{ "best_global_step": null, "best_metric": null, "best_model_checkpoint": null, "epoch": 1.6689300537109375e-06, "eval_steps": 500, "global_step": 17500, "is_hyper_param_search": false, "is_local_process_zero": true, "is_world_process_zero": true, "log_history": [ { "epoch": 0, "model_forward_time": 5.654572248458862, "step": 0 }, { "dynamics_loss_avg": 0.05577154830098152, "epoch": 0, "step": 0 }, { "action_loss_avg": 0.2670891284942627, "epoch": 0, "step": 0 }, { "arm_loss_avg": 0.40593773126602173, "epoch": 0, "step": 0 }, { "ee_loss_avg": 0.8616354465484619, "epoch": 0, "step": 0 }, { "aux_loss_avg": 0.01496426947414875, "epoch": 0, "step": 0 }, { "epoch": 0, "step": 0, "training_step_time": 17.28744101524353 }, { "epoch": 9.5367431640625e-11, "model_forward_time": 4.9311699867248535, "step": 1 }, { "epoch": 9.5367431640625e-11, "step": 1, "training_step_time": 17.035494327545166 }, { "epoch": 1.9073486328125e-10, "model_forward_time": 3.7780232429504395, "step": 2 }, { "epoch": 1.9073486328125e-10, "step": 2, "training_step_time": 17.07719922065735 }, { "epoch": 2.86102294921875e-10, "model_forward_time": 4.989339113235474, "step": 3 }, { "epoch": 2.86102294921875e-10, "step": 3, "training_step_time": 17.168310403823853 }, { "epoch": 3.814697265625e-10, "model_forward_time": 5.355059862136841, "step": 4 }, { "epoch": 3.814697265625e-10, "step": 4, "training_step_time": 17.728313207626343 }, { "epoch": 4.76837158203125e-10, "model_forward_time": 5.004292964935303, "step": 5 }, { "epoch": 4.76837158203125e-10, "step": 5, "training_step_time": 16.972209215164185 }, { "epoch": 5.7220458984375e-10, "model_forward_time": 5.033719778060913, "step": 6 }, { "epoch": 5.7220458984375e-10, "step": 6, "training_step_time": 17.477935791015625 }, { "epoch": 6.67572021484375e-10, "model_forward_time": 5.056877136230469, "step": 7 }, { "epoch": 6.67572021484375e-10, "step": 7, "training_step_time": 17.568007707595825 }, { "epoch": 7.62939453125e-10, "model_forward_time": 5.074816942214966, "step": 8 }, { "epoch": 7.62939453125e-10, "step": 8, "training_step_time": 17.585643768310547 }, { "epoch": 8.58306884765625e-10, "model_forward_time": 5.324267387390137, "step": 9 }, { "epoch": 8.58306884765625e-10, "step": 9, "training_step_time": 17.834526777267456 }, { "epoch": 9.5367431640625e-10, "grad_norm": 5.382537364959717, "learning_rate": 2.5714285714285715e-08, "loss": 0.3594, "step": 10 }, { "epoch": 9.5367431640625e-10, "model_forward_time": 5.098600625991821, "step": 10 }, { "dynamics_loss_avg": 0.0452378834830597, "epoch": 9.5367431640625e-10, "step": 10 }, { "action_loss_avg": 0.29400993064045905, "epoch": 9.5367431640625e-10, "step": 10 }, { "arm_loss_avg": 0.3129485219717026, "epoch": 9.5367431640625e-10, "step": 10 }, { "ee_loss_avg": 1.023782204091549, "epoch": 9.5367431640625e-10, "step": 10 }, { "aux_loss_avg": 0.012632906343787909, "epoch": 9.5367431640625e-10, "step": 10 }, { "epoch": 9.5367431640625e-10, "step": 10, "training_step_time": 17.631526708602905 }, { "epoch": 1.049041748046875e-09, "model_forward_time": 5.108054161071777, "step": 11 }, { "epoch": 1.049041748046875e-09, "step": 11, "training_step_time": 17.621401071548462 }, { "epoch": 1.1444091796875e-09, "model_forward_time": 5.102130889892578, "step": 12 }, { "epoch": 1.1444091796875e-09, "step": 12, "training_step_time": 17.64268970489502 }, { "epoch": 1.239776611328125e-09, "model_forward_time": 5.09802770614624, "step": 13 }, { "epoch": 1.239776611328125e-09, "step": 13, "training_step_time": 17.642566442489624 }, { "epoch": 1.33514404296875e-09, "model_forward_time": 5.28309440612793, "step": 14 }, { "epoch": 1.33514404296875e-09, "step": 14, "training_step_time": 17.82461428642273 }, { "epoch": 1.430511474609375e-09, "model_forward_time": 5.0876219272613525, "step": 15 }, { "epoch": 1.430511474609375e-09, "step": 15, "training_step_time": 17.62497067451477 }, { "epoch": 1.52587890625e-09, "model_forward_time": 5.087885141372681, "step": 16 }, { "epoch": 1.52587890625e-09, "step": 16, "training_step_time": 17.624412536621094 }, { "epoch": 1.621246337890625e-09, "model_forward_time": 5.083714008331299, "step": 17 }, { "epoch": 1.621246337890625e-09, "step": 17, "training_step_time": 17.618664264678955 }, { "epoch": 1.71661376953125e-09, "model_forward_time": 5.0832459926605225, "step": 18 }, { "epoch": 1.71661376953125e-09, "step": 18, "training_step_time": 17.61797308921814 }, { "epoch": 1.811981201171875e-09, "model_forward_time": 5.314929723739624, "step": 19 }, { "epoch": 1.811981201171875e-09, "step": 19, "training_step_time": 17.835760831832886 }, { "epoch": 1.9073486328125e-09, "grad_norm": 3.0018038749694824, "learning_rate": 5.428571428571429e-08, "loss": 0.3269, "step": 20 }, { "epoch": 1.9073486328125e-09, "model_forward_time": 5.082757234573364, "step": 20 }, { "dynamics_loss_avg": 0.03658211962319911, "epoch": 1.9073486328125e-09, "step": 20 }, { "action_loss_avg": 0.2646689139306545, "epoch": 1.9073486328125e-09, "step": 20 }, { "arm_loss_avg": 0.41958157271146773, "epoch": 1.9073486328125e-09, "step": 20 }, { "ee_loss_avg": 0.7342069014906883, "epoch": 1.9073486328125e-09, "step": 20 }, { "aux_loss_avg": 0.017784918937832118, "epoch": 1.9073486328125e-09, "step": 20 }, { "epoch": 1.9073486328125e-09, "step": 20, "training_step_time": 17.594382286071777 }, { "epoch": 2.002716064453125e-09, "model_forward_time": 5.0790276527404785, "step": 21 }, { "epoch": 2.002716064453125e-09, "step": 21, "training_step_time": 17.59093189239502 }, { "epoch": 2.09808349609375e-09, "model_forward_time": 5.0844831466674805, "step": 22 }, { "epoch": 2.09808349609375e-09, "step": 22, "training_step_time": 17.591935634613037 }, { "epoch": 2.193450927734375e-09, "model_forward_time": 5.080899953842163, "step": 23 }, { "epoch": 2.193450927734375e-09, "step": 23, "training_step_time": 17.592122554779053 }, { "epoch": 2.288818359375e-09, "model_forward_time": 5.27437949180603, "step": 24 }, { "epoch": 2.288818359375e-09, "step": 24, "training_step_time": 17.43098545074463 }, { "epoch": 2.384185791015625e-09, "model_forward_time": 5.0848069190979, "step": 25 }, { "epoch": 2.384185791015625e-09, "step": 25, "training_step_time": 17.383650302886963 }, { "epoch": 2.47955322265625e-09, "model_forward_time": 5.082437515258789, "step": 26 }, { "epoch": 2.47955322265625e-09, "step": 26, "training_step_time": 17.453349828720093 }, { "epoch": 2.574920654296875e-09, "model_forward_time": 5.084279298782349, "step": 27 }, { "epoch": 2.574920654296875e-09, "step": 27, "training_step_time": 17.51477885246277 }, { "epoch": 2.6702880859375e-09, "model_forward_time": 3.8488926887512207, "step": 28 }, { "epoch": 2.6702880859375e-09, "step": 28, "training_step_time": 17.615689277648926 }, { "epoch": 2.765655517578125e-09, "model_forward_time": 5.294805288314819, "step": 29 }, { "epoch": 2.765655517578125e-09, "step": 29, "training_step_time": 17.837595462799072 }, { "epoch": 2.86102294921875e-09, "grad_norm": 8.401095390319824, "learning_rate": 8.285714285714285e-08, "loss": 0.4403, "step": 30 }, { "epoch": 2.86102294921875e-09, "model_forward_time": 5.064462661743164, "step": 30 }, { "dynamics_loss_avg": 0.041055824235081674, "epoch": 2.86102294921875e-09, "step": 30 }, { "action_loss_avg": 0.39186606705188753, "epoch": 2.86102294921875e-09, "step": 30 }, { "arm_loss_avg": 0.37961738631129266, "epoch": 2.86102294921875e-09, "step": 30 }, { "ee_loss_avg": 1.1440728712826966, "epoch": 2.86102294921875e-09, "step": 30 }, { "aux_loss_avg": 0.01158672575838864, "epoch": 2.86102294921875e-09, "step": 30 }, { "epoch": 2.86102294921875e-09, "step": 30, "training_step_time": 17.611984491348267 }, { "epoch": 2.956390380859375e-09, "model_forward_time": 5.073700904846191, "step": 31 }, { "epoch": 2.956390380859375e-09, "step": 31, "training_step_time": 17.63018274307251 }, { "epoch": 3.0517578125e-09, "model_forward_time": 5.082307815551758, "step": 32 }, { "epoch": 3.0517578125e-09, "step": 32, "training_step_time": 17.640460729599 }, { "epoch": 3.147125244140625e-09, "model_forward_time": 5.089296817779541, "step": 33 }, { "epoch": 3.147125244140625e-09, "step": 33, "training_step_time": 17.623135805130005 }, { "epoch": 3.24249267578125e-09, "model_forward_time": 5.294501781463623, "step": 34 }, { "epoch": 3.24249267578125e-09, "step": 34, "training_step_time": 17.82048010826111 }, { "epoch": 3.337860107421875e-09, "model_forward_time": 5.090297222137451, "step": 35 }, { "epoch": 3.337860107421875e-09, "step": 35, "training_step_time": 17.609689235687256 }, { "epoch": 3.4332275390625e-09, "model_forward_time": 5.093993663787842, "step": 36 }, { "epoch": 3.4332275390625e-09, "step": 36, "training_step_time": 17.387319803237915 }, { "epoch": 3.528594970703125e-09, "model_forward_time": 5.0931220054626465, "step": 37 }, { "epoch": 3.528594970703125e-09, "step": 37, "training_step_time": 17.38678812980652 }, { "epoch": 3.62396240234375e-09, "model_forward_time": 5.091853141784668, "step": 38 }, { "epoch": 3.62396240234375e-09, "step": 38, "training_step_time": 17.631736278533936 }, { "epoch": 3.719329833984375e-09, "model_forward_time": 5.08646297454834, "step": 39 }, { "epoch": 3.719329833984375e-09, "step": 39, "training_step_time": 17.474735260009766 }, { "epoch": 3.814697265625e-09, "grad_norm": 4.420457363128662, "learning_rate": 1.1142857142857145e-07, "loss": 0.4745, "step": 40 }, { "epoch": 3.814697265625e-09, "model_forward_time": 5.085108995437622, "step": 40 }, { "dynamics_loss_avg": 0.061301032174378635, "epoch": 3.814697265625e-09, "step": 40 }, { "action_loss_avg": 0.42081958800554276, "epoch": 3.814697265625e-09, "step": 40 }, { "arm_loss_avg": 0.46746778190135957, "epoch": 3.814697265625e-09, "step": 40 }, { "ee_loss_avg": 1.0171730522066356, "epoch": 3.814697265625e-09, "step": 40 }, { "aux_loss_avg": 0.023397302953526378, "epoch": 3.814697265625e-09, "step": 40 }, { "epoch": 3.814697265625e-09, "step": 40, "training_step_time": 17.658680200576782 }, { "epoch": 3.910064697265625e-09, "model_forward_time": 5.081677675247192, "step": 41 }, { "epoch": 3.910064697265625e-09, "step": 41, "training_step_time": 17.52273154258728 }, { "epoch": 4.00543212890625e-09, "model_forward_time": 5.080859422683716, "step": 42 }, { "epoch": 4.00543212890625e-09, "step": 42, "training_step_time": 17.5912823677063 }, { "epoch": 4.100799560546875e-09, "model_forward_time": 3.849396228790283, "step": 43 }, { "epoch": 4.100799560546875e-09, "step": 43, "training_step_time": 17.647133111953735 }, { "epoch": 4.1961669921875e-09, "model_forward_time": 5.059116363525391, "step": 44 }, { "epoch": 4.1961669921875e-09, "step": 44, "training_step_time": 17.67197608947754 }, { "epoch": 4.291534423828125e-09, "model_forward_time": 5.066159009933472, "step": 45 }, { "epoch": 4.291534423828125e-09, "step": 45, "training_step_time": 17.83651041984558 }, { "epoch": 4.38690185546875e-09, "model_forward_time": 5.075784206390381, "step": 46 }, { "epoch": 4.38690185546875e-09, "step": 46, "training_step_time": 17.626478672027588 }, { "epoch": 4.482269287109375e-09, "model_forward_time": 5.088157415390015, "step": 47 }, { "epoch": 4.482269287109375e-09, "step": 47, "training_step_time": 17.61659812927246 }, { "epoch": 4.57763671875e-09, "model_forward_time": 5.097877025604248, "step": 48 }, { "epoch": 4.57763671875e-09, "step": 48, "training_step_time": 17.62375235557556 }, { "epoch": 4.673004150390625e-09, "model_forward_time": 5.347105503082275, "step": 49 }, { "epoch": 4.673004150390625e-09, "step": 49, "training_step_time": 17.579359769821167 }, { "epoch": 4.76837158203125e-09, "grad_norm": 4.153892993927002, "learning_rate": 1.4e-07, "loss": 0.4256, "step": 50 }, { "epoch": 4.76837158203125e-09, "model_forward_time": 5.1018640995025635, "step": 50 }, { "dynamics_loss_avg": 0.06015846710652113, "epoch": 4.76837158203125e-09, "step": 50 }, { "action_loss_avg": 0.3783311188220978, "epoch": 4.76837158203125e-09, "step": 50 }, { "arm_loss_avg": 0.43689577728509904, "epoch": 4.76837158203125e-09, "step": 50 }, { "ee_loss_avg": 0.8786833107471466, "epoch": 4.76837158203125e-09, "step": 50 }, { "aux_loss_avg": 0.036404186859726906, "epoch": 4.76837158203125e-09, "step": 50 }, { "epoch": 4.76837158203125e-09, "step": 50, "training_step_time": 17.804962873458862 }, { "epoch": 4.863739013671875e-09, "model_forward_time": 5.094231605529785, "step": 51 }, { "epoch": 4.863739013671875e-09, "step": 51, "training_step_time": 17.563225030899048 }, { "epoch": 4.9591064453125e-09, "model_forward_time": 5.09824275970459, "step": 52 }, { "epoch": 4.9591064453125e-09, "step": 52, "training_step_time": 17.569394826889038 }, { "epoch": 5.054473876953125e-09, "model_forward_time": 5.093363046646118, "step": 53 }, { "epoch": 5.054473876953125e-09, "step": 53, "training_step_time": 17.5745108127594 }, { "epoch": 5.14984130859375e-09, "model_forward_time": 5.2886974811553955, "step": 54 }, { "epoch": 5.14984130859375e-09, "step": 54, "training_step_time": 17.573774337768555 }, { "epoch": 5.245208740234375e-09, "model_forward_time": 5.089112281799316, "step": 55 }, { "epoch": 5.245208740234375e-09, "step": 55, "training_step_time": 17.76808452606201 }, { "epoch": 5.340576171875e-09, "model_forward_time": 5.082577705383301, "step": 56 }, { "epoch": 5.340576171875e-09, "step": 56, "training_step_time": 17.577696323394775 }, { "epoch": 5.435943603515625e-09, "model_forward_time": 5.07968807220459, "step": 57 }, { "epoch": 5.435943603515625e-09, "step": 57, "training_step_time": 17.571468830108643 }, { "epoch": 5.53131103515625e-09, "model_forward_time": 5.082094430923462, "step": 58 }, { "epoch": 5.53131103515625e-09, "step": 58, "training_step_time": 17.6460120677948 }, { "epoch": 5.626678466796875e-09, "model_forward_time": 5.08047890663147, "step": 59 }, { "epoch": 5.626678466796875e-09, "step": 59, "training_step_time": 17.58483123779297 }, { "epoch": 5.7220458984375e-09, "grad_norm": 9.884918212890625, "learning_rate": 1.685714285714286e-07, "loss": 0.4885, "step": 60 }, { "epoch": 5.7220458984375e-09, "model_forward_time": 5.085148572921753, "step": 60 }, { "dynamics_loss_avg": 0.04364519538357854, "epoch": 5.7220458984375e-09, "step": 60 }, { "action_loss_avg": 0.3720592509955168, "epoch": 5.7220458984375e-09, "step": 60 }, { "arm_loss_avg": 0.37091912925243375, "epoch": 5.7220458984375e-09, "step": 60 }, { "ee_loss_avg": 1.1515914730727672, "epoch": 5.7220458984375e-09, "step": 60 }, { "aux_loss_avg": 0.014227246446534992, "epoch": 5.7220458984375e-09, "step": 60 }, { "epoch": 5.7220458984375e-09, "step": 60, "training_step_time": 17.431912899017334 }, { "epoch": 5.817413330078125e-09, "model_forward_time": 5.087010860443115, "step": 61 }, { "epoch": 5.817413330078125e-09, "step": 61, "training_step_time": 17.412709712982178 }, { "epoch": 5.91278076171875e-09, "model_forward_time": 5.084793567657471, "step": 62 }, { "epoch": 5.91278076171875e-09, "step": 62, "training_step_time": 17.460272789001465 }, { "epoch": 6.008148193359375e-09, "model_forward_time": 5.084083795547485, "step": 63 }, { "epoch": 6.008148193359375e-09, "step": 63, "training_step_time": 17.527597904205322 }, { "epoch": 6.103515625e-09, "model_forward_time": 5.27541971206665, "step": 64 }, { "epoch": 6.103515625e-09, "step": 64, "training_step_time": 17.57636570930481 }, { "epoch": 6.198883056640625e-09, "model_forward_time": 5.084868669509888, "step": 65 }, { "epoch": 6.198883056640625e-09, "step": 65, "training_step_time": 17.847930431365967 }, { "epoch": 6.29425048828125e-09, "model_forward_time": 5.079558849334717, "step": 66 }, { "epoch": 6.29425048828125e-09, "step": 66, "training_step_time": 17.62358260154724 }, { "epoch": 6.389617919921875e-09, "model_forward_time": 5.0820746421813965, "step": 67 }, { "epoch": 6.389617919921875e-09, "step": 67, "training_step_time": 17.634536743164062 }, { "epoch": 6.4849853515625e-09, "model_forward_time": 5.081248760223389, "step": 68 }, { "epoch": 6.4849853515625e-09, "step": 68, "training_step_time": 17.643102169036865 }, { "epoch": 6.580352783203125e-09, "model_forward_time": 5.321815729141235, "step": 69 }, { "epoch": 6.580352783203125e-09, "step": 69, "training_step_time": 17.62754201889038 }, { "epoch": 6.67572021484375e-09, "grad_norm": 5.781918048858643, "learning_rate": 1.9714285714285718e-07, "loss": 0.4813, "step": 70 }, { "epoch": 6.67572021484375e-09, "model_forward_time": 5.085204601287842, "step": 70 }, { "dynamics_loss_avg": 0.06762738935649396, "epoch": 6.67572021484375e-09, "step": 70 }, { "action_loss_avg": 0.5282142162322998, "epoch": 6.67572021484375e-09, "step": 70 }, { "arm_loss_avg": 0.5136698111891747, "epoch": 6.67572021484375e-09, "step": 70 }, { "ee_loss_avg": 1.129693191498518, "epoch": 6.67572021484375e-09, "step": 70 }, { "aux_loss_avg": 0.014709500735625625, "epoch": 6.67572021484375e-09, "step": 70 }, { "epoch": 6.67572021484375e-09, "step": 70, "training_step_time": 17.62287664413452 }, { "epoch": 6.771087646484375e-09, "model_forward_time": 5.085447788238525, "step": 71 }, { "epoch": 6.771087646484375e-09, "step": 71, "training_step_time": 17.85623049736023 }, { "epoch": 6.866455078125e-09, "model_forward_time": 5.083574533462524, "step": 72 }, { "epoch": 6.866455078125e-09, "step": 72, "training_step_time": 17.604146480560303 }, { "epoch": 6.961822509765625e-09, "model_forward_time": 5.084171295166016, "step": 73 }, { "epoch": 6.961822509765625e-09, "step": 73, "training_step_time": 17.618319988250732 }, { "epoch": 7.05718994140625e-09, "model_forward_time": 5.284243822097778, "step": 74 }, { "epoch": 7.05718994140625e-09, "step": 74, "training_step_time": 17.5906081199646 }, { "epoch": 7.152557373046875e-09, "model_forward_time": 5.084650039672852, "step": 75 }, { "epoch": 7.152557373046875e-09, "step": 75, "training_step_time": 17.819186210632324 }, { "epoch": 7.2479248046875e-09, "model_forward_time": 5.081072092056274, "step": 76 }, { "epoch": 7.2479248046875e-09, "step": 76, "training_step_time": 17.579699993133545 }, { "epoch": 7.343292236328125e-09, "model_forward_time": 5.082604646682739, "step": 77 }, { "epoch": 7.343292236328125e-09, "step": 77, "training_step_time": 17.577881574630737 }, { "epoch": 7.43865966796875e-09, "model_forward_time": 5.082124948501587, "step": 78 }, { "epoch": 7.43865966796875e-09, "step": 78, "training_step_time": 17.629004955291748 }, { "epoch": 7.534027099609376e-09, "model_forward_time": 5.080837249755859, "step": 79 }, { "epoch": 7.534027099609376e-09, "step": 79, "training_step_time": 17.574512243270874 }, { "epoch": 7.62939453125e-09, "grad_norm": 6.263542652130127, "learning_rate": 2.2571428571428574e-07, "loss": 0.4491, "step": 80 }, { "epoch": 7.62939453125e-09, "model_forward_time": 5.081834077835083, "step": 80 }, { "dynamics_loss_avg": 0.04805456027388573, "epoch": 7.62939453125e-09, "step": 80 }, { "action_loss_avg": 0.4831568419933319, "epoch": 7.62939453125e-09, "step": 80 }, { "arm_loss_avg": 0.44582735896110537, "epoch": 7.62939453125e-09, "step": 80 }, { "ee_loss_avg": 1.4672894060611725, "epoch": 7.62939453125e-09, "step": 80 }, { "aux_loss_avg": 0.01642386387102306, "epoch": 7.62939453125e-09, "step": 80 }, { "epoch": 7.62939453125e-09, "step": 80, "training_step_time": 17.402050733566284 }, { "epoch": 7.724761962890625e-09, "model_forward_time": 5.0830912590026855, "step": 81 }, { "epoch": 7.724761962890625e-09, "step": 81, "training_step_time": 17.39198589324951 }, { "epoch": 7.82012939453125e-09, "model_forward_time": 5.081889867782593, "step": 82 }, { "epoch": 7.82012939453125e-09, "step": 82, "training_step_time": 17.45381784439087 }, { "epoch": 7.915496826171875e-09, "model_forward_time": 5.082847356796265, "step": 83 }, { "epoch": 7.915496826171875e-09, "step": 83, "training_step_time": 17.58726668357849 }, { "epoch": 8.0108642578125e-09, "model_forward_time": 5.2797691822052, "step": 84 }, { "epoch": 8.0108642578125e-09, "step": 84, "training_step_time": 17.557238817214966 }, { "epoch": 8.106231689453126e-09, "model_forward_time": 5.082366943359375, "step": 85 }, { "epoch": 8.106231689453126e-09, "step": 85, "training_step_time": 17.60308003425598 }, { "epoch": 8.20159912109375e-09, "model_forward_time": 5.080708980560303, "step": 86 }, { "epoch": 8.20159912109375e-09, "step": 86, "training_step_time": 17.37933874130249 }, { "epoch": 8.296966552734374e-09, "model_forward_time": 5.08330512046814, "step": 87 }, { "epoch": 8.296966552734374e-09, "step": 87, "training_step_time": 17.386902332305908 }, { "epoch": 8.392333984375e-09, "model_forward_time": 5.0872039794921875, "step": 88 }, { "epoch": 8.392333984375e-09, "step": 88, "training_step_time": 17.616709232330322 }, { "epoch": 8.487701416015625e-09, "model_forward_time": 5.323805093765259, "step": 89 }, { "epoch": 8.487701416015625e-09, "step": 89, "training_step_time": 17.569091320037842 }, { "epoch": 8.58306884765625e-09, "grad_norm": 4.775817394256592, "learning_rate": 2.542857142857143e-07, "loss": 0.4378, "step": 90 }, { "epoch": 8.58306884765625e-09, "model_forward_time": 3.850461006164551, "step": 90 }, { "dynamics_loss_avg": 0.06056125722825527, "epoch": 8.58306884765625e-09, "step": 90 }, { "action_loss_avg": 0.32163372784852984, "epoch": 8.58306884765625e-09, "step": 90 }, { "arm_loss_avg": 0.38244656622409823, "epoch": 8.58306884765625e-09, "step": 90 }, { "ee_loss_avg": 0.7874744296073913, "epoch": 8.58306884765625e-09, "step": 90 }, { "aux_loss_avg": 0.025237900344654916, "epoch": 8.58306884765625e-09, "step": 90 }, { "epoch": 8.58306884765625e-09, "step": 90, "training_step_time": 17.386569023132324 }, { "epoch": 8.678436279296875e-09, "model_forward_time": 5.0593178272247314, "step": 91 }, { "epoch": 8.678436279296875e-09, "step": 91, "training_step_time": 17.40496826171875 }, { "epoch": 8.7738037109375e-09, "model_forward_time": 5.071552753448486, "step": 92 }, { "epoch": 8.7738037109375e-09, "step": 92, "training_step_time": 17.50469708442688 }, { "epoch": 8.869171142578124e-09, "model_forward_time": 5.077445030212402, "step": 93 }, { "epoch": 8.869171142578124e-09, "step": 93, "training_step_time": 17.61986994743347 }, { "epoch": 8.96453857421875e-09, "model_forward_time": 5.085143089294434, "step": 94 }, { "epoch": 8.96453857421875e-09, "step": 94, "training_step_time": 17.614876985549927 }, { "epoch": 9.059906005859375e-09, "model_forward_time": 5.322551488876343, "step": 95 }, { "epoch": 9.059906005859375e-09, "step": 95, "training_step_time": 17.65024471282959 }, { "epoch": 9.1552734375e-09, "model_forward_time": 5.09271502494812, "step": 96 }, { "epoch": 9.1552734375e-09, "step": 96, "training_step_time": 17.837555170059204 }, { "epoch": 9.250640869140625e-09, "model_forward_time": 3.8547441959381104, "step": 97 }, { "epoch": 9.250640869140625e-09, "step": 97, "training_step_time": 17.646470069885254 }, { "epoch": 9.34600830078125e-09, "model_forward_time": 5.059211254119873, "step": 98 }, { "epoch": 9.34600830078125e-09, "step": 98, "training_step_time": 17.647053241729736 }, { "epoch": 9.441375732421876e-09, "model_forward_time": 5.0733559131622314, "step": 99 }, { "epoch": 9.441375732421876e-09, "step": 99, "training_step_time": 17.621309280395508 }, { "epoch": 9.5367431640625e-09, "grad_norm": 5.9986982345581055, "learning_rate": 2.8285714285714286e-07, "loss": 0.4176, "step": 100 }, { "epoch": 9.5367431640625e-09, "model_forward_time": 5.325212478637695, "step": 100 }, { "dynamics_loss_avg": 0.05301825869828462, "epoch": 9.5367431640625e-09, "step": 100 }, { "action_loss_avg": 0.469326788187027, "epoch": 9.5367431640625e-09, "step": 100 }, { "arm_loss_avg": 0.427274814248085, "epoch": 9.5367431640625e-09, "step": 100 }, { "ee_loss_avg": 1.03694556504488, "epoch": 9.5367431640625e-09, "step": 100 }, { "aux_loss_avg": 0.02618232760578394, "epoch": 9.5367431640625e-09, "step": 100 }, { "epoch": 9.5367431640625e-09, "step": 100, "training_step_time": 17.61185097694397 }, { "epoch": 9.632110595703125e-09, "model_forward_time": 5.087043523788452, "step": 101 }, { "epoch": 9.632110595703125e-09, "step": 101, "training_step_time": 17.82436203956604 }, { "epoch": 9.72747802734375e-09, "model_forward_time": 5.090444087982178, "step": 102 }, { "epoch": 9.72747802734375e-09, "step": 102, "training_step_time": 17.584753274917603 }, { "epoch": 9.822845458984375e-09, "model_forward_time": 5.093330383300781, "step": 103 }, { "epoch": 9.822845458984375e-09, "step": 103, "training_step_time": 17.612791061401367 }, { "epoch": 9.918212890625e-09, "model_forward_time": 5.093509912490845, "step": 104 }, { "epoch": 9.918212890625e-09, "step": 104, "training_step_time": 17.57226824760437 }, { "epoch": 1.0013580322265626e-08, "model_forward_time": 5.09595251083374, "step": 105 }, { "epoch": 1.0013580322265626e-08, "step": 105, "training_step_time": 17.532158374786377 }, { "epoch": 1.010894775390625e-08, "model_forward_time": 5.088396787643433, "step": 106 }, { "epoch": 1.010894775390625e-08, "step": 106, "training_step_time": 17.766541004180908 }, { "epoch": 1.0204315185546874e-08, "model_forward_time": 5.087411642074585, "step": 107 }, { "epoch": 1.0204315185546874e-08, "step": 107, "training_step_time": 17.572811603546143 }, { "epoch": 1.02996826171875e-08, "model_forward_time": 5.084728479385376, "step": 108 }, { "epoch": 1.02996826171875e-08, "step": 108, "training_step_time": 17.62696385383606 }, { "epoch": 1.0395050048828125e-08, "model_forward_time": 5.325411796569824, "step": 109 }, { "epoch": 1.0395050048828125e-08, "step": 109, "training_step_time": 17.572574615478516 }, { "epoch": 1.049041748046875e-08, "grad_norm": 8.632866859436035, "learning_rate": 3.1142857142857144e-07, "loss": 0.4496, "step": 110 }, { "epoch": 1.049041748046875e-08, "model_forward_time": 5.083550930023193, "step": 110 }, { "dynamics_loss_avg": 0.04837730173021555, "epoch": 1.049041748046875e-08, "step": 110 }, { "action_loss_avg": 0.4338533490896225, "epoch": 1.049041748046875e-08, "step": 110 }, { "arm_loss_avg": 0.5064056634902954, "epoch": 1.049041748046875e-08, "step": 110 }, { "ee_loss_avg": 0.7518204890191555, "epoch": 1.049041748046875e-08, "step": 110 }, { "aux_loss_avg": 0.023505022190511225, "epoch": 1.049041748046875e-08, "step": 110 }, { "epoch": 1.049041748046875e-08, "step": 110, "training_step_time": 17.585378170013428 }, { "epoch": 1.0585784912109375e-08, "model_forward_time": 5.082097053527832, "step": 111 }, { "epoch": 1.0585784912109375e-08, "step": 111, "training_step_time": 17.794535398483276 }, { "epoch": 1.068115234375e-08, "model_forward_time": 5.082456111907959, "step": 112 }, { "epoch": 1.068115234375e-08, "step": 112, "training_step_time": 17.569220542907715 }, { "epoch": 1.0776519775390624e-08, "model_forward_time": 5.084050178527832, "step": 113 }, { "epoch": 1.0776519775390624e-08, "step": 113, "training_step_time": 17.623963594436646 }, { "epoch": 1.087188720703125e-08, "model_forward_time": 5.28845739364624, "step": 114 }, { "epoch": 1.087188720703125e-08, "step": 114, "training_step_time": 17.58561682701111 }, { "epoch": 1.0967254638671875e-08, "model_forward_time": 5.08208155632019, "step": 115 }, { "epoch": 1.0967254638671875e-08, "step": 115, "training_step_time": 17.585482358932495 }, { "epoch": 1.10626220703125e-08, "model_forward_time": 5.083517789840698, "step": 116 }, { "epoch": 1.10626220703125e-08, "step": 116, "training_step_time": 17.800408363342285 }, { "epoch": 1.1157989501953125e-08, "model_forward_time": 5.0854082107543945, "step": 117 }, { "epoch": 1.1157989501953125e-08, "step": 117, "training_step_time": 17.57531189918518 }, { "epoch": 1.125335693359375e-08, "model_forward_time": 5.088891267776489, "step": 118 }, { "epoch": 1.125335693359375e-08, "step": 118, "training_step_time": 17.57102131843567 }, { "epoch": 1.1348724365234376e-08, "model_forward_time": 5.086603403091431, "step": 119 }, { "epoch": 1.1348724365234376e-08, "step": 119, "training_step_time": 17.580117225646973 }, { "epoch": 1.1444091796875e-08, "grad_norm": 5.621208190917969, "learning_rate": 3.4000000000000003e-07, "loss": 0.4949, "step": 120 }, { "epoch": 1.1444091796875e-08, "model_forward_time": 5.085833787918091, "step": 120 }, { "dynamics_loss_avg": 0.054055163823068145, "epoch": 1.1444091796875e-08, "step": 120 }, { "action_loss_avg": 0.47280703485012054, "epoch": 1.1444091796875e-08, "step": 120 }, { "arm_loss_avg": 0.49698598235845565, "epoch": 1.1444091796875e-08, "step": 120 }, { "ee_loss_avg": 0.7492654550587758, "epoch": 1.1444091796875e-08, "step": 120 }, { "aux_loss_avg": 0.017317093955352903, "epoch": 1.1444091796875e-08, "step": 120 }, { "epoch": 1.1444091796875e-08, "step": 120, "training_step_time": 17.57162070274353 }, { "epoch": 1.1539459228515625e-08, "model_forward_time": 5.089813232421875, "step": 121 }, { "epoch": 1.1539459228515625e-08, "step": 121, "training_step_time": 17.808445692062378 }, { "epoch": 1.163482666015625e-08, "model_forward_time": 5.084121465682983, "step": 122 }, { "epoch": 1.163482666015625e-08, "step": 122, "training_step_time": 17.57507848739624 }, { "epoch": 1.1730194091796875e-08, "model_forward_time": 5.0843586921691895, "step": 123 }, { "epoch": 1.1730194091796875e-08, "step": 123, "training_step_time": 17.569069623947144 }, { "epoch": 1.18255615234375e-08, "model_forward_time": 5.277408838272095, "step": 124 }, { "epoch": 1.18255615234375e-08, "step": 124, "training_step_time": 17.592559576034546 }, { "epoch": 1.1920928955078126e-08, "model_forward_time": 5.087192058563232, "step": 125 }, { "epoch": 1.1920928955078126e-08, "step": 125, "training_step_time": 17.573017120361328 }, { "epoch": 1.201629638671875e-08, "model_forward_time": 5.087526321411133, "step": 126 }, { "epoch": 1.201629638671875e-08, "step": 126, "training_step_time": 17.77763819694519 }, { "epoch": 1.2111663818359375e-08, "model_forward_time": 5.086321115493774, "step": 127 }, { "epoch": 1.2111663818359375e-08, "step": 127, "training_step_time": 17.561797380447388 }, { "epoch": 1.220703125e-08, "model_forward_time": 5.086117744445801, "step": 128 }, { "epoch": 1.220703125e-08, "step": 128, "training_step_time": 17.580516576766968 }, { "epoch": 1.2302398681640625e-08, "model_forward_time": 5.326626539230347, "step": 129 }, { "epoch": 1.2302398681640625e-08, "step": 129, "training_step_time": 17.587546586990356 }, { "epoch": 1.239776611328125e-08, "grad_norm": 3.9110734462738037, "learning_rate": 3.685714285714286e-07, "loss": 0.3586, "step": 130 }, { "epoch": 1.239776611328125e-08, "model_forward_time": 5.0873541831970215, "step": 130 }, { "dynamics_loss_avg": 0.041186637617647646, "epoch": 1.239776611328125e-08, "step": 130 }, { "action_loss_avg": 0.3347471207380295, "epoch": 1.239776611328125e-08, "step": 130 }, { "arm_loss_avg": 0.42942539155483245, "epoch": 1.239776611328125e-08, "step": 130 }, { "ee_loss_avg": 0.7060360431671142, "epoch": 1.239776611328125e-08, "step": 130 }, { "aux_loss_avg": 0.005296805175021291, "epoch": 1.239776611328125e-08, "step": 130 }, { "epoch": 1.239776611328125e-08, "step": 130, "training_step_time": 17.586034774780273 }, { "epoch": 1.2493133544921876e-08, "model_forward_time": 5.083717346191406, "step": 131 }, { "epoch": 1.2493133544921876e-08, "step": 131, "training_step_time": 17.818676471710205 }, { "epoch": 1.25885009765625e-08, "model_forward_time": 5.086136817932129, "step": 132 }, { "epoch": 1.25885009765625e-08, "step": 132, "training_step_time": 17.580752849578857 }, { "epoch": 1.2683868408203124e-08, "model_forward_time": 5.0821449756622314, "step": 133 }, { "epoch": 1.2683868408203124e-08, "step": 133, "training_step_time": 17.5850613117218 }, { "epoch": 1.277923583984375e-08, "model_forward_time": 5.283844232559204, "step": 134 }, { "epoch": 1.277923583984375e-08, "step": 134, "training_step_time": 17.584272384643555 }, { "epoch": 1.2874603271484375e-08, "model_forward_time": 5.091574192047119, "step": 135 }, { "epoch": 1.2874603271484375e-08, "step": 135, "training_step_time": 17.57452368736267 }, { "epoch": 1.2969970703125e-08, "model_forward_time": 3.853386163711548, "step": 136 }, { "epoch": 1.2969970703125e-08, "step": 136, "training_step_time": 17.76409888267517 }, { "epoch": 1.3065338134765625e-08, "model_forward_time": 5.061372995376587, "step": 137 }, { "epoch": 1.3065338134765625e-08, "step": 137, "training_step_time": 17.581800937652588 }, { "epoch": 1.316070556640625e-08, "model_forward_time": 5.068206071853638, "step": 138 }, { "epoch": 1.316070556640625e-08, "step": 138, "training_step_time": 17.580111026763916 }, { "epoch": 1.3256072998046874e-08, "model_forward_time": 5.080643177032471, "step": 139 }, { "epoch": 1.3256072998046874e-08, "step": 139, "training_step_time": 17.63244128227234 }, { "epoch": 1.33514404296875e-08, "grad_norm": 5.462310791015625, "learning_rate": 3.971428571428572e-07, "loss": 0.4114, "step": 140 }, { "epoch": 1.33514404296875e-08, "model_forward_time": 5.327719449996948, "step": 140 }, { "dynamics_loss_avg": 0.03978132307529449, "epoch": 1.33514404296875e-08, "step": 140 }, { "action_loss_avg": 0.401116868853569, "epoch": 1.33514404296875e-08, "step": 140 }, { "arm_loss_avg": 0.3935143664479256, "epoch": 1.33514404296875e-08, "step": 140 }, { "ee_loss_avg": 1.3635931015014648, "epoch": 1.33514404296875e-08, "step": 140 }, { "aux_loss_avg": 0.0060054362053051594, "epoch": 1.33514404296875e-08, "step": 140 }, { "epoch": 1.33514404296875e-08, "step": 140, "training_step_time": 17.574105501174927 }, { "epoch": 1.3446807861328125e-08, "model_forward_time": 5.093205451965332, "step": 141 }, { "epoch": 1.3446807861328125e-08, "step": 141, "training_step_time": 17.82052516937256 }, { "epoch": 1.354217529296875e-08, "model_forward_time": 5.096057176589966, "step": 142 }, { "epoch": 1.354217529296875e-08, "step": 142, "training_step_time": 17.574883222579956 }, { "epoch": 1.3637542724609375e-08, "model_forward_time": 5.095991611480713, "step": 143 }, { "epoch": 1.3637542724609375e-08, "step": 143, "training_step_time": 17.583026885986328 }, { "epoch": 1.373291015625e-08, "model_forward_time": 5.095370054244995, "step": 144 }, { "epoch": 1.373291015625e-08, "step": 144, "training_step_time": 17.572237968444824 }, { "epoch": 1.3828277587890626e-08, "model_forward_time": 5.09030556678772, "step": 145 }, { "epoch": 1.3828277587890626e-08, "step": 145, "training_step_time": 17.57364249229431 }, { "epoch": 1.392364501953125e-08, "model_forward_time": 5.087515354156494, "step": 146 }, { "epoch": 1.392364501953125e-08, "step": 146, "training_step_time": 17.78701090812683 }, { "epoch": 1.4019012451171875e-08, "model_forward_time": 3.8472509384155273, "step": 147 }, { "epoch": 1.4019012451171875e-08, "step": 147, "training_step_time": 17.569188833236694 }, { "epoch": 1.41143798828125e-08, "model_forward_time": 5.060935020446777, "step": 148 }, { "epoch": 1.41143798828125e-08, "step": 148, "training_step_time": 17.42579460144043 }, { "epoch": 1.4209747314453125e-08, "model_forward_time": 3.8381757736206055, "step": 149 }, { "epoch": 1.4209747314453125e-08, "step": 149, "training_step_time": 17.659449815750122 }, { "epoch": 1.430511474609375e-08, "grad_norm": 1.7096264362335205, "learning_rate": 4.257142857142858e-07, "loss": 0.4392, "step": 150 }, { "epoch": 1.430511474609375e-08, "model_forward_time": 5.283886432647705, "step": 150 }, { "dynamics_loss_avg": 0.053344087675213814, "epoch": 1.430511474609375e-08, "step": 150 }, { "action_loss_avg": 0.3676365608349442, "epoch": 1.430511474609375e-08, "step": 150 }, { "arm_loss_avg": 0.4401028651744127, "epoch": 1.430511474609375e-08, "step": 150 }, { "ee_loss_avg": 0.9400387927889824, "epoch": 1.430511474609375e-08, "step": 150 }, { "aux_loss_avg": 0.04000804179813713, "epoch": 1.430511474609375e-08, "step": 150 }, { "epoch": 1.430511474609375e-08, "step": 150, "training_step_time": 17.50613522529602 }, { "epoch": 1.4400482177734376e-08, "model_forward_time": 5.068625211715698, "step": 151 }, { "epoch": 1.4400482177734376e-08, "step": 151, "training_step_time": 17.52322220802307 }, { "epoch": 1.4495849609375e-08, "model_forward_time": 3.8469433784484863, "step": 152 }, { "epoch": 1.4495849609375e-08, "step": 152, "training_step_time": 17.786579608917236 }, { "epoch": 1.4591217041015624e-08, "model_forward_time": 5.06493616104126, "step": 153 }, { "epoch": 1.4591217041015624e-08, "step": 153, "training_step_time": 17.618207216262817 }, { "epoch": 1.468658447265625e-08, "model_forward_time": 5.086329698562622, "step": 154 }, { "epoch": 1.468658447265625e-08, "step": 154, "training_step_time": 17.62820601463318 }, { "epoch": 1.4781951904296875e-08, "model_forward_time": 4.098501205444336, "step": 155 }, { "epoch": 1.4781951904296875e-08, "step": 155, "training_step_time": 17.6297664642334 }, { "epoch": 1.48773193359375e-08, "model_forward_time": 5.074169397354126, "step": 156 }, { "epoch": 1.48773193359375e-08, "step": 156, "training_step_time": 17.640289306640625 }, { "epoch": 1.4972686767578124e-08, "model_forward_time": 3.8518943786621094, "step": 157 }, { "epoch": 1.4972686767578124e-08, "step": 157, "training_step_time": 17.816057205200195 }, { "epoch": 1.506805419921875e-08, "model_forward_time": 5.068751335144043, "step": 158 }, { "epoch": 1.506805419921875e-08, "step": 158, "training_step_time": 17.621423721313477 }, { "epoch": 1.5163421630859376e-08, "model_forward_time": 5.086236953735352, "step": 159 }, { "epoch": 1.5163421630859376e-08, "step": 159, "training_step_time": 17.605602741241455 }, { "epoch": 1.52587890625e-08, "grad_norm": 4.041543960571289, "learning_rate": 4.542857142857143e-07, "loss": 0.4084, "step": 160 }, { "epoch": 1.52587890625e-08, "model_forward_time": 4.0313286781311035, "step": 160 }, { "dynamics_loss_avg": 0.05043784836307168, "epoch": 1.52587890625e-08, "step": 160 }, { "action_loss_avg": 0.35164986848831176, "epoch": 1.52587890625e-08, "step": 160 }, { "arm_loss_avg": 0.3687151372432709, "epoch": 1.52587890625e-08, "step": 160 }, { "ee_loss_avg": 1.0887942016124725, "epoch": 1.52587890625e-08, "step": 160 }, { "aux_loss_avg": 0.019260671944357453, "epoch": 1.52587890625e-08, "step": 160 }, { "epoch": 1.52587890625e-08, "step": 160, "training_step_time": 17.608402013778687 }, { "epoch": 1.5354156494140625e-08, "model_forward_time": 5.072570085525513, "step": 161 }, { "epoch": 1.5354156494140625e-08, "step": 161, "training_step_time": 17.81112766265869 }, { "epoch": 1.544952392578125e-08, "model_forward_time": 5.087075471878052, "step": 162 }, { "epoch": 1.544952392578125e-08, "step": 162, "training_step_time": 17.58174228668213 }, { "epoch": 1.5544891357421874e-08, "model_forward_time": 5.104007005691528, "step": 163 }, { "epoch": 1.5544891357421874e-08, "step": 163, "training_step_time": 17.585124492645264 }, { "epoch": 1.56402587890625e-08, "model_forward_time": 5.094172239303589, "step": 164 }, { "epoch": 1.56402587890625e-08, "step": 164, "training_step_time": 17.587411642074585 }, { "epoch": 1.5735626220703126e-08, "model_forward_time": 5.282088279724121, "step": 165 }, { "epoch": 1.5735626220703126e-08, "step": 165, "training_step_time": 17.60008478164673 }, { "epoch": 1.583099365234375e-08, "model_forward_time": 5.099369287490845, "step": 166 }, { "epoch": 1.583099365234375e-08, "step": 166, "training_step_time": 17.783443689346313 }, { "epoch": 1.5926361083984375e-08, "model_forward_time": 5.094751834869385, "step": 167 }, { "epoch": 1.5926361083984375e-08, "step": 167, "training_step_time": 17.602320194244385 }, { "epoch": 1.6021728515625e-08, "model_forward_time": 5.0896923542022705, "step": 168 }, { "epoch": 1.6021728515625e-08, "step": 168, "training_step_time": 17.596267461776733 }, { "epoch": 1.6117095947265623e-08, "model_forward_time": 5.085394382476807, "step": 169 }, { "epoch": 1.6117095947265623e-08, "step": 169, "training_step_time": 17.598742961883545 }, { "epoch": 1.621246337890625e-08, "grad_norm": 4.811691761016846, "learning_rate": 4.828571428571428e-07, "loss": 0.4679, "step": 170 }, { "epoch": 1.621246337890625e-08, "model_forward_time": 5.312382936477661, "step": 170 }, { "dynamics_loss_avg": 0.048481350857764484, "epoch": 1.621246337890625e-08, "step": 170 }, { "action_loss_avg": 0.36376088112592697, "epoch": 1.621246337890625e-08, "step": 170 }, { "arm_loss_avg": 0.38579052686691284, "epoch": 1.621246337890625e-08, "step": 170 }, { "ee_loss_avg": 1.0518720872700213, "epoch": 1.621246337890625e-08, "step": 170 }, { "aux_loss_avg": 0.006064542045351118, "epoch": 1.621246337890625e-08, "step": 170 }, { "epoch": 1.621246337890625e-08, "step": 170, "training_step_time": 17.59376621246338 }, { "epoch": 1.6307830810546876e-08, "model_forward_time": 5.080296993255615, "step": 171 }, { "epoch": 1.6307830810546876e-08, "step": 171, "training_step_time": 17.802483081817627 }, { "epoch": 1.64031982421875e-08, "model_forward_time": 3.8432462215423584, "step": 172 }, { "epoch": 1.64031982421875e-08, "step": 172, "training_step_time": 17.58031940460205 }, { "epoch": 1.6498565673828124e-08, "model_forward_time": 5.049144744873047, "step": 173 }, { "epoch": 1.6498565673828124e-08, "step": 173, "training_step_time": 17.580368041992188 }, { "epoch": 1.659393310546875e-08, "model_forward_time": 3.8312647342681885, "step": 174 }, { "epoch": 1.659393310546875e-08, "step": 174, "training_step_time": 17.574207067489624 }, { "epoch": 1.6689300537109377e-08, "model_forward_time": 5.2312586307525635, "step": 175 }, { "epoch": 1.6689300537109377e-08, "step": 175, "training_step_time": 17.57927393913269 }, { "epoch": 1.678466796875e-08, "model_forward_time": 5.06090784072876, "step": 176 }, { "epoch": 1.678466796875e-08, "step": 176, "training_step_time": 17.77259111404419 }, { "epoch": 1.6880035400390625e-08, "model_forward_time": 5.081370830535889, "step": 177 }, { "epoch": 1.6880035400390625e-08, "step": 177, "training_step_time": 17.573065042495728 }, { "epoch": 1.697540283203125e-08, "model_forward_time": 5.091862440109253, "step": 178 }, { "epoch": 1.697540283203125e-08, "step": 178, "training_step_time": 17.21725034713745 }, { "epoch": 1.7070770263671874e-08, "model_forward_time": 5.1035544872283936, "step": 179 }, { "epoch": 1.7070770263671874e-08, "step": 179, "training_step_time": 17.345247983932495 }, { "epoch": 1.71661376953125e-08, "grad_norm": 5.6906962394714355, "learning_rate": 5.114285714285714e-07, "loss": 0.413, "step": 180 }, { "epoch": 1.71661376953125e-08, "model_forward_time": 5.336735486984253, "step": 180 }, { "dynamics_loss_avg": 0.04462529690936208, "epoch": 1.71661376953125e-08, "step": 180 }, { "action_loss_avg": 0.38014824576675893, "epoch": 1.71661376953125e-08, "step": 180 }, { "arm_loss_avg": 0.3515058413147926, "epoch": 1.71661376953125e-08, "step": 180 }, { "ee_loss_avg": 1.1282948821783065, "epoch": 1.71661376953125e-08, "step": 180 }, { "aux_loss_avg": 0.004131259315181523, "epoch": 1.71661376953125e-08, "step": 180 }, { "epoch": 1.71661376953125e-08, "step": 180, "training_step_time": 17.600561141967773 }, { "epoch": 1.7261505126953126e-08, "model_forward_time": 5.096582889556885, "step": 181 }, { "epoch": 1.7261505126953126e-08, "step": 181, "training_step_time": 17.52859926223755 }, { "epoch": 1.735687255859375e-08, "model_forward_time": 5.087514162063599, "step": 182 }, { "epoch": 1.735687255859375e-08, "step": 182, "training_step_time": 17.19966197013855 }, { "epoch": 1.7452239990234375e-08, "model_forward_time": 5.085770845413208, "step": 183 }, { "epoch": 1.7452239990234375e-08, "step": 183, "training_step_time": 17.315184593200684 }, { "epoch": 1.7547607421875e-08, "model_forward_time": 5.079322576522827, "step": 184 }, { "epoch": 1.7547607421875e-08, "step": 184, "training_step_time": 17.51119065284729 }, { "epoch": 1.7642974853515624e-08, "model_forward_time": 4.037494421005249, "step": 185 }, { "epoch": 1.7642974853515624e-08, "step": 185, "training_step_time": 17.585320234298706 }, { "epoch": 1.773834228515625e-08, "model_forward_time": 3.828834056854248, "step": 186 }, { "epoch": 1.773834228515625e-08, "step": 186, "training_step_time": 17.630396842956543 }, { "epoch": 1.7833709716796876e-08, "model_forward_time": 5.042177438735962, "step": 187 }, { "epoch": 1.7833709716796876e-08, "step": 187, "training_step_time": 17.840516805648804 }, { "epoch": 1.79290771484375e-08, "model_forward_time": 5.060459852218628, "step": 188 }, { "epoch": 1.79290771484375e-08, "step": 188, "training_step_time": 17.661109447479248 }, { "epoch": 1.8024444580078125e-08, "model_forward_time": 5.073257923126221, "step": 189 }, { "epoch": 1.8024444580078125e-08, "step": 189, "training_step_time": 17.65722417831421 }, { "epoch": 1.811981201171875e-08, "grad_norm": 2.858670234680176, "learning_rate": 5.4e-07, "loss": 0.4269, "step": 190 }, { "epoch": 1.811981201171875e-08, "model_forward_time": 5.327497720718384, "step": 190 }, { "dynamics_loss_avg": 0.03428067192435265, "epoch": 1.811981201171875e-08, "step": 190 }, { "action_loss_avg": 0.3976080916821957, "epoch": 1.811981201171875e-08, "step": 190 }, { "arm_loss_avg": 0.47318029403686523, "epoch": 1.811981201171875e-08, "step": 190 }, { "ee_loss_avg": 0.867002610862255, "epoch": 1.811981201171875e-08, "step": 190 }, { "aux_loss_avg": 0.01695930221467279, "epoch": 1.811981201171875e-08, "step": 190 }, { "epoch": 1.811981201171875e-08, "step": 190, "training_step_time": 17.643606662750244 }, { "epoch": 1.8215179443359374e-08, "model_forward_time": 3.865572929382324, "step": 191 }, { "epoch": 1.8215179443359374e-08, "step": 191, "training_step_time": 17.627554893493652 }, { "epoch": 1.8310546875e-08, "model_forward_time": 5.071911573410034, "step": 192 }, { "epoch": 1.8310546875e-08, "step": 192, "training_step_time": 17.327770233154297 }, { "epoch": 1.8405914306640626e-08, "model_forward_time": 5.08687424659729, "step": 193 }, { "epoch": 1.8405914306640626e-08, "step": 193, "training_step_time": 17.35765314102173 }, { "epoch": 1.850128173828125e-08, "model_forward_time": 5.091404676437378, "step": 194 }, { "epoch": 1.850128173828125e-08, "step": 194, "training_step_time": 17.470309734344482 }, { "epoch": 1.8596649169921875e-08, "model_forward_time": 5.294602155685425, "step": 195 }, { "epoch": 1.8596649169921875e-08, "step": 195, "training_step_time": 17.583141326904297 }, { "epoch": 1.86920166015625e-08, "model_forward_time": 3.857023239135742, "step": 196 }, { "epoch": 1.86920166015625e-08, "step": 196, "training_step_time": 17.561244010925293 }, { "epoch": 1.8787384033203124e-08, "model_forward_time": 5.062773942947388, "step": 197 }, { "epoch": 1.8787384033203124e-08, "step": 197, "training_step_time": 17.793059825897217 }, { "epoch": 1.888275146484375e-08, "model_forward_time": 5.071010589599609, "step": 198 }, { "epoch": 1.888275146484375e-08, "step": 198, "training_step_time": 17.61378526687622 }, { "epoch": 1.8978118896484376e-08, "model_forward_time": 3.8460371494293213, "step": 199 }, { "epoch": 1.8978118896484376e-08, "step": 199, "training_step_time": 17.622546434402466 }, { "epoch": 1.9073486328125e-08, "grad_norm": 2.301145553588867, "learning_rate": 5.685714285714286e-07, "loss": 0.3479, "step": 200 }, { "epoch": 1.9073486328125e-08, "model_forward_time": 5.058410882949829, "step": 200 }, { "dynamics_loss_avg": 0.035649390704929826, "epoch": 1.9073486328125e-08, "step": 200 }, { "action_loss_avg": 0.33763230964541435, "epoch": 1.9073486328125e-08, "step": 200 }, { "arm_loss_avg": 0.3736216429620981, "epoch": 1.9073486328125e-08, "step": 200 }, { "ee_loss_avg": 1.0653113171458244, "epoch": 1.9073486328125e-08, "step": 200 }, { "aux_loss_avg": 0.010403076966758818, "epoch": 1.9073486328125e-08, "step": 200 }, { "epoch": 1.9073486328125e-08, "step": 200, "training_step_time": 17.62934446334839 }, { "epoch": 1.9168853759765625e-08, "model_forward_time": 5.303742170333862, "step": 201 }, { "epoch": 1.9168853759765625e-08, "step": 201, "training_step_time": 17.63188600540161 }, { "epoch": 1.926422119140625e-08, "model_forward_time": 5.08301568031311, "step": 202 }, { "epoch": 1.926422119140625e-08, "step": 202, "training_step_time": 17.85499405860901 }, { "epoch": 1.9359588623046874e-08, "model_forward_time": 5.090795516967773, "step": 203 }, { "epoch": 1.9359588623046874e-08, "step": 203, "training_step_time": 17.60915732383728 }, { "epoch": 1.94549560546875e-08, "model_forward_time": 5.099816083908081, "step": 204 }, { "epoch": 1.94549560546875e-08, "step": 204, "training_step_time": 17.607914686203003 }, { "epoch": 1.9550323486328126e-08, "model_forward_time": 5.101869583129883, "step": 205 }, { "epoch": 1.9550323486328126e-08, "step": 205, "training_step_time": 17.608444213867188 }, { "epoch": 1.964569091796875e-08, "model_forward_time": 5.291138648986816, "step": 206 }, { "epoch": 1.964569091796875e-08, "step": 206, "training_step_time": 17.60770273208618 }, { "epoch": 1.9741058349609375e-08, "model_forward_time": 5.1006410121917725, "step": 207 }, { "epoch": 1.9741058349609375e-08, "step": 207, "training_step_time": 17.78902554512024 }, { "epoch": 1.983642578125e-08, "model_forward_time": 5.10111665725708, "step": 208 }, { "epoch": 1.983642578125e-08, "step": 208, "training_step_time": 17.61441397666931 }, { "epoch": 1.9931793212890624e-08, "model_forward_time": 5.0885748863220215, "step": 209 }, { "epoch": 1.9931793212890624e-08, "step": 209, "training_step_time": 17.609572172164917 }, { "epoch": 2.002716064453125e-08, "grad_norm": 3.0083212852478027, "learning_rate": 5.971428571428572e-07, "loss": 0.3969, "step": 210 }, { "epoch": 2.002716064453125e-08, "model_forward_time": 5.084386348724365, "step": 210 }, { "dynamics_loss_avg": 0.04311653021723032, "epoch": 2.002716064453125e-08, "step": 210 }, { "action_loss_avg": 0.32633466497063635, "epoch": 2.002716064453125e-08, "step": 210 }, { "arm_loss_avg": 0.3815513700246811, "epoch": 2.002716064453125e-08, "step": 210 }, { "ee_loss_avg": 0.8681682288646698, "epoch": 2.002716064453125e-08, "step": 210 }, { "aux_loss_avg": 0.011094855709234252, "epoch": 2.002716064453125e-08, "step": 210 }, { "epoch": 2.002716064453125e-08, "step": 210, "training_step_time": 17.63040328025818 }, { "epoch": 2.0122528076171876e-08, "model_forward_time": 3.8464906215667725, "step": 211 }, { "epoch": 2.0122528076171876e-08, "step": 211, "training_step_time": 17.60410237312317 }, { "epoch": 2.02178955078125e-08, "model_forward_time": 5.064547777175903, "step": 212 }, { "epoch": 2.02178955078125e-08, "step": 212, "training_step_time": 17.83348059654236 }, { "epoch": 2.0313262939453125e-08, "model_forward_time": 5.066285848617554, "step": 213 }, { "epoch": 2.0313262939453125e-08, "step": 213, "training_step_time": 17.59525728225708 }, { "epoch": 2.040863037109375e-08, "model_forward_time": 5.073930978775024, "step": 214 }, { "epoch": 2.040863037109375e-08, "step": 214, "training_step_time": 17.58677887916565 }, { "epoch": 2.0503997802734373e-08, "model_forward_time": 5.080580234527588, "step": 215 }, { "epoch": 2.0503997802734373e-08, "step": 215, "training_step_time": 17.582499980926514 }, { "epoch": 2.0599365234375e-08, "model_forward_time": 5.103753089904785, "step": 216 }, { "epoch": 2.0599365234375e-08, "step": 216, "training_step_time": 17.58605456352234 }, { "epoch": 2.0694732666015626e-08, "model_forward_time": 5.108253240585327, "step": 217 }, { "epoch": 2.0694732666015626e-08, "step": 217, "training_step_time": 17.818790197372437 }, { "epoch": 2.079010009765625e-08, "model_forward_time": 5.117395401000977, "step": 218 }, { "epoch": 2.079010009765625e-08, "step": 218, "training_step_time": 17.642922401428223 }, { "epoch": 2.0885467529296874e-08, "model_forward_time": 3.8669991493225098, "step": 219 }, { "epoch": 2.0885467529296874e-08, "step": 219, "training_step_time": 17.646117448806763 }, { "epoch": 2.09808349609375e-08, "grad_norm": 2.8298304080963135, "learning_rate": 6.257142857142858e-07, "loss": 0.3361, "step": 220 }, { "epoch": 2.09808349609375e-08, "model_forward_time": 5.077445030212402, "step": 220 }, { "dynamics_loss_avg": 0.039142835326492785, "epoch": 2.09808349609375e-08, "step": 220 }, { "action_loss_avg": 0.36519353091716766, "epoch": 2.09808349609375e-08, "step": 220 }, { "arm_loss_avg": 0.3958708018064499, "epoch": 2.09808349609375e-08, "step": 220 }, { "ee_loss_avg": 1.1704499915242195, "epoch": 2.09808349609375e-08, "step": 220 }, { "aux_loss_avg": 0.002802715654252097, "epoch": 2.09808349609375e-08, "step": 220 }, { "epoch": 2.09808349609375e-08, "step": 220, "training_step_time": 17.668478965759277 }, { "epoch": 2.1076202392578127e-08, "model_forward_time": 5.319537162780762, "step": 221 }, { "epoch": 2.1076202392578127e-08, "step": 221, "training_step_time": 17.602232456207275 }, { "epoch": 2.117156982421875e-08, "model_forward_time": 5.086968660354614, "step": 222 }, { "epoch": 2.117156982421875e-08, "step": 222, "training_step_time": 17.824354648590088 }, { "epoch": 2.1266937255859375e-08, "model_forward_time": 5.092426061630249, "step": 223 }, { "epoch": 2.1266937255859375e-08, "step": 223, "training_step_time": 17.55062508583069 }, { "epoch": 2.13623046875e-08, "model_forward_time": 5.09325647354126, "step": 224 }, { "epoch": 2.13623046875e-08, "step": 224, "training_step_time": 17.601675510406494 }, { "epoch": 2.1457672119140624e-08, "model_forward_time": 5.0955140590667725, "step": 225 }, { "epoch": 2.1457672119140624e-08, "step": 225, "training_step_time": 17.60231375694275 }, { "epoch": 2.155303955078125e-08, "model_forward_time": 5.099571466445923, "step": 226 }, { "epoch": 2.155303955078125e-08, "step": 226, "training_step_time": 17.612983226776123 }, { "epoch": 2.1648406982421876e-08, "model_forward_time": 5.094399929046631, "step": 227 }, { "epoch": 2.1648406982421876e-08, "step": 227, "training_step_time": 17.772024631500244 }, { "epoch": 