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@@ -43,3 +43,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 2026.04.03/23.04.41_train_diffusion_unet_lowdim_adroit-hand-hammer-v1/wandb/run-20260403_230453-p3lqr1nl/run-p3lqr1nl.wandb filter=lfs diff=lfs merge=lfs -text
 2026.04.03/23.35.11_train_diffusion_unet_lowdim_adroit-hand-hammer-v1/wandb/run-20260403_233523-64pz9jsu/run-64pz9jsu.wandb filter=lfs diff=lfs merge=lfs -text
 2026.04.03/23.56.44_train_diffusion_unet_lowdim_adroit-hand-hammer-v1/wandb/run-20260403_235656-9003twyi/run-9003twyi.wandb filter=lfs diff=lfs merge=lfs -text
+2026.04.03/09.57.05_train_diffusion_unet_lowdim_PegInsertionSide-v1/wandb/run-20260403_095715-8qqjbaah/run-8qqjbaah.wandb filter=lfs diff=lfs merge=lfs -text

2026.04.03/09.57.05_train_diffusion_unet_lowdim_PegInsertionSide-v1/.hydra/config.yaml

@@ -0,0 +1,148 @@
+name: train_diffusion_unet_lowdim
+_target_: llmbc.workspace.train_diffusion_unet_lowdim_workspace.TrainDiffusionUnetLowdimWorkspace
+obs_dim: ${task.obs_dim}
+action_dim: ${task.action_dim}
+task_name: ${task.name}
+exp_name: default
+horizon: 1
+n_obs_steps: 1
+n_action_steps: 1
+n_latency_steps: 0
+past_action_visible: false
+keypoint_visible_rate: 1.0
+obs_as_local_cond: false
+obs_as_global_cond: true
+pred_action_steps_only: false
+policy:
+  _target_: llmbc.policy.diffusion_unet_lowdim_policy.DiffusionUnetLowdimPolicy
+  model:
+    _target_: llmbc.model.diffusion.conditional_unet1d.ConditionalUnet1D
+    input_dim: '${eval: ${task.action_dim} if ${obs_as_local_cond} or ${obs_as_global_cond}
+      else ${task.obs_dim} + ${task.action_dim}}'
+    local_cond_dim: '${eval: ${task.obs_dim} if ${obs_as_local_cond} else None}'
+    global_cond_dim: '${eval: ${task.obs_dim}*${n_obs_steps} if ${obs_as_global_cond}
+      else None}'
+    diffusion_step_embed_dim: 256
+    down_dims:
+    - 256
+    - 512
+    - 1024
+    kernel_size: 5
+    n_groups: 8
+    cond_predict_scale: true
+  noise_scheduler:
+    _target_: diffusers.schedulers.scheduling_ddpm.DDPMScheduler
+    num_train_timesteps: 100
+    beta_start: 0.0001
+    beta_end: 0.02
+    beta_schedule: squaredcos_cap_v2
+    variance_type: fixed_small
+    clip_sample: true
+    prediction_type: epsilon
+  horizon: ${horizon}
+  obs_dim: ${obs_dim}
+  action_dim: ${action_dim}
+  n_action_steps: ${eval:'${n_action_steps}+${n_latency_steps}'}
+  n_obs_steps: ${n_obs_steps}
+  num_inference_steps: 100
+  obs_as_local_cond: ${obs_as_local_cond}
+  obs_as_global_cond: ${obs_as_global_cond}
+  pred_action_steps_only: ${pred_action_steps_only}
+  oa_step_convention: true
+ema:
+  _target_: llmbc.model.diffusion.ema_model.EMAModel
+  update_after_step: 0
+  inv_gamma: 1.0
+  power: 0.75
+  min_value: 0.0
+  max_value: 0.9999
+dataloader:
+  batch_size: 256
+  num_workers: 0
+  shuffle: true
+  pin_memory: false
+  persistent_workers: false
+val_dataloader:
+  batch_size: 256
+  num_workers: 0
+  shuffle: false
+  pin_memory: false
+  persistent_workers: false
+optimizer:
+  _target_: torch.optim.AdamW
+  lr: 0.0001
+  betas:
+  - 0.95
+  - 0.999
+  eps: 1.0e-08
+  weight_decay: 1.0e-06
+training:
+  device: cuda:0
+  seed: 42
+  debug: false
+  resume: true
+  lr_scheduler: cosine
+  lr_warmup_steps: 500
+  num_epochs: 101
+  gradient_accumulate_every: 1
+  use_ema: true
+  rollout_every: 100
+  checkpoint_every: 5
+  val_every: 1
+  sample_every: 100
+  max_train_steps: null
+  max_val_steps: null
+  tqdm_interval_sec: 1.0
+logging:
+  project: ${task.name}-training
+  resume: true
+  mode: online
+  name: ${now:%Y.%m.%d-%H.%M.%S}_${name}_${task_name}
+  tags:
+  - ${name}
+  - ${task_name}
+  - ${exp_name}
+  id: null
+  group: null
+checkpoint:
+  topk:
+    monitor_key: val_loss
+    mode: min
+    k: 5
+    format_str: epoch={epoch:04d}-val_loss={val_loss:.3f}.ckpt
+  save_last_ckpt: true
+  save_last_snapshot: false
+multi_run:
+  run_dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name}
+  wandb_name_base: ${now:%Y.%m.%d-%H.%M.%S}_${name}_${task_name}
+task:
+  name: PegInsertionSide-v1
+  obs_dim: 43
+  action_dim: 8
+  env_runner:
+    _target_: llmbc.env_runner.maniskill_lowdim_runner.ManiskillLowdimRunner
+    env_name: llf-maniskill-PegInsertionSide-v1
+    instruction_type: b
+    feedback_type:
+    - hp
+    - hn
+    visual: false
+    n_train: 10
+    n_test: 50
+    n_envs: 10
+    max_steps: 100
+    n_obs_steps: ${n_obs_steps}
+    n_action_steps: ${n_action_steps}
+    discount: 0.99
+  dataset:
+    _target_: llmbc.dataset.maniskill_lowdim_dataset.ManiskillLowdimDataset
+    data_path: datasets/PegInsertionSide-v1-general-reward-trans.pt
+    data_path2: datasets/PegInsertionSide-v1-reward-trans.pt
+    horizon: ${horizon}
+    pad_before: ${eval:'${n_obs_steps}-1'}
+    pad_after: ${eval:'${n_action_steps}-1'}
+    use_manual_normalizer: false
+    val_ratio: 0.02
+    dummy_normalizer: false
+  instructor:
+    _target_: llmbc.translator.instructor.maniskill_instructor.PegInsertionSide_v1_instructor.PegInsertionSideV1Instructor

