Upload folder using huggingface_hub

README.md

@@ -0,0 +1,68 @@
+---
+license: apache-2.0
+base_model: nvidia/GR00T-N1.5-3B
+tags:
+  - robotics
+  - gr00t
+  - vla
+  - manipulation
+  - diffusion-policy
+datasets:
+  - hi-space/SO-ARM101-PICK-BANANA
+library_name: gr00t
+pipeline_tag: robotics
+---
+
+# GR00T-N1.6-3B-Pick-Banana-Real
+
+A fine-tuned version of [nvidia/GR00T-N1.5-3B](https://huggingface.co/nvidia/GR00T-N1.5-3B) for a banana pick-and-place task on a real SO-ARM101 robot, trained on the [hi-space/SO-ARM101-PICK-BANANA](https://huggingface.co/datasets/hi-space/SO-ARM101-PICK-BANANA) dataset.
+
+## Model Description
+
+GR00T-N1.6 (Gr00tN1d6) is a vision-language-action (VLA) model for robot manipulation. This checkpoint is fine-tuned for a pick-and-place task where the robot picks up a banana and places it on a plate using a real SO-ARM101 robot arm.
+
+- **Architecture:** Gr00tN1d6 with Eagle-Block2A-2B-v2 vision-language backbone + diffusion policy action head
+- **Base model:** nvidia/GR00T-N1.5-3B
+- **Task:** Pick banana and place on plate (real robot)
+- **Robot:** SO-ARM101
+- **Action horizon:** 50 steps
+- **Inference timesteps:** 4 (diffusion)
+- **Model dtype:** bfloat16
+
+### Fine-tuning Configuration
+
+| Parameter | Value |
+|-----------|-------|
+| Tuned components | Diffusion model, projector, top 4 LLM layers, VL-LN |
+| Frozen components | Vision encoder, LLM backbone |
+| Training steps | 6000 |
+| Epochs | 1 |
+| Final training loss | ~0.017 |
+| Action representation | Relative actions |
+| Attention | Flash Attention 2 |
+
+## Training Details
+
+- **Dataset:** [hi-space/SO-ARM101-PICK-BANANA](https://huggingface.co/datasets/hi-space/SO-ARM101-PICK-BANANA)
+- **Episodes:** 58
+- **Total frames:** 35,859
+- **Max steps:** 6000 (1 epoch)
+- **Loss curve:** Started at ~1.13, converged to ~0.017
+
+## Usage
+
+```python
+from gr00t.model.gr00t_n1 import GR00TPolicy
+
+policy = GR00TPolicy.from_pretrained("hi-space/GR00T-N1.6-3B-Pick-Banana-Real")
+```
+
+Refer to the [NVIDIA Isaac GR00T](https://github.com/NVIDIA/Isaac-GR00T) repository for full inference and deployment instructions.
+
+## Intended Use
+
+This model is fine-tuned for a real-world robotic banana pick-and-place task using the SO-ARM101 robot arm. It is trained on real robot demonstrations and intended for deployment on the same hardware setup.
+
+## License
+
+This model inherits the license from the base model [nvidia/GR00T-N1.5-3B](https://huggingface.co/nvidia/GR00T-N1.5-3B). Please refer to NVIDIA's terms for usage restrictions.

config.json

@@ -0,0 +1,70 @@
+{
+  "action_horizon": 50,
+  "add_pos_embed": true,
+  "apply_sincos_state_encoding": true,
+  "architectures": [
+    "Gr00tN1d6"
+  ],
+  "attn_dropout": 0.2,
+  "attn_implementation": null,
+  "backbone_embedding_dim": 2048,
+  "backbone_model_type": "eagle",
+  "backbone_trainable_params_fp32": true,
+  "collator_overwrite_image_inputs": false,
+  "color_jitter_params": {
+    "brightness": 0.1,
+    "contrast": 0.1,
+    "hue": 0.1,
+    "saturation": 0.1
+  },
+  "crop_fraction": 0.95,
+  "diffusion_model_cfg": {
+    "attention_head_dim": 48,
+    "dropout": 0.2,
+    "final_dropout": true,
+    "interleave_self_attention": true,
+    "norm_type": "ada_norm",
+    "num_attention_heads": 32,
+    "num_layers": 32,
+    "output_dim": 1024,
+    "positional_embeddings": null
+  },
+  "eagle_collator": true,
+  "formalize_language": true,
+  "gemma_collator": false,
+  "hidden_size": 1024,
+  "image_crop_size": null,
+  "image_target_size": null,
+  "input_embedding_dim": 1536,
+  "load_bf16": true,
+  "max_action_dim": 128,
+  "max_num_embodiments": 32,
+  "max_seq_len": 1024,
+  "max_state_dim": 128,
+  "model_dtype": "bfloat16",
+  "model_name": "nvidia/Eagle-Block2A-2B-v2",
+  "model_type": "Gr00tN1d6",
+  "noise_beta_alpha": 1.5,
+  "noise_beta_beta": 1.0,
+  "noise_s": 0.999,
+  "num_inference_timesteps": 4,
+  "num_timestep_buckets": 1000,
+  "random_rotation_angle": null,
+  "reproject_vision": false,
+  "select_layer": 16,
+  "shortest_image_edge": 256,
+  "state_dropout_prob": 0.0,
+  "torch_dtype": "bfloat16",
+  "transformers_version": "4.51.3",
+  "tune_diffusion_model": true,
+  "tune_llm": false,
+  "tune_projector": true,
+  "tune_top_llm_layers": 4,
+  "tune_visual": false,
+  "tune_vlln": true,
+  "use_albumentations_transforms": true,
+  "use_alternate_vl_dit": true,
+  "use_flash_attention": true,
+  "use_relative_action": true,
+  "use_vlln": true
+}

embodiment_id.json

@@ -0,0 +1,11 @@
+{
+  "robocasa_panda_omron": 13,
+  "gr1": 20,
+  "behavior_r1_pro": 24,
+  "unitree_g1": 8,
+  "oxe_google": 0,
+  "oxe_widowx": 1,
+  "libero_panda": 2,
+  "oxe_droid": 16,
+  "new_embodiment": 10
+}

experiment_cfg/conf.yaml

@@ -0,0 +1,206 @@
+load_config_path: null
+model:
+  model_type: Gr00tN1d6
+  model_dtype: bfloat16
+  model_name: nvidia/Eagle-Block2A-2B-v2
+  backbone_model_type: eagle
+  model_revision: null
+  tune_top_llm_layers: 4
+  backbone_embedding_dim: 2048
+  tune_llm: false
+  tune_visual: false
+  select_layer: 16
+  reproject_vision: false
+  use_flash_attention: true
+  load_bf16: false
+  collator_overwrite_image_inputs: false
+  eagle_collator: false
+  backbone_trainable_params_fp32: true
+  image_crop_size: null
+  image_target_size: null
+  shortest_image_edge: 256
+  crop_fraction: 0.95
+  random_rotation_angle: null
+  color_jitter_params: null
+  use_albumentations_transforms: true
+  extra_augmentation_config: null
+  formalize_language: true
+  apply_sincos_state_encoding: false
+  use_relative_action: true
+  max_state_dim: 29
+  max_action_dim: 29
+  action_horizon: 16
+  hidden_size: 1024
+  input_embedding_dim: 1536
+  add_pos_embed: true
+  attn_dropout: 0.2
+  use_vlln: true
+  max_seq_len: 1024
+  use_alternate_vl_dit: true
+  attend_text_every_n_blocks: 2
+  diffusion_model_cfg:
+    positional_embeddings: null
+    num_layers: 32
+    num_attention_heads: 32
+    attention_head_dim: 48
+    norm_type: ada_norm
+    dropout: 0.2
+    final_dropout: true
+    output_dim: 1024
+    interleave_self_attention: true
+  num_inference_timesteps: 4
+  noise_beta_alpha: 1.5
+  noise_beta_beta: 1.0
+  noise_s: 0.999
+  num_timestep_buckets: 1000
+  tune_projector: true
+  tune_diffusion_model: true
+  tune_vlln: true
+  state_dropout_prob: 0.0
+  state_additive_noise_scale: 0.0
+  max_num_embodiments: 32
+data:
+  datasets:
+  - dataset_paths:
+    - /workspace/train
+    embodiment_tag: new_embodiment
+    mix_ratio: 1.0
+    dataset_type: physical_embodiment
+    val_dataset_path: null
+  modality_configs:
+    new_embodiment:
+      video:
+        delta_indices:
+        - 0
+        modality_keys:
+        - front
+        - wrist
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+        action_configs: null
+      state:
+        delta_indices:
+        - 0
+        modality_keys:
+        - single_arm
+        - gripper
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+        action_configs: null
+      action:
+        delta_indices:
+        - 0
+        - 1
+        - 2
+        - 3
+        - 4
+        - 5
+        - 6
+        - 7
+        - 8
+        - 9
+        - 10
+        - 11
+        - 12
+        - 13
+        - 14
+        - 15
+        modality_keys:
+        - single_arm
+        - gripper
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+        action_configs:
+        - rep: RELATIVE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+        - rep: ABSOLUTE
+          type: NON_EEF
+          format: DEFAULT
+          state_key: null
+      language:
+        delta_indices:
+        - 0
+        modality_keys:
+        - annotation.human.task_description
+        sin_cos_embedding_keys: null
+        mean_std_embedding_keys: null
+        action_configs: null
+  download_cache: false
+  shard_size: 1024
+  episode_sampling_rate: 0.1
+  num_shards_per_epoch: 100000
+  override_pretraining_statistics: false
+  mode: single_turn
+  random_chop: 0.0
+  mock_dataset_mode: false
+  shuffle: true
+  seed: 42
+  multiprocessing_context: fork
+  allow_padding: false
+  subsample_ratio: 1.0
+  image_crop_size:
+  - 244
+  - 244
+  image_target_size:
+  - 224
+  - 224
+  video_backend: torchcodec
+training:
+  output_dir: /mnt/efs/gr00t/checkpoints/6f4f0bf8-fd17-47a5-a3c5-6bccc5bd08f8
+  experiment_name: null
+  max_steps: 6000
+  global_batch_size: 32
+  batch_size: null
+  gradient_accumulation_steps: 1
+  learning_rate: 0.0001
+  lr_scheduler_type: cosine
+  weight_decay: 1.0e-05
+  warmup_ratio: 0.05
+  warmup_steps: 0
+  max_grad_norm: 1.0
+  optim: adamw_torch
+  start_from_checkpoint: nvidia/GR00T-N1.6-3B
+  tf32: true
+  fp16: false
+  bf16: true
+  eval_bf16: true
+  logging_steps: 10
+  save_steps: 2000
+  save_total_limit: 5
+  save_vl_model: false
+  upload_checkpoints: false
+  upload_every: 1000
+  upload_last_n_checkpoints: 5
+  max_concurrent_uploads: 2
+  eval_strategy: 'no'
+  eval_steps: 500
+  eval_set_split_ratio: 0.1
+  eval_batch_size: 2
+  save_best_eval_metric_name: ''
+  save_best_eval_metric_greater_is_better: true
+  deepspeed_stage: 2
+  gradient_checkpointing: false
+  transformers_trust_remote_code: true
+  transformers_local_files_only: false
+  transformers_cache_dir: null
+  transformers_access_token: null
+  use_ddp: false
+  ddp_bucket_cap_mb: 100
+  num_gpus: 1
+  dataloader_num_workers: 4
+  remove_unused_columns: false
+  use_wandb: false
+  wandb_project: finetune-gr00t-n1d7
+  enable_profiling: false
+  max_retries: 3
+  assert_loss_less_than: null
+  add_rl_callback: false
+  enable_open_loop_eval: false
+  open_loop_eval_traj_ids:
+  - 0
+  open_loop_eval_steps_per_traj: 100
+  open_loop_eval_plot_indices: null
+max_steps: 6000
+save_steps: 2000

experiment_cfg/config.yaml

@@ -0,0 +1,236 @@
+!!python/object:gr00t.configs.base_config.Config
+data: !!python/object:gr00t.configs.data.data_config.DataConfig
+  allow_padding: false
+  datasets:
+  - !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
+    dataset_paths:
+    - /workspace/train
+    dataset_type: physical_embodiment
+    embodiment_tag: new_embodiment
+    mix_ratio: 1.0
+    val_dataset_path: null
+  download_cache: false
+  episode_sampling_rate: 0.1
+  image_crop_size:
+  - 244
+  - 244
+  image_target_size:
+  - 224
+  - 224
+  mock_dataset_mode: false
+  modality_configs:
+    new_embodiment:
+      action: !!python/object:gr00t.data.types.ModalityConfig
+        action_configs:
+        - !!python/object:gr00t.data.types.ActionConfig
+          format: &id001 !!python/object/apply:gr00t.data.types.ActionFormat
+          - default
+          rep: !!python/object/apply:gr00t.data.types.ActionRepresentation
+          - relative
+          state_key: null
+          type: &id002 !!python/object/apply:gr00t.data.types.ActionType
+          - non_eef
+        - !!python/object:gr00t.data.types.ActionConfig
+          format: *id001
+          rep: !!python/object/apply:gr00t.data.types.ActionRepresentation
+          - absolute
+          state_key: null
+          type: *id002
+        delta_indices:
+        - 0
+        - 1
+        - 2
+        - 3
+        - 4
+        - 5
+        - 6
+        - 7
+        - 8
+        - 9
+        - 10
+        - 11
+        - 12
+        - 13
+        - 14
+        - 15
+        mean_std_embedding_keys: null
+        modality_keys:
+        - single_arm
+        - gripper
+        sin_cos_embedding_keys: null
+      language: !!python/object:gr00t.data.types.ModalityConfig
+        action_configs: null
+        delta_indices:
+        - 0
+        mean_std_embedding_keys: null
+        modality_keys:
+        - annotation.human.task_description
+        sin_cos_embedding_keys: null
+      state: !!python/object:gr00t.data.types.ModalityConfig
+        action_configs: null
+        delta_indices:
+        - 0
+        mean_std_embedding_keys: null
+        modality_keys:
+        - single_arm
+        - gripper
+        sin_cos_embedding_keys: null
+      video: !!python/object:gr00t.data.types.ModalityConfig
+        action_configs: null
+        delta_indices:
+        - 0
+        mean_std_embedding_keys: null
+        modality_keys:
+        - front
+        - wrist
+        sin_cos_embedding_keys: null
+  mode: single_turn
+  multiprocessing_context: fork
+  num_shards_per_epoch: 100000
+  override_pretraining_statistics: false
+  random_chop: 0.0
+  seed: 42
+  shard_size: 1024
+  shuffle: true
+  subsample_ratio: 1.0
+  video_backend: torchcodec
+load_config_path: null
+model: !!python/object:gr00t.configs.model.gr00t_n1d6.Gr00tN1d6Config
+  _attn_implementation_autoset: false
+  _attn_implementation_internal: null
+  _commit_hash: null
+  _name_or_path: ''
+  add_cross_attention: false
+  architectures: null
+  backbone_trainable_params_fp32: true
+  bad_words_ids: null
+  begin_suppress_tokens: null
+  bos_token_id: null
+  chunk_size_feed_forward: 0
+  color_jitter_params: null
+  cross_attention_hidden_size: null
+  decoder_start_token_id: null
+  diffusion_model_cfg:
+    attention_head_dim: 48
+    dropout: 0.2
+    final_dropout: true
+    interleave_self_attention: true
+    norm_type: ada_norm
+    num_attention_heads: 32
+    num_layers: 32
+    output_dim: 1024
+    positional_embeddings: null
+  diversity_penalty: 0.0
+  do_sample: false
+  early_stopping: false
+  encoder_no_repeat_ngram_size: 0
+  eos_token_id: null
+  exponential_decay_length_penalty: null
+  finetuning_task: null
+  forced_bos_token_id: null
+  forced_eos_token_id: null
+  id2label:
+    0: LABEL_0
+    1: LABEL_1
+  is_decoder: false
+  is_encoder_decoder: false
+  label2id:
+    LABEL_0: 0
+    LABEL_1: 1
+  length_penalty: 1.0
+  load_bf16: false
+  max_length: 20
+  min_length: 0
+  no_repeat_ngram_size: 0
+  num_beam_groups: 1
+  num_beams: 1
+  num_return_sequences: 1
+  output_attentions: false
+  output_hidden_states: false
+  output_scores: false
+  pad_token_id: null
+  prefix: null
+  problem_type: null
+  pruned_heads: {}
+  random_rotation_angle: null
+  remove_invalid_values: false
+  repetition_penalty: 1.0
+  reproject_vision: false
+  return_dict: true
+  return_dict_in_generate: false
+  sep_token_id: null
+  state_dropout_prob: 0.0
+  suppress_tokens: null
+  task_specific_params: null
+  temperature: 1.0
+  tf_legacy_loss: false
+  tie_encoder_decoder: false
+  tie_word_embeddings: true
+  tokenizer_class: null
+  top_k: 50
+  top_p: 1.0
+  torch_dtype: null
+  torchscript: false
+  transformers_version: null
+  tune_diffusion_model: true
+  tune_llm: false
+  tune_projector: true
+  tune_visual: false
+  typical_p: 1.0
+  use_bfloat16: false
+  use_relative_action: true
+training: !!python/object:gr00t.configs.training.training_config.TrainingConfig
+  add_rl_callback: false
+  assert_loss_less_than: null
+  batch_size: null
+  bf16: true
+  dataloader_num_workers: 4
+  ddp_bucket_cap_mb: 100
+  deepspeed_stage: 2
+  enable_open_loop_eval: false
+  enable_profiling: false
+  eval_batch_size: 2
+  eval_bf16: true
+  eval_set_split_ratio: 0.1
+  eval_steps: 500
+  eval_strategy: 'no'
+  experiment_name: null
+  fp16: false
+  global_batch_size: 32
+  gradient_accumulation_steps: 1
+  gradient_checkpointing: false
+  learning_rate: 0.0001
+  logging_steps: 10
+  lr_scheduler_type: cosine
+  max_concurrent_uploads: 2
+  max_grad_norm: 1.0
+  max_retries: 3
+  max_steps: 6000
+  num_gpus: 1
+  open_loop_eval_plot_indices: null
+  open_loop_eval_steps_per_traj: 100
+  open_loop_eval_traj_ids:
+  - 0
+  optim: adamw_torch
+  output_dir: /mnt/efs/gr00t/checkpoints/6f4f0bf8-fd17-47a5-a3c5-6bccc5bd08f8
+  remove_unused_columns: false
+  save_best_eval_metric_greater_is_better: true
+  save_best_eval_metric_name: ''
+  save_steps: 2000
+  save_total_limit: 5
+  save_vl_model: false
+  start_from_checkpoint: nvidia/GR00T-N1.6-3B
+  tf32: true
+  transformers_access_token: null
+  transformers_cache_dir: null
+  transformers_local_files_only: false
+  transformers_trust_remote_code: true
+  upload_checkpoints: false
+  upload_every: 1000
+  upload_last_n_checkpoints: 5
+  use_ddp: false
+  use_wandb: false
+  wandb_project: finetune-gr00t-n1d7
+  warmup_ratio: 0.05
+  warmup_steps: 0
+  weight_decay: 1.0e-05

