Add files using upload-large-folder tool

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/checkpoints/030000/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": [
+    {
+      "index": 0,
+      "name": "lap_rkd_linear_decay_10K",
+      "start_step": 0,
+      "until_step": 10000,
+      "policy": {
+        "rkd_enabled": true,
+        "rkd_fm_loss_weight": 1.0,
+        "rkd_loss_weight": 1.0,
+        "rkd_loss_weight_end": 0.0,
+        "rkd_loss_weight_schedule": "linear",
+        "rkd_distance_weight": 1.0,
+        "rkd_angle_weight": 2.0
+      },
+      "trainable": {
+        "tune_llm": false,
+        "tune_visual": false,
+        "tune_top_llm_layers": 0,
+        "tune_projector": true,
+        "tune_diffusion_model": true,
+        "tune_vlln": true
+      }
+    },
+    {
+      "index": 1,
+      "name": "fm_only",
+      "start_step": 10000,
+      "until_step": 60000,
+      "policy": {
+        "rkd_enabled": false,
+        "rkd_fm_loss_weight": 1.0,
+        "rkd_loss_weight": 0.0,
+        "rkd_loss_weight_end": null,
+        "rkd_loss_weight_schedule": "linear",
+        "rkd_distance_weight": 1.0,
+        "rkd_angle_weight": 2.0
+      },
+      "trainable": {
+        "tune_llm": false,
+        "tune_visual": false,
+        "tune_top_llm_layers": 0,
+        "tune_projector": true,
+        "tune_diffusion_model": true,
+        "tune_vlln": true
+      }
+    }
+  ]
+}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/checkpoints/030000/pretrained_model/action_space_manifest.json

@@ -0,0 +1,205 @@
+{
+  "schema_version": 2,
+  "action_space": "ee_abs_rot6d+ee_delta",
+  "action_views": [
+    "ee_abs_rot6d",
+    "ee_delta"
+  ],
+  "source_feature": null,
+  "canonical_feature": "action",
+  "dtype": "float32",
+  "shape": [
+    16
+  ],
+  "names": [
+    "ee_abs_rot6d.x",
+    "ee_abs_rot6d.y",
+    "ee_abs_rot6d.z",
+    "ee_abs_rot6d.r_col0_x",
+    "ee_abs_rot6d.r_col0_y",
+    "ee_abs_rot6d.r_col0_z",
+    "ee_abs_rot6d.r_col1_x",
+    "ee_abs_rot6d.r_col1_y",
+    "ee_abs_rot6d.r_col1_z",
+    "ee_abs_rot6d.gripper",
+    "ee_delta.delta_x",
+    "ee_delta.delta_y",
+    "ee_delta.delta_z",
+    "ee_delta.delta_axis_angle_x",
+    "ee_delta.delta_axis_angle_y",
+    "ee_delta.delta_axis_angle_z"
+  ],
+  "dataset_repo_id": "Whalswp/INSIGHTfixposV4_filtered_multispace_v2",
+  "dataset_revision": "v3.0",
+  "dataset_total_frames": 218367,
+  "dataset_total_episodes": 4930,
+  "dataset_fps": 10,
+  "stats_sha256": "75b95092e5fd9a1b16aa6dc7a478883927d7c7cce76c26b56b290b675ae2311a",
+  "stats": {
+    "min": [
+      -0.21784618496894836,
+      -0.4474811851978302,
+      0.1702737659215927,
+      -0.9999986290931702,
+      -0.9999991655349731,
+      -0.9999999403953552,
+      -0.9999990463256836,
+      -0.9999998211860657,
+      -0.9999988079071045,
+      0.0,
+      -0.09827068448066711,
+      -0.13628354668617249,
+      -0.12191051989793777,
+      -2.431101083755493,
+      -0.3816019296646118,
+      -0.5094270706176758
+    ],
+    "max": [
+      0.6283698678016663,
+      0.4420371949672699,
+      1.051027774810791,
+      0.9999999403953552,
+      0.9999995231628418,
+      1.0,
+      0.9999995231628418,
+      1.0,
+      0.9999996423721313,
+      0.03999999910593033,
+      0.11647262424230576,
+      0.13701310753822327,
+      0.13330328464508057,
+      1.7823294401168823,
+      0.5954466462135315,
+      0.6865788102149963
+    ],
+    "mean": [
+      0.4040228037735655,
+      -0.05247618696989652,
+      0.6993459771218912,
+      0.07011111991957117,
+      -0.03520558904460197,
+      0.14470242846953205,
+      0.05491166606739672,
+      -0.19073058893378805,
+      -0.06988117661871228,
+      0.021167300266524632,
+      0.0018730097199051647,
+      -0.0015708771114029225,
+      -0.001553903484685181,
+      0.014420973441752116,
+      0.00961362082315661,
+      -0.0017634798849202702
+    ],
+    "std": [
+      0.11861927913357073,
+      0.11318943557281885,
+      0.17849160646987516,
+      0.4812528791886511,
+      0.7487196258736938,
+      0.4251126804030219,
+      0.47797229807769137,
+      0.6267695346407992,
+      0.5782954306815554,
+      0.01996590431050817,
+      0.015762732601462,
+      0.010587306860662312,
+      0.01180823404609393,
+      0.10086023299718701,
+      0.04747329757360547,
+      0.14801097710214692
+    ],
+    "count": [
+      218367
+    ],
+    "q01": [
+      0.23988881827972064,
+      -0.10387461883034811,
+      0.6297243923476871,
+      -0.43622841955353464,
+      -0.6885486527617446,
+      -0.14103555388039019,
+      -0.4327210063987595,
+      -0.9304790915716145,
+      -0.3465462258490417,
+      -1.000000013351432e-10,
+      -0.02190519006673929,
+      -0.02092386152118027,
+      -0.026422736164554015,
+      -0.11497312558112925,
+      -0.025678747253255536,
+      -0.17124583807766966
+    ],
+    "q10": [
+      0.3042306436755216,
+      -0.09609991620622624,
+      0.6394063072781145,
+      -0.3351306352998669,
+      -0.5751963015002924,
+      -0.08490621283307866,
+      -0.33849701676224275,
+      -0.8340557712529717,
+      -0.29760290790884514,
+      -1.000000013351432e-10,
+      -0.013015102506385306,
+      -0.011160732577261764,
+      -0.012954131824952583,
+      -0.056165101267083004,
+      -0.01548487039073523,
+      -0.15972996251089885
+    ],
+    "q50": [
+      0.4160225263528291,
+      -0.06267459152989589,
+      0.6811777491060801,
+      0.0543536902230377,
+      -0.14012251058819217,
+      0.04772394280004727,
+      0.03838119138716219,
+      -0.14865169094195635,
+      -0.2073069401172425,
+      0.020772594934870346,
+      0.0005058764599893245,
+      4.561956601090609e-06,
+      4.945756498042436e-05,
+      0.0001528964582560528,
+      0.00017815767540355586,
+      -0.0002718872707462707
+    ],
+    "q90": [
+      0.46641008755679864,
+      0.020233143101890064,
+      0.8095135405259374,
+      0.48172401592474906,
+      0.7398737043070319,
+      0.5970841215636613,
+      0.4674752875999555,
+      0.36281754777672676,
+      0.5033361883834496,
+      0.039998362213352394,
+      0.016358020650084733,
+      0.003987531854121596,
+      0.006191431456332113,
+      0.11275584021509974,
+      0.06100667096893492,
+      0.15292656959583054
+    ],
+    "q99": [
+      0.47320723171849244,
+      0.04114262476135705,
+      0.8467967259270389,
+      0.5867781409980988,
+      0.8529584859257228,
+      0.7953936054341789,
+      0.5768269858732034,
+      0.49353349323389695,
+      0.7168914440776504,
+      0.03999983541667277,
+      0.03626038003704021,
+      0.008814053033445103,
+      0.012299866693624668,
+      0.17731576759283033,
+      0.12117986440120965,
+      0.16474415715691368
+    ]
+  }
+}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/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/RKD_TimewarpVAE/LAPstyle_linear_10K/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/RKD_TimewarpVAE/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": [
+    "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/RKD_TimewarpVAE/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",
+        "episodes": null,
+        "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": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec",
+        "return_uint8": false,
+        "depth_output_unit": "mm",
+        "streaming": false,
+        "eval_split": 0.0
+    },
+    "env": null,
+    "policy": {
+        "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
+    },
+    "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,
+    "save_freq": 20000,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adamw",
+        "lr": 0.0001,
+        "weight_decay": 1e-05,
+        "grad_clip_norm": 1.0,
+        "betas": [
+            0.9,
+            0.999
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": {
+        "type": "diffuser",
+        "num_warmup_steps": 6000,
+        "name": "cosine"
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": true,
+        "recording": false,
+        "recording_repo_id": null,
+        "recording_private": false
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": true,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": "ny0tx2de",
+        "mode": null,
+        "add_tags": true
+    },
+    "peft": null,
+    "job": {
+        "target": null,
+        "image": "huggingface/lerobot-gpu:latest",
+        "timeout": "2d",
+        "detach": false,
+        "tags": []
+    },
+    "save_checkpoint_to_hub": false,
+    "sample_weighting": null,
+    "rename_map": {},
+    "checkpoint_path": null
+}

Abs_6D + DeltaEE/RKD_TimewarpVAE/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/RKD_TimewarpVAE/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/RKD_TimewarpVAE/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/RKD_TimewarpVAE/LAPstyle_linear_10K/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,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15,
+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25,
+            26,
+            27,
+            28,
+            29,
+            30,
+            31,
+            32,
+            33,
+            34,
+            35,
+            36,
+            37,
+            38,
+            39,
+            40,
+            41,
+            42,
+            43,
+            44,
+            45,
+            46,
+            47,
+            48,
+            49,
+            50,
+            51,
+            52,
+            53,
+            54,
+            55,
+            56,
+            57,
+            58,
+            59,
+            60,
+            61,
+            62,
+            63,
+            64,
+            65,
+            66,
+            67,
+            68,
+            69,
+            70,
+            71,
+            72,
+            73,
+            74,
+            75,
+            76,
+            77,
+            78,
+            79,
+            80,
+            81,
+            82,
+            83,
+            84,
+            85,
+            86,
+            87,
+            88,
+            89,
+            90,
+            91,
+            92,
+            93,
+            94,
+            95,
+            96,
+            97,
+            98,
+            99,
+            100,
+            101,
+            102,
+            103,
+            104,
+            105,
+            106,
+            107,
+            108,
+            109,
+            110,
+            111,
+            112,
+            113,
+            114,
+            115,
+            116,
+            117,
+            118,
+            119,
+            120,
+            121,
+            122,
+            123,
+            124,
+            125,
+            126,
+            127,
+            128,
+            129,
+            130,
+            131,
+            132,
+            133,
+            134,
+            135,
+            136,
+            137,
+            138,
+            139,
+            140,
+            141,
+            142,
+            143,
+            144,
+            145,
+            146,
+            147,
+            148,
+            149,
+            150,
+            151,
+            152,
+            153,
+            154,
+            155,
+            156,
+            157,
+            158,
+            159,
+            160,
+            161,
+            162,
+            163,
+            164,
+            165,
+            166,
+            167,
+            168,
+            169,
+            170,
+            171,
+            172,
+            173,
+            174,
+            175,
+            176,
+            177,
+            178,
+            179,
+            180,
+            181,
+            182,
+            183,
+            184,
+            185,
+            186,
+            187,
+            188,
+            189,
+            190,
+            191,
+            192,
+            193,
+            194,
+            195,
+            196,
+            197,
+            198,
+            199,
+            200,
+            201,
+            202,
+            203,
+            204,
+            205,
+            206,
+            207,
+            208,
+            209,
+            210,
+            211,
+            212,
+            213,
+            214,
+            215,
+            216,
+            217,
+            218,
+            219,
+            220,
+            221,
+            222,
+            223,
+            224,
+            225,
+            226,
+            227,
+            228,
+            229,
+            230,
+            231,
+            232,
+            233,
+            234,
+            235,
+            236,
+            237,
+            238,
+            239,
+            240,
+            241,
+            242,
+            243,
+            244,
+            245,
+            246,
+            247,
+            248,
+            249,
+            250,
+            251,
+            252,
+            253,
+            254,
+            255,
+            256,
+            257,
+            258,
+            259,
+            260,
+            261,
+            262,
+            263,
+            264,
+            265,
+            266,
+            267,
+            268,
+            269,
+            270
+        ]
+    },
+    {
+        "weight_decay": 0.0,
+        "lr": 5.868240888334653e-05,
+        "betas": [
+            0.9,
+            0.999
+        ],
+        "eps": 1e-08,
+        "amsgrad": false,
+        "maximize": false,
+        "foreach": null,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "decoupled_weight_decay": true,
+        "initial_lr": 0.0001,
+        "params": [
+            271,
+            272,
+            273,
+            274,
+            275,
+            276,
+            277,
+            278,
+            279,
+            280,
+            281,
+            282,
+            283,
+            284,
+            285,
+            286,
+            287,
+            288,
+            289,
+            290,
+            291,
+            292,
+            293,
+            294,
+            295,
+            296,
+            297,
+            298,
+            299,
+            300,
+            301,
+            302,
+            303,
+            304,
+            305,
+            306,
+            307,
+            308,
+            309,
+            310,
+            311,
+            312,
+            313,
+            314,
+            315,
+            316,
+            317,
+            318,
+            319,
+            320,
+            321,
+            322,
+            323,
+            324,
+            325,
+            326,
+            327,
+            328,
+            329,
+            330,
+            331,
+            332,
+            333,
+            334,
+            335,
+            336,
+            337,
+            338,
+            339,
+            340,
+            341,
+            342,
+            343,
+            344,
+            345,
+            346,
+            347,
+            348,
+            349,
+            350,
+            351,
+            352,
+            353,
+            354,
+            355,
+            356,
+            357,
+            358,
+            359,
+            360,
+            361,
+            362,
+            363,
+            364,
+            365,
+            366,
+            367,
+            368,
+            369,
+            370,
+            371,
+            372,
+            373,
+            374,
+            375,
+            376,
+            377,
+            378,
+            379,
+            380,
+            381,
+            382,
+            383,
+            384,
+            385,
+            386,
+            387,
+            388,
+            389,
+            390,
+            391,
+            392,
+            393,
+            394,
+            395,
+            396,
+            397,
+            398,
+            399,
+            400,
+            401,
+            402,
+            403,
+            404,
+            405,
+            406,
+            407,
+            408,
+            409,
+            410,
+            411,
+            412,
+            413,
+            414,
+            415,
+            416,
+            417,
+            418,
+            419,
+            420,
+            421,
+            422,
+            423,
+            424,
+            425,
+            426,
+            427,
+            428,
+            429,
+            430,
+            431,
+            432,
+            433,
+            434,
+            435,
+            436,
+            437,
+            438,
+            439,
+            440,
+            441,
+            442,
+            443,
+            444,
+            445,
+            446,
+            447,
+            448,
+            449,
+            450,
+            451,
+            452,
+            453,
+            454,
+            455,
+            456,
+            457,
+            458,
+            459,
+            460,
+            461,
+            462,
+            463,
+            464,
+            465,
+            466,
+            467,
+            468,
+            469,
+            470,
+            471,
+            472,
+            473,
+            474,
+            475,
+            476,
+            477,
+            478,
+            479,
+            480,
+            481,
+            482,
+            483,
+            484,
+            485,
+            486,
+            487,
+            488,
+            489,
+            490,
+            491,
+            492,
+            493,
+            494,
+            495,
+            496,
+            497,
+            498,
+            499,
+            500,
+            501,
+            502,
+            503,
+            504,
+            505,
+            506,
+            507,
+            508,
+            509,
+            510,
+            511,
+            512,
+            513,
+            514,
+            515,
+            516,
+            517,
+            518,
+            519,
+            520,
+            521,
+            522,
+            523,
+            524,
+            525,
+            526,
+            527,
+            528,
+            529,
+            530,
+            531,
+            532,
+            533,
+            534,
+            535,
+            536,
+            537,
+            538,
+            539,
+            540,
+            541,
+            542,
+            543,
+            544
+        ]
+    }
+]

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/checkpoints/030000/training_state/training_step.json

@@ -0,0 +1,5 @@
+{
+    "step": 30000,
+    "num_processes": 1,
+    "batch_size": 128
+}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260721_181423-ny0tx2de/files/output.log

@@ -0,0 +1,22 @@
+INFO 2026-07-21 18:14:24 db_utils.py:121 Logs will be synced with wandb.
+INFO 2026-07-21 18:14:24 db_utils.py:122 Track this run --> https://wandb.ai/minje227_hyu-hanyang-university/lerobot/runs/ny0tx2de
+INFO 2026-07-21 18:14:24 ot_train.py:298 Creating dataset
+INFO 2026-07-21 18:14:26 ot_train.py:332 Creating policy
+INFO 2026-07-21 18:14:26 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 18:14:26 ng_groot.py:225 Detected fine-tuned LeRobot checkpoint, loading with state dict...
+Fetching 27 files: 100%|██████████| 27/27 [00:00<00:00, 7323.22it/s]
+`torch_dtype` is deprecated! Use `dtype` instead!
+Loading weights: 100%|██████████| 1031/1031 [00:00<00:00, 1972.02it/s]
+Loading weights from local directory
+INFO 2026-07-21 18:14:37 ot_train.py:405 Creating optimizer and scheduler
+INFO 2026-07-21 18:14:39 ot_train.py:103 INSIGHT phase transition: index=1 name=fm_only range=[10000,60000) trainable_params=1620515968
+INFO 2026-07-21 18:14:39 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 18:14:39 ot_train.py:446 cfg.steps=60000 (60K)
+INFO 2026-07-21 18:14:39 ot_train.py:447 dataset.num_frames=218367 (218K)
+INFO 2026-07-21 18:14:39 ot_train.py:448 dataset.num_episodes=4930
+INFO 2026-07-21 18:14:39 ot_train.py:451 Effective batch size: 128 x 1 = 128
+INFO 2026-07-21 18:14:39 ot_train.py:452 num_learnable_params=1620515968 (2B)
+INFO 2026-07-21 18:14:39 ot_train.py:453 num_total_params=3145712033 (3B)
+INFO 2026-07-21 18:14:39 ot_train.py:494 Resuming data order at epoch 26, sample 82688
+Training:   0%|          | 0/30000 [00:00<?, ?step/s]INFO 2026-07-21 18:14:40 ot_train.py:604 Start offline training on a fixed dataset, with effective batch size: 128
+Training:   0%|          | 111/30000 [04:52<22:01:53,  2.65s/step]

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260721_181423-ny0tx2de/files/wandb-metadata.json

@@ -0,0 +1,52 @@
+{
+  "os": "Linux-6.8.0-55-generic-x86_64-with-glibc2.39",
+  "python": "CPython 3.12.13",
+  "startedAt": "2026-07-21T18:14:23.255605Z",
+  "args": [
+    "--config_path=/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/pretrained_model/train_config.json",
+    "--resume=true",
+    "--dataset.root=/home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2",
+    "--output_dir=/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K"
+  ],
+  "program": "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py",
+  "codePath": "benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py",
+  "codePathLocal": "my_scripts/lerobot_train_yaml.py",
+  "git": {
+    "remote": "git@github.com:paragon7060/clvla.git",
+    "commit": "c1ff610ae4b02827f1c984cef8bbf28a7889bd6f"
+  },
+  "root": "/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K",
+  "host": "ext_minje-box",
+  "executable": "/home/ext_minje/miniconda3/envs/lerobot060_groot/bin/python",
+  "cpu_count": 112,
+  "cpu_count_logical": 224,
+  "gpu": "NVIDIA H200",
+  "gpu_count": 2,
+  "disk": {
+    "/": {
+      "total": "1888425144320",
+      "used": "1061580816384"
+    }
+  },
+  "memory": {
+    "total": "2164176568320"
+  },
+  "gpu_nvidia": [
+    {
+      "name": "NVIDIA H200",
+      "memoryTotal": "150754820096",
+      "cudaCores": 16896,
+      "architecture": "Hopper",
+      "uuid": "GPU-86be6e5b-fb48-fa1c-9bd7-83d336cb2991"
+    },
+    {
+      "name": "NVIDIA H200",
+      "memoryTotal": "150754820096",
+      "cudaCores": 16896,
+      "architecture": "Hopper",
+      "uuid": "GPU-24eb1ba2-7313-ff93-1435-748768ebdbdc"
+    }
+  ],
+  "cudaVersion": "12.8",
+  "writerId": "xva8mdlpdvztgkcjkv44uulff5nwwtv8"
+}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260721_181423-ny0tx2de/logs/debug-core.log

