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+data.transform.model:act
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+--seed=2026
+--exp=act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table
+--train.name=act-g1-real
+--log.report-to=wandb
+--wandb.entity=jliu530-soochow-university
+--train.data_parallel=ddp
+--train.mixed_precision=bf16
+--train.train-batch-size=32
+--train.gradient_accumulation_steps=1
+--train.validation_steps=500
+--train.val_num_batches=20
+--train.max-training-steps=42000
+--train.learning-rate=1e-4
+--train.max-grad-norm=1.0
+--train.lr_scheduler_kwargs.weight_decay=1e-6
+--train.lr_scheduler_kwargs.betas 0.95 0.999
+--train.lr_scheduler_type=cosine
+--train.warmup-steps=1000
+--train.warmup-ratio=None
+--train.checkpointing-steps=5000
+--data.root_dir=/hfm/data/real_teleop_g1/lerobot
+--data.dataset_paths=Hold_lunch_bag_with_both_hands_and_squat_to_put_on_the_coffee_table
+--data.data_config=we.data.gr00t.data_config:WeUnitreeG1LocoDataConfig
+--data.transform.repack.pad-action-dim=36
+--data.transform.repack.pad-state-dim=32
+--data.transform.action-state.stat-path=dataset_statistics/g1-stats-Hold_lunch_bag_with_both_hands_and_squat_to_put_on_the_coffee_table.json
+--data.transform.action-state.stat-action-key=action
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+--data.transform.action-state.normalize-state
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+--model.n-action-steps=100
+--model.action-dim=36
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+--model.use-vae
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+2026-01-23 22:48:54,453 INFO    MainThread:3227745 [wandb_run.py:_restore():2474] restore done
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act/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/wandb/run-20260123_081132-yuvvvmoo/files/config.yaml

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+                    - --log.report-to=wandb
+                    - --wandb.entity=jliu530-soochow-university
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+                    - --train.warmup-ratio=None
+                    - --train.checkpointing-steps=5000
+                    - --data.root_dir=/hfm/data/real_teleop_g1/lerobot
+                    - --data.dataset_paths=Hold_lunch_bag_with_both_hands_and_squat_to_put_on_the_coffee_table
+                    - --data.data_config=we.data.gr00t.data_config:WeUnitreeG1LocoDataConfig
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+                email: jliu530@163.com
+                executable: /home/jliu/we_learn/.venv-pusht/bin/python3
+                git:
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+                    remote: https://github.com/songlin/we_learn.git
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+                os: Linux-6.8.0-88-generic-x86_64-with-glibc2.39
+                program: /home/jliu/we_learn/scripts/train.py
+                python: CPython 3.10.19
+                root: /home/jliu/we_learn/.runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811
+                startedAt: "2026-01-23T08:11:32.735367Z"
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+                resize:
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+            repack:
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+                conditions: []
+                dataset_name: we-g1-teleop
+                image_keys:
+                    - video
+                instruction_key: annotation.human.task_description
+                pad_action_dim: 36
+                pad_state_dim: 32
+                state_key: state
+        video_backend: decord
+debug:
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+environment_variables:
+    value:
+        CUDA_VISIBLE_DEVICES: 6,7
+        DATA_HOME: /hfm/data
+        HF_HOME: /hfm/cache
+        HF_LEROBOT_HOME: /hfm/data/lerobot
+        HF_TOKEN: hf_...adRb
+        LOCAL_RANK: "0"
+        LOCAL_WORLD_SIZE: "2"
+        MASTER_ADDR: nebula101
+        MASTER_PORT: "39399"
+        OMP_NUM_THREADS: "32"
+        PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION: python
+        RANK: "0"
+        TORCH_HOME: /hfm/cache
+        UV_CACHE_DIR: /hfm/cache
+        WANDB_API_KEY: 90e...5c06
+        WE_HOME: /hfm
+        WORLD_SIZE: "2"
+eval:
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+exp:
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+log:
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+        logging_dir: logs
+        report_to: wandb
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+        chunk_size: 100
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+        dim_model: 512
+        dropout: 0.1
+        feedforward_activation: relu
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+        use_vae: true
+seed:
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+timestamp:
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+train:
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+        data_parallel: ddp
+        deepspeed_config: /home/jliu/we_learn/src/InternVLA/config/deepseeds/zero3.json
+        enable_gradient_checkpointing: true
+        enable_mixed_precision_training: true
+        gradient_accumulation_steps: 1
+        hf_token: .hf_token
+        learning_rate: 0.0001
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+        lr_scheduler_kwargs:
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+        max_checkpoints_to_keep: null
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+        max_training_steps: 42000
+        mixed_precision: bf16
+        name: act-g1-real
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+        output_dir: .runs
+        overfit_single_batch: false
+        reduce_in_full_precision: true
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+        skip_resumed_steps: false
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+wandb:
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+        entity: jliu530-soochow-university
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+        project: hfm
+        resume: allow

act/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/wandb/run-20260123_081132-yuvvvmoo/files/output.log

@@ -0,0 +1,240 @@
+[08:11:37 01/23] INFO     | >> [*] Saved configuration to                                                                                                 ]8;id=805427;file:///home/jliu/we_learn/scripts/train.py\train.py]8;;\:]8;id=514750;file:///home/jliu/we_learn/scripts/train.py#129\129]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.260             
+                          1230811                                                                                                                                     
+                 INFO     | >> [*] Training configurations:                                                                                               ]8;id=2657;file:///home/jliu/we_learn/scripts/train.py\train.py]8;;\:]8;id=644039;file:///home/jliu/we_learn/scripts/train.py#182\182]8;;\
