Upload settings

.gitattributes

@@ -45,3 +45,13 @@ settings/qwen_bridge/common_start/valid_anchor_manifest.json filter=lfs diff=lfs
 settings/qwen_bridge/frameskip/valid_anchor_manifest.json filter=lfs diff=lfs merge=lfs -text
 settings/qwen_bridge/keyframe/valid_anchor_manifest.json filter=lfs diff=lfs merge=lfs -text
 settings/qwen_bridge/loss_is/valid_anchor_manifest.json filter=lfs diff=lfs merge=lfs -text
+settings/florence_robotwin/dependencies/content_fingerprints.json filter=lfs diff=lfs merge=lfs -text
+settings/florence_robotwin/frameskip/cache/frameskip_full.json filter=lfs diff=lfs merge=lfs -text
+settings/florence_robotwin/frameskip/valid_anchor_manifest.json filter=lfs diff=lfs merge=lfs -text
+settings/florence_robotwin/keyframe/valid_anchor_manifest.json filter=lfs diff=lfs merge=lfs -text
+settings/florence_robotwin/loss_is/valid_anchor_manifest.json filter=lfs diff=lfs merge=lfs -text
+settings/qwen_robotwin/dependencies/content_fingerprints.json filter=lfs diff=lfs merge=lfs -text
+settings/qwen_robotwin/frameskip/cache/frameskip_full.json filter=lfs diff=lfs merge=lfs -text
+settings/qwen_robotwin/frameskip/valid_anchor_manifest.json filter=lfs diff=lfs merge=lfs -text
+settings/qwen_robotwin/keyframe/valid_anchor_manifest.json filter=lfs diff=lfs merge=lfs -text
+settings/qwen_robotwin/loss_is/valid_anchor_manifest.json filter=lfs diff=lfs merge=lfs -text

settings/ASSET_FILES_sai.json

@@ -0,0 +1,354 @@
+{
+  "files": [
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-frameskip-10000-to-10500-seed484370/config.yaml",
+      "path_in_repo": "settings/florence_robotwin/frameskip/config.yaml",
+      "bytes": 2168,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-frameskip-10000-to-10500-seed484370/config.full.yaml",
+      "path_in_repo": "settings/florence_robotwin/frameskip/config.full.yaml",
+      "bytes": 3471,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-frameskip-10000-to-10500-seed484370/dataset_statistics.json",
+      "path_in_repo": "settings/florence_robotwin/frameskip/dataset_statistics.json",
+      "bytes": 5141,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-frameskip-10000-to-10500-seed484370/initialization_manifest.json",
+      "path_in_repo": "settings/florence_robotwin/frameskip/initialization_manifest.json",
+      "bytes": 200,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-frameskip-10000-to-10500-seed484370/external_resume_certificate.json",
+      "path_in_repo": "settings/florence_robotwin/frameskip/external_resume_certificate.json",
+      "bytes": 4675,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-frameskip-10000-to-10500-seed484370/valid_anchor_manifest.json",
+      "path_in_repo": "settings/florence_robotwin/frameskip/valid_anchor_manifest.json",
+      "bytes": 107646168,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-frameskip-10000-to-10500-seed484370/checkpoints/steps_10500_accelerate/checkpoint.json",
+      "path_in_repo": "settings/florence_robotwin/frameskip/checkpoint.json",
+      "bytes": 2090,
+      "role": "checkpoint_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-keyframe-10000-to-10500-seed484370/config.yaml",
+      "path_in_repo": "settings/florence_robotwin/keyframe/config.yaml",
+      "bytes": 2166,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-keyframe-10000-to-10500-seed484370/config.full.yaml",
+      "path_in_repo": "settings/florence_robotwin/keyframe/config.full.yaml",
+      "bytes": 3510,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-keyframe-10000-to-10500-seed484370/dataset_statistics.json",
+      "path_in_repo": "settings/florence_robotwin/keyframe/dataset_statistics.json",
+      "bytes": 5141,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-keyframe-10000-to-10500-seed484370/initialization_manifest.json",
+      "path_in_repo": "settings/florence_robotwin/keyframe/initialization_manifest.json",
+      "bytes": 200,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-keyframe-10000-to-10500-seed484370/external_resume_certificate.json",
+      "path_in_repo": "settings/florence_robotwin/keyframe/external_resume_certificate.json",
+      "bytes": 4675,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-keyframe-10000-to-10500-seed484370/valid_anchor_manifest.json",
+      "path_in_repo": "settings/florence_robotwin/keyframe/valid_anchor_manifest.json",
+      "bytes": 107646168,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-keyframe-10000-to-10500-seed484370/checkpoints/steps_10500_accelerate/checkpoint.json",
+      "path_in_repo": "settings/florence_robotwin/keyframe/checkpoint.json",
+      "bytes": 2090,
+      "role": "checkpoint_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-loss_is-10000-to-10500-seed484370/config.yaml",
+      "path_in_repo": "settings/florence_robotwin/loss_is/config.yaml",
+      "bytes": 2273,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-loss_is-10000-to-10500-seed484370/config.full.yaml",
+      "path_in_repo": "settings/florence_robotwin/loss_is/config.full.yaml",
+      "bytes": 3659,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-loss_is-10000-to-10500-seed484370/dataset_statistics.json",
+      "path_in_repo": "settings/florence_robotwin/loss_is/dataset_statistics.json",
+      "bytes": 5141,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-loss_is-10000-to-10500-seed484370/initialization_manifest.json",
+      "path_in_repo": "settings/florence_robotwin/loss_is/initialization_manifest.json",
+      "bytes": 200,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-loss_is-10000-to-10500-seed484370/external_resume_certificate.json",
+      "path_in_repo": "settings/florence_robotwin/loss_is/external_resume_certificate.json",
+      "bytes": 4675,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-loss_is-10000-to-10500-seed484370/valid_anchor_manifest.json",
+      "path_in_repo": "settings/florence_robotwin/loss_is/valid_anchor_manifest.json",
+      "bytes": 107646168,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-loss_is-10000-to-10500-seed484370/loss_is_state.json",
+      "path_in_repo": "settings/florence_robotwin/loss_is/loss_is_state.json",
+      "bytes": 595,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-loss_is-10000-to-10500-seed484370/checkpoints/steps_10500_accelerate/checkpoint.json",
+      "path_in_repo": "settings/florence_robotwin/loss_is/checkpoint.json",
+      "bytes": 2090,
+      "role": "checkpoint_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/cache/frameskip_full.json",
+      "path_in_repo": "settings/florence_robotwin/frameskip/cache/frameskip_full.json",
+      "bytes": 206357915,
+      "role": "frameskip_cache"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/cache/keyframe_full.npz",
+      "path_in_repo": "settings/florence_robotwin/keyframe/cache/keyframe_full.npz",
+      "bytes": 22442738,
+      "role": "keyframe_ape_cache"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/frameskip_repair_20260901/pipeline_frameskip.sh",
+      "path_in_repo": "settings/florence_robotwin/frameskip/cache/original_pipeline.sh",
+      "bytes": 5617,
+      "role": "historical_launcher"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/pipeline_keyframe.sh",
+      "path_in_repo": "settings/florence_robotwin/keyframe/cache/original_pipeline.sh",
+      "bytes": 12855,
+      "role": "historical_launcher"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/qwen-robotwin-frameskip-11000-to-11500-seed484370/config.yaml",
+      "path_in_repo": "settings/qwen_robotwin/frameskip/config.yaml",
+      "bytes": 2128,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/qwen-robotwin-frameskip-11000-to-11500-seed484370/config.full.yaml",
+      "path_in_repo": "settings/qwen_robotwin/frameskip/config.full.yaml",
+      "bytes": 3514,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/qwen-robotwin-frameskip-11000-to-11500-seed484370/dataset_statistics.json",
+      "path_in_repo": "settings/qwen_robotwin/frameskip/dataset_statistics.json",
+      "bytes": 5141,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/qwen-robotwin-frameskip-11000-to-11500-seed484370/initialization_manifest.json",
+      "path_in_repo": "settings/qwen_robotwin/frameskip/initialization_manifest.json",
+      "bytes": 200,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/qwen-robotwin-frameskip-11000-to-11500-seed484370/external_resume_certificate.json",
+      "path_in_repo": "settings/qwen_robotwin/frameskip/external_resume_certificate.json",
+      "bytes": 4792,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/qwen-robotwin-frameskip-11000-to-11500-seed484370/valid_anchor_manifest.json",
+      "path_in_repo": "settings/qwen_robotwin/frameskip/valid_anchor_manifest.json",
+      "bytes": 107646168,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/qwen-robotwin-frameskip-11000-to-11500-seed484370/checkpoints/steps_11500_accelerate/checkpoint.json",
+      "path_in_repo": "settings/qwen_robotwin/frameskip/checkpoint.json",
+      "bytes": 2138,
+      "role": "checkpoint_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/qwen-robotwin-keyframe-11000-to-11500-seed484370/config.yaml",
+      "path_in_repo": "settings/qwen_robotwin/keyframe/config.yaml",
+      "bytes": 2126,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/qwen-robotwin-keyframe-11000-to-11500-seed484370/config.full.yaml",
+      "path_in_repo": "settings/qwen_robotwin/keyframe/config.full.yaml",
+      "bytes": 3553,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/qwen-robotwin-keyframe-11000-to-11500-seed484370/dataset_statistics.json",
+      "path_in_repo": "settings/qwen_robotwin/keyframe/dataset_statistics.json",
+      "bytes": 5141,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/qwen-robotwin-keyframe-11000-to-11500-seed484370/initialization_manifest.json",
+      "path_in_repo": "settings/qwen_robotwin/keyframe/initialization_manifest.json",
+      "bytes": 200,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/qwen-robotwin-keyframe-11000-to-11500-seed484370/external_resume_certificate.json",
+      "path_in_repo": "settings/qwen_robotwin/keyframe/external_resume_certificate.json",
+      "bytes": 4792,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/qwen-robotwin-keyframe-11000-to-11500-seed484370/valid_anchor_manifest.json",
+      "path_in_repo": "settings/qwen_robotwin/keyframe/valid_anchor_manifest.json",
+      "bytes": 107646168,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/qwen-robotwin-keyframe-11000-to-11500-seed484370/checkpoints/steps_11500_accelerate/checkpoint.json",
+      "path_in_repo": "settings/qwen_robotwin/keyframe/checkpoint.json",
+      "bytes": 2138,
+      "role": "checkpoint_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/qwen-robotwin-loss_is-11000-to-11500-seed484370/config.yaml",
+      "path_in_repo": "settings/qwen_robotwin/loss_is/config.yaml",
+      "bytes": 2233,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/qwen-robotwin-loss_is-11000-to-11500-seed484370/config.full.yaml",
+      "path_in_repo": "settings/qwen_robotwin/loss_is/config.full.yaml",
+      "bytes": 3702,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/qwen-robotwin-loss_is-11000-to-11500-seed484370/dataset_statistics.json",
+      "path_in_repo": "settings/qwen_robotwin/loss_is/dataset_statistics.json",
+      "bytes": 5141,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/qwen-robotwin-loss_is-11000-to-11500-seed484370/initialization_manifest.json",
+      "path_in_repo": "settings/qwen_robotwin/loss_is/initialization_manifest.json",
+      "bytes": 200,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/qwen-robotwin-loss_is-11000-to-11500-seed484370/external_resume_certificate.json",
+      "path_in_repo": "settings/qwen_robotwin/loss_is/external_resume_certificate.json",
+      "bytes": 4792,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/qwen-robotwin-loss_is-11000-to-11500-seed484370/valid_anchor_manifest.json",
+      "path_in_repo": "settings/qwen_robotwin/loss_is/valid_anchor_manifest.json",
+      "bytes": 107646168,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/qwen-robotwin-loss_is-11000-to-11500-seed484370/loss_is_state.json",
+      "path_in_repo": "settings/qwen_robotwin/loss_is/loss_is_state.json",
+      "bytes": 595,
+      "role": "run_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/qwen-robotwin-loss_is-11000-to-11500-seed484370/checkpoints/steps_11500_accelerate/checkpoint.json",
+      "path_in_repo": "settings/qwen_robotwin/loss_is/checkpoint.json",
+      "bytes": 2138,
+      "role": "checkpoint_metadata"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/cache/frameskip_full.json",
+      "path_in_repo": "settings/qwen_robotwin/frameskip/cache/frameskip_full.json",
+      "bytes": 206357915,
+      "role": "frameskip_cache"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/cache/keyframe_full.npz",
+      "path_in_repo": "settings/qwen_robotwin/keyframe/cache/keyframe_full.npz",
+      "bytes": 22442738,
+      "role": "keyframe_ape_cache"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/frameskip_repair_20260901/pipeline_frameskip.sh",
+      "path_in_repo": "settings/qwen_robotwin/frameskip/cache/original_pipeline.sh",
+      "bytes": 5617,
+      "role": "historical_launcher"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/pipeline_keyframe.sh",
+      "path_in_repo": "settings/qwen_robotwin/keyframe/cache/original_pipeline.sh",
+      "bytes": 12855,
+      "role": "historical_launcher"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/keyframe_focused_adapted/cache/keyframe_ape_full_seed0_epoch300.npz",
+      "path_in_repo": "settings/florence_bridge/keyframe/cache/keyframe_ape_full_seed0_epoch300.npz",
+      "bytes": 20124275,
+      "role": "keyframe_ape_cache"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/outputs/keyframe_focused_adapted/logs/cache_support.json",
+      "path_in_repo": "settings/florence_bridge/keyframe/cache/cache_support.json",
+      "bytes": 358,
+      "role": "cache_support"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/data/robotwin/manifests/data_provenance.json",
+      "path_in_repo": "settings/florence_robotwin/dependencies/data_provenance.json",
+      "bytes": 641,
+      "role": "dataset_identity"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/data/robotwin/manifests/content_fingerprints.json",
+      "path_in_repo": "settings/florence_robotwin/dependencies/content_fingerprints.json",
+      "bytes": 14233373,
+      "role": "dataset_identity"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/data/robotwin/manifests/data_provenance.json",
+      "path_in_repo": "settings/qwen_robotwin/dependencies/data_provenance.json",
+      "bytes": 641,
+      "role": "dataset_identity"
+    },
+    {
+      "source": "/fs1/private/user/liuyu/student-workspace/data/robotwin/manifests/content_fingerprints.json",
+      "path_in_repo": "settings/qwen_robotwin/dependencies/content_fingerprints.json",
+      "bytes": 14233373,
+      "role": "dataset_identity"
+    }
+  ],
+  "missing": [],
+  "checksum_gates": false
+}

settings/florence_bridge/keyframe/cache/cache_support.json

@@ -0,0 +1 @@
+{"cache_sha256": "8b321259e0a2cb28778dccf934fc88d133aa9cb729bbeb3d9dbaa6069e2ce4bd", "dataset_counts": {"bridge_orig_lerobot": 4138, "fractal20220817_data_lerobot": 4054}, "draw_count": 8192, "draw_start": 0, "manifest_sha256": "a1627df8ff110c7298eaf025ffcd4f48d9ca17117cfcfb3926b962d0bb19c0ca", "status": "PASS", "weight_counts": {"1.0": 7364, "5.0": 828}}

settings/florence_bridge/keyframe/cache/keyframe_ape_full_seed0_epoch300.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b321259e0a2cb28778dccf934fc88d133aa9cb729bbeb3d9dbaa6069e2ce4bd
+size 20124275

settings/florence_robotwin/dependencies/content_fingerprints.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e6c3ef15cf746ad2a5f5ffa5f3c3c57fc2647507200873754718388643460d8
+size 14233373

settings/florence_robotwin/dependencies/data_provenance.json

@@ -0,0 +1,21 @@
+{
+  "checkpoint_repository": {
+    "repo_id": "StarVLA/Florence-GR00T-RoboTwin",
+    "revision": "unknown"
+  },
+  "datasets": {
+    "RoboTwin/Clean": {
+      "repo_id": "local-mnt-miaochengyu-starvla-infoflow-runtime-playground-Datasets-RoboTwin-Clean",
+      "revision": "local-filesystem"
+    },
+    "RoboTwin/Randomized": {
+      "repo_id": "local-mnt-miaochengyu-starvla-infoflow-runtime-playground-Datasets-RoboTwin-Randomized",
+      "revision": "local-filesystem"
+    }
+  },
+  "florence_repository": {
+    "repo_id": "microsoft/Florence-2-large",
+    "revision": "21a599d414c4d928c9032694c424fb94458e3594"
+  },
+  "schema_version": 1
+}

settings/florence_robotwin/frameskip/cache/frameskip_full.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fa058a703b62cf780621a9a495044923cd2289fd7b684c3dd8b4c217843b1f2
+size 206357915

settings/florence_robotwin/frameskip/cache/original_pipeline.sh

@@ -0,0 +1,20 @@
+#!/bin/bash
+set -euo pipefail
+cd /home/liuyu/student-workspace/code/starVLA-loss-is-adapted
+export OMP_NUM_THREADS=1 MKL_NUM_THREADS=1 OPENBLAS_NUM_THREADS=1 TORCHINDUCTOR_COMPILE_THREADS=1 MAX_JOBS=1 TOKENIZERS_PARALLELISM=false
+trap 'rc=$?; printf "%s\n" "$rc" > /home/liuyu/student-workspace/outputs/robotwin_external_20260831/frameskip_repair_20260901/pipeline.exitcode' EXIT
+ROOT=/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831
+TEST=/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite
+mkdir -p "$ROOT/logs" "$ROOT/cache" "$ROOT/evidence" "$ROOT/formal_runs" "$ROOT/temporary_smoke_runs"
+if [ ! -s /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/cache/frameskip_full.json ]; then
+env PYTHONPATH=/fs1/private/user/liuyu/student-workspace/code/starVLA-infoflow-codex WANDB_MODE=offline PYTHONUNBUFFERED=1 PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True HF_HOME=/fs1/private/user/liuyu/student-workspace/cache/huggingface HF_HUB_OFFLINE=1 TMPDIR=/fs1/private/user/liuyu/student-workspace/tmp /fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python /fs1/private/user/liuyu/student-workspace/code/starVLA-infoflow-codex/external_baselines/frameskip_robotwin_adapted/build_robotwin_cache.py --manifest /fs1/private/user/liuyu/student-workspace/data/robotwin/manifests/valid_anchor_manifest.json --data-root /fs1/private/user/liuyu/student-workspace/data/robotwin/RoboTwin --upstream-root /fs1/private/user/liuyu/student-workspace/code/upstream/FrameSkip-965becf63e9cd5cc339fbf7fde40d1db47efa67a --visual-checkpoint /fs1/private/user/liuyu/student-workspace/cache/huggingface/hub/models--timm--vit_small_patch14_dinov2.lvd142m/snapshots/4610ca143709d58a633b6397a74412c2c3842454/model.safetensors --output /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/cache/frameskip_full.json --device cuda
+fi
+/fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/validate_frameskip_cache.py /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/cache/frameskip_full.json /fs1/private/user/liuyu/student-workspace/data/robotwin/manifests/valid_anchor_manifest.json
+echo FORMAL florence frameskip
+env PYTHONPATH=/fs1/private/user/liuyu/student-workspace/code/starVLA-loss-is-adapted WANDB_MODE=offline PYTHONUNBUFFERED=1 PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True HF_HOME=/fs1/private/user/liuyu/student-workspace/cache/huggingface HF_HUB_OFFLINE=1 TMPDIR=/fs1/private/user/liuyu/student-workspace/tmp FRAMESKIP_CACHE=/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/cache/frameskip_full.json FRAMESKIP_START_GLOBAL_DRAW_ID=640000 FRAMESKIP_GLOBAL_MICROBATCH_SIZE=4 /fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python -m accelerate.commands.launch --config_file /fs1/private/user/liuyu/student-workspace/code/starVLA-loss-is-adapted/external_baselines/loss_is_adapted/configs/deepspeed_florence_2gpu_sai.yaml --num_processes 2 --mixed_precision bf16 --main_process_port 0 /fs1/private/user/liuyu/student-workspace/code/starVLA-infoflow-codex/external_baselines/frameskip_robotwin_adapted/train_frameskip_robotwin_continuation.py --config_yaml /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/configs/florence_frameskip_formal.yaml
+/fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/validate_checkpoint.py /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-frameskip-10000-to-10500-seed484370/checkpoints 10500 > /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/evidence/florence_frameskip_formal_checkpoint.json
+echo FORMAL qwen frameskip
+cd /home/liuyu/student-workspace/code/starVLA-qwen-bridge-adapted
+env PYTHONPATH=/fs1/private/user/liuyu/student-workspace/code/starVLA-qwen-bridge-adapted WANDB_MODE=offline PYTHONUNBUFFERED=1 PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True HF_HOME=/fs1/private/user/liuyu/student-workspace/cache/huggingface HF_HUB_OFFLINE=1 TMPDIR=/fs1/private/user/liuyu/student-workspace/tmp FRAMESKIP_CACHE=/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/cache/frameskip_full.json FRAMESKIP_START_GLOBAL_DRAW_ID=440000 FRAMESKIP_GLOBAL_MICROBATCH_SIZE=10 /fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python -m accelerate.commands.launch --config_file /fs1/private/user/liuyu/student-workspace/code/starVLA-qwen-bridge-adapted/starVLA/config/deepseeds/deepspeed_zero3.yaml --num_processes 2 --mixed_precision bf16 --main_process_port 0 /fs1/private/user/liuyu/student-workspace/code/starVLA-infoflow-codex/external_baselines/frameskip_robotwin_adapted/train_frameskip_robotwin_continuation.py --config_yaml /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/configs/qwen_frameskip_formal.yaml
+/fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/validate_checkpoint.py /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/qwen-robotwin-frameskip-11000-to-11500-seed484370/checkpoints 11500 > /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/evidence/qwen_frameskip_formal_checkpoint.json
+echo PIPELINE_FRAMESKIP_PASS

