square/checkpoint_10/run.log

[2025-09-21 12:24:45,711][root][INFO] - Number of network parameters: 2305212
[2025-09-21 12:24:45,893][agent.dataset.sequence][INFO] - Loaded dataset from /home/zbzhu/Code/dppo/data/robomimic/square/train.npz
[2025-09-21 12:24:45,893][agent.dataset.sequence][INFO] - Number of episodes: 10
[2025-09-21 12:24:45,893][agent.dataset.sequence][INFO] - States shape/type: (torch.Size([1460, 23]), torch.float32)
[2025-09-21 12:24:45,893][agent.dataset.sequence][INFO] - Actions shape/type: (torch.Size([1460, 7]), torch.float32)
[2025-09-21 12:24:46,008][agent.pretrain.train_diffusion_agent][INFO] - 1: train loss   1.0349 | t:  0.1132
[2025-09-21 12:24:46,034][agent.pretrain.train_diffusion_agent][INFO] - 2: train loss   1.0242 | t:  0.0259
[2025-09-21 12:24:46,059][agent.pretrain.train_diffusion_agent][INFO] - 3: train loss   1.0095 | t:  0.0250
[2025-09-21 12:24:46,084][agent.pretrain.train_diffusion_agent][INFO] - 4: train loss   0.9989 | t:  0.0251
[2025-09-21 12:24:46,109][agent.pretrain.train_diffusion_agent][INFO] - 5: train loss   0.9897 | t:  0.0256
[2025-09-21 12:24:46,136][agent.pretrain.train_diffusion_agent][INFO] - 6: train loss   0.9838 | t:  0.0270
[2025-09-21 12:24:46,163][agent.pretrain.train_diffusion_agent][INFO] - 7: train loss   0.9605 | t:  0.0265
[2025-09-21 12:24:46,189][agent.pretrain.train_diffusion_agent][INFO] - 8: train loss   0.9473 | t:  0.0263
[2025-09-21 12:24:46,215][agent.pretrain.train_diffusion_agent][INFO] - 9: train loss   0.9236 | t:  0.0261
[2025-09-21 12:24:46,241][agent.pretrain.train_diffusion_agent][INFO] - 10: train loss   0.9192 | t:  0.0261
[2025-09-21 12:24:46,267][agent.pretrain.train_diffusion_agent][INFO] - 11: train loss   0.9036 | t:  0.0260
[2025-09-21 12:24:46,293][agent.pretrain.train_diffusion_agent][INFO] - 12: train loss   0.8906 | t:  0.0261
[2025-09-21 12:24:46,319][agent.pretrain.train_diffusion_agent][INFO] - 13: train loss   0.8686 | t:  0.0257
[2025-09-21 12:24:46,345][agent.pretrain.train_diffusion_agent][INFO] - 14: train loss   0.8595 | t:  0.0260
[2025-09-21 12:24:46,371][agent.pretrain.train_diffusion_agent][INFO] - 15: train loss   0.8362 | t:  0.0258
[2025-09-21 12:24:46,397][agent.pretrain.train_diffusion_agent][INFO] - 16: train loss   0.8287 | t:  0.0258
[2025-09-21 12:24:46,423][agent.pretrain.train_diffusion_agent][INFO] - 17: train loss   0.8015 | t:  0.0258
[2025-09-21 12:24:46,448][agent.pretrain.train_diffusion_agent][INFO] - 18: train loss   0.7795 | t:  0.0258
[2025-09-21 12:24:46,475][agent.pretrain.train_diffusion_agent][INFO] - 19: train loss   0.7632 | t:  0.0263
[2025-09-21 12:24:46,500][agent.pretrain.train_diffusion_agent][INFO] - 20: train loss   0.7375 | t:  0.0258
[2025-09-21 12:24:46,527][agent.pretrain.train_diffusion_agent][INFO] - 21: train loss   0.7186 | t:  0.0262
[2025-09-21 12:24:46,552][agent.pretrain.train_diffusion_agent][INFO] - 22: train loss   0.6929 | t:  0.0257
[2025-09-21 12:24:46,578][agent.pretrain.train_diffusion_agent][INFO] - 23: train loss   0.6771 | t:  0.0253
[2025-09-21 12:24:46,603][agent.pretrain.train_diffusion_agent][INFO] - 24: train loss   0.6366 | t:  0.0250
[2025-09-21 12:24:46,628][agent.pretrain.train_diffusion_agent][INFO] - 25: train loss   0.6368 | t:  0.0251
[2025-09-21 12:24:46,653][agent.pretrain.train_diffusion_agent][INFO] - 26: train loss   0.5967 | t:  0.0254
[2025-09-21 12:24:46,678][agent.pretrain.train_diffusion_agent][INFO] - 27: train loss   0.5667 | t:  0.0252
[2025-09-21 12:24:46,703][agent.pretrain.train_diffusion_agent][INFO] - 28: train loss   0.5438 | t:  0.0250
[2025-09-21 12:24:46,728][agent.pretrain.train_diffusion_agent][INFO] - 29: train loss   0.5264 | t:  0.0252
[2025-09-21 12:24:46,754][agent.pretrain.train_diffusion_agent][INFO] - 30: train loss   0.4925 | t:  0.0250
[2025-09-21 12:24:46,779][agent.pretrain.train_diffusion_agent][INFO] - 31: train loss   0.4605 | t:  0.0252
[2025-09-21 12:24:46,804][agent.pretrain.train_diffusion_agent][INFO] - 32: train loss   0.4330 | t:  0.0252
[2025-09-21 12:24:46,829][agent.pretrain.train_diffusion_agent][INFO] - 33: train loss   0.4138 | t:  0.0255
[2025-09-21 12:24:46,855][agent.pretrain.train_diffusion_agent][INFO] - 34: train loss   0.3812 | t:  0.0260
[2025-09-21 12:24:46,881][agent.pretrain.train_diffusion_agent][INFO] - 35: train loss   0.3527 | t:  0.0258
[2025-09-21 12:24:46,907][agent.pretrain.train_diffusion_agent][INFO] - 36: train loss   0.3250 | t:  0.0259
[2025-09-21 12:24:46,932][agent.pretrain.train_diffusion_agent][INFO] - 37: train loss   0.3206 | t:  0.0251
[2025-09-21 12:24:46,957][agent.pretrain.train_diffusion_agent][INFO] - 38: train loss   0.2990 | t:  0.0252
[2025-09-21 12:24:46,982][agent.pretrain.train_diffusion_agent][INFO] - 39: train loss   0.2707 | t:  0.0250
[2025-09-21 12:24:47,008][agent.pretrain.train_diffusion_agent][INFO] - 40: train loss   0.2656 | t:  0.0254
[2025-09-21 12:24:47,049][agent.pretrain.train_diffusion_agent][INFO] - 41: train loss   0.2329 | t:  0.0415
[2025-09-21 12:24:47,075][agent.pretrain.train_diffusion_agent][INFO] - 42: train loss   0.2285 | t:  0.0254
[2025-09-21 12:24:47,100][agent.pretrain.train_diffusion_agent][INFO] - 43: train loss   0.2172 | t:  0.0255
[2025-09-21 12:24:47,125][agent.pretrain.train_diffusion_agent][INFO] - 44: train loss   0.2058 | t:  0.0252
[2025-09-21 12:24:47,151][agent.pretrain.train_diffusion_agent][INFO] - 45: train loss   0.2061 | t:  0.0258
[2025-09-21 12:24:47,177][agent.pretrain.train_diffusion_agent][INFO] - 46: train loss   0.2131 | t:  0.0263
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[2025-09-21 12:24:47,228][agent.pretrain.train_diffusion_agent][INFO] - 48: train loss   0.2038 | t:  0.0252
[2025-09-21 12:24:47,253][agent.pretrain.train_diffusion_agent][INFO] - 49: train loss   0.2052 | t:  0.0251
[2025-09-21 12:24:47,278][agent.pretrain.train_diffusion_agent][INFO] - 50: train loss   0.2106 | t:  0.0250
[2025-09-21 12:24:47,303][agent.pretrain.train_diffusion_agent][INFO] - 51: train loss   0.2215 | t:  0.0256
[2025-09-21 12:24:47,337][agent.pretrain.train_diffusion_agent][INFO] - 52: train loss   0.2166 | t:  0.0334
[2025-09-21 12:24:47,368][agent.pretrain.train_diffusion_agent][INFO] - 53: train loss   0.2175 | t:  0.0309
[2025-09-21 12:24:47,410][agent.pretrain.train_diffusion_agent][INFO] - 54: train loss   0.2113 | t:  0.0418
[2025-09-21 12:24:47,440][agent.pretrain.train_diffusion_agent][INFO] - 55: train loss   0.2049 | t:  0.0308
[2025-09-21 12:24:47,471][agent.pretrain.train_diffusion_agent][INFO] - 56: train loss   0.2088 | t:  0.0307
[2025-09-21 12:24:47,501][agent.pretrain.train_diffusion_agent][INFO] - 57: train loss   0.2051 | t:  0.0303
[2025-09-21 12:24:47,531][agent.pretrain.train_diffusion_agent][INFO] - 58: train loss   0.2126 | t:  0.0298
[2025-09-21 12:24:47,562][agent.pretrain.train_diffusion_agent][INFO] - 59: train loss   0.2073 | t:  0.0305
[2025-09-21 12:24:47,591][agent.pretrain.train_diffusion_agent][INFO] - 60: train loss   0.2013 | t:  0.0297
[2025-09-21 12:24:47,621][agent.pretrain.train_diffusion_agent][INFO] - 61: train loss   0.2131 | t:  0.0297
[2025-09-21 12:24:47,651][agent.pretrain.train_diffusion_agent][INFO] - 62: train loss   0.2003 | t:  0.0302
[2025-09-21 12:24:47,681][agent.pretrain.train_diffusion_agent][INFO] - 63: train loss   0.1968 | t:  0.0301
[2025-09-21 12:24:47,712][agent.pretrain.train_diffusion_agent][INFO] - 64: train loss   0.1972 | t:  0.0310
[2025-09-21 12:24:47,742][agent.pretrain.train_diffusion_agent][INFO] - 65: train loss   0.2040 | t:  0.0300
[2025-09-21 12:24:47,772][agent.pretrain.train_diffusion_agent][INFO] - 66: train loss   0.2084 | t:  0.0301
[2025-09-21 12:24:47,803][agent.pretrain.train_diffusion_agent][INFO] - 67: train loss   0.1973 | t:  0.0310
