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ebc903d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 | 2026-08-07 09:38:05,627 INFO MainThread:1916126 [wandb_setup.py:_flush():81] Current SDK version is 0.28.1
2026-08-07 09:38:05,627 INFO MainThread:1916126 [wandb_setup.py:_flush():81] Configure stats pid to 1916126
2026-08-07 09:38:05,627 INFO MainThread:1916126 [wandb_setup.py:_flush():81] Loading settings from environment variables
2026-08-07 09:38:05,627 INFO MainThread:1916126 [wandb_init.py:setup_run_log_directory():729] Logging user logs to /mnt/data/experiments/snapflow-multi-obj/phase2_snapflow/wandb/run-20260807_093805-7i8cqirl/logs/debug.log
2026-08-07 09:38:05,627 INFO MainThread:1916126 [wandb_init.py:setup_run_log_directory():730] Logging internal logs to /mnt/data/experiments/snapflow-multi-obj/phase2_snapflow/wandb/run-20260807_093805-7i8cqirl/logs/debug-internal.log
2026-08-07 09:38:05,627 INFO MainThread:1916126 [wandb_init.py:init():772] calling init triggers
2026-08-07 09:38:05,627 INFO MainThread:1916126 [wandb_init.py:init():777] wandb.init called with sweep_config: {}
config: {'_wandb': {}}
2026-08-07 09:38:05,627 INFO MainThread:1916126 [wandb_init.py:init():820] starting backend
2026-08-07 09:38:05,627 INFO MainThread:1916126 [wandb_init.py:init():835] sending inform_init request
2026-08-07 09:38:05,745 INFO MainThread:1916126 [wandb_init.py:init():840] backend started and connected
2026-08-07 09:38:05,747 INFO MainThread:1916126 [wandb_init.py:init():910] updated telemetry
2026-08-07 09:38:05,755 INFO MainThread:1916126 [wandb_init.py:init():933] communicating run to backend with 90.0 second timeout
2026-08-07 09:38:06,580 INFO MainThread:1916126 [wandb_init.py:init():978] starting run threads in backend
2026-08-07 09:38:06,731 INFO MainThread:1916126 [wandb_run.py:_console_start():2621] atexit reg
2026-08-07 09:38:06,731 INFO MainThread:1916126 [wandb_run.py:_redirect():2471] redirect: wrap_raw
2026-08-07 09:38:06,731 INFO MainThread:1916126 [wandb_run.py:_redirect():2540] Wrapping output streams.
2026-08-07 09:38:06,731 INFO MainThread:1916126 [wandb_run.py:_redirect():2563] Redirects installed.
2026-08-07 09:38:06,738 INFO MainThread:1916126 [wandb_init.py:init():1016] run started, returning control to user process
2026-08-07 09:38:06,739 INFO MainThread:1916126 [wandb_run.py:_config_callback():1346] config_cb None None {'phase': 'phase2-snapflow', 'dataset': 'Daankrol/pick-and-place-multi-obj', 'pretrained': 'lerobot/pi05_base', 'seed': 42, 'val_split': 0.1, 'val_split_seed': 42, 'augment': True, 'augment_n_subset': 3, 'batch_size': 16, 'devices': 1, 'accumulate_grad_batches': 1, 'epochs': 3, 'train_frames': 86093, 'global_batch': 16, 'steps_per_epoch': 5380, 'total_steps': 16140, 'warmup_steps': 807, 'warmup_frac': 0.05, 'snapflow_alpha': 0.5, 'snapflow_lambda': 0.1, 'snapflow_steps': 1}