experiment_cfg/dataset_statistics.json

@@ -0,0 +1,824 @@
+{
+  "new_embodiment": {
+    "state": {
+      "single_arm": {
+        "min": [
+          -75.34066009521484,
+          -95.73626708984375,
+          -90.9011001586914,
+          -97.23076629638672,
+          -169.27471923828125
+        ],
+        "max": [
+          61.18681335449219,
+          63.56044006347656,
+          93.27472686767578,
+          96.70330047607422,
+          -48.131866455078125
+        ],
+        "mean": [
+          -15.921283721923828,
+          -36.2519416809082,
+          43.81039047241211,
+          -4.216508865356445,
+          -151.60240173339844
+        ],
+        "std": [
+          22.13420295715332,
+          37.534183502197266,
+          33.58217239379883,
+          59.000938415527344,
+          25.700382232666016
+        ],
+        "q01": [
+          -65.4065933227539,
+          -95.56044006347656,
+          -34.10988998413086,
+          -96.96703338623047,
+          -169.27471923828125
+        ],
+        "q99": [
+          27.25274658203125,
+          33.758243560791016,
+          92.74725341796875,
+          96.70330047607422,
+          -70.10989379882812
+        ]
+      },
+      "gripper": {
+        "min": [
+          0.27913469076156616
+        ],
+        "max": [
+          86.53175354003906
+        ],
+        "mean": [
+          15.353877067565918
+        ],
+        "std": [
+          14.16923999786377
+        ],
+        "q01": [
+          0.27913469076156616
+        ],
+        "q99": [
+          56.17585372924805
+        ]
+      }
+    },
+    "action": {
+      "single_arm": {
+        "min": [
+          -81.97801971435547,
+          -100.70330047607422,
+          -96.48351287841797,
+          -100.3956069946289,
+          -171.2967071533203
+        ],
+        "max": [
+          61.758243560791016,
+          62.989009857177734,
+          97.97801971435547,
+          111.82417297363281,
+          -47.42856979370117
+        ],
+        "mean": [
+          -15.838254928588867,
+          -37.501747131347656,
+          43.07667541503906,
+          -4.388125419616699,
+          -152.02474975585938
+        ],
+        "std": [
+          22.322818756103516,
+          37.600399017333984,
+          34.9411735534668,
+          59.453250885009766,
+          26.090877532958984
+        ],
+        "q01": [
+          -65.97801971435547,
+          -99.82417297363281,
+          -35.20878982543945,
+          -98.37362670898438,
+          -170.6813201904297
+        ],
+        "q99": [
+          28.0,
+          32.78417549133285,
+          96.74725341796875,
+          99.78022003173828,
+          -69.89714309692398
+        ]
+      },
+      "gripper": {
+        "min": [
+          0.0
+        ],
+        "max": [
+          86.90878295898438
+        ],
+        "mean": [
+          11.563150405883789
+        ],
+        "std": [
+          15.86936092376709
+        ],
+        "q01": [
+          0.0
+        ],
+        "q99": [
+          56.58783721923828
+        ]
+      }
+    },
+    "relative_action": {
+      "single_arm": {
+        "min": [
+          [
+            -17.098901748657227,
+            -22.901098251342773,
+            -31.252750396728516,
+            -30.32967185974121,
+            -33.31867980957031
+          ],
+          [
+            -21.05494499206543,
+            -27.736263275146484,
+            -37.494503021240234,
+            -36.92307662963867,
+            -40.175819396972656
+          ],
+          [
+            -25.010988235473633,
+            -32.483516693115234,
+            -43.20878982543945,
+            -43.164833068847656,
+            -46.857139587402344
+          ],
+          [
+            -28.703296661376953,
+            -37.14285659790039,
+            -48.13187026977539,
+            -49.14285659790039,
+            -53.362632751464844
+          ],
+          [
+            -32.0439567565918,
+            -41.71428680419922,
+            -52.96703338623047,
+            -55.120880126953125,
+            -59.164833068847656
+          ],
+          [
+            -35.29670333862305,
+            -46.19780349731445,
+            -57.27472686767578,
+            -60.92307662963867,
+            -64.70329284667969
+          ],
+          [
+            -38.28571319580078,
+            -50.32966995239258,
+            -60.879119873046875,
+            -66.37362670898438,
+            -69.53845977783203
+          ],
+          [
+            -41.27472686767578,
+            -54.46154022216797,
+            -64.04395294189453,
+            -71.73625946044922,
+            -74.02197265625
+          ],
+          [
+            -43.736263275146484,
+            -58.5054931640625,
+            -66.4175796508789,
+            -77.0988998413086,
+            -78.15383911132812
+          ],
+          [
+            -46.10988998413086,
+            -62.46154022216797,
+            -68.0879135131836,
+            -82.37362670898438,
+            -82.02197265625
+          ],
+          [
+            -48.13187026977539,
+            -66.5054931640625,
+            -69.05494689941406,
+            -87.64834594726562,
+            -85.89010620117188
+          ],
+          [
+            -50.153846740722656,
+            -70.28571319580078,
+            -69.23076629638672,
+            -92.57142639160156,
+            -89.4945068359375
+          ],
+          [
+            -51.648353576660156,
+            -74.24176025390625,
+            -69.23076629638672,
+            -97.67032623291016,
+            -92.9230728149414
+          ],
+          [
+            -52.96703338623047,
+            -78.54944610595703,
+            -70.54945373535156,
+            -102.5054931640625,
+            -95.9120864868164
+          ],
+          [
+            -54.28571319580078,
+            -82.85713958740234,
+            -73.0988998413086,
+            -107.25274658203125,
+            -98.54944610595703
+          ],
+          [
+            -55.604393005371094,
+            -86.989013671875,
+            -75.20878601074219,
+            -111.73626708984375,
+            -100.83515930175781
+          ]
+        ],
+        "max": [
+          [
+            19.56043815612793,
+            18.769229888916016,
+            31.692306518554688,
+            35.516483306884766,
+            24.52747344970703
+          ],
+          [
+            23.868131637573242,
+            22.549449920654297,
+            39.07692337036133,
+            42.63736343383789,
+            29.80219268798828
+          ],
+          [
+            28.087913513183594,
+            26.24176025390625,
+            45.93406677246094,
+            49.406593322753906,
+            34.72527313232422
+          ],
+          [
+            32.0439567565918,
+            29.934066772460938,
+            52.79121017456055,
+            55.82417678833008,
+            39.4725341796875
+          ],
+          [
+            35.912086486816406,
+            33.45055389404297,
+            59.38461685180664,
+            62.06593322753906,
+            44.4835205078125
+          ],
+          [
+            39.516483306884766,
+            37.406593322753906,
+            65.80220031738281,
+            67.86812591552734,
+            49.4945068359375
+          ],
+          [
+            43.03296661376953,
+            41.45054626464844,
+            72.13186645507812,
+            73.40658569335938,
+            54.32966613769531
+          ],
+          [
+            46.10988998413086,
+            45.406593322753906,
+            78.19779968261719,
+            78.94505310058594,
+            58.901092529296875
+          ],
+          [
+            48.74725341796875,
+            49.27472686767578,
+            83.82417297363281,
+            83.78021240234375,
+            63.29669952392578
+          ],
+          [
+            51.384613037109375,
+            53.05494689941406,
+            89.36264038085938,
+            88.43955993652344,
+            67.78022003173828
+          ],
+          [
+            53.846153259277344,
+            56.74725341796875,
+            94.54945373535156,
+            93.0988998413086,
+            71.99999237060547
+          ],
+          [
+            55.78022003173828,
+            60.087913513183594,
+            99.64835357666016,
+            97.4945068359375,
+            75.69229888916016
+          ],
+          [
+            57.626373291015625,
+            63.604393005371094,
+            104.4835205078125,
+            104.17582702636719,
+            79.20878601074219
+          ],
+          [
+            59.736263275146484,
+            67.03296661376953,
+            108.70329284667969,
+            110.68132019042969,
+            82.1098861694336
+          ],
+          [
+            62.19780349731445,
+            70.28571319580078,
+            112.92308044433594,
+            116.83515930175781,
+            84.5714340209961
+          ],
+          [
+            64.65933990478516,
+            73.45054626464844,
+            116.87911987304688,
+            122.81318664550781,
+            86.24176788330078
+          ]
+        ],
+        "mean": [
+          [
+            0.09116898477077484,
+            -1.2357141971588135,
+            -0.8188950419425964,
+            -0.15813970565795898,
+            -0.4125640094280243
+          ],
+          [
+            0.09542012959718704,
+            -1.2344847917556763,
+            -0.8190693259239197,
+            -0.15713702142238617,
+            -0.41158872842788696
+          ],
+          [
+            0.09958027303218842,
+            -1.233577013015747,
+            -0.8192473649978638,
+            -0.15637809038162231,
+            -0.4105716645717621
+          ],
+          [
+            0.10364068299531937,
+            -1.2329152822494507,
+            -0.8194178342819214,
+            -0.15579022467136383,
+            -0.4095292389392853
+          ],
+          [
+            0.10757787525653839,
+            -1.2324373722076416,
+            -0.8195881843566895,
+            -0.15533040463924408,
+            -0.4084765911102295
+          ],
+          [
+            0.11139658093452454,
+            -1.2320812940597534,
+            -0.8197605013847351,
+            -0.15492597222328186,
+            -0.40740954875946045
+          ],
+          [
+            0.11513001471757889,
+            -1.2317777872085571,
+            -0.8199328780174255,
+            -0.15455682575702667,
+            -0.4063303768634796
+          ],
+          [
+            0.11879564821720123,
+            -1.231497883796692,
+            -0.8201030492782593,
+            -0.15420255064964294,
+            -0.4052353501319885
+          ],
+          [
+            0.12233330309391022,
+            -1.231207251548767,
+            -0.8202779293060303,
+            -0.15386062860488892,
+            -0.404136598110199
+          ],
+          [
+            0.12573732435703278,
+            -1.23092520236969,
+            -0.8204483389854431,
+            -0.15353679656982422,
+            -0.403065025806427
+          ],
+          [
+            0.12904979288578033,
+            -1.230648398399353,
+            -0.8206118941307068,
+            -0.1532251536846161,
+            -0.40204811096191406
+          ],
+          [
+            0.13231366872787476,
+            -1.2303727865219116,
+            -0.8207806348800659,
+            -0.1529259979724884,
+            -0.40108177065849304
+          ],
+          [
+            0.13556510210037231,
+            -1.2301011085510254,
+            -0.8209494352340698,
+            -0.1526346653699875,
+            -0.40014708042144775
+          ],
+          [
+            0.13881613314151764,
+            -1.2298355102539062,
+            -0.8211175799369812,
+            -0.15234291553497314,
+            -0.3992435038089752
+          ],
+          [
+            0.1420668512582779,
+            -1.2295620441436768,
+            -0.8212847709655762,
+            -0.15204375982284546,
+            -0.39837512373924255
+          ],
+          [
+            0.1453183889389038,
+            -1.2292938232421875,
+            -0.82145094871521,
+            -0.1517469584941864,
+            -0.39751413464546204
+          ]
+        ],
+        "std": [
+          [
+            2.8137104511260986,
+            4.254403114318848,
+            4.592617988586426,
+            6.7580156326293945,
+            3.4385712146759033
+          ],
+          [
+            3.50972056388855,
+            5.262273788452148,
+            5.580240726470947,
+            8.42597770690918,
+            4.28427791595459
+          ],
+          [
+            4.198278903961182,
+            6.26309061050415,
+            6.570157527923584,
+            10.075050354003906,
+            5.104696750640869
+          ],
+          [
+            4.876944541931152,
+            7.250848770141602,
+            7.55081844329834,
+            11.698025703430176,
+            5.8973388671875
+          ],
+          [
+            5.543993949890137,
+            8.222739219665527,
+            8.515984535217285,
+            13.29118537902832,
+            6.6630778312683105
+          ],
+          [
+            6.198864459991455,
+            9.176966667175293,
+            9.462031364440918,
+            14.852596282958984,
+            7.403776168823242
+          ],
+          [
+            6.841030120849609,
+            10.112449645996094,
+            10.387017250061035,
+            16.381458282470703,
+            8.121214866638184
+          ],
+          [
+            7.470268249511719,
+            11.028485298156738,
+            11.289778709411621,
+            17.87760353088379,
+            8.816962242126465
+          ],
+          [
+            8.086183547973633,
+            11.924468040466309,
+            12.169771194458008,
+            19.341224670410156,
+            9.492456436157227
+          ],
+          [
+            8.688971519470215,
+            12.80043888092041,
+            13.026934623718262,
+            20.772930145263672,
+            10.148636817932129
+          ],
+          [
+            9.278815269470215,
+            13.656326293945312,
+            13.861421585083008,
+            22.173322677612305,
+            10.786337852478027
+          ],
+          [
+            9.855653762817383,
+            14.49221134185791,
+            14.673599243164062,
+            23.543027877807617,
+            11.406280517578125
+          ],
+          [
+            10.420241355895996,
+            15.308170318603516,
+            15.464048385620117,
+            24.88274574279785,
+            12.009020805358887
+          ],
+          [
+            10.972671508789062,
+            16.104333877563477,
+            16.233245849609375,
+            26.19310760498047,
+            12.594924926757812
+          ],
+          [
+            11.513472557067871,
+            16.881122589111328,
+            16.981843948364258,
+            27.475034713745117,
+            13.16433048248291
+          ],
+          [
+            12.04288101196289,
+            17.63862419128418,
+            17.710617065429688,
+            28.72920799255371,
+            13.717620849609375
+          ]
+        ],
+        "q01": [
+          [
+            -7.516483306884766,
+            -13.768792724609375,
+            -13.680882568359376,
+            -18.46154022216797,
+            -11.780227661132812
+          ],
+          [
+            -9.626373291015625,
+            -17.010990142822266,
+            -16.659339904785156,
+            -22.85714340209961,
+            -14.769226531982422
+          ],
+          [
+            -11.64835189819336,
+            -20.26374053955078,
+            -19.64834976196289,
+            -27.164836883544922,
+            -17.670333862304688
+          ],
+          [
+            -13.582418441772461,
+            -23.428570022583006,
+            -22.37362693786621,
+            -31.384615173339842,
+            -20.571426391601562
+          ],
+          [
+            -15.614945983886718,
+            -26.417583923339844,
+            -25.27472328186035,
+            -35.42857360839844,
+            -23.29669189453125
+          ],
+          [
+            -17.538461685180664,
+            -29.417142486572267,
+            -27.83472885131836,
+            -39.384613037109375,
+            -25.856701965332032
+          ],
+          [
+            -19.38461685180664,
+            -32.21977996826172,
+            -30.461536407470703,
+            -43.07692337036133,
+            -28.571426391601562
+          ],
+          [
+            -21.23076820373535,
+            -34.955609436035154,
+            -32.57142684936523,
+            -46.769229888916016,
+            -30.85714050292969
+          ],
+          [
+            -22.989011764526367,
+            -37.5824169921875,
+            -34.769229888916016,
+            -50.373626708984375,
+            -33.31868072509766
+          ],
+          [
+            -24.75780258178711,
+            -40.131866455078125,
+            -36.8896728515625,
+            -53.54901275634766,
+            -35.60438537597656
+          ],
+          [
+            -26.593406677246094,
+            -42.603955841064455,
+            -38.999562377929685,
+            -56.8896728515625,
+            -38.06593322753906
+          ],
+          [
+            -28.08791160583496,
+            -45.0549430847168,
+            -41.098899841308594,
+            -60.21977996826172,
+            -39.83472839355469
+          ],
+          [
+            -29.670330047607422,
+            -47.51648712158203,
+            -43.03296661376953,
+            -63.47252700805664,
+            -41.93406768798828
+          ],
+          [
+            -31.076923370361328,
+            -49.90066253662109,
+            -45.14285659790039,
+            -66.63735961914062,
+            -44.05450927734375
+          ],
+          [
+            -32.30769348144531,
+            -52.0,
+            -47.164833068847656,
+            -69.54900939941406,
+            -45.63692962646484
+          ],
+          [
+            -33.71428344726562,
+            -54.28571319580078,
+            -49.010986328125,
+            -72.17582702636719,
+            -47.120880126953125
+          ]
+        ],
+        "q99": [
+          [
+            9.450550079345703,
+            10.505495071411133,
+            11.208789825439453,
+            21.714283218383787,
+            11.604400634765625
+          ],
+          [
+            11.824174880981445,
+            13.318679809570312,
+            14.461536407470703,
+            26.901100158691406,
+            14.5054931640625
+          ],
+          [
+            13.670330047607422,
+            16.043960571289062,
+            17.802200317382812,
+            32.08790969848633,
+            17.318680725097657
+          ],
+          [
+            15.966595993042223,
+            18.681320190429688,
+            20.801759338379135,
+            37.098896484375,
+            19.956040344238282
+          ],
+          [
+            18.153846740722656,
+            21.318679809570312,
+            23.878682708740463,
+            41.93406677246094,
+            22.5054931640625
+          ],
+          [
+            20.439559936523438,
+            23.868129959106444,
+            26.857143630981444,
+            46.593406677246094,
+            25.054946899414062
+          ],
+          [
+            22.461538314819336,
+            26.24175666809082,
+            29.846153717041016,
+            51.35120925903343,
+            27.25274658203125
+          ],
+          [
+            24.48351692199707,
+            28.625933990478746,
+            32.659339904785156,
+            55.82417343139648,
+            29.450546264648438
+          ],
+          [
+            26.417581787109373,
+            30.901100158691406,
+            35.39516601562523,
+            60.21977996826172,
+            31.648345947265625
+          ],
+          [
+            28.527471771240233,
+            33.10945281982445,
+            37.93406677246094,
+            64.43955993652344,
+            33.856707763672105
+          ],
+          [
+            30.296264266968002,
+            35.20878982543945,
+            40.49406921386742,
+            68.65933990478516,
+            35.79077636718773
+          ],
+          [
+            32.21977996826172,
+            37.153409118652576,
+            43.21934280395531,
+            72.53802307128929,
+            37.724842224121325
+          ],
+          [
+            33.98857269287132,
+            39.17538269042992,
+            45.67033386230469,
+            76.57142639160156,
+            39.82417297363281
+          ],
+          [
+            35.64835021972656,
+            40.92307662963867,
+            48.406155700683826,
+            80.61538696289062,
+            41.41714874267601
+          ],
+          [
+            37.23076629638672,
+            42.5054931640625,
+            50.60395629882836,
+            84.49406921386742,
+            43.42857360839844
+          ],
+          [
+            38.90109634399414,
+            44.087913513183594,
+            52.80176269531273,
+            88.26373291015625,
+            45.27471923828125
+          ]
+        ]
+      }
+    }
+  }
+}

