Add files using upload-large-folder tool

Abs_6D + DeltaEE/Baseline/checkpoints/030000/action_space_manifest.json

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Abs_6D + DeltaEE/Baseline/checkpoints/030000/pretrained_model/action_space_manifest.json

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Abs_6D + DeltaEE/Baseline/checkpoints/030000/pretrained_model/config.json

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+{
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+    "n_obs_steps": 1,
+    "input_features": {
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+}

Abs_6D + DeltaEE/Baseline/checkpoints/030000/pretrained_model/policy_postprocessor.json

@@ -0,0 +1,23 @@
+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
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+      "config": {
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+        "normalize_min_max": true,
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+        "libero_gripper_action": false,
+        "libero_gripper_binarize": true
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+      "state_file": "policy_postprocessor_step_0_groot_action_unpack_unnormalize_v2.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}

Abs_6D + DeltaEE/Baseline/checkpoints/030000/pretrained_model/policy_preprocessor.json

@@ -0,0 +1,78 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
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+      "config": {
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+    },
+    {
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+      "config": {}
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+    {
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+      "config": {
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+          "real_g1_relative_eef_relative_joints": 25,
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+          "real_r1_pro_sharpa_relative_eef_human": 26,
+          "real_r1_pro_sharpa_relative_eef_maxinsights": 26,
+          "real_r1_pro_sharpa_relative_eef_mecka": 26,
+          "unitree_g1_full_body_with_waist_height_nav_cmd": 25,
+          "simpler_env_google": 0,
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+      "state_file": "policy_preprocessor_step_2_groot_n1_7_pack_inputs_v1.safetensors"
+    },
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+      "config": {
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+    }
+  ]
+}

Abs_6D + DeltaEE/Baseline/checkpoints/030000/pretrained_model/prompt_manifest.json

@@ -0,0 +1,40 @@
+{
+  "schema_version": 1,
+  "prompt_set": "detailed",
+  "source_file": "task_prompts.json",
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+  "mapping_sha256": "f71954786e94cdeceb135dde09fdc6b65db0b87ab3b09d25060129d0f0fde018",
+  "dataset_repo_id": "Whalswp/INSIGHTfixposV4_filtered_multispace_v2",
+  "dataset_revision": "v3.0",
+  "task_count": 13,
+  "task_codes": [
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+    "5g",
+    "1ext",
+    "3b",
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+    "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/Baseline/checkpoints/030000/pretrained_model/train_config.json

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+}

Abs_6D + DeltaEE/Baseline/checkpoints/030000/prompt_manifest.json

@@ -0,0 +1,40 @@
+{
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+  "prompt_set": "detailed",
+  "source_file": "task_prompts.json",
+  "source_sha256": "0ba48fb372da9f49dcfcd7dcc2da8cce6ce991d3661060e664a104778d1ffacc",
+  "mapping_sha256": "f71954786e94cdeceb135dde09fdc6b65db0b87ab3b09d25060129d0f0fde018",
+  "dataset_repo_id": "Whalswp/INSIGHTfixposV4_filtered_multispace_v2",
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+    "3b": "Open the door, rotate counter-clockwise and push.",
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+    "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."
+  }
+}

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Abs_6D + DeltaEE/Baseline/checkpoints/030000/training_state/scheduler_state.json

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Abs_6D + DeltaEE/Baseline/checkpoints/030000/training_state/training_step.json

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Abs_6D + DeltaEE/Baseline/wandb/debug.log.rerun_20260719_231636

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Abs_6D + DeltaEE/Baseline/wandb/run-20260719_231648-h160hqm2/files/wandb-metadata.json

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Abs_6D + DeltaEE/Baseline/wandb/run-20260719_231648-h160hqm2/logs/debug.log

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

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

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

@@ -0,0 +1,117 @@
+{
+    "type": "groot_rkd",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                16
+            ]
+        },
+        "observation.images.wrist": {
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+            "shape": [
+                3,
+                224,
+                224
+            ]
+        },
+        "observation.images.right_shoulder": {
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+            "shape": [
+                3,
+                224,
+                224
+            ]
+        },
+        "observation.images.guide": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                16
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": false,
+    "repo_id": null,
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": null,
+    "pretrained_revision": null,
+    "chunk_size": 16,
+    "n_action_steps": 16,
+    "max_state_dim": 132,
+    "max_action_dim": 132,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "IDENTITY",
+        "ACTION": "IDENTITY"
+    },
+    "base_model_path": "nvidia/GR00T-N1.7-3B",
+    "action_decode_transform": null,
+    "embodiment_tag": "new_embodiment",
+    "tune_llm": false,
+    "tune_visual": false,
+    "tune_projector": true,
+    "tune_diffusion_model": true,
+    "tune_vlln": true,
+    "tune_top_llm_layers": 0,
+    "num_inference_timesteps": null,
+    "rtc_ramp_rate": null,
+    "use_flash_attention": false,
+    "use_relative_actions": false,
+    "relative_exclude_joints": [],
+    "optimizer_lr": 0.0001,
+    "optimizer_betas": [
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+        0.999
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-05,
+    "warmup_steps": 6000,
+    "warmup_ratio": 0.05,
+    "use_bf16": true,
+    "model_params_fp32": true,
+    "image_size": [
+        256,
+        256
+    ],
+    "tokenizer_assets_repo": null,
+    "lora_rank": 0,
+    "lora_alpha": 16,
+    "lora_dropout": 0.1,
+    "lora_full_model": false,
+    "video_backend": "decord",
+    "balance_dataset_weights": true,
+    "balance_trajectory_weights": true,
+    "dataset_paths": null,
+    "output_dir": "./tmp/gr00t",
+    "save_steps": 1000,
+    "max_steps": 10000,
+    "batch_size": 32,
+    "dataloader_num_workers": 8,
+    "report_to": "wandb",
+    "resume": false,
+    "rkd_enabled": true,
+    "rkd_vae_checkpoint": "/home/ext_minje/groot_insight/TimewarpVAE_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
+}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/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_6K",
+      "start_step": 0,
+      "until_step": 6000,
+      "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": 6000,
+      "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_6K/checkpoints/030000/pretrained_model/policy_postprocessor.json

