diff --git a/.gitattributes b/.gitattributes index 34ce89f7b0ddb2d9dc5fb998f2211d576940f497..bca7676763c77d00e23df9f73b584565f75c3bdc 100644 --- a/.gitattributes +++ b/.gitattributes @@ -49,3 +49,4 @@ fastumi_pickandplace_qwenPI_no_state_fixgripper/wandb/wandb/run-20260318_163159- fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/wandb/wandb/run-20260318_082519-ogkdxa4a/run-ogkdxa4a.wandb filter=lfs diff=lfs merge=lfs -text fastumi_pickandplace_qwenPI_no_state_fixgripper/wandb/wandb/run-20260319_054740-ga8mx004/run-ga8mx004.wandb filter=lfs diff=lfs merge=lfs -text fastumi_pickandplace_qwenPI_no_state_fixgripper/wandb/wandb/run-20260319_180222-nqgk0u73/run-nqgk0u73.wandb filter=lfs diff=lfs merge=lfs -text +fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/wandb/wandb/run-20260319_213540-o4ldep45/run-o4ldep45.wandb filter=lfs diff=lfs merge=lfs -text diff --git a/fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/checkpoints/steps_20000_pytorch_model.pt b/fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/checkpoints/steps_20000_pytorch_model.pt new file mode 100644 index 0000000000000000000000000000000000000000..10c03e1644c1ca7fa9110857bdae9403eb348134 --- /dev/null +++ b/fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/checkpoints/steps_20000_pytorch_model.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:041d1119af3533e308fa7b6871e531aa1e45b9b7d03b151a85a0feaa7ceffb40 +size 12492717308 diff --git a/fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/checkpoints/steps_25000_pytorch_model.pt b/fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/checkpoints/steps_25000_pytorch_model.pt new file mode 100644 index 0000000000000000000000000000000000000000..e6fa31a1e686a9bee04ab8cb46a170e382067dc4 --- /dev/null +++ b/fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/checkpoints/steps_25000_pytorch_model.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:87a93764204a06f806ec08280463e034e7edb80d2206d1ecb4f03e053b19aac1 +size 12492717308 diff --git a/fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/config.yaml b/fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/config.yaml index 78b37c7181891964e73ee39257bcb23f617020c3..ea915439e53f4ae5a7937b3413041bc6b49f5214 100644 --- a/fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/config.yaml +++ b/fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/config.yaml @@ -12,8 +12,6 @@ datasets: framework: action_model: action_dim: 10 - action_high: 1.0 - action_low: -1.0 add_pos_embed: true decode_schedule: cosine diffusion_model_cfg: @@ -55,14 +53,14 @@ trainer: freeze_modules: null gradient_accumulation_steps: 1 gradient_clipping: 1.0 - is_resume: false + is_resume: true 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: 20000 + max_train_steps: 30000 num_warmup_steps: 5000 optimizer: betas: diff --git a/fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/summary.jsonl b/fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/summary.jsonl index 502ebe934436b2ca8f4dbd60020c647fece4de8e..437f297853f8e7d566fc5f2429f5dd02654ddede 100644 --- a/fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/summary.jsonl +++ b/fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/summary.jsonl @@ -1,3 +1,5 @@ {"steps": 5000} {"steps": 10000} {"steps": 15000} +{"steps": 20000} +{"steps": 25000} diff --git a/fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/wandb/wandb/debug-internal.log b/fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/wandb/wandb/debug-internal.log index 05d6cceeb9a276d29e9a1dfd71826e4b3a56f9e3..ec65aa24af2eb2d7e28f3e6eadca2f30570bd2fe 100644 --- a/fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/wandb/wandb/debug-internal.log +++ b/fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/wandb/wandb/debug-internal.log @@ -1,6 +1,6 @@ -{"time":"2026-03-18T08:25:19.306441973Z","level":"INFO","msg":"stream: starting","core version":"0.25.0"} -{"time":"2026-03-18T08:25:19.595785873Z","level":"INFO","msg":"stream: created new stream","id":"ogkdxa4a"} -{"time":"2026-03-18T08:25:19.59594649Z","level":"INFO","msg":"handler: started","stream_id":"ogkdxa4a"} -{"time":"2026-03-18T08:25:19.596072709Z","level":"INFO","msg":"stream: started","id":"ogkdxa4a"} -{"time":"2026-03-18T08:25:19.596129518Z","level":"INFO","msg":"writer: started","stream_id":"ogkdxa4a"} -{"time":"2026-03-18T08:25:19.596132828Z","level":"INFO","msg":"sender: started","stream_id":"ogkdxa4a"} +{"time":"2026-03-19T21:35:41.042458948Z","level":"INFO","msg":"stream: starting","core version":"0.25.0"} +{"time":"2026-03-19T21:35:41.417265853Z","level":"INFO","msg":"stream: created new stream","id":"o4ldep45"} +{"time":"2026-03-19T21:35:41.417391882Z","level":"INFO","msg":"handler: started","stream_id":"o4ldep45"} +{"time":"2026-03-19T21:35:41.417524051Z","level":"INFO","msg":"stream: started","id":"o4ldep45"} +{"time":"2026-03-19T21:35:41.417565981Z","level":"INFO","msg":"writer: started","stream_id":"o4ldep45"} +{"time":"2026-03-19T21:35:41.417567551Z","level":"INFO","msg":"sender: started","stream_id":"o4ldep45"} diff --git a/fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/wandb/wandb/run-20260319_213540-o4ldep45/files/output.log b/fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/wandb/wandb/run-20260319_213540-o4ldep45/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..0c22ce4adc6d05161ee419932073fa01feb97631 --- /dev/null +++ b/fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/wandb/wandb/run-20260319_213540-o4ldep45/files/output.log @@ -0,0 +1,888 @@ +03/19 [21:35:42] INFO  | >> ***** Training Configuration ***** ]8;id=208496;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=750800;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#341\341]8;;\ +  INFO  | >> Total optimization steps = 30000 ]8;id=471029;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=617889;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#342\342]8;;\ +  INFO  | >> Per device batch size = 8 ]8;id=844962;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=167414;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#343\343]8;;\ +  INFO  | >> Gradient accumulation steps = 1 ]8;id=225772;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=800581;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#344\344]8;;\ +  INFO  | >> Total batch size = 64 ]8;id=376417;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=888662;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#345\345]8;;\ + 2%|▉ | 550/30000 [17:40<15:33:47, 1.90s/it, data_times=0.002, model_times=1.898] +03/19 [21:37:18] INFO  | >> Step 15050, Loss: {'action_dit_loss': 0.06368167698383331, 'data_time': ]8;id=765179;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=481741;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.000151758998981677, 'model_time': 1.9021748140003183, 'learning_rate':   +  6.689417530755678e-06, 'epoch': 36.53})   +03/19 [21:38:56] INFO  | >> Step 15100, Loss: {'action_dit_loss': 0.0018769247690215707, 'mse_score': ]8;id=82627;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=578856;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0003476496785879135, 'data_time': 0.00016162799875019118, 'model_time':   +  1.9046436169955996, 'learning_rate': 6.660947512490916e-06, 'epoch': 36.65})   +03/19 [21:40:31] INFO  | >> Step 15150, Loss: {'action_dit_loss': 0.006220358423888683, 'data_time': ]8;id=928463;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=903565;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0038181810014066286, 'model_time': 1.8960992220017943, 'learning_rate':   +  6.632421792434291e-06, 'epoch': 36.77})   +03/19 [21:42:09] INFO  | >> Step 15200, Loss: {'action_dit_loss': 0.05436353385448456, 'mse_score': ]8;id=72933;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=48050;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00020913106855005025, 'data_time': 0.00016072199650807306, 'model_time':   +  1.8999440749976202, 'learning_rate': 6.603841496732387e-06, 'epoch': 36.89})   +03/19 [21:43:44] INFO  | >> Step 15250, Loss: {'action_dit_loss': 0.0045862700790166855, 'data_time': ]8;id=83667;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=896865;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00014940199616830796, 'model_time': 1.904480062003131, 'learning_rate':   +  6.5752077536863404e-06, 'epoch': 37.01})   +03/19 [21:45:21] INFO  | >> Step 15300, Loss: {'action_dit_loss': 0.011551059782505035, 'mse_score': ]8;id=291476;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=475435;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011232083197683096, 'data_time': 0.00015784199786139652, 'model_time':   +  1.9054241280027782, 'learning_rate': 6.546521693707296e-06, 'epoch': 37.14})   +03/19 [21:46:56] INFO  | >> Step 15350, Loss: {'action_dit_loss': 0.09467362612485886, 'data_time': ]8;id=388162;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=372528;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00016056100139394403, 'model_time': 1.8994651819957653, 'learning_rate':   +  6.517784449271785e-06, 'epoch': 37.26})   +03/19 [21:48:34] INFO  | >> Step 15400, Loss: {'action_dit_loss': 0.04330503195524216, 'mse_score': ]8;id=982153;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=716751;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.000122314493637532, 'data_time': 0.0014577199981431477, 'model_time':   +  1.898524197997176, 'learning_rate': 6.488997154877012e-06, 'epoch': 37.38})   +03/19 [21:50:10] INFO  | >> Step 15450, Loss: {'action_dit_loss': 0.03455232083797455, 'data_time': ]8;id=179451;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=560086;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00015916099800961092, 'model_time': 1.8981446300022071, 'learning_rate':   +  6.460160946996066e-06, 'epoch': 37.5})   +03/19 [21:51:47] INFO  | >> Step 15500, Loss: {'action_dit_loss': 0.1248551607131958, 'mse_score': ]8;id=397887;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=283060;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0010451266542077064, 'data_time': 0.001508606001152657, 'model_time':   +  1.9031072569996468, 'learning_rate': 6.431276964033062e-06, 'epoch': 37.62})   +03/19 [21:53:23] INFO  | >> Step 15550, Loss: {'action_dit_loss': 0.02227780967950821, 'data_time': ]8;id=230283;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=717870;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.002291976001288276, 'model_time': 1.8980922459959402, 'learning_rate':   +  6.402346346278187e-06, 'epoch': 37.74})   +03/19 [21:55:00] INFO  | >> Step 15600, Loss: {'action_dit_loss': 0.24353863298892975, 'mse_score': ]8;id=58655;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=240174;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0014885068871080876, 'data_time': 0.00015517999418079853, 'model_time':   +  1.9050211870053317, 'learning_rate': 6.373370235862693e-06, 'epoch': 37.86})   +03/19 [21:56:35] INFO  | >> Step 15650, Loss: {'action_dit_loss': 0.004258677363395691, 'data_time': ]8;id=420651;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=280746;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00014440999802900478, 'model_time': 1.9050622330032638, 'learning_rate':   +  6.344349776713806e-06, 'epoch': 37.99})   +03/19 [21:58:13] INFO  | >> Step 15700, Loss: {'action_dit_loss': 0.13528408110141754, 'mse_score': ]8;id=594731;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=918938;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0005172895267605782, 'data_time': 0.0021679220008081757, 'model_time':   +  1.9095563779992517, 'learning_rate': 6.315286114509561e-06, 'epoch': 38.11})   +03/19 [21:59:48] INFO  | >> Step 15750, Loss: {'action_dit_loss': 0.23785406351089478, 'data_time': ]8;id=523481;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=414850;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00219764000212308, 'model_time': 1.8976028329998371, 'learning_rate':   +  6.286180396633579e-06, 'epoch': 38.23})   +03/19 [22:01:25] INFO  | >> Step 15800, Loss: {'action_dit_loss': 0.028569553047418594, 'mse_score': ]8;id=149811;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=277746;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00013533795718103647, 'data_time': 0.0014069799944991246, 'model_time':   +  1.904975037999975, 'learning_rate': 6.257033772129762e-06, 'epoch': 38.35})   +03/19 [22:03:02] INFO  | >> Step 15850, Loss: {'action_dit_loss': 0.04573474079370499, 'data_time': ]8;id=565158;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=275504;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.000149500003317371, 'model_time': 1.904566586999863, 'learning_rate':   +  6.227847391656937e-06, 'epoch': 38.47})   +03/19 [22:04:39] INFO  | >> Step 15900, Loss: {'action_dit_loss': 0.027143066748976707, 'mse_score': ]8;id=611878;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=418801;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.001322764065116644, 'data_time': 0.003010477994394023, 'model_time':   +  1.8998556919978, 'learning_rate': 6.1986224074434335e-06, 'epoch': 38.59})   +03/19 [22:06:14] INFO  | >> Step 15950, Loss: {'action_dit_loss': 0.03678898513317108, 'data_time': ]8;id=517488;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=95325;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0013221280023572035, 'model_time': 1.9040874029960833, 'learning_rate':   +  6.1693599732415875e-06, 'epoch': 38.71})   +03/19 [22:07:52] INFO  | >> Step 16000, Loss: {'action_dit_loss': 0.3993222713470459, 