Add files using upload-large-folder tool

Abs_6D/DiT_Layer/16/Baseline/source_config.yaml

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 # INSIGHT GR00T N1.7 training config
 # INSIGHT wrapper-only fields are stripped before LeRobot config parsing.
 insight:
+  checkpoint_interval: 5K
+  checkpoint_slots: 2
   # Options: joint_abs | ee_abs_quat | ee_abs_rot6d | ee_delta
   action_space: ee_abs_rot6d
   # Options: coarse | detailed

Abs_6D/DiT_Layer/8/Baseline/checkpoints/rolling_00/action_space_manifest.json

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Abs_6D/DiT_Layer/8/Baseline/checkpoints/rolling_00/pretrained_model/action_space_manifest.json

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Abs_6D/DiT_Layer/8/Baseline/checkpoints/rolling_00/pretrained_model/config.json

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+{
+    "type": "groot_rkd",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
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+        "observation.images.wrist": {
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+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": false,
+    "repo_id": null,
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": "/home/ext_minje/groot_insight/train_ckpt/Abs_6D/DiT_Layer/8/Baseline/checkpoints/030000/pretrained_model",
+    "pretrained_revision": null,
+    "chunk_size": 16,
+    "n_action_steps": 16,
+    "max_state_dim": 132,
+    "max_action_dim": 132,
+    "normalization_mapping": {
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+        "STATE": "IDENTITY",
+        "ACTION": "IDENTITY"
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+    "base_model_path": "nvidia/GR00T-N1.7-3B",
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+    "embodiment_tag": "new_embodiment",
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+}

Abs_6D/DiT_Layer/8/Baseline/checkpoints/rolling_00/pretrained_model/policy_postprocessor.json

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+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "groot_action_unpack_unnormalize_v2",
+      "config": {
+        "env_action_dim": 10,
+        "normalize_min_max": true,
+        "clip_normalized_action": true,
+        "libero_gripper_action": false,
+        "libero_gripper_binarize": true
+      },
+      "state_file": "policy_postprocessor_step_0_groot_action_unpack_unnormalize_v2.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}

Abs_6D/DiT_Layer/8/Baseline/checkpoints/rolling_00/prompt_manifest.json

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

Abs_6D/DiT_Layer/8/Baseline/checkpoints/rolling_00/source_config.yaml

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+# INSIGHT GR00T N1.7 training config
+# INSIGHT wrapper-only fields are stripped before LeRobot config parsing.
+insight:
+  checkpoint_interval: 5K
+  checkpoint_slots: 2
+  # Options: joint_abs | ee_abs_quat | ee_abs_rot6d | ee_delta
+  action_space: ee_abs_rot6d
+  # Options: coarse | detailed
+  prompt_set: detailed
+  save_steps: ["10K", "30K", "60K"]
+
+dataset:
+  repo_id: Whalswp/INSIGHTfixposV4_filtered_multispace_v2
+  root: ${HOME}/INSIGHTfixposV4_filtered_multispace_v2
+
+policy:
+  type: groot_rkd
+  device: cuda
+  chunk_size: 16
+  n_action_steps: 16
+  push_to_hub: false
+  # Trainable scope. This baseline trains projector, diffusion, and VLLN; LLM/vision stay frozen.
+  # VLM
+  tune_llm: false
+  tune_visual: false
+  tune_top_llm_layers: 0
+  # Action Expert
+  action_expert_num_layers: 8
+  tune_projector: true
+  tune_diffusion_model: true
+  tune_vlln: true
+  # RKD policy is used only to expose the shared DiT-depth setting.
+  # This remains the action-loss-only control.
+  rkd_enabled: false
+
+
+seed: 42
+batch_size: 64
+steps: 60000
+log_freq: 200
+output_dir: ${HOME}/groot_insight/Abs_6D/DiT_Layer/8/Baseline
+job_name: INSIGHT_6D_DiT8_Baseline
+
+wandb:
+  enable: true
+  disable_artifact: true
+
+# Omitted because these match LeRobot/GR00T defaults or are unused in this setup:
+#
+# dataset:
+#   eval_split: 0.0
+#   image_transforms:
+#     enable: false  # default; set true only for train-image augmentation.
+#
+# policy:
+#   base_model_path: nvidia/GR00T-N1.7-3B
+#   embodiment_tag: new_embodiment
+#   use_relative_actions: false
+#   use_bf16: true
+#   repo_id: Whalswp/INSIGHT  # unused while push_to_hub is false
+#
+# save_checkpoint: true
+# use_policy_training_preset: true
+# eval_steps: 0
+# env_eval_freq: 0
+#
+# insight.prompt_set options:
+# coarse: High-level task text that requires following the visual guide.
+# detailed: Direction- and interaction-specific text, including rotation and push/pull details.

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Abs_6D/DiT_Layer/8/Baseline/checkpoints/rolling_01/pretrained_model/config.json

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Abs_6D/DiT_Layer/8/Baseline/checkpoints/rolling_01/pretrained_model/policy_postprocessor.json

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Abs_6D/DiT_Layer/8/Baseline/checkpoints/rolling_01/pretrained_model/policy_preprocessor.json

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Abs_6D/DiT_Layer/8/Baseline/checkpoints/rolling_01/pretrained_model/prompt_manifest.json

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Abs_6D/DiT_Layer/8/Baseline/checkpoints/rolling_01/pretrained_model/train_config.json

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Abs_6D/DiT_Layer/8/Baseline/checkpoints/rolling_01/prompt_manifest.json

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Abs_6D/DiT_Layer/8/Baseline/checkpoints/rolling_01/resolved_config.yaml

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Abs_6D/DiT_Layer/8/Baseline/checkpoints/rolling_01/training_state/scheduler_state.json

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+{
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Abs_6D/DiT_Layer/8/Baseline/wandb/run-20260723_013342-21sn30p5/files/config.yaml

