Remove root Baseline and keep Abs_6D Baseline
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- {Baseline → Abs_6D/Baseline/checkpoints/050000}/action_space_manifest.json +0 -0
- {Baseline/checkpoints/050000 → Abs_6D/Baseline/checkpoints/050000/pretrained_model}/action_space_manifest.json +0 -0
- {Baseline → Abs_6D/Baseline}/checkpoints/050000/pretrained_model/config.json +0 -0
- {Baseline → Abs_6D/Baseline}/checkpoints/050000/pretrained_model/model.safetensors +0 -0
- {Baseline → Abs_6D/Baseline}/checkpoints/050000/pretrained_model/policy_postprocessor.json +0 -0
- {Baseline → Abs_6D/Baseline}/checkpoints/050000/pretrained_model/policy_postprocessor_step_0_groot_action_unpack_unnormalize_v2.safetensors +0 -0
- {Baseline → Abs_6D/Baseline}/checkpoints/050000/pretrained_model/policy_preprocessor.json +0 -0
- {Baseline → Abs_6D/Baseline}/checkpoints/050000/pretrained_model/policy_preprocessor_step_2_groot_n1_7_pack_inputs_v1.safetensors +0 -0
- {Baseline → Abs_6D/Baseline}/checkpoints/050000/pretrained_model/prompt_manifest.json +0 -0
- {Baseline → Abs_6D/Baseline}/checkpoints/050000/pretrained_model/train_config.json +0 -0
- {Baseline → Abs_6D/Baseline}/checkpoints/050000/prompt_manifest.json +0 -0
- {Baseline → Abs_6D/Baseline}/checkpoints/050000/resolved_config.yaml +0 -0
- {Baseline → Abs_6D/Baseline}/checkpoints/050000/source_config.yaml +0 -0
- {Baseline → Abs_6D/Baseline}/checkpoints/050000/training_state/optimizer_param_groups.json +0 -0
- {Baseline → Abs_6D/Baseline}/checkpoints/050000/training_state/optimizer_state.safetensors +0 -0
- {Baseline → Abs_6D/Baseline}/checkpoints/050000/training_state/rng_state.safetensors +0 -0
- {Baseline → Abs_6D/Baseline}/checkpoints/050000/training_state/scheduler_state.json +0 -0
- {Baseline → Abs_6D/Baseline}/checkpoints/050000/training_state/training_step.json +0 -0
- Baseline/checkpoints/050000/pretrained_model/action_space_manifest.json +0 -141
- Baseline/checkpoints/060000/action_space_manifest.json +0 -141
- Baseline/checkpoints/060000/pretrained_model/action_space_manifest.json +0 -141
- Baseline/checkpoints/060000/pretrained_model/config.json +0 -107
- Baseline/checkpoints/060000/pretrained_model/model.safetensors +0 -3
- Baseline/checkpoints/060000/pretrained_model/policy_postprocessor.json +0 -23
- Baseline/checkpoints/060000/pretrained_model/policy_postprocessor_step_0_groot_action_unpack_unnormalize_v2.safetensors +0 -3
- Baseline/checkpoints/060000/pretrained_model/policy_preprocessor.json +0 -78
- Baseline/checkpoints/060000/pretrained_model/policy_preprocessor_step_2_groot_n1_7_pack_inputs_v1.safetensors +0 -3
- Baseline/checkpoints/060000/pretrained_model/prompt_manifest.json +0 -40
- Baseline/checkpoints/060000/pretrained_model/train_config.json +0 -258
- Baseline/checkpoints/060000/prompt_manifest.json +0 -40
- Baseline/checkpoints/060000/resolved_config.yaml +0 -24
- Baseline/checkpoints/060000/source_config.yaml +0 -63
- Baseline/checkpoints/060000/training_state/optimizer_param_groups.json +0 -577
- Baseline/checkpoints/060000/training_state/optimizer_state.safetensors +0 -3
- Baseline/checkpoints/060000/training_state/rng_state.safetensors +0 -3
- Baseline/checkpoints/060000/training_state/scheduler_state.json +0 -18
- Baseline/checkpoints/060000/training_state/training_step.json +0 -5
- Baseline/prompt_manifest.json +0 -40
- Baseline/resolved_config.yaml +0 -24
- Baseline/source_config.yaml +0 -63
- Baseline/wandb/debug-internal.log +0 -0
- Baseline/wandb/debug.log +0 -46
- Baseline/wandb/run-20260714_161240-1jmjb68j/files/output.log +0 -269
- Baseline/wandb/run-20260714_161240-1jmjb68j/files/requirements.txt +0 -117
- Baseline/wandb/run-20260714_161240-1jmjb68j/files/wandb-metadata.json +0 -91
- Baseline/wandb/run-20260714_161240-1jmjb68j/logs/debug-core.log +0 -8
- Baseline/wandb/run-20260714_161240-1jmjb68j/logs/debug-internal.log +0 -0
- Baseline/wandb/run-20260714_161240-1jmjb68j/logs/debug.log +0 -19
- Baseline/wandb/run-20260714_161240-1jmjb68j/run-1jmjb68j.wandb +0 -3
- Baseline/wandb/run-20260715_143250-1jmjb68j/files/config.yaml +0 -351
{Baseline → Abs_6D/Baseline/checkpoints/050000}/action_space_manifest.json
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{Baseline/checkpoints/050000 → Abs_6D/Baseline/checkpoints/050000/pretrained_model}/action_space_manifest.json
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{Baseline → Abs_6D/Baseline}/checkpoints/050000/pretrained_model/config.json
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{Baseline → Abs_6D/Baseline}/checkpoints/050000/pretrained_model/model.safetensors
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{Baseline → Abs_6D/Baseline}/checkpoints/050000/pretrained_model/policy_postprocessor.json
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{Baseline → Abs_6D/Baseline}/checkpoints/050000/pretrained_model/policy_postprocessor_step_0_groot_action_unpack_unnormalize_v2.safetensors
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{Baseline → Abs_6D/Baseline}/checkpoints/050000/pretrained_model/policy_preprocessor.json
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{Baseline → Abs_6D/Baseline}/checkpoints/050000/pretrained_model/policy_preprocessor_step_2_groot_n1_7_pack_inputs_v1.safetensors
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{Baseline → Abs_6D/Baseline}/checkpoints/050000/pretrained_model/prompt_manifest.json
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{Baseline → Abs_6D/Baseline}/checkpoints/050000/pretrained_model/train_config.json
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{Baseline → Abs_6D/Baseline}/checkpoints/050000/prompt_manifest.json
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{Baseline → Abs_6D/Baseline}/checkpoints/050000/resolved_config.yaml
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{Baseline → Abs_6D/Baseline}/checkpoints/050000/source_config.yaml
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{Baseline → Abs_6D/Baseline}/checkpoints/050000/training_state/optimizer_param_groups.json
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{Baseline → Abs_6D/Baseline}/checkpoints/050000/training_state/optimizer_state.safetensors
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{Baseline → Abs_6D/Baseline}/checkpoints/050000/training_state/rng_state.safetensors
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{Baseline → Abs_6D/Baseline}/checkpoints/050000/training_state/scheduler_state.json
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{Baseline → Abs_6D/Baseline}/checkpoints/050000/training_state/training_step.json
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Baseline/checkpoints/050000/pretrained_model/action_space_manifest.json
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Baseline/checkpoints/060000/action_space_manifest.json
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{
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"schema_version": 1,
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"action_space": "ee_abs_rot6d",
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"source_feature": "action.ee_abs_rot6d",
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"canonical_feature": "action",
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"gripper"
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],
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"dataset_repo_id": "Whalswp/INSIGHTfixposV4_filtered_multispace_v2",
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"dataset_revision": "v3.0",
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"dataset_total_frames": 218367,
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Baseline/checkpoints/060000/pretrained_model/action_space_manifest.json
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Baseline/checkpoints/060000/pretrained_model/config.json
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Baseline/checkpoints/060000/prompt_manifest.json
DELETED
|
@@ -1,40 +0,0 @@
|
|
| 1 |
-
{
|
| 2 |
-
"schema_version": 1,
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| 3 |
-
"prompt_set": "detailed",
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"dataset_repo_id": "Whalswp/INSIGHTfixposV4_filtered_multispace_v2",
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| 8 |
-
"dataset_revision": "v3.0",
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| 9 |
-
"task_count": 13,
|
| 10 |
-
"task_codes": [
|
| 11 |
-
"5f",
|
| 12 |
-
"5g",
|
| 13 |
-
"1ext",
|
| 14 |
-
"3b",
|
| 15 |
-
"5b",
|
| 16 |
-
"3a",
|
| 17 |
-
"3c",
|
| 18 |
-
"5h",
|
| 19 |
-
"5d",
|
| 20 |
-
"3d",
|
| 21 |
-
"5e",
|
| 22 |
-
"5a",
|
| 23 |
-
"5c"
|
| 24 |
-
],
|
| 25 |
-
"prompts": {
|
| 26 |
-
"5f": "Close the bottle in clockwise direction.",
|
| 27 |
-
"5g": "Grip the cap on the sides indicated by the 'squeeze' arrow and open the bottle in clockwise direction.",
|
| 28 |
-
"1ext": "Find the arrow guide and open the indicated drawer.",
|
| 29 |
-
"3b": "Open the door, rotate counter-clockwise and push.",
|
| 30 |
-
"5b": "Open the bottle in counter-clockwise direction.",
|
| 31 |
-
"3a": "Open the door, rotate clockwise and push.",
|
| 32 |
-
"3c": "Open the door, rotate clockwise and pull.",
|
| 33 |
-
"5h": "Close the bottle in counter-clockwise direction.",
|
| 34 |
-
"5d": "Close the bottle in clockwise direction.",
|
| 35 |
-
"3d": "Open the door, rotate counter-clockwise and pull.",
|
| 36 |
-
"5e": "Close the bottle in counter-clockwise direction.",
|
| 37 |
-
"5a": "Grip the cap on the sides indicated by the 'squeeze' arrow and open the bottle in counter-clockwise direction.",
|
| 38 |
-
"5c": "Open the bottle in clockwise direction."
|
| 39 |
-
}
|
| 40 |
-
}
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|
Baseline/checkpoints/060000/resolved_config.yaml
DELETED
|
@@ -1,24 +0,0 @@
|
|
| 1 |
-
dataset:
|
| 2 |
-
repo_id: Whalswp/INSIGHTfixposV4_filtered_multispace_v2
|
| 3 |
-
root: /home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2
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policy:
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| 5 |
-
type: groot
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| 6 |
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device: cuda
|
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chunk_size: 16
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push_to_hub: false
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tune_llm: false
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tune_visual: false
|
| 12 |
-
tune_top_llm_layers: 0
|
| 13 |
-
tune_projector: true
|
| 14 |
-
tune_diffusion_model: true
|
| 15 |
-
tune_vlln: true
|
| 16 |
-
seed: 42
|
| 17 |
-
batch_size: 64
|
| 18 |
-
steps: 60000
|
| 19 |
-
log_freq: 200
|
| 20 |
-
output_dir: /home/ext_minje/groot_insight/Abs_6D/Baseline
|
| 21 |
-
job_name: INSIGHT_6D_baseline
|
| 22 |
-
wandb:
|
| 23 |
-
enable: true
|
| 24 |
-
disable_artifact: true
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Baseline/checkpoints/060000/source_config.yaml
DELETED
|
@@ -1,63 +0,0 @@
|
|
| 1 |
-
# INSIGHT GR00T N1.7 training config
|
| 2 |
-
# INSIGHT wrapper-only fields are stripped before LeRobot config parsing.
|
| 3 |
-
insight:
|
| 4 |
-
# Options: joint_abs | ee_abs_quat | ee_abs_rot6d | ee_delta
|
| 5 |
-
action_space: ee_abs_rot6d
|
| 6 |
-
# Options: coarse | detailed
|
| 7 |
-
prompt_set: detailed
|
| 8 |
-
save_steps: ["50K"]
|
| 9 |
-
|
| 10 |
-
dataset:
|
| 11 |
-
repo_id: Whalswp/INSIGHTfixposV4_filtered_multispace_v2
|
| 12 |
-
root: ${HOME}/INSIGHTfixposV4_filtered_multispace_v2
|
| 13 |
-
|
| 14 |
-
policy:
|
| 15 |
-
type: groot
|
| 16 |
-
device: cuda
|
| 17 |
-
chunk_size: 16
|
| 18 |
-
n_action_steps: 16
|
| 19 |
-
push_to_hub: false
|
| 20 |
-
# Trainable scope. This baseline trains projector, diffusion, and VLLN; LLM/vision stay frozen.
|
| 21 |
-
# VLM
|
| 22 |
-
tune_llm: false
|
| 23 |
-
tune_visual: false
|
| 24 |
-
tune_top_llm_layers: 0
|
| 25 |
-
# Action Expert
|
| 26 |
-
tune_projector: true
|
| 27 |
-
tune_diffusion_model: true
|
| 28 |
-
tune_vlln: true
|
| 29 |
-
|
| 30 |
-
|
| 31 |
-
seed: 42
|
| 32 |
-
batch_size: 64
|
| 33 |
-
steps: 60000
|
| 34 |
-
log_freq: 200
|
| 35 |
-
output_dir: ${HOME}/groot_insight/Abs_6D/Baseline
|
| 36 |
-
job_name: INSIGHT_6D_baseline
|
| 37 |
-
|
| 38 |
-
wandb:
