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@@ -2088,3 +2088,6 @@ act/act-g1-real/act-pick-bottle-and-turn-and-pour-into-cup.g1-real.cosin.lr1.0e-
 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/run-7kwywvv2.wandb filter=lfs diff=lfs merge=lfs -text
 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/run-nfks4wzd.wandb filter=lfs diff=lfs merge=lfs -text
 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/run-qcb38sob.wandb filter=lfs diff=lfs merge=lfs -text
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+act/act-g1-real/act-remove-the-cap-turn-on-the-faucet-and-fill-the-bottle-with-water.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240339/wandb/run-20260124_033937-1i9wg620/run-1i9wg620.wandb filter=lfs diff=lfs merge=lfs -text

act/act-g1-real/act-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240341/argv.txt

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+scripts/train.py
+data:gr00t
+data.transform.repack:gr00t-we
+data.transform.action-state:maxmin
+data.transform.model:act
+model:act
+--seed=2026
+--exp=act-push-cart-grasp-and-place-grapes-on-plate
+--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=Push_cart_grasp_and_place_grapes_on_plate
+--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-Push_cart_grasp_and_place_grapes_on_plate.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

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[0.95, 0.999], 'weight_decay': 1e-06, 'eps': 1e-08}, 'scheduler_specific_kwargs': {}, 'data_parallel': 'ddp', 'sharding_strategy': 'full-shard', 'deepspeed_config': '/home/jliu/we_learn/src/InternVLA/config/deepseeds/zero3.json', 'enable_gradient_checkpointing': True, 'enable_mixed_precision_training': True, 'reduce_in_full_precision': True, 'max_training_steps': 42000, 'num_train_epochs': None, 'warmup_steps': 1000, 'warmup_ratio': None}, 'data': {'transform': {'repack': {'dataset_name': 'we-g1-teleop', 'conditions': [], 'image_keys': ['video'], 'state_key': 'state', 'action_key': 'action', 'instruction_key': 'annotation.human.task_description', 'pad_action_dim': 36, 'pad_state_dim': 32}, 'action_state': {'stat_path': 'dataset_statistics/g1-stats-Push_cart_grasp_and_place_grapes_on_plate.json', 'action_norm_type': 'bounds', 'stat_action_key': 'action', 'stat_state_key': 'states', 'use_norm_mask': False, 'action_norm_masks': [True, True, True, True, True, True, False], 'action_min': 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[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': ['Push_cart_grasp_and_place_grapes_on_plate'], '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': 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+2026-01-24 09:50:48,903 INFO    MainThread:2926353 [wandb_run.py:_finish():2287] finishing run jliu530-soochow-university/hfm/e5jhds0w
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+2026-01-24 09:50:49,823 INFO    MainThread:2926353 [wandb_run.py:_footer_sync_info():3862] logging synced files

act/act-g1-real/act-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240341/wandb/run-20260124_034206-e5jhds0w/files/config.yaml

