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@@ -43,3 +43,4 @@ fastumi_pickandplace_qwenPI/wandb/wandb/run-20260313_081653-va5ln8ez/run-va5ln8e
 fastumi_pickandplace_qwenPI/wandb/wandb/run-20260313_082405-hh8947p1/run-hh8947p1.wandb filter=lfs diff=lfs merge=lfs -text
 fastumi_pickandplace_qwenPI/wandb/wandb/run-20260314_021141-uhbkzqjc/run-uhbkzqjc.wandb filter=lfs diff=lfs merge=lfs -text
 fastumi_pickandplace_qwenPI/wandb/wandb/run-20260315_072213-nyjyyu3l/run-nyjyyu3l.wandb filter=lfs diff=lfs merge=lfs -text
+fastumi_pickandplace_qwenPI_no_state/wandb/wandb/run-20260316_233258-pub06q0f/run-pub06q0f.wandb filter=lfs diff=lfs merge=lfs -text

fastumi_pickandplace_qwenPI_no_state/checkpoints/steps_10000_pytorch_model.pt

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fastumi_pickandplace_qwenPI_no_state/checkpoints/steps_15000_pytorch_model.pt

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fastumi_pickandplace_qwenPI_no_state/config.yaml

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+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: fastumi_pickandplace_ur5_0314
+    data_root_dir: playground/Datasets/FastUMI
+    dataset_py: lerobot_datasets
+    per_device_batch_size: 8
+    video_backend: torchvision_av
+framework:
+  action_model:
+    action_dim: 10
+    add_pos_embed: true
+    diffusion_model_cfg:
+      attention_head_dim: 64
+      cross_attention_dim: 2048
+      dropout: 0.2
+      final_dropout: true
+      input_embedding_dim: 2048
+      interleave_self_attention: true
+      norm_type: ada_norm
+      num_attention_heads: 32
+      num_layers: 36
+      output_dim: 1024
+      positional_embeddings: null
+    future_action_window_size: 15
+    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: 10
+  name: QwenPI
+  qwenvl:
+    attn_implementation: flash_attention_2
+    base_vlm: playground/Pretrained_models/Qwen2.5-VL-3B-Instruct-Action
+    num_vl_layers: 36
+    vl_hidden_dim: 2048
+output_dir: ./results/Checkpoints/fastumi_pickandplace_qwenPI_no_state
+run_id: fastumi_pickandplace_qwenPI_no_state
+run_root_dir: ./results/Checkpoints
+seed: 42
+trainer:
+  eval_interval: 100
+  freeze_modules: null
+  gradient_accumulation_steps: 1
+  gradient_clipping: 1.0
+  is_resume: true
+  learning_rate:
+    action_model: 0.0001
+    base: 2.5e-05
+    qwen_vl_interface: 1.0e-05
+  logging_frequency: 50
+  lr_scheduler_type: cosine_with_min_lr
+  max_train_steps: 20000
+  num_warmup_steps: 5000
+  optimizer:
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+  save_interval: 5000
+  scheduler_specific_kwargs:
+    min_lr: 1.0e-06
+wandb_entity: 2200011093-peking-university
+wandb_project: starVLA_FastUMI

fastumi_pickandplace_qwenPI_no_state/dataset_statistics.json

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+}

fastumi_pickandplace_qwenPI_no_state/summary.jsonl

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+{"steps": 5000}
+{"steps": 10000}
+{"steps": 15000}

fastumi_pickandplace_qwenPI_no_state/wandb/wandb/debug-internal.log

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fastumi_pickandplace_qwenPI_no_state/wandb/wandb/run-20260316_233258-pub06q0f/files/requirements.txt

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+starVLA==1.0.1
+kiwisolver==1.4.9
+scipy==1.15.3
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+protobuf==6.33.5
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+torchvision==0.22.0+cu128
+exceptiongroup==1.3.1
+nvidia-cusparselt-cu12==0.6.3
+markdown-it-py==4.0.0
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+nvidia-cuda-cupti-cu12==12.8.57
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fastumi_pickandplace_qwenPI_no_state/wandb/wandb/run-20260316_233258-pub06q0f/files/wandb-metadata.json

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+{
+  "os":  "Linux-6.8.0-94-generic-x86_64-with-glibc2.39",
+  "python":  "CPython 3.10.19",
+  "startedAt":  "2026-03-16T23:32:58.500037Z",
+  "args":  [
+    "--config_yaml",
+    "./examples/calvin/train_files/starvla_train_calvin.yaml",
+    "--framework.name",
+    "QwenPI",
+    "--framework.qwenvl.base_vlm",
+    "playground/Pretrained_models/Qwen2.5-VL-3B-Instruct-Action",
+    "--framework.qwenvl.attn_implementation",
+    "flash_attention_2",
+    "--framework.action_model.action_dim",
+    "10",
+    "--framework.action_model.state_dim",
+    "10",
+    "--framework.action_model.future_action_window_size",
+    "15",
+    "--framework.action_model.past_action_window_size",
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+    "DiT-B",
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+    "True",
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+    "1024",
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+    "1.5",
+    "--framework.action_model.noise_beta_beta",
+    "1.0",
+    "--framework.action_model.noise_s",
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+    "1000",
+    "--framework.action_model.num_inference_timesteps",
+    "4",
+    "--framework.action_model.num_target_vision_tokens",
+    "32",
+    "--datasets.vla_data.data_root_dir",
+    "playground/Datasets/FastUMI",
+    "--datasets.vla_data.data_mix",
+    "fastumi_pickandplace_ur5_0314",
+    "--datasets.vla_data.include_state",
+    "false",
+    "--datasets.vla_data.per_device_batch_size",
+    "8",
+    "--datasets.vla_data.video_backend",
+    "torchvision_av",
+    "--trainer.freeze_modules",
+    "",
+    "--trainer.max_train_steps",
+    "20000",
+    "--trainer.save_interval",
+    "5000",
+    "--trainer.logging_frequency",
+    "50",
+    "--trainer.eval_interval",
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+    "1",
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+    "./results/Checkpoints",
+    "--run_id",
+    "fastumi_pickandplace_qwenPI_no_state",
+    "--wandb_project",
+    "starVLA_FastUMI",
+    "--wandb_entity",
+    "2200011093-peking-university"
+  ],
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+    "commit":  "2a15b171579fef47788721e50faa3c0a23e52656"
+  },
+  "email":  "wangpc@berkeley.edu",
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+  "host":  "tams02",
+  "executable":  "/home/wangpc/miniconda3/envs/starVLA/bin/python3.10",
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+  "gpu":  "NVIDIA RTX PRO 6000 Blackwell Server Edition",
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fastumi_pickandplace_qwenPI_no_state/wandb/wandb/run-20260316_233258-pub06q0f/logs/debug-core.log

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fastumi_pickandplace_qwenPI_no_state/wandb/wandb/run-20260316_233258-pub06q0f/logs/debug-internal.log

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