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  1. .gitattributes +163 -0
  2. logs/speed_embedding_ablation/servers/modulation/gpu0.log +20 -0
  3. logs/speed_embedding_ablation/servers/modulation/gpu1.log +20 -0
  4. logs/speed_embedding_ablation/servers/modulation/gpu2.log +20 -0
  5. logs/speed_embedding_ablation/servers/modulation/gpu3.log +20 -0
  6. logs/speed_embedding_ablation/servers/modulation/gpu4.log +20 -0
  7. logs/speed_embedding_ablation/servers/modulation/gpu5.log +20 -0
  8. logs/speed_embedding_ablation/servers/modulation/gpu6.log +20 -0
  9. logs/speed_embedding_ablation/servers/modulation/gpu7.log +20 -0
  10. logs/speed_embedding_ablation/servers/soft_prompt/gpu0.log +81 -0
  11. logs/speed_embedding_ablation/servers/soft_prompt/gpu1.log +80 -0
  12. logs/speed_embedding_ablation/servers/soft_prompt/gpu2.log +81 -0
  13. logs/speed_embedding_ablation/servers/soft_prompt/gpu3.log +92 -0
  14. logs/speed_embedding_ablation/servers/soft_prompt/gpu4.log +128 -0
  15. logs/speed_embedding_ablation/servers/soft_prompt/gpu5.log +116 -0
  16. logs/speed_embedding_ablation/servers/soft_prompt/gpu6.log +116 -0
  17. logs/speed_embedding_ablation/servers/soft_prompt/gpu7.log +93 -0
  18. logs/speed_embedding_ablation/servers/text/gpu0.log +28 -0
  19. logs/speed_embedding_ablation/servers/text/gpu1.log +28 -0
  20. logs/speed_embedding_ablation/servers/text/gpu2.log +28 -0
  21. logs/speed_embedding_ablation/servers/text/gpu3.log +26 -0
  22. logs/speed_embedding_ablation/servers/text/gpu4.log +26 -0
  23. logs/speed_embedding_ablation/servers/text/gpu5.log +25 -0
  24. logs/speed_embedding_ablation/servers/text/gpu6.log +26 -0
  25. logs/speed_embedding_ablation/servers/text/gpu7.log +26 -0
  26. packages/openpi-client/src/openpi_client/__pycache__/__init__.cpython-312.pyc +0 -0
  27. packages/openpi-client/src/openpi_client/__pycache__/base_policy.cpython-312.pyc +0 -0
  28. packages/openpi-client/src/openpi_client/__pycache__/image_tools.cpython-312.pyc +0 -0
  29. packages/openpi-client/src/openpi_client/__pycache__/msgpack_numpy.cpython-312.pyc +0 -0
  30. packages/openpi-client/src/openpi_client/__pycache__/websocket_client_policy.cpython-312.pyc +0 -0
  31. results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_0p75x/logs/goal_0p75x.log +72 -0
  32. results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_0p75x/logs/long_t0_1_0p75x.log +56 -0
  33. results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_0p75x/logs/long_t2_3_0p75x.log +56 -0
  34. results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_0p75x/logs/long_t4_5_0p75x.log +56 -0
  35. results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_0p75x/logs/long_t6_7_0p75x.log +56 -0
  36. results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_0p75x/logs/long_t8_9_0p75x.log +56 -0
  37. results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_0p75x/logs/object_0p75x.log +72 -0
  38. results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_0p75x/logs/spatial_0p75x.log +72 -0
  39. results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p25x/logs/goal_1p25x.log +72 -0
  40. results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p25x/logs/long_t0_1_1p25x.log +56 -0
  41. results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p25x/logs/long_t2_3_1p25x.log +56 -0
  42. results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p25x/logs/long_t4_5_1p25x.log +56 -0
  43. results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p25x/logs/long_t6_7_1p25x.log +56 -0
  44. results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p25x/logs/long_t8_9_1p25x.log +56 -0
  45. results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p25x/logs/object_1p25x.log +72 -0
  46. results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p25x/logs/spatial_1p25x.log +72 -0
  47. results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p5x/logs/goal_1p5x.log +72 -0
  48. results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p5x/logs/long_t0_1_1p5x.log +56 -0
  49. results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p5x/logs/long_t2_3_1p5x.log +56 -0
  50. results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p5x/logs/long_t4_5_1p5x.log +56 -0
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+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_1p0x/videos/long_t2_3_1p0x/rank4_libero_10_speed1x_t02_e13_success.mp4 filter=lfs diff=lfs merge=lfs -text
928
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_1p0x/videos/long_t2_3_1p0x/rank4_libero_10_speed1x_t02_e49_success.mp4 filter=lfs diff=lfs merge=lfs -text
929
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_1p0x/videos/long_t2_3_1p0x/rank4_libero_10_speed1x_t03_e20_success.mp4 filter=lfs diff=lfs merge=lfs -text
930
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_1p0x/videos/long_t2_3_1p0x/rank4_libero_10_speed1x_t02_e25_success.mp4 filter=lfs diff=lfs merge=lfs -text
931
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_1p0x/videos/long_t2_3_1p0x/rank4_libero_10_speed1x_t02_e07_success.mp4 filter=lfs diff=lfs merge=lfs -text
932
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/long_t4_5_0p5x/rank5_libero_10_speed0p5x_t04_e33_failure.mp4 filter=lfs diff=lfs merge=lfs -text
933
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/long_t4_5_0p5x/rank5_libero_10_speed0p5x_t05_e28_success.mp4 filter=lfs diff=lfs merge=lfs -text
934
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/long_t4_5_0p5x/rank5_libero_10_speed0p5x_t05_e05_success.mp4 filter=lfs diff=lfs merge=lfs -text
935
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/long_t4_5_0p5x/rank5_libero_10_speed0p5x_t04_e09_failure.mp4 filter=lfs diff=lfs merge=lfs -text
936
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/long_t4_5_0p5x/rank5_libero_10_speed0p5x_t04_e16_failure.mp4 filter=lfs diff=lfs merge=lfs -text
937
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/long_t4_5_0p5x/rank5_libero_10_speed0p5x_t04_e03_failure.mp4 filter=lfs diff=lfs merge=lfs -text
938
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/long_t4_5_0p5x/rank5_libero_10_speed0p5x_t04_e37_success.mp4 filter=lfs diff=lfs merge=lfs -text
939
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/long_t4_5_0p5x/rank5_libero_10_speed0p5x_t05_e24_success.mp4 filter=lfs diff=lfs merge=lfs -text
940
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/long_t4_5_0p5x/rank5_libero_10_speed0p5x_t05_e16_success.mp4 filter=lfs diff=lfs merge=lfs -text
941
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/long_t4_5_0p5x/rank5_libero_10_speed0p5x_t04_e36_success.mp4 filter=lfs diff=lfs merge=lfs -text
942
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/long_t4_5_0p5x/rank5_libero_10_speed0p5x_t05_e25_failure.mp4 filter=lfs diff=lfs merge=lfs -text
943
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/long_t4_5_0p5x/rank5_libero_10_speed0p5x_t04_e48_failure.mp4 filter=lfs diff=lfs merge=lfs -text
944
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/long_t4_5_0p5x/rank5_libero_10_speed0p5x_t04_e29_success.mp4 filter=lfs diff=lfs merge=lfs -text
945
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/long_t4_5_0p5x/rank5_libero_10_speed0p5x_t05_e27_success.mp4 filter=lfs diff=lfs merge=lfs -text
946
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/long_t4_5_0p5x/rank5_libero_10_speed0p5x_t05_e01_success.mp4 filter=lfs diff=lfs merge=lfs -text
947
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/object_0p5x/rank2_libero_object_speed0p5x_t08_e25_failure.mp4 filter=lfs diff=lfs merge=lfs -text
948
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/object_0p5x/rank2_libero_object_speed0p5x_t03_e40_failure.mp4 filter=lfs diff=lfs merge=lfs -text
949
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/object_0p5x/rank2_libero_object_speed0p5x_t06_e41_failure.mp4 filter=lfs diff=lfs merge=lfs -text
950
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/object_0p5x/rank2_libero_object_speed0p5x_t03_e09_failure.mp4 filter=lfs diff=lfs merge=lfs -text
951
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/object_0p5x/rank2_libero_object_speed0p5x_t07_e02_success.mp4 filter=lfs diff=lfs merge=lfs -text
952
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/object_0p5x/rank2_libero_object_speed0p5x_t01_e12_success.mp4 filter=lfs diff=lfs merge=lfs -text
953
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/object_0p5x/rank2_libero_object_speed0p5x_t07_e35_success.mp4 filter=lfs diff=lfs merge=lfs -text
954
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/object_0p5x/rank2_libero_object_speed0p5x_t03_e17_failure.mp4 filter=lfs diff=lfs merge=lfs -text
955
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/object_0p5x/rank2_libero_object_speed0p5x_t08_e18_failure.mp4 filter=lfs diff=lfs merge=lfs -text
956
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/object_0p5x/rank2_libero_object_speed0p5x_t05_e16_failure.mp4 filter=lfs diff=lfs merge=lfs -text
957
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/object_0p5x/rank2_libero_object_speed0p5x_t01_e18_success.mp4 filter=lfs diff=lfs merge=lfs -text
958
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/object_0p5x/rank2_libero_object_speed0p5x_t01_e27_success.mp4 filter=lfs diff=lfs merge=lfs -text
959
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/object_0p5x/rank2_libero_object_speed0p5x_t09_e09_failure.mp4 filter=lfs diff=lfs merge=lfs -text
960
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/object_0p5x/rank2_libero_object_speed0p5x_t08_e11_success.mp4 filter=lfs diff=lfs merge=lfs -text
961
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/object_0p5x/rank2_libero_object_speed0p5x_t03_e34_failure.mp4 filter=lfs diff=lfs merge=lfs -text
962
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_1p0x/videos/object_1p0x/rank2_libero_object_speed1x_t09_e16_failure.mp4 filter=lfs diff=lfs merge=lfs -text
963
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_1p0x/videos/object_1p0x/rank2_libero_object_speed1x_t05_e19_failure.mp4 filter=lfs diff=lfs merge=lfs -text
964
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_1p0x/videos/object_1p0x/rank2_libero_object_speed1x_t00_e07_failure.mp4 filter=lfs diff=lfs merge=lfs -text
965
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966
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_1p0x/videos/object_1p0x/rank2_libero_object_speed1x_t03_e25_failure.mp4 filter=lfs diff=lfs merge=lfs -text
967
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_1p0x/videos/object_1p0x/rank2_libero_object_speed1x_t03_e33_failure.mp4 filter=lfs diff=lfs merge=lfs -text
968
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_1p0x/videos/object_1p0x/rank2_libero_object_speed1x_t08_e32_failure.mp4 filter=lfs diff=lfs merge=lfs -text
969
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_1p0x/videos/object_1p0x/rank2_libero_object_speed1x_t08_e11_failure.mp4 filter=lfs diff=lfs merge=lfs -text
970
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/long_t6_7_0p5x/rank6_libero_10_speed0p5x_t06_e11_failure.mp4 filter=lfs diff=lfs merge=lfs -text
971
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/long_t6_7_0p5x/rank6_libero_10_speed0p5x_t07_e33_failure.mp4 filter=lfs diff=lfs merge=lfs -text
972
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/long_t6_7_0p5x/rank6_libero_10_speed0p5x_t06_e12_success.mp4 filter=lfs diff=lfs merge=lfs -text
973
+ results/speed_embedding_ablation/0513_pi05_online_sliding_speed_embed_text_0p25_0p5_1p0_2p0_4p0/speed_0p5x/videos/long_t6_7_0p5x/rank6_libero_10_speed0p5x_t06_e17_success.mp4 filter=lfs diff=lfs merge=lfs -text
logs/speed_embedding_ablation/servers/modulation/gpu0.log ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ /usr/local/lib/python3.12/dist-packages/opentelemetry/util/_providers.py:19: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
2
+ from pkg_resources import iter_entry_points
3
+ INFO:root:Loading model...
4
+ INFO:openpi:train_config: TrainConfig(name='pi05_libero_speed_embed_modulation', project_name='openpi', exp_name=tyro.MISSING, model=Pi0Config(action_dim=32, action_horizon=30, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, speed_modulation=True, soft_prompt_speeds=(), soft_prompt_p=0, pytorch_lora=False, pytorch_lora_rank=16, pytorch_lora_alpha=16.0, pytorch_lora_targets=('paligemma', 'action_expert'), pytorch_compile_mode='max-autotune'), weight_loader=CheckpointWeightLoader(params_path='gs://openpi-assets/checkpoints/pi05_base/params', missing_regex='.*(lora|speed_mod|speed_condition).*'), pytorch_weight_path='/path/to/your/pytorch_weight_path', pytorch_training_precision='bfloat16', lr_schedule=CosineDecaySchedule(warmup_steps=1000, peak_lr=0.0001, decay_steps=30000, decay_lr=1e-06), optimizer=AdamW(b1=0.9, b2=0.95, eps=1e-08, weight_decay=1e-10, clip_gradient_norm=1.0), ema_decay=0.999, freeze_filter=Nothing(), data=LeRobotVariousSpeedLiberoDataConfig(repo_id='/path/to/source_libero_lerobot', assets=AssetsConfig(assets_dir=None, asset_id='online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05'), base_config=DataConfig(repo_id=None, asset_id=None, norm_stats=None, repack_transforms=Group(inputs=(), outputs=()), data_transforms=Group(inputs=(), outputs=()), model_transforms=Group(inputs=(), outputs=()), use_quantile_norm=False, action_sequence_keys=('actions',), prompt_from_task=True, online_sliding_chunks=True, online_sliding_speeds=(), rlds_data_dir=None, action_space=None, datasets=()), extra_delta_transform=False, online_sliding_chunks=True, online_sliding_speeds=(0.75, 1.0, 1.25, 1.5), speed_integration='modulation'), assets_base_dir='./assets', checkpoint_base_dir='./checkpoints', seed=42, batch_size=512, num_workers=2, num_train_steps=30000, log_interval=100, save_interval=1000, keep_period=5000, overwrite=False, resume=False, wandb_enabled=True, eval_speed_set=(0.5, 1.0, 2.0), policy_metadata=None, fsdp_devices=1)
5
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/assets/pi05_libero_speed_embed_modulation/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
6
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/checkpoints/pi05_libero_speed_embed_modulation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/30000/assets/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
7
+ INFO:root:Creating server (host: gpulingjun033181111229.wa180, ip: 33.181.111.229)
8
+ INFO:websockets.server:server listening on 0.0.0.0:8010
9
+ INFO:websockets.server:connection open
10
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 40430) opened
11
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 40430) closed
12
+ INFO:websockets.server:connection open
13
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 54230) opened
14
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 54230) closed
15
+ INFO:websockets.server:connection open
16
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 48646) opened
17
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 48646) closed
18
+ INFO:websockets.server:connection open
19
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 38098) opened
20
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 38098) closed
logs/speed_embedding_ablation/servers/modulation/gpu1.log ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ /usr/local/lib/python3.12/dist-packages/opentelemetry/util/_providers.py:19: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
2
+ from pkg_resources import iter_entry_points
3
+ INFO:root:Loading model...
4
+ INFO:openpi:train_config: TrainConfig(name='pi05_libero_speed_embed_modulation', project_name='openpi', exp_name=tyro.MISSING, model=Pi0Config(action_dim=32, action_horizon=30, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, speed_modulation=True, soft_prompt_speeds=(), soft_prompt_p=0, pytorch_lora=False, pytorch_lora_rank=16, pytorch_lora_alpha=16.0, pytorch_lora_targets=('paligemma', 'action_expert'), pytorch_compile_mode='max-autotune'), weight_loader=CheckpointWeightLoader(params_path='gs://openpi-assets/checkpoints/pi05_base/params', missing_regex='.*(lora|speed_mod|speed_condition).*'), pytorch_weight_path='/path/to/your/pytorch_weight_path', pytorch_training_precision='bfloat16', lr_schedule=CosineDecaySchedule(warmup_steps=1000, peak_lr=0.0001, decay_steps=30000, decay_lr=1e-06), optimizer=AdamW(b1=0.9, b2=0.95, eps=1e-08, weight_decay=1e-10, clip_gradient_norm=1.0), ema_decay=0.999, freeze_filter=Nothing(), data=LeRobotVariousSpeedLiberoDataConfig(repo_id='/path/to/source_libero_lerobot', assets=AssetsConfig(assets_dir=None, asset_id='online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05'), base_config=DataConfig(repo_id=None, asset_id=None, norm_stats=None, repack_transforms=Group(inputs=(), outputs=()), data_transforms=Group(inputs=(), outputs=()), model_transforms=Group(inputs=(), outputs=()), use_quantile_norm=False, action_sequence_keys=('actions',), prompt_from_task=True, online_sliding_chunks=True, online_sliding_speeds=(), rlds_data_dir=None, action_space=None, datasets=()), extra_delta_transform=False, online_sliding_chunks=True, online_sliding_speeds=(0.75, 1.0, 1.25, 1.5), speed_integration='modulation'), assets_base_dir='./assets', checkpoint_base_dir='./checkpoints', seed=42, batch_size=512, num_workers=2, num_train_steps=30000, log_interval=100, save_interval=1000, keep_period=5000, overwrite=False, resume=False, wandb_enabled=True, eval_speed_set=(0.5, 1.0, 2.0), policy_metadata=None, fsdp_devices=1)
5
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/assets/pi05_libero_speed_embed_modulation/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
6
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/checkpoints/pi05_libero_speed_embed_modulation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/30000/assets/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
7
+ INFO:root:Creating server (host: gpulingjun033181111229.wa180, ip: 33.181.111.229)
8
+ INFO:websockets.server:server listening on 0.0.0.0:8011
9
+ INFO:websockets.server:connection open
10
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 36226) opened
11
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 36226) closed
12
+ INFO:websockets.server:connection open
13
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 50570) opened
14
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 50570) closed
15
+ INFO:websockets.server:connection open
16
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 35990) opened
17
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 35990) closed
18
+ INFO:websockets.server:connection open
19
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 35524) opened
20
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 35524) closed
logs/speed_embedding_ablation/servers/modulation/gpu2.log ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ /usr/local/lib/python3.12/dist-packages/opentelemetry/util/_providers.py:19: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
2
+ from pkg_resources import iter_entry_points
3
+ INFO:root:Loading model...
4
+ INFO:openpi:train_config: TrainConfig(name='pi05_libero_speed_embed_modulation', project_name='openpi', exp_name=tyro.MISSING, model=Pi0Config(action_dim=32, action_horizon=30, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, speed_modulation=True, soft_prompt_speeds=(), soft_prompt_p=0, pytorch_lora=False, pytorch_lora_rank=16, pytorch_lora_alpha=16.0, pytorch_lora_targets=('paligemma', 'action_expert'), pytorch_compile_mode='max-autotune'), weight_loader=CheckpointWeightLoader(params_path='gs://openpi-assets/checkpoints/pi05_base/params', missing_regex='.*(lora|speed_mod|speed_condition).*'), pytorch_weight_path='/path/to/your/pytorch_weight_path', pytorch_training_precision='bfloat16', lr_schedule=CosineDecaySchedule(warmup_steps=1000, peak_lr=0.0001, decay_steps=30000, decay_lr=1e-06), optimizer=AdamW(b1=0.9, b2=0.95, eps=1e-08, weight_decay=1e-10, clip_gradient_norm=1.0), ema_decay=0.999, freeze_filter=Nothing(), data=LeRobotVariousSpeedLiberoDataConfig(repo_id='/path/to/source_libero_lerobot', assets=AssetsConfig(assets_dir=None, asset_id='online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05'), base_config=DataConfig(repo_id=None, asset_id=None, norm_stats=None, repack_transforms=Group(inputs=(), outputs=()), data_transforms=Group(inputs=(), outputs=()), model_transforms=Group(inputs=(), outputs=()), use_quantile_norm=False, action_sequence_keys=('actions',), prompt_from_task=True, online_sliding_chunks=True, online_sliding_speeds=(), rlds_data_dir=None, action_space=None, datasets=()), extra_delta_transform=False, online_sliding_chunks=True, online_sliding_speeds=(0.75, 1.0, 1.25, 1.5), speed_integration='modulation'), assets_base_dir='./assets', checkpoint_base_dir='./checkpoints', seed=42, batch_size=512, num_workers=2, num_train_steps=30000, log_interval=100, save_interval=1000, keep_period=5000, overwrite=False, resume=False, wandb_enabled=True, eval_speed_set=(0.5, 1.0, 2.0), policy_metadata=None, fsdp_devices=1)
5
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/assets/pi05_libero_speed_embed_modulation/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
6
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/checkpoints/pi05_libero_speed_embed_modulation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/30000/assets/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
7
+ INFO:root:Creating server (host: gpulingjun033181111229.wa180, ip: 33.181.111.229)
8
+ INFO:websockets.server:server listening on 0.0.0.0:8012
9
+ INFO:websockets.server:connection open
10
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 32372) opened
11
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 32372) closed
12
+ INFO:websockets.server:connection open
13
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 35122) opened
14
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 35122) closed
15
+ INFO:websockets.server:connection open
16
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 57936) opened
17
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 57936) closed
18
+ INFO:websockets.server:connection open
19
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 44304) opened
20
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 44304) closed
logs/speed_embedding_ablation/servers/modulation/gpu3.log ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ /usr/local/lib/python3.12/dist-packages/opentelemetry/util/_providers.py:19: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
2
+ from pkg_resources import iter_entry_points
3
+ INFO:root:Loading model...
4
+ INFO:openpi:train_config: TrainConfig(name='pi05_libero_speed_embed_modulation', project_name='openpi', exp_name=tyro.MISSING, model=Pi0Config(action_dim=32, action_horizon=30, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, speed_modulation=True, soft_prompt_speeds=(), soft_prompt_p=0, pytorch_lora=False, pytorch_lora_rank=16, pytorch_lora_alpha=16.0, pytorch_lora_targets=('paligemma', 'action_expert'), pytorch_compile_mode='max-autotune'), weight_loader=CheckpointWeightLoader(params_path='gs://openpi-assets/checkpoints/pi05_base/params', missing_regex='.*(lora|speed_mod|speed_condition).*'), pytorch_weight_path='/path/to/your/pytorch_weight_path', pytorch_training_precision='bfloat16', lr_schedule=CosineDecaySchedule(warmup_steps=1000, peak_lr=0.0001, decay_steps=30000, decay_lr=1e-06), optimizer=AdamW(b1=0.9, b2=0.95, eps=1e-08, weight_decay=1e-10, clip_gradient_norm=1.0), ema_decay=0.999, freeze_filter=Nothing(), data=LeRobotVariousSpeedLiberoDataConfig(repo_id='/path/to/source_libero_lerobot', assets=AssetsConfig(assets_dir=None, asset_id='online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05'), base_config=DataConfig(repo_id=None, asset_id=None, norm_stats=None, repack_transforms=Group(inputs=(), outputs=()), data_transforms=Group(inputs=(), outputs=()), model_transforms=Group(inputs=(), outputs=()), use_quantile_norm=False, action_sequence_keys=('actions',), prompt_from_task=True, online_sliding_chunks=True, online_sliding_speeds=(), rlds_data_dir=None, action_space=None, datasets=()), extra_delta_transform=False, online_sliding_chunks=True, online_sliding_speeds=(0.75, 1.0, 1.25, 1.5), speed_integration='modulation'), assets_base_dir='./assets', checkpoint_base_dir='./checkpoints', seed=42, batch_size=512, num_workers=2, num_train_steps=30000, log_interval=100, save_interval=1000, keep_period=5000, overwrite=False, resume=False, wandb_enabled=True, eval_speed_set=(0.5, 1.0, 2.0), policy_metadata=None, fsdp_devices=1)
5
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/assets/pi05_libero_speed_embed_modulation/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
6
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/checkpoints/pi05_libero_speed_embed_modulation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/30000/assets/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
7
+ INFO:root:Creating server (host: gpulingjun033181111229.wa180, ip: 33.181.111.229)
8
+ INFO:websockets.server:server listening on 0.0.0.0:8013
9
+ INFO:websockets.server:connection open
10
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 54188) opened
11
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 54188) closed
12
+ INFO:websockets.server:connection open
13
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 56354) opened
14
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 56354) closed
15
+ INFO:websockets.server:connection open
16
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 34638) opened
17
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 34638) closed
18
+ INFO:websockets.server:connection open
19
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 40378) opened
20
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 40378) closed
logs/speed_embedding_ablation/servers/modulation/gpu4.log ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ /usr/local/lib/python3.12/dist-packages/opentelemetry/util/_providers.py:19: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
2
+ from pkg_resources import iter_entry_points
3
+ INFO:root:Loading model...
