Upload folder using huggingface_hub

.gitattributes

@@ -33,3 +33,5 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+wandb/run-20260518_153916-gnre0khg/run-gnre0khg.wandb filter=lfs diff=lfs merge=lfs -text
+wandb/run-20260519_221333-qz452p60/run-qz452p60.wandb filter=lfs diff=lfs merge=lfs -text

checkpoints/050000/pretrained_model/config.json

@@ -0,0 +1,103 @@
+{
+    "type": "groot",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                16
+            ]
+        },
+        "observation.images.guide": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        },
+        "observation.images.right_shoulder": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        },
+        "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                8
+            ]
+        },
+        "action.skill_id": {
+            "type": "ACTION",
+            "shape": [
+                1
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": true,
+    "repo_id": null,
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": null,
+    "chunk_size": 16,
+    "n_action_steps": 16,
+    "max_state_dim": 64,
+    "max_action_dim": 32,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
+    "image_size": [
+        224,
+        224
+    ],
+    "base_model_path": "nvidia/GR00T-N1.5-3B",
+    "tokenizer_assets_repo": "lerobot/eagle2hg-processor-groot-n1p5",
+    "embodiment_tag": "new_embodiment",
+    "tune_llm": false,
+    "tune_visual": false,
+    "tune_projector": true,
+    "tune_diffusion_model": true,
+    "lora_rank": 0,
+    "lora_alpha": 16,
+    "lora_dropout": 0.1,
+    "lora_full_model": false,
+    "optimizer_lr": 0.0001,
+    "optimizer_betas": [
+        0.95,
+        0.999
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-05,
+    "warmup_ratio": 0.05,
+    "use_bf16": true,
+    "video_backend": "pyav",
+    "balance_dataset_weights": true,
+    "balance_trajectory_weights": true,
+    "dataset_paths": null,
+    "output_dir": "./tmp/gr00t",
+    "save_steps": 1000,
+    "max_steps": 10000,
+    "batch_size": 32,
+    "dataloader_num_workers": 8,
+    "report_to": "wandb",
+    "resume": false
+}

checkpoints/050000/pretrained_model/model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:224dc1aa459dcd4f0077260e508b34fef13f3555b3c9912ea9fbee3a787ca76c
+size 5448472032

checkpoints/050000/pretrained_model/policy_postprocessor.json

@@ -0,0 +1,20 @@
+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "groot_action_unpack_unnormalize_v1",
+      "config": {
+        "env_action_dim": 8,
+        "normalize_min_max": true
+      },
+      "state_file": "policy_postprocessor_step_0_groot_action_unpack_unnormalize_v1.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}

checkpoints/050000/pretrained_model/policy_postprocessor_step_0_groot_action_unpack_unnormalize_v1.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cacc0ce3063ffe52d5e066d64ce32242b357c4ba7694ecc40f9937b7ca6a95a4
+size 15424

checkpoints/050000/pretrained_model/policy_preprocessor.json

@@ -0,0 +1,52 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "groot_pack_inputs_v3",
+      "config": {
+        "state_horizon": 1,
+        "action_horizon": 16,
+        "max_state_dim": 64,
+        "max_action_dim": 32,
+        "language_key": "task",
+        "formalize_language": false,
+        "embodiment_tag": "new_embodiment",
+        "embodiment_mapping": {
+          "new_embodiment": 31,
+          "oxe_droid": 17,
+          "agibot_genie1": 26,
+          "gr1": 24,
+          "so100": 2,
+          "unitree_g1": 3
+        },
+        "normalize_min_max": true
+      },
+      "state_file": "policy_preprocessor_step_2_groot_pack_inputs_v3.safetensors"
+    },
+    {
+      "registry_name": "groot_eagle_encode_v3",
+      "config": {}
+    },
+    {
+      "registry_name": "groot_eagle_collate_v3",
+      "config": {}
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    }
+  ]
+}

checkpoints/050000/pretrained_model/policy_preprocessor_step_2_groot_pack_inputs_v3.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cacc0ce3063ffe52d5e066d64ce32242b357c4ba7694ecc40f9937b7ca6a95a4
+size 15424

checkpoints/050000/pretrained_model/train_config.json

@@ -0,0 +1,258 @@
+{
+    "dataset": {
+        "repo_id": "/home/seonho/insight/insight_dataset",
+        "root": "/home/seonho/insight/insight_dataset",
+        "episodes": null,
+        "image_transforms": {
+            "enable": false,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
+                "brightness": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "contrast": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "saturation": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "saturation": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "hue": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "hue": [
+                            -0.05,
+                            0.05
+                        ]
+                    }
+                },
+                "sharpness": {
+                    "weight": 1.0,
+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "affine": {
+                    "weight": 1.0,
+                    "type": "RandomAffine",
+                    "kwargs": {
+                        "degrees": [
+                            -5.0,
+                            5.0
+                        ],
+                        "translate": [
+                            0.05,
+                            0.05
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "pyav",
+        "streaming": false
+    },
+    "env": null,
+    "policy": {
+        "type": "groot",
+        "n_obs_steps": 1,
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    16
+                ]
+            },
+            "observation.images.guide": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    224,
+                    224
+                ]
+            },
+            "observation.images.right_shoulder": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    224,
+                    224
+                ]
+            },
+            "observation.images.wrist": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    224,
+                    224
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    8
+                ]
+            },
+            "action.skill_id": {
+                "type": "ACTION",
+                "shape": [
+                    1
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "use_peft": false,
+        "push_to_hub": true,
+        "repo_id": null,
+        "private": null,
+        "tags": null,
+        "license": null,
+        "pretrained_path": null,
+        "chunk_size": 16,
+        "n_action_steps": 16,
+        "max_state_dim": 64,
+        "max_action_dim": 32,
+        "normalization_mapping": {
+            "VISUAL": "IDENTITY",
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
+        },
+        "image_size": [
+            224,
+            224
+        ],
+        "base_model_path": "nvidia/GR00T-N1.5-3B",
+        "tokenizer_assets_repo": "lerobot/eagle2hg-processor-groot-n1p5",
+        "embodiment_tag": "new_embodiment",
+        "tune_llm": false,
+        "tune_visual": false,
+        "tune_projector": true,
+        "tune_diffusion_model": true,
+        "lora_rank": 0,
+        "lora_alpha": 16,
+        "lora_dropout": 0.1,
+        "lora_full_model": false,
+        "optimizer_lr": 0.0001,
+        "optimizer_betas": [
+            0.95,
+            0.999
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 1e-05,
+        "warmup_ratio": 0.05,
+        "use_bf16": true,
+        "video_backend": "pyav",
+        "balance_dataset_weights": true,
+        "balance_trajectory_weights": true,
+        "dataset_paths": null,
+        "output_dir": "./tmp/gr00t",
+        "save_steps": 1000,
+        "max_steps": 10000,
+        "batch_size": 32,
+        "dataloader_num_workers": 8,
+        "report_to": "wandb",
+        "resume": false
+    },
+    "output_dir": "/home/seonho/insight/outputs/dit_only_phase1_ckpt",
+    "job_name": "groot_insight",
+    "resume": false,
+    "seed": 42,
+    "cudnn_deterministic": false,
+    "num_workers": 8,
+    "batch_size": 64,
+    "steps": 100000,
+    "eval_freq": 20000,
+    "log_freq": 100,
+    "tolerance_s": 0.0001,
+    "save_checkpoint": true,
+    "save_freq": 50000,
+    "use_policy_training_preset": true,
+    "optimizer": null,
+    "scheduler": null,
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": false,
+        "max_episodes_rendered": 10
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": false,
+        "project": "groot_insight_baseline_base",
+        "entity": "RwHlabs",
+        "notes": null,
+        "run_id": null,
+        "mode": null,
+        "add_tags": true,
+        "name": "insight_phase1_dit_only_groot",
+        "group": "insight_phase1_dit_only",
+        "tags": "base,phase2,groot,rgb,non_guide,insight,insight_native,cartesian_8d,phase1,baseline,dit_only,nvidia_base"
+    },
+    "peft": null,
+    "use_rabc": false,
+    "rabc_progress_path": null,
+    "rabc_kappa": 0.01,
+    "rabc_epsilon": 1e-06,
+    "rabc_head_mode": "sparse",
+    "rename_map": {},
+    "checkpoint_path": null,
+    "method": "base",
+    "phase": "phase2",
+    "pretrained_path": "",
+    "gradient_checkpointing": false,
+    "smoke_test": false,
+    "dry_run": false,
+    "grad_clip_norm": 10.0,
+    "write_reports": true,
+    "fail_on_language_fallback": true,
+    "action_dim": 8,
+    "state_dim": 16,
+    "camera_set": "rgb",
+    "video_feature_keys": "",
+    "task_prompt_mode": "non_guide",
+    "task_descriptions_path": "",
+    "excluded_indices_path": "",
+    "exclude_index_scope": "none",
+    "recipe_yaml": "",
+    "pipeline_yaml": "",
+    "pipeline_mode": "both",
+    "dry_print_commands": false,
+    "launcher": "python",
+    "phase2_output_dir": "",
+    "phase3_output_dir": "",
+    "wandb_auto_name": true,
+    "run_name": "",
+    "wandb_project_prefix": "groot_insight",
+    "wandb_group": "",
+    "wandb_tags": ""
+}

checkpoints/050000/training_state/optimizer_param_groups.json

@@ -0,0 +1,335 @@
+[
+    {
+        "lr": 5.4128967273616625e-05,
+        "betas": [
+            0.95,
+            0.999
+        ],
+        "eps": 1e-08,
+        "weight_decay": 1e-05,
+        "amsgrad": false,
+        "maximize": false,
+        "foreach": null,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "decoupled_weight_decay": true,
+        "initial_lr": 0.0001,
+        "params": [
+            0,
+            1,
+            2,
+            3,
+            4,
+            5,
+            6,
+            7,
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15,
+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25,
+            26,
+            27,
+            28,
+            29,
+            30,
+            31,
+            32,
+            33,
+            34,
+            35,
+            36,
+            37,
+            38,
+            39,
+            40,
+            41,
+            42,
+            43,
+            44,
+            45,
+            46,
+            47,
+            48,
+            49,
+            50,
+            51,
+            52,
+            53,
+            54,
+            55,
+            56,
+            57,
+            58,
+            59,
+            60,
+            61,
+            62,
+            63,
+            64,
+            65,
+            66,
+            67,
+            68,
+            69,
+            70,
+            71,
+            72,
+            73,
+            74,
+            75,
+            76,
+            77,
+            78,
+            79,
+            80,
+            81,
+            82,
+            83,
+            84,
+            85,
+            86,
+            87,
+            88,
+            89,
+            90,
+            91,
+            92,
+            93,
+            94,
+            95,
+            96,
+            97,
+            98,
+            99,
+            100,
+            101,
+            102,
+            103,
+            104,
+            105,
+            106,
+            107,
+            108,
+            109,
+            110,
+            111,
+            112,
+            113,
+            114,
+            115,
+            116,
+            117,
+            118,
+            119,
+            120,
+            121,
+            122,
+            123,
+            124,
+            125,
+            126,
+            127,
+            128,
+            129,
+            130,
+            131,
+            132,
+            133,
+            134,
+            135,
+            136,
+            137,
+            138,
+            139,
+            140,
+            141,
+            142,
+            143,
+            144,
+            145,
+            146,
+            147,
+            148,
+            149,
+            150,
+            151,
+            152,
+            153,
+            154,
+            155,
+            156,
+            157,
+            158,
+            159,
+            160,
+            161,
+            162,
+            163,
+            164,
+            165,
+            166,
+            167,
+            168,
+            169,
+            170,
+            171,
+            172,
+            173,
+            174,
+            175,
+            176,
+            177,
+            178,
+            179,
+            180,
+            181,
+            182,
+            183,
+            184,
+            185,
+            186,
+            187,
+            188,
+            189,
+            190,
+            191,
+            192,
+            193,
+            194,
+            195,
+            196,
+            197,
+            198,
+            199,
+            200,
+            201,
+            202,
+            203,
+            204,
+            205,
+            206,
+            207,
+            208,
+            209,
+            210,
+            211,
+            212,
+            213,
+            214,
+            215,
+            216,
+            217,
+            218,
+            219,
+            220,
+            221,
+            222,
+            223,
+            224,
+            225,
+            226,
+            227,
+            228,
+            229,
+            230,
+            231,
+            232,
+            233,
+            234,
+            235,
+            236,
+            237,
+            238,
+            239,
+            240,
+            241,
+            242,
+            243,
+            244,
+            245,
+            246,
+            247,
+            248,
+            249,
+            250,
+            251,
+            252,
+            253,
+            254,
+            255,
+            256,
+            257,
+            258,
+            259,
+            260,
+            261,
+            262,
+            263,
+            264,
+            265,
+            266,
+            267,
+            268,
+            269,
+            270,
+            271,
+            272,
+            273,
+            274,
+            275,
+            276,
+            277,
+            278,
+            279,
+            280,
+            281,
+            282,
+            283,
+            284,
+            285,
+            286,
+            287,
+            288,
+            289,
+            290,
+            291,
+            292,
+            293,
+            294,
+            295,
+            296,
+            297,
+            298,
+            299,
+            300,
+            301,
+            302,
+            303,
+            304,
+            305,
+            306,
+            307,
+            308,
+            309,
+            310,
+            311,
+            312,
+            313
+        ]
+    }
+]

checkpoints/050000/training_state/optimizer_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b7d4f28f0f9036678bfc35f6175e2eec7348050ca406eeb2e8d41a6b4593a56
+size 4275306416

checkpoints/050000/training_state/rng_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddf10679b738bfb52bcb08b700d0fdb5fa15c0aaff47068661cfe7bb427cf9ba
+size 15708

checkpoints/050000/training_state/scheduler_state.json

@@ -0,0 +1,14 @@
+{
+    "base_lrs": [
+        0.0001
+    ],
+    "last_epoch": 50000,
+    "_step_count": 50001,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        5.4128967273616625e-05
+    ],
+    "lr_lambdas": [
+        {}
+    ]
+}

