diff --git "a/train.log" "b/train.log"
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+++ "b/train.log"
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+2026-08-25 03:51:06 | INFO | train rank=0 | Starting training project=codebase_v7_droid_steps100k_bs128_lr1e-5_qwen3vl2b_new_policy save_dir=/data/NTU_slab/draven/checkpoints/codebase/codebase_v7_droid/steps100k_bs128_lr1e-5_qwen3vl2b_new_policy distributed=True deepspeed=True world_size=8 device=cuda:0
+2026-08-25 03:51:31 | INFO | train rank=0 | No pretrained checkpoint provided; training from scratch
+2026-08-25 03:51:31 | INFO | train rank=0 | Initializing Droid LeRobot Dataset: path=/data/NTU_slab/draven/data/DROID fps=15.00
+2026-08-25 03:51:31 | INFO | train rank=0 | Batch config: total_batch_size=128 world_size=8 grad_acc_steps=1 per_device_batch_size=16
+2026-08-25 03:51:31 | INFO | train rank=0 | Dataset image_resize_size=256
+2026-08-25 03:51:31 | INFO | train rank=0 | Droid uses parquet-shard streaming with a per-rank shuffle buffer: batch_size=16 buffer_size=1024 num_workers=8 drop_last=False
+2026-08-25 03:51:39 | INFO | train rank=0 | Droid streaming layout: parquet_shards=50 active_workers=8 worker_buffer_min=128 worker_buffer_max=128 max_active_shards=2
+2026-08-25 03:51:39 | INFO | train rank=0 | Resolved Droid action stats from /data/NTU_slab/draven/data/DROID/meta/stats.json: min=[-0.2077193409204483, -0.8572492003440857, -0.28132379055023193, -3.141592502593994, -1.570475697517395, -3.1415903568267822] max=[0.9295652508735657, 0.8648782968521118, 1.074978232383728, 3.1415927410125732, 1.569351077079773, 3.1415891647338867]
+2026-08-25 03:51:39 | INFO | train rank=0 | Trainable params: 2,952,988,679 / 2,952,988,679
+2026-08-25 03:55:30 | INFO | train rank=0 | Starting training start_step=0 max_steps=100000 remaining_steps=100000 log_interval=10 save_interval=100000
+2026-08-25 03:56:58 | INFO | train rank=0 | step=10/100000 progress=0.0% loss=1.273438 lr=1.800000e-08 elapsed=00:01:28 avg_step=8.80s recent_step=8.80s eta=244:30:58
+2026-08-25 03:57:11 | INFO | train rank=0 | step=20/100000 progress=0.0% loss=1.281250 lr=3.800000e-08 elapsed=00:01:40 avg_step=5.05s recent_step=1.29s eta=140:09:07
+2026-08-25 03:57:24 | INFO | train rank=0 | step=30/100000 progress=0.0% loss=1.320312 lr=5.800000e-08 elapsed=00:01:54 avg_step=3.82s recent_step=1.38s eta=106:10:44
+2026-08-25 03:57:36 | INFO | train rank=0 | step=40/100000 progress=0.0% loss=1.246094 lr=7.800000e-08 elapsed=00:02:06 avg_step=3.16s recent_step=1.15s eta=87:38:13
+2026-08-25 03:57:50 | INFO | train rank=0 | step=50/100000 progress=0.1% loss=1.275391 lr=9.800000e-08 elapsed=00:02:20 avg_step=2.81s recent_step=1.43s eta=78:03:01
+2026-08-25 03:58:05 | INFO | train rank=0 | step=60/100000 progress=0.1% loss=1.311523 lr=1.180000e-07 elapsed=00:02:35 avg_step=2.60s recent_step=1.52s eta=72:04:36
