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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_rkd', '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_steps': 6000, '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, 'rkd_enabled': True, 'rkd_vae_checkpoint': '/home/ext_minje/groot_insight/TimewarpVAE_combo_top8_30k/C8_01_C3_008_beta_5em05_latent_dim_16_granularity_4_decoder_hidden_dim_512/checkpoint-step-30000-epoch-39.11', 'rkd_student_pooling': 'attention', 'rkd_student_attention_hidden_dim': 512, 'rkd_student_attention_output_dim': 512, 'rkd_fm_loss_weight': 1.0, 'rkd_loss_weight': 1.0, 'rkd_distance_weight': 1.0, 'rkd_angle_weight': 2.0}, 'reward_model': None, 'output_dir': '/home/ext_minje/groot_insight/Abs_6D/RKD_TimewarpVAE/LAPstyle_linear_10K', 'job_name': 'INSIGHT_6D_RKD_TimewarpVAE_LAPstyle_10K', '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': 6000, '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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+2026-07-16 04:08:46,311 INFO    wandb-AsyncioManager-main:2695440 [mailbox.py:close():154] Closing mailbox, abandoning 2 handles.
+2026-07-16 04:08:46,312 ERROR   wandb-AsyncioManager-main:2695440 [asyncio_manager.py:fn_wrap_exceptions():184] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  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
+    await fn()
+  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/run_messages.py", line 90, in loop
+    await asyncio_compat.race(
+  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_compat.py", line 278, in race
+    async with open_task_group(race=True) as tg:
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/contextlib.py", line 217, in __aexit__
+    await anext(self.gen)
+  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
+    await task_group._wait_all(race=race, timeout=exit_timeout)
+  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_compat.py", line 180, in _wait_all
+    raise exc
+  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/run_messages.py", line 113, in _print_all
+    result = await handle.wait_async(timeout=None)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/mailbox/mailbox_handle.py", line 127, in wait_async
+    response = await self._handle.wait_async(timeout=timeout)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/mailbox/response_handle.py", line 123, in wait_async
+    raise HandleAbandonedError()
+wandb.sdk.mailbox.mailbox_handle.HandleAbandonedError

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+Traceback (most recent call last):
+  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
+    await fn()
+  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/run_messages.py", line 90, in loop
+    await asyncio_compat.race(
+  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_compat.py", line 278, in race
+    async with open_task_group(race=True) as tg:
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/contextlib.py", line 217, in __aexit__
+    await anext(self.gen)
+  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
+    await task_group._wait_all(race=race, timeout=exit_timeout)
+  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_compat.py", line 180, in _wait_all
+    raise exc
+  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/run_messages.py", line 113, in _print_all
+    result = await handle.wait_async(timeout=None)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/mailbox/mailbox_handle.py", line 127, in wait_async
+    response = await self._handle.wait_async(timeout=timeout)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/mailbox/response_handle.py", line 123, in wait_async
+    raise HandleAbandonedError()
+wandb.sdk.mailbox.mailbox_handle.HandleAbandonedError

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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_rkd', '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_steps': 3000, '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, 'rkd_enabled': True, 'rkd_vae_checkpoint': '/home/ext_minje/groot_insight/TimewarpVAE_combo_top8_30k/C8_01_C3_008_beta_5em05_latent_dim_16_granularity_4_decoder_hidden_dim_512/checkpoint-step-30000-epoch-39.11', 'rkd_student_pooling': 'attention', 'rkd_student_attention_hidden_dim': 512, 'rkd_student_attention_output_dim': 512, 'rkd_fm_loss_weight': 1.0, 'rkd_loss_weight': 1.0, 'rkd_distance_weight': 1.0, 'rkd_angle_weight': 2.0}, 'reward_model': None, 'output_dir': '/home/ext_minje/groot_insight/Abs_6D/RKD_TimewarpVAE/RSCLstyle_cosine_60K', 'job_name': 'INSIGHT_6D_RKD_TimewarpVAE_RSCLstyle_C60', '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': 3000, '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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+2026-07-16 12:37:17,114 INFO    wandb-AsyncioManager-main:1576313 [mailbox.py:close():154] Closing mailbox, abandoning 2 handles.
+2026-07-16 12:37:17,114 ERROR   wandb-AsyncioManager-main:1576313 [asyncio_manager.py:fn_wrap_exceptions():184] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  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
+    await fn()
+  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/run_messages.py", line 90, in loop
+    await asyncio_compat.race(
+  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_compat.py", line 278, in race
+    async with open_task_group(race=True) as tg:
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/contextlib.py", line 217, in __aexit__
+    await anext(self.gen)
+  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
+    await task_group._wait_all(race=race, timeout=exit_timeout)
+  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_compat.py", line 180, in _wait_all
+    raise exc
+  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/run_messages.py", line 113, in _print_all
+    result = await handle.wait_async(timeout=None)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/mailbox/mailbox_handle.py", line 127, in wait_async
+    response = await self._handle.wait_async(timeout=timeout)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/mailbox/response_handle.py", line 123, in wait_async
+    raise HandleAbandonedError()
+wandb.sdk.mailbox.mailbox_handle.HandleAbandonedError
+2026-07-16 12:37:17,246 ERROR   wandb-AsyncioManager-main:1576313 [asyncio_manager.py:fn_wrap_exceptions():184] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  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
+    await fn()
+  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/run_stopping.py", line 87, in loop
+    should_stop = await self._check_should_stop()
+                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/run_stopping.py", line 115, in _check_should_stop
+    handle = await self._interface.deliver_async(request)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/interface/interface_sock.py", line 58, in deliver_async
+    handle = await self._client.deliver(request)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/service/service_client.py", line 57, in deliver
+    handle = self._mailbox.require_response(request)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/mailbox/mailbox.py", line 89, in require_response
+    raise MailboxClosedError()
+wandb.sdk.mailbox.mailbox.MailboxClosedError

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