checkpoints/050000/training_state/training_step.json

@@ -0,0 +1,3 @@
+{
+    "step": 50000
+}

checkpoints/100000/pretrained_model/config.json

@@ -0,0 +1,103 @@
+{
+    "type": "groot",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                16
+            ]
+        },
+        "observation.images.guide": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        },
+        "observation.images.right_shoulder": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        },
+        "observation.images.wrist": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                224,
+                224
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                8
+            ]
+        },
+        "action.skill_id": {
+            "type": "ACTION",
+            "shape": [
+                1
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "use_peft": false,
+    "push_to_hub": true,
+    "repo_id": null,
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": null,
+    "chunk_size": 16,
+    "n_action_steps": 16,
+    "max_state_dim": 64,
+    "max_action_dim": 32,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
+    "image_size": [
+        224,
+        224
+    ],
+    "base_model_path": "nvidia/GR00T-N1.5-3B",
+    "tokenizer_assets_repo": "lerobot/eagle2hg-processor-groot-n1p5",
+    "embodiment_tag": "new_embodiment",
+    "tune_llm": false,
+    "tune_visual": false,
+    "tune_projector": true,
+    "tune_diffusion_model": true,
+    "lora_rank": 0,
+    "lora_alpha": 16,
+    "lora_dropout": 0.1,
+    "lora_full_model": false,
+    "optimizer_lr": 0.0001,
+    "optimizer_betas": [
+        0.95,
+        0.999
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-05,
+    "warmup_ratio": 0.05,
+    "use_bf16": true,
+    "video_backend": "pyav",
+    "balance_dataset_weights": true,
+    "balance_trajectory_weights": true,
+    "dataset_paths": null,
+    "output_dir": "./tmp/gr00t",
+    "save_steps": 1000,
+    "max_steps": 10000,
+    "batch_size": 32,
+    "dataloader_num_workers": 8,
+    "report_to": "wandb",
+    "resume": false
+}

checkpoints/100000/pretrained_model/model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c06fb1f18b720c7d5870fd740a4bd777d06f04d826c9bc483254e643c296318
+size 5448472032

checkpoints/100000/pretrained_model/policy_postprocessor.json

@@ -0,0 +1,20 @@
+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "groot_action_unpack_unnormalize_v1",
+      "config": {
+        "env_action_dim": 8,
+        "normalize_min_max": true
+      },
+      "state_file": "policy_postprocessor_step_0_groot_action_unpack_unnormalize_v1.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}

checkpoints/100000/pretrained_model/policy_postprocessor_step_0_groot_action_unpack_unnormalize_v1.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cacc0ce3063ffe52d5e066d64ce32242b357c4ba7694ecc40f9937b7ca6a95a4
+size 15424

checkpoints/100000/pretrained_model/policy_preprocessor.json

@@ -0,0 +1,52 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "groot_pack_inputs_v3",
+      "config": {
+        "state_horizon": 1,
+        "action_horizon": 16,
+        "max_state_dim": 64,
+        "max_action_dim": 32,
+        "language_key": "task",
+        "formalize_language": false,
+        "embodiment_tag": "new_embodiment",
+        "embodiment_mapping": {
+          "new_embodiment": 31,
+          "oxe_droid": 17,
+          "agibot_genie1": 26,
+          "gr1": 24,
+          "so100": 2,
+          "unitree_g1": 3
+        },
+        "normalize_min_max": true
+      },
+      "state_file": "policy_preprocessor_step_2_groot_pack_inputs_v3.safetensors"
+    },
+    {
+      "registry_name": "groot_eagle_encode_v3",
+      "config": {}
+    },
+    {
+      "registry_name": "groot_eagle_collate_v3",
+      "config": {}
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    }
+  ]
+}

checkpoints/100000/pretrained_model/policy_preprocessor_step_2_groot_pack_inputs_v3.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cacc0ce3063ffe52d5e066d64ce32242b357c4ba7694ecc40f9937b7ca6a95a4
+size 15424

checkpoints/100000/pretrained_model/train_config.json

@@ -0,0 +1,258 @@
+{
+    "dataset": {
+        "repo_id": "/home/seonho/insight/insight_dataset",
+        "root": "/home/seonho/insight/insight_dataset",
+        "episodes": null,
+        "image_transforms": {
+            "enable": false,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
+                "brightness": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "contrast": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "saturation": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "saturation": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "hue": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "hue": [
+                            -0.05,
+                            0.05
+                        ]
+                    }
+                },
+                "sharpness": {
+                    "weight": 1.0,
+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "affine": {
+                    "weight": 1.0,
+                    "type": "RandomAffine",
+                    "kwargs": {
+                        "degrees": [
+                            -5.0,
+                            5.0
+                        ],
+                        "translate": [
+                            0.05,
+                            0.05
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "pyav",
+        "streaming": false
+    },
+    "env": null,
+    "policy": {
+        "type": "groot",
+        "n_obs_steps": 1,
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    16
+                ]
+            },
+            "observation.images.guide": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    224,
+                    224
+                ]
+            },
+            "observation.images.right_shoulder": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    224,
+                    224
+                ]
+            },
+            "observation.images.wrist": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    224,
+                    224
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    8
+                ]
+            },
+            "action.skill_id": {
+                "type": "ACTION",
+                "shape": [
+                    1
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "use_peft": false,
+        "push_to_hub": true,
+        "repo_id": null,
+        "private": null,
+        "tags": null,
+        "license": null,
+        "pretrained_path": null,
+        "chunk_size": 16,
+        "n_action_steps": 16,
+        "max_state_dim": 64,
+        "max_action_dim": 32,
+        "normalization_mapping": {
+            "VISUAL": "IDENTITY",
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
+        },
+        "image_size": [
+            224,
+            224
+        ],
+        "base_model_path": "nvidia/GR00T-N1.5-3B",
+        "tokenizer_assets_repo": "lerobot/eagle2hg-processor-groot-n1p5",
+        "embodiment_tag": "new_embodiment",
+        "tune_llm": false,
+        "tune_visual": false,
+        "tune_projector": true,
+        "tune_diffusion_model": true,
+        "lora_rank": 0,
+        "lora_alpha": 16,
+        "lora_dropout": 0.1,
+        "lora_full_model": false,
+        "optimizer_lr": 0.0001,
+        "optimizer_betas": [
+            0.95,
+            0.999
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 1e-05,
+        "warmup_ratio": 0.05,
+        "use_bf16": true,
+        "video_backend": "pyav",
+        "balance_dataset_weights": true,
+        "balance_trajectory_weights": true,
+        "dataset_paths": null,
+        "output_dir": "./tmp/gr00t",
+        "save_steps": 1000,
+        "max_steps": 10000,
+        "batch_size": 32,
+        "dataloader_num_workers": 8,
+        "report_to": "wandb",
+        "resume": false
+    },
+    "output_dir": "/home/seonho/insight/outputs/dit_only_phase1_ckpt",
+    "job_name": "groot_insight",
+    "resume": false,
+    "seed": 42,
+    "cudnn_deterministic": false,
+    "num_workers": 8,
+    "batch_size": 64,
+    "steps": 100000,
+    "eval_freq": 20000,
+    "log_freq": 100,
+    "tolerance_s": 0.0001,
+    "save_checkpoint": true,
+    "save_freq": 50000,
+    "use_policy_training_preset": true,
+    "optimizer": null,
+    "scheduler": null,
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": false,
+        "max_episodes_rendered": 10
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": false,
+        "project": "groot_insight_baseline_base",
+        "entity": "RwHlabs",
+        "notes": null,
+        "run_id": null,
+        "mode": null,
+        "add_tags": true,
+        "name": "insight_phase1_dit_only_groot",
+        "group": "insight_phase1_dit_only",
+        "tags": "base,phase2,groot,rgb,non_guide,insight,insight_native,cartesian_8d,phase1,baseline,dit_only,nvidia_base"
+    },
+    "peft": null,
+    "use_rabc": false,
+    "rabc_progress_path": null,
+    "rabc_kappa": 0.01,
+    "rabc_epsilon": 1e-06,
+    "rabc_head_mode": "sparse",
+    "rename_map": {},
+    "checkpoint_path": null,
+    "method": "base",
+    "phase": "phase2",
+    "pretrained_path": "",
+    "gradient_checkpointing": false,
+    "smoke_test": false,
+    "dry_run": false,
+    "grad_clip_norm": 10.0,
+    "write_reports": true,
+    "fail_on_language_fallback": true,
+    "action_dim": 8,
+    "state_dim": 16,
+    "camera_set": "rgb",
+    "video_feature_keys": "",
+    "task_prompt_mode": "non_guide",
+    "task_descriptions_path": "",
+    "excluded_indices_path": "",
+    "exclude_index_scope": "none",
+    "recipe_yaml": "",
+    "pipeline_yaml": "",
+    "pipeline_mode": "both",
+    "dry_print_commands": false,
+    "launcher": "python",
+    "phase2_output_dir": "",
+    "phase3_output_dir": "",
+    "wandb_auto_name": true,
+    "run_name": "",
+    "wandb_project_prefix": "groot_insight",
+    "wandb_group": "",
+    "wandb_tags": ""
+}

checkpoints/100000/training_state/optimizer_param_groups.json

@@ -0,0 +1,335 @@
+[
+    {
+        "lr": 0.0,
+        "betas": [
+            0.95,
+            0.999
+        ],
+        "eps": 1e-08,
+        "weight_decay": 1e-05,
+        "amsgrad": false,
+        "maximize": false,
+        "foreach": null,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "decoupled_weight_decay": true,
+        "initial_lr": 0.0001,
+        "params": [
+            0,
+            1,
+            2,
+            3,
+            4,
+            5,
+            6,
+            7,
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15,
+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25,
+            26,
+            27,
+            28,
+            29,
+            30,
+            31,
+            32,
+            33,
+            34,
+            35,
+            36,
+            37,
+            38,
+            39,
+            40,
+            41,
+            42,
+            43,
+            44,
+            45,
+            46,
+            47,
+            48,
+            49,
+            50,
+            51,
+            52,
+            53,
+            54,
+            55,
+            56,
+            57,
+            58,
+            59,
+            60,
+            61,
+            62,
+            63,
+            64,
+            65,
+            66,
+            67,
+            68,
+            69,
+            70,
+            71,
+            72,
+            73,
+            74,
+            75,
+            76,
+            77,
+            78,
+            79,
+            80,
+            81,
+            82,
+            83,
+            84,
+            85,
+            86,
+            87,
+            88,
+            89,
+            90,
+            91,
+            92,
+            93,
+            94,
+            95,
+            96,
+            97,
+            98,
+            99,
+            100,
+            101,
+            102,
+            103,
+            104,
+            105,
+            106,
+            107,
+            108,
+            109,
+            110,
+            111,
+            112,
+            113,
+            114,
+            115,
+            116,
+            117,
+            118,
+            119,
+            120,
+            121,
+            122,
+            123,
+            124,
+            125,
+            126,
+            127,
+            128,
+            129,
+            130,
+            131,
+            132,
+            133,
+            134,
+            135,
+            136,
+            137,
+            138,
+            139,
+            140,
+            141,
+            142,
+            143,
+            144,
+            145,
+            146,
+            147,
+            148,
+            149,
+            150,
+            151,
+            152,
+            153,
+            154,
+            155,
+            156,
+            157,
+            158,
+            159,
+            160,
+            161,
+            162,
+            163,
+            164,
+            165,
+            166,
+            167,
+            168,
+            169,
+            170,
+            171,
+            172,
+            173,
+            174,
+            175,
+            176,
+            177,
+            178,
+            179,
+            180,
+            181,
+            182,
+            183,
+            184,
+            185,
+            186,
+            187,
+            188,
+            189,
+            190,
+            191,
+            192,
+            193,
+            194,
+            195,
+            196,
+            197,
+            198,
+            199,
+            200,
+            201,
+            202,
+            203,
+            204,
+            205,
+            206,
+            207,
+            208,
+            209,
+            210,
+            211,
+            212,
+            213,
+            214,
+            215,
+            216,
+            217,
+            218,
+            219,
+            220,
+            221,
+            222,
+            223,
+            224,
+            225,
+            226,
+            227,
+            228,
+            229,
+            230,
+            231,
+            232,
+            233,
+            234,
+            235,
+            236,
+            237,
+            238,
+            239,
+            240,
+            241,
+            242,
+            243,
+            244,
+            245,
+            246,
+            247,
+            248,
+            249,
+            250,
+            251,
+            252,
+            253,
+            254,
+            255,
+            256,
+            257,
+            258,
+            259,
+            260,
+            261,
+            262,
+            263,
+            264,
+            265,
+            266,
+            267,
+            268,
+            269,
+            270,
+            271,
+            272,
+            273,
+            274,
+            275,
+            276,
+            277,
+            278,
+            279,
+            280,
+            281,
+            282,
+            283,
+            284,
+            285,
+            286,
+            287,
+            288,
+            289,
+            290,
+            291,
+            292,
+            293,
+            294,
+            295,
+            296,
+            297,
+            298,
+            299,
+            300,
+            301,
+            302,
+            303,
+            304,
+            305,
+            306,
+            307,
+            308,
+            309,
+            310,
+            311,
+            312,
+            313
+        ]
+    }
+]

checkpoints/100000/training_state/optimizer_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:538fd88805669011d3587f7dbce7727d1ba801e4649a970275978e5b963057ff
+size 4275306416

checkpoints/100000/training_state/rng_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34b815630d4ce3f560a5b0a3d07e08fd8cd8a03c15fdd6df6ef15a81e44ceb7f
+size 15708

checkpoints/100000/training_state/scheduler_state.json

@@ -0,0 +1,14 @@
+{
+    "base_lrs": [
+        0.0001
+    ],
+    "last_epoch": 100000,
+    "_step_count": 100001,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        0.0
+    ],
+    "lr_lambdas": [
+        {}
+    ]
+}

