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'dim_feedforward': 3200, 'feedforward_activation': 'relu', 'n_encoder_layers': 4, 'n_decoder_layers': 1, 'pre_norm': False, 'dropout': 0.1, 'use_vae': True, 'latent_dim': 32, 'n_vae_encoder_layers': 4, 'kl_weight': 10.0, 'temporal_ensemble_coeff': None}, 'environment_variables': {'OMP_NUM_THREADS': '32', 'HF_HOME': '/hfm/cache', 'TORCH_HOME': '/hfm/cache', 'HF_TOKEN': 'hf_...adRb', 'HF_LEROBOT_HOME': '/hfm/data/lerobot', 'WE_HOME': '/hfm', 'DATA_HOME': '/hfm/data', 'UV_CACHE_DIR': '/hfm/cache', 'WANDB_API_KEY': '90e...5c06', 'PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION': 'python', 'CUDA_VISIBLE_DEVICES': '6,7', 'WORLD_SIZE': '2', 'LOCAL_WORLD_SIZE': '2', 'RANK': '0', 'LOCAL_RANK': '0', 'MASTER_ADDR': 'nebula101', 'MASTER_PORT': '39399'}} +2026-01-23 22:48:54,448 INFO MainThread:3227745 [wandb_run.py:_finish():2287] finishing run jliu530-soochow-university/hfm/yuvvvmoo +2026-01-23 22:48:54,452 INFO MainThread:3227745 [wandb_run.py:_atexit_cleanup():2486] got exitcode: 0 +2026-01-23 22:48:54,452 INFO MainThread:3227745 [wandb_run.py:_restore():2468] restore +2026-01-23 22:48:54,453 INFO MainThread:3227745 [wandb_run.py:_restore():2474] restore done +2026-01-23 22:48:55,263 INFO MainThread:3227745 [wandb_run.py:_footer_sync_info():3862] logging synced files diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..72dded7a130433044e4923c089cb20cdd4a01620 --- /dev/null +++ b/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 @@ -0,0 +1,457 @@ +_wandb: + value: + cli_version: 0.23.1 + e: + ll48ekgiyrd4ysguzqz0ktfublcn9te0: + args: + - data:gr00t + - data.transform.repack:gr00t-we + - data.transform.action-state:maxmin + - data.transform.model:act + - model:act + - --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 + - --data.transform.action-state.stat-state-key=states + - --data.transform.action-state.normalize-state + - --data.transform.action-state.action-norm-type=bounds + - --data.transform.model.img-aug + - --data.action-chunk-size=100 + - --model.chunk-size=100 + - --model.n-action-steps=100 + - --model.action-dim=36 + - --model.state-dim=32 + - --model.use-vae + - --model.kl-weight=10.0 + codePath: scripts/train.py + codePathLocal: scripts/train.py + cpu_count: 128 + cpu_count_logical: 128 + cudaVersion: "12.9" + disk: + /: + total: "3934171283456" + used: "3649290387456" + email: jliu530@163.com + executable: /home/jliu/we_learn/.venv-pusht/bin/python3 + git: + commit: 00cea05aeb87e91ce3e0982bc9f6ca18b63adbed + remote: https://github.com/songlin/we_learn.git + gpu: NVIDIA A100-SXM4-80GB + gpu_count: 8 + gpu_nvidia: + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-02b51758-2aec-8c71-c751-92567fdb15ad + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-be645bb4-1ef0-15da-fc6b-53c5378650df + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-44868ccd-5809-61e2-f8cc-1dff8efc7eb1 + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-a12b8de3-fb12-2901-c3a2-1e0e2b050b7b + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-57787183-4904-b2c9-cf52-1c1af976b365 + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-e82d0fd0-9dcb-3d7c-9451-c4770ad6ddc3 + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-9a825fa3-60d0-3acf-6c79-67e9230ae24c + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-6fe02e5e-b886-9c02-e433-6237f3897dd8 + host: nebula101 + memory: + total: "1623176945664" + 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" + writerId: ll48ekgiyrd4ysguzqz0ktfublcn9te0 + m: [] + python_version: 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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: + value: false +exp: + value: act-hold-lunch-bag-with-both-hands-and-squat-to-put-on-the-coffee-table +log: + value: + log_freq: 100 + logging_dir: logs + report_to: wandb +model: + value: + action_dim: 36 + chunk_size: 100 + dim_feedforward: 3200 + dim_model: 512 + dropout: 0.1 + feedforward_activation: relu + kl_weight: 10 + latent_dim: 32 + n_action_steps: 100 + n_decoder_layers: 1 + n_encoder_layers: 4 + n_heads: 8 + n_obs_steps: 1 + n_vae_encoder_layers: 4 + pre_norm: false + state_dim: 32 + temporal_ensemble_coeff: null + use_vae: true +seed: + value: 2026 +timestamp: + value: "2601230811" +train: + value: + checkpointing_steps: 5000 + 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 + lora: false + lr_scheduler_kwargs: + betas: + - 0.95 + - 0.999 + eps: 1e-08 + weight_decay: 1e-06 + lr_scheduler_type: cosine + max_checkpoints_to_keep: null + max_grad_norm: 1 + max_training_steps: 42000 + mixed_precision: bf16 + name: act-g1-real + num_train_epochs: null + num_workers: 8 + output_dir: .runs + overfit_single_batch: false + reduce_in_full_precision: true + resume_from_checkpoint: null + sharding_strategy: full-shard + skip_resumed_steps: false + train_batch_size: 32 + val_batch_size: 16 + val_num_batches: 20 + validation_steps: 500 + warmup_ratio: null + warmup_steps: 1000 +wandb: + value: + entity: jliu530-soochow-university + group: null + id: null + name: null + project: hfm + resume: allow diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..2883a649f4b53016a299e159ab4180a1958d4866 --- /dev/null +++ b/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;;\ diff --git a/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 b/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 new file mode 100644 index 0000000000000000000000000000000000000000..552d6b40c1bf3734308336f8f19d3ce85477055f --- /dev/null +++ b/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 @@ -0,0 +1,238 @@ +aiosignal==1.4.0 +transforms3d==0.4.2 +annotated-doc==0.0.4 +hf_transfer==0.1.9 +nvidia-cusolver-cu12==11.7.3.90 +pathspec==0.12.1 +gast==0.7.0 +pydantic==2.10.6 +antlr4-python3-runtime==4.9.3 +tensorflow-graphics==2021.12.3 +python-dotenv==1.2.1 +diffusers==0.30.2 +mergedeep==1.3.4 +Farama-Notifications==0.0.4 +mypy==1.18.2 +google-pasta==0.2.0 +deepdiff==8.6.1 +simplejpeg==1.9.0 +python-dateutil==2.9.0.post0 +nvidia-curand-cu12==10.3.9.90 +torchaudio==2.8.0 +pyyaml-include==1.4.1 +eval_type_backport==0.2.2 +typing_extensions==4.15.0 +array_record==0.8.1 +h5py==3.14.0 +cmake==4.1.0 +platformdirs==4.4.0 +importlib_resources==6.5.2 +params_proto==2.13.2 +toml==0.10.2 +xxhash==3.5.0 +simple-parsing==0.1.7 +tensorflow-datasets==4.9.9 +accelerate==1.12.0 +pfzy==0.3.4 +Werkzeug==3.1.3 +tensorflow-metadata==0.5.0 +tensorboard==2.20.0 +nvidia-nvtx-cu12==12.8.90 +click==8.3.0 +omegaconf==2.3.0 +pandas==2.3.3 +numpy==1.26.4 +urllib3==2.5.0 +httpcore==1.0.9 +trimesh==4.10.1 +Pygments==2.19.2 +namex==0.1.0 +numba==0.63.1 +waterbear==2.6.8 +nvidia-cufile-cu12==1.13.1.3 +sympy==1.14.0 +starlette==0.50.0 +PySocks==1.7.1 +torchcodec==0.6.0 +termcolor==3.1.0 +pyparsing==3.3.1 +aiohappyeyeballs==2.6.1 +multidict==6.6.4 +packaging==25.0 +filelock==3.19.1 +datasets==4.4.1 +psutil==7.1.0 +typing-inspect==0.9.0 +nvidia-cusparselt-cu12==0.7.1 +wrapt==2.0.1 +numcodecs==0.13.1 +we.learn==0.1.0 +llvmlite==0.46.0 +optree==0.18.0 +nvidia-nccl-cu12==2.27.3 +ml_dtypes==0.5.4 +einops==0.8.1 +einx==0.3.0 +wcwidth==0.2.14 +nvidia-cuda-runtime-cu12==12.8.90 +iopath==0.1.10 +pyzmq==27.1.0 +lazy_loader==0.4 +pydantic_core==2.27.2 +scikit-image==0.25.2 +vuer==0.0.68 +promise==2.3 +absl-py==2.3.1 +setuptools==80.9.0 +nvidia-cufft-cu12==11.3.3.83 +asciitree==0.3.3 +grpcio==1.76.0 +gymnasium==0.29.1 +black==25.9.0 +uvicorn==0.40.0 +plotly==6.2.0 +pluggy==1.6.0 +beautifulsoup4==4.14.2 +async-timeout==4.0.3 +narwhals==2.6.0 +OpenEXR==3.4.4 +immutabledict==4.2.2 +tqdm==4.67.1 +exceptiongroup==1.3.0 +frozenlist==1.7.0 +pydantic-yaml==1.6.0 +GitPython==3.1.45 +opencv-python-headless==4.11.0.86 +argcomplete==3.6.2 +torch==2.8.0 +idna==3.10 +huggingface-hub==0.35.3 +Flask==3.1.2 +opt_einsum==3.4.0 +astunparse==1.6.3 +safetensors==0.6.2 +triton==3.4.0 +lerobot==0.1.0 +typeguard==4.4.4 +albucore==0.0.17 +cycler==0.12.1 +orderly-set==5.5.0 +torchvision==0.23.0 +flatbuffers==25.12.19 +protobuf==6.33.2 +argparse==1.4.0 +googleapis-common-protos==1.72.0 +nvidia-cuda-nvrtc-cu12==12.8.93 +anyio==4.11.0 +yarl==1.20.1 +portalocker==3.2.0 +imageio-ffmpeg==0.6.0 +msgpack==1.1.1 +tabulate==0.9.0 +soupsieve==2.8 +numpydantic==1.6.7 +av==16.0.1 +tomli==2.2.1 +blinker==1.9.0 +sentry-sdk==2.39.0 +frozendict==2.4.6 +evdev==1.9.2 +etils==1.13.0 +rerun-sdk==0.22.1 +nvidia-cusparse-cu12==12.5.8.93 +httpx==0.28.1 +gitdb==4.0.12 +pymunk==7.2.0 +setproctitle==1.3.7 +fonttools==4.61.1 +wandb==0.23.1 +MarkupSafe==3.0.3 +jsonlines==4.0.0 +pytest==8.4.2 +propcache==0.3.2 +ruamel.yaml.clib==0.2.14 +dm-tree==0.1.8 +importlib_metadata==8.7.0 +ruamel.yaml==0.18.15 +pillow==11.3.0 +dotenv==0.9.9 +docstring_parser==0.17.0 +shellingham==1.5.4 +wheel==0.45.1 +docker-pycreds==0.4.0 +h11==0.16.0 +shtab==1.7.2 +certifi==2025.8.3 +mpmath==1.3.0 +mdurl==0.1.2 +prompt_toolkit==3.0.52 +isort==6.0.1 +nvidia-cublas-cu12==12.8.4.1 +multiprocess==0.70.16 +attrs==25.3.0 +tensorboard-data-server==0.7.2 +websockets==15.0.1 +Jinja2==3.1.6 +nvidia-cuda-cupti-cu12==12.8.90 +PyYAML==6.0.3 +scipy==1.15.3 +regex==2025.9.18 +nvidia-cudnn-cu12==9.10.2.21 +itsdangerous==2.2.0 +imageio==2.34.2 +fastapi==0.128.0 +cffi==2.0.0 +pipablepytorch3d==0.7.6 +opencv-python==4.11.0.86 +decord==0.6.0 +iniconfig==2.1.0 +fvcore==0.1.5.post20221221 +pynput==1.8.1 +networkx==3.4.2 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GPU-be645bb4-1ef0-15da-fc6b-53c5378650df + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-44868ccd-5809-61e2-f8cc-1dff8efc7eb1 + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-a12b8de3-fb12-2901-c3a2-1e0e2b050b7b + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-57787183-4904-b2c9-cf52-1c1af976b365 + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-e82d0fd0-9dcb-3d7c-9451-c4770ad6ddc3 + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-9a825fa3-60d0-3acf-6c79-67e9230ae24c + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-6fe02e5e-b886-9c02-e433-6237f3897dd8 + host: nebula101 + memory: + total: "1623176945664" + 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-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537 + startedAt: "2026-01-23T05:38:04.801352Z" + writerId: 637thf1soxyfo9ydb2ixk28lpk2uaa9z + m: [] + python_version: 3.10.19 + t: + "1": + - 1 + - 2 + - 3 + - 11 + - 41 + - 49 + - 71 + "2": + - 1 + - 2 + - 3 + - 11 + - 41 + - 49 + - 51 + - 71 + - 80 + - 83 + "3": + - 2 + - 13 + - 61 + "4": 3.10.19 + "5": 0.23.1 + "6": 4.44.2 + "12": 0.23.1 + "13": linux-x86_64 +auto_tag_run: + value: false +data: + value: + action_chunk_size: 100 + balance_dataset_weights: true + balance_trajectory_weights: true + data_config: we.data.gr00t.data_config:WeUnitreeG1LocoDataConfig + dataset_paths: + - Pick_bottle_and_turn_and_pour_into_cup + embodiment_tag: new_embodiment + preload_all: false + root_dir: /hfm/data/real_teleop_g1/lerobot + transform: + action_state: + action_max: + - -0.1213064193725586 + - 0.9210000038146973 + - 1.2908918857574463 + - 0.0010000000474974513 + - 0.0010000000474974513 + - 0.0010000000474974513 + - 0.0010000000474974513 + - 0.11635252088308334 + - 0.11013627797365189 + - -0.4304533302783966 + - 1.4093444347381592 + - 1.7463293075561523 + - 1.2701730728149414 + - 1.7463293075561523 + - 0.7063568830490112 + - 0.5787747502326965 + - 0.2658364176750183 + - 1.36533784866333 + - 0.7970759272575378 + - 0.050355639308691025 + - 0.6250148415565491 + - 1.0034496784210205 + - 0.6385414600372314 + - 0.8838359117507935 + - 1.3011894226074219 + - 0.9103013873100281 + - 0.6697143316268921 + - 1.300451397895813 + - 0.1827869415283203 + - 0.12582087516784668 + - 0.7600905299186707 + - 0.7456391453742981 + - 0.3499999940395355 + - 0.5 + - 0.5 + - 0 + action_min: + - -1.0481975078582764 + - 0.33770662546157837 + - 0.5833444595336914 + - -0.9677509069442749 + - -1.5101021528244019 + - -0.9662452340126038 + - -1.252585768699646 + - -1.0481975078582764 + - -0.9210000038146973 + - -1.4877983331680298 + - -0.0010000000474974513 + - -0.0010000000474974513 + - -0.0010000000474974513 + - -0.0010000000474974513 + - -0.6973711848258972 + - -0.04661950096487999 + - -0.7617664933204651 + - -0.0605352558195591 + - -0.21390148997306824 + - -1.2438902854919434 + - -0.8552998304367065 + - -1.2567458152770996 + - -0.7329762578010559 + - -0.8994792103767395 + - -1.029470682144165 + - -1.7312105894088745 + - -1.614429235458374 + - -1.554446816444397 + - -0.25714462995529175 + - -0.27553248405456543 + - -0.3924732208251953 + - 0.6516909599304199 + - 0 + - 0 + - -0.5 + - -1.746000051498413 + action_norm_masks: + - true + - true + - true + - true + - true + - true + - false + action_norm_type: bounds + normalize_state: true + pad_action_dim: null + pad_state_dim: null + stat_action_key: action + stat_path: dataset_statistics/g1-stats-Pick_bottle_and_turn_and_pour_into_cup.json + stat_state_key: states + state_max: + - -0.15012885630130768 + - 0.9005824327468872 + - 1.240552306175232 + - -0.001318894443102181 + - -0.029013408347964287 + - -0.0026860591024160385 + - -0.032535798847675323 + - 0.013422729447484016 + - -0.0029037927743047476 + - -0.4307878315448761 + - 1.1691919565200806 + - 1.5508151054382324 + - 1.008196473121643 + - 1.4388744831085205 + - 0.6784030199050903 + - 0.5408600568771362 + - 0.261579692363739 + - 1.2853081226348877 + - 0.6677011251449585 + - 0.01986505277454853 + - 0.5779042840003967 + - 0.9002070426940918 + - 0.11829628795385361 + - 0.8515990376472473 + - 1.2844573259353638 + - 0.8022719621658325 + - 0.6399767994880676 + - 1.2358516454696655 + - 0.1827869415283203 + - 0.12582087516784668 + - 0.7600905299186707 + - 0.75 + state_min: + - -1.0365108251571655 + - 0.3635019063949585 + - 0.6077943444252014 + - -0.8983967900276184 + - -1.4610702991485596 + - -0.9210805296897888 + - -1.2054297924041748 + - -0.9901090860366821 + - -0.8877645134925842 + - -1.2071785926818848 + - -0.03135598078370094 + - 0.03392980992794037 + - 0.023357456550002098 + - 0.019666638225317 + - -0.6697743535041809 + - -0.04027898237109184 + - -0.6574546098709106 + - -0.02732403390109539 + - -0.18146513402462006 + - -1.2264176607131958 + - -0.8434670567512512 + - -1.2026649713516235 + - -0.6969066858291626 + - -0.815610408782959 + - -0.9874761700630188 + - -1.6946533918380737 + - -1.4213329553604126 + - -1.342279314994812 + - -0.25714462995529175 + - -0.27553248405456543 + - -0.3924732208251953 + - 0.6516909599304199 + use_norm_mask: false + model: + center_crop: + size: + - 224 + - 224 + color_jitter: + brightness: 0.2 + contrast: + - 0.8 + - 1.2 + hue: 0.05 + saturation: + - 0.8 + - 1.2 + img_aug: true + normalize: + mean: + - 0.485 + - 0.456 + - 0.406 + std: + - 0.229 + - 0.224 + - 0.225 + resize: + size: + - 256 + - 480 + repack: + action_key: action + 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: + value: false +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: "39375" + 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: + value: false +exp: + value: act-pick-bottle-and-turn-and-pour-into-cup +log: + value: + log_freq: 100 + logging_dir: logs + report_to: wandb +model: + value: + action_dim: 36 + chunk_size: 100 + dim_feedforward: 3200 + dim_model: 512 + dropout: 0.1 + feedforward_activation: relu + kl_weight: 10 + latent_dim: 32 + n_action_steps: 100 + n_decoder_layers: 1 + n_encoder_layers: 4 + n_heads: 8 + n_obs_steps: 1 + n_vae_encoder_layers: 4 + pre_norm: false + state_dim: 32 + temporal_ensemble_coeff: null + use_vae: true +seed: + value: 2026 +timestamp: + value: "2601230537" +train: + value: + checkpointing_steps: 5000 + 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 + lora: false + lr_scheduler_kwargs: + betas: + - 0.95 + - 0.999 + eps: 1e-08 + weight_decay: 1e-06 + lr_scheduler_type: cosine + max_checkpoints_to_keep: null + max_grad_norm: 1 + max_training_steps: 42000 + mixed_precision: bf16 + name: act-g1-real + num_train_epochs: null + num_workers: 8 + output_dir: .runs + overfit_single_batch: false + reduce_in_full_precision: true + resume_from_checkpoint: null + sharding_strategy: full-shard + skip_resumed_steps: false + train_batch_size: 32 + val_batch_size: 16 + val_num_batches: 20 + validation_steps: 500 + warmup_ratio: null + warmup_steps: 1000 +wandb: + value: + entity: jliu530-soochow-university + group: null + id: null + name: null + project: hfm + resume: allow diff --git a/act/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537/wandb/run-20260123_053804-3s5i6mk8/files/output.log b/act/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537/wandb/run-20260123_053804-3s5i6mk8/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..c0d2de65aca5f488fed5424dd74591f7ecf3914f --- /dev/null +++ b/act/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537/wandb/run-20260123_053804-3s5i6mk8/files/output.log @@ -0,0 +1,306 @@ +[05:38:05 01/23] INFO  | >> [*] Saved configuration to .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537 ]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;;\ +  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: act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537 ]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;;\ +  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;;\ +[05:38:06 01/23] 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 Pick_bottle_and_turn_and_pour_into_cup with EmbodimentTag.NEW_EMBODIMENT +Loading external config: we.data.gr00t.data_config.WeUnitreeG1LocoDataConfig +Initialized dataset Pick_bottle_and_turn_and_pour_into_cup with EmbodimentTag.NEW_EMBODIMENT +  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: 77,584 ]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: 77,584 ]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 = 77584 ]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 = 35 ]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 = 1213 ]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 = 69.25 ]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;;\ +[05:38:07 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: .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537 ]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;;\ +Traing steps: 24%|███████████████████████ | 10000/42000 [44:14<2:19:49, 3.81it/s, loss=0.0889, lr=8.9e-05] + +[06:00:48 01/23] INFO  | >> Saving current state to ]8;id=680052;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py\accelerator.py]8;;\:]8;id=279409;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py#3644\3644]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints   +  /ckpt_5000   +  INFO  | >> Model weights saved in ]8;id=898249;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=431290;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#114\114]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoint   +  s/ckpt_5000/model.safetensors   +[06:00:49 01/23] INFO  | >> Optimizer state 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#121\121]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoint   +  s/ckpt_5000/optimizer.bin   +  INFO  | >> Scheduler 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#128\128]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoint   +  s/ckpt_5000/scheduler.bin   +  INFO  | >> Sampler state for dataloader 0 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#145\145]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoint   +  s/ckpt_5000/sampler.bin   +  INFO  | >> Sampler state for dataloader 1 saved in ]8;id=374604;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=162278;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoint   +  s/ckpt_5000/sampler_1.bin   +  INFO  | >> Random states 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#176\176]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoint   +  s/ckpt_5000/random_states_0.pkl   +Saved state to .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_5000 +[06:22:22 01/23] INFO  | >> Saving current state to ]8;id=755470;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py\accelerator.py]8;;\:]8;id=983054;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py#3644\3644]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints   +  /ckpt_10000   +  INFO  | >> Model weights saved in ]8;id=616494;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=137590;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#114\114]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoint   +  s/ckpt_10000/model.safetensors   +[06:22:23 01/23] INFO  | >> Optimizer state saved in ]8;id=304800;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=88534;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#121\121]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoint   +  s/ckpt_10000/optimizer.bin   +  INFO  | >> Scheduler state saved in ]8;id=141920;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=821494;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#128\128]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoint   +  s/ckpt_10000/scheduler.bin   +  INFO  | >> Sampler state for dataloader 0 saved in ]8;id=532364;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=432054;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoint   +  s/ckpt_10000/sampler.bin   +  INFO  | >> Sampler state for dataloader 1 saved in ]8;id=846104;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=206251;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoint   +  s/ckpt_10000/sampler_1.bin   +  INFO  | >> Random states saved in ]8;id=930895;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=77000;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#176\176]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoint   +  s/ckpt_10000/random_states_0.pkl   +Saved state to .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_10000 +[06:43:16 01/23] INFO  | >> Saving current state to ]8;id=370569;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py\accelerator.py]8;;\:]8;id=979940;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py#3644\3644]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.   +  cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_15000   +  INFO  | >> Model weights saved in ]8;id=535180;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=499147;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#114\114]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real   +  .cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_15000/model.s   +  afetensors   +[06:43:17 01/23] INFO  | >> Optimizer state saved in ]8;id=341880;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=958353;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#121\121]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real   +  .cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_15000/optimiz   +  er.bin   +  INFO  | >> Scheduler state saved in ]8;id=599385;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=648655;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#128\128]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real   +  .cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_15000/schedul   +  er.bin   +  INFO  | >> Sampler state for dataloader 0 saved in ]8;id=544854;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=217040;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real   +  .cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_15000/sampler   +  .bin   +  INFO  | >> Sampler state for dataloader 1 saved in ]8;id=627278;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=244660;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real   +  .cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_15000/sampler   +  _1.bin   +  INFO  | >> Random states saved in ]8;id=418546;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=35811;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#176\176]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real   +  .cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_15000/random_   +  states_0.pkl   +Saved state to .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_15000 +[07:17:14 01/23] INFO  | >> Saving current state to ]8;id=47434;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py\accelerator.py]8;;\:]8;id=679719;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py#3644\3644]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-   +  real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_20000   +[07:17:15 01/23] INFO  | >> Model weights saved in ]8;id=473768;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=910263;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#114\114]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_200   +  00/model.safetensors   +  INFO  | >> Optimizer state saved in ]8;id=745480;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=711599;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#121\121]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_200   +  00/optimizer.bin   +  INFO  | >> Scheduler state saved in ]8;id=555678;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=229348;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#128\128]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_200   +  00/scheduler.bin   +  INFO  | >> Sampler state for dataloader 0 saved in ]8;id=144411;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=168181;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_200   +  00/sampler.bin   +  INFO  | >> Sampler state for dataloader 1 saved in ]8;id=286058;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=446016;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_200   +  00/sampler_1.bin   +  INFO  | >> Random states saved in ]8;id=401798;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=319720;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#176\176]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_200   +  00/random_states_0.pkl   +Saved state to .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_20000 +[08:07:35 01/23] INFO  | >> Saving current state to ]8;id=486450;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py\accelerator.py]8;;\:]8;id=521773;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py#3644\3644]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-   +  real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_25000   +  INFO  | >> Model weights saved in ]8;id=490419;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=185558;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#114\114]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_250   +  00/model.safetensors   +[08:07:36 01/23] INFO  | >> Optimizer state saved in ]8;id=125939;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=552863;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#121\121]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_250   +  00/optimizer.bin   +  INFO  | >> Scheduler state saved in ]8;id=855797;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=99159;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#128\128]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_250   +  00/scheduler.bin   +  INFO  | >> Sampler state for dataloader 0 saved in ]8;id=999999;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=97642;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_250   +  00/sampler.bin   +  INFO  | >> Sampler state for dataloader 1 saved in ]8;id=427821;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=571536;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_250   +  00/sampler_1.bin   +  INFO  | >> Random states saved in ]8;id=702964;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=191314;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#176\176]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_250   +  00/random_states_0.pkl   +Saved state to .