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+                    - --resume=true
+                    - --output_dir=/home/ext_minje/groot_insight/train_ckpt/Abs_6D/DiT_Layer/8/Baseline
+                    - --dataset.root=/home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2
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+                    remote: git@github.com:paragon7060/clvla.git
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+                root: /home/ext_minje/groot_insight/train_ckpt/Abs_6D/DiT_Layer/8/Baseline
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+        repo_id: Whalswp/INSIGHTfixposV4_filtered_multispace_v2
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+        root: /home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2
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Abs_6D/DiT_Layer/8/Baseline/wandb/run-20260723_013342-21sn30p5/files/output.log

@@ -45,4 +45,53 @@ Training:   3%|▎         | 800/30000 [20:30<13:25:37,  1.66s/step]INFO 2026-07
 Training:   3%|▎         | 1000/30000 [26:17<25:31:20,  3.17s/step]INFO 2026-07-23 02:00:25 ot_train.py:646 step:31K smpl:2M ep:45K epch:9.09 loss:0.042 grdn:0.283 lr:4.8e-05 updt_s:0.811 data_s:0.924 smp/s:37 mem_gb:24.87
 Training:   4%|▍         | 1200/30000 [31:34<10:25:26,  1.30s/step]INFO 2026-07-23 02:05:43 ot_train.py:646 step:31K smpl:2M ep:45K epch:9.14 loss:0.044 grdn:0.305 lr:4.8e-05 updt_s:0.809 data_s:0.777 smp/s:40 mem_gb:24.87
 Training:   5%|▍         | 1400/30000 [36:35<11:07:40,  1.40s/step]INFO 2026-07-23 02:10:43 ot_train.py:646 step:31K smpl:2M ep:45K epch:9.20 loss:0.042 grdn:0.292 lr:4.7e-05 updt_s:0.854 data_s:0.646 smp/s:43 mem_gb:24.86
-Training:   5%|▍         | 1469/30000 [38:13<11:44:01,  1.48s/step]
+Training:   5%|▌         | 1600/30000 [41:25<18:19:18,  2.32s/step]INFO 2026-07-23 02:15:33 ot_train.py:646 step:32K smpl:2M ep:46K epch:9.26 loss:0.043 grdn:0.287 lr:4.7e-05 updt_s:0.774 data_s:0.675 smp/s:44 mem_gb:24.85
+Training:   6%|▌         | 1800/30000 [46:10<10:50:53,  1.38s/step]INFO 2026-07-23 02:20:18 ot_train.py:646 step:32K smpl:2M ep:46K epch:9.32 loss:0.041 grdn:0.297 lr:4.6e-05 updt_s:0.799 data_s:0.625 smp/s:45 mem_gb:24.86
+Training:   7%|▋         | 2000/30000 [50:49<10:57:01,  1.41s/step]INFO 2026-07-23 02:24:58 ot_train.py:646 step:32K smpl:2M ep:46K epch:9.38 loss:0.042 grdn:0.297 lr:4.6e-05 updt_s:0.773 data_s:0.624 smp/s:46 mem_gb:24.86
+Training:   7%|▋         | 2167/30000 [54:41<10:40:16,  1.38s/step]Traceback (most recent call last):
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1453, in <module>
+    config_path = Path(config_value).expanduser()
+    ^^^^^^
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1449, in main
+    config_value = _find_cli_value(args, "--config_path")
+    ^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/scripts/lerobot_train.py", line 813, in main
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/configs/parser.py", line 320, in wrapper_inner
+    response = fn(cfg, *args, **kwargs)
+               ^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/scripts/lerobot_train.py", line 615, in train
+    wandb_logger.log_dict(wandb_log_dict, step)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/scripts/lerobot_train.py", line 179, in update_policy
+    """
+
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_policies/groot_RKD/modeling_groot_rkd.py", line 265, in forward
+    return super().forward(batch)
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_policies/groot_RKD/modeling_groot.py", line 458, in forward
+    outputs = self._groot_model.forward(groot_inputs)
+              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_policies/groot_RKD/groot_n1_7.py", line 884, in forward
+    backbone_outputs = self.backbone(backbone_inputs)
+                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/torch/nn/modules/module.py", line 1779, in _wrapped_call_impl
+    return self._call_impl(*args, **kwargs)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/torch/nn/modules/module.py", line 1790, in _call_impl
+    return forward_call(*args, **kwargs)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_policies/groot_RKD/groot_n1_7.py", line 450, in forward
+    self._ensure_legacy_qwen3_position_ids(model_input)
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_policies/groot_RKD/groot_n1_7.py", line 402, in _ensure_legacy_qwen3_position_ids
+    position_ids = compute_3d_position_ids(
+                   ^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/transformers/models/qwen3_vl/modeling_qwen3_vl.py", line 1228, in compute_3d_position_ids
+    position_ids, rope_deltas = self.get_rope_index(
+                                ^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/transformers/models/qwen3_vl/modeling_qwen3_vl.py", line 1110, in get_rope_index
+    vision_position_ids = self.get_vision_position_ids(
+                          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/transformers/models/qwen3_vl/modeling_qwen3_vl.py", line 1019, in get_vision_position_ids
+    position_width = torch.arange(start_position, start_position + llm_grid_w, device=device).repeat(
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+KeyboardInterrupt

