Upload folder using huggingface_hub
Browse files- .gitattributes +1 -0
- checkpoints/020000/pretrained_model/config.json +64 -0
- checkpoints/020000/pretrained_model/model.safetensors +3 -0
- checkpoints/020000/pretrained_model/train_config.json +170 -0
- checkpoints/020000/training_state/optimizer_param_groups.json +189 -0
- checkpoints/020000/training_state/optimizer_state.safetensors +3 -0
- checkpoints/020000/training_state/rng_state.safetensors +3 -0
- checkpoints/020000/training_state/training_step.json +3 -0
- checkpoints/040000/pretrained_model/config.json +64 -0
- checkpoints/040000/pretrained_model/model.safetensors +3 -0
- checkpoints/040000/pretrained_model/train_config.json +170 -0
- checkpoints/040000/training_state/optimizer_param_groups.json +189 -0
- checkpoints/040000/training_state/optimizer_state.safetensors +3 -0
- checkpoints/040000/training_state/rng_state.safetensors +3 -0
- checkpoints/040000/training_state/training_step.json +3 -0
- checkpoints/060000/pretrained_model/config.json +64 -0
- checkpoints/060000/pretrained_model/model.safetensors +3 -0
- checkpoints/060000/pretrained_model/train_config.json +170 -0
- checkpoints/060000/training_state/optimizer_param_groups.json +189 -0
- checkpoints/060000/training_state/optimizer_state.safetensors +3 -0
- checkpoints/060000/training_state/rng_state.safetensors +3 -0
- checkpoints/060000/training_state/training_step.json +3 -0
- checkpoints/080000/pretrained_model/config.json +64 -0
- checkpoints/080000/pretrained_model/model.safetensors +3 -0
- checkpoints/080000/pretrained_model/train_config.json +170 -0
- checkpoints/080000/training_state/optimizer_param_groups.json +189 -0
- checkpoints/080000/training_state/optimizer_state.safetensors +3 -0
- checkpoints/080000/training_state/rng_state.safetensors +3 -0
- checkpoints/080000/training_state/training_step.json +3 -0
- checkpoints/100000/pretrained_model/config.json +64 -0
- checkpoints/100000/pretrained_model/model.safetensors +3 -0
- checkpoints/100000/pretrained_model/train_config.json +170 -0
- checkpoints/100000/training_state/optimizer_param_groups.json +189 -0
- checkpoints/100000/training_state/optimizer_state.safetensors +3 -0
- checkpoints/100000/training_state/rng_state.safetensors +3 -0
- checkpoints/100000/training_state/training_step.json +3 -0
- wandb/debug-internal.log +15 -0
- wandb/debug.log +23 -0
- wandb/run-20250409_034432-mzcfyk14/files/config.yaml +162 -0
- wandb/run-20250409_034432-mzcfyk14/files/output.log +681 -0
- wandb/run-20250409_034432-mzcfyk14/files/requirements.txt +149 -0
- wandb/run-20250409_034432-mzcfyk14/files/wandb-metadata.json +49 -0
- wandb/run-20250409_034432-mzcfyk14/files/wandb-summary.json +1 -0
- wandb/run-20250409_034432-mzcfyk14/logs/debug-core.log +14 -0
- wandb/run-20250409_034432-mzcfyk14/logs/debug-internal.log +15 -0
- wandb/run-20250409_034432-mzcfyk14/logs/debug.log +23 -0
- wandb/run-20250409_034432-mzcfyk14/run-mzcfyk14.wandb +3 -0
.gitattributes
CHANGED
|
@@ -33,3 +33,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
|
|
| 33 |
*.zip filter=lfs diff=lfs merge=lfs -text
|
| 34 |
*.zst filter=lfs diff=lfs merge=lfs -text
|
| 35 |
*tfevents* filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 33 |
*.zip filter=lfs diff=lfs merge=lfs -text
|
| 34 |
*.zst filter=lfs diff=lfs merge=lfs -text
|
| 35 |
*tfevents* filter=lfs diff=lfs merge=lfs -text
|
| 36 |
+
wandb/run-20250409_034432-mzcfyk14/run-mzcfyk14.wandb filter=lfs diff=lfs merge=lfs -text
|
checkpoints/020000/pretrained_model/config.json
ADDED
|
@@ -0,0 +1,64 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"type": "act",
|
| 3 |
+
"n_obs_steps": 1,
|
| 4 |
+
"normalization_mapping": {
|
| 5 |
+
"VISUAL": "MEAN_STD",
|
| 6 |
+
"STATE": "MEAN_STD",
|
| 7 |
+
"ACTION": "MEAN_STD"
|
| 8 |
+
},
|
| 9 |
+
"input_features": {
|
| 10 |
+
"observation.state": {
|
| 11 |
+
"type": "STATE",
|
| 12 |
+
"shape": [
|
| 13 |
+
6
|
| 14 |
+
]
|
| 15 |
+
},
|
| 16 |
+
"observation.images.laptop": {
|
| 17 |
+
"type": "VISUAL",
|
| 18 |
+
"shape": [
|
| 19 |
+
3,
|
| 20 |
+
480,
|
| 21 |
+
640
|
| 22 |
+
]
|
| 23 |
+
},
|
| 24 |
+
"observation.images.phone": {
|
| 25 |
+
"type": "VISUAL",
|
| 26 |
+
"shape": [
|
| 27 |
+
3,
|
| 28 |
+
480,
|
| 29 |
+
640
|
| 30 |
+
]
|
| 31 |
+
}
|
| 32 |
+
},
|
| 33 |
+
"output_features": {
|
| 34 |
+
"action": {
|
| 35 |
+
"type": "ACTION",
|
| 36 |
+
"shape": [
|
| 37 |
+
6
|
| 38 |
+
]
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"device": "cuda",
|
| 42 |
+
"use_amp": false,
|
| 43 |
+
"chunk_size": 100,
|
| 44 |
+
"n_action_steps": 100,
|
| 45 |
+
"vision_backbone": "resnet18",
|
| 46 |
+
"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
|
| 47 |
+
"replace_final_stride_with_dilation": false,
|
| 48 |
+
"pre_norm": false,
|
| 49 |
+
"dim_model": 512,
|
| 50 |
+
"n_heads": 8,
|
| 51 |
+
"dim_feedforward": 3200,
|
| 52 |
+
"feedforward_activation": "relu",
|
| 53 |
+
"n_encoder_layers": 4,
|
| 54 |
+
"n_decoder_layers": 1,
|
| 55 |
+
"use_vae": true,
|
| 56 |
+
"latent_dim": 32,
|
| 57 |
+
"n_vae_encoder_layers": 4,
|
| 58 |
+
"temporal_ensemble_coeff": null,
|
| 59 |
+
"dropout": 0.1,
|
| 60 |
+
"kl_weight": 10.0,
|
| 61 |
+
"optimizer_lr": 1e-05,
|
| 62 |
+
"optimizer_weight_decay": 0.0001,
|
| 63 |
+
"optimizer_lr_backbone": 1e-05
|
| 64 |
+
}
|
checkpoints/020000/pretrained_model/model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7ced642f170339c4963bd7589ebaf70392ed5366fc51f0fe700f9ed501eee106
|
| 3 |
+
size 206701072
|
checkpoints/020000/pretrained_model/train_config.json
ADDED
|
@@ -0,0 +1,170 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"dataset": {
|
| 3 |
+
"repo_id": "00ri/so100_battery_bin_center",
|
| 4 |
+
"root": null,
|
| 5 |
+
"episodes": null,
|
| 6 |
+
"image_transforms": {
|
| 7 |
+
"enable": false,
|
| 8 |
+
"max_num_transforms": 3,
|
| 9 |
+
"random_order": false,
|
| 10 |
+
"tfs": {
|
| 11 |
+
"brightness": {
|
| 12 |
+
"weight": 1.0,
|
| 13 |
+
"type": "ColorJitter",
|
| 14 |
+
"kwargs": {
|
| 15 |
+
"brightness": [
|
| 16 |
+
0.8,
|
| 17 |
+
1.2
|
| 18 |
+
]
|
| 19 |
+
}
|
| 20 |
+
},
|
| 21 |
+
"contrast": {
|
| 22 |
+
"weight": 1.0,
|
| 23 |
+
"type": "ColorJitter",
|
| 24 |
+
"kwargs": {
|
| 25 |
+
"contrast": [
|
| 26 |
+
0.8,
|
| 27 |
+
1.2
|
| 28 |
+
]
|
| 29 |
+
}
|
| 30 |
+
},
|
| 31 |
+
"saturation": {
|
| 32 |
+
"weight": 1.0,
|
| 33 |
+
"type": "ColorJitter",
|
| 34 |
+
"kwargs": {
|
| 35 |
+
"saturation": [
|
| 36 |
+
0.5,
|
| 37 |
+
1.5
|
| 38 |
+
]
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"hue": {
|
| 42 |
+
"weight": 1.0,
|
| 43 |
+
"type": "ColorJitter",
|
| 44 |
+
"kwargs": {
|
| 45 |
+
"hue": [
|
| 46 |
+
-0.05,
|
| 47 |
+
0.05
|
| 48 |
+
]
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
"sharpness": {
|
| 52 |
+
"weight": 1.0,
|
| 53 |
+
"type": "SharpnessJitter",
|
| 54 |
+
"kwargs": {
|
| 55 |
+
"sharpness": [
|
| 56 |
+
0.5,
|
| 57 |
+
1.5
|
| 58 |
+
]
|
| 59 |
+
}
|
| 60 |
+
}
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"revision": null,
|
| 64 |
+
"use_imagenet_stats": true,
|
| 65 |
+
"video_backend": "torchcodec"
|
| 66 |
+
},
|
| 67 |
+
"env": null,
|
| 68 |
+
"policy": {
|
| 69 |
+
"type": "act",
|
| 70 |
+
"n_obs_steps": 1,
|
| 71 |
+
"normalization_mapping": {
|
| 72 |
+
"VISUAL": "MEAN_STD",
|
| 73 |
+
"STATE": "MEAN_STD",
|
| 74 |
+
"ACTION": "MEAN_STD"
|
| 75 |
+
},
|
| 76 |
+
"input_features": {
|
| 77 |
+
"observation.state": {
|
| 78 |
+
"type": "STATE",
|
| 79 |
+
"shape": [
|
| 80 |
+
6
|
| 81 |
+
]
|
| 82 |
+
},
|
| 83 |
+
"observation.images.laptop": {
|
| 84 |
+
"type": "VISUAL",
|
| 85 |
+
"shape": [
|
| 86 |
+
3,
|
| 87 |
+
480,
|
| 88 |
+
640
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"observation.images.phone": {
|
| 92 |
+
"type": "VISUAL",
|
| 93 |
+
"shape": [
|
| 94 |
+
3,
|
| 95 |
+
480,
|
| 96 |
+
640
|
| 97 |
+
]
|
| 98 |
+
}
|
| 99 |
+
},
|
| 100 |
+
"output_features": {
|
| 101 |
+
"action": {
|
| 102 |
+
"type": "ACTION",
|
| 103 |
+
"shape": [
|
| 104 |
+
6
|
| 105 |
+
]
|
| 106 |
+
}
|
| 107 |
+
},
|
| 108 |
+
"device": "cuda",
|
| 109 |
+
"use_amp": false,
|
| 110 |
+
"chunk_size": 100,
|
| 111 |
+
"n_action_steps": 100,
|
| 112 |
+
"vision_backbone": "resnet18",
|
| 113 |
+
"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
|
| 114 |
+
"replace_final_stride_with_dilation": false,
|
| 115 |
+
"pre_norm": false,
|
| 116 |
+
"dim_model": 512,
|
| 117 |
+
"n_heads": 8,
|
| 118 |
+
"dim_feedforward": 3200,
|
| 119 |
+
"feedforward_activation": "relu",
|
| 120 |
+
"n_encoder_layers": 4,
|
| 121 |
+
"n_decoder_layers": 1,
|
| 122 |
+
"use_vae": true,
|
| 123 |
+
"latent_dim": 32,
|
| 124 |
+
"n_vae_encoder_layers": 4,
|
| 125 |
+
"temporal_ensemble_coeff": null,
|
| 126 |
+
"dropout": 0.1,
|
| 127 |
+
"kl_weight": 10.0,
|
| 128 |
+
"optimizer_lr": 1e-05,
|
| 129 |
+
"optimizer_weight_decay": 0.0001,
|
| 130 |
+
"optimizer_lr_backbone": 1e-05
|
| 131 |
+
},
|
| 132 |
+
"output_dir": "outputs/train/act_so100_battery_bin_center",
|
| 133 |
+
"job_name": "act_so100_battery_bin_center",
|
| 134 |
+
"resume": false,
|
| 135 |
+
"seed": 1000,
|
| 136 |
+
"num_workers": 4,
|
| 137 |
+
"batch_size": 8,
|
| 138 |
+
"steps": 100000,
|
| 139 |
+
"eval_freq": 20000,
|
| 140 |
+
"log_freq": 200,
|
| 141 |
+
"save_checkpoint": true,
|
| 142 |
+
"save_freq": 20000,
|
| 143 |
+
"use_policy_training_preset": true,
|
| 144 |
+
"optimizer": {
|
| 145 |
+
"type": "adamw",
|
| 146 |
+
"lr": 1e-05,
|
| 147 |
+
"weight_decay": 0.0001,
|
| 148 |
+
"grad_clip_norm": 10.0,
|
| 149 |
+
"betas": [
|
| 150 |
+
0.9,
|
| 151 |
+
0.999
|
| 152 |
+
],
|
| 153 |
+
"eps": 1e-08
|
| 154 |
+
},
|
| 155 |
+
"scheduler": null,
|
| 156 |
+
"eval": {
|
| 157 |
+
"n_episodes": 50,
|
| 158 |
+
"batch_size": 50,
|
| 159 |
+
"use_async_envs": false
|
| 160 |
+
},
|
| 161 |
+
"wandb": {
|
| 162 |
+
"enable": true,
|
| 163 |
+
"disable_artifact": false,
|
| 164 |
+
"project": "lerobot",
|
| 165 |
+
"entity": null,
|
| 166 |
+
"notes": null,
|
| 167 |
+
"run_id": null,
|
| 168 |
+
"mode": null
|
| 169 |
+
}
|
| 170 |
+
}
|
checkpoints/020000/training_state/optimizer_param_groups.json
ADDED
|
@@ -0,0 +1,189 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
[
|
| 2 |
+
{
|
| 3 |
+
"lr": 1e-05,
|
| 4 |
+
"betas": [
|
| 5 |
+
0.9,
|
| 6 |
+
0.999
|
| 7 |
+
],
|
| 8 |
+
"eps": 1e-08,
|
| 9 |
+
"weight_decay": 0.0001,
|
| 10 |
+
"amsgrad": false,
|
| 11 |
+
"foreach": null,
|
| 12 |
+
"maximize": false,
|
| 13 |
+
"capturable": false,
|
| 14 |
+
"differentiable": false,
|
| 15 |
+
"fused": null,
|
| 16 |
+
"params": [
|
| 17 |
+
0,
|
| 18 |
+
1,
|
| 19 |
+
2,
|
| 20 |
+
3,
|
| 21 |
+
4,
|
| 22 |
+
5,
|
| 23 |
+
6,
|
| 24 |
+
7,
|
| 25 |
+
8,
|
| 26 |
+
9,
|
| 27 |
+
10,
|
| 28 |
+
11,
|
| 29 |
+
12,
|
| 30 |
+
13,
|
| 31 |
+
14,
|
| 32 |
+
15,
|
| 33 |
+
16,
|
| 34 |
+
17,
|
| 35 |
+
18,
|
| 36 |
+
19,
|
| 37 |
+
20,
|
| 38 |
+
21,
|
| 39 |
+
22,
|
| 40 |
+
23,
|
| 41 |
+
24,
|
| 42 |
+
25,
|
| 43 |
+
26,
|
| 44 |
+
27,
|
| 45 |
+
28,
|
| 46 |
+
29,
|
| 47 |
+
30,
|
| 48 |
+
31,
|
| 49 |
+
32,
|
| 50 |
+
33,
|
| 51 |
+
34,
|
| 52 |
+
35,
|
| 53 |
+
36,
|
| 54 |
+
37,
|
| 55 |
+
38,
|
| 56 |
+
39,
|
| 57 |
+
40,
|
| 58 |
+
41,
|
| 59 |
+
42,
|
| 60 |
+
43,
|
| 61 |
+
44,
|
| 62 |
+
45,
|
| 63 |
+
46,
|
| 64 |
+
47,
|
| 65 |
+
48,
|
| 66 |
+
49,
|
| 67 |
+
50,
|
| 68 |
+
51,
|
| 69 |
+
52,
|
| 70 |
+
53,
|
| 71 |
+
54,
|
| 72 |
+
55,
|
| 73 |
+
56,
|
| 74 |
+
57,
|
| 75 |
+
58,
|
| 76 |
+
59,
|
| 77 |
+
60,
|
| 78 |
+
61,
|
| 79 |
+
62,
|
| 80 |
+
63,
|
| 81 |
+
64,
|
| 82 |
+
65,
|
| 83 |
+
66,
|
| 84 |
+
67,
|
| 85 |
+
68,
|
| 86 |
+
69,
|
| 87 |
+
70,
|
| 88 |
+
71,
|
| 89 |
+
72,
|
| 90 |
+
73,
|
| 91 |
+
74,
|
| 92 |
+
75,
|
| 93 |
+
76,
|
| 94 |
+
77,
|
| 95 |
+
78,
|
| 96 |
+
79,
|
| 97 |
+
80,
|
| 98 |
+
81,
|
| 99 |
+
82,
|
| 100 |
+
83,
|
| 101 |
+
84,
|
| 102 |
+
85,
|
| 103 |
+
86,
|
| 104 |
+
87,
|
| 105 |
+
88,
|
| 106 |
+
89,
|
| 107 |
+
90,
|
| 108 |
+
91,
|
| 109 |
+
92,
|
| 110 |
+
93,
|
| 111 |
+
94,
|
| 112 |
+
95,
|
| 113 |
+
96,
|
| 114 |
+
97,
|
| 115 |
+
98,
|
| 116 |
+
99,
|
| 117 |
+
100,
|
| 118 |
+
101,
|
| 119 |
+
102,
|
| 120 |
+
103,
|
| 121 |
+
104,
|
| 122 |
+
105,
|
| 123 |
+
106,
|
| 124 |
+
107,
|
| 125 |
+
108,
|
| 126 |
+
109,
|
| 127 |
+
110,
|
| 128 |
+
111,
|
| 129 |
+
112,
|
| 130 |
+
113,
|
| 131 |
+
114,
|
| 132 |
+
115,
|
| 133 |
+
116,
|
| 134 |
+
117,
|
| 135 |
+
118,
|
| 136 |
+
119,
|
| 137 |
+
120,
|
| 138 |
+
121,
|
| 139 |
+
122,
|
| 140 |
+
123,
|
| 141 |
+
124,
|
| 142 |
+
125,
|
| 143 |
+
126,
|
| 144 |
+
127,
|
| 145 |
+
128,
|
| 146 |
+
129,
|
| 147 |
+
130,
|
| 148 |
+
131,
|
| 149 |
+
132
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"lr": 1e-05,
|
| 154 |
+
"betas": [
|
| 155 |
+
0.9,
|
| 156 |
+
0.999
|
| 157 |
+
],
|
| 158 |
+
"eps": 1e-08,
|
| 159 |
+
"weight_decay": 0.0001,
|
| 160 |
+
"amsgrad": false,
|
| 161 |
+
"foreach": null,
|
| 162 |
+
"maximize": false,
|
| 163 |
+
"capturable": false,
|
| 164 |
+
"differentiable": false,
|
| 165 |
+
"fused": null,
|
| 166 |
+
"params": [
|
| 167 |
+
133,
|
| 168 |
+
134,
|
| 169 |
+
135,
|
| 170 |
+
136,
|
| 171 |
+
137,
|
| 172 |
+
138,
|
| 173 |
+
139,
|
| 174 |
+
140,
|
| 175 |
+
141,
|
| 176 |
+
142,
|
| 177 |
+
143,
|
| 178 |
+
144,
|
| 179 |
+
145,
|
| 180 |
+
146,
|
| 181 |
+
147,
|
| 182 |
+
148,
|
| 183 |
+
149,
|
| 184 |
+
150,
|
| 185 |
+
151,
|
| 186 |
+
152
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
]
|
checkpoints/020000/training_state/optimizer_state.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:82e73f37450af19fe50cde30495b65438e5b47043fa51c12a89a371d4bfabcb4
|
| 3 |
+
size 412817652
|
checkpoints/020000/training_state/rng_state.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:54f2496de44851990508ac53ae657af80ea68e681e52757e8ad6295910150a5d
|
| 3 |
+
size 15708
|
checkpoints/020000/training_state/training_step.json
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"step": 20000
|
| 3 |
+
}
|
checkpoints/040000/pretrained_model/config.json
ADDED
|
@@ -0,0 +1,64 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"type": "act",
|
| 3 |
+
"n_obs_steps": 1,
|
| 4 |
+
"normalization_mapping": {
|
| 5 |
+
"VISUAL": "MEAN_STD",
|
| 6 |
+
"STATE": "MEAN_STD",
|
| 7 |
+
"ACTION": "MEAN_STD"
|
| 8 |
+
},
|
| 9 |
+
"input_features": {
|
| 10 |
+
"observation.state": {
|
| 11 |
+
"type": "STATE",
|
| 12 |
+
"shape": [
|
| 13 |
+
6
|
| 14 |
+
]
|
| 15 |
+
},
|
| 16 |
+
"observation.images.laptop": {
|
| 17 |
+
"type": "VISUAL",
|
| 18 |
+
"shape": [
|
| 19 |
+
3,
|
| 20 |
+
480,
|
| 21 |
+
640
|
| 22 |
+
]
|
| 23 |
+
},
|
| 24 |
+
"observation.images.phone": {
|
| 25 |
+
"type": "VISUAL",
|
| 26 |
+
"shape": [
|
| 27 |
+
3,
|
| 28 |
+
480,
|
| 29 |
+
640
|
| 30 |
+
]
|
| 31 |
+
}
|
| 32 |
+
},
|
| 33 |
+
"output_features": {
|
| 34 |
+
"action": {
|
| 35 |
+
"type": "ACTION",
|
| 36 |
+
"shape": [
|
| 37 |
+
6
|
| 38 |
+
]
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"device": "cuda",
|
| 42 |
+
"use_amp": false,
|
| 43 |
+
"chunk_size": 100,
|
| 44 |
+
"n_action_steps": 100,
|
| 45 |
+
"vision_backbone": "resnet18",
|
| 46 |
+
"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
|
| 47 |
+
"replace_final_stride_with_dilation": false,
|
| 48 |
+
"pre_norm": false,
|
| 49 |
+
"dim_model": 512,
|
| 50 |
+
"n_heads": 8,
|
| 51 |
+
"dim_feedforward": 3200,
|
| 52 |
+
"feedforward_activation": "relu",
|
| 53 |
+
"n_encoder_layers": 4,
|
| 54 |
+
"n_decoder_layers": 1,
|
| 55 |
+
"use_vae": true,
|
| 56 |
+
"latent_dim": 32,
|
| 57 |
+
"n_vae_encoder_layers": 4,
|
| 58 |
+
"temporal_ensemble_coeff": null,
|
| 59 |
+
"dropout": 0.1,
|
| 60 |
+
"kl_weight": 10.0,
|
| 61 |
+
"optimizer_lr": 1e-05,
|
| 62 |
+
"optimizer_weight_decay": 0.0001,
|
| 63 |
+
"optimizer_lr_backbone": 1e-05
|
| 64 |
+
}
|
checkpoints/040000/pretrained_model/model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0bc1cf5e2a4cd2dca87c0b8f554ddf193bf6b760e7219352db1ea9519ae2cae3
|
| 3 |
+
size 206701072
|
checkpoints/040000/pretrained_model/train_config.json
ADDED
|
@@ -0,0 +1,170 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"dataset": {
|
| 3 |
+
"repo_id": "00ri/so100_battery_bin_center",
|
| 4 |
+
"root": null,
|
| 5 |
+
"episodes": null,
|
| 6 |
+
"image_transforms": {
|
| 7 |
+
"enable": false,
|
| 8 |
+
"max_num_transforms": 3,
|
| 9 |
+
"random_order": false,
|
| 10 |
+
"tfs": {
|
| 11 |
+
"brightness": {
|
| 12 |
+
"weight": 1.0,
|
| 13 |
+
"type": "ColorJitter",
|
| 14 |
+
"kwargs": {
|
| 15 |
+
"brightness": [
|
| 16 |
+
0.8,
|
| 17 |
+
1.2
|
| 18 |
+
]
|
| 19 |
+
}
|
| 20 |
+
},
|
| 21 |
+
"contrast": {
|
| 22 |
+
"weight": 1.0,
|
| 23 |
+
"type": "ColorJitter",
|
| 24 |
+
"kwargs": {
|
| 25 |
+
"contrast": [
|
| 26 |
+
0.8,
|
| 27 |
+
1.2
|
| 28 |
+
]
|
| 29 |
+
}
|
| 30 |
+
},
|
| 31 |
+
"saturation": {
|
| 32 |
+
"weight": 1.0,
|
| 33 |
+
"type": "ColorJitter",
|
| 34 |
+
"kwargs": {
|
| 35 |
+
"saturation": [
|
| 36 |
+
0.5,
|
| 37 |
+
1.5
|
| 38 |
+
]
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"hue": {
|
| 42 |
+
"weight": 1.0,
|
| 43 |
+
"type": "ColorJitter",
|
| 44 |
+
"kwargs": {
|
| 45 |
+
"hue": [
|
| 46 |
+
-0.05,
|
| 47 |
+
0.05
|
| 48 |
+
]
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
"sharpness": {
|
| 52 |
+
"weight": 1.0,
|
| 53 |
+
"type": "SharpnessJitter",
|
| 54 |
+
"kwargs": {
|
| 55 |
+
"sharpness": [
|
| 56 |
+
0.5,
|
| 57 |
+
1.5
|
| 58 |
+
]
|
| 59 |
+
}
|
| 60 |
+
}
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"revision": null,
|
| 64 |
+
"use_imagenet_stats": true,
|
| 65 |
+
"video_backend": "torchcodec"
|
| 66 |
+
},
|
| 67 |
+
"env": null,
|
| 68 |
+
"policy": {
|
| 69 |
+
"type": "act",
|
| 70 |
+
"n_obs_steps": 1,
|
| 71 |
+
"normalization_mapping": {
|
| 72 |
+
"VISUAL": "MEAN_STD",
|
| 73 |
+
"STATE": "MEAN_STD",
|
| 74 |
+
"ACTION": "MEAN_STD"
|
| 75 |
+
},
|
| 76 |
+
"input_features": {
|
| 77 |
+
"observation.state": {
|
| 78 |
+
"type": "STATE",
|
| 79 |
+
"shape": [
|
| 80 |
+
6
|
| 81 |
+
]
|
| 82 |
+
},
|
| 83 |
+
"observation.images.laptop": {
|
| 84 |
+
"type": "VISUAL",
|
| 85 |
+
"shape": [
|
| 86 |
+
3,
|
| 87 |
+
480,
|
| 88 |
+
640
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"observation.images.phone": {
|
| 92 |
+
"type": "VISUAL",
|
| 93 |
+
"shape": [
|
| 94 |
+
3,
|
| 95 |
+
480,
|
| 96 |
+
640
|
| 97 |
+
]
|
| 98 |
+
}
|
| 99 |
+
},
|
| 100 |
+
"output_features": {
|
| 101 |
+
"action": {
|
| 102 |
+
"type": "ACTION",
|
| 103 |
+
"shape": [
|
| 104 |
+
6
|
| 105 |
+
]
|
| 106 |
+
}
|
| 107 |
+
},
|
| 108 |
+
"device": "cuda",
|
| 109 |
+
"use_amp": false,
|
| 110 |
+
"chunk_size": 100,
|
| 111 |
+
"n_action_steps": 100,
|
| 112 |
+
"vision_backbone": "resnet18",
|
| 113 |
+
"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
|
| 114 |
+
"replace_final_stride_with_dilation": false,
|
| 115 |
+
"pre_norm": false,
|
| 116 |
+
"dim_model": 512,
|
| 117 |
+
"n_heads": 8,
|
| 118 |
+
"dim_feedforward": 3200,
|
| 119 |
+
"feedforward_activation": "relu",
|
| 120 |
+
"n_encoder_layers": 4,
|
| 121 |
+
"n_decoder_layers": 1,
|
| 122 |
+
"use_vae": true,
|
| 123 |
+
"latent_dim": 32,
|
| 124 |
+
"n_vae_encoder_layers": 4,
|
| 125 |
+
"temporal_ensemble_coeff": null,
|
| 126 |
+
"dropout": 0.1,
|
| 127 |
+
"kl_weight": 10.0,
|
| 128 |
+
"optimizer_lr": 1e-05,
|
| 129 |
+
"optimizer_weight_decay": 0.0001,
|
| 130 |
+
"optimizer_lr_backbone": 1e-05
|
| 131 |
+
},
|
| 132 |
+
"output_dir": "outputs/train/act_so100_battery_bin_center",
|
| 133 |
+
"job_name": "act_so100_battery_bin_center",
|
| 134 |
+
"resume": false,
|
| 135 |
+
"seed": 1000,
|
| 136 |
+
"num_workers": 4,
|
| 137 |
+
"batch_size": 8,
|
| 138 |
+
"steps": 100000,
|
| 139 |
+
"eval_freq": 20000,
|
| 140 |
+
"log_freq": 200,
|
| 141 |
+
"save_checkpoint": true,
|
| 142 |
+
"save_freq": 20000,
|
| 143 |
+
"use_policy_training_preset": true,
|
| 144 |
+
"optimizer": {
|
| 145 |
+
"type": "adamw",
|
| 146 |
+
"lr": 1e-05,
|
| 147 |
+
"weight_decay": 0.0001,
|
| 148 |
+
"grad_clip_norm": 10.0,
|
| 149 |
+
"betas": [
|
| 150 |
+
0.9,
|
| 151 |
+
0.999
|
| 152 |
+
],
|
| 153 |
+
"eps": 1e-08
|
| 154 |
+
},
|
| 155 |
+
"scheduler": null,
|
| 156 |
+
"eval": {
|
| 157 |
+
"n_episodes": 50,
|
| 158 |
+
"batch_size": 50,
|
| 159 |
+
"use_async_envs": false
|
| 160 |
+
},
|
| 161 |
+
"wandb": {
|
| 162 |
+
"enable": true,
|
| 163 |
+
"disable_artifact": false,
|
| 164 |
+
"project": "lerobot",
|
| 165 |
+
"entity": null,
|
| 166 |
+
"notes": null,
|
| 167 |
+
"run_id": null,
|
| 168 |
+
"mode": null
|
| 169 |
+
}
|
| 170 |
+
}
|
checkpoints/040000/training_state/optimizer_param_groups.json
ADDED
|
@@ -0,0 +1,189 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
[
|
| 2 |
+
{
|
| 3 |
+
"lr": 1e-05,
|
| 4 |
+
"betas": [
|
| 5 |
+
0.9,
|
| 6 |
+
0.999
|
| 7 |
+
],
|
| 8 |
+
"eps": 1e-08,
|
| 9 |
+
"weight_decay": 0.0001,
|
