Archive native LoRA step338 run

Upload the complete retained native-LoRA source tree: sealed step338 DCP, validation receipts, TensorBoard evidence, and driver log. Historical audit reference only; not an initialization point for current training.

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You may see slightly different numerical results due to floating-point round-off errors from different computation orders. To turn them off, set the environment variable `TF_ENABLE_ONEDNN_OPTS=0`.\nWARNING: All log messages before absl::InitializeLog() is called are written to STDERR\nI0000 00:00:1786500929.526190 1720731 port.cc:153] oneDNN custom operations are on. You may see slightly different numerical results due to floating-point round-off errors from different computation orders. To turn them off, set the environment variable `TF_ENABLE_ONEDNN_OPTS=0`.\nINFO:RLinf:openpi_pytorch[sft]: loaded Pi0Config(action_dim=32, action_horizon=32, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pointnet_variant='pcd', pi05=True, discrete_state_input=True, pcd=False) (3.35B params) old_to_new/legacy_completion_initialized from /home/ubuntu/lwb/Models/openpi_comet_pytorch/pi05-b1kpt50-cs32/model.safetensors precision=bf16 num_steps=5\nINFO:rlinf.models.embodiment.openpi_pytorch.utils.model_builders:openpi_pytorch[sft]: froze 331/331 SigLIP vision parameter tensors\nINFO:RLinf:openpi_pytorch[sft]: initialized native LoRA from /home/ubuntu/lwb/Artifacts/RLinf_prompt_following/canonical/deploy/step-000000000767-ad017eb8535cd935/source_bf16/actor/model_state_dict/full_weights.pt; targets vision=162 language=72\nINFO:omnigibson.transition_rules:Adding recipes of rule CookingObjectRule...\nINFO:omnigibson.transition_rules:All recipes of rule CookingObjectRule imported successfully.\nINFO:omnigibson.transition_rules:Adding recipes of rule CookingSystemRule...\nINFO:omnigibson.transition_rules:All recipes of rule CookingSystemRule imported successfully.\nINFO:omnigibson.transition_rules:Adding recipes of rule MixingToolRule...\nINFO:omnigibson.transition_rules:All recipes of rule MixingToolRule imported successfully.\nINFO:omnigibson.transition_rules:Adding recipes of rule ToggleableMachineRule...\nINFO:omnigibson.transition_rules:All recipes of rule ToggleableMachineRule imported successfully.\nINFO:omnigibson.transition_rules:Adding recipes of rule CookingPhysicalParticleRule...\nINFO:omnigibson.transition_rules:All recipes of rule CookingPhysicalParticleRule imported successfully.\nINFO:omnigibson.transition_rules:Adding recipes of rule CookingPhysicalParticleRule...\nINFO:omnigibson.transition_rules:All recipes of rule CookingPhysicalParticleRule imported successfully.\n\u001b[0m[00:01:22.478] [INFO] [BehaviorSftDataset] Total episodes: 17\u001b[0m\n\u001b[0m[00:01:24.063] [INFO] [root] Loaded norm stats from /home/ubuntu/lwb/Models/openpi_comet_pytorch/pi05-b1kpt50-cs32/physical-intelligence/behavior\u001b[0m\n\u001b[0m[00:01:24.064] [INFO] [root] Loaded norm stats from /home/ubuntu/lwb/Models/openpi_comet_pytorch/pi05-b1kpt50-cs32/assets/behavior-1k/2025-challenge-demos\u001b[0m\n\u001b[0m[00:01:24.064] [INFO] [rlinf.data.datasets.openpi_pytorch.behavior.behavior_sft_data_loader] BEHAVIOR SFT data loader: batch_size=1, num_workers=0, action_horizon=32, norm_stats=/home/ubuntu/lwb/Models/openpi_comet_pytorch/pi05-b1kpt50-cs32/assets/behavior-1k/2025-challenge-demos\u001b[0m\nNo CUDA runtime is found, using CUDA_HOME='/usr/local/cuda'\n","stdout":"{\"metrics\": {\"atomic_sim_receipt_schema_sha256\": \"e2461f63b26562b11d5da27ecd5ea9c782a6ab7238923dbd7b808f2f50ce83b5\", \"base_model_sha256\": \"7e257666d835f6af701de493676a6c86a0421b2efc737a0f911d782b7a09f635\", 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legacy/training/lora/checkpoints/native_lora_v1_step338_stopped/validations/step-000000000338-1f2c404a246ebabc/result.json

