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@@ -37,3 +37,9 @@ fastumi_pickandplace_discrete_diffusion_real_0314/wandb/wandb/run-20260314_07354
 fastumi_pickandplace_discrete_diffusion_real_0314/wandb/wandb/run-20260314_075218-so4tb51q/run-so4tb51q.wandb filter=lfs diff=lfs merge=lfs -text
 fastumi_pickandplace_discrete_diffusion_real_0314/wandb/wandb/run-20260314_081115-do490bua/run-do490bua.wandb filter=lfs diff=lfs merge=lfs -text
 fastumi_pickandplace_discrete_diffusion_real_0314/wandb/wandb/run-20260314_231623-3mz29zso/run-3mz29zso.wandb filter=lfs diff=lfs merge=lfs -text
+fastumi_pickandplace_qwenPI/wandb/wandb/run-20260313_052128-9547dyq0/run-9547dyq0.wandb filter=lfs diff=lfs merge=lfs -text
+fastumi_pickandplace_qwenPI/wandb/wandb/run-20260313_055401-pxng7bwb/run-pxng7bwb.wandb filter=lfs diff=lfs merge=lfs -text
+fastumi_pickandplace_qwenPI/wandb/wandb/run-20260313_081653-va5ln8ez/run-va5ln8ez.wandb filter=lfs diff=lfs merge=lfs -text
+fastumi_pickandplace_qwenPI/wandb/wandb/run-20260313_082405-hh8947p1/run-hh8947p1.wandb filter=lfs diff=lfs merge=lfs -text
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+fastumi_pickandplace_qwenPI/wandb/wandb/run-20260315_072213-nyjyyu3l/run-nyjyyu3l.wandb filter=lfs diff=lfs merge=lfs -text

fastumi_pickandplace_qwenPI/checkpoints/steps_10000_pytorch_model.pt

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fastumi_pickandplace_qwenPI/checkpoints/steps_15000_pytorch_model.pt

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fastumi_pickandplace_qwenPI/checkpoints/steps_5000_pytorch_model.pt

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fastumi_pickandplace_qwenPI/config.yaml

@@ -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
+    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
+run_id: fastumi_pickandplace_qwenPI
+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/dataset_statistics.json

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+{
+  "new_embodiment": {
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+      "norm_modes": [
+        "min_max",
+        "min_max",
+        "min_max",
+        "none",
+        "none",
+        "none",
+        "none",
+        "none",
+        "none",
+        "binary"
+      ]
+    },
+    "state": {
+      "mean": [
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+      "q99": [
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+        0.9986270666122437,
+        0.03915046207606793,
+        0.5240129828453064
+      ]
+    },
+    "num_transitions": 26330,
+    "num_trajectories": 300
+  }
+}

fastumi_pickandplace_qwenPI/summary.jsonl

@@ -0,0 +1,3 @@
+{"steps": 5000}
+{"steps": 10000}
+{"steps": 15000}

fastumi_pickandplace_qwenPI/wandb/wandb/debug-internal.log

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fastumi_pickandplace_qwenPI/wandb/wandb/run-20260313_041222-hshxz32s/files/config.yaml

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+_wandb:
+    value:
+        cli_version: 0.25.0
+        e:
+            9rs4jt49lzudq17zfe4jqbilhwm7rk8l:
+                args:
+                    - --config_yaml
+                    - ./examples/calvin/train_files/starvla_train_calvin.yaml
+                    - --framework.name
+                    - QwenPI
+                    - --framework.qwenvl.base_vlm
+                    - playground/Pretrained_models/Qwen2.5-VL-3B-Instruct-Action
+                    - --framework.qwenvl.attn_implementation
+                    - flash_attention_2
+                    - --framework.action_model.action_dim
+                    - "10"
+                    - --framework.action_model.state_dim
+                    - "10"
+                    - --framework.action_model.future_action_window_size
+                    - "15"
+                    - --framework.action_model.past_action_window_size
+                    - "0"
+                    - --framework.action_model.action_hidden_dim
+                    - "1024"
+                    - --framework.action_model.hidden_size
+                    - "1024"
+                    - --framework.action_model.action_model_type
+                    - DiT-B
+                    - --framework.action_model.add_pos_embed
+                    - "True"
+                    - --framework.action_model.max_seq_len
+                    - "1024"
+                    - --framework.action_model.noise_beta_alpha
+                    - "1.5"
+                    - --framework.action_model.noise_beta_beta
+                    - "1.0"
+                    - --framework.action_model.noise_s
+                    - "0.999"
+                    - --framework.action_model.num_timestep_buckets
+                    - "1000"
+                    - --framework.action_model.num_inference_timesteps
+                    - "4"
+                    - --framework.action_model.num_target_vision_tokens
+                    - "32"
+                    - --datasets.vla_data.data_root_dir
+                    - playground/Datasets/FastUMI
+                    - --datasets.vla_data.data_mix
+                    - fastumi_pickandplace_real_0307
+                    - --datasets.vla_data.per_device_batch_size
+                    - "8"
+                    - --datasets.vla_data.video_backend
+                    - torchvision_av
+                    - --trainer.freeze_modules
+                    - ""
+                    - --trainer.max_train_steps
+                    - "20000"
+                    - --trainer.save_interval
+                    - "5000"
+                    - --trainer.logging_frequency
+                    - "50"
+                    - --trainer.eval_interval
+                    - "100"
+                    - --trainer.gradient_accumulation_steps
+                    - "1"
+                    - --trainer.is_resume
+                    - "true"
+                    - --run_root_dir
+                    - ./results/Checkpoints
+                    - --run_id
+                    - fastumi_pickandplace_qwenPI
+                    - --wandb_project
+                    - starVLA_FastUMI
+                    - --wandb_entity
+                    - 2200011093-peking-university
+                codePath: starVLA/training/train_starvla.py
+                codePathLocal: starVLA/training/train_starvla.py
+                cpu_count: 192
+                cpu_count_logical: 384
+                cudaVersion: "13.1"
+                disk:
+                    /:
+                        total: "3776651378688"
+                        used: "136350265344"
+                email: wangpc@berkeley.edu
+                executable: /home/wangpc/miniconda3/envs/starVLA/bin/python3.10
+                git:
+                    commit: 66b43863ede17a0e3081f822346e95cec52816d0
+                    remote: https://github.com/Kaiwen-Hong/starVLA.git
+                gpu: NVIDIA RTX PRO 6000 Blackwell Server Edition
+                gpu_count: 8
+                gpu_nvidia:
+                    - architecture: Blackwell
+                      cudaCores: 24064
+                      memoryTotal: "102641958912"
+                      name: NVIDIA RTX PRO 6000 Blackwell Server Edition
+                      uuid: GPU-41f2ee49-ba06-f304-cfa5-4d526d8f5673
+                    - architecture: Blackwell
+                      cudaCores: 24064
+                      memoryTotal: "102641958912"
+                      name: NVIDIA RTX PRO 6000 Blackwell Server Edition
+                      uuid: GPU-91f82c0c-10ef-1f95-9f6d-1102b8e832b5
+                    - architecture: Blackwell
+                      cudaCores: 24064
+                      memoryTotal: "102641958912"
+                      name: NVIDIA RTX PRO 6000 Blackwell Server Edition
+                      uuid: GPU-1f3c0889-b740-5143-e064-afeb49245756
+                    - architecture: Blackwell
+                      cudaCores: 24064
+                      memoryTotal: "102641958912"
+                      name: NVIDIA RTX PRO 6000 Blackwell Server Edition
+                      uuid: GPU-49955a45-509a-e8af-a468-b9ef0449b005
+                    - architecture: Blackwell
+                      cudaCores: 24064
+                      memoryTotal: "102641958912"
+                      name: NVIDIA RTX PRO 6000 Blackwell Server Edition
+                      uuid: GPU-065fc6ce-c1cd-c143-b421-32b915c9d8fd
+                    - architecture: Blackwell
+                      cudaCores: 24064
+                      memoryTotal: "102641958912"
+                      name: NVIDIA RTX PRO 6000 Blackwell Server Edition
+                      uuid: GPU-d16b5acf-a100-2d1b-8138-1661892f3d26
+                    - architecture: Blackwell
+                      cudaCores: 24064
+                      memoryTotal: "102641958912"
+                      name: NVIDIA RTX PRO 6000 Blackwell Server Edition
+                      uuid: GPU-b7a88059-1d3f-da1c-9903-fd4acd4936ab
+                    - architecture: Blackwell
+                      cudaCores: 24064
+                      memoryTotal: "102641958912"
+                      name: NVIDIA RTX PRO 6000 Blackwell Server Edition
+                      uuid: GPU-747dc32b-b025-76e9-697d-fd33ef441b47
+                host: tams02
+                memory:
+                    total: "1081550508032"
+                os: Linux-6.8.0-94-generic-x86_64-with-glibc2.39
+                program: /scratch/wangpc/starVLA/starVLA/training/train_starvla.py
+                python: CPython 3.10.19
+                root: ./results/Checkpoints/fastumi_pickandplace_qwenPI/wandb
+                startedAt: "2026-03-13T04:12:22.513938Z"
+                writerId: 9rs4jt49lzudq17zfe4jqbilhwm7rk8l
+        m: []
+        python_version: 3.10.19
+        t:
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+            "5": 0.25.0
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+            "12": 0.25.0
+            "13": linux-x86_64

fastumi_pickandplace_qwenPI/wandb/wandb/run-20260313_041222-hshxz32s/files/output.log

@@ -0,0 +1,25 @@
+03/13 [04:12:23] 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#338\338]8;;\
+                 INFO     | >>   Total optimization steps = 20000                                  ]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#339\339]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#340\340]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#341\341]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#342\342]8;;\
+  0%|                                        | 1/20000 [00:04<22:16:25,  4.01s/it, data_times=0.608, model_times=3.402]Traceback (most recent call last):
+  File "/scratch/wangpc/starVLA/starVLA/training/train_starvla.py", line 440, in <module>
+    main(cfg)
+  File "/scratch/wangpc/starVLA/starVLA/training/train_starvla.py", line 410, 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 363, in _train_step
+    "action_dit_loss": action_loss.item(),
+KeyboardInterrupt
+[rank0]: Traceback (most recent call last):
+[rank0]:   File "/scratch/wangpc/starVLA/starVLA/training/train_starvla.py", line 440, in <module>
+[rank0]:     main(cfg)
+[rank0]:   File "/scratch/wangpc/starVLA/starVLA/training/train_starvla.py", line 410, 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 363, in _train_step
+[rank0]:     "action_dit_loss": action_loss.item(),
+[rank0]: KeyboardInterrupt

fastumi_pickandplace_qwenPI/wandb/wandb/run-20260313_041222-hshxz32s/files/requirements.txt