'mse_score': ]8;id=160265;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=657924;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0007937608286738395, 'data_time': 0.0001468900009058416, 'model_time':   +  1.906549930004985, 'learning_rate': 6.140061244282194e-06, 'epoch': 38.83})   +03/19 [22:09:27] INFO  | >> Step 16050, Loss: {'action_dit_loss': 0.01421121321618557, 'data_time': ]8;id=625380;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=66613;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0027889060002053156, 'model_time': 1.8998378870019224, 'learning_rate':   +  6.110727377228903e-06, 'epoch': 38.96})   +03/19 [22:11:04] INFO  | >> Step 16100, Loss: {'action_dit_loss': 0.1450968086719513, 'mse_score': ]8;id=554816;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=263626;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0003170797368511558, 'data_time': 0.00014176999684423208, 'model_time':   +  1.9023619500003406, 'learning_rate': 6.081359530132563e-06, 'epoch': 39.08})   +03/19 [22:12:40] INFO  | >> Step 16150, Loss: {'action_dit_loss': 0.05799955129623413, 'data_time': ]8;id=713328;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=755731;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00014406900299945846, 'model_time': 1.9031934650047333, 'learning_rate':   +  6.051958862385486e-06, 'epoch': 39.2})   +03/19 [22:14:17] INFO  | >> Step 16200, Loss: {'action_dit_loss': 0.05441686511039734, 'mse_score': ]8;id=787352;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=279786;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00019165744306519626, 'data_time': 0.0014286339937825687, 'model_time':   +  1.9028570610025781, 'learning_rate': 6.022526534675698e-06, 'epoch': 39.32})   +03/19 [22:15:54] INFO  | >> Step 16250, Loss: {'action_dit_loss': 0.05344127491116524, 'data_time': ]8;id=307757;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=455884;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001456989994039759, 'model_time': 1.9008873799975845, 'learning_rate':   +  5.993063708941098e-06, 'epoch': 39.44})   +03/19 [22:17:31] INFO  | >> Step 16300, Loss: {'action_dit_loss': 0.010622210800647736, 'mse_score': ]8;id=918398;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=754639;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0005465992726385593, 'data_time': 0.0039474869990954176, 'model_time':   +  1.9020973410006263, 'learning_rate': 5.963571548323597e-06, 'epoch': 39.56})   +03/19 [22:19:06] INFO  | >> Step 16350, Loss: {'action_dit_loss': 0.02086055465042591, 'data_time': ]8;id=532342;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=956959;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00015185899974312633, 'model_time': 1.9005454379948787, 'learning_rate':   +  5.934051217123198e-06, 'epoch': 39.68})   +03/19 [22:20:44] INFO  | >> Step 16400, Loss: {'action_dit_loss': 0.22286173701286316, 'mse_score': ]8;id=882554;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=669987;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0014206956140697003, 'data_time': 0.00014574899978470057, 'model_time':   +  1.9008038030005991, 'learning_rate': 5.904503880752032e-06, 'epoch': 39.81})   +03/19 [22:22:19] INFO  | >> Step 16450, Loss: {'action_dit_loss': 0.008047845214605331, 'data_time': ]8;id=392077;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=799550;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0030662409990327433, 'model_time': 1.9004142539997702, 'learning_rate':   +  5.874930705688343e-06, 'epoch': 39.93})   +03/19 [22:23:57] INFO  | >> Step 16500, Loss: {'action_dit_loss': 0.0741046592593193, 'mse_score': ]8;id=967242;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=556116;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00022566120605915785, 'data_time': 0.0001504500032751821, 'model_time':   +  2.158108045994595, 'learning_rate': 5.845332859430446e-06, 'epoch': 40.05})   +03/19 [22:25:32] INFO  | >> Step 16550, Loss: {'action_dit_loss': 0.20348931849002838, 'data_time': ]8;id=512340;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=20422;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0014629959987360053, 'model_time': 1.9011369609943358, 'learning_rate':   +  5.815711510450632e-06, 'epoch': 40.17})   +03/19 [22:27:09] INFO  | >> Step 16600, Loss: {'action_dit_loss': 0.005493553355336189, 'mse_score': ]8;id=872064;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=845964;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011618954595178365, 'data_time': 0.0001394400023855269, 'model_time':   +  1.901284432002285, 'learning_rate': 5.786067828149038e-06, 'epoch': 40.29})   +03/19 [22:28:46] INFO  | >> Step 16650, Loss: {'action_dit_loss': 0.029469069093465805, 'data_time': ]8;id=920659;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=594916;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0023963330022525042, 'model_time': 1.9007609390027937, 'learning_rate':   +  5.7564029828074855e-06, 'epoch': 40.41})   +03/19 [22:30:23] INFO  | >> Step 16700, Loss: {'action_dit_loss': 0.0048163048923015594, 'mse_score': ]8;id=509597;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=855662;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0008285657502710819, 'data_time': 0.002123484999174252, 'model_time':   +  1.9020145909962594, 'learning_rate': 5.726718145543271e-06, 'epoch': 40.53})   +03/19 [22:31:58] INFO  | >> Step 16750, Loss: {'action_dit_loss': 0.05159696936607361, 'data_time': ]8;id=131869;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=134628;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00014088999887462705, 'model_time': 1.9016910569989705, 'learning_rate':   +  5.697014488262945e-06, 'epoch': 40.66})   +03/19 [22:33:36] INFO  | >> Step 16800, Loss: {'action_dit_loss': 0.14688386023044586, 'mse_score': ]8;id=173148;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=277932;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0003683862509205937, 'data_time': 0.0021861940040253103, 'model_time':   +  1.9025054179946892, 'learning_rate': 5.667293183616031e-06, 'epoch': 40.78})   +03/19 [22:35:11] INFO  | >> Step 16850, Loss: {'action_dit_loss': 0.005475247278809547, 'data_time': ]8;id=222086;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=974036;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0021565749993897043, 'model_time': 1.9024571909976657, 'learning_rate':   +  5.63755540494875e-06, 'epoch': 40.9})   +03/19 [22:36:48] INFO  | >> Step 16900, Loss: {'action_dit_loss': 0.062230609357357025, 'mse_score': ]8;id=210922;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=747581;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001526218024082482, 'data_time': 0.00015592999989166856, 'model_time':   +  1.9052610799990362, 'learning_rate': 5.607802326257682e-06, 'epoch': 41.02})   +03/19 [22:38:23] INFO  | >> Step 16950, Loss: {'action_dit_loss': 0.3022526502609253, 'data_time': ]8;id=391559;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=459381;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.001319937000516802, 'model_time': 1.9001736830032314, 'learning_rate':   +  5.578035122143429e-06, 'epoch': 41.14})   +03/19 [22:40:01] INFO  | >> Step 17000, Loss: {'action_dit_loss': 0.030990205705165863, 'mse_score': ]8;id=259947;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=235612;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00013157408684492112, 'data_time': 0.002162454999051988, 'model_time':   +  1.8991424300038489, 'learning_rate': 5.548254967764239e-06, 'epoch': 41.26})   +03/19 [22:41:37] INFO  | >> Step 17050, Loss: {'action_dit_loss': 0.04746050387620926, 'data_time': ]8;id=580828;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=241292;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00015192000137176365, 'model_time': 1.903640409997024, 'learning_rate':   +  5.518463038789617e-06, 'epoch': 41.38})   +03/19 [22:43:15] INFO  | >> Step 17100, Loss: {'action_dit_loss': 0.006356797181069851, 'mse_score': ]8;id=742225;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=661759;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0006810230668634176, 'data_time': 0.00016273000073852018, 'model_time':   +  1.90424205599993, 'learning_rate': 5.488660511353906e-06, 'epoch': 41.5})   +03/19 [22:44:50] INFO  | >> Step 17150, Loss: {'action_dit_loss': 0.011891759932041168, 'data_time': ]8;id=32938;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=901393;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0032525620044907555, 'model_time': 1.8983385649989941, 'learning_rate':   +  5.4588485620098585e-06, 'epoch': 41.63})   +03/19 [22:46:28] INFO  | >> Step 17200, Loss: {'action_dit_loss': 0.1664135903120041, 'mse_score': ]8;id=292004;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=701474;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0009708840399980545, 'data_time': 0.0014072069971007295, 'model_time':   +  1.8992969339960837, 'learning_rate': 5.429028367682191e-06, 'epoch': 41.75})   +03/19 [22:48:03] INFO  | >> Step 17250, Loss: {'action_dit_loss': 0.0025160263758152723, 'data_time': ]8;id=758490;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=980957;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00013735899847233668, 'model_time': 1.9084987410024041, 'learning_rate':   +  5.399201105621111e-06, 'epoch': 41.87})   +03/19 [22:49:40] INFO  | >> Step 17300, Loss: {'action_dit_loss': 0.02162231132388115, 'mse_score': ]8;id=254801;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=822733;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001233176910318434, 'data_time': 0.0001429699987056665, 'model_time':   +  1.9016564970006584, 'learning_rate': 5.369367953355854e-06, 'epoch': 41.99})   +03/19 [22:51:16] INFO  | >> Step 17350, Loss: {'action_dit_loss': 0.10878307372331619, 'data_time': ]8;id=98907;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=101639;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001355700005660765, 'model_time': 1.900525089004077, 'learning_rate':   +  5.33953008864819e-06, 'epoch': 42.11})   +03/19 [22:52:53] INFO  | >> Step 17400, Loss: {'action_dit_loss': 0.04302752763032913, 'mse_score': ]8;id=431071;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=489710;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00017047201981768012, 'data_time': 0.003624550998210907, 'model_time':   +  1.8965586499980418, 'learning_rate': 5.309688689445926e-06, 'epoch': 42.23})   +03/19 [22:54:30] INFO  | >> Step 17450, Loss: {'action_dit_loss': 0.04028894752264023, 'data_time': ]8;id=685197;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=677568;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001760890008881688, 'model_time': 1.9055114619986853, 'learning_rate':   +  5.279844933836405e-06, 'epoch': 42.35})   +03/19 [22:56:07] INFO  | >> Step 17500, Loss: {'action_dit_loss': 0.0033991262316703796, 'mse_score': ]8;id=355784;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=839482;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0011378671973943711, 'data_time': 0.00014712999836774543, 'model_time':   +  1.9015893270043307, 'learning_rate': 5.2500000000000006e-06, 'epoch': 42.48})   +03/19 [22:57:42] INFO  | >> Step 17550, Loss: {'action_dit_loss': 0.011582499369978905, 'data_time': ]8;id=199448;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=562336;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.003913753003871534, 'model_time': 1.8972541590046603, 'learning_rate':   +  5.220155066163596e-06, 'epoch': 42.6})   +03/19 [22:59:20] INFO  | >> Step 17600, Loss: {'action_dit_loss': 0.1252002716064453, 'mse_score': ]8;id=292075;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=485100;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00019738455303013324, 'data_time': 0.00014878900401527062, 'model_time':   +  1.9041901259988663, 'learning_rate': 5.1903113105540746e-06, 'epoch': 42.72})   +03/19 [23:00:56] INFO  | >> Step 17650, Loss: {'action_dit_loss': 0.03503289446234703, 'data_time': ]8;id=464656;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=847272;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001467890033381991, 'model_time': 1.9101845219993265, 'learning_rate':   +  5.160469911351812e-06, 'epoch': 42.84})   +03/19 [23:02:33] INFO  | >> Step 17700, Loss: {'action_dit_loss': 0.1711830496788025, 'mse_score': ]8;id=53045;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=683823;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00016868101665750145, 'data_time': 0.00013767000200459734, 'model_time':   +  1.9043627470018691, 'learning_rate': 5.1306320466441474e-06, 'epoch': 42.96})   +03/19 [23:04:08] INFO  | >> Step 17750, Loss: {'action_dit_loss': 0.06696167588233948, 'data_time': ]8;id=971366;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=790170;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00015352899936260656, 'model_time': 1.9018242320016725, 'learning_rate':   +  5.100798894378891e-06, 'epoch': 43.08})   +03/19 [23:05:46] INFO  | >> Step 17800, Loss: {'action_dit_loss': 0.018868431448936462, 'mse_score': ]8;id=509231;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=504740;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011251198593527078, 'data_time': 0.004859362998104189, 'model_time':   +  1.8999653229984688, 'learning_rate': 5.070971632317811e-06, 'epoch': 43.2})   +03/19 [23:07:21] INFO  | >> Step 17850, Loss: {'action_dit_loss': 0.02739531174302101, 'data_time': ]8;id=61483;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=172634;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001209699985338375, 