File size: 8,716 Bytes
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2026-07-24 18:08:47,023 INFO MainThread:184127 [wandb_setup.py:_flush():81] Configure stats pid to 184127
2026-07-24 18:08:47,023 INFO MainThread:184127 [wandb_setup.py:_flush():81] Loading settings from environment variables
2026-07-24 18:08:47,023 INFO MainThread:184127 [wandb_init.py:setup_run_log_directory():723] Logging user logs to outputs/train/so101_multitask_diffusion_0724/wandb/run-20260724_180847-lqqse51n/logs/debug.log
2026-07-24 18:08:47,024 INFO MainThread:184127 [wandb_init.py:setup_run_log_directory():724] Logging internal logs to outputs/train/so101_multitask_diffusion_0724/wandb/run-20260724_180847-lqqse51n/logs/debug-internal.log
2026-07-24 18:08:47,024 INFO MainThread:184127 [wandb_init.py:init():851] calling init triggers
2026-07-24 18:08:47,024 INFO MainThread:184127 [wandb_init.py:init():856] wandb.init called with sweep_config: {}
config: {'dataset': {'repo_id': 'Chaenn/so101_cube_multitask_0724', 'root': None, 'episodes': None, 'image_transforms': {'enable': False, 'max_num_transforms': 3, 'random_order': False, 'tfs': {'brightness': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'brightness': [0.8, 1.2]}}, 'contrast': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'contrast': [0.8, 1.2]}}, 'saturation': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'saturation': [0.5, 1.5]}}, 'hue': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'hue': [-0.05, 0.05]}}, 'sharpness': {'weight': 1.0, 'type': 'SharpnessJitter', 'kwargs': {'sharpness': [0.5, 1.5]}}, 'affine': {'weight': 1.0, 'type': 'RandomAffine', 'kwargs': {'degrees': [-5.0, 5.0], 'translate': [0.05, 0.05]}}}}, 'revision': None, 'use_imagenet_stats': True, 'video_backend': 'torchcodec', 'return_uint8': False, 'streaming': False}, 'env': None, 'policy': {'type': 'diffusion', 'n_obs_steps': 2, 'input_features': {}, 'output_features': {}, 'device': 'cuda', 'use_amp': False, 'use_peft': False, 'push_to_hub': True, 'repo_id': 'Chaenn/diffusion_so101_cube_multitask_0724', 'private': None, 'tags': None, 'license': None, 'pretrained_path': None, 'horizon': 32, 'n_action_steps': 15, 'normalization_mapping': {'VISUAL': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'STATE': <NormalizationMode.MIN_MAX: 'MIN_MAX'>, 'ACTION': <NormalizationMode.MIN_MAX: 'MIN_MAX'>}, 'drop_n_last_frames': 7, 'vision_backbone': 'resnet18', 'resize_shape': None, 'crop_ratio': 1.0, 'crop_shape': None, 'crop_is_random': True, 'pretrained_backbone_weights': None, 'use_group_norm': True, 'spatial_softmax_num_keypoints': 32, 'use_separate_rgb_encoder_per_camera': False, 'down_dims': [512, 1024, 2048], 'kernel_size': 5, 'n_groups': 8, 'diffusion_step_embed_dim': 128, 'use_film_scale_modulation': True, 'noise_scheduler_type': 'DDPM', 'num_train_timesteps': 100, 'beta_schedule': 'squaredcos_cap_v2', 'beta_start': 0.0001, 'beta_end': 0.02, 'prediction_type': 'epsilon', 'clip_sample': True, 'clip_sample_range': 1.0, 'num_inference_steps': None, 'compile_model': False, 'compile_mode': 'reduce-overhead', 'do_mask_loss_for_padding': False, 'optimizer_lr': 0.0001, 'optimizer_betas': [0.95, 0.999], 'optimizer_eps': 1e-08, 'optimizer_weight_decay': 1e-06, 'scheduler_name': 'cosine', 'scheduler_warmup_steps': 500}, 'reward_model': None, 'output_dir': 'outputs/train/so101_multitask_diffusion_0724', 'job_name': 'so101_cube_diffusion', 'resume': False, 'seed': 1000, 'cudnn_deterministic': False, 'num_workers': 4, 'batch_size': 32, 'prefetch_factor': 4, 'persistent_workers': True, 'steps': 200000, 'eval_freq': 20000, 'log_freq': 200, 'tolerance_s': 0.0001, 'save_checkpoint': True, 'save_freq': 10000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adam', 'lr': 0.0001, 'weight_decay': 1e-06, 'grad_clip_norm': 10.0, 'betas': [0.95, 0.999], 'eps': 1e-08}, 'scheduler': {'type': 'diffuser', 'num_warmup_steps': 500, 'name': 'cosine'}, 'eval': {'n_episodes': 50, 'batch_size': 44, 'use_async_envs': True}, 'wandb': {'enable': True, 'disable_artifact': False, 'project': 'diffusion_so101_cube_multitask_0724_training', 'entity': None, 'notes': None, 'run_id': None, 'mode': None, 'add_tags': True}, 'peft': None, 'sample_weighting': None, 'rename_map': {}, 'checkpoint_path': None, '_wandb': {}}