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legacy/training/lora/logs/tensorboard/config.yaml

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+actor:
+  model:
+    model_type: openpi_pytorch
+    precision: fp32
+    is_lora: false
+    lora_rank: 32
+    num_action_chunks: 32
+    action_dim: 23
+    use_proprio: true
+    num_steps: 5
+    add_value_head: false
+    openpi:
+      task: sft
+      config_name: pi05_behavior
+      num_images_in_input: 3
+      action_chunk: 32
+      action_env_dim: 23
+      model_action_dim: 32
+      paligemma_variant: gemma_2b
+      action_expert_variant: gemma_300m
+      max_token_len: 200
+      assets_dir: /home/ubuntu/lwb/Models/openpi_comet_pytorch/pi05-b1kpt50-cs32/assets
+      asset_id: behavior-1k/2025-challenge-demos
+    model_path: /home/ubuntu/lwb/Models/openpi_comet_pytorch/pi05-b1kpt50-cs32
+    native_lora:
+      enabled: true
+      rank: 8
+      alpha: 16.0
+      dropout: 0.05
+      initialization_checkpoint: /home/ubuntu/lwb/Artifacts/RLinf_prompt_following/canonical/deploy/step-000000000767-ad017eb8535cd935/source_bf16/actor/model_state_dict/full_weights.pt
+      initialization_checkpoint_sha256: 677c10a086ec013ec967d7f2de704364a67ab23eb632f6410c480e040f2a46e0
+      initialization_manifest_path: /home/ubuntu/lwb/Artifacts/RLinf_prompt_following/canonical/deploy/step-000000000767-ad017eb8535cd935/source_bf16/MANIFEST.json
+      initialization_manifest_sha256: 26a14be5528236ebbc4607ad2a708e49759072eca167c792f3170590d5c7aa0f
+      initialization_complete_path: /home/ubuntu/lwb/Artifacts/RLinf_prompt_following/canonical/deploy/step-000000000767-ad017eb8535cd935/source_bf16/COMPLETE
+      initialization_provenance_path: /home/ubuntu/lwb/Artifacts/RLinf_prompt_following/canonical/deploy/step-000000000767-ad017eb8535cd935/source_bf16/provenance.json
+      initialization_provenance_sha256: 3d352330c9c6595dfbc2960dd3881d2568e9c0ca747ea260dc5e8ad34407d892
+      initialization_validation_receipt_path: /home/ubuntu/lwb/Artifacts/RLinf_prompt_following/canonical/checkpoints/validations/step-000000000767-ad017eb8535cd935/receipt.json
+      initialization_validation_receipt_sha256: 92404a588150fdb1f089e74ceb03a9e366315972b7ae61ee3425ecd4c33e6b65
+      initialization_validator_source_sha256: ae33fe3a2d243386918c7f90267f3cbaddbc5a63fa42659f5b401f415023bb19
+      initialization_global_step: 767
+      initialization_source_object: objects/step-000000000767-ad017eb8535cd935
+      initialization_source_manifest_sha256: ad017eb8535cd9350dfe4b236b92fa19f56f5c4ffe7bf31c538c0be1d9e368f9
+      initialization_validation_batches: 32
+      initialization_validation_status: passed
+  fsdp_config:
+    strategy: fsdp
+    sharding_strategy: full_shard
+    gradient_checkpointing: false
+    cpu_offload: false
+    offload_pin_memory: false
+    reshard_after_forward: true
+    enable_gradient_accumulation: true
+    forward_prefetch: false
+    limit_all_gathers: false
+    backward_prefetch: null
+    use_orig_params: true
+    use_liger_kernel: false
+    mixed_precision:
+      param_dtype: bf16
+      reduce_dtype: fp32
+      buffer_dtype: fp32
+    amp_autocast:
+      enabled: false
+      precision: bf16
+    grad_scaler:
+      enabled: false
+      init_scale: null
+      growth_interval: null
+    gradient_checkpointing_use_reentrant: false
+    low_peak_checkpoint_load: true
+    require_resumable_data_state: true
+  group_name: ActorGroup
+  training_backend: fsdp
+  micro_batch_size: 4
+  eval_batch_size: 1
+  global_batch_size: 256
+  seed: 42
+  optim:
+    lr: 5.0e-06
+    adam_beta1: 0.9