settings/florence_robotwin/frameskip/checkpoint.json

@@ -0,0 +1,65 @@
+{
+  "completed_steps": 10500,
+  "files": [
+    {
+      "bytes": 1525,
+      "name": "custom_checkpoint_0.pkl",
+      "sha256": "98276dada2a8c4a6309ae8c0dd0daa358ceac5a1dd932daea9ba4206e3dd5c78"
+    },
+    {
+      "bytes": 13,
+      "name": "latest",
+      "sha256": "68d0ca762047fd48fdd6a06a5e6465209289c028bfd63f5557a110ff1ebc15ac"
+    },
+    {
+      "bytes": 5509764721,
+      "name": "pytorch_model/bf16_zero_pp_rank_0_mp_rank_00_optim_states.pt",
+      "sha256": "af52ee4c1962395794922eba1b7ddea9da89714014342ddcc11c190a031f5f9a"
+    },
+    {
+      "bytes": 5509778801,
+      "name": "pytorch_model/bf16_zero_pp_rank_1_mp_rank_00_optim_states.pt",
+      "sha256": "6ffef748dc7e1a35ca632d24ff4f77c8964a675cb2245c068e71af5679e1b2d5"
+    },
+    {
+      "bytes": 1837527613,
+      "name": "pytorch_model/mp_rank_00_model_states.pt",
+      "sha256": "818a9dad0538df8dd89c721324cfe6e39896c130f250dc3cf883a309acdaeb99"
+    },
+    {
+      "bytes": 2152621885,
+      "name": "pytorch_model.pt",
+      "sha256": "03745fecff8f7e98da348cb95d38ed27e840f4d6856d63b299a3468e30e73c55"
+    },
+    {
+      "bytes": 15081,
+      "name": "random_states_0.pkl",
+      "sha256": "5e1eaba9845ffc86118d3545569c01055097bf21fd0069aeab3224571f4522e4"
+    },
+    {
+      "bytes": 15081,
+      "name": "random_states_1.pkl",
+      "sha256": "4dc72dafa3023634bb820b6e722b6a060c2fd1622d432a9417caefe1c3c7d000"
+    },
+    {
+      "bytes": 33270,
+      "name": "zero_to_fp32.py",
+      "sha256": "e8a2553b434ac043ec63b022db1e768277acf8d4e70f10a2842db6d238977135"
+    }
+  ],
+  "registered_checkpointables": [
+    "lr_scheduler"
+  ],
+  "resume_identity": {
+    "config_sha256": "c1763edabdfd663076f244d685e52a432cb1e83c079948a9a7fbc92f09ab4641",
+    "identity_schema_version": 2,
+    "manifest_sha256": "dcb728a00da4b4ad7f989fa313d6d3355e13f57efefc7267e9ea092f2ffd8a50",
+    "model_structure_sha256": "2d1c8fd1dfa358c4975ad54934f42c24c8d10f6fcef9e8f7c2585b349b32d96b",
+    "proposal_alpha": null,
+    "proposal_sha256": null,
+    "seed": 484370,
+    "total_batch_size": 64
+  },
+  "schema_version": 1,
+  "world_size": 2
+}

settings/florence_robotwin/frameskip/config.full.yaml

@@ -0,0 +1,111 @@
+run_id: florence-robotwin-frameskip-10000-to-10500-seed484370
+run_root_dir: /home/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs
+seed: 484370
+wandb_entity: null
+wandb_project: InfoFlow-StarVLA-RoboTwin
+is_debug: false
+version_id: '0.21'
+framework:
+  name: QwenGR00T
+  qwenvl:
+    base_vlm: /home/liuyu/student-workspace/data/runtime/playground/Pretrained_models/Florence-2-large
+    attn_implementation: eager
+    vl_hidden_dim: 1024
+    selected_view_indices:
+    - 0
+    - 1
+    - 2
+    compile_vision_tower: true
+  action_model:
+    action_model_type: DiT-B
+    action_hidden_dim: 1024
+    hidden_size: 1024
+    add_pos_embed: true
+    max_seq_len: 1024
+    action_dim: 14
+    state_dim: 0
+    action_horizon: 50
+    repeated_diffusion_steps: 8
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
+    noise_s: 0.999
+    num_timestep_buckets: 1000
+    num_inference_timesteps: 4
+    num_target_vision_tokens: 32
+    diffusion_model_cfg:
+      cross_attention_dim: 1024
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: true
+      norm_type: ada_norm
+      num_layers: 16
+      output_dim: 1024
+      positional_embeddings: null
+    future_action_window_size: 49
+    past_action_window_size: 0
+  dino:
+    dino_backbone: dinov2_vits14
+datasets:
+  vla_data:
+    dataset_py: lerobot_datasets
+    data_root_dir: /home/liuyu/student-workspace/data/robotwin/RoboTwin
+    data_mix: robotwin_all_50
+    action_type: abs_qpos
+    action_mode: abs
+    include_state: false
+    sequential_step_sampling: false
+    per_device_batch_size: 2
+    load_all_data_for_training: true
+    image_size:
+    - 224
+    - 224
+    video_backend: pyav
+    num_workers: 4
+    expected_world_size: 2
+    traceable_sampling: true
+    dataset_provenance_path: /home/liuyu/student-workspace/data/robotwin/manifests/data_provenance.json
+    dataset_content_fingerprint_path: /home/liuyu/student-workspace/data/robotwin/manifests/content_fingerprints.json
+    valid_anchor_manifest_path: /home/liuyu/student-workspace/data/robotwin/manifests/valid_anchor_manifest.json
+    temporal_proposal_path: null
+    transform_rng_seed: 289726
+trainer:
+  use_deepspeed: true
+  max_train_steps: 150000
+  num_warmup_steps: 5000
+  save_interval: null
+  save_steps:
+  - 10500
+  eval_interval: null
+  repeated_diffusion_steps: 4
+  learning_rate:
+    base: 1.0e-05
+    qwen_vl_interface: 1.0e-05
+    action_model: 0.0001
+  lr_scheduler_type: cosine_with_min_lr
+  scheduler_specific_kwargs:
+    min_lr: 5.0e-07
+  freeze_modules: ''
+  trainable_modules: ''
+  frozen_modules_eval: false
+  logging_frequency: 50
+  gradient_clipping: 1.0
+  gradient_accumulation_steps: 16
+  save_format: pt
+  save_final_checkpoint: false
+  optimizer:
+    name: AdamW
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+  stop_after_steps: 10500
+  is_resume: true
+  allow_model_only_resume: false
+  resume_accelerate_checkpoint: /home/liuyu/student-workspace/data/robotwin/common_start/florence-groot-robotwin-xvla3view-official150k-seed42-20260804/checkpoints/steps_10000_accelerate
+  branch_parent_seed: 42
+  branch_rng_seed: 484370
+  model_rng_seed: 721927
+  evaluation_snapshot_interval: null
+config_yaml: /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/configs/florence_frameskip_formal.yaml
+output_dir: /home/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-frameskip-10000-to-10500-seed484370

settings/florence_robotwin/frameskip/config.yaml

@@ -0,0 +1,69 @@
+datasets:
+  vla_data:
+    action_mode: abs
+    data_mix: robotwin_all_50
+    data_root_dir: /home/liuyu/student-workspace/data/robotwin/RoboTwin
+    dataset_content_fingerprint_path: /home/liuyu/student-workspace/data/robotwin/manifests/content_fingerprints.json
+    dataset_provenance_path: /home/liuyu/student-workspace/data/robotwin/manifests/data_provenance.json
+    dataset_py: lerobot_datasets
+    expected_world_size: 2
+    num_workers: 4
+    per_device_batch_size: 2
+    temporal_proposal_path: null
+    traceable_sampling: true
+    valid_anchor_manifest_path: /home/liuyu/student-workspace/data/robotwin/manifests/valid_anchor_manifest.json
+    video_backend: pyav
+framework:
+  action_model:
+    action_dim: 14
+    action_horizon: 50
+    action_model_type: DiT-B
+    add_pos_embed: true
+    diffusion_model_cfg:
+      cross_attention_dim: 1024
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: true
+      norm_type: ada_norm
+      num_layers: 16
+      output_dim: 1024
+      positional_embeddings: null
+    hidden_size: 1024
+    max_seq_len: 1024
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
+    num_inference_timesteps: 4
+    num_target_vision_tokens: 32
+    num_timestep_buckets: 1000
+    state_dim: 0
+  name: QwenGR00T
+  qwenvl:
+    base_vlm: /home/liuyu/student-workspace/data/runtime/playground/Pretrained_models/Florence-2-large
+    compile_vision_tower: true
+    selected_view_indices:
+    - 0
+    - 1
+    - 2
+output_dir: /home/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-frameskip-10000-to-10500-seed484370
+run_id: florence-robotwin-frameskip-10000-to-10500-seed484370
+run_root_dir: /home/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs
+seed: 484370
+trainer:
+  freeze_modules: ''
+  gradient_accumulation_steps: 16
+  learning_rate:
+    action_model: 0.0001
+    base: 1.0e-05
+    qwen_vl_interface: 1.0e-05
+  lr_scheduler_type: cosine_with_min_lr
+  max_train_steps: 150000
+  num_warmup_steps: 5000
+  optimizer:
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    name: AdamW
+    weight_decay: 1.0e-08
+  scheduler_specific_kwargs:
+    min_lr: 5.0e-07

settings/florence_robotwin/frameskip/dataset_statistics.json

@@ -0,0 +1,218 @@
+{
+  "new_embodiment": {
+    "action": {
+      "mean": [
+        -0.22423998869955536,
+        1.0729362124204633,
+        0.775079609751701,
+        -0.32701663097366684,
+        0.06159586461764771,
+        -0.06420705380151046,
+        0.22430071420967568,
+        1.1274866509437556,
+        0.831773659586906,
+        -0.3638282522559164,
+        -0.024959841337949897,
+        0.05302203213563182,
+        0.6774904182553295,
+        0.6598676902055738
+      ],
+      "std": [
+        0.39622931737429123,
+        1.003590449339515,
+        0.7811611351334437,
+        0.6707485714474849,
+        0.2686908204983921,
+        0.6492019642472782,
+        0.34733679400923234,
+        1.0176226676795115,
+        0.8039915805960646,
+        0.7067249045233707,
+        0.26259645177151686,
+        0.6808759458519371,
+        0.4482151151114418,
+        0.4539921671160285
+      ],
+      "max": [
+        6.45659065246582,
+        4.179152488708496,
+        5.346591472625732,
+        1.7942548990249634,
+        1.8604620695114136,
+        5.43813943862915,
+        7.142920017242432,
+        4.157068729400635,
+        5.672450065612793,
+        1.95806884765625,
+        1.5663840770721436,
+        5.278968811035156,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -7.552278995513916,
+        -0.36354875564575195,
+        -0.18577136099338531,
+        -1.956291913986206,
+        -1.6801013946533203,
+        -7.678869724273682,
+        -8.539926528930664,
+        -0.6294453740119934,
+        -0.07775841653347015,
+        -2.1328067779541016,
+        -2.1285502910614014,
+        -8.228925704956055,
+        0.0,
+        0.0
+      ],
+      "q01": [
+        -7.334665780067444,
+        -5.257390398583084e-07,
+        -2.8215323254698887e-05,
+        -1.841589093208313,
+        -1.2851550579071045,
+        -6.268352918624878,
+        -5.995517673492431,
+        -0.572821855545044,
+        -2.81171942333458e-05,
+        -1.8467556238174438,
+        -1.4545854091644288,
+        -5.945669202804565,
+        0.0,
+        0.0
+      ],
+      "q99": [
+        5.016749763488781,
+        3.4792869091033936,
+        4.225283479690551,
+        1.7064905214309687,
+        1.4829185009002717,
+        3.7177388882636553,
+        1.258314609527588,
+        2.967935800552368,
+        3.2566452693939207,
+        1.766038613319397,
+        1.4066662788391113,
+        3.5830023288726807,
+        1.0,
+        1.0
+      ],
+      "mask": [
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        false,
+        false
+      ]
+    },
+    "state": {
+      "mean": [
+        -0.22281882727518673,
+        1.0668349397182466,
+        0.770632639825344,
+        -0.3252330579422412,
+        0.06118139047002841,
+        -0.06316296239456277,
+        0.22253762468695631,
+        1.1201750242710113,
+        0.8263923591375351,
+        -0.36159489695448405,
+        -0.024702461528722772,
+        0.05203246331657278,
+        0.6793262696266176,
+        0.6616973677277563
+      ],
+      "std": [
+        0.39522870886731665,
+        1.004018577033247,
+        0.7809103811570285,
+        0.6688088363177986,
+        0.26775723818956776,
+        0.6463212583712935,
+        0.34648488321363663,
+        1.018232630032839,
+        0.8038798397682734,
+        0.7045612787595747,
+        0.26143414213134614,
+        0.6774619870452644,
+        0.44749220497027625,
+        0.45333916022037934
+      ],
+      "max": [
+        6.45659065246582,
+        4.179152488708496,
+        5.346591472625732,
+        1.7942548990249634,
+        1.8604620695114136,
+        5.43813943862915,
+        7.142920017242432,
+        4.157068729400635,
+        5.672450065612793,
+        1.95806884765625,
+        1.5663840770721436,
+        5.278968811035156,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -7.552278995513916,
+        -0.36354875564575195,
+        -0.18577136099338531,
+        -1.956291913986206,
+        -1.6801013946533203,
+        -7.678869724273682,
+        -8.539926528930664,
+        -0.6294453740119934,
+        -0.07775841653347015,
+        -2.1328067779541016,
+        -2.1285502910614014,
+        -8.228925704956055,
+        0.0,
+        0.0
+      ],
+      "q01": [
+        -7.334665780067444,
+        -5.257390398583084e-07,
+        -2.8215323254698887e-05,
+        -1.841589093208313,
+        -1.2851550579071045,
+        -6.268109321594238,
+        -5.912737417221069,
+        -0.572821855545044,
+        -2.81171942333458e-05,
+        -1.8467556238174438,
+        -1.440324923992157,
+        -5.8623305034637445,
+        0.0,
+        0.0
+      ],
+      "q99": [
+        4.902149534225477,
+        3.4775466918945312,
+        4.224453401565551,
+        1.7064905214309687,
+        1.480757713317871,
+        3.609884884357428,
+        1.258314609527588,
+        2.967935800552368,
+        3.2566452693939207,
+        1.7433889162540437,
+        1.4066662788391113,
+        3.581243851184845,
+        1.0,
+        1.0
+      ]
+    },
+    "num_transitions": 6075103,
+    "num_trajectories": 27500
+  }
+}

settings/florence_robotwin/frameskip/external_resume_certificate.json

@@ -0,0 +1,138 @@
+{
+  "branch_resume_identity": {
+    "config_sha256": "c1763edabdfd663076f244d685e52a432cb1e83c079948a9a7fbc92f09ab4641",
+    "identity_schema_version": 2,
+    "manifest_sha256": "dcb728a00da4b4ad7f989fa313d6d3355e13f57efefc7267e9ea092f2ffd8a50",
+    "model_structure_sha256": "2d1c8fd1dfa358c4975ad54934f42c24c8d10f6fcef9e8f7c2585b349b32d96b",
+    "proposal_alpha": null,
+    "proposal_sha256": null,
+    "seed": 484370,
+    "total_batch_size": 64
+  },
+  "completed_steps": 10000,
+  "optimizer_param_groups": [
+    {
+      "betas": [
+        0.9,
+        0.95
+      ],
+      "eps": 1e-08,
+      "initial_lr": 1e-05,
+      "lr": 9.97215529648321e-06,
+      "name": "qwen_vl_interface",
+      "weight_decay": 1e-08
+    },
+    {
+      "betas": [
+        0.9,
+        0.95
+      ],
+      "eps": 1e-08,
+      "initial_lr": 0.0001,
+      "lr": 9.972155296483209e-05,
+      "name": "action_model",
+      "weight_decay": 1e-08
+    }
+  ],
+  "optimizer_state_entries": 4,
+  "parent_checkpoint": "/fs1/private/user/liuyu/student-workspace/data/robotwin/common_start/florence-groot-robotwin-xvla3view-official150k-seed42-20260804/checkpoints/steps_10000_accelerate",
+  "parent_checkpoint_commit_sha256": "f6f6408ead21ba9cb0d7bbfa26c74733950a504264a26e5b795129ffadff6958",
+  "parent_checkpoint_files": [
+    {
+      "bytes": 1525,
+      "name": "custom_checkpoint_0.pkl",
+      "sha256": "031a5046639dfc967eebbf30b7184dbe2619e26675a74569827aa5edaf6cc85c"
+    },
+    {
+      "bytes": 13,
+      "name": "latest",
+      "sha256": "68d0ca762047fd48fdd6a06a5e6465209289c028bfd63f5557a110ff1ebc15ac"
+    },
+    {
+      "bytes": 5509764721,
+      "name": "pytorch_model/bf16_zero_pp_rank_0_mp_rank_00_optim_states.pt",
+      "sha256": "27d9b011b75f40c3d896c9681ee883eeb3d2277f201889faebf0b7fcf5492c52"
+    },
+    {
+      "bytes": 5509778801,
+      "name": "pytorch_model/bf16_zero_pp_rank_1_mp_rank_00_optim_states.pt",
+      "sha256": "f657f6f6fb48956b2b406b79511e16b9c2712dc95216b78ba5179818b821d18f"
+    },
+    {
+      "bytes": 1837527613,
+      "name": "pytorch_model/mp_rank_00_model_states.pt",
+      "sha256": "3d66f8b6c0e344c34f06d3b4708c3292cbb8a84ea5a25e650fb64b679a44eb3b"
+    },
+    {
+      "bytes": 2152621885,
+      "name": "pytorch_model.pt",
+      "sha256": "4b6c4f47df7b0f05b8c9287e480d88f2b5e711b4fb6cccbdfffd677ed9bff778"
+    },
+    {
+      "bytes": 15017,
+      "name": "random_states_0.pkl",
+      "sha256": "629d14d87e3cab680e32acec92c80c2578a7fbd1ebc0dee5475e774058f11d41"
+    },
+    {
+      "bytes": 15081,
+      "name": "random_states_1.pkl",
+      "sha256": "3cb98283ee7eaaedcee320e8e3b17e74f2f01a22d9e3b958fa2422a86215c652"
+    },
+    {
+      "bytes": 33270,
+      "name": "zero_to_fp32.py",
+      "sha256": "e8a2553b434ac043ec63b022db1e768277acf8d4e70f10a2842db6d238977135"
+    }
+  ],
+  "parent_checkpoint_files_sha256": "1f8985d0633f16ac3b0381b128cdb4e479c4fdfd67ff15d58736633e4b942bc0",
+  "parent_checkpoint_integrity_manifest_sha256": null,
+  "parent_config_sha256": "d35ab9e43634c7c4a74c5299657df3c17c7d78407dd0fe3d37296a927e353d28",
+  "parent_resume_identity": {
+    "config_sha256": "2440c6327cf5e8c14efc93b800209171c725dae0898181921c62f3490eb8378f",
+    "identity_schema_version": 2,
+    "manifest_sha256": null,
+    "model_structure_sha256": "2d1c8fd1dfa358c4975ad54934f42c24c8d10f6fcef9e8f7c2585b349b32d96b",
+    "proposal_alpha": null,
+    "proposal_sha256": null,
+    "seed": 42,
+    "total_batch_size": 64
+  },
+  "proposal_sha256": null,
+  "rank_state_summaries": [
+    {
+      "optimizer_state_entries": 2,
+      "optimizer_state_sha256": "5a35add2c00249e41e72e1ab16261d87f205bfeaf23386c7263223e4ce168368",
+      "rank": 0,
+      "trainable_state_sha256": "667c6a6a7aa0dc49c32f7bef693f3272efee46064fda5d370d25788291da76a0"
+    },
+    {
+      "optimizer_state_entries": 2,
+      "optimizer_state_sha256": "073f849cd1942522dbfde195bdc29e8ee015e4c5d4be3070381027a13b9784cf",
+      "rank": 1,
+      "trainable_state_sha256": "667c6a6a7aa0dc49c32f7bef693f3272efee46064fda5d370d25788291da76a0"
+    }
+  ],
+  "repeated_diffusion_steps": 4,
+  "rng_streams": {
+    "model_base": 721927,
+    "sampler": 484370,
+    "transform": 289726
+  },
+  "scheduler": {
+    "class": "LambdaLR",
+    "last_epoch": 10000,
+    "last_lr": [
+      9.97215529648321e-06,
+      9.972155296483209e-05
+    ],
+    "step_count": 10001
+  },
+  "scheduler_resume_mode": "accelerate_checkpoint",
+  "schema_version": 1,
+  "status": "exact_external_resume_loaded",
+  "total_batch_size": 64,
+  "trainable_parameter_elements": 918283022,
+  "trainable_parameter_sha256": "2e8f3de6aeee46bca56fab5993103ad30302b45330037cf98f96ffd472f0e9ce",
+  "trainable_parameter_tensors": 1161,
+  "world_size": 2
+}

