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[2025-09-20 20:57:31,041][root][INFO] - Number of network parameters: 575564
[2025-09-20 20:57:31,195][agent.dataset.sequence][INFO] - Loaded dataset from /home/zbzhu/Code/dppo/data/robomimic/can/train.npz
[2025-09-20 20:57:31,195][agent.dataset.sequence][INFO] - Number of episodes: 25
[2025-09-20 20:57:31,195][agent.dataset.sequence][INFO] - States shape/type: (torch.Size([2976, 23]), torch.float32)
[2025-09-20 20:57:31,195][agent.dataset.sequence][INFO] - Actions shape/type: (torch.Size([2976, 7]), torch.float32)
[2025-09-20 20:57:31,388][agent.pretrain.train_diffusion_agent][INFO] - 1: train loss 1.0560 | t: 0.1911
[2025-09-20 20:57:31,440][agent.pretrain.train_diffusion_agent][INFO] - 2: train loss 1.0380 | t: 0.0523
[2025-09-20 20:57:31,491][agent.pretrain.train_diffusion_agent][INFO] - 3: train loss 1.0277 | t: 0.0513
[2025-09-20 20:57:31,541][agent.pretrain.train_diffusion_agent][INFO] - 4: train loss 1.0078 | t: 0.0500
[2025-09-20 20:57:31,591][agent.pretrain.train_diffusion_agent][INFO] - 5: train loss 0.9914 | t: 0.0503
[2025-09-20 20:57:31,643][agent.pretrain.train_diffusion_agent][INFO] - 6: train loss 0.9855 | t: 0.0518
[2025-09-20 20:57:31,696][agent.pretrain.train_diffusion_agent][INFO] - 7: train loss 0.9692 | t: 0.0525
[2025-09-20 20:57:31,747][agent.pretrain.train_diffusion_agent][INFO] - 8: train loss 0.9562 | t: 0.0514
[2025-09-20 20:57:31,799][agent.pretrain.train_diffusion_agent][INFO] - 9: train loss 0.9348 | t: 0.0518
[2025-09-20 20:57:31,851][agent.pretrain.train_diffusion_agent][INFO] - 10: train loss 0.9218 | t: 0.0517
[2025-09-20 20:57:31,903][agent.pretrain.train_diffusion_agent][INFO] - 11: train loss 0.9046 | t: 0.0521
[2025-09-20 20:57:31,954][agent.pretrain.train_diffusion_agent][INFO] - 12: train loss 0.8750 | t: 0.0514
[2025-09-20 20:57:32,005][agent.pretrain.train_diffusion_agent][INFO] - 13: train loss 0.8668 | t: 0.0513
[2025-09-20 20:57:32,056][agent.pretrain.train_diffusion_agent][INFO] - 14: train loss 0.8464 | t: 0.0511
[2025-09-20 20:57:32,106][agent.pretrain.train_diffusion_agent][INFO] - 15: train loss 0.8282 | t: 0.0499
[2025-09-20 20:57:32,158][agent.pretrain.train_diffusion_agent][INFO] - 16: train loss 0.8103 | t: 0.0518
[2025-09-20 20:57:32,210][agent.pretrain.train_diffusion_agent][INFO] - 17: train loss 0.7850 | t: 0.0516
[2025-09-20 20:57:32,261][agent.pretrain.train_diffusion_agent][INFO] - 18: train loss 0.7606 | t: 0.0515
[2025-09-20 20:57:32,312][agent.pretrain.train_diffusion_agent][INFO] - 19: train loss 0.7407 | t: 0.0512
[2025-09-20 20:57:32,364][agent.pretrain.train_diffusion_agent][INFO] - 20: train loss 0.7239 | t: 0.0516
[2025-09-20 20:57:32,416][agent.pretrain.train_diffusion_agent][INFO] - 21: train loss 0.6965 | t: 0.0518
[2025-09-20 20:57:32,468][agent.pretrain.train_diffusion_agent][INFO] - 22: train loss 0.6710 | t: 0.0526
[2025-09-20 20:57:32,520][agent.pretrain.train_diffusion_agent][INFO] - 23: train loss 0.6512 | t: 0.0517
[2025-09-20 20:57:32,578][agent.pretrain.train_diffusion_agent][INFO] - 24: train loss 0.6199 | t: 0.0576
[2025-09-20 20:57:32,630][agent.pretrain.train_diffusion_agent][INFO] - 25: train loss 0.5969 | t: 0.0518
[2025-09-20 20:57:32,691][agent.pretrain.train_diffusion_agent][INFO] - 26: train loss 0.5836 | t: 0.0613
[2025-09-20 20:57:32,751][agent.pretrain.train_diffusion_agent][INFO] - 27: train loss 0.5554 | t: 0.0603
[2025-09-20 20:57:32,811][agent.pretrain.train_diffusion_agent][INFO] - 28: train loss 0.5264 | t: 0.0600
[2025-09-20 20:57:32,871][agent.pretrain.train_diffusion_agent][INFO] - 29: train loss 0.4965 | t: 0.0599
[2025-09-20 20:57:32,931][agent.pretrain.train_diffusion_agent][INFO] - 30: train loss 0.4641 | t: 0.0603
[2025-09-20 20:57:32,992][agent.pretrain.train_diffusion_agent][INFO] - 31: train loss 0.4359 | t: 0.0605
[2025-09-20 20:57:33,054][agent.pretrain.train_diffusion_agent][INFO] - 32: train loss 0.4074 | t: 0.0624
[2025-09-20 20:57:33,113][agent.pretrain.train_diffusion_agent][INFO] - 33: train loss 0.3924 | t: 0.0592
[2025-09-20 20:57:33,163][agent.pretrain.train_diffusion_agent][INFO] - 34: train loss 0.3580 | t: 0.0496
[2025-09-20 20:57:33,212][agent.pretrain.train_diffusion_agent][INFO] - 35: train loss 0.3401 | t: 0.0493
[2025-09-20 20:57:33,262][agent.pretrain.train_diffusion_agent][INFO] - 36: train loss 0.3109 | t: 0.0502
[2025-09-20 20:57:33,318][agent.pretrain.train_diffusion_agent][INFO] - 37: train loss 0.2963 | t: 0.0556
[2025-09-20 20:57:33,378][agent.pretrain.train_diffusion_agent][INFO] - 38: train loss 0.2792 | t: 0.0596
[2025-09-20 20:57:33,430][agent.pretrain.train_diffusion_agent][INFO] - 39: train loss 0.2739 | t: 0.0522
[2025-09-20 20:57:33,481][agent.pretrain.train_diffusion_agent][INFO] - 40: train loss 0.2498 | t: 0.0513
[2025-09-20 20:57:33,596][agent.pretrain.train_diffusion_agent][INFO] - 41: train loss 0.2389 | t: 0.1154
[2025-09-20 20:57:33,648][agent.pretrain.train_diffusion_agent][INFO] - 42: train loss 0.2281 | t: 0.0517
[2025-09-20 20:57:33,699][agent.pretrain.train_diffusion_agent][INFO] - 43: train loss 0.2232 | t: 0.0511
[2025-09-20 20:57:33,749][agent.pretrain.train_diffusion_agent][INFO] - 44: train loss 0.2221 | t: 0.0498
[2025-09-20 20:57:33,798][agent.pretrain.train_diffusion_agent][INFO] - 45: train loss 0.2243 | t: 0.0493
[2025-09-20 20:57:33,849][agent.pretrain.train_diffusion_agent][INFO] - 46: train loss 0.2183 | t: 0.0506
[2025-09-20 20:57:33,900][agent.pretrain.train_diffusion_agent][INFO] - 47: train loss 0.2247 | t: 0.0509
[2025-09-20 20:57:33,950][agent.pretrain.train_diffusion_agent][INFO] - 48: train loss 0.2151 | t: 0.0504
[2025-09-20 20:57:34,001][agent.pretrain.train_diffusion_agent][INFO] - 49: train loss 0.2144 | t: 0.0508
[2025-09-20 20:57:34,051][agent.pretrain.train_diffusion_agent][INFO] - 50: train loss 0.2092 | t: 0.0500
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[2025-09-20 20:57:34,152][agent.pretrain.train_diffusion_agent][INFO] - 52: train loss 0.2011 | t: 0.0504
[2025-09-20 20:57:34,202][agent.pretrain.train_diffusion_agent][INFO] - 53: train loss 0.2073 | t: 0.0499
[2025-09-20 20:57:34,251][agent.pretrain.train_diffusion_agent][INFO] - 54: train loss 0.2174 | t: 0.0496
[2025-09-20 20:57:34,301][agent.pretrain.train_diffusion_agent][INFO] - 55: train loss 0.2087 | t: 0.0500
[2025-09-20 20:57:34,352][agent.pretrain.train_diffusion_agent][INFO] - 56: train loss 0.2120 | t: 0.0503
[2025-09-20 20:57:34,402][agent.pretrain.train_diffusion_agent][INFO] - 57: train loss 0.2096 | t: 0.0508
[2025-09-20 20:57:34,454][agent.pretrain.train_diffusion_agent][INFO] - 58: train loss 0.2054 | t: 0.0518
[2025-09-20 20:57:34,506][agent.pretrain.train_diffusion_agent][INFO] - 59: train loss 0.2052 | t: 0.0516
[2025-09-20 20:57:34,557][agent.pretrain.train_diffusion_agent][INFO] - 60: train loss 0.2073 | t: 0.0508
[2025-09-20 20:57:34,609][agent.pretrain.train_diffusion_agent][INFO] - 61: train loss 0.2022 | t: 0.0523
[2025-09-20 20:57:34,660][agent.pretrain.train_diffusion_agent][INFO] - 62: train loss 0.2066 | t: 0.0511
[2025-09-20 20:57:34,710][agent.pretrain.train_diffusion_agent][INFO] - 63: train loss 0.1997 | t: 0.0504
[2025-09-20 20:57:34,770][agent.pretrain.train_diffusion_agent][INFO] - 64: train loss 0.2029 | t: 0.0597
[2025-09-20 20:57:34,830][agent.pretrain.train_diffusion_agent][INFO] - 65: train loss 0.1905 | t: 0.0597
[2025-09-20 20:57:34,888][agent.pretrain.train_diffusion_agent][INFO] - 66: train loss 0.2027 | t: 0.0583
[2025-09-20 20:57:34,946][agent.pretrain.train_diffusion_agent][INFO] - 67: train loss 0.2140 | t: 0.0581
[2025-09-20 20:57:35,004][agent.pretrain.train_diffusion_agent][INFO] - 68: train loss 0.1900 | t: 0.0583
[2025-09-20 20:57:35,066][agent.pretrain.train_diffusion_agent][INFO] - 69: train loss 0.2023 | t: 0.0612
[2025-09-20 20:57:35,126][agent.pretrain.train_diffusion_agent][INFO] - 70: train loss 0.2036 | t: 0.0599
[2025-09-20 20:57:35,184][agent.pretrain.train_diffusion_agent][INFO] - 71: train loss 0.1958 | t: 0.0588
[2025-09-20 20:57:35,243][agent.pretrain.train_diffusion_agent][INFO] - 72: train loss 0.2003 | t: 0.0583
[2025-09-20 20:57:35,301][agent.pretrain.train_diffusion_agent][INFO] - 73: train loss 0.1882 | t: 0.0582
[2025-09-20 20:57:35,362][agent.pretrain.train_diffusion_agent][INFO] - 74: train loss 0.1910 | t: 0.0609
[2025-09-20 20:57:35,423][agent.pretrain.train_diffusion_agent][INFO] - 75: train loss 0.1932 | t: 0.0611
[2025-09-20 20:57:35,484][agent.pretrain.train_diffusion_agent][INFO] - 76: train loss 0.1913 | t: 0.0617
[2025-09-20 20:57:35,546][agent.pretrain.train_diffusion_agent][INFO] - 77: train loss 0.1836 | t: 0.0613
[2025-09-20 20:57:35,607][agent.pretrain.train_diffusion_agent][INFO] - 78: train loss 0.1832 | t: 0.0611
[2025-09-20 20:57:35,667][agent.pretrain.train_diffusion_agent][INFO] - 79: train loss 0.1910 | t: 0.0604
[2025-09-20 20:57:35,729][agent.pretrain.train_diffusion_agent][INFO] - 80: train loss 0.1816 | t: 0.0622
[2025-09-20 20:57:35,791][agent.pretrain.train_diffusion_agent][INFO] - 81: train loss 0.1818 | t: 0.0613
[2025-09-20 20:57:35,852][agent.pretrain.train_diffusion_agent][INFO] - 82: train loss 0.1784 | t: 0.0610
[2025-09-20 20:57:35,912][agent.pretrain.train_diffusion_agent][INFO] - 83: train loss 0.1774 | t: 0.0607
[2025-09-20 20:57:35,972][agent.pretrain.train_diffusion_agent][INFO] - 84: train loss 0.1851 | t: 0.0600
[2025-09-20 20:57:36,033][agent.pretrain.train_diffusion_agent][INFO] - 85: train loss 0.1736 | t: 0.0610
[2025-09-20 20:57:36,094][agent.pretrain.train_diffusion_agent][INFO] - 86: train loss 0.1749 | t: 0.0609
[2025-09-20 20:57:36,154][agent.pretrain.train_diffusion_agent][INFO] - 87: train loss 0.1682 | t: 0.0599
[2025-09-20 20:57:36,215][agent.pretrain.train_diffusion_agent][INFO] - 88: train loss 0.1711 | t: 0.0609
[2025-09-20 20:57:36,276][agent.pretrain.train_diffusion_agent][INFO] - 89: train loss 0.1679 | t: 0.0608
[2025-09-20 20:57:36,336][agent.pretrain.train_diffusion_agent][INFO] - 90: train loss 0.1640 | t: 0.0606
[2025-09-20 20:57:36,396][agent.pretrain.train_diffusion_agent][INFO] - 91: train loss 0.1654 | t: 0.0599
[2025-09-20 20:57:36,457][agent.pretrain.train_diffusion_agent][INFO] - 92: train loss 0.1627 | t: 0.0609
[2025-09-20 20:57:36,518][agent.pretrain.train_diffusion_agent][INFO] - 93: train loss 0.1616 | t: 0.0605
[2025-09-20 20:57:36,576][agent.pretrain.train_diffusion_agent][INFO] - 94: train loss 0.1660 | t: 0.0587
[2025-09-20 20:57:36,635][agent.pretrain.train_diffusion_agent][INFO] - 95: train loss 0.1555 | t: 0.0589
[2025-09-20 20:57:36,695][agent.pretrain.train_diffusion_agent][INFO] - 96: train loss 0.1554 | t: 0.0596
[2025-09-20 20:57:36,755][agent.pretrain.train_diffusion_agent][INFO] - 97: train loss 0.1598 | t: 0.0596
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[2025-09-20 20:57:36,962][agent.pretrain.train_diffusion_agent][INFO] - 101: train loss 0.1593 | t: 0.0515
[2025-09-20 20:57:37,014][agent.pretrain.train_diffusion_agent][INFO] - 102: train loss 0.1507 | t: 0.0521
[2025-09-20 20:57:37,066][agent.pretrain.train_diffusion_agent][INFO] - 103: train loss 0.1492 | t: 0.0522
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[2025-09-20 20:57:37,169][agent.pretrain.train_diffusion_agent][INFO] - 105: train loss 0.1397 | t: 0.0505
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[2025-09-20 20:57:37,269][agent.pretrain.train_diffusion_agent][INFO] - 107: train loss 0.1470 | t: 0.0496
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[2025-09-20 20:57:37,370][agent.pretrain.train_diffusion_agent][INFO] - 109: train loss 0.1366 | t: 0.0514
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[2025-09-20 20:57:37,474][agent.pretrain.train_diffusion_agent][INFO] - 111: train loss 0.1370 | t: 0.0530
[2025-09-20 20:57:37,526][agent.pretrain.train_diffusion_agent][INFO] - 112: train loss 0.1457 | t: 0.0520
[2025-09-20 20:57:37,577][agent.pretrain.train_diffusion_agent][INFO] - 113: train loss 0.1412 | t: 0.0514
[2025-09-20 20:57:37,629][agent.pretrain.train_diffusion_agent][INFO] - 114: train loss 0.1392 | t: 0.0521
[2025-09-20 20:57:37,680][agent.pretrain.train_diffusion_agent][INFO] - 115: train loss 0.1426 | t: 0.0512
[2025-09-20 20:57:37,731][agent.pretrain.train_diffusion_agent][INFO] - 116: train loss 0.1379 | t: 0.0508
[2025-09-20 20:57:37,782][agent.pretrain.train_diffusion_agent][INFO] - 117: train loss 0.1338 | t: 0.0511
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[2025-09-20 20:57:37,883][agent.pretrain.train_diffusion_agent][INFO] - 119: train loss 0.1343 | t: 0.0499
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[2025-09-20 20:57:38,392][agent.pretrain.train_diffusion_agent][INFO] - 129: train loss 0.1321 | t: 0.0502
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[2025-09-20 20:57:40,304][agent.pretrain.train_diffusion_agent][INFO] - 166: train loss 0.1227 | t: 0.0499
[2025-09-20 20:57:40,355][agent.pretrain.train_diffusion_agent][INFO] - 167: train loss 0.1242 | t: 0.0508
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[2025-09-20 20:57:40,458][agent.pretrain.train_diffusion_agent][INFO] - 169: train loss 0.1141 | t: 0.0515
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[2025-09-20 20:57:40,611][agent.pretrain.train_diffusion_agent][INFO] - 172: train loss 0.1187 | t: 0.0505
[2025-09-20 20:57:40,662][agent.pretrain.train_diffusion_agent][INFO] - 173: train loss 0.1190 | t: 0.0512
[2025-09-20 20:57:40,713][agent.pretrain.train_diffusion_agent][INFO] - 174: train loss 0.1161 | t: 0.0513
[2025-09-20 20:57:40,764][agent.pretrain.train_diffusion_agent][INFO] - 175: train loss 0.1207 | t: 0.0508
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[2025-09-20 20:57:40,913][agent.pretrain.train_diffusion_agent][INFO] - 178: train loss 0.1127 | t: 0.0496
[2025-09-20 20:57:40,962][agent.pretrain.train_diffusion_agent][INFO] - 179: train loss 0.1183 | t: 0.0493
[2025-09-20 20:57:41,012][agent.pretrain.train_diffusion_agent][INFO] - 180: train loss 0.1136 | t: 0.0499
[2025-09-20 20:57:41,062][agent.pretrain.train_diffusion_agent][INFO] - 181: train loss 0.1131 | t: 0.0500
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[2025-09-20 20:57:41,160][agent.pretrain.train_diffusion_agent][INFO] - 183: train loss 0.1123 | t: 0.0490
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[2025-09-20 20:57:41,413][agent.pretrain.train_diffusion_agent][INFO] - 188: train loss 0.1122 | t: 0.0496
[2025-09-20 20:57:41,464][agent.pretrain.train_diffusion_agent][INFO] - 189: train loss 0.1120 | t: 0.0511
[2025-09-20 20:57:41,515][agent.pretrain.train_diffusion_agent][INFO] - 190: train loss 0.1167 | t: 0.0507
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[2025-09-20 20:57:41,616][agent.pretrain.train_diffusion_agent][INFO] - 192: train loss 0.1103 | t: 0.0500
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[2025-09-20 20:57:41,820][agent.pretrain.train_diffusion_agent][INFO] - 196: train loss 0.1080 | t: 0.0511
[2025-09-20 20:57:41,870][agent.pretrain.train_diffusion_agent][INFO] - 197: train loss 0.1170 | t: 0.0497
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[2025-09-20 20:57:42,022][agent.pretrain.train_diffusion_agent][INFO] - 200: train loss 0.1103 | t: 0.0510
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[2025-09-20 20:57:42,520][agent.pretrain.train_diffusion_agent][INFO] - 210: train loss 0.1102 | t: 0.0498
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[2025-09-20 20:57:43,014][agent.pretrain.train_diffusion_agent][INFO] - 220: train loss 0.1082 | t: 0.0494
[2025-09-20 20:57:43,063][agent.pretrain.train_diffusion_agent][INFO] - 221: train loss 0.1121 | t: 0.0494
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[2025-09-20 20:57:43,370][agent.pretrain.train_diffusion_agent][INFO] - 227: train loss 0.1070 | t: 0.0510
[2025-09-20 20:57:43,420][agent.pretrain.train_diffusion_agent][INFO] - 228: train loss 0.1093 | t: 0.0497
[2025-09-20 20:57:43,470][agent.pretrain.train_diffusion_agent][INFO] - 229: train loss 0.1115 | t: 0.0503
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[2025-09-20 20:57:43,569][agent.pretrain.train_diffusion_agent][INFO] - 231: train loss 0.1068 | t: 0.0496
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[2025-09-20 20:57:44,032][agent.pretrain.train_diffusion_agent][INFO] - 239: train loss 0.1048 | t: 0.0503
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[2025-09-20 20:57:44,872][agent.pretrain.train_diffusion_agent][INFO] - 256: train loss 0.1030 | t: 0.0497
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[2025-09-20 20:57:45,023][agent.pretrain.train_diffusion_agent][INFO] - 259: train loss 0.1018 | t: 0.0512
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[2025-09-20 20:57:50,024][agent.pretrain.train_diffusion_agent][INFO] - 356: train loss 0.0893 | t: 0.0519
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[2025-09-20 20:57:50,996][agent.pretrain.train_diffusion_agent][INFO] - 375: train loss 0.0841 | t: 0.0511
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[2025-09-20 20:57:57,204][agent.pretrain.train_diffusion_agent][INFO] - 494: train loss 0.0864 | t: 0.0494
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[2025-09-20 20:57:57,353][agent.pretrain.train_diffusion_agent][INFO] - 497: train loss 0.0772 | t: 0.0494
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[2025-09-20 20:57:57,506][agent.pretrain.train_agent][INFO] - Saved model to /home/zbzhu/Code/dppo/log/robomimic-pretrain/can_pre_diffusion_mlp_ta4_td20/2025-09-20_20-57-24_42/checkpoint/state_500.pt
[2025-09-20 20:57:57,507][agent.pretrain.train_diffusion_agent][INFO] - 500: train loss 0.0781 | t: 0.0539
[2025-09-20 20:57:57,556][agent.pretrain.train_diffusion_agent][INFO] - 501: train loss 0.0782 | t: 0.0497
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[2025-09-20 20:57:57,655][agent.pretrain.train_diffusion_agent][INFO] - 503: train loss 0.0821 | t: 0.0493
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[2025-09-20 20:57:57,805][agent.pretrain.train_diffusion_agent][INFO] - 506: train loss 0.0841 | t: 0.0497
[2025-09-20 20:57:57,855][agent.pretrain.train_diffusion_agent][INFO] - 507: train loss 0.0850 | t: 0.0493
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[2025-09-20 20:58:00,888][agent.pretrain.train_diffusion_agent][INFO] - 567: train loss 0.0801 | t: 0.0497
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[2025-09-20 20:58:01,037][agent.pretrain.train_diffusion_agent][INFO] - 570: train loss 0.0772 | t: 0.0492
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[2025-09-20 20:58:06,633][agent.pretrain.train_diffusion_agent][INFO] - 678: train loss 0.0763 | t: 0.0513
[2025-09-20 20:58:06,683][agent.pretrain.train_diffusion_agent][INFO] - 679: train loss 0.0730 | t: 0.0498
[2025-09-20 20:58:06,733][agent.pretrain.train_diffusion_agent][INFO] - 680: train loss 0.0750 | t: 0.0494
[2025-09-20 20:58:06,783][agent.pretrain.train_diffusion_agent][INFO] - 681: train loss 0.0736 | t: 0.0499
[2025-09-20 20:58:06,834][agent.pretrain.train_diffusion_agent][INFO] - 682: train loss 0.0694 | t: 0.0512
[2025-09-20 20:58:06,885][agent.pretrain.train_diffusion_agent][INFO] - 683: train loss 0.0715 | t: 0.0517
[2025-09-20 20:58:06,937][agent.pretrain.train_diffusion_agent][INFO] - 684: train loss 0.0746 | t: 0.0515
[2025-09-20 20:58:06,997][agent.pretrain.train_diffusion_agent][INFO] - 685: train loss 0.0739 | t: 0.0597
[2025-09-20 20:58:07,061][agent.pretrain.train_diffusion_agent][INFO] - 686: train loss 0.0769 | t: 0.0643
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[2025-09-20 20:58:07,180][agent.pretrain.train_diffusion_agent][INFO] - 688: train loss 0.0750 | t: 0.0598
[2025-09-20 20:58:07,240][agent.pretrain.train_diffusion_agent][INFO] - 689: train loss 0.0775 | t: 0.0600
[2025-09-20 20:58:07,300][agent.pretrain.train_diffusion_agent][INFO] - 690: train loss 0.0746 | t: 0.0604
[2025-09-20 20:58:07,360][agent.pretrain.train_diffusion_agent][INFO] - 691: train loss 0.0760 | t: 0.0599
[2025-09-20 20:58:07,413][agent.pretrain.train_diffusion_agent][INFO] - 692: train loss 0.0700 | t: 0.0522
[2025-09-20 20:58:07,465][agent.pretrain.train_diffusion_agent][INFO] - 693: train loss 0.0728 | t: 0.0525
[2025-09-20 20:58:07,517][agent.pretrain.train_diffusion_agent][INFO] - 694: train loss 0.0739 | t: 0.0518
[2025-09-20 20:58:07,569][agent.pretrain.train_diffusion_agent][INFO] - 695: train loss 0.0710 | t: 0.0518
[2025-09-20 20:58:07,620][agent.pretrain.train_diffusion_agent][INFO] - 696: train loss 0.0725 | t: 0.0514
[2025-09-20 20:58:07,671][agent.pretrain.train_diffusion_agent][INFO] - 697: train loss 0.0763 | t: 0.0509
[2025-09-20 20:58:07,721][agent.pretrain.train_diffusion_agent][INFO] - 698: train loss 0.0752 | t: 0.0505
[2025-09-20 20:58:07,772][agent.pretrain.train_diffusion_agent][INFO] - 699: train loss 0.0759 | t: 0.0506
[2025-09-20 20:58:07,824][agent.pretrain.train_diffusion_agent][INFO] - 700: train loss 0.0680 | t: 0.0516
[2025-09-20 20:58:07,874][agent.pretrain.train_diffusion_agent][INFO] - 701: train loss 0.0738 | t: 0.0508
[2025-09-20 20:58:07,925][agent.pretrain.train_diffusion_agent][INFO] - 702: train loss 0.0709 | t: 0.0502
[2025-09-20 20:58:07,975][agent.pretrain.train_diffusion_agent][INFO] - 703: train loss 0.0735 | t: 0.0507
[2025-09-20 20:58:08,026][agent.pretrain.train_diffusion_agent][INFO] - 704: train loss 0.0708 | t: 0.0508
[2025-09-20 20:58:08,077][agent.pretrain.train_diffusion_agent][INFO] - 705: train loss 0.0767 | t: 0.0512
[2025-09-20 20:58:08,128][agent.pretrain.train_diffusion_agent][INFO] - 706: train loss 0.0739 | t: 0.0511