experiment_cfg/final_model_config.json

@@ -0,0 +1,54 @@
+{
+  "model_type": "Gr00tN1d6",
+  "model_dtype": "bfloat16",
+  "model_name": "nvidia/Eagle-Block2A-2B-v2",
+  "backbone_model_type": "eagle",
+  "model_revision": null,
+  "tune_top_llm_layers": 4,
+  "backbone_embedding_dim": 2048,
+  "tune_llm": false,
+  "tune_visual": false,
+  "select_layer": 16,
+  "reproject_vision": false,
+  "use_flash_attention": true,
+  "load_bf16": true,
+  "collator_overwrite_image_inputs": false,
+  "eagle_collator": true,
+  "backbone_trainable_params_fp32": true,
+  "extra_augmentation_config": null,
+  "apply_sincos_state_encoding": true,
+  "use_relative_action": true,
+  "max_state_dim": 128,
+  "max_action_dim": 128,
+  "action_horizon": 50,
+  "hidden_size": 1024,
+  "input_embedding_dim": 1536,
+  "add_pos_embed": true,
+  "attn_dropout": 0.2,
+  "use_vlln": true,
+  "max_seq_len": 1024,
+  "use_alternate_vl_dit": true,
+  "attend_text_every_n_blocks": 2,
+  "diffusion_model_cfg": {
+    "attention_head_dim": 48,
+    "dropout": 0.2,
+    "final_dropout": true,
+    "interleave_self_attention": true,
+    "norm_type": "ada_norm",
+    "num_attention_heads": 32,
+    "num_layers": 32,
+    "output_dim": 1024,
+    "positional_embeddings": null
+  },
+  "num_inference_timesteps": 4,
+  "noise_beta_alpha": 1.5,
+  "noise_beta_beta": 1.0,
+  "noise_s": 0.999,
+  "num_timestep_buckets": 1000,
+  "tune_projector": true,
+  "tune_diffusion_model": true,
+  "tune_vlln": true,
+  "state_dropout_prob": 0.0,
+  "state_additive_noise_scale": 0.0,
+  "max_num_embodiments": 32
+}

model-00001-of-00002.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14487ee99ba8192d155f3a7f022bd4c1f7a7d2dda17d6bd9df10aa78a0cd7025
+size 4990120184

model-00002-of-00002.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2ff6f0a68fddfb8f2fa75a86e9f70072ecf1c36f58bb4421bce94e4bc98a80f
+size 4823190320

optimizer.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fb86946cf10594605f611aa66730ce237d923659829d00073402e27af5c730d
+size 12960193762

processor_config.json

@@ -0,0 +1,455 @@
+{
+  "processor_class": "Gr00tN1d6Processor",
+  "processor_kwargs": {
+    "modality_configs": {
+      "behavior_r1_pro": {
+        "video": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "observation.images.rgb.head_256_256",
+            "observation.images.rgb.left_wrist_256_256",
+            "observation.images.rgb.right_wrist_256_256"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        },
+        "state": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "robot_pos",
+            "robot_ori_cos",
+            "robot_ori_sin",
+            "robot_2d_ori",
+            "robot_2d_ori_cos",
+            "robot_2d_ori_sin",
+            "robot_lin_vel",
+            "robot_ang_vel",
+            "arm_left_qpos",
+            "arm_left_qpos_sin",
+            "arm_left_qpos_cos",
+            "eef_left_pos",
+            "eef_left_quat",
+            "gripper_left_qpos",
+            "arm_right_qpos",
+            "arm_right_qpos_sin",
+            "arm_right_qpos_cos",
+            "eef_right_pos",
+            "eef_right_quat",
+            "gripper_right_qpos",
+            "trunk_qpos"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        },
+        "action": {
+          "delta_indices": [
+            0,
+            1,
+            2,
+            3,
+            4,
+            5,
+            6,
+            7,
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15,
+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25,
+            26,
+            27,
+            28,
+            29,
+            30,
+            31
+          ],
+          "modality_keys": [
+            "base",
+            "torso",
+            "left_arm",
+            "left_gripper",
+            "right_arm",
+            "right_gripper"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": [
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "RELATIVE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": "trunk_qpos"
+            },
+            {
+              "rep": "RELATIVE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": "arm_left_qpos"
+            },
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "RELATIVE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": "arm_right_qpos"
+            },
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            }
+          ]
+        },
+        "language": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "annotation.human.coarse_action"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        }
+      },
+      "gr1": {
+        "video": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "ego_view_bg_crop_pad_res256_freq20"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        },
+        "state": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "left_arm",
+            "right_arm",
+            "left_hand",
+            "right_hand",
+            "waist"
+          ],
+          "sin_cos_embedding_keys": [
+            "left_arm",
+            "right_arm",
+            "left_hand",
+            "right_hand",
+            "waist"
+          ],
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        },
+        "action": {
+          "delta_indices": [
+            0,
+            1,
+            2,
+            3,
+            4,
+            5,
+            6,
+            7,
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15
+          ],
+          "modality_keys": [
+            "left_arm",
+            "right_arm",
+            "left_hand",
+            "right_hand",
+            "waist"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": [
+            {
+              "rep": "RELATIVE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "RELATIVE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "RELATIVE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "RELATIVE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            }
+          ]
+        },
+        "language": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "task"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        }
+      },
+      "robocasa_panda_omron": {
+        "video": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "res256_image_side_0",
+            "res256_image_side_1",
+            "res256_image_wrist_0"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        },
+        "state": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "end_effector_position_relative",
+            "end_effector_rotation_relative",
+            "gripper_qpos",
+            "base_position",
+            "base_rotation"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        },
+        "action": {
+          "delta_indices": [
+            0,
+            1,
+            2,
+            3,
+            4,
+            5,
+            6,
+            7,
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15
+          ],
+          "modality_keys": [
+            "end_effector_position",
+            "end_effector_rotation",
+            "gripper_close",
+            "base_motion",
+            "control_mode"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": [
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            }
+          ]
+        },
+        "language": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "annotation.human.action.task_description"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        }
+      },
+      "new_embodiment": {
+        "video": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "front",
+            "wrist"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        },
+        "state": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "single_arm",
+            "gripper"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        },
+        "action": {
+          "delta_indices": [
+            0,
+            1,
+            2,
+            3,
+            4,
+            5,
+            6,
+            7,
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15
+          ],
+          "modality_keys": [
+            "single_arm",
+            "gripper"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": [
+            {
+              "rep": "RELATIVE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            },
+            {
+              "rep": "ABSOLUTE",
+              "type": "NON_EEF",
+              "format": "DEFAULT",
+              "state_key": null
+            }
+          ]
+        },
+        "language": {
+          "delta_indices": [
+            0
+          ],
+          "modality_keys": [
+            "annotation.human.task_description"
+          ],
+          "sin_cos_embedding_keys": null,
+          "mean_std_embedding_keys": null,
+          "action_configs": null
+        }
+      }
+    },
+    "image_crop_size": null,
+    "image_target_size": null,
+    "use_albumentations": true,
+    "random_rotation_angle": null,
+    "color_jitter_params": {
+      "brightness": 0.3,
+      "contrast": 0.4,
+      "saturation": 0.5,
+      "hue": 0.08
+    },
+    "shortest_image_edge": 256,
+    "crop_fraction": 0.95,
+    "model_name": "nvidia/Eagle-Block2A-2B-v2",
+    "model_type": "eagle",
+    "formalize_language": true,
+    "max_state_dim": 128,
+    "max_action_dim": 128,
+    "max_action_horizon": 50,
+    "use_percentiles": false,
+    "clip_outliers": true,
+    "apply_sincos_state_encoding": true,
+    "use_relative_action": true
+  }
+}

rng_state.pth

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f476c85815803955f3f0b961be1cdb4439238981e60db7010f58e8353145785
+size 14645

scheduler.pt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c960d31406b345d9ea0d680e904d6145dbe0fc3b960fbf26ae378848e83ec25
+size 1465