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+INFO 2026-07-23 02:31:42 ot_train.py:501 Resuming data order at epoch 13, sample 42176
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+Training:   1%|          | 200/30000 [05:07<12:31:10,  1.51s/step]INFO 2026-07-23 02:36:51 ot_train.py:655 step:30K smpl:2M ep:44K epch:8.85 loss:0.043 grdn:0.291 lr:5.0e-05 updt_s:0.815 data_s:0.723 smp/s:42 mem_gb:24.87
+Training:   1%|▏         | 400/30000 [09:58<11:58:58,  1.46s/step]INFO 2026-07-23 02:41:41 ot_train.py:655 step:30K smpl:2M ep:44K epch:8.91 loss:0.043 grdn:0.295 lr:5.0e-05 updt_s:0.747 data_s:0.705 smp/s:44 mem_gb:24.87
+Training:   2%|▏         | 600/30000 [14:51<12:30:26,  1.53s/step]INFO 2026-07-23 02:46:34 ot_train.py:655 step:31K smpl:2M ep:44K epch:8.97 loss:0.044 grdn:0.296 lr:4.9e-05 updt_s:0.755 data_s:0.706 smp/s:44 mem_gb:24.87
+Training:   3%|▎         | 800/30000 [19:44<12:19:15,  1.52s/step]INFO 2026-07-23 02:51:27 ot_train.py:655 step:31K smpl:2M ep:45K epch:9.03 loss:0.044 grdn:0.285 lr:4.9e-05 updt_s:0.704 data_s:0.760 smp/s:44 mem_gb:24.87
+Training:   3%|▎         | 1000/30000 [26:21<24:34:35,  3.05s/step]INFO 2026-07-23 02:58:04 ot_train.py:655 step:31K smpl:2M ep:45K epch:9.09 loss:0.042 grdn:0.283 lr:4.8e-05 updt_s:0.763 data_s:1.221 smp/s:32 mem_gb:24.87
+Training:   4%|▍         | 1200/30000 [34:55<19:06:29,  2.39s/step]INFO 2026-07-23 03:06:38 ot_train.py:655 step:31K smpl:2M ep:45K epch:9.14 loss:0.044 grdn:0.305 lr:4.8e-05 updt_s:0.830 data_s:1.739 smp/s:25 mem_gb:24.87
+Training:   5%|▍         | 1400/30000 [41:07<12:04:39,  1.52s/step]INFO 2026-07-23 03:12:50 ot_train.py:655 step:31K smpl:2M ep:45K epch:9.20 loss:0.042 grdn:0.292 lr:4.7e-05 updt_s:0.789 data_s:1.067 smp/s:34 mem_gb:24.86
+Training:   5%|▌         | 1600/30000 [47:17<24:54:47,  3.16s/step]INFO 2026-07-23 03:19:00 ot_train.py:655 step:32K smpl:2M ep:46K epch:9.26 loss:0.043 grdn:0.287 lr:4.7e-05 updt_s:0.821 data_s:1.028 smp/s:35 mem_gb:24.85
+Training:   6%|▌         | 1800/30000 [56:23<20:30:53,  2.62s/step]INFO 2026-07-23 03:28:06 ot_train.py:655 step:32K smpl:2M ep:46K epch:9.32 loss:0.041 grdn:0.297 lr:4.6e-05 updt_s:0.856 data_s:1.876 smp/s:23 mem_gb:24.86
+Training:   7%|▋         | 2000/30000 [1:03:17<13:58:59,  1.80s/step]INFO 2026-07-23 03:35:00 ot_train.py:655 step:32K smpl:2M ep:46K epch:9.38 loss:0.042 grdn:0.297 lr:4.6e-05 updt_s:0.832 data_s:1.234 smp/s:31 mem_gb:24.86
+Training:   7%|▋         | 2200/30000 [1:10:01<13:24:29,  1.74s/step]INFO 2026-07-23 03:41:44 ot_train.py:655 step:32K smpl:2M ep:47K epch:9.44 loss:0.041 grdn:0.298 lr:4.5e-05 updt_s:0.867 data_s:1.154 smp/s:32 mem_gb:24.86
+Training:   8%|▊         | 2400/30000 [1:14:44<9:07:57,  1.19s/step]INFO 2026-07-23 03:46:27 ot_train.py:655 step:32K smpl:2M ep:47K epch:9.50 loss:0.042 grdn:0.304 lr:4.5e-05 updt_s:0.727 data_s:0.686 smp/s:45 mem_gb:24.86
+Training:   9%|▊         | 2600/30000 [1:18:53<8:59:20,  1.18s/step]INFO 2026-07-23 03:50:36 ot_train.py:655 step:33K smpl:2M ep:47K epch:9.55 loss:0.041 grdn:0.294 lr:4.4e-05 updt_s:0.681 data_s:0.560 smp/s:52 mem_gb:24.86
+Training:   9%|▉         | 2800/30000 [1:22:52<8:55:09,  1.18s/step]INFO 2026-07-23 03:54:35 ot_train.py:655 step:33K smpl:2M ep:47K epch:9.61 loss:0.040 grdn:0.281 lr:4.4e-05 updt_s:0.652 data_s:0.544 smp/s:54 mem_gb:24.86
+Training:  10%|█         | 3000/30000 [1:27:03<8:52:30,  1.18s/step]INFO 2026-07-23 03:58:46 ot_train.py:655 step:33K smpl:2M ep:48K epch:9.67 loss:0.040 grdn:0.300 lr:4.3e-05 updt_s:0.691 data_s:0.562 smp/s:51 mem_gb:24.86
+Training:  11%|█         | 3200/30000 [1:31:15<12:09:59,  1.63s/step]INFO 2026-07-23 04:02:59 ot_train.py:655 step:33K smpl:2M ep:48K epch:9.73 loss:0.041 grdn:0.312 lr:4.3e-05 updt_s:0.668 data_s:0.594 smp/s:51 mem_gb:24.86
+Training:  11%|█▏        | 3400/30000 [1:38:15<14:31:35,  1.97s/step]INFO 2026-07-23 04:09:58 ot_train.py:655 step:33K smpl:2M ep:48K epch:9.79 loss:0.040 grdn:0.299 lr:4.2e-05 updt_s:1.053 data_s:1.042 smp/s:31 mem_gb:24.86
