Add files using upload-large-folder tool

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

@@ -0,0 +1,40 @@
+{
+  "schema_version": 1,
+  "prompt_set": "detailed",
+  "source_file": "task_prompts.json",
+  "source_sha256": "0ba48fb372da9f49dcfcd7dcc2da8cce6ce991d3661060e664a104778d1ffacc",
+  "mapping_sha256": "f71954786e94cdeceb135dde09fdc6b65db0b87ab3b09d25060129d0f0fde018",
+  "dataset_repo_id": "Whalswp/INSIGHTfixposV4_filtered_multispace_v2",
+  "dataset_revision": "v3.0",
+  "task_count": 13,
+  "task_codes": [
+    "5f",
+    "5g",
+    "1ext",
+    "3b",
+    "5b",
+    "3a",
+    "3c",
+    "5h",
+    "5d",
+    "3d",
+    "5e",
+    "5a",
+    "5c"
+  ],
+  "prompts": {
+    "5f": "Close the bottle in clockwise direction.",
+    "5g": "Grip the cap on the sides indicated by the 'squeeze' arrow and open the bottle in clockwise direction.",
+    "1ext": "Find the arrow guide and open the indicated drawer.",
+    "3b": "Open the door, rotate counter-clockwise and push.",
+    "5b": "Open the bottle in counter-clockwise direction.",
+    "3a": "Open the door, rotate clockwise and push.",
+    "3c": "Open the door, rotate clockwise and pull.",
+    "5h": "Close the bottle in counter-clockwise direction.",
+    "5d": "Close the bottle in clockwise direction.",
+    "3d": "Open the door, rotate counter-clockwise and pull.",
+    "5e": "Close the bottle in counter-clockwise direction.",
+    "5a": "Grip the cap on the sides indicated by the 'squeeze' arrow and open the bottle in counter-clockwise direction.",
+    "5c": "Open the bottle in clockwise direction."
+  }
+}

Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/Baseline/checkpoints/030000/resolved_config.yaml

@@ -0,0 +1,24 @@
+dataset:
+  repo_id: Whalswp/INSIGHTfixposV4_filtered_multispace_v2
+  root: /home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2
+policy:
+  type: groot
+  device: cuda
+  chunk_size: 16
+  n_action_steps: 16
+  push_to_hub: false
+  tune_llm: false
+  tune_visual: false
+  tune_top_llm_layers: 0
+  tune_projector: true
+  tune_diffusion_model: true
+  tune_vlln: true
+seed: 42
+batch_size: 128
+steps: 60000
+log_freq: 200
+output_dir: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/Baseline
+job_name: INSIGHT_RD_baseline
+wandb:
+  enable: true
+  disable_artifact: true

Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/Baseline/wandb/debug.log

@@ -0,0 +1,19 @@
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+2026-07-19 23:16:48,997 INFO    MainThread:2591594 [wandb_init.py:init():771] wandb.init called with sweep_config: {}
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Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/Baseline/wandb/run-20260719_231648-h160hqm2/files/requirements.txt

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Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/action_space_manifest.json

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+{
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+    "ee_abs_rot6d.r_col0_y",
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Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/phase_schedule.json

@@ -0,0 +1,55 @@
+{
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+  "step_interval": "[start_step, until_step)",
+  "total_steps": 60000,
+  "optimizer_lifecycle": "single_continuous_optimizer",
+  "scheduler_lifecycle": "single_continuous_scheduler",
+  "phases": [
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+      "name": "lap_rkd_linear_decay_10K",
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+      "policy": {
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Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/pretrained_model/action_space_manifest.json

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+{
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Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/pretrained_model/config.json

@@ -0,0 +1,117 @@
+{
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+    "use_bf16": true,
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+    "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",
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+}

Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/pretrained_model/phase_schedule.json

@@ -0,0 +1,55 @@
+{
+  "schema_version": 1,
+  "step_interval": "[start_step, until_step)",
+  "total_steps": 60000,
+  "optimizer_lifecycle": "single_continuous_optimizer",
+  "scheduler_lifecycle": "single_continuous_scheduler",
+  "phases": [
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+      "name": "lap_rkd_linear_decay_10K",
+      "start_step": 0,
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+      "policy": {
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+    }
+  ]
+}

Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/pretrained_model/policy_postprocessor.json

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

Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/pretrained_model/policy_preprocessor.json

@@ -0,0 +1,82 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
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+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "rkd_preserve_raw_action",
+      "config": {}
+    },
+    {
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+      "config": {
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+        "max_state_dim": 132,
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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": 26,
+          "real_r1_pro_sharpa_relative_eef_human": 26,
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+          "real_r1_pro_sharpa_relative_eef_mecka": 26,
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+      "state_file": "policy_preprocessor_step_3_groot_n1_7_pack_inputs_v1.safetensors"
+    },
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+      "registry_name": "groot_n1_7_vlm_encode_v1",
+      "config": {
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+      "config": {
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+    }
+  ]
+}

Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/pretrained_model/prompt_manifest.json

@@ -0,0 +1,40 @@
+{
+  "schema_version": 1,
+  "prompt_set": "detailed",
+  "source_file": "task_prompts.json",
+  "source_sha256": "0ba48fb372da9f49dcfcd7dcc2da8cce6ce991d3661060e664a104778d1ffacc",
+  "mapping_sha256": "f71954786e94cdeceb135dde09fdc6b65db0b87ab3b09d25060129d0f0fde018",
+  "dataset_repo_id": "Whalswp/INSIGHTfixposV4_filtered_multispace_v2",
+  "dataset_revision": "v3.0",
+  "task_count": 13,
+  "task_codes": [
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+    "5g",
+    "1ext",
+    "3b",
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+    "5h",
+    "5d",
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+    "5e",
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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 + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/pretrained_model/train_config.json

@@ -0,0 +1,268 @@
+{
+    "dataset": {
+        "repo_id": "Whalswp/INSIGHTfixposV4_filtered_multispace_v2",
+        "root": "/home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2",
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+        "image_transforms": {
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+            "max_num_transforms": 3,
+            "random_order": false,
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+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
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+                    "kwargs": {
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+                        "degrees": [
+                            -5.0,
+                            5.0
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+                        "translate": [
+                            0.05,
+                            0.05
+                        ]
+                    }
+                }
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+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec",
+        "return_uint8": false,
+        "depth_output_unit": "mm",
+        "streaming": false,
+        "eval_split": 0.0
+    },
+    "env": null,
+    "policy": {
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+        "n_obs_steps": 1,
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
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+            "observation.images.right_shoulder": {
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+            },
+            "observation.images.guide": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
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+        },
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+        },
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+        "license": null,
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+        "max_action_dim": 132,
+        "normalization_mapping": {
+            "VISUAL": "IDENTITY",
+            "STATE": "IDENTITY",
+            "ACTION": "IDENTITY"
+        },
+        "base_model_path": "nvidia/GR00T-N1.7-3B",
+        "action_decode_transform": null,
+        "embodiment_tag": "new_embodiment",
+        "tune_llm": false,
+        "tune_visual": false,
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+        "tune_vlln": true,
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+        "use_flash_attention": false,
+        "use_relative_actions": false,
+        "relative_exclude_joints": [],
+        "optimizer_lr": 0.0001,
+        "optimizer_betas": [
+            0.9,
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+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 1e-05,
+        "warmup_steps": 6000,
+        "warmup_ratio": 0.05,
+        "use_bf16": true,
+        "model_params_fp32": true,
+        "image_size": [
+            256,
+            256
+        ],
+        "tokenizer_assets_repo": null,
+        "lora_rank": 0,
+        "lora_alpha": 16,
+        "lora_dropout": 0.1,
+        "lora_full_model": false,
+        "video_backend": "decord",
+        "balance_dataset_weights": true,
+        "balance_trajectory_weights": true,
+        "dataset_paths": null,
+        "output_dir": "./tmp/gr00t",
+        "save_steps": 1000,
+        "max_steps": 10000,
+        "batch_size": 32,
+        "dataloader_num_workers": 8,
+        "report_to": "wandb",
+        "resume": false,
+        "rkd_enabled": true,
+        "rkd_vae_checkpoint": "/home/ext_minje/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84",
+        "rkd_student_pooling": "attention",
+        "rkd_student_attention_hidden_dim": 512,
+        "rkd_student_attention_output_dim": 512,
+        "rkd_fm_loss_weight": 1.0,
+        "rkd_loss_weight": 1.0,
+        "rkd_distance_weight": 1.0,
+        "rkd_angle_weight": 2.0
+    },
+    "reward_model": null,
+    "output_dir": "/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K",
+    "job_name": "INSIGHT_RD_RKD_TimewarpVAE_LAPstyle_10K",
+    "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,
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+    "use_policy_training_preset": true,
+    "optimizer": {
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+        "weight_decay": 1e-05,
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+        "num_warmup_steps": 6000,
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+        "use_async_envs": true,
+        "recording": false,
+        "recording_repo_id": null,
+        "recording_private": false
+    },
+    "wandb": {
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+        "disable_artifact": true,
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+        "mode": null,
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+    "save_checkpoint_to_hub": false,
+    "sample_weighting": null,
+    "rename_map": {},
+    "checkpoint_path": null
+}

Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/prompt_manifest.json

@@ -0,0 +1,40 @@
+{
+  "schema_version": 1,
+  "prompt_set": "detailed",
+  "source_file": "task_prompts.json",
+  "source_sha256": "0ba48fb372da9f49dcfcd7dcc2da8cce6ce991d3661060e664a104778d1ffacc",
+  "mapping_sha256": "f71954786e94cdeceb135dde09fdc6b65db0b87ab3b09d25060129d0f0fde018",
+  "dataset_repo_id": "Whalswp/INSIGHTfixposV4_filtered_multispace_v2",
+  "dataset_revision": "v3.0",
+  "task_count": 13,
+  "task_codes": [
+    "5f",
+    "5g",
+    "1ext",
+    "3b",
+    "5b",
+    "3a",
+    "3c",
+    "5h",
+    "5d",
+    "3d",
+    "5e",
+    "5a",
+    "5c"
+  ],
+  "prompts": {
+    "5f": "Close the bottle in clockwise direction.",
+    "5g": "Grip the cap on the sides indicated by the 'squeeze' arrow and open the bottle in clockwise direction.",
+    "1ext": "Find the arrow guide and open the indicated drawer.",
+    "3b": "Open the door, rotate counter-clockwise and push.",
+    "5b": "Open the bottle in counter-clockwise direction.",
+    "3a": "Open the door, rotate clockwise and push.",
+    "3c": "Open the door, rotate clockwise and pull.",
+    "5h": "Close the bottle in counter-clockwise direction.",
+    "5d": "Close the bottle in clockwise direction.",
+    "3d": "Open the door, rotate counter-clockwise and pull.",
+    "5e": "Close the bottle in counter-clockwise direction.",
+    "5a": "Grip the cap on the sides indicated by the 'squeeze' arrow and open the bottle in counter-clockwise direction.",
+    "5c": "Open the bottle in clockwise direction."
+  }
+}

Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/resolved_config.yaml

@@ -0,0 +1,34 @@
+dataset:
+  repo_id: Whalswp/INSIGHTfixposV4_filtered_multispace_v2
+  root: /home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2
+policy:
+  type: groot_rkd
+  device: cuda
+  chunk_size: 16
+  n_action_steps: 16
+  push_to_hub: false
+  warmup_steps: 6000
+  tune_llm: false
+  tune_visual: false
+  tune_top_llm_layers: 0
+  tune_projector: true
+  tune_diffusion_model: true
+  tune_vlln: true
+  rkd_enabled: true
+  rkd_vae_checkpoint: /home/ext_minje/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84
+  rkd_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
+seed: 42
+batch_size: 128
+steps: 60000
+log_freq: 200
+output_dir: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K
+job_name: INSIGHT_RD_RKD_TimewarpVAE_LAPstyle_10K
+wandb:
+  enable: true
+  disable_artifact: true

Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/source_config.yaml

@@ -0,0 +1,65 @@
+# INSIGHT GR00T N1.7 RKD training with LAP-style early RKD guidance.
+# Common RKD values live in the top-level policy; phases contain overrides only.
+insight:
+  # Composite policy action: ee_abs_rot6d 10D + ee_delta 6D (duplicate gripper removed)
+  action_space: ee_abs_rot6d+ee_delta
+  # Options: coarse | detailed
+  prompt_set: detailed
+  save_steps: ["60K"]
+  phases:
+    - name: lap_rkd_linear_decay_10K
+      until_step: 10K
+      policy:
+        # Inherits RKD=1.0 below and linearly decays it to zero.
+        rkd_loss_weight_end: 0.0
+
+    - name: fm_only
+      until_step: 60K
+      policy:
+        rkd_enabled: false
+        rkd_loss_weight: 0.0
+
+dataset:
+  repo_id: Whalswp/INSIGHTfixposV4_filtered_multispace_v2
+  root: ${HOME}/INSIGHTfixposV4_filtered_multispace_v2
+
+policy:
+  type: groot_rkd
+  device: cuda
+  chunk_size: 16
+  n_action_steps: 16
+  push_to_hub: false
+  # LAP Stage-2 warmup scaled to this 60K run: exactly 6K updates.
+  warmup_steps: 6000
+
+  # VLM
+  tune_llm: false
+  tune_visual: false
+  tune_top_llm_layers: 0
+  # Action Expert
+  tune_projector: true
+  tune_diffusion_model: true
+  tune_vlln: true
+
+  # Frozen RD TimewarpVAE teacher: ee_abs_rot6d 10D + ee_delta 6D (gripper deduplicated).
+  rkd_enabled: true
+  rkd_vae_checkpoint: ${HOME}/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84
+  rkd_student_pooling: attention  # attention | mean
+  rkd_student_attention_hidden_dim: 512
+  rkd_student_attention_output_dim: 512
+  rkd_fm_loss_weight: 1.0
+  rkd_loss_weight: 1.0
+  rkd_distance_weight: 1.0
+  rkd_angle_weight: 2.0
+
+seed: 42
+# Single GPU/process, so this is also the global batch size.
+batch_size: 128
+steps: 60000
+log_freq: 200
+output_dir: "${HOME}/groot_insight/train_ckpt/Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K"
+job_name: INSIGHT_RD_RKD_TimewarpVAE_LAPstyle_10K
+
+wandb:
+  enable: true
+  disable_artifact: true

Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/training_state/optimizer_param_groups.json

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+{"time":"2026-07-21T18:19:03.898987501Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-21T18:19:18.406248683Z","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":36,"events_lines":2,"console_offset":21,"console_lines":1}
+{"time":"2026-07-21T18:19:18.960618258Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-21T18:19:33.406444794Z","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":38,"events_lines":2,"console_offset":21,"console_lines":1}
+{"time":"2026-07-21T18:19:33.884480355Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}

Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/wandb/run-20260721_182104-nf69vc3o/files/output.log