'model_time': 1.9014622890026658, 'learning_rate':   +  5.041151437990143e-06, 'epoch': 43.33})   +03/19 [23:09:00] INFO  | >> Step 17900, Loss: {'action_dit_loss': 0.003212306182831526, 'mse_score': ]8;id=971524;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=822157;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0008279906585812568, 'data_time': 0.0041417160027776845, 'model_time':   +  1.9009256400022423, 'learning_rate': 5.0113394886460954e-06, 'epoch': 43.45})   +03/19 [23:10:35] INFO  | >> Step 17950, Loss: {'action_dit_loss': 0.014809136278927326, 'data_time': ]8;id=730429;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=765990;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.002539141998568084, 'model_time': 1.9001594569999725, 'learning_rate':   +  4.981536961210384e-06, 'epoch': 43.57})   +03/19 [23:12:12] INFO  | >> Step 18000, Loss: {'action_dit_loss': 0.10409484803676605, 'mse_score': ]8;id=510311;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=162316;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00023099605459719896, 'data_time': 0.0014946349983802065, 'model_time':   +  1.9006478660012363, 'learning_rate': 4.951745032235762e-06, 'epoch': 43.69})   +03/19 [23:13:48] INFO  | >> Step 18050, Loss: {'action_dit_loss': 0.0064059533178806305, 'data_time': ]8;id=607314;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=771476;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.001535565999802202, 'model_time': 1.90069206100452, 'learning_rate':   +  4.921964877856572e-06, 'epoch': 43.81})   +03/19 [23:15:25] INFO  | >> Step 18100, Loss: {'action_dit_loss': 0.028569374233484268, 'mse_score': ]8;id=59942;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=52578;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011441116221249104, 'data_time': 0.0001477799960412085, 'model_time':   +  1.9003123810034594, 'learning_rate': 4.89219767374232e-06, 'epoch': 43.93})   +03/19 [23:17:00] INFO  | >> Step 18150, Loss: {'action_dit_loss': 0.07230253517627716, 'data_time': ]8;id=894141;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=556926;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00015226899995468557, 'model_time': 1.9004155700022238, 'learning_rate':   +  4.862444595051253e-06, 'epoch': 44.05})   +03/19 [23:18:38] INFO  | >> Step 18200, Loss: {'action_dit_loss': 0.007885723374783993, 'mse_score': ]8;id=892697;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=194851;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001147174509242177, 'data_time': 0.0014869959995849058, 'model_time':   +  1.8984935729968129, 'learning_rate': 4.83270681638397e-06, 'epoch': 44.17})   +03/19 [23:20:13] INFO  | >> Step 18250, Loss: {'action_dit_loss': 0.045018281787633896, 'data_time': ]8;id=903682;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=246629;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0023798530019121245, 'model_time': 1.8988769319985295, 'learning_rate':   +  4.802985511737057e-06, 'epoch': 44.3})   +03/19 [23:21:52] INFO  | >> Step 18300, Loss: {'action_dit_loss': 0.0013467252720147371, 'mse_score': ]8;id=597347;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=258175;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0007723132614046336, 'data_time': 0.0035251689987489954, 'model_time':   +  1.9023995040042792, 'learning_rate': 4.773281854456729e-06, 'epoch': 44.42})   +03/19 [23:23:27] INFO  | >> Step 18350, Loss: {'action_dit_loss': 0.014786140993237495, 'data_time': ]8;id=85965;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=439589;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00013662499986821786, 'model_time': 1.9048140520026209, 'learning_rate':   +  4.743597017192516e-06, 'epoch': 44.54})   +03/19 [23:25:05] INFO  | >> Step 18400, Loss: {'action_dit_loss': 0.0267577413469553, 'mse_score': ]8;id=331737;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=980110;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00017193638486787677, 'data_time': 0.0014007979989401065, 'model_time':   +  1.9017636709977523, 'learning_rate': 4.713932171850962e-06, 'epoch': 44.66})   +03/19 [23:26:40] INFO  | >> Step 18450, Loss: {'action_dit_loss': 0.031968649476766586, 'data_time': ]8;id=329445;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=250280;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0022137630003271624, 'model_time': 1.9030079889998888, 'learning_rate':   +  4.684288489549368e-06, 'epoch': 44.78})   +03/19 [23:28:18] INFO  | >> Step 18500, Loss: {'action_dit_loss': 0.10429711639881134, 'mse_score': ]8;id=676856;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=314569;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001176377758383751, 'data_time': 0.001317959999141749, 'model_time':   +  1.9013410030020168, 'learning_rate': 4.654667140569555e-06, 'epoch': 44.9})   +03/19 [23:29:53] INFO  | >> Step 18550, Loss: {'action_dit_loss': 0.1346059888601303, 'data_time': ]8;id=981188;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=76066;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0020467889989959076, 'model_time': 1.9005070909988717, 'learning_rate':   +  4.625069294311658e-06, 'epoch': 45.02})   +03/19 [23:31:30] INFO  | >> Step 18600, Loss: {'action_dit_loss': 0.0036894879303872585, 'mse_score': ]8;id=104837;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=76819;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001114869606681168, 'data_time': 0.00014402699889615178, 'model_time':   +  1.9010111530005815, 'learning_rate': 4.59549611924797e-06, 'epoch': 45.15})   +03/19 [23:33:05] INFO  | >> Step 18650, Loss: {'action_dit_loss': 0.1655784547328949, 'data_time': ]8;id=138890;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=978593;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0013667589955730364, 'model_time': 1.8996917469994514, 'learning_rate':   +  4.565948782876803e-06, 'epoch': 45.27})   +03/19 [23:34:44] INFO  | >> Step 18700, Loss: {'action_dit_loss': 0.0029379138723015785, 'mse_score': ]8;id=256150;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=387477;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00026107355952262876, 'data_time': 0.002274336999107618, 'model_time':   +  1.902028728996811, 'learning_rate': 4.536428451676404e-06, 'epoch': 45.39})   +03/19 [23:36:19] INFO  | >> Step 18750, Loss: {'action_dit_loss': 0.00676552951335907, 'data_time': ]8;id=569605;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=737715;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00014607800403609872, 'model_time': 1.9009066290018382, 'learning_rate':   +  4.506936291058902e-06, 'epoch': 45.51})   +03/19 [23:37:57] INFO  | >> Step 18800, Loss: {'action_dit_loss': 0.1258106678724289, 'mse_score': ]8;id=554634;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=8203;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.000870578084141016, 'data_time': 0.00015628899564035237, 'model_time':   +  1.903720031004923, 'learning_rate': 4.477473465324303e-06, 'epoch': 45.63})   +03/19 [23:39:32] INFO  | >> Step 18850, Loss: {'action_dit_loss': 0.007882866077125072, 'data_time': ]8;id=977017;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=695613;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.002435142007016111, 'model_time': 1.904376897997281, 'learning_rate':   +  4.448041137614514e-06, 'epoch': 45.75})   +03/19 [23:41:10] INFO  | >> Step 18900, Loss: {'action_dit_loss': 0.143411785364151, 'mse_score': ]8;id=277312;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=121035;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00013646817533299326, 'data_time': 0.0015480239962926134, 'model_time':   +  1.9051086859981297, 'learning_rate': 4.4186404698674385e-06, 'epoch': 45.87})   +03/19 [23:42:45] INFO  | >> Step 18950, Loss: {'action_dit_loss': 0.02919604815542698, 'data_time': ]8;id=162998;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=285577;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00014704799832543358, 'model_time': 1.9033607820019824, 'learning_rate':   +  4.389272622771097e-06, 'epoch': 46.0})   +03/19 [23:44:23] INFO  | >> Step 19000, Loss: {'action_dit_loss': 0.0054602413438260555, 'mse_score': ]8;id=359536;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=213487;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011139350244775415, 'data_time': 0.0001444990048184991, 'model_time':   +  1.9062500880027073, 'learning_rate': 4.359938755717807e-06, 'epoch': 46.12})   +03/19 [23:45:59] INFO  | >> Step 19050, Loss: {'action_dit_loss': 0.022130804136395454, 'data_time': ]8;id=529959;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=512262;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0015597259989590384, 'model_time': 1.9025570930025424, 'learning_rate':   +  4.330640026758414e-06, 'epoch': 46.24})   +03/19 [23:47:37] INFO  | >> Step 19100, Loss: {'action_dit_loss': 0.002435775473713875, 'mse_score': ]8;id=53266;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=96781;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0002827452030032873, 'data_time': 0.002024722001806367, 'model_time':   +  1.9055556380044436, 'learning_rate': 4.301377592556567e-06, 'epoch': 46.36})   +03/19 [23:49:12] INFO  | >> Step 19150, Loss: {'action_dit_loss': 0.004893493838608265, 'data_time': ]8;id=46228;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=3717;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0014715580036863685, 'model_time': 1.8986870349981473, 'learning_rate':   +  4.272152608343066e-06, 'epoch': 46.48})   +03/19 [23:50:50] INFO  | >> Step 19200, Loss: {'action_dit_loss': 0.10254612565040588, 'mse_score': ]8;id=274680;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=169430;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00046798819676041603, 'data_time': 0.002300610998645425, 'model_time':   +  1.9013500410001143, 'learning_rate': 4.242966227870242e-06, 'epoch': 46.6})   +03/19 [23:52:25] INFO  | >> Step 19250, Loss: {'action_dit_loss': 0.0019475641893222928, 'data_time': ]8;id=448462;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=588153;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0023353220021817833, 'model_time': 1.90040668999427, 'learning_rate':   +  4.213819603366424e-06, 'epoch': 46.72})   +03/19 [23:54:03] INFO  | >> Step 19300, Loss: {'action_dit_loss': 0.17571720480918884, 'mse_score': ]8;id=926004;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=724586;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00017481137765571476, 'data_time': 0.00015016899851616472, 'model_time':   +  1.9011376190028386, 'learning_rate': 4.18471388549044e-06, 'epoch': 46.84})   +03/19 [23:55:38] INFO  | >> Step 19350, Loss: {'action_dit_loss': 0.08195987343788147, 'data_time': ]8;id=875136;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=387151;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001573289991938509, 'model_time': 1.9007390400001896, 'learning_rate':   +  4.155650223286196e-06, 'epoch': 46.97})   +03/19 [23:57:15] INFO  | >> Step 19400, Loss: {'action_dit_loss': 0.008206958882510662, 'mse_score': ]8;id=133636;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=43860;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011275170836597682, 'data_time': 0.002154725996661, 'model_time':   +  1.8996877080062404, 'learning_rate': 4.126629764137309e-06, 'epoch': 47.09})   +03/19 [23:58:51] INFO  | >> Step 19450, Loss: {'action_dit_loss': 0.3273670971393585, 'data_time': ]8;id=834794;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=902512;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.002186073994380422, 'model_time': 1.9006116240052506, 'learning_rate':   +  4.097653653721816e-06, 'epoch': 47.21})   +03/20 [00:00:29] INFO  | >> Step 19500, Loss: {'action_dit_loss': 0.0019077528268098831, 'mse_score': ]8;id=715198;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=261650;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0010078733786940575, 'data_time': 0.0036182290059514344, 'model_time':   +  1.9007237969926791, 'learning_rate': 4.06872303596694e-06, 'epoch': 47.33})   +03/20 [00:02:05] INFO  | >> Step 19550, Loss: {'action_dit_loss': 0.0055035995319485664, 'data_time': ]8;id=587080;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=927082;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.001379155000904575, 'model_time': 1.9030400740011828, 'learning_rate':   +  4.039839053003935e-06, 'epoch': 47.45})   +03/20 [00:03:42] INFO  | >> Step 19600, Loss: {'action_dit_loss': 0.11330097913742065, 'mse_score': ]8;id=162060;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=970733;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0008471745066344738, 'data_time': 0.0014816039911238477, 'model_time':   +  1.9014159020007355, 'learning_rate': 4.011002845122991e-06, 'epoch': 47.57})   +03/20 [00:05:18] INFO  | >> Step 19650, Loss: {'action_dit_loss': 0.0032839998602867126, 'data_time': ]8;id=838742;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=850155;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.001576994007336907, 'model_time': 1.9042673310032114, 'learning_rate':   +  3.9822155507282176e-06, 'epoch': 47.69})   +03/20 [00:06:55] INFO  | >> Step 19700, Loss: {'action_dit_loss': 0.005304330959916115, 'mse_score': ]8;id=188073;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=772343;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011268850648775697, 'data_time': 0.00014086900046095252, 'model_time':   +  1.9015677100105677, 'learning_rate': 