[2025-09-12 20:06:44,806][root][INFO] - Number of network parameters: 2305212 [2025-09-12 20:06:44,979][agent.dataset.sequence][INFO] - Loaded dataset from /home/zbzhu/Code/dppo/data/robomimic/square/train.npz [2025-09-12 20:06:44,979][agent.dataset.sequence][INFO] - Number of episodes: 80 [2025-09-12 20:06:44,979][agent.dataset.sequence][INFO] - States shape/type: (torch.Size([19899, 23]), torch.float32) [2025-09-12 20:06:44,979][agent.dataset.sequence][INFO] - Actions shape/type: (torch.Size([19899, 7]), torch.float32) [2025-09-12 20:06:45,405][agent.pretrain.train_diffusion_agent][INFO] - 1: train loss 0.9767 | t: 0.4249 [2025-09-12 20:06:45,750][agent.pretrain.train_diffusion_agent][INFO] - 2: train loss 0.8656 | t: 0.3443 [2025-09-12 20:06:46,089][agent.pretrain.train_diffusion_agent][INFO] - 3: train loss 0.7424 | t: 0.3396 [2025-09-12 20:06:46,427][agent.pretrain.train_diffusion_agent][INFO] - 4: train loss 0.6153 | t: 0.3381 [2025-09-12 20:06:46,763][agent.pretrain.train_diffusion_agent][INFO] - 5: train loss 0.4848 | t: 0.3359 [2025-09-12 20:06:47,172][agent.pretrain.train_diffusion_agent][INFO] - 6: train loss 0.3526 | t: 0.4085 [2025-09-12 20:06:47,517][agent.pretrain.train_diffusion_agent][INFO] - 7: train loss 0.2511 | t: 0.3453 [2025-09-12 20:06:47,864][agent.pretrain.train_diffusion_agent][INFO] - 8: train loss 0.2103 | t: 0.3468 [2025-09-12 20:06:48,201][agent.pretrain.train_diffusion_agent][INFO] - 9: train loss 0.2033 | t: 0.3377 [2025-09-12 20:06:48,540][agent.pretrain.train_diffusion_agent][INFO] - 10: train loss 0.2000 | t: 0.3389 [2025-09-12 20:06:48,885][agent.pretrain.train_diffusion_agent][INFO] - 11: train loss 0.1978 | t: 0.3448 [2025-09-12 20:06:49,223][agent.pretrain.train_diffusion_agent][INFO] - 12: train loss 0.1965 | t: 0.3375 [2025-09-12 20:06:49,563][agent.pretrain.train_diffusion_agent][INFO] - 13: train loss 0.1933 | t: 0.3401 [2025-09-12 20:06:49,919][agent.pretrain.train_diffusion_agent][INFO] - 14: train loss 0.1917 | t: 0.3563 [2025-09-12 20:06:50,259][agent.pretrain.train_diffusion_agent][INFO] - 15: train loss 0.1904 | t: 0.3400 [2025-09-12 20:06:50,601][agent.pretrain.train_diffusion_agent][INFO] - 16: train loss 0.1877 | t: 0.3421 [2025-09-12 20:06:50,941][agent.pretrain.train_diffusion_agent][INFO] - 17: train loss 0.1825 | t: 0.3398 [2025-09-12 20:06:51,281][agent.pretrain.train_diffusion_agent][INFO] - 18: train loss 0.1787 | t: 0.3401 [2025-09-12 20:06:51,627][agent.pretrain.train_diffusion_agent][INFO] - 19: train loss 0.1710 | t: 0.3461 [2025-09-12 20:06:52,042][agent.pretrain.train_diffusion_agent][INFO] - 20: train loss 0.1627 | t: 0.4146 [2025-09-12 20:06:52,394][agent.pretrain.train_diffusion_agent][INFO] - 21: train loss 0.1564 | t: 0.3524 [2025-09-12 20:06:52,743][agent.pretrain.train_diffusion_agent][INFO] - 22: train loss 0.1516 | t: 0.3492 [2025-09-12 20:06:53,095][agent.pretrain.train_diffusion_agent][INFO] - 23: train loss 0.1409 | t: 0.3513 [2025-09-12 20:06:53,438][agent.pretrain.train_diffusion_agent][INFO] - 24: train loss 0.1376 | t: 0.3437 [2025-09-12 