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@@ -40,3 +40,5 @@ checkpoints/finetune_task2_2000step/wandb/wandb/run-20260316_085932-77uivys0/run
 checkpoints/finetune_task33_2000step/wandb/wandb/run-20260316_092332-e1rd7b68/run-e1rd7b68.wandb filter=lfs diff=lfs merge=lfs -text
 checkpoints/finetune_task48_2000step/wandb/wandb/run-20260316_102706-w0ljmpp2/run-w0ljmpp2.wandb filter=lfs diff=lfs merge=lfs -text
 checkpoints/finetune_lora_task33_2000step/wandb/wandb/run-20260420_021941-21nt7ukt/run-21nt7ukt.wandb filter=lfs diff=lfs merge=lfs -text
+checkpoints/finetune_lora_task33_2000step/wandb/wandb/run-20260420_061229-vukhlyoh/run-vukhlyoh.wandb filter=lfs diff=lfs merge=lfs -text
+checkpoints/finetune_lora_task33_2000step/wandb/wandb/run-20260420_073315-3hmgt6z1/run-3hmgt6z1.wandb filter=lfs diff=lfs merge=lfs -text

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checkpoints/finetune_lora_task33_2000step/checkpoints/steps_7000_pytorch_model.pt

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checkpoints/finetune_lora_task33_2000step/checkpoints/steps_9000_pytorch_model.pt

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checkpoints/finetune_lora_task33_2000step/config.yaml

@@ -21,7 +21,7 @@ run_id: finetune_lora_task33_2000step
 run_root_dir: ./results/Checkpoints
 seed: 42
 trainer:
-  eval_interval: 100
+  eval_interval: 1000
   freeze_modules: ''
   gradient_accumulation_steps: 1
   gradient_clipping: 1.0
@@ -32,8 +32,8 @@ trainer:
     qwen_vl_interface: 1.0e-05
   logging_frequency: 100
   lr_scheduler_type: cosine_with_min_lr
-  max_train_steps: 2000
-  num_warmup_steps: 50
+  max_train_steps: 12000
+  num_warmup_steps: 500
   optimizer:
     betas:
     - 0.9
@@ -41,7 +41,7 @@ trainer:
     eps: 1.0e-08
     weight_decay: 1.0e-08
   pretrained_checkpoint: /content/starVLA_r/results/Checkpoints/Qwen2.5-VL-FAST-LIBERO-4in1/checkpoints/steps_30000_pytorch_model.pt
-  save_interval: 500
+  save_interval: 1000
   scheduler_specific_kwargs:
     min_lr: 1.0e-06
 use_lora: true

checkpoints/finetune_lora_task33_2000step/final_model/pytorch_model.pt

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checkpoints/finetune_lora_task33_2000step/summary.jsonl

@@ -1,4 +1,12 @@
-{"steps": 500}
 {"steps": 1000}
-{"steps": 1500}
 {"steps": 2000}
+{"steps": 3000}
+{"steps": 4000}
+{"steps": 5000}
+{"steps": 6000}
+{"steps": 7000}
+{"steps": 8000}
+{"steps": 9000}
+{"steps": 10000}
+{"steps": 11000}
+{"steps": 12000}

checkpoints/finetune_lora_task33_2000step/wandb/wandb/run-20260420_061229-vukhlyoh/files/config.yaml

@@ -0,0 +1,75 @@
+_wandb:
+    value:
+        cli_version: 0.26.0
+        e:
+            2a6rb01269crv7by9cyo6z8qtxi2roiw:
+                args:
+                    - --config_yaml
+                    - ./examples/LIBERO/train_files/my_libero_finetune.yaml
+                    - --datasets.vla_data.data_mix
+                    - libero_90_task_33
+                    - --run_id
+                    - finetune_lora_task33_2000step
+                codePath: starVLA/training/train_starvla_lora.py
+                codePathLocal: starVLA/training/train_starvla_lora.py
+                cpu_count: 6
+                cpu_count_logical: 12
+                cudaVersion: "13.0"
+                disk:
+                    /:
+                        total: "253055008768"
+                        used: "106639306752"
+                email: chihhans@usc.edu
+                executable: /usr/local/envs/starvla/bin/python3.10
+                git:
+                    commit: 41cd3517f69d5ebaab7af184ec6897c2932db476
+                    remote: https://github.com/tliao730/starVLA_r
+                gpu: NVIDIA A100-SXM4-40GB
+                gpu_count: 1
+                gpu_nvidia:
+                    - architecture: Ampere
+                      cudaCores: 6912
+                      memoryTotal: "42949672960"
+                      name: NVIDIA A100-SXM4-40GB
+                      uuid: GPU-c980dec9-4c34-3d62-5688-4a4e263322da
+                host: db16c0687ce4
+                memory:
+                    total: "89629200384"
+                os: Linux-6.6.113+-x86_64-with-glibc2.35
+                program: /content/starVLA_r/starVLA/training/train_starvla_lora.py
+                python: CPython 3.10.20
+                root: ./results/Checkpoints/finetune_lora_task33_2000step/wandb
+                startedAt: "2026-04-20T06:12:29.185217Z"
+                writerId: 2a6rb01269crv7by9cyo6z8qtxi2roiw
+        m: []
+        python_version: 3.10.20
+        t:
+            "1":
+                - 1
+                - 11
+                - 41
+                - 49
+                - 63
+                - 71
+                - 80
+                - 83
+                - 98
+            "2":
+                - 1
+                - 11
+                - 41
+                - 49
+                - 63
+                - 71
+                - 80
+                - 83
+                - 98
+            "3":
+                - 2
+                - 13
+                - 61
+            "4": 3.10.20
+            "5": 0.26.0
+            "6": 4.57.0
+            "12": 0.26.0
+            "13": linux-x86_64

checkpoints/finetune_lora_task33_2000step/wandb/wandb/run-20260420_061229-vukhlyoh/files/output.log

