Add files using upload-large-folder tool

Abs_6D + DeltaEE/Baseline/action_space_manifest.json

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+{
+  "schema_version": 2,
+  "action_space": "ee_abs_rot6d+ee_delta",
+  "action_views": [
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+    "ee_delta"
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+  "source_feature": null,
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+    "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"
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+  "dataset_repo_id": "Whalswp/INSIGHTfixposV4_filtered_multispace_v2",
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Abs_6D + DeltaEE/Baseline/prompt_manifest.json

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

Abs_6D + DeltaEE/Baseline/source_config.yaml

@@ -0,0 +1,63 @@
+# INSIGHT GR00T N1.7 training config
+# INSIGHT wrapper-only fields are stripped before LeRobot config parsing.
+insight:
+  # Options: joint_abs | ee_abs_quat | ee_abs_rot6d | ee_delta
+  action_space: ee_abs_rot6d+ee_delta
+  # Options: coarse | detailed
+  prompt_set: detailed
+  save_steps: ["60K"]
+
+dataset:
+  repo_id: Whalswp/INSIGHTfixposV4_filtered_multispace_v2
+  root: ${HOME}/INSIGHTfixposV4_filtered_multispace_v2
+
+policy:
+  type: groot
+  device: cuda
+  chunk_size: 16
+  n_action_steps: 16
+  push_to_hub: false
+  # Trainable scope. This baseline trains projector, diffusion, and VLLN; LLM/vision stay frozen.
+  # VLM
+  tune_llm: false
+  tune_visual: false
+  tune_top_llm_layers: 0
+  # Action Expert
+  tune_projector: true
+  tune_diffusion_model: true
+  tune_vlln: true
+
+
+seed: 42
+batch_size: 128
+steps: 60000
+log_freq: 200
+output_dir: "${HOME}/groot_insight/train_ckpt/Abs_6D + DeltaEE/Baseline"
+job_name: INSIGHT_RD_baseline
+
+wandb:
+  enable: true
+  disable_artifact: true
+
+# Omitted because these match LeRobot/GR00T defaults or are unused in this setup:
+#
+# dataset:
+#   eval_split: 0.0
+#   image_transforms:
+#     enable: false  # default; set true only for train-image augmentation.
+#
+# policy:
+#   base_model_path: nvidia/GR00T-N1.7-3B
+#   embodiment_tag: new_embodiment
+#   use_relative_actions: false
+#   use_bf16: true
+#   repo_id: Whalswp/INSIGHT  # unused while push_to_hub is false
+#
+# save_checkpoint: true
+# use_policy_training_preset: true
+# eval_steps: 0
+# env_eval_freq: 0
+#
+# insight.prompt_set options:
+# coarse: High-level task text that requires following the visual guide.
+# detailed: Direction- and interaction-specific text, including rotation and push/pull details.

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

@@ -0,0 +1,205 @@
+{
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+  "action_space": "ee_abs_rot6d+ee_delta",
+  "action_views": [
+    "ee_abs_rot6d",
+    "ee_delta"
+  ],
+  "source_feature": null,
+  "canonical_feature": "action",
+  "dtype": "float32",
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+    "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",
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+    "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,
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Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/checkpoints/030000/pretrained_model/policy_preprocessor.json

@@ -0,0 +1,82 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "rkd_preserve_raw_action",
+      "config": {}
+    },
+    {
+      "registry_name": "groot_n1_7_pack_inputs_v1",
+      "config": {
+        "state_horizon": 1,
+        "action_horizon": 16,
+        "valid_action_horizon": 16,
+        "video_horizon": null,
+        "max_state_dim": 132,
+        "max_action_dim": 132,
+        "language_key": "task",
+        "formalize_language": true,
+        "embodiment_tag": "new_embodiment",
+        "embodiment_mapping": {
+          "oxe_droid_relative_eef_relative_joint": 24,
+          "xdof_relative_eef_relative_joint": 27,
+          "xdof_relative_eef_relative_joint_subtask": 27,
+          "real_g1_relative_eef_relative_joints": 25,
+          "real_r1_pro_sharpa_relative_eef": 26,
+          "real_r1_pro_sharpa_relative_eef_human": 26,
+          "real_r1_pro_sharpa_relative_eef_maxinsights": 26,
+          "real_r1_pro_sharpa_relative_eef_mecka": 26,
+          "unitree_g1_full_body_with_waist_height_nav_cmd": 25,
+          "simpler_env_google": 0,
+          "simpler_env_widowx": 1,
+          "libero_sim": 2,
+          "new_embodiment": 10
+        },
+        "normalize_min_max": true,
+        "state_dropout_prob": 0.0,
+        "clip_outliers": true,
+        "use_percentiles": false,
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+        "raw_stats": null,
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+      "state_file": "policy_preprocessor_step_3_groot_n1_7_pack_inputs_v1.safetensors"
+    },
+    {
+      "registry_name": "groot_n1_7_vlm_encode_v1",
+      "config": {
+        "model_name": "nvidia/Cosmos-Reason2-2B",
+        "image_crop_size": [
+          230,
+          230
+        ],
+        "image_target_size": [
+          256,
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+        "use_albumentations": false,
+        "letter_box_transform": false,
+        "device": "cuda"
+      }
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
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+      }
+    }
+  ]
+}

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

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Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/debug.log.rerun_20260719_231636

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Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260719_231652-ny0tx2de/files/output.log