settings/florence_robotwin/frameskip/initialization_manifest.json

@@ -0,0 +1,6 @@
+{
+  "schema_version": 1,
+  "initialization_seed": 484370,
+  "action_model_sha256": "0b5e42abcce1d0cc6aa164e9bb09ec77e0ea1c6719bb8dc55406f806c5d22b99",
+  "action_model_parameter_elements": 141815566
+}

settings/florence_robotwin/frameskip/valid_anchor_manifest.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2090f6b9d7e1bc5ef41897436690f031c187d625fa6b71ae0c54f3793660c757
+size 107646168

settings/florence_robotwin/keyframe/cache/keyframe_full.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:490da0439605b2b1acd7400add00c0e24a9c53c8bf68812ba47fcb34a0f18e40
+size 22442738

settings/florence_robotwin/keyframe/cache/original_pipeline.sh

@@ -0,0 +1,32 @@
+#!/bin/bash
+set -euo pipefail
+ROOT=/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831
+TEST=/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite
+mkdir -p "$ROOT/logs" "$ROOT/cache" "$ROOT/evidence" "$ROOT/formal_runs" "$ROOT/temporary_smoke_runs"
+if [ ! -s /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/cache/keyframe_full.npz ]; then
+env PYTHONPATH=/fs1/private/user/liuyu/student-workspace/code/starVLA-loss-is-adapted WANDB_MODE=offline PYTHONUNBUFFERED=1 PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True HF_HOME=/fs1/private/user/liuyu/student-workspace/cache/huggingface HF_HUB_OFFLINE=1 TMPDIR=/fs1/private/user/liuyu/student-workspace/tmp /fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python /fs1/private/user/liuyu/student-workspace/code/starVLA-loss-is-adapted/external_baselines/robotwin_smoke/build_keyframe_ape_cache.py --manifest /fs1/private/user/liuyu/student-workspace/data/robotwin/manifests/valid_anchor_manifest.json --data-root /fs1/private/user/liuyu/student-workspace/data/robotwin/RoboTwin --statistics /fs1/private/user/liuyu/student-workspace/data/robotwin/common_start/florence-groot-robotwin-xvla3view-official150k-seed42-20260804/dataset_statistics.json --statistics-key new_embodiment --output /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/cache/keyframe_full.npz --scope full --epochs 300 --device cuda
+fi
+env PYTHONPATH=/fs1/private/user/liuyu/student-workspace/code/starVLA-loss-is-adapted /fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python /fs1/private/user/liuyu/student-workspace/code/starVLA-loss-is-adapted/external_baselines/keyframe_focused_adapted/validate_cache_support.py --manifest /fs1/private/user/liuyu/student-workspace/data/robotwin/manifests/valid_anchor_manifest.json --cache /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/cache/keyframe_full.npz --seed 484370 --draw-start 440000 --draw-count 4096
+echo SMOKE florence keyframe phase1
+env PYTHONPATH=/fs1/private/user/liuyu/student-workspace/code/starVLA-loss-is-adapted WANDB_MODE=offline PYTHONUNBUFFERED=1 PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True HF_HOME=/fs1/private/user/liuyu/student-workspace/cache/huggingface HF_HUB_OFFLINE=1 TMPDIR=/fs1/private/user/liuyu/student-workspace/tmp KEYFRAME_APE_CACHE=/fs1/private/user/liuyu/student-workspace/outputs/robotwin_smoke/data/keyframe_ape_full_smoke.npz /fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python -m accelerate.commands.launch --config_file /fs1/private/user/liuyu/student-workspace/code/starVLA-loss-is-adapted/external_baselines/loss_is_adapted/configs/deepspeed_florence_2gpu_sai.yaml --num_processes 2 --mixed_precision bf16 --main_process_port 0 /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/smoke_runner.py --method keyframe --entry /fs1/private/user/liuyu/student-workspace/code/starVLA-loss-is-adapted/external_baselines/keyframe_focused_adapted/train_keyframe_continuation.py --config_yaml /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/florence_keyframe_phase1.yaml >> /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/logs/keyframe_florence_smoke.log 2>&1
+/fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/validate_checkpoint.py /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/temporary_smoke_runs/florence-robotwin-keyframe-isolated-save-reload-smoke/checkpoints 1 >> /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/evidence/florence_keyframe_smoke.jsonl
+echo SMOKE florence keyframe phase2
+env PYTHONPATH=/fs1/private/user/liuyu/student-workspace/code/starVLA-loss-is-adapted WANDB_MODE=offline PYTHONUNBUFFERED=1 PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True HF_HOME=/fs1/private/user/liuyu/student-workspace/cache/huggingface HF_HUB_OFFLINE=1 TMPDIR=/fs1/private/user/liuyu/student-workspace/tmp KEYFRAME_APE_CACHE=/fs1/private/user/liuyu/student-workspace/outputs/robotwin_smoke/data/keyframe_ape_full_smoke.npz /fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python -m accelerate.commands.launch --config_file /fs1/private/user/liuyu/student-workspace/code/starVLA-loss-is-adapted/external_baselines/loss_is_adapted/configs/deepspeed_florence_2gpu_sai.yaml --num_processes 2 --mixed_precision bf16 --main_process_port 0 /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/smoke_runner.py --method keyframe --entry /fs1/private/user/liuyu/student-workspace/code/starVLA-loss-is-adapted/external_baselines/keyframe_focused_adapted/train_keyframe_continuation.py --config_yaml /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/florence_keyframe_phase2.yaml >> /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/logs/keyframe_florence_smoke.log 2>&1
+/fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/validate_checkpoint.py /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/temporary_smoke_runs/florence-robotwin-keyframe-isolated-save-reload-smoke/checkpoints 2 >> /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/evidence/florence_keyframe_smoke.jsonl
+/fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/cleanup_smoke.py florence-robotwin-keyframe-isolated-save-reload-smoke
+rm -f -- /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/logs/keyframe_florence_smoke.log
+echo SMOKE qwen keyframe phase1
+env PYTHONPATH=/fs1/private/user/liuyu/student-workspace/code/starVLA-qwen-bridge-adapted WANDB_MODE=offline PYTHONUNBUFFERED=1 PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True HF_HOME=/fs1/private/user/liuyu/student-workspace/cache/huggingface HF_HUB_OFFLINE=1 TMPDIR=/fs1/private/user/liuyu/student-workspace/tmp KEYFRAME_APE_CACHE=/fs1/private/user/liuyu/student-workspace/outputs/robotwin_smoke/data/keyframe_ape_full_smoke.npz /fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python -m accelerate.commands.launch --config_file /fs1/private/user/liuyu/student-workspace/code/starVLA-qwen-bridge-adapted/starVLA/config/deepseeds/deepspeed_zero3.yaml --num_processes 2 --mixed_precision bf16 --main_process_port 0 /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/smoke_runner.py --method keyframe --entry /fs1/private/user/liuyu/student-workspace/code/starVLA-qwen-bridge-adapted/external_baselines/keyframe_focused_adapted/train_keyframe_continuation.py --config_yaml /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/qwen_keyframe_phase1.yaml >> /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/logs/keyframe_qwen_smoke.log 2>&1
+/fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/validate_checkpoint.py /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/temporary_smoke_runs/qwen-robotwin-keyframe-isolated-save-reload-smoke/checkpoints 1 >> /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/evidence/qwen_keyframe_smoke.jsonl
+echo SMOKE qwen keyframe phase2
+env PYTHONPATH=/fs1/private/user/liuyu/student-workspace/code/starVLA-qwen-bridge-adapted WANDB_MODE=offline PYTHONUNBUFFERED=1 PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True HF_HOME=/fs1/private/user/liuyu/student-workspace/cache/huggingface HF_HUB_OFFLINE=1 TMPDIR=/fs1/private/user/liuyu/student-workspace/tmp KEYFRAME_APE_CACHE=/fs1/private/user/liuyu/student-workspace/outputs/robotwin_smoke/data/keyframe_ape_full_smoke.npz /fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python -m accelerate.commands.launch --config_file /fs1/private/user/liuyu/student-workspace/code/starVLA-qwen-bridge-adapted/starVLA/config/deepseeds/deepspeed_zero3.yaml --num_processes 2 --mixed_precision bf16 --main_process_port 0 /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/smoke_runner.py --method keyframe --entry /fs1/private/user/liuyu/student-workspace/code/starVLA-qwen-bridge-adapted/external_baselines/keyframe_focused_adapted/train_keyframe_continuation.py --config_yaml /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/qwen_keyframe_phase2.yaml >> /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/logs/keyframe_qwen_smoke.log 2>&1
+/fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/validate_checkpoint.py /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/temporary_smoke_runs/qwen-robotwin-keyframe-isolated-save-reload-smoke/checkpoints 2 >> /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/evidence/qwen_keyframe_smoke.jsonl
+/fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/cleanup_smoke.py qwen-robotwin-keyframe-isolated-save-reload-smoke
+rm -f -- /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/logs/keyframe_qwen_smoke.log
+echo FORMAL florence keyframe
+env PYTHONPATH=/fs1/private/user/liuyu/student-workspace/code/starVLA-loss-is-adapted WANDB_MODE=offline PYTHONUNBUFFERED=1 PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True HF_HOME=/fs1/private/user/liuyu/student-workspace/cache/huggingface HF_HUB_OFFLINE=1 TMPDIR=/fs1/private/user/liuyu/student-workspace/tmp KEYFRAME_APE_CACHE=/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/cache/keyframe_full.npz /fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python -m accelerate.commands.launch --config_file /fs1/private/user/liuyu/student-workspace/code/starVLA-loss-is-adapted/external_baselines/loss_is_adapted/configs/deepspeed_florence_2gpu_sai.yaml --num_processes 2 --mixed_precision bf16 --main_process_port 0 /fs1/private/user/liuyu/student-workspace/code/starVLA-loss-is-adapted/external_baselines/keyframe_focused_adapted/train_keyframe_continuation.py --config_yaml /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/configs/florence_keyframe_formal.yaml
+/fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/validate_checkpoint.py /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-keyframe-10000-to-10500-seed484370/checkpoints 10500 > /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/evidence/florence_keyframe_formal_checkpoint.json
+echo FORMAL qwen keyframe
+env PYTHONPATH=/fs1/private/user/liuyu/student-workspace/code/starVLA-qwen-bridge-adapted WANDB_MODE=offline PYTHONUNBUFFERED=1 PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True HF_HOME=/fs1/private/user/liuyu/student-workspace/cache/huggingface HF_HUB_OFFLINE=1 TMPDIR=/fs1/private/user/liuyu/student-workspace/tmp KEYFRAME_APE_CACHE=/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/cache/keyframe_full.npz /fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python -m accelerate.commands.launch --config_file /fs1/private/user/liuyu/student-workspace/code/starVLA-qwen-bridge-adapted/starVLA/config/deepseeds/deepspeed_zero3.yaml --num_processes 2 --mixed_precision bf16 --main_process_port 0 /fs1/private/user/liuyu/student-workspace/code/starVLA-qwen-bridge-adapted/external_baselines/keyframe_focused_adapted/train_keyframe_continuation.py --config_yaml /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/configs/qwen_keyframe_formal.yaml
+/fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/validate_checkpoint.py /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/qwen-robotwin-keyframe-11000-to-11500-seed484370/checkpoints 11500 > /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/evidence/qwen_keyframe_formal_checkpoint.json
+echo PIPELINE_KEYFRAME_PASS

settings/florence_robotwin/keyframe/checkpoint.json

@@ -0,0 +1,65 @@
+{
+  "completed_steps": 10500,
+  "files": [
+    {
+      "bytes": 1525,
+      "name": "custom_checkpoint_0.pkl",
+      "sha256": "98276dada2a8c4a6309ae8c0dd0daa358ceac5a1dd932daea9ba4206e3dd5c78"
+    },
+    {
+      "bytes": 13,
+      "name": "latest",
+      "sha256": "68d0ca762047fd48fdd6a06a5e6465209289c028bfd63f5557a110ff1ebc15ac"
+    },
+    {
+      "bytes": 5509764721,
+      "name": "pytorch_model/bf16_zero_pp_rank_0_mp_rank_00_optim_states.pt",
+      "sha256": "107aa48c538fae8a89e7adccf5e986cb2b6c25f083360b1a80aac5620b72021f"
+    },
+    {
+      "bytes": 5509778801,
+      "name": "pytorch_model/bf16_zero_pp_rank_1_mp_rank_00_optim_states.pt",
+      "sha256": "ae0ef3a9168316a1150abd22e26854e52f9ddaf5133284040ebd79f917fbd74a"
+    },
+    {
+      "bytes": 1837527613,
+      "name": "pytorch_model/mp_rank_00_model_states.pt",
+      "sha256": "398f1ffb755be119c9e545549846654f44615f86e35efbb5507c9ffd852d457c"
+    },
+    {
+      "bytes": 2152621885,
+      "name": "pytorch_model.pt",
+      "sha256": "1f2fcde1201f78dd169c9da1b2c07cc8e5e54720a5d613f9e34dffb2dd194010"
+    },
+    {
+      "bytes": 15081,
+      "name": "random_states_0.pkl",
+      "sha256": "5e1eaba9845ffc86118d3545569c01055097bf21fd0069aeab3224571f4522e4"
+    },
+    {
+      "bytes": 15081,
+      "name": "random_states_1.pkl",
+      "sha256": "4dc72dafa3023634bb820b6e722b6a060c2fd1622d432a9417caefe1c3c7d000"
+    },
+    {
+      "bytes": 33270,
+      "name": "zero_to_fp32.py",
+      "sha256": "e8a2553b434ac043ec63b022db1e768277acf8d4e70f10a2842db6d238977135"
+    }
+  ],
+  "registered_checkpointables": [
+    "lr_scheduler"
+  ],
+  "resume_identity": {
+    "config_sha256": "c1763edabdfd663076f244d685e52a432cb1e83c079948a9a7fbc92f09ab4641",
+    "identity_schema_version": 2,
+    "manifest_sha256": "dcb728a00da4b4ad7f989fa313d6d3355e13f57efefc7267e9ea092f2ffd8a50",
+    "model_structure_sha256": "2d1c8fd1dfa358c4975ad54934f42c24c8d10f6fcef9e8f7c2585b349b32d96b",
+    "proposal_alpha": null,
+    "proposal_sha256": null,
+    "seed": 484370,
+    "total_batch_size": 64
+  },
+  "schema_version": 1,
+  "world_size": 2
+}

settings/florence_robotwin/keyframe/config.full.yaml

@@ -0,0 +1,112 @@
+run_id: florence-robotwin-keyframe-10000-to-10500-seed484370
+run_root_dir: /home/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs
+seed: 484370
+wandb_entity: null
+wandb_project: InfoFlow-StarVLA-RoboTwin
+is_debug: false
+version_id: '0.21'
+framework:
+  name: QwenGR00T
+  qwenvl:
+    base_vlm: /home/liuyu/student-workspace/data/runtime/playground/Pretrained_models/Florence-2-large
+    attn_implementation: eager
+    vl_hidden_dim: 1024
+    selected_view_indices:
+    - 0
+    - 1
+    - 2
+    compile_vision_tower: true
+  action_model:
+    action_model_type: DiT-B
+    action_hidden_dim: 1024
+    hidden_size: 1024
+    add_pos_embed: true
+    max_seq_len: 1024
+    action_dim: 14
+    state_dim: 0
+    action_horizon: 50
+    repeated_diffusion_steps: 8
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
+    noise_s: 0.999
+    num_timestep_buckets: 1000
+    num_inference_timesteps: 4
+    num_target_vision_tokens: 32
+    diffusion_model_cfg:
+      cross_attention_dim: 1024
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: true
+      norm_type: ada_norm
+      num_layers: 16
+      output_dim: 1024
+      positional_embeddings: null
+    future_action_window_size: 49
+    past_action_window_size: 0
+  dino:
+    dino_backbone: dinov2_vits14
+datasets:
+  vla_data:
+    dataset_py: lerobot_datasets
+    data_root_dir: /home/liuyu/student-workspace/data/robotwin/RoboTwin
+    data_mix: robotwin_all_50
+    action_type: abs_qpos
+    action_mode: abs
+    include_state: false
+    sequential_step_sampling: false
+    per_device_batch_size: 2
+    load_all_data_for_training: true
+    image_size:
+    - 224
+    - 224
+    video_backend: pyav
+    num_workers: 4
+    expected_world_size: 2
+    traceable_sampling: true
+    dataset_provenance_path: /home/liuyu/student-workspace/data/robotwin/manifests/data_provenance.json
+    dataset_content_fingerprint_path: /home/liuyu/student-workspace/data/robotwin/manifests/content_fingerprints.json
+    valid_anchor_manifest_path: /home/liuyu/student-workspace/data/robotwin/manifests/valid_anchor_manifest.json
+    temporal_proposal_path: null
+    transform_rng_seed: 289726
+trainer:
+  use_deepspeed: true
+  max_train_steps: 150000
+  num_warmup_steps: 5000
+  save_interval: null
+  save_steps:
+  - 10500
+  eval_interval: null
+  repeated_diffusion_steps: 4
+  learning_rate:
+    base: 1.0e-05
+    qwen_vl_interface: 1.0e-05
+    action_model: 0.0001
+  lr_scheduler_type: cosine_with_min_lr
+  scheduler_specific_kwargs:
+    min_lr: 5.0e-07
+  freeze_modules: ''
+  trainable_modules: ''
+  frozen_modules_eval: false
+  logging_frequency: 50
+  gradient_clipping: 1.0
+  gradient_accumulation_steps: 16
+  save_format: pt
+  save_final_checkpoint: false
+  optimizer:
+    name: AdamW
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+  stop_after_steps: 10500
+  is_resume: true
+  allow_model_only_resume: false
+  resume_accelerate_checkpoint: /home/liuyu/student-workspace/data/robotwin/common_start/florence-groot-robotwin-xvla3view-official150k-seed42-20260804/checkpoints/steps_10000_accelerate
+  branch_parent_seed: 42
+  branch_rng_seed: 484370
+  model_rng_seed: 721927
+  evaluation_snapshot_interval: null
+  sample_loss_weight_key: keyframe_weight
+config_yaml: /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/configs/florence_keyframe_formal.yaml
+output_dir: /home/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-keyframe-10000-to-10500-seed484370