trainer_state.json

@@ -0,0 +1,3634 @@
+{
+  "best_global_step": null,
+  "best_metric": null,
+  "best_model_checkpoint": null,
+  "epoch": 1.0,
+  "eval_steps": 500,
+  "global_step": 6000,
+  "is_hyper_param_search": false,
+  "is_local_process_zero": true,
+  "is_world_process_zero": true,
+  "log_history": [
+    {
+      "grad_norm": 1.7000700235366821,
+      "learning_rate": 3e-06,
+      "loss": 1.1283,
+      "step": 10
+    },
+    {
+      "grad_norm": 0.8262935876846313,
+      "learning_rate": 6.333333333333334e-06,
+      "loss": 1.097,
+      "step": 20
+    },
+    {
+      "grad_norm": 0.7697754502296448,
+      "learning_rate": 9.666666666666667e-06,
+      "loss": 1.0692,
+      "step": 30
+    },
+    {
+      "grad_norm": 0.3612891733646393,
+      "learning_rate": 1.3000000000000001e-05,
+      "loss": 1.0448,
+      "step": 40
+    },
+    {
+      "grad_norm": 0.7433922290802002,
+      "learning_rate": 1.6333333333333335e-05,
+      "loss": 1.0697,
+      "step": 50
+    },
+    {
+      "grad_norm": 0.6279253959655762,
+      "learning_rate": 1.9666666666666666e-05,
+      "loss": 1.0638,
+      "step": 60
+    },
+    {
+      "grad_norm": 0.6754515767097473,
+      "learning_rate": 2.3000000000000003e-05,
+      "loss": 1.0625,
+      "step": 70
+    },
+    {
+      "grad_norm": 0.5152317881584167,
+      "learning_rate": 2.633333333333333e-05,
+      "loss": 1.068,
+      "step": 80
+    },
+    {
+      "grad_norm": 0.7765102386474609,
+      "learning_rate": 2.9666666666666672e-05,
+      "loss": 1.0458,
+      "step": 90
+    },
+    {
+      "grad_norm": 0.5475148558616638,
+      "learning_rate": 3.3e-05,
+      "loss": 1.0491,
+      "step": 100
+    },
+    {
+      "grad_norm": 0.9391897916793823,
+      "learning_rate": 3.633333333333333e-05,
+      "loss": 1.0308,
+      "step": 110
+    },
+    {
+      "grad_norm": 1.0357705354690552,
+      "learning_rate": 3.966666666666667e-05,
+      "loss": 0.9933,
+      "step": 120
+    },
+    {
+      "grad_norm": 0.7339250445365906,
+      "learning_rate": 4.3e-05,
+      "loss": 0.9393,
+      "step": 130
+    },
+    {
+      "grad_norm": 0.9334234595298767,
+      "learning_rate": 4.633333333333333e-05,
+      "loss": 0.9121,
+      "step": 140
+    },
+    {
+      "grad_norm": 4.375876426696777,
+      "learning_rate": 4.966666666666667e-05,
+      "loss": 0.85,
+      "step": 150
+    },
+    {
+      "grad_norm": 2.2090346813201904,
+      "learning_rate": 5.300000000000001e-05,
+      "loss": 0.7249,
+      "step": 160
+    },
+    {
+      "grad_norm": 1.9277912378311157,
+      "learning_rate": 5.633333333333334e-05,
+      "loss": 0.5533,
+      "step": 170
+    },
+    {
+      "grad_norm": 2.3054964542388916,
+      "learning_rate": 5.966666666666667e-05,
+      "loss": 0.4604,
+      "step": 180
+    },
+    {
+      "grad_norm": 1.3749431371688843,
+      "learning_rate": 6.3e-05,
+      "loss": 0.3421,
+      "step": 190
+    },
+    {
+      "grad_norm": 1.6281027793884277,
+      "learning_rate": 6.633333333333334e-05,
+      "loss": 0.2506,
+      "step": 200
+    },
+    {
+      "grad_norm": 1.410512089729309,
+      "learning_rate": 6.966666666666668e-05,
+      "loss": 0.189,
+      "step": 210
+    },
+    {
+      "grad_norm": 1.0307164192199707,
+      "learning_rate": 7.3e-05,
+      "loss": 0.1688,
+      "step": 220
+    },
+    {
+      "grad_norm": 1.0910820960998535,
+      "learning_rate": 7.633333333333334e-05,
+      "loss": 0.1543,
+      "step": 230
+    },
+    {
+      "grad_norm": 0.8725211024284363,
+      "learning_rate": 7.966666666666666e-05,
+      "loss": 0.1578,
+      "step": 240
+    },
+    {
+      "grad_norm": 1.1222732067108154,
+      "learning_rate": 8.3e-05,
+      "loss": 0.1432,
+      "step": 250
+    },
+    {
+      "grad_norm": 0.7612312436103821,
+      "learning_rate": 8.633333333333334e-05,
+      "loss": 0.13,
+      "step": 260
+    },
+    {
+      "grad_norm": 1.1903313398361206,
+      "learning_rate": 8.966666666666666e-05,
+      "loss": 0.148,
+      "step": 270
+    },
+    {
+      "grad_norm": 0.8089312314987183,
+      "learning_rate": 9.300000000000001e-05,
+      "loss": 0.1326,
+      "step": 280
+    },
+    {
+      "grad_norm": 0.9453487992286682,
+      "learning_rate": 9.633333333333335e-05,
+      "loss": 0.1467,
+      "step": 290
+    },
+    {
+      "grad_norm": 1.205849051475525,
+      "learning_rate": 9.966666666666667e-05,
+      "loss": 0.1273,
+      "step": 300
+    },
+    {
+      "grad_norm": 0.6407943964004517,
+      "learning_rate": 9.999938485971279e-05,
+      "loss": 0.1256,
+      "step": 310
+    },
+    {
+      "grad_norm": 0.696092963218689,
+      "learning_rate": 9.999725846827562e-05,
+      "loss": 0.113,
+      "step": 320
+    },
+    {
+      "grad_norm": 0.6457434892654419,
+      "learning_rate": 9.999361329594254e-05,
+      "loss": 0.1059,
+      "step": 330
+    },
+    {
+      "grad_norm": 0.769981324672699,
+      "learning_rate": 9.998844945344405e-05,
+      "loss": 0.102,
+      "step": 340
+    },
+    {
+      "grad_norm": 0.4546976387500763,
+      "learning_rate": 9.99817670976436e-05,
+      "loss": 0.0906,
+      "step": 350
+    },
+    {
+      "grad_norm": 0.7327650785446167,
+      "learning_rate": 9.997356643153303e-05,
+      "loss": 0.0935,
+      "step": 360
+    },
+    {
+      "grad_norm": 0.7533209919929504,
+      "learning_rate": 9.996384770422629e-05,
+      "loss": 0.1085,
+      "step": 370
+    },
+    {
+      "grad_norm": 0.6281214356422424,
+      "learning_rate": 9.995261121095194e-05,
+      "loss": 0.094,
+      "step": 380
+    },
+    {
+      "grad_norm": 0.45302775502204895,
+      "learning_rate": 9.993985729304408e-05,
+      "loss": 0.0973,
+      "step": 390
+    },
+    {
+      "grad_norm": 0.5847544074058533,
+      "learning_rate": 9.992558633793212e-05,
+      "loss": 0.0955,
+      "step": 400
+    },
+    {
+      "grad_norm": 0.5938292741775513,
+      "learning_rate": 9.990979877912891e-05,
+      "loss": 0.0927,
+      "step": 410
+    },
+    {
+      "grad_norm": 0.7282758355140686,
+      "learning_rate": 9.989249509621759e-05,
+      "loss": 0.0858,
+      "step": 420
+    },
+    {
+      "grad_norm": 0.6158447265625,
+      "learning_rate": 9.987367581483705e-05,
+      "loss": 0.0974,
+      "step": 430
+    },
+    {
+      "grad_norm": 0.4978296458721161,
+      "learning_rate": 9.985334150666592e-05,
+      "loss": 0.0946,
+      "step": 440
+    },
+    {
+      "grad_norm": 0.7747285962104797,
+      "learning_rate": 9.983149278940526e-05,
+      "loss": 0.0904,
+      "step": 450
+    },
+    {
+      "grad_norm": 0.5748892426490784,
+      "learning_rate": 9.980813032675974e-05,
+      "loss": 0.0938,
+      "step": 460
+    },
+    {
+      "grad_norm": 0.5600329637527466,
+      "learning_rate": 9.978325482841753e-05,
+      "loss": 0.0976,
+      "step": 470
+    },
+    {
+      "grad_norm": 0.4506227970123291,
+      "learning_rate": 9.975686705002867e-05,
+      "loss": 0.0875,
+      "step": 480
+    },
+    {
+      "grad_norm": 0.5217170715332031,
+      "learning_rate": 9.972896779318219e-05,
+      "loss": 0.085,
+      "step": 490
+    },
+    {
+      "grad_norm": 0.44347596168518066,
+      "learning_rate": 9.969955790538175e-05,
+      "loss": 0.0811,
+      "step": 500
+    },
+    {
+      "grad_norm": 0.7565658688545227,
+      "learning_rate": 9.966863828001982e-05,
+      "loss": 0.089,
+      "step": 510
+    },
+    {
+      "grad_norm": 0.4682891070842743,
+      "learning_rate": 9.963620985635065e-05,
+      "loss": 0.0801,
+      "step": 520
+    },
+    {
+      "grad_norm": 0.407950222492218,
+      "learning_rate": 9.960227361946164e-05,
+      "loss": 0.0855,
+      "step": 530
+    },
+    {
+      "grad_norm": 0.555381178855896,
+      "learning_rate": 9.95668306002435e-05,
+      "loss": 0.0769,
+      "step": 540
+    },
+    {
+      "grad_norm": 0.4560313820838928,
+      "learning_rate": 9.952988187535886e-05,
+      "loss": 0.0818,
+      "step": 550
+    },
+    {
+      "grad_norm": 0.46689373254776,
+      "learning_rate": 9.949142856720961e-05,
+      "loss": 0.0741,
+      "step": 560
+    },
+    {
+      "grad_norm": 0.5960952639579773,
+      "learning_rate": 9.945147184390278e-05,
+      "loss": 0.0744,
+      "step": 570
+    },
+    {
+      "grad_norm": 0.4881025552749634,
+      "learning_rate": 9.941001291921512e-05,
+      "loss": 0.0778,
+      "step": 580
+    },
+    {
+      "grad_norm": 0.44606727361679077,
+      "learning_rate": 9.936705305255612e-05,
+      "loss": 0.0805,
+      "step": 590
+    },
+    {
+      "grad_norm": 0.43473923206329346,
+      "learning_rate": 9.932259354892984e-05,
+      "loss": 0.0823,
+      "step": 600
+    },
+    {
+      "grad_norm": 0.39367181062698364,
+      "learning_rate": 9.927663575889521e-05,
+      "loss": 0.084,
+      "step": 610
+    },
+    {
+      "grad_norm": 0.47242826223373413,
+      "learning_rate": 9.922918107852504e-05,
+      "loss": 0.0729,
+      "step": 620
+    },
+    {
+      "grad_norm": 0.4946627616882324,
+      "learning_rate": 9.918023094936363e-05,
+      "loss": 0.0694,
+      "step": 630
+    },
+    {
+      "grad_norm": 0.4091627597808838,
+      "learning_rate": 9.912978685838294e-05,
+      "loss": 0.072,
+      "step": 640
+    },
+    {
+      "grad_norm": 0.2955147624015808,
+      "learning_rate": 9.90778503379374e-05,
+      "loss": 0.0704,
+      "step": 650
+    },
+    {
+      "grad_norm": 0.5645137429237366,
+      "learning_rate": 9.902442296571743e-05,
+      "loss": 0.0748,
+      "step": 660
+    },
+    {
+      "grad_norm": 0.5958395004272461,
+      "learning_rate": 9.896950636470147e-05,
+      "loss": 0.0883,
+      "step": 670
+    },
+    {
+      "grad_norm": 0.46314942836761475,
+      "learning_rate": 9.891310220310666e-05,
+      "loss": 0.077,
+      "step": 680
+    },
+    {
+      "grad_norm": 0.4550405442714691,
+      "learning_rate": 9.885521219433823e-05,
+      "loss": 0.0696,
+      "step": 690
+    },
+    {
+      "grad_norm": 0.36976656317710876,
+      "learning_rate": 9.879583809693738e-05,
+      "loss": 0.0719,
+      "step": 700
+    },
+    {
+      "grad_norm": 0.4276926815509796,
+      "learning_rate": 9.873498171452789e-05,
+      "loss": 0.0842,
+      "step": 710
+    },
+    {
+      "grad_norm": 0.6329816579818726,
+      "learning_rate": 9.867264489576135e-05,
+      "loss": 0.0767,
+      "step": 720
+    },
+    {
+      "grad_norm": 0.45453768968582153,
+      "learning_rate": 9.860882953426099e-05,
+      "loss": 0.0742,
+      "step": 730
+    },
+    {
+      "grad_norm": 0.4058501720428467,
+      "learning_rate": 9.854353756856412e-05,
+      "loss": 0.0643,
+      "step": 740
+    },
+    {
+      "grad_norm": 0.3971281349658966,
+      "learning_rate": 9.847677098206332e-05,
+      "loss": 0.0732,
+      "step": 750
+    },
+    {
+      "grad_norm": 0.44588446617126465,
+      "learning_rate": 9.840853180294608e-05,
+      "loss": 0.065,
+      "step": 760
+    },
+    {
+      "grad_norm": 0.4146692752838135,
+      "learning_rate": 9.833882210413332e-05,
+      "loss": 0.0704,
+      "step": 770
+    },
+    {
+      "grad_norm": 0.4290420413017273,
+      "learning_rate": 9.826764400321633e-05,
+      "loss": 0.0677,
+      "step": 780
+    },
+    {
+      "grad_norm": 0.4227924942970276,
+      "learning_rate": 9.819499966239243e-05,
+      "loss": 0.0703,
+      "step": 790
+    },
+    {
+      "grad_norm": 0.5033952593803406,
+      "learning_rate": 9.812089128839938e-05,
+      "loss": 0.0794,
+      "step": 800
+    },
+    {
+      "grad_norm": 0.3571436405181885,
+      "learning_rate": 9.804532113244828e-05,
+      "loss": 0.0717,
+      "step": 810
+    },
+    {
+      "grad_norm": 0.29655179381370544,
+      "learning_rate": 9.796829149015517e-05,
+      "loss": 0.0678,
+      "step": 820
+    },
+    {
+      "grad_norm": 0.43665337562561035,
+      "learning_rate": 9.788980470147132e-05,
+      "loss": 0.0668,
+      "step": 830
+    },
+    {
+      "grad_norm": 0.4904373586177826,
+      "learning_rate": 9.780986315061218e-05,
+      "loss": 0.0643,
+      "step": 840
+    },
+    {
+      "grad_norm": 0.3467118442058563,
+      "learning_rate": 9.772846926598491e-05,
+      "loss": 0.0752,
+      "step": 850
+    },
+    {
+      "grad_norm": 0.5342732667922974,
+      "learning_rate": 9.76456255201146e-05,
+      "loss": 0.0653,
+      "step": 860
+    },
+    {
+      "grad_norm": 0.5031263828277588,
+      "learning_rate": 9.756133442956923e-05,
+      "loss": 0.0638,
+      "step": 870
+    },
+    {
+      "grad_norm": 0.37514349818229675,
+      "learning_rate": 9.747559855488313e-05,
+      "loss": 0.063,
+      "step": 880
+    },
+    {
+      "grad_norm": 0.35820281505584717,
+      "learning_rate": 9.73884205004793e-05,
+      "loss": 0.0619,
+      "step": 890
+    },
+    {
+      "grad_norm": 0.5237784385681152,
+      "learning_rate": 9.729980291459019e-05,
+      "loss": 0.0694,
+      "step": 900
+    },
+    {
+      "grad_norm": 0.4646155536174774,
+      "learning_rate": 9.720974848917735e-05,
+      "loss": 0.0645,
+      "step": 910
+    },
+    {
+      "grad_norm": 0.4395473897457123,
+      "learning_rate": 9.711825995984957e-05,
+      "loss": 0.0687,
+      "step": 920
+    },
+    {
+      "grad_norm": 0.39834749698638916,
+      "learning_rate": 9.702534010577991e-05,
+      "loss": 0.0616,
+      "step": 930
+    },
+    {
+      "grad_norm": 0.43580004572868347,
+      "learning_rate": 9.693099174962103e-05,
+      "loss": 0.0602,
+      "step": 940
+    },
+    {
+      "grad_norm": 0.47095683217048645,
+      "learning_rate": 9.683521775741977e-05,
+      "loss": 0.0742,
+      "step": 950
+    },
+    {
+      "grad_norm": 0.4243863821029663,
+      "learning_rate": 9.673802103852979e-05,
+      "loss": 0.0569,
+      "step": 960
+    },
+    {
+      "grad_norm": 0.4031473398208618,
+      "learning_rate": 9.663940454552342e-05,
+      "loss": 0.0585,
+      "step": 970
+    },
+    {
+      "grad_norm": 0.47860366106033325,
+      "learning_rate": 9.65393712741018e-05,
+      "loss": 0.0634,
+      "step": 980
+    },
+    {
+      "grad_norm": 0.38193196058273315,
+      "learning_rate": 9.6437924263004e-05,
+      "loss": 0.0594,
+      "step": 990
+    },
+    {
+      "grad_norm": 0.4677029252052307,
+      "learning_rate": 9.63350665939146e-05,
+      "loss": 0.0617,
+      "step": 1000
+    },
+    {
+      "grad_norm": 0.3832956850528717,
+      "learning_rate": 9.623080139137023e-05,
+      "loss": 0.0616,
+      "step": 1010
+    },
+    {
+      "grad_norm": 0.36230915784835815,
+      "learning_rate": 9.612513182266447e-05,
+      "loss": 0.0615,
+      "step": 1020
+    },
+    {
+      "grad_norm": 0.4043103754520416,
+      "learning_rate": 9.601806109775179e-05,
+      "loss": 0.0664,
+      "step": 1030
+    },
+    {
+      "grad_norm": 0.43316778540611267,
+      "learning_rate": 9.590959246914995e-05,
+      "loss": 0.0663,
+      "step": 1040
+    },
+    {
+      "grad_norm": 0.32864686846733093,
+      "learning_rate": 9.579972923184122e-05,
+      "loss": 0.0603,
+      "step": 1050
+    },
+    {
+      "grad_norm": 0.3839098811149597,
+      "learning_rate": 9.568847472317232e-05,
+      "loss": 0.0642,
+      "step": 1060
+    },
+    {
+      "grad_norm": 0.28199896216392517,
+      "learning_rate": 9.557583232275303e-05,
+      "loss": 0.0604,
+      "step": 1070
+    },
+    {
+      "grad_norm": 0.3797306716442108,
+      "learning_rate": 9.546180545235344e-05,
+      "loss": 0.0601,
+      "step": 1080
+    },
+    {
+      "grad_norm": 0.2888736426830292,
+      "learning_rate": 9.534639757580013e-05,
+      "loss": 0.0495,
+      "step": 1090
+    },
+    {
+      "grad_norm": 0.2527846395969391,
+      "learning_rate": 9.522961219887092e-05,
+      "loss": 0.0542,
+      "step": 1100
+    },
+    {
+      "grad_norm": 0.26228803396224976,
+      "learning_rate": 9.511145286918828e-05,
+      "loss": 0.0571,
+      "step": 1110
+    },
+    {
+      "grad_norm": 0.5870105028152466,
+      "learning_rate": 9.499192317611167e-05,
+      "loss": 0.0649,
+      "step": 1120
+    },
+    {
+      "grad_norm": 0.39054936170578003,
+      "learning_rate": 9.487102675062851e-05,
+      "loss": 0.0637,
+      "step": 1130
+    },
+    {
+      "grad_norm": 0.3763654828071594,
+      "learning_rate": 9.474876726524374e-05,
+      "loss": 0.0612,
+      "step": 1140
+    },
+    {
+      "grad_norm": 0.2446664720773697,
+      "learning_rate": 9.462514843386845e-05,
+      "loss": 0.0572,
+      "step": 1150
+    },
+    {
+      "grad_norm": 0.29194676876068115,
+      "learning_rate": 9.450017401170689e-05,
+      "loss": 0.0516,
+      "step": 1160
+    },
+    {
+      "grad_norm": 0.51090008020401,
+      "learning_rate": 9.437384779514256e-05,
+      "loss": 0.0573,
+      "step": 1170
+    },
+    {
+      "grad_norm": 0.23249898850917816,
+      "learning_rate": 9.424617362162271e-05,
+      "loss": 0.0559,
+      "step": 1180
+    },
+    {
+      "grad_norm": 0.3077312409877777,
+      "learning_rate": 9.411715536954196e-05,
+      "loss": 0.054,
+      "step": 1190
+    },
+    {
+      "grad_norm": 0.42092403769493103,
+      "learning_rate": 9.39867969581243e-05,
+      "loss": 0.0574,
+      "step": 1200
+    },
+    {
+      "grad_norm": 0.45014843344688416,
+      "learning_rate": 9.385510234730415e-05,
+      "loss": 0.0518,
+      "step": 1210