| 10 |
+
"amsgrad": false,
|
| 11 |
+
"foreach": null,
|
| 12 |
+
"maximize": false,
|
| 13 |
+
"capturable": false,
|
| 14 |
+
"differentiable": false,
|
| 15 |
+
"fused": null,
|
| 16 |
+
"params": [
|
| 17 |
+
0,
|
| 18 |
+
1,
|
| 19 |
+
2,
|
| 20 |
+
3,
|
| 21 |
+
4,
|
| 22 |
+
5,
|
| 23 |
+
6,
|
| 24 |
+
7,
|
| 25 |
+
8,
|
| 26 |
+
9,
|
| 27 |
+
10,
|
| 28 |
+
11,
|
| 29 |
+
12,
|
| 30 |
+
13,
|
| 31 |
+
14,
|
| 32 |
+
15,
|
| 33 |
+
16,
|
| 34 |
+
17,
|
| 35 |
+
18,
|
| 36 |
+
19,
|
| 37 |
+
20,
|
| 38 |
+
21,
|
| 39 |
+
22,
|
| 40 |
+
23,
|
| 41 |
+
24,
|
| 42 |
+
25,
|
| 43 |
+
26,
|
| 44 |
+
27,
|
| 45 |
+
28,
|
| 46 |
+
29,
|
| 47 |
+
30,
|
| 48 |
+
31,
|
| 49 |
+
32,
|
| 50 |
+
33,
|
| 51 |
+
34,
|
| 52 |
+
35,
|
| 53 |
+
36,
|
| 54 |
+
37,
|
| 55 |
+
38,
|
| 56 |
+
39,
|
| 57 |
+
40,
|
| 58 |
+
41,
|
| 59 |
+
42,
|
| 60 |
+
43,
|
| 61 |
+
44,
|
| 62 |
+
45,
|
| 63 |
+
46,
|
| 64 |
+
47,
|
| 65 |
+
48,
|
| 66 |
+
49,
|
| 67 |
+
50,
|
| 68 |
+
51,
|
| 69 |
+
52,
|
| 70 |
+
53,
|
| 71 |
+
54,
|
| 72 |
+
55,
|
| 73 |
+
56,
|
| 74 |
+
57,
|
| 75 |
+
58,
|
| 76 |
+
59,
|
| 77 |
+
60,
|
| 78 |
+
61,
|
| 79 |
+
62,
|
| 80 |
+
63,
|
| 81 |
+
64,
|
| 82 |
+
65,
|
| 83 |
+
66,
|
| 84 |
+
67,
|
| 85 |
+
68,
|
| 86 |
+
69,
|
| 87 |
+
70,
|
| 88 |
+
71,
|
| 89 |
+
72,
|
| 90 |
+
73,
|
| 91 |
+
74,
|
| 92 |
+
75,
|
| 93 |
+
76,
|
| 94 |
+
77,
|
| 95 |
+
78,
|
| 96 |
+
79,
|
| 97 |
+
80,
|
| 98 |
+
81,
|
| 99 |
+
82,
|
| 100 |
+
83,
|
| 101 |
+
84,
|
| 102 |
+
85,
|
| 103 |
+
86,
|
| 104 |
+
87,
|
| 105 |
+
88,
|
| 106 |
+
89,
|
| 107 |
+
90,
|
| 108 |
+
91,
|
| 109 |
+
92,
|
| 110 |
+
93,
|
| 111 |
+
94,
|
| 112 |
+
95,
|
| 113 |
+
96,
|
| 114 |
+
97,
|
| 115 |
+
98,
|
| 116 |
+
99,
|
| 117 |
+
100,
|
| 118 |
+
101,
|
| 119 |
+
102,
|
| 120 |
+
103,
|
| 121 |
+
104,
|
| 122 |
+
105,
|
| 123 |
+
106,
|
| 124 |
+
107,
|
| 125 |
+
108,
|
| 126 |
+
109,
|
| 127 |
+
110,
|
| 128 |
+
111,
|
| 129 |
+
112,
|
| 130 |
+
113,
|
| 131 |
+
114,
|
| 132 |
+
115,
|
| 133 |
+
116,
|
| 134 |
+
117,
|
| 135 |
+
118,
|
| 136 |
+
119,
|
| 137 |
+
120,
|
| 138 |
+
121,
|
| 139 |
+
122,
|
| 140 |
+
123,
|
| 141 |
+
124,
|
| 142 |
+
125,
|
| 143 |
+
126,
|
| 144 |
+
127,
|
| 145 |
+
128,
|
| 146 |
+
129,
|
| 147 |
+
130,
|
| 148 |
+
131,
|
| 149 |
+
132
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"lr": 1e-05,
|
| 154 |
+
"betas": [
|
| 155 |
+
0.9,
|
| 156 |
+
0.999
|
| 157 |
+
],
|
| 158 |
+
"eps": 1e-08,
|
| 159 |
+
"weight_decay": 0.0001,
|
| 160 |
+
"amsgrad": false,
|
| 161 |
+
"foreach": null,
|
| 162 |
+
"maximize": false,
|
| 163 |
+
"capturable": false,
|
| 164 |
+
"differentiable": false,
|
| 165 |
+
"fused": null,
|
| 166 |
+
"params": [
|
| 167 |
+
133,
|
| 168 |
+
134,
|
| 169 |
+
135,
|
| 170 |
+
136,
|
| 171 |
+
137,
|
| 172 |
+
138,
|
| 173 |
+
139,
|
| 174 |
+
140,
|
| 175 |
+
141,
|
| 176 |
+
142,
|
| 177 |
+
143,
|
| 178 |
+
144,
|
| 179 |
+
145,
|
| 180 |
+
146,
|
| 181 |
+
147,
|
| 182 |
+
148,
|
| 183 |
+
149,
|
| 184 |
+
150,
|
| 185 |
+
151,
|
| 186 |
+
152
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
]
|
checkpoints/040000/training_state/optimizer_state.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:32bd3a8ef2d7b7e68f84e8a426f607b4ada8ec3a7a1f329fa3d0778d12963189
|
| 3 |
+
size 412817652
|
checkpoints/040000/training_state/rng_state.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8d40dd31135a882f74553171348477ae46a359956512ee39f240e3e02c77a5af
|
| 3 |
+
size 15708
|
checkpoints/040000/training_state/training_step.json
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"step": 40000
|
| 3 |
+
}
|
checkpoints/060000/pretrained_model/config.json
ADDED
|
@@ -0,0 +1,64 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"type": "act",
|
| 3 |
+
"n_obs_steps": 1,
|
| 4 |
+
"normalization_mapping": {
|
| 5 |
+
"VISUAL": "MEAN_STD",
|
| 6 |
+
"STATE": "MEAN_STD",
|
| 7 |
+
"ACTION": "MEAN_STD"
|
| 8 |
+
},
|
| 9 |
+
"input_features": {
|
| 10 |
+
"observation.state": {
|
| 11 |
+
"type": "STATE",
|
| 12 |
+
"shape": [
|
| 13 |
+
6
|
| 14 |
+
]
|
| 15 |
+
},
|
| 16 |
+
"observation.images.laptop": {
|
| 17 |
+
"type": "VISUAL",
|
| 18 |
+
"shape": [
|
| 19 |
+
3,
|
| 20 |
+
480,
|
| 21 |
+
640
|
| 22 |
+
]
|
| 23 |
+
},
|
| 24 |
+
"observation.images.phone": {
|
| 25 |
+
"type": "VISUAL",
|
| 26 |
+
"shape": [
|
| 27 |
+
3,
|
| 28 |
+
480,
|
| 29 |
+
640
|
| 30 |
+
]
|
| 31 |
+
}
|
| 32 |
+
},
|
| 33 |
+
"output_features": {
|
| 34 |
+
"action": {
|
| 35 |
+
"type": "ACTION",
|
| 36 |
+
"shape": [
|
| 37 |
+
6
|
| 38 |
+
]
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"device": "cuda",
|
| 42 |
+
"use_amp": false,
|
| 43 |
+
"chunk_size": 100,
|
| 44 |
+
"n_action_steps": 100,
|
| 45 |
+
"vision_backbone": "resnet18",
|
| 46 |
+
"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
|
| 47 |
+
"replace_final_stride_with_dilation": false,
|
| 48 |
+
"pre_norm": false,
|
| 49 |
+
"dim_model": 512,
|
| 50 |
+
"n_heads": 8,
|
| 51 |
+
"dim_feedforward": 3200,
|
| 52 |
+
"feedforward_activation": "relu",
|
| 53 |
+
"n_encoder_layers": 4,
|
| 54 |
+
"n_decoder_layers": 1,
|
| 55 |
+
"use_vae": true,
|
| 56 |
+
"latent_dim": 32,
|
| 57 |
+
"n_vae_encoder_layers": 4,
|
| 58 |
+
"temporal_ensemble_coeff": null,
|
| 59 |
+
"dropout": 0.1,
|
| 60 |
+
"kl_weight": 10.0,
|
| 61 |
+
"optimizer_lr": 1e-05,
|
| 62 |
+
"optimizer_weight_decay": 0.0001,
|
| 63 |
+
"optimizer_lr_backbone": 1e-05
|
| 64 |
+
}
|
checkpoints/060000/pretrained_model/model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:37ca2fb7b4a7d4f1490f7c04155a08bdffefdfd3fb3913fc485ae22e34b4a1d9
|
| 3 |
+
size 206701072
|
checkpoints/060000/pretrained_model/train_config.json
ADDED
|
@@ -0,0 +1,170 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"dataset": {
|
| 3 |
+
"repo_id": "00ri/so100_battery_bin_center",
|
| 4 |
+
"root": null,
|
| 5 |
+
"episodes": null,
|
| 6 |
+
"image_transforms": {
|
| 7 |
+
"enable": false,
|
| 8 |
+
"max_num_transforms": 3,
|
| 9 |
+
"random_order": false,
|
| 10 |
+
"tfs": {
|
| 11 |
+
"brightness": {
|
| 12 |
+
"weight": 1.0,
|
| 13 |
+
"type": "ColorJitter",
|
| 14 |
+
"kwargs": {
|
| 15 |
+
"brightness": [
|
| 16 |
+
0.8,
|
| 17 |
+
1.2
|
| 18 |
+
]
|
| 19 |
+
}
|
| 20 |
+
},
|
| 21 |
+
"contrast": {
|
| 22 |
+
"weight": 1.0,
|
| 23 |
+
"type": "ColorJitter",
|
| 24 |
+
"kwargs": {
|
| 25 |
+
"contrast": [
|
| 26 |
+
0.8,
|
| 27 |
+
1.2
|
| 28 |
+
]
|
| 29 |
+
}
|
| 30 |
+
},
|
| 31 |
+
"saturation": {
|
| 32 |
+
"weight": 1.0,
|
| 33 |
+
"type": "ColorJitter",
|
| 34 |
+
"kwargs": {
|
| 35 |
+
"saturation": [
|
| 36 |
+
0.5,
|
| 37 |
+
1.5
|
| 38 |
+
]
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"hue": {
|
| 42 |
+
"weight": 1.0,
|
| 43 |
+
"type": "ColorJitter",
|
| 44 |
+
"kwargs": {
|
| 45 |
+
"hue": [
|
| 46 |
+
-0.05,
|
| 47 |
+
0.05
|
| 48 |
+
]
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
"sharpness": {
|
| 52 |
+
"weight": 1.0,
|
| 53 |
+
"type": "SharpnessJitter",
|
| 54 |
+
"kwargs": {
|
| 55 |
+
"sharpness": [
|
| 56 |
+
0.5,
|
| 57 |
+
1.5
|
| 58 |
+
]
|
| 59 |
+
}
|
| 60 |
+
}
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"revision": null,
|
| 64 |
+
"use_imagenet_stats": true,
|
| 65 |
+
"video_backend": "torchcodec"
|
| 66 |
+
},
|
| 67 |
+
"env": null,
|
| 68 |
+
"policy": {
|
| 69 |
+
"type": "act",
|
| 70 |
+
"n_obs_steps": 1,
|
| 71 |
+
"normalization_mapping": {
|
| 72 |
+
"VISUAL": "MEAN_STD",
|
| 73 |
+
"STATE": "MEAN_STD",
|
| 74 |
+
"ACTION": "MEAN_STD"
|
| 75 |
+
},
|
| 76 |
+
"input_features": {
|
| 77 |
+
"observation.state": {
|
| 78 |
+
"type": "STATE",
|
| 79 |
+
"shape": [
|
| 80 |
+
6
|
| 81 |
+
]
|
| 82 |
+
},
|
| 83 |
+
"observation.images.laptop": {
|
| 84 |
+
"type": "VISUAL",
|
| 85 |
+
"shape": [
|
| 86 |
+
3,
|
| 87 |
+
480,
|
| 88 |
+
640
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"observation.images.phone": {
|
| 92 |
+
"type": "VISUAL",
|
| 93 |
+
"shape": [
|
| 94 |
+
3,
|
| 95 |
+
480,
|
| 96 |
+
640
|
| 97 |
+
]
|
| 98 |
+
}
|
| 99 |
+
},
|
| 100 |
+
"output_features": {
|
| 101 |
+
"action": {
|
| 102 |
+
"type": "ACTION",
|
| 103 |
+
"shape": [
|
| 104 |
+
6
|
| 105 |
+
]
|
| 106 |
+
}
|
| 107 |
+
},
|
| 108 |
+
"device": "cuda",
|
| 109 |
+
"use_amp": false,
|
| 110 |
+
"chunk_size": 100,
|
| 111 |
+
"n_action_steps": 100,
|
| 112 |
+
"vision_backbone": "resnet18",
|
| 113 |
+
"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
|
| 114 |
+
"replace_final_stride_with_dilation": false,
|
| 115 |
+
"pre_norm": false,
|
| 116 |
+
"dim_model": 512,
|
| 117 |
+
"n_heads": 8,
|
| 118 |
+
"dim_feedforward": 3200,
|
| 119 |
+
"feedforward_activation": "relu",
|
| 120 |
+
"n_encoder_layers": 4,
|
| 121 |
+
"n_decoder_layers": 1,
|
| 122 |
+
"use_vae": true,
|
| 123 |
+
"latent_dim": 32,
|
| 124 |
+
"n_vae_encoder_layers": 4,
|
| 125 |
+
"temporal_ensemble_coeff": null,
|
| 126 |
+
"dropout": 0.1,
|
| 127 |
+
"kl_weight": 10.0,
|
| 128 |
+
"optimizer_lr": 1e-05,
|
| 129 |
+
"optimizer_weight_decay": 0.0001,
|
| 130 |
+
"optimizer_lr_backbone": 1e-05
|
| 131 |
+
},
|
| 132 |
+
"output_dir": "outputs/train/act_so100_battery_bin_center",
|
| 133 |
+
"job_name": "act_so100_battery_bin_center",
|
| 134 |
+
"resume": false,
|
| 135 |
+
"seed": 1000,
|
| 136 |
+
"num_workers": 4,
|
| 137 |
+
"batch_size": 8,
|
| 138 |
+
"steps": 100000,
|
| 139 |
+
"eval_freq": 20000,
|
| 140 |
+
"log_freq": 200,
|
| 141 |
+
"save_checkpoint": true,
|
| 142 |
+
"save_freq": 20000,
|
| 143 |
+
"use_policy_training_preset": true,
|
| 144 |
+
"optimizer": {
|
| 145 |
+
"type": "adamw",
|
| 146 |
+
"lr": 1e-05,
|
| 147 |
+
"weight_decay": 0.0001,
|
| 148 |
+
"grad_clip_norm": 10.0,
|
| 149 |
+
"betas": [
|
| 150 |
+
0.9,
|
| 151 |
+
0.999
|
| 152 |
+
],
|
| 153 |
+
"eps": 1e-08
|
| 154 |
+
},
|
| 155 |
+
"scheduler": null,
|
| 156 |
+
"eval": {
|
| 157 |
+
"n_episodes": 50,
|
| 158 |
+
"batch_size": 50,
|
| 159 |
+
"use_async_envs": false
|
| 160 |
+
},
|
| 161 |
+
"wandb": {
|
| 162 |
+
"enable": true,
|
| 163 |
+
"disable_artifact": false,
|
| 164 |
+
"project": "lerobot",
|
| 165 |
+
"entity": null,
|
| 166 |
+
"notes": null,
|
| 167 |
+
"run_id": null,
|
| 168 |
+
"mode": null
|
| 169 |
+
}
|
| 170 |
+
}
|
checkpoints/060000/training_state/optimizer_param_groups.json
ADDED
|
@@ -0,0 +1,189 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
[
|
| 2 |
+
{
|
| 3 |
+
"lr": 1e-05,
|
| 4 |
+
"betas": [
|
| 5 |
+
0.9,
|
| 6 |
+
0.999
|
| 7 |
+
],
|
| 8 |
+
"eps": 1e-08,
|
| 9 |
+
"weight_decay": 0.0001,
|
| 10 |
+
"amsgrad": false,
|
| 11 |
+
"foreach": null,
|
| 12 |
+
"maximize": false,
|
| 13 |
+
"capturable": false,
|
| 14 |
+
"differentiable": false,
|
| 15 |
+
"fused": null,
|
| 16 |
+
"params": [
|
| 17 |
+
0,
|
| 18 |
+
1,
|
| 19 |
+
2,
|
| 20 |
+
3,
|
| 21 |
+
4,
|
| 22 |
+
5,
|
| 23 |
+
6,
|
| 24 |
+
7,
|
| 25 |
+
8,
|
| 26 |
+
9,
|
| 27 |
+
10,
|
| 28 |
+
11,
|
| 29 |
+
12,
|
| 30 |
+
13,
|
| 31 |
+
14,
|
| 32 |
+
15,
|
| 33 |
+
16,
|
| 34 |
+
17,
|
| 35 |
+
18,
|
| 36 |
+
19,
|
| 37 |
+
20,
|
| 38 |
+
21,
|
| 39 |
+
22,
|
| 40 |
+
23,
|
| 41 |
+
24,
|
| 42 |
+
25,
|
| 43 |
+
26,
|
| 44 |
+
27,
|
| 45 |
+
28,
|
| 46 |
+
29,
|
| 47 |
+
30,
|
| 48 |
+
31,
|
| 49 |
+
32,
|
| 50 |
+
33,
|
| 51 |
+
34,
|
| 52 |
+
35,
|
| 53 |
+
36,
|
| 54 |
+
37,
|
| 55 |
+
38,
|
| 56 |
+
39,
|
| 57 |
+
40,
|
| 58 |
+
41,
|
| 59 |
+
42,
|
| 60 |
+
43,
|
| 61 |
+
44,
|
| 62 |
+
45,
|
| 63 |
+
46,
|
| 64 |
+
47,
|
| 65 |
+
48,
|
| 66 |
+
49,
|
| 67 |
+
50,
|
| 68 |
+
51,
|
| 69 |
+
52,
|
| 70 |
+
53,
|
| 71 |
+
54,
|
| 72 |
+
55,
|
| 73 |
+
56,
|
| 74 |
+
57,
|
| 75 |
+
58,
|
| 76 |
+
59,
|
| 77 |
+
60,
|
| 78 |
+
61,
|
| 79 |
+
62,
|
| 80 |
+
63,
|
| 81 |
+
64,
|
| 82 |
+
65,
|
| 83 |
+
66,
|
| 84 |
+
67,
|
| 85 |
+
68,
|
| 86 |
+
69,
|
| 87 |
+
70,
|
| 88 |
+
71,
|
| 89 |
+
72,
|
| 90 |
+
73,
|
| 91 |
+
74,
|
| 92 |
+
75,
|
| 93 |
+
76,
|
| 94 |
+
77,
|
| 95 |
+
78,
|
| 96 |
+
79,
|
| 97 |
+
80,
|
| 98 |
+
81,
|
| 99 |
+
82,
|
| 100 |
+
83,
|
| 101 |
+
84,
|
| 102 |
+
85,
|
| 103 |
+
86,
|
| 104 |
+
87,
|
| 105 |
+
88,
|
| 106 |
+
89,
|
| 107 |
+
90,
|
| 108 |
+
91,
|
| 109 |
+
92,
|
| 110 |
+
93,
|
| 111 |
+
94,
|
| 112 |
+
95,
|
| 113 |
+
96,
|
| 114 |
+
97,
|
| 115 |
+
98,
|
| 116 |
+
99,
|
| 117 |
+
100,
|
| 118 |
+
101,
|
| 119 |
+
102,
|
| 120 |
+
103,
|
| 121 |
+
104,
|
| 122 |
+
105,
|
| 123 |
+
106,
|
| 124 |
+
107,
|
| 125 |
+
108,
|
| 126 |
+
109,
|
| 127 |
+
110,
|
| 128 |
+
111,
|
| 129 |
+
112,
|
| 130 |
+
113,
|
| 131 |
+
114,
|
| 132 |
+
115,
|
| 133 |
+
116,
|
| 134 |
+
117,
|
| 135 |
+
118,
|
| 136 |
+
119,
|
| 137 |
+
120,
|
| 138 |
+
121,
|
| 139 |
+
122,
|
| 140 |
+
123,
|
| 141 |
+
124,
|
| 142 |
+
125,
|
| 143 |
+
126,
|
| 144 |
+
127,
|
| 145 |
+
128,
|
| 146 |
+
129,
|
| 147 |
+
130,
|
| 148 |
+
131,
|
| 149 |
+
132
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"lr": 1e-05,
|
| 154 |
+
"betas": [
|
| 155 |
+
0.9,
|
| 156 |
+
0.999
|
| 157 |
+
],
|
| 158 |
+
"eps": 1e-08,
|
| 159 |
+
"weight_decay": 0.0001,
|
| 160 |
+
"amsgrad": false,
|
| 161 |
+
"foreach": null,
|
| 162 |
+
"maximize": false,
|
| 163 |
+
"capturable": false,
|
| 164 |
+
"differentiable": false,
|
| 165 |
+
"fused": null,
|
| 166 |
+
"params": [
|
| 167 |
+
133,
|
| 168 |
+
134,
|
| 169 |
+
135,
|
| 170 |
+
136,
|
| 171 |
+
137,
|
| 172 |
+
138,
|
| 173 |
+
139,
|
| 174 |
+
140,
|
| 175 |
+
141,
|
| 176 |
+
142,
|
| 177 |
+
143,
|
| 178 |
+
144,
|
| 179 |
+
145,
|
| 180 |
+
146,
|
| 181 |
+
147,
|
| 182 |
+
148,
|
| 183 |
+
149,
|
| 184 |
+
150,
|
| 185 |
+
151,
|
| 186 |
+
152
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
]
|
checkpoints/060000/training_state/optimizer_state.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:29a7824075414770cbb927ef86cc99ae16ca35af1b554c1afd1ab7e56ecd61aa
|
| 3 |
+
size 412817652
|
checkpoints/060000/training_state/rng_state.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:cbdd9f874ee392db5f37a9b766fda1abb4b051cea09e55e07c0e8dee5c85cc37
|
| 3 |
+
size 15708
|
checkpoints/060000/training_state/training_step.json
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"step": 60000
|
| 3 |
+
}
|
checkpoints/080000/pretrained_model/config.json
ADDED
|
@@ -0,0 +1,64 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"type": "act",
|
| 3 |
+
"n_obs_steps": 1,
|
| 4 |
+
"normalization_mapping": {
|
| 5 |
+
"VISUAL": "MEAN_STD",
|
| 6 |
+
"STATE": "MEAN_STD",
|
| 7 |
+
"ACTION": "MEAN_STD"
|
| 8 |
+
},
|
| 9 |
+
"input_features": {
|
| 10 |
+
"observation.state": {
|
| 11 |
+
"type": "STATE",
|
| 12 |
+
"shape": [
|
| 13 |
+
6
|
| 14 |
+
]
|
| 15 |
+
},
|
| 16 |
+
"observation.images.laptop": {
|
| 17 |
+
"type": "VISUAL",
|
| 18 |
+
"shape": [
|
| 19 |
+
3,
|
| 20 |
+
480,
|
| 21 |
+
640
|
| 22 |
+
]
|
| 23 |
+
},
|
| 24 |
+
"observation.images.phone": {
|
| 25 |
+
"type": "VISUAL",
|
| 26 |
+
"shape": [
|
| 27 |
+
3,
|
| 28 |
+
480,
|
| 29 |
+
640
|
| 30 |
+
]
|
| 31 |
+
}
|
| 32 |
+
},
|
| 33 |
+
"output_features": {
|
| 34 |
+
"action": {
|
| 35 |
+
"type": "ACTION",
|
| 36 |
+
"shape": [
|
| 37 |
+
6
|
| 38 |
+
]
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"device": "cuda",
|
| 42 |
+
"use_amp": false,
|
| 43 |
+
"chunk_size": 100,
|
| 44 |
+
"n_action_steps": 100,
|
| 45 |
+
"vision_backbone": "resnet18",
|
| 46 |
+
"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
|
| 47 |
+
"replace_final_stride_with_dilation": false,
|
| 48 |
+
"pre_norm": false,
|
| 49 |
+
"dim_model": 512,
|
| 50 |
+
"n_heads": 8,
|
| 51 |
+
"dim_feedforward": 3200,
|
| 52 |
+
"feedforward_activation": "relu",
|
| 53 |
+
"n_encoder_layers": 4,
|
| 54 |
+
"n_decoder_layers": 1,
|
| 55 |
+
"use_vae": true,
|
| 56 |
+
"latent_dim": 32,
|
| 57 |
+
"n_vae_encoder_layers": 4,
|
| 58 |
+
"temporal_ensemble_coeff": null,
|
| 59 |
+
"dropout": 0.1,
|
| 60 |
+
"kl_weight": 10.0,
|
| 61 |
+
"optimizer_lr": 1e-05,
|
| 62 |
+
"optimizer_weight_decay": 0.0001,
|
| 63 |
+
"optimizer_lr_backbone": 1e-05
|
| 64 |
+
}
|
checkpoints/080000/pretrained_model/model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8cfb49534487baa1a0679264537e9c71bfca88eb277e1518f2f296c1bc8dc67c
|
| 3 |
+
size 206701072
|
checkpoints/080000/pretrained_model/train_config.json
ADDED
|
@@ -0,0 +1,170 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"dataset": {
|
| 3 |
+
"repo_id": "00ri/so100_battery_bin_center",
|
| 4 |
+
"root": null,
|
| 5 |
+
"episodes": null,
|
| 6 |
+
"image_transforms": {
|
| 7 |
+
"enable": false,
|
| 8 |
+
"max_num_transforms": 3,
|
| 9 |
+
"random_order": false,
|
| 10 |
+
"tfs": {
|
| 11 |
+
"brightness": {
|
| 12 |
+
"weight": 1.0,
|
| 13 |
+
"type": "ColorJitter",
|
| 14 |
+
"kwargs": {
|
| 15 |
+
"brightness": [
|
| 16 |
+
0.8,
|
| 17 |
+
1.2
|
| 18 |
+
]
|
| 19 |
+
}
|
| 20 |
+
},
|
| 21 |
+
"contrast": {
|
| 22 |
+
"weight": 1.0,
|
| 23 |
+
"type": "ColorJitter",
|
| 24 |
+
"kwargs": {
|
| 25 |
+
"contrast": [
|
| 26 |
+
0.8,
|
| 27 |
+
1.2
|
| 28 |
+
]
|
| 29 |
+
}
|
| 30 |
+
},
|
| 31 |
+
"saturation": {
|
| 32 |
+
"weight": 1.0,
|
| 33 |
+
"type": "ColorJitter",
|
| 34 |
+
"kwargs": {
|
| 35 |
+
"saturation": [
|
| 36 |
+
0.5,
|
| 37 |
+
1.5
|
| 38 |
+
]
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"hue": {
|
| 42 |
+
"weight": 1.0,
|
| 43 |
+
"type": "ColorJitter",
|
| 44 |
+
"kwargs": {
|
| 45 |
+
"hue": [
|
| 46 |
+
-0.05,
|
| 47 |
+
0.05
|
| 48 |
+
]
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
"sharpness": {
|
| 52 |
+
"weight": 1.0,
|
| 53 |
+
"type": "SharpnessJitter",
|
| 54 |
+
"kwargs": {
|
| 55 |
+
"sharpness": [
|
| 56 |
+
0.5,
|
| 57 |
+
1.5
|
| 58 |
+
]
|
| 59 |
+
}
|
| 60 |
+
}
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"revision": null,
|
| 64 |
+
"use_imagenet_stats": true,
|
| 65 |
+
"video_backend": "torchcodec"
|
| 66 |
+
},
|
| 67 |
+
"env": null,
|
| 68 |
+
"policy": {
|
| 69 |
+
"type": "act",
|
| 70 |
+
"n_obs_steps": 1,
|
| 71 |
+
"normalization_mapping": {
|
| 72 |
+
"VISUAL": "MEAN_STD",
|
| 73 |
+
"STATE": "MEAN_STD",
|
| 74 |
+
"ACTION": "MEAN_STD"
|
| 75 |
+
},
|
| 76 |
+
"input_features": {
|
| 77 |
+
"observation.state": {
|
| 78 |
+
"type": "STATE",
|
| 79 |
+
"shape": [
|
| 80 |
+
6
|
| 81 |
+
]
|
| 82 |
+
},
|
| 83 |
+
"observation.images.laptop": {
|
| 84 |
+
"type": "VISUAL",
|
| 85 |
+
"shape": [
|
| 86 |
+
3,
|
| 87 |
+
480,
|
| 88 |
+
640
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"observation.images.phone": {
|
| 92 |
+
"type": "VISUAL",
|
| 93 |
+
"shape": [
|
| 94 |
+
3,
|
| 95 |
+
480,
|
| 96 |
+
640
|
| 97 |
+
]
|
| 98 |
+
}
|
| 99 |
+
},
|
| 100 |
+
"output_features": {
|
| 101 |
+
"action": {
|
| 102 |
+
"type": "ACTION",
|
| 103 |
+
"shape": [
|
| 104 |
+
6
|
| 105 |
+
]
|
| 106 |
+
}
|
| 107 |
+
},
|
| 108 |
+
"device": "cuda",
|
| 109 |
+
"use_amp": false,
|
| 110 |
+
"chunk_size": 100,
|
| 111 |
+
"n_action_steps": 100,
|
| 112 |
+
"vision_backbone": "resnet18",
|
| 113 |
+
"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
|
| 114 |
+
"replace_final_stride_with_dilation": false,
|
| 115 |
+
"pre_norm": false,
|
| 116 |
+
"dim_model": 512,
|
| 117 |
+
"n_heads": 8,
|
| 118 |
+
"dim_feedforward": 3200,
|
| 119 |
+
"feedforward_activation": "relu",
|
| 120 |
+
"n_encoder_layers": 4,
|
| 121 |
+
"n_decoder_layers": 1,
|
| 122 |
+
"use_vae": true,
|
| 123 |
+
"latent_dim": 32,
|
| 124 |
+
"n_vae_encoder_layers": 4,
|
| 125 |
+
"temporal_ensemble_coeff": null,
|
| 126 |
+
"dropout": 0.1,
|
| 127 |
+
"kl_weight": 10.0,
|
| 128 |
+
"optimizer_lr": 1e-05,
|
| 129 |
+
"optimizer_weight_decay": 0.0001,
|
| 130 |
+
"optimizer_lr_backbone": 1e-05
|
| 131 |
+
},
|
| 132 |
+
"output_dir": "outputs/train/act_so100_battery_bin_center",
|
| 133 |
+
"job_name": "act_so100_battery_bin_center",
|
| 134 |
+
"resume": false,
|
| 135 |
+
"seed": 1000,
|
| 136 |
+
"num_workers": 4,
|
| 137 |
+
"batch_size": 8,
|
| 138 |
+
"steps": 100000,
|
| 139 |
+
"eval_freq": 20000,
|
| 140 |
+
"log_freq": 200,
|
| 141 |
+
"save_checkpoint": true,
|
| 142 |
+
"save_freq": 20000,
|
| 143 |
+
"use_policy_training_preset": true,
|
| 144 |
+
"optimizer": {
|
| 145 |
+
"type": "adamw",
|
| 146 |
+
"lr": 1e-05,
|
| 147 |
+
"weight_decay": 0.0001,
|
| 148 |
+
"grad_clip_norm": 10.0,
|
| 149 |
+
"betas": [
|
| 150 |
+
0.9,
|
| 151 |
+
0.999
|
| 152 |
+
],
|
| 153 |
+
"eps": 1e-08
|
| 154 |
+
},
|
| 155 |
+
"scheduler": null,
|
| 156 |
+
"eval": {
|
| 157 |
+
"n_episodes": 50,
|
| 158 |
+
"batch_size": 50,
|
| 159 |
+
"use_async_envs": false
|
| 160 |
+
},
|
| 161 |
+
"wandb": {
|
| 162 |
+
"enable": true,
|
| 163 |
+
"disable_artifact": false,
|
| 164 |
+
"project": "lerobot",
|
| 165 |
+
"entity": null,
|
| 166 |
+
"notes": null,
|
| 167 |
+
"run_id": null,
|
| 168 |
+
"mode": null
|
| 169 |
+
}
|
| 170 |
+
}
|
checkpoints/080000/training_state/optimizer_param_groups.json
ADDED
|
@@ -0,0 +1,189 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
[
|
| 2 |
+
{
|
| 3 |
+
"lr": 1e-05,
|
| 4 |
+
"betas": [
|
| 5 |
