[2025-09-12 13:27:59,896][root][INFO] - Number of network parameters: 2305212 [2025-09-12 13:28:00,073][agent.dataset.sequence][INFO] - Loaded dataset from /home/zbzhu/Code/dppo/data/robomimic/square/train.npz [2025-09-12 13:28:00,073][agent.dataset.sequence][INFO] - Number of episodes: 50 [2025-09-12 13:28:00,073][agent.dataset.sequence][INFO] - States shape/type: (torch.Size([7697, 23]), torch.float32) [2025-09-12 13:28:00,073][agent.dataset.sequence][INFO] - Actions shape/type: (torch.Size([7697, 7]), torch.float32) [2025-09-12 13:28:00,366][agent.pretrain.train_diffusion_agent][INFO] - 1: train loss 1.0139 | t: 0.2917 [2025-09-12 13:28:00,499][agent.pretrain.train_diffusion_agent][INFO] - 2: train loss 0.9634 | t: 0.1333 [2025-09-12 13:28:00,633][agent.pretrain.train_diffusion_agent][INFO] - 3: train loss 0.9175 | t: 0.1343 [2025-09-12 13:28:00,763][agent.pretrain.train_diffusion_agent][INFO] - 4: train loss 0.8688 | t: 0.1298 [2025-09-12 13:28:00,893][agent.pretrain.train_diffusion_agent][INFO] - 5: train loss 0.8151 | t: 0.1293 [2025-09-12 13:28:01,024][agent.pretrain.train_diffusion_agent][INFO] - 6: train loss 0.7564 | t: 0.1317 [2025-09-12 13:28:01,155][agent.pretrain.train_diffusion_agent][INFO] - 7: train loss 0.6937 | t: 0.1303 [2025-09-12 13:28:01,285][agent.pretrain.train_diffusion_agent][INFO] - 8: train loss 0.6333 | t: 0.1302 [2025-09-12 13:28:01,414][agent.pretrain.train_diffusion_agent][INFO] - 9: train loss 0.5629 | t: 0.1287 [2025-09-12 13:28:01,542][agent.pretrain.train_diffusion_agent][INFO] - 10: train loss 0.4955 | t: 0.1287 [2025-09-12 13:28:01,681][agent.pretrain.train_diffusion_agent][INFO] - 11: train loss 0.4366 | t: 0.1391 [2025-09-12 13:28:01,851][agent.pretrain.train_diffusion_agent][INFO] - 12: train loss 0.3611 | t: 0.1699 [2025-09-12 13:28:01,994][agent.pretrain.train_diffusion_agent][INFO] - 13: train loss 0.2975 | t: 0.1429 [2025-09-12 13:28:02,127][agent.pretrain.train_diffusion_agent][INFO] - 14: train loss 0.2497 | t: 0.1325 [2025-09-12 13:28:02,269][agent.pretrain.train_diffusion_agent][INFO] - 15: train loss 0.2183 | t: 0.1425 [2025-09-12 13:28:02,463][agent.pretrain.train_diffusion_agent][INFO] - 16: train loss 0.2137 | t: 0.1941 [2025-09-12 13:28:02,598][agent.pretrain.train_diffusion_agent][INFO] - 17: train loss 0.2089 | t: 0.1347 [2025-09-12 13:28:02,734][agent.pretrain.train_diffusion_agent][INFO] - 18: train loss 0.2098 | t: 0.1357 [2025-09-12 13:28:02,867][agent.pretrain.train_diffusion_agent][INFO] - 19: train loss 0.2121 | t: 0.1337 [2025-09-12 13:28:03,002][agent.pretrain.train_diffusion_agent][INFO] - 20: train loss 0.2048 | t: 0.1349 [2025-09-12 13:28:03,137][agent.pretrain.train_diffusion_agent][INFO] - 21: train loss 0.2038 | t: 0.1347 [2025-09-12 13:28:03,272][agent.pretrain.train_diffusion_agent][INFO] - 22: train loss 0.2070 | t: 0.1350 [2025-09-12 13:28:03,406][agent.pretrain.train_diffusion_agent][INFO] - 23: train loss 0.2062 | t: 0.1339 [2025-09-12 13:28:03,541][agent.pretrain.train_diffusion_agent][INFO] - 24: train loss 0.2015 | t: 0.1348 [2025-09-12 13:28:03,673][agent.pretrain.train_diffusion_agent][INFO] - 