+Training:  12%|█▏        | 3600/30000 [1:43:07<8:53:19,  1.21s/step]INFO 2026-07-23 04:14:50 ot_train.py:655 step:34K smpl:2M ep:49K epch:9.85 loss:0.040 grdn:0.289 lr:4.1e-05 updt_s:0.758 data_s:0.704 smp/s:44 mem_gb:24.86
+Training:  13%|█▎        | 3800/30000 [1:47:11<9:37:00,  1.32s/step]INFO 2026-07-23 04:18:54 ot_train.py:655 step:34K smpl:2M ep:49K epch:9.91 loss:0.040 grdn:0.290 lr:4.1e-05 updt_s:0.651 data_s:0.569 smp/s:52 mem_gb:24.86
+Training:  13%|█▎        | 4000/30000 [1:51:14<8:40:36,  1.20s/step]INFO 2026-07-23 04:22:58 ot_train.py:655 step:34K smpl:2M ep:49K epch:9.96 loss:0.039 grdn:0.292 lr:4.0e-05 updt_s:0.656 data_s:0.559 smp/s:53 mem_gb:24.84
+Training:  14%|█▍        | 4200/30000 [1:55:19<9:22:35,  1.31s/step]INFO 2026-07-23 04:27:02 ot_train.py:655 step:34K smpl:2M ep:49K epch:10.02 loss:0.038 grdn:0.296 lr:4.0e-05 updt_s:0.660 data_s:0.562 smp/s:52 mem_gb:24.86
+Training:  15%|█▍        | 4400/30000 [1:59:24<8:27:56,  1.19s/step]INFO 2026-07-23 04:31:07 ot_train.py:655 step:34K smpl:2M ep:50K epch:10.08 loss:0.038 grdn:0.291 lr:3.9e-05 updt_s:0.661 data_s:0.564 smp/s:52 mem_gb:24.86
+Training:  15%|█▌        | 4600/30000 [2:03:40<8:50:54,  1.25s/step]INFO 2026-07-23 04:35:23 ot_train.py:655 step:35K smpl:2M ep:50K epch:10.14 loss:0.038 grdn:0.298 lr:3.9e-05 updt_s:0.717 data_s:0.562 smp/s:50 mem_gb:24.86
+Training:  16%|█▌        | 4800/30000 [2:07:45<8:31:57,  1.22s/step]INFO 2026-07-23 04:39:28 ot_train.py:655 step:35K smpl:2M ep:50K epch:10.20 loss:0.037 grdn:0.286 lr:3.8e-05 updt_s:0.668 data_s:0.553 smp/s:52 mem_gb:24.86
+Training:  17%|█▋        | 5000/30000 [2:11:49<8:17:29,  1.19s/step]INFO 2026-07-23 04:43:32 ot_train.py:655 step:35K smpl:2M ep:51K epch:10.26 loss:0.039 grdn:0.311 lr:3.8e-05 updt_s:0.665 data_s:0.556 smp/s:52 mem_gb:24.86
+INFO 2026-07-23 04:43:32 ot_train.py:700 Checkpoint policy after step 35000
+INFO 2026-07-23 04:43:50 in_yaml.py:1413 Saved verified rolling checkpoint step=35000 slot=/home/ext_minje/groot_insight/train_ckpt/Abs_6D/DiT_Layer/8/Baseline/checkpoints/rolling_00
+Training:  17%|█▋        | 5200/30000 [2:16:54<8:25:37,  1.22s/step]INFO 2026-07-23 04:48:38 ot_train.py:655 step:35K smpl:2M ep:51K epch:10.32 loss:0.038 grdn:0.293 lr:3.7e-05 updt_s:0.673 data_s:0.766 smp/s:44 mem_gb:24.86
+Training:  18%|█▊        | 5400/30000 [2:20:58<8:16:03,  1.21s/step]INFO 2026-07-23 04:52:41 ot_train.py:655 step:35K smpl:2M ep:51K epch:10.38 loss:0.038 grdn:0.302 lr:3.7e-05 updt_s:0.675 data_s:0.543 smp/s:53 mem_gb:24.86
+Training:  19%|█▊        | 5600/30000 [2:25:04<8:58:11,  1.32s/step]INFO 2026-07-23 04:56:47 ot_train.py:655 step:36K smpl:2M ep:51K epch:10.43 loss:0.037 grdn:0.296 lr:3.6e-05 updt_s:0.668 data_s:0.560 smp/s:52 mem_gb:24.86
+Training:  19%|█▉        | 5800/30000 [2:29:18<8:42:23,  1.30s/step]INFO 2026-07-23 05:01:01 ot_train.py:655 step:36K smpl:2M ep:52K epch:10.49 loss:0.037 grdn:0.293 lr:3.6e-05 updt_s:0.695 data_s:0.572 smp/s:50 mem_gb:24.86
+Training:  20%|██        | 6000/30000 [2:33:40<8:53:06,  1.33s/step]INFO 2026-07-23 05:05:23 ot_train.py:655 step:36K smpl:2M ep:52K epch:10.55 loss:0.036 grdn:0.285 lr:3.5e-05 updt_s:0.724 data_s:0.585 smp/s:49 mem_gb:24.86
+Training:  21%|██        | 6200/30000 [2:38:43<10:53:43,  1.65s/step]INFO 2026-07-23 05:10:26 ot_train.py:655 step:36K smpl:2M ep:52K epch:10.61 loss:0.035 grdn:0.286 lr:3.5e-05 updt_s:0.811 data_s:0.702 smp/s:42 mem_gb:24.84
+Training:  21%|██▏       | 6400/30000 [2:46:54<15:35:08,  2.38s/step]INFO 2026-07-23 05:18:37 ot_train.py:655 step:36K smpl:2M ep:53K epch:10.67 loss:0.035 grdn:0.298 lr:3.4e-05 updt_s:0.819 data_s:1.635 smp/s:26 mem_gb:24.86
+Training:  22%|██▏       | 6600/30000 [2:52:24<10:09:37,  1.56s/step]INFO 2026-07-23 05:24:08 ot_train.py:655 step:37K smpl:2M ep:53K epch:10.73 loss:0.035 grdn:0.295 lr:3.4e-05 updt_s:0.790 data_s:0.863 smp/s:39 mem_gb:24.86