2.17437744140625e-08, "model_forward_time": 5.092404127120972, "step": 228 }, { "epoch": 2.17437744140625e-08, "step": 228, "training_step_time": 17.588220357894897 }, { "epoch": 2.1839141845703125e-08, "model_forward_time": 5.08979058265686, "step": 229 }, { "epoch": 2.1839141845703125e-08, "step": 229, "training_step_time": 17.592457056045532 }, { "epoch": 2.193450927734375e-08, "grad_norm": 4.7698540687561035, "learning_rate": 6.542857142857144e-07, "loss": 0.4709, "step": 230 }, { "epoch": 2.193450927734375e-08, "model_forward_time": 3.8531548976898193, "step": 230 }, { "dynamics_loss_avg": 0.03837246792390943, "epoch": 2.193450927734375e-08, "step": 230 }, { "action_loss_avg": 0.4025672197341919, "epoch": 2.193450927734375e-08, "step": 230 }, { "arm_loss_avg": 0.39567094296216965, "epoch": 2.193450927734375e-08, "step": 230 }, { "ee_loss_avg": 1.1680770695209504, "epoch": 2.193450927734375e-08, "step": 230 }, { "aux_loss_avg": 0.015815406703040935, "epoch": 2.193450927734375e-08, "step": 230 }, { "epoch": 2.193450927734375e-08, "step": 230, "training_step_time": 17.406489610671997 }, { "epoch": 2.2029876708984374e-08, "model_forward_time": 5.299691200256348, "step": 231 }, { "epoch": 2.2029876708984374e-08, "step": 231, "training_step_time": 17.66865038871765 }, { "epoch": 2.2125244140625e-08, "model_forward_time": 3.8369359970092773, "step": 232 }, { "epoch": 2.2125244140625e-08, "step": 232, "training_step_time": 17.460230112075806 }, { "epoch": 2.2220611572265626e-08, "model_forward_time": 3.8272666931152344, "step": 233 }, { "epoch": 2.2220611572265626e-08, "step": 233, "training_step_time": 17.770609140396118 }, { "epoch": 2.231597900390625e-08, "model_forward_time": 5.0523841381073, "step": 234 }, { "epoch": 2.231597900390625e-08, "step": 234, "training_step_time": 17.579993724822998 }, { "epoch": 2.2411346435546875e-08, "model_forward_time": 5.070555925369263, "step": 235 }, { "epoch": 2.2411346435546875e-08, "step": 235, "training_step_time": 17.631636142730713 }, { "epoch": 2.25067138671875e-08, "model_forward_time": 5.287145614624023, "step": 236 }, { "epoch": 2.25067138671875e-08, "step": 236, "training_step_time": 17.631476640701294 }, { "epoch": 2.2602081298828124e-08, "model_forward_time": 5.110259294509888, "step": 237 }, { "epoch": 2.2602081298828124e-08, "step": 237, "training_step_time": 17.865821599960327 }, { "epoch": 2.269744873046875e-08, "model_forward_time": 5.110306262969971, "step": 238 }, { "epoch": 2.269744873046875e-08, "step": 238, "training_step_time": 17.65065336227417 }, { "epoch": 2.2792816162109376e-08, "model_forward_time": 5.108053684234619, "step": 239 }, { "epoch": 2.2792816162109376e-08, "step": 239, "training_step_time": 17.397793769836426 }, { "epoch": 2.288818359375e-08, "grad_norm": 4.338671684265137, "learning_rate": 6.828571428571428e-07, "loss": 0.3546, "step": 240 }, { "epoch": 2.288818359375e-08, "model_forward_time": 5.102222681045532, "step": 240 }, { "dynamics_loss_avg": 0.05252758525311947, "epoch": 2.288818359375e-08, "step": 240 }, { "action_loss_avg": 0.34902504086494446, "epoch": 2.288818359375e-08, "step": 240 }, { "arm_loss_avg": 0.36002248972654344, "epoch": 2.288818359375e-08, "step": 240 }, { "ee_loss_avg": 0.8092005610466003, "epoch": 2.288818359375e-08, "step": 240 }, { "aux_loss_avg": 0.003202386133489199, "epoch": 2.288818359375e-08, "step": 240 }, { "epoch": 2.288818359375e-08, "step": 240, "training_step_time": 17.621464252471924 }, { "epoch": 2.2983551025390625e-08, "model_forward_time": 5.338170528411865, "step": 241 }, { "epoch": 2.2983551025390625e-08, "step": 241, "training_step_time": 17.60405135154724 }, { "epoch": 2.307891845703125e-08, "model_forward_time": 5.088084936141968, "step": 242 }, { "epoch": 2.307891845703125e-08, "step": 242, "training_step_time": 17.40443253517151 }, { "epoch": 2.3174285888671874e-08, "model_forward_time": 5.083531379699707, "step": 243 }, { "epoch": 2.3174285888671874e-08, "step": 243, "training_step_time": 17.76148557662964 }, { "epoch": 2.32696533203125e-08, "model_forward_time": 5.080800771713257, "step": 244 }, { "epoch": 2.32696533203125e-08, "step": 244, "training_step_time": 17.576754808425903 }, { "epoch": 2.3365020751953126e-08, "model_forward_time": 5.080195426940918, "step": 245 }, { "epoch": 2.3365020751953126e-08, "step": 245, "training_step_time": 17.607141733169556 }, { "epoch": 2.346038818359375e-08, "model_forward_time": 5.081664800643921, "step": 246 }, { "epoch": 2.346038818359375e-08, "step": 246, "training_step_time": 17.61762046813965 }, { "epoch": 2.3555755615234375e-08, "model_forward_time": 5.078577041625977, "step": 247 }, { "epoch": 2.3555755615234375e-08, "step": 247, "training_step_time": 17.62103509902954 }, { "epoch": 2.3651123046875e-08, "model_forward_time": 5.0796709060668945, "step": 248 }, { "epoch": 2.3651123046875e-08, "step": 248, "training_step_time": 17.82125687599182 }, { "epoch": 2.3746490478515624e-08, "model_forward_time": 5.076944828033447, "step": 249 }, { "epoch": 2.3746490478515624e-08, "step": 249, "training_step_time": 17.6117045879364 }, { "epoch": 2.384185791015625e-08, "grad_norm": 2.428365468978882, "learning_rate": 7.114285714285715e-07, "loss": 0.4014, "step": 250 }, { "epoch": 2.384185791015625e-08, "model_forward_time": 3.8462886810302734, "step": 250 }, { "dynamics_loss_avg": 0.048901951406151056, "epoch": 2.384185791015625e-08, "step": 250 }, { "action_loss_avg": 0.3586488291621208, "epoch": 2.384185791015625e-08, "step": 250 }, { "arm_loss_avg": 0.3657257303595543, "epoch": 2.384185791015625e-08, "step": 250 }, { "ee_loss_avg": 0.6954464450478554, "epoch": 2.384185791015625e-08, "step": 250 }, { "aux_loss_avg": 0.002297066617757082, "epoch": 2.384185791015625e-08, "step": 250 }, { "epoch": 2.384185791015625e-08, "step": 250, "training_step_time": 17.588412284851074 }, { "epoch": 2.3937225341796876e-08, "model_forward_time": 4.079563856124878, "step": 251 }, { "epoch": 2.3937225341796876e-08, "step": 251, "training_step_time": 17.5993914604187 }, { "epoch": 2.40325927734375e-08, "model_forward_time": 5.0504443645477295, "step": 252 }, { "epoch": 2.40325927734375e-08, "step": 252, "training_step_time": 17.5801944732666 }, { "epoch": 2.4127960205078125e-08, "model_forward_time": 5.066241502761841, "step": 253 }, { "epoch": 2.4127960205078125e-08, "step": 253, "training_step_time": 17.384870529174805 }, { "epoch": 2.422332763671875e-08, "model_forward_time": 5.081711053848267, "step": 254 }, { "epoch": 2.422332763671875e-08, "step": 254, "training_step_time": 17.48494553565979 }, { "epoch": 2.4318695068359373e-08, "model_forward_time": 5.096782207489014, "step": 255 }, { "epoch": 2.4318695068359373e-08, "step": 255, "training_step_time": 17.577961683273315 }, { "epoch": 2.44140625e-08, "model_forward_time": 5.29793643951416, "step": 256 }, { "epoch": 2.44140625e-08, "step": 256, "training_step_time": 17.5493483543396 }, { "epoch": 2.4509429931640626e-08, "model_forward_time": 5.108637094497681, "step": 257 }, { "epoch": 2.4509429931640626e-08, "step": 257, "training_step_time": 17.582252502441406 }, { "epoch": 2.460479736328125e-08, "model_forward_time": 5.100600481033325, "step": 258 }, { "epoch": 2.460479736328125e-08, "step": 258, "training_step_time": 17.79181742668152 }, { "epoch": 2.4700164794921874e-08, "model_forward_time": 5.096042156219482, "step": 259 }, { "epoch": 2.4700164794921874e-08, "step": 259, "training_step_time": 17.60297417640686 }, { "epoch": 2.47955322265625e-08, "grad_norm": 4.13044548034668, "learning_rate": 7.4e-07, "loss": 0.3924, "step": 260 }, { "epoch": 2.47955322265625e-08, "model_forward_time": 5.088367700576782, "step": 260 }, { "dynamics_loss_avg": 0.04189575295895338, "epoch": 2.47955322265625e-08, "step": 260 }, { "action_loss_avg": 0.3423617988824844, "epoch": 2.47955322265625e-08, "step": 260 }, { "arm_loss_avg": 0.43277751952409743, "epoch": 2.47955322265625e-08, "step": 260 }, { "ee_loss_avg": 0.8396152518689632, "epoch": 2.47955322265625e-08, "step": 260 }, { "aux_loss_avg": 0.01020169307012111, "epoch": 2.47955322265625e-08, "step": 260 }, { "epoch": 2.47955322265625e-08, "step": 260, "training_step_time": 17.618027210235596 }, { "epoch": 2.4890899658203127e-08, "model_forward_time": 5.323643684387207, "step": 261 }, { "epoch": 2.4890899658203127e-08, "step": 261, "training_step_time": 17.63706684112549 }, { "epoch": 2.498626708984375e-08, "model_forward_time": 5.087218761444092, "step": 262 }, { "epoch": 2.498626708984375e-08, "step": 262, "training_step_time": 17.85179877281189 }, { "epoch": 2.5081634521484375e-08, "model_forward_time": 5.102180480957031, "step": 263 }, { "epoch": 2.5081634521484375e-08, "step": 263, "training_step_time": 22.153509616851807 }, { "epoch": 2.5177001953125e-08, "model_forward_time": 6.714963436126709, "step": 264 }, { "epoch": 2.5177001953125e-08, "step": 264, "training_step_time": 24.428784370422363 }, { "epoch": 2.5272369384765624e-08, "model_forward_time": 7.873437404632568, "step": 265 }, { "epoch": 2.5272369384765624e-08, "step": 265, "training_step_time": 25.291409015655518 }, { "epoch": 2.536773681640625e-08, "model_forward_time": 5.380197286605835, "step": 266 }, { "epoch": 2.536773681640625e-08, "step": 266, "training_step_time": 17.49160361289978 }, { "epoch": 2.5463104248046876e-08, "model_forward_time": 7.231722831726074, "step": 267 }, { "epoch": 2.5463104248046876e-08, "step": 267, "training_step_time": 24.665991067886353 }, { "epoch": 2.55584716796875e-08, "model_forward_time": 7.717456579208374, "step": 268 }, { "epoch": 2.55584716796875e-08, "step": 268, "training_step_time": 25.053714275360107 }, { "epoch": 2.5653839111328125e-08, "model_forward_time": 7.3752288818359375, "step": 269 }, { "epoch": 2.5653839111328125e-08, "step": 269, "training_step_time": 24.313827753067017 }, { "epoch": 2.574920654296875e-08, "grad_norm": 5.569888591766357, "learning_rate": 7.685714285714287e-07, "loss": 0.376, "step": 270 }, { "epoch": 2.574920654296875e-08, "model_forward_time": 8.90859079360962, "step": 270 }, { "dynamics_loss_avg": 0.05274268556386232, "epoch": 2.574920654296875e-08, "step": 270 }, { "action_loss_avg": 0.320012503862381, "epoch": 2.574920654296875e-08, "step": 270 }, { "arm_loss_avg": 0.35200995206832886, "epoch": 2.574920654296875e-08, "step": 270 }, { "ee_loss_avg": 0.7688897907733917, "epoch": 2.574920654296875e-08, "step": 270 }, { "aux_loss_avg": 0.006147500104270875, "epoch": 2.574920654296875e-08, "step": 270 }, { "epoch": 2.574920654296875e-08, "step": 270, "training_step_time": 27.424335718154907 }, { "epoch": 2.5844573974609374e-08, "model_forward_time": 8.349785804748535, "step": 271 }, { "epoch": 2.5844573974609374e-08, "step": 271, "training_step_time": 25.76588225364685 }, { "epoch": 2.593994140625e-08, "model_forward_time": 7.469587564468384, "step": 272 }, { "epoch": 2.593994140625e-08, "step": 272, "training_step_time": 25.1845121383667 }, { "epoch": 2.6035308837890626e-08, "model_forward_time": 6.620224952697754, "step": 273 }, { "epoch": 2.6035308837890626e-08, "step": 273, "training_step_time": 25.15139412879944 }, { "epoch": 2.613067626953125e-08, "model_forward_time": 7.395949840545654, "step": 274 }, { "epoch": 2.613067626953125e-08, "step": 274, "training_step_time": 24.342250108718872 }, { "epoch": 2.6226043701171875e-08, "model_forward_time": 8.03097128868103, "step": 275 }, { "epoch": 2.6226043701171875e-08, "step": 275, "training_step_time": 26.461212873458862 }, { "epoch": 2.63214111328125e-08, "model_forward_time": 6.641725063323975, "step": 276 }, { "epoch": 2.63214111328125e-08, "step": 276, "training_step_time": 23.615504264831543 }, { "epoch": 2.6416778564453124e-08, "model_forward_time": 6.8218019008636475, "step": 277 }, { "epoch": 2.6416778564453124e-08, "step": 277, "training_step_time": 23.542465448379517 }, { "epoch": 2.651214599609375e-08, "model_forward_time": 5.886790037155151, "step": 278 }, { "epoch": 2.651214599609375e-08, "step": 278, "training_step_time": 23.738510608673096 }, { "epoch": 2.6607513427734376e-08, "model_forward_time": 9.471023321151733, "step": 279 }, { "epoch": 2.6607513427734376e-08, "step": 279, "training_step_time": 30.98928427696228 }, { "epoch": 2.6702880859375e-08, "grad_norm": 6.929543972015381, "learning_rate": 7.971428571428572e-07, "loss": 0.3838, "step": 280 }, { "epoch": 2.6702880859375e-08, "model_forward_time": 8.33585786819458, "step": 280 }, { "dynamics_loss_avg": 0.03815884767100215, "epoch": 2.6702880859375e-08, "step": 280 }, { "action_loss_avg": 0.3500986322760582, "epoch": 2.6702880859375e-08, "step": 280 }, { "arm_loss_avg": 0.3550851076841354, "epoch": 2.6702880859375e-08, "step": 280 }, { "ee_loss_avg": 0.9708838410675525, "epoch": 2.6702880859375e-08, "step": 280 }, { "aux_loss_avg": 0.0024649128899909556, "epoch": 2.6702880859375e-08, "step": 280 }, { "epoch": 2.6702880859375e-08, "step": 280, "training_step_time": 28.194332361221313 }, { "epoch": 2.6798248291015625e-08, "model_forward_time": 12.479382514953613, "step": 281 }, { "epoch": 2.6798248291015625e-08, "step": 281, "training_step_time": 39.18957757949829 }, { "epoch": 2.689361572265625e-08, "model_forward_time": 12.348633527755737, "step": 282 }, { "epoch": 2.689361572265625e-08, "step": 282, "training_step_time": 38.97592306137085 }, { "epoch": 2.6988983154296874e-08, "model_forward_time": 9.376796960830688, "step": 283 }, { "epoch": 2.6988983154296874e-08, "step": 283, "training_step_time": 28.406738996505737 }, { "epoch": 2.70843505859375e-08, "model_forward_time": 11.907394409179688, "step": 284 }, { "epoch": 2.70843505859375e-08, "step": 284, "training_step_time": 39.060999393463135 }, { "epoch": 2.7179718017578126e-08, "model_forward_time": 12.289066791534424, "step": 285 }, { "epoch": 2.7179718017578126e-08, "step": 285, "training_step_time": 31.925058603286743 }, { "epoch": 2.727508544921875e-08, "model_forward_time": 5.28748083114624, "step": 286 }, { "epoch": 2.727508544921875e-08, "step": 286, "training_step_time": 17.416264533996582 }, { "epoch": 2.7370452880859375e-08, "model_forward_time": 5.09718132019043, "step": 287 }, { "epoch": 2.7370452880859375e-08, "step": 287, "training_step_time": 17.731929540634155 }, { "epoch": 2.74658203125e-08, "model_forward_time": 5.097861289978027, "step": 288 }, { "epoch": 2.74658203125e-08, "step": 288, "training_step_time": 17.649683475494385 }, { "epoch": 2.7561187744140624e-08, "model_forward_time": 5.103480577468872, "step": 289 }, { "epoch": 2.7561187744140624e-08, "step": 289, "training_step_time": 17.649906158447266 }, { "epoch": 2.765655517578125e-08, "grad_norm": 4.953481197357178, "learning_rate": 8.257142857142858e-07, "loss": 0.355, "step": 290 }, { "epoch": 2.765655517578125e-08, "model_forward_time": 5.107128381729126, "step": 290 }, { "dynamics_loss_avg": 0.04500067867338657, "epoch": 2.765655517578125e-08, "step": 290 }, { "action_loss_avg": 0.31483151074498894, "epoch": 2.765655517578125e-08, "step": 290 }, { "arm_loss_avg": 0.34873507022857664, "epoch": 2.765655517578125e-08, "step": 290 }, { "ee_loss_avg": 0.894056111574173, "epoch": 2.765655517578125e-08, "step": 290 }, { "aux_loss_avg": 0.002201662183506414, "epoch": 2.765655517578125e-08, "step": 290 }, { "epoch": 2.765655517578125e-08, "step": 290, "training_step_time": 17.6619873046875 }, { "epoch": 2.7751922607421876e-08, "model_forward_time": 5.115038871765137, "step": 291 }, { "epoch": 2.7751922607421876e-08, "step": 291, "training_step_time": 17.686349153518677 }, { "epoch": 2.78472900390625e-08, "model_forward_time": 5.111114501953125, "step": 292 }, { "epoch": 2.78472900390625e-08, "step": 292, "training_step_time": 17.90431237220764 }, { "epoch": 2.7942657470703125e-08, "model_forward_time": 5.107646703720093, "step": 293 }, { "epoch": 2.7942657470703125e-08, "step": 293, "training_step_time": 17.654375791549683 }, { "epoch": 2.803802490234375e-08, "model_forward_time": 5.099041938781738, "step": 294 }, { "epoch": 2.803802490234375e-08, "step": 294, "training_step_time": 17.463061094284058 }, { "epoch": 2.8133392333984374e-08, "model_forward_time": 5.311820030212402, "step": 295 }, { "epoch": 2.8133392333984374e-08, "step": 295, "training_step_time": 17.669848203659058 }, { "epoch": 2.8228759765625e-08, "model_forward_time": 5.1037938594818115, "step": 296 }, { "epoch": 2.8228759765625e-08, "step": 296, "training_step_time": 17.60648012161255 }, { "epoch": 2.8324127197265626e-08, "model_forward_time": 5.110681533813477, "step": 297 }, { "epoch": 2.8324127197265626e-08, "step": 297, "training_step_time": 17.66557765007019 }, { "epoch": 2.841949462890625e-08, "model_forward_time": 5.1112401485443115, "step": 298 }, { "epoch": 2.841949462890625e-08, "step": 298, "training_step_time": 17.878665685653687 }, { "epoch": 2.8514862060546875e-08, "model_forward_time": 5.118242025375366, "step": 299 }, { "epoch": 2.8514862060546875e-08, "step": 299, "training_step_time": 17.65940546989441 }, { "epoch": 2.86102294921875e-08, "grad_norm": 0.7741925120353699, "learning_rate": 8.542857142857143e-07, "loss": 0.3109, "step": 300 }, { "epoch": 2.86102294921875e-08, "model_forward_time": 5.1025190353393555, "step": 300 }, { "dynamics_loss_avg": 0.044873576052486895, "epoch": 2.86102294921875e-08, "step": 300 }, { "action_loss_avg": 0.2869333788752556, "epoch": 2.86102294921875e-08, "step": 300 }, { "arm_loss_avg": 0.38282464891672136, "epoch": 2.86102294921875e-08, "step": 300 }, { "ee_loss_avg": 0.951933927834034, "epoch": 2.86102294921875e-08, "step": 300 }, { "aux_loss_avg": 0.012470502563519403, "epoch": 2.86102294921875e-08, "step": 300 }, { "epoch": 2.86102294921875e-08, "step": 300, "training_step_time": 17.68361186981201 }, { "epoch": 2.8705596923828123e-08, "model_forward_time": 5.103263854980469, "step": 301 }, { "epoch": 2.8705596923828123e-08, "step": 301, "training_step_time": 17.660480976104736 }, { "epoch": 2.880096435546875e-08, "model_forward_time": 5.100718259811401, "step": 302 }, { "epoch": 2.880096435546875e-08, "step": 302, "training_step_time": 17.876140356063843 }, { "epoch": 2.8896331787109376e-08, "model_forward_time": 5.1043312549591064, "step": 303 }, { "epoch": 2.8896331787109376e-08, "step": 303, "training_step_time": 17.632450819015503 }, { "epoch": 2.899169921875e-08, "model_forward_time": 5.102760314941406, "step": 304 }, { "epoch": 2.899169921875e-08, "step": 304, "training_step_time": 17.63278555870056 }, { "epoch": 2.9087066650390624e-08, "model_forward_time": 3.8621726036071777, "step": 305 }, { "epoch": 2.9087066650390624e-08, "step": 305, "training_step_time": 17.605732917785645 }, { "epoch": 2.918243408203125e-08, "model_forward_time": 4.112591505050659, "step": 306 }, { "epoch": 2.918243408203125e-08, "step": 306, "training_step_time": 17.646948099136353 }, { "epoch": 2.9277801513671877e-08, "model_forward_time": 5.069183111190796, "step": 307 }, { "epoch": 2.9277801513671877e-08, "step": 307, "training_step_time": 17.810770988464355 }, { "epoch": 2.93731689453125e-08, "model_forward_time": 5.083189249038696, "step": 308 }, { "epoch": 2.93731689453125e-08, "step": 308, "training_step_time": 17.439106464385986 }, { "epoch": 2.9468536376953125e-08, "model_forward_time": 5.098999500274658, "step": 309 }, { "epoch": 2.9468536376953125e-08, "step": 309, "training_step_time": 17.51960253715515 }, { "epoch": 2.956390380859375e-08, "grad_norm": 2.9761159420013428, "learning_rate": 8.828571428571429e-07, "loss": 0.3086, "step": 310 }, { "epoch": 2.956390380859375e-08, "model_forward_time": 5.108622312545776, "step": 310 }, { "dynamics_loss_avg": 0.051133213378489015, "epoch": 2.956390380859375e-08, "step": 310 }, { "action_loss_avg": 0.2669286012649536, "epoch": 2.956390380859375e-08, "step": 310 }, { "arm_loss_avg": 0.26714089810848235, "epoch": 2.956390380859375e-08, "step": 310 }, { "ee_loss_avg": 1.3346105545759201, "epoch": 2.956390380859375e-08, "step": 310 }, { "aux_loss_avg": 0.012253667283221147, "epoch": 2.956390380859375e-08, "step": 310 }, { "epoch": 2.956390380859375e-08, "step": 310, "training_step_time": 17.67415165901184 }, { "epoch": 2.9659271240234374e-08, "model_forward_time": 4.123780250549316, "step": 311 }, { "epoch": 2.9659271240234374e-08, "step": 311, "training_step_time": 17.58999228477478 }, { "epoch": 2.9754638671875e-08, "model_forward_time": 5.09168004989624, "step": 312 }, { "epoch": 2.9754638671875e-08, "step": 312, "training_step_time": 17.626893520355225 }, { "epoch": 2.9850006103515626e-08, "model_forward_time": 5.110144853591919, "step": 313 }, { "epoch": 2.9850006103515626e-08, "step": 313, "training_step_time": 17.879815816879272 }, { "epoch": 2.994537353515625e-08, "model_forward_time": 5.113885164260864, "step": 314 }, { "epoch": 2.994537353515625e-08, "step": 314, "training_step_time": 17.6340274810791 }, { "epoch": 3.0040740966796875e-08, "model_forward_time": 5.1116251945495605, "step": 315 }, { "epoch": 3.0040740966796875e-08, "step": 315, "training_step_time": 17.653037309646606 }, { "epoch": 3.01361083984375e-08, "model_forward_time": 5.313549757003784, "step": 316 }, { "epoch": 3.01361083984375e-08, "step": 316, "training_step_time": 17.6844539642334 }, { "epoch": 3.0231475830078124e-08, "model_forward_time": 5.116167783737183, "step": 317 }, { "epoch": 3.0231475830078124e-08, "step": 317, "training_step_time": 17.649813890457153 }, { "epoch": 3.032684326171875e-08, "model_forward_time": 5.112184286117554, "step": 318 }, { "epoch": 3.032684326171875e-08, "step": 318, "training_step_time": 17.862558126449585 }, { "epoch": 3.042221069335937e-08, "model_forward_time": 5.1021809577941895, "step": 319 }, { "epoch": 3.042221069335937e-08, "step": 319, "training_step_time": 17.63827419281006 }, { "epoch": 3.0517578125e-08, "grad_norm": 3.45229172706604, "learning_rate": 9.114285714285714e-07, "loss": 0.3139, "step": 320 }, { "epoch": 3.0517578125e-08, "model_forward_time": 5.105133533477783, "step": 320 }, { "dynamics_loss_avg": 0.04435089568141848, "epoch": 3.0517578125e-08, "step": 320 }, { "action_loss_avg": 0.2772892465814948, "epoch": 3.0517578125e-08, "step": 320 }, { "arm_loss_avg": 0.3308934897184372, "epoch": 3.0517578125e-08, "step": 320 }, { "ee_loss_avg": 1.5492685437202454, "epoch": 3.0517578125e-08, "step": 320 }, { "aux_loss_avg": 0.017669875422143377, "epoch": 3.0517578125e-08, "step": 320 }, { "epoch": 3.0517578125e-08, "step": 320, "training_step_time": 17.673471212387085 }, { "epoch": 3.061294555664062e-08, "model_forward_time": 4.100926160812378, "step": 321 }, { "epoch": 3.061294555664062e-08, "step": 321, "training_step_time": 17.622371673583984 }, { "epoch": 3.070831298828125e-08, "model_forward_time": 5.0747761726379395, "step": 322 }, { "epoch": 3.070831298828125e-08, "step": 322, "training_step_time": 17.853850841522217 }, { "epoch": 3.080368041992188e-08, "model_forward_time": 5.082914352416992, "step": 323 }, { "epoch": 3.080368041992188e-08, "step": 323, "training_step_time": 17.627007961273193 }, { "epoch": 3.08990478515625e-08, "model_forward_time": 5.088137149810791, "step": 324 }, { "epoch": 3.08990478515625e-08, "step": 324, "training_step_time": 17.621121644973755 }, { "epoch": 3.0994415283203126e-08, "model_forward_time": 5.099047660827637, "step": 325 }, { "epoch": 3.0994415283203126e-08, "step": 325, "training_step_time": 17.667721033096313 }, { "epoch": 3.108978271484375e-08, "model_forward_time": 5.341247320175171, "step": 326 }, { "epoch": 3.108978271484375e-08, "step": 326, "training_step_time": 17.612597465515137 }, { "epoch": 3.1185150146484375e-08, "model_forward_time": 5.117280721664429, "step": 327 }, { "epoch": 3.1185150146484375e-08, "step": 327, "training_step_time": 17.812395095825195 }, { "epoch": 3.1280517578125e-08, "model_forward_time": 5.116671800613403, "step": 328 }, { "epoch": 3.1280517578125e-08, "step": 328, "training_step_time": 17.615601539611816 }, { "epoch": 3.1375885009765624e-08, "model_forward_time": 5.109715700149536, "step": 329 }, { "epoch": 3.1375885009765624e-08, "step": 329, "training_step_time": 17.620769023895264 }, { "epoch": 3.147125244140625e-08, "grad_norm": 3.307216167449951, "learning_rate": 9.400000000000001e-07, "loss": 0.2751, "step": 330 }, { "epoch": 3.147125244140625e-08, "model_forward_time": 5.108047723770142, "step": 330 }, { "dynamics_loss_avg": 0.037529814545996486, "epoch": 3.147125244140625e-08, "step": 330 }, { "action_loss_avg": 0.24759428948163986, "epoch": 3.147125244140625e-08, "step": 330 }, { "arm_loss_avg": 0.3054109334945679, "epoch": 3.147125244140625e-08, "step": 330 }, { "ee_loss_avg": 1.240857483446598, "epoch": 3.147125244140625e-08, "step": 330 }, { "aux_loss_avg": 0.007982408837415278, "epoch": 3.147125244140625e-08, "step": 330 }, { "epoch": 3.147125244140625e-08, "step": 330, "training_step_time": 17.681912183761597 }, { "epoch": 3.156661987304687e-08, "model_forward_time": 5.113816976547241, "step": 331 }, { "epoch": 3.156661987304687e-08, "step": 331, "training_step_time": 17.640450716018677 }, { "epoch": 3.16619873046875e-08, "model_forward_time": 5.107636213302612, "step": 332 }, { "epoch": 3.16619873046875e-08, "step": 332, "training_step_time": 17.85676884651184 }, { "epoch": 3.175735473632813e-08, "model_forward_time": 5.10049033164978, "step": 333 }, { "epoch": 3.175735473632813e-08, "step": 333, "training_step_time": 17.62756657600403 }, { "epoch": 3.185272216796875e-08, "model_forward_time": 3.866191864013672, "step": 334 }, { "epoch": 3.185272216796875e-08, "step": 334, "training_step_time": 17.625706672668457 }, { "epoch": 3.194808959960938e-08, "model_forward_time": 5.078688383102417, "step": 335 }, { "epoch": 3.194808959960938e-08, "step": 335, "training_step_time": 17.65239906311035 }, { "epoch": 3.204345703125e-08, "model_forward_time": 5.081533193588257, "step": 336 }, { "epoch": 3.204345703125e-08, "step": 336, "training_step_time": 17.53838586807251 }, { "epoch": 3.2138824462890626e-08, "model_forward_time": 5.092325925827026, "step": 337 }, { "epoch": 3.2138824462890626e-08, "step": 337, "training_step_time": 17.224499225616455 }, { "epoch": 3.223419189453125e-08, "model_forward_time": 5.1049485206604, "step": 338 }, { "epoch": 3.223419189453125e-08, "step": 338, "training_step_time": 17.3530535697937 }, { "epoch": 3.2329559326171875e-08, "model_forward_time": 5.1109778881073, "step": 339 }, { "epoch": 3.2329559326171875e-08, "step": 339, "training_step_time": 17.478137493133545 }, { "epoch": 3.24249267578125e-08, "grad_norm": 3.9008023738861084, "learning_rate": 9.685714285714288e-07, "loss": 0.3559, "step": 340 }, { "epoch": 3.24249267578125e-08, "model_forward_time": 5.112433195114136, "step": 340 }, { "dynamics_loss_avg": 0.04171676989644766, "epoch": 3.24249267578125e-08, "step": 340 }, { "action_loss_avg": 0.33121219128370283, "epoch": 3.24249267578125e-08, "step": 340 }, { "arm_loss_avg": 0.3186233818531036, "epoch": 3.24249267578125e-08, "step": 340 }, { "ee_loss_avg": 1.5281315103173256, "epoch": 3.24249267578125e-08, "step": 340 }, { "aux_loss_avg": 0.004463996348204091, "epoch": 3.24249267578125e-08, "step": 340 }, { "epoch": 3.24249267578125e-08, "step": 340, "training_step_time": 17.533684015274048 }, { "epoch": 3.2520294189453123e-08, "model_forward_time": 5.114625453948975, "step": 341 }, { "epoch": 3.2520294189453123e-08, "step": 341, "training_step_time": 17.651379823684692 }, { "epoch": 3.261566162109375e-08, "model_forward_time": 3.87252140045166, "step": 342 }, { "epoch": 3.261566162109375e-08, "step": 342, "training_step_time": 17.57774543762207 }, { "epoch": 3.271102905273437e-08, "model_forward_time": 5.0770018100738525, "step": 343 }, { "epoch": 3.271102905273437e-08, "step": 343, "training_step_time": 17.88362407684326 }, { "epoch": 3.2806396484375e-08, "model_forward_time": 5.08719277381897, "step": 344 }, { "epoch": 3.2806396484375e-08, "step": 344, "training_step_time": 17.669732332229614 }, { "epoch": 3.290176391601563e-08, "model_forward_time": 5.0989439487457275, "step": 345 }, { "epoch": 3.290176391601563e-08, "step": 345, "training_step_time": 17.53517746925354 }, { "epoch": 3.299713134765625e-08, "model_forward_time": 5.298624277114868, "step": 346 }, { "epoch": 3.299713134765625e-08, "step": 346, "training_step_time": 17.5948588848114 }, { "epoch": 3.3092498779296877e-08, "model_forward_time": 5.107522487640381, "step": 347 }, { "epoch": 3.3092498779296877e-08, "step": 347, "training_step_time": 17.61981463432312 }, { "epoch": 3.31878662109375e-08, "model_forward_time": 5.105096817016602, "step": 348 }, { "epoch": 3.31878662109375e-08, "step": 348, "training_step_time": 17.82503843307495 }, { "epoch": 3.3283233642578125e-08, "model_forward_time": 5.104740858078003, "step": 349 }, { "epoch": 3.3283233642578125e-08, "step": 349, "training_step_time": 17.638564825057983 }, { "epoch": 3.337860107421875e-08, "grad_norm": 3.7725815773010254, "learning_rate": 9.971428571428573e-07, "loss": 0.3231, "step": 350 }, { "epoch": 3.337860107421875e-08, "model_forward_time": 5.1103808879852295, "step": 350 }, { "dynamics_loss_avg": 0.04599285218864679, "epoch": 3.337860107421875e-08, "step": 350 }, { "action_loss_avg": 0.28347624391317366, "epoch": 3.337860107421875e-08, "step": 350 }, { "arm_loss_avg": 0.2970373973250389, "epoch": 3.337860107421875e-08, "step": 350 }, { "ee_loss_avg": 0.954954270645976, "epoch": 3.337860107421875e-08, "step": 350 }, { "aux_loss_avg": 0.007612610852811485, "epoch": 3.337860107421875e-08, "step": 350 }, { "epoch": 3.337860107421875e-08, "step": 350, "training_step_time": 17.685123205184937 }, { "epoch": 3.3473968505859374e-08, "model_forward_time": 5.105933427810669, "step": 351 }, { "epoch": 3.3473968505859374e-08, "step": 351, "training_step_time": 17.630475997924805 }, { "epoch": 3.35693359375e-08, "model_forward_time": 5.09886622428894, "step": 352 }, { "epoch": 3.35693359375e-08, "step": 352, "training_step_time": 17.624070405960083 }, { "epoch": 3.366470336914062e-08, "model_forward_time": 5.106892347335815, "step": 353 }, { "epoch": 3.366470336914062e-08, "step": 353, "training_step_time": 17.873738288879395 }, { "epoch": 3.376007080078125e-08, "model_forward_time": 5.096925973892212, "step": 354 }, { "epoch": 3.376007080078125e-08, "step": 354, "training_step_time": 17.6135573387146 }, { "epoch": 3.385543823242187e-08, "model_forward_time": 5.318429946899414, "step": 355 }, { "epoch": 3.385543823242187e-08, "step": 355, "training_step_time": 17.64708662033081 }, { "epoch": 3.39508056640625e-08, "model_forward_time": 5.109551668167114, "step": 356 }, { "epoch": 3.39508056640625e-08, "step": 356, "training_step_time": 17.524831533432007 }, { "epoch": 3.404617309570313e-08, "model_forward_time": 5.1013054847717285, "step": 357 }, { "epoch": 3.404617309570313e-08, "step": 357, "training_step_time": 17.5684916973114 }, { "epoch": 3.414154052734375e-08, "model_forward_time": 5.097906827926636, "step": 358 }, { "epoch": 3.414154052734375e-08, "step": 358, "training_step_time": 17.810767889022827 }, { "epoch": 3.4236907958984376e-08, "model_forward_time": 5.105674505233765, "step": 359 }, { "epoch": 3.4236907958984376e-08, "step": 359, "training_step_time": 17.60430145263672 }, { "epoch": 3.4332275390625e-08, "grad_norm": 2.6412386894226074, "learning_rate": 1.0257142857142858e-06, "loss": 0.3243, "step": 360 }, { "epoch": 3.4332275390625e-08, "model_forward_time": 5.097878456115723, "step": 360 }, { "dynamics_loss_avg": 0.054665347747504714, "epoch": 3.4332275390625e-08, "step": 360 }, { "action_loss_avg": 0.26887664049863813, "epoch": 3.4332275390625e-08, "step": 360 }, { "arm_loss_avg": 0.272904047369957, "epoch": 3.4332275390625e-08, "step": 360 }, { "ee_loss_avg": 0.7405714958906173, "epoch": 3.4332275390625e-08, "step": 360 }, { "aux_loss_avg": 0.01771205071127042, "epoch": 3.4332275390625e-08, "step": 360 }, { "epoch": 3.4332275390625e-08, "step": 360, "training_step_time": 17.619390726089478 }, { "epoch": 3.4427642822265625e-08, "model_forward_time": 5.09825873374939, "step": 361 }, { "epoch": 3.4427642822265625e-08, "step": 361, "training_step_time": 17.68010187149048 }, { "epoch": 3.452301025390625e-08, "model_forward_time": 5.099564790725708, "step": 362 }, { "epoch": 3.452301025390625e-08, "step": 362, "training_step_time": 17.61670207977295 }, { "epoch": 3.4618377685546874e-08, "model_forward_time": 5.095737457275391, "step": 363 }, { "epoch": 3.4618377685546874e-08, "step": 363, "training_step_time": 17.865994453430176 }, { "epoch": 3.47137451171875e-08, "model_forward_time": 5.101520538330078, "step": 364 }, { "epoch": 3.47137451171875e-08, "step": 364, "training_step_time": 17.627655744552612 }, { "epoch": 3.480911254882812e-08, "model_forward_time": 5.098981618881226, "step": 365 }, { "epoch": 3.480911254882812e-08, "step": 365, "training_step_time": 17.662810802459717 }, { "epoch": 3.490447998046875e-08, "model_forward_time": 5.105600118637085, "step": 366 }, { "epoch": 3.490447998046875e-08, "step": 366, "training_step_time": 17.63500714302063 }, { "epoch": 3.499984741210938e-08, "model_forward_time": 5.108257293701172, "step": 367 }, { "epoch": 3.499984741210938e-08, "step": 367, "training_step_time": 17.631940364837646 }, { "epoch": 3.509521484375e-08, "model_forward_time": 3.864973306655884, "step": 368 }, { "epoch": 3.509521484375e-08, "step": 368, "training_step_time": 17.831279039382935 }, { "epoch": 3.519058227539063e-08, "model_forward_time": 3.844994068145752, "step": 369 }, { "epoch": 3.519058227539063e-08, "step": 369, "training_step_time": 17.620858907699585 }, { "epoch": 3.528594970703125e-08, "grad_norm": 2.435720920562744, "learning_rate": 1.0542857142857144e-06, "loss": 0.3318, "step": 370 }, { "epoch": 3.528594970703125e-08, "model_forward_time": 5.069422245025635, "step": 370 }, { "dynamics_loss_avg": 0.04560090517625213, "epoch": 3.528594970703125e-08, "step": 370 }, { "action_loss_avg": 0.25500987395644187, "epoch": 3.528594970703125e-08, "step": 370 }, { "arm_loss_avg": 0.27833504155278205, "epoch": 3.528594970703125e-08, "step": 370 }, { "ee_loss_avg": 0.9385671228170395, "epoch": 3.528594970703125e-08, "step": 370 }, { "aux_loss_avg": 0.018741144036175682, "epoch": 3.528594970703125e-08, "step": 370 }, { "epoch": 3.528594970703125e-08, "step": 370, "training_step_time": 17.693631410598755 }, { "epoch": 3.5381317138671876e-08, "model_forward_time": 5.324932098388672, "step": 371 }, { "epoch": 3.5381317138671876e-08, "step": 371, "training_step_time": 17.489028453826904 }, { "epoch": 3.54766845703125e-08, "model_forward_time": 5.096330165863037, "step": 372 }, { "epoch": 3.54766845703125e-08, "step": 372, "training_step_time": 17.52103066444397 }, { "epoch": 3.5572052001953125e-08, "model_forward_time": 5.116760730743408, "step": 373 }, { "epoch": 3.5572052001953125e-08, "step": 373, "training_step_time": 17.817549467086792 }, { "epoch": 3.566741943359375e-08, "model_forward_time": 5.128180265426636, "step": 374 }, { "epoch": 3.566741943359375e-08, "step": 374, "training_step_time": 17.58488965034485 }, { "epoch": 3.5762786865234374e-08, "model_forward_time": 5.117535591125488, "step": 375 }, { "epoch": 3.5762786865234374e-08, "step": 375, "training_step_time": 17.63213539123535 }, { "epoch": 3.5858154296875e-08, "model_forward_time": 5.132767200469971, "step": 376 }, { "epoch": 3.5858154296875e-08, "step": 376, "training_step_time": 17.625770807266235 }, { "epoch": 3.595352172851562e-08, "model_forward_time": 5.1150500774383545, "step": 377 }, { "epoch": 3.595352172851562e-08, "step": 377, "training_step_time": 17.64588236808777 }, { "epoch": 3.604888916015625e-08, "model_forward_time": 5.114474058151245, "step": 378 }, { "epoch": 3.604888916015625e-08, "step": 378, "training_step_time": 17.895890712738037 }, { "epoch": 3.614425659179688e-08, "model_forward_time": 5.10387659072876, "step": 379 }, { "epoch": 3.614425659179688e-08, "step": 379, "training_step_time": 17.65677785873413 }, { "epoch": 3.62396240234375e-08, "grad_norm": 3.7966418266296387, "learning_rate": 1.082857142857143e-06, "loss": 0.3685, "step": 380 }, { "epoch": 3.62396240234375e-08, "model_forward_time": 5.104172468185425, "step": 380 }, { "dynamics_loss_avg": 0.05124651100486517, "epoch": 3.62396240234375e-08, "step": 380 }, { "action_loss_avg": 0.3360688954591751, "epoch": 3.62396240234375e-08, "step": 380 }, { "arm_loss_avg": 0.3630547896027565, "epoch": 3.62396240234375e-08, "step": 380 }, { "ee_loss_avg": 1.0549478307366371, "epoch": 3.62396240234375e-08, "step": 380 }, { "aux_loss_avg": 0.03967934104730375, "epoch": 3.62396240234375e-08, "step": 380 }, { "epoch": 3.62396240234375e-08, "step": 380, "training_step_time": 17.65783977508545 }, { "epoch": 3.633499145507813e-08, "model_forward_time": 3.8552725315093994, "step": 381 }, { "epoch": 3.633499145507813e-08, "step": 381, "training_step_time": 17.652331829071045 }, { "epoch": 3.643035888671875e-08, "model_forward_time": 5.0727105140686035, "step": 382 }, { "epoch": 3.643035888671875e-08, "step": 382, "training_step_time": 17.64073920249939 }, { "epoch": 3.6525726318359376e-08, "model_forward_time": 5.080819606781006, "step": 383 }, { "epoch": 3.6525726318359376e-08, "step": 383, "training_step_time": 17.861519813537598 }, { "epoch": 3.662109375e-08, "model_forward_time": 3.8556764125823975, "step": 384 }, { "epoch": 3.662109375e-08, "step": 384, "training_step_time": 17.623581886291504 }, { "epoch": 3.6716461181640625e-08, "model_forward_time": 5.076787948608398, "step": 385 }, { "epoch": 3.6716461181640625e-08, "step": 385, "training_step_time": 17.643004894256592 }, { "epoch": 3.681182861328125e-08, "model_forward_time": 5.283064842224121, "step": 386 }, { "epoch": 3.681182861328125e-08, "step": 386, "training_step_time": 17.602927684783936 }, { "epoch": 3.6907196044921873e-08, "model_forward_time": 5.105682134628296, "step": 387 }, { "epoch": 3.6907196044921873e-08, "step": 387, "training_step_time": 17.605015993118286 }, { "epoch": 3.70025634765625e-08, "model_forward_time": 5.111027240753174, "step": 388 }, { "epoch": 3.70025634765625e-08, "step": 388, "training_step_time": 17.800698041915894 }, { "epoch": 3.709793090820312e-08, "model_forward_time": 5.115421295166016, "step": 389 }, { "epoch": 3.709793090820312e-08, "step": 389, "training_step_time": 17.62651515007019 }, { "epoch": 3.719329833984375e-08, "grad_norm": 4.258702278137207, "learning_rate": 1.1114285714285714e-06, "loss": 0.2928, "step": 390 }, { "epoch": 3.719329833984375e-08, "model_forward_time": 5.126945972442627, "step": 390 }, { "dynamics_loss_avg": 0.0347525370772928, "epoch": 3.719329833984375e-08, "step": 390 }, { "action_loss_avg": 0.2542100172489882, "epoch": 3.719329833984375e-08, "step": 390 }, { "arm_loss_avg": 0.2798513680696487, "epoch": 3.719329833984375e-08, "step": 390 }, { "ee_loss_avg": 1.1510210186243057, "epoch": 3.719329833984375e-08, "step": 390 }, { "aux_loss_avg": 0.012764055316802114, "epoch": 3.719329833984375e-08, "step": 390 }, { "epoch": 3.719329833984375e-08, "step": 390, "training_step_time": 17.706456184387207 }, { "epoch": 3.728866577148438e-08, "model_forward_time": 5.370267868041992, "step": 391 }, { "epoch": 3.728866577148438e-08, "step": 391, "training_step_time": 17.637998819351196 }, { "epoch": 3.7384033203125e-08, "model_forward_time": 5.116634845733643, "step": 392 }, { "epoch": 3.7384033203125e-08, "step": 392, "training_step_time": 17.63407874107361 }, { "epoch": 3.7479400634765627e-08, "model_forward_time": 3.8685598373413086, "step": 393 }, { "epoch": 3.7479400634765627e-08, "step": 393, "training_step_time": 17.87213706970215 }, { "epoch": 3.757476806640625e-08, "model_forward_time": 5.078253269195557, "step": 394 }, { "epoch": 3.757476806640625e-08, "step": 394, "training_step_time": 17.651830434799194 }, { "epoch": 3.7670135498046875e-08, "model_forward_time": 5.089784145355225, "step": 395 }, { "epoch": 3.7670135498046875e-08, "step": 395, "training_step_time": 17.655813455581665 }, { "epoch": 3.77655029296875e-08, "model_forward_time": 5.291470766067505, "step": 396 }, { "epoch": 3.77655029296875e-08, "step": 396, "training_step_time": 17.643437147140503 }, { "epoch": 3.7860870361328124e-08, "model_forward_time": 5.105654001235962, "step": 397 }, { "epoch": 3.7860870361328124e-08, "step": 397, "training_step_time": 17.276773929595947 }, { "epoch": 3.795623779296875e-08, "model_forward_time": 3.8731517791748047, "step": 398 }, { "epoch": 3.795623779296875e-08, "step": 398, "training_step_time": 17.539552927017212 }, { "epoch": 3.805160522460937e-08, "model_forward_time": 5.08240532875061, "step": 399 }, { "epoch": 3.805160522460937e-08, "step": 399, "training_step_time": 17.80498242378235 }, { "epoch": 3.814697265625e-08, "grad_norm": 2.97780704498291, "learning_rate": 1.14e-06, "loss": 0.3098, "step": 400 }, { "epoch": 3.814697265625e-08, "model_forward_time": 5.092562437057495, "step": 400 }, { "dynamics_loss_avg": 0.044159809686243535, "epoch": 3.814697265625e-08, "step": 400 }, { "action_loss_avg": 0.28305932506918907, "epoch": 3.814697265625e-08, "step": 400 }, { "arm_loss_avg": 0.3198491230607033, "epoch": 3.814697265625e-08, "step": 400 }, { "ee_loss_avg": 1.0666990250349044, "epoch": 3.814697265625e-08, "step": 400 }, { "aux_loss_avg": 0.01165928962873295, "epoch": 3.814697265625e-08, "step": 400 }, { "epoch": 3.814697265625e-08, "step": 400, "training_step_time": 17.516120433807373 }, { "epoch": 3.824234008789062e-08, "model_forward_time": 5.344281911849976, "step": 401 }, { "epoch": 3.824234008789062e-08, "step": 401, "training_step_time": 17.528878927230835 }, { "epoch": 3.833770751953125e-08, "model_forward_time": 3.8724288940429688, "step": 402 }, { "epoch": 3.833770751953125e-08, "step": 402, "training_step_time": 17.31588888168335 }, { "epoch": 3.843307495117188e-08, "model_forward_time": 3.847919464111328, "step": 403 }, { "epoch": 3.843307495117188e-08, "step": 403, "training_step_time": 17.383610725402832 }, { "epoch": 3.85284423828125e-08, "model_forward_time": 5.068427562713623, "step": 404 }, { "epoch": 3.85284423828125e-08, "step": 404, "training_step_time": 17.739007472991943 }, { "epoch": 3.8623809814453126e-08, "model_forward_time": 5.087496995925903, "step": 405 }, { "epoch": 3.8623809814453126e-08, "step": 405, "training_step_time": 17.56562304496765 }, { "epoch": 3.871917724609375e-08, "model_forward_time": 5.309281587600708, "step": 406 }, { "epoch": 3.871917724609375e-08, "step": 406, "training_step_time": 17.63298463821411 }, { "epoch": 3.8814544677734375e-08, "model_forward_time": 5.118085145950317, "step": 407 }, { "epoch": 3.8814544677734375e-08, "step": 407, "training_step_time": 17.456013917922974 }, { "epoch": 3.8909912109375e-08, "model_forward_time": 5.120320558547974, "step": 408 }, { "epoch": 3.8909912109375e-08, "step": 408, "training_step_time": 17.543298482894897 }, { "epoch": 3.9005279541015624e-08, "model_forward_time": 5.117558479309082, "step": 409 }, { "epoch": 3.9005279541015624e-08, "step": 409, "training_step_time": 17.834855318069458 }, { "epoch": 3.910064697265625e-08, "grad_norm": 2.2654426097869873, "learning_rate": 1.1685714285714286e-06, "loss": 0.3078, "step": 410 }, { "epoch": 3.910064697265625e-08, "model_forward_time": 5.119449615478516, "step": 410 }, { "dynamics_loss_avg": 0.044446319527924064, "epoch": 3.910064697265625e-08, "step": 410 }, { "action_loss_avg": 0.22944551482796668, "epoch": 3.910064697265625e-08, "step": 410 }, { "arm_loss_avg": 0.25529840141534804, "epoch": 3.910064697265625e-08, "step": 410 }, { "ee_loss_avg": 0.6626729965209961, "epoch": 3.910064697265625e-08, "step": 410 }, { "aux_loss_avg": 0.010477225884096697, "epoch": 3.910064697265625e-08, "step": 410 }, { "epoch": 3.910064697265625e-08, "step": 410, "training_step_time": 17.679036617279053 }, { "epoch": 3.919601440429687e-08, "model_forward_time": 5.361851930618286, "step": 411 }, { "epoch": 3.919601440429687e-08, "step": 411, "training_step_time": 17.60604190826416 }, { "epoch": 3.92913818359375e-08, "model_forward_time": 5.10801887512207, "step": 412 }, { "epoch": 3.92913818359375e-08, "step": 412, "training_step_time": 17.592350006103516 }, { "epoch": 3.938674926757813e-08, "model_forward_time": 5.107487201690674, "step": 413 }, { "epoch": 3.938674926757813e-08, "step": 413, "training_step_time": 17.61336612701416 }, { "epoch": 3.948211669921875e-08, "model_forward_time": 5.0995097160339355, "step": 414 }, { "epoch": 3.948211669921875e-08, "step": 414, "training_step_time": 17.87157702445984 }, { "epoch": 3.957748413085938e-08, "model_forward_time": 5.105767726898193, "step": 415 }, { "epoch": 3.957748413085938e-08, "step": 415, "training_step_time": 17.660544872283936 }, { "epoch": 3.96728515625e-08, "model_forward_time": 4.099234104156494, "step": 416 }, { "epoch": 3.96728515625e-08, "step": 416, "training_step_time": 17.63916254043579 }, { "epoch": 3.9768218994140626e-08, "model_forward_time": 5.076580047607422, "step": 417 }, { "epoch": 3.9768218994140626e-08, "step": 417, "training_step_time": 17.552676916122437 }, { "epoch": 3.986358642578125e-08, "model_forward_time": 5.083956956863403, "step": 418 }, { "epoch": 3.986358642578125e-08, "step": 418, "training_step_time": 17.597041130065918 }, { "epoch": 3.9958953857421875e-08, "model_forward_time": 3.8529133796691895, "step": 419 }, { "epoch": 3.9958953857421875e-08, "step": 419, "training_step_time": 17.816405773162842 }, { "epoch": 4.00543212890625e-08, "grad_norm": 3.2032506465911865, "learning_rate": 1.1971428571428573e-06, "loss": 0.3305, "step": 420 }, { "epoch": 4.00543212890625e-08, "model_forward_time": 5.078317165374756, "step": 420 }, { "dynamics_loss_avg": 0.03583015482872724, "epoch": 4.00543212890625e-08, "step": 420 }, { "action_loss_avg": 0.22041966542601585, "epoch": 4.00543212890625e-08, "step": 420 }, { "arm_loss_avg": 0.25585848540067674, "epoch": 4.00543212890625e-08, "step": 420 }, { "ee_loss_avg": 0.8532845675945282, "epoch": 4.00543212890625e-08, "step": 420 }, { "aux_loss_avg": 0.005128702986985445, "epoch": 4.00543212890625e-08, "step": 420 }, { "epoch": 4.00543212890625e-08, "step": 420, "training_step_time": 17.51826286315918 }, { "epoch": 4.0149688720703124e-08, "model_forward_time": 5.340605735778809, "step": 421 }, { "epoch": 4.0149688720703124e-08, "step": 421, "training_step_time": 17.57385778427124 }, { "epoch": 4.024505615234375e-08, "model_forward_time": 5.1048877239227295, "step": 422 }, { "epoch": 4.024505615234375e-08, "step": 422, "training_step_time": 17.589025020599365 }, { "epoch": 4.034042358398437e-08, "model_forward_time": 5.116177797317505, "step": 423 }, { "epoch": 4.034042358398437e-08, "step": 423, "training_step_time": 17.620933771133423 }, { "epoch": 4.0435791015625e-08, "model_forward_time": 5.114928245544434, "step": 424 }, { "epoch": 4.0435791015625e-08, "step": 424, "training_step_time": 17.62737536430359 }, { "epoch": 4.053115844726563e-08, "model_forward_time": 3.873263120651245, "step": 425 }, { "epoch": 4.053115844726563e-08, "step": 425, "training_step_time": 17.89289689064026 }, { "epoch": 4.062652587890625e-08, "model_forward_time": 5.283527612686157, "step": 426 }, { "epoch": 4.062652587890625e-08, "step": 426, "training_step_time": 17.648229598999023 }, { "epoch": 4.072189331054688e-08, "model_forward_time": 5.0938544273376465, "step": 427 }, { "epoch": 4.072189331054688e-08, "step": 427, "training_step_time": 17.640480041503906 }, { "epoch": 4.08172607421875e-08, "model_forward_time": 5.095153331756592, "step": 428 }, { "epoch": 4.08172607421875e-08, "step": 428, "training_step_time": 17.628148794174194 }, { "epoch": 4.0912628173828126e-08, "model_forward_time": 5.096856594085693, "step": 429 }, { "epoch": 4.0912628173828126e-08, "step": 429, "training_step_time": 17.623306035995483 }, { "epoch": 4.100799560546875e-08, "grad_norm": 2.9236414432525635, "learning_rate": 1.2257142857142857e-06, "loss": 0.3261, "step": 430 }, { "epoch": 4.100799560546875e-08, "model_forward_time": 5.104916095733643, "step": 430 }, { "dynamics_loss_avg": 0.04785979203879833, "epoch": 4.100799560546875e-08, "step": 430 }, { "action_loss_avg": 0.2680448107421398, "epoch": 4.100799560546875e-08, "step": 430 }, { "arm_loss_avg": 0.3412788614630699, "epoch": 4.100799560546875e-08, "step": 430 }, { "ee_loss_avg": 0.9456139340996742, "epoch": 4.100799560546875e-08, "step": 430 }, { "aux_loss_avg": 0.028006669005844743, "epoch": 4.100799560546875e-08, "step": 430 }, { "epoch": 4.100799560546875e-08, "step": 430, "training_step_time": 17.816969394683838 }, { "epoch": 4.1103363037109374e-08, "model_forward_time": 5.35024356842041, "step": 431 }, { "epoch": 4.1103363037109374e-08, "step": 431, "training_step_time": 17.66624164581299 }, { "epoch": 4.119873046875e-08, "model_forward_time": 5.105758190155029, "step": 432 }, { "epoch": 4.119873046875e-08, "step": 432, "training_step_time": 17.595595359802246 }, { "epoch": 4.129409790039062e-08, "model_forward_time": 5.109755992889404, "step": 433 }, { "epoch": 4.129409790039062e-08, "step": 433, "training_step_time": 17.59512948989868 }, { "epoch": 4.138946533203125e-08, "model_forward_time": 5.106014013290405, "step": 434 }, { "epoch": 4.138946533203125e-08, "step": 434, "training_step_time": 17.817111015319824 }, { "epoch": 4.148483276367187e-08, "model_forward_time": 3.858017921447754, "step": 435 }, { "epoch": 4.148483276367187e-08, "step": 435, "training_step_time": 17.58595299720764 }, { "epoch": 4.15802001953125e-08, "model_forward_time": 5.281285285949707, "step": 436 }, { "epoch": 4.15802001953125e-08, "step": 436, "training_step_time": 17.623872995376587 }, { "epoch": 4.167556762695313e-08, "model_forward_time": 5.079646348953247, "step": 437 }, { "epoch": 4.167556762695313e-08, "step": 437, "training_step_time": 17.59671425819397 }, { "epoch": 4.177093505859375e-08, "model_forward_time": 5.088682413101196, "step": 438 }, { "epoch": 4.177093505859375e-08, "step": 438, "training_step_time": 17.582823753356934 }, { "epoch": 4.1866302490234376e-08, "model_forward_time": 5.100550174713135, "step": 439 }, { "epoch": 4.1866302490234376e-08, "step": 439, "training_step_time": 17.810778617858887 }, { "epoch": 4.1961669921875e-08, "grad_norm": 4.348431587219238, "learning_rate": 1.2542857142857142e-06, "loss": 0.2895, "step": 440 }, { "epoch": 4.1961669921875e-08, "model_forward_time": 5.106860399246216, "step": 440 }, { "dynamics_loss_avg": 0.05422790683805943, "epoch": 4.1961669921875e-08, "step": 440 }, { "action_loss_avg": 0.29579227454960344, "epoch": 4.1961669921875e-08, "step": 440 }, { "arm_loss_avg": 0.32947242110967634, "epoch": 4.1961669921875e-08, "step": 440 }, { "ee_loss_avg": 0.977894027531147, "epoch": 4.1961669921875e-08, "step": 440 }, { "aux_loss_avg": 0.02744815913029015, "epoch": 4.1961669921875e-08, "step": 440 }, { "epoch": 4.1961669921875e-08, "step": 440, "training_step_time": 17.58752965927124 }, { "epoch": 4.2057037353515625e-08, "model_forward_time": 5.360032558441162, "step": 441 }, { "epoch": 4.2057037353515625e-08, "step": 441, "training_step_time": 17.606817960739136 }, { "epoch": 4.215240478515625e-08, "model_forward_time": 5.108870267868042, "step": 442 }, { "epoch": 4.215240478515625e-08, "step": 442, "training_step_time": 17.60313320159912 }, { "epoch": 4.2247772216796874e-08, "model_forward_time": 5.113002300262451, "step": 443 }, { "epoch": 4.2247772216796874e-08, "step": 443, "training_step_time": 17.60510540008545 }, { "epoch": 4.23431396484375e-08, "model_forward_time": 5.107276916503906, "step": 444 }, { "epoch": 4.23431396484375e-08, "step": 444, "training_step_time": 17.833311557769775 }, { "epoch": 4.243850708007812e-08, "model_forward_time": 5.096970319747925, "step": 445 }, { "epoch": 4.243850708007812e-08, "step": 445, "training_step_time": 17.622572898864746 }, { "epoch": 4.253387451171875e-08, "model_forward_time": 5.104595422744751, "step": 446 }, { "epoch": 4.253387451171875e-08, "step": 446, "training_step_time": 17.650259017944336 }, { "epoch": 4.262924194335937e-08, "model_forward_time": 5.1026997566223145, "step": 447 }, { "epoch": 4.262924194335937e-08, "step": 447, "training_step_time": 17.625872373580933 }, { "epoch": 4.2724609375e-08, "model_forward_time": 5.10341739654541, "step": 448 }, { "epoch": 4.2724609375e-08, "step": 448, "training_step_time": 17.63229012489319 }, { "epoch": 4.281997680664063e-08, "model_forward_time": 5.101066589355469, "step": 449 }, { "epoch": 4.281997680664063e-08, "step": 449, "training_step_time": 17.83475637435913 }, { "epoch": 4.291534423828125e-08, "grad_norm": 4.4697747230529785, "learning_rate": 1.282857142857143e-06, "loss": 0.3283, "step": 450 }, { "epoch": 4.291534423828125e-08, "model_forward_time": 5.096359968185425, "step": 450 }, { "dynamics_loss_avg": 0.04559230040758848, "epoch": 4.291534423828125e-08, "step": 450 }, { "action_loss_avg": 0.2760745119303465, "epoch": 4.291534423828125e-08, "step": 450 }, { "arm_loss_avg": 0.3455775618553162, "epoch": 4.291534423828125e-08, "step": 450 }, { "ee_loss_avg": 0.8653739586472511, "epoch": 4.291534423828125e-08, "step": 450 }, { "aux_loss_avg": 0.02683438881067559, "epoch": 4.291534423828125e-08, "step": 450 }, { "epoch": 4.291534423828125e-08, "step": 450, "training_step_time": 17.674822568893433 }, { "epoch": 4.3010711669921876e-08, "model_forward_time": 5.102535724639893, "step": 451 }, { "epoch": 4.3010711669921876e-08, "step": 451, "training_step_time": 17.507043600082397 }, { "epoch": 4.31060791015625e-08, "model_forward_time": 5.102703332901001, "step": 452 }, { "epoch": 4.31060791015625e-08, "step": 452, "training_step_time": 17.536536693572998 }, { "epoch": 4.3201446533203125e-08, "model_forward_time": 5.09806752204895, "step": 