4
+ INFO:openpi:train_config: TrainConfig(name='pi05_libero_speed_embed_modulation', project_name='openpi', exp_name=tyro.MISSING, model=Pi0Config(action_dim=32, action_horizon=30, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, speed_modulation=True, soft_prompt_speeds=(), soft_prompt_p=0, pytorch_lora=False, pytorch_lora_rank=16, pytorch_lora_alpha=16.0, pytorch_lora_targets=('paligemma', 'action_expert'), pytorch_compile_mode='max-autotune'), weight_loader=CheckpointWeightLoader(params_path='gs://openpi-assets/checkpoints/pi05_base/params', missing_regex='.*(lora|speed_mod|speed_condition).*'), pytorch_weight_path='/path/to/your/pytorch_weight_path', pytorch_training_precision='bfloat16', lr_schedule=CosineDecaySchedule(warmup_steps=1000, peak_lr=0.0001, decay_steps=30000, decay_lr=1e-06), optimizer=AdamW(b1=0.9, b2=0.95, eps=1e-08, weight_decay=1e-10, clip_gradient_norm=1.0), ema_decay=0.999, freeze_filter=Nothing(), data=LeRobotVariousSpeedLiberoDataConfig(repo_id='/path/to/source_libero_lerobot', assets=AssetsConfig(assets_dir=None, asset_id='online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05'), base_config=DataConfig(repo_id=None, asset_id=None, norm_stats=None, repack_transforms=Group(inputs=(), outputs=()), data_transforms=Group(inputs=(), outputs=()), model_transforms=Group(inputs=(), outputs=()), use_quantile_norm=False, action_sequence_keys=('actions',), prompt_from_task=True, online_sliding_chunks=True, online_sliding_speeds=(), rlds_data_dir=None, action_space=None, datasets=()), extra_delta_transform=False, online_sliding_chunks=True, online_sliding_speeds=(0.75, 1.0, 1.25, 1.5), speed_integration='modulation'), assets_base_dir='./assets', checkpoint_base_dir='./checkpoints', seed=42, batch_size=512, num_workers=2, num_train_steps=30000, log_interval=100, save_interval=1000, keep_period=5000, overwrite=False, resume=False, wandb_enabled=True, eval_speed_set=(0.5, 1.0, 2.0), policy_metadata=None, fsdp_devices=1)
5
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/assets/pi05_libero_speed_embed_modulation/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
6
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/checkpoints/pi05_libero_speed_embed_modulation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/30000/assets/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
7
+ INFO:root:Creating server (host: gpulingjun033181111229.wa180, ip: 33.181.111.229)
8
+ INFO:websockets.server:server listening on 0.0.0.0:8014
9
+ INFO:websockets.server:connection open
10
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 41830) opened
11
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 41830) closed
12
+ INFO:websockets.server:connection open
13
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 49174) opened
14
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 49174) closed
15
+ INFO:websockets.server:connection open
16
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 58190) opened
17
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 58190) closed
18
+ INFO:websockets.server:connection open
19
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 34784) opened
20
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 34784) closed
logs/speed_embedding_ablation/servers/modulation/gpu5.log ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ /usr/local/lib/python3.12/dist-packages/opentelemetry/util/_providers.py:19: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
2
+ from pkg_resources import iter_entry_points
3
+ INFO:root:Loading model...
4
+ INFO:openpi:train_config: TrainConfig(name='pi05_libero_speed_embed_modulation', project_name='openpi', exp_name=tyro.MISSING, model=Pi0Config(action_dim=32, action_horizon=30, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, speed_modulation=True, soft_prompt_speeds=(), soft_prompt_p=0, pytorch_lora=False, pytorch_lora_rank=16, pytorch_lora_alpha=16.0, pytorch_lora_targets=('paligemma', 'action_expert'), pytorch_compile_mode='max-autotune'), weight_loader=CheckpointWeightLoader(params_path='gs://openpi-assets/checkpoints/pi05_base/params', missing_regex='.*(lora|speed_mod|speed_condition).*'), pytorch_weight_path='/path/to/your/pytorch_weight_path', pytorch_training_precision='bfloat16', lr_schedule=CosineDecaySchedule(warmup_steps=1000, peak_lr=0.0001, decay_steps=30000, decay_lr=1e-06), optimizer=AdamW(b1=0.9, b2=0.95, eps=1e-08, weight_decay=1e-10, clip_gradient_norm=1.0), ema_decay=0.999, freeze_filter=Nothing(), data=LeRobotVariousSpeedLiberoDataConfig(repo_id='/path/to/source_libero_lerobot', assets=AssetsConfig(assets_dir=None, asset_id='online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05'), base_config=DataConfig(repo_id=None, asset_id=None, norm_stats=None, repack_transforms=Group(inputs=(), outputs=()), data_transforms=Group(inputs=(), outputs=()), model_transforms=Group(inputs=(), outputs=()), use_quantile_norm=False, action_sequence_keys=('actions',), prompt_from_task=True, online_sliding_chunks=True, online_sliding_speeds=(), rlds_data_dir=None, action_space=None, datasets=()), extra_delta_transform=False, online_sliding_chunks=True, online_sliding_speeds=(0.75, 1.0, 1.25, 1.5), speed_integration='modulation'), assets_base_dir='./assets', checkpoint_base_dir='./checkpoints', seed=42, batch_size=512, num_workers=2, num_train_steps=30000, log_interval=100, save_interval=1000, keep_period=5000, overwrite=False, resume=False, wandb_enabled=True, eval_speed_set=(0.5, 1.0, 2.0), policy_metadata=None, fsdp_devices=1)
5
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/assets/pi05_libero_speed_embed_modulation/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
6
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/checkpoints/pi05_libero_speed_embed_modulation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/30000/assets/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
7
+ INFO:root:Creating server (host: gpulingjun033181111229.wa180, ip: 33.181.111.229)
8
+ INFO:websockets.server:server listening on 0.0.0.0:8015
9
+ INFO:websockets.server:connection open
10
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 54978) opened
11
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 54978) closed
12
+ INFO:websockets.server:connection open
13
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 34882) opened
14
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 34882) closed
15
+ INFO:websockets.server:connection open
16
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 59378) opened
17
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 59378) closed
18
+ INFO:websockets.server:connection open
19
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 34974) opened
20
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 34974) closed
logs/speed_embedding_ablation/servers/modulation/gpu6.log ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ /usr/local/lib/python3.12/dist-packages/opentelemetry/util/_providers.py:19: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
2
+ from pkg_resources import iter_entry_points
3
+ INFO:root:Loading model...
4
+ INFO:openpi:train_config: TrainConfig(name='pi05_libero_speed_embed_modulation', project_name='openpi', exp_name=tyro.MISSING, model=Pi0Config(action_dim=32, action_horizon=30, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, speed_modulation=True, soft_prompt_speeds=(), soft_prompt_p=0, pytorch_lora=False, pytorch_lora_rank=16, pytorch_lora_alpha=16.0, pytorch_lora_targets=('paligemma', 'action_expert'), pytorch_compile_mode='max-autotune'), weight_loader=CheckpointWeightLoader(params_path='gs://openpi-assets/checkpoints/pi05_base/params', missing_regex='.*(lora|speed_mod|speed_condition).*'), pytorch_weight_path='/path/to/your/pytorch_weight_path', pytorch_training_precision='bfloat16', lr_schedule=CosineDecaySchedule(warmup_steps=1000, peak_lr=0.0001, decay_steps=30000, decay_lr=1e-06), optimizer=AdamW(b1=0.9, b2=0.95, eps=1e-08, weight_decay=1e-10, clip_gradient_norm=1.0), ema_decay=0.999, freeze_filter=Nothing(), data=LeRobotVariousSpeedLiberoDataConfig(repo_id='/path/to/source_libero_lerobot', assets=AssetsConfig(assets_dir=None, asset_id='online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05'), base_config=DataConfig(repo_id=None, asset_id=None, norm_stats=None, repack_transforms=Group(inputs=(), outputs=()), data_transforms=Group(inputs=(), outputs=()), model_transforms=Group(inputs=(), outputs=()), use_quantile_norm=False, action_sequence_keys=('actions',), prompt_from_task=True, online_sliding_chunks=True, online_sliding_speeds=(), rlds_data_dir=None, action_space=None, datasets=()), extra_delta_transform=False, online_sliding_chunks=True, online_sliding_speeds=(0.75, 1.0, 1.25, 1.5), speed_integration='modulation'), assets_base_dir='./assets', checkpoint_base_dir='./checkpoints', seed=42, batch_size=512, num_workers=2, num_train_steps=30000, log_interval=100, save_interval=1000, keep_period=5000, overwrite=False, resume=False, wandb_enabled=True, eval_speed_set=(0.5, 1.0, 2.0), policy_metadata=None, fsdp_devices=1)
5
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/assets/pi05_libero_speed_embed_modulation/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
6
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/checkpoints/pi05_libero_speed_embed_modulation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/30000/assets/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
7
+ INFO:root:Creating server (host: gpulingjun033181111229.wa180, ip: 33.181.111.229)
8
+ INFO:websockets.server:server listening on 0.0.0.0:8016
9
+ INFO:websockets.server:connection open
10
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 38660) opened
11
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 38660) closed
12
+ INFO:websockets.server:connection open
13
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 40448) opened
14
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 40448) closed
15
+ INFO:websockets.server:connection open
16
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 47078) opened
17
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 47078) closed
18
+ INFO:websockets.server:connection open
19
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 63214) opened
20
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 63214) closed
logs/speed_embedding_ablation/servers/modulation/gpu7.log ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ /usr/local/lib/python3.12/dist-packages/opentelemetry/util/_providers.py:19: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
2
+ from pkg_resources import iter_entry_points
3
+ INFO:root:Loading model...
4
+ INFO:openpi:train_config: TrainConfig(name='pi05_libero_speed_embed_modulation', project_name='openpi', exp_name=tyro.MISSING, model=Pi0Config(action_dim=32, action_horizon=30, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, speed_modulation=True, soft_prompt_speeds=(), soft_prompt_p=0, pytorch_lora=False, pytorch_lora_rank=16, pytorch_lora_alpha=16.0, pytorch_lora_targets=('paligemma', 'action_expert'), pytorch_compile_mode='max-autotune'), weight_loader=CheckpointWeightLoader(params_path='gs://openpi-assets/checkpoints/pi05_base/params', missing_regex='.*(lora|speed_mod|speed_condition).*'), pytorch_weight_path='/path/to/your/pytorch_weight_path', pytorch_training_precision='bfloat16', lr_schedule=CosineDecaySchedule(warmup_steps=1000, peak_lr=0.0001, decay_steps=30000, decay_lr=1e-06), optimizer=AdamW(b1=0.9, b2=0.95, eps=1e-08, weight_decay=1e-10, clip_gradient_norm=1.0), ema_decay=0.999, freeze_filter=Nothing(), data=LeRobotVariousSpeedLiberoDataConfig(repo_id='/path/to/source_libero_lerobot', assets=AssetsConfig(assets_dir=None, asset_id='online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05'), base_config=DataConfig(repo_id=None, asset_id=None, norm_stats=None, repack_transforms=Group(inputs=(), outputs=()), data_transforms=Group(inputs=(), outputs=()), model_transforms=Group(inputs=(), outputs=()), use_quantile_norm=False, action_sequence_keys=('actions',), prompt_from_task=True, online_sliding_chunks=True, online_sliding_speeds=(), rlds_data_dir=None, action_space=None, datasets=()), extra_delta_transform=False, online_sliding_chunks=True, online_sliding_speeds=(0.75, 1.0, 1.25, 1.5), speed_integration='modulation'), assets_base_dir='./assets', checkpoint_base_dir='./checkpoints', seed=42, batch_size=512, num_workers=2, num_train_steps=30000, log_interval=100, save_interval=1000, keep_period=5000, overwrite=False, resume=False, wandb_enabled=True, eval_speed_set=(0.5, 1.0, 2.0), policy_metadata=None, fsdp_devices=1)
5
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/assets/pi05_libero_speed_embed_modulation/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
6
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/checkpoints/pi05_libero_speed_embed_modulation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/30000/assets/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
7
+ INFO:root:Creating server (host: gpulingjun033181111229.wa180, ip: 33.181.111.229)
8
+ INFO:websockets.server:server listening on 0.0.0.0:8017
9
+ INFO:websockets.server:connection open
10
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 60278) opened
11
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 60278) closed
12
+ INFO:websockets.server:connection open
13
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 60762) opened
14
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 60762) closed
15
+ INFO:websockets.server:connection open
16
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 57062) opened
17
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 57062) closed
18
+ INFO:websockets.server:connection open
19
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 47768) opened
20
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 47768) closed
logs/speed_embedding_ablation/servers/soft_prompt/gpu0.log ADDED
@@ -0,0 +1,81 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ /usr/local/lib/python3.12/dist-packages/opentelemetry/util/_providers.py:19: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
2
+ from pkg_resources import iter_entry_points
3
+ INFO:root:Loading model...
4
+ INFO:openpi:train_config: TrainConfig(name='pi05_libero_speed_embed_softprompt_p8', project_name='openpi', exp_name=tyro.MISSING, model=Pi0Config(action_dim=32, action_horizon=30, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, speed_modulation=False, soft_prompt_speeds=(0.75, 1.0, 1.25, 1.5), soft_prompt_p=32, pytorch_lora=False, pytorch_lora_rank=16, pytorch_lora_alpha=16.0, pytorch_lora_targets=('paligemma', 'action_expert'), pytorch_compile_mode='max-autotune'), weight_loader=CheckpointWeightLoader(params_path='gs://openpi-assets/checkpoints/pi05_base/params', missing_regex='.*(lora|soft_prompt_tokens).*'), pytorch_weight_path='/path/to/your/pytorch_weight_path', pytorch_training_precision='bfloat16', lr_schedule=CosineDecaySchedule(warmup_steps=1000, peak_lr=0.0001, decay_steps=30000, decay_lr=1e-06), optimizer=AdamW(b1=0.9, b2=0.95, eps=1e-08, weight_decay=1e-10, clip_gradient_norm=1.0), ema_decay=0.999, freeze_filter=Nothing(), data=LeRobotVariousSpeedLiberoDataConfig(repo_id='/path/to/source_libero_lerobot', assets=AssetsConfig(assets_dir=None, asset_id='online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05'), base_config=DataConfig(repo_id=None, asset_id=None, norm_stats=None, repack_transforms=Group(inputs=(), outputs=()), data_transforms=Group(inputs=(), outputs=()), model_transforms=Group(inputs=(), outputs=()), use_quantile_norm=False, action_sequence_keys=('actions',), prompt_from_task=True, online_sliding_chunks=True, online_sliding_speeds=(), rlds_data_dir=None, action_space=None, datasets=()), extra_delta_transform=False, online_sliding_chunks=True, online_sliding_speeds=(0.75, 1.0, 1.25, 1.5), speed_integration='soft_prompt'), assets_base_dir='./assets', checkpoint_base_dir='./checkpoints', seed=42, batch_size=512, num_workers=2, num_train_steps=30000, log_interval=100, save_interval=1000, keep_period=5000, overwrite=False, resume=False, wandb_enabled=True, eval_speed_set=(0.5, 1.0, 2.0), policy_metadata=None, fsdp_devices=1)
5
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/assets/pi05_libero_speed_embed_softprompt_p8/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
6
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/checkpoints/pi05_libero_speed_embed_softprompt_p8/0511_pi05_online_sliding_speed_embed_softprompt_p32_bs512_lr1e4/30000/assets/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
7
+ INFO:root:Creating server (host: gpulingjun033181111229.wa180, ip: 33.181.111.229)
8
+ INFO:websockets.server:server listening on 0.0.0.0:8020
9
+ INFO:websockets.server:connection open
10
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 44816) opened
11
+ AUTOTUNE bmm(1x128x1, 1x1x1000)
12
+ triton_bmm_9332 0.0054 ms 100.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=32, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=4
13
+ triton_bmm_9336 0.0056 ms 97.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=4
14
+ triton_bmm_9334 0.0057 ms 96.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=8
15
+ triton_bmm_9331 0.0058 ms 93.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=32, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=1, num_warps=2
16
+ triton_bmm_9338 0.0059 ms 92.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=4
17
+ triton_bmm_9335 0.0059 ms 91.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=4
18
+ triton_bmm_9333 0.0060 ms 91.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=32, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=8
19
+ triton_bmm_9337 0.0062 ms 87.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=8
20
+ triton_bmm_9342 0.0068 ms 80.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=128, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
21
+ triton_bmm_9340 0.0069 ms 79.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=8
22
+ SingleProcess AUTOTUNE benchmarking takes 0.7867 seconds and 0.0002 seconds precompiling for 17 choices
23
+ AUTOTUNE mm(1000x2048, 2048x256)
24
+ mm 0.0149 ms 100.0%
25
+ triton_mm_9355 0.0161 ms 93.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
26
+ triton_mm_9351 0.0171 ms 87.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=32, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
27
+ triton_mm_9354 0.0188 ms 79.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=8
28
+ triton_mm_9350 0.0205 ms 72.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=32INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 62582) closed
29
+ _TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=32, BLOCK_N=32, EVEN_K=True, GROUP_M=8, num_stages=2, num_warps=4
30
+ triton_mm_9358 0.0243 ms 61.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
31
+ triton_mm_9361 0.0247 ms 60.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
32
+ triton_mm_9357 0.0248 ms 60.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
33
+ triton_mm_9349 0.0251 ms 59.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=32, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=8
34
+ SingleProcess AUTOTUNE benchmarking takes 0.8421 seconds and 0.0003 seconds precompiling for 20 choices
35
+ AUTOTUNE bmm(8x1000x256, 8x256x1000)
36
+ triton_bmm_9376 0.0385 ms 100.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
37
+ triton_bmm_9380 0.0385 ms 100.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
38
+ triton_bmm_9373 0.0386 ms 99.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=8
39
+ triton_bmm_9375 0.0387 ms 99.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
40
+ triton_bmm_9382 0.0388 ms 99.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
41
+ triton_bmm_9372 0.0391 ms 98.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=2, num_warps=4
42
+ triton_bmm_9377 0.0391 ms 98.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
43
+ triton_bmm_9379 0.0391 ms 98.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
44
+ triton_bmm_9383 0.0395 ms 97.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
45
+ bmm 0.0426 ms 90.4%
46
+ SingleProcess AUTOTUNE benchmarking takes 2.1621 seconds and 0.0003 seconds precompiling for 20 choices
47
+ AUTOTUNE bmm(8x1000x1000, 8x1000x256)
48
+ bmm 0.0398 ms 100.0%
49
+ triton_bmm_9411 0.0402 ms 99.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=8
50
+ triton_bmm_9410 0.0410 ms 97.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=4
51
+ triton_bmm_9415 0.0437 ms 91.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
52
+ triton_bmm_9413 0.0438 ms 90.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
53
+ triton_bmm_9419 0.0440 ms 90.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=8
54
+ triton_bmm_9414 0.0443 ms 90.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=8
55
+ triton_bmm_9420 0.0443 ms 90.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
56
+ triton_bmm_9417 0.0443 ms 90.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
57
+ triton_bmm_9418 0.0443 ms 89.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=8
58
+ SingleProcess AUTOTUNE benchmarking takes 0.9384 seconds and 0.0002 seconds precompiling for 20 choices
59
+ AUTOTUNE mm(1000x16384, 16384x2048)
60
+ mm 0.5024 ms 100.0%
61
+ triton_mm_9488 0.5284 ms 95.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
62
+ triton_mm_9487 0.5311 ms 94.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=8
63
+ triton_mm_9484 0.5512 ms 91.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=32, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
64
+ triton_mm_9491 0.5914 ms 85.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
65
+ triton_mm_9496 0.5921 ms 84.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
66
+ triton_mm_9490 0.5926 ms 84.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
67
+ triton_mm_9494 0.5927 ms 84.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
68
+ triton_mm_9497 0.5928 ms 84.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
69
+ triton_mm_9489 0.5934 ms 84.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
70
+ SingleProcess AUTOTUNE benchmarking takes 1.8965 seconds and 0.0002 seconds precompiling for 20 choices
71
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 44816) closed
72
+ INFO:websockets.server:connection open
73
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 54984) opened
74
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 54984) closed
75
+ INFO:websockets.server:connection open
76
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 49284) opened
77
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 49284) closed
78
+ INFO:websockets.server:connection open
79
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 35652) opened
80
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 35652) closed
81
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 44834) closed
logs/speed_embedding_ablation/servers/soft_prompt/gpu1.log ADDED
@@ -0,0 +1,80 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ /usr/local/lib/python3.12/dist-packages/opentelemetry/util/_providers.py:19: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
2
+ from pkg_resources import iter_entry_points
3
+ INFO:root:Loading model...
