Add job_name fix

checkpoints/step_000500/pretrained_model/config.json

@@ -0,0 +1,95 @@
+{
+    "type": "pi05",
+    "n_obs_steps": 1,
+    "input_features": {
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+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": true,
+    "repo_id": "StrongRoboticsLab/pi05-so100-diverse",
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": "lerobot/pi05_base",
+    "paligemma_variant": "gemma_2b",
+    "action_expert_variant": "gemma_300m",
+    "dtype": "bfloat16",
+    "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,
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+    "max_period": 4.0,
+    "rtc_config": null,
+    "image_resolution": [
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+    "empty_cameras": 0,
+    "tokenizer_max_length": 200,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
+    "gradient_checkpointing": false,
+    "compile_model": false,
+    "compile_mode": "max-autotune",
+    "freeze_vision_encoder": false,
+    "train_expert_only": true,
+    "optimizer_lr": 2.5e-05,
+    "optimizer_betas": [
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+    "scheduler_warmup_steps": 1000,
+    "scheduler_decay_steps": 340000,
+    "scheduler_decay_lr": 2.5e-06
+}

checkpoints/step_000500/pretrained_model/policy_postprocessor.json

@@ -0,0 +1,32 @@
+{
+  "name": "policy_postprocessor",
+  "steps": [
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+          "STATE": "MEAN_STD",
+          "ACTION": "MEAN_STD"
+        }
+      },
+      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}

checkpoints/step_000500/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors

@@ -0,0 +1,3 @@
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+size 768

checkpoints/step_000500/pretrained_model/policy_preprocessor.json

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+{
+  "name": "policy_preprocessor",
+  "steps": [
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+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {
+          "observation.images.image": "observation.images.base_0_rgb",
+          "observation.images.image2": "observation.images.left_wrist_0_rgb"
+        }
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
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+    {
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+      "config": {
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+              224,
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+    },
+    {
+      "registry_name": "pi05_prepare_state_tokenizer_processor_step",
+      "config": {}
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+    {
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+      "config": {
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+        "task_key": "task",
+        "padding_side": "right",
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+        "tokenizer_name": "google/paligemma-3b-pt-224"
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+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
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+      }
+    }
+  ]
+}

checkpoints/step_000500/pretrained_model/policy_preprocessor_step_2_normalizer_processor.safetensors

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+size 768

checkpoints/step_000500/pretrained_model/train_config.json

@@ -0,0 +1,236 @@
+{
+    "dataset": {
+        "repo_id": "so100:/ephemeral/community_dataset_v3:/workspace/pi05-so100-diverse/filtered_index.json:/workspace/pi05-so100-diverse/norm_stats.json",
+        "root": null,
+        "episodes": null,
+        "image_transforms": {
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+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
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+                    "type": "ColorJitter",
+                    "kwargs": {
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+                    "kwargs": {
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+                    "type": "ColorJitter",
+                    "kwargs": {
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+                    "type": "RandomAffine",
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+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec",
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+    "policy": {
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+        "push_to_hub": true,
+        "repo_id": "StrongRoboticsLab/pi05-so100-diverse",
+        "private": null,
+        "tags": null,
+        "license": null,
+        "pretrained_path": "lerobot/pi05_base",
+        "paligemma_variant": "gemma_2b",
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+            "ACTION": "MEAN_STD"
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+        "compile_model": false,
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+        "optimizer_lr": 2.5e-05,
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+        "scheduler_warmup_steps": 1000,
+        "scheduler_decay_steps": 340000,
+        "scheduler_decay_lr": 2.5e-06
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+    "output_dir": "/ephemeral/production_run",
+    "job_name": "pi05",
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+    "seed": 1000,
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+    "num_workers": 4,
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+    "steps": 340000,
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+    "tolerance_s": 0.0001,
+    "save_checkpoint": true,
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+    "use_policy_training_preset": true,
+    "optimizer": {
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+    "wandb": {
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+        "project": "pi05-so100-diverse",
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+        "notes": null,
+        "run_id": "7zuftzeh",
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+        "observation.images.image2": "observation.images.left_wrist_0_rgb"
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+    "checkpoint_path": null
+}

checkpoints/step_000500/training_state/optimizer_param_groups.json

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checkpoints/step_000500/training_state/rng_state.safetensors

