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@@ -168,3 +168,5 @@ videos/chunk-000/wrist_image_left/episode_000076.mp4 filter=lfs diff=lfs merge=l
 videos/chunk-000/wrist_image_left/episode_000077.mp4 filter=lfs diff=lfs merge=lfs -text
 videos/chunk-000/wrist_image_left/episode_000078.mp4 filter=lfs diff=lfs merge=lfs -text
 videos/chunk-000/wrist_image_left/episode_000079.mp4 filter=lfs diff=lfs merge=lfs -text
+final_model/pytorch_model.pt filter=lfs diff=lfs merge=lfs -text
+wandb/wandb/run-20260414_022133-bxpz7wpp/run-bxpz7wpp.wandb filter=lfs diff=lfs merge=lfs -text

config.json

@@ -0,0 +1,121 @@
+{
+  "run_id": "0413_QwenLatent_realworld_actionstate_10k",
+  "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": "/mnt/data/fangyu/code/reward_new/runs/0303_Action_9tasks_actionstate_fixchunk15/final_model/pytorch_model.pt",
+      "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": "real_world_4tasks",
+      "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": 10000,
+    "num_warmup_steps": 1000,
+    "num_stable_steps": 0,
+    "mode": "freeze_action_encoder_decay_aux_loss",
+    "loss_weights_decay_steps": 1000,
+    "save_interval": 5000,
+    "eval_interval": 50,
+    "max_checkpoints_to_keep": 20,
+    "learning_rate": {
+      "base": 2.5e-05,
+      "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/0413_QwenLatent_realworld_actionstate_10k"
+}

config.yaml

@@ -0,0 +1,104 @@
+run_id: 0413_QwenLatent_realworld_actionstate_10k
+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: /mnt/data/fangyu/code/reward_new/runs/0303_Action_9tasks_actionstate_fixchunk15/final_model/pytorch_model.pt
+    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: real_world_4tasks
+    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: 10000
+  num_warmup_steps: 1000
+  num_stable_steps: 0
+  mode: freeze_action_encoder_decay_aux_loss
+  loss_weights_decay_steps: 1000
+  save_interval: 5000
+  eval_interval: 50
+  max_checkpoints_to_keep: 20
+  learning_rate:
+    base: 2.5e-05
+    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/0413_QwenLatent_realworld_actionstate_10k

dataset_statistics.json

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+{
+  "real_world_franka": {
+    "action": {
+      "mean": [
+        0.012583610601723194,
+        0.06423042714595795,
+        -0.022138886153697968,
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+        0.0025389082729816437,
+        0.03217320889234543,
+        -0.0031000676099210978,
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+      ],
+      "std": [
+        0.08593875914812088,
+        0.1998993456363678,
+        0.07887445390224457,
+        0.17018188536167145,
+        0.14526863396167755,
+        0.18383915722370148,
+        0.2331046611070633,
+        0.42264530062675476
+      ],
+      "max": [
+        0.26614895462989807,
+        0.6854990124702454,
+        0.3884388208389282,
+        0.7887691855430603,
+        0.6867426037788391,
+        0.691353440284729,
+        0.7094700336456299,
+        1.0
+      ],
+      "min": [
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+        -0.7861437797546387,
+        -0.3629209101200104,
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+        -0.47793203592300415,
+        -0.6568831205368042,
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+      "q01": [
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+        -0.4416676115989685,
+        -0.20630157992243767,
+        -0.4057323223352432,
+        -0.26986045092344285,
+        -0.4521863567829132,
+        -0.5359487313032151,
+        0.0
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+      "q99": [
+        0.2025589363276954,
+        0.5160180038213726,
+        0.17172235593199692,
+        0.5288003307580939,
+        0.35574106454849197,
+        0.37829612225294074,
+        0.43210739821195593,
+        1.0
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+      "mask": [
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        false
+      ]
+    },
+    "state": {
+      "mean": [
+        0.008660320192575455,
+        -0.10073422640562057,
+        0.034581538289785385,
+        -2.441179037094116,
+        -0.014582180418074131,
+        2.354743003845215,
+        0.08918069303035736,
+        0.2804732322692871
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+      "std": [
+        0.08137225359678268,
+        0.31287872791290283,
+        0.1209535077214241,
+        0.26322728395462036,
+        0.11927197873592377,
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+      "max": [
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+        0.5318871736526489,
+        0.4999081492424011,
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+        0.5537019968032837,
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+        1.43259859085083,
+        0.9867841601371765
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+        -0.45004919171333313,
+        1.3950575590133667,
+        -0.6863359808921814,
+        0.0
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+      "q01": [
+        -0.15030207633972167,
+        -0.8516555172204971,
+        -0.20749431177973748,
+        -2.7650132966041565,
+        -0.31988351672887805,
+        1.625695208311081,
+        -0.4866442787647247,
+        0.0
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+      "q99": [
+        0.22037882000207856,
+        0.45646974742412555,
+        0.4068581852316856,
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+        0.30561310172080935,
+        2.8368647360801695,
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+        0.9867841601371765
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+    },
+    "num_transitions": 16264,
+    "num_trajectories": 80
+  }
+}

final_model/pytorch_model.pt

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+size 6959082408

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=5,6,7
+
+# === Please modify the following paths according to your environment ===
+###########################################################################################
+run_root_dir=./runs
+run_id=0413_QwenLatent_realworld_actionstate_10k
+###########################################################################################
+
+
+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 3 \
+  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} \

summary.jsonl

@@ -0,0 +1,2 @@
+{"steps": 5000}
+{"steps": 10000}

wandb/wandb/debug-internal.log

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wandb/wandb/run-20260414_022133-bxpz7wpp/files/config.yaml

