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Abs_6D + DeltaEE/Baseline.interrupted_reboot_20260719T051924/wandb/run-20260717_154331-qi6m7u1i/logs/debug.log

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Abs_6D + DeltaEE/Baseline/wandb/run-20260719_051936-811mctc7/files/config.yaml

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+        root: /home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2
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Abs_6D + DeltaEE/Baseline/wandb/run-20260719_051936-811mctc7/files/output.log

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+INFO 2026-07-19 05:19:37 db_utils.py:121 Logs will be synced with wandb.
+INFO 2026-07-19 05:19:37 db_utils.py:122 Track this run --> https://wandb.ai/minje227_hyu-hanyang-university/lerobot/runs/811mctc7
+INFO 2026-07-19 05:19:37 ot_train.py:298 Creating dataset
+INFO 2026-07-19 05:19:39 ot_train.py:332 Creating policy
+Fetching 27 files: 100%|██████████| 27/27 [00:00<00:00, 1562.56it/s]
+`torch_dtype` is deprecated! Use `dtype` instead!
+Loading weights: 100%|██████████| 1031/1031 [00:01<00:00, 562.59it/s]
+INFO 2026-07-19 05:19:51 ot_train.py:405 Creating optimizer and scheduler
+INFO 2026-07-19 05:19:51 ot_train.py:437 Output dir: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/Baseline
+INFO 2026-07-19 05:19:51 ot_train.py:444 cfg.steps=60000 (60K)
+INFO 2026-07-19 05:19:51 ot_train.py:445 dataset.num_frames=218367 (218K)
+INFO 2026-07-19 05:19:51 ot_train.py:446 dataset.num_episodes=4930
+INFO 2026-07-19 05:19:51 ot_train.py:449 Effective batch size: 128 x 1 = 128
+INFO 2026-07-19 05:19:51 ot_train.py:450 num_learnable_params=1620515968 (2B)
+INFO 2026-07-19 05:19:51 ot_train.py:451 num_total_params=3144016000 (3B)
+Training:   0%|          | 0/60000 [00:00<?, ?step/s]INFO 2026-07-19 05:19:51 ot_train.py:602 Start offline training on a fixed dataset, with effective batch size: 128
+Training:   0%|          | 200/60000 [10:12<56:32:05,  3.40s/step]INFO 2026-07-19 05:30:04 ot_train.py:646 step:200 smpl:26K ep:578 epch:0.12 loss:0.805 grdn:1.040 lr:2.0e-05 updt_s:1.603 data_s:1.456 smp/s:42 mem_gb:52.75
+Training:   1%|          | 400/60000 [20:32<48:47:27,  2.95s/step]INFO 2026-07-19 05:40:24 ot_train.py:646 step:400 smpl:51K ep:1K epch:0.23 loss:0.181 grdn:1.631 lr:6.0e-05 updt_s:1.600 data_s:1.497 smp/s:41 mem_gb:52.81
+Training:   1%|          | 600/60000 [30:37<45:18:09,  2.75s/step]INFO 2026-07-19 05:50:29 ot_train.py:646 step:600 smpl:77K ep:2K epch:0.35 loss:0.140 grdn:1.147 lr:9.5e-05 updt_s:1.600 data_s:1.425 smp/s:42 mem_gb:52.81
+Training:   1%|▏         | 800/60000 [40:32<49:04:40,  2.98s/step]INFO 2026-07-19 06:00:24 ot_train.py:646 step:800 smpl:102K ep:2K epch:0.47 loss:0.110 grdn:0.772 lr:1.0e-04 updt_s:1.548 data_s:1.423 smp/s:43 mem_gb:52.81
+Training:   2%|▏         | 1000/60000 [50:31<48:11:11,  2.94s/step]INFO 2026-07-19 06:10:22 ot_train.py:646 step:1K smpl:128K ep:3K epch:0.59 loss:0.096 grdn:0.643 lr:1.0e-04 updt_s:1.555 data_s:1.435 smp/s:43 mem_gb:52.81
+Training:   2%|▏         | 1200/60000 [1:00:39<56:05:41,  3.43s/step]INFO 2026-07-19 06:20:31 ot_train.py:646 step:1K smpl:154K ep:3K epch:0.70 loss:0.088 grdn:0.590 lr:1.0e-04 updt_s:1.623 data_s:1.418 smp/s:42 mem_gb:52.73
+Training:   2%|▏         | 1400/60000 [1:10:45<49:45:19,  3.06s/step]INFO 2026-07-19 06:30:37 ot_train.py:646 step:1K smpl:179K ep:4K epch:0.82 loss:0.082 grdn:0.526 lr:1.0e-04 updt_s:1.617 data_s:1.409 smp/s:42 mem_gb:52.83
+Training:   3%|▎         | 1600/60000 [1:20:40<48:08:47,  2.97s/step]INFO 2026-07-19 06:40:32 ot_train.py:646 step:2K smpl:205K ep:5K epch:0.94 loss:0.077 grdn:0.490 lr:1.0e-04 updt_s:1.560 data_s:1.412 smp/s:43 mem_gb:52.83
+Training:   3%|▎         | 1800/60000 [1:30:43<49:07:24,  3.04s/step]INFO 2026-07-19 06:50:35 ot_train.py:646 step:2K smpl:230K ep:5K epch:1.06 loss:0.074 grdn:0.472 lr:1.0e-04 updt_s:1.586 data_s:1.426 smp/s:42 mem_gb:52.83
+Training:   3%|▎         | 2000/60000 [1:40:40<49:06:36,  3.05s/step]INFO 2026-07-19 07:00:31 ot_train.py:646 step:2K smpl:256K ep:6K epch:1.17 loss:0.072 grdn:0.451 lr:1.0e-04 updt_s:1.536 data_s:1.446 smp/s:43 mem_gb:52.83
+Training:   4%|▎         | 2200/60000 [1:50:33<43:12:16,  2.69s/step]INFO 2026-07-19 07:10:25 ot_train.py:646 step:2K smpl:282K ep:6K epch:1.29 loss:0.069 grdn:0.426 lr:1.0e-04 updt_s:1.555 data_s:1.409 smp/s:43 mem_gb:52.83
+Training:   4%|▍         | 2400/60000 [2:00:26<48:54:20,  3.06s/step]INFO 2026-07-19 07:20:18 ot_train.py:646 step:2K smpl:307K ep:7K epch:1.41 loss:0.066 grdn:0.388 lr:1.0e-04 updt_s:1.600 data_s:1.364 smp/s:43 mem_gb:52.75
+Training:   4%|▍         | 2600/60000 [2:10:24<49:36:21,  3.11s/step]INFO 2026-07-19 07:30:16 ot_train.py:646 step:3K smpl:333K ep:8K epch:1.52 loss:0.064 grdn:0.378 lr:1.0e-04 updt_s:1.576 data_s:1.411 smp/s:43 mem_gb:52.83
+Training:   5%|▍         | 2800/60000 [2:20:19<46:09:54,  2.91s/step]INFO 2026-07-19 07:40:11 ot_train.py:646 step:3K smpl:358K ep:8K epch:1.64 loss:0.061 grdn:0.361 lr:1.0e-04 updt_s:1.554 data_s:1.418 smp/s:43 mem_gb:52.83
+Training:   5%|▌         | 3000/60000 [2:30:19<48:47:05,  3.08s/step]INFO 2026-07-19 07:50:10 ot_train.py:646 step:3K smpl:384K ep:9K epch:1.76 loss:0.060 grdn:0.349 lr:1.0e-04 updt_s:1.623 data_s:1.370 smp/s:43 mem_gb:52.83
+Training:   5%|▌         | 3200/60000 [2:40:24<47:11:42,  2.99s/step]INFO 2026-07-19 08:00:16 ot_train.py:646 step:3K smpl:410K ep:9K epch:1.88 loss:0.059 grdn:0.338 lr:1.0e-04 updt_s:1.552 data_s:1.472 smp/s:42 mem_gb:52.83
+Training:   6%|▌         | 3400/60000 [2:50:25<47:57:32,  3.05s/step]INFO 2026-07-19 08:10:16 ot_train.py:646 step:3K smpl:435K ep:10K epch:1.99 loss:0.059 grdn:0.332 lr:9.9e-05 updt_s:1.575 data_s:1.426 smp/s:43 mem_gb:52.75
+Training:   6%|▌         | 3600/60000 [3:00:24<46:34:42,  2.97s/step]INFO 2026-07-19 08:20:16 ot_train.py:646 step:4K smpl:461K ep:10K epch:2.11 loss:0.056 grdn:0.323 lr:9.9e-05 updt_s:1.545 data_s:1.449 smp/s:43 mem_gb:52.83
+Training:   6%|▋         | 3800/60000 [3:10:27<48:03:12,  3.08s/step]INFO 2026-07-19 08:30:19 ot_train.py:646 step:4K smpl:486K ep:11K epch:2.23 loss:0.055 grdn:0.309 lr:9.9e-05 updt_s:1.567 data_s:1.448 smp/s:42 mem_gb:52.83
+Training:   7%|▋         | 4000/60000 [3:20:25<46:02:04,  2.96s/step]INFO 2026-07-19 08:40:16 ot_train.py:646 step:4K smpl:512K ep:12K epch:2.34 loss:0.055 grdn:0.303 lr:9.9e-05 updt_s:1.541 data_s:1.442 smp/s:43 mem_gb:52.83
+Training:   7%|▋         | 4200/60000 [3:30:24<48:18:29,  3.12s/step]INFO 2026-07-19 08:50:16 ot_train.py:646 step:4K smpl:538K ep:12K epch:2.46 loss:0.054 grdn:0.294 lr:9.9e-05 updt_s:1.556 data_s:1.438 smp/s:43 mem_gb:52.83
+Training:   7%|▋         | 4400/60000 [3:40:27<54:25:20,  3.52s/step]INFO 2026-07-19 09:00:19 ot_train.py:646 step:4K smpl:563K ep:13K epch:2.58 loss:0.054 grdn:0.290 lr:9.9e-05 updt_s:1.537 data_s:1.476 smp/s:42 mem_gb:52.83
+Training:   8%|▊         | 4600/60000 [3:50:19<43:28:36,  2.83s/step]INFO 2026-07-19 09:10:11 ot_train.py:646 step:5K smpl:589K ep:13K epch:2.70 loss:0.052 grdn:0.289 lr:9.9e-05 updt_s:1.550 data_s:1.408 smp/s:43 mem_gb:52.75
+Training:   8%|▊         | 4800/60000 [4:00:15<47:01:38,  3.07s/step]INFO 2026-07-19 09:20:06 ot_train.py:646 step:5K smpl:614K ep:14K epch:2.81 loss:0.053 grdn:0.286 lr:9.9e-05 updt_s:1.580 data_s:1.394 smp/s:43 mem_gb:52.83
+Training:   8%|▊         | 5000/60000 [4:10:16<47:22:12,  3.10s/step]INFO 2026-07-19 09:30:07 ot_train.py:646 step:5K smpl:640K ep:14K epch:2.93 loss:0.051 grdn:0.272 lr:9.9e-05 updt_s:1.588 data_s:1.413 smp/s:43 mem_gb:52.83
+Training:   9%|▊         | 5200/60000 [4:20:17<46:59:24,  3.09s/step]INFO 2026-07-19 09:40:08 ot_train.py:646 step:5K smpl:666K ep:15K epch:3.05 loss:0.050 grdn:0.263 lr:9.9e-05 updt_s:1.609 data_s:1.394 smp/s:43 mem_gb:52.83
+Training:   9%|▉         | 5400/60000 [4:30:19<45:24:35,  2.99s/step]INFO 2026-07-19 09:50:10 ot_train.py:646 step:5K smpl:691K ep:16K epch:3.17 loss:0.049 grdn:0.256 lr:9.8e-05 updt_s:1.610 data_s:1.397 smp/s:43 mem_gb:52.83
+Training:   9%|▉         | 5600/60000 [4:40:18<45:15:30,  3.00s/step]INFO 2026-07-19 10:00:09 ot_train.py:646 step:6K smpl:717K ep:16K epch:3.28 loss:0.048 grdn:0.259 lr:9.8e-05 updt_s:1.623 data_s:1.370 smp/s:43 mem_gb:52.83
+Training:  10%|▉         | 5800/60000 [4:50:11<45:37:34,  3.03s/step]INFO 2026-07-19 10:10:02 ot_train.py:646 step:6K smpl:742K ep:17K epch:3.40 loss:0.049 grdn:0.276 lr:9.8e-05 updt_s:1.553 data_s:1.408 smp/s:43 mem_gb:52.75
+Training:  10%|█         | 6000/60000 [5:00:07<45:41:49,  3.05s/step]INFO 2026-07-19 10:19:58 ot_train.py:646 step:6K smpl:768K ep:17K epch:3.52 loss:0.050 grdn:0.266 lr:9.8e-05 updt_s:1.608 data_s:1.369 smp/s:43 mem_gb:52.83
+Training:  10%|█         | 6200/60000 [5:10:02<44:59:19,  3.01s/step]INFO 2026-07-19 10:29:54 ot_train.py:646 step:6K smpl:794K ep:18K epch:3.63 loss:0.051 grdn:0.292 lr:9.8e-05 updt_s:1.621 data_s:1.354 smp/s:43 mem_gb:52.83
+Training:  11%|█         | 6400/60000 [5:19:56<50:24:31,  3.39s/step]INFO 2026-07-19 10:39:48 ot_train.py:646 step:6K smpl:819K ep:18K epch:3.75 loss:0.047 grdn:0.253 lr:9.8e-05 updt_s:1.641 data_s:1.325 smp/s:43 mem_gb:52.83
+Training:  11%|█         | 6600/60000 [5:29:54<42:54:08,  2.89s/step]INFO 2026-07-19 10:49:46 ot_train.py:646 step:7K smpl:845K ep:19K epch:3.87 loss:0.047 grdn:0.245 lr:9.8e-05 updt_s:1.655 data_s:1.334 smp/s:43 mem_gb:52.83
+Training:  11%|█▏        | 6800/60000 [5:39:58<41:05:42,  2.78s/step]INFO 2026-07-19 10:59:50 ot_train.py:646 step:7K smpl:870K ep:20K epch:3.99 loss:0.047 grdn:0.254 lr:9.7e-05 updt_s:1.611 data_s:1.405 smp/s:42 mem_gb:52.75
+Training:  12%|█▏        | 7000/60000 [5:49:52<45:16:54,  3.08s/step]INFO 2026-07-19 11:09:44 ot_train.py:646 step:7K smpl:896K ep:20K epch:4.10 loss:0.046 grdn:0.242 lr:9.7e-05 updt_s:1.595 data_s:1.372 smp/s:43 mem_gb:52.83
+Training:  12%|█▏        | 7200/60000 [5:59:44<45:55:59,  3.13s/step]INFO 2026-07-19 11:19:36 ot_train.py:646 step:7K smpl:922K ep:21K epch:4.22 loss:0.045 grdn:0.236 lr:9.7e-05 updt_s:1.598 data_s:1.361 smp/s:43 mem_gb:52.83
+Training:  12%|█▏        | 7400/60000 [6:09:42<44:34:01,  3.05s/step]INFO 2026-07-19 11:29:34 ot_train.py:646 step:7K smpl:947K ep:21K epch:4.34 loss:0.046 grdn:0.247 lr:9.7e-05 updt_s:1.636 data_s:1.353 smp/s:43 mem_gb:52.83
+Training:  13%|█▎        | 7600/60000 [6:19:50<55:28:19,  3.81s/step]INFO 2026-07-19 11:39:42 ot_train.py:646 step:8K smpl:973K ep:22K epch:4.45 loss:0.045 grdn:0.238 lr:9.7e-05 updt_s:1.673 data_s:1.362 smp/s:42 mem_gb:52.83
+Training:  13%|█▎        | 7800/60000 [6:31:52<51:02:25,  3.52s/step]INFO 2026-07-19 11:51:43 ot_train.py:646 step:8K smpl:998K ep:23K epch:4.57 loss:0.044 grdn:0.234 lr:9.6e-05 updt_s:1.935 data_s:1.670 smp/s:36 mem_gb:52.83
+Training:  13%|█▎        | 8000/60000 [6:42:25<40:55:00,  2.83s/step]INFO 2026-07-19 12:02:17 ot_train.py:646 step:8K smpl:1M ep:23K epch:4.69 loss:0.044 grdn:0.246 lr:9.6e-05 updt_s:1.684 data_s:1.481 smp/s:40 mem_gb:52.75
+Training:  14%|█▎        | 8200/60000 [6:54:05<52:22:07,  3.64s/step]INFO 2026-07-19 12:13:57 ot_train.py:646 step:8K smpl:1M ep:24K epch:4.81 loss:0.043 grdn:0.236 lr:9.6e-05 updt_s:1.761 data_s:1.736 smp/s:37 mem_gb:52.83
+Training:  14%|█▍        | 8400/60000 [7:04:58<33:48:30,  2.36s/step]INFO 2026-07-19 12:24:49 ot_train.py:646 step:8K smpl:1M ep:24K epch:4.92 loss:0.043 grdn:0.225 lr:9.6e-05 updt_s:1.664 data_s:1.593 smp/s:39 mem_gb:52.83
+Training:  14%|█▍        | 8600/60000 [7:15:22<51:38:07,  3.62s/step]INFO 2026-07-19 12:35:14 ot_train.py:646 step:9K smpl:1M ep:25K epch:5.04 loss:0.046 grdn:0.249 lr:9.6e-05 updt_s:1.655 data_s:1.465 smp/s:41 mem_gb:52.83
+Training:  15%|█▍        | 8800/60000 [7:27:07<44:44:24,  3.15s/step]INFO 2026-07-19 12:46:59 ot_train.py:646 step:9K smpl:1M ep:25K epch:5.16 loss:0.043 grdn:0.236 lr:9.5e-05 updt_s:1.752 data_s:1.769 smp/s:36 mem_gb:52.83
+Training:  15%|█▌        | 9000/60000 [7:37:05<50:27:50,  3.56s/step]INFO 2026-07-19 12:56:56 ot_train.py:646 step:9K smpl:1M ep:26K epch:5.28 loss:0.042 grdn:0.225 lr:9.5e-05 updt_s:1.600 data_s:1.383 smp/s:43 mem_gb:52.83
+Training:  15%|█▌        | 9200/60000 [7:49:03<51:25:55,  3.64s/step]INFO 2026-07-19 13:08:54 ot_train.py:646 step:9K smpl:1M ep:27K epch:5.39 loss:0.041 grdn:0.216 lr:9.5e-05 updt_s:1.770 data_s:1.815 smp/s:36 mem_gb:52.75
+Training:  16%|█▌        | 9400/60000 [7:59:17<43:29:17,  3.09s/step]INFO 2026-07-19 13:19:09 ot_train.py:646 step:9K smpl:1M ep:27K epch:5.51 loss:0.040 grdn:0.219 lr:9.5e-05 updt_s:1.609 data_s:1.460 smp/s:42 mem_gb:52.83
+Training:  16%|█▌        | 9600/60000 [8:11:03<50:23:40,  3.60s/step]INFO 2026-07-19 13:30:54 ot_train.py:646 step:10K smpl:1M ep:28K epch:5.63 loss:0.041 grdn:0.216 lr:9.4e-05 updt_s:1.728 data_s:1.796 smp/s:36 mem_gb:52.83
+Training:  16%|█▋        | 9800/60000 [8:21:55<32:47:35,  2.35s/step]INFO 2026-07-19 13:41:46 ot_train.py:646 step:10K smpl:1M ep:28K epch:5.74 loss:0.041 grdn:0.225 lr:9.4e-05 updt_s:1.636 data_s:1.620 smp/s:39 mem_gb:52.83
+Training:  17%|█▋        | 10000/60000 [8:32:31<50:40:33,  3.65s/step]INFO 2026-07-19 13:52:22 ot_train.py:646 step:10K smpl:1M ep:29K epch:5.86 loss:0.041 grdn:0.215 lr:9.4e-05 updt_s:1.653 data_s:1.523 smp/s:40 mem_gb:52.83
+Training:  17%|█▋        | 10200/60000 [8:44:20<44:22:42,  3.21s/step]INFO 2026-07-19 14:04:12 ot_train.py:646 step:10K smpl:1M ep:29K epch:5.98 loss:0.040 grdn:0.214 lr:9.4e-05 updt_s:1.765 data_s:1.778 smp/s:36 mem_gb:52.75
+Training:  17%|█▋        | 10400/60000 [8:53:56<47:41:21,  3.46s/step]INFO 2026-07-19 14:13:47 ot_train.py:646 step:10K smpl:1M ep:30K epch:6.10 loss:0.039 grdn:0.214 lr:9.3e-05 updt_s:1.554 data_s:1.321 smp/s:45 mem_gb:52.83
+Training:  18%|█▊        | 10600/60000 [9:05:47<48:48:24,  3.56s/step]INFO 2026-07-19 14:25:39 ot_train.py:646 step:11K smpl:1M ep:31K epch:6.21 loss:0.039 grdn:0.212 lr:9.3e-05 updt_s:1.763 data_s:1.790 smp/s:36 mem_gb:52.83
+Training:  18%|█▊        | 10800/60000 [9:15:29<38:04:37,  2.79s/step]INFO 2026-07-19 14:35:21 ot_train.py:646 step:11K smpl:1M ep:31K epch:6.33 loss:0.039 grdn:0.218 lr:9.3e-05 updt_s:1.525 data_s:1.384 smp/s:44 mem_gb:52.83
+Training:  18%|█▊        | 11000/60000 [9:26:44<49:22:04,  3.63s/step]INFO 2026-07-19 14:46:36 ot_train.py:646 step:11K smpl:1M ep:32K epch:6.45 loss:0.039 grdn:0.222 lr:9.3e-05 updt_s:1.705 data_s:1.665 smp/s:38 mem_gb:52.83
+Training:  19%|█▊        | 11200/60000 [9:38:00<35:22:14,  2.61s/step]INFO 2026-07-19 14:57:52 ot_train.py:646 step:11K smpl:1M ep:32K epch:6.57 loss:0.039 grdn:0.213 lr:9.2e-05 updt_s:1.748 data_s:1.628 smp/s:38 mem_gb:52.83
+Training:  19%|█▉        | 11400/60000 [9:48:28<49:08:40,  3.64s/step]INFO 2026-07-19 15:08:19 ot_train.py:646 step:11K smpl:1M ep:33K epch:6.68 loss:0.041 grdn:0.222 lr:9.2e-05 updt_s:1.668 data_s:1.467 smp/s:41 mem_gb:52.75
+Training:  19%|█▉        | 11600/60000 [10:00:14<45:01:28,  3.35s/step]INFO 2026-07-19 15:20:06 ot_train.py:646 step:12K smpl:1M ep:34K epch:6.80 loss:0.039 grdn:0.231 lr:9.2e-05 updt_s:1.751 data_s:1.775 smp/s:36 mem_gb:52.83
+Training:  20%|█▉        | 11800/60000 [10:09:32<44:58:45,  3.36s/step]INFO 2026-07-19 15:29:23 ot_train.py:646 step:12K smpl:2M ep:34K epch:6.92 loss:0.037 grdn:0.200 lr:9.2e-05 updt_s:1.504 data_s:1.283 smp/s:46 mem_gb:52.83
+Training:  20%|█▉        | 11808/60000 [10:09:59<44:41:54,  3.34s/step]