25: train loss 0.1998 | t: 0.1322 [2025-09-12 13:28:03,802][agent.pretrain.train_diffusion_agent][INFO] - 26: train loss 0.1956 | t: 0.1297 [2025-09-12 13:28:03,933][agent.pretrain.train_diffusion_agent][INFO] - 27: train loss 0.2002 | t: 0.1307 [2025-09-12 13:28:04,067][agent.pretrain.train_diffusion_agent][INFO] - 28: train loss 0.1983 | t: 0.1342 [2025-09-12 13:28:04,202][agent.pretrain.train_diffusion_agent][INFO] - 29: train loss 0.1958 | t: 0.1343 [2025-09-12 13:28:04,335][agent.pretrain.train_diffusion_agent][INFO] - 30: train loss 0.1890 | t: 0.1334 [2025-09-12 13:28:04,465][agent.pretrain.train_diffusion_agent][INFO] - 31: train loss 0.1870 | t: 0.1299 [2025-09-12 13:28:04,602][agent.pretrain.train_diffusion_agent][INFO] - 32: train loss 0.1856 | t: 0.1367 [2025-09-12 13:28:04,734][agent.pretrain.train_diffusion_agent][INFO] - 33: train loss 0.1808 | t: 0.1322 [2025-09-12 13:28:04,864][agent.pretrain.train_diffusion_agent][INFO] - 34: train loss 0.1803 | t: 0.1304 [2025-09-12 13:28:04,995][agent.pretrain.train_diffusion_agent][INFO] - 35: train loss 0.1715 | t: 0.1303 [2025-09-12 13:28:05,127][agent.pretrain.train_diffusion_agent][INFO] - 36: train loss 0.1716 | t: 0.1320 [2025-09-12 13:28:05,260][agent.pretrain.train_diffusion_agent][INFO] - 37: train loss 0.1664 | t: 0.1334 [2025-09-12 13:28:05,394][agent.pretrain.train_diffusion_agent][INFO] - 38: train loss 0.1637 | t: 0.1340 [2025-09-12 13:28:05,528][agent.pretrain.train_diffusion_agent][INFO] - 39: train loss 0.1581 | t: 0.1339 [2025-09-12 13:28:05,692][agent.pretrain.train_diffusion_agent][INFO] - 40: train loss 0.1524 | t: 0.1639 [2025-09-12 13:28:05,842][agent.pretrain.train_diffusion_agent][INFO] - 41: train loss 0.1546 | t: 0.1502 [2025-09-12 13:28:05,980][agent.pretrain.train_diffusion_agent][INFO] - 42: train loss 0.1477 | t: 0.1386 [2025-09-12 13:28:06,116][agent.pretrain.train_diffusion_agent][INFO] - 43: train loss 0.1439 | t: 0.1354 [2025-09-12 13:28:06,249][agent.pretrain.train_diffusion_agent][INFO] - 44: train loss 0.1401 | t: 0.1328 [2025-09-12 13:28:06,384][agent.pretrain.train_diffusion_agent][INFO] - 45: train loss 0.1390 | t: 0.1356 [2025-09-12 13:28:06,519][agent.pretrain.train_diffusion_agent][INFO] - 46: train loss 0.1401 | t: 0.1349 [2025-09-12 13:28:06,650][agent.pretrain.train_diffusion_agent][INFO] - 47: train loss 0.1337 | t: 0.1302 [2025-09-12 13:28:06,780][agent.pretrain.train_diffusion_agent][INFO] - 48: train loss 0.1332 | t: 0.1301 [2025-09-12 13:28:06,910][agent.pretrain.train_diffusion_agent][INFO] - 49: train loss 0.1286 | t: 0.1304 [2025-09-12 13:28:07,041][agent.pretrain.train_diffusion_agent][INFO] - 50: train loss 0.1255 | t: 0.1306 [2025-09-12 13:28:07,173][agent.pretrain.train_diffusion_agent][INFO] - 51: train loss 0.1264 | t: 0.1327 [2025-09-12 13:28:07,304][agent.pretrain.train_diffusion_agent][INFO] - 52: train loss 0.1238 | t: 0.1305 [2025-09-12 13:28:07,499][agent.pretrain.train_diffusion_agent][INFO] - 53: train loss 0.1262 | t: 0.1952 [2025-09-12 13:28:07,630][agent.pretrain.train_diffusion_agent][INFO] - 54: train loss 0.1241 | t: 0.1307 [2025-09-12 13:28:07,763][agent.pretrain.train_diffusion_agent][INFO] - 55: train loss 0.1221 | t: 0.1330 [2025-09-12 13:28:07,893][agent.pretrain.train_diffusion_agent][INFO] - 56: train loss 0.1253 | t: 0.1307 [2025-09-12 13:28:08,025][agent.pretrain.train_diffusion_agent][INFO] - 57: train loss 0.1187 | t: 0.1320 [2025-09-12 13:28:08,160][agent.pretrain.train_diffusion_agent][INFO] - 58: train loss 0.1152 | t: 0.1351 [2025-09-12 13:28:08,298][agent.pretrain.train_diffusion_agent][INFO] - 59: train loss 0.1169 | t: 0.1373 [2025-09-12 13:28:08,431][agent.pretrain.train_diffusion_agent][INFO] - 60: train loss 0.1164 | t: 0.1337 [2025-09-12 13:28:08,566][agent.pretrain.train_diffusion_agent][INFO] - 61: train loss 0.1177 | t: 0.1344 [2025-09-12 13:28:08,700][agent.pretrain.train_diffusion_agent][INFO] - 62: train loss 0.1155 | t: 0.1342 [2025-09-12 13:28:08,834][agent.pretrain.train_diffusion_agent][INFO] - 63: train loss 0.1132 | t: 0.1341 [2025-09-12 13:28:09,150][agent.pretrain.train_diffusion_agent][INFO] - 64: train loss 0.1124 | t: 0.3156 [2025-09-12 13:28:09,331][agent.pretrain.train_diffusion_agent][INFO] - 65: train loss 0.1127 | t: 0.1813 [2025-09-12 13:28:09,472][agent.pretrain.train_diffusion_agent][INFO] - 66: train loss 0.1113 | t: 0.1413 [2025-09-12 13:28:09,607][agent.pretrain.train_diffusion_agent][INFO] - 67: train loss 0.1171 | t: 0.1346 [2025-09-12 13:28:09,741][agent.pretrain.train_diffusion_agent][INFO] - 68: train loss 0.1092 | t: 0.1345 [2025-09-12 13:28:09,874][agent.pretrain.train_diffusion_agent][INFO] - 69: train loss 0.1084 | t: 0.1329 [2025-09-12 13:28:10,006][agent.pretrain.train_diffusion_agent][INFO] - 70: train loss 0.1103 | t: 0.1313 [2025-09-12 13:28:10,139][agent.pretrain.train_diffusion_agent][INFO] - 71: train loss 0.1103 | t: 0.1336 [2025-09-12 13:28:10,273][agent.pretrain.train_diffusion_agent][INFO] - 72: train loss 0.1100 | t: 0.1341 [2025-09-12 13:28:10,407][agent.pretrain.train_diffusion_agent][INFO] - 73: train loss 0.1072 | t: 0.1336 [2025-09-12 13:28:10,541][agent.pretrain.train_diffusion_agent][INFO] - 74: train loss 0.1058 | t: 0.1342 [2025-09-12 13:28:10,676][agent.pretrain.train_diffusion_agent][INFO] - 75: train loss 0.1055 | t: 0.1347 [2025-09-12 13:28:10,810][agent.pretrain.train_diffusion_agent][INFO] - 76: train loss 0.1052 | t: 0.1341 [2025-09-12 13:28:10,942][agent.pretrain.train_diffusion_agent][INFO] - 77: train loss 0.1083 | t: 0.1322 [2025-09-12 13:28:11,072][agent.pretrain.train_diffusion_agent][INFO] - 78: train loss 0.1061 | t: 0.1301 [2025-09-12 13:28:11,202][agent.pretrain.train_diffusion_agent][INFO] - 79: train loss 0.1086 | t: 0.1300 [2025-09-12 13:28:11,334][agent.pretrain.train_diffusion_agent][INFO] - 80: train loss 0.1021 | t: 0.1316 [2025-09-12 13:28:11,467][agent.pretrain.train_diffusion_agent][INFO] - 81: train loss 0.1062 | t: 0.1333 [2025-09-12 13:28:11,601][agent.pretrain.train_diffusion_agent][INFO] - 82: train loss 0.1083 | t: 0.1342 [2025-09-12 13:28:11,735][agent.pretrain.train_diffusion_agent][INFO] - 83: train loss 0.1028 | t: 0.1341 [2025-09-12 