[2025-09-10 19:28:13,133][root][INFO] - Number of network parameters: 575564 [2025-09-10 19:28:13,322][agent.dataset.sequence][INFO] - Loaded dataset from /home/zbzhu/Code/dppo/data/robomimic/can/train.npz [2025-09-10 19:28:13,322][agent.dataset.sequence][INFO] - Number of episodes: 50 [2025-09-10 19:28:13,322][agent.dataset.sequence][INFO] - States shape/type: (torch.Size([6042, 23]), torch.float32) [2025-09-10 19:28:13,322][agent.dataset.sequence][INFO] - Actions shape/type: (torch.Size([6042, 7]), torch.float32) [2025-09-10 19:28:13,650][agent.pretrain.train_diffusion_agent][INFO] - 1: train loss 1.0551 | t: 0.3261 [2025-09-10 19:28:13,869][agent.pretrain.train_diffusion_agent][INFO] - 2: train loss 1.0197 | t: 0.2196 [2025-09-10 19:28:14,054][agent.pretrain.train_diffusion_agent][INFO] - 3: train loss 1.0087 | t: 0.1851 [2025-09-10 19:28:14,218][agent.pretrain.train_diffusion_agent][INFO] - 4: train loss 0.9782 | t: 0.1639 [2025-09-10 19:28:14,347][agent.pretrain.train_diffusion_agent][INFO] - 5: train loss 0.9461 | t: 0.1285 [2025-09-10 19:28:14,477][agent.pretrain.train_diffusion_agent][INFO] - 6: train loss 0.9214 | t: 0.1301 [2025-09-10 19:28:14,608][agent.pretrain.train_diffusion_agent][INFO] - 7: train loss 0.9187 | t: 0.1313 [2025-09-10 19:28:14,763][agent.pretrain.train_diffusion_agent][INFO] - 8: train loss 0.8766 | t: 0.1544 [2025-09-10 19:28:14,945][agent.pretrain.train_diffusion_agent][INFO] - 9: train loss 0.8616 | t: 0.1826 [2025-09-10 19:28:15,166][agent.pretrain.train_diffusion_agent][INFO] - 10: train loss 0.8237 | t: 0.2206 [2025-09-10 19:28:15,332][agent.pretrain.train_diffusion_agent][INFO] - 11: train loss 0.7923 | t: 0.1659 [2025-09-10 19:28:15,481][agent.pretrain.train_diffusion_agent][INFO] - 12: train loss 0.7642 | t: 0.1489 [2025-09-10 19:28:15,644][agent.pretrain.train_diffusion_agent][INFO] - 13: train loss 0.7502 | t: 0.1629 [2025-09-10 19:28:15,779][agent.pretrain.train_diffusion_agent][INFO] - 14: train loss 0.7241 | t: 0.1358 [2025-09-10 19:28:15,996][agent.pretrain.train_diffusion_agent][INFO] - 15: train loss 0.6794 | t: 0.2164 [2025-09-10 19:28:16,169][agent.pretrain.train_diffusion_agent][INFO] - 16: train loss 0.6470 | t: 0.1732 [2025-09-10 19:28:16,304][agent.pretrain.train_diffusion_agent][INFO] - 17: train loss 0.6109 | t: 0.1351 [2025-09-10 19:28:16,475][agent.pretrain.train_diffusion_agent][INFO] - 18: train loss 0.5705 | t: 0.1710 [2025-09-10 19:28:16,654][agent.pretrain.train_diffusion_agent][INFO] - 19: train loss 0.5426 | t: 0.1789 [2025-09-10 19:28:16,934][agent.pretrain.train_diffusion_agent][INFO] - 20: train loss 0.5119 | t: 0.2805 [2025-09-10 19:28:17,155][agent.pretrain.train_diffusion_agent][INFO] - 21: train loss 0.4739 | t: 0.2206 [2025-09-10 19:28:17,300][agent.pretrain.train_diffusion_agent][INFO] - 22: train loss 0.4390 | t: 0.1447 [2025-09-10 19:28:17,482][agent.pretrain.train_diffusion_agent][INFO] - 23: train loss 0.4112 | t: 0.1821 [2025-09-10 19:28:17,631][agent.pretrain.train_diffusion_agent][INFO] - 24: train