diff --git a/.gitattributes b/.gitattributes index fa37daa3a9f4cda4bc783bcdf8d5bb8a48c16dc7..07374f293988bccd0107951cc3c29fe41e9c8e68 100644 --- a/.gitattributes +++ b/.gitattributes @@ -53,3 +53,4 @@ fastumi_pickandplace_discrete_diffusion_real_0314_no_state_fixgripper/wandb/wand fastumi_pickandplace_qwenPI_dynamic_1/wandb/wandb/run-20260327_035430-qffrl5ez/run-qffrl5ez.wandb filter=lfs diff=lfs merge=lfs -text fastumi_pickandplace_qwenDiscreteDiffusion_dynamic_1/wandb/wandb/run-20260328_025422-bei2q19o/run-bei2q19o.wandb filter=lfs diff=lfs merge=lfs -text fastumi_pickandplace_qwenDiscreteDiffusion_dynamic_1/wandb/wandb/run-20260328_201042-ccztk042/run-ccztk042.wandb filter=lfs diff=lfs merge=lfs -text +fastumi_pickandplace_qwenDiscreteDiffusion_329v2/wandb/wandb/run-20260330_085553-rk4vla0z/run-rk4vla0z.wandb filter=lfs diff=lfs merge=lfs -text diff --git a/fastumi_pickandplace_qwenDiscreteDiffusion_329v2/checkpoints/steps_10000_pytorch_model.pt b/fastumi_pickandplace_qwenDiscreteDiffusion_329v2/checkpoints/steps_10000_pytorch_model.pt new file mode 100644 index 0000000000000000000000000000000000000000..a2fdabcb12dcd38384175d8c0197922f57252e4a --- /dev/null +++ b/fastumi_pickandplace_qwenDiscreteDiffusion_329v2/checkpoints/steps_10000_pytorch_model.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59d8d53e20a58f69c443387cfb08c62cfb2c06d12aa16d7454a6bcf311eac1b2 +size 12492717308 diff --git a/fastumi_pickandplace_qwenDiscreteDiffusion_329v2/checkpoints/steps_20000_pytorch_model.pt b/fastumi_pickandplace_qwenDiscreteDiffusion_329v2/checkpoints/steps_20000_pytorch_model.pt new file mode 100644 index 0000000000000000000000000000000000000000..c1c6bb3a8c60f4c71d65f092e3980b7c6ee229fd --- /dev/null +++ b/fastumi_pickandplace_qwenDiscreteDiffusion_329v2/checkpoints/steps_20000_pytorch_model.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9caaa7bc766201bcc8f91ad566d41d94e965430e01bd889934eb9759f9a110a9 +size 12492717308 diff --git a/fastumi_pickandplace_qwenDiscreteDiffusion_329v2/config.yaml b/fastumi_pickandplace_qwenDiscreteDiffusion_329v2/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6a9ee229ea31e651e78498cb7394c830ebe40122 --- /dev/null +++ b/fastumi_pickandplace_qwenDiscreteDiffusion_329v2/config.yaml @@ -0,0 +1,79 @@ +datasets: + vla_data: + action_mode: abs + data_mix: dynamic-329-v2 + data_root_dir: playground/Datasets/FastUMI + dataset_py: lerobot_datasets + image_size: + - 224 + - 224 + per_device_batch_size: 8 + video_backend: torchvision_av +framework: + action_model: + action_dim: 10 + action_high: 1.0 + action_low: -1.0 + add_pos_embed: true + decode_schedule: cosine + 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: 256 + positional_embeddings: sinusoidal + future_action_window_size: 15 + l1_loss_weight: 0.1 + max_seq_len: 1024 + no_mask_token_prob: 0.0 + num_bins: 256 + num_inference_steps: 8 + num_target_vision_tokens: 32 + past_action_window_size: 0 + representation: bin + state_dim: 10 + train_mask_schedule: cosine + use_simple_max: false + name: QwenDiscreteDiffusion + 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_329v2 +run_id: fastumi_pickandplace_qwenPI_329v2 +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: 1.0e-05 + qwen_vl_interface: 1.0e-05 + logging_frequency: 50 + lr_scheduler_type: cosine_with_min_lr + max_train_steps: 50000 + num_warmup_steps: 5000 + optimizer: + betas: + - 0.9 + - 0.95 + eps: 1.0e-08 + weight_decay: 1.0e-08 + repeated_diffusion_steps: 4 + save_format: pt + save_interval: 10000 + scheduler_specific_kwargs: + min_lr: 5.0e-07 +wandb_entity: 2200011093-peking-university +wandb_project: starVLA_FastUMI_dynamic_1 diff --git a/fastumi_pickandplace_qwenDiscreteDiffusion_329v2/dataset_statistics.json b/fastumi_pickandplace_qwenDiscreteDiffusion_329v2/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..95455e4cfe577c2ac1953b04355448adeae686dd --- /dev/null +++ b/fastumi_pickandplace_qwenDiscreteDiffusion_329v2/dataset_statistics.json @@ -0,0 +1,178 @@ +{ + "new_embodiment": { + "action": { + "mean": [ + 0.0004015314334537834, + 0.0014654810074716806, + 8.946667367126793e-05, + 0.9829065203666687, + -0.0013762820744886994, + 0.011548871174454689, + 0.0010323530295863748, + 0.975115954875946, + 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a/fastumi_pickandplace_qwenDiscreteDiffusion_329v2/wandb/wandb/run-20260330_085553-rk4vla0z/files/output.log b/fastumi_pickandplace_qwenDiscreteDiffusion_329v2/wandb/wandb/run-20260330_085553-rk4vla0z/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..be4dbf30ef67870467484971db6e4f7925ff4156 --- /dev/null +++ b/fastumi_pickandplace_qwenDiscreteDiffusion_329v2/wandb/wandb/run-20260330_085553-rk4vla0z/files/output.log @@ -0,0 +1,1009 @@ +03/30 [08:55:55] INFO  | >> ***** Training Configuration ***** ]8;id=98246;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=229258;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#341\341]8;;\ +  INFO  | >> Total optimization steps = 50000 ]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#342\342]8;;\ +  INFO  | >> Per device batch size = 8 ]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#343\343]8;;\ +  INFO  | >> Gradient accumulation steps = 1 ]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#344\344]8;;\ +  INFO  | >> Total batch size = 64 ]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#345\345]8;;\ + 2%|█▎ | 800/50000 [25:49<26:08:24, 1.91s/it, data_times=0.000, model_times=1.912] +03/30 [08:57:32] INFO  | >> Step 50, Loss: {'action_dit_loss': 5.2376604080200195, 'data_time': 0.0001948400167748332, 'model_time': ]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#253\253]8;;\ +  1.9133945750072598, 'learning_rate': 1.0000000000000001e-07, 'epoch': 0.05})   +03/30 [08:59:10] INFO  | >> Step 100, Loss: {'action_dit_loss': 3.2285804748535156, 'mse_score': 0.02060442417860031, 'data_time': ]8;id=45561;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=765179;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0017480209935456514, 'model_time': 1.9110091800102964, 'learning_rate': 2.0000000000000002e-07, 'epoch': 0.1})   +03/30 [09:00:46] INFO  | >> Step 150, Loss: {'action_dit_loss': 3.509969711303711, 'data_time': 0.0015142610063776374, 'model_time': ]8;id=396922;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=82627;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9153184050228447, 'learning_rate': 3.0000000000000004e-07, 'epoch': 0.15})   +03/30 [09:02:24] INFO  | >> Step 200, Loss: {'action_dit_loss': 3.2342641353607178, 'mse_score': 0.017309536039829255, 'data_time': ]8;id=648564;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=928463;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0022692920174449682, 'model_time': 1.9123528120107949, 'learning_rate': 4.0000000000000003e-07, 'epoch': 0.19})   +03/30 [09:03:59] INFO  | >> Step 250, Loss: {'action_dit_loss': 3.196464776992798, 'data_time': 0.00016419700114056468, 'model_time': ]8;id=738797;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=72933;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9119656110415235, 'learning_rate': 5.000000000000001e-07, 'epoch': 0.24})   +03/30 [09:05:37] INFO  | >> Step 300, Loss: {'action_dit_loss': 2.881216049194336, 'mse_score': 0.014902032911777496, 'data_time': ]8;id=303445;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=83667;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0013731220387853682, 'model_time': 1.9110891949967481, 'learning_rate': 6.000000000000001e-07, 'epoch': 0.29})   +03/30 [09:07:13] INFO  | >> Step 350, Loss: {'action_dit_loss': 2.873868465423584, 'data_time': 0.0021705750259570777, 'model_time': ]8;id=398591;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=291476;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9093678389908746, 'learning_rate': 7.000000000000001e-07, 'epoch': 0.34})   +03/30 [09:08:51] INFO  | >> Step 400, Loss: {'action_dit_loss': 3.070941209793091, 'mse_score': 0.022498519718647005, 'data_time': ]8;id=170555;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=388162;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0014600949943996966, 'model_time': 1.9933178889914416, 'learning_rate': 8.000000000000001e-07, 'epoch': 0.39})   +03/30 [09:10:27] INFO  | >> Step 450, Loss: {'action_dit_loss': 2.56715989112854, 'data_time': 0.0013670469634234905, 'model_time': ]8;id=735911;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=982153;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.908607245015446, 'learning_rate': 9.000000000000001e-07, 'epoch': 0.44})   +03/30 [09:12:05] INFO  | >> Step 500, Loss: {'action_dit_loss': 3.0398378372192383, 'mse_score': 0.020005147159099578, 'data_time': ]8;id=665822;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=179451;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00015880900900810957, 'model_time': 1.9120286589604802, 'learning_rate': 1.0000000000000002e-06, 'epoch': 0.48})   +03/30 [09:13:41] INFO  | >> Step 550, Loss: {'action_dit_loss': 2.5629470348358154, 'data_time': 0.0013407600345090032, 'model_time': ]8;id=484714;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=397887;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9137601110269316, 'learning_rate': 1.1e-06, 'epoch': 0.53})   +03/30 [09:15:18] INFO  | >> Step 600, Loss: {'action_dit_loss': 2.5527496337890625, 'mse_score': 0.017111685872077943, 'data_time': ]8;id=584004;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=230283;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.002012045995797962, 'model_time': 1.9103552789893001, 'learning_rate': 1.2000000000000002e-06, 'epoch': 0.58})   +03/30 [09:16:54] INFO  | >> Step 650, Loss: {'action_dit_loss': 1.7927643060684204, 'data_time': 0.00015818898100405931, 'model_time': ]8;id=813694;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=58655;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9114797789952718, 'learning_rate': 1.3e-06, 'epoch': 0.63})   +03/30 [09:18:32] INFO  | >> Step 700, Loss: {'action_dit_loss': 1.930405855178833, 'mse_score': 0.0043882522732019424, 'data_time': ]8;id=330776;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=420651;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0013617920340038836, 'model_time': 1.908925972005818, 'learning_rate': 1.4000000000000001e-06, 'epoch': 0.68})   +03/30 [09:20:08] INFO  | >> Step 750, Loss: {'action_dit_loss': 2.53004789352417, 'data_time': 0.002123967045918107, 'model_time': ]8;id=988712;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=594731;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9100731459911913, 'learning_rate': 1.5e-06, 'epoch': 0.73})   +03/30 [09:21:46] INFO  | >> Step 800, Loss: {'action_dit_loss': 2.0297529697418213, 'mse_score': 0.005417333170771599, 'data_time': ]8;id=687277;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=523481;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00016309903003275394, 'model_time': 1.9117597279837355, 'learning_rate': 1.6000000000000001e-06, 'epoch': 0.78})   +03/30 [09:23:22] INFO  | >> Step 850, Loss: {'action_dit_loss': 1.8761451244354248, 'data_time': 0.002522085967939347, 'model_time': ]8;id=481141;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=149811;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.909250497003086, 'learning_rate': 1.7000000000000002e-06, 'epoch': 0.82})   +03/30 [09:24:59] INFO  | >> Step 900, Loss: {'action_dit_loss': 2.3429312705993652, 'mse_score': 0.005093782022595405, 'data_time': ]8;id=588637;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=565158;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00017448898870497942, 'model_time': 1.9108911629882641, 'learning_rate': 1.8000000000000001e-06, 'epoch': 0.87})   +03/30 [09:26:35] INFO  | >> Step 950, Loss: {'action_dit_loss': 2.054060459136963, 'data_time': 0.00016296899411827326, 'model_time': ]8;id=941435;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=611878;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9908881079754792, 'learning_rate': 1.9000000000000002e-06, 'epoch': 0.92})   +03/30 [09:28:13] INFO  | >> Step 1000, Loss: {'action_dit_loss': 1.6168742179870605, 'mse_score': 0.004829244688153267, 'data_time': ]8;id=534277;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=517488;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0021424790029414, 'model_time': 1.9109136809711345, 'learning_rate': 2.0000000000000003e-06, 'epoch': 0.97})   +03/30 [09:29:50] INFO  | >> Step 1050, Loss: {'action_dit_loss': 1.963588833808899, 'data_time': 0.00017528899479657412, 'model_time': ]8;id=114975;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=160265;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9150632420205511, 'learning_rate': 2.1000000000000002e-06, 'epoch': 1.02})   +03/30 [09:31:28] INFO  | >> Step 1100, Loss: {'action_dit_loss': 2.3729183673858643, 'mse_score': 0.006589128822088242, 'data_time': ]8;id=442666;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=625380;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00015262904344126582, 'model_time': 1.909480039961636, 'learning_rate': 2.2e-06, 'epoch': 1.07})   +03/30 [09:33:04] INFO  | >> Step 1150, Loss: {'action_dit_loss': 2.1802585124969482, 'data_time': 0.00015565898502245545, 'model_time': ]8;id=490785;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=554816;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9136115069850348, 'learning_rate': 2.3000000000000004e-06, 'epoch': 1.12})   +03/30 [09:34:42] INFO  | >> Step 1200, Loss: {'action_dit_loss': 1.809262752532959, 'mse_score': 0.005946603044867516, 'data_time': ]8;id=12038;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=713328;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0034804349998012185, 'model_time': 1.911433877015952, 'learning_rate': 2.4000000000000003e-06, 'epoch': 1.16})   +03/30 [09:36:18] INFO  | >> Step 1250, Loss: {'action_dit_loss': 1.5400705337524414, 'data_time': 0.00016888900427147746, 'model_time': ]8;id=563054;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=787352;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9147536359960213, 'learning_rate': 2.5e-06, 'epoch': 1.21})   +03/30 [09:37:56] INFO  | >> Step 1300, Loss: {'action_dit_loss': 2.099031448364258, 'mse_score': 0.007194846123456955, 'data_time': ]8;id=116970;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=307757;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00016279000556096435, 'model_time': 1.9101449020090513, 'learning_rate': 2.6e-06, 'epoch': 1.26})   +03/30 [09:39:31] INFO  | >> Step 1350, Loss: {'action_dit_loss': 1.9722115993499756, 'data_time': 0.003611574007663876, 'model_time': ]8;id=757168;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=918398;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9084830640349537, 'learning_rate': 2.7000000000000004e-06, 'epoch': 1.31})   +03/30 [09:41:09] INFO  | >> Step 1400, Loss: {'action_dit_loss': 1.3740943670272827, 'mse_score': 0.003956924378871918, 'data_time': ]8;id=187330;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=532342;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00016693997895345092, 'model_time': 1.9149858670425601, 'learning_rate': 2.8000000000000003e-06, 'epoch': 1.36})   +03/30 [09:42:45] INFO  | >> Step 1450, Loss: {'action_dit_loss': 1.6210229396820068, 'data_time': 0.00014512904454022646, 'model_time': ]8;id=312942;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=882554;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9162948149605654, 'learning_rate': 2.9e-06, 'epoch': 1.41})   +03/30 [09:44:23] INFO  | >> Step 1500, Loss: {'action_dit_loss': 2.0239667892456055, 'mse_score': 0.004852016270160675, 'data_time': ]8;id=160263;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=392077;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00015119998715817928, 'model_time': 1.914912085980177, 'learning_rate': 3e-06, 'epoch': 1.45})   +03/30 [09:45:59] INFO  | >> Step 1550, Loss: {'action_dit_loss': 2.2355704307556152, 'data_time': 0.00015321996761485934, 'model_time': ]8;id=816449;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=967242;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9102581670158543, 'learning_rate': 3.1000000000000004e-06, 'epoch': 1.5})   +03/30 [09:47:37] INFO  | >> Step 1600, Loss: {'action_dit_loss': 1.6733860969543457, 'mse_score': 0.006022486463189125, 'data_time': ]8;id=339902;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=512340;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.003632823994848877, 'model_time': 1.9062062989687547, 'learning_rate': 3.2000000000000003e-06, 'epoch': 1.55})   +03/30 [09:49:13] INFO  | >> Step 1650, Loss: {'action_dit_loss': 1.7167669534683228, 'data_time': 0.00015491899102926254, 'model_time': ]8;id=921406;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=872064;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9092871359898709, 'learning_rate': 3.3000000000000006e-06, 'epoch': 1.6})   +03/30 [09:50:50] INFO  | >> Step 1700, Loss: {'action_dit_loss': 1.6731539964675903, 'mse_score': 0.0038330871611833572, 