+    adam_beta2: 0.95
+    adam_eps: 1.0e-08
+    weight_decay: 1.0e-10
+    clip_grad: 1.0
+    total_training_steps: 30000
+    lr_warmup_steps: 1000
+    lr_scheduler: openpi_cosine
+    num_cycles: 0.5
+    min_lr: 0.0
+    parameter_group_lrs:
+      vision: 0.0001
+      language: 5.0e-05
+      projector: 1.0e-05
+      expert: 5.0e-06
+runner:
+  wall_clock_checkpoint:
+    enabled: true
+    interval_seconds: 7200
+    store_dir: /dev/shm/rpent_prompt_following_lora_native_lora_v1
+    run_id: native-lora-v1
+    estimated_full_checkpoint_bytes: 60129542144
+    estimated_best_export_bytes: 8589934592
+    reserve_free_bytes: 2147483648
+    stage_gate:
+      enabled: false
+      generation: native-lora-v1
+      baseline_cpu_receipt_path: /home/ubuntu/lwb/Artifacts/RLinf_prompt_following/canonical/baseline_micro4_c7d519_validator_ae33_20260811T153712Z/base_baseline_receipt.json
+      baseline_cpu_receipt_sha256: 78e5a7a3cd8de53f1b3a2b52222d2a1a3392206c711ea2d9031f2dedaf39ae78
+      baseline_atomic_receipt_path: null
+      baseline_atomic_receipt_sha256: null
+      baseline_atomic_global_step: 0
+      baseline_atomic_model_manifest_sha256: null
+      baseline_sim_receipt_path: null
+      baseline_sim_receipt_sha256: null
+      baseline_sim_global_step: 0
+      baseline_sim_model_manifest_sha256: null
+      expected_base_model_sha256: 7e257666d835f6af701de493676a6c86a0421b2efc737a0f911d782b7a09f635
+      expected_pair_count: 17
+      accept_min_correct: 14
+      identity_fields:
+      - validation_identity_sha256
+      - prompt_release_manifest_sha256
+      - canonical_resolved_contract_sha256
+      - split_sha256
+      - validation_episode_ids_sha256
+      - validation_context_ids_sha256
+      - validation_anchor_ids_sha256
+      - validation_forward_ledger_sha256
+      accept_flow_ratio: 0.9
+      accept_min_score_gain: 0.1
+      accept_min_validation_count: 3
+      accept_streak: 2
+      plateau_flow_improvement_ratio: 0.01
+      plateau_accuracy_gain: 0.058823529411764705
+      plateau_min_validation_count: 4
+      plateau_patience: 3
+      progress_streak: 2
+      reject_score_drop: 0.15
+      reject_flow_ratio: 1.1
+      reject_accuracy_drop: 0.11764705882352941
+      reject_streak: 2
+    sim_validation:
+      required: false
+      atomic:
+        receipt_file: atomic_sim_receipt.json
+        schema_path: /home/ubuntu/lwb/Projects/RLinf_prompt_following/rpent_prompt_data/task0001_atomic_sim_eval_receipt_v1.schema.json
+        schema_sha256: e2461f63b26562b11d5da27ecd5ea9c782a6ab7238923dbd7b808f2f50ce83b5
+        completion_contract_path: /home/ubuntu/lwb/Projects/RLinf_prompt_following/rpent_prompt_data/task0001_completion_contract_v1.json
+        completion_policy: default_head_not_evaluated
+        reset_bank_manifest_path: null
+        reset_bank_manifest_sha256: null
+        expected_authority:
+          task_id: task-0001
+          source_revision: 33639692425296185f245aaa648530178c7b3d2b
+          canonical_release_manifest_sha256: c7d519015c8d96d4132bd186e602d89e176632f392880a703dda763fb30164b8
+          prompt_contract_sha256: 2af46a956283bfa0988e79741520c381197c412215c9e709b0f23ccb13218e67
+          validation_episode_ids_sha256: null
+          reset_bank_manifest_sha256: null
+          simulator_build_sha256: null
+          harness_source_sha256: null
+          action_spec_sha256: null
+          completion_contract_sha256: faba6a1c0eac905f1ce4347211c6b4f1c8f768aec457c7cd4824fef7cda84d8b
+      same_state:
+        receipt_file: same_state_sim_receipt.json
+        schema_path: /home/ubuntu/lwb/Projects/RLinf_prompt_following/rpent_prompt_data/task0001_same_state_sim_eval_receipt_v1.schema.json