@@ -0,0 +1,154 @@
+starVLA==1.0.1
+kiwisolver==1.4.9
+scipy==1.15.3
+pyarrow==14.0.1
+protobuf==6.33.5
+platformdirs==4.9.4
+mdurl==0.1.2
+Jinja2==3.1.6
+torchvision==0.22.0+cu128
+exceptiongroup==1.3.1
+nvidia-cusparselt-cu12==0.6.3
+markdown-it-py==4.0.0
+timm==1.0.25
+nvidia-nvjitlink-cu12==12.8.61
+urllib3==2.6.3
+numpydantic==1.6.9
+pillow==12.1.1
+json-numpy==2.1.1
+fastparquet==2024.11.0
+contourpy==1.3.2
+tensorboard-data-server==0.7.2
+albumentations==1.4.18
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fastumi_pickandplace_qwenPI/wandb/wandb/run-20260313_041222-hshxz32s/files/wandb-metadata.json

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+{
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+  "python":  "CPython 3.10.19",
+  "startedAt":  "2026-03-13T04:12:22.513938Z",
+  "args":  [
+    "--config_yaml",
+    "./examples/calvin/train_files/starvla_train_calvin.yaml",
+    "--framework.name",
+    "QwenPI",
+    "--framework.qwenvl.base_vlm",
+    "playground/Pretrained_models/Qwen2.5-VL-3B-Instruct-Action",
+    "--framework.qwenvl.attn_implementation",
+    "flash_attention_2",
+    "--framework.action_model.action_dim",
+    "10",
+    "--framework.action_model.state_dim",
+    "10",
+    "--framework.action_model.future_action_window_size",
+    "15",
+    "--framework.action_model.past_action_window_size",
+    "0",
+    "--framework.action_model.action_hidden_dim",
+    "1024",
+    "--framework.action_model.hidden_size",
+    "1024",
+    "--framework.action_model.action_model_type",
+    "DiT-B",
+    "--framework.action_model.add_pos_embed",
+    "True",
+    "--framework.action_model.max_seq_len",
+    "1024",
+    "--framework.action_model.noise_beta_alpha",
+    "1.5",
+    "--framework.action_model.noise_beta_beta",
+    "1.0",
+    "--framework.action_model.noise_s",
+    "0.999",
+    "--framework.action_model.num_timestep_buckets",
+    "1000",
+    "--framework.action_model.num_inference_timesteps",
+    "4",
+    "--framework.action_model.num_target_vision_tokens",
+    "32",
+    "--datasets.vla_data.data_root_dir",
+    "playground/Datasets/FastUMI",
+    "--datasets.vla_data.data_mix",
+    "fastumi_pickandplace_real_0307",
+    "--datasets.vla_data.per_device_batch_size",
+    "8",
+    "--datasets.vla_data.video_backend",
+    "torchvision_av",
+    "--trainer.freeze_modules",
+    "",
+    "--trainer.max_train_steps",
+    "20000",
+    "--trainer.save_interval",
+    "5000",
+    "--trainer.logging_frequency",
+    "50",
+    "--trainer.eval_interval",
+    "100",
+    "--trainer.gradient_accumulation_steps",
+    "1",
+    "--trainer.is_resume",
+    "true",
+    "--run_root_dir",
+    "./results/Checkpoints",
+    "--run_id",
+    "fastumi_pickandplace_qwenPI",
+    "--wandb_project",
+    "starVLA_FastUMI",
+    "--wandb_entity",
+    "2200011093-peking-university"
+  ],
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+  "codePath":  "starVLA/training/train_starvla.py",
+  "codePathLocal":  "starVLA/training/train_starvla.py",
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+    "commit":  "66b43863ede17a0e3081f822346e95cec52816d0"
+  },
+  "email":  "wangpc@berkeley.edu",
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+  "host":  "tams02",
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+    {
+      "name":  "NVIDIA RTX PRO 6000 Blackwell Server Edition",
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+      "architecture":  "Blackwell",
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+    },
+    {
+      "name":  "NVIDIA RTX PRO 6000 Blackwell Server Edition",
+      "memoryTotal":  "102641958912",
+      "cudaCores":  24064,
+      "architecture":  "Blackwell",
+      "uuid":  "GPU-49955a45-509a-e8af-a468-b9ef0449b005"
+    },
+    {
+      "name":  "NVIDIA RTX PRO 6000 Blackwell Server Edition",
+      "memoryTotal":  "102641958912",
+      "cudaCores":  24064,
+      "architecture":  "Blackwell",
+      "uuid":  "GPU-065fc6ce-c1cd-c143-b421-32b915c9d8fd"
+    },
+    {
+      "name":  "NVIDIA RTX PRO 6000 Blackwell Server Edition",
+      "memoryTotal":  "102641958912",
+      "cudaCores":  24064,
+      "architecture":  "Blackwell",
+      "uuid":  "GPU-d16b5acf-a100-2d1b-8138-1661892f3d26"
+    },
+    {
+      "name":  "NVIDIA RTX PRO 6000 Blackwell Server Edition",
+      "memoryTotal":  "102641958912",
+      "cudaCores":  24064,
+      "architecture":  "Blackwell",
+      "uuid":  "GPU-b7a88059-1d3f-da1c-9903-fd4acd4936ab"
+    },
+    {
+      "name":  "NVIDIA RTX PRO 6000 Blackwell Server Edition",
+      "memoryTotal":  "102641958912",
+      "cudaCores":  24064,
+      "architecture":  "Blackwell",
+      "uuid":  "GPU-747dc32b-b025-76e9-697d-fd33ef441b47"
+    }
+  ],
+  "cudaVersion":  "13.1",
+  "writerId":  "9rs4jt49lzudq17zfe4jqbilhwm7rk8l"
+}

fastumi_pickandplace_qwenPI/wandb/wandb/run-20260313_041222-hshxz32s/files/wandb-summary.json

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fastumi_pickandplace_qwenPI/wandb/wandb/run-20260313_052128-9547dyq0/files/config.yaml

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+_wandb:
+    value:
+        cli_version: 0.25.0
+        e:
+            s3rvfu8shkj8mzdb09dke7i4kcnoimei:
+                args:
+                    - --config_yaml
+                    - ./examples/calvin/train_files/starvla_train_calvin.yaml
+                    - --framework.name
+                    - QwenPI
+                    - --framework.qwenvl.base_vlm
+                    - playground/Pretrained_models/Qwen2.5-VL-3B-Instruct-Action
+                    - --framework.qwenvl.attn_implementation
+                    - flash_attention_2
+                    - --framework.action_model.action_dim
+                    - "10"
+                    - --framework.action_model.state_dim
+                    - "10"
+                    - --framework.action_model.future_action_window_size
+                    - "15"
+                    - --framework.action_model.past_action_window_size
+                    - "0"
+                    - --framework.action_model.action_hidden_dim
+                    - "1024"
+                    - --framework.action_model.hidden_size
+                    - "1024"
+                    - --framework.action_model.action_model_type
+                    - DiT-B
+                    - --framework.action_model.add_pos_embed
+                    - "True"
+                    - --framework.action_model.max_seq_len
+                    - "1024"
+                    - --framework.action_model.noise_beta_alpha
+                    - "1.5"
+                    - --framework.action_model.noise_beta_beta
+                    - "1.0"
+                    - --framework.action_model.noise_s
+                    - "0.999"
+                    - --framework.action_model.num_timestep_buckets
+                    - "1000"
+                    - --framework.action_model.num_inference_timesteps
+                    - "4"
+                    - --framework.action_model.num_target_vision_tokens
+                    - "32"
+                    - --datasets.vla_data.data_root_dir
+                    - playground/Datasets/FastUMI
+                    - --datasets.vla_data.data_mix
+                    - fastumi_pickandplace_real_0307
+                    - --datasets.vla_data.per_device_batch_size
+                    - "8"
+                    - --datasets.vla_data.video_backend
+                    - torchvision_av
+                    - --trainer.freeze_modules
+                    - ""
+                    - --trainer.max_train_steps
+                    - "20000"
+                    - --trainer.save_interval
+                    - "5000"
+                    - --trainer.logging_frequency
+                    - "50"
+                    - --trainer.eval_interval
+                    - "100"
+                    - --trainer.gradient_accumulation_steps
+                    - "1"
+                    - --trainer.is_resume
+                    - "true"
+                    - --run_root_dir
+                    - ./results/Checkpoints
+                    - --run_id
+                    - fastumi_pickandplace_qwenPI
+                    - --wandb_project
+                    - starVLA_FastUMI
+                    - --wandb_entity
+                    - 2200011093-peking-university
+                codePath: starVLA/training/train_starvla.py
+                codePathLocal: starVLA/training/train_starvla.py
+                cpu_count: 192
+                cpu_count_logical: 384
+                cudaVersion: "13.1"
+                disk:
+                    /:
+                        total: "3776651378688"
+                        used: "136342257664"
+                email: wangpc@berkeley.edu
+                executable: /home/wangpc/miniconda3/envs/starVLA/bin/python3.10
+                git:
+                    commit: 66b43863ede17a0e3081f822346e95cec52816d0
+                    remote: https://github.com/Kaiwen-Hong/starVLA.git
+                gpu: NVIDIA RTX PRO 6000 Blackwell Server Edition
+                gpu_count: 8
+                gpu_nvidia:
+                    - architecture: Blackwell
+                      cudaCores: 24064
+                      memoryTotal: "102641958912"
+                      name: NVIDIA RTX PRO 6000 Blackwell Server Edition
+                      uuid: GPU-41f2ee49-ba06-f304-cfa5-4d526d8f5673
+                    - architecture: Blackwell
+                      cudaCores: 24064
+                      memoryTotal: "102641958912"
+                      name: NVIDIA RTX PRO 6000 Blackwell Server Edition
+                      uuid: GPU-91f82c0c-10ef-1f95-9f6d-1102b8e832b5
+                    - architecture: Blackwell
+                      cudaCores: 24064
+                      memoryTotal: "102641958912"
+                      name: NVIDIA RTX PRO 6000 Blackwell Server Edition
+                      uuid: GPU-1f3c0889-b740-5143-e064-afeb49245756
+                    - architecture: Blackwell
+                      cudaCores: 24064
+                      memoryTotal: "102641958912"
+                      name: NVIDIA RTX PRO 6000 Blackwell Server Edition
+                      uuid: GPU-49955a45-509a-e8af-a468-b9ef0449b005
+                    - architecture: Blackwell
+                      cudaCores: 24064
+                      memoryTotal: "102641958912"
+                      name: NVIDIA RTX PRO 6000 Blackwell Server Edition
+                      uuid: GPU-065fc6ce-c1cd-c143-b421-32b915c9d8fd
+                    - architecture: Blackwell
+                      cudaCores: 24064
+                      memoryTotal: "102641958912"
+                      name: NVIDIA RTX PRO 6000 Blackwell Server Edition
+                      uuid: GPU-d16b5acf-a100-2d1b-8138-1661892f3d26
+                    - architecture: Blackwell
+                      cudaCores: 24064
+                      memoryTotal: "102641958912"
+                      name: NVIDIA RTX PRO 6000 Blackwell Server Edition
+                      uuid: GPU-b7a88059-1d3f-da1c-9903-fd4acd4936ab
+                    - architecture: Blackwell
+                      cudaCores: 24064
+                      memoryTotal: "102641958912"
+                      name: NVIDIA RTX PRO 6000 Blackwell Server Edition
+                      uuid: GPU-747dc32b-b025-76e9-697d-fd33ef441b47
+                host: tams02
+                memory:
+                    total: "1081550508032"
+                os: Linux-6.8.0-94-generic-x86_64-with-glibc2.39
+                program: /scratch/wangpc/starVLA/starVLA/training/train_starvla.py
+                python: CPython 3.10.19
+                root: ./results/Checkpoints/fastumi_pickandplace_qwenPI/wandb
+                startedAt: "2026-03-13T05:21:28.850487Z"
+                writerId: s3rvfu8shkj8mzdb09dke7i4kcnoimei
+        m: []
+        python_version: 3.10.19
+        t:
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+            "6": 4.57.0
+            "12": 0.25.0
+            "13": linux-x86_64

fastumi_pickandplace_qwenPI/wandb/wandb/run-20260313_052128-9547dyq0/files/output.log