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_25000 +[10:10:24 01/23] INFO  | >> Saving current state to ]8;id=368785;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py\accelerator.py]8;;\:]8;id=589302;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py#3644\3644]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-   +  real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_30000   +[10:10:27 01/23] INFO  | >> Model weights saved in ]8;id=227061;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=115021;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#114\114]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_300   +  00/model.safetensors   +  INFO  | >> Optimizer state saved in ]8;id=787738;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=595634;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#121\121]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_300   +  00/optimizer.bin   +  INFO  | >> Scheduler state saved in ]8;id=590171;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=281123;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#128\128]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_300   +  00/scheduler.bin   +  INFO  | >> Sampler state for dataloader 0 saved in ]8;id=819504;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=276522;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_300   +  00/sampler.bin   +  INFO  | >> Sampler state for dataloader 1 saved in ]8;id=717799;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=63361;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_300   +  00/sampler_1.bin   +  INFO  | >> Random states saved in ]8;id=194505;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=677321;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#176\176]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_300   +  00/random_states_0.pkl   +Saved state to .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_30000 +[11:49:06 01/23] INFO  | >> Saving current state to ]8;id=290231;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py\accelerator.py]8;;\:]8;id=616676;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py#3644\3644]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-   +  real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_35000   +[11:49:09 01/23] INFO  | >> Model weights saved in ]8;id=329883;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=169230;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#114\114]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_350   +  00/model.safetensors   +[11:49:10 01/23] INFO  | >> Optimizer state saved in ]8;id=431638;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=908584;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#121\121]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_350   +  00/optimizer.bin   +  INFO  | >> Scheduler state saved in ]8;id=434664;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=16179;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#128\128]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_350   +  00/scheduler.bin   +  INFO  | >> Sampler state for dataloader 0 saved in ]8;id=324973;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=128996;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_350   +  00/sampler.bin   +  INFO  | >> Sampler state for dataloader 1 saved in ]8;id=981583;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=899091;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_350   +  00/sampler_1.bin   +  INFO  | >> Random states saved in ]8;id=636753;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=656123;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#176\176]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_350   +  00/random_states_0.pkl   +Saved state to .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_35000 +[13:23:22 01/23] INFO  | >> Saving current state to ]8;id=969664;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py\accelerator.py]8;;\:]8;id=423824;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py#3644\3644]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-   +  real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_40000   +[13:23:28 01/23] INFO  | >> Model weights saved in ]8;id=485144;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=446823;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#114\114]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_400   +  00/model.safetensors   +[13:23:29 01/23] INFO  | >> Optimizer state saved in ]8;id=392321;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=903139;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#121\121]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_400   +  00/optimizer.bin   +  INFO  | >> Scheduler state saved in ]8;id=407945;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=306059;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#128\128]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_400   +  00/scheduler.bin   +  INFO  | >> Sampler state for dataloader 0 saved in ]8;id=771109;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=749912;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_400   +  00/sampler.bin   +  INFO  | >> Sampler state for dataloader 1 saved in ]8;id=729075;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=346604;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_400   +  00/sampler_1.bin   +  INFO  | >> Random states saved in ]8;id=960350;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=128256;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#176\176]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_400   +  00/random_states_0.pkl   +Saved state to .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_40000 +[14:00:43 01/23] INFO  | >> Saving current state to ]8;id=614052;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py\accelerator.py]8;;\:]8;id=946822;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py#3644\3644]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-   +  real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_41999   +[14:00:47 01/23] INFO  | >> Model weights saved in ]8;id=588107;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=58872;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#114\114]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_419   +  99/model.safetensors   +[14:00:49 01/23] INFO  | >> Optimizer state saved in ]8;id=128644;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=124028;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#121\121]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_419   +  99/optimizer.bin   +  INFO  | >> Scheduler state saved in ]8;id=625950;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=679365;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#128\128]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_419   +  99/scheduler.bin   +  INFO  | >> Sampler state for dataloader 0 saved in ]8;id=606210;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=132432;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_419   +  99/sampler.bin   +  INFO  | >> Sampler state for dataloader 1 saved in ]8;id=250930;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=814323;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_419   +  99/sampler_1.bin   +  INFO  | >> Random states saved in ]8;id=131290;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=192379;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#176\176]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_419   +  99/random_states_0.pkl   +Saved state to .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_41999 +Training has reached maximum steps. +[14:01:10 01/23] INFO  | >> Saving current state to ]8;id=980067;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py\accelerator.py]8;;\:]8;id=567626;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py#3644\3644]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-   +  real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_41999   +[14:01:14 01/23] INFO  | >> Model weights saved in ]8;id=267359;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=824815;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#114\114]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_419   +  99/model.safetensors   +[14:01:15 01/23] INFO  | >> Optimizer state saved in ]8;id=290278;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=567436;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#121\121]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_419   +  99/optimizer.bin   +  INFO  | >> Scheduler state saved in ]8;id=145392;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=990094;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#128\128]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_419   +  99/scheduler.bin   +  INFO  | >> Sampler state for dataloader 0 saved in ]8;id=188012;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=579843;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_419   +  99/sampler.bin   +  INFO  | >> Sampler state for dataloader 1 saved in ]8;id=539017;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=859689;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_419   +  99/sampler_1.bin   +  INFO  | >> Random states saved in ]8;id=791184;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=779188;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#176\176]8;;\ +  .runs/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1   +  -real.cosin.lr1.0e-04.b64.gpus2.2601230537/checkpoints/ckpt_419   +  99/random_states_0.pkl   +  INFO  | >> [*] Finalized ACT Trainer. Epoch losses: [0.0, ]8;id=658356;file:///home/jliu/we_learn/src/we/learn/trainers/act_g1_real.py\act_g1_real.py]8;;\:]8;id=254601;file:///home/jliu/we_learn/src/we/learn/trainers/act_g1_real.py#331\331]8;;\ +  0.4921761751174927, 0.1524752378463745, 0.09320921450853348,   +  0.08090618252754211]   +  INFO  | >> [*] Happy Ending! ]8;id=903984;file:///home/jliu/we_learn/scripts/train.py\train.py]8;;\:]8;id=158174;file:///home/jliu/we_learn/scripts/train.py#314\314]8;;\ diff --git a/act/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537/wandb/run-20260123_053804-3s5i6mk8/files/requirements.txt b/act/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-04.b64.gpus2.2601230537/wandb/run-20260123_053804-3s5i6mk8/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..552d6b40c1bf3734308336f8f19d3ce85477055f --- /dev/null +++ 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'TORCH_HOME': '/hfm/cache', 'HF_TOKEN': 'hf_...adRb', 'HF_LEROBOT_HOME': '/hfm/data/lerobot', 'WE_HOME': '/hfm', 'DATA_HOME': '/hfm/data', 'UV_CACHE_DIR': '/hfm/cache', 'WANDB_API_KEY': '90e...5c06', 'PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION': 'python', 'CUDA_VISIBLE_DEVICES': '6,7', 'WORLD_SIZE': '2', 'LOCAL_WORLD_SIZE': '2', 'RANK': '0', 'LOCAL_RANK': '0', 'MASTER_ADDR': 'nebula101', 'MASTER_PORT': '34911'}} +2026-01-24 01:19:03,088 INFO MainThread:98829 [wandb_run.py:_finish():2287] finishing run jliu530-soochow-university/hfm/7kwywvv2 +2026-01-24 01:19:03,090 INFO MainThread:98829 [wandb_run.py:_atexit_cleanup():2486] got exitcode: 0 +2026-01-24 01:19:03,090 INFO MainThread:98829 [wandb_run.py:_restore():2468] restore +2026-01-24 01:19:03,091 INFO MainThread:98829 [wandb_run.py:_restore():2474] restore done +2026-01-24 01:19:03,888 INFO MainThread:98829 [wandb_run.py:_footer_sync_info():3862] logging synced files diff --git a/act/act-g1-real/act-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/wandb/run-20260123_142144-7kwywvv2/files/config.yaml b/act/act-g1-real/act-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/wandb/run-20260123_142144-7kwywvv2/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..740ce5da76ff7c21496a7d5980bbae2d7175143f --- /dev/null +++ b/act/act-g1-real/act-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/wandb/run-20260123_142144-7kwywvv2/files/config.yaml @@ -0,0 +1,457 @@ +_wandb: + value: + cli_version: 0.23.1 + e: + wrh35kkonuqqygq6esxzapgv6wxd956y: + args: + - data:gr00t + - data.transform.repack:gr00t-we + - data.transform.action-state:maxmin + - data.transform.model:act + - model:act + - --seed=2026 + - --exp=act-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin + - --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=Pull_the_tray_out_of_chips_can_and_throw_the_can_into_trash_bin + - --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-Pull_the_tray_out_of_chips_can_and_throw_the_can_into_trash_bin.json + - --data.transform.action-state.stat-action-key=action + - --data.transform.action-state.stat-state-key=states + - --data.transform.action-state.normalize-state + - --data.transform.action-state.action-norm-type=bounds + - --data.transform.model.img-aug + - --data.action-chunk-size=100 + - --model.chunk-size=100 + - --model.n-action-steps=100 + - --model.action-dim=36 + - --model.state-dim=32 + - --model.use-vae + - --model.kl-weight=10.0 + codePath: scripts/train.py + codePathLocal: scripts/train.py + cpu_count: 128 + cpu_count_logical: 128 + cudaVersion: "12.9" + disk: + /: + total: "3934171283456" + used: "3658406711296" + email: jliu530@163.com + executable: /home/jliu/we_learn/.venv-pusht/bin/python3 + git: + commit: 00cea05aeb87e91ce3e0982bc9f6ca18b63adbed + remote: https://github.com/songlin/we_learn.git + gpu: NVIDIA A100-SXM4-80GB + gpu_count: 8 + gpu_nvidia: + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-02b51758-2aec-8c71-c751-92567fdb15ad + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-be645bb4-1ef0-15da-fc6b-53c5378650df + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-44868ccd-5809-61e2-f8cc-1dff8efc7eb1 + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-a12b8de3-fb12-2901-c3a2-1e0e2b050b7b + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-57787183-4904-b2c9-cf52-1c1af976b365 + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-e82d0fd0-9dcb-3d7c-9451-c4770ad6ddc3 + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-9a825fa3-60d0-3acf-6c79-67e9230ae24c + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-6fe02e5e-b886-9c02-e433-6237f3897dd8 + host: nebula101 + memory: + total: "1623176945664" + 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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421 + startedAt: "2026-01-23T14:21:44.782937Z" + writerId: wrh35kkonuqqygq6esxzapgv6wxd956y + m: [] + python_version: 3.10.19 + t: + "1": + - 1 + - 2 + - 3 + - 11 + - 41 + - 49 + - 71 + "2": + - 1 + - 2 + - 3 + - 11 + - 41 + - 49 + - 51 + - 71 + - 80 + - 83 + "3": + - 2 + - 13 + - 61 + "4": 