+        schema_sha256: 15e2d920930c88579dac3061a269eea3332087e4022f4c3547406c6801d42146
+        sidecar_path: /home/ubuntu/lwb/Datasets/derived/behavior-1k/task-0001-prompt-following-canonical-v1/same_state_canonical_pairs.eval.jsonl
+        sidecar_sha256: 63ba2e0f8e9722f9d6c42e0ffeda7f652b5590dc92ef560b205c1f123c779789
+        reset_bank_manifest_path: null
+        reset_bank_manifest_sha256: null
+        expected_authority:
+          task_id: task-0001
+          source_revision: 33639692425296185f245aaa648530178c7b3d2b
+          canonical_release_manifest_sha256: c7d519015c8d96d4132bd186e602d89e176632f392880a703dda763fb30164b8
+          prompt_contract_sha256: 2af46a956283bfa0988e79741520c381197c412215c9e709b0f23ccb13218e67
+          same_state_sidecar_sha256: 63ba2e0f8e9722f9d6c42e0ffeda7f652b5590dc92ef560b205c1f123c779789
+          same_state_pair_schema_sha256: 12d0ad89037665ef99f45cdc564f4c52adfbdea28d220b85151056bf56b3b40a
+          reset_bank_manifest_sha256: null
+          simulator_build_sha256: null
+          harness_source_sha256: null
+          action_spec_sha256: null
+    validation:
+      required: true
+      command:
+      - /home/ubuntu/lwb/Projects/RLinf_agentic_push/.venv-behavior/bin/python
+      - /home/ubuntu/lwb/Projects/RLinf_prompt_following/toolkits/standalone_eval_scripts/openpi/behavior_prompt_following_lora_checkpoint_validate.py
+      - --checkpoint-dir
+      - '{checkpoint_dir}'
+      - --validation-dir
+      - '{validation_dir}'
+      - --global-step
+      - '{global_step}'
+      - --prompt-release-manifest
+      - /home/ubuntu/lwb/Datasets/derived/behavior-1k/task-0001-prompt-following-canonical-v1/manifest.json
+      - --expected-prompt-release-sha256
+      - c7d519015c8d96d4132bd186e602d89e176632f392880a703dda763fb30164b8
+      - --config-name
+      - behavior_prompt_following_pi05_lora
+      - --validation-batches
+      - '32'
+      result_file: result.json
+      timeout_seconds: 7200
+      metric_name: masked_val_flow_loss
+      mode: min
+      fail_training_on_error: true
+      environment:
+        RPENT_VALIDATION_DEVICE: cpu
+        RPENT_VALIDATION_CPU_THREADS: '32'
+        CUDA_VISIBLE_DEVICES: ''
+        PYTHONPATH: /home/ubuntu/lwb/Projects/RLinf_prompt_following
+      publish_best: false
+  task_type: sft
+  logger:
+    log_path: /home/ubuntu/lwb/Artifacts/RLinf_prompt_following/lora/logs
+    project_name: rlinf
+    experiment_name: behavior_prompt_following_pi05_lora
+    logger_backends:
+    - tensorboard
+  max_epochs: 20
+  max_steps: 30000
+  resume_dir: auto
+  val_check_interval: -1
+  save_interval: 1000
+  per_worker_log: false
+  per_worker_log_path: null
+cluster:
+  num_nodes: 1
+  component_placement:
+    actor: all
+data:
+  train_data_paths: /home/ubuntu/lwb/Datasets/huggingface/behavior-1k/2025-challenge-demos-picking_up_trash
+  behavior_dataset_root: /home/ubuntu/lwb/Datasets/huggingface/behavior-1k/2025-challenge-demos-picking_up_trash
+  repo_id: behavior-1k/2025-challenge-demos
+  prompt_release_dir: /home/ubuntu/lwb/Datasets/derived/behavior-1k/task-0001-prompt-following-canonical-v1
+  prompt_release_manifest_sha256: c7d519015c8d96d4132bd186e602d89e176632f392880a703dda763fb30164b8
+  prompt_split: train
+  eval_prompt_split: val
+  validation_stratified_anchors: 32
+  require_completion_receipts: false
+  modalities:
+  - rgb
+  num_workers: 8
+  fine_grained_level: 0
+  tolerance_s: 0.0001
+  tasks:
+  - picking_up_trash
+  use_skill: false
+  task_subtasks: {}
+algorithm:
+  adv_type: gae
+reward:
+  use_reward_model: false
+critic:
+  use_critic_model: false

legacy/training/lora/logs/tensorboard/events.out.tfevents.1786493576.iv-ye4qlmxtz4wh2yp4vsf1.1082442.0

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