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+03/13 [05:21:29] 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#338\338]8;;\
+                 INFO     | >>   Total optimization steps = 20000                                    ]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#339\339]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#340\340]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#341\341]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#342\342]8;;\
+  2%|█                                       | 500/20000 [21:07<13:36:04,  2.51s/it, data_times=0.005, model_times=2.491]
+03/13 [05:23:38] INFO     | >> Step 50, Loss: {'action_dit_loss': 202009.875, 'data_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;;\
+                          0.00016733817756175995, 'model_time': 2.527299334295094, 'learning_rate':                      
+                          1.0000000000000001e-07, 'epoch': 0.14})                                                        
+03/13 [05:25:44] INFO     | >> Step 100, Loss: {'action_dit_loss': 133267.859375, 'mse_score':       ]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;;\
+                          2.36893367767334, 'data_time': 0.0032478091306984425, 'model_time':                            
+                          2.539055143017322, 'learning_rate': 2.0000000000000002e-07, 'epoch':                           
+                          0.29})                                                                                         
+03/13 [05:27:51] INFO     | >> Step 150, Loss: {'action_dit_loss': 2462.653076171875, 'data_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;;\
+                          0.00015402119606733322, 'model_time': 2.4931312440894544, 'learning_rate':                     
+                          3.0000000000000004e-07, 'epoch': 0.43})                                                        
+03/13 [05:29:57] INFO     | >> Step 200, Loss: {'action_dit_loss': 2822.628662109375, 'mse_score':   ]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;;\
+                          15.090812683105469, 'data_time': 0.0030169920064508915, 'model_time':                          
+                          2.534589695278555, 'learning_rate': 4.0000000000000003e-07, 'epoch':                           
+                          0.57})                                                                                         
+03/13 [05:32:03] INFO     | >> Step 250, Loss: {'action_dit_loss': 375.4444580078125, 'data_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;;\
+                          0.0033243270590901375, 'model_time': 2.506985930260271, 'learning_rate':                       
+                          5.000000000000001e-07, 'epoch': 0.72})                                                         
+03/13 [05:34:10] INFO     | >> Step 300, Loss: {'action_dit_loss': 216.59744262695312, 'mse_score':  ]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;;\
+                          6.797264862060547, 'data_time': 0.002378092147409916, 'model_time':                            
+                          2.4954333789646626, 'learning_rate': 6.000000000000001e-07, 'epoch':                           
+                          0.86})                                                                                         
+03/13 [05:36:17] INFO     | >> Step 350, Loss: {'action_dit_loss': 118.1450424194336, 'data_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;;\
+                          0.004711804911494255, 'model_time': 2.535939588211477, 'learning_rate':                        
+                          7.000000000000001e-07, 'epoch': 1.01})                                                         
+03/13 [05:38:24] INFO     | >> Step 400, Loss: {'action_dit_loss': 32.82866287231445, 'mse_score':   ]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;;\
+                          3.5609485626220705, 'data_time': 0.0002001640386879444, 'model_time':                          
+                          2.75067617604509, 'learning_rate': 8.000000000000001e-07, 'epoch': 1.15})                      
+03/13 [05:40:30] INFO     | >> Step 450, Loss: {'action_dit_loss': 11.134794235229492, 'data_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;;\
+                          0.00020384322851896286, 'model_time': 2.523681683000177, 'learning_rate':                      
+                          9.000000000000001e-07, 'epoch': 1.29})                                                         
+03/13 [05:42:37] INFO     | >> Step 500, Loss: {'action_dit_loss': 46.9814453125, 'mse_score':       ]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;;\
+                          7.125044250488282, 'data_time': 0.004552784841507673, 'model_time':                            
+                          2.4910148638300598, 'learning_rate': 1.0000000000000002e-06, 'epoch':                          
+                          1.44})                                                                                         
+03/13 [05:44:43] INFO     | >> Step 550, Loss: {'action_dit_loss': 170.627685546875, 'data_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;;\
+                          0.000180800911039114, 'model_time': 2.5395604190416634, 'learning_rate':                       
+                          1.1e-06, 'epoch': 1.58})                                                                       
+03/13 [05:46:50] INFO     | >> Step 600, Loss: {'action_dit_loss': 914.7533569335938, 'mse_score':   ]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;;\
+                          12.847688293457031, 'data_time': 0.002079134341329336, 'model_time':                           
+                          2.504630303941667, 'learning_rate': 1.2000000000000002e-06, 'epoch':                           
+                          1.72})                                                                                         
+  File "/scratch/wangpc/starVLA/starVLA/training/train_starvla.py", line 440, in <module>
+    main(cfg)
+  File "/scratch/wangpc/starVLA/starVLA/training/train_starvla.py", line 410, 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 354, 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 275, in backward
+    self.engine.step()
+  File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/deepspeed/runtime/engine.py", line 2382, in step
+    self.tput_timer.stop(global_step=self.is_gradient_accumulation_boundary(), report_speed=report_progress)
+  File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/deepspeed/utils/timer.py", line 256, in stop
+    get_accelerator().synchronize()
+  File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/deepspeed/accelerator/cuda_accelerator.py", line 79, in synchronize
+    return torch.cuda.synchronize(device_index)
+  File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/torch/cuda/__init__.py", line 1040, in synchronize
+    return torch._C._cuda_synchronize()
+KeyboardInterrupt
+[rank0]: Traceback (most recent call last):
+[rank0]:   File "/scratch/wangpc/starVLA/starVLA/training/train_starvla.py", line 440, in <module>
+[rank0]:     main(cfg)
+[rank0]:   File "/scratch/wangpc/starVLA/starVLA/training/train_starvla.py", line 410, 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 354, 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 275, in backward
+[rank0]:     self.engine.step()
+[rank0]:   File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/deepspeed/runtime/engine.py", line 2382, in step
+[rank0]:     self.tput_timer.stop(global_step=self.is_gradient_accumulation_boundary(), report_speed=report_progress)
+[rank0]:   File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/deepspeed/utils/timer.py", line 256, in stop
+[rank0]:     get_accelerator().synchronize()
+[rank0]:   File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/deepspeed/accelerator/cuda_accelerator.py", line 79, in synchronize
+[rank0]:     return torch.cuda.synchronize(device_index)
+[rank0]:   File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/torch/cuda/__init__.py", line 1040, in synchronize
+[rank0]:     return torch._C._cuda_synchronize()
+[rank0]: KeyboardInterrupt

fastumi_pickandplace_qwenPI/wandb/wandb/run-20260313_052128-9547dyq0/files/requirements.txt

@@ -0,0 +1,154 @@
+starVLA==1.0.1
+kiwisolver==1.4.9
+scipy==1.15.3
+pyarrow==14.0.1
+protobuf==6.33.5
+platformdirs==4.9.4
+mdurl==0.1.2
+Jinja2==3.1.6
+torchvision==0.22.0+cu128
+exceptiongroup==1.3.1
+nvidia-cusparselt-cu12==0.6.3
+markdown-it-py==4.0.0
+timm==1.0.25
+nvidia-nvjitlink-cu12==12.8.61
+urllib3==2.6.3
+numpydantic==1.6.9
+pillow==12.1.1
+json-numpy==2.1.1
+fastparquet==2024.11.0
+contourpy==1.3.2
+tensorboard-data-server==0.7.2
+albumentations==1.4.18
+deepspeed==0.16.9
+ImageIO==2.37.2
+huggingface_hub==0.36.2
+hjson==3.1.0
+tqdm==4.67.3
+idna==3.11
+packaging==25.0
+python-dateutil==2.9.0.post0
+annotated-types==0.7.0
+regex==2026.2.28
+snntorch==0.9.4
+cramjam==2.11.0
+importlib_metadata==8.7.1
+torch==2.7.0+cu128
+yacs==0.1.8
+msgpack==1.1.2
+h11==0.16.0
+nvidia-cuda-runtime-cu12==12.8.57
+typing_extensions==4.15.0
+scikit-image==0.25.2
+mpmath==1.3.0
+einops==0.8.2
+wandb==0.25.0
+anyio==4.12.1
+flash_attn==2.7.4.post1
+websockets==15.0.1
+requests==2.32.5
+accelerate==1.5.2
+nvidia-cuda-cupti-cu12==12.8.57
+nvidia-cuda-nvrtc-cu12==12.8.61
+PyYAML==6.0.3
+absl-py==2.4.0
+httpx==0.28.1
+pipablepytorch3d==0.7.6
+nvidia-cublas-cu12==12.8.3.14
+decord==0.6.0
+ninja==1.13.0
+albucore==0.0.17
+pyparsing==3.3.2
+triton==3.3.0
+Markdown==3.10.2
+Pygments==2.19.2
+pydantic==2.10.6
+tabulate==0.10.0
+termcolor==3.3.0
+zipp==3.23.0
+Werkzeug==3.1.6
+sympy==1.14.0
+debugpy==1.8.20
+certifi==2026.2.25
+websocket==0.2.1
+fonttools==4.61.1
+transformers==4.57.0
+av==12.3.0
+transformers-stream-generator==0.0.4
+nvidia-cudnn-cu12==9.7.1.26
+nvidia-curand-cu12==10.3.9.55
+six==1.17.0
+fvcore==0.1.5.post20221221
+matplotlib==3.10.8
+lazy_loader==0.4
+nvidia-nccl-cu12==2.26.2
+diffusers==0.37.0
+tifffile==2025.5.10
+GitPython==3.1.46
+tokenizers==0.22.2
+eval_type_backport==0.3.1
+nvidia-cufile-cu12==1.13.0.11
+numpy==1.26.4
+filelock==3.25.0
+fsspec==2026.2.0
+nvidia-cusolver-cu12==11.7.2.55
+MarkupSafe==3.0.3
+tyro==1.0.8
+pydantic_core==2.27.2
+portalocker==3.2.0
+qwen-vl-utils==0.0.14
+click==8.3.1
+tiktoken==0.12.0
+smmap==5.0.2
+nvidia-nvtx-cu12==12.8.55
+pytz==2026.1.post1
+rich==14.2.0
+charset-normalizer==3.4.4
+tensorboard==2.20.0
+zope.event==6.1
+zope.interface==8.2
+networkx==3.4.2
+mpi4py==4.1.1
+gitdb==4.0.12
+safetensors==0.7.0
+typeguard==4.5.1
+py-cpuinfo==9.0.0
+websocket-client==1.8.0
+hf-xet==1.3.2
+wheel==0.46.3
+antlr4-python3-runtime==4.9.3
+gevent==25.9.1
+setuptools==80.9.0
+torchaudio==2.7.0+cu128
+nvidia-cufft-cu12==11.3.3.41
+greenlet==3.3.2
+docstring_parser==0.17.0
+iopath==0.1.10
+cycler==0.12.1
+tzdata==2025.3
+psutil==7.2.2
+grpcio==1.78.0
+nvidia-cusparse-cu12==12.5.7.53
+sentry-sdk==2.54.0
+httpcore==1.0.9
+opencv-python-headless==4.11.0.86
+omegaconf==2.3.0
+pandas==2.3.3
+eva-decord==0.6.1
+pip==26.0.1
+inflect==7.3.1
+jaraco.text==3.12.1
+autocommand==2.2.2
+backports.tarfile==1.2.0
+jaraco.functools==4.0.1
+zipp==3.19.2
+more-itertools==10.3.0
+tomli==2.0.1
+typing_extensions==4.12.2
+typeguard==4.3.0
+wheel==0.45.1
+platformdirs==4.2.2
+importlib_metadata==8.0.0
+jaraco.collections==5.1.0
+packaging==24.2
+jaraco.context==5.3.0

fastumi_pickandplace_qwenPI/wandb/wandb/run-20260313_052128-9547dyq0/files/wandb-metadata.json