@@ -0,0 +1,23 @@
+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "groot_action_unpack_unnormalize_v2",
+      "config": {
+        "env_action_dim": 16,
+        "normalize_min_max": true,
+        "clip_normalized_action": true,
+        "libero_gripper_action": false,
+        "libero_gripper_binarize": true
+      },
+      "state_file": "policy_postprocessor_step_0_groot_action_unpack_unnormalize_v2.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}

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

@@ -0,0 +1,82 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "rkd_preserve_raw_action",
+      "config": {}
+    },
+    {
+      "registry_name": "groot_n1_7_pack_inputs_v1",
+      "config": {
+        "state_horizon": 1,
+        "action_horizon": 16,
+        "valid_action_horizon": 16,
+        "video_horizon": null,
+        "max_state_dim": 132,
+        "max_action_dim": 132,
+        "language_key": "task",
+        "formalize_language": true,
+        "embodiment_tag": "new_embodiment",
+        "embodiment_mapping": {
+          "oxe_droid_relative_eef_relative_joint": 24,
+          "xdof_relative_eef_relative_joint": 27,
+          "xdof_relative_eef_relative_joint_subtask": 27,
+          "real_g1_relative_eef_relative_joints": 25,
+          "real_r1_pro_sharpa_relative_eef": 26,
+          "real_r1_pro_sharpa_relative_eef_human": 26,
+          "real_r1_pro_sharpa_relative_eef_maxinsights": 26,
+          "real_r1_pro_sharpa_relative_eef_mecka": 26,
+          "unitree_g1_full_body_with_waist_height_nav_cmd": 25,
+          "simpler_env_google": 0,
+          "simpler_env_widowx": 1,
+          "libero_sim": 2,
+          "new_embodiment": 10
+        },
+        "normalize_min_max": true,
+        "state_dropout_prob": 0.0,
+        "clip_outliers": true,
+        "use_percentiles": false,
+        "video_modality_keys": null,
+        "raw_stats": null,
+        "modality_config": null
+      },
+      "state_file": "policy_preprocessor_step_3_groot_n1_7_pack_inputs_v1.safetensors"
+    },
+    {
+      "registry_name": "groot_n1_7_vlm_encode_v1",
+      "config": {
+        "model_name": "nvidia/Cosmos-Reason2-2B",
+        "image_crop_size": [
+          230,
+          230
+        ],
+        "image_target_size": [
+          256,
+          256
+        ],
+        "shortest_image_edge": null,
+        "crop_fraction": null,
+        "use_albumentations": false,
+        "letter_box_transform": false,
+        "device": "cuda"
+      }
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    }
+  ]
+}

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

@@ -0,0 +1,268 @@
+{
+    "dataset": {
+        "repo_id": "Whalswp/INSIGHTfixposV4_filtered_multispace_v2",
+        "root": "/home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2",
+        "episodes": null,
+        "image_transforms": {
+            "enable": false,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
+                "brightness": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "contrast": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "saturation": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "saturation": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "hue": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "hue": [
+                            -0.05,
+                            0.05
+                        ]
+                    }
+                },
+                "sharpness": {
+                    "weight": 1.0,
+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "affine": {
+                    "weight": 1.0,
+                    "type": "RandomAffine",
+                    "kwargs": {
+                        "degrees": [
+                            -5.0,
+                            5.0
+                        ],
+                        "translate": [
+                            0.05,
+                            0.05
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec",
+        "return_uint8": false,
+        "depth_output_unit": "mm",
+        "streaming": false,
+        "eval_split": 0.0
+    },
+    "env": null,
+    "policy": {
+        "type": "groot_rkd",
+        "n_obs_steps": 1,
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    16
+                ]
+            },
+            "observation.images.wrist": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    224,
+                    224
+                ]
+            },
+            "observation.images.right_shoulder": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    224,
+                    224
+                ]
+            },
+            "observation.images.guide": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    224,
+                    224
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    16
+                ]
+            }
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+        "device": "cuda",
+        "use_amp": false,
+        "use_peft": false,
+        "push_to_hub": false,
+        "repo_id": null,
+        "private": null,
+        "tags": null,
+        "license": null,
+        "pretrained_path": null,
+        "pretrained_revision": null,
+        "chunk_size": 16,
+        "n_action_steps": 16,
+        "max_state_dim": 132,
+        "max_action_dim": 132,
+        "normalization_mapping": {
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+            "STATE": "IDENTITY",
+            "ACTION": "IDENTITY"
+        },
+        "base_model_path": "nvidia/GR00T-N1.7-3B",
+        "action_decode_transform": null,
+        "embodiment_tag": "new_embodiment",
+        "tune_llm": false,
+        "tune_visual": false,
+        "tune_projector": true,
+        "tune_diffusion_model": true,
+        "tune_vlln": true,
+        "tune_top_llm_layers": 0,
+        "num_inference_timesteps": null,
+        "rtc_ramp_rate": null,
+        "use_flash_attention": false,
+        "use_relative_actions": false,
+        "relative_exclude_joints": [],
+        "optimizer_lr": 0.0001,
+        "optimizer_betas": [
+            0.9,
+            0.999
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 1e-05,
+        "warmup_steps": 6000,
+        "warmup_ratio": 0.05,
+        "use_bf16": true,
+        "model_params_fp32": true,
+        "image_size": [
+            256,
+            256
+        ],
+        "tokenizer_assets_repo": null,
+        "lora_rank": 0,
+        "lora_alpha": 16,
+        "lora_dropout": 0.1,
+        "lora_full_model": false,
+        "video_backend": "decord",
+        "balance_dataset_weights": true,
+        "balance_trajectory_weights": true,
+        "dataset_paths": null,
+        "output_dir": "./tmp/gr00t",
+        "save_steps": 1000,
+        "max_steps": 10000,
+        "batch_size": 32,
+        "dataloader_num_workers": 8,
+        "report_to": "wandb",
+        "resume": false,
+        "rkd_enabled": true,
+        "rkd_vae_checkpoint": "/home/ext_minje/groot_insight/TimewarpVAE_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
+    },
+    "reward_model": null,
+    "output_dir": "/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K",
+    "job_name": "INSIGHT_RD_RKD_TimewarpVAE_LAPstyle_6K",
+    "resume": false,
+    "seed": 42,
+    "cudnn_deterministic": false,
+    "num_workers": 4,
+    "batch_size": 128,
+    "prefetch_factor": 4,
+    "persistent_workers": true,
+    "steps": 60000,
+    "env_eval_freq": 20000,
+    "log_freq": 200,
+    "eval_steps": 0,
+    "max_eval_samples": 0,
+    "tolerance_s": 0.0001,
+    "save_checkpoint": true,
+    "save_freq": 20000,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adamw",
+        "lr": 0.0001,
+        "weight_decay": 1e-05,
+        "grad_clip_norm": 1.0,
+        "betas": [
+            0.9,
+            0.999
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": {
+        "type": "diffuser",
+        "num_warmup_steps": 6000,
+        "name": "cosine"
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": true,
+        "recording": false,
+        "recording_repo_id": null,
+        "recording_private": false
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": true,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": "r3cz38bm",
+        "mode": null,
+        "add_tags": true
+    },
+    "peft": null,
+    "job": {
+        "target": null,
+        "image": "huggingface/lerobot-gpu:latest",
+        "timeout": "2d",
+        "detach": false,
+        "tags": []
+    },
+    "save_checkpoint_to_hub": false,
+    "sample_weighting": null,
+    "rename_map": {},
+    "checkpoint_path": null
+}

