Upload folder using huggingface_hub

.gitattributes

@@ -33,3 +33,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+wandb/run-20260304_140945-diqtuoip/run-diqtuoip.wandb filter=lfs diff=lfs merge=lfs -text

checkpoints/010000/pretrained_model/config.json

@@ -0,0 +1,63 @@
+{
+    "type": "act",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                8
+            ]
+        },
+        "observation.images.camera_1": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                4
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": true,
+    "repo_id": "ases200q2/Real_Panda_PickScrewdriver_act_20260304_140940",
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": null,
+    "chunk_size": 100,
+    "n_action_steps": 100,
+    "normalization_mapping": {
+        "VISUAL": "MEAN_STD",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
+    "vision_backbone": "resnet18",
+    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+    "replace_final_stride_with_dilation": false,
+    "pre_norm": false,
+    "dim_model": 512,
+    "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": null,
+    "dropout": 0.1,
+    "kl_weight": 10.0,
+    "optimizer_lr": 1e-05,
+    "optimizer_weight_decay": 0.0001,
+    "optimizer_lr_backbone": 1e-05
+}

checkpoints/010000/pretrained_model/model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ce2e8b595791ff489f251b358b1afbd6276200d65b0d891e4cb45d19dc4abf5
+size 206699712

checkpoints/010000/pretrained_model/policy_postprocessor.json

@@ -0,0 +1,32 @@
+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "unnormalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              4
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "MEAN_STD",
+          "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/010000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d6e5c9c244abe3413877f29d484b4860cb944c240ac04c17ddc63d38c1b4ad6
+size 6592

checkpoints/010000/pretrained_model/policy_preprocessor.json

@@ -0,0 +1,56 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "observation.state": {
+            "type": "STATE",
+            "shape": [
+              8
+            ]
+          },
+          "observation.images.camera_1": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              480,
+              640
+            ]
+          },
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              4
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "MEAN_STD",
+          "STATE": "MEAN_STD",
+          "ACTION": "MEAN_STD"
+        }
+      },
+      "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors"
+    }
+  ]
+}

checkpoints/010000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d6e5c9c244abe3413877f29d484b4860cb944c240ac04c17ddc63d38c1b4ad6
+size 6592

checkpoints/010000/pretrained_model/train_config.json

@@ -0,0 +1,193 @@
+{
+    "dataset": {
+        "repo_id": "TInkybala/Real_Panda_CartesianVel_Screwdriver_2",
+        "root": null,
+        "episodes": null,
+        "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": null,
+        "use_imagenet_stats": true,
+        "video_backend": "pyav",
+        "streaming": false
+    },
+    "env": null,
+    "policy": {
+        "type": "act",
+        "n_obs_steps": 1,
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    8
+                ]
+            },
+            "observation.images.camera_1": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    4
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "use_peft": false,
+        "push_to_hub": true,
+        "repo_id": "ases200q2/Real_Panda_PickScrewdriver_act_20260304_140940",
+        "private": null,
+        "tags": null,
+        "license": null,
+        "pretrained_path": null,
+        "chunk_size": 100,
+        "n_action_steps": 100,
+        "normalization_mapping": {
+            "VISUAL": "MEAN_STD",
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
+        },
+        "vision_backbone": "resnet18",
+        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+        "replace_final_stride_with_dilation": false,
+        "pre_norm": false,
+        "dim_model": 512,
+        "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": null,
+        "dropout": 0.1,
+        "kl_weight": 10.0,
+        "optimizer_lr": 1e-05,
+        "optimizer_weight_decay": 0.0001,
+        "optimizer_lr_backbone": 1e-05
+    },
+    "output_dir": "outputs/train/ases200q2_Real_Panda_PickScrewdriver_act_20260304_140940",
+    "job_name": "panda_pick_cube_act",
+    "resume": false,
+    "seed": 1000,
+    "num_workers": 4,
+    "batch_size": 16,
+    "steps": 10000,
+    "eval_freq": 20000,
+    "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": null,
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": false
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": "diqtuoip",
+        "mode": null
+    },
+    "peft": null,
+    "use_rabc": false,
+    "rabc_progress_path": null,
+    "rabc_kappa": 0.01,
+    "rabc_epsilon": 1e-06,
+    "rabc_head_mode": "sparse",
+    "rename_map": {},
+    "checkpoint_path": null
+}

checkpoints/010000/training_state/optimizer_param_groups.json

@@ -0,0 +1,191 @@
+[
+    {
+        "lr": 1e-05,
+        "betas": [
+            0.9,
+            0.999
+        ],
+        "eps": 1e-08,
+        "weight_decay": 0.0001,
+        "amsgrad": false,
+        "maximize": false,
+        "foreach": null,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "decoupled_weight_decay": true,
+        "params": [
+            0,
+            1,
+            2,
+            3,
+            4,
+            5,
+            6,
+            7,
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15,
+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25,
+            26,
+            27,
+            28,
+            29,
+            30,
+            31,
+            32,
+            33,
+            34,
+            35,
+            36,
+            37,
+            38,
+            39,
+            40,
+            41,
+            42,
+            43,
+            44,
+            45,
+            46,
+            47,
+            48,
+            49,
+            50,
+            51,
+            52,
+            53,
+            54,
+            55,
+            56,
+            57,
+            58,
+            59,
+            60,
+            61,
+            62,
+            63,
+            64,
+            65,
+            66,
+            67,
+            68,
+            69,
+            70,
+            71,
+            72,
+            73,
+            74,
+            75,
+            76,
+            77,
+            78,
+            79,
+            80,
+            81,
+            82,
+            83,
+            84,
+            85,
+            86,
+            87,
+            88,
+            89,
+            90,
+            91,
+            92,
+            93,
+            94,
+            95,
+            96,
+            97,
+            98,
+            99,
+            100,
+            101,
+            102,
+            103,
+            104,
+            105,
+            106,
+            107,
+            108,
+            109,
+            110,
+            111,
+            112,
+            113,
+            114,
+            115,
+            116,
+            117,
+            118,
+            119,
+            120,
+            121,
+            122,
+            123,
+            124,
+            125,
+            126,
+            127,
+            128,
+            129,
+            130,
+            131,
+            132
+        ]
+    },
+    {
+        "lr": 1e-05,
+        "betas": [
+            0.9,
+            0.999
+        ],
+        "eps": 1e-08,
+        "weight_decay": 0.0001,
+        "amsgrad": false,
+        "maximize": false,
+        "foreach": null,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "decoupled_weight_decay": true,
+        "params": [
+            133,
+            134,
+            135,
+            136,
+            137,
+            138,
+            139,
+            140,
+            141,
+            142,
+            143,
+            144,
+            145,
+            146,
+            147,
+            148,
+            149,
+            150,
+            151,
+            152
+        ]
+    }
+]

checkpoints/010000/training_state/optimizer_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d35d810620bb045c302fa1d56205dc2bc9c8f4992e5a9868ff9bf6f9987dd8d0
+size 412817636

checkpoints/010000/training_state/rng_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28d8004bddf1bf5b3f4e4f6a18bacdfc75dfe92d945c9af646c3783685e5c447
+size 15708

checkpoints/010000/training_state/training_step.json

@@ -0,0 +1,3 @@
+{
+    "step": 10000
+}

wandb/debug-internal.log

@@ -0,0 +1,11 @@
+{"time":"2026-03-04T14:09:45.236123387+08:00","level":"INFO","msg":"stream: starting","core version":"0.21.4"}
+{"time":"2026-03-04T14:09:45.585048747+08:00","level":"INFO","msg":"stream: created new stream","id":"diqtuoip"}
+{"time":"2026-03-04T14:09:45.585067369+08:00","level":"INFO","msg":"stream: started","id":"diqtuoip"}
+{"time":"2026-03-04T14:09:45.585552801+08:00","level":"INFO","msg":"handler: started","stream_id":"diqtuoip"}
+{"time":"2026-03-04T14:09:45.585568447+08:00","level":"INFO","msg":"writer: started","stream_id":"diqtuoip"}
+{"time":"2026-03-04T14:09:45.585649423+08:00","level":"INFO","msg":"sender: started","stream_id":"diqtuoip"}
+{"time":"2026-03-04T14:21:02.79952868+08:00","level":"INFO","msg":"stream: closing","id":"diqtuoip"}
+{"time":"2026-03-04T14:21:29.377681027+08:00","level":"INFO","msg":"fileTransfer: Close: file transfer manager closed"}
+{"time":"2026-03-04T14:21:29.690532138+08:00","level":"INFO","msg":"handler: closed","stream_id":"diqtuoip"}
+{"time":"2026-03-04T14:21:29.690584006+08:00","level":"INFO","msg":"sender: closed","stream_id":"diqtuoip"}
+{"time":"2026-03-04T14:21:29.690588351+08:00","level":"INFO","msg":"stream: closed","id":"diqtuoip"}

