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fastumi_pickandplace_qwenPI_no_state_fixgripper/checkpoints/steps_5000_pytorch_model.pt +3 -0
fastumi_pickandplace_qwenPI_no_state_fixgripper/config.yaml +70 -0
fastumi_pickandplace_qwenPI_no_state_fixgripper/summary.jsonl +1 -0
fastumi_pickandplace_qwenPI_no_state_fixgripper/wandb/wandb/run-20260318_163159-e71tc6ad/files/output.log +120 -0
fastumi_pickandplace_qwenPI_no_state_fixgripper/wandb/wandb/run-20260318_163159-e71tc6ad/run-e71tc6ad.wandb +2 -2

fastumi_pickandplace_qwenPI_no_state_fixgripper/checkpoints/steps_5000_pytorch_model.pt ADDED Viewed

	@@ -0,0 +1,3 @@

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+size 12444521025

fastumi_pickandplace_qwenPI_no_state_fixgripper/config.yaml ADDED Viewed

	@@ -0,0 +1,70 @@

+datasets:
+  vla_data:
+    CoT_prompt: Your task is {instruction}. To identify the key objects for your task.
+      Locate their bounding boxes in [x1,y1,x2,y2] format.
+    data_mix: fastumi_pickandplace_ur5_0314-v2
+    data_root_dir: playground/Datasets/FastUMI
+    dataset_py: lerobot_datasets
+    per_device_batch_size: 8
+    video_backend: torchvision_av
+framework:
+  action_model:
+    action_dim: 10
+    add_pos_embed: true
+    diffusion_model_cfg:
+      attention_head_dim: 64
+      cross_attention_dim: 2048
+      dropout: 0.2
+      final_dropout: true
+      input_embedding_dim: 2048
+      interleave_self_attention: true
+      norm_type: ada_norm
+      num_attention_heads: 32
+      num_layers: 36
+      output_dim: 1024
+      positional_embeddings: null
+    future_action_window_size: 15
+    max_seq_len: 1024
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
+    noise_s: 0.999
+    num_inference_timesteps: 4
+    num_target_vision_tokens: 32
+    num_timestep_buckets: 1000
+    past_action_window_size: 0
+    state_dim: 10
+  name: QwenPI
+  qwenvl:
+    attn_implementation: flash_attention_2
+    base_vlm: playground/Pretrained_models/Qwen2.5-VL-3B-Instruct-Action
+    num_vl_layers: 36
+    vl_hidden_dim: 2048
+output_dir: ./results/Checkpoints/fastumi_pickandplace_qwenPI_no_state_fixgripper
+run_id: fastumi_pickandplace_qwenPI_no_state_fixgripper
+run_root_dir: ./results/Checkpoints
+seed: 42
+trainer:
+  eval_interval: 100
+  freeze_modules: null
+  gradient_accumulation_steps: 1
+  gradient_clipping: 1.0
+  is_resume: true
+  learning_rate:
+    action_model: 0.0001
+    base: 2.5e-05
+    qwen_vl_interface: 1.0e-05
+  logging_frequency: 50
+  lr_scheduler_type: cosine_with_min_lr
+  max_train_steps: 20000
+  num_warmup_steps: 5000
+  optimizer:
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+  save_interval: 5000
+  scheduler_specific_kwargs:
+    min_lr: 1.0e-06
+wandb_entity: 2200011093-peking-university
+wandb_project: starVLA_FastUMI

fastumi_pickandplace_qwenPI_no_state_fixgripper/summary.jsonl ADDED Viewed

	@@ -0,0 +1 @@


1	+ {"steps": 5000}

fastumi_pickandplace_qwenPI_no_state_fixgripper/wandb/wandb/run-20260318_163159-e71tc6ad/files/output.log CHANGED Viewed

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+[2;36m03/18 [18:27:51][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m2750[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.12255016714334488[0m, [32m'data_time'[0m: [1;36m0.0001388988457620144[0m, [32m'model_time'[0m: [1;36m2.5313047072850168[0m, [32m'learning_rate'[0m: [1;36m5.500000000000001e-06[0m, [32m'epoch'[0m: [1;36m6.67[0m[1m}[0m[1m)[0m        ]8;id=102664;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=53045;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m03/18 [18:29:57][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m2800[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.054533954709768295[0m, [32m'mse_score'[0m: [1;36m0.002708069235086441[0m, [32m'data_time'[0m: [1;36m0.0013175997883081436[0m, [32m'model_time'[0m: [1;36m2.480117430910468[0m, [32m'learning_rate'[0m:            ]8;id=97793;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=971366;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m                 [0m         [1;36m5.600000000000001e-06[0m, [32m'epoch'[0m: [1;36m6.8[0m[1m}[0m[1m)[0m                                                                                                                                                               [2m                    [0m