'data_time': ]8;id=252572;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=920659;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001458189799450338, 'model_time': 1.9103761879960075, 'learning_rate': 3.4000000000000005e-06, 'epoch': 1.65})   +03/30 [09:52:26] INFO  | >> Step 1750, Loss: {'action_dit_loss': 1.799357533454895, 'data_time': 0.0036842739791609347, 'model_time': ]8;id=767460;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=509597;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9081565720262006, 'learning_rate': 3.5e-06, 'epoch': 1.7})   +03/30 [09:54:05] INFO  | >> Step 1800, Loss: {'action_dit_loss': 2.5857491493225098, 'mse_score': 0.007566912472248078, 'data_time': ]8;id=803035;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=131869;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00016058998880907893, 'model_time': 1.9132356600021012, 'learning_rate': 3.6000000000000003e-06, 'epoch': 1.75})   +03/30 [09:55:40] INFO  | >> Step 1850, Loss: {'action_dit_loss': 2.1716129779815674, 'data_time': 0.0001594289788044989, 'model_time': ]8;id=576510;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=173148;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.910245023027528, 'learning_rate': 3.7e-06, 'epoch': 1.79})   +03/30 [09:57:18] INFO  | >> Step 1900, Loss: {'action_dit_loss': 1.974878191947937, 'mse_score': 0.004937690496444702, 'data_time': ]8;id=443692;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=222086;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0013612339971587062, 'model_time': 1.9072519739856943, 'learning_rate': 3.8000000000000005e-06, 'epoch': 1.84})   +03/30 [09:58:54] INFO  | >> Step 1950, Loss: {'action_dit_loss': 1.788639783859253, 'data_time': 0.0021780799725092947, 'model_time': ]8;id=723378;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=210922;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9110757240559906, 'learning_rate': 3.900000000000001e-06, 'epoch': 1.89})   +03/30 [10:00:31] INFO  | >> Step 2000, Loss: {'action_dit_loss': 1.7267787456512451, 'mse_score': 0.005151501297950745, 'data_time': ]8;id=681446;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=391559;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00015395903028547764, 'model_time': 1.9107995000085793, 'learning_rate': 4.000000000000001e-06, 'epoch': 1.94})   +03/30 [10:02:08] INFO  | >> Step 2050, Loss: {'action_dit_loss': 1.891392469406128, 'data_time': 0.0024300089571624994, 'model_time': ]8;id=126882;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=259947;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9144138799747452, 'learning_rate': 4.1e-06, 'epoch': 1.99})   +03/30 [10:03:47] INFO  | >> Step 2100, Loss: {'action_dit_loss': 1.8719849586486816, 'mse_score': 0.004186978936195374, 'data_time': ]8;id=616886;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=580828;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0012844540178775787, 'model_time': 1.907574262993876, 'learning_rate': 4.2000000000000004e-06, 'epoch': 2.04})   +03/30 [10:05:22] INFO  | >> Step 2150, Loss: {'action_dit_loss': 2.097792625427246, 'data_time': 0.00015368894673883915, 'model_time': ]8;id=74441;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=742225;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9094295279937796, 'learning_rate': 4.3e-06, 'epoch': 2.09})   +03/30 [10:07:00] INFO  | >> Step 2200, Loss: {'action_dit_loss': 1.806962251663208, 'mse_score': 0.00423896424472332, 'data_time': ]8;id=949401;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=32938;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0017559960251674056, 'model_time': 1.9116530640167184, 'learning_rate': 4.4e-06, 'epoch': 2.13})   +03/30 [10:08:36] INFO  | >> Step 2250, Loss: {'action_dit_loss': 2.3971798419952393, 'data_time': 0.00137938599800691, 'model_time': ]8;id=249565;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=292004;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9104124659788795, 'learning_rate': 4.5e-06, 'epoch': 2.18})   +03/30 [10:10:14] INFO  | >> Step 2300, Loss: {'action_dit_loss': 1.7491226196289062, 'mse_score': 0.0058447327464818954, 'data_time': ]8;id=138739;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=758490;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0022517360048368573, 'model_time': 1.9152333929669112, 'learning_rate': 4.600000000000001e-06, 'epoch': 2.23})   +03/30 [10:11:50] INFO  | >> Step 2350, Loss: {'action_dit_loss': 1.9916634559631348, 'data_time': 0.0013925509992986917, 'model_time': ]8;id=495631;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=254801;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  2.151522863015998, 'learning_rate': 4.7e-06, 'epoch': 2.28})   +03/30 [10:13:28] INFO  | >> Step 2400, Loss: {'action_dit_loss': 2.181119918823242, 'mse_score': 0.005580266937613487, 'data_time': ]8;id=199659;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=98907;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00016386801144108176, 'model_time': 1.911564679001458, 'learning_rate': 4.800000000000001e-06, 'epoch': 2.33})   +03/30 [10:15:04] INFO  | >> Step 2450, Loss: {'action_dit_loss': 1.6172997951507568, 'data_time': 0.002179414965212345, 'model_time': ]8;id=444154;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=431071;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9122859499766491, 'learning_rate': 4.9000000000000005e-06, 'epoch': 2.38})   +03/30 [10:16:41] INFO  | >> Step 2500, Loss: {'action_dit_loss': 2.037154197692871, 'mse_score': 0.004535714164376259, 'data_time': ]8;id=706073;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=685197;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0015759130474179983, 'model_time': 1.9109170640003867, 'learning_rate': 5e-06, 'epoch': 2.42})   +03/30 [10:18:17] INFO  | >> Step 2550, Loss: {'action_dit_loss': 1.8590114116668701, 'data_time': 0.0001481079962104559, 'model_time': ]8;id=763587;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=355784;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9140453960280865, 'learning_rate': 5.1e-06, 'epoch': 2.47})   +03/30 [10:19:55] INFO  | >> Step 2600, Loss: {'action_dit_loss': 2.146716356277466, 'mse_score': 0.005256323888897896, 'data_time': ]8;id=200896;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=199448;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00015178800094872713, 'model_time': 1.9137772519607097, 'learning_rate': 5.2e-06, 'epoch': 2.52})   +03/30 [10:21:32] INFO  | >> Step 2650, Loss: {'action_dit_loss': 1.8345210552215576, 'data_time': 0.0023877789499238133, 'model_time': ]8;id=192401;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=292075;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9112381450249813, 'learning_rate': 5.300000000000001e-06, 'epoch': 2.57})   +03/30 [10:23:10] INFO  | >> Step 2700, Loss: {'action_dit_loss': 1.618572473526001, 'mse_score': 0.00456274226307869, 'data_time': ]8;id=79046;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=464656;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.003679799963720143, 'model_time': 1.9103818649891764, 'learning_rate': 5.400000000000001e-06, 'epoch': 2.62})   +03/30 [10:24:45] INFO  | >> Step 2750, Loss: {'action_dit_loss': 1.7970833778381348, 'data_time': 0.0001706790062598884, 'model_time': ]8;id=102664;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=53045;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9114509940263815, 'learning_rate': 5.500000000000001e-06, 'epoch': 2.67})   +03/30 [10:26:23] INFO  | >> Step 2800, Loss: {'action_dit_loss': 2.2453598976135254, 'mse_score': 0.004472153633832932, 'data_time': ]8;id=97793;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=971366;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00016055896412581205, 'model_time': 1.912596340989694, 'learning_rate': 5.600000000000001e-06, 'epoch': 2.72})   +03/30 [10:27:59] INFO  | >> Step 2850, Loss: {'action_dit_loss': 1.5716266632080078, 'data_time': 0.0037464709603227675, 'model_time': ]8;id=426156;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=509231;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9117531150113791, 'learning_rate': 5.7e-06, 'epoch': 2.76})   +03/30 [10:29:37] INFO  | >> Step 2900, Loss: {'action_dit_loss': 1.9761449098587036, 'mse_score': 0.007763762772083282, 'data_time': ]8;id=946279;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=61483;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00018947897478938103, 'model_time': 1.9139413929660805, 'learning_rate': 5.8e-06, 'epoch': 2.81})   +03/30 [10:31:13] INFO  | >> Step 2950, Loss: {'action_dit_loss': 1.5086153745651245, 'data_time': 0.00015088904183357954, 'model_time': ]8;id=278085;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=971524;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.912400286004413, 'learning_rate': 5.9e-06, 'epoch': 2.86})   +03/30 [10:32:51] INFO  | >> Step 3000, Loss: {'action_dit_loss': 1.8995178937911987, 'mse_score': 0.0051787368953228, 'data_time': ]8;id=443555;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=730429;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0020474159973673522, 'model_time': 1.908965121023357, 'learning_rate': 6e-06, 'epoch': 2.91})   +03/30 [10:34:27] INFO  | >> Step 3050, Loss: {'action_dit_loss': 1.5185836553573608, 'data_time': 0.00017490802565589547, 'model_time': ]8;id=753305;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=510311;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9149592749890871, 'learning_rate': 6.1e-06, 'epoch': 2.96})   +03/30 [10:36:06] INFO  | >> Step 3100, Loss: {'action_dit_loss': 1.8849490880966187, 'mse_score': 0.0057016551494598385, 'data_time': ]8;id=61324;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=607314;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0013707000180147588, 'model_time': 1.9124997290200554, 'learning_rate': 6.200000000000001e-06, 'epoch': 3.01})   +03/30 [10:37:41] INFO  | >> Step 3150, Loss: {'action_dit_loss': 2.16196608543396, 'data_time': 0.001409340009558946, 'model_time': ]8;id=328838;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=59942;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9153448089491576, 'learning_rate': 6.300000000000001e-06, 'epoch': 3.06})   +03/30 [10:39:20] INFO  | >> Step 3200, Loss: {'action_dit_loss': 2.1415319442749023, 'mse_score': 0.006123115494847298, 'data_time': ]8;id=964047;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=894141;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0013274510274641216, 'model_time': 1.909008396032732, 'learning_rate': 6.4000000000000006e-06, 'epoch': 3.1})   +03/30 [10:40:56] INFO  | >> Step 3250, Loss: {'action_dit_loss': 1.7719213962554932, 'data_time': 0.0013926810352131724, 'model_time': ]8;id=84002;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=892697;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9134321750025265, 'learning_rate': 6.5000000000000004e-06, 'epoch': 3.15})   +03/30 [10:42:33] INFO  | >> Step 3300, Loss: {'action_dit_loss': 1.6689172983169556, 'mse_score': 0.005693785101175308, 'data_time': ]8;id=708011;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=903682;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.001335805980488658, 'model_time': 1.9096848940243945, 'learning_rate': 6.600000000000001e-06, 'epoch': 3.2})   +03/30 [10:44:09] INFO  | >> Step 3350, Loss: {'action_dit_loss': 1.8001108169555664, 'data_time': 0.0014305930235423148, 'model_time': ]8;id=933533;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=597347;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9100309570203535, 'learning_rate': 6.700000000000001e-06, 'epoch': 3.25})   +03/30 [10:45:47] INFO  | >> Step 3400, Loss: {'action_dit_loss': 1.9051942825317383, 'mse_score': 0.0044083941727876665, 'data_time': ]8;id=649468;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=85965;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0013464890071190894, 'model_time': 1.91098809504183, 'learning_rate': 6.800000000000001e-06, 'epoch': 3.3})   +03/30 [10:47:23] INFO  | >> Step 3450, Loss: {'action_dit_loss': 1.9235329627990723, 'data_time': 0.0013649670290760696, 'model_time': ]8;id=548177;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=331737;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9101833679596893, 'learning_rate': 6.9e-06, 'epoch': 3.35})   +03/30 [10:49:01] INFO  | >> Step 3500, Loss: {'action_dit_loss': 1.6685045957565308, 'mse_score': 0.005317382514476776, 'data_time': ]8;id=750981;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=329445;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0014492649934254587, 'model_time': 1.9142390679917298, 'learning_rate': 7e-06, 'epoch': 3.39})   +03/30 [10:50:37] INFO  | >> Step 3550, Loss: {'action_dit_loss': 1.5811686515808105, 'data_time': 0.0015208739787340164, 'model_time': ]8;id=704318;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=676856;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9179798780241981, 'learning_rate': 7.100000000000001e-06, 'epoch': 3.44})   +03/30 [10:52:15] INFO  | >> Step 3600, Loss: {'action_dit_loss': 1.7474236488342285, 'mse_score': 0.003499383106827736, 'data_time': ]8;id=788387;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=981188;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0014842110103927553, 'model_time': 1.9107531829504296, 'learning_rate': 7.2000000000000005e-06, 'epoch': 3.49})   +03/30 [10:53:51] INFO  | >> Step 3650, Loss: {'action_dit_loss': 2.3149149417877197, 'data_time': 0.0014333910075947642, 'model_time': ]8;id=590341;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=104837;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9094755729893222, 'learning_rate': 7.3e-06, 'epoch': 3.54})   +03/30 [10:55:29] INFO  | >> Step 3700, Loss: {'action_dit_loss': 1.7717819213867188, 'mse_score': 0.003103639744222164, 'data_time': ]8;id=278082;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=138890;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0014242290053516626, 'model_time': 1.911495698033832, 'learning_rate': 7.4e-06, 'epoch': 3.59})   +03/30 [10:57:05] INFO  | >> Step 3750, Loss: {'action_dit_loss': 1.988102912902832, 'data_time': 0.0014913680497556925, 'model_time': ]8;id=921981;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=256150;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9114365630084649, 'learning_rate': 7.500000000000001e-06, 'epoch': 3.64})   +03/30 [10:58:43] INFO  | >> Step 3800, Loss: {'action_dit_loss': 1.342597484588623, 'mse_score': 0.004232573881745338, 'data_time': ]8;id=874244;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=569605;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0013572080060839653, 'model_time': 1.910920366004575, 'learning_rate': 7.600000000000001e-06, 'epoch': 3.69})   +03/30 [11:00:19] INFO  | >> Step 3850, Loss: {'action_dit_loss': 1.5875053405761719, 'data_time': 0.0013453669962473214, 'model_time': ]8;id=685743;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=554634;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9089618849684484, 'learning_rate': 7.7e-06, 'epoch': 3.73})   +03/30 [11:01:56] INFO  | >> Step 3900, Loss: {'action_dit_loss': 1.7596343755722046, 'mse_score': 0.006691891700029373, 'data_time': ]8;id=313921;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=977017;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0014259860035963356, 'model_time': 1.9080096230027266, 'learning_rate': 7.800000000000002e-06, 'epoch': 3.78})   +03/30 [11:03:32] INFO  | >> Step 3950, Loss: {'action_dit_loss': 1.7144161462783813, 'data_time': 0.0013512969599105418, 'model_time': ]8;id=140814;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=277312;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9089316750178114, 'learning_rate': 7.9e-06, 'epoch': 3.83})   +03/30 [11:05:10] INFO  | >> Step 4000, Loss: {'action_dit_loss': 2.030949831008911, 'mse_score': 0.004021330550312996, 'data_time': ]8;id=580097;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=162998;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0014770859852433205, 'model_time': 1.9123547609779052, 'learning_rate': 8.000000000000001e-06, 'epoch': 3.88})   +03/30 [11:06:47] INFO  | >> Step 4050, Loss: {'action_dit_loss': 1.98945951461792, 'data_time': 0.0015977350412867963, 'model_time': ]8;id=752470;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=359536;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9090736999642104, 'learning_rate': 8.1e-06, 'epoch': 3.93})   +03/30 [11:08:25] INFO  | >> Step 4100, Loss: {'action_dit_loss': 1.3527967929840088, 'mse_score': 0.003978744894266128, 'data_time': ]8;id=276807;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=529959;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0014356659958139062, 'model_time': 1.9100459970068187, 'learning_rate': 8.2e-06, 'epoch': 3.98})   +03/30 [11:10:01] INFO  | >> Step 4150, Loss: {'action_dit_loss': 1.766564130783081, 'data_time': 0.00016176898498088121, 'model_time': ]8;id=887204;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=53266;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9151046089828014, 