[2025-09-20 20:58:08,179][agent.pretrain.train_diffusion_agent][INFO] - 707: train loss 0.0732 | t: 0.0503
[2025-09-20 20:58:08,229][agent.pretrain.train_diffusion_agent][INFO] - 708: train loss 0.0680 | t: 0.0508
[2025-09-20 20:58:08,281][agent.pretrain.train_diffusion_agent][INFO] - 709: train loss 0.0708 | t: 0.0516
[2025-09-20 20:58:08,331][agent.pretrain.train_diffusion_agent][INFO] - 710: train loss 0.0735 | t: 0.0501
[2025-09-20 20:58:08,382][agent.pretrain.train_diffusion_agent][INFO] - 711: train loss 0.0756 | t: 0.0511
[2025-09-20 20:58:08,432][agent.pretrain.train_diffusion_agent][INFO] - 712: train loss 0.0771 | t: 0.0501
[2025-09-20 20:58:08,483][agent.pretrain.train_diffusion_agent][INFO] - 713: train loss 0.0753 | t: 0.0505
[2025-09-20 20:58:08,533][agent.pretrain.train_diffusion_agent][INFO] - 714: train loss 0.0752 | t: 0.0500
[2025-09-20 20:58:08,584][agent.pretrain.train_diffusion_agent][INFO] - 715: train loss 0.0748 | t: 0.0507
[2025-09-20 20:58:08,634][agent.pretrain.train_diffusion_agent][INFO] - 716: train loss 0.0740 | t: 0.0507
[2025-09-20 20:58:08,685][agent.pretrain.train_diffusion_agent][INFO] - 717: train loss 0.0784 | t: 0.0509
[2025-09-20 20:58:08,736][agent.pretrain.train_diffusion_agent][INFO] - 718: train loss 0.0736 | t: 0.0507
[2025-09-20 20:58:08,786][agent.pretrain.train_diffusion_agent][INFO] - 719: train loss 0.0742 | t: 0.0498
[2025-09-20 20:58:08,836][agent.pretrain.train_diffusion_agent][INFO] - 720: train loss 0.0766 | t: 0.0501
[2025-09-20 20:58:08,886][agent.pretrain.train_diffusion_agent][INFO] - 721: train loss 0.0681 | t: 0.0505
[2025-09-20 20:58:08,936][agent.pretrain.train_diffusion_agent][INFO] - 722: train loss 0.0745 | t: 0.0500
[2025-09-20 20:58:08,987][agent.pretrain.train_diffusion_agent][INFO] - 723: train loss 0.0707 | t: 0.0509
[2025-09-20 20:58:09,039][agent.pretrain.train_diffusion_agent][INFO] - 724: train loss 0.0752 | t: 0.0521
[2025-09-20 20:58:09,091][agent.pretrain.train_diffusion_agent][INFO] - 725: train loss 0.0772 | t: 0.0520
[2025-09-20 20:58:09,143][agent.pretrain.train_diffusion_agent][INFO] - 726: train loss 0.0779 | t: 0.0522
[2025-09-20 20:58:09,195][agent.pretrain.train_diffusion_agent][INFO] - 727: train loss 0.0790 | t: 0.0520
[2025-09-20 20:58:09,247][agent.pretrain.train_diffusion_agent][INFO] - 728: train loss 0.0730 | t: 0.0520
[2025-09-20 20:58:09,352][agent.pretrain.train_diffusion_agent][INFO] - 729: train loss 0.0741 | t: 0.1049
[2025-09-20 20:58:09,403][agent.pretrain.train_diffusion_agent][INFO] - 730: train loss 0.0711 | t: 0.0505
[2025-09-20 20:58:09,455][agent.pretrain.train_diffusion_agent][INFO] - 731: train loss 0.0717 | t: 0.0525
[2025-09-20 20:58:09,509][agent.pretrain.train_diffusion_agent][INFO] - 732: train loss 0.0768 | t: 0.0538
[2025-09-20 20:58:09,562][agent.pretrain.train_diffusion_agent][INFO] - 733: train loss 0.0750 | t: 0.0525
[2025-09-20 20:58:09,612][agent.pretrain.train_diffusion_agent][INFO] - 734: train loss 0.0728 | t: 0.0502
[2025-09-20 20:58:09,661][agent.pretrain.train_diffusion_agent][INFO] - 735: train loss 0.0754 | t: 0.0493
[2025-09-20 20:58:09,712][agent.pretrain.train_diffusion_agent][INFO] - 736: train loss 0.0733 | t: 0.0506
[2025-09-20 20:58:09,762][agent.pretrain.train_diffusion_agent][INFO] - 737: train loss 0.0689 | t: 0.0499
[2025-09-20 20:58:09,811][agent.pretrain.train_diffusion_agent][INFO] - 738: train loss 0.0696 | t: 0.0495
[2025-09-20 20:58:09,861][agent.pretrain.train_diffusion_agent][INFO] - 739: train loss 0.0719 | t: 0.0499
[2025-09-20 20:58:09,911][agent.pretrain.train_diffusion_agent][INFO] - 740: train loss 0.0744 | t: 0.0495
[2025-09-20 20:58:09,961][agent.pretrain.train_diffusion_agent][INFO] - 741: train loss 0.0732 | t: 0.0502
[2025-09-20 20:58:10,011][agent.pretrain.train_diffusion_agent][INFO] - 742: train loss 0.0703 | t: 0.0504
[2025-09-20 20:58:10,061][agent.pretrain.train_diffusion_agent][INFO] - 743: train loss 0.0758 | t: 0.0497
[2025-09-20 20:58:10,110][agent.pretrain.train_diffusion_agent][INFO] - 744: train loss 0.0742 | t: 0.0492
[2025-09-20 20:58:10,166][agent.pretrain.train_diffusion_agent][INFO] - 745: train loss 0.0716 | t: 0.0555
[2025-09-20 20:58:10,217][agent.pretrain.train_diffusion_agent][INFO] - 746: train loss 0.0731 | t: 0.0519
[2025-09-20 20:58:10,268][agent.pretrain.train_diffusion_agent][INFO] - 747: train loss 0.0685 | t: 0.0502
[2025-09-20 20:58:10,317][agent.pretrain.train_diffusion_agent][INFO] - 748: train loss 0.0704 | t: 0.0497
[2025-09-20 20:58:10,369][agent.pretrain.train_diffusion_agent][INFO] - 749: train loss 0.0739 | t: 0.0515
[2025-09-20 20:58:10,421][agent.pretrain.train_diffusion_agent][INFO] - 750: train loss 0.0707 | t: 0.0522
[2025-09-20 20:58:10,473][agent.pretrain.train_diffusion_agent][INFO] - 751: train loss 0.0780 | t: 0.0518
[2025-09-20 20:58:10,524][agent.pretrain.train_diffusion_agent][INFO] - 752: train loss 0.0730 | t: 0.0514
[2025-09-20 20:58:10,576][agent.pretrain.train_diffusion_agent][INFO] - 753: train loss 0.0698 | t: 0.0516
[2025-09-20 20:58:10,627][agent.pretrain.train_diffusion_agent][INFO] - 754: train loss 0.0723 | t: 0.0514
[2025-09-20 20:58:10,677][agent.pretrain.train_diffusion_agent][INFO] - 755: train loss 0.0730 | t: 0.0497
[2025-09-20 20:58:10,728][agent.pretrain.train_diffusion_agent][INFO] - 756: train loss 0.0713 | t: 0.0508
[2025-09-20 20:58:10,781][agent.pretrain.train_diffusion_agent][INFO] - 757: train loss 0.0697 | t: 0.0535
[2025-09-20 20:58:10,834][agent.pretrain.train_diffusion_agent][INFO] - 758: train loss 0.0732 | t: 0.0526
[2025-09-20 20:58:10,885][agent.pretrain.train_diffusion_agent][INFO] - 759: train loss 0.0744 | t: 0.0516
[2025-09-20 20:58:10,937][agent.pretrain.train_diffusion_agent][INFO] - 760: train loss 0.0708 | t: 0.0514
[2025-09-20 20:58:10,989][agent.pretrain.train_diffusion_agent][INFO] - 761: train loss 0.0680 | t: 0.0519
[2025-09-20 20:58:11,040][agent.pretrain.train_diffusion_agent][INFO] - 762: train loss 0.0726 | t: 0.0509
[2025-09-20 20:58:11,091][agent.pretrain.train_diffusion_agent][INFO] - 763: train loss 0.0715 | t: 0.0509
[2025-09-20 20:58:11,140][agent.pretrain.train_diffusion_agent][INFO] - 764: train loss 0.0715 | t: 0.0498
[2025-09-20 20:58:11,190][agent.pretrain.train_diffusion_agent][INFO] - 765: train loss 0.0742 | t: 0.0497
[2025-09-20 20:58:11,241][agent.pretrain.train_diffusion_agent][INFO] - 766: train loss 0.0699 | t: 0.0505
[2025-09-20 20:58:11,290][agent.pretrain.train_diffusion_agent][INFO] - 767: train loss 0.0712 | t: 0.0495
[2025-09-20 20:58:11,341][agent.pretrain.train_diffusion_agent][INFO] - 768: train loss 0.0714 | t: 0.0511
[2025-09-20 20:58:11,393][agent.pretrain.train_diffusion_agent][INFO] - 769: train loss 0.0738 | t: 0.0514
[2025-09-20 20:58:11,449][agent.pretrain.train_diffusion_agent][INFO] - 770: train loss 0.0734 | t: 0.0566
[2025-09-20 20:58:11,499][agent.pretrain.train_diffusion_agent][INFO] - 771: train loss 0.0720 | t: 0.0503
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[2025-09-20 20:58:11,697][agent.pretrain.train_diffusion_agent][INFO] - 775: train loss 0.0694 | t: 0.0493
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[2025-09-20 20:58:16,717][agent.pretrain.train_diffusion_agent][INFO] - 874: train loss 0.0697 | t: 0.0515
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[2025-09-20 20:58:17,179][agent.pretrain.train_diffusion_agent][INFO] - 883: train loss 0.0698 | t: 0.0511
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[2025-09-20 20:58:18,050][agent.pretrain.train_diffusion_agent][INFO] - 900: train loss 0.0688 | t: 0.0498
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[2025-09-20 20:58:18,353][agent.pretrain.train_diffusion_agent][INFO] - 906: train loss 0.0677 | t: 0.0510
[2025-09-20 20:58:18,402][agent.pretrain.train_diffusion_agent][INFO] - 907: train loss 0.0672 | t: 0.0493
[2025-09-20 20:58:18,452][agent.pretrain.train_diffusion_agent][INFO] - 908: train loss 0.0683 | t: 0.0497
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[2025-09-20 20:58:18,550][agent.pretrain.train_diffusion_agent][INFO] - 910: train loss 0.0674 | t: 0.0493
[2025-09-20 20:58:18,600][agent.pretrain.train_diffusion_agent][INFO] - 911: train loss 0.0666 | t: 0.0496
[2025-09-20 20:58:18,649][agent.pretrain.train_diffusion_agent][INFO] - 912: train loss 0.0674 | t: 0.0494
[2025-09-20 20:58:18,699][agent.pretrain.train_diffusion_agent][INFO] - 913: train loss 0.0679 | t: 0.0494
[2025-09-20 20:58:18,749][agent.pretrain.train_diffusion_agent][INFO] - 914: train loss 0.0668 | t: 0.0499
[2025-09-20 20:58:18,802][agent.pretrain.train_diffusion_agent][INFO] - 915: train loss 0.0694 | t: 0.0538
[2025-09-20 20:58:18,853][agent.pretrain.train_diffusion_agent][INFO] - 916: train loss 0.0708 | t: 0.0503
[2025-09-20 20:58:18,904][agent.pretrain.train_diffusion_agent][INFO] - 917: train loss 0.0693 | t: 0.0514
[2025-09-20 20:58:18,955][agent.pretrain.train_diffusion_agent][INFO] - 918: train loss 0.0658 | t: 0.0513
[2025-09-20 20:58:19,006][agent.pretrain.train_diffusion_agent][INFO] - 919: train loss 0.0691 | t: 0.0510
[2025-09-20 20:58:19,058][agent.pretrain.train_diffusion_agent][INFO] - 920: train loss 0.0686 | t: 0.0513
[2025-09-20 20:58:19,109][agent.pretrain.train_diffusion_agent][INFO] - 921: train loss 0.0636 | t: 0.0515
[2025-09-20 20:58:19,160][agent.pretrain.train_diffusion_agent][INFO] - 922: train loss 0.0693 | t: 0.0513
[2025-09-20 20:58:19,211][agent.pretrain.train_diffusion_agent][INFO] - 923: train loss 0.0651 | t: 0.0509
[2025-09-20 20:58:19,263][agent.pretrain.train_diffusion_agent][INFO] - 924: train loss 0.0697 | t: 0.0512
[2025-09-20 20:58:19,376][agent.pretrain.train_diffusion_agent][INFO] - 925: train loss 0.0659 | t: 0.1137
[2025-09-20 20:58:19,429][agent.pretrain.train_diffusion_agent][INFO] - 926: train loss 0.0650 | t: 0.0523
[2025-09-20 20:58:19,480][agent.pretrain.train_diffusion_agent][INFO] - 927: train loss 0.0717 | t: 0.0518
[2025-09-20 20:58:19,532][agent.pretrain.train_diffusion_agent][INFO] - 928: train loss 0.0675 | t: 0.0516
[2025-09-20 20:58:19,583][agent.pretrain.train_diffusion_agent][INFO] - 929: train loss 0.0669 | t: 0.0514
[2025-09-20 20:58:19,635][agent.pretrain.train_diffusion_agent][INFO] - 930: train loss 0.0741 | t: 0.0515
[2025-09-20 20:58:19,687][agent.pretrain.train_diffusion_agent][INFO] - 931: train loss 0.0683 | t: 0.0520
[2025-09-20 20:58:19,739][agent.pretrain.train_diffusion_agent][INFO] - 932: train loss 0.0652 | t: 0.0517
[2025-09-20 20:58:19,790][agent.pretrain.train_diffusion_agent][INFO] - 933: train loss 0.0667 | t: 0.0516
[2025-09-20 20:58:19,842][agent.pretrain.train_diffusion_agent][INFO] - 934: train loss 0.0697 | t: 0.0517
[2025-09-20 20:58:19,893][agent.pretrain.train_diffusion_agent][INFO] - 935: train loss 0.0659 | t: 0.0514
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[2025-09-20 20:58:20,150][agent.pretrain.train_diffusion_agent][INFO] - 940: train loss 0.0679 | t: 0.0497
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[2025-09-20 20:58:20,302][agent.pretrain.train_diffusion_agent][INFO] - 943: train loss 0.0670 | t: 0.0503
[2025-09-20 20:58:20,353][agent.pretrain.train_diffusion_agent][INFO] - 944: train loss 0.0668 | t: 0.0503
[2025-09-20 20:58:20,403][agent.pretrain.train_diffusion_agent][INFO] - 945: train loss 0.0696 | t: 0.0505
[2025-09-20 20:58:20,455][agent.pretrain.train_diffusion_agent][INFO] - 946: train loss 0.0640 | t: 0.0522
[2025-09-20 20:58:20,507][agent.pretrain.train_diffusion_agent][INFO] - 947: train loss 0.0649 | t: 0.0519
[2025-09-20 20:58:20,558][agent.pretrain.train_diffusion_agent][INFO] - 948: train loss 0.0664 | t: 0.0514
[2025-09-20 20:58:20,610][agent.pretrain.train_diffusion_agent][INFO] - 949: train loss 0.0687 | t: 0.0518
[2025-09-20 20:58:20,662][agent.pretrain.train_diffusion_agent][INFO] - 950: train loss 0.0666 | t: 0.0517
[2025-09-20 20:58:20,714][agent.pretrain.train_diffusion_agent][INFO] - 951: train loss 0.0662 | t: 0.0519
[2025-09-20 20:58:20,765][agent.pretrain.train_diffusion_agent][INFO] - 952: train loss 0.0669 | t: 0.0516
[2025-09-20 20:58:20,817][agent.pretrain.train_diffusion_agent][INFO] - 953: train loss 0.0694 | t: 0.0515
[2025-09-20 20:58:20,869][agent.pretrain.train_diffusion_agent][INFO] - 954: train loss 0.0679 | t: 0.0518
[2025-09-20 20:58:20,920][agent.pretrain.train_diffusion_agent][INFO] - 955: train loss 0.0658 | t: 0.0515
[2025-09-20 20:58:20,972][agent.pretrain.train_diffusion_agent][INFO] - 956: train loss 0.0678 | t: 0.0516
[2025-09-20 20:58:21,024][agent.pretrain.train_diffusion_agent][INFO] - 957: train loss 0.0660 | t: 0.0518
[2025-09-20 20:58:21,075][agent.pretrain.train_diffusion_agent][INFO] - 958: train loss 0.0666 | t: 0.0513
[2025-09-20 20:58:21,127][agent.pretrain.train_diffusion_agent][INFO] - 959: train loss 0.0645 | t: 0.0519
[2025-09-20 20:58:21,178][agent.pretrain.train_diffusion_agent][INFO] - 960: train loss 0.0648 | t: 0.0517
[2025-09-20 20:58:21,230][agent.pretrain.train_diffusion_agent][INFO] - 961: train loss 0.0661 | t: 0.0520
[2025-09-20 20:58:21,282][agent.pretrain.train_diffusion_agent][INFO] - 962: train loss 0.0670 | t: 0.0514
[2025-09-20 20:58:21,334][agent.pretrain.train_diffusion_agent][INFO] - 963: train loss 0.0655 | t: 0.0517
[2025-09-20 20:58:21,385][agent.pretrain.train_diffusion_agent][INFO] - 964: train loss 0.0671 | t: 0.0514
[2025-09-20 20:58:21,436][agent.pretrain.train_diffusion_agent][INFO] - 965: train loss 0.0686 | t: 0.0514
[2025-09-20 20:58:21,489][agent.pretrain.train_diffusion_agent][INFO] - 966: train loss 0.0664 | t: 0.0525
[2025-09-20 20:58:21,543][agent.pretrain.train_diffusion_agent][INFO] - 967: train loss 0.0633 | t: 0.0541
[2025-09-20 20:58:21,594][agent.pretrain.train_diffusion_agent][INFO] - 968: train loss 0.0713 | t: 0.0513
[2025-09-20 20:58:21,645][agent.pretrain.train_diffusion_agent][INFO] - 969: train loss 0.0666 | t: 0.0510
[2025-09-20 20:58:21,697][agent.pretrain.train_diffusion_agent][INFO] - 970: train loss 0.0657 | t: 0.0521
[2025-09-20 20:58:21,750][agent.pretrain.train_diffusion_agent][INFO] - 971: train loss 0.0705 | t: 0.0522
[2025-09-20 20:58:21,801][agent.pretrain.train_diffusion_agent][INFO] - 972: train loss 0.0646 | t: 0.0514
[2025-09-20 20:58:21,852][agent.pretrain.train_diffusion_agent][INFO] - 973: train loss 0.0655 | t: 0.0512
[2025-09-20 20:58:21,904][agent.pretrain.train_diffusion_agent][INFO] - 974: train loss 0.0681 | t: 0.0514
[2025-09-20 20:58:21,955][agent.pretrain.train_diffusion_agent][INFO] - 975: train loss 0.0694 | t: 0.0513
[2025-09-20 20:58:22,006][agent.pretrain.train_diffusion_agent][INFO] - 976: train loss 0.0673 | t: 0.0513
[2025-09-20 20:58:22,058][agent.pretrain.train_diffusion_agent][INFO] - 977: train loss 0.0683 | t: 0.0512
[2025-09-20 20:58:22,109][agent.pretrain.train_diffusion_agent][INFO] - 978: train loss 0.0674 | t: 0.0513
[2025-09-20 20:58:22,160][agent.pretrain.train_diffusion_agent][INFO] - 979: train loss 0.0629 | t: 0.0511
[2025-09-20 20:58:22,211][agent.pretrain.train_diffusion_agent][INFO] - 980: train loss 0.0678 | t: 0.0511
[2025-09-20 20:58:22,262][agent.pretrain.train_diffusion_agent][INFO] - 981: train loss 0.0696 | t: 0.0513
[2025-09-20 20:58:22,314][agent.pretrain.train_diffusion_agent][INFO] - 982: train loss 0.0668 | t: 0.0518
[2025-09-20 20:58:22,365][agent.pretrain.train_diffusion_agent][INFO] - 983: train loss 0.0677 | t: 0.0512
[2025-09-20 20:58:22,416][agent.pretrain.train_diffusion_agent][INFO] - 984: train loss 0.0655 | t: 0.0509
[2025-09-20 20:58:22,468][agent.pretrain.train_diffusion_agent][INFO] - 985: train loss 0.0646 | t: 0.0513
[2025-09-20 20:58:22,519][agent.pretrain.train_diffusion_agent][INFO] - 986: train loss 0.0671 | t: 0.0514
[2025-09-20 20:58:22,570][agent.pretrain.train_diffusion_agent][INFO] - 987: train loss 0.0705 | t: 0.0510
[2025-09-20 20:58:22,621][agent.pretrain.train_diffusion_agent][INFO] - 988: train loss 0.0639 | t: 0.0512
[2025-09-20 20:58:22,670][agent.pretrain.train_diffusion_agent][INFO] - 989: train loss 0.0662 | t: 0.0490
[2025-09-20 20:58:22,720][agent.pretrain.train_diffusion_agent][INFO] - 990: train loss 0.0694 | t: 0.0496
[2025-09-20 20:58:22,769][agent.pretrain.train_diffusion_agent][INFO] - 991: train loss 0.0650 | t: 0.0494
[2025-09-20 20:58:22,819][agent.pretrain.train_diffusion_agent][INFO] - 992: train loss 0.0694 | t: 0.0495
[2025-09-20 20:58:22,868][agent.pretrain.train_diffusion_agent][INFO] - 993: train loss 0.0653 | t: 0.0493
[2025-09-20 20:58:22,918][agent.pretrain.train_diffusion_agent][INFO] - 994: train loss 0.0636 | t: 0.0496
[2025-09-20 20:58:22,967][agent.pretrain.train_diffusion_agent][INFO] - 995: train loss 0.0651 | t: 0.0495
[2025-09-20 20:58:23,019][agent.pretrain.train_diffusion_agent][INFO] - 996: train loss 0.0666 | t: 0.0514
[2025-09-20 20:58:23,069][agent.pretrain.train_diffusion_agent][INFO] - 997: train loss 0.0665 | t: 0.0500
[2025-09-20 20:58:23,120][agent.pretrain.train_diffusion_agent][INFO] - 998: train loss 0.0622 | t: 0.0511
[2025-09-20 20:58:23,171][agent.pretrain.train_diffusion_agent][INFO] - 999: train loss 0.0652 | t: 0.0511
[2025-09-20 20:58:23,226][agent.pretrain.train_agent][INFO] - Saved model to /home/zbzhu/Code/dppo/log/robomimic-pretrain/can_pre_diffusion_mlp_ta4_td20/2025-09-20_20-57-24_42/checkpoint/state_1000.pt
[2025-09-20 20:58:23,226][agent.pretrain.train_diffusion_agent][INFO] - 1000: train loss 0.0632 | t: 0.0554
[2025-09-20 20:58:23,276][agent.pretrain.train_diffusion_agent][INFO] - 1001: train loss 0.0627 | t: 0.0500
[2025-09-20 20:58:23,327][agent.pretrain.train_diffusion_agent][INFO] - 1002: train loss 0.0667 | t: 0.0504
[2025-09-20 20:58:23,378][agent.pretrain.train_diffusion_agent][INFO] - 1003: train loss 0.0683 | t: 0.0512
[2025-09-20 20:58:23,429][agent.pretrain.train_diffusion_agent][INFO] - 1004: train loss 0.0658 | t: 0.0511
[2025-09-20 20:58:23,481][agent.pretrain.train_diffusion_agent][INFO] - 1005: train loss 0.0678 | t: 0.0518
[2025-09-20 20:58:23,532][agent.pretrain.train_diffusion_agent][INFO] - 1006: train loss 0.0635 | t: 0.0518
[2025-09-20 20:58:23,591][agent.pretrain.train_diffusion_agent][INFO] - 1007: train loss 0.0667 | t: 0.0582
[2025-09-20 20:58:23,642][agent.pretrain.train_diffusion_agent][INFO] - 1008: train loss 0.0633 | t: 0.0514
[2025-09-20 20:58:23,694][agent.pretrain.train_diffusion_agent][INFO] - 1009: train loss 0.0656 | t: 0.0518
[2025-09-20 20:58:23,746][agent.pretrain.train_diffusion_agent][INFO] - 1010: train loss 0.0690 | t: 0.0518
[2025-09-20 20:58:23,798][agent.pretrain.train_diffusion_agent][INFO] - 1011: train loss 0.0647 | t: 0.0520
[2025-09-20 20:58:23,849][agent.pretrain.train_diffusion_agent][INFO] - 1012: train loss 0.0659 | t: 0.0516
[2025-09-20 20:58:23,901][agent.pretrain.train_diffusion_agent][INFO] - 1013: train loss 0.0662 | t: 0.0515
[2025-09-20 20:58:23,953][agent.pretrain.train_diffusion_agent][INFO] - 1014: train loss 0.0630 | t: 0.0519
[2025-09-20 20:58:24,004][agent.pretrain.train_diffusion_agent][INFO] - 1015: train loss 0.0662 | t: 0.0512
[2025-09-20 20:58:24,056][agent.pretrain.train_diffusion_agent][INFO] - 1016: train loss 0.0680 | t: 0.0516
[2025-09-20 20:58:24,107][agent.pretrain.train_diffusion_agent][INFO] - 1017: train loss 0.0704 | t: 0.0516
[2025-09-20 20:58:24,159][agent.pretrain.train_diffusion_agent][INFO] - 1018: train loss 0.0713 | t: 0.0515
[2025-09-20 20:58:24,210][agent.pretrain.train_diffusion_agent][INFO] - 1019: train loss 0.0633 | t: 0.0516
[2025-09-20 20:58:24,262][agent.pretrain.train_diffusion_agent][INFO] - 1020: train loss 0.0665 | t: 0.0515
[2025-09-20 20:58:24,313][agent.pretrain.train_diffusion_agent][INFO] - 1021: train loss 0.0685 | t: 0.0517
[2025-09-20 20:58:24,365][agent.pretrain.train_diffusion_agent][INFO] - 1022: train loss 0.0663 | t: 0.0517
[2025-09-20 20:58:24,416][agent.pretrain.train_diffusion_agent][INFO] - 1023: train loss 0.0660 | t: 0.0513
[2025-09-20 20:58:24,525][agent.pretrain.train_diffusion_agent][INFO] - 1024: train loss 0.0643 | t: 0.1087
[2025-09-20 20:58:24,577][agent.pretrain.train_diffusion_agent][INFO] - 1025: train loss 0.0640 | t: 0.0518
[2025-09-20 20:58:24,629][agent.pretrain.train_diffusion_agent][INFO] - 1026: train loss 0.0657 | t: 0.0519
[2025-09-20 20:58:24,680][agent.pretrain.train_diffusion_agent][INFO] - 1027: train loss 0.0657 | t: 0.0516
[2025-09-20 20:58:24,732][agent.pretrain.train_diffusion_agent][INFO] - 1028: train loss 0.0660 | t: 0.0517
[2025-09-20 20:58:24,784][agent.pretrain.train_diffusion_agent][INFO] - 1029: train loss 0.0639 | t: 0.0516
[2025-09-20 20:58:24,835][agent.pretrain.train_diffusion_agent][INFO] - 1030: train loss 0.0624 | t: 0.0515
[2025-09-20 20:58:24,887][agent.pretrain.train_diffusion_agent][INFO] - 1031: train loss 0.0675 | t: 0.0520
[2025-09-20 20:58:24,939][agent.pretrain.train_diffusion_agent][INFO] - 1032: train loss 0.0658 | t: 0.0517
[2025-09-20 20:58:24,991][agent.pretrain.train_diffusion_agent][INFO] - 1033: train loss 0.0662 | t: 0.0516
[2025-09-20 20:58:25,042][agent.pretrain.train_diffusion_agent][INFO] - 1034: train loss 0.0659 | t: 0.0515
[2025-09-20 20:58:25,093][agent.pretrain.train_diffusion_agent][INFO] - 1035: train loss 0.0667 | t: 0.0506
[2025-09-20 20:58:25,145][agent.pretrain.train_diffusion_agent][INFO] - 1036: train loss 0.0645 | t: 0.0521
[2025-09-20 20:58:25,196][agent.pretrain.train_diffusion_agent][INFO] - 1037: train loss 0.0655 | t: 0.0518
[2025-09-20 20:58:25,248][agent.pretrain.train_diffusion_agent][INFO] - 1038: train loss 0.0635 | t: 0.0516
[2025-09-20 20:58:25,299][agent.pretrain.train_diffusion_agent][INFO] - 1039: train loss 0.0632 | t: 0.0514
