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@@ -33,3 +33,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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+INFO 2025-12-06 16:13:45 db_utils.py:103 Track this run --> https://wandb.ai/mohamedkarimziadi-hugging-face/lerobot/runs/fqisdt4e
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+INFO 2025-12-06 16:13:48 ot_train.py:202 Creating policyM/246M [00:02<00:00, 143
+The PI05 model is a direct port of the OpenPI implementation.
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+✓ Loaded state dict from model.safetensors
+WARNING 2025-12-06 16:14:30 ng_pi05.py:1022 Vision embedding key might need handling: paligemma_with_expert.paligemma.model.vision_tower.vision_model.embeddings.patch_embedding.bias
+WARNING 2025-12-06 16:14:30 ng_pi05.py:1022 Vision embedding key might need handling: paligemma_with_expert.paligemma.model.vision_tower.vision_model.embeddings.patch_embedding.weight
+Remapped: action_in_proj.bias -> model.action_in_proj.bias
+Remapped: action_in_proj.weight -> model.action_in_proj.weight
+Remapped: action_out_proj.bias -> model.action_out_proj.bias
+Remapped: action_out_proj.weight -> model.action_out_proj.weight
+Remapped: paligemma_with_expert.gemma_expert.lm_head.weight -> model.paligemma_with_expert.gemma_expert.lm_head.weight
+Remapped: paligemma_with_expert.gemma_expert.model.layers.0.input_layernorm.dense.bias -> model.paligemma_with_expert.gemma_expert.model.layers.0.input_layernorm.dense.bias
+Remapped: paligemma_with_expert.gemma_expert.model.layers.0.input_layernorm.dense.weight -> model.paligemma_with_expert.gemma_expert.model.layers.0.input_layernorm.dense.weight
+Remapped: paligemma_with_expert.gemma_expert.model.layers.0.mlp.down_proj.weight -> model.paligemma_with_expert.gemma_expert.model.layers.0.mlp.down_proj.weight
+Remapped: paligemma_with_expert.gemma_expert.model.layers.0.mlp.gate_proj.weight -> model.paligemma_with_expert.gemma_expert.model.layers.0.mlp.gate_proj.weight
+Remapped: paligemma_with_expert.gemma_expert.model.layers.0.mlp.up_proj.weight -> model.paligemma_with_expert.gemma_expert.model.layers.0.mlp.up_proj.weight
+Remapped 812 state dict keys
+Warning: Could not remap state dict keys: Error(s) in loading state_dict for PI05Policy:
+	Missing key(s) in state_dict: "model.paligemma_with_expert.paligemma.model.language_model.embed_tokens.weight".
+INFO 2025-12-06 16:14:44 ot_train.py:247 Creating optimizer and scheduler
+INFO 2025-12-06 16:14:44 hedulers.py:105 Auto-scaling LR scheduler: num_training_steps (3000) < num_decay_steps (30000). Scaling warmup: 1000 → 100, decay: 30000 → 3000 (scale factor: 0.100)
+INFO 2025-12-06 16:14:44 ot_train.py:259 Output dir: outputs/train/pi05_mobile_arm_bottle_02
+INFO 2025-12-06 16:14:44 ot_train.py:262 cfg.steps=3000 (3K)
+INFO 2025-12-06 16:14:44 ot_train.py:263 dataset.num_frames=9898 (10K)
+INFO 2025-12-06 16:14:44 ot_train.py:264 dataset.num_episodes=13
+INFO 2025-12-06 16:14:44 ot_train.py:267 Effective batch size: 32 x 1 = 32
+INFO 2025-12-06 16:14:44 ot_train.py:268 num_learnable_params=3616757520 (4B)
+INFO 2025-12-06 16:14:44 ot_train.py:269 num_total_params=3616757520 (4B)
+INFO 2025-12-06 16:14:44 ot_train.py:324 Start offline training on a fixed dataset
+INFO 2025-12-06 16:23:01 ot_train.py:351 step:200 smpl:6K ep:8 epch:0.65 loss:0.226 grdn:2.107 lr:1.9e-05 updt_s:2.461 data_s:0.024
+WARNING 2025-12-06 16:23:01 db_utils.py:141 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+INFO 2025-12-06 16:30:54 ot_train.py:351 step:400 smpl:13K ep:17 epch:1.29 loss:0.098 grdn:1.144 lr:2.4e-05 updt_s:2.324 data_s:0.036
+WARNING 2025-12-06 16:30:54 db_utils.py:141 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+INFO 2025-12-06 16:38:41 ot_train.py:351 step:600 smpl:19K ep:25 epch:1.94 loss:0.080 grdn:0.910 lr:2.3e-05 updt_s:2.321 data_s:0.013