[2025-09-21 12:24:47,834][agent.pretrain.train_diffusion_agent][INFO] - 68: train loss   0.2025 | t:  0.0303
[2025-09-21 12:24:47,864][agent.pretrain.train_diffusion_agent][INFO] - 69: train loss   0.1909 | t:  0.0307
[2025-09-21 12:24:47,895][agent.pretrain.train_diffusion_agent][INFO] - 70: train loss   0.2078 | t:  0.0304
[2025-09-21 12:24:47,925][agent.pretrain.train_diffusion_agent][INFO] - 71: train loss   0.2011 | t:  0.0304
[2025-09-21 12:24:47,956][agent.pretrain.train_diffusion_agent][INFO] - 72: train loss   0.1892 | t:  0.0310
[2025-09-21 12:24:47,987][agent.pretrain.train_diffusion_agent][INFO] - 73: train loss   0.1872 | t:  0.0302
[2025-09-21 12:24:48,017][agent.pretrain.train_diffusion_agent][INFO] - 74: train loss   0.2026 | t:  0.0308
[2025-09-21 12:24:48,048][agent.pretrain.train_diffusion_agent][INFO] - 75: train loss   0.1922 | t:  0.0304
[2025-09-21 12:24:48,079][agent.pretrain.train_diffusion_agent][INFO] - 76: train loss   0.1976 | t:  0.0309
[2025-09-21 12:24:48,110][agent.pretrain.train_diffusion_agent][INFO] - 77: train loss   0.1954 | t:  0.0309
[2025-09-21 12:24:48,140][agent.pretrain.train_diffusion_agent][INFO] - 78: train loss   0.1968 | t:  0.0307
[2025-09-21 12:24:48,172][agent.pretrain.train_diffusion_agent][INFO] - 79: train loss   0.1935 | t:  0.0313
[2025-09-21 12:24:48,202][agent.pretrain.train_diffusion_agent][INFO] - 80: train loss   0.1865 | t:  0.0305
[2025-09-21 12:24:48,233][agent.pretrain.train_diffusion_agent][INFO] - 81: train loss   0.1917 | t:  0.0308
[2025-09-21 12:24:48,264][agent.pretrain.train_diffusion_agent][INFO] - 82: train loss   0.1878 | t:  0.0308
[2025-09-21 12:24:48,294][agent.pretrain.train_diffusion_agent][INFO] - 83: train loss   0.1844 | t:  0.0303
[2025-09-21 12:24:48,325][agent.pretrain.train_diffusion_agent][INFO] - 84: train loss   0.1830 | t:  0.0308
[2025-09-21 12:24:48,355][agent.pretrain.train_diffusion_agent][INFO] - 85: train loss   0.1840 | t:  0.0302
[2025-09-21 12:24:48,385][agent.pretrain.train_diffusion_agent][INFO] - 86: train loss   0.1825 | t:  0.0302
[2025-09-21 12:24:48,416][agent.pretrain.train_diffusion_agent][INFO] - 87: train loss   0.1908 | t:  0.0306
[2025-09-21 12:24:48,446][agent.pretrain.train_diffusion_agent][INFO] - 88: train loss   0.1746 | t:  0.0303
[2025-09-21 12:24:48,536][agent.pretrain.train_diffusion_agent][INFO] - 89: train loss   0.1786 | t:  0.0903
[2025-09-21 12:24:48,569][agent.pretrain.train_diffusion_agent][INFO] - 90: train loss   0.1846 | t:  0.0324
[2025-09-21 12:24:48,599][agent.pretrain.train_diffusion_agent][INFO] - 91: train loss   0.1673 | t:  0.0306
[2025-09-21 12:24:48,630][agent.pretrain.train_diffusion_agent][INFO] - 92: train loss   0.1808 | t:  0.0307
[2025-09-21 12:24:48,661][agent.pretrain.train_diffusion_agent][INFO] - 93: train loss   0.1754 | t:  0.0308
[2025-09-21 12:24:48,692][agent.pretrain.train_diffusion_agent][INFO] - 94: train loss   0.1723 | t:  0.0309
[2025-09-21 12:24:48,722][agent.pretrain.train_diffusion_agent][INFO] - 95: train loss   0.1724 | t:  0.0302
[2025-09-21 12:24:48,752][agent.pretrain.train_diffusion_agent][INFO] - 96: train loss   0.1602 | t:  0.0301
[2025-09-21 12:24:48,782][agent.pretrain.train_diffusion_agent][INFO] - 97: train loss   0.1654 | t:  0.0302
[2025-09-21 12:24:48,813][agent.pretrain.train_diffusion_agent][INFO] - 98: train loss   0.1624 | t:  0.0305
[2025-09-21 12:24:48,843][agent.pretrain.train_diffusion_agent][INFO] - 99: train loss   0.1610 | t:  0.0307
[2025-09-21 12:24:48,874][agent.pretrain.train_diffusion_agent][INFO] - 100: train loss   0.1494 | t:  0.0304
[2025-09-21 12:24:48,904][agent.pretrain.train_diffusion_agent][INFO] - 101: train loss   0.1628 | t:  0.0307
[2025-09-21 12:24:48,935][agent.pretrain.train_diffusion_agent][INFO] - 102: train loss   0.1523 | t:  0.0308
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[2025-09-21 12:24:48,997][agent.pretrain.train_diffusion_agent][INFO] - 104: train loss   0.1449 | t:  0.0308
[2025-09-21 12:24:49,027][agent.pretrain.train_diffusion_agent][INFO] - 105: train loss   0.1503 | t:  0.0303
[2025-09-21 12:24:49,058][agent.pretrain.train_diffusion_agent][INFO] - 106: train loss   0.1537 | t:  0.0309
[2025-09-21 12:24:49,089][agent.pretrain.train_diffusion_agent][INFO] - 107: train loss   0.1536 | t:  0.0307
[2025-09-21 12:24:49,118][agent.pretrain.train_diffusion_agent][INFO] - 108: train loss   0.1486 | t:  0.0298
[2025-09-21 12:24:49,149][agent.pretrain.train_diffusion_agent][INFO] - 109: train loss   0.1516 | t:  0.0302
[2025-09-21 12:24:49,179][agent.pretrain.train_diffusion_agent][INFO] - 110: train loss   0.1427 | t:  0.0304
[2025-09-21 12:24:49,209][agent.pretrain.train_diffusion_agent][INFO] - 111: train loss   0.1372 | t:  0.0302
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[2025-09-21 12:24:49,269][agent.pretrain.train_diffusion_agent][INFO] - 113: train loss   0.1399 | t:  0.0299
[2025-09-21 12:24:49,299][agent.pretrain.train_diffusion_agent][INFO] - 114: train loss   0.1433 | t:  0.0301
[2025-09-21 12:24:49,329][agent.pretrain.train_diffusion_agent][INFO] - 115: train loss   0.1394 | t:  0.0299
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[2025-09-21 12:24:49,480][agent.pretrain.train_diffusion_agent][INFO] - 120: train loss   0.1326 | t:  0.0298
[2025-09-21 12:24:49,510][agent.pretrain.train_diffusion_agent][INFO] - 121: train loss   0.1310 | t:  0.0302
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[2025-09-21 12:24:49,570][agent.pretrain.train_diffusion_agent][INFO] - 123: train loss   0.1348 | t:  0.0299
[2025-09-21 12:24:49,600][agent.pretrain.train_diffusion_agent][INFO] - 124: train loss   0.1293 | t:  0.0301
[2025-09-21 12:24:49,630][agent.pretrain.train_diffusion_agent][INFO] - 125: train loss   0.1339 | t:  0.0297
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[2025-09-21 12:24:50,638][agent.pretrain.train_diffusion_agent][INFO] - 161: train loss   0.1134 | t:  0.0264
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[2025-09-21 12:24:51,669][agent.pretrain.train_agent][INFO] - Saved model to /home/zbzhu/Code/dppo/log/robomimic-pretrain/square_pre_diffusion_mlp_ta4_td20/2025-09-21_12-24-39_42/checkpoint/state_200.pt
[2025-09-21 12:24:51,669][agent.pretrain.train_diffusion_agent][INFO] - 200: train loss   0.1037 | t:  0.0415
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[2025-09-21 12:24:56,862][agent.pretrain.train_agent][INFO] - Saved model to /home/zbzhu/Code/dppo/log/robomimic-pretrain/square_pre_diffusion_mlp_ta4_td20/2025-09-21_12-24-39_42/checkpoint/state_400.pt
[2025-09-21 12:24:56,862][agent.pretrain.train_diffusion_agent][INFO] - 400: train loss   0.0881 | t:  0.0411
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[2025-09-21 12:24:59,098][agent.pretrain.train_diffusion_agent][INFO] - 489: train loss   0.0877 | t:  0.0253
[2025-09-21 12:24:59,123][agent.pretrain.train_diffusion_agent][INFO] - 490: train loss   0.0835 | t:  0.0249
[2025-09-21 12:24:59,148][agent.pretrain.train_diffusion_agent][INFO] - 491: train loss   0.0822 | t:  0.0251
[2025-09-21 12:24:59,174][agent.pretrain.train_diffusion_agent][INFO] - 492: train loss   0.0811 | t:  0.0256
[2025-09-21 12:24:59,199][agent.pretrain.train_diffusion_agent][INFO] - 493: train loss   0.0875 | t:  0.0249
[2025-09-21 12:24:59,224][agent.pretrain.train_diffusion_agent][INFO] - 494: train loss   0.0866 | t:  0.0252
[2025-09-21 12:24:59,249][agent.pretrain.train_diffusion_agent][INFO] - 495: train loss   0.0845 | t:  0.0247
[2025-09-21 12:24:59,274][agent.pretrain.train_diffusion_agent][INFO] - 496: train loss   0.0811 | t:  0.0253
[2025-09-21 12:24:59,299][agent.pretrain.train_diffusion_agent][INFO] - 497: train loss   0.0754 | t:  0.0253
[2025-09-21 12:24:59,324][agent.pretrain.train_diffusion_agent][INFO] - 498: train loss   0.0839 | t:  0.0251