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+                    - data.transform.action-state:maxmin
+                    - data.transform.model:act
+                    - model:act
+                    - --seed=2026
+                    - --exp=act-push-cart-grasp-and-place-grapes-on-plate
+                    - --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=Push_cart_grasp_and_place_grapes_on_plate
+                    - --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-Push_cart_grasp_and_place_grapes_on_plate.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
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+                    - --model.use-vae
+                    - --model.kl-weight=10.0
+                codePath: scripts/train.py
+                codePathLocal: scripts/train.py
+                cpu_count: 128
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+                cudaVersion: "12.9"
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+                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:
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+                      uuid: GPU-37370f00-90f5-4e03-f763-7a35649e6783
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+                      uuid: GPU-164a49bb-43d3-2250-59e2-1b40eee0757f
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+                      memoryTotal: "85899345920"
+                      name: NVIDIA A100-SXM4-80GB
+                      uuid: GPU-c0471f40-ae19-5371-a1af-da406ca30f83
+                    - architecture: Ampere
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+                      memoryTotal: "85899345920"
+                      name: NVIDIA A100-SXM4-80GB
+                      uuid: GPU-d9040f59-13d3-6c37-4ea0-c6c751424527
+                    - architecture: Ampere
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+                      name: NVIDIA A100-SXM4-80GB
+                      uuid: GPU-f834d0e8-a118-24c7-5461-30fce111bea6
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+                      name: NVIDIA A100-SXM4-80GB
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+                host: nebula99
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+                os: Linux-6.8.0-88-generic-x86_64-with-glibc2.39
+                program: /home/jliu/we_learn/scripts/train.py
+                python: CPython 3.10.19
+                root: /home/jliu/we_learn/.runs/act-g1-real/act-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240341
+                startedAt: "2026-01-24T03:42:06.420627Z"
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+        balance_dataset_weights: true
+        balance_trajectory_weights: true
+        data_config: we.data.gr00t.data_config:WeUnitreeG1LocoDataConfig
+        dataset_paths:
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+        embodiment_tag: new_embodiment
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+        root_dir: /hfm/data/real_teleop_g1/lerobot
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+                resize:
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+            repack:
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+                conditions: []
+                dataset_name: we-g1-teleop
+                image_keys:
+                    - video
+                instruction_key: annotation.human.task_description
+                pad_action_dim: 36
+                pad_state_dim: 32
+                state_key: state
+        video_backend: decord
+debug:
+    value: false
+environment_variables:
+    value:
+        CUDA_VISIBLE_DEVICES: 6,7
+        DATA_HOME: Not Set
+        HF_HOME: /hfm/cache
+        HF_LEROBOT_HOME: Not Set
+        HF_TOKEN: hf_...adRb
+        LOCAL_RANK: "0"
+        LOCAL_WORLD_SIZE: "2"
+        MASTER_ADDR: nebula99
+        MASTER_PORT: "33685"
+        OMP_NUM_THREADS: "32"
+        PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION: python
+        RANK: "0"
+        TORCH_HOME: /hfm/cache
+        UV_CACHE_DIR: Not Set
+        WANDB_API_KEY: Not Set
+        WE_HOME: Not Set
+        WORLD_SIZE: "2"
+eval:
+    value: false
+exp:
+    value: act-push-cart-grasp-and-place-grapes-on-plate
+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: "2601240341"
+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

act/act-g1-real/act-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240341/wandb/run-20260124_034206-e5jhds0w/files/output.log

