token_id': 248044}.
+NCCL version 2.26.2+cuda12.2
  0%|          | 0/30 [00:00<?, ?it/s][GeometryBatch] micro_batch=8, mode=per-sample VGGT fallback, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (6, 3, 420, 560)], group_sizes=[1, 1, 1, 1, 1, 1, 1, 1]
+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:337: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
+[GeometryBatch] micro_batch=8, mode=per-sample VGGT fallback, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (5, 3, 420, 560)], group_sizes=[1, 1, 1, 1, 1, 1, 1, 1]
+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:337: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
+[GeometryBatch] micro_batch=8, mode=per-sample VGGT fallback, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (3, 3, 420, 560)], group_sizes=[1, 1, 1, 1, 1, 1, 1, 1]
+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:337: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
+[GeometryBatch] micro_batch=8, mode=per-sample VGGT fallback, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (2, 3, 420, 560)], group_sizes=[1, 1, 1, 1, 1, 1, 1, 1]
+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:337: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
+[GeometryBatch] micro_batch=8, mode=batched VGGT, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560)], group_sizes=[8]
+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:480: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
  3%|▎         | 1/30 [01:00<29:02, 60.10s/it][GeometryBatch] micro_batch=8, mode=batched VGGT, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560)], group_sizes=[8]
+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:480: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
  7%|▋         | 2/30 [01:15<15:46, 33.79s/it]
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 20%|██        | 6/30 [02:25<07:46, 19.44s/it][GeometryBatch] micro_batch=8, mode=batched VGGT, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560)], group_sizes=[8]
+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:480: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
 23%|██▎       | 7/30 [02:41<06:56, 18.13s/it][GeometryBatch] micro_batch=8, mode=batched VGGT, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560)], group_sizes=[8]
+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:480: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
 27%|██▋       | 8/30 [03:05<07:21, 20.07s/it]
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+[rank0]:[W918 06:57:39.933577092 ProcessGroupNCCL.cpp:1476] Warning: WARNING: destroy_process_group() was not called before program exit, which can leak resources. For more info, please see https://pytorch.org/docs/stable/distributed.html#shutdown (function operator())

geometry_profile.z4oAs9/run2_group1/profile_rank0.jsonl ADDED Viewed

	@@ -0,0 +1,21 @@

+{"type": "config", "rank": 0, "world_size": 4, "micro_batch": 8, "accumulation": 2, "global_batch": 64, "seed": 42, "max_steps": 30, "workers": 8, "prefetch": 4, "first_step": 11, "last_step": 30, "model": "/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/Qwen3.5-4B", "supervised_token_loss": true, "NCCL_NVLS_ENABLE": "0", "vggt_group_by_shape": true, "note": "CUDA stream elapsed times include stalls; nested regions overlap. Update boundary synchronization is enabled. Backward includes recomputation and communication."}
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+{"type": "update", "rank": 3, "step": 30, "wall_ms": 13093.225438147783, "cuda_stream_ms": {"batch_fetch_and_count": 50.98448181152344, "prepare_inputs": 0.922976016998291, "vision_forward": 582.2847595214844, "vggt_batched": 3382.1173095703125, "geometry_total": 3590.0787353515625, "language_forward": 2743.18994140625, "forward_and_loss": 6924.2978515625, "backward_and_communication": 5986.201416015625, "backward_and_engine_step": 6074.03955078125, "micro_step_total": 13027.263671875, "vggt_single": 206.64224243164062, "deepspeed_step": 87.7044448852539, "gradient_clipping": 0.06764800101518631, "optimizer": 0.017503999173641205}, "cpu_call_ms": {"batch_fetch_and_count": 50.9836096316576, "prepare_inputs": 0.4046466201543808, "vision_forward": 570.8808414638042, "vggt_batched": 3368.9358979463577, "geometry_total": 3582.6252102851868, "language_forward": 2681.731201708317, "forward_and_loss": 6924.801794812083, "backward_and_communication": 5984.4230357557535, "backward_and_engine_step": 6074.096962809563, "micro_step_total": 13027.391262352467, "vggt_single": 213.30980770289898, "deepspeed_step": 89.5221084356308, "gradient_clipping": 0.06710179150104523, "optimizer": 0.017277896404266357}, "calls": {"batch_fetch_and_count": 1, "prepare_inputs": 2, "vision_forward": 2, "vggt_batched": 2, "geometry_total": 2, "language_forward": 2, "forward_and_loss": 2, "backward_and_communication": 2, "backward_and_engine_step": 2, "micro_step_total": 2, "vggt_single": 1, "deepspeed_step": 1, "gradient_clipping": 1, "optimizer": 1}, "counts": {"micro_steps": 2, "samples": 16, "token_slots": 49392, "frames": 140, "vggt_batched_samples": 15, "vggt_batched_frames": 135, "geometry_microbatches": 2, "vggt_batched_microbatches": 1, "vggt_single_samples": 1, "vggt_single_frames": 5, "vggt_fallback_microbatches": 1, "vggt_mixed_microbatches": 1, "valid_tokens": 45969, "supervised_tokens": 63}, "frame_histogram": {"9": 15, "5": 1}, "input_shapes": {"(8, 3104)": 1, "(8, 3070)": 1}, "sample_indices": [10921, 219459, 1562082, 623216, 609564, 98715, 2195087, 2227085, 1302187, 1193483, 2062966, 1530985, 1749312, 1313956, 1076978, 1340263], "padding_fraction": 0.06930272108843538}

geometry_profile.z4oAs9/run2_group1/train.log ADDED Viewed

@@ -0,0 +1,683 @@
  0%|          | 0/30 [00:00<?, ?it/s][GeometryBatch] micro_batch=8, mode=grouped VGGT, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (6, 3, 420, 560)], group_sizes=[7, 1]
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 23%|██▎       | 7/30 [02:23<05:59, 15.61s/it][GeometryBatch] micro_batch=8, mode=batched VGGT, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560)], group_sizes=[8]
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 37%|███▋      | 11/30 [03:24<04:37, 14.62s/it][TrainingProfile] step=11 wall_s=13.024 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run2_group1/profile_rank0.jsonl
 40%|████      | 12/30 [03:37<04:14, 14.14s/it][TrainingProfile] step=12 wall_s=13.033 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run2_group1/profile_rank0.jsonl
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+[INFO] Running in WANDB offline mode
+[INFO] Running in WANDB offline mode
+[INFO] Running in WANDB offline mode
+[INFO] Running in WANDB offline mode
+Trainer._get_train_sampler replaced with custom implementation.
+Trainer._get_train_sampler replaced with custom implementation.
+warmup_ratio is deprecated and will be removed in v5.2. Use `warmup_steps` instead.
+warmup_ratio is deprecated and will be removed in v5.2. Use `warmup_steps` instead.
+[2026-09-18 06:57:51,623] [INFO] [real_accelerator.py:222:get_accelerator] Setting ds_accelerator to cuda (auto detect)
+[2026-09-18 06:57:51,623] [INFO] [real_accelerator.py:222:get_accelerator] Setting ds_accelerator to cuda (auto detect)
+Trainer._get_train_sampler replaced with custom implementation.
+warmup_ratio is deprecated and will be removed in v5.2. Use `warmup_steps` instead.
+[2026-09-18 06:57:51,760] [INFO] [real_accelerator.py:222:get_accelerator] Setting ds_accelerator to cuda (auto detect)
+[2026-09-18 06:57:51,935] [INFO] [comm.py:658:init_distributed] cdb=None
+[2026-09-18 06:57:51,937] [INFO] [comm.py:658:init_distributed] cdb=None
+Trainer._get_train_sampler replaced with custom implementation.
+warmup_ratio is deprecated and will be removed in v5.2. Use `warmup_steps` instead.
+[2026-09-18 06:57:52,029] [INFO] [real_accelerator.py:222:get_accelerator] Setting ds_accelerator to cuda (auto detect)
+[2026-09-18 06:57:52,068] [INFO] [comm.py:658:init_distributed] cdb=None
+[2026-09-18 06:57:52,341] [INFO] [comm.py:658:init_distributed] cdb=None
+[2026-09-18 06:57:52,341] [INFO] [comm.py:689:init_distributed] Initializing TorchBackend in DeepSpeed with backend nccl
+[TrainingFix] Qwen3.5 FlashAttention MRoPE packing guard enabled
+[TrainingFix] Qwen3.5 FlashAttention MRoPE packing guard enabled
+[TrainingFix] Qwen3.5 FlashAttention MRoPE packing guard enabled
+[TrainingFix] Qwen3.5 FlashAttention MRoPE packing guard enabled
+[VGGTEncoder] eval KV-cache window: start=8 recent=48 (total=56 frames)
+[FeatureFusion] geometry fusion delta scaled by 0.5
+[FeatureFusion] importance gate ENABLED on geometry delta
+[FeatureFusion] learnable geometry scale ENABLED (init 0.5)
+[VGGTEncoder] eval KV-cache window: start=8 recent=48 (total=56 frames)
+[FeatureFusion] geometry fusion delta scaled by 0.5
+[FeatureFusion] importance gate ENABLED on geometry delta
+[FeatureFusion] learnable geometry scale ENABLED (init 0.5)
+[VGGTEncoder] eval KV-cache window: start=8 recent=48 (total=56 frames)
+[FeatureFusion] geometry fusion delta scaled by 0.5
+[FeatureFusion] importance gate ENABLED on geometry delta
+[FeatureFusion] learnable geometry scale ENABLED (init 0.5)
+[VGGTEncoder] eval KV-cache window: start=8 recent=48 (total=56 frames)
+[FeatureFusion] geometry fusion delta scaled by 0.5
+[FeatureFusion] importance gate ENABLED on geometry delta
+[FeatureFusion] learnable geometry scale ENABLED (init 0.5)
+Loading weights from local directory
+Loading weights from local directory
+Loading weights from local directory
+Loading weights from local directory
+>>>>> STOP loss up-weight: 3.0 on token ids [48964]
+Qwen3_5Config {
+  "architectures": [
+    "Qwen3_5ForConditionalGeneration"
+  ],
+  "dtype": "bfloat16",
+  "feature_fusion_method": "deepstack_language_add",
+  "fusion_num_layers": 1,
+  "geometry_encoder_layers": [
+    11,
+    17,
+    23
+  ],
+  "geometry_encoder_path": "/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/VGGT-1B",
+  "geometry_encoder_streaming": true,
+  "geometry_encoder_type": "vggt",
+  "geometry_frame_strict": true,
+  "geometry_fusion_layers": [
+    0,
+    1,
+    2
+  ],
+  "geometry_fusion_scale": 0.5,
+  "geometry_importance_gate": true,
+  "geometry_learnable_scale": true,
+  "geometry_merger_type": "mlp",
+  "geometry_spatial_bias": false,
+  "image_token_id": 248056,
+  "include_camera_token": false,
+  "model_type": "qwen3_5",
+  "pos_encoding_type": "none",
+  "reference_frame": "first",
+  "supervised_token_loss": true,
+  "text_config": {
+    "attention_bias": false,
+    "attention_dropout": 0.0,
+    "attn_output_gate": true,
+    "bos_token_id": null,
+    "dtype": "bfloat16",
+    "eos_token_id": 248044,
+    "full_attention_interval": 4,
+    "head_dim": 256,
+    "hidden_act": "silu",
+    "hidden_size": 2560,
+    "initializer_range": 0.02,
+    "intermediate_size": 9216,
+    "layer_types": [
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention"
+    ],
+    "linear_conv_kernel_dim": 4,
+    "linear_key_head_dim": 128,
+    "linear_num_key_heads": 16,
+    "linear_num_value_heads": 32,
+    "linear_value_head_dim": 128,
+    "mamba_ssm_dtype": "float32",
+    "max_position_embeddings": 262144,
+    "mlp_only_layers": [],
+    "model_type": "qwen3_5_text",
+    "mtp_num_hidden_layers": 1,
+    "mtp_use_dedicated_embeddings": false,
+    "num_attention_heads": 16,
+    "num_hidden_layers": 32,
+    "num_key_value_heads": 4,
+    "pad_token_id": null,
+    "partial_rotary_factor": 0.25,
+    "rms_norm_eps": 1e-06,
+    "rope_parameters": {
+      "mrope_interleaved": true,
+      "mrope_section": [
+        11,
+        11,
+        10
+      ],
+      "partial_rotary_factor": 0.25,
+      "rope_theta": 10000000,
