Add files using upload-large-folder tool

Abs_6D + DeltaEE/Baseline/checkpoints/060000/action_space_manifest.json

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Abs_6D + DeltaEE/Baseline/checkpoints/060000/pretrained_model/action_space_manifest.json

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Abs_6D + DeltaEE/Baseline/checkpoints/060000/pretrained_model/config.json

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+{
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+}

Abs_6D + DeltaEE/Baseline/checkpoints/060000/pretrained_model/policy_postprocessor.json

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+{
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+}

Abs_6D + DeltaEE/Baseline/checkpoints/060000/pretrained_model/policy_preprocessor.json

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+{
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+}

Abs_6D + DeltaEE/Baseline/checkpoints/060000/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/Baseline/checkpoints/060000/pretrained_model/train_config.json

@@ -0,0 +1,258 @@
+{
+    "dataset": {
+        "repo_id": "Whalswp/INSIGHTfixposV4_filtered_multispace_v2",
+        "root": "/home/seonho/INSIGHTfixposV4_filtered_multispace_v2",
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+        "image_transforms": {
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+                    "kwargs": {
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+                            1.2
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+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "saturation": {
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+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "saturation": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "hue": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "hue": [
+                            -0.05,
+                            0.05
+                        ]
+                    }
+                },
+                "sharpness": {
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+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
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+                    "type": "RandomAffine",
+                    "kwargs": {
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+                            -5.0,
+                            5.0
+                        ],
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+                            0.05
+                        ]
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+        "report_to": "wandb",
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+    "output_dir": "/home/seonho/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/Baseline",
+    "job_name": "INSIGHT_RD_baseline",
+    "resume": true,
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+    "cudnn_deterministic": false,
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+    "rename_map": {},
+    "checkpoint_path": "/home/seonho/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/Baseline/checkpoints/030000"
+}

Abs_6D + DeltaEE/Baseline/checkpoints/060000/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": [
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+  ],
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+    "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/060000/resolved_config.yaml

@@ -0,0 +1,24 @@
+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

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Abs_6D + DeltaEE/Baseline/checkpoints/060000/training_state/scheduler_state.json

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+{
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+    "_last_lr": [
+        0.0,
+        0.0
+    ],
+    "lr_lambdas": [
+        null,
+        null
+    ]
+}

Abs_6D + DeltaEE/Baseline/checkpoints/060000/training_state/training_step.json

@@ -0,0 +1,5 @@
+{
+    "step": 60000,
+    "num_processes": 1,
+    "batch_size": 128
+}

Abs_6D + DeltaEE/Baseline/wandb/run-20260721_134850-h160hqm2/files/wandb-metadata.json

@@ -0,0 +1,66 @@
+{
+  "os": "Linux-6.8.0-110-generic-x86_64-with-glibc2.35",
+  "python": "CPython 3.12.13",
+  "startedAt": "2026-07-21T04:48:50.415152Z",
+  "args": [
+    "--config_path=/home/seonho/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/Baseline/checkpoints/030000/pretrained_model/train_config.json",
+    "--resume=true",
+    "--dataset.root=/home/seonho/INSIGHTfixposV4_filtered_multispace_v2",
+    "--output_dir=/home/seonho/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/Baseline"
+  ],
+  "program": "/home/seonho/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": {
+    "remote": "git@github.com:paragon7060/clvla.git",
+    "commit": "a9df08f7da2d8eb1fa7f28708b4eb6f6dc81b1f9"
+  },
+  "root": "/home/seonho/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/Baseline",
+  "host": "worker1",
+  "executable": "/home/seonho/miniconda3/envs/lerobot060_groot/bin/python",
+  "cpu_count": 32,
+  "cpu_count_logical": 64,
+  "gpu": "NVIDIA A100 80GB PCIe",
+  "gpu_count": 4,
+  "disk": {
+    "/": {
+      "total": "3778130485248",
+      "used": "3198141472768"
+    }
+  },
+  "memory": {
+    "total": "1081620799488"
+  },
+  "gpu_nvidia": [
+    {
+      "name": "NVIDIA A100 80GB PCIe",
+      "memoryTotal": "85899345920",
+      "cudaCores": 6912,
+      "architecture": "Ampere",
+      "uuid": "GPU-0dd6d491-2dd8-24ac-bb27-872483ab77e9"
+    },
+    {
+      "name": "NVIDIA A100 80GB PCIe",
+      "memoryTotal": "85899345920",
+      "cudaCores": 6912,
+      "architecture": "Ampere",
+      "uuid": "GPU-dbfb7925-aec1-50fb-039a-3a4c0a4b2caa"
+    },
+    {
+      "name": "NVIDIA A100 80GB PCIe",
+      "memoryTotal": "85899345920",
+      "cudaCores": 6912,
+      "architecture": "Ampere",
+      "uuid": "GPU-ca1c0319-e178-a3c3-ac41-386c2723deac"
+    },
+    {
+      "name": "NVIDIA A100 80GB PCIe",
+      "memoryTotal": "85899345920",
+      "cudaCores": 6912,
+      "architecture": "Ampere",
+      "uuid": "GPU-47b6036e-4fde-e399-5515-f73eed752c6d"
+    }
+  ],
+  "cudaVersion": "13.2",
+  "writerId": "iqbqf28c5ojr7e18m3sfpy2lxrf27dgv"
+}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/.checkpoint_030000_transfer_verified

