square/checkpoint_15/run.log

[2025-09-21 12:32:41,659][root][INFO] - Number of network parameters: 2305212
[2025-09-21 12:32:41,816][agent.dataset.sequence][INFO] - Loaded dataset from /home/zbzhu/Code/dppo/data/robomimic/square/train.npz
[2025-09-21 12:32:41,817][agent.dataset.sequence][INFO] - Number of episodes: 15
[2025-09-21 12:32:41,817][agent.dataset.sequence][INFO] - States shape/type: (torch.Size([2238, 23]), torch.float32)
[2025-09-21 12:32:41,817][agent.dataset.sequence][INFO] - Actions shape/type: (torch.Size([2238, 7]), torch.float32)
[2025-09-21 12:32:41,946][agent.pretrain.train_diffusion_agent][INFO] - 1: train loss   1.0297 | t:  0.1285
[2025-09-21 12:32:41,986][agent.pretrain.train_diffusion_agent][INFO] - 2: train loss   1.0179 | t:  0.0401
[2025-09-21 12:32:42,026][agent.pretrain.train_diffusion_agent][INFO] - 3: train loss   0.9934 | t:  0.0397
[2025-09-21 12:32:42,066][agent.pretrain.train_diffusion_agent][INFO] - 4: train loss   0.9901 | t:  0.0398
[2025-09-21 12:32:42,105][agent.pretrain.train_diffusion_agent][INFO] - 5: train loss   0.9639 | t:  0.0395
[2025-09-21 12:32:42,146][agent.pretrain.train_diffusion_agent][INFO] - 6: train loss   0.9375 | t:  0.0402
[2025-09-21 12:32:42,185][agent.pretrain.train_diffusion_agent][INFO] - 7: train loss   0.9277 | t:  0.0399
[2025-09-21 12:32:42,225][agent.pretrain.train_diffusion_agent][INFO] - 8: train loss   0.9105 | t:  0.0398
[2025-09-21 12:32:42,265][agent.pretrain.train_diffusion_agent][INFO] - 9: train loss   0.8873 | t:  0.0401
[2025-09-21 12:32:42,305][agent.pretrain.train_diffusion_agent][INFO] - 10: train loss   0.8649 | t:  0.0397
[2025-09-21 12:32:42,345][agent.pretrain.train_diffusion_agent][INFO] - 11: train loss   0.8551 | t:  0.0397
[2025-09-21 12:32:42,385][agent.pretrain.train_diffusion_agent][INFO] - 12: train loss   0.8160 | t:  0.0398
[2025-09-21 12:32:42,424][agent.pretrain.train_diffusion_agent][INFO] - 13: train loss   0.7974 | t:  0.0395
[2025-09-21 12:32:42,464][agent.pretrain.train_diffusion_agent][INFO] - 14: train loss   0.7717 | t:  0.0399
[2025-09-21 12:32:42,504][agent.pretrain.train_diffusion_agent][INFO] - 15: train loss   0.7406 | t:  0.0397
[2025-09-21 12:32:42,544][agent.pretrain.train_diffusion_agent][INFO] - 16: train loss   0.7130 | t:  0.0399
[2025-09-21 12:32:42,583][agent.pretrain.train_diffusion_agent][INFO] - 17: train loss   0.6975 | t:  0.0397
[2025-09-21 12:32:42,623][agent.pretrain.train_diffusion_agent][INFO] - 18: train loss   0.6524 | t:  0.0396
[2025-09-21 12:32:42,662][agent.pretrain.train_diffusion_agent][INFO] - 19: train loss   0.6306 | t:  0.0396
[2025-09-21 12:32:42,702][agent.pretrain.train_diffusion_agent][INFO] - 20: train loss   0.5939 | t:  0.0393
[2025-09-21 12:32:42,742][agent.pretrain.train_diffusion_agent][INFO] - 21: train loss   0.5582 | t:  0.0399
[2025-09-21 12:32:42,781][agent.pretrain.train_diffusion_agent][INFO] - 22: train loss   0.5316 | t:  0.0397
[2025-09-21 12:32:42,821][agent.pretrain.train_diffusion_agent][INFO] - 23: train loss   0.4960 | t:  0.0400
[2025-09-21 12:32:42,861][agent.pretrain.train_diffusion_agent][INFO] - 24: train loss   0.4540 | t:  0.0397
[2025-09-21 12:32:42,901][agent.pretrain.train_diffusion_agent][INFO] - 25: train loss   0.4344 | t:  0.0397
[2025-09-21 12:32:42,940][agent.pretrain.train_diffusion_agent][INFO] - 26: train loss   0.3977 | t:  0.0397
[2025-09-21 12:32:42,980][agent.pretrain.train_diffusion_agent][INFO] - 27: train loss   0.3636 | t:  0.0396
[2025-09-21 12:32:43,020][agent.pretrain.train_diffusion_agent][INFO] - 28: train loss   0.3332 | t:  0.0396
[2025-09-21 12:32:43,060][agent.pretrain.train_diffusion_agent][INFO] - 29: train loss   0.2947 | t:  0.0403
[2025-09-21 12:32:43,100][agent.pretrain.train_diffusion_agent][INFO] - 30: train loss   0.2719 | t:  0.0396
[2025-09-21 12:32:43,141][agent.pretrain.train_diffusion_agent][INFO] - 31: train loss   0.2466 | t:  0.0416
[2025-09-21 12:32:43,183][agent.pretrain.train_diffusion_agent][INFO] - 32: train loss   0.2339 | t:  0.0415
[2025-09-21 12:32:43,225][agent.pretrain.train_diffusion_agent][INFO] - 33: train loss   0.2232 | t:  0.0418
[2025-09-21 12:32:43,266][agent.pretrain.train_diffusion_agent][INFO] - 34: train loss   0.2224 | t:  0.0419
[2025-09-21 12:32:43,308][agent.pretrain.train_diffusion_agent][INFO] - 35: train loss   0.2202 | t:  0.0417
[2025-09-21 12:32:43,350][agent.pretrain.train_diffusion_agent][INFO] - 36: train loss   0.2187 | t:  0.0415
[2025-09-21 12:32:43,391][agent.pretrain.train_diffusion_agent][INFO] - 37: train loss   0.2124 | t:  0.0415
[2025-09-21 12:32:43,433][agent.pretrain.train_diffusion_agent][INFO] - 38: train loss   0.2083 | t:  0.0415
[2025-09-21 12:32:43,474][agent.pretrain.train_diffusion_agent][INFO] - 39: train loss   0.2169 | t:  0.0408
[2025-09-21 12:32:43,515][agent.pretrain.train_diffusion_agent][INFO] - 40: train loss   0.2050 | t:  0.0410
[2025-09-21 12:32:43,556][agent.pretrain.train_diffusion_agent][INFO] - 41: train loss   0.2064 | t:  0.0417
[2025-09-21 12:32:43,598][agent.pretrain.train_diffusion_agent][INFO] - 42: train loss   0.2040 | t:  0.0417
[2025-09-21 12:32:43,640][agent.pretrain.train_diffusion_agent][INFO] - 43: train loss   0.2054 | t:  0.0418
[2025-09-21 12:32:43,683][agent.pretrain.train_diffusion_agent][INFO] - 44: train loss   0.2139 | t:  0.0433
[2025-09-21 12:32:43,725][agent.pretrain.train_diffusion_agent][INFO] - 45: train loss   0.2031 | t:  0.0418
[2025-09-21 12:32:43,766][agent.pretrain.train_diffusion_agent][INFO] - 46: train loss   0.2002 | t:  0.0414
[2025-09-21 12:32:43,808][agent.pretrain.train_diffusion_agent][INFO] - 47: train loss   0.2032 | t:  0.0413
[2025-09-21 12:32:43,849][agent.pretrain.train_diffusion_agent][INFO] - 48: train loss   0.2014 | t:  0.0413
[2025-09-21 12:32:43,890][agent.pretrain.train_diffusion_agent][INFO] - 49: train loss   0.1954 | t:  0.0416
[2025-09-21 12:32:43,932][agent.pretrain.train_diffusion_agent][INFO] - 50: train loss   0.2011 | t:  0.0411
[2025-09-21 12:32:43,973][agent.pretrain.train_diffusion_agent][INFO] - 51: train loss   0.2054 | t:  0.0415
[2025-09-21 12:32:44,015][agent.pretrain.train_diffusion_agent][INFO] - 52: train loss   0.2078 | t:  0.0415
[2025-09-21 12:32:44,056][agent.pretrain.train_diffusion_agent][INFO] - 53: train loss   0.2010 | t:  0.0413
[2025-09-21 12:32:44,096][agent.pretrain.train_diffusion_agent][INFO] - 54: train loss   0.1985 | t:  0.0403
[2025-09-21 12:32:44,138][agent.pretrain.train_diffusion_agent][INFO] - 55: train loss   0.1947 | t:  0.0415
[2025-09-21 12:32:44,242][agent.pretrain.train_diffusion_agent][INFO] - 56: train loss   0.1967 | t:  0.1043
[2025-09-21 12:32:44,283][agent.pretrain.train_diffusion_agent][INFO] - 57: train loss   0.1973 | t:  0.0413
[2025-09-21 12:32:44,324][agent.pretrain.train_diffusion_agent][INFO] - 58: train loss   0.2026 | t:  0.0412
[2025-09-21 12:32:44,366][agent.pretrain.train_diffusion_agent][INFO] - 59: train loss   0.1941 | t:  0.0416
[2025-09-21 12:32:44,407][agent.pretrain.train_diffusion_agent][INFO] - 60: train loss   0.2000 | t:  0.0412
[2025-09-21 12:32:44,449][agent.pretrain.train_diffusion_agent][INFO] - 61: train loss   0.1925 | t:  0.0415
[2025-09-21 12:32:44,489][agent.pretrain.train_diffusion_agent][INFO] - 62: train loss   0.1988 | t:  0.0407
[2025-09-21 12:32:44,530][agent.pretrain.train_diffusion_agent][INFO] - 63: train loss   0.1980 | t:  0.0406
[2025-09-21 12:32:44,572][agent.pretrain.train_diffusion_agent][INFO] - 64: train loss   0.1891 | t:  0.0417
[2025-09-21 12:32:44,613][agent.pretrain.train_diffusion_agent][INFO] - 65: train loss   0.1938 | t:  0.0415
[2025-09-21 12:32:44,655][agent.pretrain.train_diffusion_agent][INFO] - 66: train loss   0.1861 | t:  0.0414