Abs_6D + DeltaEE/Baseline/wandb/run-20260719_051936-811mctc7/files/requirements.txt

@@ -0,0 +1,117 @@
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+importlib_metadata==9.0.0
+wheel==0.47.0
+cloudpickle==3.1.2
+nvidia-cusolver-cu12==11.7.3.90
+multiprocess==0.70.19
+torch==2.11.0+cu128
+nvidia-nvjitlink-cu12==12.8.93
+fsspec==2026.2.0
+pytz==2026.2
+hf-xet==1.5.1
+tokenizers==0.22.2
+opencv-python-headless==4.13.0.92
+cuda-pathfinder==1.2.2
+frozenlist==1.8.0
+smmap==5.0.3
+httpcore==1.0.9
+nvidia-nvshmem-cu12==3.4.5
+nvidia-cuda-nvrtc-cu12==12.8.93
+annotated-types==0.7.0
+platformdirs==4.10.0
+click==8.4.2
+pyyaml-include==1.4.1
+MarkupSafe==3.0.3
+Jinja2==3.1.6
+urllib3==2.7.0
+nvidia-curand-cu12==10.3.9.90
+certifi==2026.6.17
+nvidia-cuda-runtime-cu12==12.8.90
+torchcodec==0.11.1
+toml==0.10.2
+av==15.1.0
+nvidia-cufft-cu12==11.3.3.83
+attrs==26.1.0
+lerobot==0.6.0
+PyYAML==6.0.3
+safetensors==0.8.0
+diffusers==0.35.2
+requests==2.34.2
+nvidia-nvtx-cu12==12.8.90
+charset-normalizer==3.4.9
+networkx==3.6.1
+cmake==4.1.3
+pydantic_core==2.46.4
+timm==1.0.28
+dm-tree==0.1.10
+nvidia-cufile-cu12==1.13.1.3
+termcolor==3.3.0
+multidict==6.7.1
+filelock==3.29.0
+tzdata==2026.3
+aiohappyeyeballs==2.7.1
+httpx==0.28.1
+nvidia-nccl-cu12==2.28.9
+Pygments==2.20.0
+einops==0.8.2
+nvidia-cusparse-cu12==12.5.8.93
+torchvision==0.26.0+cu128
+dill==0.4.1
+GitPython==3.1.51
+nvidia-cuda-cupti-cu12==12.8.90
+decord==0.6.0
+sympy==1.14.0
+cuda-toolkit==12.8.1
+python-dateutil==2.9.0.post0
+shellingham==1.5.4
+propcache==0.5.2
+Farama-Notifications==0.0.6
+pillow==12.2.0
+cuda-bindings==12.9.4
+huggingface_hub==1.23.0
+pandas==2.3.3
+typing-inspect==0.9.0
+packaging==25.0
+rich==15.0.0
+nvidia-cusparselt-cu12==0.7.1
+setuptools==78.1.0
+wrapt==2.2.2
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+tqdm==4.68.4
+draccus==0.10.0
+aiosignal==1.4.0
+mpmath==1.3.0
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+psutil==7.2.2
+mdurl==0.1.2
+nvidia-cublas-cu12==12.8.4.1
+absl-py==2.5.0
+gitdb==4.0.12
+transformers==5.5.4
+accelerate==1.14.0
+pydantic==2.13.4
+pip==26.1.2
+markdown-it-py==4.2.0
+typer==0.26.8
+triton==3.6.0
+wandb==0.27.2
+regex==2026.7.10
+yarl==1.24.2
+jsonlines==4.0.0
+mergedeep==1.3.4
+aiohttp==3.14.1
+datasets==4.8.5
+gymnasium==1.3.0
+peft==0.19.1
+zipp==4.1.0
+idna==3.18
+nvidia-cudnn-cu12==9.19.0.56
+h11==0.16.0
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Abs_6D + DeltaEE/Baseline/wandb/run-20260719_051936-811mctc7/files/wandb-metadata.json