3.10.19 + "5": 0.23.1 + "6": 4.44.2 + "12": 0.23.1 + "13": linux-x86_64 +auto_tag_run: + value: false +data: + value: + action_chunk_size: 100 + balance_dataset_weights: true + balance_trajectory_weights: true + data_config: we.data.gr00t.data_config:WeUnitreeG1LocoDataConfig + dataset_paths: + - Pull_the_tray_out_of_chips_can_and_throw_the_can_into_trash_bin + embodiment_tag: new_embodiment + preload_all: false + root_dir: /hfm/data/real_teleop_g1/lerobot + transform: + action_state: + action_max: + - 0.16955414414405823 + - 0.9210000038146973 + - 1.476342797279358 + - 0.0010000000474974513 + - 0.0010000000474974513 + - 0.0010000000474974513 + - 0.0010000000474974513 + - 0.12308759987354279 + - 0.016431454569101334 + - -0.4424695372581482 + - 1.2837177515029907 + - 1.7463293075561523 + - 1.17170250415802 + - 1.7463293075561523 + - 1.5402921438217163 + - 1.605297565460205 + - 1.066504955291748 + - 1.2896910905838013 + - 1.9362354278564453 + - 0.7514232397079468 + - 1.3668304681777954 + - 1.035903811454773 + - 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0.6593919396400452 + use_norm_mask: false + model: + center_crop: + size: + - 224 + - 224 + color_jitter: + brightness: 0.2 + contrast: + - 0.8 + - 1.2 + hue: 0.05 + saturation: + - 0.8 + - 1.2 + img_aug: true + normalize: + mean: + - 0.485 + - 0.456 + - 0.406 + std: + - 0.229 + - 0.224 + - 0.225 + resize: + size: + - 256 + - 480 + repack: + action_key: action + 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: + value: false +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: "34911" + 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: + value: false +exp: + value: act-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin +log: + value: + log_freq: 100 + logging_dir: logs + report_to: wandb +model: + value: + action_dim: 36 + chunk_size: 100 + dim_feedforward: 3200 + dim_model: 512 + dropout: 0.1 + feedforward_activation: relu + kl_weight: 10 + latent_dim: 32 + n_action_steps: 100 + n_decoder_layers: 1 + n_encoder_layers: 4 + n_heads: 8 + n_obs_steps: 1 + n_vae_encoder_layers: 4 + pre_norm: false + state_dim: 32 + temporal_ensemble_coeff: null + use_vae: true +seed: + value: 2026 +timestamp: + value: "2601231421" +train: + value: + checkpointing_steps: 5000 + 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 + lora: false + lr_scheduler_kwargs: + betas: + - 0.95 + - 0.999 + eps: 1e-08 + weight_decay: 1e-06 + lr_scheduler_type: cosine + max_checkpoints_to_keep: null + max_grad_norm: 1 + max_training_steps: 42000 + mixed_precision: bf16 + name: act-g1-real + num_train_epochs: null + num_workers: 8 + output_dir: .runs + overfit_single_batch: false + reduce_in_full_precision: true + resume_from_checkpoint: null + sharding_strategy: full-shard + skip_resumed_steps: false + train_batch_size: 32 + val_batch_size: 16 + val_num_batches: 20 + validation_steps: 500 + warmup_ratio: null + warmup_steps: 1000 +wandb: + value: + entity: jliu530-soochow-university + group: null + id: null + name: null + project: hfm + resume: allow diff --git a/act/act-g1-real/act-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/wandb/run-20260123_142144-7kwywvv2/files/output.log b/act/act-g1-real/act-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/wandb/run-20260123_142144-7kwywvv2/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..43ad13b7b928fe5c6054ec8e13d9ad395464c695 --- /dev/null +++ b/act/act-g1-real/act-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/wandb/run-20260123_142144-7kwywvv2/files/output.log @@ -0,0 +1,238 @@ +[14:21:46 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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421   +  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: act-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421 ]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;;\ +  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 Pull_the_tray_out_of_chips_can_and_throw_the_can_into_trash_bin with EmbodimentTag.NEW_EMBODIMENT +Loading external config: we.data.gr00t.data_config.WeUnitreeG1LocoDataConfig +Initialized dataset Pull_the_tray_out_of_chips_can_and_throw_the_can_into_trash_bin with EmbodimentTag.NEW_EMBODIMENT +[14:21:47 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: 102,536 ]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: 102,536 ]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 = 102536 ]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 = 27 ]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 = 1603 ]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 = 52.40 ]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;;\ +[14:21:49 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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421   +Traing steps: 36%|██████████████████████████████████████▏ | 15000/42000 [5:56:44<4:39:24, 1.61it/s, loss=0.116, lr=7.4e-05] + +[16:31:23 01/23] INFO  | >> Saving current state to ]8;id=680052;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py\accelerator.py]8;;\:]8;id=279409;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py#3644\3644]8;;\ +  .runs/act-g1-real/act-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoint   +  s/ckpt_5000   +[16:31:27 01/23] INFO  | >> Model weights saved in ]8;id=898249;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=431290;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#114\114]8;;\ +  .runs/act-g1-real/act-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/ckpt_5000/model.safetensors   +[16:31:28 01/23] INFO  | >> Optimizer state 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#121\121]8;;\ +  .runs/act-g1-real/act-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/ckpt_5000/optimizer.bin   +  INFO  | >> Scheduler 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#128\128]8;;\ +  .runs/act-g1-real/act-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/ckpt_5000/scheduler.bin   +  INFO  | >> Sampler state for dataloader 0 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#145\145]8;;\ +  .runs/act-g1-real/act-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/ckpt_5000/sampler.bin   +  INFO  | >> Sampler state for dataloader 1 saved in ]8;id=374604;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=162278;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/ckpt_5000/sampler_1.bin   +  INFO  | >> Random states 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#176\176]8;;\ +  .runs/act-g1-real/act-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/ckpt_5000/random_states_0.pkl   +Saved state to .runs/act-g1-real/act-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoints/ckpt_5000 +[18:40:44 01/23] WARNING  | >> [*] Checkpoint 10000 already exists, skipping save. ]8;id=983054;file:///home/jliu/we_learn/src/we/learn/trainers/act_g1_real.py\act_g1_real.py]8;;\:]8;id=141415;file:///home/jliu/we_learn/src/we/learn/trainers/act_g1_real.py#177\177]8;;\ +Saved state to None +[20:18:33 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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoint   +  s/ckpt_15000   +[20:18:37 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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/ckpt_15000/model.safetensors   +[20:18:38 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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/ckpt_15000/optimizer.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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/ckpt_15000/scheduler.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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/ckpt_15000/sampler.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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/ckpt_15000/sampler_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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/ckpt_15000/random_states_0.pkl   +Saved state to .runs/act-g1-real/act-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoints/ckpt_15000 +[21:50:16 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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoint   +  s/ckpt_20000   +[21:50:21 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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/ckpt_20000/model.safetensors   +[21:50:22 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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/ckpt_20000/random_states_0.pkl   +Saved state to .runs/act-g1-real/act-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoints/ckpt_20000 +[23:16:35 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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoint   +  s/ckpt_25000   +[23:16:37 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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/ckpt_25000/model.safetensors   +[23:16:38 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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/ckpt_25000/random_states_0.pkl   +Saved state to .runs/act-g1-real/act-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoints/ckpt_25000 +[00:02:29 01/24] 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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoint   +  s/ckpt_30000   +[00:02:30 01/24] 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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/ckpt_30000/model.safetensors   +[00:02:31 01/24] 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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/ckpt_30000/random_states_0.pkl   +Saved state to .runs/act-g1-real/act-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoints/ckpt_30000 +[00:38:35 01/24] 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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoint   +  s/ckpt_35000   +  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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/ckpt_35000/model.safetensors   +[00:38:36 01/24] 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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/ckpt_35000/random_states_0.pkl   +Saved state to .runs/act-g1-real/act-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoints/ckpt_35000 +[01:08:17 01/24] 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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoint   +  s/ckpt_40000   +[01:08:18 01/24] 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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/ckpt_40000/model.safetensors   +[01:08:19 01/24] 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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/ckpt_40000/random_states_0.pkl   +Saved state to .runs/act-g1-real/act-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoints/ckpt_40000 +[01:18:53 01/24] 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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoint   +  s/ckpt_41999   +[01:18:54 01/24] 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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/ckpt_41999/model.safetensors   +[01:18:55 01/24] 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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/ckpt_41999/random_states_0.pkl   +Saved state to .runs/act-g1-real/act-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoints/ckpt_41999 +Training has reached maximum steps. +[01:19:01 01/24] 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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoint   +  s/ckpt_41999   +[01:19:02 01/24] 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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/ckpt_41999/model.safetensors   +[01:19:03 01/24] 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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/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-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/checkpoin   +  ts/ckpt_41999/random_states_0.pkl   +  INFO  | >> [*] Finalized ACT Trainer. Epoch losses: [0.0, 0.285233736038208, 0.11861700564622879, 0.09944182634353638, 0.07941155135631561] ]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;;\ diff --git a/act/act-g1-real/act-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/wandb/run-20260123_142144-7kwywvv2/files/requirements.txt b/act/act-g1-real/act-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/wandb/run-20260123_142144-7kwywvv2/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..552d6b40c1bf3734308336f8f19d3ce85477055f --- /dev/null +++ b/act/act-g1-real/act-pull-the-tray-out-of-chips-can-and-throw-the-can-into-trash-bin.g1-real.cosin.lr1.0e-04.b64.gpus2.2601231421/wandb/run-20260123_142144-7kwywvv2/files/requirements.txt @@ -0,0 +1,238 @@ +aiosignal==1.4.0 +transforms3d==0.4.2 +annotated-doc==0.0.4 +hf_transfer==0.1.9 +nvidia-cusolver-cu12==11.7.3.90 +pathspec==0.12.1 +gast==0.7.0 +pydantic==2.10.6 +antlr4-python3-runtime==4.9.3 +tensorflow-graphics==2021.12.3 +python-dotenv==1.2.1 +diffusers==0.30.2 +mergedeep==1.3.4 +Farama-Notifications==0.0.4 +mypy==1.18.2 +google-pasta==0.2.0 +deepdiff==8.6.1 +simplejpeg==1.9.0 +python-dateutil==2.9.0.post0 +nvidia-curand-cu12==10.3.9.90 +torchaudio==2.8.0 +pyyaml-include==1.4.1 +eval_type_backport==0.2.2 +typing_extensions==4.15.0 +array_record==0.8.1 +h5py==3.14.0 +cmake==4.1.0 +platformdirs==4.4.0 +importlib_resources==6.5.2 +params_proto==2.13.2 +toml==0.10.2 +xxhash==3.5.0 +simple-parsing==0.1.7 +tensorflow-datasets==4.9.9 +accelerate==1.12.0 +pfzy==0.3.4 +Werkzeug==3.1.3 +tensorflow-metadata==0.5.0 +tensorboard==2.20.0 +nvidia-nvtx-cu12==12.8.90 +click==8.3.0 +omegaconf==2.3.0 +pandas==2.3.3 +numpy==1.26.4 +urllib3==2.5.0 +httpcore==1.0.9 +trimesh==4.10.1 +Pygments==2.19.2 +namex==0.1.0 +numba==0.63.1 +waterbear==2.6.8 +nvidia-cufile-cu12==1.13.1.3 +sympy==1.14.0 +starlette==0.50.0 +PySocks==1.7.1 +torchcodec==0.6.0 +termcolor==3.1.0 +pyparsing==3.3.1 +aiohappyeyeballs==2.6.1 +multidict==6.6.4 +packaging==25.0 +filelock==3.19.1 +datasets==4.4.1 +psutil==7.1.0 +typing-inspect==0.9.0 +nvidia-cusparselt-cu12==0.7.1 +wrapt==2.0.1 +numcodecs==0.13.1 +we.learn==0.1.0 +llvmlite==0.46.0 +optree==0.18.0 +nvidia-nccl-cu12==2.27.3 +ml_dtypes==0.5.4 +einops==0.8.1 +einx==0.3.0 +wcwidth==0.2.14 +nvidia-cuda-runtime-cu12==12.8.90 +iopath==0.1.10 +pyzmq==27.1.0 +lazy_loader==0.4 +pydantic_core==2.27.2 +scikit-image==0.25.2 +vuer==0.0.68 +promise==2.3 +absl-py==2.3.1 +setuptools==80.9.0 +nvidia-cufft-cu12==11.3.3.83 +asciitree==0.3.3 +grpcio==1.76.0 +gymnasium==0.29.1 +black==25.9.0 +uvicorn==0.40.0 +plotly==6.2.0 +pluggy==1.6.0 +beautifulsoup4==4.14.2 +async-timeout==4.0.3 +narwhals==2.6.0 +OpenEXR==3.4.4 +immutabledict==4.2.2 +tqdm==4.67.1 +exceptiongroup==1.3.0 +frozenlist==1.7.0 +pydantic-yaml==1.6.0 +GitPython==3.1.45 +opencv-python-headless==4.11.0.86 +argcomplete==3.6.2 +torch==2.8.0 +idna==3.10 +huggingface-hub==0.35.3 +Flask==3.1.2 +opt_einsum==3.4.0 +astunparse==1.6.3 +safetensors==0.6.2 +triton==3.4.0 +lerobot==0.1.0 +typeguard==4.4.4 +albucore==0.0.17 +cycler==0.12.1 +orderly-set==5.5.0 +torchvision==0.23.0 +flatbuffers==25.12.19 +protobuf==6.33.2 +argparse==1.4.0 +googleapis-common-protos==1.72.0 +nvidia-cuda-nvrtc-cu12==12.8.93 +anyio==4.11.0 +yarl==1.20.1 +portalocker==3.2.0 +imageio-ffmpeg==0.6.0 +msgpack==1.1.1 +tabulate==0.9.0 +soupsieve==2.8 +numpydantic==1.6.7 +av==16.0.1 +tomli==2.2.1 +blinker==1.9.0 +sentry-sdk==2.39.0 +frozendict==2.4.6 +evdev==1.9.2 +etils==1.13.0 +rerun-sdk==0.22.1 +nvidia-cusparse-cu12==12.5.8.93 +httpx==0.28.1 +gitdb==4.0.12 +pymunk==7.2.0 +setproctitle==1.3.7 +fonttools==4.61.1 +wandb==0.23.1 +MarkupSafe==3.0.3 +jsonlines==4.0.0 +pytest==8.4.2 +propcache==0.3.2 +ruamel.yaml.clib==0.2.14 +dm-tree==0.1.8 +importlib_metadata==8.7.0 +ruamel.yaml==0.18.15 +pillow==11.3.0 +dotenv==0.9.9 +docstring_parser==0.17.0 +shellingham==1.5.4 +wheel==0.45.1 +docker-pycreds==0.4.0 +h11==0.16.0 +shtab==1.7.2 +certifi==2025.8.3 +mpmath==1.3.0 +mdurl==0.1.2 +prompt_toolkit==3.0.52 +isort==6.0.1 +nvidia-cublas-cu12==12.8.4.1 +multiprocess==0.70.16 +attrs==25.3.0 +tensorboard-data-server==0.7.2 +websockets==15.0.1 +Jinja2==3.1.6 +nvidia-cuda-cupti-cu12==12.8.90 +PyYAML==6.0.3 +scipy==1.15.3 +regex==2025.9.18 +nvidia-cudnn-cu12==9.10.2.21 +itsdangerous==2.2.0 +imageio==2.34.2 +fastapi==0.128.0 +cffi==2.0.0 +pipablepytorch3d==0.7.6 +opencv-python==4.11.0.86 +decord==0.6.0 +iniconfig==2.1.0 +fvcore==0.1.5.post20221221 +pynput==1.8.1 +networkx==3.4.2 +annotated-types==0.7.0 +matplotlib==3.10.8 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tbtuhqkajrm3h2q92g32i1hxbstb26q9: + args: + - data:gr00t + - data.transform.repack:gr00t-we + - data.transform.action-state:maxmin + - data.transform.model:act + - model:act + - --seed=2026 + - --exp=act-rotate-to-pour-ham-into-plate-and-push-the-cart-forward + - --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=Rotate_to_pour_ham_into_plate_and_push_the_cart_forward + - --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-Rotate_to_pour_ham_into_plate_and_push_the_cart_forward.json + - --data.transform.action-state.stat-action-key=action + - --data.transform.action-state.stat-state-key=states + - --data.transform.action-state.normalize-state + - --data.transform.action-state.action-norm-type=bounds + - --data.transform.model.img-aug + - --data.action-chunk-size=100 + - --model.chunk-size=100 + - --model.n-action-steps=100 + - --model.action-dim=36 + - --model.state-dim=32 + - --model.use-vae + - --model.kl-weight=10.0 + codePath: scripts/train.py + codePathLocal: scripts/train.py + cpu_count: 128 + cpu_count_logical: 128 + cudaVersion: "12.9" + disk: + /: + total: "3934171283456" + used: "3591774941184" + email: jliu530@163.com + executable: /home/jliu/we_learn/.venv-pusht/bin/python3 + git: + commit: df0aa6074e8b16d0e2be002a9a9c1971edf209ec + remote: https://github.com/songlin/we_learn.git + gpu: NVIDIA A100-SXM4-80GB + gpu_count: 8 + gpu_nvidia: + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-02b51758-2aec-8c71-c751-92567fdb15ad + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-be645bb4-1ef0-15da-fc6b-53c5378650df + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-44868ccd-5809-61e2-f8cc-1dff8efc7eb1 + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-a12b8de3-fb12-2901-c3a2-1e0e2b050b7b + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-57787183-4904-b2c9-cf52-1c1af976b365 + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-e82d0fd0-9dcb-3d7c-9451-c4770ad6ddc3 + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-9a825fa3-60d0-3acf-6c79-67e9230ae24c + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-6fe02e5e-b886-9c02-e433-6237f3897dd8 + host: nebula101 + memory: + total: "1623176945664" + 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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240510 + startedAt: "2026-01-24T05:10:18.170265Z" + writerId: tbtuhqkajrm3h2q92g32i1hxbstb26q9 + m: [] + python_version: 3.10.19 + t: + "1": + - 1 + - 2 + - 3 + - 11 + - 41 + - 49 + - 71 + "2": + - 1 + - 2 + - 3 + - 11 + - 41 + - 49 + - 51 + - 71 + - 80 + - 83 + "3": + - 2 + - 13 + - 61 + "4": 3.10.19 + "5": 0.23.1 + "6": 4.44.2 + "12": 0.23.1 + "13": linux-x86_64 +auto_tag_run: + value: false +data: + value: + action_chunk_size: 100 + balance_dataset_weights: true + balance_trajectory_weights: true + data_config: we.data.gr00t.data_config:WeUnitreeG1LocoDataConfig + dataset_paths: + - Rotate_to_pour_ham_into_plate_and_push_the_cart_forward + embodiment_tag: new_embodiment + preload_all: false + root_dir: /hfm/data/real_teleop_g1/lerobot + transform: + action_state: + action_max: + - 0.4421468675136566 + - 0.9210000038146973 + - 1.7463293075561523 + - 0.0010000000474974513 + - 0.0010000000474974513 + - 0.0010000000474974513 + - 0.0010000000474974513 + - 0.5198602080345154 + - -0.014095980674028397 + - -0.46265918016433716 + - 1.5717962980270386 + - 1.7463293075561523 + - 1.118023157119751 + - 1.7463293075561523 + - 1.2334027290344238 + - 1.0112191438674927 + - 0.9427134990692139 + - 1.2165793180465698 + - 1.7361043691635132 + - 0.7488318085670471 + - 0.9007768630981445 + - 1.1621601581573486 + - 0.3022633492946625 + - 1.0151734352111816 + - 1.3677823543548584 + - 0.9460119009017944 + - 1.121222972869873 + - 1.3166650533676147 + - 0.25545963644981384 + - 0.2277967780828476 + - 0.22437766194343567 + - 0.8164317607879639 + - 0.3499999940395355 + - 0 + - 0.5 + - 1.9220000505447388 + action_min: + - -1.0409882068634033 + - -0.12273073196411133 + - 0.436837762594223 + - -1.5717962980270386 + - -1.7463293075561523 + - -1.2559611797332764 + - -1.7463293075561523 + - -1.0481975078582764 + - -0.9210000038146973 + - -1.7463293075561523 + - -0.0010000000474974513 + - -0.0010000000474974513 + - -0.0010000000474974513 + - -0.0010000000474974513 + - -1.019361138343811 + - -0.6054571270942688 + - -1.021012783050537 + - -1.0471999645233154 + - -0.7927936315536499 + - -1.560844898223877 + - -0.9046999216079712 + - -1.7759873867034912 + - -1.0457597970962524 + - -0.9954499006271362 + - -1.0471999645233154 + - -1.4607900381088257 + - -1.614428997039795 + - -0.9024532437324524 + - -0.31443771719932556 + - -0.25234249234199524 + - -0.5012049078941345 + - 0.6416011452674866 + - -0.3499999940395355 + - -0.5 + - 0 + - 0 + action_norm_masks: + - true + - true + - true + - true + - true + - true + - false + action_norm_type: bounds + normalize_state: true + pad_action_dim: null + pad_state_dim: null + stat_action_key: action + stat_path: dataset_statistics/g1-stats-Rotate_to_pour_ham_into_plate_and_push_the_cart_forward.json + stat_state_key: states + state_max: + - 0.11218374967575073 + - 1.0542062520980835 + - 1.3448737859725952 + - 0.01063089445233345 + - -0.02630593813955784 + - 0.03173275291919708 + - -0.02618894912302494 + - 0.017766516655683517 + - -0.1264796108007431 + - -0.49203604459762573 + - 1.328361988067627 + - 1.7149782180786133 + - 1.0285054445266724 + - 1.5147463083267212 + - 1.2089686393737793 + - 0.7988085150718689 + - 0.8867607712745667 + - 1.1790919303894043 + - 1.6713320016860962 + - 0.5832118391990662 + - 0.7345390915870667 + - 1.0711021423339844 + - 0.11333481967449188 + - 0.9750365614891052 + - 1.3633613586425781 + - 0.9291010499000549 + - 1.1024490594863892 + - 1.283244013786316 + - 0.25545963644981384 + - 0.2277967780828476 + - 0.22437766194343567 + - 0.8164317607879639 + state_min: + - -0.9269875884056091 + - -0.06699541956186295 + - 0.4786558449268341 + - -1.4195833206176758 + - -1.7287458181381226 + - -1.184408187866211 + - -1.543308138847351 + - -0.9820996522903442 + - -0.7896795272827148 + - -1.0993529558181763 + - -0.20172026753425598 + - 0.030457261949777603 + - 0.006668585818260908 + - 0.01882481388747692 + - -1.0591537952423096 + - -0.1634288728237152 + - -0.7029227614402771 + - -1.0480923652648926 + - -0.7582659125328064 + - -1.4715324640274048 + - -0.8460901379585266 + - -1.7347166538238525 + - -0.9909635782241821 + - -0.9644664525985718 + - -1.0476369857788086 + - -1.4481498003005981 + - -1.6282670497894287 + - -0.6750589609146118 + - -0.31443771719932556 + - -0.25234249234199524 + - -0.5012049078941345 + - 0.6416011452674866 + use_norm_mask: false + model: + center_crop: + size: + - 224 + - 224 + color_jitter: + brightness: 0.2 + contrast: + - 0.8 + - 1.2 + hue: 0.05 + saturation: + - 0.8 + - 1.2 + img_aug: true + normalize: + mean: + - 0.485 + - 0.456 + - 0.406 + std: + - 0.229 + - 0.224 + - 0.225 + resize: + size: + - 256 + - 480 + repack: + action_key: action + 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: + value: false +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: "39075" + 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: + value: false +exp: + value: act-rotate-to-pour-ham-into-plate-and-push-the-cart-forward +log: + value: + log_freq: 100 + logging_dir: logs + report_to: wandb +model: + value: + action_dim: 36 + chunk_size: 100 + dim_feedforward: 3200 + dim_model: 512 + dropout: 0.1 + feedforward_activation: relu + kl_weight: 10 + latent_dim: 32 + n_action_steps: 100 + n_decoder_layers: 1 + n_encoder_layers: 4 + n_heads: 8 + n_obs_steps: 1 + n_vae_encoder_layers: 4 + pre_norm: false + state_dim: 32 + temporal_ensemble_coeff: null + use_vae: true +seed: + value: 2026 +timestamp: + value: "2601240510" +train: + value: + checkpointing_steps: 5000 + 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 + lora: false + lr_scheduler_kwargs: + betas: + - 0.95 + - 0.999 + eps: 1e-08 + weight_decay: 1e-06 + lr_scheduler_type: cosine + max_checkpoints_to_keep: null + max_grad_norm: 1 + max_training_steps: 42000 + mixed_precision: bf16 + name: act-g1-real + num_train_epochs: null + num_workers: 8 + output_dir: .runs + overfit_single_batch: false + reduce_in_full_precision: true + resume_from_checkpoint: null + sharding_strategy: full-shard + skip_resumed_steps: false + train_batch_size: 32 + val_batch_size: 16 + val_num_batches: 20 + validation_steps: 500 + warmup_ratio: null + warmup_steps: 1000 +wandb: + value: + entity: jliu530-soochow-university + group: null + id: null + name: null + project: hfm + resume: allow diff --git a/act/act-g1-real/act-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240510/wandb/run-20260124_051018-nfks4wzd/files/output.log b/act/act-g1-real/act-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240510/wandb/run-20260124_051018-nfks4wzd/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..f89e61d94b47ec7e1e6927d1e24dcb69e7b73150 --- /dev/null +++ b/act/act-g1-real/act-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240510/wandb/run-20260124_051018-nfks4wzd/files/output.log @@ -0,0 +1,250 @@ +[05:10:20 01/24] 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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-real.cosin.lr1.0e-04.b6   +  4.gpus2.2601240510   +  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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240510   +  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 Rotate_to_pour_ham_into_plate_and_push_the_cart_forward with EmbodimentTag.NEW_EMBODIMENT +Loading external config: we.data.gr00t.data_config.WeUnitreeG1LocoDataConfig +Initialized dataset Rotate_to_pour_ham_into_plate_and_push_the_cart_forward with EmbodimentTag.NEW_EMBODIMENT +[05:10:21 01/24] 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: 113,702 ]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: 113,702 ]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 = 113702 ]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 = 24 ]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 = 1777 ]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 = 47.27 ]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;;\ +[05:10:23 01/24] 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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-real.cosin.lr1.0e-04.b6   +  4.gpus2.2601240510   +Traing steps: 36%|████████████████████ | 15000/42000 [8:34:54<11:12:57, 1.50s/it, loss=0.0943, lr=7.4e-05] + +[07:58:22 01/24] INFO  | >> Saving current state to ]8;id=680052;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py\accelerator.py]8;;\:]8;id=279409;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py#3644\3644]8;;\ +  .runs/act-g1-real/act-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-re   +  al.