@@ -0,0 +1,16 @@
+{"time":"2026-07-21T18:14:23.285243333Z","level":"INFO","msg":"main: starting server","port-filename":"/tmp/tmpo88oriya/port-19150.txt","pid":19150,"detached":false,"idle-timeout":600000000000,"log-level":0,"disable-analytics":false,"shutdown-on-parent-exit":false,"enable-dcgm-profiling":false}
+{"time":"2026-07-21T18:14:23.28581381Z","level":"INFO","msg":"server: will exit if parent process dies","ppid":19150}
+{"time":"2026-07-21T18:14:23.285809228Z","level":"INFO","msg":"server: accepting connections","addr":{"Name":"/tmp/wandb-19150-21411-1232209905/socket","Net":"unix"}}
+{"time":"2026-07-21T18:14:23.38286082Z","level":"INFO","msg":"main: starting server","port-filename":"/tmp/tmpbso0rvsy/port-19156.txt","pid":19156,"detached":false,"idle-timeout":600000000000,"log-level":0,"disable-analytics":false,"shutdown-on-parent-exit":false,"enable-dcgm-profiling":false}
+{"time":"2026-07-21T18:14:23.383664879Z","level":"INFO","msg":"server: will exit if parent process dies","ppid":19156}
+{"time":"2026-07-21T18:14:23.383625287Z","level":"INFO","msg":"server: accepting connections","addr":{"Name":"/tmp/wandb-19156-21472-1947334501/socket","Net":"unix"}}
+{"time":"2026-07-21T18:14:23.471344728Z","level":"INFO","msg":"connection: ManageConnectionData: new connection created","id":"1(@)"}
+{"time":"2026-07-21T18:14:23.478360859Z","level":"INFO","msg":"handleInformInit: received","streamId":"ny0tx2de","id":"1(@)"}
+{"time":"2026-07-21T18:14:23.569000336Z","level":"INFO","msg":"connection: ManageConnectionData: new connection created","id":"1(@)"}
+{"time":"2026-07-21T18:14:23.57555684Z","level":"INFO","msg":"handleInformInit: received","streamId":"bepgb8uu","id":"1(@)"}
+{"time":"2026-07-21T18:14:23.848951854Z","level":"INFO","msg":"handleInformInit: stream started","streamId":"ny0tx2de","id":"1(@)"}
+{"time":"2026-07-21T18:14:24.01659298Z","level":"INFO","msg":"handleInformInit: stream started","streamId":"bepgb8uu","id":"1(@)"}
+{"time":"2026-07-21T18:14:29.505605344Z","level":"INFO","msg":"connection: cancelling request","id":"1(@)","requestId":"r6fec0azzoqo"}
+{"time":"2026-07-21T18:14:30.028386575Z","level":"INFO","msg":"connection: cancelling request","id":"1(@)","requestId":"4nrdajw10sav"}
+{"time":"2026-07-21T18:19:37.712413771Z","level":"INFO","msg":"server: parent process exited, terminating service process"}
+{"time":"2026-07-21T18:19:37.732644068Z","level":"INFO","msg":"server: parent process exited, terminating service process"}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260721_181423-ny0tx2de/logs/debug-internal.log

@@ -0,0 +1,51 @@
+{"time":"2026-07-21T18:14:23.478503941Z","level":"INFO","msg":"wandb-core"}
+{"time":"2026-07-21T18:14:23.478749225Z","level":"INFO","msg":"stream: starting","core version":"0.27.2"}
+{"time":"2026-07-21T18:14:23.848740213Z","level":"INFO","msg":"stream: created new stream","id":"ny0tx2de"}
+{"time":"2026-07-21T18:14:23.848839849Z","level":"INFO","msg":"handler: started"}
+{"time":"2026-07-21T18:14:23.848946737Z","level":"INFO","msg":"stream: started"}
+{"time":"2026-07-21T18:14:23.848967325Z","level":"INFO","msg":"writer: started","stream_id":"ny0tx2de"}
+{"time":"2026-07-21T18:14:23.848997624Z","level":"INFO","msg":"sender: started"}
+{"time":"2026-07-21T18:14:24.424213722Z","level":"INFO","msg":"filestream: sending request","total_files":1}
+{"time":"2026-07-21T18:14:31.995846363Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-21T18:14:39.42496964Z","level":"INFO","msg":"filestream: sending request","total_files":1,"console_offset":0,"console_lines":11,"uploaded_len":2}
+{"time":"2026-07-21T18:14:42.113945965Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-21T18:14:54.424998404Z","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":0,"events_lines":2,"console_offset":11,"console_lines":11}
+{"time":"2026-07-21T18:14:55.651294964Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-21T18:15:09.425081683Z","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":2,"events_lines":2,"console_offset":21,"console_lines":1}
+{"time":"2026-07-21T18:15:16.32581233Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-21T18:15:24.42498135Z","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":4,"events_lines":2,"console_offset":21,"console_lines":1}
+{"time":"2026-07-21T18:15:24.790591003Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-21T18:15:39.42451904Z","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":6,"events_lines":2,"console_offset":21,"console_lines":1}
+{"time":"2026-07-21T18:15:40.892737595Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-21T18:15:54.425296874Z","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":8,"events_lines":2,"console_offset":21,"console_lines":1}
+{"time":"2026-07-21T18:15:56.651087204Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-21T18:16:09.424424558Z","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":10,"events_lines":2,"console_offset":21,"console_lines":1}
+{"time":"2026-07-21T18:16:40.636531264Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-21T18:16:40.636664675Z","level":"INFO","msg":"filestream: sending request","total_files":0}
+{"time":"2026-07-21T18:16:41.050750303Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-21T18:16:41.051018683Z","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":12,"events_lines":6,"console_offset":21,"console_lines":1}
+{"time":"2026-07-21T18:16:59.350368552Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-21T18:16:59.35130631Z","level":"INFO","msg":"filestream: sending request","total_files":1,"console_offset":21,"console_lines":1}
+{"time":"2026-07-21T18:17:01.456081065Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-21T18:17:01.45630364Z","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":18,"events_lines":2,"console_offset":21,"console_lines":1}
+{"time":"2026-07-21T18:17:02.556746085Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-21T18:17:11.104519717Z","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":20,"events_lines":2,"console_offset":21,"console_lines":1}
+{"time":"2026-07-21T18:17:28.634252175Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-21T18:17:28.634483078Z","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":22,"events_lines":2,"console_offset":21,"console_lines":1}
+{"time":"2026-07-21T18:17:50.675361432Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-21T18:17:50.675556699Z","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":24,"events_lines":2,"console_offset":21,"console_lines":1}
+{"time":"2026-07-21T18:18:15.992601256Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-21T18:18:15.992765405Z","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":26,"events_lines":4,"console_offset":21,"console_lines":1}
+{"time":"2026-07-21T18:18:16.534518707Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-21T18:18:18.405744326Z","level":"INFO","msg":"filestream: sending request","total_files":1,"console_offset":21,"console_lines":1}
+{"time":"2026-07-21T18:18:32.650014909Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-21T18:18:33.40673678Z","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":30,"events_lines":2,"console_offset":21,"console_lines":1}
+{"time":"2026-07-21T18:18:33.784898107Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-21T18:18:48.406230663Z","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":32,"events_lines":2,"console_offset":21,"console_lines":1}
+{"time":"2026-07-21T18:18:48.785750293Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-21T18:19:03.406762001Z","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":34,"events_lines":2,"console_offset":21,"console_lines":1}
+{"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/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260721_181423-ny0tx2de/logs/debug.log

@@ -0,0 +1,20 @@
+2026-07-21 18:14:23,256 INFO    MainThread:19150 [wandb_setup.py:_flush():81] Current SDK version is 0.27.2
+2026-07-21 18:14:23,256 INFO    MainThread:19150 [wandb_setup.py:_flush():81] Configure stats pid to 19150
+2026-07-21 18:14:23,256 INFO    MainThread:19150 [wandb_setup.py:_flush():81] Loading settings from environment variables
+2026-07-21 18:14:23,256 INFO    MainThread:19150 [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-20260721_181423-ny0tx2de/logs/debug.log
+2026-07-21 18:14:23,256 INFO    MainThread:19150 [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-20260721_181423-ny0tx2de/logs/debug-internal.log
+2026-07-21 18:14:23,256 INFO    MainThread:19150 [wandb_init.py:init():766] calling init triggers
+2026-07-21 18:14:23,256 INFO    MainThread:19150 [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': None, 'output_dir': './tmp/gr00t', 'save_steps': 1000, 'max_steps': 10000, 'batch_size': 32, 'dataloader_num_workers': 8, 'report_to': 'wandb', 'resume': False, 'rkd_enabled': True, 'rkd_vae_checkpoint': '/home/ext_minje/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84', 'rkd_student_pooling': 'attention', 'rkd_student_attention_hidden_dim': 512, 'rkd_student_attention_output_dim': 512, 'rkd_fm_loss_weight': 1.0, 'rkd_loss_weight': 1.0, 'rkd_distance_weight': 1.0, 'rkd_angle_weight': 2.0}, 'reward_model': None, 'output_dir': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K', 'job_name': 'INSIGHT_RD_RKD_TimewarpVAE_LAPstyle_10K', 'resume': True, 'seed': 42, 'cudnn_deterministic': False, 'num_workers': 4, 'batch_size': 128, 'prefetch_factor': 4, 'persistent_workers': True, 'steps': 60000, 'env_eval_freq': 20000, 'log_freq': 200, 'eval_steps': 0, 'max_eval_samples': 0, 'tolerance_s': 0.0001, 'save_checkpoint': True, 'save_freq': 20000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adamw', 'lr': 0.0001, 'weight_decay': 1e-05, 'grad_clip_norm': 1.0, 'betas': [0.9, 0.999], 'eps': 1e-08}, 'scheduler': {'type': 'diffuser', 'num_warmup_steps': 6000, 'name': 'cosine'}, 'eval': {'n_episodes': 50, 'batch_size': 50, 'use_async_envs': True, 'recording': False, 'recording_repo_id': None, 'recording_private': False}, 'wandb': {'enable': True, 'disable_artifact': True, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': 'ny0tx2de', '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 + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000', '_wandb': {}}
+2026-07-21 18:14:23,256 INFO    MainThread:19150 [wandb_init.py:init():814] starting backend
+2026-07-21 18:14:23,471 INFO    MainThread:19150 [wandb_init.py:init():829] sending inform_init request
+2026-07-21 18:14:23,849 INFO    MainThread:19150 [wandb_init.py:init():834] backend started and connected
+2026-07-21 18:14:23,851 INFO    MainThread:19150 [wandb_init.py:init():904] updated telemetry
+2026-07-21 18:14:23,855 INFO    MainThread:19150 [wandb_init.py:init():927] communicating run to backend with 90.0 second timeout
+2026-07-21 18:14:24,421 INFO    MainThread:19150 [wandb_init.py:init():967] run resumed
+2026-07-21 18:14:24,423 INFO    MainThread:19150 [wandb_init.py:init():972] starting run threads in backend
+2026-07-21 18:14:24,473 INFO    MainThread:19150 [wandb_run.py:_console_start():2523] atexit reg
+2026-07-21 18:14:24,473 INFO    MainThread:19150 [wandb_run.py:_redirect():2373] redirect: wrap_raw
+2026-07-21 18:14:24,473 INFO    MainThread:19150 [wandb_run.py:_redirect():2442] Wrapping output streams.
+2026-07-21 18:14:24,473 INFO    MainThread:19150 [wandb_run.py:_redirect():2465] Redirects installed.
+2026-07-21 18:14:24,474 INFO    MainThread:19150 [wandb_init.py:init():1010] run started, returning control to user process

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260721_181948-nf69vc3o/logs/debug-internal.log

@@ -0,0 +1,15 @@
+{"time":"2026-07-21T18:19:49.11325662Z","level":"INFO","msg":"wandb-core"}
+{"time":"2026-07-21T18:19:49.113483144Z","level":"INFO","msg":"stream: starting","core version":"0.27.2"}
+{"time":"2026-07-21T18:19:49.552132847Z","level":"INFO","msg":"stream: created new stream","id":"nf69vc3o"}
+{"time":"2026-07-21T18:19:49.552224094Z","level":"INFO","msg":"handler: started"}
+{"time":"2026-07-21T18:19:49.552318883Z","level":"INFO","msg":"stream: started"}
+{"time":"2026-07-21T18:19:49.552490028Z","level":"INFO","msg":"writer: started","stream_id":"nf69vc3o"}
+{"time":"2026-07-21T18:19:49.552494237Z","level":"INFO","msg":"sender: started"}
+{"time":"2026-07-21T18:19:49.814539341Z","level":"ERROR","msg":"runupserter: failed to init run","error":"no data but must resume"}
+{"time":"2026-07-21T18:19:49.822943412Z","level":"ERROR","msg":"sender: uploadConfigFile: runhandle: run not yet initialized"}
+{"time":"2026-07-21T18:19:49.823275277Z","level":"ERROR","msg":"runfiles: runhandle: run not yet initialized"}
+{"time":"2026-07-21T18:19:49.823443988Z","level":"INFO","msg":"fileTransfer: Close: file transfer manager closed"}
+{"time":"2026-07-21T18:19:49.823462369Z","level":"INFO","msg":"stream: finishing up"}
+{"time":"2026-07-21T18:19:49.823468887Z","level":"INFO","msg":"handler: closed"}
+{"time":"2026-07-21T18:19:49.823508316Z","level":"INFO","msg":"sender: closed"}
+{"time":"2026-07-21T18:19:49.823514051Z","level":"INFO","msg":"stream: all finished"}

Abs_6D + DeltaEE/RKD_TimewarpVAE/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/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260721_182104-nf69vc3o/files/wandb-metadata.json

@@ -0,0 +1,53 @@
+{
+  "os": "Linux-6.8.0-55-generic-x86_64-with-glibc2.39",
+  "python": "CPython 3.12.13",
+  "startedAt": "2026-07-21T18:21:04.236873Z",
+  "args": [
+    "--config_path=/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/pretrained_model/train_config.json",
+    "--resume=true",
+    "--dataset.root=/home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2",
+    "--output_dir=/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K",
+    "--wandb.run_id=nf69vc3o"
+  ],
+  "program": "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py",
+  "codePath": "benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py",
+  "codePathLocal": "my_scripts/lerobot_train_yaml.py",
+  "git": {
+    "remote": "git@github.com:paragon7060/clvla.git",
+    "commit": "eed2ce4044cadf00b8e6de57043553236a21b84e"
+  },
+  "root": "/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K",
+  "host": "ext_minje-box",
+  "executable": "/home/ext_minje/miniconda3/envs/lerobot060_groot/bin/python",
+  "cpu_count": 112,
+  "cpu_count_logical": 224,
+  "gpu": "NVIDIA H200",
+  "gpu_count": 2,
+  "disk": {
+    "/": {
+      "total": "1888425144320",
+      "used": "1087974375424"
+    }
+  },
+  "memory": {
+    "total": "2164176568320"
+  },
+  "gpu_nvidia": [
+    {
+      "name": "NVIDIA H200",
+      "memoryTotal": "150754820096",
+      "cudaCores": 16896,
+      "architecture": "Hopper",
+      "uuid": "GPU-86be6e5b-fb48-fa1c-9bd7-83d336cb2991"
+    },
+    {
+      "name": "NVIDIA H200",
+      "memoryTotal": "150754820096",
+      "cudaCores": 16896,
+      "architecture": "Hopper",
+      "uuid": "GPU-24eb1ba2-7313-ff93-1435-748768ebdbdc"
+    }
+  ],
+  "cudaVersion": "12.8",
+  "writerId": "z5alup5r9wweddo1c9ix59z8pep0xqvc"
+}

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

@@ -0,0 +1,32 @@
+{"time":"2026-07-21T18:21:04.247445945Z","level":"INFO","msg":"main: starting server","port-filename":"/tmp/tmp184vsfqg/port-172610.txt","pid":172610,"detached":false,"idle-timeout":600000000000,"log-level":0,"disable-analytics":false,"shutdown-on-parent-exit":false,"enable-dcgm-profiling":false}
+{"time":"2026-07-21T18:21:04.248603326Z","level":"INFO","msg":"server: will exit if parent process dies","ppid":172610}
+{"time":"2026-07-21T18:21:04.248597948Z","level":"INFO","msg":"server: accepting connections","addr":{"Name":"/tmp/wandb-172610-173207-2020039444/socket","Net":"unix"}}
+{"time":"2026-07-21T18:21:04.268821373Z","level":"INFO","msg":"main: starting server","port-filename":"/tmp/tmpzfyk58d5/port-172614.txt","pid":172614,"detached":false,"idle-timeout":600000000000,"log-level":0,"disable-analytics":false,"shutdown-on-parent-exit":false,"enable-dcgm-profiling":false}
+{"time":"2026-07-21T18:21:04.269310885Z","level":"INFO","msg":"server: will exit if parent process dies","ppid":172614}
+{"time":"2026-07-21T18:21:04.269293785Z","level":"INFO","msg":"server: accepting connections","addr":{"Name":"/tmp/wandb-172614-173230-3308478188/socket","Net":"unix"}}
+{"time":"2026-07-21T18:21:04.417813563Z","level":"INFO","msg":"main: starting server","port-filename":"/tmp/tmpmwtjsz6c/port-172619.txt","pid":172619,"detached":false,"idle-timeout":600000000000,"log-level":0,"disable-analytics":false,"shutdown-on-parent-exit":false,"enable-dcgm-profiling":false}
+{"time":"2026-07-21T18:21:04.418322248Z","level":"INFO","msg":"server: will exit if parent process dies","ppid":172619}
+{"time":"2026-07-21T18:21:04.418321107Z","level":"INFO","msg":"server: accepting connections","addr":{"Name":"/tmp/wandb-172619-173254-294570881/socket","Net":"unix"}}
+{"time":"2026-07-21T18:21:04.432095062Z","level":"INFO","msg":"connection: ManageConnectionData: new connection created","id":"1(@)"}
+{"time":"2026-07-21T18:21:04.438810916Z","level":"INFO","msg":"handleInformInit: received","streamId":"a9vyia29","id":"1(@)"}
+{"time":"2026-07-21T18:21:04.455482392Z","level":"INFO","msg":"connection: ManageConnectionData: new connection created","id":"1(@)"}
+{"time":"2026-07-21T18:21:04.460858554Z","level":"INFO","msg":"handleInformInit: received","streamId":"nf69vc3o","id":"1(@)"}
+{"time":"2026-07-21T18:21:04.60298114Z","level":"INFO","msg":"connection: ManageConnectionData: new connection created","id":"1(@)"}
+{"time":"2026-07-21T18:21:04.610353325Z","level":"INFO","msg":"handleInformInit: received","streamId":"4bcz2tkp","id":"1(@)"}
+{"time":"2026-07-21T18:21:04.884516648Z","level":"INFO","msg":"handleInformInit: stream started","streamId":"a9vyia29","id":"1(@)"}
+{"time":"2026-07-21T18:21:04.90556586Z","level":"INFO","msg":"handleInformInit: stream started","streamId":"nf69vc3o","id":"1(@)"}
+{"time":"2026-07-21T18:21:05.071805568Z","level":"INFO","msg":"handleInformInit: stream started","streamId":"4bcz2tkp","id":"1(@)"}
+{"time":"2026-07-21T18:21:10.708236731Z","level":"INFO","msg":"connection: cancelling request","id":"1(@)","requestId":"ph2w1cm05gqn"}
+{"time":"2026-07-21T18:21:10.807685266Z","level":"INFO","msg":"connection: cancelling request","id":"1(@)","requestId":"hzegodsukkmg"}
+{"time":"2026-07-21T18:21:11.20699825Z","level":"INFO","msg":"connection: cancelling request","id":"1(@)","requestId":"f3ychypah5kh"}
+{"time":"2026-07-22T01:50:48.665479935Z","level":"INFO","msg":"handleInformTeardown: server teardown initiated","id":"1(@)"}
+{"time":"2026-07-22T01:50:48.665556811Z","level":"INFO","msg":"processOutgoingData: finished","id":"1(@)"}
+{"time":"2026-07-22T01:50:48.665593971Z","level":"INFO","msg":"connection: closing","id":"1(@)"}
+{"time":"2026-07-22T01:50:48.665635486Z","level":"INFO","msg":"server is shutting down"}
+{"time":"2026-07-22T01:50:48.665643704Z","level":"INFO","msg":"connection: closed successfully","id":"1(@)"}
+{"time":"2026-07-22T01:50:48.665751717Z","level":"INFO","msg":"server: listener closed","addr":{"Name":"/tmp/wandb-172610-173207-2020039444/socket","Net":"unix"}}
+{"time":"2026-07-22T01:50:50.519284826Z","level":"INFO","msg":"handleInformTeardown: server shutdown complete","id":"1(@)"}
+{"time":"2026-07-22T01:50:50.51932901Z","level":"INFO","msg":"connection: ManageConnectionData: connection closed","id":"1(@)"}
+{"time":"2026-07-22T01:50:50.519336604Z","level":"INFO","msg":"server is closed"}
+{"time":"2026-07-22T01:51:23.453505328Z","level":"INFO","msg":"server: parent process exited, terminating service process"}
+{"time":"2026-07-22T01:51:23.495838294Z","level":"INFO","msg":"server: parent process exited, terminating service process"}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260721_182104-nf69vc3o/logs/debug.log