@@ -0,0 +1,92 @@
+{
+  "os": "Linux-6.8.0-107-generic-x86_64-with-glibc2.39",
+  "python": "CPython 3.12.13",
+  "startedAt": "2026-07-18T20:19:36.353057Z",
+  "args": [
+    "--config_path=/tmp/insight_lerobot_cfg_1ne6nxyo/baseline.yaml",
+    "--batch_size=128"
+  ],
+  "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": {
+    "remote": "git@github.com:paragon7060/clvla.git",
+    "commit": "a9df08f7da2d8eb1fa7f28708b4eb6f6dc81b1f9"
+  },
+  "root": "/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/Baseline",
+  "host": "DGX-H200-01",
+  "executable": "/home/ext_minje/miniforge3/envs/lerobot060_groot/bin/python",
+  "cpu_count": 112,
+  "cpu_count_logical": 224,
+  "gpu": "NVIDIA H200",
+  "gpu_count": 8,
+  "disk": {
+    "/": {
+      "total": "1888425144320",
+      "used": "1505621188608"
+    }
+  },
+  "memory": {
+    "total": "2164177309696"
+  },
+  "gpu_nvidia": [
+    {
+      "name": "NVIDIA H200",
+      "memoryTotal": "150754820096",
+      "cudaCores": 16896,
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Abs_6D + DeltaEE/Baseline/wandb/run-20260719_051936-811mctc7/files/wandb-summary.json

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Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K.interrupted_reboot_20260719T051924/wandb/debug.log

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Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K.interrupted_reboot_20260719T051924/wandb/run-20260717_154330-ro94ou5y/files/output.log