[2025-09-21 12:24:59,349][agent.pretrain.train_diffusion_agent][INFO] - 499: train loss   0.0911 | t:  0.0251
[2025-09-21 12:24:59,374][agent.pretrain.train_diffusion_agent][INFO] - 500: train loss   0.0882 | t:  0.0245
[2025-09-21 12:24:59,399][agent.pretrain.train_diffusion_agent][INFO] - 501: train loss   0.0890 | t:  0.0250
[2025-09-21 12:24:59,424][agent.pretrain.train_diffusion_agent][INFO] - 502: train loss   0.0863 | t:  0.0253
[2025-09-21 12:24:59,449][agent.pretrain.train_diffusion_agent][INFO] - 503: train loss   0.0768 | t:  0.0246
[2025-09-21 12:24:59,474][agent.pretrain.train_diffusion_agent][INFO] - 504: train loss   0.0801 | t:  0.0253
[2025-09-21 12:24:59,499][agent.pretrain.train_diffusion_agent][INFO] - 505: train loss   0.0881 | t:  0.0249
[2025-09-21 12:24:59,524][agent.pretrain.train_diffusion_agent][INFO] - 506: train loss   0.0806 | t:  0.0252
[2025-09-21 12:24:59,549][agent.pretrain.train_diffusion_agent][INFO] - 507: train loss   0.0834 | t:  0.0252
[2025-09-21 12:24:59,574][agent.pretrain.train_diffusion_agent][INFO] - 508: train loss   0.0785 | t:  0.0249
[2025-09-21 12:24:59,599][agent.pretrain.train_diffusion_agent][INFO] - 509: train loss   0.0843 | t:  0.0251
[2025-09-21 12:24:59,624][agent.pretrain.train_diffusion_agent][INFO] - 510: train loss   0.0849 | t:  0.0247
[2025-09-21 12:24:59,649][agent.pretrain.train_diffusion_agent][INFO] - 511: train loss   0.0782 | t:  0.0253
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[2025-09-21 12:24:59,699][agent.pretrain.train_diffusion_agent][INFO] - 513: train loss   0.0844 | t:  0.0249
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[2025-09-21 12:24:59,750][agent.pretrain.train_diffusion_agent][INFO] - 515: train loss   0.0900 | t:  0.0251
[2025-09-21 12:24:59,775][agent.pretrain.train_diffusion_agent][INFO] - 516: train loss   0.0822 | t:  0.0251
[2025-09-21 12:24:59,800][agent.pretrain.train_diffusion_agent][INFO] - 517: train loss   0.0775 | t:  0.0253
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[2025-09-21 12:24:59,850][agent.pretrain.train_diffusion_agent][INFO] - 519: train loss   0.0758 | t:  0.0251
[2025-09-21 12:24:59,875][agent.pretrain.train_diffusion_agent][INFO] - 520: train loss   0.0868 | t:  0.0248
[2025-09-21 12:24:59,955][agent.pretrain.train_diffusion_agent][INFO] - 521: train loss   0.0795 | t:  0.0798
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[2025-09-21 12:25:00,007][agent.pretrain.train_diffusion_agent][INFO] - 523: train loss   0.0834 | t:  0.0252
[2025-09-21 12:25:00,032][agent.pretrain.train_diffusion_agent][INFO] - 524: train loss   0.0868 | t:  0.0253
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[2025-09-21 12:25:00,735][agent.pretrain.train_diffusion_agent][INFO] - 552: train loss   0.0695 | t:  0.0250
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[2025-09-21 12:25:00,860][agent.pretrain.train_diffusion_agent][INFO] - 557: train loss   0.0808 | t:  0.0250
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[2025-09-21 12:25:01,360][agent.pretrain.train_diffusion_agent][INFO] - 577: train loss   0.0806 | t:  0.0250
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[2025-09-21 12:25:01,562][agent.pretrain.train_diffusion_agent][INFO] - 585: train loss   0.0741 | t:  0.0260
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[2025-09-21 12:25:01,614][agent.pretrain.train_diffusion_agent][INFO] - 587: train loss   0.0743 | t:  0.0256
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[2025-09-21 12:25:01,664][agent.pretrain.train_diffusion_agent][INFO] - 589: train loss   0.0744 | t:  0.0252
[2025-09-21 12:25:01,690][agent.pretrain.train_diffusion_agent][INFO] - 590: train loss   0.0712 | t:  0.0258
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[2025-09-21 12:25:01,741][agent.pretrain.train_diffusion_agent][INFO] - 592: train loss   0.0795 | t:  0.0257
[2025-09-21 12:25:01,766][agent.pretrain.train_diffusion_agent][INFO] - 593: train loss   0.0804 | t:  0.0249
[2025-09-21 12:25:01,792][agent.pretrain.train_diffusion_agent][INFO] - 594: train loss   0.0822 | t:  0.0254
[2025-09-21 12:25:01,816][agent.pretrain.train_diffusion_agent][INFO] - 595: train loss   0.0811 | t:  0.0248
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[2025-09-21 12:25:01,917][agent.pretrain.train_diffusion_agent][INFO] - 599: train loss   0.0759 | t:  0.0253
[2025-09-21 12:25:01,955][agent.pretrain.train_agent][INFO] - Saved model to /home/zbzhu/Code/dppo/log/robomimic-pretrain/square_pre_diffusion_mlp_ta4_td20/2025-09-21_12-24-39_42/checkpoint/state_600.pt
[2025-09-21 12:25:01,955][agent.pretrain.train_diffusion_agent][INFO] - 600: train loss   0.0836 | t:  0.0382
[2025-09-21 12:25:01,981][agent.pretrain.train_diffusion_agent][INFO] - 601: train loss   0.0748 | t:  0.0260
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[2025-09-21 12:25:02,032][agent.pretrain.train_diffusion_agent][INFO] - 603: train loss   0.0811 | t:  0.0252
[2025-09-21 12:25:02,057][agent.pretrain.train_diffusion_agent][INFO] - 604: train loss   0.0773 | t:  0.0250
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[2025-09-21 12:25:02,233][agent.pretrain.train_diffusion_agent][INFO] - 611: train loss   0.0746 | t:  0.0253
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[2025-09-21 12:25:02,283][agent.pretrain.train_diffusion_agent][INFO] - 613: train loss   0.0732 | t:  0.0248
[2025-09-21 12:25:02,308][agent.pretrain.train_diffusion_agent][INFO] - 614: train loss   0.0788 | t:  0.0253
[2025-09-21 12:25:02,333][agent.pretrain.train_diffusion_agent][INFO] - 615: train loss   0.0757 | t:  0.0248
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[2025-09-21 12:25:02,408][agent.pretrain.train_diffusion_agent][INFO] - 618: train loss   0.0780 | t:  0.0250
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[2025-09-21 12:25:02,509][agent.pretrain.train_diffusion_agent][INFO] - 622: train loss   0.0688 | t:  0.0254
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[2025-09-21 12:25:02,559][agent.pretrain.train_diffusion_agent][INFO] - 624: train loss   0.0816 | t:  0.0253
[2025-09-21 12:25:02,583][agent.pretrain.train_diffusion_agent][INFO] - 625: train loss   0.0752 | t:  0.0245
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[2025-09-21 12:25:02,684][agent.pretrain.train_diffusion_agent][INFO] - 629: train loss   0.0743 | t:  0.0251
[2025-09-21 12:25:02,709][agent.pretrain.train_diffusion_agent][INFO] - 630: train loss   0.0759 | t:  0.0246
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[2025-09-21 12:25:02,784][agent.pretrain.train_diffusion_agent][INFO] - 633: train loss   0.0730 | t:  0.0249
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[2025-09-21 12:25:02,859][agent.pretrain.train_diffusion_agent][INFO] - 636: train loss   0.0711 | t:  0.0251
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[2025-09-21 12:25:02,959][agent.pretrain.train_diffusion_agent][INFO] - 640: train loss   0.0738 | t:  0.0249
[2025-09-21 12:25:02,984][agent.pretrain.train_diffusion_agent][INFO] - 641: train loss   0.0752 | t:  0.0252
[2025-09-21 12:25:03,010][agent.pretrain.train_diffusion_agent][INFO] - 642: train loss   0.0754 | t:  0.0254
[2025-09-21 12:25:03,034][agent.pretrain.train_diffusion_agent][INFO] - 643: train loss   0.0752 | t:  0.0246
[2025-09-21 12:25:03,060][agent.pretrain.train_diffusion_agent][INFO] - 644: train loss   0.0734 | t:  0.0253
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[2025-09-21 12:25:03,135][agent.pretrain.train_diffusion_agent][INFO] - 647: train loss   0.0787 | t:  0.0251
[2025-09-21 12:25:03,159][agent.pretrain.train_diffusion_agent][INFO] - 648: train loss   0.0741 | t:  0.0247
[2025-09-21 12:25:03,186][agent.pretrain.train_diffusion_agent][INFO] - 649: train loss   0.0713 | t:  0.0262