+
0.9,
|
| 6 |
+
0.999
|
| 7 |
+
],
|
| 8 |
+
"eps": 1e-08,
|
| 9 |
+
"weight_decay": 0.0001,
|
| 10 |
+
"amsgrad": false,
|
| 11 |
+
"foreach": null,
|
| 12 |
+
"maximize": false,
|
| 13 |
+
"capturable": false,
|
| 14 |
+
"differentiable": false,
|
| 15 |
+
"fused": null,
|
| 16 |
+
"params": [
|
| 17 |
+
0,
|
| 18 |
+
1,
|
| 19 |
+
2,
|
| 20 |
+
3,
|
| 21 |
+
4,
|
| 22 |
+
5,
|
| 23 |
+
6,
|
| 24 |
+
7,
|
| 25 |
+
8,
|
| 26 |
+
9,
|
| 27 |
+
10,
|
| 28 |
+
11,
|
| 29 |
+
12,
|
| 30 |
+
13,
|
| 31 |
+
14,
|
| 32 |
+
15,
|
| 33 |
+
16,
|
| 34 |
+
17,
|
| 35 |
+
18,
|
| 36 |
+
19,
|
| 37 |
+
20,
|
| 38 |
+
21,
|
| 39 |
+
22,
|
| 40 |
+
23,
|
| 41 |
+
24,
|
| 42 |
+
25,
|
| 43 |
+
26,
|
| 44 |
+
27,
|
| 45 |
+
28,
|
| 46 |
+
29,
|
| 47 |
+
30,
|
| 48 |
+
31,
|
| 49 |
+
32,
|
| 50 |
+
33,
|
| 51 |
+
34,
|
| 52 |
+
35,
|
| 53 |
+
36,
|
| 54 |
+
37,
|
| 55 |
+
38,
|
| 56 |
+
39,
|
| 57 |
+
40,
|
| 58 |
+
41,
|
| 59 |
+
42,
|
| 60 |
+
43,
|
| 61 |
+
44,
|
| 62 |
+
45,
|
| 63 |
+
46,
|
| 64 |
+
47,
|
| 65 |
+
48,
|
| 66 |
+
49,
|
| 67 |
+
50,
|
| 68 |
+
51,
|
| 69 |
+
52,
|
| 70 |
+
53,
|
| 71 |
+
54,
|
| 72 |
+
55,
|
| 73 |
+
56,
|
| 74 |
+
57,
|
| 75 |
+
58,
|
| 76 |
+
59,
|
| 77 |
+
60,
|
| 78 |
+
61,
|
| 79 |
+
62,
|
| 80 |
+
63,
|
| 81 |
+
64,
|
| 82 |
+
65,
|
| 83 |
+
66,
|
| 84 |
+
67,
|
| 85 |
+
68,
|
| 86 |
+
69,
|
| 87 |
+
70,
|
| 88 |
+
71,
|
| 89 |
+
72,
|
| 90 |
+
73,
|
| 91 |
+
74,
|
| 92 |
+
75,
|
| 93 |
+
76,
|
| 94 |
+
77,
|
| 95 |
+
78,
|
| 96 |
+
79,
|
| 97 |
+
80,
|
| 98 |
+
81,
|
| 99 |
+
82,
|
| 100 |
+
83,
|
| 101 |
+
84,
|
| 102 |
+
85,
|
| 103 |
+
86,
|
| 104 |
+
87,
|
| 105 |
+
88,
|
| 106 |
+
89,
|
| 107 |
+
90,
|
| 108 |
+
91,
|
| 109 |
+
92,
|
| 110 |
+
93,
|
| 111 |
+
94,
|
| 112 |
+
95,
|
| 113 |
+
96,
|
| 114 |
+
97,
|
| 115 |
+
98,
|
| 116 |
+
99,
|
| 117 |
+
100,
|
| 118 |
+
101,
|
| 119 |
+
102,
|
| 120 |
+
103,
|
| 121 |
+
104,
|
| 122 |
+
105,
|
| 123 |
+
106,
|
| 124 |
+
107,
|
| 125 |
+
108,
|
| 126 |
+
109,
|
| 127 |
+
110,
|
| 128 |
+
111,
|
| 129 |
+
112,
|
| 130 |
+
113,
|
| 131 |
+
114,
|
| 132 |
+
115,
|
| 133 |
+
116,
|
| 134 |
+
117,
|
| 135 |
+
118,
|
| 136 |
+
119,
|
| 137 |
+
120,
|
| 138 |
+
121,
|
| 139 |
+
122,
|
| 140 |
+
123,
|
| 141 |
+
124,
|
| 142 |
+
125,
|
| 143 |
+
126,
|
| 144 |
+
127,
|
| 145 |
+
128,
|
| 146 |
+
129,
|
| 147 |
+
130,
|
| 148 |
+
131,
|
| 149 |
+
132
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"lr": 1e-05,
|
| 154 |
+
"betas": [
|
| 155 |
+
0.9,
|
| 156 |
+
0.999
|
| 157 |
+
],
|
| 158 |
+
"eps": 1e-08,
|
| 159 |
+
"weight_decay": 0.0001,
|
| 160 |
+
"amsgrad": false,
|
| 161 |
+
"foreach": null,
|
| 162 |
+
"maximize": false,
|
| 163 |
+
"capturable": false,
|
| 164 |
+
"differentiable": false,
|
| 165 |
+
"fused": null,
|
| 166 |
+
"params": [
|
| 167 |
+
133,
|
| 168 |
+
134,
|
| 169 |
+
135,
|
| 170 |
+
136,
|
| 171 |
+
137,
|
| 172 |
+
138,
|
| 173 |
+
139,
|
| 174 |
+
140,
|
| 175 |
+
141,
|
| 176 |
+
142,
|
| 177 |
+
143,
|
| 178 |
+
144,
|
| 179 |
+
145,
|
| 180 |
+
146,
|
| 181 |
+
147,
|
| 182 |
+
148,
|
| 183 |
+
149,
|
| 184 |
+
150,
|
| 185 |
+
151,
|
| 186 |
+
152
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
]
|
checkpoints/080000/training_state/optimizer_state.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9dccdb9c47034e94a3b50b3779a24967e636657646486229feac444539f8477b
|
| 3 |
+
size 412817652
|
checkpoints/080000/training_state/rng_state.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bc338c11561a0b788c55c27e13bbc55747ecfeb397a75c8fb540fad509d5233d
|
| 3 |
+
size 15708
|
checkpoints/080000/training_state/training_step.json
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"step": 80000
|
| 3 |
+
}
|
checkpoints/100000/pretrained_model/config.json
ADDED
|
@@ -0,0 +1,64 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"type": "act",
|
| 3 |
+
"n_obs_steps": 1,
|
| 4 |
+
"normalization_mapping": {
|
| 5 |
+
"VISUAL": "MEAN_STD",
|
| 6 |
+
"STATE": "MEAN_STD",
|
| 7 |
+
"ACTION": "MEAN_STD"
|
| 8 |
+
},
|
| 9 |
+
"input_features": {
|
| 10 |
+
"observation.state": {
|
| 11 |
+
"type": "STATE",
|
| 12 |
+
"shape": [
|
| 13 |
+
6
|
| 14 |
+
]
|
| 15 |
+
},
|
| 16 |
+
"observation.images.laptop": {
|
| 17 |
+
"type": "VISUAL",
|
| 18 |
+
"shape": [
|
| 19 |
+
3,
|
| 20 |
+
480,
|
| 21 |
+
640
|
| 22 |
+
]
|
| 23 |
+
},
|
| 24 |
+
"observation.images.phone": {
|
| 25 |
+
"type": "VISUAL",
|
| 26 |
+
"shape": [
|
| 27 |
+
3,
|
| 28 |
+
480,
|
| 29 |
+
640
|
| 30 |
+
]
|
| 31 |
+
}
|
| 32 |
+
},
|
| 33 |
+
"output_features": {
|
| 34 |
+
"action": {
|
| 35 |
+
"type": "ACTION",
|
| 36 |
+
"shape": [
|
| 37 |
+
6
|
| 38 |
+
]
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"device": "cuda",
|
| 42 |
+
"use_amp": false,
|
| 43 |
+
"chunk_size": 100,
|
| 44 |
+
"n_action_steps": 100,
|
| 45 |
+
"vision_backbone": "resnet18",
|
| 46 |
+
"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
|
| 47 |
+
"replace_final_stride_with_dilation": false,
|
| 48 |
+
"pre_norm": false,
|
| 49 |
+
"dim_model": 512,
|
| 50 |
+
"n_heads": 8,
|
| 51 |
+
"dim_feedforward": 3200,
|
| 52 |
+
"feedforward_activation": "relu",
|
| 53 |
+
"n_encoder_layers": 4,
|
| 54 |
+
"n_decoder_layers": 1,
|
| 55 |
+
"use_vae": true,
|
| 56 |
+
"latent_dim": 32,
|
| 57 |
+
"n_vae_encoder_layers": 4,
|
| 58 |
+
"temporal_ensemble_coeff": null,
|
| 59 |
+
"dropout": 0.1,
|
| 60 |
+
"kl_weight": 10.0,
|
| 61 |
+
"optimizer_lr": 1e-05,
|
| 62 |
+
"optimizer_weight_decay": 0.0001,
|
| 63 |
+
"optimizer_lr_backbone": 1e-05
|
| 64 |
+
}
|
checkpoints/100000/pretrained_model/model.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b5e1f34cfe74d39b47c6745c052b12d6c0ad535238ebe5f53448a2a0e423c65e
|
| 3 |
+
size 206701072
|
checkpoints/100000/pretrained_model/train_config.json
ADDED
|
@@ -0,0 +1,170 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"dataset": {
|
| 3 |
+
"repo_id": "00ri/so100_battery_bin_center",
|
| 4 |
+
"root": null,
|
| 5 |
+
"episodes": null,
|
| 6 |
+
"image_transforms": {
|
| 7 |
+
"enable": false,
|
| 8 |
+
"max_num_transforms": 3,
|
| 9 |
+
"random_order": false,
|
| 10 |
+
"tfs": {
|
| 11 |
+
"brightness": {
|
| 12 |
+
"weight": 1.0,
|
| 13 |
+
"type": "ColorJitter",
|
| 14 |
+
"kwargs": {
|
| 15 |
+
"brightness": [
|
| 16 |
+
0.8,
|
| 17 |
+
1.2
|
| 18 |
+
]
|
| 19 |
+
}
|
| 20 |
+
},
|
| 21 |
+
"contrast": {
|
| 22 |
+
"weight": 1.0,
|
| 23 |
+
"type": "ColorJitter",
|
| 24 |
+
"kwargs": {
|
| 25 |
+
"contrast": [
|
| 26 |
+
0.8,
|
| 27 |
+
1.2
|
| 28 |
+
]
|
| 29 |
+
}
|
| 30 |
+
},
|
| 31 |
+
"saturation": {
|
| 32 |
+
"weight": 1.0,
|
| 33 |
+
"type": "ColorJitter",
|
| 34 |
+
"kwargs": {
|
| 35 |
+
"saturation": [
|
| 36 |
+
0.5,
|
| 37 |
+
1.5
|
| 38 |
+
]
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"hue": {
|
| 42 |
+
"weight": 1.0,
|
| 43 |
+
"type": "ColorJitter",
|
| 44 |
+
"kwargs": {
|
| 45 |
+
"hue": [
|
| 46 |
+
-0.05,
|
| 47 |
+
0.05
|
| 48 |
+
]
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
"sharpness": {
|
| 52 |
+
"weight": 1.0,
|
| 53 |
+
"type": "SharpnessJitter",
|
| 54 |
+
"kwargs": {
|
| 55 |
+
"sharpness": [
|
| 56 |
+
0.5,
|
| 57 |
+
1.5
|
| 58 |
+
]
|
| 59 |
+
}
|
| 60 |
+
}
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"revision": null,
|
| 64 |
+
"use_imagenet_stats": true,
|
| 65 |
+
"video_backend": "torchcodec"
|
| 66 |
+
},
|
| 67 |
+
"env": null,
|
| 68 |
+
"policy": {
|
| 69 |
+
"type": "act",
|
| 70 |
+
"n_obs_steps": 1,
|
| 71 |
+
"normalization_mapping": {
|
| 72 |
+
"VISUAL": "MEAN_STD",
|
| 73 |
+
"STATE": "MEAN_STD",
|
| 74 |
+
"ACTION": "MEAN_STD"
|
| 75 |
+
},
|
| 76 |
+
"input_features": {
|
| 77 |
+
"observation.state": {
|
| 78 |
+
"type": "STATE",
|
| 79 |
+
"shape": [
|
| 80 |
+
6
|
| 81 |
+
]
|
| 82 |
+
},
|
| 83 |
+
"observation.images.laptop": {
|
| 84 |
+
"type": "VISUAL",
|
| 85 |
+
"shape": [
|
| 86 |
+
3,
|
| 87 |
+
480,
|
| 88 |
+
640
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"observation.images.phone": {
|
| 92 |
+
"type": "VISUAL",
|
| 93 |
+
"shape": [
|
| 94 |
+
3,
|
| 95 |
+
480,
|
| 96 |
+
640
|
| 97 |
+
]
|
| 98 |
+
}
|
| 99 |
+
},
|
| 100 |
+
"output_features": {
|
| 101 |
+
"action": {
|
| 102 |
+
"type": "ACTION",
|
| 103 |
+
"shape": [
|
| 104 |
+
6
|
| 105 |
+
]
|
| 106 |
+
}
|
| 107 |
+
},
|
| 108 |
+
"device": "cuda",
|
| 109 |
+
"use_amp": false,
|
| 110 |
+
"chunk_size": 100,
|
| 111 |
+
"n_action_steps": 100,
|
| 112 |
+
"vision_backbone": "resnet18",
|
| 113 |
+
"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
|
| 114 |
+
"replace_final_stride_with_dilation": false,
|
| 115 |
+
"pre_norm": false,
|
| 116 |
+
"dim_model": 512,
|
| 117 |
+
"n_heads": 8,
|
| 118 |
+
"dim_feedforward": 3200,
|
| 119 |
+
"feedforward_activation": "relu",
|
| 120 |
+
"n_encoder_layers": 4,
|
| 121 |
+
"n_decoder_layers": 1,
|
| 122 |
+
"use_vae": true,
|
| 123 |
+
"latent_dim": 32,
|
| 124 |
+
"n_vae_encoder_layers": 4,
|
| 125 |
+
"temporal_ensemble_coeff": null,
|
| 126 |
+
"dropout": 0.1,
|
| 127 |
+
"kl_weight": 10.0,
|
| 128 |
+
"optimizer_lr": 1e-05,
|
| 129 |
+
"optimizer_weight_decay": 0.0001,
|
| 130 |
+
"optimizer_lr_backbone": 1e-05
|
| 131 |
+
},
|
| 132 |
+
"output_dir": "outputs/train/act_so100_battery_bin_center",
|
| 133 |
+
"job_name": "act_so100_battery_bin_center",
|
| 134 |
+
"resume": false,
|
| 135 |
+
"seed": 1000,
|
| 136 |
+
"num_workers": 4,
|
| 137 |
+
"batch_size": 8,
|
| 138 |
+
"steps": 100000,
|
| 139 |
+
"eval_freq": 20000,
|
| 140 |
+
"log_freq": 200,
|
| 141 |
+
"save_checkpoint": true,
|
| 142 |
+
"save_freq": 20000,
|
| 143 |
+
"use_policy_training_preset": true,
|
| 144 |
+
"optimizer": {
|
| 145 |
+
"type": "adamw",
|
| 146 |
+
"lr": 1e-05,
|
| 147 |
+
"weight_decay": 0.0001,
|
| 148 |
+
"grad_clip_norm": 10.0,
|
| 149 |
+
"betas": [
|
| 150 |
+
0.9,
|
| 151 |
+
0.999
|
| 152 |
+
],
|
| 153 |
+
"eps": 1e-08
|
| 154 |
+
},
|
| 155 |
+
"scheduler": null,
|
| 156 |
+
"eval": {
|
| 157 |
+
"n_episodes": 50,
|
| 158 |
+
"batch_size": 50,
|
| 159 |
+
"use_async_envs": false
|
| 160 |
+
},
|
| 161 |
+
"wandb": {
|
| 162 |
+
"enable": true,
|
| 163 |
+
"disable_artifact": false,
|
| 164 |
+
"project": "lerobot",
|
| 165 |
+
"entity": null,
|
| 166 |
+
"notes": null,
|
| 167 |
+
"run_id": null,
|
| 168 |
+
"mode": null
|
| 169 |
+
}
|
| 170 |
+
}
|
checkpoints/100000/training_state/optimizer_param_groups.json
ADDED
|
@@ -0,0 +1,189 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
[
|
| 2 |
+
{
|
| 3 |
+
"lr": 1e-05,
|
| 4 |
+
"betas": [
|
| 5 |
+
0.9,
|
| 6 |
+
0.999
|
| 7 |
+
],
|
| 8 |
+
"eps": 1e-08,
|
| 9 |
+
"weight_decay": 0.0001,
|
| 10 |
+
"amsgrad": false,
|
| 11 |
+
"foreach": null,
|
| 12 |
+
"maximize": false,
|
| 13 |
+
"capturable": false,
|
| 14 |
+
"differentiable": false,
|
| 15 |
+
"fused": null,
|
| 16 |
+
"params": [
|
| 17 |
+
0,
|
| 18 |
+
1,
|
| 19 |
+
2,
|
| 20 |
+
3,
|
| 21 |
+
4,
|
| 22 |
+
5,
|
| 23 |
+
6,
|
| 24 |
+
7,
|
| 25 |
+
8,
|
| 26 |
+
9,
|
| 27 |
+
10,
|
| 28 |
+
11,
|
| 29 |
+
12,
|
| 30 |
+
13,
|
| 31 |
+
14,
|
| 32 |
+
15,
|
| 33 |
+
16,
|
| 34 |
+
17,
|
| 35 |
+
18,
|
| 36 |
+
19,
|
| 37 |
+
20,
|
| 38 |
+
21,
|
| 39 |
+
22,
|
| 40 |
+
23,
|
| 41 |
+
24,
|
| 42 |
+
25,
|
| 43 |
+
26,
|
| 44 |
+
27,
|
| 45 |
+
28,
|
| 46 |
+
29,
|
| 47 |
+
30,
|
| 48 |
+
31,
|
| 49 |
+
32,
|
| 50 |
+
33,
|
| 51 |
+
34,
|
| 52 |
+
35,
|
| 53 |
+
36,
|
| 54 |
+
37,
|
| 55 |
+
38,
|
| 56 |
+
39,
|
| 57 |
+
40,
|
| 58 |
+
41,
|
| 59 |
+
42,
|
| 60 |
+
43,
|
| 61 |
+
44,
|
| 62 |
+
45,
|
| 63 |
+
46,
|
| 64 |
+
47,
|
| 65 |
+
48,
|
| 66 |
+
49,
|
| 67 |
+
50,
|
| 68 |
+
51,
|
| 69 |
+
52,
|
| 70 |
+
53,
|
| 71 |
+
54,
|
| 72 |
+
55,
|
| 73 |
+
56,
|
| 74 |
+
57,
|
| 75 |
+
58,
|
| 76 |
+
59,
|
| 77 |
+
60,
|
| 78 |
+
61,
|
| 79 |
+
62,
|
| 80 |
+
63,
|
| 81 |
+
64,
|
| 82 |
+
65,
|
| 83 |
+
66,
|
| 84 |
+
67,
|
| 85 |
+
68,
|
| 86 |
+
69,
|
| 87 |
+
70,
|
| 88 |
+
71,
|
| 89 |
+
72,
|
| 90 |
+
73,
|
| 91 |
+
74,
|
| 92 |
+
75,
|
| 93 |
+
76,
|
| 94 |
+
77,
|
| 95 |
+
78,
|
| 96 |
+
79,
|
| 97 |
+
80,
|
| 98 |
+
81,
|
| 99 |
+
82,
|
| 100 |
+
83,
|
| 101 |
+
84,
|
| 102 |
+
85,
|
| 103 |
+
86,
|
| 104 |
+
87,
|
| 105 |
+
88,
|
| 106 |
+
89,
|
| 107 |
+
90,
|
| 108 |
+
91,
|
| 109 |
+
92,
|
| 110 |
+
93,
|
| 111 |
+
94,
|
| 112 |
+
95,
|
| 113 |
+
96,
|
| 114 |
+
97,
|
| 115 |
+
98,
|
| 116 |
+
99,
|
| 117 |
+
100,
|
| 118 |
+
101,
|
| 119 |
+
102,
|
| 120 |
+
103,
|
| 121 |
+
104,
|
| 122 |
+
105,
|
| 123 |
+
106,
|
| 124 |
+
107,
|
| 125 |
+
108,
|
| 126 |
+
109,
|
| 127 |
+
110,
|
| 128 |
+
111,
|
| 129 |
+
112,
|
| 130 |
+
113,
|
| 131 |
+
114,
|
| 132 |
+
115,
|
| 133 |
+
116,
|
| 134 |
+
117,
|
| 135 |
+
118,
|
| 136 |
+
119,
|
| 137 |
+
120,
|
| 138 |
+
121,
|
| 139 |
+
122,
|
| 140 |
+
123,
|
| 141 |
+
124,
|
| 142 |
+
125,
|
| 143 |
+
126,
|
| 144 |
+
127,
|
| 145 |
+
128,
|
| 146 |
+
129,
|
| 147 |
+
130,
|
| 148 |
+
131,
|
| 149 |
+
132
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"lr": 1e-05,
|
| 154 |
+
"betas": [
|
| 155 |
+
0.9,
|
| 156 |
+
0.999
|
| 157 |
+
],
|
| 158 |
+
"eps": 1e-08,
|
| 159 |
+
"weight_decay": 0.0001,
|
| 160 |
+
"amsgrad": false,
|
| 161 |
+
"foreach": null,
|
| 162 |
+
"maximize": false,
|
| 163 |
+
"capturable": false,
|
| 164 |
+
"differentiable": false,
|
| 165 |
+
"fused": null,
|
| 166 |
+
"params": [
|
| 167 |
+
133,
|
| 168 |
+
134,
|
| 169 |
+
135,
|
| 170 |
+
136,
|
| 171 |
+
137,
|
| 172 |
+
138,
|
| 173 |
+
139,
|
| 174 |
+
140,
|
| 175 |
+
141,
|
| 176 |
+
142,
|
| 177 |
+
143,
|
| 178 |
+
144,
|
| 179 |
+
145,
|
| 180 |
+
146,
|
| 181 |
+
147,
|
| 182 |
+
148,
|
| 183 |
+
149,
|
| 184 |
+
150,
|
| 185 |
+
151,
|
| 186 |
+
152
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
]
|
checkpoints/100000/training_state/optimizer_state.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4faf8be0f660bf0843580af42b4ef1ecccf6a57a9430fd616c2d37b33a21dc4d
|
| 3 |
+
size 412817652
|
checkpoints/100000/training_state/rng_state.safetensors
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:639dbd23b3b5bb1344ee801e715fbeacad5d23a22822c34eb338d0a472cd3382
|
| 3 |
+
size 15708
|
checkpoints/100000/training_state/training_step.json
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"step": 100000
|
| 3 |
+
}
|
wandb/debug-internal.log
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"time":"2025-04-09T03:44:32.569149893Z","level":"INFO","msg":"stream: starting","core version":"0.19.9","symlink path":"outputs/train/act_so100_battery_bin_center/wandb/run-20250409_034432-mzcfyk14/logs/debug-core.log"}
|
| 2 |
+
{"time":"2025-04-09T03:44:32.931038277Z","level":"INFO","msg":"created new stream","id":"mzcfyk14"}
|
| 3 |
+
{"time":"2025-04-09T03:44:32.931112337Z","level":"INFO","msg":"stream: started","id":"mzcfyk14"}
|
| 4 |
+
{"time":"2025-04-09T03:44:32.931379825Z","level":"INFO","msg":"handler: started","stream_id":"mzcfyk14"}
|
| 5 |
+
{"time":"2025-04-09T03:44:32.931405525Z","level":"INFO","msg":"sender: started","stream_id":"mzcfyk14"}
|
| 6 |
+
{"time":"2025-04-09T03:44:32.931465614Z","level":"INFO","msg":"writer: Do: started","stream_id":"mzcfyk14"}
|
| 7 |
+
{"time":"2025-04-09T03:44:33.19700084Z","level":"INFO","msg":"Starting system monitor"}
|
| 8 |
+
{"time":"2025-04-09T05:52:29.663569862Z","level":"INFO","msg":"stream: closing","id":"mzcfyk14"}
|
| 9 |
+
{"time":"2025-04-09T05:52:29.663609361Z","level":"INFO","msg":"Stopping system monitor"}
|
| 10 |
+
{"time":"2025-04-09T05:52:29.663656641Z","level":"INFO","msg":"Stopped system monitor"}
|
| 11 |
+
{"time":"2025-04-09T05:52:39.407741533Z","level":"INFO","msg":"fileTransfer: Close: file transfer manager closed"}
|
| 12 |
+
{"time":"2025-04-09T05:52:39.676195867Z","level":"INFO","msg":"handler: closed","stream_id":"mzcfyk14"}
|
| 13 |
+
{"time":"2025-04-09T05:52:39.676247407Z","level":"INFO","msg":"writer: Close: closed","stream_id":"mzcfyk14"}
|
| 14 |
+
{"time":"2025-04-09T05:52:39.676275507Z","level":"INFO","msg":"sender: closed","stream_id":"mzcfyk14"}
|
| 15 |
+
{"time":"2025-04-09T05:52:39.676459166Z","level":"INFO","msg":"stream: closed","id":"mzcfyk14"}
|
wandb/debug.log
ADDED
|
@@ -0,0 +1,23 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
2025-04-09 03:44:32,561 INFO MainThread:4140 [wandb_setup.py:_flush():67] Current SDK version is 0.19.9
|
| 2 |
+
2025-04-09 03:44:32,561 INFO MainThread:4140 [wandb_setup.py:_flush():67] Configure stats pid to 4140
|
| 3 |
+
2025-04-09 03:44:32,561 INFO MainThread:4140 [wandb_setup.py:_flush():67] Loading settings from /root/.config/wandb/settings
|
| 4 |
+
2025-04-09 03:44:32,561 INFO MainThread:4140 [wandb_setup.py:_flush():67] Loading settings from /root/lerobot/wandb/settings
|
| 5 |
+
2025-04-09 03:44:32,561 INFO MainThread:4140 [wandb_setup.py:_flush():67] Loading settings from environment variables
|
| 6 |
+
2025-04-09 03:44:32,562 INFO MainThread:4140 [wandb_init.py:setup_run_log_directory():662] Logging user logs to outputs/train/act_so100_battery_bin_center/wandb/run-20250409_034432-mzcfyk14/logs/debug.log
|
| 7 |
+
2025-04-09 03:44:32,562 INFO MainThread:4140 [wandb_init.py:setup_run_log_directory():663] Logging internal logs to outputs/train/act_so100_battery_bin_center/wandb/run-20250409_034432-mzcfyk14/logs/debug-internal.log
|
| 8 |
+
2025-04-09 03:44:32,562 INFO MainThread:4140 [wandb_init.py:init():781] calling init triggers
|
| 9 |
+
2025-04-09 03:44:32,562 INFO MainThread:4140 [wandb_init.py:init():786] wandb.init called with sweep_config: {}
|
| 10 |
+
config: {'dataset': {'repo_id': '00ri/so100_battery_bin_center', 'root': None, 'episodes': None, 'image_transforms': {'enable': False, 'max_num_transforms': 3, 'random_order': False, 'tfs': {'brightness': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'brightness': [0.8, 1.2]}}, 'contrast': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'contrast': [0.8, 1.2]}}, 'saturation': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'saturation': [0.5, 1.5]}}, 'hue': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'hue': [-0.05, 0.05]}}, 'sharpness': {'weight': 1.0, 'type': 'SharpnessJitter', 'kwargs': {'sharpness': [0.5, 1.5]}}}}, 'revision': None, 'use_imagenet_stats': True, 'video_backend': 'torchcodec'}, 'env': None, 'policy': {'type': 'act', 'n_obs_steps': 1, 'normalization_mapping': {'VISUAL': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'STATE': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'ACTION': <NormalizationMode.MEAN_STD: 'MEAN_STD'>}, 'input_features': {}, 'output_features': {}, 'device': 'cuda', 'use_amp': False, 'chunk_size': 100, 'n_action_steps': 100, 'vision_backbone': 'resnet18', 'pretrained_backbone_weights': 'ResNet18_Weights.IMAGENET1K_V1', 'replace_final_stride_with_dilation': False, 'pre_norm': False, 'dim_model': 512, 'n_heads': 8, 'dim_feedforward': 3200, 'feedforward_activation': 'relu', 'n_encoder_layers': 4, 'n_decoder_layers': 1, 'use_vae': True, 'latent_dim': 32, 'n_vae_encoder_layers': 4, 'temporal_ensemble_coeff': None, 'dropout': 0.1, 'kl_weight': 10.0, 'optimizer_lr': 1e-05, 'optimizer_weight_decay': 0.0001, 'optimizer_lr_backbone': 1e-05}, 'output_dir': 'outputs/train/act_so100_battery_bin_center', 'job_name': 'act_so100_battery_bin_center', 'resume': False, 'seed': 1000, 'num_workers': 4, 'batch_size': 8, 'steps': 100000, 'eval_freq': 20000, 'log_freq': 200, 'save_checkpoint': True, 'save_freq': 20000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adamw', 'lr': 1e-05, 'weight_decay': 0.0001, 'grad_clip_norm': 10.0, 'betas': [0.9, 0.999], 'eps': 1e-08}, 'scheduler': None, 'eval': {'n_episodes': 50, 'batch_size': 50, 'use_async_envs': False}, 'wandb': {'enable': True, 'disable_artifact': False, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': None, 'mode': None}, '_wandb': {}}
|
| 11 |
+
2025-04-09 03:44:32,562 INFO MainThread:4140 [wandb_init.py:init():809] starting backend
|
| 12 |
+
2025-04-09 03:44:32,562 INFO MainThread:4140 [wandb_init.py:init():813] sending inform_init request
|
| 13 |
+
2025-04-09 03:44:32,565 INFO MainThread:4140 [backend.py:_multiprocessing_setup():101] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
|
| 14 |
+
2025-04-09 03:44:32,565 INFO MainThread:4140 [wandb_init.py:init():823] backend started and connected
|
| 15 |
+
2025-04-09 03:44:32,567 INFO MainThread:4140 [wandb_init.py:init():915] updated telemetry
|
| 16 |
+
2025-04-09 03:44:32,571 INFO MainThread:4140 [wandb_init.py:init():939] communicating run to backend with 90.0 second timeout
|
| 17 |
+
2025-04-09 03:44:33,194 INFO MainThread:4140 [wandb_init.py:init():1014] starting run threads in backend
|
| 18 |
+
2025-04-09 03:44:33,291 INFO MainThread:4140 [wandb_run.py:_console_start():2454] atexit reg
|
| 19 |
+
2025-04-09 03:44:33,291 INFO MainThread:4140 [wandb_run.py:_redirect():2306] redirect: wrap_raw
|
| 20 |
+
2025-04-09 03:44:33,292 INFO MainThread:4140 [wandb_run.py:_redirect():2371] Wrapping output streams.