[2025-09-21 12:32:44,695][agent.pretrain.train_diffusion_agent][INFO] - 67: train loss   0.1842 | t:  0.0408
[2025-09-21 12:32:44,737][agent.pretrain.train_diffusion_agent][INFO] - 68: train loss   0.1865 | t:  0.0417
[2025-09-21 12:32:44,779][agent.pretrain.train_diffusion_agent][INFO] - 69: train loss   0.1725 | t:  0.0415
[2025-09-21 12:32:44,820][agent.pretrain.train_diffusion_agent][INFO] - 70: train loss   0.1793 | t:  0.0412
[2025-09-21 12:32:44,861][agent.pretrain.train_diffusion_agent][INFO] - 71: train loss   0.1853 | t:  0.0416
[2025-09-21 12:32:44,902][agent.pretrain.train_diffusion_agent][INFO] - 72: train loss   0.1808 | t:  0.0404
[2025-09-21 12:32:44,943][agent.pretrain.train_diffusion_agent][INFO] - 73: train loss   0.1789 | t:  0.0412
[2025-09-21 12:32:44,985][agent.pretrain.train_diffusion_agent][INFO] - 74: train loss   0.1663 | t:  0.0416
[2025-09-21 12:32:45,026][agent.pretrain.train_diffusion_agent][INFO] - 75: train loss   0.1749 | t:  0.0415
[2025-09-21 12:32:45,068][agent.pretrain.train_diffusion_agent][INFO] - 76: train loss   0.1705 | t:  0.0414
[2025-09-21 12:32:45,108][agent.pretrain.train_diffusion_agent][INFO] - 77: train loss   0.1657 | t:  0.0409
[2025-09-21 12:32:45,150][agent.pretrain.train_diffusion_agent][INFO] - 78: train loss   0.1606 | t:  0.0418
[2025-09-21 12:32:45,192][agent.pretrain.train_diffusion_agent][INFO] - 79: train loss   0.1688 | t:  0.0417
[2025-09-21 12:32:45,233][agent.pretrain.train_diffusion_agent][INFO] - 80: train loss   0.1552 | t:  0.0409
[2025-09-21 12:32:45,275][agent.pretrain.train_diffusion_agent][INFO] - 81: train loss   0.1596 | t:  0.0417
[2025-09-21 12:32:45,316][agent.pretrain.train_diffusion_agent][INFO] - 82: train loss   0.1507 | t:  0.0414
[2025-09-21 12:32:45,357][agent.pretrain.train_diffusion_agent][INFO] - 83: train loss   0.1521 | t:  0.0414
[2025-09-21 12:32:45,399][agent.pretrain.train_diffusion_agent][INFO] - 84: train loss   0.1461 | t:  0.0415
[2025-09-21 12:32:45,440][agent.pretrain.train_diffusion_agent][INFO] - 85: train loss   0.1490 | t:  0.0414
[2025-09-21 12:32:45,481][agent.pretrain.train_diffusion_agent][INFO] - 86: train loss   0.1341 | t:  0.0412
[2025-09-21 12:32:45,522][agent.pretrain.train_diffusion_agent][INFO] - 87: train loss   0.1416 | t:  0.0410
[2025-09-21 12:32:45,564][agent.pretrain.train_diffusion_agent][INFO] - 88: train loss   0.1474 | t:  0.0416
[2025-09-21 12:32:45,606][agent.pretrain.train_diffusion_agent][INFO] - 89: train loss   0.1464 | t:  0.0416
[2025-09-21 12:32:45,647][agent.pretrain.train_diffusion_agent][INFO] - 90: train loss   0.1409 | t:  0.0414
[2025-09-21 12:32:45,688][agent.pretrain.train_diffusion_agent][INFO] - 91: train loss   0.1390 | t:  0.0411
[2025-09-21 12:32:45,729][agent.pretrain.train_diffusion_agent][INFO] - 92: train loss   0.1438 | t:  0.0404
[2025-09-21 12:32:45,770][agent.pretrain.train_diffusion_agent][INFO] - 93: train loss   0.1389 | t:  0.0415
[2025-09-21 12:32:45,811][agent.pretrain.train_diffusion_agent][INFO] - 94: train loss   0.1362 | t:  0.0407
[2025-09-21 12:32:45,850][agent.pretrain.train_diffusion_agent][INFO] - 95: train loss   0.1434 | t:  0.0397
[2025-09-21 12:32:45,891][agent.pretrain.train_diffusion_agent][INFO] - 96: train loss   0.1372 | t:  0.0406
[2025-09-21 12:32:45,931][agent.pretrain.train_diffusion_agent][INFO] - 97: train loss   0.1277 | t:  0.0398
[2025-09-21 12:32:45,970][agent.pretrain.train_diffusion_agent][INFO] - 98: train loss   0.1276 | t:  0.0397
[2025-09-21 12:32:46,010][agent.pretrain.train_diffusion_agent][INFO] - 99: train loss   0.1273 | t:  0.0396
[2025-09-21 12:32:46,050][agent.pretrain.train_diffusion_agent][INFO] - 100: train loss   0.1320 | t:  0.0396
[2025-09-21 12:32:46,090][agent.pretrain.train_diffusion_agent][INFO] - 101: train loss   0.1312 | t:  0.0403
[2025-09-21 12:32:46,130][agent.pretrain.train_diffusion_agent][INFO] - 102: train loss   0.1287 | t:  0.0403
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[2025-09-21 12:32:46,290][agent.pretrain.train_diffusion_agent][INFO] - 106: train loss   0.1258 | t:  0.0404
[2025-09-21 12:32:46,329][agent.pretrain.train_diffusion_agent][INFO] - 107: train loss   0.1257 | t:  0.0398
[2025-09-21 12:32:46,369][agent.pretrain.train_diffusion_agent][INFO] - 108: train loss   0.1214 | t:  0.0395
[2025-09-21 12:32:46,408][agent.pretrain.train_diffusion_agent][INFO] - 109: train loss   0.1203 | t:  0.0396
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[2025-09-21 12:32:46,488][agent.pretrain.train_diffusion_agent][INFO] - 111: train loss   0.1239 | t:  0.0402
[2025-09-21 12:32:46,528][agent.pretrain.train_diffusion_agent][INFO] - 112: train loss   0.1236 | t:  0.0396
[2025-09-21 12:32:46,567][agent.pretrain.train_diffusion_agent][INFO] - 113: train loss   0.1169 | t:  0.0398
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[2025-09-21 12:32:46,646][agent.pretrain.train_diffusion_agent][INFO] - 115: train loss   0.1219 | t:  0.0395
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[2025-09-21 12:32:46,963][agent.pretrain.train_diffusion_agent][INFO] - 123: train loss   0.1177 | t:  0.0396
[2025-09-21 12:32:47,002][agent.pretrain.train_diffusion_agent][INFO] - 124: train loss   0.1193 | t:  0.0394
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[2025-09-21 12:32:48,467][agent.pretrain.train_diffusion_agent][INFO] - 161: train loss   0.1092 | t:  0.0396
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[2025-09-21 12:32:50,110][agent.pretrain.train_agent][INFO] - Saved model to /home/zbzhu/Code/dppo/log/robomimic-pretrain/square_pre_diffusion_mlp_ta4_td20/2025-09-21_12-32-35_42/checkpoint/state_200.pt
[2025-09-21 12:32:50,111][agent.pretrain.train_diffusion_agent][INFO] - 200: train loss   0.1049 | t:  0.0549
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[2025-09-21 12:32:58,399][agent.pretrain.train_agent][INFO] - Saved model to /home/zbzhu/Code/dppo/log/robomimic-pretrain/square_pre_diffusion_mlp_ta4_td20/2025-09-21_12-32-35_42/checkpoint/state_400.pt
[2025-09-21 12:32:58,399][agent.pretrain.train_diffusion_agent][INFO] - 400: train loss   0.0846 | t:  0.0547
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[2025-09-21 12:33:02,030][agent.pretrain.train_diffusion_agent][INFO] - 487: train loss   0.0748 | t:  0.0415
[2025-09-21 12:33:02,071][agent.pretrain.train_diffusion_agent][INFO] - 488: train loss   0.0780 | t:  0.0412
[2025-09-21 12:33:02,112][agent.pretrain.train_diffusion_agent][INFO] - 489: train loss   0.0731 | t:  0.0416
[2025-09-21 12:33:02,154][agent.pretrain.train_diffusion_agent][INFO] - 490: train loss   0.0753 | t:  0.0413
[2025-09-21 12:33:02,195][agent.pretrain.train_diffusion_agent][INFO] - 491: train loss   0.0746 | t:  0.0411
[2025-09-21 12:33:02,235][agent.pretrain.train_diffusion_agent][INFO] - 492: train loss   0.0798 | t:  0.0407
[2025-09-21 12:33:02,276][agent.pretrain.train_diffusion_agent][INFO] - 493: train loss   0.0749 | t:  0.0401
[2025-09-21 12:33:02,316][agent.pretrain.train_diffusion_agent][INFO] - 494: train loss   0.0790 | t:  0.0406
[2025-09-21 12:33:02,356][agent.pretrain.train_diffusion_agent][INFO] - 495: train loss   0.0794 | t:  0.0401
[2025-09-21 12:33:02,396][agent.pretrain.train_diffusion_agent][INFO] - 496: train loss   0.0786 | t:  0.0400
[2025-09-21 12:33:02,437][agent.pretrain.train_diffusion_agent][INFO] - 497: train loss   0.0719 | t:  0.0405
[2025-09-21 12:33:02,478][agent.pretrain.train_diffusion_agent][INFO] - 498: train loss   0.0761 | t:  0.0415
[2025-09-21 12:33:02,519][agent.pretrain.train_diffusion_agent][INFO] - 499: train loss   0.0728 | t:  0.0412
[2025-09-21 12:33:02,560][agent.pretrain.train_diffusion_agent][INFO] - 500: train loss   0.0741 | t:  0.0410