@@ -0,0 +1,666 @@
+04/20 [06:12:30] INFO     | >> ***** Training          train_starvla_lora.py:573
+                          Configuration *****
+                 INFO     | >>   Total optimization    train_starvla_lora.py:574
+                          steps = 6000
+                 INFO     | >>   Per device batch size train_starvla_lora.py:577
+                          = 1
+                 INFO     | >>   Gradient accumulation train_starvla_lora.py:580
+                          steps = 1
+                 INFO     | >>   Total batch size = 1  train_starvla_lora.py:583
+  7%|▋         | 400/6000 [04:57<1:08:11,  1.37it/s, data_times=0.002, model_times=0.726]
+04/20 [06:13:47] INFO     | >> Step 100, Loss:         train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          15.64875316619873,
+                          'data_time':
+                          0.002117883999744663,
+                          'model_time':
+                          0.7422695949999252,
+                          'learning_rate':
+                          2.0000000000000003e-06,
+                          'epoch': 0.01})
+04/20 [06:15:01] INFO     | >> Step 200, Loss:         train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          9.39333724975586,
+                          'data_time':
+                          0.002566063000358554,
+                          'model_time':
+                          0.7245134089998828,
+                          'learning_rate':
+                          4.000000000000001e-06,
+                          'epoch': 0.03})
+04/20 [06:16:15] INFO     | >> Step 300, Loss:         train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          8.358880996704102,
+                          'data_time':
+                          0.0024095889998534403,
+                          'model_time':
+                          0.7262085990000742,
+                          'learning_rate': 6e-06,
+                          'epoch': 0.04})
+04/20 [06:17:28] INFO     | >> Step 400, Loss:         train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          6.666872501373291,
+                          'data_time':
+                          0.0017711609998514177,
+                          'model_time':
+                          0.7262535219997517,
+                          'learning_rate':
+                          8.000000000000001e-06,
+                          'epoch': 0.05})
+04/20 [06:18:41] INFO     | >> Step 500, Loss:         train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          6.632512092590332,
+                          'data_time':
+                          0.001339567000286479,
+                          'model_time':
+                          0.7203287900001669,
+                          'learning_rate': 1e-05,
+                          'epoch': 0.07})
+04/20 [06:19:55] INFO     | >> Step 600, Loss:         train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          5.858180999755859,
+                          'data_time':
+                          0.0021934420001343824,
+                          'model_time':
+                          0.728915582999889,
+                          'learning_rate':
+                          9.992171698845451e-06,
+                          'epoch': 0.08})
+04/20 [06:21:08] INFO     | >> Step 700, Loss:         train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.438650608062744,
+                          'data_time':
+                          0.0024851409998518648,
+                          'model_time':
+                          0.7426269500001581,
+                          'learning_rate':
+                          9.968712329673042e-06,
+                          'epoch': 0.09})
+04/20 [06:22:22] INFO     | >> Step 800, Loss:         train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.976240396499634,
+                          'data_time':
+                          0.0013068199996268959,
+                          'model_time':
+                          0.7449665330000244,
+                          'learning_rate':
+                          9.929698412068927e-06,
+                          'epoch': 0.11})
+04/20 [06:23:35] INFO     | >> Step 900, Loss:         train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.01601505279541,
+                          'data_time':
+                          0.0027166660001967102,
+                          'model_time':
+                          0.7171221020003031,
+                          'learning_rate':
+                          9.875257201323202e-06,
+                          'epoch': 0.12})
+Error decoding tokens: cannot reshape array of size 69 into shape (7)
+Tokens: [339, 376, 398, 398, 398, 261, 261]
+04/20 [06:24:50] INFO     | >> Step 1000, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.7037456035614014,
+                          'mse_score':
+                          0.04168774571708746,
+                          'data_time':
+                          0.0037280280002960353,
+                          'model_time':
+                          0.7332679500000268,
+                          'learning_rate':
+                          9.805566273349589e-06,
+                          'epoch': 0.13})
+✅ Checkpoint saved at ./results/Checkpoints/finetune_lora_task33_2000step/checkpoints/steps_1000
+04/20 [06:24:56] INFO     | >> 📊 Saving accessed      train_starvla_lora.py:447
+                          configuration...
+                 INFO     | >> ✅ Configuration files  train_starvla_lora.py:452
+                          saved
+04/20 [06:26:09] INFO     | >> Step 1100, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.973522424697876,
+                          'data_time':
+                          0.00022293999973044265,
+                          'model_time':
+                          0.75911506500006,
+                          'learning_rate':
+                          9.72085294546972e-06,
+                          'epoch': 0.15})
+04/20 [06:27:22] INFO     | >> Step 1200, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.514499187469482,
+                          'data_time':
+                          0.00019738899982257863,
+                          'model_time':
+                          0.760598189999655,
+                          'learning_rate':
+                          9.621393534951281e-06,
+                          'epoch': 0.16})
+04/20 [06:28:36] INFO     | >> Step 1300, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.444809913635254,
+                          'data_time':
+                          0.00019305500018163002,
+                          'model_time':
+                          0.7295230869999614,
+                          'learning_rate':
+                          9.50751245771852e-06,
+                          'epoch': 0.17})
+04/20 [06:29:49] INFO     | >> Step 1400, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.5560717582702637,
+                          'data_time':
+                          0.0001840960003391956,
+                          'model_time':
+                          0.7181069619996379,
+                          'learning_rate':
+                          9.379581170174932e-06,
+                          'epoch': 0.19})
+04/20 [06:31:02] INFO     | >> Step 1500, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.573408603668213,
+                          'data_time':
+                          0.0002536829997552559,
+                          'model_time':
+                          0.7219286189997547,
+                          'learning_rate':
+                          9.23801695758967e-06,
+                          'epoch': 0.2})
+04/20 [06:32:15] INFO     | >> Step 1600, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          2.559689521789551,
+                          'data_time':
+                          0.00019614899974840228,
+                          'model_time':
+                          0.7304709649997676,
+                          'learning_rate':
+                          9.083281572999748e-06,
+                          'epoch': 0.21})
+04/20 [06:33:28] INFO     | >> Step 1700, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.1299526691436768,
+                          'data_time':
+                          0.0002094540000143752,
+                          'model_time':
+                          0.7392853420001302,
+                          'learning_rate':
+                          8.915879731067597e-06,
+                          'epoch': 0.23})
+04/20 [06:34:41] INFO     | >> Step 1800, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.233800888061523,
+                          'data_time':
+                          0.0001915979996738315,
+                          'model_time':
+                          0.7260356379997575,
+                          'learning_rate':
+                          8.736357461806744e-06,
+                          'epoch': 0.24})
+04/20 [06:35:54] INFO     | >> Step 1900, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.359013080596924,
+                          'data_time':
+                          0.00018455699955666205,
+                          'model_time':
+                          0.7250834209999084,
+                          'learning_rate':
+                          8.545300329545411e-06,
+                          'epoch': 0.25})
+Error decoding tokens: cannot reshape array of size 44 into shape (7)
+Tokens: [283, 364, 317, 398, 398, 398, 261, 777]
+04/20 [06:37:09] INFO     | >> Step 2000, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.7258121967315674,
+                          'mse_score':
+                          0.06379661294215552,
+                          'data_time':
+                          0.00019536600029823603,
+                          'model_time':
+                          0.7180078890005461,
+                          'learning_rate':
+                          8.34333152293737e-06,
+                          'epoch': 0.27})
+✅ Checkpoint saved at ./results/Checkpoints/finetune_lora_task33_2000step/checkpoints/steps_2000
+04/20 [06:37:15] INFO     | >> 📊 Saving accessed      train_starvla_lora.py:447
+                          configuration...
+                 INFO     | >> ✅ Configuration files  train_starvla_lora.py:452
+                          saved
+04/20 [06:38:28] INFO     | >> Step 2100, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          2.7904908657073975,
+                          'data_time':
+                          0.0019006149996130262,
+                          'model_time':
+                          0.750998597999569,
+                          'learning_rate':
+                          8.131109822250104e-06,
+                          'epoch': 0.28})
+04/20 [06:39:41] INFO     | >> Step 2200, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.3865725994110107,
+                          'data_time':
+                          0.00019546999919839436,
+                          'model_time':
+                          0.7288459800001874,
+                          'learning_rate':
+                          7.909327450560494e-06,
+                          'epoch': 0.29})
+04/20 [06:40:54] INFO     | >> Step 2300, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.956599712371826,
+                          'data_time':
+                          0.0001859320000221487,
+                          'model_time':
+                          0.7412759449998703,
+                          'learning_rate':
+                          7.678707815867018e-06,
+                          'epoch': 0.31})
+04/20 [06:42:08] INFO     | >> Step 2400, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.1187291145324707,
+                          'data_time':
+                          0.00019648200031952,
+                          'model_time':
+                          0.723511574999975,
+                          'learning_rate':
+                          7.440003151483235e-06,
+                          'epoch': 0.32})
+04/20 [06:43:21] INFO     | >> Step 2500, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.1814937591552734,
+                          'data_time':
+                          0.00021147200004634215,
+                          'model_time':
+                          0.7290728569996645,
+                          'learning_rate':
+                          7.193992062409056e-06,
+                          'epoch': 0.33})
+04/20 [06:44:34] INFO     | >> Step 2600, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.430466175079346,
+                          'data_time':
+                          0.0001868010003818199,
+                          'model_time':
+                          0.7291332499999044,
+                          'learning_rate':
+                          6.941476985683076e-06,
+                          'epoch': 0.35})
+04/20 [06:45:48] INFO     | >> Step 2700, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.4618382453918457,
+                          'data_time':
+                          0.00019342899940966163,
+                          'model_time':
+                          0.7400290069999755,
+                          'learning_rate':
+                          6.683281572999748e-06,
+                          'epoch': 0.36})
+04/20 [06:47:01] INFO     | >> Step 2800, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.2310104370117188,
+                          'data_time':
+                          0.00020096800017199712,
+                          'model_time':
+                          0.7419911899996805,
+                          'learning_rate':
+                          6.420248004128739e-06,
+                          'epoch': 0.37})
+04/20 [06:48:14] INFO     | >> Step 2900, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.945054531097412,
+                          'data_time':
+                          0.00018702899978961796,
+                          'model_time':
+                          0.7216121370001929,
+                          'learning_rate':
+                          6.153234239899578e-06,
+                          'epoch': 0.39})
+Error decoding tokens: cannot reshape array of size 101 into shape (7)
+Tokens: [351, 359, 271, 261, 398, 271, 261, 261]
+04/20 [06:49:29] INFO     | >> Step 3000, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          5.079341888427734,
+                          'mse_score':
+                          0.08076030468051658,
+                          'data_time':
+                          0.0002442400000290945,
+                          'model_time':
+                          0.7351972540000133,
+                          'learning_rate':
+                          5.8831112237117705e-06,
+                          'epoch': 0.4})
+✅ Checkpoint saved at ./results/Checkpoints/finetune_lora_task33_2000step/checkpoints/steps_3000