@@ -0,0 +1,263 @@
+[03:42:07 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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-             
+                          04.b64.gpus2.2601240341                                                                           
+                 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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpus2.26012             
+                          40341                                                                                             
+                 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 Push_cart_grasp_and_place_grapes_on_plate with EmbodimentTag.NEW_EMBODIMENT
+Loading external config: we.data.gr00t.data_config.WeUnitreeG1LocoDataConfig
+Initialized dataset Push_cart_grasp_and_place_grapes_on_plate with EmbodimentTag.NEW_EMBODIMENT
+[03:42:08 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: 86,876                                        ]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: 86,876                                             ]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 = 86876                                            ]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 = 31                                                 ]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 = 1358                                           ]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 = 61.86                                    ]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;;\
+[03:42:11 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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-             
+                          04.b64.gpus2.2601240341                                                                           
+Traing steps:  24%|█████████                             | 10000/42000 [1:28:20<5:01:37,  1.77it/s, loss=0.0759, lr=8.9e-05]
+                                                                                                                                              
+[04:27:09 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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpus                    
+                          2.2601240341/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/ckpt_5000/model.safetensors                                                               
+[04:27:10 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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/ckpt_5000/random_states_0.pkl                                                             
+Saved state to .runs/act-g1-real/act-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240341/checkpoints/ckpt_5000
+[05:10:33 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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpus                    
+                          2.2601240341/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/ckpt_10000/model.safetensors                                                              
+[05:10:34 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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/ckpt_10000/random_states_0.pkl                                                            
+Saved state to .runs/act-g1-real/act-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240341/checkpoints/ckpt_10000
+[05:55:03 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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpus                    
+                          2.2601240341/checkpoints/ckpt_15000                                                                                 
+[05:55:04 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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/ckpt_15000/model.safetensors                                                              
+[05:55:05 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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/ckpt_15000/random_states_0.pkl                                                            
+Saved state to .runs/act-g1-real/act-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240341/checkpoints/ckpt_15000
+[06:38:30 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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpus                    
+                          2.2601240341/checkpoints/ckpt_20000                                                                                 
+[06:38:31 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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/ckpt_20000/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/ckpt_20000/random_states_0.pkl                                                            
+Saved state to .runs/act-g1-real/act-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240341/checkpoints/ckpt_20000
+[07:21:57 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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpus                    
+                          2.2601240341/checkpoints/ckpt_25000                                                                                 
+[07:21:58 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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/ckpt_25000/model.safetensors                                                              
+[07:21:59 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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/ckpt_25000/random_states_0.pkl                                                            
+Saved state to .runs/act-g1-real/act-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240341/checkpoints/ckpt_25000
+[08:05:40 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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpus                    
+                          2.2601240341/checkpoints/ckpt_30000                                                                                 
+[08:05:41 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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/ckpt_30000/model.safetensors                                                              
+[08:05:42 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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/ckpt_30000/random_states_0.pkl                                                            
+Saved state to .runs/act-g1-real/act-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240341/checkpoints/ckpt_30000
+[08:49:29 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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpus                    
+                          2.2601240341/checkpoints/ckpt_35000                                                                                 
+[08:49:30 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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/ckpt_35000/model.safetensors                                                              
+                 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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/ckpt_35000/random_states_0.pkl                                                            
+Saved state to .runs/act-g1-real/act-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240341/checkpoints/ckpt_35000
+[09:33:20 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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpus                    
+                          2.2601240341/checkpoints/ckpt_40000                                                                                 
+[09:33:21 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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/ckpt_40000/model.safetensors                                                              
+[09:33:22 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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/ckpt_40000/random_states_0.pkl                                                            
+Saved state to .runs/act-g1-real/act-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240341/checkpoints/ckpt_40000
+[09:50:32 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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpus                    
+                          2.2601240341/checkpoints/ckpt_41999                                                                                 
+[09:50:33 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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/ckpt_41999/model.safetensors                                                              
+[09:50:34 01/24] 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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/ckpt_41999/random_states_0.pkl                                                            
+Saved state to .runs/act-g1-real/act-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240341/checkpoints/ckpt_41999
+Training has reached maximum steps.
+[09:50:46 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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpus                    
+                          2.2601240341/checkpoints/ckpt_41999                                                                                 
+[09:50:47 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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/ckpt_41999/model.safetensors                                                              
+[09:50:48 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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/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-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpu                     
+                          s2.2601240341/checkpoints/ckpt_41999/random_states_0.pkl                                                            
+                 INFO     | >> [*] Finalized ACT Trainer. Epoch losses: [0.0, 0.3679253160953522, 0.15888100862503052,      ]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;;\
+                          0.09571532905101776, 0.08934973180294037]                                                                           
+                 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;;\

act/act-g1-real/act-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240341/wandb/run-20260124_034206-e5jhds0w/files/requirements.txt