453 }, { "epoch": 4.3201446533203125e-08, "step": 453, "training_step_time": 17.578585386276245 }, { "epoch": 4.329681396484375e-08, "model_forward_time": 5.1041975021362305, "step": 454 }, { "epoch": 4.329681396484375e-08, "step": 454, "training_step_time": 17.601548671722412 }, { "epoch": 4.3392181396484374e-08, "model_forward_time": 5.101438760757446, "step": 455 }, { "epoch": 4.3392181396484374e-08, "step": 455, "training_step_time": 17.869380474090576 }, { "epoch": 4.3487548828125e-08, "model_forward_time": 3.858064651489258, "step": 456 }, { "epoch": 4.3487548828125e-08, "step": 456, "training_step_time": 17.603970766067505 }, { "epoch": 4.358291625976562e-08, "model_forward_time": 5.078720569610596, "step": 457 }, { "epoch": 4.358291625976562e-08, "step": 457, "training_step_time": 17.647971868515015 }, { "epoch": 4.367828369140625e-08, "model_forward_time": 5.0798659324646, "step": 458 }, { "epoch": 4.367828369140625e-08, "step": 458, "training_step_time": 17.6436505317688 }, { "epoch": 4.377365112304688e-08, "model_forward_time": 5.0910868644714355, "step": 459 }, { "epoch": 4.377365112304688e-08, "step": 459, "training_step_time": 17.853454113006592 }, { "epoch": 4.38690185546875e-08, "grad_norm": 2.835066795349121, "learning_rate": 1.3114285714285716e-06, "loss": 0.3308, "step": 460 }, { "epoch": 4.38690185546875e-08, "model_forward_time": 5.094863414764404, "step": 460 }, { "dynamics_loss_avg": 0.046023018565028904, "epoch": 4.38690185546875e-08, "step": 460 }, { "action_loss_avg": 0.268167944252491, "epoch": 4.38690185546875e-08, "step": 460 }, { "arm_loss_avg": 0.2868637926876545, "epoch": 4.38690185546875e-08, "step": 460 }, { "ee_loss_avg": 0.7158038780093193, "epoch": 4.38690185546875e-08, "step": 460 }, { "aux_loss_avg": 0.03147599350195378, "epoch": 4.38690185546875e-08, "step": 460 }, { "epoch": 4.38690185546875e-08, "step": 460, "training_step_time": 17.647668838500977 }, { "epoch": 4.396438598632813e-08, "model_forward_time": 5.364412546157837, "step": 461 }, { "epoch": 4.396438598632813e-08, "step": 461, "training_step_time": 17.535450220108032 }, { "epoch": 4.405975341796875e-08, "model_forward_time": 5.110378980636597, "step": 462 }, { "epoch": 4.405975341796875e-08, "step": 462, "training_step_time": 17.58998990058899 }, { "epoch": 4.4155120849609376e-08, "model_forward_time": 5.108920097351074, "step": 463 }, { "epoch": 4.4155120849609376e-08, "step": 463, "training_step_time": 17.606828451156616 }, { "epoch": 4.425048828125e-08, "model_forward_time": 5.109047174453735, "step": 464 }, { "epoch": 4.425048828125e-08, "step": 464, "training_step_time": 17.44645929336548 }, { "epoch": 4.4345855712890625e-08, "model_forward_time": 5.1142897605896, "step": 465 }, { "epoch": 4.4345855712890625e-08, "step": 465, "training_step_time": 17.792726278305054 }, { "epoch": 4.444122314453125e-08, "model_forward_time": 5.112013578414917, "step": 466 }, { "epoch": 4.444122314453125e-08, "step": 466, "training_step_time": 17.60051417350769 }, { "epoch": 4.4536590576171874e-08, "model_forward_time": 5.105478286743164, "step": 467 }, { "epoch": 4.4536590576171874e-08, "step": 467, "training_step_time": 17.625637531280518 }, { "epoch": 4.46319580078125e-08, "model_forward_time": 5.102116823196411, "step": 468 }, { "epoch": 4.46319580078125e-08, "step": 468, "training_step_time": 17.637619256973267 }, { "epoch": 4.472732543945312e-08, "model_forward_time": 5.101641416549683, "step": 469 }, { "epoch": 4.472732543945312e-08, "step": 469, "training_step_time": 17.671114683151245 }, { "epoch": 4.482269287109375e-08, "grad_norm": 2.7587268352508545, "learning_rate": 1.34e-06, "loss": 0.3129, "step": 470 }, { "epoch": 4.482269287109375e-08, "model_forward_time": 5.097346544265747, "step": 470 }, { "dynamics_loss_avg": 0.04418541630730033, "epoch": 4.482269287109375e-08, "step": 470 }, { "action_loss_avg": 0.2350904479622841, "epoch": 4.482269287109375e-08, "step": 470 }, { "arm_loss_avg": 0.27357120886445047, "epoch": 4.482269287109375e-08, "step": 470 }, { "ee_loss_avg": 1.0119920685887336, "epoch": 4.482269287109375e-08, "step": 470 }, { "aux_loss_avg": 0.01444676030660048, "epoch": 4.482269287109375e-08, "step": 470 }, { "epoch": 4.482269287109375e-08, "step": 470, "training_step_time": 17.852059364318848 }, { "epoch": 4.491806030273438e-08, "model_forward_time": 5.094879388809204, "step": 471 }, { "epoch": 4.491806030273438e-08, "step": 471, "training_step_time": 17.651230812072754 }, { "epoch": 4.5013427734375e-08, "model_forward_time": 5.101654291152954, "step": 472 }, { "epoch": 4.5013427734375e-08, "step": 472, "training_step_time": 17.648653745651245 }, { "epoch": 4.5108795166015627e-08, "model_forward_time": 5.094527244567871, "step": 473 }, { "epoch": 4.5108795166015627e-08, "step": 473, "training_step_time": 17.636550188064575 }, { "epoch": 4.520416259765625e-08, "model_forward_time": 3.8591814041137695, "step": 474 }, { "epoch": 4.520416259765625e-08, "step": 474, "training_step_time": 17.362045764923096 }, { "epoch": 4.5299530029296876e-08, "model_forward_time": 5.081341981887817, "step": 475 }, { "epoch": 4.5299530029296876e-08, "step": 475, "training_step_time": 17.771018505096436 }, { "epoch": 4.53948974609375e-08, "model_forward_time": 5.09581184387207, "step": 476 }, { "epoch": 4.53948974609375e-08, "step": 476, "training_step_time": 17.568650484085083 }, { "epoch": 4.5490264892578124e-08, "model_forward_time": 5.1019370555877686, "step": 477 }, { "epoch": 4.5490264892578124e-08, "step": 477, "training_step_time": 17.60015344619751 }, { "epoch": 4.558563232421875e-08, "model_forward_time": 5.106905698776245, "step": 478 }, { "epoch": 4.558563232421875e-08, "step": 478, "training_step_time": 17.616381406784058 }, { "epoch": 4.568099975585937e-08, "model_forward_time": 5.1139235496521, "step": 479 }, { "epoch": 4.568099975585937e-08, "step": 479, "training_step_time": 17.86845326423645 }, { "epoch": 4.57763671875e-08, "grad_norm": 4.020876884460449, "learning_rate": 1.3685714285714286e-06, "loss": 0.301, "step": 480 }, { "epoch": 4.57763671875e-08, "model_forward_time": 5.109242677688599, "step": 480 }, { "dynamics_loss_avg": 0.039998285192996266, "epoch": 4.57763671875e-08, "step": 480 }, { "action_loss_avg": 0.2712435223162174, "epoch": 4.57763671875e-08, "step": 480 }, { "arm_loss_avg": 0.31564950942993164, "epoch": 4.57763671875e-08, "step": 480 }, { "ee_loss_avg": 0.8111456900835037, "epoch": 4.57763671875e-08, "step": 480 }, { "aux_loss_avg": 0.011980600201059132, "epoch": 4.57763671875e-08, "step": 480 }, { "epoch": 4.57763671875e-08, "step": 480, "training_step_time": 17.617110013961792 }, { "epoch": 4.587173461914062e-08, "model_forward_time": 5.366322994232178, "step": 481 }, { "epoch": 4.587173461914062e-08, "step": 481, "training_step_time": 17.62637734413147 }, { "epoch": 4.596710205078125e-08, "model_forward_time": 5.107151746749878, "step": 482 }, { "epoch": 4.596710205078125e-08, "step": 482, "training_step_time": 17.625298023223877 }, { "epoch": 4.606246948242188e-08, "model_forward_time": 3.8638758659362793, "step": 483 }, { "epoch": 4.606246948242188e-08, "step": 483, "training_step_time": 17.625431060791016 }, { "epoch": 4.61578369140625e-08, "model_forward_time": 5.076747179031372, "step": 484 }, { "epoch": 4.61578369140625e-08, "step": 484, "training_step_time": 17.858075380325317 }, { "epoch": 4.6253204345703126e-08, "model_forward_time": 5.083082437515259, "step": 485 }, { "epoch": 4.6253204345703126e-08, "step": 485, "training_step_time": 17.355464458465576 }, { "epoch": 4.634857177734375e-08, "model_forward_time": 5.093569040298462, "step": 486 }, { "epoch": 4.634857177734375e-08, "step": 486, "training_step_time": 17.585518836975098 }, { "epoch": 4.6443939208984375e-08, "model_forward_time": 5.301245450973511, "step": 487 }, { "epoch": 4.6443939208984375e-08, "step": 487, "training_step_time": 17.438520669937134 }, { "epoch": 4.6539306640625e-08, "model_forward_time": 5.1085076332092285, "step": 488 }, { "epoch": 4.6539306640625e-08, "step": 488, "training_step_time": 17.5120747089386 }, { "epoch": 4.6634674072265624e-08, "model_forward_time": 5.1138081550598145, "step": 489 }, { "epoch": 4.6634674072265624e-08, "step": 489, "training_step_time": 17.56740975379944 }, { "epoch": 4.673004150390625e-08, "grad_norm": 2.9714267253875732, "learning_rate": 1.3971428571428573e-06, "loss": 0.3242, "step": 490 }, { "epoch": 4.673004150390625e-08, "model_forward_time": 5.109197616577148, "step": 490 }, { "dynamics_loss_avg": 0.05263340976089239, "epoch": 4.673004150390625e-08, "step": 490 }, { "action_loss_avg": 0.2624361768364906, "epoch": 4.673004150390625e-08, "step": 490 }, { "arm_loss_avg": 0.23718730807304383, "epoch": 4.673004150390625e-08, "step": 490 }, { "ee_loss_avg": 0.8368518114089966, "epoch": 4.673004150390625e-08, "step": 490 }, { "aux_loss_avg": 0.012736770650371909, "epoch": 4.673004150390625e-08, "step": 490 }, { "epoch": 4.673004150390625e-08, "step": 490, "training_step_time": 17.809571266174316 }, { "epoch": 4.682540893554687e-08, "model_forward_time": 5.110719203948975, "step": 491 }, { "epoch": 4.682540893554687e-08, "step": 491, "training_step_time": 17.64146852493286 }, { "epoch": 4.69207763671875e-08, "model_forward_time": 5.1076500415802, "step": 492 }, { "epoch": 4.69207763671875e-08, "step": 492, "training_step_time": 17.684302806854248 }, { "epoch": 4.701614379882812e-08, "model_forward_time": 3.8651998043060303, "step": 493 }, { "epoch": 4.701614379882812e-08, "step": 493, "training_step_time": 17.40401268005371 }, { "epoch": 4.711151123046875e-08, "model_forward_time": 5.0760908126831055, "step": 494 }, { "epoch": 4.711151123046875e-08, "step": 494, "training_step_time": 17.581302642822266 }, { "epoch": 4.720687866210938e-08, "model_forward_time": 5.08782958984375, "step": 495 }, { "epoch": 4.720687866210938e-08, "step": 495, "training_step_time": 17.86854314804077 }, { "epoch": 4.730224609375e-08, "model_forward_time": 5.0937604904174805, "step": 496 }, { "epoch": 4.730224609375e-08, "step": 496, "training_step_time": 17.63548731803894 }, { "epoch": 4.7397613525390626e-08, "model_forward_time": 5.102932691574097, "step": 497 }, { "epoch": 4.7397613525390626e-08, "step": 497, "training_step_time": 17.64845561981201 }, { "epoch": 4.749298095703125e-08, "model_forward_time": 3.8611135482788086, "step": 498 }, { "epoch": 4.749298095703125e-08, "step": 498, "training_step_time": 17.65838623046875 }, { "epoch": 4.7588348388671875e-08, "model_forward_time": 5.0798797607421875, "step": 499 }, { "epoch": 4.7588348388671875e-08, "step": 499, "training_step_time": 17.659520149230957 }, { "epoch": 4.76837158203125e-08, "grad_norm": 2.9624316692352295, "learning_rate": 1.4257142857142857e-06, "loss": 0.2875, "step": 500 }, { "epoch": 4.76837158203125e-08, "model_forward_time": 5.088507890701294, "step": 500 }, { "dynamics_loss_avg": 0.045624575950205325, "epoch": 4.76837158203125e-08, "step": 500 }, { "action_loss_avg": 0.25140033587813376, "epoch": 4.76837158203125e-08, "step": 500 }, { "arm_loss_avg": 0.2548619359731674, "epoch": 4.76837158203125e-08, "step": 500 }, { "ee_loss_avg": 0.9786128595471382, "epoch": 4.76837158203125e-08, "step": 500 }, { "aux_loss_avg": 0.01551862402120605, "epoch": 4.76837158203125e-08, "step": 500 }, { "epoch": 4.76837158203125e-08, "step": 500, "training_step_time": 17.797338724136353 }, { "epoch": 4.7779083251953124e-08, "model_forward_time": 5.102771997451782, "step": 501 }, { "epoch": 4.7779083251953124e-08, "step": 501, "training_step_time": 17.688367128372192 }, { "epoch": 4.787445068359375e-08, "model_forward_time": 5.360774993896484, "step": 502 }, { "epoch": 4.787445068359375e-08, "step": 502, "training_step_time": 17.627167463302612 }, { "epoch": 4.796981811523437e-08, "model_forward_time": 5.115705490112305, "step": 503 }, { "epoch": 4.796981811523437e-08, "step": 503, "training_step_time": 17.61666512489319 }, { "epoch": 4.8065185546875e-08, "model_forward_time": 3.8709123134613037, "step": 504 }, { "epoch": 4.8065185546875e-08, "step": 504, "training_step_time": 17.617476224899292 }, { "epoch": 4.816055297851563e-08, "model_forward_time": 5.0850818157196045, "step": 505 }, { "epoch": 4.816055297851563e-08, "step": 505, "training_step_time": 17.874353170394897 }, { "epoch": 4.825592041015625e-08, "model_forward_time": 5.09085750579834, "step": 506 }, { "epoch": 4.825592041015625e-08, "step": 506, "training_step_time": 17.641523122787476 }, { "epoch": 4.835128784179688e-08, "model_forward_time": 5.099503517150879, "step": 507 }, { "epoch": 4.835128784179688e-08, "step": 507, "training_step_time": 17.61551785469055 }, { "epoch": 4.84466552734375e-08, "model_forward_time": 5.101733684539795, "step": 508 }, { "epoch": 4.84466552734375e-08, "step": 508, "training_step_time": 17.612525701522827 }, { "epoch": 4.8542022705078126e-08, "model_forward_time": 5.103715419769287, "step": 509 }, { "epoch": 4.8542022705078126e-08, "step": 509, "training_step_time": 17.602434873580933 }, { "epoch": 4.863739013671875e-08, "grad_norm": 3.3383703231811523, "learning_rate": 1.4542857142857144e-06, "loss": 0.2691, "step": 510 }, { "epoch": 4.863739013671875e-08, "model_forward_time": 5.108691215515137, "step": 510 }, { "dynamics_loss_avg": 0.053141539171338084, "epoch": 4.863739013671875e-08, "step": 510 }, { "action_loss_avg": 0.21288429722189903, "epoch": 4.863739013671875e-08, "step": 510 }, { "arm_loss_avg": 0.2563574224710464, "epoch": 4.863739013671875e-08, "step": 510 }, { "ee_loss_avg": 0.8483345672488213, "epoch": 4.863739013671875e-08, "step": 510 }, { "aux_loss_avg": 0.017553491645958274, "epoch": 4.863739013671875e-08, "step": 510 }, { "epoch": 4.863739013671875e-08, "step": 510, "training_step_time": 17.803093910217285 }, { "epoch": 4.8732757568359375e-08, "model_forward_time": 5.1002724170684814, "step": 511 }, { "epoch": 4.8732757568359375e-08, "step": 511, "training_step_time": 17.6529803276062 }, { "epoch": 4.8828125e-08, "model_forward_time": 5.1059465408325195, "step": 512 }, { "epoch": 4.8828125e-08, "step": 512, "training_step_time": 17.598248720169067 }, { "epoch": 4.8923492431640623e-08, "model_forward_time": 5.104954242706299, "step": 513 }, { "epoch": 4.8923492431640623e-08, "step": 513, "training_step_time": 17.594638109207153 }, { "epoch": 4.901885986328125e-08, "model_forward_time": 5.100788831710815, "step": 514 }, { "epoch": 4.901885986328125e-08, "step": 514, "training_step_time": 17.846487283706665 }, { "epoch": 4.911422729492187e-08, "model_forward_time": 5.099462270736694, "step": 515 }, { "epoch": 4.911422729492187e-08, "step": 515, "training_step_time": 17.593437671661377 }, { "epoch": 4.92095947265625e-08, "model_forward_time": 5.321175575256348, "step": 516 }, { "epoch": 4.92095947265625e-08, "step": 516, "training_step_time": 17.645856142044067 }, { "epoch": 4.930496215820313e-08, "model_forward_time": 5.102526664733887, "step": 517 }, { "epoch": 4.930496215820313e-08, "step": 517, "training_step_time": 17.60320734977722 }, { "epoch": 4.940032958984375e-08, "model_forward_time": 5.127213716506958, "step": 518 }, { "epoch": 4.940032958984375e-08, "step": 518, "training_step_time": 17.602866411209106 }, { "epoch": 4.9495697021484377e-08, "model_forward_time": 5.1110520362854, "step": 519 }, { "epoch": 4.9495697021484377e-08, "step": 519, "training_step_time": 17.43750500679016 }, { "epoch": 4.9591064453125e-08, "grad_norm": 2.6111202239990234, "learning_rate": 1.4828571428571431e-06, "loss": 0.2802, "step": 520 }, { "epoch": 4.9591064453125e-08, "model_forward_time": 3.8831889629364014, "step": 520 }, { "dynamics_loss_avg": 0.050337748043239115, "epoch": 4.9591064453125e-08, "step": 520 }, { "action_loss_avg": 0.25258572548627856, "epoch": 4.9591064453125e-08, "step": 520 }, { "arm_loss_avg": 0.2857282593846321, "epoch": 4.9591064453125e-08, "step": 520 }, { "ee_loss_avg": 0.9107817143201828, "epoch": 4.9591064453125e-08, "step": 520 }, { "aux_loss_avg": 0.013385285972617567, "epoch": 4.9591064453125e-08, "step": 520 }, { "epoch": 4.9591064453125e-08, "step": 520, "training_step_time": 17.77389883995056 }, { "epoch": 4.9686431884765625e-08, "model_forward_time": 5.074416875839233, "step": 521 }, { "epoch": 4.9686431884765625e-08, "step": 521, "training_step_time": 17.551893711090088 }, { "epoch": 4.978179931640625e-08, "model_forward_time": 5.335098743438721, "step": 522 }, { "epoch": 4.978179931640625e-08, "step": 522, "training_step_time": 17.440781593322754 }, { "epoch": 4.9877166748046874e-08, "model_forward_time": 5.088464021682739, "step": 523 }, { "epoch": 4.9877166748046874e-08, "step": 523, "training_step_time": 17.36561393737793 }, { "epoch": 4.99725341796875e-08, "model_forward_time": 5.100000858306885, "step": 524 }, { "epoch": 4.99725341796875e-08, "step": 524, "training_step_time": 17.458584547042847 }, { "epoch": 5.006790161132812e-08, "model_forward_time": 5.105675935745239, "step": 525 }, { "epoch": 5.006790161132812e-08, "step": 525, "training_step_time": 17.765486478805542 }, { "epoch": 5.016326904296875e-08, "model_forward_time": 5.1034698486328125, "step": 526 }, { "epoch": 5.016326904296875e-08, "step": 526, "training_step_time": 17.613519430160522 }, { "epoch": 5.025863647460937e-08, "model_forward_time": 5.1089088916778564, "step": 527 }, { "epoch": 5.025863647460937e-08, "step": 527, "training_step_time": 17.63820743560791 }, { "epoch": 5.035400390625e-08, "model_forward_time": 5.106359004974365, "step": 528 }, { "epoch": 5.035400390625e-08, "step": 528, "training_step_time": 17.664511919021606 }, { "epoch": 5.044937133789063e-08, "model_forward_time": 5.108092308044434, "step": 529 }, { "epoch": 5.044937133789063e-08, "step": 529, "training_step_time": 17.68356204032898 }, { "epoch": 5.054473876953125e-08, "grad_norm": 4.229331016540527, "learning_rate": 1.5114285714285714e-06, "loss": 0.2952, "step": 530 }, { "epoch": 5.054473876953125e-08, "model_forward_time": 5.10532021522522, "step": 530 }, { "dynamics_loss_avg": 0.04611102286726236, "epoch": 5.054473876953125e-08, "step": 530 }, { "action_loss_avg": 0.22362500801682472, "epoch": 5.054473876953125e-08, "step": 530 }, { "arm_loss_avg": 0.30499071925878524, "epoch": 5.054473876953125e-08, "step": 530 }, { "ee_loss_avg": 0.7770900458097458, "epoch": 5.054473876953125e-08, "step": 530 }, { "aux_loss_avg": 0.035513454815372825, "epoch": 5.054473876953125e-08, "step": 530 }, { "epoch": 5.054473876953125e-08, "step": 530, "training_step_time": 17.879806995391846 }, { "epoch": 5.0640106201171876e-08, "model_forward_time": 3.8711674213409424, "step": 531 }, { "epoch": 5.0640106201171876e-08, "step": 531, "training_step_time": 17.68809199333191 }, { "epoch": 5.07354736328125e-08, "model_forward_time": 4.0893731117248535, "step": 532 }, { "epoch": 5.07354736328125e-08, "step": 532, "training_step_time": 17.658159255981445 }, { "epoch": 5.0830841064453125e-08, "model_forward_time": 5.066619396209717, "step": 533 }, { "epoch": 5.0830841064453125e-08, "step": 533, "training_step_time": 17.63833785057068 }, { "epoch": 5.092620849609375e-08, "model_forward_time": 5.078501462936401, "step": 534 }, { "epoch": 5.092620849609375e-08, "step": 534, "training_step_time": 17.8797025680542 }, { "epoch": 5.1021575927734374e-08, "model_forward_time": 5.098212957382202, "step": 535 }, { "epoch": 5.1021575927734374e-08, "step": 535, "training_step_time": 17.50974416732788 }, { "epoch": 5.1116943359375e-08, "model_forward_time": 5.1132519245147705, "step": 536 }, { "epoch": 5.1116943359375e-08, "step": 536, "training_step_time": 17.594733715057373 }, { "epoch": 5.121231079101562e-08, "model_forward_time": 5.352073907852173, "step": 537 }, { "epoch": 5.121231079101562e-08, "step": 537, "training_step_time": 17.561543464660645 }, { "epoch": 5.130767822265625e-08, "model_forward_time": 5.130162000656128, "step": 538 }, { "epoch": 5.130767822265625e-08, "step": 538, "training_step_time": 17.613999843597412 }, { "epoch": 5.140304565429688e-08, "model_forward_time": 5.1286914348602295, "step": 539 }, { "epoch": 5.140304565429688e-08, "step": 539, "training_step_time": 17.61945366859436 }, { "epoch": 5.14984130859375e-08, "grad_norm": 2.731081962585449, "learning_rate": 1.54e-06, "loss": 0.2624, "step": 540 }, { "epoch": 5.14984130859375e-08, "model_forward_time": 5.116624593734741, "step": 540 }, { "dynamics_loss_avg": 0.03709505703300238, "epoch": 5.14984130859375e-08, "step": 540 }, { "action_loss_avg": 0.2225120931863785, "epoch": 5.14984130859375e-08, "step": 540 }, { "arm_loss_avg": 0.2943845927715302, "epoch": 5.14984130859375e-08, "step": 540 }, { "ee_loss_avg": 0.892796428501606, "epoch": 5.14984130859375e-08, "step": 540 }, { "aux_loss_avg": 0.005230749119073152, "epoch": 5.14984130859375e-08, "step": 540 }, { "epoch": 5.14984130859375e-08, "step": 540, "training_step_time": 17.864325761795044 }, { "epoch": 5.159378051757813e-08, "model_forward_time": 5.106391191482544, "step": 541 }, { "epoch": 5.159378051757813e-08, "step": 541, "training_step_time": 17.68441414833069 }, { "epoch": 5.168914794921875e-08, "model_forward_time": 5.105541229248047, "step": 542 }, { "epoch": 5.168914794921875e-08, "step": 542, "training_step_time": 17.644588947296143 }, { "epoch": 5.1784515380859376e-08, "model_forward_time": 5.100583791732788, "step": 543 }, { "epoch": 5.1784515380859376e-08, "step": 543, "training_step_time": 17.644834280014038 }, { "epoch": 5.18798828125e-08, "model_forward_time": 5.102309465408325, "step": 544 }, { "epoch": 5.18798828125e-08, "step": 544, "training_step_time": 17.876407384872437 }, { "epoch": 5.1975250244140625e-08, "model_forward_time": 5.10282564163208, "step": 545 }, { "epoch": 5.1975250244140625e-08, "step": 545, "training_step_time": 17.643909692764282 }, { "epoch": 5.207061767578125e-08, "model_forward_time": 5.096752166748047, "step": 546 }, { "epoch": 5.207061767578125e-08, "step": 546, "training_step_time": 17.645830154418945 }, { "epoch": 5.2165985107421874e-08, "model_forward_time": 5.096354961395264, "step": 547 }, { "epoch": 5.2165985107421874e-08, "step": 547, "training_step_time": 17.635469913482666 }, { "epoch": 5.22613525390625e-08, "model_forward_time": 5.097799301147461, "step": 548 }, { "epoch": 5.22613525390625e-08, "step": 548, "training_step_time": 17.62164068222046 }, { "epoch": 5.235671997070312e-08, "model_forward_time": 5.101030349731445, "step": 549 }, { "epoch": 5.235671997070312e-08, "step": 549, "training_step_time": 17.84711265563965 }, { "epoch": 5.245208740234375e-08, "grad_norm": 2.8133678436279297, "learning_rate": 1.5685714285714288e-06, "loss": 0.2776, "step": 550 }, { "epoch": 5.245208740234375e-08, "model_forward_time": 5.098276376724243, "step": 550 }, { "dynamics_loss_avg": 0.047458024322986604, "epoch": 5.245208740234375e-08, "step": 550 }, { "action_loss_avg": 0.20796328820288182, "epoch": 5.245208740234375e-08, "step": 550 }, { "arm_loss_avg": 0.2354443922638893, "epoch": 5.245208740234375e-08, "step": 550 }, { "ee_loss_avg": 0.6622964262962341, "epoch": 5.245208740234375e-08, "step": 550 }, { "aux_loss_avg": 0.006228353455662727, "epoch": 5.245208740234375e-08, "step": 550 }, { "epoch": 5.245208740234375e-08, "step": 550, "training_step_time": 17.60410761833191 }, { "epoch": 5.254745483398438e-08, "model_forward_time": 5.101756572723389, "step": 551 }, { "epoch": 5.254745483398438e-08, "step": 551, "training_step_time": 17.617106676101685 }, { "epoch": 5.2642822265625e-08, "model_forward_time": 5.106236457824707, "step": 552 }, { "epoch": 5.2642822265625e-08, "step": 552, "training_step_time": 17.621458768844604 }, { "epoch": 5.273818969726563e-08, "model_forward_time": 5.101693391799927, "step": 553 }, { "epoch": 5.273818969726563e-08, "step": 553, "training_step_time": 17.619395971298218 }, { "epoch": 5.283355712890625e-08, "model_forward_time": 5.101709365844727, "step": 554 }, { "epoch": 5.283355712890625e-08, "step": 554, "training_step_time": 17.855875492095947 }, { "epoch": 5.2928924560546876e-08, "model_forward_time": 5.098392724990845, "step": 555 }, { "epoch": 5.2928924560546876e-08, "step": 555, "training_step_time": 17.615001678466797 }, { "epoch": 5.30242919921875e-08, "model_forward_time": 5.300438165664673, "step": 556 }, { "epoch": 5.30242919921875e-08, "step": 556, "training_step_time": 17.643126726150513 }, { "epoch": 5.3119659423828125e-08, "model_forward_time": 5.106399774551392, "step": 557 }, { "epoch": 5.3119659423828125e-08, "step": 557, "training_step_time": 17.61799669265747 }, { "epoch": 5.321502685546875e-08, "model_forward_time": 5.1053595542907715, "step": 558 }, { "epoch": 5.321502685546875e-08, "step": 558, "training_step_time": 17.61566472053528 }, { "epoch": 5.3310394287109373e-08, "model_forward_time": 5.097307205200195, "step": 559 }, { "epoch": 5.3310394287109373e-08, "step": 559, "training_step_time": 17.857909679412842 }, { "epoch": 5.340576171875e-08, "grad_norm": 1.131945252418518, "learning_rate": 1.5971428571428575e-06, "loss": 0.247, "step": 560 }, { "epoch": 5.340576171875e-08, "model_forward_time": 5.101592540740967, "step": 560 }, { "dynamics_loss_avg": 0.041403975803405046, "epoch": 5.340576171875e-08, "step": 560 }, { "action_loss_avg": 0.21052987538278103, "epoch": 5.340576171875e-08, "step": 560 }, { "arm_loss_avg": 0.2739065229892731, "epoch": 5.340576171875e-08, "step": 560 }, { "ee_loss_avg": 0.8766142733395099, "epoch": 5.340576171875e-08, "step": 560 }, { "aux_loss_avg": 0.012714294018223882, "epoch": 5.340576171875e-08, "step": 560 }, { "epoch": 5.340576171875e-08, "step": 560, "training_step_time": 17.622087240219116 }, { "epoch": 5.350112915039062e-08, "model_forward_time": 4.054893970489502, "step": 561 }, { "epoch": 5.350112915039062e-08, "step": 561, "training_step_time": 17.6365225315094 }, { "epoch": 5.359649658203125e-08, "model_forward_time": 5.069244623184204, "step": 562 }, { "epoch": 5.359649658203125e-08, "step": 562, "training_step_time": 17.63173007965088 }, { "epoch": 5.369186401367188e-08, "model_forward_time": 5.089457035064697, "step": 563 }, { "epoch": 5.369186401367188e-08, "step": 563, "training_step_time": 17.616283893585205 }, { "epoch": 5.37872314453125e-08, "model_forward_time": 3.867344379425049, "step": 564 }, { "epoch": 5.37872314453125e-08, "step": 564, "training_step_time": 17.848448514938354 }, { "epoch": 5.3882598876953127e-08, "model_forward_time": 5.083105564117432, "step": 565 }, { "epoch": 5.3882598876953127e-08, "step": 565, "training_step_time": 17.607158660888672 }, { "epoch": 5.397796630859375e-08, "model_forward_time": 5.093955993652344, "step": 566 }, { "epoch": 5.397796630859375e-08, "step": 566, "training_step_time": 17.61014485359192 }, { "epoch": 5.4073333740234375e-08, "model_forward_time": 5.318379878997803, "step": 567 }, { "epoch": 5.4073333740234375e-08, "step": 567, "training_step_time": 17.614603757858276 }, { "epoch": 5.4168701171875e-08, "model_forward_time": 5.111947059631348, "step": 568 }, { "epoch": 5.4168701171875e-08, "step": 568, "training_step_time": 17.612746238708496 }, { "epoch": 5.4264068603515624e-08, "model_forward_time": 5.1180315017700195, "step": 569 }, { "epoch": 5.4264068603515624e-08, "step": 569, "training_step_time": 17.825090646743774 }, { "epoch": 5.435943603515625e-08, "grad_norm": 2.761049270629883, "learning_rate": 1.6257142857142857e-06, "loss": 0.3387, "step": 570 }, { "epoch": 5.435943603515625e-08, "model_forward_time": 3.8706326484680176, "step": 570 }, { "dynamics_loss_avg": 0.04679377153515816, "epoch": 5.435943603515625e-08, "step": 570 }, { "action_loss_avg": 0.2624498173594475, "epoch": 5.435943603515625e-08, "step": 570 }, { "arm_loss_avg": 0.2781619936227798, "epoch": 5.435943603515625e-08, "step": 570 }, { "ee_loss_avg": 0.8470337077975273, "epoch": 5.435943603515625e-08, "step": 570 }, { "aux_loss_avg": 0.005511798127554357, "epoch": 5.435943603515625e-08, "step": 570 }, { "epoch": 5.435943603515625e-08, "step": 570, "training_step_time": 17.604272842407227 }, { "epoch": 5.445480346679687e-08, "model_forward_time": 3.8453218936920166, "step": 571 }, { "epoch": 5.445480346679687e-08, "step": 571, "training_step_time": 17.617387294769287 }, { "epoch": 5.45501708984375e-08, "model_forward_time": 5.307756423950195, "step": 572 }, { "epoch": 5.45501708984375e-08, "step": 572, "training_step_time": 17.698025941848755 }, { "epoch": 5.464553833007812e-08, "model_forward_time": 3.845296621322632, "step": 573 }, { "epoch": 5.464553833007812e-08, "step": 573, "training_step_time": 17.61923599243164 }, { "epoch": 5.474090576171875e-08, "model_forward_time": 5.071351051330566, "step": 574 }, { "epoch": 5.474090576171875e-08, "step": 574, "training_step_time": 17.862903833389282 }, { "epoch": 5.483627319335938e-08, "model_forward_time": 5.094111204147339, "step": 575 }, { "epoch": 5.483627319335938e-08, "step": 575, "training_step_time": 17.601436853408813 }, { "epoch": 5.4931640625e-08, "model_forward_time": 5.106963872909546, "step": 576 }, { "epoch": 5.4931640625e-08, "step": 576, "training_step_time": 17.690735578536987 }, { "epoch": 5.5027008056640626e-08, "model_forward_time": 5.309169769287109, "step": 577 }, { "epoch": 5.5027008056640626e-08, "step": 577, "training_step_time": 17.597235679626465 }, { "epoch": 5.512237548828125e-08, "model_forward_time": 5.12161922454834, "step": 578 }, { "epoch": 5.512237548828125e-08, "step": 578, "training_step_time": 17.60188055038452 }, { "epoch": 5.5217742919921875e-08, "model_forward_time": 5.117119550704956, "step": 579 }, { "epoch": 5.5217742919921875e-08, "step": 579, "training_step_time": 17.826483964920044 }, { "epoch": 5.53131103515625e-08, "grad_norm": 3.2367613315582275, "learning_rate": 1.6542857142857144e-06, "loss": 0.2734, "step": 580 }, { "epoch": 5.53131103515625e-08, "model_forward_time": 5.112552165985107, "step": 580 }, { "dynamics_loss_avg": 0.046966828778386115, "epoch": 5.53131103515625e-08, "step": 580 }, { "action_loss_avg": 0.20854567587375641, "epoch": 5.53131103515625e-08, "step": 580 }, { "arm_loss_avg": 0.2617478907108307, "epoch": 5.53131103515625e-08, "step": 580 }, { "ee_loss_avg": 0.6756937339901924, "epoch": 5.53131103515625e-08, "step": 580 }, { "aux_loss_avg": 0.020794617081992327, "epoch": 5.53131103515625e-08, "step": 580 }, { "epoch": 5.53131103515625e-08, "step": 580, "training_step_time": 17.615344762802124 }, { "epoch": 5.5408477783203124e-08, "model_forward_time": 5.1072468757629395, "step": 581 }, { "epoch": 5.5408477783203124e-08, "step": 581, "training_step_time": 17.606420755386353 }, { "epoch": 5.550384521484375e-08, "model_forward_time": 5.342924118041992, "step": 582 }, { "epoch": 5.550384521484375e-08, "step": 582, "training_step_time": 17.658170461654663 }, { "epoch": 5.559921264648437e-08, "model_forward_time": 5.0960917472839355, "step": 583 }, { "epoch": 5.559921264648437e-08, "step": 583, "training_step_time": 17.601287364959717 }, { "epoch": 5.5694580078125e-08, "model_forward_time": 5.095392465591431, "step": 584 }, { "epoch": 5.5694580078125e-08, "step": 584, "training_step_time": 17.829853773117065 }, { "epoch": 5.578994750976563e-08, "model_forward_time": 5.098308324813843, "step": 585 }, { "epoch": 5.578994750976563e-08, "step": 585, "training_step_time": 17.595304250717163 }, { "epoch": 5.588531494140625e-08, "model_forward_time": 5.094353675842285, "step": 586 }, { "epoch": 5.588531494140625e-08, "step": 586, "training_step_time": 17.589300394058228 }, { "epoch": 5.598068237304688e-08, "model_forward_time": 5.321172475814819, "step": 587 }, { "epoch": 5.598068237304688e-08, "step": 587, "training_step_time": 17.59795117378235 }, { "epoch": 5.60760498046875e-08, "model_forward_time": 5.100976228713989, "step": 588 }, { "epoch": 5.60760498046875e-08, "step": 588, "training_step_time": 17.267962217330933 }, { "epoch": 5.6171417236328126e-08, "model_forward_time": 5.101422548294067, "step": 589 }, { "epoch": 5.6171417236328126e-08, "step": 589, "training_step_time": 17.319625854492188 }, { "epoch": 5.626678466796875e-08, "grad_norm": 4.024402618408203, "learning_rate": 1.6828571428571431e-06, "loss": 0.2816, "step": 590 }, { "epoch": 5.626678466796875e-08, "model_forward_time": 5.097017049789429, "step": 590 }, { "dynamics_loss_avg": 0.04722503870725632, "epoch": 5.626678466796875e-08, "step": 590 }, { "action_loss_avg": 0.21720293276011943, "epoch": 5.626678466796875e-08, "step": 590 }, { "arm_loss_avg": 0.24464586079120637, "epoch": 5.626678466796875e-08, "step": 590 }, { "ee_loss_avg": 0.5688871994614602, "epoch": 5.626678466796875e-08, "step": 590 }, { "aux_loss_avg": 0.008761376305483282, "epoch": 5.626678466796875e-08, "step": 590 }, { "epoch": 5.626678466796875e-08, "step": 590, "training_step_time": 17.661570072174072 }, { "epoch": 5.6362152099609375e-08, "model_forward_time": 5.094301700592041, "step": 591 }, { "epoch": 5.6362152099609375e-08, "step": 591, "training_step_time": 17.51853632926941 }, { "epoch": 5.645751953125e-08, "model_forward_time": 5.1020824909210205, "step": 592 }, { "epoch": 5.645751953125e-08, "step": 592, "training_step_time": 17.680485486984253 }, { "epoch": 5.6552886962890624e-08, "model_forward_time": 5.107736825942993, "step": 593 }, { "epoch": 5.6552886962890624e-08, "step": 593, "training_step_time": 17.606067895889282 }, { "epoch": 5.664825439453125e-08, "model_forward_time": 5.10341215133667, "step": 594 }, { "epoch": 5.664825439453125e-08, "step": 594, "training_step_time": 17.863757133483887 }, { "epoch": 5.674362182617187e-08, "model_forward_time": 5.100912809371948, "step": 595 }, { "epoch": 5.674362182617187e-08, "step": 595, "training_step_time": 17.65048336982727 }, { "epoch": 5.68389892578125e-08, "model_forward_time": 5.295681476593018, "step": 596 }, { "epoch": 5.68389892578125e-08, "step": 596, "training_step_time": 17.65231728553772 }, { "epoch": 5.693435668945313e-08, "model_forward_time": 5.103233337402344, "step": 597 }, { "epoch": 5.693435668945313e-08, "step": 597, "training_step_time": 17.658637762069702 }, { "epoch": 5.702972412109375e-08, "model_forward_time": 5.100829601287842, "step": 598 }, { "epoch": 5.702972412109375e-08, "step": 598, "training_step_time": 17.65489673614502 }, { "epoch": 5.712509155273438e-08, "model_forward_time": 5.103821277618408, "step": 599 }, { "epoch": 5.712509155273438e-08, "step": 599, "training_step_time": 17.858088493347168 }, { "epoch": 5.7220458984375e-08, "grad_norm": 2.15415096282959, "learning_rate": 1.7114285714285716e-06, "loss": 0.2951, "step": 600 }, { "epoch": 5.7220458984375e-08, "model_forward_time": 5.101571321487427, "step": 600 }, { "dynamics_loss_avg": 0.05171034918166697, "epoch": 5.7220458984375e-08, "step": 600 }, { "action_loss_avg": 0.22503527011722327, "epoch": 5.7220458984375e-08, "step": 600 }, { "arm_loss_avg": 0.23033970296382905, "epoch": 5.7220458984375e-08, "step": 600 }, { "ee_loss_avg": 0.6075545594096183, "epoch": 5.7220458984375e-08, "step": 600 }, { "aux_loss_avg": 0.02220974417286925, "epoch": 5.7220458984375e-08, "step": 600 }, { "epoch": 5.7220458984375e-08, "step": 600, "training_step_time": 17.411399126052856 }, { "epoch": 5.7315826416015626e-08, "model_forward_time": 5.373303651809692, "step": 601 }, { "epoch": 5.7315826416015626e-08, "step": 601, "training_step_time": 17.646881103515625 }, { "epoch": 5.741119384765625e-08, "model_forward_time": 5.112696170806885, "step": 602 }, { "epoch": 5.741119384765625e-08, "step": 602, "training_step_time": 17.58453106880188 }, { "epoch": 5.7506561279296874e-08, "model_forward_time": 5.104381322860718, "step": 603 }, { "epoch": 5.7506561279296874e-08, "step": 603, "training_step_time": 17.600306510925293 }, { "epoch": 5.76019287109375e-08, "model_forward_time": 5.105620861053467, "step": 604 }, { "epoch": 5.76019287109375e-08, "step": 604, "training_step_time": 17.634588718414307 }, { "epoch": 5.769729614257812e-08, "model_forward_time": 3.8722097873687744, "step": 605 }, { "epoch": 5.769729614257812e-08, "step": 605, "training_step_time": 17.870599508285522 }, { "epoch": 5.779266357421875e-08, "model_forward_time": 3.8396496772766113, "step": 606 }, { "epoch": 5.779266357421875e-08, "step": 606, "training_step_time": 17.646278619766235 }, { "epoch": 5.788803100585937e-08, "model_forward_time": 4.087736368179321, "step": 607 }, { "epoch": 5.788803100585937e-08, "step": 607, "training_step_time": 17.630645751953125 }, { "epoch": 5.79833984375e-08, "model_forward_time": 5.061755657196045, "step": 608 }, { "epoch": 5.79833984375e-08, "step": 608, "training_step_time": 17.634681463241577 }, { "epoch": 5.807876586914063e-08, "model_forward_time": 5.079320907592773, "step": 609 }, { "epoch": 5.807876586914063e-08, "step": 609, "training_step_time": 17.611846446990967 }, { "epoch": 5.817413330078125e-08, "grad_norm": 2.4785220623016357, "learning_rate": 1.74e-06, "loss": 0.2953, "step": 610 }, { "epoch": 5.817413330078125e-08, "model_forward_time": 3.865278959274292, "step": 610 }, { "dynamics_loss_avg": 0.060152488946914676, "epoch": 5.817413330078125e-08, "step": 610 }, { "action_loss_avg": 0.20361064225435258, "epoch": 5.817413330078125e-08, "step": 610 }, { "arm_loss_avg": 0.23656654804944993, "epoch": 5.817413330078125e-08, "step": 610 }, { "ee_loss_avg": 0.45709669440984724, "epoch": 5.817413330078125e-08, "step": 610 }, { "aux_loss_avg": 0.016553633101284503, "epoch": 5.817413330078125e-08, "step": 610 }, { "epoch": 5.817413330078125e-08, "step": 610, "training_step_time": 17.80493426322937 }, { "epoch": 5.8269500732421876e-08, "model_forward_time": 5.088601589202881, "step": 611 }, { "epoch": 5.8269500732421876e-08, "step": 611, "training_step_time": 17.66660761833191 }, { "epoch": 5.83648681640625e-08, "model_forward_time": 5.357013702392578, "step": 612 }, { "epoch": 5.83648681640625e-08, "step": 612, "training_step_time": 17.58913516998291 }, { "epoch": 5.8460235595703125e-08, "model_forward_time": 5.125831365585327, "step": 613 }, { "epoch": 5.8460235595703125e-08, "step": 613, "training_step_time": 17.599921703338623 }, { "epoch": 5.855560302734375e-08, "model_forward_time": 5.122192859649658, "step": 614 }, { "epoch": 5.855560302734375e-08, "step": 614, "training_step_time": 17.843034267425537 }, { "epoch": 5.8650970458984374e-08, "model_forward_time": 5.1143481731414795, "step": 615 }, { "epoch": 5.8650970458984374e-08, "step": 615, "training_step_time": 17.613869190216064 }, { "epoch": 5.8746337890625e-08, "model_forward_time": 5.1035449504852295, "step": 616 }, { "epoch": 5.8746337890625e-08, "step": 616, "training_step_time": 17.61629605293274 }, { "epoch": 5.884170532226562e-08, "model_forward_time": 5.3164472579956055, "step": 617 }, { "epoch": 5.884170532226562e-08, "step": 617, "training_step_time": 17.62945818901062 }, { "epoch": 5.893707275390625e-08, "model_forward_time": 5.107665777206421, "step": 618 }, { "epoch": 5.893707275390625e-08, "step": 618, "training_step_time": 17.631951808929443 }, { "epoch": 5.903244018554687e-08, "model_forward_time": 5.114924907684326, "step": 619 }, { "epoch": 5.903244018554687e-08, "step": 619, "training_step_time": 17.845643520355225 }, { "epoch": 5.91278076171875e-08, "grad_norm": 3.1076295375823975, "learning_rate": 1.7685714285714288e-06, "loss": 0.2913, "step": 620 }, { "epoch": 5.91278076171875e-08, "model_forward_time": 5.101930856704712, "step": 620 }, { "dynamics_loss_avg": 0.050100220600143075, "epoch": 5.91278076171875e-08, "step": 620 }, { "action_loss_avg": 0.2501648455858231, "epoch": 5.91278076171875e-08, "step": 620 }, { "arm_loss_avg": 0.2684898301959038, "epoch": 5.91278076171875e-08, "step": 620 }, { "ee_loss_avg": 0.7672586724162102, "epoch": 5.91278076171875e-08, "step": 620 }, { "aux_loss_avg": 0.009605678985826671, "epoch": 5.91278076171875e-08, "step": 620 }, { "epoch": 5.91278076171875e-08, "step": 620, "training_step_time": 17.627041816711426 }, { "epoch": 5.922317504882813e-08, "model_forward_time": 5.097111225128174, "step": 621 }, { "epoch": 5.922317504882813e-08, "step": 621, "training_step_time": 17.64245843887329 }, { "epoch": 5.931854248046875e-08, "model_forward_time": 5.340129613876343, "step": 622 }, { "epoch": 5.931854248046875e-08, "step": 622, "training_step_time": 17.468446493148804 }, { "epoch": 5.9413909912109376e-08, "model_forward_time": 3.8752715587615967, "step": 623 }, { "epoch": 5.9413909912109376e-08, "step": 623, "training_step_time": 17.518372058868408 }, { "epoch": 5.950927734375e-08, "model_forward_time": 5.077669143676758, "step": 624 }, { "epoch": 5.950927734375e-08, "step": 624, "training_step_time": 17.57596516609192 }, { "epoch": 5.960464477539063e-08, "model_forward_time": 5.086856842041016, "step": 625 }, { "epoch": 5.960464477539063e-08, "step": 625, "training_step_time": 17.834247589111328 }, { "epoch": 5.970001220703125e-08, "model_forward_time": 5.095608472824097, "step": 626 }, { "epoch": 5.970001220703125e-08, "step": 626, "training_step_time": 17.458348035812378 }, { "epoch": 5.979537963867188e-08, "model_forward_time": 5.312201499938965, "step": 627 }, { "epoch": 5.979537963867188e-08, "step": 627, "training_step_time": 17.601267337799072 }, { "epoch": 5.98907470703125e-08, "model_forward_time": 5.107372045516968, "step": 628 }, { "epoch": 5.98907470703125e-08, "step": 628, "training_step_time": 17.60003972053528 }, { "epoch": 5.998611450195312e-08, "model_forward_time": 5.105693578720093, "step": 629 }, { "epoch": 5.998611450195312e-08, "step": 629, "training_step_time": 17.412484884262085 }, { "epoch": 6.008148193359375e-08, "grad_norm": 2.609947443008423, "learning_rate": 1.7971428571428572e-06, "loss": 0.2566, "step": 630 }, { "epoch": 6.008148193359375e-08, "model_forward_time": 5.111186504364014, "step": 630 }, { "dynamics_loss_avg": 0.03687731893733144, "epoch": 6.008148193359375e-08, "step": 630 }, { "action_loss_avg": 0.18530027344822883, "epoch": 6.008148193359375e-08, "step": 630 }, { "arm_loss_avg": 0.26115279123187063, "epoch": 6.008148193359375e-08, "step": 630 }, { "ee_loss_avg": 0.6257257580757141, "epoch": 6.008148193359375e-08, "step": 630 }, { "aux_loss_avg": 0.010268836561590434, "epoch": 6.008148193359375e-08, "step": 630 }, { "epoch": 6.008148193359375e-08, "step": 630, "training_step_time": 17.431358098983765 }, { "epoch": 6.017684936523438e-08, "model_forward_time": 5.111758708953857, "step": 631 }, { "epoch": 6.017684936523438e-08, "step": 631, "training_step_time": 17.64303493499756 }, { "epoch": 6.0272216796875e-08, "model_forward_time": 5.329732418060303, "step": 632 }, { "epoch": 6.0272216796875e-08, "step": 632, "training_step_time": 17.561028003692627 }, { "epoch": 6.036758422851562e-08, "model_forward_time": 3.859408378601074, "step": 633 }, { "epoch": 6.036758422851562e-08, "step": 633, "training_step_time": 17.602858066558838 }, { "epoch": 6.046295166015625e-08, "model_forward_time": 5.0668065547943115, "step": 634 }, { "epoch": 6.046295166015625e-08, "step": 634, "training_step_time": 17.659071445465088 }, { "epoch": 6.055831909179688e-08, "model_forward_time": 5.072806119918823, "step": 635 }, { "epoch": 6.055831909179688e-08, "step": 635, "training_step_time": 17.94709539413452 }, { "epoch": 6.06536865234375e-08, "model_forward_time": 5.254554748535156, "step": 636 }, { "epoch": 6.06536865234375e-08, "step": 636, "training_step_time": 19.113022327423096 }, { "epoch": 6.074905395507813e-08, "model_forward_time": 7.878054141998291, "step": 637 }, { "epoch": 6.074905395507813e-08, "step": 637, "training_step_time": 24.441777229309082 }, { "epoch": 6.084442138671875e-08, "model_forward_time": 7.523267984390259, "step": 638 }, { "epoch": 6.084442138671875e-08, "step": 638, "training_step_time": 26.50913643836975 }, { "epoch": 6.093978881835937e-08, "model_forward_time": 5.7519447803497314, "step": 639 }, { "epoch": 6.093978881835937e-08, "step": 639, "training_step_time": 25.21805691719055 }, { "epoch": 6.103515625e-08, "grad_norm": 1.8146966695785522, "learning_rate": 1.825714285714286e-06, "loss": 0.2743, "step": 640 }, { "epoch": 6.103515625e-08, "model_forward_time": 6.139720439910889, "step": 640 }, { "dynamics_loss_avg": 0.039822724042460324, "epoch": 6.103515625e-08, "step": 640 }, { "action_loss_avg": 0.27352392934262754, "epoch": 6.103515625e-08, "step": 640 }, { "arm_loss_avg": 0.2677210085093975, "epoch": 6.103515625e-08, "step": 640 }, { "ee_loss_avg": 0.9142770253121852, "epoch": 6.103515625e-08, "step": 640 }, { "aux_loss_avg": 0.004847292951308191, "epoch": 6.103515625e-08, "step": 640 }, { "epoch": 6.103515625e-08, "step": 640, "training_step_time": 25.37303352355957 }, { "epoch": 6.113052368164063e-08, "model_forward_time": 7.522037029266357, "step": 641 }, { "epoch": 6.113052368164063e-08, "step": 641, "training_step_time": 26.09011960029602 }, { "epoch": 6.122589111328124e-08, "model_forward_time": 8.712610960006714, "step": 642 }, { "epoch": 6.122589111328124e-08, "step": 642, "training_step_time": 26.59641981124878 }, { "epoch": 6.132125854492187e-08, "model_forward_time": 8.66223955154419, "step": 643 }, { "epoch": 6.132125854492187e-08, "step": 643, "training_step_time": 25.705817461013794 }, { "epoch": 6.14166259765625e-08, "model_forward_time": 8.378989696502686, "step": 644 }, { "epoch": 6.14166259765625e-08, "step": 644, "training_step_time": 26.954301357269287 }, { "epoch": 6.151199340820313e-08, "model_forward_time": 8.130157709121704, "step": 645 }, { "epoch": 6.151199340820313e-08, "step": 645, "training_step_time": 25.11158800125122 }, { "epoch": 6.160736083984375e-08, "model_forward_time": 7.697590351104736, "step": 646 }, { "epoch": 6.160736083984375e-08, "step": 646, "training_step_time": 25.62933921813965 }, { "epoch": 6.170272827148437e-08, "model_forward_time": 8.088711023330688, "step": 647 }, { "epoch": 6.170272827148437e-08, "step": 647, "training_step_time": 27.297285318374634 }, { "epoch": 6.1798095703125e-08, "model_forward_time": 6.399551630020142, "step": 648 }, { "epoch": 6.1798095703125e-08, "step": 648, "training_step_time": 25.733113288879395 }, { "epoch": 6.189346313476562e-08, "model_forward_time": 7.767103672027588, "step": 649 }, { "epoch": 6.189346313476562e-08, "step": 649, "training_step_time": 26.53725004196167 }, { "epoch": 6.198883056640625e-08, "grad_norm": 3.264115571975708, "learning_rate": 1.8542857142857142e-06, "loss": 0.2695, "step": 650 }, { "epoch": 6.198883056640625e-08, "model_forward_time": 7.4374425411224365, "step": 650 }, { "dynamics_loss_avg": 0.041891623940318826, "epoch": 6.198883056640625e-08, "step": 650 }, { "action_loss_avg": 0.23339095413684846, "epoch": 6.198883056640625e-08, "step": 650 }, { "arm_loss_avg": 0.24255719259381295, "epoch": 6.198883056640625e-08, "step": 650 }, { "ee_loss_avg": 0.8925725646317005, "epoch": 6.198883056640625e-08, "step": 650 }, { "aux_loss_avg": 0.012686637020669878, "epoch": 6.198883056640625e-08, "step": 650 }, { "epoch": 6.198883056640625e-08, "step": 650, "training_step_time": 26.34428834915161 }, { "epoch": 6.208419799804688e-08, "model_forward_time": 7.996556758880615, "step": 651 }, { "epoch": 6.208419799804688e-08, "step": 651, "training_step_time": 26.744349241256714 }, { "epoch": 6.21795654296875e-08, "model_forward_time": 8.150436639785767, "step": 652 }, { "epoch": 6.21795654296875e-08, "step": 652, "training_step_time": 26.103511333465576 }, { "epoch": 6.227493286132812e-08, "model_forward_time": 6.489743947982788, "step": 653 }, { "epoch": 6.227493286132812e-08, "step": 653, "training_step_time": 26.027616262435913 }, { "epoch": 6.237030029296875e-08, "model_forward_time": 8.855807065963745, "step": 654 }, { "epoch": 6.237030029296875e-08, "step": 654, "training_step_time": 26.81276822090149 }, { "epoch": 6.246566772460938e-08, "model_forward_time": 7.461802005767822, "step": 655 }, { "epoch": 6.246566772460938e-08, "step": 655, "training_step_time": 26.121336936950684 }, { "epoch": 6.256103515625e-08, "model_forward_time": 8.733785629272461, "step": 656 }, { "epoch": 6.256103515625e-08, "step": 656, "training_step_time": 28.162960052490234 }, { "epoch": 6.265640258789062e-08, "model_forward_time": 7.492300510406494, "step": 657 }, { "epoch": 6.265640258789062e-08, "step": 657, "training_step_time": 26.018940448760986 }, { "epoch": 6.275177001953125e-08, "model_forward_time": 6.537435293197632, "step": 658 }, { "epoch": 6.275177001953125e-08, "step": 658, "training_step_time": 25.848628520965576 }, { "epoch": 6.284713745117188e-08, "model_forward_time": 4.836817979812622, "step": 659 }, { "epoch": 6.284713745117188e-08, "step": 659, "training_step_time": 23.711530208587646 }, { "epoch": 6.29425048828125e-08, "grad_norm": 3.5402708053588867, "learning_rate": 1.8828571428571429e-06, "loss": 0.2821, "step": 660 }, { "epoch": 6.29425048828125e-08, "model_forward_time": 5.474497079849243, "step": 660 }, { "dynamics_loss_avg": 0.0487586522474885, "epoch": 6.29425048828125e-08, "step": 660 }, { "action_loss_avg": 0.2295534312725067, "epoch": 6.29425048828125e-08, "step": 660 }, { "arm_loss_avg": 0.2638655096292496, "epoch": 6.29425048828125e-08, "step": 660 }, { "ee_loss_avg": 0.7744266837835312, "epoch": 6.29425048828125e-08, "step": 660 }, { "aux_loss_avg": 0.009822300262749195, "epoch": 6.29425048828125e-08, "step": 660 }, { "epoch": 6.29425048828125e-08, "step": 660, "training_step_time": 26.833760023117065 }, { "epoch": 6.303787231445313e-08, "model_forward_time": 7.376720190048218, "step": 661 }, { "epoch": 6.303787231445313e-08, "step": 661, "training_step_time": 25.244155168533325 }, { "epoch": 6.313323974609375e-08, "model_forward_time": 7.712672233581543, "step": 662 }, { "epoch": 6.313323974609375e-08, "step": 662, "training_step_time": 27.138736963272095 }, { "epoch": 6.322860717773437e-08, "model_forward_time": 6.565876483917236, "step": 663 }, { "epoch": 6.322860717773437e-08, "step": 663, "training_step_time": 25.61411452293396 }, { "epoch": 6.3323974609375e-08, "model_forward_time": 7.973050355911255, "step": 664 }, { "epoch": 6.3323974609375e-08, "step": 664, "training_step_time": 25.962487936019897 }, { "epoch": 6.341934204101563e-08, "model_forward_time": 7.410104036331177, "step": 665 }, { "epoch": 6.341934204101563e-08, "step": 665, "training_step_time": 27.527925968170166 }, { "epoch": 6.351470947265626e-08, "model_forward_time": 7.32016658782959, "step": 666 }, { "epoch": 6.351470947265626e-08, "step": 666, "training_step_time": 26.327828407287598 }, { "epoch": 6.361007690429687e-08, "model_forward_time": 6.646239519119263, "step": 667 }, { "epoch": 6.361007690429687e-08, "step": 667, "training_step_time": 26.63692331314087 }, { "epoch": 6.37054443359375e-08, "model_forward_time": 8.148797035217285, "step": 668 }, { "epoch": 6.37054443359375e-08, "step": 668, "training_step_time": 25.19350528717041 }, { "epoch": 6.380081176757813e-08, "model_forward_time": 6.487399101257324, "step": 669 }, { "epoch": 6.380081176757813e-08, "step": 669, "training_step_time": 25.271607875823975 }, { "epoch": 6.389617919921875e-08, "grad_norm": 3.9758424758911133, "learning_rate": 1.9114285714285716e-06, "loss": 0.272, "step": 670 }, { "epoch": 6.389617919921875e-08, "model_forward_time": 7.724717617034912, "step": 670 }, { "dynamics_loss_avg": 0.048419263167306784, "epoch": 6.389617919921875e-08, "step": 670 }, { "action_loss_avg": 0.22051382735371589, "epoch": 6.389617919921875e-08, "step": 670 }, { "arm_loss_avg": 0.245541325956583, "epoch": 6.389617919921875e-08, "step": 670 }, { "ee_loss_avg": 0.832040061801672, "epoch": 6.389617919921875e-08, "step": 670 }, { "aux_loss_avg": 0.008221554337069392, "epoch": 6.389617919921875e-08, "step": 670 }, { "epoch": 6.389617919921875e-08, "step": 670, "training_step_time": 26.05816888809204 }, { "epoch": 6.399154663085938e-08, "model_forward_time": 7.091938018798828, "step": 671 }, { "epoch": 6.399154663085938e-08, "step": 671, "training_step_time": 27.640885591506958 }, { "epoch": 6.40869140625e-08, "model_forward_time": 7.0550618171691895, "step": 672 }, { "epoch": 6.40869140625e-08, "step": 672, "training_step_time": 25.315320253372192 }, { "epoch": 6.418228149414062e-08, "model_forward_time": 7.894138813018799, "step": 673 }, { "epoch": 6.418228149414062e-08, "step": 673, "training_step_time": 26.641910552978516 }, { "epoch": 6.427764892578125e-08, "model_forward_time": 7.755861759185791, "step": 674 }, { "epoch": 6.427764892578125e-08, "step": 674, "training_step_time": 25.45266032218933 }, { "epoch": 6.437301635742188e-08, "model_forward_time": 7.295771598815918, "step": 675 }, { "epoch": 6.437301635742188e-08, "step": 675, "training_step_time": 25.916993618011475 }, { "epoch": 6.44683837890625e-08, "model_forward_time": 7.65917181968689, "step": 676 }, { "epoch": 6.44683837890625e-08, "step": 676, "training_step_time": 26.037654399871826 }, { "epoch": 6.456375122070312e-08, "model_forward_time": 7.494333982467651, "step": 677 }, { "epoch": 6.456375122070312e-08, "step": 677, "training_step_time": 26.20430874824524 }, { "epoch": 6.465911865234375e-08, "model_forward_time": 7.415349721908569, "step": 678 }, { "epoch": 6.465911865234375e-08, "step": 678, "training_step_time": 26.44172477722168 }, { "epoch": 6.475448608398438e-08, "model_forward_time": 7.412310838699341, "step": 679 }, { "epoch": 6.475448608398438e-08, "step": 679, "training_step_time": 26.400802612304688 }, { "epoch": 6.4849853515625e-08, "grad_norm": 3.576777458190918, "learning_rate": 1.94e-06, "loss": 0.2813, "step": 680 }, { "epoch": 6.4849853515625e-08, "model_forward_time": 7.53811502456665, "step": 680 }, { "dynamics_loss_avg": 0.050633167009800674, "epoch": 6.4849853515625e-08, "step": 680 }, { "action_loss_avg": 0.20671323612332343, "epoch": 6.4849853515625e-08, "step": 680 }, { "arm_loss_avg": 0.2426893725991249, "epoch": 6.4849853515625e-08, "step": 680 }, { "ee_loss_avg": 0.6057736709713936, "epoch": 6.4849853515625e-08, "step": 680 }, { "aux_loss_avg": 0.009150062757544219, "epoch": 6.4849853515625e-08, "step": 680 }, { "epoch": 6.4849853515625e-08, "step": 680, "training_step_time": 26.028306007385254 }, { "epoch": 6.494522094726562e-08, "model_forward_time": 6.623302698135376, "step": 681 }, { "epoch": 6.494522094726562e-08, "step": 681, "training_step_time": 26.961392879486084 }, { "epoch": 6.504058837890625e-08, "model_forward_time": 5.686495780944824, "step": 682 }, { "epoch": 6.504058837890625e-08, "step": 682, "training_step_time": 25.52994394302368 }, { "epoch": 6.513595581054687e-08, "model_forward_time": 8.14732837677002, "step": 683 }, { "epoch": 6.513595581054687e-08, "step": 683, "training_step_time": 25.62698984146118 }, { "epoch": 6.52313232421875e-08, "model_forward_time": 7.647414207458496, "step": 684 }, { "epoch": 6.52313232421875e-08, "step": 684, "training_step_time": 26.28927516937256 }, { "epoch": 6.532669067382813e-08, "model_forward_time": 7.388079881668091, "step": 685 }, { "epoch": 6.532669067382813e-08, "step": 685, "training_step_time": 26.92328190803528 }, { "epoch": 6.542205810546874e-08, "model_forward_time": 5.391767501831055, "step": 686 }, { "epoch": 6.542205810546874e-08, "step": 686, "training_step_time": 26.33670401573181 }, { "epoch": 6.551742553710937e-08, "model_forward_time": 7.624579906463623, "step": 687 }, { "epoch": 6.551742553710937e-08, "step": 687, "training_step_time": 25.782339811325073 }, { "epoch": 6.561279296875e-08, "model_forward_time": 7.867984294891357, "step": 688 }, { "epoch": 6.561279296875e-08, "step": 688, "training_step_time": 25.674394369125366 }, { "epoch": 6.570816040039063e-08, "model_forward_time": 7.381363868713379, "step": 689 }, { "epoch": 6.570816040039063e-08, "step": 689, "training_step_time": 25.190844774246216 }, { "epoch": 6.580352783203126e-08, "grad_norm": 3.653533697128296, "learning_rate": 1.968571428571429e-06, "loss": 0.2823, "step": 690 }, { "epoch": 6.580352783203126e-08, "model_forward_time": 8.110245704650879, "step": 690 }, { "dynamics_loss_avg": 0.048619911819696424, "epoch": 6.580352783203126e-08, "step": 690 }, { "action_loss_avg": 0.21824275851249694, "epoch": 6.580352783203126e-08, "step": 690 }, { "arm_loss_avg": 0.25750545263290403, "epoch": 6.580352783203126e-08, "step": 690 }, { "ee_loss_avg": 0.5928734131157398, "epoch": 6.580352783203126e-08, "step": 690 }, { "aux_loss_avg": 0.024912130658049137, "epoch": 6.580352783203126e-08, "step": 690 }, { "epoch": 6.580352783203126e-08, "step": 690, "training_step_time": 25.939147233963013 }, { "epoch": 6.589889526367187e-08, "model_forward_time": 7.418626308441162, "step": 691 }, { "epoch": 6.589889526367187e-08, "step": 691, "training_step_time": 27.171592950820923 }, { "epoch": 6.59942626953125e-08, "model_forward_time": 7.984280109405518, "step": 692 }, { "epoch": 6.59942626953125e-08, "step": 692, "training_step_time": 25.593485355377197 }, { "epoch": 6.608963012695313e-08, "model_forward_time": 8.5567786693573, "step": 693 }, { "epoch": 6.608963012695313e-08, "step": 693, "training_step_time": 25.895202159881592 }, { "epoch": 6.618499755859375e-08, "model_forward_time": 7.566575527191162, "step": 694 }, { "epoch": 6.618499755859375e-08, "step": 694, "training_step_time": 24.70937418937683 }, { "epoch": 6.628036499023438e-08, "model_forward_time": 5.374283790588379, "step": 695 }, { "epoch": 6.628036499023438e-08, "step": 695, "training_step_time": 25.504155158996582 }, { "epoch": 6.6375732421875e-08, "model_forward_time": 8.131495952606201, "step": 696 }, { "epoch": 6.6375732421875e-08, "step": 696, "training_step_time": 25.896448373794556 }, { "epoch": 6.647109985351562e-08, "model_forward_time": 7.411667823791504, "step": 697 }, { "epoch": 6.647109985351562e-08, "step": 697, "training_step_time": 25.295375108718872 }, { "epoch": 6.656646728515625e-08, "model_forward_time": 7.407178640365601, "step": 698 }, { "epoch": 6.656646728515625e-08, "step": 698, "training_step_time": 25.94573426246643 }, { "epoch": 6.666183471679688e-08, "model_forward_time": 7.4642863273620605, "step": 699 }, { "epoch": 6.666183471679688e-08, "step": 699, "training_step_time": 25.28844118118286 }, { "epoch": 6.67572021484375e-08, "grad_norm": 3.101093292236328, "learning_rate": 1.997142857142857e-06, "loss": 0.2968, "step": 700 }, { "epoch": 6.67572021484375e-08, "model_forward_time": 5.58850884437561, "step": 700 }, { "dynamics_loss_avg": 0.0511934544891119, "epoch": 6.67572021484375e-08, "step": 700 }, { "action_loss_avg": 0.21696113646030427, "epoch": 6.67572021484375e-08, "step": 700 }, { "arm_loss_avg": 0.24586131721735, "epoch": 6.67572021484375e-08, "step": 700 }, { "ee_loss_avg": 0.6429820463061333, "epoch": 6.67572021484375e-08, "step": 700 }, { "aux_loss_avg": 0.012447092973161489, "epoch": 6.67572021484375e-08, "step": 700 }, { "epoch": 6.67572021484375e-08, "step": 700, "training_step_time": 25.652986764907837 }, { "epoch": 6.685256958007812e-08, "model_forward_time": 7.169318199157715, "step": 701 }, { "epoch": 6.685256958007812e-08, "step": 701, "training_step_time": 25.78135848045349 }, { "epoch": 6.694793701171875e-08, "model_forward_time": 6.696195602416992, "step": 702 }, { "epoch": 6.694793701171875e-08, "step": 702, "training_step_time": 26.16499614715576 }, { "epoch": 6.704330444335938e-08, "model_forward_time": 7.412036180496216, "step": 703 }, { "epoch": 6.704330444335938e-08, "step": 703, "training_step_time": 25.81428074836731 }, { "epoch": 6.7138671875e-08, "model_forward_time": 6.797072410583496, "step": 704 }, { "epoch": 6.7138671875e-08, "step": 704, "training_step_time": 26.008984804153442 }, { "epoch": 6.723403930664062e-08, "model_forward_time": 7.419541358947754, "step": 705 }, { "epoch": 6.723403930664062e-08, "step": 705, "training_step_time": 25.328511714935303 }, { "epoch": 6.732940673828125e-08, "model_forward_time": 7.147587299346924, "step": 706 }, { "epoch": 6.732940673828125e-08, "step": 706, "training_step_time": 26.168456554412842 }, { "epoch": 6.742477416992187e-08, "model_forward_time": 7.296674489974976, "step": 707 }, { "epoch": 6.742477416992187e-08, "step": 707, "training_step_time": 25.921264171600342 }, { "epoch": 6.75201416015625e-08, "model_forward_time": 7.9373016357421875, "step": 708 }, { "epoch": 6.75201416015625e-08, "step": 708, "training_step_time": 26.546576738357544 }, { "epoch": 6.761550903320313e-08, "model_forward_time": 8.004413604736328, "step": 709 }, { "epoch": 6.761550903320313e-08, "step": 709, "training_step_time": 26.472530603408813 }, { "epoch": 6.771087646484374e-08, "grad_norm": 3.3386855125427246, "learning_rate": 2.025714285714286e-06, "loss": 0.2866, "step": 710 }, { "epoch": 6.771087646484374e-08, "model_forward_time": 7.9932544231414795, "step": 710 }, { "dynamics_loss_avg": 0.04349795263260603, "epoch": 6.771087646484374e-08, "step": 710 }, { "action_loss_avg": 0.2015547625720501, "epoch": 6.771087646484374e-08, "step": 710 }, { "arm_loss_avg": 0.2798181802034378, "epoch": 6.771087646484374e-08, "step": 710 }, { "ee_loss_avg": 0.6154221676290035, "epoch": 6.771087646484374e-08, "step": 710 }, { "aux_loss_avg": 0.008816220203880221, "epoch": 6.771087646484374e-08, "step": 710 }, { "epoch": 6.771087646484374e-08, "step": 710, "training_step_time": 26.647313117980957 }, { "epoch": 6.780624389648437e-08, "model_forward_time": 7.567449331283569, "step": 711 }, { "epoch": 6.780624389648437e-08, "step": 711, "training_step_time": 25.43677592277527 }, { "epoch": 6.7901611328125e-08, "model_forward_time": 7.55960750579834, "step": 712 }, { "epoch": 6.7901611328125e-08, "step": 712, "training_step_time": 26.686631441116333 }, { "epoch": 6.799697875976563e-08, "model_forward_time": 8.387383699417114, "step": 713 }, { "epoch": 6.799697875976563e-08, "step": 713, "training_step_time": 25.168018579483032 }, { "epoch": 6.809234619140625e-08, "model_forward_time": 7.9139885902404785, "step": 714 }, { "epoch": 6.809234619140625e-08, "step": 714, "training_step_time": 25.077731370925903 }, { "epoch": 6.818771362304687e-08, "model_forward_time": 7.102966785430908, "step": 715 }, { "epoch": 6.818771362304687e-08, "step": 715, "training_step_time": 26.016778707504272 }, { "epoch": 6.82830810546875e-08, "model_forward_time": 8.024953603744507, "step": 716 }, { "epoch": 6.82830810546875e-08, "step": 716, "training_step_time": 26.01371455192566 }, { "epoch": 6.837844848632812e-08, "model_forward_time": 7.758948802947998, "step": 717 }, { "epoch": 6.837844848632812e-08, "step": 717, "training_step_time": 26.58815097808838 }, { "epoch": 6.847381591796875e-08, "model_forward_time": 7.965097665786743, "step": 718 }, { "epoch": 6.847381591796875e-08, "step": 718, "training_step_time": 25.431254148483276 }, { "epoch": 6.856918334960938e-08, "model_forward_time": 7.0652618408203125, "step": 719 }, { "epoch": 6.856918334960938e-08, "step": 719, "training_step_time": 26.095707893371582 }, { "epoch": 6.866455078125e-08, "grad_norm": 3.588419198989868, "learning_rate": 2.0542857142857144e-06, "loss": 0.2847, "step": 720 }, { "epoch": 6.866455078125e-08, "model_forward_time": 7.381385087966919, "step": 720 }, { "dynamics_loss_avg": 0.04311844692565501, "epoch": 6.866455078125e-08, "step": 720 }, { "action_loss_avg": 0.21538502871990203, "epoch": 6.866455078125e-08, "step": 720 }, { "arm_loss_avg": 0.26162570118904116, "epoch": 6.866455078125e-08, "step": 720 }, { "ee_loss_avg": 0.6077711448073387, "epoch": 6.866455078125e-08, "step": 720 }, { "aux_loss_avg": 0.009436848328914494, "epoch": 6.866455078125e-08, "step": 720 }, { "epoch": 6.866455078125e-08, "step": 720, "training_step_time": 25.687772035598755 }, { "epoch": 6.875991821289062e-08, "model_forward_time": 6.875880718231201, "step": 721 }, { "epoch": 6.875991821289062e-08, "step": 721, "training_step_time": 26.055406093597412 }, { "epoch": 6.885528564453125e-08, "model_forward_time": 5.451961517333984, "step": 722 }, { "epoch": 6.885528564453125e-08, "step": 722, "training_step_time": 27.303452253341675 }, { "epoch": 6.895065307617188e-08, "model_forward_time": 8.175598382949829, "step": 723 }, { "epoch": 6.895065307617188e-08, "step": 723, "training_step_time": 26.25566577911377 }, { "epoch": 6.90460205078125e-08, "model_forward_time": 7.064440011978149, "step": 724 }, { "epoch": 6.90460205078125e-08, "step": 724, "training_step_time": 27.560311555862427 }, { "epoch": 6.914138793945312e-08, "model_forward_time": 7.578361988067627, "step": 725 }, { "epoch": 6.914138793945312e-08, "step": 725, "training_step_time": 26.562580823898315 }, { "epoch": 6.923675537109375e-08, "model_forward_time": 7.9111316204071045, "step": 726 }, { "epoch": 6.923675537109375e-08, "step": 726, "training_step_time": 25.57645893096924 }, { "epoch": 6.933212280273438e-08, "model_forward_time": 5.529678583145142, "step": 727 }, { "epoch": 6.933212280273438e-08, "step": 727, "training_step_time": 26.144038438796997 }, { "epoch": 6.9427490234375e-08, "model_forward_time": 6.90403938293457, "step": 728 }, { "epoch": 6.9427490234375e-08, "step": 728, "training_step_time": 25.573559761047363 }, { "epoch": 6.952285766601563e-08, "model_forward_time": 7.88937520980835, "step": 729 }, { "epoch": 6.952285766601563e-08, "step": 729, "training_step_time": 25.224754571914673 }, { "epoch": 6.961822509765625e-08, "grad_norm": 2.357846736907959, "learning_rate": 2.0828571428571433e-06, "loss": 0.2964, "step": 730 }, { "epoch": 6.961822509765625e-08, "model_forward_time": 7.978782415390015, "step": 730 }, { "dynamics_loss_avg": 0.0423648651689291, "epoch": 6.961822509765625e-08, "step": 730 }, { "action_loss_avg": 0.18267175406217576, "epoch": 6.961822509765625e-08, "step": 730 }, { "arm_loss_avg": 0.23883138373494148, "epoch": 6.961822509765625e-08, "step": 730 }, { "ee_loss_avg": 0.5482713788747787, "epoch": 6.961822509765625e-08, "step": 730 }, { "aux_loss_avg": 0.007219967897981405, "epoch": 6.961822509765625e-08, "step": 730 }, { "epoch": 6.961822509765625e-08, "step": 730, "training_step_time": 27.457451343536377 }, { "epoch": 6.971359252929687e-08, "model_forward_time": 8.188691854476929, "step": 731 }, { "epoch": 6.971359252929687e-08, "step": 731, "training_step_time": 26.90389847755432 }, { "epoch": 6.98089599609375e-08, "model_forward_time": 8.152309894561768, "step": 732 }, { "epoch": 6.98089599609375e-08, "step": 732, "training_step_time": 26.891136169433594 }, { "epoch": 6.990432739257813e-08, "model_forward_time": 6.597275257110596, "step": 733 }, { "epoch": 6.990432739257813e-08, "step": 733, "training_step_time": 26.160167932510376 }, { "epoch": 6.999969482421876e-08, "model_forward_time": 6.994513750076294, "step": 734 }, { "epoch": 6.999969482421876e-08, "step": 734, "training_step_time": 26.107839822769165 }, { "epoch": 7.009506225585937e-08, "model_forward_time": 7.422367334365845, "step": 735 }, { "epoch": 7.009506225585937e-08, "step": 735, "training_step_time": 25.305256843566895 }, { "epoch": 7.01904296875e-08, "model_forward_time": 5.5949835777282715, "step": 736 }, { "epoch": 7.01904296875e-08, "step": 736, "training_step_time": 25.812437534332275 }, { "epoch": 7.028579711914063e-08, "model_forward_time": 5.301100730895996, "step": 737 }, { "epoch": 7.028579711914063e-08, "step": 737, "training_step_time": 24.500954627990723 }, { "epoch": 7.038116455078125e-08, "model_forward_time": 7.969980239868164, "step": 738 }, { "epoch": 7.038116455078125e-08, "step": 738, "training_step_time": 26.634150743484497 }, { "epoch": 7.047653198242187e-08, "model_forward_time": 7.549005746841431, "step": 739 }, { "epoch": 7.047653198242187e-08, "step": 739, "training_step_time": 26.930240631103516 }, { "epoch": 7.05718994140625e-08, "grad_norm": 2.859994411468506, "learning_rate": 2.1114285714285714e-06, "loss": 0.2977, "step": 740 }, { "epoch": 7.05718994140625e-08, "model_forward_time": 7.269060134887695, "step": 740 }, { "dynamics_loss_avg": 0.045131539646536115, "epoch": 7.05718994140625e-08, "step": 740 }, { "action_loss_avg": 0.1928010657429695, "epoch": 7.05718994140625e-08, "step": 740 }, { "arm_loss_avg": 0.24795225411653518, "epoch": 7.05718994140625e-08, "step": 740 }, { "ee_loss_avg": 0.4729719735682011, "epoch": 7.05718994140625e-08, "step": 740 }, { "aux_loss_avg": 0.012579191650729626, "epoch": 7.05718994140625e-08, "step": 740 }, { "epoch": 7.05718994140625e-08, "step": 740, "training_step_time": 25.407655477523804 }, { "epoch": 7.066726684570312e-08, "model_forward_time": 7.840917587280273, "step": 741 }, { "epoch": 7.066726684570312e-08, "step": 741, "training_step_time": 26.666258573532104 }, { "epoch": 7.076263427734375e-08, "model_forward_time": 7.689602851867676, "step": 742 }, { "epoch": 7.076263427734375e-08, "step": 742, "training_step_time": 25.341442108154297 }, { "epoch": 7.085800170898438e-08, "model_forward_time": 7.41129469871521, "step": 743 }, { "epoch": 7.085800170898438e-08, "step": 743, "training_step_time": 26.485053539276123 }, { "epoch": 7.0953369140625e-08, "model_forward_time": 7.591433048248291, "step": 744 }, { "epoch": 7.0953369140625e-08, "step": 744, "training_step_time": 26.582977056503296 }, { "epoch": 7.104873657226562e-08, "model_forward_time": 7.9038918018341064, "step": 745 }, { "epoch": 7.104873657226562e-08, "step": 745, "training_step_time": 26.127776384353638 }, { "epoch": 7.114410400390625e-08, "model_forward_time": 7.414818048477173, "step": 746 }, { "epoch": 7.114410400390625e-08, "step": 746, "training_step_time": 26.07331657409668 }, { "epoch": 7.123947143554688e-08, "model_forward_time": 7.502779483795166, "step": 747 }, { "epoch": 7.123947143554688e-08, "step": 747, "training_step_time": 26.174678325653076 }, { "epoch": 7.13348388671875e-08, "model_forward_time": 6.698509454727173, "step": 748 }, { "epoch": 7.13348388671875e-08, "step": 748, "training_step_time": 26.107315063476562 }, { "epoch": 7.143020629882812e-08, "model_forward_time": 7.388914585113525, "step": 749 }, { "epoch": 7.143020629882812e-08, "step": 749, "training_step_time": 26.005316972732544 }, { "epoch": 7.152557373046875e-08, "grad_norm": 2.9744443893432617, "learning_rate": 2.1400000000000003e-06, "loss": 0.3123, "step": 750 }, { "epoch": 7.152557373046875e-08, "model_forward_time": 8.169411659240723, "step": 750 }, { "dynamics_loss_avg": 0.05127966646105051, "epoch": 7.152557373046875e-08, "step": 750 }, { "action_loss_avg": 0.20742044299840928, "epoch": 7.152557373046875e-08, "step": 750 }, { "arm_loss_avg": 0.2575357869267464, "epoch": 7.152557373046875e-08, "step": 750 }, { "ee_loss_avg": 0.5976666629314422, "epoch": 7.152557373046875e-08, "step": 750 }, { "aux_loss_avg": 0.009684168477542698, "epoch": 7.152557373046875e-08, "step": 750 }, { "epoch": 7.152557373046875e-08, "step": 750, "training_step_time": 25.95434331893921 }, { "epoch": 7.162094116210938e-08, "model_forward_time": 6.338197708129883, "step": 751 }, { "epoch": 7.162094116210938e-08, "step": 751, "training_step_time": 26.036701440811157 }, { "epoch": 7.171630859375e-08, "model_forward_time": 7.3671019077301025, "step": 752 }, { "epoch": 7.171630859375e-08, "step": 752, "training_step_time": 26.394031047821045 }, { "epoch": 7.181167602539063e-08, "model_forward_time": 7.363770961761475, "step": 753 }, { "epoch": 7.181167602539063e-08, "step": 753, "training_step_time": 26.546875476837158 }, { "epoch": 7.190704345703125e-08, "model_forward_time": 5.410488605499268, "step": 754 }, { "epoch": 7.190704345703125e-08, "step": 754, "training_step_time": 23.705105543136597 }, { "epoch": 7.200241088867187e-08, "model_forward_time": 7.8720197677612305, "step": 755 }, { "epoch": 7.200241088867187e-08, "step": 755, "training_step_time": 25.96487855911255 }, { "epoch": 7.20977783203125e-08, "model_forward_time": 7.022069931030273, "step": 756 }, { "epoch": 7.20977783203125e-08, "step": 756, "training_step_time": 26.457751274108887 }, { "epoch": 7.219314575195313e-08, "model_forward_time": 7.621196985244751, "step": 757 }, { "epoch": 7.219314575195313e-08, "step": 757, "training_step_time": 25.56269097328186 }, { "epoch": 7.228851318359376e-08, "model_forward_time": 7.928551197052002, "step": 758 }, { "epoch": 7.228851318359376e-08, "step": 758, "training_step_time": 26.90633487701416 }, { "epoch": 7.238388061523437e-08, "model_forward_time": 7.4125871658325195, "step": 759 }, { "epoch": 7.238388061523437e-08, "step": 759, "training_step_time": 27.266496181488037 }, { "epoch": 7.2479248046875e-08, "grad_norm": 1.909981369972229, "learning_rate": 2.1685714285714287e-06, "loss": 0.2766, "step": 760 }, { "epoch": 7.2479248046875e-08, "model_forward_time": 7.407427787780762, "step": 760 }, { "dynamics_loss_avg": 0.051792926341295245, "epoch": 7.2479248046875e-08, "step": 760 }, { "action_loss_avg": 0.18237795531749726, "epoch": 7.2479248046875e-08, "step": 760 }, { "arm_loss_avg": 0.24230576306581497, "epoch": 7.2479248046875e-08, "step": 760 }, { "ee_loss_avg": 0.5472484484314919, "epoch": 7.2479248046875e-08, "step": 760 }, { "aux_loss_avg": 0.008750682161189616, "epoch": 7.2479248046875e-08, "step": 760 }, { "epoch": 7.2479248046875e-08, "step": 760, "training_step_time": 25.52343225479126 }, { "epoch": 7.257461547851563e-08, "model_forward_time": 7.408860206604004, "step": 761 }, { "epoch": 7.257461547851563e-08, "step": 761, "training_step_time": 25.994300842285156 }, { "epoch": 7.266998291015625e-08, "model_forward_time": 6.63086724281311, "step": 762 }, { "epoch": 7.266998291015625e-08, "step": 762, "training_step_time": 26.48216223716736 }, { "epoch": 7.276535034179688e-08, "model_forward_time": 7.2896728515625, "step": 763 }, { "epoch": 7.276535034179688e-08, "step": 763, "training_step_time": 25.522847175598145 }, { "epoch": 7.28607177734375e-08, "model_forward_time": 5.882011651992798, "step": 764 }, { "epoch": 7.28607177734375e-08, "step": 764, "training_step_time": 25.91583776473999 }, { "epoch": 7.295608520507812e-08, "model_forward_time": 7.091068983078003, "step": 765 }, { "epoch": 7.295608520507812e-08, "step": 765, "training_step_time": 25.495962858200073 }, { "epoch": 7.305145263671875e-08, "model_forward_time": 8.040467262268066, "step": 766 }, { "epoch": 7.305145263671875e-08, "step": 766, "training_step_time": 26.353729724884033 }, { "epoch": 7.314682006835938e-08, "model_forward_time": 7.406355381011963, "step": 767 }, { "epoch": 7.314682006835938e-08, "step": 767, "training_step_time": 26.298932313919067 }, { "epoch": 7.32421875e-08, "model_forward_time": 8.079195976257324, "step": 768 }, { "epoch": 7.32421875e-08, "step": 768, "training_step_time": 26.229928493499756 }, { "epoch": 7.333755493164062e-08, "model_forward_time": 7.6127424240112305, "step": 769 }, { "epoch": 7.333755493164062e-08, "step": 769, "training_step_time": 26.820682525634766 }, { "epoch": 7.343292236328125e-08, "grad_norm": 2.7272143363952637, "learning_rate": 2.1971428571428572e-06, "loss": 0.3067, "step": 770 }, { "epoch": 7.343292236328125e-08, "model_forward_time": 7.730354309082031, "step": 770 }, { "dynamics_loss_avg": 0.049177538324147466, "epoch": 7.343292236328125e-08, "step": 770 }, { "action_loss_avg": 0.19487568512558937, "epoch": 7.343292236328125e-08, "step": 770 }, { "arm_loss_avg": 0.22855661660432816, "epoch": 7.343292236328125e-08, "step": 770 }, { "ee_loss_avg": 0.6760172039270401, "epoch": 7.343292236328125e-08, "step": 770 }, { "aux_loss_avg": 0.00755450144642964, "epoch": 7.343292236328125e-08, "step": 770 }, { "epoch": 7.343292236328125e-08, "step": 770, "training_step_time": 26.702699184417725 }, { "epoch": 7.352828979492188e-08, "model_forward_time": 8.2529296875, "step": 771 }, { "epoch": 7.352828979492188e-08, "step": 771, "training_step_time": 26.46726107597351 }, { "epoch": 7.36236572265625e-08, "model_forward_time": 5.694403171539307, "step": 772 }, { "epoch": 7.36236572265625e-08, "step": 772, "training_step_time": 26.128491163253784 }, { "epoch": 7.371902465820312e-08, "model_forward_time": 8.052946090698242, "step": 773 }, { "epoch": 7.371902465820312e-08, "step": 773, "training_step_time": 24.828587770462036 }, { "epoch": 7.381439208984375e-08, "model_forward_time": 6.289211750030518, "step": 774 }, { "epoch": 7.381439208984375e-08, "step": 774, "training_step_time": 27.063858032226562 }, { "epoch": 7.390975952148437e-08, "model_forward_time": 7.389335870742798, "step": 775 }, { "epoch": 7.390975952148437e-08, "step": 775, "training_step_time": 26.048551321029663 }, { "epoch": 7.4005126953125e-08, "model_forward_time": 8.00689148902893, "step": 776 }, { "epoch": 7.4005126953125e-08, "step": 776, "training_step_time": 25.2906973361969 }, { "epoch": 7.410049438476563e-08, "model_forward_time": 7.219073057174683, "step": 777 }, { "epoch": 7.410049438476563e-08, "step": 777, "training_step_time": 26.471938610076904 }, { "epoch": 7.419586181640624e-08, "model_forward_time": 7.250825643539429, "step": 778 }, { "epoch": 7.419586181640624e-08, "step": 778, "training_step_time": 25.99264097213745 }, { "epoch": 7.429122924804687e-08, "model_forward_time": 5.883934736251831, "step": 779 }, { "epoch": 7.429122924804687e-08, "step": 779, "training_step_time": 26.24026322364807 }, { "epoch": 7.43865966796875e-08, "grad_norm": 2.658221960067749, "learning_rate": 2.2257142857142857e-06, "loss": 0.2632, "step": 780 }, { "epoch": 7.43865966796875e-08, "model_forward_time": 7.577463626861572, "step": 780 }, { "dynamics_loss_avg": 0.0460750387981534, "epoch": 7.43865966796875e-08, "step": 780 }, { "action_loss_avg": 0.2047520786523819, "epoch": 7.43865966796875e-08, "step": 780 }, { "arm_loss_avg": 0.2663623973727226, "epoch": 7.43865966796875e-08, "step": 780 }, { "ee_loss_avg": 0.43912519663572314, "epoch": 7.43865966796875e-08, "step": 780 }, { "aux_loss_avg": 0.00844562118873, "epoch": 7.43865966796875e-08, "step": 780 }, { "epoch": 7.43865966796875e-08, "step": 780, "training_step_time": 25.15965223312378 }, { "epoch": 7.448196411132813e-08, "model_forward_time": 7.897295236587524, "step": 781 }, { "epoch": 7.448196411132813e-08, "step": 781, "training_step_time": 26.090667486190796 }, { "epoch": 7.457733154296876e-08, "model_forward_time": 6.694218397140503, "step": 782 }, { "epoch": 7.457733154296876e-08, "step": 782, "training_step_time": 26.291122436523438 }, { "epoch": 7.467269897460937e-08, "model_forward_time": 7.393476724624634, "step": 783 }, { "epoch": 7.467269897460937e-08, "step": 783, "training_step_time": 25.659236907958984 }, { "epoch": 7.476806640625e-08, "model_forward_time": 7.470947027206421, "step": 784 }, { "epoch": 7.476806640625e-08, "step": 784, "training_step_time": 26.13770365715027 }, { "epoch": 7.486343383789063e-08, "model_forward_time": 7.425451278686523, "step": 785 }, { "epoch": 7.486343383789063e-08, "step": 785, "training_step_time": 26.92395329475403 }, { "epoch": 7.495880126953125e-08, "model_forward_time": 7.508326053619385, "step": 786 }, { "epoch": 7.495880126953125e-08, "step": 786, "training_step_time": 27.388542652130127 }, { "epoch": 7.505416870117188e-08, "model_forward_time": 7.131088495254517, "step": 787 }, { "epoch": 7.505416870117188e-08, "step": 787, "training_step_time": 26.147794485092163 }, { "epoch": 7.51495361328125e-08, "model_forward_time": 6.826588153839111, "step": 788 }, { "epoch": 7.51495361328125e-08, "step": 788, "training_step_time": 26.015570640563965 }, { "epoch": 7.524490356445312e-08, "model_forward_time": 6.627460956573486, "step": 789 }, { "epoch": 7.524490356445312e-08, "step": 789, "training_step_time": 26.035643100738525 }, { "epoch": 7.534027099609375e-08, "grad_norm": 2.777752637863159, "learning_rate": 2.2542857142857146e-06, "loss": 0.2877, "step": 790 }, { "epoch": 7.534027099609375e-08, "model_forward_time": 7.9725258350372314, "step": 790 }, { "dynamics_loss_avg": 0.04575602347031236, "epoch": 7.534027099609375e-08, "step": 790 }, { "action_loss_avg": 0.1826012425124645, "epoch": 7.534027099609375e-08, "step": 790 }, { "arm_loss_avg": 0.27467920184135436, "epoch": 7.534027099609375e-08, "step": 790 }, { "ee_loss_avg": 0.48216806948184965, "epoch": 7.534027099609375e-08, "step": 790 }, { "aux_loss_avg": 0.008934906765352935, "epoch": 7.534027099609375e-08, "step": 790 }, { "epoch": 7.534027099609375e-08, "step": 790, "training_step_time": 25.432941198349 }, { "epoch": 7.543563842773438e-08, "model_forward_time": 7.717828273773193, "step": 791 }, { "epoch": 7.543563842773438e-08, "step": 791, "training_step_time": 26.3466317653656 }, { "epoch": 7.5531005859375e-08, "model_forward_time": 8.868871212005615, "step": 792 }, { "epoch": 7.5531005859375e-08, "step": 792, "training_step_time": 26.804232120513916 }, { "epoch": 7.562637329101562e-08, "model_forward_time": 6.840520143508911, "step": 793 }, { "epoch": 7.562637329101562e-08, "step": 793, "training_step_time": 26.932862520217896 }, { "epoch": 7.572174072265625e-08, "model_forward_time": 8.046904802322388, "step": 794 }, { "epoch": 7.572174072265625e-08, "step": 794, "training_step_time": 25.873515605926514 }, { "epoch": 7.581710815429688e-08, "model_forward_time": 7.966908693313599, "step": 795 }, { "epoch": 7.581710815429688e-08, "step": 795, "training_step_time": 26.47235345840454 }, { "epoch": 7.59124755859375e-08, "model_forward_time": 7.520179510116577, "step": 796 }, { "epoch": 7.59124755859375e-08, "step": 796, "training_step_time": 25.973894596099854 }, { "epoch": 7.600784301757812e-08, "model_forward_time": 8.10335636138916, "step": 797 }, { "epoch": 7.600784301757812e-08, "step": 797, "training_step_time": 26.550679206848145 }, { "epoch": 7.610321044921875e-08, "model_forward_time": 7.529040575027466, "step": 798 }, { "epoch": 7.610321044921875e-08, "step": 798, "training_step_time": 26.73749279975891 }, { "epoch": 7.619857788085937e-08, "model_forward_time": 5.397340774536133, "step": 799 }, { "epoch": 7.619857788085937e-08, "step": 799, "training_step_time": 26.109368085861206 }, { "epoch": 7.62939453125e-08, "grad_norm": 2.5357539653778076, "learning_rate": 2.282857142857143e-06, "loss": 0.2635, "step": 800 }, { "epoch": 7.62939453125e-08, "model_forward_time": 6.640205383300781, "step": 800 }, { "dynamics_loss_avg": 0.04112814944237471, "epoch": 7.62939453125e-08, "step": 800 }, { "action_loss_avg": 0.18066795989871026, "epoch": 7.62939453125e-08, "step": 800 }, { "arm_loss_avg": 0.2423362150788307, "epoch": 7.62939453125e-08, "step": 800 }, { "ee_loss_avg": 0.5236210994422436, "epoch": 7.62939453125e-08, "step": 800 }, { "aux_loss_avg": 0.013827170222066342, "epoch": 7.62939453125e-08, "step": 800 }, { "epoch": 7.62939453125e-08, "step": 800, "training_step_time": 24.42103600502014 }, { "epoch": 7.638931274414063e-08, "model_forward_time": 7.501479387283325, "step": 801 }, { "epoch": 7.638931274414063e-08, "step": 801, "training_step_time": 25.780208826065063 }, { "epoch": 7.648468017578124e-08, "model_forward_time": 7.744221210479736, "step": 802 }, { "epoch": 7.648468017578124e-08, "step": 802, "training_step_time": 25.46210503578186 }, { "epoch": 7.658004760742187e-08, "model_forward_time": 8.173988103866577, "step": 803 }, { "epoch": 7.658004760742187e-08, "step": 803, "training_step_time": 26.658451557159424 }, { "epoch": 7.66754150390625e-08, "model_forward_time": 8.162311792373657, "step": 804 }, { "epoch": 7.66754150390625e-08, "step": 804, "training_step_time": 26.86937403678894 }, { "epoch": 7.677078247070313e-08, "model_forward_time": 8.153115272521973, "step": 805 }, { "epoch": 7.677078247070313e-08, "step": 805, "training_step_time": 25.788959741592407 }, { "epoch": 7.686614990234375e-08, "model_forward_time": 7.386466026306152, "step": 806 }, { "epoch": 7.686614990234375e-08, "step": 806, "training_step_time": 26.29414129257202 }, { "epoch": 7.696151733398437e-08, "model_forward_time": 7.3750159740448, "step": 807 }, { "epoch": 7.696151733398437e-08, "step": 807, "training_step_time": 25.989262104034424 }, { "epoch": 7.7056884765625e-08, "model_forward_time": 6.837718725204468, "step": 808 }, { "epoch": 7.7056884765625e-08, "step": 808, "training_step_time": 25.953522205352783 }, { "epoch": 7.715225219726562e-08, "model_forward_time": 7.140438079833984, "step": 809 }, { "epoch": 7.715225219726562e-08, "step": 809, "training_step_time": 27.572882175445557 }, { "epoch": 7.724761962890625e-08, "grad_norm": 1.9493955373764038, "learning_rate": 2.3114285714285716e-06, "loss": 0.2907, "step": 810 }, { "epoch": 7.724761962890625e-08, "model_forward_time": 8.441240549087524, "step": 810 }, { "dynamics_loss_avg": 0.05549629051238299, "epoch": 7.724761962890625e-08, "step": 810 }, { "action_loss_avg": 0.2508172199130058, "epoch": 7.724761962890625e-08, "step": 810 }, { "arm_loss_avg": 0.238093826174736, "epoch": 7.724761962890625e-08, "step": 810 }, { "ee_loss_avg": 0.5277096226811409, "epoch": 7.724761962890625e-08, "step": 810 }, { "aux_loss_avg": 0.0065062062931247056, "epoch": 7.724761962890625e-08, "step": 810 }, { "epoch": 7.724761962890625e-08, "step": 810, "training_step_time": 26.197876453399658 }, { "epoch": 7.734298706054688e-08, "model_forward_time": 8.135155439376831, "step": 811 }, { "epoch": 7.734298706054688e-08, "step": 811, "training_step_time": 25.7395179271698 }, { "epoch": 7.74383544921875e-08, "model_forward_time": 7.439592123031616, "step": 812 }, { "epoch": 7.74383544921875e-08, "step": 812, "training_step_time": 25.262386083602905 }, { "epoch": 7.753372192382812e-08, "model_forward_time": 7.398937702178955, "step": 813 }, { "epoch": 7.753372192382812e-08, "step": 813, "training_step_time": 25.968249797821045 }, { "epoch": 7.762908935546875e-08, "model_forward_time": 7.413613557815552, "step": 814 }, { "epoch": 7.762908935546875e-08, "step": 814, "training_step_time": 25.454291343688965 }, { "epoch": 7.772445678710938e-08, "model_forward_time": 7.411542892456055, "step": 815 }, { "epoch": 7.772445678710938e-08, "step": 815, "training_step_time": 26.052266597747803 }, { "epoch": 7.781982421875e-08, "model_forward_time": 8.199090719223022, "step": 816 }, { "epoch": 7.781982421875e-08, "step": 816, "training_step_time": 26.80708408355713 }, { "epoch": 7.791519165039062e-08, "model_forward_time": 8.137240648269653, "step": 817 }, { "epoch": 7.791519165039062e-08, "step": 817, "training_step_time": 26.09283947944641 }, { "epoch": 7.801055908203125e-08, "model_forward_time": 7.414811134338379, "step": 818 }, { "epoch": 7.801055908203125e-08, "step": 818, "training_step_time": 26.404893398284912 }, { "epoch": 7.810592651367188e-08, "model_forward_time": 7.379416227340698, "step": 819 }, { "epoch": 7.810592651367188e-08, "step": 819, "training_step_time": 27.460268259048462 }, { "epoch": 7.82012939453125e-08, "grad_norm": 2.1887412071228027, "learning_rate": 2.3400000000000005e-06, "loss": 0.2741, "step": 820 }, { "epoch": 7.82012939453125e-08, "model_forward_time": 8.53692626953125, "step": 820 }, { "dynamics_loss_avg": 0.0507693893276155, "epoch": 7.82012939453125e-08, "step": 820 }, { "action_loss_avg": 0.18460821360349655, "epoch": 7.82012939453125e-08, "step": 820 }, { "arm_loss_avg": 0.23891567513346673, "epoch": 7.82012939453125e-08, "step": 820 }, { "ee_loss_avg": 0.48699755743145945, "epoch": 7.82012939453125e-08, "step": 820 }, { "aux_loss_avg": 0.00792459537042305, "epoch": 7.82012939453125e-08, "step": 820 }, { "epoch": 7.82012939453125e-08, "step": 820, "training_step_time": 26.474677801132202 }, { "epoch": 7.829666137695313e-08, "model_forward_time": 6.314478874206543, "step": 821 }, { "epoch": 7.829666137695313e-08, "step": 821, "training_step_time": 27.040497064590454 }, { "epoch": 7.839202880859375e-08, "model_forward_time": 8.164680004119873, "step": 822 }, { "epoch": 7.839202880859375e-08, "step": 822, "training_step_time": 25.458989143371582 }, { "epoch": 7.848739624023437e-08, "model_forward_time": 7.784838914871216, "step": 823 }, { "epoch": 7.848739624023437e-08, "step": 823, "training_step_time": 25.288604736328125 }, { "epoch": 7.8582763671875e-08, "model_forward_time": 7.285292387008667, "step": 824 }, { "epoch": 7.8582763671875e-08, "step": 824, "training_step_time": 26.83930253982544 }, { "epoch": 7.867813110351563e-08, "model_forward_time": 8.028308391571045, "step": 825 }, { "epoch": 7.867813110351563e-08, "step": 825, "training_step_time": 26.83237910270691 }, { "epoch": 7.877349853515626e-08, "model_forward_time": 6.6704325675964355, "step": 826 }, { "epoch": 7.877349853515626e-08, "step": 826, "training_step_time": 25.601495504379272 }, { "epoch": 7.886886596679687e-08, "model_forward_time": 7.043973922729492, "step": 827 }, { "epoch": 7.886886596679687e-08, "step": 827, "training_step_time": 25.509196519851685 }, { "epoch": 7.89642333984375e-08, "model_forward_time": 7.418404817581177, "step": 828 }, { "epoch": 7.89642333984375e-08, "step": 828, "training_step_time": 26.10337233543396 }, { "epoch": 7.905960083007813e-08, "model_forward_time": 7.966712474822998, "step": 829 }, { "epoch": 7.905960083007813e-08, "step": 829, "training_step_time": 26.541943073272705 }, { "epoch": 7.915496826171875e-08, "grad_norm": 3.6599278450012207, "learning_rate": 2.3685714285714285e-06, "loss": 0.2574, "step": 830 }, { "epoch": 7.915496826171875e-08, "model_forward_time": 7.5911548137664795, "step": 830 }, { "dynamics_loss_avg": 0.048874384816735984, "epoch": 7.915496826171875e-08, "step": 830 }, { "action_loss_avg": 0.17800434976816176, "epoch": 7.915496826171875e-08, "step": 830 }, { "arm_loss_avg": 0.21971673667430877, "epoch": 7.915496826171875e-08, "step": 830 }, { "ee_loss_avg": 0.38120704516768456, "epoch": 7.915496826171875e-08, "step": 830 }, { "aux_loss_avg": 0.006561818555928767, "epoch": 7.915496826171875e-08, "step": 830 }, { "epoch": 7.915496826171875e-08, "step": 830, "training_step_time": 25.928604125976562 }, { "epoch": 7.925033569335937e-08, "model_forward_time": 7.263549566268921, "step": 831 }, { "epoch": 7.925033569335937e-08, "step": 831, "training_step_time": 26.510215282440186 }, { "epoch": 7.9345703125e-08, "model_forward_time": 8.10140585899353, "step": 832 }, { "epoch": 7.9345703125e-08, "step": 832, "training_step_time": 26.273101806640625 }, { "epoch": 7.944107055664062e-08, "model_forward_time": 7.959368705749512, "step": 833 }, { "epoch": 7.944107055664062e-08, "step": 833, "training_step_time": 26.79045295715332 }, { "epoch": 7.953643798828125e-08, "model_forward_time": 7.7804625034332275, "step": 834 }, { "epoch": 7.953643798828125e-08, "step": 834, "training_step_time": 26.243530988693237 }, { "epoch": 7.963180541992188e-08, "model_forward_time": 7.641862630844116, "step": 835 }, { "epoch": 7.963180541992188e-08, "step": 835, "training_step_time": 25.525572538375854 }, { "epoch": 7.97271728515625e-08, "model_forward_time": 8.439746856689453, "step": 836 }, { "epoch": 7.97271728515625e-08, "step": 836, "training_step_time": 26.98848533630371 }, { "epoch": 7.982254028320312e-08, "model_forward_time": 7.916612386703491, "step": 837 }, { "epoch": 7.982254028320312e-08, "step": 837, "training_step_time": 26.86451268196106 }, { "epoch": 7.991790771484375e-08, "model_forward_time": 7.27149224281311, "step": 838 }, { "epoch": 7.991790771484375e-08, "step": 838, "training_step_time": 25.9583420753479 }, { "epoch": 8.001327514648438e-08, "model_forward_time": 7.458741903305054, "step": 839 }, { "epoch": 8.001327514648438e-08, "step": 839, "training_step_time": 26.723374128341675 }, { "epoch": 8.0108642578125e-08, "grad_norm": 1.2772619724273682, "learning_rate": 2.3971428571428574e-06, "loss": 0.2544, "step": 840 }, { "epoch": 8.0108642578125e-08, "model_forward_time": 7.8669562339782715, "step": 840 }, { "dynamics_loss_avg": 0.041509625501930714, "epoch": 8.0108642578125e-08, "step": 840 }, { "action_loss_avg": 0.18529352135956287, "epoch": 8.0108642578125e-08, "step": 840 }, { "arm_loss_avg": 0.2384613610804081, "epoch": 8.0108642578125e-08, "step": 840 }, { "ee_loss_avg": 0.5780725426971912, "epoch": 8.0108642578125e-08, "step": 840 }, { "aux_loss_avg": 0.006900413078255951, "epoch": 8.0108642578125e-08, "step": 840 }, { "epoch": 8.0108642578125e-08, "step": 840, "training_step_time": 25.873924493789673 }, { "epoch": 8.020401000976562e-08, "model_forward_time": 7.135391712188721, "step": 841 }, { "epoch": 8.020401000976562e-08, "step": 841, "training_step_time": 26.043267011642456 }, { "epoch": 8.029937744140625e-08, "model_forward_time": 7.204829216003418, "step": 842 }, { "epoch": 8.029937744140625e-08, "step": 842, "training_step_time": 25.33825922012329 }, { "epoch": 8.039474487304687e-08, "model_forward_time": 6.922921419143677, "step": 843 }, { "epoch": 8.039474487304687e-08, "step": 843, "training_step_time": 26.97381615638733 }, { "epoch": 8.04901123046875e-08, "model_forward_time": 7.128510475158691, "step": 844 }, { "epoch": 8.04901123046875e-08, "step": 844, "training_step_time": 26.72256588935852 }, { "epoch": 8.058547973632813e-08, "model_forward_time": 6.817564249038696, "step": 845 }, { "epoch": 8.058547973632813e-08, "step": 845, "training_step_time": 25.070462942123413 }, { "epoch": 8.068084716796874e-08, "model_forward_time": 7.411821365356445, "step": 846 }, { "epoch": 8.068084716796874e-08, "step": 846, "training_step_time": 26.593585968017578 }, { "epoch": 8.077621459960937e-08, "model_forward_time": 6.994599103927612, "step": 847 }, { "epoch": 8.077621459960937e-08, "step": 847, "training_step_time": 26.247220993041992 }, { "epoch": 8.087158203125e-08, "model_forward_time": 5.002548694610596, "step": 848 }, { "epoch": 8.087158203125e-08, "step": 848, "training_step_time": 26.087976455688477 }, { "epoch": 8.096694946289063e-08, "model_forward_time": 8.089915990829468, "step": 849 }, { "epoch": 8.096694946289063e-08, "step": 849, "training_step_time": 26.657520055770874 }, { "epoch": 8.106231689453126e-08, "grad_norm": 2.4484219551086426, "learning_rate": 2.425714285714286e-06, "loss": 0.3015, "step": 850 }, { "epoch": 8.106231689453126e-08, "model_forward_time": 6.6559157371521, "step": 850 }, { "dynamics_loss_avg": 0.04942355342209339, "epoch": 8.106231689453126e-08, "step": 850 }, { "action_loss_avg": 0.16487794145941734, "epoch": 8.106231689453126e-08, "step": 850 }, { "arm_loss_avg": 0.2447246104478836, "epoch": 8.106231689453126e-08, "step": 850 }, { "ee_loss_avg": 0.5488453842699528, "epoch": 8.106231689453126e-08, "step": 850 }, { "aux_loss_avg": 0.004180267150513828, "epoch": 8.106231689453126e-08, "step": 850 }, { "epoch": 8.106231689453126e-08, "step": 850, "training_step_time": 26.68486762046814 }, { "epoch": 8.115768432617187e-08, "model_forward_time": 5.167432546615601, "step": 851 }, { "epoch": 8.115768432617187e-08, "step": 851, "training_step_time": 27.081430435180664 }, { "epoch": 8.12530517578125e-08, "model_forward_time": 7.789661407470703, "step": 852 }, { "epoch": 8.12530517578125e-08, "step": 852, "training_step_time": 25.57521414756775 }, { "epoch": 8.134841918945313e-08, "model_forward_time": 5.264930248260498, "step": 853 }, { "epoch": 8.134841918945313e-08, "step": 853, "training_step_time": 25.78433871269226 }, { "epoch": 8.144378662109375e-08, "model_forward_time": 6.592167139053345, "step": 854 }, { "epoch": 8.144378662109375e-08, "step": 854, "training_step_time": 26.594449043273926 }, { "epoch": 8.153915405273438e-08, "model_forward_time": 5.413656711578369, "step": 855 }, { "epoch": 8.153915405273438e-08, "step": 855, "training_step_time": 25.13058042526245 }, { "epoch": 8.1634521484375e-08, "model_forward_time": 7.605489492416382, "step": 856 }, { "epoch": 8.1634521484375e-08, "step": 856, "training_step_time": 26.897297382354736 }, { "epoch": 8.172988891601562e-08, "model_forward_time": 4.830343723297119, "step": 857 }, { "epoch": 8.172988891601562e-08, "step": 857, "training_step_time": 26.970566987991333 }, { "epoch": 8.182525634765625e-08, "model_forward_time": 6.465731620788574, "step": 858 }, { "epoch": 8.182525634765625e-08, "step": 858, "training_step_time": 25.590556383132935 }, { "epoch": 8.192062377929688e-08, "model_forward_time": 7.418643951416016, "step": 859 }, { "epoch": 8.192062377929688e-08, "step": 859, "training_step_time": 25.97270178794861 }, { "epoch": 8.20159912109375e-08, "grad_norm": 2.851632833480835, "learning_rate": 2.454285714285715e-06, "loss": 0.2462, "step": 860 }, { "epoch": 8.20159912109375e-08, "model_forward_time": 6.640399694442749, "step": 860 }, { "dynamics_loss_avg": 0.04507446251809597, "epoch": 8.20159912109375e-08, "step": 860 }, { "action_loss_avg": 0.15699566081166266, "epoch": 8.20159912109375e-08, "step": 860 }, { "arm_loss_avg": 0.22572068888694047, "epoch": 8.20159912109375e-08, "step": 860 }, { "ee_loss_avg": 0.4599577635526657, "epoch": 8.20159912109375e-08, "step": 860 }, { "aux_loss_avg": 0.00473835578886792, "epoch": 8.20159912109375e-08, "step": 860 }, { "epoch": 8.20159912109375e-08, "step": 860, "training_step_time": 26.148642778396606 }, { "epoch": 8.211135864257812e-08, "model_forward_time": 7.071548938751221, "step": 861 }, { "epoch": 8.211135864257812e-08, "step": 861, "training_step_time": 26.61015772819519 }, { "epoch": 8.220672607421875e-08, "model_forward_time": 7.336803913116455, "step": 862 }, { "epoch": 8.220672607421875e-08, "step": 862, "training_step_time": 26.176660776138306 }, { "epoch": 8.230209350585938e-08, "model_forward_time": 6.316318035125732, "step": 863 }, { "epoch": 8.230209350585938e-08, "step": 863, "training_step_time": 25.518575191497803 }, { "epoch": 8.23974609375e-08, "model_forward_time": 7.776396751403809, "step": 864 }, { "epoch": 8.23974609375e-08, "step": 864, "training_step_time": 26.622295141220093 }, { "epoch": 8.249282836914062e-08, "model_forward_time": 7.030352354049683, "step": 865 }, { "epoch": 8.249282836914062e-08, "step": 865, "training_step_time": 27.165324211120605 }, { "epoch": 8.258819580078125e-08, "model_forward_time": 7.492688417434692, "step": 866 }, { "epoch": 8.258819580078125e-08, "step": 866, "training_step_time": 27.924675226211548 }, { "epoch": 8.268356323242187e-08, "model_forward_time": 7.647884130477905, "step": 867 }, { "epoch": 8.268356323242187e-08, "step": 867, "training_step_time": 26.01221776008606 }, { "epoch": 8.27789306640625e-08, "model_forward_time": 4.636916637420654, "step": 868 }, { "epoch": 8.27789306640625e-08, "step": 868, "training_step_time": 26.568490266799927 }, { "epoch": 8.287429809570313e-08, "model_forward_time": 6.114712238311768, "step": 869 }, { "epoch": 8.287429809570313e-08, "step": 869, "training_step_time": 25.86374258995056 }, { "epoch": 8.296966552734374e-08, "grad_norm": 3.1161980628967285, "learning_rate": 2.482857142857143e-06, "loss": 0.2946, "step": 870 }, { "epoch": 8.296966552734374e-08, "model_forward_time": 7.472980737686157, "step": 870 }, { "dynamics_loss_avg": 0.050513244979083535, "epoch": 8.296966552734374e-08, "step": 870 }, { "action_loss_avg": 0.24052116200327872, "epoch": 8.296966552734374e-08, "step": 870 }, { "arm_loss_avg": 0.24878234267234803, "epoch": 8.296966552734374e-08, "step": 870 }, { "ee_loss_avg": 0.44413394629955294, "epoch": 8.296966552734374e-08, "step": 870 }, { "aux_loss_avg": 0.006308150850236416, "epoch": 8.296966552734374e-08, "step": 870 }, { "epoch": 8.296966552734374e-08, "step": 870, "training_step_time": 25.443289756774902 }, { "epoch": 8.306503295898437e-08, "model_forward_time": 8.30072021484375, "step": 871 }, { "epoch": 8.306503295898437e-08, "step": 871, "training_step_time": 27.03208303451538 }, { "epoch": 8.3160400390625e-08, "model_forward_time": 6.916987419128418, "step": 872 }, { "epoch": 8.3160400390625e-08, "step": 872, "training_step_time": 26.292617797851562 }, { "epoch": 8.325576782226563e-08, "model_forward_time": 7.4340081214904785, "step": 873 }, { "epoch": 8.325576782226563e-08, "step": 873, "training_step_time": 26.883230924606323 }, { "epoch": 8.335113525390626e-08, "model_forward_time": 8.171831607818604, "step": 874 }, { "epoch": 8.335113525390626e-08, "step": 874, "training_step_time": 26.855140686035156 }, { "epoch": 8.344650268554687e-08, "model_forward_time": 7.423736572265625, "step": 875 }, { "epoch": 8.344650268554687e-08, "step": 875, "training_step_time": 25.43770480155945 }, { "epoch": 8.35418701171875e-08, "model_forward_time": 7.406068563461304, "step": 876 }, { "epoch": 8.35418701171875e-08, "step": 876, "training_step_time": 25.74147629737854 }, { "epoch": 8.363723754882813e-08, "model_forward_time": 7.6465935707092285, "step": 877 }, { "epoch": 8.363723754882813e-08, "step": 877, "training_step_time": 26.940488815307617 }, { "epoch": 8.373260498046875e-08, "model_forward_time": 7.420154809951782, "step": 878 }, { "epoch": 8.373260498046875e-08, "step": 878, "training_step_time": 25.31277346611023 }, { "epoch": 8.382797241210938e-08, "model_forward_time": 6.654035806655884, "step": 879 }, { "epoch": 8.382797241210938e-08, "step": 879, "training_step_time": 26.22211766242981 }, { "epoch": 8.392333984375e-08, "grad_norm": 3.424264669418335, "learning_rate": 2.5114285714285718e-06, "loss": 0.2461, "step": 880 }, { "epoch": 8.392333984375e-08, "model_forward_time": 5.758737325668335, "step": 880 }, { "dynamics_loss_avg": 0.045299242995679376, "epoch": 8.392333984375e-08, "step": 880 }, { "action_loss_avg": 0.1433381841517985, "epoch": 8.392333984375e-08, "step": 880 }, { "arm_loss_avg": 0.2706544458866119, "epoch": 8.392333984375e-08, "step": 880 }, { "ee_loss_avg": 0.4313957907259464, "epoch": 8.392333984375e-08, "step": 880 }, { "aux_loss_avg": 0.01433860743418336, "epoch": 8.392333984375e-08, "step": 880 }, { "epoch": 8.392333984375e-08, "step": 880, "training_step_time": 25.404828786849976 }, { "epoch": 8.401870727539062e-08, "model_forward_time": 6.895364284515381, "step": 881 }, { "epoch": 8.401870727539062e-08, "step": 881, "training_step_time": 26.964507341384888 }, { "epoch": 8.411407470703125e-08, "model_forward_time": 7.619662046432495, "step": 882 }, { "epoch": 8.411407470703125e-08, "step": 882, "training_step_time": 27.175148010253906 }, { "epoch": 8.420944213867188e-08, "model_forward_time": 9.219372987747192, "step": 883 }, { "epoch": 8.420944213867188e-08, "step": 883, "training_step_time": 27.88804841041565 }, { "epoch": 8.43048095703125e-08, "model_forward_time": 5.438956260681152, "step": 884 }, { "epoch": 8.43048095703125e-08, "step": 884, "training_step_time": 26.025519132614136 }, { "epoch": 8.440017700195312e-08, "model_forward_time": 7.9636852741241455, "step": 885 }, { "epoch": 8.440017700195312e-08, "step": 885, "training_step_time": 26.118059396743774 }, { "epoch": 8.449554443359375e-08, "model_forward_time": 7.111300230026245, "step": 886 }, { "epoch": 8.449554443359375e-08, "step": 886, "training_step_time": 26.74464774131775 }, { "epoch": 8.459091186523438e-08, "model_forward_time": 7.665640115737915, "step": 887 }, { "epoch": 8.459091186523438e-08, "step": 887, "training_step_time": 26.075376749038696 }, { "epoch": 8.4686279296875e-08, "model_forward_time": 7.956554412841797, "step": 888 }, { "epoch": 8.4686279296875e-08, "step": 888, "training_step_time": 26.84755825996399 }, { "epoch": 8.478164672851563e-08, "model_forward_time": 7.433103322982788, "step": 889 }, { "epoch": 8.478164672851563e-08, "step": 889, "training_step_time": 25.369869232177734 }, { "epoch": 8.487701416015625e-08, "grad_norm": 3.073610305786133, "learning_rate": 2.5400000000000002e-06, "loss": 0.2869, "step": 890 }, { "epoch": 8.487701416015625e-08, "model_forward_time": 8.465893507003784, "step": 890 }, { "dynamics_loss_avg": 0.0444406402297318, "epoch": 8.487701416015625e-08, "step": 890 }, { "action_loss_avg": 0.21529525145888329, "epoch": 8.487701416015625e-08, "step": 890 }, { "arm_loss_avg": 0.2717481952160597, "epoch": 8.487701416015625e-08, "step": 890 }, { "ee_loss_avg": 0.5820105239748955, "epoch": 8.487701416015625e-08, "step": 890 }, { "aux_loss_avg": 0.008766085642855614, "epoch": 8.487701416015625e-08, "step": 890 }, { "epoch": 8.487701416015625e-08, "step": 890, "training_step_time": 26.220134973526 }, { "epoch": 8.497238159179687e-08, "model_forward_time": 5.805247068405151, "step": 891 }, { "epoch": 8.497238159179687e-08, "step": 891, "training_step_time": 26.9349582195282 }, { "epoch": 8.50677490234375e-08, "model_forward_time": 7.458724737167358, "step": 892 }, { "epoch": 8.50677490234375e-08, "step": 892, "training_step_time": 26.784252882003784 }, { "epoch": 8.516311645507813e-08, "model_forward_time": 9.466739416122437, "step": 893 }, { "epoch": 8.516311645507813e-08, "step": 893, "training_step_time": 27.3643856048584 }, { "epoch": 8.525848388671874e-08, "model_forward_time": 7.9011452198028564, "step": 894 }, { "epoch": 8.525848388671874e-08, "step": 894, "training_step_time": 26.59152841567993 }, { "epoch": 8.535385131835937e-08, "model_forward_time": 7.425469636917114, "step": 895 }, { "epoch": 8.535385131835937e-08, "step": 895, "training_step_time": 26.167720794677734 }, { "epoch": 8.544921875e-08, "model_forward_time": 7.431653738021851, "step": 896 }, { "epoch": 8.544921875e-08, "step": 896, "training_step_time": 25.730934619903564 }, { "epoch": 8.554458618164063e-08, "model_forward_time": 6.4480674266815186, "step": 897 }, { "epoch": 8.554458618164063e-08, "step": 897, "training_step_time": 27.37852144241333 }, { "epoch": 8.563995361328125e-08, "model_forward_time": 7.701606273651123, "step": 898 }, { "epoch": 8.563995361328125e-08, "step": 898, "training_step_time": 26.118261098861694 }, { "epoch": 8.573532104492187e-08, "model_forward_time": 7.436107397079468, "step": 899 }, { "epoch": 8.573532104492187e-08, "step": 899, "training_step_time": 24.860652446746826 }, { "epoch": 8.58306884765625e-08, "grad_norm": 2.4446632862091064, "learning_rate": 2.5685714285714287e-06, "loss": 0.2669, "step": 900 }, { "epoch": 8.58306884765625e-08, "model_forward_time": 5.774444341659546, "step": 900 }, { "dynamics_loss_avg": 0.04874027194455266, "epoch": 8.58306884765625e-08, "step": 900 }, { "action_loss_avg": 0.19421551525592803, "epoch": 8.58306884765625e-08, "step": 900 }, { "arm_loss_avg": 0.24780629575252533, "epoch": 8.58306884765625e-08, "step": 900 }, { "ee_loss_avg": 0.392912021279335, "epoch": 8.58306884765625e-08, "step": 900 }, { "aux_loss_avg": 0.009405401110416278, "epoch": 8.58306884765625e-08, "step": 900 }, { "epoch": 8.58306884765625e-08, "step": 900, "training_step_time": 26.7577805519104 }, { "epoch": 8.592605590820312e-08, "model_forward_time": 6.5979530811309814, "step": 901 }, { "epoch": 8.592605590820312e-08, "step": 901, "training_step_time": 25.964266777038574 }, { "epoch": 8.602142333984375e-08, "model_forward_time": 8.156124353408813, "step": 902 }, { "epoch": 8.602142333984375e-08, "step": 902, "training_step_time": 27.428924083709717 }, { "epoch": 8.611679077148438e-08, "model_forward_time": 7.748100280761719, "step": 903 }, { "epoch": 8.611679077148438e-08, "step": 903, "training_step_time": 26.3556911945343 }, { "epoch": 8.6212158203125e-08, "model_forward_time": 7.14286994934082, "step": 904 }, { "epoch": 8.6212158203125e-08, "step": 904, "training_step_time": 26.027272701263428 }, { "epoch": 8.630752563476562e-08, "model_forward_time": 7.30742883682251, "step": 905 }, { "epoch": 8.630752563476562e-08, "step": 905, "training_step_time": 25.302576303482056 }, { "epoch": 8.640289306640625e-08, "model_forward_time": 7.3530707359313965, "step": 906 }, { "epoch": 8.640289306640625e-08, "step": 906, "training_step_time": 25.753695249557495 }, { "epoch": 8.649826049804688e-08, "model_forward_time": 7.13554835319519, "step": 907 }, { "epoch": 8.649826049804688e-08, "step": 907, "training_step_time": 25.981884479522705 }, { "epoch": 