Add files using upload-large-folder tool

.gitattributes

@@ -33,3 +33,7 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+qwen3vl_bridge_rt1_QwenGR00T_0112_1323/wandb/wandb/run-20260112_133235-xgfaxrjd/run-xgfaxrjd.wandb filter=lfs diff=lfs merge=lfs -text
+qwen3vl_bridge_rt1_QwenGR00T_0117_1747/wandb/wandb/run-20260117_180339-xbap43rk/run-xbap43rk.wandb filter=lfs diff=lfs merge=lfs -text
+qwen3vl_bridge_rt1_QwenOFT_0112_1323/wandb/wandb/run-20260112_133256-ueywjhk5/run-ueywjhk5.wandb filter=lfs diff=lfs merge=lfs -text
+qwen3vl_bridge_rt1_QwenOFT_0117_1748/wandb/wandb/run-20260117_180526-rqrn3qyr/run-rqrn3qyr.wandb filter=lfs diff=lfs merge=lfs -text

.gitignore

@@ -0,0 +1 @@
+wandb

qwen3vl_bridge_rt1_QwenGR00T_0112_1323/config.yaml

@@ -0,0 +1,71 @@
+datasets:
+  vla_data:
+    CoT_prompt: Your task is {instruction}. To identify the key objects for your task.
+      Locate their bounding boxes in [x1,y1,x2,y2] format.
+    data_mix: bridge_rt_1
+    data_root_dir: ./playground/Datasets/OXE_LEROBOT
+    dataset_py: lerobot_datasets
+    image_size:
+    - 224
+    - 224
+    per_device_batch_size: 8
+    video_backend: torchvision_av
+framework:
+  action_model:
+    action_dim: 7
+    action_horizon: 16
+    action_model_type: DiT-B
+    add_pos_embed: true
+    diffusion_model_cfg:
+      cross_attention_dim: 4096
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: true
+      norm_type: ada_norm
+      num_layers: 16
+      output_dim: 1024
+      positional_embeddings: null
+    future_action_window_size: 15
+    hidden_size: 1024
+    max_seq_len: 1024
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
+    noise_s: 0.999
+    num_inference_timesteps: 4
+    num_target_vision_tokens: 32
+    num_timestep_buckets: 1000
+    past_action_window_size: 0
+    state_dim: 7
+  name: QwenGR00T
+  qwenvl:
+    base_vlm: /home/tiger/.cache/huggingface/hub/models--Qwen--Qwen3-VL-8B-Instruct/snapshots/0c351dd01ed87e9c1b53cbc748cba10e6187ff3b
+output_dir: ./Checkpoints/qwen3vl_bridge_rt1_QwenGR00T_0112_1323
+run_id: qwen3vl_bridge_rt1_QwenGR00T_0112_1323
+run_root_dir: ./Checkpoints
+seed: 42
+trainer:
+  eval_interval: 200
+  freeze_modules: true
+  gradient_accumulation_steps: 1
+  gradient_clipping: 1.0
+  is_resume: false
+  learning_rate:
+    action_model: 0.0001
+    base: 1.0e-05
+    qwen_vl_interface: 1.0e-05
+  logging_frequency: 50
+  lr_scheduler_type: cosine_with_min_lr
+  max_train_steps: 100000
+  num_warmup_steps: 10000
+  optimizer:
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+  repeated_diffusion_steps: 4
+  save_interval: 10000
+  scheduler_specific_kwargs:
+    min_lr: 5.0e-07
+wandb_entity: lookas
+wandb_project: Qwen3VL_Bridge_RT1_GR00T

qwen3vl_bridge_rt1_QwenGR00T_0112_1323/dataset_statistics.json

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+        false
+      ]
+    },
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+}