+Training:  23%|██▎       | 6800/30000 [2:59:22<17:41:11,  2.74s/step]INFO 2026-07-23 05:31:05 ot_train.py:655 step:37K smpl:2M ep:53K epch:10.79 loss:0.034 grdn:0.284 lr:3.3e-05 updt_s:0.816 data_s:1.270 smp/s:31 mem_gb:24.86
+Training:  23%|██▎       | 7000/30000 [3:05:37<9:35:45,  1.50s/step]INFO 2026-07-23 05:37:20 ot_train.py:655 step:37K smpl:2M ep:53K epch:10.84 loss:0.035 grdn:0.309 lr:3.3e-05 updt_s:0.795 data_s:1.079 smp/s:34 mem_gb:24.86
+Training:  24%|██▍       | 7200/30000 [3:10:42<9:52:11,  1.56s/step]INFO 2026-07-23 05:42:25 ot_train.py:655 step:37K smpl:2M ep:54K epch:10.90 loss:0.035 grdn:0.285 lr:3.2e-05 updt_s:0.795 data_s:0.727 smp/s:42 mem_gb:24.86
+Training:  25%|██▍       | 7400/30000 [3:15:52<9:11:09,  1.46s/step]INFO 2026-07-23 05:47:35 ot_train.py:655 step:37K smpl:2M ep:54K epch:10.96 loss:0.035 grdn:0.303 lr:3.2e-05 updt_s:0.820 data_s:0.729 smp/s:41 mem_gb:24.86
+Training:  25%|██▌       | 7600/30000 [3:21:03<10:10:36,  1.64s/step]INFO 2026-07-23 05:52:47 ot_train.py:655 step:38K smpl:2M ep:54K epch:11.02 loss:0.034 grdn:0.291 lr:3.1e-05 updt_s:0.797 data_s:0.759 smp/s:41 mem_gb:24.86
+Training:  26%|██▌       | 7800/30000 [3:26:11<9:35:33,  1.56s/step]INFO 2026-07-23 05:57:54 ot_train.py:655 step:38K smpl:2M ep:55K epch:11.08 loss:0.035 grdn:0.296 lr:3.1e-05 updt_s:0.768 data_s:0.768 smp/s:42 mem_gb:24.86
+Training:  27%|██▋       | 8000/30000 [3:31:21<9:20:19,  1.53s/step]INFO 2026-07-23 06:03:04 ot_train.py:655 step:38K smpl:2M ep:55K epch:11.14 loss:0.034 grdn:0.298 lr:3.0e-05 updt_s:0.783 data_s:0.768 smp/s:41 mem_gb:24.86
+Training:  27%|██▋       | 8200/30000 [3:36:30<9:09:31,  1.51s/step]INFO 2026-07-23 06:08:13 ot_train.py:655 step:38K smpl:2M ep:55K epch:11.20 loss:0.034 grdn:0.305 lr:3.0e-05 updt_s:0.804 data_s:0.739 smp/s:41 mem_gb:24.86
+Training:  28%|██▊       | 8400/30000 [3:41:39<8:53:49,  1.48s/step]INFO 2026-07-23 06:13:22 ot_train.py:655 step:38K smpl:2M ep:55K epch:11.25 loss:0.034 grdn:0.311 lr:2.9e-05 updt_s:0.791 data_s:0.752 smp/s:41 mem_gb:24.84
+Training:  29%|██▊       | 8600/30000 [3:46:49<8:49:58,  1.49s/step]INFO 2026-07-23 06:18:32 ot_train.py:655 step:39K smpl:2M ep:56K epch:11.31 loss:0.032 grdn:0.293 lr:2.9e-05 updt_s:0.773 data_s:0.773 smp/s:41 mem_gb:24.86
+Training:  29%|██▉       | 8800/30000 [3:52:47<19:41:38,  3.34s/step]INFO 2026-07-23 06:24:30 ot_train.py:655 step:39K smpl:2M ep:56K epch:11.37 loss:0.032 grdn:0.295 lr:2.8e-05 updt_s:0.756 data_s:1.032 smp/s:36 mem_gb:24.86
+Training:  30%|███       | 9000/30000 [4:01:39<12:59:54,  2.23s/step]INFO 2026-07-23 06:33:22 ot_train.py:655 step:39K smpl:2M ep:56K epch:11.43 loss:0.033 grdn:0.308 lr:2.8e-05 updt_s:0.727 data_s:1.932 smp/s:24 mem_gb:24.86
+Training:  31%|███       | 9200/30000 [4:08:34<9:19:20,  1.61s/step]INFO 2026-07-23 06:40:18 ot_train.py:655 step:39K smpl:3M ep:57K epch:11.49 loss:0.033 grdn:0.310 lr:2.7e-05 updt_s:0.732 data_s:1.346 smp/s:31 mem_gb:24.86
+Training:  31%|███▏      | 9400/30000 [4:16:26<15:47:35,  2.76s/step]INFO 2026-07-23 06:48:09 ot_train.py:655 step:39K smpl:3M ep:57K epch:11.55 loss:0.033 grdn:0.309 lr:2.7e-05 updt_s:0.727 data_s:1.627 smp/s:27 mem_gb:24.86
+Training:  32%|███▏      | 9600/30000 [4:22:59<9:09:58,  1.62s/step]INFO 2026-07-23 06:54:43 ot_train.py:655 step:40K smpl:3M ep:57K epch:11.61 loss:0.032 grdn:0.295 lr:2.7e-05 updt_s:0.796 data_s:1.173 smp/s:33 mem_gb:24.86
+Training:  33%|███▎      | 9800/30000 [4:28:36<9:25:03,  1.68s/step]INFO 2026-07-23 07:00:19 ot_train.py:655 step:40K smpl:3M ep:58K epch:11.66 loss:0.032 grdn:0.304 lr:2.6e-05 updt_s:0.801 data_s:0.882 smp/s:38 mem_gb:24.86
+Training:  33%|███▎      | 10000/30000 [4:34:37<15:43:47,  2.83s/step]INFO 2026-07-23 07:06:20 ot_train.py:655 step:40K smpl:3M ep:58K epch:11.72 loss:0.031 grdn:0.297 lr:2.6e-05 updt_s:0.795 data_s:1.005 smp/s:36 mem_gb:24.86
+INFO 2026-07-23 07:06:20 ot_train.py:700 Checkpoint policy after step 40000