checkpoints/100000/training_state/training_step.json

@@ -0,0 +1,3 @@
+{
+    "step": 100000
+}

dataset_sample_report.json

@@ -0,0 +1,43 @@
+{
+  "action_shape": [
+    16,
+    8
+  ],
+  "camera_keys_present": {
+    "observation.images.guide": true,
+    "observation.images.right_shoulder": true,
+    "observation.images.wrist": true
+  },
+  "camera_order_effective": [
+    "observation.images.guide",
+    "observation.images.right_shoulder",
+    "observation.images.wrist"
+  ],
+  "keys_after_filter_slice": [
+    "action",
+    "action.skill_id",
+    "action_is_pad",
+    "episode_index",
+    "frame_index",
+    "index",
+    "next.reward",
+    "observation.images.guide",
+    "observation.images.right_shoulder",
+    "observation.images.wrist",
+    "observation.state",
+    "task",
+    "task_index",
+    "timestamp"
+  ],
+  "observation_state_shape": [
+    16
+  ],
+  "sample_index": 0,
+  "task": "1ext",
+  "task_index": {
+    "preview": [
+      0
+    ],
+    "shape": []
+  }
+}

first_batch_report.json

@@ -0,0 +1,207 @@
+{
+  "action_dim_effective": 8,
+  "batch_spec": {
+    "action_effective_dim": 8,
+    "action_horizon": 16,
+    "action_order": [
+      "action"
+    ],
+    "action_storage_dim": 32,
+    "camera_order_effective": [
+      "observation.images.guide",
+      "observation.images.right_shoulder",
+      "observation.images.wrist"
+    ],
+    "chunk_size": 16,
+    "padded_action_dim": 32,
+    "padded_state_dim": 64,
+    "state_effective_dim": 16,
+    "state_order": [
+      "observation.state"
+    ],
+    "state_storage_dim": 32
+  },
+  "camera_order_effective": [
+    "observation.images.guide",
+    "observation.images.right_shoulder",
+    "observation.images.wrist"
+  ],
+  "camera_set": "rgb",
+  "dataset_len": 246793,
+  "language_fallback_detected": false,
+  "language_fallback_scan": {
+    "all_paths": [],
+    "detected": false,
+    "processed_paths": [],
+    "raw_paths": []
+  },
+  "method": "base",
+  "phase": "phase2",
+  "policy_type": "groot",
+  "processed_action_shape": [
+    64,
+    16,
+    32
+  ],
+  "processed_state_shape": [
+    64,
+    1,
+    64
+  ],
+  "raw_action_shape": [
+    64,
+    16,
+    8
+  ],
+  "raw_keys": [
+    "action",
+    "action.skill_id",
+    "action_is_pad",
+    "episode_index",
+    "frame_index",
+    "index",
+    "next.reward",
+    "observation.images.guide",
+    "observation.images.right_shoulder",
+    "observation.images.wrist",
+    "observation.state",
+    "task",
+    "task_index",
+    "timestamp"
+  ],
+  "raw_observation_state_shape": [
+    64,
+    16
+  ],
+  "raw_task_preview": [
+    "Open the bottle following the guide.",
+    "Open the bottle following the guide.",
+    "Open the door following the guide."
+  ],
+  "script_name": "train_groot_insight_yaml.py",
+  "state_dim_effective": 16,
+  "task_prompt_mode": "non_guide",
+  "train_batch_tensor_report": {
+    "action": {
+      "device": "cuda:0",
+      "dtype": "torch.float32",
+      "shape": [
+        64,
+        16,
+        32
+      ]
+    },
+    "action_is_pad": {
+      "device": "cuda:0",
+      "dtype": "torch.bool",
+      "shape": [
+        64,
+        16
+      ]
+    },
+    "action_mask": {
+      "device": "cuda:0",
+      "dtype": "torch.bool",
+      "shape": [
+        64,
+        16,
+        32
+      ]
+    },
+    "eagle_attention_mask": {
+      "device": "cuda:0",
+      "dtype": "torch.int64",
+      "shape": [
+        64,
+        816
+      ]
+    },
+    "eagle_image_sizes": {
+      "device": "cuda:0",
+      "dtype": "torch.int64",
+      "shape": [
+        192,
+        2
+      ]
+    },
+    "eagle_input_ids": {
+      "device": "cuda:0",
+      "dtype": "torch.int64",
+      "shape": [
+        64,
+        816
+      ]
+    },
+    "eagle_pixel_values": {
+      "device": "cuda:0",
+      "dtype": "torch.float32",
+      "shape": [
+        192,
+        3,
+        224,
+        224
+      ]
+    },
+    "embodiment_id": {
+      "device": "cuda:0",
+      "dtype": "torch.int64",
+      "shape": [
+        64
+      ]
+    },
+    "episode_index": {
+      "device": "cuda:0",
+      "dtype": "torch.int64",
+      "shape": [
+        64
+      ]
+    },
+    "index": {
+      "device": "cuda:0",
+      "dtype": "torch.int64",
+      "shape": [
+        64
+      ]
+    },
+    "next.reward": {
+      "device": "cuda:0",
+      "dtype": "torch.float32",
+      "shape": [
+        64
+      ]
+    },
+    "observation.state": {
+      "device": "cuda:0",
+      "dtype": "torch.float32",
+      "shape": [
+        64,
+        16
+      ]
+    },
+    "state": {
+      "device": "cuda:0",
+      "dtype": "torch.float32",
+      "shape": [
+        64,
+        1,
+        64
+      ]
+    },
+    "state_mask": {
+      "device": "cuda:0",
+      "dtype": "torch.bool",
+      "shape": [
+        64,
+        1,
+        64
+      ]
+    },
+    "task_index": {
+      "device": "cuda:0",
+      "dtype": "torch.int64",
+      "shape": [
+        64
+      ]
+    }
+  }
+}

pipeline_commands.json

@@ -0,0 +1,65 @@
+{
+  "phase2_args": {
+    "batch_size": 64,
+    "camera_set": "rgb",
+    "dataset.repo_id": "/home/seonho/insight/insight_dataset",
+    "dataset.root": "/home/seonho/insight/insight_dataset",
+    "dataset.video_backend": "pyav",
+    "log_freq": 100,
+    "num_workers": 8,
+    "output_dir": "/home/seonho/insight/outputs/dit_only_phase1_ckpt",
+    "phase": "phase2",
+    "policy.base_model_path": "nvidia/GR00T-N1.5-3B",
+    "policy.lora_rank": 0,
+    "policy.tune_diffusion_model": true,
+    "policy.tune_llm": false,
+    "policy.tune_projector": true,
+    "policy.tune_visual": false,
+    "policy.type": "groot",
+    "save_freq": 50000,
+    "steps": 100000,
+    "task_prompt_mode": "non_guide",
+    "wandb.enable": true,
+    "wandb.entity": "RwHlabs",
+    "wandb.group": "insight_phase1_dit_only",
+    "wandb.name": "insight_phase1_dit_only_groot",
+    "wandb.project": "groot_insight_baseline_base",
+    "wandb.tags": "base,phase2,groot,rgb,non_guide,insight,insight_native,cartesian_8d,phase1,baseline,dit_only,nvidia_base"
+  },
+  "phase2_command": [
+    "accelerate",
+    "launch",
+    "--num_processes",
+    "1",
+    "--mixed_precision",
+    "no",
+    "/home/seonho/clvla/lerobot_cl/src/lerobot/scripts/train_groot_insight_yaml.py",
+    "--batch_size=64",
+    "--camera_set=rgb",
+    "--dataset.repo_id=/home/seonho/insight/insight_dataset",
+    "--dataset.root=/home/seonho/insight/insight_dataset",
+    "--dataset.video_backend=pyav",
+    "--log_freq=100",
+    "--num_workers=8",
+    "--output_dir=/home/seonho/insight/outputs/dit_only_phase1_ckpt",
+    "--phase=phase2",
+    "--policy.base_model_path=nvidia/GR00T-N1.5-3B",
+    "--policy.lora_rank=0",
+    "--policy.tune_diffusion_model=true",
+    "--policy.tune_llm=false",
+    "--policy.tune_projector=true",
+    "--policy.tune_visual=false",
+    "--policy.type=groot",
+    "--save_freq=50000",
+    "--steps=100000",
+    "--task_prompt_mode=non_guide",
+    "--wandb.enable=true",
+    "--wandb.entity=RwHlabs",
+    "--wandb.group=insight_phase1_dit_only",
+    "--wandb.name=insight_phase1_dit_only_groot",
+    "--wandb.project=groot_insight_baseline_base",
+    "--wandb.tags=base,phase2,groot,rgb,non_guide,insight,insight_native,cartesian_8d,phase1,baseline,dit_only,nvidia_base"
+  ],
+  "phase3_args": null,
+  "phase3_command": null
+}

pipeline_manifest.json

@@ -0,0 +1,91 @@
+{
+  "end_timestamp": "2026-05-23T05:32:47.031197+00:00",
+  "git_commit": "f8482718aaa75ce2ad60b9b8dd7070a607da4249",
+  "launcher": "accelerate launch --num_processes 1 --mixed_precision no",
+  "phase2_command": [
+    "accelerate",
+    "launch",
+    "--num_processes",
+    "1",
+    "--mixed_precision",
+    "no",
+    "/home/seonho/clvla/lerobot_cl/src/lerobot/scripts/train_groot_insight_yaml.py",
+    "--batch_size=64",
+    "--camera_set=rgb",
+    "--dataset.repo_id=/home/seonho/insight/insight_dataset",
+    "--dataset.root=/home/seonho/insight/insight_dataset",
+    "--dataset.video_backend=pyav",
+    "--log_freq=100",
+    "--num_workers=8",
+    "--output_dir=/home/seonho/insight/outputs/dit_only_phase1_ckpt",
+    "--phase=phase2",
+    "--policy.base_model_path=nvidia/GR00T-N1.5-3B",
+    "--policy.lora_rank=0",
+    "--policy.tune_diffusion_model=true",
+    "--policy.tune_llm=false",
+    "--policy.tune_projector=true",
+    "--policy.tune_visual=false",
+    "--policy.type=groot",
+    "--save_freq=50000",
+    "--steps=100000",
+    "--task_prompt_mode=non_guide",
+    "--wandb.enable=true",
+    "--wandb.entity=RwHlabs",
+    "--wandb.group=insight_phase1_dit_only",
+    "--wandb.name=insight_phase1_dit_only_groot",
+    "--wandb.project=groot_insight_baseline_base",
+    "--wandb.tags=base,phase2,groot,rgb,non_guide,insight,insight_native,cartesian_8d,phase1,baseline,dit_only,nvidia_base"
+  ],
+  "phase2_output_dir": "/home/seonho/insight/outputs/dit_only_phase1_ckpt",
+  "phase3_command": null,
+  "phase3_output_dir": null,
+  "pipeline_mode": "phase2_only",
+  "recipe_yaml": "/home/seonho/clvla/Experiments_cfg/insight/phase1_dit_only.yaml",
+  "resolved_phase2_checkpoint": null,
+  "return_status": "success",
+  "start_timestamp": "2026-05-19T13:13:01.780734+00:00",
+  "wandb_resolved": {
+    "group": "insight_phase1_dit_only",
+    "phase2": {
+      "enable": true,
+      "entity": "RwHlabs",
+      "group": "insight_phase1_dit_only",
+      "method": "base",
+      "name": "insight_phase1_dit_only_groot",
+      "phase": "phase2",
+      "project": "groot_insight_baseline_base",
+      "tags": [
+        "base",
+        "phase2",
+        "groot",
+        "rgb",
+        "non_guide",
+        "insight",
+        "insight_native",
+        "cartesian_8d",
+        "phase1",
+        "baseline",
+        "dit_only",
+        "nvidia_base"
+      ]
+    },
+    "phase2_name": "insight_phase1_dit_only_groot",
+    "phase3": null,
+    "phase3_name": null,
+    "project": "groot_insight_baseline_base",
+    "tags": [
+      "base",
+      "phase2",
+      "groot",
+      "rgb",
+      "non_guide",
+      "insight",
+      "insight_native",
+      "cartesian_8d",
+      "phase1",
+      "baseline",
+      "dit_only",
+      "nvidia_base"
+    ]
+  }
+}

run_manifest.json

@@ -0,0 +1,114 @@
+{
+  "action_dim_effective": 8,
+  "action_dim_storage": 32,
+  "batch_spec": {
+    "action_effective_dim": 8,
+    "action_horizon": 16,
+    "action_order": [
+      "action"
+    ],
+    "action_storage_dim": 32,
+    "camera_order_effective": [
+      "observation.images.guide",
+      "observation.images.right_shoulder",
+      "observation.images.wrist"
+    ],
+    "chunk_size": 16,
+    "padded_action_dim": 32,
+    "padded_state_dim": 64,
+    "state_effective_dim": 16,
+    "state_order": [
+      "observation.state"
+    ],
+    "state_storage_dim": 32
+  },
+  "camera_order_effective": [
+    "observation.images.guide",
+    "observation.images.right_shoulder",
+    "observation.images.wrist"
+  ],
+  "camera_set": "rgb",
+  "checkpoint_processor_state_loaded": false,
+  "checkpoint_processor_state_note": "phase3 loads model.safetensors weights only; pre/post processors are rebuilt from the current INSIGHT dataset stats for normalization consistency.",
+  "cl_v2_fm_loss_weight": null,
+  "cl_v2_loss_weight": null,
+  "cl_v2_phase": null,
+  "cl_v2_trainable_mode": null,
+  "created_at_utc": "2026-05-19T13:13:32.874286+00:00",
+  "dataset_len": 246793,
+  "dataset_root": "/home/seonho/insight/insight_dataset",
+  "exclude_index_scope": "none",
+  "excluded_indices_path": "",
+  "fps": 10,
+  "loaded_pretrained_model_path": null,
+  "method": "base",
+  "mgd_enabled": null,
+  "mgd_loss_weight": null,
+  "mgd_trainable_mode": null,
+  "phase": "phase2",
+  "policy_type": "groot",
+  "preprocessor_stats_source": "INSIGHT dataset stats sliced to effective action/state dims",
+  "pretrained_path": "",
+  "repo_id": "/home/seonho/insight/insight_dataset",
+  "rkd_loss_weight": null,
+  "script_name": "train_groot_insight_yaml.py",
+  "state_dim_effective": 16,
+  "state_dim_storage": 32,
+  "task_prompt_mode": "non_guide",
+  "total_episodes_metadata": 5647,
+  "total_frames_metadata": 246793,
+  "total_tasks_metadata": 13,
+  "trainable_report": {
+    "dit_core_only_unexpected_trainable_params": 0,
+    "groups": {
+      "_groot_model.action_head.model": {
+        "total": 550386688,
+        "trainable": 550386688
+      },
+      "_groot_model.action_head.vl_self_attention": {
+        "total": 201433088,
+        "trainable": 201433088
+      },
+      "_groot_model.action_head.vlln": {
+        "total": 4096,
+        "trainable": 4096
+      },
+      "sequence_mgd_head": {
+        "total": 0,
+        "trainable": 0
+      }
+    },
+    "num_learnable_params": 1068806144,
+    "num_total_params": 2724163520,
+    "other_trainable_params": 1068806144,
+    "policy_type": "groot",
+    "selected_prefixes": [],
+    "trainable_mode": null,
+    "trainable_ratio": 0.3923428737493702
+  },
+  "wandb_resolved": {
+    "camera_set": "rgb",
+    "enable": true,
+    "entity": "RwHlabs",
+    "group": "insight_phase1_dit_only",
+    "method": "base",
+    "name": "insight_phase1_dit_only_groot",
+    "phase": "phase2",
+    "project": "groot_insight_baseline_base",
+    "tags": [
+      "base",
+      "phase2",
+      "groot",
+      "rgb",
+      "non_guide",
+      "insight",
+      "insight_native",
+      "cartesian_8d",
+      "phase1",
+      "baseline",
+      "dit_only",
+      "nvidia_base"
+    ],
+    "task_prompt_mode": "non_guide"
+  }
+}