qwen3vl_bridge_rt1_QwenGR00T_0112_1323/run_qwen3vl_bridge_rt1_qwen_gr00t.sh

@@ -0,0 +1,62 @@
+Framework_name=QwenGR00T
+dit_type="DiT-B"
+freeze_module_list='' # fully FT, e.g., freeze_module_list=""
+data_mix=bridge_rt_1
+
+## Modify below paths before running ##
+date_time=$(date +%m%d_%H%M)
+config_yaml=scripts/ER1_5/qwen3vl_bridge_rt1_gr00t.yaml
+base_vlm=/home/tiger/.cache/huggingface/hub/models--Qwen--Qwen3-VL-8B-Instruct/snapshots/0c351dd01ed87e9c1b53cbc748cba10e6187ff3b
+data_root_dir=./playground/Datasets/OXE_LEROBOT # local path of dataset root
+run_root_dir=./Checkpoints
+run_id=qwen3vl_bridge_rt1_${Framework_name}_${date_time} # run id
+batch_size=8
+wandb_project=Qwen3VL_Bridge_RT1_${Framework_name}
+wandb_entity=lookas
+
+# export WANDB_MODE=disabled
+
+output_dir=${run_root_dir}/${run_id}
+mkdir -p ${output_dir}
+cp $0 ${output_dir}/
+
+
+accelerate launch --main_process_port 12773 \
+  --config_file starVLA/config/deepseeds/deepspeed_zero2.yaml \
+  --num_processes 8 \
+  starVLA/training/train_starvla.py \
+  --config_yaml ${config_yaml} \
+  --framework.name ${Framework_name} \
+  --framework.qwenvl.base_vlm ${base_vlm} \
+  --datasets.vla_data.data_root_dir ${data_root_dir}\
+  --datasets.vla_data.data_mix ${data_mix} \
+  --datasets.vla_data.per_device_batch_size ${batch_size} \
+  --trainer.freeze_modules ${freeze_module_list} \
+  --trainer.max_train_steps 100000 \
+  --trainer.save_interval 10000 \
+  --trainer.logging_frequency 50 \
+  --trainer.eval_interval 200 \
+  --run_root_dir ${run_root_dir} \
+  --run_id ${run_id} \
+  --output_dir ${output_dir} \
+  --wandb.project ${wandb_project} \
+  --wandb.entity ${wandb_entity}
+
+
+# multi-node launch example
+
+# accelerate launch \
+#   --config_file starVLA/config/deepseeds/deepspeed_zero2.yaml \
+#   --main_process_ip $MASTER_ADDR \
+#   --main_process_port $MASTER_PORT \
+#   --machine_rank $SLURM_PROCID \
+#   --num_machines $SLURM_NNODES \
+#   --num_processes=${TOTAL_GPUS} \
+#   starVLA/training/train_starvla.py \
+#   --config_yaml ./starVLA/config/training/starvla_cotrain_oxe.yaml \
+#   --framework.framework_py QwenGR00T \
+#   --framework.qwenvl.base_vlm microsoft/Florence-2-large \
+#   --run_root_dir ${run_root_dir} \
+#   --run_id ${run_id} \
+#   --wandb_project your_project \
+#   --wandb_entity your_name

qwen3vl_bridge_rt1_QwenGR00T_0112_1323/summary.jsonl

@@ -0,0 +1,4 @@
+{"steps": 10000}
+{"steps": 20000}
+{"steps": 30000}
+{"steps": 40000}

qwen3vl_bridge_rt1_QwenGR00T_0112_1323/wandb/wandb/debug-internal.log

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qwen3vl_bridge_rt1_QwenGR00T_0112_1323/wandb/wandb/run-20260112_133235-xgfaxrjd/files/requirements.txt

@@ -0,0 +1,190 @@
+starVLA==1.0.1
+absl-py==2.3.1
+accelerate==1.5.2
+albucore==0.0.17
+albumentations==1.4.18
+annotated-types==0.7.0
+antlr4-python3-runtime==4.9.3
+anyio==4.12.0
+asttokens==3.0.1
+attrs==20.3.0
+av==12.3.0
+bddl==1.0.1
+certifi==2025.11.12
+charset-normalizer==3.4.4
+click==8.3.1
+cloudpickle==3.1.2
+contourpy==1.3.2
+cramjam==2.11.0
+cycler==0.12.1
+debugpy==1.8.19
+decorator==5.2.1
+decord==0.6.0
+deepspeed==0.16.9
+diffusers==0.36.0
+docstring_parser==0.17.0
+easydict==1.9
+einops==0.8.1
+etils==1.13.0
+eva-decord==0.6.1
+eval_type_backport==0.3.1
+exceptiongroup==1.3.1
+executing==2.2.1
+fastjsonschema==2.21.2
+fastparquet==2024.11.0
+filelock==3.20.2
+flash_attn==2.8.3
+fonttools==4.61.1
+fsspec==2025.12.0
+future==0.18.2
+fvcore==0.1.5.post20221221
+gevent==25.9.1
+gitdb==4.0.12
+GitPython==3.1.46
+glfw==2.10.0
+greenlet==3.3.0
+grpcio==1.76.0
+gym==0.26.2
+gym-notices==0.1.0
+h11==0.16.0
+hf-xet==1.2.0
+hjson==3.1.0
+httpcore==1.0.9
+httpx==0.28.1
+huggingface-hub==0.36.0
+idna==3.11
+ImageIO==2.37.2
+importlib_metadata==8.7.1
+importlib_resources==6.5.2
+iniconfig==2.3.0
+iopath==0.1.10
+ipdb==0.13.13
+ipython==8.37.0
+jedi==0.19.2
+Jinja2==3.1.6
+jsonschema==4.17.3
+jupyter_core==5.9.1
+jupytext==1.18.1
+kiwisolver==1.4.9
+lazy_loader==0.4
+libero==0.1.0
+llvmlite==0.46.0
+Markdown==3.10
+markdown-it-py==4.0.0
+MarkupSafe==3.0.3
+matplotlib==3.10.8
+matplotlib-inline==0.2.1
+mdit-py-plugins==0.5.0
+mdurl==0.1.2
+mpmath==1.3.0
+msgpack==1.1.2
+mujoco==3.4.0
+nbformat==5.10.4
+networkx==3.4.2
+ninja==1.13.0
+numba==0.63.1
+numpy==1.26.4
+numpydantic==1.6.9
+nvidia-cublas-cu12==12.4.5.8
+nvidia-cuda-cupti-cu12==12.4.127
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qwen3vl_bridge_rt1_QwenGR00T_0117_1747/config.yaml