+      "rope_type": "default"
+    },
+    "tie_word_embeddings": true,
+    "use_cache": true,
+    "vocab_size": 248320
+  },
+  "tie_word_embeddings": true,
+  "transformers_version": "5.3.0",
+  "use_cache": false,
+  "use_geometry_encoder": true,
+  "video_token_id": 248057,
+  "vision_config": {
+    "deepstack_visual_indexes": [],
+    "depth": 24,
+    "dtype": "bfloat16",
+    "hidden_act": "gelu_pytorch_tanh",
+    "hidden_size": 1024,
+    "in_channels": 3,
+    "initializer_range": 0.02,
+    "intermediate_size": 4096,
+    "model_type": "qwen3_5",
+    "num_heads": 16,
+    "num_position_embeddings": 2304,
+    "out_hidden_size": 2560,
+    "patch_size": 16,
+    "spatial_merge_size": 2,
+    "temporal_patch_size": 2
+  },
+  "vision_end_token_id": 248054,
+  "vision_language_fusion_layers": null,
+  "vision_start_token_id": 248053
+}
+Loading datasets: [{'annotation_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN/train_r2r_rxr.json', 'data_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN', 'tag': '3d', 'sampling_rate': 1.0, 'dataset_name': 'train_r2r_rxr'}]
+>>>>> STOP loss up-weight: 3.0 on token ids [48964]
+Qwen3_5Config {
+  "architectures": [
+    "Qwen3_5ForConditionalGeneration"
+  ],
+  "dtype": "bfloat16",
+  "feature_fusion_method": "deepstack_language_add",
+  "fusion_num_layers": 1,
+  "geometry_encoder_layers": [
+    11,
+    17,
+    23
+  ],
+  "geometry_encoder_path": "/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/VGGT-1B",
+  "geometry_encoder_streaming": true,
+  "geometry_encoder_type": "vggt",
+  "geometry_frame_strict": true,
+  "geometry_fusion_layers": [
+    0,
+    1,
+    2
+  ],
+  "geometry_fusion_scale": 0.5,
+  "geometry_importance_gate": true,
+  "geometry_learnable_scale": true,
+  "geometry_merger_type": "mlp",
+  "geometry_spatial_bias": false,
+  "image_token_id": 248056,
+  "include_camera_token": false,
+  "model_type": "qwen3_5",
+  "pos_encoding_type": "none",
+  "reference_frame": "first",
+  "supervised_token_loss": true,
+  "text_config": {
+    "attention_bias": false,
+    "attention_dropout": 0.0,
+    "attn_output_gate": true,
+    "bos_token_id": null,
+    "dtype": "bfloat16",
+    "eos_token_id": 248044,
+    "full_attention_interval": 4,
+    "head_dim": 256,
+    "hidden_act": "silu",
+    "hidden_size": 2560,
+    "initializer_range": 0.02,
+    "intermediate_size": 9216,
+    "layer_types": [
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention"
+    ],
+    "linear_conv_kernel_dim": 4,
+    "linear_key_head_dim": 128,
+    "linear_num_key_heads": 16,
+    "linear_num_value_heads": 32,
+    "linear_value_head_dim": 128,
+    "mamba_ssm_dtype": "float32",
+    "max_position_embeddings": 262144,
+    "mlp_only_layers": [],
+    "model_type": "qwen3_5_text",
+    "mtp_num_hidden_layers": 1,
+    "mtp_use_dedicated_embeddings": false,
+    "num_attention_heads": 16,
+    "num_hidden_layers": 32,
+    "num_key_value_heads": 4,
+    "pad_token_id": null,
+    "partial_rotary_factor": 0.25,
+    "rms_norm_eps": 1e-06,
+    "rope_parameters": {
+      "mrope_interleaved": true,
+      "mrope_section": [
+        11,
+        11,
+        10
+      ],
+      "partial_rotary_factor": 0.25,
+      "rope_theta": 10000000,
+      "rope_type": "default"
+    },
+    "tie_word_embeddings": true,
+    "use_cache": true,
+    "vocab_size": 248320
+  },
+  "tie_word_embeddings": true,
+  "transformers_version": "5.3.0",
+  "use_cache": false,
+  "use_geometry_encoder": true,
+  "video_token_id": 248057,
+  "vision_config": {
+    "deepstack_visual_indexes": [],
+    "depth": 24,
+    "dtype": "bfloat16",
+    "hidden_act": "gelu_pytorch_tanh",
+    "hidden_size": 1024,
+    "in_channels": 3,
+    "initializer_range": 0.02,
+    "intermediate_size": 4096,
+    "model_type": "qwen3_5",
+    "num_heads": 16,
+    "num_position_embeddings": 2304,
+    "out_hidden_size": 2560,
+    "patch_size": 16,
+    "spatial_merge_size": 2,
+    "temporal_patch_size": 2
+  },
+  "vision_end_token_id": 248054,
+  "vision_language_fusion_layers": null,
+  "vision_start_token_id": 248053
+}
+Loading datasets: [{'annotation_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN/train_r2r_rxr.json', 'data_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN', 'tag': '3d', 'sampling_rate': 1.0, 'dataset_name': 'train_r2r_rxr'}]
+>>>>> STOP loss up-weight: 3.0 on token ids [48964]
+Qwen3_5Config {
+  "architectures": [
+    "Qwen3_5ForConditionalGeneration"
+  ],
+  "dtype": "bfloat16",
+  "feature_fusion_method": "deepstack_language_add",
+  "fusion_num_layers": 1,
+  "geometry_encoder_layers": [
+    11,
+    17,
+    23
+  ],
+  "geometry_encoder_path": "/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/VGGT-1B",
+  "geometry_encoder_streaming": true,
+  "geometry_encoder_type": "vggt",
+  "geometry_frame_strict": true,
+  "geometry_fusion_layers": [
+    0,
+    1,
+    2
+  ],
+  "geometry_fusion_scale": 0.5,
+  "geometry_importance_gate": true,
+  "geometry_learnable_scale": true,
+  "geometry_merger_type": "mlp",
+  "geometry_spatial_bias": false,
+  "image_token_id": 248056,
+  "include_camera_token": false,
+  "model_type": "qwen3_5",
+  "pos_encoding_type": "none",
+  "reference_frame": "first",
+  "supervised_token_loss": true,
+  "text_config": {
+    "attention_bias": false,
+    "attention_dropout": 0.0,
+    "attn_output_gate": true,
+    "bos_token_id": null,
+    "dtype": "bfloat16",
+    "eos_token_id": 248044,
+    "full_attention_interval": 4,
+    "head_dim": 256,
+    "hidden_act": "silu",
+    "hidden_size": 2560,
+    "initializer_range": 0.02,
+    "intermediate_size": 9216,
+    "layer_types": [
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention"
+    ],
+    "linear_conv_kernel_dim": 4,
+    "linear_key_head_dim": 128,
+    "linear_num_key_heads": 16,
+    "linear_num_value_heads": 32,
+    "linear_value_head_dim": 128,
+    "mamba_ssm_dtype": "float32",
+    "max_position_embeddings": 262144,
+    "mlp_only_layers": [],
+    "model_type": "qwen3_5_text",
+    "mtp_num_hidden_layers": 1,
+    "mtp_use_dedicated_embeddings": false,
+    "num_attention_heads": 16,
+    "num_hidden_layers": 32,
+    "num_key_value_heads": 4,
+    "pad_token_id": null,
+    "partial_rotary_factor": 0.25,
+    "rms_norm_eps": 1e-06,
+    "rope_parameters": {
+      "mrope_interleaved": true,
+      "mrope_section": [
+        11,
+        11,
+        10
+      ],
+      "partial_rotary_factor": 0.25,
+      "rope_theta": 10000000,
+      "rope_type": "default"
+    },
+    "tie_word_embeddings": true,
+    "use_cache": true,
+    "vocab_size": 248320
+  },
+  "tie_word_embeddings": true,
+  "transformers_version": "5.3.0",
+  "use_cache": false,
+  "use_geometry_encoder": true,
+  "video_token_id": 248057,
+  "vision_config": {
+    "deepstack_visual_indexes": [],
+    "depth": 24,
+    "dtype": "bfloat16",
+    "hidden_act": "gelu_pytorch_tanh",
+    "hidden_size": 1024,
+    "in_channels": 3,
+    "initializer_range": 0.02,
+    "intermediate_size": 4096,
+    "model_type": "qwen3_5",
+    "num_heads": 16,
+    "num_position_embeddings": 2304,
+    "out_hidden_size": 2560,
+    "patch_size": 16,
+    "spatial_merge_size": 2,
+    "temporal_patch_size": 2
+  },
+  "vision_end_token_id": 248054,
+  "vision_language_fusion_layers": null,
+  "vision_start_token_id": 248053
+}
+Loading datasets: [{'annotation_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN/train_r2r_rxr.json', 'data_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN', 'tag': '3d', 'sampling_rate': 1.0, 'dataset_name': 'train_r2r_rxr'}]
+>>>>> STOP loss up-weight: 3.0 on token ids [48964]
+Vision Module - Attention Blocks:
+Trainable Block Indices: None
+Non-Trainable Block Indices: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23]
+Merger Module Trainable: True
+LLM Module - Embed Tokens Trainable: True
+LLM Module - Trainable Layer Indices: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31]
+LLM Module - Non-Trainable Layer Indices: None
+Qwen3_5Config {
+  "architectures": [
+    "Qwen3_5ForConditionalGeneration"
+  ],
+  "dtype": "bfloat16",
+  "feature_fusion_method": "deepstack_language_add",
+  "fusion_num_layers": 1,
+  "geometry_encoder_layers": [
+    11,
+    17,
+    23
+  ],
+  "geometry_encoder_path": "/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/VGGT-1B",
+  "geometry_encoder_streaming": true,
+  "geometry_encoder_type": "vggt",
+  "geometry_frame_strict": true,
+  "geometry_fusion_layers": [
+    0,
+    1,
+    2
+  ],
+  "geometry_fusion_scale": 0.5,
+  "geometry_importance_gate": true,
+  "geometry_learnable_scale": true,
+  "geometry_merger_type": "mlp",
+  "geometry_spatial_bias": false,
+  "image_token_id": 248056,
+  "include_camera_token": false,
+  "model_type": "qwen3_5",
+  "pos_encoding_type": "none",
+  "reference_frame": "first",
+  "supervised_token_loss": true,
+  "text_config": {
+    "attention_bias": false,
+    "attention_dropout": 0.0,
+    "attn_output_gate": true,
+    "bos_token_id": null,
+    "dtype": "bfloat16",
+    "eos_token_id": 248044,
+    "full_attention_interval": 4,
+    "head_dim": 256,
+    "hidden_act": "silu",
+    "hidden_size": 2560,
+    "initializer_range": 0.02,
+    "intermediate_size": 9216,
+    "layer_types": [
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention"
+    ],
+    "linear_conv_kernel_dim": 4,
+    "linear_key_head_dim": 128,
+    "linear_num_key_heads": 16,
+    "linear_num_value_heads": 32,
+    "linear_value_head_dim": 128,
+    "mamba_ssm_dtype": "float32",
+    "max_position_embeddings": 262144,
+    "mlp_only_layers": [],
+    "model_type": "qwen3_5_text",
+    "mtp_num_hidden_layers": 1,
+    "mtp_use_dedicated_embeddings": false,
+    "num_attention_heads": 16,
+    "num_hidden_layers": 32,
+    "num_key_value_heads": 4,
+    "pad_token_id": null,
+    "partial_rotary_factor": 0.25,
+    "rms_norm_eps": 1e-06,
+    "rope_parameters": {
+      "mrope_interleaved": true,
+      "mrope_section": [
+        11,
+        11,
+        10
+      ],
+      "partial_rotary_factor": 0.25,
+      "rope_theta": 10000000,
+      "rope_type": "default"
+    },
+    "tie_word_embeddings": true,
+    "use_cache": true,
+    "vocab_size": 248320
+  },
+  "tie_word_embeddings": true,
+  "transformers_version": "5.3.0",
+  "use_cache": false,
+  "use_geometry_encoder": true,
+  "video_token_id": 248057,
+  "vision_config": {
+    "deepstack_visual_indexes": [],
+    "depth": 24,
+    "dtype": "bfloat16",
+    "hidden_act": "gelu_pytorch_tanh",
+    "hidden_size": 1024,
+    "in_channels": 3,
+    "initializer_range": 0.02,
+    "intermediate_size": 4096,
+    "model_type": "qwen3_5",
+    "num_heads": 16,
+    "num_position_embeddings": 2304,
+    "out_hidden_size": 2560,
+    "patch_size": 16,
+    "spatial_merge_size": 2,
+    "temporal_patch_size": 2
+  },
+  "vision_end_token_id": 248054,
+  "vision_language_fusion_layers": null,
+  "vision_start_token_id": 248053
+}
+Loading datasets: [{'annotation_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN/train_r2r_rxr.json', 'data_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN', 'tag': '3d', 'sampling_rate': 1.0, 'dataset_name': 'train_r2r_rxr'}]
+Total training samples: 2429620
+Total training samples: 2429620
+Total training samples: 2429620
+Formatting inputs...Skip in lazy mode
+Formatting inputs...Skip in lazy mode
+Formatting inputs...Skip in lazy mode
+Total training samples: 2429620
+The tokenizer has new PAD/BOS/EOS tokens that differ from the model config and generation config. The model config and generation config were aligned accordingly, being updated with the tokenizer's values. Updated tokens: {'eos_token_id': 248046, 'pad_token_id': 248044}.