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+size 15708

checkpoints/step_000500/training_state/scheduler_state.json

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+{
+    "base_lrs": [
+        2.5e-05
+    ],
+    "last_epoch": 500,
+    "verbose": false,
+    "_step_count": 501,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        1.2512487512487514e-05
+    ],
+    "lr_lambdas": [
+        null
+    ]
+}

checkpoints/step_000500/training_state/training_step.json

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+{
+    "step": 500
+}

logs/training_20260324_025549.log

@@ -0,0 +1,1136 @@
+=== Starting Training ===
+The following values were not passed to `accelerate launch` and had defaults used instead:
+	`--num_processes` was set to a value of `1`
+	`--num_machines` was set to a value of `1`
+	`--mixed_precision` was set to a value of `'no'`
+	`--dynamo_backend` was set to a value of `'no'`
+To avoid this warning pass in values for each of the problematic parameters or run `accelerate config`.
+WARNING:lerobot.configs.policies:Device 'mps' is not available. Switching to 'cuda'.
+WARNING:lerobot.configs.policies:Device 'mps' is not available. Switching to 'cuda'.
+INFO 2026-03-24 02:55:56 ot_train.py:198 {'batch_size': 16,
+ 'checkpoint_path': None,
+ 'cudnn_deterministic': False,
+ 'dataset': {'episodes': None,
+             'image_transforms': {'enable': False,
+                                  'max_num_transforms': 3,
+                                  'random_order': False,
+                                  'tfs': {'affine': {'kwargs': {'degrees': [-5.0,
+                                                                            5.0],
+                                                                'translate': [0.05,
+                                                                              0.05]},
+                                                     'type': 'RandomAffine',
+                                                     'weight': 1.0},
+                                          'brightness': {'kwargs': {'brightness': [0.8,
+                                                                                   1.2]},
+                                                         'type': 'ColorJitter',
+                                                         'weight': 1.0},
+                                          'contrast': {'kwargs': {'contrast': [0.8,
+                                                                               1.2]},
+                                                       'type': 'ColorJitter',
+                                                       'weight': 1.0},
+                                          'hue': {'kwargs': {'hue': [-0.05,
+                                                                     0.05]},
+                                                  'type': 'ColorJitter',
+                                                  'weight': 1.0},
+                                          'saturation': {'kwargs': {'saturation': [0.5,
+                                                                                   1.5]},
+                                                         'type': 'ColorJitter',
+                                                         'weight': 1.0},
+                                          'sharpness': {'kwargs': {'sharpness': [0.5,
+                                                                                 1.5]},
+                                                        'type': 'SharpnessJitter',
+                                                        'weight': 1.0}}},
+             'repo_id': 'so100:/ephemeral/community_dataset_v3:/workspace/pi05-so100-diverse/filtered_index.json:/workspace/pi05-so100-diverse/norm_stats.json',
+             'revision': None,
+             'root': None,
+             'streaming': False,
+             'use_imagenet_stats': True,
+             'video_backend': 'torchcodec'},
+ 'env': None,
+ 'eval': {'batch_size': 50, 'n_episodes': 50, 'use_async_envs': False},
+ 'eval_freq': 20000,
