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0000000000000000000000000000000000000000..949f8860f0e00d33aad9ea6b6ac606e03b937a80 --- /dev/null +++ b/wandb/debug.log @@ -0,0 +1,21 @@ +2026-05-14 10:07:56,860 INFO MainThread:2263 [wandb_setup.py:_flush():81] Current SDK version is 0.24.2 +2026-05-14 10:07:56,860 INFO MainThread:2263 [wandb_setup.py:_flush():81] Configure stats pid to 2263 +2026-05-14 10:07:56,860 INFO MainThread:2263 [wandb_setup.py:_flush():81] Loading settings from environment variables +2026-05-14 10:07:56,860 INFO MainThread:2263 [wandb_init.py:setup_run_log_directory():717] Logging user logs to outputs/train/Test32/wandb/run-20260514_100756-pr45rdcx/logs/debug.log +2026-05-14 10:07:56,860 INFO MainThread:2263 [wandb_init.py:setup_run_log_directory():718] Logging internal logs to outputs/train/Test32/wandb/run-20260514_100756-pr45rdcx/logs/debug-internal.log +2026-05-14 10:07:56,860 INFO MainThread:2263 [wandb_init.py:init():844] calling init triggers +2026-05-14 10:07:56,860 INFO MainThread:2263 [wandb_init.py:init():849] wandb.init called with sweep_config: {} +config: {'dataset': {'repo_id': 'lerobot/aloha_sim_transfer_cube_human', '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', 'streaming': False}, 'env': None, 'policy': {'type': 'act', 'n_obs_steps': 1, 'input_features': {}, 'output_features': {}, 'device': 'cuda', 'use_amp': False, 'use_peft': False, 'push_to_hub': True, 'repo_id': 'SagriviS/', 'private': None, 'tags': None, 'license': None, 'pretrained_path': None, 'chunk_size': 100, 'n_action_steps': 100, 'normalization_mapping': {'VISUAL': , 'STATE': , 'ACTION': }, 'vision_backbone': 'resnet18', 'pretrained_backbone_weights': 'ResNet18_Weights.IMAGENET1K_V1', 'replace_final_stride_with_dilation': False, 'pre_norm': False, 'dim_model': 256, 'n_heads': 8, 'dim_feedforward': 3200, 'feedforward_activation': 'relu', 'n_encoder_layers': 4, 'n_decoder_layers': 1, 'use_vae': True, 'latent_dim': 32, 'n_vae_encoder_layers': 4, 'temporal_ensemble_coeff': None, 'dropout': 0.1, 'kl_weight': 15.0, 'optimizer_lr': 1e-05, 'optimizer_weight_decay': 0.0001, 'optimizer_lr_backbone': 1e-05}, 'output_dir': 'outputs/train/Test32', 'job_name': 'act', 'resume': False, 'seed': 1000, 'num_workers': 4, 'batch_size': 16, 'steps': 100000, 'eval_freq': 0, 'log_freq': 200, 'tolerance_s': 0.0001, 'save_checkpoint': True, 'save_freq': 20000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adamw', 'lr': 1e-05, 'weight_decay': 0.0001, 'grad_clip_norm': 10.0, 'betas': [0.9, 0.999], 'eps': 1e-08}, 'scheduler': None, 'eval': {'n_episodes': 50, 'batch_size': 50, 'use_async_envs': False}, 'wandb': {'enable': True, 'disable_artifact': False, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': None, 'mode': None}, 'peft': None, 'use_rabc': False, 'rabc_progress_path': None, 'rabc_kappa': 0.01, 'rabc_epsilon': 1e-06, 'rabc_head_mode': 'sparse', 'rename_map': {}, 'checkpoint_path': None, '_wandb': {}} +2026-05-14 10:07:56,860 INFO MainThread:2263 [wandb_init.py:init():892] starting backend +2026-05-14 10:07:57,312 INFO