@@ -0,0 +1,73 @@
+INFO 2026-07-21 18:21:05 db_utils.py:121 Logs will be synced with wandb.
+INFO 2026-07-21 18:21:05 db_utils.py:122 Track this run --> https://wandb.ai/minje227_hyu-hanyang-university/lerobot/runs/nf69vc3o
+INFO 2026-07-21 18:21:05 ot_train.py:298 Creating dataset
+INFO 2026-07-21 18:21:07 ot_train.py:332 Creating policy
+INFO 2026-07-21 18:21:07 ng_groot.py:191 The Groot policy wraps NVIDIA's GR00T n1.7 model. Loading pretrained model from: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/pretrained_model
+INFO 2026-07-21 18:21:07 ng_groot.py:225 Detected fine-tuned LeRobot checkpoint, loading with state dict...
+Fetching 27 files: 100%|██████████| 27/27 [00:00<00:00, 7645.06it/s]
+`torch_dtype` is deprecated! Use `dtype` instead!
+Loading weights: 100%|██████████| 1031/1031 [00:00<00:00, 1070.70it/s]
+Loading weights from local directory
+INFO 2026-07-21 18:21:21 ot_train.py:405 Creating optimizer and scheduler
+INFO 2026-07-21 18:21:25 ot_train.py:103 INSIGHT phase transition: index=1 name=fm_only range=[10000,60000) trainable_params=1620515968
+INFO 2026-07-21 18:21:25 ot_train.py:439 Output dir: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K
+INFO 2026-07-21 18:21:25 ot_train.py:446 cfg.steps=60000 (60K)
+INFO 2026-07-21 18:21:25 ot_train.py:447 dataset.num_frames=218367 (218K)
+INFO 2026-07-21 18:21:25 ot_train.py:448 dataset.num_episodes=4930
+INFO 2026-07-21 18:21:25 ot_train.py:451 Effective batch size: 128 x 1 = 128
+INFO 2026-07-21 18:21:25 ot_train.py:452 num_learnable_params=1620515968 (2B)
+INFO 2026-07-21 18:21:25 ot_train.py:453 num_total_params=3145712033 (3B)
+INFO 2026-07-21 18:21:25 ot_train.py:494 Resuming data order at epoch 26, sample 82688
+Training:   0%|          | 0/30000 [00:00<?, ?step/s]INFO 2026-07-21 18:21:26 ot_train.py:604 Start offline training on a fixed dataset, with effective batch size: 128
+Training:   1%|          | 200/30000 [08:45<21:22:13,  2.58s/step]INFO 2026-07-21 18:30:11 ot_train.py:649 step:30K smpl:4M ep:87K epch:17.70 loss:0.019 grdn:0.167 lr:5.8e-05 updt_s:1.448 data_s:1.175 smp/s:49 mem_gb:52.85
+Training:   1%|▏         | 400/30000 [17:24<22:09:28,  2.69s/step]INFO 2026-07-21 18:38:50 ot_train.py:649 step:30K smpl:4M ep:88K epch:17.82 loss:0.019 grdn:0.170 lr:5.8e-05 updt_s:1.496 data_s:1.094 smp/s:49 mem_gb:52.85
+Training:   2%|▏         | 600/30000 [26:08<20:27:02,  2.50s/step]INFO 2026-07-21 18:47:34 ot_train.py:649 step:31K smpl:4M ep:88K epch:17.94 loss:0.019 grdn:0.166 lr:5.7e-05 updt_s:1.467 data_s:1.153 smp/s:49 mem_gb:52.78
+Training:   3%|▎         | 800/30000 [34:36<20:29:30,  2.53s/step]INFO 2026-07-21 18:56:02 ot_train.py:649 step:31K smpl:4M ep:89K epch:18.05 loss:0.018 grdn:0.163 lr:5.7e-05 updt_s:1.467 data_s:1.068 smp/s:50 mem_gb:52.88
+Training:   3%|▎         | 1000/30000 [42:59<20:20:50,  2.53s/step]INFO 2026-07-21 19:04:25 ot_train.py:649 step:31K smpl:4M ep:90K epch:18.17 loss:0.019 grdn:0.166 lr:5.6e-05 updt_s:1.449 data_s:1.062 smp/s:51 mem_gb:52.88
+Training:   4%|▍         | 1200/30000 [51:26<19:53:30,  2.49s/step]INFO 2026-07-21 19:12:52 ot_train.py:649 step:31K smpl:4M ep:90K epch:18.29 loss:0.019 grdn:0.168 lr:5.6e-05 updt_s:1.454 data_s:1.079 smp/s:51 mem_gb:52.88
+Training:   5%|▍         | 1400/30000 [59:49<19:46:24,  2.49s/step]INFO 2026-07-21 19:21:15 ot_train.py:649 step:31K smpl:4M ep:91K epch:18.41 loss:0.019 grdn:0.178 lr:5.5e-05 updt_s:1.450 data_s:1.061 smp/s:51 mem_gb:52.88
+Training:   5%|▌         | 1600/30000 [1:08:13<19:31:18,  2.47s/step]INFO 2026-07-21 19:29:39 ot_train.py:649 step:32K smpl:4M ep:91K epch:18.52 loss:0.019 grdn:0.168 lr:5.4e-05 updt_s:1.444 data_s:1.068 smp/s:51 mem_gb:52.88
+Training:   6%|▌         | 1800/30000 [1:16:37<19:32:24,  2.49s/step]INFO 2026-07-21 19:38:03 ot_train.py:649 step:32K smpl:4M ep:92K epch:18.64 loss:0.018 grdn:0.159 lr:5.4e-05 updt_s:1.440 data_s:1.078 smp/s:51 mem_gb:52.79
+Training:   7%|▋         | 2000/30000 [1:25:01<19:32:11,  2.51s/step]INFO 2026-07-21 19:46:27 ot_train.py:649 step:32K smpl:4M ep:92K epch:18.76 loss:0.018 grdn:0.162 lr:5.3e-05 updt_s:1.463 data_s:1.051 smp/s:51 mem_gb:52.88
+Training:   7%|▋         | 2200/30000 [1:33:24<19:58:24,  2.59s/step]INFO 2026-07-21 19:54:50 ot_train.py:649 step:32K smpl:4M ep:93K epch:18.87 loss:0.018 grdn:0.169 lr:5.3e-05 updt_s:1.464 data_s:1.051 smp/s:51 mem_gb:52.88
+Training:   8%|▊         | 2400/30000 [1:41:47<19:14:31,  2.51s/step]INFO 2026-07-21 20:03:13 ot_train.py:649 step:32K smpl:4M ep:94K epch:18.99 loss:0.017 grdn:0.153 lr:5.2e-05 updt_s:1.455 data_s:1.056 smp/s:51 mem_gb:52.88
+Training:   9%|▊         | 2600/30000 [1:50:11<19:14:07,  2.53s/step]INFO 2026-07-21 20:11:37 ot_train.py:649 step:33K smpl:4M ep:94K epch:19.11 loss:0.017 grdn:0.158 lr:5.1e-05 updt_s:1.465 data_s:1.052 smp/s:51 mem_gb:52.88
+Training:   9%|▉         | 2800/30000 [1:58:38<19:47:36,  2.62s/step]INFO 2026-07-21 20:20:04 ot_train.py:649 step:33K smpl:4M ep:95K epch:19.23 loss:0.017 grdn:0.157 lr:5.1e-05 updt_s:1.456 data_s:1.071 smp/s:51 mem_gb:52.79
+Training:  10%|█         | 3000/30000 [2:07:05<18:56:43,  2.53s/step]INFO 2026-07-21 20:28:31 ot_train.py:649 step:33K smpl:4M ep:95K epch:19.34 loss:0.016 grdn:0.150 lr:5.0e-05 updt_s:1.464 data_s:1.068 smp/s:51 mem_gb:52.88
+Training:  11%|█         | 3200/30000 [2:15:33<19:33:21,  2.63s/step]INFO 2026-07-21 20:36:59 ot_train.py:649 step:33K smpl:4M ep:96K epch:19.46 loss:0.016 grdn:0.146 lr:5.0e-05 updt_s:1.483 data_s:1.053 smp/s:50 mem_gb:52.88
+Training:  11%|█▏        | 3400/30000 [2:24:00<18:40:50,  2.53s/step]INFO 2026-07-21 20:45:26 ot_train.py:649 step:33K smpl:4M ep:97K epch:19.58 loss:0.016 grdn:0.154 lr:4.9e-05 updt_s:1.486 data_s:1.048 smp/s:50 mem_gb:52.88
+Training:  12%|█▏        | 3600/30000 [2:32:30<18:53:46,  2.58s/step]INFO 2026-07-21 20:53:56 ot_train.py:649 step:34K smpl:4M ep:97K epch:19.70 loss:0.017 grdn:0.157 lr:4.9e-05 updt_s:1.493 data_s:1.052 smp/s:50 mem_gb:52.88
+Training:  13%|█▎        | 3800/30000 [2:40:55<18:24:00,  2.53s/step]INFO 2026-07-21 21:02:21 ot_train.py:649 step:34K smpl:4M ep:98K epch:19.81 loss:0.017 grdn:0.158 lr:4.8e-05 updt_s:1.470 data_s:1.051 smp/s:51 mem_gb:52.88
+Training:  13%|█▎        | 4000/30000 [2:49:23<18:16:41,  2.53s/step]INFO 2026-07-21 21:10:49 ot_train.py:649 step:34K smpl:4M ep:98K epch:19.93 loss:0.016 grdn:0.157 lr:4.7e-05 updt_s:1.480 data_s:1.057 smp/s:50 mem_gb:52.79
+Training:  14%|█▍        | 4200/30000 [2:57:48<17:56:25,  2.50s/step]INFO 2026-07-21 21:19:14 ot_train.py:649 step:34K smpl:4M ep:99K epch:20.05 loss:0.016 grdn:0.159 lr:4.7e-05 updt_s:1.478 data_s:1.044 smp/s:51 mem_gb:52.88
+Training:  15%|█▍        | 4400/30000 [3:06:16<18:14:25,  2.57s/step]INFO 2026-07-21 21:27:42 ot_train.py:649 step:34K smpl:4M ep:99K epch:20.16 loss:0.016 grdn:0.152 lr:4.6e-05 updt_s:1.485 data_s:1.049 smp/s:51 mem_gb:52.88
+Training:  15%|█▌        | 4600/30000 [3:14:43<17:54:38,  2.54s/step]INFO 2026-07-21 21:36:09 ot_train.py:649 step:35K smpl:4M ep:100K epch:20.28 loss:0.016 grdn:0.155 lr:4.6e-05 updt_s:1.483 data_s:1.051 smp/s:51 mem_gb:52.88
+Training:  16%|█▌        | 4800/30000 [3:23:10<18:03:02,  2.58s/step]INFO 2026-07-21 21:44:36 ot_train.py:649 step:35K smpl:4M ep:101K epch:20.40 loss:0.015 grdn:0.144 lr:4.5e-05 updt_s:1.488 data_s:1.042 smp/s:51 mem_gb:52.88
+Training:  17%|█▋        | 5000/30000 [3:31:45<19:33:04,  2.82s/step]INFO 2026-07-21 21:53:11 ot_train.py:649 step:35K smpl:4M ep:101K epch:20.52 loss:0.015 grdn:0.143 lr:4.4e-05 updt_s:1.487 data_s:1.082 smp/s:50 mem_gb:52.79
+Training:  17%|█▋        | 5200/30000 [3:40:23<17:11:05,  2.49s/step]INFO 2026-07-21 22:01:49 ot_train.py:649 step:35K smpl:5M ep:102K epch:20.63 loss:0.015 grdn:0.145 lr:4.4e-05 updt_s:1.509 data_s:1.078 smp/s:49 mem_gb:52.88
+Training:  18%|█▊        | 5400/30000 [3:48:48<17:35:20,  2.57s/step]INFO 2026-07-21 22:10:14 ot_train.py:649 step:35K smpl:5M ep:102K epch:20.75 loss:0.015 grdn:0.148 lr:4.3e-05 updt_s:1.477 data_s:1.043 smp/s:51 mem_gb:52.88
+Training:  19%|█▊        | 5600/30000 [3:57:12<16:49:33,  2.48s/step]INFO 2026-07-21 22:18:38 ot_train.py:649 step:36K smpl:5M ep:103K epch:20.87 loss:0.015 grdn:0.140 lr:4.3e-05 updt_s:1.472 data_s:1.047 smp/s:51 mem_gb:52.88
+Training:  19%|█▉        | 5800/30000 [4:05:39<17:20:22,  2.58s/step]INFO 2026-07-21 22:27:05 ot_train.py:649 step:36K smpl:5M ep:103K epch:20.98 loss:0.014 grdn:0.142 lr:4.2e-05 updt_s:1.486 data_s:1.043 smp/s:51 mem_gb:52.88
+Training:  20%|██        | 6000/30000 [4:14:06<16:39:06,  2.50s/step]INFO 2026-07-21 22:35:32 ot_train.py:649 step:36K smpl:5M ep:104K epch:21.10 loss:0.015 grdn:0.141 lr:4.2e-05 updt_s:1.488 data_s:1.047 smp/s:51 mem_gb:52.88
+Training:  21%|██        | 6200/30000 [4:22:37<16:49:56,  2.55s/step]INFO 2026-07-21 22:44:03 ot_train.py:649 step:36K smpl:5M ep:105K epch:21.22 loss:0.015 grdn:0.148 lr:4.1e-05 updt_s:1.498 data_s:1.051 smp/s:50 mem_gb:52.79
+Training:  21%|██▏       | 6400/30000 [4:31:09<16:53:15,  2.58s/step]INFO 2026-07-21 22:52:35 ot_train.py:649 step:36K smpl:5M ep:105K epch:21.34 loss:0.014 grdn:0.133 lr:4.0e-05 updt_s:1.501 data_s:1.057 smp/s:50 mem_gb:52.88
+Training:  22%|██▏       | 6600/30000 [4:39:39<16:34:06,  2.55s/step]INFO 2026-07-21 23:01:05 ot_train.py:649 step:37K smpl:5M ep:106K epch:21.45 loss:0.014 grdn:0.139 lr:4.0e-05 updt_s:1.490 data_s:1.055 smp/s:50 mem_gb:52.88
+Training:  23%|██▎       | 6800/30000 [4:48:11<16:12:04,  2.51s/step]INFO 2026-07-21 23:09:37 ot_train.py:649 step:37K smpl:5M ep:106K epch:21.57 loss:0.014 grdn:0.146 lr:3.9e-05 updt_s:1.501 data_s:1.054 smp/s:50 mem_gb:52.88
+Training:  23%|██▎       | 7000/30000 [4:56:50<16:23:18,  2.57s/step]INFO 2026-07-21 23:18:16 ot_train.py:649 step:37K smpl:5M ep:107K epch:21.69 loss:0.014 grdn:0.146 lr:3.9e-05 updt_s:1.479 data_s:1.114 smp/s:49 mem_gb:52.88
+Training:  24%|██▍       | 7200/30000 [5:05:24<16:30:46,  2.61s/step]INFO 2026-07-21 23:26:50 ot_train.py:649 step:37K smpl:5M ep:108K epch:21.81 loss:0.014 grdn:0.137 lr:3.8e-05 updt_s:1.445 data_s:1.124 smp/s:50 mem_gb:52.88
+Training:  25%|██▍       | 7400/30000 [5:14:13<16:45:39,  2.67s/step]INFO 2026-07-21 23:35:39 ot_train.py:649 step:37K smpl:5M ep:108K epch:21.92 loss:0.013 grdn:0.139 lr:3.8e-05 updt_s:1.454 data_s:1.186 smp/s:48 mem_gb:52.79
+Training:  25%|██▌       | 7600/30000 [5:22:58<16:06:21,  2.59s/step]INFO 2026-07-21 23:44:24 ot_train.py:649 step:38K smpl:5M ep:109K epch:22.04 loss:0.014 grdn:0.137 lr:3.7e-05 updt_s:1.486 data_s:1.134 smp/s:49 mem_gb:52.88
+Training:  26%|██▌       | 7800/30000 [5:31:38<15:52:37,  2.57s/step]INFO 2026-07-21 23:53:04 ot_train.py:649 step:38K smpl:5M ep:109K epch:22.16 loss:0.013 grdn:0.136 lr:3.6e-05 updt_s:1.484 data_s:1.111 smp/s:49 mem_gb:52.88
+Training:  27%|██▋       | 8000/30000 [5:40:10<15:05:51,  2.47s/step]INFO 2026-07-22 00:01:36 ot_train.py:649 step:38K smpl:5M ep:110K epch:22.27 loss:0.013 grdn:0.143 lr:3.6e-05 updt_s:1.485 data_s:1.072 smp/s:50 mem_gb:52.88
+Training:  27%|██▋       | 8200/30000 [5:48:58<16:15:58,  2.69s/step]INFO 2026-07-22 00:10:24 ot_train.py:649 step:38K smpl:5M ep:110K epch:22.39 loss:0.014 grdn:0.147 lr:3.5e-05 updt_s:1.414 data_s:1.223 smp/s:49 mem_gb:52.88
+Training:  28%|██▊       | 8400/30000 [5:57:54<16:08:42,  2.69s/step]INFO 2026-07-22 00:19:20 ot_train.py:649 step:38K smpl:5M ep:111K epch:22.51 loss:0.013 grdn:0.135 lr:3.5e-05 updt_s:1.390 data_s:1.286 smp/s:48 mem_gb:52.79
+Training:  29%|██▊       | 8600/30000 [6:07:07<15:08:37,  2.55s/step]INFO 2026-07-22 00:28:33 ot_train.py:649 step:39K smpl:5M ep:112K epch:22.63 loss:0.012 grdn:0.137 lr:3.4e-05 updt_s:1.409 data_s:1.351 smp/s:46 mem_gb:52.88
+Training:  29%|██▉       | 8800/30000 [6:15:56<15:22:18,  2.61s/step]INFO 2026-07-22 00:37:22 ot_train.py:649 step:39K smpl:5M ep:112K epch:22.74 loss:0.013 grdn:0.139 lr:3.4e-05 updt_s:1.415 data_s:1.226 smp/s:48 mem_gb:52.88
+Training:  30%|███       | 9000/30000 [6:27:49<29:07:02,  4.99s/step]INFO 2026-07-22 00:49:15 ot_train.py:649 step:39K smpl:5M ep:113K epch:22.86 loss:0.013 grdn:0.136 lr:3.3e-05 updt_s:1.648 data_s:1.911 smp/s:36 mem_gb:52.88
+Training:  31%|███       | 9200/30000 [6:38:23<15:13:12,  2.63s/step]INFO 2026-07-22 00:59:49 ot_train.py:649 step:39K smpl:5M ep:113K epch:22.98 loss:0.012 grdn:0.129 lr:3.3e-05 updt_s:1.734 data_s:1.434 smp/s:40 mem_gb:52.88
+Training:  31%|███▏      | 9400/30000 [6:47:46<16:12:40,  2.83s/step]INFO 2026-07-22 01:09:12 ot_train.py:649 step:39K smpl:5M ep:114K epch:23.10 loss:0.013 grdn:0.136 lr:3.2e-05 updt_s:1.470 data_s:1.337 smp/s:46 mem_gb:52.88
+Training:  32%|███▏      | 9600/30000 [6:56:57<14:34:48,  2.57s/step]INFO 2026-07-22 01:18:23 ot_train.py:649 step:40K smpl:5M ep:114K epch:23.21 loss:0.012 grdn:0.129 lr:3.2e-05 updt_s:1.497 data_s:1.255 smp/s:47 mem_gb:52.79
+Training:  33%|███▎      | 9800/30000 [7:05:57<15:17:38,  2.73s/step]INFO 2026-07-22 01:27:23 ot_train.py:649 step:40K smpl:5M ep:115K epch:23.33 loss:0.012 grdn:0.125 lr:3.1e-05 updt_s:1.464 data_s:1.231 smp/s:47 mem_gb:52.88
+Training:  33%|███▎      | 10000/30000 [7:14:57<14:22:25,  2.59s/step]INFO 2026-07-22 01:36:23 ot_train.py:649 step:40K smpl:5M ep:116K epch:23.45 loss:0.012 grdn:0.127 lr:3.0e-05 updt_s:1.498 data_s:1.202 smp/s:47 mem_gb:52.88
+Training:  34%|███▍      | 10200/30000 [7:23:40<14:01:54,  2.55s/step]INFO 2026-07-22 01:45:06 ot_train.py:649 step:40K smpl:5M ep:116K epch:23.56 loss:0.012 grdn:0.127 lr:3.0e-05 updt_s:1.478 data_s:1.131 smp/s:49 mem_gb:52.88
+Training:  34%|███▍      | 10336/30000 [7:29:56<14:44:43,  2.70s/step]

Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/wandb/run-20260721_182104-nf69vc3o/logs/debug-core.log

@@ -0,0 +1,32 @@
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Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/wandb/run-20260722_031956-nf69vc3o/files/output.log

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+Loading weights from local directory
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+INFO 2026-07-22 03:20:16 ot_train.py:103 INSIGHT phase transition: index=1 name=fm_only range=[10000,60000) trainable_params=1620515968
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Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/wandb/run-20260722_031956-nf69vc3o/files/requirements.txt

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Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/wandb/run-20260722_031956-nf69vc3o/logs/debug.log