|
| 21 |
+
2025-04-09 03:44:33,292 INFO MainThread:4140 [wandb_run.py:_redirect():2394] Redirects installed.
|
| 22 |
+
2025-04-09 03:44:33,293 INFO MainThread:4140 [wandb_init.py:init():1056] run started, returning control to user process
|
| 23 |
+
2025-04-09 05:52:29,662 INFO MsgRouterThr:4140 [mailbox.py:close():129] [no run ID] Closing mailbox, abandoning 2 handles.
|
wandb/run-20250409_034432-mzcfyk14/files/config.yaml
ADDED
|
@@ -0,0 +1,162 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
_wandb:
|
| 2 |
+
value:
|
| 3 |
+
cli_version: 0.19.9
|
| 4 |
+
m: []
|
| 5 |
+
python_version: 3.10.12
|
| 6 |
+
t:
|
| 7 |
+
"1":
|
| 8 |
+
- 1
|
| 9 |
+
- 41
|
| 10 |
+
- 49
|
| 11 |
+
- 51
|
| 12 |
+
- 55
|
| 13 |
+
"2":
|
| 14 |
+
- 1
|
| 15 |
+
- 41
|
| 16 |
+
- 49
|
| 17 |
+
- 51
|
| 18 |
+
- 55
|
| 19 |
+
"3":
|
| 20 |
+
- 13
|
| 21 |
+
- 15
|
| 22 |
+
- 16
|
| 23 |
+
- 23
|
| 24 |
+
- 55
|
| 25 |
+
- 61
|
| 26 |
+
"4": 3.10.12
|
| 27 |
+
"5": 0.19.9
|
| 28 |
+
"8":
|
| 29 |
+
- 5
|
| 30 |
+
"12": 0.19.9
|
| 31 |
+
"13": linux-x86_64
|
| 32 |
+
batch_size:
|
| 33 |
+
value: 8
|
| 34 |
+
dataset:
|
| 35 |
+
value:
|
| 36 |
+
episodes: null
|
| 37 |
+
image_transforms:
|
| 38 |
+
enable: false
|
| 39 |
+
max_num_transforms: 3
|
| 40 |
+
random_order: false
|
| 41 |
+
tfs:
|
| 42 |
+
brightness:
|
| 43 |
+
kwargs:
|
| 44 |
+
brightness:
|
| 45 |
+
- 0.8
|
| 46 |
+
- 1.2
|
| 47 |
+
type: ColorJitter
|
| 48 |
+
weight: 1
|
| 49 |
+
contrast:
|
| 50 |
+
kwargs:
|
| 51 |
+
contrast:
|
| 52 |
+
- 0.8
|
| 53 |
+
- 1.2
|
| 54 |
+
type: ColorJitter
|
| 55 |
+
weight: 1
|
| 56 |
+
hue:
|
| 57 |
+
kwargs:
|
| 58 |
+
hue:
|
| 59 |
+
- -0.05
|
| 60 |
+
- 0.05
|
| 61 |
+
type: ColorJitter
|
| 62 |
+
weight: 1
|
| 63 |
+
saturation:
|
| 64 |
+
kwargs:
|
| 65 |
+
saturation:
|
| 66 |
+
- 0.5
|
| 67 |
+
- 1.5
|
| 68 |
+
type: ColorJitter
|
| 69 |
+
weight: 1
|
| 70 |
+
sharpness:
|
| 71 |
+
kwargs:
|
| 72 |
+
sharpness:
|
| 73 |
+
- 0.5
|
| 74 |
+
- 1.5
|
| 75 |
+
type: SharpnessJitter
|
| 76 |
+
weight: 1
|
| 77 |
+
repo_id: 00ri/so100_battery_bin_center
|
| 78 |
+
revision: null
|
| 79 |
+
root: null
|
| 80 |
+
use_imagenet_stats: true
|
| 81 |
+
video_backend: torchcodec
|
| 82 |
+
env:
|
| 83 |
+
value: null
|
| 84 |
+
eval:
|
| 85 |
+
value:
|
| 86 |
+
batch_size: 50
|
| 87 |
+
n_episodes: 50
|
| 88 |
+
use_async_envs: false
|
| 89 |
+
eval_freq:
|
| 90 |
+
value: 20000
|
| 91 |
+
job_name:
|
| 92 |
+
value: act_so100_battery_bin_center
|
| 93 |
+
log_freq:
|
| 94 |
+
value: 200
|
| 95 |
+
num_workers:
|
| 96 |
+
value: 4
|
| 97 |
+
optimizer:
|
| 98 |
+
value:
|
| 99 |
+
betas:
|
| 100 |
+
- 0.9
|
| 101 |
+
- 0.999
|
| 102 |
+
eps: 1e-08
|
| 103 |
+
grad_clip_norm: 10
|
| 104 |
+
lr: 1e-05
|
| 105 |
+
type: adamw
|
| 106 |
+
weight_decay: 0.0001
|
| 107 |
+
output_dir:
|
| 108 |
+
value: outputs/train/act_so100_battery_bin_center
|
| 109 |
+
policy:
|
| 110 |
+
value:
|
| 111 |
+
chunk_size: 100
|
| 112 |
+
device: cuda
|
| 113 |
+
dim_feedforward: 3200
|
| 114 |
+
dim_model: 512
|
| 115 |
+
dropout: 0.1
|
| 116 |
+
feedforward_activation: relu
|
| 117 |
+
kl_weight: 10
|
| 118 |
+
latent_dim: 32
|
| 119 |
+
n_action_steps: 100
|
| 120 |
+
n_decoder_layers: 1
|
| 121 |
+
n_encoder_layers: 4
|
| 122 |
+
n_heads: 8
|
| 123 |
+
n_obs_steps: 1
|
| 124 |
+
n_vae_encoder_layers: 4
|
| 125 |
+
normalization_mapping:
|
| 126 |
+
ACTION: MEAN_STD
|
| 127 |
+
STATE: MEAN_STD
|
| 128 |
+
VISUAL: MEAN_STD
|
| 129 |
+
optimizer_lr: 1e-05
|
| 130 |
+
optimizer_lr_backbone: 1e-05
|
| 131 |
+
optimizer_weight_decay: 0.0001
|
| 132 |
+
pre_norm: false
|
| 133 |
+
pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1
|
| 134 |
+
replace_final_stride_with_dilation: false
|
| 135 |
+
temporal_ensemble_coeff: null
|
| 136 |
+
type: act
|
| 137 |
+
use_amp: false
|
| 138 |
+
use_vae: true
|
| 139 |
+
vision_backbone: resnet18
|
| 140 |
+
resume:
|
| 141 |
+
value: false
|
| 142 |
+
save_checkpoint:
|
| 143 |
+
value: true
|
| 144 |
+
save_freq:
|
| 145 |
+
value: 20000
|
| 146 |
+
scheduler:
|
| 147 |
+
value: null
|
| 148 |
+
seed:
|
| 149 |
+
value: 1000
|
| 150 |
+
steps:
|
| 151 |
+
value: 100000
|
| 152 |
+
use_policy_training_preset:
|
| 153 |
+
value: true
|
| 154 |
+
wandb:
|
| 155 |
+
value:
|
| 156 |
+
disable_artifact: false
|
| 157 |
+
enable: true
|
| 158 |
+
entity: null
|
| 159 |
+
mode: null
|
| 160 |
+
notes: null
|
| 161 |
+
project: lerobot
|
| 162 |
+
run_id: null
|
wandb/run-20250409_034432-mzcfyk14/files/output.log
ADDED
|
@@ -0,0 +1,681 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
[1m[34mLogs will be synced with wandb.[0m
|
| 2 |
+
INFO 2025-04-09 03:44:33 ndb_utils.py:96 Track this run --> [1m[33mhttps://wandb.ai/oorischubert-technion-israel-institute-of-technology/lerobot/runs/mzcfyk14[0m
|
| 3 |
+
INFO 2025-04-09 03:44:33 ts/train.py:127 Creating dataset
|
| 4 |
+
info.json: 100%|██████████████████████████████████████████| 3.23k/3.23k [00:00<00:00, 11.7MB/s]
|
| 5 |
+
tasks.jsonl: 100%|███████████████████████████████████████████| 68.0/68.0 [00:00<00:00, 246kB/s]
|
| 6 |
+
episodes_stats.jsonl: 100%|█████████████████████████████████| 106k/106k [00:00<00:00, 6.99MB/s]
|
| 7 |
+
episodes.jsonl: 100%|█████████████████████████████████████| 4.49k/4.49k [00:00<00:00, 7.76MB/s]
|
| 8 |
+
Fetching 4 files: 100%|██████████████████████████████████████████| 4/4 [00:00<00:00, 10.35it/s]
|
| 9 |
+
README.md: 100%|██████████████████████████████████████████| 3.73k/3.73k [00:00<00:00, 9.25MB/s]
|
| 10 |
+
.gitattributes: 100%|█████████████████████████████████████| 2.46k/2.46k [00:00<00:00, 6.94MB/s]
|
| 11 |
+
episode_000000.parquet: 100%|█████████████████████████████| 22.8k/22.8k [00:00<00:00, 25.9MB/s]
|
| 12 |
+
episode_000002.parquet: 100%|█████████████████████████████| 24.7k/24.7k [00:00<00:00, 28.7MB/s]
|
| 13 |
+
episode_000005.parquet: 100%|█████████████████████████████| 22.8k/22.8k [00:00<00:00, 44.8MB/s]
|
| 14 |
+
episode_000001.parquet: 100%|█████████████████████████████| 21.0k/21.0k [00:00<00:00, 76.0MB/s]
|
| 15 |
+
episode_000004.parquet: 100%|█████████████████████████████| 25.2k/25.2k [00:00<00:00, 9.46MB/s]
|
| 16 |
+
episode_000003.parquet: 100%|█████████████████████████████| 3.66k/3.66k [00:00<00:00, 11.9MB/s]
|
| 17 |
+
episode_000006.parquet: 100%|█████████████████████████████| 21.7k/21.7k [00:00<00:00, 44.0MB/s]
|
| 18 |
+
episode_000008.parquet: 100%|█████████████████████████████| 21.0k/21.0k [00:00<00:00, 55.3MB/s]
|
| 19 |
+
episode_000007.parquet: 100%|█████████████████████████████| 25.0k/25.0k [00:00<00:00, 30.9MB/s]
|
| 20 |
+
episode_000009.parquet: 100%|█████████████████████████████| 22.8k/22.8k [00:00<00:00, 51.0MB/s]
|
| 21 |
+
episode_000010.parquet: 100%|█████████████████████████████| 22.0k/22.0k [00:00<00:00, 33.8MB/s]
|
| 22 |
+
episode_000011.parquet: 100%|█████████████████████████████| 28.0k/28.0k [00:00<00:00, 19.3MB/s]
|
| 23 |
+
episode_000012.parquet: 100%|█████████████████████████████| 22.1k/22.1k [00:00<00:00, 53.1MB/s]
|
| 24 |
+
episode_000013.parquet: 100%|█████████████████████████████| 20.4k/20.4k [00:00<00:00, 1.92MB/s]
|
| 25 |
+
episode_000014.parquet: 100%|█████████████████████████████| 19.9k/19.9k [00:00<00:00, 40.9MB/s]
|
| 26 |
+
episode_000015.parquet: 100%|█████████████████████████████| 25.8k/25.8k [00:00<00:00, 10.0MB/s]
|
| 27 |
+
episode_000016.parquet: 100%|█████████████████████████████| 21.0k/21.0k [00:00<00:00, 63.0MB/s]
|
| 28 |
+
episode_000018.parquet: 100%|█████████████████████████████| 21.8k/21.8k [00:00<00:00, 44.2MB/s]
|
| 29 |
+
episode_000017.parquet: 100%|█████████████████████████████| 21.0k/21.0k [00:00<00:00, 58.3MB/s]
|
| 30 |
+
episode_000019.parquet: 100%|█████████████████████████████| 18.4k/18.4k [00:00<00:00, 45.4MB/s]
|
| 31 |
+
episode_000021.parquet: 100%|█████████████████████████████| 21.7k/21.7k [00:00<00:00, 33.2MB/s]
|
| 32 |
+
episode_000020.parquet: 100%|█████████████████████████████| 26.8k/26.8k [00:00<00:00, 8.93MB/s]
|
| 33 |
+
episode_000022.parquet: 100%|█████████████████████████████| 18.6k/18.6k [00:00<00:00, 4.66MB/s]
|
| 34 |
+
episode_000024.parquet: 100%|█��███████████████████████████| 23.2k/23.2k [00:00<00:00, 5.97MB/s]
|
| 35 |
+
episode_000023.parquet: 100%|█████████████████████████████| 18.0k/18.0k [00:00<00:00, 23.1MB/s]
|
| 36 |
+
episode_000025.parquet: 100%|█████████████████████████████| 20.7k/20.7k [00:00<00:00, 33.9MB/s]
|
| 37 |
+
episode_000026.parquet: 100%|█████████████████████████████| 18.4k/18.4k [00:00<00:00, 23.0MB/s]
|
| 38 |
+
episode_000027.parquet: 100%|█████████████████████████████| 18.0k/18.0k [00:00<00:00, 36.8MB/s]
|
| 39 |
+
episode_000028.parquet: 100%|█████████████████████████████| 20.4k/20.4k [00:00<00:00, 40.1MB/s]
|
| 40 |
+
episode_000031.parquet: 100%|█████████████████████████████| 19.2k/19.2k [00:00<00:00, 15.3MB/s]
|
| 41 |
+
episode_000032.parquet: 100%|█████████████████████████████| 18.6k/18.6k [00:00<00:00, 48.4MB/s]
|
| 42 |
+
episode_000029.parquet: 100%|█████████████████████████████| 19.1k/19.1k [00:00<00:00, 50.0MB/s]
|
| 43 |
+
episode_000033.parquet: 100%|█████████████████████████████| 24.9k/24.9k [00:00<00:00, 52.5MB/s]
|
| 44 |
+
episode_000030.parquet: 100%|█████████████████████████████| 20.7k/20.7k [00:00<00:00, 78.0MB/s]
|
| 45 |
+
episode_000034.parquet: 100%|██████████████████████████████| 18.3k/18.3k [00:00<00:00, 843kB/s]
|
| 46 |
+
episode_000035.parquet: 100%|█████████████████████████████| 19.9k/19.9k [00:00<00:00, 46.4MB/s]
|
| 47 |
+
episode_000037.parquet: 100%|█████████████████████████████| 18.2k/18.2k [00:00<00:00, 27.3MB/s]
|
| 48 |
+
episode_000036.parquet: 100%|█████████████████████████████| 18.5k/18.5k [00:00<00:00, 41.6MB/s]
|
| 49 |
+
episode_000038.parquet: 100%|█████████████████████████████| 18.1k/18.1k [00:00<00:00, 35.9MB/s]
|
| 50 |
+
episode_000039.parquet: 100%|█████████████████████████████| 17.3k/17.3k [00:00<00:00, 37.6MB/s]
|
| 51 |
+
episode_000041.parquet: 100%|█████████████████████████████| 18.8k/18.8k [00:00<00:00, 47.5MB/s]
|
| 52 |
+
episode_000040.parquet: 100%|█████████████████████████████| 16.0k/16.0k [00:00<00:00, 36.0MB/s]
|
| 53 |
+
episode_000042.parquet: 100%|█████████████████████████████| 21.4k/21.4k [00:00<00:00, 48.0MB/s]
|
| 54 |
+
episode_000043.parquet: 100%|█████████████████████████████| 20.2k/20.2k [00:00<00:00, 71.4MB/s]
|
| 55 |
+
episode_000044.parquet: 100%|█████████████████████████████| 18.5k/18.5k [00:00<00:00, 59.0MB/s]
|
| 56 |
+
episode_000045.parquet: 100%|█████████████████████████████| 19.0k/19.0k [00:00<00:00, 39.3MB/s]
|
| 57 |
+
episode_000046.parquet: 100%|█████████████████████████████| 20.6k/20.6k [00:00<00:00, 52.3MB/s]
|
| 58 |
+
episode_000047.parquet: 100%|█████████████████████████████| 20.3k/20.3k [00:00<00:00, 59.0MB/s]
|
| 59 |
+
episode_000048.parquet: 100%|█████████████████████████████| 21.4k/21.4k [00:00<00:00, 38.0MB/s]
|
| 60 |
+
episode_000049.parquet: 100%|█████████████████████████████| 20.3k/20.3k [00:00<00:00, 41.8MB/s]
|
| 61 |
+
episode_000000.mp4: 100%|███████████████████████████████████| 773k/773k [00:00<00:00, 16.9MB/s]
|
| 62 |
+
episode_000001.mp4: 100%|███████████████████████████████████| 717k/717k [00:00<00:00, 11.8MB/s]
|
| 63 |
+
episode_000003.mp4: 100%|█████████████████████████████████| 2.48k/2.48k [00:00<00:00, 7.17MB/s]
|
| 64 |
+
episode_000004.mp4: 100%|███████████████████████████████████| 926k/926k [00:00<00:00, 20.8MB/s]
|
| 65 |
+
episode_000006.mp4: 100%|███████████████████████████████████| 708k/708k [00:00<00:00, 17.9MB/s]
|
| 66 |
+
episode_000007.mp4: 100%|███████████████████████████████████| 734k/734k [00:00<00:00, 12.0MB/s]
|
| 67 |
+
episode_000008.mp4: 100%|███████████████████████████████████| 697k/697k [00:00<00:00, 29.7MB/s]
|
| 68 |
+
episode_000005.mp4: 100%|███████████████████████████████████| 739k/739k [00:00<00:00, 6.49MB/s]
|
| 69 |
+
episode_000009.mp4: 100%|███████████████████████████████████| 653k/653k [00:00<00:00, 64.4MB/s]
|
| 70 |
+
episode_000002.mp4: 100%|███████████████████████████████████| 755k/755k [00:00<00:00, 20.0MB/s]
|
| 71 |
+
episode_000010.mp4: 100%|███████████████████████████████████| 710k/710k [00:00<00:00, 12.3MB/s]
|
| 72 |
+
episode_000011.mp4: 100%|████████████████████████████████████| 944k/944k [00:00<00:00, 157MB/s]
|
| 73 |
+
episode_000012.mp4: 100%|███████████████████████████████████| 785k/785k [00:00<00:00, 13.1MB/s]
|
| 74 |
+
episode_000013.mp4: 100%|███████████████████████████████████| 665k/665k [00:00<00:00, 27.6MB/s]
|
| 75 |
+
episode_000015.mp4: 100%|███████████████████████████████████| 945k/945k [00:00<00:00, 23.9MB/s]
|
| 76 |
+
episode_000017.mp4: 100%|███████████████████████████████████| 757k/757k [00:00<00:00, 35.9MB/s]
|
| 77 |
+
episode_000014.mp4: 100%|███████████████████████████████████| 667k/667k [00:00<00:00, 9.57MB/s]
|
| 78 |
+
episode_000016.mp4: 100%|███████████████████████████████████| 603k/603k [00:00<00:00, 14.6MB/s]
|
| 79 |
+
episode_000019.mp4: 100%|████████████████████████████████████| 549k/549k [00:00<00:00, 206MB/s]
|
| 80 |
+
episode_000020.mp4: 100%|████████████████████████████████████| 763k/763k [00:00<00:00, 113MB/s]
|
| 81 |
+
episode_000021.mp4: 100%|███████████████████████████████████| 607k/607k [00:00<00:00, 68.7MB/s]
|
| 82 |
+
episode_000023.mp4: 100%|████████████████████████████████████| 478k/478k [00:00<00:00, 137MB/s]
|
| 83 |
+
episode_000024.mp4: 100%|███████████████████████████████████| 674k/674k [00:00<00:00, 27.6MB/s]
|
| 84 |
+
episode_000018.mp4: 100%|███████████████████████████████████| 688k/688k [00:00<00:00, 10.8MB/s]
|
| 85 |
+
episode_000026.mp4: 100%|████████████████████████████████████| 495k/495k [00:00<00:00, 167MB/s]
|
| 86 |
+
episode_000022.mp4: 100%|███████████████████████████████████| 483k/483k [00:00<00:00, 5.62MB/s]
|
| 87 |
+
episode_000027.mp4: 100%|███████████████████████████████████| 551k/551k [00:00<00:00, 9.47MB/s]
|
| 88 |
+
episode_000028.mp4: 100%|███████████████████████████████████| 705k/705k [00:00<00:00, 39.2MB/s]
|
| 89 |
+
episode_000025.mp4: 100%|███████████████████████████████████| 535k/535k [00:00<00:00, 89.7MB/s]
|
| 90 |
+
episode_000029.mp4: 100%|███████████████████████████████████| 444k/444k [00:00<00:00, 24.3MB/s]
|
| 91 |
+
episode_000030.mp4: 100%|███████████████████████████████████| 619k/619k [00:00<00:00, 28.1MB/s]
|
| 92 |
+
episode_000032.mp4: 100%|████████████████████████████████████| 554k/554k [00:00<00:00, 240MB/s]
|
| 93 |
+
episode_000031.mp4: 100%|███████████████████████████████████| 512k/512k [00:00<00:00, 12.6MB/s]
|
| 94 |
+
episode_000033.mp4: 100%|███████████████████████████████████| 787k/787k [00:00<00:00, 19.0MB/s]
|
| 95 |
+
episode_000035.mp4: 100%|████████████████████████████████████| 506k/506k [00:00<00:00, 123MB/s]
|
| 96 |
+
episode_000036.mp4: 100%|███████████████████████████████████| 488k/488k [00:00<00:00, 64.9MB/s]
|
| 97 |
+
episode_000037.mp4: 100%|█████████████���██████████████████████| 452k/452k [00:00<00:00, 110MB/s]
|
| 98 |
+
episode_000038.mp4: 100%|███████████████████████████████████| 470k/470k [00:00<00:00, 26.7MB/s]
|
| 99 |
+
episode_000039.mp4: 100%|███████████████████████████████████| 436k/436k [00:00<00:00, 11.0MB/s]
|
| 100 |
+
episode_000040.mp4: 100%|███████████████████████████████████| 502k/502k [00:00<00:00, 12.2MB/s]
|
| 101 |
+
episode_000041.mp4: 100%|███████████████████████████████████| 463k/463k [00:00<00:00, 8.01MB/s]
|
| 102 |
+
episode_000034.mp4: 100%|███████████████████████████████████| 555k/555k [00:00<00:00, 2.03MB/s]
|
| 103 |
+
episode_000044.mp4: 100%|████████████████████████████████████| 540k/540k [00:00<00:00, 125MB/s]
|
| 104 |
+
episode_000043.mp4: 100%|███████████████████████████████████| 532k/532k [00:00<00:00, 24.1MB/s]
|
| 105 |
+
episode_000042.mp4: 100%|███████████████████████████████████| 573k/573k [00:00<00:00, 9.20MB/s]
|
| 106 |
+
episode_000046.mp4: 100%|███████████████████████████████████| 623k/623k [00:00<00:00, 88.4MB/s]
|
| 107 |
+
episode_000045.mp4: 100%|███████████████████████████████████| 541k/541k [00:00<00:00, 9.32MB/s]
|
| 108 |
+
episode_000048.mp4: 100%|███████████████████████████████████| 656k/656k [00:00<00:00, 18.1MB/s]
|
| 109 |
+
episode_000049.mp4: 100%|███████████████████████████████████| 692k/692k [00:00<00:00, 32.3MB/s]
|
| 110 |
+
episode_000047.mp4: 100%|███████████████████████████████████| 538k/538k [00:00<00:00, 7.93MB/s]
|
| 111 |
+
episode_000000.mp4: 100%|█████████████████████████████████| 1.70M/1.70M [00:00<00:00, 40.5MB/s]
|
| 112 |
+
episode_000001.mp4: 100%|█████████████████████████████████| 1.57M/1.57M [00:00<00:00, 68.3MB/s]
|
| 113 |
+
episode_000003.mp4: 100%|█████████████████████████████████| 6.60k/6.60k [00:00<00:00, 19.8MB/s]
|
| 114 |
+
episode_000002.mp4: 100%|█████████████████████████████████| 1.73M/1.73M [00:00<00:00, 20.9MB/s]
|
| 115 |
+
episode_000004.mp4: 100%|█████████████████████████████████| 2.09M/2.09M [00:00<00:00, 37.5MB/s]
|
| 116 |
+
episode_000005.mp4: 100%|█████████████████████████████████| 1.73M/1.73M [00:00<00:00, 51.5MB/s]
|
| 117 |
+
episode_000006.mp4: 100%|█████████████████████████████████| 1.57M/1.57M [00:00<00:00, 14.9MB/s]
|
| 118 |
+
episode_000007.mp4: 100%|█████████████████████████████████| 1.82M/1.82M [00:00<00:00, 14.7MB/s]
|
| 119 |
+
episode_000010.mp4: 100%|█████████████████████████████████| 1.65M/1.65M [00:00<00:00, 40.9MB/s]
|
| 120 |
+
episode_000008.mp4: 100%|█████████████████████████████████| 1.55M/1.55M [00:00<00:00, 8.24MB/s]
|
| 121 |
+
episode_000012.mp4: 100%|█████████████████████████████████| 1.54M/1.54M [00:00<00:00, 23.1MB/s]
|
| 122 |
+
episode_000013.mp4: 100%|█████████████████████████████████| 1.40M/1.40M [00:00<00:00, 24.8MB/s]
|
| 123 |
+
episode_000014.mp4: 100%|█████████████████████████████████| 1.24M/1.24M [00:00<00:00, 31.2MB/s]
|
| 124 |
+
episode_000009.mp4: 100%|█████████████████████████████████| 1.55M/1.55M [00:00<00:00, 4.21MB/s]
|
| 125 |
+
episode_000016.mp4: 100%|█████████████████████████████████| 1.53M/1.53M [00:00<00:00, 28.0MB/s]
|
| 126 |
+
episode_000015.mp4: 100%|█████████████████████████████████| 2.00M/2.00M [00:00<00:00, 21.3MB/s]
|
| 127 |
+
episode_000011.mp4: 100%|█████████████████████████████████| 2.08M/2.08M [00:00<00:00, 6.04MB/s]
|
| 128 |
+
episode_000017.mp4: 100%|███████████████��█████████████████| 1.57M/1.57M [00:00<00:00, 75.8MB/s]
|
| 129 |
+
episode_000018.mp4: 100%|█████████████████████████████████| 1.55M/1.55M [00:00<00:00, 43.9MB/s]
|
| 130 |
+
episode_000019.mp4: 100%|█████████████████████████████████| 1.27M/1.27M [00:00<00:00, 10.7MB/s]
|
| 131 |
+
episode_000020.mp4: 100%|█████████████████████████████████| 2.15M/2.15M [00:00<00:00, 53.4MB/s]
|
| 132 |
+
episode_000022.mp4: 100%|█████████████████████████████████| 1.12M/1.12M [00:00<00:00, 14.2MB/s]
|
| 133 |
+
episode_000023.mp4: 100%|█████████████████████████████████| 1.14M/1.14M [00:00<00:00, 13.3MB/s]
|
| 134 |
+
episode_000025.mp4: 100%|█████████████████████████████████| 1.48M/1.48M [00:00<00:00, 64.0MB/s]
|
| 135 |
+
episode_000026.mp4: 100%|█████████████████████████████████| 1.28M/1.28M [00:00<00:00, 71.3MB/s]
|
| 136 |
+
episode_000021.mp4: 100%|█████████████████████████████████| 1.50M/1.50M [00:00<00:00, 18.7MB/s]
|
| 137 |
+
episode_000027.mp4: 100%|█████████████████████████████████| 1.11M/1.11M [00:00<00:00, 27.2MB/s]
|
| 138 |
+
episode_000028.mp4: 100%|█████████████████████████████████| 1.60M/1.60M [00:00<00:00, 17.3MB/s]
|
| 139 |
+
episode_000024.mp4: 100%|█████████████████████████████████| 1.48M/1.48M [00:00<00:00, 5.38MB/s]
|
| 140 |
+
episode_000032.mp4: 100%|█████████████████████████████████| 1.16M/1.16M [00:00<00:00, 43.8MB/s]
|
| 141 |
+
episode_000029.mp4: 100%|█████████████████████████████████| 1.25M/1.25M [00:00<00:00, 20.3MB/s]
|
| 142 |
+
episode_000030.mp4: 100%|█████████████████████████████████| 1.40M/1.40M [00:00<00:00, 19.4MB/s]
|
| 143 |
+
episode_000031.mp4: 100%|█████████████████████████████████| 1.29M/1.29M [00:00<00:00, 16.0MB/s]
|
| 144 |
+
episode_000033.mp4: 100%|█████████████████████████████████| 1.83M/1.83M [00:00<00:00, 46.9MB/s]
|
| 145 |
+
episode_000034.mp4: 100%|█████████████████████████████████| 1.18M/1.18M [00:00<00:00, 22.0MB/s]
|
| 146 |
+
episode_000036.mp4: 100%|█████████████████████████████████| 1.19M/1.19M [00:00<00:00, 49.9MB/s]
|
| 147 |
+
episode_000035.mp4: 100%|█████████████████████████████████| 1.32M/1.32M [00:00<00:00, 14.2MB/s]
|
| 148 |
+
episode_000037.mp4: 100%|█████████████████████████████████| 1.15M/1.15M [00:00<00:00, 32.6MB/s]
|
| 149 |
+
episode_000038.mp4: 100%|█████████████████████████████████| 1.15M/1.15M [00:00<00:00, 27.8MB/s]
|
| 150 |
+
episode_000039.mp4: 100%|█████████████████████████████████| 1.10M/1.10M [00:00<00:00, 28.7MB/s]
|
| 151 |
+
episode_000041.mp4: 100%|█████████████████████████████████| 1.22M/1.22M [00:00<00:00, 57.1MB/s]
|
| 152 |
+
episode_000040.mp4: 100%|█████████████████████████████████| 1.10M/1.10M [00:00<00:00, 18.6MB/s]
|
| 153 |
+
episode_000043.mp4: 100%|██████████████████████████████████| 1.38M/1.38M [00:00<00:00, 136MB/s]
|
| 154 |
+
episode_000044.mp4: 100%|██████████████████████████████████| 1.31M/1.31M [00:00<00:00, 226MB/s]
|
| 155 |
+
episode_000042.mp4: 100%|█████████████████████████████████| 1.51M/1.51M [00:00<00:00, 15.1MB/s]
|
| 156 |
+
episode_000046.mp4: 100%|█████████████████████████████████| 1.40M/1.40M [00:00<00:00, 18.0MB/s]
|
| 157 |
+
episode_000048.mp4: 100%|█████████████████████████████████| 1.42M/1.42M [00:00<00:00, 70.6MB/s]
|
| 158 |
+
episode_000045.mp4: 100%|█████████████████████████████████| 1.33M/1.33M [00:00<00:00, 16.7MB/s]
|
| 159 |
+
episode_000047.mp4: 100%|█████████████████████████████████| 1.56M/1.56M [00:00<00:00, 70.4MB/s]
|
| 160 |
+
episode_000049.mp4: 100%|█████████████████████████████████| 1.49M/1.49M [00:00<00:00, 16.8MB/s]
|
| 161 |
+
Fetching 156 files: 100%|████████████████████████████████████| 156/156 [00:06<00:00, 24.64it/s]
|
| 162 |
+
Resolving data files: 100%|████████████████████████████████| 50/50 [00:00<00:00, 115609.26it/s]
|
| 163 |
+
Downloading data: 100%|█████████████████████████████████| 50/50 [00:00<00:00, 121082.68files/s]
|
| 164 |
+
Generating train split: 17715 examples [00:00, 238245.48 examples/s]
|
| 165 |
+
INFO 2025-04-09 03:44:41 ts/train.py:138 Creating policy
|
| 166 |
+
Downloading: "https://download.pytorch.org/models/resnet18-f37072fd.pth" to /root/.cache/torch/hub/checkpoints/resnet18-f37072fd.pth
|
| 167 |
+
100%|██████████████████████████████████████████████████████| 44.7M/44.7M [00:00<00:00, 207MB/s]
|
| 168 |
+
INFO 2025-04-09 03:44:43 ts/train.py:144 Creating optimizer and scheduler
|
| 169 |
+
INFO 2025-04-09 03:44:43 ts/train.py:156 [1m[33mOutput dir:[0m outputs/train/act_so100_battery_bin_center
|
| 170 |
+
INFO 2025-04-09 03:44:43 ts/train.py:159 cfg.steps=100000 (100K)
|
| 171 |
+
INFO 2025-04-09 03:44:43 ts/train.py:160 dataset.num_frames=17715 (18K)
|
| 172 |
+
INFO 2025-04-09 03:44:43 ts/train.py:161 dataset.num_episodes=50
|
| 173 |
+
INFO 2025-04-09 03:44:43 ts/train.py:162 num_learnable_params=51597190 (52M)
|
| 174 |
+
INFO 2025-04-09 03:44:43 ts/train.py:163 num_total_params=51597238 (52M)
|
| 175 |
+
INFO 2025-04-09 03:44:43 ts/train.py:202 Start offline training on a fixed dataset
|
| 176 |
+
INFO 2025-04-09 03:45:00 ts/train.py:232 step:200 smpl:2K ep:5 epch:0.09 loss:6.567 grdn:152.408 lr:1.0e-05 updt_s:0.082 data_s:0.003
|
| 177 |
+
INFO 2025-04-09 03:45:15 ts/train.py:232 step:400 smpl:3K ep:9 epch:0.18 loss:2.910 grdn:84.936 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 178 |
+
INFO 2025-04-09 03:45:31 ts/train.py:232 step:600 smpl:5K ep:14 epch:0.27 loss:2.451 grdn:74.185 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 179 |
+
INFO 2025-04-09 03:45:46 ts/train.py:232 step:800 smpl:6K ep:18 epch:0.36 loss:2.161 grdn:67.227 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 180 |
+
INFO 2025-04-09 03:46:01 ts/train.py:232 step:1K smpl:8K ep:23 epch:0.45 loss:1.957 grdn:64.886 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 181 |
+