@@ -0,0 +1,8 @@
+source_host=DGX-H200-01
+source_checkpoint=/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000
+destination_host=worker1
+destination_checkpoint=/home/seonho/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000
+file_count=20
+model_sha256=67724f9a8cfded6cd561aab691e5adb8b8c19f5535e6c81e23f362a85875fe95
+optimizer_sha256=2326a4aa2652d5eb3936129b8a484d89138dcf24354d9e19bb6021dd93f0e2df
+verified_at=2026-07-21T18:23:56+09:00

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/queue_after_baseline.log

@@ -0,0 +1,3 @@
+[2026-07-21T18:11:06+09:00] queued: waiting for Baseline PID 1492997 and verified checkpoint
+[2026-07-21T18:24:29+09:00] queue replaced with artifact-gated version
+[2026-07-21T18:24:29+09:00] queued: waiting for Baseline PID 1492997, Baseline 60K checkpoint, and verified LAP checkpoint

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/queue_after_baseline.pid

@@ -0,0 +1 @@
+3786085

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/queued_after_baseline.sh

@@ -0,0 +1,41 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+baseline_pid=1492997
+baseline_checkpoint="/home/seonho/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/Baseline/checkpoints/060000/pretrained_model/model.safetensors"
+lap_out="/home/seonho/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K"
+checkpoint="$lap_out/checkpoints/030000"
+verified_marker="$lap_out/.checkpoint_030000_transfer_verified"
+repo="/home/seonho/clvla/benchmarks/INSIGHT"
+dataset="/home/seonho/INSIGHTfixposV4_filtered_multispace_v2"
+
+printf '[%s] queued: waiting for Baseline PID %s, Baseline 60K checkpoint, and verified LAP checkpoint
+' "$(date -Is)" "$baseline_pid"
+
+while kill -0 "$baseline_pid" 2>/dev/null; do
+    sleep 60
+done
+printf '[%s] Baseline PID %s finished; checking completion artifact
+' "$(date -Is)" "$baseline_pid"
+
+while [ ! -f "$baseline_checkpoint" ]; do
+    sleep 60
+done
+printf '[%s] Baseline 60K checkpoint verified
+' "$(date -Is)"
+
+while [ ! -f "$verified_marker" ]; do
+    sleep 60
+done
+printf '[%s] LAP 6K 30K checkpoint transfer verified
+' "$(date -Is)"
+
+if pgrep -u seonho -f "output_dir=$lap_out" >/dev/null 2>&1; then
+    printf '[%s] LAP 6K already running; queue exits
+' "$(date -Is)"
+    exit 0
+fi
+
+cd "$repo"
+export CUDA_VISIBLE_DEVICES=1
+exec /home/seonho/miniconda3/bin/conda run --no-capture-output -n lerobot060_groot     python my_scripts/lerobot_train_yaml.py     --config_path="$checkpoint/pretrained_model/train_config.json"     --resume=true     --dataset.root="$dataset"     --output_dir="$lap_out"     --save-steps=60000

Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/checkpoints/030000/pretrained_model/train_config.json

@@ -191,7 +191,7 @@
         "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_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",
         "rkd_student_attention_hidden_dim": 512,
         "rkd_student_attention_output_dim": 512,

Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/checkpoints/030000/resolved_config.yaml

@@ -15,7 +15,7 @@ policy:
   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_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
   rkd_student_attention_hidden_dim: 512
   rkd_student_attention_output_dim: 512

Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/debug.log

@@ -1,45 +1,20 @@
-2026-07-19 05:19:36,517 INFO    MainThread:227246 [wandb_setup.py:_flush():81] Current SDK version is 0.27.2
-2026-07-19 05:19:36,517 INFO    MainThread:227246 [wandb_setup.py:_flush():81] Configure stats pid to 227246
-2026-07-19 05:19:36,517 INFO    MainThread:227246 [wandb_setup.py:_flush():81] Loading settings from environment variables
-2026-07-19 05:19:36,517 INFO    MainThread:227246 [wandb_init.py:setup_run_log_directory():723] Logging user logs to /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260719_051936-2mdgc559/logs/debug.log
-2026-07-19 05:19:36,518 INFO    MainThread:227246 [wandb_init.py:setup_run_log_directory():724] Logging internal logs to /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260719_051936-2mdgc559/logs/debug-internal.log
-2026-07-19 05:19:36,518 INFO    MainThread:227246 [wandb_init.py:init():766] calling init triggers
-2026-07-19 05:19:36,518 INFO    MainThread:227246 [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': {}, 'output_features': {}, 'device': 'cuda', 'use_amp': False, 'use_peft': False, 'push_to_hub': False, 'repo_id': None, 'private': None, 'tags': None, 'license': None, 'pretrained_path': None, 'pretrained_revision': None, 'chunk_size': 16, 'n_action_steps': 16, 'max_state_dim': 132, 'max_action_dim': 132, 'normalization_mapping': {'VISUAL': <NormalizationMode.IDENTITY: 'IDENTITY'>, 'STATE': <NormalizationMode.IDENTITY: 'IDENTITY'>, 'ACTION': <NormalizationMode.IDENTITY: 'IDENTITY'>}, 'base_model_path': 'nvidia/GR00T-N1.7-3B', 'action_decode_transform': None, 'embodiment_tag': 'new_embodiment', 'tune_llm': False, 'tune_visual': False, 'tune_projector': True, 'tune_diffusion_model': True, 'tune_vlln': True, 'tune_top_llm_layers': 0, 'num_inference_timesteps': None, 'rtc_ramp_rate': None, 'use_flash_attention': False, 'use_relative_actions': False, 'relative_exclude_joints': [], 'optimizer_lr': 0.0001, 'optimizer_betas': [0.9, 0.999], 'optimizer_eps': 1e-08, 'optimizer_weight_decay': 1e-05, 'warmup_steps': 3000, 'warmup_ratio': 0.05, 'use_bf16': True, 'model_params_fp32': True, 'image_size': [256, 256], 'tokenizer_assets_repo': None, 'lora_rank': 0, 'lora_alpha': 16, 'lora_dropout': 0.1, 'lora_full_model': False, 'video_backend': 'decord', 'balance_dataset_weights': True, 'balance_trajectory_weights': True, 'dataset_paths': None, 'output_dir': './tmp/gr00t', 'save_steps': 1000, 'max_steps': 10000, 'batch_size': 32, 'dataloader_num_workers': 8, 'report_to': 'wandb', 'resume': False, 'rkd_enabled': True, 'rkd_vae_checkpoint': '/home/ext_minje/groot_insight/TimewarpVAE_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/RKD_TimewarpVAE/RSCLstyle_cosine_60K', 'job_name': 'INSIGHT_RD_RKD_TimewarpVAE_RSCLstyle_C60', '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': 3000, 'name': 'cosine'}, 'eval': {'n_episodes': 50, 'batch_size': 50, 'use_async_envs': True, 'recording': False, 'recording_repo_id': None, 'recording_private': False}, 'wandb': {'enable': True, 'disable_artifact': True, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': None, 'mode': None, 'add_tags': True}, 'peft': None, 'job': {'target': None, 'image': 'huggingface/lerobot-gpu:latest', 'timeout': '2d', 'detach': False, 'tags': []}, 'save_checkpoint_to_hub': False, 'sample_weighting': None, 'rename_map': {}, 'checkpoint_path': None, '_wandb': {}}
-2026-07-19 05:19:36,518 INFO    MainThread:227246 [wandb_init.py:init():814] starting backend
-2026-07-19 05:19:36,733 INFO    MainThread:227246 [wandb_init.py:init():829] sending inform_init request
-2026-07-19 05:19:37,420 INFO    MainThread:227246 [wandb_init.py:init():834] backend started and connected
-2026-07-19 05:19:37,424 INFO    MainThread:227246 [wandb_init.py:init():904] updated telemetry
-2026-07-19 05:19:37,431 INFO    MainThread:227246 [wandb_init.py:init():927] communicating run to backend with 90.0 second timeout
