[2025-09-10 19:29:51,484][root][INFO] - Number of network parameters: 2305212 [2025-09-10 19:29:51,646][agent.dataset.sequence][INFO] - Loaded dataset from /home/zbzhu/Code/dppo/data/robomimic/square/train.npz [2025-09-10 19:29:51,646][agent.dataset.sequence][INFO] - Number of episodes: 100 [2025-09-10 19:29:51,647][agent.dataset.sequence][INFO] - States shape/type: (torch.Size([27214, 23]), torch.float32) [2025-09-10 19:29:51,647][agent.dataset.sequence][INFO] - Actions shape/type: (torch.Size([27214, 7]), torch.float32) [2025-09-10 19:29:52,222][agent.pretrain.train_diffusion_agent][INFO] - 1: train loss 0.9569 | t: 0.5740 [2025-09-10 19:29:52,707][agent.pretrain.train_diffusion_agent][INFO] - 2: train loss 0.8011 | t: 0.4849 [2025-09-10 19:29:53,219][agent.pretrain.train_diffusion_agent][INFO] - 3: train loss 0.6391 | t: 0.5119 [2025-09-10 19:29:53,693][agent.pretrain.train_diffusion_agent][INFO] - 4: train loss 0.4695 | t: 0.4741 [2025-09-10 19:29:54,233][agent.pretrain.train_diffusion_agent][INFO] - 5: train loss 0.3108 | t: 0.5404 [2025-09-10 19:29:54,717][agent.pretrain.train_diffusion_agent][INFO] - 6: train loss 0.2189 | t: 0.4836 [2025-09-10 19:29:55,202][agent.pretrain.train_diffusion_agent][INFO] - 7: train loss 0.2025 | t: 0.4853 [2025-09-10 19:29:55,688][agent.pretrain.train_diffusion_agent][INFO] - 8: train loss 0.1972 | t: 0.4854 [2025-09-10 19:29:56,174][agent.pretrain.train_diffusion_agent][INFO] - 9: train loss 0.1965 | t: 0.4862 [2025-09-10 19:29:56,697][agent.pretrain.train_diffusion_agent][INFO] - 10: train loss 0.1926 | t: 0.5231 [2025-09-10 19:29:57,181][agent.pretrain.train_diffusion_agent][INFO] - 11: train loss 0.1918 | t: 0.4846 [2025-09-10 19:29:57,691][agent.pretrain.train_diffusion_agent][INFO] - 12: train loss 0.1897 | t: 0.5097 [2025-09-10 19:29:58,175][agent.pretrain.train_diffusion_agent][INFO] - 13: train loss 0.1868 | t: 0.4841 [2025-09-10 19:29:58,689][agent.pretrain.train_diffusion_agent][INFO] - 14: train loss 0.1793 | t: 0.5141 [2025-09-10 19:29:59,226][agent.pretrain.train_diffusion_agent][INFO] - 15: train loss 0.1710 | t: 0.5367 [2025-09-10 19:29:59,711][agent.pretrain.train_diffusion_agent][INFO] - 16: train loss 0.1664 | t: 0.4844 [2025-09-10 19:30:00,208][agent.pretrain.train_diffusion_agent][INFO] - 17: train loss 0.1514 | t: 0.4971 [2025-09-10 19:30:00,690][agent.pretrain.train_diffusion_agent][INFO] - 18: train loss 0.1463 | t: 0.4821 [2025-09-10 19:30:01,170][agent.pretrain.train_diffusion_agent][INFO] - 19: train loss 0.1397 | t: 0.4808 [2025-09-10 19:30:01,653][agent.pretrain.train_diffusion_agent][INFO] - 20: train loss 0.1331 | t: 0.4822 [2025-09-10 19:30:02,160][agent.pretrain.train_diffusion_agent][INFO] - 21: train loss 0.1273 | t: 0.5070 [2025-09-10 19:30:02,653][agent.pretrain.train_diffusion_agent][INFO] - 22: train loss 0.1242 | t: 0.4938 [2025-09-10 19:30:03,133][agent.pretrain.train_diffusion_agent][INFO] - 23: train loss 0.1218 | t: 0.4799 [2025-09-10 19:30:03,618][agent.pretrain.train_diffusion_agent][INFO] - 24: train loss 0.1190 | t: 0.4850 [2025-09-10 19:30:04,104][agent.pretrain.train_diffusion_agent][INFO] - 25: train loss 0.1145 | t: 0.4859 [2025-09-10 19:30:04,640][agent.pretrain.train_diffusion_agent][INFO] - 26: train loss 0.1121 | t: 0.5358 [2025-09-10 19:30:05,160][agent.pretrain.train_diffusion_agent][INFO] - 27: train loss 0.1097 | t: 0.5204 [2025-09-10 19:30:05,652][agent.pretrain.train_diffusion_agent][INFO] - 28: train loss 0.1063 | t: 0.4917 [2025-09-10 19:30:06,136][agent.pretrain.train_diffusion_agent][INFO] - 29: train loss 0.1070 | t: 0.4836 [2025-09-10 19:30:06,617][agent.pretrain.train_diffusion_agent][INFO] - 30: train loss 0.1043 | t: 0.4814 [2025-09-10 19:30:07,104][agent.pretrain.train_diffusion_agent][INFO] - 31: train loss 0.1030 | t: 0.4872 [2025-09-10 19:30:07,595][agent.pretrain.train_diffusion_agent][INFO] - 32: train loss 0.1006 | t: 0.4905 [2025-09-10 19:30:08,077][agent.pretrain.train_diffusion_agent][INFO] - 33: train loss 0.1008 | t: 0.4823 [2025-09-10 19:30:08,638][agent.pretrain.train_diffusion_agent][INFO] - 34: train loss 0.0980 | t: 0.5608 [2025-09-10 19:30:09,120][agent.pretrain.train_diffusion_agent][INFO] - 35: train loss 0.0976 | t: 0.4823 [2025-09-10 19:30:09,665][agent.pretrain.train_diffusion_agent][INFO] - 36: train loss 0.0953 | t: 0.5450 [2025-09-10 19:30:10,153][agent.pretrain.train_diffusion_agent][INFO] - 37: train loss 0.0940 | t: 0.4884 [2025-09-10 19:30:10,637][agent.pretrain.train_diffusion_agent][INFO] - 38: train loss 0.0958 | t: 0.4835 [2025-09-10 19:30:11,127][agent.pretrain.train_diffusion_agent][INFO] - 39: train loss 0.0953 | t: 0.4905 [2025-09-10 19:30:11,634][agent.pretrain.train_diffusion_agent][INFO] - 40: train loss 0.0938 | t: 0.5063 [2025-09-10 19:30:12,117][agent.pretrain.train_diffusion_agent][INFO] - 41: train loss 0.0929 | t: 0.4830 [2025-09-10 19:30:12,584][agent.pretrain.train_diffusion_agent][INFO] - 42: train loss 0.0925 | t: 0.4677 [2025-09-10 19:30:13,061][agent.pretrain.train_diffusion_agent][INFO] - 43: train loss 0.0915 | t: 0.4762 [2025-09-10 19:30:13,538][agent.pretrain.train_diffusion_agent][INFO] - 44: train loss 0.0896 | t: 0.4777 [2025-09-10 19:30:14,047][agent.pretrain.train_diffusion_agent][INFO] - 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55: train loss 0.0839 | t: 0.4914 [2025-09-10 19:30:19,544][agent.pretrain.train_diffusion_agent][INFO] - 56: train loss 0.0832 | t: 0.4763 [2025-09-10 19:30:20,073][agent.pretrain.train_diffusion_agent][INFO] - 57: train loss 0.0818 | t: 0.5285 [2025-09-10 19:30:20,540][agent.pretrain.train_diffusion_agent][INFO] - 58: train loss 0.0823 | t: 0.4671 [2025-09-10 19:30:21,010][agent.pretrain.train_diffusion_agent][INFO] - 59: train loss 0.0807 | t: 0.4699 [2025-09-10 19:30:21,534][agent.pretrain.train_diffusion_agent][INFO] - 60: train loss 0.0795 | t: 0.5240 [2025-09-10 19:30:22,021][agent.pretrain.train_diffusion_agent][INFO] - 61: train loss 0.0813 | t: 0.4870 [2025-09-10 19:30:22,507][agent.pretrain.train_diffusion_agent][INFO] - 62: train loss 0.0802 | t: 0.4858 [2025-09-10 19:30:22,991][agent.pretrain.train_diffusion_agent][INFO] - 63: train loss 0.0782 | t: 0.4846 [2025-09-10 19:30:23,563][agent.pretrain.train_diffusion_agent][INFO] - 64: train loss 0.0775 | t: 0.5719 [2025-09-10 