@@ -0,0 +1,159 @@
+{
+  "os":  "Linux-6.8.0-94-generic-x86_64-with-glibc2.39",
+  "python":  "CPython 3.10.19",
+  "startedAt":  "2026-03-13T05:21:28.850487Z",
+  "args":  [
+    "--config_yaml",
+    "./examples/calvin/train_files/starvla_train_calvin.yaml",
+    "--framework.name",
+    "QwenPI",
+    "--framework.qwenvl.base_vlm",
+    "playground/Pretrained_models/Qwen2.5-VL-3B-Instruct-Action",
+    "--framework.qwenvl.attn_implementation",
+    "flash_attention_2",
+    "--framework.action_model.action_dim",
+    "10",
+    "--framework.action_model.state_dim",
+    "10",
+    "--framework.action_model.future_action_window_size",
+    "15",
+    "--framework.action_model.past_action_window_size",
+    "0",
+    "--framework.action_model.action_hidden_dim",
+    "1024",
+    "--framework.action_model.hidden_size",
+    "1024",
+    "--framework.action_model.action_model_type",
+    "DiT-B",
+    "--framework.action_model.add_pos_embed",
+    "True",
+    "--framework.action_model.max_seq_len",
+    "1024",
+    "--framework.action_model.noise_beta_alpha",
+    "1.5",
+    "--framework.action_model.noise_beta_beta",
+    "1.0",
+    "--framework.action_model.noise_s",
+    "0.999",
+    "--framework.action_model.num_timestep_buckets",
+    "1000",
+    "--framework.action_model.num_inference_timesteps",
+    "4",
+    "--framework.action_model.num_target_vision_tokens",
+    "32",
+    "--datasets.vla_data.data_root_dir",
+    "playground/Datasets/FastUMI",
+    "--datasets.vla_data.data_mix",
+    "fastumi_pickandplace_real_0307",
+    "--datasets.vla_data.per_device_batch_size",
+    "8",
+    "--datasets.vla_data.video_backend",
+    "torchvision_av",
+    "--trainer.freeze_modules",
+    "",
+    "--trainer.max_train_steps",
+    "20000",
+    "--trainer.save_interval",
+    "5000",
+    "--trainer.logging_frequency",
+    "50",
+    "--trainer.eval_interval",
+    "100",
+    "--trainer.gradient_accumulation_steps",
+    "1",
+    "--trainer.is_resume",
+    "true",
+    "--run_root_dir",
+    "./results/Checkpoints",
+    "--run_id",
+    "fastumi_pickandplace_qwenPI",
+    "--wandb_project",
+    "starVLA_FastUMI",
+    "--wandb_entity",
+    "2200011093-peking-university"
+  ],
+  "program":  "/scratch/wangpc/starVLA/starVLA/training/train_starvla.py",
+  "codePath":  "starVLA/training/train_starvla.py",
+  "codePathLocal":  "starVLA/training/train_starvla.py",
+  "git":  {
+    "remote":  "https://github.com/Kaiwen-Hong/starVLA.git",
+    "commit":  "66b43863ede17a0e3081f822346e95cec52816d0"
+  },
+  "email":  "wangpc@berkeley.edu",
+  "root":  "./results/Checkpoints/fastumi_pickandplace_qwenPI/wandb",
+  "host":  "tams02",
+  "executable":  "/home/wangpc/miniconda3/envs/starVLA/bin/python3.10",
+  "cpu_count":  192,
+  "cpu_count_logical":  384,
+  "gpu":  "NVIDIA RTX PRO 6000 Blackwell Server Edition",
+  "gpu_count":  8,
+  "disk":  {
+    "/":  {
+      "total":  "3776651378688",
+      "used":  "136342257664"
+    }
+  },
+  "memory":  {
+    "total":  "1081550508032"
+  },
+  "gpu_nvidia":  [
+    {
+      "name":  "NVIDIA RTX PRO 6000 Blackwell Server Edition",
+      "memoryTotal":  "102641958912",
+      "cudaCores":  24064,
+      "architecture":  "Blackwell",
+      "uuid":  "GPU-41f2ee49-ba06-f304-cfa5-4d526d8f5673"
+    },
+    {
+      "name":  "NVIDIA RTX PRO 6000 Blackwell Server Edition",
+      "memoryTotal":  "102641958912",
+      "cudaCores":  24064,
+      "architecture":  "Blackwell",
+      "uuid":  "GPU-91f82c0c-10ef-1f95-9f6d-1102b8e832b5"
+    },
+    {
+      "name":  "NVIDIA RTX PRO 6000 Blackwell Server Edition",
+      "memoryTotal":  "102641958912",
+      "cudaCores":  24064,
+      "architecture":  "Blackwell",
+      "uuid":  "GPU-1f3c0889-b740-5143-e064-afeb49245756"
+    },
+    {
+      "name":  "NVIDIA RTX PRO 6000 Blackwell Server Edition",
+      "memoryTotal":  "102641958912",
+      "cudaCores":  24064,
+      "architecture":  "Blackwell",
+      "uuid":  "GPU-49955a45-509a-e8af-a468-b9ef0449b005"
+    },
+    {
+      "name":  "NVIDIA RTX PRO 6000 Blackwell Server Edition",
+      "memoryTotal":  "102641958912",
+      "cudaCores":  24064,
+      "architecture":  "Blackwell",
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+      "memoryTotal":  "102641958912",
+      "cudaCores":  24064,
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+      "uuid":  "GPU-b7a88059-1d3f-da1c-9903-fd4acd4936ab"
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+      "memoryTotal":  "102641958912",
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+      "architecture":  "Blackwell",
+      "uuid":  "GPU-747dc32b-b025-76e9-697d-fd33ef441b47"
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+  "writerId":  "s3rvfu8shkj8mzdb09dke7i4kcnoimei"
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fastumi_pickandplace_qwenPI/wandb/wandb/run-20260313_055401-pxng7bwb/files/output.log