4
+ INFO:openpi:train_config: TrainConfig(name='pi05_libero_speed_embed_softprompt_p8', project_name='openpi', exp_name=tyro.MISSING, model=Pi0Config(action_dim=32, action_horizon=30, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, speed_modulation=False, soft_prompt_speeds=(0.75, 1.0, 1.25, 1.5), soft_prompt_p=32, pytorch_lora=False, pytorch_lora_rank=16, pytorch_lora_alpha=16.0, pytorch_lora_targets=('paligemma', 'action_expert'), pytorch_compile_mode='max-autotune'), weight_loader=CheckpointWeightLoader(params_path='gs://openpi-assets/checkpoints/pi05_base/params', missing_regex='.*(lora|soft_prompt_tokens).*'), pytorch_weight_path='/path/to/your/pytorch_weight_path', pytorch_training_precision='bfloat16', lr_schedule=CosineDecaySchedule(warmup_steps=1000, peak_lr=0.0001, decay_steps=30000, decay_lr=1e-06), optimizer=AdamW(b1=0.9, b2=0.95, eps=1e-08, weight_decay=1e-10, clip_gradient_norm=1.0), ema_decay=0.999, freeze_filter=Nothing(), data=LeRobotVariousSpeedLiberoDataConfig(repo_id='/path/to/source_libero_lerobot', assets=AssetsConfig(assets_dir=None, asset_id='online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05'), base_config=DataConfig(repo_id=None, asset_id=None, norm_stats=None, repack_transforms=Group(inputs=(), outputs=()), data_transforms=Group(inputs=(), outputs=()), model_transforms=Group(inputs=(), outputs=()), use_quantile_norm=False, action_sequence_keys=('actions',), prompt_from_task=True, online_sliding_chunks=True, online_sliding_speeds=(), rlds_data_dir=None, action_space=None, datasets=()), extra_delta_transform=False, online_sliding_chunks=True, online_sliding_speeds=(0.75, 1.0, 1.25, 1.5), speed_integration='soft_prompt'), assets_base_dir='./assets', checkpoint_base_dir='./checkpoints', seed=42, batch_size=512, num_workers=2, num_train_steps=30000, log_interval=100, save_interval=1000, keep_period=5000, overwrite=False, resume=False, wandb_enabled=True, eval_speed_set=(0.5, 1.0, 2.0), policy_metadata=None, fsdp_devices=1)
5
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/assets/pi05_libero_speed_embed_softprompt_p8/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
6
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/checkpoints/pi05_libero_speed_embed_softprompt_p8/0511_pi05_online_sliding_speed_embed_softprompt_p32_bs512_lr1e4/30000/assets/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
7
+ INFO:root:Creating server (host: gpulingjun033181111229.wa180, ip: 33.181.111.229)
8
+ INFO:websockets.server:server listening on 0.0.0.0:8021
9
+ INFO:websockets.server:connection open
10
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 57226) opened
11
+ AUTOTUNE bmm(1x128x1, 1x1x1000)
12
+ triton_bmm_9332 0.0057 ms 100.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=32, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=4
13
+ triton_bmm_9335 0.0058 ms 98.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=4
14
+ triton_bmm_9334 0.0059 ms 95.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=8
15
+ triton_bmm_9331 0.0060 ms 95.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=32, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=1, num_warps=2
16
+ triton_bmm_9333 0.0060 ms 94.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=32, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=8
17
+ triton_bmm_9338 0.0060 ms 94.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=4
18
+ triton_bmm_9336 0.0061 ms 92.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=4
19
+ triton_bmm_9337 0.0063 ms 89.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=8
20
+ triton_bmm_9342 0.0069 ms 81.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=128, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
21
+ triton_bmm_9343 0.0072 ms 78.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=128, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=8
22
+ SingleProcess AUTOTUNE benchmarking takes 0.6261 seconds and 0.0002 seconds precompiling for 17 choices
23
+ AUTOTUNE mm(1000x2048, 2048x256)
24
+ mm 0.0151 ms 100.0%
25
+ triton_mm_9355 0.0161 ms 93.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
26
+ triton_mm_9351 0.0174 ms 87.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=32, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
27
+ triton_mm_9354 0.0187 ms 81.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=8
28
+ triton_mm_9350 0.0204 ms 74.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=32, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=8
29
+ triton_mm_9348 0.0220 ms 68.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=32, BLOCK_N=32, EVEN_K=True, GROUP_M=8, num_stages=2, num_warps=4
30
+ triton_mm_9358 0.0245 ms 61.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
31
+ triton_mm_9361 0.0249 ms 60.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
32
+ triton_mm_9357 0.0249 ms 60.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
33
+ triton_mm_9359 0.0252 ms 60.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=4
34
+ SingleProcess AUTOTUNE benchmarking takes 0.6282 seconds and 0.0003 seconds precompiling for 20 choices
35
+ AUTOTUNE bmm(8x1000x256, 8x256x1000)
36
+ triton_bmm_9376 0.0385 ms 100.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
37
+ triton_bmm_9375 0.0386 ms 99.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
38
+ triton_bmm_9380 0.0387 ms 99.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
39
+ triton_bmm_9379 0.0389 ms 98.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
40
+ triton_bmm_9382 0.0390 ms 98.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLINFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 64612) closed
41
+ 373 0.0391 ms 98.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=8
42
+ triton_bmm_9377 0.0391 ms 98.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
43
+ triton_bmm_9372 0.0392 ms 98.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=2, num_warps=4
44
+ triton_bmm_9383 0.0397 ms 96.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
45
+ bmm 0.0428 ms 90.0%
46
+ SingleProcess AUTOTUNE benchmarking takes 2.0524 seconds and 0.0003 seconds precompiling for 20 choices
47
+ AUTOTUNE bmm(8x1000x1000, 8x1000x256)
48
+ bmm 0.0402 ms 100.0%
49
+ triton_bmm_9411 0.0404 ms 99.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=8
50
+ triton_bmm_9410 0.0413 ms 97.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=4
51
+ triton_bmm_9415 0.0438 ms 91.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
52
+ triton_bmm_9413 0.0443 ms 90.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
53
+ triton_bmm_9414 0.0443 ms 90.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=8
54
+ triton_bmm_9418 0.0444 ms 90.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=8
55
+ triton_bmm_9417 0.0445 ms 90.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
56
+ triton_bmm_9419 0.0445 ms 90.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=8
57
+ triton_bmm_9420 0.0447 ms 90.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
58
+ SingleProcess AUTOTUNE benchmarking takes 0.7489 seconds and 0.0002 seconds precompiling for 20 choices
59
+ AUTOTUNE mm(1000x16384, 16384x2048)
60
+ mm 0.5069 ms 100.0%
61
+ triton_mm_9488 0.5326 ms 95.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
62
+ triton_mm_9487 0.5345 ms 94.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_waINFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 56818) closed
63
+ 28, BLOCK_M=64, BLOCK_N=32, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
64
+ triton_mm_9496 0.5962 ms 85.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
65
+ triton_mm_9491 0.5966 ms 85.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
66
+ triton_mm_9497 0.5972 ms 84.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
67
+ triton_mm_9489 0.5980 ms 84.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
68
+ triton_mm_9494 0.5982 ms 84.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
69
+ triton_mm_9490 0.5982 ms 84.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
70
+ SingleProcess AUTOTUNE benchmarking takes 1.4164 seconds and 0.0002 seconds precompiling for 20 choices
71
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 57226) closed
72
+ INFO:websockets.server:connection open
73
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 48160) opened
74
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 48160) closed
75
+ INFO:websockets.server:connection open
76
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 46458) opened
77
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 46458) closed
78
+ INFO:websockets.server:connection open
79
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 45878) opened
80
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 45878) closed
logs/speed_embedding_ablation/servers/soft_prompt/gpu2.log ADDED
@@ -0,0 +1,81 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ /usr/local/lib/python3.12/dist-packages/opentelemetry/util/_providers.py:19: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
2
+ from pkg_resources import iter_entry_points
3
+ INFO:root:Loading model...
4
+ INFO:openpi:train_config: TrainConfig(name='pi05_libero_speed_embed_softprompt_p8', project_name='openpi', exp_name=tyro.MISSING, model=Pi0Config(action_dim=32, action_horizon=30, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, speed_modulation=False, soft_prompt_speeds=(0.75, 1.0, 1.25, 1.5), soft_prompt_p=32, pytorch_lora=False, pytorch_lora_rank=16, pytorch_lora_alpha=16.0, pytorch_lora_targets=('paligemma', 'action_expert'), pytorch_compile_mode='max-autotune'), weight_loader=CheckpointWeightLoader(params_path='gs://openpi-assets/checkpoints/pi05_base/params', missing_regex='.*(lora|soft_prompt_tokens).*'), pytorch_weight_path='/path/to/your/pytorch_weight_path', pytorch_training_precision='bfloat16', lr_schedule=CosineDecaySchedule(warmup_steps=1000, peak_lr=0.0001, decay_steps=30000, decay_lr=1e-06), optimizer=AdamW(b1=0.9, b2=0.95, eps=1e-08, weight_decay=1e-10, clip_gradient_norm=1.0), ema_decay=0.999, freeze_filter=Nothing(), data=LeRobotVariousSpeedLiberoDataConfig(repo_id='/path/to/source_libero_lerobot', assets=AssetsConfig(assets_dir=None, asset_id='online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05'), base_config=DataConfig(repo_id=None, asset_id=None, norm_stats=None, repack_transforms=Group(inputs=(), outputs=()), data_transforms=Group(inputs=(), outputs=()), model_transforms=Group(inputs=(), outputs=()), use_quantile_norm=False, action_sequence_keys=('actions',), prompt_from_task=True, online_sliding_chunks=True, online_sliding_speeds=(), rlds_data_dir=None, action_space=None, datasets=()), extra_delta_transform=False, online_sliding_chunks=True, online_sliding_speeds=(0.75, 1.0, 1.25, 1.5), speed_integration='soft_prompt'), assets_base_dir='./assets', checkpoint_base_dir='./checkpoints', seed=42, batch_size=512, num_workers=2, num_train_steps=30000, log_interval=100, save_interval=1000, keep_period=5000, overwrite=False, resume=False, wandb_enabled=True, eval_speed_set=(0.5, 1.0, 2.0), policy_metadata=None, fsdp_devices=1)
5
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/assets/pi05_libero_speed_embed_softprompt_p8/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
6
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/checkpoints/pi05_libero_speed_embed_softprompt_p8/0511_pi05_online_sliding_speed_embed_softprompt_p32_bs512_lr1e4/30000/assets/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
7
+ INFO:root:Creating server (host: gpulingjun033181111229.wa180, ip: 33.181.111.229)
8
+ INFO:websockets.server:server listening on 0.0.0.0:8022
9
+ INFO:websockets.server:connection open
10
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 64686) opened
11
+ AUTOTUNE bmm(1x128x1, 1x1x1000)
12
+ triton_bmm_9331 0.0050 ms 100.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=32, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=1, num_warps=2
13
+ triton_bmm_9333 0.0054 ms 92.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=32, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=8
14
+ triton_bmm_9335 0.0054 ms 91.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=4
15
+ triton_bmm_9337 0.0057 ms 87.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=8
16
+ triton_bmm_9332 0.0059 ms 84.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=32, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=4
17
+ triton_bmm_9334 0.0059 ms 84.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=8
18
+ triton_bmm_9338 0.0059 ms 84.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=4
19
+ triton_bmm_9336 0.0061 ms 81.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=4
20
+ triton_bmm_9339 0.0064 ms 77.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
21
+ triton_bmm_9341 0.0067 ms 74.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=4
22
+ SingleProcess AUTOTUNE benchmarking takes 0.6546 seconds and 0.0002 seconds precompiling for 17 choices
23
+ AUTOTUNE mm(1000x2048, 2048x256)
24
+ mm 0.0150 ms 100.0%
25
+ triton_mm_9355 0.0155 ms 96.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
26
+ triton_mm_9351 0.0166 ms 90.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=32, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
27
+ triton_mm_9354 0.0188 ms 79.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=8
28
+ triton_mm_9350 0.0207 ms 72.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=32INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 47196) closed
29
+ _TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=32, BLOCK_N=32, EVEN_K=True, GROUP_M=8, num_stages=2, num_warps=4
30
+ triton_mm_9357 0.0242 ms 62.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
31
+ triton_mm_9361 0.0243 ms 61.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
32
+ triton_mm_9349 0.0246 ms 61.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=32, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=8
33
+ triton_mm_9358 0.0246 ms 61.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
34
+ SingleProcess AUTOTUNE benchmarking takes 1.8500 seconds and 0.0002 seconds precompiling for 20 choices
35
+ AUTOTUNE bmm(8x1000x256, 8x256x1000)
36
+ triton_bmm_9373 0.0382 ms 100.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=8
37
+ triton_bmm_9375 0.0383 ms 99.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
38
+ triton_bmm_9377 0.0385 ms 99.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
39
+ triton_bmm_9379 0.0385 ms 99.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
40
+ triton_bmm_9380 0.0387 ms 98.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
41
+ triton_bmm_9376 0.0387 ms 98.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
42
+ triton_bmm_9383 0.0390 ms 97.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
43
+ triton_bmm_9372 0.0391 ms 97.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=2, num_warps=4
44
+ triton_bmm_9382 0.0392 ms 97.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
45
+ bmm 0.0423 ms 90.2%
46
+ SingleProcess AUTOTUNE benchmarking takes 0.5012 seconds and 0.0002 seconds precompiling for 20 choices
47
+ AUTOTUNE bmm(8x1000x1000, 8x1000x256)
48
+ bmm 0.0400 ms 100.0%
49
+ triton_bmm_9411 0.0402 ms 99.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=8
50
+ triton_bmm_9410 0.0403 ms 99.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=4
51
+ triton_bmm_9414 0.0435 ms 92.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=8
52
+ triton_bmm_9418 0.0436 ms 91.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=8
53
+ triton_bmm_9413 0.0438 ms 91.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
54
+ triton_bmm_9415 0.0438 ms 91.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
55
+ triton_bmm_9420 0.0440 ms 90.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
56
+ triton_bmm_9417 0.0443 ms 90.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
57
+ triton_bmm_9419 0.0444 ms 90.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=8
58
+ SingleProcess AUTOTUNE benchmarking takes 0.6343 seconds and 0.0002 seconds precompiling for 20 choices
59
+ AUTOTUNE mm(1000x16384, 16384x2048)
60
+ mm 0.5048 ms 100.0%
61
+ triton_mm_9488 0.5282 ms 95.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
62
+ triton_mm_9487 0.5306 ms 95.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=8
63
+ triton_mm_9484 0.5525 ms 91.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=32, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
64
+ triton_mm_9491 0.5907 ms 85.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
65
+ triton_mm_9495 0.5925 ms 85.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=2, num_warps=8
66
+ triton_mm_9489 0.5928 ms 85.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
67
+ triton_mm_9498 0.5934 ms 85.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=8
68
+ triton_mm_9496 0.5935 ms 85.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
69
+ triton_mm_9493 0.5943 ms 84.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
70
+ SingleProcess AUTOTUNE benchmarking takes 1.2061 seconds and 0.0002 seconds precompiling for 20 choices
71
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 64686) closed
72
+ INFO:websockets.server:connection open
73
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 49598) opened
74
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 49598) closed
75
+ INFO:websockets.server:connection open
76
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 49554) opened
77
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 49554) closed
78
+ INFO:websockets.server:connection open
79
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 45280) opened
80
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 45280) closed
81
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 50484) closed
logs/speed_embedding_ablation/servers/soft_prompt/gpu3.log ADDED
@@ -0,0 +1,92 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ /usr/local/lib/python3.12/dist-packages/opentelemetry/util/_providers.py:19: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
2
+ from pkg_resources import iter_entry_points
3
+ INFO:root:Loading model...
4
+ INFO:openpi:train_config: TrainConfig(name='pi05_libero_speed_embed_softprompt_p8', project_name='openpi', exp_name=tyro.MISSING, model=Pi0Config(action_dim=32, action_horizon=30, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, speed_modulation=False, soft_prompt_speeds=(0.75, 1.0, 1.25, 1.5), soft_prompt_p=32, pytorch_lora=False, pytorch_lora_rank=16, pytorch_lora_alpha=16.0, pytorch_lora_targets=('paligemma', 'action_expert'), pytorch_compile_mode='max-autotune'), weight_loader=CheckpointWeightLoader(params_path='gs://openpi-assets/checkpoints/pi05_base/params', missing_regex='.*(lora|soft_prompt_tokens).*'), pytorch_weight_path='/path/to/your/pytorch_weight_path', pytorch_training_precision='bfloat16', lr_schedule=CosineDecaySchedule(warmup_steps=1000, peak_lr=0.0001, decay_steps=30000, decay_lr=1e-06), optimizer=AdamW(b1=0.9, b2=0.95, eps=1e-08, weight_decay=1e-10, clip_gradient_norm=1.0), ema_decay=0.999, freeze_filter=Nothing(), data=LeRobotVariousSpeedLiberoDataConfig(repo_id='/path/to/source_libero_lerobot', assets=AssetsConfig(assets_dir=None, asset_id='online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05'), base_config=DataConfig(repo_id=None, asset_id=None, norm_stats=None, repack_transforms=Group(inputs=(), outputs=()), data_transforms=Group(inputs=(), outputs=()), model_transforms=Group(inputs=(), outputs=()), use_quantile_norm=False, action_sequence_keys=('actions',), prompt_from_task=True, online_sliding_chunks=True, online_sliding_speeds=(), rlds_data_dir=None, action_space=None, datasets=()), extra_delta_transform=False, online_sliding_chunks=True, online_sliding_speeds=(0.75, 1.0, 1.25, 1.5), speed_integration='soft_prompt'), assets_base_dir='./assets', checkpoint_base_dir='./checkpoints', seed=42, batch_size=512, num_workers=2, num_train_steps=30000, log_interval=100, save_interval=1000, keep_period=5000, overwrite=False, resume=False, wandb_enabled=True, eval_speed_set=(0.5, 1.0, 2.0), policy_metadata=None, fsdp_devices=1)
5
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/assets/pi05_libero_speed_embed_softprompt_p8/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
6
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/checkpoints/pi05_libero_speed_embed_softprompt_p8/0511_pi05_online_sliding_speed_embed_softprompt_p32_bs512_lr1e4/30000/assets/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
7
+ INFO:root:Creating server (host: gpulingjun033181111229.wa180, ip: 33.181.111.229)
8
+ INFO:websockets.server:server listening on 0.0.0.0:8023
9
+ INFO:websockets.server:connection open
10
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 32388) opened
11
+ AUTOTUNE bmm(1x128x1, 1x1x1000)
12
+ triton_bmm_9332 0.0056 ms 100.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=32, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=4
13
+ triton_bmm_9334 0.0056 ms 99.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=8
14
+ triton_bmm_9338 0.0057 ms 98.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=4
15
+ triton_bmm_9335 0.0058 ms 96.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=4
16
+ triton_bmm_9336 0.0059 ms 95.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=4
17
+ triton_bmm_9333 0.0059 ms 94.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=32, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=8
18
+ triton_bmm_9331 0.0060 ms 93.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=32, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=1, num_warps=2
19
+ triton_bmm_9337 0.0062 ms 90.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=8
20
+ triton_bmm_9341 0.0068 ms 81.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=4
21
+ triton_bmm_9342 0.0068 ms 81.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=128, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
22
+ SingleProcess AUTOTUNE benchmarking takes 0.5354 seconds and 0.0002 seconds precompiling for 17 choices
23
+ AUTOTUNE mm(1000x2048, 2048x256)
24
+ mm 0.0152 ms 100.0%
25
+ triton_mm_9355 0.0162 ms 93.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
26
+ triton_mm_9351 0.0174 ms 87.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=32, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
27
+ triton_mm_9354 0.0185 ms 82.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=8
28
+ triton_mm_9350 0.0207 ms 73.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=32, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=8
29
+ triton_mm_9348 0.0219 ms 69.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=32, BLOCK_N=32, EVEN_K=True, GROUP_M=8, num_stages=2, num_warps=4
30
+ triton_mm_9358 0.0246 ms 61.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
31
+ triton_mm_9361 0.0248 ms 61.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
32
+ triton_mm_9357 0.0249 ms 61.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
33
+ triton_mm_9359 0.0253 ms 60.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=4
34
+ SingleProcess AUTOTUNE benchmarking takes 0.3719 seconds and 0.0003 seconds precompiling for 20 choices
35
+ AUTOTUNE bmm(8x1000x256, 8x256x1000)
36
+ triton_bmm_9373 0.0387 ms 100.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=8
37
+ triton_bmm_9376 0.0388 ms 99.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
38
+ triton_bmm_9380 0.0388 ms 99.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
39
+ triton_bmm_9375 0.0391 ms 98.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
40
+ triton_bmm_9382 0.0392 ms 98.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
41
+ triton_bmm_9372 0.0393 ms 98.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=2, num_warps=4
42
+ triton_bmm_9379 0.0393 ms 98.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
43
+ triton_bmm_9377 0.0394 ms 98.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
44
+ triton_bmm_9383 0.0398 ms 97.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
45
+ bmm 0.0434 ms 89.1%
46
+ SingleProcess AUTOTUNE benchmarking takes 1.8451 seconds and 0.0003 seconds precompiling for 20 choices
47
+ AUTOTUNE bmm(8x1000x1000, 8x1000x256)
48
+ bmm 0.0402 ms 100.0%
49
+ triton_bmm_9411 0.0402 ms 99.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=8
50
+ triton_bmm_9410 0.0415 ms 96.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=4
51
+ triton_bmm_9415 0.0442 ms 90.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
52
+ triton_bmm_9413 0.0443 ms 90.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
53
+ triton_bmm_9414 0.0443 ms 90.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=8
54
+ triton_bmm_9417 0.0444 ms 90.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
55
+ triton_bmm_9418 0.0446 ms 90.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=8
56
+ triton_bmm_9419 0.0446 ms 90.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=8
57
+ triton_bmm_9420 0.0447 ms 89.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
58
+ SingleProcess AUTOTUNE benchmarking takes 0.4968 seconds and 0.0002 seconds precompiling for 20 choices
59
+ AUTOTUNE mm(1000x16384, 16384x2048)
60
+ mm 0.5067 ms 100.0%
61
+ triton_mm_9488 0.5330 ms 95.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
62
+ triton_mm_9487 0.5335 ms 95.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=8
63
+ triton_mm_9484 0.5615 ms 90.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=32, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
64
+ triton_mm_9491 0.5959 ms 85.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
65
+ triton_mm_9496 0.5967 ms 84.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
66
+ triton_mm_9497 0.5977 ms 84.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
67
+ triton_mm_9495 0.5978 ms 84.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=2, num_warps=8
68
+ triton_mm_9494 0.5983 ms 84.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
69
+ triton_mm_9493 0.5993 ms 84.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
70
+ SingleProcess AUTOTUNE benchmarking takes 0.9736 seconds and 0.0002 seconds precompiling for 20 choices
71
+ AUTOTUNE bmm(8x30x1030, 8x1030x256)
72
+ triton_bmm_12374 0.0109 ms 100.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=32, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=4
73
+ triton_bmm_12373 0.0118 ms 92.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=32, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=4
74
+ triton_bmm_12378 0.0121 ms 90.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=32, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=4
75
+ triton_bmm_12372 0.0124 ms 87.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=32, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=8
76
+ triton_bmm_12377 0.0137 ms 79.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=32, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=8
77
+ triton_bmm_12384 0.0137 ms 79.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=32, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=8
78
+ triton_bmm_12371 0.0142 ms 76.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=32, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=4
79
+ triton_bmm_12381 0.0157 ms 69.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=32, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
80
+ triton_bmm_12386 0.0165 ms 66.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=32, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=8
81
+ triton_bmm_12380 0.0170 ms 64.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=32, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=8
82
+ SingleProcess AUTOTUNE benchmarking takes 0.2799 seconds and 0.0001 seconds precompiling for 18 choices
83
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 32388) closed
84
+ INFO:websockets.server:connection open
85
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 49164) opened
86
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 49164) closed
87
+ INFO:websockets.server:connection open
88
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 52548) opened
89
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 52548) closed
90
+ INFO:websockets.server:connection open
91
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 56504) opened
92
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 56504) closed
logs/speed_embedding_ablation/servers/soft_prompt/gpu4.log ADDED
@@ -0,0 +1,128 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ /usr/local/lib/python3.12/dist-packages/opentelemetry/util/_providers.py:19: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
2
+ from pkg_resources import iter_entry_points
3
+ INFO:root:Loading model...