+                 INFO     | >>     |=> training task: 'act-g1-real'                                                                                       ]8;id=471497;file:///home/jliu/we_learn/scripts/train.py\train.py]8;;\:]8;id=12046;file:///home/jliu/we_learn/scripts/train.py#183\183]8;;\
+                 INFO     | >>     |=> run name:                                                                                                          ]8;id=329497;file:///home/jliu/we_learn/scripts/train.py\train.py]8;;\:]8;id=220436;file:///home/jliu/we_learn/scripts/train.py#184\184]8;;\
+                          act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811                        
+                 INFO     | >>     |=> seed: 2026                                                                                                         ]8;id=844246;file:///home/jliu/we_learn/scripts/train.py\train.py]8;;\:]8;id=394625;file:///home/jliu/we_learn/scripts/train.py#185\185]8;;\
+                 INFO     | >>     |=> mixed precision: torch.bfloat16                                                                                    ]8;id=356929;file:///home/jliu/we_learn/scripts/train.py\train.py]8;;\:]8;id=94020;file:///home/jliu/we_learn/scripts/train.py#186\186]8;;\
+                 INFO     | >>     |=> warmup steps: 1000                                                                                                 ]8;id=147732;file:///home/jliu/we_learn/scripts/train.py\train.py]8;;\:]8;id=919050;file:///home/jliu/we_learn/scripts/train.py#187\187]8;;\
+                 INFO     | >>     |=> validation steps: 500                                                                                              ]8;id=25941;file:///home/jliu/we_learn/scripts/train.py\train.py]8;;\:]8;id=888976;file:///home/jliu/we_learn/scripts/train.py#188\188]8;;\
+                 INFO     | >>     |=> checkpoint steps: 5000                                                                                             ]8;id=95089;file:///home/jliu/we_learn/scripts/train.py\train.py]8;;\:]8;id=418144;file:///home/jliu/we_learn/scripts/train.py#189\189]8;;\
+                 INFO     | >>     |=> max gradient norm: 1.0                                                                                             ]8;id=122104;file:///home/jliu/we_learn/scripts/train.py\train.py]8;;\:]8;id=446109;file:///home/jliu/we_learn/scripts/train.py#190\190]8;;\
+/home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+Loading external config: we.data.gr00t.data_config.WeUnitreeG1LocoDataConfig
+Initialized dataset Hold_lunch_bag_with_both_hands_and_squat_to_put_on_the_coffee_table with EmbodimentTag.NEW_EMBODIMENT
+Loading external config: we.data.gr00t.data_config.WeUnitreeG1LocoDataConfig
+Initialized dataset Hold_lunch_bag_with_both_hands_and_squat_to_put_on_the_coffee_table with EmbodimentTag.NEW_EMBODIMENT
+[08:11:38 01/23] INFO     | >>     |=> Num training samples:                                                                                              ]8;id=917958;file:///home/jliu/we_learn/scripts/train.py\train.py]8;;\:]8;id=514883;file:///home/jliu/we_learn/scripts/train.py#193\193]8;;\
+                 INFO     | >>         |=> Training dataset size: 43,427                                                                                  ]8;id=440366;file:///home/jliu/we_learn/scripts/train.py\train.py]8;;\:]8;id=591396;file:///home/jliu/we_learn/scripts/train.py#194\194]8;;\
+                 INFO     | >>         |=> Val dataset size: 43,427                                                                                       ]8;id=26608;file:///home/jliu/we_learn/scripts/train.py\train.py]8;;\:]8;id=603472;file:///home/jliu/we_learn/scripts/train.py#196\196]8;;\
+                 INFO     | >> [*] Initialize optimizers and schedulers...                                                                                ]8;id=738892;file:///home/jliu/we_learn/scripts/train.py\train.py]8;;\:]8;id=548632;file:///home/jliu/we_learn/scripts/train.py#199\199]8;;\
+                 INFO     | >> [*] ***** Running training *****                                                                                           ]8;id=450268;file:///home/jliu/we_learn/scripts/train.py\train.py]8;;\:]8;id=492873;file:///home/jliu/we_learn/scripts/train.py#203\203]8;;\
+                 INFO     | >>     |=> Num training examples = 43427                                                                                      ]8;id=928955;file:///home/jliu/we_learn/scripts/train.py\train.py]8;;\:]8;id=127940;file:///home/jliu/we_learn/scripts/train.py#204\204]8;;\
+                 INFO     | >>     |=> Max training Epochs = 62                                                                                           ]8;id=749231;file:///home/jliu/we_learn/scripts/train.py\train.py]8;;\:]8;id=974614;file:///home/jliu/we_learn/scripts/train.py#205\205]8;;\
+                 INFO     | >>         |=> Total optimization steps = 42000                                                                               ]8;id=322570;file:///home/jliu/we_learn/scripts/train.py\train.py]8;;\:]8;id=574775;file:///home/jliu/we_learn/scripts/train.py#206\206]8;;\
+                 INFO     | >>         |=> Num steps Per Epoch = 679                                                                                      ]8;id=843992;file:///home/jliu/we_learn/scripts/train.py\train.py]8;;\:]8;id=927413;file:///home/jliu/we_learn/scripts/train.py#207\207]8;;\
+                 INFO     | >>         |=> Effective training epochs = 123.71                                                                             ]8;id=282104;file:///home/jliu/we_learn/scripts/train.py\train.py]8;;\:]8;id=9727;file:///home/jliu/we_learn/scripts/train.py#208\208]8;;\
+                 INFO     | >>     |=> Global train batch size (w. parallel, distributed & accumulation) = 64                                             ]8;id=480486;file:///home/jliu/we_learn/scripts/train.py\train.py]8;;\:]8;id=842580;file:///home/jliu/we_learn/scripts/train.py#209\209]8;;\
+                 INFO     | >>         |=> Device train batch size = 32                                                                                   ]8;id=209544;file:///home/jliu/we_learn/scripts/train.py\train.py]8;;\:]8;id=272745;file:///home/jliu/we_learn/scripts/train.py#210\210]8;;\
+                 INFO     | >>         |=> Gradient Accumulation steps = 1                                                                                ]8;id=866305;file:///home/jliu/we_learn/scripts/train.py\train.py]8;;\:]8;id=521307;file:///home/jliu/we_learn/scripts/train.py#211\211]8;;\