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+INFO 2026-07-19 23:16:54 db_utils.py:122 Track this run --> https://wandb.ai/minje227_hyu-hanyang-university/lerobot/runs/ny0tx2de
+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, 4055.81it/s]
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+INFO 2026-07-19 23:17:06 ot_train.py:405 Creating optimizer and scheduler
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+Training:   7%|▋         | 4000/60000 [3:15:46<49:17:00,  3.17s/step]INFO 2026-07-20 02:32:53 ot_train.py:649 step:4K smpl:512K ep:12K epch:2.34 loss:0.076 grdn:0.618 lr:6.5e-05 updt_s:1.571 data_s:1.252 smp/s:45 mem_gb:52.98
+Training:   7%|▋         | 4200/60000 [3:25:59<49:40:20,  3.20s/step]INFO 2026-07-20 02:43:06 ot_train.py:649 step:4K smpl:538K ep:12K epch:2.46 loss:0.074 grdn:0.585 lr:6.8e-05 updt_s:1.673 data_s:1.386 smp/s:42 mem_gb:52.98
+Training:   7%|▋         | 4400/60000 [3:36:16<43:39:46,  2.83s/step]INFO 2026-07-20 02:53:23 ot_train.py:649 step:4K smpl:563K ep:13K epch:2.58 loss:0.071 grdn:0.558 lr:7.2e-05 updt_s:1.651 data_s:1.429 smp/s:42 mem_gb:52.98
+Training:   8%|▊         | 4600/60000 [3:46:41<46:29:34,  3.02s/step]INFO 2026-07-20 03:03:48 ot_train.py:649 step:5K smpl:589K ep:13K epch:2.70 loss:0.069 grdn:0.520 lr:7.5e-05 updt_s:1.683 data_s:1.437 smp/s:41 mem_gb:52.90
+Training:   8%|▊         | 4800/60000 [3:56:46<44:49:14,  2.92s/step]INFO 2026-07-20 03:13:53 ot_train.py:649 step:5K smpl:614K ep:14K epch:2.81 loss:0.068 grdn:0.514 lr:7.8e-05 updt_s:1.570 data_s:1.448 smp/s:42 mem_gb:52.98
+Training:   8%|▊         | 5000/60000 [4:07:01<45:59:49,  3.01s/step]INFO 2026-07-20 03:24:08 ot_train.py:649 step:5K smpl:640K ep:14K epch:2.93 loss:0.066 grdn:0.472 lr:8.2e-05 updt_s:1.665 data_s:1.405 smp/s:42 mem_gb:52.98
+Training:   9%|▊         | 5200/60000 [4:17:15<44:00:39,  2.89s/step]INFO 2026-07-20 03:34:22 ot_train.py:649 step:5K smpl:666K ep:15K epch:3.05 loss:0.065 grdn:0.460 lr:8.5e-05 updt_s:1.578 data_s:1.486 smp/s:42 mem_gb:52.98
+Training:   9%|▉         | 5400/60000 [4:27:33<46:48:47,  3.09s/step]INFO 2026-07-20 03:44:40 ot_train.py:649 step:5K smpl:691K ep:16K epch:3.17 loss:0.063 grdn:0.437 lr:8.8e-05 updt_s:1.547 data_s:1.538 smp/s:41 mem_gb:52.98
+Training:   9%|▉         | 5600/60000 [4:37:50<47:09:23,  3.12s/step]INFO 2026-07-20 03:54:57 ot_train.py:649 step:6K smpl:717K ep:16K epch:3.28 loss:0.062 grdn:0.433 lr:9.2e-05 updt_s:1.584 data_s:1.492 smp/s:42 mem_gb:52.98
+Training:  10%|▉         | 5800/60000 [4:48:15<44:13:43,  2.94s/step]INFO 2026-07-20 04:05:22 ot_train.py:649 step:6K smpl:742K ep:17K epch:3.40 loss:0.061 grdn:0.418 lr:9.5e-05 updt_s:1.635 data_s:1.489 smp/s:41 mem_gb:52.90
+Training:  10%|█         | 6000/60000 [4:58:17<47:18:02,  3.15s/step]INFO 2026-07-20 04:15:24 ot_train.py:649 step:6K smpl:768K ep:17K epch:3.52 loss:0.061 grdn:0.413 lr:9.8e-05 updt_s:1.629 data_s:1.375 smp/s:43 mem_gb:52.98
+Training:  10%|█         | 6200/60000 [5:08:22<44:18:03,  2.96s/step]INFO 2026-07-20 04:25:29 ot_train.py:649 step:6K smpl:794K ep:18K epch:3.63 loss:0.061 grdn:0.402 lr:1.0e-04 updt_s:1.563 data_s:1.455 smp/s:42 mem_gb:52.98
+Training:  11%|█         | 6400/60000 [5:18:36<45:48:59,  3.08s/step]INFO 2026-07-20 04:35:43 ot_train.py:649 step:6K smpl:819K ep:18K epch:3.75 loss:0.058 grdn:0.372 lr:1.0e-04 updt_s:1.595 data_s:1.468 smp/s:42 mem_gb:52.98
+Training:  11%|█         | 6600/60000 [5:28:50<45:21:23,  3.06s/step]INFO 2026-07-20 04:45:57 ot_train.py:649 step:7K smpl:845K ep:19K epch:3.87 loss:0.058 grdn:0.365 lr:1.0e-04 updt_s:1.613 data_s:1.451 smp/s:42 mem_gb:52.98
+Training:  11%|█▏        | 6800/60000 [5:38:48<41:53:33,  2.83s/step]INFO 2026-07-20 04:55:55 ot_train.py:649 step:7K smpl:870K ep:20K epch:3.99 loss:0.057 grdn:0.354 lr:1.0e-04 updt_s:1.623 data_s:1.362 smp/s:43 mem_gb:52.90
+Training:  12%|█▏        | 7000/60000 [5:48:49<47:26:50,  3.22s/step]INFO 2026-07-20 05:05:57 ot_train.py:649 step:7K smpl:896K ep:20K epch:4.10 loss:0.054 grdn:0.348 lr:1.0e-04 updt_s:1.646 data_s:1.358 smp/s:43 mem_gb:52.98
+Training:  12%|█▏        | 7200/60000 [5:58:59<44:38:04,  3.04s/step]INFO 2026-07-20 05:16:06 ot_train.py:649 step:7K smpl:922K ep:21K epch:4.22 loss:0.054 grdn:0.338 lr:1.0e-04 updt_s:1.621 data_s:1.423 smp/s:42 mem_gb:52.98
+Training:  12%|█▏        | 7400/60000 [6:09:22<45:09:07,  3.09s/step]INFO 2026-07-20 05:26:29 ot_train.py:649 step:7K smpl:947K ep:21K epch:4.34 loss:0.052 grdn:0.328 lr:1.0e-04 updt_s:1.600 data_s:1.507 smp/s:41 mem_gb:52.98
+Training:  13%|█▎        | 7600/60000 [6:19:42<44:16:53,  3.04s/step]INFO 2026-07-20 05:36:50 ot_train.py:649 step:8K smpl:973K ep:22K epch:4.45 loss:0.052 grdn:0.324 lr:1.0e-04 updt_s:1.553 data_s:1.545 smp/s:41 mem_gb:52.98
+Training:  13%|█▎        | 7800/60000 [6:30:06<44:14:43,  3.05s/step]INFO 2026-07-20 05:47:13 ot_train.py:649 step:8K smpl:998K ep:23K epch:4.57 loss:0.053 grdn:0.326 lr:1.0e-04 updt_s:1.574 data_s:1.536 smp/s:41 mem_gb:52.98
+Training:  13%|█▎        | 8000/60000 [6:40:32<44:37:22,  3.09s/step]INFO 2026-07-20 05:57:39 ot_train.py:649 step:8K smpl:1M ep:23K epch:4.69 loss:0.050 grdn:0.315 lr:1.0e-04 updt_s:1.549 data_s:1.575 smp/s:41 mem_gb:52.90
+Training:  14%|█▎        | 8200/60000 [6:50:50<44:08:31,  3.07s/step]INFO 2026-07-20 06:07:57 ot_train.py:649 step:8K smpl:1M ep:24K epch:4.81 loss:0.048 grdn:0.302 lr:1.0e-04 updt_s:1.565 data_s:1.522 smp/s:41 mem_gb:52.98
+Training:  14%|█▍        | 8400/60000 [7:01:04<43:01:31,  3.00s/step]INFO 2026-07-20 06:18:12 ot_train.py:649 step:8K smpl:1M ep:24K epch:4.92 loss:0.048 grdn:0.306 lr:1.0e-04 updt_s:1.565 data_s:1.500 smp/s:42 mem_gb:52.98
+Training:  14%|█▍        | 8600/60000 [7:11:14<45:26:03,  3.18s/step]INFO 2026-07-20 06:28:22 ot_train.py:649 step:9K smpl:1M ep:25K epch:5.04 loss:0.052 grdn:0.338 lr:9.9e-05 updt_s:1.592 data_s:1.453 smp/s:42 mem_gb:52.98
+Training:  15%|█▍        | 8800/60000 [7:21:20<42:52:50,  3.02s/step]INFO 2026-07-20 06:38:27 ot_train.py:649 step:9K smpl:1M ep:25K epch:5.16 loss:0.049 grdn:0.312 lr:9.9e-05 updt_s:1.580 data_s:1.441 smp/s:42 mem_gb:52.98
+Training:  15%|█▌        | 9000/60000 [7:31:40<43:46:51,  3.09s/step]INFO 2026-07-20 06:48:47 ot_train.py:649 step:9K smpl:1M ep:26K epch:5.28 loss:0.047 grdn:0.277 lr:9.9e-05 updt_s:1.606 data_s:1.490 smp/s:41 mem_gb:52.98
+Training:  15%|█▌        | 9200/60000 [7:41:57<42:09:48,  2.99s/step]INFO 2026-07-20 06:59:04 ot_train.py:649 step:9K smpl:1M ep:27K epch:5.39 loss:0.045 grdn:0.280 lr:9.9e-05 updt_s:1.571 data_s:1.506 smp/s:42 mem_gb:52.90
+Training:  16%|█▌        | 9400/60000 [7:52:18<43:03:58,  3.06s/step]INFO 2026-07-20 07:09:25 ot_train.py:649 step:9K smpl:1M ep:27K epch:5.51 loss:0.045 grdn:0.293 lr:9.9e-05 updt_s:1.565 data_s:1.535 smp/s:41 mem_gb:52.98