@@ -0,0 +1,20 @@
+2026-07-21 18:21:04,237 INFO    MainThread:172614 [wandb_setup.py:_flush():81] Current SDK version is 0.27.2
+2026-07-21 18:21:04,238 INFO    MainThread:172614 [wandb_setup.py:_flush():81] Configure stats pid to 172614
+2026-07-21 18:21:04,238 INFO    MainThread:172614 [wandb_setup.py:_flush():81] Loading settings from environment variables
+2026-07-21 18:21:04,238 INFO    MainThread:172614 [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-20260721_182104-nf69vc3o/logs/debug.log
+2026-07-21 18:21:04,238 INFO    MainThread:172614 [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-20260721_182104-nf69vc3o/logs/debug-internal.log
+2026-07-21 18:21:04,238 INFO    MainThread:172614 [wandb_init.py:init():766] calling init triggers
+2026-07-21 18:21:04,238 INFO    MainThread:172614 [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': None, 'output_dir': './tmp/gr00t', 'save_steps': 1000, 'max_steps': 10000, 'batch_size': 32, 'dataloader_num_workers': 8, 'report_to': 'wandb', 'resume': False, 'rkd_enabled': True, 'rkd_vae_checkpoint': '/home/ext_minje/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84', 'rkd_student_pooling': 'attention', 'rkd_student_attention_hidden_dim': 512, 'rkd_student_attention_output_dim': 512, 'rkd_fm_loss_weight': 1.0, 'rkd_loss_weight': 1.0, 'rkd_distance_weight': 1.0, 'rkd_angle_weight': 2.0}, 'reward_model': None, 'output_dir': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K', 'job_name': 'INSIGHT_RD_RKD_TimewarpVAE_LAPstyle_10K', 'resume': True, 'seed': 42, 'cudnn_deterministic': False, 'num_workers': 4, 'batch_size': 128, 'prefetch_factor': 4, 'persistent_workers': True, 'steps': 60000, 'env_eval_freq': 20000, 'log_freq': 200, 'eval_steps': 0, 'max_eval_samples': 0, 'tolerance_s': 0.0001, 'save_checkpoint': True, 'save_freq': 20000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adamw', 'lr': 0.0001, 'weight_decay': 1e-05, 'grad_clip_norm': 1.0, 'betas': [0.9, 0.999], 'eps': 1e-08}, 'scheduler': {'type': 'diffuser', 'num_warmup_steps': 6000, 'name': 'cosine'}, 'eval': {'n_episodes': 50, 'batch_size': 50, 'use_async_envs': True, 'recording': False, 'recording_repo_id': None, 'recording_private': False}, 'wandb': {'enable': True, 'disable_artifact': True, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': 'nf69vc3o', '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 + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000', '_wandb': {}}
+2026-07-21 18:21:04,238 INFO    MainThread:172614 [wandb_init.py:init():814] starting backend
+2026-07-21 18:21:04,455 INFO    MainThread:172614 [wandb_init.py:init():829] sending inform_init request
+2026-07-21 18:21:04,906 INFO    MainThread:172614 [wandb_init.py:init():834] backend started and connected
+2026-07-21 18:21:04,908 INFO    MainThread:172614 [wandb_init.py:init():904] updated telemetry
+2026-07-21 18:21:04,912 INFO    MainThread:172614 [wandb_init.py:init():927] communicating run to backend with 90.0 second timeout
+2026-07-21 18:21:05,610 INFO    MainThread:172614 [wandb_init.py:init():967] run resumed
+2026-07-21 18:21:05,612 INFO    MainThread:172614 [wandb_init.py:init():972] starting run threads in backend
+2026-07-21 18:21:05,664 INFO    MainThread:172614 [wandb_run.py:_console_start():2523] atexit reg
+2026-07-21 18:21:05,664 INFO    MainThread:172614 [wandb_run.py:_redirect():2373] redirect: wrap_raw
+2026-07-21 18:21:05,664 INFO    MainThread:172614 [wandb_run.py:_redirect():2442] Wrapping output streams.
+2026-07-21 18:21:05,665 INFO    MainThread:172614 [wandb_run.py:_redirect():2465] Redirects installed.
+2026-07-21 18:21:05,666 INFO    MainThread:172614 [wandb_init.py:init():1010] run started, returning control to user process

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260722_015601-nf69vc3o/logs/debug-core.log

@@ -0,0 +1,16 @@
+{"time":"2026-07-22T01:56:01.904544856Z","level":"INFO","msg":"main: starting server","port-filename":"/tmp/tmplv0k09or/port-4111697.txt","pid":4111697,"detached":false,"idle-timeout":600000000000,"log-level":0,"disable-analytics":false,"shutdown-on-parent-exit":false,"enable-dcgm-profiling":false}
+{"time":"2026-07-22T01:56:01.90506359Z","level":"INFO","msg":"server: will exit if parent process dies","ppid":4111697}
+{"time":"2026-07-22T01:56:01.90506439Z","level":"INFO","msg":"server: accepting connections","addr":{"Name":"/tmp/wandb-4111697-4112124-1309646352/socket","Net":"unix"}}
+{"time":"2026-07-22T01:56:01.932200139Z","level":"INFO","msg":"main: starting server","port-filename":"/tmp/tmpbxqa51te/port-4111692.txt","pid":4111692,"detached":false,"idle-timeout":600000000000,"log-level":0,"disable-analytics":false,"shutdown-on-parent-exit":false,"enable-dcgm-profiling":false}
+{"time":"2026-07-22T01:56:01.933771676Z","level":"INFO","msg":"server: will exit if parent process dies","ppid":4111692}
+{"time":"2026-07-22T01:56:01.933757116Z","level":"INFO","msg":"server: accepting connections","addr":{"Name":"/tmp/wandb-4111692-4112146-111182924/socket","Net":"unix"}}
+{"time":"2026-07-22T01:56:02.090550704Z","level":"INFO","msg":"connection: ManageConnectionData: new connection created","id":"1(@)"}
+{"time":"2026-07-22T01:56:02.097192802Z","level":"INFO","msg":"handleInformInit: received","streamId":"4bcz2tkp","id":"1(@)"}
+{"time":"2026-07-22T01:56:02.11954573Z","level":"INFO","msg":"connection: ManageConnectionData: new connection created","id":"1(@)"}
+{"time":"2026-07-22T01:56:02.126961037Z","level":"INFO","msg":"handleInformInit: received","streamId":"nf69vc3o","id":"1(@)"}
+{"time":"2026-07-22T01:56:02.49141053Z","level":"INFO","msg":"handleInformInit: stream started","streamId":"nf69vc3o","id":"1(@)"}
+{"time":"2026-07-22T01:56:02.553178349Z","level":"INFO","msg":"handleInformInit: stream started","streamId":"4bcz2tkp","id":"1(@)"}
+{"time":"2026-07-22T01:56:08.305493672Z","level":"INFO","msg":"connection: cancelling request","id":"1(@)","requestId":"qt5oqpxl1uxc"}
+{"time":"2026-07-22T01:56:08.44197638Z","level":"INFO","msg":"connection: cancelling request","id":"1(@)","requestId":"2upkxyu48ffn"}
+{"time":"2026-07-22T01:57:33.906098185Z","level":"INFO","msg":"server: parent process exited, terminating service process"}
+{"time":"2026-07-22T01:57:33.938623371Z","level":"INFO","msg":"server: parent process exited, terminating service process"}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260722_015754-nf69vc3o/logs/debug-internal.log

@@ -0,0 +1,11 @@
+{"time":"2026-07-22T01:57:55.093836574Z","level":"INFO","msg":"wandb-core"}
+{"time":"2026-07-22T01:57:55.094071675Z","level":"INFO","msg":"stream: starting","core version":"0.27.2"}
+{"time":"2026-07-22T01:57:55.560079725Z","level":"INFO","msg":"stream: created new stream","id":"nf69vc3o"}
+{"time":"2026-07-22T01:57:55.560227071Z","level":"INFO","msg":"handler: started"}
+{"time":"2026-07-22T01:57:55.560293301Z","level":"INFO","msg":"stream: started"}
+{"time":"2026-07-22T01:57:55.560424809Z","level":"INFO","msg":"writer: started","stream_id":"nf69vc3o"}
+{"time":"2026-07-22T01:57:55.560464489Z","level":"INFO","msg":"sender: started"}
+{"time":"2026-07-22T01:57:56.321769529Z","level":"INFO","msg":"filestream: sending request","total_files":1}
+{"time":"2026-07-22T01:57:56.793762569Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-22T01:58:11.322219621Z","level":"INFO","msg":"filestream: sending request","total_files":1,"console_offset":0,"console_lines":11,"uploaded_len":2}
+{"time":"2026-07-22T01:58:11.731259839Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260722_015838-nf69vc3o/files/wandb-metadata.json

@@ -0,0 +1,53 @@
+{
+  "os": "Linux-6.8.0-55-generic-x86_64-with-glibc2.39",
+  "python": "CPython 3.12.13",
+  "startedAt": "2026-07-22T01:58:38.694991Z",
+  "args": [
+    "--config_path=/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/pretrained_model/train_config.json",
+    "--resume=true",
+    "--dataset.root=/home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2",
+    "--output_dir=/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K",
+    "--wandb.run_id=nf69vc3o"
+  ],
+  "program": "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py",
+  "codePath": "benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py",
+  "codePathLocal": "my_scripts/lerobot_train_yaml.py",
+  "git": {
+    "remote": "git@github.com:paragon7060/clvla.git",
+    "commit": "eed2ce4044cadf00b8e6de57043553236a21b84e"
+  },
+  "root": "/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K",
+  "host": "ext_minje-box",
+  "executable": "/home/ext_minje/miniconda3/envs/lerobot060_groot/bin/python",
+  "cpu_count": 112,
+  "cpu_count_logical": 224,
+  "gpu": "NVIDIA H200",
+  "gpu_count": 2,
+  "disk": {
+    "/": {
+      "total": "1888425144320",
+      "used": "1113159147520"
+    }
+  },
+  "memory": {
+    "total": "2164176568320"
+  },
+  "gpu_nvidia": [
+    {
+      "name": "NVIDIA H200",
+      "memoryTotal": "150754820096",
+      "cudaCores": 16896,
+      "architecture": "Hopper",
+      "uuid": "GPU-86be6e5b-fb48-fa1c-9bd7-83d336cb2991"
+    },
+    {
+      "name": "NVIDIA H200",
+      "memoryTotal": "150754820096",
+      "cudaCores": 16896,
+      "architecture": "Hopper",
+      "uuid": "GPU-24eb1ba2-7313-ff93-1435-748768ebdbdc"
+    }
+  ],
+  "cudaVersion": "12.8",
+  "writerId": "58d59yg8p80tqq98m3j0lojzcpfximuv"
+}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260722_031956-nf69vc3o/files/output.log

@@ -0,0 +1,22 @@
+INFO 2026-07-22 03:19:57 db_utils.py:121 Logs will be synced with wandb.
+INFO 2026-07-22 03:19:57 db_utils.py:122 Track this run --> https://wandb.ai/minje227_hyu-hanyang-university/lerobot/runs/nf69vc3o
+INFO 2026-07-22 03:19:57 ot_train.py:298 Creating dataset
+INFO 2026-07-22 03:20:00 ot_train.py:332 Creating policy
+INFO 2026-07-22 03:20:00 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 + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/pretrained_model
+INFO 2026-07-22 03:20:00 ng_groot.py:227 Detected fine-tuned LeRobot checkpoint, loading with state dict...
+Fetching 27 files: 100%|██████████| 27/27 [00:00<00:00, 4472.95it/s]
+`torch_dtype` is deprecated! Use `dtype` instead!
+Loading weights: 100%|██████████| 1031/1031 [00:00<00:00, 1746.46it/s]
+Loading weights from local directory
+INFO 2026-07-22 03:20:13 ot_train.py:405 Creating optimizer and scheduler
+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
+INFO 2026-07-22 03:20:16 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 2026-07-22 03:20:16 ot_train.py:446 cfg.steps=60000 (60K)
+INFO 2026-07-22 03:20:16 ot_train.py:447 dataset.num_frames=218367 (218K)
+INFO 2026-07-22 03:20:16 ot_train.py:448 dataset.num_episodes=4930
+INFO 2026-07-22 03:20:16 ot_train.py:451 Effective batch size: 128 x 1 = 128
+INFO 2026-07-22 03:20:16 ot_train.py:452 num_learnable_params=1620515968 (2B)
+INFO 2026-07-22 03:20:16 ot_train.py:453 num_total_params=3145712033 (3B)
+INFO 2026-07-22 03:20:16 ot_train.py:494 Resuming data order at epoch 26, sample 82688
+Training:   0%|          | 0/30000 [00:00<?, ?step/s]INFO 2026-07-22 03:20:17 ot_train.py:604 Start offline training on a fixed dataset, with effective batch size: 128
+Training:   0%|          | 43/30000 [02:27<26:32:50,  3.19s/step]

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260722_031956-nf69vc3o/files/requirements.txt

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

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260722_031956-nf69vc3o/files/wandb-metadata.json

@@ -0,0 +1,53 @@
+{
+  "os": "Linux-6.8.0-55-generic-x86_64-with-glibc2.39",
+  "python": "CPython 3.12.13",
+  "startedAt": "2026-07-22T03:19:56.538874Z",
+  "args": [
+    "--config_path=/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/pretrained_model/train_config.json",
+    "--resume=true",
+    "--dataset.root=/home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2",
+    "--output_dir=/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K",
+    "--wandb.run_id=nf69vc3o"
+  ],
+  "program": "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py",
+  "codePath": "benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py",
+  "codePathLocal": "my_scripts/lerobot_train_yaml.py",
+  "git": {
+    "remote": "git@github.com:paragon7060/clvla.git",
+    "commit": "eed2ce4044cadf00b8e6de57043553236a21b84e"
+  },
+  "root": "/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K",
+  "host": "ext_minje-box",
+  "executable": "/home/ext_minje/miniconda3/envs/lerobot060_groot/bin/python",
+  "cpu_count": 112,
+  "cpu_count_logical": 224,
+  "gpu": "NVIDIA H200",
+  "gpu_count": 2,
+  "disk": {
+    "/": {
+      "total": "1888425144320",
+      "used": "1113845227520"
+    }
+  },
+  "memory": {
+    "total": "2164176568320"
+  },
+  "gpu_nvidia": [
+    {
+      "name": "NVIDIA H200",
+      "memoryTotal": "150754820096",
+      "cudaCores": 16896,
+      "architecture": "Hopper",
+      "uuid": "GPU-86be6e5b-fb48-fa1c-9bd7-83d336cb2991"
+    },
+    {
+      "name": "NVIDIA H200",
+      "memoryTotal": "150754820096",
+      "cudaCores": 16896,
+      "architecture": "Hopper",
+      "uuid": "GPU-24eb1ba2-7313-ff93-1435-748768ebdbdc"
+    }
+  ],
+  "cudaVersion": "12.8",
+  "writerId": "18sb8hk8wdlvele8deg0zb3lp7lrthto"
+}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260722_031956-nf69vc3o/logs/debug-core.log

@@ -0,0 +1,8 @@
+{"time":"2026-07-22T03:19:56.575047065Z","level":"INFO","msg":"main: starting server","port-filename":"/tmp/tmppndzzhik/port-2617758.txt","pid":2617758,"detached":false,"idle-timeout":600000000000,"log-level":0,"disable-analytics":false,"shutdown-on-parent-exit":false,"enable-dcgm-profiling":false}
+{"time":"2026-07-22T03:19:56.575691004Z","level":"INFO","msg":"server: accepting connections","addr":{"Name":"/tmp/wandb-2617758-2624430-3282983516/socket","Net":"unix"}}
+{"time":"2026-07-22T03:19:56.575823476Z","level":"INFO","msg":"server: will exit if parent process dies","ppid":2617758}
+{"time":"2026-07-22T03:19:56.758974779Z","level":"INFO","msg":"connection: ManageConnectionData: new connection created","id":"1(@)"}
+{"time":"2026-07-22T03:19:56.766579623Z","level":"INFO","msg":"handleInformInit: received","streamId":"nf69vc3o","id":"1(@)"}
+{"time":"2026-07-22T03:19:57.174176012Z","level":"INFO","msg":"handleInformInit: stream started","streamId":"nf69vc3o","id":"1(@)"}
+{"time":"2026-07-22T03:20:02.903671967Z","level":"INFO","msg":"connection: cancelling request","id":"1(@)","requestId":"c79epfxih7gz"}
+{"time":"2026-07-22T03:22:46.319254411Z","level":"INFO","msg":"server: parent process exited, terminating service process"}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260722_031956-nf69vc3o/logs/debug-internal.log

@@ -0,0 +1,31 @@
+{"time":"2026-07-22T03:19:56.766762225Z","level":"INFO","msg":"wandb-core"}
+{"time":"2026-07-22T03:19:56.76753531Z","level":"INFO","msg":"stream: starting","core version":"0.27.2"}
+{"time":"2026-07-22T03:19:57.173980225Z","level":"INFO","msg":"stream: created new stream","id":"nf69vc3o"}
+{"time":"2026-07-22T03:19:57.17405403Z","level":"INFO","msg":"handler: started"}
+{"time":"2026-07-22T03:19:57.174171181Z","level":"INFO","msg":"stream: started"}
+{"time":"2026-07-22T03:19:57.174188109Z","level":"INFO","msg":"writer: started","stream_id":"nf69vc3o"}
+{"time":"2026-07-22T03:19:57.1741974Z","level":"INFO","msg":"sender: started"}
+{"time":"2026-07-22T03:19:57.823922803Z","level":"INFO","msg":"filestream: sending request","total_files":1}
+{"time":"2026-07-22T03:19:58.433855053Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-22T03:20:12.824597148Z","level":"INFO","msg":"filestream: sending request","total_files":1,"console_offset":0,"console_lines":10,"uploaded_len":2}
+{"time":"2026-07-22T03:20:13.165578154Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-22T03:20:27.823983706Z","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":0,"events_lines":2,"console_offset":10,"console_lines":11}
+{"time":"2026-07-22T03:20:28.166986369Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-22T03:20:42.824461588Z","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":2,"events_lines":2,"console_offset":21,"console_lines":1}
+{"time":"2026-07-22T03:20:43.203222236Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-22T03:20:57.824686305Z","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":4,"events_lines":2,"console_offset":21,"console_lines":1}
+{"time":"2026-07-22T03:20:58.217612508Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-22T03:21:12.824140944Z","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":6,"events_lines":2,"console_offset":21,"console_lines":1}
+{"time":"2026-07-22T03:21:13.196609636Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-22T03:21:27.823968572Z","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":8,"events_lines":2,"console_offset":21,"console_lines":1}
+{"time":"2026-07-22T03:21:28.177141306Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-22T03:21:42.824395021Z","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":10,"events_lines":2,"console_offset":21,"console_lines":1}
+{"time":"2026-07-22T03:21:43.249206174Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-22T03:21:57.824448214Z","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":12,"events_lines":2,"console_offset":21,"console_lines":1}
+{"time":"2026-07-22T03:21:58.077790336Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-22T03:22:12.823936449Z","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":14,"events_lines":2,"console_offset":21,"console_lines":1}
+{"time":"2026-07-22T03:22:13.181239951Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-22T03:22:27.824135266Z","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":16,"events_lines":2,"console_offset":21,"console_lines":1}
+{"time":"2026-07-22T03:22:28.199321475Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}
+{"time":"2026-07-22T03:22:42.824517717Z","level":"INFO","msg":"filestream: sending request","total_files":2,"events_offset":18,"events_lines":2,"console_offset":21,"console_lines":1}
+{"time":"2026-07-22T03:22:43.145194929Z","level":"INFO","msg":"filestream: request sent","status":"200 OK"}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260722_031956-nf69vc3o/logs/debug.log

@@ -0,0 +1,20 @@
+2026-07-22 03:19:56,539 INFO    MainThread:2617758 [wandb_setup.py:_flush():81] Current SDK version is 0.27.2
+2026-07-22 03:19:56,540 INFO    MainThread:2617758 [wandb_setup.py:_flush():81] Configure stats pid to 2617758
+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
+2026-07-22 03:19:56,540 INFO    MainThread:2617758 [wandb_init.py:init():766] calling init triggers
+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': None, 'output_dir': './tmp/gr00t', 'save_steps': 1000, 'max_steps': 10000, 'batch_size': 32, 'dataloader_num_workers': 8, 'report_to': 'wandb', 'resume': False, 'action_expert_num_layers': None, 'rkd_enabled': True, 'rkd_vae_checkpoint': '/home/ext_minje/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84', 'rkd_student_pooling': 'attention', 'rkd_student_attention_hidden_dim': 512, 'rkd_student_attention_output_dim': 512, 'rkd_fm_loss_weight': 1.0, 'rkd_loss_weight': 1.0, 'rkd_distance_weight': 1.0, 'rkd_angle_weight': 2.0}, 'reward_model': None, 'output_dir': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K', 'job_name': 'INSIGHT_RD_RKD_TimewarpVAE_LAPstyle_10K', 'resume': True, 'seed': 42, 'cudnn_deterministic': False, 'num_workers': 4, 'batch_size': 128, 'prefetch_factor': 4, 'persistent_workers': True, 'steps': 60000, 'env_eval_freq': 20000, 'log_freq': 200, 'eval_steps': 0, 'max_eval_samples': 0, 'tolerance_s': 0.0001, 'save_checkpoint': True, 'save_freq': 20000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adamw', 'lr': 0.0001, 'weight_decay': 1e-05, 'grad_clip_norm': 1.0, 'betas': [0.9, 0.999], 'eps': 1e-08}, 'scheduler': {'type': 'diffuser', 'num_warmup_steps': 6000, 'name': 'cosine'}, 'eval': {'n_episodes': 50, 'batch_size': 50, 'use_async_envs': True, 'recording': False, 'recording_repo_id': None, 'recording_private': False}, 'wandb': {'enable': True, 'disable_artifact': True, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': 'nf69vc3o', '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 + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000', '_wandb': {}}
+2026-07-22 03:19:56,540 INFO    MainThread:2617758 [wandb_init.py:init():814] starting backend
+2026-07-22 03:19:56,758 INFO    MainThread:2617758 [wandb_init.py:init():829] sending inform_init request
+2026-07-22 03:19:57,175 INFO    MainThread:2617758 [wandb_init.py:init():834] backend started and connected
+2026-07-22 03:19:57,176 INFO    MainThread:2617758 [wandb_init.py:init():904] updated telemetry
+2026-07-22 03:19:57,181 INFO    MainThread:2617758 [wandb_init.py:init():927] communicating run to backend with 90.0 second timeout
+2026-07-22 03:19:57,820 INFO    MainThread:2617758 [wandb_init.py:init():967] run resumed
+2026-07-22 03:19:57,822 INFO    MainThread:2617758 [wandb_init.py:init():972] starting run threads in backend
+2026-07-22 03:19:57,884 INFO    MainThread:2617758 [wandb_run.py:_console_start():2523] atexit reg
+2026-07-22 03:19:57,884 INFO    MainThread:2617758 [wandb_run.py:_redirect():2373] redirect: wrap_raw
+2026-07-22 03:19:57,884 INFO    MainThread:2617758 [wandb_run.py:_redirect():2442] Wrapping output streams.
+2026-07-22 03:19:57,884 INFO    MainThread:2617758 [wandb_run.py:_redirect():2465] Redirects installed.
+2026-07-22 03:19:57,886 INFO    MainThread:2617758 [wandb_init.py:init():1010] run started, returning control to user process