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+datasets:
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+    CoT_prompt: Your task is {instruction}. To identify the key objects for your task.
+      Locate their bounding boxes in [x1,y1,x2,y2] format.
+    data_mix: bridge_rt_1
+    data_root_dir: ./playground/Datasets/OXE_LEROBOT
+    dataset_py: lerobot_datasets
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+  name: QwenGR00T
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+run_id: qwen3vl_bridge_rt1_QwenGR00T_0117_1747
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+}

qwen3vl_bridge_rt1_QwenGR00T_0117_1747/run_qwen3vl_bridge_rt1_qwen_gr00t.sh

@@ -0,0 +1,62 @@
+Framework_name=QwenGR00T
+dit_type="DiT-B"
+freeze_module_list='' # fully FT, e.g., freeze_module_list=""
+data_mix=bridge_rt_1
+
+## Modify below paths before running ##
+date_time=$(date +%m%d_%H%M)
+config_yaml=scripts/ER1_5/qwen3vl_bridge_rt1_gr00t.yaml
+base_vlm=/home/tiger/.cache/huggingface/hub/models--Embodied1--Embodied-R1.5-SFT-v1/snapshots/0d2820fe1b7f598d2765b234ea69c351211b55c9
+data_root_dir=./playground/Datasets/OXE_LEROBOT # local path of dataset root
+run_root_dir=./Checkpoints
+run_id=qwen3vl_bridge_rt1_${Framework_name}_${date_time} # run id
+batch_size=8
+wandb_project=Qwen3VL_Bridge_RT1_${Framework_name}
+wandb_entity=lookas
+
+# export WANDB_MODE=disabled
+
+output_dir=${run_root_dir}/${run_id}
+mkdir -p ${output_dir}
+cp $0 ${output_dir}/
+
+
+accelerate launch --main_process_port 12773 \
+  --config_file starVLA/config/deepseeds/deepspeed_zero2.yaml \
+  --num_processes 8 \
+  starVLA/training/train_starvla.py \
+  --config_yaml ${config_yaml} \
+  --framework.name ${Framework_name} \
+  --framework.qwenvl.base_vlm ${base_vlm} \
+  --datasets.vla_data.data_root_dir ${data_root_dir}\
+  --datasets.vla_data.data_mix ${data_mix} \
+  --datasets.vla_data.per_device_batch_size ${batch_size} \
+  --trainer.freeze_modules ${freeze_module_list} \
+  --trainer.max_train_steps 100000 \
+  --trainer.save_interval 10000 \
+  --trainer.logging_frequency 50 \
+  --trainer.eval_interval 200 \
+  --run_root_dir ${run_root_dir} \
+  --run_id ${run_id} \
+  --output_dir ${output_dir} \
+  --wandb.project ${wandb_project} \
+  --wandb.entity ${wandb_entity}
+
+
+# multi-node launch example
+
+# accelerate launch \
+#   --config_file starVLA/config/deepseeds/deepspeed_zero2.yaml \
+#   --main_process_ip $MASTER_ADDR \
+#   --main_process_port $MASTER_PORT \
+#   --machine_rank $SLURM_PROCID \
+#   --num_machines $SLURM_NNODES \
+#   --num_processes=${TOTAL_GPUS} \
+#   starVLA/training/train_starvla.py \
+#   --config_yaml ./starVLA/config/training/starvla_cotrain_oxe.yaml \
+#   --framework.framework_py QwenGR00T \
+#   --framework.qwenvl.base_vlm microsoft/Florence-2-large \
+#   --run_root_dir ${run_root_dir} \
+#   --run_id ${run_id} \
+#   --wandb_project your_project \
+#   --wandb_entity your_name

qwen3vl_bridge_rt1_QwenGR00T_0117_1747/summary.jsonl

@@ -0,0 +1,10 @@
+{"steps": 10000}
+{"steps": 20000}
+{"steps": 30000}
+{"steps": 40000}
+{"steps": 50000}
+{"steps": 60000}
+{"steps": 70000}
+{"steps": 80000}
+{"steps": 90000}
+{"steps": 100000}

qwen3vl_bridge_rt1_QwenGR00T_0117_1747/wandb/wandb/debug-internal.log

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qwen3vl_bridge_rt1_QwenGR00T_0117_1747/wandb/wandb/run-20260117_180339-xbap43rk/files/config.yaml

