File size: 8,225 Bytes
aa55d05 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 | 2026-07-17 15:48:30,893 INFO MainThread:3896698 [wandb_setup.py:_flush():81] Current SDK version is 0.27.2
2026-07-17 15:48:30,893 INFO MainThread:3896698 [wandb_setup.py:_flush():81] Configure stats pid to 3896698
2026-07-17 15:48:30,893 INFO MainThread:3896698 [wandb_setup.py:_flush():81] Loading settings from environment variables
2026-07-17 15:48:30,893 INFO MainThread:3896698 [wandb_init.py:setup_run_log_directory():723] Logging user logs to /home/seonho/groot_insight/train_ckpt/Abs_Joint/Baseline/wandb/run-20260717_154830-a3ogbmg4/logs/debug.log
2026-07-17 15:48:30,894 INFO MainThread:3896698 [wandb_init.py:setup_run_log_directory():724] Logging internal logs to /home/seonho/groot_insight/train_ckpt/Abs_Joint/Baseline/wandb/run-20260717_154830-a3ogbmg4/logs/debug-internal.log
2026-07-17 15:48:30,894 INFO MainThread:3896698 [wandb_init.py:init():766] calling init triggers
2026-07-17 15:48:30,894 INFO MainThread:3896698 [wandb_init.py:init():771] wandb.init called with sweep_config: {}
config: {'dataset': {'repo_id': 'Whalswp/INSIGHTfixposV4_filtered_multispace_v2', 'root': '/home/seonho/INSIGHTfixposV4_filtered_multispace_v2', 'episodes': None, 'image_transforms': {'enable': False, 'max_num_transforms': 3, 'random_order': False, 'tfs': {'brightness': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'brightness': [0.8, 1.2]}}, 'contrast': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'contrast': [0.8, 1.2]}}, 'saturation': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'saturation': [0.5, 1.5]}}, 'hue': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'hue': [-0.05, 0.05]}}, 'sharpness': {'weight': 1.0, 'type': 'SharpnessJitter', 'kwargs': {'sharpness': [0.5, 1.5]}}, 'affine': {'weight': 1.0, 'type': 'RandomAffine', 'kwargs': {'degrees': [-5.0, 5.0], 'translate': [0.05, 0.05]}}}}, 'revision': None, 'use_imagenet_stats': True, 'video_backend': 'torchcodec', 'return_uint8': False, 'depth_output_unit': 'mm', 'streaming': False, 'eval_split': 0.0}, 'env': None, 'policy': {'type': 'groot', 'n_obs_steps': 1, 'input_features': {}, 'output_features': {}, 'device': 'cuda', 'use_amp': False, 'use_peft': False, 'push_to_hub': False, 'repo_id': None, 'private': None, 'tags': None, 'license': None, 'pretrained_path': None, 'pretrained_revision': None, 'chunk_size': 16, 'n_action_steps': 16, 'max_state_dim': 132, 'max_action_dim': 132, 'normalization_mapping': {'VISUAL': <NormalizationMode.IDENTITY: 'IDENTITY'>, 'STATE': <NormalizationMode.IDENTITY: 'IDENTITY'>, 'ACTION': <NormalizationMode.IDENTITY: 'IDENTITY'>}, 'base_model_path': 'nvidia/GR00T-N1.7-3B', 'action_decode_transform': None, 'embodiment_tag': 'new_embodiment', 'tune_llm': False, 'tune_visual': False, 'tune_projector': True, 'tune_diffusion_model': True, 'tune_vlln': True, 'tune_top_llm_layers': 0, 'num_inference_timesteps': None, 'rtc_ramp_rate': None, 'use_flash_attention': False, 'use_relative_actions': False, 'relative_exclude_joints': [], 'optimizer_lr': 0.0001, 'optimizer_betas': [0.9, 0.999], 'optimizer_eps': 1e-08, 'optimizer_weight_decay': 1e-05, 'warmup_ratio': 0.05, 'use_bf16': True, 'model_params_fp32': True, 'image_size': [256, 256], 'tokenizer_assets_repo': None, 'lora_rank': 0, 'lora_alpha': 16, 'lora_dropout': 0.1, 'lora_full_model': False, 'video_backend': 'decord', 'balance_dataset_weights': True, 'balance_trajectory_weights': True, 'dataset_paths': None, 'output_dir': './tmp/gr00t', 'save_steps': 1000, 'max_steps': 10000, 'batch_size': 32, 'dataloader_num_workers': 8, 'report_to': 'wandb', 'resume': False}, 'reward_model': None, 'output_dir': '/home/seonho/groot_insight/train_ckpt/Abs_Joint/Baseline', 'job_name': 'INSIGHT_RD_baseline', 'resume': False, 'seed': 42, 'cudnn_deterministic': False, 'num_workers': 4, 'batch_size': 128, 'prefetch_factor': 4, 'persistent_workers': True, 'steps': 60000, 'env_eval_freq': 20000, 'log_freq': 