[2025-09-20 20:58:25,351][agent.pretrain.train_diffusion_agent][INFO] - 1040: train loss 0.0675 | t: 0.0517
[2025-09-20 20:58:25,403][agent.pretrain.train_diffusion_agent][INFO] - 1041: train loss 0.0651 | t: 0.0517
[2025-09-20 20:58:25,454][agent.pretrain.train_diffusion_agent][INFO] - 1042: train loss 0.0710 | t: 0.0516
[2025-09-20 20:58:25,506][agent.pretrain.train_diffusion_agent][INFO] - 1043: train loss 0.0680 | t: 0.0517
[2025-09-20 20:58:25,558][agent.pretrain.train_diffusion_agent][INFO] - 1044: train loss 0.0644 | t: 0.0516
[2025-09-20 20:58:25,609][agent.pretrain.train_diffusion_agent][INFO] - 1045: train loss 0.0641 | t: 0.0514
[2025-09-20 20:58:25,661][agent.pretrain.train_diffusion_agent][INFO] - 1046: train loss 0.0639 | t: 0.0521
[2025-09-20 20:58:25,713][agent.pretrain.train_diffusion_agent][INFO] - 1047: train loss 0.0639 | t: 0.0519
[2025-09-20 20:58:25,765][agent.pretrain.train_diffusion_agent][INFO] - 1048: train loss 0.0675 | t: 0.0514
[2025-09-20 20:58:25,816][agent.pretrain.train_diffusion_agent][INFO] - 1049: train loss 0.0660 | t: 0.0517
[2025-09-20 20:58:25,868][agent.pretrain.train_diffusion_agent][INFO] - 1050: train loss 0.0670 | t: 0.0513
[2025-09-20 20:58:25,920][agent.pretrain.train_diffusion_agent][INFO] - 1051: train loss 0.0637 | t: 0.0519
[2025-09-20 20:58:25,971][agent.pretrain.train_diffusion_agent][INFO] - 1052: train loss 0.0646 | t: 0.0515
[2025-09-20 20:58:26,023][agent.pretrain.train_diffusion_agent][INFO] - 1053: train loss 0.0656 | t: 0.0515
[2025-09-20 20:58:26,073][agent.pretrain.train_diffusion_agent][INFO] - 1054: train loss 0.0666 | t: 0.0505
[2025-09-20 20:58:26,125][agent.pretrain.train_diffusion_agent][INFO] - 1055: train loss 0.0678 | t: 0.0514
[2025-09-20 20:58:26,176][agent.pretrain.train_diffusion_agent][INFO] - 1056: train loss 0.0638 | t: 0.0517
[2025-09-20 20:58:26,228][agent.pretrain.train_diffusion_agent][INFO] - 1057: train loss 0.0623 | t: 0.0515
[2025-09-20 20:58:26,280][agent.pretrain.train_diffusion_agent][INFO] - 1058: train loss 0.0628 | t: 0.0524
[2025-09-20 20:58:26,332][agent.pretrain.train_diffusion_agent][INFO] - 1059: train loss 0.0677 | t: 0.0519
[2025-09-20 20:58:26,383][agent.pretrain.train_diffusion_agent][INFO] - 1060: train loss 0.0675 | t: 0.0515
[2025-09-20 20:58:26,435][agent.pretrain.train_diffusion_agent][INFO] - 1061: train loss 0.0673 | t: 0.0517
[2025-09-20 20:58:26,487][agent.pretrain.train_diffusion_agent][INFO] - 1062: train loss 0.0651 | t: 0.0514
[2025-09-20 20:58:26,538][agent.pretrain.train_diffusion_agent][INFO] - 1063: train loss 0.0652 | t: 0.0513
[2025-09-20 20:58:26,588][agent.pretrain.train_diffusion_agent][INFO] - 1064: train loss 0.0638 | t: 0.0501
[2025-09-20 20:58:26,639][agent.pretrain.train_diffusion_agent][INFO] - 1065: train loss 0.0665 | t: 0.0506
[2025-09-20 20:58:26,690][agent.pretrain.train_diffusion_agent][INFO] - 1066: train loss 0.0699 | t: 0.0514
[2025-09-20 20:58:26,741][agent.pretrain.train_diffusion_agent][INFO] - 1067: train loss 0.0646 | t: 0.0514
[2025-09-20 20:58:26,792][agent.pretrain.train_diffusion_agent][INFO] - 1068: train loss 0.0612 | t: 0.0506
[2025-09-20 20:58:26,842][agent.pretrain.train_diffusion_agent][INFO] - 1069: train loss 0.0639 | t: 0.0504
[2025-09-20 20:58:26,893][agent.pretrain.train_diffusion_agent][INFO] - 1070: train loss 0.0653 | t: 0.0511
[2025-09-20 20:58:26,945][agent.pretrain.train_diffusion_agent][INFO] - 1071: train loss 0.0616 | t: 0.0515
[2025-09-20 20:58:26,996][agent.pretrain.train_diffusion_agent][INFO] - 1072: train loss 0.0636 | t: 0.0514
[2025-09-20 20:58:27,047][agent.pretrain.train_diffusion_agent][INFO] - 1073: train loss 0.0679 | t: 0.0512
[2025-09-20 20:58:27,099][agent.pretrain.train_diffusion_agent][INFO] - 1074: train loss 0.0613 | t: 0.0517
[2025-09-20 20:58:27,151][agent.pretrain.train_diffusion_agent][INFO] - 1075: train loss 0.0624 | t: 0.0515
[2025-09-20 20:58:27,201][agent.pretrain.train_diffusion_agent][INFO] - 1076: train loss 0.0618 | t: 0.0508
[2025-09-20 20:58:27,252][agent.pretrain.train_diffusion_agent][INFO] - 1077: train loss 0.0695 | t: 0.0509
[2025-09-20 20:58:27,313][agent.pretrain.train_diffusion_agent][INFO] - 1078: train loss 0.0652 | t: 0.0605
[2025-09-20 20:58:27,373][agent.pretrain.train_diffusion_agent][INFO] - 1079: train loss 0.0627 | t: 0.0602
[2025-09-20 20:58:27,432][agent.pretrain.train_diffusion_agent][INFO] - 1080: train loss 0.0679 | t: 0.0591
[2025-09-20 20:58:27,493][agent.pretrain.train_diffusion_agent][INFO] - 1081: train loss 0.0614 | t: 0.0610
[2025-09-20 20:58:27,550][agent.pretrain.train_diffusion_agent][INFO] - 1082: train loss 0.0650 | t: 0.0574
[2025-09-20 20:58:27,600][agent.pretrain.train_diffusion_agent][INFO] - 1083: train loss 0.0643 | t: 0.0493
[2025-09-20 20:58:27,649][agent.pretrain.train_diffusion_agent][INFO] - 1084: train loss 0.0656 | t: 0.0491
[2025-09-20 20:58:27,697][agent.pretrain.train_diffusion_agent][INFO] - 1085: train loss 0.0634 | t: 0.0487
[2025-09-20 20:58:27,747][agent.pretrain.train_diffusion_agent][INFO] - 1086: train loss 0.0680 | t: 0.0493
[2025-09-20 20:58:27,796][agent.pretrain.train_diffusion_agent][INFO] - 1087: train loss 0.0624 | t: 0.0492
[2025-09-20 20:58:27,848][agent.pretrain.train_diffusion_agent][INFO] - 1088: train loss 0.0592 | t: 0.0518
[2025-09-20 20:58:27,902][agent.pretrain.train_diffusion_agent][INFO] - 1089: train loss 0.0640 | t: 0.0539
[2025-09-20 20:58:27,953][agent.pretrain.train_diffusion_agent][INFO] - 1090: train loss 0.0649 | t: 0.0514
[2025-09-20 20:58:28,004][agent.pretrain.train_diffusion_agent][INFO] - 1091: train loss 0.0635 | t: 0.0507
[2025-09-20 20:58:28,054][agent.pretrain.train_diffusion_agent][INFO] - 1092: train loss 0.0604 | t: 0.0507
[2025-09-20 20:58:28,104][agent.pretrain.train_diffusion_agent][INFO] - 1093: train loss 0.0664 | t: 0.0497
[2025-09-20 20:58:28,156][agent.pretrain.train_diffusion_agent][INFO] - 1094: train loss 0.0634 | t: 0.0515
[2025-09-20 20:58:28,207][agent.pretrain.train_diffusion_agent][INFO] - 1095: train loss 0.0654 | t: 0.0516
[2025-09-20 20:58:28,259][agent.pretrain.train_diffusion_agent][INFO] - 1096: train loss 0.0682 | t: 0.0518
[2025-09-20 20:58:28,311][agent.pretrain.train_diffusion_agent][INFO] - 1097: train loss 0.0652 | t: 0.0515
[2025-09-20 20:58:28,363][agent.pretrain.train_diffusion_agent][INFO] - 1098: train loss 0.0642 | t: 0.0520
[2025-09-20 20:58:28,414][agent.pretrain.train_diffusion_agent][INFO] - 1099: train loss 0.0635 | t: 0.0518
[2025-09-20 20:58:28,466][agent.pretrain.train_diffusion_agent][INFO] - 1100: train loss 0.0632 | t: 0.0514
[2025-09-20 20:58:28,516][agent.pretrain.train_diffusion_agent][INFO] - 1101: train loss 0.0660 | t: 0.0503
[2025-09-20 20:58:28,568][agent.pretrain.train_diffusion_agent][INFO] - 1102: train loss 0.0622 | t: 0.0514
[2025-09-20 20:58:28,617][agent.pretrain.train_diffusion_agent][INFO] - 1103: train loss 0.0611 | t: 0.0493
[2025-09-20 20:58:28,666][agent.pretrain.train_diffusion_agent][INFO] - 1104: train loss 0.0617 | t: 0.0493
[2025-09-20 20:58:28,715][agent.pretrain.train_diffusion_agent][INFO] - 1105: train loss 0.0615 | t: 0.0491
[2025-09-20 20:58:28,765][agent.pretrain.train_diffusion_agent][INFO] - 1106: train loss 0.0614 | t: 0.0497
[2025-09-20 20:58:28,814][agent.pretrain.train_diffusion_agent][INFO] - 1107: train loss 0.0659 | t: 0.0493
[2025-09-20 20:58:28,864][agent.pretrain.train_diffusion_agent][INFO] - 1108: train loss 0.0607 | t: 0.0493
[2025-09-20 20:58:28,913][agent.pretrain.train_diffusion_agent][INFO] - 1109: train loss 0.0662 | t: 0.0492
[2025-09-20 20:58:28,963][agent.pretrain.train_diffusion_agent][INFO] - 1110: train loss 0.0660 | t: 0.0501
[2025-09-20 20:58:29,014][agent.pretrain.train_diffusion_agent][INFO] - 1111: train loss 0.0639 | t: 0.0508
[2025-09-20 20:58:29,065][agent.pretrain.train_diffusion_agent][INFO] - 1112: train loss 0.0631 | t: 0.0517
[2025-09-20 20:58:29,117][agent.pretrain.train_diffusion_agent][INFO] - 1113: train loss 0.0657 | t: 0.0515
[2025-09-20 20:58:29,169][agent.pretrain.train_diffusion_agent][INFO] - 1114: train loss 0.0650 | t: 0.0521
[2025-09-20 20:58:29,221][agent.pretrain.train_diffusion_agent][INFO] - 1115: train loss 0.0682 | t: 0.0515
[2025-09-20 20:58:29,272][agent.pretrain.train_diffusion_agent][INFO] - 1116: train loss 0.0650 | t: 0.0517
[2025-09-20 20:58:29,324][agent.pretrain.train_diffusion_agent][INFO] - 1117: train loss 0.0648 | t: 0.0518
[2025-09-20 20:58:29,376][agent.pretrain.train_diffusion_agent][INFO] - 1118: train loss 0.0629 | t: 0.0517
[2025-09-20 20:58:29,426][agent.pretrain.train_diffusion_agent][INFO] - 1119: train loss 0.0639 | t: 0.0498
[2025-09-20 20:58:29,475][agent.pretrain.train_diffusion_agent][INFO] - 1120: train loss 0.0671 | t: 0.0494
[2025-09-20 20:58:29,525][agent.pretrain.train_diffusion_agent][INFO] - 1121: train loss 0.0649 | t: 0.0502
[2025-09-20 20:58:29,634][agent.pretrain.train_diffusion_agent][INFO] - 1122: train loss 0.0637 | t: 0.1091
[2025-09-20 20:58:29,686][agent.pretrain.train_diffusion_agent][INFO] - 1123: train loss 0.0635 | t: 0.0515
[2025-09-20 20:58:29,737][agent.pretrain.train_diffusion_agent][INFO] - 1124: train loss 0.0650 | t: 0.0510
[2025-09-20 20:58:29,788][agent.pretrain.train_diffusion_agent][INFO] - 1125: train loss 0.0644 | t: 0.0513
[2025-09-20 20:58:29,846][agent.pretrain.train_diffusion_agent][INFO] - 1126: train loss 0.0624 | t: 0.0579
[2025-09-20 20:58:29,897][agent.pretrain.train_diffusion_agent][INFO] - 1127: train loss 0.0633 | t: 0.0506
[2025-09-20 20:58:29,947][agent.pretrain.train_diffusion_agent][INFO] - 1128: train loss 0.0670 | t: 0.0507
[2025-09-20 20:58:29,997][agent.pretrain.train_diffusion_agent][INFO] - 1129: train loss 0.0629 | t: 0.0497
[2025-09-20 20:58:30,049][agent.pretrain.train_diffusion_agent][INFO] - 1130: train loss 0.0654 | t: 0.0516
[2025-09-20 20:58:30,101][agent.pretrain.train_diffusion_agent][INFO] - 1131: train loss 0.0628 | t: 0.0519
[2025-09-20 20:58:30,152][agent.pretrain.train_diffusion_agent][INFO] - 1132: train loss 0.0655 | t: 0.0517
[2025-09-20 20:58:30,204][agent.pretrain.train_diffusion_agent][INFO] - 1133: train loss 0.0649 | t: 0.0518
[2025-09-20 20:58:30,254][agent.pretrain.train_diffusion_agent][INFO] - 1134: train loss 0.0621 | t: 0.0504
[2025-09-20 20:58:30,305][agent.pretrain.train_diffusion_agent][INFO] - 1135: train loss 0.0654 | t: 0.0504
[2025-09-20 20:58:30,356][agent.pretrain.train_diffusion_agent][INFO] - 1136: train loss 0.0663 | t: 0.0514
[2025-09-20 20:58:30,407][agent.pretrain.train_diffusion_agent][INFO] - 1137: train loss 0.0633 | t: 0.0507
[2025-09-20 20:58:30,458][agent.pretrain.train_diffusion_agent][INFO] - 1138: train loss 0.0625 | t: 0.0514
[2025-09-20 20:58:30,510][agent.pretrain.train_diffusion_agent][INFO] - 1139: train loss 0.0575 | t: 0.0512
[2025-09-20 20:58:30,561][agent.pretrain.train_diffusion_agent][INFO] - 1140: train loss 0.0680 | t: 0.0511
[2025-09-20 20:58:30,612][agent.pretrain.train_diffusion_agent][INFO] - 1141: train loss 0.0646 | t: 0.0512
[2025-09-20 20:58:30,663][agent.pretrain.train_diffusion_agent][INFO] - 1142: train loss 0.0685 | t: 0.0507
[2025-09-20 20:58:30,714][agent.pretrain.train_diffusion_agent][INFO] - 1143: train loss 0.0675 | t: 0.0510
[2025-09-20 20:58:30,765][agent.pretrain.train_diffusion_agent][INFO] - 1144: train loss 0.0628 | t: 0.0509
[2025-09-20 20:58:30,814][agent.pretrain.train_diffusion_agent][INFO] - 1145: train loss 0.0616 | t: 0.0493
[2025-09-20 20:58:30,863][agent.pretrain.train_diffusion_agent][INFO] - 1146: train loss 0.0634 | t: 0.0495
[2025-09-20 20:58:30,912][agent.pretrain.train_diffusion_agent][INFO] - 1147: train loss 0.0622 | t: 0.0491
[2025-09-20 20:58:30,962][agent.pretrain.train_diffusion_agent][INFO] - 1148: train loss 0.0615 | t: 0.0491
[2025-09-20 20:58:31,011][agent.pretrain.train_diffusion_agent][INFO] - 1149: train loss 0.0623 | t: 0.0491
[2025-09-20 20:58:31,060][agent.pretrain.train_diffusion_agent][INFO] - 1150: train loss 0.0594 | t: 0.0490
[2025-09-20 20:58:31,109][agent.pretrain.train_diffusion_agent][INFO] - 1151: train loss 0.0641 | t: 0.0492
[2025-09-20 20:58:31,158][agent.pretrain.train_diffusion_agent][INFO] - 1152: train loss 0.0635 | t: 0.0492
[2025-09-20 20:58:31,207][agent.pretrain.train_diffusion_agent][INFO] - 1153: train loss 0.0647 | t: 0.0491
[2025-09-20 20:58:31,256][agent.pretrain.train_diffusion_agent][INFO] - 1154: train loss 0.0589 | t: 0.0491
[2025-09-20 20:58:31,305][agent.pretrain.train_diffusion_agent][INFO] - 1155: train loss 0.0634 | t: 0.0490
[2025-09-20 20:58:31,355][agent.pretrain.train_diffusion_agent][INFO] - 1156: train loss 0.0607 | t: 0.0495
[2025-09-20 20:58:31,405][agent.pretrain.train_diffusion_agent][INFO] - 1157: train loss 0.0633 | t: 0.0498
[2025-09-20 20:58:31,456][agent.pretrain.train_diffusion_agent][INFO] - 1158: train loss 0.0600 | t: 0.0515
[2025-09-20 20:58:31,508][agent.pretrain.train_diffusion_agent][INFO] - 1159: train loss 0.0631 | t: 0.0521
[2025-09-20 20:58:31,560][agent.pretrain.train_diffusion_agent][INFO] - 1160: train loss 0.0643 | t: 0.0522
[2025-09-20 20:58:31,612][agent.pretrain.train_diffusion_agent][INFO] - 1161: train loss 0.0666 | t: 0.0520
[2025-09-20 20:58:31,664][agent.pretrain.train_diffusion_agent][INFO] - 1162: train loss 0.0636 | t: 0.0516
[2025-09-20 20:58:31,715][agent.pretrain.train_diffusion_agent][INFO] - 1163: train loss 0.0615 | t: 0.0510
[2025-09-20 20:58:31,766][agent.pretrain.train_diffusion_agent][INFO] - 1164: train loss 0.0595 | t: 0.0510
[2025-09-20 20:58:31,817][agent.pretrain.train_diffusion_agent][INFO] - 1165: train loss 0.0645 | t: 0.0508
[2025-09-20 20:58:31,868][agent.pretrain.train_diffusion_agent][INFO] - 1166: train loss 0.0643 | t: 0.0511
[2025-09-20 20:58:31,920][agent.pretrain.train_diffusion_agent][INFO] - 1167: train loss 0.0604 | t: 0.0517
[2025-09-20 20:58:31,971][agent.pretrain.train_diffusion_agent][INFO] - 1168: train loss 0.0670 | t: 0.0511
[2025-09-20 20:58:32,020][agent.pretrain.train_diffusion_agent][INFO] - 1169: train loss 0.0653 | t: 0.0490
[2025-09-20 20:58:32,072][agent.pretrain.train_diffusion_agent][INFO] - 1170: train loss 0.0595 | t: 0.0517
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[2025-09-20 20:58:32,174][agent.pretrain.train_diffusion_agent][INFO] - 1172: train loss 0.0624 | t: 0.0509
[2025-09-20 20:58:32,225][agent.pretrain.train_diffusion_agent][INFO] - 1173: train loss 0.0655 | t: 0.0513
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[2025-09-20 20:58:32,380][agent.pretrain.train_diffusion_agent][INFO] - 1176: train loss 0.0659 | t: 0.0517
[2025-09-20 20:58:32,431][agent.pretrain.train_diffusion_agent][INFO] - 1177: train loss 0.0638 | t: 0.0510
[2025-09-20 20:58:32,483][agent.pretrain.train_diffusion_agent][INFO] - 1178: train loss 0.0628 | t: 0.0520
[2025-09-20 20:58:32,534][agent.pretrain.train_diffusion_agent][INFO] - 1179: train loss 0.0630 | t: 0.0511
[2025-09-20 20:58:32,585][agent.pretrain.train_diffusion_agent][INFO] - 1180: train loss 0.0654 | t: 0.0510
[2025-09-20 20:58:32,635][agent.pretrain.train_diffusion_agent][INFO] - 1181: train loss 0.0631 | t: 0.0497
[2025-09-20 20:58:32,685][agent.pretrain.train_diffusion_agent][INFO] - 1182: train loss 0.0660 | t: 0.0501
[2025-09-20 20:58:32,736][agent.pretrain.train_diffusion_agent][INFO] - 1183: train loss 0.0646 | t: 0.0511
[2025-09-20 20:58:32,787][agent.pretrain.train_diffusion_agent][INFO] - 1184: train loss 0.0606 | t: 0.0512
[2025-09-20 20:58:32,838][agent.pretrain.train_diffusion_agent][INFO] - 1185: train loss 0.0648 | t: 0.0509
[2025-09-20 20:58:32,889][agent.pretrain.train_diffusion_agent][INFO] - 1186: train loss 0.0647 | t: 0.0513
[2025-09-20 20:58:32,941][agent.pretrain.train_diffusion_agent][INFO] - 1187: train loss 0.0658 | t: 0.0512
[2025-09-20 20:58:32,993][agent.pretrain.train_diffusion_agent][INFO] - 1188: train loss 0.0610 | t: 0.0521
[2025-09-20 20:58:33,045][agent.pretrain.train_diffusion_agent][INFO] - 1189: train loss 0.0648 | t: 0.0519
[2025-09-20 20:58:33,096][agent.pretrain.train_diffusion_agent][INFO] - 1190: train loss 0.0669 | t: 0.0518
[2025-09-20 20:58:33,148][agent.pretrain.train_diffusion_agent][INFO] - 1191: train loss 0.0663 | t: 0.0521
[2025-09-20 20:58:33,200][agent.pretrain.train_diffusion_agent][INFO] - 1192: train loss 0.0629 | t: 0.0516
[2025-09-20 20:58:33,251][agent.pretrain.train_diffusion_agent][INFO] - 1193: train loss 0.0618 | t: 0.0514
[2025-09-20 20:58:33,303][agent.pretrain.train_diffusion_agent][INFO] - 1194: train loss 0.0623 | t: 0.0512
[2025-09-20 20:58:33,353][agent.pretrain.train_diffusion_agent][INFO] - 1195: train loss 0.0582 | t: 0.0506
[2025-09-20 20:58:33,409][agent.pretrain.train_diffusion_agent][INFO] - 1196: train loss 0.0657 | t: 0.0554
[2025-09-20 20:58:33,468][agent.pretrain.train_diffusion_agent][INFO] - 1197: train loss 0.0622 | t: 0.0590
[2025-09-20 20:58:33,528][agent.pretrain.train_diffusion_agent][INFO] - 1198: train loss 0.0663 | t: 0.0605
[2025-09-20 20:58:33,588][agent.pretrain.train_diffusion_agent][INFO] - 1199: train loss 0.0613 | t: 0.0601
[2025-09-20 20:58:33,639][agent.pretrain.train_diffusion_agent][INFO] - 1200: train loss 0.0595 | t: 0.0510
[2025-09-20 20:58:33,691][agent.pretrain.train_diffusion_agent][INFO] - 1201: train loss 0.0642 | t: 0.0519
[2025-09-20 20:58:33,743][agent.pretrain.train_diffusion_agent][INFO] - 1202: train loss 0.0628 | t: 0.0516
[2025-09-20 20:58:33,795][agent.pretrain.train_diffusion_agent][INFO] - 1203: train loss 0.0598 | t: 0.0519
[2025-09-20 20:58:33,846][agent.pretrain.train_diffusion_agent][INFO] - 1204: train loss 0.0608 | t: 0.0516
[2025-09-20 20:58:33,898][agent.pretrain.train_diffusion_agent][INFO] - 1205: train loss 0.0622 | t: 0.0516
[2025-09-20 20:58:33,950][agent.pretrain.train_diffusion_agent][INFO] - 1206: train loss 0.0601 | t: 0.0517
[2025-09-20 20:58:34,001][agent.pretrain.train_diffusion_agent][INFO] - 1207: train loss 0.0655 | t: 0.0511
[2025-09-20 20:58:34,053][agent.pretrain.train_diffusion_agent][INFO] - 1208: train loss 0.0618 | t: 0.0519
[2025-09-20 20:58:34,104][agent.pretrain.train_diffusion_agent][INFO] - 1209: train loss 0.0615 | t: 0.0514
[2025-09-20 20:58:34,155][agent.pretrain.train_diffusion_agent][INFO] - 1210: train loss 0.0621 | t: 0.0513
[2025-09-20 20:58:34,207][agent.pretrain.train_diffusion_agent][INFO] - 1211: train loss 0.0605 | t: 0.0519
[2025-09-20 20:58:34,259][agent.pretrain.train_diffusion_agent][INFO] - 1212: train loss 0.0648 | t: 0.0516
[2025-09-20 20:58:34,310][agent.pretrain.train_diffusion_agent][INFO] - 1213: train loss 0.0637 | t: 0.0515
[2025-09-20 20:58:34,362][agent.pretrain.train_diffusion_agent][INFO] - 1214: train loss 0.0626 | t: 0.0515
[2025-09-20 20:58:34,413][agent.pretrain.train_diffusion_agent][INFO] - 1215: train loss 0.0649 | t: 0.0516
[2025-09-20 20:58:34,466][agent.pretrain.train_diffusion_agent][INFO] - 1216: train loss 0.0619 | t: 0.0524
[2025-09-20 20:58:34,517][agent.pretrain.train_diffusion_agent][INFO] - 1217: train loss 0.0632 | t: 0.0506
[2025-09-20 20:58:34,568][agent.pretrain.train_diffusion_agent][INFO] - 1218: train loss 0.0642 | t: 0.0511
[2025-09-20 20:58:34,617][agent.pretrain.train_diffusion_agent][INFO] - 1219: train loss 0.0624 | t: 0.0491
[2025-09-20 20:58:34,730][agent.pretrain.train_diffusion_agent][INFO] - 1220: train loss 0.0659 | t: 0.1130
[2025-09-20 20:58:34,781][agent.pretrain.train_diffusion_agent][INFO] - 1221: train loss 0.0591 | t: 0.0517
[2025-09-20 20:58:34,831][agent.pretrain.train_diffusion_agent][INFO] - 1222: train loss 0.0611 | t: 0.0495
[2025-09-20 20:58:34,884][agent.pretrain.train_diffusion_agent][INFO] - 1223: train loss 0.0620 | t: 0.0528
[2025-09-20 20:58:34,945][agent.pretrain.train_diffusion_agent][INFO] - 1224: train loss 0.0603 | t: 0.0618
[2025-09-20 20:58:34,997][agent.pretrain.train_diffusion_agent][INFO] - 1225: train loss 0.0601 | t: 0.0514
[2025-09-20 20:58:35,058][agent.pretrain.train_diffusion_agent][INFO] - 1226: train loss 0.0623 | t: 0.0608
[2025-09-20 20:58:35,107][agent.pretrain.train_diffusion_agent][INFO] - 1227: train loss 0.0616 | t: 0.0497
[2025-09-20 20:58:35,158][agent.pretrain.train_diffusion_agent][INFO] - 1228: train loss 0.0624 | t: 0.0503
[2025-09-20 20:58:35,209][agent.pretrain.train_diffusion_agent][INFO] - 1229: train loss 0.0662 | t: 0.0512
[2025-09-20 20:58:35,260][agent.pretrain.train_diffusion_agent][INFO] - 1230: train loss 0.0642 | t: 0.0514
[2025-09-20 20:58:35,312][agent.pretrain.train_diffusion_agent][INFO] - 1231: train loss 0.0610 | t: 0.0515
[2025-09-20 20:58:35,363][agent.pretrain.train_diffusion_agent][INFO] - 1232: train loss 0.0602 | t: 0.0514
[2025-09-20 20:58:35,415][agent.pretrain.train_diffusion_agent][INFO] - 1233: train loss 0.0626 | t: 0.0520
[2025-09-20 20:58:35,467][agent.pretrain.train_diffusion_agent][INFO] - 1234: train loss 0.0648 | t: 0.0516
[2025-09-20 20:58:35,526][agent.pretrain.train_diffusion_agent][INFO] - 1235: train loss 0.0617 | t: 0.0593
[2025-09-20 20:58:35,579][agent.pretrain.train_diffusion_agent][INFO] - 1236: train loss 0.0645 | t: 0.0534
[2025-09-20 20:58:35,628][agent.pretrain.train_diffusion_agent][INFO] - 1237: train loss 0.0623 | t: 0.0491
[2025-09-20 20:58:35,678][agent.pretrain.train_diffusion_agent][INFO] - 1238: train loss 0.0617 | t: 0.0495
[2025-09-20 20:58:35,727][agent.pretrain.train_diffusion_agent][INFO] - 1239: train loss 0.0617 | t: 0.0492
[2025-09-20 20:58:35,777][agent.pretrain.train_diffusion_agent][INFO] - 1240: train loss 0.0596 | t: 0.0498
[2025-09-20 20:58:35,827][agent.pretrain.train_diffusion_agent][INFO] - 1241: train loss 0.0615 | t: 0.0497
[2025-09-20 20:58:35,876][agent.pretrain.train_diffusion_agent][INFO] - 1242: train loss 0.0577 | t: 0.0496
