diff --git "a/Baseline_gpu3_resume.log" "b/Baseline_gpu3_resume.log"
new file mode 100644--- /dev/null
+++ "b/Baseline_gpu3_resume.log"
@@ -0,0 +1,237 @@
+INFO 2026-07-15 14:32:49 ot_train.py:272 {'batch_size': 64,
+ 'checkpoint_path': '/home/ext_minje/groot_insight/Abs_6D/Baseline/checkpoints/050000',
+ '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_6D_baseline',
+ '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/Abs_6D/Baseline',
+ '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': [10],
+                                           'type': <FeatureType.ACTION: 'ACTION'>}},
+            'pretrained_path': '/home/ext_minje/groot_insight/Abs_6D/Baseline/checkpoints/050000/pretrained_model',
+            'pretrained_revision': None,
+            'private': None,
+            'push_to_hub': False,
+            'relative_exclude_joints': [],
+            'repo_id': None,
+            'report_to': 'wandb',
+            'resume': False,
+            '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',
+            'use_amp': False,
+            'use_bf16': True,
+            'use_flash_attention': False,
+            'use_peft': False,
+            'use_relative_actions': False,
+            'video_backend': 'decord',
+            'warmup_ratio': 0.05},
+ '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': 500, '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': '1jmjb68j'}}
+INFO 2026-07-15 14:32:51 db_utils.py:121 Logs will be synced with wandb.
+INFO 2026-07-15 14:32:51 db_utils.py:122 Track this run --> https://wandb.ai/minje227_hyu-hanyang-university/lerobot/runs/1jmjb68j
+INFO 2026-07-15 14:32:51 ot_train.py:298 Creating dataset
+INFO 2026-07-15 14:32:54 ot_train.py:332 Creating policy
+INFO 2026-07-15 14:32:54 ng_groot.py:191 The Groot policy wraps NVIDIA's GR00T n1.7 model. Loading pretrained model from: /home/ext_minje/groot_insight/Abs_6D/Baseline/checkpoints/050000/pretrained_model
+INFO 2026-07-15 14:32:54 ng_groot.py:225 Detected fine-tuned LeRobot checkpoint, loading with state dict...
+
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+`torch_dtype` is deprecated! Use `dtype` instead!
+
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+Loading weights from local directory
+INFO 2026-07-15 14:33:09 ot_train.py:405 Creating optimizer and scheduler
+INFO 2026-07-15 14:33:12 ot_train.py:437 Output dir: /home/ext_minje/groot_insight/Abs_6D/Baseline
+INFO 2026-07-15 14:33:12 ot_train.py:444 cfg.steps=60000 (60K)
+INFO 2026-07-15 14:33:12 ot_train.py:445 dataset.num_frames=218367 (218K)
+INFO 2026-07-15 14:33:12 ot_train.py:446 dataset.num_episodes=4930
+INFO 2026-07-15 14:33:12 ot_train.py:449 Effective batch size: 64 x 1 = 64
+INFO 2026-07-15 14:33:12 ot_train.py:450 num_learnable_params=1620515968 (2B)
+INFO 2026-07-15 14:33:12 ot_train.py:451 num_total_params=3144016000 (3B)
+INFO 2026-07-15 14:33:12 ot_train.py:492 Resuming data order at epoch 22, sample 22144
+
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Training:  12%|█▏        | 1200/10000 [33:03<4:00:36,  1.64s/step]INFO 2026-07-15 15:06:16 ot_train.py:646 step:51K smpl:3M ep:74K epch:15.01 loss:0.021 grdn:0.248 lr:5.4e-06 updt_s:0.889 data_s:0.772 smp/s:39 mem_gb:39.59
+
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Training:  14%|█▍        | 1400/10000 [38:35<4:03:11,  1.70s/step]INFO 2026-07-15 15:11:48 ot_train.py:646 step:51K smpl:3M ep:74K epch:15.06 loss:0.021 grdn:0.238 lr:5.2e-06 updt_s:0.900 data_s:0.759 smp/s:39 mem_gb:39.59
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Training: 100%|██████████| 10000/10000 [4:37:01<00:00,  1.66s/step]INFO 2026-07-15 19:10:14 ot_train.py:646 step:60K smpl:4M ep:87K epch:17.59 loss:0.019 grdn:0.219 lr:9.2e-10 updt_s:0.909 data_s:0.773 smp/s:38 mem_gb:39.59
+INFO 2026-07-15 19:10:14 ot_train.py:691 Checkpoint policy after step 60000
+INFO 2026-07-15 19:10:44 ain_yaml.py:918 Saved config, action-space, prompt, and phase provenance in /home/ext_minje/groot_insight/Abs_6D/Baseline and /home/ext_minje/groot_insight/Abs_6D/Baseline/checkpoints/060000
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+INFO 2026-07-15 19:10:44 ot_train.py:777 End of training