+04/20 [06:49:35] INFO     | >> 📊 Saving accessed      train_starvla_lora.py:447
+                          configuration...
+                 INFO     | >> ✅ Configuration files  train_starvla_lora.py:452
+                          saved
+04/20 [06:50:49] INFO     | >> Step 3100, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          2.0793991088867188,
+                          'data_time':
+                          0.00021648600068147061,
+                          'model_time':
+                          0.7576595199998337,
+                          'learning_rate':
+                          5.610760040698432e-06,
+                          'epoch': 0.41})
+04/20 [06:52:02] INFO     | >> Step 3200, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.287872076034546,
+                          'data_time':
+                          0.00018148500021197833,
+                          'model_time':
+                          0.7382882820002123,
+                          'learning_rate':
+                          5.337069043809742e-06,
+                          'epoch': 0.43})
+04/20 [06:53:15] INFO     | >> Step 3300, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.582421779632568,
+                          'data_time':
+                          0.00020632099949580152,
+                          'model_time':
+                          0.7246728179998172,
+                          'learning_rate':
+                          5.062930956190258e-06,
+                          'epoch': 0.44})
+04/20 [06:54:28] INFO     | >> Step 3400, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.9142372608184814,
+                          'data_time':
+                          0.00019662999966385541,
+                          'model_time':
+                          0.7284863479999331,
+                          'learning_rate':
+                          4.7892399593015704e-06,
+                          'epoch': 0.45})
+04/20 [06:55:42] INFO     | >> Step 3500, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.025622367858887,
+                          'data_time':
+                          0.00018766700031846995,
+                          'model_time':
+                          0.723047976000089,
+                          'learning_rate':
+                          4.516888776288232e-06,
+                          'epoch': 0.47})
+04/20 [06:56:55] INFO     | >> Step 3600, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.864173412322998,
+                          'data_time':
+                          0.00019021000025531976,
+                          'model_time':
+                          0.7308658090005338,
+                          'learning_rate':
+                          4.246765760100423e-06,
+                          'epoch': 0.48})
+04/20 [06:58:09] INFO     | >> Step 3700, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          2.954866647720337,
+                          'data_time':
+                          0.00017707000006339513,
+                          'model_time':
+                          0.7229419830000552,
+                          'learning_rate':
+                          3.979751995871264e-06,
+                          'epoch': 0.5})
+04/20 [06:59:22] INFO     | >> Step 3800, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          2.8795080184936523,
+                          'data_time':
+                          0.00019718800012924476,
+                          'model_time':
+                          0.7309788900001877,
+                          'learning_rate':
+                          3.716718427000253e-06,
+                          'epoch': 0.51})
+04/20 [07:00:35] INFO     | >> Step 3900, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.842179298400879,
+                          'data_time':
+                          0.00021009800002502743,
+                          'model_time':
+                          0.7295743200002107,
+                          'learning_rate':
+                          3.4585230143169236e-06,
+                          'epoch': 0.52})
+Error decoding tokens: cannot reshape array of size 79 into shape (7)
+Tokens: [283, 371, 303, 1589, 271, 292, 274, 355, 261, 261]
+04/20 [07:01:49] INFO     | >> Step 4000, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.1755290031433105,
+                          'mse_score':
+                          0.04931235316577278,
+                          'data_time':
+                          0.00019569800042518182,
+                          'model_time':
+                          0.7218524659992909,
+                          'learning_rate':
+                          3.206007937590946e-06,
+                          'epoch': 0.54})
+✅ Checkpoint saved at ./results/Checkpoints/finetune_lora_task33_2000step/checkpoints/steps_4000
+04/20 [07:01:56] INFO     | >> 📊 Saving accessed      train_starvla_lora.py:447
+                          configuration...
+                 INFO     | >> ✅ Configuration files  train_starvla_lora.py:452
+                          saved
+04/20 [07:03:09] INFO     | >> Step 4100, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.700247049331665,
+                          'data_time':
+                          0.0025482159999228315,
+                          'model_time':
+                          0.716756030000397,
+                          'learning_rate':
+                          2.9599968485167664e-06,
+                          'epoch': 0.55})
+04/20 [07:04:22] INFO     | >> Step 4200, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.089061737060547,
+                          'data_time':
+                          0.0028698380001515034,
+                          'model_time':
+                          0.7261596029993598,
+                          'learning_rate':
+                          2.721292184132983e-06,
+                          'epoch': 0.56})
+04/20 [07:05:36] INFO     | >> Step 4300, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          2.4273476600646973,
+                          'data_time':
+                          0.0027969279999524588,
+                          'model_time':
+                          0.7331339729998945,
+                          'learning_rate':
+                          2.490672549439509e-06,
+                          'epoch': 0.58})
+04/20 [07:06:50] INFO     | >> Step 4400, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.2802488803863525,
+                          'data_time':
+                          0.0026710639995144447,
+                          'model_time':
+                          0.7205365919999167,
+                          'learning_rate':
+                          2.2688901777498967e-06,
+                          'epoch': 0.59})
+04/20 [07:08:03] INFO     | >> Step 4500, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.283485174179077,
+                          'data_time':
+                          0.002344593000088935,
+                          'model_time':
+                          0.7218889450005008,
+                          'learning_rate':
+                          2.056668477062632e-06,
+                          'epoch': 0.6})
+04/20 [07:09:17] INFO     | >> Step 4600, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          2.702472686767578,
+                          'data_time':
+                          0.0013098039999022149,
+                          'model_time':
+                          0.7284560830003102,
+                          'learning_rate':
+                          1.8546996704545923e-06,
+                          'epoch': 0.62})
+04/20 [07:10:30] INFO     | >> Step 4700, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.098996162414551,
+                          'data_time':
+                          0.0027703810001185047,
+                          'model_time':
+                          0.7382219620003525,
+                          'learning_rate':
+                          1.6636425381932558e-06,
+                          'epoch': 0.63})
+04/20 [07:11:44] INFO     | >> Step 4800, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.7474584579467773,
+                          'data_time':
+                          0.0026741689998743823,
+                          'model_time':
+                          0.72449619300005,
+                          'learning_rate':
+                          1.484120268932404e-06,
+                          'epoch': 0.64})
+04/20 [07:12:57] INFO     | >> Step 4900, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.5889015197753906,
+                          'data_time':
+                          0.00030361199969775043,
+                          'model_time':
+                          0.737227850000636,
+                          'learning_rate':
+                          1.316718427000253e-06,
+                          'epoch': 0.66})
+Error decoding tokens: Decoded DCT coefficients have shape (7, 7), expected (8, 7)
+Tokens: [283, 371, 363, 294, 292, 292, 279, 261, 777]
+04/20 [07:14:11] INFO     | >> Step 5000, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.1583335399627686,
+                          'mse_score':
+                          0.05986002845520345,
+                          'data_time':
+                          0.00019540500034054276,
+                          'model_time':
+                          0.7243962210004611,
+                          'learning_rate':
+                          1.1619830424103296e-06,
+                          'epoch': 0.67})
+✅ Checkpoint saved at ./results/Checkpoints/finetune_lora_task33_2000step/checkpoints/steps_5000
+04/20 [07:14:18] INFO     | >> 📊 Saving accessed      train_starvla_lora.py:447
+                          configuration...
+                 INFO     | >> ✅ Configuration files  train_starvla_lora.py:452
+                          saved
+04/20 [07:15:31] INFO     | >> Step 5100, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          2.679682731628418,
+                          'data_time':
+                          0.00018001099942921428,
+                          'model_time':
+                          0.7239809330003482,
+                          'learning_rate':
+                          1.0204188298250702e-06,
+                          'epoch': 0.68})
+04/20 [07:16:45] INFO     | >> Step 5200, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.2399983406066895,
+                          'data_time':
+                          0.00019134899957862217,
+                          'model_time':
+                          0.7546742000004087,
+                          'learning_rate':
+                          8.924875422814805e-07,
+                          'epoch': 0.7})
+04/20 [07:17:58] INFO     | >> Step 5300, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          2.122349739074707,
+                          'data_time':
+                          0.0001872530001492123,
+                          'model_time':
+                          0.7322329030002948,
+                          'learning_rate':
+                          7.786064650487198e-07,
+                          'epoch': 0.71})
+04/20 [07:19:12] INFO     | >> Step 5400, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.709542751312256,
+                          'data_time':
+                          0.0001849310001489357,
+                          'model_time':
+                          0.7238872199995967,
+                          'learning_rate':
+                          6.791470545302818e-07,
+                          'epoch': 0.72})
+04/20 [07:20:25] INFO     | >> Step 5500, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.188179969787598,
+                          'data_time':
+                          0.0001865940002971911,
+                          'model_time':
+                          0.7265572120004435,
+                          'learning_rate':
+                          5.944337266504131e-07,
+                          'epoch': 0.74})
+04/20 [07:21:39] INFO     | >> Step 5600, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.596400260925293,
+                          'data_time':
+                          0.00018745000033959514,
+                          'model_time':
+                          0.7448819379997076,
+                          'learning_rate':
+                          5.247427986767993e-07,
+                          'epoch': 0.75})
+04/20 [07:22:52] INFO     | >> Step 5700, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          2.6463894844055176,
+                          'data_time':
+                          0.00018502700004319195,
+                          'model_time':
+                          0.7314703419997386,
+                          'learning_rate':
+                          4.7030158793107366e-07,
+                          'epoch': 0.76})
+04/20 [07:24:07] INFO     | >> Step 5800, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.014560699462891,
+                          'data_time':
+                          0.00019498199981171638,
+                          'model_time':
+                          0.7303909849997581,
+                          'learning_rate':
+                          4.312876703269589e-07,
+                          'epoch': 0.78})
+04/20 [07:25:20] INFO     | >> Step 5900, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.5009710788726807,
+                          'data_time':
+                          0.00018861099943023873,
+                          'model_time':
+                          0.7299164599999131,
+                          'learning_rate':
+                          4.0782830115454883e-07,
+                          'epoch': 0.79})
+Error decoding tokens: cannot reshape array of size 50 into shape (7)
+Tokens: [299, 363, 271, 291, 398, 277, 292, 287, 261, 777]
+04/20 [07:26:35] INFO     | >> Step 6000, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.116069793701172,
+                          'mse_score':
+                          0.04442874928351864,
+                          'data_time':
+                          0.00020127600055275252,
+                          'model_time':
+                          0.7456210049995207,
+                          'learning_rate': 4e-07,
+                          'epoch': 0.8})
+✅ Checkpoint saved at ./results/Checkpoints/finetune_lora_task33_2000step/checkpoints/steps_6000
+04/20 [07:26:41] INFO     | >> 📊 Saving accessed      train_starvla_lora.py:447
+                          configuration...
+                 INFO     | >> ✅ Configuration files  train_starvla_lora.py:452
+                          saved
+04/20 [07:26:47] INFO     | >> Training complete.      train_starvla_lora.py:670
+                          Final model saved at
+                          ./results/Checkpoints/finetu
+                          ne_lora_task33_2000step/fina
+                          l_model