train_summary_report.json

@@ -0,0 +1,17 @@
+{
+  "final_checkpoint": "/home/seonho/insight/outputs/dit_only_phase1_ckpt/checkpoints/100000",
+  "last_grad_norm": 1.2890625,
+  "last_loss_finite": true,
+  "last_lr": 0.0,
+  "last_policy_update_called": false,
+  "last_scalars": {
+    "loss": 0.06392817199230194
+  },
+  "loaded_pretrained_model_path": null,
+  "method": "base",
+  "phase": "phase2",
+  "policy_type": "groot",
+  "script_name": "train_groot_insight_yaml.py",
+  "steps_completed": 100000,
+  "steps_requested": 100000
+}

trainable_param_report.json

@@ -0,0 +1,28 @@
+{
+  "dit_core_only_unexpected_trainable_params": 0,
+  "groups": {
+    "_groot_model.action_head.model": {
+      "total": 550386688,
+      "trainable": 550386688
+    },
+    "_groot_model.action_head.vl_self_attention": {
+      "total": 201433088,
+      "trainable": 201433088
+    },
+    "_groot_model.action_head.vlln": {
+      "total": 4096,
+      "trainable": 4096
+    },
+    "sequence_mgd_head": {
+      "total": 0,
+      "trainable": 0
+    }
+  },
+  "num_learnable_params": 1068806144,
+  "num_total_params": 2724163520,
+  "other_trainable_params": 1068806144,
+  "policy_type": "groot",
+  "selected_prefixes": [],
+  "trainable_mode": null,
+  "trainable_ratio": 0.3923428737493702
+}

wandb/debug-internal.log

@@ -0,0 +1,41 @@
+{"time":"2026-05-19T22:13:33.757508612+09:00","level":"INFO","msg":"stream: starting","core version":"0.24.2"}
+{"time":"2026-05-19T22:13:34.249681253+09:00","level":"INFO","msg":"stream: created new stream","id":"qz452p60"}
+{"time":"2026-05-19T22:13:34.249816267+09:00","level":"INFO","msg":"handler: started","stream_id":"qz452p60"}
+{"time":"2026-05-19T22:13:34.250122028+09:00","level":"INFO","msg":"stream: started","id":"qz452p60"}
+{"time":"2026-05-19T22:13:34.250159759+09:00","level":"INFO","msg":"sender: started","stream_id":"qz452p60"}
+{"time":"2026-05-19T22:13:34.250156101+09:00","level":"INFO","msg":"writer: started","stream_id":"qz452p60"}
+{"time":"2026-05-20T15:55:10.818156537+09:00","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/RwHlabs/groot_insight_baseline_base/qz452p60/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
+{"time":"2026-05-20T15:56:44.994984532+09:00","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/RwHlabs/groot_insight_baseline_base/qz452p60/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
+{"time":"2026-05-20T15:58:23.494572793+09:00","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/RwHlabs/groot_insight_baseline_base/qz452p60/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
+{"time":"2026-05-20T17:32:56.207023413+09:00","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/RwHlabs/groot_insight_baseline_base/qz452p60/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
+{"time":"2026-05-20T17:33:53.844718799+09:00","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/RwHlabs/groot_insight_baseline_base/qz452p60/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
+{"time":"2026-05-20T17:34:53.908902815+09:00","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/RwHlabs/groot_insight_baseline_base/qz452p60/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
+{"time":"2026-05-20T17:35:57.323694482+09:00","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/RwHlabs/groot_insight_baseline_base/qz452p60/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
+{"time":"2026-05-20T18:30:49.563054911+09:00","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/RwHlabs/groot_insight_baseline_base/qz452p60/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
+{"time":"2026-05-20T18:48:36.484690792+09:00","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/RwHlabs/groot_insight_baseline_base/qz452p60/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
+{"time":"2026-05-20T18:49:38.236616601+09:00","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/RwHlabs/groot_insight_baseline_base/qz452p60/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
+{"time":"2026-05-20T18:51:49.732015936+09:00","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/RwHlabs/groot_insight_baseline_base/qz452p60/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
+{"time":"2026-05-20T18:59:43.774277496+09:00","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/RwHlabs/groot_insight_baseline_base/qz452p60/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
+{"time":"2026-05-20T19:03:49.908408418+09:00","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/RwHlabs/groot_insight_baseline_base/qz452p60/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
+{"time":"2026-05-20T19:04:48.543201774+09:00","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/RwHlabs/groot_insight_baseline_base/qz452p60/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
+{"time":"2026-05-20T19:05:45.963581069+09:00","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/RwHlabs/groot_insight_baseline_base/qz452p60/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
+{"time":"2026-05-20T19:07:50.284610418+09:00","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/RwHlabs/groot_insight_baseline_base/qz452p60/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
+{"time":"2026-05-20T19:12:30.299479148+09:00","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/RwHlabs/groot_insight_baseline_base/qz452p60/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
+{"time":"2026-05-20T19:14:13.564300748+09:00","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/RwHlabs/groot_insight_baseline_base/qz452p60/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
+{"time":"2026-05-20T19:15:14.101427763+09:00","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/RwHlabs/groot_insight_baseline_base/qz452p60/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
+{"time":"2026-05-20T19:16:15.40790845+09:00","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/RwHlabs/groot_insight_baseline_base/qz452p60/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
+{"time":"2026-05-20T19:29:32.060104195+09:00","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/RwHlabs/groot_insight_baseline_base/qz452p60/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
+{"time":"2026-05-20T19:31:30.297052013+09:00","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/RwHlabs/groot_insight_baseline_base/qz452p60/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
+{"time":"2026-05-20T19:49:26.161299534+09:00","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/RwHlabs/groot_insight_baseline_base/qz452p60/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
+{"time":"2026-05-20T19:50:23.803656458+09:00","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/RwHlabs/groot_insight_baseline_base/qz452p60/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
+{"time":"2026-05-20T20:04:29.31970088+09:00","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/RwHlabs/groot_insight_baseline_base/qz452p60/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
+{"time":"2026-05-20T20:49:42.028043576+09:00","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/RwHlabs/groot_insight_baseline_base/qz452p60/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
+{"time":"2026-05-20T20:50:44.339074594+09:00","level":"INFO","msg":"api: retrying HTTP error","status":500,"url":"https://api.wandb.ai/files/RwHlabs/groot_insight_baseline_base/qz452p60/file_stream","body":"{\"error\":\"context deadline exceeded\"}"}
+{"time":"2026-05-23T13:56:03.488569868+09:00","level":"INFO","msg":"api: retrying error","error":"unexpected HTTP status 502 Bad Gateway"}
+{"time":"2026-05-23T14:25:43.511326685+09:00","level":"INFO","msg":"api: retrying error","error":"unexpected HTTP status 502 Bad Gateway"}
+{"time":"2026-05-23T14:32:39.967322696+09:00","level":"INFO","msg":"fileTransfer: Close: file transfer manager closed"}
+{"time":"2026-05-23T14:32:40.260656129+09:00","level":"INFO","msg":"handler: operation stats","stats":{}}
+{"time":"2026-05-23T14:32:40.266561008+09:00","level":"INFO","msg":"stream: closing","id":"qz452p60"}
+{"time":"2026-05-23T14:32:40.266576703+09:00","level":"INFO","msg":"handler: closed","stream_id":"qz452p60"}
+{"time":"2026-05-23T14:32:40.266689508+09:00","level":"INFO","msg":"sender: closed","stream_id":"qz452p60"}
+{"time":"2026-05-23T14:32:40.266726133+09:00","level":"INFO","msg":"stream: closed","id":"qz452p60"}

wandb/debug.log

@@ -0,0 +1,24 @@
+2026-05-19 22:13:33,530 INFO    MainThread:3941155 [wandb_setup.py:_flush():81] Current SDK version is 0.24.2
+2026-05-19 22:13:33,530 INFO    MainThread:3941155 [wandb_setup.py:_flush():81] Configure stats pid to 3941155
+2026-05-19 22:13:33,530 INFO    MainThread:3941155 [wandb_setup.py:_flush():81] Loading settings from environment variables
+2026-05-19 22:13:33,530 INFO    MainThread:3941155 [wandb_init.py:setup_run_log_directory():717] Logging user logs to /home/seonho/insight/outputs/dit_only_phase1_ckpt/wandb/run-20260519_221333-qz452p60/logs/debug.log
+2026-05-19 22:13:33,530 INFO    MainThread:3941155 [wandb_init.py:setup_run_log_directory():718] Logging internal logs to /home/seonho/insight/outputs/dit_only_phase1_ckpt/wandb/run-20260519_221333-qz452p60/logs/debug-internal.log
+2026-05-19 22:13:33,530 INFO    MainThread:3941155 [wandb_init.py:init():844] calling init triggers
+2026-05-19 22:13:33,530 INFO    MainThread:3941155 [wandb_init.py:init():849] wandb.init called with sweep_config: {}
+config: {'repo_id': '/home/seonho/insight/insight_dataset', 'dataset_root': '/home/seonho/insight/insight_dataset', 'method': 'base', 'phase': 'phase2', 'steps': 100000, 'lr': 0.0001, 'batch_size': 64, 'num_processes': 1, 'effective_batch_size': 64, 'action_dim': 8, 'state_dim': 16, 'camera_set': 'rgb', 'video_feature_keys': '', 'task_prompt_mode': 'non_guide', 'tune_llm': False, 'tune_visual': False, 'tune_projector': True, 'tune_diffusion_model': True, 'lora_rank': 0, 'lora_alpha': 16, 'lora_dropout': 0.1, 'lora_target': None, 'mgd_enabled': None, 'mgd_trainable_mode': None, 'mgd_loss_weight': None, 'mgd_backprop_backbone': None, 'cl_v2_phase': None, 'cl_v2_trainable_mode': None, 'cl_v2_loss_weight': None, 'cl_v2_fm_loss_weight': None, 'gradient_checkpointing': False, 'seed': 42, 'dataset_len': 246793, '_wandb': {}}
+2026-05-19 22:13:33,530 INFO    MainThread:3941155 [wandb_init.py:init():892] starting backend
+2026-05-19 22:13:33,746 INFO    MainThread:3941155 [wandb_init.py:init():895] sending inform_init request
+2026-05-19 22:13:33,753 INFO    MainThread:3941155 [wandb_init.py:init():903] backend started and connected
+2026-05-19 22:13:33,755 INFO    MainThread:3941155 [wandb_init.py:init():973] updated telemetry
+2026-05-19 22:13:33,756 INFO    MainThread:3941155 [wandb_init.py:init():997] communicating run to backend with 90.0 second timeout
+2026-05-19 22:13:35,113 INFO    MainThread:3941155 [wandb_init.py:init():1042] starting run threads in backend
+2026-05-19 22:13:35,241 INFO    MainThread:3941155 [wandb_run.py:_console_start():2529] atexit reg
+2026-05-19 22:13:35,241 INFO    MainThread:3941155 [wandb_run.py:_redirect():2377] redirect: wrap_raw
+2026-05-19 22:13:35,241 INFO    MainThread:3941155 [wandb_run.py:_redirect():2446] Wrapping output streams.
+2026-05-19 22:13:35,241 INFO    MainThread:3941155 [wandb_run.py:_redirect():2469] Redirects installed.
+2026-05-19 22:13:35,246 INFO    MainThread:3941155 [wandb_init.py:init():1082] run started, returning control to user process
+2026-05-23 13:53:31,185 INFO    MainThread:3941155 [wandb_run.py:_finish():2295] finishing run RwHlabs/groot_insight_baseline_base/qz452p60
+2026-05-23 13:53:31,187 INFO    MainThread:3941155 [wandb_run.py:_atexit_cleanup():2494] got exitcode: 0
+2026-05-23 13:53:31,187 INFO    MainThread:3941155 [wandb_run.py:_restore():2476] restore
+2026-05-23 13:53:31,187 INFO    MainThread:3941155 [wandb_run.py:_restore():2482] restore done
+2026-05-23 14:32:40,265 INFO    MainThread:3941155 [wandb_run.py:_footer_sync_info():3871] logging synced files