+The tokenizer has new PAD/BOS/EOS tokens that differ from the model config and generation config. The model config and generation config were aligned accordingly, being updated with the tokenizer's values. Updated tokens: {'eos_token_id': 248046, 'pad_token_id': 248044}.
+The tokenizer has new PAD/BOS/EOS tokens that differ from the model config and generation config. The model config and generation config were aligned accordingly, being updated with the tokenizer's values. Updated tokens: {'eos_token_id': 248046, 'pad_token_id': 248044}.
+Formatting inputs...Skip in lazy mode
+The tokenizer has new PAD/BOS/EOS tokens that differ from the model config and generation config. The model config and generation config were aligned accordingly, being updated with the tokenizer's values. Updated tokens: {'eos_token_id': 248046, 'pad_token_id': 248044}.
+NCCL version 2.26.2+cuda12.2
  0%|          | 0/30 [00:00<?, ?it/s][GeometryBatch] micro_batch=8, mode=grouped VGGT, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (6, 3, 420, 560)], group_sizes=[7, 1]
+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:480: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
+[GeometryBatch] micro_batch=8, mode=grouped VGGT, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (5, 3, 420, 560)], group_sizes=[7, 1]
+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:480: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
+[GeometryBatch] micro_batch=8, mode=grouped VGGT, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (3, 3, 420, 560)], group_sizes=[7, 1]
+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:480: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:337: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:337: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:337: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
+[GeometryBatch] micro_batch=8, mode=grouped VGGT, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (2, 3, 420, 560)], group_sizes=[7, 1]
+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:480: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:337: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
+[GeometryBatch] micro_batch=8, mode=batched VGGT, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560)], group_sizes=[8]
  3%|▎         | 1/30 [00:57<27:50, 57.61s/it][GeometryBatch] micro_batch=8, mode=batched VGGT, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560)], group_sizes=[8]
  7%|▋         | 2/30 [01:10<14:37, 31.32s/it]
 10%|█         | 3/30 [01:23<10:19, 22.96s/it]
 13%|█▎        | 4/30 [01:45<09:42, 22.40s/it]
 17%|█▋        | 5/30 [01:58<07:55, 19.01s/it]
 20%|██        | 6/30 [02:11<06:46, 16.95s/it][GeometryBatch] micro_batch=8, mode=batched VGGT, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560)], group_sizes=[8]
 23%|██▎       | 7/30 [02:23<05:59, 15.61s/it][GeometryBatch] micro_batch=8, mode=batched VGGT, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560)], group_sizes=[8]
 27%|██▋       | 8/30 [02:45<06:24, 17.50s/it]
 30%|███       | 9/30 [02:58<05:38, 16.10s/it]
 33%|███▎      | 10/30 [03:11<05:02, 15.13s/it]
 33%|███▎      | 10/30 [03:11<05:02, 15.13s/it]
 37%|███▋      | 11/30 [03:24<04:37, 14.62s/it][TrainingProfile] step=11 wall_s=13.024 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run2_group1/profile_rank0.jsonl
 40%|████      | 12/30 [03:37<04:14, 14.14s/it][TrainingProfile] step=12 wall_s=13.033 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run2_group1/profile_rank0.jsonl
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+[rank0]:[W918 07:08:57.902550829 ProcessGroupNCCL.cpp:1476] Warning: WARNING: destroy_process_group() was not called before program exit, which can leak resources. For more info, please see https://pytorch.org/docs/stable/distributed.html#shutdown (function operator())

geometry_profile.z4oAs9/run3_group1/profile_rank0.jsonl ADDED Viewed

	@@ -0,0 +1,21 @@

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+{"type": "update", "rank": 3, "step": 29, "wall_ms": 12855.542032048106, "cuda_stream_ms": {"batch_fetch_and_count": 50.08768081665039, "prepare_inputs": 0.9236800074577332, "vision_forward": 572.9979553222656, "vggt_batched": 3198.69580078125, "vggt_single": 499.9179229736328, "geometry_total": 3701.009521484375, "language_forward": 2674.0048828125, "forward_and_loss": 6959.56005859375, "backward_and_communication": 5719.84423828125, "backward_and_engine_step": 5807.60888671875, "micro_step_total": 12790.39404296875, "deepspeed_step": 87.63737487792969, "gradient_clipping": 0.07011199742555618, "optimizer": 0.018271999433636665}, "cpu_call_ms": {"batch_fetch_and_count": 50.09270831942558, "prepare_inputs": 0.6347913295030594, "vision_forward": 561.8940349668264, "vggt_batched": 3186.3391883671284, "vggt_single": 512.854827567935, "geometry_total": 3699.699141085148, "language_forward": 2609.123582020402, "forward_and_loss": 6959.842890501022, "backward_and_communication": 5718.197910115123, "backward_and_engine_step": 5807.660657912493, "micro_step_total": 12790.506748482585, "deepspeed_step": 89.31206911802292, "gradient_clipping": 0.06984733045101166, "optimizer": 0.018699094653129578}, "calls": {"batch_fetch_and_count": 1, "prepare_inputs": 2, "vision_forward": 2, "vggt_batched": 2, "vggt_single": 2, "geometry_total": 2, "language_forward": 2, "forward_and_loss": 2, "backward_and_communication": 2, "backward_and_engine_step": 2, "micro_step_total": 2, "deepspeed_step": 1, "gradient_clipping": 1, "optimizer": 1}, "counts": {"micro_steps": 2, "samples": 16, "token_slots": 48696, "frames": 138, "vggt_batched_samples": 14, "vggt_batched_frames": 126, "vggt_single_samples": 2, "vggt_single_frames": 12, "geometry_microbatches": 2, "vggt_fallback_microbatches": 2, "vggt_mixed_microbatches": 2, "valid_tokens": 45143, "supervised_tokens": 64}, "frame_histogram": {"9": 14, "6": 2}, "input_shapes": {"(8, 3053)": 1, "(8, 3034)": 1}, "sample_indices": [1323349, 487813, 2326387, 503422, 2277042, 1342389, 2212932, 1819802, 372463, 1823686, 656698, 2372248, 50995, 1507635, 402518, 2152643], "padding_fraction": 0.07296287169377358}
+{"type": "update", "rank": 3, "step": 30, "wall_ms": 13076.729591935873, "cuda_stream_ms": {"batch_fetch_and_count": 51.27356719970703, "prepare_inputs": 0.8832639753818512, "vision_forward": 586.1028747558594, "vggt_batched": 3378.1258544921875, "geometry_total": 3578.375732421875, "language_forward": 2739.524169921875, "forward_and_loss": 6912.634033203125, "backward_and_communication": 5984.202880859375, "backward_and_engine_step": 6072.261474609375, "micro_step_total": 13010.98779296875, "vggt_single": 198.9300537109375, "deepspeed_step": 87.92134094238281, "gradient_clipping": 0.07964800298213959, "optimizer": 0.020959999412298203}, "cpu_call_ms": {"batch_fetch_and_count": 51.276400685310364, "prepare_inputs": 0.32833777368068695, "vision_forward": 574.9060995876789, "vggt_batched": 3364.6752182394266, "geometry_total": 3570.6485603004694, "language_forward": 2678.927855566144, "forward_and_loss": 6913.189075887203, "backward_and_communication": 5982.408657670021, "backward_and_engine_step": 6072.31429964304, "micro_step_total": 13011.102702468634, "vggt_single": 205.5625319480896, "deepspeed_step": 89.75011482834816, "gradient_clipping": 0.07924437522888184, "optimizer": 0.021087005734443665}, "calls": {"batch_fetch_and_count": 1, "prepare_inputs": 2, "vision_forward": 2, "vggt_batched": 2, "geometry_total": 2, "language_forward": 2, "forward_and_loss": 2, "backward_and_communication": 2, "backward_and_engine_step": 2, "micro_step_total": 2, "vggt_single": 1, "deepspeed_step": 1, "gradient_clipping": 1, "optimizer": 1}, "counts": {"micro_steps": 2, "samples": 16, "token_slots": 49392, "frames": 140, "vggt_batched_samples": 15, "vggt_batched_frames": 135, "geometry_microbatches": 2, "vggt_batched_microbatches": 1, "vggt_single_samples": 1, "vggt_single_frames": 5, "vggt_fallback_microbatches": 1, "vggt_mixed_microbatches": 1, "valid_tokens": 45969, "supervised_tokens": 63}, "frame_histogram": {"9": 15, "5": 1}, "input_shapes": {"(8, 3104)": 1, "(8, 3070)": 1}, "sample_indices": [10921, 219459, 1562082, 623216, 609564, 98715, 2195087, 2227085, 1302187, 1193483, 2062966, 1530985, 1749312, 1313956, 1076978, 1340263], "padding_fraction": 0.06930272108843538}

geometry_profile.z4oAs9/run3_group1/train.log ADDED Viewed

@@ -0,0 +1,683 @@
  0%|          | 0/30 [00:00<?, ?it/s][GeometryBatch] micro_batch=8, mode=grouped VGGT, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (6, 3, 420, 560)], group_sizes=[7, 1]
  3%|▎         | 1/30 [00:56<27:22, 56.65s/it][GeometryBatch] micro_batch=8, mode=batched VGGT, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560)], group_sizes=[8]
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 20%|██        | 6/30 [02:09<06:44, 16.84s/it][GeometryBatch] micro_batch=8, mode=batched VGGT, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560)], group_sizes=[8]
 23%|██▎       | 7/30 [02:22<05:57, 15.54s/it][GeometryBatch] micro_batch=8, mode=batched VGGT, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560)], group_sizes=[8]
 27%|██▋       | 8/30 [02:44<06:23, 17.45s/it]
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 37%|███▋      | 11/30 [03:23<04:36, 14.55s/it][TrainingProfile] step=11 wall_s=12.942 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run3_group1/profile_rank0.jsonl
 40%|████      | 12/30 [03:36<04:14, 14.13s/it][TrainingProfile] step=12 wall_s=13.156 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run3_group1/profile_rank0.jsonl
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+[INFO] Running in WANDB offline mode
+[INFO] Running in WANDB offline mode
+[INFO] Running in WANDB offline mode
+[INFO] Running in WANDB offline mode
+Trainer._get_train_sampler replaced with custom implementation.