settings/florence_robotwin/keyframe/config.yaml

@@ -0,0 +1,69 @@
+datasets:
+  vla_data:
+    action_mode: abs
+    data_mix: robotwin_all_50
+    data_root_dir: /home/liuyu/student-workspace/data/robotwin/RoboTwin
+    dataset_content_fingerprint_path: /home/liuyu/student-workspace/data/robotwin/manifests/content_fingerprints.json
+    dataset_provenance_path: /home/liuyu/student-workspace/data/robotwin/manifests/data_provenance.json
+    dataset_py: lerobot_datasets
+    expected_world_size: 2
+    num_workers: 4
+    per_device_batch_size: 2
+    temporal_proposal_path: null
+    traceable_sampling: true
+    valid_anchor_manifest_path: /home/liuyu/student-workspace/data/robotwin/manifests/valid_anchor_manifest.json
+    video_backend: pyav
+framework:
+  action_model:
+    action_dim: 14
+    action_horizon: 50
+    action_model_type: DiT-B
+    add_pos_embed: true
+    diffusion_model_cfg:
+      cross_attention_dim: 1024
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: true
+      norm_type: ada_norm
+      num_layers: 16
+      output_dim: 1024
+      positional_embeddings: null
+    hidden_size: 1024
+    max_seq_len: 1024
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
+    num_inference_timesteps: 4
+    num_target_vision_tokens: 32
+    num_timestep_buckets: 1000
+    state_dim: 0
+  name: QwenGR00T
+  qwenvl:
+    base_vlm: /home/liuyu/student-workspace/data/runtime/playground/Pretrained_models/Florence-2-large
+    compile_vision_tower: true
+    selected_view_indices:
+    - 0
+    - 1
+    - 2
+output_dir: /home/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-keyframe-10000-to-10500-seed484370
+run_id: florence-robotwin-keyframe-10000-to-10500-seed484370
+run_root_dir: /home/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs
+seed: 484370
+trainer:
+  freeze_modules: ''
+  gradient_accumulation_steps: 16
+  learning_rate:
+    action_model: 0.0001
+    base: 1.0e-05
+    qwen_vl_interface: 1.0e-05
+  lr_scheduler_type: cosine_with_min_lr
+  max_train_steps: 150000
+  num_warmup_steps: 5000
+  optimizer:
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    name: AdamW
+    weight_decay: 1.0e-08
+  scheduler_specific_kwargs:
+    min_lr: 5.0e-07

settings/florence_robotwin/keyframe/dataset_statistics.json

@@ -0,0 +1,218 @@
+{
+  "new_embodiment": {
+    "action": {
+      "mean": [
+        -0.22423998869955536,
+        1.0729362124204633,
+        0.775079609751701,
+        -0.32701663097366684,
+        0.06159586461764771,
+        -0.06420705380151046,
+        0.22430071420967568,
+        1.1274866509437556,
+        0.831773659586906,
+        -0.3638282522559164,
+        -0.024959841337949897,
+        0.05302203213563182,
+        0.6774904182553295,
+        0.6598676902055738
+      ],
+      "std": [
+        0.39622931737429123,
+        1.003590449339515,
+        0.7811611351334437,
+        0.6707485714474849,
+        0.2686908204983921,
+        0.6492019642472782,
+        0.34733679400923234,
+        1.0176226676795115,
+        0.8039915805960646,
+        0.7067249045233707,
+        0.26259645177151686,
+        0.6808759458519371,
+        0.4482151151114418,
+        0.4539921671160285
+      ],
+      "max": [
+        6.45659065246582,
+        4.179152488708496,
+        5.346591472625732,
+        1.7942548990249634,
+        1.8604620695114136,
+        5.43813943862915,
+        7.142920017242432,
+        4.157068729400635,
+        5.672450065612793,
+        1.95806884765625,
+        1.5663840770721436,
+        5.278968811035156,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -7.552278995513916,
+        -0.36354875564575195,
+        -0.18577136099338531,
+        -1.956291913986206,
+        -1.6801013946533203,
+        -7.678869724273682,
+        -8.539926528930664,
+        -0.6294453740119934,
+        -0.07775841653347015,
+        -2.1328067779541016,
+        -2.1285502910614014,
+        -8.228925704956055,
+        0.0,
+        0.0
+      ],
+      "q01": [
+        -7.334665780067444,
+        -5.257390398583084e-07,
+        -2.8215323254698887e-05,
+        -1.841589093208313,
+        -1.2851550579071045,
+        -6.268352918624878,
+        -5.995517673492431,
+        -0.572821855545044,
+        -2.81171942333458e-05,
+        -1.8467556238174438,
+        -1.4545854091644288,
+        -5.945669202804565,
+        0.0,
+        0.0
+      ],
+      "q99": [
+        5.016749763488781,
+        3.4792869091033936,
+        4.225283479690551,
+        1.7064905214309687,
+        1.4829185009002717,
+        3.7177388882636553,
+        1.258314609527588,
+        2.967935800552368,
+        3.2566452693939207,
+        1.766038613319397,
+        1.4066662788391113,
+        3.5830023288726807,
+        1.0,
+        1.0
+      ],
+      "mask": [
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        false,
+        false
+      ]
+    },
+    "state": {
+      "mean": [
+        -0.22281882727518673,
+        1.0668349397182466,
+        0.770632639825344,
+        -0.3252330579422412,
+        0.06118139047002841,
+        -0.06316296239456277,
+        0.22253762468695631,
+        1.1201750242710113,
+        0.8263923591375351,
+        -0.36159489695448405,
+        -0.024702461528722772,
+        0.05203246331657278,
+        0.6793262696266176,
+        0.6616973677277563
+      ],
+      "std": [
+        0.39522870886731665,
+        1.004018577033247,
+        0.7809103811570285,
+        0.6688088363177986,
+        0.26775723818956776,
+        0.6463212583712935,
+        0.34648488321363663,
+        1.018232630032839,
+        0.8038798397682734,
+        0.7045612787595747,
+        0.26143414213134614,
+        0.6774619870452644,
+        0.44749220497027625,
+        0.45333916022037934
+      ],
+      "max": [
+        6.45659065246582,
+        4.179152488708496,
+        5.346591472625732,
+        1.7942548990249634,
+        1.8604620695114136,
+        5.43813943862915,
+        7.142920017242432,
+        4.157068729400635,
+        5.672450065612793,
+        1.95806884765625,
+        1.5663840770721436,
+        5.278968811035156,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -7.552278995513916,
+        -0.36354875564575195,
+        -0.18577136099338531,
+        -1.956291913986206,
+        -1.6801013946533203,
+        -7.678869724273682,
+        -8.539926528930664,
+        -0.6294453740119934,
+        -0.07775841653347015,
+        -2.1328067779541016,
+        -2.1285502910614014,
+        -8.228925704956055,
+        0.0,
+        0.0
+      ],
+      "q01": [
+        -7.334665780067444,
+        -5.257390398583084e-07,
+        -2.8215323254698887e-05,
+        -1.841589093208313,
+        -1.2851550579071045,
+        -6.268109321594238,
+        -5.912737417221069,
+        -0.572821855545044,
+        -2.81171942333458e-05,
+        -1.8467556238174438,
+        -1.440324923992157,
+        -5.8623305034637445,
+        0.0,
+        0.0
+      ],
+      "q99": [
+        4.902149534225477,
+        3.4775466918945312,
+        4.224453401565551,
+        1.7064905214309687,
+        1.480757713317871,
+        3.609884884357428,
+        1.258314609527588,
+        2.967935800552368,
+        3.2566452693939207,
+        1.7433889162540437,
+        1.4066662788391113,
+        3.581243851184845,
+        1.0,
+        1.0
+      ]
+    },
+    "num_transitions": 6075103,
+    "num_trajectories": 27500
+  }
+}

settings/florence_robotwin/keyframe/external_resume_certificate.json

@@ -0,0 +1,138 @@
+{
+  "branch_resume_identity": {
+    "config_sha256": "c1763edabdfd663076f244d685e52a432cb1e83c079948a9a7fbc92f09ab4641",
+    "identity_schema_version": 2,
+    "manifest_sha256": "dcb728a00da4b4ad7f989fa313d6d3355e13f57efefc7267e9ea092f2ffd8a50",
+    "model_structure_sha256": "2d1c8fd1dfa358c4975ad54934f42c24c8d10f6fcef9e8f7c2585b349b32d96b",
+    "proposal_alpha": null,
+    "proposal_sha256": null,
+    "seed": 484370,
+    "total_batch_size": 64
+  },
+  "completed_steps": 10000,
+  "optimizer_param_groups": [
+    {
+      "betas": [
+        0.9,
+        0.95
+      ],
+      "eps": 1e-08,
+      "initial_lr": 1e-05,
+      "lr": 9.97215529648321e-06,
+      "name": "qwen_vl_interface",
+      "weight_decay": 1e-08
+    },
+    {
+      "betas": [
+        0.9,
+        0.95
+      ],
+      "eps": 1e-08,
+      "initial_lr": 0.0001,
+      "lr": 9.972155296483209e-05,
+      "name": "action_model",
+      "weight_decay": 1e-08
+    }
+  ],
+  "optimizer_state_entries": 4,
+  "parent_checkpoint": "/fs1/private/user/liuyu/student-workspace/data/robotwin/common_start/florence-groot-robotwin-xvla3view-official150k-seed42-20260804/checkpoints/steps_10000_accelerate",
+  "parent_checkpoint_commit_sha256": "f6f6408ead21ba9cb0d7bbfa26c74733950a504264a26e5b795129ffadff6958",
+  "parent_checkpoint_files": [
+    {
+      "bytes": 1525,
+      "name": "custom_checkpoint_0.pkl",
+      "sha256": "031a5046639dfc967eebbf30b7184dbe2619e26675a74569827aa5edaf6cc85c"
+    },
+    {
+      "bytes": 13,
+      "name": "latest",
+      "sha256": "68d0ca762047fd48fdd6a06a5e6465209289c028bfd63f5557a110ff1ebc15ac"
+    },
+    {
+      "bytes": 5509764721,
+      "name": "pytorch_model/bf16_zero_pp_rank_0_mp_rank_00_optim_states.pt",
+      "sha256": "27d9b011b75f40c3d896c9681ee883eeb3d2277f201889faebf0b7fcf5492c52"
+    },
+    {
+      "bytes": 5509778801,
+      "name": "pytorch_model/bf16_zero_pp_rank_1_mp_rank_00_optim_states.pt",
+      "sha256": "f657f6f6fb48956b2b406b79511e16b9c2712dc95216b78ba5179818b821d18f"
+    },
+    {
+      "bytes": 1837527613,
+      "name": "pytorch_model/mp_rank_00_model_states.pt",
+      "sha256": "3d66f8b6c0e344c34f06d3b4708c3292cbb8a84ea5a25e650fb64b679a44eb3b"
+    },
+    {
+      "bytes": 2152621885,
+      "name": "pytorch_model.pt",
+      "sha256": "4b6c4f47df7b0f05b8c9287e480d88f2b5e711b4fb6cccbdfffd677ed9bff778"
+    },
+    {
+      "bytes": 15017,
+      "name": "random_states_0.pkl",
+      "sha256": "629d14d87e3cab680e32acec92c80c2578a7fbd1ebc0dee5475e774058f11d41"
+    },
+    {
+      "bytes": 15081,
+      "name": "random_states_1.pkl",
+      "sha256": "3cb98283ee7eaaedcee320e8e3b17e74f2f01a22d9e3b958fa2422a86215c652"
+    },
+    {
+      "bytes": 33270,
+      "name": "zero_to_fp32.py",
+      "sha256": "e8a2553b434ac043ec63b022db1e768277acf8d4e70f10a2842db6d238977135"
+    }
+  ],
+  "parent_checkpoint_files_sha256": "1f8985d0633f16ac3b0381b128cdb4e479c4fdfd67ff15d58736633e4b942bc0",
+  "parent_checkpoint_integrity_manifest_sha256": null,
+  "parent_config_sha256": "d35ab9e43634c7c4a74c5299657df3c17c7d78407dd0fe3d37296a927e353d28",
+  "parent_resume_identity": {
+    "config_sha256": "2440c6327cf5e8c14efc93b800209171c725dae0898181921c62f3490eb8378f",
+    "identity_schema_version": 2,
+    "manifest_sha256": null,
+    "model_structure_sha256": "2d1c8fd1dfa358c4975ad54934f42c24c8d10f6fcef9e8f7c2585b349b32d96b",
+    "proposal_alpha": null,
+    "proposal_sha256": null,
+    "seed": 42,
+    "total_batch_size": 64
+  },
+  "proposal_sha256": null,
+  "rank_state_summaries": [
+    {
+      "optimizer_state_entries": 2,
+      "optimizer_state_sha256": "5a35add2c00249e41e72e1ab16261d87f205bfeaf23386c7263223e4ce168368",
+      "rank": 0,
+      "trainable_state_sha256": "667c6a6a7aa0dc49c32f7bef693f3272efee46064fda5d370d25788291da76a0"
+    },
+    {
+      "optimizer_state_entries": 2,
+      "optimizer_state_sha256": "073f849cd1942522dbfde195bdc29e8ee015e4c5d4be3070381027a13b9784cf",
+      "rank": 1,
+      "trainable_state_sha256": "667c6a6a7aa0dc49c32f7bef693f3272efee46064fda5d370d25788291da76a0"
+    }
+  ],
+  "repeated_diffusion_steps": 4,
+  "rng_streams": {
+    "model_base": 721927,
+    "sampler": 484370,
+    "transform": 289726
+  },
+  "scheduler": {
+    "class": "LambdaLR",
+    "last_epoch": 10000,
+    "last_lr": [
+      9.97215529648321e-06,
+      9.972155296483209e-05
+    ],
+    "step_count": 10001
+  },
+  "scheduler_resume_mode": "accelerate_checkpoint",
+  "schema_version": 1,
+  "status": "exact_external_resume_loaded",
+  "total_batch_size": 64,
+  "trainable_parameter_elements": 918283022,
+  "trainable_parameter_sha256": "2e8f3de6aeee46bca56fab5993103ad30302b45330037cf98f96ffd472f0e9ce",
+  "trainable_parameter_tensors": 1161,
+  "world_size": 2
+}

settings/florence_robotwin/keyframe/initialization_manifest.json

@@ -0,0 +1,6 @@
+{
+  "schema_version": 1,
+  "initialization_seed": 484370,
+  "action_model_sha256": "0b5e42abcce1d0cc6aa164e9bb09ec77e0ea1c6719bb8dc55406f806c5d22b99",
+  "action_model_parameter_elements": 141815566
+}

settings/florence_robotwin/keyframe/valid_anchor_manifest.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2090f6b9d7e1bc5ef41897436690f031c187d625fa6b71ae0c54f3793660c757
+size 107646168

settings/florence_robotwin/loss_is/checkpoint.json

@@ -0,0 +1,65 @@
+{
+  "completed_steps": 10500,
+  "files": [
+    {
+      "bytes": 1525,
+      "name": "custom_checkpoint_0.pkl",
+      "sha256": "98276dada2a8c4a6309ae8c0dd0daa358ceac5a1dd932daea9ba4206e3dd5c78"
+    },
+    {
+      "bytes": 13,
+      "name": "latest",
+      "sha256": "68d0ca762047fd48fdd6a06a5e6465209289c028bfd63f5557a110ff1ebc15ac"
+    },
+    {
+      "bytes": 5509764721,
+      "name": "pytorch_model/bf16_zero_pp_rank_0_mp_rank_00_optim_states.pt",
+      "sha256": "a48c484b90407db991551c5aba01d783688e2d6ef79f07e2f184fc51cd914aa1"
+    },
+    {
+      "bytes": 5509778801,
+      "name": "pytorch_model/bf16_zero_pp_rank_1_mp_rank_00_optim_states.pt",
+      "sha256": "4831d734987d54d691c5416b49f512d5a451d80108d1119c2c9dd560701acee8"
+    },
+    {
+      "bytes": 1837527613,
+      "name": "pytorch_model/mp_rank_00_model_states.pt",
+      "sha256": "ee2458a823635528faf0677265bf06be7318482317f0f5d5a21089bfe6abdb6c"
+    },
+    {
+      "bytes": 2152621885,
+      "name": "pytorch_model.pt",
+      "sha256": "e2b0d1c85f74ac1d72b2f6704e3d6acd1fd7595a5801629d6f96ba2246028ec7"
+    },
+    {
+      "bytes": 15081,
+      "name": "random_states_0.pkl",
+      "sha256": "d4b7ae7e161085d27c793e70e0412ead82f4c8bcd29ec402aa119e8886bd7a8a"
+    },
+    {
+      "bytes": 15081,
+      "name": "random_states_1.pkl",
+      "sha256": "4dc72dafa3023634bb820b6e722b6a060c2fd1622d432a9417caefe1c3c7d000"
+    },
+    {
+      "bytes": 33270,
+      "name": "zero_to_fp32.py",
+      "sha256": "e8a2553b434ac043ec63b022db1e768277acf8d4e70f10a2842db6d238977135"
+    }
+  ],
+  "registered_checkpointables": [
+    "lr_scheduler"
+  ],
+  "resume_identity": {
+    "config_sha256": "c1763edabdfd663076f244d685e52a432cb1e83c079948a9a7fbc92f09ab4641",
+    "identity_schema_version": 2,
+    "manifest_sha256": "dcb728a00da4b4ad7f989fa313d6d3355e13f57efefc7267e9ea092f2ffd8a50",
+    "model_structure_sha256": "2d1c8fd1dfa358c4975ad54934f42c24c8d10f6fcef9e8f7c2585b349b32d96b",
+    "proposal_alpha": null,
+    "proposal_sha256": null,
+    "seed": 484370,
+    "total_batch_size": 64
+  },
+  "schema_version": 1,
+  "world_size": 2
+}