[2025-09-21 12:25:03,210][agent.pretrain.train_diffusion_agent][INFO] - 650: train loss   0.0746 | t:  0.0248
[2025-09-21 12:25:03,235][agent.pretrain.train_diffusion_agent][INFO] - 651: train loss   0.0764 | t:  0.0252
[2025-09-21 12:25:03,260][agent.pretrain.train_diffusion_agent][INFO] - 652: train loss   0.0757 | t:  0.0248
[2025-09-21 12:25:03,285][agent.pretrain.train_diffusion_agent][INFO] - 653: train loss   0.0710 | t:  0.0251
[2025-09-21 12:25:03,311][agent.pretrain.train_diffusion_agent][INFO] - 654: train loss   0.0745 | t:  0.0253
[2025-09-21 12:25:03,336][agent.pretrain.train_diffusion_agent][INFO] - 655: train loss   0.0716 | t:  0.0249
[2025-09-21 12:25:03,361][agent.pretrain.train_diffusion_agent][INFO] - 656: train loss   0.0747 | t:  0.0253
[2025-09-21 12:25:03,386][agent.pretrain.train_diffusion_agent][INFO] - 657: train loss   0.0758 | t:  0.0250
[2025-09-21 12:25:03,411][agent.pretrain.train_diffusion_agent][INFO] - 658: train loss   0.0810 | t:  0.0250
[2025-09-21 12:25:03,436][agent.pretrain.train_diffusion_agent][INFO] - 659: train loss   0.0744 | t:  0.0252
[2025-09-21 12:25:03,461][agent.pretrain.train_diffusion_agent][INFO] - 660: train loss   0.0747 | t:  0.0247
[2025-09-21 12:25:03,486][agent.pretrain.train_diffusion_agent][INFO] - 661: train loss   0.0711 | t:  0.0251
[2025-09-21 12:25:03,511][agent.pretrain.train_diffusion_agent][INFO] - 662: train loss   0.0719 | t:  0.0251
[2025-09-21 12:25:03,537][agent.pretrain.train_diffusion_agent][INFO] - 663: train loss   0.0745 | t:  0.0265
[2025-09-21 12:25:03,563][agent.pretrain.train_diffusion_agent][INFO] - 664: train loss   0.0735 | t:  0.0258
[2025-09-21 12:25:03,589][agent.pretrain.train_diffusion_agent][INFO] - 665: train loss   0.0726 | t:  0.0256
[2025-09-21 12:25:03,614][agent.pretrain.train_diffusion_agent][INFO] - 666: train loss   0.0686 | t:  0.0250
[2025-09-21 12:25:03,639][agent.pretrain.train_diffusion_agent][INFO] - 667: train loss   0.0734 | t:  0.0252
[2025-09-21 12:25:03,664][agent.pretrain.train_diffusion_agent][INFO] - 668: train loss   0.0733 | t:  0.0246
[2025-09-21 12:25:03,689][agent.pretrain.train_diffusion_agent][INFO] - 669: train loss   0.0779 | t:  0.0255
[2025-09-21 12:25:03,714][agent.pretrain.train_diffusion_agent][INFO] - 670: train loss   0.0826 | t:  0.0250
[2025-09-21 12:25:03,740][agent.pretrain.train_diffusion_agent][INFO] - 671: train loss   0.0853 | t:  0.0253
[2025-09-21 12:25:03,765][agent.pretrain.train_diffusion_agent][INFO] - 672: train loss   0.0663 | t:  0.0253
[2025-09-21 12:25:03,790][agent.pretrain.train_diffusion_agent][INFO] - 673: train loss   0.0767 | t:  0.0250
[2025-09-21 12:25:03,815][agent.pretrain.train_diffusion_agent][INFO] - 674: train loss   0.0826 | t:  0.0254
[2025-09-21 12:25:03,840][agent.pretrain.train_diffusion_agent][INFO] - 675: train loss   0.0836 | t:  0.0249
[2025-09-21 12:25:03,865][agent.pretrain.train_diffusion_agent][INFO] - 676: train loss   0.0784 | t:  0.0251
[2025-09-21 12:25:03,890][agent.pretrain.train_diffusion_agent][INFO] - 677: train loss   0.0712 | t:  0.0251
[2025-09-21 12:25:03,916][agent.pretrain.train_diffusion_agent][INFO] - 678: train loss   0.0746 | t:  0.0253
[2025-09-21 12:25:03,941][agent.pretrain.train_diffusion_agent][INFO] - 679: train loss   0.0752 | t:  0.0252
[2025-09-21 12:25:03,966][agent.pretrain.train_diffusion_agent][INFO] - 680: train loss   0.0733 | t:  0.0248
[2025-09-21 12:25:03,991][agent.pretrain.train_diffusion_agent][INFO] - 681: train loss   0.0741 | t:  0.0252
[2025-09-21 12:25:04,016][agent.pretrain.train_diffusion_agent][INFO] - 682: train loss   0.0751 | t:  0.0251
[2025-09-21 12:25:04,041][agent.pretrain.train_diffusion_agent][INFO] - 683: train loss   0.0704 | t:  0.0248
[2025-09-21 12:25:04,066][agent.pretrain.train_diffusion_agent][INFO] - 684: train loss   0.0688 | t:  0.0254
[2025-09-21 12:25:04,091][agent.pretrain.train_diffusion_agent][INFO] - 685: train loss   0.0778 | t:  0.0247
[2025-09-21 12:25:04,116][agent.pretrain.train_diffusion_agent][INFO] - 686: train loss   0.0770 | t:  0.0249
[2025-09-21 12:25:04,142][agent.pretrain.train_diffusion_agent][INFO] - 687: train loss   0.0740 | t:  0.0257
[2025-09-21 12:25:04,167][agent.pretrain.train_diffusion_agent][INFO] - 688: train loss   0.0735 | t:  0.0255
[2025-09-21 12:25:04,194][agent.pretrain.train_diffusion_agent][INFO] - 689: train loss   0.0764 | t:  0.0267
[2025-09-21 12:25:04,220][agent.pretrain.train_diffusion_agent][INFO] - 690: train loss   0.0644 | t:  0.0258
[2025-09-21 12:25:04,246][agent.pretrain.train_diffusion_agent][INFO] - 691: train loss   0.0723 | t:  0.0264
[2025-09-21 12:25:04,271][agent.pretrain.train_diffusion_agent][INFO] - 692: train loss   0.0782 | t:  0.0254
[2025-09-21 12:25:04,297][agent.pretrain.train_diffusion_agent][INFO] - 693: train loss   0.0765 | t:  0.0250
[2025-09-21 12:25:04,322][agent.pretrain.train_diffusion_agent][INFO] - 694: train loss   0.0752 | t:  0.0257
[2025-09-21 12:25:04,348][agent.pretrain.train_diffusion_agent][INFO] - 695: train loss   0.0742 | t:  0.0259
[2025-09-21 12:25:04,374][agent.pretrain.train_diffusion_agent][INFO] - 696: train loss   0.0724 | t:  0.0259
[2025-09-21 12:25:04,400][agent.pretrain.train_diffusion_agent][INFO] - 697: train loss   0.0766 | t:  0.0263
[2025-09-21 12:25:04,426][agent.pretrain.train_diffusion_agent][INFO] - 698: train loss   0.0771 | t:  0.0257
[2025-09-21 12:25:04,452][agent.pretrain.train_diffusion_agent][INFO] - 699: train loss   0.0740 | t:  0.0264
[2025-09-21 12:25:04,478][agent.pretrain.train_diffusion_agent][INFO] - 700: train loss   0.0660 | t:  0.0254
[2025-09-21 12:25:04,503][agent.pretrain.train_diffusion_agent][INFO] - 701: train loss   0.0772 | t:  0.0254
[2025-09-21 12:25:04,528][agent.pretrain.train_diffusion_agent][INFO] - 702: train loss   0.0716 | t:  0.0252
[2025-09-21 12:25:04,553][agent.pretrain.train_diffusion_agent][INFO] - 703: train loss   0.0710 | t:  0.0250
[2025-09-21 12:25:04,579][agent.pretrain.train_diffusion_agent][INFO] - 704: train loss   0.0766 | t:  0.0254
[2025-09-21 12:25:04,604][agent.pretrain.train_diffusion_agent][INFO] - 705: train loss   0.0727 | t:  0.0247
[2025-09-21 12:25:04,629][agent.pretrain.train_diffusion_agent][INFO] - 706: train loss   0.0727 | t:  0.0252
[2025-09-21 12:25:04,655][agent.pretrain.train_diffusion_agent][INFO] - 707: train loss   0.0754 | t:  0.0258
[2025-09-21 12:25:04,680][agent.pretrain.train_diffusion_agent][INFO] - 708: train loss   0.0735 | t:  0.0254
[2025-09-21 12:25:04,705][agent.pretrain.train_diffusion_agent][INFO] - 709: train loss   0.0702 | t:  0.0251
[2025-09-21 12:25:04,730][agent.pretrain.train_diffusion_agent][INFO] - 710: train loss   0.0734 | t:  0.0251
[2025-09-21 12:25:04,755][agent.pretrain.train_diffusion_agent][INFO] - 711: train loss   0.0735 | t:  0.0249
[2025-09-21 12:25:04,780][agent.pretrain.train_diffusion_agent][INFO] - 712: train loss   0.0689 | t:  0.0252
[2025-09-21 12:25:04,805][agent.pretrain.train_diffusion_agent][INFO] - 713: train loss   0.0798 | t:  0.0248
[2025-09-21 12:25:04,830][agent.pretrain.train_diffusion_agent][INFO] - 714: train loss   0.0726 | t:  0.0250
[2025-09-21 12:25:04,855][agent.pretrain.train_diffusion_agent][INFO] - 715: train loss   0.0718 | t:  0.0249
[2025-09-21 12:25:04,881][agent.pretrain.train_diffusion_agent][INFO] - 716: train loss   0.0767 | t:  0.0257
[2025-09-21 12:25:04,906][agent.pretrain.train_diffusion_agent][INFO] - 717: train loss   0.0730 | t:  0.0252
[2025-09-21 12:25:04,931][agent.pretrain.train_diffusion_agent][INFO] - 718: train loss   0.0780 | t:  0.0251
[2025-09-21 12:25:04,956][agent.pretrain.train_diffusion_agent][INFO] - 719: train loss   0.0762 | t:  0.0252
[2025-09-21 12:25:04,981][agent.pretrain.train_diffusion_agent][INFO] - 720: train loss   0.0674 | t:  0.0249