8.65936279296875e-08, "model_forward_time": 7.556436061859131, "step": 908 }, { "epoch": 8.65936279296875e-08, "step": 908, "training_step_time": 25.915332317352295 }, { "epoch": 8.668899536132812e-08, "model_forward_time": 8.087023258209229, "step": 909 }, { "epoch": 8.668899536132812e-08, "step": 909, "training_step_time": 26.698909997940063 }, { "epoch": 8.678436279296875e-08, "grad_norm": 1.586974024772644, "learning_rate": 2.5971428571428576e-06, "loss": 0.2896, "step": 910 }, { "epoch": 8.678436279296875e-08, "model_forward_time": 7.749970436096191, "step": 910 }, { "dynamics_loss_avg": 0.05050173159688711, "epoch": 8.678436279296875e-08, "step": 910 }, { "action_loss_avg": 0.20292457714676856, "epoch": 8.678436279296875e-08, "step": 910 }, { "arm_loss_avg": 0.20986708328127862, "epoch": 8.678436279296875e-08, "step": 910 }, { "ee_loss_avg": 0.45818775072693824, "epoch": 8.678436279296875e-08, "step": 910 }, { "aux_loss_avg": 0.006896754959598184, "epoch": 8.678436279296875e-08, "step": 910 }, { "epoch": 8.678436279296875e-08, "step": 910, "training_step_time": 26.517296314239502 }, { "epoch": 8.687973022460938e-08, "model_forward_time": 7.224039793014526, "step": 911 }, { "epoch": 8.687973022460938e-08, "step": 911, "training_step_time": 26.608819723129272 }, { "epoch": 8.697509765625e-08, "model_forward_time": 7.404096364974976, "step": 912 }, { "epoch": 8.697509765625e-08, "step": 912, "training_step_time": 24.800055503845215 }, { "epoch": 8.707046508789063e-08, "model_forward_time": 7.1079535484313965, "step": 913 }, { "epoch": 8.707046508789063e-08, "step": 913, "training_step_time": 25.113045692443848 }, { "epoch": 8.716583251953125e-08, "model_forward_time": 7.421166896820068, "step": 914 }, { "epoch": 8.716583251953125e-08, "step": 914, "training_step_time": 25.32333779335022 }, { "epoch": 8.726119995117187e-08, "model_forward_time": 6.637932300567627, "step": 915 }, { "epoch": 8.726119995117187e-08, "step": 915, "training_step_time": 27.21907138824463 }, { "epoch": 8.73565673828125e-08, "model_forward_time": 7.508514165878296, "step": 916 }, { "epoch": 8.73565673828125e-08, "step": 916, "training_step_time": 27.97995400428772 }, { "epoch": 8.745193481445313e-08, "model_forward_time": 7.884228467941284, "step": 917 }, { "epoch": 8.745193481445313e-08, "step": 917, "training_step_time": 26.481882333755493 }, { "epoch": 8.754730224609376e-08, "model_forward_time": 6.6846959590911865, "step": 918 }, { "epoch": 8.754730224609376e-08, "step": 918, "training_step_time": 25.397084712982178 }, { "epoch": 8.764266967773437e-08, "model_forward_time": 7.149481773376465, "step": 919 }, { "epoch": 8.764266967773437e-08, "step": 919, "training_step_time": 26.227413415908813 }, { "epoch": 8.7738037109375e-08, "grad_norm": 3.905913829803467, "learning_rate": 2.6257142857142857e-06, "loss": 0.2889, "step": 920 }, { "epoch": 8.7738037109375e-08, "model_forward_time": 7.283417224884033, "step": 920 }, { "dynamics_loss_avg": 0.04736442845314741, "epoch": 8.7738037109375e-08, "step": 920 }, { "action_loss_avg": 0.1764750674366951, "epoch": 8.7738037109375e-08, "step": 920 }, { "arm_loss_avg": 0.2398355096578598, "epoch": 8.7738037109375e-08, "step": 920 }, { "ee_loss_avg": 0.48676795661449435, "epoch": 8.7738037109375e-08, "step": 920 }, { "aux_loss_avg": 0.0030778467713389545, "epoch": 8.7738037109375e-08, "step": 920 }, { "epoch": 8.7738037109375e-08, "step": 920, "training_step_time": 25.5206081867218 }, { "epoch": 8.783340454101563e-08, "model_forward_time": 5.954693794250488, "step": 921 }, { "epoch": 8.783340454101563e-08, "step": 921, "training_step_time": 25.44985342025757 }, { "epoch": 8.792877197265625e-08, "model_forward_time": 7.40272855758667, "step": 922 }, { "epoch": 8.792877197265625e-08, "step": 922, "training_step_time": 25.959609270095825 }, { "epoch": 8.802413940429687e-08, "model_forward_time": 7.406375408172607, "step": 923 }, { "epoch": 8.802413940429687e-08, "step": 923, "training_step_time": 26.72724676132202 }, { "epoch": 8.81195068359375e-08, "model_forward_time": 7.140634536743164, "step": 924 }, { "epoch": 8.81195068359375e-08, "step": 924, "training_step_time": 26.0225567817688 }, { "epoch": 8.821487426757812e-08, "model_forward_time": 7.427711725234985, "step": 925 }, { "epoch": 8.821487426757812e-08, "step": 925, "training_step_time": 26.387028217315674 }, { "epoch": 8.831024169921875e-08, "model_forward_time": 7.435462951660156, "step": 926 }, { "epoch": 8.831024169921875e-08, "step": 926, "training_step_time": 26.578797101974487 }, { "epoch": 8.840560913085938e-08, "model_forward_time": 7.616523265838623, "step": 927 }, { "epoch": 8.840560913085938e-08, "step": 927, "training_step_time": 26.6139714717865 }, { "epoch": 8.85009765625e-08, "model_forward_time": 7.90909743309021, "step": 928 }, { "epoch": 8.85009765625e-08, "step": 928, "training_step_time": 26.57666301727295 }, { "epoch": 8.859634399414062e-08, "model_forward_time": 8.062908172607422, "step": 929 }, { "epoch": 8.859634399414062e-08, "step": 929, "training_step_time": 25.215360641479492 }, { "epoch": 8.869171142578125e-08, "grad_norm": 3.2528159618377686, "learning_rate": 2.654285714285714e-06, "loss": 0.2493, "step": 930 }, { "epoch": 8.869171142578125e-08, "model_forward_time": 8.213581562042236, "step": 930 }, { "dynamics_loss_avg": 0.04486311711370945, "epoch": 8.869171142578125e-08, "step": 930 }, { "action_loss_avg": 0.18290921971201896, "epoch": 8.869171142578125e-08, "step": 930 }, { "arm_loss_avg": 0.2599013946950436, "epoch": 8.869171142578125e-08, "step": 930 }, { "ee_loss_avg": 0.5037073470652104, "epoch": 8.869171142578125e-08, "step": 930 }, { "aux_loss_avg": 0.006637429853435605, "epoch": 8.869171142578125e-08, "step": 930 }, { "epoch": 8.869171142578125e-08, "step": 930, "training_step_time": 25.76365566253662 }, { "epoch": 8.878707885742188e-08, "model_forward_time": 8.2895987033844, "step": 931 }, { "epoch": 8.878707885742188e-08, "step": 931, "training_step_time": 26.967036485671997 }, { "epoch": 8.88824462890625e-08, "model_forward_time": 6.6259684562683105, "step": 932 }, { "epoch": 8.88824462890625e-08, "step": 932, "training_step_time": 26.951833963394165 }, { "epoch": 8.897781372070312e-08, "model_forward_time": 7.06900429725647, "step": 933 }, { "epoch": 8.897781372070312e-08, "step": 933, "training_step_time": 25.438095569610596 }, { "epoch": 8.907318115234375e-08, "model_forward_time": 7.4629974365234375, "step": 934 }, { "epoch": 8.907318115234375e-08, "step": 934, "training_step_time": 24.982869863510132 }, { "epoch": 8.916854858398437e-08, "model_forward_time": 7.423160076141357, "step": 935 }, { "epoch": 8.916854858398437e-08, "step": 935, "training_step_time": 26.79728627204895 }, { "epoch": 8.9263916015625e-08, "model_forward_time": 7.4277870655059814, "step": 936 }, { "epoch": 8.9263916015625e-08, "step": 936, "training_step_time": 25.802006244659424 }, { "epoch": 8.935928344726563e-08, "model_forward_time": 6.898092985153198, "step": 937 }, { "epoch": 8.935928344726563e-08, "step": 937, "training_step_time": 25.769785404205322 }, { "epoch": 8.945465087890624e-08, "model_forward_time": 7.626703977584839, "step": 938 }, { "epoch": 8.945465087890624e-08, "step": 938, "training_step_time": 25.702052116394043 }, { "epoch": 8.955001831054687e-08, "model_forward_time": 7.381006717681885, "step": 939 }, { "epoch": 8.955001831054687e-08, "step": 939, "training_step_time": 26.49903178215027 }, { "epoch": 8.96453857421875e-08, "grad_norm": 2.7956602573394775, "learning_rate": 2.682857142857143e-06, "loss": 0.2816, "step": 940 }, { "epoch": 8.96453857421875e-08, "model_forward_time": 7.253399848937988, "step": 940 }, { "dynamics_loss_avg": 0.057922386564314365, "epoch": 8.96453857421875e-08, "step": 940 }, { "action_loss_avg": 0.18287506364285946, "epoch": 8.96453857421875e-08, "step": 940 }, { "arm_loss_avg": 0.24125854074954986, "epoch": 8.96453857421875e-08, "step": 940 }, { "ee_loss_avg": 0.46949899569153786, "epoch": 8.96453857421875e-08, "step": 940 }, { "aux_loss_avg": 0.008393688220530748, "epoch": 8.96453857421875e-08, "step": 940 }, { "epoch": 8.96453857421875e-08, "step": 940, "training_step_time": 25.907944917678833 }, { "epoch": 8.974075317382813e-08, "model_forward_time": 7.551946640014648, "step": 941 }, { "epoch": 8.974075317382813e-08, "step": 941, "training_step_time": 26.136600255966187 }, { "epoch": 8.983612060546876e-08, "model_forward_time": 8.465372562408447, "step": 942 }, { "epoch": 8.983612060546876e-08, "step": 942, "training_step_time": 26.524210691452026 }, { "epoch": 8.993148803710937e-08, "model_forward_time": 5.747860431671143, "step": 943 }, { "epoch": 8.993148803710937e-08, "step": 943, "training_step_time": 26.15217161178589 }, { "epoch": 9.002685546875e-08, "model_forward_time": 7.084879636764526, "step": 944 }, { "epoch": 9.002685546875e-08, "step": 944, "training_step_time": 26.078787326812744 }, { "epoch": 9.012222290039063e-08, "model_forward_time": 7.393029451370239, "step": 945 }, { "epoch": 9.012222290039063e-08, "step": 945, "training_step_time": 26.142533540725708 }, { "epoch": 9.021759033203125e-08, "model_forward_time": 7.388336658477783, "step": 946 }, { "epoch": 9.021759033203125e-08, "step": 946, "training_step_time": 27.02322506904602 }, { "epoch": 9.031295776367188e-08, "model_forward_time": 7.404939413070679, "step": 947 }, { "epoch": 9.031295776367188e-08, "step": 947, "training_step_time": 26.785434246063232 }, { "epoch": 9.04083251953125e-08, "model_forward_time": 7.433472156524658, "step": 948 }, { "epoch": 9.04083251953125e-08, "step": 948, "training_step_time": 25.263590574264526 }, { "epoch": 9.050369262695312e-08, "model_forward_time": 8.170515060424805, "step": 949 }, { "epoch": 9.050369262695312e-08, "step": 949, "training_step_time": 26.953816890716553 }, { "epoch": 9.059906005859375e-08, "grad_norm": 1.8596535921096802, "learning_rate": 2.7114285714285715e-06, "loss": 0.2843, "step": 950 }, { "epoch": 9.059906005859375e-08, "model_forward_time": 8.251061201095581, "step": 950 }, { "dynamics_loss_avg": 0.04384284457191825, "epoch": 9.059906005859375e-08, "step": 950 }, { "action_loss_avg": 0.16434804648160933, "epoch": 9.059906005859375e-08, "step": 950 }, { "arm_loss_avg": 0.21939215064048767, "epoch": 9.059906005859375e-08, "step": 950 }, { "ee_loss_avg": 0.34230182878673077, "epoch": 9.059906005859375e-08, "step": 950 }, { "aux_loss_avg": 0.005536379246041179, "epoch": 9.059906005859375e-08, "step": 950 }, { "epoch": 9.059906005859375e-08, "step": 950, "training_step_time": 26.233622550964355 }, { "epoch": 9.069442749023438e-08, "model_forward_time": 6.620058059692383, "step": 951 }, { "epoch": 9.069442749023438e-08, "step": 951, "training_step_time": 26.30998969078064 }, { "epoch": 9.0789794921875e-08, "model_forward_time": 7.128360271453857, "step": 952 }, { "epoch": 9.0789794921875e-08, "step": 952, "training_step_time": 26.88471508026123 }, { "epoch": 9.088516235351562e-08, "model_forward_time": 7.622384071350098, "step": 953 }, { "epoch": 9.088516235351562e-08, "step": 953, "training_step_time": 26.260643482208252 }, { "epoch": 9.098052978515625e-08, "model_forward_time": 7.815235137939453, "step": 954 }, { "epoch": 9.098052978515625e-08, "step": 954, "training_step_time": 26.571773767471313 }, { "epoch": 9.107589721679688e-08, "model_forward_time": 7.167985439300537, "step": 955 }, { "epoch": 9.107589721679688e-08, "step": 955, "training_step_time": 25.523462295532227 }, { "epoch": 9.11712646484375e-08, "model_forward_time": 7.473827362060547, "step": 956 }, { "epoch": 9.11712646484375e-08, "step": 956, "training_step_time": 25.261492490768433 }, { "epoch": 9.126663208007812e-08, "model_forward_time": 7.925412654876709, "step": 957 }, { "epoch": 9.126663208007812e-08, "step": 957, "training_step_time": 26.798046588897705 }, { "epoch": 9.136199951171875e-08, "model_forward_time": 8.118849992752075, "step": 958 }, { "epoch": 9.136199951171875e-08, "step": 958, "training_step_time": 25.605046033859253 }, { "epoch": 9.145736694335937e-08, "model_forward_time": 8.11058497428894, "step": 959 }, { "epoch": 9.145736694335937e-08, "step": 959, "training_step_time": 25.17451024055481 }, { "epoch": 9.1552734375e-08, "grad_norm": 4.506188869476318, "learning_rate": 2.7400000000000004e-06, "loss": 0.3024, "step": 960 }, { "epoch": 9.1552734375e-08, "model_forward_time": 7.423635005950928, "step": 960 }, { "dynamics_loss_avg": 0.051107261888682844, "epoch": 9.1552734375e-08, "step": 960 }, { "action_loss_avg": 0.210861474275589, "epoch": 9.1552734375e-08, "step": 960 }, { "arm_loss_avg": 0.2549657881259918, "epoch": 9.1552734375e-08, "step": 960 }, { "ee_loss_avg": 0.45254644826054574, "epoch": 9.1552734375e-08, "step": 960 }, { "aux_loss_avg": 0.00584291476989165, "epoch": 9.1552734375e-08, "step": 960 }, { "epoch": 9.1552734375e-08, "step": 960, "training_step_time": 25.629671812057495 }, { "epoch": 9.164810180664063e-08, "model_forward_time": 7.452875852584839, "step": 961 }, { "epoch": 9.164810180664063e-08, "step": 961, "training_step_time": 25.542914390563965 }, { "epoch": 9.174346923828124e-08, "model_forward_time": 5.44750189781189, "step": 962 }, { "epoch": 9.174346923828124e-08, "step": 962, "training_step_time": 19.34946870803833 }, { "epoch": 9.183883666992187e-08, "model_forward_time": 7.878157138824463, "step": 963 }, { "epoch": 9.183883666992187e-08, "step": 963, "training_step_time": 27.686363697052002 }, { "epoch": 9.19342041015625e-08, "model_forward_time": 7.260671138763428, "step": 964 }, { "epoch": 9.19342041015625e-08, "step": 964, "training_step_time": 26.962322235107422 }, { "epoch": 9.202957153320313e-08, "model_forward_time": 6.486778020858765, "step": 965 }, { "epoch": 9.202957153320313e-08, "step": 965, "training_step_time": 25.278112649917603 }, { "epoch": 9.212493896484376e-08, "model_forward_time": 7.4137327671051025, "step": 966 }, { "epoch": 9.212493896484376e-08, "step": 966, "training_step_time": 26.666221380233765 }, { "epoch": 9.222030639648437e-08, "model_forward_time": 6.940749406814575, "step": 967 }, { "epoch": 9.222030639648437e-08, "step": 967, "training_step_time": 26.97387433052063 }, { "epoch": 9.2315673828125e-08, "model_forward_time": 7.4053521156311035, "step": 968 }, { "epoch": 9.2315673828125e-08, "step": 968, "training_step_time": 26.056389093399048 }, { "epoch": 9.241104125976563e-08, "model_forward_time": 6.659799337387085, "step": 969 }, { "epoch": 9.241104125976563e-08, "step": 969, "training_step_time": 25.965726613998413 }, { "epoch": 9.250640869140625e-08, "grad_norm": 3.5673775672912598, "learning_rate": 2.768571428571429e-06, "loss": 0.2663, "step": 970 }, { "epoch": 9.250640869140625e-08, "model_forward_time": 7.825868606567383, "step": 970 }, { "dynamics_loss_avg": 0.04941962230950594, "epoch": 9.250640869140625e-08, "step": 970 }, { "action_loss_avg": 0.1761077083647251, "epoch": 9.250640869140625e-08, "step": 970 }, { "arm_loss_avg": 0.228201062977314, "epoch": 9.250640869140625e-08, "step": 970 }, { "ee_loss_avg": 0.3947536639869213, "epoch": 9.250640869140625e-08, "step": 970 }, { "aux_loss_avg": 0.0064883635379374026, "epoch": 9.250640869140625e-08, "step": 970 }, { "epoch": 9.250640869140625e-08, "step": 970, "training_step_time": 25.727070331573486 }, { "epoch": 9.260177612304688e-08, "model_forward_time": 6.9090893268585205, "step": 971 }, { "epoch": 9.260177612304688e-08, "step": 971, "training_step_time": 26.141101121902466 }, { "epoch": 9.26971435546875e-08, "model_forward_time": 6.6268630027771, "step": 972 }, { "epoch": 9.26971435546875e-08, "step": 972, "training_step_time": 27.488074779510498 }, { "epoch": 9.279251098632812e-08, "model_forward_time": 7.368886947631836, "step": 973 }, { "epoch": 9.279251098632812e-08, "step": 973, "training_step_time": 25.98912811279297 }, { "epoch": 9.288787841796875e-08, "model_forward_time": 7.396131277084351, "step": 974 }, { "epoch": 9.288787841796875e-08, "step": 974, "training_step_time": 25.5870463848114 }, { "epoch": 9.298324584960938e-08, "model_forward_time": 7.770357608795166, "step": 975 }, { "epoch": 9.298324584960938e-08, "step": 975, "training_step_time": 25.9847993850708 }, { "epoch": 9.307861328125e-08, "model_forward_time": 7.398179054260254, "step": 976 }, { "epoch": 9.307861328125e-08, "step": 976, "training_step_time": 26.192793130874634 }, { "epoch": 9.317398071289062e-08, "model_forward_time": 8.050910949707031, "step": 977 }, { "epoch": 9.317398071289062e-08, "step": 977, "training_step_time": 27.467127799987793 }, { "epoch": 9.326934814453125e-08, "model_forward_time": 6.75572395324707, "step": 978 }, { "epoch": 9.326934814453125e-08, "step": 978, "training_step_time": 25.643893003463745 }, { "epoch": 9.336471557617188e-08, "model_forward_time": 6.635011434555054, "step": 979 }, { "epoch": 9.336471557617188e-08, "step": 979, "training_step_time": 26.15980625152588 }, { "epoch": 9.34600830078125e-08, "grad_norm": 2.1165130138397217, "learning_rate": 2.797142857142857e-06, "loss": 0.2574, "step": 980 }, { "epoch": 9.34600830078125e-08, "model_forward_time": 8.11915898323059, "step": 980 }, { "dynamics_loss_avg": 0.05580324176698923, "epoch": 9.34600830078125e-08, "step": 980 }, { "action_loss_avg": 0.17438917979598045, "epoch": 9.34600830078125e-08, "step": 980 }, { "arm_loss_avg": 0.23480298817157746, "epoch": 9.34600830078125e-08, "step": 980 }, { "ee_loss_avg": 0.37184533663094044, "epoch": 9.34600830078125e-08, "step": 980 }, { "aux_loss_avg": 0.005760173103772104, "epoch": 9.34600830078125e-08, "step": 980 }, { "epoch": 9.34600830078125e-08, "step": 980, "training_step_time": 27.402149438858032 }, { "epoch": 9.355545043945313e-08, "model_forward_time": 7.460323095321655, "step": 981 }, { "epoch": 9.355545043945313e-08, "step": 981, "training_step_time": 25.119125604629517 }, { "epoch": 9.365081787109375e-08, "model_forward_time": 7.802160263061523, "step": 982 }, { "epoch": 9.365081787109375e-08, "step": 982, "training_step_time": 26.291895151138306 }, { "epoch": 9.374618530273437e-08, "model_forward_time": 8.16916799545288, "step": 983 }, { "epoch": 9.374618530273437e-08, "step": 983, "training_step_time": 26.612318515777588 }, { "epoch": 9.3841552734375e-08, "model_forward_time": 8.765436887741089, "step": 984 }, { "epoch": 9.3841552734375e-08, "step": 984, "training_step_time": 26.140283823013306 }, { "epoch": 9.393692016601563e-08, "model_forward_time": 7.812936067581177, "step": 985 }, { "epoch": 9.393692016601563e-08, "step": 985, "training_step_time": 26.432481288909912 }, { "epoch": 9.403228759765624e-08, "model_forward_time": 4.631635904312134, "step": 986 }, { "epoch": 9.403228759765624e-08, "step": 986, "training_step_time": 25.310548305511475 }, { "epoch": 9.412765502929687e-08, "model_forward_time": 7.734508752822876, "step": 987 }, { "epoch": 9.412765502929687e-08, "step": 987, "training_step_time": 25.448997259140015 }, { "epoch": 9.42230224609375e-08, "model_forward_time": 8.405158281326294, "step": 988 }, { "epoch": 9.42230224609375e-08, "step": 988, "training_step_time": 27.032150506973267 }, { "epoch": 9.431838989257813e-08, "model_forward_time": 7.425382852554321, "step": 989 }, { "epoch": 9.431838989257813e-08, "step": 989, "training_step_time": 25.196075439453125 }, { "epoch": 9.441375732421875e-08, "grad_norm": 2.8738393783569336, "learning_rate": 2.825714285714286e-06, "loss": 0.251, "step": 990 }, { "epoch": 9.441375732421875e-08, "model_forward_time": 5.434645175933838, "step": 990 }, { "dynamics_loss_avg": 0.04543570773676038, "epoch": 9.441375732421875e-08, "step": 990 }, { "action_loss_avg": 0.18464160412549974, "epoch": 9.441375732421875e-08, "step": 990 }, { "arm_loss_avg": 0.21122782155871392, "epoch": 9.441375732421875e-08, "step": 990 }, { "ee_loss_avg": 0.4522396445274353, "epoch": 9.441375732421875e-08, "step": 990 }, { "aux_loss_avg": 0.006934488087426871, "epoch": 9.441375732421875e-08, "step": 990 }, { "epoch": 9.441375732421875e-08, "step": 990, "training_step_time": 26.22451663017273 }, { "epoch": 9.450912475585937e-08, "model_forward_time": 5.71636176109314, "step": 991 }, { "epoch": 9.450912475585937e-08, "step": 991, "training_step_time": 26.97470712661743 }, { "epoch": 9.46044921875e-08, "model_forward_time": 8.05622911453247, "step": 992 }, { "epoch": 9.46044921875e-08, "step": 992, "training_step_time": 25.736515522003174 }, { "epoch": 9.469985961914062e-08, "model_forward_time": 5.64943528175354, "step": 993 }, { "epoch": 9.469985961914062e-08, "step": 993, "training_step_time": 25.643165349960327 }, { "epoch": 9.479522705078125e-08, "model_forward_time": 8.205922603607178, "step": 994 }, { "epoch": 9.479522705078125e-08, "step": 994, "training_step_time": 26.757031202316284 }, { "epoch": 9.489059448242188e-08, "model_forward_time": 7.259055852890015, "step": 995 }, { "epoch": 9.489059448242188e-08, "step": 995, "training_step_time": 25.84805154800415 }, { "epoch": 9.49859619140625e-08, "model_forward_time": 6.951173543930054, "step": 996 }, { "epoch": 9.49859619140625e-08, "step": 996, "training_step_time": 26.397979497909546 }, { "epoch": 9.508132934570312e-08, "model_forward_time": 8.500844240188599, "step": 997 }, { "epoch": 9.508132934570312e-08, "step": 997, "training_step_time": 26.5117404460907 }, { "epoch": 9.517669677734375e-08, "model_forward_time": 8.185107946395874, "step": 998 }, { "epoch": 9.517669677734375e-08, "step": 998, "training_step_time": 26.255338191986084 }, { "epoch": 9.527206420898438e-08, "model_forward_time": 7.6340110301971436, "step": 999 }, { "epoch": 9.527206420898438e-08, "step": 999, "training_step_time": 26.916345596313477 }, { "epoch": 9.5367431640625e-08, "grad_norm": 2.3371121883392334, "learning_rate": 2.8542857142857144e-06, "loss": 0.238, "step": 1000 }, { "epoch": 9.5367431640625e-08, "model_forward_time": 5.891356468200684, "step": 1000 }, { "dynamics_loss_avg": 0.03498689071275294, "epoch": 9.5367431640625e-08, "step": 1000 }, { "action_loss_avg": 0.15041049867868422, "epoch": 9.5367431640625e-08, "step": 1000 }, { "arm_loss_avg": 0.19923650473356247, "epoch": 9.5367431640625e-08, "step": 1000 }, { "ee_loss_avg": 0.5127701699733734, "epoch": 9.5367431640625e-08, "step": 1000 }, { "aux_loss_avg": 0.0049790928838774565, "epoch": 9.5367431640625e-08, "step": 1000 }, { "epoch": 9.5367431640625e-08, "step": 1000, "training_step_time": 24.25609302520752 }, { "epoch": 9.546279907226562e-08, "model_forward_time": 8.035481691360474, "step": 1001 }, { "epoch": 9.546279907226562e-08, "step": 1001, "training_step_time": 26.45356512069702 }, { "epoch": 9.555816650390625e-08, "model_forward_time": 8.595158815383911, "step": 1002 }, { "epoch": 9.555816650390625e-08, "step": 1002, "training_step_time": 25.943827867507935 }, { "epoch": 9.565353393554688e-08, "model_forward_time": 8.056689262390137, "step": 1003 }, { "epoch": 9.565353393554688e-08, "step": 1003, "training_step_time": 26.713602542877197 }, { "epoch": 9.57489013671875e-08, "model_forward_time": 7.303407430648804, "step": 1004 }, { "epoch": 9.57489013671875e-08, "step": 1004, "training_step_time": 26.257833242416382 }, { "epoch": 9.584426879882813e-08, "model_forward_time": 7.201935529708862, "step": 1005 }, { "epoch": 9.584426879882813e-08, "step": 1005, "training_step_time": 26.767244577407837 }, { "epoch": 9.593963623046875e-08, "model_forward_time": 7.142221212387085, "step": 1006 }, { "epoch": 9.593963623046875e-08, "step": 1006, "training_step_time": 25.26250982284546 }, { "epoch": 9.603500366210937e-08, "model_forward_time": 7.986741542816162, "step": 1007 }, { "epoch": 9.603500366210937e-08, "step": 1007, "training_step_time": 26.153444290161133 }, { "epoch": 9.613037109375e-08, "model_forward_time": 6.116390705108643, "step": 1008 }, { "epoch": 9.613037109375e-08, "step": 1008, "training_step_time": 25.47415256500244 }, { "epoch": 9.622573852539063e-08, "model_forward_time": 7.1506407260894775, "step": 1009 }, { "epoch": 9.622573852539063e-08, "step": 1009, "training_step_time": 26.76524591445923 }, { "epoch": 9.632110595703126e-08, "grad_norm": 2.5040602684020996, "learning_rate": 2.8828571428571433e-06, "loss": 0.2212, "step": 1010 }, { "epoch": 9.632110595703126e-08, "model_forward_time": 7.764330148696899, "step": 1010 }, { "dynamics_loss_avg": 0.04935260061174631, "epoch": 9.632110595703126e-08, "step": 1010 }, { "action_loss_avg": 0.16497957296669483, "epoch": 9.632110595703126e-08, "step": 1010 }, { "arm_loss_avg": 0.2308979481458664, "epoch": 9.632110595703126e-08, "step": 1010 }, { "ee_loss_avg": 0.4682055555284023, "epoch": 9.632110595703126e-08, "step": 1010 }, { "aux_loss_avg": 0.01172544420696795, "epoch": 9.632110595703126e-08, "step": 1010 }, { "epoch": 9.632110595703126e-08, "step": 1010, "training_step_time": 26.741050958633423 }, { "epoch": 9.641647338867187e-08, "model_forward_time": 6.666994094848633, "step": 1011 }, { "epoch": 9.641647338867187e-08, "step": 1011, "training_step_time": 26.825894594192505 }, { "epoch": 9.65118408203125e-08, "model_forward_time": 5.871057033538818, "step": 1012 }, { "epoch": 9.65118408203125e-08, "step": 1012, "training_step_time": 27.326894283294678 }, { "epoch": 9.660720825195313e-08, "model_forward_time": 7.382896661758423, "step": 1013 }, { "epoch": 9.660720825195313e-08, "step": 1013, "training_step_time": 26.689851760864258 }, { "epoch": 9.670257568359375e-08, "model_forward_time": 6.624770402908325, "step": 1014 }, { "epoch": 9.670257568359375e-08, "step": 1014, "training_step_time": 24.492534399032593 }, { "epoch": 9.679794311523438e-08, "model_forward_time": 7.418100833892822, "step": 1015 }, { "epoch": 9.679794311523438e-08, "step": 1015, "training_step_time": 25.164074182510376 }, { "epoch": 9.6893310546875e-08, "model_forward_time": 8.062300682067871, "step": 1016 }, { "epoch": 9.6893310546875e-08, "step": 1016, "training_step_time": 26.626694202423096 }, { "epoch": 9.698867797851562e-08, "model_forward_time": 5.400972604751587, "step": 1017 }, { "epoch": 9.698867797851562e-08, "step": 1017, "training_step_time": 26.009248733520508 }, { "epoch": 9.708404541015625e-08, "model_forward_time": 8.147427797317505, "step": 1018 }, { "epoch": 9.708404541015625e-08, "step": 1018, "training_step_time": 26.745537757873535 }, { "epoch": 9.717941284179688e-08, "model_forward_time": 6.618853807449341, "step": 1019 }, { "epoch": 9.717941284179688e-08, "step": 1019, "training_step_time": 24.875935792922974 }, { "epoch": 9.72747802734375e-08, "grad_norm": 1.6197229623794556, "learning_rate": 2.9114285714285717e-06, "loss": 0.2335, "step": 1020 }, { "epoch": 9.72747802734375e-08, "model_forward_time": 7.40945839881897, "step": 1020 }, { "dynamics_loss_avg": 0.04639339335262775, "epoch": 9.72747802734375e-08, "step": 1020 }, { "action_loss_avg": 0.16825057119131087, "epoch": 9.72747802734375e-08, "step": 1020 }, { "arm_loss_avg": 0.21827887743711472, "epoch": 9.72747802734375e-08, "step": 1020 }, { "ee_loss_avg": 0.3782088778913021, "epoch": 9.72747802734375e-08, "step": 1020 }, { "aux_loss_avg": 0.003887955576647073, "epoch": 9.72747802734375e-08, "step": 1020 }, { "epoch": 9.72747802734375e-08, "step": 1020, "training_step_time": 25.937273025512695 }, { "epoch": 9.737014770507812e-08, "model_forward_time": 8.138173341751099, "step": 1021 }, { "epoch": 9.737014770507812e-08, "step": 1021, "training_step_time": 25.343494653701782 }, { "epoch": 9.746551513671875e-08, "model_forward_time": 8.612099170684814, "step": 1022 }, { "epoch": 9.746551513671875e-08, "step": 1022, "training_step_time": 26.632779359817505 }, { "epoch": 9.756088256835938e-08, "model_forward_time": 8.063499212265015, "step": 1023 }, { "epoch": 9.756088256835938e-08, "step": 1023, "training_step_time": 25.088812351226807 }, { "epoch": 9.765625e-08, "model_forward_time": 7.405203580856323, "step": 1024 }, { "epoch": 9.765625e-08, "step": 1024, "training_step_time": 26.188390493392944 }, { "epoch": 9.775161743164062e-08, "model_forward_time": 7.309947490692139, "step": 1025 }, { "epoch": 9.775161743164062e-08, "step": 1025, "training_step_time": 25.485409021377563 }, { "epoch": 9.784698486328125e-08, "model_forward_time": 4.636295318603516, "step": 1026 }, { "epoch": 9.784698486328125e-08, "step": 1026, "training_step_time": 25.171786069869995 }, { "epoch": 9.794235229492187e-08, "model_forward_time": 7.588994264602661, "step": 1027 }, { "epoch": 9.794235229492187e-08, "step": 1027, "training_step_time": 25.94623613357544 }, { "epoch": 9.80377197265625e-08, "model_forward_time": 4.841268539428711, "step": 1028 }, { "epoch": 9.80377197265625e-08, "step": 1028, "training_step_time": 25.97612953186035 }, { "epoch": 9.813308715820313e-08, "model_forward_time": 7.751790761947632, "step": 1029 }, { "epoch": 9.813308715820313e-08, "step": 1029, "training_step_time": 25.73162841796875 }, { "epoch": 9.822845458984374e-08, "grad_norm": 2.292463779449463, "learning_rate": 2.9400000000000002e-06, "loss": 0.2262, "step": 1030 }, { "epoch": 9.822845458984374e-08, "model_forward_time": 8.266391038894653, "step": 1030 }, { "dynamics_loss_avg": 0.043517669290304185, "epoch": 9.822845458984374e-08, "step": 1030 }, { "action_loss_avg": 0.15213739685714245, "epoch": 9.822845458984374e-08, "step": 1030 }, { "arm_loss_avg": 0.189518790692091, "epoch": 9.822845458984374e-08, "step": 1030 }, { "ee_loss_avg": 0.2393251344561577, "epoch": 9.822845458984374e-08, "step": 1030 }, { "aux_loss_avg": 0.003005314408801496, "epoch": 9.822845458984374e-08, "step": 1030 }, { "epoch": 9.822845458984374e-08, "step": 1030, "training_step_time": 26.768131732940674 }, { "epoch": 9.832382202148437e-08, "model_forward_time": 6.421548843383789, "step": 1031 }, { "epoch": 9.832382202148437e-08, "step": 1031, "training_step_time": 25.465808391571045 }, { "epoch": 9.8419189453125e-08, "model_forward_time": 7.1906397342681885, "step": 1032 }, { "epoch": 9.8419189453125e-08, "step": 1032, "training_step_time": 26.81752300262451 }, { "epoch": 9.851455688476563e-08, "model_forward_time": 8.136123180389404, "step": 1033 }, { "epoch": 9.851455688476563e-08, "step": 1033, "training_step_time": 27.190602779388428 }, { "epoch": 9.860992431640626e-08, "model_forward_time": 7.427234649658203, "step": 1034 }, { "epoch": 9.860992431640626e-08, "step": 1034, "training_step_time": 26.669264793395996 }, { "epoch": 9.870529174804687e-08, "model_forward_time": 6.845207929611206, "step": 1035 }, { "epoch": 9.870529174804687e-08, "step": 1035, "training_step_time": 25.338205337524414 }, { "epoch": 9.88006591796875e-08, "model_forward_time": 7.423717737197876, "step": 1036 }, { "epoch": 9.88006591796875e-08, "step": 1036, "training_step_time": 24.66477632522583 }, { "epoch": 9.889602661132813e-08, "model_forward_time": 8.814018487930298, "step": 1037 }, { "epoch": 9.889602661132813e-08, "step": 1037, "training_step_time": 27.213746786117554 }, { "epoch": 9.899139404296875e-08, "model_forward_time": 8.022608757019043, "step": 1038 }, { "epoch": 9.899139404296875e-08, "step": 1038, "training_step_time": 25.490713119506836 }, { "epoch": 9.908676147460938e-08, "model_forward_time": 6.927480220794678, "step": 1039 }, { "epoch": 9.908676147460938e-08, "step": 1039, "training_step_time": 27.444467544555664 }, { "epoch": 9.918212890625e-08, "grad_norm": 2.838848352432251, "learning_rate": 2.968571428571429e-06, "loss": 0.2398, "step": 1040 }, { "epoch": 9.918212890625e-08, "model_forward_time": 6.8863139152526855, "step": 1040 }, { "dynamics_loss_avg": 0.041399142565205695, "epoch": 9.918212890625e-08, "step": 1040 }, { "action_loss_avg": 0.1547338217496872, "epoch": 9.918212890625e-08, "step": 1040 }, { "arm_loss_avg": 0.16179536916315557, "epoch": 9.918212890625e-08, "step": 1040 }, { "ee_loss_avg": 0.26474770456552504, "epoch": 9.918212890625e-08, "step": 1040 }, { "aux_loss_avg": 0.004776685766410082, "epoch": 9.918212890625e-08, "step": 1040 }, { "epoch": 9.918212890625e-08, "step": 1040, "training_step_time": 25.871859312057495 }, { "epoch": 9.927749633789062e-08, "model_forward_time": 7.723227500915527, "step": 1041 }, { "epoch": 9.927749633789062e-08, "step": 1041, "training_step_time": 26.743165254592896 }, { "epoch": 9.937286376953125e-08, "model_forward_time": 6.636195659637451, "step": 1042 }, { "epoch": 9.937286376953125e-08, "step": 1042, "training_step_time": 25.629900693893433 }, { "epoch": 9.946823120117188e-08, "model_forward_time": 6.207822322845459, "step": 1043 }, { "epoch": 9.946823120117188e-08, "step": 1043, "training_step_time": 25.369551181793213 }, { "epoch": 9.95635986328125e-08, "model_forward_time": 5.671522617340088, "step": 1044 }, { "epoch": 9.95635986328125e-08, "step": 1044, "training_step_time": 26.064735412597656 }, { "epoch": 9.965896606445312e-08, "model_forward_time": 7.358216047286987, "step": 1045 }, { "epoch": 9.965896606445312e-08, "step": 1045, "training_step_time": 25.841897010803223 }, { "epoch": 9.975433349609375e-08, "model_forward_time": 6.645609378814697, "step": 1046 }, { "epoch": 9.975433349609375e-08, "step": 1046, "training_step_time": 26.090761423110962 }, { "epoch": 9.984970092773438e-08, "model_forward_time": 8.159481048583984, "step": 1047 }, { "epoch": 9.984970092773438e-08, "step": 1047, "training_step_time": 25.21943235397339 }, { "epoch": 9.9945068359375e-08, "model_forward_time": 7.716024875640869, "step": 1048 }, { "epoch": 9.9945068359375e-08, "step": 1048, "training_step_time": 27.692923307418823 }, { "epoch": 1.0004043579101562e-07, "model_forward_time": 6.624287366867065, "step": 1049 }, { "epoch": 1.0004043579101562e-07, "step": 1049, "training_step_time": 26.41470766067505 }, { "epoch": 1.0013580322265625e-07, "grad_norm": 1.8781300783157349, "learning_rate": 2.997142857142857e-06, "loss": 0.2099, "step": 1050 }, { "epoch": 1.0013580322265625e-07, "model_forward_time": 6.735748052597046, "step": 1050 }, { "dynamics_loss_avg": 0.038492560479789974, "epoch": 1.0013580322265625e-07, "step": 1050 }, { "action_loss_avg": 0.1343071810901165, "epoch": 1.0013580322265625e-07, "step": 1050 }, { "arm_loss_avg": 0.14649558290839196, "epoch": 1.0013580322265625e-07, "step": 1050 }, { "ee_loss_avg": 0.24428165331482887, "epoch": 1.0013580322265625e-07, "step": 1050 }, { "aux_loss_avg": 0.0037875234556850046, "epoch": 1.0013580322265625e-07, "step": 1050 }, { "epoch": 1.0013580322265625e-07, "step": 1050, "training_step_time": 24.500463008880615 }, { "epoch": 1.0023117065429687e-07, "model_forward_time": 7.392441272735596, "step": 1051 }, { "epoch": 1.0023117065429687e-07, "step": 1051, "training_step_time": 26.769394874572754 }, { "epoch": 1.003265380859375e-07, "model_forward_time": 7.8670313358306885, "step": 1052 }, { "epoch": 1.003265380859375e-07, "step": 1052, "training_step_time": 25.23855423927307 }, { "epoch": 1.0042190551757813e-07, "model_forward_time": 7.394634485244751, "step": 1053 }, { "epoch": 1.0042190551757813e-07, "step": 1053, "training_step_time": 25.436388731002808 }, { "epoch": 1.0051727294921874e-07, "model_forward_time": 6.6766557693481445, "step": 1054 }, { "epoch": 1.0051727294921874e-07, "step": 1054, "training_step_time": 25.806116104125977 }, { "epoch": 1.0061264038085937e-07, "model_forward_time": 6.419265985488892, "step": 1055 }, { "epoch": 1.0061264038085937e-07, "step": 1055, "training_step_time": 25.41183829307556 }, { "epoch": 1.007080078125e-07, "model_forward_time": 7.680734872817993, "step": 1056 }, { "epoch": 1.007080078125e-07, "step": 1056, "training_step_time": 26.523318767547607 }, { "epoch": 1.0080337524414063e-07, "model_forward_time": 7.2714760303497314, "step": 1057 }, { "epoch": 1.0080337524414063e-07, "step": 1057, "training_step_time": 26.09119415283203 }, { "epoch": 1.0089874267578125e-07, "model_forward_time": 8.109491348266602, "step": 1058 }, { "epoch": 1.0089874267578125e-07, "step": 1058, "training_step_time": 26.93436622619629 }, { "epoch": 1.0099411010742187e-07, "model_forward_time": 7.078108310699463, "step": 1059 }, { "epoch": 1.0099411010742187e-07, "step": 1059, "training_step_time": 26.07644557952881 }, { "epoch": 1.010894775390625e-07, "grad_norm": 2.56101655960083, "learning_rate": 3.0257142857142857e-06, "loss": 0.2008, "step": 1060 }, { "epoch": 1.010894775390625e-07, "model_forward_time": 6.643507957458496, "step": 1060 }, { "dynamics_loss_avg": 0.036731875687837603, "epoch": 1.010894775390625e-07, "step": 1060 }, { "action_loss_avg": 0.1538865089416504, "epoch": 1.010894775390625e-07, "step": 1060 }, { "arm_loss_avg": 0.17917980924248694, "epoch": 1.010894775390625e-07, "step": 1060 }, { "ee_loss_avg": 0.2531369414180517, "epoch": 1.010894775390625e-07, "step": 1060 }, { "aux_loss_avg": 0.004528199066407978, "epoch": 1.010894775390625e-07, "step": 1060 }, { "epoch": 1.010894775390625e-07, "step": 1060, "training_step_time": 24.534709692001343 }, { "epoch": 1.0118484497070312e-07, "model_forward_time": 8.099711418151855, "step": 1061 }, { "epoch": 1.0118484497070312e-07, "step": 1061, "training_step_time": 27.318155765533447 }, { "epoch": 1.0128021240234375e-07, "model_forward_time": 7.37480616569519, "step": 1062 }, { "epoch": 1.0128021240234375e-07, "step": 1062, "training_step_time": 26.39768648147583 }, { "epoch": 1.0137557983398438e-07, "model_forward_time": 6.35709810256958, "step": 1063 }, { "epoch": 1.0137557983398438e-07, "step": 1063, "training_step_time": 27.204545497894287 }, { "epoch": 1.01470947265625e-07, "model_forward_time": 5.843008279800415, "step": 1064 }, { "epoch": 1.01470947265625e-07, "step": 1064, "training_step_time": 25.551947116851807 }, { "epoch": 1.0156631469726562e-07, "model_forward_time": 6.608147859573364, "step": 1065 }, { "epoch": 1.0156631469726562e-07, "step": 1065, "training_step_time": 25.99015736579895 }, { "epoch": 1.0166168212890625e-07, "model_forward_time": 7.426317453384399, "step": 1066 }, { "epoch": 1.0166168212890625e-07, "step": 1066, "training_step_time": 26.400816440582275 }, { "epoch": 1.0175704956054688e-07, "model_forward_time": 8.128519058227539, "step": 1067 }, { "epoch": 1.0175704956054688e-07, "step": 1067, "training_step_time": 26.842625856399536 }, { "epoch": 1.018524169921875e-07, "model_forward_time": 7.553396224975586, "step": 1068 }, { "epoch": 1.018524169921875e-07, "step": 1068, "training_step_time": 25.13506841659546 }, { "epoch": 1.0194778442382812e-07, "model_forward_time": 7.234471082687378, "step": 1069 }, { "epoch": 1.0194778442382812e-07, "step": 1069, "training_step_time": 26.138850212097168 }, { "epoch": 1.0204315185546875e-07, "grad_norm": 1.5269906520843506, "learning_rate": 3.0542857142857146e-06, "loss": 0.246, "step": 1070 }, { "epoch": 1.0204315185546875e-07, "model_forward_time": 7.663652658462524, "step": 1070 }, { "dynamics_loss_avg": 0.04788503961171955, "epoch": 1.0204315185546875e-07, "step": 1070 }, { "action_loss_avg": 0.14754315316677094, "epoch": 1.0204315185546875e-07, "step": 1070 }, { "arm_loss_avg": 0.16405150070786476, "epoch": 1.0204315185546875e-07, "step": 1070 }, { "ee_loss_avg": 0.1638915877789259, "epoch": 1.0204315185546875e-07, "step": 1070 }, { "aux_loss_avg": 0.0070335178344976155, "epoch": 1.0204315185546875e-07, "step": 1070 }, { "epoch": 1.0204315185546875e-07, "step": 1070, "training_step_time": 26.206162929534912 }, { "epoch": 1.0213851928710938e-07, "model_forward_time": 6.686902761459351, "step": 1071 }, { "epoch": 1.0213851928710938e-07, "step": 1071, "training_step_time": 26.96545433998108 }, { "epoch": 1.0223388671875e-07, "model_forward_time": 8.599477291107178, "step": 1072 }, { "epoch": 1.0223388671875e-07, "step": 1072, "training_step_time": 26.068963289260864 }, { "epoch": 1.0232925415039063e-07, "model_forward_time": 6.649724245071411, "step": 1073 }, { "epoch": 1.0232925415039063e-07, "step": 1073, "training_step_time": 27.283642053604126 }, { "epoch": 1.0242462158203125e-07, "model_forward_time": 7.290818691253662, "step": 1074 }, { "epoch": 1.0242462158203125e-07, "step": 1074, "training_step_time": 25.259952783584595 }, { "epoch": 1.0251998901367187e-07, "model_forward_time": 6.86783242225647, "step": 1075 }, { "epoch": 1.0251998901367187e-07, "step": 1075, "training_step_time": 25.933716297149658 }, { "epoch": 1.026153564453125e-07, "model_forward_time": 7.378242254257202, "step": 1076 }, { "epoch": 1.026153564453125e-07, "step": 1076, "training_step_time": 26.133744955062866 }, { "epoch": 1.0271072387695313e-07, "model_forward_time": 6.8912577629089355, "step": 1077 }, { "epoch": 1.0271072387695313e-07, "step": 1077, "training_step_time": 24.202725648880005 }, { "epoch": 1.0280609130859376e-07, "model_forward_time": 7.889971017837524, "step": 1078 }, { "epoch": 1.0280609130859376e-07, "step": 1078, "training_step_time": 26.24482774734497 }, { "epoch": 1.0290145874023437e-07, "model_forward_time": 8.153908014297485, "step": 1079 }, { "epoch": 1.0290145874023437e-07, "step": 1079, "training_step_time": 26.026430130004883 }, { "epoch": 1.02996826171875e-07, "grad_norm": 1.3658833503723145, "learning_rate": 3.082857142857143e-06, "loss": 0.242, "step": 1080 }, { "epoch": 1.02996826171875e-07, "model_forward_time": 7.420903921127319, "step": 1080 }, { "dynamics_loss_avg": 0.044232838414609434, "epoch": 1.02996826171875e-07, "step": 1080 }, { "action_loss_avg": 0.14119317345321178, "epoch": 1.02996826171875e-07, "step": 1080 }, { "arm_loss_avg": 0.20563179552555083, "epoch": 1.02996826171875e-07, "step": 1080 }, { "ee_loss_avg": 0.21321385949850083, "epoch": 1.02996826171875e-07, "step": 1080 }, { "aux_loss_avg": 0.005566802120301873, "epoch": 1.02996826171875e-07, "step": 1080 }, { "epoch": 1.02996826171875e-07, "step": 1080, "training_step_time": 26.125908374786377 }, { "epoch": 1.0309219360351563e-07, "model_forward_time": 7.48825216293335, "step": 1081 }, { "epoch": 1.0309219360351563e-07, "step": 1081, "training_step_time": 26.741576671600342 }, { "epoch": 1.0318756103515625e-07, "model_forward_time": 7.147931814193726, "step": 1082 }, { "epoch": 1.0318756103515625e-07, "step": 1082, "training_step_time": 25.61747169494629 }, { "epoch": 1.0328292846679687e-07, "model_forward_time": 7.959361553192139, "step": 1083 }, { "epoch": 1.0328292846679687e-07, "step": 1083, "training_step_time": 25.290902376174927 }, { "epoch": 1.033782958984375e-07, "model_forward_time": 8.695426940917969, "step": 1084 }, { "epoch": 1.033782958984375e-07, "step": 1084, "training_step_time": 27.413118839263916 }, { "epoch": 1.0347366333007812e-07, "model_forward_time": 7.390470504760742, "step": 1085 }, { "epoch": 1.0347366333007812e-07, "step": 1085, "training_step_time": 24.59846591949463 }, { "epoch": 1.0356903076171875e-07, "model_forward_time": 6.024962425231934, "step": 1086 }, { "epoch": 1.0356903076171875e-07, "step": 1086, "training_step_time": 25.706782579421997 }, { "epoch": 1.0366439819335938e-07, "model_forward_time": 7.3613035678863525, "step": 1087 }, { "epoch": 1.0366439819335938e-07, "step": 1087, "training_step_time": 26.136541604995728 }, { "epoch": 1.03759765625e-07, "model_forward_time": 7.85174298286438, "step": 1088 }, { "epoch": 1.03759765625e-07, "step": 1088, "training_step_time": 26.127943515777588 }, { "epoch": 1.0385513305664062e-07, "model_forward_time": 5.294285535812378, "step": 1089 }, { "epoch": 1.0385513305664062e-07, "step": 1089, "training_step_time": 26.20652937889099 }, { "epoch": 1.0395050048828125e-07, "grad_norm": 2.2106425762176514, "learning_rate": 3.111428571428572e-06, "loss": 0.2295, "step": 1090 }, { "epoch": 1.0395050048828125e-07, "model_forward_time": 7.388005971908569, "step": 1090 }, { "dynamics_loss_avg": 0.03943868577480316, "epoch": 1.0395050048828125e-07, "step": 1090 }, { "action_loss_avg": 0.12047048211097718, "epoch": 1.0395050048828125e-07, "step": 1090 }, { "arm_loss_avg": 0.14604700580239297, "epoch": 1.0395050048828125e-07, "step": 1090 }, { "ee_loss_avg": 0.1727904625236988, "epoch": 1.0395050048828125e-07, "step": 1090 }, { "aux_loss_avg": 0.003413419710705057, "epoch": 1.0395050048828125e-07, "step": 1090 }, { "epoch": 1.0395050048828125e-07, "step": 1090, "training_step_time": 25.244816780090332 }, { "epoch": 1.0404586791992188e-07, "model_forward_time": 8.131936311721802, "step": 1091 }, { "epoch": 1.0404586791992188e-07, "step": 1091, "training_step_time": 26.036696195602417 }, { "epoch": 1.041412353515625e-07, "model_forward_time": 6.517065763473511, "step": 1092 }, { "epoch": 1.041412353515625e-07, "step": 1092, "training_step_time": 26.161909341812134 }, { "epoch": 1.0423660278320312e-07, "model_forward_time": 8.117205381393433, "step": 1093 }, { "epoch": 1.0423660278320312e-07, "step": 1093, "training_step_time": 25.884167671203613 }, { "epoch": 1.0433197021484375e-07, "model_forward_time": 7.63423752784729, "step": 1094 }, { "epoch": 1.0433197021484375e-07, "step": 1094, "training_step_time": 25.264334201812744 }, { "epoch": 1.0442733764648438e-07, "model_forward_time": 6.640532970428467, "step": 1095 }, { "epoch": 1.0442733764648438e-07, "step": 1095, "training_step_time": 26.245698928833008 }, { "epoch": 1.04522705078125e-07, "model_forward_time": 7.593247890472412, "step": 1096 }, { "epoch": 1.04522705078125e-07, "step": 1096, "training_step_time": 26.179672956466675 }, { "epoch": 1.0461807250976563e-07, "model_forward_time": 7.5732550621032715, "step": 1097 }, { "epoch": 1.0461807250976563e-07, "step": 1097, "training_step_time": 26.19447374343872 }, { "epoch": 1.0471343994140625e-07, "model_forward_time": 8.161062002182007, "step": 1098 }, { "epoch": 1.0471343994140625e-07, "step": 1098, "training_step_time": 25.52894163131714 }, { "epoch": 1.0480880737304687e-07, "model_forward_time": 7.423935413360596, "step": 1099 }, { "epoch": 1.0480880737304687e-07, "step": 1099, "training_step_time": 26.02594804763794 }, { "epoch": 1.049041748046875e-07, "grad_norm": 2.4567666053771973, "learning_rate": 3.1400000000000004e-06, "loss": 0.2005, "step": 1100 }, { "epoch": 1.049041748046875e-07, "model_forward_time": 7.6459221839904785, "step": 1100 }, { "dynamics_loss_avg": 0.04177063908427954, "epoch": 1.049041748046875e-07, "step": 1100 }, { "action_loss_avg": 0.11782422848045826, "epoch": 1.049041748046875e-07, "step": 1100 }, { "arm_loss_avg": 0.16212735287845134, "epoch": 1.049041748046875e-07, "step": 1100 }, { "ee_loss_avg": 0.22476653531193733, "epoch": 1.049041748046875e-07, "step": 1100 }, { "aux_loss_avg": 0.0036220304609742016, "epoch": 1.049041748046875e-07, "step": 1100 }, { "epoch": 1.049041748046875e-07, "step": 1100, "training_step_time": 26.877787113189697 }, { "epoch": 1.0499954223632813e-07, "model_forward_time": 8.013787031173706, "step": 1101 }, { "epoch": 1.0499954223632813e-07, "step": 1101, "training_step_time": 26.144705057144165 }, { "epoch": 1.0509490966796876e-07, "model_forward_time": 7.441183090209961, "step": 1102 }, { "epoch": 1.0509490966796876e-07, "step": 1102, "training_step_time": 25.510443925857544 }, { "epoch": 1.0519027709960937e-07, "model_forward_time": 7.84733510017395, "step": 1103 }, { "epoch": 1.0519027709960937e-07, "step": 1103, "training_step_time": 25.466660261154175 }, { "epoch": 1.0528564453125e-07, "model_forward_time": 5.697737455368042, "step": 1104 }, { "epoch": 1.0528564453125e-07, "step": 1104, "training_step_time": 27.62059259414673 }, { "epoch": 1.0538101196289063e-07, "model_forward_time": 7.098911762237549, "step": 1105 }, { "epoch": 1.0538101196289063e-07, "step": 1105, "training_step_time": 25.92227029800415 }, { "epoch": 1.0547637939453125e-07, "model_forward_time": 8.038841247558594, "step": 1106 }, { "epoch": 1.0547637939453125e-07, "step": 1106, "training_step_time": 26.1159451007843 }, { "epoch": 1.0557174682617188e-07, "model_forward_time": 7.677087306976318, "step": 1107 }, { "epoch": 1.0557174682617188e-07, "step": 1107, "training_step_time": 26.5931236743927 }, { "epoch": 1.056671142578125e-07, "model_forward_time": 8.106581211090088, "step": 1108 }, { "epoch": 1.056671142578125e-07, "step": 1108, "training_step_time": 26.547752380371094 }, { "epoch": 1.0576248168945312e-07, "model_forward_time": 7.5449538230896, "step": 1109 }, { "epoch": 1.0576248168945312e-07, "step": 1109, "training_step_time": 25.89487648010254 }, { "epoch": 1.0585784912109375e-07, "grad_norm": 3.747819185256958, "learning_rate": 3.1685714285714285e-06, "loss": 0.2458, "step": 1110 }, { "epoch": 1.0585784912109375e-07, "model_forward_time": 6.672196388244629, "step": 1110 }, { "dynamics_loss_avg": 0.04573078602552414, "epoch": 1.0585784912109375e-07, "step": 1110 }, { "action_loss_avg": 0.14998303204774857, "epoch": 1.0585784912109375e-07, "step": 1110 }, { "arm_loss_avg": 0.19209047183394432, "epoch": 1.0585784912109375e-07, "step": 1110 }, { "ee_loss_avg": 0.26119212955236437, "epoch": 1.0585784912109375e-07, "step": 1110 }, { "aux_loss_avg": 0.004251414159080013, "epoch": 1.0585784912109375e-07, "step": 1110 }, { "epoch": 1.0585784912109375e-07, "step": 1110, "training_step_time": 26.389055252075195 }, { "epoch": 1.0595321655273438e-07, "model_forward_time": 8.025753736495972, "step": 1111 }, { "epoch": 1.0595321655273438e-07, "step": 1111, "training_step_time": 26.2198965549469 }, { "epoch": 1.06048583984375e-07, "model_forward_time": 7.646755218505859, "step": 1112 }, { "epoch": 1.06048583984375e-07, "step": 1112, "training_step_time": 26.254738092422485 }, { "epoch": 1.0614395141601562e-07, "model_forward_time": 8.066357851028442, "step": 1113 }, { "epoch": 1.0614395141601562e-07, "step": 1113, "training_step_time": 26.833563327789307 }, { "epoch": 1.0623931884765625e-07, "model_forward_time": 8.140392303466797, "step": 1114 }, { "epoch": 1.0623931884765625e-07, "step": 1114, "training_step_time": 26.963863611221313 }, { "epoch": 1.0633468627929688e-07, "model_forward_time": 5.618289232254028, "step": 1115 }, { "epoch": 1.0633468627929688e-07, "step": 1115, "training_step_time": 25.992125272750854 }, { "epoch": 1.064300537109375e-07, "model_forward_time": 6.85821270942688, "step": 1116 }, { "epoch": 1.064300537109375e-07, "step": 1116, "training_step_time": 25.13815140724182 }, { "epoch": 1.0652542114257812e-07, "model_forward_time": 7.745452642440796, "step": 1117 }, { "epoch": 1.0652542114257812e-07, "step": 1117, "training_step_time": 25.19307231903076 }, { "epoch": 1.0662078857421875e-07, "model_forward_time": 8.208776712417603, "step": 1118 }, { "epoch": 1.0662078857421875e-07, "step": 1118, "training_step_time": 25.951691389083862 }, { "epoch": 1.0671615600585937e-07, "model_forward_time": 7.167081594467163, "step": 1119 }, { "epoch": 1.0671615600585937e-07, "step": 1119, "training_step_time": 26.171640396118164 }, { "epoch": 1.068115234375e-07, "grad_norm": 2.5625557899475098, "learning_rate": 3.1971428571428574e-06, "loss": 0.2019, "step": 1120 }, { "epoch": 1.068115234375e-07, "model_forward_time": 7.4118475914001465, "step": 1120 }, { "dynamics_loss_avg": 0.04845843091607094, "epoch": 1.068115234375e-07, "step": 1120 }, { "action_loss_avg": 0.12878439910709857, "epoch": 1.068115234375e-07, "step": 1120 }, { "arm_loss_avg": 0.1771123468875885, "epoch": 1.068115234375e-07, "step": 1120 }, { "ee_loss_avg": 0.2085418175905943, "epoch": 1.068115234375e-07, "step": 1120 }, { "aux_loss_avg": 0.014417485689045861, "epoch": 1.068115234375e-07, "step": 1120 }, { "epoch": 1.068115234375e-07, "step": 1120, "training_step_time": 26.095991134643555 }, { "epoch": 1.0690689086914063e-07, "model_forward_time": 5.259128570556641, "step": 1121 }, { "epoch": 1.0690689086914063e-07, "step": 1121, "training_step_time": 25.952617645263672 }, { "epoch": 1.0700225830078124e-07, "model_forward_time": 7.123486757278442, "step": 1122 }, { "epoch": 1.0700225830078124e-07, "step": 1122, "training_step_time": 25.644824981689453 }, { "epoch": 1.0709762573242187e-07, "model_forward_time": 8.322120666503906, "step": 1123 }, { "epoch": 1.0709762573242187e-07, "step": 1123, "training_step_time": 26.154335498809814 }, { "epoch": 1.071929931640625e-07, "model_forward_time": 7.4565815925598145, "step": 1124 }, { "epoch": 1.071929931640625e-07, "step": 1124, "training_step_time": 26.252127170562744 }, { "epoch": 1.0728836059570313e-07, "model_forward_time": 7.600194454193115, "step": 1125 }, { "epoch": 1.0728836059570313e-07, "step": 1125, "training_step_time": 26.009615659713745 }, { "epoch": 1.0738372802734376e-07, "model_forward_time": 7.16269326210022, "step": 1126 }, { "epoch": 1.0738372802734376e-07, "step": 1126, "training_step_time": 25.81494927406311 }, { "epoch": 1.0747909545898437e-07, "model_forward_time": 6.905667066574097, "step": 1127 }, { "epoch": 1.0747909545898437e-07, "step": 1127, "training_step_time": 25.955172300338745 }, { "epoch": 1.07574462890625e-07, "model_forward_time": 6.800902366638184, "step": 1128 }, { "epoch": 1.07574462890625e-07, "step": 1128, "training_step_time": 26.008475303649902 }, { "epoch": 1.0766983032226563e-07, "model_forward_time": 7.338958024978638, "step": 1129 }, { "epoch": 1.0766983032226563e-07, "step": 1129, "training_step_time": 26.73025369644165 }, { "epoch": 1.0776519775390625e-07, "grad_norm": 2.072628974914551, "learning_rate": 3.225714285714286e-06, "loss": 0.216, "step": 1130 }, { "epoch": 1.0776519775390625e-07, "model_forward_time": 5.39674973487854, "step": 1130 }, { "dynamics_loss_avg": 0.04069565255194903, "epoch": 1.0776519775390625e-07, "step": 1130 }, { "action_loss_avg": 0.12832097783684732, "epoch": 1.0776519775390625e-07, "step": 1130 }, { "arm_loss_avg": 0.17601030245423316, "epoch": 1.0776519775390625e-07, "step": 1130 }, { "ee_loss_avg": 0.23191349282860757, "epoch": 1.0776519775390625e-07, "step": 1130 }, { "aux_loss_avg": 0.019913505151635036, "epoch": 1.0776519775390625e-07, "step": 1130 }, { "epoch": 1.0776519775390625e-07, "step": 1130, "training_step_time": 