+Training:  16%|█▌        | 9600/60000 [8:02:37<44:11:24,  3.16s/step]INFO 2026-07-20 07:19:44 ot_train.py:649 step:10K smpl:1M ep:28K epch:5.63 loss:0.045 grdn:0.280 lr:9.9e-05 updt_s:1.586 data_s:1.505 smp/s:41 mem_gb:52.98
+Training:  16%|█▋        | 9800/60000 [8:12:55<43:02:20,  3.09s/step]INFO 2026-07-20 07:30:02 ot_train.py:649 step:10K smpl:1M ep:28K epch:5.74 loss:0.044 grdn:0.276 lr:9.9e-05 updt_s:1.529 data_s:1.556 smp/s:41 mem_gb:52.98
+Training:  17%|█▋        | 10000/60000 [8:23:15<42:41:52,  3.07s/step]INFO 2026-07-20 07:40:22 ot_train.py:649 step:10K smpl:1M ep:29K epch:5.86 loss:0.048 grdn:0.306 lr:9.9e-05 updt_s:1.536 data_s:1.560 smp/s:41 mem_gb:52.98
+INFO 2026-07-20 07:40:22 ot_train.py:103 INSIGHT phase transition: index=1 name=fm_only range=[10000,60000) trainable_params=1620515968
+Training:  17%|█▋        | 10200/60000 [8:33:37<42:47:12,  3.09s/step]INFO 2026-07-20 07:50:45 ot_train.py:649 step:10K smpl:1M ep:29K epch:5.98 loss:0.044 grdn:0.268 lr:9.9e-05 updt_s:1.584 data_s:1.521 smp/s:41 mem_gb:52.77
+Training:  17%|█▋        | 10400/60000 [8:44:10<43:46:46,  3.18s/step]INFO 2026-07-20 08:01:17 ot_train.py:649 step:10K smpl:1M ep:30K epch:6.10 loss:0.043 grdn:0.282 lr:9.8e-05 updt_s:1.652 data_s:1.507 smp/s:41 mem_gb:52.85
+Training:  18%|█▊        | 10600/60000 [8:54:27<44:24:35,  3.24s/step]INFO 2026-07-20 08:11:34 ot_train.py:649 step:11K smpl:1M ep:31K epch:6.21 loss:0.043 grdn:0.267 lr:9.8e-05 updt_s:1.570 data_s:1.508 smp/s:42 mem_gb:52.85
+Training:  18%|█▊        | 10800/60000 [9:04:46<42:25:57,  3.10s/step]INFO 2026-07-20 08:21:53 ot_train.py:649 step:11K smpl:1M ep:31K epch:6.33 loss:0.043 grdn:0.271 lr:9.8e-05 updt_s:1.604 data_s:1.483 smp/s:41 mem_gb:52.85
+Training:  18%|█▊        | 11000/60000 [9:15:02<41:13:46,  3.03s/step]INFO 2026-07-20 08:32:09 ot_train.py:649 step:11K smpl:1M ep:32K epch:6.45 loss:0.042 grdn:0.265 lr:9.8e-05 updt_s:1.552 data_s:1.522 smp/s:42 mem_gb:52.85
+Training:  19%|█▊        | 11200/60000 [9:25:18<42:51:32,  3.16s/step]INFO 2026-07-20 08:42:25 ot_train.py:649 step:11K smpl:1M ep:32K epch:6.57 loss:0.042 grdn:0.257 lr:9.8e-05 updt_s:1.547 data_s:1.530 smp/s:42 mem_gb:52.85
+Training:  19%|█▉        | 11400/60000 [9:35:35<39:55:24,  2.96s/step]INFO 2026-07-20 08:52:42 ot_train.py:649 step:11K smpl:1M ep:33K epch:6.68 loss:0.042 grdn:0.265 lr:9.8e-05 updt_s:1.567 data_s:1.512 smp/s:42 mem_gb:52.77
+Training:  19%|█▉        | 11600/60000 [9:45:55<41:36:42,  3.10s/step]INFO 2026-07-20 09:03:02 ot_train.py:649 step:12K smpl:1M ep:34K epch:6.80 loss:0.041 grdn:0.259 lr:9.7e-05 updt_s:1.583 data_s:1.509 smp/s:41 mem_gb:52.85
+Training:  20%|█▉        | 11800/60000 [9:56:10<40:46:44,  3.05s/step]INFO 2026-07-20 09:13:17 ot_train.py:649 step:12K smpl:2M ep:34K epch:6.92 loss:0.040 grdn:0.253 lr:9.7e-05 updt_s:1.580 data_s:1.490 smp/s:42 mem_gb:52.85
+Training:  20%|██        | 12000/60000 [10:06:26<39:00:01,  2.93s/step]INFO 2026-07-20 09:23:33 ot_train.py:649 step:12K smpl:2M ep:35K epch:7.03 loss:0.042 grdn:0.273 lr:9.7e-05 updt_s:1.593 data_s:1.485 smp/s:42 mem_gb:52.85
+Training:  20%|██        | 12200/60000 [10:16:43<40:30:45,  3.05s/step]INFO 2026-07-20 09:33:50 ot_train.py:649 step:12K smpl:2M ep:35K epch:7.15 loss:0.040 grdn:0.257 lr:9.7e-05 updt_s:1.586 data_s:1.492 smp/s:42 mem_gb:52.85
+Training:  21%|██        | 12400/60000 [10:26:57<40:23:35,  3.05s/step]INFO 2026-07-20 09:44:05 ot_train.py:649 step:12K smpl:2M ep:36K epch:7.27 loss:0.041 grdn:0.261 lr:9.7e-05 updt_s:1.583 data_s:1.484 smp/s:42 mem_gb:52.85
+Training:  21%|██        | 12600/60000 [10:37:10<40:45:41,  3.10s/step]INFO 2026-07-20 09:54:17 ot_train.py:649 step:13K smpl:2M ep:36K epch:7.39 loss:0.043 grdn:0.293 lr:9.6e-05 updt_s:1.637 data_s:1.419 smp/s:42 mem_gb:52.77
+Training:  21%|██▏       | 12800/60000 [10:47:29<49:50:18,  3.80s/step]INFO 2026-07-20 10:04:36 ot_train.py:649 step:13K smpl:2M ep:37K epch:7.50 loss:0.040 grdn:0.253 lr:9.6e-05 updt_s:1.552 data_s:1.538 smp/s:41 mem_gb:52.85
+Training:  22%|██▏       | 13000/60000 [10:57:41<40:09:45,  3.08s/step]INFO 2026-07-20 10:14:49 ot_train.py:649 step:13K smpl:2M ep:38K epch:7.62 loss:0.038 grdn:0.242 lr:9.6e-05 updt_s:1.556 data_s:1.502 smp/s:42 mem_gb:52.85
+Training:  22%|██▏       | 13200/60000 [11:07:52<39:58:58,  3.08s/step]INFO 2026-07-20 10:24:59 ot_train.py:649 step:13K smpl:2M ep:38K epch:7.74 loss:0.038 grdn:0.244 lr:9.6e-05 updt_s:1.593 data_s:1.455 smp/s:42 mem_gb:52.85
+Training:  22%|██▏       | 13400/60000 [11:18:06<37:45:24,  2.92s/step]INFO 2026-07-20 10:35:13 ot_train.py:649 step:13K smpl:2M ep:39K epch:7.85 loss:0.038 grdn:0.239 lr:9.6e-05 updt_s:1.652 data_s:1.411 smp/s:42 mem_gb:52.85
+Training:  23%|██▎       | 13600/60000 [11:28:17<36:14:36,  2.81s/step]INFO 2026-07-20 10:45:24 ot_train.py:649 step:14K smpl:2M ep:39K epch:7.97 loss:0.037 grdn:0.237 lr:9.5e-05 updt_s:1.604 data_s:1.446 smp/s:42 mem_gb:52.77
+Training:  23%|██▎       | 13800/60000 [11:37:39<34:11:06,  2.66s/step]INFO 2026-07-20 10:54:46 ot_train.py:649 step:14K smpl:2M ep:40K epch:8.09 loss:0.036 grdn:0.236 lr:9.5e-05 updt_s:1.553 data_s:1.253 smp/s:46 mem_gb:52.85
+Training:  23%|██▎       | 14000/60000 [11:46:19<30:22:32,  2.38s/step]INFO 2026-07-20 11:03:26 ot_train.py:649 step:14K smpl:2M ep:40K epch:8.21 loss:0.037 grdn:0.243 lr:9.5e-05 updt_s:1.440 data_s:1.154 smp/s:49 mem_gb:52.85
+Training:  24%|██▎       | 14200/60000 [11:54:36<30:42:11,  2.41s/step]INFO 2026-07-20 11:11:44 ot_train.py:649 step:14K smpl:2M ep:41K epch:8.32 loss:0.038 grdn:0.244 lr:9.5e-05 updt_s:1.415 data_s:1.068 smp/s:52 mem_gb:52.85
+Training:  24%|██▍       | 14400/60000 [12:03:21<33:15:32,  2.63s/step]INFO 2026-07-20 11:20:28 ot_train.py:649 step:14K smpl:2M ep:42K epch:8.44 loss:0.037 grdn:0.229 lr:9.4e-05 updt_s:1.438 data_s:1.179 smp/s:49 mem_gb:52.85
+Training:  24%|██▍       | 14600/60000 [12:13:21<42:48:41,  3.39s/step]INFO 2026-07-20 11:30:28 ot_train.py:649 step:15K smpl:2M ep:42K epch:8.56 loss:0.037 grdn:0.231 lr:9.4e-05 updt_s:1.560 data_s:1.433 smp/s:43 mem_gb:52.85
+Training:  25%|██▍       | 14800/60000 [12:23:39<36:41:38,  2.92s/step]INFO 2026-07-20 11:40:46 ot_train.py:649 step:15K smpl:2M ep:43K epch:8.68 loss:0.036 grdn:0.235 lr:9.4e-05 updt_s:1.618 data_s:1.469 smp/s:41 mem_gb:52.77
+Training:  25%|██▌       | 15000/60000 [12:33:54<38:16:20,  3.06s/step]INFO 2026-07-20 11:51:01 ot_train.py:649 step:15K smpl:2M ep:43K epch:8.79 loss:0.036 grdn:0.242 lr:9.3e-05 updt_s:1.540 data_s:1.529 smp/s:42 mem_gb:52.85
+Training:  25%|██▌       | 15200/60000 [12:44:12<38:53:30,  3.13s/step]INFO 2026-07-20 12:01:19 ot_train.py:649 step:15K smpl:2M ep:44K epch:8.91 loss:0.037 grdn:0.249 lr:9.3e-05 updt_s:1.549 data_s:1.537 smp/s:41 mem_gb:52.85