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+INFO 2026-07-17 15:43:32 db_utils.py:121 Logs will be synced with wandb.
+INFO 2026-07-17 15:43:32 db_utils.py:122 Track this run --> https://wandb.ai/minje227_hyu-hanyang-university/lerobot/runs/ro94ou5y
+INFO 2026-07-17 15:43:32 ot_train.py:298 Creating dataset
+INFO 2026-07-17 15:43:35 ot_train.py:332 Creating policy
+Fetching 27 files: 100%|██████████| 27/27 [00:00<00:00, 1137.52it/s]
+`torch_dtype` is deprecated! Use `dtype` instead!
+Loading weights: 100%|██████████| 1031/1031 [00:00<00:00, 1746.15it/s]
+INFO 2026-07-17 15:43:42 ot_train.py:405 Creating optimizer and scheduler
+INFO 2026-07-17 15:43:42 ot_train.py:439 Output dir: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K
+INFO 2026-07-17 15:43:42 ot_train.py:446 cfg.steps=60000 (60K)
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+Training:  10%|▉         | 5800/60000 [5:34:45<47:52:16,  3.18s/step]INFO 2026-07-17 21:18:28 ot_train.py:649 step:6K smpl:742K ep:17K epch:3.40 loss:0.061 grdn:0.414 lr:9.5e-05 updt_s:1.603 data_s:1.605 smp/s:40 mem_gb:52.90
+Training:  10%|█         | 6000/60000 [5:45:21<46:23:32,  3.09s/step]INFO 2026-07-17 21:29:04 ot_train.py:649 step:6K smpl:768K ep:17K epch:3.52 loss:0.061 grdn:0.405 lr:9.8e-05 updt_s:1.564 data_s:1.610 smp/s:40 mem_gb:52.98
+Training:  10%|█         | 6200/60000 [5:55:52<45:07:20,  3.02s/step]INFO 2026-07-17 21:39:35 ot_train.py:649 step:6K smpl:794K ep:18K epch:3.63 loss:0.060 grdn:0.391 lr:1.0e-04 updt_s:1.575 data_s:1.573 smp/s:41 mem_gb:52.98
+Training:  11%|█         | 6400/60000 [6:06:31<45:01:13,  3.02s/step]INFO 2026-07-17 21:50:14 ot_train.py:649 step:6K smpl:819K ep:18K epch:3.75 loss:0.058 grdn:0.376 lr:1.0e-04 updt_s:1.586 data_s:1.604 smp/s:40 mem_gb:52.98
+Training:  11%|█         | 6600/60000 [6:17:01<46:09:52,  3.11s/step]INFO 2026-07-17 22:00:45 ot_train.py:649 step:7K smpl:845K ep:19K epch:3.87 loss:0.057 grdn:0.361 lr:1.0e-04 updt_s:1.565 data_s:1.581 smp/s:41 mem_gb:52.98
+Training:  11%|█▏        | 6800/60000 [6:27:27<45:33:22,  3.08s/step]INFO 2026-07-17 22:11:10 ot_train.py:649 step:7K smpl:870K ep:20K epch:3.99 loss:0.056 grdn:0.350 lr:1.0e-04 updt_s:1.563 data_s:1.562 smp/s:41 mem_gb:52.90
+Training:  12%|█▏        | 7000/60000 [6:37:52<46:10:14,  3.14s/step]INFO 2026-07-17 22:21:35 ot_train.py:649 step:7K smpl:896K ep:20K epch:4.10 loss:0.055 grdn:0.352 lr:1.0e-04 updt_s:1.638 data_s:1.480 smp/s:41 mem_gb:52.98
+Training:  12%|█▏        | 7200/60000 [6:48:02<45:02:32,  3.07s/step]INFO 2026-07-17 22:31:45 ot_train.py:649 step:7K smpl:922K ep:21K epch:4.22 loss:0.054 grdn:0.331 lr:1.0e-04 updt_s:1.598 data_s:1.449 smp/s:42 mem_gb:52.98
+Training:  12%|█▏        | 7400/60000 [6:58:22<45:38:31,  3.12s/step]INFO 2026-07-17 22:42:05 ot_train.py:649 step:7K smpl:947K ep:21K epch:4.34 loss:0.052 grdn:0.341 lr:1.0e-04 updt_s:1.631 data_s:1.464 smp/s:41 mem_gb:52.98
+Training:  13%|█▎        | 7600/60000 [7:08:39<45:14:49,  3.11s/step]INFO 2026-07-17 22:52:22 ot_train.py:649 step:8K smpl:973K ep:22K epch:4.45 loss:0.052 grdn:0.327 lr:1.0e-04 updt_s:1.587 data_s:1.493 smp/s:42 mem_gb:52.98
+Training:  13%|█▎        | 7800/60000 [7:19:01<43:32:52,  3.00s/step]INFO 2026-07-17 23:02:44 ot_train.py:649 step:8K smpl:998K ep:23K epch:4.57 loss:0.052 grdn:0.318 lr:1.0e-04 updt_s:1.587 data_s:1.514 smp/s:41 mem_gb:52.98
+Training:  13%|█▎        | 8000/60000 [7:29:20<42:03:15,  2.91s/step]INFO 2026-07-17 23:13:04 ot_train.py:649 step:8K smpl:1M ep:23K epch:4.69 loss:0.050 grdn:0.315 lr:1.0e-04 updt_s:1.601 data_s:1.492 smp/s:41 mem_gb:52.90
+Training:  14%|█▎        | 8200/60000 [7:39:44<43:52:39,  3.05s/step]INFO 2026-07-17 23:23:27 ot_train.py:649 step:8K smpl:1M ep:24K epch:4.81 loss:0.049 grdn:0.307 lr:1.0e-04 updt_s:1.588 data_s:1.522 smp/s:41 mem_gb:52.98
+Training:  14%|█▍        | 8400/60000 [7:50:10<45:05:24,  3.15s/step]INFO 2026-07-17 23:33:53 ot_train.py:649 step:8K smpl:1M ep:24K epch:4.92 loss:0.053 grdn:0.345 lr:1.0e-04 updt_s:1.628 data_s:1.498 smp/s:41 mem_gb:52.98
+Training:  14%|█▍        | 8600/60000 [8:00:40<44:48:47,  3.14s/step]INFO 2026-07-17 23:44:23 ot_train.py:649 step:9K smpl:1M ep:25K epch:5.04 loss:0.050 grdn:0.315 lr:9.9e-05 updt_s:1.584 data_s:1.560 smp/s:41 mem_gb:52.98
+Training:  15%|█▍        | 8800/60000 [8:11:04<44:57:06,  3.16s/step]INFO 2026-07-17 23:54:47 ot_train.py:649 step:9K smpl:1M ep:25K epch:5.16 loss:0.048 grdn:0.303 lr:9.9e-05 updt_s:1.569 data_s:1.544 smp/s:41 mem_gb:52.98
+Training:  15%|█▌        | 9000/60000 [8:21:32<44:53:36,  3.17s/step]INFO 2026-07-18 00:05:15 ot_train.py:649 step:9K smpl:1M ep:26K epch:5.28 loss:0.048 grdn:0.285 lr:9.9e-05 updt_s:1.604 data_s:1.534 smp/s:41 mem_gb:52.98
+Training:  15%|█▌        | 9200/60000 [8:31:59<44:35:45,  3.16s/step]INFO 2026-07-18 00:15:42 ot_train.py:649 step:9K smpl:1M ep:27K epch:5.39 loss:0.047 grdn:0.296 lr:9.9e-05 updt_s:1.580 data_s:1.548 smp/s:41 mem_gb:52.90
+Training:  16%|█▌        | 9400/60000 [8:42:18<52:15:40,  3.72s/step]INFO 2026-07-18 00:26:01 ot_train.py:649 step:9K smpl:1M ep:27K epch:5.51 loss:0.046 grdn:0.295 lr:9.9e-05 updt_s:1.614 data_s:1.477 smp/s:41 mem_gb:52.98
+Training:  16%|█▌        | 9600/60000 [8:52:52<45:51:53,  3.28s/step]INFO 2026-07-18 00:36:35 ot_train.py:649 step:10K smpl:1M ep:28K epch:5.63 loss:0.048 grdn:0.307 lr:9.9e-05 updt_s:1.650 data_s:1.511 smp/s:40 mem_gb:52.98
+Training:  16%|█▋        | 9800/60000 [9:02:52<38:01:09,  2.73s/step]INFO 2026-07-18 00:46:35 ot_train.py:649 step:10K smpl:1M ep:28K epch:5.74 loss:0.044 grdn:0.287 lr:9.9e-05 updt_s:1.576 data_s:1.420 smp/s:43 mem_gb:52.98
+Training:  17%|█▋        | 10000/60000 [9:13:03<45:43:35,  3.29s/step]INFO 2026-07-18 00:56:46 ot_train.py:649 step:10K smpl:1M ep:29K epch:5.86 loss:0.044 grdn:0.274 lr:9.9e-05 updt_s:1.629 data_s:1.419 smp/s:42 mem_gb:52.98
+INFO 2026-07-18 00:56:46 ot_train.py:103 INSIGHT phase transition: index=1 name=fm_only range=[10000,60000) trainable_params=1620515968
+Training:  17%|█▋        | 10200/60000 [9:23:07<41:26:46,  3.00s/step]INFO 2026-07-18 01:06:50 ot_train.py:649 step:10K smpl:1M ep:29K epch:5.98 loss:0.043 grdn:0.269 lr:9.9e-05 updt_s:1.611 data_s:1.407 smp/s:42 mem_gb:52.77
+Training:  17%|█▋        | 10400/60000 [9:33:17<39:43:04,  2.88s/step]INFO 2026-07-18 01:17:00 ot_train.py:649 step:10K smpl:1M ep:30K epch:6.10 loss:0.043 grdn:0.266 lr:9.8e-05 updt_s:1.660 data_s:1.386 smp/s:42 mem_gb:52.85
+Training:  18%|█▊        | 10600/60000 [9:43:31<47:54:51,  3.49s/step]INFO 2026-07-18 01:27:14 ot_train.py:649 step:11K smpl:1M ep:31K epch:6.21 loss:0.042 grdn:0.263 lr:9.8e-05 updt_s:1.671 data_s:1.392 smp/s:42 mem_gb:52.85
+Training:  18%|█▊        | 10800/60000 [9:53:47<43:22:45,  3.17s/step]INFO 2026-07-18 01:37:30 ot_train.py:649 step:11K smpl:1M ep:31K epch:6.33 loss:0.043 grdn:0.273 lr:9.8e-05 updt_s:1.597 data_s:1.479 smp/s:42 mem_gb:52.85
+Training:  18%|█▊        | 11000/60000 [10:04:06<39:12:30,  2.88s/step]INFO 2026-07-18 01:47:49 ot_train.py:649 step:11K smpl:1M ep:32K epch:6.45 loss:0.042 grdn:0.262 lr:9.8e-05 updt_s:1.558 data_s:1.531 smp/s:41 mem_gb:52.85
+Training:  19%|█▊        | 11200/60000 [10:14:08<38:30:29,  2.84s/step]INFO 2026-07-18 01:57:51 ot_train.py:649 step:11K smpl:1M ep:32K epch:6.57 loss:0.046 grdn:0.298 lr:9.8e-05 updt_s:1.604 data_s:1.398 smp/s:43 mem_gb:52.85
+Training:  19%|█▉        | 11400/60000 [10:24:20<42:23:51,  3.14s/step]INFO 2026-07-18 02:08:03 ot_train.py:649 step:11K smpl:1M ep:33K epch:6.68 loss:0.042 grdn:0.271 lr:9.8e-05 updt_s:1.596 data_s:1.460 smp/s:42 mem_gb:52.77
+Training:  19%|█▉        | 11600/60000 [10:34:35<41:58:04,  3.12s/step]INFO 2026-07-18 02:18:18 ot_train.py:649 step:12K smpl:1M ep:34K epch:6.80 loss:0.041 grdn:0.259 lr:9.7e-05 updt_s:1.604 data_s:1.466 smp/s:42 mem_gb:52.85
+Training:  20%|█▉        | 11800/60000 [10:44:52<41:16:52,  3.08s/step]INFO 2026-07-18 02:28:35 ot_train.py:649 step:12K smpl:2M ep:34K epch:6.92 loss:0.041 grdn:0.267 lr:9.7e-05 updt_s:1.545 data_s:1.532 smp/s:42 mem_gb:52.85
+Training:  20%|██        | 12000/60000 [10:55:13<40:48:12,  3.06s/step]INFO 2026-07-18 02:38:56 ot_train.py:649 step:12K smpl:2M ep:35K epch:7.03 loss:0.040 grdn:0.256 lr:9.7e-05 updt_s:1.502 data_s:1.597 smp/s:41 mem_gb:52.85
+Training:  20%|██        | 12200/60000 [11:05:40<41:32:33,  3.13s/step]INFO 2026-07-18 02:49:23 ot_train.py:649 step:12K smpl:2M ep:35K epch:7.15 loss:0.040 grdn:0.250 lr:9.7e-05 updt_s:1.557 data_s:1.574 smp/s:41 mem_gb:52.85
+Training:  21%|██        | 12400/60000 [11:16:25<41:43:08,  3.16s/step]INFO 2026-07-18 03:00:08 ot_train.py:649 step:12K smpl:2M ep:36K epch:7.27 loss:0.042 grdn:0.268 lr:9.7e-05 updt_s:1.645 data_s:1.577 smp/s:40 mem_gb:52.85
+Training:  21%|██        | 12600/60000 [11:27:05<45:48:33,  3.48s/step]INFO 2026-07-18 03:10:48 ot_train.py:649 step:13K smpl:2M ep:36K epch:7.39 loss:0.039 grdn:0.255 lr:9.6e-05 updt_s:1.630 data_s:1.566 smp/s:40 mem_gb:52.77
+Training:  21%|██▏       | 12800/60000 [11:37:39<41:05:44,  3.13s/step]INFO 2026-07-18 03:21:22 ot_train.py:649 step:13K smpl:2M ep:37K epch:7.50 loss:0.039 grdn:0.248 lr:9.6e-05 updt_s:1.615 data_s:1.551 smp/s:40 mem_gb:52.85
+Training:  22%|██▏       | 13000/60000 [11:48:19<39:00:05,  2.99s/step]INFO 2026-07-18 03:32:02 ot_train.py:649 step:13K smpl:2M ep:38K epch:7.62 loss:0.039 grdn:0.244 lr:9.6e-05 updt_s:1.623 data_s:1.570 smp/s:40 mem_gb:52.85
+Training:  22%|██▏       | 13200/60000 [11:58:47<41:04:34,  3.16s/step]INFO 2026-07-18 03:42:31 ot_train.py:649 step:13K smpl:2M ep:38K epch:7.74 loss:0.039 grdn:0.249 lr:9.6e-05 updt_s:1.588 data_s:1.551 smp/s:41 mem_gb:52.85
+Training:  22%|██▏       | 13400/60000 [12:09:27<39:52:03,  3.08s/step]INFO 2026-07-18 03:53:10 ot_train.py:649 step:13K smpl:2M ep:39K epch:7.85 loss:0.040 grdn:0.261 lr:9.6e-05 updt_s:1.627 data_s:1.564 smp/s:40 mem_gb:52.85
+Training:  23%|██▎       | 13600/60000 [12:19:53<46:21:01,  3.60s/step]INFO 2026-07-18 04:03:36 ot_train.py:649 step:14K smpl:2M ep:39K epch:7.97 loss:0.039 grdn:0.254 lr:9.5e-05 updt_s:1.568 data_s:1.559 smp/s:41 mem_gb:52.77
+Training:  23%|██▎       | 13800/60000 [12:30:22<39:59:42,  3.12s/step]INFO 2026-07-18 04:14:05 ot_train.py:649 step:14K smpl:2M ep:40K epch:8.09 loss:0.036 grdn:0.246 lr:9.5e-05 updt_s:1.581 data_s:1.560 smp/s:41 mem_gb:52.85
+Training:  23%|██▎       | 14000/60000 [12:40:52<40:04:49,  3.14s/step]INFO 2026-07-18 04:24:35 ot_train.py:649 step:14K smpl:2M ep:40K epch:8.21 loss:0.037 grdn:0.239 lr:9.5e-05 updt_s:1.610 data_s:1.534 smp/s:41 mem_gb:52.85
+Training:  24%|██▎       | 14200/60000 [12:51:24<40:30:20,  3.18s/step]INFO 2026-07-18 04:35:08 ot_train.py:649 step:14K smpl:2M ep:41K epch:8.32 loss:0.037 grdn:0.236 lr:9.5e-05 updt_s:1.592 data_s:1.567 smp/s:41 mem_gb:52.85
+Training:  24%|██▍       | 14400/60000 [13:01:46<42:47:01,  3.38s/step]INFO 2026-07-18 04:45:29 ot_train.py:649 step:14K smpl:2M ep:42K epch:8.44 loss:0.037 grdn:0.231 lr:9.4e-05 updt_s:1.570 data_s:1.534 smp/s:41 mem_gb:52.85
+Training:  24%|██▍       | 14600/60000 [13:12:18<40:45:51,  3.23s/step]INFO 2026-07-18 04:56:01 ot_train.py:649 step:15K smpl:2M ep:42K epch:8.56 loss:0.037 grdn:0.236 lr:9.4e-05 updt_s:1.616 data_s:1.538 smp/s:41 mem_gb:52.85
+Training:  25%|██▍       | 14800/60000 [13:22:49<38:56:30,  3.10s/step]INFO 2026-07-18 05:06:32 ot_train.py:649 step:15K smpl:2M ep:43K epch:8.68 loss:0.039 grdn:0.254 lr:9.4e-05 updt_s:1.567 data_s:1.582 smp/s:41 mem_gb:52.77
+Training:  25%|██▌       | 15000/60000 [13:33:19<38:54:11,  3.11s/step]INFO 2026-07-18 05:17:02 ot_train.py:649 step:15K smpl:2M ep:43K epch:8.79 loss:0.037 grdn:0.242 lr:9.3e-05 updt_s:1.601 data_s:1.544 smp/s:41 mem_gb:52.85
+Training:  25%|██▌       | 15200/60000 [13:43:38<42:05:23,  3.38s/step]INFO 2026-07-18 05:27:21 ot_train.py:649 step:15K smpl:2M ep:44K epch:8.91 loss:0.036 grdn:0.229 lr:9.3e-05 updt_s:1.561 data_s:1.528 smp/s:41 mem_gb:52.85
+Training:  26%|██▌       | 15400/60000 [13:53:55<38:21:55,  3.10s/step]INFO 2026-07-18 05:37:38 ot_train.py:649 step:15K smpl:2M ep:45K epch:9.03 loss:0.036 grdn:0.228 lr:9.3e-05 updt_s:1.582 data_s:1.502 smp/s:42 mem_gb:52.85