settings/florence_robotwin/loss_is/config.full.yaml

@@ -0,0 +1,118 @@
+run_id: florence-robotwin-loss_is-10000-to-10500-seed484370
+run_root_dir: /home/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs
+seed: 484370
+wandb_entity: null
+wandb_project: InfoFlow-StarVLA-RoboTwin
+is_debug: false
+version_id: '0.21'
+framework:
+  name: QwenGR00T
+  qwenvl:
+    base_vlm: /home/liuyu/student-workspace/data/runtime/playground/Pretrained_models/Florence-2-large
+    attn_implementation: eager
+    vl_hidden_dim: 1024
+    selected_view_indices:
+    - 0
+    - 1
+    - 2
+    compile_vision_tower: true
+  action_model:
+    action_model_type: DiT-B
+    action_hidden_dim: 1024
+    hidden_size: 1024
+    add_pos_embed: true
+    max_seq_len: 1024
+    action_dim: 14
+    state_dim: 0
+    action_horizon: 50
+    repeated_diffusion_steps: 8
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
+    noise_s: 0.999
+    num_timestep_buckets: 1000
+    num_inference_timesteps: 4
+    num_target_vision_tokens: 32
+    diffusion_model_cfg:
+      cross_attention_dim: 1024
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: true
+      norm_type: ada_norm
+      num_layers: 16
+      output_dim: 1024
+      positional_embeddings: null
+    future_action_window_size: 49
+    past_action_window_size: 0
+  dino:
+    dino_backbone: dinov2_vits14
+datasets:
+  vla_data:
+    dataset_py: lerobot_datasets
+    data_root_dir: /home/liuyu/student-workspace/data/robotwin/RoboTwin
+    data_mix: robotwin_all_50
+    action_type: abs_qpos
+    action_mode: abs
+    include_state: false
+    sequential_step_sampling: false
+    per_device_batch_size: 2
+    load_all_data_for_training: true
+    image_size:
+    - 224
+    - 224
+    video_backend: pyav
+    num_workers: 4
+    expected_world_size: 2
+    traceable_sampling: true
+    dataset_provenance_path: /home/liuyu/student-workspace/data/robotwin/manifests/data_provenance.json
+    dataset_content_fingerprint_path: /home/liuyu/student-workspace/data/robotwin/manifests/content_fingerprints.json
+    valid_anchor_manifest_path: /home/liuyu/student-workspace/data/robotwin/manifests/valid_anchor_manifest.json
+    temporal_proposal_path: null
+    transform_rng_seed: 289726
+trainer:
+  use_deepspeed: true
+  max_train_steps: 150000
+  num_warmup_steps: 5000
+  save_interval: null
+  save_steps:
+  - 10500
+  eval_interval: null
+  repeated_diffusion_steps: 4
+  learning_rate:
+    base: 1.0e-05
+    qwen_vl_interface: 1.0e-05
+    action_model: 0.0001
+  lr_scheduler_type: cosine_with_min_lr
+  scheduler_specific_kwargs:
+    min_lr: 5.0e-07
+  freeze_modules: ''
+  trainable_modules: ''
+  frozen_modules_eval: false
+  logging_frequency: 50
+  gradient_clipping: 1.0
+  gradient_accumulation_steps: 16
+  save_format: pt
+  save_final_checkpoint: false
+  optimizer:
+    name: AdamW
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+  stop_after_steps: 10500
+  is_resume: true
+  allow_model_only_resume: false
+  resume_accelerate_checkpoint: /home/liuyu/student-workspace/data/robotwin/common_start/florence-groot-robotwin-xvla3view-official150k-seed42-20260804/checkpoints/steps_10000_accelerate
+  branch_parent_seed: 42
+  branch_rng_seed: 484370
+  model_rng_seed: 721927
+  evaluation_snapshot_interval: null
+  sample_loss_weight_key: loss_is_importance_weight
+  model_rng_trace_key: loss_is_occurrence_id
+  loss_is:
+    candidate_factor: 3
+    seed: 484370
+    condition_threshold: 2.0
+    condition_momentum: 0.9
+config_yaml: /home/liuyu/student-workspace/outputs/robotwin_external_20260831/configs/florence_loss_is_formal.yaml
+output_dir: /home/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-loss_is-10000-to-10500-seed484370

settings/florence_robotwin/loss_is/config.yaml

@@ -0,0 +1,74 @@
+datasets:
+  vla_data:
+    action_mode: abs
+    data_mix: robotwin_all_50
+    data_root_dir: /home/liuyu/student-workspace/data/robotwin/RoboTwin
+    dataset_content_fingerprint_path: /home/liuyu/student-workspace/data/robotwin/manifests/content_fingerprints.json
+    dataset_provenance_path: /home/liuyu/student-workspace/data/robotwin/manifests/data_provenance.json
+    dataset_py: lerobot_datasets
+    expected_world_size: 2
+    num_workers: 4
+    per_device_batch_size: 2
+    temporal_proposal_path: null
+    traceable_sampling: true
+    valid_anchor_manifest_path: /home/liuyu/student-workspace/data/robotwin/manifests/valid_anchor_manifest.json
+    video_backend: pyav
+framework:
+  action_model:
+    action_dim: 14
+    action_horizon: 50
+    action_model_type: DiT-B
+    add_pos_embed: true
+    diffusion_model_cfg:
+      cross_attention_dim: 1024
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: true
+      norm_type: ada_norm
+      num_layers: 16
+      output_dim: 1024
+      positional_embeddings: null
+    hidden_size: 1024
+    max_seq_len: 1024
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
+    num_inference_timesteps: 4
+    num_target_vision_tokens: 32
+    num_timestep_buckets: 1000
+    state_dim: 0
+  name: QwenGR00T
+  qwenvl:
+    base_vlm: /home/liuyu/student-workspace/data/runtime/playground/Pretrained_models/Florence-2-large
+    compile_vision_tower: true
+    selected_view_indices:
+    - 0
+    - 1
+    - 2
+output_dir: /home/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-loss_is-10000-to-10500-seed484370
+run_id: florence-robotwin-loss_is-10000-to-10500-seed484370
+run_root_dir: /home/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs
+seed: 484370
+trainer:
+  freeze_modules: ''
+  gradient_accumulation_steps: 16
+  learning_rate:
+    action_model: 0.0001
+    base: 1.0e-05
+    qwen_vl_interface: 1.0e-05
+  loss_is:
+    candidate_factor: 3
+    condition_momentum: 0.9
+    condition_threshold: 2.0
+    seed: 484370
+  lr_scheduler_type: cosine_with_min_lr
+  max_train_steps: 150000
+  num_warmup_steps: 5000
+  optimizer:
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    name: AdamW
+    weight_decay: 1.0e-08
+  scheduler_specific_kwargs:
+    min_lr: 5.0e-07

settings/florence_robotwin/loss_is/dataset_statistics.json

@@ -0,0 +1,218 @@
+{
+  "new_embodiment": {
+    "action": {
+      "mean": [
+        -0.22423998869955536,
+        1.0729362124204633,
+        0.775079609751701,
+        -0.32701663097366684,
+        0.06159586461764771,
+        -0.06420705380151046,
+        0.22430071420967568,
+        1.1274866509437556,
+        0.831773659586906,
+        -0.3638282522559164,
+        -0.024959841337949897,
+        0.05302203213563182,
+        0.6774904182553295,
+        0.6598676902055738
+      ],
+      "std": [
+        0.39622931737429123,
+        1.003590449339515,
+        0.7811611351334437,
+        0.6707485714474849,
+        0.2686908204983921,
+        0.6492019642472782,
+        0.34733679400923234,
+        1.0176226676795115,
+        0.8039915805960646,
+        0.7067249045233707,
+        0.26259645177151686,
+        0.6808759458519371,
+        0.4482151151114418,
+        0.4539921671160285
+      ],
+      "max": [
+        6.45659065246582,
+        4.179152488708496,
+        5.346591472625732,
+        1.7942548990249634,
+        1.8604620695114136,
+        5.43813943862915,
+        7.142920017242432,
+        4.157068729400635,
+        5.672450065612793,
+        1.95806884765625,
+        1.5663840770721436,
+        5.278968811035156,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -7.552278995513916,
+        -0.36354875564575195,
+        -0.18577136099338531,
+        -1.956291913986206,
+        -1.6801013946533203,
+        -7.678869724273682,
+        -8.539926528930664,
+        -0.6294453740119934,
+        -0.07775841653347015,
+        -2.1328067779541016,
+        -2.1285502910614014,
+        -8.228925704956055,
+        0.0,
+        0.0
+      ],
+      "q01": [
+        -7.334665780067444,
+        -5.257390398583084e-07,
+        -2.8215323254698887e-05,
+        -1.841589093208313,
+        -1.2851550579071045,
+        -6.268352918624878,
+        -5.995517673492431,
+        -0.572821855545044,
+        -2.81171942333458e-05,
+        -1.8467556238174438,
+        -1.4545854091644288,
+        -5.945669202804565,
+        0.0,
+        0.0
+      ],
+      "q99": [
+        5.016749763488781,
+        3.4792869091033936,
+        4.225283479690551,
+        1.7064905214309687,
+        1.4829185009002717,
+        3.7177388882636553,
+        1.258314609527588,
+        2.967935800552368,
+        3.2566452693939207,
+        1.766038613319397,
+        1.4066662788391113,
+        3.5830023288726807,
+        1.0,
+        1.0
+      ],
+      "mask": [
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        false,
+        false
+      ]
+    },
+    "state": {
+      "mean": [
+        -0.22281882727518673,
+        1.0668349397182466,
+        0.770632639825344,
+        -0.3252330579422412,
+        0.06118139047002841,
+        -0.06316296239456277,
+        0.22253762468695631,
+        1.1201750242710113,
+        0.8263923591375351,
+        -0.36159489695448405,
+        -0.024702461528722772,
+        0.05203246331657278,
+        0.6793262696266176,
+        0.6616973677277563
+      ],
+      "std": [
+        0.39522870886731665,
+        1.004018577033247,
+        0.7809103811570285,
+        0.6688088363177986,
+        0.26775723818956776,
+        0.6463212583712935,
+        0.34648488321363663,
+        1.018232630032839,
+        0.8038798397682734,
+        0.7045612787595747,
+        0.26143414213134614,
+        0.6774619870452644,
+        0.44749220497027625,
+        0.45333916022037934
+      ],
+      "max": [
+        6.45659065246582,
+        4.179152488708496,
+        5.346591472625732,
+        1.7942548990249634,
+        1.8604620695114136,
+        5.43813943862915,
+        7.142920017242432,
+        4.157068729400635,
+        5.672450065612793,
+        1.95806884765625,
+        1.5663840770721436,
+        5.278968811035156,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -7.552278995513916,
+        -0.36354875564575195,
+        -0.18577136099338531,
+        -1.956291913986206,
+        -1.6801013946533203,
+        -7.678869724273682,
+        -8.539926528930664,
+        -0.6294453740119934,
+        -0.07775841653347015,
+        -2.1328067779541016,
+        -2.1285502910614014,
+        -8.228925704956055,
+        0.0,
+        0.0
+      ],
+      "q01": [
+        -7.334665780067444,
+        -5.257390398583084e-07,
+        -2.8215323254698887e-05,
+        -1.841589093208313,
+        -1.2851550579071045,
+        -6.268109321594238,
+        -5.912737417221069,
+        -0.572821855545044,
+        -2.81171942333458e-05,
+        -1.8467556238174438,
+        -1.440324923992157,
+        -5.8623305034637445,
+        0.0,
+        0.0
+      ],
+      "q99": [
+        4.902149534225477,
+        3.4775466918945312,
+        4.224453401565551,
+        1.7064905214309687,
+        1.480757713317871,
+        3.609884884357428,
+        1.258314609527588,
+        2.967935800552368,
+        3.2566452693939207,
+        1.7433889162540437,
+        1.4066662788391113,
+        3.581243851184845,
+        1.0,
+        1.0
+      ]
+    },
+    "num_transitions": 6075103,
+    "num_trajectories": 27500
+  }
+}

settings/florence_robotwin/loss_is/external_resume_certificate.json

@@ -0,0 +1,138 @@
+{
+  "branch_resume_identity": {
+    "config_sha256": "c1763edabdfd663076f244d685e52a432cb1e83c079948a9a7fbc92f09ab4641",
+    "identity_schema_version": 2,
+    "manifest_sha256": "dcb728a00da4b4ad7f989fa313d6d3355e13f57efefc7267e9ea092f2ffd8a50",
+    "model_structure_sha256": "2d1c8fd1dfa358c4975ad54934f42c24c8d10f6fcef9e8f7c2585b349b32d96b",
+    "proposal_alpha": null,
+    "proposal_sha256": null,
+    "seed": 484370,
+    "total_batch_size": 64
+  },
+  "completed_steps": 10000,
+  "optimizer_param_groups": [
+    {
+      "betas": [
+        0.9,
+        0.95
+      ],
+      "eps": 1e-08,
+      "initial_lr": 1e-05,
+      "lr": 9.97215529648321e-06,
+      "name": "qwen_vl_interface",
+      "weight_decay": 1e-08
+    },
+    {
+      "betas": [
+        0.9,
+        0.95
+      ],
+      "eps": 1e-08,
+      "initial_lr": 0.0001,
+      "lr": 9.972155296483209e-05,
+      "name": "action_model",
+      "weight_decay": 1e-08
+    }
+  ],
+  "optimizer_state_entries": 4,
+  "parent_checkpoint": "/fs1/private/user/liuyu/student-workspace/data/robotwin/common_start/florence-groot-robotwin-xvla3view-official150k-seed42-20260804/checkpoints/steps_10000_accelerate",
+  "parent_checkpoint_commit_sha256": "f6f6408ead21ba9cb0d7bbfa26c74733950a504264a26e5b795129ffadff6958",
+  "parent_checkpoint_files": [
+    {
+      "bytes": 1525,
+      "name": "custom_checkpoint_0.pkl",
+      "sha256": "031a5046639dfc967eebbf30b7184dbe2619e26675a74569827aa5edaf6cc85c"
+    },
+    {
+      "bytes": 13,
+      "name": "latest",
+      "sha256": "68d0ca762047fd48fdd6a06a5e6465209289c028bfd63f5557a110ff1ebc15ac"
+    },
+    {
+      "bytes": 5509764721,
+      "name": "pytorch_model/bf16_zero_pp_rank_0_mp_rank_00_optim_states.pt",
+      "sha256": "27d9b011b75f40c3d896c9681ee883eeb3d2277f201889faebf0b7fcf5492c52"
+    },
+    {
+      "bytes": 5509778801,
+      "name": "pytorch_model/bf16_zero_pp_rank_1_mp_rank_00_optim_states.pt",
+      "sha256": "f657f6f6fb48956b2b406b79511e16b9c2712dc95216b78ba5179818b821d18f"
+    },
+    {
+      "bytes": 1837527613,
+      "name": "pytorch_model/mp_rank_00_model_states.pt",
+      "sha256": "3d66f8b6c0e344c34f06d3b4708c3292cbb8a84ea5a25e650fb64b679a44eb3b"
+    },
+    {
+      "bytes": 2152621885,
+      "name": "pytorch_model.pt",
+      "sha256": "4b6c4f47df7b0f05b8c9287e480d88f2b5e711b4fb6cccbdfffd677ed9bff778"
+    },
+    {
+      "bytes": 15017,
+      "name": "random_states_0.pkl",
+      "sha256": "629d14d87e3cab680e32acec92c80c2578a7fbd1ebc0dee5475e774058f11d41"
+    },
+    {
+      "bytes": 15081,
+      "name": "random_states_1.pkl",
+      "sha256": "3cb98283ee7eaaedcee320e8e3b17e74f2f01a22d9e3b958fa2422a86215c652"
+    },
+    {
+      "bytes": 33270,
+      "name": "zero_to_fp32.py",
+      "sha256": "e8a2553b434ac043ec63b022db1e768277acf8d4e70f10a2842db6d238977135"
+    }
+  ],
+  "parent_checkpoint_files_sha256": "1f8985d0633f16ac3b0381b128cdb4e479c4fdfd67ff15d58736633e4b942bc0",
+  "parent_checkpoint_integrity_manifest_sha256": null,
+  "parent_config_sha256": "d35ab9e43634c7c4a74c5299657df3c17c7d78407dd0fe3d37296a927e353d28",
+  "parent_resume_identity": {
+    "config_sha256": "2440c6327cf5e8c14efc93b800209171c725dae0898181921c62f3490eb8378f",
+    "identity_schema_version": 2,
+    "manifest_sha256": null,
+    "model_structure_sha256": "2d1c8fd1dfa358c4975ad54934f42c24c8d10f6fcef9e8f7c2585b349b32d96b",
+    "proposal_alpha": null,
+    "proposal_sha256": null,
+    "seed": 42,
+    "total_batch_size": 64
+  },
+  "proposal_sha256": null,
+  "rank_state_summaries": [
+    {
+      "optimizer_state_entries": 2,
+      "optimizer_state_sha256": "5a35add2c00249e41e72e1ab16261d87f205bfeaf23386c7263223e4ce168368",
+      "rank": 0,
+      "trainable_state_sha256": "667c6a6a7aa0dc49c32f7bef693f3272efee46064fda5d370d25788291da76a0"
+    },
+    {
+      "optimizer_state_entries": 2,
+      "optimizer_state_sha256": "073f849cd1942522dbfde195bdc29e8ee015e4c5d4be3070381027a13b9784cf",
+      "rank": 1,
+      "trainable_state_sha256": "667c6a6a7aa0dc49c32f7bef693f3272efee46064fda5d370d25788291da76a0"
+    }
+  ],
+  "repeated_diffusion_steps": 4,
+  "rng_streams": {
+    "model_base": 721927,
+    "sampler": 484370,
+    "transform": 289726
+  },
+  "scheduler": {
+    "class": "LambdaLR",
+    "last_epoch": 10000,
+    "last_lr": [
+      9.97215529648321e-06,
+      9.972155296483209e-05
+    ],
+    "step_count": 10001
+  },
+  "scheduler_resume_mode": "accelerate_checkpoint",
+  "schema_version": 1,
+  "status": "exact_external_resume_loaded",
+  "total_batch_size": 64,
+  "trainable_parameter_elements": 918283022,
+  "trainable_parameter_sha256": "2e8f3de6aeee46bca56fab5993103ad30302b45330037cf98f96ffd472f0e9ce",
+  "trainable_parameter_tensors": 1161,
+  "world_size": 2
+}

settings/florence_robotwin/loss_is/initialization_manifest.json

@@ -0,0 +1,6 @@
+{
+  "schema_version": 1,
+  "initialization_seed": 484370,
+  "action_model_sha256": "0b5e42abcce1d0cc6aa164e9bb09ec77e0ea1c6719bb8dc55406f806c5d22b99",
+  "action_model_parameter_elements": 141815566
+}

settings/florence_robotwin/loss_is/loss_is_state.json

@@ -0,0 +1,20 @@
+{
+  "active_for_completed_step": false,
+  "candidate_factor": 3,
+  "completed_optimizer_step": 10500,
+  "condition": {
+    "momentum": 0.9,
+    "previous_value": 1.0878882060540187,
+    "threshold": 2.0,
+    "value": 1.0870531817606985
+  },
+  "metrics": {
+    "loss_is/active": 0.0,
+    "loss_is/candidate_factor": 3.0,
+    "loss_is/condition_threshold": 2.0,
+    "loss_is/variance_reduction_ema": 1.0870531817606985,
+    "loss_is/variance_reduction_observed": 1.0795379631208175
+  },
+  "schema_version": 1,
+  "selection_scope": "per-rank per-microbatch; globally averaged unbiased estimator"
+}

settings/florence_robotwin/loss_is/valid_anchor_manifest.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2090f6b9d7e1bc5ef41897436690f031c187d625fa6b71ae0c54f3793660c757
+size 107646168

settings/qwen_robotwin/dependencies/content_fingerprints.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e6c3ef15cf746ad2a5f5ffa5f3c3c57fc2647507200873754718388643460d8
+size 14233373

settings/qwen_robotwin/dependencies/data_provenance.json

@@ -0,0 +1,21 @@
+{
+  "checkpoint_repository": {
+    "repo_id": "StarVLA/Florence-GR00T-RoboTwin",
+    "revision": "unknown"
+  },
+  "datasets": {
+    "RoboTwin/Clean": {
+      "repo_id": "local-mnt-miaochengyu-starvla-infoflow-runtime-playground-Datasets-RoboTwin-Clean",
+      "revision": "local-filesystem"
+    },
+    "RoboTwin/Randomized": {
+      "repo_id": "local-mnt-miaochengyu-starvla-infoflow-runtime-playground-Datasets-RoboTwin-Randomized",
+      "revision": "local-filesystem"
+    }
+  },
+  "florence_repository": {
+    "repo_id": "microsoft/Florence-2-large",
+    "revision": "21a599d414c4d928c9032694c424fb94458e3594"
+  },
+  "schema_version": 1
+}

settings/qwen_robotwin/frameskip/cache/frameskip_full.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fa058a703b62cf780621a9a495044923cd2289fd7b684c3dd8b4c217843b1f2
+size 206357915

