| [2025-09-21 12:41:48,146][root][INFO] - Number of network parameters: 575564 |
| [2025-09-21 12:41:48,280][agent.dataset.sequence][INFO] - Loaded dataset from /home/zbzhu/Code/dppo/data/robomimic/can/train.npz |
| [2025-09-21 12:41:48,280][agent.dataset.sequence][INFO] - Number of episodes: 15 |
| [2025-09-21 12:41:48,280][agent.dataset.sequence][INFO] - States shape/type: (torch.Size([1752, 23]), torch.float32) |
| [2025-09-21 12:41:48,280][agent.dataset.sequence][INFO] - Actions shape/type: (torch.Size([1752, 7]), torch.float32) |
| [2025-09-21 12:41:48,398][agent.pretrain.train_diffusion_agent][INFO] - 1: train loss 1.0598 | t: 0.1167 |
| [2025-09-21 12:41:48,427][agent.pretrain.train_diffusion_agent][INFO] - 2: train loss 1.0533 | t: 0.0294 |
| [2025-09-21 12:41:48,457][agent.pretrain.train_diffusion_agent][INFO] - 3: train loss 1.0341 | t: 0.0295 |
| [2025-09-21 12:41:48,485][agent.pretrain.train_diffusion_agent][INFO] - 4: train loss 1.0240 | t: 0.0284 |
| [2025-09-21 12:41:48,514][agent.pretrain.train_diffusion_agent][INFO] - 5: train loss 1.0282 | t: 0.0287 |
| [2025-09-21 12:41:48,543][agent.pretrain.train_diffusion_agent][INFO] - 6: train loss 1.0082 | t: 0.0289 |
| [2025-09-21 12:41:48,572][agent.pretrain.train_diffusion_agent][INFO] - 7: train loss 0.9967 | t: 0.0288 |
| [2025-09-21 12:41:48,601][agent.pretrain.train_diffusion_agent][INFO] - 8: train loss 0.9822 | t: 0.0300 |
| [2025-09-21 12:41:48,631][agent.pretrain.train_diffusion_agent][INFO] - 9: train loss 0.9828 | t: 0.0293 |
| [2025-09-21 12:41:48,660][agent.pretrain.train_diffusion_agent][INFO] - 10: train loss 0.9827 | t: 0.0287 |
| [2025-09-21 12:41:48,689][agent.pretrain.train_diffusion_agent][INFO] - 11: train loss 0.9539 | t: 0.0295 |
| [2025-09-21 12:41:48,722][agent.pretrain.train_diffusion_agent][INFO] - 12: train loss 0.9600 | t: 0.0331 |
| [2025-09-21 12:41:48,754][agent.pretrain.train_diffusion_agent][INFO] - 13: train loss 0.9458 | t: 0.0316 |
| [2025-09-21 12:41:48,783][agent.pretrain.train_diffusion_agent][INFO] - 14: train loss 0.9338 | t: 0.0296 |
| [2025-09-21 12:41:48,812][agent.pretrain.train_diffusion_agent][INFO] - 15: train loss 0.9123 | t: 0.0292 |
| [2025-09-21 12:41:48,843][agent.pretrain.train_diffusion_agent][INFO] - 16: train loss 0.9028 | t: 0.0301 |
| [2025-09-21 12:41:48,872][agent.pretrain.train_diffusion_agent][INFO] - 17: train loss 0.8889 | t: 0.0298 |
| [2025-09-21 12:41:48,903][agent.pretrain.train_diffusion_agent][INFO] - 18: train loss 0.8803 | t: 0.0303 |
| [2025-09-21 12:41:48,932][agent.pretrain.train_diffusion_agent][INFO] - 19: train loss 0.8541 | t: 0.0296 |
| [2025-09-21 12:41:48,962][agent.pretrain.train_diffusion_agent][INFO] - 20: train loss 0.8513 | t: 0.0296 |
| [2025-09-21 12:41:48,991][agent.pretrain.train_diffusion_agent][INFO] - 21: train loss 0.8318 | t: 0.0291 |
| [2025-09-21 12:41:49,020][agent.pretrain.train_diffusion_agent][INFO] - 22: train loss 0.8264 | t: 0.0292 |
| [2025-09-21 12:41:49,050][agent.pretrain.train_diffusion_agent][INFO] - 23: train loss 0.7988 | t: 0.0300 |
| [2025-09-21 12:41:49,080][agent.pretrain.train_diffusion_agent][INFO] - 24: train loss 0.7882 | t: 0.0297 |
| [2025-09-21 12:41:49,110][agent.pretrain.train_diffusion_agent][INFO] - 25: train loss 0.7787 | t: 0.0297 |
| [2025-09-21 12:41:49,140][agent.pretrain.train_diffusion_agent][INFO] - 26: train loss 0.7541 | t: 0.0301 |
| [2025-09-21 12:41:49,169][agent.pretrain.train_diffusion_agent][INFO] - 27: train loss 0.7394 | t: 0.0294 |
| [2025-09-21 12:41:49,201][agent.pretrain.train_diffusion_agent][INFO] - 28: train loss 0.7205 | t: 0.0316 |
| [2025-09-21 12:41:49,231][agent.pretrain.train_diffusion_agent][INFO] - 29: train loss 0.7036 | t: 0.0305 |
| [2025-09-21 12:41:49,261][agent.pretrain.train_diffusion_agent][INFO] - 30: train loss 0.6839 | t: 0.0298 |
| [2025-09-21 12:41:49,291][agent.pretrain.train_diffusion_agent][INFO] - 31: train loss 0.6634 | t: 0.0301 |
| [2025-09-21 12:41:49,321][agent.pretrain.train_diffusion_agent][INFO] - 32: train loss 0.6518 | t: 0.0302 |
| [2025-09-21 12:41:49,351][agent.pretrain.train_diffusion_agent][INFO] - 33: train loss 0.6356 | t: 0.0300 |
| [2025-09-21 12:41:49,380][agent.pretrain.train_diffusion_agent][INFO] - 34: train loss 0.6240 | t: 0.0289 |
| [2025-09-21 12:41:49,409][agent.pretrain.train_diffusion_agent][INFO] - 35: train loss 0.5925 | t: 0.0290 |
| [2025-09-21 12:41:49,439][agent.pretrain.train_diffusion_agent][INFO] - 36: train loss 0.5764 | t: 0.0295 |
| [2025-09-21 12:41:49,468][agent.pretrain.train_diffusion_agent][INFO] - 37: train loss 0.5551 | t: 0.0290 |
| [2025-09-21 12:41:49,497][agent.pretrain.train_diffusion_agent][INFO] - 38: train loss 0.5331 | t: 0.0291 |
| [2025-09-21 12:41:49,527][agent.pretrain.train_diffusion_agent][INFO] - 39: train loss 0.5127 | t: 0.0300 |
| [2025-09-21 12:41:49,557][agent.pretrain.train_diffusion_agent][INFO] - 40: train loss 0.4889 | t: 0.0300 |
| [2025-09-21 12:41:49,587][agent.pretrain.train_diffusion_agent][INFO] - 41: train loss 0.4729 | t: 0.0299 |
| [2025-09-21 12:41:49,616][agent.pretrain.train_diffusion_agent][INFO] - 42: train loss 0.4445 | t: 0.0294 |
| [2025-09-21 12:41:49,645][agent.pretrain.train_diffusion_agent][INFO] - 43: train loss 0.4333 | t: 0.0291 |
| [2025-09-21 12:41:49,674][agent.pretrain.train_diffusion_agent][INFO] - 44: train loss 0.4299 | t: 0.0289 |
| [2025-09-21 12:41:49,704][agent.pretrain.train_diffusion_agent][INFO] - 45: train loss 0.4057 | t: 0.0297 |
| [2025-09-21 12:41:49,734][agent.pretrain.train_diffusion_agent][INFO] - 46: train loss 0.3855 | t: 0.0301 |
| [2025-09-21 12:41:49,763][agent.pretrain.train_diffusion_agent][INFO] - 47: train loss 0.3620 | t: 0.0298 |
| [2025-09-21 12:41:49,794][agent.pretrain.train_diffusion_agent][INFO] - 48: train loss 0.3413 | t: 0.0302 |
| [2025-09-21 12:41:49,824][agent.pretrain.train_diffusion_agent][INFO] - 49: train loss 0.3263 | t: 0.0302 |
| [2025-09-21 12:41:49,853][agent.pretrain.train_diffusion_agent][INFO] - 50: train loss 0.3071 | t: 0.0296 |
| [2025-09-21 12:41:49,883][agent.pretrain.train_diffusion_agent][INFO] - 51: train loss 0.2987 | t: 0.0293 |
| [2025-09-21 12:41:49,913][agent.pretrain.train_diffusion_agent][INFO] - 52: train loss 0.2769 | t: 0.0300 |
| [2025-09-21 12:41:49,943][agent.pretrain.train_diffusion_agent][INFO] - 53: train loss 0.2696 | t: 0.0302 |
| [2025-09-21 12:41:49,973][agent.pretrain.train_diffusion_agent][INFO] - 54: train loss 0.2521 | t: 0.0298 |
| [2025-09-21 12:41:50,010][agent.pretrain.train_diffusion_agent][INFO] - 55: train loss 0.2393 | t: 0.0372 |
| [2025-09-21 12:41:50,049][agent.pretrain.train_diffusion_agent][INFO] - 56: train loss 0.2415 | t: 0.0391 |
| [2025-09-21 12:41:50,080][agent.pretrain.train_diffusion_agent][INFO] - 57: train loss 0.2387 | t: 0.0305 |
| [2025-09-21 12:41:50,110][agent.pretrain.train_diffusion_agent][INFO] - 58: train loss 0.2211 | t: 0.0303 |
| [2025-09-21 12:41:50,140][agent.pretrain.train_diffusion_agent][INFO] - 59: train loss 0.2197 | t: 0.0298 |
| [2025-09-21 12:41:50,171][agent.pretrain.train_diffusion_agent][INFO] - 60: train loss 0.2253 | t: 0.0315 |
| [2025-09-21 12:41:50,201][agent.pretrain.train_diffusion_agent][INFO] - 61: train loss 0.2212 | t: 0.0298 |
| [2025-09-21 12:41:50,291][agent.pretrain.train_diffusion_agent][INFO] - 62: train loss 0.2050 | t: 0.0899 |