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_5000   +[07:58:30 01/24] INFO  | >> Model weights saved in ]8;id=898249;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=431290;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#114\114]8;;\ +  .runs/act-g1-real/act-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_5000/model.safetensors   +[07:58:32 01/24] INFO  | >> Optimizer state 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#121\121]8;;\ +  .runs/act-g1-real/act-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_5000/optimizer.bin   +  INFO  | >> Scheduler 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#128\128]8;;\ +  .runs/act-g1-real/act-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_5000/scheduler.bin   +  INFO  | >> Sampler state for dataloader 0 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#145\145]8;;\ +  .runs/act-g1-real/act-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_5000/sampler.bin   +  INFO  | >> Sampler state for dataloader 1 saved in ]8;id=374604;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=162278;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_5000/sampler_1.bin   +  INFO  | >> Random states 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#176\176]8;;\ +  .runs/act-g1-real/act-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_5000/random_states_0.pkl   +Saved state to .runs/act-g1-real/act-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_5000 +[10:56:19 01/24] WARNING  | >> [*] Checkpoint 10000 already exists, skipping save. ]8;id=983054;file:///home/jliu/we_learn/src/we/learn/trainers/act_g1_real.py\act_g1_real.py]8;;\:]8;id=141415;file:///home/jliu/we_learn/src/we/learn/trainers/act_g1_real.py#177\177]8;;\ +Saved state to None +[13:45:18 01/24] 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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-re   +  al.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_15000   +[13:45:23 01/24] 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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_15000/model.safetensors   +[13:45:25 01/24] 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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_15000/optimizer.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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_15000/scheduler.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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_15000/sampler.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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_15000/sampler_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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_15000/random_states_0.pk   +  l   +Saved state to .runs/act-g1-real/act-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_15000 +[16:27:21 01/24] 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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-re   +  al.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_20000   +[16:27:28 01/24] 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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_20000/model.safetensors   +[16:27:29 01/24] 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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_20000/random_states_0.pk   +  l   +Saved state to .runs/act-g1-real/act-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_20000 +[18:56:31 01/24] 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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-re   +  al.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_25000   +[18:56:38 01/24] 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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_25000/model.safetensors   +[18:56:39 01/24] 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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_25000/random_states_0.pk   +  l   +Saved state to .runs/act-g1-real/act-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_25000 +[21:08:30 01/24] 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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-re   +  al.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_30000   +[21:08:36 01/24] 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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_30000/model.safetensors   +[21:08:38 01/24] 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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_30000/random_states_0.pk   +  l   +Saved state to .runs/act-g1-real/act-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_30000 +[23:40:40 01/24] 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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-re   +  al.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_35000   +[23:40:48 01/24] 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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_35000/model.safetensors   +[23:40:49 01/24] 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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_35000/random_states_0.pk   +  l   +Saved state to .runs/act-g1-real/act-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_35000 +[02:12:52 01/25] 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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-re   +  al.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_40000   +[02:12:59 01/25] 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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_40000/model.safetensors   +[02:13:00 01/25] 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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_40000/random_states_0.pk   +  l   +Saved state to .runs/act-g1-real/act-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_40000 +[03:13:50 01/25] 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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-re   +  al.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_41999   +[03:13:55 01/25] 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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_41999/model.safetensors   +[03:13:56 01/25] 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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_41999/random_states_0.pk   +  l   +Saved state to .runs/act-g1-real/act-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_41999 +Training has reached maximum steps. +[03:14:25 01/25] 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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-re   +  al.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_41999   +[03:14:34 01/25] 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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/checkpoints/ckpt_41999/model.safetensors   +[03:14:36 01/25] 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-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-r   +  eal.cosin.lr1.0e-04.b64.gpus2.2601240510/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;;\ +  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Epoch losses: [0.0, 0.2558137774467468, ]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;;\ +  0.13130150735378265, 0.09496430307626724, 0.07881534844636917]   +  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;;\ diff --git a/act/act-g1-real/act-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240510/wandb/run-20260124_051018-nfks4wzd/files/requirements.txt b/act/act-g1-real/act-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240510/wandb/run-20260124_051018-nfks4wzd/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..552d6b40c1bf3734308336f8f19d3ce85477055f --- /dev/null +++ b/act/act-g1-real/act-rotate-to-pour-ham-into-plate-and-push-the-cart-forward.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240510/wandb/run-20260124_051018-nfks4wzd/files/requirements.txt @@ -0,0 +1,238 @@ +aiosignal==1.4.0 +transforms3d==0.4.2 +annotated-doc==0.0.4 +hf_transfer==0.1.9 +nvidia-cusolver-cu12==11.7.3.90 +pathspec==0.12.1 +gast==0.7.0 +pydantic==2.10.6 +antlr4-python3-runtime==4.9.3 +tensorflow-graphics==2021.12.3 +python-dotenv==1.2.1 +diffusers==0.30.2 +mergedeep==1.3.4 +Farama-Notifications==0.0.4 +mypy==1.18.2 +google-pasta==0.2.0 +deepdiff==8.6.1 +simplejpeg==1.9.0 +python-dateutil==2.9.0.post0 +nvidia-curand-cu12==10.3.9.90 +torchaudio==2.8.0 +pyyaml-include==1.4.1 +eval_type_backport==0.2.2 +typing_extensions==4.15.0 +array_record==0.8.1 +h5py==3.14.0 +cmake==4.1.0 +platformdirs==4.4.0 +importlib_resources==6.5.2 +params_proto==2.13.2 +toml==0.10.2 +xxhash==3.5.0 +simple-parsing==0.1.7 +tensorflow-datasets==4.9.9 +accelerate==1.12.0 +pfzy==0.3.4 +Werkzeug==3.1.3 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'pad_action_dim': None, 'pad_state_dim': None}, 'model': {'resize': {'size': [256, 480]}, 'center_crop': {'size': [224, 224]}, 'color_jitter': {'brightness': 0.2, 'contrast': [0.8, 1.2], 'saturation': [0.8, 1.2], 'hue': 0.05}, 'normalize': {'mean': [0.485, 0.456, 0.406], 'std': [0.229, 0.224, 0.225]}, 'img_aug': True}}, 'action_chunk_size': 100, 'root_dir': '/hfm/data/real_teleop_g1/lerobot', 'dataset_paths': ['Spray_the_bowl_and_wipe_it_and_stack_it_up'], 'data_config': 'we.data.gr00t.data_config:WeUnitreeG1LocoDataConfig', 'embodiment_tag': 'new_embodiment', 'video_backend': 'decord', 'balance_dataset_weights': True, 'balance_trajectory_weights': True, 'preload_all': False}, 'model': {'n_obs_steps': 1, 'chunk_size': 100, 'n_action_steps': 100, 'action_dim': 36, 'state_dim': 32, 'dim_model': 512, 'n_heads': 8, 'dim_feedforward': 3200, 'feedforward_activation': 'relu', 'n_encoder_layers': 4, 'n_decoder_layers': 1, 'pre_norm': False, 'dropout': 0.1, 'use_vae': True, 'latent_dim': 32, 'n_vae_encoder_layers': 4, 'kl_weight': 10.0, 'temporal_ensemble_coeff': None}, 'environment_variables': {'OMP_NUM_THREADS': '32', 'HF_HOME': '/hfm/cache', 'TORCH_HOME': '/hfm/cache', 'HF_TOKEN': 'hf_...adRb', 'HF_LEROBOT_HOME': '/hfm/data/lerobot', 'WE_HOME': '/hfm', 'DATA_HOME': '/hfm/data', 'UV_CACHE_DIR': '/hfm/cache', 'WANDB_API_KEY': '90e...5c06', 'PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION': 'python', 'CUDA_VISIBLE_DEVICES': '6,7', 'WORLD_SIZE': '2', 'LOCAL_WORLD_SIZE': '2', 'RANK': '0', 'LOCAL_RANK': '0', 'MASTER_ADDR': 'nebula101', 'MASTER_PORT': '42463'}} +2026-01-24 18:19:04,226 INFO MainThread:118739 [wandb_run.py:_finish():2287] finishing run jliu530-soochow-university/hfm/qcb38sob +2026-01-24 18:19:04,229 INFO MainThread:118739 [wandb_run.py:_atexit_cleanup():2486] got exitcode: 0 +2026-01-24 18:19:04,229 INFO MainThread:118739 [wandb_run.py:_restore():2468] restore +2026-01-24 18:19:04,229 INFO MainThread:118739 [wandb_run.py:_restore():2474] restore done +2026-01-24 18:19:05,044 INFO MainThread:118739 [wandb_run.py:_footer_sync_info():3862] logging synced files diff --git a/act/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/wandb/run-20260124_021447-qcb38sob/files/config.yaml b/act/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/wandb/run-20260124_021447-qcb38sob/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bebe0e41791312729a8616aa377f7b7261585355 --- /dev/null +++ b/act/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/wandb/run-20260124_021447-qcb38sob/files/config.yaml @@ -0,0 +1,457 @@ +_wandb: + value: + cli_version: 0.23.1 + e: + pxst4lz06gbj2juelnidvbk8rsuiffs1: + args: + - data:gr00t + - data.transform.repack:gr00t-we + - data.transform.action-state:maxmin + - data.transform.model:act + - model:act + - --seed=2026 + - --exp=act-spray-the-bowl-and-wipe-it-and-stack-it-up + - --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=Spray_the_bowl_and_wipe_it_and_stack_it_up + - --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-Spray_the_bowl_and_wipe_it_and_stack_it_up.json + - --data.transform.action-state.stat-action-key=action + - --data.transform.action-state.stat-state-key=states + - --data.transform.action-state.normalize-state + - --data.transform.action-state.action-norm-type=bounds + - --data.transform.model.img-aug + - --data.action-chunk-size=100 + - --model.chunk-size=100 + - --model.n-action-steps=100 + - --model.action-dim=36 + - --model.state-dim=32 + - --model.use-vae + - --model.kl-weight=10.0 + codePath: scripts/train.py + codePathLocal: scripts/train.py + cpu_count: 128 + cpu_count_logical: 128 + cudaVersion: "12.9" + disk: + /: + total: "3934171283456" + used: "3708926939136" + email: jliu530@163.com + executable: /home/jliu/we_learn/.venv-pusht/bin/python3 + git: + commit: df0aa6074e8b16d0e2be002a9a9c1971edf209ec + remote: https://github.com/songlin/we_learn.git + gpu: NVIDIA A100-SXM4-80GB + gpu_count: 8 + gpu_nvidia: + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-02b51758-2aec-8c71-c751-92567fdb15ad + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-be645bb4-1ef0-15da-fc6b-53c5378650df + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-44868ccd-5809-61e2-f8cc-1dff8efc7eb1 + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-a12b8de3-fb12-2901-c3a2-1e0e2b050b7b + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-57787183-4904-b2c9-cf52-1c1af976b365 + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-e82d0fd0-9dcb-3d7c-9451-c4770ad6ddc3 + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-9a825fa3-60d0-3acf-6c79-67e9230ae24c + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100-SXM4-80GB + uuid: GPU-6fe02e5e-b886-9c02-e433-6237f3897dd8 + host: nebula101 + memory: + total: "1623176945664" + 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-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214 + startedAt: "2026-01-24T02:14:47.097099Z" + writerId: pxst4lz06gbj2juelnidvbk8rsuiffs1 + m: [] + python_version: 3.10.19 + t: + "1": + - 1 + - 2 + - 3 + - 11 + - 41 + - 49 + - 71 + "2": + - 1 + - 2 + - 3 + - 11 + - 41 + - 49 + - 51 + - 71 + - 80 + - 83 + "3": + - 2 + - 13 + - 61 + "4": 3.10.19 + "5": 0.23.1 + "6": 4.44.2 + "12": 0.23.1 + "13": linux-x86_64 +auto_tag_run: + value: false +data: + value: + action_chunk_size: 100 + balance_dataset_weights: true + balance_trajectory_weights: true + data_config: we.data.gr00t.data_config:WeUnitreeG1LocoDataConfig + dataset_paths: + - Spray_the_bowl_and_wipe_it_and_stack_it_up + embodiment_tag: new_embodiment + preload_all: false + root_dir: /hfm/data/real_teleop_g1/lerobot + transform: + action_state: + action_max: + - 0.1852411925792694 + - 0.9147700667381287 + - 1.6026862859725952 + - 0.0010000000474974513 + - 0.0010000000474974513 + - 0.0010000000474974513 + - 0.0010000000474974513 + - 0.4500204622745514 + - 0.36118876934051514 + - -0.4222349226474762 + - 1.5717962980270386 + - 1.7463293075561523 + - 1.5103485584259033 + - 1.7463293075561523 + - 1.1773991584777832 + - 1.8751757144927979 + - 0.9741659760475159 + - 1.4004517793655396 + - 1.4179662466049194 + - 0.46019142866134644 + - 0.9530820250511169 + - 