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0421_QwenLatent_13tasks_noprior_50k/config.json

@@ -0,0 +1,121 @@
+{
+  "run_id": "0421_QwenLatent_13tasks_noprior_30k",
+  "run_root_dir": "./runs",
+  "seed": 42,
+  "trackers": [
+    "jsonl",
+    "wandb"
+  ],
+  "wandb_entity": "timsty",
+  "wandb_project": "vla_jepa",
+  "is_debug": false,
+  "framework": {
+    "name": "QwenLatent",
+    "qwenvl": {
+      "base_vlm": "/mnt/data/fangyu/model/Qwen/Qwen3-VL-2B-Instruct",
+      "attn_implementation": "flash_attention_2",
+      "vl_hidden_dim": 2048,
+      "num_data_tokens": 32
+    },
+    "action_model": {
+      "ckpt_path": null,
+      "action_size": 37,
+      "state_size": 74,
+      "use_state": "${datasets.vla_data.state_use_action_chunk}",
+      "hidden_size": 1024,
+      "intermediate_size": 3072,
+      "dataset_vocab_size": 256,
+      "num_data_tokens": 32,
+      "num_t_samples": 4,
+      "min_action_len": 5,
+      "num_encoder_layers": 28,
+      "num_decoder_layers": 28,
+      "num_attention_heads": 16,
+      "num_key_value_heads": 8,
+      "head_dim": 128,
+      "max_position_embeddings": 2048,
+      "max_action_chunk_size": 50,
+      "rms_norm_eps": 1e-06,
+      "attention_dropout": 0.0,
+      "use_vae_reparameterization": false,
+      "use_ema": false,
+      "chunk_size": "${datasets.vla_data.chunk_size}",
+      "loss_mode": "full",
+      "qwen3_pretrained_name_or_path": "/mnt/data/fangyu/model/Qwen/Qwen3-0.6B"
+    }
+  },
+  "datasets": {
+    "vla_data": {
+      "dataset_py": "lerobot_datasets",
+      "data_root_dir": "/mnt/data/fangyu/dataset/IPEC-COMMUNITY",
+      "data_mix": "cross_embodiedment_13tasks",
+      "CoT_prompt": "Task: {instruction}. What are the next 15 actions to take?",
+      "default_image_resolution": [
+        3,
+        224,
+        224
+      ],
+      "per_device_batch_size": 32,
+      "load_all_data_for_training": true,
+      "obs": [
+        "image_0"
+      ],
+      "image_size": [
+        224,
+        224
+      ],
+      "video_backend": "torchcodec",
+      "load_video": true,
+      "chunk_size": 15,
+      "state_use_action_chunk": true,
+      "num_history_steps": 0,
+      "include_state": "${datasets.vla_data.state_use_action_chunk}"
+    }
+  },
+  "trainer": {
+    "epochs": 100,
+    "max_train_steps": 50000,
+    "num_warmup_steps": 5000,
+    "num_stable_steps": 0,
+    "mode": "decay_aux_loss",
+    "loss_weights_decay_steps": 5000,
+    "save_interval": 5000,
+    "eval_interval": 50,
+    "max_checkpoints_to_keep": 20,
+    "learning_rate": {
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+      "qwen_vl_interface": 2.5e-05,
+      "action_model": 2.5e-05
+    },
+    "lr_scheduler_type": "warmup_stable_cosine",
+    "scheduler_specific_kwargs": {
+      "min_lr_ratio": 0.001
+    },
+    "freeze_modules": "",
+    "loss_scale": {
+      "align_loss": 1.0,
+      "recon_loss": 1.0,
+      "predict_loss": 1.0
+    },
+    "warmup_ratio": 0.1,
+    "weight_decay": 0.0,
+    "logging_frequency": 10,
+    "gradient_clipping": 5.0,
+    "gradient_accumulation_steps": 1,
+    "optimizer": {
+      "name": "AdamW",
+      "betas": [
+        0.9,
+        0.95
+      ],
+      "eps": 1e-08,
+      "weight_decay": 1e-08
+    },
+    "is_resume": false,
+    "resume_epoch": null,
+    "resume_step": null,
+    "enable_gradient_checkpointing": true,
+    "enable_mixed_precision_training": true
+  },
+  "output_dir": "./runs/0421_QwenLatent_13tasks_noprior_30k"
+}