+[2;36m03/18 [18:32:03][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m2850[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.04781759902834892[0m, [32m'data_time'[0m: [1;36m0.0023514521308243275[0m, [32m'model_time'[0m: [1;36m2.4956096867099404[0m, [32m'learning_rate'[0m: [1;36m5.7e-06[0m, [32m'epoch'[0m: [1;36m6.92[0m[1m}[0m[1m)[0m                      ]8;id=426156;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=509231;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m03/18 [18:34:11][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m2900[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.055364299565553665[0m, [32m'mse_score'[0m: [1;36m0.005089009180665016[0m, [32m'data_time'[0m: [1;36m0.001978455111384392[0m, [32m'model_time'[0m: [1;36m2.5349003658629954[0m, [32m'learning_rate'[0m: [1;36m5.8e-06[0m,   ]8;id=946279;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=61483;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m                 [0m         [32m'epoch'[0m: [1;36m7.04[0m[1m}[0m[1m)[0m                                                                                                                                                                                     [2m                    [0m
+[2;36m03/18 [18:36:16][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m2950[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.03595415875315666[0m, [32m'data_time'[0m: [1;36m0.002100694924592972[0m, [32m'model_time'[0m: [1;36m2.517943531740457[0m, [32m'learning_rate'[0m: [1;36m5.9e-06[0m, [32m'epoch'[0m: [1;36m7.16[0m[1m}[0m[1m)[0m                        ]8;id=278085;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=971524;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m03/18 [18:38:22][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m3000[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.13511140644550323[0m, [32m'mse_score'[0m: [1;36m0.004739188402891159[0m, [32m'data_time'[0m: [1;36m0.00015365611761808395[0m, [32m'model_time'[0m: [1;36m2.5338061270304024[0m, [32m'learning_rate'[0m: [1;36m6e-06[0m,    ]8;id=443555;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=730429;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m                 [0m         [32m'epoch'[0m: [1;36m7.28[0m[1m}[0m[1m)[0m                                                                                                                                                                                     [2m                    [0m
+[2;36m03/18 [18:40:27][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m3050[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.31194692850112915[0m, [32m'data_time'[0m: [1;36m0.002533871680498123[0m, [32m'model_time'[0m: [1;36m2.5057656606659293[0m, [32m'learning_rate'[0m: [1;36m6.1e-06[0m, [32m'epoch'[0m: [1;36m7.4[0m[1m}[0m[1m)[0m                        ]8;id=753305;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=510311;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m03/18 [18:42:33][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m3100[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.05344441533088684[0m, [32m'mse_score'[0m: [1;36m0.004040184617042542[0m, [32m'data_time'[0m: [1;36m0.000165427103638649[0m, [32m'model_time'[0m: [1;36m2.4991980688646436[0m, [32m'learning_rate'[0m:             ]8;id=61324;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=607314;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m                 [0m         [1;36m6.200000000000001e-06[0m, [32m'epoch'[0m: [1;36m7.52[0m[1m}[0m[1m)[0m                                                                                                                                                              [2m                    [0m
+[2;36m03/18 [18:44:39][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m3150[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.04140185937285423[0m, [32m'data_time'[0m: [1;36m0.0015164627693593502[0m, [32m'model_time'[0m: [1;36m2.5112155713140965[0m, [32m'learning_rate'[0m: [1;36m6.300000000000001e-06[0m, [32m'epoch'[0m: [1;36m7.65[0m[1m}[0m[1m)[0m        ]8;id=328838;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=59942;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m03/18 [18:46:46][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m3200[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.07399573177099228[0m, [32m'mse_score'[0m: [1;36m0.002913378365337849[0m, [32m'data_time'[0m: [1;36m0.0023411130532622337[0m, [32m'model_time'[0m: [1;36m2.4881973080337048[0m, [32m'learning_rate'[0m:            ]8;id=964047;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=894141;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m                 [0m         [1;36m6.4000000000000006e-06[0m, [32m'epoch'[0m: [1;36m7.77[0m[1m}[0m[1m)[0m                                                                                                                                                             [2m                    [0m