2026.04.03/09.57.05_train_diffusion_unet_lowdim_PegInsertionSide-v1/.hydra/hydra.yaml

@@ -0,0 +1,155 @@
+hydra:
+  run:
+    dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name}
+  sweep:
+    dir: data/outputs/${now:%Y.%m.%d}/${now:%H.%M.%S}_${name}_${task_name}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - training.seed=42
+  job:
+    name: train
+    chdir: null
+    override_dirname: training.seed=42
+    id: ???
+    num: ???
+    config_name: bdpo_behavior_PegInsertionSide-v1_gen.yaml
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.2.0
+    version_base: '1.2'
+    cwd: /tmp2/chyang/workspace/LLM-BC
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /tmp2/chyang/workspace/LLM-BC/config/main_table
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /tmp2/chyang/workspace/LLM-BC/data/outputs/2026.04.03/09.57.05_train_diffusion_unet_lowdim_PegInsertionSide-v1
+    choices:
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

2026.04.03/09.57.05_train_diffusion_unet_lowdim_PegInsertionSide-v1/.hydra/overrides.yaml

@@ -0,0 +1 @@
+- training.seed=42

2026.04.03/09.57.05_train_diffusion_unet_lowdim_PegInsertionSide-v1/checkpoints/epoch=0045-val_loss=0.115.ckpt

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2026.04.03/09.57.05_train_diffusion_unet_lowdim_PegInsertionSide-v1/checkpoints/latest.ckpt

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2026.04.03/09.57.05_train_diffusion_unet_lowdim_PegInsertionSide-v1/train.log