| [2025-09-21 12:41:50,324][agent.pretrain.train_diffusion_agent][INFO] - 63: train loss 0.2077 | t: 0.0333 |
| [2025-09-21 12:41:50,354][agent.pretrain.train_diffusion_agent][INFO] - 64: train loss 0.2106 | t: 0.0297 |
| [2025-09-21 12:41:50,383][agent.pretrain.train_diffusion_agent][INFO] - 65: train loss 0.2163 | t: 0.0294 |
| [2025-09-21 12:41:50,413][agent.pretrain.train_diffusion_agent][INFO] - 66: train loss 0.2137 | t: 0.0297 |
| [2025-09-21 12:41:50,442][agent.pretrain.train_diffusion_agent][INFO] - 67: train loss 0.2198 | t: 0.0289 |
| [2025-09-21 12:41:50,471][agent.pretrain.train_diffusion_agent][INFO] - 68: train loss 0.2067 | t: 0.0292 |
| [2025-09-21 12:41:50,501][agent.pretrain.train_diffusion_agent][INFO] - 69: train loss 0.2085 | t: 0.0300 |
| [2025-09-21 12:41:50,531][agent.pretrain.train_diffusion_agent][INFO] - 70: train loss 0.2074 | t: 0.0299 |
| [2025-09-21 12:41:50,561][agent.pretrain.train_diffusion_agent][INFO] - 71: train loss 0.2081 | t: 0.0295 |
| [2025-09-21 12:41:50,590][agent.pretrain.train_diffusion_agent][INFO] - 72: train loss 0.2105 | t: 0.0292 |
| [2025-09-21 12:41:50,619][agent.pretrain.train_diffusion_agent][INFO] - 73: train loss 0.2071 | t: 0.0294 |
| [2025-09-21 12:41:50,648][agent.pretrain.train_diffusion_agent][INFO] - 74: train loss 0.2094 | t: 0.0285 |
| [2025-09-21 12:41:50,677][agent.pretrain.train_diffusion_agent][INFO] - 75: train loss 0.2115 | t: 0.0291 |
| [2025-09-21 12:41:50,706][agent.pretrain.train_diffusion_agent][INFO] - 76: train loss 0.2030 | t: 0.0290 |
| [2025-09-21 12:41:50,735][agent.pretrain.train_diffusion_agent][INFO] - 77: train loss 0.2163 | t: 0.0289 |
| [2025-09-21 12:41:50,764][agent.pretrain.train_diffusion_agent][INFO] - 78: train loss 0.1988 | t: 0.0290 |
| [2025-09-21 12:41:50,793][agent.pretrain.train_diffusion_agent][INFO] - 79: train loss 0.2073 | t: 0.0291 |
| [2025-09-21 12:41:50,822][agent.pretrain.train_diffusion_agent][INFO] - 80: train loss 0.2206 | t: 0.0289 |
| [2025-09-21 12:41:50,851][agent.pretrain.train_diffusion_agent][INFO] - 81: train loss 0.2089 | t: 0.0291 |
| [2025-09-21 12:41:50,880][agent.pretrain.train_diffusion_agent][INFO] - 82: train loss 0.2069 | t: 0.0293 |
| [2025-09-21 12:41:50,909][agent.pretrain.train_diffusion_agent][INFO] - 83: train loss 0.2033 | t: 0.0289 |
| [2025-09-21 12:41:50,937][agent.pretrain.train_diffusion_agent][INFO] - 84: train loss 0.2072 | t: 0.0285 |
| [2025-09-21 12:41:50,967][agent.pretrain.train_diffusion_agent][INFO] - 85: train loss 0.1989 | t: 0.0291 |
| [2025-09-21 12:41:50,995][agent.pretrain.train_diffusion_agent][INFO] - 86: train loss 0.2044 | t: 0.0283 |
| [2025-09-21 12:41:51,024][agent.pretrain.train_diffusion_agent][INFO] - 87: train loss 0.1990 | t: 0.0289 |
| [2025-09-21 12:41:51,052][agent.pretrain.train_diffusion_agent][INFO] - 88: train loss 0.1930 | t: 0.0286 |
| [2025-09-21 12:41:51,081][agent.pretrain.train_diffusion_agent][INFO] - 89: train loss 0.1958 | t: 0.0289 |
| [2025-09-21 12:41:51,115][agent.pretrain.train_diffusion_agent][INFO] - 90: train loss 0.1943 | t: 0.0340 |
| [2025-09-21 12:41:51,149][agent.pretrain.train_diffusion_agent][INFO] - 91: train loss 0.2044 | t: 0.0336 |
| [2025-09-21 12:41:51,177][agent.pretrain.train_diffusion_agent][INFO] - 92: train loss 0.2077 | t: 0.0286 |
| [2025-09-21 12:41:51,206][agent.pretrain.train_diffusion_agent][INFO] - 93: train loss 0.1998 | t: 0.0287 |
| [2025-09-21 12:41:51,235][agent.pretrain.train_diffusion_agent][INFO] - 94: train loss 0.1959 | t: 0.0288 |
| [2025-09-21 12:41:51,264][agent.pretrain.train_diffusion_agent][INFO] - 95: train loss 0.1962 | t: 0.0287 |
| [2025-09-21 12:41:51,293][agent.pretrain.train_diffusion_agent][INFO] - 96: train loss 0.2087 | t: 0.0290 |
| [2025-09-21 12:41:51,321][agent.pretrain.train_diffusion_agent][INFO] - 97: train loss 0.1923 | t: 0.0285 |
| [2025-09-21 12:41:51,350][agent.pretrain.train_diffusion_agent][INFO] - 98: train loss 0.1966 | t: 0.0287 |
| [2025-09-21 12:41:51,378][agent.pretrain.train_diffusion_agent][INFO] - 99: train loss 0.1936 | t: 0.0286 |
| [2025-09-21 12:41:51,407][agent.pretrain.train_diffusion_agent][INFO] - 100: train loss 0.1875 | t: 0.0284 |
| [2025-09-21 12:41:51,436][agent.pretrain.train_diffusion_agent][INFO] - 101: train loss 0.1949 | t: 0.0289 |
| [2025-09-21 12:41:51,465][agent.pretrain.train_diffusion_agent][INFO] - 102: train loss 0.1920 | t: 0.0288 |
| [2025-09-21 12:41:51,493][agent.pretrain.train_diffusion_agent][INFO] - 103: train loss 0.1894 | t: 0.0286 |
| [2025-09-21 12:41:51,522][agent.pretrain.train_diffusion_agent][INFO] - 104: train loss 0.1876 | t: 0.0284 |
| [2025-09-21 12:41:51,550][agent.pretrain.train_diffusion_agent][INFO] - 105: train loss 0.1819 | t: 0.0287 |
| [2025-09-21 12:41:51,579][agent.pretrain.train_diffusion_agent][INFO] - 106: train loss 0.1846 | t: 0.0291 |
| [2025-09-21 12:41:51,609][agent.pretrain.train_diffusion_agent][INFO] - 107: train loss 0.1867 | t: 0.0292 |
| [2025-09-21 12:41:51,637][agent.pretrain.train_diffusion_agent][INFO] - 108: train loss 0.1788 | t: 0.0289 |
| [2025-09-21 12:41:51,666][agent.pretrain.train_diffusion_agent][INFO] - 109: train loss 0.1845 | t: 0.0289 |
| [2025-09-21 12:41:51,695][agent.pretrain.train_diffusion_agent][INFO] - 110: train loss 0.1798 | t: 0.0289 |
| [2025-09-21 12:41:51,724][agent.pretrain.train_diffusion_agent][INFO] - 111: train loss 0.1635 | t: 0.0289 |
| [2025-09-21 12:41:51,753][agent.pretrain.train_diffusion_agent][INFO] - 112: train loss 0.1733 | t: 0.0290 |
| [2025-09-21 12:41:51,783][agent.pretrain.train_diffusion_agent][INFO] - 113: train loss 0.1809 | t: 0.0299 |
| [2025-09-21 12:41:51,812][agent.pretrain.train_diffusion_agent][INFO] - 114: train loss 0.1783 | t: 0.0289 |
| [2025-09-21 12:41:51,841][agent.pretrain.train_diffusion_agent][INFO] - 115: train loss 0.1762 | t: 0.0291 |
| [2025-09-21 12:41:51,870][agent.pretrain.train_diffusion_agent][INFO] - 116: train loss 0.1703 | t: 0.0286 |
| [2025-09-21 12:41:51,898][agent.pretrain.train_diffusion_agent][INFO] - 117: train loss 0.1691 | t: 0.0287 |
| [2025-09-21 12:41:51,927][agent.pretrain.train_diffusion_agent][INFO] - 118: train loss 0.1664 | t: 0.0291 |
| [2025-09-21 12:41:51,957][agent.pretrain.train_diffusion_agent][INFO] - 119: train loss 0.1740 | t: 0.0291 |
| [2025-09-21 12:41:51,985][agent.pretrain.train_diffusion_agent][INFO] - 120: train loss 0.1725 | t: 0.0287 |
| [2025-09-21 12:41:52,014][agent.pretrain.train_diffusion_agent][INFO] - 121: train loss 0.1621 | t: 0.0292 |
| [2025-09-21 12:41:52,043][agent.pretrain.train_diffusion_agent][INFO] - 122: train loss 0.1700 | t: 0.0289 |
| [2025-09-21 12:41:52,072][agent.pretrain.train_diffusion_agent][INFO] - 123: train loss 0.1667 | t: 0.0290 |
| [2025-09-21 12:41:52,101][agent.pretrain.train_diffusion_agent][INFO] - 124: train loss 0.1630 | t: 0.0289 |
| [2025-09-21 12:41:52,130][agent.pretrain.train_diffusion_agent][INFO] - 125: train loss 0.1539 | t: 0.0290 |
| [2025-09-21 12:41:52,159][agent.pretrain.train_diffusion_agent][INFO] - 126: train loss 0.1520 | t: 0.0289 |
| [2025-09-21 12:41:52,188][agent.pretrain.train_diffusion_agent][INFO] - 127: train loss 0.1611 | t: 0.0286 |
| [2025-09-21 12:41:52,216][agent.pretrain.train_diffusion_agent][INFO] - 128: train loss 0.1616 | t: 0.0288 |
| [2025-09-21 12:41:52,246][agent.pretrain.train_diffusion_agent][INFO] - 129: train loss 0.1600 | t: 0.0291 |