19:30:24,033][agent.pretrain.train_diffusion_agent][INFO] - 65: train loss 0.0773 | t: 0.4693 [2025-09-10 19:30:24,511][agent.pretrain.train_diffusion_agent][INFO] - 66: train loss 0.0773 | t: 0.4782 [2025-09-10 19:30:25,058][agent.pretrain.train_diffusion_agent][INFO] - 67: train loss 0.0759 | t: 0.5475 [2025-09-10 19:30:25,540][agent.pretrain.train_diffusion_agent][INFO] - 68: train loss 0.0759 | t: 0.4818 [2025-09-10 19:30:26,025][agent.pretrain.train_diffusion_agent][INFO] - 69: train loss 0.0745 | t: 0.4848 [2025-09-10 19:30:26,505][agent.pretrain.train_diffusion_agent][INFO] - 70: train loss 0.0718 | t: 0.4797 [2025-09-10 19:30:27,024][agent.pretrain.train_diffusion_agent][INFO] - 71: train loss 0.0718 | t: 0.5193 [2025-09-10 19:30:27,503][agent.pretrain.train_diffusion_agent][INFO] - 72: train loss 0.0716 | t: 0.4790 [2025-09-10 19:30:27,986][agent.pretrain.train_diffusion_agent][INFO] - 73: train loss 0.0723 | t: 0.4834 [2025-09-10 19:30:28,475][agent.pretrain.train_diffusion_agent][INFO] - 74: train loss 0.0697 | t: 0.4884 [2025-09-10 19:30:29,029][agent.pretrain.train_diffusion_agent][INFO] - 75: train loss 0.0710 | t: 0.5539 [2025-09-10 19:30:29,515][agent.pretrain.train_diffusion_agent][INFO] - 76: train loss 0.0705 | t: 0.4862 [2025-09-10 19:30:30,009][agent.pretrain.train_diffusion_agent][INFO] - 77: train loss 0.0697 | t: 0.4945 [2025-09-10 19:30:30,553][agent.pretrain.train_diffusion_agent][INFO] - 78: train loss 0.0691 | t: 0.5439 [2025-09-10 19:30:31,065][agent.pretrain.train_diffusion_agent][INFO] - 79: train loss 0.0693 | t: 0.5117 [2025-09-10 19:30:31,551][agent.pretrain.train_diffusion_agent][INFO] - 80: train loss 0.0682 | t: 0.4862 [2025-09-10 19:30:32,037][agent.pretrain.train_diffusion_agent][INFO] - 81: train loss 0.0696 | t: 0.4860 [2025-09-10 19:30:32,523][agent.pretrain.train_diffusion_agent][INFO] - 82: train loss 0.0696 | t: 0.4854 [2025-09-10 19:30:33,001][agent.pretrain.train_diffusion_agent][INFO] - 83: train loss 0.0702 | t: 0.4781 [2025-09-10 19:30:33,583][agent.pretrain.train_diffusion_agent][INFO] - 84: train loss 0.0670 | t: 0.5819 [2025-09-10 19:30:34,064][agent.pretrain.train_diffusion_agent][INFO] - 85: train loss 0.0684 | t: 0.4809 [2025-09-10 19:30:34,546][agent.pretrain.train_diffusion_agent][INFO] - 86: train loss 0.0668 | t: 0.4822 [2025-09-10 19:30:35,028][agent.pretrain.train_diffusion_agent][INFO] - 87: train loss 0.0674 | t: 0.4825 [2025-09-10 19:30:35,581][agent.pretrain.train_diffusion_agent][INFO] - 88: train loss 0.0678 | t: 0.5522 [2025-09-10 19:30:36,068][agent.pretrain.train_diffusion_agent][INFO] - 89: train loss 0.0678 | t: 0.4876 [2025-09-10 19:30:36,605][agent.pretrain.train_diffusion_agent][INFO] - 90: train loss 0.0668 | t: 0.5364 [2025-09-10 19:30:37,091][agent.pretrain.train_diffusion_agent][INFO] - 91: train loss 0.0652 | t: 0.4864 [2025-09-10 19:30:37,586][agent.pretrain.train_diffusion_agent][INFO] - 92: train loss 0.0662 | t: 0.4947 [2025-09-10 19:30:38,060][agent.pretrain.train_diffusion_agent][INFO] - 93: train loss 0.0663 | t: 0.4744 [2025-09-10 19:30:38,550][agent.pretrain.train_diffusion_agent][INFO] - 94: train loss 0.0649 | t: 0.4901 [2025-09-10 19:30:39,030][agent.pretrain.train_diffusion_agent][INFO] - 95: train loss 0.0653 | t: 0.4800 [2025-09-10 19:30:39,498][agent.pretrain.train_diffusion_agent][INFO] - 96: train loss 0.0638 | t: 0.4682 [2025-09-10 19:30:39,972][agent.pretrain.train_diffusion_agent][INFO] - 97: train loss 0.0637 | t: 0.4739 [2025-09-10 19:30:40,497][agent.pretrain.train_diffusion_agent][INFO] - 98: train loss 0.0638 | t: 0.5243 [2025-09-10 19:30:40,985][agent.pretrain.train_diffusion_agent][INFO] - 99: train loss 0.0664 | t: 0.4881 [2025-09-10 19:30:41,470][agent.pretrain.train_diffusion_agent][INFO] - 100: train loss 0.0666 | t: 0.4848 [2025-09-10 19:30:41,955][agent.pretrain.train_diffusion_agent][INFO] - 101: train loss 0.0647 | t: 0.4858 [2025-09-10 19:30:42,525][agent.pretrain.train_diffusion_agent][INFO] - 102: train loss 0.0644 | t: 0.5698 [2025-09-10 19:30:43,038][agent.pretrain.train_diffusion_agent][INFO] - 103: train loss 0.0649 | t: 0.5128 [2025-09-10 19:30:43,523][agent.pretrain.train_diffusion_agent][INFO] - 104: train loss 0.0658 | t: 0.4853 [2025-09-10 19:30:44,014][agent.pretrain.train_diffusion_agent][INFO] - 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115: train loss 0.0621 | t: 0.4900 [2025-09-10 19:30:49,500][agent.pretrain.train_diffusion_agent][INFO] - 116: train loss 0.0629 | t: 0.4824 [2025-09-10 19:30:49,986][agent.pretrain.train_diffusion_agent][INFO] - 117: train loss 0.0622 | t: 0.4863 [2025-09-10 19:30:50,470][agent.pretrain.train_diffusion_agent][INFO] - 118: train loss 0.0620 | t: 0.4833 [2025-09-10 19:30:51,008][agent.pretrain.train_diffusion_agent][INFO] - 119: train loss 0.0617 | t: 0.5385 [2025-09-10 19:30:51,504][agent.pretrain.train_diffusion_agent][INFO] - 120: train loss 0.0629 | t: 0.4961 [2025-09-10 19:30:51,999][agent.pretrain.train_diffusion_agent][INFO] - 121: train loss 0.0626 | t: 0.4948 [2025-09-10 19:30:52,570][agent.pretrain.train_diffusion_agent][INFO] - 122: train loss 0.0613 | t: 0.5710 [2025-09-10 19:30:53,060][agent.pretrain.train_diffusion_agent][INFO] - 123: train loss 0.0599 | t: 0.4900 [2025-09-10 19:30:53,545][agent.pretrain.train_diffusion_agent][INFO] - 124: train loss 0.0610 | t: 0.4853 [2025-09-10 19:30:54,028][agent.pretrain.train_diffusion_agent][INFO] - 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135: train loss 0.0601 | t: 0.4661 [2025-09-10 19:30:59,551][agent.pretrain.train_diffusion_agent][INFO] - 136: train loss 0.0590 | t: 0.4650 [2025-09-10 19:31:00,019][agent.pretrain.train_diffusion_agent][INFO] - 137: train loss 0.0586 | t: 0.4671 [2025-09-10 19:31:00,526][agent.pretrain.train_diffusion_agent][INFO] - 138: train loss 0.0597 | t: 0.5072 [2025-09-10 19:31:01,002][agent.pretrain.train_diffusion_agent][INFO] - 139: train loss 0.0575 | t: 0.4765 [2025-09-10 19:31:01,536][agent.pretrain.train_diffusion_agent][INFO] - 140: train loss 0.0584 | t: 0.5339 [2025-09-10 19:31:02,079][agent.pretrain.train_diffusion_agent][INFO] - 141: train loss 0.0585 | t: 0.5427 [2025-09-10 19:31:02,577][agent.pretrain.train_diffusion_agent][INFO] - 142: train loss 0.0589 | t: 0.4982 [2025-09-10 19:31:03,064][agent.pretrain.train_diffusion_agent][INFO] - 