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+                    - --framework.name
+                    - QwenGR00T
+                    - --framework.qwenvl.base_vlm
+                    - /home/tiger/.cache/huggingface/hub/models--Embodied1--Embodied-R1.5-SFT-v1/snapshots/0d2820fe1b7f598d2765b234ea69c351211b55c9
+                    - --datasets.vla_data.data_root_dir
+                    - ./playground/Datasets/OXE_LEROBOT
+                    - --datasets.vla_data.data_mix
+                    - bridge_rt_1
+                    - --datasets.vla_data.per_device_batch_size
+                    - "8"
+                    - --trainer.freeze_modules
+                    - --trainer.max_train_steps
+                    - "100000"
+                    - --trainer.save_interval
+                    - "10000"
+                    - --trainer.logging_frequency
+                    - "50"
+                    - --trainer.eval_interval
+                    - "200"
+                    - --run_root_dir
+                    - ./Checkpoints
+                    - --run_id
+                    - qwen3vl_bridge_rt1_QwenGR00T_0117_1747
+                    - --output_dir
+                    - ./Checkpoints/qwen3vl_bridge_rt1_QwenGR00T_0117_1747
+                    - --wandb.project
+                    - Qwen3VL_Bridge_RT1_QwenGR00T
+                    - --wandb.entity
+                    - lookas
+                codePath: starVLA/training/train_starvla.py
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+                disk:
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+                email: hilookas@gmail.com
+                executable: /mnt/bn/ic-vlm/personal/cuihaiqin/pickxiguapi/starVLA/.venv/bin/python3
+                git:
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+                    remote: https://github.com/hilookas/starVLA_pickxiguapi
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+                      memoryTotal: "102625181696"
+                      name: NVIDIA H20
+                      uuid: GPU-4fa493fc-c408-182f-138e-bcc15c7f9138
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+                program: /mnt/bn/ic-vlm/personal/cuihaiqin/pickxiguapi/starVLA/starVLA/training/train_starvla.py
+                python: CPython 3.10.19
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qwen3vl_bridge_rt1_QwenGR00T_0117_1747/wandb/wandb/run-20260117_180339-xbap43rk/files/requirements.txt

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qwen3vl_bridge_rt1_QwenGR00T_0117_1747/wandb/wandb/run-20260117_180339-xbap43rk/run-xbap43rk.wandb

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qwen3vl_bridge_rt1_QwenOFT_0112_1323/config.yaml

@@ -0,0 +1,51 @@
+datasets:
+  vla_data:
+    CoT_prompt: Your task is {instruction}. To identify the key objects for your task.
+      Locate their bounding boxes in [x1,y1,x2,y2] format.
+    data_mix: bridge_rt_1
+    data_root_dir: ./playground/Datasets/OXE_LEROBOT
+    dataset_py: lerobot_datasets
+    image_size:
+    - 224
+    - 224
+    per_device_batch_size: 8
+    video_backend: torchvision_av
+framework:
+  action_model:
+    action_dim: 7
+    action_hidden_dim: 4096
+    action_model_type: DiT-B
+    future_action_window_size: 15
+    past_action_window_size: 0
+  name: QwenOFT
+  qwenvl:
+    base_vlm: /home/tiger/.cache/huggingface/hub/models--Qwen--Qwen3-VL-8B-Instruct/snapshots/0c351dd01ed87e9c1b53cbc748cba10e6187ff3b
+output_dir: ./Checkpoints/qwen3vl_bridge_rt1_QwenOFT_0112_1323
+run_id: qwen3vl_bridge_rt1_QwenOFT_0112_1323
+run_root_dir: ./Checkpoints
+seed: 42
+trainer:
+  eval_interval: 200
+  freeze_modules: true
+  gradient_accumulation_steps: 1
+  gradient_clipping: 1.0
+  is_resume: false
+  learning_rate:
+    action_model: 0.0001
+    base: 1.0e-05
+    qwen_vl_interface: 1.0e-05
+  logging_frequency: 50
+  lr_scheduler_type: cosine_with_min_lr
+  max_train_steps: 100000
+  num_warmup_steps: 10000
+  optimizer:
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+  save_interval: 10000
+  scheduler_specific_kwargs:
+    min_lr: 5.0e-07
+wandb_entity: lookas
+wandb_project: Qwen3VL_Bridge_RT1_OFT

qwen3vl_bridge_rt1_QwenOFT_0112_1323/dataset_statistics.json

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+    "action": {
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qwen3vl_bridge_rt1_QwenOFT_0112_1323/run_qwen3vl_bridge_rt1_qwen_oft.sh