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/wandb/debug.log.rerun_20260719_231636

@@ -0,0 +1,46 @@
+2026-07-21 18:21:04,216 INFO    MainThread:172610 [wandb_setup.py:_flush():81] Current SDK version is 0.27.2
+2026-07-21 18:21:04,216 INFO    MainThread:172610 [wandb_setup.py:_flush():81] Configure stats pid to 172610
+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': 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_6K/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': None, 'output_dir': './tmp/gr00t', 'save_steps': 1000, 'max_steps': 10000, 'batch_size': 32, 'dataloader_num_workers': 8, 'report_to': 'wandb', 'resume': False, 'rkd_enabled': True, 'rkd_vae_checkpoint': '/home/ext_minje/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84', 'rkd_student_pooling': 'attention', 'rkd_student_attention_hidden_dim': 512, 'rkd_student_attention_output_dim': 512, 'rkd_fm_loss_weight': 1.0, 'rkd_loss_weight': 1.0, 'rkd_distance_weight': 1.0, 'rkd_angle_weight': 2.0}, 'reward_model': None, 'output_dir': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K', 'job_name': 'INSIGHT_RD_RKD_TimewarpVAE_LAPstyle_6K', 'resume': True, 'seed': 42, 'cudnn_deterministic': False, 'num_workers': 4, 'batch_size': 128, 'prefetch_factor': 4, 'persistent_workers': True, 'steps': 60000, 'env_eval_freq': 20000, 'log_freq': 200, 'eval_steps': 0, 'max_eval_samples': 0, 'tolerance_s': 0.0001, 'save_checkpoint': True, 'save_freq': 20000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adamw', 'lr': 0.0001, 'weight_decay': 1e-05, 'grad_clip_norm': 1.0, 'betas': [0.9, 0.999], 'eps': 1e-08}, 'scheduler': {'type': 'diffuser', 'num_warmup_steps': 6000, 'name': 'cosine'}, 'eval': {'n_episodes': 50, 'batch_size': 50, 'use_async_envs': True, 'recording': False, 'recording_repo_id': None, 'recording_private': False}, 'wandb': {'enable': True, 'disable_artifact': True, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': 'a9vyia29', '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 + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000', '_wandb': {}}
+2026-07-21 18:21:04,217 INFO    MainThread:172610 [wandb_init.py:init():814] starting backend
+2026-07-21 18:21:04,432 INFO    MainThread:172610 [wandb_init.py:init():829] sending inform_init request
+2026-07-21 18:21:04,885 INFO    MainThread:172610 [wandb_init.py:init():834] backend started and connected
+2026-07-21 18:21:04,887 INFO    MainThread:172610 [wandb_init.py:init():904] updated telemetry
+2026-07-21 18:21:04,891 INFO    MainThread:172610 [wandb_init.py:init():927] communicating run to backend with 90.0 second timeout
+2026-07-21 18:21:05,746 INFO    MainThread:172610 [wandb_init.py:init():967] run resumed
+2026-07-21 18:21:05,747 INFO    MainThread:172610 [wandb_init.py:init():972] starting run threads in backend
+2026-07-21 18:21:05,801 INFO    MainThread:172610 [wandb_run.py:_console_start():2523] atexit reg
+2026-07-21 18:21:05,801 INFO    MainThread:172610 [wandb_run.py:_redirect():2373] redirect: wrap_raw
+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/RKD_TimewarpVAE/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
+Training:  22%|██▏       | 13200/60000 [11:07:30<39:13:51,  3.02s/step]INFO 2026-07-20 10:24:37 ot_train.py:649 step:13K smpl:2M ep:38K epch:7.74 loss:0.039 grdn:0.238 lr:9.6e-05 updt_s:1.603 data_s:1.431 smp/s:42 mem_gb:52.85
+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
+Training:  24%|██▍       | 14400/60000 [12:03:02<31:47:42,  2.51s/step]INFO 2026-07-20 11:20:08 ot_train.py:649 step:14K smpl:2M ep:42K epch:8.44 loss:0.038 grdn:0.231 lr:9.4e-05 updt_s:1.484 data_s:1.124 smp/s:49 mem_gb:52.85
+Training:  24%|██▍       | 14600/60000 [12:12:34<37:02:05,  2.94s/step]INFO 2026-07-20 11:29:41 ot_train.py:649 step:15K smpl:2M ep:42K epch:8.56 loss:0.038 grdn:0.235 lr:9.4e-05 updt_s:1.743 data_s:1.116 smp/s:45 mem_gb:52.85
+Training:  25%|██▍       | 14800/60000 [12:22:10<35:21:58,  2.82s/step]INFO 2026-07-20 11:39:17 ot_train.py:649 step:15K smpl:2M ep:43K epch:8.68 loss:0.037 grdn:0.237 lr:9.4e-05 updt_s:1.734 data_s:1.142 smp/s:45 mem_gb:52.77
+Training:  25%|██▌       | 15000/60000 [12:32:15<38:06:15,  3.05s/step]INFO 2026-07-20 11:49:21 ot_train.py:649 step:15K smpl:2M ep:43K epch:8.79 loss:0.036 grdn:0.226 lr:9.3e-05 updt_s:1.662 data_s:1.353 smp/s:42 mem_gb:52.85
+Training:  25%|██▌       | 15200/60000 [12:42:31<37:43:50,  3.03s/step]INFO 2026-07-20 11:59:37 ot_train.py:649 step:15K smpl:2M ep:44K epch:8.91 loss:0.039 grdn:0.253 lr:9.3e-05 updt_s:1.539 data_s:1.539 smp/s:42 mem_gb:52.85
+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
+Training:  37%|███▋      | 22200/60000 [18:35:56<29:42:38,  2.83s/step]INFO 2026-07-20 17:53:02 ot_train.py:649 step:22K smpl:3M ep:64K epch:13.01 loss:0.030 grdn:0.215 lr:8.0e-05 updt_s:1.582 data_s:1.497 smp/s:42 mem_gb:52.85
+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
+Training:  42%|████▏     | 25000/60000 [21:05:39<30:13:55,  3.11s/step]INFO 2026-07-20 20:22:45 ot_train.py:649 step:25K smpl:3M ep:72K epch:14.65 loss:0.025 grdn:0.200 lr:7.3e-05 updt_s:1.630 data_s:1.422 smp/s:42 mem_gb:52.77
+Training:  42%|████▏     | 25200/60000 [21:15:33<27:36:56,  2.86s/step]INFO 2026-07-20 20:32:39 ot_train.py:649 step:25K smpl:3M ep:73K epch:14.77 loss:0.024 grdn:0.196 lr:7.2e-05 updt_s:1.637 data_s:1.328 smp/s:43 mem_gb:52.85
+Training:  42%|████▏     | 25400/60000 [21:25:26<28:03:31,  2.92s/step]INFO 2026-07-20 20:42:32 ot_train.py:649 step:25K smpl:3M ep:73K epch:14.89 loss:0.025 grdn:0.198 lr:7.2e-05 updt_s:1.650 data_s:1.310 smp/s:43 mem_gb:52.85
+Training:  43%|████▎     | 25600/60000 [21:35:12<29:13:49,  3.06s/step]INFO 2026-07-20 20:52:18 ot_train.py:649 step:26K smpl:3M ep:74K epch:15.01 loss:0.025 grdn:0.197 lr:7.1e-05 updt_s:1.586 data_s:1.336 smp/s:44 mem_gb:52.85
+Training:  43%|████▎     | 25800/60000 [21:45:22<30:36:26,  3.22s/step]INFO 2026-07-20 21:02:28 ot_train.py:649 step:26K smpl:3M ep:75K epch:15.12 loss:0.024 grdn:0.187 lr:7.1e-05 updt_s:1.622 data_s:1.425 smp/s:42 mem_gb:52.85
+Training:  43%|████▎     | 26000/60000 [21:55:53<26:33:37,  2.81s/step]INFO 2026-07-20 21:12:59 ot_train.py:649 step:26K smpl:3M ep:75K epch:15.24 loss:0.024 grdn:0.190 lr:7.0e-05 updt_s:1.697 data_s:1.452 smp/s:41 mem_gb:52.77
+Training:  44%|████▎     | 26200/60000 [22:06:04<28:19:37,  3.02s/step]INFO 2026-07-20 21:23:10 ot_train.py:649 step:26K smpl:3M ep:76K epch:15.36 loss:0.024 grdn:0.186 lr:7.0e-05 updt_s:1.630 data_s:1.416 smp/s:42 mem_gb:52.85
+Training:  44%|████▍     | 26400/60000 [22:16:18<26:56:09,  2.89s/step]INFO 2026-07-20 21:33:24 ot_train.py:649 step:26K smpl:3M ep:76K epch:15.47 loss:0.023 grdn:0.193 lr:6.9e-05 updt_s:1.654 data_s:1.412 smp/s:42 mem_gb:52.85
+Training:  44%|████▍     | 26600/60000 [22:26:30<28:26:44,  3.07s/step]INFO 2026-07-20 21:43:37 ot_train.py:649 step:27K smpl:3M ep:77K epch:15.59 loss:0.022 grdn:0.178 lr:6.8e-05 updt_s:1.636 data_s:1.421 smp/s:42 mem_gb:52.85
+Training:  45%|████▍     | 26800/60000 [22:36:37<27:09:22,  2.94s/step]INFO 2026-07-20 21:53:44 ot_train.py:649 step:27K smpl:3M ep:77K epch:15.71 loss:0.022 grdn:0.176 lr:6.8e-05 updt_s:1.685 data_s:1.345 smp/s:42 mem_gb:52.85
+Training:  45%|████▌     | 27000/60000 [22:46:58<27:56:28,  3.05s/step]INFO 2026-07-20 22:04:04 ot_train.py:649 step:27K smpl:3M ep:78K epch:15.83 loss:0.024 grdn:0.192 lr:6.7e-05 updt_s:1.661 data_s:1.437 smp/s:41 mem_gb:52.85
+Training:  45%|████▌     | 27200/60000 [22:57:06<27:21:09,  3.00s/step]INFO 2026-07-20 22:14:12 ot_train.py:649 step:27K smpl:3M ep:79K epch:15.94 loss:0.022 grdn:0.178 lr:6.7e-05 updt_s:1.631 data_s:1.401 smp/s:42 mem_gb:52.77
+Training:  46%|████▌     | 27400/60000 [23:07:12<27:44:19,  3.06s/step]INFO 2026-07-20 22:24:18 ot_train.py:649 step:27K smpl:4M ep:79K epch:16.06 loss:0.021 grdn:0.174 lr:6.6e-05 updt_s:1.620 data_s:1.407 smp/s:42 mem_gb:52.85
+Training:  46%|████▌     | 27600/60000 [23:17:12<28:55:41,  3.21s/step]INFO 2026-07-20 22:34:19 ot_train.py:649 step:28K smpl:4M ep:80K epch:16.18 loss:0.022 grdn:0.177 lr:6.6e-05 updt_s:1.606 data_s:1.389 smp/s:43 mem_gb:52.85
+Training:  46%|████▋     | 27800/60000 [23:27:11<26:27:35,  2.96s/step]INFO 2026-07-20 22:44:17 ot_train.py:649 step:28K smpl:4M ep:80K epch:16.30 loss:0.022 grdn:0.181 lr:6.5e-05 updt_s:1.626 data_s:1.359 smp/s:43 mem_gb:52.85
+Training:  47%|████▋     | 28000/60000 [23:37:22<28:16:59,  3.18s/step]INFO 2026-07-20 22:54:28 ot_train.py:649 step:28K smpl:4M ep:81K epch:16.41 loss:0.022 grdn:0.181 lr:6.5e-05 updt_s:1.641 data_s:1.408 smp/s:42 mem_gb:52.85
+Training:  47%|████▋     | 28200/60000 [23:47:28<27:07:10,  3.07s/step]INFO 2026-07-20 23:04:34 ot_train.py:649 step:28K smpl:4M ep:81K epch:16.53 loss:0.022 grdn:0.181 lr:6.4e-05 updt_s:1.617 data_s:1.410 smp/s:42 mem_gb:52.85
+Training:  47%|████▋     | 28400/60000 [23:57:27<25:46:52,  2.94s/step]INFO 2026-07-20 23:14:33 ot_train.py:649 step:28K smpl:4M ep:82K epch:16.65 loss:0.021 grdn:0.179 lr:6.4e-05 updt_s:1.596 data_s:1.393 smp/s:43 mem_gb:52.77
+Training:  48%|████▊     | 28600/60000 [24:07:34<27:03:10,  3.10s/step]INFO 2026-07-20 23:24:40 ot_train.py:649 step:29K smpl:4M ep:83K epch:16.76 loss:0.021 grdn:0.179 lr:6.3e-05 updt_s:1.635 data_s:1.394 smp/s:42 mem_gb:52.85
+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
+Training:  49%|████▊     | 29200/60000 [24:37:17<26:29:14,  3.10s/step]INFO 2026-07-20 23:54:23 ot_train.py:649 step:29K smpl:4M ep:84K epch:17.12 loss:0.021 grdn:0.177 lr:6.1e-05 updt_s:1.622 data_s:1.370 smp/s:43 mem_gb:52.85
+Training:  49%|████▉     | 29400/60000 [24:47:06<24:29:59,  2.88s/step]INFO 2026-07-21 00:04:12 ot_train.py:649 step:29K smpl:4M ep:85K epch:17.23 loss:0.021 grdn:0.173 lr:6.1e-05 updt_s:1.611 data_s:1.327 smp/s:44 mem_gb:52.77
+Training:  49%|████▉     | 29600/60000 [24:57:01<26:17:43,  3.11s/step]INFO 2026-07-21 00:14:07 ot_train.py:649 step:30K smpl:4M ep:86K epch:17.35 loss:0.020 grdn:0.173 lr:6.0e-05 updt_s:1.580 data_s:1.390 smp/s:43 mem_gb:52.85
+Training:  50%|████▉     | 29800/60000 [25:06:57<25:51:14,  3.08s/step]INFO 2026-07-21 00:24:03 ot_train.py:649 step:30K smpl:4M ep:86K epch:17.47 loss:0.020 grdn:0.167 lr:6.0e-05 updt_s:1.620 data_s:1.354 smp/s:43 mem_gb:52.85
+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
+Training:  51%|█████     | 30400/60000 [25:37:38<28:14:53,  3.44s/step]INFO 2026-07-21 00:54:44 ot_train.py:649 step:30K smpl:4M ep:88K epch:17.82 loss:0.020 grdn:0.174 lr:5.8e-05 updt_s:1.669 data_s:1.369 smp/s:42 mem_gb:52.85
+Training:  51%|█████     | 30600/60000 [25:47:43<24:57:40,  3.06s/step]INFO 2026-07-21 01:04:50 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:1.659 data_s:1.363 smp/s:42 mem_gb:52.77
+Training:  51%|█████▏    | 30800/60000 [25:57:57<26:44:51,  3.30s/step]INFO 2026-07-21 01:15:03 ot_train.py:649 step:31K smpl:4M ep:89K epch:18.05 loss:0.019 grdn:0.169 lr:5.7e-05 updt_s:1.678 data_s:1.385 smp/s:42 mem_gb:52.85
+Training:  52%|█████▏    | 31000/60000 [26:08:05<22:52:36,  2.84s/step]INFO 2026-07-21 01:25:11 ot_train.py:649 step:31K smpl:4M ep:90K epch:18.17 loss:0.019 grdn:0.167 lr:5.6e-05 updt_s:1.676 data_s:1.359 smp/s:42 mem_gb:52.85
+Training:  52%|█████▏    | 31200/60000 [26:18:08<23:41:56,  2.96s/step]INFO 2026-07-21 01:35:15 ot_train.py:649 step:31K smpl:4M ep:90K epch:18.29 loss:0.019 grdn:0.166 lr:5.6e-05 updt_s:1.654 data_s:1.357 smp/s:43 mem_gb:52.85
+Training:  52%|█████▏    | 31400/60000 [26:28:20<24:17:09,  3.06s/step]INFO 2026-07-21 01:45:26 ot_train.py:649 step:31K smpl:4M ep:91K epch:18.41 loss:0.019 grdn:0.173 lr:5.5e-05 updt_s:1.685 data_s:1.367 smp/s:42 mem_gb:52.85
+Training:  53%|█████▎    | 31600/60000 [26:38:52<26:45:30,  3.39s/step]INFO 2026-07-21 01:55:58 ot_train.py:649 step:32K smpl:4M ep:91K epch:18.52 loss:0.019 grdn:0.167 lr:5.4e-05 updt_s:1.732 data_s:1.424 smp/s:41 mem_gb:52.85
+Training:  53%|█████▎    | 31800/60000 [26:50:02<24:53:40,  3.18s/step]INFO 2026-07-21 02:07:08 ot_train.py:649 step:32K smpl:4M ep:92K epch:18.64 loss:0.018 grdn:0.166 lr:5.4e-05 updt_s:1.807 data_s:1.535 smp/s:38 mem_gb:52.77
+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
+Training:  54%|█████▎    | 32200/60000 [27:12:39<26:59:34,  3.50s/step]INFO 2026-07-21 02:29:45 ot_train.py:649 step:32K smpl:4M ep:93K epch:18.87 loss:0.018 grdn:0.168 lr:5.3e-05 updt_s:1.853 data_s:1.509 smp/s:38 mem_gb:52.85
+Training:  54%|█████▍    | 32400/60000 [27:23:33<25:39:03,  3.35s/step]INFO 2026-07-21 02:40:39 ot_train.py:649 step:32K smpl:4M ep:94K epch:18.99 loss:0.018 grdn:0.163 lr:5.2e-05 updt_s:1.799 data_s:1.464 smp/s:39 mem_gb:52.85
+Training:  54%|█████▍    | 32600/60000 [27:33:41<22:03:36,  2.90s/step]INFO 2026-07-21 02:50:48 ot_train.py:649 step:33K smpl:4M ep:94K epch:19.11 loss:0.018 grdn:0.165 lr:5.1e-05 updt_s:1.672 data_s:1.365 smp/s:42 mem_gb:52.85
+Training:  55%|█████▍    | 32800/60000 [27:43:59<24:06:05,  3.19s/step]INFO 2026-07-21 03:01:05 ot_train.py:649 step:33K smpl:4M ep:95K epch:19.23 loss:0.018 grdn:0.162 lr:5.1e-05 updt_s:1.687 data_s:1.396 smp/s:42 mem_gb:52.77
+Training:  55%|█████▌    | 33000/60000 [27:54:04<21:22:35,  2.85s/step]INFO 2026-07-21 03:11:10 ot_train.py:649 step:33K smpl:4M ep:95K epch:19.34 loss:0.017 grdn:0.157 lr:5.0e-05 updt_s:1.654 data_s:1.366 smp/s:42 mem_gb:52.85
+Training:  55%|█████▌    | 33200/60000 [28:04:05<23:09:35,  3.11s/step]INFO 2026-07-21 03:21:11 ot_train.py:649 step:33K smpl:4M ep:96K epch:19.46 loss:0.017 grdn:0.161 lr:5.0e-05 updt_s:1.631 data_s:1.367 smp/s:43 mem_gb:52.85
+Training:  56%|█████▌    | 33400/60000 [28:14:20<22:25:03,  3.03s/step]INFO 2026-07-21 03:31:27 ot_train.py:649 step:33K smpl:4M ep:97K epch:19.58 loss:0.017 grdn:0.153 lr:4.9e-05 updt_s:1.703 data_s:1.370 smp/s:42 mem_gb:52.85
+Training:  56%|█████▌    | 33600/60000 [28:24:35<24:25:53,  3.33s/step]INFO 2026-07-21 03:41:41 ot_train.py:649 step:34K smpl:4M ep:97K epch:19.70 loss:0.017 grdn:0.163 lr:4.9e-05 updt_s:1.722 data_s:1.345 smp/s:42 mem_gb:52.85
+Training:  56%|█████▋    | 33800/60000 [28:34:34<20:41:46,  2.84s/step]INFO 2026-07-21 03:51:40 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:1.702 data_s:1.290 smp/s:43 mem_gb:52.85
+Training:  57%|█████▋    | 34000/60000 [28:44:47<20:14:51,  2.80s/step]INFO 2026-07-21 04:01:53 ot_train.py:649 step:34K smpl:4M ep:98K epch:19.93 loss:0.016 grdn:0.154 lr:4.7e-05 updt_s:1.694 data_s:1.365 smp/s:42 mem_gb:52.77
+Training:  57%|█████▋    | 34200/60000 [28:55:00<23:12:20,  3.24s/step]INFO 2026-07-21 04:12:06 ot_train.py:649 step:34K smpl:4M ep:99K epch:20.05 loss:0.016 grdn:0.157 lr:4.7e-05 updt_s:1.671 data_s:1.387 smp/s:42 mem_gb:52.85
+Training:  57%|█████▋    | 34400/60000 [29:05:22<21:12:55,  2.98s/step]INFO 2026-07-21 04:22:28 ot_train.py:649 step:34K smpl:4M ep:99K epch:20.16 loss:0.016 grdn:0.156 lr:4.6e-05 updt_s:1.740 data_s:1.366 smp/s:41 mem_gb:52.85
+Training:  58%|█████▊    | 34600/60000 [29:15:39<24:20:46,  3.45s/step]INFO 2026-07-21 04:32:45 ot_train.py:649 step:35K smpl:4M ep:100K epch:20.28 loss:0.016 grdn:0.156 lr:4.6e-05 updt_s:1.714 data_s:1.364 smp/s:42 mem_gb:52.85
+Training:  58%|█████▊    | 34800/60000 [29:25:52<20:26:28,  2.92s/step]INFO 2026-07-21 04:42:58 ot_train.py:649 step:35K smpl:4M ep:101K epch:20.40 loss:0.016 grdn:0.144 lr:4.5e-05 updt_s:1.706 data_s:1.356 smp/s:42 mem_gb:52.85
+Training:  58%|█████▊    | 35000/60000 [29:36:06<24:45:25,  3.57s/step]INFO 2026-07-21 04:53:12 ot_train.py:649 step:35K smpl:4M ep:101K epch:20.52 loss:0.016 grdn:0.156 lr:4.4e-05 updt_s:1.720 data_s:1.344 smp/s:42 mem_gb:52.77
+Training:  59%|█████▊    | 35200/60000 [29:46:33<23:09:47,  3.36s/step]INFO 2026-07-21 05:03:40 ot_train.py:649 step:35K smpl:5M ep:102K epch:20.63 loss:0.015 grdn:0.148 lr:4.4e-05 updt_s:1.751 data_s:1.381 smp/s:41 mem_gb:52.85
+Training:  59%|█████▉    | 35400/60000 [29:56:36<19:32:57,  2.86s/step]INFO 2026-07-21 05:13:42 ot_train.py:649 step:35K smpl:5M ep:102K epch:20.75 loss:0.015 grdn:0.144 lr:4.3e-05 updt_s:1.654 data_s:1.354 smp/s:43 mem_gb:52.85
+Training:  59%|█████▉    | 35600/60000 [30:06:41<19:25:59,  2.87s/step]INFO 2026-07-21 05:23:47 ot_train.py:649 step:36K smpl:5M ep:103K epch:20.87 loss:0.015 grdn:0.143 lr:4.3e-05 updt_s:1.662 data_s:1.356 smp/s:42 mem_gb:52.85
+Training:  60%|█████▉    | 35800/60000 [30:16:44<20:53:27,  3.11s/step]INFO 2026-07-21 05:33:50 ot_train.py:649 step:36K smpl:5M ep:103K epch:20.98 loss:0.015 grdn:0.139 lr:4.2e-05 updt_s:1.637 data_s:1.371 smp/s:43 mem_gb:52.85
+Training:  60%|██████    | 36000/60000 [30:26:45<18:56:43,  2.84s/step]INFO 2026-07-21 05:43:51 ot_train.py:649 step:36K smpl:5M ep:104K epch:21.10 loss:0.015 grdn:0.148 lr:4.2e-05 updt_s:1.632 data_s:1.371 smp/s:43 mem_gb:52.85
+Training:  60%|██████    | 36200/60000 [30:36:50<19:57:34,  3.02s/step]INFO 2026-07-21 05:53:56 ot_train.py:649 step:36K smpl:5M ep:105K epch:21.22 loss:0.015 grdn:0.157 lr:4.1e-05 updt_s:1.667 data_s:1.352 smp/s:42 mem_gb:52.77
+Training:  61%|██████    | 36400/60000 [30:46:49<18:37:26,  2.84s/step]INFO 2026-07-21 06:03:55 ot_train.py:649 step:36K smpl:5M ep:105K epch:21.34 loss:0.014 grdn:0.146 lr:4.0e-05 updt_s:1.621 data_s:1.367 smp/s:43 mem_gb:52.85
+Training:  61%|██████    | 36600/60000 [30:56:56<20:55:39,  3.22s/step]INFO 2026-07-21 06:14:02 ot_train.py:649 step:37K smpl:5M ep:106K epch:21.45 loss:0.015 grdn:0.145 lr:4.0e-05 updt_s:1.645 data_s:1.386 smp/s:42 mem_gb:52.85
+Training:  61%|██████▏   | 36800/60000 [31:06:54<19:30:38,  3.03s/step]INFO 2026-07-21 06:24:00 ot_train.py:649 step:37K smpl:5M ep:106K epch:21.57 loss:0.014 grdn:0.143 lr:3.9e-05 updt_s:1.624 data_s:1.360 smp/s:43 mem_gb:52.85
+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]