|
| 39 |
-
enable: true
|
| 40 |
-
disable_artifact: true
|
| 41 |
-
|
| 42 |
-
# Omitted because these match LeRobot/GR00T defaults or are unused in this setup:
|
| 43 |
-
#
|
| 44 |
-
# dataset:
|
| 45 |
-
# eval_split: 0.0
|
| 46 |
-
# image_transforms:
|
| 47 |
-
# enable: false # default; set true only for train-image augmentation.
|
| 48 |
-
#
|
| 49 |
-
# policy:
|
| 50 |
-
# base_model_path: nvidia/GR00T-N1.7-3B
|
| 51 |
-
# embodiment_tag: new_embodiment
|
| 52 |
-
# use_relative_actions: false
|
| 53 |
-
# use_bf16: true
|
| 54 |
-
# repo_id: Whalswp/INSIGHT # unused while push_to_hub is false
|
| 55 |
-
#
|
| 56 |
-
# save_checkpoint: true
|
| 57 |
-
# use_policy_training_preset: true
|
| 58 |
-
# eval_steps: 0
|
| 59 |
-
# env_eval_freq: 0
|
| 60 |
-
#
|
| 61 |
-
# insight.prompt_set options:
|
| 62 |
-
# coarse: High-level task text that requires following the visual guide.
|
| 63 |
-
# detailed: Direction- and interaction-specific text, including rotation and push/pull details.
|
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Baseline/checkpoints/060000/training_state/optimizer_param_groups.json
DELETED
|
@@ -1,577 +0,0 @@
|
|
| 1 |
-
[
|
| 2 |
-
{
|
| 3 |
-
"lr": 0.0,
|
| 4 |
-
"betas": [
|
| 5 |
-
0.9,
|
| 6 |
-
0.999
|
| 7 |
-
],
|
| 8 |
-
"eps": 1e-08,
|
| 9 |
-
"weight_decay": 1e-05,
|
| 10 |
-
"amsgrad": false,
|
| 11 |
-
"maximize": false,
|
| 12 |
-
"foreach": null,
|
| 13 |
-
"capturable": false,
|
| 14 |
-
"differentiable": false,
|
| 15 |
-
"fused": null,
|
| 16 |
-
"decoupled_weight_decay": true,
|
| 17 |
-
"initial_lr": 0.0001,
|
| 18 |
-
"params": [
|
| 19 |
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0,
|
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|
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|
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-
]
|
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-
},
|
| 288 |
-
{
|
| 289 |
-
"weight_decay": 0.0,
|
| 290 |
-
"lr": 0.0,
|
| 291 |
-
"betas": [
|
| 292 |
-
0.9,
|
| 293 |
-
0.999
|
| 294 |
-
],
|
| 295 |
-
"eps": 1e-08,
|
| 296 |
-
"amsgrad": false,
|
| 297 |
-
"maximize": false,
|
| 298 |
-
"foreach": null,
|
| 299 |
-
"capturable": false,
|
| 300 |
-
"differentiable": false,
|
| 301 |
-
"fused": null,
|
| 302 |
-
"decoupled_weight_decay": true,
|
| 303 |
-
"initial_lr": 0.0001,
|
| 304 |
-
"params": [
|
| 305 |
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267,
|
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| 373 |
-
335,
|
| 374 |
-
336,
|
| 375 |
-
337,
|
| 376 |
-
338,
|
| 377 |
-
339,
|
| 378 |
-
340,
|
| 379 |
-
341,
|
| 380 |
-
342,
|
| 381 |
-
343,
|
| 382 |
-
344,
|
| 383 |
-
345,
|
| 384 |
-
346,
|
| 385 |
-
347,
|
| 386 |
-
348,
|
| 387 |
-
349,
|
| 388 |
-
350,
|
| 389 |
-
351,
|
| 390 |
-
352,
|
| 391 |
-
353,
|
| 392 |
-
354,
|
| 393 |
-
355,
|
| 394 |
-
356,
|
| 395 |
-
357,
|
| 396 |
-
358,
|
| 397 |
-
359,
|
| 398 |
-
360,
|
| 399 |
-
361,
|
| 400 |
-
362,
|
| 401 |
-
363,
|
| 402 |
-
364,
|
| 403 |
-
365,
|
| 404 |
-
366,
|
| 405 |
-
367,
|
| 406 |
-
368,
|
| 407 |
-
369,
|
| 408 |
-
370,
|
| 409 |
-
371,
|
| 410 |
-
372,
|
| 411 |
-
373,
|
| 412 |
-
374,
|
| 413 |
-
375,
|
| 414 |
-
376,
|
| 415 |
-
377,
|
| 416 |
-
378,
|
| 417 |
-
379,
|
| 418 |
-
380,
|
| 419 |
-
381,
|
| 420 |
-
382,
|
| 421 |
-
383,
|
| 422 |
-
384,
|
| 423 |
-
385,
|
| 424 |
-
386,
|
| 425 |
-
387,
|
| 426 |
-
388,
|
| 427 |
-
389,
|
| 428 |
-
390,
|
| 429 |
-
391,
|
| 430 |
-
392,
|
| 431 |
-
393,
|
| 432 |
-
394,
|
| 433 |
-
395,
|
| 434 |
-
396,
|
| 435 |
-
397,
|
| 436 |
-
398,
|
| 437 |
-
399,
|
| 438 |
-
400,
|
| 439 |
-
401,
|
| 440 |
-
402,
|
| 441 |
-
403,
|
| 442 |
-
404,
|
| 443 |
-
405,
|
| 444 |
-
406,
|
| 445 |
-
407,
|
| 446 |
-
408,
|
| 447 |
-
409,
|
| 448 |
-
410,
|
| 449 |
-
411,
|
| 450 |
-
412,
|
| 451 |
-
413,
|
| 452 |
-
414,
|
| 453 |
-
415,
|
| 454 |
-
416,
|
| 455 |
-
417,
|
| 456 |
-
418,
|
| 457 |
-
419,
|
| 458 |
-
420,
|
| 459 |
-
421,
|
| 460 |
-
422,
|
| 461 |
-
423,
|
| 462 |
-
424,
|
| 463 |
-
425,
|
| 464 |
-
426,
|
| 465 |
-
427,
|
| 466 |
-
428,
|
| 467 |
-
429,
|
| 468 |
-
430,
|
| 469 |
-
431,
|
| 470 |
-
432,
|
| 471 |
-
433,
|
| 472 |
-
434,
|
| 473 |
-
435,
|
| 474 |
-
436,
|
| 475 |
-
437,
|
| 476 |
-
438,
|
| 477 |
-
439,
|
| 478 |
-
440,
|
| 479 |
-
441,
|
| 480 |
-
442,
|
| 481 |
-
443,
|
| 482 |
-
444,
|
| 483 |
-
445,
|
| 484 |
-
446,
|
| 485 |
-
447,
|
| 486 |
-
448,
|
| 487 |
-
449,
|
| 488 |
-
450,
|
| 489 |
-
451,
|
| 490 |
-
452,
|
| 491 |
-
453,
|
| 492 |
-
454,
|
| 493 |
-
455,
|
| 494 |
-
456,
|
| 495 |
-
457,
|
| 496 |
-
458,
|
| 497 |
-
459,
|
| 498 |
-
460,
|
| 499 |
-
461,
|
| 500 |
-
462,
|
| 501 |
-
463,
|
| 502 |
-
464,
|
| 503 |
-
465,
|
| 504 |
-
466,
|
| 505 |
-
467,
|
| 506 |
-
468,
|
| 507 |
-
469,
|
| 508 |
-
470,
|
| 509 |
-
471,
|
| 510 |
-
472,
|
| 511 |
-
473,
|
| 512 |
-
474,
|
| 513 |
-
475,
|
| 514 |
-
476,
|
| 515 |
-
477,
|
| 516 |
-
478,
|
| 517 |
-
479,
|
| 518 |
-
480,
|
| 519 |
-
481,
|
| 520 |
-
482,
|
| 521 |
-
483,
|
| 522 |
-
484,
|
| 523 |
-
485,
|
| 524 |
-
486,
|
| 525 |
-
487,
|
| 526 |
-
488,
|
| 527 |
-
489,
|
| 528 |
-
490,
|
| 529 |
-
491,
|
| 530 |
-
492,
|
| 531 |
-
493,
|
| 532 |
-
494,
|
| 533 |
-
495,
|
| 534 |
-
496,
|
| 535 |
-
497,
|
| 536 |
-
498,
|
| 537 |
-
499,
|
| 538 |
-
500,
|
| 539 |
-
501,
|
| 540 |
-
502,
|
| 541 |
-
503,
|
| 542 |
-
504,
|
| 543 |
-
505,
|
| 544 |
-
506,
|
| 545 |
-
507,
|
| 546 |
-
508,
|
| 547 |
-
509,
|
| 548 |
-
510,
|
| 549 |
-
511,
|
| 550 |
-
512,
|
| 551 |
-
513,
|
| 552 |
-
514,
|
| 553 |
-
515,
|
| 554 |
-
516,
|
| 555 |
-
517,
|
| 556 |
-
518,
|
| 557 |
-
519,
|
| 558 |
-
520,
|
| 559 |
-
521,
|
| 560 |
-
522,
|
| 561 |
-
523,
|
| 562 |
-
524,
|
| 563 |
-
525,
|
| 564 |
-
526,
|
| 565 |
-
527,
|
| 566 |
-
528,
|
| 567 |
-
529,
|
| 568 |
-
530,
|
| 569 |
-
531,
|
| 570 |
-
532,
|
| 571 |
-
533,
|
| 572 |
-
534,
|
| 573 |
-
535,
|
| 574 |
-
536
|
| 575 |
-
]
|
| 576 |
-
}
|
| 577 |
-
]
|
|
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Baseline/checkpoints/060000/training_state/optimizer_state.safetensors
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version https://git-lfs.github.com/spec/v1
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Baseline/checkpoints/060000/training_state/training_step.json
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{
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"step": 60000,
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Baseline/prompt_manifest.json
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{
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"schema_version": 1,
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"prompt_set": "detailed",
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"source_file": "task_prompts.json",
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"source_sha256": "0ba48fb372da9f49dcfcd7dcc2da8cce6ce991d3661060e664a104778d1ffacc",
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"mapping_sha256": "f71954786e94cdeceb135dde09fdc6b65db0b87ab3b09d25060129d0f0fde018",
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"dataset_repo_id": "Whalswp/INSIGHTfixposV4_filtered_multispace_v2",
|
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-
"dataset_revision": "v3.0",
|
| 9 |
-
"task_count": 13,
|
| 10 |
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"task_codes": [
|
| 11 |
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"5f",
|
| 12 |
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"5g",
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| 13 |
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"1ext",
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| 14 |
-
"3b",
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"5b",
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"3a",
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"3c",
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"5h",
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"5d",
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"3d",
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"5e",
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"5a",
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"5c"
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-
],
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-
"prompts": {
|
| 26 |
-
"5f": "Close the bottle in clockwise direction.",
|
| 27 |
-
"5g": "Grip the cap on the sides indicated by the 'squeeze' arrow and open the bottle in clockwise direction.",
|
| 28 |
-
"1ext": "Find the arrow guide and open the indicated drawer.",
|
| 29 |
-
"3b": "Open the door, rotate counter-clockwise and push.",
|
| 30 |
-
"5b": "Open the bottle in counter-clockwise direction.",
|
| 31 |
-
"3a": "Open the door, rotate clockwise and push.",
|
| 32 |
-
"3c": "Open the door, rotate clockwise and pull.",
|
| 33 |
-
"5h": "Close the bottle in counter-clockwise direction.",
|
| 34 |
-
"5d": "Close the bottle in clockwise direction.",
|
| 35 |
-
"3d": "Open the door, rotate counter-clockwise and pull.",
|
| 36 |
-
"5e": "Close the bottle in counter-clockwise direction.",
|
| 37 |
-
"5a": "Grip the cap on the sides indicated by the 'squeeze' arrow and open the bottle in counter-clockwise direction.",
|
| 38 |
-
"5c": "Open the bottle in clockwise direction."
|
| 39 |
-
}
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| 40 |
-
}
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Baseline/resolved_config.yaml
DELETED
|
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| 1 |
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dataset:
|
| 2 |
-
repo_id: Whalswp/INSIGHTfixposV4_filtered_multispace_v2
|
| 3 |
-
root: /home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2
|
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policy:
|
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type: groot
|
| 6 |
-
device: cuda
|
| 7 |
-
chunk_size: 16
|
| 8 |
-
n_action_steps: 16
|
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-
push_to_hub: false
|
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-
tune_llm: false
|
| 11 |
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tune_visual: false
|
| 12 |
-
tune_top_llm_layers: 0
|
| 13 |
-
tune_projector: true
|
| 14 |
-
tune_diffusion_model: true
|
| 15 |
-
tune_vlln: true
|
| 16 |
-
seed: 42
|
| 17 |
-
batch_size: 64
|
| 18 |
-
steps: 60000
|
| 19 |
-
log_freq: 200
|
| 20 |
-
output_dir: /home/ext_minje/groot_insight/Abs_6D/Baseline
|
| 21 |
-
job_name: INSIGHT_6D_baseline
|
| 22 |
-
wandb:
|
| 23 |
-
enable: true
|
| 24 |
-
disable_artifact: true
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Baseline/source_config.yaml
DELETED
|
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|
|
| 1 |
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# INSIGHT GR00T N1.7 training config
|
| 2 |
-
# INSIGHT wrapper-only fields are stripped before LeRobot config parsing.
|
| 3 |
-
insight:
|
| 4 |
-
# Options: joint_abs | ee_abs_quat | ee_abs_rot6d | ee_delta
|
| 5 |
-
action_space: ee_abs_rot6d
|
| 6 |
-
# Options: coarse | detailed
|
| 7 |
-
prompt_set: detailed
|
| 8 |
-
save_steps: ["50K"]
|
| 9 |
-
|
| 10 |
-
dataset:
|
| 11 |
-
repo_id: Whalswp/INSIGHTfixposV4_filtered_multispace_v2
|
| 12 |
-
root: ${HOME}/INSIGHTfixposV4_filtered_multispace_v2
|
| 13 |
-
|
| 14 |
-
policy:
|
| 15 |
-
type: groot
|
| 16 |
-
device: cuda
|
| 17 |
-
chunk_size: 16
|
| 18 |
-
n_action_steps: 16
|
| 19 |
-
push_to_hub: false
|
| 20 |
-
# Trainable scope. This baseline trains projector, diffusion, and VLLN; LLM/vision stay frozen.
|
| 21 |
-
# VLM
|
| 22 |
-
tune_llm: false
|
| 23 |
-
tune_visual: false
|
| 24 |
-
tune_top_llm_layers: 0
|
| 25 |
-
# Action Expert
|
| 26 |
-
tune_projector: true
|
| 27 |
-
tune_diffusion_model: true
|
| 28 |
-
tune_vlln: true
|
| 29 |
-
|
| 30 |
-
|
| 31 |
-
seed: 42
|
| 32 |
-
batch_size: 64
|
| 33 |
-
steps: 60000
|
| 34 |
-
log_freq: 200
|
| 35 |
-
output_dir: ${HOME}/groot_insight/Abs_6D/Baseline
|
| 36 |
-
job_name: INSIGHT_6D_baseline
|
| 37 |
-
|
| 38 |
-
wandb:
|
| 39 |
-
enable: true
|
| 40 |
-
disable_artifact: true
|
| 41 |
-
|
| 42 |
-
# Omitted because these match LeRobot/GR00T defaults or are unused in this setup:
|
| 43 |
-
#
|
| 44 |
-
# dataset:
|
| 45 |
-
# eval_split: 0.0
|
| 46 |
-
# image_transforms:
|
| 47 |
-
# enable: false # default; set true only for train-image augmentation.
|
| 48 |
-
#
|
| 49 |
-
# policy:
|
| 50 |
-
# base_model_path: nvidia/GR00T-N1.7-3B
|
| 51 |
-
# embodiment_tag: new_embodiment
|
| 52 |
-
# use_relative_actions: false
|
| 53 |
-
# use_bf16: true
|
| 54 |
-
# repo_id: Whalswp/INSIGHT # unused while push_to_hub is false
|
| 55 |
-
#
|
| 56 |
-
# save_checkpoint: true
|
| 57 |
-
# use_policy_training_preset: true
|
| 58 |
-
# eval_steps: 0
|
| 59 |
-
# env_eval_freq: 0
|
| 60 |
-
#
|
| 61 |
-
# insight.prompt_set options:
|
| 62 |
-
# coarse: High-level task text that requires following the visual guide.
|
| 63 |
-
# detailed: Direction- and interaction-specific text, including rotation and push/pull details.
|
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Baseline/wandb/debug.log
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| 1 |
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2026-07-15 14:32:50,279 INFO MainThread:1450496 [wandb_setup.py:_flush():81] Current SDK version is 0.27.2
|
| 2 |
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2026-07-15 14:32:50,279 INFO MainThread:1450496 [wandb_setup.py:_flush():81] Configure stats pid to 1450496
|
| 3 |
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2026-07-15 14:32:50,279 INFO MainThread:1450496 [wandb_setup.py:_flush():81] Loading settings from environment variables
|
| 4 |
-
2026-07-15 14:32:50,279 INFO MainThread:1450496 [wandb_init.py:setup_run_log_directory():723] Logging user logs to /home/ext_minje/groot_insight/Abs_6D/Baseline/wandb/run-20260715_143250-1jmjb68j/logs/debug.log
|
| 5 |
-
2026-07-15 14:32:50,279 INFO MainThread:1450496 [wandb_init.py:setup_run_log_directory():724] Logging internal logs to /home/ext_minje/groot_insight/Abs_6D/Baseline/wandb/run-20260715_143250-1jmjb68j/logs/debug-internal.log
|
| 6 |
-
2026-07-15 14:32:50,279 INFO MainThread:1450496 [wandb_init.py:init():766] calling init triggers
|
| 7 |
-
2026-07-15 14:32:50,280 INFO MainThread:1450496 [wandb_init.py:init():771] wandb.init called with sweep_config: {}
|
| 8 |
-
config: {'dataset': {'repo_id': 'Whalswp/INSIGHTfixposV4_filtered_multispace_v2', 'root': '/home/ext_minje/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': {'observation.state': {'type': <FeatureType.STATE: 'STATE'>, 'shape': [16]}, 'observation.images.wrist': {'type': <FeatureType.VISUAL: 'VISUAL'>, 'shape': [3, 224, 224]}, 'observation.images.right_shoulder': {'type': <FeatureType.VISUAL: 'VISUAL'>, 'shape': [3, 224, 224]}, 'observation.images.guide': {'type': <FeatureType.VISUAL: 'VISUAL'>, 'shape': [3, 224, 224]}}, 'output_features': {'action': {'type': <FeatureType.ACTION: 'ACTION'>, 'shape': [10]}}, 'device': 'cuda', 'use_amp': False, 'use_peft': False, 'push_to_hub': False, 'repo_id': None, 'private': None, 'tags': None, 'license': None, 'pretrained_path': '/home/ext_minje/groot_insight/Abs_6D/Baseline/checkpoints/050000/pretrained_model', '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/ext_minje/groot_insight/Abs_6D/Baseline', 'job_name': 'INSIGHT_6D_baseline', 'resume': True, 'seed': 42, 'cudnn_deterministic': False, 'num_workers': 4, 'batch_size': 64, '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': 50, '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': '1jmjb68j', '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': '/home/ext_minje/groot_insight/Abs_6D/Baseline/checkpoints/050000', '_wandb': {}}
|
| 9 |
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2026-07-15 14:32:50,280 INFO MainThread:1450496 [wandb_init.py:init():814] starting backend
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2026-07-15 14:32:51,783 INFO MainThread:1450496 [wandb_run.py:_console_start():2523] atexit reg
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2026-07-15 19:10:44,422 INFO wandb-AsyncioManager-main:1450496 [service_client.py:_forward_responses():122] Reached EOF.
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2026-07-15 19:10:44,422 INFO wandb-AsyncioManager-main:1450496 [mailbox.py:close():154] Closing mailbox, abandoning 2 handles.
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2026-07-15 19:10:44,423 ERROR wandb-AsyncioManager-main:1450496 [asyncio_manager.py:fn_wrap_exceptions():184] Uncaught exception in run_soon callback.
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Traceback (most recent call last):
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File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_manager.py", line 182, in fn_wrap_exceptions
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await fn()
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File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/run_messages.py", line 90, in loop
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await asyncio_compat.race(
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File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_compat.py", line 278, in race
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async with open_task_group(race=True) as tg:
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^^^^^^^^^^^^^^^^^^^^^^^^^^
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File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/contextlib.py", line 217, in __aexit__
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await anext(self.gen)
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File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_compat.py", line 240, in open_task_group
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await task_group._wait_all(race=race, timeout=exit_timeout)
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File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_compat.py", line 180, in _wait_all
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raise exc
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File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/run_messages.py", line 113, in _print_all
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result = await handle.wait_async(timeout=None)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/mailbox/mailbox_handle.py", line 127, in wait_async
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response = await self._handle.wait_async(timeout=timeout)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/mailbox/response_handle.py", line 123, in wait_async
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raise HandleAbandonedError()
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wandb.sdk.mailbox.mailbox_handle.HandleAbandonedError
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Baseline/wandb/run-20260714_161240-1jmjb68j/files/output.log
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INFO 2026-07-14 16:12:42 db_utils.py:121 Logs will be synced with wandb.
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INFO 2026-07-14 16:12:42 db_utils.py:122 Track this run --> https://wandb.ai/minje227_hyu-hanyang-university/lerobot/runs/1jmjb68j
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INFO 2026-07-14 16:12:42 ot_train.py:277 Creating dataset
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INFO 2026-07-14 16:12:45 ot_train.py:311 Creating policy
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Fetching 27 files: 100%|██████████| 27/27 [00:00<00:00, 4171.90it/s]
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`torch_dtype` is deprecated! Use `dtype` instead!
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Loading weights: 100%|██████████| 1031/1031 [00:00<00:00, 2241.16it/s]
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INFO 2026-07-14 16:12:51 ot_train.py:384 Creating optimizer and scheduler
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INFO 2026-07-14 16:12:51 ot_train.py:416 Output dir: /home/ext_minje/groot_insight/Abs_6D/Baseline
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INFO 2026-07-14 16:12:51 ot_train.py:423 cfg.steps=60000 (60K)
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INFO 2026-07-14 16:12:51 ot_train.py:424 dataset.num_frames=218367 (218K)
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INFO 2026-07-14 16:12:51 ot_train.py:425 dataset.num_episodes=4930
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INFO 2026-07-14 16:12:51 ot_train.py:428 Effective batch size: 64 x 1 = 64
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INFO 2026-07-14 16:12:51 ot_train.py:429 num_learnable_params=1620515968 (2B)
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INFO 2026-07-14 16:12:51 ot_train.py:430 num_total_params=3144016000 (3B)
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Training: 0%| | 0/60000 [00:00<?, ?step/s]INFO 2026-07-14 16:12:51 ot_train.py:581 Start offline training on a fixed dataset, with effective batch size: 64
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Training: 0%| | 200/60000 [04:57<25:13:11, 1.52s/step]INFO 2026-07-14 16:17:48 ot_train.py:625 step:200 smpl:13K ep:289 epch:0.06 loss:0.924 grdn:1.272 lr:2.0e-05 updt_s:0.764 data_s:0.721 smp/s:43 mem_gb:39.61
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Training: 1%| | 400/60000 [09:47<21:50:42, 1.32s/step]INFO 2026-07-14 16:22:38 ot_train.py:625 step:400 smpl:26K ep:578 epch:0.12 loss:0.258 grdn:1.552 lr:6.0e-05 updt_s:0.734 data_s:0.714 smp/s:44 mem_gb:39.63
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Training: 1%| | 600/60000 [14:37<22:35:00, 1.37s/step]INFO 2026-07-14 16:27:28 ot_train.py:625 step:600 smpl:38K ep:867 epch:0.18 loss:0.199 grdn:1.034 lr:9.5e-05 updt_s:0.734 data_s:0.711 smp/s:44 mem_gb:39.63
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Training: 1%|▏ | 800/60000 [19:30<23:53:10, 1.45s/step]INFO 2026-07-14 16:32:21 ot_train.py:625 step:800 smpl:51K ep:1K epch:0.23 loss:0.163 grdn:0.780 lr:1.0e-04 updt_s:0.731 data_s:0.731 smp/s:44 mem_gb:39.63
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Training: 2%|▏ | 1000/60000 [24:22<26:08:09, 1.59s/step]INFO 2026-07-14 16:37:13 ot_train.py:625 step:1K smpl:64K ep:1K epch:0.29 loss:0.147 grdn:0.695 lr:1.0e-04 updt_s:0.735 data_s:0.721 smp/s:44 mem_gb:39.63