wandb/debug.log

@@ -0,0 +1,23 @@
+2026-03-04 14:09:45,023 INFO    MainThread:2618319 [wandb_setup.py:_flush():81] Current SDK version is 0.21.4
+2026-03-04 14:09:45,023 INFO    MainThread:2618319 [wandb_setup.py:_flush():81] Configure stats pid to 2618319
+2026-03-04 14:09:45,023 INFO    MainThread:2618319 [wandb_setup.py:_flush():81] Loading settings from /home/student/.config/wandb/settings
+2026-03-04 14:09:45,023 INFO    MainThread:2618319 [wandb_setup.py:_flush():81] Loading settings from /home/student/lerobot-ros-agent/wandb/settings
+2026-03-04 14:09:45,023 INFO    MainThread:2618319 [wandb_setup.py:_flush():81] Loading settings from environment variables
+2026-03-04 14:09:45,023 INFO    MainThread:2618319 [wandb_init.py:setup_run_log_directory():686] Logging user logs to outputs/train/ases200q2_Real_Panda_PickScrewdriver_act_20260304_140940/wandb/run-20260304_140945-diqtuoip/logs/debug.log
+2026-03-04 14:09:45,023 INFO    MainThread:2618319 [wandb_init.py:setup_run_log_directory():687] Logging internal logs to outputs/train/ases200q2_Real_Panda_PickScrewdriver_act_20260304_140940/wandb/run-20260304_140945-diqtuoip/logs/debug-internal.log
+2026-03-04 14:09:45,023 INFO    MainThread:2618319 [wandb_init.py:init():813] calling init triggers
+2026-03-04 14:09:45,023 INFO    MainThread:2618319 [wandb_init.py:init():818] wandb.init called with sweep_config: {}
+config: {'dataset': {'repo_id': 'TInkybala/Real_Panda_CartesianVel_Screwdriver_2', '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': 'pyav', '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': 'ases200q2/Real_Panda_PickScrewdriver_act_20260304_140940', 'private': None, 'tags': None, 'license': None, 'pretrained_path': None, 'chunk_size': 100, 'n_action_steps': 100, 'normalization_mapping': {'VISUAL': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'STATE': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'ACTION': <NormalizationMode.MEAN_STD: 'MEAN_STD'>}, 'vision_backbone': 'resnet18', 'pretrained_backbone_weights': 'ResNet18_Weights.IMAGENET1K_V1', 'replace_final_stride_with_dilation': False, 'pre_norm': False, 'dim_model': 512, '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': 10.0, 'optimizer_lr': 1e-05, 'optimizer_weight_decay': 0.0001, 'optimizer_lr_backbone': 1e-05}, 'output_dir': 'outputs/train/ases200q2_Real_Panda_PickScrewdriver_act_20260304_140940', 'job_name': 'panda_pick_cube_act', 'resume': False, 'seed': 1000, 'num_workers': 4, 'batch_size': 16, 'steps': 10000, 'eval_freq': 20000, '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': {}}
+2026-03-04 14:09:45,023 INFO    MainThread:2618319 [wandb_init.py:init():854] starting backend
+2026-03-04 14:09:45,226 INFO    MainThread:2618319 [wandb_init.py:init():857] sending inform_init request
+2026-03-04 14:09:45,228 INFO    MainThread:2618319 [wandb_init.py:init():865] backend started and connected
+2026-03-04 14:09:45,230 INFO    MainThread:2618319 [wandb_init.py:init():936] updated telemetry
+2026-03-04 14:09:45,236 INFO    MainThread:2618319 [wandb_init.py:init():960] communicating run to backend with 90.0 second timeout
+2026-03-04 14:09:45,981 INFO    MainThread:2618319 [wandb_init.py:init():1011] starting run threads in backend
+2026-03-04 14:09:46,046 INFO    MainThread:2618319 [wandb_run.py:_console_start():2506] atexit reg
+2026-03-04 14:09:46,046 INFO    MainThread:2618319 [wandb_run.py:_redirect():2354] redirect: wrap_raw
+2026-03-04 14:09:46,046 INFO    MainThread:2618319 [wandb_run.py:_redirect():2423] Wrapping output streams.
+2026-03-04 14:09:46,046 INFO    MainThread:2618319 [wandb_run.py:_redirect():2446] Redirects installed.
+2026-03-04 14:09:46,049 INFO    MainThread:2618319 [wandb_init.py:init():1049] run started, returning control to user process
+2026-03-04 14:21:02,799 INFO    wandb-AsyncioManager-main:2618319 [service_client.py:_forward_responses():84] Reached EOF.
+2026-03-04 14:21:02,799 INFO    wandb-AsyncioManager-main:2618319 [mailbox.py:close():137] Closing mailbox, abandoning 2 handles.

wandb/run-20260304_140945-diqtuoip/files/config.yaml

@@ -0,0 +1,255 @@
+_wandb:
+    value:
+        cli_version: 0.21.4
+        e:
+            kzmit8h4wvfgddv7bc7jhxreq57vjcrz:
+                args:
+                    - --dataset.repo_id=TInkybala/Real_Panda_CartesianVel_Screwdriver_2
+                    - --dataset.streaming=false
+                    - --dataset.video_backend=pyav
+                    - --output_dir=outputs/train/ases200q2_Real_Panda_PickScrewdriver_act_20260304_140940
+                    - --job_name=panda_pick_cube_act
+                    - --policy.device=cuda
+                    - --wandb.enable=true
+                    - --policy.push_to_hub=true
+                    - --policy.repo_id=ases200q2/Real_Panda_PickScrewdriver_act_20260304_140940
+                    - --batch_size=16
+                    - --steps=10000
+                    - --policy.type=act
+                codePath: .venv/bin/lerobot-train
+                codePathLocal: .venv/bin/lerobot-train
+                cpu_count: 24
+                cpu_count_logical: 24
+                cudaVersion: "13.0"
+                disk:
+                    /:
+                        total: "3739184947200"
+                        used: "2264497455104"
+                executable: /home/student/lerobot-ros-agent/.venv/bin/python3
+                git:
+                    commit: 5b4a3ddfb23a28dbc748a2a3e899490de720cf66
+                    remote: git@github.com:ases200q2/lerobot-ros-agent.git
+                gpu: NVIDIA GeForce RTX 5090
+                gpu_count: 2
+                gpu_nvidia:
+                    - architecture: Blackwell
+                      cudaCores: 21760
+                      memoryTotal: "34190917632"
+                      name: NVIDIA GeForce RTX 5090
+                      uuid: GPU-dc74e335-c883-5cd5-1542-7925122fbe20
+                    - architecture: Blackwell
+                      cudaCores: 21760
+                      memoryTotal: "34190917632"
+                      name: NVIDIA GeForce RTX 5090
+                      uuid: GPU-f2151210-e335-fb77-1202-86e2b7551577
+                host: Solaris
+                memory:
+                    total: "267371859968"
+                os: Linux-6.8.0-94-generic-x86_64-with-glibc2.35
+                program: /home/student/lerobot-ros-agent/.venv/bin/lerobot-train
+                python: CPython 3.10.12
+                root: outputs/train/ases200q2_Real_Panda_PickScrewdriver_act_20260304_140940
+                startedAt: "2026-03-04T06:09:45.023143Z"
+                writerId: kzmit8h4wvfgddv7bc7jhxreq57vjcrz
+        m: []
+        python_version: 3.10.12
+        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": 3.10.12
+            "5": 0.21.4
+            "6": 4.57.6
+            "10":
+                - 21
+            "12": 0.21.4
+            "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: TInkybala/Real_Panda_CartesianVel_Screwdriver_2
+        revision: null
+        root: null
+        streaming: false
+        use_imagenet_stats: true
+        video_backend: pyav
+env:
+    value: null
+eval:
+    value:
+        batch_size: 50
+        n_episodes: 50
+        use_async_envs: false
+eval_freq:
+    value: 20000
+job_name:
+    value: panda_pick_cube_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/ases200q2_Real_Panda_PickScrewdriver_act_20260304_140940
+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: ases200q2/Real_Panda_PickScrewdriver_act_20260304_140940
+        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: 10000
+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