+Training:  26%|██▌       | 15400/60000 [12:54:38<40:36:14,  3.28s/step]INFO 2026-07-20 12:11:46 ot_train.py:649 step:15K smpl:2M ep:45K epch:9.03 loss:0.038 grdn:0.258 lr:9.3e-05 updt_s:1.661 data_s:1.465 smp/s:41 mem_gb:52.85
+Training:  26%|██▌       | 15600/60000 [13:05:07<37:41:56,  3.06s/step]INFO 2026-07-20 12:22:14 ot_train.py:649 step:16K smpl:2M ep:45K epch:9.14 loss:0.036 grdn:0.239 lr:9.3e-05 updt_s:1.617 data_s:1.522 smp/s:41 mem_gb:52.85
+Training:  26%|██▋       | 15800/60000 [13:15:41<37:52:32,  3.08s/step]INFO 2026-07-20 12:32:48 ot_train.py:649 step:16K smpl:2M ep:46K epch:9.26 loss:0.036 grdn:0.229 lr:9.2e-05 updt_s:1.605 data_s:1.559 smp/s:40 mem_gb:52.85
+Training:  27%|██▋       | 16000/60000 [13:25:58<37:08:35,  3.04s/step]INFO 2026-07-20 12:43:05 ot_train.py:649 step:16K smpl:2M ep:46K epch:9.38 loss:0.033 grdn:0.226 lr:9.2e-05 updt_s:1.602 data_s:1.475 smp/s:42 mem_gb:52.77
+Training:  27%|██▋       | 16200/60000 [13:36:17<38:00:35,  3.12s/step]INFO 2026-07-20 12:53:24 ot_train.py:649 step:16K smpl:2M ep:47K epch:9.50 loss:0.035 grdn:0.237 lr:9.2e-05 updt_s:1.615 data_s:1.477 smp/s:41 mem_gb:52.85
+Training:  27%|██▋       | 16400/60000 [13:46:39<36:27:49,  3.01s/step]INFO 2026-07-20 13:03:46 ot_train.py:649 step:16K smpl:2M ep:47K epch:9.61 loss:0.034 grdn:0.227 lr:9.1e-05 updt_s:1.596 data_s:1.507 smp/s:41 mem_gb:52.85
+Training:  28%|██▊       | 16600/60000 [13:56:55<37:36:25,  3.12s/step]INFO 2026-07-20 13:14:02 ot_train.py:649 step:17K smpl:2M ep:48K epch:9.73 loss:0.034 grdn:0.221 lr:9.1e-05 updt_s:1.604 data_s:1.473 smp/s:42 mem_gb:52.85
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+Training:  30%|███       | 18000/60000 [15:08:22<34:03:32,  2.92s/step]INFO 2026-07-20 14:25:29 ot_train.py:649 step:18K smpl:2M ep:52K epch:10.55 loss:0.033 grdn:0.231 lr:8.8e-05 updt_s:1.574 data_s:1.427 smp/s:43 mem_gb:52.85
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+Training:  32%|███▏      | 19000/60000 [15:53:28<28:23:31,  2.49s/step]INFO 2026-07-20 15:10:35 ot_train.py:649 step:19K smpl:2M ep:55K epch:11.14 loss:0.031 grdn:0.210 lr:8.7e-05 updt_s:1.404 data_s:1.087 smp/s:51 mem_gb:52.85
+Training:  32%|███▏      | 19200/60000 [16:02:50<30:30:24,  2.69s/step]INFO 2026-07-20 15:19:57 ot_train.py:649 step:19K smpl:2M ep:55K epch:11.25 loss:0.032 grdn:0.216 lr:8.6e-05 updt_s:1.719 data_s:1.086 smp/s:46 mem_gb:52.77
+Training:  32%|███▏      | 19400/60000 [16:12:06<30:32:49,  2.71s/step]INFO 2026-07-20 15:29:13 ot_train.py:649 step:19K smpl:2M ep:56K epch:11.37 loss:0.030 grdn:0.221 lr:8.6e-05 updt_s:1.690 data_s:1.089 smp/s:46 mem_gb:52.85
+Training:  33%|███▎      | 19600/60000 [16:22:36<34:28:10,  3.07s/step]INFO 2026-07-20 15:39:43 ot_train.py:649 step:20K smpl:3M ep:57K epch:11.49 loss:0.032 grdn:0.226 lr:8.5e-05 updt_s:1.615 data_s:1.527 smp/s:41 mem_gb:52.85
+Training:  33%|███▎      | 19800/60000 [16:32:48<30:42:14,  2.75s/step]INFO 2026-07-20 15:49:56 ot_train.py:649 step:20K smpl:3M ep:57K epch:11.61 loss:0.029 grdn:0.216 lr:8.5e-05 updt_s:1.643 data_s:1.416 smp/s:42 mem_gb:52.85
+Training:  33%|███▎      | 20000/60000 [16:42:35<31:32:28,  2.84s/step]INFO 2026-07-20 15:59:42 ot_train.py:649 step:20K smpl:3M ep:58K epch:11.72 loss:0.030 grdn:0.208 lr:8.5e-05 updt_s:1.578 data_s:1.351 smp/s:44 mem_gb:52.85
+Training:  34%|███▎      | 20200/60000 [16:52:40<32:20:19,  2.93s/step]INFO 2026-07-20 16:09:48 ot_train.py:649 step:20K smpl:3M ep:58K epch:11.84 loss:0.030 grdn:0.218 lr:8.4e-05 updt_s:1.593 data_s:1.426 smp/s:42 mem_gb:52.85
+Training:  34%|███▍      | 20400/60000 [17:02:49<33:29:38,  3.04s/step]INFO 2026-07-20 16:19:56 ot_train.py:649 step:20K smpl:3M ep:59K epch:11.96 loss:0.030 grdn:0.211 lr:8.4e-05 updt_s:1.634 data_s:1.401 smp/s:42 mem_gb:52.77
+Training:  34%|███▍      | 20600/60000 [17:13:01<31:50:56,  2.91s/step]INFO 2026-07-20 16:30:08 ot_train.py:649 step:21K smpl:3M ep:60K epch:12.08 loss:0.029 grdn:0.210 lr:8.3e-05 updt_s:1.641 data_s:1.417 smp/s:42 mem_gb:52.85
+Training:  35%|███▍      | 20800/60000 [17:23:07<32:57:50,  3.03s/step]INFO 2026-07-20 16:40:14 ot_train.py:649 step:21K smpl:3M ep:60K epch:12.19 loss:0.029 grdn:0.206 lr:8.3e-05 updt_s:1.601 data_s:1.423 smp/s:42 mem_gb:52.85
+Training:  35%|███▌      | 21000/60000 [17:33:31<41:09:41,  3.80s/step]INFO 2026-07-20 16:50:38 ot_train.py:649 step:21K smpl:3M ep:61K epch:12.31 loss:0.028 grdn:0.203 lr:8.2e-05 updt_s:1.685 data_s:1.427 smp/s:41 mem_gb:52.85
+Training:  35%|███▌      | 21200/60000 [17:44:01<29:42:10,  2.76s/step]INFO 2026-07-20 17:01:08 ot_train.py:649 step:21K smpl:3M ep:61K epch:12.43 loss:0.028 grdn:0.203 lr:8.2e-05 updt_s:1.690 data_s:1.455 smp/s:41 mem_gb:52.85
+Training:  36%|███▌      | 21400/60000 [17:54:27<34:10:33,  3.19s/step]INFO 2026-07-20 17:11:34 ot_train.py:649 step:21K smpl:3M ep:62K epch:12.54 loss:0.029 grdn:0.213 lr:8.1e-05 updt_s:1.595 data_s:1.532 smp/s:41 mem_gb:52.85
+Training:  36%|███▌      | 21600/60000 [18:04:55<33:21:47,  3.13s/step]INFO 2026-07-20 17:22:02 ot_train.py:649 step:22K smpl:3M ep:62K epch:12.66 loss:0.028 grdn:0.208 lr:8.1e-05 updt_s:1.527 data_s:1.607 smp/s:41 mem_gb:52.77
+Training:  36%|███▋      | 21800/60000 [18:15:28<32:57:30,  3.11s/step]INFO 2026-07-20 17:32:35 ot_train.py:649 step:22K smpl:3M ep:63K epch:12.78 loss:0.028 grdn:0.209 lr:8.1e-05 updt_s:1.572 data_s:1.586 smp/s:41 mem_gb:52.85
+Training:  37%|███▋      | 22000/60000 [18:25:46<32:34:26,  3.09s/step]INFO 2026-07-20 17:42:53 ot_train.py:649 step:22K smpl:3M ep:64K epch:12.90 loss:0.028 grdn:0.214 lr:8.0e-05 updt_s:1.561 data_s:1.524 smp/s:41 mem_gb:52.85
+Training:  37%|███▋      | 22200/60000 [18:35:59<29:27:19,  2.81s/step]INFO 2026-07-20 17:53:07 ot_train.py:649 step:22K smpl:3M ep:64K epch:13.01 loss:0.027 grdn:0.201 lr:8.0e-05 updt_s:1.593 data_s:1.467 smp/s:42 mem_gb:52.85
+Training:  37%|███▋      | 22400/60000 [18:46:14<37:08:14,  3.56s/step]INFO 2026-07-20 18:03:21 ot_train.py:649 step:22K smpl:3M ep:65K epch:13.13 loss:0.026 grdn:0.193 lr:7.9e-05 updt_s:1.571 data_s:1.495 smp/s:42 mem_gb:52.85
+Training:  38%|███▊      | 22600/60000 [18:56:26<33:46:06,  3.25s/step]INFO 2026-07-20 18:13:33 ot_train.py:649 step:23K smpl:3M ep:65K epch:13.25 loss:0.027 grdn:0.207 lr:7.9e-05 updt_s:1.615 data_s:1.438 smp/s:42 mem_gb:52.77
+Training:  38%|███▊      | 22800/60000 [19:06:58<32:12:05,  3.12s/step]INFO 2026-07-20 18:24:05 ot_train.py:649 step:23K smpl:3M ep:66K epch:13.36 loss:0.026 grdn:0.201 lr:7.8e-05 updt_s:1.609 data_s:1.546 smp/s:41 mem_gb:52.85
+Training:  38%|███▊      | 23000/60000 [19:17:02<29:53:58,  2.91s/step]INFO 2026-07-20 18:34:10 ot_train.py:649 step:23K smpl:3M ep:66K epch:13.48 loss:0.026 grdn:0.195 lr:7.8e-05 updt_s:1.669 data_s:1.348 smp/s:42 mem_gb:52.85
