Add files using upload-large-folder tool

Abs_6D + DeltaEE/Baseline/checkpoints/030000/resolved_config.yaml

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+dataset:
+  repo_id: Whalswp/INSIGHTfixposV4_filtered_multispace_v2
+  root: /home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2
+policy:
+  type: groot
+  device: cuda
+  chunk_size: 16
+  n_action_steps: 16
+  push_to_hub: false
+  tune_llm: false
+  tune_visual: false
+  tune_top_llm_layers: 0
+  tune_projector: true
+  tune_diffusion_model: true
+  tune_vlln: true
+seed: 42
+batch_size: 128
+steps: 60000
+log_freq: 200
+output_dir: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/Baseline
+job_name: INSIGHT_RD_baseline
+wandb:
+  enable: true
+  disable_artifact: true

Abs_6D + DeltaEE/Baseline/checkpoints/030000/source_config.yaml

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+# INSIGHT GR00T N1.7 training config
+# INSIGHT wrapper-only fields are stripped before LeRobot config parsing.
+insight:
+  # Options: joint_abs | ee_abs_quat | ee_abs_rot6d | ee_delta
+  action_space: ee_abs_rot6d+ee_delta
+  # Options: coarse | detailed
+  prompt_set: detailed
+  save_steps: ["60K"]
+
+dataset:
+  repo_id: Whalswp/INSIGHTfixposV4_filtered_multispace_v2
+  root: ${HOME}/INSIGHTfixposV4_filtered_multispace_v2
+
+policy:
+  type: groot
+  device: cuda
+  chunk_size: 16
+  n_action_steps: 16
+  push_to_hub: false
+  # Trainable scope. This baseline trains projector, diffusion, and VLLN; LLM/vision stay frozen.
+  # VLM
+  tune_llm: false
+  tune_visual: false
+  tune_top_llm_layers: 0
+  # Action Expert
+  tune_projector: true
+  tune_diffusion_model: true
+  tune_vlln: true
+
+
+seed: 42
+batch_size: 128
+steps: 60000
+log_freq: 200
+output_dir: "${HOME}/groot_insight/train_ckpt/Abs_6D + DeltaEE/Baseline"
+job_name: INSIGHT_RD_baseline
+
+wandb:
+  enable: true
+  disable_artifact: true
+
+# Omitted because these match LeRobot/GR00T defaults or are unused in this setup:
+#
+# dataset:
+#   eval_split: 0.0
+#   image_transforms:
+#     enable: false  # default; set true only for train-image augmentation.
+#
+# policy:
+#   base_model_path: nvidia/GR00T-N1.7-3B
+#   embodiment_tag: new_embodiment
+#   use_relative_actions: false
+#   use_bf16: true
+#   repo_id: Whalswp/INSIGHT  # unused while push_to_hub is false
+#
+# save_checkpoint: true
+# use_policy_training_preset: true
+# eval_steps: 0
+# env_eval_freq: 0
+#
+# insight.prompt_set options:
+# coarse: High-level task text that requires following the visual guide.
+# detailed: Direction- and interaction-specific text, including rotation and push/pull details.