[2025-09-21 12:33:02,602][agent.pretrain.train_diffusion_agent][INFO] - 501: train loss   0.0790 | t:  0.0416
[2025-09-21 12:33:02,644][agent.pretrain.train_diffusion_agent][INFO] - 502: train loss   0.0734 | t:  0.0415
[2025-09-21 12:33:02,685][agent.pretrain.train_diffusion_agent][INFO] - 503: train loss   0.0774 | t:  0.0413
[2025-09-21 12:33:02,726][agent.pretrain.train_diffusion_agent][INFO] - 504: train loss   0.0749 | t:  0.0408
[2025-09-21 12:33:02,767][agent.pretrain.train_diffusion_agent][INFO] - 505: train loss   0.0803 | t:  0.0412
[2025-09-21 12:33:02,808][agent.pretrain.train_diffusion_agent][INFO] - 506: train loss   0.0732 | t:  0.0411
[2025-09-21 12:33:02,848][agent.pretrain.train_diffusion_agent][INFO] - 507: train loss   0.0794 | t:  0.0402
[2025-09-21 12:33:02,889][agent.pretrain.train_diffusion_agent][INFO] - 508: train loss   0.0759 | t:  0.0410
[2025-09-21 12:33:02,931][agent.pretrain.train_diffusion_agent][INFO] - 509: train loss   0.0795 | t:  0.0416
[2025-09-21 12:33:02,971][agent.pretrain.train_diffusion_agent][INFO] - 510: train loss   0.0755 | t:  0.0408
[2025-09-21 12:33:03,013][agent.pretrain.train_diffusion_agent][INFO] - 511: train loss   0.0718 | t:  0.0414
[2025-09-21 12:33:03,054][agent.pretrain.train_diffusion_agent][INFO] - 512: train loss   0.0794 | t:  0.0415
[2025-09-21 12:33:03,096][agent.pretrain.train_diffusion_agent][INFO] - 513: train loss   0.0786 | t:  0.0415
[2025-09-21 12:33:03,138][agent.pretrain.train_diffusion_agent][INFO] - 514: train loss   0.0761 | t:  0.0417
[2025-09-21 12:33:03,179][agent.pretrain.train_diffusion_agent][INFO] - 515: train loss   0.0807 | t:  0.0413
[2025-09-21 12:33:03,220][agent.pretrain.train_diffusion_agent][INFO] - 516: train loss   0.0727 | t:  0.0415
[2025-09-21 12:33:03,262][agent.pretrain.train_diffusion_agent][INFO] - 517: train loss   0.0708 | t:  0.0412
[2025-09-21 12:33:03,303][agent.pretrain.train_diffusion_agent][INFO] - 518: train loss   0.0784 | t:  0.0412
[2025-09-21 12:33:03,343][agent.pretrain.train_diffusion_agent][INFO] - 519: train loss   0.0725 | t:  0.0405
[2025-09-21 12:33:03,383][agent.pretrain.train_diffusion_agent][INFO] - 520: train loss   0.0786 | t:  0.0399
[2025-09-21 12:33:03,424][agent.pretrain.train_diffusion_agent][INFO] - 521: train loss   0.0780 | t:  0.0403
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[2025-09-21 12:33:03,504][agent.pretrain.train_diffusion_agent][INFO] - 523: train loss   0.0758 | t:  0.0410
[2025-09-21 12:33:03,545][agent.pretrain.train_diffusion_agent][INFO] - 524: train loss   0.0774 | t:  0.0411
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[2025-09-21 12:33:04,860][agent.pretrain.train_diffusion_agent][INFO] - 556: train loss   0.0680 | t:  0.0413
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[2025-09-21 12:33:05,555][agent.pretrain.train_diffusion_agent][INFO] - 573: train loss   0.0754 | t:  0.0405
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[2025-09-21 12:33:06,048][agent.pretrain.train_diffusion_agent][INFO] - 585: train loss   0.0721 | t:  0.0417
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[2025-09-21 12:33:06,256][agent.pretrain.train_diffusion_agent][INFO] - 590: train loss   0.0710 | t:  0.0411
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[2025-09-21 12:33:06,377][agent.pretrain.train_diffusion_agent][INFO] - 593: train loss   0.0745 | t:  0.0399
[2025-09-21 12:33:06,418][agent.pretrain.train_diffusion_agent][INFO] - 594: train loss   0.0716 | t:  0.0408
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[2025-09-21 12:33:06,554][agent.pretrain.train_diffusion_agent][INFO] - 596: train loss   0.0757 | t:  0.0950
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[2025-09-21 12:33:06,682][agent.pretrain.train_diffusion_agent][INFO] - 599: train loss   0.0658 | t:  0.0416
[2025-09-21 12:33:06,736][agent.pretrain.train_agent][INFO] - Saved model to /home/zbzhu/Code/dppo/log/robomimic-pretrain/square_pre_diffusion_mlp_ta4_td20/2025-09-21_12-32-35_42/checkpoint/state_600.pt
[2025-09-21 12:33:06,736][agent.pretrain.train_diffusion_agent][INFO] - 600: train loss   0.0746 | t:  0.0544
[2025-09-21 12:33:06,779][agent.pretrain.train_diffusion_agent][INFO] - 601: train loss   0.0719 | t:  0.0424
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[2025-09-21 12:33:06,862][agent.pretrain.train_diffusion_agent][INFO] - 603: train loss   0.0670 | t:  0.0418
[2025-09-21 12:33:06,904][agent.pretrain.train_diffusion_agent][INFO] - 604: train loss   0.0794 | t:  0.0418
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[2025-09-21 12:33:06,987][agent.pretrain.train_diffusion_agent][INFO] - 606: train loss   0.0704 | t:  0.0417
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[2025-09-21 12:33:07,191][agent.pretrain.train_diffusion_agent][INFO] - 611: train loss   0.0749 | t:  0.0408
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[2025-09-21 12:33:07,273][agent.pretrain.train_diffusion_agent][INFO] - 613: train loss   0.0724 | t:  0.0406
[2025-09-21 12:33:07,314][agent.pretrain.train_diffusion_agent][INFO] - 614: train loss   0.0738 | t:  0.0411
[2025-09-21 12:33:07,355][agent.pretrain.train_diffusion_agent][INFO] - 615: train loss   0.0722 | t:  0.0412
[2025-09-21 12:33:07,396][agent.pretrain.train_diffusion_agent][INFO] - 616: train loss   0.0730 | t:  0.0414
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[2025-09-21 12:33:07,479][agent.pretrain.train_diffusion_agent][INFO] - 618: train loss   0.0713 | t:  0.0411
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[2025-09-21 12:33:07,602][agent.pretrain.train_diffusion_agent][INFO] - 621: train loss   0.0687 | t:  0.0406
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[2025-09-21 12:33:07,723][agent.pretrain.train_diffusion_agent][INFO] - 624: train loss   0.0702 | t:  0.0411
[2025-09-21 12:33:07,763][agent.pretrain.train_diffusion_agent][INFO] - 625: train loss   0.0705 | t:  0.0400
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[2025-09-21 12:33:07,964][agent.pretrain.train_diffusion_agent][INFO] - 630: train loss   0.0697 | t:  0.0405
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[2025-09-21 12:33:08,046][agent.pretrain.train_diffusion_agent][INFO] - 632: train loss   0.0708 | t:  0.0408
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[2025-09-21 12:33:08,208][agent.pretrain.train_diffusion_agent][INFO] - 636: train loss   0.0718 | t:  0.0415
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[2025-09-21 12:33:08,369][agent.pretrain.train_diffusion_agent][INFO] - 640: train loss   0.0721 | t:  0.0395
[2025-09-21 12:33:08,409][agent.pretrain.train_diffusion_agent][INFO] - 641: train loss   0.0660 | t:  0.0401
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[2025-09-21 12:33:08,530][agent.pretrain.train_diffusion_agent][INFO] - 644: train loss   0.0686 | t:  0.0401
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[2025-09-21 12:33:08,610][agent.pretrain.train_diffusion_agent][INFO] - 646: train loss   0.0755 | t:  0.0401
[2025-09-21 12:33:08,651][agent.pretrain.train_diffusion_agent][INFO] - 647: train loss   0.0738 | t:  0.0409
[2025-09-21 12:33:08,692][agent.pretrain.train_diffusion_agent][INFO] - 648: train loss   0.0697 | t:  0.0412
[2025-09-21 12:33:08,734][agent.pretrain.train_diffusion_agent][INFO] - 649: train loss   0.0695 | t:  0.0412
[2025-09-21 12:33:08,775][agent.pretrain.train_diffusion_agent][INFO] - 650: train loss   0.0710 | t:  0.0409
[2025-09-21 12:33:08,816][agent.pretrain.train_diffusion_agent][INFO] - 651: train loss   0.0742 | t:  0.0410
[2025-09-21 12:33:08,856][agent.pretrain.train_diffusion_agent][INFO] - 652: train loss   0.0685 | t:  0.0402