+Training:  39%|███▊      | 23200/60000 [19:26:57<32:02:40,  3.13s/step]INFO 2026-07-20 18:44:04 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:1.663 data_s:1.306 smp/s:43 mem_gb:52.85
+Training:  39%|███▉      | 23400/60000 [19:37:05<28:23:44,  2.79s/step]INFO 2026-07-20 18:54:12 ot_train.py:649 step:23K smpl:3M ep:68K epch:13.72 loss:0.026 grdn:0.203 lr:7.7e-05 updt_s:1.699 data_s:1.333 smp/s:42 mem_gb:52.85
+Training:  39%|███▉      | 23600/60000 [19:46:49<29:26:49,  2.91s/step]INFO 2026-07-20 19:03:56 ot_train.py:649 step:24K smpl:3M ep:68K epch:13.83 loss:0.026 grdn:0.195 lr:7.6e-05 updt_s:1.786 data_s:1.132 smp/s:44 mem_gb:52.85
+Training:  40%|███▉      | 23800/60000 [19:57:16<32:59:23,  3.28s/step]INFO 2026-07-20 19:14:24 ot_train.py:649 step:24K smpl:3M ep:69K epch:13.95 loss:0.025 grdn:0.194 lr:7.6e-05 updt_s:1.774 data_s:1.358 smp/s:41 mem_gb:52.77
+Training:  40%|████      | 24000/60000 [20:07:33<31:02:35,  3.10s/step]INFO 2026-07-20 19:24:40 ot_train.py:649 step:24K smpl:3M ep:69K epch:14.07 loss:0.025 grdn:0.193 lr:7.5e-05 updt_s:1.753 data_s:1.326 smp/s:42 mem_gb:52.85
+Training:  40%|████      | 24200/60000 [20:17:55<31:08:00,  3.13s/step]INFO 2026-07-20 19:35:02 ot_train.py:649 step:24K smpl:3M ep:70K epch:14.19 loss:0.024 grdn:0.187 lr:7.5e-05 updt_s:1.765 data_s:1.339 smp/s:41 mem_gb:52.85
+Training:  41%|████      | 24400/60000 [20:28:47<32:11:52,  3.26s/step]INFO 2026-07-20 19:45:54 ot_train.py:649 step:24K smpl:3M ep:71K epch:14.30 loss:0.025 grdn:0.197 lr:7.4e-05 updt_s:1.775 data_s:1.477 smp/s:39 mem_gb:52.85
+Training:  41%|████      | 24600/60000 [20:39:26<30:26:45,  3.10s/step]INFO 2026-07-20 19:56:33 ot_train.py:649 step:25K smpl:3M ep:71K epch:14.42 loss:0.026 grdn:0.197 lr:7.4e-05 updt_s:1.609 data_s:1.583 smp/s:40 mem_gb:52.85
+Training:  41%|████▏     | 24800/60000 [20:49:54<29:22:43,  3.00s/step]INFO 2026-07-20 20:07:01 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:1.562 data_s:1.570 smp/s:41 mem_gb:52.85
+Training:  42%|████▏     | 25000/60000 [21:00:17<28:21:26,  2.92s/step]INFO 2026-07-20 20:17:24 ot_train.py:649 step:25K smpl:3M ep:72K epch:14.65 loss:0.024 grdn:0.194 lr:7.3e-05 updt_s:1.607 data_s:1.502 smp/s:41 mem_gb:52.77
+Training:  42%|████▏     | 25200/60000 [21:10:28<29:14:08,  3.02s/step]INFO 2026-07-20 20:27:35 ot_train.py:649 step:25K smpl:3M ep:73K epch:14.77 loss:0.024 grdn:0.197 lr:7.2e-05 updt_s:1.625 data_s:1.424 smp/s:42 mem_gb:52.85
+Training:  42%|████▏     | 25400/60000 [21:20:20<27:47:13,  2.89s/step]INFO 2026-07-20 20:37:27 ot_train.py:649 step:25K smpl:3M ep:73K epch:14.89 loss:0.025 grdn:0.197 lr:7.2e-05 updt_s:1.626 data_s:1.331 smp/s:43 mem_gb:52.85
+Training:  43%|████▎     | 25600/60000 [21:30:09<26:20:43,  2.76s/step]INFO 2026-07-20 20:47:17 ot_train.py:649 step:26K smpl:3M ep:74K epch:15.01 loss:0.025 grdn:0.200 lr:7.1e-05 updt_s:1.648 data_s:1.293 smp/s:44 mem_gb:52.85
+Training:  43%|████▎     | 25800/60000 [21:40:02<32:04:08,  3.38s/step]INFO 2026-07-20 20:57:09 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:1.638 data_s:1.319 smp/s:43 mem_gb:52.85
+Training:  43%|████▎     | 26000/60000 [21:50:31<28:27:31,  3.01s/step]INFO 2026-07-20 21:07:38 ot_train.py:649 step:26K smpl:3M ep:75K epch:15.24 loss:0.024 grdn:0.196 lr:7.0e-05 updt_s:1.655 data_s:1.483 smp/s:41 mem_gb:52.77
+Training:  44%|████▎     | 26200/60000 [22:00:39<26:56:29,  2.87s/step]INFO 2026-07-20 21:17:47 ot_train.py:649 step:26K smpl:3M ep:76K epch:15.36 loss:0.023 grdn:0.187 lr:7.0e-05 updt_s:1.668 data_s:1.370 smp/s:42 mem_gb:52.85
+Training:  44%|████▍     | 26400/60000 [22:10:54<29:52:01,  3.20s/step]INFO 2026-07-20 21:28:01 ot_train.py:649 step:26K smpl:3M ep:76K epch:15.47 loss:0.023 grdn:0.187 lr:6.9e-05 updt_s:1.658 data_s:1.409 smp/s:42 mem_gb:52.85
+Training:  44%|████▍     | 26600/60000 [22:21:22<28:27:13,  3.07s/step]INFO 2026-07-20 21:38:29 ot_train.py:649 step:27K smpl:3M ep:77K epch:15.59 loss:0.022 grdn:0.179 lr:6.8e-05 updt_s:1.686 data_s:1.450 smp/s:41 mem_gb:52.85
+Training:  45%|████▍     | 26800/60000 [22:31:25<28:44:59,  3.12s/step]INFO 2026-07-20 21:48:32 ot_train.py:649 step:27K smpl:3M ep:77K epch:15.71 loss:0.022 grdn:0.179 lr:6.8e-05 updt_s:1.572 data_s:1.435 smp/s:43 mem_gb:52.85
+Training:  45%|████▌     | 27000/60000 [22:41:42<31:47:45,  3.47s/step]INFO 2026-07-20 21:58:49 ot_train.py:649 step:27K smpl:3M ep:78K epch:15.83 loss:0.023 grdn:0.195 lr:6.7e-05 updt_s:1.658 data_s:1.424 smp/s:42 mem_gb:52.85
+Training:  45%|████▌     | 27200/60000 [22:52:03<29:11:04,  3.20s/step]INFO 2026-07-20 22:09:10 ot_train.py:649 step:27K smpl:3M ep:79K epch:15.94 loss:0.023 grdn:0.181 lr:6.7e-05 updt_s:1.662 data_s:1.433 smp/s:41 mem_gb:52.77
+Training:  46%|████▌     | 27400/60000 [23:02:11<28:23:14,  3.13s/step]INFO 2026-07-20 22:19:19 ot_train.py:649 step:27K smpl:4M ep:79K epch:16.06 loss:0.021 grdn:0.181 lr:6.6e-05 updt_s:1.658 data_s:1.380 smp/s:42 mem_gb:52.85
+Training:  46%|████▌     | 27600/60000 [23:12:17<27:20:24,  3.04s/step]INFO 2026-07-20 22:29:24 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:1.634 data_s:1.388 smp/s:42 mem_gb:52.85
+Training:  46%|████▋     | 27800/60000 [23:22:22<31:10:45,  3.49s/step]INFO 2026-07-20 22:39:29 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:1.634 data_s:1.385 smp/s:42 mem_gb:52.85
+Training:  47%|████▋     | 28000/60000 [23:32:23<24:53:27,  2.80s/step]INFO 2026-07-20 22:49:30 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:1.621 data_s:1.380 smp/s:43 mem_gb:52.85
+Training:  47%|████▋     | 28200/60000 [23:42:33<27:09:10,  3.07s/step]INFO 2026-07-20 22:59:40 ot_train.py:649 step:28K smpl:4M ep:81K epch:16.53 loss:0.021 grdn:0.173 lr:6.4e-05 updt_s:1.674 data_s:1.373 smp/s:42 mem_gb:52.85
+Training:  47%|████▋     | 28400/60000 [23:52:33<26:11:35,  2.98s/step]INFO 2026-07-20 23:09:40 ot_train.py:649 step:28K smpl:4M ep:82K epch:16.65 loss:0.020 grdn:0.166 lr:6.4e-05 updt_s:1.591 data_s:1.400 smp/s:43 mem_gb:52.77
+Training:  48%|████▊     | 28600/60000 [24:02:35<25:24:37,  2.91s/step]INFO 2026-07-20 23:19:42 ot_train.py:649 step:29K smpl:4M ep:83K epch:16.76 loss:0.020 grdn:0.172 lr:6.3e-05 updt_s:1.630 data_s:1.378 smp/s:43 mem_gb:52.85
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+INFO 2026-07-21 00:29:06 ot_train.py:694 Checkpoint policy after step 30000
+INFO 2026-07-21 00:29:33 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_10K and /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000
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Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260719_231652-ny0tx2de/files/requirements.txt