Abs_6D + DeltaEE/Baseline/wandb/run-20260719_231648-h160hqm2/files/output.log

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+INFO 2026-07-19 23:16:50 db_utils.py:121 Logs will be synced with wandb.
+INFO 2026-07-19 23:16:50 db_utils.py:122 Track this run --> https://wandb.ai/minje227_hyu-hanyang-university/lerobot/runs/h160hqm2
+INFO 2026-07-19 23:16:50 ot_train.py:298 Creating dataset
+INFO 2026-07-19 23:16:53 ot_train.py:332 Creating policy
+Fetching 27 files: 100%|██████████| 27/27 [00:00<00:00, 1360.31it/s]
+`torch_dtype` is deprecated! Use `dtype` instead!
+Loading weights: 100%|██████████| 1031/1031 [00:00<00:00, 1858.59it/s]
+INFO 2026-07-19 23:16:59 ot_train.py:405 Creating optimizer and scheduler
+INFO 2026-07-19 23:16:59 ot_train.py:437 Output dir: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/Baseline
+INFO 2026-07-19 23:16:59 ot_train.py:444 cfg.steps=60000 (60K)
+INFO 2026-07-19 23:16:59 ot_train.py:445 dataset.num_frames=218367 (218K)
+INFO 2026-07-19 23:16:59 ot_train.py:446 dataset.num_episodes=4930
+INFO 2026-07-19 23:16:59 ot_train.py:449 Effective batch size: 128 x 1 = 128
+INFO 2026-07-19 23:16:59 ot_train.py:450 num_learnable_params=1620515968 (2B)
+INFO 2026-07-19 23:16:59 ot_train.py:451 num_total_params=3144016000 (3B)
+Training:   0%|          | 0/60000 [00:00<?, ?step/s]INFO 2026-07-19 23:16:59 ot_train.py:602 Start offline training on a fixed dataset, with effective batch size: 128
+Training:   0%|          | 200/60000 [10:32<50:50:29,  3.06s/step]INFO 2026-07-19 23:27:31 ot_train.py:646 step:200 smpl:26K ep:578 epch:0.12 loss:0.805 grdn:1.040 lr:2.0e-05 updt_s:1.555 data_s:1.602 smp/s:41 mem_gb:52.75
+Training:   1%|          | 400/60000 [20:53<51:27:49,  3.11s/step]INFO 2026-07-19 23:37:52 ot_train.py:646 step:400 smpl:51K ep:1K epch:0.23 loss:0.181 grdn:1.631 lr:6.0e-05 updt_s:1.555 data_s:1.547 smp/s:41 mem_gb:52.81
+Training:   1%|          | 600/60000 [31:10<50:48:15,  3.08s/step]INFO 2026-07-19 23:48:10 ot_train.py:646 step:600 smpl:77K ep:2K epch:0.35 loss:0.140 grdn:1.147 lr:9.5e-05 updt_s:1.499 data_s:1.583 smp/s:42 mem_gb:52.81
+Training:   1%|▏         | 800/60000 [41:27<52:13:26,  3.18s/step]INFO 2026-07-19 23:58:27 ot_train.py:646 step:800 smpl:102K ep:2K epch:0.47 loss:0.110 grdn:0.772 lr:1.0e-04 updt_s:1.510 data_s:1.575 smp/s:41 mem_gb:52.81
+Training:   2%|▏         | 1000/60000 [51:45<49:48:26,  3.04s/step]INFO 2026-07-20 00:08:45 ot_train.py:646 step:1K smpl:128K ep:3K epch:0.59 loss:0.096 grdn:0.643 lr:1.0e-04 updt_s:1.493 data_s:1.593 smp/s:41 mem_gb:52.81
+Training:   2%|▏         | 1200/60000 [1:02:13<50:47:30,  3.11s/step]INFO 2026-07-20 00:19:13 ot_train.py:646 step:1K smpl:154K ep:3K epch:0.70 loss:0.088 grdn:0.590 lr:1.0e-04 updt_s:1.568 data_s:1.567 smp/s:41 mem_gb:52.73
+Training:   2%|▏         | 1400/60000 [1:12:43<49:44:53,  3.06s/step]INFO 2026-07-20 00:29:42 ot_train.py:646 step:1K smpl:179K ep:4K epch:0.82 loss:0.082 grdn:0.526 lr:1.0e-04 updt_s:1.603 data_s:1.541 smp/s:41 mem_gb:52.83
+Training:   3%|▎         | 1600/60000 [1:23:02<50:13:58,  3.10s/step]INFO 2026-07-20 00:40:02 ot_train.py:646 step:2K smpl:205K ep:5K epch:0.94 loss:0.077 grdn:0.490 lr:1.0e-04 updt_s:1.575 data_s:1.520 smp/s:41 mem_gb:52.83
+Training:   3%|▎         | 1800/60000 [1:33:19<50:09:26,  3.10s/step]INFO 2026-07-20 00:50:19 ot_train.py:646 step:2K smpl:230K ep:5K epch:1.06 loss:0.074 grdn:0.472 lr:1.0e-04 updt_s:1.592 data_s:1.490 smp/s:42 mem_gb:52.83
+Training:   3%|▎         | 2000/60000 [1:44:16<58:51:51,  3.65s/step]INFO 2026-07-20 01:01:16 ot_train.py:646 step:2K smpl:256K ep:6K epch:1.17 loss:0.072 grdn:0.451 lr:1.0e-04 updt_s:1.730 data_s:1.550 smp/s:39 mem_gb:52.83
+Training:   4%|▎         | 2200/60000 [1:52:58<37:44:18,  2.35s/step]INFO 2026-07-20 01:09:58 ot_train.py:646 step:2K smpl:282K ep:6K epch:1.29 loss:0.069 grdn:0.426 lr:1.0e-04 updt_s:1.400 data_s:1.205 smp/s:49 mem_gb:52.83
+Training:   4%|▍         | 2400/60000 [2:01:35<42:29:17,  2.66s/step]INFO 2026-07-20 01:18:35 ot_train.py:646 step:2K smpl:307K ep:7K epch:1.41 loss:0.066 grdn:0.388 lr:1.0e-04 updt_s:1.464 data_s:1.121 smp/s:50 mem_gb:52.75
+Training:   4%|▍         | 2600/60000 [2:10:27<40:40:04,  2.55s/step]INFO 2026-07-20 01:27:26 ot_train.py:646 step:3K smpl:333K ep:8K epch:1.52 loss:0.064 grdn:0.378 lr:1.0e-04 updt_s:1.447 data_s:1.206 smp/s:48 mem_gb:52.83
+Training:   5%|▍         | 2800/60000 [2:18:56<43:48:28,  2.76s/step]INFO 2026-07-20 01:35:56 ot_train.py:646 step:3K smpl:358K ep:8K epch:1.64 loss:0.061 grdn:0.361 lr:1.0e-04 updt_s:1.433 data_s:1.114 smp/s:50 mem_gb:52.83
+Training:   5%|▌         | 3000/60000 [2:28:36<45:57:17,  2.90s/step]INFO 2026-07-20 01:45:36 ot_train.py:646 step:3K smpl:384K ep:9K epch:1.76 loss:0.060 grdn:0.349 lr:1.0e-04 updt_s:1.613 data_s:1.284 smp/s:44 mem_gb:52.83
+Training:   5%|▌         | 3200/60000 [2:38:36<41:16:07,  2.62s/step]INFO 2026-07-20 01:55:36 ot_train.py:646 step:3K smpl:410K ep:9K epch:1.88 loss:0.059 grdn:0.338 lr:1.0e-04 updt_s:1.609 data_s:1.385 smp/s:43 mem_gb:52.83
+Training:   6%|▌         | 3400/60000 [2:48:01<39:51:20,  2.53s/step]INFO 2026-07-20 02:05:01 ot_train.py:646 step:3K smpl:435K ep:10K epch:1.99 loss:0.059 grdn:0.332 lr:9.9e-05 updt_s:1.549 data_s:1.276 smp/s:45 mem_gb:52.75
+Training:   6%|▌         | 3600/60000 [2:56:33<40:45:27,  2.60s/step]INFO 2026-07-20 02:13:33 ot_train.py:646 step:4K smpl:461K ep:10K epch:2.11 loss:0.056 grdn:0.323 lr:9.9e-05 updt_s:1.426 data_s:1.131 smp/s:50 mem_gb:52.83
+Training:   6%|▋         | 3800/60000 [3:04:50<41:45:06,  2.67s/step]INFO 2026-07-20 02:21:50 ot_train.py:646 step:4K smpl:486K ep:11K epch:2.23 loss:0.055 grdn:0.309 lr:9.9e-05 updt_s:1.407 data_s:1.076 smp/s:52 mem_gb:52.83
+Training:   7%|▋         | 4000/60000 [3:14:15<44:38:32,  2.87s/step]INFO 2026-07-20 02:31:15 ot_train.py:646 step:4K smpl:512K ep:12K epch:2.34 loss:0.055 grdn:0.303 lr:9.9e-05 updt_s:1.563 data_s:1.257 smp/s:45 mem_gb:52.83
+Training:   7%|▋         | 4200/60000 [3:24:15<48:15:36,  3.11s/step]INFO 2026-07-20 02:41:15 ot_train.py:646 step:4K smpl:538K ep:12K epch:2.46 loss:0.054 grdn:0.294 lr:9.9e-05 updt_s:1.627 data_s:1.370 smp/s:43 mem_gb:52.83
+Training:   7%|▋         | 4400/60000 [3:34:20<47:23:57,  3.07s/step]INFO 2026-07-20 02:51:20 ot_train.py:646 step:4K smpl:563K ep:13K epch:2.58 loss:0.054 grdn:0.290 lr:9.9e-05 updt_s:1.555 data_s:1.467 smp/s:42 mem_gb:52.83
+Training:   8%|▊         | 4600/60000 [3:44:30<46:13:20,  3.00s/step]INFO 2026-07-20 03:01:30 ot_train.py:646 step:5K smpl:589K ep:13K epch:2.70 loss:0.052 grdn:0.289 lr:9.9e-05 updt_s:1.626 data_s:1.420 smp/s:42 mem_gb:52.75
+Training:   8%|▊         | 4800/60000 [3:54:35<44:59:36,  2.93s/step]INFO 2026-07-20 03:11:35 ot_train.py:646 step:5K smpl:614K ep:14K epch:2.81 loss:0.053 grdn:0.286 lr:9.9e-05 updt_s:1.584 data_s:1.437 smp/s:42 mem_gb:52.83
+Training:   8%|▊         | 5000/60000 [4:04:28<42:54:33,  2.81s/step]INFO 2026-07-20 03:21:28 ot_train.py:646 step:5K smpl:640K ep:14K epch:2.93 loss:0.051 grdn:0.272 lr:9.9e-05 updt_s:1.590 data_s:1.375 smp/s:43 mem_gb:52.83
+Training:   9%|▊         | 5200/60000 [4:14:41<47:20:35,  3.11s/step]INFO 2026-07-20 03:31:41 ot_train.py:646 step:5K smpl:666K ep:15K epch:3.05 loss:0.050 grdn:0.263 lr:9.9e-05 updt_s:1.642 data_s:1.419 smp/s:42 mem_gb:52.83
+Training:   9%|▉         | 5400/60000 [4:24:59<47:12:57,  3.11s/step]INFO 2026-07-20 03:41:59 ot_train.py:646 step:5K smpl:691K ep:16K epch:3.17 loss:0.049 grdn:0.256 lr:9.8e-05 updt_s:1.573 data_s:1.513 smp/s:41 mem_gb:52.83
+Training:   9%|▉         | 5600/60000 [4:35:12<46:25:04,  3.07s/step]INFO 2026-07-20 03:52:12 ot_train.py:646 step:6K smpl:717K ep:16K epch:3.28 loss:0.048 grdn:0.259 lr:9.8e-05 updt_s:1.530 data_s:1.532 smp/s:42 mem_gb:52.83
+Training:  10%|▉         | 5800/60000 [4:45:31<45:56:08,  3.05s/step]INFO 2026-07-20 04:02:31 ot_train.py:646 step:6K smpl:742K ep:17K epch:3.40 loss:0.049 grdn:0.276 lr:9.8e-05 updt_s:1.599 data_s:1.490 smp/s:41 mem_gb:52.75
+Training:  10%|█         | 6000/60000 [4:55:20<44:09:33,  2.94s/step]INFO 2026-07-20 04:12:20 ot_train.py:646 step:6K smpl:768K ep:17K epch:3.52 loss:0.050 grdn:0.266 lr:9.8e-05 updt_s:1.581 data_s:1.363 smp/s:43 mem_gb:52.83
+Training:  10%|█         | 6200/60000 [5:05:41<47:33:12,  3.18s/step]INFO 2026-07-20 04:22:41 ot_train.py:646 step:6K smpl:794K ep:18K epch:3.63 loss:0.051 grdn:0.292 lr:9.8e-05 updt_s:1.660 data_s:1.440 smp/s:41 mem_gb:52.83
+Training:  11%|█         | 6400/60000 [5:15:54<44:54:46,  3.02s/step]INFO 2026-07-20 04:32:54 ot_train.py:646 step:6K smpl:819K ep:18K epch:3.75 loss:0.047 grdn:0.253 lr:9.8e-05 updt_s:1.590 data_s:1.472 smp/s:42 mem_gb:52.83
+Training:  11%|█         | 6600/60000 [5:26:03<45:21:40,  3.06s/step]INFO 2026-07-20 04:43:03 ot_train.py:646 step:7K smpl:845K ep:19K epch:3.87 loss:0.047 grdn:0.245 lr:9.8e-05 updt_s:1.556 data_s:1.488 smp/s:42 mem_gb:52.83
+Training:  11%|█▏        | 6800/60000 [5:36:06<43:11:43,  2.92s/step]INFO 2026-07-20 04:53:06 ot_train.py:646 step:7K smpl:870K ep:20K epch:3.99 loss:0.047 grdn:0.254 lr:9.7e-05 updt_s:1.597 data_s:1.412 smp/s:43 mem_gb:52.75
+Training:  12%|█▏        | 7000/60000 [5:46:00<41:20:52,  2.81s/step]INFO 2026-07-20 05:03:00 ot_train.py:646 step:7K smpl:896K ep:20K epch:4.10 loss:0.046 grdn:0.242 lr:9.7e-05 updt_s:1.605 data_s:1.361 smp/s:43 mem_gb:52.83
+Training:  12%|█▏        | 7200/60000 [5:55:56<48:13:21,  3.29s/step]INFO 2026-07-20 05:12:56 ot_train.py:646 step:7K smpl:922K ep:21K epch:4.22 loss:0.045 grdn:0.236 lr:9.7e-05 updt_s:1.621 data_s:1.356 smp/s:43 mem_gb:52.83
+Training:  12%|█▏        | 7400/60000 [6:06:18<45:28:03,  3.11s/step]INFO 2026-07-20 05:23:18 ot_train.py:646 step:7K smpl:947K ep:21K epch:4.34 loss:0.046 grdn:0.247 lr:9.7e-05 updt_s:1.628 data_s:1.479 smp/s:41 mem_gb:52.83
+Training:  13%|█▎        | 7600/60000 [6:16:32<45:03:28,  3.10s/step]INFO 2026-07-20 05:33:32 ot_train.py:646 step:8K smpl:973K ep:22K epch:4.45 loss:0.045 grdn:0.238 lr:9.7e-05 updt_s:1.530 data_s:1.540 smp/s:42 mem_gb:52.83
+Training:  13%|█▎        | 7800/60000 [6:26:57<45:34:41,  3.14s/step]INFO 2026-07-20 05:43:57 ot_train.py:646 step:8K smpl:998K ep:23K epch:4.57 loss:0.044 grdn:0.234 lr:9.6e-05 updt_s:1.593 data_s:1.529 smp/s:41 mem_gb:52.83
+Training:  13%|█▎        | 8000/60000 [6:37:18<41:37:05,  2.88s/step]INFO 2026-07-20 05:54:18 ot_train.py:646 step:8K smpl:1M ep:23K epch:4.69 loss:0.044 grdn:0.246 lr:9.6e-05 updt_s:1.592 data_s:1.510 smp/s:41 mem_gb:52.75
+Training:  14%|█▎        | 8200/60000 [6:47:34<44:23:36,  3.09s/step]INFO 2026-07-20 06:04:34 ot_train.py:646 step:8K smpl:1M ep:24K epch:4.81 loss:0.043 grdn:0.236 lr:9.6e-05 updt_s:1.534 data_s:1.541 smp/s:42 mem_gb:52.83
+Training:  14%|█▍        | 8400/60000 [6:57:44<42:31:04,  2.97s/step]INFO 2026-07-20 06:14:44 ot_train.py:646 step:8K smpl:1M ep:24K epch:4.92 loss:0.043 grdn:0.225 lr:9.6e-05 updt_s:1.538 data_s:1.510 smp/s:42 mem_gb:52.83
+Training:  14%|█▍        | 8600/60000 [7:08:01<45:04:06,  3.16s/step]INFO 2026-07-20 06:25:01 ot_train.py:646 step:9K smpl:1M ep:25K epch:5.04 loss:0.046 grdn:0.249 lr:9.6e-05 updt_s:1.619 data_s:1.464 smp/s:42 mem_gb:52.83
+Training:  15%|█▍        | 8800/60000 [7:18:09<44:16:42,  3.11s/step]INFO 2026-07-20 06:35:09 ot_train.py:646 step:9K smpl:1M ep:25K epch:5.16 loss:0.043 grdn:0.236 lr:9.5e-05 updt_s:1.574 data_s:1.459 smp/s:42 mem_gb:52.83
+Training:  15%|█▌        | 9000/60000 [7:28:15<41:41:49,  2.94s/step]INFO 2026-07-20 06:45:15 ot_train.py:646 step:9K smpl:1M ep:26K epch:5.28 loss:0.042 grdn:0.225 lr:9.5e-05 updt_s:1.582 data_s:1.447 smp/s:42 mem_gb:52.83
+Training:  15%|█▌        | 9200/60000 [7:38:26<43:21:41,  3.07s/step]INFO 2026-07-20 06:55:25 ot_train.py:646 step:9K smpl:1M ep:27K epch:5.39 loss:0.041 grdn:0.216 lr:9.5e-05 updt_s:1.551 data_s:1.498 smp/s:42 mem_gb:52.75
+Training:  16%|█▌        | 9400/60000 [7:48:45<44:51:13,  3.19s/step]INFO 2026-07-20 07:05:45 ot_train.py:646 step:9K smpl:1M ep:27K epch:5.51 loss:0.040 grdn:0.219 lr:9.5e-05 updt_s:1.555 data_s:1.541 smp/s:41 mem_gb:52.83
+Training:  16%|█▌        | 9600/60000 [7:58:59<42:58:28,  3.07s/step]INFO 2026-07-20 07:15:59 ot_train.py:646 step:10K smpl:1M ep:28K epch:5.63 loss:0.041 grdn:0.216 lr:9.4e-05 updt_s:1.555 data_s:1.510 smp/s:42 mem_gb:52.83
+Training:  16%|█▋        | 9800/60000 [8:09:13<42:10:51,  3.02s/step]INFO 2026-07-20 07:26:13 ot_train.py:646 step:10K smpl:1M ep:28K epch:5.74 loss:0.041 grdn:0.225 lr:9.4e-05 updt_s:1.543 data_s:1.523 smp/s:42 mem_gb:52.83
+Training:  17%|█▋        | 10000/60000 [8:19:28<42:46:39,  3.08s/step]INFO 2026-07-20 07:36:28 ot_train.py:646 step:10K smpl:1M ep:29K epch:5.86 loss:0.041 grdn:0.215 lr:9.4e-05 updt_s:1.548 data_s:1.525 smp/s:42 mem_gb:52.83
+Training:  17%|█▋        | 10200/60000 [8:29:48<43:07:55,  3.12s/step]INFO 2026-07-20 07:46:48 ot_train.py:646 step:10K smpl:1M ep:29K epch:5.98 loss:0.040 grdn:0.214 lr:9.4e-05 updt_s:1.535 data_s:1.561 smp/s:41 mem_gb:52.75
+Training:  17%|█▋        | 10400/60000 [8:40:10<48:30:08,  3.52s/step]INFO 2026-07-20 07:57:10 ot_train.py:646 step:10K smpl:1M ep:30K epch:6.10 loss:0.039 grdn:0.214 lr:9.3e-05 updt_s:1.571 data_s:1.533 smp/s:41 mem_gb:52.83
+Training:  18%|█▊        | 10600/60000 [8:50:27<42:25:10,  3.09s/step]INFO 2026-07-20 08:07:27 ot_train.py:646 step:11K smpl:1M ep:31K epch:6.21 loss:0.039 grdn:0.212 lr:9.3e-05 updt_s:1.578 data_s:1.507 smp/s:41 mem_gb:52.83
+Training:  18%|█▊        | 10800/60000 [9:00:53<43:27:37,  3.18s/step]INFO 2026-07-20 08:17:53 ot_train.py:646 step:11K smpl:1M ep:31K epch:6.33 loss:0.039 grdn:0.218 lr:9.3e-05 updt_s:1.571 data_s:1.556 smp/s:41 mem_gb:52.83
+Training:  18%|█▊        | 11000/60000 [9:11:10<40:29:18,  2.97s/step]INFO 2026-07-20 08:28:10 ot_train.py:646 step:11K smpl:1M ep:32K epch:6.45 loss:0.039 grdn:0.222 lr:9.3e-05 updt_s:1.563 data_s:1.515 smp/s:42 mem_gb:52.83
+Training:  19%|█▊        | 11200/60000 [9:21:18<40:59:34,  3.02s/step]INFO 2026-07-20 08:38:18 ot_train.py:646 step:11K smpl:1M ep:32K epch:6.57 loss:0.039 grdn:0.213 lr:9.2e-05 updt_s:1.535 data_s:1.506 smp/s:42 mem_gb:52.83
+Training:  19%|█▉        | 11400/60000 [9:31:31<41:51:26,  3.10s/step]INFO 2026-07-20 08:48:31 ot_train.py:646 step:11K smpl:1M ep:33K epch:6.68 loss:0.041 grdn:0.222 lr:9.2e-05 updt_s:1.549 data_s:1.509 smp/s:42 mem_gb:52.75
+Training:  19%|█▉        | 11600/60000 [9:41:39<41:09:11,  3.06s/step]INFO 2026-07-20 08:58:39 ot_train.py:646 step:12K smpl:1M ep:34K epch:6.80 loss:0.039 grdn:0.231 lr:9.2e-05 updt_s:1.524 data_s:1.516 smp/s:42 mem_gb:52.83
+Training:  20%|█▉        | 11800/60000 [9:51:51<41:25:37,  3.09s/step]INFO 2026-07-20 09:08:51 ot_train.py:646 step:12K smpl:2M ep:34K epch:6.92 loss:0.037 grdn:0.200 lr:9.2e-05 updt_s:1.571 data_s:1.487 smp/s:42 mem_gb:52.83
+Training:  20%|██        | 12000/60000 [10:02:07<41:29:45,  3.11s/step]INFO 2026-07-20 09:19:07 ot_train.py:646 step:12K smpl:2M ep:35K epch:7.03 loss:0.037 grdn:0.207 lr:9.1e-05 updt_s:1.606 data_s:1.470 smp/s:42 mem_gb:52.83
+Training:  20%|██        | 12200/60000 [10:12:20<40:40:10,  3.06s/step]INFO 2026-07-20 09:29:20 ot_train.py:646 step:12K smpl:2M ep:35K epch:7.15 loss:0.037 grdn:0.199 lr:9.1e-05 updt_s:1.598 data_s:1.462 smp/s:42 mem_gb:52.83
+Training:  21%|██        | 12400/60000 [10:22:25<40:55:03,  3.09s/step]INFO 2026-07-20 09:39:24 ot_train.py:646 step:12K smpl:2M ep:36K epch:7.27 loss:0.037 grdn:0.201 lr:9.1e-05 updt_s:1.531 data_s:1.490 smp/s:42 mem_gb:52.83
+Training:  21%|██        | 12600/60000 [10:32:49<42:37:39,  3.24s/step]INFO 2026-07-20 09:49:49 ot_train.py:646 step:13K smpl:2M ep:36K epch:7.39 loss:0.036 grdn:0.208 lr:9.0e-05 updt_s:1.654 data_s:1.463 smp/s:41 mem_gb:52.75
+Training:  21%|██▏       | 12800/60000 [10:43:04<40:05:58,  3.06s/step]INFO 2026-07-20 10:00:04 ot_train.py:646 step:13K smpl:2M ep:37K epch:7.50 loss:0.036 grdn:0.204 lr:9.0e-05 updt_s:1.561 data_s:1.513 smp/s:42 mem_gb:52.83
+Training:  22%|██▏       | 13000/60000 [10:53:12<40:36:23,  3.11s/step]INFO 2026-07-20 10:10:12 ot_train.py:646 step:13K smpl:2M ep:38K epch:7.62 loss:0.036 grdn:0.207 lr:9.0e-05 updt_s:1.517 data_s:1.520 smp/s:42 mem_gb:52.83
+Training:  22%|██▏       | 13200/60000 [11:03:22<39:50:36,  3.06s/step]INFO 2026-07-20 10:20:22 ot_train.py:646 step:13K smpl:2M ep:38K epch:7.74 loss:0.036 grdn:0.202 lr:8.9e-05 updt_s:1.560 data_s:1.487 smp/s:42 mem_gb:52.83
+Training:  22%|██▏       | 13400/60000 [11:13:18<38:17:56,  2.96s/step]INFO 2026-07-20 10:30:18 ot_train.py:646 step:13K smpl:2M ep:39K epch:7.85 loss:0.037 grdn:0.216 lr:8.9e-05 updt_s:1.565 data_s:1.410 smp/s:43 mem_gb:52.83
+Training:  23%|██▎       | 13600/60000 [11:23:29<42:49:10,  3.32s/step]INFO 2026-07-20 10:40:29 ot_train.py:646 step:14K smpl:2M ep:39K epch:7.97 loss:0.037 grdn:0.218 lr:8.9e-05 updt_s:1.570 data_s:1.485 smp/s:42 mem_gb:52.75
+Training:  23%|██▎       | 13800/60000 [11:33:34<37:20:42,  2.91s/step]INFO 2026-07-20 10:50:34 ot_train.py:646 step:14K smpl:2M ep:40K epch:8.09 loss:0.035 grdn:0.202 lr:8.8e-05 updt_s:1.602 data_s:1.418 smp/s:42 mem_gb:52.83
+Training:  23%|██▎       | 14000/60000 [11:42:25<33:04:17,  2.59s/step]INFO 2026-07-20 10:59:25 ot_train.py:646 step:14K smpl:2M ep:40K epch:8.21 loss:0.034 grdn:0.203 lr:8.8e-05 updt_s:1.449 data_s:1.206 smp/s:48 mem_gb:52.83
+Training:  24%|██▎       | 14200/60000 [11:50:55<31:13:55,  2.45s/step]INFO 2026-07-20 11:07:55 ot_train.py:646 step:14K smpl:2M ep:41K epch:8.32 loss:0.034 grdn:0.195 lr:8.8e-05 updt_s:1.414 data_s:1.132 smp/s:50 mem_gb:52.83
+Training:  24%|██▍       | 14400/60000 [11:59:22<41:03:42,  3.24s/step]INFO 2026-07-20 11:16:22 ot_train.py:646 step:14K smpl:2M ep:42K epch:8.44 loss:0.034 grdn:0.202 lr:8.7e-05 updt_s:1.444 data_s:1.089 smp/s:51 mem_gb:52.83
+Training:  24%|██▍       | 14600/60000 [12:09:13<37:45:32,  2.99s/step]INFO 2026-07-20 11:26:13 ot_train.py:646 step:15K smpl:2M ep:42K epch:8.56 loss:0.035 grdn:0.203 lr:8.7e-05 updt_s:1.597 data_s:1.355 smp/s:43 mem_gb:52.83
+Training:  25%|██▍       | 14800/60000 [12:19:23<37:32:31,  2.99s/step]INFO 2026-07-20 11:36:23 ot_train.py:646 step:15K smpl:2M ep:43K epch:8.68 loss:0.034 grdn:0.203 lr:8.7e-05 updt_s:1.587 data_s:1.459 smp/s:42 mem_gb:52.75
+Training:  25%|██▌       | 15000/60000 [12:29:34<40:05:10,  3.21s/step]INFO 2026-07-20 11:46:34 ot_train.py:646 step:15K smpl:2M ep:43K epch:8.79 loss:0.035 grdn:0.216 lr:8.6e-05 updt_s:1.568 data_s:1.481 smp/s:42 mem_gb:52.83
+Training:  25%|██▌       | 15200/60000 [12:39:40<36:25:12,  2.93s/step]INFO 2026-07-20 11:56:40 ot_train.py:646 step:15K smpl:2M ep:44K epch:8.91 loss:0.033 grdn:0.194 lr:8.6e-05 updt_s:1.560 data_s:1.470 smp/s:42 mem_gb:52.83
+Training:  26%|██▌       | 15400/60000 [12:50:00<37:59:36,  3.07s/step]INFO 2026-07-20 12:07:00 ot_train.py:646 step:15K smpl:2M ep:45K epch:9.03 loss:0.033 grdn:0.194 lr:8.5e-05 updt_s:1.599 data_s:1.494 smp/s:41 mem_gb:52.83
+Training:  26%|██▌       | 15600/60000 [13:00:09<37:35:28,  3.05s/step]INFO 2026-07-20 12:17:09 ot_train.py:646 step:16K smpl:2M ep:45K epch:9.14 loss:0.033 grdn:0.191 lr:8.5e-05 updt_s:1.528 data_s:1.512 smp/s:42 mem_gb:52.83
+Training:  26%|██▋       | 15800/60000 [13:10:18<36:21:28,  2.96s/step]INFO 2026-07-20 12:27:18 ot_train.py:646 step:16K smpl:2M ep:46K epch:9.26 loss:0.033 grdn:0.200 lr:8.5e-05 updt_s:1.501 data_s:1.544 smp/s:42 mem_gb:52.83
+Training:  27%|██▋       | 16000/60000 [13:20:39<36:33:19,  2.99s/step]INFO 2026-07-20 12:37:38 ot_train.py:646 step:16K smpl:2M ep:46K epch:9.38 loss:0.031 grdn:0.189 lr:8.4e-05 updt_s:1.571 data_s:1.527 smp/s:41 mem_gb:52.75
+Training:  27%|██▋       | 16200/60000 [13:30:54<36:54:51,  3.03s/step]INFO 2026-07-20 12:47:54 ot_train.py:646 step:16K smpl:2M ep:47K epch:9.50 loss:0.031 grdn:0.189 lr:8.4e-05 updt_s:1.605 data_s:1.470 smp/s:42 mem_gb:52.83
+Training:  27%|██▋       | 16400/60000 [13:41:05<37:04:30,  3.06s/step]INFO 2026-07-20 12:58:05 ot_train.py:646 step:16K smpl:2M ep:47K epch:9.61 loss:0.031 grdn:0.189 lr:8.4e-05 updt_s:1.563 data_s:1.489 smp/s:42 mem_gb:52.83
+Training:  28%|██▊       | 16600/60000 [13:51:15<35:01:31,  2.91s/step]INFO 2026-07-20 13:08:15 ot_train.py:646 step:17K smpl:2M ep:48K epch:9.73 loss:0.031 grdn:0.192 lr:8.3e-05 updt_s:1.574 data_s:1.473 smp/s:42 mem_gb:52.83
+Training:  28%|██▊       | 16800/60000 [14:01:26<37:18:48,  3.11s/step]INFO 2026-07-20 13:18:26 ot_train.py:646 step:17K smpl:2M ep:49K epch:9.85 loss:0.032 grdn:0.192 lr:8.3e-05 updt_s:1.595 data_s:1.454 smp/s:42 mem_gb:52.83
+Training:  28%|██▊       | 17000/60000 [14:11:40<36:40:24,  3.07s/step]INFO 2026-07-20 13:28:40 ot_train.py:646 step:17K smpl:2M ep:49K epch:9.96 loss:0.031 grdn:0.183 lr:8.2e-05 updt_s:1.627 data_s:1.440 smp/s:42 mem_gb:52.75
+Training:  29%|██▊       | 17200/60000 [14:21:51<36:33:04,  3.07s/step]INFO 2026-07-20 13:38:51 ot_train.py:646 step:17K smpl:2M ep:50K epch:10.08 loss:0.030 grdn:0.190 lr:8.2e-05 updt_s:1.546 data_s:1.507 smp/s:42 mem_gb:52.83
+Training:  29%|██▉       | 17400/60000 [14:32:00<36:39:18,  3.10s/step]INFO 2026-07-20 13:49:00 ot_train.py:646 step:17K smpl:2M ep:50K epch:10.20 loss:0.031 grdn:0.189 lr:8.2e-05 updt_s:1.552 data_s:1.490 smp/s:42 mem_gb:52.83
+Training:  29%|██▉       | 17600/60000 [14:42:11<34:57:35,  2.97s/step]INFO 2026-07-20 13:59:11 ot_train.py:646 step:18K smpl:2M ep:51K epch:10.32 loss:0.030 grdn:0.188 lr:8.1e-05 updt_s:1.575 data_s:1.476 smp/s:42 mem_gb:52.83
+Training:  30%|██▉       | 17800/60000 [14:52:33<36:06:17,  3.08s/step]INFO 2026-07-20 14:09:33 ot_train.py:646 step:18K smpl:2M ep:51K epch:10.43 loss:0.030 grdn:0.192 lr:8.1e-05 updt_s:1.606 data_s:1.501 smp/s:41 mem_gb:52.83
+Training:  30%|███       | 18000/60000 [15:02:42<33:35:27,  2.88s/step]INFO 2026-07-20 14:19:42 ot_train.py:646 step:18K smpl:2M ep:52K epch:10.55 loss:0.030 grdn:0.185 lr:8.0e-05 updt_s:1.544 data_s:1.497 smp/s:42 mem_gb:52.83
+Training:  30%|███       | 18200/60000 [15:12:46<32:08:17,  2.77s/step]INFO 2026-07-20 14:29:46 ot_train.py:646 step:18K smpl:2M ep:53K epch:10.67 loss:0.029 grdn:0.187 lr:8.0e-05 updt_s:1.594 data_s:1.425 smp/s:42 mem_gb:52.75
+Training:  31%|███       | 18400/60000 [15:22:56<33:24:53,  2.89s/step]INFO 2026-07-20 14:39:56 ot_train.py:646 step:18K smpl:2M ep:53K epch:10.79 loss:0.029 grdn:0.186 lr:7.9e-05 updt_s:1.564 data_s:1.483 smp/s:42 mem_gb:52.83
+Training:  31%|███       | 18600/60000 [15:32:04<37:43:19,  3.28s/step]INFO 2026-07-20 14:49:04 ot_train.py:646 step:19K smpl:2M ep:54K epch:10.90 loss:0.029 grdn:0.185 lr:7.9e-05 updt_s:1.465 data_s:1.271 smp/s:47 mem_gb:52.83
+Training:  31%|███▏      | 18800/60000 [15:41:21<32:46:32,  2.86s/step]INFO 2026-07-20 14:58:21 ot_train.py:646 step:19K smpl:2M ep:54K epch:11.02 loss:0.031 grdn:0.202 lr:7.9e-05 updt_s:1.467 data_s:1.315 smp/s:46 mem_gb:52.83
+Training:  32%|███▏      | 19000/60000 [15:50:59<35:45:35,  3.14s/step]INFO 2026-07-20 15:07:59 ot_train.py:646 step:19K smpl:2M ep:55K epch:11.14 loss:0.029 grdn:0.184 lr:7.8e-05 updt_s:1.505 data_s:1.382 smp/s:44 mem_gb:52.83
+Training:  32%|███▏      | 19200/60000 [16:01:15<35:42:40,  3.15s/step]INFO 2026-07-20 15:18:15 ot_train.py:646 step:19K smpl:2M ep:55K epch:11.25 loss:0.028 grdn:0.186 lr:7.8e-05 updt_s:1.561 data_s:1.515 smp/s:42 mem_gb:52.75
+Training:  32%|███▏      | 19400/60000 [16:11:41<42:51:55,  3.80s/step]INFO 2026-07-20 15:28:41 ot_train.py:646 step:19K smpl:2M ep:56K epch:11.37 loss:0.028 grdn:0.182 lr:7.7e-05 updt_s:1.563 data_s:1.564 smp/s:41 mem_gb:52.83
+Training:  33%|███▎      | 19600/60000 [16:21:49<33:02:18,  2.94s/step]INFO 2026-07-20 15:38:48 ot_train.py:646 step:20K smpl:3M ep:57K epch:11.49 loss:0.028 grdn:0.191 lr:7.7e-05 updt_s:1.542 data_s:1.493 smp/s:42 mem_gb:52.83
+Training:  33%|███▎      | 19800/60000 [16:31:51<31:21:29,  2.81s/step]INFO 2026-07-20 15:48:51 ot_train.py:646 step:20K smpl:3M ep:57K epch:11.61 loss:0.028 grdn:0.182 lr:7.6e-05 updt_s:1.623 data_s:1.387 smp/s:43 mem_gb:52.83
+Training:  33%|███▎      | 20000/60000 [16:41:40<32:37:26,  2.94s/step]INFO 2026-07-20 15:58:40 ot_train.py:646 step:20K smpl:3M ep:58K epch:11.72 loss:0.027 grdn:0.176 lr:7.6e-05 updt_s:1.593 data_s:1.345 smp/s:44 mem_gb:52.83
+Training:  34%|███▎      | 20200/60000 [16:51:40<35:53:37,  3.25s/step]INFO 2026-07-20 16:08:40 ot_train.py:646 step:20K smpl:3M ep:58K epch:11.84 loss:0.028 grdn:0.187 lr:7.6e-05 updt_s:1.614 data_s:1.385 smp/s:43 mem_gb:52.83
+Training:  34%|███▍      | 20400/60000 [17:01:31<31:59:18,  2.91s/step]INFO 2026-07-20 16:18:31 ot_train.py:646 step:20K smpl:3M ep:59K epch:11.96 loss:0.027 grdn:0.178 lr:7.5e-05 updt_s:1.604 data_s:1.348 smp/s:43 mem_gb:52.75
+Training:  34%|███▍      | 20600/60000 [17:11:28<31:44:48,  2.90s/step]INFO 2026-07-20 16:28:27 ot_train.py:646 step:21K smpl:3M ep:60K epch:12.08 loss:0.026 grdn:0.180 lr:7.5e-05 updt_s:1.622 data_s:1.358 smp/s:43 mem_gb:52.83
+Training:  35%|███▍      | 20800/60000 [17:21:43<32:37:49,  3.00s/step]INFO 2026-07-20 16:38:43 ot_train.py:646 step:21K smpl:3M ep:60K epch:12.19 loss:0.028 grdn:0.190 lr:7.4e-05 updt_s:1.625 data_s:1.449 smp/s:42 mem_gb:52.83
+Training:  35%|███▌      | 21000/60000 [17:31:50<35:50:52,  3.31s/step]INFO 2026-07-20 16:48:50 ot_train.py:646 step:21K smpl:3M ep:61K epch:12.31 loss:0.027 grdn:0.183 lr:7.4e-05 updt_s:1.633 data_s:1.397 smp/s:42 mem_gb:52.83
+Training:  35%|███▌      | 21200/60000 [17:42:07<32:45:57,  3.04s/step]INFO 2026-07-20 16:59:07 ot_train.py:646 step:21K smpl:3M ep:61K epch:12.43 loss:0.026 grdn:0.185 lr:7.3e-05 updt_s:1.636 data_s:1.448 smp/s:41 mem_gb:52.83
+Training:  36%|███▌      | 21400/60000 [17:52:38<34:49:01,  3.25s/step]INFO 2026-07-20 17:09:38 ot_train.py:646 step:21K smpl:3M ep:62K epch:12.54 loss:0.026 grdn:0.176 lr:7.3e-05 updt_s:1.643 data_s:1.506 smp/s:41 mem_gb:52.83
+Training:  36%|███▌      | 21600/60000 [18:03:03<32:30:48,  3.05s/step]INFO 2026-07-20 17:20:03 ot_train.py:646 step:22K smpl:3M ep:62K epch:12.66 loss:0.025 grdn:0.171 lr:7.2e-05 updt_s:1.541 data_s:1.583 smp/s:41 mem_gb:52.75
+Training:  36%|███▋      | 21800/60000 [18:13:29<34:09:20,  3.22s/step]INFO 2026-07-20 17:30:29 ot_train.py:646 step:22K smpl:3M ep:63K epch:12.78 loss:0.025 grdn:0.171 lr:7.2e-05 updt_s:1.599 data_s:1.529 smp/s:41 mem_gb:52.83
+Training:  37%|███▋      | 22000/60000 [18:23:56<33:19:06,  3.16s/step]INFO 2026-07-20 17:40:56 ot_train.py:646 step:22K smpl:3M ep:64K epch:12.90 loss:0.025 grdn:0.179 lr:7.1e-05 updt_s:1.613 data_s:1.519 smp/s:41 mem_gb:52.83
+Training:  37%|███▋      | 22200/60000 [18:34:20<34:12:02,  3.26s/step]INFO 2026-07-20 17:51:20 ot_train.py:646 step:22K smpl:3M ep:64K epch:13.01 loss:0.026 grdn:0.174 lr:7.1e-05 updt_s:1.636 data_s:1.479 smp/s:41 mem_gb:52.83
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+Training:  48%|████▊     | 28800/60000 [24:07:16<26:20:40,  3.04s/step]INFO 2026-07-20 23:24:16 ot_train.py:646 step:29K smpl:4M ep:83K epch:16.88 loss:0.019 grdn:0.151 lr:5.4e-05 updt_s:1.619 data_s:1.416 smp/s:42 mem_gb:52.83
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+INFO 2026-07-21 00:24:19 ot_train.py:691 Checkpoint policy after step 30000
+INFO 2026-07-21 00:24:57 in_yaml.py:1245 Saved config, action-space, prompt, and phase provenance in /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/Baseline and /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/Baseline/checkpoints/030000
+Training:  50%|█████     | 30200/60000 [25:17:54<25:44:00,  3.11s/step]INFO 2026-07-21 00:34:54 ot_train.py:646 step:30K smpl:4M ep:87K epch:17.70 loss:0.018 grdn:0.142 lr:5.0e-05 updt_s:1.643 data_s:1.340 smp/s:43 mem_gb:52.83
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+Training:  58%|█████▊    | 34600/60000 [29:00:55<19:01:48,  2.70s/step]INFO 2026-07-21 04:17:55 ot_train.py:646 step:35K smpl:4M ep:100K epch:20.28 loss:0.015 grdn:0.130 lr:3.9e-05 updt_s:1.647 data_s:1.301 smp/s:43 mem_gb:52.83
+Training:  58%|█████▊    | 34800/60000 [29:10:09<22:48:54,  3.26s/step]INFO 2026-07-21 04:27:08 ot_train.py:646 step:35K smpl:4M ep:101K epch:20.40 loss:0.015 grdn:0.129 lr:3.8e-05 updt_s:1.568 data_s:1.195 smp/s:46 mem_gb:52.83
+Training:  58%|█████▊    | 35000/60000 [29:19:35<22:40:40,  3.27s/step]INFO 2026-07-21 04:36:35 ot_train.py:646 step:35K smpl:4M ep:101K epch:20.52 loss:0.014 grdn:0.124 lr:3.8e-05 updt_s:1.576 data_s:1.253 smp/s:45 mem_gb:52.75
+Training:  59%|█████▊    | 35200/60000 [29:28:37<19:22:50,  2.81s/step]INFO 2026-07-21 04:45:37 ot_train.py:646 step:35K smpl:5M ep:102K epch:20.63 loss:0.014 grdn:0.120 lr:3.7e-05 updt_s:1.524 data_s:1.184 smp/s:47 mem_gb:52.83
+Training:  59%|█████▉    | 35400/60000 [29:38:29<23:21:51,  3.42s/step]INFO 2026-07-21 04:55:29 ot_train.py:646 step:35K smpl:5M ep:102K epch:20.75 loss:0.014 grdn:0.133 lr:3.7e-05 updt_s:1.613 data_s:1.343 smp/s:43 mem_gb:52.83
+Training:  59%|█████▉    | 35600/60000 [29:48:28<19:03:52,  2.81s/step]INFO 2026-07-21 05:05:28 ot_train.py:646 step:36K smpl:5M ep:103K epch:20.87 loss:0.014 grdn:0.127 lr:3.6e-05 updt_s:1.608 data_s:1.386 smp/s:43 mem_gb:52.83
+Training:  60%|█████▉    | 35800/60000 [29:58:33<20:51:44,  3.10s/step]INFO 2026-07-21 05:15:33 ot_train.py:646 step:36K smpl:5M ep:103K epch:20.98 loss:0.014 grdn:0.131 lr:3.6e-05 updt_s:1.633 data_s:1.391 smp/s:42 mem_gb:52.83
+Training:  60%|██████    | 36000/60000 [30:08:35<18:50:46,  2.83s/step]INFO 2026-07-21 05:25:35 ot_train.py:646 step:36K smpl:5M ep:104K epch:21.10 loss:0.014 grdn:0.135 lr:3.5e-05 updt_s:1.663 data_s:1.343 smp/s:43 mem_gb:52.83
+Training:  60%|██████    | 36200/60000 [30:18:30<18:30:06,  2.80s/step]INFO 2026-07-21 05:35:30 ot_train.py:646 step:36K smpl:5M ep:105K epch:21.22 loss:0.014 grdn:0.138 lr:3.5e-05 updt_s:1.598 data_s:1.374 smp/s:43 mem_gb:52.75
+Training:  61%|██████    | 36400/60000 [30:28:26<19:02:40,  2.91s/step]INFO 2026-07-21 05:45:26 ot_train.py:646 step:36K smpl:5M ep:105K epch:21.34 loss:0.013 grdn:0.127 lr:3.4e-05 updt_s:1.588 data_s:1.387 smp/s:43 mem_gb:52.83
+Training:  61%|██████    | 36600/60000 [30:38:33<19:37:48,  3.02s/step]INFO 2026-07-21 05:55:33 ot_train.py:646 step:37K smpl:5M ep:106K epch:21.45 loss:0.013 grdn:0.123 lr:3.4e-05 updt_s:1.626 data_s:1.405 smp/s:42 mem_gb:52.83
+Training:  61%|██████▏   | 36800/60000 [30:48:37<20:16:35,  3.15s/step]INFO 2026-07-21 06:05:36 ot_train.py:646 step:37K smpl:5M ep:106K epch:21.57 loss:0.013 grdn:0.123 lr:3.3e-05 updt_s:1.622 data_s:1.393 smp/s:42 mem_gb:52.83
+Training:  62%|██████▏   | 37000/60000 [30:58:34<18:37:37,  2.92s/step]INFO 2026-07-21 06:15:34 ot_train.py:646 step:37K smpl:5M ep:107K epch:21.69 loss:0.013 grdn:0.121 lr:3.3e-05 updt_s:1.608 data_s:1.375 smp/s:43 mem_gb:52.83
+Training:  62%|██████▏   | 37200/60000 [31:08:34<18:23:47,  2.90s/step]INFO 2026-07-21 06:25:34 ot_train.py:646 step:37K smpl:5M ep:108K epch:21.81 loss:0.013 grdn:0.124 lr:3.2e-05 updt_s:1.621 data_s:1.377 smp/s:43 mem_gb:52.83
+Training:  62%|██████▏   | 37400/60000 [31:18:37<19:01:58,  3.03s/step]INFO 2026-07-21 06:35:37 ot_train.py:646 step:37K smpl:5M ep:108K epch:21.92 loss:0.013 grdn:0.118 lr:3.2e-05 updt_s:1.616 data_s:1.397 smp/s:42 mem_gb:52.75
+Training:  63%|██████▎   | 37600/60000 [31:28:33<19:34:05,  3.14s/step]INFO 2026-07-21 06:45:32 ot_train.py:646 step:38K smpl:5M ep:109K epch:22.04 loss:0.012 grdn:0.118 lr:3.1e-05 updt_s:1.626 data_s:1.348 smp/s:43 mem_gb:52.83
+Training:  63%|█████���▎   | 37800/60000 [31:38:28<16:55:05,  2.74s/step]INFO 2026-07-21 06:55:27 ot_train.py:646 step:38K smpl:5M ep:109K epch:22.16 loss:0.012 grdn:0.114 lr:3.1e-05 updt_s:1.632 data_s:1.339 smp/s:43 mem_gb:52.83
+Training:  63%|██████▎   | 38000/60000 [31:48:35<17:37:37,  2.88s/step]INFO 2026-07-21 07:05:35 ot_train.py:646 step:38K smpl:5M ep:110K epch:22.27 loss:0.013 grdn:0.121 lr:3.0e-05 updt_s:1.604 data_s:1.429 smp/s:42 mem_gb:52.83
+Training:  64%|██████▎   | 38200/60000 [31:58:48<18:37:20,  3.08s/step]INFO 2026-07-21 07:15:48 ot_train.py:646 step:38K smpl:5M ep:110K epch:22.39 loss:0.013 grdn:0.122 lr:3.0e-05 updt_s:1.632 data_s:1.431 smp/s:42 mem_gb:52.83
+Training:  64%|██████▍   | 38400/60000 [32:08:54<18:57:25,  3.16s/step]INFO 2026-07-21 07:25:54 ot_train.py:646 step:38K smpl:5M ep:111K epch:22.51 loss:0.012 grdn:0.121 lr:2.9e-05 updt_s:1.619 data_s:1.410 smp/s:42 mem_gb:52.75
+Training:  64%|██████▍   | 38600/60000 [32:19:00<18:41:40,  3.14s/step]INFO 2026-07-21 07:36:00 ot_train.py:646 step:39K smpl:5M ep:112K epch:22.63 loss:0.012 grdn:0.119 lr:2.9e-05 updt_s:1.622 data_s:1.405 smp/s:42 mem_gb:52.83
+Training:  65%|██████▍   | 38800/60000 [32:29:13<16:59:05,  2.88s/step]INFO 2026-07-21 07:46:13 ot_train.py:646 step:39K smpl:5M ep:112K epch:22.74 loss:0.012 grdn:0.114 lr:2.8e-05 updt_s:1.617 data_s:1.442 smp/s:42 mem_gb:52.83
+Training:  65%|██████▌   | 39000/60000 [32:39:43<19:02:22,  3.26s/step]INFO 2026-07-21 07:56:43 ot_train.py:646 step:39K smpl:5M ep:113K epch:22.86 loss:0.012 grdn:0.114 lr:2.8e-05 updt_s:1.648 data_s:1.501 smp/s:41 mem_gb:52.83
+Training:  65%|██████▌   | 39200/60000 [32:49:52<18:39:23,  3.23s/step]INFO 2026-07-21 08:06:52 ot_train.py:646 step:39K smpl:5M ep:113K epch:22.98 loss:0.012 grdn:0.121 lr:2.7e-05 updt_s:1.622 data_s:1.418 smp/s:42 mem_gb:52.83
+Training:  66%|██████▌   | 39400/60000 [33:00:17<18:17:49,  3.20s/step]INFO 2026-07-21 08:17:17 ot_train.py:646 step:39K smpl:5M ep:114K epch:23.10 loss:0.011 grdn:0.113 lr:2.7e-05 updt_s:1.644 data_s:1.478 smp/s:41 mem_gb:52.83
+Training:  66%|██████▌   | 39600/60000 [33:10:55<17:56:34,  3.17s/step]INFO 2026-07-21 08:27:55 ot_train.py:646 step:40K smpl:5M ep:114K epch:23.21 loss:0.012 grdn:0.118 lr:2.7e-05 updt_s:1.587 data_s:1.601 smp/s:40 mem_gb:52.75
+Training:  66%|██████▋   | 39800/60000 [33:21:21<17:22:51,  3.10s/step]INFO 2026-07-21 08:38:21 ot_train.py:646 step:40K smpl:5M ep:115K epch:23.33 loss:0.011 grdn:0.115 lr:2.6e-05 updt_s:1.620 data_s:1.508 smp/s:41 mem_gb:52.83
+Training:  67%|██████▋   | 39910/60000 [33:27:01<17:35:00,  3.15s/step]