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/wandb/run-20260719_231652-r3cz38bm/files/wandb-metadata.json

@@ -0,0 +1,91 @@
+{
+  "os": "Linux-6.8.0-107-generic-x86_64-with-glibc2.39",
+  "python": "CPython 3.12.13",
+  "startedAt": "2026-07-19T14:16:52.824874Z",
+  "args": [
+    "--config_path=/tmp/insight_lerobot_cfg_67r_qmrm/LAPstyle_RKD_linear_decay_6K.yaml",
+    "--batch_size=128",
+    "--output_dir=/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K"
+  ],
+  "program": "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py",
+  "git": {
+    "remote": "git@github.com:paragon7060/clvla.git",
+    "commit": "a9df08f7da2d8eb1fa7f28708b4eb6f6dc81b1f9"
+  },
+  "root": "/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K",
+  "host": "DGX-H200-01",
+  "executable": "/home/ext_minje/miniforge3/envs/lerobot060_groot/bin/python",
+  "cpu_count": 112,
+  "cpu_count_logical": 224,
+  "gpu": "NVIDIA H200",
+  "gpu_count": 8,
+  "disk": {
+    "/": {
+      "total": "1888425144320",
+      "used": "814078631936"
+    }
+  },
+  "memory": {
+    "total": "2164177309696"
+  },
+  "gpu_nvidia": [
+    {
+      "name": "NVIDIA H200",
+      "memoryTotal": "150754820096",
+      "cudaCores": 16896,
+      "architecture": "Hopper",
+      "uuid": "GPU-1e531a45-480e-3c1a-e9a0-2ba2cc27b0a3"
+    },
+    {
+      "name": "NVIDIA H200",
+      "memoryTotal": "150754820096",
+      "cudaCores": 16896,
+      "architecture": "Hopper",
+      "uuid": "GPU-5d3d5ae2-ffde-89d9-8818-dc19e11ad2fb"
+    },
+    {
+      "name": "NVIDIA H200",
+      "memoryTotal": "150754820096",
+      "cudaCores": 16896,
+      "architecture": "Hopper",
+      "uuid": "GPU-305c0dae-dcf5-d7bb-7dd3-5477d2194275"
+    },
+    {
+      "name": "NVIDIA H200",
+      "memoryTotal": "150754820096",
+      "cudaCores": 16896,
+      "architecture": "Hopper",
+      "uuid": "GPU-ed8b7920-8881-4e8f-3e88-be1bbecafa21"
+    },
+    {
+      "name": "NVIDIA H200",
+      "memoryTotal": "150754820096",
+      "cudaCores": 16896,
+      "architecture": "Hopper",
+      "uuid": "GPU-a91176db-55f2-b284-bbbf-56626596947d"
+    },
+    {
+      "name": "NVIDIA H200",
+      "memoryTotal": "150754820096",
+      "cudaCores": 16896,
+      "architecture": "Hopper",
+      "uuid": "GPU-922ff6d5-a948-205a-0426-dbee495fc3dd"
+    },
+    {
+      "name": "NVIDIA H200",
+      "memoryTotal": "150754820096",
+      "cudaCores": 16896,
+      "architecture": "Hopper",
+      "uuid": "GPU-1fde7c75-18fe-e3db-a4c1-85e67522f55f"
+    },
+    {
+      "name": "NVIDIA H200",
+      "memoryTotal": "150754820096",
+      "cudaCores": 16896,
+      "architecture": "Hopper",
+      "uuid": "GPU-a9b1c49b-d527-97d8-ce91-7e50bd02154c"
+    }
+  ],
+  "cudaVersion": "12.9",
+  "writerId": "3s3m5i5cgidc1ad2mxrv5lii4zchlite"
+}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/wandb/run-20260721_175602-r3cz38bm/files/output.log

@@ -0,0 +1,100 @@
+INFO 2026-07-21 17:56:03 db_utils.py:121 Logs will be synced with wandb.
+INFO 2026-07-21 17:56:03 db_utils.py:122 Track this run --> https://wandb.ai/minje227_hyu-hanyang-university/lerobot/runs/r3cz38bm
+INFO 2026-07-21 17:56:03 ot_train.py:298 Creating dataset
+INFO 2026-07-21 17:56:05 ot_train.py:332 Creating policy
+INFO 2026-07-21 17:56:05 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_6K/checkpoints/030000/pretrained_model
+INFO 2026-07-21 17:56:05 ng_groot.py:225 Detected fine-tuned LeRobot checkpoint, loading with state dict...
+Traceback (most recent call last):
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/huggingface_hub/utils/_http.py", line 795, in hf_raise_for_status
+    response.raise_for_status()
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/httpx/_models.py", line 829, in raise_for_status
+    raise HTTPStatusError(message, request=request, response=self)
+httpx.HTTPStatusError: Client error '401 Unauthorized' for url 'https://huggingface.co/nvidia/GR00T-N1.7-3B/resolve/main/config.json'
+For more information check: https://developer.mozilla.org/en-US/docs/Web/HTTP/Status/401
+
+The above exception was the direct cause of the following exception:
+
+Traceback (most recent call last):
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/transformers/utils/hub.py", line 422, in cached_files
+    hf_hub_download(
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/huggingface_hub/utils/_validators.py", line 88, in _inner_fn
+    return fn(*args, **kwargs)
+           ^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/huggingface_hub/file_download.py", line 1013, in hf_hub_download
+    return _hf_hub_download_to_cache_dir(
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/huggingface_hub/file_download.py", line 1165, in _hf_hub_download_to_cache_dir
+    _raise_on_head_call_error(head_call_error, force_download, local_files_only)
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/huggingface_hub/file_download.py", line 1864, in _raise_on_head_call_error
+    raise head_call_error
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/huggingface_hub/file_download.py", line 1707, in _get_metadata_or_catch_error
+    metadata = get_hf_file_metadata(
+               ^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/huggingface_hub/utils/_validators.py", line 88, in _inner_fn
+    return fn(*args, **kwargs)
+           ^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/huggingface_hub/file_download.py", line 1615, in get_hf_file_metadata
+    response = _httpx_follow_relative_redirects_with_backoff(
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/huggingface_hub/utils/_http.py", line 726, in _httpx_follow_relative_redirects_with_backoff
+    hf_raise_for_status(response)
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/huggingface_hub/utils/_http.py", line 882, in hf_raise_for_status
+    raise _format(RepositoryNotFoundError, message, response, repo_type=repo_type, repo_id=repo_id) from e
+huggingface_hub.errors.RepositoryNotFoundError: 401 Client Error. (Request ID: Root=1-6a5fb2b5-6824134c4e397387149d0cce;cac3eee4-7806-45b9-adfe-9e3e32a2e235)
+
+Repository Not Found for url: https://huggingface.co/nvidia/GR00T-N1.7-3B/resolve/main/config.json.
+Please make sure you specified the correct `repo_id` and `repo_type`.
+If you are trying to access a private or gated repo, make sure you are authenticated and your token has the required permissions.
+For more details, see https://huggingface.co/docs/huggingface_hub/authentication
+OAuth token signature verification failed: signature verification failed
+
+The above exception was the direct cause of the following exception:
+
+Traceback (most recent call last):
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1428, in <module>
+    main()
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1424, in main
+    train_module.main()
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/scripts/lerobot_train.py", line 816, 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 333, in train
+    }
+
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1170, in make_policy
+    policy = original_make_policy(*args, **kwargs)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/policies/factory.py", line 615, in make_policy
+    policy = policy_cls.from_pretrained(**kwargs)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_policies/groot_RKD/modeling_groot.py", line 226, in from_pretrained
+    return super().from_pretrained(
+           ^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/policies/pretrained.py", line 194, in from_pretrained
+    instance = cls(config, **kwargs)
+               ^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_policies/groot_RKD/modeling_groot_rkd.py", line 44, in __init__
+    super().__init__(config, **kwargs)
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_policies/groot_RKD/modeling_groot.py", line 79, in __init__
+    self._groot_model = self._create_groot_model()
+                        ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_policies/groot_RKD/modeling_groot.py", line 104, in _create_groot_model
+    model = GR00TN17.from_pretrained(
+            ^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_policies/groot_RKD/groot_n1_7.py", line 915, in from_pretrained
+    pretrained_model = super().from_pretrained(
+                       ^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/transformers/modeling_utils.py", line 3993, in from_pretrained
+    _adapter_model_path, pretrained_model_name_or_path, adapter_kwargs = maybe_load_adapters(
+                                                                         ^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/transformers/integrations/peft.py", line 973, in maybe_load_adapters
+    resolved_config_file = cached_file(
+                           ^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/transformers/utils/hub.py", line 278, in cached_file
+    file = cached_files(path_or_repo_id=path_or_repo_id, filenames=[filename], **kwargs)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/transformers/utils/hub.py", line 454, in cached_files
+    raise OSError(
+OSError: nvidia/GR00T-N1.7-3B is not a local folder and is not a valid model identifier listed on 'https://huggingface.co/models'
+If this is a private repository, make sure to pass a token having permission to this repo either by logging in with `hf auth login` or by passing `token=<your_token>`

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/wandb/run-20260721_175602-r3cz38bm/logs/debug.log

@@ -0,0 +1,46 @@
+2026-07-21 17:56:02,221 INFO    MainThread:689 [wandb_setup.py:_flush():81] Current SDK version is 0.27.2
+2026-07-21 17:56:02,221 INFO    MainThread:689 [wandb_setup.py:_flush():81] Configure stats pid to 689
+2026-07-21 17:56:02,221 INFO    MainThread:689 [wandb_setup.py:_flush():81] Loading settings from environment variables
+2026-07-21 17:56:02,221 INFO    MainThread:689 [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_175602-r3cz38bm/logs/debug.log
+2026-07-21 17:56:02,221 INFO    MainThread:689 [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_175602-r3cz38bm/logs/debug-internal.log
+2026-07-21 17:56:02,222 INFO    MainThread:689 [wandb_init.py:init():766] calling init triggers
+2026-07-21 17:56:02,222 INFO    MainThread:689 [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_6K/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': None, 'output_dir': './tmp/gr00t', 'save_steps': 1000, 'max_steps': 10000, 'batch_size': 32, 'dataloader_num_workers': 8, 'report_to': 'wandb', 'resume': False, 'rkd_enabled': True, 'rkd_vae_checkpoint': '/home/ext_minje/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84', 'rkd_student_pooling': 'attention', 'rkd_student_attention_hidden_dim': 512, 'rkd_student_attention_output_dim': 512, 'rkd_fm_loss_weight': 1.0, 'rkd_loss_weight': 1.0, 'rkd_distance_weight': 1.0, 'rkd_angle_weight': 2.0}, 'reward_model': None, 'output_dir': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K', 'job_name': 'INSIGHT_RD_RKD_TimewarpVAE_LAPstyle_6K', 'resume': True, 'seed': 42, 'cudnn_deterministic': False, 'num_workers': 4, 'batch_size': 128, 'prefetch_factor': 4, 'persistent_workers': True, 'steps': 60000, 'env_eval_freq': 20000, 'log_freq': 200, 'eval_steps': 0, 'max_eval_samples': 0, 'tolerance_s': 0.0001, 'save_checkpoint': True, 'save_freq': 20000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adamw', 'lr': 0.0001, 'weight_decay': 1e-05, 'grad_clip_norm': 1.0, 'betas': [0.9, 0.999], 'eps': 1e-08}, 'scheduler': {'type': 'diffuser', 'num_warmup_steps': 6000, 'name': 'cosine'}, 'eval': {'n_episodes': 50, 'batch_size': 50, 'use_async_envs': True, 'recording': False, 'recording_repo_id': None, 'recording_private': False}, 'wandb': {'enable': True, 'disable_artifact': True, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': 'r3cz38bm', '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 + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000', '_wandb': {}}
+2026-07-21 17:56:02,222 INFO    MainThread:689 [wandb_init.py:init():814] starting backend
+2026-07-21 17:56:02,443 INFO    MainThread:689 [wandb_init.py:init():829] sending inform_init request
+2026-07-21 17:56:02,840 INFO    MainThread:689 [wandb_init.py:init():834] backend started and connected
+2026-07-21 17:56:02,842 INFO    MainThread:689 [wandb_init.py:init():904] updated telemetry
+2026-07-21 17:56:02,846 INFO    MainThread:689 [wandb_init.py:init():927] communicating run to backend with 90.0 second timeout
+2026-07-21 17:56:03,426 INFO    MainThread:689 [wandb_init.py:init():967] run resumed
+2026-07-21 17:56:03,428 INFO    MainThread:689 [wandb_init.py:init():972] starting run threads in backend
+2026-07-21 17:56:03,479 INFO    MainThread:689 [wandb_run.py:_console_start():2523] atexit reg
+2026-07-21 17:56:03,480 INFO    MainThread:689 [wandb_run.py:_redirect():2373] redirect: wrap_raw
+2026-07-21 17:56:03,480 INFO    MainThread:689 [wandb_run.py:_redirect():2442] Wrapping output streams.
+2026-07-21 17:56:03,480 INFO    MainThread:689 [wandb_run.py:_redirect():2465] Redirects installed.
+2026-07-21 17:56:03,481 INFO    MainThread:689 [wandb_init.py:init():1010] run started, returning control to user process
+2026-07-21 17:56:05,901 INFO    wandb-AsyncioManager-main:689 [service_client.py:_forward_responses():122] Reached EOF.
+2026-07-21 17:56:05,901 INFO    wandb-AsyncioManager-main:689 [mailbox.py:close():154] Closing mailbox, abandoning 2 handles.
+2026-07-21 17:56:05,901 ERROR   wandb-AsyncioManager-main:689 [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/RKD_TimewarpVAE/LAPstyle_linear_6K/wandb/run-20260721_180257-r3cz38bm/files/output.log

@@ -0,0 +1,37 @@
+INFO 2026-07-21 18:02:59 db_utils.py:121 Logs will be synced with wandb.
+INFO 2026-07-21 18:02:59 db_utils.py:122 Track this run --> https://wandb.ai/minje227_hyu-hanyang-university/lerobot/runs/r3cz38bm
+INFO 2026-07-21 18:02:59 ot_train.py:298 Creating dataset
+INFO 2026-07-21 18:03:01 ot_train.py:332 Creating policy
+INFO 2026-07-21 18:03:01 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_6K/checkpoints/030000/pretrained_model
+INFO 2026-07-21 18:03:01 ng_groot.py:225 Detected fine-tuned LeRobot checkpoint, loading with state dict...
+Fetching 27 files: 100%|██████████| 27/27 [00:00<00:00, 4593.98it/s]
+`torch_dtype` is deprecated! Use `dtype` instead!
+Loading weights: 100%|██████████| 1031/1031 [00:01<00:00, 790.87it/s]
+Loading weights from local directory
+Traceback (most recent call last):
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1428, in <module>
+    main()
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1424, in main
+    train_module.main()
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/scripts/lerobot_train.py", line 816, 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 397, in train
+    logging.info(colored("Output dir:", "yellow", attrs=["bold"]) + f" {cfg.output_dir}")
+                                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1197, in make_pre_post_processors
+    kwargs[override_key] = _project_nested_stats(
+                           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 815, in _project_nested_stats
+    projected[key] = _project_nested_stats(item, source_key, composite_contract)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 815, in _project_nested_stats
+    projected[key] = _project_nested_stats(item, source_key, composite_contract)
+                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 807, in _project_nested_stats
+    and all(
+        ^^^^
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 808, in <genexpr>
+    source in item
+TypeError: argument of type 'PolicyFeature' is not iterable

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/wandb/run-20260721_180257-r3cz38bm/files/wandb-metadata.json

