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TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_Atomic26Baseline60k/default/RKDv3_TimewarpVAE_DA_APHead_FM_RKD_CosineDecay_from_Atomic26Baseline60k.yaml

@@ -9,6 +9,7 @@ training:
   num_gpus: 1
   batch_size: 128
   seed: 42
+  report_to: wandb
 model:
   rkd_teacher_source: timewarp_action
   rkd_timewarp_vae_checkpoint: ${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/robocasa_vanilla_t16_z8_g8_h32_reg0p01_beta0p01/checkpoint-step-60000-epoch-17.46

TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_Atomic26Baseline60k/default/fm_rkdv3_timewarp_vae_da_aphead_cosine_decay_60k/checkpoint-30000/config.json

@@ -0,0 +1,101 @@
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+  "rkd_raw_action_projector_pooling": "flatten",
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+  "rkd_student_reconstruction_head_dim": 512,
+  "rkd_student_reconstruction_head_enabled": true,
+  "rkd_student_reconstruction_head_hidden_dim": 512,
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+  "rkd_teacher_source": "timewarp_action",
+  "rkd_timewarp_vae_checkpoint": "${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/robocasa_vanilla_t16_z8_g8_h32_reg0p01_beta0p01/checkpoint-step-60000-epoch-17.46",
+  "rkd_vlm_temp": 0.1,
+  "torch_dtype": "bfloat16",
+  "transformers_version": "4.51.3"
+}

TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_Atomic26Baseline60k/default/fm_rkdv3_timewarp_vae_da_aphead_cosine_decay_60k/checkpoint-30000/experiment_cfg/metadata.json

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+}

TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_Atomic26Baseline60k/default/fm_rkdv3_timewarp_vae_da_aphead_cosine_decay_60k/checkpoint-60000/config.json

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+{
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+  "rkd_timewarp_vae_checkpoint": "${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/robocasa_vanilla_t16_z8_g8_h32_reg0p01_beta0p01/checkpoint-step-60000-epoch-17.46",
+  "rkd_vlm_temp": 0.1,
+  "torch_dtype": "bfloat16",
+  "transformers_version": "4.51.3"
+}

TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_Atomic26Baseline60k/default/fm_rkdv3_timewarp_vae_da_aphead_cosine_decay_60k/checkpoint-60000/experiment_cfg/metadata.json

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+        },
+        "embodiment_tag": "new_embodiment"
+    }
+}

TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_Atomic26Baseline60k/default/fm_rkdv3_timewarp_vae_da_aphead_cosine_decay_60k/config.json

@@ -0,0 +1,101 @@
+{
+  "action_dim": 32,
+  "action_head_cfg": {
+    "action_dim": 32,
+    "action_horizon": 16,
+    "add_pos_embed": true,
+    "backbone_embedding_dim": 2048,
+    "diffusion_model_cfg": {
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+      "cross_attention_dim": 2048,
+      "dropout": 0.2,
+      "final_dropout": true,
+      "interleave_self_attention": true,
+      "norm_type": "ada_norm",
+      "num_attention_heads": 32,
+      "num_layers": 16,
+      "output_dim": 1024,
+      "positional_embeddings": null
+    },
+    "hidden_size": 1024,
+    "input_embedding_dim": 1536,
+    "max_action_dim": 32,
+    "max_state_dim": 64,
+    "model_dtype": "float32",
+    "noise_beta_alpha": 1.5,
+    "noise_beta_beta": 1.0,
+    "noise_s": 0.999,
+    "num_inference_timesteps": 4,
+    "num_target_vision_tokens": 32,
+    "num_timestep_buckets": 1000,
+    "tune_diffusion_model": true,
+    "tune_projector": true,
+    "use_vlln": true,
+    "vl_self_attention_cfg": {
+      "attention_head_dim": 64,
+      "dropout": 0.2,
+      "final_dropout": true,
+      "num_attention_heads": 32,
+      "num_layers": 4,
+      "positional_embeddings": null
+    }
+  },
+  "action_horizon": 16,
+  "architectures": [
+    "GR00T_N1_5_RKD"
+  ],
+  "attn_implementation": null,
+  "backbone_cfg": {
+    "eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
+    "load_bf16": false,
+    "project_to_dim": null,
+    "reproject_vision": false,
+    "select_layer": 12,
+    "tune_llm": false,
+    "tune_visual": true,
+    "use_flash_attention": true
+  },
+  "compute_dtype": "bfloat16",
+  "hidden_size": 2048,
+  "model_dtype": "float32",
+  "model_type": "gr00t_n1_5",
+  "rkd_action_encoder_cls_ffn_hidden_dim": 2048,
+  "rkd_action_encoder_cls_num_heads": 8,
+  "rkd_action_encoder_cls_num_layers": 1,
+  "rkd_action_encoder_projector_dim": 512,
+  "rkd_action_encoder_projector_enabled": false,
+  "rkd_action_encoder_projector_pooling": "flatten",
+  "rkd_action_temp": 0.1,
+  "rkd_angle_loss_weight": 2.0,
+  "rkd_distance_loss_weight": 1.0,
+  "rkd_dtw_adaptive_floor": 0.05,
+  "rkd_dtw_adaptive_mix_lambda": 0.5,
+  "rkd_dtw_base_weight": 1.0,
+  "rkd_dtw_gripper_weight": 0.5,
+  "rkd_dtw_mix_mode": "distance_mix",
+  "rkd_dtw_normalize_components": true,
+  "rkd_dtw_pos_weight": 1.0,
+  "rkd_dtw_rot_weight": 1.0,
+  "rkd_dtw_timing_log_interval": 1000,
+  "rkd_enabled": true,
+  "rkd_exclude_diagonal": true,
+  "rkd_fm_loss_weight": 1.0,
+  "rkd_loss_type": "distance_angle",
+  "rkd_loss_weight": 0.0,
+  "rkd_loss_weight_end": 0.0,
+  "rkd_loss_weight_schedule": "cosine_decay",
+  "rkd_loss_weight_start": 1.0,
+  "rkd_raw_action_projector_dim": 512,
+  "rkd_raw_action_projector_enabled": false,
+  "rkd_raw_action_projector_pooling": "flatten",
+  "rkd_relation_mode": "token_pair_mean",
+  "rkd_student_reconstruction_head_dim": 512,
+  "rkd_student_reconstruction_head_enabled": true,
+  "rkd_student_reconstruction_head_hidden_dim": 512,
+  "rkd_student_reconstruction_head_pooling": "attention",
+  "rkd_teacher_source": "timewarp_action",
+  "rkd_timewarp_vae_checkpoint": "${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/robocasa_vanilla_t16_z8_g8_h32_reg0p01_beta0p01/checkpoint-step-60000-epoch-17.46",
+  "rkd_vlm_temp": 0.1,
+  "torch_dtype": "bfloat16",
+  "transformers_version": "4.51.3"
+}

TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_Atomic26Baseline60k/default/resolved_config.yaml

@@ -9,6 +9,7 @@ training:
   num_gpus: 1
   batch_size: 128
   seed: 42
+  report_to: wandb
 model:
   rkd_teacher_source: timewarp_action
   rkd_timewarp_vae_checkpoint: ${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/robocasa_vanilla_t16_z8_g8_h32_reg0p01_beta0p01/checkpoint-step-60000-epoch-17.46

TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_120k/default/RKDv3_TimewarpVAE_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_120k.yaml

@@ -0,0 +1,40 @@
+experiment_name: RKDv3 TimewarpVAE DA, Student:APHead, single-phase FM+RKD cosine
+  decay from GR00T base to 120k
+policy_type: groot_RKDv3
+base_model_path: nvidia/GR00T-N1.5-3B
+output_root: ${HOME}/groot_robocasa/robocasa_v2/TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_120k
+dataset:
+  dataset_soup: my_atomic26_human
+training:
+  num_gpus: 1
+  batch_size: 128
+  seed: 42
+  report_to: wandb
+model:
+  rkd_teacher_source: timewarp_action
+  rkd_timewarp_vae_checkpoint: ${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/robocasa_vanilla_t16_z8_g8_h32_reg0p01_beta0p01/checkpoint-step-60000-epoch-17.46
+  rkd_relation_mode: token_pair_mean
+  rkd_loss_type: distance_angle
+  rkd_student_reconstruction_head_pooling: attention
+  rkd_student_reconstruction_head_enabled: true
+  rkd_student_reconstruction_head_dim: 512
+  rkd_student_reconstruction_head_hidden_dim: 512
+  rkd_distance_loss_weight: 1.0
+  rkd_angle_loss_weight: 2.0
+  rkd_exclude_diagonal: true
+phases:
+- name: fm_rkdv3_timewarp_vae_da_aphead_cosine_decay_120k
+  max_steps: 120000
+  save_steps: 30000
+  trainable:
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 1.0
+    rkd_loss_weight: 1.0
+    rkd_loss_weight_schedule: cosine_decay
+    rkd_loss_weight_start: 1.0
+    rkd_loss_weight_end: 0.0

TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_120k/default/fm_rkdv3_timewarp_vae_da_aphead_cosine_decay_120k/checkpoint-120000/config.json

@@ -0,0 +1,101 @@
+{
+  "action_dim": 32,
+  "action_head_cfg": {
+    "action_dim": 32,
+    "action_horizon": 16,
+    "add_pos_embed": true,
+    "backbone_embedding_dim": 2048,
+    "diffusion_model_cfg": {
+      "attention_head_dim": 48,
+      "cross_attention_dim": 2048,
+      "dropout": 0.2,
+      "final_dropout": true,
+      "interleave_self_attention": true,
+      "norm_type": "ada_norm",
+      "num_attention_heads": 32,
+      "num_layers": 16,
+      "output_dim": 1024,
+      "positional_embeddings": null
+    },
+    "hidden_size": 1024,
+    "input_embedding_dim": 1536,
+    "max_action_dim": 32,
+    "max_state_dim": 64,
+    "model_dtype": "float32",
+    "noise_beta_alpha": 1.5,
+    "noise_beta_beta": 1.0,
+    "noise_s": 0.999,
+    "num_inference_timesteps": 4,
+    "num_target_vision_tokens": 32,
+    "num_timestep_buckets": 1000,
+    "tune_diffusion_model": true,
+    "tune_projector": true,
+    "use_vlln": true,
+    "vl_self_attention_cfg": {
+      "attention_head_dim": 64,
+      "dropout": 0.2,
+      "final_dropout": true,
+      "num_attention_heads": 32,
+      "num_layers": 4,
+      "positional_embeddings": null
+    }
+  },
+  "action_horizon": 16,
+  "architectures": [
+    "GR00T_N1_5_RKD"
+  ],
+  "attn_implementation": null,
+  "backbone_cfg": {
+    "eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
+    "load_bf16": false,
+    "project_to_dim": null,
+    "reproject_vision": false,
+    "select_layer": 12,
+    "tune_llm": false,
+    "tune_visual": true,
+    "use_flash_attention": true
+  },
+  "compute_dtype": "bfloat16",
+  "hidden_size": 2048,
+  "model_dtype": "float32",
+  "model_type": "gr00t_n1_5",
+  "rkd_action_encoder_cls_ffn_hidden_dim": 2048,
+  "rkd_action_encoder_cls_num_heads": 8,
+  "rkd_action_encoder_cls_num_layers": 1,
+  "rkd_action_encoder_projector_dim": 512,
+  "rkd_action_encoder_projector_enabled": false,
+  "rkd_action_encoder_projector_pooling": "flatten",
+  "rkd_action_temp": 0.1,
+  "rkd_angle_loss_weight": 2.0,
+  "rkd_distance_loss_weight": 1.0,
+  "rkd_dtw_adaptive_floor": 0.05,
+  "rkd_dtw_adaptive_mix_lambda": 0.5,
+  "rkd_dtw_base_weight": 1.0,
+  "rkd_dtw_gripper_weight": 0.5,
+  "rkd_dtw_mix_mode": "distance_mix",
+  "rkd_dtw_normalize_components": true,
+  "rkd_dtw_pos_weight": 1.0,
+  "rkd_dtw_rot_weight": 1.0,
+  "rkd_dtw_timing_log_interval": 1000,
+  "rkd_enabled": true,
+  "rkd_exclude_diagonal": true,
+  "rkd_fm_loss_weight": 1.0,
+  "rkd_loss_type": "distance_angle",
+  "rkd_loss_weight": 0.0,
+  "rkd_loss_weight_end": 0.0,
+  "rkd_loss_weight_schedule": "cosine_decay",
+  "rkd_loss_weight_start": 1.0,
+  "rkd_raw_action_projector_dim": 512,
+  "rkd_raw_action_projector_enabled": false,
+  "rkd_raw_action_projector_pooling": "flatten",
+  "rkd_relation_mode": "token_pair_mean",
+  "rkd_student_reconstruction_head_dim": 512,
+  "rkd_student_reconstruction_head_enabled": true,
+  "rkd_student_reconstruction_head_hidden_dim": 512,
+  "rkd_student_reconstruction_head_pooling": "attention",
+  "rkd_teacher_source": "timewarp_action",
+  "rkd_timewarp_vae_checkpoint": "${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/robocasa_vanilla_t16_z8_g8_h32_reg0p01_beta0p01/checkpoint-step-60000-epoch-17.46",
+  "rkd_vlm_temp": 0.1,
+  "torch_dtype": "bfloat16",
+  "transformers_version": "4.51.3"
+}

TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_120k/default/fm_rkdv3_timewarp_vae_da_aphead_cosine_decay_120k/checkpoint-120000/experiment_cfg/metadata.json

@@ -0,0 +1,431 @@
+{
+    "new_embodiment": {
+        "statistics": {
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TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_120k/default/fm_rkdv3_timewarp_vae_da_aphead_cosine_decay_120k/checkpoint-30000/config.json

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TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_120k/default/fm_rkdv3_timewarp_vae_da_aphead_cosine_decay_120k/checkpoint-30000/experiment_cfg/metadata.json

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TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_120k/default/fm_rkdv3_timewarp_vae_da_aphead_cosine_decay_120k/checkpoint-60000/config.json

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TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_120k/default/fm_rkdv3_timewarp_vae_da_aphead_cosine_decay_120k/checkpoint-60000/experiment_cfg/metadata.json

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TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_120k/default/fm_rkdv3_timewarp_vae_da_aphead_cosine_decay_120k/checkpoint-90000/config.json

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TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_120k/default/fm_rkdv3_timewarp_vae_da_aphead_cosine_decay_120k/checkpoint-90000/experiment_cfg/metadata.json

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TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_120k/default/fm_rkdv3_timewarp_vae_da_aphead_cosine_decay_120k/config.json

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TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_120k/default/fm_rkdv3_timewarp_vae_da_aphead_cosine_decay_120k/experiment_cfg/metadata.json

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+}

TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_120k/default/resolved_config.yaml

@@ -0,0 +1,41 @@
+experiment_name: RKDv3 TimewarpVAE DA, Student:APHead, single-phase FM+RKD cosine
+  decay from GR00T base to 120k
+policy_type: groot_RKDv3
+base_model_path: nvidia/GR00T-N1.5-3B
+output_root: ${HOME}/groot_robocasa/robocasa_v2/TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_120k
+dataset:
+  dataset_soup: my_atomic26_human
+training:
+  num_gpus: 1
+  batch_size: 128
+  seed: 42
+  report_to: wandb
+model:
+  rkd_teacher_source: timewarp_action
+  rkd_timewarp_vae_checkpoint: ${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/robocasa_vanilla_t16_z8_g8_h32_reg0p01_beta0p01/checkpoint-step-60000-epoch-17.46
+  rkd_relation_mode: token_pair_mean
+  rkd_loss_type: distance_angle
+  rkd_student_reconstruction_head_pooling: attention
+  rkd_student_reconstruction_head_enabled: true
+  rkd_student_reconstruction_head_dim: 512
+  rkd_student_reconstruction_head_hidden_dim: 512
+  rkd_distance_loss_weight: 1.0
+  rkd_angle_loss_weight: 2.0
+  rkd_exclude_diagonal: true
+phases:
+- name: fm_rkdv3_timewarp_vae_da_aphead_cosine_decay_120k
+  max_steps: 120000
+  save_steps: 30000
+  trainable:
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    rkd_enabled: true
+    rkd_fm_loss_weight: 1.0
+    rkd_loss_weight: 1.0
+    rkd_loss_weight_schedule: cosine_decay
+    rkd_loss_weight_start: 1.0
+    rkd_loss_weight_end: 0.0
+resolved_sweep: {}

TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_60k/default/RKDv3_TimewarpVAE_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_60k.yaml

@@ -9,6 +9,7 @@ training:
   num_gpus: 1
   batch_size: 128
   seed: 42
+  report_to: wandb
 model:
   rkd_teacher_source: timewarp_action
   rkd_timewarp_vae_checkpoint: ${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/robocasa_vanilla_t16_z8_g8_h32_reg0p01_beta0p01/checkpoint-step-60000-epoch-17.46

TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_60k/default/fm_rkdv3_timewarp_vae_da_aphead_cosine_decay_60k/checkpoint-30000/config.json

@@ -0,0 +1,101 @@
+{
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+  "action_head_cfg": {
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+    "action_horizon": 16,
+    "add_pos_embed": true,
+    "backbone_embedding_dim": 2048,
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+      "cross_attention_dim": 2048,
+      "dropout": 0.2,
+      "final_dropout": true,
+      "interleave_self_attention": true,
+      "norm_type": "ada_norm",
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+      "output_dim": 1024,
+      "positional_embeddings": null
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+    "input_embedding_dim": 1536,
+    "max_action_dim": 32,
+    "max_state_dim": 64,
+    "model_dtype": "float32",
+    "noise_beta_alpha": 1.5,
+    "noise_beta_beta": 1.0,
+    "noise_s": 0.999,
+    "num_inference_timesteps": 4,
+    "num_target_vision_tokens": 32,
+    "num_timestep_buckets": 1000,
+    "tune_diffusion_model": true,
+    "tune_projector": true,
+    "use_vlln": true,
+    "vl_self_attention_cfg": {
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+      "dropout": 0.2,
+      "final_dropout": true,
+      "num_attention_heads": 32,
+      "num_layers": 4,
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+    }
+  },
+  "action_horizon": 16,
+  "architectures": [
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+  ],
+  "attn_implementation": null,
+  "backbone_cfg": {
+    "eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
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+    "use_flash_attention": true
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+  "hidden_size": 2048,
+  "model_dtype": "float32",
+  "model_type": "gr00t_n1_5",
+  "rkd_action_encoder_cls_ffn_hidden_dim": 2048,
+  "rkd_action_encoder_cls_num_heads": 8,
+  "rkd_action_encoder_cls_num_layers": 1,
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+  "rkd_action_encoder_projector_enabled": false,
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+  "rkd_dtw_adaptive_mix_lambda": 0.5,
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+  "rkd_dtw_timing_log_interval": 1000,
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+  "rkd_fm_loss_weight": 1.0,
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+  "rkd_loss_weight_end": 0.0,
+  "rkd_loss_weight_schedule": "cosine_decay",
+  "rkd_loss_weight_start": 1.0,
+  "rkd_raw_action_projector_dim": 512,
+  "rkd_raw_action_projector_enabled": false,
+  "rkd_raw_action_projector_pooling": "flatten",
+  "rkd_relation_mode": "token_pair_mean",
+  "rkd_student_reconstruction_head_dim": 512,
+  "rkd_student_reconstruction_head_enabled": true,
+  "rkd_student_reconstruction_head_hidden_dim": 512,
+  "rkd_student_reconstruction_head_pooling": "attention",
+  "rkd_teacher_source": "timewarp_action",
+  "rkd_timewarp_vae_checkpoint": "${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/robocasa_vanilla_t16_z8_g8_h32_reg0p01_beta0p01/checkpoint-step-60000-epoch-17.46",
+  "rkd_vlm_temp": 0.1,
+  "torch_dtype": "bfloat16",
+  "transformers_version": "4.51.3"
+}

TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_60k/default/fm_rkdv3_timewarp_vae_da_aphead_cosine_decay_60k/checkpoint-30000/experiment_cfg/metadata.json

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TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_60k/default/fm_rkdv3_timewarp_vae_da_aphead_cosine_decay_60k/checkpoint-60000/config.json

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+  "rkd_enabled": true,
+  "rkd_exclude_diagonal": true,
+  "rkd_fm_loss_weight": 1.0,
+  "rkd_loss_type": "distance_angle",
+  "rkd_loss_weight": 0.0,
+  "rkd_loss_weight_end": 0.0,
+  "rkd_loss_weight_schedule": "cosine_decay",
+  "rkd_loss_weight_start": 1.0,
+  "rkd_raw_action_projector_dim": 512,
+  "rkd_raw_action_projector_enabled": false,
+  "rkd_raw_action_projector_pooling": "flatten",
+  "rkd_relation_mode": "token_pair_mean",
+  "rkd_student_reconstruction_head_dim": 512,
+  "rkd_student_reconstruction_head_enabled": true,
+  "rkd_student_reconstruction_head_hidden_dim": 512,
+  "rkd_student_reconstruction_head_pooling": "attention",
+  "rkd_teacher_source": "timewarp_action",
+  "rkd_timewarp_vae_checkpoint": "${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/robocasa_vanilla_t16_z8_g8_h32_reg0p01_beta0p01/checkpoint-step-60000-epoch-17.46",
+  "rkd_vlm_temp": 0.1,
+  "torch_dtype": "bfloat16",
+  "transformers_version": "4.51.3"
+}

TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_60k/default/resolved_config.yaml

@@ -9,6 +9,7 @@ training:
   num_gpus: 1
   batch_size: 128
   seed: 42
+  report_to: wandb
 model:
   rkd_teacher_source: timewarp_action
   rkd_timewarp_vae_checkpoint: ${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/robocasa_vanilla_t16_z8_g8_h32_reg0p01_beta0p01/checkpoint-step-60000-epoch-17.46

TimewarpVAE/logs/RKDv3_TimewarpVAE_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_120k_gpu7_bs128_numgpu1_20260702_121805.log