+ 'job_name': 'pi05',
+ 'log_freq': 50,
+ 'num_workers': 4,
+ 'optimizer': {'betas': [0.9, 0.95],
+               'eps': 1e-08,
+               'grad_clip_norm': 1.0,
+               'lr': 2.5e-05,
+               'type': 'adamw',
+               'weight_decay': 0.01},
+ 'output_dir': '/ephemeral/production_run',
+ 'peft': None,
+ 'policy': {'action_expert_variant': 'gemma_300m',
+            'chunk_size': 50,
+            'compile_mode': 'max-autotune',
+            'compile_model': False,
+            'device': 'cuda',
+            'dtype': 'bfloat16',
+            'empty_cameras': 0,
+            'freeze_vision_encoder': False,
+            'gradient_checkpointing': False,
+            'image_resolution': [224, 224],
+            'input_features': {'observation.images.base_0_rgb': {'shape': [3,
+                                                                           224,
+                                                                           224],
+                                                                 'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.images.left_wrist_0_rgb': {'shape': [3,
+                                                                                 224,
+                                                                                 224],
+                                                                       'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.images.right_wrist_0_rgb': {'shape': [3,
+                                                                                  224,
+                                                                                  224],
+                                                                        'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.state': {'shape': [32],
+                                                     'type': <FeatureType.STATE: 'STATE'>}},
+            'license': None,
+            'max_action_dim': 32,
+            'max_period': 4.0,
+            'max_state_dim': 32,
+            'min_period': 0.004,
+            'n_action_steps': 50,
+            'n_obs_steps': 1,
+            'normalization_mapping': {'ACTION': <NormalizationMode.MEAN_STD: 'MEAN_STD'>,
+                                      'STATE': <NormalizationMode.MEAN_STD: 'MEAN_STD'>,
+                                      'VISUAL': <NormalizationMode.IDENTITY: 'IDENTITY'>},
+            'num_inference_steps': 10,
+            'optimizer_betas': [0.9, 0.95],
+            'optimizer_eps': 1e-08,
+            'optimizer_grad_clip_norm': 1.0,
+            'optimizer_lr': 2.5e-05,
+            'optimizer_weight_decay': 0.01,
+            'output_features': {'action': {'shape': [32],
+                                           'type': <FeatureType.ACTION: 'ACTION'>}},
+            'paligemma_variant': 'gemma_2b',
+            'pretrained_path': 'lerobot/pi05_base',
+            'private': None,
+            'push_to_hub': True,
+            'repo_id': 'StrongRoboticsLab/pi05-so100-diverse',
+            'rtc_config': None,
+            'scheduler_decay_lr': 2.5e-06,
+            'scheduler_decay_steps': 340000,
+            'scheduler_warmup_steps': 1000,
+            'tags': None,
+            'time_sampling_beta_alpha': 1.5,
+            'time_sampling_beta_beta': 1.0,
+            'time_sampling_offset': 0.001,
+            'time_sampling_scale': 0.999,
+            'tokenizer_max_length': 200,
+            'train_expert_only': True,
+            'type': 'pi05',
+            'use_amp': False,
+            'use_peft': False},
+ 'rabc_epsilon': 1e-06,
+ 'rabc_head_mode': 'sparse',
+ 'rabc_kappa': 0.01,
+ 'rabc_progress_path': None,
+ 'rename_map': {'observation.images.image': 'observation.images.base_0_rgb',
+                'observation.images.image2': 'observation.images.left_wrist_0_rgb'},
+ 'resume': False,
+ 'save_checkpoint': True,
+ 'save_freq': 500,
+ 'scheduler': {'decay_lr': 2.5e-06,
+               'num_decay_steps': 340000,
+               'num_warmup_steps': 1000,
+               'peak_lr': 2.5e-05,
+               'type': 'cosine_decay_with_warmup'},