Abs_6D + DeltaEE/Baseline/wandb/run-20260719_231648-h160hqm2/files/requirements.txt

@@ -0,0 +1,117 @@
+pyarrow==25.0.0
+importlib_metadata==9.0.0
+wheel==0.47.0
+cloudpickle==3.1.2
+nvidia-cusolver-cu12==11.7.3.90
+multiprocess==0.70.19
+torch==2.11.0+cu128
+nvidia-nvjitlink-cu12==12.8.93
+fsspec==2026.2.0
+pytz==2026.2
+hf-xet==1.5.1
+tokenizers==0.22.2
+opencv-python-headless==4.13.0.92
+cuda-pathfinder==1.2.2
+frozenlist==1.8.0
+smmap==5.0.3
+httpcore==1.0.9
+nvidia-nvshmem-cu12==3.4.5
+nvidia-cuda-nvrtc-cu12==12.8.93
+annotated-types==0.7.0
+platformdirs==4.10.0
+click==8.4.2
+pyyaml-include==1.4.1
+MarkupSafe==3.0.3
+Jinja2==3.1.6
+urllib3==2.7.0
+nvidia-curand-cu12==10.3.9.90
+certifi==2026.6.17
+nvidia-cuda-runtime-cu12==12.8.90
+torchcodec==0.11.1
+toml==0.10.2
+av==15.1.0
+nvidia-cufft-cu12==11.3.3.83
+attrs==26.1.0
+lerobot==0.6.0
+PyYAML==6.0.3
+safetensors==0.8.0
+diffusers==0.35.2
+requests==2.34.2
+nvidia-nvtx-cu12==12.8.90
+charset-normalizer==3.4.9
+networkx==3.6.1
+cmake==4.1.3
+pydantic_core==2.46.4
+timm==1.0.28
+dm-tree==0.1.10
+nvidia-cufile-cu12==1.13.1.3
+termcolor==3.3.0
+multidict==6.7.1
+filelock==3.29.0
+tzdata==2026.3
+aiohappyeyeballs==2.7.1
+httpx==0.28.1
+nvidia-nccl-cu12==2.28.9
+Pygments==2.20.0
+einops==0.8.2
+nvidia-cusparse-cu12==12.5.8.93
+torchvision==0.26.0+cu128
+dill==0.4.1
+GitPython==3.1.51
+nvidia-cuda-cupti-cu12==12.8.90
+decord==0.6.0
+sympy==1.14.0
+cuda-toolkit==12.8.1
+python-dateutil==2.9.0.post0
+shellingham==1.5.4
+propcache==0.5.2
+Farama-Notifications==0.0.6
+pillow==12.2.0
+cuda-bindings==12.9.4
+huggingface_hub==1.23.0
+pandas==2.3.3
+typing-inspect==0.9.0
+packaging==25.0
+rich==15.0.0
+nvidia-cusparselt-cu12==0.7.1
+setuptools==78.1.0
+wrapt==2.2.2
+mypy_extensions==1.1.0
+tqdm==4.68.4
+draccus==0.10.0
+aiosignal==1.4.0
+mpmath==1.3.0
+numpy==2.2.6
+typing_extensions==4.15.0
+psutil==7.2.2
+mdurl==0.1.2
+nvidia-cublas-cu12==12.8.4.1
+absl-py==2.5.0
+gitdb==4.0.12
+transformers==5.5.4
+accelerate==1.14.0
+pydantic==2.13.4
+pip==26.1.2
+markdown-it-py==4.2.0
+typer==0.26.8
+triton==3.6.0
+wandb==0.27.2
+regex==2026.7.10
+yarl==1.24.2
+jsonlines==4.0.0
+mergedeep==1.3.4
+aiohttp==3.14.1
+datasets==4.8.5
+gymnasium==1.3.0
+peft==0.19.1
+zipp==4.1.0
+idna==3.18
+nvidia-cudnn-cu12==9.19.0.56
+h11==0.16.0
+sentry-sdk==2.65.0
+annotated-doc==0.0.4
+protobuf==7.35.1
+typing-inspection==0.4.2
+anyio==4.14.2
+xxhash==3.8.1
+six==1.17.0

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/checkpoints/030000/pretrained_model/phase_schedule.json

@@ -0,0 +1,55 @@
+{
+  "schema_version": 1,
+  "step_interval": "[start_step, until_step)",
+  "total_steps": 60000,
+  "optimizer_lifecycle": "single_continuous_optimizer",
+  "scheduler_lifecycle": "single_continuous_scheduler",
+  "phases": [
+    {
+      "index": 0,
+      "name": "lap_rkd_linear_decay_10K",
+      "start_step": 0,
+      "until_step": 10000,
+      "policy": {
+        "rkd_enabled": true,
+        "rkd_fm_loss_weight": 1.0,
+        "rkd_loss_weight": 1.0,
+        "rkd_loss_weight_end": 0.0,
+        "rkd_loss_weight_schedule": "linear",
+        "rkd_distance_weight": 1.0,
+        "rkd_angle_weight": 2.0
+      },
+      "trainable": {
+        "tune_llm": false,
+        "tune_visual": false,
+        "tune_top_llm_layers": 0,
+        "tune_projector": true,
+        "tune_diffusion_model": true,
+        "tune_vlln": true
+      }
+    },
+    {
+      "index": 1,
+      "name": "fm_only",
+      "start_step": 10000,
+      "until_step": 60000,
+      "policy": {
+        "rkd_enabled": false,
+        "rkd_fm_loss_weight": 1.0,
+        "rkd_loss_weight": 0.0,
+        "rkd_loss_weight_end": null,
+        "rkd_loss_weight_schedule": "linear",
+        "rkd_distance_weight": 1.0,
+        "rkd_angle_weight": 2.0
+      },
+      "trainable": {
+        "tune_llm": false,
+        "tune_visual": false,
+        "tune_top_llm_layers": 0,
+        "tune_projector": true,
+        "tune_diffusion_model": true,
+        "tune_vlln": true
+      }
+    }
+  ]
+}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/phase_schedule.json

@@ -0,0 +1,55 @@
+{
+  "schema_version": 1,
+  "step_interval": "[start_step, until_step)",
+  "total_steps": 60000,
+  "optimizer_lifecycle": "single_continuous_optimizer",
+  "scheduler_lifecycle": "single_continuous_scheduler",
+  "phases": [
+    {
+      "index": 0,
+      "name": "lap_rkd_linear_decay_10K",
+      "start_step": 0,
+      "until_step": 10000,
+      "policy": {
+        "rkd_enabled": true,
+        "rkd_fm_loss_weight": 1.0,
+        "rkd_loss_weight": 1.0,
+        "rkd_loss_weight_end": 0.0,
+        "rkd_loss_weight_schedule": "linear",
+        "rkd_distance_weight": 1.0,
+        "rkd_angle_weight": 2.0
+      },
+      "trainable": {
+        "tune_llm": false,
+        "tune_visual": false,
+        "tune_top_llm_layers": 0,
+        "tune_projector": true,
+        "tune_diffusion_model": true,
+        "tune_vlln": true
+      }
+    },
+    {
+      "index": 1,
+      "name": "fm_only",
+      "start_step": 10000,
+      "until_step": 60000,
+      "policy": {
+        "rkd_enabled": false,
+        "rkd_fm_loss_weight": 1.0,
+        "rkd_loss_weight": 0.0,
+        "rkd_loss_weight_end": null,
+        "rkd_loss_weight_schedule": "linear",
+        "rkd_distance_weight": 1.0,
+        "rkd_angle_weight": 2.0
+      },
+      "trainable": {
+        "tune_llm": false,
+        "tune_visual": false,
+        "tune_top_llm_layers": 0,
+        "tune_projector": true,
+        "tune_diffusion_model": true,
+        "tune_vlln": true
+      }
+    }
+  ]
+}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/prompt_manifest.json

@@ -0,0 +1,40 @@
+{
+  "schema_version": 1,
+  "prompt_set": "detailed",
+  "source_file": "task_prompts.json",
+  "source_sha256": "0ba48fb372da9f49dcfcd7dcc2da8cce6ce991d3661060e664a104778d1ffacc",
+  "mapping_sha256": "f71954786e94cdeceb135dde09fdc6b65db0b87ab3b09d25060129d0f0fde018",
+  "dataset_repo_id": "Whalswp/INSIGHTfixposV4_filtered_multispace_v2",
+  "dataset_revision": "v3.0",
+  "task_count": 13,
+  "task_codes": [
+    "5f",
+    "5g",
+    "1ext",
+    "3b",
+    "5b",
+    "3a",
+    "3c",
+    "5h",
+    "5d",
+    "3d",
+    "5e",
+    "5a",
+    "5c"
+  ],
+  "prompts": {
+    "5f": "Close the bottle in clockwise direction.",
+    "5g": "Grip the cap on the sides indicated by the 'squeeze' arrow and open the bottle in clockwise direction.",
+    "1ext": "Find the arrow guide and open the indicated drawer.",
+    "3b": "Open the door, rotate counter-clockwise and push.",
+    "5b": "Open the bottle in counter-clockwise direction.",
+    "3a": "Open the door, rotate clockwise and push.",
+    "3c": "Open the door, rotate clockwise and pull.",
+    "5h": "Close the bottle in counter-clockwise direction.",
+    "5d": "Close the bottle in clockwise direction.",
+    "3d": "Open the door, rotate counter-clockwise and pull.",
+    "5e": "Close the bottle in counter-clockwise direction.",
+    "5a": "Grip the cap on the sides indicated by the 'squeeze' arrow and open the bottle in counter-clockwise direction.",
+    "5c": "Open the bottle in clockwise direction."
+  }
+}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/resolved_config.yaml

@@ -0,0 +1,34 @@
+dataset:
+  repo_id: Whalswp/INSIGHTfixposV4_filtered_multispace_v2
+  root: /home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2
+policy:
+  type: groot_rkd
+  device: cuda
+  chunk_size: 16
+  n_action_steps: 16
+  push_to_hub: false
+  warmup_steps: 6000
+  tune_llm: false
+  tune_visual: false
+  tune_top_llm_layers: 0
+  tune_projector: true
+  tune_diffusion_model: true
+  tune_vlln: true
+  rkd_enabled: true
+  rkd_vae_checkpoint: /home/ext_minje/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84
+  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
+seed: 42
+batch_size: 128
+steps: 60000
+log_freq: 200
+output_dir: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K
+job_name: INSIGHT_RD_RKD_TimewarpVAE_LAPstyle_10K
+wandb:
+  enable: true
+  disable_artifact: true

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/resume_dgx_20260722_auth_gpu1.log