+warmup_ratio is deprecated and will be removed in v5.2. Use `warmup_steps` instead.
+[2026-09-18 07:09:11,722] [INFO] [real_accelerator.py:222:get_accelerator] Setting ds_accelerator to cuda (auto detect)
+Trainer._get_train_sampler replaced with custom implementation.
+warmup_ratio is deprecated and will be removed in v5.2. Use `warmup_steps` instead.
+[2026-09-18 07:09:12,002] [INFO] [real_accelerator.py:222:get_accelerator] Setting ds_accelerator to cuda (auto detect)
+[2026-09-18 07:09:12,035] [INFO] [comm.py:658:init_distributed] cdb=None
+Trainer._get_train_sampler replaced with custom implementation.
+Trainer._get_train_sampler replaced with custom implementation.
+warmup_ratio is deprecated and will be removed in v5.2. Use `warmup_steps` instead.
+warmup_ratio is deprecated and will be removed in v5.2. Use `warmup_steps` instead.
+[2026-09-18 07:09:12,219] [INFO] [real_accelerator.py:222:get_accelerator] Setting ds_accelerator to cuda (auto detect)
+[2026-09-18 07:09:12,221] [INFO] [real_accelerator.py:222:get_accelerator] Setting ds_accelerator to cuda (auto detect)
+[2026-09-18 07:09:12,362] [INFO] [comm.py:658:init_distributed] cdb=None
+[2026-09-18 07:09:12,362] [INFO] [comm.py:689:init_distributed] Initializing TorchBackend in DeepSpeed with backend nccl
+[TrainingFix] Qwen3.5 FlashAttention MRoPE packing guard enabled
+[TrainingFix] Qwen3.5 FlashAttention MRoPE packing guard enabled
+[2026-09-18 07:09:12,530] [INFO] [comm.py:658:init_distributed] cdb=None
+[2026-09-18 07:09:12,530] [INFO] [comm.py:658:init_distributed] cdb=None
+[TrainingFix] Qwen3.5 FlashAttention MRoPE packing guard enabled
+[TrainingFix] Qwen3.5 FlashAttention MRoPE packing guard enabled
+[VGGTEncoder] eval KV-cache window: start=8 recent=48 (total=56 frames)
+[FeatureFusion] geometry fusion delta scaled by 0.5
+[FeatureFusion] importance gate ENABLED on geometry delta
+[FeatureFusion] learnable geometry scale ENABLED (init 0.5)
+[VGGTEncoder] eval KV-cache window: start=8 recent=48 (total=56 frames)
+[FeatureFusion] geometry fusion delta scaled by 0.5
+[FeatureFusion] importance gate ENABLED on geometry delta
+[FeatureFusion] learnable geometry scale ENABLED (init 0.5)
+[VGGTEncoder] eval KV-cache window: start=8 recent=48 (total=56 frames)
+[FeatureFusion] geometry fusion delta scaled by 0.5
+[FeatureFusion] importance gate ENABLED on geometry delta
+[FeatureFusion] learnable geometry scale ENABLED (init 0.5)
+[VGGTEncoder] eval KV-cache window: start=8 recent=48 (total=56 frames)
+[FeatureFusion] geometry fusion delta scaled by 0.5
+[FeatureFusion] importance gate ENABLED on geometry delta
+[FeatureFusion] learnable geometry scale ENABLED (init 0.5)
+Loading weights from local directory
+Loading weights from local directory
+Loading weights from local directory
+Loading weights from local directory
+>>>>> STOP loss up-weight: 3.0 on token ids [48964]
+Qwen3_5Config {
+  "architectures": [
+    "Qwen3_5ForConditionalGeneration"
+  ],
+  "dtype": "bfloat16",
+  "feature_fusion_method": "deepstack_language_add",
+  "fusion_num_layers": 1,
+  "geometry_encoder_layers": [
+    11,
+    17,
+    23
+  ],
+  "geometry_encoder_path": "/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/VGGT-1B",
+  "geometry_encoder_streaming": true,
+  "geometry_encoder_type": "vggt",
+  "geometry_frame_strict": true,
+  "geometry_fusion_layers": [
+    0,
+    1,
+    2
+  ],
+  "geometry_fusion_scale": 0.5,
+  "geometry_importance_gate": true,
+  "geometry_learnable_scale": true,
+  "geometry_merger_type": "mlp",
+  "geometry_spatial_bias": false,
+  "image_token_id": 248056,
+  "include_camera_token": false,
+  "model_type": "qwen3_5",
+  "pos_encoding_type": "none",
+  "reference_frame": "first",
+  "supervised_token_loss": true,
+  "text_config": {
+    "attention_bias": false,
+    "attention_dropout": 0.0,
+    "attn_output_gate": true,
+    "bos_token_id": null,
+    "dtype": "bfloat16",
+    "eos_token_id": 248044,
+    "full_attention_interval": 4,
+    "head_dim": 256,
+    "hidden_act": "silu",
+    "hidden_size": 2560,
+    "initializer_range": 0.02,
+    "intermediate_size": 9216,
+    "layer_types": [
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention"
+    ],
+    "linear_conv_kernel_dim": 4,
+    "linear_key_head_dim": 128,
+    "linear_num_key_heads": 16,
+    "linear_num_value_heads": 32,
+    "linear_value_head_dim": 128,
+    "mamba_ssm_dtype": "float32",
+    "max_position_embeddings": 262144,
+    "mlp_only_layers": [],
+    "model_type": "qwen3_5_text",
+    "mtp_num_hidden_layers": 1,
+    "mtp_use_dedicated_embeddings": false,
+    "num_attention_heads": 16,
+    "num_hidden_layers": 32,
+    "num_key_value_heads": 4,
+    "pad_token_id": null,
+    "partial_rotary_factor": 0.25,
+    "rms_norm_eps": 1e-06,
+    "rope_parameters": {
+      "mrope_interleaved": true,
+      "mrope_section": [
+        11,
+        11,
+        10
+      ],
+      "partial_rotary_factor": 0.25,
+      "rope_theta": 10000000,
+      "rope_type": "default"
+    },
+    "tie_word_embeddings": true,
+    "use_cache": true,
+    "vocab_size": 248320
+  },
+  "tie_word_embeddings": true,
+  "transformers_version": "5.3.0",
+  "use_cache": false,
+  "use_geometry_encoder": true,
+  "video_token_id": 248057,
+  "vision_config": {
+    "deepstack_visual_indexes": [],
+    "depth": 24,
+    "dtype": "bfloat16",
+    "hidden_act": "gelu_pytorch_tanh",
+    "hidden_size": 1024,
+    "in_channels": 3,
+    "initializer_range": 0.02,
+    "intermediate_size": 4096,
+    "model_type": "qwen3_5",
+    "num_heads": 16,
+    "num_position_embeddings": 2304,
+    "out_hidden_size": 2560,
+    "patch_size": 16,
+    "spatial_merge_size": 2,
+    "temporal_patch_size": 2
+  },
+  "vision_end_token_id": 248054,
+  "vision_language_fusion_layers": null,
+  "vision_start_token_id": 248053
+}
+Loading datasets: [{'annotation_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN/train_r2r_rxr.json', 'data_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN', 'tag': '3d', 'sampling_rate': 1.0, 'dataset_name': 'train_r2r_rxr'}]
+>>>>> STOP loss up-weight: 3.0 on token ids [48964]
+Vision Module - Attention Blocks:
+Trainable Block Indices: None
+Non-Trainable Block Indices: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23]
+Merger Module Trainable: True
+LLM Module - Embed Tokens Trainable: True
+LLM Module - Trainable Layer Indices: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31]
+LLM Module - Non-Trainable Layer Indices: None
+Qwen3_5Config {
+  "architectures": [
+    "Qwen3_5ForConditionalGeneration"
+  ],
+  "dtype": "bfloat16",
+  "feature_fusion_method": "deepstack_language_add",
+  "fusion_num_layers": 1,
+  "geometry_encoder_layers": [
+    11,
+    17,
+    23
+  ],
+  "geometry_encoder_path": "/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/VGGT-1B",
+  "geometry_encoder_streaming": true,
+  "geometry_encoder_type": "vggt",
+  "geometry_frame_strict": true,
+  "geometry_fusion_layers": [
+    0,
+    1,
+    2
+  ],
+  "geometry_fusion_scale": 0.5,
+  "geometry_importance_gate": true,
+  "geometry_learnable_scale": true,
+  "geometry_merger_type": "mlp",
+  "geometry_spatial_bias": false,
+  "image_token_id": 248056,
+  "include_camera_token": false,
+  "model_type": "qwen3_5",
+  "pos_encoding_type": "none",
+  "reference_frame": "first",
+  "supervised_token_loss": true,
+  "text_config": {
+    "attention_bias": false,
+    "attention_dropout": 0.0,
+    "attn_output_gate": true,
+    "bos_token_id": null,
+    "dtype": "bfloat16",
+    "eos_token_id": 248044,
+    "full_attention_interval": 4,
+    "head_dim": 256,
+    "hidden_act": "silu",
+    "hidden_size": 2560,
+    "initializer_range": 0.02,
+    "intermediate_size": 9216,
+    "layer_types": [
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention"
+    ],
+    "linear_conv_kernel_dim": 4,
+    "linear_key_head_dim": 128,
+    "linear_num_key_heads": 16,
+    "linear_num_value_heads": 32,
+    "linear_value_head_dim": 128,
+    "mamba_ssm_dtype": "float32",
+    "max_position_embeddings": 262144,
+    "mlp_only_layers": [],
+    "model_type": "qwen3_5_text",
+    "mtp_num_hidden_layers": 1,
+    "mtp_use_dedicated_embeddings": false,
+    "num_attention_heads": 16,
+    "num_hidden_layers": 32,
+    "num_key_value_heads": 4,
+    "pad_token_id": null,
+    "partial_rotary_factor": 0.25,
+    "rms_norm_eps": 1e-06,
+    "rope_parameters": {
+      "mrope_interleaved": true,
+      "mrope_section": [
+        11,
+        11,
+        10
+      ],
+      "partial_rotary_factor": 0.25,
+      "rope_theta": 10000000,
+      "rope_type": "default"
+    },
+    "tie_word_embeddings": true,
+    "use_cache": true,
+    "vocab_size": 248320
+  },
+  "tie_word_embeddings": true,
+  "transformers_version": "5.3.0",