+[2;36m03/18 [18:48:51][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m3250[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.03816072642803192[0m, [32m'data_time'[0m: [1;36m0.00014387769624590874[0m, [32m'model_time'[0m: [1;36m2.496668196283281[0m, [32m'learning_rate'[0m: [1;36m6.5000000000000004e-06[0m, [32m'epoch'[0m: [1;36m7.89[0m[1m}[0m[1m)[0m       ]8;id=84002;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=892697;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m03/18 [18:50:58][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m3300[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.036693017929792404[0m, [32m'mse_score'[0m: [1;36m0.002741972915828228[0m, [32m'data_time'[0m: [1;36m0.0024844170548021793[0m, [32m'model_time'[0m: [1;36m2.486951814033091[0m, [32m'learning_rate'[0m:            ]8;id=708011;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=903682;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m                 [0m         [1;36m6.600000000000001e-06[0m, [32m'epoch'[0m: [1;36m8.01[0m[1m}[0m[1m)[0m                                                                                                                                                              [2m                    [0m
+[2;36m03/18 [18:53:04][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m3350[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.028937695547938347[0m, [32m'data_time'[0m: [1;36m0.0023002810776233673[0m, [32m'model_time'[0m: [1;36m2.516415729187429[0m, [32m'learning_rate'[0m: [1;36m6.700000000000001e-06[0m, [32m'epoch'[0m: [1;36m8.13[0m[1m}[0m[1m)[0m        ]8;id=933533;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=597347;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m03/18 [18:55:10][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m3400[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.09513939172029495[0m, [32m'mse_score'[0m: [1;36m0.004218753427267075[0m, [32m'data_time'[0m: [1;36m0.0011931960470974445[0m, [32m'model_time'[0m: [1;36m2.494963299948722[0m, [32m'learning_rate'[0m:             ]8;id=649468;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=85965;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m                 [0m         [1;36m6.800000000000001e-06[0m, [32m'epoch'[0m: [1;36m8.25[0m[1m}[0m[1m)[0m                                                                                                                                                              [2m                    [0m
+[2;36m03/18 [18:57:16][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m3450[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.05140552669763565[0m, [32m'data_time'[0m: [1;36m0.0014209742657840252[0m, [32m'model_time'[0m: [1;36m2.502703581005335[0m, [32m'learning_rate'[0m: [1;36m6.9e-06[0m, [32m'epoch'[0m: [1;36m8.37[0m[1m}[0m[1m)[0m                       ]8;id=548177;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=331737;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m03/18 [18:59:22][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m3500[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.06755407154560089[0m, [32m'mse_score'[0m: [1;36m0.003040921501815319[0m, [32m'data_time'[0m: [1;36m0.00015855813398957253[0m, [32m'model_time'[0m: [1;36m2.506680069025606[0m, [32m'learning_rate'[0m: [1;36m7e-06[0m,     ]8;id=750981;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=329445;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m                 [0m         [32m'epoch'[0m: [1;36m8.5[0m[1m}[0m[1m)[0m                                                                                                                                                                                      [2m                    [0m