@@ -0,0 +1,195 @@
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+
+==================================================
+GR00T FINE-TUNING CONFIGURATION:
+==================================================
+config: /home/ext_minje/clvla/benchmarks/robocasa_v2/experiment_cfg/Experiments_v2/DTW/TimewarpVAE/RKDv3_TimewarpVAE_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_120k.yaml
+dataset_soup: None
+output_dir: /tmp/gr00t
+output_root: None
+data_config: panda_omron
+batch_size: 128
+max_steps: 300000
+num_gpus: 1
+save_steps: 20000
+run_name: None
+save_total_limit: 100
+seed: 42
+base_model_path: nvidia/GR00T-N1.5-3B
+tune_llm: False
+tune_visual: False
+tune_projector: True
+tune_diffusion_model: True
+resume: False
+learning_rate: 3e-05
+weight_decay: 1e-05
+warmup_ratio: 0.05
+lora_rank: 0
+lora_alpha: 16
+lora_dropout: 0.1
+lora_full_model: False
+dataloader_num_workers: 8
+report_to: wandb
+embodiment_tag: new_embodiment
+video_backend: opencv
+balance_dataset_weights: True
+balance_trajectory_weights: True
+ds_weights_alpha: 0.4
+==================================================
+
+Using 1 GPUs
+
+================================================================================
+Starting sweep branch: default
+Sweep vars: {}
+================================================================================
+
+--------------------------------------------------------------------------------
+Running phase 1: fm_rkdv3_timewarp_vae_da_aphead_cosine_decay_120k
+Policy type: groot_RKDv3
+Base model path: nvidia/GR00T-N1.5-3B
+Output dir: /home/ext_minje/groot_robocasa/robocasa_v2/TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_120k/default/fm_rkdv3_timewarp_vae_da_aphead_cosine_decay_120k
+Trainable preset: None
+Policy overrides: {'rkd_teacher_source': 'timewarp_action', 'rkd_timewarp_vae_checkpoint': '${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/robocasa_vanilla_t16_z8_g8_h32_reg0p01_beta0p01/checkpoint-step-60000-epoch-17.46', 'rkd_relation_mode': 'token_pair_mean', 'rkd_loss_type': 'distance_angle', 'rkd_student_reconstruction_head_pooling': 'attention', 'rkd_student_reconstruction_head_enabled': True, 'rkd_student_reconstruction_head_dim': 512, 'rkd_student_reconstruction_head_hidden_dim': 512, 'rkd_distance_loss_weight': 1.0, 'rkd_angle_loss_weight': 2.0, 'rkd_exclude_diagonal': True, 'rkd_enabled': True, 'rkd_fm_loss_weight': 1.0, 'rkd_loss_weight': 1.0, 'rkd_loss_weight_schedule': 'cosine_decay', 'rkd_loss_weight_start': 1.0, 'rkd_loss_weight_end': 0.0}
+--------------------------------------------------------------------------------
+
+[{'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseBlenderLid/20250822/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseBlenderLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseFridge/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseFridge', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'CloseToasterOvenDoor', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CoffeeSetupMug/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'CoffeeSetupMug', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/NavigateKitchen/20250821/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'NavigateKitchen', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenCabinet/20250819/lerobot', 'horizon': 1050, 'filter_key': '100_demos', 'task': 'OpenCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenDrawer/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'OpenDrawer', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenStandMixerHead/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'OpenStandMixerHead', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceDrawerToCounter/20250820/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceDrawerToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'PickPlaceSinkToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceToasterToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'PickPlaceCabinetToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnElectricKettle/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnElectricKettle', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnMicrowave/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffMicrowave/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'OpenElectricKettleLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/SlideDishwasherRack/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'SlideDishwasherRack', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'TurnOnSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnSinkSpout/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnSinkSpout', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffSinkFaucet/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustWaterTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustWaterTemperature', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffStove/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'TurnOffStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnStove/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustToasterOvenTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustToasterOvenTemperature', 'split': 'pretrain', 'source': 'human'}]
+Using 100 subset demos for filter_key: 100_demos
+/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+dataset weights: [1.         0.88494669 0.76443286 0.83888607 0.73785464 1.00501644
+ 0.80029956 0.66065525 0.83967491 0.83515002 0.95047759 0.86791692
+ 0.88329477 0.78510653 0.64381843 0.67404766 0.69697218 0.60443684
+ 0.78448103 0.83447486 0.61146215 0.64384058 0.79545025 0.93845856
+ 0.75517122 0.7973985 ]
+Loaded 26 datasets
+Loading pretrained dual brain from nvidia/GR00T-N1.5-3B
+Tune backbone vision tower: False
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/ext_minje/miniconda3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/transformer.py:382: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True
+  warnings.warn(
+