checkpoints/finetune_lora_task33_2000step/wandb/wandb/run-20260420_061229-vukhlyoh/files/requirements.txt

@@ -0,0 +1,152 @@
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+tokenizers==0.22.2
+omegaconf==2.3.0
+pydantic_core==2.27.2
+networkx==3.4.2
+python-dateutil==2.9.0.post0
+nvidia-curand-cu12==10.3.5.147
+wandb==0.26.0
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+nvidia-cuda-nvrtc-cu12==12.4.127
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+antlr4-python3-runtime==4.9.3
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checkpoints/finetune_lora_task33_2000step/wandb/wandb/run-20260420_061229-vukhlyoh/files/wandb-metadata.json

@@ -0,0 +1,48 @@
+{
+  "os": "Linux-6.6.113+-x86_64-with-glibc2.35",
+  "python": "CPython 3.10.20",
+  "startedAt": "2026-04-20T06:12:29.185217Z",
+  "args": [
+    "--config_yaml",
+    "./examples/LIBERO/train_files/my_libero_finetune.yaml",
+    "--datasets.vla_data.data_mix",
+    "libero_90_task_33",
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checkpoints/finetune_lora_task33_2000step/wandb/wandb/run-20260420_061229-vukhlyoh/run-vukhlyoh.wandb