+2026-08-25 03:58:17 | INFO | train rank=0 | step=70/100000 progress=0.1% loss=1.286133 lr=1.380000e-07 elapsed=00:02:47 avg_step=2.39s recent_step=1.14s eta=66:17:36
+2026-08-25 03:58:29 | INFO | train rank=0 | step=80/100000 progress=0.1% loss=1.257812 lr=1.580000e-07 elapsed=00:02:59 avg_step=2.25s recent_step=1.26s eta=62:21:37
+2026-08-25 03:58:41 | INFO | train rank=0 | step=90/100000 progress=0.1% loss=1.310547 lr=1.780000e-07 elapsed=00:03:11 avg_step=2.13s recent_step=1.19s eta=59:05:10
+2026-08-25 03:58:55 | INFO | train rank=0 | step=100/100000 progress=0.1% loss=1.309570 lr=1.980000e-07 elapsed=00:03:25 avg_step=2.05s recent_step=1.35s eta=56:55:02
+2026-08-25 03:59:09 | INFO | train rank=0 | step=110/100000 progress=0.1% loss=1.264648 lr=2.180000e-07 elapsed=00:03:39 avg_step=1.99s recent_step=1.41s eta=55:18:25
+2026-08-25 03:59:25 | INFO | train rank=0 | step=120/100000 progress=0.1% loss=1.221680 lr=2.380000e-07 elapsed=00:03:55 avg_step=1.96s recent_step=1.65s eta=54:29:54
+2026-08-25 03:59:38 | INFO | train rank=0 | step=130/100000 progress=0.1% loss=1.240234 lr=2.580000e-07 elapsed=00:04:08 avg_step=1.91s recent_step=1.25s eta=52:58:28
+2026-08-25 03:59:53 | INFO | train rank=0 | step=140/100000 progress=0.1% loss=1.290039 lr=2.780000e-07 elapsed=00:04:23 avg_step=1.88s recent_step=1.52s eta=52:11:21
+2026-08-25 04:00:04 | INFO | train rank=0 | step=150/100000 progress=0.1% loss=1.336914 lr=2.980000e-07 elapsed=00:04:34 avg_step=1.83s recent_step=1.14s eta=50:48:21
+2026-08-25 04:00:17 | INFO | train rank=0 | step=160/100000 progress=0.2% loss=1.361328 lr=3.180000e-07 elapsed=00:04:47 avg_step=1.80s recent_step=1.25s eta=49:47:24
+2026-08-25 04:00:30 | INFO | train rank=0 | step=170/100000 progress=0.2% loss=1.281250 lr=3.380000e-07 elapsed=00:05:00 avg_step=1.77s recent_step=1.35s eta=49:03:27
+2026-08-25 04:00:42 | INFO | train rank=0 | step=180/100000 progress=0.2% loss=1.231445 lr=3.580000e-07 elapsed=00:05:12 avg_step=1.74s recent_step=1.17s eta=48:07:31
+2026-08-25 04:00:54 | INFO | train rank=0 | step=190/100000 progress=0.2% loss=1.275391 lr=3.780000e-07 elapsed=00:05:24 avg_step=1.71s recent_step=1.24s eta=47:23:40
+2026-08-25 04:01:05 | INFO | train rank=0 | step=200/100000 progress=0.2% loss=1.218750 lr=3.980000e-07 elapsed=00:05:35 avg_step=1.68s recent_step=1.11s eta=46:33:08
+2026-08-25 04:01:18 | INFO | train rank=0 | step=210/100000 progress=0.2% loss=1.304688 lr=4.180000e-07 elapsed=00:05:48 avg_step=1.66s recent_step=1.22s eta=45:56:41
+2026-08-25 04:01:30 | INFO | train rank=0 | step=220/100000 progress=0.2% loss=1.270508 lr=4.380000e-07 elapsed=00:06:00 avg_step=1.64s recent_step=1.23s eta=45:24:16
+2026-08-25 04:01:44 | INFO | train rank=0 | step=230/100000 progress=0.2% loss=1.282227 lr=4.580000e-07 elapsed=00:06:14 avg_step=1.63s recent_step=1.38s eta=45:05:00
+2026-08-25 04:01:56 | INFO | train rank=0 | step=240/100000 progress=0.2% loss=1.300781 lr=4.780000e-07 elapsed=00:06:26 avg_step=1.61s recent_step=1.24s eta=44:37:49