wandb/run-20260304_140945-diqtuoip/files/output.log

@@ -0,0 +1,148 @@
+INFO 2026-03-04 14:09:46 db_utils.py:117 Logs will be synced with wandb.
+INFO 2026-03-04 14:09:46 db_utils.py:118 Track this run --> https://wandb.ai/tinkybala-personal/lerobot/runs/diqtuoip
+INFO 2026-03-04 14:09:46 ot_train.py:217 Creating dataset
+info.json: 2.59kB [00:00, 7.94MB/s]                                                                                                               | 0/6 [00:00<?, ?it/s]
+stats.json: 10.1kB [00:00, 1.09MB/s]quet:   0%|                                                                                              | 0.00/121k [00:00<?, ?B/s]
+meta/episodes/chunk-000/file-002.parquet: 100%|██████████████████████████████████████████████████████████████████████████████████████| 121k/121k [00:02<00:00, 46.3kB/s]
+meta/tasks.parquet: 100%|████████████████████████████████████████████████████████████████████████████████████████████████████████████| 2.20k/2.20k [00:02<00:00, 783B/s]
+meta/episodes/chunk-000/file-000.parquet: 100%|██████████████████████████████████████████████████████████████████████████████████████| 120k/120k [00:02<00:00, 42.9kB/s]
+meta/episodes/chunk-000/file-001.parquet: 100%|██████████████████████████████████████████████████████████████████████████████████████| 120k/120k [00:03<00:00, 35.4kB/s]
+Fetching 6 files: 100%|███████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 6/6 [00:04<00:00,  1.46it/s]
+INFO 2026-03-04 14:09:50 eo_utils.py:106 Using video codec: libsvtav1█████████████████████████████████████████████████████████████████| 120k/120k [00:02<00:00, 600kB/s]
+.gitattributes: 2.50kB [00:00, 15.1MB/s]                                                                                                         | 0/13 [00:00<?, ?it/s]
+data/chunk-000/file-000.parquet: 100%|████████████████████████████████████████████████████████████████████████████████████████████████| 402k/402k [00:00<00:00, 667kB/s]
+data/chunk-000/file-001.parquet: 100%|████████████████████████████████████████████████████████████████████████████████████████████████| 405k/405k [00:00<00:00, 671kB/s]
+data/chunk-000/file-002.parquet: 100%|████████████████████████████████████████████████████████████████████████████████████████████████| 382k/382k [00:00<00:00, 475kB/s]
+videos/observation.images.camera_1/chunk(…): 100%|███████████████████████████████████████████████████████████████████████████████████| 160M/160M [00:38<00:00, 4.21MB/s]
+videos/observation.images.camera_1/chunk(…): 100%|███████████████████████████████████████████████████████████████████████████████████| 175M/175M [00:41<00:00, 4.20MB/s]
+videos/observation.images.camera_1/chunk(…): 100%|███████████████████████████████████████████████████████████████████████████████████| 179M/179M [00:43<00:00, 4.17MB/s]
+Fetching 13 files: 100%|█████████████████████████��██████████████████████████████████████████████████████████████████████████████████████| 13/13 [00:43<00:00,  3.36s/it]
+INFO 2026-03-04 14:10:35 ot_train.py:235 Creating policy                                                                                     | 0.00/175M [00:00<?, ?B/s]
+INFO 2026-03-04 14:10:35 ot_train.py:290 Creating optimizer and scheduler████████████████████████████████████████████████████████████| 179M/179M [00:43<00:00, 6.52MB/s]
+INFO 2026-03-04 14:10:35 ot_train.py:325 Output dir: outputs/train/ases200q2_Real_Panda_PickScrewdriver_act_20260304_14094075M/175M [00:41<00:00, 6.12MB/s]
+INFO 2026-03-04 14:10:35 ot_train.py:332 cfg.steps=10000 (10K)
+INFO 2026-03-04 14:10:35 ot_train.py:333 dataset.num_frames=20517 (21K)
+INFO 2026-03-04 14:10:35 ot_train.py:334 dataset.num_episodes=75
+INFO 2026-03-04 14:10:35 ot_train.py:337 Effective batch size: 16 x 1 = 16
+INFO 2026-03-04 14:10:35 ot_train.py:338 num_learnable_params=51597188 (52M)
+INFO 2026-03-04 14:10:35 ot_train.py:339 num_total_params=51597188 (52M)
+Training:   0%|                                                                                                                             | 0/10000 [00:00<?, ?step/s]INFO 2026-03-04 14:10:35 ot_train.py:403 Start offline training on a fixed dataset, with effective batch size: 16
+Training:   2%|██▎                                                                                                                | 199/10000 [00:12<09:02, 18.08step/s]INFO 2026-03-04 14:10:48 ot_train.py:435 step:200 smpl:3K ep:12 epch:0.16 loss:5.741 grdn:113.893 lr:1.0e-05 updt_s:0.055 data_s:0.008
+Training:   4%|████▌                                                                                                              | 399/10000 [00:24<09:50, 16.26step/s]INFO 2026-03-04 14:11:00 ot_train.py:435 step:400 smpl:6K ep:23 epch:0.31 loss:2.516 grdn:60.007 lr:1.0e-05 updt_s:0.052 data_s:0.006
+Training:   6%|██████▉                                                                                                            | 599/10000 [00:36<09:38, 16.26step/s]INFO 2026-03-04 14:11:12 ot_train.py:435 step:600 smpl:10K ep:35 epch:0.47 loss:2.141 grdn:53.206 lr:1.0e-05 updt_s:0.052 data_s:0.009
+Training:   8%|█████████▏                                                                                                         | 799/10000 [00:48<10:12, 15.02step/s]INFO 2026-03-04 14:11:24 ot_train.py:435 step:800 smpl:13K ep:47 epch:0.62 loss:1.851 grdn:48.885 lr:1.0e-05 updt_s:0.051 data_s:0.008
+Training:  10%|███████████▍                                                                                                       | 999/10000 [01:00<08:48, 17.02step/s]INFO 2026-03-04 14:11:36 ot_train.py:435 step:1K smpl:16K ep:58 epch:0.78 loss:1.634 grdn:45.255 lr:1.0e-05 updt_s:0.050 data_s:0.008
+Training:  12%|█████████████▋                                                                                                    | 1199/10000 [01:12<08:35, 17.09step/s]INFO 2026-03-04 14:11:47 ot_train.py:435 step:1K smpl:19K ep:70 epch:0.94 loss:1.430 grdn:41.548 lr:1.0e-05 updt_s:0.050 data_s:0.007
+Training:  14%|███████████████▉                                                                                                  | 1399/10000 [01:25<09:40, 14.81step/s]INFO 2026-03-04 14:12:00 ot_train.py:435 step:1K smpl:22K ep:82 epch:1.09 loss:1.254 grdn:39.115 lr:1.0e-05 updt_s:0.052 data_s:0.012
+Training:  16%|██████████████████▏                                                                                               | 1599/10000 [01:37<09:02, 15.50step/s]INFO 2026-03-04 14:12:13 ot_train.py:435 step:2K smpl:26K ep:94 epch:1.25 loss:1.112 grdn:37.460 lr:1.0e-05 updt_s:0.050 data_s:0.012
+Training:  18%|████████████████████▌                                                                                             | 1799/10000 [01:50<08:23, 16.28step/s]INFO 2026-03-04 14:12:26 ot_train.py:435 step:2K smpl:29K ep:105 epch:1.40 loss:0.972 grdn:35.392 lr:1.0e-05 updt_s:0.050 data_s:0.012
+Training:  20%|██████████████████████▊                                                                                           | 1999/10000 [02:02<08:11, 16.29step/s]INFO 2026-03-04 14:12:38 ot_train.py:435 step:2K smpl:32K ep:117 epch:1.56 loss:0.875 grdn:32.964 lr:1.0e-05 updt_s:0.051 data_s:0.011
+Training:  22%|█████████████████████████                                                                                         | 2199/10000 [02:15<07:50, 16.58step/s]INFO 2026-03-04 14:12:50 ot_train.py:435 step:2K smpl:35K ep:129 epch:1.72 loss:0.780 grdn:30.973 lr:1.0e-05 updt_s:0.050 data_s:0.011
+Training:  24%|███████████████████████████▎                                                                                      | 2399/10000 [02:27<08:00, 15.81step/s]INFO 2026-03-04 14:13:03 ot_train.py:435 step:2K smpl:38K ep:140 epch:1.87 loss:0.689 grdn:28.015 lr:1.0e-05 updt_s:0.050 data_s:0.012
+Training:  26%|█████████████████████████████▋                                                                                    | 2599/10000 [02:40<08:15, 14.93step/s]INFO 2026-03-04 14:13:16 ot_train.py:435 step:3K smpl:42K ep:152 epch:2.03 loss:0.617 grdn:27.234 lr:1.0e-05 updt_s:0.050 data_s:0.014