| [2025-09-21 12:41:52,274][agent.pretrain.train_diffusion_agent][INFO] - 130: train loss 0.1517 | t: 0.0286 |
| [2025-09-21 12:41:52,303][agent.pretrain.train_diffusion_agent][INFO] - 131: train loss 0.1503 | t: 0.0287 |
| [2025-09-21 12:41:52,332][agent.pretrain.train_diffusion_agent][INFO] - 132: train loss 0.1524 | t: 0.0291 |
| [2025-09-21 12:41:52,361][agent.pretrain.train_diffusion_agent][INFO] - 133: train loss 0.1426 | t: 0.0289 |
| [2025-09-21 12:41:52,390][agent.pretrain.train_diffusion_agent][INFO] - 134: train loss 0.1473 | t: 0.0289 |
| [2025-09-21 12:41:52,419][agent.pretrain.train_diffusion_agent][INFO] - 135: train loss 0.1544 | t: 0.0296 |
| [2025-09-21 12:41:52,449][agent.pretrain.train_diffusion_agent][INFO] - 136: train loss 0.1433 | t: 0.0301 |
| [2025-09-21 12:41:52,479][agent.pretrain.train_diffusion_agent][INFO] - 137: train loss 0.1530 | t: 0.0297 |
| [2025-09-21 12:41:52,509][agent.pretrain.train_diffusion_agent][INFO] - 138: train loss 0.1444 | t: 0.0300 |
| [2025-09-21 12:41:52,539][agent.pretrain.train_diffusion_agent][INFO] - 139: train loss 0.1482 | t: 0.0300 |
| [2025-09-21 12:41:52,568][agent.pretrain.train_diffusion_agent][INFO] - 140: train loss 0.1460 | t: 0.0286 |
| [2025-09-21 12:41:52,597][agent.pretrain.train_diffusion_agent][INFO] - 141: train loss 0.1449 | t: 0.0293 |
| [2025-09-21 12:41:52,627][agent.pretrain.train_diffusion_agent][INFO] - 142: train loss 0.1463 | t: 0.0304 |
| [2025-09-21 12:41:52,656][agent.pretrain.train_diffusion_agent][INFO] - 143: train loss 0.1483 | t: 0.0289 |
| [2025-09-21 12:41:52,686][agent.pretrain.train_diffusion_agent][INFO] - 144: train loss 0.1469 | t: 0.0296 |
| [2025-09-21 12:41:52,716][agent.pretrain.train_diffusion_agent][INFO] - 145: train loss 0.1408 | t: 0.0297 |
| [2025-09-21 12:41:52,745][agent.pretrain.train_diffusion_agent][INFO] - 146: train loss 0.1424 | t: 0.0295 |
| [2025-09-21 12:41:52,773][agent.pretrain.train_diffusion_agent][INFO] - 147: train loss 0.1441 | t: 0.0283 |
| [2025-09-21 12:41:52,803][agent.pretrain.train_diffusion_agent][INFO] - 148: train loss 0.1367 | t: 0.0296 |
| [2025-09-21 12:41:52,832][agent.pretrain.train_diffusion_agent][INFO] - 149: train loss 0.1377 | t: 0.0293 |
| [2025-09-21 12:41:52,861][agent.pretrain.train_diffusion_agent][INFO] - 150: train loss 0.1425 | t: 0.0286 |
| [2025-09-21 12:41:52,891][agent.pretrain.train_diffusion_agent][INFO] - 151: train loss 0.1544 | t: 0.0298 |
| [2025-09-21 12:41:52,921][agent.pretrain.train_diffusion_agent][INFO] - 152: train loss 0.1361 | t: 0.0297 |
| [2025-09-21 12:41:52,950][agent.pretrain.train_diffusion_agent][INFO] - 153: train loss 0.1367 | t: 0.0298 |
| [2025-09-21 12:41:52,980][agent.pretrain.train_diffusion_agent][INFO] - 154: train loss 0.1441 | t: 0.0293 |
| [2025-09-21 12:41:53,010][agent.pretrain.train_diffusion_agent][INFO] - 155: train loss 0.1409 | t: 0.0297 |
| [2025-09-21 12:41:53,039][agent.pretrain.train_diffusion_agent][INFO] - 156: train loss 0.1428 | t: 0.0299 |
| [2025-09-21 12:41:53,069][agent.pretrain.train_diffusion_agent][INFO] - 157: train loss 0.1417 | t: 0.0295 |
| [2025-09-21 12:41:53,098][agent.pretrain.train_diffusion_agent][INFO] - 158: train loss 0.1394 | t: 0.0295 |
| [2025-09-21 12:41:53,127][agent.pretrain.train_diffusion_agent][INFO] - 159: train loss 0.1399 | t: 0.0288 |
| [2025-09-21 12:41:53,156][agent.pretrain.train_diffusion_agent][INFO] - 160: train loss 0.1446 | t: 0.0285 |
| [2025-09-21 12:41:53,185][agent.pretrain.train_diffusion_agent][INFO] - 161: train loss 0.1333 | t: 0.0289 |
| [2025-09-21 12:41:53,214][agent.pretrain.train_diffusion_agent][INFO] - 162: train loss 0.1369 | t: 0.0291 |
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| [2025-09-21 12:41:54,335][agent.pretrain.train_agent][INFO] - Saved model to /home/zbzhu/Code/dppo/log/robomimic-pretrain/can_pre_diffusion_mlp_ta4_td20/2025-09-21_12-41-42_42/checkpoint/state_200.pt |
| [2025-09-21 12:41:54,335][agent.pretrain.train_diffusion_agent][INFO] - 200: train loss 0.1272 | t: 0.0337 |
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| [2025-09-21 12:42:00,248][agent.pretrain.train_agent][INFO] - Saved model to /home/zbzhu/Code/dppo/log/robomimic-pretrain/can_pre_diffusion_mlp_ta4_td20/2025-09-21_12-41-42_42/checkpoint/state_400.pt |
| [2025-09-21 12:42:00,248][agent.pretrain.train_diffusion_agent][INFO] - 400: train loss 0.0964 | t: 0.0338 |
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| [2025-09-21 12:42:03,006][agent.pretrain.train_diffusion_agent][INFO] - 495: train loss 0.0930 | t: 0.0285 |
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| [2025-09-21 12:42:03,375][agent.pretrain.train_diffusion_agent][INFO] - 508: train loss 0.0965 | t: 0.0284 |
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| [2025-09-21 12:42:03,432][agent.pretrain.train_diffusion_agent][INFO] - 510: train loss 0.0952 | t: 0.0281 |
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| [2025-09-21 12:42:03,489][agent.pretrain.train_diffusion_agent][INFO] - 512: train loss 0.0921 | t: 0.0285 |
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| [2025-09-21 12:42:03,546][agent.pretrain.train_diffusion_agent][INFO] - 514: train loss 0.0915 | t: 0.0283 |
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| [2025-09-21 12:42:03,603][agent.pretrain.train_diffusion_agent][INFO] - 516: train loss 0.0907 | t: 0.0286 |
| [2025-09-21 12:42:03,632][agent.pretrain.train_diffusion_agent][INFO] - 517: train loss 0.0935 | t: 0.0287 |
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| [2025-09-21 12:42:03,803][agent.pretrain.train_diffusion_agent][INFO] - 523: train loss 0.0915 | t: 0.0288 |
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| [2025-09-21 12:42:04,059][agent.pretrain.train_diffusion_agent][INFO] - 530: train loss 0.0933 | t: 0.0283 |
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| [2025-09-21 12:42:04,831][agent.pretrain.train_diffusion_agent][INFO] - 557: train loss 0.0884 | t: 0.0284 |
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| [2025-09-21 12:42:05,035][agent.pretrain.train_diffusion_agent][INFO] - 564: train loss 0.0930 | t: 0.0294 |
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| [2025-09-21 12:42:05,798][agent.pretrain.train_diffusion_agent][INFO] - 590: train loss 0.0881 | t: 0.0287 |
| [2025-09-21 12:42:05,828][agent.pretrain.train_diffusion_agent][INFO] - 591: train loss 0.0844 | t: 0.0292 |
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| [2025-09-21 12:42:05,885][agent.pretrain.train_diffusion_agent][INFO] - 593: train loss 0.0939 | t: 0.0287 |
| [2025-09-21 12:42:05,914][agent.pretrain.train_diffusion_agent][INFO] - 594: train loss 0.0904 | t: 0.0286 |
| [2025-09-21 12:42:05,942][agent.pretrain.train_diffusion_agent][INFO] - 595: train loss 0.0865 | t: 0.0285 |
| [2025-09-21 12:42:05,971][agent.pretrain.train_diffusion_agent][INFO] - 596: train loss 0.0843 | t: 0.0288 |
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| [2025-09-21 12:42:06,057][agent.pretrain.train_diffusion_agent][INFO] - 599: train loss 0.0829 | t: 0.0289 |
| [2025-09-21 12:42:06,090][agent.pretrain.train_agent][INFO] - Saved model to /home/zbzhu/Code/dppo/log/robomimic-pretrain/can_pre_diffusion_mlp_ta4_td20/2025-09-21_12-41-42_42/checkpoint/state_600.pt |
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| [2025-09-21 12:42:07,510][agent.pretrain.train_diffusion_agent][INFO] - 649: train loss 0.0939 | t: 0.0302 |