+2026-08-25 04:02:08 | INFO | train rank=0 | step=250/100000 progress=0.2% loss=1.249023 lr=4.980000e-07 elapsed=00:06:37 avg_step=1.59s recent_step=1.14s eta=44:06:31
+2026-08-25 04:02:23 | INFO | train rank=0 | step=260/100000 progress=0.3% loss=1.264648 lr=5.180000e-07 elapsed=00:06:53 avg_step=1.59s recent_step=1.52s eta=44:01:53
+2026-08-25 04:02:35 | INFO | train rank=0 | step=270/100000 progress=0.3% loss=1.284180 lr=5.380000e-07 elapsed=00:07:05 avg_step=1.58s recent_step=1.27s eta=43:41:49
+2026-08-25 04:02:49 | INFO | train rank=0 | step=280/100000 progress=0.3% loss=1.218750 lr=5.580000e-07 elapsed=00:07:19 avg_step=1.57s recent_step=1.40s eta=43:30:48
+2026-08-25 04:03:02 | INFO | train rank=0 | step=290/100000 progress=0.3% loss=1.266602 lr=5.780000e-07 elapsed=00:07:32 avg_step=1.56s recent_step=1.26s eta=43:12:49
+2026-08-25 04:03:15 | INFO | train rank=0 | step=300/100000 progress=0.3% loss=1.285156 lr=5.980000e-07 elapsed=00:07:44 avg_step=1.55s recent_step=1.25s eta=42:55:09
+2026-08-25 04:03:28 | INFO | train rank=0 | step=310/100000 progress=0.3% loss=1.315430 lr=6.180000e-07 elapsed=00:07:57 avg_step=1.54s recent_step=1.31s eta=42:41:52
+2026-08-25 04:03:41 | INFO | train rank=0 | step=320/100000 progress=0.3% loss=1.250977 lr=6.380000e-07 elapsed=00:08:11 avg_step=1.54s recent_step=1.36s eta=42:32:06
+2026-08-25 04:03:54 | INFO | train rank=0 | step=330/100000 progress=0.3% loss=1.266602 lr=6.580000e-07 elapsed=00:08:24 avg_step=1.53s recent_step=1.27s eta=42:18:30
+2026-08-25 04:04:09 | INFO | train rank=0 | step=340/100000 progress=0.3% loss=1.296875 lr=6.780000e-07 elapsed=00:08:39 avg_step=1.53s recent_step=1.51s eta=42:17:34
+2026-08-25 04:04:21 | INFO | train rank=0 | step=350/100000 progress=0.4% loss=1.193359 lr=6.980000e-07 elapsed=00:08:51 avg_step=1.52s recent_step=1.19s eta=42:01:28
+2026-08-25 04:04:32 | INFO | train rank=0 | step=360/100000 progress=0.4% loss=1.302734 lr=7.180000e-07 elapsed=00:09:02 avg_step=1.51s recent_step=1.09s eta=41:41:37
+2026-08-25 04:04:45 | INFO | train rank=0 | step=370/100000 progress=0.4% loss=1.267578 lr=7.380000e-07 elapsed=00:09:15 avg_step=1.50s recent_step=1.28s eta=41:31:06
+2026-08-25 04:05:02 | INFO | train rank=0 | step=380/100000 progress=0.4% loss=1.250977 lr=7.580000e-07 elapsed=00:09:32 avg_step=1.51s recent_step=1.75s eta=41:41:37
+2026-08-25 04:05:14 | INFO | train rank=0 | step=390/100000 progress=0.4% loss=1.252930 lr=7.780000e-07 elapsed=00:09:44 avg_step=1.50s recent_step=1.16s eta=41:26:28
+2026-08-25 04:05:28 | INFO | train rank=0 | step=400/100000 progress=0.4% loss=1.318359 lr=7.980000e-07 elapsed=00:09:58 avg_step=1.50s recent_step=1.44s eta=41:23:38
+2026-08-25 04:05:39 | INFO | train rank=0 | step=410/100000 progress=0.4% loss=1.262695 lr=8.180000e-07 elapsed=00:10:09 avg_step=1.49s recent_step=1.08s eta=41:06:31