0421_QwenLatent_13tasks_noprior_50k/config.yaml

@@ -0,0 +1,104 @@
+run_id: 0421_QwenLatent_13tasks_noprior_30k
+run_root_dir: ./runs
+seed: 42
+trackers:
+- jsonl
+- wandb
+wandb_entity: timsty
+wandb_project: vla_jepa
+is_debug: false
+framework:
+  name: QwenLatent
+  qwenvl:
+    base_vlm: /mnt/data/fangyu/model/Qwen/Qwen3-VL-2B-Instruct
+    attn_implementation: flash_attention_2
+    vl_hidden_dim: 2048
+    num_data_tokens: 32
+  action_model:
+    ckpt_path: null
+    action_size: 37
+    state_size: 74
+    use_state: ${datasets.vla_data.state_use_action_chunk}
+    hidden_size: 1024
+    intermediate_size: 3072
+    dataset_vocab_size: 256
+    num_data_tokens: 32
+    num_t_samples: 4
+    min_action_len: 5
+    num_encoder_layers: 28
+    num_decoder_layers: 28
+    num_attention_heads: 16
+    num_key_value_heads: 8
+    head_dim: 128
+    max_position_embeddings: 2048
+    max_action_chunk_size: 50
+    rms_norm_eps: 1.0e-06
+    attention_dropout: 0.0
+    use_vae_reparameterization: false
+    use_ema: false
+    chunk_size: ${datasets.vla_data.chunk_size}
+    loss_mode: full
+    qwen3_pretrained_name_or_path: /mnt/data/fangyu/model/Qwen/Qwen3-0.6B
+datasets:
+  vla_data:
+    dataset_py: lerobot_datasets
+    data_root_dir: /mnt/data/fangyu/dataset/IPEC-COMMUNITY
+    data_mix: cross_embodiedment_13tasks
+    CoT_prompt: 'Task: {instruction}. What are the next 15 actions to take?'
+    default_image_resolution:
+    - 3
+    - 224
+    - 224
+    per_device_batch_size: 32
+    load_all_data_for_training: true
+    obs:
+    - image_0
+    image_size:
+    - 224
+    - 224
+    video_backend: torchcodec
+    load_video: true
+    chunk_size: 15
+    state_use_action_chunk: true
+    num_history_steps: 0
+    include_state: ${datasets.vla_data.state_use_action_chunk}
+trainer:
+  epochs: 100
+  max_train_steps: 50000
+  num_warmup_steps: 5000
+  num_stable_steps: 0
+  mode: decay_aux_loss
+  loss_weights_decay_steps: 5000
+  save_interval: 5000
+  eval_interval: 50
+  max_checkpoints_to_keep: 20
+  learning_rate:
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+    qwen_vl_interface: 2.5e-05
+    action_model: 2.5e-05
+  lr_scheduler_type: warmup_stable_cosine
+  scheduler_specific_kwargs:
+    min_lr_ratio: 0.001
+  freeze_modules: ''
+  loss_scale:
+    align_loss: 1.0
+    recon_loss: 1.0
+    predict_loss: 1.0
+  warmup_ratio: 0.1
+  weight_decay: 0.0
+  logging_frequency: 10
+  gradient_clipping: 5.0
+  gradient_accumulation_steps: 1
+  optimizer:
+    name: AdamW
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+  is_resume: false
+  resume_epoch: null
+  resume_step: null
+  enable_gradient_checkpointing: true
+  enable_mixed_precision_training: true
+output_dir: ./runs/0421_QwenLatent_13tasks_noprior_30k

0421_QwenLatent_13tasks_noprior_50k/dataset_statistics.json

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0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4aad5970e4595c72a3309d4b98d36232ccd715aac6456c9e90d62e57977e5eba
+size 6959082408

0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/eval_env_gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env_gpu0.log

@@ -0,0 +1,62 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/22 [09:35:46] INFO     | >> Arguments: {                simulation_env.py:300
+                              "host": "127.0.0.1",                              
+                              "port": 6200,                                     
+                              "env_name":                                       
+                          "gr1_unified/PnPBottleToCabinetC                      
+                          lose_GR1ArmsAndWaistFourierHands                      
+                          _Env",                                                
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps": 720,                         
+                              "n_action_steps": 10,                             
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/reward_ne                      
+                          w/runs/0421_QwenLatent_13tasks_n                      
+                          oprior_30k/videos/pytorch_model/                      
+                          n_action_steps_10_max_episode_st                      
+                          eps_720_n_envs_1_gr1_unified/PnP                      
+                          BottleToCabinetClose_GR1ArmsAndW                      
+                          aistFourierHands_Env",                                
+                              "seed": 21,                                       
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/reward_ne                      
+                          w/runs/0421_QwenLatent_13tasks_n                      
+                          oprior_30k/final_model/pytorch_m                      
+                          odel.pt"                                              
+                          }                                                     
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6200...                                
+*** policy_setup: gr1, unnorm_key: gr1 ***
+                 INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0421_QwenLatent_13tasks_noprior                   
+                          _30k/final_model/pytorch_model.pt`                    
+Running 50 episodes for gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/22 [09:35:49] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: _load_model has been called over 10 times!
+WARNING: _load_model has been called over 20 times!
+WARNING: _load_model has been called over 30 times!
+WARNING: _load_model has been called over 40 times!
+WARNING: _load_model has been called over 50 times!
+Collecting 50 episodes took 3661.85 seconds
+Results for gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.72

