diff --git a/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h8/fixed1-prefix63-restart-20260925/diagnostics/controller/collection.log b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h8/fixed1-prefix63-restart-20260925/diagnostics/controller/collection.log new file mode 100644 index 0000000000000000000000000000000000000000..5f969184a28370e654ce20839759d82efe8d833b --- /dev/null +++ b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h8/fixed1-prefix63-restart-20260925/diagnostics/controller/collection.log @@ -0,0 +1,7009 @@ +/home/ubuntu/codex/mikasa-prefix63-restart-20260925/third_party/MIKASA-Robo/.venv/lib/python3.10/site-packages/torch/cuda/__init__.py:54: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you. + import pynvml # type: ignore[import] +/home/ubuntu/codex/mikasa-prefix63-restart-20260925/third_party/MIKASA-Robo/.venv/lib/python3.10/site-packages/sapien/__init__.py:2: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81. + import pkg_resources +Downloading PhysX GPU library to /home/ubuntu/.sapien/physx/105.1-physx-5.3.1.patch0 from Github. This can take several minutes. If it fails to download, please manually download fhttps://github.com/sapien-sim/physx-precompiled/releases/download/105.1-physx-5.3.1.patch0/linux-so.zip and unzip at /home/ubuntu/.sapien/physx/105.1-physx-5.3.1.patch0. +Download complete. +/home/ubuntu/codex/mikasa-prefix63-restart-20260925/third_party/MIKASA-Robo/.venv/lib/python3.10/site-packages/torch/random.py:157: UserWarning: CUDA reports that you have 2 available devices, and you have used fork_rng without explicitly specifying which devices are being used. For safety, we initialize *every* CUDA device by default, which can be quite slow if you have a lot of CUDAs. If you know that you are only making use of a few CUDA devices, set the environment variable CUDA_VISIBLE_DEVICES or the 'devices' keyword argument of fork_rng with the set of devices you are actually using. For example, if you are using CPU only, set device.upper()_VISIBLE_DEVICES= or devices=[]; if you are using device 0 only, set CUDA_VISIBLE_DEVICES=0 or devices=[0]. To initialize all devices and suppress this warning, set the 'devices' keyword argument to `range(torch.cuda.device_count())`. + warnings.warn(message) +self.list_of_obs_keys=['state'] +state: 49 +Total length: 49 +envs.single_observation_space=Dict('state': Box(-inf, inf, (49,), float32)) +{"saved_episodes": 1, "train_valid_actions": 154, "validation_valid_actions": 0, "seed": 0, "batch_index": 0, "slot_id": 0, "selected": true, "success": true, "length": 26, "return": 7.621163618401624, "split": "train", "labels": 25, "valid_actions": 154, "submitted_requests": 26, "dropped_requests": 0, "applied_head_counts": {"1": 25}} +{"saved_episodes": 2, "train_valid_actions": 302, "validation_valid_actions": 0, "seed": 1, "batch_index": 0, "slot_id": 1, "selected": true, "success": true, "length": 23, "return": 5.648061064246576, "split": "train", "labels": 22, "valid_actions": 148, "submitted_requests": 23, "dropped_requests": 0, "applied_head_counts": {"1": 22}} +{"saved_episodes": 3, 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b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h8/fixed1-prefix63-restart-20260925/diagnostics/controller/controller.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h8/fixed1-prefix63-restart-20260925/diagnostics/controller/package.log b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h8/fixed1-prefix63-restart-20260925/diagnostics/controller/package.log new file mode 100644 index 0000000000000000000000000000000000000000..3770156994c840d9e986c2db5f9017429d7ee8c8 --- /dev/null +++ b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h8/fixed1-prefix63-restart-20260925/diagnostics/controller/package.log @@ -0,0 +1,13783 @@ +/home/ubuntu/codex/mikasa-prefix63-restart-20260925/third_party/MIKASA-Robo/utils/convert_rlds_to_lerobot/.venv/lib/python3.10/site-packages/lerobot/datasets/compute_stats.py:154: RuntimeWarning: Converting input from bool to for compatibility. + hist, _ = np.histogram(batch[:, i], bins=self._bin_edges[i]) + Map: 0%| | 0/25 [00:00 + main() + File "/home/ubuntu/codex/mikasa-prefix63-restart-20260925/scripts/starvla/train_task.py", line 962, in main + trained, checkpoint = train(args, config) + File "/home/ubuntu/codex/mikasa-prefix63-restart-20260925/scripts/starvla/train_task.py", line 384, in train + run_command([ + File "/home/ubuntu/codex/mikasa-prefix63-restart-20260925/scripts/starvla/train_task.py", line 137, in run_command + subprocess.run(command, cwd=cwd, env=environment() if env is None else env, + File "/home/ubuntu/miniconda3/envs/starvla_rl_games_openvla/lib/python3.10/subprocess.py", line 526, in run + raise CalledProcessError(retcode, process.args, +subprocess.CalledProcessError: Command '['/home/ubuntu/miniconda3/envs/starvla_rl_games_openvla/bin/python', '-m', 'accelerate.commands.launch', '--config_file', '/home/ubuntu/codex/mikasa-prefix63-restart-20260925/third_party/starVLA/starVLA/config/deepseeds/deepspeed_zero2.yaml', '--num_processes', '2', '--main_process_port', '29702', '/home/ubuntu/codex/mikasa-prefix63-restart-20260925/third_party/starVLA/starVLA/training/train_starvla.py', '--config_yaml', '/home/ubuntu/codex/mikasa-prefix63-restart-20260925/outputs/starvla/runs/mikasa_intercept_grab_fast/fixed1-prefix63-restart-20260925/sft/bootstrap.yaml']' returned non-zero exit status 1. diff --git a/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h8/fixed1-prefix63-restart-20260925/diagnostics/sft/bootstrap.log b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h8/fixed1-prefix63-restart-20260925/diagnostics/sft/bootstrap.log new file mode 100644 index 0000000000000000000000000000000000000000..af7e8306109140b7a4d4e7622ff7955583946540 --- /dev/null +++ b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h8/fixed1-prefix63-restart-20260925/diagnostics/sft/bootstrap.log @@ -0,0 +1,1424 @@ +[2026-09-25 05:18:03,419] [INFO] [real_accelerator.py:254:get_accelerator] Setting ds_accelerator to cuda (auto detect) +df: /home/ubuntu/.triton/autotune: No such file or directory +W0925 05:18:05.638000 220785 site-packages/torch/distributed/run.py:851] +W0925 05:18:05.638000 220785 site-packages/torch/distributed/run.py:851] ***************************************** +W0925 05:18:05.638000 220785 site-packages/torch/distributed/run.py:851] Setting OMP_NUM_THREADS environment variable for each process to be 1 in default, to avoid your system being overloaded, please further tune the variable for optimal performance in your application as needed. +W0925 05:18:05.638000 220785 site-packages/torch/distributed/run.py:851] ***************************************** +[2026-09-25 05:18:09,032] [INFO] [real_accelerator.py:254:get_accelerator] Setting ds_accelerator to cuda (auto detect) +09/25 [05:18:09] INFO | >> gcc -pthread -B spawn.py:77 + /home/ubuntu/miniconda3/envs/starvla_rl_ga + mes_openvla/compiler_compat + -Wno-unused-result -Wsign-compare -DNDEBUG + -fwrapv -O2 -Wall -fPIC -O2 + -fno-merge-constants -isystem + /home/ubuntu/miniconda3/envs/starvla_rl_ga + mes_openvla/include -fPIC -O2 + -fno-merge-constants -isystem + /home/ubuntu/miniconda3/envs/starvla_rl_ga + mes_openvla/include -fPIC -c + /tmp/tmpdquuglm4/test.c -o + /tmp/tmpdquuglm4/test.o + INFO | >> gcc -pthread -B spawn.py:77 + /home/ubuntu/miniconda3/envs/starvla_rl_ga + mes_openvla/compiler_compat + /tmp/tmpdquuglm4/test.o -laio -o + /tmp/tmpdquuglm4/a.out + INFO | >> gcc -pthread -B spawn.py:77 + /home/ubuntu/miniconda3/envs/starvla_rl_ga + mes_openvla/compiler_compat + -Wno-unused-result -Wsign-compare -DNDEBUG + -fwrapv -O2 -Wall -fPIC -O2 + -fno-merge-constants -isystem + /home/ubuntu/miniconda3/envs/starvla_rl_ga + mes_openvla/include -fPIC -O2 + -fno-merge-constants -isystem + /home/ubuntu/miniconda3/envs/starvla_rl_ga + mes_openvla/include -fPIC -c + /tmp/tmpznzglezy/test.c -o + /tmp/tmpznzglezy/test.o + INFO | >> gcc -pthread -B spawn.py:77 + /home/ubuntu/miniconda3/envs/starvla_rl_ga + mes_openvla/compiler_compat + /tmp/tmpznzglezy/test.o + -L/home/ubuntu/miniconda3/envs/starvla_rl_ + games_openvla + -L/home/ubuntu/miniconda3/envs/starvla_rl_ + games_openvla/lib64 -lcufile -o + /tmp/tmpznzglezy/a.out +[2026-09-25 05:18:09,240] [INFO] [real_accelerator.py:254:get_accelerator] Setting ds_accelerator to cuda (auto detect) +09/25 [05:18:09] INFO | >> gcc -pthread -B spawn.py:77 + /home/ubuntu/miniconda3/envs/starvla_rl_ga + mes_openvla/compiler_compat + -Wno-unused-result -Wsign-compare -DNDEBUG + -fwrapv -O2 -Wall -fPIC -O2 + -fno-merge-constants -isystem + /home/ubuntu/miniconda3/envs/starvla_rl_ga + mes_openvla/include -fPIC -O2 + -fno-merge-constants -isystem + /home/ubuntu/miniconda3/envs/starvla_rl_ga + mes_openvla/include -fPIC -c + /tmp/tmpkim5h081/test.c -o + /tmp/tmpkim5h081/test.o + INFO | >> gcc -pthread -B spawn.py:77 + /home/ubuntu/miniconda3/envs/starvla_rl_ga + mes_openvla/compiler_compat + /tmp/tmpkim5h081/test.o -laio -o + /tmp/tmpkim5h081/a.out + INFO | >> gcc -pthread -B spawn.py:77 + /home/ubuntu/miniconda3/envs/starvla_rl_ga + mes_openvla/compiler_compat + -Wno-unused-result -Wsign-compare -DNDEBUG + -fwrapv -O2 -Wall -fPIC -O2 + -fno-merge-constants -isystem + /home/ubuntu/miniconda3/envs/starvla_rl_ga + mes_openvla/include -fPIC -O2 + -fno-merge-constants -isystem + /home/ubuntu/miniconda3/envs/starvla_rl_ga + mes_openvla/include -fPIC -c + /tmp/tmpc6v0rqdx/test.c -o + /tmp/tmpc6v0rqdx/test.o + INFO | >> gcc -pthread -B spawn.py:77 + /home/ubuntu/miniconda3/envs/starvla_rl_ga + mes_openvla/compiler_compat + /tmp/tmpc6v0rqdx/test.o + -L/home/ubuntu/miniconda3/envs/starvla_rl_ + games_openvla + -L/home/ubuntu/miniconda3/envs/starvla_rl_ + games_openvla/lib64 -lcufile -o + /tmp/tmpc6v0rqdx/a.out +[2026-09-25 05:18:09,417] [INFO] [comm.py:669:init_distributed] cdb=None +[2026-09-25 05:18:09,648] [INFO] [comm.py:669:init_distributed] cdb=None +[2026-09-25 05:18:09,648] [INFO] [comm.py:700:init_distributed] Initializing TorchBackend in DeepSpeed with backend nccl + INFO | >> VLA Training :: Warming Up train_starvla.py:2606 + INFO | >> ✅ Configuration wrapped train_starvla.py:2617 + for access tracking + INFO | >> VLA Training :: Warming Up train_starvla.py:2606 +09/25 [05:18:10] INFO | >> ✅ Configuration wrapped train_starvla.py:2617 + for access tracking +[QWen3] loading /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17 with gradient_checkpointing=False + Loading checkpoint shards: 0%| | 0/2 [00:00> Creating VLA Dataset with train_starvla.py:472 + Mixture `train` +Distributed environment: DEEPSPEED Backend: nccl +Num processes: 2 +Process index: 0 +Local process index: 0 +Device: cuda:0 + +Mixed precision type: bf16 +ds_config: {'fp16': {'enabled': False}, 'bf16': {'enabled': True}, 'train_micro_batch_size_per_gpu': 'auto', 'train_batch_size': 'auto', 'gradient_accumulation_steps': 'auto', 'zero_optimization': {'stage': 2, 'allgather_partitions': True, 'allgather_bucket_size': 200000000.0, 'reduce_scatter': True, 'reduce_bucket_size': 200000000.0, 'overlap_comm': False, 'contiguous_gradients': False, 'cpu_offload': False}, 'gradient_clipping': 1.0, 'steps_per_print': inf} + +09/25 [05:18:11] INFO | >> Creating VLA Dataset with train_starvla.py:472 + Mixture `train` +09/25 [05:18:11] INFO | >> Loaded mixtures from Behavior registry.py:113 + (data_config): ['BEHAVIOR_challenge'] + INFO | >> Loaded data_config from DOMINO: registry.py:107 + ['robotwin'] + INFO | >> Loaded embodiment_tags from registry.py:110 + DOMINO (data_config): [] + INFO | >> Loaded mixtures from DOMINO registry.py:113 + (data_config): ['domino', + 'domino_clean', 'domino_random', + 'domino_cotrain'] + INFO | >> Loaded data_config from Franka: registry.py:107 + ['custom_robot_config', + 'demo_sim_franka_delta_joints', + 'SO101'] + INFO | >> Loaded embodiment_tags from registry.py:110 + Franka (data_config): [] + INFO | >> Loaded mixtures from Franka registry.py:113 + (data_config): ['custom_dataset', + 'custom_dataset_2', + 'demo_sim_pick_place', 'SO101_pick'] + INFO | >> Loaded data_config from LIBERO: registry.py:107 + ['libero_franka'] + INFO | >> Loaded embodiment_tags from registry.py:110 + LIBERO (data_config): [] + INFO | >> Loaded mixtures from LIBERO registry.py:113 + (data_config): ['libero_all', + 'libero_goal', 'multi_robot'] + INFO | >> Loaded data_config from MIKASA: registry.py:107 + ['mikasa_franka_h1'] + INFO | >> Loaded embodiment_tags from registry.py:110 + MIKASA (data_config): + ['mikasa_franka_h1'] + INFO | >> Loaded mixtures from MIKASA registry.py:113 + (data_config): + ['local/intercept_grab_fast_vla_v0_h1_ + train'] + INFO | >> Loaded data_config from registry.py:107 + RoboChallenge_table30v2: + ['ur5_robochallenge', + 'arx5_robochallenge', + 'dosw1_robochallenge'] + INFO | >> Loaded embodiment_tags from registry.py:110 + RoboChallenge_table30v2 (data_config): + ['ur5_robochallenge', + 'arx5_robochallenge', + 'dosw1_robochallenge'] + INFO | >> Loaded mixtures from registry.py:113 + RoboChallenge_table30v2 (data_config): + ['robochallenge_table30v2_shred_paper' + , 'robochallenge_table30v2_ur5_all', + 'robochallenge_table30v2_arx5_all', + 'robochallenge_table30v2_dosw1_all'] + INFO | >> Loaded data_config from registry.py:107 + Robocasa_365: + ['panda_omron_robocasa365'] + INFO | >> Loaded embodiment_tags from registry.py:110 + Robocasa_365 (data_config): [] + INFO | >> Loaded mixtures from registry.py:113 + Robocasa_365 (data_config): + ['robocasa365_open_drawer_target_human + ', + 'robocasa365_atomic_target_human_all', + 'robocasa365_composite_target_human_al + l', 'robocasa365_target_human_all'] + INFO | >> Loaded data_config from registry.py:107 + Robocasa_tabletop: + ['fourier_gr1_arms_waist'] + INFO | >> Loaded embodiment_tags from registry.py:110 + Robocasa_tabletop (data_config): [] + INFO | >> Loaded mixtures from registry.py:113 + Robocasa_tabletop (data_config): + ['fourier_gr1_unified_1000'] + INFO | >> Loaded data_config from registry.py:107 + Robotwin: ['robotwin', 'robotwin50', + 'arx_x5'] + INFO | >> Loaded