@@ -0,0 +1,62 @@
+Framework_name=QwenOFT
+dit_type="DiT-B"
+freeze_module_list='' # fully FT, e.g., freeze_module_list=""
+data_mix=bridge_rt_1
+
+## Modify below paths before running ##
+date_time=$(date +%m%d_%H%M)
+config_yaml=scripts/ER1_5/qwen3vl_bridge_rt1_oft.yaml
+base_vlm=/home/tiger/.cache/huggingface/hub/models--Qwen--Qwen3-VL-8B-Instruct/snapshots/0c351dd01ed87e9c1b53cbc748cba10e6187ff3b
+data_root_dir=./playground/Datasets/OXE_LEROBOT # local path of dataset root
+run_root_dir=./Checkpoints
+run_id=qwen3vl_bridge_rt1_${Framework_name}_${date_time} # run id
+batch_size=8
+wandb_project=Qwen3VL_Bridge_RT1_${Framework_name}
+wandb_entity=lookas
+
+# export WANDB_MODE=disabled
+
+output_dir=${run_root_dir}/${run_id}
+mkdir -p ${output_dir}
+cp $0 ${output_dir}/
+
+
+accelerate launch --main_process_port 12773 \
+  --config_file starVLA/config/deepseeds/deepspeed_zero2.yaml \
+  --num_processes 8 \
+  starVLA/training/train_starvla.py \
+  --config_yaml ${config_yaml} \
+  --framework.name ${Framework_name} \
+  --framework.qwenvl.base_vlm ${base_vlm} \
+  --datasets.vla_data.data_root_dir ${data_root_dir}\
+  --datasets.vla_data.data_mix ${data_mix} \
+  --datasets.vla_data.per_device_batch_size ${batch_size} \
+  --trainer.freeze_modules ${freeze_module_list} \
+  --trainer.max_train_steps 100000 \
+  --trainer.save_interval 10000 \
+  --trainer.logging_frequency 50 \
+  --trainer.eval_interval 200 \
+  --run_root_dir ${run_root_dir} \
+  --run_id ${run_id} \
+  --output_dir ${output_dir} \
+  --wandb.project ${wandb_project} \
+  --wandb.entity ${wandb_entity}
+
+
+# multi-node launch example
+
+# accelerate launch \
+#   --config_file starVLA/config/deepseeds/deepspeed_zero2.yaml \
+#   --main_process_ip $MASTER_ADDR \
+#   --main_process_port $MASTER_PORT \
+#   --machine_rank $SLURM_PROCID \
+#   --num_machines $SLURM_NNODES \
+#   --num_processes=${TOTAL_GPUS} \
+#   starVLA/training/train_starvla.py \
+#   --config_yaml ./starVLA/config/training/starvla_cotrain_oxe.yaml \
+#   --framework.framework_py QwenGR00T \
+#   --framework.qwenvl.base_vlm microsoft/Florence-2-large \
+#   --run_root_dir ${run_root_dir} \
+#   --run_id ${run_id} \
+#   --wandb_project your_project \
+#   --wandb_entity your_name

qwen3vl_bridge_rt1_QwenOFT_0112_1323/summary.jsonl

@@ -0,0 +1,10 @@
+{"steps": 10000}
+{"steps": 20000}
+{"steps": 30000}
+{"steps": 40000}
+{"steps": 50000}
+{"steps": 60000}
+{"steps": 70000}
+{"steps": 80000}
+{"steps": 90000}
+{"steps": 100000}

qwen3vl_bridge_rt1_QwenOFT_0112_1323/wandb/wandb/debug-internal.log

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qwen3vl_bridge_rt1_QwenOFT_0112_1323/wandb/wandb/run-20260112_133256-ueywjhk5/files/config.yaml