[2025-09-20 20:58:35,927][agent.pretrain.train_diffusion_agent][INFO] - 1243: train loss 0.0598 | t: 0.0513
[2025-09-20 20:58:35,979][agent.pretrain.train_diffusion_agent][INFO] - 1244: train loss 0.0617 | t: 0.0513
[2025-09-20 20:58:36,029][agent.pretrain.train_diffusion_agent][INFO] - 1245: train loss 0.0679 | t: 0.0501
[2025-09-20 20:58:36,079][agent.pretrain.train_diffusion_agent][INFO] - 1246: train loss 0.0625 | t: 0.0499
[2025-09-20 20:58:36,129][agent.pretrain.train_diffusion_agent][INFO] - 1247: train loss 0.0584 | t: 0.0499
[2025-09-20 20:58:36,179][agent.pretrain.train_diffusion_agent][INFO] - 1248: train loss 0.0646 | t: 0.0502
[2025-09-20 20:58:36,230][agent.pretrain.train_diffusion_agent][INFO] - 1249: train loss 0.0649 | t: 0.0510
[2025-09-20 20:58:36,281][agent.pretrain.train_diffusion_agent][INFO] - 1250: train loss 0.0635 | t: 0.0512
[2025-09-20 20:58:36,331][agent.pretrain.train_diffusion_agent][INFO] - 1251: train loss 0.0621 | t: 0.0498
[2025-09-20 20:58:36,381][agent.pretrain.train_diffusion_agent][INFO] - 1252: train loss 0.0614 | t: 0.0497
[2025-09-20 20:58:36,431][agent.pretrain.train_diffusion_agent][INFO] - 1253: train loss 0.0597 | t: 0.0501
[2025-09-20 20:58:36,481][agent.pretrain.train_diffusion_agent][INFO] - 1254: train loss 0.0597 | t: 0.0501
[2025-09-20 20:58:36,532][agent.pretrain.train_diffusion_agent][INFO] - 1255: train loss 0.0623 | t: 0.0510
[2025-09-20 20:58:36,583][agent.pretrain.train_diffusion_agent][INFO] - 1256: train loss 0.0639 | t: 0.0514
[2025-09-20 20:58:36,634][agent.pretrain.train_diffusion_agent][INFO] - 1257: train loss 0.0611 | t: 0.0509
[2025-09-20 20:58:36,684][agent.pretrain.train_diffusion_agent][INFO] - 1258: train loss 0.0597 | t: 0.0500
[2025-09-20 20:58:36,735][agent.pretrain.train_diffusion_agent][INFO] - 1259: train loss 0.0611 | t: 0.0512
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[2025-09-20 20:58:36,838][agent.pretrain.train_diffusion_agent][INFO] - 1261: train loss 0.0605 | t: 0.0512
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[2025-09-20 20:58:36,992][agent.pretrain.train_diffusion_agent][INFO] - 1264: train loss 0.0587 | t: 0.0513
[2025-09-20 20:58:37,044][agent.pretrain.train_diffusion_agent][INFO] - 1265: train loss 0.0614 | t: 0.0513
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[2025-09-20 20:58:41,663][agent.pretrain.train_diffusion_agent][INFO] - 1348: train loss 0.0622 | t: 0.0505
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[2025-09-20 20:58:41,815][agent.pretrain.train_diffusion_agent][INFO] - 1351: train loss 0.0599 | t: 0.0501
[2025-09-20 20:58:41,866][agent.pretrain.train_diffusion_agent][INFO] - 1352: train loss 0.0599 | t: 0.0516
[2025-09-20 20:58:41,917][agent.pretrain.train_diffusion_agent][INFO] - 1353: train loss 0.0577 | t: 0.0513
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[2025-09-20 20:58:42,019][agent.pretrain.train_diffusion_agent][INFO] - 1355: train loss 0.0595 | t: 0.0511
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[2025-09-20 20:58:42,376][agent.pretrain.train_diffusion_agent][INFO] - 1362: train loss 0.0598 | t: 0.0513
[2025-09-20 20:58:42,427][agent.pretrain.train_diffusion_agent][INFO] - 1363: train loss 0.0612 | t: 0.0514
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[2025-09-20 20:58:42,530][agent.pretrain.train_diffusion_agent][INFO] - 1365: train loss 0.0599 | t: 0.0510
[2025-09-20 20:58:42,582][agent.pretrain.train_diffusion_agent][INFO] - 1366: train loss 0.0595 | t: 0.0515
[2025-09-20 20:58:42,633][agent.pretrain.train_diffusion_agent][INFO] - 1367: train loss 0.0626 | t: 0.0514
[2025-09-20 20:58:42,684][agent.pretrain.train_diffusion_agent][INFO] - 1368: train loss 0.0585 | t: 0.0511
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[2025-09-20 20:58:42,838][agent.pretrain.train_diffusion_agent][INFO] - 1371: train loss 0.0573 | t: 0.0515
[2025-09-20 20:58:42,888][agent.pretrain.train_diffusion_agent][INFO] - 1372: train loss 0.0635 | t: 0.0500
[2025-09-20 20:58:42,939][agent.pretrain.train_diffusion_agent][INFO] - 1373: train loss 0.0601 | t: 0.0507
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[2025-09-20 20:58:43,041][agent.pretrain.train_diffusion_agent][INFO] - 1375: train loss 0.0597 | t: 0.0509
[2025-09-20 20:58:43,092][agent.pretrain.train_diffusion_agent][INFO] - 1376: train loss 0.0593 | t: 0.0517
[2025-09-20 20:58:43,143][agent.pretrain.train_diffusion_agent][INFO] - 1377: train loss 0.0621 | t: 0.0511
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[2025-09-20 20:58:43,804][agent.pretrain.train_diffusion_agent][INFO] - 1390: train loss 0.0603 | t: 0.0512
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[2025-09-20 20:58:49,570][agent.pretrain.train_diffusion_agent][INFO] - 1496: train loss 0.0632 | t: 0.0585
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[2025-09-20 20:58:49,808][agent.pretrain.train_agent][INFO] - Saved model to /home/zbzhu/Code/dppo/log/robomimic-pretrain/can_pre_diffusion_mlp_ta4_td20/2025-09-20_20-57-24_42/checkpoint/state_1500.pt
[2025-09-20 20:58:49,808][agent.pretrain.train_diffusion_agent][INFO] - 1500: train loss 0.0583 | t: 0.0638
[2025-09-20 20:58:49,867][agent.pretrain.train_diffusion_agent][INFO] - 1501: train loss 0.0561 | t: 0.0592
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[2025-09-20 20:58:50,509][agent.pretrain.train_diffusion_agent][INFO] - 1512: train loss 0.0619 | t: 0.0595
[2025-09-20 20:58:50,567][agent.pretrain.train_diffusion_agent][INFO] - 1513: train loss 0.0608 | t: 0.0582
[2025-09-20 20:58:50,625][agent.pretrain.train_diffusion_agent][INFO] - 1514: train loss 0.0575 | t: 0.0577
[2025-09-20 20:58:50,745][agent.pretrain.train_diffusion_agent][INFO] - 1515: train loss 0.0568 | t: 0.1198
[2025-09-20 20:58:50,803][agent.pretrain.train_diffusion_agent][INFO] - 1516: train loss 0.0617 | t: 0.0587
[2025-09-20 20:58:50,861][agent.pretrain.train_diffusion_agent][INFO] - 1517: train loss 0.0595 | t: 0.0580
[2025-09-20 20:58:50,920][agent.pretrain.train_diffusion_agent][INFO] - 1518: train loss 0.0623 | t: 0.0587
[2025-09-20 20:58:50,978][agent.pretrain.train_diffusion_agent][INFO] - 1519: train loss 0.0625 | t: 0.0578
[2025-09-20 20:58:51,036][agent.pretrain.train_diffusion_agent][INFO] - 1520: train loss 0.0630 | t: 0.0580
[2025-09-20 20:58:51,094][agent.pretrain.train_diffusion_agent][INFO] - 1521: train loss 0.0562 | t: 0.0583
[2025-09-20 20:58:51,152][agent.pretrain.train_diffusion_agent][INFO] - 1522: train loss 0.0578 | t: 0.0584
[2025-09-20 20:58:51,210][agent.pretrain.train_diffusion_agent][INFO] - 1523: train loss 0.0569 | t: 0.0574
[2025-09-20 20:58:51,268][agent.pretrain.train_diffusion_agent][INFO] - 1524: train loss 0.0560 | t: 0.0586
[2025-09-20 20:58:51,328][agent.pretrain.train_diffusion_agent][INFO] - 1525: train loss 0.0606 | t: 0.0593
[2025-09-20 20:58:51,387][agent.pretrain.train_diffusion_agent][INFO] - 1526: train loss 0.0599 | t: 0.0596
[2025-09-20 20:58:51,447][agent.pretrain.train_diffusion_agent][INFO] - 1527: train loss 0.0576 | t: 0.0597
[2025-09-20 20:58:51,507][agent.pretrain.train_diffusion_agent][INFO] - 1528: train loss 0.0580 | t: 0.0601
[2025-09-20 20:58:51,565][agent.pretrain.train_diffusion_agent][INFO] - 1529: train loss 0.0601 | t: 0.0582
[2025-09-20 20:58:51,623][agent.pretrain.train_diffusion_agent][INFO] - 1530: train loss 0.0633 | t: 0.0578
[2025-09-20 20:58:51,681][agent.pretrain.train_diffusion_agent][INFO] - 1531: train loss 0.0566 | t: 0.0582
[2025-09-20 20:58:51,741][agent.pretrain.train_diffusion_agent][INFO] - 1532: train loss 0.0579 | t: 0.0593
[2025-09-20 20:58:51,801][agent.pretrain.train_diffusion_agent][INFO] - 1533: train loss 0.0608 | t: 0.0602
[2025-09-20 20:58:51,861][agent.pretrain.train_diffusion_agent][INFO] - 1534: train loss 0.0553 | t: 0.0599
[2025-09-20 20:58:51,921][agent.pretrain.train_diffusion_agent][INFO] - 1535: train loss 0.0600 | t: 0.0605
[2025-09-20 20:58:51,981][agent.pretrain.train_diffusion_agent][INFO] - 1536: train loss 0.0581 | t: 0.0601
[2025-09-20 20:58:52,041][agent.pretrain.train_diffusion_agent][INFO] - 1537: train loss 0.0612 | t: 0.0598
[2025-09-20 20:58:52,099][agent.pretrain.train_diffusion_agent][INFO] - 1538: train loss 0.0624 | t: 0.0582
[2025-09-20 20:58:52,158][agent.pretrain.train_diffusion_agent][INFO] - 1539: train loss 0.0602 | t: 0.0590
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[2025-09-20 20:58:52,273][agent.pretrain.train_diffusion_agent][INFO] - 1541: train loss 0.0608 | t: 0.0550
[2025-09-20 20:58:52,324][agent.pretrain.train_diffusion_agent][INFO] - 1542: train loss 0.0567 | t: 0.0512
[2025-09-20 20:58:52,375][agent.pretrain.train_diffusion_agent][INFO] - 1543: train loss 0.0532 | t: 0.0510
[2025-09-20 20:58:52,426][agent.pretrain.train_diffusion_agent][INFO] - 1544: train loss 0.0606 | t: 0.0509
[2025-09-20 20:58:52,477][agent.pretrain.train_diffusion_agent][INFO] - 1545: train loss 0.0586 | t: 0.0506
[2025-09-20 20:58:52,527][agent.pretrain.train_diffusion_agent][INFO] - 1546: train loss 0.0594 | t: 0.0504
[2025-09-20 20:58:52,577][agent.pretrain.train_diffusion_agent][INFO] - 1547: train loss 0.0579 | t: 0.0495
[2025-09-20 20:58:52,626][agent.pretrain.train_diffusion_agent][INFO] - 1548: train loss 0.0607 | t: 0.0495
[2025-09-20 20:58:52,676][agent.pretrain.train_diffusion_agent][INFO] - 1549: train loss 0.0611 | t: 0.0499
[2025-09-20 20:58:52,729][agent.pretrain.train_diffusion_agent][INFO] - 1550: train loss 0.0599 | t: 0.0523
[2025-09-20 20:58:52,788][agent.pretrain.train_diffusion_agent][INFO] - 1551: train loss 0.0603 | t: 0.0593
[2025-09-20 20:58:52,838][agent.pretrain.train_diffusion_agent][INFO] - 1552: train loss 0.0587 | t: 0.0502
[2025-09-20 20:58:52,888][agent.pretrain.train_diffusion_agent][INFO] - 1553: train loss 0.0606 | t: 0.0502
[2025-09-20 20:58:52,939][agent.pretrain.train_diffusion_agent][INFO] - 1554: train loss 0.0571 | t: 0.0512
[2025-09-20 20:58:52,989][agent.pretrain.train_diffusion_agent][INFO] - 1555: train loss 0.0550 | t: 0.0495
[2025-09-20 20:58:53,038][agent.pretrain.train_diffusion_agent][INFO] - 1556: train loss 0.0561 | t: 0.0492
[2025-09-20 20:58:53,088][agent.pretrain.train_diffusion_agent][INFO] - 1557: train loss 0.0579 | t: 0.0494
[2025-09-20 20:58:53,137][agent.pretrain.train_diffusion_agent][INFO] - 1558: train loss 0.0614 | t: 0.0493
[2025-09-20 20:58:53,186][agent.pretrain.train_diffusion_agent][INFO] - 1559: train loss 0.0561 | t: 0.0494
[2025-09-20 20:58:53,236][agent.pretrain.train_diffusion_agent][INFO] - 1560: train loss 0.0570 | t: 0.0494
[2025-09-20 20:58:53,286][agent.pretrain.train_diffusion_agent][INFO] - 1561: train loss 0.0576 | t: 0.0504
[2025-09-20 20:58:53,337][agent.pretrain.train_diffusion_agent][INFO] - 1562: train loss 0.0558 | t: 0.0504
[2025-09-20 20:58:53,386][agent.pretrain.train_diffusion_agent][INFO] - 1563: train loss 0.0587 | t: 0.0494
[2025-09-20 20:58:53,435][agent.pretrain.train_diffusion_agent][INFO] - 1564: train loss 0.0563 | t: 0.0493
[2025-09-20 20:58:53,485][agent.pretrain.train_diffusion_agent][INFO] - 1565: train loss 0.0584 | t: 0.0500
[2025-09-20 20:58:53,535][agent.pretrain.train_diffusion_agent][INFO] - 1566: train loss 0.0599 | t: 0.0497
[2025-09-20 20:58:53,584][agent.pretrain.train_diffusion_agent][INFO] - 1567: train loss 0.0567 | t: 0.0496
[2025-09-20 20:58:53,634][agent.pretrain.train_diffusion_agent][INFO] - 1568: train loss 0.0584 | t: 0.0492
[2025-09-20 20:58:53,683][agent.pretrain.train_diffusion_agent][INFO] - 1569: train loss 0.0533 | t: 0.0494
[2025-09-20 20:58:53,733][agent.pretrain.train_diffusion_agent][INFO] - 1570: train loss 0.0565 | t: 0.0497
[2025-09-20 20:58:53,790][agent.pretrain.train_diffusion_agent][INFO] - 1571: train loss 0.0602 | t: 0.0571
[2025-09-20 20:58:53,848][agent.pretrain.train_diffusion_agent][INFO] - 1572: train loss 0.0638 | t: 0.0582
[2025-09-20 20:58:53,906][agent.pretrain.train_diffusion_agent][INFO] - 1573: train loss 0.0532 | t: 0.0583
[2025-09-20 20:58:53,966][agent.pretrain.train_diffusion_agent][INFO] - 1574: train loss 0.0563 | t: 0.0597
[2025-09-20 20:58:54,023][agent.pretrain.train_diffusion_agent][INFO] - 1575: train loss 0.0592 | t: 0.0564
[2025-09-20 20:58:54,079][agent.pretrain.train_diffusion_agent][INFO] - 1576: train loss 0.0583 | t: 0.0568
[2025-09-20 20:58:54,139][agent.pretrain.train_diffusion_agent][INFO] - 1577: train loss 0.0600 | t: 0.0597
[2025-09-20 20:58:54,199][agent.pretrain.train_diffusion_agent][INFO] - 1578: train loss 0.0561 | t: 0.0600
[2025-09-20 20:58:54,259][agent.pretrain.train_diffusion_agent][INFO] - 1579: train loss 0.0580 | t: 0.0598
[2025-09-20 20:58:54,319][agent.pretrain.train_diffusion_agent][INFO] - 1580: train loss 0.0585 | t: 0.0600
[2025-09-20 20:58:54,379][agent.pretrain.train_diffusion_agent][INFO] - 1581: train loss 0.0574 | t: 0.0604
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[2025-09-20 20:58:54,499][agent.pretrain.train_diffusion_agent][INFO] - 1583: train loss 0.0615 | t: 0.0597
[2025-09-20 20:58:54,557][agent.pretrain.train_diffusion_agent][INFO] - 1584: train loss 0.0578 | t: 0.0583
[2025-09-20 20:58:54,616][agent.pretrain.train_diffusion_agent][INFO] - 1585: train loss 0.0597 | t: 0.0591
[2025-09-20 20:58:54,676][agent.pretrain.train_diffusion_agent][INFO] - 1586: train loss 0.0576 | t: 0.0592
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[2025-09-20 20:58:54,794][agent.pretrain.train_diffusion_agent][INFO] - 1588: train loss 0.0554 | t: 0.0585
[2025-09-20 20:58:54,854][agent.pretrain.train_diffusion_agent][INFO] - 1589: train loss 0.0589 | t: 0.0601
[2025-09-20 20:58:54,913][agent.pretrain.train_diffusion_agent][INFO] - 1590: train loss 0.0578 | t: 0.0597
[2025-09-20 20:58:54,973][agent.pretrain.train_diffusion_agent][INFO] - 1591: train loss 0.0540 | t: 0.0600
[2025-09-20 20:58:55,033][agent.pretrain.train_diffusion_agent][INFO] - 1592: train loss 0.0601 | t: 0.0598
[2025-09-20 20:58:55,092][agent.pretrain.train_diffusion_agent][INFO] - 1593: train loss 0.0602 | t: 0.0588
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[2025-09-20 20:58:55,208][agent.pretrain.train_diffusion_agent][INFO] - 1595: train loss 0.0587 | t: 0.0582
[2025-09-20 20:58:55,267][agent.pretrain.train_diffusion_agent][INFO] - 1596: train loss 0.0578 | t: 0.0585
[2025-09-20 20:58:55,326][agent.pretrain.train_diffusion_agent][INFO] - 1597: train loss 0.0545 | t: 0.0595
[2025-09-20 20:58:55,386][agent.pretrain.train_diffusion_agent][INFO] - 1598: train loss 0.0592 | t: 0.0594
[2025-09-20 20:58:55,445][agent.pretrain.train_diffusion_agent][INFO] - 1599: train loss 0.0586 | t: 0.0592
[2025-09-20 20:58:55,501][agent.pretrain.train_diffusion_agent][INFO] - 1600: train loss 0.0576 | t: 0.0560
[2025-09-20 20:58:55,551][agent.pretrain.train_diffusion_agent][INFO] - 1601: train loss 0.0589 | t: 0.0501
[2025-09-20 20:58:55,601][agent.pretrain.train_diffusion_agent][INFO] - 1602: train loss 0.0558 | t: 0.0501
[2025-09-20 20:58:55,651][agent.pretrain.train_diffusion_agent][INFO] - 1603: train loss 0.0614 | t: 0.0498
[2025-09-20 20:58:55,701][agent.pretrain.train_diffusion_agent][INFO] - 1604: train loss 0.0581 | t: 0.0498
[2025-09-20 20:58:55,750][agent.pretrain.train_diffusion_agent][INFO] - 1605: train loss 0.0565 | t: 0.0496
[2025-09-20 20:58:55,800][agent.pretrain.train_diffusion_agent][INFO] - 1606: train loss 0.0566 | t: 0.0501
[2025-09-20 20:58:55,851][agent.pretrain.train_diffusion_agent][INFO] - 1607: train loss 0.0565 | t: 0.0511
[2025-09-20 20:58:55,903][agent.pretrain.train_diffusion_agent][INFO] - 1608: train loss 0.0580 | t: 0.0511
[2025-09-20 20:58:55,952][agent.pretrain.train_diffusion_agent][INFO] - 1609: train loss 0.0579 | t: 0.0499
[2025-09-20 20:58:56,002][agent.pretrain.train_diffusion_agent][INFO] - 1610: train loss 0.0598 | t: 0.0497
[2025-09-20 20:58:56,052][agent.pretrain.train_diffusion_agent][INFO] - 1611: train loss 0.0597 | t: 0.0500
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[2025-09-20 20:58:57,796][agent.pretrain.train_diffusion_agent][INFO] - 1641: train loss 0.0570 | t: 0.0501
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[2025-09-20 20:58:57,944][agent.pretrain.train_diffusion_agent][INFO] - 1644: train loss 0.0580 | t: 0.0491
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[2025-09-20 20:59:00,038][agent.pretrain.train_diffusion_agent][INFO] - 1680: train loss 0.0620 | t: 0.0583
[2025-09-20 20:59:00,096][agent.pretrain.train_diffusion_agent][INFO] - 1681: train loss 0.0604 | t: 0.0583
[2025-09-20 20:59:00,154][agent.pretrain.train_diffusion_agent][INFO] - 1682: train loss 0.0566 | t: 0.0574
[2025-09-20 20:59:00,212][agent.pretrain.train_diffusion_agent][INFO] - 1683: train loss 0.0606 | t: 0.0582
[2025-09-20 20:59:00,271][agent.pretrain.train_diffusion_agent][INFO] - 1684: train loss 0.0572 | t: 0.0589
[2025-09-20 20:59:00,329][agent.pretrain.train_diffusion_agent][INFO] - 1685: train loss 0.0594 | t: 0.0580
[2025-09-20 20:59:00,387][agent.pretrain.train_diffusion_agent][INFO] - 1686: train loss 0.0586 | t: 0.0583
[2025-09-20 20:59:00,446][agent.pretrain.train_diffusion_agent][INFO] - 1687: train loss 0.0585 | t: 0.0588
[2025-09-20 20:59:00,504][agent.pretrain.train_diffusion_agent][INFO] - 1688: train loss 0.0611 | t: 0.0585
[2025-09-20 20:59:00,562][agent.pretrain.train_diffusion_agent][INFO] - 1689: train loss 0.0563 | t: 0.0579
[2025-09-20 20:59:00,621][agent.pretrain.train_diffusion_agent][INFO] - 1690: train loss 0.0588 | t: 0.0587
[2025-09-20 20:59:00,680][agent.pretrain.train_diffusion_agent][INFO] - 1691: train loss 0.0566 | t: 0.0587
[2025-09-20 20:59:00,738][agent.pretrain.train_diffusion_agent][INFO] - 1692: train loss 0.0597 | t: 0.0585
[2025-09-20 20:59:00,796][agent.pretrain.train_diffusion_agent][INFO] - 1693: train loss 0.0565 | t: 0.0583
[2025-09-20 20:59:00,855][agent.pretrain.train_diffusion_agent][INFO] - 1694: train loss 0.0558 | t: 0.0584
[2025-09-20 20:59:00,913][agent.pretrain.train_diffusion_agent][INFO] - 1695: train loss 0.0563 | t: 0.0584
[2025-09-20 20:59:00,972][agent.pretrain.train_diffusion_agent][INFO] - 1696: train loss 0.0585 | t: 0.0590
[2025-09-20 20:59:01,032][agent.pretrain.train_diffusion_agent][INFO] - 1697: train loss 0.0603 | t: 0.0599
[2025-09-20 20:59:01,092][agent.pretrain.train_diffusion_agent][INFO] - 1698: train loss 0.0587 | t: 0.0595
[2025-09-20 20:59:01,151][agent.pretrain.train_diffusion_agent][INFO] - 1699: train loss 0.0580 | t: 0.0598
[2025-09-20 20:59:01,212][agent.pretrain.train_diffusion_agent][INFO] - 1700: train loss 0.0555 | t: 0.0602
[2025-09-20 20:59:01,272][agent.pretrain.train_diffusion_agent][INFO] - 1701: train loss 0.0584 | t: 0.0602
[2025-09-20 20:59:01,332][agent.pretrain.train_diffusion_agent][INFO] - 1702: train loss 0.0562 | t: 0.0600
[2025-09-20 20:59:01,392][agent.pretrain.train_diffusion_agent][INFO] - 1703: train loss 0.0560 | t: 0.0602
[2025-09-20 20:59:01,452][agent.pretrain.train_diffusion_agent][INFO] - 1704: train loss 0.0626 | t: 0.0604
[2025-09-20 20:59:01,513][agent.pretrain.train_diffusion_agent][INFO] - 1705: train loss 0.0604 | t: 0.0602
[2025-09-20 20:59:01,573][agent.pretrain.train_diffusion_agent][INFO] - 1706: train loss 0.0590 | t: 0.0601
[2025-09-20 20:59:01,631][agent.pretrain.train_diffusion_agent][INFO] - 1707: train loss 0.0565 | t: 0.0582
[2025-09-20 20:59:01,689][agent.pretrain.train_diffusion_agent][INFO] - 1708: train loss 0.0602 | t: 0.0585
[2025-09-20 20:59:01,748][agent.pretrain.train_diffusion_agent][INFO] - 1709: train loss 0.0617 | t: 0.0586
[2025-09-20 20:59:01,806][agent.pretrain.train_diffusion_agent][INFO] - 1710: train loss 0.0563 | t: 0.0581
[2025-09-20 20:59:01,924][agent.pretrain.train_diffusion_agent][INFO] - 1711: train loss 0.0567 | t: 0.1179
[2025-09-20 20:59:01,984][agent.pretrain.train_diffusion_agent][INFO] - 1712: train loss 0.0559 | t: 0.0596
[2025-09-20 20:59:02,042][agent.pretrain.train_diffusion_agent][INFO] - 1713: train loss 0.0548 | t: 0.0585
[2025-09-20 20:59:02,100][agent.pretrain.train_diffusion_agent][INFO] - 1714: train loss 0.0574 | t: 0.0576
[2025-09-20 20:59:02,156][agent.pretrain.train_diffusion_agent][INFO] - 1715: train loss 0.0575 | t: 0.0567
[2025-09-20 20:59:02,207][agent.pretrain.train_diffusion_agent][INFO] - 1716: train loss 0.0570 | t: 0.0509
[2025-09-20 20:59:02,257][agent.pretrain.train_diffusion_agent][INFO] - 1717: train loss 0.0584 | t: 0.0499
[2025-09-20 20:59:02,317][agent.pretrain.train_diffusion_agent][INFO] - 1718: train loss 0.0560 | t: 0.0595
[2025-09-20 20:59:02,367][agent.pretrain.train_diffusion_agent][INFO] - 1719: train loss 0.0558 | t: 0.0498
[2025-09-20 20:59:02,416][agent.pretrain.train_diffusion_agent][INFO] - 1720: train loss 0.0587 | t: 0.0497
[2025-09-20 20:59:02,466][agent.pretrain.train_diffusion_agent][INFO] - 1721: train loss 0.0565 | t: 0.0499
[2025-09-20 20:59:02,516][agent.pretrain.train_diffusion_agent][INFO] - 1722: train loss 0.0551 | t: 0.0500
[2025-09-20 20:59:02,576][agent.pretrain.train_diffusion_agent][INFO] - 1723: train loss 0.0544 | t: 0.0594
[2025-09-20 20:59:02,634][agent.pretrain.train_diffusion_agent][INFO] - 1724: train loss 0.0593 | t: 0.0580
[2025-09-20 20:59:02,692][agent.pretrain.train_diffusion_agent][INFO] - 1725: train loss 0.0595 | t: 0.0584
[2025-09-20 20:59:02,746][agent.pretrain.train_diffusion_agent][INFO] - 1726: train loss 0.0546 | t: 0.0544
[2025-09-20 20:59:02,796][agent.pretrain.train_diffusion_agent][INFO] - 1727: train loss 0.0552 | t: 0.0501
[2025-09-20 20:59:02,846][agent.pretrain.train_diffusion_agent][INFO] - 1728: train loss 0.0559 | t: 0.0495
[2025-09-20 20:59:02,895][agent.pretrain.train_diffusion_agent][INFO] - 1729: train loss 0.0574 | t: 0.0495