0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/eval_env_gr1_unified_PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu1.log

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+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/22 [09:35:49] INFO     | >> Arguments: {                simulation_env.py:300
+                              "host": "127.0.0.1",                              
+                              "port": 6201,                                     
+                              "env_name":                                       
+                          "gr1_unified/PosttrainPnPNovelFr                      
+                          omCuttingboardToBasketSplitA_GR1                      
+                          ArmsAndWaistFourierHands_Env",                        
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps": 720,                         
+                              "n_action_steps": 10,                             
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/reward_ne                      
+                          w/runs/0421_QwenLatent_13tasks_n                      
+                          oprior_30k/videos/pytorch_model/                      
+                          n_action_steps_10_max_episode_st                      
+                          eps_720_n_envs_1_gr1_unified/Pos                      
+                          ttrainPnPNovelFromCuttingboardTo                      
+                          BasketSplitA_GR1ArmsAndWaistFour                      
+                          ierHands_Env",                                        
+                              "seed": 21,                                       
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/reward_ne                      
+                          w/runs/0421_QwenLatent_13tasks_n                      
+                          oprior_30k/final_model/pytorch_m                      
+                          odel.pt"                                              
+                          }                                                     
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6201...                                
+*** policy_setup: gr1, unnorm_key: gr1 ***
+                 INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0421_QwenLatent_13tasks_noprior                   
+                          _30k/final_model/pytorch_model.pt`                    
+Running 50 episodes for gr1_unified/PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/22 [09:35:52] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: _load_model has been called over 10 times!
+WARNING: _load_model has been called over 20 times!
+WARNING: _load_model has been called over 30 times!
+WARNING: _load_model has been called over 40 times!
+WARNING: _load_model has been called over 50 times!
+WARNING: _load_model has been called over 60 times!
+Collecting 50 episodes took 3762.44 seconds
+Results for gr1_unified/PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.46

0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/eval_env_gr1_unified_PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu2.log

@@ -0,0 +1,145 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/22 [09:35:50] INFO     | >> Arguments: {                simulation_env.py:300
+                              "host": "127.0.0.1",                              
+                              "port": 6202,                                     
+                              "env_name":                                       
+                          "gr1_unified/PosttrainPnPNovelFr                      
+                          omPlacematToBasketSplitA_GR1Arms                      
+                          AndWaistFourierHands_Env",                            
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps": 720,                         
+                              "n_action_steps": 10,                             
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/reward_ne                      
+                          w/runs/0421_QwenLatent_13tasks_n                      
+                          oprior_30k/videos/pytorch_model/                      
+                          n_action_steps_10_max_episode_st                      
+                          eps_720_n_envs_1_gr1_unified/Pos                      
+                          ttrainPnPNovelFromPlacematToBask                      
+                          etSplitA_GR1ArmsAndWaistFourierH                      
+                          ands_Env",                                            
+                              "seed": 21,                                       
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/reward_ne                      
+                          w/runs/0421_QwenLatent_13tasks_n                      
+                          oprior_30k/final_model/pytorch_m                      
+                          odel.pt"                                              
+                          }                                                     
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6202...                                
+*** policy_setup: gr1, unnorm_key: gr1 ***
+                 INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0421_QwenLatent_13tasks_noprior                   
+                          _30k/final_model/pytorch_model.pt`                    
+Running 50 episodes for gr1_unified/PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env with 1 environments
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+04/22 [09:35:57] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 10 times!
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 20 times!
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 30 times!
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 40 times!
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 50 times!
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 60 times!
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: _load_model has been called over 70 times!
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+WARNING: No object files found for category 'book' in registry 'sketchfab'. Check if registry is installed and up to date.
+No valid object found for distractor_obj_back_edge_type_0_num_0, skip this object config
+Collecting 50 episodes took 3821.91 seconds
+Results for gr1_unified/PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.28