13:28:11,869][agent.pretrain.train_diffusion_agent][INFO] - 84: train loss 0.1037 | t: 0.1340 [2025-09-12 13:28:12,001][agent.pretrain.train_diffusion_agent][INFO] - 85: train loss 0.1029 | t: 0.1312 [2025-09-12 13:28:12,134][agent.pretrain.train_diffusion_agent][INFO] - 86: train loss 0.1062 | t: 0.1332 [2025-09-12 13:28:12,269][agent.pretrain.train_diffusion_agent][INFO] - 87: train loss 0.0994 | t: 0.1355 [2025-09-12 13:28:12,402][agent.pretrain.train_diffusion_agent][INFO] - 88: train loss 0.1012 | t: 0.1329 [2025-09-12 13:28:12,536][agent.pretrain.train_diffusion_agent][INFO] - 89: train loss 0.1021 | t: 0.1341 [2025-09-12 13:28:12,732][agent.pretrain.train_diffusion_agent][INFO] - 90: train loss 0.1009 | t: 0.1960 [2025-09-12 13:28:12,867][agent.pretrain.train_diffusion_agent][INFO] - 91: train loss 0.1012 | t: 0.1346 [2025-09-12 13:28:13,000][agent.pretrain.train_diffusion_agent][INFO] - 92: train loss 0.0997 | t: 0.1336 [2025-09-12 13:28:13,136][agent.pretrain.train_diffusion_agent][INFO] - 93: train loss 0.1007 | t: 0.1351 [2025-09-12 13:28:13,270][agent.pretrain.train_diffusion_agent][INFO] - 94: train loss 0.1004 | t: 0.1343 [2025-09-12 13:28:13,402][agent.pretrain.train_diffusion_agent][INFO] - 95: train loss 0.0980 | t: 0.1317 [2025-09-12 13:28:13,539][agent.pretrain.train_diffusion_agent][INFO] - 96: train loss 0.0975 | t: 0.1376 [2025-09-12 13:28:13,825][agent.pretrain.train_diffusion_agent][INFO] - 97: train loss 0.0955 | t: 0.2855 [2025-09-12 13:28:13,994][agent.pretrain.train_diffusion_agent][INFO] - 98: train loss 0.0952 | t: 0.1694 [2025-09-12 13:28:14,131][agent.pretrain.train_diffusion_agent][INFO] - 99: train loss 0.0978 | t: 0.1367 [2025-09-12 13:28:14,265][agent.pretrain.train_diffusion_agent][INFO] - 100: train loss 0.0981 | t: 0.1345 [2025-09-12 13:28:14,400][agent.pretrain.train_diffusion_agent][INFO] - 101: train loss 0.0974 | t: 0.1345 [2025-09-12 13:28:14,534][agent.pretrain.train_diffusion_agent][INFO] - 102: train loss 0.0962 | t: 0.1339 [2025-09-12 13:28:14,667][agent.pretrain.train_diffusion_agent][INFO] - 103: train loss 0.0970 | t: 0.1335 [2025-09-12 13:28:14,802][agent.pretrain.train_diffusion_agent][INFO] - 104: train loss 0.0964 | t: 0.1346 [2025-09-12 13:28:14,936][agent.pretrain.train_diffusion_agent][INFO] - 105: train loss 0.0978 | t: 0.1344 [2025-09-12 13:28:15,071][agent.pretrain.train_diffusion_agent][INFO] - 106: train loss 0.0941 | t: 0.1346 [2025-09-12 13:28:15,205][agent.pretrain.train_diffusion_agent][INFO] - 107: train loss 0.0931 | t: 0.1344 [2025-09-12 13:28:15,340][agent.pretrain.train_diffusion_agent][INFO] - 108: train loss 0.0936 | t: 0.1350 [2025-09-12 13:28:15,475][agent.pretrain.train_diffusion_agent][INFO] - 109: train loss 0.0951 | t: 0.1345 [2025-09-12 13:28:15,609][agent.pretrain.train_diffusion_agent][INFO] - 110: train loss 0.0942 | t: 0.1340 [2025-09-12 13:28:15,743][agent.pretrain.train_diffusion_agent][INFO] - 111: train loss 0.0919 | t: 0.1343 [2025-09-12 13:28:15,878][agent.pretrain.train_diffusion_agent][INFO] - 112: train loss 0.0929 | t: 0.1349 [2025-09-12 13:28:16,013][agent.pretrain.train_diffusion_agent][INFO] - 