[2025-09-20 20:59:02,945][agent.pretrain.train_diffusion_agent][INFO] - 1730: train loss 0.0548 | t: 0.0492
[2025-09-20 20:59:02,994][agent.pretrain.train_diffusion_agent][INFO] - 1731: train loss 0.0560 | t: 0.0497
[2025-09-20 20:59:03,044][agent.pretrain.train_diffusion_agent][INFO] - 1732: train loss 0.0539 | t: 0.0498
[2025-09-20 20:59:03,094][agent.pretrain.train_diffusion_agent][INFO] - 1733: train loss 0.0556 | t: 0.0500
[2025-09-20 20:59:03,143][agent.pretrain.train_diffusion_agent][INFO] - 1734: train loss 0.0608 | t: 0.0491
[2025-09-20 20:59:03,192][agent.pretrain.train_diffusion_agent][INFO] - 1735: train loss 0.0593 | t: 0.0492
[2025-09-20 20:59:03,242][agent.pretrain.train_diffusion_agent][INFO] - 1736: train loss 0.0560 | t: 0.0498
[2025-09-20 20:59:03,291][agent.pretrain.train_diffusion_agent][INFO] - 1737: train loss 0.0562 | t: 0.0492
[2025-09-20 20:59:03,340][agent.pretrain.train_diffusion_agent][INFO] - 1738: train loss 0.0561 | t: 0.0490
[2025-09-20 20:59:03,389][agent.pretrain.train_diffusion_agent][INFO] - 1739: train loss 0.0598 | t: 0.0489
[2025-09-20 20:59:03,439][agent.pretrain.train_diffusion_agent][INFO] - 1740: train loss 0.0577 | t: 0.0498
[2025-09-20 20:59:03,490][agent.pretrain.train_diffusion_agent][INFO] - 1741: train loss 0.0593 | t: 0.0513
[2025-09-20 20:59:03,541][agent.pretrain.train_diffusion_agent][INFO] - 1742: train loss 0.0570 | t: 0.0510
[2025-09-20 20:59:03,592][agent.pretrain.train_diffusion_agent][INFO] - 1743: train loss 0.0552 | t: 0.0505
[2025-09-20 20:59:03,642][agent.pretrain.train_diffusion_agent][INFO] - 1744: train loss 0.0591 | t: 0.0497
[2025-09-20 20:59:03,691][agent.pretrain.train_diffusion_agent][INFO] - 1745: train loss 0.0567 | t: 0.0493
[2025-09-20 20:59:03,741][agent.pretrain.train_diffusion_agent][INFO] - 1746: train loss 0.0575 | t: 0.0502
[2025-09-20 20:59:03,793][agent.pretrain.train_diffusion_agent][INFO] - 1747: train loss 0.0582 | t: 0.0514
[2025-09-20 20:59:03,844][agent.pretrain.train_diffusion_agent][INFO] - 1748: train loss 0.0575 | t: 0.0512
[2025-09-20 20:59:03,894][agent.pretrain.train_diffusion_agent][INFO] - 1749: train loss 0.0580 | t: 0.0506
[2025-09-20 20:59:03,946][agent.pretrain.train_diffusion_agent][INFO] - 1750: train loss 0.0599 | t: 0.0512
[2025-09-20 20:59:03,997][agent.pretrain.train_diffusion_agent][INFO] - 1751: train loss 0.0563 | t: 0.0511
[2025-09-20 20:59:04,047][agent.pretrain.train_diffusion_agent][INFO] - 1752: train loss 0.0554 | t: 0.0503
[2025-09-20 20:59:04,098][agent.pretrain.train_diffusion_agent][INFO] - 1753: train loss 0.0553 | t: 0.0514
[2025-09-20 20:59:04,150][agent.pretrain.train_diffusion_agent][INFO] - 1754: train loss 0.0573 | t: 0.0513
[2025-09-20 20:59:04,201][agent.pretrain.train_diffusion_agent][INFO] - 1755: train loss 0.0593 | t: 0.0514
[2025-09-20 20:59:04,253][agent.pretrain.train_diffusion_agent][INFO] - 1756: train loss 0.0601 | t: 0.0515
[2025-09-20 20:59:04,304][agent.pretrain.train_diffusion_agent][INFO] - 1757: train loss 0.0558 | t: 0.0514
[2025-09-20 20:59:04,356][agent.pretrain.train_diffusion_agent][INFO] - 1758: train loss 0.0585 | t: 0.0520
[2025-09-20 20:59:04,407][agent.pretrain.train_diffusion_agent][INFO] - 1759: train loss 0.0555 | t: 0.0512
[2025-09-20 20:59:04,458][agent.pretrain.train_diffusion_agent][INFO] - 1760: train loss 0.0597 | t: 0.0510
[2025-09-20 20:59:04,510][agent.pretrain.train_diffusion_agent][INFO] - 1761: train loss 0.0590 | t: 0.0519
[2025-09-20 20:59:04,561][agent.pretrain.train_diffusion_agent][INFO] - 1762: train loss 0.0557 | t: 0.0513
[2025-09-20 20:59:04,611][agent.pretrain.train_diffusion_agent][INFO] - 1763: train loss 0.0617 | t: 0.0495
[2025-09-20 20:59:04,661][agent.pretrain.train_diffusion_agent][INFO] - 1764: train loss 0.0602 | t: 0.0498
[2025-09-20 20:59:04,710][agent.pretrain.train_diffusion_agent][INFO] - 1765: train loss 0.0589 | t: 0.0497
[2025-09-20 20:59:04,760][agent.pretrain.train_diffusion_agent][INFO] - 1766: train loss 0.0531 | t: 0.0500
[2025-09-20 20:59:04,810][agent.pretrain.train_diffusion_agent][INFO] - 1767: train loss 0.0557 | t: 0.0494
[2025-09-20 20:59:04,859][agent.pretrain.train_diffusion_agent][INFO] - 1768: train loss 0.0548 | t: 0.0496
[2025-09-20 20:59:04,909][agent.pretrain.train_diffusion_agent][INFO] - 1769: train loss 0.0547 | t: 0.0498
[2025-09-20 20:59:04,958][agent.pretrain.train_diffusion_agent][INFO] - 1770: train loss 0.0541 | t: 0.0493
[2025-09-20 20:59:05,008][agent.pretrain.train_diffusion_agent][INFO] - 1771: train loss 0.0612 | t: 0.0498
[2025-09-20 20:59:05,059][agent.pretrain.train_diffusion_agent][INFO] - 1772: train loss 0.0575 | t: 0.0509
[2025-09-20 20:59:05,110][agent.pretrain.train_diffusion_agent][INFO] - 1773: train loss 0.0599 | t: 0.0513
[2025-09-20 20:59:05,160][agent.pretrain.train_diffusion_agent][INFO] - 1774: train loss 0.0567 | t: 0.0497
[2025-09-20 20:59:05,210][agent.pretrain.train_diffusion_agent][INFO] - 1775: train loss 0.0578 | t: 0.0500
[2025-09-20 20:59:05,260][agent.pretrain.train_diffusion_agent][INFO] - 1776: train loss 0.0582 | t: 0.0494
[2025-09-20 20:59:05,309][agent.pretrain.train_diffusion_agent][INFO] - 1777: train loss 0.0583 | t: 0.0492
[2025-09-20 20:59:05,358][agent.pretrain.train_diffusion_agent][INFO] - 1778: train loss 0.0591 | t: 0.0492
[2025-09-20 20:59:05,408][agent.pretrain.train_diffusion_agent][INFO] - 1779: train loss 0.0572 | t: 0.0498
[2025-09-20 20:59:05,458][agent.pretrain.train_diffusion_agent][INFO] - 1780: train loss 0.0587 | t: 0.0498
[2025-09-20 20:59:05,509][agent.pretrain.train_diffusion_agent][INFO] - 1781: train loss 0.0576 | t: 0.0510
[2025-09-20 20:59:05,559][agent.pretrain.train_diffusion_agent][INFO] - 1782: train loss 0.0550 | t: 0.0507
[2025-09-20 20:59:05,610][agent.pretrain.train_diffusion_agent][INFO] - 1783: train loss 0.0581 | t: 0.0503
[2025-09-20 20:59:05,659][agent.pretrain.train_diffusion_agent][INFO] - 1784: train loss 0.0581 | t: 0.0496
[2025-09-20 20:59:05,710][agent.pretrain.train_diffusion_agent][INFO] - 1785: train loss 0.0599 | t: 0.0504
[2025-09-20 20:59:05,761][agent.pretrain.train_diffusion_agent][INFO] - 1786: train loss 0.0560 | t: 0.0512
[2025-09-20 20:59:05,811][agent.pretrain.train_diffusion_agent][INFO] - 1787: train loss 0.0551 | t: 0.0500
[2025-09-20 20:59:05,860][agent.pretrain.train_diffusion_agent][INFO] - 1788: train loss 0.0558 | t: 0.0492
[2025-09-20 20:59:05,909][agent.pretrain.train_diffusion_agent][INFO] - 1789: train loss 0.0567 | t: 0.0492
[2025-09-20 20:59:05,959][agent.pretrain.train_diffusion_agent][INFO] - 1790: train loss 0.0532 | t: 0.0494
[2025-09-20 20:59:06,008][agent.pretrain.train_diffusion_agent][INFO] - 1791: train loss 0.0540 | t: 0.0495
[2025-09-20 20:59:06,059][agent.pretrain.train_diffusion_agent][INFO] - 1792: train loss 0.0565 | t: 0.0503
[2025-09-20 20:59:06,108][agent.pretrain.train_diffusion_agent][INFO] - 1793: train loss 0.0586 | t: 0.0497
[2025-09-20 20:59:06,158][agent.pretrain.train_diffusion_agent][INFO] - 1794: train loss 0.0563 | t: 0.0494
[2025-09-20 20:59:06,207][agent.pretrain.train_diffusion_agent][INFO] - 1795: train loss 0.0571 | t: 0.0495
[2025-09-20 20:59:06,257][agent.pretrain.train_diffusion_agent][INFO] - 1796: train loss 0.0561 | t: 0.0502
[2025-09-20 20:59:06,307][agent.pretrain.train_diffusion_agent][INFO] - 1797: train loss 0.0566 | t: 0.0495
[2025-09-20 20:59:06,357][agent.pretrain.train_diffusion_agent][INFO] - 1798: train loss 0.0548 | t: 0.0498
[2025-09-20 20:59:06,406][agent.pretrain.train_diffusion_agent][INFO] - 1799: train loss 0.0563 | t: 0.0494
[2025-09-20 20:59:06,455][agent.pretrain.train_diffusion_agent][INFO] - 1800: train loss 0.0602 | t: 0.0494
[2025-09-20 20:59:06,506][agent.pretrain.train_diffusion_agent][INFO] - 1801: train loss 0.0588 | t: 0.0505
[2025-09-20 20:59:06,556][agent.pretrain.train_diffusion_agent][INFO] - 1802: train loss 0.0565 | t: 0.0498
[2025-09-20 20:59:06,605][agent.pretrain.train_diffusion_agent][INFO] - 1803: train loss 0.0554 | t: 0.0496
[2025-09-20 20:59:06,655][agent.pretrain.train_diffusion_agent][INFO] - 1804: train loss 0.0590 | t: 0.0497
[2025-09-20 20:59:06,706][agent.pretrain.train_diffusion_agent][INFO] - 1805: train loss 0.0579 | t: 0.0508
[2025-09-20 20:59:06,757][agent.pretrain.train_diffusion_agent][INFO] - 1806: train loss 0.0551 | t: 0.0514
[2025-09-20 20:59:06,808][agent.pretrain.train_diffusion_agent][INFO] - 1807: train loss 0.0567 | t: 0.0512
[2025-09-20 20:59:06,859][agent.pretrain.train_diffusion_agent][INFO] - 1808: train loss 0.0569 | t: 0.0506
[2025-09-20 20:59:06,910][agent.pretrain.train_diffusion_agent][INFO] - 1809: train loss 0.0564 | t: 0.0514
[2025-09-20 20:59:07,020][agent.pretrain.train_diffusion_agent][INFO] - 1810: train loss 0.0569 | t: 0.1094
[2025-09-20 20:59:07,070][agent.pretrain.train_diffusion_agent][INFO] - 1811: train loss 0.0551 | t: 0.0503
[2025-09-20 20:59:07,122][agent.pretrain.train_diffusion_agent][INFO] - 1812: train loss 0.0560 | t: 0.0515
[2025-09-20 20:59:07,173][agent.pretrain.train_diffusion_agent][INFO] - 1813: train loss 0.0559 | t: 0.0514
[2025-09-20 20:59:07,225][agent.pretrain.train_diffusion_agent][INFO] - 1814: train loss 0.0577 | t: 0.0516
[2025-09-20 20:59:07,276][agent.pretrain.train_diffusion_agent][INFO] - 1815: train loss 0.0569 | t: 0.0514
[2025-09-20 20:59:07,328][agent.pretrain.train_diffusion_agent][INFO] - 1816: train loss 0.0576 | t: 0.0516
[2025-09-20 20:59:07,379][agent.pretrain.train_diffusion_agent][INFO] - 1817: train loss 0.0579 | t: 0.0512
[2025-09-20 20:59:07,430][agent.pretrain.train_diffusion_agent][INFO] - 1818: train loss 0.0586 | t: 0.0516
[2025-09-20 20:59:07,482][agent.pretrain.train_diffusion_agent][INFO] - 1819: train loss 0.0559 | t: 0.0517
[2025-09-20 20:59:07,533][agent.pretrain.train_diffusion_agent][INFO] - 1820: train loss 0.0574 | t: 0.0505
[2025-09-20 20:59:07,583][agent.pretrain.train_diffusion_agent][INFO] - 1821: train loss 0.0570 | t: 0.0504
[2025-09-20 20:59:07,634][agent.pretrain.train_diffusion_agent][INFO] - 1822: train loss 0.0599 | t: 0.0514
[2025-09-20 20:59:07,685][agent.pretrain.train_diffusion_agent][INFO] - 1823: train loss 0.0577 | t: 0.0506
[2025-09-20 20:59:07,736][agent.pretrain.train_diffusion_agent][INFO] - 1824: train loss 0.0587 | t: 0.0514
[2025-09-20 20:59:07,788][agent.pretrain.train_diffusion_agent][INFO] - 1825: train loss 0.0547 | t: 0.0515
[2025-09-20 20:59:07,840][agent.pretrain.train_diffusion_agent][INFO] - 1826: train loss 0.0556 | t: 0.0517
[2025-09-20 20:59:07,891][agent.pretrain.train_diffusion_agent][INFO] - 1827: train loss 0.0583 | t: 0.0516
[2025-09-20 20:59:07,942][agent.pretrain.train_diffusion_agent][INFO] - 1828: train loss 0.0559 | t: 0.0512
[2025-09-20 20:59:07,993][agent.pretrain.train_diffusion_agent][INFO] - 1829: train loss 0.0561 | t: 0.0507
[2025-09-20 20:59:08,044][agent.pretrain.train_diffusion_agent][INFO] - 1830: train loss 0.0568 | t: 0.0504
[2025-09-20 20:59:08,094][agent.pretrain.train_diffusion_agent][INFO] - 1831: train loss 0.0575 | t: 0.0503
[2025-09-20 20:59:08,143][agent.pretrain.train_diffusion_agent][INFO] - 1832: train loss 0.0567 | t: 0.0496
[2025-09-20 20:59:08,193][agent.pretrain.train_diffusion_agent][INFO] - 1833: train loss 0.0589 | t: 0.0494
[2025-09-20 20:59:08,242][agent.pretrain.train_diffusion_agent][INFO] - 1834: train loss 0.0564 | t: 0.0496
[2025-09-20 20:59:08,292][agent.pretrain.train_diffusion_agent][INFO] - 1835: train loss 0.0594 | t: 0.0492
[2025-09-20 20:59:08,342][agent.pretrain.train_diffusion_agent][INFO] - 1836: train loss 0.0542 | t: 0.0500
[2025-09-20 20:59:08,391][agent.pretrain.train_diffusion_agent][INFO] - 1837: train loss 0.0582 | t: 0.0495
[2025-09-20 20:59:08,441][agent.pretrain.train_diffusion_agent][INFO] - 1838: train loss 0.0584 | t: 0.0501
[2025-09-20 20:59:08,491][agent.pretrain.train_diffusion_agent][INFO] - 1839: train loss 0.0588 | t: 0.0501
[2025-09-20 20:59:08,541][agent.pretrain.train_diffusion_agent][INFO] - 1840: train loss 0.0549 | t: 0.0495
[2025-09-20 20:59:08,591][agent.pretrain.train_diffusion_agent][INFO] - 1841: train loss 0.0569 | t: 0.0500
[2025-09-20 20:59:08,640][agent.pretrain.train_diffusion_agent][INFO] - 1842: train loss 0.0559 | t: 0.0495
[2025-09-20 20:59:08,690][agent.pretrain.train_diffusion_agent][INFO] - 1843: train loss 0.0556 | t: 0.0500
[2025-09-20 20:59:08,740][agent.pretrain.train_diffusion_agent][INFO] - 1844: train loss 0.0566 | t: 0.0496
[2025-09-20 20:59:08,789][agent.pretrain.train_diffusion_agent][INFO] - 1845: train loss 0.0561 | t: 0.0494
[2025-09-20 20:59:08,839][agent.pretrain.train_diffusion_agent][INFO] - 1846: train loss 0.0563 | t: 0.0500
[2025-09-20 20:59:08,889][agent.pretrain.train_diffusion_agent][INFO] - 1847: train loss 0.0545 | t: 0.0494
[2025-09-20 20:59:08,939][agent.pretrain.train_diffusion_agent][INFO] - 1848: train loss 0.0552 | t: 0.0501
[2025-09-20 20:59:08,989][agent.pretrain.train_diffusion_agent][INFO] - 1849: train loss 0.0598 | t: 0.0500
[2025-09-20 20:59:09,039][agent.pretrain.train_diffusion_agent][INFO] - 1850: train loss 0.0553 | t: 0.0497
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[2025-09-20 20:59:09,138][agent.pretrain.train_diffusion_agent][INFO] - 1852: train loss 0.0607 | t: 0.0496
[2025-09-20 20:59:09,188][agent.pretrain.train_diffusion_agent][INFO] - 1853: train loss 0.0567 | t: 0.0497
[2025-09-20 20:59:09,237][agent.pretrain.train_diffusion_agent][INFO] - 1854: train loss 0.0567 | t: 0.0495
[2025-09-20 20:59:09,288][agent.pretrain.train_diffusion_agent][INFO] - 1855: train loss 0.0556 | t: 0.0501
[2025-09-20 20:59:09,339][agent.pretrain.train_diffusion_agent][INFO] - 1856: train loss 0.0542 | t: 0.0514
[2025-09-20 20:59:09,391][agent.pretrain.train_diffusion_agent][INFO] - 1857: train loss 0.0573 | t: 0.0516
[2025-09-20 20:59:09,441][agent.pretrain.train_diffusion_agent][INFO] - 1858: train loss 0.0552 | t: 0.0504
[2025-09-20 20:59:09,492][agent.pretrain.train_diffusion_agent][INFO] - 1859: train loss 0.0555 | t: 0.0516
[2025-09-20 20:59:09,543][agent.pretrain.train_diffusion_agent][INFO] - 1860: train loss 0.0573 | t: 0.0506
[2025-09-20 20:59:09,593][agent.pretrain.train_diffusion_agent][INFO] - 1861: train loss 0.0597 | t: 0.0502
[2025-09-20 20:59:09,643][agent.pretrain.train_diffusion_agent][INFO] - 1862: train loss 0.0585 | t: 0.0500
[2025-09-20 20:59:09,692][agent.pretrain.train_diffusion_agent][INFO] - 1863: train loss 0.0550 | t: 0.0493
[2025-09-20 20:59:09,743][agent.pretrain.train_diffusion_agent][INFO] - 1864: train loss 0.0548 | t: 0.0508
[2025-09-20 20:59:09,795][agent.pretrain.train_diffusion_agent][INFO] - 1865: train loss 0.0547 | t: 0.0518
[2025-09-20 20:59:09,847][agent.pretrain.train_diffusion_agent][INFO] - 1866: train loss 0.0577 | t: 0.0517
[2025-09-20 20:59:09,897][agent.pretrain.train_diffusion_agent][INFO] - 1867: train loss 0.0535 | t: 0.0499
[2025-09-20 20:59:09,947][agent.pretrain.train_diffusion_agent][INFO] - 1868: train loss 0.0573 | t: 0.0502
[2025-09-20 20:59:09,997][agent.pretrain.train_diffusion_agent][INFO] - 1869: train loss 0.0566 | t: 0.0503
[2025-09-20 20:59:10,047][agent.pretrain.train_diffusion_agent][INFO] - 1870: train loss 0.0585 | t: 0.0499
[2025-09-20 20:59:10,097][agent.pretrain.train_diffusion_agent][INFO] - 1871: train loss 0.0534 | t: 0.0499
[2025-09-20 20:59:10,147][agent.pretrain.train_diffusion_agent][INFO] - 1872: train loss 0.0567 | t: 0.0500
[2025-09-20 20:59:10,198][agent.pretrain.train_diffusion_agent][INFO] - 1873: train loss 0.0502 | t: 0.0509
[2025-09-20 20:59:10,249][agent.pretrain.train_diffusion_agent][INFO] - 1874: train loss 0.0554 | t: 0.0512
[2025-09-20 20:59:10,300][agent.pretrain.train_diffusion_agent][INFO] - 1875: train loss 0.0561 | t: 0.0505
[2025-09-20 20:59:10,350][agent.pretrain.train_diffusion_agent][INFO] - 1876: train loss 0.0563 | t: 0.0502
[2025-09-20 20:59:10,400][agent.pretrain.train_diffusion_agent][INFO] - 1877: train loss 0.0538 | t: 0.0505
[2025-09-20 20:59:10,452][agent.pretrain.train_diffusion_agent][INFO] - 1878: train loss 0.0549 | t: 0.0518
[2025-09-20 20:59:10,502][agent.pretrain.train_diffusion_agent][INFO] - 1879: train loss 0.0531 | t: 0.0503
[2025-09-20 20:59:10,552][agent.pretrain.train_diffusion_agent][INFO] - 1880: train loss 0.0583 | t: 0.0500
[2025-09-20 20:59:10,605][agent.pretrain.train_diffusion_agent][INFO] - 1881: train loss 0.0535 | t: 0.0530
[2025-09-20 20:59:10,666][agent.pretrain.train_diffusion_agent][INFO] - 1882: train loss 0.0585 | t: 0.0604
[2025-09-20 20:59:10,726][agent.pretrain.train_diffusion_agent][INFO] - 1883: train loss 0.0559 | t: 0.0601
[2025-09-20 20:59:10,786][agent.pretrain.train_diffusion_agent][INFO] - 1884: train loss 0.0571 | t: 0.0602
[2025-09-20 20:59:10,846][agent.pretrain.train_diffusion_agent][INFO] - 1885: train loss 0.0592 | t: 0.0599
[2025-09-20 20:59:10,906][agent.pretrain.train_diffusion_agent][INFO] - 1886: train loss 0.0564 | t: 0.0604
[2025-09-20 20:59:10,966][agent.pretrain.train_diffusion_agent][INFO] - 1887: train loss 0.0579 | t: 0.0598
[2025-09-20 20:59:11,026][agent.pretrain.train_diffusion_agent][INFO] - 1888: train loss 0.0584 | t: 0.0600
[2025-09-20 20:59:11,086][agent.pretrain.train_diffusion_agent][INFO] - 1889: train loss 0.0554 | t: 0.0601
[2025-09-20 20:59:11,146][agent.pretrain.train_diffusion_agent][INFO] - 1890: train loss 0.0572 | t: 0.0599
[2025-09-20 20:59:11,206][agent.pretrain.train_diffusion_agent][INFO] - 1891: train loss 0.0589 | t: 0.0603
[2025-09-20 20:59:11,266][agent.pretrain.train_diffusion_agent][INFO] - 1892: train loss 0.0549 | t: 0.0599
[2025-09-20 20:59:11,326][agent.pretrain.train_diffusion_agent][INFO] - 1893: train loss 0.0606 | t: 0.0601
[2025-09-20 20:59:11,386][agent.pretrain.train_diffusion_agent][INFO] - 1894: train loss 0.0595 | t: 0.0599
[2025-09-20 20:59:11,446][agent.pretrain.train_diffusion_agent][INFO] - 1895: train loss 0.0559 | t: 0.0600
[2025-09-20 20:59:11,502][agent.pretrain.train_diffusion_agent][INFO] - 1896: train loss 0.0557 | t: 0.0557
[2025-09-20 20:59:11,553][agent.pretrain.train_diffusion_agent][INFO] - 1897: train loss 0.0571 | t: 0.0512
[2025-09-20 20:59:11,604][agent.pretrain.train_diffusion_agent][INFO] - 1898: train loss 0.0570 | t: 0.0511
[2025-09-20 20:59:11,655][agent.pretrain.train_diffusion_agent][INFO] - 1899: train loss 0.0546 | t: 0.0509
[2025-09-20 20:59:11,705][agent.pretrain.train_diffusion_agent][INFO] - 1900: train loss 0.0577 | t: 0.0496
[2025-09-20 20:59:11,754][agent.pretrain.train_diffusion_agent][INFO] - 1901: train loss 0.0549 | t: 0.0493
[2025-09-20 20:59:11,803][agent.pretrain.train_diffusion_agent][INFO] - 1902: train loss 0.0584 | t: 0.0491
[2025-09-20 20:59:11,853][agent.pretrain.train_diffusion_agent][INFO] - 1903: train loss 0.0542 | t: 0.0499
[2025-09-20 20:59:11,902][agent.pretrain.train_diffusion_agent][INFO] - 1904: train loss 0.0593 | t: 0.0494
[2025-09-20 20:59:11,952][agent.pretrain.train_diffusion_agent][INFO] - 1905: train loss 0.0575 | t: 0.0495
[2025-09-20 20:59:12,001][agent.pretrain.train_diffusion_agent][INFO] - 1906: train loss 0.0603 | t: 0.0489
[2025-09-20 20:59:12,051][agent.pretrain.train_diffusion_agent][INFO] - 1907: train loss 0.0555 | t: 0.0507
[2025-09-20 20:59:12,167][agent.pretrain.train_diffusion_agent][INFO] - 1908: train loss 0.0562 | t: 0.1153
[2025-09-20 20:59:12,218][agent.pretrain.train_diffusion_agent][INFO] - 1909: train loss 0.0555 | t: 0.0514
[2025-09-20 20:59:12,269][agent.pretrain.train_diffusion_agent][INFO] - 1910: train loss 0.0536 | t: 0.0508
[2025-09-20 20:59:12,320][agent.pretrain.train_diffusion_agent][INFO] - 1911: train loss 0.0553 | t: 0.0515
[2025-09-20 20:59:12,379][agent.pretrain.train_diffusion_agent][INFO] - 1912: train loss 0.0622 | t: 0.0586
[2025-09-20 20:59:12,439][agent.pretrain.train_diffusion_agent][INFO] - 1913: train loss 0.0590 | t: 0.0602
[2025-09-20 20:59:12,500][agent.pretrain.train_diffusion_agent][INFO] - 1914: train loss 0.0592 | t: 0.0603
[2025-09-20 20:59:12,559][agent.pretrain.train_diffusion_agent][INFO] - 1915: train loss 0.0557 | t: 0.0598
[2025-09-20 20:59:12,620][agent.pretrain.train_diffusion_agent][INFO] - 1916: train loss 0.0598 | t: 0.0604
[2025-09-20 20:59:12,679][agent.pretrain.train_diffusion_agent][INFO] - 1917: train loss 0.0585 | t: 0.0597
[2025-09-20 20:59:12,738][agent.pretrain.train_diffusion_agent][INFO] - 1918: train loss 0.0604 | t: 0.0591
[2025-09-20 20:59:12,796][agent.pretrain.train_diffusion_agent][INFO] - 1919: train loss 0.0553 | t: 0.0579
[2025-09-20 20:59:12,855][agent.pretrain.train_diffusion_agent][INFO] - 1920: train loss 0.0556 | t: 0.0588
[2025-09-20 20:59:12,914][agent.pretrain.train_diffusion_agent][INFO] - 1921: train loss 0.0575 | t: 0.0587
[2025-09-20 20:59:12,972][agent.pretrain.train_diffusion_agent][INFO] - 1922: train loss 0.0566 | t: 0.0582
[2025-09-20 20:59:13,030][agent.pretrain.train_diffusion_agent][INFO] - 1923: train loss 0.0551 | t: 0.0579
[2025-09-20 20:59:13,088][agent.pretrain.train_diffusion_agent][INFO] - 1924: train loss 0.0540 | t: 0.0585
[2025-09-20 20:59:13,149][agent.pretrain.train_diffusion_agent][INFO] - 1925: train loss 0.0562 | t: 0.0601
[2025-09-20 20:59:13,208][agent.pretrain.train_diffusion_agent][INFO] - 1926: train loss 0.0529 | t: 0.0594
[2025-09-20 20:59:13,267][agent.pretrain.train_diffusion_agent][INFO] - 1927: train loss 0.0548 | t: 0.0593
[2025-09-20 20:59:13,327][agent.pretrain.train_diffusion_agent][INFO] - 1928: train loss 0.0584 | t: 0.0601
[2025-09-20 20:59:13,388][agent.pretrain.train_diffusion_agent][INFO] - 1929: train loss 0.0536 | t: 0.0603
[2025-09-20 20:59:13,448][agent.pretrain.train_diffusion_agent][INFO] - 1930: train loss 0.0539 | t: 0.0600