+  "use_cache": false,
+  "use_geometry_encoder": true,
+  "video_token_id": 248057,
+  "vision_config": {
+    "deepstack_visual_indexes": [],
+    "depth": 24,
+    "dtype": "bfloat16",
+    "hidden_act": "gelu_pytorch_tanh",
+    "hidden_size": 1024,
+    "in_channels": 3,
+    "initializer_range": 0.02,
+    "intermediate_size": 4096,
+    "model_type": "qwen3_5",
+    "num_heads": 16,
+    "num_position_embeddings": 2304,
+    "out_hidden_size": 2560,
+    "patch_size": 16,
+    "spatial_merge_size": 2,
+    "temporal_patch_size": 2
+  },
+  "vision_end_token_id": 248054,
+  "vision_language_fusion_layers": null,
+  "vision_start_token_id": 248053
+}
+Loading datasets: [{'annotation_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN/train_r2r_rxr.json', 'data_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN', 'tag': '3d', 'sampling_rate': 1.0, 'dataset_name': 'train_r2r_rxr'}]
+>>>>> STOP loss up-weight: 3.0 on token ids [48964]
+Qwen3_5Config {
+  "architectures": [
+    "Qwen3_5ForConditionalGeneration"
+  ],
+  "dtype": "bfloat16",
+  "feature_fusion_method": "deepstack_language_add",
+  "fusion_num_layers": 1,
+  "geometry_encoder_layers": [
+    11,
+    17,
+    23
+  ],
+  "geometry_encoder_path": "/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/VGGT-1B",
+  "geometry_encoder_streaming": true,
+  "geometry_encoder_type": "vggt",
+  "geometry_frame_strict": true,
+  "geometry_fusion_layers": [
+    0,
+    1,
+    2
+  ],
+  "geometry_fusion_scale": 0.5,
+  "geometry_importance_gate": true,
+  "geometry_learnable_scale": true,
+  "geometry_merger_type": "mlp",
+  "geometry_spatial_bias": false,
+  "image_token_id": 248056,
+  "include_camera_token": false,
+  "model_type": "qwen3_5",
+  "pos_encoding_type": "none",
+  "reference_frame": "first",
+  "supervised_token_loss": true,
+  "text_config": {
+    "attention_bias": false,
+    "attention_dropout": 0.0,
+    "attn_output_gate": true,
+    "bos_token_id": null,
+    "dtype": "bfloat16",
+    "eos_token_id": 248044,
+    "full_attention_interval": 4,
+    "head_dim": 256,
+    "hidden_act": "silu",
+    "hidden_size": 2560,
+    "initializer_range": 0.02,
+    "intermediate_size": 9216,
+    "layer_types": [
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention"
+    ],
+    "linear_conv_kernel_dim": 4,
+    "linear_key_head_dim": 128,
+    "linear_num_key_heads": 16,
+    "linear_num_value_heads": 32,
+    "linear_value_head_dim": 128,
+    "mamba_ssm_dtype": "float32",
+    "max_position_embeddings": 262144,
+    "mlp_only_layers": [],
+    "model_type": "qwen3_5_text",
+    "mtp_num_hidden_layers": 1,
+    "mtp_use_dedicated_embeddings": false,
+    "num_attention_heads": 16,
+    "num_hidden_layers": 32,
+    "num_key_value_heads": 4,
+    "pad_token_id": null,
+    "partial_rotary_factor": 0.25,
+    "rms_norm_eps": 1e-06,
+    "rope_parameters": {
+      "mrope_interleaved": true,
+      "mrope_section": [
+        11,
+        11,
+        10
+      ],
+      "partial_rotary_factor": 0.25,
+      "rope_theta": 10000000,
+      "rope_type": "default"
+    },
+    "tie_word_embeddings": true,
+    "use_cache": true,
+    "vocab_size": 248320
+  },
+  "tie_word_embeddings": true,
+  "transformers_version": "5.3.0",
+  "use_cache": false,
+  "use_geometry_encoder": true,
+  "video_token_id": 248057,
+  "vision_config": {
+    "deepstack_visual_indexes": [],
+    "depth": 24,
+    "dtype": "bfloat16",
+    "hidden_act": "gelu_pytorch_tanh",
+    "hidden_size": 1024,
+    "in_channels": 3,
+    "initializer_range": 0.02,
+    "intermediate_size": 4096,
+    "model_type": "qwen3_5",
+    "num_heads": 16,
+    "num_position_embeddings": 2304,
+    "out_hidden_size": 2560,
+    "patch_size": 16,
+    "spatial_merge_size": 2,
+    "temporal_patch_size": 2
+  },
+  "vision_end_token_id": 248054,
+  "vision_language_fusion_layers": null,
+  "vision_start_token_id": 248053
+}
+Loading datasets: [{'annotation_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN/train_r2r_rxr.json', 'data_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN', 'tag': '3d', 'sampling_rate': 1.0, 'dataset_name': 'train_r2r_rxr'}]
+>>>>> STOP loss up-weight: 3.0 on token ids [48964]
+Qwen3_5Config {
+  "architectures": [
+    "Qwen3_5ForConditionalGeneration"
+  ],
+  "dtype": "bfloat16",
+  "feature_fusion_method": "deepstack_language_add",
+  "fusion_num_layers": 1,
+  "geometry_encoder_layers": [
+    11,
+    17,
+    23
+  ],
+  "geometry_encoder_path": "/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/VGGT-1B",
+  "geometry_encoder_streaming": true,
+  "geometry_encoder_type": "vggt",
+  "geometry_frame_strict": true,
+  "geometry_fusion_layers": [
+    0,
+    1,
+    2
+  ],
+  "geometry_fusion_scale": 0.5,
+  "geometry_importance_gate": true,
+  "geometry_learnable_scale": true,
+  "geometry_merger_type": "mlp",
+  "geometry_spatial_bias": false,
+  "image_token_id": 248056,
+  "include_camera_token": false,
+  "model_type": "qwen3_5",
+  "pos_encoding_type": "none",
+  "reference_frame": "first",
+  "supervised_token_loss": true,
+  "text_config": {
+    "attention_bias": false,
+    "attention_dropout": 0.0,
+    "attn_output_gate": true,
+    "bos_token_id": null,
+    "dtype": "bfloat16",
+    "eos_token_id": 248044,
+    "full_attention_interval": 4,
+    "head_dim": 256,
+    "hidden_act": "silu",
+    "hidden_size": 2560,
+    "initializer_range": 0.02,
+    "intermediate_size": 9216,
+    "layer_types": [
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention"
+    ],
+    "linear_conv_kernel_dim": 4,
+    "linear_key_head_dim": 128,
+    "linear_num_key_heads": 16,
+    "linear_num_value_heads": 32,
+    "linear_value_head_dim": 128,
+    "mamba_ssm_dtype": "float32",
+    "max_position_embeddings": 262144,
+    "mlp_only_layers": [],
+    "model_type": "qwen3_5_text",
+    "mtp_num_hidden_layers": 1,
+    "mtp_use_dedicated_embeddings": false,
+    "num_attention_heads": 16,
+    "num_hidden_layers": 32,
+    "num_key_value_heads": 4,
+    "pad_token_id": null,
+    "partial_rotary_factor": 0.25,
+    "rms_norm_eps": 1e-06,
+    "rope_parameters": {
+      "mrope_interleaved": true,
+      "mrope_section": [
+        11,
+        11,
+        10
+      ],
+      "partial_rotary_factor": 0.25,
+      "rope_theta": 10000000,
+      "rope_type": "default"
+    },
+    "tie_word_embeddings": true,
+    "use_cache": true,
+    "vocab_size": 248320
+  },
+  "tie_word_embeddings": true,
+  "transformers_version": "5.3.0",
+  "use_cache": false,
+  "use_geometry_encoder": true,
+  "video_token_id": 248057,
+  "vision_config": {
+    "deepstack_visual_indexes": [],
+    "depth": 24,
+    "dtype": "bfloat16",
+    "hidden_act": "gelu_pytorch_tanh",
+    "hidden_size": 1024,
+    "in_channels": 3,
+    "initializer_range": 0.02,
+    "intermediate_size": 4096,
+    "model_type": "qwen3_5",
+    "num_heads": 16,
+    "num_position_embeddings": 2304,
+    "out_hidden_size": 2560,
+    "patch_size": 16,
+    "spatial_merge_size": 2,
+    "temporal_patch_size": 2
+  },
+  "vision_end_token_id": 248054,
+  "vision_language_fusion_layers": null,
+  "vision_start_token_id": 248053
+}
+Loading datasets: [{'annotation_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN/train_r2r_rxr.json', 'data_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN', 'tag': '3d', 'sampling_rate': 1.0, 'dataset_name': 'train_r2r_rxr'}]
+Total training samples: 2429620
+Total training samples: 2429620
+Total training samples: 2429620
+Total training samples: 2429620
+Formatting inputs...Skip in lazy mode
+Formatting inputs...Skip in lazy mode
+Formatting inputs...Skip in lazy mode
+Formatting inputs...Skip in lazy mode
+The tokenizer has new PAD/BOS/EOS tokens that differ from the model config and generation config. The model config and generation config were aligned accordingly, being updated with the tokenizer's values. Updated tokens: {'eos_token_id': 248046, 'pad_token_id': 248044}.
+The tokenizer has new PAD/BOS/EOS tokens that differ from the model config and generation config. The model config and generation config were aligned accordingly, being updated with the tokenizer's values. Updated tokens: {'eos_token_id': 248046, 'pad_token_id': 248044}.
+The tokenizer has new PAD/BOS/EOS tokens that differ from the model config and generation config. The model config and generation config were aligned accordingly, being updated with the tokenizer's values. Updated tokens: {'eos_token_id': 248046, 'pad_token_id': 248044}.
+The tokenizer has new PAD/BOS/EOS tokens that differ from the model config and generation config. The model config and generation config were aligned accordingly, being updated with the tokenizer's values. Updated tokens: {'eos_token_id': 248046, 'pad_token_id': 248044}.