@@ -0,0 +1,8 @@
+[2026-04-03 09:57:07,382][numexpr.utils][INFO] - Note: NumExpr detected 24 cores but "NUMEXPR_MAX_THREADS" not set, so enforcing safe limit of 8.
+[2026-04-03 09:57:07,382][numexpr.utils][INFO] - NumExpr defaulting to 8 threads.
+[2026-04-03 09:57:09,910][llmbc.model.diffusion.conditional_unet1d][INFO] - number of parameters: 6.550938e+07
+[2026-04-03 09:57:14,167][absl][INFO] - MUJOCO_GL=osmesa, attempting to import specified OpenGL backend.
+[2026-04-03 09:57:14,170][absl][INFO] - MuJoCo library version is: 2.3.7
+[2026-04-03 09:57:14,238][datasets][INFO] - PyTorch version 2.2.2 available.
+[2026-04-03 09:57:14,239][datasets][INFO] - TensorFlow version 2.15.1 available.
+[2026-04-03 09:57:14,239][datasets][INFO] - JAX version 0.4.30 available.

2026.04.03/09.57.05_train_diffusion_unet_lowdim_PegInsertionSide-v1/wandb/debug-internal.log

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2026.04.03/09.57.05_train_diffusion_unet_lowdim_PegInsertionSide-v1/wandb/debug.log

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+2026-04-03 09:57:15,172 INFO    MainThread:3242872 [wandb_setup.py:_flush():79] Current SDK version is 0.18.6
+2026-04-03 09:57:15,172 INFO    MainThread:3242872 [wandb_setup.py:_flush():79] Configure stats pid to 3242872
+2026-04-03 09:57:15,172 INFO    MainThread:3242872 [wandb_setup.py:_flush():79] Loading settings from /home/chyang/.config/wandb/settings
+2026-04-03 09:57:15,172 INFO    MainThread:3242872 [wandb_setup.py:_flush():79] Loading settings from /tmp2/chyang/workspace/LLM-BC/wandb/settings
+2026-04-03 09:57:15,172 INFO    MainThread:3242872 [wandb_setup.py:_flush():79] Loading settings from environment variables: {}
+2026-04-03 09:57:15,172 INFO    MainThread:3242872 [wandb_setup.py:_flush():79] Applying setup settings: {'mode': 'online', '_disable_service': None}
+2026-04-03 09:57:15,172 INFO    MainThread:3242872 [wandb_setup.py:_flush():79] Inferring run settings from compute environment: {'program_relpath': 'train.py', 'program_abspath': '/tmp2/chyang/workspace/LLM-BC/train.py', 'program': '/tmp2/chyang/workspace/LLM-BC/./train.py'}
+2026-04-03 09:57:15,172 INFO    MainThread:3242872 [wandb_setup.py:_flush():79] Applying login settings: {}
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2026.04.03/09.57.05_train_diffusion_unet_lowdim_PegInsertionSide-v1/wandb/run-20260403_095715-8qqjbaah/files/output.log

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+/home/chyang/miniconda3/envs/llm-bc/lib/python3.9/site-packages/torch/random.py:157: UserWarning: CUDA reports that you have 2 available devices, and you have used fork_rng without explicitly specifying which devices are being used. For safety, we initialize *every* CUDA device by default, which can be quite slow if you have a lot of CUDAs. If you know that you are only making use of a few CUDA devices, set the environment variable CUDA_VISIBLE_DEVICES or the 'devices' keyword argument of fork_rng with the set of devices you are actually using. For example, if you are using CPU only, set device.upper()_VISIBLE_DEVICES= or devices=[]; if you are using device 0 only, set CUDA_VISIBLE_DEVICES=0 or devices=[0].  To initialize all devices and suppress this warning, set the 'devices' keyword argument to `range(torch.cuda.device_count())`.
+  warnings.warn(message)
+Eval ManiskilldLowdimRunner 1/6:   0%|                                                                                           | 0/100 [00:00<?, ?it/s]/tmp2/chyang/workspace/LLM-BC/llmbc/common/llfbench_util.py:39: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at ../torch/csrc/utils/tensor_new.cpp:275.)
+  obs = torch.tensor(obs, dtype=torch.float32).unsqueeze(dim=0).to(device)
+                                                                                                                                                         

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