| [2025-09-21 12:42:07,539][agent.pretrain.train_diffusion_agent][INFO] - 650: train loss 0.0836 | t: 0.0290 |
| [2025-09-21 12:42:07,569][agent.pretrain.train_diffusion_agent][INFO] - 651: train loss 0.0859 | t: 0.0292 |
| [2025-09-21 12:42:07,597][agent.pretrain.train_diffusion_agent][INFO] - 652: train loss 0.0779 | t: 0.0287 |
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| [2025-09-21 12:42:07,656][agent.pretrain.train_diffusion_agent][INFO] - 654: train loss 0.0811 | t: 0.0284 |
| [2025-09-21 12:42:07,685][agent.pretrain.train_diffusion_agent][INFO] - 655: train loss 0.0824 | t: 0.0287 |
| [2025-09-21 12:42:07,714][agent.pretrain.train_diffusion_agent][INFO] - 656: train loss 0.0840 | t: 0.0290 |
| [2025-09-21 12:42:07,743][agent.pretrain.train_diffusion_agent][INFO] - 657: train loss 0.0834 | t: 0.0287 |
| [2025-09-21 12:42:07,772][agent.pretrain.train_diffusion_agent][INFO] - 658: train loss 0.0843 | t: 0.0289 |
| [2025-09-21 12:42:07,800][agent.pretrain.train_diffusion_agent][INFO] - 659: train loss 0.0838 | t: 0.0288 |
| [2025-09-21 12:42:07,829][agent.pretrain.train_diffusion_agent][INFO] - 660: train loss 0.0811 | t: 0.0285 |
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| [2025-09-21 12:42:08,033][agent.pretrain.train_diffusion_agent][INFO] - 667: train loss 0.0791 | t: 0.0278 |
| [2025-09-21 12:42:08,061][agent.pretrain.train_diffusion_agent][INFO] - 668: train loss 0.0883 | t: 0.0283 |
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| [2025-09-21 12:42:08,318][agent.pretrain.train_diffusion_agent][INFO] - 677: train loss 0.0801 | t: 0.0287 |
| [2025-09-21 12:42:08,347][agent.pretrain.train_diffusion_agent][INFO] - 678: train loss 0.0853 | t: 0.0287 |
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| [2025-09-21 12:42:08,467][agent.pretrain.train_diffusion_agent][INFO] - 680: train loss 0.0891 | t: 0.0915 |
| [2025-09-21 12:42:08,497][agent.pretrain.train_diffusion_agent][INFO] - 681: train loss 0.0779 | t: 0.0302 |
| [2025-09-21 12:42:08,526][agent.pretrain.train_diffusion_agent][INFO] - 682: train loss 0.0819 | t: 0.0291 |
| [2025-09-21 12:42:08,555][agent.pretrain.train_diffusion_agent][INFO] - 683: train loss 0.0827 | t: 0.0289 |
| [2025-09-21 12:42:08,584][agent.pretrain.train_diffusion_agent][INFO] - 684: train loss 0.0828 | t: 0.0290 |
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| [2025-09-21 12:42:08,642][agent.pretrain.train_diffusion_agent][INFO] - 686: train loss 0.0883 | t: 0.0287 |
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| [2025-09-21 12:42:08,699][agent.pretrain.train_diffusion_agent][INFO] - 688: train loss 0.0834 | t: 0.0284 |
| [2025-09-21 12:42:08,728][agent.pretrain.train_diffusion_agent][INFO] - 689: train loss 0.0870 | t: 0.0290 |
| [2025-09-21 12:42:08,757][agent.pretrain.train_diffusion_agent][INFO] - 690: train loss 0.0723 | t: 0.0288 |
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| [2025-09-21 12:42:08,904][agent.pretrain.train_diffusion_agent][INFO] - 695: train loss 0.0818 | t: 0.0295 |
| [2025-09-21 12:42:08,934][agent.pretrain.train_diffusion_agent][INFO] - 696: train loss 0.0814 | t: 0.0298 |
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| [2025-09-21 12:42:09,108][agent.pretrain.train_diffusion_agent][INFO] - 702: train loss 0.0823 | t: 0.0299 |
| [2025-09-21 12:42:09,137][agent.pretrain.train_diffusion_agent][INFO] - 703: train loss 0.0823 | t: 0.0295 |
| [2025-09-21 12:42:09,166][agent.pretrain.train_diffusion_agent][INFO] - 704: train loss 0.0821 | t: 0.0289 |
| [2025-09-21 12:42:09,195][agent.pretrain.train_diffusion_agent][INFO] - 705: train loss 0.0760 | t: 0.0288 |
| [2025-09-21 12:42:09,224][agent.pretrain.train_diffusion_agent][INFO] - 706: train loss 0.0739 | t: 0.0289 |
| [2025-09-21 12:42:09,253][agent.pretrain.train_diffusion_agent][INFO] - 707: train loss 0.0780 | t: 0.0286 |
| [2025-09-21 12:42:09,282][agent.pretrain.train_diffusion_agent][INFO] - 708: train loss 0.0804 | t: 0.0299 |
| [2025-09-21 12:42:09,312][agent.pretrain.train_diffusion_agent][INFO] - 709: train loss 0.0834 | t: 0.0300 |
| [2025-09-21 12:42:09,342][agent.pretrain.train_diffusion_agent][INFO] - 710: train loss 0.0816 | t: 0.0295 |
| [2025-09-21 12:42:09,372][agent.pretrain.train_diffusion_agent][INFO] - 711: train loss 0.0750 | t: 0.0299 |
| [2025-09-21 12:42:09,401][agent.pretrain.train_diffusion_agent][INFO] - 712: train loss 0.0801 | t: 0.0293 |
| [2025-09-21 12:42:09,431][agent.pretrain.train_diffusion_agent][INFO] - 713: train loss 0.0850 | t: 0.0298 |
| [2025-09-21 12:42:09,461][agent.pretrain.train_diffusion_agent][INFO] - 714: train loss 0.0768 | t: 0.0298 |
| [2025-09-21 12:42:09,491][agent.pretrain.train_diffusion_agent][INFO] - 715: train loss 0.0787 | t: 0.0300 |
| [2025-09-21 12:42:09,521][agent.pretrain.train_diffusion_agent][INFO] - 716: train loss 0.0790 | t: 0.0299 |
| [2025-09-21 12:42:09,550][agent.pretrain.train_diffusion_agent][INFO] - 717: train loss 0.0817 | t: 0.0290 |
| [2025-09-21 12:42:09,579][agent.pretrain.train_diffusion_agent][INFO] - 718: train loss 0.0809 | t: 0.0289 |
| [2025-09-21 12:42:09,608][agent.pretrain.train_diffusion_agent][INFO] - 719: train loss 0.0814 | t: 0.0296 |
| [2025-09-21 12:42:09,637][agent.pretrain.train_diffusion_agent][INFO] - 720: train loss 0.0773 | t: 0.0289 |
| [2025-09-21 12:42:09,667][agent.pretrain.train_diffusion_agent][INFO] - 721: train loss 0.0812 | t: 0.0300 |
| [2025-09-21 12:42:09,697][agent.pretrain.train_diffusion_agent][INFO] - 722: train loss 0.0872 | t: 0.0298 |
| [2025-09-21 12:42:09,726][agent.pretrain.train_diffusion_agent][INFO] - 723: train loss 0.0857 | t: 0.0290 |
| [2025-09-21 12:42:09,754][agent.pretrain.train_diffusion_agent][INFO] - 724: train loss 0.0834 | t: 0.0279 |
| [2025-09-21 12:42:09,782][agent.pretrain.train_diffusion_agent][INFO] - 725: train loss 0.0802 | t: 0.0286 |
| [2025-09-21 12:42:09,812][agent.pretrain.train_diffusion_agent][INFO] - 726: train loss 0.0844 | t: 0.0297 |
| [2025-09-21 12:42:09,842][agent.pretrain.train_diffusion_agent][INFO] - 727: train loss 0.0860 | t: 0.0295 |
| [2025-09-21 12:42:09,871][agent.pretrain.train_diffusion_agent][INFO] - 728: train loss 0.0820 | t: 0.0292 |
| [2025-09-21 12:42:09,899][agent.pretrain.train_diffusion_agent][INFO] - 729: train loss 0.0776 | t: 0.0286 |
| [2025-09-21 12:42:09,928][agent.pretrain.train_diffusion_agent][INFO] - 730: train loss 0.0814 | t: 0.0284 |
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| [2025-09-21 12:42:09,985][agent.pretrain.train_diffusion_agent][INFO] - 732: train loss 0.0784 | t: 0.0288 |
| [2025-09-21 12:42:10,014][agent.pretrain.train_diffusion_agent][INFO] - 733: train loss 0.0835 | t: 0.0289 |
| [2025-09-21 12:42:10,044][agent.pretrain.train_diffusion_agent][INFO] - 734: train loss 0.0765 | t: 0.0296 |
| [2025-09-21 12:42:10,074][agent.pretrain.train_diffusion_agent][INFO] - 735: train loss 0.0796 | t: 0.0299 |
| [2025-09-21 12:42:10,104][agent.pretrain.train_diffusion_agent][INFO] - 736: train loss 0.0753 | t: 0.0300 |
| [2025-09-21 12:42:10,133][agent.pretrain.train_diffusion_agent][INFO] - 737: train loss 0.0787 | t: 0.0295 |
| [2025-09-21 12:42:10,163][agent.pretrain.train_diffusion_agent][INFO] - 738: train loss 0.0773 | t: 0.0298 |