'learning_rate': 8.3e-06, 'epoch': 4.03})   +03/30 [11:11:39] INFO  | >> Step 4200, Loss: {'action_dit_loss': 1.3929879665374756, 'mse_score': 0.0034137219190597534, 'data_time': ]8;id=290120;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=46228;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00158813496818766, 'model_time': 1.9108338499790989, 'learning_rate': 8.400000000000001e-06, 'epoch': 4.07})   +03/30 [11:13:15] INFO  | >> Step 4250, Loss: {'action_dit_loss': 1.6837046146392822, 'data_time': 0.0037442970206029713, 'model_time': ]8;id=668061;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=274680;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9104914990020916, 'learning_rate': 8.5e-06, 'epoch': 4.12})   +03/30 [11:14:53] INFO  | >> Step 4300, Loss: {'action_dit_loss': 2.0561532974243164, 'mse_score': 0.0030090153217315675, 'data_time': ]8;id=739945;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=448462;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001634799991734326, 'model_time': 1.9121612149756402, 'learning_rate': 8.6e-06, 'epoch': 4.17})   +03/30 [11:16:29] INFO  | >> Step 4350, Loss: {'action_dit_loss': 2.325713634490967, 'data_time': 0.0002427709987387061, 'model_time': ]8;id=990957;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=926004;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9110054909833707, 'learning_rate': 8.700000000000001e-06, 'epoch': 4.22})   +03/30 [11:18:07] INFO  | >> Step 4400, Loss: {'action_dit_loss': 1.4564573764801025, 'mse_score': 0.004016546905040741, 'data_time': ]8;id=37778;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=875136;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00016227003652602434, 'model_time': 1.913167211052496, 'learning_rate': 8.8e-06, 'epoch': 4.27})   +03/30 [11:19:42] INFO  | >> Step 4450, Loss: {'action_dit_loss': 1.7076292037963867, 'data_time': 0.00016593997133895755, 'model_time': ]8;id=450664;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=133636;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.909121786011383, 'learning_rate': 8.900000000000001e-06, 'epoch': 4.32})   +03/30 [11:21:20] INFO  | >> Step 4500, Loss: {'action_dit_loss': 1.4933756589889526, 'mse_score': 0.002965357154607773, 'data_time': ]8;id=978413;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=834794;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0035990290343761444, 'model_time': 1.9070071669993922, 'learning_rate': 9e-06, 'epoch': 4.36})   +03/30 [11:22:56] INFO  | >> Step 4550, Loss: {'action_dit_loss': 2.001199722290039, 'data_time': 0.00015931000234559178, 'model_time': ]8;id=220281;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=715198;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.913454778958112, 'learning_rate': 9.100000000000001e-06, 'epoch': 4.41})   +03/30 [11:24:35] INFO  | >> Step 4600, Loss: {'action_dit_loss': 1.8659284114837646, 'mse_score': 0.004462661594152451, 'data_time': ]8;id=818011;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=587080;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00015952001558616757, 'model_time': 1.91187692101812, 'learning_rate': 9.200000000000002e-06, 'epoch': 4.46})   +03/30 [11:26:10] INFO  | >> Step 4650, Loss: {'action_dit_loss': 1.819502830505371, 'data_time': 0.0030181859619915485, 'model_time': ]8;id=785884;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=162060;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.907034158008173, 'learning_rate': 9.3e-06, 'epoch': 4.51})   +03/30 [11:27:48] INFO  | >> Step 4700, Loss: {'action_dit_loss': 1.7479238510131836, 'mse_score': 0.00395616888999939, 'data_time': ]8;id=170395;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=838742;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.000166349986102432, 'model_time': 1.9101602020091377, 'learning_rate': 9.4e-06, 'epoch': 4.56})   +03/30 [11:29:24] INFO  | >> Step 4750, Loss: {'action_dit_loss': 2.1547751426696777, 'data_time': 0.0013859670143574476, 'model_time': ]8;id=25990;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=188073;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9134853120194748, 'learning_rate': 9.5e-06, 'epoch': 4.61})   +03/30 [11:31:02] INFO  | >> Step 4800, Loss: {'action_dit_loss': 1.6267942190170288, 'mse_score': 0.002598116546869278, 'data_time': ]8;id=976031;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=431712;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001528100110590458, 'model_time': 1.9129544789902866, 'learning_rate': 9.600000000000001e-06, 'epoch': 4.66})   +03/30 [11:32:38] INFO  | >> Step 4850, Loss: {'action_dit_loss': 1.3759562969207764, 'data_time': 0.00018876994727179408, 'model_time': ]8;id=850132;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=260222;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  2.167247149045579, 'learning_rate': 9.7e-06, 'epoch': 4.7})   +03/30 [11:34:16] INFO  | >> Step 4900, Loss: {'action_dit_loss': 1.828421711921692, 'mse_score': 0.0062331676483154295, 'data_time': ]8;id=113346;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=401124;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0028359430143609643, 'model_time': 1.907214374979958, 'learning_rate': 9.800000000000001e-06, 'epoch': 4.75})   +03/30 [11:35:51] INFO  | >> Step 4950, Loss: {'action_dit_loss': 1.4385089874267578, 'data_time': 0.00016154901823028922, 'model_time': ]8;id=233238;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=209267;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.911689304979518, 'learning_rate': 9.9e-06, 'epoch': 4.8})   +03/30 [11:37:29] INFO  | >> Step 5000, Loss: {'action_dit_loss': 1.6279056072235107, 'mse_score': 0.004817824810743332, 'data_time': ]8;id=320015;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=860394;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00016119895735755563, 'model_time': 1.9104850480216555, 'learning_rate': 1e-05, 'epoch': 4.85})   +03/30 [11:39:05] INFO  | >> Step 5050, Loss: {'action_dit_loss': 1.684783697128296, 'data_time': 0.003504650027025491, 'model_time': ]8;id=24813;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=692094;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.90881306596566, 'learning_rate': 9.999971061374505e-06, 'epoch': 4.9})   +03/30 [11:40:43] INFO  | >> Step 5100, Loss: {'action_dit_loss': 1.7432377338409424, 'mse_score': 0.0030823491513729097, 'data_time': ]8;id=906339;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=72792;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00013112998567521572, 'model_time': 1.909149813989643, 'learning_rate': 9.999884245850625e-06, 'epoch': 4.95})   +03/30 [11:42:20] INFO  | >> Step 5150, Loss: {'action_dit_loss': 2.179368019104004, 'data_time': 0.0014514860231429338, 'model_time': ]8;id=534150;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=419093;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9093709189910442, 'learning_rate': 9.999739554486184e-06, 'epoch': 5.0})   +03/30 [11:43:58] INFO  | >> Step 5200, Loss: {'action_dit_loss': 1.466814637184143, 'mse_score': 0.005164726078510285, 'data_time': ]8;id=984861;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=28941;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0024740530061535537, 'model_time': 1.9142702699755318, 'learning_rate': 9.999536989044196e-06, 'epoch': 5.04})   +03/30 [11:45:34] INFO  | >> Step 5250, Loss: {'action_dit_loss': 1.8465683460235596, 'data_time': 0.00016688898904249072, 'model_time': ]8;id=608792;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=278361;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9127264199778438, 'learning_rate': 9.99927655199286e-06, 'epoch': 5.09})   +03/30 [11:47:12] INFO  | >> Step 5300, Loss: {'action_dit_loss': 2.0978684425354004, 'mse_score': 0.00424671471118927, 'data_time': ]8;id=362479;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=763934;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0014747059904038906, 'model_time': 1.9113968019955792, 'learning_rate': 9.998958246505518e-06, 'epoch': 5.14})   +03/30 [11:48:47] INFO  | >> Step 5350, Loss: {'action_dit_loss': 2.0700788497924805, 'data_time': 0.0022864530328661203, 'model_time': ]8;id=536265;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=121263;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9094575650524348, 'learning_rate': 9.99858207646062e-06, 'epoch': 5.19})   +03/30 [11:50:25] INFO  | >> Step 5400, Loss: {'action_dit_loss': 1.8773456811904907, 