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

@@ -0,0 +1,65 @@
+# INSIGHT GR00T N1.7 RKD training with LAP-style early RKD guidance.
+# Common RKD values live in the top-level policy; phases contain overrides only.
+insight:
+  # Composite policy action: ee_abs_rot6d 10D + ee_delta 6D (duplicate gripper removed)
+  action_space: ee_abs_rot6d+ee_delta
+  # Options: coarse | detailed
+  prompt_set: detailed
+  save_steps: ["60K"]
+  phases:
+    - name: lap_rkd_linear_decay_6K
+      until_step: 6K
+      policy:
+        # Inherits RKD=1.0 below and linearly decays it to zero.
+        rkd_loss_weight_end: 0.0
+
+    - name: fm_only
+      until_step: 60K
+      policy:
+        rkd_enabled: false
+        rkd_loss_weight: 0.0
+
+dataset:
+  repo_id: Whalswp/INSIGHTfixposV4_filtered_multispace_v2
+  root: ${HOME}/INSIGHTfixposV4_filtered_multispace_v2
+
+policy:
+  type: groot_rkd
+  device: cuda
+  chunk_size: 16
+  n_action_steps: 16
+  push_to_hub: false
+  # LAP Stage-2 warmup scaled to this 60K run: exactly 6K updates.
+  warmup_steps: 6000
+
+  # VLM
+  tune_llm: false
+  tune_visual: false
+  tune_top_llm_layers: 0
+  # Action Expert
+  tune_projector: true
+  tune_diffusion_model: true
+  tune_vlln: true
+
+  # Frozen RD TimewarpVAE teacher: ee_abs_rot6d 10D + ee_delta 6D (gripper deduplicated).
+  rkd_enabled: true
+  rkd_vae_checkpoint: ${HOME}/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84
+  rkd_student_pooling: attention  # attention | mean
+  rkd_student_attention_hidden_dim: 512
+  rkd_student_attention_output_dim: 512
+  rkd_fm_loss_weight: 1.0
+  rkd_loss_weight: 1.0
+  rkd_distance_weight: 1.0
+  rkd_angle_weight: 2.0
+
+seed: 42
+# Single GPU/process, so this is also the global batch size.
+batch_size: 128
+steps: 60000
+log_freq: 200
+output_dir: "${HOME}/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/optimizer_param_groups.json

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

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+{
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+}

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Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260719_231652-bepgb8uu/files/requirements.txt

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Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260719_231652-bepgb8uu/files/wandb-metadata.json

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+  "startedAt": "2026-07-19T14:16:52.871802Z",
+  "args": [
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+    "--batch_size=128",
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+  ],
+  "program": "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py",
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Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260721_175602-bepgb8uu/files/config.yaml

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+                    - --resume=true
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+                python: CPython 3.12.13
+                root: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/RSCLstyle_cosine_60K
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Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260721_175602-bepgb8uu/files/requirements.txt

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Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260721_175602-bepgb8uu/files/wandb-metadata.json

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Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260721_175602-bepgb8uu/files/wandb-summary.json

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Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260721_180257-bepgb8uu/files/config.yaml

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Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260721_180257-bepgb8uu/files/wandb-metadata.json

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Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260721_180257-bepgb8uu/logs/debug-core.log