20:06:53,785][agent.pretrain.train_diffusion_agent][INFO] - 25: train loss 0.1328 | t: 0.3469 [2025-09-12 20:06:54,134][agent.pretrain.train_diffusion_agent][INFO] - 26: train loss 0.1295 | t: 0.3485 [2025-09-12 20:06:54,485][agent.pretrain.train_diffusion_agent][INFO] - 27: train loss 0.1247 | t: 0.3514 [2025-09-12 20:06:54,834][agent.pretrain.train_diffusion_agent][INFO] - 28: train loss 0.1240 | t: 0.3488 [2025-09-12 20:06:55,177][agent.pretrain.train_diffusion_agent][INFO] - 29: train loss 0.1171 | t: 0.3427 [2025-09-12 20:06:55,525][agent.pretrain.train_diffusion_agent][INFO] - 30: train loss 0.1182 | t: 0.3486 [2025-09-12 20:06:55,875][agent.pretrain.train_diffusion_agent][INFO] - 31: train loss 0.1166 | t: 0.3496 [2025-09-12 20:06:56,239][agent.pretrain.train_diffusion_agent][INFO] - 32: train loss 0.1152 | t: 0.3642 [2025-09-12 20:06:56,591][agent.pretrain.train_diffusion_agent][INFO] - 33: train loss 0.1121 | t: 0.3517 [2025-09-12 20:06:56,943][agent.pretrain.train_diffusion_agent][INFO] - 34: train loss 0.1103 | t: 0.3520 [2025-09-12 20:06:57,348][agent.pretrain.train_diffusion_agent][INFO] - 35: train loss 0.1090 | t: 0.4057 [2025-09-12 20:06:57,686][agent.pretrain.train_diffusion_agent][INFO] - 36: train loss 0.1068 | t: 0.3378 [2025-09-12 20:06:58,028][agent.pretrain.train_diffusion_agent][INFO] - 37: train loss 0.1052 | t: 0.3419 [2025-09-12 20:06:58,372][agent.pretrain.train_diffusion_agent][INFO] - 38: train loss 0.1030 | t: 0.3439 [2025-09-12 20:06:58,725][agent.pretrain.train_diffusion_agent][INFO] - 39: train loss 0.1032 | t: 0.3527 [2025-09-12 20:06:59,065][agent.pretrain.train_diffusion_agent][INFO] - 40: train loss 0.1021 | t: 0.3402 [2025-09-12 20:06:59,409][agent.pretrain.train_diffusion_agent][INFO] - 41: train loss 0.1019 | t: 0.3443 [2025-09-12 20:06:59,760][agent.pretrain.train_diffusion_agent][INFO] - 42: train loss 0.0997 | t: 0.3507 [2025-09-12 20:07:00,106][agent.pretrain.train_diffusion_agent][INFO] - 43: train loss 0.0994 | t: 0.3462 [2025-09-12 20:07:00,445][agent.pretrain.train_diffusion_agent][INFO] - 44: train loss 0.0987 | t: 0.3392 [2025-09-12 20:07:00,788][agent.pretrain.train_diffusion_agent][INFO] - 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55: train loss 0.0923 | t: 0.3366 [2025-09-12 20:07:04,613][agent.pretrain.train_diffusion_agent][INFO] - 56: train loss 0.0904 | t: 0.3385 [2025-09-12 20:07:04,963][agent.pretrain.train_diffusion_agent][INFO] - 57: train loss 0.0901 | t: 0.3498 [2025-09-12 20:07:05,304][agent.pretrain.train_diffusion_agent][INFO] - 58: train loss 0.0894 | t: 0.3415 [2025-09-12 20:07:05,646][agent.pretrain.train_diffusion_agent][INFO] - 59: train loss 0.0904 | t: 0.3420 [2025-09-12 20:07:06,031][agent.pretrain.train_diffusion_agent][INFO] - 60: train loss 0.0891 | t: 0.3848 [2025-09-12 20:07:06,382][agent.pretrain.train_diffusion_agent][INFO] - 61: train loss 0.0907 | t: 0.3514 [2025-09-12 20:07:06,727][agent.pretrain.train_diffusion_agent][INFO] - 62: train loss 0.0884 | t: 0.3450 [2025-09-12 20:07:07,128][agent.pretrain.train_diffusion_agent][INFO] - 63: train loss 0.0863 | t: 0.4006 [2025-09-12 20:07:07,467][agent.pretrain.train_diffusion_agent][INFO] - 64: train loss 0.0857 | t: 0.3390 [2025-09-12 20:07:07,817][agent.pretrain.train_diffusion_agent][INFO] - 65: train loss 0.0854 | t: 0.3498 [2025-09-12 20:07:08,161][agent.pretrain.train_diffusion_agent][INFO] - 66: train loss 0.0870 | t: 0.3441 [2025-09-12 20:07:08,499][agent.pretrain.train_diffusion_agent][INFO] - 67: train loss 0.0833 | t: 0.3379 [2025-09-12 20:07:08,836][agent.pretrain.train_diffusion_agent][INFO] - 68: train loss 0.0853 | t: 0.3367 [2025-09-12 20:07:09,174][agent.pretrain.train_diffusion_agent][INFO] - 69: train loss 0.0853 | t: 0.3384 [2025-09-12 20:07:09,514][agent.pretrain.train_diffusion_agent][INFO] - 70: train loss 0.0821 | t: 0.3402 [2025-09-12 20:07:09,858][agent.pretrain.train_diffusion_agent][INFO] - 71: train loss 0.0833 | t: 0.3439 [2025-09-12 20:07:10,198][agent.pretrain.train_diffusion_agent][INFO] - 72: train loss 0.0829 | t: 0.3402 [2025-09-12 20:07:10,538][agent.pretrain.train_diffusion_agent][INFO] - 73: train loss 0.0814 | t: 0.3401 [2025-09-12 20:07:10,880][agent.pretrain.train_diffusion_agent][INFO] - 74: train loss 0.0808 | t: 0.3412 [2025-09-12 20:07:11,220][agent.pretrain.train_diffusion_agent][INFO] - 75: train loss 0.0819 | t: 0.3409 [2025-09-12 20:07:11,562][agent.pretrain.train_diffusion_agent][INFO] - 76: train loss 0.0806 | t: 0.3419 [2025-09-12 20:07:11,970][agent.pretrain.train_diffusion_agent][INFO] - 77: train loss 0.0812 | t: 0.4074 [2025-09-12 20:07:12,314][agent.pretrain.train_diffusion_agent][INFO] - 78: train loss 0.0785 | t: 0.3443 [2025-09-12 20:07:12,659][agent.pretrain.train_diffusion_agent][INFO] - 79: train loss 0.0800 | t: 0.3454 [2025-09-12 20:07:13,001][agent.pretrain.train_diffusion_agent][INFO] - 80: train loss 0.0764 | t: 0.3412 [2025-09-12 20:07:13,343][agent.pretrain.train_diffusion_agent][INFO] - 81: train loss 0.0750 | t: 0.3420 [2025-09-12 20:07:13,688][agent.pretrain.train_diffusion_agent][INFO] - 82: train loss 0.0766 | t: 0.3457 [2025-09-12 20:07:14,032][agent.pretrain.train_diffusion_agent][INFO] - 83: train loss 0.0753 | t: 0.3438 [2025-09-12 20:07:14,382][agent.pretrain.train_diffusion_agent][INFO] - 84: train loss 0.0755 | t: 0.3503 [2025-09-12 20:07:14,727][agent.pretrain.train_diffusion_agent][INFO] - 85: train loss 0.0759 | t: 0.3450 [2025-09-12 20:07:15,077][agent.pretrain.train_diffusion_agent][INFO] - 86: train loss 0.0741 | t: 0.3501 [2025-09-12 20:07:15,428][agent.pretrain.train_diffusion_agent][INFO] - 87: train loss 0.0728 | t: 0.3505 [2025-09-12 20:07:15,778][agent.pretrain.train_diffusion_agent][INFO] - 88: train loss 0.0733 | t: 0.3504 [2025-09-12 20:07:16,131][agent.pretrain.train_diffusion_agent][INFO] - 89: train loss 0.0720 | t: 0.3529 [2025-09-12 20:07:16,483][agent.pretrain.train_diffusion_agent][INFO] - 90: train loss 0.0732 | t: 0.3518 [2025-09-12 20:07:16,892][agent.pretrain.train_diffusion_agent][INFO] - 91: train loss 0.0723 | t: 0.4092 [2025-09-12 20:07:17,242][agent.pretrain.train_diffusion_agent][INFO] - 92: train loss 0.0729 | t: 0.3494 [2025-09-12 