@@ -0,0 +1,117 @@
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+torch==2.11.0+cu128
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+pytz==2026.2
+hf-xet==1.5.1
+tokenizers==0.22.2
+opencv-python-headless==4.13.0.92
+cuda-pathfinder==1.2.2
+frozenlist==1.8.0
+smmap==5.0.3
+httpcore==1.0.9
+nvidia-nvshmem-cu12==3.4.5
+nvidia-cuda-nvrtc-cu12==12.8.93
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+pyyaml-include==1.4.1
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Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260719_231652-ny0tx2de/files/wandb-metadata.json

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Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260721_175602-ny0tx2de/files/config.yaml

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+        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_10K/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: ny0tx2de

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260721_175602-ny0tx2de/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/ny0tx2de
+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_10K/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=1-6a5fb2b5-6230713d52f06c4b0a188e0a;a13301f7-41f2-4c1a-aa6a-4018e0bdaaad)
+
+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_10K/wandb/run-20260721_175602-ny0tx2de/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-20260721_175602-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": "2026-07-21T17:56:02.220304Z",
+  "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": {
+    "/": {
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+      "used": "1054655565824"
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+  },
+  "memory": {
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+  },
+  "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": "zhfkyvb13huxyq6x4hdw27ug7zbggx7v"
+}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260721_175602-ny0tx2de/files/wandb-summary.json