+INFO 2026-07-23 07:06:42 in_yaml.py:1413 Saved verified rolling checkpoint step=40000 slot=/home/ext_minje/groot_insight/train_ckpt/Abs_6D/DiT_Layer/8/Baseline/checkpoints/rolling_01
+Training:  34%|███▍      | 10200/30000 [4:41:28<9:31:41,  1.73s/step]INFO 2026-07-23 07:13:11 ot_train.py:655 step:40K smpl:3M ep:58K epch:11.78 loss:0.031 grdn:0.294 lr:2.5e-05 updt_s:0.782 data_s:1.162 smp/s:33 mem_gb:24.86
+Training:  35%|███▍      | 10400/30000 [4:46:52<9:00:14,  1.65s/step]INFO 2026-07-23 07:18:35 ot_train.py:655 step:40K smpl:3M ep:58K epch:11.84 loss:0.032 grdn:0.304 lr:2.5e-05 updt_s:0.808 data_s:0.810 smp/s:40 mem_gb:24.86
+Training:  35%|███▌      | 10600/30000 [4:52:08<8:33:51,  1.59s/step]INFO 2026-07-23 07:23:51 ot_train.py:655 step:41K smpl:3M ep:59K epch:11.90 loss:0.032 grdn:0.302 lr:2.4e-05 updt_s:0.782 data_s:0.795 smp/s:41 mem_gb:24.86
+Training:  36%|███▌      | 10800/30000 [4:57:29<9:28:09,  1.78s/step]INFO 2026-07-23 07:29:12 ot_train.py:655 step:41K smpl:3M ep:59K epch:11.96 loss:0.030 grdn:0.290 lr:2.4e-05 updt_s:0.780 data_s:0.824 smp/s:40 mem_gb:24.84
+Training:  37%|███▋      | 11000/30000 [5:03:15<8:28:54,  1.61s/step]INFO 2026-07-23 07:34:58 ot_train.py:655 step:41K smpl:3M ep:59K epch:12.02 loss:0.029 grdn:0.290 lr:2.3e-05 updt_s:0.827 data_s:0.902 smp/s:37 mem_gb:24.86
+Training:  37%|███▋      | 11200/30000 [5:08:46<8:15:01,  1.58s/step]INFO 2026-07-23 07:40:29 ot_train.py:655 step:41K smpl:3M ep:60K epch:12.08 loss:0.030 grdn:0.287 lr:2.3e-05 updt_s:0.835 data_s:0.818 smp/s:39 mem_gb:24.86
+Training:  38%|███▊      | 11400/30000 [5:14:41<8:24:23,  1.63s/step]INFO 2026-07-23 07:46:24 ot_train.py:655 step:41K smpl:3M ep:60K epch:12.13 loss:0.030 grdn:0.296 lr:2.2e-05 updt_s:0.823 data_s:0.948 smp/s:36 mem_gb:24.86
+Training:  39%|███▊      | 11600/30000 [5:22:11<10:36:04,  2.07s/step]INFO 2026-07-23 07:53:54 ot_train.py:655 step:42K smpl:3M ep:60K epch:12.19 loss:0.029 grdn:0.288 lr:2.2e-05 updt_s:0.779 data_s:1.470 smp/s:28 mem_gb:24.86
+Training:  39%|███▉      | 11800/30000 [5:28:31<7:41:31,  1.52s/step]INFO 2026-07-23 08:00:14 ot_train.py:655 step:42K smpl:3M ep:60K epch:12.25 loss:0.029 grdn:0.296 lr:2.2e-05 updt_s:0.750 data_s:1.150 smp/s:34 mem_gb:24.86
+Training:  40%|████      | 12000/30000 [5:35:26<7:50:59,  1.57s/step]INFO 2026-07-23 08:07:09 ot_train.py:655 step:42K smpl:3M ep:61K epch:12.31 loss:0.029 grdn:0.279 lr:2.1e-05 updt_s:0.803 data_s:1.272 smp/s:31 mem_gb:24.86
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+INFO 2026-07-23 09:41:55 ot_train.py:700 Checkpoint policy after step 45000
+INFO 2026-07-23 09:42:20 in_yaml.py:1413 Saved verified rolling checkpoint step=45000 slot=/home/ext_minje/groot_insight/train_ckpt/Abs_6D/DiT_Layer/8/Baseline/checkpoints/rolling_00
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+INFO 2026-07-23 12:13:58 ot_train.py:700 Checkpoint policy after step 50000
+INFO 2026-07-23 12:14:25 in_yaml.py:1413 Saved verified rolling checkpoint step=50000 slot=/home/ext_minje/groot_insight/train_ckpt/Abs_6D/DiT_Layer/8/Baseline/checkpoints/rolling_01
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+Training:  81%|████████  | 24200/30000 [11:15:42<1:55:42,  1.20s/step]INFO 2026-07-23 13:47:25 ot_train.py:655 step:54K smpl:3M ep:78K epch:15.89 loss:0.020 grdn:0.257 lr:2.4e-06 updt_s:0.689 data_s:0.586 smp/s:50 mem_gb:24.84
+Training:  81%|████████▏ | 24400/30000 [11:19:48<2:08:02,  1.37s/step]INFO 2026-07-23 13:51:32 ot_train.py:655 step:54K smpl:3M ep:79K epch:15.94 loss:0.020 grdn:0.246 lr:2.2e-06 updt_s:0.697 data_s:0.534 smp/s:52 mem_gb:24.86
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+Training:  83%|████████▎ | 24800/30000 [11:27:47<1:41:06,  1.17s/step]INFO 2026-07-23 13:59:30 ot_train.py:655 step:55K smpl:4M ep:79K epch:16.06 loss:0.020 grdn:0.250 lr:1.9e-06 updt_s:0.656 data_s:0.528 smp/s:54 mem_gb:24.86
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+Training:  86%|████████▋ | 25932/30000 [11:50:37<1:18:46,  1.16s/step]