20:07:17,591][agent.pretrain.train_diffusion_agent][INFO] - 93: train loss 0.0727 | t: 0.3490 [2025-09-12 20:07:17,940][agent.pretrain.train_diffusion_agent][INFO] - 94: train loss 0.0703 | t: 0.3496 [2025-09-12 20:07:18,296][agent.pretrain.train_diffusion_agent][INFO] - 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115: train loss 0.0678 | t: 0.3481 [2025-09-12 20:07:25,677][agent.pretrain.train_diffusion_agent][INFO] - 116: train loss 0.0677 | t: 0.3468 [2025-09-12 20:07:26,023][agent.pretrain.train_diffusion_agent][INFO] - 117: train loss 0.0673 | t: 0.3466 [2025-09-12 20:07:26,363][agent.pretrain.train_diffusion_agent][INFO] - 118: train loss 0.0667 | t: 0.3399 [2025-09-12 20:07:26,710][agent.pretrain.train_diffusion_agent][INFO] - 119: train loss 0.0675 | t: 0.3470 [2025-09-12 20:07:27,106][agent.pretrain.train_diffusion_agent][INFO] - 120: train loss 0.0679 | t: 0.3958 [2025-09-12 20:07:27,452][agent.pretrain.train_diffusion_agent][INFO] - 121: train loss 0.0667 | t: 0.3457 [2025-09-12 20:07:27,802][agent.pretrain.train_diffusion_agent][INFO] - 122: train loss 0.0656 | t: 0.3502 [2025-09-12 20:07:28,146][agent.pretrain.train_diffusion_agent][INFO] - 123: train loss 0.0678 | t: 0.3438 [2025-09-12 20:07:28,493][agent.pretrain.train_diffusion_agent][INFO] - 124: train loss 0.0670 | t: 0.3471 [2025-09-12 20:07:28,840][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_20-06-36_42/checkpoint/state_2000.pt [2025-09-12 20:18:45,578][agent.pretrain.train_diffusion_agent][INFO] - 2000: train loss 0.0331 | t: 0.4095 [2025-09-12 20:18:45,938][agent.pretrain.train_diffusion_agent][INFO] - 2001: train loss 0.0327 | t: 0.3598 [2025-09-12 20:18:46,289][agent.pretrain.train_diffusion_agent][INFO] - 2002: train loss 0.0326 | t: 0.3511 [2025-09-12 20:18:46,639][agent.pretrain.train_diffusion_agent][INFO] - 2003: train loss 0.0323 | t: 0.3502 [2025-09-12 20:18:46,986][agent.pretrain.train_diffusion_agent][INFO] - 2004: train loss 0.0325 | t: 0.3473 [2025-09-12 20:18:47,333][agent.pretrain.train_diffusion_agent][INFO] - 2005: train loss 0.0318 | t: 0.3462 [2025-09-12 20:18:47,675][agent.pretrain.train_diffusion_agent][INFO] - 2006: train loss 0.0322 | t: 0.3426 [2025-09-12 20:18:48,025][agent.pretrain.train_diffusion_agent][INFO] - 2007: train loss 0.0326 | t: 0.3494 [2025-09-12 20:18:48,436][agent.pretrain.train_diffusion_agent][INFO] - 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2996: train loss 0.0300 | t: 0.3469 [2025-09-12 20:24:42,470][agent.pretrain.train_diffusion_agent][INFO] - 2997: train loss 0.0304 | t: 0.3444 [2025-09-12 20:24:42,821][agent.pretrain.train_diffusion_agent][INFO] - 2998: train loss 0.0300 | t: 0.3507 [2025-09-12 20:24:43,460][agent.pretrain.train_diffusion_agent][INFO] - 2999: train loss 0.0301 | t: 0.6393 [2025-09-12 20:24:43,828][agent.pretrain.train_agent][INFO] - Saved model to /home/zbzhu/Code/dppo/log/robomimic-pretrain/square_pre_diffusion_mlp_ta4_td20/2025-09-12_20-06-36_42/checkpoint/state_3000.pt [2025-09-12 20:24:43,828][agent.pretrain.train_diffusion_agent][INFO] - 3000: train loss 0.0298 | t: 0.3678