@@ -0,0 +1,214 @@
+INFO 2026-07-21 18:02:57 ot_train.py:272 {'batch_size': 128,
+ 'checkpoint_path': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + '
+                    'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000',
+ 'cudnn_deterministic': False,
+ 'dataset': {'depth_output_unit': 'mm',
+             'episodes': None,
+             'eval_split': 0.0,
+             'image_transforms': {'enable': False,
+                                  'max_num_transforms': 3,
+                                  'random_order': False,
+                                  'tfs': {'affine': {'kwargs': {'degrees': [-5.0,
+                                                                            5.0],
+                                                                'translate': [0.05,
+                                                                              0.05]},
+                                                     'type': 'RandomAffine',
+                                                     'weight': 1.0},
+                                          'brightness': {'kwargs': {'brightness': [0.8,
+                                                                                   1.2]},
+                                                         'type': 'ColorJitter',
+                                                         'weight': 1.0},
+                                          'contrast': {'kwargs': {'contrast': [0.8,
+                                                                               1.2]},
+                                                       'type': 'ColorJitter',
+                                                       'weight': 1.0},
+                                          'hue': {'kwargs': {'hue': [-0.05,
+                                                                     0.05]},
+                                                  'type': 'ColorJitter',
+                                                  'weight': 1.0},
+                                          'saturation': {'kwargs': {'saturation': [0.5,
+                                                                                   1.5]},
+                                                         'type': 'ColorJitter',
+                                                         'weight': 1.0},
+                                          'sharpness': {'kwargs': {'sharpness': [0.5,
+                                                                                 1.5]},
+                                                        'type': 'SharpnessJitter',
+                                                        'weight': 1.0}}},
+             'repo_id': 'Whalswp/INSIGHTfixposV4_filtered_multispace_v2',
+             'return_uint8': False,
+             'revision': None,
+             'root': '/home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2',
+             'streaming': False,
+             'use_imagenet_stats': True,
+             'video_backend': 'torchcodec'},
+ 'env': None,
+ 'env_eval_freq': 20000,
+ 'eval': {'batch_size': 50,
+          'n_episodes': 50,
+          'recording': False,
+          'recording_private': False,
+          'recording_repo_id': None,
+          'use_async_envs': True},
+ 'eval_steps': 0,
+ 'job': {'detach': False,
+         'image': 'huggingface/lerobot-gpu:latest',
+         'tags': [],
+         'target': None,
+         'timeout': '2d'},
+ 'job_name': 'INSIGHT_RD_RKD_TimewarpVAE_LAPstyle_10K',
+ 'log_freq': 200,
+ 'max_eval_samples': 0,
+ 'num_workers': 4,
+ 'optimizer': {'betas': [0.9, 0.999],
+               'eps': 1e-08,
+               'grad_clip_norm': 1.0,
+               'lr': 0.0001,
+               'type': 'adamw',
+               'weight_decay': 1e-05},
+ 'output_dir': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + '
+               'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K',
+ 'peft': None,
+ 'persistent_workers': True,
+ 'policy': {'action_decode_transform': None,
+            'balance_dataset_weights': True,
+            'balance_trajectory_weights': True,
+            'base_model_path': 'nvidia/GR00T-N1.7-3B',
+            'batch_size': 32,
+            'chunk_size': 16,
+            'dataloader_num_workers': 8,
+            'dataset_paths': None,
+            'device': 'cuda',
+            'embodiment_tag': 'new_embodiment',
+            'image_size': [256, 256],
+            'input_features': {'observation.images.guide': {'shape': [3,
+                                                                      224,
+                                                                      224],
+                                                            'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.images.right_shoulder': {'shape': [3,
+                                                                               224,
+                                                                               224],
+                                                                     'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.images.wrist': {'shape': [3,
+                                                                      224,
+                                                                      224],
+                                                            'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.state': {'shape': [16],
+                                                     'type': <FeatureType.STATE: 'STATE'>}},
+            'license': None,
+            'lora_alpha': 16,
+            'lora_dropout': 0.1,
+            'lora_full_model': False,
+            'lora_rank': 0,
+            'max_action_dim': 132,
+            'max_state_dim': 132,
+            'max_steps': 10000,
+            'model_params_fp32': True,
+            'n_action_steps': 16,
+            'n_obs_steps': 1,
+            'normalization_mapping': {'ACTION': <NormalizationMode.IDENTITY: 'IDENTITY'>,
+                                      'STATE': <NormalizationMode.IDENTITY: 'IDENTITY'>,
+                                      'VISUAL': <NormalizationMode.IDENTITY: 'IDENTITY'>},
+            'num_inference_timesteps': None,
+            'optimizer_betas': [0.9, 0.999],
+            'optimizer_eps': 1e-08,
+            'optimizer_lr': 0.0001,
+            'optimizer_weight_decay': 1e-05,
+            'output_dir': './tmp/gr00t',
+            'output_features': {'action': {'shape': [16],
+                                           'type': <FeatureType.ACTION: 'ACTION'>}},
+            'pretrained_path': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D '
+                               '+ '
+                               'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/pretrained_model',
+            'pretrained_revision': None,
+            'private': None,
+            'push_to_hub': False,
+            'relative_exclude_joints': [],
+            'repo_id': None,
+            'report_to': 'wandb',
+            'resume': False,
+            'rkd_angle_weight': 2.0,
+            'rkd_distance_weight': 1.0,
+            'rkd_enabled': True,
+            'rkd_fm_loss_weight': 1.0,
+            'rkd_loss_weight': 1.0,
+            'rkd_student_attention_hidden_dim': 512,
+            'rkd_student_attention_output_dim': 512,
+            'rkd_student_pooling': 'attention',
+            'rkd_vae_checkpoint': '/home/ext_minje/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84',
+            'rtc_ramp_rate': None,
+            'save_steps': 1000,
+            'tags': None,
+            'tokenizer_assets_repo': None,
+            'tune_diffusion_model': True,
+            'tune_llm': False,
+            'tune_projector': True,
+            'tune_top_llm_layers': 0,
+            'tune_visual': False,
+            'tune_vlln': True,
+            'type': 'groot_rkd',
+            'use_amp': False,
+            'use_bf16': True,
+            'use_flash_attention': False,
+            'use_peft': False,
+            'use_relative_actions': False,
+            'video_backend': 'decord',
+            'warmup_ratio': 0.05,
+            'warmup_steps': 6000},
+ 'prefetch_factor': 4,
+ 'rename_map': {},
+ 'resume': True,
+ 'reward_model': None,
+ 'sample_weighting': None,
+ 'save_checkpoint': True,
+ 'save_checkpoint_to_hub': False,
+ 'save_freq': 20000,
+ 'scheduler': {'name': 'cosine', 'num_warmup_steps': 6000, 'type': 'diffuser'},
+ 'seed': 42,
+ 'steps': 60000,
+ 'tolerance_s': 0.0001,
+ 'use_policy_training_preset': True,
+ 'wandb': {'add_tags': True,
+           'disable_artifact': True,
+           'enable': True,
+           'entity': None,
+           'mode': None,
+           'notes': None,
+           'project': 'lerobot',
+           'run_id': 'ny0tx2de'}}
+INFO 2026-07-21 18:02:59 db_utils.py:121 Logs will be synced with wandb.
+INFO 2026-07-21 18:02:59 db_utils.py:122 Track this run --> https://wandb.ai/minje227_hyu-hanyang-university/lerobot/runs/ny0tx2de
+INFO 2026-07-21 18:02:59 ot_train.py:298 Creating dataset
+INFO 2026-07-21 18:03:00 ot_train.py:332 Creating policy
+INFO 2026-07-21 18:03:00 ng_groot.py:191 The Groot policy wraps NVIDIA's GR00T n1.7 model. Loading pretrained model from: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/pretrained_model
+INFO 2026-07-21 18:03:00 ng_groot.py:225 Detected fine-tuned LeRobot checkpoint, loading with state dict...
+
+`torch_dtype` is deprecated! Use `dtype` instead!
+
+Loading weights from local directory
+Traceback (most recent call last):
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1428, in <module>
+    main()
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1424, in main
+    train_module.main()
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/scripts/lerobot_train.py", line 816, in main
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/configs/parser.py", line 320, in wrapper_inner
+    response = fn(cfg, *args, **kwargs)
+               ^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/scripts/lerobot_train.py", line 397, in train
+    logging.info(colored("Output dir:", "yellow", attrs=["bold"]) + f" {cfg.output_dir}")
+                                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1197, in make_pre_post_processors
+    kwargs[override_key] = _project_nested_stats(
+                           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 815, in _project_nested_stats
+    projected[key] = _project_nested_stats(item, source_key, composite_contract)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 815, in _project_nested_stats
+    projected[key] = _project_nested_stats(item, source_key, composite_contract)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 807, in _project_nested_stats
+    and all(
+        ^^^^
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 808, in <genexpr>
+    source in item
+TypeError: argument of type 'PolicyFeature' is not iterable

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/resume_dgx_20260722_fix2_gpu1.log

@@ -0,0 +1,199 @@
+INFO 2026-07-21 18:14:22 ot_train.py:272 {'batch_size': 128,
+ 'checkpoint_path': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + '
+                    'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000',
+ 'cudnn_deterministic': False,
+ 'dataset': {'depth_output_unit': 'mm',
+             'episodes': None,
+             'eval_split': 0.0,
+             'image_transforms': {'enable': False,
+                                  'max_num_transforms': 3,
+                                  'random_order': False,
+                                  'tfs': {'affine': {'kwargs': {'degrees': [-5.0,
+                                                                            5.0],
+                                                                'translate': [0.05,
+                                                                              0.05]},
+                                                     'type': 'RandomAffine',
+                                                     'weight': 1.0},
+                                          'brightness': {'kwargs': {'brightness': [0.8,
+                                                                                   1.2]},
+                                                         'type': 'ColorJitter',
+                                                         'weight': 1.0},
+                                          'contrast': {'kwargs': {'contrast': [0.8,
+                                                                               1.2]},
+                                                       'type': 'ColorJitter',
+                                                       'weight': 1.0},
+                                          'hue': {'kwargs': {'hue': [-0.05,
+                                                                     0.05]},
+                                                  'type': 'ColorJitter',
+                                                  'weight': 1.0},
+                                          'saturation': {'kwargs': {'saturation': [0.5,
+                                                                                   1.5]},
+                                                         'type': 'ColorJitter',
+                                                         'weight': 1.0},
+                                          'sharpness': {'kwargs': {'sharpness': [0.5,
+                                                                                 1.5]},
+                                                        'type': 'SharpnessJitter',
+                                                        'weight': 1.0}}},
+             'repo_id': 'Whalswp/INSIGHTfixposV4_filtered_multispace_v2',
+             'return_uint8': False,
+             'revision': None,
+             'root': '/home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2',
+             'streaming': False,
+             'use_imagenet_stats': True,
+             'video_backend': 'torchcodec'},
+ 'env': None,
+ 'env_eval_freq': 20000,
+ 'eval': {'batch_size': 50,
+          'n_episodes': 50,
+          'recording': False,
+          'recording_private': False,
+          'recording_repo_id': None,
+          'use_async_envs': True},
+ 'eval_steps': 0,
+ 'job': {'detach': False,
+         'image': 'huggingface/lerobot-gpu:latest',
+         'tags': [],
+         'target': None,
+         'timeout': '2d'},
+ 'job_name': 'INSIGHT_RD_RKD_TimewarpVAE_LAPstyle_10K',
+ 'log_freq': 200,
+ 'max_eval_samples': 0,
+ 'num_workers': 4,
+ 'optimizer': {'betas': [0.9, 0.999],
+               'eps': 1e-08,
+               'grad_clip_norm': 1.0,
+               'lr': 0.0001,
+               'type': 'adamw',
+               'weight_decay': 1e-05},
+ 'output_dir': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + '
+               'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K',
+ 'peft': None,
+ 'persistent_workers': True,
+ 'policy': {'action_decode_transform': None,
+            'balance_dataset_weights': True,
+            'balance_trajectory_weights': True,
+            'base_model_path': 'nvidia/GR00T-N1.7-3B',
+            'batch_size': 32,
+            'chunk_size': 16,
+            'dataloader_num_workers': 8,
+            'dataset_paths': None,
+            'device': 'cuda',
+            'embodiment_tag': 'new_embodiment',
+            'image_size': [256, 256],
+            'input_features': {'observation.images.guide': {'shape': [3,
+                                                                      224,
+                                                                      224],
+                                                            'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.images.right_shoulder': {'shape': [3,
+                                                                               224,
+                                                                               224],
+                                                                     'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.images.wrist': {'shape': [3,
+                                                                      224,
+                                                                      224],
+                                                            'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.state': {'shape': [16],
+                                                     'type': <FeatureType.STATE: 'STATE'>}},
+            'license': None,
+            'lora_alpha': 16,
+            'lora_dropout': 0.1,
+            'lora_full_model': False,
+            'lora_rank': 0,
+            'max_action_dim': 132,
+            'max_state_dim': 132,
+            'max_steps': 10000,
+            'model_params_fp32': True,
+            'n_action_steps': 16,
+            'n_obs_steps': 1,
+            'normalization_mapping': {'ACTION': <NormalizationMode.IDENTITY: 'IDENTITY'>,
+                                      'STATE': <NormalizationMode.IDENTITY: 'IDENTITY'>,
+                                      'VISUAL': <NormalizationMode.IDENTITY: 'IDENTITY'>},
+            'num_inference_timesteps': None,
+            'optimizer_betas': [0.9, 0.999],
+            'optimizer_eps': 1e-08,
+            'optimizer_lr': 0.0001,
+            'optimizer_weight_decay': 1e-05,
+            'output_dir': './tmp/gr00t',
+            'output_features': {'action': {'shape': [16],
+                                           'type': <FeatureType.ACTION: 'ACTION'>}},
+            'pretrained_path': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D '
+                               '+ '
+                               'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/pretrained_model',
+            'pretrained_revision': None,
+            'private': None,
+            'push_to_hub': False,
+            'relative_exclude_joints': [],
+            'repo_id': None,
+            'report_to': 'wandb',
+            'resume': False,
+            'rkd_angle_weight': 2.0,
+            'rkd_distance_weight': 1.0,
+            'rkd_enabled': True,
+            'rkd_fm_loss_weight': 1.0,
+            'rkd_loss_weight': 1.0,
+            'rkd_student_attention_hidden_dim': 512,
+            'rkd_student_attention_output_dim': 512,
+            'rkd_student_pooling': 'attention',
+            'rkd_vae_checkpoint': '/home/ext_minje/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84',
+            'rtc_ramp_rate': None,
+            'save_steps': 1000,
+            'tags': None,
+            'tokenizer_assets_repo': None,
+            'tune_diffusion_model': True,
+            'tune_llm': False,
+            'tune_projector': True,
+            'tune_top_llm_layers': 0,
+            'tune_visual': False,
+            'tune_vlln': True,
+            'type': 'groot_rkd',
+            'use_amp': False,
+            'use_bf16': True,
+            'use_flash_attention': False,
+            'use_peft': False,
+            'use_relative_actions': False,
+            'video_backend': 'decord',
+            'warmup_ratio': 0.05,
+            'warmup_steps': 6000},
+ 'prefetch_factor': 4,
+ 'rename_map': {},
+ 'resume': True,
+ 'reward_model': None,
+ 'sample_weighting': None,
+ 'save_checkpoint': True,
+ 'save_checkpoint_to_hub': False,
+ 'save_freq': 20000,
+ 'scheduler': {'name': 'cosine', 'num_warmup_steps': 6000, 'type': 'diffuser'},
+ 'seed': 42,
+ 'steps': 60000,
+ 'tolerance_s': 0.0001,
+ 'use_policy_training_preset': True,
+ 'wandb': {'add_tags': True,
+           'disable_artifact': True,
+           'enable': True,
+           'entity': None,
+           'mode': None,
+           'notes': None,
+           'project': 'lerobot',
+           'run_id': 'ny0tx2de'}}
+INFO 2026-07-21 18:14:24 db_utils.py:121 Logs will be synced with wandb.
+INFO 2026-07-21 18:14:24 db_utils.py:122 Track this run --> https://wandb.ai/minje227_hyu-hanyang-university/lerobot/runs/ny0tx2de
+INFO 2026-07-21 18:14:24 ot_train.py:298 Creating dataset
+INFO 2026-07-21 18:14:26 ot_train.py:332 Creating policy
+INFO 2026-07-21 18:14:26 ng_groot.py:191 The Groot policy wraps NVIDIA's GR00T n1.7 model. Loading pretrained model from: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/pretrained_model
+INFO 2026-07-21 18:14:26 ng_groot.py:225 Detected fine-tuned LeRobot checkpoint, loading with state dict...
+
+`torch_dtype` is deprecated! Use `dtype` instead!
+
+Loading weights from local directory
+INFO 2026-07-21 18:14:37 ot_train.py:405 Creating optimizer and scheduler
+INFO 2026-07-21 18:14:39 ot_train.py:103 INSIGHT phase transition: index=1 name=fm_only range=[10000,60000) trainable_params=1620515968
+INFO 2026-07-21 18:14:39 ot_train.py:439 Output dir: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K
+INFO 2026-07-21 18:14:39 ot_train.py:446 cfg.steps=60000 (60K)
+INFO 2026-07-21 18:14:39 ot_train.py:447 dataset.num_frames=218367 (218K)
+INFO 2026-07-21 18:14:39 ot_train.py:448 dataset.num_episodes=4930
+INFO 2026-07-21 18:14:39 ot_train.py:451 Effective batch size: 128 x 1 = 128
+INFO 2026-07-21 18:14:39 ot_train.py:452 num_learnable_params=1620515968 (2B)
+INFO 2026-07-21 18:14:39 ot_train.py:453 num_total_params=3145712033 (3B)
+INFO 2026-07-21 18:14:39 ot_train.py:494 Resuming data order at epoch 26, sample 82688
+
+

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/resume_dgx_20260722_fix_gpu1.log

@@ -0,0 +1,210 @@
+INFO 2026-07-21 18:07:58 ot_train.py:272 {'batch_size': 128,
+ 'checkpoint_path': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + '
+                    'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000',
+ 'cudnn_deterministic': False,
+ 'dataset': {'depth_output_unit': 'mm',
+             'episodes': None,
+             'eval_split': 0.0,
+             'image_transforms': {'enable': False,
+                                  'max_num_transforms': 3,
+                                  'random_order': False,
+                                  'tfs': {'affine': {'kwargs': {'degrees': [-5.0,
+                                                                            5.0],
+                                                                'translate': [0.05,
+                                                                              0.05]},
+                                                     'type': 'RandomAffine',
+                                                     'weight': 1.0},
+                                          'brightness': {'kwargs': {'brightness': [0.8,
+                                                                                   1.2]},
+                                                         'type': 'ColorJitter',
+                                                         'weight': 1.0},
+                                          'contrast': {'kwargs': {'contrast': [0.8,
+                                                                               1.2]},
+                                                       'type': 'ColorJitter',
+                                                       'weight': 1.0},
+                                          'hue': {'kwargs': {'hue': [-0.05,
+                                                                     0.05]},
+                                                  'type': 'ColorJitter',
+                                                  'weight': 1.0},
+                                          'saturation': {'kwargs': {'saturation': [0.5,
+                                                                                   1.5]},
+                                                         'type': 'ColorJitter',
+                                                         'weight': 1.0},
+                                          'sharpness': {'kwargs': {'sharpness': [0.5,
+                                                                                 1.5]},
+                                                        'type': 'SharpnessJitter',
+                                                        'weight': 1.0}}},
+             'repo_id': 'Whalswp/INSIGHTfixposV4_filtered_multispace_v2',
+             'return_uint8': False,
+             'revision': None,
+             'root': '/home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2',
+             'streaming': False,
+             'use_imagenet_stats': True,
+             'video_backend': 'torchcodec'},
+ 'env': None,
+ 'env_eval_freq': 20000,
+ 'eval': {'batch_size': 50,
+          'n_episodes': 50,
+          'recording': False,
+          'recording_private': False,
+          'recording_repo_id': None,
+          'use_async_envs': True},
+ 'eval_steps': 0,
+ 'job': {'detach': False,
+         'image': 'huggingface/lerobot-gpu:latest',
+         'tags': [],
+         'target': None,
+         'timeout': '2d'},
+ 'job_name': 'INSIGHT_RD_RKD_TimewarpVAE_LAPstyle_10K',
+ 'log_freq': 200,
+ 'max_eval_samples': 0,
+ 'num_workers': 4,
+ 'optimizer': {'betas': [0.9, 0.999],
+               'eps': 1e-08,
+               'grad_clip_norm': 1.0,
+               'lr': 0.0001,
+               'type': 'adamw',
+               'weight_decay': 1e-05},
+ 'output_dir': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + '
+               'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K',
+ 'peft': None,
+ 'persistent_workers': True,
+ 'policy': {'action_decode_transform': None,
+            'balance_dataset_weights': True,
+            'balance_trajectory_weights': True,
+            'base_model_path': 'nvidia/GR00T-N1.7-3B',
+            'batch_size': 32,
+            'chunk_size': 16,
+            'dataloader_num_workers': 8,
+            'dataset_paths': None,
+            'device': 'cuda',
+            'embodiment_tag': 'new_embodiment',
+            'image_size': [256, 256],
+            'input_features': {'observation.images.guide': {'shape': [3,
+                                                                      224,
+                                                                      224],
+                                                            'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.images.right_shoulder': {'shape': [3,
+                                                                               224,
+                                                                               224],
+                                                                     'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.images.wrist': {'shape': [3,
+                                                                      224,
+                                                                      224],
+                                                            'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.state': {'shape': [16],
+                                                     'type': <FeatureType.STATE: 'STATE'>}},
+            'license': None,
+            'lora_alpha': 16,
+            'lora_dropout': 0.1,
+            'lora_full_model': False,
+            'lora_rank': 0,
+            'max_action_dim': 132,
+            'max_state_dim': 132,
+            'max_steps': 10000,
+            'model_params_fp32': True,
+            'n_action_steps': 16,
+            'n_obs_steps': 1,
+            'normalization_mapping': {'ACTION': <NormalizationMode.IDENTITY: 'IDENTITY'>,
+                                      'STATE': <NormalizationMode.IDENTITY: 'IDENTITY'>,
+                                      'VISUAL': <NormalizationMode.IDENTITY: 'IDENTITY'>},
+            'num_inference_timesteps': None,
+            'optimizer_betas': [0.9, 0.999],
+            'optimizer_eps': 1e-08,
+            'optimizer_lr': 0.0001,
+            'optimizer_weight_decay': 1e-05,
+            'output_dir': './tmp/gr00t',
+            'output_features': {'action': {'shape': [16],
+                                           'type': <FeatureType.ACTION: 'ACTION'>}},
+            'pretrained_path': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D '
+                               '+ '
+                               'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/pretrained_model',
+            'pretrained_revision': None,
+            'private': None,
+            'push_to_hub': False,
+            'relative_exclude_joints': [],
+            'repo_id': None,
+            'report_to': 'wandb',
+            'resume': False,
+            'rkd_angle_weight': 2.0,
+            'rkd_distance_weight': 1.0,
+            'rkd_enabled': True,
+            'rkd_fm_loss_weight': 1.0,
+            'rkd_loss_weight': 1.0,
+            'rkd_student_attention_hidden_dim': 512,
+            'rkd_student_attention_output_dim': 512,
+            'rkd_student_pooling': 'attention',
+            'rkd_vae_checkpoint': '/home/ext_minje/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84',
+            'rtc_ramp_rate': None,
+            'save_steps': 1000,
+            'tags': None,
+            'tokenizer_assets_repo': None,
+            'tune_diffusion_model': True,
+            'tune_llm': False,
+            'tune_projector': True,
+            'tune_top_llm_layers': 0,
+            'tune_visual': False,
+            'tune_vlln': True,
+            'type': 'groot_rkd',
+            'use_amp': False,
+            'use_bf16': True,
+            'use_flash_attention': False,
+            'use_peft': False,
+            'use_relative_actions': False,
+            'video_backend': 'decord',
+            'warmup_ratio': 0.05,
+            'warmup_steps': 6000},
+ 'prefetch_factor': 4,
+ 'rename_map': {},
+ 'resume': True,
+ 'reward_model': None,
+ 'sample_weighting': None,
+ 'save_checkpoint': True,
+ 'save_checkpoint_to_hub': False,
+ 'save_freq': 20000,
+ 'scheduler': {'name': 'cosine', 'num_warmup_steps': 6000, 'type': 'diffuser'},
+ 'seed': 42,
+ 'steps': 60000,
+ 'tolerance_s': 0.0001,
+ 'use_policy_training_preset': True,
+ 'wandb': {'add_tags': True,
+           'disable_artifact': True,
+           'enable': True,
+           'entity': None,
+           'mode': None,
+           'notes': None,
+           'project': 'lerobot',
+           'run_id': 'ny0tx2de'}}
+INFO 2026-07-21 18:08:00 db_utils.py:121 Logs will be synced with wandb.
+INFO 2026-07-21 18:08:00 db_utils.py:122 Track this run --> https://wandb.ai/minje227_hyu-hanyang-university/lerobot/runs/ny0tx2de
+INFO 2026-07-21 18:08:00 ot_train.py:298 Creating dataset
+INFO 2026-07-21 18:08:01 ot_train.py:332 Creating policy
+INFO 2026-07-21 18:08:01 ng_groot.py:191 The Groot policy wraps NVIDIA's GR00T n1.7 model. Loading pretrained model from: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/pretrained_model
+INFO 2026-07-21 18:08:01 ng_groot.py:225 Detected fine-tuned LeRobot checkpoint, loading with state dict...
+
+`torch_dtype` is deprecated! Use `dtype` instead!
+
+Loading weights from local directory
+Traceback (most recent call last):
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1430, in <module>
+    main()
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1426, in main
+    train_module.main()
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/scripts/lerobot_train.py", line 816, in main
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/configs/parser.py", line 320, in wrapper_inner
+    response = fn(cfg, *args, **kwargs)
+               ^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/scripts/lerobot_train.py", line 397, in train
+    logging.info(colored("Output dir:", "yellow", attrs=["bold"]) + f" {cfg.output_dir}")
+                                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1204, in make_pre_post_processors
+    return original_make_pre_post_processors(*args, **kwargs)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/policies/factory.py", line 323, in make_pre_post_processors
+    preprocessor = PolicyProcessorPipeline.from_pretrained(
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/processor/pipeline.py", line 738, in from_pretrained
+    cls._validate_overrides_used(validated_overrides, loaded_config)
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/processor/pipeline.py", line 1254, in _validate_overrides_used
+    raise KeyError(
+KeyError: "Override keys ['normalizer_processor'] do not match any step in the saved configuration. Available step keys: ['rename_observations_processor', 'to_batch_processor', 'rkd_preserve_raw_action', 'groot_n1_7_pack_inputs_v1', 'groot_n1_7_vlm_encode_v1', 'device_processor']. Make sure override keys match exact step class names or registry names."