INFO 2025-04-09 03:46:16 ts/train.py:232 step:1K smpl:10K ep:27 epch:0.54 loss:1.741 grdn:63.479 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 182 |
+
INFO 2025-04-09 03:46:31 ts/train.py:232 step:1K smpl:11K ep:32 epch:0.63 loss:1.553 grdn:59.838 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 183 |
+
INFO 2025-04-09 03:46:47 ts/train.py:232 step:2K smpl:13K ep:36 epch:0.72 loss:1.420 grdn:56.940 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 184 |
+
INFO 2025-04-09 03:47:02 ts/train.py:232 step:2K smpl:14K ep:41 epch:0.81 loss:1.278 grdn:53.498 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 185 |
+
INFO 2025-04-09 03:47:17 ts/train.py:232 step:2K smpl:16K ep:45 epch:0.90 loss:1.178 grdn:51.789 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 186 |
+
INFO 2025-04-09 03:47:31 ts/train.py:232 step:2K smpl:18K ep:50 epch:0.99 loss:1.051 grdn:48.738 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 187 |
+
INFO 2025-04-09 03:47:48 ts/train.py:232 step:2K smpl:19K ep:54 epch:1.08 loss:0.955 grdn:46.927 lr:1.0e-05 updt_s:0.076 data_s:0.003
|
| 188 |
+
INFO 2025-04-09 03:48:03 ts/train.py:232 step:3K smpl:21K ep:59 epch:1.17 loss:0.865 grdn:44.017 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 189 |
+
INFO 2025-04-09 03:48:17 ts/train.py:232 step:3K smpl:22K ep:63 epch:1.26 loss:0.785 grdn:41.511 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 190 |
+
INFO 2025-04-09 03:48:32 ts/train.py:232 step:3K smpl:24K ep:68 epch:1.35 loss:0.716 grdn:39.883 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 191 |
+
INFO 2025-04-09 03:48:47 ts/train.py:232 step:3K smpl:26K ep:72 epch:1.45 loss:0.655 grdn:38.248 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 192 |
+
INFO 2025-04-09 03:49:02 ts/train.py:232 step:3K smpl:27K ep:77 epch:1.54 loss:0.599 grdn:36.252 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 193 |
+
INFO 2025-04-09 03:49:17 ts/train.py:232 step:4K smpl:29K ep:81 epch:1.63 loss:0.549 grdn:34.101 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 194 |
+
INFO 2025-04-09 03:49:32 ts/train.py:232 step:4K smpl:30K ep:86 epch:1.72 loss:0.505 grdn:33.227 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 195 |
+
INFO 2025-04-09 03:49:47 ts/train.py:232 step:4K smpl:32K ep:90 epch:1.81 loss:0.469 grdn:31.768 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 196 |
+
INFO 2025-04-09 03:50:02 ts/train.py:232 step:4K smpl:34K ep:95 epch:1.90 loss:0.436 grdn:30.905 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 197 |
+
INFO 2025-04-09 03:50:17 ts/train.py:232 step:4K smpl:35K ep:99 epch:1.99 loss:0.408 grdn:29.711 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 198 |
+
INFO 2025-04-09 03:50:33 ts/train.py:232 step:5K smpl:37K ep:104 epch:2.08 loss:0.382 grdn:28.473 lr:1.0e-05 updt_s:0.075 data_s:0.003
|
| 199 |
+
INFO 2025-04-09 03:50:48 ts/train.py:232 step:5K smpl:38K ep:108 epch:2.17 loss:0.358 grdn:27.345 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 200 |
+
INFO 2025-04-09 03:51:03 ts/train.py:232 step:5K smpl:40K ep:113 epch:2.26 loss:0.333 grdn:26.367 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 201 |
+
INFO 2025-04-09 03:51:18 ts/train.py:232 step:5K smpl:42K ep:117 epch:2.35 loss:0.327 grdn:26.215 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 202 |
+
INFO 2025-04-09 03:51:33 ts/train.py:232 step:5K smpl:43K ep:122 epch:2.44 loss:0.308 grdn:25.477 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 203 |
+
INFO 2025-04-09 03:51:48 ts/train.py:232 step:6K smpl:45K ep:126 epch:2.53 loss:0.297 grdn:24.262 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 204 |
+
INFO 2025-04-09 03:52:03 ts/train.py:232 step:6K smpl:46K ep:131 epch:2.62 loss:0.284 grdn:24.049 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 205 |
+
INFO 2025-04-09 03:52:18 ts/train.py:232 step:6K smpl:48K ep:135 epch:2.71 loss:0.274 grdn:23.321 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 206 |
+
INFO 2025-04-09 03:52:34 ts/train.py:232 step:6K smpl:50K ep:140 epch:2.80 loss:0.265 grdn:22.934 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 207 |
+
INFO 2025-04-09 03:52:49 ts/train.py:232 step:6K smpl:51K ep:145 epch:2.89 loss:0.256 grdn:22.314 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 208 |
+
INFO 2025-04-09 03:53:04 ts/train.py:232 step:7K smpl:53K ep:149 epch:2.98 loss:0.251 grdn:21.830 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 209 |
+
INFO 2025-04-09 03:53:20 ts/train.py:232 step:7K smpl:54K ep:154 epch:3.07 loss:0.243 grdn:21.825 lr:1.0e-05 updt_s:0.075 data_s:0.002
|
| 210 |
+
INFO 2025-04-09 03:53:35 ts/train.py:232 step:7K smpl:56K ep:158 epch:3.16 loss:0.231 grdn:20.642 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 211 |
+
INFO 2025-04-09 03:53:50 ts/train.py:232 step:7K smpl:58K ep:163 epch:3.25 loss:0.231 grdn:20.661 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 212 |
+
INFO 2025-04-09 03:54:05 ts/train.py:232 step:7K smpl:59K ep:167 epch:3.34 loss:0.224 grdn:20.260 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 213 |
+
INFO 2025-04-09 03:54:20 ts/train.py:232 step:8K smpl:61K ep:172 epch:3.43 loss:0.220 grdn:20.007 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 214 |
+
INFO 2025-04-09 03:54:36 ts/train.py:232 step:8K smpl:62K ep:176 epch:3.52 loss:0.210 grdn:19.772 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 215 |
+
INFO 2025-04-09 03:54:51 ts/train.py:232 step:8K smpl:64K ep:181 epch:3.61 loss:0.211 grdn:19.271 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 216 |
+
INFO 2025-04-09 03:55:06 ts/train.py:232 step:8K smpl:66K ep:185 epch:3.70 loss:0.209 grdn:19.188 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 217 |
+
INFO 2025-04-09 03:55:21 ts/train.py:232 step:8K smpl:67K ep:190 epch:3.79 loss:0.201 grdn:18.814 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 218 |
+
INFO 2025-04-09 03:55:36 ts/train.py:232 step:9K smpl:69K ep:194 epch:3.88 loss:0.189 grdn:18.534 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 219 |
+
INFO 2025-04-09 03:55:51 ts/train.py:232 step:9K smpl:70K ep:199 epch:3.97 loss:0.198 grdn:18.413 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 220 |
+
INFO 2025-04-09 03:56:07 ts/train.py:232 step:9K smpl:72K ep:203 epch:4.06 loss:0.193 grdn:18.039 lr:1.0e-05 updt_s:0.076 data_s:0.003
|
| 221 |
+
INFO 2025-04-09 03:56:22 ts/train.py:232 step:9K smpl:74K ep:208 epch:4.15 loss:0.179 grdn:17.007 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 222 |
+
INFO 2025-04-09 03:56:38 ts/train.py:232 step:9K smpl:75K ep:212 epch:4.24 loss:0.186 grdn:17.308 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 223 |
+
INFO 2025-04-09 03:56:53 ts/train.py:232 step:10K smpl:77K ep:217 epch:4.34 loss:0.177 grdn:16.876 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 224 |
+
INFO 2025-04-09 03:57:08 ts/train.py:232 step:10K smpl:78K ep:221 epch:4.43 loss:0.174 grdn:17.430 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 225 |
+
INFO 2025-04-09 03:57:23 ts/train.py:232 step:10K smpl:80K ep:226 epch:4.52 loss:0.176 grdn:16.889 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 226 |
+
INFO 2025-04-09 03:57:38 ts/train.py:232 step:10K smpl:82K ep:230 epch:4.61 loss:0.167 grdn:16.726 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 227 |
+
INFO 2025-04-09 03:57:53 ts/train.py:232 step:10K smpl:83K ep:235 epch:4.70 loss:0.167 grdn:16.630 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 228 |
+
INFO 2025-04-09 03:58:09 ts/train.py:232 step:11K smpl:85K ep:239 epch:4.79 loss:0.162 grdn:15.917 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 229 |
+
INFO 2025-04-09 03:58:24 ts/train.py:232 step:11K smpl:86K ep:244 epch:4.88 loss:0.160 grdn:15.733 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 230 |
+
INFO 2025-04-09 03:58:39 ts/train.py:232 step:11K smpl:88K ep:248 epch:4.97 loss:0.164 grdn:16.281 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 231 |
+
INFO 2025-04-09 03:58:55 ts/train.py:232 step:11K smpl:90K ep:253 epch:5.06 loss:0.163 grdn:16.338 lr:1.0e-05 updt_s:0.075 data_s:0.003
|
| 232 |
+
INFO 2025-04-09 03:59:10 ts/train.py:232 step:11K smpl:91K ep:257 epch:5.15 loss:0.157 grdn:15.479 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 233 |
+
INFO 2025-04-09 03:59:25 ts/train.py:232 step:12K smpl:93K ep:262 epch:5.24 loss:0.157 grdn:15.864 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 234 |
+
INFO 2025-04-09 03:59:40 ts/train.py:232 step:12K smpl:94K ep:266 epch:5.33 loss:0.156 grdn:15.765 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 235 |
+
INFO 2025-04-09 03:59:55 ts/train.py:232 step:12K smpl:96K ep:271 epch:5.42 loss:0.152 grdn:15.072 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 236 |
+
INFO 2025-04-09 04:00:10 ts/train.py:232 step:12K smpl:98K ep:275 epch:5.51 loss:0.146 grdn:14.509 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 237 |
+
INFO 2025-04-09 04:00:26 ts/train.py:232 step:12K smpl:99K ep:280 epch:5.60 loss:0.144 grdn:14.461 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 238 |
+
INFO 2025-04-09 04:00:41 ts/train.py:232 step:13K smpl:101K ep:285 epch:5.69 loss:0.145 grdn:14.920 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 239 |
+
INFO 2025-04-09 04:00:56 ts/train.py:232 step:13K smpl:102K ep:289 epch:5.78 loss:0.150 grdn:14.674 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 240 |
+
INFO 2025-04-09 04:01:12 ts/train.py:232 step:13K smpl:104K ep:294 epch:5.87 loss:0.143 grdn:14.628 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 241 |
+
INFO 2025-04-09 04:01:27 ts/train.py:232 step:13K smpl:106K ep:298 epch:5.96 loss:0.145 grdn:14.636 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 242 |
+
INFO 2025-04-09 04:01:43 ts/train.py:232 step:13K smpl:107K ep:303 epch:6.05 loss:0.146 grdn:14.567 lr:1.0e-05 updt_s:0.076 data_s:0.003
|
| 243 |
+
INFO 2025-04-09 04:01:58 ts/train.py:232 step:14K smpl:109K ep:307 epch:6.14 loss:0.137 grdn:14.069 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 244 |
+
INFO 2025-04-09 04:02:13 ts/train.py:232 step:14K smpl:110K ep:312 epch:6.23 loss:0.135 grdn:14.169 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 245 |
+
INFO 2025-04-09 04:02:28 ts/train.py:232 step:14K smpl:112K ep:316 epch:6.32 loss:0.131 grdn:13.248 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 246 |
+
INFO 2025-04-09 04:02:43 ts/train.py:232 step:14K smpl:114K ep:321 epch:6.41 loss:0.134 grdn:13.689 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 247 |
+
INFO 2025-04-09 04:02:59 ts/train.py:232 step:14K smpl:115K ep:325 epch:6.50 loss:0.136 grdn:13.535 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 248 |
+
INFO 2025-04-09 04:03:14 ts/train.py:232 step:15K smpl:117K ep:330 epch:6.59 loss:0.135 grdn:14.098 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 249 |
+
INFO 2025-04-09 04:03:29 ts/train.py:232 step:15K smpl:118K ep:334 epch:6.68 loss:0.133 grdn:13.778 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 250 |
+
INFO 2025-04-09 04:03:44 ts/train.py:232 step:15K smpl:120K ep:339 epch:6.77 loss:0.134 grdn:13.398 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 251 |
+
INFO 2025-04-09 04:03:59 ts/train.py:232 step:15K smpl:122K ep:343 epch:6.86 loss:0.128 grdn:13.561 lr:1.0e-05 updt_s:0.073 data_s:0.000
|
| 252 |
+
INFO 2025-04-09 04:04:14 ts/train.py:232 step:15K smpl:123K ep:348 epch:6.95 loss:0.129 grdn:13.358 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 253 |
+
INFO 2025-04-09 04:04:30 ts/train.py:232 step:16K smpl:125K ep:352 epch:7.04 loss:0.125 grdn:13.137 lr:1.0e-05 updt_s:0.077 data_s:0.003
|
| 254 |
+
INFO 2025-04-09 04:04:45 ts/train.py:232 step:16K smpl:126K ep:357 epch:7.14 loss:0.124 grdn:13.005 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 255 |
+
INFO 2025-04-09 04:05:01 ts/train.py:232 step:16K smpl:128K ep:361 epch:7.23 loss:0.123 grdn:12.700 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 256 |
+
INFO 2025-04-09 04:05:16 ts/train.py:232 step:16K smpl:130K ep:366 epch:7.32 loss:0.123 grdn:13.004 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 257 |
+
INFO 2025-04-09 04:05:32 ts/train.py:232 step:16K smpl:131K ep:370 epch:7.41 loss:0.125 grdn:12.703 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 258 |
+
INFO 2025-04-09 04:05:47 ts/train.py:232 step:17K smpl:133K ep:375 epch:7.50 loss:0.117 grdn:12.403 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 259 |
+
INFO 2025-04-09 04:06:03 ts/train.py:232 step:17K smpl:134K ep:379 epch:7.59 loss:0.120 grdn:12.391 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 260 |
+
INFO 2025-04-09 04:06:18 ts/train.py:232 step:17K smpl:136K ep:384 epch:7.68 loss:0.118 grdn:12.271 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 261 |
+
INFO 2025-04-09 04:06:34 ts/train.py:232 step:17K smpl:138K ep:388 epch:7.77 loss:0.120 grdn:12.410 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 262 |
+
INFO 2025-04-09 04:06:49 ts/train.py:232 step:17K smpl:139K ep:393 epch:7.86 loss:0.119 grdn:12.249 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 263 |
+
INFO 2025-04-09 04:07:05 ts/train.py:232 step:18K smpl:141K ep:397 epch:7.95 loss:0.114 grdn:12.260 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 264 |
+
INFO 2025-04-09 04:07:21 ts/train.py:232 step:18K smpl:142K ep:402 epch:8.04 loss:0.115 grdn:12.187 lr:1.0e-05 updt_s:0.075 data_s:0.003
|
| 265 |
+
INFO 2025-04-09 04:07:36 ts/train.py:232 step:18K smpl:144K ep:406 epch:8.13 loss:0.113 grdn:12.276 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 266 |
+
INFO 2025-04-09 04:07:52 ts/train.py:232 step:18K smpl:146K ep:411 epch:8.22 loss:0.111 grdn:11.696 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 267 |
+
INFO 2025-04-09 04:08:07 ts/train.py:232 step:18K smpl:147K ep:415 epch:8.31 loss:0.115 grdn:12.405 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 268 |
+
INFO 2025-04-09 04:08:22 ts/train.py:232 step:19K smpl:149K ep:420 epch:8.40 loss:0.112 grdn:11.919 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 269 |
+
INFO 2025-04-09 04:08:38 ts/train.py:232 step:19K smpl:150K ep:424 epch:8.49 loss:0.109 grdn:12.069 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 270 |
+
INFO 2025-04-09 04:08:53 ts/train.py:232 step:19K smpl:152K ep:429 epch:8.58 loss:0.106 grdn:11.626 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 271 |
+
INFO 2025-04-09 04:09:09 ts/train.py:232 step:19K smpl:154K ep:434 epch:8.67 loss:0.105 grdn:11.340 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 272 |
+
INFO 2025-04-09 04:09:25 ts/train.py:232 step:19K smpl:155K ep:438 epch:8.76 loss:0.109 grdn:11.629 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 273 |
+
INFO 2025-04-09 04:09:40 ts/train.py:232 step:20K smpl:157K ep:443 epch:8.85 loss:0.110 grdn:11.633 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 274 |
+
INFO 2025-04-09 04:09:56 ts/train.py:232 step:20K smpl:158K ep:447 epch:8.94 loss:0.106 grdn:11.617 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 275 |
+
INFO 2025-04-09 04:10:12 ts/train.py:232 step:20K smpl:160K ep:452 epch:9.03 loss:0.104 grdn:11.494 lr:1.0e-05 updt_s:0.076 data_s:0.003
|
| 276 |
+
INFO 2025-04-09 04:10:12 ts/train.py:241 Checkpoint policy after step 20000
|
| 277 |
+
INFO 2025-04-09 04:10:29 ts/train.py:232 step:20K smpl:162K ep:456 epch:9.12 loss:0.101 grdn:11.133 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 278 |
+
INFO 2025-04-09 04:10:44 ts/train.py:232 step:20K smpl:163K ep:461 epch:9.21 loss:0.104 grdn:11.410 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 279 |
+
INFO 2025-04-09 04:11:00 ts/train.py:232 step:21K smpl:165K ep:465 epch:9.30 loss:0.103 grdn:11.686 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 280 |
+
INFO 2025-04-09 04:11:16 ts/train.py:232 step:21K smpl:166K ep:470 epch:9.39 loss:0.103 grdn:11.121 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 281 |
+
INFO 2025-04-09 04:11:31 ts/train.py:232 step:21K smpl:168K ep:474 epch:9.48 loss:0.101 grdn:11.062 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 282 |
+
INFO 2025-04-09 04:11:46 ts/train.py:232 step:21K smpl:170K ep:479 epch:9.57 loss:0.102 grdn:10.949 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 283 |
+
INFO 2025-04-09 04:12:02 ts/train.py:232 step:21K smpl:171K ep:483 epch:9.66 loss:0.098 grdn:10.907 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 284 |
+
INFO 2025-04-09 04:12:18 ts/train.py:232 step:22K smpl:173K ep:488 epch:9.75 loss:0.099 grdn:10.937 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 285 |
+
INFO 2025-04-09 04:12:33 ts/train.py:232 step:22K smpl:174K ep:492 epch:9.84 loss:0.098 grdn:11.049 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 286 |
+
INFO 2025-04-09 04:12:49 ts/train.py:232 step:22K smpl:176K ep:497 epch:9.94 loss:0.099 grdn:10.721 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 287 |
+
INFO 2025-04-09 04:13:05 ts/train.py:232 step:22K smpl:178K ep:501 epch:10.03 loss:0.096 grdn:10.698 lr:1.0e-05 updt_s:0.078 data_s:0.004
|
| 288 |
+
INFO 2025-04-09 04:13:21 ts/train.py:232 step:22K smpl:179K ep:506 epch:10.12 loss:0.095 grdn:11.390 lr:1.0e-05 updt_s:0.078 data_s:0.000
|
| 289 |
+
INFO 2025-04-09 04:13:37 ts/train.py:232 step:23K smpl:181K ep:510 epch:10.21 loss:0.097 grdn:10.889 lr:1.0e-05 updt_s:0.078 data_s:0.000
|
| 290 |
+
INFO 2025-04-09 04:13:53 ts/train.py:232 step:23K smpl:182K ep:515 epch:10.30 loss:0.100 grdn:10.932 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 291 |
+
INFO 2025-04-09 04:14:08 ts/train.py:232 step:23K smpl:184K ep:519 epch:10.39 loss:0.097 grdn:10.552 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 292 |
+
INFO 2025-04-09 04:14:24 ts/train.py:232 step:23K smpl:186K ep:524 epch:10.48 loss:0.094 grdn:10.383 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 293 |
+
INFO 2025-04-09 04:14:39 ts/train.py:232 step:23K smpl:187K ep:528 epch:10.57 loss:0.092 grdn:10.193 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 294 |
+
INFO 2025-04-09 04:14:55 ts/train.py:232 step:24K smpl:189K ep:533 epch:10.66 loss:0.094 grdn:10.877 lr:1.0e-05 updt_s:0.078 data_s:0.000
|
| 295 |
+
INFO 2025-04-09 04:15:11 ts/train.py:232 step:24K smpl:190K ep:537 epch:10.75 loss:0.090 grdn:10.107 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 296 |
+
INFO 2025-04-09 04:15:26 ts/train.py:232 step:24K smpl:192K ep:542 epch:10.84 loss:0.091 grdn:9.693 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 297 |
+
INFO 2025-04-09 04:15:41 ts/train.py:232 step:24K smpl:194K ep:546 epch:10.93 loss:0.093 grdn:10.587 lr:1.0e-05 updt_s:0.073 data_s:0.000
|
| 298 |
+
INFO 2025-04-09 04:15:56 ts/train.py:232 step:24K smpl:195K ep:551 epch:11.02 loss:0.090 grdn:10.112 lr:1.0e-05 updt_s:0.073 data_s:0.003
|
| 299 |
+
INFO 2025-04-09 04:16:11 ts/train.py:232 step:25K smpl:197K ep:555 epch:11.11 loss:0.090 grdn:9.679 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 300 |
+
INFO 2025-04-09 04:16:26 ts/train.py:232 step:25K smpl:198K ep:560 epch:11.20 loss:0.093 grdn:10.837 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 301 |
+
INFO 2025-04-09 04:16:42 ts/train.py:232 step:25K smpl:200K ep:564 epch:11.29 loss:0.090 grdn:9.779 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 302 |
+
INFO 2025-04-09 04:16:58 ts/train.py:232 step:25K smpl:202K ep:569 epch:11.38 loss:0.086 grdn:9.728 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 303 |
+
INFO 2025-04-09 04:17:13 ts/train.py:232 step:25K smpl:203K ep:574 epch:11.47 loss:0.088 grdn:10.015 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 304 |
+
INFO 2025-04-09 04:17:28 ts/train.py:232 step:26K smpl:205K ep:578 epch:11.56 loss:0.089 grdn:10.220 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 305 |
+
INFO 2025-04-09 04:17:44 ts/train.py:232 step:26K smpl:206K ep:583 epch:11.65 loss:0.089 grdn:10.001 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 306 |
+
INFO 2025-04-09 04:17:59 ts/train.py:232 step:26K smpl:208K ep:587 epch:11.74 loss:0.087 grdn:10.039 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 307 |
+
INFO 2025-04-09 04:18:14 ts/train.py:232 step:26K smpl:210K ep:592 epch:11.83 loss:0.086 grdn:9.885 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 308 |
+
INFO 2025-04-09 04:18:30 ts/train.py:232 step:26K smpl:211K ep:596 epch:11.92 loss:0.086 grdn:9.886 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 309 |
+
INFO 2025-04-09 04:18:46 ts/train.py:232 step:27K smpl:213K ep:601 epch:12.01 loss:0.087 grdn:9.891 lr:1.0e-05 updt_s:0.076 data_s:0.003
|
| 310 |
+
INFO 2025-04-09 04:19:01 ts/train.py:232 step:27K smpl:214K ep:605 epch:12.10 loss:0.080 grdn:9.349 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 311 |
+
INFO 2025-04-09 04:19:17 ts/train.py:232 step:27K smpl:216K ep:610 epch:12.19 loss:0.085 grdn:9.732 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 312 |
+
INFO 2025-04-09 04:19:32 ts/train.py:232 step:27K smpl:218K ep:614 epch:12.28 loss:0.083 grdn:10.012 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 313 |
+
INFO 2025-04-09 04:19:47 ts/train.py:232 step:27K smpl:219K ep:619 epch:12.37 loss:0.084 grdn:9.674 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 314 |
+
INFO 2025-04-09 04:20:03 ts/train.py:232 step:28K smpl:221K ep:623 epch:12.46 loss:0.085 grdn:9.645 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 315 |
+
INFO 2025-04-09 04:20:18 ts/train.py:232 step:28K smpl:222K ep:628 epch:12.55 loss:0.082 grdn:9.493 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 316 |
+
INFO 2025-04-09 04:20:34 ts/train.py:232 step:28K smpl:224K ep:632 epch:12.64 loss:0.082 grdn:9.592 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 317 |
+
INFO 2025-04-09 04:20:49 ts/train.py:232 step:28K smpl:226K ep:637 epch:12.73 loss:0.084 grdn:9.840 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 318 |
+
INFO 2025-04-09 04:21:05 ts/train.py:232 step:28K smpl:227K ep:641 epch:12.83 loss:0.084 grdn:9.306 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 319 |
+
INFO 2025-04-09 04:21:20 ts/train.py:232 step:29K smpl:229K ep:646 epch:12.92 loss:0.082 grdn:9.647 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 320 |
+
INFO 2025-04-09 04:21:36 ts/train.py:232 step:29K smpl:230K ep:650 epch:13.01 loss:0.083 grdn:9.593 lr:1.0e-05 updt_s:0.075 data_s:0.003
|
| 321 |
+
INFO 2025-04-09 04:21:52 ts/train.py:232 step:29K smpl:232K ep:655 epch:13.10 loss:0.080 grdn:9.239 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 322 |
+
INFO 2025-04-09 04:22:07 ts/train.py:232 step:29K smpl:234K ep:659 epch:13.19 loss:0.078 grdn:9.184 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 323 |
+
INFO 2025-04-09 04:22:23 ts/train.py:232 step:29K smpl:235K ep:664 epch:13.28 loss:0.081 grdn:9.452 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 324 |
+
INFO 2025-04-09 04:22:38 ts/train.py:232 step:30K smpl:237K ep:668 epch:13.37 loss:0.077 grdn:8.832 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 325 |
+
INFO 2025-04-09 04:22:54 ts/train.py:232 step:30K smpl:238K ep:673 epch:13.46 loss:0.077 grdn:9.034 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 326 |
+
INFO 2025-04-09 04:23:09 ts/train.py:232 step:30K smpl:240K ep:677 epch:13.55 loss:0.077 grdn:9.408 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 327 |
+
INFO 2025-04-09 04:23:24 ts/train.py:232 step:30K smpl:242K ep:682 epch:13.64 loss:0.079 grdn:8.817 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 328 |
+
INFO 2025-04-09 04:23:40 ts/train.py:232 step:30K smpl:243K ep:686 epch:13.73 loss:0.078 grdn:9.098 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 329 |
+
INFO 2025-04-09 04:23:55 ts/train.py:232 step:31K smpl:245K ep:691 epch:13.82 loss:0.080 grdn:9.611 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 330 |
+
INFO 2025-04-09 04:24:11 ts/train.py:232 step:31K smpl:246K ep:695 epch:13.91 loss:0.077 grdn:9.096 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 331 |
+
INFO 2025-04-09 04:24:26 ts/train.py:232 step:31K smpl:248K ep:700 epch:14.00 loss:0.079 grdn:9.057 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 332 |