0.9330370426177979 + - 0.7938688397407532 + - 0.8228927850723267 + - 1.3041672706604004 + - 0.33489832282066345 + - 1.3568487167358398 + - 1.0455472469329834 + - 0.2588168680667877 + - 0.37684208154678345 + - 0.5529751181602478 + - 0.7785804867744446 + - 0 + - 0 + - 0 + - 0 + action_min: + - -1.0481975078582764 + - -0.27842938899993896 + - 0.3644271194934845 + - -1.5717962980270386 + - -1.7463293075561523 + - -1.5717962980270386 + - -1.7463293075561523 + - -0.9726980328559875 + - -0.9210000038146973 + - -1.434515118598938 + - -0.0010000000474974513 + - -0.0010000000474974513 + - -0.0010000000474974513 + - -0.0010000000474974513 + - -1.6587185859680176 + - -0.26730066537857056 + - -1.0476018190383911 + - -1.0471998453140259 + - -1.5517717599868774 + - -1.6144294738769531 + - -1.4627567529678345 + - -1.578611969947815 + - -0.84627765417099 + - -0.56448894739151 + - -0.7843337059020996 + - -1.6328412294387817 + - -1.4047861099243164 + - -1.5124512910842896 + - -0.25610852241516113 + - -0.25414812564849854 + - -0.6856858730316162 + - 0.6628404259681702 + - 0 + - 0 + - 0 + - 0 + action_norm_masks: + - true + - true + - true + - true + - true + - true + - false + action_norm_type: bounds + normalize_state: true + pad_action_dim: null + pad_state_dim: null + stat_action_key: action + stat_path: dataset_statistics/g1-stats-Spray_the_bowl_and_wipe_it_and_stack_it_up.json + stat_state_key: states + state_max: + - 0.058098502457141876 + - 0.8378645777702332 + - 1.24748694896698 + - 0.02642994001507759 + - -0.02432899735867977 + - 0.052110809832811356 + - -0.03269302845001221 + - 0.03115934133529663 + - -0.25718754529953003 + - -0.3639061152935028 + - 1.085662603378296 + - 1.7141422033309937 + - 0.9538694620132446 + - 1.6335294246673584 + - 0.9592653512954712 + - 1.3684067726135254 + - 0.581366777420044 + - 1.3705159425735474 + - 1.3769994974136353 + - 0.4176492989063263 + - 0.7442338466644287 + - 0.8120271563529968 + - 0.05709284916520119 + - 0.7760385274887085 + - 1.2864466905593872 + - 0.12685301899909973 + - 0.33431577682495117 + - 0.8156329393386841 + - 0.2588168680667877 + - 0.37684208154678345 + - 0.5529751181602478 + - 0.7785804867744446 + state_min: + - -1.0181907415390015 + - -0.21951374411582947 + - 0.3024940490722656 + - -1.4405375719070435 + - -1.7201621532440186 + - -1.419105887413025 + - -1.718001127243042 + - -0.9075884222984314 + - -0.8965954184532166 + - -1.0760161876678467 + - 0.021206939592957497 + - 0.03394134342670441 + - 0.023895293474197388 + - 0.02167615294456482 + - -1.6115427017211914 + - -0.14754977822303772 + - -1.022362232208252 + - -0.9756118059158325 + - -0.9642987251281738 + - -1.1772382259368896 + - -1.020795226097107 + - -1.4939295053482056 + - -0.776901364326477 + - -0.36998897790908813 + - -0.688661515712738 + - -1.1983625888824463 + - -1.1220992803573608 + - -1.1137467622756958 + - -0.25610852241516113 + - -0.25414812564849854 + - -0.6856858730316162 + - 0.6628404259681702 + use_norm_mask: false + model: + center_crop: + size: + - 224 + - 224 + color_jitter: + brightness: 0.2 + contrast: + - 0.8 + - 1.2 + hue: 0.05 + saturation: + - 0.8 + - 1.2 + img_aug: true + normalize: + mean: + - 0.485 + - 0.456 + - 0.406 + std: + - 0.229 + - 0.224 + - 0.225 + resize: + size: + - 256 + - 480 + repack: + action_key: action + 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: + value: false +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: "42463" + 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: + value: false +exp: + value: act-spray-the-bowl-and-wipe-it-and-stack-it-up +log: + value: + log_freq: 100 + logging_dir: logs + report_to: wandb +model: + value: + action_dim: 36 + chunk_size: 100 + dim_feedforward: 3200 + dim_model: 512 + dropout: 0.1 + feedforward_activation: relu + kl_weight: 10 + latent_dim: 32 + n_action_steps: 100 + n_decoder_layers: 1 + n_encoder_layers: 4 + n_heads: 8 + n_obs_steps: 1 + n_vae_encoder_layers: 4 + pre_norm: false + state_dim: 32 + temporal_ensemble_coeff: null + use_vae: true +seed: + value: 2026 +timestamp: + value: "2601240214" +train: + value: + checkpointing_steps: 5000 + 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 + lora: false + lr_scheduler_kwargs: + betas: + - 0.95 + - 0.999 + eps: 1e-08 + weight_decay: 1e-06 + lr_scheduler_type: cosine + max_checkpoints_to_keep: null + max_grad_norm: 1 + max_training_steps: 42000 + mixed_precision: bf16 + name: act-g1-real + num_train_epochs: null + num_workers: 8 + output_dir: .runs + overfit_single_batch: false + reduce_in_full_precision: true + resume_from_checkpoint: null + sharding_strategy: full-shard + skip_resumed_steps: false + train_batch_size: 32 + val_batch_size: 16 + val_num_batches: 20 + validation_steps: 500 + warmup_ratio: null + warmup_steps: 1000 +wandb: + value: + entity: jliu530-soochow-university + group: null + id: null + name: null + project: hfm + resume: allow diff --git a/act/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/wandb/run-20260124_021447-qcb38sob/files/output.log b/act/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/wandb/run-20260124_021447-qcb38sob/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..60b8ea6afe0691cb279f364166d8ee79746f00b8 --- /dev/null +++ b/act/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/wandb/run-20260124_021447-qcb38sob/files/output.log @@ -0,0 +1,247 @@ +[02:14:48 01/24] INFO  | >> [*] Saved configuration to .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214 ]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;;\ +  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: act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214 ]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;;\ +  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 Spray_the_bowl_and_wipe_it_and_stack_it_up with EmbodimentTag.NEW_EMBODIMENT +Loading external config: we.data.gr00t.data_config.WeUnitreeG1LocoDataConfig +Initialized dataset Spray_the_bowl_and_wipe_it_and_stack_it_up with EmbodimentTag.NEW_EMBODIMENT +[02:14:49 01/24] 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: 103,235 ]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: 103,235 ]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 = 103235 ]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 = 27 ]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 = 1614 ]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 = 52.04 ]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;;\ +[02:14:50 01/24] 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: .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214 ]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;;\ +Traing steps: 24%|█████████████████████████▍ | 10000/42000 [1:28:05<5:05:02, 1.75it/s, loss=0.0807, lr=8.9e-05] + +[02:54:26 01/24] INFO  | >> Saving current state to ]8;id=680052;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py\accelerator.py]8;;\:]8;id=279409;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py#3644\3644]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpoints/ckpt_5000   +  INFO  | >> Model weights saved in ]8;id=898249;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=431290;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#114\114]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpoints/ckpt_5000/model.safetens   +  ors   +[02:54:27 01/24] INFO  | >> Optimizer state 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#121\121]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpoints/ckpt_5000/optimizer.bin   +  INFO  | >> Scheduler 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#128\128]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpoints/ckpt_5000/scheduler.bin   +  INFO  | >> Sampler state for dataloader 0 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#145\145]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpoints/ckpt_5000/sampler.bin   +  INFO  | >> Sampler state for dataloader 1 saved in ]8;id=374604;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=162278;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpoints/ckpt_5000/sampler_1.bin   +  INFO  | >> Random states 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#176\176]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpoints/ckpt_5000/random_states_   +  0.pkl   +Saved state to .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpoints/ckpt_5000 +[03:42:57 01/24] INFO  | >> Saving current state to ]8;id=755470;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py\accelerator.py]8;;\:]8;id=983054;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py#3644\3644]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpoints/ckpt_10000   +[03:42:59 01/24] INFO  | >> Model weights saved in ]8;id=616494;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=137590;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#114\114]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpoints/ckpt_10000/model.safeten   +  sors   +[03:43:00 01/24] INFO  | >> Optimizer state saved in ]8;id=304800;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=88534;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#121\121]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpoints/ckpt_10000/optimizer.bin   +  INFO  | >> Scheduler state saved in ]8;id=141920;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=821494;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#128\128]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpoints/ckpt_10000/scheduler.bin   +  INFO  | >> Sampler state for dataloader 0 saved in ]8;id=532364;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=432054;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpoints/ckpt_10000/sampler.bin   +  INFO  | >> Sampler state for dataloader 1 saved in ]8;id=846104;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=206251;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpoints/ckpt_10000/sampler_1.bin   +  INFO  | >> Random states saved in ]8;id=930895;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=77000;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#176\176]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpoints/ckpt_10000/random_states   +  _0.pkl   +Saved state to .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpoints/ckpt_10000 +[04:58:19 01/24] INFO  | >> Saving current state to ]8;id=370569;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py\accelerator.py]8;;\:]8;id=979940;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py#3644\3644]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-0   +  4.b64.gpus2.2601240214/checkpoints/ckpt_15000   +[04:58:22 01/24] INFO  | >> Model weights saved in ]8;id=535180;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=499147;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#114\114]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-   +  04.b64.gpus2.2601240214/checkpoints/ckpt_15000/model.safetensors   +[04:58:23 01/24] INFO  | >> Optimizer state saved in ]8;id=341880;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=958353;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#121\121]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-   +  04.b64.gpus2.2601240214/checkpoints/ckpt_15000/optimizer.bin   +  INFO  | >> Scheduler state saved in ]8;id=599385;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=648655;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#128\128]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-   +  04.b64.gpus2.2601240214/checkpoints/ckpt_15000/scheduler.bin   +  INFO  | >> Sampler state for dataloader 0 saved in ]8;id=544854;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=217040;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-   +  04.b64.gpus2.2601240214/checkpoints/ckpt_15000/sampler.bin   +  INFO  | >> Sampler state for dataloader 1 saved in ]8;id=627278;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=244660;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-   +  04.b64.gpus2.2601240214/checkpoints/ckpt_15000/sampler_1.bin   +  INFO  | >> Random states saved in ]8;id=418546;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=35811;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#176\176]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-   +  04.b64.gpus2.2601240214/checkpoints/ckpt_15000/random_states_0.pkl   +Saved state to .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpoints/ckpt_15000 +[07:16:56 01/24] INFO  | >> Saving current state to ]8;id=47434;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py\accelerator.py]8;;\:]8;id=679719;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py#3644\3644]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpoi   +  nts/ckpt_20000   +[07:17:00 01/24] INFO  | >> Model weights saved in ]8;id=473768;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=910263;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#114\114]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_20000/model.safetensors   +[07:17:01 01/24] INFO  | >> Optimizer state saved in ]8;id=745480;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=711599;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#121\121]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_20000/optimizer.bin   +  INFO  | >> Scheduler state saved in ]8;id=555678;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=229348;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#128\128]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_20000/scheduler.bin   +  INFO  | >> Sampler state for dataloader 0 saved in ]8;id=144411;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=168181;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_20000/sampler.bin   +  INFO  | >> Sampler state for dataloader 1 saved in ]8;id=286058;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=446016;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_20000/sampler_1.bin   +  INFO  | >> Random states saved in ]8;id=401798;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=319720;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#176\176]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_20000/random_states_0.pkl   +Saved state to .