+Training:  26%|██▌       | 15600/60000 [14:04:17<40:07:02,  3.25s/step]INFO 2026-07-18 05:48:00 ot_train.py:649 step:16K smpl:2M ep:45K epch:9.14 loss:0.036 grdn:0.239 lr:9.3e-05 updt_s:1.626 data_s:1.476 smp/s:41 mem_gb:52.85
+Training:  26%|██▋       | 15800/60000 [14:14:33<36:42:55,  2.99s/step]INFO 2026-07-18 05:58:16 ot_train.py:649 step:16K smpl:2M ep:46K epch:9.26 loss:0.037 grdn:0.231 lr:9.2e-05 updt_s:1.556 data_s:1.521 smp/s:42 mem_gb:52.85
+Training:  27%|██▋       | 16000/60000 [14:24:51<38:11:14,  3.12s/step]INFO 2026-07-18 06:08:35 ot_train.py:649 step:16K smpl:2M ep:46K epch:9.38 loss:0.033 grdn:0.225 lr:9.2e-05 updt_s:1.567 data_s:1.519 smp/s:41 mem_gb:52.77
+Training:  27%|██▋       | 16200/60000 [14:35:08<38:15:39,  3.14s/step]INFO 2026-07-18 06:18:51 ot_train.py:649 step:16K smpl:2M ep:47K epch:9.50 loss:0.034 grdn:0.230 lr:9.2e-05 updt_s:1.574 data_s:1.505 smp/s:42 mem_gb:52.85
+Training:  27%|██▋       | 16400/60000 [14:45:27<37:05:39,  3.06s/step]INFO 2026-07-18 06:29:10 ot_train.py:649 step:16K smpl:2M ep:47K epch:9.61 loss:0.035 grdn:0.238 lr:9.1e-05 updt_s:1.574 data_s:1.516 smp/s:41 mem_gb:52.85
+Training:  28%|██▊       | 16600/60000 [14:55:38<38:28:12,  3.19s/step]INFO 2026-07-18 06:39:21 ot_train.py:649 step:17K smpl:2M ep:48K epch:9.73 loss:0.035 grdn:0.227 lr:9.1e-05 updt_s:1.539 data_s:1.509 smp/s:42 mem_gb:52.85
+Training:  28%|██▊       | 16800/60000 [15:05:53<34:16:45,  2.86s/step]INFO 2026-07-18 06:49:36 ot_train.py:649 step:17K smpl:2M ep:49K epch:9.85 loss:0.034 grdn:0.229 lr:9.1e-05 updt_s:1.614 data_s:1.455 smp/s:42 mem_gb:52.85
+Training:  28%|██▊       | 17000/60000 [15:16:01<36:41:19,  3.07s/step]INFO 2026-07-18 06:59:44 ot_train.py:649 step:17K smpl:2M ep:49K epch:9.96 loss:0.034 grdn:0.214 lr:9.0e-05 updt_s:1.714 data_s:1.323 smp/s:42 mem_gb:52.77
+Training:  29%|██▊       | 17200/60000 [15:26:07<36:15:27,  3.05s/step]INFO 2026-07-18 07:09:50 ot_train.py:649 step:17K smpl:2M ep:50K epch:10.08 loss:0.032 grdn:0.226 lr:9.0e-05 updt_s:1.828 data_s:1.198 smp/s:42 mem_gb:52.85
+Training:  29%|██▉       | 17400/60000 [15:36:11<31:28:41,  2.66s/step]INFO 2026-07-18 07:19:55 ot_train.py:649 step:17K smpl:2M ep:50K epch:10.20 loss:0.033 grdn:0.233 lr:9.0e-05 updt_s:1.822 data_s:1.193 smp/s:42 mem_gb:52.85
+Training:  29%|██▉       | 17600/60000 [15:46:11<34:20:36,  2.92s/step]INFO 2026-07-18 07:29:55 ot_train.py:649 step:18K smpl:2M ep:51K epch:10.32 loss:0.033 grdn:0.223 lr:8.9e-05 updt_s:1.802 data_s:1.193 smp/s:43 mem_gb:52.85
+Training:  30%|██▉       | 17800/60000 [15:56:18<35:14:09,  3.01s/step]INFO 2026-07-18 07:40:01 ot_train.py:649 step:18K smpl:2M ep:51K epch:10.43 loss:0.033 grdn:0.229 lr:8.9e-05 updt_s:1.820 data_s:1.205 smp/s:42 mem_gb:52.85
+Training:  30%|███       | 18000/60000 [16:06:22<35:57:41,  3.08s/step]INFO 2026-07-18 07:50:05 ot_train.py:649 step:18K smpl:2M ep:52K epch:10.55 loss:0.032 grdn:0.226 lr:8.8e-05 updt_s:1.800 data_s:1.215 smp/s:42 mem_gb:52.85
+Training:  30%|███       | 18200/60000 [16:16:31<36:57:32,  3.18s/step]INFO 2026-07-18 08:00:14 ot_train.py:649 step:18K smpl:2M ep:53K epch:10.67 loss:0.033 grdn:0.228 lr:8.8e-05 updt_s:1.840 data_s:1.203 smp/s:42 mem_gb:52.77
+Training:  31%|███       | 18400/60000 [16:26:43<36:28:41,  3.16s/step]INFO 2026-07-18 08:10:27 ot_train.py:649 step:18K smpl:2M ep:53K epch:10.79 loss:0.031 grdn:0.211 lr:8.8e-05 updt_s:1.775 data_s:1.281 smp/s:42 mem_gb:52.85
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+Training:  37%|███▋      | 22000/60000 [19:24:26<31:21:17,  2.97s/step]INFO 2026-07-18 11:08:10 ot_train.py:649 step:22K smpl:3M ep:64K epch:12.90 loss:0.028 grdn:0.210 lr:8.0e-05 updt_s:1.553 data_s:1.285 smp/s:45 mem_gb:52.85
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+Training:  39%|███▉      | 23600/60000 [20:49:07<31:17:00,  3.09s/step]INFO 2026-07-18 12:32:50 ot_train.py:649 step:24K smpl:3M ep:68K epch:13.83 loss:0.026 grdn:0.201 lr:7.6e-05 updt_s:1.594 data_s:1.584 smp/s:40 mem_gb:52.85
+Training:  40%|███▉      | 23800/60000 [20:59:47<31:21:47,  3.12s/step]INFO 2026-07-18 12:43:30 ot_train.py:649 step:24K smpl:3M ep:69K epch:13.95 loss:0.026 grdn:0.195 lr:7.6e-05 updt_s:1.593 data_s:1.604 smp/s:40 mem_gb:52.77
+Training:  40%|████      | 24000/60000 [21:10:14<30:49:07,  3.08s/step]INFO 2026-07-18 12:53:57 ot_train.py:649 step:24K smpl:3M ep:69K epch:14.07 loss:0.025 grdn:0.199 lr:7.5e-05 updt_s:1.537 data_s:1.591 smp/s:41 mem_gb:52.85
+Training:  40%|████      | 24200/60000 [21:20:51<31:13:08,  3.14s/step]INFO 2026-07-18 13:04:34 ot_train.py:649 step:24K smpl:3M ep:70K epch:14.19 loss:0.025 grdn:0.194 lr:7.5e-05 updt_s:1.579 data_s:1.602 smp/s:40 mem_gb:52.85
+Training:  41%|████      | 24400/60000 [21:31:18<32:13:41,  3.26s/step]INFO 2026-07-18 13:15:01 ot_train.py:649 step:24K smpl:3M ep:71K epch:14.30 loss:0.025 grdn:0.182 lr:7.4e-05 updt_s:1.557 data_s:1.571 smp/s:41 mem_gb:52.85
+Training:  41%|████      | 24600/60000 [21:41:47<31:16:16,  3.18s/step]INFO 2026-07-18 13:25:30 ot_train.py:649 step:25K smpl:3M ep:71K epch:14.42 loss:0.025 grdn:0.191 lr:7.4e-05 updt_s:1.571 data_s:1.570 smp/s:41 mem_gb:52.85
+Training:  41%|████▏     | 24800/60000 [21:52:16<30:12:34,  3.09s/step]INFO 2026-07-18 13:35:59 ot_train.py:649 step:25K smpl:3M ep:72K epch:14.54 loss:0.025 grdn:0.194 lr:7.3e-05 updt_s:1.544 data_s:1.595 smp/s:41 mem_gb:52.85
+Training:  42%|████▏     | 25000/60000 [22:02:39<30:39:38,  3.15s/step]INFO 2026-07-18 13:46:23 ot_train.py:649 step:25K smpl:3M ep:72K epch:14.65 loss:0.023 grdn:0.187 lr:7.3e-05 updt_s:1.590 data_s:1.520 smp/s:41 mem_gb:52.77
+Training:  42%|████▏     | 25200/60000 [22:13:01<28:49:36,  2.98s/step]INFO 2026-07-18 13:56:44 ot_train.py:649 step:25K smpl:3M ep:73K epch:14.77 loss:0.024 grdn:0.194 lr:7.2e-05 updt_s:1.640 data_s:1.463 smp/s:41 mem_gb:52.85
+Training:  42%|████▏     | 25400/60000 [22:23:04<30:06:44,  3.13s/step]INFO 2026-07-18 14:06:47 ot_train.py:649 step:25K smpl:3M ep:73K epch:14.89 loss:0.025 grdn:0.194 lr:7.2e-05 updt_s:1.574 data_s:1.436 smp/s:43 mem_gb:52.85
+Training:  43%|████▎     | 25600/60000 [22:33:23<26:52:55,  2.81s/step]INFO 2026-07-18 14:17:06 ot_train.py:649 step:26K smpl:3M ep:74K epch:15.01 loss:0.026 grdn:0.209 lr:7.1e-05 updt_s:1.652 data_s:1.438 smp/s:41 mem_gb:52.85
+Training:  43%|████▎     | 25800/60000 [22:43:35<27:51:24,  2.93s/step]INFO 2026-07-18 14:27:18 ot_train.py:649 step:26K smpl:3M ep:75K epch:15.12 loss:0.024 grdn:0.183 lr:7.1e-05 updt_s:1.642 data_s:1.412 smp/s:42 mem_gb:52.85
+Training:  43%|████▎     | 26000/60000 [22:53:48<29:33:29,  3.13s/step]INFO 2026-07-18 14:37:31 ot_train.py:649 step:26K smpl:3M ep:75K epch:15.24 loss:0.023 grdn:0.190 lr:7.0e-05 updt_s:1.636 data_s:1.427 smp/s:42 mem_gb:52.77
+Training:  44%|████▎     | 26200/60000 [23:03:48<27:44:40,  2.96s/step]INFO 2026-07-18 14:47:31 ot_train.py:649 step:26K smpl:3M ep:76K epch:15.36 loss:0.023 grdn:0.180 lr:7.0e-05 updt_s:1.706 data_s:1.285 smp/s:43 mem_gb:52.85
+Training:  44%|████▍     | 26400/60000 [23:14:06<29:11:20,  3.13s/step]INFO 2026-07-18 14:57:49 ot_train.py:649 step:26K smpl:3M ep:76K epch:15.47 loss:0.023 grdn:0.185 lr:6.9e-05 updt_s:1.676 data_s:1.409 smp/s:41 mem_gb:52.85
+Training:  44%|████▍     | 26600/60000 [23:24:09<27:53:20,  3.01s/step]INFO 2026-07-18 15:07:52 ot_train.py:649 step:27K smpl:3M ep:77K epch:15.59 loss:0.022 grdn:0.180 lr:6.8e-05 updt_s:1.748 data_s:1.264 smp/s:42 mem_gb:52.85
+Training:  45%|████▍     | 26800/60000 [23:34:22<28:01:52,  3.04s/step]INFO 2026-07-18 15:18:06 ot_train.py:649 step:27K smpl:3M ep:77K epch:15.71 loss:0.022 grdn:0.179 lr:6.8e-05 updt_s:1.654 data_s:1.406 smp/s:42 mem_gb:52.85
+Training:  45%|████▌     | 27000/60000 [23:44:48<26:54:36,  2.94s/step]INFO 2026-07-18 15:28:31 ot_train.py:649 step:27K smpl:3M ep:78K epch:15.83 loss:0.024 grdn:0.196 lr:6.7e-05 updt_s:1.600 data_s:1.524 smp/s:41 mem_gb:52.85
+Training:  45%|████▌     | 27200/60000 [23:55:01<29:19:48,  3.22s/step]INFO 2026-07-18 15:38:45 ot_train.py:649 step:27K smpl:3M ep:79K epch:15.94 loss:0.022 grdn:0.179 lr:6.7e-05 updt_s:1.623 data_s:1.438 smp/s:42 mem_gb:52.77
+Training:  46%|████▌     | 27400/60000 [24:05:09<28:10:14,  3.11s/step]INFO 2026-07-18 15:48:52 ot_train.py:649 step:27K smpl:4M ep:79K epch:16.06 loss:0.021 grdn:0.181 lr:6.6e-05 updt_s:1.613 data_s:1.418 smp/s:42 mem_gb:52.85
+Training:  46%|████▌     | 27600/60000 [24:15:25<26:54:14,  2.99s/step]INFO 2026-07-18 15:59:08 ot_train.py:649 step:28K smpl:4M ep:80K epch:16.18 loss:0.022 grdn:0.179 lr:6.6e-05 updt_s:1.652 data_s:1.426 smp/s:42 mem_gb:52.85
+Training:  46%|████▋     | 27800/60000 [24:25:26<25:43:23,  2.88s/step]INFO 2026-07-18 16:09:09 ot_train.py:649 step:28K smpl:4M ep:80K epch:16.30 loss:0.022 grdn:0.181 lr:6.5e-05 updt_s:1.622 data_s:1.375 smp/s:43 mem_gb:52.85
+Training:  47%|████▋     | 28000/60000 [24:35:28<27:44:51,  3.12s/step]INFO 2026-07-18 16:19:11 ot_train.py:649 step:28K smpl:4M ep:81K epch:16.41 loss:0.023 grdn:0.193 lr:6.5e-05 updt_s:1.623 data_s:1.381 smp/s:43 mem_gb:52.85
+Training:  47%|████▋     | 28200/60000 [24:45:39<27:20:58,  3.10s/step]INFO 2026-07-18 16:29:22 ot_train.py:649 step:28K smpl:4M ep:81K epch:16.53 loss:0.022 grdn:0.175 lr:6.4e-05 updt_s:1.602 data_s:1.448 smp/s:42 mem_gb:52.85
+Training:  47%|████▋     | 28400/60000 [24:55:44<24:59:49,  2.85s/step]INFO 2026-07-18 16:39:28 ot_train.py:649 step:28K smpl:4M ep:82K epch:16.65 loss:0.020 grdn:0.172 lr:6.4e-05 updt_s:1.598 data_s:1.427 smp/s:42 mem_gb:52.77
+Training:  48%|████▊     | 28600/60000 [25:05:59<26:58:57,  3.09s/step]INFO 2026-07-18 16:49:42 ot_train.py:649 step:29K smpl:4M ep:83K epch:16.76 loss:0.021 grdn:0.184 lr:6.3e-05 updt_s:1.650 data_s:1.417 smp/s:42 mem_gb:52.85
+Training:  48%|████▊     | 28800/60000 [25:16:20<26:55:02,  3.11s/step]INFO 2026-07-18 17:00:03 ot_train.py:649 step:29K smpl:4M ep:83K epch:16.88 loss:0.021 grdn:0.178 lr:6.2e-05 updt_s:1.608 data_s:1.492 smp/s:41 mem_gb:52.85
+Training:  48%|████▊     | 29000/60000 [25:26:39<24:13:30,  2.81s/step]INFO 2026-07-18 17:10:22 ot_train.py:649 step:29K smpl:4M ep:84K epch:17.00 loss:0.020 grdn:0.178 lr:6.2e-05 updt_s:1.595 data_s:1.492 smp/s:41 mem_gb:52.85
+Training:  49%|████▊     | 29200/60000 [25:36:53<25:49:05,  3.02s/step]INFO 2026-07-18 17:20:36 ot_train.py:649 step:29K smpl:4M ep:84K epch:17.12 loss:0.021 grdn:0.184 lr:6.1e-05 updt_s:1.639 data_s:1.428 smp/s:42 mem_gb:52.85
+Training:  49%|████▉     | 29400/60000 [25:47:05<25:25:44,  2.99s/step]INFO 2026-07-18 17:30:48 ot_train.py:649 step:29K smpl:4M ep:85K epch:17.23 loss:0.021 grdn:0.186 lr:6.1e-05 updt_s:1.588 data_s:1.467 smp/s:42 mem_gb:52.77
+Training:  49%|████▉     | 29600/60000 [25:57:21<24:30:40,  2.90s/step]INFO 2026-07-18 17:41:04 ot_train.py:649 step:30K smpl:4M ep:86K epch:17.35 loss:0.020 grdn:0.169 lr:6.0e-05 updt_s:1.645 data_s:1.427 smp/s:42 mem_gb:52.85
+Training:  50%|████▉     | 29800/60000 [26:07:23<26:31:01,  3.16s/step]INFO 2026-07-18 17:51:06 ot_train.py:649 step:30K smpl:4M ep:86K epch:17.47 loss:0.020 grdn:0.173 lr:6.0e-05 updt_s:1.569 data_s:1.437 smp/s:43 mem_gb:52.85
+Training:  50%|█████     | 30000/60000 [26:17:26<24:06:28,  2.89s/step]INFO 2026-07-18 18:01:09 ot_train.py:649 step:30K smpl:4M ep:87K epch:17.59 loss:0.020 grdn:0.176 lr:5.9e-05 updt_s:1.582 data_s:1.425 smp/s:43 mem_gb:52.85
+Training:  50%|█████     | 30200/60000 [26:27:35<25:27:54,  3.08s/step]INFO 2026-07-18 18:11:18 ot_train.py:649 step:30K smpl:4M ep:87K epch:17.70 loss:0.019 grdn:0.165 lr:5.8e-05 updt_s:1.643 data_s:1.397 smp/s:42 mem_gb:52.85
+Training:  51%|█████     | 30400/60000 [26:37:37<24:49:53,  3.02s/step]INFO 2026-07-18 18:21:20 ot_train.py:649 step:30K smpl:4M ep:88K epch:17.82 loss:0.020 grdn:0.173 lr:5.8e-05 updt_s:1.672 data_s:1.335 smp/s:43 mem_gb:52.85
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Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K.interrupted_reboot_20260719T051924/wandb/run-20260717_154330-ro94ou5y/files/requirements.txt