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Abs_6D/DiT_Layer/8/Baseline/wandb/run-20260723_163501-2vl3enlf/files/output.log

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+INFO 2026-07-23 16:35:03 db_utils.py:126 Logs will be synced with wandb.
+INFO 2026-07-23 16:35:03 db_utils.py:127 Track this run --> https://wandb.ai/minje227_hyu-hanyang-university/lerobot/runs/2vl3enlf
+INFO 2026-07-23 16:35:03 ot_train.py:310 Creating dataset
+INFO 2026-07-23 16:35:05 ot_train.py:344 Creating policy
+INFO 2026-07-23 16:35:05 ng_groot.py:193 The Groot policy wraps NVIDIA's GR00T n1.7 model. Loading pretrained model from: /home/ext_minje/groot_insight/train_ckpt/Abs_6D/DiT_Layer/8/Baseline/checkpoints/rolling_00/pretrained_model
+INFO 2026-07-23 16:35:05 ng_groot.py:227 Detected fine-tuned LeRobot checkpoint, loading with state dict...
+Fetching 27 files: 100%|██████████| 27/27 [00:00<00:00, 14500.15it/s]
+`torch_dtype` is deprecated! Use `dtype` instead!
+Loading weights: 100%|██████████| 695/695 [00:04<00:00, 161.16it/s]
+GR00TN17 LOAD REPORT from: /home/ext_minje/.cache/huggingface/hub/models--nvidia--GR00T-N1.7-3B/snapshots/2fc962b973bccdd5d8ce4f67cc63b264d6886495
+Key                                                                 | Status     |  |
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+Notes:
+- UNEXPECTED:	can be ignored when loading from different task/architecture; not ok if you expect identical arch.
+Loading weights from local directory
+INFO 2026-07-23 16:35:27 ot_train.py:417 Creating optimizer and scheduler
+INFO 2026-07-23 16:35:29 ot_train.py:449 Output dir: /home/ext_minje/groot_insight/train_ckpt/Abs_6D/DiT_Layer/8/Baseline
+INFO 2026-07-23 16:35:29 ot_train.py:456 cfg.steps=60000 (60K)
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+INFO 2026-07-23 16:35:29 ot_train.py:461 Effective batch size: 64 x 1 = 64
+INFO 2026-07-23 16:35:29 ot_train.py:462 num_learnable_params=808512640 (809M)
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+INFO 2026-07-23 18:11:11 ot_train.py:704 Checkpoint policy after step 60000
+INFO 2026-07-23 18:11:27 in_yaml.py:1414 Saved verified rolling checkpoint step=60000 slot=/home/ext_minje/groot_insight/train_ckpt/Abs_6D/DiT_Layer/8/Baseline/checkpoints/rolling_01
+Training: 100%|██████████| 5000/5000 [1:35:57<00:00,  1.15s/step]
+INFO 2026-07-23 18:11:27 ot_train.py:790 End of training