-2026-07-19 05:19:37,856 INFO    MainThread:227246 [wandb_init.py:init():972] starting run threads in backend
-2026-07-19 05:19:37,908 INFO    MainThread:227246 [wandb_run.py:_console_start():2523] atexit reg
-2026-07-19 05:19:37,908 INFO    MainThread:227246 [wandb_run.py:_redirect():2373] redirect: wrap_raw
-2026-07-19 05:19:37,908 INFO    MainThread:227246 [wandb_run.py:_redirect():2442] Wrapping output streams.
-2026-07-19 05:19:37,908 INFO    MainThread:227246 [wandb_run.py:_redirect():2465] Redirects installed.
-2026-07-19 05:19:37,911 INFO    MainThread:227246 [wandb_init.py:init():1010] run started, returning control to user process
-2026-07-19 15:29:54,199 INFO    wandb-AsyncioManager-main:227246 [service_client.py:_forward_responses():122] Reached EOF.
-2026-07-19 15:29:54,199 INFO    wandb-AsyncioManager-main:227246 [mailbox.py:close():154] Closing mailbox, abandoning 2 handles.
-2026-07-19 15:29:54,200 ERROR   wandb-AsyncioManager-main:227246 [asyncio_manager.py:fn_wrap_exceptions():184] Uncaught exception in run_soon callback.
-Traceback (most recent call last):
-  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_manager.py", line 182, in fn_wrap_exceptions
-    await fn()
-  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/run_messages.py", line 90, in loop
-    await asyncio_compat.race(
-  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_compat.py", line 278, in race
-    async with open_task_group(race=True) as tg:
-               ^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/contextlib.py", line 217, in __aexit__
-    await anext(self.gen)
-  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_compat.py", line 240, in open_task_group
-    await task_group._wait_all(race=race, timeout=exit_timeout)
-  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_compat.py", line 180, in _wait_all
-    raise exc
-  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/run_messages.py", line 113, in _print_all
-    result = await handle.wait_async(timeout=None)
-             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/mailbox/mailbox_handle.py", line 127, in wait_async
-    response = await self._handle.wait_async(timeout=timeout)
-               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-  File "/home/ext_minje/miniforge3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/mailbox/response_handle.py", line 123, in wait_async
-    raise HandleAbandonedError()
-wandb.sdk.mailbox.mailbox_handle.HandleAbandonedError
+2026-07-23 11:01:09,029 INFO    MainThread:3387287 [wandb_setup.py:_flush():81] Current SDK version is 0.27.2
+2026-07-23 11:01:09,029 INFO    MainThread:3387287 [wandb_setup.py:_flush():81] Configure stats pid to 3387287
+2026-07-23 11:01:09,029 INFO    MainThread:3387287 [wandb_setup.py:_flush():81] Loading settings from environment variables
+2026-07-23 11:01:09,029 INFO    MainThread:3387287 [wandb_init.py:setup_run_log_directory():723] Logging user logs to /home/seonho/groot_insight/train_ckpt/Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260723_110109-bepgb8uu/logs/debug.log
+2026-07-23 11:01:09,029 INFO    MainThread:3387287 [wandb_init.py:setup_run_log_directory():724] Logging internal logs to /home/seonho/groot_insight/train_ckpt/Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260723_110109-bepgb8uu/logs/debug-internal.log
+2026-07-23 11:01:09,029 INFO    MainThread:3387287 [wandb_init.py:init():766] calling init triggers
+2026-07-23 11:01:09,029 INFO    MainThread:3387287 [wandb_init.py:init():771] wandb.init called with sweep_config: {}
+config: {'dataset': {'repo_id': 'Whalswp/INSIGHTfixposV4_filtered_multispace_v2', 'root': '/home/seonho/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/seonho/groot_insight/train_ckpt/Abs_6D + DeltaEE/RKD_TimewarpVAE/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, 'action_expert_num_layers': None, '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', '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/seonho/groot_insight/train_ckpt/Abs_6D + DeltaEE/RKD_TimewarpVAE/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/seonho/groot_insight/train_ckpt/Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/checkpoints/030000', '_wandb': {}}
+2026-07-23 11:01:09,029 INFO    MainThread:3387287 [wandb_init.py:init():814] starting backend
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Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260723_102906-bepgb8uu/files/config.yaml