@@ -0,0 +1 @@
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Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260721_175602-ny0tx2de/logs/debug-core.log

@@ -0,0 +1,45 @@
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Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260721_175602-ny0tx2de/logs/debug-internal.log

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Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260721_175602-ny0tx2de/logs/debug.log

@@ -0,0 +1,46 @@
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+2026-07-21 17:56:02,221 INFO    MainThread:694 [wandb_setup.py:_flush():81] Loading settings from environment variables
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+2026-07-21 17:56:02,222 INFO    MainThread:694 [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_175602-ny0tx2de/logs/debug-internal.log
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+2026-07-21 17:56:02,222 INFO    MainThread:694 [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, 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DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000', '_wandb': {}}
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+2026-07-21 17:56:06,044 INFO    wandb-AsyncioManager-main:694 [service_client.py:_forward_responses():122] Reached EOF.
+2026-07-21 17:56:06,044 INFO    wandb-AsyncioManager-main:694 [mailbox.py:close():154] Closing mailbox, abandoning 2 handles.
+2026-07-21 17:56:06,045 ERROR   wandb-AsyncioManager-main:694 [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_10K/wandb/run-20260721_180257-ny0tx2de/files/config.yaml

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+_wandb:
+    value:
+        cli_version: 0.27.2
+        e:
+            d66boadj9dfj3lucigo6pqt9zxhndhce:
+                args:
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+                    - --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
+                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: "1061565542400"
+                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_10K
+                startedAt: "2026-07-21T18:02:57.966786Z"
+                writerId: d66boadj9dfj3lucigo6pqt9zxhndhce
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+            "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_10K/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_10K
+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_10K
+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_10K/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: ny0tx2de

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260721_180257-ny0tx2de/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/ny0tx2de
+INFO 2026-07-21 18:02:59 ot_train.py:298 Creating dataset
+INFO 2026-07-21 18:03:00 ot_train.py:332 Creating policy
+INFO 2026-07-21 18:03:00 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 18:03:00 ng_groot.py:225 Detected fine-tuned LeRobot checkpoint, loading with state dict...
+Fetching 27 files: 100%|██████████| 27/27 [00:00<00:00, 2984.72it/s]
+`torch_dtype` is deprecated! Use `dtype` instead!
+Loading weights: 100%|██████████| 1031/1031 [00:00<00:00, 2048.38it/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_10K/wandb/run-20260721_180257-ny0tx2de/files/requirements.txt

@@ -0,0 +1,117 @@
+tzdata==2026.3
+nvidia-cufile-cu12==1.13.1.3
+wandb==0.27.2
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+mdurl==0.1.2
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+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
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+mergedeep==1.3.4
+platformdirs==4.10.0
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+rich==15.0.0
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+protobuf==7.35.1
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+yarl==1.24.2
+filelock==3.29.0
+av==15.1.0
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+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
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+h11==0.16.0
+typing-inspect==0.9.0
+httpcore==1.0.9
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+numpy==2.2.6
+nvidia-nvshmem-cu12==3.4.5
+aiohappyeyeballs==2.7.1
+cuda-toolkit==12.8.1
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Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260721_180257-ny0tx2de/files/wandb-metadata.json

@@ -0,0 +1,52 @@
+{
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+  "python": "CPython 3.12.13",
+  "startedAt": "2026-07-21T18:02:57.966786Z",
+  "args": [
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+    "--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",
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+  "gpu": "NVIDIA H200",
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+  "gpu_nvidia": [
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+      "memoryTotal": "150754820096",
+      "cudaCores": 16896,
+      "architecture": "Hopper",
+      "uuid": "GPU-86be6e5b-fb48-fa1c-9bd7-83d336cb2991"
+    },
+    {
+      "name": "NVIDIA H200",
+      "memoryTotal": "150754820096",
+      "cudaCores": 16896,
+      "architecture": "Hopper",
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+}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260721_180257-ny0tx2de/files/wandb-summary.json

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+{"time":"2026-07-21T18:03:23.465220754Z","level":"INFO","msg":"handleInformTeardown: server shutdown complete","id":"1(@)"}
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+{"time":"2026-07-21T18:03:35.421814159Z","level":"INFO","msg":"server is closed"}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260721_180257-ny0tx2de/logs/debug-internal.log

@@ -0,0 +1,18 @@
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Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260721_180257-ny0tx2de/logs/debug.log

@@ -0,0 +1,65 @@
+2026-07-21 18:02:57,967 INFO    MainThread:2608 [wandb_setup.py:_flush():81] Current SDK version is 0.27.2
+2026-07-21 18:02:57,967 INFO    MainThread:2608 [wandb_setup.py:_flush():81] Configure stats pid to 2608
+2026-07-21 18:02:57,967 INFO    MainThread:2608 [wandb_setup.py:_flush():81] Loading settings from environment variables
+2026-07-21 18:02:57,967 INFO    MainThread:2608 [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_180257-ny0tx2de/logs/debug.log
+2026-07-21 18:02:57,967 INFO    MainThread:2608 [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_180257-ny0tx2de/logs/debug-internal.log
+2026-07-21 18:02:57,967 INFO    MainThread:2608 [wandb_init.py:init():766] calling init triggers
+2026-07-21 18:02:57,968 INFO    MainThread:2608 [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': {}}
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+2026-07-21 18:03:21,444 INFO    wandb-AsyncioManager-main:2608 [service_client.py:_forward_responses():122] Reached EOF.
+2026-07-21 18:03:21,444 INFO    wandb-AsyncioManager-main:2608 [mailbox.py:close():154] Closing mailbox, abandoning 2 handles.
+2026-07-21 18:03:21,444 ERROR   wandb-AsyncioManager-main:2608 [asyncio_manager.py:fn_wrap_exceptions():184] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_manager.py", line 182, in fn_wrap_exceptions
+    await fn()
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/run_messages.py", line 90, in loop
+    await asyncio_compat.race(
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_compat.py", line 278, in race
+    async with open_task_group(race=True) as tg:
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/contextlib.py", line 217, in __aexit__
+    await anext(self.gen)
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_compat.py", line 240, in open_task_group
+    await task_group._wait_all(race=race, timeout=exit_timeout)
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_compat.py", line 180, in _wait_all
+    raise exc
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/run_messages.py", line 113, in _print_all
+    result = await handle.wait_async(timeout=None)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/mailbox/mailbox_handle.py", line 127, in wait_async
+    response = await self._handle.wait_async(timeout=timeout)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/mailbox/response_handle.py", line 123, in wait_async
+    raise HandleAbandonedError()
+wandb.sdk.mailbox.mailbox_handle.HandleAbandonedError
+2026-07-21 18:03:29,258 ERROR   wandb-AsyncioManager-main:2608 [asyncio_manager.py:fn_wrap_exceptions():184] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_manager.py", line 182, in fn_wrap_exceptions
+    await fn()
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/run_stopping.py", line 87, in loop
+    should_stop = await self._check_should_stop()
+                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/run_stopping.py", line 115, in _check_should_stop
+    handle = await self._interface.deliver_async(request)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/interface/interface_sock.py", line 58, in deliver_async
+    handle = await self._client.deliver(request)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/lib/service/service_client.py", line 57, in deliver
+    handle = self._mailbox.require_response(request)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/lerobot060_groot/lib/python3.12/site-packages/wandb/sdk/mailbox/mailbox.py", line 89, in require_response
+    raise MailboxClosedError()
+wandb.sdk.mailbox.mailbox.MailboxClosedError