+2026-08-25 04:05:52 | INFO | train rank=0 | step=420/100000 progress=0.4% loss=1.337891 lr=8.380000e-07 elapsed=00:10:22 avg_step=1.48s recent_step=1.31s eta=40:59:27
+2026-08-25 04:06:05 | INFO | train rank=0 | step=430/100000 progress=0.4% loss=1.299805 lr=8.580000e-07 elapsed=00:10:35 avg_step=1.48s recent_step=1.29s eta=40:51:38
+2026-08-25 04:06:19 | INFO | train rank=0 | step=440/100000 progress=0.4% loss=1.309570 lr=8.780000e-07 elapsed=00:10:49 avg_step=1.48s recent_step=1.42s eta=40:49:07
+2026-08-25 04:06:34 | INFO | train rank=0 | step=450/100000 progress=0.4% loss=1.296875 lr=8.980000e-07 elapsed=00:11:04 avg_step=1.48s recent_step=1.50s eta=40:49:56
+2026-08-25 04:06:48 | INFO | train rank=0 | step=460/100000 progress=0.5% loss=1.311523 lr=9.180000e-07 elapsed=00:11:18 avg_step=1.48s recent_step=1.43s eta=40:47:52
+2026-08-25 04:07:03 | INFO | train rank=0 | step=470/100000 progress=0.5% loss=1.227539 lr=9.380000e-07 elapsed=00:11:33 avg_step=1.47s recent_step=1.44s eta=40:46:15
+2026-08-25 04:07:15 | INFO | train rank=0 | step=480/100000 progress=0.5% loss=1.255859 lr=9.580000e-07 elapsed=00:11:45 avg_step=1.47s recent_step=1.19s eta=40:36:13
+2026-08-25 04:07:26 | INFO | train rank=0 | step=490/100000 progress=0.5% loss=1.272461 lr=9.780000e-07 elapsed=00:11:56 avg_step=1.46s recent_step=1.13s eta=40:24:27
+2026-08-25 04:07:38 | INFO | train rank=0 | step=500/100000 progress=0.5% loss=1.250000 lr=9.980000e-07 elapsed=00:12:08 avg_step=1.46s recent_step=1.20s eta=40:15:33
+2026-08-25 04:07:53 | INFO | train rank=0 | step=510/100000 progress=0.5% loss=1.253906 lr=1.018000e-06 elapsed=00:12:23 avg_step=1.46s recent_step=1.51s eta=40:17:03
+2026-08-25 04:08:04 | INFO | train rank=0 | step=520/100000 progress=0.5% loss=1.187500 lr=1.038000e-06 elapsed=00:12:34 avg_step=1.45s recent_step=1.14s eta=40:06:31
+2026-08-25 04:08:17 | INFO | train rank=0 | step=530/100000 progress=0.5% loss=1.177734 lr=1.058000e-06 elapsed=00:12:47 avg_step=1.45s recent_step=1.25s eta=39:59:59
+2026-08-25 04:08:30 | INFO | train rank=0 | step=540/100000 progress=0.5% loss=1.218750 lr=1.078000e-06 elapsed=00:13:00 avg_step=1.44s recent_step=1.30s eta=39:55:15
+2026-08-25 04:08:41 | INFO | train rank=0 | step=550/100000 progress=0.5% loss=1.203125 lr=1.098000e-06 elapsed=00:13:11 avg_step=1.44s recent_step=1.16s eta=39:46:20
+2026-08-25 04:08:54 | INFO | train rank=0 | step=560/100000 progress=0.6% loss=1.211914 lr=1.118000e-06 elapsed=00:13:24 avg_step=1.44s recent_step=1.27s eta=39:40:57
+2026-08-25 04:09:05 | INFO | train rank=0 | step=570/100000 progress=0.6% loss=1.190430 lr=1.138000e-06 elapsed=00:13:35 avg_step=1.43s recent_step=1.13s eta=39:31:52
+2026-08-25 04:09:19 | INFO | train rank=0 | step=580/100000 progress=0.6% loss=1.095703 lr=1.158000e-06 elapsed=00:13:49 avg_step=1.43s recent_step=1.39s eta=39:30:28
+2026-08-25 04:09:35 | INFO | train rank=0 | step=590/100000 progress=0.6% loss=1.180664 lr=1.178000e-06 elapsed=00:14:05 avg_step=1.43s recent_step=1.55s eta=39:33:32