[2025-09-21 12:25:05,006][agent.pretrain.train_diffusion_agent][INFO] - 721: train loss   0.0758 | t:  0.0249
[2025-09-21 12:25:05,032][agent.pretrain.train_diffusion_agent][INFO] - 722: train loss   0.0790 | t:  0.0255
[2025-09-21 12:25:05,057][agent.pretrain.train_diffusion_agent][INFO] - 723: train loss   0.0704 | t:  0.0255
[2025-09-21 12:25:05,083][agent.pretrain.train_diffusion_agent][INFO] - 724: train loss   0.0736 | t:  0.0263
[2025-09-21 12:25:05,110][agent.pretrain.train_diffusion_agent][INFO] - 725: train loss   0.0651 | t:  0.0263
[2025-09-21 12:25:05,136][agent.pretrain.train_diffusion_agent][INFO] - 726: train loss   0.0713 | t:  0.0262
[2025-09-21 12:25:05,162][agent.pretrain.train_diffusion_agent][INFO] - 727: train loss   0.0746 | t:  0.0261
[2025-09-21 12:25:05,188][agent.pretrain.train_diffusion_agent][INFO] - 728: train loss   0.0750 | t:  0.0259
[2025-09-21 12:25:05,214][agent.pretrain.train_diffusion_agent][INFO] - 729: train loss   0.0700 | t:  0.0259
[2025-09-21 12:25:05,240][agent.pretrain.train_diffusion_agent][INFO] - 730: train loss   0.0718 | t:  0.0258
[2025-09-21 12:25:05,265][agent.pretrain.train_diffusion_agent][INFO] - 731: train loss   0.0725 | t:  0.0252
[2025-09-21 12:25:05,290][agent.pretrain.train_diffusion_agent][INFO] - 732: train loss   0.0751 | t:  0.0252
[2025-09-21 12:25:05,315][agent.pretrain.train_diffusion_agent][INFO] - 733: train loss   0.0673 | t:  0.0250
[2025-09-21 12:25:05,340][agent.pretrain.train_diffusion_agent][INFO] - 734: train loss   0.0685 | t:  0.0252
[2025-09-21 12:25:05,366][agent.pretrain.train_diffusion_agent][INFO] - 735: train loss   0.0719 | t:  0.0257
[2025-09-21 12:25:05,392][agent.pretrain.train_diffusion_agent][INFO] - 736: train loss   0.0752 | t:  0.0257
[2025-09-21 12:25:05,479][agent.pretrain.train_diffusion_agent][INFO] - 737: train loss   0.0721 | t:  0.0877
[2025-09-21 12:25:05,507][agent.pretrain.train_diffusion_agent][INFO] - 738: train loss   0.0764 | t:  0.0272
[2025-09-21 12:25:05,532][agent.pretrain.train_diffusion_agent][INFO] - 739: train loss   0.0695 | t:  0.0259
[2025-09-21 12:25:05,558][agent.pretrain.train_diffusion_agent][INFO] - 740: train loss   0.0729 | t:  0.0253
[2025-09-21 12:25:05,583][agent.pretrain.train_diffusion_agent][INFO] - 741: train loss   0.0686 | t:  0.0257
[2025-09-21 12:25:05,609][agent.pretrain.train_diffusion_agent][INFO] - 742: train loss   0.0745 | t:  0.0255
[2025-09-21 12:25:05,634][agent.pretrain.train_diffusion_agent][INFO] - 743: train loss   0.0693 | t:  0.0251
[2025-09-21 12:25:05,659][agent.pretrain.train_diffusion_agent][INFO] - 744: train loss   0.0756 | t:  0.0254
[2025-09-21 12:25:05,685][agent.pretrain.train_diffusion_agent][INFO] - 745: train loss   0.0745 | t:  0.0255
[2025-09-21 12:25:05,710][agent.pretrain.train_diffusion_agent][INFO] - 746: train loss   0.0756 | t:  0.0254
[2025-09-21 12:25:05,736][agent.pretrain.train_diffusion_agent][INFO] - 747: train loss   0.0715 | t:  0.0258
[2025-09-21 12:25:05,761][agent.pretrain.train_diffusion_agent][INFO] - 748: train loss   0.0701 | t:  0.0252
[2025-09-21 12:25:05,787][agent.pretrain.train_diffusion_agent][INFO] - 749: train loss   0.0717 | t:  0.0257
[2025-09-21 12:25:05,812][agent.pretrain.train_diffusion_agent][INFO] - 750: train loss   0.0708 | t:  0.0252
[2025-09-21 12:25:05,838][agent.pretrain.train_diffusion_agent][INFO] - 751: train loss   0.0740 | t:  0.0256
[2025-09-21 12:25:05,864][agent.pretrain.train_diffusion_agent][INFO] - 752: train loss   0.0705 | t:  0.0259
[2025-09-21 12:25:05,889][agent.pretrain.train_diffusion_agent][INFO] - 753: train loss   0.0691 | t:  0.0254
[2025-09-21 12:25:05,915][agent.pretrain.train_diffusion_agent][INFO] - 754: train loss   0.0711 | t:  0.0259
[2025-09-21 12:25:05,940][agent.pretrain.train_diffusion_agent][INFO] - 755: train loss   0.0805 | t:  0.0254
[2025-09-21 12:25:05,966][agent.pretrain.train_diffusion_agent][INFO] - 756: train loss   0.0726 | t:  0.0257
[2025-09-21 12:25:05,992][agent.pretrain.train_diffusion_agent][INFO] - 757: train loss   0.0774 | t:  0.0255
[2025-09-21 12:25:06,017][agent.pretrain.train_diffusion_agent][INFO] - 758: train loss   0.0713 | t:  0.0253
[2025-09-21 12:25:06,042][agent.pretrain.train_diffusion_agent][INFO] - 759: train loss   0.0711 | t:  0.0256
[2025-09-21 12:25:06,067][agent.pretrain.train_diffusion_agent][INFO] - 760: train loss   0.0730 | t:  0.0249
[2025-09-21 12:25:06,093][agent.pretrain.train_diffusion_agent][INFO] - 761: train loss   0.0697 | t:  0.0258
[2025-09-21 12:25:06,119][agent.pretrain.train_diffusion_agent][INFO] - 762: train loss   0.0742 | t:  0.0256
[2025-09-21 12:25:06,144][agent.pretrain.train_diffusion_agent][INFO] - 763: train loss   0.0699 | t:  0.0256
[2025-09-21 12:25:06,170][agent.pretrain.train_diffusion_agent][INFO] - 764: train loss   0.0713 | t:  0.0258
[2025-09-21 12:25:06,195][agent.pretrain.train_diffusion_agent][INFO] - 765: train loss   0.0778 | t:  0.0252
[2025-09-21 12:25:06,222][agent.pretrain.train_diffusion_agent][INFO] - 766: train loss   0.0632 | t:  0.0261
[2025-09-21 12:25:06,247][agent.pretrain.train_diffusion_agent][INFO] - 767: train loss   0.0756 | t:  0.0259
[2025-09-21 12:25:06,273][agent.pretrain.train_diffusion_agent][INFO] - 768: train loss   0.0728 | t:  0.0256
[2025-09-21 12:25:06,299][agent.pretrain.train_diffusion_agent][INFO] - 769: train loss   0.0740 | t:  0.0256
[2025-09-21 12:25:06,324][agent.pretrain.train_diffusion_agent][INFO] - 770: train loss   0.0676 | t:  0.0249
[2025-09-21 12:25:06,350][agent.pretrain.train_diffusion_agent][INFO] - 771: train loss   0.0732 | t:  0.0261
[2025-09-21 12:25:06,376][agent.pretrain.train_diffusion_agent][INFO] - 772: train loss   0.0728 | t:  0.0259
[2025-09-21 12:25:06,401][agent.pretrain.train_diffusion_agent][INFO] - 773: train loss   0.0749 | t:  0.0254
[2025-09-21 12:25:06,427][agent.pretrain.train_diffusion_agent][INFO] - 774: train loss   0.0715 | t:  0.0256
[2025-09-21 12:25:06,452][agent.pretrain.train_diffusion_agent][INFO] - 775: train loss   0.0639 | t:  0.0257
[2025-09-21 12:25:06,478][agent.pretrain.train_diffusion_agent][INFO] - 776: train loss   0.0681 | t:  0.0255
[2025-09-21 12:25:06,503][agent.pretrain.train_diffusion_agent][INFO] - 777: train loss   0.0747 | t:  0.0256
[2025-09-21 12:25:06,529][agent.pretrain.train_diffusion_agent][INFO] - 778: train loss   0.0689 | t:  0.0255
[2025-09-21 12:25:06,556][agent.pretrain.train_diffusion_agent][INFO] - 779: train loss   0.0730 | t:  0.0266
[2025-09-21 12:25:06,581][agent.pretrain.train_diffusion_agent][INFO] - 780: train loss   0.0745 | t:  0.0256
[2025-09-21 12:25:06,607][agent.pretrain.train_diffusion_agent][INFO] - 781: train loss   0.0693 | t:  0.0256
[2025-09-21 12:25:06,632][agent.pretrain.train_diffusion_agent][INFO] - 782: train loss   0.0812 | t:  0.0253
[2025-09-21 12:25:06,657][agent.pretrain.train_diffusion_agent][INFO] - 783: train loss   0.0723 | t:  0.0253
[2025-09-21 12:25:06,683][agent.pretrain.train_diffusion_agent][INFO] - 784: train loss   0.0710 | t:  0.0256
[2025-09-21 12:25:06,708][agent.pretrain.train_diffusion_agent][INFO] - 785: train loss   0.0734 | t:  0.0254
[2025-09-21 12:25:06,734][agent.pretrain.train_diffusion_agent][INFO] - 786: train loss   0.0736 | t:  0.0259
[2025-09-21 12:25:06,760][agent.pretrain.train_diffusion_agent][INFO] - 787: train loss   0.0785 | t:  0.0257
[2025-09-21 12:25:06,785][agent.pretrain.train_diffusion_agent][INFO] - 788: train loss   0.0736 | t:  0.0252
[2025-09-21 12:25:06,811][agent.pretrain.train_diffusion_agent][INFO] - 789: train loss   0.0696 | t:  0.0256
[2025-09-21 12:25:06,836][agent.pretrain.train_diffusion_agent][INFO] - 790: train loss   0.0795 | t:  0.0250
[2025-09-21 12:25:06,861][agent.pretrain.train_diffusion_agent][INFO] - 791: train loss   0.0760 | t:  0.0257