+                 INFO     | >>         |=> Num processes (GPUs) = 2                                                                                       ]8;id=35253;file:///home/jliu/we_learn/scripts/train.py\train.py]8;;\:]8;id=871789;file:///home/jliu/we_learn/scripts/train.py#212\212]8;;\
+[08:11:41 01/23] INFO     | >> TensorFlow version 2.20.0 available.                                                                                      ]8;id=459749;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/datasets/config.py\config.py]8;;\:]8;id=722818;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/datasets/config.py#112\112]8;;\
+                 INFO     | >> [*] Accelerator runs in:                                                                                                   ]8;id=966756;file:///home/jliu/we_learn/scripts/train.py\train.py]8;;\:]8;id=191940;file:///home/jliu/we_learn/scripts/train.py#219\219]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.260             
+                          1230811                                                                                                                                     
+Traing steps:  36%|████████████████████████████▏                                                  | 15000/42000 [6:07:10<20:17:54,  2.71s/it, loss=0.0871, lr=7.4e-05]
+                                                                                                                                                                                                              
+[10:34:50 01/23] WARNING  | >> [*] Checkpoint 5000 already exists, skipping save.                                                                   ]8;id=67418;file:///home/jliu/we_learn/src/we/learn/trainers/act_g1_real.py\act_g1_real.py]8;;\:]8;id=680052;file:///home/jliu/we_learn/src/we/learn/trainers/act_g1_real.py#177\177]8;;\
+Saved state to None
+[12:30:31 01/23] INFO     | >> Saving current state to                                                                                             ]8;id=783864;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py\accelerator.py]8;;\:]8;id=898249;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py#3644\3644]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gp                    
+                          us2.2601230811/checkpoints/ckpt_10000                                                                                                       
+[12:30:33 01/23] INFO     | >> Model weights saved in                                                                                             ]8;id=224;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=473149;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#114\114]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.g                     
+                          pus2.2601230811/checkpoints/ckpt_10000/model.safetensors                                                                                    
+[12:30:35 01/23] INFO     | >> Optimizer state saved in                                                                                           ]8;id=639771;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=832328;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#121\121]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.g                     
+                          pus2.2601230811/checkpoints/ckpt_10000/optimizer.bin                                                                                        
+                 INFO     | >> Scheduler state saved in                                                                                           ]8;id=788377;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=572992;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#128\128]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.g                     
+                          pus2.2601230811/checkpoints/ckpt_10000/scheduler.bin                                                                                        
+                 INFO     | >> Sampler state for dataloader 0 saved in                                                                            ]8;id=162278;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=5380;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.g                     
+                          pus2.2601230811/checkpoints/ckpt_10000/sampler.bin                                                                                          
+                 INFO     | >> Sampler state for dataloader 1 saved in                                                                            ]8;id=806908;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=971194;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.g                     
+                          pus2.2601230811/checkpoints/ckpt_10000/sampler_1.bin                                                                                        
+                 INFO     | >> Random states saved in                                                                                             ]8;id=983054;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=141415;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#176\176]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.g                     
+                          pus2.2601230811/checkpoints/ckpt_10000/random_states_0.pkl                                                                                  
+Saved state to .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/checkpoints/ckpt_10000
+[14:18:52 01/23] INFO     | >> Saving current state to                                                                                                                                     ]8;id=137590;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py\accelerator.py]8;;\:]8;id=627191;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py#3644\3644]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/checkpoints/ckpt_15000                       
+[14:18:53 01/23] INFO     | >> Model weights saved in                                                                                                                                     ]8;id=88534;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=438072;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#114\114]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/checkpoints/ckpt_15000/m                     
+                          odel.safetensors                                                                                                                                                                    
+[14:18:54 01/23] INFO     | >> Optimizer state saved in                                                                                                                                   ]8;id=821494;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=820417;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#121\121]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/checkpoints/ckpt_15000/o                     