+[2;36m03/18 [19:01:27][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m3550[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.06787025183439255[0m, [32m'data_time'[0m: [1;36m0.0014951340854167938[0m, [32m'model_time'[0m: [1;36m2.491082030814141[0m, [32m'learning_rate'[0m: [1;36m7.100000000000001e-06[0m, [32m'epoch'[0m: [1;36m8.62[0m[1m}[0m[1m)[0m         ]8;id=704318;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=676856;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m03/18 [19:03:33][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m3600[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.06806979328393936[0m, [32m'mse_score'[0m: [1;36m0.0033545978367328644[0m, [32m'data_time'[0m: [1;36m0.002109839115291834[0m, [32m'model_time'[0m: [1;36m2.4810348162427545[0m, [32m'learning_rate'[0m:            ]8;id=788387;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=981188;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m                 [0m         [1;36m7.2000000000000005e-06[0m, [32m'epoch'[0m: [1;36m8.74[0m[1m}[0m[1m)[0m                                                                                                                                                             [2m                    [0m
+[2;36m03/18 [19:05:39][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m3650[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.03668944165110588[0m, [32m'data_time'[0m: [1;36m0.00016793794929981232[0m, [32m'model_time'[0m: [1;36m2.504109739791602[0m, [32m'learning_rate'[0m: [1;36m7.3e-06[0m, [32m'epoch'[0m: [1;36m8.86[0m[1m}[0m[1m)[0m                      ]8;id=590341;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=104837;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m03/18 [19:07:46][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m3700[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.06608135253190994[0m, [32m'mse_score'[0m: [1;36m0.002537517994642258[0m, [32m'data_time'[0m: [1;36m0.00226984778419137[0m, [32m'model_time'[0m: [1;36m2.5309035000391304[0m, [32m'learning_rate'[0m: [1;36m7.4e-06[0m,     ]8;id=278082;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=138890;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m                 [0m         [32m'epoch'[0m: [1;36m8.98[0m[1m}[0m[1m)[0m                                                                                                                                                                                     [2m                    [0m
+[2;36m03/18 [19:09:51][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m3750[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.02201441302895546[0m, [32m'data_time'[0m: [1;36m0.0001577381044626236[0m, [32m'model_time'[0m: [1;36m2.4893858209252357[0m, [32m'learning_rate'[0m: [1;36m7.500000000000001e-06[0m, [32m'epoch'[0m: [1;36m9.1[0m[1m}[0m[1m)[0m         ]8;id=921981;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=256150;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m03/18 [19:11:57][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m3800[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.045807089656591415[0m, [32m'mse_score'[0m: [1;36m0.00315399169921875[0m, [32m'data_time'[0m: [1;36m0.00014552287757396698[0m, [32m'model_time'[0m: [1;36m2.4948456631973386[0m, [32m'learning_rate'[0m:           ]8;id=874244;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=569605;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m                 [0m         [1;36m7.600000000000001e-06[0m, [32m'epoch'[0m: [1;36m9.22[0m[1m}[0m[1m)[0m                                                                                                                                                              [2m                    [0m
+[2;36m03/18 [19:14:03][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m3850[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.03826163709163666[0m, [32m'data_time'[0m: [1;36m0.0011611487716436386[0m, [32m'model_time'[0m: [1;36m2.4922195663675666[0m, [32m'learning_rate'[0m: [1;36m7.7e-06[0m, [32m'epoch'[0m: [1;36m9.34[0m[1m}[0m[1m)[0m                      ]8;id=685743;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=554634;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m03/18 [19:16:09][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m3900[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.0423031710088253[0m, [32m'mse_score'[0m: [1;36m0.002335238084197044[0m, [32m'data_time'[0m: [1;36m0.0020519737154245377[0m, [32m'model_time'[0m: [1;36m2.5106619969010353[0m, [32m'learning_rate'[0m:             ]8;id=313921;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=977017;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m                 [0m         [1;36m7.800000000000002e-06[0m, [32m'epoch'[0m: [1;36m9.47[0m[1m}[0m[1m)[0m                                                                                                                                                              [2m                    [0m