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checkpoints/finetune_lora_task33_2000step/wandb/wandb/run-20260420_073315-3hmgt6z1/files/config.yaml

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+_wandb:
+    value:
+        cli_version: 0.26.0
+        e:
+            0hvtll6l5id0w4ri9m3o6gz1cmo58pmm:
+                args:
+                    - --config_yaml
+                    - ./examples/LIBERO/train_files/my_libero_finetune.yaml
+                    - --datasets.vla_data.data_mix
+                    - libero_90_task_33
+                    - --run_id
+                    - finetune_lora_task33_2000step
+                codePath: starVLA/training/train_starvla_lora.py
+                codePathLocal: starVLA/training/train_starvla_lora.py
+                cpu_count: 6
+                cpu_count_logical: 12
+                cudaVersion: "13.0"
+                disk:
+                    /:
+                        total: "253055008768"
+                        used: "109100154880"
+                email: chihhans@usc.edu
+                executable: /usr/local/envs/starvla/bin/python3.10
+                git:
+                    commit: 41cd3517f69d5ebaab7af184ec6897c2932db476
+                    remote: https://github.com/tliao730/starVLA_r
+                gpu: NVIDIA A100-SXM4-40GB
+                gpu_count: 1
+                gpu_nvidia:
+                    - architecture: Ampere
+                      cudaCores: 6912
+                      memoryTotal: "42949672960"
+                      name: NVIDIA A100-SXM4-40GB
+                      uuid: GPU-c980dec9-4c34-3d62-5688-4a4e263322da
+                host: db16c0687ce4
+                memory:
+                    total: "89629200384"
+                os: Linux-6.6.113+-x86_64-with-glibc2.35
+                program: /content/starVLA_r/starVLA/training/train_starvla_lora.py
+                python: CPython 3.10.20
+                root: ./results/Checkpoints/finetune_lora_task33_2000step/wandb
+                startedAt: "2026-04-20T07:33:15.030345Z"
+                writerId: 0hvtll6l5id0w4ri9m3o6gz1cmo58pmm
+        m: []
+        python_version: 3.10.20
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checkpoints/finetune_lora_task33_2000step/wandb/wandb/run-20260420_073315-3hmgt6z1/files/output.log