26.893537759780884 }, { "epoch": 1.0786056518554688e-07, "model_forward_time": 8.338979244232178, "step": 1131 }, { "epoch": 1.0786056518554688e-07, "step": 1131, "training_step_time": 26.659945964813232 }, { "epoch": 1.079559326171875e-07, "model_forward_time": 6.5930256843566895, "step": 1132 }, { "epoch": 1.079559326171875e-07, "step": 1132, "training_step_time": 25.76164150238037 }, { "epoch": 1.0805130004882812e-07, "model_forward_time": 6.958798170089722, "step": 1133 }, { "epoch": 1.0805130004882812e-07, "step": 1133, "training_step_time": 25.77750515937805 }, { "epoch": 1.0814666748046875e-07, "model_forward_time": 7.611058235168457, "step": 1134 }, { "epoch": 1.0814666748046875e-07, "step": 1134, "training_step_time": 26.565882682800293 }, { "epoch": 1.0824203491210938e-07, "model_forward_time": 8.373297929763794, "step": 1135 }, { "epoch": 1.0824203491210938e-07, "step": 1135, "training_step_time": 26.603086233139038 }, { "epoch": 1.0833740234375e-07, "model_forward_time": 6.663805246353149, "step": 1136 }, { "epoch": 1.0833740234375e-07, "step": 1136, "training_step_time": 26.621031999588013 }, { "epoch": 1.0843276977539062e-07, "model_forward_time": 6.807883024215698, "step": 1137 }, { "epoch": 1.0843276977539062e-07, "step": 1137, "training_step_time": 25.52245831489563 }, { "epoch": 1.0852813720703125e-07, "model_forward_time": 7.379698753356934, "step": 1138 }, { "epoch": 1.0852813720703125e-07, "step": 1138, "training_step_time": 25.89964532852173 }, { "epoch": 1.0862350463867188e-07, "model_forward_time": 8.164329528808594, "step": 1139 }, { "epoch": 1.0862350463867188e-07, "step": 1139, "training_step_time": 26.12590479850769 }, { "epoch": 1.087188720703125e-07, "grad_norm": 1.7641000747680664, "learning_rate": 3.2542857142857148e-06, "loss": 0.1974, "step": 1140 }, { "epoch": 1.087188720703125e-07, "model_forward_time": 7.389071702957153, "step": 1140 }, { "dynamics_loss_avg": 0.038475576974451545, "epoch": 1.087188720703125e-07, "step": 1140 }, { "action_loss_avg": 0.11767878346145152, "epoch": 1.087188720703125e-07, "step": 1140 }, { "arm_loss_avg": 0.15265851393342017, "epoch": 1.087188720703125e-07, "step": 1140 }, { "ee_loss_avg": 0.17945239096879959, "epoch": 1.087188720703125e-07, "step": 1140 }, { "aux_loss_avg": 0.00538288164534606, "epoch": 1.087188720703125e-07, "step": 1140 }, { "epoch": 1.087188720703125e-07, "step": 1140, "training_step_time": 26.37720036506653 }, { "epoch": 1.0881423950195312e-07, "model_forward_time": 6.608396768569946, "step": 1141 }, { "epoch": 1.0881423950195312e-07, "step": 1141, "training_step_time": 25.32653570175171 }, { "epoch": 1.0890960693359375e-07, "model_forward_time": 8.136564016342163, "step": 1142 }, { "epoch": 1.0890960693359375e-07, "step": 1142, "training_step_time": 26.612290859222412 }, { "epoch": 1.0900497436523437e-07, "model_forward_time": 6.942460775375366, "step": 1143 }, { "epoch": 1.0900497436523437e-07, "step": 1143, "training_step_time": 26.45134139060974 }, { "epoch": 1.09100341796875e-07, "model_forward_time": 7.417351484298706, "step": 1144 }, { "epoch": 1.09100341796875e-07, "step": 1144, "training_step_time": 25.959355115890503 }, { "epoch": 1.0919570922851563e-07, "model_forward_time": 4.662363290786743, "step": 1145 }, { "epoch": 1.0919570922851563e-07, "step": 1145, "training_step_time": 26.583048820495605 }, { "epoch": 1.0929107666015624e-07, "model_forward_time": 6.778053045272827, "step": 1146 }, { "epoch": 1.0929107666015624e-07, "step": 1146, "training_step_time": 25.838195085525513 }, { "epoch": 1.0938644409179687e-07, "model_forward_time": 6.910546541213989, "step": 1147 }, { "epoch": 1.0938644409179687e-07, "step": 1147, "training_step_time": 25.290191411972046 }, { "epoch": 1.094818115234375e-07, "model_forward_time": 6.685564994812012, "step": 1148 }, { "epoch": 1.094818115234375e-07, "step": 1148, "training_step_time": 24.962326765060425 }, { "epoch": 1.0957717895507813e-07, "model_forward_time": 6.287904739379883, "step": 1149 }, { "epoch": 1.0957717895507813e-07, "step": 1149, "training_step_time": 24.87105131149292 }, { "epoch": 1.0967254638671875e-07, "grad_norm": 2.473893165588379, "learning_rate": 3.2828571428571433e-06, "loss": 0.2106, "step": 1150 }, { "epoch": 1.0967254638671875e-07, "model_forward_time": 8.1728675365448, "step": 1150 }, { "dynamics_loss_avg": 0.03310434557497501, "epoch": 1.0967254638671875e-07, "step": 1150 }, { "action_loss_avg": 0.10192646943032742, "epoch": 1.0967254638671875e-07, "step": 1150 }, { "arm_loss_avg": 0.12632644772529603, "epoch": 1.0967254638671875e-07, "step": 1150 }, { "ee_loss_avg": 0.20006240978837014, "epoch": 1.0967254638671875e-07, "step": 1150 }, { "aux_loss_avg": 0.0028539815219119193, "epoch": 1.0967254638671875e-07, "step": 1150 }, { "epoch": 1.0967254638671875e-07, "step": 1150, "training_step_time": 25.931578874588013 }, { "epoch": 1.0976791381835937e-07, "model_forward_time": 7.012404680252075, "step": 1151 }, { "epoch": 1.0976791381835937e-07, "step": 1151, "training_step_time": 25.160243272781372 }, { "epoch": 1.0986328125e-07, "model_forward_time": 7.412752151489258, "step": 1152 }, { "epoch": 1.0986328125e-07, "step": 1152, "training_step_time": 25.562216997146606 }, { "epoch": 1.0995864868164062e-07, "model_forward_time": 7.8510072231292725, "step": 1153 }, { "epoch": 1.0995864868164062e-07, "step": 1153, "training_step_time": 26.22434425354004 }, { "epoch": 1.1005401611328125e-07, "model_forward_time": 6.624815225601196, "step": 1154 }, { "epoch": 1.1005401611328125e-07, "step": 1154, "training_step_time": 25.421653509140015 }, { "epoch": 1.1014938354492188e-07, "model_forward_time": 6.25612211227417, "step": 1155 }, { "epoch": 1.1014938354492188e-07, "step": 1155, "training_step_time": 24.9871084690094 }, { "epoch": 1.102447509765625e-07, "model_forward_time": 5.3495378494262695, "step": 1156 }, { "epoch": 1.102447509765625e-07, "step": 1156, "training_step_time": 26.25211763381958 }, { "epoch": 1.1034011840820312e-07, "model_forward_time": 5.274855613708496, "step": 1157 }, { "epoch": 1.1034011840820312e-07, "step": 1157, "training_step_time": 25.45082402229309 }, { "epoch": 1.1043548583984375e-07, "model_forward_time": 7.008360385894775, "step": 1158 }, { "epoch": 1.1043548583984375e-07, "step": 1158, "training_step_time": 25.952871561050415 }, { "epoch": 1.1053085327148438e-07, "model_forward_time": 7.389817237854004, "step": 1159 }, { "epoch": 1.1053085327148438e-07, "step": 1159, "training_step_time": 27.132248878479004 }, { "epoch": 1.10626220703125e-07, "grad_norm": 2.7197325229644775, "learning_rate": 3.3114285714285717e-06, "loss": 0.2127, "step": 1160 }, { "epoch": 1.10626220703125e-07, "model_forward_time": 7.736637115478516, "step": 1160 }, { "dynamics_loss_avg": 0.03300517448224127, "epoch": 1.10626220703125e-07, "step": 1160 }, { "action_loss_avg": 0.09410919416695833, "epoch": 1.10626220703125e-07, "step": 1160 }, { "arm_loss_avg": 0.12063357036095113, "epoch": 1.10626220703125e-07, "step": 1160 }, { "ee_loss_avg": 0.16192105859518052, "epoch": 1.10626220703125e-07, "step": 1160 }, { "aux_loss_avg": 0.0014288126956671476, "epoch": 1.10626220703125e-07, "step": 1160 }, { "epoch": 1.10626220703125e-07, "step": 1160, "training_step_time": 25.203887462615967 }, { "epoch": 1.1072158813476562e-07, "model_forward_time": 7.420704364776611, "step": 1161 }, { "epoch": 1.1072158813476562e-07, "step": 1161, "training_step_time": 24.609768867492676 }, { "epoch": 1.1081695556640625e-07, "model_forward_time": 7.44599986076355, "step": 1162 }, { "epoch": 1.1081695556640625e-07, "step": 1162, "training_step_time": 26.45360779762268 }, { "epoch": 1.1091232299804688e-07, "model_forward_time": 8.337855100631714, "step": 1163 }, { "epoch": 1.1091232299804688e-07, "step": 1163, "training_step_time": 25.374709606170654 }, { "epoch": 1.110076904296875e-07, "model_forward_time": 7.743053674697876, "step": 1164 }, { "epoch": 1.110076904296875e-07, "step": 1164, "training_step_time": 26.4582040309906 }, { "epoch": 1.1110305786132813e-07, "model_forward_time": 7.0711658000946045, "step": 1165 }, { "epoch": 1.1110305786132813e-07, "step": 1165, "training_step_time": 26.26876664161682 }, { "epoch": 1.1119842529296875e-07, "model_forward_time": 6.851916790008545, "step": 1166 }, { "epoch": 1.1119842529296875e-07, "step": 1166, "training_step_time": 25.243345499038696 }, { "epoch": 1.1129379272460937e-07, "model_forward_time": 7.202580213546753, "step": 1167 }, { "epoch": 1.1129379272460937e-07, "step": 1167, "training_step_time": 25.063042640686035 }, { "epoch": 1.1138916015625e-07, "model_forward_time": 8.249785423278809, "step": 1168 }, { "epoch": 1.1138916015625e-07, "step": 1168, "training_step_time": 25.33975124359131 }, { "epoch": 1.1148452758789063e-07, "model_forward_time": 7.383984088897705, "step": 1169 }, { "epoch": 1.1148452758789063e-07, "step": 1169, "training_step_time": 25.0600643157959 }, { "epoch": 1.1157989501953126e-07, "grad_norm": 2.3812437057495117, "learning_rate": 3.3400000000000006e-06, "loss": 0.1837, "step": 1170 }, { "epoch": 1.1157989501953126e-07, "model_forward_time": 6.996612787246704, "step": 1170 }, { "dynamics_loss_avg": 0.024139153491705655, "epoch": 1.1157989501953126e-07, "step": 1170 }, { "action_loss_avg": 0.09174569491297006, "epoch": 1.1157989501953126e-07, "step": 1170 }, { "arm_loss_avg": 0.11417114250361919, "epoch": 1.1157989501953126e-07, "step": 1170 }, { "ee_loss_avg": 0.1170953180640936, "epoch": 1.1157989501953126e-07, "step": 1170 }, { "aux_loss_avg": 0.0014833850495051593, "epoch": 1.1157989501953126e-07, "step": 1170 }, { "epoch": 1.1157989501953126e-07, "step": 1170, "training_step_time": 26.52631640434265 }, { "epoch": 1.1167526245117187e-07, "model_forward_time": 7.782848119735718, "step": 1171 }, { "epoch": 1.1167526245117187e-07, "step": 1171, "training_step_time": 26.116270780563354 }, { "epoch": 1.117706298828125e-07, "model_forward_time": 6.640060186386108, "step": 1172 }, { "epoch": 1.117706298828125e-07, "step": 1172, "training_step_time": 25.444755792617798 }, { "epoch": 1.1186599731445313e-07, "model_forward_time": 7.1804518699646, "step": 1173 }, { "epoch": 1.1186599731445313e-07, "step": 1173, "training_step_time": 26.656555652618408 }, { "epoch": 1.1196136474609375e-07, "model_forward_time": 6.616362810134888, "step": 1174 }, { "epoch": 1.1196136474609375e-07, "step": 1174, "training_step_time": 25.97294306755066 }, { "epoch": 1.1205673217773437e-07, "model_forward_time": 6.613712787628174, "step": 1175 }, { "epoch": 1.1205673217773437e-07, "step": 1175, "training_step_time": 24.97661852836609 }, { "epoch": 1.12152099609375e-07, "model_forward_time": 7.218676328659058, "step": 1176 }, { "epoch": 1.12152099609375e-07, "step": 1176, "training_step_time": 24.61545753479004 }, { "epoch": 1.1224746704101562e-07, "model_forward_time": 8.05133867263794, "step": 1177 }, { "epoch": 1.1224746704101562e-07, "step": 1177, "training_step_time": 25.444886922836304 }, { "epoch": 1.1234283447265625e-07, "model_forward_time": 7.204079627990723, "step": 1178 }, { "epoch": 1.1234283447265625e-07, "step": 1178, "training_step_time": 26.91906237602234 }, { "epoch": 1.1243820190429688e-07, "model_forward_time": 8.050654649734497, "step": 1179 }, { "epoch": 1.1243820190429688e-07, "step": 1179, "training_step_time": 24.73659658432007 }, { "epoch": 1.125335693359375e-07, "grad_norm": 1.4113678932189941, "learning_rate": 3.3685714285714287e-06, "loss": 0.1641, "step": 1180 }, { "epoch": 1.125335693359375e-07, "model_forward_time": 8.114041566848755, "step": 1180 }, { "dynamics_loss_avg": 0.018497842457145454, "epoch": 1.125335693359375e-07, "step": 1180 }, { "action_loss_avg": 0.08688010307960212, "epoch": 1.125335693359375e-07, "step": 1180 }, { "arm_loss_avg": 0.08431517612189054, "epoch": 1.125335693359375e-07, "step": 1180 }, { "ee_loss_avg": 0.13534730523824692, "epoch": 1.125335693359375e-07, "step": 1180 }, { "aux_loss_avg": 0.0013524825044441968, "epoch": 1.125335693359375e-07, "step": 1180 }, { "epoch": 1.125335693359375e-07, "step": 1180, "training_step_time": 26.014144897460938 }, { "epoch": 1.1262893676757812e-07, "model_forward_time": 7.615623235702515, "step": 1181 }, { "epoch": 1.1262893676757812e-07, "step": 1181, "training_step_time": 25.564629316329956 }, { "epoch": 1.1272430419921875e-07, "model_forward_time": 8.66392731666565, "step": 1182 }, { "epoch": 1.1272430419921875e-07, "step": 1182, "training_step_time": 27.280943393707275 }, { "epoch": 1.1281967163085938e-07, "model_forward_time": 7.482091665267944, "step": 1183 }, { "epoch": 1.1281967163085938e-07, "step": 1183, "training_step_time": 26.18338632583618 }, { "epoch": 1.129150390625e-07, "model_forward_time": 6.661851406097412, "step": 1184 }, { "epoch": 1.129150390625e-07, "step": 1184, "training_step_time": 26.600401639938354 }, { "epoch": 1.1301040649414062e-07, "model_forward_time": 6.68052864074707, "step": 1185 }, { "epoch": 1.1301040649414062e-07, "step": 1185, "training_step_time": 25.389893293380737 }, { "epoch": 1.1310577392578125e-07, "model_forward_time": 7.917210102081299, "step": 1186 }, { "epoch": 1.1310577392578125e-07, "step": 1186, "training_step_time": 25.761978149414062 }, { "epoch": 1.1320114135742187e-07, "model_forward_time": 7.6774749755859375, "step": 1187 }, { "epoch": 1.1320114135742187e-07, "step": 1187, "training_step_time": 26.850955963134766 }, { "epoch": 1.132965087890625e-07, "model_forward_time": 5.284329652786255, "step": 1188 }, { "epoch": 1.132965087890625e-07, "step": 1188, "training_step_time": 25.95295524597168 }, { "epoch": 1.1339187622070313e-07, "model_forward_time": 8.008877515792847, "step": 1189 }, { "epoch": 1.1339187622070313e-07, "step": 1189, "training_step_time": 26.780029773712158 }, { "epoch": 1.1348724365234374e-07, "grad_norm": 2.31022572517395, "learning_rate": 3.397142857142857e-06, "loss": 0.1997, "step": 1190 }, { "epoch": 1.1348724365234374e-07, "model_forward_time": 6.9605491161346436, "step": 1190 }, { "dynamics_loss_avg": 0.032898410502821204, "epoch": 1.1348724365234374e-07, "step": 1190 }, { "action_loss_avg": 0.07881577066145837, "epoch": 1.1348724365234374e-07, "step": 1190 }, { "arm_loss_avg": 0.10439892369322479, "epoch": 1.1348724365234374e-07, "step": 1190 }, { "ee_loss_avg": 0.08565247058868408, "epoch": 1.1348724365234374e-07, "step": 1190 }, { "aux_loss_avg": 0.003733428649138659, "epoch": 1.1348724365234374e-07, "step": 1190 }, { "epoch": 1.1348724365234374e-07, "step": 1190, "training_step_time": 26.623026609420776 }, { "epoch": 1.1358261108398437e-07, "model_forward_time": 7.40796685218811, "step": 1191 }, { "epoch": 1.1358261108398437e-07, "step": 1191, "training_step_time": 26.260729789733887 }, { "epoch": 1.13677978515625e-07, "model_forward_time": 7.117017984390259, "step": 1192 }, { "epoch": 1.13677978515625e-07, "step": 1192, "training_step_time": 26.975688695907593 }, { "epoch": 1.1377334594726563e-07, "model_forward_time": 8.332728147506714, "step": 1193 }, { "epoch": 1.1377334594726563e-07, "step": 1193, "training_step_time": 26.887559413909912 }, { "epoch": 1.1386871337890626e-07, "model_forward_time": 6.663299083709717, "step": 1194 }, { "epoch": 1.1386871337890626e-07, "step": 1194, "training_step_time": 26.547680139541626 }, { "epoch": 1.1396408081054687e-07, "model_forward_time": 7.100949287414551, "step": 1195 }, { "epoch": 1.1396408081054687e-07, "step": 1195, "training_step_time": 25.420644521713257 }, { "epoch": 1.140594482421875e-07, "model_forward_time": 7.714529514312744, "step": 1196 }, { "epoch": 1.140594482421875e-07, "step": 1196, "training_step_time": 25.82322406768799 }, { "epoch": 1.1415481567382813e-07, "model_forward_time": 7.297718286514282, "step": 1197 }, { "epoch": 1.1415481567382813e-07, "step": 1197, "training_step_time": 26.808743000030518 }, { "epoch": 1.1425018310546875e-07, "model_forward_time": 8.838469505310059, "step": 1198 }, { "epoch": 1.1425018310546875e-07, "step": 1198, "training_step_time": 26.58634877204895 }, { "epoch": 1.1434555053710938e-07, "model_forward_time": 7.9401373863220215, "step": 1199 }, { "epoch": 1.1434555053710938e-07, "step": 1199, "training_step_time": 24.9266254901886 }, { "epoch": 1.1444091796875e-07, "grad_norm": 2.051182508468628, "learning_rate": 3.425714285714286e-06, "loss": 0.175, "step": 1200 }, { "epoch": 1.1444091796875e-07, "model_forward_time": 7.061184406280518, "step": 1200 }, { "dynamics_loss_avg": 0.023074160609394313, "epoch": 1.1444091796875e-07, "step": 1200 }, { "action_loss_avg": 0.08759411117061973, "epoch": 1.1444091796875e-07, "step": 1200 }, { "arm_loss_avg": 0.11514265821315348, "epoch": 1.1444091796875e-07, "step": 1200 }, { "ee_loss_avg": 0.11166414208710193, "epoch": 1.1444091796875e-07, "step": 1200 }, { "aux_loss_avg": 0.004528852005023509, "epoch": 1.1444091796875e-07, "step": 1200 }, { "epoch": 1.1444091796875e-07, "step": 1200, "training_step_time": 26.740090370178223 }, { "epoch": 1.1453628540039062e-07, "model_forward_time": 6.1537275314331055, "step": 1201 }, { "epoch": 1.1453628540039062e-07, "step": 1201, "training_step_time": 26.21466827392578 }, { "epoch": 1.1463165283203125e-07, "model_forward_time": 7.521528244018555, "step": 1202 }, { "epoch": 1.1463165283203125e-07, "step": 1202, "training_step_time": 26.51829218864441 }, { "epoch": 1.1472702026367188e-07, "model_forward_time": 8.164143562316895, "step": 1203 }, { "epoch": 1.1472702026367188e-07, "step": 1203, "training_step_time": 26.303735494613647 }, { "epoch": 1.148223876953125e-07, "model_forward_time": 7.019016981124878, "step": 1204 }, { "epoch": 1.148223876953125e-07, "step": 1204, "training_step_time": 25.83034038543701 }, { "epoch": 1.1491775512695312e-07, "model_forward_time": 6.711475133895874, "step": 1205 }, { "epoch": 1.1491775512695312e-07, "step": 1205, "training_step_time": 23.584911108016968 }, { "epoch": 1.1501312255859375e-07, "model_forward_time": 7.634020090103149, "step": 1206 }, { "epoch": 1.1501312255859375e-07, "step": 1206, "training_step_time": 26.122530460357666 }, { "epoch": 1.1510848999023438e-07, "model_forward_time": 7.762187480926514, "step": 1207 }, { "epoch": 1.1510848999023438e-07, "step": 1207, "training_step_time": 25.62562870979309 }, { "epoch": 1.15203857421875e-07, "model_forward_time": 7.88704776763916, "step": 1208 }, { "epoch": 1.15203857421875e-07, "step": 1208, "training_step_time": 26.728444576263428 }, { "epoch": 1.1529922485351562e-07, "model_forward_time": 7.320940017700195, "step": 1209 }, { "epoch": 1.1529922485351562e-07, "step": 1209, "training_step_time": 26.28787660598755 }, { "epoch": 1.1539459228515625e-07, "grad_norm": 2.7328343391418457, "learning_rate": 3.4542857142857145e-06, "loss": 0.1893, "step": 1210 }, { "epoch": 1.1539459228515625e-07, "model_forward_time": 7.93713903427124, "step": 1210 }, { "dynamics_loss_avg": 0.02405905006453395, "epoch": 1.1539459228515625e-07, "step": 1210 }, { "action_loss_avg": 0.051639874605461954, "epoch": 1.1539459228515625e-07, "step": 1210 }, { "arm_loss_avg": 0.09142160899937153, "epoch": 1.1539459228515625e-07, "step": 1210 }, { "ee_loss_avg": 0.07197580114006996, "epoch": 1.1539459228515625e-07, "step": 1210 }, { "aux_loss_avg": 0.0012070648255757988, "epoch": 1.1539459228515625e-07, "step": 1210 }, { "epoch": 1.1539459228515625e-07, "step": 1210, "training_step_time": 26.00876522064209 }, { "epoch": 1.1548995971679687e-07, "model_forward_time": 7.7213969230651855, "step": 1211 }, { "epoch": 1.1548995971679687e-07, "step": 1211, "training_step_time": 26.195574283599854 }, { "epoch": 1.155853271484375e-07, "model_forward_time": 7.395314693450928, "step": 1212 }, { "epoch": 1.155853271484375e-07, "step": 1212, "training_step_time": 27.999755144119263 }, { "epoch": 1.1568069458007813e-07, "model_forward_time": 7.370251178741455, "step": 1213 }, { "epoch": 1.1568069458007813e-07, "step": 1213, "training_step_time": 25.006280183792114 }, { "epoch": 1.1577606201171874e-07, "model_forward_time": 6.1544084548950195, "step": 1214 }, { "epoch": 1.1577606201171874e-07, "step": 1214, "training_step_time": 26.14395046234131 }, { "epoch": 1.1587142944335937e-07, "model_forward_time": 7.0969085693359375, "step": 1215 }, { "epoch": 1.1587142944335937e-07, "step": 1215, "training_step_time": 25.585708141326904 }, { "epoch": 1.15966796875e-07, "model_forward_time": 6.466471433639526, "step": 1216 }, { "epoch": 1.15966796875e-07, "step": 1216, "training_step_time": 26.458011865615845 }, { "epoch": 1.1606216430664063e-07, "model_forward_time": 6.655406713485718, "step": 1217 }, { "epoch": 1.1606216430664063e-07, "step": 1217, "training_step_time": 26.896637439727783 }, { "epoch": 1.1615753173828126e-07, "model_forward_time": 7.054182529449463, "step": 1218 }, { "epoch": 1.1615753173828126e-07, "step": 1218, "training_step_time": 25.21835231781006 }, { "epoch": 1.1625289916992187e-07, "model_forward_time": 8.07790231704712, "step": 1219 }, { "epoch": 1.1625289916992187e-07, "step": 1219, "training_step_time": 26.644607305526733 }, { "epoch": 1.163482666015625e-07, "grad_norm": 2.0375373363494873, "learning_rate": 3.4828571428571435e-06, "loss": 0.1915, "step": 1220 }, { "epoch": 1.163482666015625e-07, "model_forward_time": 6.643421411514282, "step": 1220 }, { "dynamics_loss_avg": 0.03180135227739811, "epoch": 1.163482666015625e-07, "step": 1220 }, { "action_loss_avg": 0.10205734348855913, "epoch": 1.163482666015625e-07, "step": 1220 }, { "arm_loss_avg": 0.1383479303913191, "epoch": 1.163482666015625e-07, "step": 1220 }, { "ee_loss_avg": 0.09973361007869244, "epoch": 1.163482666015625e-07, "step": 1220 }, { "aux_loss_avg": 0.007271327608032152, "epoch": 1.163482666015625e-07, "step": 1220 }, { "epoch": 1.163482666015625e-07, "step": 1220, "training_step_time": 26.40627908706665 }, { "epoch": 1.1644363403320313e-07, "model_forward_time": 6.943909406661987, "step": 1221 }, { "epoch": 1.1644363403320313e-07, "step": 1221, "training_step_time": 27.37075185775757 }, { "epoch": 1.1653900146484375e-07, "model_forward_time": 7.11210036277771, "step": 1222 }, { "epoch": 1.1653900146484375e-07, "step": 1222, "training_step_time": 27.343628644943237 }, { "epoch": 1.1663436889648438e-07, "model_forward_time": 7.674474716186523, "step": 1223 }, { "epoch": 1.1663436889648438e-07, "step": 1223, "training_step_time": 26.58677649497986 }, { "epoch": 1.16729736328125e-07, "model_forward_time": 6.648993730545044, "step": 1224 }, { "epoch": 1.16729736328125e-07, "step": 1224, "training_step_time": 25.489935874938965 }, { "epoch": 1.1682510375976562e-07, "model_forward_time": 5.870626926422119, "step": 1225 }, { "epoch": 1.1682510375976562e-07, "step": 1225, "training_step_time": 26.222142457962036 }, { "epoch": 1.1692047119140625e-07, "model_forward_time": 7.782338619232178, "step": 1226 }, { "epoch": 1.1692047119140625e-07, "step": 1226, "training_step_time": 26.072845220565796 }, { "epoch": 1.1701583862304688e-07, "model_forward_time": 7.294593334197998, "step": 1227 }, { "epoch": 1.1701583862304688e-07, "step": 1227, "training_step_time": 26.06406259536743 }, { "epoch": 1.171112060546875e-07, "model_forward_time": 7.797811985015869, "step": 1228 }, { "epoch": 1.171112060546875e-07, "step": 1228, "training_step_time": 25.73340654373169 }, { "epoch": 1.1720657348632812e-07, "model_forward_time": 5.300058126449585, "step": 1229 }, { "epoch": 1.1720657348632812e-07, "step": 1229, "training_step_time": 23.707926988601685 }, { "epoch": 1.1730194091796875e-07, "grad_norm": 2.3685243129730225, "learning_rate": 3.511428571428572e-06, "loss": 0.208, "step": 1230 }, { "epoch": 1.1730194091796875e-07, "model_forward_time": 7.40685772895813, "step": 1230 }, { "dynamics_loss_avg": 0.03929931223392487, "epoch": 1.1730194091796875e-07, "step": 1230 }, { "action_loss_avg": 0.12209531387779862, "epoch": 1.1730194091796875e-07, "step": 1230 }, { "arm_loss_avg": 0.168609617324546, "epoch": 1.1730194091796875e-07, "step": 1230 }, { "ee_loss_avg": 0.19628300555050374, "epoch": 1.1730194091796875e-07, "step": 1230 }, { "aux_loss_avg": 0.0024934732646215707, "epoch": 1.1730194091796875e-07, "step": 1230 }, { "epoch": 1.1730194091796875e-07, "step": 1230, "training_step_time": 25.786877155303955 }, { "epoch": 1.1739730834960938e-07, "model_forward_time": 7.418677091598511, "step": 1231 }, { "epoch": 1.1739730834960938e-07, "step": 1231, "training_step_time": 27.195476770401 }, { "epoch": 1.1749267578125e-07, "model_forward_time": 7.320781707763672, "step": 1232 }, { "epoch": 1.1749267578125e-07, "step": 1232, "training_step_time": 25.7863609790802 }, { "epoch": 1.1758804321289063e-07, "model_forward_time": 7.7164390087127686, "step": 1233 }, { "epoch": 1.1758804321289063e-07, "step": 1233, "training_step_time": 25.228091716766357 }, { "epoch": 1.1768341064453125e-07, "model_forward_time": 6.660130500793457, "step": 1234 }, { "epoch": 1.1768341064453125e-07, "step": 1234, "training_step_time": 25.984318733215332 }, { "epoch": 1.1777877807617187e-07, "model_forward_time": 7.922684907913208, "step": 1235 }, { "epoch": 1.1777877807617187e-07, "step": 1235, "training_step_time": 25.671161651611328 }, { "epoch": 1.178741455078125e-07, "model_forward_time": 7.344611644744873, "step": 1236 }, { "epoch": 1.178741455078125e-07, "step": 1236, "training_step_time": 25.739403247833252 }, { "epoch": 1.1796951293945313e-07, "model_forward_time": 7.291844844818115, "step": 1237 }, { "epoch": 1.1796951293945313e-07, "step": 1237, "training_step_time": 25.849879264831543 }, { "epoch": 1.1806488037109374e-07, "model_forward_time": 6.625701904296875, "step": 1238 }, { "epoch": 1.1806488037109374e-07, "step": 1238, "training_step_time": 26.262582540512085 }, { "epoch": 1.1816024780273437e-07, "model_forward_time": 7.854611873626709, "step": 1239 }, { "epoch": 1.1816024780273437e-07, "step": 1239, "training_step_time": 26.90871810913086 }, { "epoch": 1.18255615234375e-07, "grad_norm": 2.5070912837982178, "learning_rate": 3.54e-06, "loss": 0.2139, "step": 1240 }, { "epoch": 1.18255615234375e-07, "model_forward_time": 7.1310954093933105, "step": 1240 }, { "dynamics_loss_avg": 0.0363333588000387, "epoch": 1.18255615234375e-07, "step": 1240 }, { "action_loss_avg": 0.13714734353125096, "epoch": 1.18255615234375e-07, "step": 1240 }, { "arm_loss_avg": 0.17368556130677462, "epoch": 1.18255615234375e-07, "step": 1240 }, { "ee_loss_avg": 0.27058113291859626, "epoch": 1.18255615234375e-07, "step": 1240 }, { "aux_loss_avg": 0.0022405052033718674, "epoch": 1.18255615234375e-07, "step": 1240 }, { "epoch": 1.18255615234375e-07, "step": 1240, "training_step_time": 25.296850442886353 }, { "epoch": 1.1835098266601563e-07, "model_forward_time": 7.947024345397949, "step": 1241 }, { "epoch": 1.1835098266601563e-07, "step": 1241, "training_step_time": 27.794681787490845 }, { "epoch": 1.1844635009765625e-07, "model_forward_time": 7.774615049362183, "step": 1242 }, { "epoch": 1.1844635009765625e-07, "step": 1242, "training_step_time": 25.271747827529907 }, { "epoch": 1.1854171752929687e-07, "model_forward_time": 7.434043645858765, "step": 1243 }, { "epoch": 1.1854171752929687e-07, "step": 1243, "training_step_time": 26.067816019058228 }, { "epoch": 1.186370849609375e-07, "model_forward_time": 7.365320444107056, "step": 1244 }, { "epoch": 1.186370849609375e-07, "step": 1244, "training_step_time": 27.122509002685547 }, { "epoch": 1.1873245239257812e-07, "model_forward_time": 7.45179009437561, "step": 1245 }, { "epoch": 1.1873245239257812e-07, "step": 1245, "training_step_time": 26.31434679031372 }, { "epoch": 1.1882781982421875e-07, "model_forward_time": 5.974358081817627, "step": 1246 }, { "epoch": 1.1882781982421875e-07, "step": 1246, "training_step_time": 26.09903073310852 }, { "epoch": 1.1892318725585938e-07, "model_forward_time": 7.928874731063843, "step": 1247 }, { "epoch": 1.1892318725585938e-07, "step": 1247, "training_step_time": 26.259642601013184 }, { "epoch": 1.190185546875e-07, "model_forward_time": 6.706879138946533, "step": 1248 }, { "epoch": 1.190185546875e-07, "step": 1248, "training_step_time": 26.55804681777954 }, { "epoch": 1.1911392211914062e-07, "model_forward_time": 7.821078062057495, "step": 1249 }, { "epoch": 1.1911392211914062e-07, "step": 1249, "training_step_time": 25.45244288444519 }, { "epoch": 1.1920928955078125e-07, "grad_norm": 2.6278908252716064, "learning_rate": 3.568571428571429e-06, "loss": 0.2122, "step": 1250 }, { "epoch": 1.1920928955078125e-07, "model_forward_time": 7.875420808792114, "step": 1250 }, { "dynamics_loss_avg": 0.04628839259967208, "epoch": 1.1920928955078125e-07, "step": 1250 }, { "action_loss_avg": 0.14512358447536827, "epoch": 1.1920928955078125e-07, "step": 1250 }, { "arm_loss_avg": 0.1787795604672283, "epoch": 1.1920928955078125e-07, "step": 1250 }, { "ee_loss_avg": 0.20508409682661294, "epoch": 1.1920928955078125e-07, "step": 1250 }, { "aux_loss_avg": 0.00209370122756809, "epoch": 1.1920928955078125e-07, "step": 1250 }, { "epoch": 1.1920928955078125e-07, "step": 1250, "training_step_time": 24.99700379371643 }, { "epoch": 1.1930465698242186e-07, "model_forward_time": 7.399938583374023, "step": 1251 }, { "epoch": 1.1930465698242186e-07, "step": 1251, "training_step_time": 25.319133043289185 }, { "epoch": 1.194000244140625e-07, "model_forward_time": 6.618076324462891, "step": 1252 }, { "epoch": 1.194000244140625e-07, "step": 1252, "training_step_time": 25.82483172416687 }, { "epoch": 1.1949539184570312e-07, "model_forward_time": 6.610407590866089, "step": 1253 }, { "epoch": 1.1949539184570312e-07, "step": 1253, "training_step_time": 25.341771125793457 }, { "epoch": 1.1959075927734376e-07, "model_forward_time": 6.236152410507202, "step": 1254 }, { "epoch": 1.1959075927734376e-07, "step": 1254, "training_step_time": 25.565922021865845 }, { "epoch": 1.1968612670898438e-07, "model_forward_time": 7.296458959579468, "step": 1255 }, { "epoch": 1.1968612670898438e-07, "step": 1255, "training_step_time": 26.442924737930298 }, { "epoch": 1.19781494140625e-07, "model_forward_time": 7.882265329360962, "step": 1256 }, { "epoch": 1.19781494140625e-07, "step": 1256, "training_step_time": 26.52374267578125 }, { "epoch": 1.1987686157226563e-07, "model_forward_time": 7.86310338973999, "step": 1257 }, { "epoch": 1.1987686157226563e-07, "step": 1257, "training_step_time": 26.54556441307068 }, { "epoch": 1.1997222900390625e-07, "model_forward_time": 7.413729667663574, "step": 1258 }, { "epoch": 1.1997222900390625e-07, "step": 1258, "training_step_time": 26.144681215286255 }, { "epoch": 1.2006759643554689e-07, "model_forward_time": 5.997094631195068, "step": 1259 }, { "epoch": 1.2006759643554689e-07, "step": 1259, "training_step_time": 26.645370721817017 }, { "epoch": 1.201629638671875e-07, "grad_norm": 2.5333304405212402, "learning_rate": 3.5971428571428574e-06, "loss": 0.2078, "step": 1260 }, { "epoch": 1.201629638671875e-07, "model_forward_time": 8.444297552108765, "step": 1260 }, { "dynamics_loss_avg": 0.038420245074667035, "epoch": 1.201629638671875e-07, "step": 1260 }, { "action_loss_avg": 0.12465782009530813, "epoch": 1.201629638671875e-07, "step": 1260 }, { "arm_loss_avg": 0.15177113912068307, "epoch": 1.201629638671875e-07, "step": 1260 }, { "ee_loss_avg": 0.2157655606046319, "epoch": 1.201629638671875e-07, "step": 1260 }, { "aux_loss_avg": 0.0023224680859129875, "epoch": 1.201629638671875e-07, "step": 1260 }, { "epoch": 1.201629638671875e-07, "step": 1260, "training_step_time": 27.094772338867188 }, { "epoch": 1.2025833129882812e-07, "model_forward_time": 7.499082803726196, "step": 1261 }, { "epoch": 1.2025833129882812e-07, "step": 1261, "training_step_time": 25.655339002609253 }, { "epoch": 1.2035369873046876e-07, "model_forward_time": 6.833538055419922, "step": 1262 }, { "epoch": 1.2035369873046876e-07, "step": 1262, "training_step_time": 26.301963329315186 }, { "epoch": 1.2044906616210937e-07, "model_forward_time": 5.5304648876190186, "step": 1263 }, { "epoch": 1.2044906616210937e-07, "step": 1263, "training_step_time": 26.31238079071045 }, { "epoch": 1.2054443359375e-07, "model_forward_time": 7.261969804763794, "step": 1264 }, { "epoch": 1.2054443359375e-07, "step": 1264, "training_step_time": 26.44838547706604 }, { "epoch": 1.2063980102539063e-07, "model_forward_time": 8.058591604232788, "step": 1265 }, { "epoch": 1.2063980102539063e-07, "step": 1265, "training_step_time": 26.454383850097656 }, { "epoch": 1.2073516845703124e-07, "model_forward_time": 6.811789274215698, "step": 1266 }, { "epoch": 1.2073516845703124e-07, "step": 1266, "training_step_time": 26.2104754447937 }, { "epoch": 1.2083053588867188e-07, "model_forward_time": 6.903074741363525, "step": 1267 }, { "epoch": 1.2083053588867188e-07, "step": 1267, "training_step_time": 25.982203245162964 }, { "epoch": 1.209259033203125e-07, "model_forward_time": 8.155426979064941, "step": 1268 }, { "epoch": 1.209259033203125e-07, "step": 1268, "training_step_time": 26.18729829788208 }, { "epoch": 1.2102127075195314e-07, "model_forward_time": 8.11561107635498, "step": 1269 }, { "epoch": 1.2102127075195314e-07, "step": 1269, "training_step_time": 26.11914372444153 }, { "epoch": 1.2111663818359375e-07, "grad_norm": 2.9597060680389404, "learning_rate": 3.625714285714286e-06, "loss": 0.2107, "step": 1270 }, { "epoch": 1.2111663818359375e-07, "model_forward_time": 7.392114162445068, "step": 1270 }, { "dynamics_loss_avg": 0.04405642976053059, "epoch": 1.2111663818359375e-07, "step": 1270 }, { "action_loss_avg": 0.13772275778464974, "epoch": 1.2111663818359375e-07, "step": 1270 }, { "arm_loss_avg": 0.16445474000647664, "epoch": 1.2111663818359375e-07, "step": 1270 }, { "ee_loss_avg": 0.20288760587573051, "epoch": 1.2111663818359375e-07, "step": 1270 }, { "aux_loss_avg": 0.004249087045900523, "epoch": 1.2111663818359375e-07, "step": 1270 }, { "epoch": 1.2111663818359375e-07, "step": 1270, "training_step_time": 26.150935888290405 }, { "epoch": 1.2121200561523437e-07, "model_forward_time": 6.082930088043213, "step": 1271 }, { "epoch": 1.2121200561523437e-07, "step": 1271, "training_step_time": 26.69433045387268 }, { "epoch": 1.21307373046875e-07, "model_forward_time": 7.56692361831665, "step": 1272 }, { "epoch": 1.21307373046875e-07, "step": 1272, "training_step_time": 26.119262218475342 }, { "epoch": 1.2140274047851562e-07, "model_forward_time": 8.311844825744629, "step": 1273 }, { "epoch": 1.2140274047851562e-07, "step": 1273, "training_step_time": 26.833402395248413 }, { "epoch": 1.2149810791015626e-07, "model_forward_time": 7.471538782119751, "step": 1274 }, { "epoch": 1.2149810791015626e-07, "step": 1274, "training_step_time": 26.240808725357056 }, { "epoch": 1.2159347534179688e-07, "model_forward_time": 7.445975303649902, "step": 1275 }, { "epoch": 1.2159347534179688e-07, "step": 1275, "training_step_time": 24.463488817214966 }, { "epoch": 1.216888427734375e-07, "model_forward_time": 8.757744789123535, "step": 1276 }, { "epoch": 1.216888427734375e-07, "step": 1276, "training_step_time": 26.79320192337036 }, { "epoch": 1.2178421020507813e-07, "model_forward_time": 8.23628306388855, "step": 1277 }, { "epoch": 1.2178421020507813e-07, "step": 1277, "training_step_time": 26.134814262390137 }, { "epoch": 1.2187957763671875e-07, "model_forward_time": 7.5051491260528564, "step": 1278 }, { "epoch": 1.2187957763671875e-07, "step": 1278, "training_step_time": 24.998563289642334 }, { "epoch": 1.219749450683594e-07, "model_forward_time": 8.024671792984009, "step": 1279 }, { "epoch": 1.219749450683594e-07, "step": 1279, "training_step_time": 25.236993074417114 }, { "epoch": 1.220703125e-07, "grad_norm": 2.003753900527954, "learning_rate": 3.6542857142857148e-06, "loss": 0.2185, "step": 1280 }, { "epoch": 1.220703125e-07, "model_forward_time": 6.657296895980835, "step": 1280 }, { "dynamics_loss_avg": 0.040854854183271526, "epoch": 1.220703125e-07, "step": 1280 }, { "action_loss_avg": 0.10539187220856547, "epoch": 1.220703125e-07, "step": 1280 }, { "arm_loss_avg": 0.12974097223486752, "epoch": 1.220703125e-07, "step": 1280 }, { "ee_loss_avg": 0.18189313896000386, "epoch": 1.220703125e-07, "step": 1280 }, { "aux_loss_avg": 0.002198042062809691, "epoch": 1.220703125e-07, "step": 1280 }, { "epoch": 1.220703125e-07, "step": 1280, "training_step_time": 25.870131969451904 }, { "epoch": 1.2216567993164062e-07, "model_forward_time": 7.779271602630615, "step": 1281 }, { "epoch": 1.2216567993164062e-07, "step": 1281, "training_step_time": 26.12468385696411 }, { "epoch": 1.2226104736328126e-07, "model_forward_time": 7.8315582275390625, "step": 1282 }, { "epoch": 1.2226104736328126e-07, "step": 1282, "training_step_time": 25.148954391479492 }, { "epoch": 1.2235641479492187e-07, "model_forward_time": 7.598520278930664, "step": 1283 }, { "epoch": 1.2235641479492187e-07, "step": 1283, "training_step_time": 26.790149688720703 }, { "epoch": 1.224517822265625e-07, "model_forward_time": 7.890599966049194, "step": 1284 }, { "epoch": 1.224517822265625e-07, "step": 1284, "training_step_time": 27.108460903167725 }, { "epoch": 1.2254714965820313e-07, "model_forward_time": 7.274549961090088, "step": 1285 }, { "epoch": 1.2254714965820313e-07, "step": 1285, "training_step_time": 25.888871908187866 }, { "epoch": 1.2264251708984374e-07, "model_forward_time": 6.7780468463897705, "step": 1286 }, { "epoch": 1.2264251708984374e-07, "step": 1286, "training_step_time": 24.28710651397705 }, { "epoch": 1.2273788452148438e-07, "model_forward_time": 8.202746629714966, "step": 1287 }, { "epoch": 1.2273788452148438e-07, "step": 1287, "training_step_time": 26.341522216796875 }, { "epoch": 1.22833251953125e-07, "model_forward_time": 5.8712849617004395, "step": 1288 }, { "epoch": 1.22833251953125e-07, "step": 1288, "training_step_time": 26.165748119354248 }, { "epoch": 1.229286193847656e-07, "model_forward_time": 7.439222097396851, "step": 1289 }, { "epoch": 1.229286193847656e-07, "step": 1289, "training_step_time": 26.858107089996338 }, { "epoch": 1.2302398681640625e-07, "grad_norm": 2.412304639816284, "learning_rate": 3.682857142857143e-06, "loss": 0.1914, "step": 1290 }, { "epoch": 1.2302398681640625e-07, "model_forward_time": 8.361700057983398, "step": 1290 }, { "dynamics_loss_avg": 0.037250243872404096, "epoch": 1.2302398681640625e-07, "step": 1290 }, { "action_loss_avg": 0.10877275541424751, "epoch": 1.2302398681640625e-07, "step": 1290 }, { "arm_loss_avg": 0.1747773933922872, "epoch": 1.2302398681640625e-07, "step": 1290 }, { "ee_loss_avg": 0.24465958401560783, "epoch": 1.2302398681640625e-07, "step": 1290 }, { "aux_loss_avg": 0.0018968151300214231, "epoch": 1.2302398681640625e-07, "step": 1290 }, { "epoch": 1.2302398681640625e-07, "step": 1290, "training_step_time": 26.901367902755737 }, { "epoch": 1.2311935424804687e-07, "model_forward_time": 7.669511795043945, "step": 1291 }, { "epoch": 1.2311935424804687e-07, "step": 1291, "training_step_time": 25.46871542930603 }, { "epoch": 1.232147216796875e-07, "model_forward_time": 7.278454780578613, "step": 1292 }, { "epoch": 1.232147216796875e-07, "step": 1292, "training_step_time": 26.12839984893799 }, { "epoch": 1.2331008911132812e-07, "model_forward_time": 7.909541368484497, "step": 1293 }, { "epoch": 1.2331008911132812e-07, "step": 1293, "training_step_time": 26.573649406433105 }, { "epoch": 1.2340545654296874e-07, "model_forward_time": 8.189894676208496, "step": 1294 }, { "epoch": 1.2340545654296874e-07, "step": 1294, "training_step_time": 26.984426259994507 }, { "epoch": 1.2350082397460938e-07, "model_forward_time": 7.2737226486206055, "step": 1295 }, { "epoch": 1.2350082397460938e-07, "step": 1295, "training_step_time": 26.20928978919983 }, { "epoch": 1.2359619140625e-07, "model_forward_time": 7.959165573120117, "step": 1296 }, { "epoch": 1.2359619140625e-07, "step": 1296, "training_step_time": 26.273208618164062 }, { "epoch": 1.2369155883789063e-07, "model_forward_time": 7.6352338790893555, "step": 1297 }, { "epoch": 1.2369155883789063e-07, "step": 1297, "training_step_time": 25.34718918800354 }, { "epoch": 1.2378692626953125e-07, "model_forward_time": 7.396914958953857, "step": 1298 }, { "epoch": 1.2378692626953125e-07, "step": 1298, "training_step_time": 25.488697290420532 }, { "epoch": 1.2388229370117186e-07, "model_forward_time": 6.802611351013184, "step": 1299 }, { "epoch": 1.2388229370117186e-07, "step": 1299, "training_step_time": 26.00847291946411 }, { "epoch": 1.239776611328125e-07, "grad_norm": 2.6382651329040527, "learning_rate": 3.711428571428572e-06, "loss": 0.1751, "step": 1300 }, { "epoch": 1.239776611328125e-07, "model_forward_time": 7.434384107589722, "step": 1300 }, { "dynamics_loss_avg": 0.03362494548782706, "epoch": 1.239776611328125e-07, "step": 1300 }, { "action_loss_avg": 0.06603491520509124, "epoch": 1.239776611328125e-07, "step": 1300 }, { "arm_loss_avg": 0.1583904644008726, "epoch": 1.239776611328125e-07, "step": 1300 }, { "ee_loss_avg": 0.21486507691442966, "epoch": 1.239776611328125e-07, "step": 1300 }, { "aux_loss_avg": 0.0012888801051303745, "epoch": 1.239776611328125e-07, "step": 1300 }, { "epoch": 1.239776611328125e-07, "step": 1300, "training_step_time": 27.44406533241272 }, { "epoch": 1.2407302856445312e-07, "model_forward_time": 7.514153480529785, "step": 1301 }, { "epoch": 1.2407302856445312e-07, "step": 1301, "training_step_time": 25.72786855697632 }, { "epoch": 1.2416839599609376e-07, "model_forward_time": 8.45180606842041, "step": 1302 }, { "epoch": 1.2416839599609376e-07, "step": 1302, "training_step_time": 26.322778940200806 }, { "epoch": 1.2426376342773437e-07, "model_forward_time": 7.451821804046631, "step": 1303 }, { "epoch": 1.2426376342773437e-07, "step": 1303, "training_step_time": 27.033636808395386 }, { "epoch": 1.24359130859375e-07, "model_forward_time": 6.1576948165893555, "step": 1304 }, { "epoch": 1.24359130859375e-07, "step": 1304, "training_step_time": 25.355465173721313 }, { "epoch": 1.2445449829101563e-07, "model_forward_time": 7.399188041687012, "step": 1305 }, { "epoch": 1.2445449829101563e-07, "step": 1305, "training_step_time": 25.33932328224182 }, { "epoch": 1.2454986572265624e-07, "model_forward_time": 6.639828443527222, "step": 1306 }, { "epoch": 1.2454986572265624e-07, "step": 1306, "training_step_time": 27.52845597267151 }, { "epoch": 1.2464523315429689e-07, "model_forward_time": 8.178514242172241, "step": 1307 }, { "epoch": 1.2464523315429689e-07, "step": 1307, "training_step_time": 26.66994333267212 }, { "epoch": 1.247406005859375e-07, "model_forward_time": 7.647821426391602, "step": 1308 }, { "epoch": 1.247406005859375e-07, "step": 1308, "training_step_time": 27.087183237075806 }, { "epoch": 1.2483596801757811e-07, "model_forward_time": 8.258853912353516, "step": 1309 }, { "epoch": 1.2483596801757811e-07, "step": 1309, "training_step_time": 25.77767014503479 }, { "epoch": 1.2493133544921876e-07, "grad_norm": 3.192659616470337, "learning_rate": 3.74e-06, "loss": 0.2027, "step": 1310 }, { "epoch": 1.2493133544921876e-07, "model_forward_time": 7.456456184387207, "step": 1310 }, { "dynamics_loss_avg": 0.04113293550908566, "epoch": 1.2493133544921876e-07, "step": 1310 }, { "action_loss_avg": 0.14779759827069938, "epoch": 1.2493133544921876e-07, "step": 1310 }, { "arm_loss_avg": 0.20355665548704566, "epoch": 1.2493133544921876e-07, "step": 1310 }, { "ee_loss_avg": 0.2044839195907116, "epoch": 1.2493133544921876e-07, "step": 1310 }, { "aux_loss_avg": 0.006872881384333595, "epoch": 1.2493133544921876e-07, "step": 1310 }, { "epoch": 1.2493133544921876e-07, "step": 1310, "training_step_time": 25.30977725982666 }, { "epoch": 1.2502670288085937e-07, "model_forward_time": 7.523212432861328, "step": 1311 }, { "epoch": 1.2502670288085937e-07, "step": 1311, "training_step_time": 25.868561506271362 }, { "epoch": 1.251220703125e-07, "model_forward_time": 6.791114091873169, "step": 1312 }, { "epoch": 1.251220703125e-07, "step": 1312, "training_step_time": 25.74496817588806 }, { "epoch": 1.2521743774414063e-07, "model_forward_time": 7.666695594787598, "step": 1313 }, { "epoch": 1.2521743774414063e-07, "step": 1313, "training_step_time": 25.804655075073242 }, { "epoch": 1.2531280517578124e-07, "model_forward_time": 7.525267601013184, "step": 1314 }, { "epoch": 1.2531280517578124e-07, "step": 1314, "training_step_time": 25.447436332702637 }, { "epoch": 1.2540817260742188e-07, "model_forward_time": 7.406040191650391, "step": 1315 }, { "epoch": 1.2540817260742188e-07, "step": 1315, "training_step_time": 25.25403666496277 }, { "epoch": 1.255035400390625e-07, "model_forward_time": 7.87624454498291, "step": 1316 }, { "epoch": 1.255035400390625e-07, "step": 1316, "training_step_time": 26.227272987365723 }, { "epoch": 1.2559890747070314e-07, "model_forward_time": 6.8786091804504395, "step": 1317 }, { "epoch": 1.2559890747070314e-07, "step": 1317, "training_step_time": 25.508407831192017 }, { "epoch": 1.2569427490234375e-07, "model_forward_time": 5.891830205917358, "step": 1318 }, { "epoch": 1.2569427490234375e-07, "step": 1318, "training_step_time": 26.15846037864685 }, { "epoch": 1.2578964233398436e-07, "model_forward_time": 7.401859521865845, "step": 1319 }, { "epoch": 1.2578964233398436e-07, "step": 1319, "training_step_time": 25.836665868759155 }, { "epoch": 1.25885009765625e-07, "grad_norm": 1.8460980653762817, "learning_rate": 3.7685714285714287e-06, "loss": 0.2022, "step": 1320 }, { "epoch": 1.25885009765625e-07, "model_forward_time": 8.222754716873169, "step": 1320 }, { "dynamics_loss_avg": 0.04808684019371867, "epoch": 1.25885009765625e-07, "step": 1320 }, { "action_loss_avg": 0.12644831207580864, "epoch": 1.25885009765625e-07, "step": 1320 }, { "arm_loss_avg": 0.17342977869557216, "epoch": 1.25885009765625e-07, "step": 1320 }, { "ee_loss_avg": 0.24019383061677219, "epoch": 1.25885009765625e-07, "step": 1320 }, { "aux_loss_avg": 0.0017980238422751426, "epoch": 1.25885009765625e-07, "step": 1320 }, { "epoch": 1.25885009765625e-07, "step": 1320, "training_step_time": 25.879693746566772 }, { "epoch": 1.2598037719726562e-07, "model_forward_time": 8.167350769042969, "step": 1321 }, { "epoch": 1.2598037719726562e-07, "step": 1321, "training_step_time": 26.80480408668518 }, { "epoch": 1.2607574462890626e-07, "model_forward_time": 5.418773651123047, "step": 1322 }, { "epoch": 1.2607574462890626e-07, "step": 1322, "training_step_time": 25.678082942962646 }, { "epoch": 1.2617111206054688e-07, "model_forward_time": 9.16266679763794, "step": 1323 }, { "epoch": 1.2617111206054688e-07, "step": 1323, "training_step_time": 27.04678201675415 }, { "epoch": 1.262664794921875e-07, "model_forward_time": 8.1656014919281, "step": 1324 }, { "epoch": 1.262664794921875e-07, "step": 1324, "training_step_time": 26.660855054855347 }, { "epoch": 1.2636184692382813e-07, "model_forward_time": 6.468280792236328, "step": 1325 }, { "epoch": 1.2636184692382813e-07, "step": 1325, "training_step_time": 25.475627660751343 }, { "epoch": 1.2645721435546875e-07, "model_forward_time": 7.792549133300781, "step": 1326 }, { "epoch": 1.2645721435546875e-07, "step": 1326, "training_step_time": 25.513866901397705 }, { "epoch": 1.265525817871094e-07, "model_forward_time": 7.175925254821777, "step": 1327 }, { "epoch": 1.265525817871094e-07, "step": 1327, "training_step_time": 27.4118595123291 }, { "epoch": 1.2664794921875e-07, "model_forward_time": 7.003537654876709, "step": 1328 }, { "epoch": 1.2664794921875e-07, "step": 1328, "training_step_time": 25.552756309509277 }, { "epoch": 1.2674331665039062e-07, "model_forward_time": 7.400788068771362, "step": 1329 }, { "epoch": 1.2674331665039062e-07, "step": 1329, "training_step_time": 25.82543683052063 }, { "epoch": 1.2683868408203126e-07, "grad_norm": 3.4725141525268555, "learning_rate": 3.7971428571428576e-06, "loss": 0.1953, "step": 1330 }, { "epoch": 1.2683868408203126e-07, "model_forward_time": 7.311721086502075, "step": 1330 }, { "dynamics_loss_avg": 0.04189629964530468, "epoch": 1.2683868408203126e-07, "step": 1330 }, { "action_loss_avg": 0.12760713417083025, "epoch": 1.2683868408203126e-07, "step": 1330 }, { "arm_loss_avg": 0.1785726691945456, "epoch": 1.2683868408203126e-07, "step": 1330 }, { "ee_loss_avg": 0.3686311081983149, "epoch": 1.2683868408203126e-07, "step": 1330 }, { "aux_loss_avg": 0.0024003336031455545, "epoch": 1.2683868408203126e-07, "step": 1330 }, { "epoch": 1.2683868408203126e-07, "step": 1330, "training_step_time": 25.346410274505615 }, { "epoch": 1.2693405151367187e-07, "model_forward_time": 8.165201902389526, "step": 1331 }, { "epoch": 1.2693405151367187e-07, "step": 1331, "training_step_time": 26.769625186920166 }, { "epoch": 1.270294189453125e-07, "model_forward_time": 7.405828475952148, "step": 1332 }, { "epoch": 1.270294189453125e-07, "step": 1332, "training_step_time": 26.141902446746826 }, { "epoch": 1.2712478637695313e-07, "model_forward_time": 5.5782630443573, "step": 1333 }, { "epoch": 1.2712478637695313e-07, "step": 1333, "training_step_time": 27.2817645072937 }, { "epoch": 1.2722015380859374e-07, "model_forward_time": 7.4183526039123535, "step": 1334 }, { "epoch": 1.2722015380859374e-07, "step": 1334, "training_step_time": 26.17487907409668 }, { "epoch": 1.2731552124023438e-07, "model_forward_time": 5.986849546432495, "step": 1335 }, { "epoch": 1.2731552124023438e-07, "step": 1335, "training_step_time": 25.172129154205322 }, { "epoch": 1.27410888671875e-07, "model_forward_time": 7.399273157119751, "step": 1336 }, { "epoch": 1.27410888671875e-07, "step": 1336, "training_step_time": 25.34994864463806 }, { "epoch": 1.2750625610351564e-07, "model_forward_time": 5.6977338790893555, "step": 1337 }, { "epoch": 1.2750625610351564e-07, "step": 1337, "training_step_time": 26.100189208984375 }, { "epoch": 1.2760162353515625e-07, "model_forward_time": 7.691559791564941, "step": 1338 }, { "epoch": 1.2760162353515625e-07, "step": 1338, "training_step_time": 25.665927171707153 }, { "epoch": 1.2769699096679687e-07, "model_forward_time": 6.6784327030181885, "step": 1339 }, { "epoch": 1.2769699096679687e-07, "step": 1339, "training_step_time": 25.872480392456055 }, { "epoch": 1.277923583984375e-07, "grad_norm": 2.5080320835113525, "learning_rate": 3.825714285714286e-06, "loss": 0.1967, "step": 1340 }, { "epoch": 1.277923583984375e-07, "model_forward_time": 7.15480375289917, "step": 1340 }, { "dynamics_loss_avg": 0.04462419310584664, "epoch": 1.277923583984375e-07, "step": 1340 }, { "action_loss_avg": 0.10845175343565643, "epoch": 1.277923583984375e-07, "step": 1340 }, { "arm_loss_avg": 0.12063259778078646, "epoch": 1.277923583984375e-07, "step": 1340 }, { "ee_loss_avg": 0.35913772843778136, "epoch": 1.277923583984375e-07, "step": 1340 }, { "aux_loss_avg": 0.004049282008782029, "epoch": 1.277923583984375e-07, "step": 1340 }, { "epoch": 1.277923583984375e-07, "step": 1340, "training_step_time": 25.64715051651001 }, { "epoch": 1.2788772583007812e-07, "model_forward_time": 6.35253643989563, "step": 1341 }, { "epoch": 1.2788772583007812e-07, "step": 1341, "training_step_time": 26.024046897888184 }, { "epoch": 1.2798309326171876e-07, "model_forward_time": 7.394441366195679, "step": 1342 }, { "epoch": 1.2798309326171876e-07, "step": 1342, "training_step_time": 26.028149366378784 }, { "epoch": 1.2807846069335938e-07, "model_forward_time": 8.096060991287231, "step": 1343 }, { "epoch": 1.2807846069335938e-07, "step": 1343, "training_step_time": 26.27618956565857 }, { "epoch": 1.28173828125e-07, "model_forward_time": 5.357625722885132, "step": 1344 }, { "epoch": 1.28173828125e-07, "step": 1344, "training_step_time": 24.309417486190796 }, { "epoch": 1.2826919555664063e-07, "model_forward_time": 6.651504039764404, "step": 1345 }, { "epoch": 1.2826919555664063e-07, "step": 1345, "training_step_time": 26.53568172454834 }, { "epoch": 1.2836456298828125e-07, "model_forward_time": 7.571682453155518, "step": 1346 }, { "epoch": 1.2836456298828125e-07, "step": 1346, "training_step_time": 26.73324465751648 }, { "epoch": 1.2845993041992186e-07, "model_forward_time": 6.497338771820068, "step": 1347 }, { "epoch": 1.2845993041992186e-07, "step": 1347, "training_step_time": 26.653618335723877 }, { "epoch": 1.285552978515625e-07, "model_forward_time": 8.559470891952515, "step": 1348 }, { "epoch": 1.285552978515625e-07, "step": 1348, "training_step_time": 25.952725172042847 }, { "epoch": 1.2865066528320312e-07, "model_forward_time": 7.603708982467651, "step": 1349 }, { "epoch": 1.2865066528320312e-07, "step": 1349, "training_step_time": 26.155451774597168 }, { "epoch": 1.2874603271484376e-07, "grad_norm": 1.766481637954712, "learning_rate": 3.8542857142857145e-06, "loss": 0.1955, "step": 1350 }, { "epoch": 1.2874603271484376e-07, "model_forward_time": 7.792839288711548, "step": 1350 }, { "dynamics_loss_avg": 0.04219922502525151, "epoch": 1.2874603271484376e-07, "step": 1350 }, { "action_loss_avg": 0.11356086451560259, "epoch": 1.2874603271484376e-07, "step": 1350 }, { "arm_loss_avg": 0.1330628699855879, "epoch": 1.2874603271484376e-07, "step": 1350 }, { "ee_loss_avg": 0.22870767805725337, "epoch": 1.2874603271484376e-07, "step": 1350 }, { "aux_loss_avg": 0.003376742941327393, "epoch": 1.2874603271484376e-07, "step": 1350 }, { "epoch": 1.2874603271484376e-07, "step": 1350, "training_step_time": 26.042593002319336 }, { "epoch": 1.2884140014648437e-07, "model_forward_time": 7.433934688568115, "step": 1351 }, { "epoch": 1.2884140014648437e-07, "step": 1351, "training_step_time": 26.102752447128296 }, { "epoch": 1.28936767578125e-07, "model_forward_time": 5.394702672958374, "step": 1352 }, { "epoch": 1.28936767578125e-07, "step": 1352, "training_step_time": 25.861207246780396 }, { "epoch": 1.2903213500976563e-07, "model_forward_time": 8.140679836273193, "step": 1353 }, { "epoch": 