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+2026-07-22 03:19:56,540 INFO    MainThread:2617758 [wandb_setup.py:_flush():81] Loading settings from environment variables
+2026-07-22 03:19:56,540 INFO    MainThread:2617758 [wandb_init.py:setup_run_log_directory():723] Logging user logs to /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/wandb/run-20260722_031956-nf69vc3o/logs/debug.log
+2026-07-22 03:19:56,540 INFO    MainThread:2617758 [wandb_init.py:setup_run_log_directory():724] Logging internal logs to /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/wandb/run-20260722_031956-nf69vc3o/logs/debug-internal.log
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+2026-07-22 03:19:56,540 INFO    MainThread:2617758 [wandb_init.py:init():771] wandb.init called with sweep_config: {}
+config: {'dataset': {'repo_id': 'Whalswp/INSIGHTfixposV4_filtered_multispace_v2', 'root': '/home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2', 'episodes': None, 'image_transforms': {'enable': False, 'max_num_transforms': 3, 'random_order': False, 'tfs': {'brightness': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'brightness': [0.8, 1.2]}}, 'contrast': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'contrast': [0.8, 1.2]}}, 'saturation': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'saturation': [0.5, 1.5]}}, 'hue': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'hue': [-0.05, 0.05]}}, 'sharpness': {'weight': 1.0, 'type': 'SharpnessJitter', 'kwargs': {'sharpness': [0.5, 1.5]}}, 'affine': {'weight': 1.0, 'type': 'RandomAffine', 'kwargs': {'degrees': [-5.0, 5.0], 'translate': [0.05, 0.05]}}}}, 'revision': None, 'use_imagenet_stats': True, 'video_backend': 'torchcodec', 'return_uint8': False, 'depth_output_unit': 'mm', 'streaming': False, 'eval_split': 0.0}, 'env': None, 'policy': {'type': 'groot_rkd', 'n_obs_steps': 1, 'input_features': {'observation.state': {'type': <FeatureType.STATE: 'STATE'>, 'shape': [16]}, 'observation.images.wrist': {'type': <FeatureType.VISUAL: 'VISUAL'>, 'shape': [3, 224, 224]}, 'observation.images.right_shoulder': {'type': <FeatureType.VISUAL: 'VISUAL'>, 'shape': [3, 224, 224]}, 'observation.images.guide': {'type': <FeatureType.VISUAL: 'VISUAL'>, 'shape': [3, 224, 224]}}, 'output_features': {'action': {'type': <FeatureType.ACTION: 'ACTION'>, 'shape': [16]}}, 'device': 'cuda', 'use_amp': False, 'use_peft': False, 'push_to_hub': False, 'repo_id': None, 'private': None, 'tags': None, 'license': None, 'pretrained_path': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/pretrained_model', 'pretrained_revision': None, 'chunk_size': 16, 'n_action_steps': 16, 'max_state_dim': 132, 'max_action_dim': 132, 'normalization_mapping': {'VISUAL': <NormalizationMode.IDENTITY: 'IDENTITY'>, 'STATE': <NormalizationMode.IDENTITY: 'IDENTITY'>, 'ACTION': <NormalizationMode.IDENTITY: 'IDENTITY'>}, 'base_model_path': 'nvidia/GR00T-N1.7-3B', 'action_decode_transform': None, 'embodiment_tag': 'new_embodiment', 'tune_llm': False, 'tune_visual': False, 'tune_projector': True, 'tune_diffusion_model': True, 'tune_vlln': True, 'tune_top_llm_layers': 0, 'num_inference_timesteps': None, 'rtc_ramp_rate': None, 'use_flash_attention': False, 'use_relative_actions': False, 'relative_exclude_joints': [], 'optimizer_lr': 0.0001, 'optimizer_betas': [0.9, 0.999], 'optimizer_eps': 1e-08, 'optimizer_weight_decay': 1e-05, 'warmup_steps': 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': 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DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000', '_wandb': {}}
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Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000/pretrained_model/config.json

@@ -0,0 +1,117 @@
+{
+    "type": "groot_rkd",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                16
+            ]
+        },
+        "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        },
+        "observation.images.right_shoulder": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        },
+        "observation.images.guide": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                16
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": false,
+    "repo_id": null,
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": null,
+    "pretrained_revision": null,
+    "chunk_size": 16,
+    "n_action_steps": 16,
+    "max_state_dim": 132,
+    "max_action_dim": 132,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "IDENTITY",
+        "ACTION": "IDENTITY"
+    },
+    "base_model_path": "nvidia/GR00T-N1.7-3B",
+    "action_decode_transform": null,
+    "embodiment_tag": "new_embodiment",
+    "tune_llm": false,
+    "tune_visual": false,
+    "tune_projector": true,
+    "tune_diffusion_model": true,
+    "tune_vlln": true,
+    "tune_top_llm_layers": 0,
+    "num_inference_timesteps": null,
+    "rtc_ramp_rate": null,
+    "use_flash_attention": false,
+    "use_relative_actions": false,
+    "relative_exclude_joints": [],
+    "optimizer_lr": 0.0001,
+    "optimizer_betas": [
+        0.9,
+        0.999
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-05,
+    "warmup_steps": 6000,
+    "warmup_ratio": 0.05,
+    "use_bf16": true,
+    "model_params_fp32": true,
+    "image_size": [
+        256,
+        256
+    ],
+    "tokenizer_assets_repo": null,
+    "lora_rank": 0,
+    "lora_alpha": 16,
+    "lora_dropout": 0.1,
+    "lora_full_model": false,
+    "video_backend": "decord",
+    "balance_dataset_weights": true,
+    "balance_trajectory_weights": true,
+    "dataset_paths": null,
+    "output_dir": "./tmp/gr00t",
+    "save_steps": 1000,
+    "max_steps": 10000,
+    "batch_size": 32,
+    "dataloader_num_workers": 8,
+    "report_to": "wandb",
+    "resume": false,
+    "rkd_enabled": true,
+    "rkd_vae_checkpoint": "/home/ext_minje/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84",
+    "rkd_student_pooling": "attention",
+    "rkd_student_attention_hidden_dim": 512,
+    "rkd_student_attention_output_dim": 512,
+    "rkd_fm_loss_weight": 1.0,
+    "rkd_loss_weight": 1.0,
+    "rkd_distance_weight": 1.0,
+    "rkd_angle_weight": 2.0
+}

Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000/pretrained_model/policy_postprocessor.json

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

Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000/resolved_config.yaml

@@ -0,0 +1,34 @@
+dataset:
+  repo_id: Whalswp/INSIGHTfixposV4_filtered_multispace_v2
+  root: /home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2
+policy:
+  type: groot_rkd
+  device: cuda
+  chunk_size: 16
+  n_action_steps: 16
+  push_to_hub: false
+  warmup_steps: 6000
+  tune_llm: false
+  tune_visual: false
+  tune_top_llm_layers: 0
+  tune_projector: true
+  tune_diffusion_model: true
+  tune_vlln: true
+  rkd_enabled: true
+  rkd_vae_checkpoint: /home/ext_minje/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84
+  rkd_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
+seed: 42
+batch_size: 128
+steps: 60000
+log_freq: 200
+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
+wandb:
+  enable: true
+  disable_artifact: true

Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000/source_config.yaml

@@ -0,0 +1,65 @@
+# INSIGHT GR00T N1.7 RKD training with LAP-style early RKD guidance.
+# Common RKD values live in the top-level policy; phases contain overrides only.
+insight:
+  # Composite policy action: ee_abs_rot6d 10D + ee_delta 6D (duplicate gripper removed)
+  action_space: ee_abs_rot6d+ee_delta
+  # Options: coarse | detailed
+  prompt_set: detailed
+  save_steps: ["60K"]
+  phases:
+    - name: lap_rkd_linear_decay_6K
+      until_step: 6K
+      policy:
+        # Inherits RKD=1.0 below and linearly decays it to zero.
+        rkd_loss_weight_end: 0.0
+
+    - name: fm_only
+      until_step: 60K
+      policy:
+        rkd_enabled: false
+        rkd_loss_weight: 0.0
+
+dataset:
+  repo_id: Whalswp/INSIGHTfixposV4_filtered_multispace_v2
+  root: ${HOME}/INSIGHTfixposV4_filtered_multispace_v2
+
+policy:
+  type: groot_rkd
+  device: cuda
+  chunk_size: 16
+  n_action_steps: 16
+  push_to_hub: false
+  # LAP Stage-2 warmup scaled to this 60K run: exactly 6K updates.
+  warmup_steps: 6000
+
+  # VLM
+  tune_llm: false
+  tune_visual: false
+  tune_top_llm_layers: 0
+  # Action Expert
+  tune_projector: true
+  tune_diffusion_model: true
+  tune_vlln: true
+
+  # Frozen RD TimewarpVAE teacher: ee_abs_rot6d 10D + ee_delta 6D (gripper deduplicated).
+  rkd_enabled: true
+  rkd_vae_checkpoint: ${HOME}/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84
+  rkd_student_pooling: attention  # attention | mean
+  rkd_student_attention_hidden_dim: 512
+  rkd_student_attention_output_dim: 512
+  rkd_fm_loss_weight: 1.0
+  rkd_loss_weight: 1.0
+  rkd_distance_weight: 1.0
+  rkd_angle_weight: 2.0
+
+seed: 42
+# Single GPU/process, so this is also the global batch size.
+batch_size: 128
+steps: 60000
+log_freq: 200
+output_dir: "${HOME}/groot_insight/train_ckpt/Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K"
+job_name: INSIGHT_RD_RKD_TimewarpVAE_LAPstyle_6K
+
+wandb:
+  enable: true
+  disable_artifact: true

Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000/training_state/optimizer_param_groups.json

@@ -0,0 +1,585 @@
+[
+    {
+        "lr": 5.868240888334653e-05,
+        "betas": [
+            0.9,
+            0.999
+        ],
+        "eps": 1e-08,
+        "weight_decay": 1e-05,
+        "amsgrad": false,
+        "maximize": false,
+        "foreach": null,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "decoupled_weight_decay": true,
+        "initial_lr": 0.0001,
+        "params": [
+            0,
+            1,
+            2,
+            3,
+            4,
+            5,
+            6,
+            7,
+            8,
+            9,
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Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000/training_state/training_step.json

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+{
+    "step": 30000,
+    "num_processes": 1,
+    "batch_size": 128
+}

Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/wandb/debug.log

@@ -0,0 +1,46 @@
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+2026-07-21 18:21:04,217 INFO    MainThread:172610 [wandb_setup.py:_flush():81] Loading settings from environment variables
+2026-07-21 18:21:04,217 INFO    MainThread:172610 [wandb_init.py:setup_run_log_directory():723] Logging user logs to /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/wandb/run-20260721_182104-a9vyia29/logs/debug.log
+2026-07-21 18:21:04,217 INFO    MainThread:172610 [wandb_init.py:setup_run_log_directory():724] Logging internal logs to /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/wandb/run-20260721_182104-a9vyia29/logs/debug-internal.log
+2026-07-21 18:21:04,217 INFO    MainThread:172610 [wandb_init.py:init():766] calling init triggers
+2026-07-21 18:21:04,217 INFO    MainThread:172610 [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': 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<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': 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DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000', '_wandb': {}}
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+2026-07-21 18:21:05,801 INFO    MainThread:172610 [wandb_run.py:_console_start():2523] atexit reg
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+2026-07-21 18:21:05,801 INFO    MainThread:172610 [wandb_run.py:_redirect():2442] Wrapping output streams.
+2026-07-21 18:21:05,801 INFO    MainThread:172610 [wandb_run.py:_redirect():2465] Redirects installed.
+2026-07-21 18:21:05,803 INFO    MainThread:172610 [wandb_init.py:init():1010] run started, returning control to user process
+2026-07-22 01:50:48,665 INFO    wandb-AsyncioManager-main:172610 [service_client.py:_forward_responses():122] Reached EOF.
+2026-07-22 01:50:48,665 INFO    wandb-AsyncioManager-main:172610 [mailbox.py:close():154] Closing mailbox, abandoning 2 handles.
+2026-07-22 01:50:48,666 ERROR   wandb-AsyncioManager-main:172610 [asyncio_manager.py:fn_wrap_exceptions():184] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_manager.py", line 182, in fn_wrap_exceptions
+    await fn()
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/run_messages.py", line 90, in loop
+    await asyncio_compat.race(
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_compat.py", line 278, in race
+    async with open_task_group(race=True) as tg:
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/contextlib.py", line 217, in __aexit__
+    await anext(self.gen)
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_compat.py", line 240, in open_task_group
+    await task_group._wait_all(race=race, timeout=exit_timeout)
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_compat.py", line 180, in _wait_all
+    raise exc
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/run_messages.py", line 113, in _print_all
+    result = await handle.wait_async(timeout=None)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/mailbox/mailbox_handle.py", line 127, in wait_async
+    response = await self._handle.wait_async(timeout=timeout)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/mailbox/response_handle.py", line 123, in wait_async
+    raise HandleAbandonedError()
+wandb.sdk.mailbox.mailbox_handle.HandleAbandonedError

Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/wandb/run-20260719_231652-r3cz38bm/files/output.log