0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/eval_env_gr1_unified_PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env_gpu3.log

@@ -0,0 +1,63 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/22 [09:35:52] INFO     | >> Arguments: {                simulation_env.py:300
+                              "host": "127.0.0.1",                              
+                              "port": 6203,                                     
+                              "env_name":                                       
+                          "gr1_unified/PosttrainPnPNovelFr                      
+                          omPlateToBowlSplitA_GR1ArmsAndWa                      
+                          istFourierHands_Env",                                 
+                              "n_episodes": 50,                                 
+                              "n_envs": 1,                                      
+                              "max_episode_steps": 720,                         
+                              "n_action_steps": 10,                             
+                              "video_out_path":                                 
+                          "/mnt/data/fangyu/code/reward_ne                      
+                          w/runs/0421_QwenLatent_13tasks_n                      
+                          oprior_30k/videos/pytorch_model/                      
+                          n_action_steps_10_max_episode_st                      
+                          eps_720_n_envs_1_gr1_unified/Pos                      
+                          ttrainPnPNovelFromPlateToBowlSpl                      
+                          itA_GR1ArmsAndWaistFourierHands_                      
+                          Env",                                                 
+                              "seed": 21,                                       
+                              "pretrained_path":                                
+                          "/mnt/data/fangyu/code/reward_ne                      
+                          w/runs/0421_QwenLatent_13tasks_n                      
+                          oprior_30k/final_model/pytorch_m                      
+                          odel.pt"                                              
+                          }                                                     
+                 INFO     | >> Waiting for server  websocket_policy_client.py:34
+                          at                                                    
+                          ws://127.0.0.1:6203...                                
+*** policy_setup: gr1, unnorm_key: gr1 ***
+                 INFO     | >> [*] Loading from local         share_tools.py:276
+                          checkpoint path                                       
+                          `/mnt/data/fangyu/code/reward_new/r                   
+                          uns/0421_QwenLatent_13tasks_noprior                   
+                          _30k/final_model/pytorch_model.pt`                    
+Running 50 episodes for gr1_unified/PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/22 [09:35:55] INFO     | >> No OpenGL_accelerate      acceleratesupport.py:24
+                          module loaded: No module named                        
+                          'OpenGL_accelerate'                                   
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: _load_model has been called over 10 times!
+WARNING: _load_model has been called over 20 times!
+WARNING: _load_model has been called over 30 times!
+WARNING: _load_model has been called over 40 times!
+WARNING: _load_model has been called over 50 times!
+Collecting 50 episodes took 3773.10 seconds
+Results for gr1_unified/PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.18

0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/eval_env_gr1_unified_PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env_gpu4.log

@@ -0,0 +1,52 @@
+[robosuite WARNING] No private macro file found! (macros.py:53)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robosuite/robosuite/scripts/setup_macros.py (macros.py:55)
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] No private macro file found! (macros.py:28)
+[robosuite WARNING] It is recommended to use a private macro file (macros.py:29)
+[robosuite WARNING] To setup, run: python /mnt/data/fangyu/code/github/robocasa-gr1-tabletop-tasks/robocasa/scripts/setup_macros.py (macros.py:30)
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+🚨 `examples` is part of ActionModel.forward's signature, but not documented. Make sure to add it to the docstring of the function in /mnt/data/fangyu/code/reward_new/starVLA/model/modules/action_model/ActionModel.py.
+04/22 [09:35:54] INFO     | >> Arguments: {                                                  simulation_env.py:300
+                              "host": "127.0.0.1",                                                                
+                              "port": 6204,                                                                       
+                              "env_name":                                                                         
+                          "gr1_unified/PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1Arms                      
+                          AndWaistFourierHands_Env",                                                              
+                              "n_episodes": 50,                                                                   
+                              "n_envs": 1,                                                                        
+                              "max_episode_steps": 720,                                                           
+                              "n_action_steps": 10,                                                               
+                              "video_out_path":                                                                   
+                          "/mnt/data/fangyu/code/reward_new/runs/0421_QwenLatent_13tasks_nop                      
+                          rior_30k/videos/pytorch_model/n_action_steps_10_max_episode_steps_                      
+                          720_n_envs_1_gr1_unified/PosttrainPnPNovelFromTrayToCardboardboxSp                      
+                          litA_GR1ArmsAndWaistFourierHands_Env",                                                  
+                              "seed": 21,                                                                         
+                              "pretrained_path":                                                                  
+                          "/mnt/data/fangyu/code/reward_new/runs/0421_QwenLatent_13tasks_nop                      
+                          rior_30k/final_model/pytorch_model.pt"                                                  
+                          }                                                                                       
+                 INFO     | >> Waiting for server at ws://127.0.0.1:6204...          websocket_policy_client.py:34
+*** policy_setup: gr1, unnorm_key: gr1 ***
+                 INFO     | >> [*] Loading from local checkpoint path                           share_tools.py:276
+                          `/mnt/data/fangyu/code/reward_new/runs/0421_QwenLatent_13tasks_noprio                   
+                          r_30k/final_model/pytorch_model.pt`                                                     
+Running 50 episodes for gr1_unified/PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env with 1 environments
+04/22 [09:35:57] INFO     | >> No OpenGL_accelerate module loaded: No module named         acceleratesupport.py:24
+                          'OpenGL_accelerate'                                                                     
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `reset()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+/mnt/data/.cache/conda/envs/robocasa/lib/python3.10/site-packages/gymnasium/utils/passive_env_checker.py:158: UserWarning: WARN: The obs returned by the `step()` method is not within the observation space.
+  logger.warn(f"{pre} is not within the observation space.")
+WARNING: _load_model has been called over 10 times!
+WARNING: _load_model has been called over 20 times!
+WARNING: _load_model has been called over 30 times!
+WARNING: _load_model has been called over 40 times!
+WARNING: _load_model has been called over 50 times!
+WARNING: _load_model has been called over 60 times!
+Collecting 50 episodes took 3520.19 seconds
+Results for gr1_unified/PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env:
+Success rate: 0.44