3.953478306292706e-06, 'epoch': 47.82})   +03/20 [00:08:30] INFO  | >> Step 19750, Loss: {'action_dit_loss': 0.02768097072839737, 'data_time': ]8;id=431712;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=841204;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00015029899077489972, 'model_time': 1.9021435140020913, 'learning_rate':   +  3.9247922463136615e-06, 'epoch': 47.94})   +03/20 [00:10:08] INFO  | >> Step 19800, Loss: {'action_dit_loss': 0.01415306143462658, 'mse_score': ]8;id=260222;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=279766;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011285191867500543, 'data_time': 0.0021307989954948425, 'model_time':   +  1.9010119940066943, 'learning_rate': 3.896158503267613e-06, 'epoch': 48.06})   +03/20 [00:11:44] INFO  | >> Step 19850, Loss: {'action_dit_loss': 0.038533955812454224, 'data_time': 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]8;id=860394;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=833980;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0034942700003739446, 'model_time': 1.899444885988487, 'learning_rate':   +  3.8105824692443244e-06, 'epoch': 48.42})   +03/20 [00:16:35] INFO  | >> Step 20000, Loss: {'action_dit_loss': 0.029215645045042038, 'mse_score': ]8;id=692094;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=202511;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001402223017066717, 'data_time': 0.00014096898667048663, 'model_time':   +  1.900301899004262, 'learning_rate': 3.782169276719e-06, 'epoch': 48.54})   +✅ Checkpoint saved at ./results/Checkpoints/fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/checkpoints/steps_20000 +03/20 [00:16:43] INFO  | >> 📊 Saving accessed configuration... ]8;id=810891;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=292683;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#240\240]8;;\ +  INFO  | >> ✅ Configuration files saved ]8;id=884642;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=562262;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#243\243]8;;\ +03/20 [00:18:18] INFO  | >> Step 20050, Loss: {'action_dit_loss': 0.006051887758076191, 'data_time': ]8;id=919641;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=273903;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001392090052831918, 'model_time': 1.9050909249926917, 'learning_rate':   +  3.7538140316373035e-06, 'epoch': 48.67})   +03/20 [00:19:56] INFO  | >> Step 20100, Loss: {'action_dit_loss': 0.010312937200069427, 'mse_score': 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]8;id=720221;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=754377;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00012301780516281723, 'data_time': 0.00012891998630948365, 'model_time':   +  1.8999991979944753, 'learning_rate': 3.612946114921044e-06, 'epoch': 49.27})   +03/20 [00:27:58] INFO  | >> Step 20350, Loss: {'action_dit_loss': 0.0019100699573755264, 'data_time': ]8;id=206606;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=381913;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00014329901023302227, 'model_time': 1.9031178129953332, 'learning_rate':   +  3.58496197909152e-06, 'epoch': 49.39})   +03/20 [00:29:36] INFO  | >> Step 20400, Loss: {'action_dit_loss': 0.010382497683167458, 'mse_score': ]8;id=965498;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=346239;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0004195891320705414, 'data_time': 0.0014411820011446252, 'model_time':   +  1.8999052540020784, 'learning_rate': 3.5570435761120596e-06, 'epoch': 49.51})   +03/20 [00:31:11] INFO  | >> Step 20450, Loss: {'action_dit_loss': 0.001695434795692563, 'data_time': ]8;id=130679;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=754717;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0022367450001183897, 'model_time': 1.9049413940083468, 'learning_rate':   +  3.529192008153408e-06, 'epoch': 49.64})   +03/20 [00:32:49] INFO  | >> Step 20500, Loss: {'action_dit_loss': 0.09053795784711838, 'mse_score': ]8;id=699287;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=428231;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00016838000155985355, 'data_time': 0.00015949300723150373, 'model_time':   +  1.9030737029970624, 'learning_rate': 3.50140837474778e-06, 'epoch': 49.76})   +03/20 [00:34:24] INFO  | >> Step 20550, Loss: {'action_dit_loss': 0.021138880401849747, 'data_time': ]8;id=581343;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=133470;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00014543200086336583, 'model_time': 1.9098396850022255, 'learning_rate':   +  3.473693772745449e-06, 'epoch': 49.88})   +03/20 [00:36:02] INFO  | >> Step 20600, Loss: {'action_dit_loss': 0.0020791226997971535, 'mse_score': ]8;id=397562;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=710219;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011274253483861685, 'data_time': 0.0023800539929652587, 'model_time':   +  1.8998250290023861, 'learning_rate': 3.4460492962714455e-06, 'epoch': 50.0})   +03/20 [00:37:38] INFO  | >> Step 20650, Loss: {'action_dit_loss': 0.004373360425233841, 'data_time': ]8;id=596750;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=315568;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0024361590039916337, 'model_time': 1.9023783879965777, 'learning_rate':   +  3.4184760366823666e-06, 'epoch': 50.12})   +03/20 [00:39:15] INFO  | >> Step 20700, Loss: {'action_dit_loss': 0.003004681318998337, 'mse_score': ]8;id=318635;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=300850;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00023756532464176417, 'data_time': 0.0001448399998480454, 'model_time':   +  1.9030616370000644, 'learning_rate': 3.3909750825232883e-06, 'epoch': 50.24})   +03/20 [00:40:52] INFO  | >> Step 20750, Loss: {'action_dit_loss': 0.0021595656871795654, 'data_time': ]8;id=636130;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=686508;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001536109921289608, 'model_time': 1.9009177050029393, 'learning_rate':   +  3.3635475194847927e-06, 'epoch': 50.36})   +03/20 [00:42:29] INFO  | >> Step 20800, Loss: {'action_dit_loss': 0.211780846118927, 'mse_score': ]8;id=708446;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=224082;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011626676423475147, 'data_time': 0.0001441409986000508, 'model_time':   +  1.9031590319937095, 'learning_rate': 3.3361944303601028e-06, 'epoch': 50.49})   +03/20 [00:44:04] INFO  | >> Step 20850, Loss: {'action_dit_loss': 0.0025682076811790466, 'data_time': ]8;id=834692;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=771711;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0032250869990093634, 'model_time': 1.8997861969983205, 'learning_rate':   +  3.3089168950023427e-06, 'epoch': 50.61})   +03/20 [00:45:42] INFO  | >> Step 20900, Loss: {'action_dit_loss': 0.042831744998693466, 'mse_score': ]8;id=540490;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=696101;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011450534220784903, 'data_time': 0.0001442500069970265, 'model_time':   +  1.9044304440030828, 'learning_rate': 3.2817159902819007e-06, 'epoch': 50.73})   +03/20 [00:47:18] INFO  | >> Step 20950, Loss: {'action_dit_loss': 0.0059861913323402405, 'data_time': ]8;id=858179;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=998243;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.003195851997588761, 'model_time': 1.8978509570006281, 'learning_rate':   +  3.2545927900439204e-06, 'epoch': 50.85})   +03/20 [00:48:55] INFO  | >> Step 21000, Loss: {'action_dit_loss': 0.002790100872516632, 'mse_score': ]8;id=235552;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=845742;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011196915293112397, 'data_time': 0.00015106999489944428, 'model_time':   +  1.9022489429917186, 'learning_rate': 3.227548365065905e-06, 'epoch': 50.97})   +03/20 [00:50:30] INFO  | >> Step 21050, Loss: {'action_dit_loss': 0.1854555606842041, 'data_time': ]8;id=256736;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=498216;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00014853000175207853, 'model_time': 1.901150031000725, 'learning_rate':   +  3.2005837830154444e-06, 'epoch': 51.09})   +03/20 [00:52:08] INFO  | >> Step 21100, Loss: {'action_dit_loss': 0.00549561670050025, 'mse_score': ]8;id=477538;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=434572;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00016556712798774243, 'data_time': 0.0030078480049269274, 'model_time':   +  1.8981324799970025, 'learning_rate': 3.1737001084080697e-06, 'epoch': 51.21})   +03/20 [00:53:44] INFO  | >> Step 21150, Loss: {'action_dit_loss': 0.0028855823911726475, 'data_time': ]8;id=753240;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=730180;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0013620280078612268, 'model_time': 1.899369820006541, 'learning_rate':   +  3.146898402565219e-06, 'epoch': 51.33})   +03/20 [00:55:22] INFO  | >> Step 21200, Loss: {'action_dit_loss': 0.05155918747186661, 'mse_score': ]8;id=154739;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=687926;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00014359374763444065, 'data_time': 0.0022415470011765137, 'model_time':   +  1.8990583499980858, 'learning_rate': 3.1201797235723474e-06, 'epoch': 51.46})   +03/20 [00:56:57] INFO  | >> Step 21250, Loss: {'action_dit_loss': 0.005025843158364296, 'data_time': ]8;id=902237;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=807451;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0013513080048142, 'model_time': 1.8997728309914237, 'learning_rate':   +  3.093545126237153e-06, 'epoch': 51.58})   +03/20 [00:58:35] INFO  | >> Step 21300, Loss: {'action_dit_loss': 0.004650237038731575, 'mse_score': ]8;id=229471;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=184430;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011325221275910735, 'data_time': 0.00014175901014823467, 'model_time':   +  1.9044302410038654, 'learning_rate': 3.066995662047933e-06, 'epoch': 51.7})   +03/20 [01:00:10] INFO  | >> Step 21350, Loss: {'action_dit_loss': 0.28865864872932434, 'data_time': ]8;id=52657;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=584482;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0021926759945927188, 'model_time': 1.904762011996354, 'learning_rate':   +  3.040532379132073e-06, 'epoch': 51.82})   +03/20 [01:01:47] INFO  | >> Step 21400, Loss: {'action_dit_loss': 0.009042076766490936, 'mse_score': ]8;id=478634;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=139816;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011004738043993712, 'data_time': 0.001524306004284881, 'model_time':   +  1.8983050180104328, 'learning_rate': 3.0141563222146704e-06, 'epoch': 51.94})   +03/20 [01:03:23] INFO  | >> Step 21450, Loss: {'action_dit_loss': 0.011424080468714237, 'data_time': ]8;id=586075;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=624377;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00014625000767409801, 'model_time': 1.900485761987511, 'learning_rate':   +  2.987868532577289e-06, 'epoch': 52.06})   +03/20 [01:05:01] INFO  | >> Step 21500, Loss: {'action_dit_loss': 0.0019470478873699903, 'mse_score': ]8;id=464071;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=642412;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00024804796557873485, 'data_time': 0.0022089460107963532, 'model_time':   +  1.8999476419994608, 'learning_rate': 2.961670048016852e-06, 'epoch': 52.18})   +03/20 [01:06:37] INFO  | >> Step 21550, Loss: {'action_dit_loss': 0.0023684271145612, 'data_time': ]8;id=447470;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=870914;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001414909929735586, 'model_time': 1.90407676200266, 'learning_rate':   +  2.9355619028046707e-06, 'epoch': 52.31})   +03/20 [01:08:14] INFO  | >> Step 21600, Loss: {'action_dit_loss': 0.055542074143886566, 'mse_score': ]8;id=166889;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=779779;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011623306199908257, 'data_time': 0.0013203159905970097, 'model_time':   +  1.9015781749913003, 'learning_rate': 2.9095451276456155e-06, 'epoch': 52.43})   +03/20 [01:09:50] INFO  | >> Step 21650, Loss: {'action_dit_loss': 0.0023772367276251316, 'data_time': ]8;id=788295;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=259249;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0022252380003919825, 'model_time': 1.904675286001293, 'learning_rate':   +  2.883620749637419e-06, 'epoch': 52.55})   +03/20 [01:11:27] INFO  | >> Step 21700, Loss: {'action_dit_loss': 0.0014542624121531844, 'mse_score': 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]8;id=352161;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=335239;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011148920748382807, 'data_time': 0.002028401999268681, 'model_time':   +  1.9022421300032875, 'learning_rate': 2.8064122145378443e-06, 'epoch': 52.91})   +03/20 [01:16:15] INFO  | >> Step 21850, Loss: {'action_dit_loss': 0.16262342035770416, 'data_time': ]8;id=158157;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=242495;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00015197000175248832, 'model_time': 1.9005147090065293, 'learning_rate':   +  2.7808676225516294e-06, 'epoch': 53.03})   +03/20 [01:17:53] INFO  | >> Step 21900, Loss: {'action_dit_loss': 0.025328243151307106, 