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Training: 2%|▏ | 1200/60000 [29:14<23:30:02, 1.44s/step]INFO 2026-07-14 16:42:06 ot_train.py:625 step:1K smpl:77K ep:2K epch:0.35 loss:0.132 grdn:0.624 lr:1.0e-04 updt_s:0.741 data_s:0.719 smp/s:44 mem_gb:39.63
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Training: 2%|▏ | 1400/60000 [34:02<22:35:14, 1.39s/step]INFO 2026-07-14 16:46:53 ot_train.py:625 step:1K smpl:90K ep:2K epch:0.41 loss:0.123 grdn:0.569 lr:1.0e-04 updt_s:0.723 data_s:0.712 smp/s:45 mem_gb:39.63
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Training: 3%|▎ | 1600/60000 [38:48<24:19:48, 1.50s/step]INFO 2026-07-14 16:51:40 ot_train.py:625 step:2K smpl:102K ep:2K epch:0.47 loss:0.119 grdn:0.548 lr:1.0e-04 updt_s:0.731 data_s:0.698 smp/s:45 mem_gb:39.63
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Training: 3%|▎ | 1800/60000 [43:34<21:35:33, 1.34s/step]INFO 2026-07-14 16:56:26 ot_train.py:625 step:2K smpl:115K ep:3K epch:0.53 loss:0.115 grdn:0.516 lr:1.0e-04 updt_s:0.728 data_s:0.700 smp/s:45 mem_gb:39.63
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Training: 3%|▎ | 2000/60000 [48:21<22:37:52, 1.40s/step]INFO 2026-07-14 17:01:12 ot_train.py:625 step:2K smpl:128K ep:3K epch:0.59 loss:0.110 grdn:0.486 lr:1.0e-04 updt_s:0.734 data_s:0.697 smp/s:45 mem_gb:39.63
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Training: 4%|▎ | 2200/60000 [53:16<27:27:37, 1.71s/step]INFO 2026-07-14 17:06:07 ot_train.py:625 step:2K smpl:141K ep:3K epch:0.64 loss:0.108 grdn:0.488 lr:1.0e-04 updt_s:0.736 data_s:0.735 smp/s:43 mem_gb:39.63
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Training: 4%|▍ | 2400/60000 [57:52<20:49:34, 1.30s/step]INFO 2026-07-14 17:10:43 ot_train.py:625 step:2K smpl:154K ep:3K epch:0.70 loss:0.104 grdn:0.448 lr:1.0e-04 updt_s:0.722 data_s:0.654 smp/s:47 mem_gb:39.62
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Training: 4%|▍ | 2600/60000 [1:02:13<20:53:12, 1.31s/step]INFO 2026-07-14 17:15:04 ot_train.py:625 step:3K smpl:166K ep:4K epch:0.76 loss:0.105 grdn:0.451 lr:1.0e-04 updt_s:0.684 data_s:0.617 smp/s:49 mem_gb:39.64
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Training: 5%|▍ | 2800/60000 [1:07:04<23:58:13, 1.51s/step]INFO 2026-07-14 17:19:55 ot_train.py:625 step:3K smpl:179K ep:4K epch:0.82 loss:0.100 grdn:0.426 lr:1.0e-04 updt_s:0.736 data_s:0.715 smp/s:44 mem_gb:39.64
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Training: 5%|▌ | 3000/60000 [1:12:20<24:00:49, 1.52s/step]INFO 2026-07-14 17:25:11 ot_train.py:625 step:3K smpl:192K ep:4K epch:0.88 loss:0.099 grdn:0.413 lr:1.0e-04 updt_s:0.772 data_s:0.803 smp/s:41 mem_gb:39.64
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Training: 5%|▌ | 3200/60000 [1:16:55<22:01:57, 1.40s/step]INFO 2026-07-14 17:29:46 ot_train.py:625 step:3K smpl:205K ep:5K epch:0.94 loss:0.098 grdn:0.405 lr:1.0e-04 updt_s:0.708 data_s:0.667 smp/s:47 mem_gb:39.64
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Training: 6%|▌ | 3400/60000 [1:22:12<25:28:17, 1.62s/step]INFO 2026-07-14 17:35:03 ot_train.py:625 step:3K smpl:218K ep:5K epch:1.00 loss:0.095 grdn:0.389 lr:9.9e-05 updt_s:0.767 data_s:0.811 smp/s:41 mem_gb:39.64
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Training: 6%|▌ | 3600/60000 [1:27:35<22:56:31, 1.46s/step]INFO 2026-07-14 17:40:26 ot_train.py:625 step:4K smpl:230K ep:5K epch:1.06 loss:0.094 grdn:0.384 lr:9.9e-05 updt_s:0.778 data_s:0.835 smp/s:40 mem_gb:39.64
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Training: 6%|▋ | 3800/60000 [1:32:56<25:08:26, 1.61s/step]INFO 2026-07-14 17:45:47 ot_train.py:625 step:4K smpl:243K ep:5K epch:1.11 loss:0.094 grdn:0.389 lr:9.9e-05 updt_s:0.780 data_s:0.822 smp/s:40 mem_gb:39.64
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Training: 7%|▋ | 4000/60000 [1:38:22<26:54:50, 1.73s/step]INFO 2026-07-14 17:51:13 ot_train.py:625 step:4K smpl:256K ep:6K epch:1.17 loss:0.093 grdn:0.374 lr:9.9e-05 updt_s:0.792 data_s:0.836 smp/s:39 mem_gb:39.64
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Training: 7%|▋ | 4200/60000 [1:43:51<25:40:34, 1.66s/step]INFO 2026-07-14 17:56:42 ot_train.py:625 step:4K smpl:269K ep:6K epch:1.23 loss:0.090 grdn:0.355 lr:9.9e-05 updt_s:0.785 data_s:0.854 smp/s:39 mem_gb:39.64
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Training: 7%|▋ | 4400/60000 [1:49:18<25:19:11, 1.64s/step]INFO 2026-07-14 18:02:09 ot_train.py:625 step:4K smpl:282K ep:6K epch:1.29 loss:0.090 grdn:0.361 lr:9.9e-05 updt_s:0.788 data_s:0.843 smp/s:39 mem_gb:39.63
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Training: 8%|▊ | 4600/60000 [1:54:41<25:34:40, 1.66s/step]INFO 2026-07-14 18:07:32 ot_train.py:625 step:5K smpl:294K ep:7K epch:1.35 loss:0.090 grdn:0.359 lr:9.9e-05 updt_s:0.777 data_s:0.834 smp/s:40 mem_gb:39.62
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Training: 8%|▊ | 4800/60000 [2:00:00<24:06:01, 1.57s/step]INFO 2026-07-14 18:12:51 ot_train.py:625 step:5K smpl:307K ep:7K epch:1.41 loss:0.089 grdn:0.369 lr:9.9e-05 updt_s:0.769 data_s:0.823 smp/s:40 mem_gb:39.64
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Training: 8%|▊ | 5000/60000 [2:04:54<18:21:51, 1.20s/step]INFO 2026-07-14 18:17:46 ot_train.py:625 step:5K smpl:320K ep:7K epch:1.47 loss:0.089 grdn:0.357 lr:9.9e-05 updt_s:0.745 data_s:0.725 smp/s:44 mem_gb:39.64
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Training: 9%|▊ | 5200/60000 [2:09:11<22:04:04, 1.45s/step]INFO 2026-07-14 18:22:02 ot_train.py:625 step:5K smpl:333K ep:8K epch:1.52 loss:0.086 grdn:0.338 lr:9.9e-05 updt_s:0.688 data_s:0.589 smp/s:50 mem_gb:39.64
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Training: 9%|▉ | 5400/60000 [2:13:52<18:51:33, 1.24s/step]INFO 2026-07-14 18:26:43 ot_train.py:625 step:5K smpl:346K ep:8K epch:1.58 loss:0.084 grdn:0.322 lr:9.8e-05 updt_s:0.728 data_s:0.675 smp/s:46 mem_gb:39.64
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Training: 9%|▉ | 5600/60000 [2:18:31<21:32:04, 1.43s/step]INFO 2026-07-14 18:31:22 ot_train.py:625 step:6K smpl:358K ep:8K epch:1.64 loss:0.085 grdn:0.331 lr:9.8e-05 updt_s:0.719 data_s:0.674 smp/s:46 mem_gb:39.64
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Training: 10%|▉ | 5800/60000 [2:23:00<19:34:55, 1.30s/step]INFO 2026-07-14 18:35:52 ot_train.py:625 step:6K smpl:371K ep:8K epch:1.70 loss:0.085 grdn:0.334 lr:9.8e-05 updt_s:0.702 data_s:0.642 smp/s:48 mem_gb:39.64
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Training: 10%|█ | 6000/60000 [2:27:14<18:52:42, 1.26s/step]INFO 2026-07-14 18:40:05 ot_train.py:625 step:6K smpl:384K ep:9K epch:1.76 loss:0.082 grdn:0.329 lr:9.8e-05 updt_s:0.669 data_s:0.596 smp/s:51 mem_gb:39.63
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Training: 10%|█ | 6200/60000 [2:31:29<18:57:12, 1.27s/step]INFO 2026-07-14 18:44:20 ot_train.py:625 step:6K smpl:397K ep:9K epch:1.82 loss:0.085 grdn:0.346 lr:9.8e-05 updt_s:0.673 data_s:0.600 smp/s:50 mem_gb:39.64
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Training: 11%|█ | 6400/60000 [2:35:43<19:12:50, 1.29s/step]INFO 2026-07-14 18:48:34 ot_train.py:625 step:6K smpl:410K ep:9K epch:1.88 loss:0.084 grdn:0.332 lr:9.8e-05 updt_s:0.670 data_s:0.596 smp/s:51 mem_gb:39.64
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Training: 11%|█ | 6600/60000 [2:39:53<18:06:25, 1.22s/step]INFO 2026-07-14 18:52:45 ot_train.py:625 step:7K smpl:422K ep:10K epch:1.93 loss:0.079 grdn:0.300 lr:9.8e-05 updt_s:0.669 data_s:0.582 smp/s:51 mem_gb:39.64
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Training: 11%|█▏ | 6800/60000 [2:44:06<18:20:51, 1.24s/step]INFO 2026-07-14 18:56:57 ot_train.py:625 step:7K smpl:435K ep:10K epch:1.99 loss:0.080 grdn:0.314 lr:9.7e-05 updt_s:0.665 data_s:0.596 smp/s:51 mem_gb:39.62
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Training: 12%|█▏ | 7000/60000 [2:48:25<18:42:17, 1.27s/step]INFO 2026-07-14 19:01:16 ot_train.py:625 step:7K smpl:448K ep:10K epch:2.05 loss:0.078 grdn:0.316 lr:9.7e-05 updt_s:0.682 data_s:0.609 smp/s:50 mem_gb:39.64
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Training: 12%|█▏ | 7200/60000 [2:52:42<19:19:08, 1.32s/step]INFO 2026-07-14 19:05:33 ot_train.py:625 step:7K smpl:461K ep:10K epch:2.11 loss:0.078 grdn:0.307 lr:9.7e-05 updt_s:0.686 data_s:0.593 smp/s:50 mem_gb:39.64
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Training: 12%|█▏ | 7400/60000 [2:57:04<18:49:23, 1.29s/step]INFO 2026-07-14 19:09:55 ot_train.py:625 step:7K smpl:474K ep:11K epch:2.17 loss:0.077 grdn:0.291 lr:9.7e-05 updt_s:0.693 data_s:0.617 smp/s:49 mem_gb:39.64
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Training: 13%|█▎ | 7600/60000 [3:01:28<18:51:21, 1.30s/step]INFO 2026-07-14 19:14:19 ot_train.py:625 step:8K smpl:486K ep:11K epch:2.23 loss:0.079 grdn:0.329 lr:9.7e-05 updt_s:0.694 data_s:0.621 smp/s:49 mem_gb:39.64
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Training: 13%|█▎ | 7800/60000 [3:05:46<18:19:01, 1.26s/step]INFO 2026-07-14 19:18:38 ot_train.py:625 step:8K smpl:499K ep:11K epch:2.29 loss:0.080 grdn:0.329 lr:9.6e-05 updt_s:0.683 data_s:0.606 smp/s:50 mem_gb:39.64
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Training: 13%|█▎ | 8000/60000 [3:10:03<18:01:27, 1.25s/step]INFO 2026-07-14 19:22:54 ot_train.py:625 step:8K smpl:512K ep:12K epch:2.34 loss:0.081 grdn:0.327 lr:9.6e-05 updt_s:0.686 data_s:0.592 smp/s:50 mem_gb:39.64
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Training: 14%|█▎ | 8200/60000 [3:14:22<18:28:54, 1.28s/step]INFO 2026-07-14 19:27:13 ot_train.py:625 step:8K smpl:525K ep:12K epch:2.40 loss:0.077 grdn:0.301 lr:9.6e-05 updt_s:0.689 data_s:0.604 smp/s:49 mem_gb:39.64
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Training: 14%|█▍ | 8400/60000 [3:18:42<19:26:41, 1.36s/step]INFO 2026-07-14 19:31:34 ot_train.py:625 step:8K smpl:538K ep:12K epch:2.46 loss:0.075 grdn:0.294 lr:9.6e-05 updt_s:0.689 data_s:0.612 smp/s:49 mem_gb:39.64
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Training: 14%|█▍ | 8600/60000 [3:23:03<18:46:25, 1.31s/step]INFO 2026-07-14 19:35:54 ot_train.py:625 step:9K smpl:550K ep:12K epch:2.52 loss:0.076 grdn:0.297 lr:9.6e-05 updt_s:0.687 data_s:0.613 smp/s:49 mem_gb:39.64
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Training: 15%|█▍ | 8800/60000 [3:27:30<18:50:26, 1.32s/step]INFO 2026-07-14 19:40:21 ot_train.py:625 step:9K smpl:563K ep:13K epch:2.58 loss:0.075 grdn:0.305 lr:9.5e-05 updt_s:0.711 data_s:0.622 smp/s:48 mem_gb:39.63
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Training: 15%|█▌ | 9000/60000 [3:31:54<18:56:39, 1.34s/step]INFO 2026-07-14 19:44:45 ot_train.py:625 step:9K smpl:576K ep:13K epch:2.64 loss:0.075 grdn:0.296 lr:9.5e-05 updt_s:0.690 data_s:0.626 smp/s:49 mem_gb:39.64
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Training: 15%|█▌ | 9200/60000 [3:36:15<18:15:36, 1.29s/step]INFO 2026-07-14 19:49:06 ot_train.py:625 step:9K smpl:589K ep:13K epch:2.70 loss:0.072 grdn:0.288 lr:9.5e-05 updt_s:0.686 data_s:0.615 smp/s:49 mem_gb:39.62
|
| 63 |