[2025-09-21 12:33:08,896][agent.pretrain.train_diffusion_agent][INFO] - 653: train loss   0.0713 | t:  0.0402
[2025-09-21 12:33:08,937][agent.pretrain.train_diffusion_agent][INFO] - 654: train loss   0.0749 | t:  0.0413
[2025-09-21 12:33:08,979][agent.pretrain.train_diffusion_agent][INFO] - 655: train loss   0.0738 | t:  0.0413
[2025-09-21 12:33:09,020][agent.pretrain.train_diffusion_agent][INFO] - 656: train loss   0.0689 | t:  0.0411
[2025-09-21 12:33:09,061][agent.pretrain.train_diffusion_agent][INFO] - 657: train loss   0.0715 | t:  0.0414
[2025-09-21 12:33:09,102][agent.pretrain.train_diffusion_agent][INFO] - 658: train loss   0.0717 | t:  0.0412
[2025-09-21 12:33:09,144][agent.pretrain.train_diffusion_agent][INFO] - 659: train loss   0.0741 | t:  0.0417
[2025-09-21 12:33:09,185][agent.pretrain.train_diffusion_agent][INFO] - 660: train loss   0.0698 | t:  0.0410
[2025-09-21 12:33:09,226][agent.pretrain.train_diffusion_agent][INFO] - 661: train loss   0.0766 | t:  0.0412
[2025-09-21 12:33:09,268][agent.pretrain.train_diffusion_agent][INFO] - 662: train loss   0.0689 | t:  0.0412
[2025-09-21 12:33:09,309][agent.pretrain.train_diffusion_agent][INFO] - 663: train loss   0.0679 | t:  0.0413
[2025-09-21 12:33:09,350][agent.pretrain.train_diffusion_agent][INFO] - 664: train loss   0.0726 | t:  0.0413
[2025-09-21 12:33:09,391][agent.pretrain.train_diffusion_agent][INFO] - 665: train loss   0.0766 | t:  0.0413
[2025-09-21 12:33:09,433][agent.pretrain.train_diffusion_agent][INFO] - 666: train loss   0.0687 | t:  0.0414
[2025-09-21 12:33:09,474][agent.pretrain.train_diffusion_agent][INFO] - 667: train loss   0.0693 | t:  0.0413
[2025-09-21 12:33:09,515][agent.pretrain.train_diffusion_agent][INFO] - 668: train loss   0.0709 | t:  0.0414
[2025-09-21 12:33:09,557][agent.pretrain.train_diffusion_agent][INFO] - 669: train loss   0.0692 | t:  0.0413
[2025-09-21 12:33:09,598][agent.pretrain.train_diffusion_agent][INFO] - 670: train loss   0.0716 | t:  0.0410
[2025-09-21 12:33:09,639][agent.pretrain.train_diffusion_agent][INFO] - 671: train loss   0.0691 | t:  0.0412
[2025-09-21 12:33:09,679][agent.pretrain.train_diffusion_agent][INFO] - 672: train loss   0.0710 | t:  0.0403
[2025-09-21 12:33:09,720][agent.pretrain.train_diffusion_agent][INFO] - 673: train loss   0.0754 | t:  0.0407
[2025-09-21 12:33:09,761][agent.pretrain.train_diffusion_agent][INFO] - 674: train loss   0.0716 | t:  0.0408
[2025-09-21 12:33:09,802][agent.pretrain.train_diffusion_agent][INFO] - 675: train loss   0.0772 | t:  0.0413
[2025-09-21 12:33:09,844][agent.pretrain.train_diffusion_agent][INFO] - 676: train loss   0.0707 | t:  0.0415
[2025-09-21 12:33:09,886][agent.pretrain.train_diffusion_agent][INFO] - 677: train loss   0.0684 | t:  0.0428
[2025-09-21 12:33:09,927][agent.pretrain.train_diffusion_agent][INFO] - 678: train loss   0.0678 | t:  0.0403
[2025-09-21 12:33:09,967][agent.pretrain.train_diffusion_agent][INFO] - 679: train loss   0.0681 | t:  0.0401
[2025-09-21 12:33:10,007][agent.pretrain.train_diffusion_agent][INFO] - 680: train loss   0.0698 | t:  0.0398
[2025-09-21 12:33:10,047][agent.pretrain.train_diffusion_agent][INFO] - 681: train loss   0.0699 | t:  0.0401
[2025-09-21 12:33:10,088][agent.pretrain.train_diffusion_agent][INFO] - 682: train loss   0.0695 | t:  0.0411
[2025-09-21 12:33:10,129][agent.pretrain.train_diffusion_agent][INFO] - 683: train loss   0.0732 | t:  0.0415
[2025-09-21 12:33:10,170][agent.pretrain.train_diffusion_agent][INFO] - 684: train loss   0.0738 | t:  0.0405
[2025-09-21 12:33:10,210][agent.pretrain.train_diffusion_agent][INFO] - 685: train loss   0.0711 | t:  0.0404
[2025-09-21 12:33:10,251][agent.pretrain.train_diffusion_agent][INFO] - 686: train loss   0.0692 | t:  0.0405
[2025-09-21 12:33:10,291][agent.pretrain.train_diffusion_agent][INFO] - 687: train loss   0.0695 | t:  0.0400
[2025-09-21 12:33:10,331][agent.pretrain.train_diffusion_agent][INFO] - 688: train loss   0.0689 | t:  0.0402
[2025-09-21 12:33:10,371][agent.pretrain.train_diffusion_agent][INFO] - 689: train loss   0.0664 | t:  0.0403
[2025-09-21 12:33:10,411][agent.pretrain.train_diffusion_agent][INFO] - 690: train loss   0.0689 | t:  0.0400
[2025-09-21 12:33:10,451][agent.pretrain.train_diffusion_agent][INFO] - 691: train loss   0.0721 | t:  0.0402
[2025-09-21 12:33:10,492][agent.pretrain.train_diffusion_agent][INFO] - 692: train loss   0.0683 | t:  0.0403
[2025-09-21 12:33:10,532][agent.pretrain.train_diffusion_agent][INFO] - 693: train loss   0.0718 | t:  0.0401
[2025-09-21 12:33:10,572][agent.pretrain.train_diffusion_agent][INFO] - 694: train loss   0.0729 | t:  0.0404
[2025-09-21 12:33:10,612][agent.pretrain.train_diffusion_agent][INFO] - 695: train loss   0.0706 | t:  0.0402
[2025-09-21 12:33:10,653][agent.pretrain.train_diffusion_agent][INFO] - 696: train loss   0.0698 | t:  0.0411
[2025-09-21 12:33:10,695][agent.pretrain.train_diffusion_agent][INFO] - 697: train loss   0.0695 | t:  0.0414
[2025-09-21 12:33:10,736][agent.pretrain.train_diffusion_agent][INFO] - 698: train loss   0.0690 | t:  0.0415
[2025-09-21 12:33:10,778][agent.pretrain.train_diffusion_agent][INFO] - 699: train loss   0.0704 | t:  0.0415
[2025-09-21 12:33:10,819][agent.pretrain.train_diffusion_agent][INFO] - 700: train loss   0.0736 | t:  0.0410
[2025-09-21 12:33:10,860][agent.pretrain.train_diffusion_agent][INFO] - 701: train loss   0.0653 | t:  0.0411
[2025-09-21 12:33:10,900][agent.pretrain.train_diffusion_agent][INFO] - 702: train loss   0.0654 | t:  0.0401
[2025-09-21 12:33:10,941][agent.pretrain.train_diffusion_agent][INFO] - 703: train loss   0.0708 | t:  0.0413
[2025-09-21 12:33:10,982][agent.pretrain.train_diffusion_agent][INFO] - 704: train loss   0.0718 | t:  0.0413
[2025-09-21 12:33:11,024][agent.pretrain.train_diffusion_agent][INFO] - 705: train loss   0.0701 | t:  0.0414
[2025-09-21 12:33:11,065][agent.pretrain.train_diffusion_agent][INFO] - 706: train loss   0.0692 | t:  0.0413
[2025-09-21 12:33:11,106][agent.pretrain.train_diffusion_agent][INFO] - 707: train loss   0.0658 | t:  0.0411
[2025-09-21 12:33:11,148][agent.pretrain.train_diffusion_agent][INFO] - 708: train loss   0.0691 | t:  0.0421
[2025-09-21 12:33:11,190][agent.pretrain.train_diffusion_agent][INFO] - 709: train loss   0.0704 | t:  0.0413
[2025-09-21 12:33:11,230][agent.pretrain.train_diffusion_agent][INFO] - 710: train loss   0.0692 | t:  0.0409
[2025-09-21 12:33:11,272][agent.pretrain.train_diffusion_agent][INFO] - 711: train loss   0.0736 | t:  0.0414
[2025-09-21 12:33:11,313][agent.pretrain.train_diffusion_agent][INFO] - 712: train loss   0.0687 | t:  0.0412
[2025-09-21 12:33:11,354][agent.pretrain.train_diffusion_agent][INFO] - 713: train loss   0.0698 | t:  0.0412
[2025-09-21 12:33:11,396][agent.pretrain.train_diffusion_agent][INFO] - 714: train loss   0.0705 | t:  0.0413
[2025-09-21 12:33:11,440][agent.pretrain.train_diffusion_agent][INFO] - 715: train loss   0.0679 | t:  0.0449
[2025-09-21 12:33:11,483][agent.pretrain.train_diffusion_agent][INFO] - 716: train loss   0.0715 | t:  0.0422
[2025-09-21 12:33:11,529][agent.pretrain.train_diffusion_agent][INFO] - 717: train loss   0.0695 | t:  0.0466
[2025-09-21 12:33:11,571][agent.pretrain.train_diffusion_agent][INFO] - 718: train loss   0.0677 | t:  0.0417
[2025-09-21 12:33:11,621][agent.pretrain.train_diffusion_agent][INFO] - 719: train loss   0.0718 | t:  0.0495
[2025-09-21 12:33:11,662][agent.pretrain.train_diffusion_agent][INFO] - 720: train loss   0.0761 | t:  0.0411
[2025-09-21 12:33:11,702][agent.pretrain.train_diffusion_agent][INFO] - 721: train loss   0.0700 | t:  0.0403
[2025-09-21 12:33:11,742][agent.pretrain.train_diffusion_agent][INFO] - 722: train loss   0.0669 | t:  0.0405
[2025-09-21 12:33:11,783][agent.pretrain.train_diffusion_agent][INFO] - 723: train loss   0.0715 | t:  0.0405