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Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K.interrupted_reboot_20260719T051924/wandb/run-20260717_154330-ro94ou5y/logs/debug.log

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+2026-07-17 15:43:30,636 INFO    MainThread:499789 [wandb_init.py:setup_run_log_directory():724] Logging internal logs to /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260717_154330-ro94ou5y/logs/debug-internal.log
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Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260719_051936-kdbkadzu/files/config.yaml

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Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260719_051936-kdbkadzu/files/output.log

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+INFO 2026-07-19 05:19:37 db_utils.py:121 Logs will be synced with wandb.
+INFO 2026-07-19 05:19:37 db_utils.py:122 Track this run --> https://wandb.ai/minje227_hyu-hanyang-university/lerobot/runs/kdbkadzu
+INFO 2026-07-19 05:19:37 ot_train.py:298 Creating dataset
+INFO 2026-07-19 05:19:39 ot_train.py:332 Creating policy
+Fetching 27 files: 100%|██████████| 27/27 [00:00<00:00, 1375.75it/s]
+`torch_dtype` is deprecated! Use `dtype` instead!
+Loading weights: 100%|██████████| 1031/1031 [00:01<00:00, 532.45it/s]
+INFO 2026-07-19 05:19:50 ot_train.py:405 Creating optimizer and scheduler
+INFO 2026-07-19 05:19:50 ot_train.py:439 Output dir: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K
+INFO 2026-07-19 05:19:50 ot_train.py:446 cfg.steps=60000 (60K)
+INFO 2026-07-19 05:19:50 ot_train.py:447 dataset.num_frames=218367 (218K)
+INFO 2026-07-19 05:19:50 ot_train.py:448 dataset.num_episodes=4930
+INFO 2026-07-19 05:19:50 ot_train.py:451 Effective batch size: 128 x 1 = 128
+INFO 2026-07-19 05:19:50 ot_train.py:452 num_learnable_params=1622090881 (2B)
+INFO 2026-07-19 05:19:50 ot_train.py:453 num_total_params=3145712033 (3B)
+Training:   0%|          | 0/60000 [00:00<?, ?step/s]INFO 2026-07-19 05:19:50 ot_train.py:604 Start offline training on a fixed dataset, with effective batch size: 128
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+Training:   1%|          | 600/60000 [29:37<55:45:08,  3.38s/step]INFO 2026-07-19 05:49:27 ot_train.py:649 step:600 smpl:77K ep:2K epch:0.35 loss:0.339 grdn:1.616 lr:8.3e-06 updt_s:1.560 data_s:1.456 smp/s:42 mem_gb:52.95
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+Training:   2%|▏         | 1000/60000 [49:39<50:05:43,  3.06s/step]INFO 2026-07-19 06:09:30 ot_train.py:649 step:1K smpl:128K ep:3K epch:0.59 loss:0.175 grdn:2.126 lr:1.5e-05 updt_s:1.586 data_s:1.416 smp/s:43 mem_gb:52.95
+Training:   2%|▏         | 1200/60000 [1:00:03<49:46:18,  3.05s/step]INFO 2026-07-19 06:19:54 ot_train.py:649 step:1K smpl:154K ep:3K epch:0.70 loss:0.153 grdn:1.997 lr:1.8e-05 updt_s:1.661 data_s:1.452 smp/s:41 mem_gb:52.88
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+Training:   4%|▍         | 2400/60000 [2:00:16<48:02:19,  3.00s/step]INFO 2026-07-19 07:20:07 ot_train.py:649 step:2K smpl:307K ep:7K epch:1.41 loss:0.102 grdn:1.116 lr:3.8e-05 updt_s:1.620 data_s:1.382 smp/s:43 mem_gb:52.90
+Training:   4%|▍         | 2600/60000 [2:10:16<49:51:19,  3.13s/step]INFO 2026-07-19 07:30:07 ot_train.py:649 step:3K smpl:333K ep:8K epch:1.52 loss:0.099 grdn:1.019 lr:4.2e-05 updt_s:1.550 data_s:1.445 smp/s:43 mem_gb:52.98
+Training:   5%|▍         | 2800/60000 [2:20:24<46:03:52,  2.90s/step]INFO 2026-07-19 07:40:15 ot_train.py:649 step:3K smpl:358K ep:8K epch:1.64 loss:0.094 grdn:0.910 lr:4.5e-05 updt_s:1.570 data_s:1.465 smp/s:42 mem_gb:52.98
+Training:   5%|▌         | 3000/60000 [2:30:30<48:04:40,  3.04s/step]INFO 2026-07-19 07:50:20 ot_train.py:649 step:3K smpl:384K ep:9K epch:1.76 loss:0.089 grdn:0.844 lr:4.8e-05 updt_s:1.635 data_s:1.386 smp/s:42 mem_gb:52.98
+Training:   5%|▌         | 3200/60000 [2:40:32<47:44:21,  3.03s/step]INFO 2026-07-19 08:00:23 ot_train.py:649 step:3K smpl:410K ep:9K epch:1.88 loss:0.085 grdn:0.777 lr:5.2e-05 updt_s:1.582 data_s:1.425 smp/s:43 mem_gb:52.98
+Training:   6%|▌         | 3400/60000 [2:50:39<48:27:10,  3.08s/step]INFO 2026-07-19 08:10:30 ot_train.py:649 step:3K smpl:435K ep:10K epch:1.99 loss:0.083 grdn:0.756 lr:5.5e-05 updt_s:1.577 data_s:1.455 smp/s:42 mem_gb:52.90
+Training:   6%|▌         | 3600/60000 [3:00:47<48:43:46,  3.11s/step]INFO 2026-07-19 08:20:38 ot_train.py:649 step:4K smpl:461K ep:10K epch:2.11 loss:0.080 grdn:0.694 lr:5.8e-05 updt_s:1.620 data_s:1.412 smp/s:42 mem_gb:52.98
+Training:   6%|▋         | 3800/60000 [3:10:49<48:10:41,  3.09s/step]INFO 2026-07-19 08:30:40 ot_train.py:649 step:4K smpl:486K ep:11K epch:2.23 loss:0.078 grdn:0.648 lr:6.2e-05 updt_s:1.618 data_s:1.389 smp/s:43 mem_gb:52.98
+Training:   7%|▋         | 4000/60000 [3:20:52<48:44:38,  3.13s/step]INFO 2026-07-19 08:40:43 ot_train.py:649 step:4K smpl:512K ep:12K epch:2.34 loss:0.075 grdn:0.620 lr:6.5e-05 updt_s:1.594 data_s:1.417 smp/s:43 mem_gb:52.98
+Training:   7%|▋         | 4200/60000 [3:31:03<48:01:08,  3.10s/step]INFO 2026-07-19 08:50:53 ot_train.py:649 step:4K smpl:538K ep:12K epch:2.46 loss:0.074 grdn:0.565 lr:6.8e-05 updt_s:1.614 data_s:1.435 smp/s:42 mem_gb:52.98
+Training:   7%|▋         | 4400/60000 [3:41:08<47:27:29,  3.07s/step]INFO 2026-07-19 09:00:58 ot_train.py:649 step:4K smpl:563K ep:13K epch:2.58 loss:0.072 grdn:0.552 lr:7.2e-05 updt_s:1.573 data_s:1.447 smp/s:42 mem_gb:52.98
+Training:   8%|▊         | 4600/60000 [3:51:13<45:53:25,  2.98s/step]INFO 2026-07-19 09:11:04 ot_train.py:649 step:5K smpl:589K ep:13K epch:2.70 loss:0.070 grdn:0.528 lr:7.5e-05 updt_s:1.569 data_s:1.456 smp/s:42 mem_gb:52.90
+Training:   8%|▊         | 4800/60000 [4:01:14<45:57:02,  3.00s/step]INFO 2026-07-19 09:21:05 ot_train.py:649 step:5K smpl:614K ep:14K epch:2.81 loss:0.067 grdn:0.507 lr:7.8e-05 updt_s:1.579 data_s:1.420 smp/s:43 mem_gb:52.98
+Training:   8%|▊         | 5000/60000 [4:11:22<45:18:37,  2.97s/step]INFO 2026-07-19 09:31:12 ot_train.py:649 step:5K smpl:640K ep:14K epch:2.93 loss:0.066 grdn:0.478 lr:8.2e-05 updt_s:1.619 data_s:1.414 smp/s:42 mem_gb:52.98
+Training:   9%|▊         | 5200/60000 [4:21:22<46:48:01,  3.07s/step]INFO 2026-07-19 09:41:13 ot_train.py:649 step:5K smpl:666K ep:15K epch:3.05 loss:0.065 grdn:0.465 lr:8.5e-05 updt_s:1.633 data_s:1.365 smp/s:43 mem_gb:52.98
+Training:   9%|▉         | 5400/60000 [4:31:25<48:08:37,  3.17s/step]INFO 2026-07-19 09:51:16 ot_train.py:649 step:5K smpl:691K ep:16K epch:3.17 loss:0.062 grdn:0.424 lr:8.8e-05 updt_s:1.610 data_s:1.402 smp/s:43 mem_gb:52.98
+Training:   9%|▉         | 5600/60000 [4:41:23<43:24:35,  2.87s/step]INFO 2026-07-19 10:01:14 ot_train.py:649 step:6K smpl:717K ep:16K epch:3.28 loss:0.061 grdn:0.427 lr:9.2e-05 updt_s:1.612 data_s:1.375 smp/s:43 mem_gb:52.98
+Training:  10%|▉         | 5800/60000 [4:51:28<45:42:31,  3.04s/step]INFO 2026-07-19 10:11:19 ot_train.py:649 step:6K smpl:742K ep:17K epch:3.40 loss:0.061 grdn:0.417 lr:9.5e-05 updt_s:1.610 data_s:1.410 smp/s:42 mem_gb:52.90
+Training:  10%|█         | 6000/60000 [5:01:27<44:53:26,  2.99s/step]INFO 2026-07-19 10:21:18 ot_train.py:649 step:6K smpl:768K ep:17K epch:3.52 loss:0.061 grdn:0.412 lr:9.8e-05 updt_s:1.622 data_s:1.367 smp/s:43 mem_gb:52.98
+Training:  10%|█         | 6200/60000 [5:11:26<44:03:14,  2.95s/step]INFO 2026-07-19 10:31:17 ot_train.py:649 step:6K smpl:794K ep:18K epch:3.63 loss:0.061 grdn:0.401 lr:1.0e-04 updt_s:1.615 data_s:1.376 smp/s:43 mem_gb:52.98
+Training:  11%|█         | 6400/60000 [5:21:25<46:26:16,  3.12s/step]INFO 2026-07-19 10:41:16 ot_train.py:649 step:6K smpl:819K ep:18K epch:3.75 loss:0.058 grdn:0.368 lr:1.0e-04 updt_s:1.628 data_s:1.362 smp/s:43 mem_gb:52.98
+Training:  11%|█         | 6600/60000 [5:31:24<44:42:31,  3.01s/step]INFO 2026-07-19 10:51:15 ot_train.py:649 step:7K smpl:845K ep:19K epch:3.87 loss:0.057 grdn:0.361 lr:1.0e-04 updt_s:1.622 data_s:1.369 smp/s:43 mem_gb:52.98
+Training:  11%|█▏        | 6800/60000 [5:41:29<40:37:21,  2.75s/step]INFO 2026-07-19 11:01:20 ot_train.py:649 step:7K smpl:870K ep:20K epch:3.99 loss:0.056 grdn:0.354 lr:1.0e-04 updt_s:1.649 data_s:1.369 smp/s:42 mem_gb:52.90
+Training:  12%|█▏        | 7000/60000 [5:51:35<44:58:56,  3.06s/step]INFO 2026-07-19 11:11:26 ot_train.py:649 step:7K smpl:896K ep:20K epch:4.10 loss:0.054 grdn:0.345 lr:1.0e-04 updt_s:1.623 data_s:1.403 smp/s:42 mem_gb:52.98
+Training:  12%|█▏        | 7200/60000 [6:01:36<44:04:53,  3.01s/step]INFO 2026-07-19 11:21:27 ot_train.py:649 step:7K smpl:922K ep:21K epch:4.22 loss:0.054 grdn:0.339 lr:1.0e-04 updt_s:1.627 data_s:1.374 smp/s:43 mem_gb:52.98
+Training:  12%|█▏        | 7400/60000 [6:11:38<42:37:08,  2.92s/step]INFO 2026-07-19 11:31:28 ot_train.py:649 step:7K smpl:947K ep:21K epch:4.34 loss:0.051 grdn:0.325 lr:1.0e-04 updt_s:1.625 data_s:1.378 smp/s:43 mem_gb:52.98
+Training:  13%|█▎        | 7600/60000 [6:22:35<52:11:05,  3.59s/step]INFO 2026-07-19 11:42:26 ot_train.py:649 step:8K smpl:973K ep:22K epch:4.45 loss:0.054 grdn:0.344 lr:1.0e-04 updt_s:1.821 data_s:1.462 smp/s:39 mem_gb:52.98
+Training:  13%|█▎        | 7800/60000 [6:34:33<52:32:31,  3.62s/step]INFO 2026-07-19 11:54:24 ot_train.py:649 step:8K smpl:998K ep:23K epch:4.57 loss:0.053 grdn:0.328 lr:1.0e-04 updt_s:1.938 data_s:1.646 smp/s:36 mem_gb:52.98
+Training:  13%|█▎        | 8000/60000 [6:44:41<47:30:47,  3.29s/step]INFO 2026-07-19 12:04:32 ot_train.py:649 step:8K smpl:1M ep:23K epch:4.69 loss:0.050 grdn:0.328 lr:1.0e-04 updt_s:1.690 data_s:1.344 smp/s:42 mem_gb:52.90
+Training:  14%|█▎        | 8200/60000 [6:56:41<50:30:43,  3.51s/step]INFO 2026-07-19 12:16:31 ot_train.py:649 step:8K smpl:1M ep:24K epch:4.81 loss:0.049 grdn:0.299 lr:1.0e-04 updt_s:1.940 data_s:1.652 smp/s:36 mem_gb:52.98
+Training:  14%|█▍        | 8400/60000 [7:07:15<35:51:00,  2.50s/step]INFO 2026-07-19 12:27:06 ot_train.py:649 step:8K smpl:1M ep:24K epch:4.92 loss:0.048 grdn:0.302 lr:1.0e-04 updt_s:1.668 data_s:1.496 smp/s:40 mem_gb:52.98
+Training:  14%|█▍        | 8600/60000 [7:18:26<51:40:44,  3.62s/step]INFO 2026-07-19 12:38:17 ot_train.py:649 step:9K smpl:1M ep:25K epch:5.04 loss:0.049 grdn:0.310 lr:9.9e-05 updt_s:1.894 data_s:1.455 smp/s:38 mem_gb:52.98
+Training:  15%|█▍        | 8800/60000 [7:30:10<42:21:48,  2.98s/step]INFO 2026-07-19 12:50:01 ot_train.py:649 step:9K smpl:1M ep:25K epch:5.16 loss:0.048 grdn:0.305 lr:9.9e-05 updt_s:1.850 data_s:1.665 smp/s:36 mem_gb:52.98
+Training:  15%|█▌        | 9000/60000 [7:40:18<51:01:16,  3.60s/step]INFO 2026-07-19 13:00:08 ot_train.py:649 step:9K smpl:1M ep:26K epch:5.28 loss:0.047 grdn:0.287 lr:9.9e-05 updt_s:1.716 data_s:1.317 smp/s:42 mem_gb:52.98
+Training:  15%|█▌        | 9200/60000 [7:52:25<52:13:44,  3.70s/step]INFO 2026-07-19 13:12:16 ot_train.py:649 step:9K smpl:1M ep:27K epch:5.39 loss:0.046 grdn:0.290 lr:9.9e-05 updt_s:1.935 data_s:1.694 smp/s:35 mem_gb:52.90
+Training:  16%|█▌        | 9400/60000 [8:02:28<49:34:53,  3.53s/step]INFO 2026-07-19 13:22:19 ot_train.py:649 step:9K smpl:1M ep:27K epch:5.51 loss:0.046 grdn:0.296 lr:9.9e-05 updt_s:1.696 data_s:1.318 smp/s:42 mem_gb:52.98
+Training:  16%|█▌        | 9600/60000 [8:14:26<50:37:31,  3.62s/step]INFO 2026-07-19 13:34:17 ot_train.py:649 step:10K smpl:1M ep:28K epch:5.63 loss:0.044 grdn:0.278 lr:9.9e-05 updt_s:1.936 data_s:1.648 smp/s:36 mem_gb:52.98
+Training:  16%|█▋        | 9800/60000 [8:24:38<40:33:55,  2.91s/step]INFO 2026-07-19 13:44:29 ot_train.py:649 step:10K smpl:1M ep:28K epch:5.74 loss:0.046 grdn:0.300 lr:9.9e-05 updt_s:1.617 data_s:1.435 smp/s:42 mem_gb:52.98
+Training:  17%|█▋        | 10000/60000 [8:36:01<49:02:33,  3.53s/step]INFO 2026-07-19 13:55:52 ot_train.py:649 step:10K smpl:1M ep:29K epch:5.86 loss:0.046 grdn:0.285 lr:9.9e-05 updt_s:1.849 data_s:1.559 smp/s:38 mem_gb:52.98
+INFO 2026-07-19 13:55:52 ot_train.py:103 INSIGHT phase transition: index=1 name=fm_only range=[10000,60000) trainable_params=1620515968
+Training:  17%|█▋        | 10200/60000 [8:47:29<33:22:12,  2.41s/step]INFO 2026-07-19 14:07:20 ot_train.py:649 step:10K smpl:1M ep:29K epch:5.98 loss:0.044 grdn:0.272 lr:9.9e-05 updt_s:1.804 data_s:1.632 smp/s:37 mem_gb:52.77
+Training:  17%|█▋        | 10400/60000 [8:57:40<50:43:05,  3.68s/step]INFO 2026-07-19 14:17:31 ot_train.py:649 step:10K smpl:1M ep:30K epch:6.10 loss:0.043 grdn:0.269 lr:9.8e-05 updt_s:1.667 data_s:1.382 smp/s:42 mem_gb:52.85
+Training:  18%|█▊        | 10600/60000 [9:09:36<52:37:47,  3.84s/step]INFO 2026-07-19 14:29:27 ot_train.py:649 step:11K smpl:1M ep:31K epch:6.21 loss:0.043 grdn:0.266 lr:9.8e-05 updt_s:1.854 data_s:1.720 smp/s:36 mem_gb:52.85
+Training:  18%|█▊        | 10800/60000 [9:19:02<45:38:58,  3.34s/step]INFO 2026-07-19 14:38:53 ot_train.py:649 step:11K smpl:1M ep:31K epch:6.33 loss:0.043 grdn:0.261 lr:9.8e-05 updt_s:1.519 data_s:1.306 smp/s:45 mem_gb:52.85
+Training:  18%|█▊        | 11000/60000 [9:30:51<49:18:44,  3.62s/step]INFO 2026-07-19 14:50:42 ot_train.py:649 step:11K smpl:1M ep:32K epch:6.45 loss:0.044 grdn:0.282 lr:9.8e-05 updt_s:1.868 data_s:1.669 smp/s:36 mem_gb:52.85
+Training:  19%|█▊        | 11200/60000 [9:41:11<38:07:57,  2.81s/step]INFO 2026-07-19 15:01:02 ot_train.py:649 step:11K smpl:1M ep:32K epch:6.57 loss:0.042 grdn:0.255 lr:9.8e-05 updt_s:1.656 data_s:1.441 smp/s:41 mem_gb:52.85
+Training:  19%|█▉        | 11400/60000 [9:52:35<48:03:18,  3.56s/step]INFO 2026-07-19 15:12:26 ot_train.py:649 step:11K smpl:1M ep:33K epch:6.68 loss:0.045 grdn:0.305 lr:9.8e-05 updt_s:1.826 data_s:1.585 smp/s:38 mem_gb:52.77
+Training:  19%|█▉        | 11600/60000 [10:03:59<35:30:30,  2.64s/step]INFO 2026-07-19 15:23:50 ot_train.py:649 step:12K smpl:1M ep:34K epch:6.80 loss:0.042 grdn:0.269 lr:9.7e-05 updt_s:1.792 data_s:1.626 smp/s:37 mem_gb:52.85
+Training:  20%|█▉        | 11732/60000 [10:10:00<44:55:47,  3.35s/step]