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Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260721_180758-bepgb8uu/files/config.yaml

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+_wandb:
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+        e:
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+                args:
+                    - --config_path=/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/RSCLstyle_cosine_60K/checkpoints/030000/pretrained_model/train_config.json
+                    - --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/RSCLstyle_cosine_60K
+                codePath: benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py
+                codePathLocal: my_scripts/lerobot_train_yaml.py
+                cpu_count: 112
+                cpu_count_logical: 224
+                cudaVersion: "12.8"
+                disk:
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+                        used: "1061567148032"
+                executable: /home/ext_minje/miniconda3/envs/lerobot060_groot/bin/python
+                git:
+                    commit: c1ff610ae4b02827f1c984cef8bbf28a7889bd6f
+                    remote: git@github.com:paragon7060/clvla.git
+                gpu: NVIDIA H200
+                gpu_count: 2
+                gpu_nvidia:
+                    - architecture: Hopper
+                      cudaCores: 16896
+                      memoryTotal: "150754820096"
+                      name: NVIDIA H200
+                      uuid: GPU-86be6e5b-fb48-fa1c-9bd7-83d336cb2991
+                    - architecture: Hopper
+                      cudaCores: 16896
+                      memoryTotal: "150754820096"
+                      name: NVIDIA H200
+                      uuid: GPU-24eb1ba2-7313-ff93-1435-748768ebdbdc
+                host: ext_minje-box
+                memory:
+                    total: "2164176568320"
+                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/RSCLstyle_cosine_60K
+                startedAt: "2026-07-21T18:07:58.689632Z"
+                writerId: n5i65e3ba3p72ehycvvdbj4pqt8mvnt8
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+                - 21
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+batch_size:
+    value: 128
+checkpoint_path:
+    value: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/RSCLstyle_cosine_60K/checkpoints/030000
+cudnn_deterministic:
+    value: false
+dataset:
+    value:
+        depth_output_unit: mm
+        episodes: null
+        eval_split: 0
+        image_transforms:
+            enable: false
+            max_num_transforms: 3
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+            tfs:
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+                            - 5
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+                brightness:
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+                            - 1.2
+                    type: ColorJitter
+                    weight: 1
+                contrast:
+                    kwargs:
+                        contrast:
+                            - 0.8
+                            - 1.2
+                    type: ColorJitter
+                    weight: 1
+                hue:
+                    kwargs:
+                        hue:
+                            - -0.05
+                            - 0.05
+                    type: ColorJitter
+                    weight: 1
+                saturation:
+                    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
+env_eval_freq:
+    value: 20000
+eval:
+    value:
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+        n_episodes: 50
+        recording: false
+        recording_private: false
+        recording_repo_id: null
+        use_async_envs: true
+eval_steps:
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+job:
+    value:
+        detach: false
+        image: huggingface/lerobot-gpu:latest
+        tags: []
+        target: null
+        timeout: 2d
+job_name:
+    value: INSIGHT_RD_RKD_TimewarpVAE_RSCLstyle_C60
+log_freq:
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+    value: 4
+optimizer:
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+            - 0.999
+        eps: 1e-08
+        grad_clip_norm: 1
+        lr: 0.0001
+        type: adamw
+        weight_decay: 1e-05
+output_dir:
+    value: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/RSCLstyle_cosine_60K
+peft:
+    value: null
+persistent_workers:
+    value: true
+policy:
+    value:
+        action_decode_transform: null
+        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: null
+        device: cuda
+        embodiment_tag: new_embodiment
+        image_size:
+            - 256
+            - 256
+        input_features:
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+                shape:
+                    - 3
+                    - 224
+                    - 224
+                type: VISUAL
+            observation.images.right_shoulder:
+                shape:
+                    - 3
+                    - 224
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+            observation.images.wrist:
+                shape:
+                    - 3
+                    - 224
+                    - 224
+                type: VISUAL
+            observation.state:
+                shape:
+                    - 16
+                type: STATE
+        license: null
+        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: IDENTITY
+            STATE: IDENTITY
+            VISUAL: IDENTITY
+        num_inference_timesteps: null
+        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: ACTION
+        pretrained_path: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/RSCLstyle_cosine_60K/checkpoints/030000/pretrained_model
+        pretrained_revision: null
+        private: null
+        push_to_hub: false
+        relative_exclude_joints: []
+        repo_id: null
+        report_to: wandb
+        resume: false
+        rkd_angle_weight: 2
+        rkd_distance_weight: 1
+        rkd_enabled: true
+        rkd_fm_loss_weight: 1
+        rkd_loss_weight: 1
+        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
+        save_steps: 1000
+        tags: null
+        tokenizer_assets_repo: null
+        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: 3000
+prefetch_factor:
+    value: 4
+resume:
+    value: true
+reward_model:
+    value: null
+sample_weighting:
+    value: null
+save_checkpoint:
+    value: true
+save_checkpoint_to_hub:
+    value: false
+save_freq:
+    value: 20000
+scheduler:
+    value:
+        name: cosine
+        num_warmup_steps: 3000
+        type: diffuser
+seed:
+    value: 42
+steps:
+    value: 60000
+tolerance_s:
+    value: 0.0001
+use_policy_training_preset:
+    value: true
+wandb:
+    value:
+        add_tags: true
+        disable_artifact: true
+        enable: true
+        entity: null
+        mode: null
+        notes: null
+        project: lerobot
+        run_id: bepgb8uu

Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260721_180758-bepgb8uu/files/output.log