[2025-09-21 12:33:11,825][agent.pretrain.train_diffusion_agent][INFO] - 724: train loss   0.0692 | t:  0.0418
[2025-09-21 12:33:11,865][agent.pretrain.train_diffusion_agent][INFO] - 725: train loss   0.0768 | t:  0.0407
[2025-09-21 12:33:11,906][agent.pretrain.train_diffusion_agent][INFO] - 726: train loss   0.0686 | t:  0.0410
[2025-09-21 12:33:11,948][agent.pretrain.train_diffusion_agent][INFO] - 727: train loss   0.0691 | t:  0.0414
[2025-09-21 12:33:11,989][agent.pretrain.train_diffusion_agent][INFO] - 728: train loss   0.0690 | t:  0.0414
[2025-09-21 12:33:12,031][agent.pretrain.train_diffusion_agent][INFO] - 729: train loss   0.0686 | t:  0.0414
[2025-09-21 12:33:12,072][agent.pretrain.train_diffusion_agent][INFO] - 730: train loss   0.0703 | t:  0.0410
[2025-09-21 12:33:12,169][agent.pretrain.train_diffusion_agent][INFO] - 731: train loss   0.0665 | t:  0.0973
[2025-09-21 12:33:12,212][agent.pretrain.train_diffusion_agent][INFO] - 732: train loss   0.0665 | t:  0.0432
[2025-09-21 12:33:12,253][agent.pretrain.train_diffusion_agent][INFO] - 733: train loss   0.0704 | t:  0.0406
[2025-09-21 12:33:12,293][agent.pretrain.train_diffusion_agent][INFO] - 734: train loss   0.0707 | t:  0.0406
[2025-09-21 12:33:12,333][agent.pretrain.train_diffusion_agent][INFO] - 735: train loss   0.0700 | t:  0.0398
[2025-09-21 12:33:12,373][agent.pretrain.train_diffusion_agent][INFO] - 736: train loss   0.0744 | t:  0.0400
[2025-09-21 12:33:12,413][agent.pretrain.train_diffusion_agent][INFO] - 737: train loss   0.0676 | t:  0.0401
[2025-09-21 12:33:12,453][agent.pretrain.train_diffusion_agent][INFO] - 738: train loss   0.0676 | t:  0.0402
[2025-09-21 12:33:12,494][agent.pretrain.train_diffusion_agent][INFO] - 739: train loss   0.0676 | t:  0.0405
[2025-09-21 12:33:12,533][agent.pretrain.train_diffusion_agent][INFO] - 740: train loss   0.0690 | t:  0.0395
[2025-09-21 12:33:12,574][agent.pretrain.train_diffusion_agent][INFO] - 741: train loss   0.0704 | t:  0.0401
[2025-09-21 12:33:12,614][agent.pretrain.train_diffusion_agent][INFO] - 742: train loss   0.0680 | t:  0.0406
[2025-09-21 12:33:12,655][agent.pretrain.train_diffusion_agent][INFO] - 743: train loss   0.0689 | t:  0.0413
[2025-09-21 12:33:12,697][agent.pretrain.train_diffusion_agent][INFO] - 744: train loss   0.0673 | t:  0.0413
[2025-09-21 12:33:12,738][agent.pretrain.train_diffusion_agent][INFO] - 745: train loss   0.0704 | t:  0.0411
[2025-09-21 12:33:12,779][agent.pretrain.train_diffusion_agent][INFO] - 746: train loss   0.0665 | t:  0.0415
[2025-09-21 12:33:12,821][agent.pretrain.train_diffusion_agent][INFO] - 747: train loss   0.0670 | t:  0.0412
[2025-09-21 12:33:12,862][agent.pretrain.train_diffusion_agent][INFO] - 748: train loss   0.0729 | t:  0.0411
[2025-09-21 12:33:12,902][agent.pretrain.train_diffusion_agent][INFO] - 749: train loss   0.0707 | t:  0.0407
[2025-09-21 12:33:12,943][agent.pretrain.train_diffusion_agent][INFO] - 750: train loss   0.0674 | t:  0.0407
[2025-09-21 12:33:12,984][agent.pretrain.train_diffusion_agent][INFO] - 751: train loss   0.0734 | t:  0.0413
[2025-09-21 12:33:13,026][agent.pretrain.train_diffusion_agent][INFO] - 752: train loss   0.0691 | t:  0.0412
[2025-09-21 12:33:13,066][agent.pretrain.train_diffusion_agent][INFO] - 753: train loss   0.0703 | t:  0.0406
[2025-09-21 12:33:13,107][agent.pretrain.train_diffusion_agent][INFO] - 754: train loss   0.0684 | t:  0.0403
[2025-09-21 12:33:13,147][agent.pretrain.train_diffusion_agent][INFO] - 755: train loss   0.0731 | t:  0.0407
[2025-09-21 12:33:13,189][agent.pretrain.train_diffusion_agent][INFO] - 756: train loss   0.0704 | t:  0.0414
[2025-09-21 12:33:13,229][agent.pretrain.train_diffusion_agent][INFO] - 757: train loss   0.0692 | t:  0.0408
[2025-09-21 12:33:13,270][agent.pretrain.train_diffusion_agent][INFO] - 758: train loss   0.0706 | t:  0.0403
[2025-09-21 12:33:13,310][agent.pretrain.train_diffusion_agent][INFO] - 759: train loss   0.0685 | t:  0.0405
[2025-09-21 12:33:13,350][agent.pretrain.train_diffusion_agent][INFO] - 760: train loss   0.0688 | t:  0.0399
[2025-09-21 12:33:13,390][agent.pretrain.train_diffusion_agent][INFO] - 761: train loss   0.0656 | t:  0.0402
[2025-09-21 12:33:13,432][agent.pretrain.train_diffusion_agent][INFO] - 762: train loss   0.0681 | t:  0.0412
[2025-09-21 12:33:13,473][agent.pretrain.train_diffusion_agent][INFO] - 763: train loss   0.0667 | t:  0.0412
[2025-09-21 12:33:13,514][agent.pretrain.train_diffusion_agent][INFO] - 764: train loss   0.0667 | t:  0.0414
[2025-09-21 12:33:13,555][agent.pretrain.train_diffusion_agent][INFO] - 765: train loss   0.0677 | t:  0.0413
[2025-09-21 12:33:13,597][agent.pretrain.train_diffusion_agent][INFO] - 766: train loss   0.0679 | t:  0.0413
[2025-09-21 12:33:13,638][agent.pretrain.train_diffusion_agent][INFO] - 767: train loss   0.0648 | t:  0.0413
[2025-09-21 12:33:13,679][agent.pretrain.train_diffusion_agent][INFO] - 768: train loss   0.0722 | t:  0.0412
[2025-09-21 12:33:13,722][agent.pretrain.train_diffusion_agent][INFO] - 769: train loss   0.0673 | t:  0.0424
[2025-09-21 12:33:13,766][agent.pretrain.train_diffusion_agent][INFO] - 770: train loss   0.0707 | t:  0.0445
[2025-09-21 12:33:13,807][agent.pretrain.train_diffusion_agent][INFO] - 771: train loss   0.0619 | t:  0.0414
[2025-09-21 12:33:13,849][agent.pretrain.train_diffusion_agent][INFO] - 772: train loss   0.0723 | t:  0.0414
[2025-09-21 12:33:13,890][agent.pretrain.train_diffusion_agent][INFO] - 773: train loss   0.0672 | t:  0.0415
[2025-09-21 12:33:13,932][agent.pretrain.train_diffusion_agent][INFO] - 774: train loss   0.0638 | t:  0.0415
[2025-09-21 12:33:13,973][agent.pretrain.train_diffusion_agent][INFO] - 775: train loss   0.0656 | t:  0.0413
[2025-09-21 12:33:14,014][agent.pretrain.train_diffusion_agent][INFO] - 776: train loss   0.0705 | t:  0.0413
[2025-09-21 12:33:14,056][agent.pretrain.train_diffusion_agent][INFO] - 777: train loss   0.0694 | t:  0.0414
[2025-09-21 12:33:14,097][agent.pretrain.train_diffusion_agent][INFO] - 778: train loss   0.0674 | t:  0.0414
[2025-09-21 12:33:14,139][agent.pretrain.train_diffusion_agent][INFO] - 779: train loss   0.0654 | t:  0.0413
[2025-09-21 12:33:14,180][agent.pretrain.train_diffusion_agent][INFO] - 780: train loss   0.0655 | t:  0.0412
[2025-09-21 12:33:14,221][agent.pretrain.train_diffusion_agent][INFO] - 781: train loss   0.0711 | t:  0.0415
[2025-09-21 12:33:14,263][agent.pretrain.train_diffusion_agent][INFO] - 782: train loss   0.0659 | t:  0.0413
[2025-09-21 12:33:14,304][agent.pretrain.train_diffusion_agent][INFO] - 783: train loss   0.0673 | t:  0.0411
[2025-09-21 12:33:14,345][agent.pretrain.train_diffusion_agent][INFO] - 784: train loss   0.0717 | t:  0.0414
[2025-09-21 12:33:14,387][agent.pretrain.train_diffusion_agent][INFO] - 785: train loss   0.0694 | t:  0.0415
[2025-09-21 12:33:14,428][agent.pretrain.train_diffusion_agent][INFO] - 786: train loss   0.0697 | t:  0.0413
[2025-09-21 12:33:14,469][agent.pretrain.train_diffusion_agent][INFO] - 787: train loss   0.0673 | t:  0.0413
[2025-09-21 12:33:14,510][agent.pretrain.train_diffusion_agent][INFO] - 788: train loss   0.0719 | t:  0.0410
[2025-09-21 12:33:14,551][agent.pretrain.train_diffusion_agent][INFO] - 789: train loss   0.0664 | t:  0.0413
[2025-09-21 12:33:14,592][agent.pretrain.train_diffusion_agent][INFO] - 790: train loss   0.0664 | t:  0.0409
[2025-09-21 12:33:14,634][agent.pretrain.train_diffusion_agent][INFO] - 791: train loss   0.0654 | t:  0.0412
[2025-09-21 12:33:14,675][agent.pretrain.train_diffusion_agent][INFO] - 792: train loss   0.0691 | t:  0.0411
[2025-09-21 12:33:14,716][agent.pretrain.train_diffusion_agent][INFO] - 793: train loss   0.0642 | t:  0.0413