1.2903213500976563e-07, "step": 1353, "training_step_time": 26.10120677947998 }, { "epoch": 1.2912750244140624e-07, "model_forward_time": 8.592102289199829, "step": 1354 }, { "epoch": 1.2912750244140624e-07, "step": 1354, "training_step_time": 26.332314252853394 }, { "epoch": 1.2922286987304688e-07, "model_forward_time": 8.324238777160645, "step": 1355 }, { "epoch": 1.2922286987304688e-07, "step": 1355, "training_step_time": 26.18354868888855 }, { "epoch": 1.293182373046875e-07, "model_forward_time": 5.250085115432739, "step": 1356 }, { "epoch": 1.293182373046875e-07, "step": 1356, "training_step_time": 26.275630235671997 }, { "epoch": 1.294136047363281e-07, "model_forward_time": 7.094708204269409, "step": 1357 }, { "epoch": 1.294136047363281e-07, "step": 1357, "training_step_time": 26.124318838119507 }, { "epoch": 1.2950897216796875e-07, "model_forward_time": 7.335392951965332, "step": 1358 }, { "epoch": 1.2950897216796875e-07, "step": 1358, "training_step_time": 26.6635262966156 }, { "epoch": 1.2960433959960937e-07, "model_forward_time": 6.172816038131714, "step": 1359 }, { "epoch": 1.2960433959960937e-07, "step": 1359, "training_step_time": 26.076008081436157 }, { "epoch": 1.2969970703125e-07, "grad_norm": 2.649925708770752, "learning_rate": 3.8828571428571434e-06, "loss": 0.2226, "step": 1360 }, { "epoch": 1.2969970703125e-07, "model_forward_time": 7.390028715133667, "step": 1360 }, { "dynamics_loss_avg": 0.044524693954735996, "epoch": 1.2969970703125e-07, "step": 1360 }, { "action_loss_avg": 0.15412064213305712, "epoch": 1.2969970703125e-07, "step": 1360 }, { "arm_loss_avg": 0.1568357307347469, "epoch": 1.2969970703125e-07, "step": 1360 }, { "ee_loss_avg": 0.24258082769811154, "epoch": 1.2969970703125e-07, "step": 1360 }, { "aux_loss_avg": 0.0026500549167394636, "epoch": 1.2969970703125e-07, "step": 1360 }, { "epoch": 1.2969970703125e-07, "step": 1360, "training_step_time": 25.135894775390625 }, { "epoch": 1.2979507446289062e-07, "model_forward_time": 7.012330532073975, "step": 1361 }, { "epoch": 1.2979507446289062e-07, "step": 1361, "training_step_time": 27.604126453399658 }, { "epoch": 1.2989044189453124e-07, "model_forward_time": 5.387181758880615, "step": 1362 }, { "epoch": 1.2989044189453124e-07, "step": 1362, "training_step_time": 25.922202348709106 }, { "epoch": 1.2998580932617188e-07, "model_forward_time": 7.3613526821136475, "step": 1363 }, { "epoch": 1.2998580932617188e-07, "step": 1363, "training_step_time": 25.287465572357178 }, { "epoch": 1.300811767578125e-07, "model_forward_time": 8.065612554550171, "step": 1364 }, { "epoch": 1.300811767578125e-07, "step": 1364, "training_step_time": 26.035056829452515 }, { "epoch": 1.3017654418945313e-07, "model_forward_time": 5.40774393081665, "step": 1365 }, { "epoch": 1.3017654418945313e-07, "step": 1365, "training_step_time": 25.453614473342896 }, { "epoch": 1.3027191162109375e-07, "model_forward_time": 7.944000244140625, "step": 1366 }, { "epoch": 1.3027191162109375e-07, "step": 1366, "training_step_time": 25.609992742538452 }, { "epoch": 1.3036727905273436e-07, "model_forward_time": 7.868517160415649, "step": 1367 }, { "epoch": 1.3036727905273436e-07, "step": 1367, "training_step_time": 26.296026706695557 }, { "epoch": 1.30462646484375e-07, "model_forward_time": 7.4278724193573, "step": 1368 }, { "epoch": 1.30462646484375e-07, "step": 1368, "training_step_time": 25.934350967407227 }, { "epoch": 1.3055801391601562e-07, "model_forward_time": 7.559837818145752, "step": 1369 }, { "epoch": 1.3055801391601562e-07, "step": 1369, "training_step_time": 26.512585401535034 }, { "epoch": 1.3065338134765626e-07, "grad_norm": 2.669524908065796, "learning_rate": 3.9114285714285715e-06, "loss": 0.1929, "step": 1370 }, { "epoch": 1.3065338134765626e-07, "model_forward_time": 8.311617374420166, "step": 1370 }, { "dynamics_loss_avg": 0.04708737232722342, "epoch": 1.3065338134765626e-07, "step": 1370 }, { "action_loss_avg": 0.10276349633932114, "epoch": 1.3065338134765626e-07, "step": 1370 }, { "arm_loss_avg": 0.14997589313425125, "epoch": 1.3065338134765626e-07, "step": 1370 }, { "ee_loss_avg": 0.2609088491648436, "epoch": 1.3065338134765626e-07, "step": 1370 }, { "aux_loss_avg": 0.003764196968404576, "epoch": 1.3065338134765626e-07, "step": 1370 }, { "epoch": 1.3065338134765626e-07, "step": 1370, "training_step_time": 26.122181177139282 }, { "epoch": 1.3074874877929687e-07, "model_forward_time": 8.91881537437439, "step": 1371 }, { "epoch": 1.3074874877929687e-07, "step": 1371, "training_step_time": 25.538921356201172 }, { "epoch": 1.308441162109375e-07, "model_forward_time": 7.74478816986084, "step": 1372 }, { "epoch": 1.308441162109375e-07, "step": 1372, "training_step_time": 25.4421226978302 }, { "epoch": 1.3093948364257813e-07, "model_forward_time": 7.417662620544434, "step": 1373 }, { "epoch": 1.3093948364257813e-07, "step": 1373, "training_step_time": 26.81128716468811 }, { "epoch": 1.3103485107421874e-07, "model_forward_time": 7.79435658454895, "step": 1374 }, { "epoch": 1.3103485107421874e-07, "step": 1374, "training_step_time": 26.081777811050415 }, { "epoch": 1.3113021850585939e-07, "model_forward_time": 7.436012029647827, "step": 1375 }, { "epoch": 1.3113021850585939e-07, "step": 1375, "training_step_time": 25.838115215301514 }, { "epoch": 1.312255859375e-07, "model_forward_time": 6.895223140716553, "step": 1376 }, { "epoch": 1.312255859375e-07, "step": 1376, "training_step_time": 24.6297607421875 }, { "epoch": 1.3132095336914061e-07, "model_forward_time": 7.395533561706543, "step": 1377 }, { "epoch": 1.3132095336914061e-07, "step": 1377, "training_step_time": 25.682653665542603 }, { "epoch": 1.3141632080078126e-07, "model_forward_time": 6.502184629440308, "step": 1378 }, { "epoch": 1.3141632080078126e-07, "step": 1378, "training_step_time": 25.191997528076172 }, { "epoch": 1.3151168823242187e-07, "model_forward_time": 7.501960277557373, "step": 1379 }, { "epoch": 1.3151168823242187e-07, "step": 1379, "training_step_time": 25.904834032058716 }, { "epoch": 1.316070556640625e-07, "grad_norm": 3.066563606262207, "learning_rate": 3.94e-06, "loss": 0.2124, "step": 1380 }, { "epoch": 1.316070556640625e-07, "model_forward_time": 6.6104302406311035, "step": 1380 }, { "dynamics_loss_avg": 0.03950402904301882, "epoch": 1.316070556640625e-07, "step": 1380 }, { "action_loss_avg": 0.11950802118517459, "epoch": 1.316070556640625e-07, "step": 1380 }, { "arm_loss_avg": 0.15353602811228484, "epoch": 1.316070556640625e-07, "step": 1380 }, { "ee_loss_avg": 0.2597344148904085, "epoch": 1.316070556640625e-07, "step": 1380 }, { "aux_loss_avg": 0.0034871641080826523, "epoch": 1.316070556640625e-07, "step": 1380 }, { "epoch": 1.316070556640625e-07, "step": 1380, "training_step_time": 26.583166122436523 }, { "epoch": 1.3170242309570313e-07, "model_forward_time": 8.448488473892212, "step": 1381 }, { "epoch": 1.3170242309570313e-07, "step": 1381, "training_step_time": 26.81056833267212 }, { "epoch": 1.3179779052734374e-07, "model_forward_time": 5.686121940612793, "step": 1382 }, { "epoch": 1.3179779052734374e-07, "step": 1382, "training_step_time": 27.526041507720947 }, { "epoch": 1.3189315795898438e-07, "model_forward_time": 6.621098756790161, "step": 1383 }, { "epoch": 1.3189315795898438e-07, "step": 1383, "training_step_time": 25.24733853340149 }, { "epoch": 1.31988525390625e-07, "model_forward_time": 6.597524642944336, "step": 1384 }, { "epoch": 1.31988525390625e-07, "step": 1384, "training_step_time": 26.855681657791138 }, { "epoch": 1.3208389282226564e-07, "model_forward_time": 7.415786266326904, "step": 1385 }, { "epoch": 1.3208389282226564e-07, "step": 1385, "training_step_time": 26.100926876068115 }, { "epoch": 1.3217926025390625e-07, "model_forward_time": 8.694037914276123, "step": 1386 }, { "epoch": 1.3217926025390625e-07, "step": 1386, "training_step_time": 26.190929889678955 }, { "epoch": 1.3227462768554687e-07, "model_forward_time": 7.00590181350708, "step": 1387 }, { "epoch": 1.3227462768554687e-07, "step": 1387, "training_step_time": 25.799324989318848 }, { "epoch": 1.323699951171875e-07, "model_forward_time": 7.826158761978149, "step": 1388 }, { "epoch": 1.323699951171875e-07, "step": 1388, "training_step_time": 25.96297836303711 }, { "epoch": 1.3246536254882812e-07, "model_forward_time": 4.746856212615967, "step": 1389 }, { "epoch": 1.3246536254882812e-07, "step": 1389, "training_step_time": 26.299349784851074 }, { "epoch": 1.3256072998046876e-07, "grad_norm": 2.282339572906494, "learning_rate": 3.9685714285714284e-06, "loss": 0.1869, "step": 1390 }, { "epoch": 1.3256072998046876e-07, "model_forward_time": 5.8807690143585205, "step": 1390 }, { "dynamics_loss_avg": 0.03432713467627764, "epoch": 1.3256072998046876e-07, "step": 1390 }, { "action_loss_avg": 0.08306668228469789, "epoch": 1.3256072998046876e-07, "step": 1390 }, { "arm_loss_avg": 0.141288086946588, "epoch": 1.3256072998046876e-07, "step": 1390 }, { "ee_loss_avg": 0.3268926039338112, "epoch": 1.3256072998046876e-07, "step": 1390 }, { "aux_loss_avg": 0.007465756955207325, "epoch": 1.3256072998046876e-07, "step": 1390 }, { "epoch": 1.3256072998046876e-07, "step": 1390, "training_step_time": 26.478493690490723 }, { "epoch": 1.3265609741210938e-07, "model_forward_time": 7.716989517211914, "step": 1391 }, { "epoch": 1.3265609741210938e-07, "step": 1391, "training_step_time": 24.58482050895691 }, { "epoch": 1.3275146484375e-07, "model_forward_time": 7.398110866546631, "step": 1392 }, { "epoch": 1.3275146484375e-07, "step": 1392, "training_step_time": 24.658862590789795 }, { "epoch": 1.3284683227539063e-07, "model_forward_time": 7.3181540966033936, "step": 1393 }, { "epoch": 1.3284683227539063e-07, "step": 1393, "training_step_time": 25.292701959609985 }, { "epoch": 1.3294219970703125e-07, "model_forward_time": 8.018501996994019, "step": 1394 }, { "epoch": 1.3294219970703125e-07, "step": 1394, "training_step_time": 25.235159873962402 }, { "epoch": 1.330375671386719e-07, "model_forward_time": 8.02705430984497, "step": 1395 }, { "epoch": 1.330375671386719e-07, "step": 1395, "training_step_time": 26.120681047439575 }, { "epoch": 1.331329345703125e-07, "model_forward_time": 7.4202234745025635, "step": 1396 }, { "epoch": 1.331329345703125e-07, "step": 1396, "training_step_time": 26.207661151885986 }, { "epoch": 1.3322830200195312e-07, "model_forward_time": 8.185776233673096, "step": 1397 }, { "epoch": 1.3322830200195312e-07, "step": 1397, "training_step_time": 25.584925651550293 }, { "epoch": 1.3332366943359376e-07, "model_forward_time": 8.173596143722534, "step": 1398 }, { "epoch": 1.3332366943359376e-07, "step": 1398, "training_step_time": 25.973093032836914 }, { "epoch": 1.3341903686523437e-07, "model_forward_time": 6.644803285598755, "step": 1399 }, { "epoch": 1.3341903686523437e-07, "step": 1399, "training_step_time": 26.977501392364502 }, { "epoch": 1.33514404296875e-07, "grad_norm": 2.046782970428467, "learning_rate": 3.997142857142857e-06, "loss": 0.1794, "step": 1400 }, { "epoch": 1.33514404296875e-07, "model_forward_time": 7.910899639129639, "step": 1400 }, { "dynamics_loss_avg": 0.04450141012202948, "epoch": 1.33514404296875e-07, "step": 1400 }, { "action_loss_avg": 0.12233438880648465, "epoch": 1.33514404296875e-07, "step": 1400 }, { "arm_loss_avg": 0.1434306097449735, "epoch": 1.33514404296875e-07, "step": 1400 }, { "ee_loss_avg": 0.20517702475190164, "epoch": 1.33514404296875e-07, "step": 1400 }, { "aux_loss_avg": 0.0012980082479771226, "epoch": 1.33514404296875e-07, "step": 1400 }, { "epoch": 1.33514404296875e-07, "step": 1400, "training_step_time": 25.995473623275757 }, { "epoch": 1.3360977172851563e-07, "model_forward_time": 6.708760499954224, "step": 1401 }, { "epoch": 1.3360977172851563e-07, "step": 1401, "training_step_time": 26.113641500473022 }, { "epoch": 1.3370513916015624e-07, "model_forward_time": 7.389811754226685, "step": 1402 }, { "epoch": 1.3370513916015624e-07, "step": 1402, "training_step_time": 25.31769299507141 }, { "epoch": 1.3380050659179688e-07, "model_forward_time": 6.077764272689819, "step": 1403 }, { "epoch": 1.3380050659179688e-07, "step": 1403, "training_step_time": 25.226327896118164 }, { "epoch": 1.338958740234375e-07, "model_forward_time": 6.170634031295776, "step": 1404 }, { "epoch": 1.338958740234375e-07, "step": 1404, "training_step_time": 25.49214005470276 }, { "epoch": 1.3399124145507814e-07, "model_forward_time": 7.121092081069946, "step": 1405 }, { "epoch": 1.3399124145507814e-07, "step": 1405, "training_step_time": 25.912639617919922 }, { "epoch": 1.3408660888671875e-07, "model_forward_time": 7.402211427688599, "step": 1406 }, { "epoch": 1.3408660888671875e-07, "step": 1406, "training_step_time": 26.008707523345947 }, { "epoch": 1.3418197631835937e-07, "model_forward_time": 7.415480852127075, "step": 1407 }, { "epoch": 1.3418197631835937e-07, "step": 1407, "training_step_time": 26.286231994628906 }, { "epoch": 1.3427734375e-07, "model_forward_time": 7.939160108566284, "step": 1408 }, { "epoch": 1.3427734375e-07, "step": 1408, "training_step_time": 26.745336771011353 }, { "epoch": 1.3437271118164062e-07, "model_forward_time": 7.3768064975738525, "step": 1409 }, { "epoch": 1.3437271118164062e-07, "step": 1409, "training_step_time": 26.29152750968933 }, { "epoch": 1.3446807861328124e-07, "grad_norm": 2.2087173461914062, "learning_rate": 4.025714285714286e-06, "loss": 0.1803, "step": 1410 }, { "epoch": 1.3446807861328124e-07, "model_forward_time": 7.447642803192139, "step": 1410 }, { "dynamics_loss_avg": 0.04907057220116258, "epoch": 1.3446807861328124e-07, "step": 1410 }, { "action_loss_avg": 0.11685926201753319, "epoch": 1.3446807861328124e-07, "step": 1410 }, { "arm_loss_avg": 0.14488748537842183, "epoch": 1.3446807861328124e-07, "step": 1410 }, { "ee_loss_avg": 0.31564742140471935, "epoch": 1.3446807861328124e-07, "step": 1410 }, { "aux_loss_avg": 0.009053174336440862, "epoch": 1.3446807861328124e-07, "step": 1410 }, { "epoch": 1.3446807861328124e-07, "step": 1410, "training_step_time": 26.239897966384888 }, { "epoch": 1.3456344604492188e-07, "model_forward_time": 7.421504259109497, "step": 1411 }, { "epoch": 1.3456344604492188e-07, "step": 1411, "training_step_time": 25.205227851867676 }, { "epoch": 1.346588134765625e-07, "model_forward_time": 8.321681261062622, "step": 1412 }, { "epoch": 1.346588134765625e-07, "step": 1412, "training_step_time": 27.235787391662598 }, { "epoch": 1.3475418090820313e-07, "model_forward_time": 7.741857051849365, "step": 1413 }, { "epoch": 1.3475418090820313e-07, "step": 1413, "training_step_time": 25.584912061691284 }, { "epoch": 1.3484954833984375e-07, "model_forward_time": 7.746613025665283, "step": 1414 }, { "epoch": 1.3484954833984375e-07, "step": 1414, "training_step_time": 25.860554933547974 }, { "epoch": 1.3494491577148436e-07, "model_forward_time": 5.477825164794922, "step": 1415 }, { "epoch": 1.3494491577148436e-07, "step": 1415, "training_step_time": 25.615328073501587 }, { "epoch": 1.35040283203125e-07, "model_forward_time": 5.991717576980591, "step": 1416 }, { "epoch": 1.35040283203125e-07, "step": 1416, "training_step_time": 25.74996781349182 }, { "epoch": 1.3513565063476562e-07, "model_forward_time": 7.430677175521851, "step": 1417 }, { "epoch": 1.3513565063476562e-07, "step": 1417, "training_step_time": 26.74552845954895 }, { "epoch": 1.3523101806640626e-07, "model_forward_time": 6.330496072769165, "step": 1418 }, { "epoch": 1.3523101806640626e-07, "step": 1418, "training_step_time": 25.421207904815674 }, { "epoch": 1.3532638549804687e-07, "model_forward_time": 7.35477614402771, "step": 1419 }, { "epoch": 1.3532638549804687e-07, "step": 1419, "training_step_time": 26.661561250686646 }, { "epoch": 1.354217529296875e-07, "grad_norm": 1.5695240497589111, "learning_rate": 4.054285714285714e-06, "loss": 0.1859, "step": 1420 }, { "epoch": 1.354217529296875e-07, "model_forward_time": 8.171296834945679, "step": 1420 }, { "dynamics_loss_avg": 0.030040290439501405, "epoch": 1.354217529296875e-07, "step": 1420 }, { "action_loss_avg": 0.11397406416945159, "epoch": 1.354217529296875e-07, "step": 1420 }, { "arm_loss_avg": 0.18136854807380587, "epoch": 1.354217529296875e-07, "step": 1420 }, { "ee_loss_avg": 0.2709481257945299, "epoch": 1.354217529296875e-07, "step": 1420 }, { "aux_loss_avg": 0.002790795994224027, "epoch": 1.354217529296875e-07, "step": 1420 }, { "epoch": 1.354217529296875e-07, "step": 1420, "training_step_time": 26.798253774642944 }, { "epoch": 1.3551712036132813e-07, "model_forward_time": 5.542913198471069, "step": 1421 }, { "epoch": 1.3551712036132813e-07, "step": 1421, "training_step_time": 26.00498390197754 }, { "epoch": 1.3561248779296874e-07, "model_forward_time": 6.34726357460022, "step": 1422 }, { "epoch": 1.3561248779296874e-07, "step": 1422, "training_step_time": 26.291255950927734 }, { "epoch": 1.3570785522460938e-07, "model_forward_time": 7.487121820449829, "step": 1423 }, { "epoch": 1.3570785522460938e-07, "step": 1423, "training_step_time": 26.409392833709717 }, { "epoch": 1.3580322265625e-07, "model_forward_time": 7.6462085247039795, "step": 1424 }, { "epoch": 1.3580322265625e-07, "step": 1424, "training_step_time": 26.259899854660034 }, { "epoch": 1.3589859008789061e-07, "model_forward_time": 7.4036664962768555, "step": 1425 }, { "epoch": 1.3589859008789061e-07, "step": 1425, "training_step_time": 25.783538818359375 }, { "epoch": 1.3599395751953125e-07, "model_forward_time": 6.782785415649414, "step": 1426 }, { "epoch": 1.3599395751953125e-07, "step": 1426, "training_step_time": 25.224130392074585 }, { "epoch": 1.3608932495117187e-07, "model_forward_time": 7.742403984069824, "step": 1427 }, { "epoch": 1.3608932495117187e-07, "step": 1427, "training_step_time": 26.527464866638184 }, { "epoch": 1.361846923828125e-07, "model_forward_time": 7.876560211181641, "step": 1428 }, { "epoch": 1.361846923828125e-07, "step": 1428, "training_step_time": 27.24280333518982 }, { "epoch": 1.3628005981445312e-07, "model_forward_time": 7.552390813827515, "step": 1429 }, { "epoch": 1.3628005981445312e-07, "step": 1429, "training_step_time": 25.465275287628174 }, { "epoch": 1.3637542724609374e-07, "grad_norm": 1.9348115921020508, "learning_rate": 4.082857142857143e-06, "loss": 0.2068, "step": 1430 }, { "epoch": 1.3637542724609374e-07, "model_forward_time": 7.959230661392212, "step": 1430 }, { "dynamics_loss_avg": 0.03729232060723007, "epoch": 1.3637542724609374e-07, "step": 1430 }, { "action_loss_avg": 0.08568255442660302, "epoch": 1.3637542724609374e-07, "step": 1430 }, { "arm_loss_avg": 0.14860764180775732, "epoch": 1.3637542724609374e-07, "step": 1430 }, { "ee_loss_avg": 0.2074826605618, "epoch": 1.3637542724609374e-07, "step": 1430 }, { "aux_loss_avg": 0.004061205117614009, "epoch": 1.3637542724609374e-07, "step": 1430 }, { "epoch": 1.3637542724609374e-07, "step": 1430, "training_step_time": 26.555209636688232 }, { "epoch": 1.3647079467773438e-07, "model_forward_time": 7.4139344692230225, "step": 1431 }, { "epoch": 1.3647079467773438e-07, "step": 1431, "training_step_time": 26.751866340637207 }, { "epoch": 1.36566162109375e-07, "model_forward_time": 7.398987054824829, "step": 1432 }, { "epoch": 1.36566162109375e-07, "step": 1432, "training_step_time": 26.100000619888306 }, { "epoch": 1.3666152954101564e-07, "model_forward_time": 7.409816741943359, "step": 1433 }, { "epoch": 1.3666152954101564e-07, "step": 1433, "training_step_time": 27.094870805740356 }, { "epoch": 1.3675689697265625e-07, "model_forward_time": 7.335401296615601, "step": 1434 }, { "epoch": 1.3675689697265625e-07, "step": 1434, "training_step_time": 25.48002338409424 }, { "epoch": 1.3685226440429686e-07, "model_forward_time": 5.667808294296265, "step": 1435 }, { "epoch": 1.3685226440429686e-07, "step": 1435, "training_step_time": 25.77520227432251 }, { "epoch": 1.369476318359375e-07, "model_forward_time": 8.133413791656494, "step": 1436 }, { "epoch": 1.369476318359375e-07, "step": 1436, "training_step_time": 25.693111658096313 }, { "epoch": 1.3704299926757812e-07, "model_forward_time": 7.789919137954712, "step": 1437 }, { "epoch": 1.3704299926757812e-07, "step": 1437, "training_step_time": 25.93826389312744 }, { "epoch": 1.3713836669921876e-07, "model_forward_time": 7.1031599044799805, "step": 1438 }, { "epoch": 1.3713836669921876e-07, "step": 1438, "training_step_time": 26.154871940612793 }, { "epoch": 1.3723373413085938e-07, "model_forward_time": 7.0795392990112305, "step": 1439 }, { "epoch": 1.3723373413085938e-07, "step": 1439, "training_step_time": 25.79639768600464 }, { "epoch": 1.373291015625e-07, "grad_norm": 2.5633323192596436, "learning_rate": 4.111428571428572e-06, "loss": 0.2103, "step": 1440 }, { "epoch": 1.373291015625e-07, "model_forward_time": 6.757771015167236, "step": 1440 }, { "dynamics_loss_avg": 0.03451792974956334, "epoch": 1.373291015625e-07, "step": 1440 }, { "action_loss_avg": 0.12924631091300398, "epoch": 1.373291015625e-07, "step": 1440 }, { "arm_loss_avg": 0.16387926078168674, "epoch": 1.373291015625e-07, "step": 1440 }, { "ee_loss_avg": 0.25469398936256765, "epoch": 1.373291015625e-07, "step": 1440 }, { "aux_loss_avg": 0.006696411385200917, "epoch": 1.373291015625e-07, "step": 1440 }, { "epoch": 1.373291015625e-07, "step": 1440, "training_step_time": 26.159634828567505 }, { "epoch": 1.3742446899414063e-07, "model_forward_time": 6.610244035720825, "step": 1441 }, { "epoch": 1.3742446899414063e-07, "step": 1441, "training_step_time": 26.166146516799927 }, { "epoch": 1.3751983642578125e-07, "model_forward_time": 7.539281606674194, "step": 1442 }, { "epoch": 1.3751983642578125e-07, "step": 1442, "training_step_time": 26.85018515586853 }, { "epoch": 1.3761520385742189e-07, "model_forward_time": 5.02142333984375, "step": 1443 }, { "epoch": 1.3761520385742189e-07, "step": 1443, "training_step_time": 25.51609492301941 }, { "epoch": 1.377105712890625e-07, "model_forward_time": 6.045416355133057, "step": 1444 }, { "epoch": 1.377105712890625e-07, "step": 1444, "training_step_time": 25.728421211242676 }, { "epoch": 1.3780593872070312e-07, "model_forward_time": 7.450102806091309, "step": 1445 }, { "epoch": 1.3780593872070312e-07, "step": 1445, "training_step_time": 24.536217212677002 }, { "epoch": 1.3790130615234376e-07, "model_forward_time": 5.138378381729126, "step": 1446 }, { "epoch": 1.3790130615234376e-07, "step": 1446, "training_step_time": 26.027252197265625 }, { "epoch": 1.3799667358398437e-07, "model_forward_time": 7.823707342147827, "step": 1447 }, { "epoch": 1.3799667358398437e-07, "step": 1447, "training_step_time": 25.980290412902832 }, { "epoch": 1.38092041015625e-07, "model_forward_time": 7.53053617477417, "step": 1448 }, { "epoch": 1.38092041015625e-07, "step": 1448, "training_step_time": 26.04534649848938 }, { "epoch": 1.3818740844726563e-07, "model_forward_time": 7.9156599044799805, "step": 1449 }, { "epoch": 1.3818740844726563e-07, "step": 1449, "training_step_time": 25.070651054382324 }, { "epoch": 1.3828277587890624e-07, "grad_norm": 3.3433125019073486, "learning_rate": 4.14e-06, "loss": 0.1716, "step": 1450 }, { "epoch": 1.3828277587890624e-07, "model_forward_time": 7.923175096511841, "step": 1450 }, { "dynamics_loss_avg": 0.037208678154274824, "epoch": 1.3828277587890624e-07, "step": 1450 }, { "action_loss_avg": 0.1139878606889397, "epoch": 1.3828277587890624e-07, "step": 1450 }, { "arm_loss_avg": 0.15741666163085027, "epoch": 1.3828277587890624e-07, "step": 1450 }, { "ee_loss_avg": 0.1866742314770818, "epoch": 1.3828277587890624e-07, "step": 1450 }, { "aux_loss_avg": 0.0013187672040658072, "epoch": 1.3828277587890624e-07, "step": 1450 }, { "epoch": 1.3828277587890624e-07, "step": 1450, "training_step_time": 25.74384570121765 }, { "epoch": 1.3837814331054688e-07, "model_forward_time": 8.173410654067993, "step": 1451 }, { "epoch": 1.3837814331054688e-07, "step": 1451, "training_step_time": 26.068777799606323 }, { "epoch": 1.384735107421875e-07, "model_forward_time": 8.098414421081543, "step": 1452 }, { "epoch": 1.384735107421875e-07, "step": 1452, "training_step_time": 26.402966260910034 }, { "epoch": 1.3856887817382814e-07, "model_forward_time": 7.889513731002808, "step": 1453 }, { "epoch": 1.3856887817382814e-07, "step": 1453, "training_step_time": 26.321083068847656 }, { "epoch": 1.3866424560546875e-07, "model_forward_time": 7.830603361129761, "step": 1454 }, { "epoch": 1.3866424560546875e-07, "step": 1454, "training_step_time": 26.700819492340088 }, { "epoch": 1.3875961303710937e-07, "model_forward_time": 6.906632900238037, "step": 1455 }, { "epoch": 1.3875961303710937e-07, "step": 1455, "training_step_time": 25.36551547050476 }, { "epoch": 1.3885498046875e-07, "model_forward_time": 7.787233352661133, "step": 1456 }, { "epoch": 1.3885498046875e-07, "step": 1456, "training_step_time": 26.932508945465088 }, { "epoch": 1.3895034790039062e-07, "model_forward_time": 6.995562314987183, "step": 1457 }, { "epoch": 1.3895034790039062e-07, "step": 1457, "training_step_time": 26.331353425979614 }, { "epoch": 1.3904571533203126e-07, "model_forward_time": 7.390837907791138, "step": 1458 }, { "epoch": 1.3904571533203126e-07, "step": 1458, "training_step_time": 25.17241621017456 }, { "epoch": 1.3914108276367188e-07, "model_forward_time": 7.253120422363281, "step": 1459 }, { "epoch": 1.3914108276367188e-07, "step": 1459, "training_step_time": 27.030953884124756 }, { "epoch": 1.392364501953125e-07, "grad_norm": 3.4187474250793457, "learning_rate": 4.168571428571429e-06, "loss": 0.1707, "step": 1460 }, { "epoch": 1.392364501953125e-07, "model_forward_time": 8.548285722732544, "step": 1460 }, { "dynamics_loss_avg": 0.052476642094552516, "epoch": 1.392364501953125e-07, "step": 1460 }, { "action_loss_avg": 0.12755474441219122, "epoch": 1.392364501953125e-07, "step": 1460 }, { "arm_loss_avg": 0.18182683715131134, "epoch": 1.392364501953125e-07, "step": 1460 }, { "ee_loss_avg": 0.2696363116614521, "epoch": 1.392364501953125e-07, "step": 1460 }, { "aux_loss_avg": 0.003890630166279152, "epoch": 1.392364501953125e-07, "step": 1460 }, { "epoch": 1.392364501953125e-07, "step": 1460, "training_step_time": 26.469136238098145 }, { "epoch": 1.3933181762695313e-07, "model_forward_time": 8.085015058517456, "step": 1461 }, { "epoch": 1.3933181762695313e-07, "step": 1461, "training_step_time": 25.975871801376343 }, { "epoch": 1.3942718505859375e-07, "model_forward_time": 7.238870859146118, "step": 1462 }, { "epoch": 1.3942718505859375e-07, "step": 1462, "training_step_time": 25.93948793411255 }, { "epoch": 1.395225524902344e-07, "model_forward_time": 8.202435970306396, "step": 1463 }, { "epoch": 1.395225524902344e-07, "step": 1463, "training_step_time": 27.133453607559204 }, { "epoch": 1.39617919921875e-07, "model_forward_time": 8.132561922073364, "step": 1464 }, { "epoch": 1.39617919921875e-07, "step": 1464, "training_step_time": 26.60660147666931 }, { "epoch": 1.3971328735351562e-07, "model_forward_time": 8.01002049446106, "step": 1465 }, { "epoch": 1.3971328735351562e-07, "step": 1465, "training_step_time": 26.734084129333496 }, { "epoch": 1.3980865478515626e-07, "model_forward_time": 6.628960609436035, "step": 1466 }, { "epoch": 1.3980865478515626e-07, "step": 1466, "training_step_time": 25.194536685943604 }, { "epoch": 1.3990402221679687e-07, "model_forward_time": 7.899988174438477, "step": 1467 }, { "epoch": 1.3990402221679687e-07, "step": 1467, "training_step_time": 27.40472412109375 }, { "epoch": 1.399993896484375e-07, "model_forward_time": 7.788301229476929, "step": 1468 }, { "epoch": 1.399993896484375e-07, "step": 1468, "training_step_time": 25.776917695999146 }, { "epoch": 1.4009475708007813e-07, "model_forward_time": 7.599187135696411, "step": 1469 }, { "epoch": 1.4009475708007813e-07, "step": 1469, "training_step_time": 26.24964165687561 }, { "epoch": 1.4019012451171874e-07, "grad_norm": 3.8163881301879883, "learning_rate": 4.197142857142857e-06, "loss": 0.1949, "step": 1470 }, { "epoch": 1.4019012451171874e-07, "model_forward_time": 8.100484132766724, "step": 1470 }, { "dynamics_loss_avg": 0.03994629224762321, "epoch": 1.4019012451171874e-07, "step": 1470 }, { "action_loss_avg": 0.11413822113536298, "epoch": 1.4019012451171874e-07, "step": 1470 }, { "arm_loss_avg": 0.14978883909061552, "epoch": 1.4019012451171874e-07, "step": 1470 }, { "ee_loss_avg": 0.20442810924723745, "epoch": 1.4019012451171874e-07, "step": 1470 }, { "aux_loss_avg": 0.001627930154791102, "epoch": 1.4019012451171874e-07, "step": 1470 }, { "epoch": 1.4019012451171874e-07, "step": 1470, "training_step_time": 26.278733730316162 }, { "epoch": 1.4028549194335938e-07, "model_forward_time": 6.621786594390869, "step": 1471 }, { "epoch": 1.4028549194335938e-07, "step": 1471, "training_step_time": 26.382486581802368 }, { "epoch": 1.40380859375e-07, "model_forward_time": 7.422443151473999, "step": 1472 }, { "epoch": 1.40380859375e-07, "step": 1472, "training_step_time": 26.079386234283447 }, { "epoch": 1.404762268066406e-07, "model_forward_time": 6.186563491821289, "step": 1473 }, { "epoch": 1.404762268066406e-07, "step": 1473, "training_step_time": 26.48669672012329 }, { "epoch": 1.4057159423828125e-07, "model_forward_time": 6.255008935928345, "step": 1474 }, { "epoch": 1.4057159423828125e-07, "step": 1474, "training_step_time": 25.200905799865723 }, { "epoch": 1.4066696166992187e-07, "model_forward_time": 7.066648244857788, "step": 1475 }, { "epoch": 1.4066696166992187e-07, "step": 1475, "training_step_time": 26.081178903579712 }, { "epoch": 1.407623291015625e-07, "model_forward_time": 6.7589497566223145, "step": 1476 }, { "epoch": 1.407623291015625e-07, "step": 1476, "training_step_time": 24.54380965232849 }, { "epoch": 1.4085769653320312e-07, "model_forward_time": 6.65469217300415, "step": 1477 }, { "epoch": 1.4085769653320312e-07, "step": 1477, "training_step_time": 25.570640087127686 }, { "epoch": 1.4095306396484374e-07, "model_forward_time": 8.186492204666138, "step": 1478 }, { "epoch": 1.4095306396484374e-07, "step": 1478, "training_step_time": 26.398236751556396 }, { "epoch": 1.4104843139648438e-07, "model_forward_time": 7.981616973876953, "step": 1479 }, { "epoch": 1.4104843139648438e-07, "step": 1479, "training_step_time": 24.680885314941406 }, { "epoch": 1.41143798828125e-07, "grad_norm": 3.8384146690368652, "learning_rate": 4.225714285714286e-06, "loss": 0.2049, "step": 1480 }, { "epoch": 1.41143798828125e-07, "model_forward_time": 7.68954873085022, "step": 1480 }, { "dynamics_loss_avg": 0.042756817676126956, "epoch": 1.41143798828125e-07, "step": 1480 }, { "action_loss_avg": 0.1087806761264801, "epoch": 1.41143798828125e-07, "step": 1480 }, { "arm_loss_avg": 0.13169922046363353, "epoch": 1.41143798828125e-07, "step": 1480 }, { "ee_loss_avg": 0.1948284246493131, "epoch": 1.41143798828125e-07, "step": 1480 }, { "aux_loss_avg": 0.0024756997358053924, "epoch": 1.41143798828125e-07, "step": 1480 }, { "epoch": 1.41143798828125e-07, "step": 1480, "training_step_time": 26.11661696434021 }, { "epoch": 1.4123916625976563e-07, "model_forward_time": 6.746546983718872, "step": 1481 }, { "epoch": 1.4123916625976563e-07, "step": 1481, "training_step_time": 26.75738501548767 }, { "epoch": 1.4133453369140625e-07, "model_forward_time": 7.375310897827148, "step": 1482 }, { "epoch": 1.4133453369140625e-07, "step": 1482, "training_step_time": 25.174519777297974 }, { "epoch": 1.4142990112304686e-07, "model_forward_time": 7.416552543640137, "step": 1483 }, { "epoch": 1.4142990112304686e-07, "step": 1483, "training_step_time": 25.893558979034424 }, { "epoch": 1.415252685546875e-07, "model_forward_time": 7.91326117515564, "step": 1484 }, { "epoch": 1.415252685546875e-07, "step": 1484, "training_step_time": 26.1713125705719 }, { "epoch": 1.4162063598632812e-07, "model_forward_time": 7.022816181182861, "step": 1485 }, { "epoch": 1.4162063598632812e-07, "step": 1485, "training_step_time": 25.450952529907227 }, { "epoch": 1.4171600341796876e-07, "model_forward_time": 6.661108493804932, "step": 1486 }, { "epoch": 1.4171600341796876e-07, "step": 1486, "training_step_time": 26.03787064552307 }, { "epoch": 1.4181137084960937e-07, "model_forward_time": 6.6314475536346436, "step": 1487 }, { "epoch": 1.4181137084960937e-07, "step": 1487, "training_step_time": 26.068153858184814 }, { "epoch": 1.4190673828125e-07, "model_forward_time": 7.087973117828369, "step": 1488 }, { "epoch": 1.4190673828125e-07, "step": 1488, "training_step_time": 26.220415830612183 }, { "epoch": 1.4200210571289063e-07, "model_forward_time": 7.665052652359009, "step": 1489 }, { "epoch": 1.4200210571289063e-07, "step": 1489, "training_step_time": 25.650806427001953 }, { "epoch": 1.4209747314453124e-07, "grad_norm": 2.770946502685547, "learning_rate": 4.254285714285715e-06, "loss": 0.2142, "step": 1490 }, { "epoch": 1.4209747314453124e-07, "model_forward_time": 6.9380950927734375, "step": 1490 }, { "dynamics_loss_avg": 0.041959135141223666, "epoch": 1.4209747314453124e-07, "step": 1490 }, { "action_loss_avg": 0.1340398133965209, "epoch": 1.4209747314453124e-07, "step": 1490 }, { "arm_loss_avg": 0.13431533154798672, "epoch": 1.4209747314453124e-07, "step": 1490 }, { "ee_loss_avg": 0.22308961665257812, "epoch": 1.4209747314453124e-07, "step": 1490 }, { "aux_loss_avg": 0.0011804404406575487, "epoch": 1.4209747314453124e-07, "step": 1490 }, { "epoch": 1.4209747314453124e-07, "step": 1490, "training_step_time": 25.185392141342163 }, { "epoch": 1.4219284057617188e-07, "model_forward_time": 7.783642292022705, "step": 1491 }, { "epoch": 1.4219284057617188e-07, "step": 1491, "training_step_time": 26.408034086227417 }, { "epoch": 1.422882080078125e-07, "model_forward_time": 5.946453094482422, "step": 1492 }, { "epoch": 1.422882080078125e-07, "step": 1492, "training_step_time": 26.45939064025879 }, { "epoch": 1.4238357543945311e-07, "model_forward_time": 7.474261283874512, "step": 1493 }, { "epoch": 1.4238357543945311e-07, "step": 1493, "training_step_time": 26.589561462402344 }, { "epoch": 1.4247894287109375e-07, "model_forward_time": 7.7013139724731445, "step": 1494 }, { "epoch": 1.4247894287109375e-07, "step": 1494, "training_step_time": 26.379331350326538 }, { "epoch": 1.4257431030273437e-07, "model_forward_time": 7.130037069320679, "step": 1495 }, { "epoch": 1.4257431030273437e-07, "step": 1495, "training_step_time": 25.655762195587158 }, { "epoch": 1.42669677734375e-07, "model_forward_time": 7.202373504638672, "step": 1496 }, { "epoch": 1.42669677734375e-07, "step": 1496, "training_step_time": 25.74929404258728 }, { "epoch": 1.4276504516601562e-07, "model_forward_time": 6.285533428192139, "step": 1497 }, { "epoch": 1.4276504516601562e-07, "step": 1497, "training_step_time": 24.733551502227783 }, { "epoch": 1.4286041259765624e-07, "model_forward_time": 5.391449928283691, "step": 1498 }, { "epoch": 1.4286041259765624e-07, "step": 1498, "training_step_time": 27.015321731567383 }, { "epoch": 1.4295578002929688e-07, "model_forward_time": 5.775667190551758, "step": 1499 }, { "epoch": 1.4295578002929688e-07, "step": 1499, "training_step_time": 26.96686029434204 }, { "epoch": 1.430511474609375e-07, "grad_norm": 3.2002856731414795, "learning_rate": 4.282857142857143e-06, "loss": 0.1945, "step": 1500 }, { "epoch": 1.430511474609375e-07, "model_forward_time": 7.484924554824829, "step": 1500 }, { "dynamics_loss_avg": 0.03084818013012409, "epoch": 1.430511474609375e-07, "step": 1500 }, { "action_loss_avg": 0.09749938374152407, "epoch": 1.430511474609375e-07, "step": 1500 }, { "arm_loss_avg": 0.1573519551078789, "epoch": 1.430511474609375e-07, "step": 1500 }, { "ee_loss_avg": 0.2854392409324646, "epoch": 1.430511474609375e-07, "step": 1500 }, { "aux_loss_avg": 0.0033126182126579804, "epoch": 1.430511474609375e-07, "step": 1500 }, { "epoch": 1.430511474609375e-07, "step": 1500, "training_step_time": 25.976078510284424 }, { "epoch": 1.4314651489257814e-07, "model_forward_time": 8.490947008132935, "step": 1501 }, { "epoch": 1.4314651489257814e-07, "step": 1501, "training_step_time": 26.81548237800598 }, { "epoch": 1.4324188232421875e-07, "model_forward_time": 7.133926630020142, "step": 1502 }, { "epoch": 1.4324188232421875e-07, "step": 1502, "training_step_time": 25.376078844070435 }, { "epoch": 1.4333724975585936e-07, "model_forward_time": 6.7880449295043945, "step": 1503 }, { "epoch": 1.4333724975585936e-07, "step": 1503, "training_step_time": 26.517021417617798 }, { "epoch": 1.434326171875e-07, "model_forward_time": 5.863347291946411, "step": 1504 }, { "epoch": 1.434326171875e-07, "step": 1504, "training_step_time": 26.881991863250732 }, { "epoch": 1.4352798461914062e-07, "model_forward_time": 6.14276123046875, "step": 1505 }, { "epoch": 1.4352798461914062e-07, "step": 1505, "training_step_time": 25.52146863937378 }, { "epoch": 1.4362335205078126e-07, "model_forward_time": 8.182540893554688, "step": 1506 }, { "epoch": 1.4362335205078126e-07, "step": 1506, "training_step_time": 27.103768587112427 }, { "epoch": 1.4371871948242188e-07, "model_forward_time": 8.139107465744019, "step": 1507 }, { "epoch": 1.4371871948242188e-07, "step": 1507, "training_step_time": 26.182027578353882 }, { "epoch": 1.438140869140625e-07, "model_forward_time": 7.969668626785278, "step": 1508 }, { "epoch": 1.438140869140625e-07, "step": 1508, "training_step_time": 25.71653151512146 }, { "epoch": 1.4390945434570313e-07, "model_forward_time": 8.381146430969238, "step": 1509 }, { "epoch": 1.4390945434570313e-07, "step": 1509, "training_step_time": 26.927567720413208 }, { "epoch": 1.4400482177734375e-07, "grad_norm": 2.0159692764282227, "learning_rate": 4.311428571428572e-06, "loss": 0.1853, "step": 1510 }, { "epoch": 1.4400482177734375e-07, "model_forward_time": 8.267617464065552, "step": 1510 }, { "dynamics_loss_avg": 0.035864489572122696, "epoch": 1.4400482177734375e-07, "step": 1510 }, { "action_loss_avg": 0.09551196426618844, "epoch": 1.4400482177734375e-07, "step": 1510 }, { "arm_loss_avg": 0.18330263438401745, "epoch": 1.4400482177734375e-07, "step": 1510 }, { "ee_loss_avg": 0.2949982170015574, "epoch": 1.4400482177734375e-07, "step": 1510 }, { "aux_loss_avg": 0.01273992242931854, "epoch": 1.4400482177734375e-07, "step": 1510 }, { "epoch": 1.4400482177734375e-07, "step": 1510, "training_step_time": 25.785718202590942 }, { "epoch": 1.4410018920898439e-07, "model_forward_time": 7.164195775985718, "step": 1511 }, { "epoch": 1.4410018920898439e-07, "step": 1511, "training_step_time": 26.8038592338562 }, { "epoch": 1.44195556640625e-07, "model_forward_time": 6.607390403747559, "step": 1512 }, { "epoch": 1.44195556640625e-07, "step": 1512, "training_step_time": 25.29928994178772 }, { "epoch": 1.4429092407226562e-07, "model_forward_time": 8.395392656326294, "step": 1513 }, { "epoch": 1.4429092407226562e-07, "step": 1513, "training_step_time": 27.28674840927124 }, { "epoch": 1.4438629150390626e-07, "model_forward_time": 6.1716015338897705, "step": 1514 }, { "epoch": 1.4438629150390626e-07, "step": 1514, "training_step_time": 25.59742784500122 }, { "epoch": 1.4448165893554687e-07, "model_forward_time": 8.167984247207642, "step": 1515 }, { "epoch": 1.4448165893554687e-07, "step": 1515, "training_step_time": 26.07007384300232 }, { "epoch": 1.445770263671875e-07, "model_forward_time": 7.735159635543823, "step": 1516 }, { "epoch": 1.445770263671875e-07, "step": 1516, "training_step_time": 26.577295541763306 }, { "epoch": 1.4467239379882813e-07, "model_forward_time": 7.426360130310059, "step": 1517 }, { "epoch": 1.4467239379882813e-07, "step": 1517, "training_step_time": 26.101853370666504 }, { "epoch": 1.4476776123046874e-07, "model_forward_time": 6.650893926620483, "step": 1518 }, { "epoch": 1.4476776123046874e-07, "step": 1518, "training_step_time": 25.86249542236328 }, { "epoch": 1.4486312866210938e-07, "model_forward_time": 7.608325242996216, "step": 1519 }, { "epoch": 1.4486312866210938e-07, "step": 1519, "training_step_time": 26.753568410873413 }, { "epoch": 1.4495849609375e-07, "grad_norm": 3.2277462482452393, "learning_rate": 4.34e-06, "loss": 0.1668, "step": 1520 }, { "epoch": 1.4495849609375e-07, "model_forward_time": 7.285036563873291, "step": 1520 }, { "dynamics_loss_avg": 0.03679970521479845, "epoch": 1.4495849609375e-07, "step": 1520 }, { "action_loss_avg": 0.07876157944556325, "epoch": 1.4495849609375e-07, "step": 1520 }, { "arm_loss_avg": 0.15381802598712965, "epoch": 1.4495849609375e-07, "step": 1520 }, { "ee_loss_avg": 0.21018983982503414, "epoch": 1.4495849609375e-07, "step": 1520 }, { "aux_loss_avg": 0.0059733836504165085, "epoch": 1.4495849609375e-07, "step": 1520 }, { "epoch": 1.4495849609375e-07, "step": 1520, "training_step_time": 26.045135736465454 }, { "epoch": 1.4505386352539064e-07, "model_forward_time": 7.090771436691284, "step": 1521 }, { "epoch": 1.4505386352539064e-07, "step": 1521, "training_step_time": 25.32428789138794 }, { "epoch": 1.4514923095703125e-07, "model_forward_time": 6.669912099838257, "step": 1522 }, { "epoch": 1.4514923095703125e-07, "step": 1522, "training_step_time": 27.604124784469604 }, { "epoch": 1.4524459838867187e-07, "model_forward_time": 8.319916486740112, "step": 1523 }, { "epoch": 1.4524459838867187e-07, "step": 1523, "training_step_time": 26.756139755249023 }, { "epoch": 1.453399658203125e-07, "model_forward_time": 7.6009132862091064, "step": 1524 }, { "epoch": 1.453399658203125e-07, "step": 1524, "training_step_time": 26.06959891319275 }, { "epoch": 1.4543533325195312e-07, "model_forward_time": 8.023006200790405, "step": 1525 }, { "epoch": 1.4543533325195312e-07, "step": 1525, "training_step_time": 26.89721918106079 }, { "epoch": 1.4553070068359376e-07, "model_forward_time": 8.053099155426025, "step": 1526 }, { "epoch": 1.4553070068359376e-07, "step": 1526, "training_step_time": 26.342686414718628 }, { "epoch": 1.4562606811523438e-07, "model_forward_time": 8.166397333145142, "step": 1527 }, { "epoch": 1.4562606811523438e-07, "step": 1527, "training_step_time": 25.844597578048706 }, { "epoch": 1.45721435546875e-07, "model_forward_time": 7.059299945831299, "step": 1528 }, { "epoch": 1.45721435546875e-07, "step": 1528, "training_step_time": 26.00936770439148 }, { "epoch": 1.4581680297851563e-07, "model_forward_time": 8.31476640701294, "step": 1529 }, { "epoch": 1.4581680297851563e-07, "step": 1529, "training_step_time": 27.103476762771606 }, { "epoch": 1.4591217041015625e-07, "grad_norm": 2.54414701461792, "learning_rate": 4.368571428571429e-06, "loss": 0.1766, "step": 1530 }, { "epoch": 1.4591217041015625e-07, "model_forward_time": 6.663110971450806, "step": 1530 }, { "dynamics_loss_avg": 0.04223353178240359, "epoch": 1.4591217041015625e-07, "step": 1530 }, { "action_loss_avg": 0.1106443997239694, "epoch": 1.4591217041015625e-07, "step": 1530 }, { "arm_loss_avg": 0.13786495344247668, "epoch": 1.4591217041015625e-07, "step": 1530 }, { "ee_loss_avg": 0.22706193514168263, "epoch": 1.4591217041015625e-07, "step": 1530 }, { "aux_loss_avg": 0.002821968248463236, "epoch": 1.4591217041015625e-07, "step": 1530 }, { "epoch": 1.4591217041015625e-07, "step": 1530, "training_step_time": 25.281426191329956 }, { "epoch": 1.460075378417969e-07, "model_forward_time": 6.713646411895752, "step": 1531 }, { "epoch": 1.460075378417969e-07, "step": 1531, "training_step_time": 26.536502361297607 }, { "epoch": 1.461029052734375e-07, "model_forward_time": 6.154931306838989, "step": 1532 }, { "epoch": 1.461029052734375e-07, "step": 1532, "training_step_time": 26.693188190460205 }, { "epoch": 1.4619827270507812e-07, "model_forward_time": 6.60675835609436, "step": 1533 }, { "epoch": 1.4619827270507812e-07, "step": 1533, "training_step_time": 26.06110692024231 }, { "epoch": 1.4629364013671876e-07, "model_forward_time": 6.9022393226623535, "step": 1534 }, { "epoch": 1.4629364013671876e-07, "step": 1534, "training_step_time": 26.400676012039185 }, { "epoch": 1.4638900756835937e-07, "model_forward_time": 6.0002453327178955, "step": 1535 }, { "epoch": 1.4638900756835937e-07, "step": 1535, "training_step_time": 26.98181176185608 }, { "epoch": 1.46484375e-07, "model_forward_time": 7.3599653244018555, "step": 1536 }, { "epoch": 1.46484375e-07, "step": 1536, "training_step_time": 26.430662631988525 }, { "epoch": 1.4657974243164063e-07, "model_forward_time": 8.331405639648438, "step": 1537 }, { "epoch": 1.4657974243164063e-07, "step": 1537, "training_step_time": 26.135119438171387 }, { "epoch": 1.4667510986328124e-07, "model_forward_time": 6.1628806591033936, "step": 1538 }, { "epoch": 1.4667510986328124e-07, "step": 1538, "training_step_time": 26.320106267929077 }, { "epoch": 1.4677047729492188e-07, "model_forward_time": 8.348432064056396, "step": 1539 }, { "epoch": 1.4677047729492188e-07, "step": 1539, "training_step_time": 25.63037085533142 }, { "epoch": 1.468658447265625e-07, "grad_norm": 2.623711585998535, "learning_rate": 4.397142857142858e-06, "loss": 0.2079, "step": 1540 }, { "epoch": 1.468658447265625e-07, "model_forward_time": 7.736034631729126, "step": 1540 }, { "dynamics_loss_avg": 0.04510201783850789, "epoch": 1.468658447265625e-07, "step": 1540 }, { "action_loss_avg": 0.12018651780672371, "epoch": 1.468658447265625e-07, "step": 1540 }, { "arm_loss_avg": 0.1851183494902216, "epoch": 1.468658447265625e-07, "step": 1540 }, { "ee_loss_avg": 0.17929377555847167, "epoch": 1.468658447265625e-07, "step": 1540 }, { "aux_loss_avg": 0.015278385867713951, "epoch": 1.468658447265625e-07, "step": 1540 }, { "epoch": 1.468658447265625e-07, "step": 1540, "training_step_time": 26.37964630126953 }, { "epoch": 1.469612121582031e-07, "model_forward_time": 7.41154670715332, "step": 1541 }, { "epoch": 1.469612121582031e-07, "step": 1541, "training_step_time": 25.47334051132202 }, { "epoch": 1.4705657958984375e-07, "model_forward_time": 6.632498025894165, "step": 1542 }, { "epoch": 1.4705657958984375e-07, "step": 1542, "training_step_time": 27.238582134246826 }, { "epoch": 1.4715194702148437e-07, "model_forward_time": 6.88862419128418, "step": 1543 }, { "epoch": 1.4715194702148437e-07, "step": 1543, "training_step_time": 25.52120089530945 }, { "epoch": 1.47247314453125e-07, "model_forward_time": 7.397730588912964, "step": 1544 }, { "epoch": 1.47247314453125e-07, "step": 1544, "training_step_time": 26.836092233657837 }, { "epoch": 1.4734268188476562e-07, "model_forward_time": 8.086424827575684, "step": 1545 }, { "epoch": 1.4734268188476562e-07, "step": 1545, "training_step_time": 27.467185258865356 }, { "epoch": 1.4743804931640624e-07, "model_forward_time": 7.3388166427612305, "step": 1546 }, { "epoch": 1.4743804931640624e-07, "step": 1546, "training_step_time": 26.1977801322937 }, { "epoch": 1.4753341674804688e-07, "model_forward_time": 7.419797420501709, "step": 1547 }, { "epoch": 1.4753341674804688e-07, "step": 1547, "training_step_time": 25.252789735794067 }, { "epoch": 1.476287841796875e-07, "model_forward_time": 6.619261741638184, "step": 1548 }, { "epoch": 1.476287841796875e-07, "step": 1548, "training_step_time": 24.623252630233765 }, { "epoch": 1.4772415161132813e-07, "model_forward_time": 7.9971771240234375, "step": 1549 }, { "epoch": 1.4772415161132813e-07, "step": 1549, "training_step_time": 25.649383544921875 }, { "epoch": 1.4781951904296875e-07, "grad_norm": 2.8734586238861084, "learning_rate": 4.425714285714286e-06, "loss": 0.1555, "step": 1550 }, { "epoch": 1.4781951904296875e-07, "model_forward_time": 8.186898946762085, "step": 1550 }, { "dynamics_loss_avg": 0.024794117989949883, "epoch": 1.4781951904296875e-07, "step": 1550 }, { "action_loss_avg": 0.0743186566978693, "epoch": 1.4781951904296875e-07, "step": 1550 }, { "arm_loss_avg": 0.14279336399631576, "epoch": 1.4781951904296875e-07, "step": 1550 }, { "ee_loss_avg": 0.2349719509948045, "epoch": 1.4781951904296875e-07, "step": 1550 }, { "aux_loss_avg": 0.0012305602635024116, "epoch": 1.4781951904296875e-07, "step": 1550 }, { "epoch": 1.4781951904296875e-07, "step": 1550, "training_step_time": 26.193235397338867 }, { "epoch": 1.4791488647460936e-07, "model_forward_time": 7.416998624801636, "step": 1551 }, { "epoch": 1.4791488647460936e-07, "step": 1551, "training_step_time": 25.828376054763794 }, { "epoch": 1.4801025390625e-07, "model_forward_time": 6.6630449295043945, "step": 1552 }, { "epoch": 1.4801025390625e-07, "step": 1552, "training_step_time": 26.750304222106934 }, { "epoch": 1.4810562133789062e-07, "model_forward_time": 8.229093074798584, "step": 1553 }, { "epoch": 1.4810562133789062e-07, "step": 1553, "training_step_time": 26.078927040100098 }, { "epoch": 1.4820098876953126e-07, "model_forward_time": 6.603231906890869, "step": 1554 }, { "epoch": 1.4820098876953126e-07, "step": 1554, "training_step_time": 25.87138795852661 }, { "epoch": 1.4829635620117187e-07, "model_forward_time": 7.4160778522491455, "step": 1555 }, { "epoch": 1.4829635620117187e-07, "step": 1555, "training_step_time": 27.00358271598816 }, { "epoch": 1.483917236328125e-07, "model_forward_time": 7.977984666824341, "step": 1556 }, { "epoch": 1.483917236328125e-07, "step": 1556, "training_step_time": 26.623831033706665 }, { "epoch": 1.4848709106445313e-07, "model_forward_time": 7.433608293533325, "step": 1557 }, { "epoch": 1.4848709106445313e-07, "step": 1557, "training_step_time": 26.655900716781616 }, { "epoch": 1.4858245849609374e-07, "model_forward_time": 7.44452166557312, "step": 1558 }, { "epoch": 1.4858245849609374e-07, "step": 1558, "training_step_time": 25.5960431098938 }, { "epoch": 1.4867782592773439e-07, "model_forward_time": 7.409191608428955, "step": 1559 }, { "epoch": 1.4867782592773439e-07, "step": 1559, "training_step_time": 26.68870759010315 }, { "epoch": 1.48773193359375e-07, "grad_norm": 4.04795503616333, "learning_rate": 4.454285714285715e-06, "loss": 0.2206, "step": 1560 }, { "epoch": 1.48773193359375e-07, "model_forward_time": 6.920741319656372, "step": 1560 }, { "dynamics_loss_avg": 0.04654733859933913, "epoch": 1.48773193359375e-07, "step": 1560 }, { "action_loss_avg": 0.13820125879719852, "epoch": 1.48773193359375e-07, "step": 1560 }, { "arm_loss_avg": 0.13027898813597857, "epoch": 1.48773193359375e-07, "step": 1560 }, { "ee_loss_avg": 0.36850304417312146, "epoch": 1.48773193359375e-07, "step": 1560 }, { "aux_loss_avg": 0.003570789020159282, "epoch": 1.48773193359375e-07, "step": 1560 }, { "epoch": 1.48773193359375e-07, "step": 1560, "training_step_time": 25.68159532546997 }, { "epoch": 1.4886856079101561e-07, "model_forward_time": 7.464766025543213, "step": 1561 }, { "epoch": 1.4886856079101561e-07, "step": 1561, "training_step_time": 25.300768613815308 }, { "epoch": 1.4896392822265626e-07, "model_forward_time": 7.479108572006226, "step": 1562 }, { "epoch": 1.4896392822265626e-07, "step": 1562, "training_step_time": 25.71417808532715 }, { "epoch": 1.4905929565429687e-07, "model_forward_time": 7.694044828414917, "step": 1563 }, { "epoch": 1.4905929565429687e-07, "step": 1563, "training_step_time": 25.962002754211426 }, { "epoch": 1.491546630859375e-07, "model_forward_time": 8.080138921737671, "step": 1564 }, { "epoch": 1.491546630859375e-07, "step": 1564, "training_step_time": 26.976576805114746 }, { "epoch": 1.4925003051757813e-07, "model_forward_time": 7.8505144119262695, "step": 1565 }, { "epoch": 1.4925003051757813e-07, "step": 1565, "training_step_time": 27.66222381591797 }, { "epoch": 1.4934539794921874e-07, "model_forward_time": 6.883602857589722, "step": 1566 }, { "epoch": 1.4934539794921874e-07, "step": 1566, "training_step_time": 25.172544479370117 }, { "epoch": 1.4944076538085938e-07, "model_forward_time": 5.95587158203125, "step": 1567 }, { "epoch": 1.4944076538085938e-07, "step": 1567, "training_step_time": 26.352176904678345 }, { "epoch": 1.495361328125e-07, "model_forward_time": 7.427151679992676, "step": 1568 }, { "epoch": 1.495361328125e-07, "step": 1568, "training_step_time": 26.88754963874817 }, { "epoch": 1.4963150024414064e-07, "model_forward_time": 8.245277643203735, "step": 1569 }, { "epoch": 1.4963150024414064e-07, "step": 1569, "training_step_time": 26.97243309020996 }, { "epoch": 1.4972686767578125e-07, "grad_norm": 2.8228745460510254, "learning_rate": 4.482857142857144e-06, "loss": 0.2052, "step": 1570 }, { "epoch": 1.4972686767578125e-07, "model_forward_time": 7.6659839153289795, "step": 1570 }, { "dynamics_loss_avg": 0.043777731340378524, "epoch": 1.4972686767578125e-07, "step": 1570 }, { "action_loss_avg": 0.09855204883497208, "epoch": 1.4972686767578125e-07, "step": 1570 }, { "arm_loss_avg": 0.1427689775475301, "epoch": 1.4972686767578125e-07, "step": 1570 }, { "ee_loss_avg": 0.20988098001107575, "epoch": 1.4972686767578125e-07, "step": 1570 }, { "aux_loss_avg": 0.0044103294785600156, "epoch": 1.4972686767578125e-07, "step": 1570 }, { "epoch": 1.4972686767578125e-07, "step": 1570, "training_step_time": 26.257802486419678 }, { "epoch": 1.4982223510742187e-07, "model_forward_time": 7.487172603607178, "step": 1571 }, { "epoch": 1.4982223510742187e-07, "step": 1571, "training_step_time": 25.683247089385986 }, { "epoch": 1.499176025390625e-07, "model_forward_time": 6.6892006397247314, "step": 1572 }, { "epoch": 1.499176025390625e-07, "step": 1572, "training_step_time": 26.743064880371094 }, { "epoch": 1.5001296997070312e-07, "model_forward_time": 6.582037687301636, "step": 1573 }, { "epoch": 1.5001296997070312e-07, "step": 1573, "training_step_time": 26.587181091308594 }, { "epoch": 1.5010833740234376e-07, "model_forward_time": 7.06253457069397, "step": 1574 }, { "epoch": 1.5010833740234376e-07, "step": 1574, "training_step_time": 26.22417402267456 }, { "epoch": 1.5020370483398438e-07, "model_forward_time": 7.759535074234009, "step": 1575 }, { "epoch": 1.5020370483398438e-07, "step": 1575, "training_step_time": 26.77567195892334 }, { "epoch": 1.50299072265625e-07, "model_forward_time": 