[2025-09-21 12:25:06,887][agent.pretrain.train_diffusion_agent][INFO] - 792: train loss   0.0707 | t:  0.0256
[2025-09-21 12:25:06,912][agent.pretrain.train_diffusion_agent][INFO] - 793: train loss   0.0753 | t:  0.0254
[2025-09-21 12:25:06,938][agent.pretrain.train_diffusion_agent][INFO] - 794: train loss   0.0677 | t:  0.0258
[2025-09-21 12:25:06,963][agent.pretrain.train_diffusion_agent][INFO] - 795: train loss   0.0653 | t:  0.0251
[2025-09-21 12:25:06,989][agent.pretrain.train_diffusion_agent][INFO] - 796: train loss   0.0729 | t:  0.0259
[2025-09-21 12:25:07,015][agent.pretrain.train_diffusion_agent][INFO] - 797: train loss   0.0646 | t:  0.0258
[2025-09-21 12:25:07,040][agent.pretrain.train_diffusion_agent][INFO] - 798: train loss   0.0752 | t:  0.0253
[2025-09-21 12:25:07,066][agent.pretrain.train_diffusion_agent][INFO] - 799: train loss   0.0693 | t:  0.0259
[2025-09-21 12:25:07,107][agent.pretrain.train_agent][INFO] - Saved model to /home/zbzhu/Code/dppo/log/robomimic-pretrain/square_pre_diffusion_mlp_ta4_td20/2025-09-21_12-24-39_42/checkpoint/state_800.pt
[2025-09-21 12:25:07,107][agent.pretrain.train_diffusion_agent][INFO] - 800: train loss   0.0706 | t:  0.0406
[2025-09-21 12:25:07,133][agent.pretrain.train_diffusion_agent][INFO] - 801: train loss   0.0692 | t:  0.0261
[2025-09-21 12:25:07,158][agent.pretrain.train_diffusion_agent][INFO] - 802: train loss   0.0745 | t:  0.0256
[2025-09-21 12:25:07,184][agent.pretrain.train_diffusion_agent][INFO] - 803: train loss   0.0734 | t:  0.0254
[2025-09-21 12:25:07,209][agent.pretrain.train_diffusion_agent][INFO] - 804: train loss   0.0715 | t:  0.0249
[2025-09-21 12:25:07,233][agent.pretrain.train_diffusion_agent][INFO] - 805: train loss   0.0654 | t:  0.0247
[2025-09-21 12:25:07,259][agent.pretrain.train_diffusion_agent][INFO] - 806: train loss   0.0632 | t:  0.0253
[2025-09-21 12:25:07,283][agent.pretrain.train_diffusion_agent][INFO] - 807: train loss   0.0689 | t:  0.0248
[2025-09-21 12:25:07,309][agent.pretrain.train_diffusion_agent][INFO] - 808: train loss   0.0691 | t:  0.0251
[2025-09-21 12:25:07,334][agent.pretrain.train_diffusion_agent][INFO] - 809: train loss   0.0695 | t:  0.0258
[2025-09-21 12:25:07,360][agent.pretrain.train_diffusion_agent][INFO] - 810: train loss   0.0735 | t:  0.0256
[2025-09-21 12:25:07,386][agent.pretrain.train_diffusion_agent][INFO] - 811: train loss   0.0713 | t:  0.0261
[2025-09-21 12:25:07,412][agent.pretrain.train_diffusion_agent][INFO] - 812: train loss   0.0711 | t:  0.0260
[2025-09-21 12:25:07,438][agent.pretrain.train_diffusion_agent][INFO] - 813: train loss   0.0675 | t:  0.0256
[2025-09-21 12:25:07,464][agent.pretrain.train_diffusion_agent][INFO] - 814: train loss   0.0688 | t:  0.0260
[2025-09-21 12:25:07,489][agent.pretrain.train_diffusion_agent][INFO] - 815: train loss   0.0660 | t:  0.0255
[2025-09-21 12:25:07,515][agent.pretrain.train_diffusion_agent][INFO] - 816: train loss   0.0679 | t:  0.0261
[2025-09-21 12:25:07,541][agent.pretrain.train_diffusion_agent][INFO] - 817: train loss   0.0692 | t:  0.0260
[2025-09-21 12:25:07,567][agent.pretrain.train_diffusion_agent][INFO] - 818: train loss   0.0697 | t:  0.0254
[2025-09-21 12:25:07,592][agent.pretrain.train_diffusion_agent][INFO] - 819: train loss   0.0712 | t:  0.0257
[2025-09-21 12:25:07,617][agent.pretrain.train_diffusion_agent][INFO] - 820: train loss   0.0665 | t:  0.0251
[2025-09-21 12:25:07,643][agent.pretrain.train_diffusion_agent][INFO] - 821: train loss   0.0693 | t:  0.0259
[2025-09-21 12:25:07,669][agent.pretrain.train_diffusion_agent][INFO] - 822: train loss   0.0681 | t:  0.0259
[2025-09-21 12:25:07,695][agent.pretrain.train_diffusion_agent][INFO] - 823: train loss   0.0670 | t:  0.0256
[2025-09-21 12:25:07,721][agent.pretrain.train_diffusion_agent][INFO] - 824: train loss   0.0681 | t:  0.0260
[2025-09-21 12:25:07,746][agent.pretrain.train_diffusion_agent][INFO] - 825: train loss   0.0691 | t:  0.0256
[2025-09-21 12:25:07,772][agent.pretrain.train_diffusion_agent][INFO] - 826: train loss   0.0696 | t:  0.0254
[2025-09-21 12:25:07,797][agent.pretrain.train_diffusion_agent][INFO] - 827: train loss   0.0703 | t:  0.0251
[2025-09-21 12:25:07,822][agent.pretrain.train_diffusion_agent][INFO] - 828: train loss   0.0698 | t:  0.0250
[2025-09-21 12:25:07,847][agent.pretrain.train_diffusion_agent][INFO] - 829: train loss   0.0650 | t:  0.0250
[2025-09-21 12:25:07,872][agent.pretrain.train_diffusion_agent][INFO] - 830: train loss   0.0680 | t:  0.0250
[2025-09-21 12:25:07,897][agent.pretrain.train_diffusion_agent][INFO] - 831: train loss   0.0707 | t:  0.0255
[2025-09-21 12:25:07,923][agent.pretrain.train_diffusion_agent][INFO] - 832: train loss   0.0719 | t:  0.0254
[2025-09-21 12:25:07,948][agent.pretrain.train_diffusion_agent][INFO] - 833: train loss   0.0683 | t:  0.0253
[2025-09-21 12:25:07,974][agent.pretrain.train_diffusion_agent][INFO] - 834: train loss   0.0676 | t:  0.0257
[2025-09-21 12:25:07,999][agent.pretrain.train_diffusion_agent][INFO] - 835: train loss   0.0631 | t:  0.0250
[2025-09-21 12:25:08,024][agent.pretrain.train_diffusion_agent][INFO] - 836: train loss   0.0698 | t:  0.0256
[2025-09-21 12:25:08,050][agent.pretrain.train_diffusion_agent][INFO] - 837: train loss   0.0735 | t:  0.0253
[2025-09-21 12:25:08,075][agent.pretrain.train_diffusion_agent][INFO] - 838: train loss   0.0742 | t:  0.0252
[2025-09-21 12:25:08,100][agent.pretrain.train_diffusion_agent][INFO] - 839: train loss   0.0751 | t:  0.0254
[2025-09-21 12:25:08,125][agent.pretrain.train_diffusion_agent][INFO] - 840: train loss   0.0689 | t:  0.0252
[2025-09-21 12:25:08,151][agent.pretrain.train_diffusion_agent][INFO] - 841: train loss   0.0710 | t:  0.0254
[2025-09-21 12:25:08,177][agent.pretrain.train_diffusion_agent][INFO] - 842: train loss   0.0732 | t:  0.0259
[2025-09-21 12:25:08,202][agent.pretrain.train_diffusion_agent][INFO] - 843: train loss   0.0752 | t:  0.0253
[2025-09-21 12:25:08,227][agent.pretrain.train_diffusion_agent][INFO] - 844: train loss   0.0733 | t:  0.0251
[2025-09-21 12:25:08,252][agent.pretrain.train_diffusion_agent][INFO] - 845: train loss   0.0731 | t:  0.0252
[2025-09-21 12:25:08,278][agent.pretrain.train_diffusion_agent][INFO] - 846: train loss   0.0672 | t:  0.0255
[2025-09-21 12:25:08,303][agent.pretrain.train_diffusion_agent][INFO] - 847: train loss   0.0764 | t:  0.0254
[2025-09-21 12:25:08,328][agent.pretrain.train_diffusion_agent][INFO] - 848: train loss   0.0756 | t:  0.0253
[2025-09-21 12:25:08,354][agent.pretrain.train_diffusion_agent][INFO] - 849: train loss   0.0729 | t:  0.0251
[2025-09-21 12:25:08,379][agent.pretrain.train_diffusion_agent][INFO] - 850: train loss   0.0665 | t:  0.0253
[2025-09-21 12:25:08,404][agent.pretrain.train_diffusion_agent][INFO] - 851: train loss   0.0682 | t:  0.0255
[2025-09-21 12:25:08,430][agent.pretrain.train_diffusion_agent][INFO] - 852: train loss   0.0713 | t:  0.0253
[2025-09-21 12:25:08,455][agent.pretrain.train_diffusion_agent][INFO] - 853: train loss   0.0679 | t:  0.0251
[2025-09-21 12:25:08,480][agent.pretrain.train_diffusion_agent][INFO] - 854: train loss   0.0700 | t:  0.0254
[2025-09-21 12:25:08,506][agent.pretrain.train_diffusion_agent][INFO] - 855: train loss   0.0735 | t:  0.0253
[2025-09-21 12:25:08,531][agent.pretrain.train_diffusion_agent][INFO] - 856: train loss   0.0644 | t:  0.0254
[2025-09-21 12:25:08,556][agent.pretrain.train_diffusion_agent][INFO] - 857: train loss   0.0726 | t:  0.0254
[2025-09-21 12:25:08,582][agent.pretrain.train_diffusion_agent][INFO] - 858: train loss   0.0673 | t:  0.0252
[2025-09-21 12:25:08,607][agent.pretrain.train_diffusion_agent][INFO] - 859: train loss   0.0712 | t:  0.0255
[2025-09-21 12:25:08,632][agent.pretrain.train_diffusion_agent][INFO] - 860: train loss   0.0681 | t:  0.0252