+Some weights of GR00T_N1_5_RKD were not initialized from the model checkpoint at /home/ext_minje/.cache/huggingface/hub/models--nvidia--GR00T-N1.5-3B/snapshots/869830fc749c35f34771aa5209f923ac57e4564e and are newly initialized: ['rkd_action_encoder_cls_projector.cls_token', 'rkd_action_encoder_cls_projector.encoder.layers.0.linear1.bias', 'rkd_action_encoder_cls_projector.encoder.layers.0.linear1.weight', 'rkd_action_encoder_cls_projector.encoder.layers.0.linear2.bias', 'rkd_action_encoder_cls_projector.encoder.layers.0.linear2.weight', 'rkd_action_encoder_cls_projector.encoder.layers.0.norm1.bias', 'rkd_action_encoder_cls_projector.encoder.layers.0.norm1.weight', 'rkd_action_encoder_cls_projector.encoder.layers.0.norm2.bias', 'rkd_action_encoder_cls_projector.encoder.layers.0.norm2.weight', 'rkd_action_encoder_cls_projector.encoder.layers.0.self_attn.in_proj_bias', 'rkd_action_encoder_cls_projector.encoder.layers.0.self_attn.in_proj_weight', 'rkd_action_encoder_cls_projector.encoder.layers.0.self_attn.out_proj.bias', 'rkd_action_encoder_cls_projector.encoder.layers.0.self_attn.out_proj.weight', 'rkd_action_encoder_cls_projector.in_proj.bias', 'rkd_action_encoder_cls_projector.in_proj.weight', 'rkd_action_encoder_cls_projector.norm.bias', 'rkd_action_encoder_cls_projector.norm.weight', 'rkd_action_encoder_cls_projector.position_embedding', 'rkd_action_encoder_projector.bias', 'rkd_action_encoder_projector.weight', 'rkd_raw_action_projector.bias', 'rkd_raw_action_projector.weight', 'rkd_student_mean_projector.bias', 'rkd_student_mean_projector.weight', 'rkd_student_reconstruction_head.attn_score.bias', 'rkd_student_reconstruction_head.attn_score.weight', 'rkd_student_reconstruction_head.out_proj.bias', 'rkd_student_reconstruction_head.out_proj.weight', 'rkd_student_reconstruction_head.token_mlp.0.bias', 'rkd_student_reconstruction_head.token_mlp.0.weight', 'rkd_student_reconstruction_head.token_mlp.2.bias', 'rkd_student_reconstruction_head.token_mlp.2.weight']
+You should probably TRAIN this model on a down-stream task to be able to use it for predictions and inference.
+Tune backbone llm: False
+Tune backbone visual: False
+Warning: No backbone trainable parameters found.
+Tune action head projector: True
+Tune action head diffusion model: True
+Detected uninitialized RKD aux parameters; resetting 5 affected projector/head module(s).
+Trainable summary: {'trainable_preset': 'default', 'trainable_modules': 'action_head.future_tokens(49,152), action_head.vlln(4,096), action_head.vl_self_attention(201,433,088), action_head.state_encoder(52,510,720), action_head.action_encoder(228,212,736), action_head.action_decoder(34,636,800), action_head.position_embedding(1,572,864), action_head.model(550,386,688), rkd_student_reconstruction_head(1,574,913)', 'trainable_module_names': 'action_head.future_tokens, action_head.vlln, action_head.vl_self_attention, action_head.state_encoder, action_head.action_encoder, action_head.action_decoder, action_head.position_embedding, action_head.model, rkd_student_reconstruction_head', 'trainable_module_param_counts': {'action_head.future_tokens': 49152, 'action_head.vlln': 4096, 'action_head.vl_self_attention': 201433088, 'action_head.state_encoder': 52510720, 'action_head.action_encoder': 228212736, 'action_head.action_decoder': 34636800, 'action_head.position_embedding': 1572864, 'action_head.model': 550386688, 'rkd_student_reconstruction_head': 1574913}, 'trainable_param_count': 1070381057, 'total_param_count': 2743583169, 'trainable_param_ratio': 0.39013982484450793}
+Run name: RKDv3_TimewarpVAE_DA__Student_APHead__single-phase_FM_RKD_cosine_decay_from_GR00T_base_to_120k_fm_rkdv3_timewarp_vae_da_aphead_cosine_decay_120k
+train dataloader length: 3437
+train dataset length: 439854
+GPU memory before training: 7.1490302085876465 GB
+TensorBoard logs will be saved to: /home/ext_minje/groot_robocasa/robocasa_v2/TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_120k/default/fm_rkdv3_timewarp_vae_da_aphead_cosine_decay_120k/runs
+Aux loss weight schedule: rkd_loss_weight 1.0 -> 0.0 (cosine_decay)
+Traceback (most recent call last):
+  File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 1158, in <module>
+    run_yaml_experiment(
+  File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 1117, in run_yaml_experiment
+    main(args, policy_type=policy_type, policy_overrides=policy_overrides, trainable_preset=preset)
+  File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 847, in main
+    experiment.train()
+  File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/runner.py", line 172, in train
+    self.trainer.train(resume_from_checkpoint=self.resume_from_checkpoint)
+  File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 176, in train
+    return super().train(resume_from_checkpoint, trial, ignore_keys_for_eval, **kwargs)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2245, in train
+    return inner_training_loop(
+           ^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2469, in _inner_training_loop
+    self.control = self.callback_handler.on_train_begin(args, self.state, self.control)
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer_callback.py", line 506, in on_train_begin
+    return self.call_event("on_train_begin", args, state, control)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer_callback.py", line 556, in call_event
+    result = getattr(callback, event)(
+             ^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/robocasa/lib/python3.11/site-packages/transformers/integrations/integration_utils.py", line 930, in on_train_begin
+    self.setup(args, state, model, **kwargs)
+  File "/home/ext_minje/miniconda3/envs/robocasa/lib/python3.11/site-packages/transformers/integrations/integration_utils.py", line 857, in setup
+    self._wandb.init(
+  File "/home/ext_minje/miniconda3/envs/robocasa/lib/python3.11/site-packages/wandb/sdk/wandb_init.py", line 1595, in init
+    get_sentry().reraise(e)
+  File "/home/ext_minje/miniconda3/envs/robocasa/lib/python3.11/site-packages/wandb/analytics/sentry.py", line 190, in reraise
+    raise exc.with_traceback(tb)
+  File "/home/ext_minje/miniconda3/envs/robocasa/lib/python3.11/site-packages/wandb/sdk/wandb_init.py", line 1516, in init
+    wi.maybe_login(init_settings)
+  File "/home/ext_minje/miniconda3/envs/robocasa/lib/python3.11/site-packages/wandb/sdk/wandb_init.py", line 193, in maybe_login
+    wandb_login._login(
+  File "/home/ext_minje/miniconda3/envs/robocasa/lib/python3.11/site-packages/wandb/sdk/wandb_login.py", line 190, in _login
+    auth = _find_or_prompt_for_key(
+           ^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/robocasa/lib/python3.11/site-packages/wandb/sdk/wandb_login.py", line 266, in _find_or_prompt_for_key
+    auth = wbauth.authenticate_session(
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/robocasa/lib/python3.11/site-packages/wandb/sdk/lib/wbauth/authenticate.py", line 139, in authenticate_session
+    raise UsageError(
+wandb.errors.errors.UsageError: No API key configured. Use `wandb login` to log in.