2026-07-24 18:08:47,024 INFO MainThread:184127 [wandb_init.py:init():899] starting backend
2026-07-24 18:08:47,245 INFO MainThread:184127 [wandb_init.py:init():914] sending inform_init request
2026-07-24 18:08:47,625 INFO MainThread:184127 [wandb_init.py:init():919] backend started and connected
2026-07-24 18:08:47,628 INFO MainThread:184127 [wandb_init.py:init():989] updated telemetry
2026-07-24 18:08:47,629 INFO MainThread:184127 [wandb_init.py:init():1012] communicating run to backend with 90.0 second timeout
2026-07-24 18:08:48,172 INFO MainThread:184127 [wandb_init.py:init():1057] starting run threads in backend
2026-07-24 18:08:48,275 INFO MainThread:184127 [wandb_run.py:_console_start():2509] atexit reg
2026-07-24 18:08:48,275 INFO MainThread:184127 [wandb_run.py:_redirect():2359] redirect: wrap_raw
2026-07-24 18:08:48,275 INFO MainThread:184127 [wandb_run.py:_redirect():2428] Wrapping output streams.
2026-07-24 18:08:48,275 INFO MainThread:184127 [wandb_run.py:_redirect():2451] Redirects installed.
2026-07-24 18:08:48,278 INFO MainThread:184127 [wandb_init.py:init():1095] run started, returning control to user process
2026-07-24 18:31:25,953 INFO wandb-AsyncioManager-main:184127 [service_client.py:_forward_responses():122] Reached EOF.
2026-07-24 18:31:25,953 INFO wandb-AsyncioManager-main:184127 [mailbox.py:close():154] Closing mailbox, abandoning 1 handles.
2026-07-24 18:31:28,520 ERROR wandb-AsyncioManager-main:184127 [asyncio_manager.py:fn_wrap_exceptions():184] Uncaught exception in run_soon callback.
Traceback (most recent call last):
File "/home/grad26/miniforge3/envs/lerobot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_manager.py", line 182, in fn_wrap_exceptions
await fn()
File "/home/grad26/miniforge3/envs/lerobot/lib/python3.12/site-packages/wandb/sdk/lib/run_messages.py", line 105, in loop
await self._poll_and_print(timeout=None)
File "/home/grad26/miniforge3/envs/lerobot/lib/python3.12/site-packages/wandb/sdk/lib/run_messages.py", line 133, in _poll_and_print
handle = await self._interface.deliver_async(request)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/grad26/miniforge3/envs/lerobot/lib/python3.12/site-packages/wandb/sdk/interface/interface_sock.py", line 58, in deliver_async
handle = await self._client.deliver(request)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/grad26/miniforge3/envs/lerobot/lib/python3.12/site-packages/wandb/sdk/lib/service/service_client.py", line 57, in deliver
handle = self._mailbox.require_response(request)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/grad26/miniforge3/envs/lerobot/lib/python3.12/site-packages/wandb/sdk/mailbox/mailbox.py", line 89, in require_response
raise MailboxClosedError()
wandb.sdk.mailbox.mailbox.MailboxClosedError
2026-07-24 18:31:33,481 ERROR wandb-AsyncioManager-main:184127 [asyncio_manager.py:fn_wrap_exceptions():184] Uncaught exception in run_soon callback.
Traceback (most recent call last):
File "/home/grad26/miniforge3/envs/lerobot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_manager.py", line 182, in fn_wrap_exceptions
await fn()
File "/home/grad26/miniforge3/envs/lerobot/lib/python3.12/site-packages/wandb/sdk/lib/run_stopping.py", line 87, in loop
should_stop = await self._check_should_stop()
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/grad26/miniforge3/envs/lerobot/lib/python3.12/site-packages/wandb/sdk/lib/run_stopping.py", line 115, in _check_should_stop
handle = await self._interface.deliver_async(request)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/grad26/miniforge3/envs/lerobot/lib/python3.12/site-packages/wandb/sdk/interface/interface_sock.py", line 58, in deliver_async
handle = await self._client.deliver(request)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/grad26/miniforge3/envs/lerobot/lib/python3.12/site-packages/wandb/sdk/lib/service/service_client.py", line 57, in deliver
handle = self._mailbox.require_response(request)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/grad26/miniforge3/envs/lerobot/lib/python3.12/site-packages/wandb/sdk/mailbox/mailbox.py", line 89, in require_response
raise MailboxClosedError()
wandb.sdk.mailbox.mailbox.MailboxClosedError
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