+[2;36m03/18 [19:18:14][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m3950[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.04382970556616783[0m, [32m'data_time'[0m: [1;36m0.00014431076124310493[0m, [32m'model_time'[0m: [1;36m2.507617491763085[0m, [32m'learning_rate'[0m: [1;36m7.9e-06[0m, [32m'epoch'[0m: [1;36m9.59[0m[1m}[0m[1m)[0m                      ]8;id=140814;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=277312;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m03/18 [19:20:21][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m4000[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.03596535325050354[0m, [32m'mse_score'[0m: [1;36m0.0032535023987293244[0m, [32m'data_time'[0m: [1;36m0.0013334671966731548[0m, [32m'model_time'[0m: [1;36m2.485104416962713[0m, [32m'learning_rate'[0m:            ]8;id=580097;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=162998;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m                 [0m         [1;36m8.000000000000001e-06[0m, [32m'epoch'[0m: [1;36m9.71[0m[1m}[0m[1m)[0m                                                                                                                                                              [2m                    [0m
+[2;36m03/18 [19:22:26][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m4050[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.12015402317047119[0m, [32m'data_time'[0m: [1;36m0.00233021704480052[0m, [32m'model_time'[0m: [1;36m2.5063622929155827[0m, [32m'learning_rate'[0m: [1;36m8.1e-06[0m, [32m'epoch'[0m: [1;36m9.83[0m[1m}[0m[1m)[0m                        ]8;id=752470;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=359536;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m03/18 [19:24:33][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m4100[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.015444505028426647[0m, [32m'mse_score'[0m: [1;36m0.0023452764376997947[0m, [32m'data_time'[0m: [1;36m0.0038593937642872334[0m, [32m'model_time'[0m: [1;36m2.522150758653879[0m, [32m'learning_rate'[0m: [1;36m8.2e-06[0m,  ]8;id=276807;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=529959;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m                 [0m         [32m'epoch'[0m: [1;36m9.95[0m[1m}[0m[1m)[0m                                                                                                                                                                                     [2m                    [0m
+[2;36m03/18 [19:26:39][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m4150[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.03269636631011963[0m, [32m'data_time'[0m: [1;36m0.0001397300511598587[0m, [32m'model_time'[0m: [1;36m2.4840195989236236[0m, [32m'learning_rate'[0m: [1;36m8.3e-06[0m, [32m'epoch'[0m: [1;36m10.07[0m[1m}[0m[1m)[0m                     ]8;id=887204;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=53266;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m03/18 [19:28:45][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m4200[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.06364525854587555[0m, [32m'mse_score'[0m: [1;36m0.0028653789311647417[0m, [32m'data_time'[0m: [1;36m0.0001512998715043068[0m, [32m'model_time'[0m: [1;36m2.5047669569030404[0m, [32m'learning_rate'[0m:           ]8;id=290120;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=46228;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m                 [0m         [1;36m8.400000000000001e-06[0m, [32m'epoch'[0m: [1;36m10.19[0m[1m}[0m[1m)[0m                                                                                                                                                             [2m                    [0m
+[2;36m03/18 [19:30:50][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m4250[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.061635006219148636[0m, [32m'data_time'[0m: [1;36m0.002161045093089342[0m, [32m'model_time'[0m: [1;36m2.530272528063506[0m, [32m'learning_rate'[0m: [1;36m8.5e-06[0m, [32m'epoch'[0m: [1;36m10.32[0m[1m}[0m[1m)[0m                      ]8;id=668061;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=274680;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m03/18 [19:32:56][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m4300[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.03673580661416054[0m, [32m'mse_score'[0m: [1;36m0.0017550446093082428[0m, [32m'data_time'[0m: [1;36m0.0013755266554653645[0m, [32m'model_time'[0m: [1;36m2.4983388986438513[0m, [32m'learning_rate'[0m: [1;36m8.6e-06[0m,  ]8;id=739945;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=448462;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m                 [0m         [32m'epoch'[0m: [1;36m10.44[0m[1m}[0m[1m)[0m                                                                                                                                                                                    [2m                    [0m