@@ -0,0 +1,217 @@
+INFO 2026-07-19 23:16:54 db_utils.py:121 Logs will be synced with wandb.
+INFO 2026-07-19 23:16:54 db_utils.py:122 Track this run --> https://wandb.ai/minje227_hyu-hanyang-university/lerobot/runs/r3cz38bm
+INFO 2026-07-19 23:16:54 ot_train.py:298 Creating dataset
+INFO 2026-07-19 23:16:57 ot_train.py:332 Creating policy
+Fetching 27 files: 100%|██████████| 27/27 [00:00<00:00, 1916.18it/s]
+`torch_dtype` is deprecated! Use `dtype` instead!
+Loading weights: 100%|██████████| 1031/1031 [00:00<00:00, 1414.61it/s]
+INFO 2026-07-19 23:17:05 ot_train.py:405 Creating optimizer and scheduler
+INFO 2026-07-19 23:17:06 ot_train.py:439 Output dir: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K
+INFO 2026-07-19 23:17:06 ot_train.py:446 cfg.steps=60000 (60K)
+INFO 2026-07-19 23:17:06 ot_train.py:447 dataset.num_frames=218367 (218K)
+INFO 2026-07-19 23:17:06 ot_train.py:448 dataset.num_episodes=4930
+INFO 2026-07-19 23:17:06 ot_train.py:451 Effective batch size: 128 x 1 = 128
+INFO 2026-07-19 23:17:06 ot_train.py:452 num_learnable_params=1622090881 (2B)
+INFO 2026-07-19 23:17:06 ot_train.py:453 num_total_params=3145712033 (3B)
+Training:   0%|          | 0/60000 [00:00<?, ?step/s]INFO 2026-07-19 23:17:06 ot_train.py:604 Start offline training on a fixed dataset, with effective batch size: 128
+Training:   0%|          | 200/60000 [10:45<51:12:13,  3.08s/step]INFO 2026-07-19 23:27:52 ot_train.py:649 step:200 smpl:26K ep:578 epch:0.12 loss:1.234 grdn:0.482 lr:1.7e-06 updt_s:1.598 data_s:1.627 smp/s:40 mem_gb:52.89
+Training:   1%|          | 400/60000 [21:07<51:14:43,  3.10s/step]INFO 2026-07-19 23:38:13 ot_train.py:649 step:400 smpl:51K ep:1K epch:0.23 loss:0.864 grdn:0.955 lr:5.0e-06 updt_s:1.528 data_s:1.574 smp/s:41 mem_gb:52.95
+Training:   1%|          | 600/60000 [31:32<51:35:06,  3.13s/step]INFO 2026-07-19 23:48:38 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:1.551 data_s:1.568 smp/s:41 mem_gb:52.95
+Training:   1%|▏         | 800/60000 [41:54<51:29:41,  3.13s/step]INFO 2026-07-19 23:59:00 ot_train.py:649 step:800 smpl:102K ep:2K epch:0.47 loss:0.213 grdn:2.064 lr:1.2e-05 updt_s:1.538 data_s:1.569 smp/s:41 mem_gb:52.95
+Training:   2%|▏         | 1000/60000 [52:24<52:34:34,  3.21s/step]INFO 2026-07-20 00:09:30 ot_train.py:649 step:1K smpl:128K ep:3K epch:0.59 loss:0.174 grdn:2.131 lr:1.5e-05 updt_s:1.572 data_s:1.570 smp/s:41 mem_gb:52.95
+Training:   2%|▏         | 1200/60000 [1:02:59<50:50:36,  3.11s/step]INFO 2026-07-20 00:20:05 ot_train.py:649 step:1K smpl:154K ep:3K epch:0.70 loss:0.152 grdn:1.998 lr:1.8e-05 updt_s:1.595 data_s:1.577 smp/s:40 mem_gb:52.88
+Training:   2%|▏         | 1400/60000 [1:13:28<57:34:42,  3.54s/step]INFO 2026-07-20 00:30:34 ot_train.py:649 step:1K smpl:179K ep:4K epch:0.82 loss:0.137 grdn:1.849 lr:2.2e-05 updt_s:1.584 data_s:1.555 smp/s:41 mem_gb:52.98
+Training:   3%|▎         | 1600/60000 [1:23:49<49:27:36,  3.05s/step]INFO 2026-07-20 00:40:56 ot_train.py:649 step:2K smpl:205K ep:5K epch:0.94 loss:0.125 grdn:1.681 lr:2.5e-05 updt_s:1.580 data_s:1.522 smp/s:41 mem_gb:52.98
+Training:   3%|▎         | 1800/60000 [1:34:19<51:06:22,  3.16s/step]INFO 2026-07-20 00:51:25 ot_train.py:649 step:2K smpl:230K ep:5K epch:1.06 loss:0.117 grdn:1.544 lr:2.8e-05 updt_s:1.630 data_s:1.510 smp/s:41 mem_gb:52.98
+Training:   3%|▎         | 2000/60000 [1:45:03<51:09:37,  3.18s/step]INFO 2026-07-20 01:02:09 ot_train.py:649 step:2K smpl:256K ep:6K epch:1.17 loss:0.111 grdn:1.381 lr:3.2e-05 updt_s:1.697 data_s:1.517 smp/s:40 mem_gb:52.98
+Training:   4%|▎         | 2200/60000 [1:53:43<38:04:04,  2.37s/step]INFO 2026-07-20 01:10:49 ot_train.py:649 step:2K smpl:282K ep:6K epch:1.29 loss:0.105 grdn:1.281 lr:3.5e-05 updt_s:1.469 data_s:1.126 smp/s:49 mem_gb:52.98
+Training:   4%|▍         | 2400/60000 [2:02:23<43:21:45,  2.71s/step]INFO 2026-07-20 01:19:29 ot_train.py:649 step:2K smpl:307K ep:7K epch:1.41 loss:0.100 grdn:1.131 lr:3.8e-05 updt_s:1.477 data_s:1.121 smp/s:49 mem_gb:52.90
+Training:   4%|▍         | 2600/60000 [2:11:15<38:16:08,  2.40s/step]INFO 2026-07-20 01:28:21 ot_train.py:649 step:3K smpl:333K ep:8K epch:1.52 loss:0.096 grdn:1.003 lr:4.2e-05 updt_s:1.479 data_s:1.173 smp/s:48 mem_gb:52.98
+Training:   5%|▍         | 2800/60000 [2:19:54<44:20:55,  2.79s/step]INFO 2026-07-20 01:37:00 ot_train.py:649 step:3K smpl:358K ep:8K epch:1.64 loss:0.091 grdn:0.930 lr:4.5e-05 updt_s:1.492 data_s:1.100 smp/s:49 mem_gb:52.98
+Training:   5%|▌         | 3000/60000 [2:29:51<47:46:01,  3.02s/step]INFO 2026-07-20 01:46:57 ot_train.py:649 step:3K smpl:384K ep:9K epch:1.76 loss:0.087 grdn:0.857 lr:4.8e-05 updt_s:1.649 data_s:1.332 smp/s:43 mem_gb:52.98
+Training:   5%|▌         | 3200/60000 [2:40:00<48:00:25,  3.04s/step]INFO 2026-07-20 01:57:06 ot_train.py:649 step:3K smpl:410K ep:9K epch:1.88 loss:0.083 grdn:0.783 lr:5.2e-05 updt_s:1.654 data_s:1.384 smp/s:42 mem_gb:52.98
+Training:   6%|▌         | 3400/60000 [2:49:23<40:43:52,  2.59s/step]INFO 2026-07-20 02:06:29 ot_train.py:649 step:3K smpl:435K ep:10K epch:1.99 loss:0.080 grdn:0.736 lr:5.5e-05 updt_s:1.547 data_s:1.261 smp/s:46 mem_gb:52.90
+Training:   6%|▌         | 3600/60000 [2:57:54<37:20:07,  2.38s/step]INFO 2026-07-20 02:15:01 ot_train.py:649 step:4K smpl:461K ep:10K epch:2.11 loss:0.076 grdn:0.687 lr:5.8e-05 updt_s:1.445 data_s:1.109 smp/s:50 mem_gb:52.98
+Training:   6%|▋         | 3800/60000 [3:06:34<41:16:12,  2.64s/step]INFO 2026-07-20 02:23:40 ot_train.py:649 step:4K smpl:486K ep:11K epch:2.23 loss:0.075 grdn:0.647 lr:6.2e-05 updt_s:1.470 data_s:1.121 smp/s:49 mem_gb:52.98
+Training:   7%|▋         | 4000/60000 [3:16:08<42:04:54,  2.71s/step]INFO 2026-07-20 02:33:14 ot_train.py:649 step:4K smpl:512K ep:12K epch:2.34 loss:0.072 grdn:0.613 lr:6.5e-05 updt_s:1.586 data_s:1.280 smp/s:45 mem_gb:52.98
+Training:   7%|▋         | 4200/60000 [3:26:20<46:24:35,  2.99s/step]INFO 2026-07-20 02:43:26 ot_train.py:649 step:4K smpl:538K ep:12K epch:2.46 loss:0.071 grdn:0.570 lr:6.8e-05 updt_s:1.632 data_s:1.422 smp/s:42 mem_gb:52.98
+Training:   7%|▋         | 4400/60000 [3:36:40<44:17:07,  2.87s/step]INFO 2026-07-20 02:53:46 ot_train.py:649 step:4K smpl:563K ep:13K epch:2.58 loss:0.069 grdn:0.554 lr:7.2e-05 updt_s:1.663 data_s:1.432 smp/s:41 mem_gb:52.98
+Training:   8%|▊         | 4600/60000 [3:47:05<50:38:04,  3.29s/step]INFO 2026-07-20 03:04:11 ot_train.py:649 step:5K smpl:589K ep:13K epch:2.70 loss:0.067 grdn:0.521 lr:7.5e-05 updt_s:1.686 data_s:1.435 smp/s:41 mem_gb:52.90
+Training:   8%|▊         | 4800/60000 [3:57:09<46:17:40,  3.02s/step]INFO 2026-07-20 03:14:15 ot_train.py:649 step:5K smpl:614K ep:14K epch:2.81 loss:0.063 grdn:0.491 lr:7.8e-05 updt_s:1.556 data_s:1.460 smp/s:42 mem_gb:52.98
+Training:   8%|▊         | 5000/60000 [4:07:19<46:04:54,  3.02s/step]INFO 2026-07-20 03:24:25 ot_train.py:649 step:5K smpl:640K ep:14K epch:2.93 loss:0.062 grdn:0.478 lr:8.2e-05 updt_s:1.644 data_s:1.400 smp/s:42 mem_gb:52.98
+Training:   9%|▊         | 5200/60000 [4:17:33<47:23:46,  3.11s/step]INFO 2026-07-20 03:34:39 ot_train.py:649 step:5K smpl:666K ep:15K epch:3.05 loss:0.062 grdn:0.467 lr:8.5e-05 updt_s:1.605 data_s:1.458 smp/s:42 mem_gb:52.98
+Training:   9%|▉         | 5400/60000 [4:27:51<47:19:42,  3.12s/step]INFO 2026-07-20 03:44:57 ot_train.py:649 step:5K smpl:691K ep:16K epch:3.17 loss:0.059 grdn:0.422 lr:8.8e-05 updt_s:1.567 data_s:1.518 smp/s:41 mem_gb:52.98
+Training:   9%|▉         | 5600/60000 [4:38:07<46:33:04,  3.08s/step]INFO 2026-07-20 03:55:14 ot_train.py:649 step:6K smpl:717K ep:16K epch:3.28 loss:0.058 grdn:0.425 lr:9.2e-05 updt_s:1.552 data_s:1.524 smp/s:42 mem_gb:52.98
+Training:  10%|▉         | 5800/60000 [4:48:34<47:47:02,  3.17s/step]INFO 2026-07-20 04:05:40 ot_train.py:649 step:6K smpl:742K ep:17K epch:3.40 loss:0.057 grdn:0.411 lr:9.5e-05 updt_s:1.633 data_s:1.496 smp/s:41 mem_gb:52.90
+Training:  10%|█         | 6000/60000 [4:58:34<43:53:04,  2.93s/step]INFO 2026-07-20 04:15:40 ot_train.py:649 step:6K smpl:768K ep:17K epch:3.52 loss:0.057 grdn:0.406 lr:9.8e-05 updt_s:1.616 data_s:1.378 smp/s:43 mem_gb:52.98
+INFO 2026-07-20 04:15:40 ot_train.py:103 INSIGHT phase transition: index=1 name=fm_only range=[6000,60000) trainable_params=1620515968