+    },
+    {
+      "grad_norm": 0.45236918330192566,
+      "learning_rate": 9.372207553760603e-05,
+      "loss": 0.049,
+      "step": 1220
+    },
+    {
+      "grad_norm": 0.3155176341533661,
+      "learning_rate": 9.358772057002312e-05,
+      "loss": 0.0573,
+      "step": 1230
+    },
+    {
+      "grad_norm": 0.3163870573043823,
+      "learning_rate": 9.345204152589428e-05,
+      "loss": 0.0504,
+      "step": 1240
+    },
+    {
+      "grad_norm": 0.3211176097393036,
+      "learning_rate": 9.331504252678037e-05,
+      "loss": 0.0595,
+      "step": 1250
+    },
+    {
+      "grad_norm": 0.4440314769744873,
+      "learning_rate": 9.317672773433876e-05,
+      "loss": 0.0539,
+      "step": 1260
+    },
+    {
+      "grad_norm": 0.36051490902900696,
+      "learning_rate": 9.30371013501972e-05,
+      "loss": 0.06,
+      "step": 1270
+    },
+    {
+      "grad_norm": 0.43395301699638367,
+      "learning_rate": 9.289616761582587e-05,
+      "loss": 0.0592,
+      "step": 1280
+    },
+    {
+      "grad_norm": 0.40232110023498535,
+      "learning_rate": 9.275393081240882e-05,
+      "loss": 0.062,
+      "step": 1290
+    },
+    {
+      "grad_norm": 0.43771880865097046,
+      "learning_rate": 9.261039526071374e-05,
+      "loss": 0.0582,
+      "step": 1300
+    },
+    {
+      "grad_norm": 0.48542389273643494,
+      "learning_rate": 9.246556532096078e-05,
+      "loss": 0.0544,
+      "step": 1310
+    },
+    {
+      "grad_norm": 0.360439270734787,
+      "learning_rate": 9.231944539269009e-05,
+      "loss": 0.0562,
+      "step": 1320
+    },
+    {
+      "grad_norm": 0.3617100417613983,
+      "learning_rate": 9.217203991462815e-05,
+      "loss": 0.0521,
+      "step": 1330
+    },
+    {
+      "grad_norm": 0.3198077082633972,
+      "learning_rate": 9.202335336455296e-05,
+      "loss": 0.0524,
+      "step": 1340
+    },
+    {
+      "grad_norm": 0.36050671339035034,
+      "learning_rate": 9.187339025915802e-05,
+      "loss": 0.0496,
+      "step": 1350
+    },
+    {
+      "grad_norm": 0.309641033411026,
+      "learning_rate": 9.17221551539151e-05,
+      "loss": 0.0527,
+      "step": 1360
+    },
+    {
+      "grad_norm": 0.2965846359729767,
+      "learning_rate": 9.156965264293586e-05,
+      "loss": 0.0445,
+      "step": 1370
+    },
+    {
+      "grad_norm": 0.35571765899658203,
+      "learning_rate": 9.141588735883232e-05,
+      "loss": 0.0523,
+      "step": 1380
+    },
+    {
+      "grad_norm": 0.3687618374824524,
+      "learning_rate": 9.126086397257612e-05,
+      "loss": 0.0511,
+      "step": 1390
+    },
+    {
+      "grad_norm": 0.43302109837532043,
+      "learning_rate": 9.110458719335659e-05,
+      "loss": 0.0565,
+      "step": 1400
+    },
+    {
+      "grad_norm": 0.31573888659477234,
+      "learning_rate": 9.094706176843777e-05,
+      "loss": 0.0484,
+      "step": 1410
+    },
+    {
+      "grad_norm": 0.41654664278030396,
+      "learning_rate": 9.078829248301417e-05,
+      "loss": 0.0558,
+      "step": 1420
+    },
+    {
+      "grad_norm": 0.49469777941703796,
+      "learning_rate": 9.062828416006539e-05,
+      "loss": 0.0544,
+      "step": 1430
+    },
+    {
+      "grad_norm": 0.3401212990283966,
+      "learning_rate": 9.046704166020961e-05,
+      "loss": 0.0563,
+      "step": 1440
+    },
+    {
+      "grad_norm": 0.3731771409511566,
+      "learning_rate": 9.030456988155596e-05,
+      "loss": 0.0557,
+      "step": 1450
+    },
+    {
+      "grad_norm": 0.3299166262149811,
+      "learning_rate": 9.014087375955573e-05,
+      "loss": 0.0547,
+      "step": 1460
+    },
+    {
+      "grad_norm": 0.33593466877937317,
+      "learning_rate": 8.997595826685243e-05,
+      "loss": 0.0554,
+      "step": 1470
+    },
+    {
+      "grad_norm": 0.4328671097755432,
+      "learning_rate": 8.980982841313074e-05,
+      "loss": 0.0575,
+      "step": 1480
+    },
+    {
+      "grad_norm": 0.35234278440475464,
+      "learning_rate": 8.964248924496435e-05,
+      "loss": 0.0519,
+      "step": 1490
+    },
+    {
+      "grad_norm": 0.5080187320709229,
+      "learning_rate": 8.947394584566258e-05,
+      "loss": 0.0602,
+      "step": 1500
+    },
+    {
+      "grad_norm": 0.2649039626121521,
+      "learning_rate": 8.930420333511606e-05,
+      "loss": 0.053,
+      "step": 1510
+    },
+    {
+      "grad_norm": 0.42354223132133484,
+      "learning_rate": 8.913326686964117e-05,
+      "loss": 0.0501,
+      "step": 1520
+    },
+    {
+      "grad_norm": 0.4319063425064087,
+      "learning_rate": 8.89611416418234e-05,
+      "loss": 0.0538,
+      "step": 1530
+    },
+    {
+      "grad_norm": 0.4024607539176941,
+      "learning_rate": 8.878783288035957e-05,
+      "loss": 0.0616,
+      "step": 1540
+    },
+    {
+      "grad_norm": 0.34141480922698975,
+      "learning_rate": 8.86133458498991e-05,
+      "loss": 0.0514,
+      "step": 1550
+    },
+    {
+      "grad_norm": 0.3257942795753479,
+      "learning_rate": 8.843768585088393e-05,
+      "loss": 0.0569,
+      "step": 1560
+    },
+    {
+      "grad_norm": 0.22518017888069153,
+      "learning_rate": 8.82608582193877e-05,
+      "loss": 0.048,
+      "step": 1570
+    },
+    {
+      "grad_norm": 0.358802855014801,
+      "learning_rate": 8.80828683269535e-05,
+      "loss": 0.0516,
+      "step": 1580
+    },
+    {
+      "grad_norm": 0.2343483865261078,
+      "learning_rate": 8.790372158043074e-05,
+      "loss": 0.0494,
+      "step": 1590
+    },
+    {
+      "grad_norm": 0.37448617815971375,
+      "learning_rate": 8.772342342181095e-05,
+      "loss": 0.0477,
+      "step": 1600
+    },
+    {
+      "grad_norm": 0.36448949575424194,
+      "learning_rate": 8.75419793280624e-05,
+      "loss": 0.0499,
+      "step": 1610
+    },
+    {
+      "grad_norm": 0.2531074583530426,
+      "learning_rate": 8.735939481096378e-05,
+      "loss": 0.0425,
+      "step": 1620
+    },
+    {
+      "grad_norm": 0.32438674569129944,
+      "learning_rate": 8.717567541693673e-05,
+      "loss": 0.0433,
+      "step": 1630
+    },
+    {
+      "grad_norm": 0.3196386992931366,
+      "learning_rate": 8.699082672687734e-05,
+      "loss": 0.051,
+      "step": 1640
+    },
+    {
+      "grad_norm": 0.4035435616970062,
+      "learning_rate": 8.680485435598673e-05,
+      "loss": 0.0541,
+      "step": 1650
+    },
+    {
+      "grad_norm": 0.2992634177207947,
+      "learning_rate": 8.661776395360029e-05,
+      "loss": 0.0448,
+      "step": 1660
+    },
+    {
+      "grad_norm": 0.3280009329319,
+      "learning_rate": 8.642956120301626e-05,
+      "loss": 0.047,
+      "step": 1670
+    },
+    {
+      "grad_norm": 0.25291767716407776,
+      "learning_rate": 8.624025182132292e-05,
+      "loss": 0.0473,
+      "step": 1680
+    },
+    {
+      "grad_norm": 0.28412434458732605,
+      "learning_rate": 8.604984155922506e-05,
+      "loss": 0.0518,
+      "step": 1690
+    },
+    {
+      "grad_norm": 0.3839319944381714,
+      "learning_rate": 8.585833620086918e-05,
+      "loss": 0.0467,
+      "step": 1700
+    },
+    {
+      "grad_norm": 0.2821938991546631,
+      "learning_rate": 8.566574156366784e-05,
+      "loss": 0.0486,
+      "step": 1710
+    },
+    {
+      "grad_norm": 0.33787041902542114,
+      "learning_rate": 8.547206349812298e-05,
+      "loss": 0.0483,
+      "step": 1720
+    },
+    {
+      "grad_norm": 0.39908427000045776,
+      "learning_rate": 8.527730788764805e-05,
+      "loss": 0.0487,
+      "step": 1730
+    },
+    {
+      "grad_norm": 0.35582125186920166,
+      "learning_rate": 8.508148064838948e-05,
+      "loss": 0.045,
+      "step": 1740
+    },
+    {
+      "grad_norm": 0.42031681537628174,
+      "learning_rate": 8.488458772904684e-05,
+      "loss": 0.05,
+      "step": 1750
+    },
+    {
+      "grad_norm": 0.3604871928691864,
+      "learning_rate": 8.468663511069217e-05,
+      "loss": 0.0508,
+      "step": 1760
+    },
+    {
+      "grad_norm": 0.3763245940208435,
+      "learning_rate": 8.448762880658825e-05,
+      "loss": 0.0523,
+      "step": 1770
+    },
+    {
+      "grad_norm": 0.2665746212005615,
+      "learning_rate": 8.428757486200603e-05,
+      "loss": 0.0466,
+      "step": 1780
+    },
+    {
+      "grad_norm": 0.30607786774635315,
+      "learning_rate": 8.40864793540409e-05,
+      "loss": 0.0488,
+      "step": 1790
+    },
+    {
+      "grad_norm": 0.42583027482032776,
+      "learning_rate": 8.388434839142813e-05,
+      "loss": 0.0446,
+      "step": 1800
+    },
+    {
+      "grad_norm": 0.28605785965919495,
+      "learning_rate": 8.368118811435726e-05,
+      "loss": 0.0463,
+      "step": 1810
+    },
+    {
+      "grad_norm": 0.32007771730422974,
+      "learning_rate": 8.347700469428564e-05,
+      "loss": 0.0464,
+      "step": 1820
+    },
+    {
+      "grad_norm": 0.4149059057235718,
+      "learning_rate": 8.327180433375091e-05,
+      "loss": 0.0469,
+      "step": 1830
+    },
+    {
+      "grad_norm": 0.3714878559112549,
+      "learning_rate": 8.306559326618259e-05,
+      "loss": 0.0468,
+      "step": 1840
+    },
+    {
+      "grad_norm": 0.33420297503471375,
+      "learning_rate": 8.285837775571276e-05,
+      "loss": 0.0435,
+      "step": 1850
+    },
+    {
+      "grad_norm": 0.22721770405769348,
+      "learning_rate": 8.265016409698573e-05,
+      "loss": 0.047,
+      "step": 1860
+    },
+    {
+      "grad_norm": 0.3329220116138458,
+      "learning_rate": 8.244095861496686e-05,
+      "loss": 0.0504,
+      "step": 1870
+    },
+    {
+      "grad_norm": 0.479600727558136,
+      "learning_rate": 8.223076766475035e-05,
+      "loss": 0.042,
+      "step": 1880
+    },
+    {
+      "grad_norm": 0.4081374704837799,
+      "learning_rate": 8.201959763136633e-05,
+      "loss": 0.0433,
+      "step": 1890
+    },
+    {
+      "grad_norm": 0.2546713054180145,
+      "learning_rate": 8.180745492958674e-05,
+      "loss": 0.0533,
+      "step": 1900
+    },
+    {
+      "grad_norm": 0.25530946254730225,
+      "learning_rate": 8.159434600373061e-05,
+      "loss": 0.0486,
+      "step": 1910
+    },
+    {
+      "grad_norm": 0.370567262172699,
+      "learning_rate": 8.138027732746818e-05,
+      "loss": 0.0452,
+      "step": 1920
+    },
+    {
+      "grad_norm": 0.34710201621055603,
+      "learning_rate": 8.116525540362434e-05,
+      "loss": 0.0463,
+      "step": 1930
+    },
+    {
+      "grad_norm": 0.30122607946395874,
+      "learning_rate": 8.094928676398101e-05,
+      "loss": 0.0455,
+      "step": 1940
+    },
+    {
+      "grad_norm": 0.24021995067596436,
+      "learning_rate": 8.073237796907882e-05,
+      "loss": 0.0472,
+      "step": 1950
+    },
+    {
+      "grad_norm": 0.3200050890445709,
+      "learning_rate": 8.051453560801772e-05,
+      "loss": 0.0413,
+      "step": 1960
+    },
+    {
+      "grad_norm": 0.2531821131706238,
+      "learning_rate": 8.029576629825687e-05,
+      "loss": 0.0489,
+      "step": 1970
+    },
+    {
+      "grad_norm": 0.3085343539714813,
+      "learning_rate": 8.007607668541362e-05,
+      "loss": 0.0532,
+      "step": 1980
+    },
+    {
+      "grad_norm": 0.3176669776439667,
+      "learning_rate": 7.985547344306161e-05,
+      "loss": 0.0438,
+      "step": 1990
+    },
+    {
+      "grad_norm": 0.3424891531467438,
+      "learning_rate": 7.963396327252812e-05,
+      "loss": 0.0417,
+      "step": 2000
+    },
+    {
+      "grad_norm": 0.2856842279434204,
+      "learning_rate": 7.941155290269038e-05,
+      "loss": 0.0398,
+      "step": 2010
+    },
+    {
+      "grad_norm": 0.2625652551651001,
+      "learning_rate": 7.918824908977123e-05,
+      "loss": 0.0404,
+      "step": 2020
+    },
+    {
+      "grad_norm": 0.33125776052474976,
+      "learning_rate": 7.896405861713394e-05,
+      "loss": 0.0455,
+      "step": 2030
+    },
+    {
+      "grad_norm": 0.36468076705932617,
+      "learning_rate": 7.873898829507606e-05,
+      "loss": 0.0499,
+      "step": 2040
+    },
+    {
+      "grad_norm": 0.3898219168186188,
+      "learning_rate": 7.851304496062254e-05,
+      "loss": 0.0433,
+      "step": 2050
+    },
+    {
+      "grad_norm": 0.3178541958332062,
+      "learning_rate": 7.828623547731818e-05,
+      "loss": 0.0375,
+      "step": 2060
+    },
+    {
+      "grad_norm": 0.2662155032157898,
+      "learning_rate": 7.80585667350189e-05,
+      "loss": 0.0431,
+      "step": 2070
+    },
+    {
+      "grad_norm": 0.19700299203395844,
+      "learning_rate": 7.783004564968263e-05,
+      "loss": 0.0359,
+      "step": 2080
+    },
+    {
+      "grad_norm": 0.2499379962682724,
+      "learning_rate": 7.760067916315921e-05,
+      "loss": 0.035,
+      "step": 2090
+    },
+    {
+      "grad_norm": 0.18432468175888062,
+      "learning_rate": 7.737047424297941e-05,
+      "loss": 0.0352,
+      "step": 2100
+    },
+    {
+      "grad_norm": 0.3939158022403717,
+      "learning_rate": 7.713943788214337e-05,
+      "loss": 0.0394,
+      "step": 2110
+    },
+    {
+      "grad_norm": 0.430083692073822,
+      "learning_rate": 7.690757709890812e-05,
+      "loss": 0.0378,
+      "step": 2120
+    },
+    {
+      "grad_norm": 0.23813720047473907,
+      "learning_rate": 7.66748989365744e-05,
+      "loss": 0.041,
+      "step": 2130
+    },
+    {
+      "grad_norm": 0.30467575788497925,
+      "learning_rate": 7.644141046327271e-05,
+      "loss": 0.0469,
+      "step": 2140
+    },
+    {
+      "grad_norm": 0.3030410408973694,
+      "learning_rate": 7.620711877174866e-05,
+      "loss": 0.0424,
+      "step": 2150
+    },
+    {
+      "grad_norm": 0.23633800446987152,
+      "learning_rate": 7.597203097914732e-05,
+      "loss": 0.0393,
+      "step": 2160
+    },
+    {
+      "grad_norm": 0.31460145115852356,
+      "learning_rate": 7.573615422679726e-05,
+      "loss": 0.0362,
+      "step": 2170
+    },
+    {
+      "grad_norm": 0.4296618700027466,
+      "learning_rate": 7.549949567999345e-05,
+      "loss": 0.0437,
+      "step": 2180
+    },
+    {
+      "grad_norm": 0.2874586582183838,
+      "learning_rate": 7.526206252777968e-05,
+      "loss": 0.0341,
+      "step": 2190
+    },
+    {
+      "grad_norm": 0.36963751912117004,
+      "learning_rate": 7.50238619827301e-05,
+      "loss": 0.0387,
+      "step": 2200
+    },
+    {
+      "grad_norm": 0.38531920313835144,
+      "learning_rate": 7.478490128073022e-05,
+      "loss": 0.0367,
+      "step": 2210
+    },
+    {
+      "grad_norm": 0.22951769828796387,
+      "learning_rate": 7.454518768075704e-05,
+      "loss": 0.0385,
+      "step": 2220
+    },
+    {
+      "grad_norm": 0.32662105560302734,
+      "learning_rate": 7.430472846465856e-05,
+      "loss": 0.0453,
+      "step": 2230
+    },
+    {
+      "grad_norm": 0.22467322647571564,
+      "learning_rate": 7.406353093693253e-05,
+      "loss": 0.0361,
+      "step": 2240
+    },
+    {
+      "grad_norm": 0.20656687021255493,
+      "learning_rate": 7.382160242450469e-05,
+      "loss": 0.0408,
+      "step": 2250
+    },
+    {
+      "grad_norm": 0.340875506401062,
+      "learning_rate": 7.357895027650598e-05,
+      "loss": 0.0388,
+      "step": 2260
+    },
+    {
+      "grad_norm": 0.18724791705608368,
+      "learning_rate": 7.333558186404958e-05,
+      "loss": 0.0375,
+      "step": 2270
+    },
+    {
+      "grad_norm": 0.21643663942813873,
+      "learning_rate": 7.309150458000668e-05,
+      "loss": 0.0427,
+      "step": 2280
+    },
+    {
+      "grad_norm": 0.22064824402332306,
+      "learning_rate": 7.284672583878219e-05,
+      "loss": 0.0375,
+      "step": 2290
+    },
+    {
+      "grad_norm": 0.25080978870391846,
+      "learning_rate": 7.260125307608929e-05,
+      "loss": 0.0337,
+      "step": 2300
+    },
+    {
+      "grad_norm": 0.3313097357749939,
+      "learning_rate": 7.235509374872373e-05,
+      "loss": 0.0431,
+      "step": 2310
+    },
+    {
+      "grad_norm": 0.28288960456848145,
+      "learning_rate": 7.210825533433719e-05,
+      "loss": 0.0375,
+      "step": 2320
+    },
+    {
+      "grad_norm": 0.3031257390975952,
+      "learning_rate": 7.186074533121013e-05,
+      "loss": 0.048,
+      "step": 2330
+    },
+    {
+      "grad_norm": 0.2575356960296631,
+      "learning_rate": 7.161257125802413e-05,
+      "loss": 0.0375,
+      "step": 2340
+    },
+    {
+      "grad_norm": 0.264274001121521,
+      "learning_rate": 7.136374065363334e-05,
+      "loss": 0.0399,
+      "step": 2350
+    },
+    {
+      "grad_norm": 0.3352709412574768,
+      "learning_rate": 7.11142610768356e-05,
+      "loss": 0.0345,
+      "step": 2360
+    },
+    {
+      "grad_norm": 0.2115754336118698,
+      "learning_rate": 7.086414010614276e-05,
+      "loss": 0.0374,
+      "step": 2370
+    },
+    {
+      "grad_norm": 0.2517990171909332,
+      "learning_rate": 7.061338533955043e-05,
+      "loss": 0.0324,
+      "step": 2380
+    },
+    {
+      "grad_norm": 0.24857991933822632,
+      "learning_rate": 7.036200439430725e-05,
+      "loss": 0.0391,
+      "step": 2390
+    },
+    {
+      "grad_norm": 0.23163624107837677,
+      "learning_rate": 7.01100049066835e-05,
+      "loss": 0.0389,
+      "step": 2400
+    },
+    {
+      "grad_norm": 0.33151012659072876,
+      "learning_rate": 6.985739453173903e-05,
+      "loss": 0.033,
+      "step": 2410
+    },
+    {
+      "grad_norm": 0.26381349563598633,
+      "learning_rate": 6.960418094309085e-05,
+      "loss": 0.0341,
+      "step": 2420
+    },
+    {
+      "grad_norm": 0.30055221915245056,
+      "learning_rate": 6.93503718326799e-05,