+NCCL version 2.26.2+cuda12.2
  0%|          | 0/30 [00:00<?, ?it/s][GeometryBatch] micro_batch=8, mode=grouped VGGT, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (6, 3, 420, 560)], group_sizes=[7, 1]
+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:480: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
+[GeometryBatch] micro_batch=8, mode=grouped VGGT, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (3, 3, 420, 560)], group_sizes=[7, 1]
+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:480: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
+[GeometryBatch] micro_batch=8, mode=grouped VGGT, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (5, 3, 420, 560)], group_sizes=[7, 1]
+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:480: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:337: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:337: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:337: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
+[GeometryBatch] micro_batch=8, mode=grouped VGGT, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (2, 3, 420, 560)], group_sizes=[7, 1]
+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:480: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:337: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
+[GeometryBatch] micro_batch=8, mode=batched VGGT, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560)], group_sizes=[8]
  3%|▎         | 1/30 [00:56<27:22, 56.65s/it][GeometryBatch] micro_batch=8, mode=batched VGGT, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560)], group_sizes=[8]
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 20%|██        | 6/30 [02:09<06:44, 16.84s/it][GeometryBatch] micro_batch=8, mode=batched VGGT, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560)], group_sizes=[8]
 23%|██▎       | 7/30 [02:22<05:57, 15.54s/it][GeometryBatch] micro_batch=8, mode=batched VGGT, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560)], group_sizes=[8]
 27%|██▋       | 8/30 [02:44<06:23, 17.45s/it]
 30%|███       | 9/30 [02:57<05:37, 16.08s/it]
 33%|███▎      | 10/30 [03:10<05:01, 15.09s/it]
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 37%|███▋      | 11/30 [03:23<04:36, 14.55s/it][TrainingProfile] step=11 wall_s=12.942 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run3_group1/profile_rank0.jsonl
 40%|████      | 12/30 [03:36<04:14, 14.13s/it][TrainingProfile] step=12 wall_s=13.156 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run3_group1/profile_rank0.jsonl
 43%|████▎     | 13/30 [03:49<03:54, 13.82s/it][TrainingProfile] step=13 wall_s=13.097 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run3_group1/profile_rank0.jsonl
 47%|████▋     | 14/30 [04:02<03:36, 13.55s/it][TrainingProfile] step=14 wall_s=12.929 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run3_group1/profile_rank0.jsonl
 50%|█████     | 15/30 [04:15<03:19, 13.29s/it][TrainingProfile] step=15 wall_s=12.681 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run3_group1/profile_rank0.jsonl
 53%|█████▎    | 16/30 [04:28<03:04, 13.21s/it][TrainingProfile] step=16 wall_s=13.035 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run3_group1/profile_rank0.jsonl
 57%|█████▋    | 17/30 [04:41<02:51, 13.21s/it][TrainingProfile] step=17 wall_s=13.195 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run3_group1/profile_rank0.jsonl
 60%|██████    | 18/30 [04:54<02:37, 13.11s/it][TrainingProfile] step=18 wall_s=12.881 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run3_group1/profile_rank0.jsonl
 63%|██████▎   | 19/30 [05:07<02:22, 12.98s/it][TrainingProfile] step=19 wall_s=12.673 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run3_group1/profile_rank0.jsonl
 67%|██████▋   | 20/30 [05:19<02:09, 12.98s/it][TrainingProfile] step=20 wall_s=12.969 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run3_group1/profile_rank0.jsonl
 67%|██████▋   | 20/30 [05:19<02:09, 12.98s/it]
 70%|███████   | 21/30 [05:32<01:56, 12.93s/it][TrainingProfile] step=21 wall_s=12.837 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run3_group1/profile_rank0.jsonl
 73%|███████▎  | 22/30 [05:45<01:43, 12.92s/it][TrainingProfile] step=22 wall_s=12.873 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run3_group1/profile_rank0.jsonl
 77%|███████▋  | 23/30 [05:58<01:30, 12.87s/it][TrainingProfile] step=23 wall_s=12.751 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run3_group1/profile_rank0.jsonl
 80%|████████  | 24/30 [06:11<01:17, 12.90s/it][TrainingProfile] step=24 wall_s=12.975 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run3_group1/profile_rank0.jsonl
 83%|████████▎ | 25/30 [06:24<01:04, 12.87s/it][TrainingProfile] step=25 wall_s=12.793 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run3_group1/profile_rank0.jsonl
 87%|████████▋ | 26/30 [06:37<00:51, 12.92s/it][TrainingProfile] step=26 wall_s=13.039 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run3_group1/profile_rank0.jsonl
 90%|█████████ | 27/30 [06:50<00:38, 12.96s/it][TrainingProfile] step=27 wall_s=13.056 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run3_group1/profile_rank0.jsonl
 93%|█████████▎| 28/30 [07:03<00:25, 12.97s/it][TrainingProfile] step=28 wall_s=12.993 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run3_group1/profile_rank0.jsonl
 97%|█████████▋| 29/30 [07:16<00:12, 12.94s/it][TrainingProfile] step=29 wall_s=12.855 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run3_group1/profile_rank0.jsonl
+[rank0]:[W918 07:20:14.633838726 ProcessGroupNCCL.cpp:1476] Warning: WARNING: destroy_process_group() was not called before program exit, which can leak resources. For more info, please see https://pytorch.org/docs/stable/distributed.html#shutdown (function operator())

geometry_profile.z4oAs9/run4_group0/profile_rank0.jsonl ADDED Viewed

	@@ -0,0 +1,21 @@

+{"type": "config", "rank": 0, "world_size": 4, "micro_batch": 8, "accumulation": 2, "global_batch": 64, "seed": 42, "max_steps": 30, "workers": 8, "prefetch": 4, "first_step": 11, "last_step": 30, "model": "/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/Qwen3.5-4B", "supervised_token_loss": true, "NCCL_NVLS_ENABLE": "0", "vggt_group_by_shape": false, "note": "CUDA stream elapsed times include stalls; nested regions overlap. Update boundary synchronization is enabled. Backward includes recomputation and communication."}
+{"type": "update", "rank": 0, "step": 11, "wall_ms": 15729.90552522242, "cuda_stream_ms": {"batch_fetch_and_count": 49.56252670288086, "prepare_inputs": 0.9041280150413513, "vision_forward": 606.9217224121094, "vggt_single": 6303.414215087891, "geometry_total": 6305.606201171875, "language_forward": 2812.785888671875, "forward_and_loss": 9733.95556640625, "backward_and_communication": 5813.76904296875, "backward_and_engine_step": 5901.06005859375, "micro_step_total": 15666.94873046875, "deepspeed_step": 87.16057586669922, "gradient_clipping": 0.06496000289916992, "optimizer": 0.018015999346971512}, "cpu_call_ms": {"batch_fetch_and_count": 49.569014459848404, "prepare_inputs": 0.43942220509052277, "vision_forward": 596.3009465485811, "vggt_single": 6303.473701700568, "geometry_total": 6304.348755627871, "language_forward": 2743.5439564287663, "forward_and_loss": 9734.316999092698, "backward_and_communication": 5811.905086040497, "backward_and_engine_step": 5901.052333414555, "micro_step_total": 15666.930167004466, "deepspeed_step": 89.00207467377186, "gradient_clipping": 0.06417185068130493, "optimizer": 0.018402934074401855}, "calls": {"batch_fetch_and_count": 1, "prepare_inputs": 2, "vision_forward": 2, "vggt_single": 16, "geometry_total": 2, "language_forward": 2, "forward_and_loss": 2, "backward_and_communication": 2, "backward_and_engine_step": 2, "micro_step_total": 2, "deepspeed_step": 1, "gradient_clipping": 1, "optimizer": 1}, "counts": {"micro_steps": 2, "samples": 16, "token_slots": 50464, "frames": 135, "vggt_single_samples": 16, "vggt_single_frames": 135, "geometry_microbatches": 2, "vggt_fallback_microbatches": 2, "valid_tokens": 44439, "supervised_tokens": 63}, "frame_histogram": {"9": 13, "7": 2, "4": 1}, "input_shapes": {"(8, 3210)": 1, "(8, 3098)": 1}, "sample_indices": [2355533, 1658617, 592889, 2416829, 1864270, 1995665, 783966, 1211660, 804348, 152209, 855744, 45004, 642006, 1042078, 1074583, 542592], "padding_fraction": 0.119392041851617}
+{"type": "update", "rank": 0, "step": 12, "wall_ms": 15628.655882552266, "cuda_stream_ms": {"batch_fetch_and_count": 49.823326110839844, "prepare_inputs": 0.8792639970779419, "vision_forward": 565.8574829101562, "vggt_single": 6179.3895263671875, "geometry_total": 6181.588623046875, "language_forward": 2756.9722900390625, "forward_and_loss": 9513.0166015625, "backward_and_communication": 5940.515380859375, "backward_and_engine_step": 6027.852294921875, "micro_step_total": 15563.4794921875, "deepspeed_step": 87.20259094238281, "gradient_clipping": 0.06707199662923813, "optimizer": 0.016767999157309532}, "cpu_call_ms": {"batch_fetch_and_count": 50.0491913408041, "prepare_inputs": 0.3525000065565109, "vision_forward": 555.0736971199512, "vggt_single": 6179.750211536884, "geometry_total": 6180.581280961633, "language_forward": 2688.940515741706, "forward_and_loss": 9513.458263128996, "backward_and_communication": 5938.682787120342, "backward_and_engine_step": 6027.843380346894, "micro_step_total": 15563.460823148489, "deepspeed_step": 89.00846354663372, "gradient_clipping": 0.06647221744060516, "optimizer": 0.016903504729270935}, "calls": {"batch_fetch_and_count": 1, "prepare_inputs": 2, "vision_forward": 2, "vggt_single": 16, "geometry_total": 2, "language_forward": 2, "forward_and_loss": 2, "backward_and_communication": 2, "backward_and_engine_step": 2, "micro_step_total": 2, "deepspeed_step": 1, "gradient_clipping": 1, "optimizer": 1}, "counts": {"micro_steps": 2, "samples": 16, "token_slots": 49712, "frames": 135, "vggt_single_samples": 16, "vggt_single_frames": 135, "geometry_microbatches": 2, "vggt_fallback_microbatches": 2, "valid_tokens": 44402, "supervised_tokens": 63}, "frame_histogram": {"9": 14, "5": 1, "4": 1}, "input_shapes": {"(8, 3157)": 1, "(8, 3057)": 1}, "sample_indices": [1967907, 2025503, 2182373, 1417080, 722031, 2401808, 2116680, 1019709, 686733, 369381, 1057845, 2409673, 2035480, 1677979, 774494, 713761], "padding_fraction": 0.10681525587383323}
+{"type": "update", "rank": 0, "step": 13, "wall_ms": 15672.212520614266, "cuda_stream_ms": {"batch_fetch_and_count": 50.77142333984375, "prepare_inputs": 1.3630080223083496, "vision_forward": 601.2000427246094, "vggt_single": 6358.449012756348, "geometry_total": 6360.674560546875, "language_forward": 2790.6094970703125, "forward_and_loss": 9761.04248046875, "backward_and_communication": 5726.3369140625, "backward_and_engine_step": 5813.61181640625, "micro_step_total": 15606.4443359375, "deepspeed_step": 87.14105224609375, "gradient_clipping": 0.06598400324583054, "optimizer": 0.02035200037062168}, "cpu_call_ms": {"batch_fetch_and_count": 50.77611654996872, "prepare_inputs": 0.9106472134590149, "vision_forward": 590.1890229433775, "vggt_single": 6358.621908351779, "geometry_total": 6359.453693032265, "language_forward": 2722.863467410207, "forward_and_loss": 9761.384092271328, "backward_and_communication": 5724.44087266922, "backward_and_engine_step": 5813.605165109038, "micro_step_total": 15606.42722249031, "deepspeed_step": 89.01545964181423, "gradient_clipping": 0.06559677422046661, "optimizer": 0.02071075141429901}, "calls": {"batch_fetch_and_count": 1, "prepare_inputs": 2, "vision_forward": 2, "vggt_single": 16, "geometry_total": 2, "language_forward": 2, "forward_and_loss": 2, "backward_and_communication": 2, "backward_and_engine_step": 2, "micro_step_total": 2, "deepspeed_step": 1, "gradient_clipping": 1, "optimizer": 1}, "counts": {"micro_steps": 2, "samples": 16, "token_slots": 50328, "frames": 137, "vggt_single_samples": 16, "vggt_single_frames": 137, "geometry_microbatches": 2, "vggt_fallback_microbatches": 2, "valid_tokens": 45093, "supervised_tokens": 63}, "frame_histogram": {"9": 14, "3": 1, "8": 1}, "input_shapes": {"(8, 3218)": 1, "(8, 3073)": 1}, "sample_indices": [39296, 981621, 2059737, 2144433, 1464480, 461833, 98658, 1762742, 1108757, 1798063, 758102, 1015789, 213544, 1036663, 77328, 1447520], "padding_fraction": 0.10401764425369575}
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 80%|████████  | 24/30 [07:12<01:30, 15.11s/it][TrainingProfile] step=24 wall_s=15.292 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run4_group0/profile_rank0.jsonl
 83%|████████▎ | 25/30 [07:28<01:15, 15.20s/it][TrainingProfile] step=25 wall_s=15.385 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run4_group0/profile_rank0.jsonl
 87%|████████▋ | 26/30 [07:44<01:01, 15.40s/it][TrainingProfile] step=26 wall_s=15.869 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run4_group0/profile_rank0.jsonl
 90%|█████████ | 27/30 [08:00<00:46, 15.51s/it][TrainingProfile] step=27 wall_s=15.785 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run4_group0/profile_rank0.jsonl
 93%|█████████▎| 28/30 [08:15<00:31, 15.54s/it][TrainingProfile] step=28 wall_s=15.601 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run4_group0/profile_rank0.jsonl
 97%|█████████▋| 29/30 [08:31<00:15, 15.52s/it][TrainingProfile] step=29 wall_s=15.470 file=/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/spatialstack_janus_VGGT-Optimized_test/output/geometry_profile.z4oAs9/run4_group0/profile_rank0.jsonl

+[INFO] Running in WANDB offline mode
+[INFO] Running in WANDB offline mode
+[INFO] Running in WANDB offline mode
+[INFO] Running in WANDB offline mode
+Trainer._get_train_sampler replaced with custom implementation.