@@ -0,0 +1,52 @@
+{
+  "os": "Linux-6.8.0-55-generic-x86_64-with-glibc2.39",
+  "python": "CPython 3.12.13",
+  "startedAt": "2026-07-21T18:02:57.930641Z",
+  "args": [
+    "--config_path=/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000/pretrained_model/train_config.json",
+    "--resume=true",
+    "--dataset.root=/home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2",
+    "--output_dir=/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K"
+  ],
+  "program": "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py",
+  "codePath": "benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py",
+  "codePathLocal": "my_scripts/lerobot_train_yaml.py",
+  "git": {
+    "remote": "git@github.com:paragon7060/clvla.git",
+    "commit": "c1ff610ae4b02827f1c984cef8bbf28a7889bd6f"
+  },
+  "root": "/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K",
+  "host": "ext_minje-box",
+  "executable": "/home/ext_minje/miniconda3/envs/lerobot060_groot/bin/python",
+  "cpu_count": 112,
+  "cpu_count_logical": 224,
+  "gpu": "NVIDIA H200",
+  "gpu_count": 2,
+  "disk": {
+    "/": {
+      "total": "1888425144320",
+      "used": "1061565542400"
+    }
+  },
+  "memory": {
+    "total": "2164176568320"
+  },
+  "gpu_nvidia": [
+    {
+      "name": "NVIDIA H200",
+      "memoryTotal": "150754820096",
+      "cudaCores": 16896,
+      "architecture": "Hopper",
+      "uuid": "GPU-86be6e5b-fb48-fa1c-9bd7-83d336cb2991"
+    },
+    {
+      "name": "NVIDIA H200",
+      "memoryTotal": "150754820096",
+      "cudaCores": 16896,
+      "architecture": "Hopper",
+      "uuid": "GPU-24eb1ba2-7313-ff93-1435-748768ebdbdc"
+    }
+  ],
+  "cudaVersion": "12.8",
+  "writerId": "k4zzjokseci84fua38cil1zny8jdpb94"
+}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/wandb/run-20260721_180257-r3cz38bm/files/wandb-summary.json

@@ -0,0 +1 @@
+{"train/training_phase_index":1,"train/epochs":23.095064730476675,"train/rkd_fm_loss_weight":1,"_wandb":{"runtime":120246},"train/weighted_rkd_loss":0,"train/weighted_flow_matching_loss":0.01333356648683548,"train/update_s":1.740447256843327,"train/rkd_loss_weight":0,"train/training_phase_trainable_params":1.620515968e+09,"train/training_phase_until_step":60000,"_step":39400,"train/gpu_mem_gb":52.854942321777344,"_timestamp":1.7845908380068417e+09,"train/episodes":113858.66912125002,"train/training_phase_start_step":6000,"train/lr":3.2080345776402876e-05,"train/loss":0.01333356648683548,"train/samples":5043200,"train/rkd_angle_loss":0.006630226504057646,"train/rkd_runtime_enabled":0,"train/steps":39400,"train/samples_per_s":39.2949964985869,"train/rkd_distance_loss":0.004328658804297447,"train/dataloading_s":1.5169649178747204,"train/rkd_student_pooling_id":1,"train/grad_norm":0.13331510741263627,"train/rkd_student_feature_norm":1.80727219581604,"train/flow_matching_loss":0.01333356648683548,"train/rkd_loss":0.017589110881090164,"_runtime":120246,"train/rkd_teacher_latent_norm":1}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/wandb/run-20260721_180257-r3cz38bm/logs/debug.log

@@ -0,0 +1,46 @@
+2026-07-21 18:02:57,931 INFO    MainThread:2603 [wandb_setup.py:_flush():81] Current SDK version is 0.27.2
+2026-07-21 18:02:57,931 INFO    MainThread:2603 [wandb_setup.py:_flush():81] Configure stats pid to 2603
+2026-07-21 18:02:57,931 INFO    MainThread:2603 [wandb_setup.py:_flush():81] Loading settings from environment variables
+2026-07-21 18:02:57,931 INFO    MainThread:2603 [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_180257-r3cz38bm/logs/debug.log
+2026-07-21 18:02:57,931 INFO    MainThread:2603 [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_180257-r3cz38bm/logs/debug-internal.log
+2026-07-21 18:02:57,931 INFO    MainThread:2603 [wandb_init.py:init():766] calling init triggers
+2026-07-21 18:02:57,931 INFO    MainThread:2603 [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_6K/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': None, 'output_dir': './tmp/gr00t', 'save_steps': 1000, 'max_steps': 10000, 'batch_size': 32, 'dataloader_num_workers': 8, 'report_to': 'wandb', 'resume': False, 'rkd_enabled': True, 'rkd_vae_checkpoint': '/home/ext_minje/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84', 'rkd_student_pooling': 'attention', 'rkd_student_attention_hidden_dim': 512, 'rkd_student_attention_output_dim': 512, 'rkd_fm_loss_weight': 1.0, 'rkd_loss_weight': 1.0, 'rkd_distance_weight': 1.0, 'rkd_angle_weight': 2.0}, 'reward_model': None, 'output_dir': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K', 'job_name': 'INSIGHT_RD_RKD_TimewarpVAE_LAPstyle_6K', 'resume': True, 'seed': 42, 'cudnn_deterministic': False, 'num_workers': 4, 'batch_size': 128, 'prefetch_factor': 4, 'persistent_workers': True, 'steps': 60000, 'env_eval_freq': 20000, 'log_freq': 200, 'eval_steps': 0, 'max_eval_samples': 0, 'tolerance_s': 0.0001, 'save_checkpoint': True, 'save_freq': 20000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adamw', 'lr': 0.0001, 'weight_decay': 1e-05, 'grad_clip_norm': 1.0, 'betas': [0.9, 0.999], 'eps': 1e-08}, 'scheduler': {'type': 'diffuser', 'num_warmup_steps': 6000, 'name': 'cosine'}, 'eval': {'n_episodes': 50, 'batch_size': 50, 'use_async_envs': True, 'recording': False, 'recording_repo_id': None, 'recording_private': False}, 'wandb': {'enable': True, 'disable_artifact': True, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': 'r3cz38bm', '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 + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000', '_wandb': {}}
+2026-07-21 18:02:57,931 INFO    MainThread:2603 [wandb_init.py:init():814] starting backend
+2026-07-21 18:02:58,147 INFO    MainThread:2603 [wandb_init.py:init():829] sending inform_init request
+2026-07-21 18:02:58,603 INFO    MainThread:2603 [wandb_init.py:init():834] backend started and connected
+2026-07-21 18:02:58,605 INFO    MainThread:2603 [wandb_init.py:init():904] updated telemetry
+2026-07-21 18:02:58,609 INFO    MainThread:2603 [wandb_init.py:init():927] communicating run to backend with 90.0 second timeout
+2026-07-21 18:02:59,490 INFO    MainThread:2603 [wandb_init.py:init():967] run resumed
+2026-07-21 18:02:59,492 INFO    MainThread:2603 [wandb_init.py:init():972] starting run threads in backend
+2026-07-21 18:02:59,544 INFO    MainThread:2603 [wandb_run.py:_console_start():2523] atexit reg
+2026-07-21 18:02:59,544 INFO    MainThread:2603 [wandb_run.py:_redirect():2373] redirect: wrap_raw
+2026-07-21 18:02:59,544 INFO    MainThread:2603 [wandb_run.py:_redirect():2442] Wrapping output streams.
+2026-07-21 18:02:59,544 INFO    MainThread:2603 [wandb_run.py:_redirect():2465] Redirects installed.
+2026-07-21 18:02:59,546 INFO    MainThread:2603 [wandb_init.py:init():1010] run started, returning control to user process
+2026-07-21 18:03:20,638 INFO    wandb-AsyncioManager-main:2603 [service_client.py:_forward_responses():122] Reached EOF.
+2026-07-21 18:03:20,638 INFO    wandb-AsyncioManager-main:2603 [mailbox.py:close():154] Closing mailbox, abandoning 2 handles.
+2026-07-21 18:03:20,639 ERROR   wandb-AsyncioManager-main:2603 [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/RKD_TimewarpVAE/LAPstyle_linear_6K/wandb/run-20260721_180758-r3cz38bm/files/config.yaml

@@ -0,0 +1,332 @@
+_wandb:
+    value:
+        cli_version: 0.27.2
+        e:
+            y1xj7gc7lirfe5q2rd54wdogbqqlvgeh:
+                args:
+                    - --config_path=/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000/pretrained_model/train_config.json
+                    - --resume=true
+                    - --dataset.root=/home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2
+                    - --output_dir=/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K
+                codePath: benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py
+                codePathLocal: my_scripts/lerobot_train_yaml.py
+                cpu_count: 112
+                cpu_count_logical: 224
+                cudaVersion: "12.8"
+                disk:
+                    /:
+                        total: "1888425144320"
+                        used: "1061567148032"
+                executable: /home/ext_minje/miniconda3/envs/lerobot060_groot/bin/python
+                git:
+                    commit: c1ff610ae4b02827f1c984cef8bbf28a7889bd6f
+                    remote: git@github.com:paragon7060/clvla.git
+                gpu: NVIDIA H200
+                gpu_count: 2
+                gpu_nvidia:
+                    - architecture: Hopper
+                      cudaCores: 16896
+                      memoryTotal: "150754820096"
+                      name: NVIDIA H200
+                      uuid: GPU-86be6e5b-fb48-fa1c-9bd7-83d336cb2991
+                    - architecture: Hopper
+                      cudaCores: 16896
+                      memoryTotal: "150754820096"
+                      name: NVIDIA H200
+                      uuid: GPU-24eb1ba2-7313-ff93-1435-748768ebdbdc
+                host: ext_minje-box
+                memory:
+                    total: "2164176568320"
+                os: Linux-6.8.0-55-generic-x86_64-with-glibc2.39
+                program: /home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py
+                python: CPython 3.12.13
+                root: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K
+                startedAt: "2026-07-21T18:07:58.715030Z"
+                writerId: y1xj7gc7lirfe5q2rd54wdogbqqlvgeh
+        m: []
+        python_version: 3.12.13
+        t:
+            "1":
+                - 1
+                - 11
+                - 41
+                - 49
+                - 51
+                - 71
+                - 83
+                - 98
+            "2":
+                - 1
+                - 11
+                - 41
+                - 49
+                - 51
+                - 71
+                - 83
+                - 98
+            "3":
+                - 5
+                - 13
+                - 14
+                - 15
+                - 16
+                - 62
+            "4": 3.12.13
+            "5": 0.27.2
+            "6": 5.5.4
+            "10":
+                - 21
+            "12": 0.27.2
+            "13": linux-x86_64
+batch_size:
+    value: 128
+checkpoint_path:
+    value: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000
+cudnn_deterministic:
+    value: false
+dataset:
+    value:
+        depth_output_unit: mm
+        episodes: null
+        eval_split: 0
+        image_transforms:
+            enable: false
+            max_num_transforms: 3
+            random_order: false
+            tfs:
+                affine:
+                    kwargs:
+                        degrees:
+                            - -5
+                            - 5
+                        translate:
+                            - 0.05
+                            - 0.05
+                    type: RandomAffine
+                    weight: 1
+                brightness:
+                    kwargs:
+                        brightness:
+                            - 0.8
+                            - 1.2
+                    type: ColorJitter
+                    weight: 1
+                contrast:
+                    kwargs:
+                        contrast:
+                            - 0.8
+                            - 1.2
+                    type: ColorJitter
+                    weight: 1
+                hue:
+                    kwargs:
+                        hue:
+                            - -0.05
+                            - 0.05
+                    type: ColorJitter
+                    weight: 1
+                saturation:
+                    kwargs:
+                        saturation:
+                            - 0.5
+                            - 1.5
+                    type: ColorJitter
+                    weight: 1
+                sharpness:
+                    kwargs:
+                        sharpness:
+                            - 0.5
+                            - 1.5
+                    type: SharpnessJitter
+                    weight: 1
+        repo_id: Whalswp/INSIGHTfixposV4_filtered_multispace_v2
+        return_uint8: false
+        revision: null
+        root: /home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2
+        streaming: false
+        use_imagenet_stats: true
+        video_backend: torchcodec
+env:
+    value: null
+env_eval_freq:
+    value: 20000
+eval:
+    value:
+        batch_size: 50
+        n_episodes: 50
+        recording: false
+        recording_private: false
+        recording_repo_id: null
+        use_async_envs: true
+eval_steps:
+    value: 0
+job:
+    value:
+        detach: false
+        image: huggingface/lerobot-gpu:latest
+        tags: []
+        target: null
+        timeout: 2d
+job_name:
+    value: INSIGHT_RD_RKD_TimewarpVAE_LAPstyle_6K
+log_freq:
+    value: 200
+max_eval_samples:
+    value: 0
+num_workers:
+    value: 4
+optimizer:
+    value:
+        betas:
+            - 0.9
+            - 0.999
+        eps: 1e-08
+        grad_clip_norm: 1
+        lr: 0.0001
+        type: adamw
+        weight_decay: 1e-05
+output_dir:
+    value: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K
+peft:
+    value: null
+persistent_workers:
+    value: true
+policy:
+    value:
+        action_decode_transform: null
+        balance_dataset_weights: true
+        balance_trajectory_weights: true
+        base_model_path: nvidia/GR00T-N1.7-3B
+        batch_size: 32
+        chunk_size: 16
+        dataloader_num_workers: 8
+        dataset_paths: null
+        device: cuda
+        embodiment_tag: new_embodiment
+        image_size:
+            - 256
+            - 256
+        input_features:
+            observation.images.guide:
+                shape:
+                    - 3
+                    - 224
+                    - 224
+                type: VISUAL
+            observation.images.right_shoulder:
+                shape:
+                    - 3
+                    - 224
+                    - 224
+                type: VISUAL
+            observation.images.wrist:
+                shape:
+                    - 3
+                    - 224
+                    - 224
+                type: VISUAL
+            observation.state:
+                shape:
+                    - 16
+                type: STATE
+        license: null
+        lora_alpha: 16
+        lora_dropout: 0.1
+        lora_full_model: false
+        lora_rank: 0
+        max_action_dim: 132
+        max_state_dim: 132
+        max_steps: 10000
+        model_params_fp32: true
+        n_action_steps: 16
+        n_obs_steps: 1
+        normalization_mapping:
+            ACTION: IDENTITY
+            STATE: IDENTITY
+            VISUAL: IDENTITY
+        num_inference_timesteps: null
+        optimizer_betas:
+            - 0.9
+            - 0.999
+        optimizer_eps: 1e-08
+        optimizer_lr: 0.0001
+        optimizer_weight_decay: 1e-05
+        output_dir: ./tmp/gr00t
+        output_features:
+            action:
+                shape:
+                    - 16
+                type: ACTION
+        pretrained_path: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000/pretrained_model
+        pretrained_revision: null
+        private: null
+        push_to_hub: false
+        relative_exclude_joints: []
+        repo_id: null
+        report_to: wandb
+        resume: false
+        rkd_angle_weight: 2
+        rkd_distance_weight: 1
+        rkd_enabled: true
+        rkd_fm_loss_weight: 1
+        rkd_loss_weight: 1
+        rkd_student_attention_hidden_dim: 512
+        rkd_student_attention_output_dim: 512
+        rkd_student_pooling: attention
+        rkd_vae_checkpoint: /home/ext_minje/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84
+        rtc_ramp_rate: null
+        save_steps: 1000
+        tags: null
+        tokenizer_assets_repo: null
+        tune_diffusion_model: true
+        tune_llm: false
+        tune_projector: true
+        tune_top_llm_layers: 0
+        tune_visual: false
+        tune_vlln: true
+        type: groot_rkd
+        use_amp: false
+        use_bf16: true
+        use_flash_attention: false
+        use_peft: false
+        use_relative_actions: false
+        video_backend: decord
+        warmup_ratio: 0.05
+        warmup_steps: 6000
+prefetch_factor:
+    value: 4
+resume:
+    value: true
+reward_model:
+    value: null
+sample_weighting:
+    value: null
+save_checkpoint:
+    value: true
+save_checkpoint_to_hub:
+    value: false
+save_freq:
+    value: 20000
+scheduler:
+    value:
+        name: cosine
+        num_warmup_steps: 6000
+        type: diffuser
+seed:
+    value: 42
+steps:
+    value: 60000
+tolerance_s:
+    value: 0.0001
+use_policy_training_preset:
+    value: true
+wandb:
+    value:
+        add_tags: true
+        disable_artifact: true
+        enable: true
+        entity: null
+        mode: null
+        notes: null
+        project: lerobot
+        run_id: r3cz38bm

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/wandb/run-20260721_180758-r3cz38bm/files/output.log

@@ -0,0 +1,33 @@
+INFO 2026-07-21 18:07:59 db_utils.py:121 Logs will be synced with wandb.
+INFO 2026-07-21 18:07:59 db_utils.py:122 Track this run --> https://wandb.ai/minje227_hyu-hanyang-university/lerobot/runs/r3cz38bm
+INFO 2026-07-21 18:07:59 ot_train.py:298 Creating dataset
+INFO 2026-07-21 18:08:01 ot_train.py:332 Creating policy
+INFO 2026-07-21 18:08:01 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_6K/checkpoints/030000/pretrained_model
+INFO 2026-07-21 18:08:01 ng_groot.py:225 Detected fine-tuned LeRobot checkpoint, loading with state dict...
+Fetching 27 files: 100%|██████████| 27/27 [00:00<00:00, 6790.56it/s]
+`torch_dtype` is deprecated! Use `dtype` instead!
+Loading weights: 100%|██████████| 1031/1031 [00:00<00:00, 1146.17it/s]
+Loading weights from local directory
+Traceback (most recent call last):
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1430, in <module>
+    main()
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1426, in main
+    train_module.main()
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/scripts/lerobot_train.py", line 816, 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 397, in train
+    logging.info(colored("Output dir:", "yellow", attrs=["bold"]) + f" {cfg.output_dir}")
+                                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1204, in make_pre_post_processors
+    return original_make_pre_post_processors(*args, **kwargs)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/policies/factory.py", line 323, in make_pre_post_processors
+    preprocessor = PolicyProcessorPipeline.from_pretrained(
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/processor/pipeline.py", line 738, in from_pretrained
+    cls._validate_overrides_used(validated_overrides, loaded_config)
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/processor/pipeline.py", line 1254, in _validate_overrides_used
+    raise KeyError(
+KeyError: "Override keys ['normalizer_processor'] do not match any step in the saved configuration. Available step keys: ['rename_observations_processor', 'to_batch_processor', 'rkd_preserve_raw_action', 'groot_n1_7_pack_inputs_v1', 'groot_n1_7_vlm_encode_v1', 'device_processor']. Make sure override keys match exact step class names or registry names."