+      "loss": 0.0336,
+      "step": 2430
+    },
+    {
+      "grad_norm": 0.25649207830429077,
+      "learning_rate": 6.909597491053751e-05,
+      "loss": 0.0389,
+      "step": 2440
+    },
+    {
+      "grad_norm": 0.2667904794216156,
+      "learning_rate": 6.884099790455113e-05,
+      "loss": 0.0321,
+      "step": 2450
+    },
+    {
+      "grad_norm": 0.38824063539505005,
+      "learning_rate": 6.858544856022952e-05,
+      "loss": 0.0393,
+      "step": 2460
+    },
+    {
+      "grad_norm": 0.2738566994667053,
+      "learning_rate": 6.83293346404676e-05,
+      "loss": 0.0377,
+      "step": 2470
+    },
+    {
+      "grad_norm": 0.2428845465183258,
+      "learning_rate": 6.80726639253105e-05,
+      "loss": 0.0332,
+      "step": 2480
+    },
+    {
+      "grad_norm": 0.27254635095596313,
+      "learning_rate": 6.781544421171732e-05,
+      "loss": 0.0311,
+      "step": 2490
+    },
+    {
+      "grad_norm": 0.3009340465068817,
+      "learning_rate": 6.755768331332424e-05,
+      "loss": 0.0361,
+      "step": 2500
+    },
+    {
+      "grad_norm": 0.27296382188796997,
+      "learning_rate": 6.729938906020713e-05,
+      "loss": 0.0388,
+      "step": 2510
+    },
+    {
+      "grad_norm": 0.19399593770503998,
+      "learning_rate": 6.704056929864376e-05,
+      "loss": 0.0348,
+      "step": 2520
+    },
+    {
+      "grad_norm": 0.3452855050563812,
+      "learning_rate": 6.67812318908754e-05,
+      "loss": 0.0313,
+      "step": 2530
+    },
+    {
+      "grad_norm": 0.2279820591211319,
+      "learning_rate": 6.6521384714868e-05,
+      "loss": 0.0372,
+      "step": 2540
+    },
+    {
+      "grad_norm": 0.23924601078033447,
+      "learning_rate": 6.626103566407295e-05,
+      "loss": 0.0421,
+      "step": 2550
+    },
+    {
+      "grad_norm": 0.26451361179351807,
+      "learning_rate": 6.600019264718713e-05,
+      "loss": 0.0364,
+      "step": 2560
+    },
+    {
+      "grad_norm": 0.24230974912643433,
+      "learning_rate": 6.573886358791285e-05,
+      "loss": 0.0356,
+      "step": 2570
+    },
+    {
+      "grad_norm": 0.21219466626644135,
+      "learning_rate": 6.547705642471703e-05,
+      "loss": 0.0357,
+      "step": 2580
+    },
+    {
+      "grad_norm": 0.21990950405597687,
+      "learning_rate": 6.521477911059008e-05,
+      "loss": 0.0369,
+      "step": 2590
+    },
+    {
+      "grad_norm": 0.25543391704559326,
+      "learning_rate": 6.495203961280434e-05,
+      "loss": 0.0332,
+      "step": 2600
+    },
+    {
+      "grad_norm": 0.23028869926929474,
+      "learning_rate": 6.468884591267204e-05,
+      "loss": 0.0317,
+      "step": 2610
+    },
+    {
+      "grad_norm": 0.25860467553138733,
+      "learning_rate": 6.44252060053028e-05,
+      "loss": 0.0341,
+      "step": 2620
+    },
+    {
+      "grad_norm": 0.23476362228393555,
+      "learning_rate": 6.416112789936086e-05,
+      "loss": 0.0304,
+      "step": 2630
+    },
+    {
+      "grad_norm": 0.24847416579723358,
+      "learning_rate": 6.389661961682173e-05,
+      "loss": 0.0315,
+      "step": 2640
+    },
+    {
+      "grad_norm": 0.31609058380126953,
+      "learning_rate": 6.363168919272846e-05,
+      "loss": 0.039,
+      "step": 2650
+    },
+    {
+      "grad_norm": 0.2490130513906479,
+      "learning_rate": 6.336634467494768e-05,
+      "loss": 0.0414,
+      "step": 2660
+    },
+    {
+      "grad_norm": 0.26495233178138733,
+      "learning_rate": 6.310059412392505e-05,
+      "loss": 0.0372,
+      "step": 2670
+    },
+    {
+      "grad_norm": 0.30787259340286255,
+      "learning_rate": 6.283444561244042e-05,
+      "loss": 0.0396,
+      "step": 2680
+    },
+    {
+      "grad_norm": 0.29595232009887695,
+      "learning_rate": 6.256790722536251e-05,
+      "loss": 0.0364,
+      "step": 2690
+    },
+    {
+      "grad_norm": 0.30548182129859924,
+      "learning_rate": 6.230098705940354e-05,
+      "loss": 0.0384,
+      "step": 2700
+    },
+    {
+      "grad_norm": 0.1984514445066452,
+      "learning_rate": 6.203369322287306e-05,
+      "loss": 0.0342,
+      "step": 2710
+    },
+    {
+      "grad_norm": 0.2916681468486786,
+      "learning_rate": 6.17660338354317e-05,
+      "loss": 0.0315,
+      "step": 2720
+    },
+    {
+      "grad_norm": 0.26730629801750183,
+      "learning_rate": 6.149801702784456e-05,
+      "loss": 0.0327,
+      "step": 2730
+    },
+    {
+      "grad_norm": 0.20792292058467865,
+      "learning_rate": 6.122965094173424e-05,
+      "loss": 0.0351,
+      "step": 2740
+    },
+    {
+      "grad_norm": 0.2516806721687317,
+      "learning_rate": 6.0960943729333374e-05,
+      "loss": 0.0307,
+      "step": 2750
+    },
+    {
+      "grad_norm": 0.32123464345932007,
+      "learning_rate": 6.069190355323717e-05,
+      "loss": 0.0324,
+      "step": 2760
+    },
+    {
+      "grad_norm": 0.282929003238678,
+      "learning_rate": 6.042253858615532e-05,
+      "loss": 0.0321,
+      "step": 2770
+    },
+    {
+      "grad_norm": 0.288335919380188,
+      "learning_rate": 6.015285701066382e-05,
+      "loss": 0.0318,
+      "step": 2780
+    },
+    {
+      "grad_norm": 0.2876138389110565,
+      "learning_rate": 5.988286701895631e-05,
+      "loss": 0.0299,
+      "step": 2790
+    },
+    {
+      "grad_norm": 0.2926459014415741,
+      "learning_rate": 5.961257681259535e-05,
+      "loss": 0.0332,
+      "step": 2800
+    },
+    {
+      "grad_norm": 0.242830291390419,
+      "learning_rate": 5.934199460226317e-05,
+      "loss": 0.0324,
+      "step": 2810
+    },
+    {
+      "grad_norm": 0.34635767340660095,
+      "learning_rate": 5.9071128607512285e-05,
+      "loss": 0.0319,
+      "step": 2820
+    },
+    {
+      "grad_norm": 0.2989971339702606,
+      "learning_rate": 5.8799987056515804e-05,
+      "loss": 0.0341,
+      "step": 2830
+    },
+    {
+      "grad_norm": 0.2593464255332947,
+      "learning_rate": 5.8528578185817514e-05,
+      "loss": 0.0378,
+      "step": 2840
+    },
+    {
+      "grad_norm": 0.3017624020576477,
+      "learning_rate": 5.825691024008162e-05,
+      "loss": 0.0337,
+      "step": 2850
+    },
+    {
+      "grad_norm": 0.23172958195209503,
+      "learning_rate": 5.798499147184233e-05,
+      "loss": 0.0334,
+      "step": 2860
+    },
+    {
+      "grad_norm": 0.3011959195137024,
+      "learning_rate": 5.771283014125317e-05,
+      "loss": 0.0343,
+      "step": 2870
+    },
+    {
+      "grad_norm": 0.19752350449562073,
+      "learning_rate": 5.7440434515836064e-05,
+      "loss": 0.0329,
+      "step": 2880
+    },
+    {
+      "grad_norm": 0.20669515430927277,
+      "learning_rate": 5.7167812870230094e-05,
+      "loss": 0.0325,
+      "step": 2890
+    },
+    {
+      "grad_norm": 0.329367995262146,
+      "learning_rate": 5.689497348594035e-05,
+      "loss": 0.0353,
+      "step": 2900
+    },
+    {
+      "grad_norm": 0.2281043380498886,
+      "learning_rate": 5.662192465108613e-05,
+      "loss": 0.0458,
+      "step": 2910
+    },
+    {
+      "grad_norm": 0.2360934019088745,
+      "learning_rate": 5.634867466014932e-05,
+      "loss": 0.0302,
+      "step": 2920
+    },
+    {
+      "grad_norm": 0.2888210117816925,
+      "learning_rate": 5.607523181372234e-05,
+      "loss": 0.0333,
+      "step": 2930
+    },
+    {
+      "grad_norm": 0.19709353148937225,
+      "learning_rate": 5.5801604418256117e-05,
+      "loss": 0.0326,
+      "step": 2940
+    },
+    {
+      "grad_norm": 0.3951866328716278,
+      "learning_rate": 5.552780078580756e-05,
+      "loss": 0.0331,
+      "step": 2950
+    },
+    {
+      "grad_norm": 0.3455570936203003,
+      "learning_rate": 5.525382923378728e-05,
+      "loss": 0.0358,
+      "step": 2960
+    },
+    {
+      "grad_norm": 0.40430018305778503,
+      "learning_rate": 5.49796980847068e-05,
+      "loss": 0.0355,
+      "step": 2970
+    },
+    {
+      "grad_norm": 0.25933536887168884,
+      "learning_rate": 5.470541566592573e-05,
+      "loss": 0.0303,
+      "step": 2980
+    },
+    {
+      "grad_norm": 0.22030013799667358,
+      "learning_rate": 5.443099030939887e-05,
+      "loss": 0.0296,
+      "step": 2990
+    },
+    {
+      "grad_norm": 0.27321019768714905,
+      "learning_rate": 5.415643035142309e-05,
+      "loss": 0.037,
+      "step": 3000
+    },
+    {
+      "grad_norm": 0.4012751281261444,
+      "learning_rate": 5.3881744132384104e-05,
+      "loss": 0.0305,
+      "step": 3010
+    },
+    {
+      "grad_norm": 0.2611137628555298,
+      "learning_rate": 5.360693999650303e-05,
+      "loss": 0.0352,
+      "step": 3020
+    },
+    {
+      "grad_norm": 0.24199552834033966,
+      "learning_rate": 5.3332026291583016e-05,
+      "loss": 0.0278,
+      "step": 3030
+    },
+    {
+      "grad_norm": 0.16219401359558105,
+      "learning_rate": 5.305701136875566e-05,
+      "loss": 0.026,
+      "step": 3040
+    },
+    {
+      "grad_norm": 0.25862357020378113,
+      "learning_rate": 5.278190358222721e-05,
+      "loss": 0.033,
+      "step": 3050
+    },
+    {
+      "grad_norm": 0.1735977679491043,
+      "learning_rate": 5.25067112890249e-05,
+      "loss": 0.0328,
+      "step": 3060
+    },
+    {
+      "grad_norm": 0.19945716857910156,
+      "learning_rate": 5.2231442848743064e-05,
+      "loss": 0.0341,
+      "step": 3070
+    },
+    {
+      "grad_norm": 0.19215127825737,
+      "learning_rate": 5.1956106623289145e-05,
+      "loss": 0.0289,
+      "step": 3080
+    },
+    {
+      "grad_norm": 0.24303321540355682,
+      "learning_rate": 5.168071097662972e-05,
+      "loss": 0.0344,
+      "step": 3090
+    },
+    {
+      "grad_norm": 0.20462214946746826,
+      "learning_rate": 5.1405264274536445e-05,
+      "loss": 0.0305,
+      "step": 3100
+    },
+    {
+      "grad_norm": 0.19431976974010468,
+      "learning_rate": 5.112977488433188e-05,
+      "loss": 0.0389,
+      "step": 3110
+    },
+    {
+      "grad_norm": 0.1659228801727295,
+      "learning_rate": 5.085425117463533e-05,
+      "loss": 0.032,
+      "step": 3120
+    },
+    {
+      "grad_norm": 0.3553987145423889,
+      "learning_rate": 5.057870151510864e-05,
+      "loss": 0.0354,
+      "step": 3130
+    },
+    {
+      "grad_norm": 0.17798061668872833,
+      "learning_rate": 5.030313427620197e-05,
+      "loss": 0.0283,
+      "step": 3140
+    },
+    {
+      "grad_norm": 0.2874560058116913,
+      "learning_rate": 5.0027557828899426e-05,
+      "loss": 0.0302,
+      "step": 3150
+    },
+    {
+      "grad_norm": 0.22314925491809845,
+      "learning_rate": 4.975198054446492e-05,
+      "loss": 0.0292,
+      "step": 3160
+    },
+    {
+      "grad_norm": 0.21092987060546875,
+      "learning_rate": 4.947641079418773e-05,
+      "loss": 0.0308,
+      "step": 3170
+    },
+    {
+      "grad_norm": 0.2341562956571579,
+      "learning_rate": 4.920085694912828e-05,
+      "loss": 0.0265,
+      "step": 3180
+    },
+    {
+      "grad_norm": 0.2401692271232605,
+      "learning_rate": 4.892532737986387e-05,
+      "loss": 0.0297,
+      "step": 3190
+    },
+    {
+      "grad_norm": 0.3158665597438812,
+      "learning_rate": 4.864983045623434e-05,
+      "loss": 0.0333,
+      "step": 3200
+    },
+    {
+      "grad_norm": 0.3427079916000366,
+      "learning_rate": 4.837437454708784e-05,
+      "loss": 0.0289,
+      "step": 3210
+    },
+    {
+      "grad_norm": 0.2586159408092499,
+      "learning_rate": 4.809896802002662e-05,
+      "loss": 0.0266,
+      "step": 3220
+    },
+    {
+      "grad_norm": 0.23725765943527222,
+      "learning_rate": 4.7823619241152854e-05,
+      "loss": 0.0291,
+      "step": 3230
+    },
+    {
+      "grad_norm": 0.3046949803829193,
+      "learning_rate": 4.754833657481445e-05,
+      "loss": 0.027,
+      "step": 3240
+    },
+    {
+      "grad_norm": 0.24730272591114044,
+      "learning_rate": 4.7273128383351015e-05,
+      "loss": 0.027,
+      "step": 3250
+    },
+    {
+      "grad_norm": 0.2536727786064148,
+      "learning_rate": 4.699800302683981e-05,
+      "loss": 0.0347,
+      "step": 3260
+    },
+    {
+      "grad_norm": 0.25115495920181274,
+      "learning_rate": 4.6722968862841806e-05,
+      "loss": 0.0294,
+      "step": 3270
+    },
+    {
+      "grad_norm": 0.234017014503479,
+      "learning_rate": 4.6448034246147754e-05,
+      "loss": 0.0278,
+      "step": 3280
+    },
+    {
+      "grad_norm": 0.19399166107177734,
+      "learning_rate": 4.6173207528524476e-05,
+      "loss": 0.029,
+      "step": 3290
+    },
+    {
+      "grad_norm": 0.28640416264533997,
+      "learning_rate": 4.58984970584611e-05,
+      "loss": 0.0259,
+      "step": 3300
+    },
+    {
+      "grad_norm": 0.26729804277420044,
+      "learning_rate": 4.562391118091544e-05,
+      "loss": 0.0275,
+      "step": 3310
+    },
+    {
+      "grad_norm": 0.20602551102638245,
+      "learning_rate": 4.534945823706056e-05,
+      "loss": 0.029,
+      "step": 3320
+    },
+    {
+      "grad_norm": 0.3043207824230194,
+      "learning_rate": 4.507514656403137e-05,
+      "loss": 0.0277,
+      "step": 3330
+    },
+    {
+      "grad_norm": 0.18039357662200928,
+      "learning_rate": 4.480098449467132e-05,
+      "loss": 0.026,
+      "step": 3340
+    },
+    {
+      "grad_norm": 0.21921129524707794,
+      "learning_rate": 4.452698035727929e-05,
+      "loss": 0.0306,
+      "step": 3350
+    },
+    {
+      "grad_norm": 0.24986359477043152,
+      "learning_rate": 4.425314247535668e-05,
+      "loss": 0.0267,
+      "step": 3360
+    },
+    {
+      "grad_norm": 0.33457106351852417,
+      "learning_rate": 4.3979479167354477e-05,
+      "loss": 0.0373,
+      "step": 3370
+    },
+    {
+      "grad_norm": 0.30760475993156433,
+      "learning_rate": 4.370599874642055e-05,
+      "loss": 0.0323,
+      "step": 3380
+    },
+    {
+      "grad_norm": 0.26259493827819824,
+      "learning_rate": 4.3432709520147205e-05,
+      "loss": 0.0302,
+      "step": 3390
+    },
+    {
+      "grad_norm": 0.2644908130168915,
+      "learning_rate": 4.315961979031875e-05,
+      "loss": 0.0323,
+      "step": 3400
+    },
+    {
+      "grad_norm": 0.24664807319641113,
+      "learning_rate": 4.2886737852659325e-05,
+      "loss": 0.0282,
+      "step": 3410
+    },
+    {
+      "grad_norm": 0.2367314249277115,
+      "learning_rate": 4.261407199658093e-05,
+      "loss": 0.0271,
+      "step": 3420
+    },
+    {
+      "grad_norm": 0.32822489738464355,
+      "learning_rate": 4.234163050493158e-05,
+      "loss": 0.0253,
+      "step": 3430
+    },
+    {
+      "grad_norm": 0.2989010214805603,
+      "learning_rate": 4.2069421653743706e-05,
+      "loss": 0.0285,
+      "step": 3440
+    },
+    {
+      "grad_norm": 0.2728559076786041,
+      "learning_rate": 4.179745371198276e-05,
+      "loss": 0.0241,
+      "step": 3450
+    },
+    {
+      "grad_norm": 0.20925480127334595,
+      "learning_rate": 4.1525734941296026e-05,
+      "loss": 0.0291,
+      "step": 3460
+    },
+    {
+      "grad_norm": 0.2235332429409027,
+      "learning_rate": 4.125427359576162e-05,
+      "loss": 0.0244,
+      "step": 3470
+    },
+    {
+      "grad_norm": 0.23195625841617584,
+      "learning_rate": 4.0983077921637815e-05,
+      "loss": 0.0269,
+      "step": 3480
+    },
+    {
+      "grad_norm": 0.282319575548172,
+      "learning_rate": 4.07121561571125e-05,
+      "loss": 0.0263,
+      "step": 3490
+    },
+    {
+      "grad_norm": 0.29623618721961975,
+      "learning_rate": 4.044151653205292e-05,
+      "loss": 0.0312,
+      "step": 3500
+    },
+    {
+      "grad_norm": 0.22592341899871826,
+      "learning_rate": 4.0171167267755696e-05,
+      "loss": 0.0294,
+      "step": 3510
+    },
+    {
+      "grad_norm": 0.21023550629615784,
+      "learning_rate": 3.9901116576697083e-05,
+      "loss": 0.0246,
+      "step": 3520
+    },
+    {
+      "grad_norm": 0.21181227266788483,
+      "learning_rate": 3.963137266228349e-05,
+      "loss": 0.0249,
+      "step": 3530
+    },
+    {
+      "grad_norm": 0.30305394530296326,
+      "learning_rate": 3.93619437186023e-05,
+      "loss": 0.0313,
+      "step": 3540
+    },
+    {
+      "grad_norm": 0.21164947748184204,
+      "learning_rate": 3.9092837930172884e-05,
+      "loss": 0.0262,
+      "step": 3550
+    },
+    {
+      "grad_norm": 0.29877039790153503,
+      "learning_rate": 3.8824063471698105e-05,
+      "loss": 0.028,
+      "step": 3560
+    },
+    {
+      "grad_norm": 0.31443488597869873,
+      "learning_rate": 3.855562850781589e-05,
+      "loss": 0.0292,
+      "step": 3570
+    },
+    {
+      "grad_norm": 0.26347023248672485,
+      "learning_rate": 3.828754119285123e-05,
+      "loss": 0.0273,
+      "step": 3580
+    },
+    {
+      "grad_norm": 0.23366351425647736,
+      "learning_rate": 3.801980967056851e-05,
+      "loss": 0.0253,
+      "step": 3590
+    },
+    {
+      "grad_norm": 0.2442861944437027,
+      "learning_rate": 3.77524420739241e-05,
+      "loss": 0.0274,
+      "step": 3600
+    },
+    {
+      "grad_norm": 0.23381778597831726,
+      "learning_rate": 3.748544652481927e-05,
+      "loss": 0.022,
+      "step": 3610
+    },
+    {
+      "grad_norm": 0.17044523358345032,
+      "learning_rate": 3.721883113385353e-05,
+      "loss": 0.0275,
+      "step": 3620
+    },
+    {
+      "grad_norm": 0.1821439266204834,
+      "learning_rate": 3.695260400007819e-05,
+      "loss": 0.0274,
+      "step": 3630
+    },
+    {
+      "grad_norm": 0.272661954164505,
+      "learning_rate": 3.6686773210750385e-05,
+      "loss": 0.0279,