wandb/run-20260518_152847-smy9mkg4/files/config.yaml

@@ -0,0 +1,178 @@
+_wandb:
+    value:
+        cli_version: 0.24.2
+        e:
+            ys7pyc71ohdki3edek8hpsuxl4fkwwj9:
+                args:
+                    - --action_dim=8
+                    - --batch_size=64
+                    - --camera_set=rgb
+                    - --dataset.repo_id=/home/seonho/insight/insight_dataset
+                    - --dataset.root=/home/seonho/insight/insight_dataset
+                    - --dataset.video_backend=torchcodec
+                    - --log_freq=100
+                    - --num_workers=4
+                    - --output_dir=/home/seonho/insight/outputs/dit_only_phase1_ckpt
+                    - --phase=phase2
+                    - --policy.base_model_path=nvidia/GR00T-N1.5-3B
+                    - --policy.lora_rank=0
+                    - --policy.mgd_enabled=false
+                    - --policy.mgd_loss_weight=0.0
+                    - --policy.mgd_trainable_mode=dit_only
+                    - --policy.tune_llm=false
+                    - --policy.tune_visual=false
+                    - --policy.type=groot_processed_mgd
+                    - --save_freq=50000
+                    - --state_dim=16
+                    - --steps=100000
+                    - --task_prompt_mode=non_guide
+                    - --wandb.enable=true
+                    - --wandb.entity=RwHlabs
+                    - --wandb.group=insight_phase1_dit_only
+                    - --wandb.name=insight_phase1_dit_only_groot
+                    - --wandb.project=groot_insight_baseline_mgd
+                    - --wandb.tags=mgd,phase2,groot_processed_mgd,rgb,non_guide,insight,insight_native,cartesian_8d,phase1,baseline,dit_only,nvidia_base
+                codePath: clvla/lerobot_cl/src/lerobot/scripts/train_groot_insight_yaml.py
+                codePathLocal: clvla/lerobot_cl/src/lerobot/scripts/train_groot_insight_yaml.py
+                cpu_count: 32
+                cpu_count_logical: 64
+                cudaVersion: "12.2"
+                disk:
+                    /:
+                        total: "3778130485248"
+                        used: "3526731341824"
+                email: dankk98@gmail.com
+                executable: /home/seonho/miniconda3/envs/minje/bin/python3.12
+                gpu: NVIDIA A100 80GB PCIe
+                gpu_count: 4
+                gpu_nvidia:
+                    - architecture: Ampere
+                      cudaCores: 6912
+                      memoryTotal: "85899345920"
+                      name: NVIDIA A100 80GB PCIe
+                      uuid: GPU-0dd6d491-2dd8-24ac-bb27-872483ab77e9
+                    - architecture: Ampere
+                      cudaCores: 6912
+                      memoryTotal: "85899345920"
+                      name: NVIDIA A100 80GB PCIe
+                      uuid: GPU-dbfb7925-aec1-50fb-039a-3a4c0a4b2caa
+                    - architecture: Ampere
+                      cudaCores: 6912
+                      memoryTotal: "85899345920"
+                      name: NVIDIA A100 80GB PCIe
+                      uuid: GPU-ca1c0319-e178-a3c3-ac41-386c2723deac
+                    - architecture: Ampere
+                      cudaCores: 6912
+                      memoryTotal: "85899345920"
+                      name: NVIDIA A100 80GB PCIe
+                      uuid: GPU-47b6036e-4fde-e399-5515-f73eed752c6d
+                host: worker1
+                memory:
+                    total: "1081620840448"
+                os: Linux-6.8.0-101-generic-x86_64-with-glibc2.35
+                program: /home/seonho/clvla/lerobot_cl/src/lerobot/scripts/train_groot_insight_yaml.py
+                python: CPython 3.12.12
+                root: /home/seonho/insight/outputs/dit_only_phase1_ckpt
+                startedAt: "2026-05-18T06:28:47.096325Z"
+                writerId: ys7pyc71ohdki3edek8hpsuxl4fkwwj9
+        m: []
+        python_version: 3.12.12
+        t:
+            "1":
+                - 1
+                - 5
+                - 11
+                - 41
+                - 49
+                - 51
+                - 53
+                - 71
+                - 83
+                - 98
+            "2":
+                - 1
+                - 5
+                - 11
+                - 41
+                - 49
+                - 51
+                - 53
+                - 71
+                - 83
+                - 98
+            "3":
+                - 13
+                - 15
+                - 16
+                - 62
+            "4": 3.12.12
+            "5": 0.24.2
+            "6": 5.3.0
+            "12": 0.24.2
+            "13": linux-x86_64
+action_dim:
+    value: 8
+batch_size:
+    value: 64
+camera_set:
+    value: rgb
+cl_v2_fm_loss_weight:
+    value: null
+cl_v2_loss_weight:
+    value: null
+cl_v2_phase:
+    value: null
+cl_v2_trainable_mode:
+    value: null
+dataset_len:
+    value: 246793
+dataset_root:
+    value: /home/seonho/insight/insight_dataset
+effective_batch_size:
+    value: 64
+gradient_checkpointing:
+    value: false
+lora_alpha:
+    value: 16
+lora_dropout:
+    value: 0.1
+lora_rank:
+    value: 0
+lora_target:
+    value: llm
+lr:
+    value: 0.0001
+method:
+    value: mgd
+mgd_backprop_backbone:
+    value: true
+mgd_enabled:
+    value: false
+mgd_loss_weight:
+    value: 0
+mgd_trainable_mode:
+    value: dit_only
+num_processes:
+    value: 1
+phase:
+    value: phase2
+repo_id:
+    value: /home/seonho/insight/insight_dataset
+seed:
+    value: 42
+state_dim:
+    value: 16
+steps:
+    value: 100000
+task_prompt_mode:
+    value: non_guide
+tune_diffusion_model:
+    value: true
+tune_llm:
+    value: false
+tune_projector:
+    value: true
+tune_visual:
+    value: false
+video_feature_keys:
+    value: ""