'mse_score': ]8;id=224345;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=67348;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011243678163737058, 'data_time': 0.0012417609978001565, 'model_time':   +  1.9041608080005972, 'learning_rate': 2.7554205076838447e-06, 'epoch': 53.16})   +03/20 [01:19:29] INFO  | >> Step 21950, Loss: {'action_dit_loss': 0.005518737714737654, 'data_time': ]8;id=488557;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=435970;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.001404559996444732, 'model_time': 1.9044983460044023, 'learning_rate':   +  2.7300718745430122e-06, 'epoch': 53.28})   +03/20 [01:21:06] INFO  | >> Step 22000, Loss: {'action_dit_loss': 0.009137256070971489, 'mse_score': ]8;id=408396;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=948791;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011256817961111665, 'data_time': 0.001490818991442211, 'model_time':   +  1.9034457939997083, 'learning_rate': 2.704822723849765e-06, 'epoch': 53.4})   +03/20 [01:22:42] INFO  | >> Step 22050, Loss: {'action_dit_loss': 0.001594852888956666, 'data_time': ]8;id=20480;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=898348;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0014240489981602877, 'model_time': 1.9056237479962874, 'learning_rate':   +  2.6796740523973404e-06, 'epoch': 53.52})   +03/20 [01:24:19] INFO  | >> Step 22100, Loss: {'action_dit_loss': 0.0028063333593308926, 'mse_score': ]8;id=500149;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=6182;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011480654357001185, 'data_time': 0.001562859004479833, 'model_time':   +  1.904330570003367, 'learning_rate': 2.654626853012222e-06, 'epoch': 53.64})   +03/20 [01:25:55] INFO  | >> Step 22150, Loss: {'action_dit_loss': 0.026112563908100128, 'data_time': ]8;id=408930;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=894905;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0014573579974239692, 'model_time': 1.8997395210026298, 'learning_rate':   +  2.629682114514957e-06, 'epoch': 53.76})   +03/20 [01:27:32] INFO  | >> Step 22200, Loss: {'action_dit_loss': 0.006398987956345081, 'mse_score': ]8;id=564365;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=783826;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011412010062485933, 'data_time': 0.001437817991245538, 'model_time':   +  1.9004029850038933, 'learning_rate': 2.6048408216811087e-06, 'epoch': 53.88})   +03/20 [01:29:07] INFO  | >> Step 22250, Loss: {'action_dit_loss': 0.0013110116124153137, 'data_time': ]8;id=941423;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=231251;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.001497608987847343, 'model_time': 1.9016071950027253, 'learning_rate':   +  2.580103955202381e-06, 'epoch': 54.0})   +03/20 [01:30:45] INFO  | >> Step 22300, Loss: {'action_dit_loss': 0.00218366552144289, 'mse_score': ]8;id=509232;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=30434;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00027052559889853003, 'data_time': 0.0014457179931923747, 'model_time':   +  1.9036136740032816, 'learning_rate': 2.555472491647908e-06, 'epoch': 54.13})   +03/20 [01:32:22] INFO  | >> Step 22350, Loss: {'action_dit_loss': 0.0016142529202625155, 'data_time': ]8;id=836912;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=423956;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001487300032749772, 'model_time': 1.9049718769965693, 'learning_rate':   +  2.530947403425694e-06, 'epoch': 54.25})   +03/20 [01:33:59] INFO  | >> Step 22400, Loss: {'action_dit_loss': 0.011501742526888847, 'mse_score': ]8;id=964209;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=133827;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011193940881639718, 'data_time': 0.0001419589971192181, 'model_time':   +  1.9037640640017344, 'learning_rate': 2.50652965874423e-06, 'epoch': 54.37})   +03/20 [01:35:34] INFO  | >> Step 22450, Loss: {'action_dit_loss': 0.0022022679913789034, 'data_time': ]8;id=413160;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=620644;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00014612000086344779, 'model_time': 1.900145291001536, 'learning_rate':   +  2.4822202215742643e-06, 'epoch': 54.49})   +03/20 [01:37:12] INFO  | >> Step 22500, Loss: {'action_dit_loss': 0.015773354098200798, 'mse_score': ]8;id=673971;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=449433;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011183959431946278, 'data_time': 0.003819243996986188, 'model_time':   +  1.897735726000974, 'learning_rate': 2.458020051610753e-06, 'epoch': 54.61})   +03/20 [01:38:47] INFO  | >> Step 22550, Loss: {'action_dit_loss': 0.001511031063273549, 'data_time': ]8;id=52727;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=272793;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00014888400619383901, 'model_time': 1.9093309360032436, 'learning_rate':   +  2.4339301042349687e-06, 'epoch': 54.73})   +03/20 [01:40:25] INFO  | >> Step 22600, Loss: {'action_dit_loss': 0.008518113754689693, 'mse_score': ]8;id=342722;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=353894;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011611564550548792, 'data_time': 0.00014627500786446035, 'model_time':   +  1.9043641119933454, 'learning_rate': 2.4099513304767873e-06, 'epoch': 54.85})   +03/20 [01:42:00] INFO  | >> Step 22650, Loss: {'action_dit_loss': 0.011360214091837406, 'data_time': ]8;id=788539;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=997409;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.003932760999305174, 'model_time': 1.902926002003369, 'learning_rate':   +  2.3860846769771336e-06, 'epoch': 54.98})   +03/20 [01:43:38] INFO  | >> Step 22700, Loss: {'action_dit_loss': 0.0015257829800248146, 'mse_score': ]8;id=85884;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=493152;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.000157025340013206, 'data_time': 0.00015574599092360586, 'model_time':   +  1.9027772420085967, 'learning_rate': 2.3623310859506253e-06, 'epoch': 55.1})   +03/20 [01:45:13] INFO  | >> Step 22750, Loss: {'action_dit_loss': 0.001075449283234775, 'data_time': ]8;id=998160;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=366960;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001244570012204349, 'model_time': 1.9783312500076136, 'learning_rate':   +  2.338691495148363e-06, 'epoch': 55.22})   +03/20 [01:46:52] INFO  | >> Step 22800, Loss: {'action_dit_loss': 0.00527621665969491, 'mse_score': ]8;id=683414;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=42213;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011419632937759161, 'data_time': 0.001684717004536651, 'model_time':   +  1.9016870820050826, 'learning_rate': 2.3151668378209123e-06, 'epoch': 55.34})   +03/20 [01:48:27] INFO  | >> Step 22850, Loss: {'action_dit_loss': 0.0017480964306741953, 'data_time': ]8;id=209044;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=879995;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.001421515000401996, 'model_time': 1.905448803998297, 'learning_rate':   +  2.2917580426814667e-06, 'epoch': 55.46})   +03/20 [01:50:05] INFO  | >> Step 22900, Loss: {'action_dit_loss': 0.003984837792813778, 'mse_score': ]8;id=132352;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=496564;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011112499050796032, 'data_time': 0.0013239999971119687, 'model_time':   +  1.9014659559907159, 'learning_rate': 2.2684660338691734e-06, 'epoch': 55.58})   +03/20 [01:51:40] INFO  | >> Step 22950, Loss: {'action_dit_loss': 0.04233198240399361, 'data_time': ]8;id=228552;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=487623;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0015134290006244555, 'model_time': 1.8990086800040444, 'learning_rate':   +  2.245291730912659e-06, 'epoch': 55.7})   +03/20 [01:53:18] INFO  | >> Step 23000, Loss: {'action_dit_loss': 0.001561417942866683, 'mse_score': ]8;id=175939;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=635324;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011222265893593431, 'data_time': 0.0014829810097580776, 'model_time':   +  1.900174786002026, 'learning_rate': 2.2222360486937238e-06, 'epoch': 55.83})   +03/20 [01:54:53] INFO  | >> Step 23050, Loss: {'action_dit_loss': 0.002434619003906846, 'data_time': ]8;id=815573;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=859099;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0016131809970829636, 'model_time': 1.9002513560117222, 'learning_rate':   +  2.199299897411224e-06, 'epoch': 55.95})   +03/20 [01:56:30] INFO  | >> Step 23100, Loss: {'action_dit_loss': 0.0027321649249643087, 'mse_score': ]8;id=26925;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=974008;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011251198593527078, 'data_time': 0.001354826003080234, 'model_time':   +  1.9014499339973554, 'learning_rate': 2.176484182545141e-06, 'epoch': 56.07})   +03/20 [01:58:06] INFO  | >> Step 23150, Loss: {'action_dit_loss': 0.0011524345027282834, 'data_time': ]8;id=393537;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=415922;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.001541995006846264, 'model_time': 1.9008348490024218, 'learning_rate':   +  2.1537898048208265e-06, 'epoch': 56.19})   +03/20 [01:59:44] INFO  | >> Step 23200, Loss: {'action_dit_loss': 0.0020983240101486444, 'mse_score': ]8;id=620859;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=724161;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011301046470180154, 'data_time': 0.00014632901002187282, 'model_time':   +  1.9061163260048488, 'learning_rate': 2.1312176601734572e-06, 'epoch': 56.31})   +03/20 [02:01:20] INFO  | >> Step 23250, Loss: {'action_dit_loss': 0.0029841153882443905, 'data_time': ]8;id=731059;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=810004;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.002402038997388445, 'model_time': 1.90055363799911, 'learning_rate':   +  2.1087686397126544e-06, 'epoch': 56.43})   +03/20 [02:02:57] INFO  | >> Step 23300, Loss: {'action_dit_loss': 0.002326627029106021, 'mse_score': ]8;id=844657;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=126935;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011040127137675881, 'data_time': 0.0014628079952672124, 'model_time':   +  1.8999239559925627, 'learning_rate': 2.0864436296873052e-06, 'epoch': 56.55})   +03/20 [02:04:32] INFO  | >> Step 23350, Loss: {'action_dit_loss': 0.017541995272040367, 'data_time': ]8;id=364069;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=558623;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00014543900033459067, 'model_time': 1.9010939370054984, 'learning_rate':   +  2.06424351145058e-06, 'epoch': 56.67})   +03/20 [02:06:09] INFO  | >> Step 23400, Loss: {'action_dit_loss': 0.0013019689358770847, 'mse_score': 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]8;id=639979;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=700646;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001239715958945453, 'data_time': 0.0014884650008752942, 'model_time':   +  1.90233025100315, 'learning_rate': 1.8702055332558948e-06, 'epoch': 57.77})   +03/20 [02:20:37] INFO  | >> Step 23850, Loss: {'action_dit_loss': 0.0019917970057576895, 'data_time': ]8;id=892288;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=340802;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0014602940063923597, 'model_time': 1.9000247939984547, 'learning_rate':   +  1.8493017056463018e-06, 'epoch': 57.89})   +03/20 [02:22:15] INFO  | >> Step 23900, Loss: {'action_dit_loss': 0.0023854675237089396, 'mse_score': ]8;id=836587;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=270902;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001114869606681168, 'data_time': 0.0015801319968886673, 'model_time':   +  1.9002599410014227, 'learning_rate': 1.828532131782442e-06, 'epoch': 58.01})   +03/20 [02:23:50] INFO  | >> Step 23950, Loss: {'action_dit_loss': 0.0021822904236614704, 'data_time': ]8;id=735244;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=922859;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0014478410012088716, 'model_time': 1.9006861099915113, 'learning_rate':   +  1.8078976316115282e-06, 'epoch': 58.13})   +03/20 [02:25:29] INFO  | >> Step 24000, Loss: {'action_dit_loss': 0.07036902010440826, 'mse_score': ]8;id=994115;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=200337;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011851484887301922, 'data_time': 0.0015176900051301345, 'model_time':   +  1.8996653710055398, 'learning_rate': 1.7873990197482962e-06, 'epoch': 58.25})   +03/20 [02:27:04] INFO  | >> Step 24050, Loss: {'action_dit_loss': 0.03870467096567154, 'data_time': ]8;id=512311;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=582144;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0014339979970827699, 'model_time': 1.9065341030072886, 'learning_rate':   +  1.7670371054428407e-06, 'epoch': 58.37})   +03/20 [02:28:42] INFO  | >> Step 24100, Loss: {'action_dit_loss': 0.002167312428355217, 'mse_score': ]8;id=677278;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=746420;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011236105347052216, 'data_time': 0.0014241880126064643, 'model_time':   +  1.8966486120043555, 'learning_rate': 1.7468126925486745e-06, 'epoch': 58.5})   +03/20 [02:30:17] INFO  | >> Step 24150, Loss: {'action_dit_loss': 0.0017502657137811184, 