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--dataset.repo_id=TheReverand/wiretask2 + - --policy.type=act + - --policy.device=cuda + - --output_dir=outputs/train/wiretask2_so101 + - --job_name=wiretask2_so101_run + - --batch_size=8 + - --steps=100000 + - --save_freq=10000 + - --wandb.enable=true + - --wandb.project=act-robotics-study + - --policy.push_to_hub=true + - --policy.repo_id=TheReverand/wiretaskbinpick-so101-policy + cpu_count: 6 + cpu_count_logical: 12 + cudaVersion: "13.0" + disk: + /: + total: "253055008768" + used: "47829397504" + executable: /usr/bin/python3 + git: + commit: 017ff73fbfe46bf9a673cd9b402988dcb79151f7 + remote: https://github.com/huggingface/lerobot.git + gpu: NVIDIA A100-SXM4-40GB + gpu_count: 1 + gpu_nvidia: + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "42949672960" + name: NVIDIA A100-SXM4-40GB + uuid: GPU-07447f48-9e6b-ad8c-d562-250d8cc47bb9 + host: 4997ce736fa2 + memory: + total: "89629200384" + os: Linux-6.6.113+-x86_64-with-glibc2.35 + program: /usr/local/bin/lerobot-train + python: CPython 3.12.12 + root: outputs/train/wiretask2_so101 + startedAt: "2026-03-24T12:46:57.796800Z" + writerId: oa9c2y53eyzadcblredfq0j2z5j5txn7 + m: [] + python_version: 3.12.12 + t: + "1": + - 1 + - 5 + - 11 + - 41 + - 49 + - 51 + - 53 + - 71 + - 83 + - 105 + "2": + - 1 + - 5 + - 11 + - 41 + - 49 + - 51 + - 53 + - 71 + - 83 + - 105 + "3": + - 13 + - 15 + - 16 + - 61 + "4": 3.12.12 + "5": 0.24.2 + "6": 5.0.0 + "10": + - 21 + "12": 0.24.2 + "13": linux-x86_64 +batch_size: + value: 8 +checkpoint_path: + value: null +cudnn_deterministic: + value: false +dataset: + value: + episodes: null + image_transforms: + enable: false + max_num_transforms: 3 + random_order: false + tfs: + affine: + kwargs: + degrees: + - -5 + - 5 + translate: + - 0.05 + - 0.05 + type: RandomAffine + weight: 1 + brightness: + kwargs: + brightness: + - 0.8 + - 1.2 + type: ColorJitter + weight: 1 + contrast: + kwargs: + contrast: + - 0.8 + - 1.2 + type: ColorJitter + weight: 1 + hue: + kwargs: + hue: + - -0.05 + - 0.05 + type: ColorJitter + weight: 1 + saturation: + kwargs: + saturation: + - 0.5 + - 1.5 + type: ColorJitter + weight: 1 + sharpness: + kwargs: + sharpness: + - 0.5 + - 1.5 + type: SharpnessJitter + weight: 1 + repo_id: TheReverand/wiretask2 + revision: null + root: null + streaming: false + use_imagenet_stats: true + video_backend: torchcodec +env: + value: null +eval: + value: + batch_size: 50 + n_episodes: 50 + use_async_envs: false +eval_freq: + value: 20000 +job_name: + value: wiretask2_so101_run +log_freq: + value: 200 +num_workers: + value: 4 +optimizer: + value: + betas: + - 0.9 + - 0.999 + eps: 1e-08 + grad_clip_norm: 10 + lr: 1e-05 + type: adamw + weight_decay: 0.0001 +output_dir: + value: outputs/train/wiretask2_so101 +peft: + value: null +policy: + value: + chunk_size: 100 + device: cuda + dim_feedforward: 3200 + dim_model: 512 + dropout: 0.1 + feedforward_activation: relu + kl_weight: 10 + latent_dim: 32 + license: null + n_action_steps: 100 + n_decoder_layers: 1 + n_encoder_layers: 4 + n_heads: 8 + n_obs_steps: 1 + n_vae_encoder_layers: 4 + normalization_mapping: + ACTION: MEAN_STD + STATE: MEAN_STD + VISUAL: MEAN_STD + optimizer_lr: 1e-05 + optimizer_lr_backbone: 1e-05 + optimizer_weight_decay: 0.0001 + pre_norm: false + pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1 + pretrained_path: null + private: null + push_to_hub: true + replace_final_stride_with_dilation: false + repo_id: TheReverand/wiretaskbinpick-so101-policy + tags: null + temporal_ensemble_coeff: null + type: act + use_amp: false + use_peft: false + use_vae: true + vision_backbone: resnet18 +rabc_epsilon: + value: 1e-06 +rabc_head_mode: + value: sparse +rabc_kappa: + value: 0.01 +rabc_progress_path: + value: null +resume: + value: false +save_checkpoint: + value: true +save_freq: + value: 10000 +scheduler: + value: null +seed: + value: 1000 +steps: + value: 100000 +tolerance_s: + value: 0.0001 +use_policy_training_preset: + value: true +use_rabc: + value: false +wandb: + value: + add_tags: true + disable_artifact: false + enable: true + entity: null + mode: null + notes: null + project: act-robotics-study + run_id: null diff --git a/wandb/run-20260324_124657-6aynabke/files/output.log b/wandb/run-20260324_124657-6aynabke/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..7e88997dc580e4f3bec73d2d4abf89fe65c9af6b --- /dev/null +++ b/wandb/run-20260324_124657-6aynabke/files/output.log @@ -0,0 +1,594 @@ +INFO 2026-03-24 12:46:59 db_utils.py:117 Logs will be synced with wandb. +INFO 2026-03-24 12:46:59 db_utils.py:118 Track this run --> https://wandb.ai/robevans-university-of-bristol/act-robotics-study/runs/6aynabke +INFO 2026-03-24 12:46:59 ot_train.py:221 Creating dataset +INFO 2026-03-24 12:46:59 _client.py:1025 HTTP Request: GET https://huggingface.co/api/datasets/TheReverand/wiretask2/refs "HTTP/1.1 200 OK" +INFO 2026-03-24 12:46:59 _client.py:1025 HTTP Request: GET https://huggingface.co/api/datasets/TheReverand/wiretask2/revision/v3.0 "HTTP/1.1 200 OK" +Downloading (incomplete total...): 0.00B [0INFO 2026-03-24 12:46:59 _client.py:1025 HTTP Request: HEAD https://huggingface.co/datasets/TheReverand/wiretask2/resolve/45a183f8f61e535d4e593fa52e17578189dfa714/meta/info.json "HTTP/1.1 307 Temporary Redirect" +INFO 2026-03-24 12:46:59 _client.py:1025 HTTP Request: HEAD https://huggingface.co/api/resolve-cache/datasets/TheReverand/wiretask2/45a183f8f61e535d4e593fa52e17578189dfa714/meta%2Finfo.json "HTTP/1.1 200 OK" +INFO 2026-03-24 12:46:59 _client.py:1025 HTTP Request: GET https://huggingface.co/api/resolve-cache/datasets/TheReverand/wiretask2/45a183f8f61e535d4e593fa52e17578189dfa714/meta%2Finfo.json "HTTP/1.1 200 OK" +Downloading (incomplete total...): 3.23kB [00:00, 21.2kB/s]INFO 2026-03-24 12:46:59 _client.py:1025 HTTP Request: HEAD https://huggingface.co/datasets/TheReverand/wiretask2/resolve/45a183f8f61e535d4e593fa52e17578189dfa714/meta/episodes/chunk-000/file-000.parquet "HTTP/1.1 302 Found" +INFO 2026-03-24 12:46:59 _client.py:1025 HTTP Request: HEAD https://huggingface.co/datasets/TheReverand/wiretask2/resolve/45a183f8f61e535d4e593fa52e17578189dfa714/meta/stats.json "HTTP/1.1 307 Temporary Redirect" +INFO 2026-03-24 12:46:59 _client.py:1025 HTTP Request: HEAD https://huggingface.co/api/resolve-cache/datasets/TheReverand/wiretask2/45a183f8f61e535d4e593fa52e17578189dfa714/meta%2Fstats.json "HTTP/1.1 200 OK" +INFO 2026-03-24 12:46:59 _client.py:1025 HTTP Request: GET https://huggingface.co/api/datasets/TheReverand/wiretask2/xet-read-token/45a183f8f61e535d4e593fa52e17578189dfa714 "HTTP/1.1 200 OK" +Downloading (incomplete total...): 1% 3.23k/226k [00:00<00:10, 21.2kB/s]INFO 2026-03-24 12:46:59 _client.py:1025 HTTP Request: GET https://huggingface.co/api/resolve-cache/datasets/TheReverand/wiretask2/45a183f8f61e535d4e593fa52e17578189dfa714/meta%2Fstats.json "HTTP/1.1 200 OK" +Downloading (incomplete total...): 7% 16.2k/226k [00:00<00:03, 60.5kB/s]INFO 2026-03-24 12:46:59 _client.py:1025 HTTP Request: HEAD https://huggingface.co/datasets/TheReverand/wiretask2/resolve/45a183f8f61e535d4e593fa52e17578189dfa714/meta/tasks.parquet "HTTP/1.1 302 Found" +Fetching 4 files: 100% 4/4 [00:00<00:00, 4.59it/s]7kB/s] +Download complete: : 244kB [00:01, 224kB/s] +INFO 2026-03-24 12:47:00 eo_utils.py:108 Using video codec: libsvtav1 +INFO 2026-03-24 12:47:00 _client.py:1025 HTTP Request: GET https://huggingface.co/api/datasets/TheReverand/wiretask2/refs "HTTP/1.1 200 OK" +INFO 2026-03-24 12:47:00 _client.py:1025 HTTP Request: GET https://huggingface.co/api/datasets/TheReverand/wiretask2/revision/v3.0 "HTTP/1.1 200 OK" +Downloading (incomplete total...): 0.00B [00:INFO 2026-03-24 12:47:00 _client.py:1025 HTTP Request: HEAD https://huggingface.co/datasets/TheReverand/wiretask2/resolve/45a183f8f61e535d4e593fa52e17578189dfa714/README.md "HTTP/1.1 307 Temporary Redirect" +INFO 2026-03-24 12:47:00 _client.py:1025 HTTP Request: HEAD https://huggingface.co/datasets/TheReverand/wiretask2/resolve/45a183f8f61e535d4e593fa52e17578189dfa714/data/chunk-000/file-000.parquet "HTTP/1.1 302 Found" +Warning: You are sending unauthenticated requests to the HF Hub. Please set a HF_TOKEN to enable higher rate limits and faster downloads. +WARNING 2026-03-24 12:47:00 ls/_http.py:916 Warning: You are sending unauthenticated requests to the HF Hub. Please set a HF_TOKEN to enable higher rate limits and faster downloads. +INFO 2026-03-24 12:47:00 _client.py:1025 HTTP Request: HEAD https://huggingface.co/datasets/TheReverand/wiretask2/resolve/45a183f8f61e535d4e593fa52e17578189dfa714/.gitattributes "HTTP/1.1 307 Temporary Redirect" +Downloading (incomplete total...): 0% 0.00/1.07M [00:00 + sys.exit(main()) + ^^^^^^ + File "/content/lerobot/src/lerobot/scripts/lerobot_train.py", line 551, in main + train() + File "/content/lerobot/src/lerobot/configs/parser.py", line 233, in wrapper_inner + response = fn(cfg, *args, **kwargs) + ^^^^^^^^^^^^^^^^^^^^^^^^ + File "/content/lerobot/src/lerobot/scripts/lerobot_train.py", line 540, in train + unwrapped_policy.push_model_to_hub(cfg) + File "/content/lerobot/src/lerobot/policies/pretrained.py", line 212, in push_model_to_hub + repo_id = api.create_repo( + ^^^^^^^^^^^^^^^^ + File "/usr/local/lib/python3.12/dist-packages/huggingface_hub/utils/_validators.py", line 89, in _inner_fn + return fn(*args, **kwargs) + ^^^^^^^^^^^^^^^^^^^ + File "/usr/local/lib/python3.12/dist-packages/huggingface_hub/hf_api.py", line 4108, in create_repo + hf_raise_for_status(r) + File "/usr/local/lib/python3.12/dist-packages/huggingface_hub/utils/_http.py", line 889, in hf_raise_for_status + raise _format(HfHubHTTPError, str(e), response) from e +huggingface_hub.errors.HfHubHTTPError: Client error '401 Unauthorized' for url 'https://huggingface.co/api/repos/create' (Request ID: Root=1-69c2aabd-36f5bd0937dedb590848121f;5b2e29db-4d19-477b-92ab-3cb182a4cc32) +For more information check: https://developer.mozilla.org/en-US/docs/Web/HTTP/Status/401 + +Invalid username or password. diff --git a/wandb/run-20260324_124657-6aynabke/files/requirements.txt b/wandb/run-20260324_124657-6aynabke/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..c36839048feacc211b0e06ecd412414f9215cbe8 --- /dev/null +++ b/wandb/run-20260324_124657-6aynabke/files/requirements.txt @@ -0,0 +1,764 @@ +types-setuptools==80.10.0.20260124 +setuptools==75.2.0 +requirements-parser==0.9.0 +pip==24.1.2 +packaging==25.0 +lerobot==0.5.1 +typing-inspect==0.9.0 +av==15.1.0 +diffusers==0.35.2 +pyserial==3.5 +evdev==1.9.3 +deepdiff==8.6.2 +pyyaml-include==1.4.1 +mypy_extensions==1.1.0 +python-xlib==0.33 +wandb==0.24.2 +mergedeep==1.3.4 +rerun-sdk==0.26.2 +jsonlines==4.0.0 +pynput==1.8.1 +orderly-set==5.5.0 +draccus==0.10.0 +google-colab==1.0.0 +jupyter-leaflet==0.20.0 +cligj==0.7.2 +argon2-cffi==25.1.0 +fastprogress==1.1.5 +hdbscan==0.8.41 +jupyter-console==6.6.3 +tsfresh==0.21.1 +ipyevents==2.0.4 +opentelemetry-api==1.38.0 +umf==1.0.3 +cycler==0.12.1 +pyOpenSSL==24.2.1 +uc-micro-py==2.0.0 +parsy==2.2 +osqp==1.1.1 +tensorflow-probability==0.25.0 +opentelemetry-exporter-gcp-monitoring==1.11.0a0 +pandocfilters==1.5.1 +sphinxcontrib-qthelp==2.0.0 +spglm==1.1.0 +dask==2026.1.1 +importlib_resources==6.5.2 +nvidia-cuda-cccl-cu12==12.9.27 +namex==0.1.0 +google-cloud-iam==2.21.0 +hf-xet==1.4.2 +srsly==2.5.2 +uritemplate==4.2.0 +inflect==7.5.0 +tensorflow-metadata==1.17.3 +contourpy==1.3.3 +google-cloud-spanner==3.63.0 +prophet==1.3.0 +rfc3987-syntax==1.1.0 +multitasking==0.0.12 +tensorflow==2.19.0 +datasets==4.0.0 +sphinxcontrib-serializinghtml==2.0.0 +jupyter_server==2.14.0 +cuvs-cu12==26.2.0 +folium==0.20.0 +betterproto==2.0.0b6 +msgpack==1.1.2 +quantecon==0.11.1 +CacheControl==0.14.4 +jupyterlab_pygments==0.3.0 +esda==2.8.2 +rmm-cu12==26.2.0 +triton==3.6.0 +fsspec==2025.3.0 +libpysal==4.14.1 +hyperopt==0.2.7 +watchfiles==1.1.1 +numexpr==2.14.1 +kiwisolver==1.5.0 +rapids-logger==0.2.3 +pygame==2.6.1 +patsy==1.0.2 +spacy==3.8.11 +tinycss2==1.4.0 +tbb==2022.3.1 +proto-plus==1.27.1 +chardet==5.2.0 +langsmith==0.7.18 +optax==0.2.7 +nvtx==0.2.14 +progressbar2==4.5.0 +libucxx-cu12==0.48.0 +keras-nlp==0.26.0 +firebase-admin==6.9.0 +nvidia-nvjitlink-cu12==12.8.93 +ormsgpack==1.12.2 +jieba==0.42.1 +polars-runtime-32==1.35.2 +soundfile==0.13.1 +google-cloud-speech==2.37.0 +imutils==0.5.4 +Cython==3.0.12 +semantic-version==2.10.0 +clarabel==0.11.1 +geocoder==1.38.1 +click-plugins==1.1.1.2 +smart_open==7.5.1 +cucim-cu12==26.2.0 +sphinxcontrib-htmlhelp==2.1.0 +requests==2.32.4 +graphviz==0.21 +rasterio==1.5.0 +termcolor==3.3.0 +google-generativeai==0.8.6 +isoduration==20.11.0 +google-ai-generativelanguage==0.6.15 +gin-config==0.5.0 +fonttools==4.62.1 +pymc==5.28.1 +geopandas==1.1.3 +proglog==0.1.12 +Sphinx==8.2.3 +cuda-python==12.9.4 +py-cpuinfo==9.0.0 +h2==4.3.0 +argon2-cffi-bindings==25.1.0 +pygit2==1.19.1 +anyio==4.12.1 +cupy-cuda12x==14.0.1 +webencodings==0.5.1 +geographiclib==2.1 +param==2.3.2 +sentence-transformers==5.3.0 +iniconfig==2.3.0 +python-fasthtml==0.12.50 +treescope==0.1.10 +typer-slim==0.24.0 +torchtune==0.6.1 +jsonpatch==1.33 +Farama-Notifications==0.0.4 +sentry-sdk==2.54.0 +google-cloud-bigquery==3.40.1 +deprecation==2.1.0 +py4j==0.10.9.9 +nvidia-cublas-cu12==12.8.4.1 +cyipopt==1.5.0 +omegaconf==2.3.0 +opencv-contrib-python==4.13.0.92 +imbalanced-learn==0.14.1 +grpc-interceptor==0.15.4 +python-dotenv==1.2.2 +mapclassify==2.10.0 +opentelemetry-sdk==1.38.0 +hpack==4.1.0 +certifi==2026.2.25 +jax==0.7.2 +python-snappy==0.7.3 +pydantic_core==2.41.4 +jupytext==1.19.1 +sentencepiece==0.2.1 +google-genai==1.67.0 +sklearn-pandas==2.2.0 +torchvision==0.25.0+cu128 +keras-hub==0.26.0 +xlrd==2.0.2 +mizani==0.13.5 +google-cloud-storage==3.9.0 +traittypes==0.2.3 +seaborn==0.13.2 +editdistance==0.8.1 +matplotlib-venn==1.1.2 +gast==0.7.0 +partd==1.4.2 +tensorstore==0.1.82 +simsimd==6.5.16 +audioread==3.1.0 +frozendict==2.4.7 +pycairo==1.29.0 +jiter==0.13.0 +plotnine==0.14.5 +widgetsnbextension==3.6.10 +attrs==25.4.0 +jupyter_kernel_gateway==2.5.2 +jax-cuda12-plugin==0.7.2 +statsmodels==0.14.6 +google-cloud-translate==3.24.0 +python-json-logger==4.0.0 +shap==0.51.0 +mistune==3.2.0 +apsw==3.51.3.0 +aiofiles==24.1.0 +opentelemetry-exporter-otlp-proto-common==1.38.0 +llvmlite==0.43.0 +nest-asyncio==1.6.0 +stanio==0.5.1 +mlxtend==0.23.4 +threadpoolctl==3.6.0 +missingno==0.5.2 +python-louvain==0.16 +cons==0.4.7 +langgraph==1.1.2 +highspy==1.13.1 +lark==1.3.1 +psutil==5.9.5 +gspread-dataframe==4.0.0 +peewee==4.0.2 +starlette==0.52.1 +nvidia-cusparse-cu12==12.5.8.93 +opentelemetry-semantic-conventions==0.59b0 +PyDrive2==1.21.3 +ipywidgets==7.7.1 +blis==1.3.3 +pooch==1.9.0 +google-cloud-resource-manager==1.16.0 +imagesize==2.0.0 +sklearn-compat==0.1.5 +urllib3==2.5.0 +GitPython==3.1.46 +platformdirs==4.9.4 +toolz==0.12.1 +imageio-ffmpeg==0.6.0 +astunparse==1.6.3 +rfc3986-validator==0.1.1 +scs==3.2.11 +matplotlib==3.10.0 +psycopg2==2.9.11 +en_core_web_sm==3.8.0 +docutils==0.21.2 +google-cloud-appengine-logging==1.8.0 +cramjam==2.11.0 +mdit-py-plugins==0.5.0 +wheel==0.46.3 +watchdog==6.0.0 +snowballstemmer==3.0.1 +annotated-types==0.7.0 +pynndescent==0.6.0 +jaraco.classes==3.4.0 +libcuml-cu12==26.2.0 +pyroaring==1.0.3 +jupyter_core==5.9.1 +fqdn==1.5.1 +uvloop==0.22.1 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