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+_wandb:
+    value:
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+        e:
+            qqeb9262ooqgcz1dl5mje85i7b4p5nrr:
+                args:
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+                    - --resume=true
+                    - --dataset.root=/home/seonho/INSIGHTfixposV4_filtered_multispace_v2
+                    - --output_dir=/home/seonho/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: 32
+                cpu_count_logical: 64
+                cudaVersion: "13.2"
+                disk:
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+                        total: "3778130485248"
+                        used: "3448242786304"
+                executable: /home/seonho/miniconda3/envs/lerobot060_groot/bin/python
+                git:
+                    commit: a329728c2c9524d79b966c4a7a82ee56a4c2abf7
+                    remote: git@github.com:paragon7060/clvla.git
+                gpu: NVIDIA A100 80GB PCIe
+                gpu_count: 4
+                gpu_nvidia:
+                    - architecture: Ampere
+                      cudaCores: 6912
+                      memoryTotal: "85899345920"
+                      name: NVIDIA A100 80GB PCIe
+                      uuid: GPU-0dd6d491-2dd8-24ac-bb27-872483ab77e9
+                    - architecture: Ampere
+                      cudaCores: 6912
+                      memoryTotal: "85899345920"
+                      name: NVIDIA A100 80GB PCIe
+                      uuid: GPU-dbfb7925-aec1-50fb-039a-3a4c0a4b2caa
+                    - architecture: Ampere
+                      cudaCores: 6912
+                      memoryTotal: "85899345920"
+                      name: NVIDIA A100 80GB PCIe
+                      uuid: GPU-ca1c0319-e178-a3c3-ac41-386c2723deac
+                    - architecture: Ampere
+                      cudaCores: 6912
+                      memoryTotal: "85899345920"
+                      name: NVIDIA A100 80GB PCIe
+                      uuid: GPU-47b6036e-4fde-e399-5515-f73eed752c6d
+                host: worker1
+                memory:
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+                os: Linux-6.8.0-110-generic-x86_64-with-glibc2.35
+                program: /home/seonho/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py
+                python: CPython 3.12.13
+                root: /home/seonho/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/RSCLstyle_cosine_60K
+                startedAt: "2026-07-23T01:29:06.285019Z"
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+checkpoint_path:
+    value: /home/seonho/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
+            random_order: false
+            tfs:
+                affine:
+                    kwargs:
+                        degrees:
+                            - -5
+                            - 5
+                        translate:
+                            - 0.05
+                            - 0.05
+                    type: RandomAffine
+                    weight: 1
+                brightness:
+                    kwargs:
+                        brightness:
+                            - 0.8
+                            - 1.2
+                    type: ColorJitter
+                    weight: 1
+                contrast:
+                    kwargs:
+                        contrast:
+                            - 0.8
+                            - 1.2
+                    type: ColorJitter
+                    weight: 1
+                hue:
+                    kwargs:
+                        hue:
+                            - -0.05
+                            - 0.05
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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/seonho/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
+        recording: false
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+        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
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+    value: INSIGHT_RD_RKD_TimewarpVAE_RSCLstyle_C60
+log_freq:
+    value: 200
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+    value: 4
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+    value:
+        betas:
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+            - 0.999
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+        grad_clip_norm: 1
+        lr: 0.0001
+        type: adamw
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+output_dir:
+    value: /home/seonho/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/RSCLstyle_cosine_60K
+peft:
+    value: null
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+    value: true
+policy:
+    value:
+        action_decode_transform: null
+        action_expert_num_layers: 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:
+            observation.images.guide:
+                shape:
+                    - 3
+                    - 224
+                    - 224
+                type: VISUAL
+            observation.images.right_shoulder:
+                shape:
+                    - 3
+                    - 224
+                    - 224
+                type: VISUAL
+            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/seonho/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-20260723_102906-bepgb8uu/files/output.log