+2026-08-25 04:09:46 | INFO | train rank=0 | step=600/100000 progress=0.6% loss=1.282227 lr=1.198000e-06 elapsed=00:14:16 avg_step=1.43s recent_step=1.13s eta=39:24:52
+2026-08-25 04:09:58 | INFO | train rank=0 | step=610/100000 progress=0.6% loss=1.171875 lr=1.218000e-06 elapsed=00:14:28 avg_step=1.42s recent_step=1.19s eta=39:18:15
+2026-08-25 04:10:14 | INFO | train rank=0 | step=620/100000 progress=0.6% loss=1.121094 lr=1.238000e-06 elapsed=00:14:44 avg_step=1.43s recent_step=1.62s eta=39:23:08
+2026-08-25 04:10:26 | INFO | train rank=0 | step=630/100000 progress=0.6% loss=1.180664 lr=1.258000e-06 elapsed=00:14:56 avg_step=1.42s recent_step=1.17s eta=39:16:03
+2026-08-25 04:10:38 | INFO | train rank=0 | step=640/100000 progress=0.6% loss=1.222656 lr=1.278000e-06 elapsed=00:15:08 avg_step=1.42s recent_step=1.25s eta=39:11:24
+2026-08-25 04:10:50 | INFO | train rank=0 | step=650/100000 progress=0.7% loss=1.215820 lr=1.298000e-06 elapsed=00:15:19 avg_step=1.42s recent_step=1.12s eta=39:03:25
+2026-08-25 04:11:02 | INFO | train rank=0 | step=660/100000 progress=0.7% loss=1.129883 lr=1.318000e-06 elapsed=00:15:32 avg_step=1.41s recent_step=1.24s eta=38:58:45
+2026-08-25 04:11:14 | INFO | train rank=0 | step=670/100000 progress=0.7% loss=1.149414 lr=1.338000e-06 elapsed=00:15:44 avg_step=1.41s recent_step=1.23s eta=38:53:58
+2026-08-25 04:11:26 | INFO | train rank=0 | step=680/100000 progress=0.7% loss=1.224609 lr=1.358000e-06 elapsed=00:15:56 avg_step=1.41s recent_step=1.19s eta=38:48:24
+2026-08-25 04:11:39 | INFO | train rank=0 | step=690/100000 progress=0.7% loss=1.166016 lr=1.378000e-06 elapsed=00:16:09 avg_step=1.40s recent_step=1.29s eta=38:45:27
+2026-08-25 04:11:51 | INFO | train rank=0 | step=700/100000 progress=0.7% loss=1.074219 lr=1.398000e-06 elapsed=00:16:21 avg_step=1.40s recent_step=1.18s eta=38:39:55
+2026-08-25 04:12:04 | INFO | train rank=0 | step=710/100000 progress=0.7% loss=1.112305 lr=1.418000e-06 elapsed=00:16:34 avg_step=1.40s recent_step=1.30s eta=38:37:25
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+2026-08-25 04:12:30 | INFO | train rank=0 | step=730/100000 progress=0.7% loss=1.072266 lr=1.458000e-06 elapsed=00:16:59 avg_step=1.40s recent_step=1.30s eta=38:31:33
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+2026-08-25 04:14:51 | INFO | train rank=0 | step=840/100000 progress=0.8% loss=1.024414 lr=1.678000e-06 elapsed=00:19:21 avg_step=1.38s recent_step=1.22s eta=38:05:01
+2026-08-25 04:15:03 | INFO | train rank=0 | step=850/100000 progress=0.9% loss=1.012695 lr=1.698000e-06 elapsed=00:19:33 avg_step=1.38s recent_step=1.21s eta=38:01:26
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+2026-08-25 04:15:28 | INFO | train rank=0 | step=870/100000 progress=0.9% loss=0.995117 lr=1.738000e-06 elapsed=00:19:58 avg_step=1.38s recent_step=1.23s eta=37:56:34