[2025-09-20 20:59:13,509][agent.pretrain.train_diffusion_agent][INFO] - 1931: train loss 0.0543 | t: 0.0609
[2025-09-20 20:59:13,567][agent.pretrain.train_diffusion_agent][INFO] - 1932: train loss 0.0568 | t: 0.0589
[2025-09-20 20:59:13,626][agent.pretrain.train_diffusion_agent][INFO] - 1933: train loss 0.0551 | t: 0.0583
[2025-09-20 20:59:13,686][agent.pretrain.train_diffusion_agent][INFO] - 1934: train loss 0.0543 | t: 0.0603
[2025-09-20 20:59:13,746][agent.pretrain.train_diffusion_agent][INFO] - 1935: train loss 0.0523 | t: 0.0603
[2025-09-20 20:59:13,807][agent.pretrain.train_diffusion_agent][INFO] - 1936: train loss 0.0575 | t: 0.0605
[2025-09-20 20:59:13,867][agent.pretrain.train_diffusion_agent][INFO] - 1937: train loss 0.0572 | t: 0.0602
[2025-09-20 20:59:13,926][agent.pretrain.train_diffusion_agent][INFO] - 1938: train loss 0.0564 | t: 0.0589
[2025-09-20 20:59:13,986][agent.pretrain.train_diffusion_agent][INFO] - 1939: train loss 0.0570 | t: 0.0602
[2025-09-20 20:59:14,046][agent.pretrain.train_diffusion_agent][INFO] - 1940: train loss 0.0550 | t: 0.0602
[2025-09-20 20:59:14,107][agent.pretrain.train_diffusion_agent][INFO] - 1941: train loss 0.0549 | t: 0.0603
[2025-09-20 20:59:14,166][agent.pretrain.train_diffusion_agent][INFO] - 1942: train loss 0.0546 | t: 0.0600
[2025-09-20 20:59:14,226][agent.pretrain.train_diffusion_agent][INFO] - 1943: train loss 0.0575 | t: 0.0598
[2025-09-20 20:59:14,286][agent.pretrain.train_diffusion_agent][INFO] - 1944: train loss 0.0573 | t: 0.0598
[2025-09-20 20:59:14,346][agent.pretrain.train_diffusion_agent][INFO] - 1945: train loss 0.0551 | t: 0.0600
[2025-09-20 20:59:14,406][agent.pretrain.train_diffusion_agent][INFO] - 1946: train loss 0.0564 | t: 0.0601
[2025-09-20 20:59:14,466][agent.pretrain.train_diffusion_agent][INFO] - 1947: train loss 0.0537 | t: 0.0601
[2025-09-20 20:59:14,527][agent.pretrain.train_diffusion_agent][INFO] - 1948: train loss 0.0553 | t: 0.0604
[2025-09-20 20:59:14,586][agent.pretrain.train_diffusion_agent][INFO] - 1949: train loss 0.0582 | t: 0.0591
[2025-09-20 20:59:14,646][agent.pretrain.train_diffusion_agent][INFO] - 1950: train loss 0.0556 | t: 0.0596
[2025-09-20 20:59:14,706][agent.pretrain.train_diffusion_agent][INFO] - 1951: train loss 0.0564 | t: 0.0602
[2025-09-20 20:59:14,765][agent.pretrain.train_diffusion_agent][INFO] - 1952: train loss 0.0569 | t: 0.0595
[2025-09-20 20:59:14,825][agent.pretrain.train_diffusion_agent][INFO] - 1953: train loss 0.0561 | t: 0.0600
[2025-09-20 20:59:14,885][agent.pretrain.train_diffusion_agent][INFO] - 1954: train loss 0.0580 | t: 0.0604
[2025-09-20 20:59:14,945][agent.pretrain.train_diffusion_agent][INFO] - 1955: train loss 0.0526 | t: 0.0592
[2025-09-20 20:59:15,005][agent.pretrain.train_diffusion_agent][INFO] - 1956: train loss 0.0566 | t: 0.0600
[2025-09-20 20:59:15,064][agent.pretrain.train_diffusion_agent][INFO] - 1957: train loss 0.0559 | t: 0.0596
[2025-09-20 20:59:15,124][agent.pretrain.train_diffusion_agent][INFO] - 1958: train loss 0.0585 | t: 0.0595
[2025-09-20 20:59:15,183][agent.pretrain.train_diffusion_agent][INFO] - 1959: train loss 0.0586 | t: 0.0589
[2025-09-20 20:59:15,243][agent.pretrain.train_diffusion_agent][INFO] - 1960: train loss 0.0609 | t: 0.0598
[2025-09-20 20:59:15,303][agent.pretrain.train_diffusion_agent][INFO] - 1961: train loss 0.0548 | t: 0.0603
[2025-09-20 20:59:15,363][agent.pretrain.train_diffusion_agent][INFO] - 1962: train loss 0.0536 | t: 0.0599
[2025-09-20 20:59:15,423][agent.pretrain.train_diffusion_agent][INFO] - 1963: train loss 0.0544 | t: 0.0598
[2025-09-20 20:59:15,483][agent.pretrain.train_diffusion_agent][INFO] - 1964: train loss 0.0550 | t: 0.0608
[2025-09-20 20:59:15,544][agent.pretrain.train_diffusion_agent][INFO] - 1965: train loss 0.0536 | t: 0.0604
[2025-09-20 20:59:15,604][agent.pretrain.train_diffusion_agent][INFO] - 1966: train loss 0.0583 | t: 0.0600
[2025-09-20 20:59:15,664][agent.pretrain.train_diffusion_agent][INFO] - 1967: train loss 0.0569 | t: 0.0600
[2025-09-20 20:59:15,724][agent.pretrain.train_diffusion_agent][INFO] - 1968: train loss 0.0556 | t: 0.0599
[2025-09-20 20:59:15,783][agent.pretrain.train_diffusion_agent][INFO] - 1969: train loss 0.0551 | t: 0.0595
[2025-09-20 20:59:15,841][agent.pretrain.train_diffusion_agent][INFO] - 1970: train loss 0.0564 | t: 0.0580
[2025-09-20 20:59:15,899][agent.pretrain.train_diffusion_agent][INFO] - 1971: train loss 0.0573 | t: 0.0584
[2025-09-20 20:59:15,959][agent.pretrain.train_diffusion_agent][INFO] - 1972: train loss 0.0549 | t: 0.0594
[2025-09-20 20:59:16,018][agent.pretrain.train_diffusion_agent][INFO] - 1973: train loss 0.0541 | t: 0.0589
[2025-09-20 20:59:16,077][agent.pretrain.train_diffusion_agent][INFO] - 1974: train loss 0.0571 | t: 0.0590
[2025-09-20 20:59:16,136][agent.pretrain.train_diffusion_agent][INFO] - 1975: train loss 0.0524 | t: 0.0588
[2025-09-20 20:59:16,196][agent.pretrain.train_diffusion_agent][INFO] - 1976: train loss 0.0573 | t: 0.0599
[2025-09-20 20:59:16,255][agent.pretrain.train_diffusion_agent][INFO] - 1977: train loss 0.0534 | t: 0.0595
[2025-09-20 20:59:16,315][agent.pretrain.train_diffusion_agent][INFO] - 1978: train loss 0.0552 | t: 0.0601
[2025-09-20 20:59:16,375][agent.pretrain.train_diffusion_agent][INFO] - 1979: train loss 0.0562 | t: 0.0596
[2025-09-20 20:59:16,435][agent.pretrain.train_diffusion_agent][INFO] - 1980: train loss 0.0534 | t: 0.0599
[2025-09-20 20:59:16,495][agent.pretrain.train_diffusion_agent][INFO] - 1981: train loss 0.0563 | t: 0.0604
[2025-09-20 20:59:16,555][agent.pretrain.train_diffusion_agent][INFO] - 1982: train loss 0.0590 | t: 0.0597
[2025-09-20 20:59:16,613][agent.pretrain.train_diffusion_agent][INFO] - 1983: train loss 0.0557 | t: 0.0586
[2025-09-20 20:59:16,673][agent.pretrain.train_diffusion_agent][INFO] - 1984: train loss 0.0541 | t: 0.0601
[2025-09-20 20:59:16,733][agent.pretrain.train_diffusion_agent][INFO] - 1985: train loss 0.0576 | t: 0.0593
[2025-09-20 20:59:16,793][agent.pretrain.train_diffusion_agent][INFO] - 1986: train loss 0.0557 | t: 0.0604
[2025-09-20 20:59:16,853][agent.pretrain.train_diffusion_agent][INFO] - 1987: train loss 0.0562 | t: 0.0598
[2025-09-20 20:59:16,913][agent.pretrain.train_diffusion_agent][INFO] - 1988: train loss 0.0551 | t: 0.0598
[2025-09-20 20:59:16,973][agent.pretrain.train_diffusion_agent][INFO] - 1989: train loss 0.0512 | t: 0.0597
[2025-09-20 20:59:17,032][agent.pretrain.train_diffusion_agent][INFO] - 1990: train loss 0.0554 | t: 0.0599
[2025-09-20 20:59:17,093][agent.pretrain.train_diffusion_agent][INFO] - 1991: train loss 0.0535 | t: 0.0610
[2025-09-20 20:59:17,153][agent.pretrain.train_diffusion_agent][INFO] - 1992: train loss 0.0573 | t: 0.0598
[2025-09-20 20:59:17,213][agent.pretrain.train_diffusion_agent][INFO] - 1993: train loss 0.0560 | t: 0.0596
[2025-09-20 20:59:17,273][agent.pretrain.train_diffusion_agent][INFO] - 1994: train loss 0.0551 | t: 0.0600
[2025-09-20 20:59:17,333][agent.pretrain.train_diffusion_agent][INFO] - 1995: train loss 0.0583 | t: 0.0599
[2025-09-20 20:59:17,393][agent.pretrain.train_diffusion_agent][INFO] - 1996: train loss 0.0526 | t: 0.0601
[2025-09-20 20:59:17,452][agent.pretrain.train_diffusion_agent][INFO] - 1997: train loss 0.0577 | t: 0.0595
[2025-09-20 20:59:17,512][agent.pretrain.train_diffusion_agent][INFO] - 1998: train loss 0.0549 | t: 0.0594
[2025-09-20 20:59:17,570][agent.pretrain.train_diffusion_agent][INFO] - 1999: train loss 0.0561 | t: 0.0583
[2025-09-20 20:59:17,634][agent.pretrain.train_agent][INFO] - Saved model to /home/zbzhu/Code/dppo/log/robomimic-pretrain/can_pre_diffusion_mlp_ta4_td20/2025-09-20_20-57-24_42/checkpoint/state_2000.pt
[2025-09-20 20:59:17,634][agent.pretrain.train_diffusion_agent][INFO] - 2000: train loss 0.0537 | t: 0.0638
[2025-09-20 20:59:17,695][agent.pretrain.train_diffusion_agent][INFO] - 2001: train loss 0.0594 | t: 0.0612
[2025-09-20 20:59:17,755][agent.pretrain.train_diffusion_agent][INFO] - 2002: train loss 0.0534 | t: 0.0601
[2025-09-20 20:59:17,813][agent.pretrain.train_diffusion_agent][INFO] - 2003: train loss 0.0555 | t: 0.0582
[2025-09-20 20:59:17,872][agent.pretrain.train_diffusion_agent][INFO] - 2004: train loss 0.0570 | t: 0.0585
[2025-09-20 20:59:17,930][agent.pretrain.train_diffusion_agent][INFO] - 2005: train loss 0.0578 | t: 0.0580
[2025-09-20 20:59:18,049][agent.pretrain.train_diffusion_agent][INFO] - 2006: train loss 0.0566 | t: 0.1187
[2025-09-20 20:59:18,109][agent.pretrain.train_diffusion_agent][INFO] - 2007: train loss 0.0546 | t: 0.0604
[2025-09-20 20:59:18,169][agent.pretrain.train_diffusion_agent][INFO] - 2008: train loss 0.0526 | t: 0.0598
[2025-09-20 20:59:18,229][agent.pretrain.train_diffusion_agent][INFO] - 2009: train loss 0.0560 | t: 0.0598
[2025-09-20 20:59:18,288][agent.pretrain.train_diffusion_agent][INFO] - 2010: train loss 0.0531 | t: 0.0595
[2025-09-20 20:59:18,348][agent.pretrain.train_diffusion_agent][INFO] - 2011: train loss 0.0555 | t: 0.0598
[2025-09-20 20:59:18,407][agent.pretrain.train_diffusion_agent][INFO] - 2012: train loss 0.0577 | t: 0.0591
[2025-09-20 20:59:18,466][agent.pretrain.train_diffusion_agent][INFO] - 2013: train loss 0.0549 | t: 0.0586
[2025-09-20 20:59:18,524][agent.pretrain.train_diffusion_agent][INFO] - 2014: train loss 0.0543 | t: 0.0587
[2025-09-20 20:59:18,583][agent.pretrain.train_diffusion_agent][INFO] - 2015: train loss 0.0582 | t: 0.0583
[2025-09-20 20:59:18,642][agent.pretrain.train_diffusion_agent][INFO] - 2016: train loss 0.0563 | t: 0.0593
[2025-09-20 20:59:18,700][agent.pretrain.train_diffusion_agent][INFO] - 2017: train loss 0.0541 | t: 0.0584
[2025-09-20 20:59:18,758][agent.pretrain.train_diffusion_agent][INFO] - 2018: train loss 0.0578 | t: 0.0577
[2025-09-20 20:59:18,816][agent.pretrain.train_diffusion_agent][INFO] - 2019: train loss 0.0561 | t: 0.0585
[2025-09-20 20:59:18,875][agent.pretrain.train_diffusion_agent][INFO] - 2020: train loss 0.0555 | t: 0.0585
[2025-09-20 20:59:18,933][agent.pretrain.train_diffusion_agent][INFO] - 2021: train loss 0.0551 | t: 0.0581
[2025-09-20 20:59:18,991][agent.pretrain.train_diffusion_agent][INFO] - 2022: train loss 0.0540 | t: 0.0584
[2025-09-20 20:59:19,050][agent.pretrain.train_diffusion_agent][INFO] - 2023: train loss 0.0611 | t: 0.0584
[2025-09-20 20:59:19,108][agent.pretrain.train_diffusion_agent][INFO] - 2024: train loss 0.0551 | t: 0.0581
[2025-09-20 20:59:19,166][agent.pretrain.train_diffusion_agent][INFO] - 2025: train loss 0.0556 | t: 0.0578
[2025-09-20 20:59:19,224][agent.pretrain.train_diffusion_agent][INFO] - 2026: train loss 0.0569 | t: 0.0582
[2025-09-20 20:59:19,282][agent.pretrain.train_diffusion_agent][INFO] - 2027: train loss 0.0536 | t: 0.0579
[2025-09-20 20:59:19,340][agent.pretrain.train_diffusion_agent][INFO] - 2028: train loss 0.0519 | t: 0.0583
[2025-09-20 20:59:19,400][agent.pretrain.train_diffusion_agent][INFO] - 2029: train loss 0.0541 | t: 0.0600
[2025-09-20 20:59:19,460][agent.pretrain.train_diffusion_agent][INFO] - 2030: train loss 0.0549 | t: 0.0601
[2025-09-20 20:59:19,520][agent.pretrain.train_diffusion_agent][INFO] - 2031: train loss 0.0540 | t: 0.0598
[2025-09-20 20:59:19,579][agent.pretrain.train_diffusion_agent][INFO] - 2032: train loss 0.0523 | t: 0.0590
[2025-09-20 20:59:19,639][agent.pretrain.train_diffusion_agent][INFO] - 2033: train loss 0.0509 | t: 0.0603
[2025-09-20 20:59:19,700][agent.pretrain.train_diffusion_agent][INFO] - 2034: train loss 0.0553 | t: 0.0601
[2025-09-20 20:59:19,759][agent.pretrain.train_diffusion_agent][INFO] - 2035: train loss 0.0549 | t: 0.0592
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[2025-09-20 20:59:20,059][agent.pretrain.train_diffusion_agent][INFO] - 2040: train loss 0.0530 | t: 0.0598
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[2025-09-20 20:59:20,382][agent.pretrain.train_diffusion_agent][INFO] - 2046: train loss 0.0570 | t: 0.0498
[2025-09-20 20:59:20,432][agent.pretrain.train_diffusion_agent][INFO] - 2047: train loss 0.0561 | t: 0.0496
[2025-09-20 20:59:20,482][agent.pretrain.train_diffusion_agent][INFO] - 2048: train loss 0.0540 | t: 0.0502
[2025-09-20 20:59:20,537][agent.pretrain.train_diffusion_agent][INFO] - 2049: train loss 0.0528 | t: 0.0546
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[2025-09-20 20:59:20,892][agent.pretrain.train_diffusion_agent][INFO] - 2055: train loss 0.0523 | t: 0.0581
[2025-09-20 20:59:20,951][agent.pretrain.train_diffusion_agent][INFO] - 2056: train loss 0.0587 | t: 0.0587
[2025-09-20 20:59:21,009][agent.pretrain.train_diffusion_agent][INFO] - 2057: train loss 0.0532 | t: 0.0580
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[2025-09-20 20:59:21,951][agent.pretrain.train_diffusion_agent][INFO] - 2073: train loss 0.0522 | t: 0.0602
[2025-09-20 20:59:22,010][agent.pretrain.train_diffusion_agent][INFO] - 2074: train loss 0.0554 | t: 0.0594
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[2025-09-20 20:59:22,248][agent.pretrain.train_diffusion_agent][INFO] - 2078: train loss 0.0557 | t: 0.0581
[2025-09-20 20:59:22,308][agent.pretrain.train_diffusion_agent][INFO] - 2079: train loss 0.0560 | t: 0.0600
[2025-09-20 20:59:22,368][agent.pretrain.train_diffusion_agent][INFO] - 2080: train loss 0.0561 | t: 0.0599
[2025-09-20 20:59:22,428][agent.pretrain.train_diffusion_agent][INFO] - 2081: train loss 0.0547 | t: 0.0594
[2025-09-20 20:59:22,488][agent.pretrain.train_diffusion_agent][INFO] - 2082: train loss 0.0564 | t: 0.0605
[2025-09-20 20:59:22,547][agent.pretrain.train_diffusion_agent][INFO] - 2083: train loss 0.0544 | t: 0.0592
[2025-09-20 20:59:22,605][agent.pretrain.train_diffusion_agent][INFO] - 2084: train loss 0.0519 | t: 0.0577
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[2025-09-20 20:59:22,959][agent.pretrain.train_diffusion_agent][INFO] - 2090: train loss 0.0558 | t: 0.0583
[2025-09-20 20:59:23,018][agent.pretrain.train_diffusion_agent][INFO] - 2091: train loss 0.0568 | t: 0.0584
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[2025-09-20 20:59:23,254][agent.pretrain.train_diffusion_agent][INFO] - 2095: train loss 0.0554 | t: 0.0603
[2025-09-20 20:59:23,314][agent.pretrain.train_diffusion_agent][INFO] - 2096: train loss 0.0577 | t: 0.0602
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[2025-09-20 20:59:23,431][agent.pretrain.train_diffusion_agent][INFO] - 2098: train loss 0.0552 | t: 0.0592
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[2025-09-20 20:59:23,612][agent.pretrain.train_diffusion_agent][INFO] - 2101: train loss 0.0551 | t: 0.0605
[2025-09-20 20:59:23,672][agent.pretrain.train_diffusion_agent][INFO] - 2102: train loss 0.0580 | t: 0.0597
[2025-09-20 20:59:23,732][agent.pretrain.train_diffusion_agent][INFO] - 2103: train loss 0.0567 | t: 0.0601
[2025-09-20 20:59:23,790][agent.pretrain.train_diffusion_agent][INFO] - 2104: train loss 0.0554 | t: 0.0583
[2025-09-20 20:59:23,910][agent.pretrain.train_diffusion_agent][INFO] - 2105: train loss 0.0545 | t: 0.1202
[2025-09-20 20:59:23,971][agent.pretrain.train_diffusion_agent][INFO] - 2106: train loss 0.0558 | t: 0.0607
[2025-09-20 20:59:24,031][agent.pretrain.train_diffusion_agent][INFO] - 2107: train loss 0.0573 | t: 0.0599
[2025-09-20 20:59:24,090][agent.pretrain.train_diffusion_agent][INFO] - 2108: train loss 0.0556 | t: 0.0590
[2025-09-20 20:59:24,149][agent.pretrain.train_diffusion_agent][INFO] - 2109: train loss 0.0557 | t: 0.0592
[2025-09-20 20:59:24,210][agent.pretrain.train_diffusion_agent][INFO] - 2110: train loss 0.0557 | t: 0.0603
[2025-09-20 20:59:24,270][agent.pretrain.train_diffusion_agent][INFO] - 2111: train loss 0.0553 | t: 0.0604
[2025-09-20 20:59:24,326][agent.pretrain.train_diffusion_agent][INFO] - 2112: train loss 0.0569 | t: 0.0562
[2025-09-20 20:59:24,376][agent.pretrain.train_diffusion_agent][INFO] - 2113: train loss 0.0519 | t: 0.0495
[2025-09-20 20:59:24,425][agent.pretrain.train_diffusion_agent][INFO] - 2114: train loss 0.0527 | t: 0.0492
[2025-09-20 20:59:24,474][agent.pretrain.train_diffusion_agent][INFO] - 2115: train loss 0.0585 | t: 0.0488
[2025-09-20 20:59:24,523][agent.pretrain.train_diffusion_agent][INFO] - 2116: train loss 0.0549 | t: 0.0499
[2025-09-20 20:59:24,575][agent.pretrain.train_diffusion_agent][INFO] - 2117: train loss 0.0579 | t: 0.0515
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[2025-09-20 20:59:25,025][agent.pretrain.train_diffusion_agent][INFO] - 2125: train loss 0.0555 | t: 0.0611
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[2025-09-20 20:59:28,289][agent.pretrain.train_diffusion_agent][INFO] - 2187: train loss 0.0518 | t: 0.0500
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[2025-09-20 20:59:28,393][agent.pretrain.train_diffusion_agent][INFO] - 2189: train loss 0.0558 | t: 0.0518
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[2025-09-20 20:59:28,808][agent.pretrain.train_diffusion_agent][INFO] - 2197: train loss 0.0524 | t: 0.0519
[2025-09-20 20:59:28,860][agent.pretrain.train_diffusion_agent][INFO] - 2198: train loss 0.0560 | t: 0.0520
[2025-09-20 20:59:28,911][agent.pretrain.train_diffusion_agent][INFO] - 2199: train loss 0.0517 | t: 0.0517
[2025-09-20 20:59:28,963][agent.pretrain.train_diffusion_agent][INFO] - 2200: train loss 0.0560 | t: 0.0517
[2025-09-20 20:59:29,015][agent.pretrain.train_diffusion_agent][INFO] - 2201: train loss 0.0576 | t: 0.0520
[2025-09-20 20:59:29,067][agent.pretrain.train_diffusion_agent][INFO] - 2202: train loss 0.0577 | t: 0.0516
[2025-09-20 20:59:29,176][agent.pretrain.train_diffusion_agent][INFO] - 2203: train loss 0.0554 | t: 0.1095
[2025-09-20 20:59:29,229][agent.pretrain.train_diffusion_agent][INFO] - 2204: train loss 0.0542 | t: 0.0525
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[2025-09-20 20:59:29,756][agent.pretrain.train_diffusion_agent][INFO] - 2214: train loss 0.0559 | t: 0.0515
[2025-09-20 20:59:29,809][agent.pretrain.train_diffusion_agent][INFO] - 2215: train loss 0.0550 | t: 0.0524
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[2025-09-20 20:59:29,964][agent.pretrain.train_diffusion_agent][INFO] - 2218: train loss 0.0529 | t: 0.0515
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[2025-09-20 20:59:30,066][agent.pretrain.train_diffusion_agent][INFO] - 2220: train loss 0.0524 | t: 0.0517
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[2025-09-20 20:59:30,323][agent.pretrain.train_diffusion_agent][INFO] - 2225: train loss 0.0559 | t: 0.0509
[2025-09-20 20:59:30,375][agent.pretrain.train_diffusion_agent][INFO] - 2226: train loss 0.0532 | t: 0.0521
[2025-09-20 20:59:30,427][agent.pretrain.train_diffusion_agent][INFO] - 2227: train loss 0.0541 | t: 0.0511
[2025-09-20 20:59:30,479][agent.pretrain.train_diffusion_agent][INFO] - 2228: train loss 0.0548 | t: 0.0523
[2025-09-20 20:59:30,530][agent.pretrain.train_diffusion_agent][INFO] - 2229: train loss 0.0545 | t: 0.0517
[2025-09-20 20:59:30,581][agent.pretrain.train_diffusion_agent][INFO] - 2230: train loss 0.0550 | t: 0.0505
[2025-09-20 20:59:30,630][agent.pretrain.train_diffusion_agent][INFO] - 2231: train loss 0.0517 | t: 0.0494
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[2025-09-20 20:59:30,730][agent.pretrain.train_diffusion_agent][INFO] - 2233: train loss 0.0522 | t: 0.0499
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[2025-09-20 20:59:31,035][agent.pretrain.train_diffusion_agent][INFO] - 2239: train loss 0.0542 | t: 0.0510
[2025-09-20 20:59:31,085][agent.pretrain.train_diffusion_agent][INFO] - 2240: train loss 0.0551 | t: 0.0508
[2025-09-20 20:59:31,137][agent.pretrain.train_diffusion_agent][INFO] - 2241: train loss 0.0514 | t: 0.0517
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[2025-09-20 20:59:31,388][agent.pretrain.train_diffusion_agent][INFO] - 2246: train loss 0.0521 | t: 0.0511
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[2025-09-20 20:59:31,940][agent.pretrain.train_diffusion_agent][INFO] - 2257: train loss 0.0522 | t: 0.0512
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[2025-09-20 20:59:32,042][agent.pretrain.train_diffusion_agent][INFO] - 2259: train loss 0.0531 | t: 0.0509
[2025-09-20 20:59:32,093][agent.pretrain.train_diffusion_agent][INFO] - 2260: train loss 0.0527 | t: 0.0507
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[2025-09-20 20:59:32,645][agent.pretrain.train_diffusion_agent][INFO] - 2271: train loss 0.0540 | t: 0.0498
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[2025-09-20 20:59:36,938][agent.pretrain.train_diffusion_agent][INFO] - 2355: train loss 0.0555 | t: 0.0492
[2025-09-20 20:59:36,988][agent.pretrain.train_diffusion_agent][INFO] - 2356: train loss 0.0589 | t: 0.0495
[2025-09-20 20:59:37,037][agent.pretrain.train_diffusion_agent][INFO] - 2357: train loss 0.0564 | t: 0.0490
[2025-09-20 20:59:37,086][agent.pretrain.train_diffusion_agent][INFO] - 2358: train loss 0.0526 | t: 0.0488
[2025-09-20 20:59:37,135][agent.pretrain.train_diffusion_agent][INFO] - 2359: train loss 0.0553 | t: 0.0492
[2025-09-20 20:59:37,184][agent.pretrain.train_diffusion_agent][INFO] - 2360: train loss 0.0532 | t: 0.0493
[2025-09-20 20:59:37,233][agent.pretrain.train_diffusion_agent][INFO] - 2361: train loss 0.0552 | t: 0.0492
[2025-09-20 20:59:37,282][agent.pretrain.train_diffusion_agent][INFO] - 2362: train loss 0.0568 | t: 0.0489
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[2025-09-20 20:59:37,432][agent.pretrain.train_diffusion_agent][INFO] - 2365: train loss 0.0541 | t: 0.0512
[2025-09-20 20:59:37,482][agent.pretrain.train_diffusion_agent][INFO] - 2366: train loss 0.0529 | t: 0.0503
[2025-09-20 20:59:37,533][agent.pretrain.train_diffusion_agent][INFO] - 2367: train loss 0.0543 | t: 0.0503