TimewarpVAE/logs/RKDv3_TimewarpVAE_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_60k_gpu0_bs128_numgpu1_20260702_121805.log

@@ -0,0 +1,195 @@
+[robosuite WARNING] Could not import robosuite_models. Some robots may not be available. If you want to use these robots, please install robosuite_models from source (https://github.com/ARISE-Initiative/robosuite_models) or through pip install. (__init__.py:30)
+[robosuite WARNING] Could not load the mink-based whole-body IK. Make sure you install related import properly (e.g. pip install mink==0.0.5), otherwise you will not be able to use the default IK controller setting for GR1 robot. (__init__.py:40)
+WARNING: mimicgen environments not imported since mimicgen is not installed!
+/home/ext_minje/miniconda3/envs/robocasa/lib/python3.11/site-packages/albumentations/__init__.py:13: UserWarning: A new version of Albumentations is available: 2.0.8 (you have 1.4.18). Upgrade using: pip install -U albumentations. To disable automatic update checks, set the environment variable NO_ALBUMENTATIONS_UPDATE to 1.
+  check_for_updates()
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+
+==================================================
+GR00T FINE-TUNING CONFIGURATION:
+==================================================
+config: /home/ext_minje/clvla/benchmarks/robocasa_v2/experiment_cfg/Experiments_v2/DTW/TimewarpVAE/RKDv3_TimewarpVAE_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_60k.yaml
+dataset_soup: None
+output_dir: /tmp/gr00t
+output_root: None
+data_config: panda_omron
+batch_size: 128
+max_steps: 300000
+num_gpus: 1
+save_steps: 20000
+run_name: None
+save_total_limit: 100
+seed: 42
+base_model_path: nvidia/GR00T-N1.5-3B
+tune_llm: False
+tune_visual: False
+tune_projector: True
+tune_diffusion_model: True
+resume: False
+learning_rate: 3e-05
+weight_decay: 1e-05
+warmup_ratio: 0.05
+lora_rank: 0
+lora_alpha: 16
+lora_dropout: 0.1
+lora_full_model: False
+dataloader_num_workers: 8
+report_to: wandb
+embodiment_tag: new_embodiment
+video_backend: opencv
+balance_dataset_weights: True
+balance_trajectory_weights: True
+ds_weights_alpha: 0.4
+==================================================
+
+Using 1 GPUs
+
+================================================================================
+Starting sweep branch: default
+Sweep vars: {}
+================================================================================
+
+--------------------------------------------------------------------------------
+Running phase 1: fm_rkdv3_timewarp_vae_da_aphead_cosine_decay_60k
+Policy type: groot_RKDv3
+Base model path: nvidia/GR00T-N1.5-3B
+Output dir: /home/ext_minje/groot_robocasa/robocasa_v2/TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_60k/default/fm_rkdv3_timewarp_vae_da_aphead_cosine_decay_60k
+Trainable preset: None
+Policy overrides: {'rkd_teacher_source': 'timewarp_action', 'rkd_timewarp_vae_checkpoint': '${HOME}/groot_robocasa/TimeWarping/TimewarpVAE/robocasa_vanilla_t16_z8_g8_h32_reg0p01_beta0p01/checkpoint-step-60000-epoch-17.46', 'rkd_relation_mode': 'token_pair_mean', 'rkd_loss_type': 'distance_angle', 'rkd_student_reconstruction_head_pooling': 'attention', 'rkd_student_reconstruction_head_enabled': True, 'rkd_student_reconstruction_head_dim': 512, 'rkd_student_reconstruction_head_hidden_dim': 512, 'rkd_distance_loss_weight': 1.0, 'rkd_angle_loss_weight': 2.0, 'rkd_exclude_diagonal': True, 'rkd_enabled': True, 'rkd_fm_loss_weight': 1.0, 'rkd_loss_weight': 1.0, 'rkd_loss_weight_schedule': 'cosine_decay', 'rkd_loss_weight_start': 1.0, 'rkd_loss_weight_end': 0.0}
+--------------------------------------------------------------------------------
+
+[{'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseBlenderLid/20250822/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseBlenderLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseFridge/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'CloseFridge', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CloseToasterOvenDoor/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'CloseToasterOvenDoor', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/CoffeeSetupMug/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'CoffeeSetupMug', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/NavigateKitchen/20250821/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'NavigateKitchen', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenCabinet/20250819/lerobot', 'horizon': 1050, 'filter_key': '100_demos', 'task': 'OpenCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenDrawer/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'OpenDrawer', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenStandMixerHead/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'OpenStandMixerHead', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToCabinet/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToCabinet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceCounterToStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceDrawerToCounter/20250820/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'PickPlaceDrawerToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceSinkToCounter/20250819/lerobot', 'horizon': 900, 'filter_key': '100_demos', 'task': 'PickPlaceSinkToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceToasterToCounter/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'PickPlaceToasterToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'PickPlaceCabinetToCounter', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnElectricKettle/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnElectricKettle', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnMicrowave/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffMicrowave/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffMicrowave', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/OpenElectricKettleLid/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'OpenElectricKettleLid', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/SlideDishwasherRack/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'SlideDishwasherRack', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot', 'horizon': 600, 'filter_key': '100_demos', 'task': 'TurnOnSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnSinkSpout/20250820/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnSinkSpout', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffSinkFaucet/20250819/lerobot', 'horizon': 300, 'filter_key': '100_demos', 'task': 'TurnOffSinkFaucet', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustWaterTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustWaterTemperature', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOffStove/20250819/lerobot', 'horizon': 750, 'filter_key': '100_demos', 'task': 'TurnOffStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/TurnOnStove/20250819/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'TurnOnStove', 'split': 'pretrain', 'source': 'human'}, {'path': '/home/ext_minje/clvla/benchmarks/robocasa_v2/robocasa/datasets/v1.0/pretrain/atomic/AdjustToasterOvenTemperature/20250820/lerobot', 'horizon': 450, 'filter_key': '100_demos', 'task': 'AdjustToasterOvenTemperature', 'split': 'pretrain', 'source': 'human'}]
+Using 100 subset demos for filter_key: 100_demos
+/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/data/transform/state_action.py:257: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.detach().clone() or sourceTensor.detach().clone().requires_grad_(True), rather than torch.tensor(sourceTensor).
+  self.statistics[key] = torch.tensor(value)
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+Using 100 subset demos for filter_key: 100_demos
+Initialized dataset lerobot with EmbodimentTag.NEW_EMBODIMENT
+dataset weights: [1.         0.88494669 0.76443286 0.83888607 0.73785464 1.00501644
+ 0.80029956 0.66065525 0.83967491 0.83515002 0.95047759 0.86791692
+ 0.88329477 0.78510653 0.64381843 0.67404766 0.69697218 0.60443684
+ 0.78448103 0.83447486 0.61146215 0.64384058 0.79545025 0.93845856
+ 0.75517122 0.7973985 ]
+Loaded 26 datasets
+Loading pretrained dual brain from nvidia/GR00T-N1.5-3B