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Training: 16%|█▌ | 9400/60000 [3:40:27<17:40:11, 1.26s/step]INFO 2026-07-14 19:53:18 ot_train.py:625 step:9K smpl:602K ep:14K epch:2.75 loss:0.076 grdn:0.331 lr:9.5e-05 updt_s:0.670 data_s:0.587 smp/s:51 mem_gb:39.64
|
| 64 |
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Training: 16%|█▌ | 9600/60000 [3:44:45<17:53:30, 1.28s/step]INFO 2026-07-14 19:57:36 ot_train.py:625 step:10K smpl:614K ep:14K epch:2.81 loss:0.073 grdn:0.299 lr:9.4e-05 updt_s:0.682 data_s:0.605 smp/s:50 mem_gb:39.64
|
| 65 |
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Training: 16%|█▋ | 9800/60000 [3:49:05<17:46:19, 1.27s/step]INFO 2026-07-14 20:01:56 ot_train.py:625 step:10K smpl:627K ep:14K epch:2.87 loss:0.075 grdn:0.316 lr:9.4e-05 updt_s:0.682 data_s:0.615 smp/s:49 mem_gb:39.64
|
| 66 |
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Training: 17%|█▋ | 10000/60000 [3:53:23<17:37:11, 1.27s/step]INFO 2026-07-14 20:06:14 ot_train.py:625 step:10K smpl:640K ep:14K epch:2.93 loss:0.071 grdn:0.292 lr:9.4e-05 updt_s:0.681 data_s:0.609 smp/s:50 mem_gb:39.64
|
| 67 |
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Training: 17%|█▋ | 10200/60000 [3:57:43<18:16:00, 1.32s/step]INFO 2026-07-14 20:10:34 ot_train.py:625 step:10K smpl:653K ep:15K epch:2.99 loss:0.075 grdn:0.321 lr:9.4e-05 updt_s:0.681 data_s:0.616 smp/s:49 mem_gb:39.63
|
| 68 |
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Training: 17%|█▋ | 10400/60000 [4:02:02<17:42:10, 1.28s/step]INFO 2026-07-14 20:14:53 ot_train.py:625 step:10K smpl:666K ep:15K epch:3.05 loss:0.072 grdn:0.289 lr:9.3e-05 updt_s:0.679 data_s:0.611 smp/s:50 mem_gb:39.64
|
| 69 |
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Training: 18%|█▊ | 10600/60000 [4:06:08<16:46:22, 1.22s/step]INFO 2026-07-14 20:19:00 ot_train.py:625 step:11K smpl:678K ep:15K epch:3.11 loss:0.071 grdn:0.282 lr:9.3e-05 updt_s:0.660 data_s:0.571 smp/s:52 mem_gb:39.64
|
| 70 |
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Training: 18%|█▊ | 10800/60000 [4:10:16<16:44:40, 1.23s/step]INFO 2026-07-14 20:23:07 ot_train.py:625 step:11K smpl:691K ep:16K epch:3.17 loss:0.071 grdn:0.279 lr:9.3e-05 updt_s:0.660 data_s:0.574 smp/s:52 mem_gb:39.63
|
| 71 |
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Training: 18%|█▊ | 11000/60000 [4:14:24<16:49:58, 1.24s/step]INFO 2026-07-14 20:27:16 ot_train.py:625 step:11K smpl:704K ep:16K epch:3.22 loss:0.067 grdn:0.270 lr:9.3e-05 updt_s:0.663 data_s:0.578 smp/s:52 mem_gb:39.64
|
| 72 |
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Training: 19%|█▊ | 11200/60000 [4:18:36<16:38:47, 1.23s/step]INFO 2026-07-14 20:31:27 ot_train.py:625 step:11K smpl:717K ep:16K epch:3.28 loss:0.067 grdn:0.274 lr:9.2e-05 updt_s:0.665 data_s:0.592 smp/s:51 mem_gb:39.64
|
| 73 |
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Training: 19%|█▉ | 11400/60000 [4:22:47<16:26:56, 1.22s/step]INFO 2026-07-14 20:35:38 ot_train.py:625 step:11K smpl:730K ep:16K epch:3.34 loss:0.070 grdn:0.292 lr:9.2e-05 updt_s:0.658 data_s:0.591 smp/s:51 mem_gb:39.62
|
| 74 |
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Training: 19%|█▉ | 11600/60000 [4:27:00<17:21:50, 1.29s/step]INFO 2026-07-14 20:39:51 ot_train.py:625 step:12K smpl:742K ep:17K epch:3.40 loss:0.067 grdn:0.283 lr:9.2e-05 updt_s:0.667 data_s:0.595 smp/s:51 mem_gb:39.64
|
| 75 |
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Training: 20%|█▉ | 11800/60000 [4:31:17<16:16:30, 1.22s/step]INFO 2026-07-14 20:44:08 ot_train.py:625 step:12K smpl:755K ep:17K epch:3.46 loss:0.070 grdn:0.290 lr:9.2e-05 updt_s:0.675 data_s:0.608 smp/s:50 mem_gb:39.64
|
| 76 |
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Training: 20%|██ | 12000/60000 [4:35:26<16:27:26, 1.23s/step]INFO 2026-07-14 20:48:17 ot_train.py:625 step:12K smpl:768K ep:17K epch:3.52 loss:0.071 grdn:0.295 lr:9.1e-05 updt_s:0.657 data_s:0.587 smp/s:51 mem_gb:39.64
|
| 77 |
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Training: 20%|██ | 12200/60000 [4:39:32<17:11:03, 1.29s/step]INFO 2026-07-14 20:52:23 ot_train.py:625 step:12K smpl:781K ep:18K epch:3.58 loss:0.067 grdn:0.274 lr:9.1e-05 updt_s:0.655 data_s:0.570 smp/s:52 mem_gb:39.64
|
| 78 |
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Training: 21%|█�� | 12400/60000 [4:43:39<16:03:48, 1.21s/step]INFO 2026-07-14 20:56:30 ot_train.py:625 step:12K smpl:794K ep:18K epch:3.63 loss:0.069 grdn:0.297 lr:9.1e-05 updt_s:0.657 data_s:0.576 smp/s:52 mem_gb:39.64
|
| 79 |
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Training: 21%|██ | 12600/60000 [4:47:50<16:04:53, 1.22s/step]INFO 2026-07-14 21:00:41 ot_train.py:625 step:13K smpl:806K ep:18K epch:3.69 loss:0.066 grdn:0.270 lr:9.0e-05 updt_s:0.661 data_s:0.591 smp/s:51 mem_gb:39.64
|
| 80 |
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Training: 21%|██▏ | 12800/60000 [4:52:03<16:09:50, 1.23s/step]INFO 2026-07-14 21:04:54 ot_train.py:625 step:13K smpl:819K ep:18K epch:3.75 loss:0.066 grdn:0.275 lr:9.0e-05 updt_s:0.666 data_s:0.596 smp/s:51 mem_gb:39.64
|
| 81 |
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Training: 22%|██▏ | 13000/60000 [4:56:17<17:16:44, 1.32s/step]INFO 2026-07-14 21:09:08 ot_train.py:625 step:13K smpl:832K ep:19K epch:3.81 loss:0.067 grdn:0.284 lr:9.0e-05 updt_s:0.673 data_s:0.594 smp/s:50 mem_gb:39.63
|
| 82 |
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Training: 22%|██▏ | 13200/60000 [5:00:26<16:13:10, 1.25s/step]INFO 2026-07-14 21:13:17 ot_train.py:625 step:13K smpl:845K ep:19K epch:3.87 loss:0.070 grdn:0.306 lr:8.9e-05 updt_s:0.661 data_s:0.583 smp/s:51 mem_gb:39.63
|
| 83 |
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Training: 22%|██▏ | 13400/60000 [5:04:37<15:56:23, 1.23s/step]INFO 2026-07-14 21:17:29 ot_train.py:625 step:13K smpl:858K ep:19K epch:3.93 loss:0.068 grdn:0.301 lr:8.9e-05 updt_s:0.668 data_s:0.587 smp/s:51 mem_gb:39.64
|
| 84 |
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Training: 23%|██▎ | 13600/60000 [5:08:44<15:34:44, 1.21s/step]INFO 2026-07-14 21:21:35 ot_train.py:625 step:14K smpl:870K ep:20K epch:3.99 loss:0.067 grdn:0.281 lr:8.9e-05 updt_s:0.652 data_s:0.578 smp/s:52 mem_gb:39.62
|
| 85 |
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Training: 23%|██▎ | 13800/60000 [5:12:51<16:02:46, 1.25s/step]INFO 2026-07-14 21:25:42 ot_train.py:625 step:14K smpl:883K ep:20K epch:4.04 loss:0.065 grdn:0.268 lr:8.8e-05 updt_s:0.656 data_s:0.575 smp/s:52 mem_gb:39.64
|
| 86 |
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Training: 23%|██▎ | 14000/60000 [5:17:03<15:27:28, 1.21s/step]INFO 2026-07-14 21:29:54 ot_train.py:625 step:14K smpl:896K ep:20K epch:4.10 loss:0.064 grdn:0.285 lr:8.8e-05 updt_s:0.665 data_s:0.591 smp/s:51 mem_gb:39.64
|
| 87 |
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Training: 24%|██▎ | 14200/60000 [5:21:15<15:36:13, 1.23s/step]INFO 2026-07-14 21:34:06 ot_train.py:625 step:14K smpl:909K ep:21K epch:4.16 loss:0.066 grdn:0.281 lr:8.8e-05 updt_s:0.659 data_s:0.599 smp/s:51 mem_gb:39.64
|
| 88 |
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Training: 24%|██▍ | 14400/60000 [5:25:33<16:34:18, 1.31s/step]INFO 2026-07-14 21:38:24 ot_train.py:625 step:14K smpl:922K ep:21K epch:4.22 loss:0.064 grdn:0.272 lr:8.7e-05 updt_s:0.682 data_s:0.605 smp/s:50 mem_gb:39.64
|
| 89 |
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Training: 24%|██▍ | 14600/60000 [5:29:45<15:40:37, 1.24s/step]INFO 2026-07-14 21:42:36 ot_train.py:625 step:15K smpl:934K ep:21K epch:4.28 loss:0.067 grdn:0.315 lr:8.7e-05 updt_s:0.665 data_s:0.593 smp/s:51 mem_gb:39.63
|
| 90 |
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Training: 25%|██▍ | 14800/60000 [5:34:00<15:40:37, 1.25s/step]INFO 2026-07-14 21:46:51 ot_train.py:625 step:15K smpl:947K ep:21K epch:4.34 loss:0.064 grdn:0.279 lr:8.7e-05 updt_s:0.671 data_s:0.599 smp/s:50 mem_gb:39.63
|
| 91 |
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Training: 25%|██▌ | 15000/60000 [5:38:06<15:14:31, 1.22s/step]INFO 2026-07-14 21:50:57 ot_train.py:625 step:15K smpl:960K ep:22K epch:4.40 loss:0.064 grdn:0.267 lr:8.6e-05 updt_s:0.655 data_s:0.572 smp/s:52 mem_gb:39.64
|
| 92 |
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Training: 25%|██▌ | 15200/60000 [5:42:12<14:50:06, 1.19s/step]INFO 2026-07-14 21:55:03 ot_train.py:625 step:15K smpl:973K ep:22K epch:4.45 loss:0.070 grdn:0.321 lr:8.6e-05 updt_s:0.657 data_s:0.571 smp/s:52 mem_gb:39.64
|
| 93 |
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Training: 26%|██▌ | 15400/60000 [5:46:20<15:10:47, 1.23s/step]INFO 2026-07-14 21:59:12 ot_train.py:625 step:15K smpl:986K ep:22K epch:4.51 loss:0.064 grdn:0.269 lr:8.5e-05 updt_s:0.660 data_s:0.581 smp/s:52 mem_gb:39.64
|
| 94 |
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Training: 26%|██▌ | 15600/60000 [5:50:34<15:03:47, 1.22s/step]INFO 2026-07-14 22:03:25 ot_train.py:625 step:16K smpl:998K ep:23K epch:4.57 loss:0.063 grdn:0.274 lr:8.5e-05 updt_s:0.662 data_s:0.604 smp/s:51 mem_gb:39.64
|
| 95 |
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Training: 26%|██▋ | 15800/60000 [5:54:50<19:01:44, 1.55s/step]INFO 2026-07-14 22:07:42 ot_train.py:625 step:16K smpl:1M ep:23K epch:4.63 loss:0.062 grdn:0.271 lr:8.5e-05 updt_s:0.671 data_s:0.607 smp/s:50 mem_gb:39.62
|
| 96 |
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Training: 27%|██▋ | 16000/60000 [5:59:04<14:59:09, 1.23s/step]INFO 2026-07-14 22:11:55 ot_train.py:625 step:16K smpl:1M ep:23K epch:4.69 loss:0.061 grdn:0.272 lr:8.4e-05 updt_s:0.674 data_s:0.592 smp/s:51 mem_gb:39.64
|
| 97 |
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Training: 27%|██▋ | 16200/60000 [6:03:18<15:56:38, 1.31s/step]INFO 2026-07-14 22:16:09 ot_train.py:625 step:16K smpl:1M ep:23K epch:4.75 loss:0.060 grdn:0.258 lr:8.4e-05 updt_s:0.668 data_s:0.598 smp/s:51 mem_gb:39.64
|
| 98 |
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Training: 27%|██▋ | 16400/60000 [6:07:27<15:43:33, 1.30s/step]INFO 2026-07-14 22:20:19 ot_train.py:625 step:16K smpl:1M ep:24K epch:4.81 loss:0.062 grdn:0.274 lr:8.4e-05 updt_s:0.660 data_s:0.585 smp/s:51 mem_gb:39.64
|
| 99 |
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Training: 28%|██▊ | 16600/60000 [6:11:43<15:50:06, 1.31s/step]INFO 2026-07-14 22:24:35 ot_train.py:625 step:17K smpl:1M ep:24K epch:4.87 loss:0.060 grdn:0.270 lr:8.3e-05 updt_s:0.677 data_s:0.599 smp/s:50 mem_gb:39.63
|
| 100 |
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Training: 28%|██▊ | 16800/60000 [6:16:05<15:21:36, 1.28s/step]INFO 2026-07-14 22:28:56 ot_train.py:625 step:17K smpl:1M ep:24K epch:4.92 loss:0.061 grdn:0.254 lr:8.3e-05 updt_s:0.685 data_s:0.618 smp/s:49 mem_gb:39.64
|
| 101 |
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Training: 28%|██▊ | 17000/60000 [6:20:21<15:33:00, 1.30s/step]INFO 2026-07-14 22:33:12 ot_train.py:625 step:17K smpl:1M ep:25K epch:4.98 loss:0.061 grdn:0.262 lr:8.2e-05 updt_s:0.687 data_s:0.589 smp/s:50 mem_gb:39.64
|
| 102 |
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Training: 29%|██▊ | 17200/60000 [6:24:31<14:26:42, 1.22s/step]INFO 2026-07-14 22:37:22 ot_train.py:625 step:17K smpl:1M ep:25K epch:5.04 loss:0.063 grdn:0.303 lr:8.2e-05 updt_s:0.676 data_s:0.573 smp/s:51 mem_gb:39.64