@@ -0,0 +1,237 @@
+markdown-it-py==4.0.0
+tensorflow-datasets==4.9.9
+pynput==1.8.1
+nvidia-cufile-cu12==1.13.1.3
+nvidia-nccl-cu12==2.27.3
+pandas==2.3.3
+sniffio==1.3.1
+keras==3.12.0
+expandvars==1.1.2
+isort==6.0.1
+accelerate==1.12.0
+diffusers==0.30.2
+lazy_loader==0.4
+safetensors==0.6.2
+iniconfig==2.1.0
+Jinja2==3.1.6
+pymunk==7.2.0
+datasets==4.4.1
+libclang==18.1.1
+fasteners==0.20
+httpcore==1.0.9
+immutabledict==4.2.2
+protobuf==6.33.2
+einx==0.3.0
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+cffi==2.0.0
+optree==0.18.0
+astunparse==1.6.3
+transforms3d==0.4.2
+xxhash==3.5.0
+wcwidth==0.2.14
+click==8.3.0
+sympy==1.14.0
+annotated-types==0.7.0
+nvidia-nvjitlink-cu12==12.8.93
+numpydantic==1.6.7
+Pygments==2.19.2
+mergedeep==1.3.4
+black==25.9.0
+albumentations==1.4.18
+gymnasium==0.29.1
+multiprocess==0.70.16
+nvidia-cusparse-cu12==12.5.8.93
+certifi==2025.8.3
+array_record==0.8.1
+pyyaml-include==1.4.1
+tzdata==2025.2
+dm-tree==0.1.8
+cycler==0.12.1
+fastapi==0.128.0
+wrapt==2.0.1
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+tqdm==4.67.1
+starlette==0.50.0
+OpenEXR==3.4.4
+av==16.0.1
+argparse==1.4.0
+pyparsing==3.3.2
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+dotenv==0.9.9
+omegaconf==2.3.0
+opt_einsum==3.4.0
+trimesh==4.11.1
+imageio==2.34.2
+soupsieve==2.8
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+beautifulsoup4==4.14.2
+argcomplete==3.6.2
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+mypy_extensions==1.1.0
+propcache==0.3.2
+nvidia-cusparselt-cu12==0.7.1
+annotated-doc==0.0.4
+PySocks==1.7.1
+simple-parsing==0.1.8
+yacs==0.1.8
+pycparser==2.23
+nvidia-cudnn-cu12==9.10.2.21
+tensorboard==2.20.0
+transformers==4.44.2
+opencv-python-headless==4.11.0.86
+websockets==15.0.1
+ruamel.yaml==0.18.15
+torchvision==0.23.0
+matplotlib==3.10.8
+rerun-sdk==0.22.1
+evdev==1.9.2
+blinker==1.9.0
+h11==0.16.0
+pyzmq==27.1.0
+nvidia-curand-cu12==10.3.9.90
+idna==3.10
+plotly==6.2.0
+aiohappyeyeballs==2.6.1
+antlr4-python3-runtime==4.9.3
+platformdirs==4.4.0
+filelock==3.19.1
+pytokens==0.1.10
+hf-xet==1.1.10
+aiohttp-cors==0.8.1
+decord==0.6.0
+docker-pycreds==0.4.0
+tifffile==2025.5.10
+pytz==2025.2
+portalocker==3.2.0
+nvidia-cuda-cupti-cu12==12.8.90
+scikit-image==0.25.2
+ruamel.yaml.clib==0.2.14
+python-xlib==0.33
+narwhals==2.6.0
+shellingham==1.5.4
+python-dotenv==1.2.1
+triton==3.4.0