+[2;36m03/18 [19:35:02][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m4350[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.06777229905128479[0m, [32m'data_time'[0m: [1;36m0.000411077868193388[0m, [32m'model_time'[0m: [1;36m2.524220023304224[0m, [32m'learning_rate'[0m: [1;36m8.700000000000001e-06[0m, [32m'epoch'[0m: [1;36m10.56[0m[1m}[0m[1m)[0m         ]8;id=990957;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=926004;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m03/18 [19:37:07][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m4400[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.01742035150527954[0m, [32m'mse_score'[0m: [1;36m0.0018004197627305984[0m, [32m'data_time'[0m: [1;36m0.00015334878116846085[0m, [32m'model_time'[0m: [1;36m2.524515527766198[0m, [32m'learning_rate'[0m: [1;36m8.8e-06[0m,  ]8;id=37778;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=875136;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m                 [0m         [32m'epoch'[0m: [1;36m10.68[0m[1m}[0m[1m)[0m                                                                                                                                                                                    [2m                    [0m
+[2;36m03/18 [19:39:13][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m4450[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.017865927889943123[0m, [32m'data_time'[0m: [1;36m0.0032015573233366013[0m, [32m'model_time'[0m: [1;36m2.4840824059210718[0m, [32m'learning_rate'[0m: [1;36m8.900000000000001e-06[0m, [32m'epoch'[0m: [1;36m10.8[0m[1m}[0m[1m)[0m       ]8;id=450664;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=133636;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m03/18 [19:41:20][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m4500[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.013690920546650887[0m, [32m'mse_score'[0m: [1;36m0.003969512134790421[0m, [32m'data_time'[0m: [1;36m0.0031719356775283813[0m, [32m'model_time'[0m: [1;36m2.509360447060317[0m, [32m'learning_rate'[0m: [1;36m9e-06[0m,     ]8;id=978413;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=834794;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m                 [0m         [32m'epoch'[0m: [1;36m10.92[0m[1m}[0m[1m)[0m                                                                                                                                                                                    [2m                    [0m
+[2;36m03/18 [19:43:25][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m4550[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.062035270035266876[0m, [32m'data_time'[0m: [1;36m0.00015844916924834251[0m, [32m'model_time'[0m: [1;36m2.488973318133503[0m, [32m'learning_rate'[0m: [1;36m9.100000000000001e-06[0m, [32m'epoch'[0m: [1;36m11.04[0m[1m}[0m[1m)[0m      ]8;id=220281;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=715198;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m03/18 [19:45:32][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m4600[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.04226848855614662[0m, [32m'mse_score'[0m: [1;36m0.0029922021552920342[0m, [32m'data_time'[0m: [1;36m0.00015578186139464378[0m, [32m'model_time'[0m: [1;36m2.485432584770024[0m, [32m'learning_rate'[0m:           ]8;id=818011;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=587080;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m                 [0m         [1;36m9.200000000000002e-06[0m, [32m'epoch'[0m: [1;36m11.17[0m[1m}[0m[1m)[0m                                                                                                                                                             [2m                    [0m