|
| 103 |
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Training: 29%|██▉ | 17400/60000 [6:28:40<14:54:34, 1.26s/step]INFO 2026-07-14 22:41:32 ot_train.py:625 step:17K smpl:1M ep:25K epch:5.10 loss:0.060 grdn:0.271 lr:8.2e-05 updt_s:0.673 data_s:0.571 smp/s:51 mem_gb:39.63
|
| 104 |
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Training: 29%|██▉ | 17600/60000 [6:32:50<15:00:30, 1.27s/step]INFO 2026-07-14 22:45:41 ot_train.py:625 step:18K smpl:1M ep:25K epch:5.16 loss:0.059 grdn:0.268 lr:8.1e-05 updt_s:0.676 data_s:0.568 smp/s:51 mem_gb:39.64
|
| 105 |
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Training: 30%|██▉ | 17800/60000 [6:37:01<14:37:09, 1.25s/step]INFO 2026-07-14 22:49:52 ot_train.py:625 step:18K smpl:1M ep:26K epch:5.22 loss:0.060 grdn:0.260 lr:8.1e-05 updt_s:0.670 data_s:0.581 smp/s:51 mem_gb:39.64
|
| 106 |
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Training: 30%|███ | 18000/60000 [6:41:10<15:23:22, 1.32s/step]INFO 2026-07-14 22:54:01 ot_train.py:625 step:18K smpl:1M ep:26K epch:5.28 loss:0.060 grdn:0.281 lr:8.0e-05 updt_s:0.674 data_s:0.571 smp/s:51 mem_gb:39.64
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| 107 |
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Training: 30%|███ | 18200/60000 [6:45:20<14:02:08, 1.21s/step]INFO 2026-07-14 22:58:11 ot_train.py:625 step:18K smpl:1M ep:26K epch:5.33 loss:0.060 grdn:0.265 lr:8.0e-05 updt_s:0.669 data_s:0.577 smp/s:51 mem_gb:39.62
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| 108 |
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Training: 31%|███ | 18400/60000 [6:49:43<14:36:21, 1.26s/step]INFO 2026-07-14 23:02:34 ot_train.py:625 step:18K smpl:1M ep:27K epch:5.39 loss:0.057 grdn:0.259 lr:7.9e-05 updt_s:0.701 data_s:0.611 smp/s:49 mem_gb:39.64
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| 109 |
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Training: 31%|███ | 18600/60000 [6:54:06<14:11:09, 1.23s/step]INFO 2026-07-14 23:06:57 ot_train.py:625 step:19K smpl:1M ep:27K epch:5.45 loss:0.059 grdn:0.263 lr:7.9e-05 updt_s:0.699 data_s:0.612 smp/s:49 mem_gb:39.63
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| 110 |
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Training: 31%|███▏ | 18800/60000 [6:58:35<15:03:04, 1.32s/step]INFO 2026-07-14 23:11:27 ot_train.py:625 step:19K smpl:1M ep:27K epch:5.51 loss:0.058 grdn:0.273 lr:7.9e-05 updt_s:0.712 data_s:0.632 smp/s:48 mem_gb:39.64
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| 111 |
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Training: 32%|███▏ | 19000/60000 [7:03:01<14:58:10, 1.31s/step]INFO 2026-07-14 23:15:52 ot_train.py:625 step:19K smpl:1M ep:27K epch:5.57 loss:0.059 grdn:0.265 lr:7.8e-05 updt_s:0.694 data_s:0.631 smp/s:48 mem_gb:39.64
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| 112 |
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Training: 32%|███▏ | 19200/60000 [7:07:23<13:38:45, 1.20s/step]INFO 2026-07-14 23:20:15 ot_train.py:625 step:19K smpl:1M ep:28K epch:5.63 loss:0.059 grdn:0.262 lr:7.8e-05 updt_s:0.688 data_s:0.620 smp/s:49 mem_gb:39.64
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| 113 |
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Training: 32%|███▏ | 19400/60000 [7:11:17<12:53:09, 1.14s/step]INFO 2026-07-14 23:24:08 ot_train.py:625 step:19K smpl:1M ep:28K epch:5.69 loss:0.058 grdn:0.265 lr:7.7e-05 updt_s:0.626 data_s:0.540 smp/s:55 mem_gb:39.63
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| 114 |
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Training: 33%|███▎ | 19600/60000 [7:15:11<14:19:26, 1.28s/step]INFO 2026-07-14 23:28:02 ot_train.py:625 step:20K smpl:1M ep:28K epch:5.74 loss:0.056 grdn:0.261 lr:7.7e-05 updt_s:0.630 data_s:0.535 smp/s:55 mem_gb:39.64
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| 115 |
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Training: 33%|███▎ | 19800/60000 [7:19:32<16:27:23, 1.47s/step]INFO 2026-07-14 23:32:23 ot_train.py:625 step:20K smpl:1M ep:29K epch:5.80 loss:0.058 grdn:0.265 lr:7.6e-05 updt_s:0.675 data_s:0.625 smp/s:49 mem_gb:39.64
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Training: 33%|███▎ | 20000/60000 [7:24:10<14:40:40, 1.32s/step]INFO 2026-07-14 23:37:01 ot_train.py:625 step:20K smpl:1M ep:29K epch:5.86 loss:0.058 grdn:0.277 lr:7.6e-05 updt_s:0.723 data_s:0.666 smp/s:46 mem_gb:39.63
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Training: 34%|███▎ | 20200/60000 [7:29:08<17:58:49, 1.63s/step]INFO 2026-07-14 23:41:59 ot_train.py:625 step:20K smpl:1M ep:29K epch:5.92 loss:0.060 grdn:0.285 lr:7.6e-05 updt_s:0.756 data_s:0.732 smp/s:43 mem_gb:39.64
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Training: 34%|███▍ | 20400/60000 [7:34:25<16:39:59, 1.52s/step]INFO 2026-07-14 23:47:16 ot_train.py:625 step:20K smpl:1M ep:29K epch:5.98 loss:0.056 grdn:0.268 lr:7.5e-05 updt_s:0.799 data_s:0.781 smp/s:41 mem_gb:39.62
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Training: 34%|███▍ | 20600/60000 [7:39:43<15:34:50, 1.42s/step]INFO 2026-07-14 23:52:34 ot_train.py:625 step:21K smpl:1M ep:30K epch:6.04 loss:0.055 grdn:0.262 lr:7.5e-05 updt_s:0.797 data_s:0.791 smp/s:40 mem_gb:39.64
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| 120 |
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Training: 35%|███▍ | 20800/60000 [7:45:03<18:00:15, 1.65s/step]INFO 2026-07-14 23:57:54 ot_train.py:625 step:21K smpl:1M ep:30K epch:6.10 loss:0.054 grdn:0.258 lr:7.4e-05 updt_s:0.795 data_s:0.801 smp/s:40 mem_gb:39.64
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Training: 35%|███▌ | 21000/60000 [7:50:23<16:51:45, 1.56s/step]INFO 2026-07-15 00:03:14 ot_train.py:625 step:21K smpl:1M ep:30K epch:6.15 loss:0.056 grdn:0.258 lr:7.4e-05 updt_s:0.790 data_s:0.806 smp/s:40 mem_gb:39.64
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Training: 35%|███▌ | 21200/60000 [7:55:39<17:37:43, 1.64s/step]INFO 2026-07-15 00:08:30 ot_train.py:625 step:21K smpl:1M ep:31K epch:6.21 loss:0.054 grdn:0.258 lr:7.3e-05 updt_s:0.785 data_s:0.793 smp/s:41 mem_gb:39.64
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Training: 38%|███▊ | 23000/60000 [8:41:05<14:19:13, 1.39s/step]INFO 2026-07-15 00:53:56 ot_train.py:625 step:23K smpl:1M ep:33K epch:6.74 loss:0.051 grdn:0.249 lr:6.9e-05 updt_s:0.729 data_s:0.549 smp/s:50 mem_gb:39.64
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Training: 41%|████ | 24600/60000 [9:17:45<15:14:13, 1.55s/step]INFO 2026-07-15 01:30:36 ot_train.py:625 step:25K smpl:2M ep:36K epch:7.21 loss:0.052 grdn:0.259 lr:6.5e-05 updt_s:0.825 data_s:0.557 smp/s:46 mem_gb:39.64
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Training: 41%|████▏ | 24800/60000 [9:22:23<13:03:16, 1.34s/step]INFO 2026-07-15 01:35:14 ot_train.py:625 step:25K smpl:2M ep:36K epch:7.27 loss:0.050 grdn:0.252 lr:6.4e-05 updt_s:0.817 data_s:0.569 smp/s:46 mem_gb:39.64
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Training: 42%|████▏ | 25000/60000 [9:26:59<13:23:54, 1.38s/step]INFO 2026-07-15 01:39:50 ot_train.py:625 step:25K smpl:2M ep:36K epch:7.33 loss:0.051 grdn:0.264 lr:6.4e-05 updt_s:0.813 data_s:0.568 smp/s:46 mem_gb:39.62
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Training: 42%|████▏ | 25200/60000 [9:31:36<12:46:56, 1.32s/step]INFO 2026-07-15 01:44:27 ot_train.py:625 step:25K smpl:2M ep:36K epch:7.39 loss:0.051 grdn:0.309 lr:6.3e-05 updt_s:0.821 data_s:0.559 smp/s:46 mem_gb:39.64
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Training: 43%|████▎ | 25600/60000 [9:40:57<12:45:29, 1.34s/step]INFO 2026-07-15 01:53:49 ot_train.py:625 step:26K smpl:2M ep:37K epch:7.50 loss:0.050 grdn:0.266 lr:6.2e-05 updt_s:0.843 data_s:0.555 smp/s:46 mem_gb:39.64
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Training: 43%|████▎ | 26000/60000 [9:51:14<14:39:08, 1.55s/step]INFO 2026-07-15 02:04:05 ot_train.py:625 step:26K smpl:2M ep:38K epch:7.62 loss:0.049 grdn:0.272 lr:6.1e-05 updt_s:0.906 data_s:0.710 smp/s:40 mem_gb:39.64
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Training: 44%|████▎ | 26200/60000 [9:56:34<15:30:28, 1.65s/step]INFO 2026-07-15 02:09:26 ot_train.py:625 step:26K smpl:2M ep:38K epch:7.68 loss:0.049 grdn:0.263 lr:6.1e-05 updt_s:0.885 data_s:0.714 smp/s:40 mem_gb:39.63
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Training: 44%|████▍ | 26400/60000 [10:02:02<14:44:53, 1.58s/step]INFO 2026-07-15 02:14:53 ot_train.py:625 step:26K smpl:2M ep:38K epch:7.74 loss:0.049 grdn:0.266 lr:6.0e-05 updt_s:0.889 data_s:0.746 smp/s:39 mem_gb:39.63
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Training: 44%|████▍ | 26600/60000 [10:07:37<19:16:12, 2.08s/step]INFO 2026-07-15 02:20:28 ot_train.py:625 step:27K smpl:2M ep:38K epch:7.80 loss:0.049 grdn:0.274 lr:6.0e-05 updt_s:0.911 data_s:0.759 smp/s:38 mem_gb:39.64
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Training: 45%|████▍ | 26800/60000 [10:13:10<15:20:56, 1.66s/step]INFO 2026-07-15 02:26:01 ot_train.py:625 step:27K smpl:2M ep:39K epch:7.85 loss:0.050 grdn:0.270 lr:5.9e-05 updt_s:0.884 data_s:0.779 smp/s:38 mem_gb:39.63
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Training: 45%|████▌ | 27000/60000 [10:18:41<15:53:56, 1.73s/step]INFO 2026-07-15 02:31:32 ot_train.py:625 step:27K smpl:2M ep:39K epch:7.91 loss:0.047 grdn:0.259 lr:5.9e-05 updt_s:0.902 data_s:0.752 smp/s:39 mem_gb:39.63
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Training: 45%|████▌ | 27200/60000 [10:24:13<14:53:00, 1.63s/step]INFO 2026-07-15 02:37:04 ot_train.py:625 step:27K smpl:2M ep:39K epch:7.97 loss:0.047 grdn:0.260 lr:5.8e-05 updt_s:0.876 data_s:0.780 smp/s:39 mem_gb:39.62
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Training: 46%|████▌ | 27600/60000 [10:35:17<15:05:31, 1.68s/step]INFO 2026-07-15 02:48:08 ot_train.py:625 step:28K smpl:2M ep:40K epch:8.09 loss:0.046 grdn:0.258 lr:5.7e-05 updt_s:0.918 data_s:0.740 smp/s:39 mem_gb:39.64
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Training: 46%|████▋ | 27800/60000 [10:40:48<14:24:38, 1.61s/step]INFO 2026-07-15 02:53:39 ot_train.py:625 step:28K smpl:2M ep:40K epch:8.15 loss:0.046 grdn:0.258 lr:5.7e-05 updt_s:0.885 data_s:0.768 smp/s:39 mem_gb:39.64
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Training: 47%|████▋ | 28000/60000 [10:46:18<14:09:46, 1.59s/step]INFO 2026-07-15 02:59:09 ot_train.py:625 step:28K smpl:2M ep:40K epch:8.21 loss:0.045 grdn:0.259 lr:5.6e-05 updt_s:0.906 data_s:0.742 smp/s:39 mem_gb:39.64
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Training: 47%|████▋ | 28200/60000 [10:51:43<15:20:49, 1.74s/step]INFO 2026-07-15 03:04:34 ot_train.py:625 step:28K smpl:2M ep:41K epch:8.26 loss:0.046 grdn:0.271 lr:5.6e-05 updt_s:0.925 data_s:0.696 smp/s:39 mem_gb:39.64
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Training: 47%|████▋ | 28400/60000 [10:57:14<15:10:37, 1.73s/step]INFO 2026-07-15 03:10:05 ot_train.py:625 step:28K smpl:2M ep:41K epch:8.32 loss:0.046 grdn:0.280 lr:5.5e-05 updt_s:0.877 data_s:0.776 smp/s:39 mem_gb:39.64