+ 'seed': 1000,
+ 'steps': 340000,
+ 'tolerance_s': 0.0001,
+ 'use_policy_training_preset': True,
+ 'use_rabc': False,
+ 'wandb': {'add_tags': True,
+           'disable_artifact': False,
+           'enable': True,
+           'entity': None,
+           'mode': None,
+           'notes': None,
+           'project': 'pi05-so100-diverse',
+           'run_id': None}}
+INFO 2026-03-24 02:55:58 db_utils.py:117 Logs will be synced with wandb.
+INFO 2026-03-24 02:55:58 db_utils.py:118 Track this run --> https://wandb.ai/gptjustin-strong-robotics-lab/pi05-so100-diverse/runs/7zuftzeh
+INFO 2026-03-24 02:55:58 ot_train.py:222 Creating dataset
+INFO 2026-03-24 02:56:01 ot_train.py:240 Creating policy
+INFO 2026-03-24 02:57:56 _client.py:1025 HTTP Request: HEAD https://huggingface.co/lerobot/pi05_base/resolve/main/model.safetensors "HTTP/1.1 302 Found"
+INFO 2026-03-24 02:57:56 _client.py:1025 HTTP Request: GET https://huggingface.co/api/models/lerobot/pi05_base/xet-read-token/9e55186ad36e66b95cda57bc47818d9e6237ae30 "HTTP/1.1 200 OK"
+WARNING 2026-03-24 02:58:13 ng_pi05.py:1102 Vision embedding key might need handling: paligemma_with_expert.paligemma.model.vision_tower.vision_model.embeddings.patch_embedding.bias
+WARNING 2026-03-24 02:58:13 ng_pi05.py:1102 Vision embedding key might need handling: paligemma_with_expert.paligemma.model.vision_tower.vision_model.embeddings.patch_embedding.weight
+INFO 2026-03-24 02:58:18 _client.py:1025 HTTP Request: HEAD https://huggingface.co/lerobot/pi05_base/resolve/main/policy_preprocessor.json "HTTP/1.1 307 Temporary Redirect"
+INFO 2026-03-24 02:58:18 _client.py:1025 HTTP Request: HEAD https://huggingface.co/api/resolve-cache/models/lerobot/pi05_base/9e55186ad36e66b95cda57bc47818d9e6237ae30/policy_preprocessor.json "HTTP/1.1 200 OK"
+INFO 2026-03-24 02:58:18 _client.py:1025 HTTP Request: GET https://huggingface.co/api/resolve-cache/models/lerobot/pi05_base/9e55186ad36e66b95cda57bc47818d9e6237ae30/policy_preprocessor.json "HTTP/1.1 200 OK"
+INFO 2026-03-24 02:58:18 _client.py:1025 HTTP Request: HEAD https://huggingface.co/google/paligemma-3b-pt-224/resolve/main/config.json "HTTP/1.1 200 OK"
+INFO 2026-03-24 02:58:18 _client.py:1025 HTTP Request: GET https://huggingface.co/google/paligemma-3b-pt-224/resolve/main/config.json "HTTP/1.1 200 OK"
+INFO 2026-03-24 02:58:18 _client.py:1025 HTTP Request: HEAD https://huggingface.co/google/paligemma-3b-pt-224/resolve/main/tokenizer_config.json "HTTP/1.1 200 OK"
+INFO 2026-03-24 02:58:19 _client.py:1025 HTTP Request: GET https://huggingface.co/google/paligemma-3b-pt-224/resolve/main/tokenizer_config.json "HTTP/1.1 200 OK"
+INFO 2026-03-24 02:58:19 _client.py:1025 HTTP Request: GET https://huggingface.co/api/models/google/paligemma-3b-pt-224/tree/main/additional_chat_templates?recursive=false&expand=false "HTTP/1.1 404 Not Found"
+INFO 2026-03-24 02:58:19 _client.py:1025 HTTP Request: GET https://huggingface.co/api/models/google/paligemma-3b-pt-224/tree/main?recursive=true&expand=false "HTTP/1.1 200 OK"
+INFO 2026-03-24 02:58:19 _client.py:1025 HTTP Request: HEAD https://huggingface.co/google/paligemma-3b-pt-224/resolve/main/tokenizer.json "HTTP/1.1 302 Found"
+INFO 2026-03-24 02:58:19 _client.py:1025 HTTP Request: GET https://huggingface.co/api/models/google/paligemma-3b-pt-224/xet-read-token/35e4f46485b4d07967e7e9935bc3786aad50687c "HTTP/1.1 200 OK"
+INFO 2026-03-24 02:58:19 _client.py:1025 HTTP Request: HEAD https://huggingface.co/google/paligemma-3b-pt-224/resolve/main/added_tokens.json "HTTP/1.1 200 OK"
+INFO 2026-03-24 02:58:19 _client.py:1025 HTTP Request: GET https://huggingface.co/google/paligemma-3b-pt-224/resolve/main/added_tokens.json "HTTP/1.1 200 OK"
+INFO 2026-03-24 02:58:19 _client.py:1025 HTTP Request: HEAD https://huggingface.co/google/paligemma-3b-pt-224/resolve/main/special_tokens_map.json "HTTP/1.1 200 OK"
+INFO 2026-03-24 02:58:19 _client.py:1025 HTTP Request: GET https://huggingface.co/google/paligemma-3b-pt-224/resolve/main/special_tokens_map.json "HTTP/1.1 200 OK"