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/resume_dgx_20260722_gpu1.log

@@ -0,0 +1,277 @@
+INFO 2026-07-21 17:56:01 ot_train.py:272 {'batch_size': 128,
+ 'checkpoint_path': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + '
+                    'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000',
+ 'cudnn_deterministic': False,
+ 'dataset': {'depth_output_unit': 'mm',
+             'episodes': None,
+             'eval_split': 0.0,
+             'image_transforms': {'enable': False,
+                                  'max_num_transforms': 3,
+                                  'random_order': False,
+                                  'tfs': {'affine': {'kwargs': {'degrees': [-5.0,
+                                                                            5.0],
+                                                                'translate': [0.05,
+                                                                              0.05]},
+                                                     'type': 'RandomAffine',
+                                                     'weight': 1.0},
+                                          'brightness': {'kwargs': {'brightness': [0.8,
+                                                                                   1.2]},
+                                                         'type': 'ColorJitter',
+                                                         'weight': 1.0},
+                                          'contrast': {'kwargs': {'contrast': [0.8,
+                                                                               1.2]},
+                                                       'type': 'ColorJitter',
+                                                       'weight': 1.0},
+                                          'hue': {'kwargs': {'hue': [-0.05,
+                                                                     0.05]},
+                                                  'type': 'ColorJitter',
+                                                  'weight': 1.0},
+                                          'saturation': {'kwargs': {'saturation': [0.5,
+                                                                                   1.5]},
+                                                         'type': 'ColorJitter',
+                                                         'weight': 1.0},
+                                          'sharpness': {'kwargs': {'sharpness': [0.5,
+                                                                                 1.5]},
+                                                        'type': 'SharpnessJitter',
+                                                        'weight': 1.0}}},
+             'repo_id': 'Whalswp/INSIGHTfixposV4_filtered_multispace_v2',
+             'return_uint8': False,
+             'revision': None,
+             'root': '/home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2',
+             'streaming': False,
+             'use_imagenet_stats': True,
+             'video_backend': 'torchcodec'},
+ 'env': None,
+ 'env_eval_freq': 20000,
+ 'eval': {'batch_size': 50,
+          'n_episodes': 50,
+          'recording': False,
+          'recording_private': False,
+          'recording_repo_id': None,
+          'use_async_envs': True},
+ 'eval_steps': 0,
+ 'job': {'detach': False,
+         'image': 'huggingface/lerobot-gpu:latest',
+         'tags': [],
+         'target': None,
+         'timeout': '2d'},
+ 'job_name': 'INSIGHT_RD_RKD_TimewarpVAE_LAPstyle_10K',
+ 'log_freq': 200,
+ 'max_eval_samples': 0,
+ 'num_workers': 4,
+ 'optimizer': {'betas': [0.9, 0.999],
+               'eps': 1e-08,
+               'grad_clip_norm': 1.0,
+               'lr': 0.0001,
+               'type': 'adamw',
+               'weight_decay': 1e-05},
+ 'output_dir': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + '
+               'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K',
+ 'peft': None,
+ 'persistent_workers': True,
+ 'policy': {'action_decode_transform': None,
+            'balance_dataset_weights': True,
+            'balance_trajectory_weights': True,
+            'base_model_path': 'nvidia/GR00T-N1.7-3B',
+            'batch_size': 32,
+            'chunk_size': 16,
+            'dataloader_num_workers': 8,
+            'dataset_paths': None,
+            'device': 'cuda',
+            'embodiment_tag': 'new_embodiment',
+            'image_size': [256, 256],
+            'input_features': {'observation.images.guide': {'shape': [3,
+                                                                      224,
+                                                                      224],
+                                                            'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.images.right_shoulder': {'shape': [3,
+                                                                               224,
+                                                                               224],
+                                                                     'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.images.wrist': {'shape': [3,
+                                                                      224,
+                                                                      224],
+                                                            'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.state': {'shape': [16],
+                                                     'type': <FeatureType.STATE: 'STATE'>}},
+            'license': None,
+            'lora_alpha': 16,
+            'lora_dropout': 0.1,
+            'lora_full_model': False,
+            'lora_rank': 0,
+            'max_action_dim': 132,
+            'max_state_dim': 132,
+            'max_steps': 10000,
+            'model_params_fp32': True,
+            'n_action_steps': 16,
+            'n_obs_steps': 1,
+            'normalization_mapping': {'ACTION': <NormalizationMode.IDENTITY: 'IDENTITY'>,
+                                      'STATE': <NormalizationMode.IDENTITY: 'IDENTITY'>,
+                                      'VISUAL': <NormalizationMode.IDENTITY: 'IDENTITY'>},
+            'num_inference_timesteps': None,
+            'optimizer_betas': [0.9, 0.999],
+            'optimizer_eps': 1e-08,
+            'optimizer_lr': 0.0001,
+            'optimizer_weight_decay': 1e-05,
+            'output_dir': './tmp/gr00t',
+            'output_features': {'action': {'shape': [16],
+                                           'type': <FeatureType.ACTION: 'ACTION'>}},
+            'pretrained_path': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D '
+                               '+ '
+                               'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/pretrained_model',
+            'pretrained_revision': None,
+            'private': None,
+            'push_to_hub': False,
+            'relative_exclude_joints': [],
+            'repo_id': None,
+            'report_to': 'wandb',
+            'resume': False,
+            'rkd_angle_weight': 2.0,
+            'rkd_distance_weight': 1.0,
+            'rkd_enabled': True,
+            'rkd_fm_loss_weight': 1.0,
+            'rkd_loss_weight': 1.0,
+            'rkd_student_attention_hidden_dim': 512,
+            'rkd_student_attention_output_dim': 512,
+            'rkd_student_pooling': 'attention',
+            'rkd_vae_checkpoint': '/home/ext_minje/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84',
+            'rtc_ramp_rate': None,
+            'save_steps': 1000,
+            'tags': None,
+            'tokenizer_assets_repo': None,
+            'tune_diffusion_model': True,
+            'tune_llm': False,
+            'tune_projector': True,
+            'tune_top_llm_layers': 0,
+            'tune_visual': False,
+            'tune_vlln': True,
+            'type': 'groot_rkd',
+            'use_amp': False,
+            'use_bf16': True,
+            'use_flash_attention': False,
+            'use_peft': False,
+            'use_relative_actions': False,
+            'video_backend': 'decord',
+            'warmup_ratio': 0.05,
+            'warmup_steps': 6000},
+ 'prefetch_factor': 4,
+ 'rename_map': {},
+ 'resume': True,
+ 'reward_model': None,
+ 'sample_weighting': None,
+ 'save_checkpoint': True,
+ 'save_checkpoint_to_hub': False,
+ 'save_freq': 20000,
+ 'scheduler': {'name': 'cosine', 'num_warmup_steps': 6000, 'type': 'diffuser'},
+ 'seed': 42,
+ 'steps': 60000,
+ 'tolerance_s': 0.0001,
+ 'use_policy_training_preset': True,
+ 'wandb': {'add_tags': True,
+           'disable_artifact': True,
+           'enable': True,
+           'entity': None,
+           'mode': None,
+           'notes': None,
+           'project': 'lerobot',
+           'run_id': 'ny0tx2de'}}
+INFO 2026-07-21 17:56:03 db_utils.py:121 Logs will be synced with wandb.
+INFO 2026-07-21 17:56:03 db_utils.py:122 Track this run --> https://wandb.ai/minje227_hyu-hanyang-university/lerobot/runs/ny0tx2de
+INFO 2026-07-21 17:56:03 ot_train.py:298 Creating dataset
+INFO 2026-07-21 17:56:05 ot_train.py:332 Creating policy
+INFO 2026-07-21 17:56:05 ng_groot.py:191 The Groot policy wraps NVIDIA's GR00T n1.7 model. Loading pretrained model from: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/pretrained_model
+INFO 2026-07-21 17:56:05 ng_groot.py:225 Detected fine-tuned LeRobot checkpoint, loading with state dict...
+Traceback (most recent call last):
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/huggingface_hub/utils/_http.py", line 795, in hf_raise_for_status
+    response.raise_for_status()
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/httpx/_models.py", line 829, in raise_for_status
+    raise HTTPStatusError(message, request=request, response=self)
+httpx.HTTPStatusError: Client error '401 Unauthorized' for url 'https://huggingface.co/nvidia/GR00T-N1.7-3B/resolve/main/config.json'
+For more information check: https://developer.mozilla.org/en-US/docs/Web/HTTP/Status/401
+
+The above exception was the direct cause of the following exception:
+
+Traceback (most recent call last):
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/transformers/utils/hub.py", line 422, in cached_files
+    hf_hub_download(
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/huggingface_hub/utils/_validators.py", line 88, in _inner_fn
+    return fn(*args, **kwargs)
+           ^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/huggingface_hub/file_download.py", line 1013, in hf_hub_download
+    return _hf_hub_download_to_cache_dir(
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/huggingface_hub/file_download.py", line 1165, in _hf_hub_download_to_cache_dir
+    _raise_on_head_call_error(head_call_error, force_download, local_files_only)
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/huggingface_hub/file_download.py", line 1864, in _raise_on_head_call_error
+    raise head_call_error
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/huggingface_hub/file_download.py", line 1707, in _get_metadata_or_catch_error
+    metadata = get_hf_file_metadata(
+               ^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/huggingface_hub/utils/_validators.py", line 88, in _inner_fn
+    return fn(*args, **kwargs)
+           ^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/huggingface_hub/file_download.py", line 1615, in get_hf_file_metadata
+    response = _httpx_follow_relative_redirects_with_backoff(
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/huggingface_hub/utils/_http.py", line 726, in _httpx_follow_relative_redirects_with_backoff
+    hf_raise_for_status(response)
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/huggingface_hub/utils/_http.py", line 882, in hf_raise_for_status
+    raise _format(RepositoryNotFoundError, message, response, repo_type=repo_type, repo_id=repo_id) from e
+huggingface_hub.errors.RepositoryNotFoundError: 401 Client Error. (Request ID: Root=1-6a5fb2b5-6230713d52f06c4b0a188e0a;a13301f7-41f2-4c1a-aa6a-4018e0bdaaad)
+
+Repository Not Found for url: https://huggingface.co/nvidia/GR00T-N1.7-3B/resolve/main/config.json.
+Please make sure you specified the correct `repo_id` and `repo_type`.
+If you are trying to access a private or gated repo, make sure you are authenticated and your token has the required permissions.
+For more details, see https://huggingface.co/docs/huggingface_hub/authentication
+OAuth token signature verification failed: signature verification failed
+
+The above exception was the direct cause of the following exception:
+
+Traceback (most recent call last):
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1428, in <module>
+    main()
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1424, in main
+    train_module.main()
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/scripts/lerobot_train.py", line 816, in main
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/configs/parser.py", line 320, in wrapper_inner
+    response = fn(cfg, *args, **kwargs)
+               ^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/scripts/lerobot_train.py", line 333, in train
+    }
+      
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1170, in make_policy
+    policy = original_make_policy(*args, **kwargs)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/policies/factory.py", line 615, in make_policy
+    policy = policy_cls.from_pretrained(**kwargs)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_policies/groot_RKD/modeling_groot.py", line 226, in from_pretrained
+    return super().from_pretrained(
+           ^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/policies/pretrained.py", line 194, in from_pretrained
+    instance = cls(config, **kwargs)
+               ^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_policies/groot_RKD/modeling_groot_rkd.py", line 44, in __init__
+    super().__init__(config, **kwargs)
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_policies/groot_RKD/modeling_groot.py", line 79, in __init__
+    self._groot_model = self._create_groot_model()
+                        ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_policies/groot_RKD/modeling_groot.py", line 104, in _create_groot_model
+    model = GR00TN17.from_pretrained(
+            ^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_policies/groot_RKD/groot_n1_7.py", line 915, in from_pretrained
+    pretrained_model = super().from_pretrained(
+                       ^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/transformers/modeling_utils.py", line 3993, in from_pretrained
+    _adapter_model_path, pretrained_model_name_or_path, adapter_kwargs = maybe_load_adapters(
+                                                                         ^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/transformers/integrations/peft.py", line 973, in maybe_load_adapters
+    resolved_config_file = cached_file(
+                           ^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/transformers/utils/hub.py", line 278, in cached_file
+    file = cached_files(path_or_repo_id=path_or_repo_id, filenames=[filename], **kwargs)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/transformers/utils/hub.py", line 454, in cached_files
+    raise OSError(
+OSError: nvidia/GR00T-N1.7-3B is not a local folder and is not a valid model identifier listed on 'https://huggingface.co/models'
+If this is a private repository, make sure to pass a token having permission to this repo either by logging in with `hf auth login` or by passing `token=<your_token>`

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/resume_dgx_20260722_independent_nf69vc3o_gpu1.log

@@ -0,0 +1,400 @@
+INFO 2026-07-22 01:57:54 ot_train.py:272 {'batch_size': 128,
+ 'checkpoint_path': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + '
+                    'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000',
+ 'cudnn_deterministic': False,
+ 'dataset': {'depth_output_unit': 'mm',
+             'episodes': None,
+             'eval_split': 0.0,
+             'image_transforms': {'enable': False,
+                                  'max_num_transforms': 3,
+                                  'random_order': False,
+                                  'tfs': {'affine': {'kwargs': {'degrees': [-5.0,
+                                                                            5.0],
+                                                                'translate': [0.05,
+                                                                              0.05]},
+                                                     'type': 'RandomAffine',
+                                                     'weight': 1.0},
+                                          'brightness': {'kwargs': {'brightness': [0.8,
+                                                                                   1.2]},
+                                                         'type': 'ColorJitter',
+                                                         'weight': 1.0},
+                                          'contrast': {'kwargs': {'contrast': [0.8,
+                                                                               1.2]},
+                                                       'type': 'ColorJitter',
+                                                       'weight': 1.0},
+                                          'hue': {'kwargs': {'hue': [-0.05,
+                                                                     0.05]},
+                                                  'type': 'ColorJitter',
+                                                  'weight': 1.0},
+                                          'saturation': {'kwargs': {'saturation': [0.5,
+                                                                                   1.5]},
+                                                         'type': 'ColorJitter',
+                                                         'weight': 1.0},
+                                          'sharpness': {'kwargs': {'sharpness': [0.5,
+                                                                                 1.5]},
+                                                        'type': 'SharpnessJitter',
+                                                        'weight': 1.0}}},
+             'repo_id': 'Whalswp/INSIGHTfixposV4_filtered_multispace_v2',
+             'return_uint8': False,
+             'revision': None,
+             'root': '/home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2',
+             'streaming': False,
+             'use_imagenet_stats': True,
+             'video_backend': 'torchcodec'},
+ 'env': None,
+ 'env_eval_freq': 20000,
+ 'eval': {'batch_size': 50,
+          'n_episodes': 50,
+          'recording': False,
+          'recording_private': False,
+          'recording_repo_id': None,
+          'use_async_envs': True},
+ 'eval_steps': 0,
+ 'job': {'detach': False,
+         'image': 'huggingface/lerobot-gpu:latest',
+         'tags': [],
+         'target': None,
+         'timeout': '2d'},
+ 'job_name': 'INSIGHT_RD_RKD_TimewarpVAE_LAPstyle_10K',
+ 'log_freq': 200,
+ 'max_eval_samples': 0,
+ 'num_workers': 4,
+ 'optimizer': {'betas': [0.9, 0.999],
+               'eps': 1e-08,
+               'grad_clip_norm': 1.0,
+               'lr': 0.0001,
+               'type': 'adamw',
+               'weight_decay': 1e-05},
+ 'output_dir': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + '
+               'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K',
+ 'peft': None,
+ 'persistent_workers': True,
+ 'policy': {'action_decode_transform': None,
+            'action_expert_num_layers': None,
+            'balance_dataset_weights': True,
+            'balance_trajectory_weights': True,
+            'base_model_path': 'nvidia/GR00T-N1.7-3B',
+            'batch_size': 32,
+            'chunk_size': 16,
+            'dataloader_num_workers': 8,
+            'dataset_paths': None,
+            'device': 'cuda',
+            'embodiment_tag': 'new_embodiment',
+            'image_size': [256, 256],
+            'input_features': {'observation.images.guide': {'shape': [3,
+                                                                      224,
+                                                                      224],
+                                                            'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.images.right_shoulder': {'shape': [3,
+                                                                               224,
+                                                                               224],
+                                                                     'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.images.wrist': {'shape': [3,
+                                                                      224,
+                                                                      224],
+                                                            'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.state': {'shape': [16],
+                                                     'type': <FeatureType.STATE: 'STATE'>}},
+            'license': None,
+            'lora_alpha': 16,
+            'lora_dropout': 0.1,
+            'lora_full_model': False,
+            'lora_rank': 0,
+            'max_action_dim': 132,
+            'max_state_dim': 132,
+            'max_steps': 10000,
+            'model_params_fp32': True,
+            'n_action_steps': 16,
+            'n_obs_steps': 1,
+            'normalization_mapping': {'ACTION': <NormalizationMode.IDENTITY: 'IDENTITY'>,
+                                      'STATE': <NormalizationMode.IDENTITY: 'IDENTITY'>,
+                                      'VISUAL': <NormalizationMode.IDENTITY: 'IDENTITY'>},
+            'num_inference_timesteps': None,
+            'optimizer_betas': [0.9, 0.999],
+            'optimizer_eps': 1e-08,
+            'optimizer_lr': 0.0001,
+            'optimizer_weight_decay': 1e-05,
+            'output_dir': './tmp/gr00t',
+            'output_features': {'action': {'shape': [16],
+                                           'type': <FeatureType.ACTION: 'ACTION'>}},
+            'pretrained_path': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D '
+                               '+ '
+                               'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/pretrained_model',
+            'pretrained_revision': None,
+            'private': None,
+            'push_to_hub': False,
+            'relative_exclude_joints': [],
+            'repo_id': None,
+            'report_to': 'wandb',
+            'resume': False,
+            'rkd_angle_weight': 2.0,
+            'rkd_distance_weight': 1.0,
+            'rkd_enabled': True,
+            'rkd_fm_loss_weight': 1.0,
+            'rkd_loss_weight': 1.0,
+            'rkd_student_attention_hidden_dim': 512,
+            'rkd_student_attention_output_dim': 512,
+            'rkd_student_pooling': 'attention',
+            'rkd_vae_checkpoint': '/home/ext_minje/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84',
+            'rtc_ramp_rate': None,
+            'save_steps': 1000,
+            'tags': None,
+            'tokenizer_assets_repo': None,
+            'tune_diffusion_model': True,
+            'tune_llm': False,
+            'tune_projector': True,
+            'tune_top_llm_layers': 0,
+            'tune_visual': False,
+            'tune_vlln': True,
+            'type': 'groot_rkd',
+            'use_amp': False,
+            'use_bf16': True,
+            'use_flash_attention': False,
+            'use_peft': False,
+            'use_relative_actions': False,
+            'video_backend': 'decord',
+            'warmup_ratio': 0.05,
+            'warmup_steps': 6000},
+ 'prefetch_factor': 4,
+ 'rename_map': {},
+ 'resume': True,
+ 'reward_model': None,
+ 'sample_weighting': None,
+ 'save_checkpoint': True,
+ 'save_checkpoint_to_hub': False,
+ 'save_freq': 20000,
+ 'scheduler': {'name': 'cosine', 'num_warmup_steps': 6000, 'type': 'diffuser'},
+ 'seed': 42,
+ 'steps': 60000,
+ 'tolerance_s': 0.0001,
+ 'use_policy_training_preset': True,
+ 'wandb': {'add_tags': True,
+           'disable_artifact': True,
+           'enable': True,
+           'entity': None,
+           'mode': None,
+           'notes': None,
+           'project': 'lerobot',
+           'run_id': 'nf69vc3o'}}
+INFO 2026-07-22 01:57:56 db_utils.py:121 Logs will be synced with wandb.
+INFO 2026-07-22 01:57:56 db_utils.py:122 Track this run --> https://wandb.ai/minje227_hyu-hanyang-university/lerobot/runs/nf69vc3o
+INFO 2026-07-22 01:57:56 ot_train.py:298 Creating dataset
+INFO 2026-07-22 01:57:58 ot_train.py:332 Creating policy
+INFO 2026-07-22 01:57:58 ng_groot.py:193 The Groot policy wraps NVIDIA's GR00T n1.7 model. Loading pretrained model from: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/pretrained_model
+INFO 2026-07-22 01:57:58 ng_groot.py:227 Detected fine-tuned LeRobot checkpoint, loading with state dict...
+
+`torch_dtype` is deprecated! Use `dtype` instead!
+
+Loading weights from local directory
+INFO 2026-07-22 01:58:09 ot_train.py:405 Creating optimizer and scheduler
+INFO 2026-07-22 01:58:12 ot_train.py:103 INSIGHT phase transition: index=1 name=fm_only range=[10000,60000) trainable_params=1620515968
+INFO 2026-07-22 01:58:12 ot_train.py:439 Output dir: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K
+INFO 2026-07-22 01:58:12 ot_train.py:446 cfg.steps=60000 (60K)
+INFO 2026-07-22 01:58:12 ot_train.py:447 dataset.num_frames=218367 (218K)
+INFO 2026-07-22 01:58:12 ot_train.py:448 dataset.num_episodes=4930
+INFO 2026-07-22 01:58:12 ot_train.py:451 Effective batch size: 128 x 1 = 128
+INFO 2026-07-22 01:58:12 ot_train.py:452 num_learnable_params=1620515968 (2B)
+INFO 2026-07-22 01:58:12 ot_train.py:453 num_total_params=3145712033 (3B)
+INFO 2026-07-22 01:58:12 ot_train.py:494 Resuming data order at epoch 26, sample 82688
+
+INFO 2026-07-22 01:58:38 ot_train.py:272 {'batch_size': 128,
+ 'checkpoint_path': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + '
+                    'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000',
+ 'cudnn_deterministic': False,
+ 'dataset': {'depth_output_unit': 'mm',
+             'episodes': None,
+             'eval_split': 0.0,
+             'image_transforms': {'enable': False,
+                                  'max_num_transforms': 3,
+                                  'random_order': False,
+                                  'tfs': {'affine': {'kwargs': {'degrees': [-5.0,
+                                                                            5.0],
+                                                                'translate': [0.05,
+                                                                              0.05]},
+                                                     'type': 'RandomAffine',
+                                                     'weight': 1.0},
+                                          'brightness': {'kwargs': {'brightness': [0.8,
+                                                                                   1.2]},
+                                                         'type': 'ColorJitter',
+                                                         'weight': 1.0},
+                                          'contrast': {'kwargs': {'contrast': [0.8,
+                                                                               1.2]},
+                                                       'type': 'ColorJitter',
+                                                       'weight': 1.0},
+                                          'hue': {'kwargs': {'hue': [-0.05,
+                                                                     0.05]},
+                                                  'type': 'ColorJitter',
+                                                  'weight': 1.0},
+                                          'saturation': {'kwargs': {'saturation': [0.5,
+                                                                                   1.5]},
+                                                         'type': 'ColorJitter',
+                                                         'weight': 1.0},
+                                          'sharpness': {'kwargs': {'sharpness': [0.5,
+                                                                                 1.5]},
+                                                        'type': 'SharpnessJitter',
+                                                        'weight': 1.0}}},
+             'repo_id': 'Whalswp/INSIGHTfixposV4_filtered_multispace_v2',
+             'return_uint8': False,
+             'revision': None,
+             'root': '/home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2',
+             'streaming': False,
+             'use_imagenet_stats': True,
+             'video_backend': 'torchcodec'},
+ 'env': None,
+ 'env_eval_freq': 20000,
+ 'eval': {'batch_size': 50,
+          'n_episodes': 50,
+          'recording': False,
+          'recording_private': False,
+          'recording_repo_id': None,
+          'use_async_envs': True},
+ 'eval_steps': 0,
+ 'job': {'detach': False,
+         'image': 'huggingface/lerobot-gpu:latest',
+         'tags': [],
+         'target': None,
+         'timeout': '2d'},
+ 'job_name': 'INSIGHT_RD_RKD_TimewarpVAE_LAPstyle_10K',
+ 'log_freq': 200,
+ 'max_eval_samples': 0,
+ 'num_workers': 4,
+ 'optimizer': {'betas': [0.9, 0.999],
+               'eps': 1e-08,
+               'grad_clip_norm': 1.0,
+               'lr': 0.0001,
+               'type': 'adamw',
+               'weight_decay': 1e-05},
+ 'output_dir': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + '
+               'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K',
+ 'peft': None,
+ 'persistent_workers': True,
+ 'policy': {'action_decode_transform': None,
+            'action_expert_num_layers': None,
+            'balance_dataset_weights': True,
+            'balance_trajectory_weights': True,
+            'base_model_path': 'nvidia/GR00T-N1.7-3B',
+            'batch_size': 32,
+            'chunk_size': 16,
+            'dataloader_num_workers': 8,
+            'dataset_paths': None,
+            'device': 'cuda',
+            'embodiment_tag': 'new_embodiment',
+            'image_size': [256, 256],
+            'input_features': {'observation.images.guide': {'shape': [3,
+                                                                      224,
+                                                                      224],
+                                                            'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.images.right_shoulder': {'shape': [3,
+                                                                               224,
+                                                                               224],
+                                                                     'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.images.wrist': {'shape': [3,
+                                                                      224,
+                                                                      224],
+                                                            'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.state': {'shape': [16],
+                                                     'type': <FeatureType.STATE: 'STATE'>}},
+            'license': None,
+            'lora_alpha': 16,
+            'lora_dropout': 0.1,
+            'lora_full_model': False,
+            'lora_rank': 0,
+            'max_action_dim': 132,
+            'max_state_dim': 132,
+            'max_steps': 10000,
+            'model_params_fp32': True,
+            'n_action_steps': 16,
+            'n_obs_steps': 1,
+            'normalization_mapping': {'ACTION': <NormalizationMode.IDENTITY: 'IDENTITY'>,
+                                      'STATE': <NormalizationMode.IDENTITY: 'IDENTITY'>,
+                                      'VISUAL': <NormalizationMode.IDENTITY: 'IDENTITY'>},
+            'num_inference_timesteps': None,
+            'optimizer_betas': [0.9, 0.999],
+            'optimizer_eps': 1e-08,
+            'optimizer_lr': 0.0001,
+            'optimizer_weight_decay': 1e-05,
+            'output_dir': './tmp/gr00t',
+            'output_features': {'action': {'shape': [16],
+                                           'type': <FeatureType.ACTION: 'ACTION'>}},
+            'pretrained_path': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D '
+                               '+ '
+                               'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/pretrained_model',
+            'pretrained_revision': None,
+            'private': None,
+            'push_to_hub': False,
+            'relative_exclude_joints': [],
+            'repo_id': None,
+            'report_to': 'wandb',
+            'resume': False,
+            'rkd_angle_weight': 2.0,
+            'rkd_distance_weight': 1.0,
+            'rkd_enabled': True,
+            'rkd_fm_loss_weight': 1.0,
+            'rkd_loss_weight': 1.0,
+            'rkd_student_attention_hidden_dim': 512,
+            'rkd_student_attention_output_dim': 512,
+            'rkd_student_pooling': 'attention',
+            'rkd_vae_checkpoint': '/home/ext_minje/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84',
+            'rtc_ramp_rate': None,
+            'save_steps': 1000,
+            'tags': None,
+            'tokenizer_assets_repo': None,
+            'tune_diffusion_model': True,
+            'tune_llm': False,
+            'tune_projector': True,
+            'tune_top_llm_layers': 0,
+            'tune_visual': False,
+            'tune_vlln': True,
+            'type': 'groot_rkd',
+            'use_amp': False,
+            'use_bf16': True,
+            'use_flash_attention': False,
+            'use_peft': False,
+            'use_relative_actions': False,
+            'video_backend': 'decord',
+            'warmup_ratio': 0.05,
+            'warmup_steps': 6000},
+ 'prefetch_factor': 4,
+ 'rename_map': {},
+ 'resume': True,
+ 'reward_model': None,
+ 'sample_weighting': None,
+ 'save_checkpoint': True,
+ 'save_checkpoint_to_hub': False,
+ 'save_freq': 20000,
+ 'scheduler': {'name': 'cosine', 'num_warmup_steps': 6000, 'type': 'diffuser'},
+ 'seed': 42,
+ 'steps': 60000,
+ 'tolerance_s': 0.0001,
+ 'use_policy_training_preset': True,
+ 'wandb': {'add_tags': True,
+           'disable_artifact': True,
+           'enable': True,
+           'entity': None,
+           'mode': None,
+           'notes': None,
+           'project': 'lerobot',
+           'run_id': 'nf69vc3o'}}
+INFO 2026-07-22 01:58:40 db_utils.py:121 Logs will be synced with wandb.
+INFO 2026-07-22 01:58:40 db_utils.py:122 Track this run --> https://wandb.ai/minje227_hyu-hanyang-university/lerobot/runs/nf69vc3o
+INFO 2026-07-22 01:58:40 ot_train.py:298 Creating dataset
+INFO 2026-07-22 01:58:42 ot_train.py:332 Creating policy
+INFO 2026-07-22 01:58:42 ng_groot.py:193 The Groot policy wraps NVIDIA's GR00T n1.7 model. Loading pretrained model from: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/pretrained_model
+INFO 2026-07-22 01:58:42 ng_groot.py:227 Detected fine-tuned LeRobot checkpoint, loading with state dict...
+
+`torch_dtype` is deprecated! Use `dtype` instead!
+
+Loading weights from local directory
+INFO 2026-07-22 01:58:53 ot_train.py:405 Creating optimizer and scheduler
+INFO 2026-07-22 01:58:56 ot_train.py:103 INSIGHT phase transition: index=1 name=fm_only range=[10000,60000) trainable_params=1620515968
+INFO 2026-07-22 01:58:56 ot_train.py:439 Output dir: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K
+INFO 2026-07-22 01:58:56 ot_train.py:446 cfg.steps=60000 (60K)
+INFO 2026-07-22 01:58:56 ot_train.py:447 dataset.num_frames=218367 (218K)
+INFO 2026-07-22 01:58:56 ot_train.py:448 dataset.num_episodes=4930
+INFO 2026-07-22 01:58:56 ot_train.py:451 Effective batch size: 128 x 1 = 128
+INFO 2026-07-22 01:58:56 ot_train.py:452 num_learnable_params=1620515968 (2B)
+INFO 2026-07-22 01:58:56 ot_train.py:453 num_total_params=3145712033 (3B)
+INFO 2026-07-22 01:58:56 ot_train.py:494 Resuming data order at epoch 26, sample 82688
+
+
+