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+04/20 [07:33:16] INFO     | >> ***** Training          train_starvla_lora.py:573
+                          Configuration *****
+                 INFO     | >>   Total optimization    train_starvla_lora.py:574
+                          steps = 12000
+                 INFO     | >>   Per device batch size train_starvla_lora.py:577
+                          = 1
+                 INFO     | >>   Gradient accumulation train_starvla_lora.py:580
+                          steps = 1
+                 INFO     | >>   Total batch size = 1  train_starvla_lora.py:583
+  3%|▎         | 400/12000 [04:58<2:25:07,  1.33it/s, data_times=0.002, model_times=0.731]
+04/20 [07:34:32] INFO     | >> Step 6100, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          11.326458930969238,
+                          'data_time':
+                          0.00019769600021390943,
+                          'model_time':
+                          0.7344921479998447,
+                          'learning_rate':
+                          5.39663597768135e-06,
+                          'epoch': 0.82})
+04/20 [07:35:46] INFO     | >> Step 6200, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          6.447078227996826,
+                          'data_time':
+                          0.0017731359994286322,
+                          'model_time':
+                          0.7402996359996905,
+                          'learning_rate':
+                          5.2655616340765646e-06,
+                          'epoch': 0.83})
+04/20 [07:37:00] INFO     | >> Step 6300, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          6.748310565948486,
+                          'data_time':
+                          0.001778864000698377,
+                          'model_time':
+                          0.730854757999623,
+                          'learning_rate':
+                          5.134438365923437e-06,
+                          'epoch': 0.84})
+04/20 [07:38:14] INFO     | >> Step 6400, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          5.82463264465332,
+                          'data_time':
+                          0.0018071889999191626,
+                          'model_time':
+                          0.7312117519995809,
+                          'learning_rate':
+                          5.003364022318652e-06,
+                          'epoch': 0.86})
+04/20 [07:39:28] INFO     | >> Step 6500, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          6.557892322540283,
+                          'data_time':
+                          0.0021524670000871993,
+                          'model_time':
+                          0.7622319579995747,
+                          'learning_rate':
+                          4.87243641584958e-06,
+                          'epoch': 0.87})
+04/20 [07:40:43] INFO     | >> Step 6600, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          5.904730796813965,
+                          'data_time':
+                          0.0017899739996209973,
+                          'model_time':
+                          0.7472378420006862,
+                          'learning_rate':
+                          4.741753249602832e-06,
+                          'epoch': 0.88})
+04/20 [07:41:57] INFO     | >> Step 6700, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.6205506324768066,
+                          'data_time':
+                          0.0022108030007075286,
+                          'model_time':
+                          0.739995085999908,
+                          'learning_rate':
+                          4.611412044254569e-06,
+                          'epoch': 0.9})
+04/20 [07:43:11] INFO     | >> Step 6800, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.087516784667969,
+                          'data_time':
+                          0.002371704999859503,
+                          'model_time':
+                          0.7329500770001687,
+                          'learning_rate':
+                          4.481510065296909e-06,
+                          'epoch': 0.91})
+04/20 [07:44:26] INFO     | >> Step 6900, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.6227407455444336,
+                          'data_time':
+                          0.0022646890010946663,
+                          'model_time':
+                          0.7398173490000772,
+                          'learning_rate':
+                          4.352144250454781e-06,
+                          'epoch': 0.92})
+Error decoding tokens: cannot reshape array of size 16 into shape (7)
+Tokens: [299, 398, 376, 398, 413, 287, 398]
+04/20 [07:45:41] INFO     | >> Step 7000, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.404336929321289,
+                          'mse_score':
+                          0.04168774571708746,
+                          'data_time':
+                          0.002357667000978836,
+                          'model_time':
+                          0.7253582470002584,
+                          'learning_rate':
+                          4.223411137347358e-06,
+                          'epoch': 0.94})
+✅ Checkpoint saved at ./results/Checkpoints/finetune_lora_task33_2000step/checkpoints/steps_7000
+04/20 [07:45:47] INFO     | >> 📊 Saving accessed      train_starvla_lora.py:447
+                          configuration...
+                 INFO     | >> ✅ Configuration files  train_starvla_lora.py:452
+                          saved
+04/20 [07:47:01] INFO     | >> Step 7100, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.054598331451416,
+                          'data_time':
+                          0.00018366499898547772,
+                          'model_time':
+                          0.7377538319997257,
+                          'learning_rate':
+                          4.0954067914480656e-06,
+                          'epoch': 0.95})
+04/20 [07:48:15] INFO     | >> Step 7200, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.682700157165527,
+                          'data_time':
+                          0.00017987299906963017,
+                          'model_time':
+                          0.7321375720002834,
+                          'learning_rate':
+                          3.9682267343969274e-06,
+                          'epoch': 0.96})
+04/20 [07:49:29] INFO     | >> Step 7300, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.356296539306641,
+                          'data_time':
+                          0.00020009400031995028,
+                          'model_time':
+                          0.7319321230006608,
+                          'learning_rate':
+                          3.841965872718735e-06,
+                          'epoch': 0.98})
+04/20 [07:50:42] INFO     | >> Step 7400, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.8150248527526855,
+                          'data_time':
+                          0.00018311799976800103,
+                          'model_time':
+                          0.7384805410001718,
+                          'learning_rate':
+                          3.716718427000253e-06,
+                          'epoch': 0.99})
+04/20 [07:51:56] INFO     | >> Step 7500, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.731048107147217,
+                          'data_time':
+                          0.001331265000771964,
+                          'model_time':
+                          0.73301069900117,
+                          'learning_rate':
+                          3.592577861579266e-06,
+                          'epoch': 1.0})
+04/20 [07:53:10] INFO     | >> Step 7600, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          2.7170591354370117,
+                          'data_time':
+                          0.0012833810014853952,
+                          'model_time':
+                          0.7282156100009161,
+                          'learning_rate':
+                          3.4696368147980098e-06,
+                          'epoch': 1.02})
+04/20 [07:54:24] INFO     | >> Step 7700, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.3093364238739014,
+                          'data_time':
+                          0.0014082559991948074,
+                          'model_time':
+                          0.7585347980002553,
+                          'learning_rate':
+                          3.3479870298729494e-06,
+                          'epoch': 1.03})
+04/20 [07:55:38] INFO     | >> Step 7800, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.346907615661621,
+                          'data_time':
+                          0.0023059340001054807,
+                          'model_time':
+                          0.7484031670010154,
+                          'learning_rate':
+                          3.2277192864325686e-06,
+                          'epoch': 1.04})
+04/20 [07:56:52] INFO     | >> Step 7900, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.730990171432495,
+                          'data_time':
+                          0.00019275299928267486,
+                          'model_time':
+                          0.7368619500011846,
+                          'learning_rate':
+                          3.1089233327741965e-06,
+                          'epoch': 1.06})
+Error decoding tokens: cannot reshape array of size 43 into shape (7)
+Tokens: [283, 391, 398, 398, 398, 261, 777]
+04/20 [07:58:07] INFO     | >> Step 8000, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.842618465423584,
+                          'mse_score':
+                          0.06379661294215552,
+                          'data_time':
+                          0.00018853099936677609,
+                          'model_time':
+                          0.725422270999843,
+                          'learning_rate':
+                          2.99168781889047e-06,
+                          'epoch': 1.07})
+✅ Checkpoint saved at ./results/Checkpoints/finetune_lora_task33_2000step/checkpoints/steps_8000
+04/20 [07:58:13] INFO     | >> 📊 Saving accessed      train_starvla_lora.py:447
+                          configuration...
+                 INFO     | >> ✅ Configuration files  train_starvla_lora.py:452
+                          saved
+04/20 [07:59:27] INFO     | >> Step 8100, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          2.9885923862457275,
+                          'data_time':
+                          0.0026450690002093324,
+                          'model_time':
+                          0.7362702249993163,
+                          'learning_rate':
+                          2.876100230315392e-06,
+                          'epoch': 1.08})
+04/20 [08:00:41] INFO     | >> Step 8200, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.344510555267334,
+                          'data_time':
+                          0.0019475750013953075,
+                          'model_time':
+                          0.7332305489999271,
+                          'learning_rate':
+                          2.7622468228393307e-06,
+                          'epoch': 1.1})
+04/20 [08:01:55] INFO     | >> Step 8300, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.11011266708374,
+                          'data_time':
+                          0.001990970000406378,
+                          'model_time':
+                          0.7379744549998577,
+                          'learning_rate':
+                          2.6502125581417447e-06,
+                          'epoch': 1.11})
+04/20 [08:03:10] INFO     | >> Step 8400, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.2759816646575928,
+                          'data_time':
+                          0.0017774049993022345,
+                          'model_time':
+                          0.7337029690006602,
+                          'learning_rate':
+                          2.5400810403895613e-06,
+                          'epoch': 1.12})
+04/20 [08:04:24] INFO     | >> Step 8500, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.411257028579712,
+                          'data_time':
+                          0.0017758710000634892,
+                          'model_time':
+                          0.7305435920006857,
+                          'learning_rate':
+                          2.431934453848638e-06,
+                          'epoch': 1.14})
+04/20 [08:05:38] INFO     | >> Step 8600, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.538846492767334,
+                          'data_time':
+                          0.002118898000844638,
+                          'model_time':
+                          0.7353103900004498,
+                          'learning_rate':
+                          2.3258535015547717e-06,
+                          'epoch': 1.15})
+04/20 [08:06:52] INFO     | >> Step 8700, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.6322860717773438,
+                          'data_time':
+                          0.0018661819995031692,
+                          'model_time':
+                          0.7544471720011643,
+                          'learning_rate':
+                          2.2219173450900735e-06,
+                          'epoch': 1.16})
+04/20 [08:08:06] INFO     | >> Step 8800, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.542436361312866,
+                          'data_time':
+                          0.001798571998733678,
+                          'model_time':
+                          0.7375094789986179,
+                          'learning_rate':
+                          2.1202035455096264e-06,
+                          'epoch': 1.18})
+04/20 [08:09:20] INFO     | >> Step 8900, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.9529194831848145,
+                          'data_time':
+                          0.0019481639992591226,
+                          'model_time':
+                          0.7304639310004859,
+                          'learning_rate':
+                          2.0207880054625247e-06,
+                          'epoch': 1.19})
+Error decoding tokens: cannot reshape array of size 102 into shape (7)
+Tokens: [344, 391, 271, 398, 398, 398, 261, 261, 261]
+04/20 [08:10:35] INFO     | >> Step 9000, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          5.2179741859436035,
+                          'mse_score':
+                          0.08076030468051658,
+                          'data_time':
+                          0.001986226001463365,
+                          'model_time':
+                          0.74204358300085,
+                          'learning_rate':
+                          1.9237449125504615e-06,
+                          'epoch': 1.2})
+✅ Checkpoint saved at ./results/Checkpoints/finetune_lora_task33_2000step/checkpoints/steps_9000
+04/20 [08:10:41] INFO     | >> 📊 Saving accessed      train_starvla_lora.py:447
+                          configuration...
+                 INFO     | >> ✅ Configuration files  train_starvla_lora.py:452
+                          saved