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Training: 48%|████▊ | 28600/60000 [11:02:46<14:21:58, 1.65s/step]INFO 2026-07-15 03:15:37 ot_train.py:625 step:29K smpl:2M ep:41K epch:8.38 loss:0.046 grdn:0.291 lr:5.5e-05 updt_s:0.909 data_s:0.749 smp/s:39 mem_gb:39.64
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Training: 48%|████▊ | 28800/60000 [11:08:18<14:46:01, 1.70s/step]INFO 2026-07-15 03:21:09 ot_train.py:625 step:29K smpl:2M ep:42K epch:8.44 loss:0.046 grdn:0.272 lr:5.4e-05 updt_s:0.902 data_s:0.752 smp/s:39 mem_gb:39.64
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Training: 48%|████▊ | 29000/60000 [11:13:50<14:15:49, 1.66s/step]INFO 2026-07-15 03:26:41 ot_train.py:625 step:29K smpl:2M ep:42K epch:8.50 loss:0.046 grdn:0.273 lr:5.4e-05 updt_s:0.914 data_s:0.746 smp/s:39 mem_gb:39.64
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Training: 49%|████▊ | 29200/60000 [11:19:24<14:15:17, 1.67s/step]INFO 2026-07-15 03:32:15 ot_train.py:625 step:29K smpl:2M ep:42K epch:8.56 loss:0.046 grdn:0.264 lr:5.3e-05 updt_s:0.879 data_s:0.787 smp/s:38 mem_gb:39.64
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Training: 49%|████▉ | 29400/60000 [11:24:59<14:02:17, 1.65s/step]INFO 2026-07-15 03:37:50 ot_train.py:625 step:29K smpl:2M ep:42K epch:8.62 loss:0.045 grdn:0.278 lr:5.3e-05 updt_s:0.874 data_s:0.796 smp/s:38 mem_gb:39.62
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Training: 49%|████▉ | 29600/60000 [11:30:29<13:54:15, 1.65s/step]INFO 2026-07-15 03:43:20 ot_train.py:625 step:30K smpl:2M ep:43K epch:8.68 loss:0.044 grdn:0.278 lr:5.2e-05 updt_s:0.867 data_s:0.779 smp/s:39 mem_gb:39.64
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Training: 50%|██���█▉ | 29800/60000 [11:36:02<14:42:59, 1.75s/step]INFO 2026-07-15 03:48:53 ot_train.py:625 step:30K smpl:2M ep:43K epch:8.73 loss:0.043 grdn:0.268 lr:5.1e-05 updt_s:0.874 data_s:0.789 smp/s:38 mem_gb:39.64
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Training: 50%|█████ | 30000/60000 [11:41:34<13:52:00, 1.66s/step]INFO 2026-07-15 03:54:25 ot_train.py:625 step:30K smpl:2M ep:43K epch:8.79 loss:0.043 grdn:0.278 lr:5.1e-05 updt_s:0.878 data_s:0.781 smp/s:39 mem_gb:39.64
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Training: 50%|█████ | 30200/60000 [11:47:11<13:44:23, 1.66s/step]INFO 2026-07-15 04:00:02 ot_train.py:625 step:30K smpl:2M ep:44K epch:8.85 loss:0.043 grdn:0.276 lr:5.0e-05 updt_s:0.894 data_s:0.786 smp/s:38 mem_gb:39.64
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Training: 51%|█████ | 30400/60000 [11:52:46<13:39:50, 1.66s/step]INFO 2026-07-15 04:05:37 ot_train.py:625 step:30K smpl:2M ep:44K epch:8.91 loss:0.043 grdn:0.264 lr:5.0e-05 updt_s:0.909 data_s:0.764 smp/s:38 mem_gb:39.64
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Training: 51%|█████ | 30600/60000 [11:58:20<13:32:44, 1.66s/step]INFO 2026-07-15 04:11:11 ot_train.py:625 step:31K smpl:2M ep:44K epch:8.97 loss:0.042 grdn:0.270 lr:4.9e-05 updt_s:0.873 data_s:0.794 smp/s:38 mem_gb:39.64
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Training: 51%|█████▏ | 30800/60000 [12:03:53<13:26:33, 1.66s/step]INFO 2026-07-15 04:16:45 ot_train.py:625 step:31K smpl:2M ep:45K epch:9.03 loss:0.043 grdn:0.267 lr:4.9e-05 updt_s:0.875 data_s:0.789 smp/s:38 mem_gb:39.64
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Training: 52%|█████▏ | 31000/60000 [12:09:29<13:30:18, 1.68s/step]INFO 2026-07-15 04:22:20 ot_train.py:625 step:31K smpl:2M ep:45K epch:9.09 loss:0.042 grdn:0.270 lr:4.8e-05 updt_s:0.901 data_s:0.774 smp/s:38 mem_gb:39.64
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Training: 52%|█████▏ | 31200/60000 [12:15:01<13:14:58, 1.66s/step]INFO 2026-07-15 04:27:52 ot_train.py:625 step:31K smpl:2M ep:45K epch:9.14 loss:0.042 grdn:0.266 lr:4.8e-05 updt_s:0.872 data_s:0.784 smp/s:39 mem_gb:39.64
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Training: 52%|█████▏ | 31400/60000 [12:20:32<12:46:41, 1.61s/step]INFO 2026-07-15 04:33:23 ot_train.py:625 step:31K smpl:2M ep:45K epch:9.20 loss:0.043 grdn:0.267 lr:4.7e-05 updt_s:0.896 data_s:0.757 smp/s:39 mem_gb:39.64
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Training: 53%|█████▎ | 31600/60000 [12:26:06<15:55:47, 2.02s/step]INFO 2026-07-15 04:38:57 ot_train.py:625 step:32K smpl:2M ep:46K epch:9.26 loss:0.042 grdn:0.269 lr:4.7e-05 updt_s:0.900 data_s:0.766 smp/s:38 mem_gb:39.62
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Training: 53%|█████▎ | 31800/60000 [12:31:35<11:47:12, 1.50s/step]INFO 2026-07-15 04:44:26 ot_train.py:625 step:32K smpl:2M ep:46K epch:9.32 loss:0.040 grdn:0.260 lr:4.6e-05 updt_s:0.891 data_s:0.751 smp/s:39 mem_gb:39.64
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Training: 53%|█████▎ | 32000/60000 [12:37:07<12:48:46, 1.65s/step]INFO 2026-07-15 04:49:58 ot_train.py:625 step:32K smpl:2M ep:46K epch:9.38 loss:0.041 grdn:0.275 lr:4.6e-05 updt_s:0.886 data_s:0.771 smp/s:39 mem_gb:39.64
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Training: 54%|█████▎ | 32200/60000 [12:42:41<12:45:47, 1.65s/step]INFO 2026-07-15 04:55:32 ot_train.py:625 step:32K smpl:2M ep:47K epch:9.44 loss:0.041 grdn:0.286 lr:4.5e-05 updt_s:0.889 data_s:0.775 smp/s:38 mem_gb:39.64
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Training: 54%|█████▍ | 32400/60000 [12:48:13<12:43:18, 1.66s/step]INFO 2026-07-15 05:01:04 ot_train.py:625 step:32K smpl:2M ep:47K epch:9.50 loss:0.041 grdn:0.277 lr:4.5e-05 updt_s:0.890 data_s:0.770 smp/s:39 mem_gb:39.63
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Training: 54%|█████▍ | 32600/60000 [12:53:49<12:41:27, 1.67s/step]INFO 2026-07-15 05:06:40 ot_train.py:625 step:33K smpl:2M ep:47K epch:9.55 loss:0.040 grdn:0.277 lr:4.4e-05 updt_s:0.901 data_s:0.774 smp/s:38 mem_gb:39.64
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Training: 55%|█████▍ | 32800/60000 [12:59:16<12:20:59, 1.63s/step]INFO 2026-07-15 05:12:07 ot_train.py:625 step:33K smpl:2M ep:47K epch:9.61 loss:0.040 grdn:0.271 lr:4.4e-05 updt_s:0.922 data_s:0.713 smp/s:39 mem_gb:39.63
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Training: 55%|█████▌ | 33000/60000 [13:04:43<12:14:14, 1.63s/step]INFO 2026-07-15 05:17:34 ot_train.py:625 step:33K smpl:2M ep:48K epch:9.67 loss:0.041 grdn:0.286 lr:4.3e-05 updt_s:0.874 data_s:0.758 smp/s:39 mem_gb:39.63
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Training: 55%|█████▌ | 33200/60000 [13:10:12<12:14:11, 1.64s/step]INFO 2026-07-15 05:23:03 ot_train.py:625 step:33K smpl:2M ep:48K epch:9.73 loss:0.040 grdn:0.286 lr:4.3e-05 updt_s:0.899 data_s:0.742 smp/s:39 mem_gb:39.64
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Training: 69%|██████▊ | 41200/60000 [16:52:23<8:35:24, 1.64s/step]INFO 2026-07-15 09:05:14 ot_train.py:625 step:41K smpl:3M ep:60K epch:12.08 loss:0.029 grdn:0.289 lr:2.3e-05 updt_s:0.893 data_s:0.770 smp/s:38 mem_gb:39.63
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Training: 69%|██████▉ | 41400/60000 [16:57:54<8:40:07, 1.68s/step]INFO 2026-07-15 09:10:45 ot_train.py:625 step:41K smpl:3M ep:60K epch:12.13 loss:0.029 grdn:0.262 lr:2.2e-05 updt_s:0.888 data_s:0.767 smp/s:39 mem_gb:39.64
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Training: 70%|███████ | 42000/60000 [17:24:24<20:31:05, 4.10s/step]INFO 2026-07-15 09:37:15 ot_train.py:625 step:42K smpl:3M ep:61K epch:12.31 loss:0.029 grdn:0.269 lr:2.1e-05 updt_s:3.228 data_s:0.847 smp/s:16 mem_gb:39.64
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Training: 70%|███████ | 42200/60000 [17:35:54<12:07:31, 2.45s/step]INFO 2026-07-15 09:48:45 ot_train.py:625 step:42K smpl:3M ep:61K epch:12.37 loss:0.029 grdn:0.271 lr:2.1e-05 updt_s:2.618 data_s:0.831 smp/s:19 mem_gb:39.64
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Training: 71%|███████ | 42600/60000 [17:55:05<18:12:31, 3.77s/step]INFO 2026-07-15 10:07:56 ot_train.py:625 step:43K smpl:3M ep:62K epch:12.49 loss:0.029 grdn:0.269 lr:2.0e-05 updt_s:2.721 data_s:0.578 smp/s:19 mem_gb:39.64
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Training: 71%|███████▏ | 42800/60000 [18:07:29<17:56:14, 3.75s/step]INFO 2026-07-15 10:20:20 ot_train.py:625 step:43K smpl:3M ep:62K epch:12.54 loss:0.029 grdn:0.267 lr:1.9e-05 updt_s:3.151 data_s:0.568 smp/s:17 mem_gb:39.64
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Training: 72%|███████▏ | 43000/60000 [18:16:24<12:50:33, 2.72s/step]INFO 2026-07-15 10:29:15 ot_train.py:625 step:43K smpl:3M ep:62K epch:12.60 loss:0.027 grdn:0.270 lr:1.9e-05 updt_s:2.092 data_s:0.579 smp/s:24 mem_gb:39.62
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Training: 72%|███████▏ | 43400/60000 [18:32:45<12:08:05, 2.63s/step]INFO 2026-07-15 10:45:36 ot_train.py:625 step:43K smpl:3M ep:63K epch:12.72 loss:0.028 grdn:0.274 lr:1.8e-05 updt_s:1.957 data_s:0.572 smp/s:25 mem_gb:39.63
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Training: 73%|███████▎ | 43600/60000 [18:41:16<11:03:50, 2.43s/step]INFO 2026-07-15 10:54:07 ot_train.py:625 step:44K smpl:3M ep:63K epch:12.78 loss:0.026 grdn:0.259 lr:1.8e-05 updt_s:1.980 data_s:0.574 smp/s:25 mem_gb:39.64
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Training: 73%|███████▎ | 43800/60000 [18:47:18<8:26:27, 1.88s/step]INFO 2026-07-15 11:00:09 ot_train.py:625 step:44K smpl:3M ep:63K epch:12.84 loss:0.027 grdn:0.273 lr:1.7e-05 updt_s:1.213 data_s:0.592 smp/s:35 mem_gb:39.64
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Training: 73%|███████▎ | 44000/60000 [18:54:49<12:06:04, 2.72s/step]INFO 2026-07-15 11:07:40 ot_train.py:625 step:44K smpl:3M ep:64K epch:12.90 loss:0.027 grdn:0.257 lr:1.7e-05 updt_s:1.629 data_s:0.624 smp/s:28 mem_gb:39.64
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Training: 74%|███████▍ | 44600/60000 [19:20:07<11:26:35, 2.68s/step]INFO 2026-07-15 11:32:58 ot_train.py:625 step:45K smpl:3M ep:64K epch:13.07 loss:0.026 grdn:0.264 lr:1.6e-05 updt_s:1.982 data_s:0.579 smp/s:25 mem_gb:39.64
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Training: 75%|███████▍ | 44800/60000 [19:27:32<8:00:15, 1.90s/step]INFO 2026-07-15 11:40:23 ot_train.py:625 step:45K smpl:3M ep:65K epch:13.13 loss:0.026 grdn:0.263 lr:1.5e-05 updt_s:1.652 data_s:0.572 smp/s:29 mem_gb:39.64
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Training: 75%|███████▌ | 45000/60000 [19:33:50<5:02:16, 1.21s/step]INFO 2026-07-15 11:46:41 ot_train.py:625 step:45K smpl:3M ep:65K epch:13.19 loss:0.026 grdn:0.264 lr:1.5e-05 updt_s:1.243 data_s:0.641 smp/s:34 mem_gb:39.63
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Training: 76%|███████▌ | 45400/60000 [19:51:39<11:06:40, 2.74s/step]INFO 2026-07-15 12:04:30 ot_train.py:625 step:45K smpl:3M ep:66K epch:13.31 loss:0.025 grdn:0.251 lr:1.4e-05 updt_s:2.088 data_s:0.582 smp/s:24 mem_gb:39.64
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Training: 76%|███████▌ | 45600/60000 [19:59:38<10:22:59, 2.60s/step]INFO 2026-07-15 12:12:29 ot_train.py:625 step:46K smpl:3M ep:66K epch:13.36 loss:0.026 grdn:0.295 lr:1.4e-05 updt_s:1.812 data_s:0.578 smp/s:27 mem_gb:39.64