4
+ INFO:openpi:train_config: TrainConfig(name='pi05_libero_speed_embed_softprompt_p8', project_name='openpi', exp_name=tyro.MISSING, model=Pi0Config(action_dim=32, action_horizon=30, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, speed_modulation=False, soft_prompt_speeds=(0.75, 1.0, 1.25, 1.5), soft_prompt_p=32, pytorch_lora=False, pytorch_lora_rank=16, pytorch_lora_alpha=16.0, pytorch_lora_targets=('paligemma', 'action_expert'), pytorch_compile_mode='max-autotune'), weight_loader=CheckpointWeightLoader(params_path='gs://openpi-assets/checkpoints/pi05_base/params', missing_regex='.*(lora|soft_prompt_tokens).*'), pytorch_weight_path='/path/to/your/pytorch_weight_path', pytorch_training_precision='bfloat16', lr_schedule=CosineDecaySchedule(warmup_steps=1000, peak_lr=0.0001, decay_steps=30000, decay_lr=1e-06), optimizer=AdamW(b1=0.9, b2=0.95, eps=1e-08, weight_decay=1e-10, clip_gradient_norm=1.0), ema_decay=0.999, freeze_filter=Nothing(), data=LeRobotVariousSpeedLiberoDataConfig(repo_id='/path/to/source_libero_lerobot', assets=AssetsConfig(assets_dir=None, asset_id='online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05'), base_config=DataConfig(repo_id=None, asset_id=None, norm_stats=None, repack_transforms=Group(inputs=(), outputs=()), data_transforms=Group(inputs=(), outputs=()), model_transforms=Group(inputs=(), outputs=()), use_quantile_norm=False, action_sequence_keys=('actions',), prompt_from_task=True, online_sliding_chunks=True, online_sliding_speeds=(), rlds_data_dir=None, action_space=None, datasets=()), extra_delta_transform=False, online_sliding_chunks=True, online_sliding_speeds=(0.75, 1.0, 1.25, 1.5), speed_integration='soft_prompt'), assets_base_dir='./assets', checkpoint_base_dir='./checkpoints', seed=42, batch_size=512, num_workers=2, num_train_steps=30000, log_interval=100, save_interval=1000, keep_period=5000, overwrite=False, resume=False, wandb_enabled=True, eval_speed_set=(0.5, 1.0, 2.0), policy_metadata=None, fsdp_devices=1)
5
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/assets/pi05_libero_speed_embed_softprompt_p8/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
6
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/checkpoints/pi05_libero_speed_embed_softprompt_p8/0511_pi05_online_sliding_speed_embed_softprompt_p32_bs512_lr1e4/30000/assets/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
7
+ INFO:root:Creating server (host: gpulingjun033181111229.wa180, ip: 33.181.111.229)
8
+ INFO:websockets.server:server listening on 0.0.0.0:8024
9
+ INFO:websockets.server:connection open
10
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 54376) opened
11
+ AUTOTUNE mm(1000x2048, 2048x16384)
12
+ triton_mm_9468 0.4980 ms 100.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=8
13
+ triton_mm_9472 0.5037 ms 98.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
14
+ triton_mm_9471 0.5042 ms 98.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
15
+ triton_mm_9470 0.5043 ms 98.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
16
+ triton_mm_9475 0.5046 ms 98.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
17
+ triton_mm_9474 0.5053 ms 98.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
18
+ triton_mm_9467 0.5060 ms 98.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=2, num_warps=4
19
+ mm 0.5097 ms 97.7%
20
+ triton_mm_9478 0.5214 ms 95.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
21
+ triton_mm_9477 0.5229 ms 95.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
22
+ SingleProcess AUTOTUNE benchmarking takes 0.8741 seconds and 81.9393 seconds precompiling for 20 choices
23
+ AUTOTUNE mm(1000x2048, 2048x2048)
24
+ mm 0.0702 ms 100.0%
25
+ triton_mm_9430 0.0712 ms 98.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=8
26
+ triton_mm_9429 0.0741 ms 94.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=2, num_warps=4
27
+ triton_mm_9434 0.0801 ms 87.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
28
+ triton_mm_9431 0.0803 ms 87.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
29
+ triton_mm_9436 0.0804 ms 87.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
30
+ triton_mm_9432 0.0807 ms 87.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
31
+ triton_mm_9437 0.0808 ms 86.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
32
+ triton_mm_9440 0.0808 ms 86.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
33
+ triton_mm_9433 0.0809 ms 86.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
34
+ SingleProcess AUTOTUNE benchmarking takes 0.5138 seconds and 0.0005 seconds precompiling for 20 choices
35
+ AUTOTUNE bmm(8x1000x256, 8x256x1000)
36
+ triton_bmm_9373 0.0384 ms 100.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=8
37
+ triton_bmm_9375 0.0385 ms 99.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
38
+ triton_bmm_9379 0.0388 ms 99.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
39
+ triton_bmm_9376 0.0389 ms 98.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
40
+ triton_bmm_9377 0.0389 ms 98.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
41
+ triton_bmm_9380 0.0390 ms 98.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
42
+ triton_bmm_9383 0.0393 ms 97.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
43
+ triton_bmm_9382 0.0394 ms 97.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
44
+ triton_bmm_9372 0.0395 ms 97.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=2, num_warps=4
45
+ bmm 0.0421 ms 91.1%
46
+ SingleProcess AUTOTUNE benchmarking takes 0.4996 seconds and 0.0002 seconds precompiling for 20 choices
47
+ AUTOTUNE bmm(8x1000x1000, 8x1000x256)
48
+ triton_bmm_9411 0.0401 ms 100.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=8
49
+ bmm 0.0402 ms 99.8%
50
+ triton_bmm_9410 0.0408 ms 98.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=4
51
+ triton_bmm_9414 0.0438 ms 91.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=8
52
+ triton_bmm_9420 0.0441 ms 91.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
53
+ triton_bmm_9418 0.0441 ms 91.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=8
54
+ triton_bmm_9413 0.0441 ms 90.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
55
+ triton_bmm_9415 0.0443 ms 90.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
56
+ triton_bmm_9417 0.0446 ms 90.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
57
+ triton_bmm_9419 0.0446 ms 89.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=8
58
+ SingleProcess AUTOTUNE benchmarking takes 0.5596 seconds and 0.0002 seconds precompiling for 20 choices
59
+ AUTOTUNE mm(1000x16384, 16384x2048)
60
+ mm 0.5060 ms 100.0%
61
+ triton_mm_9488 0.5338 ms 94.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
62
+ triton_mm_9487 0.5341 ms 94.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=8
63
+ triton_mm_9484 0.5609 ms 90.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=32, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
64
+ triton_mm_9491 0.5947 ms 85.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
65
+ triton_mm_9497 0.5962 ms 84.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
66
+ triton_mm_9495 0.5965 ms 84.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=2, num_warps=8
67
+ triton_mm_9496 0.5965 ms 84.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
68
+ triton_mm_9494 0.5976 ms 84.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
69
+ triton_mm_9489 0.5977 ms 84.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
70
+ SingleProcess AUTOTUNE benchmarking takes 1.0464 seconds and 0.0002 seconds precompiling for 20 choices
71
+ AUTOTUNE bmm(8x1000x1000, 8x1000x256)
72
+ bmm 0.0403 ms 100.0%
73
+ triton_bmm_10266 0.0404 ms 99.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=8
74
+ triton_bmm_10265 0.0409 ms 98.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=4
75
+ triton_bmm_10269 0.0437 ms 92.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=8
76
+ triton_bmm_10273 0.0439 ms 91.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=8
77
+ triton_bmm_10270 0.0439 ms 91.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
78
+ triton_bmm_10268 0.0440 ms 91.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
79
+ triton_bmm_10275 0.0443 ms 91.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
80
+ triton_bmm_10274 0.0445 ms 90.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=8
81
+ triton_bmm_10272 0.0447 ms 90.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
82
+ SingleProcess AUTOTUNE benchmarking takes 0.5798 seconds and 0.0001 seconds precompiling for 20 choices
83
+ AUTOTUNE mm(1000x16384, 16384x2048)
84
+ mm 0.5061 ms 100.0%
85
+ triton_mm_10343 0.5292 ms 95.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
86
+ triton_mm_10342 0.5293 ms 95.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=8
87
+ triton_mm_10339 0.5587 ms 90.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=32, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
88
+ triton_mm_10346 0.5911 ms 85.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
89
+ triton_mm_10351 0.5925 ms 85.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
90
+ triton_mm_10352 0.5929 ms 85.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
91
+ triton_mm_10350 0.5929 ms 85.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=2, num_warps=8
92
+ triton_mm_10344 0.5946 ms 85.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
93
+ triton_mm_10348 0.5950 ms 85.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
94
+ SingleProcess AUTOTUNE benchmarking takes 0.9511 seconds and 0.0001 seconds precompiling for 20 choices
95
+ AUTOTUNE bmm(8x30x256, 8x256x1030)
96
+ triton_bmm_12343 0.0082 ms 100.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=32, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=8
97
+ triton_bmm_12352 0.0083 ms 99.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=32, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=8
98
+ triton_bmm_12347 0.0084 ms 98.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=32, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
99
+ triton_bmm_12350 0.0085 ms 97.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=32, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
100
+ triton_bmm_12339 0.0085 ms 96.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=32, BLOCK_N=32, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
101
+ triton_bmm_12338 0.0085 ms 96.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=32, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=8
102
+ triton_bmm_12346 0.0085 ms 96.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=32, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
103
+ triton_bmm_12337 0.0086 ms 95.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=32, BLOCK_N=32, EVEN_K=True, GROUP_M=8, num_stages=2, num_warps=4
104
+ triton_bmm_12348 0.0086 ms 95.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=32, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=4
105
+ triton_bmm_12344 0.0086 ms 95.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=32, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
106
+ SingleProcess AUTOTUNE benchmarking takes 0.2973 seconds and 0.0002 seconds precompiling for 18 choices
107
+ AUTOTUNE bmm(8x30x1030, 8x1030x256)
108
+ triton_bmm_12374 0.0107 ms 100.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=32, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=4
109
+ triton_bmm_12373 0.0117 ms 91.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=32, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=4
110
+ triton_bmm_12378 0.0121 ms 88.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=32, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=4
111
+ triton_bmm_12372 0.0121 ms 88.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=32, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=8
112
+ triton_bmm_12384 0.0135 ms 78.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=32, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=8
113
+ triton_bmm_12377 0.0135 ms 78.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=32, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=8
114
+ triton_bmm_12371 0.0142 ms 75.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=32, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=4
115
+ triton_bmm_12381 0.0156 ms 68.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=32, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
116
+ triton_bmm_12386 0.0167 ms 63.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=32, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=8
117
+ triton_bmm_12380 0.0168 ms 63.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=32, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=8
118
+ SingleProcess AUTOTUNE benchmarking takes 0.2531 seconds and 0.0002 seconds precompiling for 18 choices
119
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 54376) closed
120
+ INFO:websockets.server:connection open
121
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 42344) opened
122
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 42344) closed
123
+ INFO:websockets.server:connection open
124
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 41622) opened
125
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 41622) closed
126
+ INFO:websockets.server:connection open
127
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 63594) opened
128
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 63594) closed
logs/speed_embedding_ablation/servers/soft_prompt/gpu5.log ADDED
@@ -0,0 +1,116 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ /usr/local/lib/python3.12/dist-packages/opentelemetry/util/_providers.py:19: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
2
+ from pkg_resources import iter_entry_points
3
+ INFO:root:Loading model...
4
+ INFO:openpi:train_config: TrainConfig(name='pi05_libero_speed_embed_softprompt_p8', project_name='openpi', exp_name=tyro.MISSING, model=Pi0Config(action_dim=32, action_horizon=30, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, speed_modulation=False, soft_prompt_speeds=(0.75, 1.0, 1.25, 1.5), soft_prompt_p=32, pytorch_lora=False, pytorch_lora_rank=16, pytorch_lora_alpha=16.0, pytorch_lora_targets=('paligemma', 'action_expert'), pytorch_compile_mode='max-autotune'), weight_loader=CheckpointWeightLoader(params_path='gs://openpi-assets/checkpoints/pi05_base/params', missing_regex='.*(lora|soft_prompt_tokens).*'), pytorch_weight_path='/path/to/your/pytorch_weight_path', pytorch_training_precision='bfloat16', lr_schedule=CosineDecaySchedule(warmup_steps=1000, peak_lr=0.0001, decay_steps=30000, decay_lr=1e-06), optimizer=AdamW(b1=0.9, b2=0.95, eps=1e-08, weight_decay=1e-10, clip_gradient_norm=1.0), ema_decay=0.999, freeze_filter=Nothing(), data=LeRobotVariousSpeedLiberoDataConfig(repo_id='/path/to/source_libero_lerobot', assets=AssetsConfig(assets_dir=None, asset_id='online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05'), base_config=DataConfig(repo_id=None, asset_id=None, norm_stats=None, repack_transforms=Group(inputs=(), outputs=()), data_transforms=Group(inputs=(), outputs=()), model_transforms=Group(inputs=(), outputs=()), use_quantile_norm=False, action_sequence_keys=('actions',), prompt_from_task=True, online_sliding_chunks=True, online_sliding_speeds=(), rlds_data_dir=None, action_space=None, datasets=()), extra_delta_transform=False, online_sliding_chunks=True, online_sliding_speeds=(0.75, 1.0, 1.25, 1.5), speed_integration='soft_prompt'), assets_base_dir='./assets', checkpoint_base_dir='./checkpoints', seed=42, batch_size=512, num_workers=2, num_train_steps=30000, log_interval=100, save_interval=1000, keep_period=5000, overwrite=False, resume=False, wandb_enabled=True, eval_speed_set=(0.5, 1.0, 2.0), policy_metadata=None, fsdp_devices=1)
5
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/assets/pi05_libero_speed_embed_softprompt_p8/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
6
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/checkpoints/pi05_libero_speed_embed_softprompt_p8/0511_pi05_online_sliding_speed_embed_softprompt_p32_bs512_lr1e4/30000/assets/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
7
+ INFO:root:Creating server (host: gpulingjun033181111229.wa180, ip: 33.181.111.229)
8
+ INFO:websockets.server:server listening on 0.0.0.0:8025
9
+ INFO:websockets.server:connection open
10
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 48192) opened
11
+ AUTOTUNE bmm(1x128x1, 1x1x1000)
12
+ triton_bmm_9336 0.0058 ms 100.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=4
13
+ triton_bmm_9332 0.0059 ms 97.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=32, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=4
14
+ triton_bmm_9335 0.0059 ms 97.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=4
15
+ triton_bmm_9338 0.0059 ms 97.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=4
16
+ triton_bmm_9334 0.0061 ms 94.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=8
17
+ triton_bmm_9331 0.0062 ms 93.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=32, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=1, num_warps=2
18
+ triton_bmm_9333 0.0062 ms 92.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=32, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=8
19
+ triton_bmm_9337 0.0064 ms 90.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=8
20
+ triton_bmm_9342 0.0068 ms 85.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=128, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
21
+ triton_bmm_9339 0.0069 ms 84.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
22
+ SingleProcess AUTOTUNE benchmarking takes 0.6241 seconds and 0.0002 seconds precompiling for 17 choices
23
+ AUTOTUNE mm(1000x2048, 2048x256)
24
+ mm 0.0150 ms 100.0%
25
+ triton_mm_9355 0.0158 ms 94.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
26
+ triton_mm_9351 0.0170 ms 88.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=32, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
27
+ triton_mm_9354 0.0186 ms 80.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=8
28
+ triton_mm_9350 0.0205 ms 73.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=32, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=8
29
+ triton_mm_9348 0.0219 ms 68.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=32, BLOCK_N=32, EVEN_K=True, GROUP_M=8, num_stages=2, num_warps=4
30
+ triton_mm_9358 0.0243 ms 61.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
31
+ triton_mm_9361 0.0246 ms 60.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
32
+ triton_mm_9357 0.0246 ms 60.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
33
+ triton_mm_9349 0.0250 ms 60.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=32, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=8
34
+ SingleProcess AUTOTUNE benchmarking takes 0.5359 seconds and 0.0002 seconds precompiling for 20 choices
35
+ AUTOTUNE bmm(8x1000x256, 8x256x1000)
36
+ triton_bmm_9376 0.0385 ms 100.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
37
+ triton_bmm_9380 0.0385 ms 100.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
38
+ triton_bmm_9373 0.0386 ms 99.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=8
39
+ triton_bmm_9375 0.0387 ms 99.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
40
+ triton_bmm_9379 0.0388 ms 99.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
41
+ triton_bmm_9377 0.0388 ms 99.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
42
+ triton_bmm_9382 0.0389 ms 98.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
43
+ triton_bmm_9372 0.0392 ms 98.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=2, num_warps=4
44
+ triton_bmm_9383 0.0394 ms 97.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
45
+ bmm 0.0427 ms 90.1%
46
+ SingleProcess AUTOTUNE benchmarking takes 1.6675 seconds and 0.0003 seconds precompiling for 20 choices
47
+ AUTOTUNE bmm(8x1000x1000, 8x1000x256)
48
+ bmm 0.0397 ms 100.0%
49
+ triton_bmm_9411 0.0399 ms 99.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=8
50
+ triton_bmm_9410 0.0404 ms 98.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=4
51
+ triton_bmm_9415 0.0436 ms 91.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
52
+ triton_bmm_9413 0.0436 ms 91.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
53
+ triton_bmm_9414 0.0436 ms 91.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=8
54
+ triton_bmm_9418 0.0439 ms 90.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=8
55
+ triton_bmm_9420 0.0440 ms 90.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
56
+ triton_bmm_9417 0.0442 ms 89.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
57
+ triton_bmm_9419 0.0442 ms 89.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=8
58
+ SingleProcess AUTOTUNE benchmarking takes 0.4282 seconds and 0.0002 seconds precompiling for 20 choices
59
+ AUTOTUNE mm(1000x16384, 16384x2048)
60
+ mm 0.5013 ms 100.0%
61
+ triton_mm_9488 0.5277 ms 95.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
62
+ triton_mm_9487 0.5296 ms 94.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=8
63
+ triton_mm_9484 0.5482 ms 91.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=32, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
64
+ triton_mm_9497 0.5910 ms 84.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
65
+ triton_mm_9489 0.5911 ms 84.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
66
+ triton_mm_9496 0.5911 ms 84.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
67
+ triton_mm_9495 0.5916 ms 84.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=2, num_warps=8
68
+ triton_mm_9491 0.5919 ms 84.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
69
+ triton_mm_9490 0.5922 ms 84.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
70
+ SingleProcess AUTOTUNE benchmarking takes 0.9893 seconds and 0.0002 seconds precompiling for 20 choices
71
+ AUTOTUNE bmm(8x1000x256, 8x256x1000)
72
+ triton_bmm_9544 0.0382 ms 100.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=8
73
+ triton_bmm_9546 0.0382 ms 100.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
74
+ triton_bmm_9550 0.0385 ms 99.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
75
+ triton_bmm_9547 0.0387 ms 98.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
76
+ triton_bmm_9551 0.0387 ms 98.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
77
+ triton_bmm_9548 0.0388 ms 98.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
78
+ triton_bmm_9554 0.0391 ms 97.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
79
+ triton_bmm_9553 0.0392 ms 97.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
80
+ triton_bmm_9543 0.0393 ms 97.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=2, num_warps=4
81
+ bmm 0.0424 ms 90.3%
82
+ SingleProcess AUTOTUNE benchmarking takes 0.4980 seconds and 0.0001 seconds precompiling for 20 choices
83
+ AUTOTUNE bmm(8x30x256, 8x256x1030)
84
+ triton_bmm_12343 0.0082 ms 100.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=32, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=8
85
+ triton_bmm_12352 0.0083 ms 99.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=32, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=8
86
+ triton_bmm_12347 0.0083 ms 98.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=32, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
87
+ triton_bmm_12339 0.0084 ms 97.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=32, BLOCK_N=32, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
88
+ triton_bmm_12350 0.0084 ms 97.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=32, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
89
+ triton_bmm_12337 0.0085 ms 96.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=32, BLOCK_N=32, EVEN_K=True, GROUP_M=8, num_stages=2, num_warps=4
90
+ triton_bmm_12338 0.0085 ms 95.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=32, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=8
91
+ triton_bmm_12346 0.0085 ms 95.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=32, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
92
+ triton_bmm_12344 0.0086 ms 94.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=32, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
93
+ triton_bmm_12348 0.0086 ms 94.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=32, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=4
94
+ SingleProcess AUTOTUNE benchmarking takes 0.2569 seconds and 0.0002 seconds precompiling for 18 choices
95
+ AUTOTUNE bmm(8x30x1030, 8x1030x256)
96
+ triton_bmm_12374 0.0107 ms 100.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=32, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=4
97
+ triton_bmm_12373 0.0118 ms 90.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=32, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=4
98
+ triton_bmm_12378 0.0120 ms 88.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=32, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=4
99
+ triton_bmm_12372 0.0120 ms 88.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=32, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=8
100
+ triton_bmm_12377 0.0134 ms 79.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=32, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=8
101
+ triton_bmm_12384 0.0136 ms 78.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=32, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=8
102
+ triton_bmm_12371 0.0143 ms 74.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=32, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=4
103
+ triton_bmm_12381 0.0156 ms 68.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=32, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
104
+ triton_bmm_12386 0.0165 ms 64.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=32, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=8
105
+ triton_bmm_12380 0.0166 ms 64.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=32, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=8
106
+ SingleProcess AUTOTUNE benchmarking takes 0.2916 seconds and 0.0002 seconds precompiling for 18 choices
107
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 48192) closed
108
+ INFO:websockets.server:connection open
109
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 37936) opened
110
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 37936) closed
111
+ INFO:websockets.server:connection open
112
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 38134) opened
113
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 38134) closed
114
+ INFO:websockets.server:connection open
115
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 50296) opened
116
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 50296) closed
logs/speed_embedding_ablation/servers/soft_prompt/gpu6.log ADDED
@@ -0,0 +1,116 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ /usr/local/lib/python3.12/dist-packages/opentelemetry/util/_providers.py:19: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
2
+ from pkg_resources import iter_entry_points
3
+ INFO:root:Loading model...