143: train loss 0.0580 | t: 0.4868 [2025-09-10 19:31:03,550][agent.pretrain.train_diffusion_agent][INFO] - 144: train loss 0.0571 | t: 0.4864 [2025-09-10 19:31:04,032][agent.pretrain.train_diffusion_agent][INFO] - 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Saved model to /home/zbzhu/Code/dppo/log/robomimic-pretrain/square_pre_diffusion_mlp_ta4_td20/2025-09-10_19-29-44_42/checkpoint/state_2000.pt [2025-09-10 19:46:32,195][agent.pretrain.train_diffusion_agent][INFO] - 2000: train loss 0.0308 | t: 0.4915 [2025-09-10 19:46:32,661][agent.pretrain.train_diffusion_agent][INFO] - 2001: train loss 0.0296 | t: 0.4663 [2025-09-10 19:46:33,125][agent.pretrain.train_diffusion_agent][INFO] - 2002: train loss 0.0298 | t: 0.4640 [2025-09-10 19:46:33,694][agent.pretrain.train_diffusion_agent][INFO] - 2003: train loss 0.0301 | t: 0.5695 [2025-09-10 19:46:34,161][agent.pretrain.train_diffusion_agent][INFO] - 2004: train loss 0.0300 | t: 0.4664 [2025-09-10 19:46:34,636][agent.pretrain.train_diffusion_agent][INFO] - 2005: train loss 0.0294 | t: 0.4750 [2025-09-10 19:46:35,111][agent.pretrain.train_diffusion_agent][INFO] - 2006: train loss 0.0292 | t: 0.4749 [2025-09-10 19:46:35,575][agent.pretrain.train_diffusion_agent][INFO] - 2007: train loss 0.0302 | t: 0.4638 [2025-09-10 19:46:36,040][agent.pretrain.train_diffusion_agent][INFO] - 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2986: train loss 0.0271 | t: 0.4847 [2025-09-10 19:54:43,718][agent.pretrain.train_diffusion_agent][INFO] - 2987: train loss 0.0271 | t: 0.4844 [2025-09-10 19:54:44,203][agent.pretrain.train_diffusion_agent][INFO] - 2988: train loss 0.0277 | t: 0.4848 [2025-09-10 19:54:44,686][agent.pretrain.train_diffusion_agent][INFO] - 2989: train loss 0.0279 | t: 0.4831 [2025-09-10 19:54:45,170][agent.pretrain.train_diffusion_agent][INFO] - 2990: train loss 0.0273 | t: 0.4846 [2025-09-10 19:54:45,664][agent.pretrain.train_diffusion_agent][INFO] - 2991: train loss 0.0276 | t: 0.4936 [2025-09-10 19:54:46,216][agent.pretrain.train_diffusion_agent][INFO] - 2992: train loss 0.0274 | t: 0.5524 [2025-09-10 19:54:46,702][agent.pretrain.train_diffusion_agent][INFO] - 2993: train loss 0.0271 | t: 0.4854 [2025-09-10 19:54:47,187][agent.pretrain.train_diffusion_agent][INFO] - 2994: train loss 0.0270 | t: 0.4855 [2025-09-10 19:54:47,667][agent.pretrain.train_diffusion_agent][INFO] - 2995: train loss 0.0274 | t: 0.4798 [2025-09-10 19:54:48,146][agent.pretrain.train_diffusion_agent][INFO] - 2996: train loss 0.0278 | t: 0.4796 [2025-09-10 19:54:48,633][agent.pretrain.train_diffusion_agent][INFO] - 2997: train loss 0.0274 | t: 0.4865 [2025-09-10 19:54:49,116][agent.pretrain.train_diffusion_agent][INFO] - 2998: train loss 0.0277 | t: 0.4830 [2025-09-10 19:54:49,598][agent.pretrain.train_diffusion_agent][INFO] - 2999: train loss 0.0273 | t: 0.4823 [2025-09-10 19:54:50,094][agent.pretrain.train_agent][INFO] - Saved model to /home/zbzhu/Code/dppo/log/robomimic-pretrain/square_pre_diffusion_mlp_ta4_td20/2025-09-10_19-29-44_42/checkpoint/state_3000.pt [2025-09-10 19:54:50,094][agent.pretrain.train_diffusion_agent][INFO] - 3000: train loss 0.0275 | t: 0.4958