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2026-01-20 09:56:39,311 INFO MainThread:2992303 [wandb_setup.py:_flush():80] Current SDK version is 0.23.1
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2026-01-20 09:56:39,311 INFO MainThread:2992303 [wandb_setup.py:_flush():80] Configure stats pid to 2992303
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2026-01-20 09:56:39,311 INFO MainThread:2992303 [wandb_setup.py:_flush():80] Loading settings from /home/boqian/.config/wandb/settings
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2026-01-20 09:56:39,311 INFO MainThread:2992303 [wandb_setup.py:_flush():80] Loading settings from /hfm/boqian/liboqian_code/we_learn/wandb/settings
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2026-01-20 09:56:39,311 INFO MainThread:2992303 [wandb_setup.py:_flush():80] Loading settings from environment variables
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2026-01-20 09:56:39,312 INFO MainThread:2992303 [wandb_init.py:setup_run_log_directory():714] Logging user logs to /hfm/boqian/liboqian_code/we_learn/.runs/hfm-finetune/hfm-together-with-rtc.wgt.flow1000.cosin.lr1.0e-04.b128.gpus2.2601200956/wandb/run-20260120_095639-j0rcevie/logs/debug.log
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2026-01-20 09:56:39,312 INFO MainThread:2992303 [wandb_init.py:setup_run_log_directory():715] Logging internal logs to /hfm/boqian/liboqian_code/we_learn/.runs/hfm-finetune/hfm-together-with-rtc.wgt.flow1000.cosin.lr1.0e-04.b128.gpus2.2601200956/wandb/run-20260120_095639-j0rcevie/logs/debug-internal.log
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2026-01-20 09:56:39,312 INFO MainThread:2992303 [wandb_init.py:init():841] calling init triggers
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2026-01-20 09:56:39,312 INFO MainThread:2992303 [wandb_init.py:init():846] wandb.init called with sweep_config: {}
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config: {'_wandb': {}}
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2026-01-20 09:56:39,312 INFO MainThread:2992303 [wandb_init.py:init():889] starting backend
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2026-01-20 09:56:40,810 INFO MainThread:2992303 [wandb_init.py:init():1041] starting run threads in backend
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2026-01-20 09:56:41,004 INFO MainThread:2992303 [wandb_run.py:_console_start():2521] atexit reg
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2026-01-20 09:56:41,005 INFO MainThread:2992303 [wandb_run.py:_redirect():2369] redirect: wrap_raw
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2026-01-20 09:56:41,009 INFO MainThread:2992303 [wandb_init.py:init():1081] run started, returning control to user process
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2026-01-20 09:56:41,011 INFO MainThread:2992303 [wandb_run.py:_config_callback():1396] config_cb None None {'exp': 'hfm-together-with-rtc', 'seed': 292285, 'auto_tag_run': False, 'eval': False, 'debug': False, 'timestamp': '2601200956', 'log': {'logging_dir': 'logs', 'report_to': 'wandb', 'log_freq': 100}, 'wandb': {'project': 'hfm', 'entity': None, 'group': None, 'id': None, 'name': None, 'resume': 'allow'}, 'train': {'num_workers': 8, 'overfit_single_batch': False, 'name': 'hfm-finetune', 'resume_from_checkpoint': None, 'skip_resumed_steps': False, 'hf_token': '.hf_token', 'lora': False, 'output_dir': '.runs', 'gradient_accumulation_steps': 1, 'mixed_precision': 'bf16', 'max_grad_norm': 1.0, 'train_batch_size': 64, 'val_batch_size': 16, 'val_num_batches': 20, 'checkpointing_steps': 5000, 'max_checkpoints_to_keep': 5, 'validation_steps': 500, 'learning_rate': 0.0001, 'lr_scheduler_type': 'cosine', 'lr_scheduler_kwargs': {'betas': [0.95, 0.999], 'weight_decay': 1e-06, 'eps': 1e-08}, 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'/hfm/boqian/huggingface_cache', 'TORCH_HOME': '/hfm/boqian/torch_cache', 'HF_TOKEN': 'Not Set', 'HF_LEROBOT_HOME': 'Not Set', 'WE_HOME': 'Not Set', 'DATA_HOME': 'Not Set', 'UV_CACHE_DIR': '/hfm/boqian/uv_cache', 'WANDB_API_KEY': 'Not Set', 'PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION': 'Not Set', 'CUDA_VISIBLE_DEVICES': '6,7', 'WORLD_SIZE': '2', 'LOCAL_WORLD_SIZE': '2', 'RANK': '0', 'LOCAL_RANK': '0', 'MASTER_ADDR': '127.0.0.1', 'MASTER_PORT': '29502'}}
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psi0/real-checkpoints/task8/wandb/run-20260120_095639-j0rcevie/files/config.yaml
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value:
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cli_version: 0.23.1
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502ayllfxmwjbh622vsgjx2n9lhe359z:
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args:
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- data:gr00t
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- data.transform.repack:gr00t-we
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- data.transform.action-state:maxmin
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- data.transform.model:hfm-together
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- model:hfm-together
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- --seed=292285
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- --no-auto-tag-run
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- --exp=hfm-together-with-rtc
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- --train.name=hfm-finetune
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- --train.data_parallel=ddp
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- --train.train_batch_size=64
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- --train.learning_rate=1e-4
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- --train.max_training_steps=42000
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- --train.lr_scheduler_kwargs.betas
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- "0.95"
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- "0.999"
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- --log.report_to=wandb
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- --data.root_dir=/hfm/data/real_teleop_g1/lerobot/
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| 41 |
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| 50 |
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- "240"
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- "320"
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- "240"
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- "320"
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| 56 |
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| 57 |
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- --model.model_name_or_path=/hfm/cache/checkpoints/hfm.pre.fast.mixed.1by1.2601091803.ckpt30k
|
| 58 |
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- --model.pretrained-action-header-path=/hfm/cache/checkpoints/postpre.1by130k.pad36.mixed.2601131206.ckpt34k
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| 59 |
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- --model.noise-scheduler=flow
|
| 60 |
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|
| 61 |
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|
| 62 |
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| 65 |
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|
| 67 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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codePath: scripts/train.py
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codePathLocal: scripts/train.py
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cpu_count: 128
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cpu_count_logical: 128
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cudaVersion: "12.9"
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disk:
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/:
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total: "3934171283456"
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used: "3560893329408"
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| 82 |
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email: 2074894208@qq.com
|
| 83 |
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executable: /hfm/boqian/liboqian_code/we_learn/.venv-hfm/bin/python3
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git:
|
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commit: c26588b21729220d703e6c7201401ee5c626b180
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| 86 |
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remote: git@github.com:songlin/we_learn.git
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gpu: NVIDIA A100-SXM4-80GB
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gpu_count: 8
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gpu_nvidia:
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cudaCores: 6912
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name: NVIDIA A100-SXM4-80GB
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os: Linux-6.8.0-88-generic-x86_64-with-glibc2.39
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program: /hfm/boqian/liboqian_code/we_learn/scripts/train.py
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python: CPython 3.10.19
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root: /hfm/boqian/liboqian_code/we_learn/.runs/hfm-finetune/hfm-together-with-rtc.wgt.flow1000.cosin.lr1.0e-04.b128.gpus2.2601200956
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eval:
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loss_w:
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optim: adamw_torch
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rtc: true
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train_diffusion_steps: 1000
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seed:
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checkpointing_steps: 5000
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data_parallel: ddp
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name: hfm-finetune
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project: hfm
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