4
+ INFO:openpi:train_config: TrainConfig(name='pi05_libero_speed_embed_softprompt_p8', project_name='openpi', exp_name=tyro.MISSING, model=Pi0Config(action_dim=32, action_horizon=30, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, speed_modulation=False, soft_prompt_speeds=(0.75, 1.0, 1.25, 1.5), soft_prompt_p=32, pytorch_lora=False, pytorch_lora_rank=16, pytorch_lora_alpha=16.0, pytorch_lora_targets=('paligemma', 'action_expert'), pytorch_compile_mode='max-autotune'), weight_loader=CheckpointWeightLoader(params_path='gs://openpi-assets/checkpoints/pi05_base/params', missing_regex='.*(lora|soft_prompt_tokens).*'), pytorch_weight_path='/path/to/your/pytorch_weight_path', pytorch_training_precision='bfloat16', lr_schedule=CosineDecaySchedule(warmup_steps=1000, peak_lr=0.0001, decay_steps=30000, decay_lr=1e-06), optimizer=AdamW(b1=0.9, b2=0.95, eps=1e-08, weight_decay=1e-10, clip_gradient_norm=1.0), ema_decay=0.999, freeze_filter=Nothing(), data=LeRobotVariousSpeedLiberoDataConfig(repo_id='/path/to/source_libero_lerobot', assets=AssetsConfig(assets_dir=None, asset_id='online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05'), base_config=DataConfig(repo_id=None, asset_id=None, norm_stats=None, repack_transforms=Group(inputs=(), outputs=()), data_transforms=Group(inputs=(), outputs=()), model_transforms=Group(inputs=(), outputs=()), use_quantile_norm=False, action_sequence_keys=('actions',), prompt_from_task=True, online_sliding_chunks=True, online_sliding_speeds=(), rlds_data_dir=None, action_space=None, datasets=()), extra_delta_transform=False, online_sliding_chunks=True, online_sliding_speeds=(0.75, 1.0, 1.25, 1.5), speed_integration='soft_prompt'), assets_base_dir='./assets', checkpoint_base_dir='./checkpoints', seed=42, batch_size=512, num_workers=2, num_train_steps=30000, log_interval=100, save_interval=1000, keep_period=5000, overwrite=False, resume=False, wandb_enabled=True, eval_speed_set=(0.5, 1.0, 2.0), policy_metadata=None, fsdp_devices=1)
5
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/assets/pi05_libero_speed_embed_softprompt_p8/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
6
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/checkpoints/pi05_libero_speed_embed_softprompt_p8/0511_pi05_online_sliding_speed_embed_softprompt_p32_bs512_lr1e4/30000/assets/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
7
+ INFO:root:Creating server (host: gpulingjun033181111229.wa180, ip: 33.181.111.229)
8
+ INFO:websockets.server:server listening on 0.0.0.0:8026
9
+ INFO:websockets.server:connection open
10
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 62420) opened
11
+ AUTOTUNE mm(1000x2048, 2048x2048)
12
+ mm 0.0706 ms 100.0%
13
+ triton_mm_9430 0.0716 ms 98.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=8
14
+ triton_mm_9429 0.0742 ms 95.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=2, num_warps=4
15
+ triton_mm_9434 0.0805 ms 87.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
16
+ triton_mm_9431 0.0806 ms 87.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
17
+ triton_mm_9436 0.0808 ms 87.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
18
+ triton_mm_9439 0.0808 ms 87.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
19
+ triton_mm_9440 0.0809 ms 87.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
20
+ triton_mm_9432 0.0809 ms 87.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
21
+ triton_mm_9438 0.0809 ms 87.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=2, num_warps=8
22
+ SingleProcess AUTOTUNE benchmarking takes 0.6965 seconds and 0.0002 seconds precompiling for 20 choices
23
+ AUTOTUNE bmm(1x128x1, 1x1x1000)
24
+ triton_bmm_9332 0.0056 ms 100.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=32, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=4
25
+ triton_bmm_9334 0.0057 ms 99.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=8
26
+ triton_bmm_9335 0.0057 ms 99.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=4
27
+ triton_bmm_9331 0.0057 ms 98.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=32, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=1, num_warps=2
28
+ triton_bmm_9333 0.0058 ms 97.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=32, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=8
29
+ triton_bmm_9336 0.0058 ms 96.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=4
30
+ triton_bmm_9338 0.0059 ms 95.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=4
31
+ triton_bmm_9337 0.0061 ms 92.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=8
32
+ triton_bmm_9342 0.0068 ms 83.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=128, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
33
+ triton_bmm_9340 0.0069 ms 81.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=16, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=8
34
+ SingleProcess AUTOTUNE benchmarking takes 0.4394 seconds and 0.0002 seconds precompiling for 17 choices
35
+ AUTOTUNE mm(1000x2048, 2048x256)
36
+ mm 0.0151 ms 100.0%
37
+ triton_mm_9355 0.0160 ms 94.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
38
+ triton_mm_9351 0.0171 ms 88.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=32, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
39
+ triton_mm_9354 0.0185 ms 82.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=8
40
+ triton_mm_9350 0.0207 ms 73.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=32, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=8
41
+ triton_mm_9348 0.0222 ms 68.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=32, BLOCK_N=32, EVEN_K=True, GROUP_M=8, num_stages=2, num_warps=4
42
+ triton_mm_9358 0.0246 ms 61.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
43
+ triton_mm_9357 0.0248 ms 61.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
44
+ triton_mm_9361 0.0248 ms 61.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
45
+ triton_mm_9349 0.0251 ms 60.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=32, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=8
46
+ SingleProcess AUTOTUNE benchmarking takes 1.9227 seconds and 0.0003 seconds precompiling for 20 choices
47
+ AUTOTUNE bmm(8x1000x256, 8x256x1000)
48
+ triton_bmm_9376 0.0386 ms 100.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
49
+ triton_bmm_9373 0.0388 ms 99.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=8
50
+ triton_bmm_9375 0.0389 ms 99.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
51
+ triton_bmm_9380 0.0389 ms 99.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
52
+ triton_bmm_9379 0.0390 ms 98.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
53
+ triton_bmm_9372 0.0391 ms 98.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=2, num_warps=4
54
+ triton_bmm_9377 0.0391 ms 98.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
55
+ triton_bmm_9382 0.0393 ms 98.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
56
+ triton_bmm_9383 0.0396 ms 97.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
57
+ bmm 0.0434 ms 88.9%
58
+ SingleProcess AUTOTUNE benchmarking takes 0.4400 seconds and 0.0003 seconds precompiling for 20 choices
59
+ AUTOTUNE bmm(8x1000x1000, 8x1000x256)
60
+ bmm 0.0403 ms 100.0%
61
+ triton_bmm_9411 0.0403 ms 99.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=8
62
+ triton_bmm_9410 0.0408 ms 98.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=4
63
+ triton_bmm_9415 0.0440 ms 91.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
64
+ triton_bmm_9413 0.0443 ms 91.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
65
+ triton_bmm_9414 0.0443 ms 91.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=8
66
+ triton_bmm_9418 0.0444 ms 90.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=8
67
+ triton_bmm_9420 0.0444 ms 90.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
68
+ triton_bmm_9417 0.0445 ms 90.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
69
+ triton_bmm_9419 0.0447 ms 90.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=8
70
+ SingleProcess AUTOTUNE benchmarking takes 0.4310 seconds and 0.0005 seconds precompiling for 20 choices
71
+ AUTOTUNE mm(1000x16384, 16384x2048)
72
+ mm 0.5068 ms 100.0%
73
+ triton_mm_9488 0.5311 ms 95.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
74
+ triton_mm_9487 0.5343 ms 94.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=8
75
+ triton_mm_9484 0.5533 ms 91.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=32, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
76
+ triton_mm_9491 0.5941 ms 85.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
77
+ triton_mm_9496 0.5945 ms 85.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
78
+ triton_mm_9497 0.5948 ms 85.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
79
+ triton_mm_9495 0.5950 ms 85.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=2, num_warps=8
80
+ triton_mm_9498 0.5975 ms 84.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=8
81
+ triton_mm_9489 0.5977 ms 84.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
82
+ SingleProcess AUTOTUNE benchmarking takes 1.0223 seconds and 0.0002 seconds precompiling for 20 choices
83
+ AUTOTUNE mm(1000x16384, 16384x2048)
84
+ mm 0.5054 ms 100.0%
85
+ triton_mm_10514 0.5310 ms 95.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
86
+ triton_mm_10513 0.5348 ms 94.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=8
87
+ triton_mm_10510 0.5530 ms 91.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=32, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
88
+ triton_mm_10515 0.5944 ms 85.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
89
+ triton_mm_10522 0.5946 ms 85.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
90
+ triton_mm_10521 0.5946 ms 85.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=2, num_warps=8
91
+ triton_mm_10523 0.5948 ms 85.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
92
+ triton_mm_10517 0.5950 ms 84.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
93
+ triton_mm_10516 0.5975 ms 84.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
94
+ SingleProcess AUTOTUNE benchmarking takes 1.0161 seconds and 0.0001 seconds precompiling for 20 choices
95
+ AUTOTUNE bmm(8x30x1030, 8x1030x256)
96
+ triton_bmm_12374 0.0106 ms 100.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=32, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=4
97
+ triton_bmm_12378 0.0119 ms 89.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=32, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=4
98
+ triton_bmm_12373 0.0121 ms 87.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=32, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=4
99
+ triton_bmm_12372 0.0121 ms 87.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=32, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=8
100
+ triton_bmm_12384 0.0132 ms 80.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=32, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=8
101
+ triton_bmm_12377 0.0140 ms 75.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=32, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=8
102
+ triton_bmm_12371 0.0145 ms 73.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=32, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=4
103
+ triton_bmm_12381 0.0159 ms 66.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=32, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
104
+ triton_bmm_12386 0.0165 ms 64.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=32, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=8
105
+ triton_bmm_12382 0.0166 ms 63.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=32, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=4
106
+ SingleProcess AUTOTUNE benchmarking takes 0.2549 seconds and 0.0001 seconds precompiling for 18 choices
107
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 62420) closed
108
+ INFO:websockets.server:connection open
109
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 35930) opened
110
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 35930) closed
111
+ INFO:websockets.server:connection open
112
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 40946) opened
113
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 40946) closed
114
+ INFO:websockets.server:connection open
115
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 53766) opened
116
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 53766) closed
logs/speed_embedding_ablation/servers/soft_prompt/gpu7.log ADDED
@@ -0,0 +1,93 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ /usr/local/lib/python3.12/dist-packages/opentelemetry/util/_providers.py:19: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
2
+ from pkg_resources import iter_entry_points
3
+ INFO:root:Loading model...
4
+ INFO:openpi:train_config: TrainConfig(name='pi05_libero_speed_embed_softprompt_p8', project_name='openpi', exp_name=tyro.MISSING, model=Pi0Config(action_dim=32, action_horizon=30, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, speed_modulation=False, soft_prompt_speeds=(0.75, 1.0, 1.25, 1.5), soft_prompt_p=32, pytorch_lora=False, pytorch_lora_rank=16, pytorch_lora_alpha=16.0, pytorch_lora_targets=('paligemma', 'action_expert'), pytorch_compile_mode='max-autotune'), weight_loader=CheckpointWeightLoader(params_path='gs://openpi-assets/checkpoints/pi05_base/params', missing_regex='.*(lora|soft_prompt_tokens).*'), pytorch_weight_path='/path/to/your/pytorch_weight_path', pytorch_training_precision='bfloat16', lr_schedule=CosineDecaySchedule(warmup_steps=1000, peak_lr=0.0001, decay_steps=30000, decay_lr=1e-06), optimizer=AdamW(b1=0.9, b2=0.95, eps=1e-08, weight_decay=1e-10, clip_gradient_norm=1.0), ema_decay=0.999, freeze_filter=Nothing(), data=LeRobotVariousSpeedLiberoDataConfig(repo_id='/path/to/source_libero_lerobot', assets=AssetsConfig(assets_dir=None, asset_id='online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05'), base_config=DataConfig(repo_id=None, asset_id=None, norm_stats=None, repack_transforms=Group(inputs=(), outputs=()), data_transforms=Group(inputs=(), outputs=()), model_transforms=Group(inputs=(), outputs=()), use_quantile_norm=False, action_sequence_keys=('actions',), prompt_from_task=True, online_sliding_chunks=True, online_sliding_speeds=(), rlds_data_dir=None, action_space=None, datasets=()), extra_delta_transform=False, online_sliding_chunks=True, online_sliding_speeds=(0.75, 1.0, 1.25, 1.5), speed_integration='soft_prompt'), assets_base_dir='./assets', checkpoint_base_dir='./checkpoints', seed=42, batch_size=512, num_workers=2, num_train_steps=30000, log_interval=100, save_interval=1000, keep_period=5000, overwrite=False, resume=False, wandb_enabled=True, eval_speed_set=(0.5, 1.0, 2.0), policy_metadata=None, fsdp_devices=1)
5
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/assets/pi05_libero_speed_embed_softprompt_p8/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
6
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/checkpoints/pi05_libero_speed_embed_softprompt_p8/0511_pi05_online_sliding_speed_embed_softprompt_p32_bs512_lr1e4/30000/assets/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
7
+ INFO:root:Creating server (host: gpulingjun033181111229.wa180, ip: 33.181.111.229)
8
+ INFO:websockets.server:server listening on 0.0.0.0:8027
9
+ INFO:websockets.server:connection open
10
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 64750) opened
11
+ AUTOTUNE mm(1000x2048, 2048x16384)
12
+ triton_mm_9468 0.4974 ms 100.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=8
13
+ triton_mm_9470 0.5026 ms 99.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
14
+ triton_mm_9472 0.5028 ms 98.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
15
+ triton_mm_9475 0.5031 ms 98.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
16
+ triton_mm_9471 0.5042 ms 98.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
17
+ triton_mm_9467 0.5045 ms 98.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=2, num_warps=4
18
+ triton_mm_9474 0.5056 ms 98.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
19
+ mm 0.5079 ms 97.9%
20
+ triton_mm_9478 0.5207 ms 95.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
21
+ triton_mm_9477 0.5220 ms 95.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
22
+ SingleProcess AUTOTUNE benchmarking takes 1.2303 seconds and 82.2445 seconds precompiling for 20 choices
23
+ AUTOTUNE mm(1000x2048, 2048x2048)
24
+ mm 0.0698 ms 100.0%
25
+ triton_mm_9430 0.0709 ms 98.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=8
26
+ triton_mm_9429 0.0740 ms 94.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=2, num_warps=4
27
+ triton_mm_9431 0.0800 ms 87.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
28
+ triton_mm_9434 0.0800 ms 87.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
29
+ triton_mm_9432 0.0804 ms 86.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
30
+ triton_mm_9436 0.0804 ms 86.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
31
+ triton_mm_9440 0.0805 ms 86.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
32
+ triton_mm_9433 0.0806 ms 86.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
33
+ triton_mm_9437 0.0806 ms 86.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
34
+ SingleProcess AUTOTUNE benchmarking takes 0.6571 seconds and 0.0002 seconds precompiling for 20 choices
35
+ AUTOTUNE bmm(8x1000x256, 8x256x1000)
36
+ triton_bmm_9375 0.0380 ms 100.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
37
+ triton_bmm_9373 0.0383 ms 99.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=8
38
+ triton_bmm_9379 0.0384 ms 99.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
39
+ triton_bmm_9377 0.0387 ms 98.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
40
+ triton_bmm_9376 0.0388 ms 97.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
41
+ triton_bmm_9380 0.0388 ms 97.9% ACC_TYPE='tl.float32', ALLOW_TF32=True,INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 33872) closed
42
+ triton_bmm_9372 0.0389 ms 97.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=2, num_warps=4
43
+ triton_bmm_9383 0.0392 ms 96.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
44
+ triton_bmm_9382 0.0394 ms 96.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
45
+ bmm 0.0421 ms 90.2%
46
+ SingleProcess AUTOTUNE benchmarking takes 0.7826 seconds and 0.0002 seconds precompiling for 20 choices
47
+ AUTOTUNE bmm(8x1000x1000, 8x1000x256)
48
+ bmm 0.0400 ms 100.0%
49
+ triton_bmm_9411 0.0402 ms 99.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=8
50
+ triton_bmm_9410 0.0404 ms 98.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=4
51
+ triton_bmm_9414 0.0436 ms 91.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=8
52
+ triton_bmm_9415 0.0438 ms 91.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
53
+ triton_bmm_9418 0.0439 ms 91.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=8
54
+ triton_bmm_9413 0.0441 ms 90.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
55
+ triton_bmm_9420 0.0441 ms 90.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
56
+ triton_bmm_9417 0.0445 ms 89.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
57
+ triton_bmm_9419 0.0445 ms 89.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=8
58
+ SingleProcess AUTOTUNE benchmarking takes 0.6310 seconds and 0.0004 seconds precompiling for 20 choices
59
+ AUTOTUNE mm(1000x16384, 16384x2048)
60
+ mm 0.5052 ms 100.0%
61
+ triton_mm_9488 0.5310 ms 95.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
62
+ triton_mm_9487 0.5325 ms 94.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=8
63
+ triton_mm_9484 0.5579 ms 90.6% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=64, BLOCK_N=32, EVEN_K=True, GROUP_M=8, num_stages=5, num_warps=4
64
+ triton_mm_9491 0.5941 ms 85.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
65
+ triton_mm_9489 0.5943 ms 85.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
66
+ triton_mm_9496 0.5944 ms 85.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
67
+ triton_mm_9497 0.5954 ms 84.9% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=128, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=3, num_warps=4
68
+ triton_mm_9490 0.5961 ms 84.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=64, BLOCK_N=128, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
69
+ triton_mm_9494 0.5965 ms 84.7% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=128, BLOCK_N=64, EVEN_K=True, GROUP_M=8, num_stages=4, num_warps=8
70
+ SingleProcess AUTOTUNE benchmarking takes 1.2922 seconds and 0.0002 seconds precompiling for 20 choices
71
+ AUTOTUNE bmm(8x30x1030, 8x1030x256)
72
+ triton_bmm_12374 0.0103 ms 100.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=32, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=4
73
+ triton_bmm_12378 0.0117 ms 88.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=32, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=4
74
+ triton_bmm_12373 0.0117 ms 88.0% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=32, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=4
75
+ triton_bmm_12372 0.0118 ms 87.5% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=32, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=8
76
+ triton_bmm_12384 0.0130 ms 79.3% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=32, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=8
77
+ triton_bmm_12377 0.0137 ms 75.4% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=32, BLOCK_N=64, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=8
78
+ triton_bmm_12371 0.0143 ms 72.2% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=128, BLOCK_M=32, BLOCK_N=32, EVEN_K=False, GROUP_M=8, num_stages=2, num_warps=4
79
+ triton_bmm_12381 0.0156 ms 66.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=32, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=3, num_warps=4
80
+ triton_bmm_12386 0.0163 ms 63.1% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=64, BLOCK_M=32, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=5, num_warps=8
81
+ triton_bmm_12380 0.0164 ms 62.8% ACC_TYPE='tl.float32', ALLOW_TF32=True, BLOCK_K=32, BLOCK_M=32, BLOCK_N=128, EVEN_K=False, GROUP_M=8, num_stages=4, num_warps=8
82
+ SingleProcess AUTOTUNE benchmarking takes 0.3292 seconds and 0.0001 seconds precompiling for 18 choices
83
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 64750) closed
84
+ INFO:websockets.server:connection open
85
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 32434) opened
86
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 32434) closed
87
+ INFO:websockets.server:connection open
88
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 59192) opened
89
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 59192) closed
90
+ INFO:websockets.server:connection open
91
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 53552) opened
92
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 53552) closed
93
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 44540) closed
logs/speed_embedding_ablation/servers/text/gpu0.log ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ /usr/local/lib/python3.12/dist-packages/opentelemetry/util/_providers.py:19: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
2
+ from pkg_resources import iter_entry_points
3
+ INFO:root:Loading model...
4
+ INFO:openpi:train_config: TrainConfig(name='pi05_libero_speed_embed_text', project_name='openpi', exp_name=tyro.MISSING, model=Pi0Config(action_dim=32, action_horizon=30, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, speed_modulation=False, soft_prompt_speeds=(), soft_prompt_p=0, pytorch_lora=False, pytorch_lora_rank=16, pytorch_lora_alpha=16.0, pytorch_lora_targets=('paligemma', 'action_expert'), pytorch_compile_mode='max-autotune'), weight_loader=CheckpointWeightLoader(params_path='gs://openpi-assets/checkpoints/pi05_base/params', missing_regex='.*lora.*'), pytorch_weight_path='/path/to/your/pytorch_weight_path', pytorch_training_precision='bfloat16', lr_schedule=CosineDecaySchedule(warmup_steps=1000, peak_lr=0.0001, decay_steps=30000, decay_lr=1e-06), optimizer=AdamW(b1=0.9, b2=0.95, eps=1e-08, weight_decay=1e-10, clip_gradient_norm=1.0), ema_decay=0.999, freeze_filter=Nothing(), data=LeRobotVariousSpeedLiberoDataConfig(repo_id='/path/to/source_libero_lerobot', assets=AssetsConfig(assets_dir=None, asset_id='online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05'), base_config=DataConfig(repo_id=None, asset_id=None, norm_stats=None, repack_transforms=Group(inputs=(), outputs=()), data_transforms=Group(inputs=(), outputs=()), model_transforms=Group(inputs=(), outputs=()), use_quantile_norm=False, action_sequence_keys=('actions',), prompt_from_task=True, online_sliding_chunks=True, online_sliding_speeds=(), rlds_data_dir=None, action_space=None, datasets=()), extra_delta_transform=False, online_sliding_chunks=True, online_sliding_speeds=(0.75, 1.0, 1.25, 1.5), speed_integration='text'), assets_base_dir='./assets', checkpoint_base_dir='./checkpoints', seed=42, batch_size=512, num_workers=2, num_train_steps=30000, log_interval=100, save_interval=1000, keep_period=5000, overwrite=False, resume=False, wandb_enabled=True, eval_speed_set=(0.5, 1.0, 2.0), policy_metadata=None, fsdp_devices=1)
5
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/assets/pi05_libero_speed_embed_text/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
6
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/checkpoints/pi05_libero_speed_embed_text/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/30000/assets/online_sliding_speed_embed_0p5_0p75_1p0_1p25_1p5_1p75_2p0_pi05
7
+ INFO:root:Creating server (host: gpulingjun033163015072.wa180, ip: 33.163.15.72)
8
+ INFO:websockets.server:server listening on 0.0.0.0:8020
9
+ INFO:websockets.server:connection open
10
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 60380) opened
11
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 60380) closed
12
+ INFO:websockets.server:connection open
13
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 40628) closed
14
+ 1', 44480) closed
15
+ INFO:websockets.server:connection open
16
+ INFO:openpi.serving.websocket_policy_server:Connection from INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 40178) closed
17
+ INFO:websockets.server:conneINFO:websockets.server:connection open
18
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 52782) closed
19
+ INFO:websockets.server:connection open
20
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 34762) opened
21
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 34762) closed
22
+ 1', 48000) closed
23
+ INFO:websockets.server:connection open
24
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 49304) opened
25
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 49304) closed
26
+ INFO:websockets.server:connection open
27
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 34232) opened
28
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 34232) closed
logs/speed_embedding_ablation/servers/text/gpu1.log ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ /usr/local/lib/python3.12/dist-packages/opentelemetry/util/_providers.py:19: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
2
+ from pkg_resources import iter_entry_points
3
+ INFO:root:Loading model...
4
+ INFO:openpi:train_config: TrainConfig(name='pi05_libero_speed_embed_text', project_name='openpi', exp_name=tyro.MISSING, model=Pi0Config(action_dim=32, action_horizon=30, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, speed_modulation=False, soft_prompt_speeds=(), soft_prompt_p=0, pytorch_lora=False, pytorch_lora_rank=16, pytorch_lora_alpha=16.0, pytorch_lora_targets=('paligemma', 'action_expert'), pytorch_compile_mode='max-autotune'), weight_loader=CheckpointWeightLoader(params_path='gs://openpi-assets/checkpoints/pi05_base/params', missing_regex='.*lora.*'), pytorch_weight_path='/path/to/your/pytorch_weight_path', pytorch_training_precision='bfloat16', lr_schedule=CosineDecaySchedule(warmup_steps=1000, peak_lr=0.0001, decay_steps=30000, decay_lr=1e-06), optimizer=AdamW(b1=0.9, b2=0.95, eps=1e-08, weight_decay=1e-10, clip_gradient_norm=1.0), ema_decay=0.999, freeze_filter=Nothing(), data=LeRobotVariousSpeedLiberoDataConfig(repo_id='/path/to/source_libero_lerobot', assets=AssetsConfig(assets_dir=None, asset_id='online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05'), base_config=DataConfig(repo_id=None, asset_id=None, norm_stats=None, repack_transforms=Group(inputs=(), outputs=()), data_transforms=Group(inputs=(), outputs=()), model_transforms=Group(inputs=(), outputs=()), use_quantile_norm=False, action_sequence_keys=('actions',), prompt_from_task=True, online_sliding_chunks=True, online_sliding_speeds=(), rlds_data_dir=None, action_space=None, datasets=()), extra_delta_transform=False, online_sliding_chunks=True, online_sliding_speeds=(0.75, 1.0, 1.25, 1.5), speed_integration='text'), assets_base_dir='./assets', checkpoint_base_dir='./checkpoints', seed=42, batch_size=512, num_workers=2, num_train_steps=30000, log_interval=100, save_interval=1000, keep_period=5000, overwrite=False, resume=False, wandb_enabled=True, eval_speed_set=(0.5, 1.0, 2.0), policy_metadata=None, fsdp_devices=1)
5
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/assets/pi05_libero_speed_embed_text/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
6
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/checkpoints/pi05_libero_speed_embed_text/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/30000/assets/online_sliding_speed_embed_0p5_0p75_1p0_1p25_1p5_1p75_2p0_pi05
7
+ INFO:root:Creating server (host: gpulingjun033163015072.wa180, ip: 33.163.15.72)
8
+ INFO:websockets.server:server listening on 0.0.0.0:8021
9
+ INFO:websockets.server:connection open
10
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 33162) opened
11
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 33162) closed
12
+ INFO:websockets.server:connection open
13
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 33156) opened
14
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 33156) closed
15
+ INFO:websockets.server:connection open
16
+ INFO:openpi.serving.websocket_policy_server:Connection from INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 39796) closed
17
+ INFO:websockets.server:conneINFO:websockets.server:connection open
18
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 33700) closed
19
+ INFO:websockets.server:connection open
20
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 39230) opened
21
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 39230) closed
22
+ 1', 39918) closed
23
+ INFO:websockets.server:connection open
24
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 45096) opened
25
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 45096) closed
26
+ INFO:websockets.server:connection open
27
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 40074) opened
28
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 40074) closed
logs/speed_embedding_ablation/servers/text/gpu2.log ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ /usr/local/lib/python3.12/dist-packages/opentelemetry/util/_providers.py:19: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
2
+ from pkg_resources import iter_entry_points
3
+ INFO:root:Loading model...