| [2025-09-21 12:42:10,192][agent.pretrain.train_diffusion_agent][INFO] - 739: train loss 0.0839 | t: 0.0292 |
| [2025-09-21 12:42:10,221][agent.pretrain.train_diffusion_agent][INFO] - 740: train loss 0.0767 | t: 0.0285 |
| [2025-09-21 12:42:10,250][agent.pretrain.train_diffusion_agent][INFO] - 741: train loss 0.0780 | t: 0.0291 |
| [2025-09-21 12:42:10,279][agent.pretrain.train_diffusion_agent][INFO] - 742: train loss 0.0781 | t: 0.0287 |
| [2025-09-21 12:42:10,307][agent.pretrain.train_diffusion_agent][INFO] - 743: train loss 0.0828 | t: 0.0287 |
| [2025-09-21 12:42:10,336][agent.pretrain.train_diffusion_agent][INFO] - 744: train loss 0.0818 | t: 0.0288 |
| [2025-09-21 12:42:10,365][agent.pretrain.train_diffusion_agent][INFO] - 745: train loss 0.0811 | t: 0.0291 |
| [2025-09-21 12:42:10,395][agent.pretrain.train_diffusion_agent][INFO] - 746: train loss 0.0848 | t: 0.0296 |
| [2025-09-21 12:42:10,424][agent.pretrain.train_diffusion_agent][INFO] - 747: train loss 0.0802 | t: 0.0295 |
| [2025-09-21 12:42:10,454][agent.pretrain.train_diffusion_agent][INFO] - 748: train loss 0.0810 | t: 0.0292 |
| [2025-09-21 12:42:10,482][agent.pretrain.train_diffusion_agent][INFO] - 749: train loss 0.0806 | t: 0.0289 |
| [2025-09-21 12:42:10,511][agent.pretrain.train_diffusion_agent][INFO] - 750: train loss 0.0824 | t: 0.0289 |
| [2025-09-21 12:42:10,540][agent.pretrain.train_diffusion_agent][INFO] - 751: train loss 0.0885 | t: 0.0292 |
| [2025-09-21 12:42:10,569][agent.pretrain.train_diffusion_agent][INFO] - 752: train loss 0.0834 | t: 0.0288 |
| [2025-09-21 12:42:10,598][agent.pretrain.train_diffusion_agent][INFO] - 753: train loss 0.0869 | t: 0.0288 |
| [2025-09-21 12:42:10,628][agent.pretrain.train_diffusion_agent][INFO] - 754: train loss 0.0839 | t: 0.0294 |
| [2025-09-21 12:42:10,656][agent.pretrain.train_diffusion_agent][INFO] - 755: train loss 0.0814 | t: 0.0287 |
| [2025-09-21 12:42:10,685][agent.pretrain.train_diffusion_agent][INFO] - 756: train loss 0.0836 | t: 0.0286 |
| [2025-09-21 12:42:10,713][agent.pretrain.train_diffusion_agent][INFO] - 757: train loss 0.0814 | t: 0.0282 |
| [2025-09-21 12:42:10,742][agent.pretrain.train_diffusion_agent][INFO] - 758: train loss 0.0830 | t: 0.0288 |
| [2025-09-21 12:42:10,770][agent.pretrain.train_diffusion_agent][INFO] - 759: train loss 0.0759 | t: 0.0284 |
| [2025-09-21 12:42:10,799][agent.pretrain.train_diffusion_agent][INFO] - 760: train loss 0.0801 | t: 0.0289 |
| [2025-09-21 12:42:10,828][agent.pretrain.train_diffusion_agent][INFO] - 761: train loss 0.0728 | t: 0.0291 |
| [2025-09-21 12:42:10,857][agent.pretrain.train_diffusion_agent][INFO] - 762: train loss 0.0801 | t: 0.0290 |
| [2025-09-21 12:42:10,886][agent.pretrain.train_diffusion_agent][INFO] - 763: train loss 0.0838 | t: 0.0287 |
| [2025-09-21 12:42:10,914][agent.pretrain.train_diffusion_agent][INFO] - 764: train loss 0.0766 | t: 0.0281 |
| [2025-09-21 12:42:10,943][agent.pretrain.train_diffusion_agent][INFO] - 765: train loss 0.0782 | t: 0.0285 |
| [2025-09-21 12:42:10,972][agent.pretrain.train_diffusion_agent][INFO] - 766: train loss 0.0809 | t: 0.0290 |
| [2025-09-21 12:42:11,000][agent.pretrain.train_diffusion_agent][INFO] - 767: train loss 0.0722 | t: 0.0284 |
| [2025-09-21 12:42:11,029][agent.pretrain.train_diffusion_agent][INFO] - 768: train loss 0.0815 | t: 0.0291 |
| [2025-09-21 12:42:11,058][agent.pretrain.train_diffusion_agent][INFO] - 769: train loss 0.0824 | t: 0.0290 |
| [2025-09-21 12:42:11,086][agent.pretrain.train_diffusion_agent][INFO] - 770: train loss 0.0730 | t: 0.0280 |
| [2025-09-21 12:42:11,115][agent.pretrain.train_diffusion_agent][INFO] - 771: train loss 0.0771 | t: 0.0288 |
| [2025-09-21 12:42:11,143][agent.pretrain.train_diffusion_agent][INFO] - 772: train loss 0.0836 | t: 0.0284 |
| [2025-09-21 12:42:11,172][agent.pretrain.train_diffusion_agent][INFO] - 773: train loss 0.0772 | t: 0.0289 |
| [2025-09-21 12:42:11,201][agent.pretrain.train_diffusion_agent][INFO] - 774: train loss 0.0821 | t: 0.0283 |
| [2025-09-21 12:42:11,229][agent.pretrain.train_diffusion_agent][INFO] - 775: train loss 0.0776 | t: 0.0287 |
| [2025-09-21 12:42:11,259][agent.pretrain.train_diffusion_agent][INFO] - 776: train loss 0.0827 | t: 0.0295 |
| [2025-09-21 12:42:11,288][agent.pretrain.train_diffusion_agent][INFO] - 777: train loss 0.0863 | t: 0.0298 |
| [2025-09-21 12:42:11,318][agent.pretrain.train_diffusion_agent][INFO] - 778: train loss 0.0779 | t: 0.0298 |
| [2025-09-21 12:42:11,348][agent.pretrain.train_diffusion_agent][INFO] - 779: train loss 0.0766 | t: 0.0296 |
| [2025-09-21 12:42:11,376][agent.pretrain.train_diffusion_agent][INFO] - 780: train loss 0.0787 | t: 0.0286 |
| [2025-09-21 12:42:11,405][agent.pretrain.train_diffusion_agent][INFO] - 781: train loss 0.0758 | t: 0.0289 |
| [2025-09-21 12:42:11,434][agent.pretrain.train_diffusion_agent][INFO] - 782: train loss 0.0761 | t: 0.0288 |
| [2025-09-21 12:42:11,463][agent.pretrain.train_diffusion_agent][INFO] - 783: train loss 0.0754 | t: 0.0292 |
| [2025-09-21 12:42:11,493][agent.pretrain.train_diffusion_agent][INFO] - 784: train loss 0.0794 | t: 0.0297 |
| [2025-09-21 12:42:11,523][agent.pretrain.train_diffusion_agent][INFO] - 785: train loss 0.0775 | t: 0.0299 |
| [2025-09-21 12:42:11,553][agent.pretrain.train_diffusion_agent][INFO] - 786: train loss 0.0796 | t: 0.0297 |
| [2025-09-21 12:42:11,581][agent.pretrain.train_diffusion_agent][INFO] - 787: train loss 0.0793 | t: 0.0289 |
| [2025-09-21 12:42:11,611][agent.pretrain.train_diffusion_agent][INFO] - 788: train loss 0.0814 | t: 0.0290 |
| [2025-09-21 12:42:11,640][agent.pretrain.train_diffusion_agent][INFO] - 789: train loss 0.0803 | t: 0.0295 |
| [2025-09-21 12:42:11,670][agent.pretrain.train_diffusion_agent][INFO] - 790: train loss 0.0742 | t: 0.0298 |
| [2025-09-21 12:42:11,700][agent.pretrain.train_diffusion_agent][INFO] - 791: train loss 0.0834 | t: 0.0298 |
| [2025-09-21 12:42:11,729][agent.pretrain.train_diffusion_agent][INFO] - 792: train loss 0.0816 | t: 0.0296 |
| [2025-09-21 12:42:11,759][agent.pretrain.train_diffusion_agent][INFO] - 793: train loss 0.0816 | t: 0.0296 |
| [2025-09-21 12:42:11,788][agent.pretrain.train_diffusion_agent][INFO] - 794: train loss 0.0710 | t: 0.0288 |
| [2025-09-21 12:42:11,817][agent.pretrain.train_diffusion_agent][INFO] - 795: train loss 0.0760 | t: 0.0289 |
| [2025-09-21 12:42:11,845][agent.pretrain.train_diffusion_agent][INFO] - 796: train loss 0.0756 | t: 0.0288 |
| [2025-09-21 12:42:11,874][agent.pretrain.train_diffusion_agent][INFO] - 797: train loss 0.0814 | t: 0.0287 |
| [2025-09-21 12:42:11,903][agent.pretrain.train_diffusion_agent][INFO] - 798: train loss 0.0768 | t: 0.0293 |
| [2025-09-21 12:42:11,932][agent.pretrain.train_diffusion_agent][INFO] - 799: train loss 0.0788 | t: 0.0286 |
| [2025-09-21 12:42:11,965][agent.pretrain.train_agent][INFO] - Saved model to /home/zbzhu/Code/dppo/log/robomimic-pretrain/can_pre_diffusion_mlp_ta4_td20/2025-09-21_12-41-42_42/checkpoint/state_800.pt |
| [2025-09-21 12:42:11,965][agent.pretrain.train_diffusion_agent][INFO] - 800: train loss 0.0813 | t: 0.0332 |
| [2025-09-21 12:42:11,994][agent.pretrain.train_diffusion_agent][INFO] - 801: train loss 0.0814 | t: 0.0289 |
| [2025-09-21 12:42:12,023][agent.pretrain.train_diffusion_agent][INFO] - 802: train loss 0.0783 | t: 0.0286 |
| [2025-09-21 12:42:12,051][agent.pretrain.train_diffusion_agent][INFO] - 803: train loss 0.0758 | t: 0.0284 |