@@ -0,0 +1,33 @@
+INFO 2026-07-21 18:07:59 db_utils.py:121 Logs will be synced with wandb.
+INFO 2026-07-21 18:07:59 db_utils.py:122 Track this run --> https://wandb.ai/minje227_hyu-hanyang-university/lerobot/runs/bepgb8uu
+INFO 2026-07-21 18:07:59 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/RSCLstyle_cosine_60K/checkpoints/030000/pretrained_model
+INFO 2026-07-21 18:08:01 ng_groot.py:225 Detected fine-tuned LeRobot checkpoint, loading with state dict...
+Fetching 27 files: 100%|██████████| 27/27 [00:00<00:00, 4674.19it/s]
+`torch_dtype` is deprecated! Use `dtype` instead!
+Loading weights: 100%|██████████| 1031/1031 [00:00<00:00, 1234.07it/s]
+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/RSCLstyle_cosine_60K/wandb/run-20260721_180758-bepgb8uu/files/wandb-summary.json

@@ -0,0 +1 @@
+{"train/epochs":23.212298561595844,"train/samples":5068800,"train/grad_norm":0.11059212811291218,"train/rkd_fm_loss_weight":1,"train/training_phase_index":0,"train/samples_per_s":40.698668116487305,"train/rkd_student_feature_norm":11.796961784362791,"train/gpu_mem_gb":52.89515282392502,"_runtime":120057,"train/dataloading_s":1.5435121013406023,"train/training_phase_until_step":60000,"train/rkd_loss":0.0015607024542987349,"train/training_phase_start_step":0,"train/loss":0.0115696769207716,"train/rkd_loss_weight":0.2591461049345566,"_timestamp":1.7845906275011618e+09,"train/rkd_angle_loss":0.0006215126486495137,"train/rkd_distance_loss":0.0003176771861035377,"train/rkd_teacher_latent_norm":1,"train/rkd_runtime_enabled":1,"train/steps":39600,"train/weighted_rkd_loss":0.0004044499364681542,"_step":39600,"train/rkd_student_pooling_id":1,"train/episodes":114436.63190866752,"train/training_phase_trainable_params":1.622090881e+09,"train/lr":2.8660040166848404e-05,"train/weighted_flow_matching_loss":0.011165226809680462,"train/update_s":1.601553964055929,"_wandb":{"runtime":120057},"train/flow_matching_loss":0.011165226809680462}

Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260721_180758-bepgb8uu/logs/debug.log