'mse_score': 0.004553147405385971, 'data_time': ]8;id=267095;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=46542;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0013516360195353627, 'model_time': 1.9113973240018822, 'learning_rate': 9.998148046441683e-06, 'epoch': 5.24})   +03/30 [11:52:02] INFO  | >> Step 5450, Loss: {'action_dit_loss': 1.6577527523040771, 'data_time': 0.0022529929992742836, 'model_time': ]8;id=970535;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=845687;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9108337149955332, 'learning_rate': 9.997656161737227e-06, 'epoch': 5.29})   +03/30 [11:53:39] INFO  | >> Step 5500, Loss: {'action_dit_loss': 2.1627347469329834, 'mse_score': 0.007082153111696243, 'data_time': ]8;id=777991;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=772840;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00016174896154552698, 'model_time': 1.911974098009523, 'learning_rate': 9.997106428340707e-06, 'epoch': 5.33})   +03/30 [11:55:15] INFO  | >> Step 5550, Loss: {'action_dit_loss': 2.2076807022094727, 'data_time': 0.0014157059486024082, 'model_time': ]8;id=73372;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=994967;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9119955570204183, 'learning_rate': 9.996498852950451e-06, 'epoch': 5.38})   +03/30 [11:56:53] INFO  | >> Step 5600, Loss: {'action_dit_loss': 1.8933024406433105, 'mse_score': 0.004672187566757202, 'data_time': ]8;id=329164;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=695612;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0023567620082758367, 'model_time': 1.9099214170128107, 'learning_rate': 9.995833442969578e-06, 'epoch': 5.43})   +03/30 [11:58:28] INFO  | >> Step 5650, Loss: {'action_dit_loss': 2.15372896194458, 'data_time': 0.00015337899094447494, 'model_time': ]8;id=314910;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=531756;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.915111277019605, 'learning_rate': 9.995110206505897e-06, 'epoch': 5.48})   +03/30 [12:00:07] INFO  | >> Step 5700, Loss: {'action_dit_loss': 1.6055285930633545, 'mse_score': 0.004245081543922424, 'data_time': ]8;id=421947;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=731076;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.001493235002271831, 'model_time': 1.912253615038935, 'learning_rate': 9.994329152371813e-06, 'epoch': 5.53})   +03/30 [12:01:43] INFO  | >> Step 5750, Loss: {'action_dit_loss': 1.540052890777588, 'data_time': 0.00228172296192497, 'model_time': ]8;id=440869;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=697229;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9141631880193017, 'learning_rate': 9.993490290084225e-06, 'epoch': 5.58})   +03/30 [12:03:21] INFO  | >> Step 5800, Loss: {'action_dit_loss': 1.7706056833267212, 'mse_score': 0.004877537861466408, 'data_time': ]8;id=946660;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=182480;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0015325050335377455, 'model_time': 1.9125489459838718, 'learning_rate': 9.992593629864412e-06, 'epoch': 5.63})   +03/30 [12:04:57] INFO  | >> Step 5850, Loss: {'action_dit_loss': 1.8931727409362793, 'data_time': 0.0014059850363992155, 'model_time': ]8;id=574553;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=874224;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9121097910101525, 'learning_rate': 9.991639182637887e-06, 'epoch': 5.67})   +03/30 [12:06:34] INFO  | >> Step 5900, Loss: {'action_dit_loss': 1.5735838413238525, 'mse_score': 0.003895830363035202, 'data_time': ]8;id=450770;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=823927;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001514399773441255, 'model_time': 1.9160601529874839, 'learning_rate': 9.990626960034291e-06, 'epoch': 5.72})   +03/30 [12:08:10] INFO  | >> Step 5950, Loss: {'action_dit_loss': 1.6610751152038574, 'data_time': 0.0016878650058060884, 'model_time': ]8;id=487575;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=463246;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9101827669655904, 'learning_rate': 9.989556974387237e-06, 'epoch': 5.77})   +03/30 [12:09:49] INFO  | >> Step 6000, Loss: {'action_dit_loss': 1.6346032619476318, 'mse_score': 0.006696031242609024, 'data_time': ]8;id=496171;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=832291;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.002448112005367875, 'model_time': 1.907251811993774, 'learning_rate': 9.988429238734164e-06, 'epoch': 5.82})   +03/30 [12:11:24] INFO  | >> Step 6050, Loss: {'action_dit_loss': 1.3715384006500244, 'data_time': 0.0001574999769218266, 'model_time': 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]8;id=668636;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=290782;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9109613290056586, 'learning_rate': 9.96043802131968e-06, 'epoch': 6.64})   +03/30 [12:38:54] INFO  | >> Step 6900, Loss: {'action_dit_loss': 1.8779871463775635, 'mse_score': 0.004127383604645729, 'data_time': ]8;id=657193;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=250867;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001528870197944343, 'model_time': 1.9126535749528557, 'learning_rate': 9.958273816194823e-06, 'epoch': 6.69})   +03/30 [12:40:30] INFO  | >> Step 6950, Loss: {'action_dit_loss': 1.6850990056991577, 'data_time': 0.0001528580323792994, 'model_time': ]8;id=299607;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=245884;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9138876609504223, 'learning_rate': 9.956052242239358e-06, 'epoch': 6.74})   +03/30 [12:42:07] INFO  | >> Step 7000, Loss: {'action_dit_loss': 1.819627046585083, 'mse_score': 0.005083034560084343, 'data_time': ]8;id=566390;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=84491;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001529180444777012, 'model_time': 1.9097675990196876, 'learning_rate': 9.95377332652246e-06, 'epoch': 6.79})   +03/30 [12:43:43] INFO  | >> Step 7050, Loss: {'action_dit_loss': 2.1305863857269287, 'data_time': 0.0028009300003759563, 'model_time': ]8;id=727659;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=160227;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.914823967963457, 'learning_rate': 9.951437096811997e-06, 'epoch': 6.84})   +03/30 [12:45:22] INFO  | >> Step 7100, Loss: {'action_dit_loss': 1.7415015697479248, 'mse_score': 0.003776343911886215, 'data_time': ]8;id=427398;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=346954;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00213919096859172, 'model_time': 1.9109215720091015, 'learning_rate': 9.949043581574196e-06, 'epoch': 6.89})   +03/30 [12:46:58] INFO  | >> Step 7150, Loss: {'action_dit_loss': 1.6157538890838623, 'data_time': 0.003622351970989257, 'model_time': ]8;id=216881;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=873349;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9116907700081356, 'learning_rate': 9.94659280997328e-06, 'epoch': 6.94})   +03/30 [12:48:36] INFO  | >> Step 7200, Loss: {'action_dit_loss': 1.8767513036727905, 'mse_score': 0.0038120485842227936, 'data_time': ]8;id=612451;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=992017;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.000154768000356853, 'model_time': 1.9115053020068444, 'learning_rate': 9.944084811871127e-06, 'epoch': 6.98})   +03/30 [12:50:12] INFO  | >> Step 7250, Loss: {'action_dit_loss': 1.9740450382232666, 'data_time': 0.00016057799803093076, 'model_time': ]8;id=802784;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=603655;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.911428208986763, 'learning_rate': 9.941519617826906e-06, 'epoch': 7.03})   +03/30 [12:51:50] INFO  | >> Step 7300, Loss: {'action_dit_loss': 1.6694574356079102, 'mse_score': 0.003405432775616646, 'data_time': ]8;id=368845;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=313118;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0001511879963800311, 'model_time': 1.9120612039696425, 'learning_rate': 9.938897259096693e-06, 'epoch': 7.08})   +03/30 [12:53:26] INFO  | >> Step 7350, Loss: {'action_dit_loss': 1.7524553537368774, 'data_time': 0.0001506779808551073, 'model_time': ]8;id=999744;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=876325;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.912865285994485, 'learning_rate': 9.936217767633105e-06, 'epoch': 7.13})   +03/30 [12:55:04] INFO  | >> Step 7400, Loss: {'action_dit_loss': 1.9584684371948242, 