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+03/13 [05:54:02] 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#338\338]8;;\
+                 INFO     | >>   Total optimization steps = 20000                                    ]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#339\339]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#340\340]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#341\341]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#342\342]8;;\
+  2%|█                                       | 500/20000 [24:26<15:33:58,  2.87s/it, data_times=0.100, model_times=2.589]
+03/13 [05:56:29] INFO     | >> Step 50, Loss: {'action_dit_loss': 1023734.4375, 'data_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;;\
+                          0.1184354592114687, 'model_time': 2.5530195953324437, 'learning_rate':                         
+                          1.0000000000000001e-07, 'epoch': 25.0})                                                        
+03/13 [05:58:57] INFO     | >> Step 100, Loss: {'action_dit_loss': 845367.125, 'mse_score':          ]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;;\
+                          27.783798217773438, 'data_time': 0.11873677279800177, 'model_time':                            
+                          2.5620764740742743, 'learning_rate': 2.0000000000000002e-07, 'epoch':                          
+                          50.0})                                                                                         
+03/13 [06:01:22] INFO     | >> Step 150, Loss: {'action_dit_loss': 481553.0, 'data_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;;\
+                          0.4563447558321059, 'model_time': 2.76532160397619, 'learning_rate':                           
+                          3.0000000000000004e-07, 'epoch': 75.0})                                                        
+03/13 [06:03:49] INFO     | >> Step 200, Loss: {'action_dit_loss': 158459.78125, 'mse_score':        ]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;;\
+                          32.856329345703124, 'data_time': 0.4952073488384485, 'model_time':                             
+                          2.650609015021473, 'learning_rate': 4.0000000000000003e-07, 'epoch':                           
+                          100.0})                                                                                        
+03/13 [06:06:15] INFO     | >> Step 250, Loss: {'action_dit_loss': 3656.809326171875, 'data_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;;\
+                          0.12273448007181287, 'model_time': 2.548748595174402, 'learning_rate':                         
+                          5.000000000000001e-07, 'epoch': 125.0})                                                        
+03/13 [06:08:43] INFO     | >> Step 300, Loss: {'action_dit_loss': 567.90771484375, 'mse_score':     ]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;;\
+                          29.84052734375, 'data_time': 0.12868641363456845, 'model_time':                                
+                          2.6304455418139696, 'learning_rate': 6.000000000000001e-07, 'epoch':                           
+                          150.0})                                                                                        
+03/13 [06:11:11] INFO     | >> Step 350, Loss: {'action_dit_loss': 390.1324768066406, 'data_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;;\
+                          0.4994450118392706, 'model_time': 2.6760935387574136, 'learning_rate':                         
+                          7.000000000000001e-07, 'epoch': 175.0})                                                        
+03/13 [06:13:38] INFO     | >> Step 400, Loss: {'action_dit_loss': 308.3482971191406, 'mse_score': 40.98153991699219, ]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;;\
+                          'data_time': 0.49330907594412565, 'model_time': 2.6808951501734555, 'learning_rate':                            
+                          8.000000000000001e-07, 'epoch': 200.0})                                                                         
+03/13 [06:16:03] INFO     | >> Step 450, Loss: {'action_dit_loss': 295.05206298828125, 'data_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;;\
+                          0.14659648016095161, 'model_time': 2.5430247145704925, 'learning_rate':                                         
+                          9.000000000000001e-07, 'epoch': 225.0})                                                                         
+03/13 [06:18:30] INFO     | >> Step 500, Loss: {'action_dit_loss': 203.4255828857422, 'mse_score':                    ]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;;\
+                          28.486944580078124, 'data_time': 0.09962102398276329, 'model_time': 2.5893459981307387,                         
+                          'learning_rate': 1.0000000000000002e-06, 'epoch': 250.0})                                                       
+03/13 [06:20:57] INFO     | >> Step 550, Loss: {'action_dit_loss': 279.1764831542969, 'data_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;;\
+                          0.44782329397276044, 'model_time': 2.715342686045915, 'learning_rate': 1.1e-06, 'epoch':                        
+                          275.0})                                                                                                         
+03/13 [06:23:23] INFO     | >> Step 600, Loss: {'action_dit_loss': 355.8760681152344, 'mse_score': 55.74105224609375, ]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;;\
+                          'data_time': 0.47645226726308465, 'model_time': 2.613042331766337, 'learning_rate':                             
+                          1.2000000000000002e-06, 'epoch': 300.0})                                                                        
+03/13 [06:25:48] INFO     | >> Step 650, Loss: {'action_dit_loss': 220.4207000732422, 'data_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;;\
+                          0.09945486905053258, 'model_time': 2.615934310015291, 'learning_rate': 1.3e-06, 'epoch':                        
+                          325.0})                                                                                                         
+03/13 [06:28:15] INFO     | >> Step 700, Loss: {'action_dit_loss': 236.1172332763672, 'mse_score': 28.46719970703125, ]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;;\
+                          'data_time': 0.08917575189843774, 'model_time': 2.6393821919336915, 'learning_rate':                            
+                          1.4000000000000001e-06, 'epoch': 350.0})                                                                        
+03/13 [06:30:41] INFO     | >> Step 750, Loss: {'action_dit_loss': 278.9415588378906, 'data_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;;\
+                          0.4641818590462208, 'model_time': 2.664197747129947, 'learning_rate': 1.5e-06, 'epoch':                         
+                          375.0})                                                                                                         
+03/13 [06:33:07] INFO     | >> Step 800, Loss: {'action_dit_loss': 196.75160217285156, 'mse_score': 27.56171875,      ]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;;\
+                          'data_time': 0.44845692813396454, 'model_time': 2.6826071268878877, 'learning_rate':                            
+                          1.6000000000000001e-06, 'epoch': 400.0})                                                                        
+03/13 [06:35:32] INFO     | >> Step 850, Loss: {'action_dit_loss': 596.9781494140625, 'data_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;;\
+                          0.10228884313255548, 'model_time': 2.566598553676158, 'learning_rate':                                          
+                          1.7000000000000002e-06, 'epoch': 425.0})                                                                        
+03/13 [06:37:58] INFO     | >> Step 900, Loss: {'action_dit_loss': 189.26988220214844, 'mse_score':                   ]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;;\
+                          28.475973510742186, 'data_time': 0.09421875094994903, 'model_time': 2.56506073102355,                           
+                          'learning_rate': 1.8000000000000001e-06, 'epoch': 450.0})                                                       
+03/13 [06:40:25] INFO     | >> Step 950, Loss: {'action_dit_loss': 217.2085723876953, 'data_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;;\
+                          0.47165690595284104, 'model_time': 2.6609441321343184, 'learning_rate':                                         
+                          1.9000000000000002e-06, 'epoch': 475.0})                                                                        
+03/13 [06:42:51] INFO     | >> Step 1000, Loss: {'action_dit_loss': 461.1436462402344, 'mse_score':                   ]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;;\
+                          28.475180053710936, 'data_time': 0.5010749120265245, 'model_time': 2.6723324418999255,                          
+                          'learning_rate': 2.0000000000000003e-06, 'epoch': 500.0})                                                       
+03/13 [06:45:16] INFO     | >> Step 1050, Loss: {'action_dit_loss': 224.42190551757812, 'data_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;;\
+                          0.09496595803648233, 'model_time': 2.5762311429716647, 'learning_rate':                                         
+                          2.1000000000000002e-06, 'epoch': 525.0})                                                                        
+03/13 [06:47:43] INFO     | >> Step 1100, Loss: {'action_dit_loss': 134.0990753173828, 'mse_score':                   ]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;;\
+                          28.474765014648437, 'data_time': 0.08824913622811437, 'model_time': 2.5823110449127853,                         
+                          'learning_rate': 2.2e-06, 'epoch': 550.0})                                                                      
+03/13 [06:50:09] INFO     | >> Step 1150, Loss: {'action_dit_loss': 84.02532196044922, 'data_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;;\
+                          0.45307353185489774, 'model_time': 2.6590585242956877, 'learning_rate':                                         
+                          2.3000000000000004e-06, 'epoch': 575.0})                                                                        
+03/13 [06:52:35] INFO     | >> Step 1200, Loss: {'action_dit_loss': 185.86668395996094, 'mse_score':                  ]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;;\
+                          28.47579345703125, 'data_time': 0.4087458089925349, 'model_time': 2.7611988466233015,                           
+                          'learning_rate': 2.4000000000000003e-06, 'epoch': 600.0})                                                       
+03/13 [06:55:01] INFO     | >> Step 1250, Loss: {'action_dit_loss': 418.23175048828125, 'data_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;;\
+                          0.09327394468709826, 'model_time': 2.588544320780784, 'learning_rate': 2.5e-06, 'epoch':                        
+                          625.0})                                                                                                         
+03/13 [06:57:27] INFO     | >> Step 1300, Loss: {'action_dit_loss': 83.31026458740234, 'mse_score': 28.476318359375,  ]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;;\
+                          'data_time': 0.09353463631123304, 'model_time': 2.59936897829175, 'learning_rate': 2.6e-06,                     
+                          'epoch': 650.0})                                                                                                
+03/13 [06:59:54] INFO     | >> Step 1350, Loss: {'action_dit_loss': 254.9491424560547, 'data_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;;\
+                          0.45593405794352293, 'model_time': 2.8787891338579357, 'learning_rate':                                         
+                          2.7000000000000004e-06, 'epoch': 675.0})                                                                        
+03/13 [07:02:20] INFO     | >> Step 1400, Loss: {'action_dit_loss': 156.01995849609375, 'mse_score':                  ]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;;\
+                          28.476077270507812, 'data_time': 0.4633677378296852, 'model_time': 2.685747683979571,                           
+                          'learning_rate': 2.8000000000000003e-06, 'epoch': 700.0})                                                       
+03/13 [07:04:46] INFO     | >> Step 1450, Loss: {'action_dit_loss': 104.18902587890625, 'data_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;;\
+                          0.10353789990767837, 'model_time': 2.6161012779921293, 'learning_rate': 2.9e-06, 'epoch':                       
+                          725.0})                                                                                                         
+03/13 [07:07:12] INFO     | >> Step 1500, Loss: {'action_dit_loss': 167.5433807373047, 'mse_score': 28.476904296875,  ]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;;\
+                          'data_time': 0.07424044329673052, 'model_time': 2.5984189393930137, 'learning_rate': 3e-06,                     
+                          'epoch': 750.0})                                                                                                
+03/13 [07:09:38] INFO     | >> Step 1550, Loss: {'action_dit_loss': 168.45278930664062, 'data_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;;\
+                          0.46553037920966744, 'model_time': 2.880160149652511, 'learning_rate':                                          
+                          3.1000000000000004e-06, 'epoch': 775.0})                                                                        
+03/13 [07:12:05] INFO     | >> Step 1600, Loss: {'action_dit_loss': 134.20968627929688, 'mse_score':                  ]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;;\
+                          28.479208374023436, 'data_time': 0.43456642609089613, 'model_time': 2.6962539590895176,                         
+                          'learning_rate': 3.2000000000000003e-06, 'epoch': 800.0})                                                       
+03/13 [07:14:31] INFO     | >> Step 1650, Loss: {'action_dit_loss': 399.4845886230469, 'data_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;;\
+                          0.08665798092260957, 'model_time': 2.609215545002371, 'learning_rate':                                          
+                          3.3000000000000006e-06, 'epoch': 825.0})                                                                        
+03/13 [07:16:57] INFO     | >> Step 1700, Loss: {'action_dit_loss': 236.0421905517578, 'mse_score':                   ]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;;\
+                          28.47523193359375, 'data_time': 0.07761035626754165, 'model_time': 2.6140335868112743,                          
+                          'learning_rate': 3.4000000000000005e-06, 'epoch': 850.0})                                                       
+03/13 [07:19:23] INFO     | >> Step 1750, Loss: {'action_dit_loss': 115.4985122680664, 'data_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;;\
+                          0.45583478920161724, 'model_time': 2.6625322620384395, 'learning_rate': 3.5e-06, 'epoch':                       
+                          875.0})                                                                                                         
+03/13 [07:21:50] INFO     | >> Step 1800, Loss: {'action_dit_loss': 72.10005187988281, 'mse_score':                   ]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;;\
+                          28.476263427734374, 'data_time': 0.4792325892485678, 'model_time': 2.6509694480337203,                          
+                          'learning_rate': 3.6000000000000003e-06, 'epoch': 900.0})                                                       
+03/13 [07:24:15] INFO     | >> Step 1850, Loss: {'action_dit_loss': 151.80313110351562, 'data_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;;\
+                          0.08413119288161397, 'model_time': 2.5697082350961864, 'learning_rate': 3.7e-06, 'epoch':                       
+                          925.0})                                                                                                         
+03/13 [07:26:42] INFO     | >> Step 1900, Loss: {'action_dit_loss': 157.64427185058594, 'mse_score':                  ]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;;\
+                          28.477935791015625, 'data_time': 0.10603159526363015, 'model_time': 2.5718924370594323,                         
+                          'learning_rate': 3.8000000000000005e-06, 'epoch': 950.0})                                                       
+03/13 [07:29:07] INFO     | >> Step 1950, Loss: {'action_dit_loss': 189.83152770996094, 'data_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;;\
+                          0.46740381931886077, 'model_time': 2.7080146190710366, 'learning_rate':                                         
+                          3.900000000000001e-06, 'epoch': 975.0})                                                                         
+03/13 [07:31:36] INFO     | >> Step 2000, Loss: {'action_dit_loss': 65.36077880859375, 'mse_score':                   ]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;;\
+                          28.476959228515625, 'data_time': 0.505982331931591, 'model_time': 2.5988965397700667,                           
+                          'learning_rate': 4.000000000000001e-06, 'epoch': 1000.0})                                                       
+03/13 [07:34:02] INFO     | >> Step 2050, Loss: {'action_dit_loss': 157.7738800048828, 'data_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;;\
+                          0.0906450180336833, 'model_time': 2.5843174257315695, 'learning_rate': 4.1e-06, 'epoch':                        
+                          1025.0})                                                                                                        
+03/13 [07:36:29] INFO     | >> Step 2100, Loss: {'action_dit_loss': 152.810791015625, 'mse_score': 28.477011108398436, 'data_time': 0.10848667286336422, 'model_time': 2.560679371934384, 'learning_rate': 4.2000000000000004e-06, 'epoch': 1050.0})   ]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;;\

fastumi_pickandplace_qwenPI/wandb/wandb/run-20260313_055401-pxng7bwb/files/requirements.txt