wandb/run-20260518_152847-smy9mkg4/files/output.log

@@ -0,0 +1,103 @@
+Traceback (most recent call last):
+  File "/home/seonho/clvla/lerobot_cl/src/lerobot/scripts/train_groot_insight_yaml.py", line 1735, in <module>
+    main()
+  File "/home/seonho/clvla/lerobot_cl/src/lerobot/configs/parser.py", line 233, in wrapper_inner
+    response = fn(cfg, *args, **kwargs)
+               ^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/lerobot_cl/src/lerobot/scripts/train_groot_insight_yaml.py", line 1621, in main
+    raw_batch = prepare_raw_batch(next(data_stream), cfg, preset, task_desc_map)
+                                  ^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/lerobot_cl/src/lerobot/scripts/train_groot_insight_yaml.py", line 1453, in infinite_dataloader
+    yield from dataloader
+  File "/home/seonho/miniconda3/envs/minje/lib/python3.12/site-packages/accelerate/data_loader.py", line 577, in __iter__
+    current_batch = next(dataloader_iter)
+                    ^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/minje/lib/python3.12/site-packages/torch/utils/data/dataloader.py", line 733, in __next__
+    data = self._next_data()
+           ^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/minje/lib/python3.12/site-packages/torch/utils/data/dataloader.py", line 1515, in _next_data
+    return self._process_data(data, worker_id)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/minje/lib/python3.12/site-packages/torch/utils/data/dataloader.py", line 1550, in _process_data
+    data.reraise()
+  File "/home/seonho/miniconda3/envs/minje/lib/python3.12/site-packages/torch/_utils.py", line 750, in reraise
+    raise exception
+RuntimeError: Caught RuntimeError in DataLoader worker process 0.
+Original Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/minje/lib/python3.12/site-packages/torch/utils/data/_utils/worker.py", line 349, in _worker_loop
+    data = fetcher.fetch(index)  # type: ignore[possibly-undefined]
+           ^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/minje/lib/python3.12/site-packages/torch/utils/data/_utils/fetch.py", line 52, in fetch
+    data = [self.dataset[idx] for idx in possibly_batched_index]
+            ~~~~~~~~~~~~^^^^^
+  File "/home/seonho/clvla/lerobot_cl/src/lerobot/datasets/lerobot_dataset.py", line 627, in __getitem__
+    video_frames = self._query_videos(query_timestamps, ep_idx)
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/lerobot_cl/src/lerobot/datasets/lerobot_dataset.py", line 590, in _query_videos
+    frames = decode_video_frames(video_path, shifted_query_ts, self.tolerance_s, self.video_backend)
+             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/lerobot_cl/src/lerobot/datasets/video_utils.py", line 152, in decode_video_frames
+    return decode_video_frames_torchcodec(video_path, timestamps, tolerance_s)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/clvla/lerobot_cl/src/lerobot/datasets/video_utils.py", line 420, in decode_video_frames_torchcodec
+    frames_batch = decoder.get_frames_at(indices=frame_indices)
+                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/minje/lib/python3.12/site-packages/torchcodec/decoders/_video_decoder.py", line 227, in get_frames_at
+    data, pts_seconds, duration_seconds = core.get_frames_at_indices(
+                                          ^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/home/seonho/miniconda3/envs/minje/lib/python3.12/site-packages/torch/_ops.py", line 756, in __call__
+    return self._op(*args, **kwargs)
+           ^^^^^^^^^^^^^^^^^^^^^^^^^
+RuntimeError: Could not push packet to decoder: Invalid data found when processing input
+
+[rank0]: Traceback (most recent call last):
+[rank0]:   File "/home/seonho/clvla/lerobot_cl/src/lerobot/scripts/train_groot_insight_yaml.py", line 1735, in <module>
+[rank0]:     main()
+[rank0]:   File "/home/seonho/clvla/lerobot_cl/src/lerobot/configs/parser.py", line 233, in wrapper_inner
+[rank0]:     response = fn(cfg, *args, **kwargs)
+[rank0]:                ^^^^^^^^^^^^^^^^^^^^^^^^
+[rank0]:   File "/home/seonho/clvla/lerobot_cl/src/lerobot/scripts/train_groot_insight_yaml.py", line 1621, in main
+[rank0]:     raw_batch = prepare_raw_batch(next(data_stream), cfg, preset, task_desc_map)
+[rank0]:                                   ^^^^^^^^^^^^^^^^^
+[rank0]:   File "/home/seonho/clvla/lerobot_cl/src/lerobot/scripts/train_groot_insight_yaml.py", line 1453, in infinite_dataloader
+[rank0]:     yield from dataloader
+[rank0]:   File "/home/seonho/miniconda3/envs/minje/lib/python3.12/site-packages/accelerate/data_loader.py", line 577, in __iter__
+[rank0]:     current_batch = next(dataloader_iter)
+[rank0]:                     ^^^^^^^^^^^^^^^^^^^^^
+[rank0]:   File "/home/seonho/miniconda3/envs/minje/lib/python3.12/site-packages/torch/utils/data/dataloader.py", line 733, in __next__
+[rank0]:     data = self._next_data()
+[rank0]:            ^^^^^^^^^^^^^^^^^
+[rank0]:   File "/home/seonho/miniconda3/envs/minje/lib/python3.12/site-packages/torch/utils/data/dataloader.py", line 1515, in _next_data
+[rank0]:     return self._process_data(data, worker_id)
+[rank0]:            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+[rank0]:   File "/home/seonho/miniconda3/envs/minje/lib/python3.12/site-packages/torch/utils/data/dataloader.py", line 1550, in _process_data
+[rank0]:     data.reraise()
+[rank0]:   File "/home/seonho/miniconda3/envs/minje/lib/python3.12/site-packages/torch/_utils.py", line 750, in reraise
+[rank0]:     raise exception
+[rank0]: RuntimeError: Caught RuntimeError in DataLoader worker process 0.
+[rank0]: Original Traceback (most recent call last):
+[rank0]:   File "/home/seonho/miniconda3/envs/minje/lib/python3.12/site-packages/torch/utils/data/_utils/worker.py", line 349, in _worker_loop
+[rank0]:     data = fetcher.fetch(index)  # type: ignore[possibly-undefined]
+[rank0]:            ^^^^^^^^^^^^^^^^^^^^
+[rank0]:   File "/home/seonho/miniconda3/envs/minje/lib/python3.12/site-packages/torch/utils/data/_utils/fetch.py", line 52, in fetch
+[rank0]:     data = [self.dataset[idx] for idx in possibly_batched_index]
+[rank0]:             ~~~~~~~~~~~~^^^^^
+[rank0]:   File "/home/seonho/clvla/lerobot_cl/src/lerobot/datasets/lerobot_dataset.py", line 627, in __getitem__
+[rank0]:     video_frames = self._query_videos(query_timestamps, ep_idx)
+[rank0]:                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+[rank0]:   File "/home/seonho/clvla/lerobot_cl/src/lerobot/datasets/lerobot_dataset.py", line 590, in _query_videos
+[rank0]:     frames = decode_video_frames(video_path, shifted_query_ts, self.tolerance_s, self.video_backend)
+[rank0]:              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+[rank0]:   File "/home/seonho/clvla/lerobot_cl/src/lerobot/datasets/video_utils.py", line 152, in decode_video_frames
+[rank0]:     return decode_video_frames_torchcodec(video_path, timestamps, tolerance_s)
+[rank0]:            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+[rank0]:   File "/home/seonho/clvla/lerobot_cl/src/lerobot/datasets/video_utils.py", line 420, in decode_video_frames_torchcodec
+[rank0]:     frames_batch = decoder.get_frames_at(indices=frame_indices)
+[rank0]:                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+[rank0]:   File "/home/seonho/miniconda3/envs/minje/lib/python3.12/site-packages/torchcodec/decoders/_video_decoder.py", line 227, in get_frames_at
+[rank0]:     data, pts_seconds, duration_seconds = core.get_frames_at_indices(
+[rank0]:                                           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
+[rank0]:   File "/home/seonho/miniconda3/envs/minje/lib/python3.12/site-packages/torch/_ops.py", line 756, in __call__
+[rank0]:     return self._op(*args, **kwargs)
+[rank0]:            ^^^^^^^^^^^^^^^^^^^^^^^^^
+[rank0]: RuntimeError: Could not push packet to decoder: Invalid data found when processing input

wandb/run-20260518_152847-smy9mkg4/files/requirements.txt

@@ -0,0 +1,209 @@
+attrs==25.4.0
+kiwisolver==1.5.0
+setuptools==80.10.2
+transformers==5.3.0
+pynndescent==0.6.0
+filelock==3.25.2
+numba==0.61.2
+gymnasium==1.2.3
+shellingham==1.5.4
+dill==0.3.8
+ninja==1.13.0
+hidapi==0.15.0
+scikit-image==0.26.0
+orderly-set==5.5.0
+mypy_extensions==1.1.0
+stringzilla==4.6.1
+tianshou==0.4.10
+numpy==2.2.5
+xxhash==3.6.0
+protobuf==3.19.6
+numpydantic==1.6.7
+pyserial==3.5
+omegaconf==2.3.0
+Farama-Notifications==0.0.4
+nvidia-nccl-cu12==2.26.2
+plotly==6.6.0
+platformdirs==4.9.4
+nvidia-cufft-cu12==11.3.0.4
+eval_type_backport==0.3.1
+packaging==25.0
+typing-inspect==0.9.0
+opencv-python-headless==4.12.0.88
+cmeel-assimp==6.0.2
+lerobot==0.5.1
+pyyaml-include==1.4.1
+urllib3==2.6.3
+lxml==6.1.0
+peft==0.18.1
+virtualenv==21.2.4
+cmeel==0.59.0
+pre_commit==4.6.0
+importlib_metadata==8.7.1
+click==8.3.1
+accelerate==1.13.0
+multiprocess==0.70.16
+distlib==0.4.0
+websockets==16.0
+albumentations==1.4.18
+tokenizers==0.22.2
+nvidia-cusparselt-cu12==0.6.3
+certifi==2026.2.25
+annotated-doc==0.0.4
+triton==3.3.1
+libpinocchio==3.9.0
+mpmath==1.3.0
+decord==0.6.0
+matplotlib==3.10.8
+llvmlite==0.44.0
+python-xlib==0.33
+regex==2026.2.28
+colored==2.3.2
+charset-normalizer==3.4.5
+mdurl==0.1.2
+GitPython==3.1.46
+gym==0.26.2
+av==15.1.0
+markdown-it-py==4.0.0
+glfw==2.10.0
+nvidia-cufile-cu12==1.11.1.6
+PyYAML==6.0.3
+python-dateutil==2.9.0.post0
+cmeel-tinyxml2==10.0.0
+blinker==1.9.0
+opencv-python==4.13.0.92
+cmake==4.1.3
+gym-notices==0.1.0
+typing-inspection==0.4.2
+timm==1.0.25
+torchcodec==0.5
+cmeel-octomap==1.10.0
+umap-learn==0.5.11
+MarkupSafe==3.0.3
+pluggy==1.6.0
+smmap==5.0.3
+fsspec==2025.3.0
+evdev==1.9.3
+python-discovery==1.2.2
+hf-xet==1.5.0
+scikit-learn==1.8.0
+h5py==3.16.0
+cmeel-console-bridge==1.0.2.3
+narwhals==2.18.1
+msgpack==1.1.2
+flash_attn==2.8.3
+ansitable==0.11.5
+pyarrow==23.0.1
+h11==0.16.0
+mergedeep==1.3.4
+tqdm==4.67.3
+vla-eval==0.1.1.dev27+g195d46338
+nvidia-nvjitlink-cu12==12.6.85
+cmeel-qhull==8.0.2.1
+libcoal==3.0.2
+cmeel-boost==1.89.0
+rtb-data==1.0.1
+mujoco==3.3.1
+nvidia-cuda-nvrtc-cu12==12.6.77
+PyOpenGL==3.1.10
+draccus==0.10.0
+pip==26.0.1
+threadpoolctl==3.6.0
+annotated-types==0.7.0
+anyio==4.12.1
+imageio-ffmpeg==0.6.0
+qpsolvers==4.11.0
+wrapt==2.1.2
+networkx==3.6.1
+contourpy==1.3.3
+Werkzeug==3.1.8
+tensorboard-data-server==0.7.2
+gitdb==4.0.12
+nvidia-cusparse-cu12==12.5.4.2
+typer==0.24.1
+toml==0.10.2
+tensorboard==2.20.0
+rerun-sdk==0.26.2
+diffusers==0.35.2
+albucore==0.0.17
+wandb==0.24.2
+nvidia-cublas-cu12==12.6.4.1
+nvidia-cuda-runtime-cu12==12.6.77
+cycler==0.12.1
+coal==3.0.2
+pydantic_core==2.27.2
+torch==2.7.1
+nvidia-cuda-cupti-cu12==12.6.80
+Pygments==2.19.2
+pytest==9.0.3
+ImageIO==2.37.3
+sentry-sdk==2.54.0
+antlr4-python3-runtime==4.9.3
+sympy==1.14.0
+safetensors==0.7.0
+cmeel-zlib==1.3.1
+einops==0.8.2
+spatialgeometry==1.1.0
+pygame==2.6.1
+absl-py==2.4.0
+pandas==3.0.1
+httpx==0.28.1
+robosuite==1.5.2
+fonttools==4.62.1
+progress==1.6.1
+nvidia-cusolver-cu12==11.7.1.2
+aiohttp==3.13.3
+frozenlist==1.8.0
+deepdiff==8.6.1
+yarl==1.23.0
+nvidia-cudnn-cu12==9.5.1.17
+torchvision==0.22.1
+idna==3.11
+lazy-loader==0.5
+termcolor==3.3.0
+nvidia-curand-cu12==10.3.7.77
+multidict==6.7.1
+Markdown==3.10.2
+pynput==1.8.1
+propcache==0.4.1
+zipp==3.23.0
+nvidia-nvtx-cu12==12.6.77
+Flask==3.1.3
+httpcore==1.0.9
+etils==1.14.0
+psutil==7.2.2
+pillow==12.1.1
+nodeenv==1.10.0
+pin==3.9.0
+quadprog==0.1.13
+eigenpy==3.12.0
+wheel==0.46.3
+simsimd==6.5.16
+itsdangerous==2.2.0
+aiohappyeyeballs==2.6.1
+cfgv==3.5.0
+cloudpickle==3.1.2
+iniconfig==2.3.0
+requests==2.32.5
+tifffile==2026.5.2
+joblib==1.5.3
+identify==2.6.19
+huggingface_hub==1.14.0
+datasets==4.8.4
+typing_extensions==4.15.0
+pydantic==2.10.6
+jsonlines==4.0.0
+swift-sim==1.1.0
+lazyregistry==0.4.0
+robocasa==1.0.0
+pgraph-python==0.6.3
+Jinja2==3.1.6
+aiosignal==1.4.0
+dm-tree==0.1.9
+six==1.17.0
+grpcio==1.80.0
+rich==14.3.3
+scipy==1.15.3
+cmeel-urdfdom==4.0.1
+pyparsing==3.3.2
+lerobot==0.5.1

wandb/run-20260518_152847-smy9mkg4/files/wandb-metadata.json

@@ -0,0 +1,87 @@
+{
+  "os": "Linux-6.8.0-101-generic-x86_64-with-glibc2.35",
+  "python": "CPython 3.12.12",
+  "startedAt": "2026-05-18T06:28:47.096325Z",
+  "args": [
+    "--action_dim=8",
+    "--batch_size=64",
+    "--camera_set=rgb",
+    "--dataset.repo_id=/home/seonho/insight/insight_dataset",
+    "--dataset.root=/home/seonho/insight/insight_dataset",
+    "--dataset.video_backend=torchcodec",
+    "--log_freq=100",
+    "--num_workers=4",
+    "--output_dir=/home/seonho/insight/outputs/dit_only_phase1_ckpt",
+    "--phase=phase2",
+    "--policy.base_model_path=nvidia/GR00T-N1.5-3B",
+    "--policy.lora_rank=0",
+    "--policy.mgd_enabled=false",
+    "--policy.mgd_loss_weight=0.0",
+    "--policy.mgd_trainable_mode=dit_only",
+    "--policy.tune_llm=false",
+    "--policy.tune_visual=false",
+    "--policy.type=groot_processed_mgd",
+    "--save_freq=50000",
+    "--state_dim=16",
+    "--steps=100000",
+    "--task_prompt_mode=non_guide",
+    "--wandb.enable=true",
+    "--wandb.entity=RwHlabs",
+    "--wandb.group=insight_phase1_dit_only",
+    "--wandb.name=insight_phase1_dit_only_groot",
+    "--wandb.project=groot_insight_baseline_mgd",