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Training: 76%|███████▋ | 45800/60000 [20:08:05<5:11:53, 1.32s/step]INFO 2026-07-15 12:20:56 ot_train.py:625 step:46K smpl:3M ep:66K epch:13.42 loss:0.025 grdn:0.257 lr:1.4e-05 updt_s:1.964 data_s:0.570 smp/s:25 mem_gb:39.64
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Training: 77%|███████▋ | 46000/60000 [20:14:12<7:11:12, 1.85s/step]INFO 2026-07-15 12:27:03 ot_train.py:625 step:46K smpl:3M ep:66K epch:13.48 loss:0.024 grdn:0.257 lr:1.3e-05 updt_s:1.194 data_s:0.637 smp/s:35 mem_gb:39.63
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Training: 77%|███████▋ | 46200/60000 [20:22:15<10:13:05, 2.67s/step]INFO 2026-07-15 12:35:06 ot_train.py:625 step:46K smpl:3M ep:67K epch:13.54 loss:0.024 grdn:0.258 lr:1.3e-05 updt_s:1.828 data_s:0.582 smp/s:27 mem_gb:39.64
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Training: 77%|███████▋ | 46400/60000 [20:30:14<9:40:57, 2.56s/step]INFO 2026-07-15 12:43:05 ot_train.py:625 step:46K smpl:3M ep:67K epch:13.60 loss:0.024 grdn:0.266 lr:1.3e-05 updt_s:1.821 data_s:0.571 smp/s:27 mem_gb:39.63
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Training: 78%|███████▊ | 46600/60000 [20:37:49<7:04:35, 1.90s/step]INFO 2026-07-15 12:50:40 ot_train.py:625 step:47K smpl:3M ep:67K epch:13.66 loss:0.024 grdn:0.260 lr:1.2e-05 updt_s:1.693 data_s:0.578 smp/s:28 mem_gb:39.64
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Training: 78%|███████▊ | 46800/60000 [20:44:09<7:38:08, 2.08s/step]INFO 2026-07-15 12:57:00 ot_train.py:625 step:47K smpl:3M ep:68K epch:13.72 loss:0.024 grdn:0.256 lr:1.2e-05 updt_s:1.261 data_s:0.638 smp/s:34 mem_gb:39.64
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Training: 78%|███████▊ | 47000/60000 [20:52:10<9:41:08, 2.68s/step]INFO 2026-07-15 13:05:01 ot_train.py:625 step:47K smpl:3M ep:68K epch:13.77 loss:0.024 grdn:0.265 lr:1.1e-05 updt_s:1.825 data_s:0.575 smp/s:27 mem_gb:39.63
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Training: 79%|███████▊ | 47200/60000 [21:00:56<9:30:27, 2.67s/step]INFO 2026-07-15 13:13:47 ot_train.py:625 step:47K smpl:3M ep:68K epch:13.83 loss:0.024 grdn:0.264 lr:1.1e-05 updt_s:2.050 data_s:0.577 smp/s:24 mem_gb:39.63
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Training: 79%|███████▉ | 47400/60000 [21:09:19<4:47:27, 1.37s/step]INFO 2026-07-15 13:22:10 ot_train.py:625 step:47K smpl:3M ep:68K epch:13.89 loss:0.024 grdn:0.276 lr:1.1e-05 updt_s:1.935 data_s:0.580 smp/s:25 mem_gb:39.62
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Training: 79%|███████▉ | 47600/60000 [21:17:27<8:38:29, 2.51s/step]INFO 2026-07-15 13:30:19 ot_train.py:625 step:48K smpl:3M ep:69K epch:13.95 loss:0.023 grdn:0.254 lr:1.0e-05 updt_s:1.870 data_s:0.569 smp/s:26 mem_gb:39.64
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Training: 80%|███████▉ | 47800/60000 [21:26:57<10:57:31, 3.23s/step]INFO 2026-07-15 13:39:48 ot_train.py:625 step:48K smpl:3M ep:69K epch:14.01 loss:0.023 grdn:0.274 lr:1.0e-05 updt_s:2.158 data_s:0.688 smp/s:22 mem_gb:39.63
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Training: 80%|████████ | 48000/60000 [21:35:23<6:19:34, 1.90s/step]INFO 2026-07-15 13:48:14 ot_train.py:625 step:48K smpl:3M ep:69K epch:14.07 loss:0.023 grdn:0.253 lr:9.9e-06 updt_s:1.758 data_s:0.769 smp/s:25 mem_gb:39.63
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Training: 80%|████████ | 48200/60000 [21:40:03<3:53:51, 1.19s/step]INFO 2026-07-15 13:52:54 ot_train.py:625 step:48K smpl:3M ep:70K epch:14.13 loss:0.023 grdn:0.259 lr:9.5e-06 updt_s:0.794 data_s:0.604 smp/s:46 mem_gb:39.64
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Training: 81%|████████ | 48400/60000 [21:44:09<3:56:28, 1.22s/step]INFO 2026-07-15 13:57:00 ot_train.py:625 step:48K smpl:3M ep:70K epch:14.19 loss:0.022 grdn:0.250 lr:9.2e-06 updt_s:0.647 data_s:0.577 smp/s:52 mem_gb:39.63
|
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Training: 81%|████████ | 48600/60000 [21:48:11<3:45:58, 1.19s/step]INFO 2026-07-15 14:01:02 ot_train.py:625 step:49K smpl:3M ep:70K epch:14.24 loss:0.023 grdn:0.260 lr:8.9e-06 updt_s:0.639 data_s:0.568 smp/s:53 mem_gb:39.64
|
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Training: 81%|████████▏ | 48800/60000 [21:52:14<3:41:56, 1.19s/step]INFO 2026-07-15 14:05:05 ot_train.py:625 step:49K smpl:3M ep:71K epch:14.30 loss:0.024 grdn:0.253 lr:8.6e-06 updt_s:0.644 data_s:0.572 smp/s:53 mem_gb:39.63
|
| 261 |
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Training: 82%|████████▏ | 49000/60000 [21:56:15<3:32:43, 1.16s/step]INFO 2026-07-15 14:09:06 ot_train.py:625 step:49K smpl:3M ep:71K epch:14.36 loss:0.023 grdn:0.245 lr:8.3e-06 updt_s:0.643 data_s:0.558 smp/s:53 mem_gb:39.63
|
| 262 |
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Training: 82%|████████▏ | 49200/60000 [22:00:34<3:41:21, 1.23s/step]INFO 2026-07-15 14:13:25 ot_train.py:625 step:49K smpl:3M ep:71K epch:14.42 loss:0.022 grdn:0.235 lr:8.1e-06 updt_s:0.735 data_s:0.558 smp/s:49 mem_gb:39.63
|
| 263 |
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Training: 82%|████████▏ | 49400/60000 [22:04:49<4:14:51, 1.44s/step]INFO 2026-07-15 14:17:40 ot_train.py:625 step:49K smpl:3M ep:71K epch:14.48 loss:0.023 grdn:0.253 lr:7.8e-06 updt_s:0.667 data_s:0.603 smp/s:50 mem_gb:39.64
|
| 264 |
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Training: 83%|████████▎ | 49600/60000 [22:09:17<4:17:15, 1.48s/step]INFO 2026-07-15 14:22:08 ot_train.py:625 step:50K smpl:3M ep:72K epch:14.54 loss:0.022 grdn:0.249 lr:7.5e-06 updt_s:0.689 data_s:0.649 smp/s:48 mem_gb:39.64
|
| 265 |
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Training: 83%|████████▎ | 49800/60000 [22:14:03<3:50:24, 1.36s/step]INFO 2026-07-15 14:26:54 ot_train.py:625 step:50K smpl:3M ep:72K epch:14.60 loss:0.022 grdn:0.252 lr:7.2e-06 updt_s:0.720 data_s:0.706 smp/s:45 mem_gb:39.62
|
| 266 |
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Training: 83%|████████▎ | 50000/60000 [22:18:50<3:54:21, 1.41s/step]INFO 2026-07-15 14:31:41 ot_train.py:625 step:50K smpl:3M ep:72K epch:14.65 loss:0.022 grdn:0.246 lr:6.9e-06 updt_s:0.721 data_s:0.713 smp/s:45 mem_gb:39.64
|
| 267 |
-
INFO 2026-07-15 14:31:41 ot_train.py:670 Checkpoint policy after step 50000
|
| 268 |
-
INFO 2026-07-15 14:32:10 ain_yaml.py:662 Saved config, action-space, and prompt provenance in /home/ext_minje/groot_insight/Abs_6D/Baseline and /home/ext_minje/groot_insight/Abs_6D/Baseline/checkpoints/050000
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| 269 |
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Training: 83%|████████▎ | 50007/60000 [22:19:28<6:15:26, 2.25s/step]
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Baseline/wandb/run-20260714_161240-1jmjb68j/files/requirements.txt
DELETED
|
@@ -1,117 +0,0 @@
|
|
| 1 |
-
pyarrow==25.0.0
|
| 2 |
-
importlib_metadata==9.0.0
|
| 3 |
-
wheel==0.47.0
|
| 4 |
-
cloudpickle==3.1.2
|
| 5 |
-
nvidia-cusolver-cu12==11.7.3.90
|
| 6 |
-
multiprocess==0.70.19
|
| 7 |
-
torch==2.11.0+cu128
|
| 8 |
-
nvidia-nvjitlink-cu12==12.8.93
|
| 9 |
-
fsspec==2026.2.0
|
| 10 |
-
pytz==2026.2
|
| 11 |
-
hf-xet==1.5.1
|
| 12 |
-
tokenizers==0.22.2
|
| 13 |
-
opencv-python-headless==4.13.0.92
|
| 14 |
-
cuda-pathfinder==1.2.2
|
| 15 |
-
frozenlist==1.8.0
|
| 16 |
-
smmap==5.0.3
|
| 17 |
-
httpcore==1.0.9
|
| 18 |
-
nvidia-nvshmem-cu12==3.4.5
|
| 19 |
-
nvidia-cuda-nvrtc-cu12==12.8.93
|
| 20 |
-
annotated-types==0.7.0
|
| 21 |
-
platformdirs==4.10.0
|
| 22 |
-
click==8.4.2
|
| 23 |
-
pyyaml-include==1.4.1
|
| 24 |
-
MarkupSafe==3.0.3
|
| 25 |
-
Jinja2==3.1.6
|
| 26 |
-
urllib3==2.7.0
|
| 27 |
-
nvidia-curand-cu12==10.3.9.90
|
| 28 |
-
certifi==2026.6.17
|
| 29 |
-
nvidia-cuda-runtime-cu12==12.8.90
|
| 30 |
-
torchcodec==0.11.1
|
| 31 |
-
toml==0.10.2
|
| 32 |
-
av==15.1.0
|
| 33 |
-
nvidia-cufft-cu12==11.3.3.83
|
| 34 |
-
attrs==26.1.0
|
| 35 |
-
lerobot==0.6.0
|
| 36 |
-
PyYAML==6.0.3
|
| 37 |
-
safetensors==0.8.0
|
| 38 |
-
diffusers==0.35.2
|
| 39 |
-
requests==2.34.2
|
| 40 |
-
nvidia-nvtx-cu12==12.8.90
|
| 41 |
-
charset-normalizer==3.4.9
|
| 42 |
-
networkx==3.6.1
|
| 43 |
-
cmake==4.1.3
|
| 44 |
-
pydantic_core==2.46.4
|
| 45 |
-
timm==1.0.28
|
| 46 |
-
dm-tree==0.1.10
|
| 47 |
-
nvidia-cufile-cu12==1.13.1.3
|
| 48 |
-
termcolor==3.3.0
|
| 49 |
-
multidict==6.7.1
|
| 50 |
-
filelock==3.29.0
|
| 51 |
-
tzdata==2026.3
|
| 52 |
-
aiohappyeyeballs==2.7.1
|
| 53 |
-
httpx==0.28.1
|
| 54 |
-
nvidia-nccl-cu12==2.28.9
|
| 55 |
-
Pygments==2.20.0
|
| 56 |
-
einops==0.8.2
|
| 57 |
-
nvidia-cusparse-cu12==12.5.8.93
|
| 58 |
-
torchvision==0.26.0+cu128
|
| 59 |
-
dill==0.4.1
|
| 60 |
-
GitPython==3.1.51
|
| 61 |
-
nvidia-cuda-cupti-cu12==12.8.90
|
| 62 |
-
decord==0.6.0
|
| 63 |
-
sympy==1.14.0
|
| 64 |
-
cuda-toolkit==12.8.1
|
| 65 |
-
python-dateutil==2.9.0.post0
|
| 66 |
-
shellingham==1.5.4
|
| 67 |
-
propcache==0.5.2
|
| 68 |
-
Farama-Notifications==0.0.6
|
| 69 |
-
pillow==12.2.0
|
| 70 |
-
cuda-bindings==12.9.4
|
| 71 |
-
huggingface_hub==1.23.0
|
| 72 |
-
pandas==2.3.3
|
| 73 |
-
typing-inspect==0.9.0
|
| 74 |
-
packaging==25.0
|
| 75 |
-
rich==15.0.0
|
| 76 |
-
nvidia-cusparselt-cu12==0.7.1
|
| 77 |
-
setuptools==78.1.0
|
| 78 |
-
wrapt==2.2.2
|
| 79 |
-
mypy_extensions==1.1.0
|
| 80 |
-
tqdm==4.68.4
|
| 81 |
-
draccus==0.10.0
|
| 82 |
-
aiosignal==1.4.0
|
| 83 |
-
mpmath==1.3.0
|
| 84 |
-
numpy==2.2.6
|
| 85 |
-
typing_extensions==4.15.0
|
| 86 |
-
psutil==7.2.2
|
| 87 |
-
mdurl==0.1.2
|
| 88 |
-
nvidia-cublas-cu12==12.8.4.1
|
| 89 |
-
absl-py==2.5.0
|
| 90 |
-
gitdb==4.0.12
|
| 91 |
-
transformers==5.5.4
|
| 92 |
-
accelerate==1.14.0
|
| 93 |
-
pydantic==2.13.4
|
| 94 |
-
pip==26.1.2
|
| 95 |
-
markdown-it-py==4.2.0
|
| 96 |
-
typer==0.26.8
|
| 97 |
-
triton==3.6.0
|
| 98 |
-
wandb==0.27.2
|
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Baseline/wandb/run-20260714_161240-1jmjb68j/files/wandb-metadata.json
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Baseline/wandb/run-20260714_161240-1jmjb68j/logs/debug-core.log
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Baseline/wandb/run-20260714_161240-1jmjb68j/logs/debug-internal.log
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Baseline/wandb/run-20260714_161240-1jmjb68j/logs/debug.log
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| 8 |
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config: {'dataset': {'repo_id': 'Whalswp/INSIGHTfixposV4_filtered_multispace_v2', 'root': '/home/ext_minje/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/ext_minje/groot_insight/Abs_6D/Baseline', 'job_name': 'INSIGHT_6D_baseline', 'resume': False, 'seed': 42, 'cudnn_deterministic': False, 'num_workers': 4, 'batch_size': 64, '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': 50, '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': {}}
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Baseline/wandb/run-20260714_161240-1jmjb68j/run-1jmjb68j.wandb
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Baseline/wandb/run-20260715_143250-1jmjb68j/files/config.yaml
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