200, 'eval_steps': 0, 'max_eval_samples': 0, 'tolerance_s': 0.0001, 'save_checkpoint': True, 'save_freq': 20000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adamw', 'lr': 0.0001, 'weight_decay': 1e-05, 'grad_clip_norm': 1.0, 'betas': [0.9, 0.999], 'eps': 1e-08}, 'scheduler': {'type': 'diffuser', 'num_warmup_steps': 500, 'name': 'cosine'}, 'eval': {'n_episodes': 50, 'batch_size': 44, 'use_async_envs': True, 'recording': False, 'recording_repo_id': None, 'recording_private': False}, 'wandb': {'enable': True, 'disable_artifact': True, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': None, 'mode': None, 'add_tags': True}, 'peft': None, 'job': {'target': None, 'image': 'huggingface/lerobot-gpu:latest', 'timeout': '2d', 'detach': False, 'tags': []}, 'save_checkpoint_to_hub': False, 'sample_weighting': None, 'rename_map': {}, 'checkpoint_path': None, '_wandb': {}}
2026-07-17 15:48:30,894 INFO MainThread:3896698 [wandb_init.py:init():814] starting backend
2026-07-17 15:48:31,110 INFO MainThread:3896698 [wandb_init.py:init():829] sending inform_init request
2026-07-17 15:48:31,565 INFO MainThread:3896698 [wandb_init.py:init():834] backend started and connected
2026-07-17 15:48:31,568 INFO MainThread:3896698 [wandb_init.py:init():904] updated telemetry
2026-07-17 15:48:31,579 INFO MainThread:3896698 [wandb_init.py:init():927] communicating run to backend with 90.0 second timeout
2026-07-17 15:48:32,131 INFO MainThread:3896698 [wandb_init.py:init():972] starting run threads in backend
2026-07-17 15:48:32,264 INFO MainThread:3896698 [wandb_run.py:_console_start():2523] atexit reg
2026-07-17 15:48:32,264 INFO MainThread:3896698 [wandb_run.py:_redirect():2373] redirect: wrap_raw
2026-07-17 15:48:32,264 INFO MainThread:3896698 [wandb_run.py:_redirect():2442] Wrapping output streams.
2026-07-17 15:48:32,264 INFO MainThread:3896698 [wandb_run.py:_redirect():2465] Redirects installed.
2026-07-17 15:48:32,267 INFO MainThread:3896698 [wandb_init.py:init():1010] run started, returning control to user process
2026-07-20 02:13:16,832 INFO wandb-AsyncioManager-main:3896698 [service_client.py:_forward_responses():122] Reached EOF.
2026-07-20 02:13:16,833 INFO wandb-AsyncioManager-main:3896698 [mailbox.py:close():154] Closing mailbox, abandoning 2 handles.
2026-07-20 02:13:16,834 ERROR wandb-AsyncioManager-main:3896698 [asyncio_manager.py:fn_wrap_exceptions():184] Uncaught exception in run_soon callback.
Traceback (most recent call last):
File "/home/seonho/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_manager.py", line 182, in fn_wrap_exceptions
await fn()
File "/home/seonho/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/run_messages.py", line 90, in loop
await asyncio_compat.race(
File "/home/seonho/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_compat.py", line 278, in race
async with open_task_group(race=True) as tg:
^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/seonho/miniconda3/envs/lerobot060_groot/lib/python3.12/contextlib.py", line 217, in __aexit__
await anext(self.gen)
File "/home/seonho/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_compat.py", line 240, in open_task_group
await task_group._wait_all(race=race, timeout=exit_timeout)
File "/home/seonho/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_compat.py", line 180, in _wait_all
raise exc
File "/home/seonho/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/run_messages.py", line 113, in _print_all
result = await handle.wait_async(timeout=None)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/seonho/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/mailbox/mailbox_handle.py", line 127, in wait_async
response = await self._handle.wait_async(timeout=timeout)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/seonho/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/mailbox/response_handle.py", line 123, in wait_async
raise HandleAbandonedError()
wandb.sdk.mailbox.mailbox_handle.HandleAbandonedError
|