'mse_score': 0.0036595102399587633, 'data_time': ]8;id=572661;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=838722;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0035434190067462623, 'model_time': 1.9093378930119798, 'learning_rate': 9.933481176084899e-06, 'epoch': 7.18})   +03/30 [12:56:40] INFO  | >> Step 7450, Loss: {'action_dit_loss': 1.5833640098571777, 'data_time': 0.0001577800139784813, 'model_time': ]8;id=230080;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=286193;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9103266779566184, 'learning_rate': 9.93068751779658e-06, 'epoch': 7.23})   +03/30 [12:58:18] INFO  | >> Step 7500, Loss: {'action_dit_loss': 1.5567669868469238, 'mse_score': 0.00414271168410778, 'data_time': ]8;id=352457;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=701364;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00015867804177105427, 'model_time': 1.9128990520257503, 'learning_rate': 9.92783682680799e-06, 'epoch': 7.27})   +03/30 [12:59:54] INFO  | >> Step 7550, Loss: {'action_dit_loss': 1.9795657396316528, 'data_time': 0.0039831839967519045, 'model_time': ]8;id=173061;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=881334;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9094933589803986, 'learning_rate': 9.924929137853899e-06, 'epoch': 7.32})   +03/30 [13:01:31] INFO  | >> Step 7600, Loss: {'action_dit_loss': 1.9200072288513184, 'mse_score': 0.003356115520000458, 'data_time': ]8;id=560069;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=28276;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00015347503358498216, 'model_time': 1.9139276989735663, 'learning_rate': 9.921964486363585e-06, 'epoch': 7.37})   +03/30 [13:03:08] INFO  | >> Step 7650, Loss: {'action_dit_loss': 1.7883851528167725, 'data_time': 0.00017418497009202838, 'model_time': ]8;id=695205;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=28418;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.909909993992187, 'learning_rate': 9.918942908460384e-06, 'epoch': 7.42})   +03/30 [13:04:46] INFO  | >> Step 7700, Loss: {'action_dit_loss': 1.9109113216400146, 'mse_score': 0.0038136806339025497, 'data_time': ]8;id=908959;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=484125;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00014935299986973405, 'model_time': 1.911006512993481, 'learning_rate': 9.915864440961272e-06, 'epoch': 7.47})   +03/30 [13:06:22] INFO  | >> Step 7750, Loss: {'action_dit_loss': 1.5522546768188477, 'data_time': 0.0001456729951314628, 'model_time': ]8;id=343254;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=221941;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.910704980022274, 'learning_rate': 9.912729121376405e-06, 'epoch': 7.52})   +03/30 [13:07:59] INFO  | >> Step 7800, Loss: {'action_dit_loss': 1.9943994283676147, 'mse_score': 0.003564561530947685, 'data_time': ]8;id=922369;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=397542;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.003737894003279507, 'model_time': 1.9091733410023153, 'learning_rate': 9.90953698790866e-06, 'epoch': 7.57})   +03/30 [13:09:35] INFO  | >> Step 7850, Loss: {'action_dit_loss': 1.4281964302062988, 'data_time': 0.0001454019802622497, 'model_time': ]8;id=442042;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=264525;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9094628320308402, 'learning_rate': 9.90628807945318e-06, 'epoch': 7.61})   +03/30 [13:11:13] INFO  | >> Step 7900, Loss: {'action_dit_loss': 1.7726593017578125, 'mse_score': 0.004668116942048073, 'data_time': ]8;id=785408;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=565621;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00014515098882839084, 'model_time': 1.911270198004786, 'learning_rate': 9.902982435596885e-06, 'epoch': 7.66})   +03/30 [13:12:49] INFO  | >> Step 7950, Loss: {'action_dit_loss': 1.7298831939697266, 'data_time': 0.00015547103248536587, 'model_time': 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]8;id=68517;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=420172;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#240\240]8;;\ +  INFO  | >> ✅ Configuration files saved ]8;id=56213;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=159097;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#243\243]8;;\ +03/30 [14:20:49] INFO  | >> Step 10050, Loss: {'action_dit_loss': 1.4893102645874023, 'data_time': 0.00015944801270961761, 'model_time': ]8;id=318594;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=89318;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9145432760124095, 'learning_rate': 9.707841858107892e-06, 'epoch': 9.75})   +03/30 [14:22:27] INFO  | >> Step 10100, Loss: {'action_dit_loss': 1.887534737586975, 'mse_score': 0.0035390324890613558, 'data_time': 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]8;id=325138;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=540418;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9162375499727204, 'learning_rate': 6.859005121165135e-06, 'epoch': 21.87})   +03/30 [21:06:39] INFO  | >> Step 22600, Loss: {'action_dit_loss': 1.5261785984039307, 'mse_score': 0.004209234192967415, 'data_time': ]8;id=265618;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=38399;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00015799899119883776, 'model_time': 1.9186176169896498, 'learning_rate': 6.8433949563137125e-06, 'epoch': 21.92})   +03/30 [21:08:15] INFO  | >> Step 22650, Loss: {'action_dit_loss': 1.532821536064148, 'data_time': 0.00014714902499690652, 'model_time': ]8;id=374314;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=904017;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9111950019723736, 'learning_rate': 6.8277653764475915e-06, 'epoch': 21.97})   +03/30 [21:09:53] INFO  | >> Step 22700, Loss: {'action_dit_loss': 1.4333436489105225, 'mse_score': 0.004454215243458748, 'data_time': ]8;id=348048;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=286488;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.003049326012842357, 'model_time': 1.91564159700647, 'learning_rate': 6.812116572008271e-06, 'epoch': 22.02})   +03/30 [21:11:29] INFO  | >> Step 22750, Loss: {'action_dit_loss': 1.5889880657196045, 'data_time': 0.00016088900156319141, 'model_time': ]8;id=932694;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=419453;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.912053015024867, 'learning_rate': 6.796448733671495e-06, 'epoch': 22.07})   +03/30 [21:13:06] INFO  | >> Step 22800, Loss: {'action_dit_loss': 1.448242425918579, 'mse_score': 0.0033836822956800463, 'data_time': ]8;id=355505;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=195892;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0013756339903920889, 'model_time': 1.9096239529899321, 'learning_rate': 6.780762052344929e-06, 'epoch': 22.11})   +03/30 [21:14:42] INFO  | >> Step 22850, Loss: {'action_dit_loss': 1.92158043384552, 'data_time': 0.00308869598666206, 'model_time': ]8;id=969209;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=836020;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9091636399971321, 'learning_rate': 6.765056719165833e-06, 'epoch': 22.16})   +03/30 [21:16:20] INFO  | >> Step 22900, Loss: {'action_dit_loss': 1.6913528442382812, 'mse_score': 0.003982643410563469, 'data_time': ]8;id=762400;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=445120;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00015187897952273488, 'model_time': 1.9106421349570155, 'learning_rate': 6.749332925498738e-06, 'epoch': 22.21})   +03/30 [21:17:56] INFO  | >> Step 22950, Loss: {'action_dit_loss': 2.01547908782959, 'data_time': 0.0012861440191045403, 'model_time': ]8;id=189222;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=571971;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  2.1353621660382487, 'learning_rate': 6.733590862933106e-06, 'epoch': 22.26})   +03/30 [21:19:34] INFO  | >> Step 23000, Loss: {'action_dit_loss': 1.761900782585144, 'mse_score': 0.0035990584641695023, 'data_time': ]8;id=343848;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=693024;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00014517898671329021, 'model_time': 1.9124164449749514, 'learning_rate': 6.7178307232810015e-06, 'epoch': 22.31})   +03/30 [21:21:10] INFO  | >> Step 23050, Loss: {'action_dit_loss': 1.8476371765136719, 'data_time': 0.00015870004426687956, 'model_time': ]8;id=752524;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=446815;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9104257409926504, 