'data_time': ]8;id=97573;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=308528;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0014314970030682161, 'model_time': 1.9048877629975323, 'learning_rate':   +  1.7267265794909893e-06, 'epoch': 58.62})   +03/20 [02:31:54] INFO  | >> Step 24200, Loss: {'action_dit_loss': 0.0012906190240755677, 'mse_score': ]8;id=321080;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=696212;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011160853318870068, 'data_time': 0.0014644470065832138, 'model_time':   +  1.8981957170035457, 'learning_rate': 1.7067795592351348e-06, 'epoch': 58.74})   +03/20 [02:33:30] INFO  | >> Step 24250, Loss: {'action_dit_loss': 0.001639815978705883, 'data_time': ]8;id=556711;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=360455;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0013459470064844936, 'model_time': 1.8988381480012322, 'learning_rate':   +  1.6869724192553168e-06, 'epoch': 58.86})   +03/20 [02:35:08] INFO  | >> Step 24300, Loss: {'action_dit_loss': 0.01838417910039425, 'mse_score': ]8;id=368900;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=736996;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011168314376845956, 'data_time': 0.0013735859974985942, 'model_time':   +  1.901509472008911, 'learning_rate': 1.6673059415035066e-06, 'epoch': 58.98})   +03/20 [02:36:43] INFO  | >> Step 24350, Loss: {'action_dit_loss': 0.0019874670542776585, 'data_time': ]8;id=241736;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=126516;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0015107859944691882, 'model_time': 1.9022777229984058, 'learning_rate':   +  1.6477809023785713e-06, 'epoch': 59.1})   +03/20 [02:38:21] INFO  | >> Step 24400, Loss: {'action_dit_loss': 0.003133980790153146, 'mse_score': ]8;id=778967;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=561894;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011189257493242622, 'data_time': 0.0014907850127201527, 'model_time':   +  1.9003571339999326, 'learning_rate': 1.628398072695622e-06, 'epoch': 59.22})   +03/20 [02:39:57] INFO  | >> Step 24450, Loss: {'action_dit_loss': 0.0012234419118613005, 'data_time': ]8;id=200845;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=226895;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0016971849981928244, 'model_time': 1.9010132650000742, 'learning_rate':   +  1.609158217655589e-06, 'epoch': 59.34})   +03/20 [02:41:34] INFO  | >> Step 24500, Loss: {'action_dit_loss': 0.002089410787448287, 'mse_score': ]8;id=618226;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=797135;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011193527607247233, 'data_time': 0.0014208059874363244, 'model_time':   +  1.902512927990756, 'learning_rate': 1.5900620968150015e-06, 'epoch': 59.47})   +03/20 [02:43:10] INFO  | >> Step 24550, Loss: {'action_dit_loss': 0.003415027866140008, 'data_time': ]8;id=873074;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=203547;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0014733059942955151, 'model_time': 1.9017288959876169, 'learning_rate':   +  1.5711104640560149e-06, 'epoch': 59.59})   +03/20 [02:44:47] INFO  | >> Step 24600, Loss: {'action_dit_loss': 0.001511607551947236, 'mse_score': ]8;id=316950;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=14835;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011256610741838813, 'data_time': 0.0014648850046796724, 'model_time':   +  1.9028585909982212, 'learning_rate': 1.5523040675566391e-06, 'epoch': 59.71})   +03/20 [02:46:22] INFO  | >> Step 24650, Loss: {'action_dit_loss': 0.0018359897658228874, 'data_time': ]8;id=47726;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=57174;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0016181550017790869, 'model_time': 1.9040929949987913, 'learning_rate':   +  1.5336436497612063e-06, 'epoch': 59.83})   +03/20 [02:48:00] INFO  | >> Step 24700, Loss: {'action_dit_loss': 0.001395581872202456, 'mse_score': ]8;id=132413;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=668854;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0007863180711865425, 'data_time': 0.0014253010012907907, 'model_time':   +  1.909812725003576, 'learning_rate': 1.5151299473510602e-06, 'epoch': 59.95})   +03/20 [02:49:35] INFO  | >> Step 24750, Loss: {'action_dit_loss': 0.0027801240794360638, 'data_time': ]8;id=915112;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=12861;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0014970519987400621, 'model_time': 1.9021942130057141, 'learning_rate':   +  1.4967636912154707e-06, 'epoch': 60.07})   +03/20 [02:51:14] INFO  | >> Step 24800, Loss: {'action_dit_loss': 0.006125647574663162, 'mse_score': ]8;id=461865;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=357256;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011188562493771314, 'data_time': 0.00014779801131226122, 'model_time':   +  1.9026337250106735, 'learning_rate': 1.4785456064227818e-06, 'epoch': 60.19})   +03/20 [02:52:49] INFO  | >> Step 24850, Loss: {'action_dit_loss': 0.0013982458040118217, 'data_time': ]8;id=903582;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=500935;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0033157470024889335, 'model_time': 1.8972902599925874, 'learning_rate':   +  1.4604764121917871e-06, 'epoch': 60.32})   +03/20 [02:54:27] INFO  | >> Step 24900, Loss: {'action_dit_loss': 0.001509027904830873, 'mse_score': ]8;id=515633;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=77680;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011362533550709485, 'data_time': 0.00014422899403143674, 'model_time':   +  1.9027943280088948, 'learning_rate': 1.4425568218633355e-06, 'epoch': 60.44})   +03/20 [02:56:02] INFO  | >> Step 24950, Loss: {'action_dit_loss': 0.0018261144869029522, 'data_time': ]8;id=159097;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=156445;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00014172900409903377, 'model_time': 1.9024111990001984, 'learning_rate':   +  1.424787542872171e-06, 'epoch': 60.56})   +03/20 [02:57:39] INFO  | >> Step 25000, Loss: {'action_dit_loss': 0.0008606790797784925, 'mse_score': ]8;id=89318;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=260247;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.000112601974979043, 'data_time': 0.00014608900528401136, 'model_time':   +  1.9034550609940197, 'learning_rate': 1.407169276719e-06, 'epoch': 60.68})   +✅ Checkpoint saved at ./results/Checkpoints/fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/checkpoints/steps_25000 +03/20 [02:57:48] INFO  | >> 📊 Saving accessed configuration... ]8;id=635770;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=625084;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#240\240]8;;\ +  INFO  | >> ✅ Configuration files saved ]8;id=547957;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=398855;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#243\243]8;;\ +03/20 [02:59:23] INFO  | >> Step 25050, Loss: {'action_dit_loss': 0.0014802797231823206, 'data_time': ]8;id=901950;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=617113;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001444389927200973, 'model_time': 1.9021314029960195, 'learning_rate':   +  1.389702718942804e-06, 'epoch': 60.8})   +03/20 [03:01:01] INFO  | >> Step 25100, Loss: {'action_dit_loss': 0.001829399960115552, 'mse_score': ]8;id=63156;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=639244;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011888281442224979, 'data_time': 0.0029739599995082244, 'model_time':   +  1.896889629002544, 'learning_rate': 1.3723885590933764e-06, 'epoch': 60.92})   +03/20 [03:02:37] INFO  | >> Step 25150, Loss: {'action_dit_loss': 0.0016581714153289795, 'data_time': 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]8;id=737135;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=901362;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00014919901150278747, 'model_time': 1.903437193002901, 'learning_rate':   +  1.2881274403374372e-06, 'epoch': 61.53})   +03/20 [03:10:41] INFO  | >> Step 25400, Loss: {'action_dit_loss': 0.0014784412924200296, 'mse_score': ]8;id=968790;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=277405;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011160197900608181, 'data_time': 0.0001540990051580593, 'model_time':   +  1.9052286530059064, 'learning_rate': 1.2717418097998271e-06, 'epoch': 61.65})   +03/20 [03:12:16] INFO  | >> Step 25450, Loss: {'action_dit_loss': 0.025405334308743477, 'data_time': ]8;id=693300;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=842956;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0031821430020499974, 'model_time': 1.9020489810063737, 'learning_rate':   +  1.255513234083697e-06, 'epoch': 61.77})   +03/20 [03:13:54] INFO  | >> Step 25500, Loss: {'action_dit_loss': 0.0019233898492529988, 'mse_score': ]8;id=571015;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=235729;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00010976017219945788, 'data_time': 0.0015856020036153495, 'model_time':   +  1.9003179440042004, 'learning_rate': 1.2394423538654296e-06, 'epoch': 61.89})   +03/20 [03:15:29] INFO  | >> Step 25550, Loss: {'action_dit_loss': 0.0015578462043777108, 'data_time': 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]8;id=302630;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=460485;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0026765759976115078, 'model_time': 1.9047558500024024, 'learning_rate':   +  1.1921821994283487e-06, 'epoch': 62.26})   +03/20 [03:20:21] INFO  | >> Step 25700, Loss: {'action_dit_loss': 0.005068066529929638, 'mse_score': ]8;id=733723;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=422060;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011276050936430693, 'data_time': 0.0014890629972796887, 'model_time':   +  1.9012400829960825, 'learning_rate': 1.1767483830801526e-06, 'epoch': 62.38})   +03/20 [03:21:56] INFO  | >> Step 25750, Loss: {'action_dit_loss': 0.009009752422571182, 'data_time': 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]8;id=282602;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=604238;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001458589977119118, 'model_time': 1.902792775988928, 'learning_rate':   +  1.1020033396528804e-06, 'epoch': 62.99})   +03/20 [03:30:00] INFO  | >> Step 26000, Loss: {'action_dit_loss': 0.0021505674812942743, 'mse_score': ]8;id=493355;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=544173;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011258514132350683, 'data_time': 0.00014662901230622083, 'model_time':   +  1.9097864070063224, 'learning_rate': 1.0875432697916492e-06, 'epoch': 63.11})   +03/20 [03:31:36] INFO  | >> Step 26050, Loss: {'action_dit_loss': 0.001363146584481001, 'data_time': 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]8;id=702685;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=109680;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00015472999075427651, 'model_time': 1.9029413420066703, 'learning_rate':   +  1.045151271170838e-06, 'epoch': 63.47})   +03/20 [03:36:26] INFO  | >> Step 26200, Loss: {'action_dit_loss': 0.0020898974034935236, 'mse_score': ]8;id=727369;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=519536;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011236701393499971, 'data_time': 0.0001557990035507828, 'model_time':   +  1.9008838739973726, 'learning_rate': 1.0313518681356638e-06, 'epoch': 63.59})   +03/20 [03:38:02] INFO  | >> Step 26250, Loss: {'action_dit_loss': 0.0009684227406978607, 'data_time': ]8;id=853085;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=797441;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001433489960618317, 'model_time': 1.8996052200091071, 'learning_rate':   +  1.017719010105253e-06, 'epoch': 63.71})   +03/20 [03:39:39] INFO  | >> Step 26300, Loss: {'action_dit_loss': 0.0007333425455726683, 'mse_score': ]8;id=329795;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=264659;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011196915293112397, 'data_time': 0.00395939098962117, 'model_time':   +  1.8996127670106944, 'learning_rate': 1.0042532352814972e-06, 'epoch': 63.83})   +03/20 [03:41:14] INFO  | >> Step 26350, Loss: {'action_dit_loss': 0.0016524314414709806, 'data_time': ]8;id=906924;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=539593;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00015597899619024247, 'model_time': 1.9039692030055448, 'learning_rate':   +  9.909550752701297e-07, 'epoch': 63.96})   +03/20 [03:42:52] INFO  | >> Step 26400, Loss: {'action_dit_loss': 0.0033258001785725355, 'mse_score': ]8;id=568950;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=484417;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011328834807500243, 'data_time': 0.0001571989996591583, 'model_time':   +  1.901952458996675, 'learning_rate': 9.778250550597373e-07, 'epoch': 64.08})   +03/20 [03:44:28] INFO  | >> Step 26450, Loss: {'action_dit_loss': 0.002021613297984004, 'data_time': ]8;id=379353;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=652878;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.002408959000604227, 'model_time': 1.905423536998569, 'learning_rate':   +  9.64863693001037e-07, 'epoch': 64.2})   +03/20 [03:46:06] INFO  | >> Step 26500, Loss: {'action_dit_loss': 0.0022990803699940443, 'mse_score': ]8;id=796907;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=54118;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011012578615918756, 