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/resume_dgx_20260722_newwandb_nf69vc3o_gpu1.log

@@ -0,0 +1,201 @@
+INFO 2026-07-21 18:19:48 ot_train.py:272 {'batch_size': 128,
+ 'checkpoint_path': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + '
+                    'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000',
+ 'cudnn_deterministic': False,
+ 'dataset': {'depth_output_unit': 'mm',
+             'episodes': None,
+             'eval_split': 0.0,
+             'image_transforms': {'enable': False,
+                                  'max_num_transforms': 3,
+                                  'random_order': False,
+                                  'tfs': {'affine': {'kwargs': {'degrees': [-5.0,
+                                                                            5.0],
+                                                                'translate': [0.05,
+                                                                              0.05]},
+                                                     'type': 'RandomAffine',
+                                                     'weight': 1.0},
+                                          'brightness': {'kwargs': {'brightness': [0.8,
+                                                                                   1.2]},
+                                                         'type': 'ColorJitter',
+                                                         'weight': 1.0},
+                                          'contrast': {'kwargs': {'contrast': [0.8,
+                                                                               1.2]},
+                                                       'type': 'ColorJitter',
+                                                       'weight': 1.0},
+                                          'hue': {'kwargs': {'hue': [-0.05,
+                                                                     0.05]},
+                                                  'type': 'ColorJitter',
+                                                  'weight': 1.0},
+                                          'saturation': {'kwargs': {'saturation': [0.5,
+                                                                                   1.5]},
+                                                         'type': 'ColorJitter',
+                                                         'weight': 1.0},
+                                          'sharpness': {'kwargs': {'sharpness': [0.5,
+                                                                                 1.5]},
+                                                        'type': 'SharpnessJitter',
+                                                        'weight': 1.0}}},
+             'repo_id': 'Whalswp/INSIGHTfixposV4_filtered_multispace_v2',
+             'return_uint8': False,
+             'revision': None,
+             'root': '/home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2',
+             'streaming': False,
+             'use_imagenet_stats': True,
+             'video_backend': 'torchcodec'},
+ 'env': None,
+ 'env_eval_freq': 20000,
+ 'eval': {'batch_size': 50,
+          'n_episodes': 50,
+          'recording': False,
+          'recording_private': False,
+          'recording_repo_id': None,
+          'use_async_envs': True},
+ 'eval_steps': 0,
+ 'job': {'detach': False,
+         'image': 'huggingface/lerobot-gpu:latest',
+         'tags': [],
+         'target': None,
+         'timeout': '2d'},
+ 'job_name': 'INSIGHT_RD_RKD_TimewarpVAE_LAPstyle_10K',
+ 'log_freq': 200,
+ 'max_eval_samples': 0,
+ 'num_workers': 4,
+ 'optimizer': {'betas': [0.9, 0.999],
+               'eps': 1e-08,
+               'grad_clip_norm': 1.0,
+               'lr': 0.0001,
+               'type': 'adamw',
+               'weight_decay': 1e-05},
+ 'output_dir': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + '
+               'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K',
+ 'peft': None,
+ 'persistent_workers': True,
+ 'policy': {'action_decode_transform': None,
+            'balance_dataset_weights': True,
+            'balance_trajectory_weights': True,
+            'base_model_path': 'nvidia/GR00T-N1.7-3B',
+            'batch_size': 32,
+            'chunk_size': 16,
+            'dataloader_num_workers': 8,
+            'dataset_paths': None,
+            'device': 'cuda',
+            'embodiment_tag': 'new_embodiment',
+            'image_size': [256, 256],
+            'input_features': {'observation.images.guide': {'shape': [3,
+                                                                      224,
+                                                                      224],
+                                                            'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.images.right_shoulder': {'shape': [3,
+                                                                               224,
+                                                                               224],
+                                                                     'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.images.wrist': {'shape': [3,
+                                                                      224,
+                                                                      224],
+                                                            'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.state': {'shape': [16],
+                                                     'type': <FeatureType.STATE: 'STATE'>}},
+            'license': None,
+            'lora_alpha': 16,
+            'lora_dropout': 0.1,
+            'lora_full_model': False,
+            'lora_rank': 0,
+            'max_action_dim': 132,
+            'max_state_dim': 132,
+            'max_steps': 10000,
+            'model_params_fp32': True,
+            'n_action_steps': 16,
+            'n_obs_steps': 1,
+            'normalization_mapping': {'ACTION': <NormalizationMode.IDENTITY: 'IDENTITY'>,
+                                      'STATE': <NormalizationMode.IDENTITY: 'IDENTITY'>,
+                                      'VISUAL': <NormalizationMode.IDENTITY: 'IDENTITY'>},
+            'num_inference_timesteps': None,
+            'optimizer_betas': [0.9, 0.999],
+            'optimizer_eps': 1e-08,
+            'optimizer_lr': 0.0001,
+            'optimizer_weight_decay': 1e-05,
+            'output_dir': './tmp/gr00t',
+            'output_features': {'action': {'shape': [16],
+                                           'type': <FeatureType.ACTION: 'ACTION'>}},
+            'pretrained_path': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D '
+                               '+ '
+                               'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/pretrained_model',
+            'pretrained_revision': None,
+            'private': None,
+            'push_to_hub': False,
+            'relative_exclude_joints': [],
+            'repo_id': None,
+            'report_to': 'wandb',
+            'resume': False,
+            'rkd_angle_weight': 2.0,
+            'rkd_distance_weight': 1.0,
+            'rkd_enabled': True,
+            'rkd_fm_loss_weight': 1.0,
+            'rkd_loss_weight': 1.0,
+            'rkd_student_attention_hidden_dim': 512,
+            'rkd_student_attention_output_dim': 512,
+            'rkd_student_pooling': 'attention',
+            'rkd_vae_checkpoint': '/home/ext_minje/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84',
+            'rtc_ramp_rate': None,
+            'save_steps': 1000,
+            'tags': None,
+            'tokenizer_assets_repo': None,
+            'tune_diffusion_model': True,
+            'tune_llm': False,
+            'tune_projector': True,
+            'tune_top_llm_layers': 0,
+            'tune_visual': False,
+            'tune_vlln': True,
+            'type': 'groot_rkd',
+            'use_amp': False,
+            'use_bf16': True,
+            'use_flash_attention': False,
+            'use_peft': False,
+            'use_relative_actions': False,
+            'video_backend': 'decord',
+            'warmup_ratio': 0.05,
+            'warmup_steps': 6000},
+ 'prefetch_factor': 4,
+ 'rename_map': {},
+ 'resume': True,
+ 'reward_model': None,
+ 'sample_weighting': None,
+ 'save_checkpoint': True,
+ 'save_checkpoint_to_hub': False,
+ 'save_freq': 20000,
+ 'scheduler': {'name': 'cosine', 'num_warmup_steps': 6000, 'type': 'diffuser'},
+ 'seed': 42,
+ 'steps': 60000,
+ 'tolerance_s': 0.0001,
+ 'use_policy_training_preset': True,
+ 'wandb': {'add_tags': True,
+           'disable_artifact': True,
+           'enable': True,
+           'entity': None,
+           'mode': None,
+           'notes': None,
+           'project': 'lerobot',
+           'run_id': 'nf69vc3o'}}
+Traceback (most recent call last):
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1453, in <module>
+    main()
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1449, in main
+    train_module.main()
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/scripts/lerobot_train.py", line 816, in main
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/configs/parser.py", line 320, in wrapper_inner
+    response = fn(cfg, *args, **kwargs)
+               ^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/scripts/lerobot_train.py", line 276, in train
+    if is_main_process:
+                   ^^^^^
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/common/wandb_utils.py", line 99, in __init__
+    wandb.init(
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/wandb_init.py", line 1528, in init
+    get_sentry().reraise(e)
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/analytics/sentry.py", line 191, in reraise
+    raise exc.with_traceback(tb)
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/wandb_init.py", line 1511, in init
+    run = wi.init(run_settings, run_config, run_printer)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/wandb_init.py", line 961, in init
+    raise error
+wandb.errors.errors.UsageError: You provided an invalid value for the `resume` argument. The value 'must' is not a valid option for resuming the run (nf69vc3o) that has not been initialized. Please check your inputs and try again with a valid run ID. If you are trying to start a new run, please omit the `resume` argument or use `resume='allow'`.

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/resume_dgx_20260722_restart_sep_nf69vc3o_gpu1.log

@@ -0,0 +1,200 @@
+INFO 2026-07-22 01:56:01 ot_train.py:272 {'batch_size': 128,
+ 'checkpoint_path': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + '
+                    'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000',
+ 'cudnn_deterministic': False,
+ 'dataset': {'depth_output_unit': 'mm',
+             'episodes': None,
+             'eval_split': 0.0,
+             'image_transforms': {'enable': False,
+                                  'max_num_transforms': 3,
+                                  'random_order': False,
+                                  'tfs': {'affine': {'kwargs': {'degrees': [-5.0,
+                                                                            5.0],
+                                                                'translate': [0.05,
+                                                                              0.05]},
+                                                     'type': 'RandomAffine',
+                                                     'weight': 1.0},
+                                          'brightness': {'kwargs': {'brightness': [0.8,
+                                                                                   1.2]},
+                                                         'type': 'ColorJitter',
+                                                         'weight': 1.0},
+                                          'contrast': {'kwargs': {'contrast': [0.8,
+                                                                               1.2]},
+                                                       'type': 'ColorJitter',
+                                                       'weight': 1.0},
+                                          'hue': {'kwargs': {'hue': [-0.05,
+                                                                     0.05]},
+                                                  'type': 'ColorJitter',
+                                                  'weight': 1.0},
+                                          'saturation': {'kwargs': {'saturation': [0.5,
+                                                                                   1.5]},
+                                                         'type': 'ColorJitter',
+                                                         'weight': 1.0},
+                                          'sharpness': {'kwargs': {'sharpness': [0.5,
+                                                                                 1.5]},
+                                                        'type': 'SharpnessJitter',
+                                                        'weight': 1.0}}},
+             'repo_id': 'Whalswp/INSIGHTfixposV4_filtered_multispace_v2',
+             'return_uint8': False,
+             'revision': None,
+             'root': '/home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2',
+             'streaming': False,
+             'use_imagenet_stats': True,
+             'video_backend': 'torchcodec'},
+ 'env': None,
+ 'env_eval_freq': 20000,
+ 'eval': {'batch_size': 50,
+          'n_episodes': 50,
+          'recording': False,
+          'recording_private': False,
+          'recording_repo_id': None,
+          'use_async_envs': True},
+ 'eval_steps': 0,
+ 'job': {'detach': False,
+         'image': 'huggingface/lerobot-gpu:latest',
+         'tags': [],
+         'target': None,
+         'timeout': '2d'},
+ 'job_name': 'INSIGHT_RD_RKD_TimewarpVAE_LAPstyle_10K',
+ 'log_freq': 200,
+ 'max_eval_samples': 0,
+ 'num_workers': 4,
+ 'optimizer': {'betas': [0.9, 0.999],
+               'eps': 1e-08,
+               'grad_clip_norm': 1.0,
+               'lr': 0.0001,
+               'type': 'adamw',
+               'weight_decay': 1e-05},
+ 'output_dir': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + '
+               'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K',
+ 'peft': None,
+ 'persistent_workers': True,
+ 'policy': {'action_decode_transform': None,
+            'action_expert_num_layers': None,
+            'balance_dataset_weights': True,
+            'balance_trajectory_weights': True,
+            'base_model_path': 'nvidia/GR00T-N1.7-3B',
+            'batch_size': 32,
+            'chunk_size': 16,
+            'dataloader_num_workers': 8,
+            'dataset_paths': None,
+            'device': 'cuda',
+            'embodiment_tag': 'new_embodiment',
+            'image_size': [256, 256],
+            'input_features': {'observation.images.guide': {'shape': [3,
+                                                                      224,
+                                                                      224],
+                                                            'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.images.right_shoulder': {'shape': [3,
+                                                                               224,
+                                                                               224],
+                                                                     'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.images.wrist': {'shape': [3,
+                                                                      224,
+                                                                      224],
+                                                            'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.state': {'shape': [16],
+                                                     'type': <FeatureType.STATE: 'STATE'>}},
+            'license': None,
+            'lora_alpha': 16,
+            'lora_dropout': 0.1,
+            'lora_full_model': False,
+            'lora_rank': 0,
+            'max_action_dim': 132,
+            'max_state_dim': 132,
+            'max_steps': 10000,
+            'model_params_fp32': True,
+            'n_action_steps': 16,
+            'n_obs_steps': 1,
+            'normalization_mapping': {'ACTION': <NormalizationMode.IDENTITY: 'IDENTITY'>,
+                                      'STATE': <NormalizationMode.IDENTITY: 'IDENTITY'>,
+                                      'VISUAL': <NormalizationMode.IDENTITY: 'IDENTITY'>},
+            'num_inference_timesteps': None,
+            'optimizer_betas': [0.9, 0.999],
+            'optimizer_eps': 1e-08,
+            'optimizer_lr': 0.0001,
+            'optimizer_weight_decay': 1e-05,
+            'output_dir': './tmp/gr00t',
+            'output_features': {'action': {'shape': [16],
+                                           'type': <FeatureType.ACTION: 'ACTION'>}},
+            'pretrained_path': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D '
+                               '+ '
+                               'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/pretrained_model',
+            'pretrained_revision': None,
+            'private': None,
+            'push_to_hub': False,
+            'relative_exclude_joints': [],
+            'repo_id': None,
+            'report_to': 'wandb',
+            'resume': False,
+            'rkd_angle_weight': 2.0,
+            'rkd_distance_weight': 1.0,
+            'rkd_enabled': True,
+            'rkd_fm_loss_weight': 1.0,
+            'rkd_loss_weight': 1.0,
+            'rkd_student_attention_hidden_dim': 512,
+            'rkd_student_attention_output_dim': 512,
+            'rkd_student_pooling': 'attention',
+            'rkd_vae_checkpoint': '/home/ext_minje/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84',
+            'rtc_ramp_rate': None,
+            'save_steps': 1000,
+            'tags': None,
+            'tokenizer_assets_repo': None,
+            'tune_diffusion_model': True,
+            'tune_llm': False,
+            'tune_projector': True,
+            'tune_top_llm_layers': 0,
+            'tune_visual': False,
+            'tune_vlln': True,
+            'type': 'groot_rkd',
+            'use_amp': False,
+            'use_bf16': True,
+            'use_flash_attention': False,
+            'use_peft': False,
+            'use_relative_actions': False,
+            'video_backend': 'decord',
+            'warmup_ratio': 0.05,
+            'warmup_steps': 6000},
+ 'prefetch_factor': 4,
+ 'rename_map': {},
+ 'resume': True,
+ 'reward_model': None,
+ 'sample_weighting': None,
+ 'save_checkpoint': True,
+ 'save_checkpoint_to_hub': False,
+ 'save_freq': 20000,
+ 'scheduler': {'name': 'cosine', 'num_warmup_steps': 6000, 'type': 'diffuser'},
+ 'seed': 42,
+ 'steps': 60000,
+ 'tolerance_s': 0.0001,
+ 'use_policy_training_preset': True,
+ 'wandb': {'add_tags': True,
+           'disable_artifact': True,
+           'enable': True,
+           'entity': None,
+           'mode': None,
+           'notes': None,
+           'project': 'lerobot',
+           'run_id': 'nf69vc3o'}}
+INFO 2026-07-22 01:56:03 db_utils.py:121 Logs will be synced with wandb.
+INFO 2026-07-22 01:56:03 db_utils.py:122 Track this run --> https://wandb.ai/minje227_hyu-hanyang-university/lerobot/runs/nf69vc3o
+INFO 2026-07-22 01:56:03 ot_train.py:298 Creating dataset
+INFO 2026-07-22 01:56:05 ot_train.py:332 Creating policy
+INFO 2026-07-22 01:56:05 ng_groot.py:193 The Groot policy wraps NVIDIA's GR00T n1.7 model. Loading pretrained model from: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/pretrained_model
+INFO 2026-07-22 01:56:05 ng_groot.py:227 Detected fine-tuned LeRobot checkpoint, loading with state dict...
+
+`torch_dtype` is deprecated! Use `dtype` instead!
+
+Loading weights from local directory
+INFO 2026-07-22 01:56:18 ot_train.py:405 Creating optimizer and scheduler
+INFO 2026-07-22 01:56:21 ot_train.py:103 INSIGHT phase transition: index=1 name=fm_only range=[10000,60000) trainable_params=1620515968
+INFO 2026-07-22 01:56:21 ot_train.py:439 Output dir: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K
+INFO 2026-07-22 01:56:21 ot_train.py:446 cfg.steps=60000 (60K)
+INFO 2026-07-22 01:56:21 ot_train.py:447 dataset.num_frames=218367 (218K)
+INFO 2026-07-22 01:56:21 ot_train.py:448 dataset.num_episodes=4930
+INFO 2026-07-22 01:56:21 ot_train.py:451 Effective batch size: 128 x 1 = 128
+INFO 2026-07-22 01:56:21 ot_train.py:452 num_learnable_params=1620515968 (2B)
+INFO 2026-07-22 01:56:21 ot_train.py:453 num_total_params=3145712033 (3B)
+INFO 2026-07-22 01:56:21 ot_train.py:494 Resuming data order at epoch 26, sample 82688
+
+