+warmup_ratio is deprecated and will be removed in v5.2. Use `warmup_steps` instead.
+Trainer._get_train_sampler replaced with custom implementation.
+warmup_ratio is deprecated and will be removed in v5.2. Use `warmup_steps` instead.
+[2026-09-18 07:20:27,169] [INFO] [real_accelerator.py:222:get_accelerator] Setting ds_accelerator to cuda (auto detect)
+[2026-09-18 07:20:27,180] [INFO] [real_accelerator.py:222:get_accelerator] Setting ds_accelerator to cuda (auto detect)
+Trainer._get_train_sampler replaced with custom implementation.
+warmup_ratio is deprecated and will be removed in v5.2. Use `warmup_steps` instead.
+[2026-09-18 07:20:27,366] [INFO] [real_accelerator.py:222:get_accelerator] Setting ds_accelerator to cuda (auto detect)
+Trainer._get_train_sampler replaced with custom implementation.
+warmup_ratio is deprecated and will be removed in v5.2. Use `warmup_steps` instead.
+[2026-09-18 07:20:27,419] [INFO] [real_accelerator.py:222:get_accelerator] Setting ds_accelerator to cuda (auto detect)
+[2026-09-18 07:20:27,483] [INFO] [comm.py:658:init_distributed] cdb=None
+[2026-09-18 07:20:27,513] [INFO] [comm.py:658:init_distributed] cdb=None
+[2026-09-18 07:20:27,513] [INFO] [comm.py:689:init_distributed] Initializing TorchBackend in DeepSpeed with backend nccl
+[2026-09-18 07:20:27,663] [INFO] [comm.py:658:init_distributed] cdb=None
+[TrainingFix] Qwen3.5 FlashAttention MRoPE packing guard enabled
+[2026-09-18 07:20:27,721] [INFO] [comm.py:658:init_distributed] cdb=None
+[TrainingFix] Qwen3.5 FlashAttention MRoPE packing guard enabled
+[TrainingFix] Qwen3.5 FlashAttention MRoPE packing guard enabled
+[VGGTEncoder] eval KV-cache window: start=8 recent=48 (total=56 frames)
+[FeatureFusion] geometry fusion delta scaled by 0.5
+[FeatureFusion] importance gate ENABLED on geometry delta
+[FeatureFusion] learnable geometry scale ENABLED (init 0.5)
+[VGGTEncoder] eval KV-cache window: start=8 recent=48 (total=56 frames)
+[FeatureFusion] geometry fusion delta scaled by 0.5
+[FeatureFusion] importance gate ENABLED on geometry delta
+[FeatureFusion] learnable geometry scale ENABLED (init 0.5)
+[VGGTEncoder] eval KV-cache window: start=8 recent=48 (total=56 frames)
+[FeatureFusion] geometry fusion delta scaled by 0.5
+[FeatureFusion] importance gate ENABLED on geometry delta
+[FeatureFusion] learnable geometry scale ENABLED (init 0.5)
+[VGGTEncoder] eval KV-cache window: start=8 recent=48 (total=56 frames)
+[FeatureFusion] geometry fusion delta scaled by 0.5
+[FeatureFusion] importance gate ENABLED on geometry delta
+[FeatureFusion] learnable geometry scale ENABLED (init 0.5)
+Loading weights from local directory
+Loading weights from local directory
+Loading weights from local directory
+Loading weights from local directory
+>>>>> STOP loss up-weight: 3.0 on token ids [48964]
+Qwen3_5Config {
+  "architectures": [
+    "Qwen3_5ForConditionalGeneration"
+  ],
+  "dtype": "bfloat16",
+  "feature_fusion_method": "deepstack_language_add",
+  "fusion_num_layers": 1,
+  "geometry_encoder_layers": [
+    11,
+    17,
+    23
+  ],
+  "geometry_encoder_path": "/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/VGGT-1B",
+  "geometry_encoder_streaming": true,
+  "geometry_encoder_type": "vggt",
+  "geometry_frame_strict": true,
+  "geometry_fusion_layers": [
+    0,
+    1,
+    2
+  ],
+  "geometry_fusion_scale": 0.5,
+  "geometry_importance_gate": true,
+  "geometry_learnable_scale": true,
+  "geometry_merger_type": "mlp",
+  "geometry_spatial_bias": false,
+  "image_token_id": 248056,
+  "include_camera_token": false,
+  "model_type": "qwen3_5",
+  "pos_encoding_type": "none",
+  "reference_frame": "first",
+  "supervised_token_loss": true,
+  "text_config": {
+    "attention_bias": false,
+    "attention_dropout": 0.0,
+    "attn_output_gate": true,
+    "bos_token_id": null,
+    "dtype": "bfloat16",
+    "eos_token_id": 248044,
+    "full_attention_interval": 4,
+    "head_dim": 256,
+    "hidden_act": "silu",
+    "hidden_size": 2560,
+    "initializer_range": 0.02,
+    "intermediate_size": 9216,
+    "layer_types": [
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention"
+    ],
+    "linear_conv_kernel_dim": 4,
+    "linear_key_head_dim": 128,
+    "linear_num_key_heads": 16,
+    "linear_num_value_heads": 32,
+    "linear_value_head_dim": 128,
+    "mamba_ssm_dtype": "float32",
+    "max_position_embeddings": 262144,
+    "mlp_only_layers": [],
+    "model_type": "qwen3_5_text",
+    "mtp_num_hidden_layers": 1,
+    "mtp_use_dedicated_embeddings": false,
+    "num_attention_heads": 16,
+    "num_hidden_layers": 32,
+    "num_key_value_heads": 4,
+    "pad_token_id": null,
+    "partial_rotary_factor": 0.25,
+    "rms_norm_eps": 1e-06,
+    "rope_parameters": {
+      "mrope_interleaved": true,
+      "mrope_section": [
+        11,
+        11,
+        10
+      ],
+      "partial_rotary_factor": 0.25,
+      "rope_theta": 10000000,
+      "rope_type": "default"
+    },
+    "tie_word_embeddings": true,
+    "use_cache": true,
+    "vocab_size": 248320
+  },
+  "tie_word_embeddings": true,
+  "transformers_version": "5.3.0",
+  "use_cache": false,
+  "use_geometry_encoder": true,
+  "video_token_id": 248057,
+  "vision_config": {
+    "deepstack_visual_indexes": [],
+    "depth": 24,
+    "dtype": "bfloat16",
+    "hidden_act": "gelu_pytorch_tanh",
+    "hidden_size": 1024,
+    "in_channels": 3,
+    "initializer_range": 0.02,
+    "intermediate_size": 4096,
+    "model_type": "qwen3_5",
+    "num_heads": 16,
+    "num_position_embeddings": 2304,
+    "out_hidden_size": 2560,
+    "patch_size": 16,
+    "spatial_merge_size": 2,
+    "temporal_patch_size": 2
+  },
+  "vision_end_token_id": 248054,
+  "vision_language_fusion_layers": null,
+  "vision_start_token_id": 248053
+}
+Loading datasets: [{'annotation_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN/train_r2r_rxr.json', 'data_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN', 'tag': '3d', 'sampling_rate': 1.0, 'dataset_name': 'train_r2r_rxr'}]
+>>>>> STOP loss up-weight: 3.0 on token ids [48964]
+Qwen3_5Config {
+  "architectures": [
+    "Qwen3_5ForConditionalGeneration"
+  ],
+  "dtype": "bfloat16",
+  "feature_fusion_method": "deepstack_language_add",
+  "fusion_num_layers": 1,
+  "geometry_encoder_layers": [
+    11,
+    17,
+    23
+  ],
+  "geometry_encoder_path": "/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/VGGT-1B",
+  "geometry_encoder_streaming": true,
+  "geometry_encoder_type": "vggt",
+  "geometry_frame_strict": true,
+  "geometry_fusion_layers": [
+    0,
+    1,
+    2
+  ],
+  "geometry_fusion_scale": 0.5,
+  "geometry_importance_gate": true,
+  "geometry_learnable_scale": true,
+  "geometry_merger_type": "mlp",
+  "geometry_spatial_bias": false,
+  "image_token_id": 248056,
+  "include_camera_token": false,
+  "model_type": "qwen3_5",
+  "pos_encoding_type": "none",
+  "reference_frame": "first",
+  "supervised_token_loss": true,
+  "text_config": {
+    "attention_bias": false,
+    "attention_dropout": 0.0,
+    "attn_output_gate": true,
+    "bos_token_id": null,
+    "dtype": "bfloat16",
+    "eos_token_id": 248044,
+    "full_attention_interval": 4,
+    "head_dim": 256,
+    "hidden_act": "silu",
+    "hidden_size": 2560,
+    "initializer_range": 0.02,
+    "intermediate_size": 9216,
+    "layer_types": [
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention"
+    ],
+    "linear_conv_kernel_dim": 4,
+    "linear_key_head_dim": 128,
+    "linear_num_key_heads": 16,
+    "linear_num_value_heads": 32,
+    "linear_value_head_dim": 128,
+    "mamba_ssm_dtype": "float32",
+    "max_position_embeddings": 262144,
+    "mlp_only_layers": [],
+    "model_type": "qwen3_5_text",
+    "mtp_num_hidden_layers": 1,
+    "mtp_use_dedicated_embeddings": false,
+    "num_attention_heads": 16,
+    "num_hidden_layers": 32,
+    "num_key_value_heads": 4,
+    "pad_token_id": null,
+    "partial_rotary_factor": 0.25,
+    "rms_norm_eps": 1e-06,
+    "rope_parameters": {
+      "mrope_interleaved": true,
+      "mrope_section": [
+        11,
+        11,
+        10
+      ],
+      "partial_rotary_factor": 0.25,
+      "rope_theta": 10000000,
+      "rope_type": "default"
+    },
+    "tie_word_embeddings": true,
+    "use_cache": true,
+    "vocab_size": 248320
+  },
+  "tie_word_embeddings": true,
+  "transformers_version": "5.3.0",
+  "use_cache": false,
+  "use_geometry_encoder": true,
+  "video_token_id": 248057,
+  "vision_config": {
+    "deepstack_visual_indexes": [],
+    "depth": 24,
+    "dtype": "bfloat16",
+    "hidden_act": "gelu_pytorch_tanh",
+    "hidden_size": 1024,
+    "in_channels": 3,
+    "initializer_range": 0.02,
+    "intermediate_size": 4096,
+    "model_type": "qwen3_5",
+    "num_heads": 16,
+    "num_position_embeddings": 2304,
+    "out_hidden_size": 2560,
+    "patch_size": 16,
+    "spatial_merge_size": 2,
+    "temporal_patch_size": 2
+  },
+  "vision_end_token_id": 248054,
+  "vision_language_fusion_layers": null,
+  "vision_start_token_id": 248053
+}
+Loading datasets: [{'annotation_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN/train_r2r_rxr.json', 'data_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN', 'tag': '3d', 'sampling_rate': 1.0, 'dataset_name': 'train_r2r_rxr'}]
+>>>>> STOP loss up-weight: 3.0 on token ids [48964]
+Vision Module - Attention Blocks:
+Trainable Block Indices: None
+Non-Trainable Block Indices: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23]
+Merger Module Trainable: True
+LLM Module - Embed Tokens Trainable: True
+LLM Module - Trainable Layer Indices: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31]
+LLM Module - Non-Trainable Layer Indices: None
+Qwen3_5Config {
+  "architectures": [
+    "Qwen3_5ForConditionalGeneration"
+  ],
+  "dtype": "bfloat16",
+  "feature_fusion_method": "deepstack_language_add",
+  "fusion_num_layers": 1,
+  "geometry_encoder_layers": [
+    11,
+    17,
+    23
+  ],
+  "geometry_encoder_path": "/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/VGGT-1B",
+  "geometry_encoder_streaming": true,
+  "geometry_encoder_type": "vggt",
+  "geometry_frame_strict": true,