embodiment_tags from registry.py:110 + Robotwin (data_config): [] + INFO | >> Loaded mixtures from Robotwin registry.py:113 + (data_config): ['robotwin_all', + 'robotwin_all_50', 'robotwin', + 'robotwin_task1', 'robotwin_task2', + 'arx_x5'] + INFO | >> Loaded data_config from registry.py:107 + SimplerEnv: ['oxe_droid', + 'oxe_bridge', 'oxe_rt1'] + INFO | >> Loaded embodiment_tags from registry.py:110 + SimplerEnv (data_config): [] + INFO | >> Loaded mixtures from SimplerEnv registry.py:113 + (data_config): ['bridge', + 'bridge_rt_1'] + INFO | >> Loaded data_config from registry.py:107 + VLA-Arena: ['vla_arena_franka'] + INFO | >> Loaded embodiment_tags from registry.py:110 + VLA-Arena (data_config): [] + INFO | >> Loaded mixtures from VLA-Arena registry.py:113 + (data_config): ['vla_arena_L0_S', + 'vla_arena_L0_M', 'vla_arena_L0_L'] + INFO | >> Loaded data_config from registry.py:107 + rl_games: ['rl_games_flappy', + 'rl_games_demon_attack', + 'rl_games_defend_the_line', + 'rl_games_deadly_corridor', + 'rl_games_asterix', + 'rl_games_atlantis', + 'rl_games_gymnasium', + 'rl_games_gymnasium_discrete', + 'rl_games_gymnasium_native'] + INFO | >> Loaded embodiment_tags from registry.py:110 + rl_games (data_config): + ['rl_games_flappy', + 'rl_games_demon_attack', + 'rl_games_defend_the_line', + 'rl_games_deadly_corridor', + 'rl_games_asterix', + 'rl_games_atlantis', + 'rl_games_gymnasium', + 'rl_games_gymnasium_discrete', + 'rl_games_gymnasium_native'] + INFO | >> Loaded mixtures from rl_games registry.py:113 + (data_config): ['flappy_train', + 'flappy_train__bridge', + 'flappy_mixed_latency_train', + 'flappy_mixed_latency_train__bridge', + 'demon_attack_train', + 'demon_attack_train__bridge', + 'demon_attack_mixed_latency_train', + 'demon_attack_mixed_latency_train__bri + dge', 'defend_the_line_train', + 'defend_the_line_train__bridge', + 'defend_the_line_mixed_latency_train', + 'defend_the_line_mixed_latency_train__ + bridge', 'deadly_corridor_train', + 'deadly_corridor_train__bridge', + 'deadly_corridor_mixed_latency_train', + 'deadly_corridor_mixed_latency_train__ + bridge', 'asterix_train', + 'asterix_train__bridge', + 'asterix_mixed_latency_train', + 'asterix_mixed_latency_train__bridge', + 'atlantis_train', + 'atlantis_train__bridge', + 'atlantis_mixed_latency_train', + 'atlantis_mixed_latency_train__bridge' + , 'h1hand_balance_hard'] + INFO | >> Loaded custom mixtures from registry.py:160 + /home/ubuntu/codex/mikasa-prefix63-res + tart-20260925/outputs/starvla/runs/mik + asa_intercept_grab_fast/fixed1-prefix6 + 3-restart-20260925/sft/bootstrap_mixtu + re.json: ['train', 'validation'] + INFO | >> Loaded custom mixtures from registry.py:160 + /home/ubuntu/codex/mikasa-prefix63-res + tart-20260925/outputs/starvla/runs/mik + asa_intercept_grab_fast/fixed1-prefix6 + 3-restart-20260925/sft/bootstrap_mixtu + re.json: ['train', 'validation'] + INFO | >> Loaded mixtures from Behavior registry.py:113 + (data_config): ['BEHAVIOR_challenge'] + INFO | >> Loaded data_config from DOMINO: registry.py:107 + ['robotwin'] + INFO | >> Loaded embodiment_tags from registry.py:110 + DOMINO (data_config): [] + INFO | >> Loaded mixtures from DOMINO registry.py:113 + (data_config): ['domino', + 'domino_clean', 'domino_random', + 'domino_cotrain'] + INFO | >> Loaded data_config from Franka: registry.py:107 + ['custom_robot_config', + 'demo_sim_franka_delta_joints', + 'SO101'] + INFO | >> Loaded embodiment_tags from registry.py:110 + Franka (data_config): [] + INFO | >> Loaded mixtures from Franka registry.py:113 + (data_config): ['custom_dataset', + 'custom_dataset_2', + 'demo_sim_pick_place', 'SO101_pick'] + INFO | >> Loaded data_config from LIBERO: registry.py:107 + ['libero_franka'] + INFO | >> Loaded embodiment_tags from registry.py:110 + LIBERO (data_config): [] + INFO | >> Loaded mixtures from LIBERO registry.py:113 + (data_config): ['libero_all', + 'libero_goal', 'multi_robot'] + INFO | >> Loaded data_config from MIKASA: registry.py:107 + ['mikasa_franka_h1'] + INFO | >> Loaded embodiment_tags from registry.py:110 + MIKASA (data_config): + ['mikasa_franka_h1'] + INFO | >> Loaded mixtures from MIKASA registry.py:113 + (data_config): + ['local/intercept_grab_fast_vla_v0_h1_ + train'] + INFO | >> Loaded data_config from registry.py:107 + RoboChallenge_table30v2: + ['ur5_robochallenge', + 'arx5_robochallenge', + 'dosw1_robochallenge'] + INFO | >> Loaded embodiment_tags from registry.py:110 + RoboChallenge_table30v2 (data_config): + ['ur5_robochallenge', + 'arx5_robochallenge', + 'dosw1_robochallenge'] + INFO | >> Loaded mixtures from registry.py:113 + RoboChallenge_table30v2 (data_config): + ['robochallenge_table30v2_shred_paper' + , 'robochallenge_table30v2_ur5_all', + 'robochallenge_table30v2_arx5_all', + 'robochallenge_table30v2_dosw1_all'] + INFO | >> Loaded data_config from registry.py:107 + Robocasa_365: + ['panda_omron_robocasa365'] + INFO | >> Loaded embodiment_tags from registry.py:110 + Robocasa_365 (data_config): [] + INFO | >> Loaded mixtures from registry.py:113 + Robocasa_365 (data_config): + ['robocasa365_open_drawer_target_human + ', + 'robocasa365_atomic_target_human_all', + 'robocasa365_composite_target_human_al + l', 'robocasa365_target_human_all'] + INFO | >> Loaded data_config from registry.py:107 + Robocasa_tabletop: + ['fourier_gr1_arms_waist'] + INFO | >> Loaded embodiment_tags from registry.py:110 + Robocasa_tabletop (data_config): [] + INFO | >> Loaded mixtures from registry.py:113 + Robocasa_tabletop (data_config): + ['fourier_gr1_unified_1000'] + INFO | >> Loaded data_config from registry.py:107 + Robotwin: ['robotwin', 'robotwin50', + 'arx_x5'] + INFO | >> Loaded embodiment_tags from registry.py:110 + Robotwin (data_config): [] + INFO | >> Loaded mixtures from Robotwin registry.py:113 + (data_config): ['robotwin_all', + 'robotwin_all_50', 'robotwin', + 'robotwin_task1', 'robotwin_task2', + 'arx_x5'] + INFO | >> Loaded data_config from registry.py:107 + SimplerEnv: ['oxe_droid', + 'oxe_bridge', 'oxe_rt1'] + INFO | >> Loaded embodiment_tags from registry.py:110 + SimplerEnv (data_config): [] + INFO | >> Loaded mixtures from SimplerEnv registry.py:113 + (data_config): ['bridge', + 'bridge_rt_1'] + INFO | >> Loaded data_config from registry.py:107 + VLA-Arena: ['vla_arena_franka'] + INFO | >> Loaded embodiment_tags from registry.py:110 + VLA-Arena (data_config): [] + INFO | >> Loaded mixtures from VLA-Arena registry.py:113 + (data_config): ['vla_arena_L0_S', + 'vla_arena_L0_M', 'vla_arena_L0_L'] + INFO | >> Loaded data_config from registry.py:107 + rl_games: ['rl_games_flappy', + 'rl_games_demon_attack', + 'rl_games_defend_the_line', + 'rl_games_deadly_corridor', + 'rl_games_asterix', + 'rl_games_atlantis', + 'rl_games_gymnasium', + 'rl_games_gymnasium_discrete', + 'rl_games_gymnasium_native'] + INFO | >> Loaded embodiment_tags from registry.py:110 + rl_games (data_config): + ['rl_games_flappy', + 'rl_games_demon_attack', + 'rl_games_defend_the_line', + 'rl_games_deadly_corridor', + 'rl_games_asterix', + 'rl_games_atlantis', + 