[2025-09-21 12:25:08,658][agent.pretrain.train_diffusion_agent][INFO] - 861: train loss   0.0704 | t:  0.0253
[2025-09-21 12:25:08,683][agent.pretrain.train_diffusion_agent][INFO] - 862: train loss   0.0732 | t:  0.0256
[2025-09-21 12:25:08,708][agent.pretrain.train_diffusion_agent][INFO] - 863: train loss   0.0675 | t:  0.0251
[2025-09-21 12:25:08,734][agent.pretrain.train_diffusion_agent][INFO] - 864: train loss   0.0627 | t:  0.0254
[2025-09-21 12:25:08,759][agent.pretrain.train_diffusion_agent][INFO] - 865: train loss   0.0697 | t:  0.0253
[2025-09-21 12:25:08,784][agent.pretrain.train_diffusion_agent][INFO] - 866: train loss   0.0735 | t:  0.0253
[2025-09-21 12:25:08,810][agent.pretrain.train_diffusion_agent][INFO] - 867: train loss   0.0724 | t:  0.0256
[2025-09-21 12:25:08,835][agent.pretrain.train_diffusion_agent][INFO] - 868: train loss   0.0729 | t:  0.0248
[2025-09-21 12:25:08,860][agent.pretrain.train_diffusion_agent][INFO] - 869: train loss   0.0680 | t:  0.0253
[2025-09-21 12:25:08,885][agent.pretrain.train_diffusion_agent][INFO] - 870: train loss   0.0734 | t:  0.0252
[2025-09-21 12:25:08,911][agent.pretrain.train_diffusion_agent][INFO] - 871: train loss   0.0672 | t:  0.0253
[2025-09-21 12:25:08,936][agent.pretrain.train_diffusion_agent][INFO] - 872: train loss   0.0733 | t:  0.0254
[2025-09-21 12:25:08,961][agent.pretrain.train_diffusion_agent][INFO] - 873: train loss   0.0670 | t:  0.0254
[2025-09-21 12:25:08,987][agent.pretrain.train_diffusion_agent][INFO] - 874: train loss   0.0662 | t:  0.0254
[2025-09-21 12:25:09,012][agent.pretrain.train_diffusion_agent][INFO] - 875: train loss   0.0681 | t:  0.0250
[2025-09-21 12:25:09,037][agent.pretrain.train_diffusion_agent][INFO] - 876: train loss   0.0717 | t:  0.0256
[2025-09-21 12:25:09,063][agent.pretrain.train_diffusion_agent][INFO] - 877: train loss   0.0655 | t:  0.0253
[2025-09-21 12:25:09,089][agent.pretrain.train_diffusion_agent][INFO] - 878: train loss   0.0783 | t:  0.0258
[2025-09-21 12:25:09,114][agent.pretrain.train_diffusion_agent][INFO] - 879: train loss   0.0747 | t:  0.0258
[2025-09-21 12:25:09,139][agent.pretrain.train_diffusion_agent][INFO] - 880: train loss   0.0708 | t:  0.0248
[2025-09-21 12:25:09,165][agent.pretrain.train_diffusion_agent][INFO] - 881: train loss   0.0696 | t:  0.0258
[2025-09-21 12:25:09,190][agent.pretrain.train_diffusion_agent][INFO] - 882: train loss   0.0750 | t:  0.0253
[2025-09-21 12:25:09,215][agent.pretrain.train_diffusion_agent][INFO] - 883: train loss   0.0694 | t:  0.0245
[2025-09-21 12:25:09,240][agent.pretrain.train_diffusion_agent][INFO] - 884: train loss   0.0671 | t:  0.0254
[2025-09-21 12:25:09,266][agent.pretrain.train_diffusion_agent][INFO] - 885: train loss   0.0680 | t:  0.0256
[2025-09-21 12:25:09,291][agent.pretrain.train_diffusion_agent][INFO] - 886: train loss   0.0674 | t:  0.0257
[2025-09-21 12:25:09,317][agent.pretrain.train_diffusion_agent][INFO] - 887: train loss   0.0716 | t:  0.0254
[2025-09-21 12:25:09,342][agent.pretrain.train_diffusion_agent][INFO] - 888: train loss   0.0641 | t:  0.0249
[2025-09-21 12:25:09,367][agent.pretrain.train_diffusion_agent][INFO] - 889: train loss   0.0710 | t:  0.0251
[2025-09-21 12:25:09,392][agent.pretrain.train_diffusion_agent][INFO] - 890: train loss   0.0721 | t:  0.0248
[2025-09-21 12:25:09,417][agent.pretrain.train_diffusion_agent][INFO] - 891: train loss   0.0667 | t:  0.0252
[2025-09-21 12:25:09,443][agent.pretrain.train_diffusion_agent][INFO] - 892: train loss   0.0693 | t:  0.0256
[2025-09-21 12:25:09,468][agent.pretrain.train_diffusion_agent][INFO] - 893: train loss   0.0693 | t:  0.0253
[2025-09-21 12:25:09,493][agent.pretrain.train_diffusion_agent][INFO] - 894: train loss   0.0697 | t:  0.0255
[2025-09-21 12:25:09,519][agent.pretrain.train_diffusion_agent][INFO] - 895: train loss   0.0633 | t:  0.0252
[2025-09-21 12:25:09,544][agent.pretrain.train_diffusion_agent][INFO] - 896: train loss   0.0711 | t:  0.0256
[2025-09-21 12:25:09,570][agent.pretrain.train_diffusion_agent][INFO] - 897: train loss   0.0723 | t:  0.0256
[2025-09-21 12:25:09,595][agent.pretrain.train_diffusion_agent][INFO] - 898: train loss   0.0634 | t:  0.0252
[2025-09-21 12:25:09,621][agent.pretrain.train_diffusion_agent][INFO] - 899: train loss   0.0687 | t:  0.0257
[2025-09-21 12:25:09,646][agent.pretrain.train_diffusion_agent][INFO] - 900: train loss   0.0708 | t:  0.0249
[2025-09-21 12:25:09,671][agent.pretrain.train_diffusion_agent][INFO] - 901: train loss   0.0677 | t:  0.0256
[2025-09-21 12:25:09,697][agent.pretrain.train_diffusion_agent][INFO] - 902: train loss   0.0686 | t:  0.0254
[2025-09-21 12:25:09,722][agent.pretrain.train_diffusion_agent][INFO] - 903: train loss   0.0706 | t:  0.0251
[2025-09-21 12:25:09,747][agent.pretrain.train_diffusion_agent][INFO] - 904: train loss   0.0698 | t:  0.0255
[2025-09-21 12:25:09,772][agent.pretrain.train_diffusion_agent][INFO] - 905: train loss   0.0744 | t:  0.0252
[2025-09-21 12:25:09,813][agent.pretrain.train_diffusion_agent][INFO] - 906: train loss   0.0745 | t:  0.0409
[2025-09-21 12:25:09,844][agent.pretrain.train_diffusion_agent][INFO] - 907: train loss   0.0711 | t:  0.0304
[2025-09-21 12:25:09,873][agent.pretrain.train_diffusion_agent][INFO] - 908: train loss   0.0708 | t:  0.0295
[2025-09-21 12:25:09,900][agent.pretrain.train_diffusion_agent][INFO] - 909: train loss   0.0681 | t:  0.0265
[2025-09-21 12:25:09,925][agent.pretrain.train_diffusion_agent][INFO] - 910: train loss   0.0667 | t:  0.0255
[2025-09-21 12:25:09,951][agent.pretrain.train_diffusion_agent][INFO] - 911: train loss   0.0669 | t:  0.0258
[2025-09-21 12:25:09,976][agent.pretrain.train_diffusion_agent][INFO] - 912: train loss   0.0724 | t:  0.0253
[2025-09-21 12:25:10,001][agent.pretrain.train_diffusion_agent][INFO] - 913: train loss   0.0608 | t:  0.0253
[2025-09-21 12:25:10,027][agent.pretrain.train_diffusion_agent][INFO] - 914: train loss   0.0671 | t:  0.0255
[2025-09-21 12:25:10,052][agent.pretrain.train_diffusion_agent][INFO] - 915: train loss   0.0676 | t:  0.0250
[2025-09-21 12:25:10,077][agent.pretrain.train_diffusion_agent][INFO] - 916: train loss   0.0664 | t:  0.0252
[2025-09-21 12:25:10,103][agent.pretrain.train_diffusion_agent][INFO] - 917: train loss   0.0696 | t:  0.0256
[2025-09-21 12:25:10,128][agent.pretrain.train_diffusion_agent][INFO] - 918: train loss   0.0690 | t:  0.0254
[2025-09-21 12:25:10,154][agent.pretrain.train_diffusion_agent][INFO] - 919: train loss   0.0720 | t:  0.0256
[2025-09-21 12:25:10,179][agent.pretrain.train_diffusion_agent][INFO] - 920: train loss   0.0642 | t:  0.0256
[2025-09-21 12:25:10,205][agent.pretrain.train_diffusion_agent][INFO] - 921: train loss   0.0705 | t:  0.0256
[2025-09-21 12:25:10,230][agent.pretrain.train_diffusion_agent][INFO] - 922: train loss   0.0681 | t:  0.0253
[2025-09-21 12:25:10,256][agent.pretrain.train_diffusion_agent][INFO] - 923: train loss   0.0786 | t:  0.0253
[2025-09-21 12:25:10,281][agent.pretrain.train_diffusion_agent][INFO] - 924: train loss   0.0706 | t:  0.0255
[2025-09-21 12:25:10,306][agent.pretrain.train_diffusion_agent][INFO] - 925: train loss   0.0706 | t:  0.0251
[2025-09-21 12:25:10,331][agent.pretrain.train_diffusion_agent][INFO] - 926: train loss   0.0613 | t:  0.0252
[2025-09-21 12:25:10,357][agent.pretrain.train_diffusion_agent][INFO] - 927: train loss   0.0635 | t:  0.0254
[2025-09-21 12:25:10,382][agent.pretrain.train_diffusion_agent][INFO] - 928: train loss   0.0619 | t:  0.0252
[2025-09-21 12:25:10,407][agent.pretrain.train_diffusion_agent][INFO] - 929: train loss   0.0605 | t:  0.0253
[2025-09-21 12:25:10,433][agent.pretrain.train_diffusion_agent][INFO] - 930: train loss   0.0707 | t:  0.0256
[2025-09-21 12:25:10,459][agent.pretrain.train_diffusion_agent][INFO] - 931: train loss   0.0652 | t:  0.0259