+
INFO 2025-04-09 04:24:42 ts/train.py:232 step:31K smpl:250K ep:704 epch:14.09 loss:0.079 grdn:9.503 lr:1.0e-05 updt_s:0.076 data_s:0.003
|
| 333 |
+
INFO 2025-04-09 04:24:58 ts/train.py:232 step:31K smpl:251K ep:709 epch:14.18 loss:0.076 grdn:8.961 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 334 |
+
INFO 2025-04-09 04:25:13 ts/train.py:232 step:32K smpl:253K ep:714 epch:14.27 loss:0.075 grdn:8.958 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 335 |
+
INFO 2025-04-09 04:25:28 ts/train.py:232 step:32K smpl:254K ep:718 epch:14.36 loss:0.074 grdn:8.701 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 336 |
+
INFO 2025-04-09 04:25:44 ts/train.py:232 step:32K smpl:256K ep:723 epch:14.45 loss:0.077 grdn:9.027 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 337 |
+
INFO 2025-04-09 04:25:59 ts/train.py:232 step:32K smpl:258K ep:727 epch:14.54 loss:0.074 grdn:8.506 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 338 |
+
INFO 2025-04-09 04:26:15 ts/train.py:232 step:32K smpl:259K ep:732 epch:14.63 loss:0.076 grdn:8.742 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 339 |
+
INFO 2025-04-09 04:26:30 ts/train.py:232 step:33K smpl:261K ep:736 epch:14.72 loss:0.078 grdn:8.855 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 340 |
+
INFO 2025-04-09 04:26:46 ts/train.py:232 step:33K smpl:262K ep:741 epch:14.81 loss:0.076 grdn:8.613 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 341 |
+
INFO 2025-04-09 04:27:01 ts/train.py:232 step:33K smpl:264K ep:745 epch:14.90 loss:0.074 grdn:8.442 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 342 |
+
INFO 2025-04-09 04:27:17 ts/train.py:232 step:33K smpl:266K ep:750 epch:14.99 loss:0.073 grdn:8.365 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 343 |
+
INFO 2025-04-09 04:27:33 ts/train.py:232 step:33K smpl:267K ep:754 epch:15.08 loss:0.072 grdn:8.323 lr:1.0e-05 updt_s:0.076 data_s:0.003
|
| 344 |
+
INFO 2025-04-09 04:27:48 ts/train.py:232 step:34K smpl:269K ep:759 epch:15.17 loss:0.073 grdn:8.173 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 345 |
+
INFO 2025-04-09 04:28:04 ts/train.py:232 step:34K smpl:270K ep:763 epch:15.26 loss:0.073 grdn:8.653 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 346 |
+
INFO 2025-04-09 04:28:20 ts/train.py:232 step:34K smpl:272K ep:768 epch:15.35 loss:0.071 grdn:8.606 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 347 |
+
INFO 2025-04-09 04:28:35 ts/train.py:232 step:34K smpl:274K ep:772 epch:15.44 loss:0.071 grdn:8.667 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 348 |
+
INFO 2025-04-09 04:28:50 ts/train.py:232 step:34K smpl:275K ep:777 epch:15.53 loss:0.072 grdn:8.727 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 349 |
+
INFO 2025-04-09 04:29:06 ts/train.py:232 step:35K smpl:277K ep:781 epch:15.63 loss:0.077 grdn:8.831 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 350 |
+
INFO 2025-04-09 04:29:22 ts/train.py:232 step:35K smpl:278K ep:786 epch:15.72 loss:0.071 grdn:8.256 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 351 |
+
INFO 2025-04-09 04:29:37 ts/train.py:232 step:35K smpl:280K ep:790 epch:15.81 loss:0.072 grdn:8.526 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 352 |
+
INFO 2025-04-09 04:29:53 ts/train.py:232 step:35K smpl:282K ep:795 epch:15.90 loss:0.072 grdn:8.432 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 353 |
+
INFO 2025-04-09 04:30:08 ts/train.py:232 step:35K smpl:283K ep:799 epch:15.99 loss:0.073 grdn:8.637 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 354 |
+
INFO 2025-04-09 04:30:24 ts/train.py:232 step:36K smpl:285K ep:804 epch:16.08 loss:0.071 grdn:8.448 lr:1.0e-05 updt_s:0.076 data_s:0.003
|
| 355 |
+
INFO 2025-04-09 04:30:40 ts/train.py:232 step:36K smpl:286K ep:808 epch:16.17 loss:0.071 grdn:8.451 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 356 |
+
INFO 2025-04-09 04:30:55 ts/train.py:232 step:36K smpl:288K ep:813 epch:16.26 loss:0.070 grdn:8.172 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 357 |
+
INFO 2025-04-09 04:31:11 ts/train.py:232 step:36K smpl:290K ep:817 epch:16.35 loss:0.070 grdn:8.237 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 358 |
+
INFO 2025-04-09 04:31:26 ts/train.py:232 step:36K smpl:291K ep:822 epch:16.44 loss:0.072 grdn:8.185 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 359 |
+
INFO 2025-04-09 04:31:42 ts/train.py:232 step:37K smpl:293K ep:826 epch:16.53 loss:0.069 grdn:7.884 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 360 |
+
INFO 2025-04-09 04:31:57 ts/train.py:232 step:37K smpl:294K ep:831 epch:16.62 loss:0.070 grdn:8.270 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 361 |
+
INFO 2025-04-09 04:32:13 ts/train.py:232 step:37K smpl:296K ep:835 epch:16.71 loss:0.066 grdn:8.016 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 362 |
+
INFO 2025-04-09 04:32:28 ts/train.py:232 step:37K smpl:298K ep:840 epch:16.80 loss:0.069 grdn:7.921 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 363 |
+
INFO 2025-04-09 04:32:44 ts/train.py:232 step:37K smpl:299K ep:844 epch:16.89 loss:0.070 grdn:8.033 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 364 |
+
INFO 2025-04-09 04:32:59 ts/train.py:232 step:38K smpl:301K ep:849 epch:16.98 loss:0.069 grdn:8.319 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 365 |
+
INFO 2025-04-09 04:33:15 ts/train.py:232 step:38K smpl:302K ep:854 epch:17.07 loss:0.067 grdn:8.102 lr:1.0e-05 updt_s:0.075 data_s:0.003
|
| 366 |
+
INFO 2025-04-09 04:33:31 ts/train.py:232 step:38K smpl:304K ep:858 epch:17.16 loss:0.068 grdn:7.886 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 367 |
+
INFO 2025-04-09 04:33:46 ts/train.py:232 step:38K smpl:306K ep:863 epch:17.25 loss:0.067 grdn:8.168 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 368 |
+
INFO 2025-04-09 04:34:02 ts/train.py:232 step:38K smpl:307K ep:867 epch:17.34 loss:0.067 grdn:7.713 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 369 |
+
INFO 2025-04-09 04:34:18 ts/train.py:232 step:39K smpl:309K ep:872 epch:17.43 loss:0.068 grdn:7.937 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 370 |
+
INFO 2025-04-09 04:34:33 ts/train.py:232 step:39K smpl:310K ep:876 epch:17.52 loss:0.068 grdn:8.364 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 371 |
+
INFO 2025-04-09 04:34:49 ts/train.py:232 step:39K smpl:312K ep:881 epch:17.61 loss:0.069 grdn:8.114 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 372 |
+
INFO 2025-04-09 04:35:04 ts/train.py:232 step:39K smpl:314K ep:885 epch:17.70 loss:0.071 grdn:7.929 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 373 |
+
INFO 2025-04-09 04:35:20 ts/train.py:232 step:39K smpl:315K ep:890 epch:17.79 loss:0.065 grdn:7.985 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 374 |
+
INFO 2025-04-09 04:35:36 ts/train.py:232 step:40K smpl:317K ep:894 epch:17.88 loss:0.065 grdn:7.676 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 375 |
+
INFO 2025-04-09 04:35:51 ts/train.py:232 step:40K smpl:318K ep:899 epch:17.97 loss:0.066 grdn:7.597 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 376 |
+
INFO 2025-04-09 04:36:07 ts/train.py:232 step:40K smpl:320K ep:903 epch:18.06 loss:0.067 grdn:7.613 lr:1.0e-05 updt_s:0.076 data_s:0.003
|
| 377 |
+
INFO 2025-04-09 04:36:07 ts/train.py:241 Checkpoint policy after step 40000
|
| 378 |
+
INFO 2025-04-09 04:36:24 ts/train.py:232 step:40K smpl:322K ep:908 epch:18.15 loss:0.065 grdn:7.977 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 379 |
+
INFO 2025-04-09 04:36:40 ts/train.py:232 step:40K smpl:323K ep:912 epch:18.24 loss:0.064 grdn:7.270 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 380 |
+
INFO 2025-04-09 04:36:55 ts/train.py:232 step:41K smpl:325K ep:917 epch:18.33 loss:0.066 grdn:7.468 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 381 |
+
INFO 2025-04-09 04:37:11 ts/train.py:232 step:41K smpl:326K ep:921 epch:18.43 loss:0.065 grdn:7.475 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 382 |
+
INFO 2025-04-09 04:37:26 ts/train.py:232 step:41K smpl:328K ep:926 epch:18.52 loss:0.065 grdn:7.582 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 383 |
+
INFO 2025-04-09 04:37:42 ts/train.py:232 step:41K smpl:330K ep:930 epch:18.61 loss:0.064 grdn:7.828 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 384 |
+
INFO 2025-04-09 04:37:58 ts/train.py:232 step:41K smpl:331K ep:935 epch:18.70 loss:0.064 grdn:7.326 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 385 |
+
INFO 2025-04-09 04:38:13 ts/train.py:232 step:42K smpl:333K ep:939 epch:18.79 loss:0.065 grdn:7.660 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 386 |
+
INFO 2025-04-09 04:38:29 ts/train.py:232 step:42K smpl:334K ep:944 epch:18.88 loss:0.066 grdn:7.863 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 387 |
+
INFO 2025-04-09 04:38:44 ts/train.py:232 step:42K smpl:336K ep:948 epch:18.97 loss:0.063 grdn:7.325 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 388 |
+
INFO 2025-04-09 04:39:00 ts/train.py:232 step:42K smpl:338K ep:953 epch:19.06 loss:0.064 grdn:7.708 lr:1.0e-05 updt_s:0.077 data_s:0.003
|
| 389 |
+
INFO 2025-04-09 04:39:16 ts/train.py:232 step:42K smpl:339K ep:957 epch:19.15 loss:0.064 grdn:7.466 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 390 |
+
INFO 2025-04-09 04:39:32 ts/train.py:232 step:43K smpl:341K ep:962 epch:19.24 loss:0.064 grdn:7.575 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 391 |
+
INFO 2025-04-09 04:39:47 ts/train.py:232 step:43K smpl:342K ep:966 epch:19.33 loss:0.064 grdn:7.832 lr:1.0e-05 updt_s:0.078 data_s:0.000
|
| 392 |
+
INFO 2025-04-09 04:40:03 ts/train.py:232 step:43K smpl:344K ep:971 epch:19.42 loss:0.064 grdn:7.300 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 393 |
+
INFO 2025-04-09 04:40:19 ts/train.py:232 step:43K smpl:346K ep:975 epch:19.51 loss:0.061 grdn:6.962 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 394 |
+
INFO 2025-04-09 04:40:34 ts/train.py:232 step:43K smpl:347K ep:980 epch:19.60 loss:0.062 grdn:7.542 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 395 |
+
INFO 2025-04-09 04:40:50 ts/train.py:232 step:44K smpl:349K ep:984 epch:19.69 loss:0.064 grdn:7.444 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 396 |
+
INFO 2025-04-09 04:41:05 ts/train.py:232 step:44K smpl:350K ep:989 epch:19.78 loss:0.062 grdn:7.509 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 397 |
+
INFO 2025-04-09 04:41:21 ts/train.py:232 step:44K smpl:352K ep:994 epch:19.87 loss:0.063 grdn:7.227 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 398 |
+
INFO 2025-04-09 04:41:37 ts/train.py:232 step:44K smpl:354K ep:998 epch:19.96 loss:0.061 grdn:7.113 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 399 |
+
INFO 2025-04-09 04:41:53 ts/train.py:232 step:44K smpl:355K ep:1K epch:20.05 loss:0.065 grdn:7.457 lr:1.0e-05 updt_s:0.077 data_s:0.003
|
| 400 |
+
INFO 2025-04-09 04:42:09 ts/train.py:232 step:45K smpl:357K ep:1K epch:20.14 loss:0.062 grdn:7.175 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 401 |
+
INFO 2025-04-09 04:42:24 ts/train.py:232 step:45K smpl:358K ep:1K epch:20.23 loss:0.060 grdn:7.091 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 402 |
+
INFO 2025-04-09 04:42:40 ts/train.py:232 step:45K smpl:360K ep:1K epch:20.32 loss:0.061 grdn:7.114 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 403 |
+
INFO 2025-04-09 04:42:55 ts/train.py:232 step:45K smpl:362K ep:1K epch:20.41 loss:0.060 grdn:7.031 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 404 |
+
INFO 2025-04-09 04:43:11 ts/train.py:232 step:45K smpl:363K ep:1K epch:20.50 loss:0.061 grdn:7.259 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 405 |
+
INFO 2025-04-09 04:43:27 ts/train.py:232 step:46K smpl:365K ep:1K epch:20.59 loss:0.062 grdn:6.970 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 406 |
+
INFO 2025-04-09 04:43:42 ts/train.py:232 step:46K smpl:366K ep:1K epch:20.68 loss:0.061 grdn:6.837 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 407 |
+
INFO 2025-04-09 04:43:58 ts/train.py:232 step:46K smpl:368K ep:1K epch:20.77 loss:0.062 grdn:7.184 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 408 |
+
INFO 2025-04-09 04:44:13 ts/train.py:232 step:46K smpl:370K ep:1K epch:20.86 loss:0.061 grdn:7.026 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 409 |
+
INFO 2025-04-09 04:44:29 ts/train.py:232 step:46K smpl:371K ep:1K epch:20.95 loss:0.062 grdn:6.872 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 410 |
+
INFO 2025-04-09 04:44:45 ts/train.py:232 step:47K smpl:373K ep:1K epch:21.04 loss:0.059 grdn:7.038 lr:1.0e-05 updt_s:0.076 data_s:0.003
|
| 411 |
+
INFO 2025-04-09 04:45:00 ts/train.py:232 step:47K smpl:374K ep:1K epch:21.13 loss:0.060 grdn:6.804 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 412 |
+
INFO 2025-04-09 04:45:15 ts/train.py:232 step:47K smpl:376K ep:1K epch:21.22 loss:0.056 grdn:6.643 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 413 |
+
INFO 2025-04-09 04:45:31 ts/train.py:232 step:47K smpl:378K ep:1K epch:21.32 loss:0.060 grdn:7.272 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 414 |
+
INFO 2025-04-09 04:45:46 ts/train.py:232 step:47K smpl:379K ep:1K epch:21.41 loss:0.061 grdn:7.505 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 415 |
+
INFO 2025-04-09 04:46:01 ts/train.py:232 step:48K smpl:381K ep:1K epch:21.50 loss:0.059 grdn:6.895 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 416 |
+
INFO 2025-04-09 04:46:16 ts/train.py:232 step:48K smpl:382K ep:1K epch:21.59 loss:0.061 grdn:7.010 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 417 |
+
INFO 2025-04-09 04:46:31 ts/train.py:232 step:48K smpl:384K ep:1K epch:21.68 loss:0.059 grdn:7.022 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 418 |
+
INFO 2025-04-09 04:46:46 ts/train.py:232 step:48K smpl:386K ep:1K epch:21.77 loss:0.058 grdn:7.118 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 419 |
+
INFO 2025-04-09 04:47:01 ts/train.py:232 step:48K smpl:387K ep:1K epch:21.86 loss:0.059 grdn:6.767 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 420 |
+
INFO 2025-04-09 04:47:16 ts/train.py:232 step:49K smpl:389K ep:1K epch:21.95 loss:0.060 grdn:7.241 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 421 |
+
INFO 2025-04-09 04:47:32 ts/train.py:232 step:49K smpl:390K ep:1K epch:22.04 loss:0.059 grdn:7.029 lr:1.0e-05 updt_s:0.075 data_s:0.003
|
| 422 |
+
INFO 2025-04-09 04:47:47 ts/train.py:232 step:49K smpl:392K ep:1K epch:22.13 loss:0.056 grdn:7.057 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 423 |
+
INFO 2025-04-09 04:48:03 ts/train.py:232 step:49K smpl:394K ep:1K epch:22.22 loss:0.058 grdn:6.995 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 424 |
+
INFO 2025-04-09 04:48:18 ts/train.py:232 step:49K smpl:395K ep:1K epch:22.31 loss:0.059 grdn:6.897 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 425 |
+
INFO 2025-04-09 04:48:33 ts/train.py:232 step:50K smpl:397K ep:1K epch:22.40 loss:0.058 grdn:6.847 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 426 |
+
INFO 2025-04-09 04:48:48 ts/train.py:232 step:50K smpl:398K ep:1K epch:22.49 loss:0.057 grdn:6.531 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 427 |
+
INFO 2025-04-09 04:49:03 ts/train.py:232 step:50K smpl:400K ep:1K epch:22.58 loss:0.056 grdn:6.777 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 428 |
+
INFO 2025-04-09 04:49:19 ts/train.py:232 step:50K smpl:402K ep:1K epch:22.67 loss:0.058 grdn:6.783 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 429 |
+
INFO 2025-04-09 04:49:34 ts/train.py:232 step:50K smpl:403K ep:1K epch:22.76 loss:0.058 grdn:7.266 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 430 |
+
INFO 2025-04-09 04:49:50 ts/train.py:232 step:51K smpl:405K ep:1K epch:22.85 loss:0.059 grdn:7.088 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 431 |
+
INFO 2025-04-09 04:50:05 ts/train.py:232 step:51K smpl:406K ep:1K epch:22.94 loss:0.058 grdn:6.602 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 432 |
+
INFO 2025-04-09 04:50:20 ts/train.py:232 step:51K smpl:408K ep:1K epch:23.03 loss:0.058 grdn:6.916 lr:1.0e-05 updt_s:0.075 data_s:0.003
|
| 433 |
+
INFO 2025-04-09 04:50:35 ts/train.py:232 step:51K smpl:410K ep:1K epch:23.12 loss:0.056 grdn:6.834 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 434 |
+
INFO 2025-04-09 04:50:51 ts/train.py:232 step:51K smpl:411K ep:1K epch:23.21 loss:0.058 grdn:6.847 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 435 |
+
INFO 2025-04-09 04:51:06 ts/train.py:232 step:52K smpl:413K ep:1K epch:23.30 loss:0.055 grdn:6.432 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 436 |
+
INFO 2025-04-09 04:51:21 ts/train.py:232 step:52K smpl:414K ep:1K epch:23.39 loss:0.057 grdn:6.552 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 437 |
+
INFO 2025-04-09 04:51:37 ts/train.py:232 step:52K smpl:416K ep:1K epch:23.48 loss:0.057 grdn:6.775 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 438 |
+
INFO 2025-04-09 04:51:52 ts/train.py:232 step:52K smpl:418K ep:1K epch:23.57 loss:0.057 grdn:6.542 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 439 |
+
INFO 2025-04-09 04:52:07 ts/train.py:232 step:52K smpl:419K ep:1K epch:23.66 loss:0.055 grdn:6.891 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 440 |
+
INFO 2025-04-09 04:52:22 ts/train.py:232 step:53K smpl:421K ep:1K epch:23.75 loss:0.057 grdn:6.740 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 441 |
+
INFO 2025-04-09 04:52:38 ts/train.py:232 step:53K smpl:422K ep:1K epch:23.84 loss:0.057 grdn:6.484 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 442 |
+
INFO 2025-04-09 04:52:53 ts/train.py:232 step:53K smpl:424K ep:1K epch:23.93 loss:0.056 grdn:6.931 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 443 |
+
INFO 2025-04-09 04:53:09 ts/train.py:232 step:53K smpl:426K ep:1K epch:24.02 loss:0.057 grdn:6.715 lr:1.0e-05 updt_s:0.076 data_s:0.003
|
| 444 |
+
INFO 2025-04-09 04:53:24 ts/train.py:232 step:53K smpl:427K ep:1K epch:24.12 loss:0.054 grdn:6.266 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 445 |
+
INFO 2025-04-09 04:53:39 ts/train.py:232 step:54K smpl:429K ep:1K epch:24.21 loss:0.055 grdn:6.171 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 446 |
+
INFO 2025-04-09 04:53:54 ts/train.py:232 step:54K smpl:430K ep:1K epch:24.30 loss:0.057 grdn:6.768 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 447 |
+
INFO 2025-04-09 04:54:09 ts/train.py:232 step:54K smpl:432K ep:1K epch:24.39 loss:0.054 grdn:6.147 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 448 |
+
INFO 2025-04-09 04:54:24 ts/train.py:232 step:54K smpl:434K ep:1K epch:24.48 loss:0.055 grdn:6.464 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 449 |
+
INFO 2025-04-09 04:54:39 ts/train.py:232 step:54K smpl:435K ep:1K epch:24.57 loss:0.057 grdn:6.634 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 450 |
+
INFO 2025-04-09 04:54:54 ts/train.py:232 step:55K smpl:437K ep:1K epch:24.66 loss:0.056 grdn:6.789 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 451 |
+
INFO 2025-04-09 04:55:10 ts/train.py:232 step:55K smpl:438K ep:1K epch:24.75 loss:0.056 grdn:6.436 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 452 |
+
INFO 2025-04-09 04:55:25 ts/train.py:232 step:55K smpl:440K ep:1K epch:24.84 loss:0.055 grdn:6.458 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 453 |
+
INFO 2025-04-09 04:55:40 ts/train.py:232 step:55K smpl:442K ep:1K epch:24.93 loss:0.055 grdn:6.642 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 454 |
+
INFO 2025-04-09 04:55:55 ts/train.py:232 step:55K smpl:443K ep:1K epch:25.02 loss:0.056 grdn:6.600 lr:1.0e-05 updt_s:0.075 data_s:0.003
|
| 455 |
+
INFO 2025-04-09 04:56:11 ts/train.py:232 step:56K smpl:445K ep:1K epch:25.11 loss:0.053 grdn:6.046 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 456 |
+
INFO 2025-04-09 04:56:26 ts/train.py:232 step:56K smpl:446K ep:1K epch:25.20 loss:0.053 grdn:6.070 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 457 |
+
INFO 2025-04-09 04:56:41 ts/train.py:232 step:56K smpl:448K ep:1K epch:25.29 loss:0.053 grdn:6.238 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 458 |
+
INFO 2025-04-09 04:56:57 ts/train.py:232 step:56K smpl:450K ep:1K epch:25.38 loss:0.054 grdn:6.093 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 459 |
+
INFO 2025-04-09 04:57:12 ts/train.py:232 step:56K smpl:451K ep:1K epch:25.47 loss:0.054 grdn:6.173 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 460 |
+
INFO 2025-04-09 04:57:27 ts/train.py:232 step:57K smpl:453K ep:1K epch:25.56 loss:0.056 grdn:6.450 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 461 |
+
INFO 2025-04-09 04:57:42 ts/train.py:232 step:57K smpl:454K ep:1K epch:25.65 loss:0.054 grdn:6.124 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 462 |
+
INFO 2025-04-09 04:57:57 ts/train.py:232 step:57K smpl:456K ep:1K epch:25.74 loss:0.055 grdn:6.362 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 463 |
+
INFO 2025-04-09 04:58:13 ts/train.py:232 step:57K smpl:458K ep:1K epch:25.83 loss:0.054 grdn:6.513 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 464 |
+
INFO 2025-04-09 04:58:28 ts/train.py:232 step:57K smpl:459K ep:1K epch:25.92 loss:0.055 grdn:6.259 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 465 |
+
INFO 2025-04-09 04:58:44 ts/train.py:232 step:58K smpl:461K ep:1K epch:26.01 loss:0.056 grdn:6.724 lr:1.0e-05 updt_s:0.076 data_s:0.003
|
| 466 |
+
INFO 2025-04-09 04:58:59 ts/train.py:232 step:58K smpl:462K ep:1K epch:26.10 loss:0.054 grdn:6.649 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 467 |
+
INFO 2025-04-09 04:59:15 ts/train.py:232 step:58K smpl:464K ep:1K epch:26.19 loss:0.052 grdn:5.861 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 468 |
+
INFO 2025-04-09 04:59:30 ts/train.py:232 step:58K smpl:466K ep:1K epch:26.28 loss:0.052 grdn:6.039 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 469 |
+
INFO 2025-04-09 04:59:45 ts/train.py:232 step:58K smpl:467K ep:1K epch:26.37 loss:0.053 grdn:6.011 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 470 |
+
INFO 2025-04-09 05:00:01 ts/train.py:232 step:59K smpl:469K ep:1K epch:26.46 loss:0.053 grdn:6.220 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 471 |
+
INFO 2025-04-09 05:00:16 ts/train.py:232 step:59K smpl:470K ep:1K epch:26.55 loss:0.051 grdn:5.961 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 472 |
+
INFO 2025-04-09 05:00:31 ts/train.py:232 step:59K smpl:472K ep:1K epch:26.64 loss:0.052 grdn:6.026 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 473 |
+
INFO 2025-04-09 05:00:46 ts/train.py:232 step:59K smpl:474K ep:1K epch:26.73 loss:0.054 grdn:5.905 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 474 |
+
INFO 2025-04-09 05:01:02 ts/train.py:232 step:59K smpl:475K ep:1K epch:26.82 loss:0.054 grdn:6.245 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 475 |
+
INFO 2025-04-09 05:01:17 ts/train.py:232 step:60K smpl:477K ep:1K epch:26.92 loss:0.053 grdn:6.368 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 476 |
+
INFO 2025-04-09 05:01:32 ts/train.py:232 step:60K smpl:478K ep:1K epch:27.01 loss:0.055 grdn:6.604 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 477 |
+
INFO 2025-04-09 05:01:48 ts/train.py:232 step:60K smpl:480K ep:1K epch:27.10 loss:0.053 grdn:6.073 lr:1.0e-05 updt_s:0.075 data_s:0.003
|
| 478 |
+
INFO 2025-04-09 05:01:48 ts/train.py:241 Checkpoint policy after step 60000
|
| 479 |
+
INFO 2025-04-09 05:02:04 ts/train.py:232 step:60K smpl:482K ep:1K epch:27.19 loss:0.051 grdn:6.041 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 480 |
+
INFO 2025-04-09 05:02:19 ts/train.py:232 step:60K smpl:483K ep:1K epch:27.28 loss:0.053 grdn:6.186 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 481 |
+
INFO 2025-04-09 05:02:34 ts/train.py:232 step:61K smpl:485K ep:1K epch:27.37 loss:0.052 grdn:6.036 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 482 |
+