+  "geometry_fusion_layers": [
+    0,
+    1,
+    2
+  ],
+  "geometry_fusion_scale": 0.5,
+  "geometry_importance_gate": true,
+  "geometry_learnable_scale": true,
+  "geometry_merger_type": "mlp",
+  "geometry_spatial_bias": false,
+  "image_token_id": 248056,
+  "include_camera_token": false,
+  "model_type": "qwen3_5",
+  "pos_encoding_type": "none",
+  "reference_frame": "first",
+  "supervised_token_loss": true,
+  "text_config": {
+    "attention_bias": false,
+    "attention_dropout": 0.0,
+    "attn_output_gate": true,
+    "bos_token_id": null,
+    "dtype": "bfloat16",
+    "eos_token_id": 248044,
+    "full_attention_interval": 4,
+    "head_dim": 256,
+    "hidden_act": "silu",
+    "hidden_size": 2560,
+    "initializer_range": 0.02,
+    "intermediate_size": 9216,
+    "layer_types": [
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention"
+    ],
+    "linear_conv_kernel_dim": 4,
+    "linear_key_head_dim": 128,
+    "linear_num_key_heads": 16,
+    "linear_num_value_heads": 32,
+    "linear_value_head_dim": 128,
+    "mamba_ssm_dtype": "float32",
+    "max_position_embeddings": 262144,
+    "mlp_only_layers": [],
+    "model_type": "qwen3_5_text",
+    "mtp_num_hidden_layers": 1,
+    "mtp_use_dedicated_embeddings": false,
+    "num_attention_heads": 16,
+    "num_hidden_layers": 32,
+    "num_key_value_heads": 4,
+    "pad_token_id": null,
+    "partial_rotary_factor": 0.25,
+    "rms_norm_eps": 1e-06,
+    "rope_parameters": {
+      "mrope_interleaved": true,
+      "mrope_section": [
+        11,
+        11,
+        10
+      ],
+      "partial_rotary_factor": 0.25,
+      "rope_theta": 10000000,
+      "rope_type": "default"
+    },
+    "tie_word_embeddings": true,
+    "use_cache": true,
+    "vocab_size": 248320
+  },
+  "tie_word_embeddings": true,
+  "transformers_version": "5.3.0",
+  "use_cache": false,
+  "use_geometry_encoder": true,
+  "video_token_id": 248057,
+  "vision_config": {
+    "deepstack_visual_indexes": [],
+    "depth": 24,
+    "dtype": "bfloat16",
+    "hidden_act": "gelu_pytorch_tanh",
+    "hidden_size": 1024,
+    "in_channels": 3,
+    "initializer_range": 0.02,
+    "intermediate_size": 4096,
+    "model_type": "qwen3_5",
+    "num_heads": 16,
+    "num_position_embeddings": 2304,
+    "out_hidden_size": 2560,
+    "patch_size": 16,
+    "spatial_merge_size": 2,
+    "temporal_patch_size": 2
+  },
+  "vision_end_token_id": 248054,
+  "vision_language_fusion_layers": null,
+  "vision_start_token_id": 248053
+}
+Loading datasets: [{'annotation_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN/train_r2r_rxr.json', 'data_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN', 'tag': '3d', 'sampling_rate': 1.0, 'dataset_name': 'train_r2r_rxr'}]
+>>>>> STOP loss up-weight: 3.0 on token ids [48964]
+Qwen3_5Config {
+  "architectures": [
+    "Qwen3_5ForConditionalGeneration"
+  ],
+  "dtype": "bfloat16",
+  "feature_fusion_method": "deepstack_language_add",
+  "fusion_num_layers": 1,
+  "geometry_encoder_layers": [
+    11,
+    17,
+    23
+  ],
+  "geometry_encoder_path": "/mnt/data/vmo-ai-task/dungpq6/model-checkpoint/VGGT-1B",
+  "geometry_encoder_streaming": true,
+  "geometry_encoder_type": "vggt",
+  "geometry_frame_strict": true,
+  "geometry_fusion_layers": [
+    0,
+    1,
+    2
+  ],
+  "geometry_fusion_scale": 0.5,
+  "geometry_importance_gate": true,
+  "geometry_learnable_scale": true,
+  "geometry_merger_type": "mlp",
+  "geometry_spatial_bias": false,
+  "image_token_id": 248056,
+  "include_camera_token": false,
+  "model_type": "qwen3_5",
+  "pos_encoding_type": "none",
+  "reference_frame": "first",
+  "supervised_token_loss": true,
+  "text_config": {
+    "attention_bias": false,
+    "attention_dropout": 0.0,
+    "attn_output_gate": true,
+    "bos_token_id": null,
+    "dtype": "bfloat16",
+    "eos_token_id": 248044,
+    "full_attention_interval": 4,
+    "head_dim": 256,
+    "hidden_act": "silu",
+    "hidden_size": 2560,
+    "initializer_range": 0.02,
+    "intermediate_size": 9216,
+    "layer_types": [
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention",
+      "linear_attention",
+      "linear_attention",
+      "linear_attention",
+      "full_attention"
+    ],
+    "linear_conv_kernel_dim": 4,
+    "linear_key_head_dim": 128,
+    "linear_num_key_heads": 16,
+    "linear_num_value_heads": 32,
+    "linear_value_head_dim": 128,
+    "mamba_ssm_dtype": "float32",
+    "max_position_embeddings": 262144,
+    "mlp_only_layers": [],
+    "model_type": "qwen3_5_text",
+    "mtp_num_hidden_layers": 1,
+    "mtp_use_dedicated_embeddings": false,
+    "num_attention_heads": 16,
+    "num_hidden_layers": 32,
+    "num_key_value_heads": 4,
+    "pad_token_id": null,
+    "partial_rotary_factor": 0.25,
+    "rms_norm_eps": 1e-06,
+    "rope_parameters": {
+      "mrope_interleaved": true,
+      "mrope_section": [
+        11,
+        11,
+        10
+      ],
+      "partial_rotary_factor": 0.25,
+      "rope_theta": 10000000,
+      "rope_type": "default"
+    },
+    "tie_word_embeddings": true,
+    "use_cache": true,
+    "vocab_size": 248320
+  },
+  "tie_word_embeddings": true,
+  "transformers_version": "5.3.0",
+  "use_cache": false,
+  "use_geometry_encoder": true,
+  "video_token_id": 248057,
+  "vision_config": {
+    "deepstack_visual_indexes": [],
+    "depth": 24,
+    "dtype": "bfloat16",
+    "hidden_act": "gelu_pytorch_tanh",
+    "hidden_size": 1024,
+    "in_channels": 3,
+    "initializer_range": 0.02,
+    "intermediate_size": 4096,
+    "model_type": "qwen3_5",
+    "num_heads": 16,
+    "num_position_embeddings": 2304,
+    "out_hidden_size": 2560,
+    "patch_size": 16,
+    "spatial_merge_size": 2,
+    "temporal_patch_size": 2
+  },
+  "vision_end_token_id": 248054,
+  "vision_language_fusion_layers": null,
+  "vision_start_token_id": 248053
+}
+Loading datasets: [{'annotation_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN/train_r2r_rxr.json', 'data_path': '/mnt/data/vmo-ai-task/anhdh35/JanusVLN', 'tag': '3d', 'sampling_rate': 1.0, 'dataset_name': 'train_r2r_rxr'}]
+Total training samples: 2429620
+Total training samples: 2429620
+Total training samples: 2429620
+Formatting inputs...Skip in lazy mode
+Formatting inputs...Skip in lazy mode
+Total training samples: 2429620
+Formatting inputs...Skip in lazy mode
+The tokenizer has new PAD/BOS/EOS tokens that differ from the model config and generation config. The model config and generation config were aligned accordingly, being updated with the tokenizer's values. Updated tokens: {'eos_token_id': 248046, 'pad_token_id': 248044}.
+Formatting inputs...Skip in lazy mode
+The tokenizer has new PAD/BOS/EOS tokens that differ from the model config and generation config. The model config and generation config were aligned accordingly, being updated with the tokenizer's values. Updated tokens: {'eos_token_id': 248046, 'pad_token_id': 248044}.
+The tokenizer has new PAD/BOS/EOS tokens that differ from the model config and generation config. The model config and generation config were aligned accordingly, being updated with the tokenizer's values. Updated tokens: {'eos_token_id': 248046, 'pad_token_id': 248044}.
+The tokenizer has new PAD/BOS/EOS tokens that differ from the model config and generation config. The model config and generation config were aligned accordingly, being updated with the tokenizer's values. Updated tokens: {'eos_token_id': 248046, 'pad_token_id': 248044}.
+NCCL version 2.26.2+cuda12.2
  0%|          | 0/30 [00:00<?, ?it/s][GeometryBatch] micro_batch=8, mode=per-sample VGGT fallback, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (5, 3, 420, 560)], group_sizes=[1, 1, 1, 1, 1, 1, 1, 1]
+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:337: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
+[GeometryBatch] micro_batch=8, mode=per-sample VGGT fallback, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (6, 3, 420, 560)], group_sizes=[1, 1, 1, 1, 1, 1, 1, 1]
+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:337: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
+[GeometryBatch] micro_batch=8, mode=per-sample VGGT fallback, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (3, 3, 420, 560)], group_sizes=[1, 1, 1, 1, 1, 1, 1, 1]
+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:337: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
+[GeometryBatch] micro_batch=8, mode=per-sample VGGT fallback, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (2, 3, 420, 560)], group_sizes=[1, 1, 1, 1, 1, 1, 1, 1]
+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:337: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
+[GeometryBatch] micro_batch=8, mode=batched VGGT, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560)], group_sizes=[8]
+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:480: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
  3%|▎         | 1/30 [01:00<29:19, 60.67s/it][GeometryBatch] micro_batch=8, mode=batched VGGT, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560)], group_sizes=[8]
+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:480: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
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+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:480: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
 23%|██▎       | 7/30 [02:42<06:58, 18.22s/it][GeometryBatch] micro_batch=8, mode=batched VGGT, input_shapes=[(9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560), (9, 3, 420, 560)], group_sizes=[8]
+/home/dungpq6/Project/SpatialStack/src/qwen_vl/model/geometry_encoders/vggt_encoder.py:480: FutureWarning: `torch.cuda.amp.autocast(args...)` is deprecated. Please use `torch.amp.autocast('cuda', args...)` instead.
+  with torch.cuda.amp.autocast(dtype=dtype):
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+[rank0]:[W918 07:32:39.141922096 ProcessGroupNCCL.cpp:1476] Warning: WARNING: destroy_process_group() was not called before program exit, which can leak resources. For more info, please see https://pytorch.org/docs/stable/distributed.html#shutdown (function operator())