+      "step": 3640
+    },
+    {
+      "grad_norm": 0.25035589933395386,
+      "learning_rate": 3.642134684108737e-05,
+      "loss": 0.0306,
+      "step": 3650
+    },
+    {
+      "grad_norm": 0.27742305397987366,
+      "learning_rate": 3.615633295402123e-05,
+      "loss": 0.0217,
+      "step": 3660
+    },
+    {
+      "grad_norm": 0.18357422947883606,
+      "learning_rate": 3.5891739599953945e-05,
+      "loss": 0.0264,
+      "step": 3670
+    },
+    {
+      "grad_norm": 0.2029154896736145,
+      "learning_rate": 3.5627574816512846e-05,
+      "loss": 0.0273,
+      "step": 3680
+    },
+    {
+      "grad_norm": 0.25645092129707336,
+      "learning_rate": 3.536384662830648e-05,
+      "loss": 0.0293,
+      "step": 3690
+    },
+    {
+      "grad_norm": 0.2826383709907532,
+      "learning_rate": 3.5100563046680764e-05,
+      "loss": 0.0249,
+      "step": 3700
+    },
+    {
+      "grad_norm": 0.22233398258686066,
+      "learning_rate": 3.483773206947572e-05,
+      "loss": 0.028,
+      "step": 3710
+    },
+    {
+      "grad_norm": 0.21906347572803497,
+      "learning_rate": 3.457536168078247e-05,
+      "loss": 0.0268,
+      "step": 3720
+    },
+    {
+      "grad_norm": 0.22737747430801392,
+      "learning_rate": 3.431345985070067e-05,
+      "loss": 0.0231,
+      "step": 3730
+    },
+    {
+      "grad_norm": 0.24586769938468933,
+      "learning_rate": 3.40520345350965e-05,
+      "loss": 0.0287,
+      "step": 3740
+    },
+    {
+      "grad_norm": 0.1879250854253769,
+      "learning_rate": 3.379109367536089e-05,
+      "loss": 0.0271,
+      "step": 3750
+    },
+    {
+      "grad_norm": 0.15110410749912262,
+      "learning_rate": 3.3530645198168295e-05,
+      "loss": 0.0252,
+      "step": 3760
+    },
+    {
+      "grad_norm": 0.24863441288471222,
+      "learning_rate": 3.327069701523595e-05,
+      "loss": 0.0296,
+      "step": 3770
+    },
+    {
+      "grad_norm": 0.25430187582969666,
+      "learning_rate": 3.301125702308353e-05,
+      "loss": 0.0255,
+      "step": 3780
+    },
+    {
+      "grad_norm": 0.21225595474243164,
+      "learning_rate": 3.275233310279321e-05,
+      "loss": 0.0238,
+      "step": 3790
+    },
+    {
+      "grad_norm": 0.1806585192680359,
+      "learning_rate": 3.249393311977037e-05,
+      "loss": 0.0258,
+      "step": 3800
+    },
+    {
+      "grad_norm": 0.25602349638938904,
+      "learning_rate": 3.223606492350451e-05,
+      "loss": 0.0232,
+      "step": 3810
+    },
+    {
+      "grad_norm": 0.19176100194454193,
+      "learning_rate": 3.197873634733096e-05,
+      "loss": 0.026,
+      "step": 3820
+    },
+    {
+      "grad_norm": 0.22703717648983002,
+      "learning_rate": 3.172195520819285e-05,
+      "loss": 0.0282,
+      "step": 3830
+    },
+    {
+      "grad_norm": 0.15395799279212952,
+      "learning_rate": 3.146572930640362e-05,
+      "loss": 0.0277,
+      "step": 3840
+    },
+    {
+      "grad_norm": 0.1866094321012497,
+      "learning_rate": 3.121006642541014e-05,
+      "loss": 0.023,
+      "step": 3850
+    },
+    {
+      "grad_norm": 0.20458878576755524,
+      "learning_rate": 3.095497433155626e-05,
+      "loss": 0.0279,
+      "step": 3860
+    },
+    {
+      "grad_norm": 0.32518133521080017,
+      "learning_rate": 3.070046077384682e-05,
+      "loss": 0.0269,
+      "step": 3870
+    },
+    {
+      "grad_norm": 0.18735451996326447,
+      "learning_rate": 3.0446533483712304e-05,
+      "loss": 0.0236,
+      "step": 3880
+    },
+    {
+      "grad_norm": 0.1771942526102066,
+      "learning_rate": 3.0193200174774038e-05,
+      "loss": 0.0222,
+      "step": 3890
+    },
+    {
+      "grad_norm": 0.1862131953239441,
+      "learning_rate": 2.994046854260974e-05,
+      "loss": 0.0293,
+      "step": 3900
+    },
+    {
+      "grad_norm": 0.15679983794689178,
+      "learning_rate": 2.9688346264519866e-05,
+      "loss": 0.0235,
+      "step": 3910
+    },
+    {
+      "grad_norm": 0.16667503118515015,
+      "learning_rate": 2.943684099929436e-05,
+      "loss": 0.0233,
+      "step": 3920
+    },
+    {
+      "grad_norm": 0.22355644404888153,
+      "learning_rate": 2.918596038697995e-05,
+      "loss": 0.0249,
+      "step": 3930
+    },
+    {
+      "grad_norm": 0.22866907715797424,
+      "learning_rate": 2.8935712048648112e-05,
+      "loss": 0.0285,
+      "step": 3940
+    },
+    {
+      "grad_norm": 0.18918220698833466,
+      "learning_rate": 2.8686103586163626e-05,
+      "loss": 0.0261,
+      "step": 3950
+    },
+    {
+      "grad_norm": 0.21910104155540466,
+      "learning_rate": 2.843714258195346e-05,
+      "loss": 0.0227,
+      "step": 3960
+    },
+    {
+      "grad_norm": 0.2601633071899414,
+      "learning_rate": 2.8188836598776662e-05,
+      "loss": 0.0277,
+      "step": 3970
+    },
+    {
+      "grad_norm": 0.1436263620853424,
+      "learning_rate": 2.7941193179494484e-05,
+      "loss": 0.0226,
+      "step": 3980
+    },
+    {
+      "grad_norm": 0.15300126373767853,
+      "learning_rate": 2.7694219846841262e-05,
+      "loss": 0.0242,
+      "step": 3990
+    },
+    {
+      "grad_norm": 0.1818075329065323,
+      "learning_rate": 2.7447924103195976e-05,
+      "loss": 0.0271,
+      "step": 4000
+    },
+    {
+      "grad_norm": 0.2131088674068451,
+      "learning_rate": 2.7202313430354253e-05,
+      "loss": 0.0217,
+      "step": 4010
+    },
+    {
+      "grad_norm": 0.2225767970085144,
+      "learning_rate": 2.695739528930111e-05,
+      "loss": 0.0231,
+      "step": 4020
+    },
+    {
+      "grad_norm": 0.2219320386648178,
+      "learning_rate": 2.67131771199844e-05,
+      "loss": 0.0255,
+      "step": 4030
+    },
+    {
+      "grad_norm": 0.19305405020713806,
+      "learning_rate": 2.6469666341088677e-05,
+      "loss": 0.0241,
+      "step": 4040
+    },
+    {
+      "grad_norm": 0.1855151206254959,
+      "learning_rate": 2.6226870349809885e-05,
+      "loss": 0.0213,
+      "step": 4050
+    },
+    {
+      "grad_norm": 0.21167217195034027,
+      "learning_rate": 2.5984796521630737e-05,
+      "loss": 0.0257,
+      "step": 4060
+    },
+    {
+      "grad_norm": 0.18498139083385468,
+      "learning_rate": 2.574345221009653e-05,
+      "loss": 0.0244,
+      "step": 4070
+    },
+    {
+      "grad_norm": 0.2016761749982834,
+      "learning_rate": 2.5502844746591804e-05,
+      "loss": 0.0211,
+      "step": 4080
+    },
+    {
+      "grad_norm": 0.225340336561203,
+      "learning_rate": 2.526298144011775e-05,
+      "loss": 0.0234,
+      "step": 4090
+    },
+    {
+      "grad_norm": 0.23794017732143402,
+      "learning_rate": 2.5023869577070013e-05,
+      "loss": 0.0261,
+      "step": 4100
+    },
+    {
+      "grad_norm": 0.1910785734653473,
+      "learning_rate": 2.478551642101743e-05,
+      "loss": 0.0233,
+      "step": 4110
+    },
+    {
+      "grad_norm": 0.211565762758255,
+      "learning_rate": 2.4547929212481435e-05,
+      "loss": 0.0193,
+      "step": 4120
+    },
+    {
+      "grad_norm": 0.18004284799098969,
+      "learning_rate": 2.4311115168716013e-05,
+      "loss": 0.0217,
+      "step": 4130
+    },
+    {
+      "grad_norm": 0.2306419312953949,
+      "learning_rate": 2.4075081483488494e-05,
+      "loss": 0.0269,
+      "step": 4140
+    },
+    {
+      "grad_norm": 0.20246738195419312,
+      "learning_rate": 2.3839835326861104e-05,
+      "loss": 0.0215,
+      "step": 4150
+    },
+    {
+      "grad_norm": 0.18215186893939972,
+      "learning_rate": 2.3605383844972966e-05,
+      "loss": 0.0199,
+      "step": 4160
+    },
+    {
+      "grad_norm": 0.2206883728504181,
+      "learning_rate": 2.3371734159823284e-05,
+      "loss": 0.0259,
+      "step": 4170
+    },
+    {
+      "grad_norm": 0.24595214426517487,
+      "learning_rate": 2.3138893369054766e-05,
+      "loss": 0.0268,
+      "step": 4180
+    },
+    {
+      "grad_norm": 0.2135511040687561,
+      "learning_rate": 2.2906868545738102e-05,
+      "loss": 0.0253,
+      "step": 4190
+    },
+    {
+      "grad_norm": 0.18752355873584747,
+      "learning_rate": 2.2675666738157186e-05,
+      "loss": 0.0186,
+      "step": 4200
+    },
+    {
+      "grad_norm": 0.17715811729431152,
+      "learning_rate": 2.2445294969594844e-05,
+      "loss": 0.0171,
+      "step": 4210
+    },
+    {
+      "grad_norm": 0.2948547303676605,
+      "learning_rate": 2.22157602381196e-05,
+      "loss": 0.02,
+      "step": 4220
+    },
+    {
+      "grad_norm": 0.12416701763868332,
+      "learning_rate": 2.1987069516373098e-05,
+      "loss": 0.0202,
+      "step": 4230
+    },
+    {
+      "grad_norm": 0.1834097057580948,
+      "learning_rate": 2.1759229751358217e-05,
+      "loss": 0.0252,
+      "step": 4240
+    },
+    {
+      "grad_norm": 0.16251210868358612,
+      "learning_rate": 2.1532247864228084e-05,
+      "loss": 0.0226,
+      "step": 4250
+    },
+    {
+      "grad_norm": 0.11320555210113525,
+      "learning_rate": 2.1306130750075865e-05,
+      "loss": 0.0264,
+      "step": 4260
+    },
+    {
+      "grad_norm": 0.16259628534317017,
+      "learning_rate": 2.1080885277725236e-05,
+      "loss": 0.0203,
+      "step": 4270
+    },
+    {
+      "grad_norm": 0.16590796411037445,
+      "learning_rate": 2.085651828952175e-05,
+      "loss": 0.0218,
+      "step": 4280
+    },
+    {
+      "grad_norm": 0.19988055527210236,
+      "learning_rate": 2.063303660112506e-05,
+      "loss": 0.0237,
+      "step": 4290
+    },
+    {
+      "grad_norm": 0.2420492172241211,
+      "learning_rate": 2.0410447001301753e-05,
+      "loss": 0.0227,
+      "step": 4300
+    },
+    {
+      "grad_norm": 0.2309999167919159,
+      "learning_rate": 2.0188756251719203e-05,
+      "loss": 0.0194,
+      "step": 4310
+    },
+    {
+      "grad_norm": 0.18164952099323273,
+      "learning_rate": 1.9967971086740195e-05,
+      "loss": 0.0209,
+      "step": 4320
+    },
+    {
+      "grad_norm": 0.2178877294063568,
+      "learning_rate": 1.974809821321827e-05,
+      "loss": 0.0198,
+      "step": 4330
+    },
+    {
+      "grad_norm": 0.21368789672851562,
+      "learning_rate": 1.9529144310294023e-05,
+      "loss": 0.0198,
+      "step": 4340
+    },
+    {
+      "grad_norm": 0.22808904945850372,
+      "learning_rate": 1.9311116029192278e-05,
+      "loss": 0.0219,
+      "step": 4350
+    },
+    {
+      "grad_norm": 0.2036302238702774,
+      "learning_rate": 1.909401999301993e-05,
+      "loss": 0.0178,
+      "step": 4360
+    },
+    {
+      "grad_norm": 0.2856689989566803,
+      "learning_rate": 1.887786279656482e-05,
+      "loss": 0.0213,
+      "step": 4370
+    },
+    {
+      "grad_norm": 0.18134640157222748,
+      "learning_rate": 1.8662651006095387e-05,
+      "loss": 0.0201,
+      "step": 4380
+    },
+    {
+      "grad_norm": 0.278046190738678,
+      "learning_rate": 1.8448391159161204e-05,
+      "loss": 0.0244,
+      "step": 4390
+    },
+    {
+      "grad_norm": 0.26307907700538635,
+      "learning_rate": 1.8235089764394408e-05,
+      "loss": 0.0274,
+      "step": 4400
+    },
+    {
+      "grad_norm": 0.22492247819900513,
+      "learning_rate": 1.8022753301311935e-05,
+      "loss": 0.0212,
+      "step": 4410
+    },
+    {
+      "grad_norm": 0.19130860269069672,
+      "learning_rate": 1.7811388220118707e-05,
+      "loss": 0.0237,
+      "step": 4420
+    },
+    {
+      "grad_norm": 0.18481294810771942,
+      "learning_rate": 1.7601000941511757e-05,
+      "loss": 0.0232,
+      "step": 4430
+    },
+    {
+      "grad_norm": 0.1777241826057434,
+      "learning_rate": 1.7391597856485083e-05,
+      "loss": 0.0245,
+      "step": 4440
+    },
+    {
+      "grad_norm": 0.2160668522119522,
+      "learning_rate": 1.7183185326135543e-05,
+      "loss": 0.0171,
+      "step": 4450
+    },
+    {
+      "grad_norm": 0.20380406081676483,
+      "learning_rate": 1.6975769681469705e-05,
+      "loss": 0.0188,
+      "step": 4460
+    },
+    {
+      "grad_norm": 0.20712777972221375,
+      "learning_rate": 1.676935722321139e-05,
+      "loss": 0.0207,
+      "step": 4470
+    },
+    {
+      "grad_norm": 0.20267875492572784,
+      "learning_rate": 1.6563954221610355e-05,
+      "loss": 0.0191,
+      "step": 4480
+    },
+    {
+      "grad_norm": 0.21463575959205627,
+      "learning_rate": 1.6359566916251845e-05,
+      "loss": 0.0208,
+      "step": 4490
+    },
+    {
+      "grad_norm": 0.1477004885673523,
+      "learning_rate": 1.615620151586697e-05,
+      "loss": 0.0215,
+      "step": 4500
+    },
+    {
+      "grad_norm": 0.21711723506450653,
+      "learning_rate": 1.5953864198144135e-05,
+      "loss": 0.0241,
+      "step": 4510
+    },
+    {
+      "grad_norm": 0.1844751238822937,
+      "learning_rate": 1.5752561109541447e-05,
+      "loss": 0.0208,
+      "step": 4520
+    },
+    {
+      "grad_norm": 0.1820620745420456,
+      "learning_rate": 1.5552298365099882e-05,
+      "loss": 0.0218,
+      "step": 4530
+    },
+    {
+      "grad_norm": 0.23407231271266937,
+      "learning_rate": 1.5353082048257596e-05,
+      "loss": 0.0191,
+      "step": 4540
+    },
+    {
+      "grad_norm": 0.21293601393699646,
+      "learning_rate": 1.5154918210665148e-05,
+      "loss": 0.0195,
+      "step": 4550
+    },
+    {
+      "grad_norm": 0.20897363126277924,
+      "learning_rate": 1.4957812872001614e-05,
+      "loss": 0.0186,
+      "step": 4560
+    },
+    {
+      "grad_norm": 0.13340842723846436,
+      "learning_rate": 1.4761772019791748e-05,
+      "loss": 0.0192,
+      "step": 4570
+    },
+    {
+      "grad_norm": 0.24015949666500092,
+      "learning_rate": 1.4566801609224096e-05,
+      "loss": 0.0187,
+      "step": 4580
+    },
+    {
+      "grad_norm": 0.186085045337677,
+      "learning_rate": 1.4372907562970079e-05,
+      "loss": 0.0193,
+      "step": 4590
+    },
+    {
+      "grad_norm": 0.18757310509681702,
+      "learning_rate": 1.4180095771004154e-05,
+      "loss": 0.0184,
+      "step": 4600
+    },
+    {
+      "grad_norm": 0.2534388303756714,
+      "learning_rate": 1.3988372090424773e-05,
+      "loss": 0.0202,
+      "step": 4610
+    },
+    {
+      "grad_norm": 0.16483885049819946,
+      "learning_rate": 1.3797742345276521e-05,
+      "loss": 0.0243,
+      "step": 4620
+    },
+    {
+      "grad_norm": 0.1554243564605713,
+      "learning_rate": 1.3608212326373249e-05,
+      "loss": 0.0183,
+      "step": 4630
+    },
+    {
+      "grad_norm": 0.22151866555213928,
+      "learning_rate": 1.3419787791122062e-05,
+      "loss": 0.0231,
+      "step": 4640
+    },
+    {
+      "grad_norm": 0.21161040663719177,
+      "learning_rate": 1.323247446334847e-05,
+      "loss": 0.0201,
+      "step": 4650
+    },
+    {
+      "grad_norm": 0.186412513256073,
+      "learning_rate": 1.3046278033122577e-05,
+      "loss": 0.025,
+      "step": 4660
+    },
+    {
+      "grad_norm": 0.18747615814208984,
+      "learning_rate": 1.286120415658611e-05,
+      "loss": 0.0203,
+      "step": 4670
+    },
+    {
+      "grad_norm": 0.1292790323495865,
+      "learning_rate": 1.2677258455780683e-05,
+      "loss": 0.0145,
+      "step": 4680
+    },
+    {
+      "grad_norm": 0.17994563281536102,
+      "learning_rate": 1.2494446518477022e-05,
+      "loss": 0.0231,
+      "step": 4690
+    },
+    {
+      "grad_norm": 0.1702570915222168,
+      "learning_rate": 1.2312773898005175e-05,
+      "loss": 0.0223,
+      "step": 4700
+    },
+    {
+      "grad_norm": 0.13994930684566498,
+      "learning_rate": 1.2132246113085822e-05,
+      "loss": 0.0187,
+      "step": 4710
+    },
+    {
+      "grad_norm": 0.14905129373073578,
+      "learning_rate": 1.1952868647662696e-05,
+      "loss": 0.0219,
+      "step": 4720
+    },
+    {
+      "grad_norm": 0.16883762180805206,
+      "learning_rate": 1.1774646950735913e-05,
+      "loss": 0.0189,
+      "step": 4730
+    },
+    {
+      "grad_norm": 0.23552639782428741,
+      "learning_rate": 1.1597586436196473e-05,
+      "loss": 0.0176,
+      "step": 4740
+    },
+    {
+      "grad_norm": 0.24354813992977142,
+      "learning_rate": 1.1421692482661856e-05,
+      "loss": 0.0183,
+      "step": 4750
+    },
+    {
+      "grad_norm": 0.19600911438465118,
+      "learning_rate": 1.124697043331256e-05,
+      "loss": 0.0209,
+      "step": 4760
+    },
+    {
+      "grad_norm": 0.16714124381542206,
+      "learning_rate": 1.107342559572977e-05,
+      "loss": 0.0202,
+      "step": 4770
+    },
+    {
+      "grad_norm": 0.12511172890663147,
+      "learning_rate": 1.090106324173426e-05,
+      "loss": 0.0204,
+      "step": 4780
+    },
+    {
+      "grad_norm": 0.2145424783229828,
+      "learning_rate": 1.0729888607226113e-05,
+      "loss": 0.0203,
+      "step": 4790
+    },
+    {
+      "grad_norm": 0.21264775097370148,
+      "learning_rate": 1.0559906892025745e-05,
+      "loss": 0.0209,
+      "step": 4800
+    },
+    {
+      "grad_norm": 0.18948693573474884,
+      "learning_rate": 1.0391123259715906e-05,
+      "loss": 0.017,
+      "step": 4810
+    },
+    {
+      "grad_norm": 0.16713643074035645,
+      "learning_rate": 1.0223542837484839e-05,
+      "loss": 0.017,
+      "step": 4820
+    },
+    {
+      "grad_norm": 0.21101868152618408,
+      "learning_rate": 1.0057170715970559e-05,
+      "loss": 0.0241,
+      "step": 4830
+    },
+    {
+      "grad_norm": 0.14855772256851196,
+      "learning_rate": 9.892011949106172e-06,
+      "loss": 0.0248,
+      "step": 4840
+    },
+    {
+      "grad_norm": 0.1694764643907547,
+      "learning_rate": 9.728071553966339e-06,