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/wandb/run-20260721_180758-r3cz38bm/files/wandb-metadata.json

@@ -0,0 +1,52 @@
+{
+  "os": "Linux-6.8.0-55-generic-x86_64-with-glibc2.39",
+  "python": "CPython 3.12.13",
+  "startedAt": "2026-07-21T18:07:58.715030Z",
+  "args": [
+    "--config_path=/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000/pretrained_model/train_config.json",
+    "--resume=true",
+    "--dataset.root=/home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2",
+    "--output_dir=/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K"
+  ],
+  "program": "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py",
+  "codePath": "benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py",
+  "codePathLocal": "my_scripts/lerobot_train_yaml.py",
+  "git": {
+    "remote": "git@github.com:paragon7060/clvla.git",
+    "commit": "c1ff610ae4b02827f1c984cef8bbf28a7889bd6f"
+  },
+  "root": "/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K",
+  "host": "ext_minje-box",
+  "executable": "/home/ext_minje/miniconda3/envs/lerobot060_groot/bin/python",
+  "cpu_count": 112,
+  "cpu_count_logical": 224,
+  "gpu": "NVIDIA H200",
+  "gpu_count": 2,
+  "disk": {
+    "/": {
+      "total": "1888425144320",
+      "used": "1061567148032"
+    }
+  },
+  "memory": {
+    "total": "2164176568320"
+  },
+  "gpu_nvidia": [
+    {
+      "name": "NVIDIA H200",
+      "memoryTotal": "150754820096",
+      "cudaCores": 16896,
+      "architecture": "Hopper",
+      "uuid": "GPU-86be6e5b-fb48-fa1c-9bd7-83d336cb2991"
+    },
+    {
+      "name": "NVIDIA H200",
+      "memoryTotal": "150754820096",
+      "cudaCores": 16896,
+      "architecture": "Hopper",
+      "uuid": "GPU-24eb1ba2-7313-ff93-1435-748768ebdbdc"
+    }
+  ],
+  "cudaVersion": "12.8",
+  "writerId": "y1xj7gc7lirfe5q2rd54wdogbqqlvgeh"
+}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/wandb/run-20260721_180758-r3cz38bm/logs/debug-core.log

@@ -0,0 +1,48 @@
+{"time":"2026-07-21T18:07:58.720255346Z","level":"INFO","msg":"main: starting server","port-filename":"/tmp/tmp5e1av8mo/port-5574.txt","pid":5574,"detached":false,"idle-timeout":600000000000,"log-level":0,"disable-analytics":false,"shutdown-on-parent-exit":false,"enable-dcgm-profiling":false}
+{"time":"2026-07-21T18:07:58.72026806Z","level":"INFO","msg":"main: starting server","port-filename":"/tmp/tmprll14h_n/port-5579.txt","pid":5579,"detached":false,"idle-timeout":600000000000,"log-level":0,"disable-analytics":false,"shutdown-on-parent-exit":false,"enable-dcgm-profiling":false}
+{"time":"2026-07-21T18:07:58.720787009Z","level":"INFO","msg":"server: will exit if parent process dies","ppid":5574}
+{"time":"2026-07-21T18:07:58.720788121Z","level":"INFO","msg":"server: accepting connections","addr":{"Name":"/tmp/wandb-5574-6180-1766378125/socket","Net":"unix"}}
+{"time":"2026-07-21T18:07:58.72171069Z","level":"INFO","msg":"server: will exit if parent process dies","ppid":5579}
+{"time":"2026-07-21T18:07:58.721707571Z","level":"INFO","msg":"server: accepting connections","addr":{"Name":"/tmp/wandb-5579-6181-2152638280/socket","Net":"unix"}}
+{"time":"2026-07-21T18:07:58.746217022Z","level":"INFO","msg":"main: starting server","port-filename":"/tmp/tmpup4qwiiz/port-5569.txt","pid":5569,"detached":false,"idle-timeout":600000000000,"log-level":0,"disable-analytics":false,"shutdown-on-parent-exit":false,"enable-dcgm-profiling":false}
+{"time":"2026-07-21T18:07:58.747291934Z","level":"INFO","msg":"server: will exit if parent process dies","ppid":5569}
+{"time":"2026-07-21T18:07:58.747271509Z","level":"INFO","msg":"server: accepting connections","addr":{"Name":"/tmp/wandb-5569-6224-299814867/socket","Net":"unix"}}
+{"time":"2026-07-21T18:07:58.906443602Z","level":"INFO","msg":"connection: ManageConnectionData: new connection created","id":"1(@)"}
+{"time":"2026-07-21T18:07:58.906442622Z","level":"INFO","msg":"connection: ManageConnectionData: new connection created","id":"1(@)"}
+{"time":"2026-07-21T18:07:58.913091317Z","level":"INFO","msg":"handleInformInit: received","streamId":"bepgb8uu","id":"1(@)"}
+{"time":"2026-07-21T18:07:58.913326362Z","level":"INFO","msg":"handleInformInit: received","streamId":"ny0tx2de","id":"1(@)"}
+{"time":"2026-07-21T18:07:58.932624844Z","level":"INFO","msg":"connection: ManageConnectionData: new connection created","id":"1(@)"}
+{"time":"2026-07-21T18:07:58.938179654Z","level":"INFO","msg":"handleInformInit: received","streamId":"r3cz38bm","id":"1(@)"}
+{"time":"2026-07-21T18:07:59.270100377Z","level":"INFO","msg":"handleInformInit: stream started","streamId":"bepgb8uu","id":"1(@)"}
+{"time":"2026-07-21T18:07:59.287950535Z","level":"INFO","msg":"handleInformInit: stream started","streamId":"r3cz38bm","id":"1(@)"}
+{"time":"2026-07-21T18:07:59.355381407Z","level":"INFO","msg":"handleInformInit: stream started","streamId":"ny0tx2de","id":"1(@)"}
+{"time":"2026-07-21T18:08:04.924005726Z","level":"INFO","msg":"connection: cancelling request","id":"1(@)","requestId":"6kodqpk22hrd"}
+{"time":"2026-07-21T18:08:05.009116606Z","level":"INFO","msg":"connection: cancelling request","id":"1(@)","requestId":"6iupjnsf88t1"}
+{"time":"2026-07-21T18:08:05.211463046Z","level":"INFO","msg":"connection: cancelling request","id":"1(@)","requestId":"v1cdbm98un89"}
+{"time":"2026-07-21T18:08:20.732390173Z","level":"INFO","msg":"handleInformTeardown: server teardown initiated","id":"1(@)"}
+{"time":"2026-07-21T18:08:20.732465681Z","level":"INFO","msg":"processOutgoingData: finished","id":"1(@)"}
+{"time":"2026-07-21T18:08:20.732543065Z","level":"INFO","msg":"server is shutting down"}
+{"time":"2026-07-21T18:08:20.732552749Z","level":"INFO","msg":"connection: closing","id":"1(@)"}
+{"time":"2026-07-21T18:08:20.732592717Z","level":"INFO","msg":"connection: closed successfully","id":"1(@)"}
+{"time":"2026-07-21T18:08:20.732633384Z","level":"INFO","msg":"server: listener closed","addr":{"Name":"/tmp/wandb-5569-6224-299814867/socket","Net":"unix"}}
+{"time":"2026-07-21T18:08:20.851662774Z","level":"INFO","msg":"handleInformTeardown: server teardown initiated","id":"1(@)"}
+{"time":"2026-07-21T18:08:20.851851212Z","level":"INFO","msg":"connection: closing","id":"1(@)"}
+{"time":"2026-07-21T18:08:20.851951977Z","level":"INFO","msg":"connection: closed successfully","id":"1(@)"}
+{"time":"2026-07-21T18:08:20.851777526Z","level":"INFO","msg":"server is shutting down"}
+{"time":"2026-07-21T18:08:20.852155205Z","level":"INFO","msg":"processOutgoingData: finished","id":"1(@)"}
+{"time":"2026-07-21T18:08:20.852251208Z","level":"INFO","msg":"server: listener closed","addr":{"Name":"/tmp/wandb-5579-6181-2152638280/socket","Net":"unix"}}
+{"time":"2026-07-21T18:08:21.22343445Z","level":"INFO","msg":"handleInformTeardown: server teardown initiated","id":"1(@)"}
+{"time":"2026-07-21T18:08:21.223519146Z","level":"INFO","msg":"processOutgoingData: finished","id":"1(@)"}
+{"time":"2026-07-21T18:08:21.223530407Z","level":"INFO","msg":"connection: closing","id":"1(@)"}
+{"time":"2026-07-21T18:08:21.223608638Z","level":"INFO","msg":"connection: closed successfully","id":"1(@)"}
+{"time":"2026-07-21T18:08:21.223560536Z","level":"INFO","msg":"server is shutting down"}
+{"time":"2026-07-21T18:08:21.223823376Z","level":"INFO","msg":"server: listener closed","addr":{"Name":"/tmp/wandb-5574-6180-1766378125/socket","Net":"unix"}}
+{"time":"2026-07-21T18:08:22.391573489Z","level":"INFO","msg":"handleInformTeardown: server shutdown complete","id":"1(@)"}
+{"time":"2026-07-21T18:08:22.391593174Z","level":"INFO","msg":"connection: ManageConnectionData: connection closed","id":"1(@)"}
+{"time":"2026-07-21T18:08:22.391600166Z","level":"INFO","msg":"server is closed"}
+{"time":"2026-07-21T18:08:22.52025258Z","level":"INFO","msg":"handleInformTeardown: server shutdown complete","id":"1(@)"}
+{"time":"2026-07-21T18:08:22.520280985Z","level":"INFO","msg":"connection: ManageConnectionData: connection closed","id":"1(@)"}
+{"time":"2026-07-21T18:08:22.520290038Z","level":"INFO","msg":"server is closed"}
+{"time":"2026-07-21T18:08:22.563169034Z","level":"INFO","msg":"handleInformTeardown: server shutdown complete","id":"1(@)"}
+{"time":"2026-07-21T18:08:22.563198032Z","level":"INFO","msg":"connection: ManageConnectionData: connection closed","id":"1(@)"}
+{"time":"2026-07-21T18:08:22.563205798Z","level":"INFO","msg":"server is closed"}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/wandb/run-20260721_180758-r3cz38bm/logs/debug.log

@@ -0,0 +1,46 @@
+2026-07-21 18:07:58,715 INFO    MainThread:5569 [wandb_setup.py:_flush():81] Current SDK version is 0.27.2
+2026-07-21 18:07:58,716 INFO    MainThread:5569 [wandb_setup.py:_flush():81] Configure stats pid to 5569
+2026-07-21 18:07:58,716 INFO    MainThread:5569 [wandb_setup.py:_flush():81] Loading settings from environment variables
+2026-07-21 18:07:58,716 INFO    MainThread:5569 [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_180758-r3cz38bm/logs/debug.log
+2026-07-21 18:07:58,716 INFO    MainThread:5569 [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_180758-r3cz38bm/logs/debug-internal.log
+2026-07-21 18:07:58,716 INFO    MainThread:5569 [wandb_init.py:init():766] calling init triggers
+2026-07-21 18:07:58,716 INFO    MainThread:5569 [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_6K/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': None, 'output_dir': './tmp/gr00t', 'save_steps': 1000, 'max_steps': 10000, 'batch_size': 32, 'dataloader_num_workers': 8, 'report_to': 'wandb', 'resume': False, 'rkd_enabled': True, 'rkd_vae_checkpoint': '/home/ext_minje/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84', 'rkd_student_pooling': 'attention', 'rkd_student_attention_hidden_dim': 512, 'rkd_student_attention_output_dim': 512, 'rkd_fm_loss_weight': 1.0, 'rkd_loss_weight': 1.0, 'rkd_distance_weight': 1.0, 'rkd_angle_weight': 2.0}, 'reward_model': None, 'output_dir': '/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K', 'job_name': 'INSIGHT_RD_RKD_TimewarpVAE_LAPstyle_6K', 'resume': True, 'seed': 42, 'cudnn_deterministic': False, 'num_workers': 4, 'batch_size': 128, 'prefetch_factor': 4, 'persistent_workers': True, 'steps': 60000, 'env_eval_freq': 20000, 'log_freq': 200, 'eval_steps': 0, 'max_eval_samples': 0, 'tolerance_s': 0.0001, 'save_checkpoint': True, 'save_freq': 20000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adamw', 'lr': 0.0001, 'weight_decay': 1e-05, 'grad_clip_norm': 1.0, 'betas': [0.9, 0.999], 'eps': 1e-08}, 'scheduler': {'type': 'diffuser', 'num_warmup_steps': 6000, 'name': 'cosine'}, 'eval': {'n_episodes': 50, 'batch_size': 50, 'use_async_envs': True, 'recording': False, 'recording_repo_id': None, 'recording_private': False}, 'wandb': {'enable': True, 'disable_artifact': True, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': 'r3cz38bm', '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 + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000', '_wandb': {}}
+2026-07-21 18:07:58,716 INFO    MainThread:5569 [wandb_init.py:init():814] starting backend
+2026-07-21 18:07:58,932 INFO    MainThread:5569 [wandb_init.py:init():829] sending inform_init request
+2026-07-21 18:07:59,288 INFO    MainThread:5569 [wandb_init.py:init():834] backend started and connected
+2026-07-21 18:07:59,290 INFO    MainThread:5569 [wandb_init.py:init():904] updated telemetry
+2026-07-21 18:07:59,294 INFO    MainThread:5569 [wandb_init.py:init():927] communicating run to backend with 90.0 second timeout
+2026-07-21 18:07:59,898 INFO    MainThread:5569 [wandb_init.py:init():967] run resumed
+2026-07-21 18:07:59,900 INFO    MainThread:5569 [wandb_init.py:init():972] starting run threads in backend
+2026-07-21 18:07:59,951 INFO    MainThread:5569 [wandb_run.py:_console_start():2523] atexit reg
+2026-07-21 18:07:59,952 INFO    MainThread:5569 [wandb_run.py:_redirect():2373] redirect: wrap_raw
+2026-07-21 18:07:59,952 INFO    MainThread:5569 [wandb_run.py:_redirect():2442] Wrapping output streams.
+2026-07-21 18:07:59,952 INFO    MainThread:5569 [wandb_run.py:_redirect():2465] Redirects installed.
+2026-07-21 18:07:59,953 INFO    MainThread:5569 [wandb_init.py:init():1010] run started, returning control to user process
+2026-07-21 18:08:20,732 INFO    wandb-AsyncioManager-main:5569 [service_client.py:_forward_responses():122] Reached EOF.
+2026-07-21 18:08:20,732 INFO    wandb-AsyncioManager-main:5569 [mailbox.py:close():154] Closing mailbox, abandoning 2 handles.
+2026-07-21 18:08:20,733 ERROR   wandb-AsyncioManager-main:5569 [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/RKD_TimewarpVAE/LAPstyle_linear_6K/wandb/run-20260721_182104-a9vyia29/files/config.yaml

@@ -0,0 +1,334 @@
+_wandb:
+    value:
+        cli_version: 0.27.2
+        e:
+            k8rz28n2235bdfki5y35enovj67jny3l:
+                args:
+                    - --config_path=/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000/pretrained_model/train_config.json
+                    - --resume=true
+                    - --dataset.root=/home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2
+                    - --output_dir=/home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K
+                    - --wandb.run_id=a9vyia29
+                codePath: benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py
+                codePathLocal: my_scripts/lerobot_train_yaml.py
+                cpu_count: 112
+                cpu_count_logical: 224
+                cudaVersion: "12.8"
+                disk:
+                    /:
+                        total: "1888425144320"
+                        used: "1087974375424"
+                executable: /home/ext_minje/miniconda3/envs/lerobot060_groot/bin/python
+                git:
+                    commit: eed2ce4044cadf00b8e6de57043553236a21b84e
+                    remote: git@github.com:paragon7060/clvla.git
+                gpu: NVIDIA H200
+                gpu_count: 2
+                gpu_nvidia:
+                    - architecture: Hopper
+                      cudaCores: 16896
+                      memoryTotal: "150754820096"
+                      name: NVIDIA H200
+                      uuid: GPU-86be6e5b-fb48-fa1c-9bd7-83d336cb2991
+                    - architecture: Hopper
+                      cudaCores: 16896
+                      memoryTotal: "150754820096"
+                      name: NVIDIA H200
+                      uuid: GPU-24eb1ba2-7313-ff93-1435-748768ebdbdc
+                host: ext_minje-box
+                memory:
+                    total: "2164176568320"
+                os: Linux-6.8.0-55-generic-x86_64-with-glibc2.39
+                program: /home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py
+                python: CPython 3.12.13
+                root: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K
+                startedAt: "2026-07-21T18:21:04.216001Z"
+                writerId: k8rz28n2235bdfki5y35enovj67jny3l
+        m: []
+        python_version: 3.12.13
+        t:
+            "1":
+                - 1
+                - 11
+                - 41
+                - 49
+                - 51
+                - 71
+                - 83
+                - 98
+            "2":
+                - 1
+                - 11
+                - 41
+                - 49
+                - 51
+                - 71
+                - 83
+                - 98
+            "3":
+                - 5
+                - 13
+                - 14
+                - 15
+                - 16
+                - 61
+                - 62
+            "4": 3.12.13
+            "5": 0.27.2
+            "6": 5.5.4
+            "10":
+                - 21
+            "12": 0.27.2
+            "13": linux-x86_64
+batch_size:
+    value: 128
+checkpoint_path:
+    value: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000
+cudnn_deterministic:
+    value: false
+dataset:
+    value:
+        depth_output_unit: mm
+        episodes: null
+        eval_split: 0
+        image_transforms:
+            enable: false
+            max_num_transforms: 3
+            random_order: false
+            tfs:
+                affine:
+                    kwargs:
+                        degrees:
+                            - -5
+                            - 5
+                        translate:
+                            - 0.05
+                            - 0.05
+                    type: RandomAffine
+                    weight: 1
+                brightness:
+                    kwargs:
+                        brightness:
+                            - 0.8
+                            - 1.2
+                    type: ColorJitter
+                    weight: 1
+                contrast:
+                    kwargs:
+                        contrast:
+                            - 0.8
+                            - 1.2
+                    type: ColorJitter
+                    weight: 1
+                hue:
+                    kwargs:
+                        hue:
+                            - -0.05
+                            - 0.05
+                    type: ColorJitter
+                    weight: 1
+                saturation:
+                    kwargs:
+                        saturation:
+                            - 0.5
+                            - 1.5
+                    type: ColorJitter
+                    weight: 1
+                sharpness:
+                    kwargs:
+                        sharpness:
+                            - 0.5
+                            - 1.5
+                    type: SharpnessJitter
+                    weight: 1
+        repo_id: Whalswp/INSIGHTfixposV4_filtered_multispace_v2
+        return_uint8: false
+        revision: null
+        root: /home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2
+        streaming: false
+        use_imagenet_stats: true
+        video_backend: torchcodec
+env:
+    value: null
+env_eval_freq:
+    value: 20000
+eval:
+    value:
+        batch_size: 50
+        n_episodes: 50
+        recording: false
+        recording_private: false
+        recording_repo_id: null
+        use_async_envs: true
+eval_steps:
+    value: 0
+job:
+    value:
+        detach: false
+        image: huggingface/lerobot-gpu:latest
+        tags: []
+        target: null
+        timeout: 2d
+job_name:
+    value: INSIGHT_RD_RKD_TimewarpVAE_LAPstyle_6K
+log_freq:
+    value: 200
+max_eval_samples:
+    value: 0
+num_workers:
+    value: 4
+optimizer:
+    value:
+        betas:
+            - 0.9
+            - 0.999
+        eps: 1e-08
+        grad_clip_norm: 1
+        lr: 0.0001
+        type: adamw
+        weight_decay: 1e-05
+output_dir:
+    value: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K
+peft:
+    value: null
+persistent_workers:
+    value: true
+policy:
+    value:
+        action_decode_transform: null
+        balance_dataset_weights: true
+        balance_trajectory_weights: true
+        base_model_path: nvidia/GR00T-N1.7-3B
+        batch_size: 32
+        chunk_size: 16
+        dataloader_num_workers: 8
+        dataset_paths: null
+        device: cuda
+        embodiment_tag: new_embodiment
+        image_size:
+            - 256
+            - 256
+        input_features:
+            observation.images.guide:
+                shape:
+                    - 3
+                    - 224
+                    - 224
+                type: VISUAL
+            observation.images.right_shoulder:
+                shape:
+                    - 3
+                    - 224
+                    - 224
+                type: VISUAL
+            observation.images.wrist:
+                shape:
+                    - 3
+                    - 224
+                    - 224
+                type: VISUAL
+            observation.state:
+                shape:
+                    - 16
+                type: STATE
+        license: null
+        lora_alpha: 16
+        lora_dropout: 0.1
+        lora_full_model: false
+        lora_rank: 0
+        max_action_dim: 132
+        max_state_dim: 132
+        max_steps: 10000
+        model_params_fp32: true
+        n_action_steps: 16
+        n_obs_steps: 1
+        normalization_mapping:
+            ACTION: IDENTITY
+            STATE: IDENTITY
+            VISUAL: IDENTITY
+        num_inference_timesteps: null
+        optimizer_betas:
+            - 0.9
+            - 0.999
+        optimizer_eps: 1e-08
+        optimizer_lr: 0.0001
+        optimizer_weight_decay: 1e-05
+        output_dir: ./tmp/gr00t
+        output_features:
+            action:
+                shape:
+                    - 16
+                type: ACTION
+        pretrained_path: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_6K/checkpoints/030000/pretrained_model
+        pretrained_revision: null
+        private: null
+        push_to_hub: false
+        relative_exclude_joints: []
+        repo_id: null
+        report_to: wandb
+        resume: false
+        rkd_angle_weight: 2
+        rkd_distance_weight: 1
+        rkd_enabled: true
+        rkd_fm_loss_weight: 1
+        rkd_loss_weight: 1
+        rkd_student_attention_hidden_dim: 512
+        rkd_student_attention_output_dim: 512
+        rkd_student_pooling: attention
+        rkd_vae_checkpoint: /home/ext_minje/groot_insight/TimewarpVAE_ckpt/multispace_gripper_dedup_batch_ablation_v1/b512/RD/K08_z16_g4_h256/checkpoint-step-20000-epoch-46.84
+        rtc_ramp_rate: null
+        save_steps: 1000
+        tags: null
+        tokenizer_assets_repo: null
+        tune_diffusion_model: true
+        tune_llm: false
+        tune_projector: true
+        tune_top_llm_layers: 0
+        tune_visual: false
+        tune_vlln: true
+        type: groot_rkd
+        use_amp: false
+        use_bf16: true
+        use_flash_attention: false
+        use_peft: false
+        use_relative_actions: false
+        video_backend: decord
+        warmup_ratio: 0.05
+        warmup_steps: 6000
+prefetch_factor:
+    value: 4
+resume:
+    value: true
+reward_model:
+    value: null
+sample_weighting:
+    value: null
+save_checkpoint:
+    value: true
+save_checkpoint_to_hub:
+    value: false
+save_freq:
+    value: 20000
+scheduler:
+    value:
+        name: cosine
+        num_warmup_steps: 6000
+        type: diffuser
+seed:
+    value: 42
+steps:
+    value: 60000
+tolerance_s:
+    value: 0.0001
+use_policy_training_preset:
+    value: true
+wandb:
+    value:
+        add_tags: true
+        disable_artifact: true
+        enable: true
+        entity: null
+        mode: null
+        notes: null
+        project: lerobot
+        run_id: a9vyia29

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_6K/wandb/run-20260721_182104-a9vyia29/files/output.log