+    "--wandb.tags=mgd,phase2,groot_processed_mgd,rgb,non_guide,insight,insight_native,cartesian_8d,phase1,baseline,dit_only,nvidia_base"
+  ],
+  "program": "/home/seonho/clvla/lerobot_cl/src/lerobot/scripts/train_groot_insight_yaml.py",
+  "codePath": "clvla/lerobot_cl/src/lerobot/scripts/train_groot_insight_yaml.py",
+  "codePathLocal": "clvla/lerobot_cl/src/lerobot/scripts/train_groot_insight_yaml.py",
+  "email": "dankk98@gmail.com",
+  "root": "/home/seonho/insight/outputs/dit_only_phase1_ckpt",
+  "host": "worker1",
+  "executable": "/home/seonho/miniconda3/envs/minje/bin/python3.12",
+  "cpu_count": 32,
+  "cpu_count_logical": 64,
+  "gpu": "NVIDIA A100 80GB PCIe",
+  "gpu_count": 4,
+  "disk": {
+    "/": {
+      "total": "3778130485248",
+      "used": "3526731341824"
+    }
+  },
+  "memory": {
+    "total": "1081620840448"
+  },
+  "gpu_nvidia": [
+    {
+      "name": "NVIDIA A100 80GB PCIe",
+      "memoryTotal": "85899345920",
+      "cudaCores": 6912,
+      "architecture": "Ampere",
+      "uuid": "GPU-0dd6d491-2dd8-24ac-bb27-872483ab77e9"
+    },
+    {
+      "name": "NVIDIA A100 80GB PCIe",
+      "memoryTotal": "85899345920",
+      "cudaCores": 6912,
+      "architecture": "Ampere",
+      "uuid": "GPU-dbfb7925-aec1-50fb-039a-3a4c0a4b2caa"
+    },
+    {
+      "name": "NVIDIA A100 80GB PCIe",
+      "memoryTotal": "85899345920",
+      "cudaCores": 6912,
+      "architecture": "Ampere",
+      "uuid": "GPU-ca1c0319-e178-a3c3-ac41-386c2723deac"
+    },
+    {
+      "name": "NVIDIA A100 80GB PCIe",
+      "memoryTotal": "85899345920",
+      "cudaCores": 6912,
+      "architecture": "Ampere",
+      "uuid": "GPU-47b6036e-4fde-e399-5515-f73eed752c6d"
+    }
+  ],
+  "cudaVersion": "12.2",
+  "writerId": "ys7pyc71ohdki3edek8hpsuxl4fkwwj9"
+}

wandb/run-20260518_152847-smy9mkg4/files/wandb-summary.json

@@ -0,0 +1 @@
+{"params/whole_total":2427681217,"params/whole_trainable":840593408,"_wandb":{"runtime":1},"_runtime":1}

wandb/run-20260518_152847-smy9mkg4/logs/debug-core.log

@@ -0,0 +1,14 @@
+{"time":"2026-05-18T15:28:47.134214528+09:00","level":"INFO","msg":"main: starting server","port-filename":"/tmp/tmp6v9hfjeh/port-3560821.txt","pid":3560821,"log-level":0,"disable-analytics":false,"shutdown-on-parent-exit":false,"enable-dcgm-profiling":false}
+{"time":"2026-05-18T15:28:47.134775705+09:00","level":"INFO","msg":"server: will exit if parent process dies","ppid":3560821}
+{"time":"2026-05-18T15:28:47.134766733+09:00","level":"INFO","msg":"server: accepting connections","addr":{"Name":"/tmp/wandb-3560821-3566957-720346231/socket","Net":"unix"}}
+{"time":"2026-05-18T15:28:47.322025048+09:00","level":"INFO","msg":"connection: ManageConnectionData: new connection created","id":"1(@)"}
+{"time":"2026-05-18T15:28:47.336551071+09:00","level":"INFO","msg":"handleInformInit: received","streamId":"smy9mkg4","id":"1(@)"}
+{"time":"2026-05-18T15:28:47.715349144+09:00","level":"INFO","msg":"handleInformInit: stream started","streamId":"smy9mkg4","id":"1(@)"}
+{"time":"2026-05-18T15:28:50.380217573+09:00","level":"INFO","msg":"handleInformTeardown: server teardown initiated","id":"1(@)"}
+{"time":"2026-05-18T15:28:50.380327768+09:00","level":"INFO","msg":"server is shutting down"}
+{"time":"2026-05-18T15:28:50.380307348+09:00","level":"INFO","msg":"connection: closing","id":"1(@)"}
+{"time":"2026-05-18T15:28:50.380576767+09:00","level":"INFO","msg":"connection: closed successfully","id":"1(@)"}
+{"time":"2026-05-18T15:28:50.38058255+09:00","level":"INFO","msg":"server: listener closed","addr":{"Name":"/tmp/wandb-3560821-3566957-720346231/socket","Net":"unix"}}
+{"time":"2026-05-18T15:28:52.389072306+09:00","level":"INFO","msg":"handleInformTeardown: server shutdown complete","id":"1(@)"}
+{"time":"2026-05-18T15:28:52.389105339+09:00","level":"INFO","msg":"connection: ManageConnectionData: connection closed","id":"1(@)"}
+{"time":"2026-05-18T15:28:52.389126226+09:00","level":"INFO","msg":"server is closed"}

wandb/run-20260518_152847-smy9mkg4/logs/debug-internal.log

@@ -0,0 +1,11 @@
+{"time":"2026-05-18T15:28:47.336692013+09:00","level":"INFO","msg":"stream: starting","core version":"0.24.2"}
+{"time":"2026-05-18T15:28:47.71499011+09:00","level":"INFO","msg":"stream: created new stream","id":"smy9mkg4"}
+{"time":"2026-05-18T15:28:47.715138854+09:00","level":"INFO","msg":"handler: started","stream_id":"smy9mkg4"}
+{"time":"2026-05-18T15:28:47.715332098+09:00","level":"INFO","msg":"stream: started","id":"smy9mkg4"}
+{"time":"2026-05-18T15:28:47.715342118+09:00","level":"INFO","msg":"writer: started","stream_id":"smy9mkg4"}
+{"time":"2026-05-18T15:28:47.715343845+09:00","level":"INFO","msg":"sender: started","stream_id":"smy9mkg4"}
+{"time":"2026-05-18T15:28:50.380317028+09:00","level":"INFO","msg":"stream: closing","id":"smy9mkg4"}
+{"time":"2026-05-18T15:28:52.036130686+09:00","level":"INFO","msg":"fileTransfer: Close: file transfer manager closed"}
+{"time":"2026-05-18T15:28:52.388015098+09:00","level":"INFO","msg":"handler: closed","stream_id":"smy9mkg4"}
+{"time":"2026-05-18T15:28:52.388154428+09:00","level":"INFO","msg":"sender: closed","stream_id":"smy9mkg4"}
+{"time":"2026-05-18T15:28:52.388166789+09:00","level":"INFO","msg":"stream: closed","id":"smy9mkg4"}

wandb/run-20260518_152847-smy9mkg4/logs/debug.log

@@ -0,0 +1,34 @@
+2026-05-18 15:28:47,098 INFO    MainThread:3560821 [wandb_setup.py:_flush():81] Current SDK version is 0.24.2
+2026-05-18 15:28:47,098 INFO    MainThread:3560821 [wandb_setup.py:_flush():81] Configure stats pid to 3560821
+2026-05-18 15:28:47,098 INFO    MainThread:3560821 [wandb_setup.py:_flush():81] Loading settings from environment variables
+2026-05-18 15:28:47,098 INFO    MainThread:3560821 [wandb_init.py:setup_run_log_directory():717] Logging user logs to /home/seonho/insight/outputs/dit_only_phase1_ckpt/wandb/run-20260518_152847-smy9mkg4/logs/debug.log
+2026-05-18 15:28:47,098 INFO    MainThread:3560821 [wandb_init.py:setup_run_log_directory():718] Logging internal logs to /home/seonho/insight/outputs/dit_only_phase1_ckpt/wandb/run-20260518_152847-smy9mkg4/logs/debug-internal.log
+2026-05-18 15:28:47,098 INFO    MainThread:3560821 [wandb_init.py:init():844] calling init triggers
+2026-05-18 15:28:47,098 INFO    MainThread:3560821 [wandb_init.py:init():849] wandb.init called with sweep_config: {}
+config: {'repo_id': '/home/seonho/insight/insight_dataset', 'dataset_root': '/home/seonho/insight/insight_dataset', 'method': 'mgd', 'phase': 'phase2', 'steps': 100000, 'lr': 0.0001, 'batch_size': 64, 'num_processes': 1, 'effective_batch_size': 64, 'action_dim': 8, 'state_dim': 16, 'camera_set': 'rgb', 'video_feature_keys': '', 'task_prompt_mode': 'non_guide', 'tune_llm': False, 'tune_visual': False, 'tune_projector': True, 'tune_diffusion_model': True, 'lora_rank': 0, 'lora_alpha': 16, 'lora_dropout': 0.1, 'lora_target': 'llm', 'mgd_enabled': False, 'mgd_trainable_mode': 'dit_only', 'mgd_loss_weight': 0.0, 'mgd_backprop_backbone': True, 'cl_v2_phase': None, 'cl_v2_trainable_mode': None, 'cl_v2_loss_weight': None, 'cl_v2_fm_loss_weight': None, 'gradient_checkpointing': False, 'seed': 42, 'dataset_len': 246793, '_wandb': {}}
+2026-05-18 15:28:47,098 INFO    MainThread:3560821 [wandb_init.py:init():892] starting backend
+2026-05-18 15:28:47,322 INFO    MainThread:3560821 [wandb_init.py:init():895] sending inform_init request
+2026-05-18 15:28:47,332 INFO    MainThread:3560821 [wandb_init.py:init():903] backend started and connected
+2026-05-18 15:28:47,335 INFO    MainThread:3560821 [wandb_init.py:init():973] updated telemetry
+2026-05-18 15:28:47,336 INFO    MainThread:3560821 [wandb_init.py:init():997] communicating run to backend with 90.0 second timeout
+2026-05-18 15:28:48,978 INFO    MainThread:3560821 [wandb_init.py:init():1042] starting run threads in backend
+2026-05-18 15:28:49,171 INFO    MainThread:3560821 [wandb_run.py:_console_start():2529] atexit reg
+2026-05-18 15:28:49,171 INFO    MainThread:3560821 [wandb_run.py:_redirect():2377] redirect: wrap_raw
+2026-05-18 15:28:49,171 INFO    MainThread:3560821 [wandb_run.py:_redirect():2446] Wrapping output streams.
+2026-05-18 15:28:49,171 INFO    MainThread:3560821 [wandb_run.py:_redirect():2469] Redirects installed.
+2026-05-18 15:28:49,176 INFO    MainThread:3560821 [wandb_init.py:init():1082] run started, returning control to user process
+2026-05-18 15:28:50,380 INFO    wandb-AsyncioManager-main:3560821 [service_client.py:_forward_responses():94] Reached EOF.
+2026-05-18 15:28:50,381 INFO    wandb-AsyncioManager-main:3560821 [mailbox.py:close():154] Closing mailbox, abandoning 1 handles.
+2026-05-18 15:28:52,576 ERROR   wandb-AsyncioManager-main:3560821 [asyncio_manager.py:fn_wrap_exceptions():183] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  File "/home/seonho/miniconda3/envs/minje/lib/python3.12/site-packages/wandb/sdk/lib/asyncio_manager.py", line 181, in fn_wrap_exceptions
+    await fn()
+  File "/home/seonho/miniconda3/envs/minje/lib/python3.12/site-packages/wandb/sdk/lib/service/service_client.py", line 38, in publish
+    await self._send_server_request(request)
+  File "/home/seonho/miniconda3/envs/minje/lib/python3.12/site-packages/wandb/sdk/lib/service/service_client.py", line 64, in _send_server_request
+    await self._writer.drain()
+  File "/home/seonho/miniconda3/envs/minje/lib/python3.12/asyncio/streams.py", line 392, in drain
+    await self._protocol._drain_helper()
+  File "/home/seonho/miniconda3/envs/minje/lib/python3.12/asyncio/streams.py", line 166, in _drain_helper
+    raise ConnectionResetError('Connection lost')
+ConnectionResetError: Connection lost

wandb/run-20260518_153314-yn3lgfkj/files/config.yaml

@@ -0,0 +1,178 @@
+_wandb:
+    value:
+        cli_version: 0.24.2
+        e:
+            ddeaytz4ga2t8xmz3osihmmadhyuvdau:
+                args:
+                    - --action_dim=8
+                    - --batch_size=64
+                    - --camera_set=rgb
+                    - --dataset.repo_id=/home/seonho/insight/insight_dataset
+                    - --dataset.root=/home/seonho/insight/insight_dataset
+                    - --dataset.video_backend=pyav
+                    - --log_freq=100
+                    - --num_workers=4
+                    - --output_dir=/home/seonho/insight/outputs/dit_only_phase1_ckpt
+                    - --phase=phase2
+                    - --policy.base_model_path=nvidia/GR00T-N1.5-3B
+                    - --policy.lora_rank=0
+                    - --policy.mgd_enabled=false
+                    - --policy.mgd_loss_weight=0.0
+                    - --policy.mgd_trainable_mode=dit_only
+                    - --policy.tune_llm=false
+                    - --policy.tune_visual=false
+                    - --policy.type=groot_processed_mgd
+                    - --save_freq=50000
+                    - --state_dim=16
+                    - --steps=100000
+                    - --task_prompt_mode=non_guide
+                    - --wandb.enable=true
+                    - --wandb.entity=RwHlabs
+                    - --wandb.group=insight_phase1_dit_only
+                    - --wandb.name=insight_phase1_dit_only_groot
+                    - --wandb.project=groot_insight_baseline_mgd
+                    - --wandb.tags=mgd,phase2,groot_processed_mgd,rgb,non_guide,insight,insight_native,cartesian_8d,phase1,baseline,dit_only,nvidia_base
+                codePath: clvla/lerobot_cl/src/lerobot/scripts/train_groot_insight_yaml.py
+                codePathLocal: clvla/lerobot_cl/src/lerobot/scripts/train_groot_insight_yaml.py
+                cpu_count: 32
+                cpu_count_logical: 64
+                cudaVersion: "12.2"
+                disk:
+                    /:
+                        total: "3778130485248"
+                        used: "3442052386816"
+                email: dankk98@gmail.com
+                executable: /home/seonho/miniconda3/envs/minje/bin/python3.12
+                gpu: NVIDIA A100 80GB PCIe
+                gpu_count: 4
+                gpu_nvidia:
+                    - architecture: Ampere
+                      cudaCores: 6912
+                      memoryTotal: "85899345920"
+                      name: NVIDIA A100 80GB PCIe
+                      uuid: GPU-0dd6d491-2dd8-24ac-bb27-872483ab77e9
+                    - architecture: Ampere
+                      cudaCores: 6912
+                      memoryTotal: "85899345920"
+                      name: NVIDIA A100 80GB PCIe
+                      uuid: GPU-dbfb7925-aec1-50fb-039a-3a4c0a4b2caa
+                    - architecture: Ampere
+                      cudaCores: 6912
+                      memoryTotal: "85899345920"
+                      name: NVIDIA A100 80GB PCIe
+                      uuid: GPU-ca1c0319-e178-a3c3-ac41-386c2723deac
+                    - architecture: Ampere
+                      cudaCores: 6912
+                      memoryTotal: "85899345920"
+                      name: NVIDIA A100 80GB PCIe
+                      uuid: GPU-47b6036e-4fde-e399-5515-f73eed752c6d
+                host: worker1
+                memory:
+                    total: "1081620840448"
+                os: Linux-6.8.0-101-generic-x86_64-with-glibc2.35
+                program: /home/seonho/clvla/lerobot_cl/src/lerobot/scripts/train_groot_insight_yaml.py
+                python: CPython 3.12.12