@@ -0,0 +1,46 @@
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+2026-07-21 18:07:58,690 INFO    MainThread:5579 [wandb_setup.py:_flush():81] Loading settings from environment variables
+2026-07-21 18:07:58,690 INFO    MainThread:5579 [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/RSCLstyle_cosine_60K/wandb/run-20260721_180758-bepgb8uu/logs/debug.log
+2026-07-21 18:07:58,690 INFO    MainThread:5579 [wandb_init.py:setup_run_log_directory():724] Logging internal logs to /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/RSCLstyle_cosine_60K/wandb/run-20260721_180758-bepgb8uu/logs/debug-internal.log
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+2026-07-21 18:07:58,690 INFO    MainThread:5579 [wandb_init.py:init():771] wandb.init called with sweep_config: {}
+config: {'dataset': {'repo_id': 'Whalswp/INSIGHTfixposV4_filtered_multispace_v2', 'root': '/home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2', 'episodes': None, 'image_transforms': {'enable': False, 'max_num_transforms': 3, 'random_order': False, 'tfs': {'brightness': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'brightness': [0.8, 1.2]}}, 'contrast': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'contrast': [0.8, 1.2]}}, 'saturation': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'saturation': [0.5, 1.5]}}, 'hue': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'hue': [-0.05, 0.05]}}, 'sharpness': {'weight': 1.0, 'type': 'SharpnessJitter', 'kwargs': {'sharpness': [0.5, 1.5]}}, 'affine': {'weight': 1.0, 'type': 'RandomAffine', 'kwargs': {'degrees': [-5.0, 5.0], 'translate': [0.05, 0.05]}}}}, 'revision': None, 'use_imagenet_stats': True, 'video_backend': 'torchcodec', 'return_uint8': False, 'depth_output_unit': 'mm', 'streaming': False, 'eval_split': 0.0}, 'env': None, 'policy': {'type': 'groot_rkd', 'n_obs_steps': 1, 'input_features': {'observation.state': {'type': <FeatureType.STATE: 'STATE'>, 'shape': [16]}, 'observation.images.wrist': {'type': <FeatureType.VISUAL: 'VISUAL'>, 'shape': [3, 224, 224]}, 'observation.images.right_shoulder': {'type': <FeatureType.VISUAL: 'VISUAL'>, 'shape': [3, 224, 224]}, 'observation.images.guide': {'type': <FeatureType.VISUAL: 'VISUAL'>, 'shape': [3, 224, 224]}}, 'output_features': {'action': {'type': <FeatureType.ACTION: 'ACTION'>, 'shape': [16]}}, 'device': 'cuda', 'use_amp': False, 'use_peft': False, 'push_to_hub': False, 'repo_id': None, 'private': None, 'tags': None, 'license': None, 'pretrained_path': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/RSCLstyle_cosine_60K/checkpoints/030000/pretrained_model', 'pretrained_revision': None, 'chunk_size': 16, 'n_action_steps': 16, 'max_state_dim': 132, 'max_action_dim': 132, 'normalization_mapping': {'VISUAL': <NormalizationMode.IDENTITY: 'IDENTITY'>, 'STATE': <NormalizationMode.IDENTITY: 'IDENTITY'>, 'ACTION': <NormalizationMode.IDENTITY: 'IDENTITY'>}, 'base_model_path': 'nvidia/GR00T-N1.7-3B', 'action_decode_transform': None, 'embodiment_tag': 'new_embodiment', 'tune_llm': False, 'tune_visual': False, 'tune_projector': True, 'tune_diffusion_model': True, 'tune_vlln': True, 'tune_top_llm_layers': 0, 'num_inference_timesteps': None, 'rtc_ramp_rate': None, 'use_flash_attention': False, 'use_relative_actions': False, 'relative_exclude_joints': [], 'optimizer_lr': 0.0001, 'optimizer_betas': [0.9, 0.999], 'optimizer_eps': 1e-08, 'optimizer_weight_decay': 1e-05, 'warmup_steps': 3000, 'warmup_ratio': 0.05, 'use_bf16': True, 'model_params_fp32': True, 'image_size': [256, 256], 'tokenizer_assets_repo': None, 'lora_rank': 0, 'lora_alpha': 16, 'lora_dropout': 0.1, 'lora_full_model': False, 'video_backend': 'decord', 'balance_dataset_weights': True, 'balance_trajectory_weights': True, 'dataset_paths': None, 'output_dir': './tmp/gr00t', 'save_steps': 1000, 'max_steps': 10000, 'batch_size': 32, 'dataloader_num_workers': 8, 'report_to': 'wandb', 'resume': False, 'rkd_enabled': True, 'rkd_vae_checkpoint': '/home/ext_minje/groot_insight/TimewarpVAE_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}, 'reward_model': None, 'output_dir': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/RSCLstyle_cosine_60K', 'job_name': 'INSIGHT_RD_RKD_TimewarpVAE_RSCLstyle_C60', 'resume': True, 'seed': 42, 'cudnn_deterministic': False, 'num_workers': 4, 'batch_size': 128, 'prefetch_factor': 4, 'persistent_workers': True, 'steps': 60000, 'env_eval_freq': 20000, 'log_freq': 200, 'eval_steps': 0, 'max_eval_samples': 0, 'tolerance_s': 0.0001, 'save_checkpoint': True, 'save_freq': 20000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adamw', 'lr': 0.0001, 'weight_decay': 1e-05, 'grad_clip_norm': 1.0, 'betas': [0.9, 0.999], 'eps': 1e-08}, 'scheduler': {'type': 'diffuser', 'num_warmup_steps': 3000, 'name': 'cosine'}, 'eval': {'n_episodes': 50, 'batch_size': 50, 'use_async_envs': True, 'recording': False, 'recording_repo_id': None, 'recording_private': False}, 'wandb': {'enable': True, 'disable_artifact': True, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': 'bepgb8uu', 'mode': None, 'add_tags': True}, 'peft': None, 'job': {'target': None, 'image': 'huggingface/lerobot-gpu:latest', 'timeout': '2d', 'detach': False, 'tags': []}, 'save_checkpoint_to_hub': False, 'sample_weighting': None, 'rename_map': {}, 'checkpoint_path': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/RSCLstyle_cosine_60K/checkpoints/030000', '_wandb': {}}
+2026-07-21 18:07:58,690 INFO    MainThread:5579 [wandb_init.py:init():814] starting backend
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+2026-07-21 18:08:20,851 INFO    wandb-AsyncioManager-main:5579 [mailbox.py:close():154] Closing mailbox, abandoning 2 handles.
+2026-07-21 18:08:20,851 ERROR   wandb-AsyncioManager-main:5579 [asyncio_manager.py:fn_wrap_exceptions():184] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_manager.py", line 182, in fn_wrap_exceptions
+    await fn()
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/run_messages.py", line 90, in loop
+    await asyncio_compat.race(
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_compat.py", line 278, in race
+    async with open_task_group(race=True) as tg:
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/contextlib.py", line 217, in __aexit__
+    await anext(self.gen)
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_compat.py", line 240, in open_task_group
+    await task_group._wait_all(race=race, timeout=exit_timeout)
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_compat.py", line 180, in _wait_all
+    raise exc
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/run_messages.py", line 113, in _print_all
+    result = await handle.wait_async(timeout=None)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/mailbox/mailbox_handle.py", line 127, in wait_async
+    response = await self._handle.wait_async(timeout=timeout)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/mailbox/response_handle.py", line 123, in wait_async
+    raise HandleAbandonedError()
+wandb.sdk.mailbox.mailbox_handle.HandleAbandonedError

Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260721_181423-bepgb8uu/files/output.log

@@ -0,0 +1,21 @@
+INFO 2026-07-21 18:14:25 db_utils.py:121 Logs will be synced with wandb.
+INFO 2026-07-21 18:14:25 db_utils.py:122 Track this run --> https://wandb.ai/minje227_hyu-hanyang-university/lerobot/runs/bepgb8uu
+INFO 2026-07-21 18:14:25 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/RSCLstyle_cosine_60K/checkpoints/030000/pretrained_model
+INFO 2026-07-21 18:14:26 ng_groot.py:225 Detected fine-tuned LeRobot checkpoint, loading with state dict...
+Fetching 27 files: 100%|██████████| 27/27 [00:00<00:00, 3045.07it/s]
+`torch_dtype` is deprecated! Use `dtype` instead!
+Loading weights: 100%|██████████| 1031/1031 [00:00<00:00, 1088.13it/s]
+Loading weights from local directory
+INFO 2026-07-21 18:14:38 ot_train.py:405 Creating optimizer and scheduler
+INFO 2026-07-21 18:14:44 ot_train.py:439 Output dir: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/RSCLstyle_cosine_60K
+INFO 2026-07-21 18:14:44 ot_train.py:446 cfg.steps=60000 (60K)
+INFO 2026-07-21 18:14:44 ot_train.py:447 dataset.num_frames=218367 (218K)
+INFO 2026-07-21 18:14:44 ot_train.py:448 dataset.num_episodes=4930
+INFO 2026-07-21 18:14:44 ot_train.py:451 Effective batch size: 128 x 1 = 128
+INFO 2026-07-21 18:14:44 ot_train.py:452 num_learnable_params=1622090881 (2B)
+INFO 2026-07-21 18:14:44 ot_train.py:453 num_total_params=3145712033 (3B)
+INFO 2026-07-21 18:14:44 ot_train.py:494 Resuming data order at epoch 26, sample 82688
+Training:   0%|          | 0/30000 [00:00<?, ?step/s]INFO 2026-07-21 18:14:44 ot_train.py:604 Start offline training on a fixed dataset, with effective batch size: 128
+Training:   0%|          | 109/30000 [04:49<22:21:57,  2.69s/step]

Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260721_181423-bepgb8uu/files/requirements.txt

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Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260721_181423-bepgb8uu/files/wandb-metadata.json

@@ -0,0 +1,52 @@
+{
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+  "python": "CPython 3.12.13",
+  "startedAt": "2026-07-21T18:14:23.352134Z",
+  "args": [
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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/RSCLstyle_cosine_60K"
+  ],
+  "program": "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py",
+  "codePath": "benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py",
+  "codePathLocal": "my_scripts/lerobot_train_yaml.py",
+  "git": {
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+    "commit": "c1ff610ae4b02827f1c984cef8bbf28a7889bd6f"
+  },
+  "root": "/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/RSCLstyle_cosine_60K",
+  "host": "ext_minje-box",
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Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260721_181423-bepgb8uu/logs/debug-core.log

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Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260721_181423-bepgb8uu/logs/debug.log

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Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260721_182104-4bcz2tkp/files/output.log

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+INFO 2026-07-21 18:21:06 db_utils.py:121 Logs will be synced with wandb.
+INFO 2026-07-21 18:21:06 db_utils.py:122 Track this run --> https://wandb.ai/minje227_hyu-hanyang-university/lerobot/runs/4bcz2tkp
+INFO 2026-07-21 18:21:06 ot_train.py:298 Creating dataset
+INFO 2026-07-21 18:21:08 ot_train.py:332 Creating policy
+INFO 2026-07-21 18:21:08 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/RSCLstyle_cosine_60K/checkpoints/030000/pretrained_model
+INFO 2026-07-21 18:21:08 ng_groot.py:225 Detected fine-tuned LeRobot checkpoint, loading with state dict...
+Fetching 27 files: 100%|██████████| 27/27 [00:00<00:00, 2481.02it/s]
+`torch_dtype` is deprecated! Use `dtype` instead!
+Loading weights: 100%|██████████| 1031/1031 [00:01<00:00, 623.09it/s]
+Loading weights from local directory
+INFO 2026-07-21 18:21:21 ot_train.py:405 Creating optimizer and scheduler
+INFO 2026-07-21 18:21:24 ot_train.py:439 Output dir: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/RSCLstyle_cosine_60K
+INFO 2026-07-21 18:21:24 ot_train.py:446 cfg.steps=60000 (60K)
+INFO 2026-07-21 18:21:24 ot_train.py:447 dataset.num_frames=218367 (218K)
+INFO 2026-07-21 18:21:24 ot_train.py:448 dataset.num_episodes=4930
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+Training:  21%|██        | 6200/30000 [4:22:57<16:45:36,  2.54s/step]INFO 2026-07-21 22:44:22 ot_train.py:649 step:36K smpl:5M ep:105K epch:21.22 loss:0.012 grdn:0.119 lr:3.7e-05 updt_s:1.432 data_s:1.129 smp/s:50 mem_gb:52.92
+Training:  21%|██▏       | 6400/30000 [4:31:30<16:56:49,  2.59s/step]INFO 2026-07-21 22:52:54 ot_train.py:649 step:36K smpl:5M ep:105K epch:21.34 loss:0.011 grdn:0.123 lr:3.7e-05 updt_s:1.422 data_s:1.137 smp/s:50 mem_gb:53.00
+Training:  22%|██▏       | 6600/30000 [4:39:59<16:19:07,  2.51s/step]INFO 2026-07-21 23:01:24 ot_train.py:649 step:37K smpl:5M ep:106K epch:21.45 loss:0.012 grdn:0.127 lr:3.6e-05 updt_s:1.406 data_s:1.136 smp/s:50 mem_gb:53.00
+Training:  23%|██▎       | 6800/30000 [4:48:37<16:48:20,  2.61s/step]INFO 2026-07-21 23:10:01 ot_train.py:649 step:37K smpl:5M ep:106K epch:21.57 loss:0.012 grdn:0.121 lr:3.6e-05 updt_s:1.438 data_s:1.145 smp/s:50 mem_gb:53.00
+Training:  23%|██▎       | 7000/30000 [4:57:16<16:30:44,  2.58s/step]INFO 2026-07-21 23:18:41 ot_train.py:649 step:37K smpl:5M ep:107K epch:21.69 loss:0.012 grdn:0.124 lr:3.5e-05 updt_s:1.433 data_s:1.162 smp/s:49 mem_gb:53.00