Abs_6D/DiT_Layer/8/Baseline/wandb/run-20260723_163501-2vl3enlf/files/requirements.txt

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Abs_6D/DiT_Layer/8/Baseline/wandb/run-20260723_163501-2vl3enlf/logs/debug.log

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+2026-07-23 16:35:01,612 INFO    MainThread:1456 [wandb_init.py:init():771] wandb.init called with sweep_config: {}
+config: {'dataset': {'repo_id': 'Whalswp/INSIGHTfixposV4_filtered_multispace_v2', 'root': '/home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2', 'episodes': None, 'image_transforms': {'enable': False, 'max_num_transforms': 3, 'random_order': False, 'tfs': {'brightness': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'brightness': [0.8, 1.2]}}, 'contrast': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'contrast': [0.8, 1.2]}}, 'saturation': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'saturation': [0.5, 1.5]}}, 'hue': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'hue': [-0.05, 0.05]}}, 'sharpness': {'weight': 1.0, 'type': 'SharpnessJitter', 'kwargs': {'sharpness': [0.5, 1.5]}}, 'affine': {'weight': 1.0, 'type': 'RandomAffine', 'kwargs': {'degrees': [-5.0, 5.0], 'translate': [0.05, 0.05]}}}}, 'revision': None, 'use_imagenet_stats': True, 'video_backend': 'torchcodec', 'return_uint8': False, 'depth_output_unit': 'mm', 'streaming': False, 'eval_split': 0.0}, 'env': None, 'policy': {'type': 'groot_rkd', 'n_obs_steps': 1, 'input_features': {'observation.state': {'type': <FeatureType.STATE: 'STATE'>, 'shape': [16]}, 'observation.images.wrist': {'type': <FeatureType.VISUAL: 'VISUAL'>, 'shape': [3, 224, 224]}, 'observation.images.right_shoulder': {'type': <FeatureType.VISUAL: 'VISUAL'>, 'shape': [3, 224, 224]}, 'observation.images.guide': {'type': <FeatureType.VISUAL: 'VISUAL'>, 'shape': [3, 224, 224]}}, 'output_features': {'action': {'type': <FeatureType.ACTION: 'ACTION'>, 'shape': [10]}}, 'device': 'cuda', 'use_amp': False, 'use_peft': False, 'push_to_hub': False, 'repo_id': None, 'private': None, 'tags': None, 'license': None, 'pretrained_path': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D/DiT_Layer/8/Baseline/checkpoints/rolling_00/pretrained_model', 'pretrained_revision': None, 'chunk_size': 16, 'n_action_steps': 16, 'max_state_dim': 132, 'max_action_dim': 132, 'normalization_mapping': {'VISUAL': <NormalizationMode.IDENTITY: 'IDENTITY'>, 'STATE': <NormalizationMode.IDENTITY: 'IDENTITY'>, 'ACTION': <NormalizationMode.IDENTITY: 'IDENTITY'>}, 'base_model_path': 'nvidia/GR00T-N1.7-3B', 'action_decode_transform': None, 'embodiment_tag': 'new_embodiment', 'tune_llm': False, 'tune_visual': False, 'tune_projector': True, 'tune_diffusion_model': True, 'tune_vlln': True, 'tune_top_llm_layers': 0, 'num_inference_timesteps': None, 'rtc_ramp_rate': None, 'use_flash_attention': False, 'use_relative_actions': False, 'relative_exclude_joints': [], 'optimizer_lr': 0.0001, 'optimizer_betas': [0.9, 0.999], 'optimizer_eps': 1e-08, 'optimizer_weight_decay': 1e-05, 'warmup_steps': None, 'warmup_ratio': 0.05, 'use_bf16': True, 'model_params_fp32': True, 'image_size': [256, 256], 'tokenizer_assets_repo': None, 'lora_rank': 0, 'lora_alpha': 16, 'lora_dropout': 0.1, 'lora_full_model': False, 'video_backend': 'decord', 'balance_dataset_weights': True, 'balance_trajectory_weights': True, 'dataset_paths': None, 'output_dir': './tmp/gr00t', 'save_steps': 1000, 'max_steps': 10000, 'batch_size': 32, 'dataloader_num_workers': 8, 'report_to': 'wandb', 'resume': False, 'action_expert_num_layers': 8, 'rkd_enabled': False, 'rkd_vae_checkpoint': None, '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': 0.1, 'rkd_distance_weight': 1.0, 'rkd_angle_weight': 1.0}, 'reward_model': None, 'output_dir': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D/DiT_Layer/8/Baseline', 'job_name': 'INSIGHT_6D_DiT8_Baseline', 'resume': True, 'seed': 42, 'cudnn_deterministic': False, 'num_workers': 4, 'batch_size': 64, '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': '2vl3enlf', 'mode': None, 'add_tags': True}, 'peft': None, 'job': {'target': None, 'image': 'huggingface/lerobot-gpu:latest', 'timeout': '2d', 'detach': False, 'tags': []}, 'save_checkpoint_to_hub': False, 'sample_weighting': None, 'rename_map': {}, 'checkpoint_path': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D/DiT_Layer/8/Baseline/checkpoints/rolling_00', '_wandb': {}}
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+2026-07-23 18:11:27,378 INFO    wandb-AsyncioManager-main:1456 [mailbox.py:close():154] Closing mailbox, abandoning 2 handles.
+2026-07-23 18:11:27,378 ERROR   wandb-AsyncioManager-main:1456 [asyncio_manager.py:fn_wrap_exceptions():184] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_manager.py", line 182, in fn_wrap_exceptions
+    await fn()
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/run_messages.py", line 90, in loop
+    await asyncio_compat.race(
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_compat.py", line 278, in race
+    async with open_task_group(race=True) as tg:
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/contextlib.py", line 217, in __aexit__
+    await anext(self.gen)
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_compat.py", line 240, in open_task_group
+    await task_group._wait_all(race=race, timeout=exit_timeout)
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_compat.py", line 180, in _wait_all
+    raise exc
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/run_messages.py", line 113, in _print_all
+    result = await handle.wait_async(timeout=None)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/mailbox/mailbox_handle.py", line 127, in wait_async
+    response = await self._handle.wait_async(timeout=timeout)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/mailbox/response_handle.py", line 123, in wait_async
+    raise HandleAbandonedError()
+wandb.sdk.mailbox.mailbox_handle.HandleAbandonedError
+2026-07-23 18:11:34,323 ERROR   wandb-AsyncioManager-main:1456 [asyncio_manager.py:fn_wrap_exceptions():184] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_manager.py", line 182, in fn_wrap_exceptions
+    await fn()
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/run_stopping.py", line 87, in loop
+    should_stop = await self._check_should_stop()
+                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/run_stopping.py", line 115, in _check_should_stop
+    handle = await self._interface.deliver_async(request)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/interface/interface_sock.py", line 58, in deliver_async
+    handle = await self._client.deliver(request)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/service/service_client.py", line 57, in deliver
+    handle = self._mailbox.require_response(request)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/mailbox/mailbox.py", line 89, in require_response
+    raise MailboxClosedError()
+wandb.sdk.mailbox.mailbox.MailboxClosedError

Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/checkpoints/rolling_00/pretrained_model/action_space_manifest.json

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Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/checkpoints/rolling_00/pretrained_model/policy_preprocessor.json

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Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/checkpoints/rolling_00/pretrained_model/prompt_manifest.json

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+  }
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Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/checkpoints/rolling_00/pretrained_model/train_config.json

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Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/checkpoints/rolling_00/training_state/optimizer_param_groups.json

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Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/checkpoints/rolling_00/training_state/scheduler_state.json

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Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/checkpoints/rolling_01/pretrained_model/phase_schedule.json

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Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/checkpoints/rolling_01/pretrained_model/prompt_manifest.json

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Abs_6D/DiT_Layer/8/RSCLstyle_cosine_60K/wandb/run-20260723_013342-rd8tz18f/logs/debug-internal.log

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