[2025-09-21 12:33:14,757][agent.pretrain.train_diffusion_agent][INFO] - 794: train loss   0.0651 | t:  0.0413
[2025-09-21 12:33:14,798][agent.pretrain.train_diffusion_agent][INFO] - 795: train loss   0.0660 | t:  0.0411
[2025-09-21 12:33:14,840][agent.pretrain.train_diffusion_agent][INFO] - 796: train loss   0.0673 | t:  0.0410
[2025-09-21 12:33:14,881][agent.pretrain.train_diffusion_agent][INFO] - 797: train loss   0.0660 | t:  0.0412
[2025-09-21 12:33:14,922][agent.pretrain.train_diffusion_agent][INFO] - 798: train loss   0.0690 | t:  0.0414
[2025-09-21 12:33:14,964][agent.pretrain.train_diffusion_agent][INFO] - 799: train loss   0.0671 | t:  0.0414
[2025-09-21 12:33:15,019][agent.pretrain.train_agent][INFO] - Saved model to /home/zbzhu/Code/dppo/log/robomimic-pretrain/square_pre_diffusion_mlp_ta4_td20/2025-09-21_12-32-35_42/checkpoint/state_800.pt
[2025-09-21 12:33:15,020][agent.pretrain.train_diffusion_agent][INFO] - 800: train loss   0.0668 | t:  0.0561
[2025-09-21 12:33:15,062][agent.pretrain.train_diffusion_agent][INFO] - 801: train loss   0.0613 | t:  0.0424
[2025-09-21 12:33:15,104][agent.pretrain.train_diffusion_agent][INFO] - 802: train loss   0.0709 | t:  0.0415
[2025-09-21 12:33:15,145][agent.pretrain.train_diffusion_agent][INFO] - 803: train loss   0.0659 | t:  0.0412
[2025-09-21 12:33:15,187][agent.pretrain.train_diffusion_agent][INFO] - 804: train loss   0.0669 | t:  0.0418
[2025-09-21 12:33:15,228][agent.pretrain.train_diffusion_agent][INFO] - 805: train loss   0.0661 | t:  0.0413
[2025-09-21 12:33:15,269][agent.pretrain.train_diffusion_agent][INFO] - 806: train loss   0.0666 | t:  0.0412
[2025-09-21 12:33:15,310][agent.pretrain.train_diffusion_agent][INFO] - 807: train loss   0.0653 | t:  0.0409
[2025-09-21 12:33:15,350][agent.pretrain.train_diffusion_agent][INFO] - 808: train loss   0.0660 | t:  0.0404
[2025-09-21 12:33:15,392][agent.pretrain.train_diffusion_agent][INFO] - 809: train loss   0.0724 | t:  0.0414
[2025-09-21 12:33:15,433][agent.pretrain.train_diffusion_agent][INFO] - 810: train loss   0.0636 | t:  0.0409
[2025-09-21 12:33:15,474][agent.pretrain.train_diffusion_agent][INFO] - 811: train loss   0.0689 | t:  0.0410
[2025-09-21 12:33:15,515][agent.pretrain.train_diffusion_agent][INFO] - 812: train loss   0.0698 | t:  0.0415
[2025-09-21 12:33:15,557][agent.pretrain.train_diffusion_agent][INFO] - 813: train loss   0.0657 | t:  0.0413
[2025-09-21 12:33:15,598][agent.pretrain.train_diffusion_agent][INFO] - 814: train loss   0.0665 | t:  0.0415
[2025-09-21 12:33:15,639][agent.pretrain.train_diffusion_agent][INFO] - 815: train loss   0.0594 | t:  0.0414
[2025-09-21 12:33:15,681][agent.pretrain.train_diffusion_agent][INFO] - 816: train loss   0.0650 | t:  0.0410
[2025-09-21 12:33:15,722][agent.pretrain.train_diffusion_agent][INFO] - 817: train loss   0.0653 | t:  0.0413
[2025-09-21 12:33:15,763][agent.pretrain.train_diffusion_agent][INFO] - 818: train loss   0.0727 | t:  0.0413
[2025-09-21 12:33:15,805][agent.pretrain.train_diffusion_agent][INFO] - 819: train loss   0.0673 | t:  0.0417
[2025-09-21 12:33:15,846][agent.pretrain.train_diffusion_agent][INFO] - 820: train loss   0.0691 | t:  0.0410
[2025-09-21 12:33:15,887][agent.pretrain.train_diffusion_agent][INFO] - 821: train loss   0.0673 | t:  0.0413
[2025-09-21 12:33:15,928][agent.pretrain.train_diffusion_agent][INFO] - 822: train loss   0.0632 | t:  0.0413
[2025-09-21 12:33:15,970][agent.pretrain.train_diffusion_agent][INFO] - 823: train loss   0.0663 | t:  0.0415
[2025-09-21 12:33:16,011][agent.pretrain.train_diffusion_agent][INFO] - 824: train loss   0.0684 | t:  0.0414
[2025-09-21 12:33:16,053][agent.pretrain.train_diffusion_agent][INFO] - 825: train loss   0.0700 | t:  0.0414
[2025-09-21 12:33:16,094][agent.pretrain.train_diffusion_agent][INFO] - 826: train loss   0.0632 | t:  0.0416
[2025-09-21 12:33:16,135][agent.pretrain.train_diffusion_agent][INFO] - 827: train loss   0.0647 | t:  0.0409
[2025-09-21 12:33:16,177][agent.pretrain.train_diffusion_agent][INFO] - 828: train loss   0.0643 | t:  0.0417
[2025-09-21 12:33:16,218][agent.pretrain.train_diffusion_agent][INFO] - 829: train loss   0.0639 | t:  0.0415
[2025-09-21 12:33:16,259][agent.pretrain.train_diffusion_agent][INFO] - 830: train loss   0.0647 | t:  0.0407
[2025-09-21 12:33:16,300][agent.pretrain.train_diffusion_agent][INFO] - 831: train loss   0.0634 | t:  0.0413
[2025-09-21 12:33:16,342][agent.pretrain.train_diffusion_agent][INFO] - 832: train loss   0.0637 | t:  0.0416
[2025-09-21 12:33:16,383][agent.pretrain.train_diffusion_agent][INFO] - 833: train loss   0.0697 | t:  0.0411
[2025-09-21 12:33:16,424][agent.pretrain.train_diffusion_agent][INFO] - 834: train loss   0.0692 | t:  0.0410
[2025-09-21 12:33:16,465][agent.pretrain.train_diffusion_agent][INFO] - 835: train loss   0.0650 | t:  0.0414
[2025-09-21 12:33:16,507][agent.pretrain.train_diffusion_agent][INFO] - 836: train loss   0.0665 | t:  0.0413
[2025-09-21 12:33:16,548][agent.pretrain.train_diffusion_agent][INFO] - 837: train loss   0.0686 | t:  0.0414
[2025-09-21 12:33:16,590][agent.pretrain.train_diffusion_agent][INFO] - 838: train loss   0.0638 | t:  0.0413
[2025-09-21 12:33:16,631][agent.pretrain.train_diffusion_agent][INFO] - 839: train loss   0.0657 | t:  0.0413
[2025-09-21 12:33:16,672][agent.pretrain.train_diffusion_agent][INFO] - 840: train loss   0.0670 | t:  0.0410
[2025-09-21 12:33:16,713][agent.pretrain.train_diffusion_agent][INFO] - 841: train loss   0.0666 | t:  0.0409
[2025-09-21 12:33:16,753][agent.pretrain.train_diffusion_agent][INFO] - 842: train loss   0.0649 | t:  0.0407
[2025-09-21 12:33:16,808][agent.pretrain.train_diffusion_agent][INFO] - 843: train loss   0.0686 | t:  0.0547
[2025-09-21 12:33:16,848][agent.pretrain.train_diffusion_agent][INFO] - 844: train loss   0.0637 | t:  0.0402
[2025-09-21 12:33:16,888][agent.pretrain.train_diffusion_agent][INFO] - 845: train loss   0.0661 | t:  0.0400
[2025-09-21 12:33:16,928][agent.pretrain.train_diffusion_agent][INFO] - 846: train loss   0.0630 | t:  0.0401
[2025-09-21 12:33:16,969][agent.pretrain.train_diffusion_agent][INFO] - 847: train loss   0.0659 | t:  0.0402
[2025-09-21 12:33:17,010][agent.pretrain.train_diffusion_agent][INFO] - 848: train loss   0.0678 | t:  0.0411
[2025-09-21 12:33:17,051][agent.pretrain.train_diffusion_agent][INFO] - 849: train loss   0.0691 | t:  0.0410
[2025-09-21 12:33:17,091][agent.pretrain.train_diffusion_agent][INFO] - 850: train loss   0.0649 | t:  0.0406
[2025-09-21 12:33:17,132][agent.pretrain.train_diffusion_agent][INFO] - 851: train loss   0.0657 | t:  0.0412
[2025-09-21 12:33:17,174][agent.pretrain.train_diffusion_agent][INFO] - 852: train loss   0.0660 | t:  0.0412
[2025-09-21 12:33:17,215][agent.pretrain.train_diffusion_agent][INFO] - 853: train loss   0.0643 | t:  0.0413
[2025-09-21 12:33:17,256][agent.pretrain.train_diffusion_agent][INFO] - 854: train loss   0.0680 | t:  0.0415
[2025-09-21 12:33:17,298][agent.pretrain.train_diffusion_agent][INFO] - 855: train loss   0.0653 | t:  0.0415
[2025-09-21 12:33:17,338][agent.pretrain.train_diffusion_agent][INFO] - 856: train loss   0.0624 | t:  0.0401
[2025-09-21 12:33:17,380][agent.pretrain.train_diffusion_agent][INFO] - 857: train loss   0.0674 | t:  0.0418
[2025-09-21 12:33:17,421][agent.pretrain.train_diffusion_agent][INFO] - 858: train loss   0.0676 | t:  0.0408
[2025-09-21 12:33:17,461][agent.pretrain.train_diffusion_agent][INFO] - 859: train loss   0.0648 | t:  0.0409
[2025-09-21 12:33:17,503][agent.pretrain.train_diffusion_agent][INFO] - 860: train loss   0.0664 | t:  0.0414
[2025-09-21 12:33:17,544][agent.pretrain.train_diffusion_agent][INFO] - 861: train loss   0.0641 | t:  0.0417