+                root: /home/seonho/insight/outputs/dit_only_phase1_ckpt
+                startedAt: "2026-05-18T06:33:14.327419Z"
+                writerId: ddeaytz4ga2t8xmz3osihmmadhyuvdau
+        m: []
+        python_version: 3.12.12
+        t:
+            "1":
+                - 1
+                - 5
+                - 11
+                - 41
+                - 49
+                - 51
+                - 53
+                - 71
+                - 83
+                - 98
+            "2":
+                - 1
+                - 5
+                - 11
+                - 41
+                - 49
+                - 51
+                - 53
+                - 71
+                - 83
+                - 98
+            "3":
+                - 13
+                - 15
+                - 16
+                - 62
+            "4": 3.12.12
+            "5": 0.24.2
+            "6": 5.3.0
+            "12": 0.24.2
+            "13": linux-x86_64
+action_dim:
+    value: 8
+batch_size:
+    value: 64
+camera_set:
+    value: rgb
+cl_v2_fm_loss_weight:
+    value: null
+cl_v2_loss_weight:
+    value: null
+cl_v2_phase:
+    value: null
+cl_v2_trainable_mode:
+    value: null
+dataset_len:
+    value: 246793
+dataset_root:
+    value: /home/seonho/insight/insight_dataset
+effective_batch_size:
+    value: 64
+gradient_checkpointing:
+    value: false
+lora_alpha:
+    value: 16
+lora_dropout:
+    value: 0.1
+lora_rank:
+    value: 0
+lora_target:
+    value: llm
+lr:
+    value: 0.0001
+method:
+    value: mgd
+mgd_backprop_backbone:
+    value: true
+mgd_enabled:
+    value: false
+mgd_loss_weight:
+    value: 0
+mgd_trainable_mode:
+    value: dit_only
+num_processes:
+    value: 1
+phase:
+    value: phase2
+repo_id:
+    value: /home/seonho/insight/insight_dataset
+seed:
+    value: 42
+state_dim:
+    value: 16
+steps:
+    value: 100000
+task_prompt_mode:
+    value: non_guide
+tune_diffusion_model:
+    value: true
+tune_llm:
+    value: false
+tune_projector:
+    value: true
+tune_visual:
+    value: false
+video_feature_keys:
+    value: ""

wandb/run-20260518_153314-yn3lgfkj/files/output.log

@@ -0,0 +1,3 @@
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+The tokenizer you are loading from '/home/seonho/.cache/huggingface/lerobot/lerobot/eagle2hg-processor-groot-n1p5' with an incorrect regex pattern: https://huggingface.co/mistralai/Mistral-Small-3.1-24B-Instruct-2503/discussions/84#69121093e8b480e709447d5e. This will lead to incorrect tokenization. You should set the `fix_mistral_regex=True` flag when loading this tokenizer to fix this issue.
+The tokenizer you are loading from '/home/seonho/.cache/huggingface/lerobot/lerobot/eagle2hg-processor-groot-n1p5' with an incorrect regex pattern: https://huggingface.co/mistralai/Mistral-Small-3.1-24B-Instruct-2503/discussions/84#69121093e8b480e709447d5e. This will lead to incorrect tokenization. You should set the `fix_mistral_regex=True` flag when loading this tokenizer to fix this issue.

wandb/run-20260518_153314-yn3lgfkj/files/requirements.txt

@@ -0,0 +1,209 @@
+attrs==25.4.0
+kiwisolver==1.5.0
+setuptools==80.10.2
+transformers==5.3.0
+pynndescent==0.6.0
+filelock==3.25.2
+numba==0.61.2
+gymnasium==1.2.3
+shellingham==1.5.4
+dill==0.3.8
+ninja==1.13.0
+hidapi==0.15.0
+scikit-image==0.26.0
+orderly-set==5.5.0
+mypy_extensions==1.1.0
+stringzilla==4.6.1
+tianshou==0.4.10
+numpy==2.2.5
+xxhash==3.6.0
+protobuf==3.19.6
+numpydantic==1.6.7
+pyserial==3.5
+omegaconf==2.3.0
+Farama-Notifications==0.0.4
+nvidia-nccl-cu12==2.26.2
+plotly==6.6.0
+platformdirs==4.9.4
+nvidia-cufft-cu12==11.3.0.4
+eval_type_backport==0.3.1
+packaging==25.0
+typing-inspect==0.9.0
+opencv-python-headless==4.12.0.88
+cmeel-assimp==6.0.2
+lerobot==0.5.1
+pyyaml-include==1.4.1
+urllib3==2.6.3
+lxml==6.1.0
+peft==0.18.1
+virtualenv==21.2.4
+cmeel==0.59.0
+pre_commit==4.6.0
+importlib_metadata==8.7.1
+click==8.3.1
+accelerate==1.13.0
+multiprocess==0.70.16
+distlib==0.4.0
+websockets==16.0
+albumentations==1.4.18
+tokenizers==0.22.2
+nvidia-cusparselt-cu12==0.6.3
+certifi==2026.2.25
+annotated-doc==0.0.4
+triton==3.3.1
+libpinocchio==3.9.0
+mpmath==1.3.0
+decord==0.6.0
+matplotlib==3.10.8
+llvmlite==0.44.0
+python-xlib==0.33
+regex==2026.2.28
+colored==2.3.2
+charset-normalizer==3.4.5
+mdurl==0.1.2
+GitPython==3.1.46
+gym==0.26.2
+av==15.1.0
+markdown-it-py==4.0.0
+glfw==2.10.0
+nvidia-cufile-cu12==1.11.1.6
+PyYAML==6.0.3
+python-dateutil==2.9.0.post0
+cmeel-tinyxml2==10.0.0
+blinker==1.9.0
+opencv-python==4.13.0.92
+cmake==4.1.3
+gym-notices==0.1.0
+typing-inspection==0.4.2
+timm==1.0.25
+torchcodec==0.5
+cmeel-octomap==1.10.0
+umap-learn==0.5.11
+MarkupSafe==3.0.3
+pluggy==1.6.0
+smmap==5.0.3
+fsspec==2025.3.0
+evdev==1.9.3
+python-discovery==1.2.2
+hf-xet==1.5.0
+scikit-learn==1.8.0
+h5py==3.16.0
+cmeel-console-bridge==1.0.2.3
+narwhals==2.18.1
+msgpack==1.1.2
+flash_attn==2.8.3
+ansitable==0.11.5
+pyarrow==23.0.1
+h11==0.16.0
+mergedeep==1.3.4
+tqdm==4.67.3
+vla-eval==0.1.1.dev27+g195d46338
+nvidia-nvjitlink-cu12==12.6.85
+cmeel-qhull==8.0.2.1
+libcoal==3.0.2
+cmeel-boost==1.89.0
+rtb-data==1.0.1
+mujoco==3.3.1
+nvidia-cuda-nvrtc-cu12==12.6.77
+PyOpenGL==3.1.10
+draccus==0.10.0
+pip==26.0.1
+threadpoolctl==3.6.0
+annotated-types==0.7.0
+anyio==4.12.1
+imageio-ffmpeg==0.6.0
+qpsolvers==4.11.0
+wrapt==2.1.2
+networkx==3.6.1
+contourpy==1.3.3
+Werkzeug==3.1.8
+tensorboard-data-server==0.7.2
+gitdb==4.0.12
+nvidia-cusparse-cu12==12.5.4.2
+typer==0.24.1
+toml==0.10.2
+tensorboard==2.20.0
+rerun-sdk==0.26.2
+diffusers==0.35.2
+albucore==0.0.17
+wandb==0.24.2
+nvidia-cublas-cu12==12.6.4.1
+nvidia-cuda-runtime-cu12==12.6.77
+cycler==0.12.1
+coal==3.0.2
+pydantic_core==2.27.2
+torch==2.7.1
+nvidia-cuda-cupti-cu12==12.6.80
+Pygments==2.19.2
+pytest==9.0.3
+ImageIO==2.37.3
+sentry-sdk==2.54.0
+antlr4-python3-runtime==4.9.3
+sympy==1.14.0
+safetensors==0.7.0
+cmeel-zlib==1.3.1
+einops==0.8.2
+spatialgeometry==1.1.0
+pygame==2.6.1
+absl-py==2.4.0
+pandas==3.0.1
+httpx==0.28.1
+robosuite==1.5.2
+fonttools==4.62.1
+progress==1.6.1
+nvidia-cusolver-cu12==11.7.1.2
+aiohttp==3.13.3
+frozenlist==1.8.0
+deepdiff==8.6.1
+yarl==1.23.0
+nvidia-cudnn-cu12==9.5.1.17
+torchvision==0.22.1
+idna==3.11
+lazy-loader==0.5
+termcolor==3.3.0
+nvidia-curand-cu12==10.3.7.77
+multidict==6.7.1
+Markdown==3.10.2
+pynput==1.8.1
+propcache==0.4.1
+zipp==3.23.0
+nvidia-nvtx-cu12==12.6.77
+Flask==3.1.3
+httpcore==1.0.9
+etils==1.14.0
+psutil==7.2.2
+pillow==12.1.1
+nodeenv==1.10.0
+pin==3.9.0
+quadprog==0.1.13
+eigenpy==3.12.0
+wheel==0.46.3
+simsimd==6.5.16
+itsdangerous==2.2.0
+aiohappyeyeballs==2.6.1
+cfgv==3.5.0
+cloudpickle==3.1.2
+iniconfig==2.3.0
+requests==2.32.5
+tifffile==2026.5.2
+joblib==1.5.3
+identify==2.6.19
+huggingface_hub==1.14.0
+datasets==4.8.4
+typing_extensions==4.15.0
+pydantic==2.10.6
+jsonlines==4.0.0
+swift-sim==1.1.0
+lazyregistry==0.4.0
+robocasa==1.0.0
+pgraph-python==0.6.3
+Jinja2==3.1.6
+aiosignal==1.4.0
+dm-tree==0.1.9
+six==1.17.0
+grpcio==1.80.0
+rich==14.3.3
+scipy==1.15.3
+cmeel-urdfdom==4.0.1
+pyparsing==3.3.2
+lerobot==0.5.1

wandb/run-20260518_153314-yn3lgfkj/files/wandb-metadata.json

@@ -0,0 +1,87 @@
+{
+  "os": "Linux-6.8.0-101-generic-x86_64-with-glibc2.35",
+  "python": "CPython 3.12.12",
+  "startedAt": "2026-05-18T06:33:14.327419Z",
+  "args": [
+    "--action_dim=8",
+    "--batch_size=64",
+    "--camera_set=rgb",
+    "--dataset.repo_id=/home/seonho/insight/insight_dataset",
+    "--dataset.root=/home/seonho/insight/insight_dataset",
+    "--dataset.video_backend=pyav",
+    "--log_freq=100",
+    "--num_workers=4",
+    "--output_dir=/home/seonho/insight/outputs/dit_only_phase1_ckpt",
+    "--phase=phase2",
+    "--policy.base_model_path=nvidia/GR00T-N1.5-3B",
+    "--policy.lora_rank=0",
+    "--policy.mgd_enabled=false",
+    "--policy.mgd_loss_weight=0.0",
+    "--policy.mgd_trainable_mode=dit_only",
+    "--policy.tune_llm=false",
+    "--policy.tune_visual=false",
+    "--policy.type=groot_processed_mgd",
+    "--save_freq=50000",
+    "--state_dim=16",
+    "--steps=100000",
+    "--task_prompt_mode=non_guide",
+    "--wandb.enable=true",
+    "--wandb.entity=RwHlabs",
+    "--wandb.group=insight_phase1_dit_only",
+    "--wandb.name=insight_phase1_dit_only_groot",
+    "--wandb.project=groot_insight_baseline_mgd",
+    "--wandb.tags=mgd,phase2,groot_processed_mgd,rgb,non_guide,insight,insight_native,cartesian_8d,phase1,baseline,dit_only,nvidia_base"
+  ],
+  "program": "/home/seonho/clvla/lerobot_cl/src/lerobot/scripts/train_groot_insight_yaml.py",
+  "codePath": "clvla/lerobot_cl/src/lerobot/scripts/train_groot_insight_yaml.py",
+  "codePathLocal": "clvla/lerobot_cl/src/lerobot/scripts/train_groot_insight_yaml.py",
+  "email": "dankk98@gmail.com",
+  "root": "/home/seonho/insight/outputs/dit_only_phase1_ckpt",
+  "host": "worker1",
+  "executable": "/home/seonho/miniconda3/envs/minje/bin/python3.12",
+  "cpu_count": 32,
+  "cpu_count_logical": 64,
+  "gpu": "NVIDIA A100 80GB PCIe",
+  "gpu_count": 4,
+  "disk": {
+    "/": {
+      "total": "3778130485248",
+      "used": "3442052386816"
+    }
+  },
+  "memory": {
+    "total": "1081620840448"
+  },
+  "gpu_nvidia": [
+    {
+      "name": "NVIDIA A100 80GB PCIe",
+      "memoryTotal": "85899345920",
+      "cudaCores": 6912,
+      "architecture": "Ampere",
+      "uuid": "GPU-0dd6d491-2dd8-24ac-bb27-872483ab77e9"
+    },
+    {
+      "name": "NVIDIA A100 80GB PCIe",
+      "memoryTotal": "85899345920",
+      "cudaCores": 6912,
+      "architecture": "Ampere",
+      "uuid": "GPU-dbfb7925-aec1-50fb-039a-3a4c0a4b2caa"
+    },
+    {
+      "name": "NVIDIA A100 80GB PCIe",
+      "memoryTotal": "85899345920",
+      "cudaCores": 6912,
+      "architecture": "Ampere",
+      "uuid": "GPU-ca1c0319-e178-a3c3-ac41-386c2723deac"
+    },
+    {
+      "name": "NVIDIA A100 80GB PCIe",
+      "memoryTotal": "85899345920",
+      "cudaCores": 6912,
+      "architecture": "Ampere",
+      "uuid": "GPU-47b6036e-4fde-e399-5515-f73eed752c6d"
+    }
+  ],
+  "cudaVersion": "12.2",
+  "writerId": "ddeaytz4ga2t8xmz3osihmmadhyuvdau"
+}

wandb/run-20260518_153314-yn3lgfkj/files/wandb-summary.json

@@ -0,0 +1 @@
+{"_runtime":152,"params/whole_total":2427681217,"params/whole_trainable":840593408,"_wandb":{"runtime":152}}

wandb/run-20260518_153314-yn3lgfkj/logs/debug-core.log

@@ -0,0 +1,12 @@
+{"time":"2026-05-18T15:33:14.368029784+09:00","level":"INFO","msg":"main: starting server","port-filename":"/tmp/tmpt29ma1tu/port-3572879.txt","pid":3572879,"log-level":0,"disable-analytics":false,"shutdown-on-parent-exit":false,"enable-dcgm-profiling":false}
+{"time":"2026-05-18T15:33:14.368891132+09:00","level":"INFO","msg":"server: will exit if parent process dies","ppid":3572879}
+{"time":"2026-05-18T15:33:14.368907866+09:00","level":"INFO","msg":"server: accepting connections","addr":{"Name":"/tmp/wandb-3572879-3579183-3991850837/socket","Net":"unix"}}
+{"time":"2026-05-18T15:33:14.552175752+09:00","level":"INFO","msg":"connection: ManageConnectionData: new connection created","id":"1(@)"}
+{"time":"2026-05-18T15:33:14.568692696+09:00","level":"INFO","msg":"handleInformInit: received","streamId":"yn3lgfkj","id":"1(@)"}
+{"time":"2026-05-18T15:33:14.955750856+09:00","level":"INFO","msg":"handleInformInit: stream started","streamId":"yn3lgfkj","id":"1(@)"}
+{"time":"2026-05-18T15:33:20.635218256+09:00","level":"INFO","msg":"connection: cancelling request","id":"1(@)","requestId":"oxmrotilaa4a"}
+{"time":"2026-05-18T15:35:48.036183042+09:00","level":"INFO","msg":"handleInformTeardown: server teardown initiated","id":"1(@)"}
+{"time":"2026-05-18T15:35:48.036225497+09:00","level":"INFO","msg":"connection: closing","id":"1(@)"}
+{"time":"2026-05-18T15:35:48.036239979+09:00","level":"INFO","msg":"server is shutting down"}
+{"time":"2026-05-18T15:35:48.036291142+09:00","level":"INFO","msg":"connection: closed successfully","id":"1(@)"}
+{"time":"2026-05-18T15:35:48.036309848+09:00","level":"INFO","msg":"server: listener closed","addr":{"Name":"/tmp/wandb-3572879-3579183-3991850837/socket","Net":"unix"}}

wandb/run-20260518_153314-yn3lgfkj/logs/debug-internal.log

@@ -0,0 +1,11 @@
+{"time":"2026-05-18T15:33:14.568787835+09:00","level":"INFO","msg":"stream: starting","core version":"0.24.2"}
+{"time":"2026-05-18T15:33:14.955449815+09:00","level":"INFO","msg":"stream: created new stream","id":"yn3lgfkj"}
+{"time":"2026-05-18T15:33:14.955563765+09:00","level":"INFO","msg":"handler: started","stream_id":"yn3lgfkj"}
+{"time":"2026-05-18T15:33:14.955729554+09:00","level":"INFO","msg":"stream: started","id":"yn3lgfkj"}
+{"time":"2026-05-18T15:33:14.955755456+09:00","level":"INFO","msg":"writer: started","stream_id":"yn3lgfkj"}
+{"time":"2026-05-18T15:33:14.955762385+09:00","level":"INFO","msg":"sender: started","stream_id":"yn3lgfkj"}
+{"time":"2026-05-18T15:35:48.03624071+09:00","level":"INFO","msg":"stream: closing","id":"yn3lgfkj"}
+{"time":"2026-05-18T15:35:48.678372175+09:00","level":"INFO","msg":"fileTransfer: Close: file transfer manager closed"}
+{"time":"2026-05-18T15:35:48.977410208+09:00","level":"INFO","msg":"handler: closed","stream_id":"yn3lgfkj"}
+{"time":"2026-05-18T15:35:48.977614839+09:00","level":"INFO","msg":"sender: closed","stream_id":"yn3lgfkj"}
+{"time":"2026-05-18T15:35:48.977668037+09:00","level":"INFO","msg":"stream: closed","id":"yn3lgfkj"}