+INFO 2026-03-24 02:58:19 _client.py:1025 HTTP Request: HEAD https://huggingface.co/google/paligemma-3b-pt-224/resolve/main/chat_template.jinja "HTTP/1.1 404 Not Found"
+INFO 2026-03-24 02:58:21 _client.py:1025 HTTP Request: GET https://huggingface.co/api/models/google/paligemma-3b-pt-224 "HTTP/1.1 200 OK"
+INFO 2026-03-24 02:58:21 _client.py:1025 HTTP Request: HEAD https://huggingface.co/lerobot/pi05_base/resolve/main/policy_postprocessor.json "HTTP/1.1 307 Temporary Redirect"
+INFO 2026-03-24 02:58:21 _client.py:1025 HTTP Request: HEAD https://huggingface.co/api/resolve-cache/models/lerobot/pi05_base/9e55186ad36e66b95cda57bc47818d9e6237ae30/policy_postprocessor.json "HTTP/1.1 200 OK"
+INFO 2026-03-24 02:58:21 _client.py:1025 HTTP Request: GET https://huggingface.co/api/resolve-cache/models/lerobot/pi05_base/9e55186ad36e66b95cda57bc47818d9e6237ae30/policy_postprocessor.json "HTTP/1.1 200 OK"
+INFO 2026-03-24 02:58:21 ot_train.py:295 Creating optimizer and scheduler
+INFO 2026-03-24 02:58:21 ot_train.py:330 Output dir: /ephemeral/production_run
+INFO 2026-03-24 02:58:21 ot_train.py:337 cfg.steps=340000 (340K)
+INFO 2026-03-24 02:58:21 ot_train.py:338 dataset.num_frames=4923840 (5M)
+INFO 2026-03-24 02:58:21 ot_train.py:339 dataset.num_episodes=10155
+INFO 2026-03-24 02:58:21 ot_train.py:342 Effective batch size: 16 x 1 = 16
+INFO 2026-03-24 02:58:21 ot_train.py:343 num_learnable_params=693422112 (693M)
+INFO 2026-03-24 02:58:21 ot_train.py:344 num_total_params=4143404816 (4B)
+The PI05 model is a direct port of the OpenPI implementation. 
+This implementation follows the original OpenPI structure for compatibility. 
+Original implementation: https://github.com/Physical-Intelligence/openpi
+Loading model from: lerobot/pi05_base
+✓ Loaded state dict from model.safetensors
+Remapped 812 state dict keys
+All keys loaded successfully!
+
+
+WARNING 2026-03-24 02:59:05 db_utils.py:181 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+
+WARNING 2026-03-24 02:59:47 db_utils.py:181 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+
+WARNING 2026-03-24 03:00:30 db_utils.py:181 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+
+WARNING 2026-03-24 03:01:13 db_utils.py:181 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+
+WARNING 2026-03-24 03:01:56 db_utils.py:181 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+
+WARNING 2026-03-24 03:02:39 db_utils.py:181 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+
+WARNING 2026-03-24 03:03:22 db_utils.py:181 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+
+WARNING 2026-03-24 03:04:05 db_utils.py:181 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+
+WARNING 2026-03-24 03:04:48 db_utils.py:181 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+
+WARNING 2026-03-24 03:05:31 db_utils.py:181 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+INFO 2026-03-24 03:05:31 ot_train.py:461 Checkpoint policy after step 500
+INFO 2026-03-24 03:05:55 _client.py:1025 HTTP Request: POST https://huggingface.co/api/models/StrongRoboticsLab/pi05-so100-diverse/preupload/main "HTTP/1.1 200 OK"
+INFO 2026-03-24 03:05:55 _client.py:1025 HTTP Request: POST https://huggingface.co/StrongRoboticsLab/pi05-so100-diverse.git/info/lfs/objects/batch "HTTP/1.1 200 OK"
+INFO 2026-03-24 03:05:55 _client.py:1025 HTTP Request: GET https://huggingface.co/api/models/StrongRoboticsLab/pi05-so100-diverse/xet-write-token/main "HTTP/1.1 200 OK"
+
+
+
+
  ...timizer_state.safetensors:   0%|          | 28.1kB / 2.20GB            
+
+
+
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+
+
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+
+
+
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+
+
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+
+
+
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+
+
+
  ...timizer_state.safetensors:   3%|▎         | 64.0MB / 2.20GB            
+
+
+
  ...d_model/model.safetensors:   0%|          | 98.2kB / 9.35GB            
+
+
+
  ...timizer_state.safetensors:   3%|▎         | 66.7MB / 2.20GB            
+
+
+
  ...d_model/model.safetensors:   0%|          | 98.2kB / 9.35GB            
+
+
+