+                          ptimizer.bin                                                                                                                                                                        
+                 INFO     | >> Scheduler state saved in                                                                                                                                   ]8;id=432054;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=409371;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#128\128]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/checkpoints/ckpt_15000/s                     
+                          cheduler.bin                                                                                                                                                                        
+                 INFO     | >> Sampler state for dataloader 0 saved in                                                                                                                    ]8;id=206251;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=394271;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/checkpoints/ckpt_15000/s                     
+                          ampler.bin                                                                                                                                                                          
+                 INFO     | >> Sampler state for dataloader 1 saved in                                                                                                                    ]8;id=77000;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=53870;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/checkpoints/ckpt_15000/s                     
+                          ampler_1.bin                                                                                                                                                                        
+                 INFO     | >> Random states saved in                                                                                                                                     ]8;id=979940;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=806914;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#176\176]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/checkpoints/ckpt_15000/r                     
+                          andom_states_0.pkl                                                                                                                                                                  
+Saved state to .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/checkpoints/ckpt_15000
+[16:08:30 01/23] INFO     | >> Saving current state to                                                                                                             ]8;id=499147;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py\accelerator.py]8;;\:]8;id=343681;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py#3644\3644]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/c                    
+                          heckpoints/ckpt_20000                                                                                                                                       
+[16:08:34 01/23] INFO     | >> Model weights saved in                                                                                                             ]8;id=958353;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=127268;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#114\114]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_20000/model.safetensors                                                                                                                    
+[16:08:35 01/23] INFO     | >> Optimizer state saved in                                                                                                           ]8;id=648655;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=844039;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#121\121]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_20000/optimizer.bin                                                                                                                        
+                 INFO     | >> Scheduler state saved in                                                                                                           ]8;id=217040;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=454670;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#128\128]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_20000/scheduler.bin                                                                                                                        
+                 INFO     | >> Sampler state for dataloader 0 saved in                                                                                            ]8;id=244660;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=711457;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_20000/sampler.bin                                                                                                                          
+                 INFO     | >> Sampler state for dataloader 1 saved in                                                                                            ]8;id=35811;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=204990;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_20000/sampler_1.bin                                                                                                                        
+                 INFO     | >> Random states saved in                                                                                                             ]8;id=679719;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=571229;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#176\176]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_20000/random_states_0.pkl                                                                                                                  
+Saved state to .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/checkpoints/ckpt_20000
+[18:05:31 01/23] INFO     | >> Saving current state to                                                                                                             ]8;id=910263;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py\accelerator.py]8;;\:]8;id=791370;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py#3644\3644]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/c                    
+                          heckpoints/ckpt_25000                                                                                                                                       
+[18:05:34 01/23] INFO     | >> Model weights saved in                                                                                                             ]8;id=711599;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=920457;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#114\114]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_25000/model.safetensors                                                                                                                    