+Training:  28%|███████████████████████████████▉                                                                                  | 2799/10000 [02:53<07:34, 15.85step/s]INFO 2026-03-04 14:13:29 ot_train.py:435 step:3K smpl:45K ep:164 epch:2.18 loss:0.560 grdn:25.106 lr:1.0e-05 updt_s:0.050 data_s:0.013
+Training:  30%|██████████████████████████████████▏                                                                               | 2999/10000 [03:05<07:24, 15.73step/s]INFO 2026-03-04 14:13:41 ot_train.py:435 step:3K smpl:48K ep:175 epch:2.34 loss:0.505 grdn:23.266 lr:1.0e-05 updt_s:0.050 data_s:0.013
+Training:  32%|████████████████████████████████████▍                                                                             | 3199/10000 [03:18<07:44, 14.66step/s]INFO 2026-03-04 14:13:54 ot_train.py:435 step:3K smpl:51K ep:187 epch:2.50 loss:0.467 grdn:22.132 lr:1.0e-05 updt_s:0.050 data_s:0.013
+Training:  34%|██████████████████████████████████████▋                                                                           | 3399/10000 [03:30<06:57, 15.80step/s]INFO 2026-03-04 14:14:06 ot_train.py:435 step:3K smpl:54K ep:199 epch:2.65 loss:0.431 grdn:20.979 lr:1.0e-05 updt_s:0.050 data_s:0.012
+Training:  36%|█████████████████████████████████████████                                                                         | 3599/10000 [03:43<06:47, 15.70step/s]INFO 2026-03-04 14:14:19 ot_train.py:435 step:4K smpl:58K ep:211 epch:2.81 loss:0.393 grdn:20.361 lr:1.0e-05 updt_s:0.050 data_s:0.012
+Training:  38%|███████████████████████████████████████████▎                                                                      | 3799/10000 [03:56<06:38, 15.57step/s]INFO 2026-03-04 14:14:32 ot_train.py:435 step:4K smpl:61K ep:222 epch:2.96 loss:0.377 grdn:19.027 lr:1.0e-05 updt_s:0.051 data_s:0.012
+Training:  40%|█████████████████████████████████████████████▌                                                                    | 4000/10000 [04:09<05:54, 16.92step/s]INFO 2026-03-04 14:14:45 ot_train.py:435 step:4K smpl:64K ep:234 epch:3.12 loss:0.367 grdn:18.869 lr:1.0e-05 updt_s:0.049 data_s:0.015
+Training:  42%|███████████████████████████████████████████████▉                                                                  | 4200/10000 [04:21<06:01, 16.03step/s]INFO 2026-03-04 14:14:57 ot_train.py:435 step:4K smpl:67K ep:246 epch:3.28 loss:0.342 grdn:17.856 lr:1.0e-05 updt_s:0.050 data_s:0.012
+Training:  44%|██████████████████████████████████████████████████▏                                                               | 4400/10000 [04:34<06:02, 15.44step/s]INFO 2026-03-04 14:15:10 ot_train.py:435 step:4K smpl:70K ep:257 epch:3.43 loss:0.325 grdn:17.079 lr:1.0e-05 updt_s:0.050 data_s:0.013
+Training:  46%|████████████████████████████████████████████████████▍                                                             | 4600/10000 [04:47<05:22, 16.76step/s]INFO 2026-03-04 14:15:22 ot_train.py:435 step:5K smpl:74K ep:269 epch:3.59 loss:0.311 grdn:16.708 lr:1.0e-05 updt_s:0.049 data_s:0.012
+Training:  48%|██████████████████████████████████████████████████████▋                                                           | 4800/10000 [04:59<05:07, 16.90step/s]INFO 2026-03-04 14:15:35 ot_train.py:435 step:5K smpl:77K ep:281 epch:3.74 loss:0.301 grdn:16.384 lr:1.0e-05 updt_s:0.050 data_s:0.013
+Training:  50%|█████████████████████████████████████████████████████████                                                         | 5000/10000 [05:12<05:25, 15.36step/s]INFO 2026-03-04 14:15:48 ot_train.py:435 step:5K smpl:80K ep:292 epch:3.90 loss:0.290 grdn:15.715 lr:1.0e-05 updt_s:0.050 data_s:0.012
+Training:  52%|███████████████████████████████████████████████████████████▎                                                      | 5200/10000 [05:25<05:06, 15.68step/s]INFO 2026-03-04 14:16:01 ot_train.py:435 step:5K smpl:83K ep:304 epch:4.06 loss:0.274 grdn:15.201 lr:1.0e-05 updt_s:0.050 data_s:0.015
+Training:  54%|█████████████████████████████████████████████████████████████▌                                                    | 5400/10000 [05:38<04:49, 15.89step/s]INFO 2026-03-04 14:16:13 ot_train.py:435 step:5K smpl:86K ep:316 epch:4.21 loss:0.268 grdn:15.177 lr:1.0e-05 updt_s:0.051 data_s:0.011
+Training:  56%|███████████████████████████████████████████████████████████████▊                                                  | 5600/10000 [05:50<04:40, 15.71step/s]INFO 2026-03-04 14:16:26 ot_train.py:435 step:6K smpl:90K ep:328 epch:4.37 loss:0.270 grdn:15.176 lr:1.0e-05 updt_s:0.049 data_s:0.013
+Training:  58%|██████████████████████████████████████████████████████████████████                                                | 5800/10000 [06:03<04:30, 15.54step/s]INFO 2026-03-04 14:16:39 ot_train.py:435 step:6K smpl:93K ep:339 epch:4.52 loss:0.256 grdn:14.220 lr:1.0e-05 updt_s:0.050 data_s:0.012
+Training:  60%|████████████████████████████████████████████████████████████████████▍                                             | 6000/10000 [06:16<04:15, 15.67step/s]INFO 2026-03-04 14:16:51 ot_train.py:435 step:6K smpl:96K ep:351 epch:4.68 loss:0.249 grdn:14.063 lr:1.0e-05 updt_s:0.050 data_s:0.013
+Training:  62%|██████████████████████████████████████████████████████████████████████▋                                           | 6200/10000 [06:28<04:04, 15.51step/s]INFO 2026-03-04 14:17:04 ot_train.py:435 step:6K smpl:99K ep:363 epch:4.84 loss:0.244 grdn:13.750 lr:1.0e-05 updt_s:0.050 data_s:0.012
+Training:  64%|████████████████████████████████████████████████████████████████████████▉                                         | 6400/10000 [06:41<03:54, 15.32step/s]INFO 2026-03-04 14:17:16 ot_train.py:435 step:6K smpl:102K ep:374 epch:4.99 loss:0.236 grdn:13.597 lr:1.0e-05 updt_s:0.050 data_s:0.012
+Training:  66%|███████████████████████████████████████████████████████████████████████████▏                                      | 6599/10000 [06:53<03:38, 15.57step/s]INFO 2026-03-04 14:17:29 ot_train.py:435 step:7K smpl:106K ep:386 epch:5.15 loss:0.229 grdn:13.771 lr:1.0e-05 updt_s:0.050 data_s:0.014
+Training:  68%|█████████████████████████████████████████████████████████████████████████████▌                                    | 6799/10000 [07:06<03:23, 15.74step/s]INFO 2026-03-04 14:17:41 ot_train.py:435 step:7K smpl:109K ep:398 epch:5.30 loss:0.226 grdn:13.101 lr:1.0e-05 updt_s:0.048 data_s:0.012
+Training:  70%|███████████████████████████████████████████████████████████████████████████████▊                                  | 6999/10000 [07:18<03:03, 16.38step/s]INFO 2026-03-04 14:17:54 ot_train.py:435 step:7K smpl:112K ep:409 epch:5.46 loss:0.226 grdn:13.404 lr:1.0e-05 updt_s:0.049 data_s:0.012
+Training:  72%|████████████████████████████████████████████████████████���█████████████████████████                                | 7200/10000 [07:30<02:52, 16.22step/s]INFO 2026-03-04 14:18:06 ot_train.py:435 step:7K smpl:115K ep:421 epch:5.61 loss:0.218 grdn:12.741 lr:1.0e-05 updt_s:0.049 data_s:0.011
+Training:  74%|████████████████████████████████████████████████████████████████████████████████████▎                             | 7400/10000 [07:42<02:43, 15.95step/s]INFO 2026-03-04 14:18:18 ot_train.py:435 step:7K smpl:118K ep:433 epch:5.77 loss:0.212 grdn:12.937 lr:1.0e-05 updt_s:0.048 data_s:0.012
+Training:  76%|██████████████████████████████████████████████████████████████████████████████████████▋                           | 7599/10000 [07:54<02:28, 16.21step/s]INFO 2026-03-04 14:18:30 ot_train.py:435 step:8K smpl:122K ep:445 epch:5.93 loss:0.207 grdn:12.349 lr:1.0e-05 updt_s:0.049 data_s:0.012
+Training:  78%|████████████████████████████████████████████████████████████████████████████████████████▉                         | 7799/10000 [08:07<02:21, 15.52step/s]INFO 2026-03-04 14:18:43 ot_train.py:435 step:8K smpl:125K ep:456 epch:6.08 loss:0.209 grdn:12.830 lr:1.0e-05 updt_s:0.048 data_s:0.014