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/checkpoints/030000/action_space_manifest.json

@@ -0,0 +1,205 @@
+{
+  "schema_version": 2,
+  "action_space": "ee_abs_rot6d+ee_delta",
+  "action_views": [
+    "ee_abs_rot6d",
+    "ee_delta"
+  ],
+  "source_feature": null,
+  "canonical_feature": "action",
+  "dtype": "float32",
+  "shape": [
+    16
+  ],
+  "names": [
+    "ee_abs_rot6d.x",
+    "ee_abs_rot6d.y",
+    "ee_abs_rot6d.z",
+    "ee_abs_rot6d.r_col0_x",
+    "ee_abs_rot6d.r_col0_y",
+    "ee_abs_rot6d.r_col0_z",
+    "ee_abs_rot6d.r_col1_x",
+    "ee_abs_rot6d.r_col1_y",
+    "ee_abs_rot6d.r_col1_z",
+    "ee_abs_rot6d.gripper",
+    "ee_delta.delta_x",
+    "ee_delta.delta_y",
+    "ee_delta.delta_z",
+    "ee_delta.delta_axis_angle_x",
+    "ee_delta.delta_axis_angle_y",
+    "ee_delta.delta_axis_angle_z"
+  ],
+  "dataset_repo_id": "Whalswp/INSIGHTfixposV4_filtered_multispace_v2",
+  "dataset_revision": "v3.0",
+  "dataset_total_frames": 218367,
+  "dataset_total_episodes": 4930,
+  "dataset_fps": 10,
+  "stats_sha256": "75b95092e5fd9a1b16aa6dc7a478883927d7c7cce76c26b56b290b675ae2311a",
+  "stats": {
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+      -0.013015102506385306,
+      -0.011160732577261764,
+      -0.012954131824952583,
+      -0.056165101267083004,
+      -0.01548487039073523,
+      -0.15972996251089885
+    ],
+    "q50": [
+      0.4160225263528291,
+      -0.06267459152989589,
+      0.6811777491060801,
+      0.0543536902230377,
+      -0.14012251058819217,
+      0.04772394280004727,
+      0.03838119138716219,
+      -0.14865169094195635,
+      -0.2073069401172425,
+      0.020772594934870346,
+      0.0005058764599893245,
+      4.561956601090609e-06,
+      4.945756498042436e-05,
+      0.0001528964582560528,
+      0.00017815767540355586,
+      -0.0002718872707462707
+    ],
+    "q90": [
+      0.46641008755679864,
+      0.020233143101890064,
+      0.8095135405259374,
+      0.48172401592474906,
+      0.7398737043070319,
+      0.5970841215636613,
+      0.4674752875999555,
+      0.36281754777672676,
+      0.5033361883834496,
+      0.039998362213352394,
+      0.016358020650084733,
+      0.003987531854121596,
+      0.006191431456332113,
+      0.11275584021509974,
+      0.06100667096893492,
+      0.15292656959583054
+    ],
+    "q99": [
+      0.47320723171849244,
+      0.04114262476135705,
+      0.8467967259270389,
+      0.5867781409980988,
+      0.8529584859257228,
+      0.7953936054341789,
+      0.5768269858732034,
+      0.49353349323389695,
+      0.7168914440776504,
+      0.03999983541667277,
+      0.03626038003704021,
+      0.008814053033445103,
+      0.012299866693624668,
+      0.17731576759283033,
+      0.12117986440120965,
+      0.16474415715691368
+    ]
+  }
+}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/checkpoints/030000/pretrained_model/prompt_manifest.json

@@ -0,0 +1,40 @@
+{
+  "schema_version": 1,
+  "prompt_set": "detailed",
+  "source_file": "task_prompts.json",
+  "source_sha256": "0ba48fb372da9f49dcfcd7dcc2da8cce6ce991d3661060e664a104778d1ffacc",
+  "mapping_sha256": "f71954786e94cdeceb135dde09fdc6b65db0b87ab3b09d25060129d0f0fde018",
+  "dataset_repo_id": "Whalswp/INSIGHTfixposV4_filtered_multispace_v2",
+  "dataset_revision": "v3.0",
+  "task_count": 13,
+  "task_codes": [
+    "5f",
+    "5g",
+    "1ext",
+    "3b",
+    "5b",
+    "3a",
+    "3c",
+    "5h",
+    "5d",
+    "3d",
+    "5e",
+    "5a",
+    "5c"
+  ],
+  "prompts": {
+    "5f": "Close the bottle in clockwise direction.",
+    "5g": "Grip the cap on the sides indicated by the 'squeeze' arrow and open the bottle in clockwise direction.",
+    "1ext": "Find the arrow guide and open the indicated drawer.",
+    "3b": "Open the door, rotate counter-clockwise and push.",
+    "5b": "Open the bottle in counter-clockwise direction.",
+    "3a": "Open the door, rotate clockwise and push.",
+    "3c": "Open the door, rotate clockwise and pull.",
+    "5h": "Close the bottle in counter-clockwise direction.",
+    "5d": "Close the bottle in clockwise direction.",
+    "3d": "Open the door, rotate counter-clockwise and pull.",
+    "5e": "Close the bottle in counter-clockwise direction.",
+    "5a": "Grip the cap on the sides indicated by the 'squeeze' arrow and open the bottle in counter-clockwise direction.",
+    "5c": "Open the bottle in clockwise direction."
+  }
+}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/checkpoints/030000/prompt_manifest.json

@@ -0,0 +1,40 @@
+{
+  "schema_version": 1,
+  "prompt_set": "detailed",
+  "source_file": "task_prompts.json",
+  "source_sha256": "0ba48fb372da9f49dcfcd7dcc2da8cce6ce991d3661060e664a104778d1ffacc",
+  "mapping_sha256": "f71954786e94cdeceb135dde09fdc6b65db0b87ab3b09d25060129d0f0fde018",
+  "dataset_repo_id": "Whalswp/INSIGHTfixposV4_filtered_multispace_v2",
+  "dataset_revision": "v3.0",
+  "task_count": 13,
+  "task_codes": [
+    "5f",
+    "5g",
+    "1ext",
+    "3b",
+    "5b",
+    "3a",
+    "3c",
+    "5h",
+    "5d",
+    "3d",
+    "5e",
+    "5a",
+    "5c"
+  ],
+  "prompts": {
+    "5f": "Close the bottle in clockwise direction.",
+    "5g": "Grip the cap on the sides indicated by the 'squeeze' arrow and open the bottle in clockwise direction.",
+    "1ext": "Find the arrow guide and open the indicated drawer.",
+    "3b": "Open the door, rotate counter-clockwise and push.",
+    "5b": "Open the bottle in counter-clockwise direction.",
+    "3a": "Open the door, rotate clockwise and push.",
+    "3c": "Open the door, rotate clockwise and pull.",
+    "5h": "Close the bottle in counter-clockwise direction.",
+    "5d": "Close the bottle in clockwise direction.",
+    "3d": "Open the door, rotate counter-clockwise and pull.",
+    "5e": "Close the bottle in counter-clockwise direction.",
+    "5a": "Grip the cap on the sides indicated by the 'squeeze' arrow and open the bottle in counter-clockwise direction.",
+    "5c": "Open the bottle in clockwise direction."
+  }
+}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/checkpoints/030000/resolved_config.yaml

@@ -0,0 +1,34 @@
+dataset:
+  repo_id: Whalswp/INSIGHTfixposV4_filtered_multispace_v2
+  root: /home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2
+policy:
+  type: groot_rkd
+  device: cuda
+  chunk_size: 16
+  n_action_steps: 16
+  push_to_hub: false
+  warmup_steps: 6000
+  tune_llm: false
+  tune_visual: false
+  tune_top_llm_layers: 0
+  tune_projector: true
+  tune_diffusion_model: true
+  tune_vlln: true
+  rkd_enabled: true
+  rkd_vae_checkpoint: /home/ext_minje/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84
+  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
+seed: 42
+batch_size: 128
+steps: 60000
+log_freq: 200
+output_dir: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K
+job_name: INSIGHT_RD_RKD_TimewarpVAE_LAPstyle_6K
+wandb:
+  enable: true
+  disable_artifact: true

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/checkpoints/030000/training_state/training_step.json

@@ -0,0 +1,5 @@
+{
+    "step": 30000,
+    "num_processes": 1,
+    "batch_size": 128
+}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/prompt_manifest.json

@@ -0,0 +1,40 @@
+{
+  "schema_version": 1,
+  "prompt_set": "detailed",
+  "source_file": "task_prompts.json",
+  "source_sha256": "0ba48fb372da9f49dcfcd7dcc2da8cce6ce991d3661060e664a104778d1ffacc",
+  "mapping_sha256": "f71954786e94cdeceb135dde09fdc6b65db0b87ab3b09d25060129d0f0fde018",
+  "dataset_repo_id": "Whalswp/INSIGHTfixposV4_filtered_multispace_v2",
+  "dataset_revision": "v3.0",
+  "task_count": 13,
+  "task_codes": [
+    "5f",
+    "5g",
+    "1ext",
+    "3b",
+    "5b",
+    "3a",
+    "3c",
+    "5h",
+    "5d",
+    "3d",
+    "5e",
+    "5a",
+    "5c"
+  ],
+  "prompts": {
+    "5f": "Close the bottle in clockwise direction.",
+    "5g": "Grip the cap on the sides indicated by the 'squeeze' arrow and open the bottle in clockwise direction.",
+    "1ext": "Find the arrow guide and open the indicated drawer.",
+    "3b": "Open the door, rotate counter-clockwise and push.",
+    "5b": "Open the bottle in counter-clockwise direction.",
+    "3a": "Open the door, rotate clockwise and push.",
+    "3c": "Open the door, rotate clockwise and pull.",
+    "5h": "Close the bottle in counter-clockwise direction.",
+    "5d": "Close the bottle in clockwise direction.",
+    "3d": "Open the door, rotate counter-clockwise and pull.",
+    "5e": "Close the bottle in counter-clockwise direction.",
+    "5a": "Grip the cap on the sides indicated by the 'squeeze' arrow and open the bottle in counter-clockwise direction.",
+    "5c": "Open the bottle in clockwise direction."
+  }
+}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/resume_dgx_20260722_auth_gpu0.log

@@ -0,0 +1,214 @@
+INFO 2026-07-21 18:02:57 ot_train.py:272 {'batch_size': 128,
+ 'checkpoint_path': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + '
+                    'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000',
+ 'cudnn_deterministic': False,
+ 'dataset': {'depth_output_unit': 'mm',
+             'episodes': None,
+             'eval_split': 0.0,
+             'image_transforms': {'enable': False,
+                                  'max_num_transforms': 3,
+                                  'random_order': False,
+                                  'tfs': {'affine': {'kwargs': {'degrees': [-5.0,
+                                                                            5.0],
+                                                                'translate': [0.05,
+                                                                              0.05]},
+                                                     'type': 'RandomAffine',
+                                                     'weight': 1.0},
+                                          'brightness': {'kwargs': {'brightness': [0.8,
+                                                                                   1.2]},
+                                                         'type': 'ColorJitter',
+                                                         'weight': 1.0},
+                                          'contrast': {'kwargs': {'contrast': [0.8,
+                                                                               1.2]},
+                                                       'type': 'ColorJitter',
+                                                       'weight': 1.0},
+                                          'hue': {'kwargs': {'hue': [-0.05,
+                                                                     0.05]},
+                                                  'type': 'ColorJitter',
+                                                  'weight': 1.0},
+                                          'saturation': {'kwargs': {'saturation': [0.5,
+                                                                                   1.5]},
+                                                         'type': 'ColorJitter',
+                                                         'weight': 1.0},
+                                          'sharpness': {'kwargs': {'sharpness': [0.5,
+                                                                                 1.5]},
+                                                        'type': 'SharpnessJitter',
+                                                        'weight': 1.0}}},
+             'repo_id': 'Whalswp/INSIGHTfixposV4_filtered_multispace_v2',
+             'return_uint8': False,
+             'revision': None,
+             'root': '/home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2',
+             'streaming': False,
+             'use_imagenet_stats': True,
+             'video_backend': 'torchcodec'},
+ 'env': None,
+ 'env_eval_freq': 20000,
+ 'eval': {'batch_size': 50,
+          'n_episodes': 50,
+          'recording': False,
+          'recording_private': False,
+          'recording_repo_id': None,
+          'use_async_envs': True},
+ 'eval_steps': 0,
+ 'job': {'detach': False,
+         'image': 'huggingface/lerobot-gpu:latest',
+         'tags': [],
+         'target': None,
+         'timeout': '2d'},
+ 'job_name': 'INSIGHT_RD_RKD_TimewarpVAE_LAPstyle_6K',
+ 'log_freq': 200,
+ 'max_eval_samples': 0,
+ 'num_workers': 4,
+ 'optimizer': {'betas': [0.9, 0.999],
+               'eps': 1e-08,
+               'grad_clip_norm': 1.0,
+               'lr': 0.0001,
+               'type': 'adamw',
+               'weight_decay': 1e-05},
+ 'output_dir': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + '
+               'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K',
+ 'peft': None,
+ 'persistent_workers': True,
+ 'policy': {'action_decode_transform': None,
+            'balance_dataset_weights': True,
+            'balance_trajectory_weights': True,
+            'base_model_path': 'nvidia/GR00T-N1.7-3B',
+            'batch_size': 32,
+            'chunk_size': 16,
+            'dataloader_num_workers': 8,
+            'dataset_paths': None,
+            'device': 'cuda',
+            'embodiment_tag': 'new_embodiment',
+            'image_size': [256, 256],
+            'input_features': {'observation.images.guide': {'shape': [3,
+                                                                      224,
+                                                                      224],
+                                                            'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.images.right_shoulder': {'shape': [3,
+                                                                               224,
+                                                                               224],
+                                                                     'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.images.wrist': {'shape': [3,
+                                                                      224,
+                                                                      224],
+                                                            'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.state': {'shape': [16],
+                                                     'type': <FeatureType.STATE: 'STATE'>}},
+            'license': None,
+            'lora_alpha': 16,
+            'lora_dropout': 0.1,
+            'lora_full_model': False,
+            'lora_rank': 0,
+            'max_action_dim': 132,
+            'max_state_dim': 132,
+            'max_steps': 10000,
+            'model_params_fp32': True,
+            'n_action_steps': 16,
+            'n_obs_steps': 1,
+            'normalization_mapping': {'ACTION': <NormalizationMode.IDENTITY: 'IDENTITY'>,
+                                      'STATE': <NormalizationMode.IDENTITY: 'IDENTITY'>,
+                                      'VISUAL': <NormalizationMode.IDENTITY: 'IDENTITY'>},
+            'num_inference_timesteps': None,
+            'optimizer_betas': [0.9, 0.999],
+            'optimizer_eps': 1e-08,
+            'optimizer_lr': 0.0001,
+            'optimizer_weight_decay': 1e-05,
+            'output_dir': './tmp/gr00t',
+            'output_features': {'action': {'shape': [16],
+                                           'type': <FeatureType.ACTION: 'ACTION'>}},
+            'pretrained_path': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D '
+                               '+ '
+                               'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000/pretrained_model',
+            'pretrained_revision': None,
+            'private': None,
+            'push_to_hub': False,
+            'relative_exclude_joints': [],
+            'repo_id': None,
+            'report_to': 'wandb',
+            'resume': False,
+            'rkd_angle_weight': 2.0,
+            'rkd_distance_weight': 1.0,
+            'rkd_enabled': True,
+            'rkd_fm_loss_weight': 1.0,
+            'rkd_loss_weight': 1.0,
+            'rkd_student_attention_hidden_dim': 512,
+            'rkd_student_attention_output_dim': 512,
+            'rkd_student_pooling': 'attention',
+            'rkd_vae_checkpoint': '/home/ext_minje/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84',
+            'rtc_ramp_rate': None,
+            'save_steps': 1000,
+            'tags': None,
+            'tokenizer_assets_repo': None,
+            'tune_diffusion_model': True,
+            'tune_llm': False,
+            'tune_projector': True,
+            'tune_top_llm_layers': 0,
+            'tune_visual': False,
+            'tune_vlln': True,
+            'type': 'groot_rkd',
+            'use_amp': False,
+            'use_bf16': True,
+            'use_flash_attention': False,
+            'use_peft': False,
+            'use_relative_actions': False,
+            'video_backend': 'decord',
+            'warmup_ratio': 0.05,
+            'warmup_steps': 6000},
+ 'prefetch_factor': 4,
+ 'rename_map': {},
+ 'resume': True,
+ 'reward_model': None,
+ 'sample_weighting': None,
+ 'save_checkpoint': True,
+ 'save_checkpoint_to_hub': False,
+ 'save_freq': 20000,
+ 'scheduler': {'name': 'cosine', 'num_warmup_steps': 6000, 'type': 'diffuser'},
+ 'seed': 42,
+ 'steps': 60000,
+ 'tolerance_s': 0.0001,
+ 'use_policy_training_preset': True,
+ 'wandb': {'add_tags': True,
+           'disable_artifact': True,
+           'enable': True,
+           'entity': None,
+           'mode': None,
+           'notes': None,
+           'project': 'lerobot',
+           'run_id': 'r3cz38bm'}}
+INFO 2026-07-21 18:02:59 db_utils.py:121 Logs will be synced with wandb.
+INFO 2026-07-21 18:02:59 db_utils.py:122 Track this run --> https://wandb.ai/minje227_hyu-hanyang-university/lerobot/runs/r3cz38bm
+INFO 2026-07-21 18:02:59 ot_train.py:298 Creating dataset
+INFO 2026-07-21 18:03:01 ot_train.py:332 Creating policy
+INFO 2026-07-21 18:03:01 ng_groot.py:191 The Groot policy wraps NVIDIA's GR00T n1.7 model. Loading pretrained model from: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000/pretrained_model
+INFO 2026-07-21 18:03:01 ng_groot.py:225 Detected fine-tuned LeRobot checkpoint, loading with state dict...
+
+`torch_dtype` is deprecated! Use `dtype` instead!
+
+Loading weights from local directory
+Traceback (most recent call last):
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1428, in <module>
+    main()
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1424, in main
+    train_module.main()
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/scripts/lerobot_train.py", line 816, in main
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/configs/parser.py", line 320, in wrapper_inner
+    response = fn(cfg, *args, **kwargs)
+               ^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/scripts/lerobot_train.py", line 397, in train
+    logging.info(colored("Output dir:", "yellow", attrs=["bold"]) + f" {cfg.output_dir}")
+                                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1197, in make_pre_post_processors
+    kwargs[override_key] = _project_nested_stats(
+                           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 815, in _project_nested_stats
+    projected[key] = _project_nested_stats(item, source_key, composite_contract)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 815, in _project_nested_stats
+    projected[key] = _project_nested_stats(item, source_key, composite_contract)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 807, in _project_nested_stats
+    and all(
+        ^^^^
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 808, in <genexpr>
+    source in item
+TypeError: argument of type 'PolicyFeature' is not iterable

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/resume_dgx_20260722_fix2_gpu0.log