[2025-09-21 12:25:10,484][agent.pretrain.train_diffusion_agent][INFO] - 932: train loss   0.0675 | t:  0.0255
[2025-09-21 12:25:10,510][agent.pretrain.train_diffusion_agent][INFO] - 933: train loss   0.0696 | t:  0.0252
[2025-09-21 12:25:10,535][agent.pretrain.train_diffusion_agent][INFO] - 934: train loss   0.0715 | t:  0.0255
[2025-09-21 12:25:10,560][agent.pretrain.train_diffusion_agent][INFO] - 935: train loss   0.0632 | t:  0.0249
[2025-09-21 12:25:10,585][agent.pretrain.train_diffusion_agent][INFO] - 936: train loss   0.0676 | t:  0.0252
[2025-09-21 12:25:10,611][agent.pretrain.train_diffusion_agent][INFO] - 937: train loss   0.0681 | t:  0.0256
[2025-09-21 12:25:10,636][agent.pretrain.train_diffusion_agent][INFO] - 938: train loss   0.0717 | t:  0.0252
[2025-09-21 12:25:10,662][agent.pretrain.train_diffusion_agent][INFO] - 939: train loss   0.0706 | t:  0.0255
[2025-09-21 12:25:10,687][agent.pretrain.train_diffusion_agent][INFO] - 940: train loss   0.0644 | t:  0.0250
[2025-09-21 12:25:10,712][agent.pretrain.train_diffusion_agent][INFO] - 941: train loss   0.0688 | t:  0.0257
[2025-09-21 12:25:10,738][agent.pretrain.train_diffusion_agent][INFO] - 942: train loss   0.0618 | t:  0.0254
[2025-09-21 12:25:10,763][agent.pretrain.train_diffusion_agent][INFO] - 943: train loss   0.0674 | t:  0.0251
[2025-09-21 12:25:10,788][agent.pretrain.train_diffusion_agent][INFO] - 944: train loss   0.0653 | t:  0.0254
[2025-09-21 12:25:10,813][agent.pretrain.train_diffusion_agent][INFO] - 945: train loss   0.0716 | t:  0.0253
[2025-09-21 12:25:10,839][agent.pretrain.train_diffusion_agent][INFO] - 946: train loss   0.0723 | t:  0.0256
[2025-09-21 12:25:10,864][agent.pretrain.train_diffusion_agent][INFO] - 947: train loss   0.0620 | t:  0.0255
[2025-09-21 12:25:10,890][agent.pretrain.train_diffusion_agent][INFO] - 948: train loss   0.0704 | t:  0.0252
[2025-09-21 12:25:10,915][agent.pretrain.train_diffusion_agent][INFO] - 949: train loss   0.0649 | t:  0.0255
[2025-09-21 12:25:10,940][agent.pretrain.train_diffusion_agent][INFO] - 950: train loss   0.0651 | t:  0.0252
[2025-09-21 12:25:10,966][agent.pretrain.train_diffusion_agent][INFO] - 951: train loss   0.0726 | t:  0.0253
[2025-09-21 12:25:10,991][agent.pretrain.train_diffusion_agent][INFO] - 952: train loss   0.0672 | t:  0.0256
[2025-09-21 12:25:11,074][agent.pretrain.train_diffusion_agent][INFO] - 953: train loss   0.0643 | t:  0.0830
[2025-09-21 12:25:11,102][agent.pretrain.train_diffusion_agent][INFO] - 954: train loss   0.0694 | t:  0.0274
[2025-09-21 12:25:11,127][agent.pretrain.train_diffusion_agent][INFO] - 955: train loss   0.0682 | t:  0.0258
[2025-09-21 12:25:11,153][agent.pretrain.train_diffusion_agent][INFO] - 956: train loss   0.0783 | t:  0.0254
[2025-09-21 12:25:11,179][agent.pretrain.train_diffusion_agent][INFO] - 957: train loss   0.0699 | t:  0.0266
[2025-09-21 12:25:11,205][agent.pretrain.train_diffusion_agent][INFO] - 958: train loss   0.0680 | t:  0.0258
[2025-09-21 12:25:11,231][agent.pretrain.train_diffusion_agent][INFO] - 959: train loss   0.0659 | t:  0.0262
[2025-09-21 12:25:11,257][agent.pretrain.train_diffusion_agent][INFO] - 960: train loss   0.0731 | t:  0.0260
[2025-09-21 12:25:11,283][agent.pretrain.train_diffusion_agent][INFO] - 961: train loss   0.0679 | t:  0.0260
[2025-09-21 12:25:11,310][agent.pretrain.train_diffusion_agent][INFO] - 962: train loss   0.0678 | t:  0.0263
[2025-09-21 12:25:11,335][agent.pretrain.train_diffusion_agent][INFO] - 963: train loss   0.0672 | t:  0.0255
[2025-09-21 12:25:11,361][agent.pretrain.train_diffusion_agent][INFO] - 964: train loss   0.0718 | t:  0.0255
[2025-09-21 12:25:11,386][agent.pretrain.train_diffusion_agent][INFO] - 965: train loss   0.0673 | t:  0.0253
[2025-09-21 12:25:11,412][agent.pretrain.train_diffusion_agent][INFO] - 966: train loss   0.0646 | t:  0.0257
[2025-09-21 12:25:11,437][agent.pretrain.train_diffusion_agent][INFO] - 967: train loss   0.0646 | t:  0.0254
[2025-09-21 12:25:11,462][agent.pretrain.train_diffusion_agent][INFO] - 968: train loss   0.0704 | t:  0.0254
[2025-09-21 12:25:11,488][agent.pretrain.train_diffusion_agent][INFO] - 969: train loss   0.0719 | t:  0.0258
[2025-09-21 12:25:11,514][agent.pretrain.train_diffusion_agent][INFO] - 970: train loss   0.0724 | t:  0.0258
[2025-09-21 12:25:11,540][agent.pretrain.train_diffusion_agent][INFO] - 971: train loss   0.0654 | t:  0.0258
[2025-09-21 12:25:11,566][agent.pretrain.train_diffusion_agent][INFO] - 972: train loss   0.0656 | t:  0.0256
[2025-09-21 12:25:11,591][agent.pretrain.train_diffusion_agent][INFO] - 973: train loss   0.0674 | t:  0.0252
[2025-09-21 12:25:11,617][agent.pretrain.train_diffusion_agent][INFO] - 974: train loss   0.0664 | t:  0.0257
[2025-09-21 12:25:11,641][agent.pretrain.train_diffusion_agent][INFO] - 975: train loss   0.0660 | t:  0.0250
[2025-09-21 12:25:11,667][agent.pretrain.train_diffusion_agent][INFO] - 976: train loss   0.0681 | t:  0.0259
[2025-09-21 12:25:11,693][agent.pretrain.train_diffusion_agent][INFO] - 977: train loss   0.0668 | t:  0.0256
[2025-09-21 12:25:11,718][agent.pretrain.train_diffusion_agent][INFO] - 978: train loss   0.0646 | t:  0.0252
[2025-09-21 12:25:11,744][agent.pretrain.train_diffusion_agent][INFO] - 979: train loss   0.0712 | t:  0.0259
[2025-09-21 12:25:11,770][agent.pretrain.train_diffusion_agent][INFO] - 980: train loss   0.0622 | t:  0.0255
[2025-09-21 12:25:11,795][agent.pretrain.train_diffusion_agent][INFO] - 981: train loss   0.0686 | t:  0.0256
[2025-09-21 12:25:11,823][agent.pretrain.train_diffusion_agent][INFO] - 982: train loss   0.0656 | t:  0.0275
[2025-09-21 12:25:11,848][agent.pretrain.train_diffusion_agent][INFO] - 983: train loss   0.0651 | t:  0.0254
[2025-09-21 12:25:11,874][agent.pretrain.train_diffusion_agent][INFO] - 984: train loss   0.0650 | t:  0.0257
[2025-09-21 12:25:11,899][agent.pretrain.train_diffusion_agent][INFO] - 985: train loss   0.0701 | t:  0.0255
[2025-09-21 12:25:11,925][agent.pretrain.train_diffusion_agent][INFO] - 986: train loss   0.0629 | t:  0.0256
[2025-09-21 12:25:11,951][agent.pretrain.train_diffusion_agent][INFO] - 987: train loss   0.0729 | t:  0.0258
[2025-09-21 12:25:11,976][agent.pretrain.train_diffusion_agent][INFO] - 988: train loss   0.0720 | t:  0.0253
[2025-09-21 12:25:12,001][agent.pretrain.train_diffusion_agent][INFO] - 989: train loss   0.0712 | t:  0.0253
[2025-09-21 12:25:12,027][agent.pretrain.train_diffusion_agent][INFO] - 990: train loss   0.0670 | t:  0.0251
[2025-09-21 12:25:12,052][agent.pretrain.train_diffusion_agent][INFO] - 991: train loss   0.0713 | t:  0.0256
[2025-09-21 12:25:12,078][agent.pretrain.train_diffusion_agent][INFO] - 992: train loss   0.0712 | t:  0.0254
[2025-09-21 12:25:12,103][agent.pretrain.train_diffusion_agent][INFO] - 993: train loss   0.0672 | t:  0.0254
[2025-09-21 12:25:12,128][agent.pretrain.train_diffusion_agent][INFO] - 994: train loss   0.0652 | t:  0.0253
[2025-09-21 12:25:12,154][agent.pretrain.train_diffusion_agent][INFO] - 995: train loss   0.0641 | t:  0.0252
[2025-09-21 12:25:12,180][agent.pretrain.train_diffusion_agent][INFO] - 996: train loss   0.0664 | t:  0.0265
[2025-09-21 12:25:12,206][agent.pretrain.train_diffusion_agent][INFO] - 997: train loss   0.0695 | t:  0.0259
[2025-09-21 12:25:12,231][agent.pretrain.train_diffusion_agent][INFO] - 998: train loss   0.0676 | t:  0.0250
[2025-09-21 12:25:12,257][agent.pretrain.train_diffusion_agent][INFO] - 999: train loss   0.0636 | t:  0.0257
[2025-09-21 12:25:12,296][agent.pretrain.train_agent][INFO] - Saved model to /home/zbzhu/Code/dppo/log/robomimic-pretrain/square_pre_diffusion_mlp_ta4_td20/2025-09-21_12-24-39_42/checkpoint/state_1000.pt
[2025-09-21 12:25:12,296][agent.pretrain.train_diffusion_agent][INFO] - 1000: train loss   0.0602 | t:  0.0394