loss 0.3888 | t: 0.1493 [2025-09-10 19:28:17,771][agent.pretrain.train_diffusion_agent][INFO] - 25: train loss 0.3426 | t: 0.1402 [2025-09-10 19:28:17,932][agent.pretrain.train_diffusion_agent][INFO] - 26: train loss 0.3141 | t: 0.1609 [2025-09-10 19:28:18,102][agent.pretrain.train_diffusion_agent][INFO] - 27: train loss 0.2994 | t: 0.1698 [2025-09-10 19:28:18,350][agent.pretrain.train_diffusion_agent][INFO] - 28: train loss 0.2748 | t: 0.2479 [2025-09-10 19:28:18,540][agent.pretrain.train_diffusion_agent][INFO] - 29: train loss 0.2592 | t: 0.1903 [2025-09-10 19:28:18,721][agent.pretrain.train_diffusion_agent][INFO] - 30: train loss 0.2447 | t: 0.1811 [2025-09-10 19:28:18,916][agent.pretrain.train_diffusion_agent][INFO] - 31: train loss 0.2346 | t: 0.1950 [2025-09-10 19:28:19,072][agent.pretrain.train_diffusion_agent][INFO] - 32: train loss 0.2209 | t: 0.1556 [2025-09-10 19:28:19,262][agent.pretrain.train_diffusion_agent][INFO] - 33: train loss 0.2152 | t: 0.1897 [2025-09-10 19:28:19,429][agent.pretrain.train_diffusion_agent][INFO] - 34: train loss 0.2195 | t: 0.1675 [2025-09-10 19:28:19,593][agent.pretrain.train_diffusion_agent][INFO] - 35: train loss 0.2327 | t: 0.1636 [2025-09-10 19:28:19,778][agent.pretrain.train_diffusion_agent][INFO] - 36: train loss 0.2149 | t: 0.1850 [2025-09-10 19:28:19,997][agent.pretrain.train_diffusion_agent][INFO] - 37: train loss 0.2136 | t: 0.2194 [2025-09-10 19:28:20,188][agent.pretrain.train_diffusion_agent][INFO] - 38: train loss 0.2125 | t: 0.1904 [2025-09-10 19:28:20,434][agent.pretrain.train_diffusion_agent][INFO] - 39: train loss 0.2122 | t: 0.2467 [2025-09-10 19:28:20,615][agent.pretrain.train_diffusion_agent][INFO] - 40: train loss 0.2161 | t: 0.1809 [2025-09-10 19:28:20,793][agent.pretrain.train_diffusion_agent][INFO] - 41: train loss 0.2033 | t: 0.1778 [2025-09-10 19:28:21,026][agent.pretrain.train_diffusion_agent][INFO] - 42: train loss 0.2063 | t: 0.2327 [2025-09-10 19:28:21,239][agent.pretrain.train_diffusion_agent][INFO] - 43: train loss 0.2049 | t: 0.2128 [2025-09-10 19:28:21,426][agent.pretrain.train_diffusion_agent][INFO] - 44: train loss 0.2077 | t: 0.1873 [2025-09-10 19:28:21,663][agent.pretrain.train_diffusion_agent][INFO] - 45: train loss 0.2100 | t: 0.2373 [2025-09-10 19:28:21,838][agent.pretrain.train_diffusion_agent][INFO] - 46: train loss 0.2022 | t: 0.1751 [2025-09-10 19:28:22,078][agent.pretrain.train_diffusion_agent][INFO] - 47: train loss 0.2067 | t: 0.2398 [2025-09-10 19:28:22,377][agent.pretrain.train_diffusion_agent][INFO] - 48: train loss 0.2051 | t: 0.2991 [2025-09-10 19:28:22,574][agent.pretrain.train_diffusion_agent][INFO] - 49: train loss 0.2017 | t: 0.1966 [2025-09-10 19:28:22,749][agent.pretrain.train_diffusion_agent][INFO] - 50: train loss 0.2054 | t: 0.1756 [2025-09-10 19:28:22,966][agent.pretrain.train_diffusion_agent][INFO] - 51: train loss 0.2112 | t: 0.2168 [2025-09-10 19:28:23,180][agent.pretrain.train_diffusion_agent][INFO] - 52: train loss 0.2064 | t: 0.2137 [2025-09-10 