113: train loss 0.0929 | t: 0.1349 [2025-09-12 13:28:16,147][agent.pretrain.train_diffusion_agent][INFO] - 114: train loss 0.0917 | t: 0.1346 [2025-09-12 13:28:16,282][agent.pretrain.train_diffusion_agent][INFO] - 115: train loss 0.0948 | t: 0.1345 [2025-09-12 13:28:16,417][agent.pretrain.train_diffusion_agent][INFO] - 116: train loss 0.0892 | t: 0.1348 [2025-09-12 13:28:16,551][agent.pretrain.train_diffusion_agent][INFO] - 117: train loss 0.0889 | t: 0.1346 [2025-09-12 13:28:16,684][agent.pretrain.train_diffusion_agent][INFO] - 118: train loss 0.0907 | t: 0.1331 [2025-09-12 13:28:16,819][agent.pretrain.train_diffusion_agent][INFO] - 119: train loss 0.0937 | t: 0.1350 [2025-09-12 13:28:16,953][agent.pretrain.train_diffusion_agent][INFO] - 120: train loss 0.0890 | t: 0.1331 [2025-09-12 13:28:17,085][agent.pretrain.train_diffusion_agent][INFO] - 121: train loss 0.0895 | t: 0.1321 [2025-09-12 13:28:17,219][agent.pretrain.train_diffusion_agent][INFO] - 122: train loss 0.0901 | t: 0.1347 [2025-09-12 13:28:17,355][agent.pretrain.train_diffusion_agent][INFO] - 123: train loss 0.0886 | t: 0.1355 [2025-09-12 13:28:17,488][agent.pretrain.train_diffusion_agent][INFO] - 124: train loss 0.0865 | t: 0.1328 [2025-09-12 13:28:17,620][agent.pretrain.train_diffusion_agent][INFO] - 125: train loss 0.0862 | t: 0.1325 [2025-09-12 13:28:17,831][agent.pretrain.train_diffusion_agent][INFO] - 126: train loss 0.0853 | t: 0.2105 [2025-09-12 13:28:18,105][agent.pretrain.train_diffusion_agent][INFO] - 127: train loss 0.0833 | t: 0.2742 [2025-09-12 13:28:18,243][agent.pretrain.train_diffusion_agent][INFO] - 128: train loss 0.0838 | t: 0.1380 [2025-09-12 13:28:18,378][agent.pretrain.train_diffusion_agent][INFO] - 129: train loss 0.0830 | t: 0.1348 [2025-09-12 13:28:18,514][agent.pretrain.train_diffusion_agent][INFO] - 130: train loss 0.0824 | t: 0.1360 [2025-09-12 13:28:18,650][agent.pretrain.train_diffusion_agent][INFO] - 131: train loss 0.0823 | t: 0.1363 [2025-09-12 13:28:18,786][agent.pretrain.train_diffusion_agent][INFO] - 132: train loss 0.0819 | t: 0.1357 [2025-09-12 13:28:18,919][agent.pretrain.train_diffusion_agent][INFO] - 133: train loss 0.0819 | t: 0.1339 [2025-09-12 13:28:19,054][agent.pretrain.train_diffusion_agent][INFO] - 134: train loss 0.0824 | t: 0.1345 [2025-09-12 13:28:19,190][agent.pretrain.train_diffusion_agent][INFO] - 135: train loss 0.0877 | t: 0.1359 [2025-09-12 13:28:19,325][agent.pretrain.train_diffusion_agent][INFO] - 136: train loss 0.0848 | t: 0.1353 [2025-09-12 13:28:19,461][agent.pretrain.train_diffusion_agent][INFO] - 137: train loss 0.0819 | t: 0.1356 [2025-09-12 13:28:19,596][agent.pretrain.train_diffusion_agent][INFO] - 138: train loss 0.0803 | t: 0.1353 [2025-09-12 13:28:19,728][agent.pretrain.train_diffusion_agent][INFO] - 139: train loss 0.0818 | t: 0.1322 [2025-09-12 13:28:19,862][agent.pretrain.train_diffusion_agent][INFO] - 140: train loss 0.0820 | t: 0.1333 [2025-09-12 13:28:19,996][agent.pretrain.train_diffusion_agent][INFO] - 141: train loss 0.0835 | t: 0.1347 [2025-09-12 13:28:20,130][agent.pretrain.train_diffusion_agent][INFO] - 