+[18:05:36 01/23] INFO     | >> Optimizer state saved in                                                                                                           ]8;id=229348;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=823560;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#121\121]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_25000/optimizer.bin                                                                                                                        
+                 INFO     | >> Scheduler state saved in                                                                                                           ]8;id=168181;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=693342;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#128\128]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_25000/scheduler.bin                                                                                                                        
+                 INFO     | >> Sampler state for dataloader 0 saved in                                                                                            ]8;id=446016;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=558902;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_25000/sampler.bin                                                                                                                          
+                 INFO     | >> Sampler state for dataloader 1 saved in                                                                                            ]8;id=319720;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=196292;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_25000/sampler_1.bin                                                                                                                        
+                 INFO     | >> Random states saved in                                                                                                             ]8;id=521773;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=818149;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#176\176]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_25000/random_states_0.pkl                                                                                                                  
+Saved state to .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/checkpoints/ckpt_25000
+[19:41:25 01/23] INFO     | >> Saving current state to                                                                                                             ]8;id=185558;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py\accelerator.py]8;;\:]8;id=341614;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py#3644\3644]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/c                    
+                          heckpoints/ckpt_30000                                                                                                                                       
+                 INFO     | >> Model weights saved in                                                                                                             ]8;id=552863;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=835298;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#114\114]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_30000/model.safetensors                                                                                                                    
+[19:41:26 01/23] INFO     | >> Optimizer state saved in                                                                                                           ]8;id=99159;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=889056;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#121\121]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_30000/optimizer.bin                                                                                                                        
+                 INFO     | >> Scheduler state saved in                                                                                                           ]8;id=97642;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=921300;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#128\128]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_30000/scheduler.bin                                                                                                                        
+                 INFO     | >> Sampler state for dataloader 0 saved in                                                                                            ]8;id=571536;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=821364;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_30000/sampler.bin                                                                                                                          
+                 INFO     | >> Sampler state for dataloader 1 saved in                                                                                            ]8;id=191314;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=28505;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_30000/sampler_1.bin                                                                                                                        
+                 INFO     | >> Random states saved in                                                                                                             ]8;id=589302;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=720536;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#176\176]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_30000/random_states_0.pkl                                                                                                                  
+Saved state to .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/checkpoints/ckpt_30000
+[21:01:02 01/23] INFO     | >> Saving current state to                                                                                                             ]8;id=115021;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py\accelerator.py]8;;\:]8;id=650939;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py#3644\3644]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/c                    
+                          heckpoints/ckpt_35000                                                                                                                                       
+[21:01:03 01/23] INFO     | >> Model weights saved in                                                                                                             ]8;id=595634;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=766478;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#114\114]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_35000/model.safetensors                                                                                                                    