+      "loss": 0.0199,
+      "step": 4850
+    },
+    {
+      "grad_norm": 0.17370817065238953,
+      "learning_rate": 9.56535451061496e-06,
+      "loss": 0.0193,
+      "step": 4860
+    },
+    {
+      "grad_norm": 0.14265552163124084,
+      "learning_rate": 9.403865761953779e-06,
+      "loss": 0.0176,
+      "step": 4870
+    },
+    {
+      "grad_norm": 0.1497550755739212,
+      "learning_rate": 9.243610213572285e-06,
+      "loss": 0.0228,
+      "step": 4880
+    },
+    {
+      "grad_norm": 0.21949000656604767,
+      "learning_rate": 9.084592733598735e-06,
+      "loss": 0.019,
+      "step": 4890
+    },
+    {
+      "grad_norm": 0.13839106261730194,
+      "learning_rate": 8.92681815255219e-06,
+      "loss": 0.0178,
+      "step": 4900
+    },
+    {
+      "grad_norm": 0.14562994241714478,
+      "learning_rate": 8.770291263195819e-06,
+      "loss": 0.0185,
+      "step": 4910
+    },
+    {
+      "grad_norm": 0.19483783841133118,
+      "learning_rate": 8.615016820391342e-06,
+      "loss": 0.0158,
+      "step": 4920
+    },
+    {
+      "grad_norm": 0.16348987817764282,
+      "learning_rate": 8.460999540954517e-06,
+      "loss": 0.0182,
+      "step": 4930
+    },
+    {
+      "grad_norm": 0.18384204804897308,
+      "learning_rate": 8.308244103511909e-06,
+      "loss": 0.0152,
+      "step": 4940
+    },
+    {
+      "grad_norm": 0.16230851411819458,
+      "learning_rate": 8.156755148358764e-06,
+      "loss": 0.0196,
+      "step": 4950
+    },
+    {
+      "grad_norm": 0.19277586042881012,
+      "learning_rate": 8.00653727731801e-06,
+      "loss": 0.0156,
+      "step": 4960
+    },
+    {
+      "grad_norm": 0.21639972925186157,
+      "learning_rate": 7.857595053600513e-06,
+      "loss": 0.024,
+      "step": 4970
+    },
+    {
+      "grad_norm": 0.21124367415905,
+      "learning_rate": 7.709933001666431e-06,
+      "loss": 0.0224,
+      "step": 4980
+    },
+    {
+      "grad_norm": 0.17293235659599304,
+      "learning_rate": 7.56355560708778e-06,
+      "loss": 0.016,
+      "step": 4990
+    },
+    {
+      "grad_norm": 0.1931348741054535,
+      "learning_rate": 7.418467316412158e-06,
+      "loss": 0.0177,
+      "step": 5000
+    },
+    {
+      "grad_norm": 0.14251281321048737,
+      "learning_rate": 7.2746725370277435e-06,
+      "loss": 0.0186,
+      "step": 5010
+    },
+    {
+      "grad_norm": 0.15622611343860626,
+      "learning_rate": 7.132175637029293e-06,
+      "loss": 0.02,
+      "step": 5020
+    },
+    {
+      "grad_norm": 0.18546737730503082,
+      "learning_rate": 6.9909809450855345e-06,
+      "loss": 0.0193,
+      "step": 5030
+    },
+    {
+      "grad_norm": 0.18201150000095367,
+      "learning_rate": 6.851092750307686e-06,
+      "loss": 0.0159,
+      "step": 5040
+    },
+    {
+      "grad_norm": 0.20087608695030212,
+      "learning_rate": 6.712515302119077e-06,
+      "loss": 0.0185,
+      "step": 5050
+    },
+    {
+      "grad_norm": 0.21938590705394745,
+      "learning_rate": 6.575252810126143e-06,
+      "loss": 0.0181,
+      "step": 5060
+    },
+    {
+      "grad_norm": 0.1656438261270523,
+      "learning_rate": 6.439309443990532e-06,
+      "loss": 0.0146,
+      "step": 5070
+    },
+    {
+      "grad_norm": 0.1890212744474411,
+      "learning_rate": 6.304689333302416e-06,
+      "loss": 0.0194,
+      "step": 5080
+    },
+    {
+      "grad_norm": 0.10458321869373322,
+      "learning_rate": 6.171396567455051e-06,
+      "loss": 0.0186,
+      "step": 5090
+    },
+    {
+      "grad_norm": 0.1596899926662445,
+      "learning_rate": 6.039435195520604e-06,
+      "loss": 0.0197,
+      "step": 5100
+    },
+    {
+      "grad_norm": 0.14461831748485565,
+      "learning_rate": 5.908809226127054e-06,
+      "loss": 0.0182,
+      "step": 5110
+    },
+    {
+      "grad_norm": 0.15653514862060547,
+      "learning_rate": 5.779522627336537e-06,
+      "loss": 0.0263,
+      "step": 5120
+    },
+    {
+      "grad_norm": 0.12199040502309799,
+      "learning_rate": 5.651579326524709e-06,
+      "loss": 0.0158,
+      "step": 5130
+    },
+    {
+      "grad_norm": 0.2367057204246521,
+      "learning_rate": 5.524983210261481e-06,
+      "loss": 0.0184,
+      "step": 5140
+    },
+    {
+      "grad_norm": 0.1951921284198761,
+      "learning_rate": 5.399738124192988e-06,
+      "loss": 0.0171,
+      "step": 5150
+    },
+    {
+      "grad_norm": 0.1722964495420456,
+      "learning_rate": 5.2758478729247164e-06,
+      "loss": 0.0203,
+      "step": 5160
+    },
+    {
+      "grad_norm": 0.15574219822883606,
+      "learning_rate": 5.153316219905946e-06,
+      "loss": 0.0128,
+      "step": 5170
+    },
+    {
+      "grad_norm": 0.16298823058605194,
+      "learning_rate": 5.032146887315448e-06,
+      "loss": 0.0167,
+      "step": 5180
+    },
+    {
+      "grad_norm": 0.19788341224193573,
+      "learning_rate": 4.91234355594839e-06,
+      "loss": 0.0198,
+      "step": 5190
+    },
+    {
+      "grad_norm": 0.1816922277212143,
+      "learning_rate": 4.7939098651045235e-06,
+      "loss": 0.0212,
+      "step": 5200
+    },
+    {
+      "grad_norm": 0.2591005265712738,
+      "learning_rate": 4.67684941247768e-06,
+      "loss": 0.0191,
+      "step": 5210
+    },
+    {
+      "grad_norm": 0.1402284801006317,
+      "learning_rate": 4.5611657540464036e-06,
+      "loss": 0.0181,
+      "step": 5220
+    },
+    {
+      "grad_norm": 0.17382720112800598,
+      "learning_rate": 4.446862403965984e-06,
+      "loss": 0.0184,
+      "step": 5230
+    },
+    {
+      "grad_norm": 0.1312701553106308,
+      "learning_rate": 4.333942834461702e-06,
+      "loss": 0.0153,
+      "step": 5240
+    },
+    {
+      "grad_norm": 0.20298051834106445,
+      "learning_rate": 4.222410475723326e-06,
+      "loss": 0.0158,
+      "step": 5250
+    },
+    {
+      "grad_norm": 0.10563281178474426,
+      "learning_rate": 4.112268715800943e-06,
+      "loss": 0.0196,
+      "step": 5260
+    },
+    {
+      "grad_norm": 0.15568211674690247,
+      "learning_rate": 4.003520900502028e-06,
+      "loss": 0.0189,
+      "step": 5270
+    },
+    {
+      "grad_norm": 0.15784397721290588,
+      "learning_rate": 3.8961703332898e-06,
+      "loss": 0.0184,
+      "step": 5280
+    },
+    {
+      "grad_norm": 0.1736660897731781,
+      "learning_rate": 3.790220275182854e-06,
+      "loss": 0.0214,
+      "step": 5290
+    },
+    {
+      "grad_norm": 0.19348296523094177,
+      "learning_rate": 3.685673944656176e-06,
+      "loss": 0.0175,
+      "step": 5300
+    },
+    {
+      "grad_norm": 0.17948998510837555,
+      "learning_rate": 3.582534517543268e-06,
+      "loss": 0.0166,
+      "step": 5310
+    },
+    {
+      "grad_norm": 0.24264298379421234,
+      "learning_rate": 3.4808051269397512e-06,
+      "loss": 0.0206,
+      "step": 5320
+    },
+    {
+      "grad_norm": 0.15983110666275024,
+      "learning_rate": 3.380488863108183e-06,
+      "loss": 0.0164,
+      "step": 5330
+    },
+    {
+      "grad_norm": 0.20391100645065308,
+      "learning_rate": 3.2815887733841365e-06,
+      "loss": 0.0224,
+      "step": 5340
+    },
+    {
+      "grad_norm": 0.18342769145965576,
+      "learning_rate": 3.1841078620836683e-06,
+      "loss": 0.0168,
+      "step": 5350
+    },
+    {
+      "grad_norm": 0.1805984526872635,
+      "learning_rate": 3.0880490904120874e-06,
+      "loss": 0.0205,
+      "step": 5360
+    },
+    {
+      "grad_norm": 0.18293620645999908,
+      "learning_rate": 2.9934153763739205e-06,
+      "loss": 0.0226,
+      "step": 5370
+    },
+    {
+      "grad_norm": 0.1255396008491516,
+      "learning_rate": 2.9002095946843277e-06,
+      "loss": 0.0164,
+      "step": 5380
+    },
+    {
+      "grad_norm": 0.13082446157932281,
+      "learning_rate": 2.8084345766817676e-06,
+      "loss": 0.0146,
+      "step": 5390
+    },
+    {
+      "grad_norm": 0.18769370019435883,
+      "learning_rate": 2.718093110241976e-06,
+      "loss": 0.017,
+      "step": 5400
+    },
+    {
+      "grad_norm": 0.13325811922550201,
+      "learning_rate": 2.6291879396933004e-06,
+      "loss": 0.017,
+      "step": 5410
+    },
+    {
+      "grad_norm": 0.1486356258392334,
+      "learning_rate": 2.541721765733318e-06,
+      "loss": 0.0136,
+      "step": 5420
+    },
+    {
+      "grad_norm": 0.22683610022068024,
+      "learning_rate": 2.455697245346783e-06,
+      "loss": 0.0185,
+      "step": 5430
+    },
+    {
+      "grad_norm": 0.14576876163482666,
+      "learning_rate": 2.371116991724953e-06,
+      "loss": 0.017,
+      "step": 5440
+    },
+    {
+      "grad_norm": 0.28364524245262146,
+      "learning_rate": 2.2879835741861586e-06,
+      "loss": 0.0224,
+      "step": 5450
+    },
+    {
+      "grad_norm": 0.1426982879638672,
+      "learning_rate": 2.206299518097804e-06,
+      "loss": 0.0148,
+      "step": 5460
+    },
+    {
+      "grad_norm": 0.14432327449321747,
+      "learning_rate": 2.1260673047996227e-06,
+      "loss": 0.0153,
+      "step": 5470
+    },
+    {
+      "grad_norm": 0.15404032170772552,
+      "learning_rate": 2.047289371528299e-06,
+      "loss": 0.018,
+      "step": 5480
+    },
+    {
+      "grad_norm": 0.16218610107898712,
+      "learning_rate": 1.96996811134344e-06,
+      "loss": 0.0126,
+      "step": 5490
+    },
+    {
+      "grad_norm": 0.14973685145378113,
+      "learning_rate": 1.8941058730549132e-06,
+      "loss": 0.014,
+      "step": 5500
+    },
+    {
+      "grad_norm": 0.16633783280849457,
+      "learning_rate": 1.8197049611514194e-06,
+      "loss": 0.0176,
+      "step": 5510
+    },
+    {
+      "grad_norm": 0.11517109721899033,
+      "learning_rate": 1.7467676357305561e-06,
+      "loss": 0.0141,
+      "step": 5520
+    },
+    {
+      "grad_norm": 0.18079155683517456,
+      "learning_rate": 1.6752961124301415e-06,
+      "loss": 0.0235,
+      "step": 5530
+    },
+    {
+      "grad_norm": 0.12392091751098633,
+      "learning_rate": 1.6052925623609049e-06,
+      "loss": 0.0171,
+      "step": 5540
+    },
+    {
+      "grad_norm": 0.14315803349018097,
+      "learning_rate": 1.5367591120405256e-06,
+      "loss": 0.0128,
+      "step": 5550
+    },
+    {
+      "grad_norm": 0.21578791737556458,
+      "learning_rate": 1.4696978433290653e-06,
+      "loss": 0.0159,
+      "step": 5560
+    },
+    {
+      "grad_norm": 0.20014861226081848,
+      "learning_rate": 1.4041107933656928e-06,
+      "loss": 0.0148,
+      "step": 5570
+    },
+    {
+      "grad_norm": 0.17368756234645844,
+      "learning_rate": 1.339999954506821e-06,
+      "loss": 0.0174,
+      "step": 5580
+    },
+    {
+      "grad_norm": 0.14039455354213715,
+      "learning_rate": 1.2773672742655784e-06,
+      "loss": 0.0165,
+      "step": 5590
+    },
+    {
+      "grad_norm": 0.22623248398303986,
+      "learning_rate": 1.2162146552526399e-06,
+      "loss": 0.0205,
+      "step": 5600
+    },
+    {
+      "grad_norm": 0.17202813923358917,
+      "learning_rate": 1.1565439551184664e-06,
+      "loss": 0.0179,
+      "step": 5610
+    },
+    {
+      "grad_norm": 0.19978828728199005,
+      "learning_rate": 1.0983569864968346e-06,
+      "loss": 0.0189,
+      "step": 5620
+    },
+    {
+      "grad_norm": 0.11077994853258133,
+      "learning_rate": 1.0416555169497688e-06,
+      "loss": 0.017,
+      "step": 5630
+    },
+    {
+      "grad_norm": 0.17590732872486115,
+      "learning_rate": 9.864412689139123e-07,
+      "loss": 0.0229,
+      "step": 5640
+    },
+    {
+      "grad_norm": 0.1582922339439392,
+      "learning_rate": 9.327159196481138e-07,
+      "loss": 0.011,
+      "step": 5650
+    },
+    {
+      "grad_norm": 0.16256555914878845,
+      "learning_rate": 8.804811011825398e-07,
+      "loss": 0.0188,
+      "step": 5660
+    },
+    {
+      "grad_norm": 0.1413237303495407,
+      "learning_rate": 8.297384002690866e-07,
+      "loss": 0.0163,
+      "step": 5670
+    },
+    {
+      "grad_norm": 0.18030285835266113,
+      "learning_rate": 7.804893583331696e-07,
+      "loss": 0.0156,
+      "step": 5680
+    },
+    {
+      "grad_norm": 0.1868339627981186,
+      "learning_rate": 7.32735471426893e-07,
+      "loss": 0.0199,
+      "step": 5690
+    },
+    {
+      "grad_norm": 0.1561463177204132,
+      "learning_rate": 6.864781901836259e-07,
+      "loss": 0.0145,
+      "step": 5700
+    },
+    {
+      "grad_norm": 0.1667407900094986,
+      "learning_rate": 6.417189197739093e-07,
+      "loss": 0.0192,
+      "step": 5710
+    },
+    {
+      "grad_norm": 0.19925780594348907,
+      "learning_rate": 5.984590198627849e-07,
+      "loss": 0.0199,
+      "step": 5720
+    },
+    {
+      "grad_norm": 0.19619081914424896,
+      "learning_rate": 5.566998045685112e-07,
+      "loss": 0.022,
+      "step": 5730
+    },
+    {
+      "grad_norm": 0.15238729119300842,
+      "learning_rate": 5.164425424226016e-07,
+      "loss": 0.0161,
+      "step": 5740
+    },
+    {
+      "grad_norm": 0.16857373714447021,
+      "learning_rate": 4.776884563313266e-07,
+      "loss": 0.0163,
+      "step": 5750
+    },
+    {
+      "grad_norm": 0.11748020350933075,
+      "learning_rate": 4.404387235385443e-07,
+      "loss": 0.0163,
+      "step": 5760
+    },
+    {
+      "grad_norm": 0.13694846630096436,
+      "learning_rate": 4.0469447558995065e-07,
+      "loss": 0.0181,
+      "step": 5770
+    },
+    {
+      "grad_norm": 0.1884409785270691,
+      "learning_rate": 3.7045679829870175e-07,
+      "loss": 0.0188,
+      "step": 5780
+    },
+    {
+      "grad_norm": 0.1570352464914322,
+      "learning_rate": 3.377267317124233e-07,
+      "loss": 0.0172,
+      "step": 5790
+    },
+    {
+      "grad_norm": 0.17494681477546692,
+      "learning_rate": 3.0650527008162513e-07,
+      "loss": 0.0165,
+      "step": 5800
+    },
+    {
+      "grad_norm": 0.1305803656578064,
+      "learning_rate": 2.767933618295082e-07,
+      "loss": 0.0144,
+      "step": 5810
+    },
+    {
+      "grad_norm": 0.19473201036453247,
+      "learning_rate": 2.485919095231326e-07,
+      "loss": 0.0156,
+      "step": 5820
+    },
+    {
+      "grad_norm": 0.1486295610666275,
+      "learning_rate": 2.219017698460002e-07,
+      "loss": 0.0201,
+      "step": 5830
+    },
+    {
+      "grad_norm": 0.19880466163158417,
+      "learning_rate": 1.9672375357206452e-07,
+      "loss": 0.0176,
+      "step": 5840
+    },
+    {
+      "grad_norm": 0.19250106811523438,
+      "learning_rate": 1.73058625541056e-07,
+      "loss": 0.0212,
+      "step": 5850
+    },
+    {
+      "grad_norm": 0.17275409400463104,
+      "learning_rate": 1.5090710463527836e-07,
+      "loss": 0.0164,
+      "step": 5860
+    },
+    {
+      "grad_norm": 0.11281181871891022,
+      "learning_rate": 1.3026986375776485e-07,
+      "loss": 0.0174,
+      "step": 5870
+    },
+    {
+      "grad_norm": 0.15450893342494965,
+      "learning_rate": 1.1114752981183917e-07,
+      "loss": 0.0247,
+      "step": 5880
+    },
+    {
+      "grad_norm": 0.15461589395999908,
+      "learning_rate": 9.354068368204739e-08,
+      "loss": 0.0153,
+      "step": 5890
+    },
+    {
+      "grad_norm": 0.15060506761074066,
+      "learning_rate": 7.744986021656076e-08,
+      "loss": 0.0182,
+      "step": 5900
+    },
+    {
+      "grad_norm": 0.12657040357589722,
+      "learning_rate": 6.287554821087783e-08,
+      "loss": 0.0173,
+      "step": 5910
+    },
+    {
+      "grad_norm": 0.1401786506175995,
+      "learning_rate": 4.981819039300284e-08,
+      "loss": 0.0192,
+      "step": 5920
+    },
+    {
+      "grad_norm": 0.15238840878009796,
+      "learning_rate": 3.827818341000655e-08,
+      "loss": 0.0157,
+      "step": 5930
+    },
+    {
+      "grad_norm": 0.10546451807022095,
+      "learning_rate": 2.8255877815946963e-08,
+      "loss": 0.0147,
+      "step": 5940
+    },
+    {
+      "grad_norm": 0.15890178084373474,
+      "learning_rate": 1.9751578061244504e-08,
+      "loss": 0.0149,
+      "step": 5950
+    },
+    {
+      "grad_norm": 0.17914965748786926,
+      "learning_rate": 1.2765542483417214e-08,
+      "loss": 0.0151,
+      "step": 5960
+    },
+    {
+      "grad_norm": 0.20467838644981384,
+      "learning_rate": 7.2979832992592365e-09,
+      "loss": 0.0157,
+      "step": 5970
+    },
+    {
+      "grad_norm": 0.21326901018619537,
+      "learning_rate": 3.349066598362649e-09,
+      "loss": 0.0195,
+      "step": 5980
+    },
+    {
+      "grad_norm": 0.20198704302310944,
+      "learning_rate": 9.189123380826114e-10,
+      "loss": 0.0161,
+      "step": 5990
+    },
+    {
+      "grad_norm": 0.1654694527387619,
+      "learning_rate": 7.594339912486703e-12,
+      "loss": 0.0169,
+      "step": 6000
+    }
+  ],
+  "logging_steps": 10,
+  "max_steps": 6000,
+  "num_input_tokens_seen": 0,
+  "num_train_epochs": 9223372036854775807,
+  "save_steps": 2000,
+  "stateful_callbacks": {
+    "TrainerControl": {
+      "args": {
+        "should_epoch_stop": false,
+        "should_evaluate": false,
+        "should_log": false,
+        "should_save": true,
+        "should_training_stop": true
+      },
+      "attributes": {}
+    }
+  },
+  "total_flos": 0.0,
+  "train_batch_size": 32,
+  "trial_name": null,
+  "trial_params": null
+}

training_args.bin

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d06dde1b8311531971279bb8ba6e785393d2e02e5034076d7b5d6e9c0dd8990a
+size 5777

wandb_config.json

@@ -0,0 +1 @@
+{"project": "finetune-gr00t-n1d7", "run_id": "6f4f0bf8-fd17-47a5-a3c5-6bccc5bd08f8"}