+Training:  10%|█         | 6200/60000 [5:08:37<44:17:51,  2.96s/step]INFO 2026-07-20 04:25:43 ot_train.py:649 step:6K smpl:794K ep:18K epch:3.63 loss:0.056 grdn:0.394 lr:1.0e-04 updt_s:1.619 data_s:1.389 smp/s:43 mem_gb:52.85
+Training:  11%|█         | 6400/60000 [5:18:50<46:24:23,  3.12s/step]INFO 2026-07-20 04:35:57 ot_train.py:649 step:6K smpl:819K ep:18K epch:3.75 loss:0.054 grdn:0.365 lr:1.0e-04 updt_s:1.593 data_s:1.471 smp/s:42 mem_gb:52.85
+Training:  11%|█         | 6600/60000 [5:29:04<43:51:15,  2.96s/step]INFO 2026-07-20 04:46:10 ot_train.py:649 step:7K smpl:845K ep:19K epch:3.87 loss:0.053 grdn:0.353 lr:1.0e-04 updt_s:1.591 data_s:1.471 smp/s:42 mem_gb:52.85
+Training:  11%|█▏        | 6800/60000 [5:38:56<42:00:25,  2.84s/step]INFO 2026-07-20 04:56:02 ot_train.py:649 step:7K smpl:870K ep:20K epch:3.99 loss:0.053 grdn:0.355 lr:1.0e-04 updt_s:1.593 data_s:1.361 smp/s:43 mem_gb:52.77
+Training:  12%|█▏        | 7000/60000 [5:48:55<50:48:28,  3.45s/step]INFO 2026-07-20 05:06:01 ot_train.py:649 step:7K smpl:896K ep:20K epch:4.10 loss:0.052 grdn:0.350 lr:1.0e-04 updt_s:1.622 data_s:1.369 smp/s:43 mem_gb:52.85
+Training:  12%|█▏        | 7200/60000 [5:59:05<45:11:51,  3.08s/step]INFO 2026-07-20 05:16:11 ot_train.py:649 step:7K smpl:922K ep:21K epch:4.22 loss:0.051 grdn:0.337 lr:1.0e-04 updt_s:1.595 data_s:1.448 smp/s:42 mem_gb:52.85
+Training:  12%|█▏        | 7400/60000 [6:09:24<44:52:39,  3.07s/step]INFO 2026-07-20 05:26:30 ot_train.py:649 step:7K smpl:947K ep:21K epch:4.34 loss:0.053 grdn:0.349 lr:1.0e-04 updt_s:1.596 data_s:1.495 smp/s:41 mem_gb:52.85
+Training:  13%|█▎        | 7600/60000 [6:19:42<44:39:39,  3.07s/step]INFO 2026-07-20 05:36:48 ot_train.py:649 step:8K smpl:973K ep:22K epch:4.45 loss:0.051 grdn:0.331 lr:1.0e-04 updt_s:1.563 data_s:1.520 smp/s:42 mem_gb:52.85
+Training:  13%|█▎        | 7800/60000 [6:30:05<44:56:56,  3.10s/step]INFO 2026-07-20 05:47:11 ot_train.py:649 step:8K smpl:998K ep:23K epch:4.57 loss:0.051 grdn:0.317 lr:1.0e-04 updt_s:1.574 data_s:1.535 smp/s:41 mem_gb:52.85
+Training:  13%|█▎        | 8000/60000 [6:40:31<45:05:53,  3.12s/step]INFO 2026-07-20 05:57:37 ot_train.py:649 step:8K smpl:1M ep:23K epch:4.69 loss:0.048 grdn:0.315 lr:1.0e-04 updt_s:1.589 data_s:1.534 smp/s:41 mem_gb:52.77
+Training:  14%|█▎        | 8200/60000 [6:50:49<43:51:57,  3.05s/step]INFO 2026-07-20 06:07:56 ot_train.py:649 step:8K smpl:1M ep:24K epch:4.81 loss:0.047 grdn:0.299 lr:1.0e-04 updt_s:1.551 data_s:1.536 smp/s:41 mem_gb:52.85
+Training:  14%|█▍        | 8400/60000 [7:01:04<42:49:30,  2.99s/step]INFO 2026-07-20 06:18:10 ot_train.py:649 step:8K smpl:1M ep:24K epch:4.92 loss:0.049 grdn:0.311 lr:1.0e-04 updt_s:1.594 data_s:1.471 smp/s:42 mem_gb:52.85
+Training:  14%|█▍        | 8600/60000 [7:11:17<44:53:01,  3.14s/step]INFO 2026-07-20 06:28:23 ot_train.py:649 step:9K smpl:1M ep:25K epch:5.04 loss:0.048 grdn:0.304 lr:9.9e-05 updt_s:1.620 data_s:1.440 smp/s:42 mem_gb:52.85
+Training:  15%|█▍        | 8800/60000 [7:21:26<42:24:02,  2.98s/step]INFO 2026-07-20 06:38:32 ot_train.py:649 step:9K smpl:1M ep:25K epch:5.16 loss:0.048 grdn:0.307 lr:9.9e-05 updt_s:1.563 data_s:1.475 smp/s:42 mem_gb:52.85
+Training:  15%|█▌        | 9000/60000 [7:31:49<42:37:53,  3.01s/step]INFO 2026-07-20 06:48:55 ot_train.py:649 step:9K smpl:1M ep:26K epch:5.28 loss:0.048 grdn:0.296 lr:9.9e-05 updt_s:1.641 data_s:1.471 smp/s:41 mem_gb:52.85
+Training:  15%|█▌        | 9200/60000 [7:42:06<44:57:35,  3.19s/step]INFO 2026-07-20 06:59:12 ot_train.py:649 step:9K smpl:1M ep:27K epch:5.39 loss:0.046 grdn:0.285 lr:9.9e-05 updt_s:1.548 data_s:1.533 smp/s:42 mem_gb:52.77
+Training:  16%|█▌        | 9400/60000 [7:52:23<42:01:18,  2.99s/step]INFO 2026-07-20 07:09:29 ot_train.py:649 step:9K smpl:1M ep:27K epch:5.51 loss:0.047 grdn:0.296 lr:9.9e-05 updt_s:1.554 data_s:1.526 smp/s:42 mem_gb:52.85
+Training:  16%|█▌        | 9600/60000 [8:02:36<42:31:57,  3.04s/step]INFO 2026-07-20 07:19:42 ot_train.py:649 step:10K smpl:1M ep:28K epch:5.63 loss:0.046 grdn:0.285 lr:9.9e-05 updt_s:1.555 data_s:1.504 smp/s:42 mem_gb:52.85
+Training:  16%|█▋        | 9800/60000 [8:12:54<42:56:57,  3.08s/step]INFO 2026-07-20 07:30:01 ot_train.py:649 step:10K smpl:1M ep:28K epch:5.74 loss:0.045 grdn:0.280 lr:9.9e-05 updt_s:1.558 data_s:1.528 smp/s:41 mem_gb:52.85
+Training:  17%|█▋        | 10000/60000 [8:23:12<43:01:24,  3.10s/step]INFO 2026-07-20 07:40:18 ot_train.py:649 step:10K smpl:1M ep:29K epch:5.86 loss:0.045 grdn:0.268 lr:9.9e-05 updt_s:1.561 data_s:1.519 smp/s:42 mem_gb:52.85
+Training:  17%|█▋        | 10200/60000 [8:33:31<43:15:42,  3.13s/step]INFO 2026-07-20 07:50:37 ot_train.py:649 step:10K smpl:1M ep:29K epch:5.98 loss:0.045 grdn:0.273 lr:9.9e-05 updt_s:1.561 data_s:1.528 smp/s:41 mem_gb:52.77
+Training:  17%|█▋        | 10400/60000 [8:44:01<44:05:35,  3.20s/step]INFO 2026-07-20 08:01:07 ot_train.py:649 step:10K smpl:1M ep:30K epch:6.10 loss:0.044 grdn:0.263 lr:9.8e-05 updt_s:1.676 data_s:1.468 smp/s:41 mem_gb:52.85
+Training:  18%|█▊        | 10600/60000 [8:54:22<51:25:41,  3.75s/step]INFO 2026-07-20 08:11:29 ot_train.py:649 step:11K smpl:1M ep:31K epch:6.21 loss:0.043 grdn:0.262 lr:9.8e-05 updt_s:1.572 data_s:1.531 smp/s:41 mem_gb:52.85
+Training:  18%|█▊        | 10800/60000 [9:04:42<42:45:30,  3.13s/step]INFO 2026-07-20 08:21:48 ot_train.py:649 step:11K smpl:1M ep:31K epch:6.33 loss:0.046 grdn:0.288 lr:9.8e-05 updt_s:1.595 data_s:1.497 smp/s:41 mem_gb:52.85
+Training:  18%|█▊        | 11000/60000 [9:14:58<41:58:31,  3.08s/step]INFO 2026-07-20 08:32:04 ot_train.py:649 step:11K smpl:1M ep:32K epch:6.45 loss:0.044 grdn:0.270 lr:9.8e-05 updt_s:1.563 data_s:1.513 smp/s:42 mem_gb:52.85
+Training:  19%|█▊        | 11200/60000 [9:25:12<41:37:53,  3.07s/step]INFO 2026-07-20 08:42:18 ot_train.py:649 step:11K smpl:1M ep:32K epch:6.57 loss:0.043 grdn:0.249 lr:9.8e-05 updt_s:1.565 data_s:1.496 smp/s:42 mem_gb:52.85
+Training:  19%|█▉        | 11400/60000 [9:35:29<48:50:36,  3.62s/step]INFO 2026-07-20 08:52:35 ot_train.py:649 step:11K smpl:1M ep:33K epch:6.68 loss:0.042 grdn:0.258 lr:9.8e-05 updt_s:1.580 data_s:1.501 smp/s:42 mem_gb:52.77
+Training:  19%|█▉        | 11600/60000 [9:45:44<42:02:51,  3.13s/step]INFO 2026-07-20 09:02:51 ot_train.py:649 step:12K smpl:1M ep:34K epch:6.80 loss:0.042 grdn:0.256 lr:9.7e-05 updt_s:1.573 data_s:1.500 smp/s:42 mem_gb:52.85
+Training:  20%|█▉        | 11800/60000 [9:56:00<42:15:11,  3.16s/step]INFO 2026-07-20 09:13:06 ot_train.py:649 step:12K smpl:2M ep:34K epch:6.92 loss:0.041 grdn:0.255 lr:9.7e-05 updt_s:1.580 data_s:1.492 smp/s:42 mem_gb:52.85
+Training:  20%|██        | 12000/60000 [10:06:17<43:57:32,  3.30s/step]INFO 2026-07-20 09:23:23 ot_train.py:649 step:12K smpl:2M ep:35K epch:7.03 loss:0.043 grdn:0.272 lr:9.7e-05 updt_s:1.597 data_s:1.484 smp/s:42 mem_gb:52.85
+Training:  20%|██        | 12200/60000 [10:16:30<39:03:32,  2.94s/step]INFO 2026-07-20 09:33:36 ot_train.py:649 step:12K smpl:2M ep:35K epch:7.15 loss:0.041 grdn:0.246 lr:9.7e-05 updt_s:1.585 data_s:1.473 smp/s:42 mem_gb:52.85
+Training:  21%|██        | 12400/60000 [10:26:39<38:57:14,  2.95s/step]INFO 2026-07-20 09:43:45 ot_train.py:649 step:12K smpl:2M ep:36K epch:7.27 loss:0.040 grdn:0.249 lr:9.7e-05 updt_s:1.549 data_s:1.490 smp/s:42 mem_gb:52.85
+Training:  21%|██        | 12600/60000 [10:36:48<41:55:23,  3.18s/step]INFO 2026-07-20 09:53:54 ot_train.py:649 step:13K smpl:2M ep:36K epch:7.39 loss:0.040 grdn:0.253 lr:9.6e-05 updt_s:1.586 data_s:1.453 smp/s:42 mem_gb:52.77
+Training:  21%|██▏       | 12800/60000 [10:47:04<43:42:04,  3.33s/step]INFO 2026-07-20 10:04:11 ot_train.py:649 step:13K smpl:2M ep:37K epch:7.50 loss:0.040 grdn:0.245 lr:9.6e-05 updt_s:1.570 data_s:1.509 smp/s:42 mem_gb:52.85
+Training:  22%|██▏       | 13000/60000 [10:57:22<38:37:12,  2.96s/step]INFO 2026-07-20 10:14:29 ot_train.py:649 step:13K smpl:2M ep:38K epch:7.62 loss:0.042 grdn:0.262 lr:9.6e-05 updt_s:1.585 data_s:1.500 smp/s:41 mem_gb:52.85
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+Training:  22%|██▏       | 13400/60000 [11:17:45<38:29:35,  2.97s/step]INFO 2026-07-20 10:34:51 ot_train.py:649 step:13K smpl:2M ep:39K epch:7.85 loss:0.038 grdn:0.234 lr:9.6e-05 updt_s:1.637 data_s:1.428 smp/s:42 mem_gb:52.85