settings/qwen_robotwin/frameskip/cache/original_pipeline.sh

@@ -0,0 +1,20 @@
+#!/bin/bash
+set -euo pipefail
+cd /home/liuyu/student-workspace/code/starVLA-loss-is-adapted
+export OMP_NUM_THREADS=1 MKL_NUM_THREADS=1 OPENBLAS_NUM_THREADS=1 TORCHINDUCTOR_COMPILE_THREADS=1 MAX_JOBS=1 TOKENIZERS_PARALLELISM=false
+trap 'rc=$?; printf "%s\n" "$rc" > /home/liuyu/student-workspace/outputs/robotwin_external_20260831/frameskip_repair_20260901/pipeline.exitcode' EXIT
+ROOT=/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831
+TEST=/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite
+mkdir -p "$ROOT/logs" "$ROOT/cache" "$ROOT/evidence" "$ROOT/formal_runs" "$ROOT/temporary_smoke_runs"
+if [ ! -s /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/cache/frameskip_full.json ]; then
+env PYTHONPATH=/fs1/private/user/liuyu/student-workspace/code/starVLA-infoflow-codex WANDB_MODE=offline PYTHONUNBUFFERED=1 PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True HF_HOME=/fs1/private/user/liuyu/student-workspace/cache/huggingface HF_HUB_OFFLINE=1 TMPDIR=/fs1/private/user/liuyu/student-workspace/tmp /fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python /fs1/private/user/liuyu/student-workspace/code/starVLA-infoflow-codex/external_baselines/frameskip_robotwin_adapted/build_robotwin_cache.py --manifest /fs1/private/user/liuyu/student-workspace/data/robotwin/manifests/valid_anchor_manifest.json --data-root /fs1/private/user/liuyu/student-workspace/data/robotwin/RoboTwin --upstream-root /fs1/private/user/liuyu/student-workspace/code/upstream/FrameSkip-965becf63e9cd5cc339fbf7fde40d1db47efa67a --visual-checkpoint /fs1/private/user/liuyu/student-workspace/cache/huggingface/hub/models--timm--vit_small_patch14_dinov2.lvd142m/snapshots/4610ca143709d58a633b6397a74412c2c3842454/model.safetensors --output /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/cache/frameskip_full.json --device cuda
+fi
+/fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/validate_frameskip_cache.py /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/cache/frameskip_full.json /fs1/private/user/liuyu/student-workspace/data/robotwin/manifests/valid_anchor_manifest.json
+echo FORMAL florence frameskip
+env PYTHONPATH=/fs1/private/user/liuyu/student-workspace/code/starVLA-loss-is-adapted WANDB_MODE=offline PYTHONUNBUFFERED=1 PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True HF_HOME=/fs1/private/user/liuyu/student-workspace/cache/huggingface HF_HUB_OFFLINE=1 TMPDIR=/fs1/private/user/liuyu/student-workspace/tmp FRAMESKIP_CACHE=/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/cache/frameskip_full.json FRAMESKIP_START_GLOBAL_DRAW_ID=640000 FRAMESKIP_GLOBAL_MICROBATCH_SIZE=4 /fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python -m accelerate.commands.launch --config_file /fs1/private/user/liuyu/student-workspace/code/starVLA-loss-is-adapted/external_baselines/loss_is_adapted/configs/deepspeed_florence_2gpu_sai.yaml --num_processes 2 --mixed_precision bf16 --main_process_port 0 /fs1/private/user/liuyu/student-workspace/code/starVLA-infoflow-codex/external_baselines/frameskip_robotwin_adapted/train_frameskip_robotwin_continuation.py --config_yaml /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/configs/florence_frameskip_formal.yaml
+/fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/validate_checkpoint.py /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-frameskip-10000-to-10500-seed484370/checkpoints 10500 > /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/evidence/florence_frameskip_formal_checkpoint.json
+echo FORMAL qwen frameskip
+cd /home/liuyu/student-workspace/code/starVLA-qwen-bridge-adapted
+env PYTHONPATH=/fs1/private/user/liuyu/student-workspace/code/starVLA-qwen-bridge-adapted WANDB_MODE=offline PYTHONUNBUFFERED=1 PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True HF_HOME=/fs1/private/user/liuyu/student-workspace/cache/huggingface HF_HUB_OFFLINE=1 TMPDIR=/fs1/private/user/liuyu/student-workspace/tmp FRAMESKIP_CACHE=/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/cache/frameskip_full.json FRAMESKIP_START_GLOBAL_DRAW_ID=440000 FRAMESKIP_GLOBAL_MICROBATCH_SIZE=10 /fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python -m accelerate.commands.launch --config_file /fs1/private/user/liuyu/student-workspace/code/starVLA-qwen-bridge-adapted/starVLA/config/deepseeds/deepspeed_zero3.yaml --num_processes 2 --mixed_precision bf16 --main_process_port 0 /fs1/private/user/liuyu/student-workspace/code/starVLA-infoflow-codex/external_baselines/frameskip_robotwin_adapted/train_frameskip_robotwin_continuation.py --config_yaml /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/configs/qwen_frameskip_formal.yaml
+/fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/validate_checkpoint.py /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/qwen-robotwin-frameskip-11000-to-11500-seed484370/checkpoints 11500 > /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/evidence/qwen_frameskip_formal_checkpoint.json
+echo PIPELINE_FRAMESKIP_PASS

settings/qwen_robotwin/frameskip/checkpoint.json

@@ -0,0 +1,65 @@
+{
+  "completed_steps": 11500,
+  "files": [
+    {
+      "bytes": 1525,
+      "name": "custom_checkpoint_0.pkl",
+      "sha256": "b1002611dfae1393f28a634b9d947819b3df149c1e78485b44a31a200d2c1414"
+    },
+    {
+      "bytes": 13,
+      "name": "latest",
+      "sha256": "68d0ca762047fd48fdd6a06a5e6465209289c028bfd63f5557a110ff1ebc15ac"
+    },
+    {
+      "bytes": 13867389419,
+      "name": "pytorch_model/bf16_zero_pp_rank_0_mp_rank_00_optim_states.pt",
+      "sha256": "cc398a054987fb99ec2fbe75c1dc90f9f1b21f24c1e128aa1b806ea2eac8cda9"
+    },
+    {
+      "bytes": 13867389419,
+      "name": "pytorch_model/bf16_zero_pp_rank_1_mp_rank_00_optim_states.pt",
+      "sha256": "3dcec647f0cf700ca5a9041f71763bc258bda5f0deea85579de1d07db67180b4"
+    },
+    {
+      "bytes": 566626,
+      "name": "pytorch_model/zero_pp_rank_0_mp_rank_00_model_states.pt",
+      "sha256": "743ad760245b429d5387d7868a0b61bf310e72f887b02097c94265c46e0d6530"
+    },
+    {
+      "bytes": 566498,
+      "name": "pytorch_model/zero_pp_rank_1_mp_rank_00_model_states.pt",
+      "sha256": "d2738a5c4991da9724574e3120ff7d06f32674a5d3074c07851d4fc5d41f811c"
+    },
+    {
+      "bytes": 15081,
+      "name": "random_states_0.pkl",
+      "sha256": "7ab692cdaa60bfd0c655eca6c69dedad4650b57ed8c82d275be6435fe92e35fa"
+    },
+    {
+      "bytes": 15081,
+      "name": "random_states_1.pkl",
+      "sha256": "ee39fa0a5ac8438faf6b549a41cc2021e0b22d0c7698aa67fcca9cafa74848a3"
+    },
+    {
+      "bytes": 33270,
+      "name": "zero_to_fp32.py",
+      "sha256": "e8a2553b434ac043ec63b022db1e768277acf8d4e70f10a2842db6d238977135"
+    }
+  ],
+  "registered_checkpointables": [
+    "lr_scheduler"
+  ],
+  "resume_identity": {
+    "config_sha256": "fe3d7fe8a58e48266616ea8d6084b359119c2f63d0f7a15661708b726f7cfddc",
+    "identity_schema_version": 2,
+    "manifest_sha256": "dcb728a00da4b4ad7f989fa313d6d3355e13f57efefc7267e9ea092f2ffd8a50",
+    "model_structure_sha256": "7809faa5245147f81b98f3dbd17c7a063a7cb07a21e18af588c748c5925e1407",
+    "proposal_alpha": null,
+    "proposal_sha256": null,
+    "seed": 484370,
+    "total_batch_size": 40
+  },
+  "schema_version": 1,
+  "world_size": 2
+}

settings/qwen_robotwin/frameskip/config.full.yaml

@@ -0,0 +1,109 @@
+run_id: qwen-robotwin-frameskip-11000-to-11500-seed484370
+run_root_dir: /home/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs
+seed: 484370
+wandb_entity: null
+wandb_project: InfoFlow-StarVLA-RoboTwin
+is_debug: false
+version_id: '0.21'
+framework:
+  name: QwenGR00T
+  qwenvl:
+    base_vlm: /home/liuyu/student-workspace/data/runtime/playground/Pretrained_models/Qwen3-VL-4B-Instruct
+    attn_implementation: flash_attention_2
+    vl_hidden_dim: 2048
+  action_model:
+    action_model_type: DiT-B
+    action_hidden_dim: 2048
+    hidden_size: 1024
+    add_pos_embed: true
+    max_seq_len: 1024
+    action_dim: 14
+    state_dim: 0
+    action_horizon: 50
+    repeated_diffusion_steps: 8
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
+    noise_s: 0.999
+    num_timestep_buckets: 1000
+    num_inference_timesteps: 4
+    num_target_vision_tokens: 32
+    diffusion_model_cfg:
+      cross_attention_dim: 2560
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: true
+      norm_type: ada_norm
+      num_layers: 16
+      output_dim: 1024
+      positional_embeddings: null
+    future_action_window_size: 49
+    past_action_window_size: 0
+  dino:
+    dino_backbone: dinov2_vits14
+datasets:
+  vla_data:
+    dataset_py: lerobot_datasets
+    data_root_dir: /home/liuyu/student-workspace/data/robotwin/RoboTwin
+    data_mix: robotwin_all_50
+    action_type: abs_qpos
+    action_mode: abs
+    include_state: false
+    sequential_step_sampling: false
+    per_device_batch_size: 5
+    load_all_data_for_training: true
+    image_size:
+    - 224
+    - 224
+    video_backend: pyav
+    num_workers: 4
+    expected_world_size: 2
+    traceable_sampling: true
+    dataset_provenance_path: /home/liuyu/student-workspace/data/robotwin/manifests/data_provenance.json
+    dataset_content_fingerprint_path: /home/liuyu/student-workspace/data/robotwin/manifests/content_fingerprints.json
+    valid_anchor_manifest_path: /home/liuyu/student-workspace/data/robotwin/manifests/valid_anchor_manifest.json
+    transform_rng_seed: 289726
+    temporal_proposal_path: null
+trainer:
+  use_deepspeed: true
+  max_train_steps: 150000
+  num_warmup_steps: 5000
+  save_interval: null
+  save_steps:
+  - 11500
+  evaluation_snapshot_interval: null
+  evaluation_snapshot_start_step: 10000
+  evaluation_snapshot_end_step: 20000
+  eval_interval: null
+  repeated_diffusion_steps: 4
+  learning_rate:
+    base: 1.0e-05
+    qwen_vl_interface: 1.0e-05
+    action_model: 0.0001
+  lr_scheduler_type: cosine_with_min_lr
+  scheduler_specific_kwargs:
+    min_lr: 5.0e-07
+  freeze_modules: ''
+  trainable_modules: ''
+  frozen_modules_eval: false
+  logging_frequency: 10
+  gradient_clipping: 1.0
+  gradient_accumulation_steps: 4
+  save_format: pt
+  save_final_checkpoint: false
+  save_consolidated_model: false
+  optimizer:
+    name: AdamW8bit
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+  stop_after_steps: 11500
+  is_resume: true
+  allow_model_only_resume: false
+  resume_accelerate_checkpoint: /home/liuyu/student-workspace/data/robotwin/common_start/qwen3vl-groot-robotwin-official150k-adamw8bit-mb5-ga4-seed42-20260810/checkpoints/steps_11000_accelerate
+  branch_parent_seed: 42
+  branch_rng_seed: 484370
+  model_rng_seed: 721927
+config_yaml: /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/configs/qwen_frameskip_formal.yaml
+output_dir: /home/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/qwen-robotwin-frameskip-11000-to-11500-seed484370

settings/qwen_robotwin/frameskip/config.yaml

@@ -0,0 +1,65 @@
+datasets:
+  vla_data:
+    action_mode: abs
+    data_mix: robotwin_all_50
+    data_root_dir: /home/liuyu/student-workspace/data/robotwin/RoboTwin
+    dataset_content_fingerprint_path: /home/liuyu/student-workspace/data/robotwin/manifests/content_fingerprints.json
+    dataset_provenance_path: /home/liuyu/student-workspace/data/robotwin/manifests/data_provenance.json
+    dataset_py: lerobot_datasets
+    expected_world_size: 2
+    num_workers: 4
+    per_device_batch_size: 5
+    temporal_proposal_path: null
+    traceable_sampling: true
+    valid_anchor_manifest_path: /home/liuyu/student-workspace/data/robotwin/manifests/valid_anchor_manifest.json
+    video_backend: pyav
+framework:
+  action_model:
+    action_dim: 14
+    action_horizon: 50
+    action_model_type: DiT-B
+    add_pos_embed: true
+    diffusion_model_cfg:
+      cross_attention_dim: 2560
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: true
+      norm_type: ada_norm
+      num_layers: 16
+      output_dim: 1024
+      positional_embeddings: null
+    hidden_size: 1024
+    max_seq_len: 1024
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
+    num_inference_timesteps: 4
+    num_target_vision_tokens: 32
+    num_timestep_buckets: 1000
+    state_dim: 0
+  name: QwenGR00T
+  qwenvl:
+    attn_implementation: flash_attention_2
+    base_vlm: /home/liuyu/student-workspace/data/runtime/playground/Pretrained_models/Qwen3-VL-4B-Instruct
+output_dir: /home/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/qwen-robotwin-frameskip-11000-to-11500-seed484370
+run_id: qwen-robotwin-frameskip-11000-to-11500-seed484370
+run_root_dir: /home/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs
+seed: 484370
+trainer:
+  freeze_modules: ''
+  gradient_accumulation_steps: 4
+  learning_rate:
+    action_model: 0.0001
+    base: 1.0e-05
+    qwen_vl_interface: 1.0e-05
+  lr_scheduler_type: cosine_with_min_lr
+  max_train_steps: 150000
+  num_warmup_steps: 5000
+  optimizer:
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    name: AdamW8bit
+    weight_decay: 1.0e-08
+  scheduler_specific_kwargs:
+    min_lr: 5.0e-07

settings/qwen_robotwin/frameskip/dataset_statistics.json

@@ -0,0 +1,218 @@
+{
+  "new_embodiment": {
+    "action": {
+      "mean": [
+        -0.22423998869955536,
+        1.0729362124204633,
+        0.775079609751701,
+        -0.32701663097366684,
+        0.06159586461764771,
+        -0.06420705380151046,
+        0.22430071420967568,
+        1.1274866509437556,
+        0.831773659586906,
+        -0.3638282522559164,
+        -0.024959841337949897,
+        0.05302203213563182,
+        0.6774904182553295,
+        0.6598676902055738
+      ],
+      "std": [
+        0.39622931737429123,
+        1.003590449339515,
+        0.7811611351334437,
+        0.6707485714474849,
+        0.2686908204983921,
+        0.6492019642472782,
+        0.34733679400923234,
+        1.0176226676795115,
+        0.8039915805960646,
+        0.7067249045233707,
+        0.26259645177151686,
+        0.6808759458519371,
+        0.4482151151114418,
+        0.4539921671160285
+      ],
+      "max": [
+        6.45659065246582,
+        4.179152488708496,
+        5.346591472625732,
+        1.7942548990249634,
+        1.8604620695114136,
+        5.43813943862915,
+        7.142920017242432,
+        4.157068729400635,
+        5.672450065612793,
+        1.95806884765625,
+        1.5663840770721436,
+        5.278968811035156,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -7.552278995513916,
+        -0.36354875564575195,
+        -0.18577136099338531,
+        -1.956291913986206,
+        -1.6801013946533203,
+        -7.678869724273682,
+        -8.539926528930664,
+        -0.6294453740119934,
+        -0.07775841653347015,
+        -2.1328067779541016,
+        -2.1285502910614014,
+        -8.228925704956055,
+        0.0,
+        0.0
+      ],
+      "q01": [
+        -7.334665780067444,
+        -5.257390398583084e-07,
+        -2.8215323254698887e-05,
+        -1.841589093208313,
+        -1.2851550579071045,
+        -6.268352918624878,
+        -5.995517673492431,
+        -0.572821855545044,
+        -2.81171942333458e-05,
+        -1.8467556238174438,
+        -1.4545854091644288,
+        -5.945669202804565,
+        0.0,
+        0.0
+      ],
+      "q99": [
+        5.016749763488781,
+        3.4792869091033936,
+        4.225283479690551,
+        1.7064905214309687,
+        1.4829185009002717,
+        3.7177388882636553,
+        1.258314609527588,
+        2.967935800552368,
+        3.2566452693939207,
+        1.766038613319397,
+        1.4066662788391113,
+        3.5830023288726807,
+        1.0,
+        1.0
+      ],
+      "mask": [
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        false,
+        false
+      ]
+    },
+    "state": {
+      "mean": [
+        -0.22281882727518673,
+        1.0668349397182466,
+        0.770632639825344,
+        -0.3252330579422412,
+        0.06118139047002841,
+        -0.06316296239456277,
+        0.22253762468695631,
+        1.1201750242710113,
+        0.8263923591375351,
+        -0.36159489695448405,
+        -0.024702461528722772,
+        0.05203246331657278,
+        0.6793262696266176,
+        0.6616973677277563
+      ],
+      "std": [
+        0.39522870886731665,
+        1.004018577033247,
+        0.7809103811570285,
+        0.6688088363177986,
+        0.26775723818956776,
+        0.6463212583712935,
+        0.34648488321363663,
+        1.018232630032839,
+        0.8038798397682734,
+        0.7045612787595747,
+        0.26143414213134614,
+        0.6774619870452644,
+        0.44749220497027625,
+        0.45333916022037934
+      ],
+      "max": [
+        6.45659065246582,
+        4.179152488708496,
+        5.346591472625732,
+        1.7942548990249634,
+        1.8604620695114136,
+        5.43813943862915,
+        7.142920017242432,
+        4.157068729400635,
+        5.672450065612793,
+        1.95806884765625,
+        1.5663840770721436,
+        5.278968811035156,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -7.552278995513916,
+        -0.36354875564575195,
+        -0.18577136099338531,
+        -1.956291913986206,
+        -1.6801013946533203,
+        -7.678869724273682,
+        -8.539926528930664,
+        -0.6294453740119934,
+        -0.07775841653347015,
+        -2.1328067779541016,
+        -2.1285502910614014,
+        -8.228925704956055,
+        0.0,
+        0.0
+      ],
+      "q01": [
+        -7.334665780067444,
+        -5.257390398583084e-07,
+        -2.8215323254698887e-05,
+        -1.841589093208313,
+        -1.2851550579071045,
+        -6.268109321594238,
+        -5.912737417221069,
+        -0.572821855545044,
+        -2.81171942333458e-05,
+        -1.8467556238174438,
+        -1.440324923992157,
+        -5.8623305034637445,
+        0.0,
+        0.0
+      ],
+      "q99": [
+        4.902149534225477,
+        3.4775466918945312,
+        4.224453401565551,
+        1.7064905214309687,
+        1.480757713317871,
+        3.609884884357428,
+        1.258314609527588,
+        2.967935800552368,
+        3.2566452693939207,
+        1.7433889162540437,
+        1.4066662788391113,
+        3.581243851184845,
+        1.0,
+        1.0
+      ]
+    },
+    "num_transitions": 6075103,
+    "num_trajectories": 27500
+  }
+}