| [2025-09-21 12:42:12,080][agent.pretrain.train_diffusion_agent][INFO] - 804: train loss 0.0771 | t: 0.0287 |
| [2025-09-21 12:42:12,109][agent.pretrain.train_diffusion_agent][INFO] - 805: train loss 0.0813 | t: 0.0288 |
| [2025-09-21 12:42:12,137][agent.pretrain.train_diffusion_agent][INFO] - 806: train loss 0.0793 | t: 0.0288 |
| [2025-09-21 12:42:12,166][agent.pretrain.train_diffusion_agent][INFO] - 807: train loss 0.0769 | t: 0.0286 |
| [2025-09-21 12:42:12,195][agent.pretrain.train_diffusion_agent][INFO] - 808: train loss 0.0742 | t: 0.0290 |
| [2025-09-21 12:42:12,224][agent.pretrain.train_diffusion_agent][INFO] - 809: train loss 0.0772 | t: 0.0289 |
| [2025-09-21 12:42:12,252][agent.pretrain.train_diffusion_agent][INFO] - 810: train loss 0.0808 | t: 0.0282 |
| [2025-09-21 12:42:12,281][agent.pretrain.train_diffusion_agent][INFO] - 811: train loss 0.0836 | t: 0.0288 |
| [2025-09-21 12:42:12,309][agent.pretrain.train_diffusion_agent][INFO] - 812: train loss 0.0745 | t: 0.0284 |
| [2025-09-21 12:42:12,338][agent.pretrain.train_diffusion_agent][INFO] - 813: train loss 0.0764 | t: 0.0289 |
| [2025-09-21 12:42:12,370][agent.pretrain.train_diffusion_agent][INFO] - 814: train loss 0.0731 | t: 0.0320 |
| [2025-09-21 12:42:12,399][agent.pretrain.train_diffusion_agent][INFO] - 815: train loss 0.0770 | t: 0.0291 |
| [2025-09-21 12:42:12,428][agent.pretrain.train_diffusion_agent][INFO] - 816: train loss 0.0755 | t: 0.0290 |
| [2025-09-21 12:42:12,457][agent.pretrain.train_diffusion_agent][INFO] - 817: train loss 0.0765 | t: 0.0288 |
| [2025-09-21 12:42:12,486][agent.pretrain.train_diffusion_agent][INFO] - 818: train loss 0.0847 | t: 0.0288 |
| [2025-09-21 12:42:12,515][agent.pretrain.train_diffusion_agent][INFO] - 819: train loss 0.0815 | t: 0.0288 |
| [2025-09-21 12:42:12,544][agent.pretrain.train_diffusion_agent][INFO] - 820: train loss 0.0856 | t: 0.0289 |
| [2025-09-21 12:42:12,573][agent.pretrain.train_diffusion_agent][INFO] - 821: train loss 0.0786 | t: 0.0292 |
| [2025-09-21 12:42:12,602][agent.pretrain.train_diffusion_agent][INFO] - 822: train loss 0.0759 | t: 0.0288 |
| [2025-09-21 12:42:12,631][agent.pretrain.train_diffusion_agent][INFO] - 823: train loss 0.0810 | t: 0.0296 |
| [2025-09-21 12:42:12,660][agent.pretrain.train_diffusion_agent][INFO] - 824: train loss 0.0777 | t: 0.0285 |
| [2025-09-21 12:42:12,689][agent.pretrain.train_diffusion_agent][INFO] - 825: train loss 0.0732 | t: 0.0290 |
| [2025-09-21 12:42:12,717][agent.pretrain.train_diffusion_agent][INFO] - 826: train loss 0.0834 | t: 0.0287 |
| [2025-09-21 12:42:12,746][agent.pretrain.train_diffusion_agent][INFO] - 827: train loss 0.0747 | t: 0.0286 |
| [2025-09-21 12:42:12,776][agent.pretrain.train_diffusion_agent][INFO] - 828: train loss 0.0769 | t: 0.0301 |
| [2025-09-21 12:42:12,805][agent.pretrain.train_diffusion_agent][INFO] - 829: train loss 0.0808 | t: 0.0288 |
| [2025-09-21 12:42:12,834][agent.pretrain.train_diffusion_agent][INFO] - 830: train loss 0.0817 | t: 0.0289 |
| [2025-09-21 12:42:12,863][agent.pretrain.train_diffusion_agent][INFO] - 831: train loss 0.0771 | t: 0.0288 |
| [2025-09-21 12:42:12,891][agent.pretrain.train_diffusion_agent][INFO] - 832: train loss 0.0822 | t: 0.0289 |
| [2025-09-21 12:42:12,920][agent.pretrain.train_diffusion_agent][INFO] - 833: train loss 0.0742 | t: 0.0289 |
| [2025-09-21 12:42:12,949][agent.pretrain.train_diffusion_agent][INFO] - 834: train loss 0.0713 | t: 0.0287 |
| [2025-09-21 12:42:13,039][agent.pretrain.train_diffusion_agent][INFO] - 835: train loss 0.0747 | t: 0.0896 |
| [2025-09-21 12:42:13,068][agent.pretrain.train_diffusion_agent][INFO] - 836: train loss 0.0763 | t: 0.0293 |
| [2025-09-21 12:42:13,096][agent.pretrain.train_diffusion_agent][INFO] - 837: train loss 0.0823 | t: 0.0281 |
| [2025-09-21 12:42:13,126][agent.pretrain.train_diffusion_agent][INFO] - 838: train loss 0.0801 | t: 0.0297 |
| [2025-09-21 12:42:13,155][agent.pretrain.train_diffusion_agent][INFO] - 839: train loss 0.0820 | t: 0.0295 |
| [2025-09-21 12:42:13,184][agent.pretrain.train_diffusion_agent][INFO] - 840: train loss 0.0744 | t: 0.0293 |
| [2025-09-21 12:42:13,213][agent.pretrain.train_diffusion_agent][INFO] - 841: train loss 0.0801 | t: 0.0290 |
| [2025-09-21 12:42:13,242][agent.pretrain.train_diffusion_agent][INFO] - 842: train loss 0.0801 | t: 0.0283 |
| [2025-09-21 12:42:13,270][agent.pretrain.train_diffusion_agent][INFO] - 843: train loss 0.0783 | t: 0.0287 |
| [2025-09-21 12:42:13,299][agent.pretrain.train_diffusion_agent][INFO] - 844: train loss 0.0757 | t: 0.0286 |
| [2025-09-21 12:42:13,328][agent.pretrain.train_diffusion_agent][INFO] - 845: train loss 0.0746 | t: 0.0287 |
| [2025-09-21 12:42:13,356][agent.pretrain.train_diffusion_agent][INFO] - 846: train loss 0.0782 | t: 0.0285 |
| [2025-09-21 12:42:13,385][agent.pretrain.train_diffusion_agent][INFO] - 847: train loss 0.0807 | t: 0.0288 |
| [2025-09-21 12:42:13,414][agent.pretrain.train_diffusion_agent][INFO] - 848: train loss 0.0767 | t: 0.0288 |
| [2025-09-21 12:42:13,443][agent.pretrain.train_diffusion_agent][INFO] - 849: train loss 0.0813 | t: 0.0290 |
| [2025-09-21 12:42:13,472][agent.pretrain.train_diffusion_agent][INFO] - 850: train loss 0.0812 | t: 0.0291 |
| [2025-09-21 12:42:13,502][agent.pretrain.train_diffusion_agent][INFO] - 851: train loss 0.0747 | t: 0.0297 |
| [2025-09-21 12:42:13,531][agent.pretrain.train_diffusion_agent][INFO] - 852: train loss 0.0765 | t: 0.0297 |
| [2025-09-21 12:42:13,561][agent.pretrain.train_diffusion_agent][INFO] - 853: train loss 0.0741 | t: 0.0298 |
| [2025-09-21 12:42:13,591][agent.pretrain.train_diffusion_agent][INFO] - 854: train loss 0.0841 | t: 0.0295 |
| [2025-09-21 12:42:13,621][agent.pretrain.train_diffusion_agent][INFO] - 855: train loss 0.0798 | t: 0.0300 |
| [2025-09-21 12:42:13,650][agent.pretrain.train_diffusion_agent][INFO] - 856: train loss 0.0750 | t: 0.0295 |
| [2025-09-21 12:42:13,680][agent.pretrain.train_diffusion_agent][INFO] - 857: train loss 0.0735 | t: 0.0295 |
| [2025-09-21 12:42:13,709][agent.pretrain.train_diffusion_agent][INFO] - 858: train loss 0.0730 | t: 0.0297 |
| [2025-09-21 12:42:13,739][agent.pretrain.train_diffusion_agent][INFO] - 859: train loss 0.0735 | t: 0.0297 |
| [2025-09-21 12:42:13,769][agent.pretrain.train_diffusion_agent][INFO] - 860: train loss 0.0776 | t: 0.0295 |
| [2025-09-21 12:42:13,798][agent.pretrain.train_diffusion_agent][INFO] - 861: train loss 0.0791 | t: 0.0291 |
| [2025-09-21 12:42:13,826][agent.pretrain.train_diffusion_agent][INFO] - 862: train loss 0.0793 | t: 0.0288 |
| [2025-09-21 12:42:13,856][agent.pretrain.train_diffusion_agent][INFO] - 863: train loss 0.0821 | t: 0.0298 |
| [2025-09-21 12:42:13,886][agent.pretrain.train_diffusion_agent][INFO] - 864: train loss 0.0760 | t: 0.0294 |
| [2025-09-21 12:42:13,915][agent.pretrain.train_diffusion_agent][INFO] - 865: train loss 0.0819 | t: 0.0296 |
| [2025-09-21 12:42:13,945][agent.pretrain.train_diffusion_agent][INFO] - 866: train loss 0.0736 | t: 0.0295 |
| [2025-09-21 12:42:13,974][agent.pretrain.train_diffusion_agent][INFO] - 867: train loss 0.0857 | t: 0.0294 |
| [2025-09-21 12:42:14,003][agent.pretrain.train_diffusion_agent][INFO] - 868: train loss 0.0839 | t: 0.0289 |
| [2025-09-21 12:42:14,033][agent.pretrain.train_diffusion_agent][INFO] - 869: train loss 0.0795 | t: 0.0298 |