142: train loss 0.0809 | t: 0.1338 [2025-09-12 13:28:20,266][agent.pretrain.train_diffusion_agent][INFO] - 143: train loss 0.0810 | t: 0.1356 [2025-09-12 13:28:20,399][agent.pretrain.train_diffusion_agent][INFO] - 144: train loss 0.0842 | t: 0.1337 [2025-09-12 13:28:20,534][agent.pretrain.train_diffusion_agent][INFO] - 145: train loss 0.0798 | t: 0.1348 [2025-09-12 13:28:20,671][agent.pretrain.train_diffusion_agent][INFO] - 146: train loss 0.0810 | t: 0.1370 [2025-09-12 13:28:20,805][agent.pretrain.train_diffusion_agent][INFO] - 147: train loss 0.0783 | t: 0.1341 [2025-09-12 13:28:20,939][agent.pretrain.train_diffusion_agent][INFO] - 148: train loss 0.0766 | t: 0.1338 [2025-09-12 13:28:21,077][agent.pretrain.train_diffusion_agent][INFO] - 149: train loss 0.0812 | t: 0.1378 [2025-09-12 13:28:21,212][agent.pretrain.train_diffusion_agent][INFO] - 150: train loss 0.0784 | t: 0.1354 [2025-09-12 13:28:21,348][agent.pretrain.train_diffusion_agent][INFO] - 151: train loss 0.0788 | t: 0.1354 [2025-09-12 13:28:21,483][agent.pretrain.train_diffusion_agent][INFO] - 152: train loss 0.0803 | t: 0.1354 [2025-09-12 13:28:21,619][agent.pretrain.train_diffusion_agent][INFO] - 153: train loss 0.0798 | t: 0.1360 [2025-09-12 13:28:21,755][agent.pretrain.train_diffusion_agent][INFO] - 154: train loss 0.0773 | t: 0.1356 [2025-09-12 13:28:21,890][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_td20/2025-09-12_13-27-52_42/checkpoint/state_2000.pt [2025-09-12 13:32:39,280][agent.pretrain.train_diffusion_agent][INFO] - 2000: train loss 0.0451 | t: 0.3121 [2025-09-12 13:32:39,442][agent.pretrain.train_diffusion_agent][INFO] - 2001: train loss 0.0436 | t: 0.1620 [2025-09-12 13:32:39,575][agent.pretrain.train_diffusion_agent][INFO] - 2002: train loss 0.0434 | t: 0.1336 [2025-09-12 13:32:39,711][agent.pretrain.train_diffusion_agent][INFO] - 2003: train loss 0.0452 | t: 0.1355 [2025-09-12 13:32:39,843][agent.pretrain.train_diffusion_agent][INFO] - 2004: train loss 0.0445 | t: 0.1321 [2025-09-12 13:32:39,976][agent.pretrain.train_diffusion_agent][INFO] - 2005: train loss 0.0420 | t: 0.1327 [2025-09-12 13:32:40,107][agent.pretrain.train_diffusion_agent][INFO] - 2006: train loss 0.0453 | t: 0.1316 [2025-09-12 13:32:40,241][agent.pretrain.train_diffusion_agent][INFO] - 2007: train loss 0.0444 | t: 0.1343 [2025-09-12 13:32:40,376][agent.pretrain.train_diffusion_agent][INFO] - 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2996: train loss 0.0426 | t: 0.1513 [2025-09-12 13:34:58,477][agent.pretrain.train_diffusion_agent][INFO] - 2997: train loss 0.0419 | t: 0.1351 [2025-09-12 13:34:58,673][agent.pretrain.train_diffusion_agent][INFO] - 2998: train loss 0.0430 | t: 0.1959 [2025-09-12 13:34:58,832][agent.pretrain.train_diffusion_agent][INFO] - 2999: train loss 0.0414 | t: 0.1593 [2025-09-12 13:34:59,002][agent.pretrain.train_agent][INFO] - Saved model to /home/zbzhu/Code/dppo/log/robomimic-pretrain/square_pre_diffusion_mlp_ta4_td20/2025-09-12_13-27-52_42/checkpoint/state_3000.pt [2025-09-12 13:34:59,002][agent.pretrain.train_diffusion_agent][INFO] - 3000: train loss 0.0428 | t: 0.1703