+Training:  23%|██▎       | 13600/60000 [11:27:53<39:15:36,  3.05s/step]INFO 2026-07-20 10:45:00 ot_train.py:649 step:14K smpl:2M ep:39K epch:7.97 loss:0.039 grdn:0.237 lr:9.5e-05 updt_s:1.578 data_s:1.461 smp/s:42 mem_gb:52.77
+Training:  23%|██▎       | 13800/60000 [11:37:18<33:29:10,  2.61s/step]INFO 2026-07-20 10:54:24 ot_train.py:649 step:14K smpl:2M ep:40K epch:8.09 loss:0.037 grdn:0.249 lr:9.5e-05 updt_s:1.498 data_s:1.320 smp/s:45 mem_gb:52.85
+Training:  23%|██▎       | 14000/60000 [11:46:00<30:56:19,  2.42s/step]INFO 2026-07-20 11:03:06 ot_train.py:649 step:14K smpl:2M ep:40K epch:8.21 loss:0.038 grdn:0.243 lr:9.5e-05 updt_s:1.390 data_s:1.212 smp/s:49 mem_gb:52.85
+Training:  24%|██▎       | 14200/60000 [11:54:19<32:22:53,  2.55s/step]INFO 2026-07-20 11:11:25 ot_train.py:649 step:14K smpl:2M ep:41K epch:8.32 loss:0.038 grdn:0.231 lr:9.5e-05 updt_s:1.381 data_s:1.113 smp/s:51 mem_gb:52.85
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+Training:  26%|██▌       | 15400/60000 [12:52:37<35:00:11,  2.83s/step]INFO 2026-07-20 12:09:43 ot_train.py:649 step:15K smpl:2M ep:45K epch:9.03 loss:0.037 grdn:0.230 lr:9.3e-05 updt_s:1.652 data_s:1.372 smp/s:42 mem_gb:52.85
+Training:  26%|██▌       | 15600/60000 [13:02:19<35:29:53,  2.88s/step]INFO 2026-07-20 12:19:25 ot_train.py:649 step:16K smpl:2M ep:45K epch:9.14 loss:0.036 grdn:0.228 lr:9.3e-05 updt_s:1.772 data_s:1.134 smp/s:44 mem_gb:52.85
+Training:  26%|██▋       | 15800/60000 [13:12:24<38:56:14,  3.17s/step]INFO 2026-07-20 12:29:30 ot_train.py:649 step:16K smpl:2M ep:46K epch:9.26 loss:0.036 grdn:0.222 lr:9.2e-05 updt_s:1.741 data_s:1.276 smp/s:42 mem_gb:52.85
+Training:  27%|██▋       | 16000/60000 [13:22:47<38:19:38,  3.14s/step]INFO 2026-07-20 12:39:53 ot_train.py:649 step:16K smpl:2M ep:46K epch:9.38 loss:0.034 grdn:0.222 lr:9.2e-05 updt_s:1.559 data_s:1.552 smp/s:41 mem_gb:52.77
+Training:  27%|██▋       | 16200/60000 [13:33:13<37:38:28,  3.09s/step]INFO 2026-07-20 12:50:19 ot_train.py:649 step:16K smpl:2M ep:47K epch:9.50 loss:0.035 grdn:0.232 lr:9.2e-05 updt_s:1.601 data_s:1.521 smp/s:41 mem_gb:52.85
+Training:  27%|██▋       | 16400/60000 [13:43:31<36:24:42,  3.01s/step]INFO 2026-07-20 13:00:37 ot_train.py:649 step:16K smpl:2M ep:47K epch:9.61 loss:0.034 grdn:0.221 lr:9.1e-05 updt_s:1.595 data_s:1.493 smp/s:41 mem_gb:52.85
+Training:  28%|██▊       | 16600/60000 [13:53:48<37:43:30,  3.13s/step]INFO 2026-07-20 13:10:54 ot_train.py:649 step:17K smpl:2M ep:48K epch:9.73 loss:0.035 grdn:0.222 lr:9.1e-05 updt_s:1.585 data_s:1.494 smp/s:42 mem_gb:52.85
+Training:  28%|██▊       | 16800/60000 [14:03:58<35:16:29,  2.94s/step]INFO 2026-07-20 13:21:04 ot_train.py:649 step:17K smpl:2M ep:49K epch:9.85 loss:0.034 grdn:0.220 lr:9.1e-05 updt_s:1.573 data_s:1.470 smp/s:42 mem_gb:52.85
+Training:  28%|██▊       | 17000/60000 [14:14:06<41:59:11,  3.52s/step]INFO 2026-07-20 13:31:12 ot_train.py:649 step:17K smpl:2M ep:49K epch:9.96 loss:0.034 grdn:0.220 lr:9.0e-05 updt_s:1.575 data_s:1.460 smp/s:42 mem_gb:52.77
+Training:  29%|██▊       | 17200/60000 [14:24:44<36:58:54,  3.11s/step]INFO 2026-07-20 13:41:50 ot_train.py:649 step:17K smpl:2M ep:50K epch:10.08 loss:0.034 grdn:0.229 lr:9.0e-05 updt_s:1.698 data_s:1.486 smp/s:40 mem_gb:52.85
+Training:  29%|██▉       | 17400/60000 [14:35:03<36:26:06,  3.08s/step]INFO 2026-07-20 13:52:09 ot_train.py:649 step:17K smpl:2M ep:50K epch:10.20 loss:0.036 grdn:0.244 lr:9.0e-05 updt_s:1.596 data_s:1.491 smp/s:41 mem_gb:52.85
+Training:  29%|██▉       | 17600/60000 [14:45:11<34:53:04,  2.96s/step]INFO 2026-07-20 14:02:17 ot_train.py:649 step:18K smpl:2M ep:51K epch:10.32 loss:0.033 grdn:0.215 lr:8.9e-05 updt_s:1.587 data_s:1.447 smp/s:42 mem_gb:52.85
+Training:  30%|██▉       | 17800/60000 [14:55:26<36:44:43,  3.13s/step]INFO 2026-07-20 14:12:32 ot_train.py:649 step:18K smpl:2M ep:51K epch:10.43 loss:0.033 grdn:0.225 lr:8.9e-05 updt_s:1.568 data_s:1.501 smp/s:42 mem_gb:52.85
+Training:  30%|███       | 18000/60000 [15:05:34<35:26:43,  3.04s/step]INFO 2026-07-20 14:22:41 ot_train.py:649 step:18K smpl:2M ep:52K epch:10.55 loss:0.033 grdn:0.220 lr:8.8e-05 updt_s:1.557 data_s:1.482 smp/s:42 mem_gb:52.85
+Training:  30%|███       | 18200/60000 [15:15:43<34:55:40,  3.01s/step]INFO 2026-07-20 14:32:49 ot_train.py:649 step:18K smpl:2M ep:53K epch:10.67 loss:0.033 grdn:0.218 lr:8.8e-05 updt_s:1.618 data_s:1.419 smp/s:42 mem_gb:52.77
+Training:  31%|███       | 18400/60000 [15:25:31<32:51:26,  2.84s/step]INFO 2026-07-20 14:42:37 ot_train.py:649 step:18K smpl:2M ep:53K epch:10.79 loss:0.032 grdn:0.221 lr:8.8e-05 updt_s:1.642 data_s:1.292 smp/s:44 mem_gb:52.85
+Training:  31%|███       | 18600/60000 [15:34:13<28:40:08,  2.49s/step]INFO 2026-07-20 14:51:20 ot_train.py:649 step:19K smpl:2M ep:54K epch:10.90 loss:0.032 grdn:0.214 lr:8.7e-05 updt_s:1.485 data_s:1.122 smp/s:49 mem_gb:52.85
+Training:  31%|███▏      | 18800/60000 [15:42:30<29:13:11,  2.55s/step]INFO 2026-07-20 14:59:36 ot_train.py:649 step:19K smpl:2M ep:54K epch:11.02 loss:0.032 grdn:0.217 lr:8.7e-05 updt_s:1.376 data_s:1.104 smp/s:52 mem_gb:52.85
+Training:  32%|███▏      | 19000/60000 [15:50:48<33:27:55,  2.94s/step]INFO 2026-07-20 15:07:55 ot_train.py:649 step:19K smpl:2M ep:55K epch:11.14 loss:0.034 grdn:0.230 lr:8.7e-05 updt_s:1.388 data_s:1.098 smp/s:51 mem_gb:52.85
+Training:  32%|███▏      | 19200/60000 [16:01:02<28:54:33,  2.55s/step]INFO 2026-07-20 15:18:08 ot_train.py:649 step:19K smpl:2M ep:55K epch:11.25 loss:0.032 grdn:0.221 lr:8.6e-05 updt_s:1.639 data_s:1.425 smp/s:42 mem_gb:52.77
+Training:  32%|███▏      | 19400/60000 [16:11:52<32:30:48,  2.88s/step]INFO 2026-07-20 15:28:58 ot_train.py:649 step:19K smpl:2M ep:56K epch:11.37 loss:0.030 grdn:0.214 lr:8.6e-05 updt_s:1.719 data_s:1.524 smp/s:39 mem_gb:52.85
+Training:  33%|███▎      | 19600/60000 [16:22:19<34:03:07,  3.03s/step]INFO 2026-07-20 15:39:25 ot_train.py:649 step:20K smpl:3M ep:57K epch:11.49 loss:0.030 grdn:0.209 lr:8.5e-05 updt_s:1.657 data_s:1.476 smp/s:41 mem_gb:52.85
+Training:  33%|███▎      | 19800/60000 [16:32:23<33:38:43,  3.01s/step]INFO 2026-07-20 15:49:29 ot_train.py:649 step:20K smpl:3M ep:57K epch:11.61 loss:0.029 grdn:0.206 lr:8.5e-05 updt_s:1.635 data_s:1.376 smp/s:43 mem_gb:52.85
+Training:  33%|███▎      | 20000/60000 [16:42:04<33:44:44,  3.04s/step]INFO 2026-07-20 15:59:10 ot_train.py:649 step:20K smpl:3M ep:58K epch:11.72 loss:0.030 grdn:0.205 lr:8.5e-05 updt_s:1.585 data_s:1.317 smp/s:44 mem_gb:52.85
+Training:  34%|███▎      | 20200/60000 [16:52:04<33:28:39,  3.03s/step]INFO 2026-07-20 16:09:10 ot_train.py:649 step:20K smpl:3M ep:58K epch:11.84 loss:0.030 grdn:0.217 lr:8.4e-05 updt_s:1.610 data_s:1.383 smp/s:43 mem_gb:52.85
+Training:  34%|███▍      | 20400/60000 [17:02:06<33:10:59,  3.02s/step]INFO 2026-07-20 16:19:12 ot_train.py:649 step:20K smpl:3M ep:59K epch:11.96 loss:0.030 grdn:0.212 lr:8.4e-05 updt_s:1.629 data_s:1.374 smp/s:43 mem_gb:52.77
+Training:  34%|███▍      | 20600/60000 [17:12:31<34:30:49,  3.15s/step]INFO 2026-07-20 16:29:38 ot_train.py:649 step:21K smpl:3M ep:60K epch:12.08 loss:0.029 grdn:0.211 lr:8.3e-05 updt_s:1.677 data_s:1.446 smp/s:41 mem_gb:52.85
+Training:  35%|███▍      | 20800/60000 [17:22:42<31:54:22,  2.93s/step]INFO 2026-07-20 16:39:48 ot_train.py:649 step:21K smpl:3M ep:60K epch:12.19 loss:0.029 grdn:0.205 lr:8.3e-05 updt_s:1.617 data_s:1.431 smp/s:42 mem_gb:52.85
+Training:  35%|███▌      | 21000/60000 [17:33:16<39:58:31,  3.69s/step]INFO 2026-07-20 16:50:22 ot_train.py:649 step:21K smpl:3M ep:61K epch:12.31 loss:0.029 grdn:0.203 lr:8.2e-05 updt_s:1.602 data_s:1.561 smp/s:40 mem_gb:52.85
+Training:  35%|███▌      | 21200/60000 [17:43:55<31:28:11,  2.92s/step]INFO 2026-07-20 17:01:02 ot_train.py:649 step:21K smpl:3M ep:61K epch:12.43 loss:0.029 grdn:0.198 lr:8.2e-05 updt_s:1.612 data_s:1.582 smp/s:40 mem_gb:52.85
+Training:  36%|███▌      | 21400/60000 [17:54:30<33:41:03,  3.14s/step]INFO 2026-07-20 17:11:36 ot_train.py:649 step:21K smpl:3M ep:62K epch:12.54 loss:0.028 grdn:0.202 lr:8.1e-05 updt_s:1.583 data_s:1.584 smp/s:40 mem_gb:52.85
+Training:  36%|███▌      | 21600/60000 [18:04:58<33:20:37,  3.13s/step]INFO 2026-07-20 17:22:04 ot_train.py:649 step:22K smpl:3M ep:62K epch:12.66 loss:0.028 grdn:0.209 lr:8.1e-05 updt_s:1.534 data_s:1.599 smp/s:41 mem_gb:52.77