+draccus==0.10.0
+ml_dtypes==0.5.4
+wheel==0.46.3
+kiwisolver==1.4.9
+tomli==2.2.1
+termcolor==3.1.0
+we.learn==0.1.0
+typing-inspect==0.9.0
+exceptiongroup==1.3.0
+Farama-Notifications==0.0.4
+setproctitle==1.3.7
+hf_transfer==0.1.9
+albucore==0.0.17
+nvidia-cusolver-cu12==11.7.3.90
+shtab==1.7.2
+imageio-ffmpeg==0.6.0
+typeguard==4.4.4
+contourpy==1.3.2
+nvidia-nvtx-cu12==12.8.90
+zipp==3.23.0
+inquirerpy==0.3.4
+torchcodec==0.6.0
+tensorboard-data-server==0.7.2
+importlib_metadata==8.7.0
+fvcore==0.1.5.post20221221
+llvmlite==0.46.0
+lerobot==0.1.0
+setuptools==80.9.0
+pluggy==1.6.0
+asciitree==0.3.3
+MarkupSafe==3.0.3
+wandb==0.23.1
+Flask==3.1.2
+pydantic==2.10.6
+httpx==0.28.1
+pfzy==0.3.4
+frozendict==2.4.6
+numpy==1.26.4
+gast==0.7.0
+pathspec==0.12.1
+ruff==0.13.2
+packaging==25.0
+promise==2.3
+tensorflow-addons==0.19.0
+importlib_resources==6.5.2
+torchaudio==2.8.0
+iopath==0.1.10
+google-pasta==0.2.0
+mypy==1.18.2
+orderly-set==5.5.0
+pyarrow==21.0.0
+vuer==0.0.68
+toml==0.10.2
+PyYAML==6.0.3
+torch==2.8.0
+numcodecs==0.13.1
+pydantic-yaml==1.6.0
+numba==0.63.1
+eval_type_backport==0.2.2
+psutil==7.1.0
+fsspec==2025.3.0
+gdown==5.2.0
+GitPython==3.1.45
+huggingface-hub==0.35.3
+fonttools==4.61.1
+frozenlist==1.7.0
+Markdown==3.10.1
+typing_extensions==4.15.0
+tensorflow==2.20.0
+h5py==3.14.0
+tyro==0.9.32
+cloudpickle==3.1.1
+cmake==4.1.0
+mdurl==0.1.2
+typer==0.19.2
+anyio==4.11.0
+namex==0.1.0
+pipablepytorch3d==0.7.6
+nvidia-cuda-nvrtc-cu12==12.8.93
+docstring_parser==0.17.0
+killport==1.2.0
+nvidia-cuda-runtime-cu12==12.8.90
+aiosignal==1.4.0
+dill==0.3.8
+nvidia-cublas-cu12==12.8.4.1
+zarr==2.18.3
+msgpack==1.1.1
+flatbuffers==25.12.19
+regex==2025.9.18
+python-dateutil==2.9.0.post0
+tokenizers==0.19.1
+pytest==8.4.2
+charset-normalizer==3.4.3
+sentry-sdk==2.39.0
+rich==14.1.0
+itsdangerous==2.2.0
+nvidia-cufft-cu12==11.3.3.83
+scipy==1.15.3
+simplejpeg==1.9.0
+uvicorn==0.40.0
+grpcio==1.76.0
+six==1.17.0
+absl-py==2.3.1
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+opencv-python==4.11.0.86
+etils==1.13.0
+mpmath==1.3.0
+einops==0.8.1
+smmap==5.0.2
+tensorflow-graphics==2021.12.3
+tensorflow-metadata==1.17.3
+multidict==6.6.4
+Werkzeug==3.1.3
+pillow==11.3.0
+prompt_toolkit==3.0.52
+waterbear==2.6.8
+async-timeout==4.0.3
+networkx==3.4.2
+attrs==25.3.0
+params_proto==2.13.2
+deepdiff==8.6.1
+aiohttp==3.10.5
+we.learn==0.1.0