'rl_games_gymnasium', + 'rl_games_gymnasium_discrete', + 'rl_games_gymnasium_native'] + INFO | >> Loaded mixtures from rl_games registry.py:113 + (data_config): ['flappy_train', + 'flappy_train__bridge', + 'flappy_mixed_latency_train', + 'flappy_mixed_latency_train__bridge', + 'demon_attack_train', + 'demon_attack_train__bridge', + 'demon_attack_mixed_latency_train', + 'demon_attack_mixed_latency_train__bri + dge', 'defend_the_line_train', + 'defend_the_line_train__bridge', + 'defend_the_line_mixed_latency_train', + 'defend_the_line_mixed_latency_train__ + bridge', 'deadly_corridor_train', + 'deadly_corridor_train__bridge', + 'deadly_corridor_mixed_latency_train', + 'deadly_corridor_mixed_latency_train__ + bridge', 'asterix_train', + 'asterix_train__bridge', + 'asterix_mixed_latency_train', + 'asterix_mixed_latency_train__bridge', + 'atlantis_train', + 'atlantis_train__bridge', + 'atlantis_mixed_latency_train', + 'atlantis_mixed_latency_train__bridge' + , 'h1hand_balance_hard'] + INFO | >> Loaded custom mixtures from registry.py:160 + /home/ubuntu/codex/mikasa-prefix63-res + tart-20260925/outputs/starvla/runs/mik + asa_intercept_grab_fast/fixed1-prefix6 + 3-restart-20260925/sft/bootstrap_mixtu + re.json: ['train', 'validation'] + INFO | >> Loaded custom mixtures from registry.py:160 + /home/ubuntu/codex/mikasa-prefix63-res + tart-20260925/outputs/starvla/runs/mik + asa_intercept_grab_fast/fixed1-prefix6 + 3-restart-20260925/sft/bootstrap_mixtu + re.json: ['train', 'validation'] +/home/ubuntu/miniconda3/envs/starvla_rl_games_openvla/lib/python3.10/site-packages/torch/distributed/c10d_logger.py:83: UserWarning: barrier(): using the device under current context. You can specify `device_id` in `init_process_group` to mute this warning. + return func(*args, **kwargs) +[rank0]:[W925 05:18:11.640580996 ProcessGroupNCCL.cpp:5188] Guessing device ID based on global rank. This can cause a hang if rank to GPU mapping is heterogeneous. 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+{'observation.images.top': {'chunk_index': 0, 'file_index': 0}, 'observation.images.wrist': {'chunk_index': 0, 'file_index': 0}} +{'observation.images.top': {'chunk_index': 0, 'file_index': 0}, 'observation.images.wrist': {'chunk_index': 0, 'file_index': 0}} +{'observation.images.top': {'chunk_index': 0, 'file_index': 0}, 'observation.images.wrist': {'chunk_index': 0, 'file_index': 0}} +{'observation.images.top': {'chunk_index': 0, 'file_index': 0}, 'observation.images.wrist': {'chunk_index': 0, 'file_index': 0}} +{'observation.images.top': {'chunk_index': 0, 'file_index': 0}, 'observation.images.wrist': {'chunk_index': 0, 'file_index': 0}} +{'observation.images.top': {'chunk_index': 0, 'file_index': 0}, 'observation.images.wrist': {'chunk_index': 0, 'file_index': 0}} +{'observation.images.top': {'chunk_index': 0, 'file_index': 0}, 'observation.images.wrist': {'chunk_index': 0, 'file_index': 0}} +{'observation.images.top': {'chunk_index': 0, 'file_index': 0}, 'observation.images.wrist': {'chunk_index': 0, 'file_index': 0}} +{'observation.images.top': {'chunk_index': 0, 'file_index': 0}, 'observation.images.wrist': {'chunk_index': 0, 'file_index': 0}} +{'observation.images.top': {'chunk_index': 0, 'file_index': 0}, 'observation.images.wrist': {'chunk_index': 0, 'file_index': 0}} +{'observation.images.top': {'chunk_index': 0, 'file_index': 0}, 'observation.images.wrist': {'chunk_index': 0, 'file_index': 0}} +{'observation.images.top': {'chunk_index': 0, 'file_index': 0}, 'observation.images.wrist': {'chunk_index': 0, 'file_index': 0}} +{'observation.images.top': {'chunk_index': 0, 'file_index': 0}, 'observation.images.wrist': {'chunk_index': 0, 'file_index': 0}} +{'observation.images.top': {'chunk_index': 0, 'file_index': 0}, 'observation.images.wrist': {'chunk_index': 0, 'file_index': 0}} + Getting All Step: 0%| | 0/286 [00:00> Creating VLA Eval Dataset train_starvla.py:477 + with Mixture `validation` + INFO | >> Loaded custom mixtures from registry.py:160 + /home/ubuntu/codex/mikasa-prefix63-res + tart-20260925/outputs/starvla/runs/mik + asa_intercept_grab_fast/fixed1-prefix6 + 3-restart-20260925/sft/bootstrap_mixtu + re.json: ['train', 'validation'] + INFO | >> Loaded custom mixtures from registry.py:160 + /home/ubuntu/codex/mikasa-prefix63-res + tart-20260925/outputs/starvla/runs/mik + asa_intercept_grab_fast/fixed1-prefix6 + 3-restart-20260925/sft/bootstrap_mixtu + re.json: ['train', 'validation'] +Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT +Dataset lengths: [10079] +Merged dataset statistics saved to: /home/ubuntu/codex/mikasa-prefix63-restart-20260925/outputs/starvla/runs/mikasa_intercept_grab_fast/fixed1-prefix63-restart-20260925/sft/training/bootstrap/dataset_statistics.json +Used action keys (reordered): ['target'] +Used state keys (reordered): ['proprio'] +09/25 [05:18:12] INFO | >> Creating VLA Eval Dataset train_starvla.py:477 + with Mixture `validation` + INFO | >> Loaded custom mixtures 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+{'observation.images.top': {'chunk_index': 0, 'file_index': 0}, 'observation.images.wrist': {'chunk_index': 0, 'file_index': 0}} +{'observation.images.top': {'chunk_index': 0, 'file_index': 0}, 'observation.images.wrist': {'chunk_index': 0, 'file_index': 0}} +{'observation.images.top': {'chunk_index': 0, 'file_index': 0}, 'observation.images.wrist': {'chunk_index': 0, 'file_index': 0}} +{'observation.images.top': {'chunk_index': 0, 'file_index': 0}, 'observation.images.wrist': {'chunk_index': 0, 'file_index': 0}} + Getting All Step: 0%| | 0/34 [00:00> LR Group action_model: train_starvla.py:512 + lr=0.0001, num_params=18 + INFO | >> LR Group base: lr=3e-05, train_starvla.py:512 + num_params=713 + INFO | >> No pretrained checkpoint train_starvla.py:784 + provided. Starting training from + scratch. +############################## + +[2026-09-25 05:18:12,797] [INFO] [config.py:735:__init__] Config mesh_device None world_size = 2 +[2026-09-25 05:18:12,797] [WARNING] [config_utils.py:70:_process_deprecated_field] Config parameter cpu_offload is deprecated use offload_optimizer instead + INFO | >> 📝 Full config saved at train_starvla.py:731 + /home/ubuntu/codex/mikasa-prefix6 + 3-restart-20260925/outputs/starvl + a/runs/mikasa_intercept_grab_fast + /fixed1-prefix63-restart-20260925 + /sft/training/bootstrap/config.fu + ll.yaml + INFO | >> 📊 Accessed config snapshot train_starvla.py:736 + saved at + /home/ubuntu/codex/mikasa-prefix6 + 3-restart-20260925/outputs/starvl + a/runs/mikasa_intercept_grab_fast + /fixed1-prefix63-restart-20260925 + /sft/training/bootstrap/config.ya + ml + INFO | >> No pretrained checkpoint train_starvla.py:784 + provided. Starting training from + scratch. +############################## + +🔒 Frozen modules with re pattern: [] +📊 model parameter statistics: +# Parameters (in millions): 4503.603 Total, 4503.603 Trainable +[2026-09-25 05:18:12,813] [INFO] [logging.py:107:log_dist] [Rank 0] DeepSpeed info: version=0.16.9, git-hash=unknown, git-branch=unknown +[2026-09-25 