+Training:  80%|███████████████████████████████████████████████████████████████████████████████████████████▏                      | 7999/10000 [08:19<02:09, 15.42step/s]INFO 2026-03-04 14:18:55 ot_train.py:435 step:8K smpl:128K ep:468 epch:6.24 loss:0.198 grdn:12.319 lr:1.0e-05 updt_s:0.048 data_s:0.013
+Training:  82%|█████████████████████████████████████████████████████████████████████████████████████████████▍                    | 8200/10000 [08:32<01:50, 16.27step/s]INFO 2026-03-04 14:19:07 ot_train.py:435 step:8K smpl:131K ep:480 epch:6.39 loss:0.201 grdn:12.736 lr:1.0e-05 updt_s:0.048 data_s:0.013
+Training:  84%|███████████████████████████████████████████████████████████████████████████████████████████████▋                  | 8399/10000 [08:44<01:41, 15.75step/s]INFO 2026-03-04 14:19:20 ot_train.py:435 step:8K smpl:134K ep:491 epch:6.55 loss:0.195 grdn:12.163 lr:1.0e-05 updt_s:0.048 data_s:0.013
+Training:  86%|██████████████████████████████████████████████████████████████████████████████████████████████████                | 8600/10000 [08:56<01:22, 16.96step/s]INFO 2026-03-04 14:19:32 ot_train.py:435 step:9K smpl:138K ep:503 epch:6.71 loss:0.193 grdn:11.659 lr:1.0e-05 updt_s:0.048 data_s:0.013
+Training:  88%|████████████████████████████████████████████████████████████████████████████████████████████████████▎             | 8800/10000 [09:09<01:15, 15.89step/s]INFO 2026-03-04 14:19:44 ot_train.py:435 step:9K smpl:141K ep:515 epch:6.86 loss:0.185 grdn:11.555 lr:1.0e-05 updt_s:0.049 data_s:0.012
+Training:  90%|██████████████████████████████████████████████████████████████████████████████████████████████████████▌           | 8999/10000 [09:21<01:06, 14.95step/s]INFO 2026-03-04 14:19:57 ot_train.py:435 step:9K smpl:144K ep:526 epch:7.02 loss:0.190 grdn:11.587 lr:1.0e-05 updt_s:0.048 data_s:0.015
+Training:  92%|████████████████████████████████████████████████████████████████████████████████████████████████████████▉         | 9200/10000 [09:34<00:47, 16.82step/s]INFO 2026-03-04 14:20:10 ot_train.py:435 step:9K smpl:147K ep:538 epch:7.17 loss:0.183 grdn:11.656 lr:1.0e-05 updt_s:0.048 data_s:0.013
+Training:  94%|███████████████████████████████████████████████████████████████████████████████████████████████████████████▏      | 9400/10000 [09:46<00:35, 16.86step/s]INFO 2026-03-04 14:20:22 ot_train.py:435 step:9K smpl:150K ep:550 epch:7.33 loss:0.176 grdn:11.198 lr:1.0e-05 updt_s:0.049 data_s:0.013
+Training:  96%|█████████████████████████████████████████████████████████████████████████████████████████████████████████████▍    | 9599/10000 [09:59<00:24, 16.24step/s]INFO 2026-03-04 14:20:34 ot_train.py:435 step:10K smpl:154K ep:561 epch:7.49 loss:0.181 grdn:11.685 lr:1.0e-05 updt_s:0.048 data_s:0.013
+Training:  98%|███████████████████████████████████████████████████████████████████████████████████████████████████████████████▋  | 9800/10000 [10:11<00:12, 16.64step/s]INFO 2026-03-04 14:20:47 ot_train.py:435 step:10K smpl:157K ep:573 epch:7.64 loss:0.180 grdn:11.303 lr:1.0e-05 updt_s:0.048 data_s:0.014
+Training: 100%|█████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 10000/10000 [10:24<00:00, 16.82step/s]INFO 2026-03-04 14:20:59 ot_train.py:435 step:10K smpl:160K ep:585 epch:7.80 loss:0.170 grdn:11.032 lr:1.0e-05 updt_s:0.048 data_s:0.013
+INFO 2026-03-04 14:20:59 ot_train.py:455 Checkpoint policy after step 10000
+Training: 100%|█████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 10000/10000 [10:26<00:00, 15.97step/s]
+INFO 2026-03-04 14:21:02 ot_train.py:529 End of training
+Traceback (most recent call last):
+  File "/home/student/lerobot-ros-agent/.venv/lib/python3.10/site-packages/huggingface_hub/utils/_http.py", line 407, in hf_raise_for_status
+    response.raise_for_status()
+  File "/home/student/lerobot-ros-agent/.venv/lib/python3.10/site-packages/requests/models.py", line 1026, in raise_for_status
+    raise HTTPError(http_error_msg, response=self)
+requests.exceptions.HTTPError: 403 Client Error: Forbidden for url: https://huggingface.co/api/repos/create
+
+The above exception was the direct cause of the following exception:
+
+Traceback (most recent call last):
+  File "/home/student/lerobot-ros-agent/.venv/bin/lerobot-train", line 10, in <module>
+    sys.exit(main())
+  File "/home/student/lerobot-ros-agent/lerobot/src/lerobot/scripts/lerobot_train.py", line 547, in main
+    train()
+  File "/home/student/lerobot-ros-agent/lerobot/src/lerobot/configs/parser.py", line 233, in wrapper_inner
+    response = fn(cfg, *args, **kwargs)
+  File "/home/student/lerobot-ros-agent/lerobot/src/lerobot/scripts/lerobot_train.py", line 536, in train
+    unwrapped_policy.push_model_to_hub(cfg)
+  File "/home/student/lerobot-ros-agent/lerobot/src/lerobot/policies/pretrained.py", line 213, in push_model_to_hub
+    repo_id = api.create_repo(
+  File "/home/student/lerobot-ros-agent/.venv/lib/python3.10/site-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
+    return fn(*args, **kwargs)
+  File "/home/student/lerobot-ros-agent/.venv/lib/python3.10/site-packages/huggingface_hub/hf_api.py", line 3779, in create_repo
+    raise err
+  File "/home/student/lerobot-ros-agent/.venv/lib/python3.10/site-packages/huggingface_hub/hf_api.py", line 3766, in create_repo
+    hf_raise_for_status(r)
+  File "/home/student/lerobot-ros-agent/.venv/lib/python3.10/site-packages/huggingface_hub/utils/_http.py", line 471, in hf_raise_for_status
+    raise _format(HfHubHTTPError, message, response) from e
+huggingface_hub.errors.HfHubHTTPError: (Request ID: Root=1-69a7cf4e-3c577e342ef9642a4d4b32a5;a1b5d0aa-c633-441f-9375-b73135dc5abd)
+
+403 Forbidden: You don't have the rights to create a model under the namespace "ases200q2".
+Cannot access content at: https://huggingface.co/api/repos/create.
+Make sure your token has the correct permissions.
+Traceback (most recent call last):
+  File "/home/student/lerobot-ros-agent/.venv/lib/python3.10/site-packages/huggingface_hub/utils/_http.py", line 407, in hf_raise_for_status
+    response.raise_for_status()
+  File "/home/student/lerobot-ros-agent/.venv/lib/python3.10/site-packages/requests/models.py", line 1026, in raise_for_status
+    raise HTTPError(http_error_msg, response=self)
+requests.exceptions.HTTPError: 403 Client Error: Forbidden for url: https://huggingface.co/api/repos/create
+
+The above exception was the direct cause of the following exception:
+
+Traceback (most recent call last):
+  File "/home/student/lerobot-ros-agent/.venv/bin/lerobot-train", line 10, in <module>
+    sys.exit(main())
+  File "/home/student/lerobot-ros-agent/lerobot/src/lerobot/scripts/lerobot_train.py", line 547, in main
+    train()
+  File "/home/student/lerobot-ros-agent/lerobot/src/lerobot/configs/parser.py", line 233, in wrapper_inner
+    response = fn(cfg, *args, **kwargs)
+  File "/home/student/lerobot-ros-agent/lerobot/src/lerobot/scripts/lerobot_train.py", line 536, in train
+    unwrapped_policy.push_model_to_hub(cfg)
+  File "/home/student/lerobot-ros-agent/lerobot/src/lerobot/policies/pretrained.py", line 213, in push_model_to_hub
+    repo_id = api.create_repo(
+  File "/home/student/lerobot-ros-agent/.venv/lib/python3.10/site-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
+    return fn(*args, **kwargs)
+  File "/home/student/lerobot-ros-agent/.venv/lib/python3.10/site-packages/huggingface_hub/hf_api.py", line 3779, in create_repo
+    raise err
+  File "/home/student/lerobot-ros-agent/.venv/lib/python3.10/site-packages/huggingface_hub/hf_api.py", line 3766, in create_repo
+    hf_raise_for_status(r)
+  File "/home/student/lerobot-ros-agent/.venv/lib/python3.10/site-packages/huggingface_hub/utils/_http.py", line 471, in hf_raise_for_status
+    raise _format(HfHubHTTPError, message, response) from e
+huggingface_hub.errors.HfHubHTTPError: (Request ID: Root=1-69a7cf4e-3c577e342ef9642a4d4b32a5;a1b5d0aa-c633-441f-9375-b73135dc5abd)
+
+403 Forbidden: You don't have the rights to create a model under the namespace "ases200q2".
+Cannot access content at: https://huggingface.co/api/repos/create.
+Make sure your token has the correct permissions.