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+_wandb:
+    value:
+        cli_version: 0.23.1
+        e:
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+                args:
+                    - --config_yaml
+                    - scripts/ER1_5/qwen3vl_bridge_rt1_oft.yaml
+                    - --framework.name
+                    - QwenOFT
+                    - --framework.qwenvl.base_vlm
+                    - /home/tiger/.cache/huggingface/hub/models--Qwen--Qwen3-VL-8B-Instruct/snapshots/0c351dd01ed87e9c1b53cbc748cba10e6187ff3b
+                    - --datasets.vla_data.data_root_dir
+                    - ./playground/Datasets/OXE_LEROBOT
+                    - --datasets.vla_data.data_mix
+                    - bridge_rt_1
+                    - --datasets.vla_data.per_device_batch_size
+                    - "8"
+                    - --trainer.freeze_modules
+                    - --trainer.max_train_steps
+                    - "100000"
+                    - --trainer.save_interval
+                    - "10000"
+                    - --trainer.logging_frequency
+                    - "50"
+                    - --trainer.eval_interval
+                    - "200"
+                    - --run_root_dir
+                    - ./Checkpoints
+                    - --run_id
+                    - qwen3vl_bridge_rt1_QwenOFT_0112_1323
+                    - --output_dir
+                    - ./Checkpoints/qwen3vl_bridge_rt1_QwenOFT_0112_1323
+                    - --wandb.project
+                    - Qwen3VL_Bridge_RT1_QwenOFT
+                    - --wandb.entity
+                    - lookas
+                codePath: starVLA/training/train_starvla.py
+                codePathLocal: starVLA/training/train_starvla.py
+                cpu_count: 90
+                cpu_count_logical: 180
+                cudaVersion: "12.4"
+                disk:
+                    /:
+                        total: "3779301580800"
+                        used: "159098298368"
+                email: hilookas@gmail.com
+                executable: /mnt/bn/ic-vlm/personal/cuihaiqin/pickxiguapi/starVLA/.venv/bin/python3
+                git:
+                    commit: ab531aff5b27795879c61f67892330a616e9dbf0
+                    remote: https://github.com/hilookas/starVLA_pickxiguapi
+                gpu: NVIDIA H20
+                gpu_count: 8
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+                      cudaCores: 9984
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+                      name: NVIDIA H20
+                      uuid: GPU-f99bae5f-ffca-4972-6420-64c42ba64f22
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+                      cudaCores: 9984
+                      memoryTotal: "102625181696"
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+                      uuid: GPU-a00709c9-6bdf-4011-64dc-95421da94ba4
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+                      memoryTotal: "102625181696"
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+                      memoryTotal: "102625181696"
+                      name: NVIDIA H20
+                      uuid: GPU-1d552a6f-4f40-493c-bbb6-dc23034730f9
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+                      memoryTotal: "102625181696"
+                      name: NVIDIA H20
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+                      memoryTotal: "102625181696"
+                      name: NVIDIA H20
+                      uuid: GPU-90d2ce1a-4682-8d99-af06-2477b3d3bcde
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+                      memoryTotal: "102625181696"
+                      name: NVIDIA H20
+                      uuid: GPU-4fa493fc-c408-182f-138e-bcc15c7f9138
+                    - architecture: Hopper
+                      cudaCores: 9984
+                      memoryTotal: "102625181696"
+                      name: NVIDIA H20
+                      uuid: GPU-16ef9185-6132-8620-ad2e-1f8920ded508
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+                program: /mnt/bn/ic-vlm/personal/cuihaiqin/pickxiguapi/starVLA/starVLA/training/train_starvla.py
+                python: CPython 3.10.19
+                root: ./Checkpoints/qwen3vl_bridge_rt1_QwenOFT_0112_1323/wandb
+                startedAt: "2026-01-12T05:32:56.070975Z"
+                writerId: 3h4xzexd9mhzcjwlbp7j0zfzyqq963et
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qwen3vl_bridge_rt1_QwenOFT_0112_1323/wandb/wandb/run-20260112_133256-ueywjhk5/files/requirements.txt

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qwen3vl_bridge_rt1_QwenOFT_0112_1323/wandb/wandb/run-20260112_133256-ueywjhk5/files/wandb-metadata.json

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+  "python":  "CPython 3.10.19",
+  "startedAt":  "2026-01-12T05:32:56.070975Z",
+  "args":  [
+    "--config_yaml",
+    "scripts/ER1_5/qwen3vl_bridge_rt1_oft.yaml",
+    "--framework.name",
+    "QwenOFT",
+    "--framework.qwenvl.base_vlm",
+    "/home/tiger/.cache/huggingface/hub/models--Qwen--Qwen3-VL-8B-Instruct/snapshots/0c351dd01ed87e9c1b53cbc748cba10e6187ff3b",
+    "--datasets.vla_data.data_root_dir",
+    "./playground/Datasets/OXE_LEROBOT",
+    "--datasets.vla_data.data_mix",
+    "bridge_rt_1",
+    "--datasets.vla_data.per_device_batch_size",
+    "8",
+    "--trainer.freeze_modules",
+    "--trainer.max_train_steps",
+    "100000",
+    "--trainer.save_interval",
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qwen3vl_bridge_rt1_QwenOFT_0112_1323/wandb/wandb/run-20260112_133256-ueywjhk5/run-ueywjhk5.wandb

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qwen3vl_bridge_rt1_QwenOFT_0117_1748/config.yaml

@@ -0,0 +1,51 @@
+datasets:
+  vla_data:
+    CoT_prompt: Your task is {instruction}. To identify the key objects for your task.
+      Locate their bounding boxes in [x1,y1,x2,y2] format.
+    data_mix: bridge_rt_1
+    data_root_dir: ./playground/Datasets/OXE_LEROBOT
+    dataset_py: lerobot_datasets
+    image_size:
+    - 224
+    - 224
+    per_device_batch_size: 8
+    video_backend: torchvision_av
+framework:
+  action_model:
+    action_dim: 7
+    action_hidden_dim: 4096
+    action_model_type: DiT-B
+    future_action_window_size: 15
+    past_action_window_size: 0
+  name: QwenOFT
+  qwenvl:
+    base_vlm: /home/tiger/.cache/huggingface/hub/models--Embodied1--Embodied-R1.5-SFT-v1/snapshots/0d2820fe1b7f598d2765b234ea69c351211b55c9
+output_dir: ./Checkpoints/qwen3vl_bridge_rt1_QwenOFT_0117_1748
+run_id: qwen3vl_bridge_rt1_QwenOFT_0117_1748
+run_root_dir: ./Checkpoints
+seed: 42
+trainer:
+  eval_interval: 200
+  freeze_modules: true
+  gradient_accumulation_steps: 1
+  gradient_clipping: 1.0
+  is_resume: false
+  learning_rate:
+    action_model: 0.0001
+    base: 1.0e-05
+    qwen_vl_interface: 1.0e-05
+  logging_frequency: 50
+  lr_scheduler_type: cosine_with_min_lr
+  max_train_steps: 100000
+  num_warmup_steps: 10000
+  optimizer:
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+  save_interval: 10000
+  scheduler_specific_kwargs:
+    min_lr: 5.0e-07
+wandb_entity: lookas
+wandb_project: Qwen3VL_Bridge_RT1_OFT