+Training:  36%|███▋      | 21800/60000 [18:15:24<32:50:40,  3.10s/step]INFO 2026-07-20 17:32:30 ot_train.py:649 step:22K smpl:3M ep:63K epch:12.78 loss:0.028 grdn:0.211 lr:8.1e-05 updt_s:1.626 data_s:1.501 smp/s:41 mem_gb:52.85
+Training:  37%|███▋      | 22000/60000 [18:25:39<32:48:18,  3.11s/step]INFO 2026-07-20 17:42:45 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:1.557 data_s:1.514 smp/s:42 mem_gb:52.85
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+Training:  37%|███▋      | 22400/60000 [18:46:05<31:31:25,  3.02s/step]INFO 2026-07-20 18:03:11 ot_train.py:649 step:22K smpl:3M ep:65K epch:13.13 loss:0.027 grdn:0.204 lr:7.9e-05 updt_s:1.607 data_s:1.428 smp/s:42 mem_gb:52.85
+Training:  38%|███▊      | 22600/60000 [18:56:08<28:22:58,  2.73s/step]INFO 2026-07-20 18:13:15 ot_train.py:649 step:23K smpl:3M ep:65K epch:13.25 loss:0.027 grdn:0.199 lr:7.9e-05 updt_s:1.627 data_s:1.387 smp/s:42 mem_gb:52.77
+Training:  38%|███▊      | 22800/60000 [19:06:17<30:49:08,  2.98s/step]INFO 2026-07-20 18:23:23 ot_train.py:649 step:23K smpl:3M ep:66K epch:13.36 loss:0.027 grdn:0.198 lr:7.8e-05 updt_s:1.658 data_s:1.380 smp/s:42 mem_gb:52.85
+Training:  38%|███▊      | 23000/60000 [19:16:30<31:01:26,  3.02s/step]INFO 2026-07-20 18:33:36 ot_train.py:649 step:23K smpl:3M ep:66K epch:13.48 loss:0.027 grdn:0.205 lr:7.8e-05 updt_s:1.648 data_s:1.410 smp/s:42 mem_gb:52.85
+Training:  39%|███▊      | 23200/60000 [19:26:41<35:29:23,  3.47s/step]INFO 2026-07-20 18:43:48 ot_train.py:649 step:23K smpl:3M ep:67K epch:13.60 loss:0.027 grdn:0.199 lr:7.7e-05 updt_s:1.668 data_s:1.385 smp/s:42 mem_gb:52.85
+Training:  39%|███▉      | 23400/60000 [19:37:25<35:19:50,  3.48s/step]INFO 2026-07-20 18:54:31 ot_train.py:649 step:23K smpl:3M ep:68K epch:13.72 loss:0.026 grdn:0.200 lr:7.7e-05 updt_s:1.616 data_s:1.595 smp/s:40 mem_gb:52.85
+Training:  39%|███▉      | 23600/60000 [19:49:09<33:05:06,  3.27s/step]INFO 2026-07-20 19:06:16 ot_train.py:649 step:24K smpl:3M ep:68K epch:13.83 loss:0.026 grdn:0.196 lr:7.6e-05 updt_s:1.821 data_s:1.697 smp/s:36 mem_gb:52.85
+Training:  40%|███▉      | 23800/60000 [20:00:27<36:30:17,  3.63s/step]INFO 2026-07-20 19:17:33 ot_train.py:649 step:24K smpl:3M ep:69K epch:13.95 loss:0.027 grdn:0.213 lr:7.6e-05 updt_s:1.717 data_s:1.664 smp/s:38 mem_gb:52.77
+Training:  40%|████      | 24000/60000 [20:12:03<30:25:30,  3.04s/step]INFO 2026-07-20 19:29:09 ot_train.py:649 step:24K smpl:3M ep:69K epch:14.07 loss:0.025 grdn:0.191 lr:7.5e-05 updt_s:1.728 data_s:1.746 smp/s:37 mem_gb:52.85
+Training:  40%|████      | 24200/60000 [20:23:15<32:02:59,  3.22s/step]INFO 2026-07-20 19:40:22 ot_train.py:649 step:24K smpl:3M ep:70K epch:14.19 loss:0.025 grdn:0.192 lr:7.5e-05 updt_s:1.662 data_s:1.696 smp/s:38 mem_gb:52.85
+Training:  41%|████      | 24400/60000 [20:34:26<31:14:52,  3.16s/step]INFO 2026-07-20 19:51:32 ot_train.py:649 step:24K smpl:3M ep:71K epch:14.30 loss:0.026 grdn:0.197 lr:7.4e-05 updt_s:1.619 data_s:1.729 smp/s:38 mem_gb:52.85
+Training:  41%|████      | 24600/60000 [20:44:56<31:04:28,  3.16s/step]INFO 2026-07-20 20:02:02 ot_train.py:649 step:25K smpl:3M ep:71K epch:14.42 loss:0.025 grdn:0.186 lr:7.4e-05 updt_s:1.562 data_s:1.580 smp/s:41 mem_gb:52.85
+Training:  41%|████▏     | 24800/60000 [20:55:28<31:46:53,  3.25s/step]INFO 2026-07-20 20:12:34 ot_train.py:649 step:25K smpl:3M ep:72K epch:14.54 loss:0.025 grdn:0.197 lr:7.3e-05 updt_s:1.619 data_s:1.536 smp/s:41 mem_gb:52.85
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+Training:  48%|████▊     | 28800/60000 [24:17:29<24:55:53,  2.88s/step]INFO 2026-07-20 23:34:35 ot_train.py:649 step:29K smpl:4M ep:83K epch:16.88 loss:0.021 grdn:0.179 lr:6.2e-05 updt_s:1.598 data_s:1.370 smp/s:43 mem_gb:52.85
+Training:  48%|████▊     | 29000/60000 [24:27:18<24:17:06,  2.82s/step]INFO 2026-07-20 23:44:24 ot_train.py:649 step:29K smpl:4M ep:84K epch:17.00 loss:0.021 grdn:0.179 lr:6.2e-05 updt_s:1.598 data_s:1.342 smp/s:44 mem_gb:52.85
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+Training:  50%|█████     | 30000/60000 [25:16:56<25:04:13,  3.01s/step]INFO 2026-07-21 00:34:02 ot_train.py:649 step:30K smpl:4M ep:87K epch:17.59 loss:0.020 grdn:0.173 lr:5.9e-05 updt_s:1.629 data_s:1.359 smp/s:43 mem_gb:52.85
+INFO 2026-07-21 00:34:02 ot_train.py:694 Checkpoint policy after step 30000
+INFO 2026-07-21 00:34:31 in_yaml.py:1245 Saved config, action-space, prompt, and phase provenance in /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K and /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000
+Training:  50%|█████     | 30200/60000 [25:27:29<27:14:15,  3.29s/step]INFO 2026-07-21 00:44:35 ot_train.py:649 step:30K smpl:4M ep:87K epch:17.70 loss:0.020 grdn:0.174 lr:5.8e-05 updt_s:1.664 data_s:1.353 smp/s:42 mem_gb:52.85
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+Training:  53%|█████▎    | 32000/60000 [27:01:25<28:46:21,  3.70s/step]INFO 2026-07-21 02:18:32 ot_train.py:649 step:32K smpl:4M ep:92K epch:18.76 loss:0.017 grdn:0.159 lr:5.3e-05 updt_s:1.874 data_s:1.539 smp/s:38 mem_gb:52.85
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+Training:  62%|██████▏   | 37000/60000 [31:17:04<19:25:36,  3.04s/step]INFO 2026-07-21 06:34:11 ot_train.py:649 step:37K smpl:5M ep:107K epch:21.69 loss:0.015 grdn:0.147 lr:3.9e-05 updt_s:1.657 data_s:1.389 smp/s:42 mem_gb:52.85
+Training:  62%|██████▏   | 37200/60000 [31:27:17<17:58:01,  2.84s/step]INFO 2026-07-21 06:44:23 ot_train.py:649 step:37K smpl:5M ep:108K epch:21.81 loss:0.014 grdn:0.145 lr:3.8e-05 updt_s:1.657 data_s:1.398 smp/s:42 mem_gb:52.85
+Training:  62%|██████▏   | 37400/60000 [31:37:13<17:37:27,  2.81s/step]INFO 2026-07-21 06:54:19 ot_train.py:649 step:37K smpl:5M ep:108K epch:21.92 loss:0.014 grdn:0.142 lr:3.8e-05 updt_s:1.592 data_s:1.384 smp/s:43 mem_gb:52.77
+Training:  63%|██████▎   | 37600/60000 [31:47:16<18:16:57,  2.94s/step]INFO 2026-07-21 07:04:22 ot_train.py:649 step:38K smpl:5M ep:109K epch:22.04 loss:0.013 grdn:0.136 lr:3.7e-05 updt_s:1.638 data_s:1.370 smp/s:43 mem_gb:52.85
+Training:  63%|██████▎   | 37800/60000 [31:57:22<18:32:04,  3.01s/step]INFO 2026-07-21 07:14:28 ot_train.py:649 step:38K smpl:5M ep:109K epch:22.16 loss:0.014 grdn:0.139 lr:3.6e-05 updt_s:1.628 data_s:1.397 smp/s:42 mem_gb:52.85
+Training:  63%|██████▎   | 38000/60000 [32:07:42<18:37:20,  3.05s/step]INFO 2026-07-21 07:24:48 ot_train.py:649 step:38K smpl:5M ep:110K epch:22.27 loss:0.014 grdn:0.137 lr:3.6e-05 updt_s:1.644 data_s:1.451 smp/s:41 mem_gb:52.85
+Training:  64%|██████▎   | 38200/60000 [32:17:56<18:21:35,  3.03s/step]INFO 2026-07-21 07:35:03 ot_train.py:649 step:38K smpl:5M ep:110K epch:22.39 loss:0.013 grdn:0.130 lr:3.5e-05 updt_s:1.630 data_s:1.437 smp/s:42 mem_gb:52.85
+Training:  64%|██████▍   | 38400/60000 [32:29:21<24:18:48,  4.05s/step]INFO 2026-07-21 07:46:28 ot_train.py:649 step:38K smpl:5M ep:111K epch:22.51 loss:0.014 grdn:0.144 lr:3.5e-05 updt_s:1.739 data_s:1.681 smp/s:37 mem_gb:52.77
+Training:  64%|██████▍   | 38600/60000 [32:40:11<19:07:19,  3.22s/step]INFO 2026-07-21 07:57:17 ot_train.py:649 step:39K smpl:5M ep:112K epch:22.63 loss:0.013 grdn:0.126 lr:3.4e-05 updt_s:1.715 data_s:1.528 smp/s:39 mem_gb:52.85
+Training:  65%|██████▍   | 38800/60000 [32:51:01<16:43:44,  2.84s/step]INFO 2026-07-21 08:08:07 ot_train.py:649 step:39K smpl:5M ep:112K epch:22.74 loss:0.013 grdn:0.134 lr:3.4e-05 updt_s:1.743 data_s:1.499 smp/s:39 mem_gb:52.85
+Training:  65%|██████▌   | 39000/60000 [33:01:47<17:01:27,  2.92s/step]INFO 2026-07-21 08:18:53 ot_train.py:649 step:39K smpl:5M ep:113K epch:22.86 loss:0.013 grdn:0.135 lr:3.3e-05 updt_s:1.731 data_s:1.495 smp/s:40 mem_gb:52.85
+Training:  65%|██████▌   | 39200/60000 [33:12:39<19:16:08,  3.34s/step]INFO 2026-07-21 08:29:45 ot_train.py:649 step:39K smpl:5M ep:113K epch:22.98 loss:0.013 grdn:0.135 lr:3.3e-05 updt_s:1.682 data_s:1.571 smp/s:39 mem_gb:52.85
+Training:  66%|██████▌   | 39400/60000 [33:23:31<21:05:40,  3.69s/step]INFO 2026-07-21 08:40:38 ot_train.py:649 step:39K smpl:5M ep:114K epch:23.10 loss:0.013 grdn:0.133 lr:3.2e-05 updt_s:1.740 data_s:1.517 smp/s:39 mem_gb:52.85
+Training:  66%|██████▌   | 39461/60000 [33:26:54<18:23:31,  3.22s/step]