[2025-09-21 12:33:17,586][agent.pretrain.train_diffusion_agent][INFO] - 862: train loss   0.0669 | t:  0.0415
[2025-09-21 12:33:17,627][agent.pretrain.train_diffusion_agent][INFO] - 863: train loss   0.0694 | t:  0.0414
[2025-09-21 12:33:17,669][agent.pretrain.train_diffusion_agent][INFO] - 864: train loss   0.0668 | t:  0.0416
[2025-09-21 12:33:17,711][agent.pretrain.train_diffusion_agent][INFO] - 865: train loss   0.0661 | t:  0.0416
[2025-09-21 12:33:17,807][agent.pretrain.train_diffusion_agent][INFO] - 866: train loss   0.0648 | t:  0.0961
[2025-09-21 12:33:17,850][agent.pretrain.train_diffusion_agent][INFO] - 867: train loss   0.0670 | t:  0.0434
[2025-09-21 12:33:17,892][agent.pretrain.train_diffusion_agent][INFO] - 868: train loss   0.0671 | t:  0.0415
[2025-09-21 12:33:17,933][agent.pretrain.train_diffusion_agent][INFO] - 869: train loss   0.0655 | t:  0.0415
[2025-09-21 12:33:17,974][agent.pretrain.train_diffusion_agent][INFO] - 870: train loss   0.0638 | t:  0.0413
[2025-09-21 12:33:18,016][agent.pretrain.train_diffusion_agent][INFO] - 871: train loss   0.0638 | t:  0.0417
[2025-09-21 12:33:18,058][agent.pretrain.train_diffusion_agent][INFO] - 872: train loss   0.0672 | t:  0.0416
[2025-09-21 12:33:18,099][agent.pretrain.train_diffusion_agent][INFO] - 873: train loss   0.0662 | t:  0.0415
[2025-09-21 12:33:18,141][agent.pretrain.train_diffusion_agent][INFO] - 874: train loss   0.0649 | t:  0.0418
[2025-09-21 12:33:18,183][agent.pretrain.train_diffusion_agent][INFO] - 875: train loss   0.0697 | t:  0.0419
[2025-09-21 12:33:18,224][agent.pretrain.train_diffusion_agent][INFO] - 876: train loss   0.0635 | t:  0.0412
[2025-09-21 12:33:18,266][agent.pretrain.train_diffusion_agent][INFO] - 877: train loss   0.0697 | t:  0.0416
[2025-09-21 12:33:18,307][agent.pretrain.train_diffusion_agent][INFO] - 878: train loss   0.0636 | t:  0.0416
[2025-09-21 12:33:18,349][agent.pretrain.train_diffusion_agent][INFO] - 879: train loss   0.0704 | t:  0.0416
[2025-09-21 12:33:18,390][agent.pretrain.train_diffusion_agent][INFO] - 880: train loss   0.0624 | t:  0.0413
[2025-09-21 12:33:18,432][agent.pretrain.train_diffusion_agent][INFO] - 881: train loss   0.0626 | t:  0.0416
[2025-09-21 12:33:18,473][agent.pretrain.train_diffusion_agent][INFO] - 882: train loss   0.0601 | t:  0.0416
[2025-09-21 12:33:18,517][agent.pretrain.train_diffusion_agent][INFO] - 883: train loss   0.0704 | t:  0.0432
[2025-09-21 12:33:18,558][agent.pretrain.train_diffusion_agent][INFO] - 884: train loss   0.0661 | t:  0.0418
[2025-09-21 12:33:18,600][agent.pretrain.train_diffusion_agent][INFO] - 885: train loss   0.0658 | t:  0.0417
[2025-09-21 12:33:18,642][agent.pretrain.train_diffusion_agent][INFO] - 886: train loss   0.0633 | t:  0.0416
[2025-09-21 12:33:18,683][agent.pretrain.train_diffusion_agent][INFO] - 887: train loss   0.0612 | t:  0.0416
[2025-09-21 12:33:18,725][agent.pretrain.train_diffusion_agent][INFO] - 888: train loss   0.0622 | t:  0.0417
[2025-09-21 12:33:18,766][agent.pretrain.train_diffusion_agent][INFO] - 889: train loss   0.0676 | t:  0.0410
[2025-09-21 12:33:18,807][agent.pretrain.train_diffusion_agent][INFO] - 890: train loss   0.0655 | t:  0.0411
[2025-09-21 12:33:18,848][agent.pretrain.train_diffusion_agent][INFO] - 891: train loss   0.0659 | t:  0.0413
[2025-09-21 12:33:18,890][agent.pretrain.train_diffusion_agent][INFO] - 892: train loss   0.0675 | t:  0.0417
[2025-09-21 12:33:18,932][agent.pretrain.train_diffusion_agent][INFO] - 893: train loss   0.0661 | t:  0.0418
[2025-09-21 12:33:18,973][agent.pretrain.train_diffusion_agent][INFO] - 894: train loss   0.0694 | t:  0.0415
[2025-09-21 12:33:19,015][agent.pretrain.train_diffusion_agent][INFO] - 895: train loss   0.0629 | t:  0.0414
[2025-09-21 12:33:19,057][agent.pretrain.train_diffusion_agent][INFO] - 896: train loss   0.0613 | t:  0.0418
[2025-09-21 12:33:19,098][agent.pretrain.train_diffusion_agent][INFO] - 897: train loss   0.0627 | t:  0.0416
[2025-09-21 12:33:19,140][agent.pretrain.train_diffusion_agent][INFO] - 898: train loss   0.0653 | t:  0.0419
[2025-09-21 12:33:19,182][agent.pretrain.train_diffusion_agent][INFO] - 899: train loss   0.0625 | t:  0.0418
[2025-09-21 12:33:19,223][agent.pretrain.train_diffusion_agent][INFO] - 900: train loss   0.0647 | t:  0.0411
[2025-09-21 12:33:19,265][agent.pretrain.train_diffusion_agent][INFO] - 901: train loss   0.0661 | t:  0.0416
[2025-09-21 12:33:19,306][agent.pretrain.train_diffusion_agent][INFO] - 902: train loss   0.0658 | t:  0.0411
[2025-09-21 12:33:19,346][agent.pretrain.train_diffusion_agent][INFO] - 903: train loss   0.0653 | t:  0.0402
[2025-09-21 12:33:19,386][agent.pretrain.train_diffusion_agent][INFO] - 904: train loss   0.0678 | t:  0.0405
[2025-09-21 12:33:19,427][agent.pretrain.train_diffusion_agent][INFO] - 905: train loss   0.0650 | t:  0.0406
[2025-09-21 12:33:19,469][agent.pretrain.train_diffusion_agent][INFO] - 906: train loss   0.0650 | t:  0.0416
[2025-09-21 12:33:19,510][agent.pretrain.train_diffusion_agent][INFO] - 907: train loss   0.0668 | t:  0.0415
[2025-09-21 12:33:19,551][agent.pretrain.train_diffusion_agent][INFO] - 908: train loss   0.0600 | t:  0.0411
[2025-09-21 12:33:19,593][agent.pretrain.train_diffusion_agent][INFO] - 909: train loss   0.0644 | t:  0.0418
[2025-09-21 12:33:19,634][agent.pretrain.train_diffusion_agent][INFO] - 910: train loss   0.0634 | t:  0.0411
[2025-09-21 12:33:19,676][agent.pretrain.train_diffusion_agent][INFO] - 911: train loss   0.0629 | t:  0.0418
[2025-09-21 12:33:19,718][agent.pretrain.train_diffusion_agent][INFO] - 912: train loss   0.0626 | t:  0.0417
[2025-09-21 12:33:19,759][agent.pretrain.train_diffusion_agent][INFO] - 913: train loss   0.0664 | t:  0.0416
[2025-09-21 12:33:19,801][agent.pretrain.train_diffusion_agent][INFO] - 914: train loss   0.0651 | t:  0.0415
[2025-09-21 12:33:19,841][agent.pretrain.train_diffusion_agent][INFO] - 915: train loss   0.0696 | t:  0.0403
[2025-09-21 12:33:19,882][agent.pretrain.train_diffusion_agent][INFO] - 916: train loss   0.0638 | t:  0.0415
[2025-09-21 12:33:19,924][agent.pretrain.train_diffusion_agent][INFO] - 917: train loss   0.0659 | t:  0.0415
[2025-09-21 12:33:19,966][agent.pretrain.train_diffusion_agent][INFO] - 918: train loss   0.0666 | t:  0.0417
[2025-09-21 12:33:20,008][agent.pretrain.train_diffusion_agent][INFO] - 919: train loss   0.0693 | t:  0.0421
[2025-09-21 12:33:20,049][agent.pretrain.train_diffusion_agent][INFO] - 920: train loss   0.0688 | t:  0.0412
[2025-09-21 12:33:20,090][agent.pretrain.train_diffusion_agent][INFO] - 921: train loss   0.0619 | t:  0.0416
[2025-09-21 12:33:20,132][agent.pretrain.train_diffusion_agent][INFO] - 922: train loss   0.0635 | t:  0.0417
[2025-09-21 12:33:20,173][agent.pretrain.train_diffusion_agent][INFO] - 923: train loss   0.0629 | t:  0.0413
[2025-09-21 12:33:20,214][agent.pretrain.train_diffusion_agent][INFO] - 924: train loss   0.0620 | t:  0.0406
[2025-09-21 12:33:20,254][agent.pretrain.train_diffusion_agent][INFO] - 925: train loss   0.0643 | t:  0.0405
[2025-09-21 12:33:20,295][agent.pretrain.train_diffusion_agent][INFO] - 926: train loss   0.0640 | t:  0.0404
[2025-09-21 12:33:20,335][agent.pretrain.train_diffusion_agent][INFO] - 927: train loss   0.0606 | t:  0.0402
[2025-09-21 12:33:20,376][agent.pretrain.train_diffusion_agent][INFO] - 928: train loss   0.0658 | t:  0.0404
[2025-09-21 12:33:20,417][agent.pretrain.train_diffusion_agent][INFO] - 929: train loss   0.0679 | t:  0.0414
[2025-09-21 12:33:20,458][agent.pretrain.train_diffusion_agent][INFO] - 930: train loss   0.0662 | t:  0.0409
[2025-09-21 12:33:20,498][agent.pretrain.train_diffusion_agent][INFO] - 931: train loss   0.0648 | t:  0.0406
[2025-09-21 12:33:20,539][agent.pretrain.train_diffusion_agent][INFO] - 932: train loss   0.0622 | t:  0.0410