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+2026-08-26 17:00:27 | INFO | train rank=0 | step=99700/100000 progress=99.7% loss=0.024582 lr=2.460546e-10 elapsed=37:04:57 avg_step=1.34s recent_step=1.88s eta=00:06:41
+2026-08-26 17:00:39 | INFO | train rank=0 | step=99710/100000 progress=99.7% loss=0.033249 lr=2.299245e-10 elapsed=37:05:08 avg_step=1.34s recent_step=1.17s eta=00:06:28
+2026-08-26 17:00:53 | INFO | train rank=0 | step=99720/100000 progress=99.7% loss=0.031990 lr=2.143411e-10 elapsed=37:05:23 avg_step=1.34s recent_step=1.48s eta=00:06:14
+2026-08-26 17:01:08 | INFO | train rank=0 | step=99730/100000 progress=99.7% loss=0.034882 lr=1.993045e-10 elapsed=37:05:38 avg_step=1.34s recent_step=1.45s eta=00:06:01
+2026-08-26 17:01:20 | INFO | train rank=0 | step=99740/100000 progress=99.7% loss=0.042953 lr=1.848147e-10 elapsed=37:05:49 avg_step=1.34s recent_step=1.17s eta=00:05:48
+2026-08-26 17:01:31 | INFO | train rank=0 | step=99750/100000 progress=99.8% loss=0.078735 lr=1.708717e-10 elapsed=37:06:01 avg_step=1.34s recent_step=1.19s eta=00:05:34
+2026-08-26 17:01:43 | INFO | train rank=0 | step=99760/100000 progress=99.8% loss=0.052917 lr=1.574754e-10 elapsed=37:06:13 avg_step=1.34s recent_step=1.14s eta=00:05:21
+2026-08-26 17:01:57 | INFO | train rank=0 | step=99770/100000 progress=99.8% loss=0.066376 lr=1.446259e-10 elapsed=37:06:27 avg_step=1.34s recent_step=1.45s eta=00:05:07
+2026-08-26 17:02:09 | INFO | train rank=0 | step=99780/100000 progress=99.8% loss=0.034340 lr=1.323232e-10 elapsed=37:06:39 avg_step=1.34s recent_step=1.22s eta=00:04:54
+2026-08-26 17:02:24 | INFO | train rank=0 | step=99790/100000 progress=99.8% loss=0.030910 lr=1.205673e-10 elapsed=37:06:54 avg_step=1.34s recent_step=1.42s eta=00:04:41
+2026-08-26 17:02:38 | INFO | train rank=0 | step=99800/100000 progress=99.8% loss=0.037865 lr=1.093581e-10 elapsed=37:07:08 avg_step=1.34s recent_step=1.47s eta=00:04:27
+2026-08-26 17:02:50 | INFO | train rank=0 | step=99810/100000 progress=99.8% loss=0.021797 lr=9.869572e-11 elapsed=37:07:20 avg_step=1.34s recent_step=1.16s eta=00:04:14
+2026-08-26 17:03:02 | INFO | train rank=0 | step=99820/100000 progress=99.8% loss=0.054108 lr=8.858012e-11 elapsed=37:07:32 avg_step=1.34s recent_step=1.18s eta=00:04:01
+2026-08-26 17:03:17 | INFO | train rank=0 | step=99830/100000 progress=99.8% loss=0.105225 lr=7.901131e-11 elapsed=37:07:47 avg_step=1.34s recent_step=1.50s eta=00:03:47
+2026-08-26 17:03:33 | INFO | train rank=0 | step=99840/100000 progress=99.8% loss=0.037849 lr=6.998928e-11 elapsed=37:08:03 avg_step=1.34s recent_step=1.59s eta=00:03:34
+2026-08-26 17:03:48 | INFO | train rank=0 | step=99850/100000 progress=99.9% loss=0.037811 lr=6.151403e-11 elapsed=37:08:18 avg_step=1.34s recent_step=1.52s eta=00:03:20
+2026-08-26 17:04:01 | INFO | train rank=0 | step=99860/100000 progress=99.9% loss=0.044601 lr=5.358557e-11 elapsed=37:08:31 avg_step=1.34s recent_step=1.34s eta=00:03:07