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260719_051936-kdbkadzu/files/wandb-summary.json

@@ -0,0 +1 @@
+{"train/rkd_distance_loss":0.002785440068691969,"train/rkd_loss_weight":0,"train/rkd_student_pooling_id":1,"train/grad_norm":0.2687766502797604,"train/samples":1484800,"train/weighted_rkd_loss":0,"train/dataloading_s":1.6257950163298664,"train/rkd_fm_loss_weight":1,"train/lr":9.746140694460206e-05,"train/training_phase_until_step":60000,"train/rkd_loss":0.011935139074921608,"train/rkd_teacher_latent_norm":1,"train/loss":0.041768599301576614,"train/training_phase_index":1,"train/samples_per_s":37.45596327585602,"train/rkd_angle_loss":0.004574849270284176,"train/episodes":33521.84167021574,"_runtime":36616,"train/training_phase_start_step":10000,"train/training_phase_trainable_params":1.620515968e+09,"train/steps":11600,"_timestamp":1.784442230880282e+09,"_wandb":{"runtime":36616},"train/weighted_flow_matching_loss":0.041768599301576614,"train/rkd_runtime_enabled":0,"train/flow_matching_loss":0.041768599301576614,"train/epochs":6.799562204911914,"_step":11600,"train/rkd_student_feature_norm":2.400157928466797,"train/gpu_mem_gb":52.852134704589844,"train/update_s":1.7915513500498854}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/wandb/debug.log

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+2026-07-19 05:19:36,536 INFO    MainThread:227252 [wandb_setup.py:_flush():81] Current SDK version is 0.27.2
+2026-07-19 05:19:36,536 INFO    MainThread:227252 [wandb_setup.py:_flush():81] Configure stats pid to 227252
+2026-07-19 05:19:36,536 INFO    MainThread:227252 [wandb_setup.py:_flush():81] Loading settings from environment variables
+2026-07-19 05:19:36,536 INFO    MainThread:227252 [wandb_init.py:setup_run_log_directory():723] Logging user logs to /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/wandb/run-20260719_051936-rnsbujva/logs/debug.log
+2026-07-19 05:19:36,536 INFO    MainThread:227252 [wandb_init.py:setup_run_log_directory():724] Logging internal logs to /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/wandb/run-20260719_051936-rnsbujva/logs/debug-internal.log
+2026-07-19 05:19:36,536 INFO    MainThread:227252 [wandb_init.py:init():766] calling init triggers
+2026-07-19 05:19:36,536 INFO    MainThread:227252 [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': 6000, 'warmup_ratio': 0.05, 'use_bf16': True, 'model_params_fp32': True, 'image_size': [256, 256], 'tokenizer_assets_repo': None, 'lora_rank': 0, 'lora_alpha': 16, 'lora_dropout': 0.1, 'lora_full_model': False, 'video_backend': 'decord', 'balance_dataset_weights': True, 'balance_trajectory_weights': True, 'dataset_paths': None, 'output_dir': './tmp/gr00t', 'save_steps': 1000, 'max_steps': 10000, 'batch_size': 32, 'dataloader_num_workers': 8, 'report_to': 'wandb', 'resume': False, 'rkd_enabled': True, 'rkd_vae_checkpoint': '/home/ext_minje/groot_insight/TimewarpVAE_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/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': 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 05:19:36,536 INFO    MainThread:227252 [wandb_init.py:init():814] starting backend
+2026-07-19 05:19:36,752 INFO    MainThread:227252 [wandb_init.py:init():829] sending inform_init request
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+2026-07-19 05:19:37,347 INFO    MainThread:227252 [wandb_init.py:init():904] updated telemetry
+2026-07-19 05:19:37,352 INFO    MainThread:227252 [wandb_init.py:init():927] communicating run to backend with 90.0 second timeout
+2026-07-19 05:19:37,718 INFO    MainThread:227252 [wandb_init.py:init():972] starting run threads in backend
+2026-07-19 05:19:37,771 INFO    MainThread:227252 [wandb_run.py:_console_start():2523] atexit reg
+2026-07-19 05:19:37,771 INFO    MainThread:227252 [wandb_run.py:_redirect():2373] redirect: wrap_raw
+2026-07-19 05:19:37,771 INFO    MainThread:227252 [wandb_run.py:_redirect():2442] Wrapping output streams.
+2026-07-19 05:19:37,771 INFO    MainThread:227252 [wandb_run.py:_redirect():2465] Redirects installed.
+2026-07-19 05:19:37,773 INFO    MainThread:227252 [wandb_init.py:init():1010] run started, returning control to user process
+2026-07-19 15:29:54,815 INFO    wandb-AsyncioManager-main:227252 [service_client.py:_forward_responses():122] Reached EOF.
+2026-07-19 15:29:54,815 INFO    wandb-AsyncioManager-main:227252 [mailbox.py:close():154] Closing mailbox, abandoning 2 handles.
+2026-07-19 15:29:54,816 ERROR   wandb-AsyncioManager-main:227252 [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

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/wandb/run-20260719_051936-rnsbujva/files/config.yaml

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+                    - --batch_size=128
+                codePath: benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py
+                codePathLocal: my_scripts/lerobot_train_yaml.py
+                cpu_count: 112
+                cpu_count_logical: 224
+                cudaVersion: "12.9"
+                disk:
+                    /:
+                        total: "1888425144320"
+                        used: "1505621200896"
+                executable: /home/ext_minje/miniforge3/envs/lerobot060_groot/bin/python
+                git:
+                    commit: a9df08f7da2d8eb1fa7f28708b4eb6f6dc81b1f9
+                    remote: git@github.com:paragon7060/clvla.git
+                gpu: NVIDIA H200
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+                      memoryTotal: "150754820096"
+                      name: NVIDIA H200
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+                      memoryTotal: "150754820096"
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+                      memoryTotal: "150754820096"
+                      name: NVIDIA H200
+                      uuid: GPU-ed8b7920-8881-4e8f-3e88-be1bbecafa21
+                    - architecture: Hopper
+                      cudaCores: 16896
+                      memoryTotal: "150754820096"
+                      name: NVIDIA H200
+                      uuid: GPU-a91176db-55f2-b284-bbbf-56626596947d
+                    - architecture: Hopper
+                      cudaCores: 16896
+                      memoryTotal: "150754820096"
+                      name: NVIDIA H200
+                      uuid: GPU-922ff6d5-a948-205a-0426-dbee495fc3dd
+                    - architecture: Hopper
+                      cudaCores: 16896
+                      memoryTotal: "150754820096"
+                      name: NVIDIA H200
+                      uuid: GPU-1fde7c75-18fe-e3db-a4c1-85e67522f55f
+                    - architecture: Hopper
+                      cudaCores: 16896
+                      memoryTotal: "150754820096"
+                      name: NVIDIA H200
+                      uuid: GPU-a9b1c49b-d527-97d8-ce91-7e50bd02154c
+                host: DGX-H200-01
+                memory:
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+                os: Linux-6.8.0-107-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/RKD_TimewarpVAE/LAPstyle_linear_6K
+                startedAt: "2026-07-18T20:19:36.535840Z"
+                writerId: 14itrlzug85ir246rg6stijmu53q61zj
+        m: []
+        python_version: 3.12.13
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+            "6": 5.5.4
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+                - 21
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+            "13": linux-x86_64
+batch_size:
+    value: 128
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+    value: null
+cudnn_deterministic:
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+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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+                        degrees:
+                            - -5
+                            - 5
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+                            - 0.05
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+                        contrast:
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+                        hue:
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+                            - 0.05
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+                        saturation:
+                            - 0.5
+                            - 1.5
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+                    weight: 1
+                sharpness:
+                    kwargs:
+                        sharpness:
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+                            - 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:
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+env_eval_freq:
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+        recording_repo_id: null
+        use_async_envs: true
+eval_steps:
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+job:
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+        timeout: 2d
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+        balance_trajectory_weights: true
+        base_model_path: nvidia/GR00T-N1.7-3B
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+        dataset_paths: null
+        device: cuda
+        embodiment_tag: new_embodiment
+        image_size:
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+            - 256
+        license: null
+        lora_alpha: 16
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+        optimizer_betas:
+            - 0.9
+            - 0.999
+        optimizer_eps: 1e-08
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+        optimizer_weight_decay: 1e-05
+        output_dir: ./tmp/gr00t
+        pretrained_path: null
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+        repo_id: null
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+        rkd_student_attention_hidden_dim: 512
+        rkd_student_attention_output_dim: 512
+        rkd_student_pooling: attention
+        rkd_vae_checkpoint: /home/ext_minje/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84
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+        notes: null
+        project: lerobot
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Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/wandb/run-20260719_051936-rnsbujva/files/wandb-metadata.json

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+{
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+  "python": "CPython 3.12.13",
+  "startedAt": "2026-07-18T20:19:36.535840Z",
+  "args": [
+    "--config_path=/tmp/insight_lerobot_cfg_pqdyielk/LAPstyle_RKD_linear_decay_6K.yaml",
+    "--batch_size=128"
+  ],
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+  "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"
+  },
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+  "executable": "/home/ext_minje/miniforge3/envs/lerobot060_groot/bin/python",
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+  "cpu_count_logical": 224,
+  "gpu": "NVIDIA H200",
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+  "disk": {
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+    },
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+      "cudaCores": 16896,
+      "architecture": "Hopper",
+      "uuid": "GPU-a9b1c49b-d527-97d8-ce91-7e50bd02154c"
+    }
+  ],
+  "cudaVersion": "12.9",
+  "writerId": "14itrlzug85ir246rg6stijmu53q61zj"
+}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/wandb/run-20260719_051936-rnsbujva/files/wandb-summary.json

@@ -0,0 +1 @@
+{"train/epochs":6.799562204911914,"train/rkd_teacher_latent_norm":1,"train/update_s":1.7306565499151112,"train/rkd_runtime_enabled":0,"_timestamp":1.7844422984062593e+09,"train/training_phase_trainable_params":1.620515968e+09,"train/steps":11600,"train/rkd_fm_loss_weight":1,"train/training_phase_index":1,"_runtime":36617,"train/flow_matching_loss":0.04278185963630676,"train/rkd_loss_weight":0,"train/rkd_distance_loss":0.004328658804297447,"train/weighted_rkd_loss":0,"train/rkd_angle_loss":0.006630226504057646,"train/samples_per_s":39.26512623003621,"train/training_phase_until_step":60000,"train/dataloading_s":1.5292336450153017,"train/loss":0.04278185963630676,"train/rkd_student_pooling_id":1,"train/rkd_student_feature_norm":1.80727219581604,"train/grad_norm":0.25591705709695817,"_wandb":{"runtime":36617},"train/samples":1484800,"train/gpu_mem_gb":52.852134704589844,"_step":11600,"train/episodes":33521.84167021574,"train/lr":9.746140694460206e-05,"train/weighted_flow_matching_loss":0.04278185963630676,"train/training_phase_start_step":6000,"train/rkd_loss":0.017589110881090164}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/wandb/run-20260719_051936-rnsbujva/logs/debug.log