qwen3vl_bridge_rt1_QwenOFT_0117_1748/dataset_statistics.json

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+}

qwen3vl_bridge_rt1_QwenOFT_0117_1748/run_qwen3vl_bridge_rt1_qwen_oft.sh

@@ -0,0 +1,62 @@
+Framework_name=QwenOFT
+dit_type="DiT-B"
+freeze_module_list='' # fully FT, e.g., freeze_module_list=""
+data_mix=bridge_rt_1
+
+## Modify below paths before running ##
+date_time=$(date +%m%d_%H%M)
+config_yaml=scripts/ER1_5/qwen3vl_bridge_rt1_oft.yaml
+base_vlm=/home/tiger/.cache/huggingface/hub/models--Embodied1--Embodied-R1.5-SFT-v1/snapshots/0d2820fe1b7f598d2765b234ea69c351211b55c9
+data_root_dir=./playground/Datasets/OXE_LEROBOT # local path of dataset root
+run_root_dir=./Checkpoints
+run_id=qwen3vl_bridge_rt1_${Framework_name}_${date_time} # run id
+batch_size=8
+wandb_project=Qwen3VL_Bridge_RT1_${Framework_name}
+wandb_entity=lookas
+
+# export WANDB_MODE=disabled
+
+output_dir=${run_root_dir}/${run_id}
+mkdir -p ${output_dir}
+cp $0 ${output_dir}/
+
+
+accelerate launch --main_process_port 12773 \
+  --config_file starVLA/config/deepseeds/deepspeed_zero2.yaml \
+  --num_processes 8 \
+  starVLA/training/train_starvla.py \
+  --config_yaml ${config_yaml} \
+  --framework.name ${Framework_name} \
+  --framework.qwenvl.base_vlm ${base_vlm} \
+  --datasets.vla_data.data_root_dir ${data_root_dir}\
+  --datasets.vla_data.data_mix ${data_mix} \
+  --datasets.vla_data.per_device_batch_size ${batch_size} \
+  --trainer.freeze_modules ${freeze_module_list} \
+  --trainer.max_train_steps 100000 \
+  --trainer.save_interval 10000 \
+  --trainer.logging_frequency 50 \
+  --trainer.eval_interval 200 \
+  --run_root_dir ${run_root_dir} \
+  --run_id ${run_id} \
+  --output_dir ${output_dir} \
+  --wandb.project ${wandb_project} \
+  --wandb.entity ${wandb_entity}
+
+
+# multi-node launch example
+
+# accelerate launch \
+#   --config_file starVLA/config/deepseeds/deepspeed_zero2.yaml \
+#   --main_process_ip $MASTER_ADDR \
+#   --main_process_port $MASTER_PORT \
+#   --machine_rank $SLURM_PROCID \
+#   --num_machines $SLURM_NNODES \
+#   --num_processes=${TOTAL_GPUS} \
+#   starVLA/training/train_starvla.py \
+#   --config_yaml ./starVLA/config/training/starvla_cotrain_oxe.yaml \
+#   --framework.framework_py QwenGR00T \
+#   --framework.qwenvl.base_vlm microsoft/Florence-2-large \
+#   --run_root_dir ${run_root_dir} \
+#   --run_id ${run_id} \
+#   --wandb_project your_project \
+#   --wandb_entity your_name

qwen3vl_bridge_rt1_QwenOFT_0117_1748/summary.jsonl

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+{"steps": 20000}
+{"steps": 30000}
+{"steps": 40000}
+{"steps": 50000}
+{"steps": 60000}
+{"steps": 70000}
+{"steps": 80000}
+{"steps": 90000}
+{"steps": 100000}

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qwen3vl_bridge_rt1_QwenOFT_0117_1748/wandb/wandb/run-20260117_180526-rqrn3qyr/files/config.yaml