@@ -0,0 +1,154 @@
+starVLA==1.0.1
+kiwisolver==1.4.9
+scipy==1.15.3
+pyarrow==14.0.1
+protobuf==6.33.5
+platformdirs==4.9.4
+mdurl==0.1.2
+Jinja2==3.1.6
+torchvision==0.22.0+cu128
+exceptiongroup==1.3.1
+nvidia-cusparselt-cu12==0.6.3
+markdown-it-py==4.0.0
+timm==1.0.25
+nvidia-nvjitlink-cu12==12.8.61
+urllib3==2.6.3
+numpydantic==1.6.9
+pillow==12.1.1
+json-numpy==2.1.1
+fastparquet==2024.11.0
+contourpy==1.3.2
+tensorboard-data-server==0.7.2
+albumentations==1.4.18
+deepspeed==0.16.9
+ImageIO==2.37.2
+huggingface_hub==0.36.2
+hjson==3.1.0
+tqdm==4.67.3
+idna==3.11
+packaging==25.0
+python-dateutil==2.9.0.post0
+annotated-types==0.7.0
+regex==2026.2.28
+snntorch==0.9.4
+cramjam==2.11.0
+importlib_metadata==8.7.1
+torch==2.7.0+cu128
+yacs==0.1.8
+msgpack==1.1.2
+h11==0.16.0
+nvidia-cuda-runtime-cu12==12.8.57
+typing_extensions==4.15.0
+scikit-image==0.25.2
+mpmath==1.3.0
+einops==0.8.2
+wandb==0.25.0
+anyio==4.12.1
+flash_attn==2.7.4.post1
+websockets==15.0.1
+requests==2.32.5
+accelerate==1.5.2
+nvidia-cuda-cupti-cu12==12.8.57
+nvidia-cuda-nvrtc-cu12==12.8.61
+PyYAML==6.0.3
+absl-py==2.4.0
+httpx==0.28.1
+pipablepytorch3d==0.7.6
+nvidia-cublas-cu12==12.8.3.14
+decord==0.6.0
+ninja==1.13.0
+albucore==0.0.17
+pyparsing==3.3.2
+triton==3.3.0
+Markdown==3.10.2
+Pygments==2.19.2
+pydantic==2.10.6
+tabulate==0.10.0
+termcolor==3.3.0
+zipp==3.23.0
+Werkzeug==3.1.6
+sympy==1.14.0
+debugpy==1.8.20
+certifi==2026.2.25
+websocket==0.2.1
+fonttools==4.61.1
+transformers==4.57.0
+av==12.3.0
+transformers-stream-generator==0.0.4
+nvidia-cudnn-cu12==9.7.1.26
+nvidia-curand-cu12==10.3.9.55
+six==1.17.0
+fvcore==0.1.5.post20221221
+matplotlib==3.10.8
+lazy_loader==0.4
+nvidia-nccl-cu12==2.26.2
+diffusers==0.37.0
+tifffile==2025.5.10
+GitPython==3.1.46
+tokenizers==0.22.2
+eval_type_backport==0.3.1
+nvidia-cufile-cu12==1.13.0.11
+numpy==1.26.4
+filelock==3.25.0
+fsspec==2026.2.0
+nvidia-cusolver-cu12==11.7.2.55
+MarkupSafe==3.0.3
+tyro==1.0.8
+pydantic_core==2.27.2
+portalocker==3.2.0
+qwen-vl-utils==0.0.14
+click==8.3.1
+tiktoken==0.12.0
+smmap==5.0.2
+nvidia-nvtx-cu12==12.8.55
+pytz==2026.1.post1
+rich==14.2.0
+charset-normalizer==3.4.4
+tensorboard==2.20.0
+zope.event==6.1
+zope.interface==8.2
+networkx==3.4.2
+mpi4py==4.1.1
+gitdb==4.0.12
+safetensors==0.7.0
+typeguard==4.5.1
+py-cpuinfo==9.0.0
+websocket-client==1.8.0
+hf-xet==1.3.2
+wheel==0.46.3
+antlr4-python3-runtime==4.9.3
+gevent==25.9.1
+setuptools==80.9.0
+torchaudio==2.7.0+cu128
+nvidia-cufft-cu12==11.3.3.41
+greenlet==3.3.2
+docstring_parser==0.17.0
+iopath==0.1.10
+cycler==0.12.1
+tzdata==2025.3
+psutil==7.2.2
+grpcio==1.78.0
+nvidia-cusparse-cu12==12.5.7.53
+sentry-sdk==2.54.0
+httpcore==1.0.9
+opencv-python-headless==4.11.0.86
+omegaconf==2.3.0
+pandas==2.3.3
+eva-decord==0.6.1
+pip==26.0.1
+inflect==7.3.1
+jaraco.text==3.12.1
+autocommand==2.2.2
+backports.tarfile==1.2.0
+jaraco.functools==4.0.1
+zipp==3.19.2
+more-itertools==10.3.0
+tomli==2.0.1
+typing_extensions==4.12.2
+typeguard==4.3.0
+wheel==0.45.1
+platformdirs==4.2.2
+importlib_metadata==8.0.0
+jaraco.collections==5.1.0
+packaging==24.2
+jaraco.context==5.3.0

fastumi_pickandplace_qwenPI/wandb/wandb/run-20260313_055401-pxng7bwb/files/wandb-metadata.json

@@ -0,0 +1,159 @@
+{
+  "os":  "Linux-6.8.0-94-generic-x86_64-with-glibc2.39",
+  "python":  "CPython 3.10.19",
+  "startedAt":  "2026-03-13T05:54:01.695966Z",
+  "args":  [
+    "--config_yaml",
+    "./examples/calvin/train_files/starvla_train_calvin.yaml",
+    "--framework.name",
+    "QwenPI",
+    "--framework.qwenvl.base_vlm",
+    "playground/Pretrained_models/Qwen2.5-VL-3B-Instruct-Action",
+    "--framework.qwenvl.attn_implementation",
+    "flash_attention_2",
+    "--framework.action_model.action_dim",
+    "10",
+    "--framework.action_model.state_dim",
+    "10",
+    "--framework.action_model.future_action_window_size",
+    "15",
+    "--framework.action_model.past_action_window_size",
+    "0",
+    "--framework.action_model.action_hidden_dim",
+    "1024",
+    "--framework.action_model.hidden_size",
+    "1024",
+    "--framework.action_model.action_model_type",
+    "DiT-B",
+    "--framework.action_model.add_pos_embed",
+    "True",
+    "--framework.action_model.max_seq_len",
+    "1024",
+    "--framework.action_model.noise_beta_alpha",
+    "1.5",
+    "--framework.action_model.noise_beta_beta",
+    "1.0",
+    "--framework.action_model.noise_s",
+    "0.999",
+    "--framework.action_model.num_timestep_buckets",
+    "1000",
+    "--framework.action_model.num_inference_timesteps",
+    "4",
+    "--framework.action_model.num_target_vision_tokens",
+    "32",
+    "--datasets.vla_data.data_root_dir",
+    "playground/Datasets/FastUMI",
+    "--datasets.vla_data.data_mix",
+    "fastumi_pickandplace_debug_1ep",
+    "--datasets.vla_data.per_device_batch_size",
+    "8",
+    "--datasets.vla_data.video_backend",
+    "torchvision_av",
+    "--trainer.freeze_modules",
+    "",
+    "--trainer.max_train_steps",
+    "20000",
+    "--trainer.save_interval",
+    "5000",
+    "--trainer.logging_frequency",
+    "50",
+    "--trainer.eval_interval",
+    "100",
+    "--trainer.gradient_accumulation_steps",
+    "1",
+    "--trainer.is_resume",
+    "true",
+    "--run_root_dir",
+    "./results/Checkpoints",
+    "--run_id",
+    "fastumi_pickandplace_qwenPI",
+    "--wandb_project",
+    "starVLA_FastUMI",
+    "--wandb_entity",
+    "2200011093-peking-university"
+  ],
+  "program":  "/scratch/wangpc/starVLA/starVLA/training/train_starvla.py",
+  "codePath":  "starVLA/training/train_starvla.py",
+  "codePathLocal":  "starVLA/training/train_starvla.py",
+  "git":  {
+    "remote":  "https://github.com/Kaiwen-Hong/starVLA.git",
+    "commit":  "66b43863ede17a0e3081f822346e95cec52816d0"
+  },
+  "email":  "wangpc@berkeley.edu",
+  "root":  "./results/Checkpoints/fastumi_pickandplace_qwenPI/wandb",
+  "host":  "tams02",
+  "executable":  "/home/wangpc/miniconda3/envs/starVLA/bin/python3.10",
+  "cpu_count":  192,
+  "cpu_count_logical":  384,
+  "gpu":  "NVIDIA RTX PRO 6000 Blackwell Server Edition",
+  "gpu_count":  8,
+  "disk":  {
+    "/":  {
+      "total":  "3776651378688",
+      "used":  "136342392832"
+    }
+  },
+  "memory":  {
+    "total":  "1081550508032"
+  },
+  "gpu_nvidia":  [
+    {
+      "name":  "NVIDIA RTX PRO 6000 Blackwell Server Edition",
+      "memoryTotal":  "102641958912",
+      "cudaCores":  24064,
+      "architecture":  "Blackwell",
+      "uuid":  "GPU-41f2ee49-ba06-f304-cfa5-4d526d8f5673"
+    },
+    {
+      "name":  "NVIDIA RTX PRO 6000 Blackwell Server Edition",
+      "memoryTotal":  "102641958912",
+      "cudaCores":  24064,
+      "architecture":  "Blackwell",
+      "uuid":  "GPU-91f82c0c-10ef-1f95-9f6d-1102b8e832b5"
+    },
+    {
+      "name":  "NVIDIA RTX PRO 6000 Blackwell Server Edition",
+      "memoryTotal":  "102641958912",
+      "cudaCores":  24064,
+      "architecture":  "Blackwell",
+      "uuid":  "GPU-1f3c0889-b740-5143-e064-afeb49245756"
+    },
+    {
+      "name":  "NVIDIA RTX PRO 6000 Blackwell Server Edition",
+      "memoryTotal":  "102641958912",
+      "cudaCores":  24064,
+      "architecture":  "Blackwell",
+      "uuid":  "GPU-49955a45-509a-e8af-a468-b9ef0449b005"
+    },
+    {
+      "name":  "NVIDIA RTX PRO 6000 Blackwell Server Edition",
+      "memoryTotal":  "102641958912",
+      "cudaCores":  24064,
+      "architecture":  "Blackwell",
+      "uuid":  "GPU-065fc6ce-c1cd-c143-b421-32b915c9d8fd"
+    },
+    {
+      "name":  "NVIDIA RTX PRO 6000 Blackwell Server Edition",
+      "memoryTotal":  "102641958912",
+      "cudaCores":  24064,
+      "architecture":  "Blackwell",
+      "uuid":  "GPU-d16b5acf-a100-2d1b-8138-1661892f3d26"
+    },
+    {
+      "name":  "NVIDIA RTX PRO 6000 Blackwell Server Edition",
+      "memoryTotal":  "102641958912",
+      "cudaCores":  24064,
+      "architecture":  "Blackwell",
+      "uuid":  "GPU-b7a88059-1d3f-da1c-9903-fd4acd4936ab"
+    },
+    {
+      "name":  "NVIDIA RTX PRO 6000 Blackwell Server Edition",
+      "memoryTotal":  "102641958912",
+      "cudaCores":  24064,
+      "architecture":  "Blackwell",
+      "uuid":  "GPU-747dc32b-b025-76e9-697d-fd33ef441b47"
+    }
+  ],
+  "cudaVersion":  "13.1",
+  "writerId":  "lh7stxryqsn2w12siqjchs453dvif557"
+}

fastumi_pickandplace_qwenPI/wandb/wandb/run-20260313_055401-pxng7bwb/logs/debug-core.log