19:28:23,376][agent.pretrain.train_diffusion_agent][INFO] - 53: train loss 0.2024 | t: 0.1959 [2025-09-10 19:28:23,537][agent.pretrain.train_diffusion_agent][INFO] - 54: train loss 0.1948 | t: 0.1618 [2025-09-10 19:28:23,710][agent.pretrain.train_diffusion_agent][INFO] - 55: train loss 0.2049 | t: 0.1727 [2025-09-10 19:28:23,923][agent.pretrain.train_diffusion_agent][INFO] - 56: train loss 0.1941 | t: 0.2130 [2025-09-10 19:28:24,177][agent.pretrain.train_diffusion_agent][INFO] - 57: train loss 0.1913 | t: 0.2543 [2025-09-10 19:28:24,403][agent.pretrain.train_diffusion_agent][INFO] - 58: train loss 0.2018 | t: 0.2256 [2025-09-10 19:28:24,562][agent.pretrain.train_diffusion_agent][INFO] - 59: train loss 0.1966 | t: 0.1589 [2025-09-10 19:28:24,732][agent.pretrain.train_diffusion_agent][INFO] - 60: train loss 0.1892 | t: 0.1706 [2025-09-10 19:28:24,904][agent.pretrain.train_diffusion_agent][INFO] - 61: train loss 0.1860 | t: 0.1715 [2025-09-10 19:28:25,045][agent.pretrain.train_diffusion_agent][INFO] - 62: train loss 0.1822 | t: 0.1414 [2025-09-10 19:28:25,213][agent.pretrain.train_diffusion_agent][INFO] - 63: train loss 0.1758 | t: 0.1679 [2025-09-10 19:28:25,417][agent.pretrain.train_diffusion_agent][INFO] - 64: train loss 0.1972 | t: 0.2035 [2025-09-10 19:28:25,580][agent.pretrain.train_diffusion_agent][INFO] - 65: train loss 0.1782 | t: 0.1635 [2025-09-10 19:28:25,726][agent.pretrain.train_diffusion_agent][INFO] - 66: train loss 0.1774 | t: 0.1459 [2025-09-10 19:28:26,000][agent.pretrain.train_diffusion_agent][INFO] - 67: train loss 0.1786 | t: 0.2740 [2025-09-10 19:28:26,159][agent.pretrain.train_diffusion_agent][INFO] - 68: train loss 0.1703 | t: 0.1589 [2025-09-10 19:28:26,305][agent.pretrain.train_diffusion_agent][INFO] - 69: train loss 0.1731 | t: 0.1459 [2025-09-10 19:28:26,462][agent.pretrain.train_diffusion_agent][INFO] - 70: train loss 0.1708 | t: 0.1574 [2025-09-10 19:28:26,686][agent.pretrain.train_diffusion_agent][INFO] - 71: train loss 0.1664 | t: 0.2239 [2025-09-10 19:28:26,893][agent.pretrain.train_diffusion_agent][INFO] - 72: train loss 0.1625 | t: 0.2071 [2025-09-10 19:28:27,084][agent.pretrain.train_diffusion_agent][INFO] - 73: train loss 0.1655 | t: 0.1903 [2025-09-10 19:28:27,295][agent.pretrain.train_diffusion_agent][INFO] - 74: train loss 0.1533 | t: 0.2119 [2025-09-10 19:28:27,500][agent.pretrain.train_diffusion_agent][INFO] - 75: train loss 0.1604 | t: 0.2041 [2025-09-10 19:28:27,726][agent.pretrain.train_diffusion_agent][INFO] - 76: train loss 0.1548 | t: 0.2264 [2025-09-10 19:28:27,900][agent.pretrain.train_diffusion_agent][INFO] - 77: train loss 0.1528 | t: 0.1739 [2025-09-10 19:28:28,047][agent.pretrain.train_diffusion_agent][INFO] - 78: train loss 0.1506 | t: 0.1468 [2025-09-10 19:28:28,209][agent.pretrain.train_diffusion_agent][INFO] - 79: train loss 0.1569 | t: 0.1624 [2025-09-10 19:28:28,369][agent.pretrain.train_diffusion_agent][INFO] - 80: train loss 0.1549 | t: 0.1600 [2025-09-10 19:28:28,514][agent.pretrain.train_diffusion_agent][INFO] - 81: train loss 0.1494 | t: 0.1448 [2025-09-10 19:28:28,673][agent.pretrain.train_diffusion_agent][INFO] - 82: train loss 0.1397 | t: 0.1587 [2025-09-10 19:28:28,838][agent.pretrain.train_diffusion_agent][INFO] - 83: train loss 0.1515 | t: 0.1650 [2025-09-10 19:28:29,000][agent.pretrain.train_diffusion_agent][INFO] - 84: train loss 0.1500 | t: 0.1624 [2025-09-10 19:28:29,157][agent.pretrain.train_diffusion_agent][INFO] - 85: train loss 0.1385 | t: 0.1574 [2025-09-10 19:28:29,325][agent.pretrain.train_diffusion_agent][INFO] - 86: train loss 0.1375 | t: 0.1679 [2025-09-10 19:28:29,469][agent.pretrain.train_diffusion_agent][INFO] - 87: train loss 0.1414 | t: 0.1435 [2025-09-10 19:28:29,672][agent.pretrain.train_diffusion_agent][INFO] - 88: train loss 0.1426 | t: 0.2030 [2025-09-10 19:28:29,905][agent.pretrain.train_diffusion_agent][INFO] - 89: train loss 0.1365 | t: 0.2327 [2025-09-10 19:28:30,142][agent.pretrain.train_diffusion_agent][INFO] - 90: train loss 0.1414 | t: 0.2370 [2025-09-10 19:28:30,292][agent.pretrain.train_diffusion_agent][INFO] - 91: train loss 0.1426 | t: 0.1507 [2025-09-10 19:28:30,454][agent.pretrain.train_diffusion_agent][INFO] - 92: train loss 0.1391 | t: 0.1621 [2025-09-10 19:28:30,688][agent.pretrain.train_diffusion_agent][INFO] - 93: train loss 0.1279 | t: 0.2334 [2025-09-10 19:28:30,852][agent.pretrain.train_diffusion_agent][INFO] - 94: train loss 0.1413 | t: 0.1638 [2025-09-10 19:28:31,028][agent.pretrain.train_diffusion_agent][INFO] - 95: train loss 0.1419 | t: 0.1765 [2025-09-10 19:28:31,234][agent.pretrain.train_diffusion_agent][INFO] - 96: train loss 0.1384 | t: 0.2056 [2025-09-10 19:28:31,369][agent.pretrain.train_diffusion_agent][INFO] - 97: train loss 0.1296 | t: 0.1351 [2025-09-10 19:28:31,599][agent.pretrain.train_diffusion_agent][INFO] - 98: train loss 0.1260 | t: 0.2297 [2025-09-10 19:28:31,776][agent.pretrain.train_diffusion_agent][INFO] - 99: train loss 0.1433 | t: 0.1773 [2025-09-10 19:28:31,954][agent.pretrain.train_diffusion_agent][INFO] - 100: train loss 0.1427 | t: 0.1778 [2025-09-10 19:28:32,144][agent.pretrain.train_diffusion_agent][INFO] - 101: train loss 0.1356 | t: 0.1905 [2025-09-10 19:28:32,319][agent.pretrain.train_diffusion_agent][INFO] - 102: train loss 0.1342 | t: 0.1749 [2025-09-10 19:28:32,468][agent.pretrain.train_diffusion_agent][INFO] - 103: train loss 0.1311 | t: 0.1493 [2025-09-10 19:28:32,728][agent.pretrain.train_diffusion_agent][INFO] - 104: train loss 0.1293 | t: 0.2595 [2025-09-10 19:28:32,958][agent.pretrain.train_diffusion_agent][INFO] - 105: train loss 0.1282 | t: 0.2297 [2025-09-10 19:28:33,153][agent.pretrain.train_diffusion_agent][INFO] - 106: train loss 0.1244 | t: 0.1956 [2025-09-10 19:28:33,335][agent.pretrain.train_diffusion_agent][INFO] - 107: train loss 0.1248 | t: 0.1820 [2025-09-10 19:28:33,488][agent.pretrain.train_diffusion_agent][INFO] - 108: train loss 0.1222 | t: 0.1533 [2025-09-10 19:28:33,701][agent.pretrain.train_diffusion_agent][INFO] - 109: train loss 0.1236 | t: 0.2126 [2025-09-10 19:28:33,856][agent.pretrain.train_diffusion_agent][INFO] - 