[2025-09-20 20:59:37,582][agent.pretrain.train_diffusion_agent][INFO] - 2368: train loss 0.0532 | t: 0.0492
[2025-09-20 20:59:37,631][agent.pretrain.train_diffusion_agent][INFO] - 2369: train loss 0.0537 | t: 0.0489
[2025-09-20 20:59:37,680][agent.pretrain.train_diffusion_agent][INFO] - 2370: train loss 0.0535 | t: 0.0491
[2025-09-20 20:59:37,730][agent.pretrain.train_diffusion_agent][INFO] - 2371: train loss 0.0524 | t: 0.0498
[2025-09-20 20:59:37,779][agent.pretrain.train_diffusion_agent][INFO] - 2372: train loss 0.0545 | t: 0.0492
[2025-09-20 20:59:37,828][agent.pretrain.train_diffusion_agent][INFO] - 2373: train loss 0.0559 | t: 0.0492
[2025-09-20 20:59:37,878][agent.pretrain.train_diffusion_agent][INFO] - 2374: train loss 0.0542 | t: 0.0495
[2025-09-20 20:59:37,927][agent.pretrain.train_diffusion_agent][INFO] - 2375: train loss 0.0521 | t: 0.0494
[2025-09-20 20:59:37,976][agent.pretrain.train_diffusion_agent][INFO] - 2376: train loss 0.0519 | t: 0.0492
[2025-09-20 20:59:38,026][agent.pretrain.train_diffusion_agent][INFO] - 2377: train loss 0.0531 | t: 0.0503
[2025-09-20 20:59:38,077][agent.pretrain.train_diffusion_agent][INFO] - 2378: train loss 0.0550 | t: 0.0501
[2025-09-20 20:59:38,127][agent.pretrain.train_diffusion_agent][INFO] - 2379: train loss 0.0580 | t: 0.0507
[2025-09-20 20:59:38,178][agent.pretrain.train_diffusion_agent][INFO] - 2380: train loss 0.0511 | t: 0.0510
[2025-09-20 20:59:38,229][agent.pretrain.train_diffusion_agent][INFO] - 2381: train loss 0.0550 | t: 0.0511
[2025-09-20 20:59:38,280][agent.pretrain.train_diffusion_agent][INFO] - 2382: train loss 0.0534 | t: 0.0502
[2025-09-20 20:59:38,330][agent.pretrain.train_diffusion_agent][INFO] - 2383: train loss 0.0531 | t: 0.0501
[2025-09-20 20:59:38,379][agent.pretrain.train_diffusion_agent][INFO] - 2384: train loss 0.0561 | t: 0.0494
[2025-09-20 20:59:38,429][agent.pretrain.train_diffusion_agent][INFO] - 2385: train loss 0.0547 | t: 0.0503
[2025-09-20 20:59:38,479][agent.pretrain.train_diffusion_agent][INFO] - 2386: train loss 0.0551 | t: 0.0496
[2025-09-20 20:59:38,529][agent.pretrain.train_diffusion_agent][INFO] - 2387: train loss 0.0546 | t: 0.0500
[2025-09-20 20:59:38,578][agent.pretrain.train_diffusion_agent][INFO] - 2388: train loss 0.0557 | t: 0.0489
[2025-09-20 20:59:38,627][agent.pretrain.train_diffusion_agent][INFO] - 2389: train loss 0.0551 | t: 0.0488
[2025-09-20 20:59:38,676][agent.pretrain.train_diffusion_agent][INFO] - 2390: train loss 0.0545 | t: 0.0489
[2025-09-20 20:59:38,726][agent.pretrain.train_diffusion_agent][INFO] - 2391: train loss 0.0563 | t: 0.0501
[2025-09-20 20:59:38,777][agent.pretrain.train_diffusion_agent][INFO] - 2392: train loss 0.0544 | t: 0.0515
[2025-09-20 20:59:38,828][agent.pretrain.train_diffusion_agent][INFO] - 2393: train loss 0.0551 | t: 0.0509
[2025-09-20 20:59:38,879][agent.pretrain.train_diffusion_agent][INFO] - 2394: train loss 0.0533 | t: 0.0508
[2025-09-20 20:59:38,930][agent.pretrain.train_diffusion_agent][INFO] - 2395: train loss 0.0548 | t: 0.0509
[2025-09-20 20:59:38,981][agent.pretrain.train_diffusion_agent][INFO] - 2396: train loss 0.0543 | t: 0.0516
[2025-09-20 20:59:39,032][agent.pretrain.train_diffusion_agent][INFO] - 2397: train loss 0.0541 | t: 0.0507
[2025-09-20 20:59:39,083][agent.pretrain.train_diffusion_agent][INFO] - 2398: train loss 0.0575 | t: 0.0510
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[2025-09-20 20:59:39,547][agent.pretrain.train_diffusion_agent][INFO] - 2406: train loss 0.0567 | t: 0.0511
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[2025-09-20 20:59:41,831][agent.pretrain.train_diffusion_agent][INFO] - 2451: train loss 0.0555 | t: 0.0512
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[2025-09-20 20:59:42,035][agent.pretrain.train_diffusion_agent][INFO] - 2455: train loss 0.0591 | t: 0.0518
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[2025-09-20 20:59:43,006][agent.pretrain.train_diffusion_agent][INFO] - 2474: train loss 0.0545 | t: 0.0514
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[2025-09-20 20:59:43,872][agent.pretrain.train_diffusion_agent][INFO] - 2491: train loss 0.0558 | t: 0.0521
[2025-09-20 20:59:43,924][agent.pretrain.train_diffusion_agent][INFO] - 2492: train loss 0.0562 | t: 0.0520
[2025-09-20 20:59:43,975][agent.pretrain.train_diffusion_agent][INFO] - 2493: train loss 0.0530 | t: 0.0514
[2025-09-20 20:59:44,027][agent.pretrain.train_diffusion_agent][INFO] - 2494: train loss 0.0541 | t: 0.0518
[2025-09-20 20:59:44,077][agent.pretrain.train_diffusion_agent][INFO] - 2495: train loss 0.0531 | t: 0.0495
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[2025-09-20 20:59:44,177][agent.pretrain.train_diffusion_agent][INFO] - 2497: train loss 0.0508 | t: 0.0509
[2025-09-20 20:59:44,286][agent.pretrain.train_diffusion_agent][INFO] - 2498: train loss 0.0545 | t: 0.1085
[2025-09-20 20:59:44,337][agent.pretrain.train_diffusion_agent][INFO] - 2499: train loss 0.0533 | t: 0.0514
[2025-09-20 20:59:44,393][agent.pretrain.train_agent][INFO] - Saved model to /home/zbzhu/Code/dppo/log/robomimic-pretrain/can_pre_diffusion_mlp_ta4_td20/2025-09-20_20-57-24_42/checkpoint/state_2500.pt
[2025-09-20 20:59:44,393][agent.pretrain.train_diffusion_agent][INFO] - 2500: train loss 0.0537 | t: 0.0556
[2025-09-20 20:59:44,445][agent.pretrain.train_diffusion_agent][INFO] - 2501: train loss 0.0522 | t: 0.0519
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[2025-09-20 20:59:45,350][agent.pretrain.train_diffusion_agent][INFO] - 2519: train loss 0.0567 | t: 0.0494
[2025-09-20 20:59:45,400][agent.pretrain.train_diffusion_agent][INFO] - 2520: train loss 0.0559 | t: 0.0494
[2025-09-20 20:59:45,451][agent.pretrain.train_diffusion_agent][INFO] - 2521: train loss 0.0547 | t: 0.0517
[2025-09-20 20:59:45,503][agent.pretrain.train_diffusion_agent][INFO] - 2522: train loss 0.0527 | t: 0.0514
[2025-09-20 20:59:45,553][agent.pretrain.train_diffusion_agent][INFO] - 2523: train loss 0.0573 | t: 0.0499
[2025-09-20 20:59:45,603][agent.pretrain.train_diffusion_agent][INFO] - 2524: train loss 0.0550 | t: 0.0506
[2025-09-20 20:59:45,653][agent.pretrain.train_diffusion_agent][INFO] - 2525: train loss 0.0536 | t: 0.0492
[2025-09-20 20:59:45,702][agent.pretrain.train_diffusion_agent][INFO] - 2526: train loss 0.0547 | t: 0.0492
[2025-09-20 20:59:45,751][agent.pretrain.train_diffusion_agent][INFO] - 2527: train loss 0.0523 | t: 0.0494
[2025-09-20 20:59:45,801][agent.pretrain.train_diffusion_agent][INFO] - 2528: train loss 0.0544 | t: 0.0500
[2025-09-20 20:59:45,851][agent.pretrain.train_diffusion_agent][INFO] - 2529: train loss 0.0537 | t: 0.0497
[2025-09-20 20:59:45,900][agent.pretrain.train_diffusion_agent][INFO] - 2530: train loss 0.0515 | t: 0.0497
[2025-09-20 20:59:45,950][agent.pretrain.train_diffusion_agent][INFO] - 2531: train loss 0.0547 | t: 0.0497
[2025-09-20 20:59:46,000][agent.pretrain.train_diffusion_agent][INFO] - 2532: train loss 0.0518 | t: 0.0494
[2025-09-20 20:59:46,049][agent.pretrain.train_diffusion_agent][INFO] - 2533: train loss 0.0530 | t: 0.0492
[2025-09-20 20:59:46,097][agent.pretrain.train_diffusion_agent][INFO] - 2534: train loss 0.0544 | t: 0.0487
[2025-09-20 20:59:46,147][agent.pretrain.train_diffusion_agent][INFO] - 2535: train loss 0.0533 | t: 0.0493
[2025-09-20 20:59:46,196][agent.pretrain.train_diffusion_agent][INFO] - 2536: train loss 0.0508 | t: 0.0497
[2025-09-20 20:59:46,245][agent.pretrain.train_diffusion_agent][INFO] - 2537: train loss 0.0569 | t: 0.0490
[2025-09-20 20:59:46,294][agent.pretrain.train_diffusion_agent][INFO] - 2538: train loss 0.0536 | t: 0.0489
[2025-09-20 20:59:46,344][agent.pretrain.train_diffusion_agent][INFO] - 2539: train loss 0.0516 | t: 0.0497
[2025-09-20 20:59:46,395][agent.pretrain.train_diffusion_agent][INFO] - 2540: train loss 0.0542 | t: 0.0508
[2025-09-20 20:59:46,446][agent.pretrain.train_diffusion_agent][INFO] - 2541: train loss 0.0555 | t: 0.0512
[2025-09-20 20:59:46,497][agent.pretrain.train_diffusion_agent][INFO] - 2542: train loss 0.0560 | t: 0.0512
[2025-09-20 20:59:46,548][agent.pretrain.train_diffusion_agent][INFO] - 2543: train loss 0.0562 | t: 0.0509
[2025-09-20 20:59:46,599][agent.pretrain.train_diffusion_agent][INFO] - 2544: train loss 0.0541 | t: 0.0507
[2025-09-20 20:59:46,649][agent.pretrain.train_diffusion_agent][INFO] - 2545: train loss 0.0544 | t: 0.0504
[2025-09-20 20:59:46,700][agent.pretrain.train_diffusion_agent][INFO] - 2546: train loss 0.0544 | t: 0.0503
[2025-09-20 20:59:46,749][agent.pretrain.train_diffusion_agent][INFO] - 2547: train loss 0.0516 | t: 0.0493
[2025-09-20 20:59:46,798][agent.pretrain.train_diffusion_agent][INFO] - 2548: train loss 0.0553 | t: 0.0495
[2025-09-20 20:59:46,848][agent.pretrain.train_diffusion_agent][INFO] - 2549: train loss 0.0519 | t: 0.0496
[2025-09-20 20:59:46,897][agent.pretrain.train_diffusion_agent][INFO] - 2550: train loss 0.0530 | t: 0.0488
[2025-09-20 20:59:46,946][agent.pretrain.train_diffusion_agent][INFO] - 2551: train loss 0.0530 | t: 0.0494
[2025-09-20 20:59:46,995][agent.pretrain.train_diffusion_agent][INFO] - 2552: train loss 0.0529 | t: 0.0493
[2025-09-20 20:59:47,044][agent.pretrain.train_diffusion_agent][INFO] - 2553: train loss 0.0552 | t: 0.0491
[2025-09-20 20:59:47,094][agent.pretrain.train_diffusion_agent][INFO] - 2554: train loss 0.0541 | t: 0.0493
[2025-09-20 20:59:47,143][agent.pretrain.train_diffusion_agent][INFO] - 2555: train loss 0.0565 | t: 0.0488
[2025-09-20 20:59:47,192][agent.pretrain.train_diffusion_agent][INFO] - 2556: train loss 0.0544 | t: 0.0495
[2025-09-20 20:59:47,241][agent.pretrain.train_diffusion_agent][INFO] - 2557: train loss 0.0560 | t: 0.0492
[2025-09-20 20:59:47,292][agent.pretrain.train_diffusion_agent][INFO] - 2558: train loss 0.0549 | t: 0.0507
[2025-09-20 20:59:47,342][agent.pretrain.train_diffusion_agent][INFO] - 2559: train loss 0.0518 | t: 0.0504
[2025-09-20 20:59:47,393][agent.pretrain.train_diffusion_agent][INFO] - 2560: train loss 0.0578 | t: 0.0510
[2025-09-20 20:59:47,444][agent.pretrain.train_diffusion_agent][INFO] - 2561: train loss 0.0549 | t: 0.0509
[2025-09-20 20:59:47,495][agent.pretrain.train_diffusion_agent][INFO] - 2562: train loss 0.0551 | t: 0.0510
[2025-09-20 20:59:47,545][agent.pretrain.train_diffusion_agent][INFO] - 2563: train loss 0.0539 | t: 0.0494
[2025-09-20 20:59:47,594][agent.pretrain.train_diffusion_agent][INFO] - 2564: train loss 0.0531 | t: 0.0496
[2025-09-20 20:59:47,644][agent.pretrain.train_diffusion_agent][INFO] - 2565: train loss 0.0538 | t: 0.0496
[2025-09-20 20:59:47,695][agent.pretrain.train_diffusion_agent][INFO] - 2566: train loss 0.0561 | t: 0.0508
[2025-09-20 20:59:47,746][agent.pretrain.train_diffusion_agent][INFO] - 2567: train loss 0.0542 | t: 0.0508
[2025-09-20 20:59:47,796][agent.pretrain.train_diffusion_agent][INFO] - 2568: train loss 0.0555 | t: 0.0509
[2025-09-20 20:59:47,846][agent.pretrain.train_diffusion_agent][INFO] - 2569: train loss 0.0492 | t: 0.0491
[2025-09-20 20:59:47,894][agent.pretrain.train_diffusion_agent][INFO] - 2570: train loss 0.0515 | t: 0.0487
[2025-09-20 20:59:47,944][agent.pretrain.train_diffusion_agent][INFO] - 2571: train loss 0.0516 | t: 0.0501
[2025-09-20 20:59:47,995][agent.pretrain.train_diffusion_agent][INFO] - 2572: train loss 0.0522 | t: 0.0505
[2025-09-20 20:59:48,045][agent.pretrain.train_diffusion_agent][INFO] - 2573: train loss 0.0583 | t: 0.0505
[2025-09-20 20:59:48,097][agent.pretrain.train_diffusion_agent][INFO] - 2574: train loss 0.0551 | t: 0.0515
[2025-09-20 20:59:48,148][agent.pretrain.train_diffusion_agent][INFO] - 2575: train loss 0.0525 | t: 0.0508
[2025-09-20 20:59:48,199][agent.pretrain.train_diffusion_agent][INFO] - 2576: train loss 0.0512 | t: 0.0511
[2025-09-20 20:59:48,250][agent.pretrain.train_diffusion_agent][INFO] - 2577: train loss 0.0494 | t: 0.0508
[2025-09-20 20:59:48,301][agent.pretrain.train_diffusion_agent][INFO] - 2578: train loss 0.0520 | t: 0.0510
[2025-09-20 20:59:48,351][agent.pretrain.train_diffusion_agent][INFO] - 2579: train loss 0.0554 | t: 0.0508
[2025-09-20 20:59:48,402][agent.pretrain.train_diffusion_agent][INFO] - 2580: train loss 0.0504 | t: 0.0510
[2025-09-20 20:59:48,453][agent.pretrain.train_diffusion_agent][INFO] - 2581: train loss 0.0534 | t: 0.0511
[2025-09-20 20:59:48,504][agent.pretrain.train_diffusion_agent][INFO] - 2582: train loss 0.0533 | t: 0.0509
[2025-09-20 20:59:48,556][agent.pretrain.train_diffusion_agent][INFO] - 2583: train loss 0.0542 | t: 0.0512
[2025-09-20 20:59:48,606][agent.pretrain.train_diffusion_agent][INFO] - 2584: train loss 0.0520 | t: 0.0509
[2025-09-20 20:59:48,657][agent.pretrain.train_diffusion_agent][INFO] - 2585: train loss 0.0555 | t: 0.0510
[2025-09-20 20:59:48,709][agent.pretrain.train_diffusion_agent][INFO] - 2586: train loss 0.0570 | t: 0.0512
[2025-09-20 20:59:48,760][agent.pretrain.train_diffusion_agent][INFO] - 2587: train loss 0.0584 | t: 0.0511
[2025-09-20 20:59:48,810][agent.pretrain.train_diffusion_agent][INFO] - 2588: train loss 0.0550 | t: 0.0507
[2025-09-20 20:59:48,861][agent.pretrain.train_diffusion_agent][INFO] - 2589: train loss 0.0542 | t: 0.0510
[2025-09-20 20:59:48,912][agent.pretrain.train_diffusion_agent][INFO] - 2590: train loss 0.0548 | t: 0.0508
[2025-09-20 20:59:48,963][agent.pretrain.train_diffusion_agent][INFO] - 2591: train loss 0.0522 | t: 0.0511
[2025-09-20 20:59:49,014][agent.pretrain.train_diffusion_agent][INFO] - 2592: train loss 0.0549 | t: 0.0509
[2025-09-20 20:59:49,065][agent.pretrain.train_diffusion_agent][INFO] - 2593: train loss 0.0541 | t: 0.0510
[2025-09-20 20:59:49,116][agent.pretrain.train_diffusion_agent][INFO] - 2594: train loss 0.0528 | t: 0.0505
[2025-09-20 20:59:49,166][agent.pretrain.train_diffusion_agent][INFO] - 2595: train loss 0.0553 | t: 0.0499
[2025-09-20 20:59:49,281][agent.pretrain.train_diffusion_agent][INFO] - 2596: train loss 0.0533 | t: 0.1154
[2025-09-20 20:59:49,331][agent.pretrain.train_diffusion_agent][INFO] - 2597: train loss 0.0495 | t: 0.0495
[2025-09-20 20:59:49,380][agent.pretrain.train_diffusion_agent][INFO] - 2598: train loss 0.0519 | t: 0.0493
[2025-09-20 20:59:49,431][agent.pretrain.train_diffusion_agent][INFO] - 2599: train loss 0.0536 | t: 0.0511
[2025-09-20 20:59:49,482][agent.pretrain.train_diffusion_agent][INFO] - 2600: train loss 0.0571 | t: 0.0510
[2025-09-20 20:59:49,533][agent.pretrain.train_diffusion_agent][INFO] - 2601: train loss 0.0519 | t: 0.0512
[2025-09-20 20:59:49,584][agent.pretrain.train_diffusion_agent][INFO] - 2602: train loss 0.0510 | t: 0.0506
[2025-09-20 20:59:49,633][agent.pretrain.train_diffusion_agent][INFO] - 2603: train loss 0.0530 | t: 0.0495
[2025-09-20 20:59:49,684][agent.pretrain.train_diffusion_agent][INFO] - 2604: train loss 0.0553 | t: 0.0508
[2025-09-20 20:59:49,735][agent.pretrain.train_diffusion_agent][INFO] - 2605: train loss 0.0513 | t: 0.0512
[2025-09-20 20:59:49,786][agent.pretrain.train_diffusion_agent][INFO] - 2606: train loss 0.0557 | t: 0.0513
[2025-09-20 20:59:49,837][agent.pretrain.train_diffusion_agent][INFO] - 2607: train loss 0.0530 | t: 0.0512
[2025-09-20 20:59:49,887][agent.pretrain.train_diffusion_agent][INFO] - 2608: train loss 0.0511 | t: 0.0491
[2025-09-20 20:59:49,936][agent.pretrain.train_diffusion_agent][INFO] - 2609: train loss 0.0535 | t: 0.0490
[2025-09-20 20:59:49,985][agent.pretrain.train_diffusion_agent][INFO] - 2610: train loss 0.0547 | t: 0.0489
[2025-09-20 20:59:50,034][agent.pretrain.train_diffusion_agent][INFO] - 2611: train loss 0.0496 | t: 0.0493
[2025-09-20 20:59:50,083][agent.pretrain.train_diffusion_agent][INFO] - 2612: train loss 0.0510 | t: 0.0490
[2025-09-20 20:59:50,132][agent.pretrain.train_diffusion_agent][INFO] - 2613: train loss 0.0529 | t: 0.0489
[2025-09-20 20:59:50,181][agent.pretrain.train_diffusion_agent][INFO] - 2614: train loss 0.0555 | t: 0.0492
[2025-09-20 20:59:50,230][agent.pretrain.train_diffusion_agent][INFO] - 2615: train loss 0.0576 | t: 0.0494
[2025-09-20 20:59:50,281][agent.pretrain.train_diffusion_agent][INFO] - 2616: train loss 0.0570 | t: 0.0508
[2025-09-20 20:59:50,331][agent.pretrain.train_diffusion_agent][INFO] - 2617: train loss 0.0555 | t: 0.0501
[2025-09-20 20:59:50,381][agent.pretrain.train_diffusion_agent][INFO] - 2618: train loss 0.0551 | t: 0.0495
[2025-09-20 20:59:50,430][agent.pretrain.train_diffusion_agent][INFO] - 2619: train loss 0.0498 | t: 0.0491
[2025-09-20 20:59:50,480][agent.pretrain.train_diffusion_agent][INFO] - 2620: train loss 0.0518 | t: 0.0498
[2025-09-20 20:59:50,530][agent.pretrain.train_diffusion_agent][INFO] - 2621: train loss 0.0523 | t: 0.0502
[2025-09-20 20:59:50,579][agent.pretrain.train_diffusion_agent][INFO] - 2622: train loss 0.0540 | t: 0.0489
[2025-09-20 20:59:50,628][agent.pretrain.train_diffusion_agent][INFO] - 2623: train loss 0.0551 | t: 0.0489
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[2025-09-20 20:59:50,732][agent.pretrain.train_diffusion_agent][INFO] - 2625: train loss 0.0545 | t: 0.0550
[2025-09-20 20:59:50,783][agent.pretrain.train_diffusion_agent][INFO] - 2626: train loss 0.0549 | t: 0.0507
[2025-09-20 20:59:50,833][agent.pretrain.train_diffusion_agent][INFO] - 2627: train loss 0.0554 | t: 0.0501
[2025-09-20 20:59:50,883][agent.pretrain.train_diffusion_agent][INFO] - 2628: train loss 0.0524 | t: 0.0507
[2025-09-20 20:59:50,935][agent.pretrain.train_diffusion_agent][INFO] - 2629: train loss 0.0552 | t: 0.0519
[2025-09-20 20:59:50,986][agent.pretrain.train_diffusion_agent][INFO] - 2630: train loss 0.0523 | t: 0.0508
[2025-09-20 20:59:51,038][agent.pretrain.train_diffusion_agent][INFO] - 2631: train loss 0.0522 | t: 0.0515
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[2025-09-20 20:59:52,053][agent.pretrain.train_diffusion_agent][INFO] - 2651: train loss 0.0522 | t: 0.0504
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[2025-09-20 20:59:52,810][agent.pretrain.train_diffusion_agent][INFO] - 2666: train loss 0.0548 | t: 0.0512
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[2025-09-20 20:59:53,826][agent.pretrain.train_diffusion_agent][INFO] - 2686: train loss 0.0565 | t: 0.0497
[2025-09-20 20:59:53,876][agent.pretrain.train_diffusion_agent][INFO] - 2687: train loss 0.0520 | t: 0.0497
[2025-09-20 20:59:53,925][agent.pretrain.train_diffusion_agent][INFO] - 2688: train loss 0.0551 | t: 0.0491
[2025-09-20 20:59:53,974][agent.pretrain.train_diffusion_agent][INFO] - 2689: train loss 0.0578 | t: 0.0494
[2025-09-20 20:59:54,023][agent.pretrain.train_diffusion_agent][INFO] - 2690: train loss 0.0553 | t: 0.0492
[2025-09-20 20:59:54,073][agent.pretrain.train_diffusion_agent][INFO] - 2691: train loss 0.0536 | t: 0.0495
[2025-09-20 20:59:54,122][agent.pretrain.train_diffusion_agent][INFO] - 2692: train loss 0.0536 | t: 0.0489
[2025-09-20 20:59:54,171][agent.pretrain.train_diffusion_agent][INFO] - 2693: train loss 0.0523 | t: 0.0492
[2025-09-20 20:59:54,285][agent.pretrain.train_diffusion_agent][INFO] - 2694: train loss 0.0526 | t: 0.1136
[2025-09-20 20:59:54,335][agent.pretrain.train_diffusion_agent][INFO] - 2695: train loss 0.0506 | t: 0.0500
[2025-09-20 20:59:54,384][agent.pretrain.train_diffusion_agent][INFO] - 2696: train loss 0.0534 | t: 0.0495
[2025-09-20 20:59:54,434][agent.pretrain.train_diffusion_agent][INFO] - 2697: train loss 0.0536 | t: 0.0496
[2025-09-20 20:59:54,484][agent.pretrain.train_diffusion_agent][INFO] - 2698: train loss 0.0515 | t: 0.0498
[2025-09-20 20:59:54,533][agent.pretrain.train_diffusion_agent][INFO] - 2699: train loss 0.0519 | t: 0.0491
[2025-09-20 20:59:54,582][agent.pretrain.train_diffusion_agent][INFO] - 2700: train loss 0.0531 | t: 0.0493
[2025-09-20 20:59:54,631][agent.pretrain.train_diffusion_agent][INFO] - 2701: train loss 0.0565 | t: 0.0492
[2025-09-20 20:59:54,680][agent.pretrain.train_diffusion_agent][INFO] - 2702: train loss 0.0518 | t: 0.0492
[2025-09-20 20:59:54,730][agent.pretrain.train_diffusion_agent][INFO] - 2703: train loss 0.0550 | t: 0.0491
[2025-09-20 20:59:54,779][agent.pretrain.train_diffusion_agent][INFO] - 2704: train loss 0.0557 | t: 0.0495
[2025-09-20 20:59:54,828][agent.pretrain.train_diffusion_agent][INFO] - 2705: train loss 0.0519 | t: 0.0491
[2025-09-20 20:59:54,878][agent.pretrain.train_diffusion_agent][INFO] - 2706: train loss 0.0545 | t: 0.0499
[2025-09-20 20:59:54,927][agent.pretrain.train_diffusion_agent][INFO] - 2707: train loss 0.0547 | t: 0.0492
[2025-09-20 20:59:54,977][agent.pretrain.train_diffusion_agent][INFO] - 2708: train loss 0.0545 | t: 0.0496
[2025-09-20 20:59:55,026][agent.pretrain.train_diffusion_agent][INFO] - 2709: train loss 0.0511 | t: 0.0493
[2025-09-20 20:59:55,076][agent.pretrain.train_diffusion_agent][INFO] - 2710: train loss 0.0544 | t: 0.0504
[2025-09-20 20:59:55,126][agent.pretrain.train_diffusion_agent][INFO] - 2711: train loss 0.0551 | t: 0.0500
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[2025-09-20 20:59:55,226][agent.pretrain.train_diffusion_agent][INFO] - 2713: train loss 0.0536 | t: 0.0504
[2025-09-20 20:59:55,278][agent.pretrain.train_diffusion_agent][INFO] - 2714: train loss 0.0547 | t: 0.0516
[2025-09-20 20:59:55,328][agent.pretrain.train_diffusion_agent][INFO] - 2715: train loss 0.0540 | t: 0.0506
[2025-09-20 20:59:55,379][agent.pretrain.train_diffusion_agent][INFO] - 2716: train loss 0.0547 | t: 0.0512
[2025-09-20 20:59:55,430][agent.pretrain.train_diffusion_agent][INFO] - 2717: train loss 0.0541 | t: 0.0508
[2025-09-20 20:59:55,482][agent.pretrain.train_diffusion_agent][INFO] - 2718: train loss 0.0541 | t: 0.0514
[2025-09-20 20:59:55,533][agent.pretrain.train_diffusion_agent][INFO] - 2719: train loss 0.0537 | t: 0.0515
[2025-09-20 20:59:55,584][agent.pretrain.train_diffusion_agent][INFO] - 2720: train loss 0.0542 | t: 0.0508