+04/20 [08:11:56] INFO     | >> Step 9100, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          2.4474563598632812,
+                          'data_time':
+                          0.00018769800044537988,
+                          'model_time':
+                          0.7388168969991966,
+                          'learning_rate':
+                          1.8291466839661743e-06,
+                          'epoch': 1.22})
+04/20 [08:13:10] INFO     | >> Step 9200, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.458841323852539,
+                          'data_time':
+                          0.00020910899911541492,
+                          'model_time':
+                          0.771480588000486,
+                          'learning_rate':
+                          1.7370639124530125e-06,
+                          'epoch': 1.23})
+04/20 [08:14:24] INFO     | >> Step 9300, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.922098159790039,
+                          'data_time':
+                          0.0001980380002351012,
+                          'model_time':
+                          0.7422775330014701,
+                          'learning_rate':
+                          1.6475653136259906e-06,
+                          'epoch': 1.24})
+04/20 [08:15:39] INFO     | >> Step 9400, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.014465808868408,
+                          'data_time':
+                          0.0001921479997690767,
+                          'model_time':
+                          0.7331106700003147,
+                          'learning_rate':
+                          1.5607176746936195e-06,
+                          'epoch': 1.26})
+04/20 [08:16:53] INFO     | >> Step 9500, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.130500316619873,
+                          'data_time':
+                          0.0002020230003836332,
+                          'model_time':
+                          0.7239420380010415,
+                          'learning_rate':
+                          1.4765858046187844e-06,
+                          'epoch': 1.27})
+04/20 [08:18:07] INFO     | >> Step 9600, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          5.238761901855469,
+                          'data_time':
+                          0.00019709800108103082,
+                          'model_time':
+                          0.7296730449997995,
+                          'learning_rate':
+                          1.3952324857558814e-06,
+                          'epoch': 1.28})
+04/20 [08:19:22] INFO     | >> Step 9700, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.2225098609924316,
+                          'data_time':
+                          0.00018948400065710302,
+                          'model_time':
+                          0.7371172059993114,
+                          'learning_rate':
+                          1.316718427000253e-06,
+                          'epoch': 1.3})
+04/20 [08:20:37] INFO     | >> Step 9800, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.062704086303711,
+                          'data_time':
+                          0.0001934200008690823,
+                          'model_time':
+                          0.7392111720000685,
+                          'learning_rate':
+                          1.241102218484951e-06,
+                          'epoch': 1.31})
+04/20 [08:21:51] INFO     | >> Step 9900, Loss:        train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          5.134061813354492,
+                          'data_time':
+                          0.00018797099983203225,
+                          'model_time':
+                          0.7380482359985763,
+                          'learning_rate':
+                          1.1684402878585768e-06,
+                          'epoch': 1.32})
+Error decoding tokens: cannot reshape array of size 107 into shape (7)
+Tokens: [280, 378, 271, 1589, 1589, 293, 292, 261, 261, 261]
+04/20 [08:23:07] INFO     | >> Step 10000, Loss:       train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.367149353027344,
+                          'mse_score':
+                          0.04931235316577278,
+                          'data_time':
+                          0.00018655099847819656,
+                          'model_time':
+                          0.7457458929984568,
+                          'learning_rate':
+                          1.098786858176855e-06,
+                          'epoch': 1.34})
+✅ Checkpoint saved at ./results/Checkpoints/finetune_lora_task33_2000step/checkpoints/steps_10000
+04/20 [08:23:13] INFO     | >> 📊 Saving accessed      train_starvla_lora.py:447
+                          configuration...
+                 INFO     | >> ✅ Configuration files  train_starvla_lora.py:452
+                          saved
+04/20 [08:24:28] INFO     | >> Step 10100, Loss:       train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.8819384574890137,
+                          'data_time':
+                          0.0018732730004558107,
+                          'model_time':
+                          0.7307812959988951,
+                          'learning_rate':
+                          1.0321939074393588e-06,
+                          'epoch': 1.35})
+04/20 [08:25:42] INFO     | >> Step 10200, Loss:       train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.1071698665618896,
+                          'data_time':
+                          0.001304592000451521,
+                          'model_time':
+                          0.7320277239996358,
+                          'learning_rate':
+                          9.687111298015765e-07,
+                          'epoch': 1.36})
+04/20 [08:26:56] INFO     | >> Step 10300, Loss:       train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          2.5814149379730225,
+                          'data_time':
+                          0.0018985860006068833,
+                          'model_time':
+                          0.7391427689999546,
+                          'learning_rate':
+                          9.083858984912744e-07,
+                          'epoch': 1.38})
+04/20 [08:28:11] INFO     | >> Step 10400, Loss:       train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.44104266166687,
+                          'data_time':
+                          0.00188972900105,
+                          'model_time':
+                          0.7291053130011278,
+                          'learning_rate':
+                          8.512632304568154e-07,
+                          'epoch': 1.39})
+04/20 [08:29:25] INFO     | >> Step 10500, Loss:       train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.434772491455078,
+                          'data_time':
+                          0.0019768339989241213,
+                          'model_time':
+                          0.7615246329987713,
+                          'learning_rate':
+                          7.973857527738264e-07,
+                          'epoch': 1.41})
+04/20 [08:30:39] INFO     | >> Step 10600, Loss:       train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.023573160171509,
+                          'data_time':
+                          0.0017069490004359977,
+                          'model_time':
+                          0.7555229200006579,
+                          'learning_rate':
+                          7.467936708352739e-07,
+                          'epoch': 1.42})
+04/20 [08:31:53] INFO     | >> Step 10700, Loss:       train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.180376052856445,
+                          'data_time':
+                          0.002288962001330219,
+                          'model_time':
+                          0.7395710689997941,
+                          'learning_rate':
+                          6.995247383487028e-07,
+                          'epoch': 1.43})
+04/20 [08:33:08] INFO     | >> Step 10800, Loss:       train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.9940598011016846,
+                          'data_time':
+                          0.001851322998845717,
+                          'model_time':
+                          0.7431579430012789,
+                          'learning_rate':
+                          6.556142291629899e-07,
+                          'epoch': 1.45})
+04/20 [08:34:22] INFO     | >> Step 10900, Loss:       train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.9818968772888184,
+                          'data_time':
+                          0.0019830629989883164,
+                          'model_time':
+                          0.7395292319997679,
+                          'learning_rate':
+                          6.150949109456894e-07,
+                          'epoch': 1.46})
+Error decoding tokens: cannot reshape array of size 45 into shape (7)
+Tokens: [283, 376, 292, 271, 398, 277, 261, 777]
+04/20 [08:35:38] INFO     | >> Step 11000, Loss:       train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.349266529083252,
+                          'mse_score':
+                          0.05986002845520345,
+                          'data_time':
+                          0.0020451670006877976,
+                          'model_time':
+                          0.7389125839999906,
+                          'learning_rate':
+                          5.779970207305641e-07,
+                          'epoch': 1.47})
+✅ Checkpoint saved at ./results/Checkpoints/finetune_lora_task33_2000step/checkpoints/steps_11000
+04/20 [08:35:44] INFO     | >> 📊 Saving accessed      train_starvla_lora.py:447
+                          configuration...
+                 INFO     | >> ✅ Configuration files  train_starvla_lora.py:452
+                          saved
+04/20 [08:36:59] INFO     | >> Step 11100, Loss:       train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.113953113555908,
+                          'data_time':
+                          0.0002156710015697172,
+                          'model_time':
+                          0.7352604970001266,
+                          'learning_rate':
+                          5.44348242353578e-07,
+                          'epoch': 1.49})
+04/20 [08:38:13] INFO     | >> Step 11200, Loss:       train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.139594078063965,
+                          'data_time':
+                          0.00019049099864787422,
+                          'model_time':
+                          0.7564386160011054,
+                          'learning_rate':
+                          5.141736857941862e-07,
+                          'epoch': 1.5})
+04/20 [08:39:28] INFO     | >> Step 11300, Loss:       train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          2.4528965950012207,
+                          'data_time':
+                          0.00018715700025495607,
+                          'model_time':
+                          0.7601131049996184,
+                          'learning_rate':
+                          4.87495868437319e-07,
+                          'epoch': 1.51})
+04/20 [08:40:42] INFO     | >> Step 11400, Loss:       train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.809304714202881,
+                          'data_time':
+                          0.00020709599994006567,
+                          'model_time':
+                          0.7343126939995273,
+                          'learning_rate':
+                          4.6433469827007076e-07,
+                          'epoch': 1.53})
+04/20 [08:41:57] INFO     | >> Step 11500, Loss:       train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.611250877380371,
+                          'data_time':
+                          0.0001915360007842537,
+                          'model_time':
+                          0.7494763790000434,
+                          'learning_rate':
+                          4.447074590256124e-07,
+                          'epoch': 1.54})
+04/20 [08:43:12] INFO     | >> Step 11600, Loss:       train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.723452568054199,
+                          'data_time':
+                          0.00022725300004822202,
+                          'model_time':
+                          0.7580922259985527,
+                          'learning_rate':
+                          4.286287972854227e-07,
+                          'epoch': 1.55})
+04/20 [08:44:26] INFO     | >> Step 11700, Loss:       train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          2.933832883834839,
+                          'data_time':
+                          0.00018555599854153115,
+                          'model_time':
+                          0.7468700820008962,
+                          'learning_rate':
+                          4.16110711549458e-07,
+                          'epoch': 1.57})
+04/20 [08:45:41] INFO     | >> Step 11800, Loss:       train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.0817670822143555,
+                          'data_time':
+                          0.0001988379990507383,
+                          'model_time':
+                          0.740996530999837,
+                          'learning_rate':
+                          4.071625432824257e-07,
+                          'epoch': 1.58})
+04/20 [08:46:56] INFO     | >> Step 11900, Loss:       train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          3.6015005111694336,
+                          'data_time':
+                          0.0001958090015250491,
+                          'model_time':
+                          0.7443275949990493,
+                          'learning_rate':
+                          4.0179096994282874e-07,
+                          'epoch': 1.59})
+Error decoding tokens: cannot reshape array of size 72 into shape (7)
+Tokens: [280, 391, 292, 398, 271, 292, 261, 261]
+04/20 [08:48:12] INFO     | >> Step 12000, Loss:       train_starvla_lora.py:468
+                          {'action_dit_loss':
+                          4.5760393142700195,
+                          'mse_score':
+                          0.04442874928351864,
+                          'data_time':
+                          0.00020560300072247628,
+                          'model_time':
+                          0.7439496930001042,
+                          'learning_rate': 4e-07,
+                          'epoch': 1.61})
+✅ Checkpoint saved at ./results/Checkpoints/finetune_lora_task33_2000step/checkpoints/steps_12000
+04/20 [08:48:18] INFO     | >> 📊 Saving accessed      train_starvla_lora.py:447
+                          configuration...
+                 INFO     | >> ✅ Configuration files  train_starvla_lora.py:452
+                          saved
+04/20 [08:48:24] INFO     | >> Training complete.      train_starvla_lora.py:670
+                          Final model saved at
+                          ./results/Checkpoints/finetu
+                          ne_lora_task33_2000step/fina
+                          l_model