110: train loss 0.1187 | t: 0.1552 [2025-09-10 19:28:34,007][agent.pretrain.train_diffusion_agent][INFO] - 111: train loss 0.1235 | t: 0.1508 [2025-09-10 19:28:34,171][agent.pretrain.train_diffusion_agent][INFO] - 112: train loss 0.1228 | t: 0.1637 [2025-09-10 19:28:34,329][agent.pretrain.train_diffusion_agent][INFO] - 113: train loss 0.1213 | t: 0.1583 [2025-09-10 19:28:34,530][agent.pretrain.train_diffusion_agent][INFO] - 114: train loss 0.1226 | t: 0.2008 [2025-09-10 19:28:34,670][agent.pretrain.train_diffusion_agent][INFO] - 115: train loss 0.1233 | t: 0.1404 [2025-09-10 19:28:34,836][agent.pretrain.train_diffusion_agent][INFO] - 116: train loss 0.1243 | t: 0.1658 [2025-09-10 19:28:34,996][agent.pretrain.train_diffusion_agent][INFO] - 117: train loss 0.1186 | t: 0.1601 [2025-09-10 19:28:35,193][agent.pretrain.train_diffusion_agent][INFO] - 118: train loss 0.1244 | t: 0.1971 [2025-09-10 19:28:35,342][agent.pretrain.train_diffusion_agent][INFO] - 119: train loss 0.1170 | t: 0.1487 [2025-09-10 19:28:35,478][agent.pretrain.train_diffusion_agent][INFO] - 120: train loss 0.1172 | t: 0.1353 [2025-09-10 19:28:35,638][agent.pretrain.train_diffusion_agent][INFO] - 121: train loss 0.1259 | t: 0.1608 [2025-09-10 19:28:35,839][agent.pretrain.train_diffusion_agent][INFO] - 122: train loss 0.1160 | t: 0.2006 [2025-09-10 19:28:36,025][agent.pretrain.train_diffusion_agent][INFO] - 123: train loss 0.1141 | t: 0.1858 [2025-09-10 19:28:36,207][agent.pretrain.train_diffusion_agent][INFO] - 124: train loss 0.1219 | t: 0.1826 [2025-09-10 19:28:36,399][agent.pretrain.train_diffusion_agent][INFO] - 125: train loss 0.1180 | t: 0.1919 [2025-09-10 19:28:36,633][agent.pretrain.train_diffusion_agent][INFO] - 126: train loss 0.1138 | t: 0.2340 [2025-09-10 19:28:36,839][agent.pretrain.train_diffusion_agent][INFO] - 127: train loss 0.1152 | t: 0.2056 [2025-09-10 19:28:37,117][agent.pretrain.train_diffusion_agent][INFO] - 128: train loss 0.1134 | t: 0.2779 [2025-09-10 19:28:37,254][agent.pretrain.train_diffusion_agent][INFO] - 129: train loss 0.1125 | t: 0.1373 [2025-09-10 19:28:37,394][agent.pretrain.train_diffusion_agent][INFO] - 130: train loss 0.1114 | t: 0.1402 [2025-09-10 19:28:37,590][agent.pretrain.train_diffusion_agent][INFO] - 131: train loss 0.1225 | t: 0.1955 [2025-09-10 19:28:37,754][agent.pretrain.train_diffusion_agent][INFO] - 132: train loss 0.1220 | t: 0.1642 [2025-09-10 19:28:37,932][agent.pretrain.train_diffusion_agent][INFO] - 133: train loss 0.1167 | t: 0.1783 [2025-09-10 19:28:38,126][agent.pretrain.train_diffusion_agent][INFO] - 134: train loss 0.1108 | t: 0.1937 [2025-09-10 19:28:38,298][agent.pretrain.train_diffusion_agent][INFO] - 135: train loss 0.1105 | t: 0.1720 [2025-09-10 19:28:38,466][agent.pretrain.train_diffusion_agent][INFO] - 136: train loss 0.1109 | t: 0.1677 [2025-09-10 19:28:38,636][agent.pretrain.train_diffusion_agent][INFO] - 137: train loss 0.1137 | t: 0.1702 [2025-09-10 19:28:38,814][agent.pretrain.train_diffusion_agent][INFO] - 138: train loss 