@@ -0,0 +1,36 @@
+INFO 2026-07-23 10:29:08 db_utils.py:121 Logs will be synced with wandb.
+INFO 2026-07-23 10:29:08 db_utils.py:122 Track this run --> https://wandb.ai/minje227_hyu-hanyang-university/lerobot/runs/bepgb8uu
+INFO 2026-07-23 10:29:08 ot_train.py:298 Creating dataset
+INFO 2026-07-23 10:29:10 ot_train.py:332 Creating policy
+INFO 2026-07-23 10:29:10 ng_groot.py:193 The Groot policy wraps NVIDIA's GR00T n1.7 model. Loading pretrained model from: /home/seonho/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/RSCLstyle_cosine_60K/checkpoints/030000/pretrained_model
+INFO 2026-07-23 10:29:10 ng_groot.py:227 Detected fine-tuned LeRobot checkpoint, loading with state dict...
+Traceback (most recent call last):
+  File "/home/seonho/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1454, in <module>
+    main()
+  File "/home/seonho/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1450, in main
+    train_module.main()
+  File "/home/seonho/clvla/lerobot/src/lerobot/scripts/lerobot_train.py", line 816, in main
+  File "/home/seonho/clvla/lerobot/src/lerobot/configs/parser.py", line 320, in wrapper_inner
+    response = fn(cfg, *args, **kwargs)
+               ^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/lerobot/src/lerobot/scripts/lerobot_train.py", line 333, in train
+    }
+
+  File "/home/seonho/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1173, in make_policy
+    policy = original_make_policy(*args, **kwargs)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/lerobot/src/lerobot/policies/factory.py", line 615, in make_policy
+    policy = policy_cls.from_pretrained(**kwargs)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/INSIGHT/my_policies/groot_RKD/modeling_groot.py", line 228, in from_pretrained
+    return super().from_pretrained(
+           ^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/lerobot/src/lerobot/policies/pretrained.py", line 194, in from_pretrained
+    instance = cls(config, **kwargs)
+               ^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/INSIGHT/my_policies/groot_RKD/modeling_groot_rkd.py", line 34, in __init__
+    metadata = load_vae_checkpoint_metadata(config.rkd_vae_checkpoint)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/benchmarks/INSIGHT/my_policies/groot_RKD/vae_teacher.py", line 40, in load_vae_checkpoint_metadata
+    raise FileNotFoundError(f"VAE checkpoint directory does not exist: {checkpoint}")
+FileNotFoundError: VAE checkpoint directory does not exist: /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

Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260723_102906-bepgb8uu/files/requirements.txt

@@ -0,0 +1,117 @@
+multiprocess==0.70.19
+nvidia-nvshmem-cu13==3.4.5
+nvidia-cuda-nvrtc==13.0.88
+nvidia-nvjitlink==13.0.88
+numpy==2.2.6
+shellingham==1.5.4
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+dm-tree==0.1.10
+hf-xet==1.5.1
+packaging==25.0
+typing-inspect==0.9.0
+nvidia-cuda-runtime==13.0.96
+pyyaml-include==1.4.1
+wrapt==2.2.2
+pytz==2026.2
+Pygments==2.20.0
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+regex==2026.7.10
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Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260723_102906-bepgb8uu/files/wandb-metadata.json