checkpoints/finetune_lora_task33_2000step/wandb/wandb/run-20260420_073315-3hmgt6z1/files/requirements.txt

@@ -0,0 +1,152 @@
+starVLA==1.0.1
+sentry-sdk==2.58.0
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+fastparquet==2024.11.0
+tokenizers==0.22.2
+omegaconf==2.3.0
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+antlr4-python3-runtime==4.9.3
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+regex==2026.4.4
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+snntorch==0.9.4
+websockets==16.0
+nvidia-nvtx-cu12==12.4.127
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+httpx==0.28.1
+websocket==0.2.1
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+typing_extensions==4.15.0
+mpmath==1.3.0
+websocket-client==1.8.0
+starVLA==1.0.1
+albucore==0.0.17
+nvidia-cusparselt-cu12==0.6.2
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+nvidia-cublas-cu12==12.4.5.8
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+fvcore==0.1.5.post20221221
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+nvidia-cuda-cupti-cu12==12.4.127
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+flash_attn==2.8.3
+platformdirs==4.9.6
+nvidia-nvjitlink-cu12==12.4.127
+opencv-python-headless==4.11.0.86
+eval_type_backport==0.3.1
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+decord==0.6.0
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+tzdata==2026.1
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checkpoints/finetune_lora_task33_2000step/wandb/wandb/run-20260420_073315-3hmgt6z1/files/wandb-metadata.json

@@ -0,0 +1,48 @@
+{
+  "os": "Linux-6.6.113+-x86_64-with-glibc2.35",
+  "python": "CPython 3.10.20",
+  "startedAt": "2026-04-20T07:33:15.030345Z",
+  "args": [
+    "--config_yaml",
+    "./examples/LIBERO/train_files/my_libero_finetune.yaml",
+    "--datasets.vla_data.data_mix",
+    "libero_90_task_33",
+    "--run_id",
+    "finetune_lora_task33_2000step"
+  ],
+  "program": "/content/starVLA_r/starVLA/training/train_starvla_lora.py",
+  "codePath": "starVLA/training/train_starvla_lora.py",
+  "codePathLocal": "starVLA/training/train_starvla_lora.py",
+  "git": {
+    "remote": "https://github.com/tliao730/starVLA_r",
+    "commit": "41cd3517f69d5ebaab7af184ec6897c2932db476"
+  },
+  "email": "chihhans@usc.edu",
+  "root": "./results/Checkpoints/finetune_lora_task33_2000step/wandb",
+  "host": "db16c0687ce4",
+  "executable": "/usr/local/envs/starvla/bin/python3.10",
+  "cpu_count": 6,
+  "cpu_count_logical": 12,
+  "gpu": "NVIDIA A100-SXM4-40GB",
+  "gpu_count": 1,
+  "disk": {
+    "/": {
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+  "memory": {
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+  "gpu_nvidia": [
+    {
+      "name": "NVIDIA A100-SXM4-40GB",
+      "memoryTotal": "42949672960",
+      "cudaCores": 6912,
+      "architecture": "Ampere",
+      "uuid": "GPU-c980dec9-4c34-3d62-5688-4a4e263322da"
+    }
+  ],
+  "cudaVersion": "13.0",
+  "writerId": "0hvtll6l5id0w4ri9m3o6gz1cmo58pmm"
+}

checkpoints/finetune_lora_task33_2000step/wandb/wandb/run-20260420_073315-3hmgt6z1/files/wandb-summary.json

@@ -0,0 +1 @@
+{"_wandb":{"runtime":4508},"learning_rate":4e-07,"data_time":0.00020560300072247628,"_timestamp":1.7766748923747156e+09,"_step":12000,"epoch":1.61,"mse_score":0.04442874928351864,"_runtime":4508.716916189,"model_time":0.7439496930001042,"action_dit_loss":4.5760393142700195}

checkpoints/finetune_lora_task33_2000step/wandb/wandb/run-20260420_073315-3hmgt6z1/logs/debug-core.log

@@ -0,0 +1,19 @@
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checkpoints/finetune_lora_task33_2000step/wandb/wandb/run-20260420_073315-3hmgt6z1/run-3hmgt6z1.wandb

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