2026-05-13 21:53:33,167 INFO    MainThread:459 [wandb_setup.py:_flush():80] Current SDK version is 0.21.0
2026-05-13 21:53:33,167 INFO    MainThread:459 [wandb_setup.py:_flush():80] Configure stats pid to 459
2026-05-13 21:53:33,167 INFO    MainThread:459 [wandb_setup.py:_flush():80] Loading settings from /root/.config/wandb/settings
2026-05-13 21:53:33,167 INFO    MainThread:459 [wandb_setup.py:_flush():80] Loading settings from /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/wandb/settings
2026-05-13 21:53:33,167 INFO    MainThread:459 [wandb_setup.py:_flush():80] Loading settings from environment variables
2026-05-13 21:53:33,168 INFO    MainThread:459 [wandb_init.py:setup_run_log_directory():703] Logging user logs to /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/wandb/run-20260513_215333-hetzx4o4/logs/debug.log
2026-05-13 21:53:33,168 INFO    MainThread:459 [wandb_init.py:setup_run_log_directory():704] Logging internal logs to /robby/share/Robotics/zhangtianqi/code/VLAwithVariousSpeed/wandb/run-20260513_215333-hetzx4o4/logs/debug-internal.log
2026-05-13 21:53:33,168 INFO    MainThread:459 [wandb_init.py:init():830] calling init triggers
2026-05-13 21:53:33,168 INFO    MainThread:459 [wandb_init.py:init():835] wandb.init called with sweep_config: {}
config: {'name': 'pi05_libero_speed_embed_text', 'project_name': 'openpi', 'exp_name': '0513_pi05_online_sliding_speed_embed_text_0p5_0p75_1p0_1p25_1p5_1p75_2p0', 'model': {'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': None}, 'weight_loader': {'params_path': 'gs://openpi-assets/checkpoints/pi05_base/params', 'missing_regex': '.*lora.*'}, 'pytorch_weight_path': '/robby/share/Robotics/zhangtianqi/model/pi_base_models_torch/pi05_base_torch', 'pytorch_training_precision': 'bfloat16', 'lr_schedule': {'warmup_steps': 1000, 'peak_lr': 0.0001, 'decay_steps': 30000, 'decay_lr': 1e-06}, 'optimizer': {'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': {'repo_id': '/robby/share/Robotics/zhangtianqi/cache/huggingface/lerobot/your_hf_username/libero', 'assets': {'assets_dir': None, 'asset_id': 'online_sliding_speed_embed_0p5_0p75_1p0_1p25_1p5_1p75_2p0_pi05'}, 'base_config': {'repo_id': None, 'asset_id': None, 'norm_stats': None, 'repack_transforms': {'inputs': (), 'outputs': ()}, 'data_transforms': {'inputs': (), 'outputs': ()}, 'model_transforms': {'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': [0.5, 0.75, 1.0, 1.25, 1.5, 1.75, 2.0], 'speed_integration': 'text'}, 'assets_base_dir': './assets', 'checkpoint_base_dir': './checkpoints', 'seed': 42, 'batch_size': 512, 'num_workers': 8, 'num_train_steps': 30000, 'log_interval': 100, 'save_interval': 5000, 'keep_period': 5000, 'overwrite': True, 'resume': False, 'wandb_enabled': True, 'eval_speed_set': (0.5, 0.75, 1.0, 1.25, 1.5, 1.75, 2.0), 'policy_metadata': None, 'fsdp_devices': 1, '_wandb': {'code_path': 'code/scripts/train_pytorch.py'}}
2026-05-13 21:53:33,168 INFO    MainThread:459 [wandb_init.py:init():871] starting backend
2026-05-13 21:53:33,983 INFO    MainThread:459 [wandb_init.py:init():874] sending inform_init request
2026-05-13 21:53:33,996 INFO    MainThread:459 [wandb_init.py:init():882] backend started and connected
2026-05-13 21:53:34,001 INFO    MainThread:459 [wandb_init.py:init():953] updated telemetry
2026-05-13 21:53:34,049 INFO    MainThread:459 [wandb_init.py:init():977] communicating run to backend with 90.0 second timeout
2026-05-13 21:53:34,412 INFO    MainThread:459 [wandb_init.py:init():1029] starting run threads in backend
2026-05-13 21:53:35,117 INFO    MainThread:459 [wandb_run.py:_console_start():2458] atexit reg
2026-05-13 21:53:35,118 INFO    MainThread:459 [wandb_run.py:_redirect():2306] redirect: wrap_raw
2026-05-13 21:53:35,118 INFO    MainThread:459 [wandb_run.py:_redirect():2375] Wrapping output streams.
2026-05-13 21:53:35,118 INFO    MainThread:459 [wandb_run.py:_redirect():2398] Redirects installed.
2026-05-13 21:53:35,128 INFO    MainThread:459 [wandb_init.py:init():1075] run started, returning control to user process
2026-05-15 02:47:14,044 INFO    MainThread:459 [wandb_run.py:_finish():2224] finishing run tianqi/openpi/hetzx4o4
2026-05-15 02:47:14,045 INFO    MainThread:459 [wandb_run.py:_atexit_cleanup():2423] got exitcode: 0
2026-05-15 02:47:14,046 INFO    MainThread:459 [wandb_run.py:_restore():2405] restore
2026-05-15 02:47:14,046 INFO    MainThread:459 [wandb_run.py:_restore():2411] restore done
2026-05-15 02:47:14,548 INFO    MainThread:459 [wandb_run.py:_footer_history_summary_info():3903] rendering history
2026-05-15 02:47:14,549 INFO    MainThread:459 [wandb_run.py:_footer_history_summary_info():3935] rendering summary
2026-05-15 02:47:14,549 INFO    MainThread:459 [wandb_run.py:_footer_sync_info():3864] logging synced files