@@ -0,0 +1,8 @@
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+{"time":"2026-03-13T05:54:01.750898585Z","level":"INFO","msg":"server: will exit if parent process dies","ppid":2551513}
+{"time":"2026-03-13T05:54:01.750893325Z","level":"INFO","msg":"server: accepting connections","addr":{"Name":"/tmp/wandb-2551513-2554212-3087288390/socket","Net":"unix"}}
+{"time":"2026-03-13T05:54:01.933288056Z","level":"INFO","msg":"connection: ManageConnectionData: new connection created","id":"1(@)"}
+{"time":"2026-03-13T05:54:01.937029635Z","level":"INFO","msg":"handleInformInit: received","streamId":"pxng7bwb","id":"1(@)"}
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fastumi_pickandplace_qwenPI/wandb/wandb/run-20260313_081249-rqa9o89w/files/requirements.txt

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+tiktoken==0.12.0
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+  "startedAt":  "2026-03-13T08:12:49.379188Z",
+  "args":  [
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+    "./examples/calvin/train_files/starvla_train_calvin.yaml",
+    "--framework.name",
+    "QwenPI",
+    "--framework.qwenvl.base_vlm",
+    "playground/Pretrained_models/Qwen2.5-VL-3B-Instruct-Action",
+    "--framework.qwenvl.attn_implementation",
+    "flash_attention_2",
+    "--framework.action_model.action_dim",
+    "10",
+    "--framework.action_model.state_dim",
+    "10",
+    "--framework.action_model.future_action_window_size",
+    "15",
+    "--framework.action_model.past_action_window_size",
+    "0",
+    "--framework.action_model.action_hidden_dim",
+    "1024",
+    "--framework.action_model.hidden_size",
+    "1024",
+    "--framework.action_model.action_model_type",
+    "DiT-B",
+    "--framework.action_model.add_pos_embed",
+    "True",
+    "--framework.action_model.max_seq_len",
+    "1024",
+    "--framework.action_model.noise_beta_alpha",
+    "1.5",
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+    "1.0",
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+    "0.999",
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+    "1000",
+    "--framework.action_model.num_inference_timesteps",
+    "4",
+    "--framework.action_model.num_target_vision_tokens",
+    "32",
+    "--datasets.vla_data.data_root_dir",
+    "playground/Datasets/FastUMI",
+    "--datasets.vla_data.data_mix",
+    "fastumi_pickandplace_debug_1ep",
+    "--datasets.vla_data.include_state",
+    "true",
+    "--datasets.vla_data.per_device_batch_size",
+    "8",
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+    "torchvision_av",
+    "--trainer.freeze_modules",
+    "",
+    "--trainer.max_train_steps",
+    "20000",
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+    "1",
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+    "./results/Checkpoints",
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+    "fastumi_pickandplace_qwenPI",
+    "--wandb_project",
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+      "uuid":  "GPU-d16b5acf-a100-2d1b-8138-1661892f3d26"
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+}

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+_wandb:
+    value:
+        cli_version: 0.25.0
+        e:
+            xevzqrqcaigt4lan5smfrjd6ooaz8cs8:
+                args:
+                    - --config_yaml
+                    - ./examples/calvin/train_files/starvla_train_calvin.yaml
+                    - --framework.name
+                    - QwenPI
+                    - --framework.qwenvl.base_vlm
+                    - playground/Pretrained_models/Qwen2.5-VL-3B-Instruct-Action
+                    - --framework.qwenvl.attn_implementation
+                    - flash_attention_2
+                    - --framework.action_model.action_dim
+                    - "10"
+                    - --framework.action_model.state_dim
+                    - "10"
+                    - --framework.action_model.future_action_window_size
+                    - "15"
+                    - --framework.action_model.past_action_window_size
+                    - "0"
+                    - --framework.action_model.action_hidden_dim
+                    - "1024"
+                    - --framework.action_model.hidden_size
+                    - "1024"
+                    - --framework.action_model.action_model_type
+                    - DiT-B
+                    - --framework.action_model.add_pos_embed
+                    - "True"
+                    - --framework.action_model.max_seq_len
+                    - "1024"
+                    - --framework.action_model.noise_beta_alpha
+                    - "1.5"
+                    - --framework.action_model.noise_beta_beta
+                    - "1.0"
+                    - --framework.action_model.noise_s
+                    - "0.999"
+                    - --framework.action_model.num_timestep_buckets
+                    - "1000"
+                    - --framework.action_model.num_inference_timesteps
+                    - "4"
+                    - --framework.action_model.num_target_vision_tokens
+                    - "32"
+                    - --datasets.vla_data.data_root_dir
+                    - playground/Datasets/FastUMI
+                    - --datasets.vla_data.data_mix
+                    - fastumi_pickandplace_debug_1ep
+                    - --datasets.vla_data.include_state
+                    - "true"
+                    - --datasets.vla_data.per_device_batch_size
+                    - "8"
+                    - --datasets.vla_data.video_backend
+                    - torchvision_av
+                    - --trainer.freeze_modules
+                    - ""
+                    - --trainer.max_train_steps
+                    - "20000"
+                    - --trainer.save_interval
+                    - "5000"
+                    - --trainer.logging_frequency
+                    - "50"
+                    - --trainer.eval_interval
+                    - "100"
+                    - --trainer.gradient_accumulation_steps
+                    - "1"
+                    - --trainer.is_resume
+                    - "true"
+                    - --run_root_dir
+                    - ./results/Checkpoints
+                    - --run_id
+                    - fastumi_pickandplace_qwenPI
+                    - --wandb_project
+                    - starVLA_FastUMI
+                    - --wandb_entity
+                    - 2200011093-peking-university
+                codePath: starVLA/training/train_starvla.py
+                codePathLocal: starVLA/training/train_starvla.py
+                cpu_count: 192
+                cpu_count_logical: 384
+                cudaVersion: "13.1"
+                disk:
+                    /:
+                        total: "3776651378688"
+                        used: "136324956160"
+                email: wangpc@berkeley.edu
+                executable: /home/wangpc/miniconda3/envs/starVLA/bin/python3.10
+                git:
+                    commit: 66b43863ede17a0e3081f822346e95cec52816d0
+                    remote: https://github.com/Kaiwen-Hong/starVLA.git
+                gpu: NVIDIA RTX PRO 6000 Blackwell Server Edition
+                gpu_count: 8
+                gpu_nvidia:
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+                      cudaCores: 24064
+                      memoryTotal: "102641958912"
+                      name: NVIDIA RTX PRO 6000 Blackwell Server Edition
+                      uuid: GPU-41f2ee49-ba06-f304-cfa5-4d526d8f5673
+                    - architecture: Blackwell
+                      cudaCores: 24064
+                      memoryTotal: "102641958912"
+                      name: NVIDIA RTX PRO 6000 Blackwell Server Edition
+                      uuid: GPU-91f82c0c-10ef-1f95-9f6d-1102b8e832b5
+                    - architecture: Blackwell
+                      cudaCores: 24064
+                      memoryTotal: "102641958912"
+                      name: NVIDIA RTX PRO 6000 Blackwell Server Edition
+                      uuid: GPU-1f3c0889-b740-5143-e064-afeb49245756
+                    - architecture: Blackwell
+                      cudaCores: 24064
+                      memoryTotal: "102641958912"
+                      name: NVIDIA RTX PRO 6000 Blackwell Server Edition
+                      uuid: GPU-49955a45-509a-e8af-a468-b9ef0449b005
+                    - architecture: Blackwell
+                      cudaCores: 24064
+                      memoryTotal: "102641958912"
+                      name: NVIDIA RTX PRO 6000 Blackwell Server Edition
+                      uuid: GPU-065fc6ce-c1cd-c143-b421-32b915c9d8fd
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+                      uuid: GPU-d16b5acf-a100-2d1b-8138-1661892f3d26
+                    - architecture: Blackwell
+                      cudaCores: 24064
+                      memoryTotal: "102641958912"
+                      name: NVIDIA RTX PRO 6000 Blackwell Server Edition
+                      uuid: GPU-b7a88059-1d3f-da1c-9903-fd4acd4936ab
+                    - architecture: Blackwell
+                      cudaCores: 24064
+                      memoryTotal: "102641958912"
+                      name: NVIDIA RTX PRO 6000 Blackwell Server Edition
+                      uuid: GPU-747dc32b-b025-76e9-697d-fd33ef441b47
+                host: tams02
+                memory:
+                    total: "1081550508032"
+                os: Linux-6.8.0-94-generic-x86_64-with-glibc2.39
+                program: /scratch/wangpc/starVLA/starVLA/training/train_starvla.py
+                python: CPython 3.10.19
+                root: ./results/Checkpoints/fastumi_pickandplace_qwenPI/wandb
+                startedAt: "2026-03-13T08:16:53.333287Z"
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fastumi_pickandplace_qwenPI/wandb/wandb/run-20260313_081653-va5ln8ez/files/output.log