settings/qwen_robotwin/frameskip/external_resume_certificate.json

@@ -0,0 +1,138 @@
+{
+  "branch_resume_identity": {
+    "config_sha256": "fe3d7fe8a58e48266616ea8d6084b359119c2f63d0f7a15661708b726f7cfddc",
+    "identity_schema_version": 2,
+    "manifest_sha256": "dcb728a00da4b4ad7f989fa313d6d3355e13f57efefc7267e9ea092f2ffd8a50",
+    "model_structure_sha256": "7809faa5245147f81b98f3dbd17c7a063a7cb07a21e18af588c748c5925e1407",
+    "proposal_alpha": null,
+    "proposal_sha256": null,
+    "seed": 484370,
+    "total_batch_size": 40
+  },
+  "completed_steps": 11000,
+  "optimizer_param_groups": [
+    {
+      "betas": [
+        0.9,
+        0.95
+      ],
+      "eps": 1e-08,
+      "initial_lr": 1e-05,
+      "lr": 9.959920880962606e-06,
+      "name": "qwen_vl_interface",
+      "weight_decay": 1e-08
+    },
+    {
+      "betas": [
+        0.9,
+        0.95
+      ],
+      "eps": 1e-08,
+      "initial_lr": 0.0001,
+      "lr": 9.959920880962605e-05,
+      "name": "action_model",
+      "weight_decay": 1e-08
+    }
+  ],
+  "optimizer_state_entries": 8,
+  "parent_checkpoint": "/fs1/private/user/liuyu/student-workspace/data/robotwin/common_start/qwen3vl-groot-robotwin-official150k-adamw8bit-mb5-ga4-seed42-20260810/checkpoints/steps_11000_accelerate",
+  "parent_checkpoint_commit_sha256": "180f1ed2d2b7a9e6c158974fc9ec951182dfb629f6a2806808ac5639d491ce1b",
+  "parent_checkpoint_files": [
+    {
+      "bytes": 1525,
+      "name": "custom_checkpoint_0.pkl",
+      "sha256": "70788f8a2d7852a70fbb794ab9176d14ad37fb6d1b1d821a368572e1d8524390"
+    },
+    {
+      "bytes": 13,
+      "name": "latest",
+      "sha256": "68d0ca762047fd48fdd6a06a5e6465209289c028bfd63f5557a110ff1ebc15ac"
+    },
+    {
+      "bytes": 13867381301,
+      "name": "pytorch_model/bf16_zero_pp_rank_0_mp_rank_00_optim_states.pt",
+      "sha256": "42b6d10bb158b404056983ce88505c32738b29f3a062fe6835d24ce26c521a6a"
+    },
+    {
+      "bytes": 13867381301,
+      "name": "pytorch_model/bf16_zero_pp_rank_1_mp_rank_00_optim_states.pt",
+      "sha256": "7b0a1bbc92efffbf056bc40f40e93a94b67ddf3f375dc6ae263bcb048ba6ec63"
+    },
+    {
+      "bytes": 566626,
+      "name": "pytorch_model/zero_pp_rank_0_mp_rank_00_model_states.pt",
+      "sha256": "8a3ef88f9ab0df8197a836dca1d6e2416835f0b3d827cb10a78254b9a969ce7c"
+    },
+    {
+      "bytes": 566498,
+      "name": "pytorch_model/zero_pp_rank_1_mp_rank_00_model_states.pt",
+      "sha256": "67cd03fceb5ee4c2be6affe504f71a48ee10127d6ea3a1f00d05721895ffba53"
+    },
+    {
+      "bytes": 15017,
+      "name": "random_states_0.pkl",
+      "sha256": "636b1c5983ee2f8a5047025027453c9a478c0606389f2f6945b370f39cec9e65"
+    },
+    {
+      "bytes": 15081,
+      "name": "random_states_1.pkl",
+      "sha256": "416b3be53ff049935984cc65385d7dae3b0e5a82df66c9516f61ee9100c41961"
+    },
+    {
+      "bytes": 33270,
+      "name": "zero_to_fp32.py",
+      "sha256": "e8a2553b434ac043ec63b022db1e768277acf8d4e70f10a2842db6d238977135"
+    }
+  ],
+  "parent_checkpoint_files_sha256": "73692dae620e3d4368fe513e8adff4fe54bdb25341b4293e34ee2a6286554f8d",
+  "parent_checkpoint_integrity_manifest_sha256": null,
+  "parent_config_sha256": "4882855d94076fc0ec19a0d511f14b1cbe82860c8b5df3dcc64c5c5f6c0d2321",
+  "parent_resume_identity": {
+    "config_sha256": "1a48ea51cf89ce72a7956aaa29f710bba0326c9b726e52795561b381507d26fa",
+    "identity_schema_version": 2,
+    "manifest_sha256": "dcb728a00da4b4ad7f989fa313d6d3355e13f57efefc7267e9ea092f2ffd8a50",
+    "model_structure_sha256": "7809faa5245147f81b98f3dbd17c7a063a7cb07a21e18af588c748c5925e1407",
+    "proposal_alpha": null,
+    "proposal_sha256": null,
+    "seed": 42,
+    "total_batch_size": 40
+  },
+  "proposal_sha256": null,
+  "rank_state_summaries": [
+    {
+      "optimizer_state_entries": 4,
+      "optimizer_state_sha256": "e1eea37514fa0478835597d1594b7a43b45cea9adc4ccb79a0de8fb9e10fe9f0",
+      "rank": 0,
+      "trainable_state_sha256": "ca2a19167d59aab693d0a0a1e17ea9adbf9cfd7367dfa7a5c90b04cf2183b717"
+    },
+    {
+      "optimizer_state_entries": 4,
+      "optimizer_state_sha256": "62c4e2908a7e97fe9a1d60642a85968081b55345493a11b9e7f68e49fcdb22f3",
+      "rank": 1,
+      "trainable_state_sha256": "ca2a19167d59aab693d0a0a1e17ea9adbf9cfd7367dfa7a5c90b04cf2183b717"
+    }
+  ],
+  "repeated_diffusion_steps": 4,
+  "rng_streams": {
+    "model_base": 721927,
+    "sampler": 484370,
+    "transform": 289726
+  },
+  "scheduler": {
+    "class": "LambdaLR",
+    "last_epoch": 11000,
+    "last_lr": [
+      9.959920880962606e-06,
+      9.959920880962605e-05
+    ],
+    "step_count": 11001
+  },
+  "scheduler_resume_mode": "accelerate_checkpoint",
+  "schema_version": 1,
+  "status": "exact_external_resume_loaded",
+  "total_batch_size": 40,
+  "trainable_parameter_elements": 32022798,
+  "trainable_parameter_sha256": "1bc504b22e4375be40bbbd8250be5b5f380c14d2fb47ed85deba3604a84b5484",
+  "trainable_parameter_tensors": 957,
+  "world_size": 2
+}

settings/qwen_robotwin/frameskip/initialization_manifest.json

@@ -0,0 +1,6 @@
+{
+  "schema_version": 1,
+  "initialization_seed": 484370,
+  "action_model_sha256": "1cab43a1e801a94110a20384a9ad6cd76a239fedd9fe17890662da7e22d47e62",
+  "action_model_parameter_elements": 160689934
+}

settings/qwen_robotwin/frameskip/valid_anchor_manifest.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2090f6b9d7e1bc5ef41897436690f031c187d625fa6b71ae0c54f3793660c757
+size 107646168

settings/qwen_robotwin/keyframe/cache/keyframe_full.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:490da0439605b2b1acd7400add00c0e24a9c53c8bf68812ba47fcb34a0f18e40
+size 22442738

settings/qwen_robotwin/keyframe/cache/original_pipeline.sh

@@ -0,0 +1,32 @@
+#!/bin/bash
+set -euo pipefail
+ROOT=/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831
+TEST=/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite
+mkdir -p "$ROOT/logs" "$ROOT/cache" "$ROOT/evidence" "$ROOT/formal_runs" "$ROOT/temporary_smoke_runs"
+if [ ! -s /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/cache/keyframe_full.npz ]; then
+env PYTHONPATH=/fs1/private/user/liuyu/student-workspace/code/starVLA-loss-is-adapted WANDB_MODE=offline PYTHONUNBUFFERED=1 PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True HF_HOME=/fs1/private/user/liuyu/student-workspace/cache/huggingface HF_HUB_OFFLINE=1 TMPDIR=/fs1/private/user/liuyu/student-workspace/tmp /fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python /fs1/private/user/liuyu/student-workspace/code/starVLA-loss-is-adapted/external_baselines/robotwin_smoke/build_keyframe_ape_cache.py --manifest /fs1/private/user/liuyu/student-workspace/data/robotwin/manifests/valid_anchor_manifest.json --data-root /fs1/private/user/liuyu/student-workspace/data/robotwin/RoboTwin --statistics /fs1/private/user/liuyu/student-workspace/data/robotwin/common_start/florence-groot-robotwin-xvla3view-official150k-seed42-20260804/dataset_statistics.json --statistics-key new_embodiment --output /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/cache/keyframe_full.npz --scope full --epochs 300 --device cuda
+fi
+env PYTHONPATH=/fs1/private/user/liuyu/student-workspace/code/starVLA-loss-is-adapted /fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python /fs1/private/user/liuyu/student-workspace/code/starVLA-loss-is-adapted/external_baselines/keyframe_focused_adapted/validate_cache_support.py --manifest /fs1/private/user/liuyu/student-workspace/data/robotwin/manifests/valid_anchor_manifest.json --cache /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/cache/keyframe_full.npz --seed 484370 --draw-start 440000 --draw-count 4096
+echo SMOKE florence keyframe phase1
+env PYTHONPATH=/fs1/private/user/liuyu/student-workspace/code/starVLA-loss-is-adapted WANDB_MODE=offline PYTHONUNBUFFERED=1 PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True HF_HOME=/fs1/private/user/liuyu/student-workspace/cache/huggingface HF_HUB_OFFLINE=1 TMPDIR=/fs1/private/user/liuyu/student-workspace/tmp KEYFRAME_APE_CACHE=/fs1/private/user/liuyu/student-workspace/outputs/robotwin_smoke/data/keyframe_ape_full_smoke.npz /fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python -m accelerate.commands.launch --config_file /fs1/private/user/liuyu/student-workspace/code/starVLA-loss-is-adapted/external_baselines/loss_is_adapted/configs/deepspeed_florence_2gpu_sai.yaml --num_processes 2 --mixed_precision bf16 --main_process_port 0 /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/smoke_runner.py --method keyframe --entry /fs1/private/user/liuyu/student-workspace/code/starVLA-loss-is-adapted/external_baselines/keyframe_focused_adapted/train_keyframe_continuation.py --config_yaml /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/florence_keyframe_phase1.yaml >> /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/logs/keyframe_florence_smoke.log 2>&1
+/fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/validate_checkpoint.py /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/temporary_smoke_runs/florence-robotwin-keyframe-isolated-save-reload-smoke/checkpoints 1 >> /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/evidence/florence_keyframe_smoke.jsonl
+echo SMOKE florence keyframe phase2
+env PYTHONPATH=/fs1/private/user/liuyu/student-workspace/code/starVLA-loss-is-adapted WANDB_MODE=offline PYTHONUNBUFFERED=1 PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True HF_HOME=/fs1/private/user/liuyu/student-workspace/cache/huggingface HF_HUB_OFFLINE=1 TMPDIR=/fs1/private/user/liuyu/student-workspace/tmp KEYFRAME_APE_CACHE=/fs1/private/user/liuyu/student-workspace/outputs/robotwin_smoke/data/keyframe_ape_full_smoke.npz /fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python -m accelerate.commands.launch --config_file /fs1/private/user/liuyu/student-workspace/code/starVLA-loss-is-adapted/external_baselines/loss_is_adapted/configs/deepspeed_florence_2gpu_sai.yaml --num_processes 2 --mixed_precision bf16 --main_process_port 0 /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/smoke_runner.py --method keyframe --entry /fs1/private/user/liuyu/student-workspace/code/starVLA-loss-is-adapted/external_baselines/keyframe_focused_adapted/train_keyframe_continuation.py --config_yaml /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/florence_keyframe_phase2.yaml >> /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/logs/keyframe_florence_smoke.log 2>&1
+/fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/validate_checkpoint.py /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/temporary_smoke_runs/florence-robotwin-keyframe-isolated-save-reload-smoke/checkpoints 2 >> /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/evidence/florence_keyframe_smoke.jsonl
+/fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/cleanup_smoke.py florence-robotwin-keyframe-isolated-save-reload-smoke
+rm -f -- /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/logs/keyframe_florence_smoke.log
+echo SMOKE qwen keyframe phase1
+env PYTHONPATH=/fs1/private/user/liuyu/student-workspace/code/starVLA-qwen-bridge-adapted WANDB_MODE=offline PYTHONUNBUFFERED=1 PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True HF_HOME=/fs1/private/user/liuyu/student-workspace/cache/huggingface HF_HUB_OFFLINE=1 TMPDIR=/fs1/private/user/liuyu/student-workspace/tmp KEYFRAME_APE_CACHE=/fs1/private/user/liuyu/student-workspace/outputs/robotwin_smoke/data/keyframe_ape_full_smoke.npz /fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python -m accelerate.commands.launch --config_file /fs1/private/user/liuyu/student-workspace/code/starVLA-qwen-bridge-adapted/starVLA/config/deepseeds/deepspeed_zero3.yaml --num_processes 2 --mixed_precision bf16 --main_process_port 0 /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/smoke_runner.py --method keyframe --entry /fs1/private/user/liuyu/student-workspace/code/starVLA-qwen-bridge-adapted/external_baselines/keyframe_focused_adapted/train_keyframe_continuation.py --config_yaml /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/qwen_keyframe_phase1.yaml >> /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/logs/keyframe_qwen_smoke.log 2>&1
+/fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/validate_checkpoint.py /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/temporary_smoke_runs/qwen-robotwin-keyframe-isolated-save-reload-smoke/checkpoints 1 >> /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/evidence/qwen_keyframe_smoke.jsonl
+echo SMOKE qwen keyframe phase2
+env PYTHONPATH=/fs1/private/user/liuyu/student-workspace/code/starVLA-qwen-bridge-adapted WANDB_MODE=offline PYTHONUNBUFFERED=1 PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True HF_HOME=/fs1/private/user/liuyu/student-workspace/cache/huggingface HF_HUB_OFFLINE=1 TMPDIR=/fs1/private/user/liuyu/student-workspace/tmp KEYFRAME_APE_CACHE=/fs1/private/user/liuyu/student-workspace/outputs/robotwin_smoke/data/keyframe_ape_full_smoke.npz /fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python -m accelerate.commands.launch --config_file /fs1/private/user/liuyu/student-workspace/code/starVLA-qwen-bridge-adapted/starVLA/config/deepseeds/deepspeed_zero3.yaml --num_processes 2 --mixed_precision bf16 --main_process_port 0 /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/smoke_runner.py --method keyframe --entry /fs1/private/user/liuyu/student-workspace/code/starVLA-qwen-bridge-adapted/external_baselines/keyframe_focused_adapted/train_keyframe_continuation.py --config_yaml /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/qwen_keyframe_phase2.yaml >> /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/logs/keyframe_qwen_smoke.log 2>&1
+/fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/validate_checkpoint.py /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/temporary_smoke_runs/qwen-robotwin-keyframe-isolated-save-reload-smoke/checkpoints 2 >> /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/evidence/qwen_keyframe_smoke.jsonl
+/fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/cleanup_smoke.py qwen-robotwin-keyframe-isolated-save-reload-smoke
+rm -f -- /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/logs/keyframe_qwen_smoke.log
+echo FORMAL florence keyframe
+env PYTHONPATH=/fs1/private/user/liuyu/student-workspace/code/starVLA-loss-is-adapted WANDB_MODE=offline PYTHONUNBUFFERED=1 PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True HF_HOME=/fs1/private/user/liuyu/student-workspace/cache/huggingface HF_HUB_OFFLINE=1 TMPDIR=/fs1/private/user/liuyu/student-workspace/tmp KEYFRAME_APE_CACHE=/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/cache/keyframe_full.npz /fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python -m accelerate.commands.launch --config_file /fs1/private/user/liuyu/student-workspace/code/starVLA-loss-is-adapted/external_baselines/loss_is_adapted/configs/deepspeed_florence_2gpu_sai.yaml --num_processes 2 --mixed_precision bf16 --main_process_port 0 /fs1/private/user/liuyu/student-workspace/code/starVLA-loss-is-adapted/external_baselines/keyframe_focused_adapted/train_keyframe_continuation.py --config_yaml /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/configs/florence_keyframe_formal.yaml
+/fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/validate_checkpoint.py /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/florence-robotwin-keyframe-10000-to-10500-seed484370/checkpoints 10500 > /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/evidence/florence_keyframe_formal_checkpoint.json
+echo FORMAL qwen keyframe
+env PYTHONPATH=/fs1/private/user/liuyu/student-workspace/code/starVLA-qwen-bridge-adapted WANDB_MODE=offline PYTHONUNBUFFERED=1 PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True HF_HOME=/fs1/private/user/liuyu/student-workspace/cache/huggingface HF_HUB_OFFLINE=1 TMPDIR=/fs1/private/user/liuyu/student-workspace/tmp KEYFRAME_APE_CACHE=/fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/cache/keyframe_full.npz /fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python -m accelerate.commands.launch --config_file /fs1/private/user/liuyu/student-workspace/code/starVLA-qwen-bridge-adapted/starVLA/config/deepseeds/deepspeed_zero3.yaml --num_processes 2 --mixed_precision bf16 --main_process_port 0 /fs1/private/user/liuyu/student-workspace/code/starVLA-qwen-bridge-adapted/external_baselines/keyframe_focused_adapted/train_keyframe_continuation.py --config_yaml /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/configs/qwen_keyframe_formal.yaml
+/fs1/private/user/liuyu/student-workspace/data/runtime/.venv/bin/python /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/test_suite/validate_checkpoint.py /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/qwen-robotwin-keyframe-11000-to-11500-seed484370/checkpoints 11500 > /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/evidence/qwen_keyframe_formal_checkpoint.json
+echo PIPELINE_KEYFRAME_PASS

settings/qwen_robotwin/keyframe/checkpoint.json

@@ -0,0 +1,65 @@
+{
+  "completed_steps": 11500,
+  "files": [
+    {
+      "bytes": 1525,
+      "name": "custom_checkpoint_0.pkl",
+      "sha256": "b1002611dfae1393f28a634b9d947819b3df149c1e78485b44a31a200d2c1414"
+    },
+    {
+      "bytes": 13,
+      "name": "latest",
+      "sha256": "68d0ca762047fd48fdd6a06a5e6465209289c028bfd63f5557a110ff1ebc15ac"
+    },
+    {
+      "bytes": 13867389419,
+      "name": "pytorch_model/bf16_zero_pp_rank_0_mp_rank_00_optim_states.pt",
+      "sha256": "40dd5bdba0170520e88392d43ce82e4d4fb7baf89fc3ed63215e6f25e308e8d7"
+    },
+    {
+      "bytes": 13867389419,
+      "name": "pytorch_model/bf16_zero_pp_rank_1_mp_rank_00_optim_states.pt",
+      "sha256": "152819d833dba8922ab4b6c11f19cbae7be92e5531cb154d13e29f486c2fab78"
+    },
+    {
+      "bytes": 566626,
+      "name": "pytorch_model/zero_pp_rank_0_mp_rank_00_model_states.pt",
+      "sha256": "743ad760245b429d5387d7868a0b61bf310e72f887b02097c94265c46e0d6530"
+    },
+    {
+      "bytes": 566498,
+      "name": "pytorch_model/zero_pp_rank_1_mp_rank_00_model_states.pt",
+      "sha256": "d2738a5c4991da9724574e3120ff7d06f32674a5d3074c07851d4fc5d41f811c"
+    },
+    {
+      "bytes": 15081,
+      "name": "random_states_0.pkl",
+      "sha256": "7ab692cdaa60bfd0c655eca6c69dedad4650b57ed8c82d275be6435fe92e35fa"
+    },
+    {
+      "bytes": 15081,
+      "name": "random_states_1.pkl",
+      "sha256": "ee39fa0a5ac8438faf6b549a41cc2021e0b22d0c7698aa67fcca9cafa74848a3"
+    },
+    {
+      "bytes": 33270,
+      "name": "zero_to_fp32.py",
+      "sha256": "e8a2553b434ac043ec63b022db1e768277acf8d4e70f10a2842db6d238977135"
+    }
+  ],
+  "registered_checkpointables": [
+    "lr_scheduler"
+  ],
+  "resume_identity": {
+    "config_sha256": "fe3d7fe8a58e48266616ea8d6084b359119c2f63d0f7a15661708b726f7cfddc",
+    "identity_schema_version": 2,
+    "manifest_sha256": "dcb728a00da4b4ad7f989fa313d6d3355e13f57efefc7267e9ea092f2ffd8a50",
+    "model_structure_sha256": "7809faa5245147f81b98f3dbd17c7a063a7cb07a21e18af588c748c5925e1407",
+    "proposal_alpha": null,
+    "proposal_sha256": null,
+    "seed": 484370,
+    "total_batch_size": 40
+  },
+  "schema_version": 1,
+  "world_size": 2
+}