05:18:12,813] [INFO] [config.py:735:__init__] Config mesh_device None world_size = 2 +[2026-09-25 05:18:12,813] [WARNING] [config_utils.py:70:_process_deprecated_field] Config parameter cpu_offload is deprecated use offload_optimizer instead +[2026-09-25 05:18:14,804] [INFO] [logging.py:107:log_dist] [Rank 0] DeepSpeed Flops Profiler Enabled: False +[2026-09-25 05:18:14,806] [INFO] [logging.py:107:log_dist] [Rank 0] Using client Optimizer as basic optimizer +[2026-09-25 05:18:14,806] [INFO] [logging.py:107:log_dist] [Rank 0] Removing param_group that has no 'params' in the basic Optimizer +[2026-09-25 05:18:14,954] [INFO] [logging.py:107:log_dist] [Rank 0] DeepSpeed Basic Optimizer = AdamW +[2026-09-25 05:18:14,954] [INFO] [utils.py:59:is_zero_supported_optimizer] Checking ZeRO support for optimizer=AdamW type= +[2026-09-25 05:18:14,954] [INFO] [logging.py:107:log_dist] [Rank 0] Creating torch.bfloat16 ZeRO stage 2 optimizer +[2026-09-25 05:18:14,954] [INFO] [stage_1_and_2.py:150:__init__] Reduce bucket size 200000000 +[2026-09-25 05:18:14,954] [INFO] [stage_1_and_2.py:151:__init__] Allgather bucket size 200000000 +[2026-09-25 05:18:14,954] [INFO] [stage_1_and_2.py:152:__init__] CPU Offload: False +[2026-09-25 05:18:14,954] [INFO] [stage_1_and_2.py:153:__init__] Round robin gradient partitioning: False +[2026-09-25 05:18:21,611] [INFO] [utils.py:781:see_memory_usage] Before initializing optimizer states +[2026-09-25 05:18:21,612] [INFO] [utils.py:782:see_memory_usage] MA 16.78 GB Max_MA 20.91 GB CA 20.96 GB Max_CA 21 GB +[2026-09-25 05:18:21,612] [INFO] [utils.py:789:see_memory_usage] CPU Virtual Memory: used = 41.01 GB, percent = 1.4% +[2026-09-25 05:18:21,769] [INFO] [utils.py:781:see_memory_usage] After initializing optimizer states +[2026-09-25 05:18:21,769] [INFO] [utils.py:782:see_memory_usage] MA 16.78 GB Max_MA 25.17 GB CA 29.22 GB Max_CA 29 GB +[2026-09-25 05:18:21,769] [INFO] [utils.py:789:see_memory_usage] CPU Virtual Memory: used = 41.02 GB, percent = 1.4% +[2026-09-25 05:18:21,769] [INFO] [stage_1_and_2.py:557:__init__] optimizer state initialized +[2026-09-25 05:18:21,850] [INFO] [utils.py:781:see_memory_usage] After initializing ZeRO optimizer +[2026-09-25 05:18:21,851] [INFO] [utils.py:782:see_memory_usage] MA 16.78 GB Max_MA 16.78 GB CA 29.22 GB Max_CA 29 GB +[2026-09-25 05:18:21,851] [INFO] [utils.py:789:see_memory_usage] CPU Virtual Memory: used = 41.02 GB, percent = 1.4% +[2026-09-25 05:18:21,855] [INFO] [logging.py:107:log_dist] [Rank 0] DeepSpeed Final Optimizer = DeepSpeedZeroOptimizer +[2026-09-25 05:18:21,855] [INFO] [logging.py:107:log_dist] [Rank 0] DeepSpeed using configured LR scheduler = None +[2026-09-25 05:18:21,855] [INFO] [logging.py:107:log_dist] [Rank 0] DeepSpeed LR Scheduler = None +[2026-09-25 05:18:21,855] [INFO] [logging.py:107:log_dist] [Rank 0] step=0, skipped=0, lr=[0.0, 0.0], mom=[(0.9, 0.95), (0.9, 0.95)] +[2026-09-25 05:18:21,857] [INFO] [config.py:1003:print] DeepSpeedEngine configuration: +[2026-09-25 05:18:21,857] [INFO] [config.py:1007:print] activation_checkpointing_config { + "partition_activations": false, + "contiguous_memory_optimization": false, + "cpu_checkpointing": false, + "number_checkpoints": null, + "synchronize_checkpoint_boundary": false, + "profile": false +} +[2026-09-25 05:18:21,857] [INFO] [config.py:1007:print] aio_config ................... {'block_size': 1048576, 'queue_depth': 8, 'intra_op_parallelism': 1, 'single_submit': False, 'overlap_events': True, 'use_gds': False} +[2026-09-25 05:18:21,857] [INFO] [config.py:1007:print] amp_enabled .................. False +[2026-09-25 05:18:21,857] [INFO] [config.py:1007:print] amp_params ................... False +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] autotuning_config ............ { + "enabled": false, + "start_step": null, + "end_step": null, + "metric_path": null, + "arg_mappings": null, + "metric": "throughput", + "model_info": null, + "results_dir": "autotuning_results", + "exps_dir": "autotuning_exps", + "overwrite": true, + "fast": true, + "start_profile_step": 3, + "end_profile_step": 5, + "tuner_type": "gridsearch", + "tuner_early_stopping": 5, + "tuner_num_trials": 50, + "model_info_path": null, + "mp_size": 1, + "max_train_batch_size": null, + "min_train_batch_size": 1, + "max_train_micro_batch_size_per_gpu": 1.024000e+03, + "min_train_micro_batch_size_per_gpu": 1, + "num_tuning_micro_batch_sizes": 3 +} +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] bfloat16_enabled ............. True +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] bfloat16_immediate_grad_update True +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] checkpoint_parallel_write_pipeline False +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] checkpoint_tag_validation_enabled True +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] checkpoint_tag_validation_fail False +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] comms_config ................. +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] communication_data_type ...... None +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] compile_config ............... deepcompile=False free_activation=False offload_activation=False offload_opt_states=False double_buffer=True symmetric_memory=False debug_log=False offload_parameters=False sync_before_reduce=False sync_after_reduce=False sync_before_allgather=False sync_after_allgather=False +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] compression_config ........... {'weight_quantization': {'shared_parameters': {'enabled': False, 'quantizer_kernel': False, 'schedule_offset': 0, 'quantize_groups': 1, 'quantize_verbose': False, 'quantization_type': 'symmetric', 'quantize_weight_in_forward': False, 'rounding': 'nearest', 'fp16_mixed_quantize': False, 'quantize_change_ratio': 0.001}, 'different_groups': {}}, 'activation_quantization': {'shared_parameters': {'enabled': False, 'quantization_type': 'symmetric', 'range_calibration': 'dynamic', 'schedule_offset': 1000}, 'different_groups': {}}, 'sparse_pruning': {'shared_parameters': {'enabled': False, 'method': 'l1', 'schedule_offset': 1000}, 'different_groups': {}}, 'row_pruning': {'shared_parameters': {'enabled': False, 'method': 'l1', 'schedule_offset': 1000}, 'different_groups': {}}, 'head_pruning': {'shared_parameters': {'enabled': False, 'method': 'topk', 'schedule_offset': 1000}, 'different_groups': {}}, 'channel_pruning': {'shared_parameters': {'enabled': False, 'method': 'l1', 'schedule_offset': 1000}, 'different_groups': {}}, 'layer_reduction': {'enabled': False}} +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] curriculum_enabled_legacy .... False +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] curriculum_params_legacy ..... False +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] data_efficiency_config ....... {'enabled': False, 'seed': 1234, 'data_sampling': {'enabled': False, 'num_epochs': 1000, 'num_workers': 0, 'pin_memory': False, 'curriculum_learning': {'enabled': False}, 'dynamic_batching': {'enabled': False, 'lr_scaling_method': 'linear', 'min_batch_size': 1, 'max_batch_size': None, 'sequence_picking_order': 'dataloader', 'verbose': False}}, 'data_routing': {'enabled': False, 'random_ltd': {'enabled': False, 'layer_token_lr_schedule': {'enabled': False}}}} +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] data_efficiency_enabled ...... False +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] dataloader_drop_last ......... False +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] disable_allgather ............ False +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] dump_state ................... False +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] dynamic_loss_scale_args ...... None +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] eigenvalue_enabled ........... False +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] eigenvalue_gas_boundary_resolution 1 +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] eigenvalue_layer_name ........ bert.encoder.layer +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] eigenvalue_layer_num ......... 0 +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] eigenvalue_max_iter .......... 100 +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] eigenvalue_stability ......... 1e-06 +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] eigenvalue_tol ............... 0.01 +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] eigenvalue_verbose ........... False +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] elasticity_enabled ........... False +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] flops_profiler_config ........ { + "enabled": false, + "recompute_fwd_factor": 0.0, + "profile_step": 1, + "module_depth": -1, + "top_modules": 1, + "detailed": true, + "output_file": null +} +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] fp16_auto_cast ............... None +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] fp16_enabled ................. False +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] fp16_master_weights_and_gradients False +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] global_rank .................. 0 +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] grad_accum_dtype ............. None +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] gradient_accumulation_steps .. 1 +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] gradient_clipping ............ 1.0 +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] gradient_predivide_factor .... 1.0 +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] graph_harvesting ............. False +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] hybrid_engine ................ enabled=False max_out_tokens=512 inference_tp_size=1 release_inference_cache=False pin_parameters=True tp_gather_partition_size=8 +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] initial_dynamic_scale ........ 1 +[2026-09-25 05:18:21,858] [INFO] [config.py:1007:print] load_universal_checkpoint .... False +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] loss_scale ................... 1.0 +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] memory_breakdown ............. False +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] mics_hierarchial_params_gather False +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] mics_shard_size .............. -1 +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] monitor_config ............... tensorboard=TensorBoardConfig(enabled=False, output_path='', job_name='DeepSpeedJobName') comet=CometConfig(enabled=False, samples_log_interval=100, project=None, workspace=None, api_key=None, experiment_name=None, experiment_key=None, online=None, mode=None) wandb=WandbConfig(enabled=False, group=None, team=None, project='deepspeed') csv_monitor=CSVConfig(enabled=False, output_path='', job_name='DeepSpeedJobName') +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] nebula_config ................ { + "enabled": false, + "persistent_storage_path": null, + "persistent_time_interval": 100, + "num_of_version_in_retention": 2, + "enable_nebula_load": true, + "load_path": null +} +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] optimizer_legacy_fusion ...... False +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] optimizer_name ............... None +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] optimizer_params ............. None +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] pipeline ..................... {'stages': 'auto', 'partition': 'best', 'seed_layers': False, 'activation_checkpoint_interval': 0, 'pipe_partitioned': True, 'grad_partitioned': True} +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] pld_enabled .................. False +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] pld_params ................... False +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] prescale_gradients ........... False +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] scheduler_name ............... None +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] scheduler_params ............. None +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] seq_parallel_communication_data_type torch.float32 +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] sparse_attention ............. None +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] sparse_gradients_enabled ..... False +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] steps_per_print .............. inf +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] tensor_parallel_config ....... dtype=torch.float16 autotp_size=0 tp_overlap_comm=False tensor_parallel=TPConfig(tp_size=1, tp_grain_size=1, mpu=None, tp_group=None) injection_policy_tuple=None keep_module_on_host=False replace_with_kernel_inject=False +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] timers_config ................ enabled=True synchronized=True +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] train_batch_size ............. 128 +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] train_micro_batch_size_per_gpu 64 +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] use_data_before_expert_parallel_ False +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] use_node_local_storage ....... False +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] wall_clock_breakdown ......... False +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] weight_quantization_config ... None +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] world_size ................... 