+[21:01:04 01/23] INFO     | >> Optimizer state saved in                                                                                                           ]8;id=281123;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=702868;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#121\121]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_35000/optimizer.bin                                                                                                                        
+                 INFO     | >> Scheduler state saved in                                                                                                           ]8;id=276522;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=101114;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#128\128]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_35000/scheduler.bin                                                                                                                        
+                 INFO     | >> Sampler state for dataloader 0 saved in                                                                                            ]8;id=63361;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=795987;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_35000/sampler.bin                                                                                                                          
+                 INFO     | >> Sampler state for dataloader 1 saved in                                                                                            ]8;id=677321;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=660693;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_35000/sampler_1.bin                                                                                                                        
+                 INFO     | >> Random states saved in                                                                                                             ]8;id=616676;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=878068;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#176\176]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_35000/random_states_0.pkl                                                                                                                  
+Saved state to .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/checkpoints/ckpt_35000
+[22:17:22 01/23] INFO     | >> Saving current state to                                                                                                             ]8;id=169230;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py\accelerator.py]8;;\:]8;id=273529;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py#3644\3644]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/c                    
+                          heckpoints/ckpt_40000                                                                                                                                       
+[22:17:23 01/23] INFO     | >> Model weights saved in                                                                                                             ]8;id=908584;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=941677;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#114\114]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_40000/model.safetensors                                                                                                                    
+[22:17:24 01/23] INFO     | >> Optimizer state saved in                                                                                                           ]8;id=16179;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=60095;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#121\121]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_40000/optimizer.bin                                                                                                                        
+                 INFO     | >> Scheduler state saved in                                                                                                           ]8;id=128996;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=98429;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#128\128]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_40000/scheduler.bin                                                                                                                        
+                 INFO     | >> Sampler state for dataloader 0 saved in                                                                                            ]8;id=899091;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=367323;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_40000/sampler.bin                                                                                                                          
+                 INFO     | >> Sampler state for dataloader 1 saved in                                                                                            ]8;id=656123;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=686520;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_40000/sampler_1.bin                                                                                                                        
+                 INFO     | >> Random states saved in                                                                                                             ]8;id=423824;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=331416;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#176\176]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_40000/random_states_0.pkl                                                                                                                  
+Saved state to .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/checkpoints/ckpt_40000
+[22:48:15 01/23] INFO     | >> Saving current state to                                                                                                             ]8;id=446823;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py\accelerator.py]8;;\:]8;id=708752;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py#3644\3644]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/c                    
+                          heckpoints/ckpt_41999                                                                                                                                       
+[22:48:17 01/23] INFO     | >> Model weights saved in                                                                                                             ]8;id=903139;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=525611;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#114\114]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_41999/model.safetensors                                                                                                                    