4
+ INFO:openpi:train_config: TrainConfig(name='pi05_libero_speed_embed_text', project_name='openpi', exp_name=tyro.MISSING, model=Pi0Config(action_dim=32, action_horizon=30, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, speed_modulation=False, soft_prompt_speeds=(), soft_prompt_p=0, pytorch_lora=False, pytorch_lora_rank=16, pytorch_lora_alpha=16.0, pytorch_lora_targets=('paligemma', 'action_expert'), pytorch_compile_mode='max-autotune'), weight_loader=CheckpointWeightLoader(params_path='gs://openpi-assets/checkpoints/pi05_base/params', missing_regex='.*lora.*'), pytorch_weight_path='/path/to/your/pytorch_weight_path', pytorch_training_precision='bfloat16', lr_schedule=CosineDecaySchedule(warmup_steps=1000, peak_lr=0.0001, decay_steps=30000, decay_lr=1e-06), optimizer=AdamW(b1=0.9, b2=0.95, eps=1e-08, weight_decay=1e-10, clip_gradient_norm=1.0), ema_decay=0.999, freeze_filter=Nothing(), data=LeRobotVariousSpeedLiberoDataConfig(repo_id='/path/to/source_libero_lerobot', assets=AssetsConfig(assets_dir=None, asset_id='online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05'), base_config=DataConfig(repo_id=None, asset_id=None, norm_stats=None, repack_transforms=Group(inputs=(), outputs=()), data_transforms=Group(inputs=(), outputs=()), model_transforms=Group(inputs=(), outputs=()), use_quantile_norm=False, action_sequence_keys=('actions',), prompt_from_task=True, online_sliding_chunks=True, online_sliding_speeds=(), rlds_data_dir=None, action_space=None, datasets=()), extra_delta_transform=False, online_sliding_chunks=True, online_sliding_speeds=(0.75, 1.0, 1.25, 1.5), speed_integration='text'), assets_base_dir='./assets', checkpoint_base_dir='./checkpoints', seed=42, batch_size=512, num_workers=2, num_train_steps=30000, log_interval=100, save_interval=1000, keep_period=5000, overwrite=False, resume=False, wandb_enabled=True, eval_speed_set=(0.5, 1.0, 2.0), policy_metadata=None, fsdp_devices=1)
5
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/assets/pi05_libero_speed_embed_text/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
6
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/checkpoints/pi05_libero_speed_embed_text/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/30000/assets/online_sliding_speed_embed_0p5_0p75_1p0_1p25_1p5_1p75_2p0_pi05
7
+ INFO:root:Creating server (host: gpulingjun033163015072.wa180, ip: 33.163.15.72)
8
+ INFO:websockets.server:server listening on 0.0.0.0:8022
9
+ INFO:websockets.server:connection open
10
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 44632) opened
11
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 44632) closed
12
+ INFO:websockets.server:connection open
13
+ INFO:openpi.serving.websocket_policy_server:Connection from INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 40422) closed
14
+ INFO:websockets.server:connection open
15
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 41802) opened
16
+ INFO:openpi.serving.websockeINFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 61698) closed
17
+ INFO:websockets.server:connection open
18
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 35300) closed
19
+ INFO:websockets.server:connection open
20
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 45334) opened
21
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 45334) closed
22
+ 1', 63294) closed
23
+ INFO:websockets.server:connection open
24
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 46766) opened
25
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 46766) closed
26
+ INFO:websockets.server:connection open
27
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 52132) opened
28
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 52132) closed
logs/speed_embedding_ablation/servers/text/gpu3.log ADDED
@@ -0,0 +1,26 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ /usr/local/lib/python3.12/dist-packages/opentelemetry/util/_providers.py:19: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
2
+ from pkg_resources import iter_entry_points
3
+ INFO:root:Loading model...
4
+ INFO:openpi:train_config: TrainConfig(name='pi05_libero_speed_embed_text', project_name='openpi', exp_name=tyro.MISSING, model=Pi0Config(action_dim=32, action_horizon=30, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, speed_modulation=False, soft_prompt_speeds=(), soft_prompt_p=0, pytorch_lora=False, pytorch_lora_rank=16, pytorch_lora_alpha=16.0, pytorch_lora_targets=('paligemma', 'action_expert'), pytorch_compile_mode='max-autotune'), weight_loader=CheckpointWeightLoader(params_path='gs://openpi-assets/checkpoints/pi05_base/params', missing_regex='.*lora.*'), pytorch_weight_path='/path/to/your/pytorch_weight_path', pytorch_training_precision='bfloat16', lr_schedule=CosineDecaySchedule(warmup_steps=1000, peak_lr=0.0001, decay_steps=30000, decay_lr=1e-06), optimizer=AdamW(b1=0.9, b2=0.95, eps=1e-08, weight_decay=1e-10, clip_gradient_norm=1.0), ema_decay=0.999, freeze_filter=Nothing(), data=LeRobotVariousSpeedLiberoDataConfig(repo_id='/path/to/source_libero_lerobot', assets=AssetsConfig(assets_dir=None, asset_id='online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05'), base_config=DataConfig(repo_id=None, asset_id=None, norm_stats=None, repack_transforms=Group(inputs=(), outputs=()), data_transforms=Group(inputs=(), outputs=()), model_transforms=Group(inputs=(), outputs=()), use_quantile_norm=False, action_sequence_keys=('actions',), prompt_from_task=True, online_sliding_chunks=True, online_sliding_speeds=(), rlds_data_dir=None, action_space=None, datasets=()), extra_delta_transform=False, online_sliding_chunks=True, online_sliding_speeds=(0.75, 1.0, 1.25, 1.5), speed_integration='text'), assets_base_dir='./assets', checkpoint_base_dir='./checkpoints', seed=42, batch_size=512, num_workers=2, num_train_steps=30000, log_interval=100, save_interval=1000, keep_period=5000, overwrite=False, resume=False, wandb_enabled=True, eval_speed_set=(0.5, 1.0, 2.0), policy_metadata=None, fsdp_devices=1)
5
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/assets/pi05_libero_speed_embed_text/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
6
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/checkpoints/pi05_libero_speed_embed_text/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/30000/assets/online_sliding_speed_embed_0p5_0p75_1p0_1p25_1p5_1p75_2p0_pi05
7
+ INFO:root:Creating server (host: gpulingjun033163015072.wa180, ip: 33.163.15.72)
8
+ INFO:websockets.server:server listening on 0.0.0.0:8023
9
+ INFO:websockets.server:connection open
10
+ INFO:openpi.serving.websocket_policy_server:Connection from INFO:openpi.serving.websockeINFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 50334) closed
11
+ INFO:websockets.server:connection open
12
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 48992) opened
13
+ INFO:openpi.serving.websocket_policy_server:Connection from INFO:websockets.server:connection open
14
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 39198) opened
15
+ INFO:openpi.serving.websockeINFO:openpi.serving.websocket_policy_server:Connection from INFO:websockets.server:conneINFO:websockets.server:connection open
16
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 60734) opened
17
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.INFO:websockets.server:connection open
18
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 45054) opened
19
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 45054) closed
20
+ 1', 37780) closed
21
+ INFO:websockets.server:connection open
22
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 33398) opened
23
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 33398) closed
24
+ INFO:websockets.server:connection open
25
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 41526) opened
26
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 41526) closed
logs/speed_embedding_ablation/servers/text/gpu4.log ADDED
@@ -0,0 +1,26 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ /usr/local/lib/python3.12/dist-packages/opentelemetry/util/_providers.py:19: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
2
+ from pkg_resources import iter_entry_points
3
+ INFO:root:Loading model...
4
+ INFO:openpi:train_config: TrainConfig(name='pi05_libero_speed_embed_text', project_name='openpi', exp_name=tyro.MISSING, model=Pi0Config(action_dim=32, action_horizon=30, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, speed_modulation=False, soft_prompt_speeds=(), soft_prompt_p=0, pytorch_lora=False, pytorch_lora_rank=16, pytorch_lora_alpha=16.0, pytorch_lora_targets=('paligemma', 'action_expert'), pytorch_compile_mode='max-autotune'), weight_loader=CheckpointWeightLoader(params_path='gs://openpi-assets/checkpoints/pi05_base/params', missing_regex='.*lora.*'), pytorch_weight_path='/path/to/your/pytorch_weight_path', pytorch_training_precision='bfloat16', lr_schedule=CosineDecaySchedule(warmup_steps=1000, peak_lr=0.0001, decay_steps=30000, decay_lr=1e-06), optimizer=AdamW(b1=0.9, b2=0.95, eps=1e-08, weight_decay=1e-10, clip_gradient_norm=1.0), ema_decay=0.999, freeze_filter=Nothing(), data=LeRobotVariousSpeedLiberoDataConfig(repo_id='/path/to/source_libero_lerobot', assets=AssetsConfig(assets_dir=None, asset_id='online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05'), base_config=DataConfig(repo_id=None, asset_id=None, norm_stats=None, repack_transforms=Group(inputs=(), outputs=()), data_transforms=Group(inputs=(), outputs=()), model_transforms=Group(inputs=(), outputs=()), use_quantile_norm=False, action_sequence_keys=('actions',), prompt_from_task=True, online_sliding_chunks=True, online_sliding_speeds=(), rlds_data_dir=None, action_space=None, datasets=()), extra_delta_transform=False, online_sliding_chunks=True, online_sliding_speeds=(0.75, 1.0, 1.25, 1.5), speed_integration='text'), assets_base_dir='./assets', checkpoint_base_dir='./checkpoints', seed=42, batch_size=512, num_workers=2, num_train_steps=30000, log_interval=100, save_interval=1000, keep_period=5000, overwrite=False, resume=False, wandb_enabled=True, eval_speed_set=(0.5, 1.0, 2.0), policy_metadata=None, fsdp_devices=1)
5
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/assets/pi05_libero_speed_embed_text/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
6
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/checkpoints/pi05_libero_speed_embed_text/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/30000/assets/online_sliding_speed_embed_0p5_0p75_1p0_1p25_1p5_1p75_2p0_pi05
7
+ INFO:root:Creating server (host: gpulingjun033163015072.wa180, ip: 33.163.15.72)
8
+ INFO:websockets.server:server listening on 0.0.0.0:8024
9
+ INFO:websockets.server:connection open
10
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 47860) opened
11
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 47860) closed
12
+ INFO:websockets.server:connection open
13
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 37738) opened
14
+ INFO:openpi.serving.websocket_policy_server:Connection from INFO:websoINFO:websockets.server:connection open
15
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 39362) opened
16
+ i.serving.websockeINFO:openpi.serving.websocket_policy_server:Connection from INFO:websockets.server:conneINFO:websockets.server:connection open
17
+ INFO:openpi.serving.websocket_policy_server:Connection from INFO:openpi.serving.websockeINFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.INFO:websockets.server:connection open
18
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 52236) opened
19
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 52236) closed
20
+ 1', 43298) closed
21
+ INFO:websockets.server:connection open
22
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 63670) opened
23
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 63670) closed
24
+ INFO:websockets.server:connection open
25
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 35396) opened
26
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 35396) closed
logs/speed_embedding_ablation/servers/text/gpu5.log ADDED
@@ -0,0 +1,25 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ /usr/local/lib/python3.12/dist-packages/opentelemetry/util/_providers.py:19: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
2
+ from pkg_resources import iter_entry_points
3
+ INFO:root:Loading model...
4
+ INFO:openpi:train_config: TrainConfig(name='pi05_libero_speed_embed_text', project_name='openpi', exp_name=tyro.MISSING, model=Pi0Config(action_dim=32, action_horizon=30, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, speed_modulation=False, soft_prompt_speeds=(), soft_prompt_p=0, pytorch_lora=False, pytorch_lora_rank=16, pytorch_lora_alpha=16.0, pytorch_lora_targets=('paligemma', 'action_expert'), pytorch_compile_mode='max-autotune'), weight_loader=CheckpointWeightLoader(params_path='gs://openpi-assets/checkpoints/pi05_base/params', missing_regex='.*lora.*'), pytorch_weight_path='/path/to/your/pytorch_weight_path', pytorch_training_precision='bfloat16', lr_schedule=CosineDecaySchedule(warmup_steps=1000, peak_lr=0.0001, decay_steps=30000, decay_lr=1e-06), optimizer=AdamW(b1=0.9, b2=0.95, eps=1e-08, weight_decay=1e-10, clip_gradient_norm=1.0), ema_decay=0.999, freeze_filter=Nothing(), data=LeRobotVariousSpeedLiberoDataConfig(repo_id='/path/to/source_libero_lerobot', assets=AssetsConfig(assets_dir=None, asset_id='online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05'), base_config=DataConfig(repo_id=None, asset_id=None, norm_stats=None, repack_transforms=Group(inputs=(), outputs=()), data_transforms=Group(inputs=(), outputs=()), model_transforms=Group(inputs=(), outputs=()), use_quantile_norm=False, action_sequence_keys=('actions',), prompt_from_task=True, online_sliding_chunks=True, online_sliding_speeds=(), rlds_data_dir=None, action_space=None, datasets=()), extra_delta_transform=False, online_sliding_chunks=True, online_sliding_speeds=(0.75, 1.0, 1.25, 1.5), speed_integration='text'), assets_base_dir='./assets', checkpoint_base_dir='./checkpoints', seed=42, batch_size=512, num_workers=2, num_train_steps=30000, log_interval=100, save_interval=1000, keep_period=5000, overwrite=False, resume=False, wandb_enabled=True, eval_speed_set=(0.5, 1.0, 2.0), policy_metadata=None, fsdp_devices=1)
5
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/assets/pi05_libero_speed_embed_text/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
6
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/checkpoints/pi05_libero_speed_embed_text/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/30000/assets/online_sliding_speed_embed_0p5_0p75_1p0_1p25_1p5_1p75_2p0_pi05
7
+ INFO:root:Creating server (host: gpulingjun033163015072.wa180, ip: 33.163.15.72)
8
+ INFO:websockets.server:server listening on 0.0.0.0:8025
9
+ INFO:websockets.server:connection open
10
+ INFO:openpi.serving.websocket_policy_server:Connection from INFO:openpi.serving.websockeINFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 56816) closed
11
+ INFO:websockets.server:connection open
12
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 41424) opened
13
+ INFO:openpi.serving.websocket_policy_server:Connection from INFO:websoINFO:websockets.server:connection open
14
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 46938) opened
15
+ i.serving.websockeINFO:openpi.serving.websocket_policy_server:Connection from INFO:websockets.server:conneINFO:websockets.server:connection open
16
+ INFO:openpi.serving.websocket_policy_server:Connection from INFO:openpi.serving.websockeINFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.INFO:websockets.server:connection open
17
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 39684) opened
18
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 39684) closed
19
+ 1', 35738) closed
20
+ INFO:websockets.server:connection open
21
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 36588) opened
22
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 36588) closed
23
+ INFO:websockets.server:connection open
24
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 47638) opened
25
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 47638) closed
logs/speed_embedding_ablation/servers/text/gpu6.log ADDED
@@ -0,0 +1,26 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ /usr/local/lib/python3.12/dist-packages/opentelemetry/util/_providers.py:19: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
2
+ from pkg_resources import iter_entry_points
3
+ INFO:root:Loading model...
4
+ INFO:openpi:train_config: TrainConfig(name='pi05_libero_speed_embed_text', project_name='openpi', exp_name=tyro.MISSING, model=Pi0Config(action_dim=32, action_horizon=30, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, speed_modulation=False, soft_prompt_speeds=(), soft_prompt_p=0, pytorch_lora=False, pytorch_lora_rank=16, pytorch_lora_alpha=16.0, pytorch_lora_targets=('paligemma', 'action_expert'), pytorch_compile_mode='max-autotune'), weight_loader=CheckpointWeightLoader(params_path='gs://openpi-assets/checkpoints/pi05_base/params', missing_regex='.*lora.*'), pytorch_weight_path='/path/to/your/pytorch_weight_path', pytorch_training_precision='bfloat16', lr_schedule=CosineDecaySchedule(warmup_steps=1000, peak_lr=0.0001, decay_steps=30000, decay_lr=1e-06), optimizer=AdamW(b1=0.9, b2=0.95, eps=1e-08, weight_decay=1e-10, clip_gradient_norm=1.0), ema_decay=0.999, freeze_filter=Nothing(), data=LeRobotVariousSpeedLiberoDataConfig(repo_id='/path/to/source_libero_lerobot', assets=AssetsConfig(assets_dir=None, asset_id='online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05'), base_config=DataConfig(repo_id=None, asset_id=None, norm_stats=None, repack_transforms=Group(inputs=(), outputs=()), data_transforms=Group(inputs=(), outputs=()), model_transforms=Group(inputs=(), outputs=()), use_quantile_norm=False, action_sequence_keys=('actions',), prompt_from_task=True, online_sliding_chunks=True, online_sliding_speeds=(), rlds_data_dir=None, action_space=None, datasets=()), extra_delta_transform=False, online_sliding_chunks=True, online_sliding_speeds=(0.75, 1.0, 1.25, 1.5), speed_integration='text'), assets_base_dir='./assets', checkpoint_base_dir='./checkpoints', seed=42, batch_size=512, num_workers=2, num_train_steps=30000, log_interval=100, save_interval=1000, keep_period=5000, overwrite=False, resume=False, wandb_enabled=True, eval_speed_set=(0.5, 1.0, 2.0), policy_metadata=None, fsdp_devices=1)
5
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/assets/pi05_libero_speed_embed_text/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
6
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/checkpoints/pi05_libero_speed_embed_text/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/30000/assets/online_sliding_speed_embed_0p5_0p75_1p0_1p25_1p5_1p75_2p0_pi05
7
+ INFO:root:Creating server (host: gpulingjun033163015072.wa180, ip: 33.163.15.72)
8
+ INFO:websockets.server:server listening on 0.0.0.0:8026
9
+ INFO:websockets.server:connection open
10
+ INFO:openpi.serving.websocket_policy_server:Connection from INFO:openpi.serving.websockeINFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 32408) closed
11
+ INFO:websockets.server:connection open
12
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 56048) opened
13
+ INFO:openpi.serving.websocket_policy_server:Connection from INFO:websockets.server:connection open
14
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 43972) opened
15
+ INFO:openpi.serving.websockeINFO:openpi.serving.websocket_policy_server:Connection from INFO:websockets.server:conneINFO:websockets.server:connection open
16
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 64758) opened
17
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.INFO:websockets.server:connection open
18
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 54942) opened
19
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 54942) closed
20
+ 1', 50136) closed
21
+ INFO:websockets.server:connection open
22
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 54850) opened
23
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 54850) closed
24
+ INFO:websockets.server:connection open
25
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 53248) opened
26
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 53248) closed
logs/speed_embedding_ablation/servers/text/gpu7.log ADDED
@@ -0,0 +1,26 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ /usr/local/lib/python3.12/dist-packages/opentelemetry/util/_providers.py:19: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
2
+ from pkg_resources import iter_entry_points
3
+ INFO:root:Loading model...
4
+ INFO:openpi:train_config: TrainConfig(name='pi05_libero_speed_embed_text', project_name='openpi', exp_name=tyro.MISSING, model=Pi0Config(action_dim=32, action_horizon=30, max_token_len=200, dtype='bfloat16', paligemma_variant='gemma_2b', action_expert_variant='gemma_300m', pi05=True, discrete_state_input=False, speed_modulation=False, soft_prompt_speeds=(), soft_prompt_p=0, pytorch_lora=False, pytorch_lora_rank=16, pytorch_lora_alpha=16.0, pytorch_lora_targets=('paligemma', 'action_expert'), pytorch_compile_mode='max-autotune'), weight_loader=CheckpointWeightLoader(params_path='gs://openpi-assets/checkpoints/pi05_base/params', missing_regex='.*lora.*'), pytorch_weight_path='/path/to/your/pytorch_weight_path', pytorch_training_precision='bfloat16', lr_schedule=CosineDecaySchedule(warmup_steps=1000, peak_lr=0.0001, decay_steps=30000, decay_lr=1e-06), optimizer=AdamW(b1=0.9, b2=0.95, eps=1e-08, weight_decay=1e-10, clip_gradient_norm=1.0), ema_decay=0.999, freeze_filter=Nothing(), data=LeRobotVariousSpeedLiberoDataConfig(repo_id='/path/to/source_libero_lerobot', assets=AssetsConfig(assets_dir=None, asset_id='online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05'), base_config=DataConfig(repo_id=None, asset_id=None, norm_stats=None, repack_transforms=Group(inputs=(), outputs=()), data_transforms=Group(inputs=(), outputs=()), model_transforms=Group(inputs=(), outputs=()), use_quantile_norm=False, action_sequence_keys=('actions',), prompt_from_task=True, online_sliding_chunks=True, online_sliding_speeds=(), rlds_data_dir=None, action_space=None, datasets=()), extra_delta_transform=False, online_sliding_chunks=True, online_sliding_speeds=(0.75, 1.0, 1.25, 1.5), speed_integration='text'), assets_base_dir='./assets', checkpoint_base_dir='./checkpoints', seed=42, batch_size=512, num_workers=2, num_train_steps=30000, log_interval=100, save_interval=1000, keep_period=5000, overwrite=False, resume=False, wandb_enabled=True, eval_speed_set=(0.5, 1.0, 2.0), policy_metadata=None, fsdp_devices=1)
5
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/assets/pi05_libero_speed_embed_text/online_sliding_speed_embed_0p75_1p0_1p25_1p5_pi05
6
+ INFO:root:Loaded norm stats from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/checkpoints/pi05_libero_speed_embed_text/0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0/30000/assets/online_sliding_speed_embed_0p5_0p75_1p0_1p25_1p5_1p75_2p0_pi05
7
+ INFO:root:Creating server (host: gpulingjun033163015072.wa180, ip: 33.163.15.72)
8
+ INFO:websockets.server:server listening on 0.0.0.0:8027
9
+ INFO:websockets.server:connection open
10
+ INFO:openpi.serving.websocket_policy_server:Connection from INFO:openpi.serving.websockeINFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 50266) closed
11
+ INFO:websockets.server:connection open
12
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 64142) opened
13
+ INFO:openpi.serving.websocket_policy_server:Connection from INFO:websockets.server:connection open
14
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 40544) opened
15
+ INFO:openpi.serving.websockeINFO:openpi.serving.websocket_policy_server:Connection from INFO:websockets.server:conneINFO:websockets.server:connection open
16
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 32792) opened
17
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.INFO:websockets.server:connection open
18
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 54292) opened
19
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 54292) closed
20
+ 1', 40888) closed
21
+ INFO:websockets.server:connection open
22
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 54106) opened
23
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 54106) closed
24
+ INFO:websockets.server:connection open
25
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 39854) opened
26
+ INFO:openpi.serving.websocket_policy_server:Connection from ('127.0.0.1', 39854) closed
packages/openpi-client/src/openpi_client/__pycache__/__init__.cpython-312.pyc ADDED
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packages/openpi-client/src/openpi_client/__pycache__/base_policy.cpython-312.pyc ADDED
Binary file (902 Bytes). View file
 
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Binary file (2.91 kB). View file
 
packages/openpi-client/src/openpi_client/__pycache__/websocket_client_policy.cpython-312.pyc ADDED
Binary file (3.93 kB). View file
 
results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_0p75x/logs/goal_0p75x.log ADDED
@@ -0,0 +1,72 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [robosuite WARNING] No private macro file found! (macros.py:53)
2
+ [robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
3
+ [robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
4
+ Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
5
+ Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
6
+ See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
7
+ 11:33:16 [rank=1] suite=libero_goal task_ids=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] n_trials=50 speed=0.75 max_steps=300
8
+ 11:33:16 Waiting for server at ws://localhost:8011...