0.1126 | t: 0.1786 [2025-09-10 19:28:38,987][agent.pretrain.train_diffusion_agent][INFO] - 139: train loss 0.1189 | t: 0.1729 [2025-09-10 19:28:39,158][agent.pretrain.train_diffusion_agent][INFO] - 140: train loss 0.1175 | t: 0.1712 [2025-09-10 19:28:39,309][agent.pretrain.train_diffusion_agent][INFO] - 141: train loss 0.1110 | t: 0.1501 [2025-09-10 19:28:39,454][agent.pretrain.train_diffusion_agent][INFO] - 142: train loss 0.1158 | t: 0.1453 [2025-09-10 19:28:39,607][agent.pretrain.train_diffusion_agent][INFO] - 143: train loss 0.1113 | t: 0.1531 [2025-09-10 19:28:39,783][agent.pretrain.train_diffusion_agent][INFO] - 144: train loss 0.1186 | t: 0.1757 [2025-09-10 19:28:39,886][agent.pretrain.train_diffusion_agent][INFO] - 145: train loss 0.1117 | t: 0.1037 [2025-09-10 19:28:39,994][agent.pretrain.train_diffusion_agent][INFO] - 146: train loss 0.1059 | t: 0.1075 [2025-09-10 19:28:40,103][agent.pretrain.train_diffusion_agent][INFO] - 147: train loss 0.1067 | t: 0.1087 [2025-09-10 19:28:40,210][agent.pretrain.train_diffusion_agent][INFO] - 148: train loss 0.1044 | t: 0.1070 [2025-09-10 19:28:40,311][agent.pretrain.train_diffusion_agent][INFO] - 149: train loss 0.1120 | t: 0.1013 [2025-09-10 19:28:40,414][agent.pretrain.train_diffusion_agent][INFO] - 150: train loss 0.1150 | t: 0.1030 [2025-09-10 19:28:40,516][agent.pretrain.train_diffusion_agent][INFO] - 151: train loss 0.1104 | t: 0.1026 [2025-09-10 19:28:40,618][agent.pretrain.train_diffusion_agent][INFO] - 152: train loss 0.1070 | t: 0.1014 [2025-09-10 19:28:40,721][agent.pretrain.train_diffusion_agent][INFO] - 153: train loss 0.1084 | t: 0.1036 [2025-09-10 19:28:40,825][agent.pretrain.train_diffusion_agent][INFO] - 154: train loss 0.1084 | t: 0.1034 [2025-09-10 19:28:40,928][agent.pretrain.train_diffusion_agent][INFO] - 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1930: train loss 0.0492 | t: 0.1027 [2025-09-10 19:31:50,236][agent.pretrain.train_diffusion_agent][INFO] - 1931: train loss 0.0532 | t: 0.1033 [2025-09-10 19:31:50,340][agent.pretrain.train_diffusion_agent][INFO] - 1932: train loss 0.0506 | t: 0.1039 [2025-09-10 19:31:50,444][agent.pretrain.train_diffusion_agent][INFO] - 1933: train loss 0.0506 | t: 0.1035 [2025-09-10 19:31:50,547][agent.pretrain.train_diffusion_agent][INFO] - 1934: train loss 0.0501 | t: 0.1032 [2025-09-10 19:31:50,650][agent.pretrain.train_diffusion_agent][INFO] - 1935: train loss 0.0542 | t: 0.1034 [2025-09-10 19:31:50,754][agent.pretrain.train_diffusion_agent][INFO] - 1936: train loss 0.0511 | t: 0.1036 [2025-09-10 19:31:50,871][agent.pretrain.train_diffusion_agent][INFO] - 1937: train loss 0.0508 | t: 0.1172 [2025-09-10 19:31:50,975][agent.pretrain.train_diffusion_agent][INFO] - 1938: train loss 0.0509 | t: 0.1044 [2025-09-10 19:31:51,079][agent.pretrain.train_diffusion_agent][INFO] - 1939: train loss 0.0504 | t: 0.1034 [2025-09-10 19:31:51,184][agent.pretrain.train_diffusion_agent][INFO] - 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1960: train loss 0.0513 | t: 0.1015 [2025-09-10 