'learning_rate': 6.702052698574752e-06, 'epoch': 22.36})   +03/30 [21:22:48] INFO  | >> Step 23100, Loss: {'action_dit_loss': 1.4703774452209473, 'mse_score': 0.001882828027009964, 'data_time': ]8;id=468849;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=44412;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.003203255997505039, 'model_time': 1.9115274720243178, 'learning_rate': 6.686256981064613e-06, 'epoch': 22.41})   +03/30 [21:24:23] INFO  | >> Step 23150, Loss: {'action_dit_loss': 2.009127140045166, 'data_time': 0.00016034900909289718, 'model_time': ]8;id=644718;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=456068;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.91394873597892, 'learning_rate': 6.670443763216412e-06, 'epoch': 22.45})   +03/30 [21:26:01] INFO  | >> Step 23200, Loss: {'action_dit_loss': 1.8447761535644531, 'mse_score': 0.0058403380215168, 'data_time': ]8;id=60144;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=78686;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.0013311940128915012, 'model_time': 1.9099878470296971, 'learning_rate': 6.6546132377092235e-06, 'epoch': 22.5})   +03/30 [21:27:38] INFO  | >> Step 23250, Loss: {'action_dit_loss': 1.4938002824783325, 'data_time': 0.0030485769966617227, 'model_time': ]8;id=538009;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=840010;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9108384369756095, 'learning_rate': 6.638765597433e-06, 'epoch': 22.55})   +03/30 [21:29:16] INFO  | >> Step 23300, Loss: {'action_dit_loss': 1.68050217628479, 'mse_score': 0.002715609408915043, 'data_time': ]8;id=32653;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=149715;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00015475600957870483, 'model_time': 1.9094555079936981, 'learning_rate': 6.622901035486241e-06, 'epoch': 22.6})   +03/30 [21:30:51] INFO  | >> Step 23350, Loss: {'action_dit_loss': 1.8931968212127686, 'data_time': 0.0014871649909764528, 'model_time': ]8;id=459457;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=36489;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9088694650563411, 'learning_rate': 6.607019745173625e-06, 'epoch': 22.65})   +03/30 [21:32:29] INFO  | >> Step 23400, Loss: {'action_dit_loss': 1.5379074811935425, 'mse_score': 0.004388849064707756, 'data_time': ]8;id=676502;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=384123;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  0.00016136601334437728, 'model_time': 1.9088862390490249, 'learning_rate': 6.5911219200036645e-06, 'epoch': 22.7})   +03/30 [21:34:05] INFO  | >> Step 23450, Loss: {'action_dit_loss': 1.6073999404907227, 'data_time': 0.00016204698476940393, 'model_time': ]8;id=33958;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=634487;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#253\253]8;;\ +  1.9099605350056663, 'learning_rate': 6.5752077536863404e-06, 'epoch': 22.74})   + File "/scratch/wangpc/starVLA/starVLA/training/train_starvla.py", line 448, in + main(cfg) + File "/scratch/wangpc/starVLA/starVLA/training/train_starvla.py", line 413, in main + trainer.train() + File "/scratch/wangpc/starVLA/starVLA/training/train_starvla.py", line 287, in train + step_metrics = self._train_step(batch_vla) + File "/scratch/wangpc/starVLA/starVLA/training/train_starvla.py", line 357, in _train_step + self.accelerator.backward(total_loss) + File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/accelerate/accelerator.py", line 2351, in backward + self.deepspeed_engine_wrapped.backward(loss, **kwargs) + File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/accelerate/utils/deepspeed.py", line 266, in backward + self.engine.backward(loss, **kwargs) + File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/deepspeed/utils/nvtx.py", line 20, in wrapped_fn + ret_val = func(*args, **kwargs) + File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/deepspeed/runtime/engine.py", line 2216, in backward + self._do_optimizer_backward(loss, retain_graph) + File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/deepspeed/runtime/engine.py", line 2162, in _do_optimizer_backward + self.optimizer.backward(loss, retain_graph=retain_graph) + File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/deepspeed/runtime/zero/stage_1_and_2.py", line 2082, in backward + self.loss_scaler.backward(loss.float(), retain_graph=retain_graph) + File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/deepspeed/runtime/fp16/loss_scaler.py", line 63, in backward + scaled_loss.backward(retain_graph=retain_graph) + File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/torch/_tensor.py", line 648, in backward + torch.autograd.backward( + File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/torch/autograd/__init__.py", line 353, in backward + _engine_run_backward( + File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/torch/autograd/graph.py", line 824, in _engine_run_backward + return Variable._execution_engine.run_backward( # Calls into the C++ engine to run the backward pass +KeyboardInterrupt +[rank0]: Traceback (most recent call last): +[rank0]: File "/scratch/wangpc/starVLA/starVLA/training/train_starvla.py", line 448, in +[rank0]: main(cfg) +[rank0]: File "/scratch/wangpc/starVLA/starVLA/training/train_starvla.py", line 413, in main +[rank0]: trainer.train() +[rank0]: File "/scratch/wangpc/starVLA/starVLA/training/train_starvla.py", line 287, in train +[rank0]: step_metrics = self._train_step(batch_vla) +[rank0]: File "/scratch/wangpc/starVLA/starVLA/training/train_starvla.py", line 357, in _train_step +[rank0]: self.accelerator.backward(total_loss) +[rank0]: File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/accelerate/accelerator.py", line 2351, in backward +[rank0]: self.deepspeed_engine_wrapped.backward(loss, **kwargs) +[rank0]: File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/accelerate/utils/deepspeed.py", line 266, in backward +[rank0]: self.engine.backward(loss, **kwargs) +[rank0]: File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/deepspeed/utils/nvtx.py", line 20, in wrapped_fn +[rank0]: ret_val = func(*args, **kwargs) +[rank0]: File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/deepspeed/runtime/engine.py", line 2216, in backward +[rank0]: self._do_optimizer_backward(loss, retain_graph) +[rank0]: File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/deepspeed/runtime/engine.py", line 2162, in _do_optimizer_backward +[rank0]: self.optimizer.backward(loss, retain_graph=retain_graph) +[rank0]: File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/deepspeed/runtime/zero/stage_1_and_2.py", line 2082, in backward +[rank0]: self.loss_scaler.backward(loss.float(), retain_graph=retain_graph) +[rank0]: File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/deepspeed/runtime/fp16/loss_scaler.py", line 63, in backward +[rank0]: scaled_loss.backward(retain_graph=retain_graph) +[rank0]: File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/torch/_tensor.py", line 648, in backward +[rank0]: torch.autograd.backward( +[rank0]: File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/torch/autograd/__init__.py", line 353, in backward +[rank0]: _engine_run_backward( +[rank0]: File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/torch/autograd/graph.py", line 824, in _engine_run_backward +[rank0]: return Variable._execution_engine.run_backward( # Calls into the C++ engine to run the backward pass +[rank0]: KeyboardInterrupt diff --git a/fastumi_pickandplace_qwenDiscreteDiffusion_329v2/wandb/wandb/run-20260330_085553-rk4vla0z/files/requirements.txt b/fastumi_pickandplace_qwenDiscreteDiffusion_329v2/wandb/wandb/run-20260330_085553-rk4vla0z/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..19b40c170b82375c4632fb77f1a32b91239f1d62 --- /dev/null +++ b/fastumi_pickandplace_qwenDiscreteDiffusion_329v2/wandb/wandb/run-20260330_085553-rk4vla0z/files/requirements.txt @@ -0,0 +1,161 @@ +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 +ray==2.54.0 +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 +jsonschema-specifications==2025.9.1 +snntorch==0.9.4 +rpds-py==0.30.0 +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 +PyMuPDF==1.27.2.2 +decord==0.6.0 +ninja==1.13.0 +albucore==0.0.17 +attrs==26.1.0 +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 +jsonschema==4.26.0 +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 +referencing==0.37.0 +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 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