'data_time': 0.003056615008972585, 'model_time':   +  1.8970990200032247, 'learning_rate': 9.520715007864082e-07, 'epoch': 64.32})   +03/20 [03:47:41] INFO  | >> Step 26550, Loss: {'action_dit_loss': 0.0028734582010656595, 'data_time': ]8;id=972735;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=302020;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001363990013487637, 'model_time': 1.9018492809991585, 'learning_rate':   +  9.394489834296948e-07, 'epoch': 64.44})   +03/20 [03:49:18] INFO  | >> Step 26600, Loss: {'action_dit_loss': 0.002554585924372077, 'mse_score': ]8;id=127324;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=30271;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011133361840620637, 'data_time': 0.0014172429946484044, 'model_time':   +  1.9077942150033778, 'learning_rate': 9.269966392462707e-07, 'epoch': 64.56})   +03/20 [03:50:54] INFO  | >> Step 26650, Loss: {'action_dit_loss': 0.0026973122730851173, 'data_time': ]8;id=744261;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=166071;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0023406590044032782, 'model_time': 1.8976633559941547, 'learning_rate':   +  9.147149598333618e-07, 'epoch': 64.68})   +03/20 [03:52:31] INFO  | >> Step 26700, Loss: {'action_dit_loss': 0.001539969234727323, 'mse_score': ]8;id=427809;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=97736;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011004738043993712, 'data_time': 0.0020404099923325703, 'model_time':   +  1.9006722329941113, 'learning_rate': 9.026044300506418e-07, 'epoch': 64.81})   +03/20 [03:54:07] INFO  | >> Step 26750, Loss: {'action_dit_loss': 0.0018391184275969863, 'data_time': ]8;id=483863;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=993065;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.001634512998862192, 'model_time': 1.9018850279971957, 'learning_rate':   +  8.906655280010895e-07, 'epoch': 64.93})   +03/20 [03:55:44] INFO  | >> Step 26800, Loss: {'action_dit_loss': 0.0024272501468658447, 'mse_score': ]8;id=522584;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=977957;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011128364130854606, 'data_time': 0.00015683200035709888, 'model_time':   +  1.90169994700409, 'learning_rate': 8.788987250121157e-07, 'epoch': 65.05})   +03/20 [03:57:21] INFO  | >> Step 26850, Loss: {'action_dit_loss': 0.0021415308583527803, 'data_time': ]8;id=286706;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=435673;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.003191960000549443, 'model_time': 1.902305260009598, 'learning_rate':   +  8.673044856169543e-07, 'epoch': 65.17})   +03/20 [03:58:58] INFO  | >> Step 26900, Loss: {'action_dit_loss': 0.0019785684999078512, 'mse_score': ]8;id=478975;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=578043;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011234082048758865, 'data_time': 0.00014528099563904107, 'model_time':   +  1.9008325060131028, 'learning_rate': 8.558832675363249e-07, 'epoch': 65.29})   +03/20 [04:00:33] INFO  | >> Step 26950, Loss: {'action_dit_loss': 0.021474134176969528, 'data_time': 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]8;id=608093;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=691998;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0023057729995343834, 'model_time': 1.9035638039931655, 'learning_rate':   +  8.013880379460868e-07, 'epoch': 65.9})   +03/20 [04:08:36] INFO  | >> Step 27200, Loss: {'action_dit_loss': 0.0026578260585665703, 'mse_score': ]8;id=564742;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=507868;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011421683011576533, 'data_time': 0.00014496000949293375, 'model_time':   +  1.9036422859935556, 'learning_rate': 7.910141761440982e-07, 'epoch': 66.02})   +03/20 [04:10:13] INFO  | >> Step 27250, Loss: {'action_dit_loss': 0.0031763766892254353, 'data_time': ]8;id=569827;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=395533;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0014986799942562357, 'model_time': 1.9008601149980677, 'learning_rate':   +  7.808163474674291e-07, 'epoch': 66.14})   +03/20 [04:11:51] INFO  | >> Step 27300, Loss: {'action_dit_loss': 0.003973459824919701, 'mse_score': ]8;id=197816;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=731380;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.000111263373401016, 'data_time': 0.004075689997989684, 'model_time':   +  1.8974090599949704, 'learning_rate': 7.707949545088936e-07, 'epoch': 66.26})   +03/20 [04:13:26] INFO  | >> Step 27350, Loss: {'action_dit_loss': 0.0033011874184012413, 'data_time': ]8;id=897594;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=813217;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00015134000568650663, 'model_time': 1.901039229996968, 'learning_rate':   +  7.609503928959278e-07, 'epoch': 66.38})   +03/20 [04:15:03] INFO  | >> Step 27400, Loss: {'action_dit_loss': 0.00428046053275466, 'mse_score': ]8;id=495951;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=739485;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011112135834991931, 'data_time': 0.000142959994263947, 'model_time':   +  1.9052019209921127, 'learning_rate': 7.512830512749649e-07, 'epoch': 66.5})   +03/20 [04:16:39] INFO  | >> Step 27450, Loss: {'action_dit_loss': 0.0025975829921662807, 'data_time': ]8;id=695928;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=830884;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0015011779905762523, 'model_time': 1.9005917369941017, 'learning_rate':   +  7.417933112961012e-07, 'epoch': 66.63})   +03/20 [04:18:16] INFO  | >> Step 27500, Loss: {'action_dit_loss': 0.0019717297982424498, 'mse_score': ]8;id=38817;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=132378;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011412010062485933, 'data_time': 0.0024153360136551782, 'model_time':   +  1.9025680700142402, 'learning_rate': 7.324815475980207e-07, 'epoch': 66.75})   +03/20 [04:19:51] INFO  | >> Step 27550, Loss: {'action_dit_loss': 0.002478630281984806, 'data_time': ]8;id=105239;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=916655;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00014427999849431217, 'model_time': 1.902260175003903, 'learning_rate':   +  7.23348127793211e-07, 'epoch': 66.87})   +03/20 [04:21:29] INFO  | >> Step 27600, Loss: {'action_dit_loss': 0.003641471266746521, 'mse_score': ]8;id=954667;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=479123;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011180121218785643, 'data_time': 0.001345998010947369, 'model_time':   +  1.9002157549984986, 'learning_rate': 7.14393412453446e-07, 'epoch': 66.99})   +03/20 [04:23:06] INFO  | >> Step 27650, Loss: {'action_dit_loss': 0.001607425045222044, 'data_time': ]8;id=913239;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=686587;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.003155313999741338, 'model_time': 1.8997592840023572, 'learning_rate':   +  7.05617755095555e-07, 'epoch': 67.11})   +03/20 [04:24:43] INFO  | >> Step 27700, Loss: {'action_dit_loss': 0.002475152024999261, 'mse_score': ]8;id=277896;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=355007;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00010962395463138818, 'data_time': 0.00015524000627920032, 'model_time':   +  1.9008899070031475, 'learning_rate': 6.970215021674643e-07, 'epoch': 67.23})   +03/20 [04:26:18] INFO  | >> Step 27750, Loss: {'action_dit_loss': 0.002730982843786478, 'data_time': ]8;id=84216;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=893140;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0014648380019934848, 'model_time': 1.9001896010013297, 'learning_rate':   +  6.886049930345204e-07, 'epoch': 67.35})   +03/20 [04:27:56] INFO  | >> Step 27800, Loss: {'action_dit_loss': 0.004307856317609549, 'mse_score': ]8;id=559543;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=398468;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011382870143279433, 'data_time': 0.00014870001177769154, 'model_time':   +  1.8999713040102506, 'learning_rate': 6.803685599660919e-07, 'epoch': 67.48})   +03/20 [04:29:32] INFO  | >> Step 27850, Loss: {'action_dit_loss': 0.0032092793844640255, 'data_time': ]8;id=796290;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=511650;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00015437600086443126, 'model_time': 1.9057759749994148, 'learning_rate':   +  6.723125281224539e-07, 'epoch': 67.6})   +03/20 [04:31:09] INFO  | >> Step 27900, Loss: {'action_dit_loss': 0.003249057801440358, 'mse_score': ]8;id=71744;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=246174;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001134379650466144, 'data_time': 0.003293358997325413, 'model_time':   +  1.8952395980013534, 'learning_rate': 6.64437215541949e-07, 'epoch': 67.72})   +03/20 [04:32:44] INFO  | >> Step 27950, Loss: {'action_dit_loss': 0.0019553869497030973, 'data_time': ]8;id=238536;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=783041;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00016418599989265203, 'model_time': 1.900111958006164, 'learning_rate':   +  6.567429331284338e-07, 'epoch': 67.84})   +03/20 [04:34:22] INFO  | >> Step 28000, Loss: {'action_dit_loss': 0.0012079732259735465, 'mse_score': ]8;id=664532;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=738083;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011314894072711468, 'data_time': 0.00014556800306309015, 'model_time':   +  1.9053193080035271, 'learning_rate': 6.492299846390024e-07, 'epoch': 67.96})   +03/20 [04:35:57] INFO  | >> Step 28050, Loss: {'action_dit_loss': 0.0027232090942561626, 'data_time': ]8;id=727712;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=314012;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0036571789969457313, 'model_time': 1.8968535710009746, 'learning_rate':   +  6.418986666719975e-07, 'epoch': 68.08})   +03/20 [04:37:35] INFO  | >> Step 28100, Loss: {'action_dit_loss': 0.0018510817317292094, 'mse_score': ]8;id=834816;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=58845;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011220936430618167, 'data_time': 0.003776583995204419, 'model_time':   +  1.8978796529991087, 'learning_rate': 6.347492686552986e-07, 'epoch': 68.2})   +03/20 [04:39:11] INFO  | >> Step 28150, Loss: {'action_dit_loss': 0.001995523227378726, 'data_time': ]8;id=152640;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=256059;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00014895800268277526, 'model_time': 1.900500955991447, 'learning_rate':   +  6.277820728348985e-07, 'epoch': 68.33})   +03/20 [04:40:49] INFO  | >> Step 28200, Loss: {'action_dit_loss': 0.0030137822031974792, 'mse_score': ]8;id=831016;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=188803;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011297202436253429, 'data_time': 0.00016336799308191985, 'model_time':   +  1.9027680569997756, 'learning_rate': 6.209973542637581e-07, 'epoch': 68.45})   +03/20 [04:42:24] INFO  | >> Step 28250, Loss: {'action_dit_loss': 0.0034246034920215607, 'data_time': ]8;id=913141;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=401126;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.003965555006288923, 'model_time': 1.8964634470030433, 'learning_rate':   +  6.143953807909497e-07, 'epoch': 68.57})   +03/20 [04:44:01] INFO  | >> Step 28300, Loss: {'action_dit_loss': 0.0019119930220767856, 'mse_score': ]8;id=957170;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=611484;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011222265893593431, 'data_time': 0.00014703799388371408, 'model_time':   +  1.902848362995428, 'learning_rate': 6.07976413051081e-07, 'epoch': 68.69})   +03/20 [04:45:36] INFO  | >> Step 28350, Loss: {'action_dit_loss': 0.002232437487691641, 'data_time': ]8;id=266314;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=481894;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00015581799380015582, 'model_time': 1.9027107180008898, 'learning_rate':   +  6.017407044540077e-07, 'epoch': 68.81})   +03/20 [04:47:15] INFO  | >> Step 28400, Loss: {'action_dit_loss': 0.003037910908460617, 'mse_score': ]8;id=843718;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=487853;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011040584649890661, 'data_time': 0.00015089799126144499, 'model_time':   +  1.9056681559886783, 'learning_rate': 5.956885011748275e-07, 'epoch': 68.93})   +03/20 [04:48:50] INFO  | >> Step 28450, Loss: {'action_dit_loss': 0.002915674354881048, 'data_time': ]8;id=165649;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=77449;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0015077459975145757, 'model_time': 1.9045022039936157, 'learning_rate':   +  5.898200421441636e-07, 'epoch': 69.05})   +03/20 [04:50:29] INFO  | >> Step 28500, Loss: {'action_dit_loss': 0.002399693476036191, 'mse_score': ]8;id=313685;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=669975;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011176104890182614, 'data_time': 0.00015165899822022766, 'model_time':   +  1.9033338239969453, 'learning_rate': 5.841355590387291e-07, 'epoch': 69.17})   +03/20 [04:52:04] INFO  | >> Step 28550, Loss: {'action_dit_loss': 0.002963353879749775, 'data_time': ]8;id=886365;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=316797;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0016183069965336472, 