19:31:53,514][agent.pretrain.train_diffusion_agent][INFO] - 1961: train loss 0.0512 | t: 0.1012 [2025-09-10 19:31:53,615][agent.pretrain.train_diffusion_agent][INFO] - 1962: train loss 0.0517 | t: 0.1013 [2025-09-10 19:31:53,720][agent.pretrain.train_diffusion_agent][INFO] - 1963: train loss 0.0467 | t: 0.1043 [2025-09-10 19:31:53,821][agent.pretrain.train_diffusion_agent][INFO] - 1964: train loss 0.0522 | t: 0.1012 [2025-09-10 19:31:53,921][agent.pretrain.train_diffusion_agent][INFO] - 1965: train loss 0.0521 | t: 0.1005 [2025-09-10 19:31:54,022][agent.pretrain.train_diffusion_agent][INFO] - 1966: train loss 0.0563 | t: 0.1003 [2025-09-10 19:31:54,122][agent.pretrain.train_diffusion_agent][INFO] - 1967: train loss 0.0501 | t: 0.1000 [2025-09-10 19:31:54,223][agent.pretrain.train_diffusion_agent][INFO] - 1968: train loss 0.0520 | t: 0.1008 [2025-09-10 19:31:54,323][agent.pretrain.train_diffusion_agent][INFO] - 1969: train loss 0.0489 | t: 0.1001 [2025-09-10 19:31:54,423][agent.pretrain.train_diffusion_agent][INFO] - 1970: train loss 0.0524 | t: 0.1002 [2025-09-10 19:31:54,527][agent.pretrain.train_diffusion_agent][INFO] - 1971: train loss 0.0525 | t: 0.1045 [2025-09-10 19:31:54,631][agent.pretrain.train_diffusion_agent][INFO] - 1972: train loss 0.0509 | t: 0.1032 [2025-09-10 19:31:54,734][agent.pretrain.train_diffusion_agent][INFO] - 1973: train loss 0.0506 | t: 0.1036 [2025-09-10 19:31:54,837][agent.pretrain.train_diffusion_agent][INFO] - 1974: train loss 0.0537 | t: 0.1030 [2025-09-10 19:31:54,940][agent.pretrain.train_diffusion_agent][INFO] - 1975: train loss 0.0523 | t: 0.1026 [2025-09-10 19:31:55,043][agent.pretrain.train_diffusion_agent][INFO] - 1976: train loss 0.0522 | t: 0.1031 [2025-09-10 19:31:55,146][agent.pretrain.train_diffusion_agent][INFO] - 1977: train loss 0.0551 | t: 0.1028 [2025-09-10 19:31:55,250][agent.pretrain.train_diffusion_agent][INFO] - 1978: train loss 0.0530 | t: 0.1043 [2025-09-10 19:31:55,353][agent.pretrain.train_diffusion_agent][INFO] - 1979: train loss 0.0499 | t: 0.1030 [2025-09-10 19:31:55,457][agent.pretrain.train_diffusion_agent][INFO] - 1980: train loss 0.0510 | t: 0.1042 [2025-09-10 19:31:55,562][agent.pretrain.train_diffusion_agent][INFO] - 1981: train loss 0.0495 | t: 0.1052 [2025-09-10 19:31:55,666][agent.pretrain.train_diffusion_agent][INFO] - 1982: train loss 0.0511 | t: 0.1034 [2025-09-10 19:31:55,770][agent.pretrain.train_diffusion_agent][INFO] - 1983: train loss 0.0495 | t: 0.1043 [2025-09-10 19:31:55,873][agent.pretrain.train_diffusion_agent][INFO] - 1984: train loss 0.0501 | t: 0.1029 [2025-09-10 19:31:55,975][agent.pretrain.train_diffusion_agent][INFO] - 1985: train loss 0.0511 | t: 0.1022 [2025-09-10 19:31:56,079][agent.pretrain.train_diffusion_agent][INFO] - 1986: train loss 0.0505 | t: 0.1038 [2025-09-10 19:31:56,182][agent.pretrain.train_diffusion_agent][INFO] - 1987: train loss 0.0486 | t: 0.1029 [2025-09-10 19:31:56,286][agent.pretrain.train_diffusion_agent][INFO] - 1988: train loss 0.0528 | t: 0.1037 [2025-09-10 