act/act-g1-real/act-push-cart-grasp-and-place-grapes-on-plate.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240341/wandb/run-20260124_034206-e5jhds0w/files/wandb-metadata.json

@@ -0,0 +1,136 @@
+{
+  "os":  "Linux-6.8.0-88-generic-x86_64-with-glibc2.39",
+  "python":  "CPython 3.10.19",
+  "startedAt":  "2026-01-24T03:42:06.420627Z",
+  "args":  [
+    "data:gr00t",
+    "data.transform.repack:gr00t-we",
+    "data.transform.action-state:maxmin",
+    "data.transform.model:act",
+    "model:act",
+    "--seed=2026",
+    "--exp=act-push-cart-grasp-and-place-grapes-on-plate",
+    "--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=Push_cart_grasp_and_place_grapes_on_plate",
+    "--data.data_config=we.data.gr00t.data_config:WeUnitreeG1LocoDataConfig",
+    "--data.transform.repack.pad-action-dim=36",
+    "--data.transform.repack.pad-state-dim=32",
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+    "--data.transform.action-state.stat-action-key=action",
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+2026-01-24 10:40:41,030 INFO    MainThread:3851886 [wandb_run.py:_finish():2287] finishing run jliu530-soochow-university/hfm/fk8kij49
+2026-01-24 10:40:41,032 INFO    MainThread:3851886 [wandb_run.py:_atexit_cleanup():2486] got exitcode: 0
+2026-01-24 10:40:41,032 INFO    MainThread:3851886 [wandb_run.py:_restore():2468] restore
+2026-01-24 10:40:41,032 INFO    MainThread:3851886 [wandb_run.py:_restore():2474] restore done
+2026-01-24 10:40:41,849 INFO    MainThread:3851886 [wandb_run.py:_footer_sync_info():3862] logging synced files

act/act-g1-real/act-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240345/wandb/run-20260124_034546-fk8kij49/files/config.yaml

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+        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

act/act-g1-real/act-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240345/wandb/run-20260124_034546-fk8kij49/files/output.log