@@ -0,0 +1,133 @@
+_wandb:
+    value:
+        cli_version: 0.23.1
+        e:
+            5cfcqp03otctf4fyn22usch179j8xvxz:
+                args:
+                    - --config_yaml
+                    - scripts/ER1_5/qwen3vl_bridge_rt1_oft.yaml
+                    - --framework.name
+                    - QwenOFT
+                    - --framework.qwenvl.base_vlm
+                    - /home/tiger/.cache/huggingface/hub/models--Embodied1--Embodied-R1.5-SFT-v1/snapshots/0d2820fe1b7f598d2765b234ea69c351211b55c9
+                    - --datasets.vla_data.data_root_dir
+                    - ./playground/Datasets/OXE_LEROBOT
+                    - --datasets.vla_data.data_mix
+                    - bridge_rt_1
+                    - --datasets.vla_data.per_device_batch_size
+                    - "8"
+                    - --trainer.freeze_modules
+                    - --trainer.max_train_steps
+                    - "100000"
+                    - --trainer.save_interval
+                    - "10000"
+                    - --trainer.logging_frequency
+                    - "50"
+                    - --trainer.eval_interval
+                    - "200"
+                    - --run_root_dir
+                    - ./Checkpoints
+                    - --run_id
+                    - qwen3vl_bridge_rt1_QwenOFT_0117_1748
+                    - --output_dir
+                    - ./Checkpoints/qwen3vl_bridge_rt1_QwenOFT_0117_1748
+                    - --wandb.project
+                    - Qwen3VL_Bridge_RT1_QwenOFT
+                    - --wandb.entity
+                    - lookas
+                codePath: starVLA/training/train_starvla.py
+                codePathLocal: starVLA/training/train_starvla.py
+                cpu_count: 90
+                cpu_count_logical: 180
+                cudaVersion: "12.4"
+                disk:
+                    /:
+                        total: "3779301580800"
+                        used: "151636508672"
+                email: hilookas@gmail.com
+                executable: /mnt/bn/ic-vlm/personal/cuihaiqin/pickxiguapi/starVLA/.venv/bin/python3
+                git:
+                    commit: ab531aff5b27795879c61f67892330a616e9dbf0
+                    remote: https://github.com/hilookas/starVLA_pickxiguapi
+                gpu: NVIDIA H20
+                gpu_count: 8
+                gpu_nvidia:
+                    - architecture: Hopper
+                      cudaCores: 9984
+                      memoryTotal: "102625181696"
+                      name: NVIDIA H20
+                      uuid: GPU-fb4370de-60ba-70ca-eeca-022c40ee5dc2
+                    - architecture: Hopper
+                      cudaCores: 9984
+                      memoryTotal: "102625181696"
+                      name: NVIDIA H20
+                      uuid: GPU-2b87ce45-0783-3787-00a5-678fab82dff7
+                    - architecture: Hopper
+                      cudaCores: 9984
+                      memoryTotal: "102625181696"
+                      name: NVIDIA H20
+                      uuid: GPU-f37740ca-0c96-508b-6014-0c7c5717ce90
+                    - architecture: Hopper
+                      cudaCores: 9984
+                      memoryTotal: "102625181696"
+                      name: NVIDIA H20
+                      uuid: GPU-f59773d6-f9c1-34dc-06fa-92979c9f3c64
+                    - architecture: Hopper
+                      cudaCores: 9984
+                      memoryTotal: "102625181696"
+                      name: NVIDIA H20
+                      uuid: GPU-993ec1cf-6953-aff2-fd04-2f116a004be8
+                    - architecture: Hopper
+                      cudaCores: 9984
+                      memoryTotal: "102625181696"
+                      name: NVIDIA H20
+                      uuid: GPU-c1ddbd85-e0d5-97e8-cc7e-3bb01759b504
+                    - architecture: Hopper
+                      cudaCores: 9984
+                      memoryTotal: "102625181696"
+                      name: NVIDIA H20
+                      uuid: GPU-e8bab208-8550-dbd6-9630-08f32d2f4fce
+                    - architecture: Hopper
+                      cudaCores: 9984
+                      memoryTotal: "102625181696"
+                      name: NVIDIA H20
+                      uuid: GPU-8be9c3c0-cd15-3534-0dbd-de2c1d6aaf1d
+                host: g340-cd51-7700-4fb-cd4a-6d4e-969e
+                memory:
+                    total: "2071188119552"
+                os: Linux-5.15.152.bsk.10-amd64-x86_64-with-glibc2.36
+                program: /mnt/bn/ic-vlm/personal/cuihaiqin/pickxiguapi/starVLA/starVLA/training/train_starvla.py
+                python: CPython 3.10.19
+                root: ./Checkpoints/qwen3vl_bridge_rt1_QwenOFT_0117_1748/wandb
+                startedAt: "2026-01-17T10:05:26.699051Z"
+                writerId: 5cfcqp03otctf4fyn22usch179j8xvxz
+        m: []
+        python_version: 3.10.19
+        t:
+            "1":
+                - 1
+                - 11
+                - 41
+                - 49
+                - 63
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+            "2":
+                - 1
+                - 11
+                - 41
+                - 49
+                - 63
+                - 71
+                - 80
+                - 83
+            "3":
+                - 2
+                - 13
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+            "4": 3.10.19
+            "5": 0.23.1
+            "6": 4.57.3
+            "12": 0.23.1
+            "13": linux-x86_64