| [2025-09-21 12:42:14,062][agent.pretrain.train_diffusion_agent][INFO] - 870: train loss 0.0722 | t: 0.0293 |
| [2025-09-21 12:42:14,092][agent.pretrain.train_diffusion_agent][INFO] - 871: train loss 0.0782 | t: 0.0298 |
| [2025-09-21 12:42:14,122][agent.pretrain.train_diffusion_agent][INFO] - 872: train loss 0.0770 | t: 0.0298 |
| [2025-09-21 12:42:14,152][agent.pretrain.train_diffusion_agent][INFO] - 873: train loss 0.0733 | t: 0.0297 |
| [2025-09-21 12:42:14,181][agent.pretrain.train_diffusion_agent][INFO] - 874: train loss 0.0742 | t: 0.0290 |
| [2025-09-21 12:42:14,210][agent.pretrain.train_diffusion_agent][INFO] - 875: train loss 0.0712 | t: 0.0289 |
| [2025-09-21 12:42:14,238][agent.pretrain.train_diffusion_agent][INFO] - 876: train loss 0.0737 | t: 0.0286 |
| [2025-09-21 12:42:14,267][agent.pretrain.train_diffusion_agent][INFO] - 877: train loss 0.0735 | t: 0.0284 |
| [2025-09-21 12:42:14,296][agent.pretrain.train_diffusion_agent][INFO] - 878: train loss 0.0803 | t: 0.0296 |
| [2025-09-21 12:42:14,326][agent.pretrain.train_diffusion_agent][INFO] - 879: train loss 0.0734 | t: 0.0297 |
| [2025-09-21 12:42:14,355][agent.pretrain.train_diffusion_agent][INFO] - 880: train loss 0.0746 | t: 0.0295 |
| [2025-09-21 12:42:14,384][agent.pretrain.train_diffusion_agent][INFO] - 881: train loss 0.0752 | t: 0.0290 |
| [2025-09-21 12:42:14,413][agent.pretrain.train_diffusion_agent][INFO] - 882: train loss 0.0799 | t: 0.0288 |
| [2025-09-21 12:42:14,442][agent.pretrain.train_diffusion_agent][INFO] - 883: train loss 0.0751 | t: 0.0285 |
| [2025-09-21 12:42:14,470][agent.pretrain.train_diffusion_agent][INFO] - 884: train loss 0.0723 | t: 0.0288 |
| [2025-09-21 12:42:14,499][agent.pretrain.train_diffusion_agent][INFO] - 885: train loss 0.0801 | t: 0.0286 |
| [2025-09-21 12:42:14,528][agent.pretrain.train_diffusion_agent][INFO] - 886: train loss 0.0695 | t: 0.0290 |
| [2025-09-21 12:42:14,557][agent.pretrain.train_diffusion_agent][INFO] - 887: train loss 0.0764 | t: 0.0291 |
| [2025-09-21 12:42:14,586][agent.pretrain.train_diffusion_agent][INFO] - 888: train loss 0.0782 | t: 0.0290 |
| [2025-09-21 12:42:14,615][agent.pretrain.train_diffusion_agent][INFO] - 889: train loss 0.0776 | t: 0.0293 |
| [2025-09-21 12:42:14,645][agent.pretrain.train_diffusion_agent][INFO] - 890: train loss 0.0734 | t: 0.0294 |
| [2025-09-21 12:42:14,674][agent.pretrain.train_diffusion_agent][INFO] - 891: train loss 0.0785 | t: 0.0295 |
| [2025-09-21 12:42:14,704][agent.pretrain.train_diffusion_agent][INFO] - 892: train loss 0.0767 | t: 0.0297 |
| [2025-09-21 12:42:14,734][agent.pretrain.train_diffusion_agent][INFO] - 893: train loss 0.0758 | t: 0.0297 |
| [2025-09-21 12:42:14,763][agent.pretrain.train_diffusion_agent][INFO] - 894: train loss 0.0766 | t: 0.0295 |
| [2025-09-21 12:42:14,793][agent.pretrain.train_diffusion_agent][INFO] - 895: train loss 0.0719 | t: 0.0299 |
| [2025-09-21 12:42:14,823][agent.pretrain.train_diffusion_agent][INFO] - 896: train loss 0.0761 | t: 0.0297 |
| [2025-09-21 12:42:14,852][agent.pretrain.train_diffusion_agent][INFO] - 897: train loss 0.0732 | t: 0.0296 |
| [2025-09-21 12:42:14,882][agent.pretrain.train_diffusion_agent][INFO] - 898: train loss 0.0803 | t: 0.0298 |
| [2025-09-21 12:42:14,912][agent.pretrain.train_diffusion_agent][INFO] - 899: train loss 0.0737 | t: 0.0298 |
| [2025-09-21 12:42:14,941][agent.pretrain.train_diffusion_agent][INFO] - 900: train loss 0.0806 | t: 0.0292 |
| [2025-09-21 12:42:14,971][agent.pretrain.train_diffusion_agent][INFO] - 901: train loss 0.0719 | t: 0.0297 |
| [2025-09-21 12:42:15,000][agent.pretrain.train_diffusion_agent][INFO] - 902: train loss 0.0760 | t: 0.0296 |
| [2025-09-21 12:42:15,030][agent.pretrain.train_diffusion_agent][INFO] - 903: train loss 0.0739 | t: 0.0299 |
| [2025-09-21 12:42:15,060][agent.pretrain.train_diffusion_agent][INFO] - 904: train loss 0.0760 | t: 0.0294 |
| [2025-09-21 12:42:15,089][agent.pretrain.train_diffusion_agent][INFO] - 905: train loss 0.0764 | t: 0.0297 |
| [2025-09-21 12:42:15,119][agent.pretrain.train_diffusion_agent][INFO] - 906: train loss 0.0723 | t: 0.0297 |
| [2025-09-21 12:42:15,149][agent.pretrain.train_diffusion_agent][INFO] - 907: train loss 0.0773 | t: 0.0295 |
| [2025-09-21 12:42:15,178][agent.pretrain.train_diffusion_agent][INFO] - 908: train loss 0.0773 | t: 0.0298 |
| [2025-09-21 12:42:15,208][agent.pretrain.train_diffusion_agent][INFO] - 909: train loss 0.0768 | t: 0.0296 |
| [2025-09-21 12:42:15,237][agent.pretrain.train_diffusion_agent][INFO] - 910: train loss 0.0775 | t: 0.0292 |
| [2025-09-21 12:42:15,267][agent.pretrain.train_diffusion_agent][INFO] - 911: train loss 0.0686 | t: 0.0296 |
| [2025-09-21 12:42:15,296][agent.pretrain.train_diffusion_agent][INFO] - 912: train loss 0.0762 | t: 0.0297 |
| [2025-09-21 12:42:15,326][agent.pretrain.train_diffusion_agent][INFO] - 913: train loss 0.0751 | t: 0.0298 |
| [2025-09-21 12:42:15,356][agent.pretrain.train_diffusion_agent][INFO] - 914: train loss 0.0803 | t: 0.0295 |
| [2025-09-21 12:42:15,386][agent.pretrain.train_diffusion_agent][INFO] - 915: train loss 0.0751 | t: 0.0299 |
| [2025-09-21 12:42:15,415][agent.pretrain.train_diffusion_agent][INFO] - 916: train loss 0.0809 | t: 0.0295 |
| [2025-09-21 12:42:15,445][agent.pretrain.train_diffusion_agent][INFO] - 917: train loss 0.0748 | t: 0.0295 |
| [2025-09-21 12:42:15,474][agent.pretrain.train_diffusion_agent][INFO] - 918: train loss 0.0750 | t: 0.0298 |
| [2025-09-21 12:42:15,504][agent.pretrain.train_diffusion_agent][INFO] - 919: train loss 0.0786 | t: 0.0296 |
| [2025-09-21 12:42:15,533][agent.pretrain.train_diffusion_agent][INFO] - 920: train loss 0.0789 | t: 0.0294 |
| [2025-09-21 12:42:15,563][agent.pretrain.train_diffusion_agent][INFO] - 921: train loss 0.0785 | t: 0.0298 |
| [2025-09-21 12:42:15,594][agent.pretrain.train_diffusion_agent][INFO] - 922: train loss 0.0698 | t: 0.0310 |
| [2025-09-21 12:42:15,625][agent.pretrain.train_diffusion_agent][INFO] - 923: train loss 0.0761 | t: 0.0306 |
| [2025-09-21 12:42:15,655][agent.pretrain.train_diffusion_agent][INFO] - 924: train loss 0.0830 | t: 0.0298 |
| [2025-09-21 12:42:15,685][agent.pretrain.train_diffusion_agent][INFO] - 925: train loss 0.0764 | t: 0.0302 |
| [2025-09-21 12:42:15,715][agent.pretrain.train_diffusion_agent][INFO] - 926: train loss 0.0822 | t: 0.0302 |
| [2025-09-21 12:42:15,745][agent.pretrain.train_diffusion_agent][INFO] - 927: train loss 0.0746 | t: 0.0298 |
| [2025-09-21 12:42:15,775][agent.pretrain.train_diffusion_agent][INFO] - 928: train loss 0.0724 | t: 0.0300 |
| [2025-09-21 12:42:15,805][agent.pretrain.train_diffusion_agent][INFO] - 929: train loss 0.0750 | t: 0.0300 |
| [2025-09-21 12:42:15,835][agent.pretrain.train_diffusion_agent][INFO] - 930: train loss 0.0802 | t: 0.0301 |
| [2025-09-21 12:42:15,865][agent.pretrain.train_diffusion_agent][INFO] - 931: train loss 0.0768 | t: 0.0303 |
| [2025-09-21 12:42:15,896][agent.pretrain.train_diffusion_agent][INFO] - 932: train loss 0.0791 | t: 0.0303 |
| [2025-09-21 12:42:15,926][agent.pretrain.train_diffusion_agent][INFO] - 933: train loss 0.0736 | t: 0.0302 |
| [2025-09-21 12:42:15,956][agent.pretrain.train_diffusion_agent][INFO] - 934: train loss 0.0763 | t: 0.0297 |
| [2025-09-21 12:42:15,986][agent.pretrain.train_diffusion_agent][INFO] - 935: train loss 0.0797 | t: 0.0301 |
| [2025-09-21 12:42:16,016][agent.pretrain.train_diffusion_agent][INFO] - 936: train loss 0.0760 | t: 0.0301 |