@@ -0,0 +1,45 @@
+2026-07-19 05:19:36,536 INFO    MainThread:227252 [wandb_setup.py:_flush():81] Current SDK version is 0.27.2
+2026-07-19 05:19:36,536 INFO    MainThread:227252 [wandb_setup.py:_flush():81] Configure stats pid to 227252
+2026-07-19 05:19:36,536 INFO    MainThread:227252 [wandb_setup.py:_flush():81] Loading settings from environment variables
+2026-07-19 05:19:36,536 INFO    MainThread:227252 [wandb_init.py:setup_run_log_directory():723] Logging user logs to /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/wandb/run-20260719_051936-rnsbujva/logs/debug.log
+2026-07-19 05:19:36,536 INFO    MainThread:227252 [wandb_init.py:setup_run_log_directory():724] Logging internal logs to /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/wandb/run-20260719_051936-rnsbujva/logs/debug-internal.log
+2026-07-19 05:19:36,536 INFO    MainThread:227252 [wandb_init.py:init():766] calling init triggers
+2026-07-19 05:19:36,536 INFO    MainThread:227252 [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': 6000, 'warmup_ratio': 0.05, 'use_bf16': True, 'model_params_fp32': True, 'image_size': [256, 256], 'tokenizer_assets_repo': None, 'lora_rank': 0, 'lora_alpha': 16, 'lora_dropout': 0.1, 'lora_full_model': False, 'video_backend': 'decord', 'balance_dataset_weights': True, 'balance_trajectory_weights': True, 'dataset_paths': None, 'output_dir': './tmp/gr00t', 'save_steps': 1000, 'max_steps': 10000, 'batch_size': 32, 'dataloader_num_workers': 8, 'report_to': 'wandb', 'resume': False, 'rkd_enabled': True, 'rkd_vae_checkpoint': '/home/ext_minje/groot_insight/TimewarpVAE_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/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': None, 'recording_private': False}, 'wandb': {'enable': True, 'disable_artifact': True, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': None, 'mode': None, 'add_tags': True}, 'peft': None, 'job': {'target': None, 'image': 'huggingface/lerobot-gpu:latest', 'timeout': '2d', 'detach': False, 'tags': []}, 'save_checkpoint_to_hub': False, 'sample_weighting': None, 'rename_map': {}, 'checkpoint_path': None, '_wandb': {}}
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+2026-07-19 05:19:36,752 INFO    MainThread:227252 [wandb_init.py:init():829] sending inform_init request
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+2026-07-19 05:19:37,771 INFO    MainThread:227252 [wandb_run.py:_console_start():2523] atexit reg
+2026-07-19 05:19:37,771 INFO    MainThread:227252 [wandb_run.py:_redirect():2373] redirect: wrap_raw
+2026-07-19 05:19:37,771 INFO    MainThread:227252 [wandb_run.py:_redirect():2442] Wrapping output streams.
+2026-07-19 05:19:37,771 INFO    MainThread:227252 [wandb_run.py:_redirect():2465] Redirects installed.
+2026-07-19 05:19:37,773 INFO    MainThread:227252 [wandb_init.py:init():1010] run started, returning control to user process
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+2026-07-19 15:29:54,815 INFO    wandb-AsyncioManager-main:227252 [mailbox.py:close():154] Closing mailbox, abandoning 2 handles.
+2026-07-19 15:29:54,816 ERROR   wandb-AsyncioManager-main:227252 [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

Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K.interrupted_reboot_20260719T051924/wandb/debug.log

@@ -0,0 +1,19 @@
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+2026-07-17 15:43:31,453 INFO    MainThread:499773 [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': {}}
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Abs_6D + DeltaEE/RKD_TimewarpVAE/RSCLstyle_cosine_60K.interrupted_reboot_20260719T051924/wandb/run-20260717_154331-e5avxg6w/files/requirements.txt

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+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

Abs_6D + DeltaEE/restarts/20260719_230419_rerun/RSCLstyle_cosine_60K/wandb/run-20260719_230435-5e3ytmnu/files/requirements.txt

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

Abs_6D + DeltaEE/restarts/20260719_231441_rerun_save20k40k60k/Baseline/wandb/debug.log

@@ -0,0 +1,19 @@
+2026-07-19 23:14:56,708 INFO    MainThread:2499829 [wandb_setup.py:_flush():81] Current SDK version is 0.27.2
+2026-07-19 23:14:56,708 INFO    MainThread:2499829 [wandb_setup.py:_flush():81] Configure stats pid to 2499829
+2026-07-19 23:14:56,708 INFO    MainThread:2499829 [wandb_setup.py:_flush():81] Loading settings from environment variables
+2026-07-19 23:14:56,708 INFO    MainThread:2499829 [wandb_init.py:setup_run_log_directory():723] Logging user logs to /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231441_rerun_save20k40k60k/Baseline/wandb/run-20260719_231456-eexlcl2l/logs/debug.log
+2026-07-19 23:14:56,709 INFO    MainThread:2499829 [wandb_init.py:setup_run_log_directory():724] Logging internal logs to /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231441_rerun_save20k40k60k/Baseline/wandb/run-20260719_231456-eexlcl2l/logs/debug-internal.log
+2026-07-19 23:14:56,709 INFO    MainThread:2499829 [wandb_init.py:init():766] calling init triggers
+2026-07-19 23:14:56,709 INFO    MainThread:2499829 [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', '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_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}, 'reward_model': None, 'output_dir': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231441_rerun_save20k40k60k/Baseline', 'job_name': 'INSIGHT_RD_baseline', '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': 500, '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 23:14:56,709 INFO    MainThread:2499829 [wandb_init.py:init():814] starting backend
+2026-07-19 23:14:56,933 INFO    MainThread:2499829 [wandb_init.py:init():829] sending inform_init request
+2026-07-19 23:14:57,546 INFO    MainThread:2499829 [wandb_init.py:init():834] backend started and connected
+2026-07-19 23:14:57,551 INFO    MainThread:2499829 [wandb_init.py:init():904] updated telemetry
+2026-07-19 23:14:57,560 INFO    MainThread:2499829 [wandb_init.py:init():927] communicating run to backend with 90.0 second timeout
+2026-07-19 23:14:57,962 INFO    MainThread:2499829 [wandb_init.py:init():972] starting run threads in backend
+2026-07-19 23:14:58,054 INFO    MainThread:2499829 [wandb_run.py:_console_start():2523] atexit reg
+2026-07-19 23:14:58,054 INFO    MainThread:2499829 [wandb_run.py:_redirect():2373] redirect: wrap_raw
+2026-07-19 23:14:58,054 INFO    MainThread:2499829 [wandb_run.py:_redirect():2442] Wrapping output streams.
+2026-07-19 23:14:58,054 INFO    MainThread:2499829 [wandb_run.py:_redirect():2465] Redirects installed.
+2026-07-19 23:14:58,057 INFO    MainThread:2499829 [wandb_init.py:init():1010] run started, returning control to user process

Abs_6D + DeltaEE/restarts/20260719_231441_rerun_save20k40k60k/LAPstyle_linear_10K/wandb/debug-internal.log

@@ -0,0 +1,21 @@
+{"time":"2026-07-19T23:14:57.383895839+09:00","level":"INFO","msg":"wandb-core"}
+{"time":"2026-07-19T23:14:57.384396587+09:00","level":"INFO","msg":"stream: starting","core version":"0.27.2"}
+{"time":"2026-07-19T23:14:57.981147613+09:00","level":"INFO","msg":"stream: created new stream","id":"45ifc2tf"}
+{"time":"2026-07-19T23:14:57.981358912+09:00","level":"INFO","msg":"stream: started"}
+{"time":"2026-07-19T23:14:57.981422766+09:00","level":"INFO","msg":"writer: started","stream_id":"45ifc2tf"}
+{"time":"2026-07-19T23:14:57.981534947+09:00","level":"INFO","msg":"sender: started"}
+{"time":"2026-07-19T23:14:57.981500574+09:00","level":"INFO","msg":"handler: started"}
+{"time":"2026-07-19T23:14:58.495523502+09:00","level":"INFO","msg":"filestream: sending request","total_files":1,"console_offset":0,"console_lines":1}
+{"time":"2026-07-19T23:14:58.892644791+09:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-19T23:15:13.496009317+09:00","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":0,"events_lines":1,"console_offset":1,"console_lines":15,"uploaded_len":2}
+{"time":"2026-07-19T23:15:13.874670882+09:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-19T23:15:28.496318451+09:00","level":"INFO","msg":"filestream: sending request","total_files":1,"events_offset":1,"events_lines":2}
+{"time":"2026-07-19T23:15:28.849785203+09:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-19T23:15:43.496529033+09:00","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":3,"events_lines":2,"console_offset":16,"console_lines":1}
+{"time":"2026-07-19T23:15:43.892243551+09:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-19T23:15:58.496530355+09:00","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":5,"events_lines":2,"console_offset":16,"console_lines":1}
+{"time":"2026-07-19T23:15:58.891473336+09:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-19T23:16:13.496522006+09:00","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":7,"events_lines":2,"console_offset":16,"console_lines":1}
+{"time":"2026-07-19T23:16:13.956383877+09:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-19T23:16:28.496262685+09:00","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":9,"events_lines":2,"console_offset":16,"console_lines":1}
+{"time":"2026-07-19T23:16:28.934952762+09:00","level":"INFO","msg":"filestream: request sent","status":"200 OK"}

Abs_6D + DeltaEE/restarts/20260719_231441_rerun_save20k40k60k/LAPstyle_linear_10K/wandb/debug.log

@@ -0,0 +1,19 @@
+2026-07-19 23:14:57,148 INFO    MainThread:2499831 [wandb_setup.py:_flush():81] Current SDK version is 0.27.2
+2026-07-19 23:14:57,148 INFO    MainThread:2499831 [wandb_setup.py:_flush():81] Configure stats pid to 2499831
+2026-07-19 23:14:57,148 INFO    MainThread:2499831 [wandb_setup.py:_flush():81] Loading settings from environment variables
+2026-07-19 23:14:57,148 INFO    MainThread:2499831 [wandb_init.py:setup_run_log_directory():723] Logging user logs to /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231441_rerun_save20k40k60k/LAPstyle_linear_10K/wandb/run-20260719_231457-45ifc2tf/logs/debug.log
+2026-07-19 23:14:57,148 INFO    MainThread:2499831 [wandb_init.py:setup_run_log_directory():724] Logging internal logs to /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231441_rerun_save20k40k60k/LAPstyle_linear_10K/wandb/run-20260719_231457-45ifc2tf/logs/debug-internal.log
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+2026-07-19 23:14:57,148 INFO    MainThread:2499831 [wandb_init.py:init():771] wandb.init called with sweep_config: {}
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Abs_6D + DeltaEE/restarts/20260719_231441_rerun_save20k40k60k/LAPstyle_linear_10K/wandb/run-20260719_231457-45ifc2tf/logs/debug-internal.log

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Abs_6D + DeltaEE/restarts/20260719_231441_rerun_save20k40k60k/LAPstyle_linear_10K/wandb/run-20260719_231457-45ifc2tf/logs/debug.log

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Abs_6D + DeltaEE/restarts/20260719_231441_rerun_save20k40k60k/RSCLstyle_cosine_60K/wandb/debug-internal.log

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Abs_6D + DeltaEE/restarts/20260719_231441_rerun_save20k40k60k/RSCLstyle_cosine_60K/wandb/debug.log

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Abs_6D + DeltaEE/restarts/20260719_231441_rerun_save20k40k60k/RSCLstyle_cosine_60K/wandb/run-20260719_231456-ijigw64z/files/output.log

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+Fetching 27 files: 100%|██████████| 27/27 [00:00<00:00, 17073.15it/s]
+`torch_dtype` is deprecated! Use `dtype` instead!
+Loading weights: 100%|██████████| 1031/1031 [00:00<00:00, 1584.30it/s]
+INFO 2026-07-19 23:15:13 ot_train.py:405 Creating optimizer and scheduler
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+INFO 2026-07-19 23:15:13 ot_train.py:446 cfg.steps=60000 (60K)
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+INFO 2026-07-19 23:15:13 ot_train.py:452 num_learnable_params=1622090881 (2B)
+INFO 2026-07-19 23:15:13 ot_train.py:453 num_total_params=3145712033 (3B)
+Training:   0%|          | 0/60000 [00:00<?, ?step/s]INFO 2026-07-19 23:15:14 ot_train.py:604 Start offline training on a fixed dataset, with effective batch size: 128
+Training:   0%|          | 19/60000 [01:18<50:12:20,  3.01s/step]

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Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/Baseline/checkpoints/030000/action_space_manifest.json

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Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/Baseline/checkpoints/030000/pretrained_model/action_space_manifest.json

@@ -0,0 +1,205 @@
+{
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Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/Baseline/checkpoints/030000/pretrained_model/config.json

@@ -0,0 +1,107 @@
+{
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+}

Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/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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+        "clip_normalized_action": true,
+        "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
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+    }
+  ]
+}

Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/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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+    {
+      "registry_name": "groot_n1_7_pack_inputs_v1",
+      "config": {
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+        "valid_action_horizon": 16,
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+        "language_key": "task",
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+        "embodiment_tag": "new_embodiment",
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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,
+          "simpler_env_widowx": 1,
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+        "clip_outliers": true,
+        "use_percentiles": false,
+        "video_modality_keys": null,
+        "raw_stats": null,
+        "modality_config": null
+      },
+      "state_file": "policy_preprocessor_step_2_groot_n1_7_pack_inputs_v1.safetensors"
+    },
+    {
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+      "config": {
+        "model_name": "nvidia/Cosmos-Reason2-2B",
+        "image_crop_size": [
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+          230
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+        "image_target_size": [
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+        "crop_fraction": null,
+        "use_albumentations": false,
+        "letter_box_transform": false,
+        "device": "cuda"
+      }
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    }
+  ]
+}