9
+ [info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
10
+
11
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
12
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
13
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
14
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
15
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
16
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
17
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
18
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
19
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
20
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
21
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
22
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
23
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
24
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
25
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
26
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
27
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
28
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
29
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
30
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
31
+ [rank=1] libero_goal speed=0.75x success=480/500 (96.0%) mean_steps_success=139.1 median=116.0 mean_steps_failure=300.0 mean_steps_all=145.6
32
+ [rank=1] elapsed=3414.6s
33
+ [rank=1] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_0p75x/goal_0p75x.json
34
+ Exception ignored in: <function MjRenderContext.__del__ at 0x7f7fe60b0720>
35
+ Traceback (most recent call last):
36
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
37
+ self.gl_ctx.free()
38
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
39
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
40
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
41
+ raise self._errorClass(
42
+ OpenGL.raw.EGL._errors.EGLError: 12:30:11 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
43
+ EGLError(
44
+ err = EGL_NOT_INITIALIZED,
45
+ baseOperation = eglMakeCurrent,
46
+ cArguments = (
47
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7f7fcb80e250>,
48
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f7fe61b94d0>,
49
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f7fe61b94d0>,
50
+ <OpenGL._opaque.EGLContext_pointer object at 0x7f7fe61b93d0>,
51
+ ),
52
+ result = 0
53
+ )
54
+ Exception ignored in: <function EGLGLContext.__del__ at 0x7f7fe60b05e0>
55
+ Traceback (most recent call last):
56
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
57
+ self.free()
58
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
59
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
60
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
61
+ raise self._errorClass(
62
+ OpenGL.raw.EGL._errors.EGLError: EGLError(
63
+ err = EGL_NOT_INITIALIZED,
64
+ baseOperation = eglMakeCurrent,
65
+ cArguments = (
66
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7f7fcb80e250>,
67
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f7fe61b94d0>,
68
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f7fe61b94d0>,
69
+ <OpenGL._opaque.EGLContext_pointer object at 0x7f7fe61b93d0>,
70
+ ),
71
+ result = 0
72
+ )
results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_0p75x/logs/long_t0_1_0p75x.log ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [robosuite WARNING] No private macro file found! (macros.py:53)
2
+ [robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
3
+ [robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
4
+ Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
5
+ Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
6
+ See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
7
+ 11:33:16 [rank=3] suite=libero_10 task_ids=[0, 1] n_trials=50 speed=0.75 max_steps=520
8
+ 11:33:16 Waiting for server at ws://localhost:8013...
9
+ [info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
10
+
11
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
12
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
13
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
14
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
15
+ [rank=3] libero_10 speed=0.75x success=91/100 (91.0%) mean_steps_success=340.2 median=334.0 mean_steps_failure=520.0 mean_steps_all=356.3
16
+ [rank=3] elapsed=1488.8s
17
+ [rank=3] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_0p75x/long_t0_1_0p75x.json
18
+ Exception ignored in: <function MjRenderContext.__del__ at 0x7fc0a52b4720>
19
+ Traceback (most recent call last):
20
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
21
+ self.gl_ctx.free()
22
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
23
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
24
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
25
+ raise self._errorClass(
26
+ OpenGL.raw.EGL._errors.EGLError: 11:58:05 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
27
+ EGLError(
28
+ err = EGL_NOT_INITIALIZED,
29
+ baseOperation = eglMakeCurrent,
30
+ cArguments = (
31
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7fc08aa0c1d0>,
32
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7fc0a53b94d0>,
33
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7fc0a53b94d0>,
34
+ <OpenGL._opaque.EGLContext_pointer object at 0x7fc0a53b93d0>,
35
+ ),
36
+ result = 0
37
+ )
38
+ Exception ignored in: <function EGLGLContext.__del__ at 0x7fc0a52b45e0>
39
+ Traceback (most recent call last):
40
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
41
+ self.free()
42
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
43
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
44
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
45
+ raise self._errorClass(
46
+ OpenGL.raw.EGL._errors.EGLError: EGLError(
47
+ err = EGL_NOT_INITIALIZED,
48
+ baseOperation = eglMakeCurrent,
49
+ cArguments = (
50
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7fc08aa0c1d0>,
51
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7fc0a53b94d0>,
52
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7fc0a53b94d0>,
53
+ <OpenGL._opaque.EGLContext_pointer object at 0x7fc0a53b93d0>,
54
+ ),
55
+ result = 0
56
+ )
results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_0p75x/logs/long_t2_3_0p75x.log ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [robosuite WARNING] No private macro file found! (macros.py:53)
2
+ [robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
3
+ [robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
4
+ Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
5
+ Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
6
+ See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
7
+ 11:33:16 [rank=4] suite=libero_10 task_ids=[2, 3] n_trials=50 speed=0.75 max_steps=520
8
+ 11:33:16 Waiting for server at ws://localhost:8014...
9
+ [info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
10
+
11
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
12
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
13
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
14
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
15
+ [rank=4] libero_10 speed=0.75x success=92/100 (92.0%) mean_steps_success=311.2 median=300.5 mean_steps_failure=520.0 mean_steps_all=327.9
16
+ [rank=4] elapsed=1340.0s
17
+ [rank=4] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_0p75x/long_t2_3_0p75x.json
18
+ Exception ignored in: <function MjRenderContext.__del__ at 0x7fedc74b4720>
19
+ Traceback (most recent call last):
20
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
21
+ self.gl_ctx.free()
22
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
23
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
24
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
25
+ raise self._errorClass(
26
+ OpenGL.raw.EGL._errors.EGLError: 11:55:36 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
27
+ EGLError(
28
+ err = EGL_NOT_INITIALIZED,
29
+ baseOperation = eglMakeCurrent,
30
+ cArguments = (
31
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7fedacdf76d0>,
32
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7fedc75b94d0>,
33
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7fedc75b94d0>,
34
+ <OpenGL._opaque.EGLContext_pointer object at 0x7fedc75b93d0>,
35
+ ),
36
+ result = 0
37
+ )
38
+ Exception ignored in: <function EGLGLContext.__del__ at 0x7fedc74b45e0>
39
+ Traceback (most recent call last):
40
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
41
+ self.free()
42
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
43
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
44
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
45
+ raise self._errorClass(
46
+ OpenGL.raw.EGL._errors.EGLError: EGLError(
47
+ err = EGL_NOT_INITIALIZED,
48
+ baseOperation = eglMakeCurrent,
49
+ cArguments = (
50
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7fedacdf76d0>,
51
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7fedc75b94d0>,
52
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7fedc75b94d0>,
53
+ <OpenGL._opaque.EGLContext_pointer object at 0x7fedc75b93d0>,
54
+ ),
55
+ result = 0
56
+ )
results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_0p75x/logs/long_t4_5_0p75x.log ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [robosuite WARNING] No private macro file found! (macros.py:53)
2
+ [robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
3
+ [robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
4
+ Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
5
+ Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
6
+ See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
7
+ 11:33:16 [rank=5] suite=libero_10 task_ids=[4, 5] n_trials=50 speed=0.75 max_steps=520
8
+ 11:33:16 Waiting for server at ws://localhost:8015...
9
+ [info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
10
+
11
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
12
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
13
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
14
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
15
+ [rank=5] libero_10 speed=0.75x success=96/100 (96.0%) mean_steps_success=261.9 median=274.0 mean_steps_failure=520.0 mean_steps_all=272.2
16
+ [rank=5] elapsed=1071.3s
17
+ [rank=5] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_0p75x/long_t4_5_0p75x.json
18
+ Exception ignored in: <function MjRenderContext.__del__ at 0x7fd99c0b0720>
19
+ Traceback (most recent call last):
20
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
21
+ self.gl_ctx.free()
22
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
23
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
24
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
25
+ raise self._errorClass(
26
+ OpenGL.raw.EGL._errors.EGLError: 11:51:08 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
27
+ EGLError(
28
+ err = EGL_NOT_INITIALIZED,
29
+ baseOperation = eglMakeCurrent,
30
+ cArguments = (
31
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7fd9819f2e50>,
32
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7fd99c1b54d0>,
33
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7fd99c1b54d0>,
34
+ <OpenGL._opaque.EGLContext_pointer object at 0x7fd99c1b53d0>,
35
+ ),
36
+ result = 0
37
+ )
38
+ Exception ignored in: <function EGLGLContext.__del__ at 0x7fd99c0b05e0>
39
+ Traceback (most recent call last):
40
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
41
+ self.free()
42
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
43
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
44
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
45
+ raise self._errorClass(
46
+ OpenGL.raw.EGL._errors.EGLError: EGLError(
47
+ err = EGL_NOT_INITIALIZED,
48
+ baseOperation = eglMakeCurrent,
49
+ cArguments = (
50
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7fd9819f2e50>,
51
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7fd99c1b54d0>,
52
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7fd99c1b54d0>,
53
+ <OpenGL._opaque.EGLContext_pointer object at 0x7fd99c1b53d0>,
54
+ ),
55
+ result = 0
56
+ )
results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_0p75x/logs/long_t6_7_0p75x.log ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [robosuite WARNING] No private macro file found! (macros.py:53)
2
+ [robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
3
+ [robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
4
+ Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
5
+ Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
6
+ See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
7
+ 11:33:16 [rank=6] suite=libero_10 task_ids=[6, 7] n_trials=50 speed=0.75 max_steps=520
8
+ 11:33:16 Waiting for server at ws://localhost:8016...
9
+ [info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
10
+
11
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
12
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
13
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
14
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
15
+ [rank=6] libero_10 speed=0.75x success=87/100 (87.0%) mean_steps_success=316.3 median=311.0 mean_steps_failure=520.0 mean_steps_all=342.8
16
+ [rank=6] elapsed=1323.8s
17
+ [rank=6] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_0p75x/long_t6_7_0p75x.json
18
+ Exception ignored in: <function MjRenderContext.__del__ at 0x7f7c2f0a8720>
19
+ Traceback (most recent call last):
20
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
21
+ self.gl_ctx.free()
22
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
23
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
24
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
25
+ raise self._errorClass(
26
+ OpenGL.raw.EGL._errors.EGLError: 11:55:20 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
27
+ EGLError(
28
+ err = EGL_NOT_INITIALIZED,
29
+ baseOperation = eglMakeCurrent,
30
+ cArguments = (
31
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7f7c149ea950>,
32
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f7c2f1ad4d0>,
33
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f7c2f1ad4d0>,
34
+ <OpenGL._opaque.EGLContext_pointer object at 0x7f7c2f1ad3d0>,
35
+ ),
36
+ result = 0
37
+ )
38
+ Exception ignored in: <function EGLGLContext.__del__ at 0x7f7c2f0a85e0>
39
+ Traceback (most recent call last):
40
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
41
+ self.free()
42
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
43
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
44
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
45
+ raise self._errorClass(
46
+ OpenGL.raw.EGL._errors.EGLError: EGLError(
47
+ err = EGL_NOT_INITIALIZED,
48
+ baseOperation = eglMakeCurrent,
49
+ cArguments = (
50
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7f7c149ea950>,
51
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f7c2f1ad4d0>,
52
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f7c2f1ad4d0>,
53
+ <OpenGL._opaque.EGLContext_pointer object at 0x7f7c2f1ad3d0>,
54
+ ),
55
+ result = 0
56
+ )
results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_0p75x/logs/long_t8_9_0p75x.log ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [robosuite WARNING] No private macro file found! (macros.py:53)
2
+ [robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
3
+ [robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
4
+ Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
5
+ Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
6
+ See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
7
+ 11:33:16 [rank=7] suite=libero_10 task_ids=[8, 9] n_trials=50 speed=0.75 max_steps=520
8
+ 11:33:16 Waiting for server at ws://localhost:8017...
9
+ [info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
10
+
11
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
12
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
13
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
14
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
15
+ [rank=7] libero_10 speed=0.75x success=67/100 (67.0%) mean_steps_success=390.4 median=347.0 mean_steps_failure=520.0 mean_steps_all=433.2
16
+ [rank=7] elapsed=1763.2s
17
+ [rank=7] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_0p75x/long_t8_9_0p75x.json
18
+ Exception ignored in: <function MjRenderContext.__del__ at 0x7f346deb4720>
19
+ Traceback (most recent call last):
20
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
21
+ self.gl_ctx.free()
22
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
23
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
24
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
25
+ raise self._errorClass(
26
+ OpenGL.raw.EGL._errors.EGLError: 12:02:40 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
27
+ EGLError(
28
+ err = EGL_NOT_INITIALIZED,
29
+ baseOperation = eglMakeCurrent,
30
+ cArguments = (
31
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7f34537f6fd0>,
32
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f346dfb94d0>,
33
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f346dfb94d0>,
34
+ <OpenGL._opaque.EGLContext_pointer object at 0x7f346dfb93d0>,
35
+ ),
36
+ result = 0
37
+ )
38
+ Exception ignored in: <function EGLGLContext.__del__ at 0x7f346deb45e0>
39
+ Traceback (most recent call last):
40
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
41
+ self.free()
42
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
43
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
44
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
45
+ raise self._errorClass(
46
+ OpenGL.raw.EGL._errors.EGLError: EGLError(
47
+ err = EGL_NOT_INITIALIZED,
48
+ baseOperation = eglMakeCurrent,
49
+ cArguments = (
50
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7f34537f6fd0>,
51
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f346dfb94d0>,
52
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f346dfb94d0>,
53
+ <OpenGL._opaque.EGLContext_pointer object at 0x7f346dfb93d0>,
54
+ ),
55
+ result = 0
56
+ )
results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_0p75x/logs/object_0p75x.log ADDED
@@ -0,0 +1,72 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [robosuite WARNING] No private macro file found! (macros.py:53)
2
+ [robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
3
+ [robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
4
+ Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
5
+ Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
6
+ See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
7
+ 11:33:16 [rank=2] suite=libero_object task_ids=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] n_trials=50 speed=0.75 max_steps=280
8
+ 11:33:16 Waiting for server at ws://localhost:8012...
9
+ [info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
10
+
11
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
12
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
13
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
14
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
15
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
16
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
17
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
18
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
19
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
20
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
21
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
22
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
23
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
24
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
25
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
26
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
27
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
28
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
29
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
30
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
31
+ [rank=2] libero_object speed=0.75x success=464/500 (92.8%) mean_steps_success=178.4 median=171.0 mean_steps_failure=280.0 mean_steps_all=185.7
32
+ [rank=2] elapsed=3885.9s
33
+ [rank=2] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_0p75x/object_0p75x.json
34
+ Exception ignored in: <function MjRenderContext.__del__ at 0x7f1f5dfb4720>
35
+ Traceback (most recent call last):
36
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
37
+ self.gl_ctx.free()
38
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
39
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
40
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
41
+ raise self._errorClass(
42
+ OpenGL.raw.EGL._errors.EGLError: 12:38:02 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
43
+ EGLError(
44
+ err = EGL_NOT_INITIALIZED,
45
+ baseOperation = eglMakeCurrent,
46
+ cArguments = (
47
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7f1f438faa50>,
48
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f1f5e0b94d0>,
49
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f1f5e0b94d0>,
50
+ <OpenGL._opaque.EGLContext_pointer object at 0x7f1f5e0b93d0>,
51
+ ),
52
+ result = 0
53
+ )
54
+ Exception ignored in: <function EGLGLContext.__del__ at 0x7f1f5dfb45e0>
55
+ Traceback (most recent call last):
56
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
57
+ self.free()
58
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
59
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
60
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
61
+ raise self._errorClass(
62
+ OpenGL.raw.EGL._errors.EGLError: EGLError(
63
+ err = EGL_NOT_INITIALIZED,
64
+ baseOperation = eglMakeCurrent,
65
+ cArguments = (
66
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7f1f438faa50>,
67
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f1f5e0b94d0>,
68
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f1f5e0b94d0>,
69
+ <OpenGL._opaque.EGLContext_pointer object at 0x7f1f5e0b93d0>,
70
+ ),
71
+ result = 0
72
+ )
results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_0p75x/logs/spatial_0p75x.log ADDED
@@ -0,0 +1,72 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [robosuite WARNING] No private macro file found! (macros.py:53)
2
+ [robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
3
+ [robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
4
+ Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
5
+ Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
6
+ See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
7
+ 11:33:16 [rank=0] suite=libero_spatial task_ids=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] n_trials=50 speed=0.75 max_steps=220
8
+ 11:33:16 Waiting for server at ws://localhost:8010...
9
+ [info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
10
+
11
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
12
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
13
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
14
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
15
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
16
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
17
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
18
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
19
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
20
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
21
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
22
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
23
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
24
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
25
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
26
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
27
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
28
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
29
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
30
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
31
+ [rank=0] libero_spatial speed=0.75x success=495/500 (99.0%) mean_steps_success=131.7 median=131.0 mean_steps_failure=220.0 mean_steps_all=132.6
32
+ [rank=0] elapsed=4179.0s
33
+ [rank=0] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_0p75x/spatial_0p75x.json
34
+ Exception ignored in: <function MjRenderContext.__del__ at 0x7f131afbc720>
35
+ Traceback (most recent call last):
36
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
37
+ self.gl_ctx.free()
38
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
39
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
40
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
41
+ raise self._errorClass(
42
+ OpenGL.raw.EGL._errors.EGLError: 12:42:55 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
43
+ EGLError(
44
+ err = EGL_NOT_INITIALIZED,
45
+ baseOperation = eglMakeCurrent,
46
+ cArguments = (
47
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7f1300719dd0>,
48
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f131b0c14d0>,
49
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f131b0c14d0>,
50
+ <OpenGL._opaque.EGLContext_pointer object at 0x7f131b0c13d0>,
51
+ ),
52
+ result = 0
53
+ )
54
+ Exception ignored in: <function EGLGLContext.__del__ at 0x7f131afbc5e0>
55
+ Traceback (most recent call last):
56
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
57
+ self.free()
58
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
59
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
60
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
61
+ raise self._errorClass(
62
+ OpenGL.raw.EGL._errors.EGLError: EGLError(
63
+ err = EGL_NOT_INITIALIZED,
64
+ baseOperation = eglMakeCurrent,
65
+ cArguments = (
66
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7f1300719dd0>,
67
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f131b0c14d0>,
68
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f131b0c14d0>,
69
+ <OpenGL._opaque.EGLContext_pointer object at 0x7f131b0c13d0>,
70
+ ),
71
+ result = 0
72
+ )
results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p25x/logs/goal_1p25x.log ADDED
@@ -0,0 +1,72 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [robosuite WARNING] No private macro file found! (macros.py:53)
2
+ [robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
3
+ [robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
4
+ Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
5
+ Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
6
+ See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
7
+ 13:38:56 [rank=1] suite=libero_goal task_ids=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] n_trials=50 speed=1.25 max_steps=300
8
+ 13:38:56 Waiting for server at ws://localhost:8011...
9
+ [info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
10
+
11
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
12
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
13
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
14
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
15
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
16
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
17
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
18
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
19
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
20
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
21
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
22
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
23
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
24
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
25
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
26
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
27
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
28
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
29
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
30
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
31
+ [rank=1] libero_goal speed=1.25x success=485/500 (97.0%) mean_steps_success=95.9 median=78.0 mean_steps_failure=300.0 mean_steps_all=102.0
32
+ [rank=1] elapsed=2502.5s
33
+ [rank=1] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p25x/goal_1p25x.json
34
+ Exception ignored in: <function MjRenderContext.__del__ at 0x7fb5a2ab4720>
35
+ Traceback (most recent call last):
36
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
37
+ self.gl_ctx.free()
38
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
39
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
40
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
41
+ raise self._errorClass(
42
+ OpenGL.raw.EGL._errors.EGLError: 14:20:38 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
43
+ EGLError(
44
+ err = EGL_NOT_INITIALIZED,
45
+ baseOperation = eglMakeCurrent,
46
+ cArguments = (
47
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7fb58820e250>,
48
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7fb5a2bb94d0>,
49
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7fb5a2bb94d0>,
50
+ <OpenGL._opaque.EGLContext_pointer object at 0x7fb5a2bb93d0>,
51
+ ),
52
+ result = 0
53
+ )
54
+ Exception ignored in: <function EGLGLContext.__del__ at 0x7fb5a2ab45e0>
55
+ Traceback (most recent call last):
56
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
57
+ self.free()
58
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
59
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
60
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
61
+ raise self._errorClass(
62
+ OpenGL.raw.EGL._errors.EGLError: EGLError(
63
+ err = EGL_NOT_INITIALIZED,
64
+ baseOperation = eglMakeCurrent,
65
+ cArguments = (
66
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7fb58820e250>,
67
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7fb5a2bb94d0>,
68
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7fb5a2bb94d0>,
69
+ <OpenGL._opaque.EGLContext_pointer object at 0x7fb5a2bb93d0>,
70
+ ),
71
+ result = 0
72
+ )
results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p25x/logs/long_t0_1_1p25x.log ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [robosuite WARNING] No private macro file found! (macros.py:53)
2
+ [robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
3
+ [robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
4
+ Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
5
+ Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
6
+ See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
7
+ 13:38:56 [rank=3] suite=libero_10 task_ids=[0, 1] n_trials=50 speed=1.25 max_steps=520
8
+ 13:38:56 Waiting for server at ws://localhost:8013...
9
+ [info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
10
+
11
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
12
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
13
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
14
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
15
+ [rank=3] libero_10 speed=1.25x success=97/100 (97.0%) mean_steps_success=229.9 median=221.0 mean_steps_failure=520.0 mean_steps_all=238.6
16
+ [rank=3] elapsed=979.5s
17
+ [rank=3] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p25x/long_t0_1_1p25x.json
18
+ Exception ignored in: <function MjRenderContext.__del__ at 0x7f0cd98b0720>
19
+ Traceback (most recent call last):
20
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
21
+ self.gl_ctx.free()
22
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
23
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
24
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
25
+ raise self._errorClass(
26
+ OpenGL.raw.EGL._errors.EGLError: 13:55:15 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
27
+ EGLError(
28
+ err = EGL_NOT_INITIALIZED,
29
+ baseOperation = eglMakeCurrent,
30
+ cArguments = (
31
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7f0cbf00c1d0>,
32
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f0cd99b94d0>,
33
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f0cd99b94d0>,
34
+ <OpenGL._opaque.EGLContext_pointer object at 0x7f0cd99b93d0>,
35
+ ),
36
+ result = 0
37
+ )
38
+ Exception ignored in: <function EGLGLContext.__del__ at 0x7f0cd98b05e0>
39
+ Traceback (most recent call last):
40
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
41
+ self.free()
42
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
43
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
44
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
45
+ raise self._errorClass(
46
+ OpenGL.raw.EGL._errors.EGLError: EGLError(
47
+ err = EGL_NOT_INITIALIZED,
48
+ baseOperation = eglMakeCurrent,
49
+ cArguments = (
50
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7f0cbf00c1d0>,
51
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f0cd99b94d0>,
52
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f0cd99b94d0>,
53
+ <OpenGL._opaque.EGLContext_pointer object at 0x7f0cd99b93d0>,
54
+ ),
55
+ result = 0
56
+ )
results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p25x/logs/long_t2_3_1p25x.log ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [robosuite WARNING] No private macro file found! (macros.py:53)
2
+ [robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
3
+ [robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
4
+ Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
5
+ Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
6
+ See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
7
+ 13:38:56 [rank=4] suite=libero_10 task_ids=[2, 3] n_trials=50 speed=1.25 max_steps=520
8
+ 13:38:56 Waiting for server at ws://localhost:8014...