  ...timizer_state.safetensors:   3%|▎         | 66.7MB / 2.20GB            
+
+
+
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+
+
  ...timizer_state.safetensors:   3%|▎         | 66.7MB / 2.20GB            
+
+
+
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+INFO 2026-03-24 03:06:18 _client.py:1025 HTTP Request: POST https://huggingface.co/api/models/StrongRoboticsLab/pi05-so100-diverse/commit/main "HTTP/1.1 200 OK"
+INFO 2026-03-24 03:06:18 ot_train.py:485 Uploaded checkpoint step 500 to HF
+Traceback (most recent call last):
+  File "<frozen runpy>", line 198, in _run_module_as_main
+  File "<frozen runpy>", line 88, in _run_code
+  File "/workspace/pi05-so100-diverse/lerobot/src/lerobot/scripts/lerobot_train.py", line 575, in <module>
+    main()
+  File "/workspace/pi05-so100-diverse/lerobot/src/lerobot/scripts/lerobot_train.py", line 571, in main
+    train()
+  File "/workspace/pi05-so100-diverse/lerobot/src/lerobot/configs/parser.py", line 233, in wrapper_inner
+    response = fn(cfg, *args, **kwargs)
+               ^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/workspace/pi05-so100-diverse/lerobot/src/lerobot/scripts/lerobot_train.py", line 493, in train
+    wandb_logger.log_policy(checkpoint_dir)
+  File "/workspace/pi05-so100-diverse/lerobot/src/lerobot/rl/wandb_utils.py", line 129, in log_policy
+    artifact = self._wandb.Artifact(artifact_name, type="model")
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/usr/local/lib/python3.12/dist-packages/wandb/sdk/artifacts/artifact.py", line 201, in __init__
+    self._name: str = validate_artifact_name(name)  # includes version after saving
+                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/usr/local/lib/python3.12/dist-packages/wandb/sdk/artifacts/_validators.py", line 72, in validate_artifact_name
+    raise ValueError(
+ValueError: Artifact name is longer than 128 characters: 'policy_pi05-seed_1000-dataset_so100__ephemeral_community_dataset_v3__workspace_pi05-so100-diverse_filtered_index.json__workspace ...'
+Traceback (most recent call last):
+  File "<frozen runpy>", line 198, in _run_module_as_main
+  File "<frozen runpy>", line 88, in _run_code
+  File "/usr/local/lib/python3.12/dist-packages/accelerate/commands/launch.py", line 1415, in <module>
+    main()
+  File "/usr/local/lib/python3.12/dist-packages/accelerate/commands/launch.py", line 1411, in main
+    launch_command(args)
+  File "/usr/local/lib/python3.12/dist-packages/accelerate/commands/launch.py", line 1405, in launch_command
+    simple_launcher(args)
+  File "/usr/local/lib/python3.12/dist-packages/accelerate/commands/launch.py", line 993, in simple_launcher
+    raise subprocess.CalledProcessError(returncode=process.returncode, cmd=cmd)
+subprocess.CalledProcessError: Command '['/usr/bin/python3.12', '-m', 'lerobot.scripts.lerobot_train', '--dataset.repo_id=so100:/ephemeral/community_dataset_v3:/workspace/pi05-so100-diverse/filtered_index.json:/workspace/pi05-so100-diverse/norm_stats.json', '--policy.path=lerobot/pi05_base', '--policy.train_expert_only=true', '--policy.dtype=bfloat16', '--policy.gradient_checkpointing=false', '--policy.push_to_hub=true', '--policy.repo_id=StrongRoboticsLab/pi05-so100-diverse', '--policy.normalization_mapping={"VISUAL": "IDENTITY", "STATE": "MEAN_STD", "ACTION": "MEAN_STD"}', '--policy.scheduler_warmup_steps=1000', '--policy.scheduler_decay_steps=340000', '--rename_map={"observation.images.image": "observation.images.base_0_rgb", "observation.images.image2": "observation.images.left_wrist_0_rgb"}', '--batch_size=16', '--steps=340000', '--save_freq=500', '--log_freq=50', '--num_workers=4', '--wandb.enable=true', '--wandb.project=pi05-so100-diverse', '--output_dir=/ephemeral/production_run']' returned non-zero exit status 1.
+=== Training Complete (exit: 1) ===

train_cloud.sh

@@ -47,7 +47,6 @@ python3.12 -m accelerate.commands.launch $ACCEL_FLAGS \
 --save_freq=500 \
 --log_freq=50 \
 --num_workers=4 \
---job_name=pi05-so100-diverse \
 --wandb.enable=true \
 --wandb.project=pi05-so100-diverse \
 --output_dir=/ephemeral/production_run \