wandb/run-20260304_140945-diqtuoip/files/requirements.txt

@@ -0,0 +1,337 @@
+ros2interface==0.18.17
+sros2==0.10.9
+ros2controlcli==2.53.1
+rqt-gui==1.1.9
+examples-rclpy-minimal-service==0.15.5
+ros2bag==0.15.16
+rqt-plot==1.1.5
+rqt-msg==1.2.0
+ament-clang-format==0.12.15
+rqt-srv==1.0.3
+rqt-service-caller==1.0.5
+osrf-pycommon==2.1.6
+ros2component==0.18.17
+rqt-py-console==1.0.2
+launch-testing==1.0.14
+ament-pep257==0.12.15
+launch-testing-ros==0.19.13
+ros2cli==0.18.17
+examples-rclpy-minimal-subscriber==0.15.5
+ament-cpplint==0.12.15
+demo-nodes-py==0.20.8
+rqt-shell==1.0.2
+launch-ros==0.19.13
+ros2pkg==0.18.17
+domain-coordinator==0.10.0
+ros2lifecycle==0.18.17
+rosidl-runtime-py==0.9.3
+tf2-tools==0.25.19
+examples-rclpy-executors==0.15.5
+ament-index-python==1.4.1
+ament-uncrustify==0.12.15
+examples-rclpy-minimal-publisher==0.15.5
+ros2node==0.18.17
+ros2action==0.18.17
+rpyutils==0.2.2
+topic-monitor==0.20.8
+rqt-reconfigure==1.1.3
+ros2launch==0.19.13
+examples-rclpy-minimal-action-server==0.15.5
+launch==1.0.14
+ament-clang-tidy==0.12.15
+teleop-twist-keyboard==2.4.1
+ament-xmllint==0.12.15
+rqt-bag==1.1.6
+ros2run==0.18.17
+ament-lint==0.12.15
+examples-rclpy-minimal-action-client==0.15.5
+quality-of-service-demo-py==0.20.8
+ament-lint-cmake==0.12.15
+ros2service==0.18.17
+joint-state-publisher==2.4.0
+rqt-console==2.0.3
+ros2plugin==5.1.3
+ros2topic==0.18.17
+launch-yaml==1.0.14
+ros2param==0.18.17
+rqt-action==2.0.1
+ros2doctor==0.18.17
+examples-rclpy-minimal-client==0.15.5
+rosidl-cli==3.1.8
+ament-cppcheck==0.12.15
+rqt-gui-py==1.1.9
+rqt-publisher==1.5.0
+sensor-msgs-py==4.9.1
+urdfdom-py==1.2.1
+generate-parameter-library-py==0.6.0
+rqt-topic==1.5.1
+joint-state-publisher-gui==2.4.0
+action-tutorials-py==0.20.8
+ros2multicast==0.18.17
+tf2-ros-py==0.25.19
+ament-package==0.14.2
+launch-xml==1.0.14
+ament-copyright==0.12.15
+rqt-graph==1.3.2
+rqt-bag-plugins==1.1.6
+ament-flake8==0.12.15
+qt-gui-py-common==2.2.4
+action-msgs==1.2.2
+qt-dotgraph==2.2.4
+unique-identifier-msgs==2.2.1
+ros-gz-interfaces==0.244.22
+vision-msgs==4.1.1
+theora-image-transport==2.5.4
+tf2-kdl==0.25.19
+visualization-msgs==4.9.1
+tf2-msgs==0.25.19
+rcutils==5.1.8
+controller-manager==2.53.1
+tf2-sensor-msgs==0.25.19
+resource-retriever==3.1.3
+stereo-msgs==4.9.1
+rosidl-cmake==3.1.8
+rosidl-typesupport-introspection-c==3.1.8
+example-interfaces==0.9.3
+diagnostic-msgs==4.9.1
+python-qt-binding==1.1.3
+rqt-py-common==1.1.9
+tf2-py==0.25.19
+nav-msgs==4.9.1
+sensor-msgs==4.9.1
+qt-gui-cpp==2.2.4
+object-recognition-msgs==2.0.0
+rosidl-generator-cpp==3.1.8
+rosgraph-msgs==1.2.2
+rosidl-typesupport-fastrtps-c==2.2.4
+action-tutorials-interfaces==0.20.8
+rclpy==3.3.20
+pendulum-msgs==0.20.8
+franka-gripper==1.0.0
+srdfdom==2.0.7
+rosidl-generator-py==0.14.6
+rmw-dds-common==1.6.0
+ament-cmake-test==1.3.13
+rosidl-adapter==3.1.8
+rosbag2-interfaces==0.15.16
+angles==1.15.0
+lifecycle-msgs==1.2.2
+message-filters==4.3.14
+rcl-interfaces==1.2.2
+qt-gui==2.2.4
+gps-msgs==2.1.1
+moveit-msgs==2.2.1
+geometry-msgs==4.9.1
+rosidl-typesupport-introspection-cpp==3.1.8
+rosidl-generator-c==3.1.8
+rosidl-typesupport-cpp==2.0.2
+tf2-geometry-msgs==0.25.19
+laser-geometry==2.4.1
+cv-bridge==3.2.1
+actionlib-msgs==4.9.1
+logging-demo==0.20.8
+statistics-msgs==1.2.2
+std-msgs==4.9.1
+turtlesim==1.4.3
+franka-msgs==1.0.0
+pcl-msgs==1.0.0
+rosidl-typesupport-fastrtps-cpp==2.2.4
+xacro==2.1.1
+rosidl-typesupport-c==2.0.2
+image-geometry==3.2.1
+interactive-markers==2.3.2
+std-srvs==4.9.1
+shape-msgs==4.9.1
+builtin-interfaces==1.2.2
+rosbag2-py==0.15.16
+actuator-msgs==0.0.1
+control-msgs==4.8.0
+rosidl-parser==3.1.8
+map-msgs==2.1.0
+trajectory-msgs==4.9.1
+octomap-msgs==2.0.1
+composition-interfaces==1.2.2
+controller-manager-msgs==2.53.1
+uvicorn==0.41.0
+typer==0.23.1
+mergedeep==1.3.4
+prompt_toolkit==3.0.52
+threadpoolctl==3.6.0
+nvidia-curand-cu12==10.3.9.90
+fonttools==4.61.1
+safetensors==0.7.0
+diffusers==0.35.2
+deepdiff==8.6.1
+google-genai==1.65.0
+Farama-Notifications==0.0.4
+pydantic_core==2.41.5
+rsa==4.9.1
+dill==0.4.0
+numpy==1.26.4
+python-dateutil==2.9.0.post0
+huggingface-hub==0.35.3
+lazy_loader==0.4
+pydub==0.25.1
+scipy==1.15.3
+imageio-ffmpeg==0.6.0
+gTTS==2.5.4
+pydantic==2.12.5
+nvidia-cuda-cupti-cu12==12.8.90
+docopt==0.6.2
+fastapi==0.135.1
+av==15.1.0
+python-multipart==0.0.22
+h11==0.16.0
+aiohappyeyeballs==2.6.1
+evdev==1.9.3
+joblib==1.5.3
+zipp==3.23.0
+transformers==4.57.6
+pyyaml-include==1.4.1
+frozenlist==1.8.0
+numba==0.64.0
+Jinja2==3.1.6
+xxhash==3.6.0
+nvidia-cusparselt-cu12==0.7.1
+requests==2.32.5
+pyasn1==0.6.2
+gradio==6.8.0
+llvmlite==0.46.0
+pandas==2.3.3
+sniffio==1.3.1
+filelock==3.20.0
+httpx==0.28.1
+lerobot-teleoperator-devices==0.1.0
+nvidia-cusolver-cu12==11.7.3.90
+six==1.17.0
+aiofiles==24.1.0
+gymnasium==1.2.3
+MarkupSafe==3.0.2
+hf-xet==1.3.2
+cffi==2.0.0
+smmap==5.0.2
+async-timeout==5.0.1
+Pygments==2.19.2
+rich==14.3.3
+toml==0.10.2
+torchvision==0.25.0+cu128
+httpcore==1.0.9
+multidict==6.7.1
+websockets==16.0
+openai==2.24.0
+pycparser==3.0
+lerobot==0.4.3
+pyserial==3.5
+typing-inspection==0.4.2
+tqdm==4.67.3
+ImageIO==2.37.2
+soundfile==0.13.1
+opencv-python==4.9.0.80
+hf_transfer==0.1.9
+shellingham==1.5.4
+groovy==0.1.2
+tzdata==2025.3
+wandb==0.21.4
+distro==1.9.0
+torch==2.10.0+cu128
+pyarrow==23.0.1
+nvidia-cufft-cu12==11.3.3.83
+sentry-sdk==2.53.0
+nvidia-cuda-nvrtc-cu12==12.8.93
+gradio_client==2.2.0
+pooch==1.9.0
+jiter==0.13.0
+decorator==5.2.1
+protobuf==6.33.5
+termcolor==3.3.0
+GitPython==3.1.46
+annotated-doc==0.0.4
+cuda-pathfinder==1.2.2
+tokenizers==0.22.2
+nvidia-cudnn-cu12==9.10.2.21
+aiohttp==3.13.3
+mpmath==1.3.0
+markdown-it-py==4.0.0
+cloudpickle==3.1.2
+safehttpx==0.1.7
+nvidia-cusparse-cu12==12.5.8.93
+librosa==0.11.0
+tomlkit==0.13.3
+attrs==25.4.0
+cycler==0.12.1
+contourpy==1.3.2
+lerobot-robot-ros==0.1.0
+python-xlib==0.33
+pynput==1.8.1
+tenacity==9.1.4
+sympy==1.14.0
+pillow==12.0.0
+audioread==3.1.0
+exceptiongroup==1.3.1
+pytz==2025.2
+matplotlib==3.10.8
+packaging==25.0
+regex==2026.2.28
+aiosignal==1.4.0
+msgpack==1.1.2
+propcache==0.4.1
+accelerate==1.12.0
+pfzy==0.3.4
+nvidia-nccl-cu12==2.27.5
+pyrealsense2==2.56.5.9235
+nvidia-nvtx-cu12==12.8.90
+einops==0.8.2
+nvidia-cublas-cu12==12.8.4.1
+fsspec==2025.9.0
+typing_extensions==4.15.0
+cmake==4.1.3
+scikit-learn==1.7.2
+certifi==2026.2.25
+cryptography==46.0.5
+mdurl==0.1.2
+psutil==7.2.2
+charset-normalizer==3.4.4
+jsonlines==4.0.0
+click==8.1.8
+semantic-version==2.10.0
+google-auth==2.48.0
+mypy_extensions==1.1.0
+PyYAML==6.0.3
+torchaudio==2.10.0+cu128
+networkx==3.4.2
+annotated-types==0.7.0
+setuptools==80.10.2
+inquirerpy==0.3.4
+multiprocess==0.70.16
+gitdb==4.0.12
+nvidia-cufile-cu12==1.13.1.3
+transforms3d==0.4.2
+num2words==0.5.14
+cuda-bindings==12.9.4
+opencv-python-headless==4.9.0.80
+platformdirs==4.9.2
+brotli==1.2.0
+kiwisolver==1.4.9
+orjson==3.11.7
+nvidia-cuda-runtime-cu12==12.8.90
+urllib3==2.6.3
+pyparsing==3.3.2
+ffmpy==1.0.0
+triton==3.6.0
+datasets==4.1.1
+orderly-set==5.5.0
+lerobot-ros-agent==0.1.0
+importlib_metadata==8.7.1
+pyasn1_modules==0.4.2
+rerun-sdk==0.23.1
+soxr==1.0.0
+starlette==0.52.1
+typing-inspect==0.9.0
+idna==3.11
+anyio==4.12.1
+nvidia-nvjitlink-cu12==12.8.93
+draccus==0.10.0
+nvidia-nvshmem-cu12==3.4.5
+wcwidth==0.6.0
+yarl==1.23.0
+lerobot==0.4.3