@@ -0,0 +1,102 @@
+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/a9vyia29
+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_6K/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, 5089.49it/s]
+`torch_dtype` is deprecated! Use `dtype` instead!
+Loading weights: 100%|██████████| 1031/1031 [00:00<00:00, 1211.09it/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 18:21:24 ot_train.py:103 INSIGHT phase transition: index=1 name=fm_only range=[6000,60000) trainable_params=1620515968
+INFO 2026-07-21 18:21:24 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 2026-07-21 18:21:24 ot_train.py:446 cfg.steps=60000 (60K)
+INFO 2026-07-21 18:21:24 ot_train.py:447 dataset.num_frames=218367 (218K)
+INFO 2026-07-21 18:21:24 ot_train.py:448 dataset.num_episodes=4930
+INFO 2026-07-21 18:21:24 ot_train.py:451 Effective batch size: 128 x 1 = 128
+INFO 2026-07-21 18:21:24 ot_train.py:452 num_learnable_params=1620515968 (2B)
+INFO 2026-07-21 18:21:24 ot_train.py:453 num_total_params=3145712033 (3B)
+INFO 2026-07-21 18:21:24 ot_train.py:494 Resuming data order at epoch 26, sample 82688
+Training:   0%|          | 0/30000 [00:00<?, ?step/s]INFO 2026-07-21 18:21:25 ot_train.py:604 Start offline training on a fixed dataset, with effective batch size: 128
+Training:   1%|          | 200/30000 [08:50<20:03:02,  2.42s/step]INFO 2026-07-21 18:30:15 ot_train.py:649 step:30K smpl:4M ep:87K epch:17.70 loss:0.020 grdn:0.170 lr:5.8e-05 updt_s:1.477 data_s:1.172 smp/s:48 mem_gb:52.85
+Training:   1%|▏         | 400/30000 [18:06<20:56:20,  2.55s/step]INFO 2026-07-21 18:39:32 ot_train.py:649 step:30K smpl:4M ep:88K epch:17.82 loss:0.019 grdn:0.165 lr:5.8e-05 updt_s:1.666 data_s:1.111 smp/s:46 mem_gb:52.85
+Training:   2%|▏         | 600/30000 [27:29<19:06:12,  2.34s/step]INFO 2026-07-21 18:48:54 ot_train.py:649 step:31K smpl:4M ep:88K epch:17.94 loss:0.019 grdn:0.167 lr:5.7e-05 updt_s:1.657 data_s:1.153 smp/s:46 mem_gb:52.78
+Training:   3%|▎         | 800/30000 [35:03<18:36:20,  2.29s/step]INFO 2026-07-21 18:56:28 ot_train.py:649 step:31K smpl:4M ep:89K epch:18.05 loss:0.019 grdn:0.179 lr:5.7e-05 updt_s:1.206 data_s:1.059 smp/s:57 mem_gb:52.88
+Training:   3%|▎         | 1000/30000 [42:36<18:21:53,  2.28s/step]INFO 2026-07-21 19:04:01 ot_train.py:649 step:31K smpl:4M ep:90K epch:18.17 loss:0.019 grdn:0.165 lr:5.6e-05 updt_s:1.207 data_s:1.056 smp/s:57 mem_gb:52.88
+Training:   4%|▍         | 1200/30000 [50:14<18:07:42,  2.27s/step]INFO 2026-07-21 19:11:39 ot_train.py:649 step:31K smpl:4M ep:90K epch:18.29 loss:0.019 grdn:0.170 lr:5.6e-05 updt_s:1.216 data_s:1.069 smp/s:56 mem_gb:52.88
+Training:   5%|▍         | 1400/30000 [57:48<17:56:31,  2.26s/step]INFO 2026-07-21 19:19:13 ot_train.py:649 step:31K smpl:4M ep:91K epch:18.41 loss:0.020 grdn:0.186 lr:5.5e-05 updt_s:1.216 data_s:1.053 smp/s:56 mem_gb:52.88
+Training:   5%|▌         | 1600/30000 [1:05:24<17:20:27,  2.20s/step]INFO 2026-07-21 19:26:50 ot_train.py:649 step:32K smpl:4M ep:91K epch:18.52 loss:0.019 grdn:0.164 lr:5.4e-05 updt_s:1.211 data_s:1.066 smp/s:56 mem_gb:52.88
+Training:   6%|▌         | 1800/30000 [1:13:00<17:44:06,  2.26s/step]INFO 2026-07-21 19:34:26 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:1.198 data_s:1.080 smp/s:56 mem_gb:52.79
+Training:   7%|▋         | 2000/30000 [1:20:32<17:15:06,  2.22s/step]INFO 2026-07-21 19:41:58 ot_train.py:649 step:32K smpl:4M ep:92K epch:18.76 loss:0.017 grdn:0.155 lr:5.3e-05 updt_s:1.204 data_s:1.053 smp/s:57 mem_gb:52.88
+Training:   7%|▋         | 2200/30000 [1:28:03<17:24:18,  2.25s/step]INFO 2026-07-21 19:49:29 ot_train.py:649 step:32K smpl:4M ep:93K epch:18.87 loss:0.018 grdn:0.161 lr:5.3e-05 updt_s:1.203 data_s:1.048 smp/s:57 mem_gb:52.88
+Training:   8%|▊         | 2400/30000 [1:35:33<17:24:38,  2.27s/step]INFO 2026-07-21 19:56:59 ot_train.py:649 step:32K smpl:4M ep:94K epch:18.99 loss:0.018 grdn:0.158 lr:5.2e-05 updt_s:1.207 data_s:1.040 smp/s:57 mem_gb:52.88
+Training:   9%|▊         | 2600/30000 [1:43:07<17:22:49,  2.28s/step]INFO 2026-07-21 20:04:32 ot_train.py:649 step:33K smpl:4M ep:94K epch:19.11 loss:0.018 grdn:0.164 lr:5.1e-05 updt_s:1.210 data_s:1.052 smp/s:57 mem_gb:52.88
+Training:   9%|▉         | 2800/30000 [1:50:38<17:11:29,  2.28s/step]INFO 2026-07-21 20:12:04 ot_train.py:649 step:33K smpl:4M ep:95K epch:19.23 loss:0.018 grdn:0.163 lr:5.1e-05 updt_s:1.203 data_s:1.052 smp/s:57 mem_gb:52.79
+Training:  10%|█         | 3000/30000 [1:58:14<16:58:07,  2.26s/step]INFO 2026-07-21 20:19:39 ot_train.py:649 step:33K smpl:4M ep:95K epch:19.34 loss:0.017 grdn:0.149 lr:5.0e-05 updt_s:1.219 data_s:1.056 smp/s:56 mem_gb:52.88
+Training:  11%|█         | 3200/30000 [2:05:54<16:59:17,  2.28s/step]INFO 2026-07-21 20:27:19 ot_train.py:649 step:33K smpl:4M ep:96K epch:19.46 loss:0.016 grdn:0.148 lr:5.0e-05 updt_s:1.226 data_s:1.070 smp/s:56 mem_gb:52.88
+Training:  11%|█▏        | 3400/30000 [2:13:27<16:33:16,  2.24s/step]INFO 2026-07-21 20:34:52 ot_train.py:649 step:33K smpl:4M ep:97K epch:19.58 loss:0.017 grdn:0.152 lr:4.9e-05 updt_s:1.209 data_s:1.052 smp/s:57 mem_gb:52.88
+Training:  12%|█▏        | 3600/30000 [2:20:58<16:22:14,  2.23s/step]INFO 2026-07-21 20:42:23 ot_train.py:649 step:34K smpl:4M ep:97K epch:19.70 loss:0.017 grdn:0.158 lr:4.9e-05 updt_s:1.210 data_s:1.041 smp/s:57 mem_gb:52.88
+Training:  13%|█▎        | 3800/30000 [2:28:31<16:45:45,  2.30s/step]INFO 2026-07-21 20:49:56 ot_train.py:649 step:34K smpl:4M ep:98K epch:19.81 loss:0.017 grdn:0.153 lr:4.8e-05 updt_s:1.214 data_s:1.048 smp/s:57 mem_gb:52.88
+Training:  13%|█▎        | 4000/30000 [2:36:03<16:16:06,  2.25s/step]INFO 2026-07-21 20:57:29 ot_train.py:649 step:34K smpl:4M ep:98K epch:19.93 loss:0.016 grdn:0.149 lr:4.7e-05 updt_s:1.207 data_s:1.053 smp/s:57 mem_gb:52.79
+Training:  14%|█▍        | 4200/30000 [2:43:37<15:55:48,  2.22s/step]INFO 2026-07-21 21:05:03 ot_train.py:649 step:34K smpl:4M ep:99K epch:20.05 loss:0.016 grdn:0.152 lr:4.7e-05 updt_s:1.219 data_s:1.046 smp/s:57 mem_gb:52.88
+Training:  15%|█▍        | 4400/30000 [2:51:10<16:25:39,  2.31s/step]INFO 2026-07-21 21:12:35 ot_train.py:649 step:34K smpl:4M ep:99K epch:20.16 loss:0.015 grdn:0.140 lr:4.6e-05 updt_s:1.215 data_s:1.046 smp/s:57 mem_gb:52.88
+Training:  15%|█▌        | 4600/30000 [2:58:39<15:40:58,  2.22s/step]INFO 2026-07-21 21:20:05 ot_train.py:649 step:35K smpl:4M ep:100K epch:20.28 loss:0.016 grdn:0.158 lr:4.6e-05 updt_s:1.208 data_s:1.035 smp/s:57 mem_gb:52.88
+Training:  16%|█▌        | 4800/30000 [3:06:09<15:43:04,  2.25s/step]INFO 2026-07-21 21:27:34 ot_train.py:649 step:35K smpl:4M ep:101K epch:20.40 loss:0.016 grdn:0.148 lr:4.5e-05 updt_s:1.206 data_s:1.036 smp/s:57 mem_gb:52.88
+Training:  17%|█▋        | 5000/30000 [3:13:41<17:44:17,  2.55s/step]INFO 2026-07-21 21:35:06 ot_train.py:649 step:35K smpl:4M ep:101K epch:20.52 loss:0.016 grdn:0.149 lr:4.4e-05 updt_s:1.207 data_s:1.050 smp/s:57 mem_gb:52.79
+Training:  17%|█▋        | 5200/30000 [3:21:11<15:33:11,  2.26s/step]INFO 2026-07-21 21:42:37 ot_train.py:649 step:35K smpl:5M ep:102K epch:20.63 loss:0.015 grdn:0.142 lr:4.4e-05 updt_s:1.212 data_s:1.036 smp/s:57 mem_gb:52.88
+Training:  18%|█▊        | 5400/30000 [3:28:48<17:39:08,  2.58s/step]INFO 2026-07-21 21:50:13 ot_train.py:649 step:35K smpl:5M ep:102K epch:20.75 loss:0.015 grdn:0.147 lr:4.3e-05 updt_s:1.223 data_s:1.056 smp/s:56 mem_gb:52.88
+Training:  19%|█▊        | 5600/30000 [3:36:36<15:35:06,  2.30s/step]INFO 2026-07-21 21:58:01 ot_train.py:649 step:36K smpl:5M ep:103K epch:20.87 loss:0.015 grdn:0.141 lr:4.3e-05 updt_s:1.245 data_s:1.093 smp/s:55 mem_gb:52.88
+Training:  19%|█▉        | 5800/30000 [3:44:09<15:11:15,  2.26s/step]INFO 2026-07-21 22:05:35 ot_train.py:649 step:36K smpl:5M ep:103K epch:20.98 loss:0.015 grdn:0.142 lr:4.2e-05 updt_s:1.213 data_s:1.051 smp/s:57 mem_gb:52.88
+Training:  20%|██        | 6000/30000 [3:51:38<14:50:08,  2.23s/step]INFO 2026-07-21 22:13:04 ot_train.py:649 step:36K smpl:5M ep:104K epch:21.10 loss:0.015 grdn:0.144 lr:4.2e-05 updt_s:1.201 data_s:1.039 smp/s:57 mem_gb:52.88
+Training:  21%|██        | 6200/30000 [3:59:06<14:56:02,  2.26s/step]INFO 2026-07-21 22:20:32 ot_train.py:649 step:36K smpl:5M ep:105K epch:21.22 loss:0.015 grdn:0.147 lr:4.1e-05 updt_s:1.199 data_s:1.039 smp/s:57 mem_gb:52.79
+Training:  21%|██▏       | 6400/30000 [4:06:35<14:55:12,  2.28s/step]INFO 2026-07-21 22:28:01 ot_train.py:649 step:36K smpl:5M ep:105K epch:21.34 loss:0.014 grdn:0.140 lr:4.0e-05 updt_s:1.208 data_s:1.033 smp/s:57 mem_gb:52.88
+Training:  22%|██▏       | 6600/30000 [4:14:04<14:32:50,  2.24s/step]INFO 2026-07-21 22:35:29 ot_train.py:649 step:37K smpl:5M ep:106K epch:21.45 loss:0.014 grdn:0.137 lr:4.0e-05 updt_s:1.203 data_s:1.036 smp/s:57 mem_gb:52.88
+Training:  23%|██▎       | 6800/30000 [4:21:35<14:29:48,  2.25s/step]INFO 2026-07-21 22:43:00 ot_train.py:649 step:37K smpl:5M ep:106K epch:21.57 loss:0.014 grdn:0.138 lr:3.9e-05 updt_s:1.212 data_s:1.039 smp/s:57 mem_gb:52.88
+Training:  23%|██▎       | 7000/30000 [4:29:06<14:20:07,  2.24s/step]INFO 2026-07-21 22:50:32 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:1.206 data_s:1.047 smp/s:57 mem_gb:52.88
+Training:  24%|██▍       | 7200/30000 [4:36:37<14:15:35,  2.25s/step]INFO 2026-07-21 22:58:03 ot_train.py:649 step:37K smpl:5M ep:108K epch:21.81 loss:0.014 grdn:0.138 lr:3.8e-05 updt_s:1.204 data_s:1.049 smp/s:57 mem_gb:52.88
+Training:  25%|██▍       | 7400/30000 [4:44:10<14:28:03,  2.30s/step]INFO 2026-07-21 23:05:35 ot_train.py:649 step:37K smpl:5M ep:108K epch:21.92 loss:0.014 grdn:0.145 lr:3.8e-05 updt_s:1.207 data_s:1.050 smp/s:57 mem_gb:52.79
+Training:  25%|██▌       | 7600/30000 [4:51:49<14:57:25,  2.40s/step]INFO 2026-07-21 23:13:14 ot_train.py:649 step:38K smpl:5M ep:109K epch:22.04 loss:0.014 grdn:0.135 lr:3.7e-05 updt_s:1.225 data_s:1.068 smp/s:56 mem_gb:52.88
+Training:  26%|██▌       | 7800/30000 [4:59:45<14:47:54,  2.40s/step]INFO 2026-07-21 23:21:10 ot_train.py:649 step:38K smpl:5M ep:109K epch:22.16 loss:0.013 grdn:0.131 lr:3.6e-05 updt_s:1.255 data_s:1.122 smp/s:54 mem_gb:52.88
+Training:  27%|██▋       | 8000/30000 [5:07:37<13:59:40,  2.29s/step]INFO 2026-07-21 23:29:02 ot_train.py:649 step:38K smpl:5M ep:110K epch:22.27 loss:0.013 grdn:0.135 lr:3.6e-05 updt_s:1.243 data_s:1.113 smp/s:54 mem_gb:52.88
+Training:  27%|██▋       | 8200/30000 [5:15:55<14:59:28,  2.48s/step]INFO 2026-07-21 23:37:21 ot_train.py:649 step:38K smpl:5M ep:110K epch:22.39 loss:0.013 grdn:0.137 lr:3.5e-05 updt_s:1.286 data_s:1.202 smp/s:51 mem_gb:52.88
+Training:  28%|██▊       | 8400/30000 [5:23:49<14:31:43,  2.42s/step]INFO 2026-07-21 23:45:15 ot_train.py:649 step:38K smpl:5M ep:111K epch:22.51 loss:0.013 grdn:0.132 lr:3.5e-05 updt_s:1.239 data_s:1.128 smp/s:54 mem_gb:52.79
+Training:  29%|██▊       | 8600/30000 [5:31:43<14:10:23,  2.38s/step]INFO 2026-07-21 23:53:09 ot_train.py:649 step:39K smpl:5M ep:112K epch:22.63 loss:0.012 grdn:0.131 lr:3.4e-05 updt_s:1.254 data_s:1.112 smp/s:54 mem_gb:52.88
+Training:  29%|██▉       | 8800/30000 [5:39:27<13:13:40,  2.25s/step]INFO 2026-07-22 00:00:53 ot_train.py:649 step:39K smpl:5M ep:112K epch:22.74 loss:0.012 grdn:0.127 lr:3.4e-05 updt_s:1.242 data_s:1.074 smp/s:55 mem_gb:52.88
+Training:  30%|███       | 9000/30000 [5:47:30<14:20:24,  2.46s/step]INFO 2026-07-22 00:08:56 ot_train.py:649 step:39K smpl:5M ep:113K epch:22.86 loss:0.013 grdn:0.128 lr:3.3e-05 updt_s:1.230 data_s:1.180 smp/s:53 mem_gb:52.88
+Training:  31%|███       | 9200/30000 [5:55:57<13:53:09,  2.40s/step]INFO 2026-07-22 00:17:22 ot_train.py:649 step:39K smpl:5M ep:113K epch:22.98 loss:0.013 grdn:0.139 lr:3.3e-05 updt_s:1.259 data_s:1.271 smp/s:51 mem_gb:52.88
+Training:  31%|███▏      | 9400/30000 [6:04:40<13:39:54,  2.39s/step]INFO 2026-07-22 00:26:05 ot_train.py:649 step:39K smpl:5M ep:114K epch:23.10 loss:0.013 grdn:0.135 lr:3.2e-05 updt_s:1.263 data_s:1.349 smp/s:49 mem_gb:52.88
+Training:  32%|███▏      | 9600/30000 [6:13:04<14:04:49,  2.48s/step]INFO 2026-07-22 00:34:30 ot_train.py:649 step:40K smpl:5M ep:114K epch:23.21 loss:0.013 grdn:0.133 lr:3.2e-05 updt_s:1.264 data_s:1.254 smp/s:51 mem_gb:52.79
+Training:  33%|███▎      | 9800/30000 [6:22:34<16:44:33,  2.98s/step]INFO 2026-07-22 00:43:59 ot_train.py:649 step:40K smpl:5M ep:115K epch:23.33 loss:0.012 grdn:0.127 lr:3.1e-05 updt_s:1.363 data_s:1.479 smp/s:45 mem_gb:52.88
+Training:  33%|███▎      | 10000/30000 [6:33:46<15:51:53,  2.86s/step]INFO 2026-07-22 00:55:12 ot_train.py:649 step:40K smpl:5M ep:116K epch:23.45 loss:0.012 grdn:0.122 lr:3.0e-05 updt_s:1.426 data_s:1.933 smp/s:38 mem_gb:52.88
+Training:  34%|███▍      | 10200/30000 [6:42:35<13:24:13,  2.44s/step]INFO 2026-07-22 01:04:00 ot_train.py:649 step:40K smpl:5M ep:116K epch:23.56 loss:0.012 grdn:0.131 lr:3.0e-05 updt_s:1.309 data_s:1.329 smp/s:49 mem_gb:52.88
+Training:  35%|███▍      | 10400/30000 [6:51:15<15:10:38,  2.79s/step]INFO 2026-07-22 01:12:40 ot_train.py:649 step:40K smpl:5M ep:117K epch:23.68 loss:0.012 grdn:0.122 lr:2.9e-05 updt_s:1.286 data_s:1.310 smp/s:49 mem_gb:52.88
+Training:  35%|███▌      | 10600/30000 [6:59:31<12:40:06,  2.35s/step]INFO 2026-07-22 01:20:56 ot_train.py:649 step:41K smpl:5M ep:117K epch:23.80 loss:0.012 grdn:0.128 lr:2.9e-05 updt_s:1.286 data_s:1.189 smp/s:52 mem_gb:52.88
+Training:  36%|███▌      | 10800/30000 [7:08:16<16:02:07,  3.01s/step]INFO 2026-07-22 01:29:41 ot_train.py:649 step:41K smpl:5M ep:118K epch:23.92 loss:0.011 grdn:0.128 lr:2.8e-05 updt_s:1.357 data_s:1.261 smp/s:49 mem_gb:52.79
+Training:  37%|███▋      | 11000/30000 [7:17:40<12:24:49,  2.35s/step]INFO 2026-07-22 01:39:05 ot_train.py:649 step:41K smpl:5M ep:118K epch:24.03 loss:0.011 grdn:0.119 lr:2.8e-05 updt_s:1.637 data_s:1.180 smp/s:45 mem_gb:52.88
+Training:  37%|███▋      | 11200/30000 [7:26:05<17:02:39,  3.26s/step]INFO 2026-07-22 01:47:31 ot_train.py:649 step:41K smpl:5M ep:119K epch:24.15 loss:0.011 grdn:0.123 lr:2.7e-05 updt_s:1.371 data_s:1.153 smp/s:51 mem_gb:52.88
+Training:  38%|███▊      | 11266/30000 [7:29:22<17:35:09,  3.38s/step]Traceback (most recent call last):
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1453, in <module>
+    main()
+  File "/home/ext_minje/clvla/benchmarks/INSIGHT/my_scripts/lerobot_train_yaml.py", line 1449, in main
+    train_module.main()
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/scripts/lerobot_train.py", line 816, 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/processor/pipeline.py", line 299, in __call__
+    transformed_transition = self._forward(transition)
+                             ^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/processor/pipeline.py", line 316, in _forward
+    transition = processor_step(transition)
+                 ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/policies/groot/processor_groot.py", line 2158, in __call__
+    sample_images = self._build_sample_images(video, batch_size, target_device)
+                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/clvla/lerobot/src/lerobot/policies/groot/processor_groot.py", line 2118, in _build_sample_images
+    video_t = video if torch.is_tensor(video) else torch.from_numpy(np.ascontiguousarray(video))
+                                                                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^
+KeyboardInterrupt