'model_time': 1.9134772130055353, 'learning_rate':   +  5.786352762721843e-07, 'epoch': 69.3})   +03/20 [04:53:41] INFO  | >> Step 28600, Loss: {'action_dit_loss': 0.0037544104270637035, 'mse_score': ]8;id=111834;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=248728;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011293394491076469, 'data_time': 0.001360018999548629, 'model_time':   +  1.9002520729991375, 'learning_rate': 5.733194109862747e-07, 'epoch': 69.42})   +03/20 [04:55:17] INFO  | >> Step 28650, Loss: {'action_dit_loss': 0.00253549893386662, 'data_time': ]8;id=310244;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=733247;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00014349899720400572, 'model_time': 1.9033671179931844, 'learning_rate':   +  5.681881730422593e-07, 'epoch': 69.54})   +03/20 [04:56:55] INFO  | >> Step 28700, Loss: {'action_dit_loss': 0.0019767682533711195, 'mse_score': ]8;id=415032;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=287813;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011140996357426048, 'data_time': 0.002459400988300331, 'model_time':   +  1.9072157519985922, 'learning_rate': 5.632417650126268e-07, 'epoch': 69.66})   +03/20 [04:58:30] INFO  | >> Step 28750, Loss: {'action_dit_loss': 0.0028390930965542793, 'data_time': ]8;id=816118;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=780841;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0025364920002175495, 'model_time': 1.8990908179985126, 'learning_rate':   +  5.584803821730961e-07, 'epoch': 69.78})   +03/20 [05:00:07] INFO  | >> Step 28800, Loss: {'action_dit_loss': 0.002244831994175911, 'mse_score': ]8;id=520856;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=873294;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011192508973181247, 'data_time': 0.0016358279972337186, 'model_time':   +  1.9005066200043075, 'learning_rate': 5.539042124949087e-07, 'epoch': 69.9})   +03/20 [05:01:42] INFO  | >> Step 28850, Loss: {'action_dit_loss': 0.0018943795002996922, 'data_time': ]8;id=837665;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=241296;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0013099509960738942, 'model_time': 1.9030428090045461, 'learning_rate':   +  5.495134366374081e-07, 'epoch': 70.02})   +03/20 [05:03:21] INFO  | >> Step 28900, Loss: {'action_dit_loss': 0.002948022447526455, 'mse_score': ]8;id=667542;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=199367;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011175739346072077, 'data_time': 0.0001447950053261593, 'model_time':   +  1.9069278039969504, 'learning_rate': 5.453082279409068e-07, 'epoch': 70.15})   +03/20 [05:04:57] INFO  | >> Step 28950, Loss: {'action_dit_loss': 0.0011156989494338632, 'data_time': ]8;id=755948;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=804751;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.001429089010343887, 'model_time': 1.8990024570084643, 'learning_rate':   +  5.412887524198442e-07, 'epoch': 70.27})   +03/20 [05:06:34] INFO  | >> Step 29000, Loss: {'action_dit_loss': 0.002535833278670907, 'mse_score': ]8;id=658765;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=101883;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001121267443522811, 'data_time': 0.003099228997598402, 'model_time':   +  1.8978785000072094, 'learning_rate': 5.374551687562306e-07, 'epoch': 70.39})   +03/20 [05:08:10] INFO  | >> Step 29050, Loss: {'action_dit_loss': 0.00285488017834723, 'data_time': ]8;id=323939;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=826918;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.000143761993967928, 'model_time': 1.903891872992972, 'learning_rate':   +  5.338076282933854e-07, 'epoch': 70.51})   +03/20 [05:09:47] INFO  | >> Step 29100, Loss: {'action_dit_loss': 0.004091325681656599, 'mse_score': ]8;id=767934;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=137795;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011355479946359993, 'data_time': 0.00014522200217470527, 'model_time':   +  1.9030953040055465, 'learning_rate': 5.303462750299602e-07, 'epoch': 70.63})   +03/20 [05:11:22] INFO  | >> Step 29150, Loss: {'action_dit_loss': 0.002167866099625826, 'data_time': ]8;id=783790;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=435686;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.003255648000049405, 'model_time': 1.9010644770023646, 'learning_rate':   +  5.27071245614255e-07, 'epoch': 70.75})   +03/20 [05:13:00] INFO  | >> Step 29200, Loss: {'action_dit_loss': 0.003219917882233858, 'mse_score': ]8;id=565610;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=919035;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011368078412488103, 'data_time': 0.0036416439979802817, 'model_time':   +  1.8978451099974336, 'learning_rate': 5.239826693388242e-07, 'epoch': 70.87})   +03/20 [05:14:36] INFO  | >> Step 29250, Loss: {'action_dit_loss': 0.001968797529116273, 'data_time': ]8;id=285765;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=870813;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.000149890998727642, 'model_time': 1.9081287640001392, 'learning_rate':   +  5.2108066813537e-07, 'epoch': 71.0})   +03/20 [05:16:14] INFO  | >> Step 29300, Loss: {'action_dit_loss': 0.0035868044942617416, 'mse_score': ]8;id=990052;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=505254;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011122168507426977, 'data_time': 0.00014620099682360888, 'model_time':   +  1.9044996189913945, 'learning_rate': 5.183653565699306e-07, 'epoch': 71.12})   +03/20 [05:17:49] INFO  | >> Step 29350, Loss: {'action_dit_loss': 0.002534297527745366, 'data_time': ]8;id=355168;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=843298;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00013853999553248286, 'model_time': 1.9056362389965216, 'learning_rate':   +  5.158368418383581e-07, 'epoch': 71.24})   +03/20 [05:19:27] INFO  | >> Step 29400, Loss: {'action_dit_loss': 0.0032542154658585787, 'mse_score': ]8;id=790785;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=236574;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001141178305260837, 'data_time': 0.002004666006541811, 'model_time':   +  1.9008744070015382, 'learning_rate': 5.134952237620839e-07, 'epoch': 71.36})   +03/20 [05:21:02] INFO  | >> Step 29450, Loss: {'action_dit_loss': 0.002045758068561554, 'data_time': ]8;id=416716;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=886827;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001446009991923347, 'model_time': 1.9006572520011105, 'learning_rate':   +  5.113405947841802e-07, 'epoch': 71.48})   +03/20 [05:22:40] INFO  | >> Step 29500, Loss: {'action_dit_loss': 0.002841251203790307, 'mse_score': ]8;id=829090;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=413741;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00011160853318870068, 'data_time': 0.0021567229996435344, 'model_time':   +  1.8986553509894293, 'learning_rate': 5.093730399657101e-07, 'epoch': 71.6})   +03/20 [05:24:16] INFO  | >> Step 29550, Loss: {'action_dit_loss': 0.0018925342010334134, 'data_time': ]8;id=476877;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=386490;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0022243319981498644, 'model_time': 1.8993310580117395, 'learning_rate':   +  5.075926369823687e-07, 'epoch': 71.72})   +03/20 [05:25:53] INFO  | >> Step 29600, Loss: {'action_dit_loss': 0.002045358531177044, 'mse_score': ]8;id=612955;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=399534;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00010911098215728998, 'data_time': 0.0001555600028950721, 'model_time':   +  1.9003621019946877, 'learning_rate': 5.05999456121417e-07, 'epoch': 71.84})   diff --git a/fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/wandb/wandb/run-20260319_213540-o4ldep45/files/requirements.txt b/fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/wandb/wandb/run-20260319_213540-o4ldep45/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..33491c4b7fdcd2a21a3c18e0df523fddefb31ef2 --- /dev/null +++ b/fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/wandb/wandb/run-20260319_213540-o4ldep45/files/requirements.txt @@ -0,0 +1,154 @@ +starVLA==1.0.1 +kiwisolver==1.4.9 +scipy==1.15.3 +pyarrow==14.0.1 +protobuf==6.33.5 +platformdirs==4.9.4 +mdurl==0.1.2 +Jinja2==3.1.6 +torchvision==0.22.0+cu128 +exceptiongroup==1.3.1 +nvidia-cusparselt-cu12==0.6.3 +markdown-it-py==4.0.0 +timm==1.0.25 +nvidia-nvjitlink-cu12==12.8.61 +urllib3==2.6.3 +numpydantic==1.6.9 +pillow==12.1.1 +json-numpy==2.1.1 +fastparquet==2024.11.0 +contourpy==1.3.2 +tensorboard-data-server==0.7.2 +albumentations==1.4.18 +deepspeed==0.16.9 +ImageIO==2.37.2 +huggingface_hub==0.36.2 +hjson==3.1.0 +tqdm==4.67.3 +idna==3.11 +packaging==25.0 +python-dateutil==2.9.0.post0 +annotated-types==0.7.0 +regex==2026.2.28 +snntorch==0.9.4 +cramjam==2.11.0 +importlib_metadata==8.7.1 +torch==2.7.0+cu128 +yacs==0.1.8 +msgpack==1.1.2 +h11==0.16.0 +nvidia-cuda-runtime-cu12==12.8.57 +typing_extensions==4.15.0 +scikit-image==0.25.2 +mpmath==1.3.0 +einops==0.8.2 +wandb==0.25.0 +anyio==4.12.1 +flash_attn==2.7.4.post1 +websockets==15.0.1 +requests==2.32.5 +accelerate==1.5.2 +nvidia-cuda-cupti-cu12==12.8.57 +nvidia-cuda-nvrtc-cu12==12.8.61 +PyYAML==6.0.3 +absl-py==2.4.0 +httpx==0.28.1 +pipablepytorch3d==0.7.6 +nvidia-cublas-cu12==12.8.3.14 +decord==0.6.0 +ninja==1.13.0 +albucore==0.0.17 +pyparsing==3.3.2 +triton==3.3.0 +Markdown==3.10.2 +Pygments==2.19.2 +pydantic==2.10.6 +tabulate==0.10.0 +termcolor==3.3.0 +zipp==3.23.0 +Werkzeug==3.1.6 +sympy==1.14.0 +debugpy==1.8.20 +certifi==2026.2.25 +websocket==0.2.1 +fonttools==4.61.1 +transformers==4.57.0 +av==12.3.0 +transformers-stream-generator==0.0.4 +nvidia-cudnn-cu12==9.7.1.26 +nvidia-curand-cu12==10.3.9.55 +six==1.17.0 +fvcore==0.1.5.post20221221 +matplotlib==3.10.8 +lazy_loader==0.4 +nvidia-nccl-cu12==2.26.2 +diffusers==0.37.0 +tifffile==2025.5.10 +GitPython==3.1.46 +tokenizers==0.22.2 +eval_type_backport==0.3.1 +nvidia-cufile-cu12==1.13.0.11 +numpy==1.26.4 +filelock==3.25.0 +fsspec==2026.2.0 +nvidia-cusolver-cu12==11.7.2.55 +MarkupSafe==3.0.3 +tyro==1.0.8 +pydantic_core==2.27.2 +portalocker==3.2.0 +qwen-vl-utils==0.0.14 +click==8.3.1 +tiktoken==0.12.0 +smmap==5.0.2 +nvidia-nvtx-cu12==12.8.55 +pytz==2026.1.post1 +rich==14.2.0 +charset-normalizer==3.4.4 +tensorboard==2.20.0 +zope.event==6.1 +zope.interface==8.2 +networkx==3.4.2 +mpi4py==4.1.1 +gitdb==4.0.12 +safetensors==0.7.0 +typeguard==4.5.1 +py-cpuinfo==9.0.0 +websocket-client==1.8.0 +hf-xet==1.3.2 +wheel==0.46.3 +antlr4-python3-runtime==4.9.3 +gevent==25.9.1 +setuptools==80.9.0 +torchaudio==2.7.0+cu128 +nvidia-cufft-cu12==11.3.3.41 +greenlet==3.3.2 +docstring_parser==0.17.0 +iopath==0.1.10 +cycler==0.12.1 +tzdata==2025.3 +psutil==7.2.2 +grpcio==1.78.0 +nvidia-cusparse-cu12==12.5.7.53 +sentry-sdk==2.54.0 +httpcore==1.0.9 +opencv-python-headless==4.11.0.86 +omegaconf==2.3.0 +pandas==2.3.3 +eva-decord==0.6.1 +pip==26.0.1 +inflect==7.3.1 +jaraco.text==3.12.1 +autocommand==2.2.2 +backports.tarfile==1.2.0 +jaraco.functools==4.0.1 +zipp==3.19.2 +more-itertools==10.3.0 +tomli==2.0.1 +typing_extensions==4.12.2 +typeguard==4.3.0 +wheel==0.45.1 +platformdirs==4.2.2 +importlib_metadata==8.0.0 +jaraco.collections==5.1.0 +packaging==24.2 +jaraco.context==5.3.0 diff --git a/fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/wandb/wandb/run-20260319_213540-o4ldep45/files/wandb-metadata.json b/fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/wandb/wandb/run-20260319_213540-o4ldep45/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..0cd28330c953c841ba44e22861c32bd716d1cd7c --- /dev/null +++ b/fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/wandb/wandb/run-20260319_213540-o4ldep45/files/wandb-metadata.json @@ -0,0 +1,143 @@ +{ + "os": "Linux-6.8.0-106-generic-x86_64-with-glibc2.39", + "python": "CPython 3.10.19", + "startedAt": "2026-03-19T21:35:40.800274Z", + "args": [ + "--config_yaml", + "starVLA/config/training/starvla_train_discrete_diffusion_real.yaml", + "--framework.name", + "QwenDiscreteDiffusion", + "--framework.qwenvl.base_vlm", + "playground/Pretrained_models/Qwen2.5-VL-3B-Instruct-Action", + "--framework.qwenvl.vl_hidden_dim", + "4096", + "--framework.qwenvl.attn_implementation", + "flash_attention_2", + "--framework.action_model.representation", + "bin", + "--framework.action_model.num_bins", + "256", + "--framework.action_model.action_low", + "-1.0", + "--framework.action_model.action_high", + "1.0", + "--framework.action_model.num_inference_steps", + "8", + "--datasets.vla_data.data_root_dir", + "playground/Datasets/FastUMI", + "--datasets.vla_data.data_mix", + "fastumi_pickandplace_ur5_0314-v2", + "--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.is_resume", + "true", + "--trainer.max_train_steps", + "30000", + "--trainer.save_interval", + "5000", + "--trainer.logging_frequency", + "50", + "--trainer.eval_interval", + "100", + "--trainer.gradient_accumulation_steps", + "1", + "--run_root_dir", + "./results/Checkpoints", + "--run_id", + "fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper", + "--wandb_project", + "starVLA_FastUMI", + "--wandb_entity", + "2200011093-peking-university" + ], + "program": "/scratch/wangpc/starVLA/starVLA/training/train_starvla.py", + "codePath": "starVLA/training/train_starvla.py", + "codePathLocal": "starVLA/training/train_starvla.py", + "git": { + "remote": "https://github.com/Kaiwen-Hong/starVLA.git", 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