+Tune backbone vision tower: False
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: True
+
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+/home/ext_minje/miniconda3/envs/robocasa/lib/python3.11/site-packages/torch/nn/modules/transformer.py:382: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True
+  warnings.warn(
+
+Some weights of GR00T_N1_5_RKD were not initialized from the model checkpoint at /home/ext_minje/.cache/huggingface/hub/models--nvidia--GR00T-N1.5-3B/snapshots/869830fc749c35f34771aa5209f923ac57e4564e and are newly initialized: ['rkd_action_encoder_cls_projector.cls_token', 'rkd_action_encoder_cls_projector.encoder.layers.0.linear1.bias', 'rkd_action_encoder_cls_projector.encoder.layers.0.linear1.weight', 'rkd_action_encoder_cls_projector.encoder.layers.0.linear2.bias', 'rkd_action_encoder_cls_projector.encoder.layers.0.linear2.weight', 'rkd_action_encoder_cls_projector.encoder.layers.0.norm1.bias', 'rkd_action_encoder_cls_projector.encoder.layers.0.norm1.weight', 'rkd_action_encoder_cls_projector.encoder.layers.0.norm2.bias', 'rkd_action_encoder_cls_projector.encoder.layers.0.norm2.weight', 'rkd_action_encoder_cls_projector.encoder.layers.0.self_attn.in_proj_bias', 'rkd_action_encoder_cls_projector.encoder.layers.0.self_attn.in_proj_weight', 'rkd_action_encoder_cls_projector.encoder.layers.0.self_attn.out_proj.bias', 'rkd_action_encoder_cls_projector.encoder.layers.0.self_attn.out_proj.weight', 'rkd_action_encoder_cls_projector.in_proj.bias', 'rkd_action_encoder_cls_projector.in_proj.weight', 'rkd_action_encoder_cls_projector.norm.bias', 'rkd_action_encoder_cls_projector.norm.weight', 'rkd_action_encoder_cls_projector.position_embedding', 'rkd_action_encoder_projector.bias', 'rkd_action_encoder_projector.weight', 'rkd_raw_action_projector.bias', 'rkd_raw_action_projector.weight', 'rkd_student_mean_projector.bias', 'rkd_student_mean_projector.weight', 'rkd_student_reconstruction_head.attn_score.bias', 'rkd_student_reconstruction_head.attn_score.weight', 'rkd_student_reconstruction_head.out_proj.bias', 'rkd_student_reconstruction_head.out_proj.weight', 'rkd_student_reconstruction_head.token_mlp.0.bias', 'rkd_student_reconstruction_head.token_mlp.0.weight', 'rkd_student_reconstruction_head.token_mlp.2.bias', 'rkd_student_reconstruction_head.token_mlp.2.weight']
+You should probably TRAIN this model on a down-stream task to be able to use it for predictions and inference.
+Tune backbone llm: False
+Tune backbone visual: False
+Warning: No backbone trainable parameters found.
+Tune action head projector: True
+Tune action head diffusion model: True
+Detected uninitialized RKD aux parameters; resetting 5 affected projector/head module(s).
+Trainable summary: {'trainable_preset': 'default', 'trainable_modules': 'action_head.future_tokens(49,152), action_head.vlln(4,096), action_head.vl_self_attention(201,433,088), action_head.state_encoder(52,510,720), action_head.action_encoder(228,212,736), action_head.action_decoder(34,636,800), action_head.position_embedding(1,572,864), action_head.model(550,386,688), rkd_student_reconstruction_head(1,574,913)', 'trainable_module_names': 'action_head.future_tokens, action_head.vlln, action_head.vl_self_attention, action_head.state_encoder, action_head.action_encoder, action_head.action_decoder, action_head.position_embedding, action_head.model, rkd_student_reconstruction_head', 'trainable_module_param_counts': {'action_head.future_tokens': 49152, 'action_head.vlln': 4096, 'action_head.vl_self_attention': 201433088, 'action_head.state_encoder': 52510720, 'action_head.action_encoder': 228212736, 'action_head.action_decoder': 34636800, 'action_head.position_embedding': 1572864, 'action_head.model': 550386688, 'rkd_student_reconstruction_head': 1574913}, 'trainable_param_count': 1070381057, 'total_param_count': 2743583169, 'trainable_param_ratio': 0.39013982484450793}
+Run name: RKDv3_TimewarpVAE_DA__Student_APHead__single-phase_FM_RKD_cosine_decay_from_GR00T_base_to_60k_fm_rkdv3_timewarp_vae_da_aphead_cosine_decay_60k
+train dataloader length: 3437
+train dataset length: 439854
+GPU memory before training: 7.1490302085876465 GB
+TensorBoard logs will be saved to: /home/ext_minje/groot_robocasa/robocasa_v2/TimewarpVAE/RKDv3_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_60k/default/fm_rkdv3_timewarp_vae_da_aphead_cosine_decay_60k/runs
+Aux loss weight schedule: rkd_loss_weight 1.0 -> 0.0 (cosine_decay)
+Traceback (most recent call last):
+  File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 1158, in <module>
+    run_yaml_experiment(
+  File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 1117, in run_yaml_experiment
+    main(args, policy_type=policy_type, policy_overrides=policy_overrides, trainable_preset=preset)
+  File "/home/ext_minje/clvla/benchmarks/robocasa_v2/my_scripts/gr00t_finetune.py", line 847, in main
+    experiment.train()
+  File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/runner.py", line 172, in train
+    self.trainer.train(resume_from_checkpoint=self.resume_from_checkpoint)
+  File "/home/ext_minje/clvla/benchmarks/robocasa_v2/Isaac-GR00T/gr00t/experiment/trainer.py", line 176, in train
+    return super().train(resume_from_checkpoint, trial, ignore_keys_for_eval, **kwargs)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2245, in train
+    return inner_training_loop(
+           ^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer.py", line 2469, in _inner_training_loop
+    self.control = self.callback_handler.on_train_begin(args, self.state, self.control)
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer_callback.py", line 506, in on_train_begin
+    return self.call_event("on_train_begin", args, state, control)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/robocasa/lib/python3.11/site-packages/transformers/trainer_callback.py", line 556, in call_event
+    result = getattr(callback, event)(
+             ^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/robocasa/lib/python3.11/site-packages/transformers/integrations/integration_utils.py", line 930, in on_train_begin
+    self.setup(args, state, model, **kwargs)
+  File "/home/ext_minje/miniconda3/envs/robocasa/lib/python3.11/site-packages/transformers/integrations/integration_utils.py", line 857, in setup
+    self._wandb.init(
+  File "/home/ext_minje/miniconda3/envs/robocasa/lib/python3.11/site-packages/wandb/sdk/wandb_init.py", line 1595, in init
+    get_sentry().reraise(e)
+  File "/home/ext_minje/miniconda3/envs/robocasa/lib/python3.11/site-packages/wandb/analytics/sentry.py", line 190, in reraise
+    raise exc.with_traceback(tb)
+  File "/home/ext_minje/miniconda3/envs/robocasa/lib/python3.11/site-packages/wandb/sdk/wandb_init.py", line 1516, in init
+    wi.maybe_login(init_settings)
+  File "/home/ext_minje/miniconda3/envs/robocasa/lib/python3.11/site-packages/wandb/sdk/wandb_init.py", line 193, in maybe_login
+    wandb_login._login(
+  File "/home/ext_minje/miniconda3/envs/robocasa/lib/python3.11/site-packages/wandb/sdk/wandb_login.py", line 190, in _login
+    auth = _find_or_prompt_for_key(
+           ^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/robocasa/lib/python3.11/site-packages/wandb/sdk/wandb_login.py", line 266, in _find_or_prompt_for_key
+    auth = wbauth.authenticate_session(
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/ext_minje/miniconda3/envs/robocasa/lib/python3.11/site-packages/wandb/sdk/lib/wbauth/authenticate.py", line 139, in authenticate_session
+    raise UsageError(
+wandb.errors.errors.UsageError: No API key configured. Use `wandb login` to log in.

TimewarpVAE/pids/RKDv3_TimewarpVAE_DA_APHead_FM_RKD_CosineDecay_from_Atomic26Baseline60k_gpu0_bs128_numgpu1.pid

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+346449

TimewarpVAE/pids/RKDv3_TimewarpVAE_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_120k_gpu7_bs128_numgpu1.pid

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+1986170

TimewarpVAE/pids/RKDv3_TimewarpVAE_DA_APHead_FM_RKD_CosineDecay_from_GR00TBase_to_60k_gpu0_bs128_numgpu1.pid

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+1986169