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Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260723_102906-bepgb8uu/files/wandb-summary.json

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Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260723_102906-bepgb8uu/logs/debug.log

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+Traceback (most recent call last):
+  File "/home/seonho/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/seonho/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/seonho/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/seonho/miniconda3/envs/lerobot060_groot/lib/python3.12/contextlib.py", line 217, in __aexit__
+    await anext(self.gen)
+  File "/home/seonho/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/seonho/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_compat.py", line 180, in _wait_all
+    raise exc
+  File "/home/seonho/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/seonho/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/seonho/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
+2026-07-23 10:29:23,061 ERROR   wandb-AsyncioManager-main:3134698 [asyncio_manager.py:fn_wrap_exceptions():184] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  File "/home/seonho/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/seonho/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/run_stopping.py", line 87, in loop
+    should_stop = await self._check_should_stop()
+                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/run_stopping.py", line 115, in _check_should_stop
+    handle = await self._interface.deliver_async(request)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/interface/interface_sock.py", line 58, in deliver_async
+    handle = await self._client.deliver(request)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/service/service_client.py", line 57, in deliver
+    handle = self._mailbox.require_response(request)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/mailbox/mailbox.py", line 89, in require_response
+    raise MailboxClosedError()
+wandb.sdk.mailbox.mailbox.MailboxClosedError

Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260723_103107-bepgb8uu/files/output.log

@@ -0,0 +1,21 @@
+INFO 2026-07-23 10:31:09 db_utils.py:121 Logs will be synced with wandb.
+INFO 2026-07-23 10:31:09 db_utils.py:122 Track this run --> https://wandb.ai/minje227_hyu-hanyang-university/lerobot/runs/bepgb8uu
+INFO 2026-07-23 10:31:09 ot_train.py:298 Creating dataset
+INFO 2026-07-23 10:31:11 ot_train.py:332 Creating policy
+INFO 2026-07-23 10:31:11 ng_groot.py:193 The Groot policy wraps NVIDIA's GR00T n1.7 model. Loading pretrained model from: /home/seonho/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/RSCLstyle_cosine_60K/checkpoints/030000/pretrained_model
+INFO 2026-07-23 10:31:11 ng_groot.py:227 Detected fine-tuned LeRobot checkpoint, loading with state dict...
+Fetching 27 files: 100%|██████████| 27/27 [00:00<00:00, 8230.70it/s]
+`torch_dtype` is deprecated! Use `dtype` instead!
+Loading weights: 100%|██████████| 1031/1031 [00:00<00:00, 2617.09it/s]
+Loading weights from local directory
+INFO 2026-07-23 10:31:22 ot_train.py:405 Creating optimizer and scheduler
+INFO 2026-07-23 10:31:38 ot_train.py:439 Output dir: /home/seonho/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/RSCLstyle_cosine_60K
+INFO 2026-07-23 10:31:38 ot_train.py:446 cfg.steps=60000 (60K)
+INFO 2026-07-23 10:31:38 ot_train.py:447 dataset.num_frames=218367 (218K)
+INFO 2026-07-23 10:31:38 ot_train.py:448 dataset.num_episodes=4930
+INFO 2026-07-23 10:31:38 ot_train.py:451 Effective batch size: 128 x 1 = 128
+INFO 2026-07-23 10:31:38 ot_train.py:452 num_learnable_params=1622090881 (2B)
+INFO 2026-07-23 10:31:38 ot_train.py:453 num_total_params=3145712033 (3B)
+INFO 2026-07-23 10:31:39 ot_train.py:494 Resuming data order at epoch 26, sample 82688
+Training:   0%|          | 0/30000 [00:00<?, ?step/s]INFO 2026-07-23 10:31:39 ot_train.py:604 Start offline training on a fixed dataset, with effective batch size: 128
+Training:   0%|          | 102/30000 [06:14<29:33:09,  3.56s/step]

Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260723_103107-bepgb8uu/files/requirements.txt