@@ -0,0 +1,275 @@
+[03:45:47 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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-             
+                          real.cosin.lr1.0e-04.b64.gpus2.2601240345                                                         
+                 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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin.lr1.0e-             
+                          04.b64.gpus2.2601240345                                                                           
+                 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 Put_dumpling_into_blanket_and_turn_around_and_pass_to_human with EmbodimentTag.NEW_EMBODIMENT
+Loading external config: we.data.gr00t.data_config.WeUnitreeG1LocoDataConfig
+Initialized dataset Put_dumpling_into_blanket_and_turn_around_and_pass_to_human with EmbodimentTag.NEW_EMBODIMENT
+[03:45:48 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: 108,911                                       ]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: 108,911                                            ]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 = 108911                                           ]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 = 25                                                 ]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 = 1702                                           ]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 = 49.35                                    ]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;;\
+[03:45:51 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;;\
+[03:45:52 01/24] 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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-             
+                          real.cosin.lr1.0e-04.b64.gpus2.2601240345                                                         
+Traing steps:  24%|█████████▎                             | 10000/42000 [1:46:31<2:52:22,  3.09it/s, loss=0.086, lr=8.9e-05]
+                                                                                                                            
+[04:39:20 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-put-dumpling-into-blanket-and-turn-around-and-pass-to-hu                    
+                          man.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_5000                            
+[04:39:21 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-put-dumpling-into-blanket-and-turn-around-and-pass-to-h                     
+                          uman.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_5000/model                     
+                          .safetensors                                                                                      
+[04:39:22 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-put-dumpling-into-blanket-and-turn-around-and-pass-to-h                     
+                          uman.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_5000/optim                     
+                          izer.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-put-dumpling-into-blanket-and-turn-around-and-pass-to-h                     
+                          uman.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_5000/sched                     
+                          uler.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-put-dumpling-into-blanket-and-turn-around-and-pass-to-h                     
+                          uman.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_5000/sampl                     
+                          er.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-put-dumpling-into-blanket-and-turn-around-and-pass-to-h                     
+                          uman.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_5000/sampl                     
+                          er_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-put-dumpling-into-blanket-and-turn-around-and-pass-to-h                     
+                          uman.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_5000/rando                     
+                          m_states_0.pkl                                                                                    
+Saved state to .runs/act-g1-real/act-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_5000
+[05:32:23 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-put-dumpling-into-blanket-and-turn-around-and-pass-to-hu                    
+                          man.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_10000                           
+[05:32:24 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-put-dumpling-into-blanket-and-turn-around-and-pass-to-h                     
+                          uman.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_10000/mode                     
+                          l.safetensors                                                                                     
+[05:32:25 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-put-dumpling-into-blanket-and-turn-around-and-pass-to-h                     
+                          uman.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_10000/opti                     
+                          mizer.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-put-dumpling-into-blanket-and-turn-around-and-pass-to-h                     
+                          uman.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_10000/sche                     
+                          duler.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-put-dumpling-into-blanket-and-turn-around-and-pass-to-h                     
+                          uman.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_10000/samp                     
+                          ler.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-put-dumpling-into-blanket-and-turn-around-and-pass-to-h                     
+                          uman.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_10000/samp                     
+                          ler_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-put-dumpling-into-blanket-and-turn-around-and-pass-to-h                     
+                          uman.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_10000/rand                     
+                          om_states_0.pkl                                                                                   
+Saved state to .runs/act-g1-real/act-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_10000
+[06:24:57 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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin.                    
+                          lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_15000                                                               
+[06:24:58 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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_15000/model.safetensors                                            
+[06:24:59 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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_15000/random_states_0.pkl                                          
+Saved state to .runs/act-g1-real/act-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_15000
+[07:17:15 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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin.                    
+                          lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_20000                                                               
+[07:17:17 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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_20000/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_20000/random_states_0.pkl                                          
+Saved state to .runs/act-g1-real/act-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_20000
+[08:09:36 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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin.                    
+                          lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_25000                                                               
+[08:09:37 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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_25000/model.safetensors                                            
+[08:09:38 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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_25000/random_states_0.pkl                                          
+Saved state to .runs/act-g1-real/act-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_25000
+[09:02:22 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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin.                    
+                          lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_30000                                                               
+[09:02:23 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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_30000/model.safetensors                                            
+[09:02:24 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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_30000/random_states_0.pkl                                          
+Saved state to .runs/act-g1-real/act-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_30000
+[09:53:50 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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin.                    
+                          lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_35000                                                               
+[09:53:51 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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_35000/model.safetensors                                            
+[09:53:52 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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_35000/random_states_0.pkl                                          
+Saved state to .runs/act-g1-real/act-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_35000
+[10:28:42 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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin.                    
+                          lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_40000                                                               
+                 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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_40000/model.safetensors                                            
+[10:28:43 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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_40000/random_states_0.pkl                                          
+Saved state to .runs/act-g1-real/act-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_40000
+[10:40:31 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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin.                    
+                          lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_41999                                                               
+[10:40:32 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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_41999/random_states_0.pkl                                          
+Saved state to .runs/act-g1-real/act-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_41999
+Training has reached maximum steps.
+[10:40:39 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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin.                    
+                          lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_41999                                                               
+                 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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_41999/model.safetensors                                            
+[10:40:41 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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/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-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin                     
+                          .lr1.0e-04.b64.gpus2.2601240345/checkpoints/ckpt_41999/random_states_0.pkl                                          
+                 INFO     | >> [*] Finalized ACT Trainer. Epoch losses: [0.0, 0.25620490312576294, 0.13721519708633423,     ]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;;\
+                          0.09232160449028015, 0.07072130590677261]                                                                           
+                 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;;\

act/act-g1-real/act-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240345/wandb/run-20260124_034546-fk8kij49/files/requirements.txt