INFO 2025-04-09 05:02:50 ts/train.py:232 step:61K smpl:486K ep:1K epch:27.46 loss:0.051 grdn:5.999 lr:1.0e-05 updt_s:0.077 data_s:0.000
|
| 483 |
+
INFO 2025-04-09 05:03:05 ts/train.py:232 step:61K smpl:488K ep:1K epch:27.55 loss:0.052 grdn:6.179 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 484 |
+
INFO 2025-04-09 05:03:20 ts/train.py:232 step:61K smpl:490K ep:1K epch:27.64 loss:0.052 grdn:6.148 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 485 |
+
INFO 2025-04-09 05:03:35 ts/train.py:232 step:61K smpl:491K ep:1K epch:27.73 loss:0.053 grdn:6.189 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 486 |
+
INFO 2025-04-09 05:03:50 ts/train.py:232 step:62K smpl:493K ep:1K epch:27.82 loss:0.051 grdn:5.698 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 487 |
+
INFO 2025-04-09 05:04:06 ts/train.py:232 step:62K smpl:494K ep:1K epch:27.91 loss:0.050 grdn:5.829 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 488 |
+
INFO 2025-04-09 05:04:21 ts/train.py:232 step:62K smpl:496K ep:1K epch:28.00 loss:0.052 grdn:6.139 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 489 |
+
INFO 2025-04-09 05:04:37 ts/train.py:232 step:62K smpl:498K ep:1K epch:28.09 loss:0.050 grdn:5.747 lr:1.0e-05 updt_s:0.075 data_s:0.003
|
| 490 |
+
INFO 2025-04-09 05:04:52 ts/train.py:232 step:62K smpl:499K ep:1K epch:28.18 loss:0.053 grdn:6.154 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 491 |
+
INFO 2025-04-09 05:05:07 ts/train.py:232 step:63K smpl:501K ep:1K epch:28.27 loss:0.050 grdn:5.765 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 492 |
+
INFO 2025-04-09 05:05:22 ts/train.py:232 step:63K smpl:502K ep:1K epch:28.36 loss:0.049 grdn:5.663 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 493 |
+
INFO 2025-04-09 05:05:37 ts/train.py:232 step:63K smpl:504K ep:1K epch:28.45 loss:0.050 grdn:6.110 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 494 |
+
INFO 2025-04-09 05:05:52 ts/train.py:232 step:63K smpl:506K ep:1K epch:28.54 loss:0.051 grdn:5.817 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 495 |
+
INFO 2025-04-09 05:06:07 ts/train.py:232 step:63K smpl:507K ep:1K epch:28.63 loss:0.050 grdn:6.006 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 496 |
+
INFO 2025-04-09 05:06:22 ts/train.py:232 step:64K smpl:509K ep:1K epch:28.72 loss:0.051 grdn:5.797 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 497 |
+
INFO 2025-04-09 05:06:37 ts/train.py:232 step:64K smpl:510K ep:1K epch:28.81 loss:0.051 grdn:5.751 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 498 |
+
INFO 2025-04-09 05:06:53 ts/train.py:232 step:64K smpl:512K ep:1K epch:28.90 loss:0.050 grdn:5.898 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 499 |
+
INFO 2025-04-09 05:07:08 ts/train.py:232 step:64K smpl:514K ep:1K epch:28.99 loss:0.052 grdn:6.042 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 500 |
+
INFO 2025-04-09 05:07:24 ts/train.py:232 step:64K smpl:515K ep:1K epch:29.08 loss:0.050 grdn:6.108 lr:1.0e-05 updt_s:0.075 data_s:0.003
|
| 501 |
+
INFO 2025-04-09 05:07:39 ts/train.py:232 step:65K smpl:517K ep:1K epch:29.17 loss:0.051 grdn:5.751 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 502 |
+
INFO 2025-04-09 05:07:54 ts/train.py:232 step:65K smpl:518K ep:1K epch:29.26 loss:0.051 grdn:6.061 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 503 |
+
INFO 2025-04-09 05:08:09 ts/train.py:232 step:65K smpl:520K ep:1K epch:29.35 loss:0.050 grdn:5.816 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 504 |
+
INFO 2025-04-09 05:08:24 ts/train.py:232 step:65K smpl:522K ep:1K epch:29.44 loss:0.051 grdn:5.722 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 505 |
+
INFO 2025-04-09 05:08:39 ts/train.py:232 step:65K smpl:523K ep:1K epch:29.53 loss:0.049 grdn:5.654 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 506 |
+
INFO 2025-04-09 05:08:54 ts/train.py:232 step:66K smpl:525K ep:1K epch:29.62 loss:0.050 grdn:5.859 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 507 |
+
INFO 2025-04-09 05:09:09 ts/train.py:232 step:66K smpl:526K ep:1K epch:29.71 loss:0.050 grdn:5.506 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 508 |
+
INFO 2025-04-09 05:09:24 ts/train.py:232 step:66K smpl:528K ep:1K epch:29.81 loss:0.050 grdn:5.735 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 509 |
+
INFO 2025-04-09 05:09:40 ts/train.py:232 step:66K smpl:530K ep:1K epch:29.90 loss:0.050 grdn:5.629 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 510 |
+
INFO 2025-04-09 05:09:55 ts/train.py:232 step:66K smpl:531K ep:1K epch:29.99 loss:0.049 grdn:5.569 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 511 |
+
INFO 2025-04-09 05:10:10 ts/train.py:232 step:67K smpl:533K ep:2K epch:30.08 loss:0.050 grdn:5.652 lr:1.0e-05 updt_s:0.075 data_s:0.003
|
| 512 |
+
INFO 2025-04-09 05:10:25 ts/train.py:232 step:67K smpl:534K ep:2K epch:30.17 loss:0.050 grdn:5.689 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 513 |
+
INFO 2025-04-09 05:10:40 ts/train.py:232 step:67K smpl:536K ep:2K epch:30.26 loss:0.047 grdn:5.652 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 514 |
+
INFO 2025-04-09 05:10:56 ts/train.py:232 step:67K smpl:538K ep:2K epch:30.35 loss:0.048 grdn:5.778 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 515 |
+
INFO 2025-04-09 05:11:11 ts/train.py:232 step:67K smpl:539K ep:2K epch:30.44 loss:0.051 grdn:5.870 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 516 |
+
INFO 2025-04-09 05:11:26 ts/train.py:232 step:68K smpl:541K ep:2K epch:30.53 loss:0.050 grdn:5.924 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 517 |
+
INFO 2025-04-09 05:11:41 ts/train.py:232 step:68K smpl:542K ep:2K epch:30.62 loss:0.048 grdn:5.824 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 518 |
+
INFO 2025-04-09 05:11:56 ts/train.py:232 step:68K smpl:544K ep:2K epch:30.71 loss:0.051 grdn:5.646 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 519 |
+
INFO 2025-04-09 05:12:11 ts/train.py:232 step:68K smpl:546K ep:2K epch:30.80 loss:0.047 grdn:5.527 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 520 |
+
INFO 2025-04-09 05:12:26 ts/train.py:232 step:68K smpl:547K ep:2K epch:30.89 loss:0.050 grdn:5.540 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 521 |
+
INFO 2025-04-09 05:12:41 ts/train.py:232 step:69K smpl:549K ep:2K epch:30.98 loss:0.047 grdn:5.343 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 522 |
+
INFO 2025-04-09 05:12:57 ts/train.py:232 step:69K smpl:550K ep:2K epch:31.07 loss:0.048 grdn:5.652 lr:1.0e-05 updt_s:0.076 data_s:0.003
|
| 523 |
+
INFO 2025-04-09 05:13:12 ts/train.py:232 step:69K smpl:552K ep:2K epch:31.16 loss:0.049 grdn:5.826 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 524 |
+
INFO 2025-04-09 05:13:28 ts/train.py:232 step:69K smpl:554K ep:2K epch:31.25 loss:0.050 grdn:5.565 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 525 |
+
INFO 2025-04-09 05:13:43 ts/train.py:232 step:69K smpl:555K ep:2K epch:31.34 loss:0.048 grdn:5.271 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 526 |
+
INFO 2025-04-09 05:13:58 ts/train.py:232 step:70K smpl:557K ep:2K epch:31.43 loss:0.050 grdn:5.852 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 527 |
+
INFO 2025-04-09 05:14:13 ts/train.py:232 step:70K smpl:558K ep:2K epch:31.52 loss:0.048 grdn:5.342 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 528 |
+
INFO 2025-04-09 05:14:28 ts/train.py:232 step:70K smpl:560K ep:2K epch:31.61 loss:0.049 grdn:5.659 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 529 |
+
INFO 2025-04-09 05:14:43 ts/train.py:232 step:70K smpl:562K ep:2K epch:31.70 loss:0.050 grdn:5.807 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 530 |
+
INFO 2025-04-09 05:14:59 ts/train.py:232 step:70K smpl:563K ep:2K epch:31.79 loss:0.049 grdn:5.717 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 531 |
+
INFO 2025-04-09 05:15:14 ts/train.py:232 step:71K smpl:565K ep:2K epch:31.88 loss:0.048 grdn:5.752 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 532 |
+
INFO 2025-04-09 05:15:29 ts/train.py:232 step:71K smpl:566K ep:2K epch:31.97 loss:0.048 grdn:5.639 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 533 |
+
INFO 2025-04-09 05:15:45 ts/train.py:232 step:71K smpl:568K ep:2K epch:32.06 loss:0.049 grdn:5.658 lr:1.0e-05 updt_s:0.076 data_s:0.003
|
| 534 |
+
INFO 2025-04-09 05:16:00 ts/train.py:232 step:71K smpl:570K ep:2K epch:32.15 loss:0.049 grdn:5.451 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 535 |
+
INFO 2025-04-09 05:16:15 ts/train.py:232 step:71K smpl:571K ep:2K epch:32.24 loss:0.046 grdn:5.192 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 536 |
+
INFO 2025-04-09 05:16:31 ts/train.py:232 step:72K smpl:573K ep:2K epch:32.33 loss:0.046 grdn:5.507 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 537 |
+
INFO 2025-04-09 05:16:46 ts/train.py:232 step:72K smpl:574K ep:2K epch:32.42 loss:0.048 grdn:5.283 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 538 |
+
INFO 2025-04-09 05:17:01 ts/train.py:232 step:72K smpl:576K ep:2K epch:32.51 loss:0.046 grdn:5.183 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 539 |
+
INFO 2025-04-09 05:17:16 ts/train.py:232 step:72K smpl:578K ep:2K epch:32.61 loss:0.048 grdn:5.267 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 540 |
+
INFO 2025-04-09 05:17:31 ts/train.py:232 step:72K smpl:579K ep:2K epch:32.70 loss:0.049 grdn:5.545 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 541 |
+
INFO 2025-04-09 05:17:46 ts/train.py:232 step:73K smpl:581K ep:2K epch:32.79 loss:0.048 grdn:5.672 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 542 |
+
INFO 2025-04-09 05:18:02 ts/train.py:232 step:73K smpl:582K ep:2K epch:32.88 loss:0.049 grdn:5.482 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 543 |
+
INFO 2025-04-09 05:18:16 ts/train.py:232 step:73K smpl:584K ep:2K epch:32.97 loss:0.050 grdn:5.783 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 544 |
+
INFO 2025-04-09 05:18:32 ts/train.py:232 step:73K smpl:586K ep:2K epch:33.06 loss:0.046 grdn:5.470 lr:1.0e-05 updt_s:0.075 data_s:0.003
|
| 545 |
+
INFO 2025-04-09 05:18:48 ts/train.py:232 step:73K smpl:587K ep:2K epch:33.15 loss:0.047 grdn:5.199 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 546 |
+
INFO 2025-04-09 05:19:03 ts/train.py:232 step:74K smpl:589K ep:2K epch:33.24 loss:0.046 grdn:5.298 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 547 |
+
INFO 2025-04-09 05:19:18 ts/train.py:232 step:74K smpl:590K ep:2K epch:33.33 loss:0.046 grdn:5.349 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 548 |
+
INFO 2025-04-09 05:19:33 ts/train.py:232 step:74K smpl:592K ep:2K epch:33.42 loss:0.046 grdn:5.377 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 549 |
+
INFO 2025-04-09 05:19:48 ts/train.py:232 step:74K smpl:594K ep:2K epch:33.51 loss:0.047 grdn:5.624 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 550 |
+
INFO 2025-04-09 05:20:03 ts/train.py:232 step:74K smpl:595K ep:2K epch:33.60 loss:0.047 grdn:5.316 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 551 |
+
INFO 2025-04-09 05:20:18 ts/train.py:232 step:75K smpl:597K ep:2K epch:33.69 loss:0.047 grdn:5.323 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 552 |
+
INFO 2025-04-09 05:20:34 ts/train.py:232 step:75K smpl:598K ep:2K epch:33.78 loss:0.047 grdn:5.492 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 553 |
+
INFO 2025-04-09 05:20:49 ts/train.py:232 step:75K smpl:600K ep:2K epch:33.87 loss:0.049 grdn:5.526 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 554 |
+
INFO 2025-04-09 05:21:05 ts/train.py:232 step:75K smpl:602K ep:2K epch:33.96 loss:0.047 grdn:5.232 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 555 |
+
INFO 2025-04-09 05:21:21 ts/train.py:232 step:75K smpl:603K ep:2K epch:34.05 loss:0.049 grdn:5.475 lr:1.0e-05 updt_s:0.076 data_s:0.003
|
| 556 |
+
INFO 2025-04-09 05:21:36 ts/train.py:232 step:76K smpl:605K ep:2K epch:34.14 loss:0.046 grdn:5.275 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 557 |
+
INFO 2025-04-09 05:21:51 ts/train.py:232 step:76K smpl:606K ep:2K epch:34.23 loss:0.045 grdn:5.038 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 558 |
+
INFO 2025-04-09 05:22:06 ts/train.py:232 step:76K smpl:608K ep:2K epch:34.32 loss:0.047 grdn:5.256 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 559 |
+
INFO 2025-04-09 05:22:21 ts/train.py:232 step:76K smpl:610K ep:2K epch:34.41 loss:0.046 grdn:5.247 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 560 |
+
INFO 2025-04-09 05:22:36 ts/train.py:232 step:76K smpl:611K ep:2K epch:34.50 loss:0.047 grdn:5.382 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 561 |
+
INFO 2025-04-09 05:22:51 ts/train.py:232 step:77K smpl:613K ep:2K epch:34.59 loss:0.047 grdn:5.442 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 562 |
+
INFO 2025-04-09 05:23:06 ts/train.py:232 step:77K smpl:614K ep:2K epch:34.68 loss:0.046 grdn:5.395 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 563 |
+
INFO 2025-04-09 05:23:22 ts/train.py:232 step:77K smpl:616K ep:2K epch:34.77 loss:0.047 grdn:5.384 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 564 |
+
INFO 2025-04-09 05:23:37 ts/train.py:232 step:77K smpl:618K ep:2K epch:34.86 loss:0.045 grdn:5.226 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 565 |
+
INFO 2025-04-09 05:23:52 ts/train.py:232 step:77K smpl:619K ep:2K epch:34.95 loss:0.046 grdn:5.022 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 566 |
+
INFO 2025-04-09 05:24:07 ts/train.py:232 step:78K smpl:621K ep:2K epch:35.04 loss:0.046 grdn:5.091 lr:1.0e-05 updt_s:0.074 data_s:0.003
|
| 567 |
+
INFO 2025-04-09 05:24:22 ts/train.py:232 step:78K smpl:622K ep:2K epch:35.13 loss:0.045 grdn:5.299 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 568 |
+
INFO 2025-04-09 05:24:37 ts/train.py:232 step:78K smpl:624K ep:2K epch:35.22 loss:0.045 grdn:4.996 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 569 |
+
INFO 2025-04-09 05:24:52 ts/train.py:232 step:78K smpl:626K ep:2K epch:35.31 loss:0.046 grdn:5.281 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 570 |
+
INFO 2025-04-09 05:25:08 ts/train.py:232 step:78K smpl:627K ep:2K epch:35.41 loss:0.047 grdn:5.426 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 571 |
+
INFO 2025-04-09 05:25:23 ts/train.py:232 step:79K smpl:629K ep:2K epch:35.50 loss:0.047 grdn:5.129 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 572 |
+
INFO 2025-04-09 05:25:38 ts/train.py:232 step:79K smpl:630K ep:2K epch:35.59 loss:0.044 grdn:4.951 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 573 |
+
INFO 2025-04-09 05:25:53 ts/train.py:232 step:79K smpl:632K ep:2K epch:35.68 loss:0.046 grdn:5.026 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 574 |
+
INFO 2025-04-09 05:26:08 ts/train.py:232 step:79K smpl:634K ep:2K epch:35.77 loss:0.047 grdn:5.191 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 575 |
+
INFO 2025-04-09 05:26:23 ts/train.py:232 step:79K smpl:635K ep:2K epch:35.86 loss:0.045 grdn:5.112 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 576 |
+
INFO 2025-04-09 05:26:38 ts/train.py:232 step:80K smpl:637K ep:2K epch:35.95 loss:0.043 grdn:4.766 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 577 |
+
INFO 2025-04-09 05:26:54 ts/train.py:232 step:80K smpl:638K ep:2K epch:36.04 loss:0.047 grdn:5.323 lr:1.0e-05 updt_s:0.075 data_s:0.003
|
| 578 |
+
INFO 2025-04-09 05:27:09 ts/train.py:232 step:80K smpl:640K ep:2K epch:36.13 loss:0.046 grdn:5.282 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 579 |
+
INFO 2025-04-09 05:27:09 ts/train.py:241 Checkpoint policy after step 80000
|
| 580 |
+
INFO 2025-04-09 05:27:25 ts/train.py:232 step:80K smpl:642K ep:2K epch:36.22 loss:0.045 grdn:5.066 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 581 |
+
INFO 2025-04-09 05:27:40 ts/train.py:232 step:80K smpl:643K ep:2K epch:36.31 loss:0.044 grdn:5.048 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 582 |
+
INFO 2025-04-09 05:27:55 ts/train.py:232 step:81K smpl:645K ep:2K epch:36.40 loss:0.044 grdn:5.148 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 583 |
+
INFO 2025-04-09 05:28:10 ts/train.py:232 step:81K smpl:646K ep:2K epch:36.49 loss:0.045 grdn:5.092 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 584 |
+
INFO 2025-04-09 05:28:25 ts/train.py:232 step:81K smpl:648K ep:2K epch:36.58 loss:0.043 grdn:4.913 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 585 |
+
INFO 2025-04-09 05:28:41 ts/train.py:232 step:81K smpl:650K ep:2K epch:36.67 loss:0.045 grdn:5.374 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 586 |
+
INFO 2025-04-09 05:28:56 ts/train.py:232 step:81K smpl:651K ep:2K epch:36.76 loss:0.045 grdn:4.875 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 587 |
+
INFO 2025-04-09 05:29:11 ts/train.py:232 step:82K smpl:653K ep:2K epch:36.85 loss:0.046 grdn:4.845 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 588 |
+
INFO 2025-04-09 05:29:26 ts/train.py:232 step:82K smpl:654K ep:2K epch:36.94 loss:0.045 grdn:5.040 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 589 |
+
INFO 2025-04-09 05:29:42 ts/train.py:232 step:82K smpl:656K ep:2K epch:37.03 loss:0.044 grdn:5.355 lr:1.0e-05 updt_s:0.075 data_s:0.003
|
| 590 |
+
INFO 2025-04-09 05:29:57 ts/train.py:232 step:82K smpl:658K ep:2K epch:37.12 loss:0.044 grdn:4.986 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 591 |
+
INFO 2025-04-09 05:30:13 ts/train.py:232 step:82K smpl:659K ep:2K epch:37.21 loss:0.044 grdn:5.219 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 592 |
+
INFO 2025-04-09 05:30:28 ts/train.py:232 step:83K smpl:661K ep:2K epch:37.30 loss:0.045 grdn:4.975 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 593 |
+
INFO 2025-04-09 05:30:43 ts/train.py:232 step:83K smpl:662K ep:2K epch:37.39 loss:0.045 grdn:5.059 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 594 |
+
INFO 2025-04-09 05:30:58 ts/train.py:232 step:83K smpl:664K ep:2K epch:37.48 loss:0.042 grdn:4.929 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 595 |
+
INFO 2025-04-09 05:31:13 ts/train.py:232 step:83K smpl:666K ep:2K epch:37.57 loss:0.045 grdn:4.877 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 596 |
+
INFO 2025-04-09 05:31:28 ts/train.py:232 step:83K smpl:667K ep:2K epch:37.66 loss:0.044 grdn:4.800 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 597 |
+
INFO 2025-04-09 05:31:43 ts/train.py:232 step:84K smpl:669K ep:2K epch:37.75 loss:0.043 grdn:4.629 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 598 |
+
INFO 2025-04-09 05:31:58 ts/train.py:232 step:84K smpl:670K ep:2K epch:37.84 loss:0.045 grdn:4.932 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 599 |
+
INFO 2025-04-09 05:32:14 ts/train.py:232 step:84K smpl:672K ep:2K epch:37.93 loss:0.046 grdn:5.145 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 600 |
+
INFO 2025-04-09 05:32:29 ts/train.py:232 step:84K smpl:674K ep:2K epch:38.02 loss:0.042 grdn:4.871 lr:1.0e-05 updt_s:0.075 data_s:0.003
|
| 601 |
+
INFO 2025-04-09 05:32:45 ts/train.py:232 step:84K smpl:675K ep:2K epch:38.11 loss:0.044 grdn:4.864 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 602 |
+
INFO 2025-04-09 05:33:00 ts/train.py:232 step:85K smpl:677K ep:2K epch:38.20 loss:0.043 grdn:4.701 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 603 |
+
INFO 2025-04-09 05:33:15 ts/train.py:232 step:85K smpl:678K ep:2K epch:38.30 loss:0.044 grdn:5.119 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 604 |
+
INFO 2025-04-09 05:33:30 ts/train.py:232 step:85K smpl:680K ep:2K epch:38.39 loss:0.044 grdn:4.901 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 605 |
+
INFO 2025-04-09 05:33:45 ts/train.py:232 step:85K smpl:682K ep:2K epch:38.48 loss:0.044 grdn:5.293 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 606 |
+
INFO 2025-04-09 05:34:00 ts/train.py:232 step:85K smpl:683K ep:2K epch:38.57 loss:0.044 grdn:4.915 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 607 |
+
INFO 2025-04-09 05:34:15 ts/train.py:232 step:86K smpl:685K ep:2K epch:38.66 loss:0.044 grdn:4.733 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 608 |
+
INFO 2025-04-09 05:34:30 ts/train.py:232 step:86K smpl:686K ep:2K epch:38.75 loss:0.045 grdn:4.969 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 609 |
+
INFO 2025-04-09 05:34:46 ts/train.py:232 step:86K smpl:688K ep:2K epch:38.84 loss:0.042 grdn:4.687 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 610 |
+
INFO 2025-04-09 05:35:01 ts/train.py:232 step:86K smpl:690K ep:2K epch:38.93 loss:0.043 grdn:4.925 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 611 |
+
INFO 2025-04-09 05:35:16 ts/train.py:232 step:86K smpl:691K ep:2K epch:39.02 loss:0.044 grdn:4.931 lr:1.0e-05 updt_s:0.074 data_s:0.003
|
| 612 |
+
INFO 2025-04-09 05:35:31 ts/train.py:232 step:87K smpl:693K ep:2K epch:39.11 loss:0.044 grdn:4.974 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 613 |
+
INFO 2025-04-09 05:35:46 ts/train.py:232 step:87K smpl:694K ep:2K epch:39.20 loss:0.043 grdn:4.754 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 614 |
+
INFO 2025-04-09 05:36:02 ts/train.py:232 step:87K smpl:696K ep:2K epch:39.29 loss:0.042 grdn:4.924 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 615 |
+
INFO 2025-04-09 05:36:17 ts/train.py:232 step:87K smpl:698K ep:2K epch:39.38 loss:0.044 grdn:4.797 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 616 |
+
INFO 2025-04-09 05:36:32 ts/train.py:232 step:87K smpl:699K ep:2K epch:39.47 loss:0.043 grdn:4.812 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 617 |
+
INFO 2025-04-09 05:36:47 ts/train.py:232 step:88K smpl:701K ep:2K epch:39.56 loss:0.043 grdn:4.710 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 618 |
+
INFO 2025-04-09 05:37:02 ts/train.py:232 step:88K smpl:702K ep:2K epch:39.65 loss:0.045 grdn:4.882 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 619 |
+
INFO 2025-04-09 05:37:17 ts/train.py:232 step:88K smpl:704K ep:2K epch:39.74 loss:0.041 grdn:4.522 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 620 |
+
INFO 2025-04-09 05:37:32 ts/train.py:232 step:88K smpl:706K ep:2K epch:39.83 loss:0.044 grdn:5.065 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 621 |
+
INFO 2025-04-09 05:37:47 ts/train.py:232 step:88K smpl:707K ep:2K epch:39.92 loss:0.043 grdn:4.828 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 622 |
+
INFO 2025-04-09 05:38:02 ts/train.py:232 step:89K smpl:709K ep:2K epch:40.01 loss:0.042 grdn:4.768 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 623 |
+
INFO 2025-04-09 05:38:18 ts/train.py:232 step:89K smpl:710K ep:2K epch:40.10 loss:0.043 grdn:4.753 lr:1.0e-05 updt_s:0.075 data_s:0.003
|
| 624 |
+
INFO 2025-04-09 05:38:33 ts/train.py:232 step:89K smpl:712K ep:2K epch:40.19 loss:0.041 grdn:4.511 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 625 |
+
INFO 2025-04-09 05:38:48 ts/train.py:232 step:89K smpl:714K ep:2K epch:40.28 loss:0.042 grdn:4.777 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 626 |
+
INFO 2025-04-09 05:39:03 ts/train.py:232 step:89K smpl:715K ep:2K epch:40.37 loss:0.042 grdn:4.560 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 627 |
+
INFO 2025-04-09 05:39:18 ts/train.py:232 step:90K smpl:717K ep:2K epch:40.46 loss:0.041 grdn:4.714 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 628 |
+
INFO 2025-04-09 05:39:33 ts/train.py:232 step:90K smpl:718K ep:2K epch:40.55 loss:0.044 grdn:4.817 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 629 |
+
INFO 2025-04-09 05:39:48 ts/train.py:232 step:90K smpl:720K ep:2K epch:40.64 loss:0.042 grdn:4.561 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 630 |
+
INFO 2025-04-09 05:40:03 ts/train.py:232 step:90K smpl:722K ep:2K epch:40.73 loss:0.044 grdn:4.932 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 631 |
+
INFO 2025-04-09 05:40:18 ts/train.py:232 step:90K smpl:723K ep:2K epch:40.82 loss:0.041 grdn:4.621 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 632 |
+
INFO 2025-04-09 05:40:33 ts/train.py:232 step:91K smpl:725K ep:2K epch:40.91 loss:0.042 grdn:4.547 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 633 |