settings/qwen_robotwin/keyframe/config.full.yaml

@@ -0,0 +1,110 @@
+run_id: qwen-robotwin-keyframe-11000-to-11500-seed484370
+run_root_dir: /home/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs
+seed: 484370
+wandb_entity: null
+wandb_project: InfoFlow-StarVLA-RoboTwin
+is_debug: false
+version_id: '0.21'
+framework:
+  name: QwenGR00T
+  qwenvl:
+    base_vlm: /home/liuyu/student-workspace/data/runtime/playground/Pretrained_models/Qwen3-VL-4B-Instruct
+    attn_implementation: flash_attention_2
+    vl_hidden_dim: 2048
+  action_model:
+    action_model_type: DiT-B
+    action_hidden_dim: 2048
+    hidden_size: 1024
+    add_pos_embed: true
+    max_seq_len: 1024
+    action_dim: 14
+    state_dim: 0
+    action_horizon: 50
+    repeated_diffusion_steps: 8
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
+    noise_s: 0.999
+    num_timestep_buckets: 1000
+    num_inference_timesteps: 4
+    num_target_vision_tokens: 32
+    diffusion_model_cfg:
+      cross_attention_dim: 2560
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: true
+      norm_type: ada_norm
+      num_layers: 16
+      output_dim: 1024
+      positional_embeddings: null
+    future_action_window_size: 49
+    past_action_window_size: 0
+  dino:
+    dino_backbone: dinov2_vits14
+datasets:
+  vla_data:
+    dataset_py: lerobot_datasets
+    data_root_dir: /home/liuyu/student-workspace/data/robotwin/RoboTwin
+    data_mix: robotwin_all_50
+    action_type: abs_qpos
+    action_mode: abs
+    include_state: false
+    sequential_step_sampling: false
+    per_device_batch_size: 5
+    load_all_data_for_training: true
+    image_size:
+    - 224
+    - 224
+    video_backend: pyav
+    num_workers: 4
+    expected_world_size: 2
+    traceable_sampling: true
+    dataset_provenance_path: /home/liuyu/student-workspace/data/robotwin/manifests/data_provenance.json
+    dataset_content_fingerprint_path: /home/liuyu/student-workspace/data/robotwin/manifests/content_fingerprints.json
+    valid_anchor_manifest_path: /home/liuyu/student-workspace/data/robotwin/manifests/valid_anchor_manifest.json
+    transform_rng_seed: 289726
+    temporal_proposal_path: null
+trainer:
+  use_deepspeed: true
+  max_train_steps: 150000
+  num_warmup_steps: 5000
+  save_interval: null
+  save_steps:
+  - 11500
+  evaluation_snapshot_interval: null
+  evaluation_snapshot_start_step: 10000
+  evaluation_snapshot_end_step: 20000
+  eval_interval: null
+  repeated_diffusion_steps: 4
+  learning_rate:
+    base: 1.0e-05
+    qwen_vl_interface: 1.0e-05
+    action_model: 0.0001
+  lr_scheduler_type: cosine_with_min_lr
+  scheduler_specific_kwargs:
+    min_lr: 5.0e-07
+  freeze_modules: ''
+  trainable_modules: ''
+  frozen_modules_eval: false
+  logging_frequency: 10
+  gradient_clipping: 1.0
+  gradient_accumulation_steps: 4
+  save_format: pt
+  save_final_checkpoint: false
+  save_consolidated_model: false
+  optimizer:
+    name: AdamW8bit
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    weight_decay: 1.0e-08
+  stop_after_steps: 11500
+  is_resume: true
+  allow_model_only_resume: false
+  resume_accelerate_checkpoint: /home/liuyu/student-workspace/data/robotwin/common_start/qwen3vl-groot-robotwin-official150k-adamw8bit-mb5-ga4-seed42-20260810/checkpoints/steps_11000_accelerate
+  branch_parent_seed: 42
+  branch_rng_seed: 484370
+  model_rng_seed: 721927
+  sample_loss_weight_key: keyframe_weight
+config_yaml: /fs1/private/user/liuyu/student-workspace/outputs/robotwin_external_20260831/configs/qwen_keyframe_formal.yaml
+output_dir: /home/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/qwen-robotwin-keyframe-11000-to-11500-seed484370

settings/qwen_robotwin/keyframe/config.yaml

@@ -0,0 +1,65 @@
+datasets:
+  vla_data:
+    action_mode: abs
+    data_mix: robotwin_all_50
+    data_root_dir: /home/liuyu/student-workspace/data/robotwin/RoboTwin
+    dataset_content_fingerprint_path: /home/liuyu/student-workspace/data/robotwin/manifests/content_fingerprints.json
+    dataset_provenance_path: /home/liuyu/student-workspace/data/robotwin/manifests/data_provenance.json
+    dataset_py: lerobot_datasets
+    expected_world_size: 2
+    num_workers: 4
+    per_device_batch_size: 5
+    temporal_proposal_path: null
+    traceable_sampling: true
+    valid_anchor_manifest_path: /home/liuyu/student-workspace/data/robotwin/manifests/valid_anchor_manifest.json
+    video_backend: pyav
+framework:
+  action_model:
+    action_dim: 14
+    action_horizon: 50
+    action_model_type: DiT-B
+    add_pos_embed: true
+    diffusion_model_cfg:
+      cross_attention_dim: 2560
+      dropout: 0.2
+      final_dropout: true
+      interleave_self_attention: true
+      norm_type: ada_norm
+      num_layers: 16
+      output_dim: 1024
+      positional_embeddings: null
+    hidden_size: 1024
+    max_seq_len: 1024
+    noise_beta_alpha: 1.5
+    noise_beta_beta: 1.0
+    num_inference_timesteps: 4
+    num_target_vision_tokens: 32
+    num_timestep_buckets: 1000
+    state_dim: 0
+  name: QwenGR00T
+  qwenvl:
+    attn_implementation: flash_attention_2
+    base_vlm: /home/liuyu/student-workspace/data/runtime/playground/Pretrained_models/Qwen3-VL-4B-Instruct
+output_dir: /home/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs/qwen-robotwin-keyframe-11000-to-11500-seed484370
+run_id: qwen-robotwin-keyframe-11000-to-11500-seed484370
+run_root_dir: /home/liuyu/student-workspace/outputs/robotwin_external_20260831/formal_runs
+seed: 484370
+trainer:
+  freeze_modules: ''
+  gradient_accumulation_steps: 4
+  learning_rate:
+    action_model: 0.0001
+    base: 1.0e-05
+    qwen_vl_interface: 1.0e-05
+  lr_scheduler_type: cosine_with_min_lr
+  max_train_steps: 150000
+  num_warmup_steps: 5000
+  optimizer:
+    betas:
+    - 0.9
+    - 0.95
+    eps: 1.0e-08
+    name: AdamW8bit
+    weight_decay: 1.0e-08
+  scheduler_specific_kwargs:
+    min_lr: 5.0e-07

settings/qwen_robotwin/keyframe/dataset_statistics.json

@@ -0,0 +1,218 @@
+{
+  "new_embodiment": {
+    "action": {
+      "mean": [
+        -0.22423998869955536,
+        1.0729362124204633,
+        0.775079609751701,
+        -0.32701663097366684,
+        0.06159586461764771,
+        -0.06420705380151046,
+        0.22430071420967568,
+        1.1274866509437556,
+        0.831773659586906,
+        -0.3638282522559164,
+        -0.024959841337949897,
+        0.05302203213563182,
+        0.6774904182553295,
+        0.6598676902055738
+      ],
+      "std": [
+        0.39622931737429123,
+        1.003590449339515,
+        0.7811611351334437,
+        0.6707485714474849,
+        0.2686908204983921,
+        0.6492019642472782,
+        0.34733679400923234,
+        1.0176226676795115,
+        0.8039915805960646,
+        0.7067249045233707,
+        0.26259645177151686,
+        0.6808759458519371,
+        0.4482151151114418,
+        0.4539921671160285
+      ],
+      "max": [
+        6.45659065246582,
+        4.179152488708496,
+        5.346591472625732,
+        1.7942548990249634,
+        1.8604620695114136,
+        5.43813943862915,
+        7.142920017242432,
+        4.157068729400635,
+        5.672450065612793,
+        1.95806884765625,
+        1.5663840770721436,
+        5.278968811035156,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -7.552278995513916,
+        -0.36354875564575195,
+        -0.18577136099338531,
+        -1.956291913986206,
+        -1.6801013946533203,
+        -7.678869724273682,
+        -8.539926528930664,
+        -0.6294453740119934,
+        -0.07775841653347015,
+        -2.1328067779541016,
+        -2.1285502910614014,
+        -8.228925704956055,
+        0.0,
+        0.0
+      ],
+      "q01": [
+        -7.334665780067444,
+        -5.257390398583084e-07,
+        -2.8215323254698887e-05,
+        -1.841589093208313,
+        -1.2851550579071045,
+        -6.268352918624878,
+        -5.995517673492431,
+        -0.572821855545044,
+        -2.81171942333458e-05,
+        -1.8467556238174438,
+        -1.4545854091644288,
+        -5.945669202804565,
+        0.0,
+        0.0
+      ],
+      "q99": [
+        5.016749763488781,
+        3.4792869091033936,
+        4.225283479690551,
+        1.7064905214309687,
+        1.4829185009002717,
+        3.7177388882636553,
+        1.258314609527588,
+        2.967935800552368,
+        3.2566452693939207,
+        1.766038613319397,
+        1.4066662788391113,
+        3.5830023288726807,
+        1.0,
+        1.0
+      ],
+      "mask": [
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        false,
+        false
+      ]
+    },
+    "state": {
+      "mean": [
+        -0.22281882727518673,
+        1.0668349397182466,
+        0.770632639825344,
+        -0.3252330579422412,
+        0.06118139047002841,
+        -0.06316296239456277,
+        0.22253762468695631,
+        1.1201750242710113,
+        0.8263923591375351,
+        -0.36159489695448405,
+        -0.024702461528722772,
+        0.05203246331657278,
+        0.6793262696266176,
+        0.6616973677277563
+      ],
+      "std": [
+        0.39522870886731665,
+        1.004018577033247,
+        0.7809103811570285,
+        0.6688088363177986,
+        0.26775723818956776,
+        0.6463212583712935,
+        0.34648488321363663,
+        1.018232630032839,
+        0.8038798397682734,
+        0.7045612787595747,
+        0.26143414213134614,
+        0.6774619870452644,
+        0.44749220497027625,
+        0.45333916022037934
+      ],
+      "max": [
+        6.45659065246582,
+        4.179152488708496,
+        5.346591472625732,
+        1.7942548990249634,
+        1.8604620695114136,
+        5.43813943862915,
+        7.142920017242432,
+        4.157068729400635,
+        5.672450065612793,
+        1.95806884765625,
+        1.5663840770721436,
+        5.278968811035156,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -7.552278995513916,
+        -0.36354875564575195,
+        -0.18577136099338531,
+        -1.956291913986206,
+        -1.6801013946533203,
+        -7.678869724273682,
+        -8.539926528930664,
+        -0.6294453740119934,
+        -0.07775841653347015,
+        -2.1328067779541016,
+        -2.1285502910614014,
+        -8.228925704956055,
+        0.0,
+        0.0
+      ],
+      "q01": [
+        -7.334665780067444,
+        -5.257390398583084e-07,
+        -2.8215323254698887e-05,
+        -1.841589093208313,
+        -1.2851550579071045,
+        -6.268109321594238,
+        -5.912737417221069,
+        -0.572821855545044,
+        -2.81171942333458e-05,
+        -1.8467556238174438,
+        -1.440324923992157,
+        -5.8623305034637445,
+        0.0,
+        0.0
+      ],
+      "q99": [
+        4.902149534225477,
+        3.4775466918945312,
+        4.224453401565551,
+        1.7064905214309687,
+        1.480757713317871,
+        3.609884884357428,
+        1.258314609527588,
+        2.967935800552368,
+        3.2566452693939207,
+        1.7433889162540437,
+        1.4066662788391113,
+        3.581243851184845,
+        1.0,
+        1.0
+      ]
+    },
+    "num_transitions": 6075103,
+    "num_trajectories": 27500
+  }
+}

settings/qwen_robotwin/keyframe/external_resume_certificate.json

@@ -0,0 +1,138 @@
+{
+  "branch_resume_identity": {
+    "config_sha256": "fe3d7fe8a58e48266616ea8d6084b359119c2f63d0f7a15661708b726f7cfddc",
+    "identity_schema_version": 2,
+    "manifest_sha256": "dcb728a00da4b4ad7f989fa313d6d3355e13f57efefc7267e9ea092f2ffd8a50",
+    "model_structure_sha256": "7809faa5245147f81b98f3dbd17c7a063a7cb07a21e18af588c748c5925e1407",
+    "proposal_alpha": null,
+    "proposal_sha256": null,
+    "seed": 484370,
+    "total_batch_size": 40
+  },
+  "completed_steps": 11000,
+  "optimizer_param_groups": [
+    {
+      "betas": [
+        0.9,
+        0.95
+      ],
+      "eps": 1e-08,
+      "initial_lr": 1e-05,
+      "lr": 9.959920880962606e-06,
+      "name": "qwen_vl_interface",
+      "weight_decay": 1e-08
+    },
+    {
+      "betas": [
+        0.9,
+        0.95
+      ],
+      "eps": 1e-08,
+      "initial_lr": 0.0001,
+      "lr": 9.959920880962605e-05,
+      "name": "action_model",
+      "weight_decay": 1e-08
+    }
+  ],
+  "optimizer_state_entries": 8,
+  "parent_checkpoint": "/fs1/private/user/liuyu/student-workspace/data/robotwin/common_start/qwen3vl-groot-robotwin-official150k-adamw8bit-mb5-ga4-seed42-20260810/checkpoints/steps_11000_accelerate",
+  "parent_checkpoint_commit_sha256": "180f1ed2d2b7a9e6c158974fc9ec951182dfb629f6a2806808ac5639d491ce1b",
+  "parent_checkpoint_files": [
+    {
+      "bytes": 1525,
+      "name": "custom_checkpoint_0.pkl",
+      "sha256": "70788f8a2d7852a70fbb794ab9176d14ad37fb6d1b1d821a368572e1d8524390"
+    },
+    {
+      "bytes": 13,
+      "name": "latest",
+      "sha256": "68d0ca762047fd48fdd6a06a5e6465209289c028bfd63f5557a110ff1ebc15ac"
+    },
+    {
+      "bytes": 13867381301,
+      "name": "pytorch_model/bf16_zero_pp_rank_0_mp_rank_00_optim_states.pt",
+      "sha256": "42b6d10bb158b404056983ce88505c32738b29f3a062fe6835d24ce26c521a6a"
+    },
+    {
+      "bytes": 13867381301,
+      "name": "pytorch_model/bf16_zero_pp_rank_1_mp_rank_00_optim_states.pt",
+      "sha256": "7b0a1bbc92efffbf056bc40f40e93a94b67ddf3f375dc6ae263bcb048ba6ec63"
+    },
+    {
+      "bytes": 566626,
+      "name": "pytorch_model/zero_pp_rank_0_mp_rank_00_model_states.pt",
+      "sha256": "8a3ef88f9ab0df8197a836dca1d6e2416835f0b3d827cb10a78254b9a969ce7c"
+    },
+    {
+      "bytes": 566498,
+      "name": "pytorch_model/zero_pp_rank_1_mp_rank_00_model_states.pt",
+      "sha256": "67cd03fceb5ee4c2be6affe504f71a48ee10127d6ea3a1f00d05721895ffba53"
+    },
+    {
+      "bytes": 15017,
+      "name": "random_states_0.pkl",
+      "sha256": "636b1c5983ee2f8a5047025027453c9a478c0606389f2f6945b370f39cec9e65"
+    },
+    {
+      "bytes": 15081,
+      "name": "random_states_1.pkl",
+      "sha256": "416b3be53ff049935984cc65385d7dae3b0e5a82df66c9516f61ee9100c41961"
+    },
+    {
+      "bytes": 33270,
+      "name": "zero_to_fp32.py",
+      "sha256": "e8a2553b434ac043ec63b022db1e768277acf8d4e70f10a2842db6d238977135"
+    }
+  ],
+  "parent_checkpoint_files_sha256": "73692dae620e3d4368fe513e8adff4fe54bdb25341b4293e34ee2a6286554f8d",
+  "parent_checkpoint_integrity_manifest_sha256": null,
+  "parent_config_sha256": "4882855d94076fc0ec19a0d511f14b1cbe82860c8b5df3dcc64c5c5f6c0d2321",
+  "parent_resume_identity": {
+    "config_sha256": "1a48ea51cf89ce72a7956aaa29f710bba0326c9b726e52795561b381507d26fa",
+    "identity_schema_version": 2,
+    "manifest_sha256": "dcb728a00da4b4ad7f989fa313d6d3355e13f57efefc7267e9ea092f2ffd8a50",
+    "model_structure_sha256": "7809faa5245147f81b98f3dbd17c7a063a7cb07a21e18af588c748c5925e1407",
+    "proposal_alpha": null,
+    "proposal_sha256": null,
+    "seed": 42,
+    "total_batch_size": 40
+  },
+  "proposal_sha256": null,
+  "rank_state_summaries": [
+    {
+      "optimizer_state_entries": 4,
+      "optimizer_state_sha256": "e1eea37514fa0478835597d1594b7a43b45cea9adc4ccb79a0de8fb9e10fe9f0",
+      "rank": 0,
+      "trainable_state_sha256": "ca2a19167d59aab693d0a0a1e17ea9adbf9cfd7367dfa7a5c90b04cf2183b717"
+    },
+    {
+      "optimizer_state_entries": 4,
+      "optimizer_state_sha256": "62c4e2908a7e97fe9a1d60642a85968081b55345493a11b9e7f68e49fcdb22f3",
+      "rank": 1,
+      "trainable_state_sha256": "ca2a19167d59aab693d0a0a1e17ea9adbf9cfd7367dfa7a5c90b04cf2183b717"
+    }
+  ],
+  "repeated_diffusion_steps": 4,
+  "rng_streams": {
+    "model_base": 721927,
+    "sampler": 484370,
+    "transform": 289726
+  },
+  "scheduler": {
+    "class": "LambdaLR",
+    "last_epoch": 11000,
+    "last_lr": [
+      9.959920880962606e-06,
+      9.959920880962605e-05
+    ],
+    "step_count": 11001
+  },
+  "scheduler_resume_mode": "accelerate_checkpoint",
+  "schema_version": 1,
+  "status": "exact_external_resume_loaded",
+  "total_batch_size": 40,
+  "trainable_parameter_elements": 32022798,
+  "trainable_parameter_sha256": "1bc504b22e4375be40bbbd8250be5b5f380c14d2fb47ed85deba3604a84b5484",
+  "trainable_parameter_tensors": 957,
+  "world_size": 2
+}