+Training:  24%|██▍       | 7200/30000 [5:05:51<16:51:35,  2.66s/step]INFO 2026-07-21 23:27:15 ot_train.py:649 step:37K smpl:5M ep:108K epch:21.81 loss:0.011 grdn:0.118 lr:3.5e-05 updt_s:1.429 data_s:1.138 smp/s:50 mem_gb:53.00
+Training:  25%|██▍       | 7400/30000 [5:14:40<17:17:12,  2.75s/step]INFO 2026-07-21 23:36:05 ot_train.py:649 step:37K smpl:5M ep:108K epch:21.92 loss:0.011 grdn:0.117 lr:3.4e-05 updt_s:1.464 data_s:1.181 smp/s:48 mem_gb:52.92
+Training:  25%|██▌       | 7600/30000 [5:23:24<16:05:08,  2.59s/step]INFO 2026-07-21 23:44:48 ot_train.py:649 step:38K smpl:5M ep:109K epch:22.04 loss:0.011 grdn:0.112 lr:3.4e-05 updt_s:1.504 data_s:1.109 smp/s:49 mem_gb:53.00
+Training:  26%|██▌       | 7800/30000 [5:32:04<15:46:19,  2.56s/step]INFO 2026-07-21 23:53:28 ot_train.py:649 step:38K smpl:5M ep:109K epch:22.16 loss:0.011 grdn:0.111 lr:3.3e-05 updt_s:1.530 data_s:1.065 smp/s:49 mem_gb:53.00
+Training:  27%|██▋       | 8000/30000 [5:40:35<15:13:19,  2.49s/step]INFO 2026-07-22 00:02:00 ot_train.py:649 step:38K smpl:5M ep:110K epch:22.27 loss:0.010 grdn:0.115 lr:3.3e-05 updt_s:1.511 data_s:1.044 smp/s:50 mem_gb:53.00
+Training:  27%|██▋       | 8200/30000 [5:49:24<15:58:12,  2.64s/step]INFO 2026-07-22 00:10:49 ot_train.py:649 step:38K smpl:5M ep:110K epch:22.39 loss:0.011 grdn:0.117 lr:3.2e-05 updt_s:1.494 data_s:1.146 smp/s:48 mem_gb:53.00
+Training:  28%|██▊       | 8400/30000 [5:58:20<15:33:58,  2.59s/step]INFO 2026-07-22 00:19:45 ot_train.py:649 step:38K smpl:5M ep:111K epch:22.51 loss:0.011 grdn:0.125 lr:3.2e-05 updt_s:1.512 data_s:1.162 smp/s:48 mem_gb:52.92
+Training:  29%|██▊       | 8600/30000 [6:07:30<15:14:41,  2.56s/step]INFO 2026-07-22 00:28:55 ot_train.py:649 step:39K smpl:5M ep:112K epch:22.63 loss:0.010 grdn:0.113 lr:3.1e-05 updt_s:1.574 data_s:1.171 smp/s:47 mem_gb:53.00
+Training:  29%|██▉       | 8800/30000 [6:16:20<15:24:46,  2.62s/step]INFO 2026-07-22 00:37:44 ot_train.py:649 step:39K smpl:5M ep:112K epch:22.74 loss:0.010 grdn:0.110 lr:3.1e-05 updt_s:1.486 data_s:1.158 smp/s:48 mem_gb:53.00
+Training:  30%|███       | 9000/30000 [6:27:46<20:42:24,  3.55s/step]INFO 2026-07-22 00:49:10 ot_train.py:649 step:39K smpl:5M ep:113K epch:22.86 loss:0.010 grdn:0.113 lr:3.0e-05 updt_s:1.788 data_s:1.636 smp/s:37 mem_gb:53.00
+Training:  31%|███       | 9200/30000 [6:38:21<15:36:56,  2.70s/step]INFO 2026-07-22 00:59:46 ot_train.py:649 step:39K smpl:5M ep:113K epch:22.98 loss:0.010 grdn:0.116 lr:3.0e-05 updt_s:1.685 data_s:1.485 smp/s:40 mem_gb:53.00
+Training:  31%|███▏      | 9400/30000 [6:47:21<15:47:46,  2.76s/step]INFO 2026-07-22 01:08:45 ot_train.py:649 step:39K smpl:5M ep:114K epch:23.10 loss:0.010 grdn:0.116 lr:2.9e-05 updt_s:1.521 data_s:1.173 smp/s:48 mem_gb:53.00
+Training:  32%|███▏      | 9600/30000 [6:56:31<15:06:50,  2.67s/step]INFO 2026-07-22 01:17:56 ot_train.py:649 step:40K smpl:5M ep:114K epch:23.21 loss:0.010 grdn:0.115 lr:2.9e-05 updt_s:1.533 data_s:1.214 smp/s:47 mem_gb:52.92
+Training:  33%|███▎      | 9800/30000 [7:05:21<15:21:01,  2.74s/step]INFO 2026-07-22 01:26:46 ot_train.py:649 step:40K smpl:5M ep:115K epch:23.33 loss:0.009 grdn:0.111 lr:2.8e-05 updt_s:1.479 data_s:1.168 smp/s:48 mem_gb:53.00
+Training:  33%|███▎      | 10000/30000 [7:14:26<15:05:25,  2.72s/step]INFO 2026-07-22 01:35:51 ot_train.py:649 step:40K smpl:5M ep:116K epch:23.45 loss:0.010 grdn:0.108 lr:2.8e-05 updt_s:1.506 data_s:1.214 smp/s:47 mem_gb:53.00
+Training:  34%|███▍      | 10200/30000 [7:23:09<14:23:22,  2.62s/step]INFO 2026-07-22 01:44:34 ot_train.py:649 step:40K smpl:5M ep:116K epch:23.56 loss:0.010 grdn:0.117 lr:2.7e-05 updt_s:1.449 data_s:1.162 smp/s:49 mem_gb:53.00
+Training:  34%|███▍      | 10347/30000 [7:29:53<14:23:55,  2.64s/step]

Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260721_182104-4bcz2tkp/files/requirements.txt

@@ -0,0 +1,117 @@
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