[2025-09-21 12:33:20,580][agent.pretrain.train_diffusion_agent][INFO] - 933: train loss   0.0640 | t:  0.0408
[2025-09-21 12:33:20,622][agent.pretrain.train_diffusion_agent][INFO] - 934: train loss   0.0588 | t:  0.0415
[2025-09-21 12:33:20,662][agent.pretrain.train_diffusion_agent][INFO] - 935: train loss   0.0620 | t:  0.0404
[2025-09-21 12:33:20,703][agent.pretrain.train_diffusion_agent][INFO] - 936: train loss   0.0637 | t:  0.0405
[2025-09-21 12:33:20,743][agent.pretrain.train_diffusion_agent][INFO] - 937: train loss   0.0630 | t:  0.0406
[2025-09-21 12:33:20,783][agent.pretrain.train_diffusion_agent][INFO] - 938: train loss   0.0618 | t:  0.0401
[2025-09-21 12:33:20,824][agent.pretrain.train_diffusion_agent][INFO] - 939: train loss   0.0663 | t:  0.0404
[2025-09-21 12:33:20,864][agent.pretrain.train_diffusion_agent][INFO] - 940: train loss   0.0664 | t:  0.0402
[2025-09-21 12:33:20,904][agent.pretrain.train_diffusion_agent][INFO] - 941: train loss   0.0656 | t:  0.0401
[2025-09-21 12:33:20,944][agent.pretrain.train_diffusion_agent][INFO] - 942: train loss   0.0655 | t:  0.0401
[2025-09-21 12:33:20,984][agent.pretrain.train_diffusion_agent][INFO] - 943: train loss   0.0623 | t:  0.0402
[2025-09-21 12:33:21,024][agent.pretrain.train_diffusion_agent][INFO] - 944: train loss   0.0597 | t:  0.0400
[2025-09-21 12:33:21,064][agent.pretrain.train_diffusion_agent][INFO] - 945: train loss   0.0647 | t:  0.0401
[2025-09-21 12:33:21,105][agent.pretrain.train_diffusion_agent][INFO] - 946: train loss   0.0605 | t:  0.0403
[2025-09-21 12:33:21,145][agent.pretrain.train_diffusion_agent][INFO] - 947: train loss   0.0657 | t:  0.0405
[2025-09-21 12:33:21,185][agent.pretrain.train_diffusion_agent][INFO] - 948: train loss   0.0683 | t:  0.0402
[2025-09-21 12:33:21,226][agent.pretrain.train_diffusion_agent][INFO] - 949: train loss   0.0639 | t:  0.0403
[2025-09-21 12:33:21,265][agent.pretrain.train_diffusion_agent][INFO] - 950: train loss   0.0667 | t:  0.0398
[2025-09-21 12:33:21,305][agent.pretrain.train_diffusion_agent][INFO] - 951: train loss   0.0676 | t:  0.0399
[2025-09-21 12:33:21,345][agent.pretrain.train_diffusion_agent][INFO] - 952: train loss   0.0614 | t:  0.0399
[2025-09-21 12:33:21,385][agent.pretrain.train_diffusion_agent][INFO] - 953: train loss   0.0663 | t:  0.0402
[2025-09-21 12:33:21,425][agent.pretrain.train_diffusion_agent][INFO] - 954: train loss   0.0655 | t:  0.0400
[2025-09-21 12:33:21,466][agent.pretrain.train_diffusion_agent][INFO] - 955: train loss   0.0643 | t:  0.0401
[2025-09-21 12:33:21,506][agent.pretrain.train_diffusion_agent][INFO] - 956: train loss   0.0660 | t:  0.0401
[2025-09-21 12:33:21,546][agent.pretrain.train_diffusion_agent][INFO] - 957: train loss   0.0652 | t:  0.0400
[2025-09-21 12:33:21,586][agent.pretrain.train_diffusion_agent][INFO] - 958: train loss   0.0590 | t:  0.0402
[2025-09-21 12:33:21,626][agent.pretrain.train_diffusion_agent][INFO] - 959: train loss   0.0660 | t:  0.0399
[2025-09-21 12:33:21,665][agent.pretrain.train_diffusion_agent][INFO] - 960: train loss   0.0662 | t:  0.0398
[2025-09-21 12:33:21,706][agent.pretrain.train_diffusion_agent][INFO] - 961: train loss   0.0606 | t:  0.0406
[2025-09-21 12:33:21,747][agent.pretrain.train_diffusion_agent][INFO] - 962: train loss   0.0613 | t:  0.0405
[2025-09-21 12:33:21,787][agent.pretrain.train_diffusion_agent][INFO] - 963: train loss   0.0639 | t:  0.0403
[2025-09-21 12:33:21,828][agent.pretrain.train_diffusion_agent][INFO] - 964: train loss   0.0667 | t:  0.0409
[2025-09-21 12:33:21,868][agent.pretrain.train_diffusion_agent][INFO] - 965: train loss   0.0610 | t:  0.0403
[2025-09-21 12:33:21,908][agent.pretrain.train_diffusion_agent][INFO] - 966: train loss   0.0669 | t:  0.0401
[2025-09-21 12:33:21,951][agent.pretrain.train_diffusion_agent][INFO] - 967: train loss   0.0680 | t:  0.0424
[2025-09-21 12:33:21,993][agent.pretrain.train_diffusion_agent][INFO] - 968: train loss   0.0644 | t:  0.0421
[2025-09-21 12:33:22,034][agent.pretrain.train_diffusion_agent][INFO] - 969: train loss   0.0673 | t:  0.0414
[2025-09-21 12:33:22,076][agent.pretrain.train_diffusion_agent][INFO] - 970: train loss   0.0700 | t:  0.0420
[2025-09-21 12:33:22,116][agent.pretrain.train_diffusion_agent][INFO] - 971: train loss   0.0638 | t:  0.0404
[2025-09-21 12:33:22,157][agent.pretrain.train_diffusion_agent][INFO] - 972: train loss   0.0638 | t:  0.0403
[2025-09-21 12:33:22,197][agent.pretrain.train_diffusion_agent][INFO] - 973: train loss   0.0643 | t:  0.0406
[2025-09-21 12:33:22,238][agent.pretrain.train_diffusion_agent][INFO] - 974: train loss   0.0586 | t:  0.0411
[2025-09-21 12:33:22,280][agent.pretrain.train_diffusion_agent][INFO] - 975: train loss   0.0634 | t:  0.0415
[2025-09-21 12:33:22,321][agent.pretrain.train_diffusion_agent][INFO] - 976: train loss   0.0673 | t:  0.0406
[2025-09-21 12:33:22,362][agent.pretrain.train_diffusion_agent][INFO] - 977: train loss   0.0653 | t:  0.0411
[2025-09-21 12:33:22,403][agent.pretrain.train_diffusion_agent][INFO] - 978: train loss   0.0649 | t:  0.0416
[2025-09-21 12:33:22,445][agent.pretrain.train_diffusion_agent][INFO] - 979: train loss   0.0610 | t:  0.0414
[2025-09-21 12:33:22,486][agent.pretrain.train_diffusion_agent][INFO] - 980: train loss   0.0677 | t:  0.0410
[2025-09-21 12:33:22,527][agent.pretrain.train_diffusion_agent][INFO] - 981: train loss   0.0641 | t:  0.0413
[2025-09-21 12:33:22,568][agent.pretrain.train_diffusion_agent][INFO] - 982: train loss   0.0608 | t:  0.0407
[2025-09-21 12:33:22,608][agent.pretrain.train_diffusion_agent][INFO] - 983: train loss   0.0616 | t:  0.0403
[2025-09-21 12:33:22,648][agent.pretrain.train_diffusion_agent][INFO] - 984: train loss   0.0647 | t:  0.0403
[2025-09-21 12:33:22,690][agent.pretrain.train_diffusion_agent][INFO] - 985: train loss   0.0617 | t:  0.0415
[2025-09-21 12:33:22,730][agent.pretrain.train_diffusion_agent][INFO] - 986: train loss   0.0624 | t:  0.0407
[2025-09-21 12:33:22,771][agent.pretrain.train_diffusion_agent][INFO] - 987: train loss   0.0636 | t:  0.0408
[2025-09-21 12:33:22,811][agent.pretrain.train_diffusion_agent][INFO] - 988: train loss   0.0617 | t:  0.0403
[2025-09-21 12:33:22,852][agent.pretrain.train_diffusion_agent][INFO] - 989: train loss   0.0649 | t:  0.0403
[2025-09-21 12:33:22,891][agent.pretrain.train_diffusion_agent][INFO] - 990: train loss   0.0635 | t:  0.0397
[2025-09-21 12:33:22,932][agent.pretrain.train_diffusion_agent][INFO] - 991: train loss   0.0651 | t:  0.0402
[2025-09-21 12:33:22,973][agent.pretrain.train_diffusion_agent][INFO] - 992: train loss   0.0691 | t:  0.0409
[2025-09-21 12:33:23,013][agent.pretrain.train_diffusion_agent][INFO] - 993: train loss   0.0646 | t:  0.0401
[2025-09-21 12:33:23,053][agent.pretrain.train_diffusion_agent][INFO] - 994: train loss   0.0651 | t:  0.0403
[2025-09-21 12:33:23,093][agent.pretrain.train_diffusion_agent][INFO] - 995: train loss   0.0619 | t:  0.0397
[2025-09-21 12:33:23,133][agent.pretrain.train_diffusion_agent][INFO] - 996: train loss   0.0617 | t:  0.0402
[2025-09-21 12:33:23,174][agent.pretrain.train_diffusion_agent][INFO] - 997: train loss   0.0590 | t:  0.0407
[2025-09-21 12:33:23,214][agent.pretrain.train_diffusion_agent][INFO] - 998: train loss   0.0640 | t:  0.0401
[2025-09-21 12:33:23,254][agent.pretrain.train_diffusion_agent][INFO] - 999: train loss   0.0590 | t:  0.0400
[2025-09-21 12:33:23,308][agent.pretrain.train_agent][INFO] - Saved model to /home/zbzhu/Code/dppo/log/robomimic-pretrain/square_pre_diffusion_mlp_ta4_td20/2025-09-21_12-32-35_42/checkpoint/state_1000.pt
[2025-09-21 12:33:23,308][agent.pretrain.train_diffusion_agent][INFO] - 1000: train loss   0.0609 | t:  0.0544