+[22:48:18 01/23] INFO     | >> Optimizer state saved in                                                                                                           ]8;id=306059;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=993068;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#121\121]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_41999/optimizer.bin                                                                                                                        
+                 INFO     | >> Scheduler state saved in                                                                                                           ]8;id=749912;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=457956;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#128\128]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_41999/scheduler.bin                                                                                                                        
+                 INFO     | >> Sampler state for dataloader 0 saved in                                                                                            ]8;id=346604;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=303621;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_41999/sampler.bin                                                                                                                          
+                 INFO     | >> Sampler state for dataloader 1 saved in                                                                                            ]8;id=128256;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=311366;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_41999/sampler_1.bin                                                                                                                        
+                 INFO     | >> Random states saved in                                                                                                             ]8;id=946822;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=21254;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#176\176]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_41999/random_states_0.pkl                                                                                                                  
+Saved state to .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/checkpoints/ckpt_41999
+Training has reached maximum steps.
+[22:48:52 01/23] INFO     | >> Saving current state to                                                                                                             ]8;id=58872;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py\accelerator.py]8;;\:]8;id=756734;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py#3644\3644]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/c                    
+                          heckpoints/ckpt_41999                                                                                                                                       
+[22:48:53 01/23] INFO     | >> Model weights saved in                                                                                                             ]8;id=124028;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=39131;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#114\114]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_41999/model.safetensors                                                                                                                    
+[22:48:54 01/23] INFO     | >> Optimizer state saved in                                                                                                           ]8;id=679365;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=687655;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#121\121]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_41999/optimizer.bin                                                                                                                        
+                 INFO     | >> Scheduler state saved in                                                                                                           ]8;id=132432;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=373263;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#128\128]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_41999/scheduler.bin                                                                                                                        
+                 INFO     | >> Sampler state for dataloader 0 saved in                                                                                            ]8;id=814323;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=441435;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_41999/sampler.bin                                                                                                                          
+                 INFO     | >> Sampler state for dataloader 1 saved in                                                                                            ]8;id=192379;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=569300;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_41999/sampler_1.bin                                                                                                                        
+                 INFO     | >> Random states saved in                                                                                                             ]8;id=567626;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=716966;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#176\176]8;;\
+                          .runs/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/                     
+                          checkpoints/ckpt_41999/random_states_0.pkl                                                                                                                  
+                 INFO     | >> [*] Finalized ACT Trainer. Epoch losses: [0.0, 1.430382251739502, 0.3875456154346466, 0.21995316445827484, 0.14772260189056396]      ]8;id=154857;file:///home/jliu/we_learn/src/we/learn/trainers/act_g1_real.py\act_g1_real.py]8;;\:]8;id=239343;file:///home/jliu/we_learn/src/we/learn/trainers/act_g1_real.py#331\331]8;;\
+                 INFO     | >> [*] Happy Ending!                                                                                                                          ]8;id=438178;file:///home/jliu/we_learn/scripts/train.py\train.py]8;;\:]8;id=276631;file:///home/jliu/we_learn/scripts/train.py#314\314]8;;\

act/act-g1-real/act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230811/wandb/run-20260123_081132-yuvvvmoo/files/requirements.txt

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