[2025-09-20 20:59:55,633][agent.pretrain.train_diffusion_agent][INFO] - 2721: train loss 0.0513 | t: 0.0495
[2025-09-20 20:59:55,683][agent.pretrain.train_diffusion_agent][INFO] - 2722: train loss 0.0536 | t: 0.0498
[2025-09-20 20:59:55,734][agent.pretrain.train_diffusion_agent][INFO] - 2723: train loss 0.0526 | t: 0.0510
[2025-09-20 20:59:55,785][agent.pretrain.train_diffusion_agent][INFO] - 2724: train loss 0.0564 | t: 0.0509
[2025-09-20 20:59:55,836][agent.pretrain.train_diffusion_agent][INFO] - 2725: train loss 0.0512 | t: 0.0509
[2025-09-20 20:59:55,887][agent.pretrain.train_diffusion_agent][INFO] - 2726: train loss 0.0513 | t: 0.0514
[2025-09-20 20:59:55,938][agent.pretrain.train_diffusion_agent][INFO] - 2727: train loss 0.0529 | t: 0.0509
[2025-09-20 20:59:55,990][agent.pretrain.train_diffusion_agent][INFO] - 2728: train loss 0.0562 | t: 0.0511
[2025-09-20 20:59:56,040][agent.pretrain.train_diffusion_agent][INFO] - 2729: train loss 0.0508 | t: 0.0506
[2025-09-20 20:59:56,091][agent.pretrain.train_diffusion_agent][INFO] - 2730: train loss 0.0567 | t: 0.0513
[2025-09-20 20:59:56,143][agent.pretrain.train_diffusion_agent][INFO] - 2731: train loss 0.0524 | t: 0.0514
[2025-09-20 20:59:56,194][agent.pretrain.train_diffusion_agent][INFO] - 2732: train loss 0.0515 | t: 0.0510
[2025-09-20 20:59:56,245][agent.pretrain.train_diffusion_agent][INFO] - 2733: train loss 0.0531 | t: 0.0509
[2025-09-20 20:59:56,296][agent.pretrain.train_diffusion_agent][INFO] - 2734: train loss 0.0534 | t: 0.0509
[2025-09-20 20:59:56,345][agent.pretrain.train_diffusion_agent][INFO] - 2735: train loss 0.0528 | t: 0.0497
[2025-09-20 20:59:56,395][agent.pretrain.train_diffusion_agent][INFO] - 2736: train loss 0.0515 | t: 0.0496
[2025-09-20 20:59:56,444][agent.pretrain.train_diffusion_agent][INFO] - 2737: train loss 0.0538 | t: 0.0496
[2025-09-20 20:59:56,494][agent.pretrain.train_diffusion_agent][INFO] - 2738: train loss 0.0538 | t: 0.0498
[2025-09-20 20:59:56,543][agent.pretrain.train_diffusion_agent][INFO] - 2739: train loss 0.0573 | t: 0.0492
[2025-09-20 20:59:56,592][agent.pretrain.train_diffusion_agent][INFO] - 2740: train loss 0.0537 | t: 0.0491
[2025-09-20 20:59:56,642][agent.pretrain.train_diffusion_agent][INFO] - 2741: train loss 0.0560 | t: 0.0497
[2025-09-20 20:59:56,692][agent.pretrain.train_diffusion_agent][INFO] - 2742: train loss 0.0530 | t: 0.0495
[2025-09-20 20:59:56,741][agent.pretrain.train_diffusion_agent][INFO] - 2743: train loss 0.0536 | t: 0.0491
[2025-09-20 20:59:56,790][agent.pretrain.train_diffusion_agent][INFO] - 2744: train loss 0.0527 | t: 0.0491
[2025-09-20 20:59:56,839][agent.pretrain.train_diffusion_agent][INFO] - 2745: train loss 0.0523 | t: 0.0491
[2025-09-20 20:59:56,890][agent.pretrain.train_diffusion_agent][INFO] - 2746: train loss 0.0512 | t: 0.0507
[2025-09-20 20:59:56,941][agent.pretrain.train_diffusion_agent][INFO] - 2747: train loss 0.0511 | t: 0.0509
[2025-09-20 20:59:56,991][agent.pretrain.train_diffusion_agent][INFO] - 2748: train loss 0.0561 | t: 0.0509
[2025-09-20 20:59:57,043][agent.pretrain.train_diffusion_agent][INFO] - 2749: train loss 0.0544 | t: 0.0510
[2025-09-20 20:59:57,092][agent.pretrain.train_diffusion_agent][INFO] - 2750: train loss 0.0537 | t: 0.0498
[2025-09-20 20:59:57,142][agent.pretrain.train_diffusion_agent][INFO] - 2751: train loss 0.0529 | t: 0.0494
[2025-09-20 20:59:57,191][agent.pretrain.train_diffusion_agent][INFO] - 2752: train loss 0.0521 | t: 0.0498
[2025-09-20 20:59:57,241][agent.pretrain.train_diffusion_agent][INFO] - 2753: train loss 0.0529 | t: 0.0498
[2025-09-20 20:59:57,290][agent.pretrain.train_diffusion_agent][INFO] - 2754: train loss 0.0542 | t: 0.0491
[2025-09-20 20:59:57,339][agent.pretrain.train_diffusion_agent][INFO] - 2755: train loss 0.0549 | t: 0.0492
[2025-09-20 20:59:57,388][agent.pretrain.train_diffusion_agent][INFO] - 2756: train loss 0.0553 | t: 0.0490
[2025-09-20 20:59:57,438][agent.pretrain.train_diffusion_agent][INFO] - 2757: train loss 0.0542 | t: 0.0492
[2025-09-20 20:59:57,489][agent.pretrain.train_diffusion_agent][INFO] - 2758: train loss 0.0541 | t: 0.0509
[2025-09-20 20:59:57,538][agent.pretrain.train_diffusion_agent][INFO] - 2759: train loss 0.0576 | t: 0.0492
[2025-09-20 20:59:57,587][agent.pretrain.train_diffusion_agent][INFO] - 2760: train loss 0.0518 | t: 0.0495
[2025-09-20 20:59:57,637][agent.pretrain.train_diffusion_agent][INFO] - 2761: train loss 0.0545 | t: 0.0496
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[2025-09-20 20:59:57,736][agent.pretrain.train_diffusion_agent][INFO] - 2763: train loss 0.0563 | t: 0.0494
[2025-09-20 20:59:57,785][agent.pretrain.train_diffusion_agent][INFO] - 2764: train loss 0.0539 | t: 0.0497
[2025-09-20 20:59:57,835][agent.pretrain.train_diffusion_agent][INFO] - 2765: train loss 0.0495 | t: 0.0494
[2025-09-20 20:59:57,884][agent.pretrain.train_diffusion_agent][INFO] - 2766: train loss 0.0567 | t: 0.0497
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[2025-09-20 20:59:58,136][agent.pretrain.train_diffusion_agent][INFO] - 2771: train loss 0.0548 | t: 0.0540
[2025-09-20 20:59:58,187][agent.pretrain.train_diffusion_agent][INFO] - 2772: train loss 0.0534 | t: 0.0511
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[2025-09-20 20:59:58,289][agent.pretrain.train_diffusion_agent][INFO] - 2774: train loss 0.0549 | t: 0.0512
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[2025-09-20 20:59:58,443][agent.pretrain.train_diffusion_agent][INFO] - 2777: train loss 0.0572 | t: 0.0510
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[2025-09-20 20:59:58,694][agent.pretrain.train_diffusion_agent][INFO] - 2782: train loss 0.0543 | t: 0.0503
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[2025-09-20 21:00:02,461][agent.pretrain.train_diffusion_agent][INFO] - 2855: train loss 0.0504 | t: 0.0510
[2025-09-20 21:00:02,513][agent.pretrain.train_diffusion_agent][INFO] - 2856: train loss 0.0526 | t: 0.0517
[2025-09-20 21:00:02,564][agent.pretrain.train_diffusion_agent][INFO] - 2857: train loss 0.0529 | t: 0.0509
[2025-09-20 21:00:02,615][agent.pretrain.train_diffusion_agent][INFO] - 2858: train loss 0.0541 | t: 0.0510
[2025-09-20 21:00:02,665][agent.pretrain.train_diffusion_agent][INFO] - 2859: train loss 0.0551 | t: 0.0501
[2025-09-20 21:00:02,716][agent.pretrain.train_diffusion_agent][INFO] - 2860: train loss 0.0530 | t: 0.0507
[2025-09-20 21:00:02,767][agent.pretrain.train_diffusion_agent][INFO] - 2861: train loss 0.0524 | t: 0.0514
[2025-09-20 21:00:02,819][agent.pretrain.train_diffusion_agent][INFO] - 2862: train loss 0.0567 | t: 0.0518
[2025-09-20 21:00:02,869][agent.pretrain.train_diffusion_agent][INFO] - 2863: train loss 0.0525 | t: 0.0498
[2025-09-20 21:00:02,919][agent.pretrain.train_diffusion_agent][INFO] - 2864: train loss 0.0531 | t: 0.0498
[2025-09-20 21:00:02,968][agent.pretrain.train_diffusion_agent][INFO] - 2865: train loss 0.0520 | t: 0.0493
[2025-09-20 21:00:03,018][agent.pretrain.train_diffusion_agent][INFO] - 2866: train loss 0.0542 | t: 0.0499
[2025-09-20 21:00:03,068][agent.pretrain.train_diffusion_agent][INFO] - 2867: train loss 0.0534 | t: 0.0505
[2025-09-20 21:00:03,120][agent.pretrain.train_diffusion_agent][INFO] - 2868: train loss 0.0519 | t: 0.0512
[2025-09-20 21:00:03,171][agent.pretrain.train_diffusion_agent][INFO] - 2869: train loss 0.0518 | t: 0.0510
[2025-09-20 21:00:03,222][agent.pretrain.train_diffusion_agent][INFO] - 2870: train loss 0.0521 | t: 0.0511
[2025-09-20 21:00:03,273][agent.pretrain.train_diffusion_agent][INFO] - 2871: train loss 0.0584 | t: 0.0514
[2025-09-20 21:00:03,329][agent.pretrain.train_diffusion_agent][INFO] - 2872: train loss 0.0531 | t: 0.0563
[2025-09-20 21:00:03,383][agent.pretrain.train_diffusion_agent][INFO] - 2873: train loss 0.0522 | t: 0.0535
[2025-09-20 21:00:03,436][agent.pretrain.train_diffusion_agent][INFO] - 2874: train loss 0.0541 | t: 0.0528
[2025-09-20 21:00:03,487][agent.pretrain.train_diffusion_agent][INFO] - 2875: train loss 0.0530 | t: 0.0517
[2025-09-20 21:00:03,538][agent.pretrain.train_diffusion_agent][INFO] - 2876: train loss 0.0527 | t: 0.0507
[2025-09-20 21:00:03,587][agent.pretrain.train_diffusion_agent][INFO] - 2877: train loss 0.0538 | t: 0.0492
[2025-09-20 21:00:03,637][agent.pretrain.train_diffusion_agent][INFO] - 2878: train loss 0.0571 | t: 0.0492
[2025-09-20 21:00:03,692][agent.pretrain.train_diffusion_agent][INFO] - 2879: train loss 0.0531 | t: 0.0556
[2025-09-20 21:00:03,745][agent.pretrain.train_diffusion_agent][INFO] - 2880: train loss 0.0521 | t: 0.0524
[2025-09-20 21:00:03,796][agent.pretrain.train_diffusion_agent][INFO] - 2881: train loss 0.0550 | t: 0.0516
[2025-09-20 21:00:03,848][agent.pretrain.train_diffusion_agent][INFO] - 2882: train loss 0.0554 | t: 0.0515
[2025-09-20 21:00:03,900][agent.pretrain.train_diffusion_agent][INFO] - 2883: train loss 0.0549 | t: 0.0520
[2025-09-20 21:00:03,950][agent.pretrain.train_diffusion_agent][INFO] - 2884: train loss 0.0551 | t: 0.0505
[2025-09-20 21:00:04,001][agent.pretrain.train_diffusion_agent][INFO] - 2885: train loss 0.0526 | t: 0.0509
[2025-09-20 21:00:04,052][agent.pretrain.train_diffusion_agent][INFO] - 2886: train loss 0.0551 | t: 0.0513
[2025-09-20 21:00:04,103][agent.pretrain.train_diffusion_agent][INFO] - 2887: train loss 0.0531 | t: 0.0511
[2025-09-20 21:00:04,155][agent.pretrain.train_diffusion_agent][INFO] - 2888: train loss 0.0558 | t: 0.0512
[2025-09-20 21:00:04,206][agent.pretrain.train_diffusion_agent][INFO] - 2889: train loss 0.0515 | t: 0.0513
[2025-09-20 21:00:04,257][agent.pretrain.train_diffusion_agent][INFO] - 2890: train loss 0.0542 | t: 0.0513
[2025-09-20 21:00:04,367][agent.pretrain.train_diffusion_agent][INFO] - 2891: train loss 0.0544 | t: 0.1099
[2025-09-20 21:00:04,419][agent.pretrain.train_diffusion_agent][INFO] - 2892: train loss 0.0520 | t: 0.0514
[2025-09-20 21:00:04,470][agent.pretrain.train_diffusion_agent][INFO] - 2893: train loss 0.0534 | t: 0.0516
[2025-09-20 21:00:04,521][agent.pretrain.train_diffusion_agent][INFO] - 2894: train loss 0.0530 | t: 0.0510
[2025-09-20 21:00:04,573][agent.pretrain.train_diffusion_agent][INFO] - 2895: train loss 0.0527 | t: 0.0515
[2025-09-20 21:00:04,624][agent.pretrain.train_diffusion_agent][INFO] - 2896: train loss 0.0542 | t: 0.0510
[2025-09-20 21:00:04,675][agent.pretrain.train_diffusion_agent][INFO] - 2897: train loss 0.0530 | t: 0.0510
[2025-09-20 21:00:04,724][agent.pretrain.train_diffusion_agent][INFO] - 2898: train loss 0.0565 | t: 0.0497
[2025-09-20 21:00:04,774][agent.pretrain.train_diffusion_agent][INFO] - 2899: train loss 0.0568 | t: 0.0494
[2025-09-20 21:00:04,823][agent.pretrain.train_diffusion_agent][INFO] - 2900: train loss 0.0534 | t: 0.0492
[2025-09-20 21:00:04,873][agent.pretrain.train_diffusion_agent][INFO] - 2901: train loss 0.0523 | t: 0.0498
[2025-09-20 21:00:04,922][agent.pretrain.train_diffusion_agent][INFO] - 2902: train loss 0.0526 | t: 0.0495
[2025-09-20 21:00:04,973][agent.pretrain.train_diffusion_agent][INFO] - 2903: train loss 0.0503 | t: 0.0505
[2025-09-20 21:00:05,022][agent.pretrain.train_diffusion_agent][INFO] - 2904: train loss 0.0533 | t: 0.0493
[2025-09-20 21:00:05,071][agent.pretrain.train_diffusion_agent][INFO] - 2905: train loss 0.0559 | t: 0.0494
[2025-09-20 21:00:05,123][agent.pretrain.train_diffusion_agent][INFO] - 2906: train loss 0.0537 | t: 0.0514
[2025-09-20 21:00:05,174][agent.pretrain.train_diffusion_agent][INFO] - 2907: train loss 0.0559 | t: 0.0510
[2025-09-20 21:00:05,225][agent.pretrain.train_diffusion_agent][INFO] - 2908: train loss 0.0503 | t: 0.0510
[2025-09-20 21:00:05,277][agent.pretrain.train_diffusion_agent][INFO] - 2909: train loss 0.0546 | t: 0.0517
[2025-09-20 21:00:05,326][agent.pretrain.train_diffusion_agent][INFO] - 2910: train loss 0.0543 | t: 0.0491
[2025-09-20 21:00:05,375][agent.pretrain.train_diffusion_agent][INFO] - 2911: train loss 0.0530 | t: 0.0496
[2025-09-20 21:00:05,424][agent.pretrain.train_diffusion_agent][INFO] - 2912: train loss 0.0550 | t: 0.0490
[2025-09-20 21:00:05,474][agent.pretrain.train_diffusion_agent][INFO] - 2913: train loss 0.0545 | t: 0.0499
[2025-09-20 21:00:05,524][agent.pretrain.train_diffusion_agent][INFO] - 2914: train loss 0.0546 | t: 0.0494
[2025-09-20 21:00:05,574][agent.pretrain.train_diffusion_agent][INFO] - 2915: train loss 0.0510 | t: 0.0501
[2025-09-20 21:00:05,623][agent.pretrain.train_diffusion_agent][INFO] - 2916: train loss 0.0549 | t: 0.0494
[2025-09-20 21:00:05,673][agent.pretrain.train_diffusion_agent][INFO] - 2917: train loss 0.0540 | t: 0.0500
[2025-09-20 21:00:05,723][agent.pretrain.train_diffusion_agent][INFO] - 2918: train loss 0.0526 | t: 0.0500
[2025-09-20 21:00:05,773][agent.pretrain.train_diffusion_agent][INFO] - 2919: train loss 0.0543 | t: 0.0496
[2025-09-20 21:00:05,822][agent.pretrain.train_diffusion_agent][INFO] - 2920: train loss 0.0527 | t: 0.0495
[2025-09-20 21:00:05,873][agent.pretrain.train_diffusion_agent][INFO] - 2921: train loss 0.0525 | t: 0.0507
[2025-09-20 21:00:05,922][agent.pretrain.train_diffusion_agent][INFO] - 2922: train loss 0.0547 | t: 0.0495
[2025-09-20 21:00:05,972][agent.pretrain.train_diffusion_agent][INFO] - 2923: train loss 0.0513 | t: 0.0498
[2025-09-20 21:00:06,021][agent.pretrain.train_diffusion_agent][INFO] - 2924: train loss 0.0523 | t: 0.0494
[2025-09-20 21:00:06,071][agent.pretrain.train_diffusion_agent][INFO] - 2925: train loss 0.0535 | t: 0.0496
[2025-09-20 21:00:06,121][agent.pretrain.train_diffusion_agent][INFO] - 2926: train loss 0.0499 | t: 0.0495
[2025-09-20 21:00:06,170][agent.pretrain.train_diffusion_agent][INFO] - 2927: train loss 0.0519 | t: 0.0492
[2025-09-20 21:00:06,219][agent.pretrain.train_diffusion_agent][INFO] - 2928: train loss 0.0521 | t: 0.0495
[2025-09-20 21:00:06,268][agent.pretrain.train_diffusion_agent][INFO] - 2929: train loss 0.0540 | t: 0.0493
[2025-09-20 21:00:06,318][agent.pretrain.train_diffusion_agent][INFO] - 2930: train loss 0.0526 | t: 0.0491
[2025-09-20 21:00:06,367][agent.pretrain.train_diffusion_agent][INFO] - 2931: train loss 0.0496 | t: 0.0497
[2025-09-20 21:00:06,418][agent.pretrain.train_diffusion_agent][INFO] - 2932: train loss 0.0543 | t: 0.0508
[2025-09-20 21:00:06,469][agent.pretrain.train_diffusion_agent][INFO] - 2933: train loss 0.0533 | t: 0.0513
[2025-09-20 21:00:06,521][agent.pretrain.train_diffusion_agent][INFO] - 2934: train loss 0.0528 | t: 0.0515
[2025-09-20 21:00:06,572][agent.pretrain.train_diffusion_agent][INFO] - 2935: train loss 0.0508 | t: 0.0513
[2025-09-20 21:00:06,622][agent.pretrain.train_diffusion_agent][INFO] - 2936: train loss 0.0549 | t: 0.0496
[2025-09-20 21:00:06,672][agent.pretrain.train_diffusion_agent][INFO] - 2937: train loss 0.0542 | t: 0.0501
[2025-09-20 21:00:06,721][agent.pretrain.train_diffusion_agent][INFO] - 2938: train loss 0.0520 | t: 0.0494
[2025-09-20 21:00:06,771][agent.pretrain.train_diffusion_agent][INFO] - 2939: train loss 0.0532 | t: 0.0495
[2025-09-20 21:00:06,821][agent.pretrain.train_diffusion_agent][INFO] - 2940: train loss 0.0523 | t: 0.0498
[2025-09-20 21:00:06,870][agent.pretrain.train_diffusion_agent][INFO] - 2941: train loss 0.0526 | t: 0.0497
[2025-09-20 21:00:06,920][agent.pretrain.train_diffusion_agent][INFO] - 2942: train loss 0.0548 | t: 0.0494
[2025-09-20 21:00:06,969][agent.pretrain.train_diffusion_agent][INFO] - 2943: train loss 0.0511 | t: 0.0498
[2025-09-20 21:00:07,019][agent.pretrain.train_diffusion_agent][INFO] - 2944: train loss 0.0541 | t: 0.0499
[2025-09-20 21:00:07,069][agent.pretrain.train_diffusion_agent][INFO] - 2945: train loss 0.0518 | t: 0.0495
[2025-09-20 21:00:07,118][agent.pretrain.train_diffusion_agent][INFO] - 2946: train loss 0.0558 | t: 0.0495
[2025-09-20 21:00:07,168][agent.pretrain.train_diffusion_agent][INFO] - 2947: train loss 0.0565 | t: 0.0495
[2025-09-20 21:00:07,218][agent.pretrain.train_diffusion_agent][INFO] - 2948: train loss 0.0561 | t: 0.0497
[2025-09-20 21:00:07,267][agent.pretrain.train_diffusion_agent][INFO] - 2949: train loss 0.0551 | t: 0.0497
[2025-09-20 21:00:07,317][agent.pretrain.train_diffusion_agent][INFO] - 2950: train loss 0.0538 | t: 0.0494
[2025-09-20 21:00:07,366][agent.pretrain.train_diffusion_agent][INFO] - 2951: train loss 0.0514 | t: 0.0498
[2025-09-20 21:00:07,416][agent.pretrain.train_diffusion_agent][INFO] - 2952: train loss 0.0531 | t: 0.0493
[2025-09-20 21:00:07,465][agent.pretrain.train_diffusion_agent][INFO] - 2953: train loss 0.0554 | t: 0.0491
[2025-09-20 21:00:07,515][agent.pretrain.train_diffusion_agent][INFO] - 2954: train loss 0.0560 | t: 0.0497
[2025-09-20 21:00:07,564][agent.pretrain.train_diffusion_agent][INFO] - 2955: train loss 0.0549 | t: 0.0496
[2025-09-20 21:00:07,614][agent.pretrain.train_diffusion_agent][INFO] - 2956: train loss 0.0575 | t: 0.0503
[2025-09-20 21:00:07,665][agent.pretrain.train_diffusion_agent][INFO] - 2957: train loss 0.0564 | t: 0.0510
[2025-09-20 21:00:07,715][agent.pretrain.train_diffusion_agent][INFO] - 2958: train loss 0.0508 | t: 0.0496
[2025-09-20 21:00:07,764][agent.pretrain.train_diffusion_agent][INFO] - 2959: train loss 0.0569 | t: 0.0488
[2025-09-20 21:00:07,814][agent.pretrain.train_diffusion_agent][INFO] - 2960: train loss 0.0545 | t: 0.0505
[2025-09-20 21:00:07,864][agent.pretrain.train_diffusion_agent][INFO] - 2961: train loss 0.0514 | t: 0.0497
[2025-09-20 21:00:07,913][agent.pretrain.train_diffusion_agent][INFO] - 2962: train loss 0.0529 | t: 0.0495
[2025-09-20 21:00:07,963][agent.pretrain.train_diffusion_agent][INFO] - 2963: train loss 0.0542 | t: 0.0495
[2025-09-20 21:00:08,013][agent.pretrain.train_diffusion_agent][INFO] - 2964: train loss 0.0541 | t: 0.0502
[2025-09-20 21:00:08,063][agent.pretrain.train_diffusion_agent][INFO] - 2965: train loss 0.0515 | t: 0.0504
[2025-09-20 21:00:08,114][agent.pretrain.train_diffusion_agent][INFO] - 2966: train loss 0.0522 | t: 0.0504
[2025-09-20 21:00:08,164][agent.pretrain.train_diffusion_agent][INFO] - 2967: train loss 0.0501 | t: 0.0500
[2025-09-20 21:00:08,214][agent.pretrain.train_diffusion_agent][INFO] - 2968: train loss 0.0552 | t: 0.0500
[2025-09-20 21:00:08,264][agent.pretrain.train_diffusion_agent][INFO] - 2969: train loss 0.0502 | t: 0.0505
[2025-09-20 21:00:08,316][agent.pretrain.train_diffusion_agent][INFO] - 2970: train loss 0.0540 | t: 0.0517
[2025-09-20 21:00:08,366][agent.pretrain.train_diffusion_agent][INFO] - 2971: train loss 0.0542 | t: 0.0502
[2025-09-20 21:00:08,416][agent.pretrain.train_diffusion_agent][INFO] - 2972: train loss 0.0544 | t: 0.0497
[2025-09-20 21:00:08,467][agent.pretrain.train_diffusion_agent][INFO] - 2973: train loss 0.0570 | t: 0.0510
[2025-09-20 21:00:08,519][agent.pretrain.train_diffusion_agent][INFO] - 2974: train loss 0.0566 | t: 0.0516
[2025-09-20 21:00:08,570][agent.pretrain.train_diffusion_agent][INFO] - 2975: train loss 0.0552 | t: 0.0518
[2025-09-20 21:00:08,622][agent.pretrain.train_diffusion_agent][INFO] - 2976: train loss 0.0559 | t: 0.0518
[2025-09-20 21:00:08,674][agent.pretrain.train_diffusion_agent][INFO] - 2977: train loss 0.0522 | t: 0.0515
[2025-09-20 21:00:08,725][agent.pretrain.train_diffusion_agent][INFO] - 2978: train loss 0.0553 | t: 0.0516
[2025-09-20 21:00:08,775][agent.pretrain.train_diffusion_agent][INFO] - 2979: train loss 0.0511 | t: 0.0503
[2025-09-20 21:00:08,825][agent.pretrain.train_diffusion_agent][INFO] - 2980: train loss 0.0535 | t: 0.0491
[2025-09-20 21:00:08,874][agent.pretrain.train_diffusion_agent][INFO] - 2981: train loss 0.0534 | t: 0.0495
[2025-09-20 21:00:08,923][agent.pretrain.train_diffusion_agent][INFO] - 2982: train loss 0.0545 | t: 0.0490
[2025-09-20 21:00:08,972][agent.pretrain.train_diffusion_agent][INFO] - 2983: train loss 0.0539 | t: 0.0493
[2025-09-20 21:00:09,021][agent.pretrain.train_diffusion_agent][INFO] - 2984: train loss 0.0532 | t: 0.0491
[2025-09-20 21:00:09,071][agent.pretrain.train_diffusion_agent][INFO] - 2985: train loss 0.0503 | t: 0.0493
[2025-09-20 21:00:09,120][agent.pretrain.train_diffusion_agent][INFO] - 2986: train loss 0.0513 | t: 0.0491
[2025-09-20 21:00:09,169][agent.pretrain.train_diffusion_agent][INFO] - 2987: train loss 0.0489 | t: 0.0491
[2025-09-20 21:00:09,218][agent.pretrain.train_diffusion_agent][INFO] - 2988: train loss 0.0522 | t: 0.0493
[2025-09-20 21:00:09,331][agent.pretrain.train_diffusion_agent][INFO] - 2989: train loss 0.0499 | t: 0.1126
[2025-09-20 21:00:09,382][agent.pretrain.train_diffusion_agent][INFO] - 2990: train loss 0.0542 | t: 0.0514
[2025-09-20 21:00:09,435][agent.pretrain.train_diffusion_agent][INFO] - 2991: train loss 0.0517 | t: 0.0524
[2025-09-20 21:00:09,487][agent.pretrain.train_diffusion_agent][INFO] - 2992: train loss 0.0521 | t: 0.0523
[2025-09-20 21:00:09,539][agent.pretrain.train_diffusion_agent][INFO] - 2993: train loss 0.0529 | t: 0.0525
[2025-09-20 21:00:09,591][agent.pretrain.train_diffusion_agent][INFO] - 2994: train loss 0.0552 | t: 0.0518
[2025-09-20 21:00:09,643][agent.pretrain.train_diffusion_agent][INFO] - 2995: train loss 0.0570 | t: 0.0517
[2025-09-20 21:00:09,694][agent.pretrain.train_diffusion_agent][INFO] - 2996: train loss 0.0556 | t: 0.0514
[2025-09-20 21:00:09,746][agent.pretrain.train_diffusion_agent][INFO] - 2997: train loss 0.0539 | t: 0.0519
[2025-09-20 21:00:09,798][agent.pretrain.train_diffusion_agent][INFO] - 2998: train loss 0.0535 | t: 0.0521
[2025-09-20 21:00:09,851][agent.pretrain.train_diffusion_agent][INFO] - 2999: train loss 0.0551 | t: 0.0529
[2025-09-20 21:00:09,915][agent.pretrain.train_agent][INFO] - Saved model to /home/zbzhu/Code/dppo/log/robomimic-pretrain/can_pre_diffusion_mlp_ta4_td20/2025-09-20_20-57-24_42/checkpoint/state_3000.pt
[2025-09-20 21:00:09,915][agent.pretrain.train_diffusion_agent][INFO] - 3000: train loss 0.0547 | t: 0.0639