| [2025-09-21 12:42:16,045][agent.pretrain.train_diffusion_agent][INFO] - 937: train loss 0.0729 | t: 0.0296 |
| [2025-09-21 12:42:16,074][agent.pretrain.train_diffusion_agent][INFO] - 938: train loss 0.0791 | t: 0.0291 |
| [2025-09-21 12:42:16,104][agent.pretrain.train_diffusion_agent][INFO] - 939: train loss 0.0768 | t: 0.0293 |
| [2025-09-21 12:42:16,133][agent.pretrain.train_diffusion_agent][INFO] - 940: train loss 0.0763 | t: 0.0296 |
| [2025-09-21 12:42:16,162][agent.pretrain.train_diffusion_agent][INFO] - 941: train loss 0.0727 | t: 0.0288 |
| [2025-09-21 12:42:16,191][agent.pretrain.train_diffusion_agent][INFO] - 942: train loss 0.0775 | t: 0.0287 |
| [2025-09-21 12:42:16,219][agent.pretrain.train_diffusion_agent][INFO] - 943: train loss 0.0779 | t: 0.0284 |
| [2025-09-21 12:42:16,248][agent.pretrain.train_diffusion_agent][INFO] - 944: train loss 0.0742 | t: 0.0288 |
| [2025-09-21 12:42:16,277][agent.pretrain.train_diffusion_agent][INFO] - 945: train loss 0.0789 | t: 0.0287 |
| [2025-09-21 12:42:16,306][agent.pretrain.train_diffusion_agent][INFO] - 946: train loss 0.0820 | t: 0.0288 |
| [2025-09-21 12:42:16,334][agent.pretrain.train_diffusion_agent][INFO] - 947: train loss 0.0740 | t: 0.0285 |
| [2025-09-21 12:42:16,363][agent.pretrain.train_diffusion_agent][INFO] - 948: train loss 0.0719 | t: 0.0287 |
| [2025-09-21 12:42:16,391][agent.pretrain.train_diffusion_agent][INFO] - 949: train loss 0.0761 | t: 0.0287 |
| [2025-09-21 12:42:16,419][agent.pretrain.train_diffusion_agent][INFO] - 950: train loss 0.0817 | t: 0.0281 |
| [2025-09-21 12:42:16,448][agent.pretrain.train_diffusion_agent][INFO] - 951: train loss 0.0697 | t: 0.0288 |
| [2025-09-21 12:42:16,477][agent.pretrain.train_diffusion_agent][INFO] - 952: train loss 0.0802 | t: 0.0285 |
| [2025-09-21 12:42:16,506][agent.pretrain.train_diffusion_agent][INFO] - 953: train loss 0.0748 | t: 0.0297 |
| [2025-09-21 12:42:16,536][agent.pretrain.train_diffusion_agent][INFO] - 954: train loss 0.0768 | t: 0.0295 |
| [2025-09-21 12:42:16,566][agent.pretrain.train_diffusion_agent][INFO] - 955: train loss 0.0748 | t: 0.0297 |
| [2025-09-21 12:42:16,595][agent.pretrain.train_diffusion_agent][INFO] - 956: train loss 0.0744 | t: 0.0297 |
| [2025-09-21 12:42:16,625][agent.pretrain.train_diffusion_agent][INFO] - 957: train loss 0.0734 | t: 0.0300 |
| [2025-09-21 12:42:16,655][agent.pretrain.train_diffusion_agent][INFO] - 958: train loss 0.0750 | t: 0.0298 |
| [2025-09-21 12:42:16,685][agent.pretrain.train_diffusion_agent][INFO] - 959: train loss 0.0718 | t: 0.0298 |
| [2025-09-21 12:42:16,715][agent.pretrain.train_diffusion_agent][INFO] - 960: train loss 0.0764 | t: 0.0303 |
| [2025-09-21 12:42:16,745][agent.pretrain.train_diffusion_agent][INFO] - 961: train loss 0.0715 | t: 0.0301 |
| [2025-09-21 12:42:16,775][agent.pretrain.train_diffusion_agent][INFO] - 962: train loss 0.0764 | t: 0.0300 |
| [2025-09-21 12:42:16,806][agent.pretrain.train_diffusion_agent][INFO] - 963: train loss 0.0765 | t: 0.0302 |
| [2025-09-21 12:42:16,836][agent.pretrain.train_diffusion_agent][INFO] - 964: train loss 0.0710 | t: 0.0299 |
| [2025-09-21 12:42:16,866][agent.pretrain.train_diffusion_agent][INFO] - 965: train loss 0.0757 | t: 0.0300 |
| [2025-09-21 12:42:16,895][agent.pretrain.train_diffusion_agent][INFO] - 966: train loss 0.0771 | t: 0.0298 |
| [2025-09-21 12:42:16,925][agent.pretrain.train_diffusion_agent][INFO] - 967: train loss 0.0744 | t: 0.0300 |
| [2025-09-21 12:42:16,956][agent.pretrain.train_diffusion_agent][INFO] - 968: train loss 0.0732 | t: 0.0306 |
| [2025-09-21 12:42:16,986][agent.pretrain.train_diffusion_agent][INFO] - 969: train loss 0.0768 | t: 0.0302 |
| [2025-09-21 12:42:17,015][agent.pretrain.train_diffusion_agent][INFO] - 970: train loss 0.0805 | t: 0.0287 |
| [2025-09-21 12:42:17,044][agent.pretrain.train_diffusion_agent][INFO] - 971: train loss 0.0718 | t: 0.0287 |
| [2025-09-21 12:42:17,072][agent.pretrain.train_diffusion_agent][INFO] - 972: train loss 0.0814 | t: 0.0286 |
| [2025-09-21 12:42:17,102][agent.pretrain.train_diffusion_agent][INFO] - 973: train loss 0.0734 | t: 0.0298 |
| [2025-09-21 12:42:17,131][agent.pretrain.train_diffusion_agent][INFO] - 974: train loss 0.0738 | t: 0.0294 |
| [2025-09-21 12:42:17,161][agent.pretrain.train_diffusion_agent][INFO] - 975: train loss 0.0731 | t: 0.0298 |
| [2025-09-21 12:42:17,191][agent.pretrain.train_diffusion_agent][INFO] - 976: train loss 0.0783 | t: 0.0298 |
| [2025-09-21 12:42:17,221][agent.pretrain.train_diffusion_agent][INFO] - 977: train loss 0.0792 | t: 0.0298 |
| [2025-09-21 12:42:17,251][agent.pretrain.train_diffusion_agent][INFO] - 978: train loss 0.0696 | t: 0.0298 |
| [2025-09-21 12:42:17,281][agent.pretrain.train_diffusion_agent][INFO] - 979: train loss 0.0723 | t: 0.0299 |
| [2025-09-21 12:42:17,310][agent.pretrain.train_diffusion_agent][INFO] - 980: train loss 0.0804 | t: 0.0296 |
| [2025-09-21 12:42:17,340][agent.pretrain.train_diffusion_agent][INFO] - 981: train loss 0.0714 | t: 0.0296 |
| [2025-09-21 12:42:17,370][agent.pretrain.train_diffusion_agent][INFO] - 982: train loss 0.0733 | t: 0.0298 |
| [2025-09-21 12:42:17,399][agent.pretrain.train_diffusion_agent][INFO] - 983: train loss 0.0762 | t: 0.0298 |
| [2025-09-21 12:42:17,429][agent.pretrain.train_diffusion_agent][INFO] - 984: train loss 0.0740 | t: 0.0297 |
| [2025-09-21 12:42:17,459][agent.pretrain.train_diffusion_agent][INFO] - 985: train loss 0.0712 | t: 0.0298 |
| [2025-09-21 12:42:17,488][agent.pretrain.train_diffusion_agent][INFO] - 986: train loss 0.0762 | t: 0.0296 |
| [2025-09-21 12:42:17,518][agent.pretrain.train_diffusion_agent][INFO] - 987: train loss 0.0728 | t: 0.0295 |
| [2025-09-21 12:42:17,548][agent.pretrain.train_diffusion_agent][INFO] - 988: train loss 0.0787 | t: 0.0298 |
| [2025-09-21 12:42:17,643][agent.pretrain.train_diffusion_agent][INFO] - 989: train loss 0.0745 | t: 0.0957 |
| [2025-09-21 12:42:17,674][agent.pretrain.train_diffusion_agent][INFO] - 990: train loss 0.0790 | t: 0.0308 |
| [2025-09-21 12:42:17,704][agent.pretrain.train_diffusion_agent][INFO] - 991: train loss 0.0738 | t: 0.0299 |
| [2025-09-21 12:42:17,734][agent.pretrain.train_diffusion_agent][INFO] - 992: train loss 0.0747 | t: 0.0300 |
| [2025-09-21 12:42:17,763][agent.pretrain.train_diffusion_agent][INFO] - 993: train loss 0.0754 | t: 0.0292 |
| [2025-09-21 12:42:17,792][agent.pretrain.train_diffusion_agent][INFO] - 994: train loss 0.0769 | t: 0.0291 |
| [2025-09-21 12:42:17,825][agent.pretrain.train_diffusion_agent][INFO] - 995: train loss 0.0725 | t: 0.0323 |
| [2025-09-21 12:42:17,857][agent.pretrain.train_diffusion_agent][INFO] - 996: train loss 0.0729 | t: 0.0322 |
| [2025-09-21 12:42:17,887][agent.pretrain.train_diffusion_agent][INFO] - 997: train loss 0.0792 | t: 0.0301 |
| [2025-09-21 12:42:17,917][agent.pretrain.train_diffusion_agent][INFO] - 998: train loss 0.0677 | t: 0.0298 |
| [2025-09-21 12:42:17,946][agent.pretrain.train_diffusion_agent][INFO] - 999: train loss 0.0798 | t: 0.0296 |
| [2025-09-21 12:42:17,980][agent.pretrain.train_agent][INFO] - Saved model to /home/zbzhu/Code/dppo/log/robomimic-pretrain/can_pre_diffusion_mlp_ta4_td20/2025-09-21_12-41-42_42/checkpoint/state_1000.pt |
| [2025-09-21 12:42:17,981][agent.pretrain.train_diffusion_agent][INFO] - 1000: train loss 0.0715 | t: 0.0341 |
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