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+_wandb:
+    value:
+        cli_version: 0.24.1
+        e:
+            uo6zd6ohtpiom84wt0w6ftf3i3ceif9q:
+                args:
+                    - --config_yaml
+                    - ./starVLA/config/training/starvla_train_qwenlatent_oxe.yaml
+                    - --run_root_dir
+                    - ./runs
+                    - --run_id
+                    - 0413_QwenLatent_realworld_actionstate_10k
+                codePath: starVLA/training/train_qwenlatent.py
+                codePathLocal: starVLA/training/train_qwenlatent.py
+                cpu_count: 96
+                cpu_count_logical: 192
+                cudaVersion: "12.8"
+                disk:
+                    /:
+                        total: "899505709056"
+                        used: "98509094912"
+                email: 2023000137@ruc.edu.cn
+                executable: /mnt/data/.cache/conda/envs/vla_2/bin/python3.10
+                git:
+                    commit: 91fd20135bab847bedba3e91306f1dc0cd893f7d
+                    remote: https://github.com/Timsty1/LearnLatent.git
+                gpu: NVIDIA H200
+                gpu_count: 8
+                gpu_nvidia:
+                    - architecture: Hopper
+                      cudaCores: 16896
+                      memoryTotal: "150754820096"
+                      name: NVIDIA H200
+                      uuid: GPU-32897fc1-464e-377b-127c-a58f6ba4c23b
+                    - architecture: Hopper
+                      cudaCores: 16896
+                      memoryTotal: "150754820096"
+                      name: NVIDIA H200
+                      uuid: GPU-4326c728-b2ce-8d95-6a91-941eafe68404
+                    - architecture: Hopper
+                      cudaCores: 16896
+                      memoryTotal: "150754820096"
+                      name: NVIDIA H200
+                      uuid: GPU-e7d38e6b-4b25-8aa8-d979-92f263aa5328
+                    - architecture: Hopper
+                      cudaCores: 16896
+                      memoryTotal: "150754820096"
+                      name: NVIDIA H200
+                      uuid: GPU-8859353b-14e4-858f-e160-00b3496ea675
+                    - architecture: Hopper
+                      cudaCores: 16896
+                      memoryTotal: "150754820096"
+                      name: NVIDIA H200
+                      uuid: GPU-f02f40c7-5f98-9f26-b47e-dff42bcf434a
+                    - architecture: Hopper
+                      cudaCores: 16896
+                      memoryTotal: "150754820096"
+                      name: NVIDIA H200
+                      uuid: GPU-f7c80aa8-96b1-c6d6-76c0-115bd0b4167f
+                    - architecture: Hopper
+                      cudaCores: 16896
+                      memoryTotal: "150754820096"
+                      name: NVIDIA H200
+                      uuid: GPU-67db85bd-78aa-c45d-2326-17fa8c96ab62
+                    - architecture: Hopper
+                      cudaCores: 16896
+                      memoryTotal: "150754820096"
+                      name: NVIDIA H200
+                      uuid: GPU-ed16df5b-9407-57b2-8520-c76bd326bcb7
+                host: 10-116-218-71
+                memory:
+                    total: "2164195033088"
+                os: Linux-5.15.0-113-generic-x86_64-with-glibc2.35
+                program: /mnt/data/fangyu/code/reward_new/starVLA/training/train_qwenlatent.py
+                python: CPython 3.10.0
+                root: ./runs/0413_QwenLatent_realworld_actionstate_10k/wandb
+                startedAt: "2026-04-13T18:21:33.063401Z"
+                writerId: uo6zd6ohtpiom84wt0w6ftf3i3ceif9q
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wandb/wandb/run-20260414_022133-bxpz7wpp/files/requirements.txt

@@ -0,0 +1,182 @@
+pydantic_core==2.27.2
+tifffile==2025.5.10
+protobuf==6.33.5
+tyro==1.0.5
+Jinja2==3.1.6
+nvidia-curand-cu12==10.3.9.55
+ImageIO==2.37.2
+beartype==0.22.9
+typing_extensions==4.15.0
+diffusers==0.36.0
+eva-decord==0.6.1
+contourpy==1.3.2
+zope.interface==8.2
+rich==14.3.2
+zope.event==6.1
+tzdata==2025.3
+hf_transfer==0.1.9
+snntorch==0.9.4
+simplejson==3.20.2
+nvidia-cublas-cu12==12.8.3.14
+nvitop==1.6.2
+greenlet==3.3.1
+python-dateutil==2.9.0.post0
+pillow==12.1.0
+joblib==1.5.3
+certifi==2026.1.4
+six==1.17.0
+etils==1.13.0
+humanize==4.15.0
+kiwisolver==1.4.9
+uvloop==0.22.1
+platformdirs==4.5.1
+sympy==1.14.0
+networkx==3.4.2
+nvidia-nccl-cu12==2.26.2
+einops==0.8.2
+jax==0.6.2
+safetensors==0.7.0
+accelerate==1.5.2
+nvidia-ml-py==13.590.48
+pytest==9.0.3
+iniconfig==2.3.0
+charset-normalizer==3.4.4
+filelock==3.20.3
+fastparquet==2024.11.0
+regex==2026.1.15
+httpx==0.28.1
+packaging==25.0
+deepspeed==0.16.9
+nvidia-cusolver-cu12==11.7.2.55
+typer-slim==0.21.1
+ml_dtypes==0.5.4
+opt_einsum==3.4.0
+tqdm==4.67.3
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