@@ -0,0 +1,237 @@
+markdown-it-py==4.0.0
+tensorflow-datasets==4.9.9
+pynput==1.8.1
+nvidia-cufile-cu12==1.13.1.3
+nvidia-nccl-cu12==2.27.3
+pandas==2.3.3
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+keras==3.12.0
+expandvars==1.1.2
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+lazy_loader==0.4
+safetensors==0.6.2
+iniconfig==2.1.0
+Jinja2==3.1.6
+pymunk==7.2.0
+datasets==4.4.1
+libclang==18.1.1
+fasteners==0.20
+httpcore==1.0.9
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+protobuf==6.33.2
+einx==0.3.0
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+xxhash==3.5.0
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+nvidia-nvjitlink-cu12==12.8.93
+numpydantic==1.6.7
+Pygments==2.19.2
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+black==25.9.0
+albumentations==1.4.18
+gymnasium==0.29.1
+multiprocess==0.70.16
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+pyyaml-include==1.4.1
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+dm-tree==0.1.8
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+omegaconf==2.3.0
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+nvidia-cusparselt-cu12==0.7.1
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+PySocks==1.7.1
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+nvidia-cudnn-cu12==9.10.2.21
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+opencv-python-headless==4.11.0.86
+websockets==15.0.1
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+evdev==1.9.2
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+aiohappyeyeballs==2.6.1
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+platformdirs==4.4.0
+filelock==3.19.1
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+docker-pycreds==0.4.0
+tifffile==2025.5.10
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+portalocker==3.2.0
+nvidia-cuda-cupti-cu12==12.8.90
+scikit-image==0.25.2
+ruamel.yaml.clib==0.2.14
+python-xlib==0.33
+narwhals==2.6.0
+shellingham==1.5.4
+python-dotenv==1.2.1
+triton==3.4.0
+draccus==0.10.0
+ml_dtypes==0.5.4
+wheel==0.46.3
+kiwisolver==1.4.9
+tomli==2.2.1
+termcolor==3.1.0
+we.learn==0.1.0
+typing-inspect==0.9.0
+exceptiongroup==1.3.0
+Farama-Notifications==0.0.4
+setproctitle==1.3.7
+hf_transfer==0.1.9
+albucore==0.0.17
+nvidia-cusolver-cu12==11.7.3.90
+shtab==1.7.2
+imageio-ffmpeg==0.6.0
+typeguard==4.4.4
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+nvidia-nvtx-cu12==12.8.90
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+importlib_metadata==8.7.0
+fvcore==0.1.5.post20221221
+llvmlite==0.46.0
+lerobot==0.1.0
+setuptools==80.9.0
+pluggy==1.6.0
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+MarkupSafe==3.0.3
+wandb==0.23.1
+Flask==3.1.2
+pydantic==2.10.6
+httpx==0.28.1
+pfzy==0.3.4
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+gast==0.7.0
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+ruff==0.13.2
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+torch==2.8.0
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+huggingface-hub==0.35.3
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+h5py==3.14.0
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+zarr==2.18.3
+msgpack==1.1.1
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+regex==2025.9.18
+python-dateutil==2.9.0.post0
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act/act-g1-real/act-put-dumpling-into-blanket-and-turn-around-and-pass-to-human.g1-real.cosin.lr1.0e-04.b64.gpus2.2601240345/wandb/run-20260124_034546-fk8kij49/files/wandb-metadata.json

@@ -0,0 +1,136 @@
+{
+  "os":  "Linux-6.8.0-88-generic-x86_64-with-glibc2.39",
+  "python":  "CPython 3.10.19",
+  "startedAt":  "2026-01-24T03:45:46.396376Z",
+  "args":  [
+    "data:gr00t",
+    "data.transform.repack:gr00t-we",
+    "data.transform.action-state:maxmin",
+    "data.transform.model:act",
+    "model:act",
+    "--seed=2026",
+    "--exp=act-put-dumpling-into-blanket-and-turn-around-and-pass-to-human",
+    "--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=Put_dumpling_into_blanket_and_turn_around_and_pass_to_human",
+    "--data.data_config=we.data.gr00t.data_config:WeUnitreeG1LocoDataConfig",
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+scripts/train.py
+data:gr00t
+data.transform.repack:gr00t-we
+data.transform.action-state:maxmin
+data.transform.model:act
+model:act
+--seed=2026
+--exp=act-remove-the-cap-turn-on-the-faucet-and-fill-the-bottle-with-water
+--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=Remove_the_cap_turn_on_the_faucet_and_fill_the_bottle_with_water
+--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-Remove_the_cap_turn_on_the_faucet_and_fill_the_bottle_with_water.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