@@ -0,0 +1,199 @@
+INFO 2026-07-21 18:13:22 ot_train.py:272 {'batch_size': 128,
+ 'checkpoint_path': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + '
+                    'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000',
+ 'cudnn_deterministic': False,
+ 'dataset': {'depth_output_unit': 'mm',
+             'episodes': None,
+             'eval_split': 0.0,
+             'image_transforms': {'enable': False,
+                                  'max_num_transforms': 3,
+                                  'random_order': False,
+                                  'tfs': {'affine': {'kwargs': {'degrees': [-5.0,
+                                                                            5.0],
+                                                                'translate': [0.05,
+                                                                              0.05]},
+                                                     'type': 'RandomAffine',
+                                                     'weight': 1.0},
+                                          'brightness': {'kwargs': {'brightness': [0.8,
+                                                                                   1.2]},
+                                                         'type': 'ColorJitter',
+                                                         'weight': 1.0},
+                                          'contrast': {'kwargs': {'contrast': [0.8,
+                                                                               1.2]},
+                                                       'type': 'ColorJitter',
+                                                       'weight': 1.0},
+                                          'hue': {'kwargs': {'hue': [-0.05,
+                                                                     0.05]},
+                                                  'type': 'ColorJitter',
+                                                  'weight': 1.0},
+                                          'saturation': {'kwargs': {'saturation': [0.5,
+                                                                                   1.5]},
+                                                         'type': 'ColorJitter',
+                                                         'weight': 1.0},
+                                          'sharpness': {'kwargs': {'sharpness': [0.5,
+                                                                                 1.5]},
+                                                        'type': 'SharpnessJitter',
+                                                        'weight': 1.0}}},
+             'repo_id': 'Whalswp/INSIGHTfixposV4_filtered_multispace_v2',
+             'return_uint8': False,
+             'revision': None,
+             'root': '/home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2',
+             'streaming': False,
+             'use_imagenet_stats': True,
+             'video_backend': 'torchcodec'},
+ 'env': None,
+ 'env_eval_freq': 20000,
+ 'eval': {'batch_size': 50,
+          'n_episodes': 50,
+          'recording': False,
+          'recording_private': False,
+          'recording_repo_id': None,
+          'use_async_envs': True},
+ 'eval_steps': 0,
+ 'job': {'detach': False,
+         'image': 'huggingface/lerobot-gpu:latest',
+         'tags': [],
+         'target': None,
+         'timeout': '2d'},
+ 'job_name': 'INSIGHT_RD_RKD_TimewarpVAE_LAPstyle_6K',
+ 'log_freq': 200,
+ 'max_eval_samples': 0,
+ 'num_workers': 4,
+ 'optimizer': {'betas': [0.9, 0.999],
+               'eps': 1e-08,
+               'grad_clip_norm': 1.0,
+               'lr': 0.0001,
+               'type': 'adamw',
+               'weight_decay': 1e-05},
+ 'output_dir': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + '
+               'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K',
+ 'peft': None,
+ 'persistent_workers': True,
+ 'policy': {'action_decode_transform': None,
+            'balance_dataset_weights': True,
+            'balance_trajectory_weights': True,
+            'base_model_path': 'nvidia/GR00T-N1.7-3B',
+            'batch_size': 32,
+            'chunk_size': 16,
+            'dataloader_num_workers': 8,
+            'dataset_paths': None,
+            'device': 'cuda',
+            'embodiment_tag': 'new_embodiment',
+            'image_size': [256, 256],
+            'input_features': {'observation.images.guide': {'shape': [3,
+                                                                      224,
+                                                                      224],
+                                                            'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.images.right_shoulder': {'shape': [3,
+                                                                               224,
+                                                                               224],
+                                                                     'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.images.wrist': {'shape': [3,
+                                                                      224,
+                                                                      224],
+                                                            'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.state': {'shape': [16],
+                                                     'type': <FeatureType.STATE: 'STATE'>}},
+            'license': None,
+            'lora_alpha': 16,
+            'lora_dropout': 0.1,
+            'lora_full_model': False,
+            'lora_rank': 0,
+            'max_action_dim': 132,
+            'max_state_dim': 132,
+            'max_steps': 10000,
+            'model_params_fp32': True,
+            'n_action_steps': 16,
+            'n_obs_steps': 1,
+            'normalization_mapping': {'ACTION': <NormalizationMode.IDENTITY: 'IDENTITY'>,
+                                      'STATE': <NormalizationMode.IDENTITY: 'IDENTITY'>,
+                                      'VISUAL': <NormalizationMode.IDENTITY: 'IDENTITY'>},
+            'num_inference_timesteps': None,
+            'optimizer_betas': [0.9, 0.999],
+            'optimizer_eps': 1e-08,
+            'optimizer_lr': 0.0001,
+            'optimizer_weight_decay': 1e-05,
+            'output_dir': './tmp/gr00t',
+            'output_features': {'action': {'shape': [16],
+                                           'type': <FeatureType.ACTION: 'ACTION'>}},
+            'pretrained_path': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D '
+                               '+ '
+                               'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000/pretrained_model',
+            'pretrained_revision': None,
+            'private': None,
+            'push_to_hub': False,
+            'relative_exclude_joints': [],
+            'repo_id': None,
+            'report_to': 'wandb',
+            'resume': False,
+            'rkd_angle_weight': 2.0,
+            'rkd_distance_weight': 1.0,
+            'rkd_enabled': True,
+            'rkd_fm_loss_weight': 1.0,
+            'rkd_loss_weight': 1.0,
+            'rkd_student_attention_hidden_dim': 512,
+            'rkd_student_attention_output_dim': 512,
+            'rkd_student_pooling': 'attention',
+            'rkd_vae_checkpoint': '/home/ext_minje/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84',
+            'rtc_ramp_rate': None,
+            'save_steps': 1000,
+            'tags': None,
+            'tokenizer_assets_repo': None,
+            'tune_diffusion_model': True,
+            'tune_llm': False,
+            'tune_projector': True,
+            'tune_top_llm_layers': 0,
+            'tune_visual': False,
+            'tune_vlln': True,
+            'type': 'groot_rkd',
+            'use_amp': False,
+            'use_bf16': True,
+            'use_flash_attention': False,
+            'use_peft': False,
+            'use_relative_actions': False,
+            'video_backend': 'decord',
+            'warmup_ratio': 0.05,
+            'warmup_steps': 6000},
+ 'prefetch_factor': 4,
+ 'rename_map': {},
+ 'resume': True,
+ 'reward_model': None,
+ 'sample_weighting': None,
+ 'save_checkpoint': True,
+ 'save_checkpoint_to_hub': False,
+ 'save_freq': 20000,
+ 'scheduler': {'name': 'cosine', 'num_warmup_steps': 6000, 'type': 'diffuser'},
+ 'seed': 42,
+ 'steps': 60000,
+ 'tolerance_s': 0.0001,
+ 'use_policy_training_preset': True,
+ 'wandb': {'add_tags': True,
+           'disable_artifact': True,
+           'enable': True,
+           'entity': None,
+           'mode': None,
+           'notes': None,
+           'project': 'lerobot',
+           'run_id': 'r3cz38bm'}}
+INFO 2026-07-21 18:13:24 db_utils.py:121 Logs will be synced with wandb.
+INFO 2026-07-21 18:13:24 db_utils.py:122 Track this run --> https://wandb.ai/minje227_hyu-hanyang-university/lerobot/runs/r3cz38bm
+INFO 2026-07-21 18:13:24 ot_train.py:298 Creating dataset
+INFO 2026-07-21 18:13:26 ot_train.py:332 Creating policy
+INFO 2026-07-21 18:13:26 ng_groot.py:191 The Groot policy wraps NVIDIA's GR00T n1.7 model. Loading pretrained model from: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000/pretrained_model
+INFO 2026-07-21 18:13:26 ng_groot.py:225 Detected fine-tuned LeRobot checkpoint, loading with state dict...
+
+`torch_dtype` is deprecated! Use `dtype` instead!
+
+Loading weights from local directory
+INFO 2026-07-21 18:13:36 ot_train.py:405 Creating optimizer and scheduler
+INFO 2026-07-21 18:13:39 ot_train.py:103 INSIGHT phase transition: index=1 name=fm_only range=[6000,60000) trainable_params=1620515968
+INFO 2026-07-21 18:13:39 ot_train.py:439 Output dir: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K
+INFO 2026-07-21 18:13:39 ot_train.py:446 cfg.steps=60000 (60K)
+INFO 2026-07-21 18:13:39 ot_train.py:447 dataset.num_frames=218367 (218K)
+INFO 2026-07-21 18:13:39 ot_train.py:448 dataset.num_episodes=4930
+INFO 2026-07-21 18:13:39 ot_train.py:451 Effective batch size: 128 x 1 = 128
+INFO 2026-07-21 18:13:39 ot_train.py:452 num_learnable_params=1620515968 (2B)
+INFO 2026-07-21 18:13:39 ot_train.py:453 num_total_params=3145712033 (3B)
+INFO 2026-07-21 18:13:39 ot_train.py:494 Resuming data order at epoch 26, sample 82688
+
+

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/resume_dgx_20260722_newwandb_a9vyia29_gpu0.log

@@ -0,0 +1,201 @@
+INFO 2026-07-21 18:19:52 ot_train.py:272 {'batch_size': 128,
+ 'checkpoint_path': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + '
+                    'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000',
+ 'cudnn_deterministic': False,
+ 'dataset': {'depth_output_unit': 'mm',
+             'episodes': None,
+             'eval_split': 0.0,
+             'image_transforms': {'enable': False,
+                                  'max_num_transforms': 3,
+                                  'random_order': False,
+                                  'tfs': {'affine': {'kwargs': {'degrees': [-5.0,
+                                                                            5.0],
+                                                                'translate': [0.05,
+                                                                              0.05]},
+                                                     'type': 'RandomAffine',
+                                                     'weight': 1.0},
+                                          'brightness': {'kwargs': {'brightness': [0.8,
+                                                                                   1.2]},
+                                                         'type': 'ColorJitter',
+                                                         'weight': 1.0},
+                                          'contrast': {'kwargs': {'contrast': [0.8,
+                                                                               1.2]},
+                                                       'type': 'ColorJitter',
+                                                       'weight': 1.0},
+                                          'hue': {'kwargs': {'hue': [-0.05,
+                                                                     0.05]},
+                                                  'type': 'ColorJitter',
+                                                  'weight': 1.0},
+                                          'saturation': {'kwargs': {'saturation': [0.5,
+                                                                                   1.5]},
+                                                         'type': 'ColorJitter',
+                                                         'weight': 1.0},
+                                          'sharpness': {'kwargs': {'sharpness': [0.5,
+                                                                                 1.5]},
+                                                        'type': 'SharpnessJitter',
+                                                        'weight': 1.0}}},
+             'repo_id': 'Whalswp/INSIGHTfixposV4_filtered_multispace_v2',
+             'return_uint8': False,
+             'revision': None,
+             'root': '/home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2',
+             'streaming': False,
+             'use_imagenet_stats': True,
+             'video_backend': 'torchcodec'},
+ 'env': None,
+ 'env_eval_freq': 20000,
+ 'eval': {'batch_size': 50,
+          'n_episodes': 50,
+          'recording': False,
+          'recording_private': False,
+          'recording_repo_id': None,
+          'use_async_envs': True},
+ 'eval_steps': 0,
+ 'job': {'detach': False,
+         'image': 'huggingface/lerobot-gpu:latest',
+         'tags': [],
+         'target': None,
+         'timeout': '2d'},
+ 'job_name': 'INSIGHT_RD_RKD_TimewarpVAE_LAPstyle_6K',
+ 'log_freq': 200,
+ 'max_eval_samples': 0,
+ 'num_workers': 4,
+ 'optimizer': {'betas': [0.9, 0.999],
+               'eps': 1e-08,
+               'grad_clip_norm': 1.0,
+               'lr': 0.0001,
+               'type': 'adamw',
+               'weight_decay': 1e-05},
+ 'output_dir': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + '
+               'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K',
+ 'peft': None,
+ 'persistent_workers': True,
+ 'policy': {'action_decode_transform': None,
+            'balance_dataset_weights': True,
+            'balance_trajectory_weights': True,
+            'base_model_path': 'nvidia/GR00T-N1.7-3B',
+            'batch_size': 32,
+            'chunk_size': 16,
+            'dataloader_num_workers': 8,
+            'dataset_paths': None,
+            'device': 'cuda',
+            'embodiment_tag': 'new_embodiment',
+            'image_size': [256, 256],
+            'input_features': {'observation.images.guide': {'shape': [3,
+                                                                      224,
+                                                                      224],
+                                                            'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.images.right_shoulder': {'shape': [3,
+                                                                               224,
+                                                                               224],
+                                                                     'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.images.wrist': {'shape': [3,
+                                                                      224,
+                                                                      224],
+                                                            'type': <FeatureType.VISUAL: 'VISUAL'>},
+                               'observation.state': {'shape': [16],
+                                                     'type': <FeatureType.STATE: 'STATE'>}},
+            'license': None,
+            'lora_alpha': 16,
+            'lora_dropout': 0.1,
+            'lora_full_model': False,
+            'lora_rank': 0,
+            'max_action_dim': 132,
+            'max_state_dim': 132,
+            'max_steps': 10000,
+            'model_params_fp32': True,
+            'n_action_steps': 16,
+            'n_obs_steps': 1,
+            'normalization_mapping': {'ACTION': <NormalizationMode.IDENTITY: 'IDENTITY'>,
+                                      'STATE': <NormalizationMode.IDENTITY: 'IDENTITY'>,
+                                      'VISUAL': <NormalizationMode.IDENTITY: 'IDENTITY'>},
+            'num_inference_timesteps': None,
+            'optimizer_betas': [0.9, 0.999],
+            'optimizer_eps': 1e-08,
+            'optimizer_lr': 0.0001,
+            'optimizer_weight_decay': 1e-05,
+            'output_dir': './tmp/gr00t',
+            'output_features': {'action': {'shape': [16],
+                                           'type': <FeatureType.ACTION: 'ACTION'>}},
+            'pretrained_path': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D '
+                               '+ '
+                               'DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000/pretrained_model',
+            'pretrained_revision': None,
+            'private': None,
+            'push_to_hub': False,
+            'relative_exclude_joints': [],
+            'repo_id': None,
+            'report_to': 'wandb',
+            'resume': False,
+            'rkd_angle_weight': 2.0,
+            'rkd_distance_weight': 1.0,
+            'rkd_enabled': True,
+            'rkd_fm_loss_weight': 1.0,
+            'rkd_loss_weight': 1.0,
+            'rkd_student_attention_hidden_dim': 512,
+            'rkd_student_attention_output_dim': 512,
+            'rkd_student_pooling': 'attention',
+            'rkd_vae_checkpoint': '/home/ext_minje/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84',
+            'rtc_ramp_rate': None,
+            'save_steps': 1000,
+            'tags': None,
+            'tokenizer_assets_repo': None,
+            'tune_diffusion_model': True,
+            'tune_llm': False,
+            'tune_projector': True,
+            'tune_top_llm_layers': 0,
+            'tune_visual': False,
+            'tune_vlln': True,
+            'type': 'groot_rkd',
+            'use_amp': False,
+            'use_bf16': True,
+            'use_flash_attention': False,
+            'use_peft': False,
+            'use_relative_actions': False,
+            'video_backend': 'decord',
+            'warmup_ratio': 0.05,
+            'warmup_steps': 6000},
+ 'prefetch_factor': 4,
+ 'rename_map': {},
+ 'resume': True,
+ 'reward_model': None,
+ 'sample_weighting': None,
+ 'save_checkpoint': True,
+ 'save_checkpoint_to_hub': False,
+ 'save_freq': 20000,
+ 'scheduler': {'name': 'cosine', 'num_warmup_steps': 6000, 'type': 'diffuser'},
+ 'seed': 42,
+ 'steps': 60000,
+ 'tolerance_s': 0.0001,
+ 'use_policy_training_preset': True,
+ 'wandb': {'add_tags': True,
+           'disable_artifact': True,
+           'enable': True,
+           'entity': None,
+           'mode': None,
+           'notes': None,
+           'project': 'lerobot',
+           'run_id': 'a9vyia29'}}
+Traceback (most recent call last):
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1453, in <module>
+    main()
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1449, in main
+    train_module.main()
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/scripts/lerobot_train.py", line 816, in main
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/configs/parser.py", line 320, in wrapper_inner
+    response = fn(cfg, *args, **kwargs)
+               ^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/scripts/lerobot_train.py", line 276, in train
+    if is_main_process:
+                   ^^^^^
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/common/wandb_utils.py", line 99, in __init__
+    wandb.init(
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/wandb_init.py", line 1528, in init
+    get_sentry().reraise(e)
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/analytics/sentry.py", line 191, in reraise
+    raise exc.with_traceback(tb)
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/wandb_init.py", line 1511, in init
+    run = wi.init(run_settings, run_config, run_printer)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/wandb_init.py", line 961, in init
+    raise error
+wandb.errors.errors.UsageError: You provided an invalid value for the `resume` argument. The value 'must' is not a valid option for resuming the run (a9vyia29) that has not been initialized. Please check your inputs and try again with a valid run ID. If you are trying to start a new run, please omit the `resume` argument or use `resume='allow'`.

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/wandb/run-20260719_231652-r3cz38bm/files/requirements.txt

@@ -0,0 +1,117 @@
+pyarrow==25.0.0
+importlib_metadata==9.0.0
+wheel==0.47.0
+cloudpickle==3.1.2
+nvidia-cusolver-cu12==11.7.3.90
+multiprocess==0.70.19
+torch==2.11.0+cu128
+nvidia-nvjitlink-cu12==12.8.93
+fsspec==2026.2.0
+pytz==2026.2
+hf-xet==1.5.1
+tokenizers==0.22.2
+opencv-python-headless==4.13.0.92
+cuda-pathfinder==1.2.2
+frozenlist==1.8.0
+smmap==5.0.3
+httpcore==1.0.9
+nvidia-nvshmem-cu12==3.4.5
+nvidia-cuda-nvrtc-cu12==12.8.93
+annotated-types==0.7.0
+platformdirs==4.10.0
+click==8.4.2
+pyyaml-include==1.4.1
+MarkupSafe==3.0.3
+Jinja2==3.1.6
+urllib3==2.7.0
+nvidia-curand-cu12==10.3.9.90
+certifi==2026.6.17
+nvidia-cuda-runtime-cu12==12.8.90
+torchcodec==0.11.1
+toml==0.10.2
+av==15.1.0
+nvidia-cufft-cu12==11.3.3.83
+attrs==26.1.0
+lerobot==0.6.0
+PyYAML==6.0.3
+safetensors==0.8.0
+diffusers==0.35.2
+requests==2.34.2
+nvidia-nvtx-cu12==12.8.90
+charset-normalizer==3.4.9
+networkx==3.6.1
+cmake==4.1.3
+pydantic_core==2.46.4
+timm==1.0.28
+dm-tree==0.1.10
+nvidia-cufile-cu12==1.13.1.3
+termcolor==3.3.0
+multidict==6.7.1
+filelock==3.29.0
+tzdata==2026.3
+aiohappyeyeballs==2.7.1
+httpx==0.28.1
+nvidia-nccl-cu12==2.28.9
+Pygments==2.20.0
+einops==0.8.2
+nvidia-cusparse-cu12==12.5.8.93
+torchvision==0.26.0+cu128
+dill==0.4.1
+GitPython==3.1.51
+nvidia-cuda-cupti-cu12==12.8.90
+decord==0.6.0
+sympy==1.14.0
+cuda-toolkit==12.8.1
+python-dateutil==2.9.0.post0
+shellingham==1.5.4
+propcache==0.5.2
+Farama-Notifications==0.0.6
+pillow==12.2.0
+cuda-bindings==12.9.4
+huggingface_hub==1.23.0
+pandas==2.3.3
+typing-inspect==0.9.0
+packaging==25.0
+rich==15.0.0
+nvidia-cusparselt-cu12==0.7.1
+setuptools==78.1.0
+wrapt==2.2.2
+mypy_extensions==1.1.0
+tqdm==4.68.4
+draccus==0.10.0
+aiosignal==1.4.0
+mpmath==1.3.0
+numpy==2.2.6
+typing_extensions==4.15.0
+psutil==7.2.2
+mdurl==0.1.2
+nvidia-cublas-cu12==12.8.4.1
+absl-py==2.5.0
+gitdb==4.0.12
+transformers==5.5.4
+accelerate==1.14.0
+pydantic==2.13.4
+pip==26.1.2
+markdown-it-py==4.2.0
+typer==0.26.8
+triton==3.6.0
+wandb==0.27.2
+regex==2026.7.10
+yarl==1.24.2
+jsonlines==4.0.0
+mergedeep==1.3.4
+aiohttp==3.14.1
+datasets==4.8.5
+gymnasium==1.3.0
+peft==0.19.1
+zipp==4.1.0
+idna==3.18
+nvidia-cudnn-cu12==9.19.0.56
+h11==0.16.0
+sentry-sdk==2.65.0
+annotated-doc==0.0.4
+protobuf==7.35.1
+typing-inspection==0.4.2
+anyio==4.14.2
+xxhash==3.8.1
+six==1.17.0

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/wandb/run-20260719_231652-r3cz38bm/logs/debug.log

@@ -0,0 +1,19 @@
+2026-07-19 23:16:52,826 INFO    MainThread:2591597 [wandb_setup.py:_flush():81] Current SDK version is 0.27.2
+2026-07-19 23:16:52,826 INFO    MainThread:2591597 [wandb_setup.py:_flush():81] Configure stats pid to 2591597
+2026-07-19 23:16:52,826 INFO    MainThread:2591597 [wandb_setup.py:_flush():81] Loading settings from environment variables
+2026-07-19 23:16:52,826 INFO    MainThread:2591597 [wandb_init.py:setup_run_log_directory():723] Logging user logs to /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/wandb/run-20260719_231652-r3cz38bm/logs/debug.log
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Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/wandb/run-20260721_175602-r3cz38bm/files/config.yaml

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+                    - --resume=true
+                    - --dataset.root=/home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2
+                    - --output_dir=/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K
+                codePath: benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py
+                codePathLocal: my_scripts/lerobot_train_yaml.py
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+                cpu_count_logical: 224
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+                executable: /home/ext_minje/miniconda3/envs/lerobot060_groot/bin/python
+                git:
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+                    remote: git@github.com:paragon7060/clvla.git
+                gpu: NVIDIA H200
+                gpu_count: 2
+                gpu_nvidia:
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+                      cudaCores: 16896
+                      memoryTotal: "150754820096"
+                      name: NVIDIA H200
+                      uuid: GPU-86be6e5b-fb48-fa1c-9bd7-83d336cb2991
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+                      cudaCores: 16896
+                      memoryTotal: "150754820096"
+                      name: NVIDIA H200
+                      uuid: GPU-24eb1ba2-7313-ff93-1435-748768ebdbdc
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+                os: Linux-6.8.0-55-generic-x86_64-with-glibc2.39
+                program: /home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py
+                python: CPython 3.12.13
+                root: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K
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+    value: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000
+cudnn_deterministic:
+    value: false
+dataset:
+    value:
+        depth_output_unit: mm
+        episodes: null
+        eval_split: 0
+        image_transforms:
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+                            - -5
+                            - 5
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+                            - 0.05
+                            - 0.05
+                    type: RandomAffine
+                    weight: 1
+                brightness:
+                    kwargs:
+                        brightness:
+                            - 0.8
+                            - 1.2
+                    type: ColorJitter
+                    weight: 1
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+                    kwargs:
+                        contrast:
+                            - 0.8
+                            - 1.2
+                    type: ColorJitter
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+                hue:
+                    kwargs:
+                        hue:
+                            - -0.05
+                            - 0.05
+                    type: ColorJitter
+                    weight: 1
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+                    kwargs:
+                        saturation:
+                            - 0.5
+                            - 1.5
+                    type: ColorJitter
+                    weight: 1
+                sharpness:
+                    kwargs:
+                        sharpness:
+                            - 0.5
+                            - 1.5
+                    type: SharpnessJitter
+                    weight: 1
+        repo_id: Whalswp/INSIGHTfixposV4_filtered_multispace_v2
+        return_uint8: false
+        revision: null
+        root: /home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2
+        streaming: false
+        use_imagenet_stats: true
+        video_backend: torchcodec
+env:
+    value: null
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+    value: 20000
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+    value:
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+        n_episodes: 50
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+        recording_repo_id: null
+        use_async_envs: true
+eval_steps:
+    value: 0
+job:
+    value:
+        detach: false
+        image: huggingface/lerobot-gpu:latest
+        tags: []
+        target: null
+        timeout: 2d
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+    value: INSIGHT_RD_RKD_TimewarpVAE_LAPstyle_6K
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+output_dir:
+    value: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K
+peft:
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+        output_dir: ./tmp/gr00t
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+                    - 16
+                type: ACTION
+        pretrained_path: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000/pretrained_model
+        pretrained_revision: null
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+        rkd_student_attention_hidden_dim: 512
+        rkd_student_attention_output_dim: 512
+        rkd_student_pooling: attention
+        rkd_vae_checkpoint: /home/ext_minje/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84
+        rtc_ramp_rate: null
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+        use_bf16: true
+        use_flash_attention: false
+        use_peft: false
+        use_relative_actions: false
+        video_backend: decord
+        warmup_ratio: 0.05
+        warmup_steps: 6000
+prefetch_factor:
+    value: 4
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+    value: true
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+    value: true
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+    value: 20000
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+    value:
+        name: cosine
+        num_warmup_steps: 6000
+        type: diffuser
+seed:
+    value: 42
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+        enable: true
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+        project: lerobot
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Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/wandb/run-20260721_175602-r3cz38bm/files/requirements.txt

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Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/wandb/run-20260721_175602-r3cz38bm/files/wandb-metadata.json

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+{
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+  "args": [
+    "--config_path=/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000/pretrained_model/train_config.json",
+    "--resume=true",
+    "--dataset.root=/home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2",
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Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/wandb/run-20260721_180257-r3cz38bm/files/config.yaml

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+                    - --resume=true
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+                    - --output_dir=/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K
+                codePath: benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py
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Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/wandb/run-20260721_180257-r3cz38bm/files/requirements.txt

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