9
+ [info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
10
+
11
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
12
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
13
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
14
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
15
+ [rank=4] libero_10 speed=1.25x success=95/100 (95.0%) mean_steps_success=199.6 median=195.0 mean_steps_failure=520.0 mean_steps_all=215.6
16
+ [rank=4] elapsed=870.7s
17
+ [rank=4] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p25x/long_t2_3_1p25x.json
18
+ Exception ignored in: <function MjRenderContext.__del__ at 0x7f98e09b0720>
19
+ Traceback (most recent call last):
20
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
21
+ self.gl_ctx.free()
22
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
23
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
24
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
25
+ raise self._errorClass(
26
+ OpenGL.raw.EGL._errors.EGLError: 13:53:26 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
27
+ EGLError(
28
+ err = EGL_NOT_INITIALIZED,
29
+ baseOperation = eglMakeCurrent,
30
+ cArguments = (
31
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7f98c62fb6d0>,
32
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f98e0ab94d0>,
33
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f98e0ab94d0>,
34
+ <OpenGL._opaque.EGLContext_pointer object at 0x7f98e0ab93d0>,
35
+ ),
36
+ result = 0
37
+ )
38
+ Exception ignored in: <function EGLGLContext.__del__ at 0x7f98e09b05e0>
39
+ Traceback (most recent call last):
40
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
41
+ self.free()
42
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
43
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
44
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
45
+ raise self._errorClass(
46
+ OpenGL.raw.EGL._errors.EGLError: EGLError(
47
+ err = EGL_NOT_INITIALIZED,
48
+ baseOperation = eglMakeCurrent,
49
+ cArguments = (
50
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7f98c62fb6d0>,
51
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f98e0ab94d0>,
52
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f98e0ab94d0>,
53
+ <OpenGL._opaque.EGLContext_pointer object at 0x7f98e0ab93d0>,
54
+ ),
55
+ result = 0
56
+ )
results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p25x/logs/long_t4_5_1p25x.log ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [robosuite WARNING] No private macro file found! (macros.py:53)
2
+ [robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
3
+ [robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
4
+ Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
5
+ Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
6
+ See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
7
+ 13:38:56 [rank=5] suite=libero_10 task_ids=[4, 5] n_trials=50 speed=1.25 max_steps=520
8
+ 13:38:56 Waiting for server at ws://localhost:8015...
9
+ [info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
10
+
11
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
12
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
13
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
14
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
15
+ [rank=5] libero_10 speed=1.25x success=98/100 (98.0%) mean_steps_success=175.1 median=175.0 mean_steps_failure=520.0 mean_steps_all=182.0
16
+ [rank=5] elapsed=719.2s
17
+ [rank=5] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p25x/long_t4_5_1p25x.json
18
+ Exception ignored in: <function MjRenderContext.__del__ at 0x7f8262ab8720>
19
+ Traceback (most recent call last):
20
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
21
+ self.gl_ctx.free()
22
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
23
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
24
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
25
+ raise self._errorClass(
26
+ OpenGL.raw.EGL._errors.EGLError: 13:50:55 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
27
+ EGLError(
28
+ err = EGL_NOT_INITIALIZED,
29
+ baseOperation = eglMakeCurrent,
30
+ cArguments = (
31
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7f82483fae50>,
32
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f8262bbd4d0>,
33
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f8262bbd4d0>,
34
+ <OpenGL._opaque.EGLContext_pointer object at 0x7f8262bbd3d0>,
35
+ ),
36
+ result = 0
37
+ )
38
+ Exception ignored in: <function EGLGLContext.__del__ at 0x7f8262ab85e0>
39
+ Traceback (most recent call last):
40
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
41
+ self.free()
42
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
43
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
44
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
45
+ raise self._errorClass(
46
+ OpenGL.raw.EGL._errors.EGLError: EGLError(
47
+ err = EGL_NOT_INITIALIZED,
48
+ baseOperation = eglMakeCurrent,
49
+ cArguments = (
50
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7f82483fae50>,
51
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f8262bbd4d0>,
52
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f8262bbd4d0>,
53
+ <OpenGL._opaque.EGLContext_pointer object at 0x7f8262bbd3d0>,
54
+ ),
55
+ result = 0
56
+ )
results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p25x/logs/long_t6_7_1p25x.log ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [robosuite WARNING] No private macro file found! (macros.py:53)
2
+ [robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
3
+ [robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
4
+ Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
5
+ Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
6
+ See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
7
+ 13:38:56 [rank=6] suite=libero_10 task_ids=[6, 7] n_trials=50 speed=1.25 max_steps=520
8
+ 13:38:56 Waiting for server at ws://localhost:8016...
9
+ [info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
10
+
11
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
12
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
13
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
14
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
15
+ [rank=6] libero_10 speed=1.25x success=97/100 (97.0%) mean_steps_success=207.9 median=201.0 mean_steps_failure=520.0 mean_steps_all=217.2
16
+ [rank=6] elapsed=825.2s
17
+ [rank=6] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p25x/long_t6_7_1p25x.json
18
+ Exception ignored in: <function MjRenderContext.__del__ at 0x7f94c74ac720>
19
+ Traceback (most recent call last):
20
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
21
+ self.gl_ctx.free()
22
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
23
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
24
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
25
+ raise self._errorClass(
26
+ OpenGL.raw.EGL._errors.EGLError: 13:52:41 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
27
+ EGLError(
28
+ err = EGL_NOT_INITIALIZED,
29
+ baseOperation = eglMakeCurrent,
30
+ cArguments = (
31
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7f94acdee950>,
32
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f94c75b14d0>,
33
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f94c75b14d0>,
34
+ <OpenGL._opaque.EGLContext_pointer object at 0x7f94c75b13d0>,
35
+ ),
36
+ result = 0
37
+ )
38
+ Exception ignored in: <function EGLGLContext.__del__ at 0x7f94c74ac5e0>
39
+ Traceback (most recent call last):
40
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
41
+ self.free()
42
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
43
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
44
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
45
+ raise self._errorClass(
46
+ OpenGL.raw.EGL._errors.EGLError: EGLError(
47
+ err = EGL_NOT_INITIALIZED,
48
+ baseOperation = eglMakeCurrent,
49
+ cArguments = (
50
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7f94acdee950>,
51
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f94c75b14d0>,
52
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f94c75b14d0>,
53
+ <OpenGL._opaque.EGLContext_pointer object at 0x7f94c75b13d0>,
54
+ ),
55
+ result = 0
56
+ )
results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p25x/logs/long_t8_9_1p25x.log ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [robosuite WARNING] No private macro file found! (macros.py:53)
2
+ [robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
3
+ [robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
4
+ Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
5
+ Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
6
+ See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
7
+ 13:38:56 [rank=7] suite=libero_10 task_ids=[8, 9] n_trials=50 speed=1.25 max_steps=520
8
+ 13:38:56 Waiting for server at ws://localhost:8017...
9
+ [info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
10
+
11
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
12
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
13
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
14
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
15
+ [rank=7] libero_10 speed=1.25x success=91/100 (91.0%) mean_steps_success=281.2 median=246.0 mean_steps_failure=520.0 mean_steps_all=302.6
16
+ [rank=7] elapsed=1164.4s
17
+ [rank=7] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p25x/long_t8_9_1p25x.json
18
+ Exception ignored in: <function MjRenderContext.__del__ at 0x7f5d024a8720>
19
+ Traceback (most recent call last):
20
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
21
+ self.gl_ctx.free()
22
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
23
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
24
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
25
+ raise self._errorClass(
26
+ OpenGL.raw.EGL._errors.EGLError: 13:58:20 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
27
+ EGLError(
28
+ err = EGL_NOT_INITIALIZED,
29
+ baseOperation = eglMakeCurrent,
30
+ cArguments = (
31
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7f5ce7deafd0>,
32
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f5d025ad4d0>,
33
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f5d025ad4d0>,
34
+ <OpenGL._opaque.EGLContext_pointer object at 0x7f5d025ad3d0>,
35
+ ),
36
+ result = 0
37
+ )
38
+ Exception ignored in: <function EGLGLContext.__del__ at 0x7f5d024a85e0>
39
+ Traceback (most recent call last):
40
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
41
+ self.free()
42
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
43
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
44
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
45
+ raise self._errorClass(
46
+ OpenGL.raw.EGL._errors.EGLError: EGLError(
47
+ err = EGL_NOT_INITIALIZED,
48
+ baseOperation = eglMakeCurrent,
49
+ cArguments = (
50
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7f5ce7deafd0>,
51
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f5d025ad4d0>,
52
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f5d025ad4d0>,
53
+ <OpenGL._opaque.EGLContext_pointer object at 0x7f5d025ad3d0>,
54
+ ),
55
+ result = 0
56
+ )
results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p25x/logs/object_1p25x.log ADDED
@@ -0,0 +1,72 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [robosuite WARNING] No private macro file found! (macros.py:53)
2
+ [robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
3
+ [robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
4
+ Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
5
+ Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
6
+ See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
7
+ 13:38:56 [rank=2] suite=libero_object task_ids=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] n_trials=50 speed=1.25 max_steps=280
8
+ 13:38:56 Waiting for server at ws://localhost:8012...
9
+ [info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
10
+
11
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
12
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
13
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
14
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
15
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
16
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
17
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
18
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
19
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
20
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
21
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
22
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
23
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
24
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
25
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
26
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
27
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
28
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
29
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
30
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
31
+ [rank=2] libero_object speed=1.25x success=490/500 (98.0%) mean_steps_success=119.7 median=114.0 mean_steps_failure=280.0 mean_steps_all=122.9
32
+ [rank=2] elapsed=2651.8s
33
+ [rank=2] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p25x/object_1p25x.json
34
+ Exception ignored in: <function MjRenderContext.__del__ at 0x7fc18beac720>
35
+ Traceback (most recent call last):
36
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
37
+ self.gl_ctx.free()
38
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
39
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
40
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
41
+ raise self._errorClass(
42
+ OpenGL.raw.EGL._errors.EGLError: 14:23:08 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
43
+ EGLError(
44
+ err = EGL_NOT_INITIALIZED,
45
+ baseOperation = eglMakeCurrent,
46
+ cArguments = (
47
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7fc1717eea50>,
48
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7fc18bfb14d0>,
49
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7fc18bfb14d0>,
50
+ <OpenGL._opaque.EGLContext_pointer object at 0x7fc18bfb13d0>,
51
+ ),
52
+ result = 0
53
+ )
54
+ Exception ignored in: <function EGLGLContext.__del__ at 0x7fc18beac5e0>
55
+ Traceback (most recent call last):
56
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
57
+ self.free()
58
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
59
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
60
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
61
+ raise self._errorClass(
62
+ OpenGL.raw.EGL._errors.EGLError: EGLError(
63
+ err = EGL_NOT_INITIALIZED,
64
+ baseOperation = eglMakeCurrent,
65
+ cArguments = (
66
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7fc1717eea50>,
67
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7fc18bfb14d0>,
68
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7fc18bfb14d0>,
69
+ <OpenGL._opaque.EGLContext_pointer object at 0x7fc18bfb13d0>,
70
+ ),
71
+ result = 0
72
+ )
results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p25x/logs/spatial_1p25x.log ADDED
@@ -0,0 +1,72 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [robosuite WARNING] No private macro file found! (macros.py:53)
2
+ [robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
3
+ [robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
4
+ Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
5
+ Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
6
+ See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
7
+ 13:38:56 [rank=0] suite=libero_spatial task_ids=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] n_trials=50 speed=1.25 max_steps=220
8
+ 13:38:56 Waiting for server at ws://localhost:8010...
9
+ [info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
10
+
11
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
12
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
13
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
14
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
15
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
16
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
17
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
18
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
19
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
20
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
21
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
22
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
23
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
24
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
25
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
26
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
27
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
28
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
29
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
30
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
31
+ [rank=0] libero_spatial speed=1.25x success=494/500 (98.8%) mean_steps_success=88.8 median=87.0 mean_steps_failure=220.0 mean_steps_all=90.3
32
+ [rank=0] elapsed=2959.8s
33
+ [rank=0] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p25x/spatial_1p25x.json
34
+ Exception ignored in: <function MjRenderContext.__del__ at 0x7ff5c0db4720>
35
+ Traceback (most recent call last):
36
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
37
+ self.gl_ctx.free()
38
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
39
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
40
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
41
+ raise self._errorClass(
42
+ OpenGL.raw.EGL._errors.EGLError: 14:28:16 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
43
+ EGLError(
44
+ err = EGL_NOT_INITIALIZED,
45
+ baseOperation = eglMakeCurrent,
46
+ cArguments = (
47
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7ff5a6511dd0>,
48
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7ff5c0eb94d0>,
49
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7ff5c0eb94d0>,
50
+ <OpenGL._opaque.EGLContext_pointer object at 0x7ff5c0eb93d0>,
51
+ ),
52
+ result = 0
53
+ )
54
+ Exception ignored in: <function EGLGLContext.__del__ at 0x7ff5c0db45e0>
55
+ Traceback (most recent call last):
56
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
57
+ self.free()
58
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
59
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
60
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
61
+ raise self._errorClass(
62
+ OpenGL.raw.EGL._errors.EGLError: EGLError(
63
+ err = EGL_NOT_INITIALIZED,
64
+ baseOperation = eglMakeCurrent,
65
+ cArguments = (
66
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7ff5a6511dd0>,
67
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7ff5c0eb94d0>,
68
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7ff5c0eb94d0>,
69
+ <OpenGL._opaque.EGLContext_pointer object at 0x7ff5c0eb93d0>,
70
+ ),
71
+ result = 0
72
+ )
results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p5x/logs/goal_1p5x.log ADDED
@@ -0,0 +1,72 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [robosuite WARNING] No private macro file found! (macros.py:53)
2
+ [robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
3
+ [robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
4
+ Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
5
+ Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
6
+ See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
7
+ 14:28:20 [rank=1] suite=libero_goal task_ids=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9] n_trials=50 speed=1.5 max_steps=300
8
+ 14:28:20 Waiting for server at ws://localhost:8011...
9
+ [info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
10
+
11
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
12
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
13
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
14
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
15
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
16
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
17
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
18
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
19
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
20
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
21
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
22
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
23
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
24
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
25
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
26
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
27
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
28
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
29
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
30
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
31
+ [rank=1] libero_goal speed=1.5x success=481/500 (96.2%) mean_steps_success=88.5 median=70.0 mean_steps_failure=300.0 mean_steps_all=96.5
32
+ [rank=1] elapsed=2518.4s
33
+ [rank=1] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p5x/goal_1p5x.json
34
+ Exception ignored in: <function MjRenderContext.__del__ at 0x7ff5a79b4720>
35
+ Traceback (most recent call last):
36
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
37
+ self.gl_ctx.free()
38
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
39
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
40
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
41
+ raise self._errorClass(
42
+ OpenGL.raw.EGL._errors.EGLError: 15:10:18 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
43
+ EGLError(
44
+ err = EGL_NOT_INITIALIZED,
45
+ baseOperation = eglMakeCurrent,
46
+ cArguments = (
47
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7ff58d112250>,
48
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7ff5a7ab94d0>,
49
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7ff5a7ab94d0>,
50
+ <OpenGL._opaque.EGLContext_pointer object at 0x7ff5a7ab93d0>,
51
+ ),
52
+ result = 0
53
+ )
54
+ Exception ignored in: <function EGLGLContext.__del__ at 0x7ff5a79b45e0>
55
+ Traceback (most recent call last):
56
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
57
+ self.free()
58
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
59
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
60
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
61
+ raise self._errorClass(
62
+ OpenGL.raw.EGL._errors.EGLError: EGLError(
63
+ err = EGL_NOT_INITIALIZED,
64
+ baseOperation = eglMakeCurrent,
65
+ cArguments = (
66
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7ff58d112250>,
67
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7ff5a7ab94d0>,
68
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7ff5a7ab94d0>,
69
+ <OpenGL._opaque.EGLContext_pointer object at 0x7ff5a7ab93d0>,
70
+ ),
71
+ result = 0
72
+ )
results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p5x/logs/long_t0_1_1p5x.log ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [robosuite WARNING] No private macro file found! (macros.py:53)
2
+ [robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
3
+ [robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
4
+ Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
5
+ Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
6
+ See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
7
+ 14:28:20 [rank=3] suite=libero_10 task_ids=[0, 1] n_trials=50 speed=1.5 max_steps=520
8
+ 14:28:20 Waiting for server at ws://localhost:8013...
9
+ [info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
10
+
11
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
12
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
13
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
14
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
15
+ [rank=3] libero_10 speed=1.5x success=97/100 (97.0%) mean_steps_success=205.4 median=196.0 mean_steps_failure=520.0 mean_steps_all=214.8
16
+ [rank=3] elapsed=904.0s
17
+ [rank=3] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p5x/long_t0_1_1p5x.json
18
+ Exception ignored in: <function MjRenderContext.__del__ at 0x7f70414ac720>
19
+ Traceback (most recent call last):
20
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
21
+ self.gl_ctx.free()
22
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
23
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
24
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
25
+ raise self._errorClass(
26
+ OpenGL.raw.EGL._errors.EGLError: 14:43:24 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
27
+ EGLError(
28
+ err = EGL_NOT_INITIALIZED,
29
+ baseOperation = eglMakeCurrent,
30
+ cArguments = (
31
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7f7026c001d0>,
32
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f70415ad4d0>,
33
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f70415ad4d0>,
34
+ <OpenGL._opaque.EGLContext_pointer object at 0x7f70415ad3d0>,
35
+ ),
36
+ result = 0
37
+ )
38
+ Exception ignored in: <function EGLGLContext.__del__ at 0x7f70414ac5e0>
39
+ Traceback (most recent call last):
40
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
41
+ self.free()
42
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
43
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
44
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
45
+ raise self._errorClass(
46
+ OpenGL.raw.EGL._errors.EGLError: EGLError(
47
+ err = EGL_NOT_INITIALIZED,
48
+ baseOperation = eglMakeCurrent,
49
+ cArguments = (
50
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7f7026c001d0>,
51
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f70415ad4d0>,
52
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f70415ad4d0>,
53
+ <OpenGL._opaque.EGLContext_pointer object at 0x7f70415ad3d0>,
54
+ ),
55
+ result = 0
56
+ )
results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p5x/logs/long_t2_3_1p5x.log ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [robosuite WARNING] No private macro file found! (macros.py:53)
2
+ [robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
3
+ [robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
4
+ Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
5
+ Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
6
+ See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
7
+ 14:28:20 [rank=4] suite=libero_10 task_ids=[2, 3] n_trials=50 speed=1.5 max_steps=520
8
+ 14:28:20 Waiting for server at ws://localhost:8014...
9
+ [info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
10
+
11
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
12
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
13
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
14
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
15
+ [rank=4] libero_10 speed=1.5x success=94/100 (94.0%) mean_steps_success=169.3 median=166.0 mean_steps_failure=520.0 mean_steps_all=190.4
16
+ [rank=4] elapsed=780.1s
17
+ [rank=4] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p5x/long_t2_3_1p5x.json
18
+ Exception ignored in: <function MjRenderContext.__del__ at 0x7f83246b4720>
19
+ Traceback (most recent call last):
20
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
21
+ self.gl_ctx.free()
22
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
23
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
24
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
25
+ raise self._errorClass(
26
+ OpenGL.raw.EGL._errors.EGLError: 14:41:20 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
27
+ EGLError(
28
+ err = EGL_NOT_INITIALIZED,
29
+ baseOperation = eglMakeCurrent,
30
+ cArguments = (
31
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7f8309ff76d0>,
32
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f83247b94d0>,
33
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f83247b94d0>,
34
+ <OpenGL._opaque.EGLContext_pointer object at 0x7f83247b93d0>,
35
+ ),
36
+ result = 0
37
+ )
38
+ Exception ignored in: <function EGLGLContext.__del__ at 0x7f83246b45e0>
39
+ Traceback (most recent call last):
40
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
41
+ self.free()
42
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
43
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
44
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
45
+ raise self._errorClass(
46
+ OpenGL.raw.EGL._errors.EGLError: EGLError(
47
+ err = EGL_NOT_INITIALIZED,
48
+ baseOperation = eglMakeCurrent,
49
+ cArguments = (
50
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7f8309ff76d0>,
51
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f83247b94d0>,
52
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f83247b94d0>,
53
+ <OpenGL._opaque.EGLContext_pointer object at 0x7f83247b93d0>,
54
+ ),
55
+ result = 0
56
+ )
results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p5x/logs/long_t4_5_1p5x.log ADDED
@@ -0,0 +1,56 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [robosuite WARNING] No private macro file found! (macros.py:53)
2
+ [robosuite WARNING] It is recommended to use a private macro file (macros.py:54)
3
+ [robosuite WARNING] To setup, run: python /usr/local/lib/python3.12/dist-packages/robosuite/scripts/setup_macros.py (macros.py:55)
4
+ Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
5
+ Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
6
+ See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
7
+ 14:28:20 [rank=5] suite=libero_10 task_ids=[4, 5] n_trials=50 speed=1.5 max_steps=520
8
+ 14:28:20 Waiting for server at ws://localhost:8015...
9
+ [info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
10
+
11
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
12
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
13
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
14
+ [Warning]: datasets path /robby/share/Robotics/zhangtianqi/github/libero/libero/libero/../datasets does not exist!
15
+ [rank=5] libero_10 speed=1.5x success=98/100 (98.0%) mean_steps_success=152.3 median=161.5 mean_steps_failure=520.0 mean_steps_all=159.7
16
+ [rank=5] elapsed=640.4s
17
+ [rank=5] wrote /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/results/speed_embedding_ablation/0510_pi05_online_sliding_speed_embed_modulation_bs512_lr1e4/speed_1p5x/long_t4_5_1p5x.json
18
+ Exception ignored in: <function MjRenderContext.__del__ at 0x7f36d61b0720>
19
+ Traceback (most recent call last):
20
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/utils/binding_utils.py", line 199, in __del__
21
+ self.gl_ctx.free()
22
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
23
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
24
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
25
+ raise self._errorClass(
26
+ OpenGL.raw.EGL._errors.EGLError: 14:39:00 Failed to load library ( 'libGLU.so.0' ): libGLU.so.0: cannot open shared object file: No such file or directory
27
+ EGLError(
28
+ err = EGL_NOT_INITIALIZED,
29
+ baseOperation = eglMakeCurrent,
30
+ cArguments = (
31
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7f36bbaf6e50>,
32
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f36d62b54d0>,
33
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f36d62b54d0>,
34
+ <OpenGL._opaque.EGLContext_pointer object at 0x7f36d62b53d0>,
35
+ ),
36
+ result = 0
37
+ )
38
+ Exception ignored in: <function EGLGLContext.__del__ at 0x7f36d61b05e0>
39
+ Traceback (most recent call last):
40
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__
41
+ self.free()
42
+ File "/usr/local/lib/python3.12/dist-packages/robosuite/renderers/context/egl_context.py", line 149, in free
43
+ EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
44
+ File "/usr/local/lib/python3.12/dist-packages/OpenGL/error.py", line 230, in glCheckError
45
+ raise self._errorClass(
46
+ OpenGL.raw.EGL._errors.EGLError: EGLError(
47
+ err = EGL_NOT_INITIALIZED,
48
+ baseOperation = eglMakeCurrent,
49
+ cArguments = (
50
+ <OpenGL._opaque.EGLDisplay_pointer object at 0x7f36bbaf6e50>,
51
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f36d62b54d0>,
52
+ <OpenGL._opaque.EGLSurface_pointer object at 0x7f36d62b54d0>,
53
+ <OpenGL._opaque.EGLContext_pointer object at 0x7f36d62b53d0>,
54
+ ),
55
+ result = 0
56
+ )