wandb/run-20260304_140945-diqtuoip/files/wandb-metadata.json

@@ -0,0 +1,60 @@
+{
+  "os":  "Linux-6.8.0-94-generic-x86_64-with-glibc2.35",
+  "python":  "CPython 3.10.12",
+  "startedAt":  "2026-03-04T06:09:45.023143Z",
+  "args":  [
+    "--dataset.repo_id=TInkybala/Real_Panda_CartesianVel_Screwdriver_2",
+    "--dataset.streaming=false",
+    "--dataset.video_backend=pyav",
+    "--output_dir=outputs/train/ases200q2_Real_Panda_PickScrewdriver_act_20260304_140940",
+    "--job_name=panda_pick_cube_act",
+    "--policy.device=cuda",
+    "--wandb.enable=true",
+    "--policy.push_to_hub=true",
+    "--policy.repo_id=ases200q2/Real_Panda_PickScrewdriver_act_20260304_140940",
+    "--batch_size=16",
+    "--steps=10000",
+    "--policy.type=act"
+  ],
+  "program":  "/home/student/lerobot-ros-agent/.venv/bin/lerobot-train",
+  "codePath":  ".venv/bin/lerobot-train",
+  "codePathLocal":  ".venv/bin/lerobot-train",
+  "git":  {
+    "remote":  "git@github.com:ases200q2/lerobot-ros-agent.git",
+    "commit":  "5b4a3ddfb23a28dbc748a2a3e899490de720cf66"
+  },
+  "root":  "outputs/train/ases200q2_Real_Panda_PickScrewdriver_act_20260304_140940",
+  "host":  "Solaris",
+  "executable":  "/home/student/lerobot-ros-agent/.venv/bin/python3",
+  "cpu_count":  24,
+  "cpu_count_logical":  24,
+  "gpu":  "NVIDIA GeForce RTX 5090",
+  "gpu_count":  2,
+  "disk":  {
+    "/":  {
+      "total":  "3739184947200",
+      "used":  "2264497455104"
+    }
+  },
+  "memory":  {
+    "total":  "267371859968"
+  },
+  "gpu_nvidia":  [
+    {
+      "name":  "NVIDIA GeForce RTX 5090",
+      "memoryTotal":  "34190917632",
+      "cudaCores":  21760,
+      "architecture":  "Blackwell",
+      "uuid":  "GPU-dc74e335-c883-5cd5-1542-7925122fbe20"
+    },
+    {
+      "name":  "NVIDIA GeForce RTX 5090",
+      "memoryTotal":  "34190917632",
+      "cudaCores":  21760,
+      "architecture":  "Blackwell",
+      "uuid":  "GPU-f2151210-e335-fb77-1202-86e2b7551577"
+    }
+  ],
+  "cudaVersion":  "13.0",
+  "writerId":  "kzmit8h4wvfgddv7bc7jhxreq57vjcrz"
+}

wandb/run-20260304_140945-diqtuoip/files/wandb-summary.json

@@ -0,0 +1 @@
+{"train/steps":10000,"train/epochs":7.798411073743725,"_step":10000,"train/samples":160000,"_runtime":676.817510498,"train/grad_norm":11.031659348011017,"train/lr":1.0000000000000021e-05,"train/l1_loss":0.1054336354136467,"train/dataloading_s":0.012938795557711274,"_wandb":{"runtime":676},"train/update_s":0.048201626453083006,"_timestamp":1.7726052598593383e+09,"train/kld_loss":0.0029805414378643036,"train/loss":0.17013575233519077,"train/episodes":584.8808305307793}