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260721_180758-ny0tx2de/files/config.yaml

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+_wandb:
+    value:
+        cli_version: 0.27.2
+        e:
+            b4hgclzqmy1lt3yaajnwuzrmevjd2v6s:
+                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
+                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_10K
+                startedAt: "2026-07-21T18:07:58.689516Z"
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+            "10":
+                - 21
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+            "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_10K/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_10K
+log_freq:
+    value: 200
+max_eval_samples:
+    value: 0
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+    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_10K
+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_10K/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: ny0tx2de

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260721_180758-ny0tx2de/files/output.log

@@ -0,0 +1,33 @@
+INFO 2026-07-21 18:08:00 db_utils.py:121 Logs will be synced with wandb.
+INFO 2026-07-21 18:08:00 db_utils.py:122 Track this run --> https://wandb.ai/minje227_hyu-hanyang-university/lerobot/runs/ny0tx2de
+INFO 2026-07-21 18:08:00 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_10K/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, 5481.42it/s]
+`torch_dtype` is deprecated! Use `dtype` instead!
+Loading weights: 100%|██████████| 1031/1031 [00:01<00:00, 679.19it/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_10K/wandb/run-20260721_180758-ny0tx2de/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
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+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-20260721_180758-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": "2026-07-21T18:07:58.689516Z",
+  "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",
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+  "disk": {
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+  "gpu_nvidia": [
+    {
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+      "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"
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+  "writerId": "b4hgclzqmy1lt3yaajnwuzrmevjd2v6s"
+}

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260721_180758-ny0tx2de/files/wandb-summary.json

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Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260721_180758-ny0tx2de/logs/debug.log

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+config: {'dataset': {'repo_id': 'Whalswp/INSIGHTfixposV4_filtered_multispace_v2', 'root': '/home/ext_minje/INSIGHTfixposV4_filtered_multispace_v2', 'episodes': None, 'image_transforms': {'enable': False, 'max_num_transforms': 3, 'random_order': False, 'tfs': {'brightness': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'brightness': [0.8, 1.2]}}, 'contrast': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'contrast': [0.8, 1.2]}}, 'saturation': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'saturation': [0.5, 1.5]}}, 'hue': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'hue': [-0.05, 0.05]}}, 'sharpness': {'weight': 1.0, 'type': 'SharpnessJitter', 'kwargs': {'sharpness': [0.5, 1.5]}}, 'affine': {'weight': 1.0, 'type': 'RandomAffine', 'kwargs': {'degrees': [-5.0, 5.0], 'translate': [0.05, 0.05]}}}}, 'revision': None, 'use_imagenet_stats': True, 'video_backend': 'torchcodec', 'return_uint8': False, 'depth_output_unit': 'mm', 'streaming': False, 'eval_split': 0.0}, 'env': 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<NormalizationMode.IDENTITY: 'IDENTITY'>, 'STATE': <NormalizationMode.IDENTITY: 'IDENTITY'>, 'ACTION': <NormalizationMode.IDENTITY: 'IDENTITY'>}, 'base_model_path': 'nvidia/GR00T-N1.7-3B', 'action_decode_transform': None, 'embodiment_tag': 'new_embodiment', 'tune_llm': False, 'tune_visual': False, 'tune_projector': True, 'tune_diffusion_model': True, 'tune_vlln': True, 'tune_top_llm_layers': 0, 'num_inference_timesteps': None, 'rtc_ramp_rate': None, 'use_flash_attention': False, 'use_relative_actions': False, 'relative_exclude_joints': [], 'optimizer_lr': 0.0001, 'optimizer_betas': [0.9, 0.999], 'optimizer_eps': 1e-08, 'optimizer_weight_decay': 1e-05, 'warmup_steps': 6000, 'warmup_ratio': 0.05, 'use_bf16': True, 'model_params_fp32': True, 'image_size': [256, 256], 'tokenizer_assets_repo': None, 'lora_rank': 0, 'lora_alpha': 16, 'lora_dropout': 0.1, 'lora_full_model': False, 'video_backend': 'decord', 'balance_dataset_weights': True, 'balance_trajectory_weights': True, 'dataset_paths': 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DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000', '_wandb': {}}
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+2026-07-21 18:08:21,222 INFO    wandb-AsyncioManager-main:5574 [mailbox.py:close():154] Closing mailbox, abandoning 2 handles.
+2026-07-21 18:08:21,223 ERROR   wandb-AsyncioManager-main:5574 [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_10K/wandb/run-20260721_181423-ny0tx2de/files/requirements.txt

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+httpx==0.28.1
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+mergedeep==1.3.4
+platformdirs==4.10.0
+nvidia-nvjitlink-cu12==12.8.93
+lerobot==0.6.0
+PyYAML==6.0.3
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+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
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+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
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+annotated-types==0.7.0
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+nvidia-nvshmem-cu12==3.4.5
+aiohappyeyeballs==2.7.1
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Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260721_181948-nf69vc3o/files/wandb-summary.json

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

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

@@ -0,0 +1,13 @@
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Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260721_182104-nf69vc3o/files/requirements.txt

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Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260722_015601-nf69vc3o/files/output.log

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+INFO 2026-07-22 01:56:05 ot_train.py:332 Creating policy
+INFO 2026-07-22 01:56:05 ng_groot.py:193 The Groot policy wraps NVIDIA's GR00T n1.7 model. Loading pretrained model from: /home/ext_minje/groot_insight/train_ckpt/Abs_6D + DeltaEE/restarts/20260719_231636_rerun_save30k60k/LAPstyle_linear_10K/checkpoints/030000/pretrained_model
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+Fetching 27 files: 100%|██████████| 27/27 [00:00<00:00, 16125.05it/s]
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+Loading weights: 100%|██████████| 1031/1031 [00:00<00:00, 1232.66it/s]
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+INFO 2026-07-22 01:56:21 ot_train.py:103 INSIGHT phase transition: index=1 name=fm_only range=[10000,60000) trainable_params=1620515968
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+INFO 2026-07-22 01:56:21 ot_train.py:452 num_learnable_params=1620515968 (2B)
+INFO 2026-07-22 01:56:21 ot_train.py:453 num_total_params=3145712033 (3B)
+INFO 2026-07-22 01:56:21 ot_train.py:494 Resuming data order at epoch 26, sample 82688
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+Training:   0%|          | 21/30000 [01:09<21:56:31,  2.63s/step]

Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260722_015601-nf69vc3o/files/requirements.txt

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Abs_6D + DeltaEE/RKD_TimewarpVAE/LAPstyle_linear_10K/wandb/run-20260722_015601-nf69vc3o/files/wandb-metadata.json

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