19:31:56,389][agent.pretrain.train_diffusion_agent][INFO] - 1989: train loss 0.0511 | t: 0.1034 [2025-09-10 19:31:56,516][agent.pretrain.train_diffusion_agent][INFO] - 1990: train loss 0.0506 | t: 0.1273 [2025-09-10 19:31:56,635][agent.pretrain.train_diffusion_agent][INFO] - 1991: train loss 0.0532 | t: 0.1189 [2025-09-10 19:31:56,740][agent.pretrain.train_diffusion_agent][INFO] - 1992: train loss 0.0474 | t: 0.1051 [2025-09-10 19:31:56,845][agent.pretrain.train_diffusion_agent][INFO] - 1993: train loss 0.0495 | t: 0.1046 [2025-09-10 19:31:57,003][agent.pretrain.train_diffusion_agent][INFO] - 1994: train loss 0.0580 | t: 0.1577 [2025-09-10 19:31:57,105][agent.pretrain.train_diffusion_agent][INFO] - 1995: train loss 0.0504 | t: 0.1028 [2025-09-10 19:31:57,207][agent.pretrain.train_diffusion_agent][INFO] - 1996: train loss 0.0504 | t: 0.1020 [2025-09-10 19:31:57,312][agent.pretrain.train_diffusion_agent][INFO] - 1997: train loss 0.0571 | t: 0.1049 [2025-09-10 19:31:57,416][agent.pretrain.train_diffusion_agent][INFO] - 1998: train loss 0.0531 | t: 0.1039 [2025-09-10 19:31:57,520][agent.pretrain.train_diffusion_agent][INFO] - 1999: train loss 0.0514 | t: 0.1038 [2025-09-10 19:31:57,628][agent.pretrain.train_agent][INFO] - Saved model to /home/zbzhu/Code/dppo/log/robomimic-pretrain/can_pre_diffusion_mlp_ta4_td20/2025-09-10_19-28-04_42/checkpoint/state_2000.pt [2025-09-10 19:31:57,628][agent.pretrain.train_diffusion_agent][INFO] - 2000: train loss 0.0484 | t: 0.1078 [2025-09-10 19:31:57,732][agent.pretrain.train_diffusion_agent][INFO] - 2001: train loss 0.0524 | t: 0.1038 [2025-09-10 19:31:57,835][agent.pretrain.train_diffusion_agent][INFO] - 2002: train loss 0.0504 | t: 0.1029 [2025-09-10 19:31:57,938][agent.pretrain.train_diffusion_agent][INFO] - 2003: train loss 0.0509 | t: 0.1032 [2025-09-10 19:31:58,041][agent.pretrain.train_diffusion_agent][INFO] - 2004: train loss 0.0529 | t: 0.1028 [2025-09-10 19:31:58,143][agent.pretrain.train_diffusion_agent][INFO] - 2005: train loss 0.0565 | t: 0.1028 [2025-09-10 19:31:58,246][agent.pretrain.train_diffusion_agent][INFO] - 2006: train loss 0.0512 | t: 0.1023 [2025-09-10 19:31:58,349][agent.pretrain.train_diffusion_agent][INFO] - 2007: train loss 0.0493 | t: 0.1032 [2025-09-10 19:31:58,459][agent.pretrain.train_diffusion_agent][INFO] - 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2996: train loss 0.0497 | t: 0.1040 [2025-09-10 19:33:44,652][agent.pretrain.train_diffusion_agent][INFO] - 2997: train loss 0.0499 | t: 0.1035 [2025-09-10 19:33:44,756][agent.pretrain.train_diffusion_agent][INFO] - 2998: train loss 0.0504 | t: 0.1040 [2025-09-10 19:33:44,861][agent.pretrain.train_diffusion_agent][INFO] - 2999: train loss 0.0492 | t: 0.1047 [2025-09-10 19:33:44,968][agent.pretrain.train_agent][INFO] - Saved model to /home/zbzhu/Code/dppo/log/robomimic-pretrain/can_pre_diffusion_mlp_ta4_td20/2025-09-10_19-28-04_42/checkpoint/state_3000.pt [2025-09-10 19:33:44,968][agent.pretrain.train_diffusion_agent][INFO] - 3000: train loss 0.0505 | t: 0.1072