wandb/run-20260304_140945-diqtuoip/logs/debug-core.log

@@ -0,0 +1,15 @@
+{"time":"2026-03-04T14:09:45.03252953+08:00","level":"INFO","msg":"main: starting server","port-filename":"/tmp/tmppprnklb7/port-2618319.txt","pid":2618319,"log-level":0,"disable-analytics":false,"shutdown-on-parent-exit":false,"enable-dcgm-profiling":false}
+{"time":"2026-03-04T14:09:45.032833733+08:00","level":"INFO","msg":"server: will exit if parent process dies","ppid":2618319}
+{"time":"2026-03-04T14:09:45.032809568+08:00","level":"INFO","msg":"server: accepting connections","addr":{"Name":"/tmp/wandb-2618319-2618451-269653006/socket","Net":"unix"}}
+{"time":"2026-03-04T14:09:45.226881489+08:00","level":"INFO","msg":"connection: ManageConnectionData: new connection created","id":"1(@)"}
+{"time":"2026-03-04T14:09:45.236050278+08:00","level":"INFO","msg":"handleInformInit: received","streamId":"diqtuoip","id":"1(@)"}
+{"time":"2026-03-04T14:09:45.585069692+08:00","level":"INFO","msg":"handleInformInit: stream started","streamId":"diqtuoip","id":"1(@)"}
+{"time":"2026-03-04T14:21:02.799507534+08:00","level":"INFO","msg":"handleInformTeardown: server teardown initiated","id":"1(@)"}
+{"time":"2026-03-04T14:21:02.79954026+08:00","level":"INFO","msg":"server is shutting down"}
+{"time":"2026-03-04T14:21:02.799536339+08:00","level":"INFO","msg":"connection: closing","id":"1(@)"}
+{"time":"2026-03-04T14:21:02.799586648+08:00","level":"INFO","msg":"server: listener closed","addr":{"Name":"/tmp/wandb-2618319-2618451-269653006/socket","Net":"unix"}}
+{"time":"2026-03-04T14:21:02.799600143+08:00","level":"INFO","msg":"connection: closed successfully","id":"1(@)"}
+{"time":"2026-03-04T14:21:29.327611834+08:00","level":"ERROR","msg":"processOutgoingData: flush error","error":"write unix /tmp/wandb-2618319-2618451-269653006/socket->@: use of closed network connection","id":"1(@)"}
+{"time":"2026-03-04T14:21:29.705127704+08:00","level":"INFO","msg":"handleInformTeardown: server shutdown complete","id":"1(@)"}
+{"time":"2026-03-04T14:21:29.705148659+08:00","level":"INFO","msg":"connection: ManageConnectionData: connection closed","id":"1(@)"}
+{"time":"2026-03-04T14:21:29.705152877+08:00","level":"INFO","msg":"server is closed"}

wandb/run-20260304_140945-diqtuoip/logs/debug-internal.log

@@ -0,0 +1,11 @@
+{"time":"2026-03-04T14:09:45.236123387+08:00","level":"INFO","msg":"stream: starting","core version":"0.21.4"}
+{"time":"2026-03-04T14:09:45.585048747+08:00","level":"INFO","msg":"stream: created new stream","id":"diqtuoip"}
+{"time":"2026-03-04T14:09:45.585067369+08:00","level":"INFO","msg":"stream: started","id":"diqtuoip"}
+{"time":"2026-03-04T14:09:45.585552801+08:00","level":"INFO","msg":"handler: started","stream_id":"diqtuoip"}
+{"time":"2026-03-04T14:09:45.585568447+08:00","level":"INFO","msg":"writer: started","stream_id":"diqtuoip"}
+{"time":"2026-03-04T14:09:45.585649423+08:00","level":"INFO","msg":"sender: started","stream_id":"diqtuoip"}
+{"time":"2026-03-04T14:21:02.79952868+08:00","level":"INFO","msg":"stream: closing","id":"diqtuoip"}
+{"time":"2026-03-04T14:21:29.377681027+08:00","level":"INFO","msg":"fileTransfer: Close: file transfer manager closed"}
+{"time":"2026-03-04T14:21:29.690532138+08:00","level":"INFO","msg":"handler: closed","stream_id":"diqtuoip"}
+{"time":"2026-03-04T14:21:29.690584006+08:00","level":"INFO","msg":"sender: closed","stream_id":"diqtuoip"}
+{"time":"2026-03-04T14:21:29.690588351+08:00","level":"INFO","msg":"stream: closed","id":"diqtuoip"}

wandb/run-20260304_140945-diqtuoip/logs/debug.log

@@ -0,0 +1,23 @@
+2026-03-04 14:09:45,023 INFO    MainThread:2618319 [wandb_setup.py:_flush():81] Current SDK version is 0.21.4
+2026-03-04 14:09:45,023 INFO    MainThread:2618319 [wandb_setup.py:_flush():81] Configure stats pid to 2618319
+2026-03-04 14:09:45,023 INFO    MainThread:2618319 [wandb_setup.py:_flush():81] Loading settings from /home/student/.config/wandb/settings
+2026-03-04 14:09:45,023 INFO    MainThread:2618319 [wandb_setup.py:_flush():81] Loading settings from /home/student/lerobot-ros-agent/wandb/settings
+2026-03-04 14:09:45,023 INFO    MainThread:2618319 [wandb_setup.py:_flush():81] Loading settings from environment variables
+2026-03-04 14:09:45,023 INFO    MainThread:2618319 [wandb_init.py:setup_run_log_directory():686] Logging user logs to outputs/train/ases200q2_Real_Panda_PickScrewdriver_act_20260304_140940/wandb/run-20260304_140945-diqtuoip/logs/debug.log
+2026-03-04 14:09:45,023 INFO    MainThread:2618319 [wandb_init.py:setup_run_log_directory():687] Logging internal logs to outputs/train/ases200q2_Real_Panda_PickScrewdriver_act_20260304_140940/wandb/run-20260304_140945-diqtuoip/logs/debug-internal.log
+2026-03-04 14:09:45,023 INFO    MainThread:2618319 [wandb_init.py:init():813] calling init triggers
+2026-03-04 14:09:45,023 INFO    MainThread:2618319 [wandb_init.py:init():818] wandb.init called with sweep_config: {}
+config: {'dataset': {'repo_id': 'TInkybala/Real_Panda_CartesianVel_Screwdriver_2', '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': 'pyav', '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': 'ases200q2/Real_Panda_PickScrewdriver_act_20260304_140940', 'private': None, 'tags': None, 'license': None, 'pretrained_path': None, 'chunk_size': 100, 'n_action_steps': 100, 'normalization_mapping': {'VISUAL': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'STATE': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'ACTION': <NormalizationMode.MEAN_STD: 'MEAN_STD'>}, 'vision_backbone': 'resnet18', 'pretrained_backbone_weights': 'ResNet18_Weights.IMAGENET1K_V1', 'replace_final_stride_with_dilation': False, 'pre_norm': False, 'dim_model': 512, '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': 10.0, 'optimizer_lr': 1e-05, 'optimizer_weight_decay': 0.0001, 'optimizer_lr_backbone': 1e-05}, 'output_dir': 'outputs/train/ases200q2_Real_Panda_PickScrewdriver_act_20260304_140940', 'job_name': 'panda_pick_cube_act', 'resume': False, 'seed': 1000, 'num_workers': 4, 'batch_size': 16, 'steps': 10000, 'eval_freq': 20000, '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': {}}
+2026-03-04 14:09:45,023 INFO    MainThread:2618319 [wandb_init.py:init():854] starting backend
+2026-03-04 14:09:45,226 INFO    MainThread:2618319 [wandb_init.py:init():857] sending inform_init request
+2026-03-04 14:09:45,228 INFO    MainThread:2618319 [wandb_init.py:init():865] backend started and connected
+2026-03-04 14:09:45,230 INFO    MainThread:2618319 [wandb_init.py:init():936] updated telemetry
+2026-03-04 14:09:45,236 INFO    MainThread:2618319 [wandb_init.py:init():960] communicating run to backend with 90.0 second timeout
+2026-03-04 14:09:45,981 INFO    MainThread:2618319 [wandb_init.py:init():1011] starting run threads in backend
+2026-03-04 14:09:46,046 INFO    MainThread:2618319 [wandb_run.py:_console_start():2506] atexit reg
+2026-03-04 14:09:46,046 INFO    MainThread:2618319 [wandb_run.py:_redirect():2354] redirect: wrap_raw
+2026-03-04 14:09:46,046 INFO    MainThread:2618319 [wandb_run.py:_redirect():2423] Wrapping output streams.
+2026-03-04 14:09:46,046 INFO    MainThread:2618319 [wandb_run.py:_redirect():2446] Redirects installed.
+2026-03-04 14:09:46,049 INFO    MainThread:2618319 [wandb_init.py:init():1049] run started, returning control to user process
+2026-03-04 14:21:02,799 INFO    wandb-AsyncioManager-main:2618319 [service_client.py:_forward_responses():84] Reached EOF.
+2026-03-04 14:21:02,799 INFO    wandb-AsyncioManager-main:2618319 [mailbox.py:close():137] Closing mailbox, abandoning 2 handles.

wandb/run-20260304_140945-diqtuoip/run-diqtuoip.wandb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:256f631ebd43432a8c5fc053c9942258f4833a752305d2a9ba50a46c7f5b3f92
+size 1929499