+WARNING 2025-12-06 16:38:41 db_utils.py:141 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+INFO 2025-12-06 16:46:32 ot_train.py:351 step:800 smpl:26K ep:34 epch:2.59 loss:0.070 grdn:0.853 lr:2.2e-05 updt_s:2.315 data_s:0.037
+WARNING 2025-12-06 16:46:32 db_utils.py:141 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+INFO 2025-12-06 16:54:22 ot_train.py:351 step:1K smpl:32K ep:42 epch:3.23 loss:0.065 grdn:0.748 lr:2.0e-05 updt_s:2.314 data_s:0.036
+WARNING 2025-12-06 16:54:22 db_utils.py:141 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+INFO 2025-12-06 17:02:09 ot_train.py:351 step:1K smpl:38K ep:50 epch:3.88 loss:0.060 grdn:0.708 lr:1.8e-05 updt_s:2.320 data_s:0.013
+WARNING 2025-12-06 17:02:09 db_utils.py:141 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+INFO 2025-12-06 17:09:59 ot_train.py:351 step:1K smpl:45K ep:59 epch:4.53 loss:0.056 grdn:0.755 lr:1.6e-05 updt_s:2.312 data_s:0.034
+WARNING 2025-12-06 17:09:59 db_utils.py:141 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+INFO 2025-12-06 17:17:49 ot_train.py:351 step:2K smpl:51K ep:67 epch:5.17 loss:0.054 grdn:0.721 lr:1.4e-05 updt_s:2.311 data_s:0.037
+WARNING 2025-12-06 17:17:49 db_utils.py:141 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+INFO 2025-12-06 17:25:37 ot_train.py:351 step:2K smpl:58K ep:76 epch:5.82 loss:0.051 grdn:0.702 lr:1.1e-05 updt_s:2.325 data_s:0.013
+WARNING 2025-12-06 17:25:37 db_utils.py:141 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+INFO 2025-12-06 17:33:28 ot_train.py:351 step:2K smpl:64K ep:84 epch:6.47 loss:0.049 grdn:0.715 lr:9.2e-06 updt_s:2.315 data_s:0.036
+WARNING 2025-12-06 17:33:28 db_utils.py:141 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+INFO 2025-12-06 17:41:18 ot_train.py:351 step:2K smpl:70K ep:92 epch:7.11 loss:0.047 grdn:0.699 lr:7.1e-06 updt_s:2.312 data_s:0.036
+WARNING 2025-12-06 17:41:18 db_utils.py:141 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+INFO 2025-12-06 17:49:05 ot_train.py:351 step:2K smpl:77K ep:101 epch:7.76 loss:0.047 grdn:0.699 lr:5.4e-06 updt_s:2.322 data_s:0.013
+WARNING 2025-12-06 17:49:05 db_utils.py:141 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+INFO 2025-12-06 17:56:55 ot_train.py:351 step:3K smpl:83K ep:109 epch:8.41 loss:0.044 grdn:0.687 lr:4.0e-06 updt_s:2.314 data_s:0.035
+WARNING 2025-12-06 17:56:55 db_utils.py:141 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+INFO 2025-12-06 18:04:45 ot_train.py:351 step:3K smpl:90K ep:118 epch:9.05 loss:0.044 grdn:0.701 lr:3.1e-06 updt_s:2.312 data_s:0.035
+WARNING 2025-12-06 18:04:45 db_utils.py:141 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+INFO 2025-12-06 18:12:32 ot_train.py:351 step:3K smpl:96K ep:126 epch:9.70 loss:0.044 grdn:0.729 lr:2.6e-06 updt_s:2.320 data_s:0.013
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+INFO 2025-12-06 18:12:32 ot_train.py:361 Checkpoint policy after step 3000
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+2025-12-06 16:13:44,505 INFO    MainThread:2006 [wandb_init.py:init():857] sending inform_init request
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+2025-12-06 16:13:45,088 INFO    MainThread:2006 [wandb_run.py:_console_start():2506] atexit reg
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+2025-12-06 16:13:45,089 INFO    MainThread:2006 [wandb_init.py:init():1049] run started, returning control to user process
+2025-12-06 18:13:11,006 INFO    wandb-AsyncioManager-main:2006 [service_client.py:_forward_responses():84] Reached EOF.
+2025-12-06 18:13:11,007 INFO    wandb-AsyncioManager-main:2006 [mailbox.py:close():137] Closing mailbox, abandoning 2 handles.

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