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpoints/ckpt_20000 +[09:57:21 01/24] INFO  | >> Saving current state to ]8;id=486450;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py\accelerator.py]8;;\:]8;id=521773;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py#3644\3644]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpoi   +  nts/ckpt_25000   +[09:57:26 01/24] INFO  | >> Model weights saved in ]8;id=490419;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=185558;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#114\114]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_25000/model.safetensors   +[09:57:27 01/24] INFO  | >> Optimizer state saved in ]8;id=125939;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=552863;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#121\121]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_25000/optimizer.bin   +  INFO  | >> Scheduler state saved in ]8;id=855797;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=99159;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#128\128]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_25000/scheduler.bin   +  INFO  | >> Sampler state for dataloader 0 saved in ]8;id=999999;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=97642;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_25000/sampler.bin   +  INFO  | >> Sampler state for dataloader 1 saved in ]8;id=427821;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=571536;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_25000/sampler_1.bin   +  INFO  | >> Random states saved in ]8;id=702964;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=191314;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#176\176]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_25000/random_states_0.pkl   +Saved state to .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpoints/ckpt_25000 +[12:29:57 01/24] INFO  | >> Saving current state to ]8;id=368785;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py\accelerator.py]8;;\:]8;id=589302;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py#3644\3644]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpoi   +  nts/ckpt_30000   +[12:30:03 01/24] INFO  | >> Model weights saved in ]8;id=227061;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=115021;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#114\114]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_30000/model.safetensors   +[12:30:04 01/24] INFO  | >> Optimizer state saved in ]8;id=787738;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=595634;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#121\121]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_30000/optimizer.bin   +  INFO  | >> Scheduler state saved in ]8;id=590171;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=281123;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#128\128]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_30000/scheduler.bin   +  INFO  | >> Sampler state for dataloader 0 saved in ]8;id=819504;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=276522;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_30000/sampler.bin   +  INFO  | >> Sampler state for dataloader 1 saved in ]8;id=717799;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=63361;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_30000/sampler_1.bin   +  INFO  | >> Random states saved in ]8;id=194505;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=677321;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#176\176]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_30000/random_states_0.pkl   +Saved state to .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpoints/ckpt_30000 +[14:57:42 01/24] INFO  | >> Saving current state to ]8;id=290231;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py\accelerator.py]8;;\:]8;id=616676;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py#3644\3644]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpoi   +  nts/ckpt_35000   +[14:57:49 01/24] INFO  | >> Model weights saved in ]8;id=329883;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=169230;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#114\114]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_35000/model.safetensors   +[14:57:50 01/24] INFO  | >> Optimizer state saved in ]8;id=431638;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=908584;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#121\121]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_35000/optimizer.bin   +  INFO  | >> Scheduler state saved in ]8;id=434664;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=16179;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#128\128]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_35000/scheduler.bin   +  INFO  | >> Sampler state for dataloader 0 saved in ]8;id=324973;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=128996;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_35000/sampler.bin   +  INFO  | >> Sampler state for dataloader 1 saved in ]8;id=981583;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=899091;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_35000/sampler_1.bin   +  INFO  | >> Random states saved in ]8;id=636753;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=656123;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#176\176]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_35000/random_states_0.pkl   +Saved state to .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpoints/ckpt_35000 +[17:21:18 01/24] INFO  | >> Saving current state to ]8;id=969664;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py\accelerator.py]8;;\:]8;id=423824;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py#3644\3644]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpoi   +  nts/ckpt_40000   +[17:21:24 01/24] INFO  | >> Model weights saved in ]8;id=485144;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=446823;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#114\114]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_40000/model.safetensors   +[17:21:25 01/24] INFO  | >> Optimizer state saved in ]8;id=392321;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=903139;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#121\121]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_40000/optimizer.bin   +  INFO  | >> Scheduler state saved in ]8;id=407945;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=306059;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#128\128]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_40000/scheduler.bin   +  INFO  | >> Sampler state for dataloader 0 saved in ]8;id=771109;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=749912;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_40000/sampler.bin   +  INFO  | >> Sampler state for dataloader 1 saved in ]8;id=729075;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=346604;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_40000/sampler_1.bin   +  INFO  | >> Random states saved in ]8;id=960350;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=128256;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#176\176]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_40000/random_states_0.pkl   +Saved state to .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpoints/ckpt_40000 +[18:18:24 01/24] INFO  | >> Saving current state to ]8;id=614052;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py\accelerator.py]8;;\:]8;id=946822;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py#3644\3644]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpoi   +  nts/ckpt_41999   +[18:18:29 01/24] INFO  | >> Model weights saved in ]8;id=588107;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=58872;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#114\114]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_41999/model.safetensors   +  INFO  | >> Optimizer state saved in ]8;id=128644;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=124028;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#121\121]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_41999/optimizer.bin   +  INFO  | >> Scheduler state saved in ]8;id=625950;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=679365;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#128\128]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_41999/scheduler.bin   +  INFO  | >> Sampler state for dataloader 0 saved in ]8;id=606210;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=132432;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_41999/sampler.bin   +  INFO  | >> Sampler state for dataloader 1 saved in ]8;id=250930;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=814323;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_41999/sampler_1.bin   +  INFO  | >> Random states saved in ]8;id=131290;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=192379;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#176\176]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_41999/random_states_0.pkl   +Saved state to .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpoints/ckpt_41999 +Training has reached maximum steps. +[18:18:57 01/24] INFO  | >> Saving current state to ]8;id=980067;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py\accelerator.py]8;;\:]8;id=567626;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/accelerator.py#3644\3644]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpoi   +  nts/ckpt_41999   +[18:19:03 01/24] INFO  | >> Model weights saved in ]8;id=267359;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=824815;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#114\114]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_41999/model.safetensors   +[18:19:04 01/24] INFO  | >> Optimizer state saved in ]8;id=290278;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=567436;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#121\121]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_41999/optimizer.bin   +  INFO  | >> Scheduler state saved in ]8;id=145392;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=990094;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#128\128]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_41999/scheduler.bin   +  INFO  | >> Sampler state for dataloader 0 saved in ]8;id=188012;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=579843;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_41999/sampler.bin   +  INFO  | >> Sampler state for dataloader 1 saved in ]8;id=539017;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=859689;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#145\145]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_41999/sampler_1.bin   +  INFO  | >> Random states saved in ]8;id=791184;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py\checkpointing.py]8;;\:]8;id=779188;file:///home/jliu/we_learn/.venv-pusht/lib/python3.10/site-packages/accelerate/checkpointing.py#176\176]8;;\ +  .runs/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/checkpo   +  ints/ckpt_41999/random_states_0.pkl   +  INFO  | >> [*] Finalized ACT Trainer. Epoch losses: [0.0, 0.276130348443985, 0.11315042525529861, 0.08813929557800293, ]8;id=658356;file:///home/jliu/we_learn/src/we/learn/trainers/act_g1_real.py\act_g1_real.py]8;;\:]8;id=254601;file:///home/jliu/we_learn/src/we/learn/trainers/act_g1_real.py#331\331]8;;\ +  0.07508257031440735]   +  INFO  | >> [*] Happy Ending! ]8;id=903984;file:///home/jliu/we_learn/scripts/train.py\train.py]8;;\:]8;id=158174;file:///home/jliu/we_learn/scripts/train.py#314\314]8;;\ diff --git a/act/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/wandb/run-20260124_021447-qcb38sob/files/requirements.txt b/act/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/wandb/run-20260124_021447-qcb38sob/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..552d6b40c1bf3734308336f8f19d3ce85477055f --- /dev/null +++ b/act/act-g1-real/act-spray-the-bowl-and-wipe-it-and-stack-it-up.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240214/wandb/run-20260124_021447-qcb38sob/files/requirements.txt @@ -0,0 +1,238 @@ +aiosignal==1.4.0 +transforms3d==0.4.2 +annotated-doc==0.0.4 +hf_transfer==0.1.9 +nvidia-cusolver-cu12==11.7.3.90 +pathspec==0.12.1 +gast==0.7.0 +pydantic==2.10.6 +antlr4-python3-runtime==4.9.3 +tensorflow-graphics==2021.12.3 +python-dotenv==1.2.1 +diffusers==0.30.2 +mergedeep==1.3.4 +Farama-Notifications==0.0.4 +mypy==1.18.2 +google-pasta==0.2.0 +deepdiff==8.6.1 +simplejpeg==1.9.0 +python-dateutil==2.9.0.post0 +nvidia-curand-cu12==10.3.9.90 +torchaudio==2.8.0 +pyyaml-include==1.4.1 +eval_type_backport==0.2.2 +typing_extensions==4.15.0 +array_record==0.8.1 +h5py==3.14.0 +cmake==4.1.0 +platformdirs==4.4.0 +importlib_resources==6.5.2 +params_proto==2.13.2 +toml==0.10.2 +xxhash==3.5.0 +simple-parsing==0.1.7 +tensorflow-datasets==4.9.9 +accelerate==1.12.0 +pfzy==0.3.4 +Werkzeug==3.1.3 +tensorflow-metadata==0.5.0 +tensorboard==2.20.0 +nvidia-nvtx-cu12==12.8.90 +click==8.3.0 +omegaconf==2.3.0 +pandas==2.3.3 +numpy==1.26.4 +urllib3==2.5.0 +httpcore==1.0.9 +trimesh==4.10.1 +Pygments==2.19.2 +namex==0.1.0 +numba==0.63.1 +waterbear==2.6.8 +nvidia-cufile-cu12==1.13.1.3 +sympy==1.14.0 +starlette==0.50.0 +PySocks==1.7.1 +torchcodec==0.6.0 +termcolor==3.1.0 +pyparsing==3.3.1 +aiohappyeyeballs==2.6.1 +multidict==6.6.4 +packaging==25.0 +filelock==3.19.1 +datasets==4.4.1 +psutil==7.1.0 +typing-inspect==0.9.0 +nvidia-cusparselt-cu12==0.7.1 +wrapt==2.0.1 +numcodecs==0.13.1 +we.learn==0.1.0 +llvmlite==0.46.0 +optree==0.18.0 +nvidia-nccl-cu12==2.27.3 +ml_dtypes==0.5.4 +einops==0.8.1 +einx==0.3.0 +wcwidth==0.2.14 +nvidia-cuda-runtime-cu12==12.8.90 +iopath==0.1.10 +pyzmq==27.1.0 +lazy_loader==0.4 +pydantic_core==2.27.2 +scikit-image==0.25.2 +vuer==0.0.68 +promise==2.3 +absl-py==2.3.1 +setuptools==80.9.0 +nvidia-cufft-cu12==11.3.3.83 +asciitree==0.3.3 +grpcio==1.76.0 +gymnasium==0.29.1 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