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"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": { + "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/0421_QwenLatent_13tasks_noprior_30k" +} \ No newline at end of file diff --git a/0421_QwenLatent_13tasks_noprior_50k/config.yaml b/0421_QwenLatent_13tasks_noprior_50k/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d589e7c169320867f7923563472178501395b616 --- /dev/null +++ b/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: + 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 + 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b/0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/eval_env_gr1_unified_PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env_gpu0.log new file mode 100644 index 0000000000000000000000000000000000000000..6210724f1a614101c482ca25d4e54c64c2399aaa --- /dev/null +++ b/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 diff --git a/0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/eval_env_gr1_unified_PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu1.log b/0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/eval_env_gr1_unified_PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu1.log new file mode 100644 index 0000000000000000000000000000000000000000..54bfb37c792c94c45004c310ad7fad815230e8ed --- /dev/null +++ b/0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/eval_env_gr1_unified_PosttrainPnPNovelFromCuttingboardToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu1.log @@ -0,0 +1,64 @@ +[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 diff --git a/0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/eval_env_gr1_unified_PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu2.log b/0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/eval_env_gr1_unified_PosttrainPnPNovelFromPlacematToBasketSplitA_GR1ArmsAndWaistFourierHands_Env_gpu2.log new file mode 100644 index 0000000000000000000000000000000000000000..6e7c15d5b65e5d8d09ee73b334acff18dbbb7e6e --- /dev/null +++ b/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 diff --git a/0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/eval_env_gr1_unified_PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env_gpu3.log b/0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/eval_env_gr1_unified_PosttrainPnPNovelFromPlateToBowlSplitA_GR1ArmsAndWaistFourierHands_Env_gpu3.log new file mode 100644 index 0000000000000000000000000000000000000000..3be44fa44b209d073e3284fb9b84090101d419ee --- /dev/null +++ b/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 diff --git a/0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/eval_env_gr1_unified_PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env_gpu4.log b/0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/eval_env_gr1_unified_PosttrainPnPNovelFromTrayToCardboardboxSplitA_GR1ArmsAndWaistFourierHands_Env_gpu4.log new file mode 100644 index 0000000000000000000000000000000000000000..fe9c6100504e221cbd588d201893a5eda9647fc1 --- /dev/null +++ b/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 diff --git a/0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/server_gpu0_port6200.log b/0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/server_gpu0_port6200.log new file mode 100644 index 0000000000000000000000000000000000000000..4e1c79be39d70990281c53117055746f7934ca64 --- /dev/null +++ b/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 diff --git a/0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/server_gpu1_port6201.log b/0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/server_gpu1_port6201.log new file mode 100644 index 0000000000000000000000000000000000000000..1e86167328f2eb7e70b1ea9d780e5a75cbf0f00d --- /dev/null +++ b/0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/server_gpu1_port6201.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 0.0.0.0:6201 +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 diff --git a/0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/server_gpu2_port6202.log b/0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/server_gpu2_port6202.log new file mode 100644 index 0000000000000000000000000000000000000000..d40733a7dadee69ef0ba0c588075df6036c28778 --- /dev/null +++ b/0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/server_gpu2_port6202.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 0.0.0.0:6202 +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 diff --git a/0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/server_gpu3_port6203.log b/0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/server_gpu3_port6203.log new file mode 100644 index 0000000000000000000000000000000000000000..a78a6a9140390746e5b1036a125f14e742f9ae1e --- /dev/null +++ b/0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/server_gpu3_port6203.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 0.0.0.0:6203 +INFO:websockets.server:connection open +INFO:root:Connection from ('127.0.0.1', 38716) opened +INFO:root:Connection from ('127.0.0.1', 38716) closed diff --git a/0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/server_gpu4_port6204.log b/0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/server_gpu4_port6204.log new file mode 100644 index 0000000000000000000000000000000000000000..c9f42812f90b952e01d2368c0f8b62a0e27e2ad3 --- /dev/null +++ b/0421_QwenLatent_13tasks_noprior_50k/final_model/pytorch_model.pt.log/eval_20260422_093419/server_gpu4_port6204.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 0.0.0.0:6204 +INFO:websockets.server:connection open +INFO:root:Connection from ('127.0.0.1', 38724) opened +INFO:root:Connection from ('127.0.0.1', 38724) closed diff --git a/0421_QwenLatent_13tasks_noprior_50k/run_qwenlatent_vla.sh b/0421_QwenLatent_13tasks_noprior_50k/run_qwenlatent_vla.sh new file mode 100644 index 0000000000000000000000000000000000000000..8119dd56f64242f4cf062bad8730cbeb2a0f4805 --- /dev/null +++ b/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} \ \ No newline at end of file diff --git a/0421_QwenLatent_13tasks_noprior_50k/summary.jsonl b/0421_QwenLatent_13tasks_noprior_50k/summary.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ab36c50a46444834008b3384a4f1a5de29c6c5c --- /dev/null +++ b/0421_QwenLatent_13tasks_noprior_50k/summary.jsonl @@ -0,0 +1,10 @@ +{"steps": 5000} +{"steps": 10000} +{"steps": 15000} +{"steps": 20000} +{"steps": 25000} +{"steps": 30000} +{"steps": 35000} +{"steps": 40000} +{"steps": 45000} +{"steps": 50000} diff --git a/0421_QwenLatent_13tasks_noprior_50k/videos/pytorch_model/n_action_steps_10_max_episode_steps_720_n_envs_1_gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/000596d0-ec13-4c35-82cb-d56be0f286ab_success1.mp4 b/0421_QwenLatent_13tasks_noprior_50k/videos/pytorch_model/n_action_steps_10_max_episode_steps_720_n_envs_1_gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/000596d0-ec13-4c35-82cb-d56be0f286ab_success1.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ca4b474e8e5d2b7519a9cf5212394751c944a230 --- /dev/null +++ b/0421_QwenLatent_13tasks_noprior_50k/videos/pytorch_model/n_action_steps_10_max_episode_steps_720_n_envs_1_gr1_unified/PnPBottleToCabinetClose_GR1ArmsAndWaistFourierHands_Env/000596d0-ec13-4c35-82cb-d56be0f286ab_success1.mp4 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