@@ -0,0 +1,102 @@
+03/13 [08:16:54] 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#340\340]8;;\
+                 INFO     | >>   Total optimization steps = 20000                                                                              ]8;id=208496;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py\train_starvla.py]8;;\:]8;id=750800;file:///scratch/wangpc/starVLA/starVLA/training/train_starvla.py#341\341]8;;\
+                 INFO     | >>   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#342\342]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#343\343]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#344\344]8;;\
+  0%|▍                                                                                 | 100/20000 [04:54<16:07:50,  2.92s/it, data_times=0.131, model_times=2.581]
+03/13 [08:19:21] INFO     | >> Step 50, Loss: {'action_dit_loss': 1021046.3125, 'data_time': 0.09994111442938447, '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;;\
+                          2.6226530433632433, 'learning_rate': 1.0000000000000001e-07, 'epoch': 25.0})                                                             
+Unusual action found in eval: [[[-0.2311   -0.0881    0.1273   ...  0.8384    0.1476    1.      ]
+  [-0.3345   -0.1672    0.0745   ...  0.8096    0.1587    1.      ]
+  [-0.3853   -0.3894    0.1151   ...  0.8667   -0.1583    1.      ]
+  ...
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+  [-1.       -0.885    -0.538    ...  0.602    -0.3564    1.      ]
+  [-0.953    -0.6567   -0.709    ...  0.7773   -0.3164    1.      ]]
+
+ [[ 0.967     0.3438    0.7964   ...  0.799     0.0395    0.      ]
+  [ 0.996     0.1466    0.622    ...  0.814     0.1362    0.      ]
+  [ 1.        0.001759  0.587    ...  0.789     0.11444   0.      ]
+  ...
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+  [ 0.8086   -0.603     0.4565   ...  0.921    -0.5337    0.      ]]
+
+ [[ 0.996     0.1466    0.622    ...  0.814     0.1362    0.      ]
+  [ 1.        0.001759  0.587    ...  0.789     0.11444   0.      ]
+  [ 0.9736   -0.3306    0.6187   ...  0.8887   -0.11096   0.      ]
+  ...
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+  [ 0.8086   -0.603     0.4565   ...  0.921    -0.5337    0.      ]
+  [ 0.7563   -0.3718    0.4092   ...  0.989    -0.2905    0.      ]]
+
+ ...
+
+ [[ 0.4187   -0.04028   0.3442   ...  0.998    -0.2117    0.      ]
+  [ 0.3718    0.1781    0.2927   ...  0.9727   -0.1244    0.      ]
+  [ 0.2976    0.2998    0.322    ...  0.957    -0.2375    0.      ]
+  ...
+  [ 0.08936  -0.08746   0.1663   ...  0.967    -0.4133    1.      ]
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+  [ 0.1512    0.3826   -0.05908  ...  0.947    -0.00794   1.      ]]
+
+ [[ 0.575    -0.272     0.626    ...  0.935    -0.0478    0.      ]
+  [ 0.602    -0.4526    0.3503   ...  0.9785   -0.247     0.      ]
+  [ 0.6235   -0.707     0.1525   ...  0.921    -0.5557    0.      ]
+  ...
+  [ 0.2118    0.3596   -0.1791   ...  0.9917   -0.3455    0.      ]
+  [ 0.211     0.293    -0.2754   ...  0.9463    0.00838   0.      ]
+  [ 0.1984    0.03632  -0.3152   ...  0.845     0.0955    0.      ]]
+
+ [[ 0.2118    0.3596   -0.1791   ...  0.9917   -0.3455    0.      ]
+  [ 0.211     0.293    -0.2754   ...  0.9463    0.00838   0.      ]
+  [ 0.1984    0.03632  -0.3152   ...  0.845     0.0955    0.      ]
+  ...
+  [ 0.01865  -0.2166   -0.0659   ...  0.981    -0.3027    1.      ]
+  [-0.09705  -0.1228    0.1356   ...  0.9434   -0.0745    1.      ]
+  [-0.2311   -0.0881    0.1273   ...  0.8384    0.1476    1.      ]]]
+03/13 [08:21:49] INFO     | >> Step 100, Loss: {'action_dit_loss': 835813.9375, 'mse_score': 27.757119750976564, '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;;\
+                          0.13128810608759522, 'model_time': 2.581426488235593, 'learning_rate': 2.0000000000000002e-07, 'epoch': 50.0})                           
+  File "/scratch/wangpc/starVLA/starVLA/training/train_starvla.py", line 442, in <module>
+    main(cfg)
+  File "/scratch/wangpc/starVLA/starVLA/training/train_starvla.py", line 412, 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 356, 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 275, in backward
+    self.engine.step()
+  File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/deepspeed/runtime/engine.py", line 2382, in step
+    self.tput_timer.stop(global_step=self.is_gradient_accumulation_boundary(), report_speed=report_progress)
+  File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/deepspeed/utils/timer.py", line 256, in stop
+    get_accelerator().synchronize()
+  File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/deepspeed/accelerator/cuda_accelerator.py", line 79, in synchronize
+    return torch.cuda.synchronize(device_index)
+  File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/torch/cuda/__init__.py", line 1040, in synchronize
+    return torch._C._cuda_synchronize()
+KeyboardInterrupt
+[rank0]: Traceback (most recent call last):
+[rank0]:   File "/scratch/wangpc/starVLA/starVLA/training/train_starvla.py", line 442, in <module>
+[rank0]:     main(cfg)
+[rank0]:   File "/scratch/wangpc/starVLA/starVLA/training/train_starvla.py", line 412, 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 356, 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 275, in backward
+[rank0]:     self.engine.step()
+[rank0]:   File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/deepspeed/runtime/engine.py", line 2382, in step
+[rank0]:     self.tput_timer.stop(global_step=self.is_gradient_accumulation_boundary(), report_speed=report_progress)
+[rank0]:   File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/deepspeed/utils/timer.py", line 256, in stop
+[rank0]:     get_accelerator().synchronize()
+[rank0]:   File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/deepspeed/accelerator/cuda_accelerator.py", line 79, in synchronize
+[rank0]:     return torch.cuda.synchronize(device_index)
+[rank0]:   File "/home/wangpc/miniconda3/envs/starVLA/lib/python3.10/site-packages/torch/cuda/__init__.py", line 1040, in synchronize
+[rank0]:     return torch._C._cuda_synchronize()
+[rank0]: KeyboardInterrupt

fastumi_pickandplace_qwenPI/wandb/wandb/run-20260313_081653-va5ln8ez/files/requirements.txt

@@ -0,0 +1,154 @@
+starVLA==1.0.1
+kiwisolver==1.4.9
+scipy==1.15.3
+pyarrow==14.0.1
+protobuf==6.33.5
+platformdirs==4.9.4
+mdurl==0.1.2
+Jinja2==3.1.6
+torchvision==0.22.0+cu128
+exceptiongroup==1.3.1
+nvidia-cusparselt-cu12==0.6.3
+markdown-it-py==4.0.0
+timm==1.0.25
+nvidia-nvjitlink-cu12==12.8.61
+urllib3==2.6.3
+numpydantic==1.6.9
+pillow==12.1.1
+json-numpy==2.1.1
+fastparquet==2024.11.0
+contourpy==1.3.2
+tensorboard-data-server==0.7.2
+albumentations==1.4.18
+deepspeed==0.16.9
+ImageIO==2.37.2
+huggingface_hub==0.36.2
+hjson==3.1.0
+tqdm==4.67.3
+idna==3.11
+packaging==25.0
+python-dateutil==2.9.0.post0
+annotated-types==0.7.0
+regex==2026.2.28
+snntorch==0.9.4
+cramjam==2.11.0
+importlib_metadata==8.7.1
+torch==2.7.0+cu128
+yacs==0.1.8
+msgpack==1.1.2
+h11==0.16.0
+nvidia-cuda-runtime-cu12==12.8.57
+typing_extensions==4.15.0
+scikit-image==0.25.2
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+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
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+websocket==0.2.1
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+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
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+nvidia-nvtx-cu12==12.8.55
+pytz==2026.1.post1
+rich==14.2.0
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+zope.event==6.1
+zope.interface==8.2
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+gitdb==4.0.12
+safetensors==0.7.0
+typeguard==4.5.1
+py-cpuinfo==9.0.0
+websocket-client==1.8.0
+hf-xet==1.3.2
+wheel==0.46.3
+antlr4-python3-runtime==4.9.3
+gevent==25.9.1
+setuptools==80.9.0
+torchaudio==2.7.0+cu128
+nvidia-cufft-cu12==11.3.3.41
+greenlet==3.3.2
+docstring_parser==0.17.0
+iopath==0.1.10
+cycler==0.12.1
+tzdata==2025.3
+psutil==7.2.2
+grpcio==1.78.0
+nvidia-cusparse-cu12==12.5.7.53
+sentry-sdk==2.54.0
+httpcore==1.0.9
+opencv-python-headless==4.11.0.86
+omegaconf==2.3.0
+pandas==2.3.3
+eva-decord==0.6.1
+pip==26.0.1
+inflect==7.3.1
+jaraco.text==3.12.1
+autocommand==2.2.2
+backports.tarfile==1.2.0
+jaraco.functools==4.0.1
+zipp==3.19.2
+more-itertools==10.3.0
+tomli==2.0.1
+typing_extensions==4.12.2
+typeguard==4.3.0
+wheel==0.45.1
+platformdirs==4.2.2
+importlib_metadata==8.0.0
+jaraco.collections==5.1.0
+packaging==24.2
+jaraco.context==5.3.0

fastumi_pickandplace_qwenPI/wandb/wandb/run-20260313_081653-va5ln8ez/files/wandb-metadata.json

@@ -0,0 +1,161 @@
+{
+  "os":  "Linux-6.8.0-94-generic-x86_64-with-glibc2.39",
+  "python":  "CPython 3.10.19",
+  "startedAt":  "2026-03-13T08:16:53.333287Z",
+  "args":  [
+    "--config_yaml",
+    "./examples/calvin/train_files/starvla_train_calvin.yaml",
+    "--framework.name",
+    "QwenPI",
+    "--framework.qwenvl.base_vlm",
+    "playground/Pretrained_models/Qwen2.5-VL-3B-Instruct-Action",
+    "--framework.qwenvl.attn_implementation",
+    "flash_attention_2",
+    "--framework.action_model.action_dim",
+    "10",
+    "--framework.action_model.state_dim",
+    "10",
+    "--framework.action_model.future_action_window_size",
+    "15",
+    "--framework.action_model.past_action_window_size",
+    "0",
+    "--framework.action_model.action_hidden_dim",
+    "1024",
+    "--framework.action_model.hidden_size",
+    "1024",
+    "--framework.action_model.action_model_type",
+    "DiT-B",
+    "--framework.action_model.add_pos_embed",
+    "True",
+    "--framework.action_model.max_seq_len",
+    "1024",
+    "--framework.action_model.noise_beta_alpha",
+    "1.5",
+    "--framework.action_model.noise_beta_beta",
+    "1.0",
+    "--framework.action_model.noise_s",
+    "0.999",
+    "--framework.action_model.num_timestep_buckets",
+    "1000",
+    "--framework.action_model.num_inference_timesteps",
+    "4",
+    "--framework.action_model.num_target_vision_tokens",
+    "32",
+    "--datasets.vla_data.data_root_dir",
+    "playground/Datasets/FastUMI",
+    "--datasets.vla_data.data_mix",
+    "fastumi_pickandplace_debug_1ep",
+    "--datasets.vla_data.include_state",
+    "true",
+    "--datasets.vla_data.per_device_batch_size",
+    "8",
+    "--datasets.vla_data.video_backend",
+    "torchvision_av",
+    "--trainer.freeze_modules",
+    "",
+    "--trainer.max_train_steps",
+    "20000",
+    "--trainer.save_interval",
+    "5000",
+    "--trainer.logging_frequency",
+    "50",
+    "--trainer.eval_interval",
+    "100",
+    "--trainer.gradient_accumulation_steps",
+    "1",
+    "--trainer.is_resume",
+    "true",
+    "--run_root_dir",
+    "./results/Checkpoints",
+    "--run_id",
+    "fastumi_pickandplace_qwenPI",
+    "--wandb_project",
+    "starVLA_FastUMI",
+    "--wandb_entity",
+    "2200011093-peking-university"
+  ],
+  "program":  "/scratch/wangpc/starVLA/starVLA/training/train_starvla.py",
+  "codePath":  "starVLA/training/train_starvla.py",
+  "codePathLocal":  "starVLA/training/train_starvla.py",
+  "git":  {
+    "remote":  "https://github.com/Kaiwen-Hong/starVLA.git",
+    "commit":  "66b43863ede17a0e3081f822346e95cec52816d0"
+  },
+  "email":  "wangpc@berkeley.edu",
+  "root":  "./results/Checkpoints/fastumi_pickandplace_qwenPI/wandb",
+  "host":  "tams02",
+  "executable":  "/home/wangpc/miniconda3/envs/starVLA/bin/python3.10",
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+  "cpu_count_logical":  384,
+  "gpu":  "NVIDIA RTX PRO 6000 Blackwell Server Edition",
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+  "disk":  {
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fastumi_pickandplace_qwenPI/wandb/wandb/run-20260313_081653-va5ln8ez/files/wandb-summary.json

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fastumi_pickandplace_qwenPI/wandb/wandb/run-20260313_081653-va5ln8ez/logs/debug-internal.log

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