MainThread:2263 [wandb_init.py:init():895] sending inform_init request +2026-05-14 10:07:57,317 INFO MainThread:2263 [wandb_init.py:init():903] backend started and connected +2026-05-14 10:07:57,319 INFO MainThread:2263 [wandb_init.py:init():973] updated telemetry +2026-05-14 10:07:57,325 INFO MainThread:2263 [wandb_init.py:init():997] communicating run to backend with 90.0 second timeout +2026-05-14 10:07:57,948 INFO MainThread:2263 [wandb_init.py:init():1042] starting run threads in backend +2026-05-14 10:07:58,021 INFO MainThread:2263 [wandb_run.py:_console_start():2529] atexit reg +2026-05-14 10:07:58,021 INFO MainThread:2263 [wandb_run.py:_redirect():2377] redirect: wrap_raw +2026-05-14 10:07:58,021 INFO MainThread:2263 [wandb_run.py:_redirect():2446] Wrapping output streams. +2026-05-14 10:07:58,021 INFO MainThread:2263 [wandb_run.py:_redirect():2469] Redirects installed. +2026-05-14 10:07:58,027 INFO MainThread:2263 [wandb_init.py:init():1082] run started, returning control to user process +2026-05-14 13:58:00,812 INFO wandb-AsyncioManager-main:2263 [service_client.py:_forward_responses():94] Reached EOF. +2026-05-14 13:58:00,813 INFO wandb-AsyncioManager-main:2263 [mailbox.py:close():154] Closing mailbox, abandoning 2 handles. diff --git a/wandb/run-20260514_100756-pr45rdcx/files/config.yaml b/wandb/run-20260514_100756-pr45rdcx/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d5d3b5dd03d49690660da6c2ee86b4b4ca239594 --- /dev/null +++ b/wandb/run-20260514_100756-pr45rdcx/files/config.yaml @@ -0,0 +1,246 @@ +_wandb: + value: + cli_version: 0.24.2 + e: + 55wgulzwptak589cpl5j6qaapw8akgq2: + args: + - --policy.type=act + - --dataset.repo_id=lerobot/aloha_sim_transfer_cube_human + - --policy.device=cuda + - --save_freq=20000 + - --wandb.enable=true + - --batch_size=16 + - --policy.kl_weight=15.0 + - --policy.chunk_size=100 + - --policy.n_action_steps=100 + - --policy.optimizer_lr=1.00e-05 + - --steps=100000 + - --policy.latent_dim=32 + - --eval_freq=0 + - --policy.dim_model=256 + - --policy.dim_feedforward=3200 + - --policy.dropout=0.1 + - --policy.n_obs_step=1 + - --policy.repo_id=SagriviS/ + - --output_dir=outputs/train/Test32 + cpu_count: 128 + cpu_count_logical: 128 + cudaVersion: "13.0" + disk: + /: + total: "10819865694208" + used: "9279175561216" + executable: /home/jovyan/miniconda3/envs/lerobot/bin/python3.10 + git: + commit: 0db5f66ddae6afd62454c418771286fa64dbea20 + remote: https://github.com/huggingface/lerobot.git + gpu: NVIDIA A10 + gpu_count: 1 + gpu_nvidia: + - architecture: Ampere + cudaCores: 9216 + memoryTotal: "24146608128" + name: NVIDIA A10 + uuid: GPU-172d89f8-2574-73b9-c7fa-740dd0b00116 + host: jupyter-maury-et-esiea-fr---4f43c08b--cdfr---1237ab8d + memory: + total: "475266891776" + os: Linux-6.8.0-111-generic-x86_64-with-glibc2.39 + program: /home/jovyan/miniconda3/envs/lerobot/bin/lerobot-train + python: CPython 3.10.20 + root: outputs/train/Test32 + startedAt: "2026-05-14T10:07:56.858780Z" + writerId: 55wgulzwptak589cpl5j6qaapw8akgq2 + m: [] + python_version: 3.10.20 + t: + "1": + - 1 + - 41 + - 49 + - 51 + - 71 + - 83 + "2": + - 1 + - 41 + - 49 + - 51 + - 71 + - 83 + "3": + - 13 + - 15 + - 16 + - 61 + "4": 3.10.20 + "5": 0.24.2 + "10": + - 21 + "12": 0.24.2 + "13": linux-x86_64 +batch_size: + value: 16 +checkpoint_path: + value: null +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: lerobot/aloha_sim_transfer_cube_human + 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: 0 +job_name: + value: act +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/Test32 +peft: + value: null +policy: + value: + chunk_size: 100 + device: cuda + dim_feedforward: 3200 + dim_model: 256 + dropout: 0.1 + feedforward_activation: relu + kl_weight: 15 + 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: SagriviS/ + 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: 20000 +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: + disable_artifact: false + enable: true + entity: null + mode: null + notes: null + project: lerobot + run_id: null diff --git a/wandb/run-20260514_100756-pr45rdcx/files/output.log b/wandb/run-20260514_100756-pr45rdcx/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..234ca0d3c7f19a1dc76b340aa287a4324a2a37bc --- /dev/null +++ b/wandb/run-20260514_100756-pr45rdcx/files/output.log @@ -0,0 +1,553 @@ +INFO 2026-05-14 10:07:58 db_utils.py:117 Logs will be synced with wandb. +INFO 2026-05-14 10:07:58 db_utils.py:118 Track this run --> https://wandb.ai/nael-depierre-esiea/lerobot/runs/pr45rdcx +INFO 2026-05-14 10:07:58 ot_train.py:217 Creating dataset +INFO 2026-05-14 10:07:58 eo_utils.py:106 Using video codec: libsvtav1 +INFO 2026-05-14 10:07:58 ot_train.py:235 Creating policy +INFO 2026-05-14 10:08:01 ot_train.py:290 Creating optimizer and scheduler +INFO 2026-05-14 10:08:01 ot_train.py:325 Output dir: outputs/train/Test32 +INFO 2026-05-14 10:08:01 ot_train.py:332 cfg.steps=100000 (100K) +INFO 2026-05-14 10:08:01 ot_train.py:333 dataset.num_frames=20000 (20K) +INFO 2026-05-14 10:08:01 ot_train.py:334 dataset.num_episodes=50 +INFO 2026-05-14 10:08:01 ot_train.py:337 Effective batch size: 16 x 1 = 16 +INFO 2026-05-14 10:08:01 ot_train.py:338 num_learnable_params=28783246 (29M) +INFO 2026-05-14 10:08:01 ot_train.py:339 num_total_params=28783246 (29M) +Training: 0%| | 0/100000 [00:00 + sys.exit(main()) + File "/home/jovyan/miniconda3/envs/lerobot/lib/python3.10/site-packages/lerobot/scripts/lerobot_train.py", line 547, in main + train() + File "/home/jovyan/miniconda3/envs/lerobot/lib/python3.10/site-packages/lerobot/configs/parser.py", line 233, in wrapper_inner + response = fn(cfg, *args, **kwargs) + File "/home/jovyan/miniconda3/envs/lerobot/lib/python3.10/site-packages/lerobot/scripts/lerobot_train.py", line 536, in train + unwrapped_policy.push_model_to_hub(cfg) + File "/home/jovyan/miniconda3/envs/lerobot/lib/python3.10/site-packages/lerobot/policies/pretrained.py", line 213, in push_model_to_hub + repo_id = api.create_repo( + File "/home/jovyan/miniconda3/envs/lerobot/lib/python3.10/site-packages/huggingface_hub/utils/_validators.py", line 106, in _inner_fn + validate_repo_id(arg_value) + File "/home/jovyan/miniconda3/envs/lerobot/lib/python3.10/site-packages/huggingface_hub/utils/_validators.py", line 160, in validate_repo_id + raise HFValidationError( +huggingface_hub.errors.HFValidationError: Repo id must use alphanumeric chars or '-', '_', '.', '--' and '..' are forbidden, '-' and '.' cannot start or end the name, max length is 96: 'SagriviS/'. +Traceback (most recent call last): + File "/home/jovyan/miniconda3/envs/lerobot/bin/lerobot-train", line 6, in + sys.exit(main()) + File "/home/jovyan/miniconda3/envs/lerobot/lib/python3.10/site-packages/lerobot/scripts/lerobot_train.py", line 547, in main + train() + File "/home/jovyan/miniconda3/envs/lerobot/lib/python3.10/site-packages/lerobot/configs/parser.py", line 233, in wrapper_inner + response = fn(cfg, *args, **kwargs) + File "/home/jovyan/miniconda3/envs/lerobot/lib/python3.10/site-packages/lerobot/scripts/lerobot_train.py", line 536, in train + unwrapped_policy.push_model_to_hub(cfg) + File "/home/jovyan/miniconda3/envs/lerobot/lib/python3.10/site-packages/lerobot/policies/pretrained.py", line 213, in push_model_to_hub + repo_id = api.create_repo( + File "/home/jovyan/miniconda3/envs/lerobot/lib/python3.10/site-packages/huggingface_hub/utils/_validators.py", line 106, in _inner_fn + validate_repo_id(arg_value) + File "/home/jovyan/miniconda3/envs/lerobot/lib/python3.10/site-packages/huggingface_hub/utils/_validators.py", line 160, in validate_repo_id + raise HFValidationError( +huggingface_hub.errors.HFValidationError: Repo id must use alphanumeric chars or '-', '_', '.', '--' and '..' are forbidden, '-' and '.' cannot start or end the name, max length is 96: 'SagriviS/'. diff --git a/wandb/run-20260514_100756-pr45rdcx/files/requirements.txt b/wandb/run-20260514_100756-pr45rdcx/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..280ffaec09bf4169a10d6e526bceca7a107f6e11 --- /dev/null +++ b/wandb/run-20260514_100756-pr45rdcx/files/requirements.txt @@ -0,0 +1,117 @@ +httpcore==1.0.9 +datasets==4.7.0 +typing-inspect==0.9.0 +hf-xet==1.4.0 +attrs==25.4.0 +aiohttp==3.13.3 +smmap==5.0.3 +MarkupSafe==3.0.3 +numpy==2.2.6 +nvidia-cudnn-cu12==9.10.2.21 +jsonlines==4.0.0 +termcolor==3.3.0 +python-xlib==0.33 +nvidia-nvshmem-cu12==3.4.5 +inquirerpy==0.3.4 +wcwidth==0.6.0 +safetensors==0.7.0 +pyarrow==23.0.1 +torch==2.10.0 +regex==2026.2.28 +propcache==0.4.1 +cloudpickle==3.1.2 +draccus==0.10.0 +prompt_toolkit==3.0.52 +hf_transfer==0.1.9 +pydantic==2.12.5 +filelock==3.25.2 +gymnasium==1.2.3 +wheel==0.46.3 +gitdb==4.0.12 +platformdirs==4.9.4 +nvidia-curand-cu12==10.3.9.90 +sentry-sdk==2.54.0 +lerobot==0.4.4 +cmake==4.1.3 +pytz==2026.1.post1 +certifi==2026.2.25 +exceptiongroup==1.3.1 +async-timeout==5.0.1 +aiohappyeyeballs==2.6.1 +aiosignal==1.4.0 +orderly-set==5.5.0 +click==8.3.1 +yarl==1.23.0 +ImageIO==2.37.3 +pynput==1.8.1 +toml==0.10.2 +diffusers==0.35.2 +rerun-sdk==0.26.2 +charset-normalizer==3.4.5 +pillow==12.1.1 +h11==0.16.0 +pyyaml-include==1.4.1 +nvidia-cuda-cupti-cu12==12.8.90 +requests==2.32.5 +pyserial==3.5 +mypy_extensions==1.1.0 +fsspec==2026.2.0 +mergedeep==1.3.4 +pandas==2.3.3 +annotated-types==0.7.0 +nvidia-cufile-cu12==1.13.1.3 +nvidia-nvtx-cu12==12.8.90 +nvidia-cufft-cu12==11.3.3.83 +nvidia-cusparse-cu12==12.5.8.93 +tzdata==2025.3 +dill==0.4.0 +protobuf==6.33.5 +torchvision==0.25.0 +accelerate==1.13.0 +pydantic_core==2.41.5 +pfzy==0.3.4 +Jinja2==3.1.6 +typing_extensions==4.15.0 +urllib3==2.6.3 +xxhash==3.6.0 +sympy==1.14.0 +setuptools==80.10.2 +GitPython==3.1.46 +evdev==1.9.3 +huggingface-hub==0.35.3 +idna==3.11 +importlib_metadata==8.7.1 +tqdm==4.67.3 +nvidia-cusolver-cu12==11.7.3.90 +pip==26.0.1 +opencv-python-headless==4.12.0.88 +triton==3.6.0 +zipp==3.23.0 +cuda-bindings==12.9.4 +nvidia-cusparselt-cu12==0.7.1 +Farama-Notifications==0.0.4 +typing-inspection==0.4.2 +nvidia-nvjitlink-cu12==12.8.93 +python-dateutil==2.9.0.post0 +packaging==25.0 +nvidia-nccl-cu12==2.27.5 +nvidia-cublas-cu12==12.8.4.1 +frozenlist==1.8.0 +deepdiff==8.6.1 +torchcodec==0.10.0 +nvidia-cuda-runtime-cu12==12.8.90 +psutil==7.2.2 +einops==0.8.2 +wandb==0.24.2 +anyio==4.12.1 +multidict==6.7.1 +multiprocess==0.70.18 +imageio-ffmpeg==0.6.0 +networkx==3.4.2 +httpx==0.28.1 +av==15.1.0 +six==1.17.0 +cuda-pathfinder==1.4.2 +PyYAML==6.0.3 +nvidia-cuda-nvrtc-cu12==12.8.93 +mpmath==1.3.0 diff --git a/wandb/run-20260514_100756-pr45rdcx/files/wandb-metadata.json b/wandb/run-20260514_100756-pr45rdcx/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..0cec13c3277b56f4d0f23d02bde1335b0c7fdd76 --- /dev/null +++ b/wandb/run-20260514_100756-pr45rdcx/files/wandb-metadata.json @@ -0,0 +1,58 @@ +{ + "os": "Linux-6.8.0-111-generic-x86_64-with-glibc2.39", + "python": "CPython 3.10.20", + "startedAt": "2026-05-14T10:07:56.858780Z", + "args": [ + "--policy.type=act", + 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[wandb_setup.py:_flush():81] Current SDK version is 0.24.2 +2026-05-14 10:07:56,860 INFO MainThread:2263 [wandb_setup.py:_flush():81] Configure stats pid to 2263 +2026-05-14 10:07:56,860 INFO MainThread:2263 [wandb_setup.py:_flush():81] Loading settings from environment variables +2026-05-14 10:07:56,860 INFO MainThread:2263 [wandb_init.py:setup_run_log_directory():717] Logging user logs to outputs/train/Test32/wandb/run-20260514_100756-pr45rdcx/logs/debug.log +2026-05-14 10:07:56,860 INFO MainThread:2263 [wandb_init.py:setup_run_log_directory():718] Logging internal logs to outputs/train/Test32/wandb/run-20260514_100756-pr45rdcx/logs/debug-internal.log +2026-05-14 10:07:56,860 INFO MainThread:2263 [wandb_init.py:init():844] calling init triggers +2026-05-14 10:07:56,860 INFO MainThread:2263 [wandb_init.py:init():849] wandb.init called with sweep_config: {} +config: {'dataset': {'repo_id': 'lerobot/aloha_sim_transfer_cube_human', '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', 'streaming': False}, 'env': None, 'policy': {'type': 'act', 'n_obs_steps': 1, 'input_features': {}, 'output_features': {}, 'device': 'cuda', 'use_amp': False, 'use_peft': False, 'push_to_hub': True, 'repo_id': 'SagriviS/', 'private': None, 'tags': None, 'license': None, 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