2 +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] zero_allow_untested_optimizer True +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] zero_config .................. stage=2 contiguous_gradients=False reduce_scatter=True reduce_bucket_size=200000000 use_multi_rank_bucket_allreduce=True allgather_partitions=True allgather_bucket_size=200000000 overlap_comm=False load_from_fp32_weights=True elastic_checkpoint=False offload_param=None offload_optimizer=None sub_group_size=1000000000 cpu_offload_param=None cpu_offload_use_pin_memory=None prefetch_bucket_size=50000000 param_persistence_threshold=100000 model_persistence_threshold=9223372036854775807 max_live_parameters=1000000000 max_reuse_distance=1000000000 gather_16bit_weights_on_model_save=False module_granularity_threshold=0 use_all_reduce_for_fetch_params=False stage3_gather_fp16_weights_on_model_save=False ignore_unused_parameters=True legacy_stage1=False round_robin_gradients=False zero_hpz_partition_size=1 zero_quantized_weights=False zero_quantized_nontrainable_weights=False zero_quantized_gradients=False zeropp_loco_param=None mics_shard_size=-1 mics_hierarchical_params_gather=False memory_efficient_linear=True pipeline_loading_checkpoint=False override_module_apply=True log_trace_cache_warnings=False +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] zero_enabled ................. True +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] zero_force_ds_cpu_optimizer .. True +[2026-09-25 05:18:21,859] [INFO] [config.py:1007:print] zero_optimization_stage ...... 2 +[2026-09-25 05:18:21,859] [INFO] [config.py:993:print_user_config] json = { + "fp16": { + "enabled": false + }, + "bf16": { + "enabled": true + }, + "train_micro_batch_size_per_gpu": 64, + "train_batch_size": 128, + "gradient_accumulation_steps": 1, + "zero_optimization": { + "stage": 2, + "allgather_partitions": true, + "allgather_bucket_size": 2.000000e+08, + "reduce_scatter": true, + "reduce_bucket_size": 2.000000e+08, + "overlap_comm": false, + "contiguous_gradients": false, + "cpu_offload": false + }, + "gradient_clipping": 1.0, + "steps_per_print": inf, + "zero_allow_untested_optimizer": true +} +wandb: [wandb.login()] Loaded credentials for https://api.wandb.ai from WANDB_API_KEY. +wandb: Currently logged in as: saberrr (saberrr-zju) to https://api.wandb.ai. Use `wandb login --relogin` to force relogin +wandb: ERROR Failed to get resume status for run mikasa_conditioned_h8-qwenoft-fixed1-prefix63-restart-20260925-bootstrap: returned error 403: {"data":{"model":null},"errors":[{"message":"the provided API key cannot access this resource, check credentials","path":["model"]}]} +Traceback (most recent call last): + File "/home/ubuntu/codex/mikasa-prefix63-restart-20260925/third_party/starVLA/starVLA/training/train_starvla.py", line 2692, in + main(cfg) + File "/home/ubuntu/codex/mikasa-prefix63-restart-20260925/third_party/starVLA/starVLA/training/train_starvla.py", line 2640, in main + trainer.prepare_training() + File "/home/ubuntu/codex/mikasa-prefix63-restart-20260925/third_party/starVLA/starVLA/training/train_starvla.py", line 685, in prepare_training + self._init_wandb() + File "/home/ubuntu/codex/mikasa-prefix63-restart-20260925/third_party/starVLA/starVLA/training/train_starvla.py", line 700, in _init_wandb + wandb.init( + File "/home/ubuntu/miniconda3/envs/starvla_rl_games_openvla/lib/python3.10/site-packages/wandb/sdk/wandb_init.py", line 1603, in init + get_sentry().reraise(e) + File "/home/ubuntu/miniconda3/envs/starvla_rl_games_openvla/lib/python3.10/site-packages/wandb/analytics/sentry.py", line 190, in reraise + raise exc.with_traceback(tb) + File "/home/ubuntu/miniconda3/envs/starvla_rl_games_openvla/lib/python3.10/site-packages/wandb/sdk/wandb_init.py", line 1586, in init + run = wi.init(run_settings, run_config, run_printer) + File "/home/ubuntu/miniconda3/envs/starvla_rl_games_openvla/lib/python3.10/site-packages/wandb/sdk/wandb_init.py", line 1045, in init + raise error +wandb.errors.errors.CommError: Failed to get resume status for run mikasa_conditioned_h8-qwenoft-fixed1-prefix63-restart-20260925-bootstrap: returned error 403: {"data":{"model":null},"errors":[{"message":"the provided API key cannot access this resource, check credentials","path":["model"]}]} +[rank0]: Traceback (most recent call last): +[rank0]: File "/home/ubuntu/codex/mikasa-prefix63-restart-20260925/third_party/starVLA/starVLA/training/train_starvla.py", line 2692, in +[rank0]: main(cfg) +[rank0]: File "/home/ubuntu/codex/mikasa-prefix63-restart-20260925/third_party/starVLA/starVLA/training/train_starvla.py", line 2640, in main +[rank0]: trainer.prepare_training() +[rank0]: File "/home/ubuntu/codex/mikasa-prefix63-restart-20260925/third_party/starVLA/starVLA/training/train_starvla.py", line 685, in prepare_training +[rank0]: self._init_wandb() +[rank0]: File "/home/ubuntu/codex/mikasa-prefix63-restart-20260925/third_party/starVLA/starVLA/training/train_starvla.py", line 700, in _init_wandb +[rank0]: wandb.init( +[rank0]: File "/home/ubuntu/miniconda3/envs/starvla_rl_games_openvla/lib/python3.10/site-packages/wandb/sdk/wandb_init.py", line 1603, in init +[rank0]: get_sentry().reraise(e) +[rank0]: File "/home/ubuntu/miniconda3/envs/starvla_rl_games_openvla/lib/python3.10/site-packages/wandb/analytics/sentry.py", line 190, in reraise +[rank0]: raise exc.with_traceback(tb) +[rank0]: File "/home/ubuntu/miniconda3/envs/starvla_rl_games_openvla/lib/python3.10/site-packages/wandb/sdk/wandb_init.py", line 1586, in init +[rank0]: run = wi.init(run_settings, run_config, run_printer) +[rank0]: File "/home/ubuntu/miniconda3/envs/starvla_rl_games_openvla/lib/python3.10/site-packages/wandb/sdk/wandb_init.py", line 1045, in init +[rank0]: raise error +[rank0]: wandb.errors.errors.CommError: Failed to get resume status for run mikasa_conditioned_h8-qwenoft-fixed1-prefix63-restart-20260925-bootstrap: returned error 403: {"data":{"model":null},"errors":[{"message":"the provided API key cannot access this resource, check credentials","path":["model"]}]} +wandb: +wandb: Find logs at: ../../outputs/starvla/runs/mikasa_intercept_grab_fast/fixed1-prefix63-restart-20260925/sft/training/bootstrap/wandb/wandb/run-20260925_051822-mikasa_conditioned_h8-qwenoft-fixed1-prefix63-restart-20260925-bootstrap/logs +[rank0]:[W925 05:18:23.953047630 ProcessGroupNCCL.cpp:1575] Warning: WARNING: destroy_process_group() was not called before program exit, which can leak resources. For more info, please see https://pytorch.org/docs/stable/distributed.html#shutdown (function operator()) +W0925 05:18:24.982000 220785 site-packages/torch/distributed/elastic/multiprocessing/api.py:1012] Sending process 220948 closing signal SIGTERM +W0925 05:18:54.983000 220785 site-packages/torch/distributed/elastic/multiprocessing/api.py:1031] Unable to shutdown process 220948 via Signals.SIGTERM, forcefully exiting via Signals.SIGKILL +E0925 05:18:55.299000 220785 site-packages/torch/distributed/elastic/multiprocessing/api.py:986] failed (exitcode: 1) local_rank: 0 (pid: 220947) of binary: /home/ubuntu/miniconda3/envs/starvla_rl_games_openvla/bin/python +Traceback (most recent call last): + File "/home/ubuntu/miniconda3/envs/starvla_rl_games_openvla/lib/python3.10/runpy.py", line 196, in _run_module_as_main + return _run_code(code, main_globals, None, + File "/home/ubuntu/miniconda3/envs/starvla_rl_games_openvla/lib/python3.10/runpy.py", line 86, in _run_code + exec(code, run_globals) + File "/home/ubuntu/miniconda3/envs/starvla_rl_games_openvla/lib/python3.10/site-packages/accelerate/commands/launch.py", line 1204, in + main() + File "/home/ubuntu/miniconda3/envs/starvla_rl_games_openvla/lib/python3.10/site-packages/accelerate/commands/launch.py", line 1200, in main + launch_command(args) + File "/home/ubuntu/miniconda3/envs/starvla_rl_games_openvla/lib/python3.10/site-packages/accelerate/commands/launch.py", line 1177, in launch_command + deepspeed_launcher(args) + File "/home/ubuntu/miniconda3/envs/starvla_rl_games_openvla/lib/python3.10/site-packages/accelerate/commands/launch.py", line 863, in deepspeed_launcher + distrib_run.run(args) + File "/home/ubuntu/miniconda3/envs/starvla_rl_games_openvla/lib/python3.10/site-packages/torch/distributed/run.py", line 981, in run + elastic_launch( + File "/home/ubuntu/miniconda3/envs/starvla_rl_games_openvla/lib/python3.10/site-packages/torch/distributed/launcher/api.py", line 170, in __call__ + return launch_agent(self._config, self._entrypoint, list(args)) + File "/home/ubuntu/miniconda3/envs/starvla_rl_games_openvla/lib/python3.10/site-packages/torch/distributed/launcher/api.py", line 317, in launch_agent + raise ChildFailedError( +torch.distributed.elastic.multiprocessing.errors.ChildFailedError: +============================================================ +/home/ubuntu/codex/mikasa-prefix63-restart-20260925/third_party/starVLA/starVLA/training/train_starvla.py FAILED +------------------------------------------------------------ +Failures: +[1]: + time : 2026-09-25_05:18:55 + host : h200-8-asia-test-1.asia-south2-c.c.palpilot.internal + rank : 1 (local_rank: 1) + exitcode : -9 (pid: 220948) + error_file: + traceback : Signal 9 (SIGKILL) received by PID 220948 +------------------------------------------------------------ +Root Cause (first observed failure): +[0]: + time : 2026-09-25_05:18:24 + host : h200-8-asia-test-1.asia-south2-c.c.palpilot.internal + rank : 0 (local_rank: 0) + exitcode : 1 (pid: 220947) + error_file: + traceback : To enable traceback see: https://pytorch.org/docs/stable/elastic/errors.html +============================================================ diff --git a/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h8/fixed1-prefix63-restart-20260925/diagnostics/sft/bootstrap.yaml b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h8/fixed1-prefix63-restart-20260925/diagnostics/sft/bootstrap.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b79ae2dc267a7075ece8f19189bdbef5e3e343ea --- /dev/null +++ b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h8/fixed1-prefix63-restart-20260925/diagnostics/sft/bootstrap.yaml @@ -0,0 +1,95 @@ +run_id: bootstrap +wandb_name: mikasa_conditioned_h8-fixed-1-qwenoft +run_root_dir: /home/ubuntu/codex/mikasa-prefix63-restart-20260925/outputs/starvla/runs/mikasa_intercept_grab_fast/fixed1-prefix63-restart-20260925/sft/training +seed: 0 +wandb_project: starvla_tasks +wandb_entity: saberrr-zju +wandb_group: vla-train +wandb_tags: +- mikasa_conditioned_h8 +- h8 +- formal +- fixed-1 +training_latency_condition: fixed-1 +is_debug: false +version_id: '0.21' +framework: + name: QwenOFT + qwenvl: + base_vlm: /home/ubuntu/.cache/huggingface/hub/models--Qwen--Qwen3-VL-4B-Instruct/snapshots/ebb281ec70b05090aa6165b016eac8ec08e71b17 + enable_gradient_checkpointing: false + action_model: + action_dim: 7 + action_env_dim: 7 + state_dim: 63 + action_horizon: 8 + future_action_window_size: 7 + past_action_window_size: 0 + task_objective: null + state_encoding: continuous_projector + loss_type: l1 +datasets: + vla_data: + dataset_py: latency_bench_tasks + lerobot_version: v3.0 + include_state: true + task_contract_path: /home/ubuntu/codex/mikasa-prefix63-restart-20260925/outputs/starvla/datasets/mikasa_intercept_grab_fast/fixed1-prefix63-restart-20260925/fixed-1/lerobot/task_contract.json + data_root_dir: / + data_mix: train + eval_data_mix: validation + custom_mixtures_path: /home/ubuntu/codex/mikasa-prefix63-restart-20260925/outputs/starvla/runs/mikasa_intercept_grab_fast/fixed1-prefix63-restart-20260925/sft/bootstrap_mixture.json + sequential_step_sampling: true + per_device_batch_size: 64 + pin_memory: true + persistent_workers: true + num_workers: 8 + prefetch_factor: 3 + obs_image_size: + - 224 + - 224 + video_backend: pyav + image_mode: single + stitch_grid: + - 1 + - 2 + num_obs_frames: 1 +trainer: + max_train_steps: 5000 + num_warmup_steps: 100 + save_interval: 500 + eval_interval: 5000 + eval_num_batches: 1 + logging_frequency: 5 + learning_rate: + base: 3.0e-05 + action_model: 0.0001 + lr_scheduler_type: cosine_with_min_lr + scheduler_specific_kwargs: + min_lr: 1.0e-06 + freeze_modules: '' + freeze_vit: false + freeze_tied_embedding: false + freeze_llm_layers: [] + loss_scale: + vla: 1.0 + gradient_clipping: 1.0 + gradient_accumulation_steps: 1 + pretrained_checkpoint: null + is_resume: false + distributed_backend: deepspeed + optimizer: + name: AdamW + betas: + - 0.9 + - 0.95 + eps: 1.0e-08 + weight_decay: 1.0e-08 + fused: true + stop_after_steps: 5000 +checkpoint: + save_best_model: false + save_final_model: true + save_pt_file: true + save_training_state: true + local: + keep_last_n: 2 diff --git a/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h8/fixed1-prefix63-restart-20260925/diagnostics/sft/run.json b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h8/fixed1-prefix63-restart-20260925/diagnostics/sft/run.json new file mode 100644 index 0000000000000000000000000000000000000000..0ce69fd9c14e2b39244a6221023462a1253b5af8 --- /dev/null +++ b/latency-aware/mikasa-intercept-grab-fast/vla/starvla-qwenoft-h8/fixed1-prefix63-restart-20260925/diagnostics/sft/run.json @@ -0,0 +1,54 @@ +{ + "task": "mikasa_conditioned_h8", + "model": "qwenoft", + "run_id": "fixed1-prefix63-restart-20260925", + "smoke": false, + "teacher": { + "repo_id": "latency-sensitive-bench/benchmark-models", + "path": "zero-latency/mikasa-intercept-grab-fast/small-policy/ppo-v1/checkpoint.pt" + }, + "backbone": { + "repo_id": "Qwen/Qwen3-VL-4B-Instruct", + "allow_patterns": [ + "*.json", + "*.safetensors", + "*.txt", + "*.jinja", + "*.model" + ], + "revision": "ebb281ec70b05090aa6165b016eac8ec08e71b17" + }, + "code_revisions": { + "benchmark": { + "revision": "90b72fa0c5997f8f91c054aebaf93dfa9231794c", + "dirty": true + }, + "starvla": { + "revision": "3cadac2e264b5f0013a2d10d2551abfb0a41a081", + "dirty": false + }, + "mikasa": { + "revision": "017490bbb787c6efa8c025f9558e1a691965c0e0", + "dirty": false + } + }, + "datasets": [ + { + "repo_id": "latency-sensitive-bench/benchmark-datasets", + "path": "fixed-1/mikasa-intercept-grab-fast/teacher-rollouts-h8-state-v1", + "local_dir": "/home/ubuntu/codex/mikasa-prefix63-restart-20260925/outputs/starvla/datasets/mikasa_intercept_grab_fast/fixed1-prefix63-restart-20260925/fixed-1", + "revision": null, + "condition": "fixed-1", + "action_horizon": 8 + } + ], + "seed": 0, + "condition": "fixed-1", + "no_publish": true, + "dagger_rounds": 10, + "evaluation": { + "seed": 4242424242, + "episodes": 100, + "every_round": false + } +}