+2026-08-26 17:04:14 | INFO | train rank=0 | step=99870/100000 progress=99.9% loss=0.048172 lr=4.620389e-11 elapsed=37:08:44 avg_step=1.34s recent_step=1.25s eta=00:02:54
+2026-08-26 17:04:31 | INFO | train rank=0 | step=99880/100000 progress=99.9% loss=0.047386 lr=3.936901e-11 elapsed=37:09:01 avg_step=1.34s recent_step=1.71s eta=00:02:40
+2026-08-26 17:04:43 | INFO | train rank=0 | step=99890/100000 progress=99.9% loss=0.038437 lr=3.308091e-11 elapsed=37:09:12 avg_step=1.34s recent_step=1.15s eta=00:02:27
+2026-08-26 17:04:54 | INFO | train rank=0 | step=99900/100000 progress=99.9% loss=0.028259 lr=2.733960e-11 elapsed=37:09:24 avg_step=1.34s recent_step=1.16s eta=00:02:13
+2026-08-26 17:05:08 | INFO | train rank=0 | step=99910/100000 progress=99.9% loss=0.035568 lr=2.214508e-11 elapsed=37:09:38 avg_step=1.34s recent_step=1.43s eta=00:02:00
+2026-08-26 17:05:20 | INFO | train rank=0 | step=99920/100000 progress=99.9% loss=0.019089 lr=1.749735e-11 elapsed=37:09:50 avg_step=1.34s recent_step=1.17s eta=00:01:47
+2026-08-26 17:05:36 | INFO | train rank=0 | step=99930/100000 progress=99.9% loss=0.043518 lr=1.339641e-11 elapsed=37:10:06 avg_step=1.34s recent_step=1.63s eta=00:01:33
+2026-08-26 17:05:48 | INFO | train rank=0 | step=99940/100000 progress=99.9% loss=0.022758 lr=9.842262e-12 elapsed=37:10:18 avg_step=1.34s recent_step=1.16s eta=00:01:20
+2026-08-26 17:06:03 | INFO | train rank=0 | step=99950/100000 progress=100.0% loss=0.059814 lr=6.834905e-12 elapsed=37:10:33 avg_step=1.34s recent_step=1.53s eta=00:01:06
+2026-08-26 17:06:17 | INFO | train rank=0 | step=99960/100000 progress=100.0% loss=0.046051 lr=4.374339e-12 elapsed=37:10:47 avg_step=1.34s recent_step=1.34s eta=00:00:53
+2026-08-26 17:06:28 | INFO | train rank=0 | step=99970/100000 progress=100.0% loss=0.066132 lr=2.460566e-12 elapsed=37:10:58 avg_step=1.34s recent_step=1.17s eta=00:00:40
+2026-08-26 17:06:41 | INFO | train rank=0 | step=99980/100000 progress=100.0% loss=0.052597 lr=1.093585e-12 elapsed=37:11:11 avg_step=1.34s recent_step=1.24s eta=00:00:26
+2026-08-26 17:07:00 | INFO | train rank=0 | step=99990/100000 progress=100.0% loss=0.054962 lr=2.733962e-13 elapsed=37:11:30 avg_step=1.34s recent_step=1.92s eta=00:00:13
+2026-08-26 17:07:11 | INFO | train rank=0 | step=100000/100000 progress=100.0% loss=0.022404 lr=0.000000e+00 elapsed=37:11:41 avg_step=1.34s recent_step=1.13s eta=00:00:00
+2026-08-26 17:07:38 | INFO | train rank=0 | Saved DeepSpeed checkpoint to /data/NTU_slab/draven/checkpoints/codebase/codebase_v7_droid/steps100k_bs128_lr1e-5_qwen3vl2b_new_policy/ds_checkpoint_100000
+2026-08-26 17:07:38 | INFO | train rank=0 | Finished training final_step=100000/100000 elapsed=37:12:08 avg_step=1.34s
+2026-08-26 17:07:38 | INFO | train rank=0 | Training finished
+2026-08-26 17:08:02 | INFO | train rank=0 | Saved final DeepSpeed checkpoint to /data/NTU_slab/draven/checkpoints/codebase/codebase_v7_droid/steps100k_bs128_lr1e-5_qwen3vl2b_new_policy/ds_checkpoint_final