0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/server_gpu0_port6200.log

@@ -0,0 +1,10 @@
+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0421_QwenLatent_13tasks_noprior_30k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6200
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 53660) opened
+INFO:root:Connection from ('127.0.0.1', 53660) closed

0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/server_gpu1_port6201.log

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+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0421_QwenLatent_13tasks_noprior_30k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6201
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 33758) opened
+INFO:root:Connection from ('127.0.0.1', 33758) closed

0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/server_gpu2_port6202.log

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+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0421_QwenLatent_13tasks_noprior_30k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6202
+INFO:websockets.server:connection open
+INFO:root:Connection from ('127.0.0.1', 56832) opened
+INFO:root:Connection from ('127.0.0.1', 56832) closed

0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/server_gpu3_port6203.log

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+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0421_QwenLatent_13tasks_noprior_30k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6203
+INFO:websockets.server:connection open
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+/mnt/data/.cache/conda/envs/vla_2/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+INFO:starVLA.model.framework.share_tools:[*] Loading from local checkpoint path `/mnt/data/fangyu/code/reward_new/runs/0421_QwenLatent_13tasks_noprior_30k/final_model/pytorch_model.pt`
+`torch_dtype` is deprecated! Use `dtype` instead!
+INFO:root:Creating server (host: 10-116-218-71, ip: 169.254.95.120)
+INFO:root:server running ...
+INFO:websockets.server:server listening on 0.0.0.0:6204
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0421_QwenLatent_13tasks_noprior_50k/run_qwenlatent_vla.sh

@@ -0,0 +1,27 @@
+#export NCCL_SOCKET_IFNAME=bond0
+#export NCCL_IB_HCA=mlx5_2,mlx5_3
+
+export NCCL_BLOCKING_WAIT=1
+export NCCL_ASYNC_ERROR_HANDLING=1
+export NCCL_TIMEOUT=1000  # timeout set to 1 hour (unit: seconds)
+export CUDA_VISIBLE_DEVICES=0,1,2,3,4,5,6,7
+
+# === Please modify the following paths according to your environment ===
+###########################################################################################
+run_root_dir=./runs
+run_id=0421_QwenLatent_13tasks_noprior_30k
+###########################################################################################
+
+
+output_dir=${run_root_dir}/${run_id}
+mkdir -p ${output_dir}
+# mv this script to the output dir
+cp $0 ${output_dir}/
+
+accelerate launch \
+  --config_file ./starVLA/config/deepseeds/deepspeed_zero2.yaml \
+  --num_processes 8 \
+  starVLA/training/train_qwenlatent.py \
+  --config_yaml ./starVLA/config/training/starvla_train_qwenlatent_oxe.yaml \
+  --run_root_dir ${run_root_dir} \
+  --run_id ${run_id} \

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+{"steps": 10000}
+{"steps": 15000}
+{"steps": 20000}
+{"steps": 25000}
+{"steps": 30000}
+{"steps": 35000}
+{"steps": 40000}
+{"steps": 45000}
+{"steps": 50000}

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