2026-08-07 09:38:09,271 INFO MainThread:1916126 [wandb_run.py:_config_callback():1346] config_cb None None {'paligemma_variant': 'gemma_2b', 'action_expert_variant': 'gemma_300m', 'dtype': 'bfloat16', 'n_obs_steps': 1, 'chunk_size': 50, 'n_action_steps': 50, 'max_state_dim': 32, 'max_action_dim': 32, 'num_inference_steps': 10, 'time_sampling_beta_alpha': 1.5, 'time_sampling_beta_beta': 1.0, 'time_sampling_scale': 0.999, 'time_sampling_offset': 0.001, 'min_period': 0.004, 'max_period': 4.0, 'use_random_input_noise': True, 'snapflow_enabled': True, 'snapflow_alpha': 0.5, 'snapflow_lambda': 0.1, 'snapflow_num_inference_steps': 1, 'image_resolution': [224, 224], 'empty_cameras': 0, 'tokenizer_max_length': 200, 'gradient_checkpointing': True, 'compile_mode': 'max-autotune', 'freeze_vision_encoder': False, 'train_expert_only': True, 'normalization_mode': 'QUANTILES', 'optimizer_lr': 2.5e-05, 'optimizer_betas': [0.9, 0.95], 'optimizer_eps': 1e-08, 'optimizer_weight_decay': 0.01, 'optimizer_grad_clip_norm': 1.0, 'scheduler_warmup_steps': 807, 'scheduler_decay_steps': None, 'scheduler_decay_lr': 2.5e-06, 'dataset_stats': {'observation.state': {'mean': [0.4902085707550287, -15.791447722340527, 18.025905360949306, 55.00042447703383, -49.21564963228982, 9.598709224247822], 'std': [28.56218428477719, 44.62872421028026, 43.38945126960788, 19.454495761579995, 8.781436382129517, 8.932825748525975], 'min': [-71.17327117919922, -99.66344451904297, -56.68328094482422, -6.712270259857178, -85.72921752929688, 0.26385223865509033], 'max': [80.10877990722656, 73.74842071533203, 98.82192993164062, 92.56092071533203, -3.136435031890869, 42.084434509277344], 'q01': [-39.45999045040392, -98.81794802740971, -23.48391958469011, 25.50333895589101, -61.34767717791836, 0.6040729837518146], 'q99': [34.18319318983752, 39.30228886401892, 98.56118793779315, 82.42731621305099, -36.652074374338476, 26.018496216201445], 'type': 'STATE', 'name': 'state', 'shape': [6]}, 'observation.gripper': {'mean': [[[0.5900507834223626]], [[0.5872656129005113]], [[0.5966057530402353]]], 'std': [[[0.1831069655022816]], [[0.18826039482586307]], [[0.18464241941191994]]], 'min': [[[0.0]], [[0.0]], [[0.0]]], 'max': [[[1.0]], [[1.0]], [[1.0]]], 'q01': [[[0.07565626654408032]], [[0.07064545037186447]], [[0.09675786695048419]]], 'q99': [[[0.8841095335313836]], [[0.9249016521748583]], [[0.9647414252015477]]], 'type': 'VISUAL', 'name': 'gripper', 'shape': [3, 480, 640]}, 'observation.overhead': {'mean': [[[0.545862979096059]], [[0.5452054301949182]], [[0.5477746602359932]]], 'std': [[[0.14197105669614393]], [[0.1436179498089634]], [[0.14500463044962006]]], 'min': [[[0.0]], [[0.0]], [[0.0]]], 'max': [[[1.0]], [[1.0]], [[1.0]]], 'q01': [[[0.05494559589188223]], [[0.05129975818181184]], [[0.07399745843495421]]], 'q99': [[[0.7951740036832365]], [[0.8620514435976284]], [[0.9287900526200447]]], 'type': 'VISUAL', 'name': 'overhead', 'shape': [3, 480, 640]}, 'action': {'mean': [0.47757554785419337, -18.034652611064505, 15.59805635303217, 54.54463619743119, -49.21284246567293, 7.302610387584375], 'std': [29.091115680540447, 44.16383911983223, 44.81775979436524, 19.76430732442855, 8.799572987673075, 10.41276650889744], 'min': [-75.1649169921875, -100.0, -61.050724029541016, -6.849315166473389, -86.33736419677734, 0.0], 'max': [81.91695404052734, 72.79933166503906, 100.0, 93.32191467285156, -2.732527494430542, 42.88956069946289], 'q01': [-41.29065982641405, -100.0, -27.74406375139188, 24.550995379247542, -61.591176330648565, -1.000000013351432e-10], 'q99': [34.99315845909429, 38.49093164574106, 99.99756689137342, 82.60630455329574, -36.44491567201352, 26.6719993779817], 'type': 'ACTION', 'name': 'action', 'shape': [6]}}}
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