@@ -0,0 +1,117 @@
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+nvidia-nvshmem-cu13==3.4.5
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+nvidia-nvjitlink==13.0.88
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+hf-xet==1.5.1
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+pyyaml-include==1.4.1
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+annotated-doc==0.0.4
+importlib_metadata==9.0.0
+idna==3.18
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+decord==0.6.0
+transformers==5.5.4
+nvidia-cusparselt-cu13==0.8.0
+accelerate==1.14.0
+torchvision==0.26.0
+torchcodec==0.11.1
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+mdurl==0.1.2
+sentry-sdk==2.64.0
+av==15.1.0
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+PyYAML==6.0.3
+python-dateutil==2.9.0.post0
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+pydantic_core==2.46.4
+requests==2.34.2
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+nvidia-cufile==1.15.1.6
+MarkupSafe==3.0.3
+wandb==0.27.2
+smmap==5.0.3
+nvidia-cuda-cupti==13.0.85
+charset-normalizer==3.4.9
+h11==0.16.0
+mergedeep==1.3.4
+opencv-python-headless==4.13.0.92
+draccus==0.10.0
+annotated-types==0.7.0
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+GitPython==3.1.51
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+tzdata==2026.3
+nvidia-nccl-cu13==2.28.9
+aiohappyeyeballs==2.7.1
+setuptools==80.10.2
+sympy==1.14.0
+torch==2.11.0
+einops==0.8.2
+nvidia-curand==10.4.0.35
+httpx==0.28.1
+nvidia-cudnn-cu13==9.19.0.56
+frozenlist==1.8.0
+termcolor==3.3.0
+multidict==6.7.1
+httpcore==1.0.9
+psutil==7.2.2
+fsspec==2026.2.0
+dill==0.4.1
+pydantic==2.13.4
+cuda-bindings==13.3.1
+cloudpickle==3.1.2
+aiohttp==3.14.1
+datasets==4.8.5
+gymnasium==1.3.0
+jsonlines==4.0.0
+pyarrow==25.0.0
+attrs==26.1.0
+peft==0.19.1
+nvidia-cublas==13.1.0.3
+propcache==0.5.2
+Jinja2==3.1.6
+aiosignal==1.4.0
+nvidia-nvtx==13.0.85
+triton==3.6.0
+tqdm==4.68.4
+pandas==2.3.3
+click==8.4.2
+Farama-Notifications==0.0.6
+six==1.17.0
+huggingface_hub==1.23.0
+nvidia-cusolver==12.0.4.66
+cuda-toolkit==13.0.2
+xxhash==3.8.1
+absl-py==2.5.0

Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260723_103107-bepgb8uu/files/wandb-metadata.json

@@ -0,0 +1,66 @@
+{
+  "os": "Linux-6.8.0-110-generic-x86_64-with-glibc2.35",
+  "python": "CPython 3.12.13",
+  "startedAt": "2026-07-23T01:31:07.480176Z",
+  "args": [
+    "--config_path=/home/seonho/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/seonho/INSIGHTfixposV4_filtered_multispace_v2",
+    "--output_dir=/home/seonho/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/RSCLstyle_cosine_60K"
+  ],
+  "program": "/home/seonho/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": {
+    "remote": "git@github.com:paragon7060/clvla.git",
+    "commit": "a329728c2c9524d79b966c4a7a82ee56a4c2abf7"
+  },
+  "root": "/home/seonho/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/RSCLstyle_cosine_60K",
+  "host": "worker1",
+  "executable": "/home/seonho/miniconda3/envs/lerobot060_groot/bin/python",
+  "cpu_count": 32,
+  "cpu_count_logical": 64,
+  "gpu": "NVIDIA A100 80GB PCIe",
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+    {
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+      "name": "NVIDIA A100 80GB PCIe",
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+      "architecture": "Ampere",
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+    },
+    {
+      "name": "NVIDIA A100 80GB PCIe",
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+      "cudaCores": 6912,
+      "architecture": "Ampere",
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+}

Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260723_103107-bepgb8uu/logs/debug-core.log

@@ -0,0 +1,12 @@
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Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260723_103107-bepgb8uu/logs/debug-internal.log

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Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K/wandb/run-20260723_110109-bepgb8uu/files/output.log

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