+[2;36m03/18 [19:47:37][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m4650[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.028527868911623955[0m, [32m'data_time'[0m: [1;36m0.0023072133772075176[0m, [32m'model_time'[0m: [1;36m2.519835855346173[0m, [32m'learning_rate'[0m: [1;36m9.3e-06[0m, [32m'epoch'[0m: [1;36m11.29[0m[1m}[0m[1m)[0m                     ]8;id=785884;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=162060;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m03/18 [19:49:43][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m4700[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.10468464344739914[0m, [32m'mse_score'[0m: [1;36m0.0028725111857056617[0m, [32m'data_time'[0m: [1;36m0.00015558116137981415[0m, [32m'model_time'[0m: [1;36m2.496437286026776[0m, [32m'learning_rate'[0m: [1;36m9.4e-06[0m,  ]8;id=170395;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=838742;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m                 [0m         [32m'epoch'[0m: [1;36m11.41[0m[1m}[0m[1m)[0m                                                                                                                                                                                    [2m                    [0m
+[2;36m03/18 [19:51:48][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m4750[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.03281697630882263[0m, [32m'data_time'[0m: [1;36m0.0014123269356787205[0m, [32m'model_time'[0m: [1;36m2.517481555696577[0m, [32m'learning_rate'[0m: [1;36m9.5e-06[0m, [32m'epoch'[0m: [1;36m11.53[0m[1m}[0m[1m)[0m                      ]8;id=25990;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=188073;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m03/18 [19:53:54][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m4800[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.020457902923226357[0m, [32m'mse_score'[0m: [1;36m0.002479388564825058[0m, [32m'data_time'[0m: [1;36m0.0024385880678892136[0m, [32m'model_time'[0m: [1;36m2.4896491151303053[0m, [32m'learning_rate'[0m:           ]8;id=976031;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=431712;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m                 [0m         [1;36m9.600000000000001e-06[0m, [32m'epoch'[0m: [1;36m11.65[0m[1m}[0m[1m)[0m                                                                                                                                                             [2m                    [0m
+[2;36m03/18 [19:56:00][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m4850[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.03774331137537956[0m, [32m'data_time'[0m: [1;36m0.00013697007670998573[0m, [32m'model_time'[0m: [1;36m2.4880960723385215[0m, [32m'learning_rate'[0m: [1;36m9.7e-06[0m, [32m'epoch'[0m: [1;36m11.77[0m[1m}[0m[1m)[0m                    ]8;id=850132;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=260222;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m03/18 [19:58:06][0m[2;36m [0m[34mINFO    [0m | >> Step [1;36m4900[0m, Loss: [1m{[0m[32m'action_dit_loss'[0m: [1;36m0.029619693756103516[0m, [32m'mse_score'[0m: [1;36m0.0021360341459512712[0m, [32m'data_time'[0m: [1;36m0.004091112874448299[0m, [32m'model_time'[0m: [1;36m2.4996908609755337[0m, [32m'learning_rate'[0m:           ]8;id=113346;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=401124;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\[2m253[0m]8;;\
+[2;36m                 [0m         [1;36m9.800000000000001e-06[0m, [32m'epoch'[0m: [1;36m11.89[0m[1m}[0m[1m)[0m                                                                                                                                                             [2m                    [0m
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+[2;36m                 [0m         [32m'epoch'[0m: [1;36m12.14[0m[1m}[0m[1m)[0m                                                                                                                                                                                    [2m                    [0m
+✅ Checkpoint saved at ./results/Checkpoints/fastumi_pickandplace_qwenPI_no_state_fixgripper/checkpoints/steps_5000
+[2;36m03/18 [20:02:25][0m[2;36m [0m[34mINFO    [0m | >> 📊 Saving accessed configuration[33m...[0m                                                                                                                                                            ]8;id=692094;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\[2mtrain_starvla.py[0m]8;;\[2m:[0m]8;id=202511;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#240\[2m240[0m]8;;\
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fastumi_pickandplace_qwenPI_no_state_fixgripper/wandb/wandb/run-20260318_163159-e71tc6ad/run-e71tc6ad.wandb CHANGED Viewed

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