+
INFO 2025-04-09 05:40:48 ts/train.py:232 step:91K smpl:726K ep:2K epch:41.00 loss:0.043 grdn:4.777 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 634 |
+
INFO 2025-04-09 05:41:04 ts/train.py:232 step:91K smpl:728K ep:2K epch:41.10 loss:0.043 grdn:4.834 lr:1.0e-05 updt_s:0.074 data_s:0.003
|
| 635 |
+
INFO 2025-04-09 05:41:19 ts/train.py:232 step:91K smpl:730K ep:2K epch:41.19 loss:0.043 grdn:4.677 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 636 |
+
INFO 2025-04-09 05:41:34 ts/train.py:232 step:91K smpl:731K ep:2K epch:41.28 loss:0.042 grdn:4.761 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 637 |
+
INFO 2025-04-09 05:41:49 ts/train.py:232 step:92K smpl:733K ep:2K epch:41.37 loss:0.041 grdn:4.514 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 638 |
+
INFO 2025-04-09 05:42:04 ts/train.py:232 step:92K smpl:734K ep:2K epch:41.46 loss:0.040 grdn:4.455 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 639 |
+
INFO 2025-04-09 05:42:20 ts/train.py:232 step:92K smpl:736K ep:2K epch:41.55 loss:0.042 grdn:4.658 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 640 |
+
INFO 2025-04-09 05:42:35 ts/train.py:232 step:92K smpl:738K ep:2K epch:41.64 loss:0.043 grdn:4.794 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 641 |
+
INFO 2025-04-09 05:42:50 ts/train.py:232 step:92K smpl:739K ep:2K epch:41.73 loss:0.043 grdn:4.545 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 642 |
+
INFO 2025-04-09 05:43:05 ts/train.py:232 step:93K smpl:741K ep:2K epch:41.82 loss:0.043 grdn:4.893 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 643 |
+
INFO 2025-04-09 05:43:20 ts/train.py:232 step:93K smpl:742K ep:2K epch:41.91 loss:0.042 grdn:4.789 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 644 |
+
INFO 2025-04-09 05:43:35 ts/train.py:232 step:93K smpl:744K ep:2K epch:42.00 loss:0.041 grdn:4.912 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 645 |
+
INFO 2025-04-09 05:43:51 ts/train.py:232 step:93K smpl:746K ep:2K epch:42.09 loss:0.043 grdn:4.619 lr:1.0e-05 updt_s:0.075 data_s:0.003
|
| 646 |
+
INFO 2025-04-09 05:44:06 ts/train.py:232 step:93K smpl:747K ep:2K epch:42.18 loss:0.040 grdn:4.379 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 647 |
+
INFO 2025-04-09 05:44:21 ts/train.py:232 step:94K smpl:749K ep:2K epch:42.27 loss:0.040 grdn:4.580 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 648 |
+
INFO 2025-04-09 05:44:36 ts/train.py:232 step:94K smpl:750K ep:2K epch:42.36 loss:0.041 grdn:4.637 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 649 |
+
INFO 2025-04-09 05:44:52 ts/train.py:232 step:94K smpl:752K ep:2K epch:42.45 loss:0.042 grdn:4.562 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 650 |
+
INFO 2025-04-09 05:45:07 ts/train.py:232 step:94K smpl:754K ep:2K epch:42.54 loss:0.042 grdn:4.753 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 651 |
+
INFO 2025-04-09 05:45:22 ts/train.py:232 step:94K smpl:755K ep:2K epch:42.63 loss:0.040 grdn:4.496 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 652 |
+
INFO 2025-04-09 05:45:38 ts/train.py:232 step:95K smpl:757K ep:2K epch:42.72 loss:0.041 grdn:4.439 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 653 |
+
INFO 2025-04-09 05:45:53 ts/train.py:232 step:95K smpl:758K ep:2K epch:42.81 loss:0.042 grdn:4.787 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 654 |
+
INFO 2025-04-09 05:46:08 ts/train.py:232 step:95K smpl:760K ep:2K epch:42.90 loss:0.042 grdn:4.706 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 655 |
+
INFO 2025-04-09 05:46:23 ts/train.py:232 step:95K smpl:762K ep:2K epch:42.99 loss:0.043 grdn:4.565 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 656 |
+
INFO 2025-04-09 05:46:39 ts/train.py:232 step:95K smpl:763K ep:2K epch:43.08 loss:0.040 grdn:4.435 lr:1.0e-05 updt_s:0.075 data_s:0.003
|
| 657 |
+
INFO 2025-04-09 05:46:54 ts/train.py:232 step:96K smpl:765K ep:2K epch:43.17 loss:0.041 grdn:4.455 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 658 |
+
INFO 2025-04-09 05:47:09 ts/train.py:232 step:96K smpl:766K ep:2K epch:43.26 loss:0.042 grdn:4.843 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 659 |
+
INFO 2025-04-09 05:47:24 ts/train.py:232 step:96K smpl:768K ep:2K epch:43.35 loss:0.040 grdn:4.486 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 660 |
+
INFO 2025-04-09 05:47:39 ts/train.py:232 step:96K smpl:770K ep:2K epch:43.44 loss:0.042 grdn:4.565 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 661 |
+
INFO 2025-04-09 05:47:54 ts/train.py:232 step:96K smpl:771K ep:2K epch:43.53 loss:0.042 grdn:4.681 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 662 |
+
INFO 2025-04-09 05:48:09 ts/train.py:232 step:97K smpl:773K ep:2K epch:43.62 loss:0.039 grdn:4.425 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 663 |
+
INFO 2025-04-09 05:48:24 ts/train.py:232 step:97K smpl:774K ep:2K epch:43.71 loss:0.040 grdn:4.530 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 664 |
+
INFO 2025-04-09 05:48:40 ts/train.py:232 step:97K smpl:776K ep:2K epch:43.80 loss:0.040 grdn:4.458 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 665 |
+
INFO 2025-04-09 05:48:55 ts/train.py:232 step:97K smpl:778K ep:2K epch:43.90 loss:0.041 grdn:4.631 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 666 |
+
INFO 2025-04-09 05:49:10 ts/train.py:232 step:97K smpl:779K ep:2K epch:43.99 loss:0.042 grdn:4.362 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 667 |
+
INFO 2025-04-09 05:49:25 ts/train.py:232 step:98K smpl:781K ep:2K epch:44.08 loss:0.041 grdn:4.355 lr:1.0e-05 updt_s:0.075 data_s:0.003
|
| 668 |
+
INFO 2025-04-09 05:49:41 ts/train.py:232 step:98K smpl:782K ep:2K epch:44.17 loss:0.040 grdn:4.486 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 669 |
+
INFO 2025-04-09 05:49:56 ts/train.py:232 step:98K smpl:784K ep:2K epch:44.26 loss:0.041 grdn:4.443 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 670 |
+
INFO 2025-04-09 05:50:11 ts/train.py:232 step:98K smpl:786K ep:2K epch:44.35 loss:0.040 grdn:4.312 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 671 |
+
INFO 2025-04-09 05:50:26 ts/train.py:232 step:98K smpl:787K ep:2K epch:44.44 loss:0.042 grdn:4.802 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 672 |
+
INFO 2025-04-09 05:50:42 ts/train.py:232 step:99K smpl:789K ep:2K epch:44.53 loss:0.039 grdn:4.264 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 673 |
+
INFO 2025-04-09 05:50:57 ts/train.py:232 step:99K smpl:790K ep:2K epch:44.62 loss:0.041 grdn:4.592 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 674 |
+
INFO 2025-04-09 05:51:12 ts/train.py:232 step:99K smpl:792K ep:2K epch:44.71 loss:0.041 grdn:4.684 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 675 |
+
INFO 2025-04-09 05:51:27 ts/train.py:232 step:99K smpl:794K ep:2K epch:44.80 loss:0.041 grdn:4.796 lr:1.0e-05 updt_s:0.074 data_s:0.000
|
| 676 |
+
INFO 2025-04-09 05:51:42 ts/train.py:232 step:99K smpl:795K ep:2K epch:44.89 loss:0.040 grdn:4.504 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 677 |
+
INFO 2025-04-09 05:51:57 ts/train.py:232 step:100K smpl:797K ep:2K epch:44.98 loss:0.042 grdn:4.575 lr:1.0e-05 updt_s:0.075 data_s:0.000
|
| 678 |
+
INFO 2025-04-09 05:52:13 ts/train.py:232 step:100K smpl:798K ep:2K epch:45.07 loss:0.039 grdn:4.289 lr:1.0e-05 updt_s:0.075 data_s:0.003
|
| 679 |
+
INFO 2025-04-09 05:52:28 ts/train.py:232 step:100K smpl:800K ep:2K epch:45.16 loss:0.040 grdn:4.404 lr:1.0e-05 updt_s:0.076 data_s:0.000
|
| 680 |
+
INFO 2025-04-09 05:52:28 ts/train.py:241 Checkpoint policy after step 100000
|
| 681 |
+
INFO 2025-04-09 05:52:29 ts/train.py:283 End of training
|
wandb/run-20250409_034432-mzcfyk14/files/requirements.txt
ADDED
|
@@ -0,0 +1,149 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
setuptools==59.6.0
|
| 2 |
+
pydantic==2.11.3
|
| 3 |
+
gitdb==4.0.12
|
| 4 |
+
pip==25.0.1
|
| 5 |
+
mpmath==1.3.0
|
| 6 |
+
typing_extensions==4.12.2
|
| 7 |
+
sympy==1.13.1
|
| 8 |
+
pillow==11.0.0
|
| 9 |
+
nvidia-nvtx-cu12==12.4.127
|
| 10 |
+
nvidia-nvjitlink-cu12==12.4.127
|
| 11 |
+
nvidia-nccl-cu12==2.21.5
|
| 12 |
+
nvidia-curand-cu12==10.3.5.147
|
| 13 |
+
nvidia-cufft-cu12==11.2.1.3
|
| 14 |
+
nvidia-cuda-runtime-cu12==12.4.127
|
| 15 |
+
nvidia-cuda-nvrtc-cu12==12.4.127
|
| 16 |
+
nvidia-cuda-cupti-cu12==12.4.127
|
| 17 |
+
nvidia-cublas-cu12==12.4.5.8
|
| 18 |
+
numpy==2.1.2
|
| 19 |
+
networkx==3.3
|
| 20 |
+
MarkupSafe==2.1.5
|
| 21 |
+
fsspec==2024.6.1
|
| 22 |
+
filelock==3.13.1
|
| 23 |
+
nvidia-cudnn-cu12==9.1.0.70
|
| 24 |
+
Jinja2==3.1.4
|
| 25 |
+
torch==2.6.0
|
| 26 |
+
gym-xarm==0.1.1
|
| 27 |
+
urllib3==2.3.0
|
| 28 |
+
typing-inspection==0.4.0
|
| 29 |
+
smmap==5.0.2
|
| 30 |
+
six==1.17.0
|
| 31 |
+
setproctitle==1.3.5
|
| 32 |
+
PyYAML==6.0.2
|
| 33 |
+
pydantic_core==2.33.1
|
| 34 |
+
psutil==7.0.0
|
| 35 |
+
protobuf==5.29.4
|
| 36 |
+
platformdirs==4.3.7
|
| 37 |
+
idna==3.10
|
| 38 |
+
click==8.1.8
|
| 39 |
+
charset-normalizer==3.4.1
|
| 40 |
+
certifi==2025.1.31
|
| 41 |
+
annotated-types==0.7.0
|
| 42 |
+
sentry-sdk==2.25.1
|
| 43 |
+
requests==2.32.3
|
| 44 |
+
docker-pycreds==0.4.0
|
| 45 |
+
GitPython==3.1.44
|
| 46 |
+
wandb==0.19.9
|
| 47 |
+
termcolor==3.0.1
|
| 48 |
+
wcwidth==0.2.13
|
| 49 |
+
Farama-Notifications==0.0.4
|
| 50 |
+
triton==3.2.0
|
| 51 |
+
pytz==2025.2
|
| 52 |
+
PyOpenGL==3.1.9
|
| 53 |
+
nvidia-cusparselt-cu12==0.6.2
|
| 54 |
+
glfw==2.8.0
|
| 55 |
+
asciitree==0.3.3
|
| 56 |
+
antlr4-python3-runtime==4.9.3
|
| 57 |
+
zipp==3.21.0
|
| 58 |
+
xxhash==3.5.0
|
| 59 |
+
wrapt==1.17.2
|
| 60 |
+
Werkzeug==3.1.3
|
| 61 |
+
tzdata==2025.2
|
| 62 |
+
tqdm==4.67.1
|
| 63 |
+
TorchCodec==0.2.1
|
| 64 |
+
toml==0.10.2
|
| 65 |
+
tifffile==2025.3.30
|
| 66 |
+
soupsieve==2.6
|
| 67 |
+
shapely==2.1.0
|
| 68 |
+
scipy==1.15.2
|
| 69 |
+
safetensors==0.5.3
|
| 70 |
+
regex==2024.11.6
|
| 71 |
+
pyzmq==26.4.0
|
| 72 |
+
nvidia-cusparse-cu12==12.3.1.170
|
| 73 |
+
PySocks==1.7.1
|
| 74 |
+
pyparsing==3.2.3
|
| 75 |
+
pygame==2.6.1
|
| 76 |
+
pycparser==2.22
|
| 77 |
+
pyarrow==19.0.1
|
| 78 |
+
propcache==0.3.1
|
| 79 |
+
prompt_toolkit==3.0.50
|
| 80 |
+
pfzy==0.3.4
|
| 81 |
+
packaging==24.2
|
| 82 |
+
orderly-set==5.3.1
|
| 83 |
+
opencv-python==4.11.0.86
|
| 84 |
+
numcodecs==0.13.1
|
| 85 |
+
mypy-extensions==1.0.0
|
| 86 |
+
multidict==6.2.0
|
| 87 |
+
mergedeep==1.3.4
|
| 88 |
+
lxml==5.3.2
|
| 89 |
+
llvmlite==0.44.0
|
| 90 |
+
itsdangerous==2.2.0
|
| 91 |
+
imageio-ffmpeg==0.6.0
|
| 92 |
+
imageio==2.37.0
|
| 93 |
+
hf_transfer==0.1.9
|
| 94 |
+
h5py==3.13.0
|
| 95 |
+
frozenlist==1.5.0
|
| 96 |
+
fasteners==0.19
|
| 97 |
+
evdev==1.9.1
|
| 98 |
+
einops==0.8.1
|
| 99 |
+
dill==0.3.8
|
| 100 |
+
cmake==4.0.0
|
| 101 |
+
cloudpickle==3.1.1
|
| 102 |
+
blinker==1.9.0
|
| 103 |
+
av==12.3.0
|
| 104 |
+
attrs==25.3.0
|
| 105 |
+
async-timeout==5.0.1
|
| 106 |
+
aiohappyeyeballs==2.6.1
|
| 107 |
+
absl-py==2.2.2
|
| 108 |
+
zarr==2.18.3
|
| 109 |
+
yarl==1.19.0
|
| 110 |
+
typing-inspect==0.9.0
|
| 111 |
+
rerun-sdk==0.22.1
|
| 112 |
+
pyyaml-include==1.4.1
|
| 113 |
+
python-xlib==0.33
|
| 114 |
+
python-dateutil==2.9.0.post0
|
| 115 |
+
omegaconf==2.3.0
|
| 116 |
+
numba==0.61.2
|
| 117 |
+
multiprocess==0.70.16
|
| 118 |
+
mujoco==2.3.7
|
| 119 |
+
lazy_loader==0.4
|
| 120 |
+
labmaze==1.0.6
|
| 121 |
+
jsonlines==4.0.0
|
| 122 |
+
inquirerpy==0.3.4
|
| 123 |
+
importlib_metadata==8.6.1
|
| 124 |
+
gymnasium==0.29.1
|
| 125 |
+
Flask==3.1.0
|
| 126 |
+
dm-tree==0.1.9
|
| 127 |
+
deepdiff==8.4.2
|
| 128 |
+
cffi==1.17.1
|
| 129 |
+
beautifulsoup4==4.13.3
|
| 130 |
+
aiosignal==1.3.2
|
| 131 |
+
scikit-image==0.25.2
|
| 132 |
+
pynput==1.8.1
|
| 133 |
+
pymunk==6.11.1
|
| 134 |
+
pettingzoo==1.24.3
|
| 135 |
+
pandas==2.2.3
|
| 136 |
+
nvidia-cusolver-cu12==11.6.1.9
|
| 137 |
+
huggingface-hub==0.30.2
|
| 138 |
+
draccus==0.10.0
|
| 139 |
+
dm-env==1.6
|
| 140 |
+
aiohttp==3.11.16
|
| 141 |
+
gdown==5.2.0
|
| 142 |
+
diffusers==0.32.2
|
| 143 |
+
gymnasium-robotics==1.2.4
|
| 144 |
+
gym-pusht==0.1.5
|
| 145 |
+
dm-control==1.0.14
|
| 146 |
+
torchvision==0.21.0
|
| 147 |
+
gym-aloha==0.1.1
|
| 148 |
+
datasets==3.5.0
|
| 149 |
+
lerobot==0.1.0
|
wandb/run-20250409_034432-mzcfyk14/files/wandb-metadata.json
ADDED
|
@@ -0,0 +1,49 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"os": "Linux-5.4.0-200-generic-x86_64-with-glibc2.35",
|
| 3 |
+
"python": "CPython 3.10.12",
|
| 4 |
+
"startedAt": "2025-04-09T03:44:32.565703Z",
|
| 5 |
+
"args": [
|
| 6 |
+
"--dataset.repo_id=00ri/so100_battery_bin_center",
|
| 7 |
+
"--policy.type=act",
|
| 8 |
+
"--output_dir=outputs/train/act_so100_battery_bin_center",
|
| 9 |
+
"--job_name=act_so100_battery_bin_center",
|
| 10 |
+
"--policy.device=cuda",
|
| 11 |
+
"--wandb.enable=true"
|
| 12 |
+
],
|
| 13 |
+
"program": "/root/lerobot/lerobot/scripts/train.py",
|
| 14 |
+
"codePath": "lerobot/scripts/train.py",
|
| 15 |
+
"git": {
|
| 16 |
+
"remote": "https://github.com/huggingface/lerobot.git",
|
| 17 |
+
"commit": "2c86fea78aa3a3177411a9758a0a703baac74ea8"
|
| 18 |
+
},
|
| 19 |
+
"root": "outputs/train/act_so100_battery_bin_center",
|
| 20 |
+
"host": "1291d3d30ff4",
|
| 21 |
+
"executable": "/opt/venv/bin/python",
|
| 22 |
+
"codePathLocal": "lerobot/scripts/train.py",
|
| 23 |
+
"cpu_count": 128,
|
| 24 |
+
"cpu_count_logical": 256,
|
| 25 |
+
"gpu": "NVIDIA GeForce RTX 4090",
|
| 26 |
+
"gpu_count": 1,
|
| 27 |
+
"disk": {
|
| 28 |
+
"/": {
|
| 29 |
+
"total": "34359738368",
|
| 30 |
+
"used": "13591994368"
|
| 31 |
+
}
|
| 32 |
+
},
|
| 33 |
+
"memory": {
|
| 34 |
+
"total": "540894224384"
|
| 35 |
+
},
|
| 36 |
+
"cpu": {
|
| 37 |
+
"count": 128,
|
| 38 |
+
"countLogical": 256
|
| 39 |
+
},
|
| 40 |
+
"gpu_nvidia": [
|
| 41 |
+
{
|
| 42 |
+
"name": "NVIDIA GeForce RTX 4090",
|
| 43 |
+
"memoryTotal": "25757220864",
|
| 44 |
+
"cudaCores": 16384,
|
| 45 |
+
"architecture": "Ada"
|
| 46 |
+
}
|
| 47 |
+
],
|
| 48 |
+
"cudaVersion": "12.4"
|
| 49 |
+
}
|
wandb/run-20250409_034432-mzcfyk14/files/wandb-summary.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"train/grad_norm":4.403938946723938,"_runtime":7677.097892191,"train/episodes":2257.9734688117414,"train/lr":1.0000000000000021e-05,"train/steps":100000,"_wandb":{"runtime":7677},"train/samples":800000,"_timestamp":1.7441779483840723e+09,"train/dataloading_s":0.00012859645532444118,"_step":100000,"train/loss":0.039834285182878376,"train/l1_loss":0.03731711953878403,"train/epochs":45.15946937623483,"train/kld_loss":6.135553121566772e-05,"train/update_s":0.07589570241281762}
|
wandb/run-20250409_034432-mzcfyk14/logs/debug-core.log
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"time":"2025-04-09T03:44:32.381465019Z","level":"INFO","msg":"main: starting server","port-filename":"/tmp/tmpca6yspv8/port-4140.txt","pid":4140,"log-level":0,"disable-analytics":false,"shutdown-on-parent-exit":false}
|
| 2 |
+
{"time":"2025-04-09T03:44:32.422625675Z","level":"INFO","msg":"Will exit if parent process dies.","ppid":4140}
|
| 3 |
+
{"time":"2025-04-09T03:44:32.422622835Z","level":"INFO","msg":"server is running","addr":{"IP":"127.0.0.1","Port":35053,"Zone":""}}
|
| 4 |
+
{"time":"2025-04-09T03:44:32.559389194Z","level":"INFO","msg":"connection: ManageConnectionData: new connection created","id":"127.0.0.1:45620"}
|
| 5 |
+
{"time":"2025-04-09T03:44:32.568905685Z","level":"INFO","msg":"handleInformInit: received","streamId":"mzcfyk14","id":"127.0.0.1:45620"}
|
| 6 |
+
{"time":"2025-04-09T03:44:32.931122366Z","level":"INFO","msg":"handleInformInit: stream started","streamId":"mzcfyk14","id":"127.0.0.1:45620"}
|
| 7 |
+
{"time":"2025-04-09T05:52:29.663389023Z","level":"INFO","msg":"handleInformTeardown: server teardown initiated","id":"127.0.0.1:45620"}
|
| 8 |
+
{"time":"2025-04-09T05:52:29.663516352Z","level":"INFO","msg":"connection: closing","id":"127.0.0.1:45620"}
|
| 9 |
+
{"time":"2025-04-09T05:52:29.663562151Z","level":"INFO","msg":"server is shutting down"}
|
| 10 |
+
{"time":"2025-04-09T05:52:29.663651651Z","level":"INFO","msg":"connection: closed successfully","id":"127.0.0.1:45620"}
|
| 11 |
+
{"time":"2025-04-09T05:52:39.357599398Z","level":"ERROR","msg":"processOutgoingData: flush error","error":"write tcp 127.0.0.1:35053->127.0.0.1:45620: use of closed network connection","id":"127.0.0.1:45620"}
|
| 12 |
+
{"time":"2025-04-09T05:52:39.676612005Z","level":"INFO","msg":"handleInformTeardown: server shutdown complete","id":"127.0.0.1:45620"}
|
| 13 |
+
{"time":"2025-04-09T05:52:39.676746954Z","level":"INFO","msg":"connection: ManageConnectionData: connection closed","id":"127.0.0.1:45620"}
|
| 14 |
+
{"time":"2025-04-09T05:52:39.676786514Z","level":"INFO","msg":"server is closed"}
|
wandb/run-20250409_034432-mzcfyk14/logs/debug-internal.log
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"time":"2025-04-09T03:44:32.569149893Z","level":"INFO","msg":"stream: starting","core version":"0.19.9","symlink path":"outputs/train/act_so100_battery_bin_center/wandb/run-20250409_034432-mzcfyk14/logs/debug-core.log"}
|
| 2 |
+
{"time":"2025-04-09T03:44:32.931038277Z","level":"INFO","msg":"created new stream","id":"mzcfyk14"}
|
| 3 |
+
{"time":"2025-04-09T03:44:32.931112337Z","level":"INFO","msg":"stream: started","id":"mzcfyk14"}
|
| 4 |
+
{"time":"2025-04-09T03:44:32.931379825Z","level":"INFO","msg":"handler: started","stream_id":"mzcfyk14"}
|
| 5 |
+
{"time":"2025-04-09T03:44:32.931405525Z","level":"INFO","msg":"sender: started","stream_id":"mzcfyk14"}
|
| 6 |
+
{"time":"2025-04-09T03:44:32.931465614Z","level":"INFO","msg":"writer: Do: started","stream_id":"mzcfyk14"}
|
| 7 |
+
{"time":"2025-04-09T03:44:33.19700084Z","level":"INFO","msg":"Starting system monitor"}
|
| 8 |
+
{"time":"2025-04-09T05:52:29.663569862Z","level":"INFO","msg":"stream: closing","id":"mzcfyk14"}
|
| 9 |
+
{"time":"2025-04-09T05:52:29.663609361Z","level":"INFO","msg":"Stopping system monitor"}
|
| 10 |
+
{"time":"2025-04-09T05:52:29.663656641Z","level":"INFO","msg":"Stopped system monitor"}
|
| 11 |
+
{"time":"2025-04-09T05:52:39.407741533Z","level":"INFO","msg":"fileTransfer: Close: file transfer manager closed"}
|
| 12 |
+
{"time":"2025-04-09T05:52:39.676195867Z","level":"INFO","msg":"handler: closed","stream_id":"mzcfyk14"}
|
| 13 |
+
{"time":"2025-04-09T05:52:39.676247407Z","level":"INFO","msg":"writer: Close: closed","stream_id":"mzcfyk14"}
|
| 14 |
+
{"time":"2025-04-09T05:52:39.676275507Z","level":"INFO","msg":"sender: closed","stream_id":"mzcfyk14"}
|
| 15 |
+
{"time":"2025-04-09T05:52:39.676459166Z","level":"INFO","msg":"stream: closed","id":"mzcfyk14"}
|
wandb/run-20250409_034432-mzcfyk14/logs/debug.log
ADDED
|
@@ -0,0 +1,23 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
2025-04-09 03:44:32,561 INFO MainThread:4140 [wandb_setup.py:_flush():67] Current SDK version is 0.19.9
|
| 2 |
+
2025-04-09 03:44:32,561 INFO MainThread:4140 [wandb_setup.py:_flush():67] Configure stats pid to 4140
|
| 3 |
+
2025-04-09 03:44:32,561 INFO MainThread:4140 [wandb_setup.py:_flush():67] Loading settings from /root/.config/wandb/settings
|
| 4 |
+
2025-04-09 03:44:32,561 INFO MainThread:4140 [wandb_setup.py:_flush():67] Loading settings from /root/lerobot/wandb/settings
|
| 5 |
+
2025-04-09 03:44:32,561 INFO MainThread:4140 [wandb_setup.py:_flush():67] Loading settings from environment variables
|
| 6 |
+
2025-04-09 03:44:32,562 INFO MainThread:4140 [wandb_init.py:setup_run_log_directory():662] Logging user logs to outputs/train/act_so100_battery_bin_center/wandb/run-20250409_034432-mzcfyk14/logs/debug.log
|
| 7 |
+
2025-04-09 03:44:32,562 INFO MainThread:4140 [wandb_init.py:setup_run_log_directory():663] Logging internal logs to outputs/train/act_so100_battery_bin_center/wandb/run-20250409_034432-mzcfyk14/logs/debug-internal.log
|
| 8 |
+
2025-04-09 03:44:32,562 INFO MainThread:4140 [wandb_init.py:init():781] calling init triggers
|
| 9 |
+
2025-04-09 03:44:32,562 INFO MainThread:4140 [wandb_init.py:init():786] wandb.init called with sweep_config: {}
|
| 10 |
+
config: {'dataset': {'repo_id': '00ri/so100_battery_bin_center', 'root': None, 'episodes': None, 'image_transforms': {'enable': False, 'max_num_transforms': 3, 'random_order': False, 'tfs': {'brightness': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'brightness': [0.8, 1.2]}}, 'contrast': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'contrast': [0.8, 1.2]}}, 'saturation': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'saturation': [0.5, 1.5]}}, 'hue': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'hue': [-0.05, 0.05]}}, 'sharpness': {'weight': 1.0, 'type': 'SharpnessJitter', 'kwargs': {'sharpness': [0.5, 1.5]}}}}, 'revision': None, 'use_imagenet_stats': True, 'video_backend': 'torchcodec'}, 'env': None, 'policy': {'type': 'act', 'n_obs_steps': 1, 'normalization_mapping': {'VISUAL': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'STATE': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'ACTION': <NormalizationMode.MEAN_STD: 'MEAN_STD'>}, 'input_features': {}, 'output_features': {}, 'device': 'cuda', 'use_amp': False, 'chunk_size': 100, 'n_action_steps': 100, 'vision_backbone': 'resnet18', 'pretrained_backbone_weights': 'ResNet18_Weights.IMAGENET1K_V1', 'replace_final_stride_with_dilation': False, 'pre_norm': False, 'dim_model': 512, 'n_heads': 8, 'dim_feedforward': 3200, 'feedforward_activation': 'relu', 'n_encoder_layers': 4, 'n_decoder_layers': 1, 'use_vae': True, 'latent_dim': 32, 'n_vae_encoder_layers': 4, 'temporal_ensemble_coeff': None, 'dropout': 0.1, 'kl_weight': 10.0, 'optimizer_lr': 1e-05, 'optimizer_weight_decay': 0.0001, 'optimizer_lr_backbone': 1e-05}, 'output_dir': 'outputs/train/act_so100_battery_bin_center', 'job_name': 'act_so100_battery_bin_center', 'resume': False, 'seed': 1000, 'num_workers': 4, 'batch_size': 8, 'steps': 100000, 'eval_freq': 20000, 'log_freq': 200, 'save_checkpoint': True, 'save_freq': 20000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adamw', 'lr': 1e-05, 'weight_decay': 0.0001, 'grad_clip_norm': 10.0, 'betas': [0.9, 0.999], 'eps': 1e-08}, 'scheduler': None, 'eval': {'n_episodes': 50, 'batch_size': 50, 'use_async_envs': False}, 'wandb': {'enable': True, 'disable_artifact': False, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': None, 'mode': None}, '_wandb': {}}
|
| 11 |
+
2025-04-09 03:44:32,562 INFO MainThread:4140 [wandb_init.py:init():809] starting backend
|
| 12 |
+
2025-04-09 03:44:32,562 INFO MainThread:4140 [wandb_init.py:init():813] sending inform_init request
|
| 13 |
+
2025-04-09 03:44:32,565 INFO MainThread:4140 [backend.py:_multiprocessing_setup():101] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
|
| 14 |
+
2025-04-09 03:44:32,565 INFO MainThread:4140 [wandb_init.py:init():823] backend started and connected
|
| 15 |
+
2025-04-09 03:44:32,567 INFO MainThread:4140 [wandb_init.py:init():915] updated telemetry
|
| 16 |
+
2025-04-09 03:44:32,571 INFO MainThread:4140 [wandb_init.py:init():939] communicating run to backend with 90.0 second timeout
|
| 17 |
+
2025-04-09 03:44:33,194 INFO MainThread:4140 [wandb_init.py:init():1014] starting run threads in backend
|
| 18 |
+
2025-04-09 03:44:33,291 INFO MainThread:4140 [wandb_run.py:_console_start():2454] atexit reg
|
| 19 |
+
2025-04-09 03:44:33,291 INFO MainThread:4140 [wandb_run.py:_redirect():2306] redirect: wrap_raw
|
| 20 |
+
2025-04-09 03:44:33,292 INFO MainThread:4140 [wandb_run.py:_redirect():2371] Wrapping output streams.
|
| 21 |
+
2025-04-09 03:44:33,292 INFO MainThread:4140 [wandb_run.py:_redirect():2394] Redirects installed.
|
| 22 |
+
2025-04-09 03:44:33,293 INFO MainThread:4140 [wandb_init.py:init():1056] run started, returning control to user process
|
| 23 |
+
2025-04-09 05:52:29,662 INFO MsgRouterThr:4140 [mailbox.py:close():129] [no run ID] Closing mailbox, abandoning 2 handles.
|
wandb/run-20250409_034432-mzcfyk14/run-mzcfyk14.wandb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:076693efce5d3f9e59f5038676a592dbc839e8fda686ccfa135bb90eb54ee6f2
|
| 3 |
+
size 1130776
|