8.161314964294434, "step": 1576 }, { "epoch": 1.50299072265625e-07, "step": 1576, "training_step_time": 27.458251476287842 }, { "epoch": 1.5039443969726563e-07, "model_forward_time": 7.400327682495117, "step": 1577 }, { "epoch": 1.5039443969726563e-07, "step": 1577, "training_step_time": 27.268940448760986 }, { "epoch": 1.5048980712890625e-07, "model_forward_time": 7.384981870651245, "step": 1578 }, { "epoch": 1.5048980712890625e-07, "step": 1578, "training_step_time": 26.316802740097046 }, { "epoch": 1.505851745605469e-07, "model_forward_time": 8.065786361694336, "step": 1579 }, { "epoch": 1.505851745605469e-07, "step": 1579, "training_step_time": 26.836690664291382 }, { "epoch": 1.506805419921875e-07, "grad_norm": 3.4243204593658447, "learning_rate": 4.511428571428572e-06, "loss": 0.1931, "step": 1580 }, { "epoch": 1.506805419921875e-07, "model_forward_time": 6.939043998718262, "step": 1580 }, { "dynamics_loss_avg": 0.03760806927457452, "epoch": 1.506805419921875e-07, "step": 1580 }, { "action_loss_avg": 0.08123698104172945, "epoch": 1.506805419921875e-07, "step": 1580 }, { "arm_loss_avg": 0.12803115954156966, "epoch": 1.506805419921875e-07, "step": 1580 }, { "ee_loss_avg": 0.20325802750885485, "epoch": 1.506805419921875e-07, "step": 1580 }, { "aux_loss_avg": 0.012349860172253101, "epoch": 1.506805419921875e-07, "step": 1580 }, { "epoch": 1.506805419921875e-07, "step": 1580, "training_step_time": 25.928590297698975 }, { "epoch": 1.5077590942382812e-07, "model_forward_time": 6.669112205505371, "step": 1581 }, { "epoch": 1.5077590942382812e-07, "step": 1581, "training_step_time": 26.947230577468872 }, { "epoch": 1.5087127685546876e-07, "model_forward_time": 7.59526801109314, "step": 1582 }, { "epoch": 1.5087127685546876e-07, "step": 1582, "training_step_time": 25.941136121749878 }, { "epoch": 1.5096664428710937e-07, "model_forward_time": 8.120792388916016, "step": 1583 }, { "epoch": 1.5096664428710937e-07, "step": 1583, "training_step_time": 26.823402166366577 }, { "epoch": 1.5106201171875e-07, "model_forward_time": 7.991710424423218, "step": 1584 }, { "epoch": 1.5106201171875e-07, "step": 1584, "training_step_time": 25.44304656982422 }, { "epoch": 1.5115737915039063e-07, "model_forward_time": 7.834136247634888, "step": 1585 }, { "epoch": 1.5115737915039063e-07, "step": 1585, "training_step_time": 25.85122847557068 }, { "epoch": 1.5125274658203124e-07, "model_forward_time": 6.634580850601196, "step": 1586 }, { "epoch": 1.5125274658203124e-07, "step": 1586, "training_step_time": 25.90328574180603 }, { "epoch": 1.5134811401367188e-07, "model_forward_time": 8.3924560546875, "step": 1587 }, { "epoch": 1.5134811401367188e-07, "step": 1587, "training_step_time": 26.18037462234497 }, { "epoch": 1.514434814453125e-07, "model_forward_time": 6.62416672706604, "step": 1588 }, { "epoch": 1.514434814453125e-07, "step": 1588, "training_step_time": 26.252469778060913 }, { "epoch": 1.5153884887695314e-07, "model_forward_time": 8.3901948928833, "step": 1589 }, { "epoch": 1.5153884887695314e-07, "step": 1589, "training_step_time": 27.63890027999878 }, { "epoch": 1.5163421630859375e-07, "grad_norm": 4.695716857910156, "learning_rate": 4.540000000000001e-06, "loss": 0.204, "step": 1590 }, { "epoch": 1.5163421630859375e-07, "model_forward_time": 7.9743123054504395, "step": 1590 }, { "dynamics_loss_avg": 0.03824953986331821, "epoch": 1.5163421630859375e-07, "step": 1590 }, { "action_loss_avg": 0.11114215310662985, "epoch": 1.5163421630859375e-07, "step": 1590 }, { "arm_loss_avg": 0.13878065533936024, "epoch": 1.5163421630859375e-07, "step": 1590 }, { "ee_loss_avg": 0.20022032801061868, "epoch": 1.5163421630859375e-07, "step": 1590 }, { "aux_loss_avg": 0.0028855139127699657, "epoch": 1.5163421630859375e-07, "step": 1590 }, { "epoch": 1.5163421630859375e-07, "step": 1590, "training_step_time": 26.31228733062744 }, { "epoch": 1.5172958374023437e-07, "model_forward_time": 7.369948863983154, "step": 1591 }, { "epoch": 1.5172958374023437e-07, "step": 1591, "training_step_time": 26.678043127059937 }, { "epoch": 1.51824951171875e-07, "model_forward_time": 6.740250825881958, "step": 1592 }, { "epoch": 1.51824951171875e-07, "step": 1592, "training_step_time": 25.296626567840576 }, { "epoch": 1.5192031860351562e-07, "model_forward_time": 8.596615552902222, "step": 1593 }, { "epoch": 1.5192031860351562e-07, "step": 1593, "training_step_time": 25.943787813186646 }, { "epoch": 1.5201568603515624e-07, "model_forward_time": 7.778432846069336, "step": 1594 }, { "epoch": 1.5201568603515624e-07, "step": 1594, "training_step_time": 25.9766526222229 }, { "epoch": 1.5211105346679688e-07, "model_forward_time": 7.4369213581085205, "step": 1595 }, { "epoch": 1.5211105346679688e-07, "step": 1595, "training_step_time": 25.99336862564087 }, { "epoch": 1.522064208984375e-07, "model_forward_time": 7.458714723587036, "step": 1596 }, { "epoch": 1.522064208984375e-07, "step": 1596, "training_step_time": 26.67054295539856 }, { "epoch": 1.5230178833007813e-07, "model_forward_time": 6.646555185317993, "step": 1597 }, { "epoch": 1.5230178833007813e-07, "step": 1597, "training_step_time": 25.343444347381592 }, { "epoch": 1.5239715576171875e-07, "model_forward_time": 7.8735151290893555, "step": 1598 }, { "epoch": 1.5239715576171875e-07, "step": 1598, "training_step_time": 26.531394958496094 }, { "epoch": 1.5249252319335936e-07, "model_forward_time": 7.475648403167725, "step": 1599 }, { "epoch": 1.5249252319335936e-07, "step": 1599, "training_step_time": 26.887155294418335 }, { "epoch": 1.52587890625e-07, "grad_norm": 1.9620466232299805, "learning_rate": 4.568571428571429e-06, "loss": 0.1915, "step": 1600 }, { "epoch": 1.52587890625e-07, "model_forward_time": 7.570869445800781, "step": 1600 }, { "dynamics_loss_avg": 0.04436529851518571, "epoch": 1.52587890625e-07, "step": 1600 }, { "action_loss_avg": 0.12263950342312455, "epoch": 1.52587890625e-07, "step": 1600 }, { "arm_loss_avg": 0.18389420558232814, "epoch": 1.52587890625e-07, "step": 1600 }, { "ee_loss_avg": 0.22235796153545379, "epoch": 1.52587890625e-07, "step": 1600 }, { "aux_loss_avg": 0.012838114361511544, "epoch": 1.52587890625e-07, "step": 1600 }, { "epoch": 1.52587890625e-07, "step": 1600, "training_step_time": 26.070895433425903 }, { "epoch": 1.5268325805664062e-07, "model_forward_time": 7.381854057312012, "step": 1601 }, { "epoch": 1.5268325805664062e-07, "step": 1601, "training_step_time": 25.4128999710083 }, { "epoch": 1.5277862548828126e-07, "model_forward_time": 8.054202556610107, "step": 1602 }, { "epoch": 1.5277862548828126e-07, "step": 1602, "training_step_time": 25.689021348953247 }, { "epoch": 1.5287399291992187e-07, "model_forward_time": 7.428887844085693, "step": 1603 }, { "epoch": 1.5287399291992187e-07, "step": 1603, "training_step_time": 25.097662925720215 }, { "epoch": 1.529693603515625e-07, "model_forward_time": 7.877306222915649, "step": 1604 }, { "epoch": 1.529693603515625e-07, "step": 1604, "training_step_time": 26.69743013381958 }, { "epoch": 1.5306472778320313e-07, "model_forward_time": 8.096475839614868, "step": 1605 }, { "epoch": 1.5306472778320313e-07, "step": 1605, "training_step_time": 26.685816287994385 }, { "epoch": 1.5316009521484374e-07, "model_forward_time": 8.161996603012085, "step": 1606 }, { "epoch": 1.5316009521484374e-07, "step": 1606, "training_step_time": 27.009766101837158 }, { "epoch": 1.5325546264648438e-07, "model_forward_time": 7.395075559616089, "step": 1607 }, { "epoch": 1.5325546264648438e-07, "step": 1607, "training_step_time": 26.014108896255493 }, { "epoch": 1.53350830078125e-07, "model_forward_time": 7.366081237792969, "step": 1608 }, { "epoch": 1.53350830078125e-07, "step": 1608, "training_step_time": 25.575687646865845 }, { "epoch": 1.534461975097656e-07, "model_forward_time": 8.184537410736084, "step": 1609 }, { "epoch": 1.534461975097656e-07, "step": 1609, "training_step_time": 25.11395525932312 }, { "epoch": 1.5354156494140625e-07, "grad_norm": 2.9502315521240234, "learning_rate": 4.5971428571428575e-06, "loss": 0.17, "step": 1610 }, { "epoch": 1.5354156494140625e-07, "model_forward_time": 8.519655227661133, "step": 1610 }, { "dynamics_loss_avg": 0.03672417243942618, "epoch": 1.5354156494140625e-07, "step": 1610 }, { "action_loss_avg": 0.10917006575036795, "epoch": 1.5354156494140625e-07, "step": 1610 }, { "arm_loss_avg": 0.15543379494920373, "epoch": 1.5354156494140625e-07, "step": 1610 }, { "ee_loss_avg": 0.1562117287889123, "epoch": 1.5354156494140625e-07, "step": 1610 }, { "aux_loss_avg": 0.0022840277932118626, "epoch": 1.5354156494140625e-07, "step": 1610 }, { "epoch": 1.5354156494140625e-07, "step": 1610, "training_step_time": 27.400399923324585 }, { "epoch": 1.5363693237304687e-07, "model_forward_time": 6.67877721786499, "step": 1611 }, { "epoch": 1.5363693237304687e-07, "step": 1611, "training_step_time": 23.662569284439087 }, { "epoch": 1.537322998046875e-07, "model_forward_time": 8.00280213356018, "step": 1612 }, { "epoch": 1.537322998046875e-07, "step": 1612, "training_step_time": 25.422505617141724 }, { "epoch": 1.5382766723632812e-07, "model_forward_time": 6.95813512802124, "step": 1613 }, { "epoch": 1.5382766723632812e-07, "step": 1613, "training_step_time": 25.971028327941895 }, { "epoch": 1.5392303466796874e-07, "model_forward_time": 8.272158861160278, "step": 1614 }, { "epoch": 1.5392303466796874e-07, "step": 1614, "training_step_time": 26.36545968055725 }, { "epoch": 1.5401840209960938e-07, "model_forward_time": 8.132606029510498, "step": 1615 }, { "epoch": 1.5401840209960938e-07, "step": 1615, "training_step_time": 24.513535022735596 }, { "epoch": 1.5411376953125e-07, "model_forward_time": 5.090418577194214, "step": 1616 }, { "epoch": 1.5411376953125e-07, "step": 1616, "training_step_time": 23.717423915863037 }, { "epoch": 1.5420913696289063e-07, "model_forward_time": 5.063780784606934, "step": 1617 }, { "epoch": 1.5420913696289063e-07, "step": 1617, "training_step_time": 24.478972911834717 }, { "epoch": 1.5430450439453125e-07, "model_forward_time": 5.058166742324829, "step": 1618 }, { "epoch": 1.5430450439453125e-07, "step": 1618, "training_step_time": 23.367737531661987 }, { "epoch": 1.5439987182617186e-07, "model_forward_time": 5.058230400085449, "step": 1619 }, { "epoch": 1.5439987182617186e-07, "step": 1619, "training_step_time": 26.19504952430725 }, { "epoch": 1.544952392578125e-07, "grad_norm": 1.8149141073226929, "learning_rate": 4.6257142857142864e-06, "loss": 0.175, "step": 1620 }, { "epoch": 1.544952392578125e-07, "model_forward_time": 5.054201126098633, "step": 1620 }, { "dynamics_loss_avg": 0.045136830490082505, "epoch": 1.544952392578125e-07, "step": 1620 }, { "action_loss_avg": 0.09818419285584241, "epoch": 1.544952392578125e-07, "step": 1620 }, { "arm_loss_avg": 0.11845411350950599, "epoch": 1.544952392578125e-07, "step": 1620 }, { "ee_loss_avg": 0.16882863733917475, "epoch": 1.544952392578125e-07, "step": 1620 }, { "aux_loss_avg": 0.0020445110014406962, "epoch": 1.544952392578125e-07, "step": 1620 }, { "epoch": 1.544952392578125e-07, "step": 1620, "training_step_time": 25.231974363327026 }, { "epoch": 1.5459060668945312e-07, "model_forward_time": 5.049097299575806, "step": 1621 }, { "epoch": 1.5459060668945312e-07, "step": 1621, "training_step_time": 24.402222871780396 }, { "epoch": 1.5468597412109376e-07, "model_forward_time": 5.050756454467773, "step": 1622 }, { "epoch": 1.5468597412109376e-07, "step": 1622, "training_step_time": 18.349083423614502 }, { "epoch": 1.5478134155273437e-07, "model_forward_time": 5.073761701583862, "step": 1623 }, { "epoch": 1.5478134155273437e-07, "step": 1623, "training_step_time": 26.17127823829651 }, { "epoch": 1.54876708984375e-07, "model_forward_time": 5.06308650970459, "step": 1624 }, { "epoch": 1.54876708984375e-07, "step": 1624, "training_step_time": 25.087701320648193 }, { "epoch": 1.5497207641601563e-07, "model_forward_time": 5.075113296508789, "step": 1625 }, { "epoch": 1.5497207641601563e-07, "step": 1625, "training_step_time": 23.67445397377014 }, { "epoch": 1.5506744384765624e-07, "model_forward_time": 5.058275461196899, "step": 1626 }, { "epoch": 1.5506744384765624e-07, "step": 1626, "training_step_time": 22.877688884735107 }, { "epoch": 1.5516281127929689e-07, "model_forward_time": 5.068204402923584, "step": 1627 }, { "epoch": 1.5516281127929689e-07, "step": 1627, "training_step_time": 25.091878175735474 }, { "epoch": 1.552581787109375e-07, "model_forward_time": 3.8344624042510986, "step": 1628 }, { "epoch": 1.552581787109375e-07, "step": 1628, "training_step_time": 25.290093660354614 }, { "epoch": 1.5535354614257811e-07, "model_forward_time": 5.045469284057617, "step": 1629 }, { "epoch": 1.5535354614257811e-07, "step": 1629, "training_step_time": 23.310385942459106 }, { "epoch": 1.5544891357421876e-07, "grad_norm": 3.465014934539795, "learning_rate": 4.6542857142857145e-06, "loss": 0.1885, "step": 1630 }, { "epoch": 1.5544891357421876e-07, "model_forward_time": 5.0520405769348145, "step": 1630 }, { "dynamics_loss_avg": 0.04187356727197766, "epoch": 1.5544891357421876e-07, "step": 1630 }, { "action_loss_avg": 0.11739944621222094, "epoch": 1.5544891357421876e-07, "step": 1630 }, { "arm_loss_avg": 0.18640495762228965, "epoch": 1.5544891357421876e-07, "step": 1630 }, { "ee_loss_avg": 0.2580639885738492, "epoch": 1.5544891357421876e-07, "step": 1630 }, { "aux_loss_avg": 0.01925321429152973, "epoch": 1.5544891357421876e-07, "step": 1630 }, { "epoch": 1.5544891357421876e-07, "step": 1630, "training_step_time": 25.40348196029663 }, { "epoch": 1.5554428100585937e-07, "model_forward_time": 5.059250116348267, "step": 1631 }, { "epoch": 1.5554428100585937e-07, "step": 1631, "training_step_time": 24.880975246429443 }, { "epoch": 1.556396484375e-07, "model_forward_time": 5.063635349273682, "step": 1632 }, { "epoch": 1.556396484375e-07, "step": 1632, "training_step_time": 23.065617561340332 }, { "epoch": 1.5573501586914063e-07, "model_forward_time": 5.061774253845215, "step": 1633 }, { "epoch": 1.5573501586914063e-07, "step": 1633, "training_step_time": 17.55198097229004 }, { "epoch": 1.5583038330078124e-07, "model_forward_time": 3.8494393825531006, "step": 1634 }, { "epoch": 1.5583038330078124e-07, "step": 1634, "training_step_time": 17.86107635498047 }, { "epoch": 1.5592575073242188e-07, "model_forward_time": 5.321675777435303, "step": 1635 }, { "epoch": 1.5592575073242188e-07, "step": 1635, "training_step_time": 22.298763513565063 }, { "epoch": 1.560211181640625e-07, "model_forward_time": 8.902329206466675, "step": 1636 }, { "epoch": 1.560211181640625e-07, "step": 1636, "training_step_time": 30.05205512046814 }, { "epoch": 1.5611648559570314e-07, "model_forward_time": 10.34357476234436, "step": 1637 }, { "epoch": 1.5611648559570314e-07, "step": 1637, "training_step_time": 35.91826915740967 }, { "epoch": 1.5621185302734375e-07, "model_forward_time": 11.375915288925171, "step": 1638 }, { "epoch": 1.5621185302734375e-07, "step": 1638, "training_step_time": 37.13984775543213 }, { "epoch": 1.5630722045898437e-07, "model_forward_time": 9.141705989837646, "step": 1639 }, { "epoch": 1.5630722045898437e-07, "step": 1639, "training_step_time": 28.529271841049194 }, { "epoch": 1.56402587890625e-07, "grad_norm": 3.1418628692626953, "learning_rate": 4.682857142857143e-06, "loss": 0.2092, "step": 1640 }, { "epoch": 1.56402587890625e-07, "model_forward_time": 9.058041095733643, "step": 1640 }, { "dynamics_loss_avg": 0.04023777567781508, "epoch": 1.56402587890625e-07, "step": 1640 }, { "action_loss_avg": 0.12703217486850918, "epoch": 1.56402587890625e-07, "step": 1640 }, { "arm_loss_avg": 0.1823552310001105, "epoch": 1.56402587890625e-07, "step": 1640 }, { "ee_loss_avg": 0.15952093047089874, "epoch": 1.56402587890625e-07, "step": 1640 }, { "aux_loss_avg": 0.011095123051200062, "epoch": 1.56402587890625e-07, "step": 1640 }, { "epoch": 1.56402587890625e-07, "step": 1640, "training_step_time": 27.922406911849976 }, { "epoch": 1.5649795532226562e-07, "model_forward_time": 9.020473718643188, "step": 1641 }, { "epoch": 1.5649795532226562e-07, "step": 1641, "training_step_time": 27.908518075942993 }, { "epoch": 1.5659332275390626e-07, "model_forward_time": 11.55224084854126, "step": 1642 }, { "epoch": 1.5659332275390626e-07, "step": 1642, "training_step_time": 37.21941828727722 }, { "epoch": 1.5668869018554688e-07, "model_forward_time": 11.401916742324829, "step": 1643 }, { "epoch": 1.5668869018554688e-07, "step": 1643, "training_step_time": 23.557653188705444 }, { "epoch": 1.567840576171875e-07, "model_forward_time": 5.102233409881592, "step": 1644 }, { "epoch": 1.567840576171875e-07, "step": 1644, "training_step_time": 17.475895404815674 }, { "epoch": 1.5687942504882813e-07, "model_forward_time": 5.338302850723267, "step": 1645 }, { "epoch": 1.5687942504882813e-07, "step": 1645, "training_step_time": 17.811403512954712 }, { "epoch": 1.5697479248046875e-07, "model_forward_time": 5.10541844367981, "step": 1646 }, { "epoch": 1.5697479248046875e-07, "step": 1646, "training_step_time": 17.65075135231018 }, { "epoch": 1.570701599121094e-07, "model_forward_time": 5.104313373565674, "step": 1647 }, { "epoch": 1.570701599121094e-07, "step": 1647, "training_step_time": 17.65726065635681 }, { "epoch": 1.5716552734375e-07, "model_forward_time": 5.103336334228516, "step": 1648 }, { "epoch": 1.5716552734375e-07, "step": 1648, "training_step_time": 17.6443293094635 }, { "epoch": 1.5726089477539062e-07, "model_forward_time": 3.8647220134735107, "step": 1649 }, { "epoch": 1.5726089477539062e-07, "step": 1649, "training_step_time": 17.62147092819214 }, { "epoch": 1.5735626220703126e-07, "grad_norm": 3.809737205505371, "learning_rate": 4.7114285714285715e-06, "loss": 0.2095, "step": 1650 }, { "epoch": 1.5735626220703126e-07, "model_forward_time": 5.2547078132629395, "step": 1650 }, { "dynamics_loss_avg": 0.03697017999365926, "epoch": 1.5735626220703126e-07, "step": 1650 }, { "action_loss_avg": 0.08919479222968221, "epoch": 1.5735626220703126e-07, "step": 1650 }, { "arm_loss_avg": 0.12196254652226343, "epoch": 1.5735626220703126e-07, "step": 1650 }, { "ee_loss_avg": 0.174941891990602, "epoch": 1.5735626220703126e-07, "step": 1650 }, { "aux_loss_avg": 0.000788464248762466, "epoch": 1.5735626220703126e-07, "step": 1650 }, { "epoch": 1.5735626220703126e-07, "step": 1650, "training_step_time": 17.854843378067017 }, { "epoch": 1.5745162963867187e-07, "model_forward_time": 5.078549146652222, "step": 1651 }, { "epoch": 1.5745162963867187e-07, "step": 1651, "training_step_time": 17.610292196273804 }, { "epoch": 1.575469970703125e-07, "model_forward_time": 3.845104932785034, "step": 1652 }, { "epoch": 1.575469970703125e-07, "step": 1652, "training_step_time": 17.604024648666382 }, { "epoch": 1.5764236450195313e-07, "model_forward_time": 5.060580253601074, "step": 1653 }, { "epoch": 1.5764236450195313e-07, "step": 1653, "training_step_time": 17.605212450027466 }, { "epoch": 1.5773773193359374e-07, "model_forward_time": 5.072582244873047, "step": 1654 }, { "epoch": 1.5773773193359374e-07, "step": 1654, "training_step_time": 17.361900806427002 }, { "epoch": 1.5783309936523438e-07, "model_forward_time": 5.323312520980835, "step": 1655 }, { "epoch": 1.5783309936523438e-07, "step": 1655, "training_step_time": 17.667048454284668 }, { "epoch": 1.57928466796875e-07, "model_forward_time": 5.097106695175171, "step": 1656 }, { "epoch": 1.57928466796875e-07, "step": 1656, "training_step_time": 17.46268343925476 }, { "epoch": 1.580238342285156e-07, "model_forward_time": 5.0996253490448, "step": 1657 }, { "epoch": 1.580238342285156e-07, "step": 1657, "training_step_time": 17.44848346710205 }, { "epoch": 1.5811920166015625e-07, "model_forward_time": 5.102754592895508, "step": 1658 }, { "epoch": 1.5811920166015625e-07, "step": 1658, "training_step_time": 17.50857710838318 }, { "epoch": 1.5821456909179687e-07, "model_forward_time": 5.104161500930786, "step": 1659 }, { "epoch": 1.5821456909179687e-07, "step": 1659, "training_step_time": 17.552966356277466 }, { "epoch": 1.583099365234375e-07, "grad_norm": 2.3757927417755127, "learning_rate": 4.74e-06, "loss": 0.1946, "step": 1660 }, { "epoch": 1.583099365234375e-07, "model_forward_time": 5.301887512207031, "step": 1660 }, { "dynamics_loss_avg": 0.02867119023576379, "epoch": 1.583099365234375e-07, "step": 1660 }, { "action_loss_avg": 0.11239368729293346, "epoch": 1.583099365234375e-07, "step": 1660 }, { "arm_loss_avg": 0.1479243826237507, "epoch": 1.583099365234375e-07, "step": 1660 }, { "ee_loss_avg": 0.17491699140518904, "epoch": 1.583099365234375e-07, "step": 1660 }, { "aux_loss_avg": 0.0013115872046910227, "epoch": 1.583099365234375e-07, "step": 1660 }, { "epoch": 1.583099365234375e-07, "step": 1660, "training_step_time": 17.814826011657715 }, { "epoch": 1.5840530395507812e-07, "model_forward_time": 5.086448431015015, "step": 1661 }, { "epoch": 1.5840530395507812e-07, "step": 1661, "training_step_time": 17.600725412368774 }, { "epoch": 1.5850067138671874e-07, "model_forward_time": 5.083959341049194, "step": 1662 }, { "epoch": 1.5850067138671874e-07, "step": 1662, "training_step_time": 17.607694387435913 }, { "epoch": 1.5859603881835938e-07, "model_forward_time": 5.083885431289673, "step": 1663 }, { "epoch": 1.5859603881835938e-07, "step": 1663, "training_step_time": 17.610618829727173 }, { "epoch": 1.5869140625e-07, "model_forward_time": 5.080472946166992, "step": 1664 }, { "epoch": 1.5869140625e-07, "step": 1664, "training_step_time": 17.613574028015137 }, { "epoch": 1.5878677368164063e-07, "model_forward_time": 5.0810253620147705, "step": 1665 }, { "epoch": 1.5878677368164063e-07, "step": 1665, "training_step_time": 17.791821002960205 }, { "epoch": 1.5888214111328125e-07, "model_forward_time": 5.079931020736694, "step": 1666 }, { "epoch": 1.5888214111328125e-07, "step": 1666, "training_step_time": 17.597290992736816 }, { "epoch": 1.5897750854492186e-07, "model_forward_time": 5.081007242202759, "step": 1667 }, { "epoch": 1.5897750854492186e-07, "step": 1667, "training_step_time": 17.60325288772583 }, { "epoch": 1.590728759765625e-07, "model_forward_time": 3.850837469100952, "step": 1668 }, { "epoch": 1.590728759765625e-07, "step": 1668, "training_step_time": 17.631556749343872 }, { "epoch": 1.5916824340820312e-07, "model_forward_time": 5.06545877456665, "step": 1669 }, { "epoch": 1.5916824340820312e-07, "step": 1669, "training_step_time": 17.59853506088257 }, { "epoch": 1.5926361083984376e-07, "grad_norm": 1.8928924798965454, "learning_rate": 4.768571428571429e-06, "loss": 0.191, "step": 1670 }, { "epoch": 1.5926361083984376e-07, "model_forward_time": 5.072996139526367, "step": 1670 }, { "dynamics_loss_avg": 0.045365872990805654, "epoch": 1.5926361083984376e-07, "step": 1670 }, { "action_loss_avg": 0.1527246110374108, "epoch": 1.5926361083984376e-07, "step": 1670 }, { "arm_loss_avg": 0.1977905485779047, "epoch": 1.5926361083984376e-07, "step": 1670 }, { "ee_loss_avg": 0.19625008385628462, "epoch": 1.5926361083984376e-07, "step": 1670 }, { "aux_loss_avg": 0.0025366329005919396, "epoch": 1.5926361083984376e-07, "step": 1670 }, { "epoch": 1.5926361083984376e-07, "step": 1670, "training_step_time": 17.82055640220642 }, { "epoch": 1.5935897827148437e-07, "model_forward_time": 3.843965768814087, "step": 1671 }, { "epoch": 1.5935897827148437e-07, "step": 1671, "training_step_time": 17.57646679878235 }, { "epoch": 1.59454345703125e-07, "model_forward_time": 5.0615394115448, "step": 1672 }, { "epoch": 1.59454345703125e-07, "step": 1672, "training_step_time": 17.571287631988525 }, { "epoch": 1.5954971313476563e-07, "model_forward_time": 5.078775644302368, "step": 1673 }, { "epoch": 1.5954971313476563e-07, "step": 1673, "training_step_time": 17.642354249954224 }, { "epoch": 1.5964508056640624e-07, "model_forward_time": 5.087513446807861, "step": 1674 }, { "epoch": 1.5964508056640624e-07, "step": 1674, "training_step_time": 17.565248489379883 }, { "epoch": 1.5974044799804688e-07, "model_forward_time": 5.350418567657471, "step": 1675 }, { "epoch": 1.5974044799804688e-07, "step": 1675, "training_step_time": 17.758265733718872 }, { "epoch": 1.598358154296875e-07, "model_forward_time": 5.125084161758423, "step": 1676 }, { "epoch": 1.598358154296875e-07, "step": 1676, "training_step_time": 17.48839569091797 }, { "epoch": 1.5993118286132811e-07, "model_forward_time": 5.119170665740967, "step": 1677 }, { "epoch": 1.5993118286132811e-07, "step": 1677, "training_step_time": 17.525405645370483 }, { "epoch": 1.6002655029296875e-07, "model_forward_time": 5.115322113037109, "step": 1678 }, { "epoch": 1.6002655029296875e-07, "step": 1678, "training_step_time": 17.624969482421875 }, { "epoch": 1.6012191772460937e-07, "model_forward_time": 5.109630107879639, "step": 1679 }, { "epoch": 1.6012191772460937e-07, "step": 1679, "training_step_time": 17.498732566833496 }, { "epoch": 1.6021728515625e-07, "grad_norm": 3.1741645336151123, "learning_rate": 4.797142857142857e-06, "loss": 0.2034, "step": 1680 }, { "epoch": 1.6021728515625e-07, "model_forward_time": 5.094276428222656, "step": 1680 }, { "dynamics_loss_avg": 0.043791014421731236, "epoch": 1.6021728515625e-07, "step": 1680 }, { "action_loss_avg": 0.1213218652177602, "epoch": 1.6021728515625e-07, "step": 1680 }, { "arm_loss_avg": 0.20158685841597618, "epoch": 1.6021728515625e-07, "step": 1680 }, { "ee_loss_avg": 0.1578872824087739, "epoch": 1.6021728515625e-07, "step": 1680 }, { "aux_loss_avg": 0.003081801353255287, "epoch": 1.6021728515625e-07, "step": 1680 }, { "epoch": 1.6021728515625e-07, "step": 1680, "training_step_time": 17.33383584022522 }, { "epoch": 1.6031265258789062e-07, "model_forward_time": 5.091551303863525, "step": 1681 }, { "epoch": 1.6031265258789062e-07, "step": 1681, "training_step_time": 17.466441869735718 }, { "epoch": 1.6040802001953124e-07, "model_forward_time": 5.0861194133758545, "step": 1682 }, { "epoch": 1.6040802001953124e-07, "step": 1682, "training_step_time": 17.538169622421265 }, { "epoch": 1.6050338745117188e-07, "model_forward_time": 5.080641508102417, "step": 1683 }, { "epoch": 1.6050338745117188e-07, "step": 1683, "training_step_time": 17.590824842453003 }, { "epoch": 1.605987548828125e-07, "model_forward_time": 5.08100700378418, "step": 1684 }, { "epoch": 1.605987548828125e-07, "step": 1684, "training_step_time": 17.632241010665894 }, { "epoch": 1.6069412231445314e-07, "model_forward_time": 5.083270311355591, "step": 1685 }, { "epoch": 1.6069412231445314e-07, "step": 1685, "training_step_time": 17.8243088722229 }, { "epoch": 1.6078948974609375e-07, "model_forward_time": 5.075669288635254, "step": 1686 }, { "epoch": 1.6078948974609375e-07, "step": 1686, "training_step_time": 17.64387607574463 }, { "epoch": 1.6088485717773436e-07, "model_forward_time": 5.081482172012329, "step": 1687 }, { "epoch": 1.6088485717773436e-07, "step": 1687, "training_step_time": 17.645827293395996 }, { "epoch": 1.60980224609375e-07, "model_forward_time": 5.0823729038238525, "step": 1688 }, { "epoch": 1.60980224609375e-07, "step": 1688, "training_step_time": 17.63142204284668 }, { "epoch": 1.6107559204101562e-07, "model_forward_time": 5.273590087890625, "step": 1689 }, { "epoch": 1.6107559204101562e-07, "step": 1689, "training_step_time": 17.63163733482361 }, { "epoch": 1.6117095947265626e-07, "grad_norm": 2.9161386489868164, "learning_rate": 4.825714285714286e-06, "loss": 0.1614, "step": 1690 }, { "epoch": 1.6117095947265626e-07, "model_forward_time": 3.850987672805786, "step": 1690 }, { "dynamics_loss_avg": 0.05004815328866243, "epoch": 1.6117095947265626e-07, "step": 1690 }, { "action_loss_avg": 0.1750052012503147, "epoch": 1.6117095947265626e-07, "step": 1690 }, { "arm_loss_avg": 0.2760591313242912, "epoch": 1.6117095947265626e-07, "step": 1690 }, { "ee_loss_avg": 0.2618127129971981, "epoch": 1.6117095947265626e-07, "step": 1690 }, { "aux_loss_avg": 0.0015445832745172084, "epoch": 1.6117095947265626e-07, "step": 1690 }, { "epoch": 1.6117095947265626e-07, "step": 1690, "training_step_time": 17.84776997566223 }, { "epoch": 1.6126632690429688e-07, "model_forward_time": 5.059881210327148, "step": 1691 }, { "epoch": 1.6126632690429688e-07, "step": 1691, "training_step_time": 17.610111713409424 }, { "epoch": 1.613616943359375e-07, "model_forward_time": 5.0706212520599365, "step": 1692 }, { "epoch": 1.613616943359375e-07, "step": 1692, "training_step_time": 17.594136238098145 }, { "epoch": 1.6145706176757813e-07, "model_forward_time": 5.078941822052002, "step": 1693 }, { "epoch": 1.6145706176757813e-07, "step": 1693, "training_step_time": 17.646343231201172 }, { "epoch": 1.6155242919921875e-07, "model_forward_time": 5.33143162727356, "step": 1694 }, { "epoch": 1.6155242919921875e-07, "step": 1694, "training_step_time": 17.584983587265015 }, { "epoch": 1.6164779663085939e-07, "model_forward_time": 3.858492612838745, "step": 1695 }, { "epoch": 1.6164779663085939e-07, "step": 1695, "training_step_time": 17.763296365737915 }, { "epoch": 1.617431640625e-07, "model_forward_time": 5.076149225234985, "step": 1696 }, { "epoch": 1.617431640625e-07, "step": 1696, "training_step_time": 17.610360383987427 }, { "epoch": 1.6183853149414062e-07, "model_forward_time": 5.0886523723602295, "step": 1697 }, { "epoch": 1.6183853149414062e-07, "step": 1697, "training_step_time": 17.623350381851196 }, { "epoch": 1.6193389892578126e-07, "model_forward_time": 5.0990307331085205, "step": 1698 }, { "epoch": 1.6193389892578126e-07, "step": 1698, "training_step_time": 17.62708282470703 }, { "epoch": 1.6202926635742187e-07, "model_forward_time": 5.105470895767212, "step": 1699 }, { "epoch": 1.6202926635742187e-07, "step": 1699, "training_step_time": 17.617595911026 }, { "epoch": 1.621246337890625e-07, "grad_norm": 2.3769006729125977, "learning_rate": 4.854285714285715e-06, "loss": 0.1846, "step": 1700 }, { "epoch": 1.621246337890625e-07, "model_forward_time": 5.308088302612305, "step": 1700 }, { "dynamics_loss_avg": 0.048968829400837424, "epoch": 1.621246337890625e-07, "step": 1700 }, { "action_loss_avg": 0.14222438260912895, "epoch": 1.621246337890625e-07, "step": 1700 }, { "arm_loss_avg": 0.25573216527700426, "epoch": 1.621246337890625e-07, "step": 1700 }, { "ee_loss_avg": 0.29943516850471497, "epoch": 1.621246337890625e-07, "step": 1700 }, { "aux_loss_avg": 0.011227730725659057, "epoch": 1.621246337890625e-07, "step": 1700 }, { "epoch": 1.621246337890625e-07, "step": 1700, "training_step_time": 17.820555686950684 }, { "epoch": 1.6222000122070313e-07, "model_forward_time": 5.096111297607422, "step": 1701 }, { "epoch": 1.6222000122070313e-07, "step": 1701, "training_step_time": 17.59321641921997 }, { "epoch": 1.6231536865234374e-07, "model_forward_time": 5.09280800819397, "step": 1702 }, { "epoch": 1.6231536865234374e-07, "step": 1702, "training_step_time": 17.58976936340332 }, { "epoch": 1.6241073608398438e-07, "model_forward_time": 5.094736814498901, "step": 1703 }, { "epoch": 1.6241073608398438e-07, "step": 1703, "training_step_time": 17.612419366836548 }, { "epoch": 1.62506103515625e-07, "model_forward_time": 5.090552806854248, "step": 1704 }, { "epoch": 1.62506103515625e-07, "step": 1704, "training_step_time": 17.587822437286377 }, { "epoch": 1.6260147094726564e-07, "model_forward_time": 5.092202425003052, "step": 1705 }, { "epoch": 1.6260147094726564e-07, "step": 1705, "training_step_time": 17.39646601676941 }, { "epoch": 1.6269683837890625e-07, "model_forward_time": 5.086760997772217, "step": 1706 }, { "epoch": 1.6269683837890625e-07, "step": 1706, "training_step_time": 17.396589279174805 }, { "epoch": 1.6279220581054687e-07, "model_forward_time": 5.086515665054321, "step": 1707 }, { "epoch": 1.6279220581054687e-07, "step": 1707, "training_step_time": 17.496089696884155 }, { "epoch": 1.628875732421875e-07, "model_forward_time": 5.083117723464966, "step": 1708 }, { "epoch": 1.628875732421875e-07, "step": 1708, "training_step_time": 17.576194047927856 }, { "epoch": 1.6298294067382812e-07, "model_forward_time": 5.2755303382873535, "step": 1709 }, { "epoch": 1.6298294067382812e-07, "step": 1709, "training_step_time": 17.565080881118774 }, { "epoch": 1.6307830810546876e-07, "grad_norm": 2.9846668243408203, "learning_rate": 4.882857142857143e-06, "loss": 0.1876, "step": 1710 }, { "epoch": 1.6307830810546876e-07, "model_forward_time": 3.8505258560180664, "step": 1710 }, { "dynamics_loss_avg": 0.06026194244623184, "epoch": 1.6307830810546876e-07, "step": 1710 }, { "action_loss_avg": 0.1740192987024784, "epoch": 1.6307830810546876e-07, "step": 1710 }, { "arm_loss_avg": 0.2661976501345634, "epoch": 1.6307830810546876e-07, "step": 1710 }, { "ee_loss_avg": 0.3854014612734318, "epoch": 1.6307830810546876e-07, "step": 1710 }, { "aux_loss_avg": 0.0017020879371557386, "epoch": 1.6307830810546876e-07, "step": 1710 }, { "epoch": 1.6307830810546876e-07, "step": 1710, "training_step_time": 17.826330184936523 }, { "epoch": 1.6317367553710938e-07, "model_forward_time": 5.054391622543335, "step": 1711 }, { "epoch": 1.6317367553710938e-07, "step": 1711, "training_step_time": 17.625117301940918 }, { "epoch": 1.6326904296875e-07, "model_forward_time": 5.065478801727295, "step": 1712 }, { "epoch": 1.6326904296875e-07, "step": 1712, "training_step_time": 17.625580072402954 }, { "epoch": 1.6336441040039063e-07, "model_forward_time": 5.077464818954468, "step": 1713 }, { "epoch": 1.6336441040039063e-07, "step": 1713, "training_step_time": 17.62589168548584 }, { "epoch": 1.6345977783203125e-07, "model_forward_time": 5.0862438678741455, "step": 1714 }, { "epoch": 1.6345977783203125e-07, "step": 1714, "training_step_time": 17.62417960166931 }, { "epoch": 1.635551452636719e-07, "model_forward_time": 5.344675540924072, "step": 1715 }, { "epoch": 1.635551452636719e-07, "step": 1715, "training_step_time": 17.723013162612915 }, { "epoch": 1.636505126953125e-07, "model_forward_time": 5.498075008392334, "step": 1716 }, { "epoch": 1.636505126953125e-07, "step": 1716, "training_step_time": 17.64875054359436 }, { "epoch": 1.6374588012695312e-07, "model_forward_time": 5.100721836090088, "step": 1717 }, { "epoch": 1.6374588012695312e-07, "step": 1717, "training_step_time": 17.497106552124023 }, { "epoch": 1.6384124755859376e-07, "model_forward_time": 5.098465442657471, "step": 1718 }, { "epoch": 1.6384124755859376e-07, "step": 1718, "training_step_time": 17.646364450454712 }, { "epoch": 1.6393661499023437e-07, "model_forward_time": 5.091277360916138, "step": 1719 }, { "epoch": 1.6393661499023437e-07, "step": 1719, "training_step_time": 17.570682525634766 }, { "epoch": 1.64031982421875e-07, "grad_norm": 2.590211868286133, "learning_rate": 4.911428571428572e-06, "loss": 0.2022, "step": 1720 }, { "epoch": 1.64031982421875e-07, "model_forward_time": 5.088803291320801, "step": 1720 }, { "dynamics_loss_avg": 0.05094076804816723, "epoch": 1.64031982421875e-07, "step": 1720 }, { "action_loss_avg": 0.16295515224337578, "epoch": 1.64031982421875e-07, "step": 1720 }, { "arm_loss_avg": 0.2795376107096672, "epoch": 1.64031982421875e-07, "step": 1720 }, { "ee_loss_avg": 0.3898589849472046, "epoch": 1.64031982421875e-07, "step": 1720 }, { "aux_loss_avg": 0.024078912544064225, "epoch": 1.64031982421875e-07, "step": 1720 }, { "epoch": 1.64031982421875e-07, "step": 1720, "training_step_time": 17.820934295654297 }, { "epoch": 1.6412734985351563e-07, "model_forward_time": 5.082522630691528, "step": 1721 }, { "epoch": 1.6412734985351563e-07, "step": 1721, "training_step_time": 17.626429080963135 }, { "epoch": 1.6422271728515624e-07, "model_forward_time": 5.0828187465667725, "step": 1722 }, { "epoch": 1.6422271728515624e-07, "step": 1722, "training_step_time": 17.628722190856934 }, { "epoch": 1.6431808471679688e-07, "model_forward_time": 3.8445191383361816, "step": 1723 }, { "epoch": 1.6431808471679688e-07, "step": 1723, "training_step_time": 17.619606018066406 }, { "epoch": 1.644134521484375e-07, "model_forward_time": 5.056727886199951, "step": 1724 }, { "epoch": 1.644134521484375e-07, "step": 1724, "training_step_time": 17.623473405838013 }, { "epoch": 1.645088195800781e-07, "model_forward_time": 5.304084062576294, "step": 1725 }, { "epoch": 1.645088195800781e-07, "step": 1725, "training_step_time": 17.795645475387573 }, { "epoch": 1.6460418701171875e-07, "model_forward_time": 5.075782060623169, "step": 1726 }, { "epoch": 1.6460418701171875e-07, "step": 1726, "training_step_time": 17.60562491416931 }, { "epoch": 1.6469955444335937e-07, "model_forward_time": 5.0815441608428955, "step": 1727 }, { "epoch": 1.6469955444335937e-07, "step": 1727, "training_step_time": 17.579720497131348 }, { "epoch": 1.64794921875e-07, "model_forward_time": 5.094602346420288, "step": 1728 }, { "epoch": 1.64794921875e-07, "step": 1728, "training_step_time": 17.633649110794067 }, { "epoch": 1.6489028930664062e-07, "model_forward_time": 5.290225505828857, "step": 1729 }, { "epoch": 1.6489028930664062e-07, "step": 1729, "training_step_time": 17.567296028137207 }, { "epoch": 1.6498565673828124e-07, "grad_norm": 3.220686912536621, "learning_rate": 4.94e-06, "loss": 0.2123, "step": 1730 }, { "epoch": 1.6498565673828124e-07, "model_forward_time": 3.8629000186920166, "step": 1730 }, { "dynamics_loss_avg": 0.05286478940397501, "epoch": 1.6498565673828124e-07, "step": 1730 }, { "action_loss_avg": 0.20543292742222546, "epoch": 1.6498565673828124e-07, "step": 1730 }, { "arm_loss_avg": 0.3286211729049683, "epoch": 1.6498565673828124e-07, "step": 1730 }, { "ee_loss_avg": 0.4738286316394806, "epoch": 1.6498565673828124e-07, "step": 1730 }, { "aux_loss_avg": 0.04008768947678618, "epoch": 1.6498565673828124e-07, "step": 1730 }, { "epoch": 1.6498565673828124e-07, "step": 1730, "training_step_time": 17.78425908088684 }, { "epoch": 1.6508102416992188e-07, "model_forward_time": 3.832772970199585, "step": 1731 }, { "epoch": 1.6508102416992188e-07, "step": 1731, "training_step_time": 17.55808448791504 }, { "epoch": 1.651763916015625e-07, "model_forward_time": 5.053346395492554, "step": 1732 }, { "epoch": 1.651763916015625e-07, "step": 1732, "training_step_time": 17.565572261810303 }, { "epoch": 1.6527175903320313e-07, "model_forward_time": 5.070217609405518, "step": 1733 }, { "epoch": 1.6527175903320313e-07, "step": 1733, "training_step_time": 17.63283371925354 }, { "epoch": 1.6536712646484375e-07, "model_forward_time": 5.080606460571289, "step": 1734 }, { "epoch": 1.6536712646484375e-07, "step": 1734, "training_step_time": 17.55804419517517 }, { "epoch": 1.6546249389648436e-07, "model_forward_time": 5.331929445266724, "step": 1735 }, { "epoch": 1.6546249389648436e-07, "step": 1735, "training_step_time": 17.749128818511963 }, { "epoch": 1.65557861328125e-07, "model_forward_time": 5.099376440048218, "step": 1736 }, { "epoch": 1.65557861328125e-07, "step": 1736, "training_step_time": 17.557037115097046 }, { "epoch": 1.6565322875976562e-07, "model_forward_time": 5.102418661117554, "step": 1737 }, { "epoch": 1.6565322875976562e-07, "step": 1737, "training_step_time": 17.5613751411438 }, { "epoch": 1.6574859619140626e-07, "model_forward_time": 5.098230838775635, "step": 1738 }, { "epoch": 1.6574859619140626e-07, "step": 1738, "training_step_time": 17.598984241485596 }, { "epoch": 1.6584396362304687e-07, "model_forward_time": 5.094745397567749, "step": 1739 }, { "epoch": 1.6584396362304687e-07, "step": 1739, "training_step_time": 17.56306791305542 }, { "epoch": 1.659393310546875e-07, "grad_norm": 3.6848056316375732, "learning_rate": 4.968571428571429e-06, "loss": 0.1891, "step": 1740 }, { "epoch": 1.659393310546875e-07, "model_forward_time": 5.2960364818573, "step": 1740 }, { "dynamics_loss_avg": 0.048370485007762906, "epoch": 1.659393310546875e-07, "step": 1740 }, { "action_loss_avg": 0.15978570580482482, "epoch": 1.659393310546875e-07, "step": 1740 }, { "arm_loss_avg": 0.22770052552223205, "epoch": 1.659393310546875e-07, "step": 1740 }, { "ee_loss_avg": 0.3000782810151577, "epoch": 1.659393310546875e-07, "step": 1740 }, { "aux_loss_avg": 0.00226434938958846, "epoch": 1.659393310546875e-07, "step": 1740 }, { "epoch": 1.659393310546875e-07, "step": 1740, "training_step_time": 17.808144569396973 }, { "epoch": 1.6603469848632813e-07, "model_forward_time": 5.084526538848877, "step": 1741 }, { "epoch": 1.6603469848632813e-07, "step": 1741, "training_step_time": 17.564318418502808 }, { "epoch": 1.6613006591796874e-07, "model_forward_time": 5.079829692840576, "step": 1742 }, { "epoch": 1.6613006591796874e-07, "step": 1742, "training_step_time": 17.560118675231934 }, { "epoch": 1.6622543334960938e-07, "model_forward_time": 5.077531099319458, "step": 1743 }, { "epoch": 1.6622543334960938e-07, "step": 1743, "training_step_time": 17.294471979141235 }, { "epoch": 1.6632080078125e-07, "model_forward_time": 3.848618507385254, "step": 1744 }, { "epoch": 1.6632080078125e-07, "step": 1744, "training_step_time": 17.68791937828064 }, { "epoch": 1.6641616821289061e-07, "model_forward_time": 5.292423725128174, "step": 1745 }, { "epoch": 1.6641616821289061e-07, "step": 1745, "training_step_time": 17.51509428024292 }, { "epoch": 1.6651153564453125e-07, "model_forward_time": 5.061458349227905, "step": 1746 }, { "epoch": 1.6651153564453125e-07, "step": 1746, "training_step_time": 17.524425745010376 }, { "epoch": 1.6660690307617187e-07, "model_forward_time": 5.075269460678101, "step": 1747 }, { "epoch": 1.6660690307617187e-07, "step": 1747, "training_step_time": 17.551851511001587 }, { "epoch": 1.667022705078125e-07, "model_forward_time": 5.082639455795288, "step": 1748 }, { "epoch": 1.667022705078125e-07, "step": 1748, "training_step_time": 17.587279319763184 }, { "epoch": 1.6679763793945312e-07, "model_forward_time": 5.284537315368652, "step": 1749 }, { "epoch": 1.6679763793945312e-07, "step": 1749, "training_step_time": 17.80752944946289 }, { "epoch": 1.6689300537109374e-07, "grad_norm": 2.2746100425720215, "learning_rate": 4.997142857142858e-06, "loss": 0.2069, "step": 1750 }, { "epoch": 1.6689300537109374e-07, "model_forward_time": 5.091798782348633, "step": 1750 }, { "dynamics_loss_avg": 0.06375094540417195, "epoch": 1.6689300537109374e-07, "step": 1750 }, { "action_loss_avg": 0.19698411002755165, "epoch": 1.6689300537109374e-07, "step": 1750 }, { "arm_loss_avg": 0.24092406183481216, "epoch": 1.6689300537109374e-07, "step": 1750 }, { "ee_loss_avg": 0.3709654211997986, "epoch": 1.6689300537109374e-07, "step": 1750 }, { "aux_loss_avg": 0.002396208146819845, "epoch": 1.6689300537109374e-07, "step": 1750 }, { "epoch": 1.6689300537109374e-07, "step": 1750, "training_step_time": 17.404900789260864 }, { "epoch": 1.6698837280273438e-07, "model_forward_time": 5.097918748855591, "step": 1751 }, { "epoch": 1.6698837280273438e-07, "step": 1751, "training_step_time": 17.504689931869507 }, { "epoch": 1.67083740234375e-07, "model_forward_time": 5.098209619522095, "step": 1752 }, { "epoch": 1.67083740234375e-07, "step": 1752, "training_step_time": 17.548452138900757 }, { "epoch": 1.6717910766601564e-07, "model_forward_time": 5.096920490264893, "step": 1753 }, { "epoch": 1.6717910766601564e-07, "step": 1753, "training_step_time": 17.222991466522217 }, { "epoch": 1.6727447509765625e-07, "model_forward_time": 5.342358589172363, "step": 1754 }, { "epoch": 1.6727447509765625e-07, "step": 1754, "training_step_time": 17.557420015335083 }, { "epoch": 1.6736984252929686e-07, "model_forward_time": 5.0909106731414795, "step": 1755 }, { "epoch": 1.6736984252929686e-07, "step": 1755, "training_step_time": 17.75937509536743 }, { "epoch": 1.674652099609375e-07, "model_forward_time": 5.083757638931274, "step": 1756 }, { "epoch": 1.674652099609375e-07, "step": 1756, "training_step_time": 17.591954231262207 }, { "epoch": 1.6756057739257812e-07, "model_forward_time": 5.079548358917236, "step": 1757 }, { "epoch": 1.6756057739257812e-07, "step": 1757, "training_step_time": 17.45534062385559 }, { "epoch": 1.6765594482421876e-07, "model_forward_time": 5.079617500305176, "step": 1758 }, { "epoch": 1.6765594482421876e-07, "step": 1758, "training_step_time": 17.5484938621521 }, { "epoch": 1.6775131225585938e-07, "model_forward_time": 5.0739171504974365, "step": 1759 }, { "epoch": 1.6775131225585938e-07, "step": 1759, "training_step_time": 17.589449167251587 }, { "epoch": 1.678466796875e-07, "grad_norm": 3.0571398735046387, "learning_rate": 5.025714285714286e-06, "loss": 0.207, "step": 1760 }, { "epoch": 1.678466796875e-07, "model_forward_time": 3.8447682857513428, "step": 1760 }, { "dynamics_loss_avg": 0.04067492540925741, "epoch": 1.678466796875e-07, "step": 1760 }, { "action_loss_avg": 0.18693644553422928, "epoch": 1.678466796875e-07, "step": 1760 }, { "arm_loss_avg": 0.2668488621711731, "epoch": 1.678466796875e-07, "step": 1760 }, { "ee_loss_avg": 0.2525786057114601, "epoch": 1.678466796875e-07, "step": 1760 }, { "aux_loss_avg": 0.0012535597779788077, "epoch": 1.678466796875e-07, "step": 1760 }, { "epoch": 1.678466796875e-07, "step": 1760, "training_step_time": 17.830525875091553 }, { "epoch": 1.6794204711914063e-07, "model_forward_time": 5.051220655441284, "step": 1761 }, { "epoch": 1.6794204711914063e-07, "step": 1761, "training_step_time": 17.623785257339478 }, { "epoch": 1.6803741455078125e-07, "model_forward_time": 5.063348770141602, "step": 1762 }, { "epoch": 1.6803741455078125e-07, "step": 1762, "training_step_time": 17.623111963272095 }, { "epoch": 1.6813278198242189e-07, "model_forward_time": 5.073530435562134, "step": 1763 }, { "epoch": 1.6813278198242189e-07, "step": 1763, "training_step_time": 17.6614727973938 }, { "epoch": 1.682281494140625e-07, "model_forward_time": 5.085497140884399, "step": 1764 }, { "epoch": 1.682281494140625e-07, "step": 1764, "training_step_time": 17.628472566604614 }, { "epoch": 1.6832351684570312e-07, "model_forward_time": 5.326111793518066, "step": 1765 }, { "epoch": 1.6832351684570312e-07, "step": 1765, "training_step_time": 17.80464506149292 }, { "epoch": 1.6841888427734376e-07, "model_forward_time": 5.097625732421875, "step": 1766 }, { "epoch": 1.6841888427734376e-07, "step": 1766, "training_step_time": 17.60013699531555 }, { "epoch": 1.6851425170898437e-07, "model_forward_time": 5.095914125442505, "step": 1767 }, { "epoch": 1.6851425170898437e-07, "step": 1767, "training_step_time": 17.598962783813477 }, { "epoch": 1.68609619140625e-07, "model_forward_time": 5.09952449798584, "step": 1768 }, { "epoch": 1.68609619140625e-07, "step": 1768, "training_step_time": 17.599839210510254 }, { "epoch": 1.6870498657226563e-07, "model_forward_time": 3.8583898544311523, "step": 1769 }, { "epoch": 1.6870498657226563e-07, "step": 1769, "training_step_time": 17.81535506248474 }, { "epoch": 1.6880035400390624e-07, "grad_norm": 4.271377086639404, "learning_rate": 5.054285714285715e-06, "loss": 0.2144, "step": 1770 }, { "epoch": 1.6880035400390624e-07, "model_forward_time": 5.2518744468688965, "step": 1770 }, { "dynamics_loss_avg": 0.06324674412608147, "epoch": 1.6880035400390624e-07, "step": 1770 }, { "action_loss_avg": 0.16220100000500678, "epoch": 1.6880035400390624e-07, "step": 1770 }, { "arm_loss_avg": 0.23642366677522658, "epoch": 1.6880035400390624e-07, "step": 1770 }, { "ee_loss_avg": 0.22837320864200591, "epoch": 1.6880035400390624e-07, "step": 1770 }, { "aux_loss_avg": 0.003016007103724405, "epoch": 1.6880035400390624e-07, "step": 1770 }, { "epoch": 1.6880035400390624e-07, "step": 1770, "training_step_time": 17.58478832244873 }, { "epoch": 1.6889572143554688e-07, "model_forward_time": 5.070436239242554, "step": 1771 }, { "epoch": 1.6889572143554688e-07, "step": 1771, "training_step_time": 17.589888095855713 }, { "epoch": 1.689910888671875e-07, "model_forward_time": 5.07509446144104, "step": 1772 }, { "epoch": 1.689910888671875e-07, "step": 1772, "training_step_time": 17.573156118392944 }, { "epoch": 1.6908645629882814e-07, "model_forward_time": 5.07789158821106, "step": 1773 }, { "epoch": 1.6908645629882814e-07, "step": 1773, "training_step_time": 17.602343559265137 }, { "epoch": 1.6918182373046875e-07, "model_forward_time": 5.084507703781128, "step": 1774 }, { "epoch": 1.6918182373046875e-07, "step": 1774, "training_step_time": 17.78504753112793 }, { "epoch": 1.6927719116210937e-07, "model_forward_time": 5.090389013290405, "step": 1775 }, { "epoch": 1.6927719116210937e-07, "step": 1775, "training_step_time": 17.577251434326172 }, { "epoch": 1.6937255859375e-07, "model_forward_time": 5.089918851852417, "step": 1776 }, { "epoch": 1.6937255859375e-07, "step": 1776, "training_step_time": 17.45634388923645 }, { "epoch": 1.6946792602539062e-07, "model_forward_time": 3.855504035949707, "step": 1777 }, { "epoch": 1.6946792602539062e-07, "step": 1777, "training_step_time": 17.39929461479187 }, { "epoch": 1.6956329345703126e-07, "model_forward_time": 5.059846639633179, "step": 1778 }, { "epoch": 1.6956329345703126e-07, "step": 1778, "training_step_time": 17.58477783203125 }, { "epoch": 1.6965866088867188e-07, "model_forward_time": 3.8374111652374268, "step": 1779 }, { "epoch": 1.6965866088867188e-07, "step": 1779, "training_step_time": 17.723677396774292 }, { "epoch": 1.697540283203125e-07, "grad_norm": 1.499267816543579, "learning_rate": 5.082857142857144e-06, "loss": 0.1955, "step": 1780 }, { "epoch": 1.697540283203125e-07, "model_forward_time": 4.0546112060546875, "step": 1780 }, { "dynamics_loss_avg": 0.04098055670037866, "epoch": 1.697540283203125e-07, "step": 1780 }, { "action_loss_avg": 0.17827665358781813, "epoch": 1.697540283203125e-07, "step": 1780 }, { "arm_loss_avg": 0.2524772986769676, "epoch": 1.697540283203125e-07, "step": 1780 }, { "ee_loss_avg": 0.343510664999485, "epoch": 1.697540283203125e-07, "step": 1780 }, { "aux_loss_avg": 0.0018025557801593095, "epoch": 1.697540283203125e-07, "step": 1780 }, { "epoch": 1.697540283203125e-07, "step": 1780, "training_step_time": 17.55703830718994 }, { "epoch": 1.6984939575195313e-07, "model_forward_time": 5.047930717468262, "step": 1781 }, { "epoch": 1.6984939575195313e-07, "step": 1781, "training_step_time": 17.58613109588623 }, { "epoch": 1.6994476318359375e-07, "model_forward_time": 5.0615928173065186, "step": 1782 }, { "epoch": 1.6994476318359375e-07, "step": 1782, "training_step_time": 17.605826377868652 }, { "epoch": 1.7004013061523436e-07, "model_forward_time": 5.083855390548706, "step": 1783 }, { "epoch": 1.7004013061523436e-07, "step": 1783, "training_step_time": 17.614849090576172 }, { "epoch": 1.70135498046875e-07, "model_forward_time": 3.85951566696167, "step": 1784 }, { "epoch": 1.70135498046875e-07, "step": 1784, "training_step_time": 17.86482548713684 }, { "epoch": 1.7023086547851562e-07, "model_forward_time": 5.2969465255737305, "step": 1785 }, { "epoch": 1.7023086547851562e-07, "step": 1785, "training_step_time": 17.616679906845093 }, { "epoch": 1.7032623291015626e-07, "model_forward_time": 3.847247362136841, "step": 1786 }, { "epoch": 1.7032623291015626e-07, "step": 1786, "training_step_time": 17.603473663330078 }, { "epoch": 1.7042160034179687e-07, "model_forward_time": 3.8291492462158203, "step": 1787 }, { "epoch": 1.7042160034179687e-07, "step": 1787, "training_step_time": 17.59834337234497 }, { "epoch": 1.705169677734375e-07, "model_forward_time": 5.054285049438477, "step": 1788 }, { "epoch": 1.705169677734375e-07, "step": 1788, "training_step_time": 17.611153602600098 }, { "epoch": 1.7061233520507813e-07, "model_forward_time": 5.070956707000732, "step": 1789 }, { "epoch": 1.7061233520507813e-07, "step": 1789, "training_step_time": 17.594568014144897 }, { "epoch": 1.7070770263671874e-07, "grad_norm": 2.092989206314087, "learning_rate": 5.111428571428572e-06, "loss": 0.1818, "step": 1790 }, { "epoch": 1.7070770263671874e-07, "model_forward_time": 5.271439790725708, "step": 1790 }, { "dynamics_loss_avg": 0.060934701934456825, "epoch": 1.7070770263671874e-07, "step": 1790 }, { "action_loss_avg": 0.1397718995809555, "epoch": 1.7070770263671874e-07, "step": 1790 }, { "arm_loss_avg": 0.25530472993850706, "epoch": 1.7070770263671874e-07, "step": 1790 }, { "ee_loss_avg": 0.27558937966823577, "epoch": 1.7070770263671874e-07, "step": 1790 }, { "aux_loss_avg": 0.0039862630947027355, "epoch": 1.7070770263671874e-07, "step": 1790 }, { "epoch": 1.7070770263671874e-07, "step": 1790, "training_step_time": 17.770267486572266 }, { "epoch": 1.7080307006835938e-07, "model_forward_time": 5.098401069641113, "step": 1791 }, { "epoch": 1.7080307006835938e-07, "step": 1791, "training_step_time": 17.590676307678223 }, { "epoch": 1.708984375e-07, "model_forward_time": 5.105500936508179, "step": 1792 }, { "epoch": 1.708984375e-07, "step": 1792, "training_step_time": 17.577468872070312 }, { "epoch": 1.709938049316406e-07, "model_forward_time": 5.099478244781494, "step": 1793 }, { "epoch": 1.709938049316406e-07, "step": 1793, "training_step_time": 17.635766744613647 }, { "epoch": 1.7108917236328125e-07, "model_forward_time": 5.096167325973511, "step": 1794 }, { "epoch": 1.7108917236328125e-07, "step": 1794, "training_step_time": 17.824114322662354 }, { "epoch": 1.7118453979492187e-07, "model_forward_time": 5.323394775390625, "step": 1795 }, { "epoch": 1.7118453979492187e-07, "step": 1795, "training_step_time": 17.401728630065918 }, { "epoch": 1.712799072265625e-07, "model_forward_time": 3.8518741130828857, "step": 1796 }, { "epoch": 1.712799072265625e-07, "step": 1796, "training_step_time": 17.52565598487854 }, { "epoch": 1.7137527465820312e-07, "model_forward_time": 5.054742336273193, "step": 1797 }, { "epoch": 1.7137527465820312e-07, "step": 1797, "training_step_time": 17.551525354385376 }, { "epoch": 1.7147064208984374e-07, "model_forward_time": 5.060709714889526, "step": 1798 }, { "epoch": 1.7147064208984374e-07, "step": 1798, "training_step_time": 17.584053993225098 }, { "epoch": 1.7156600952148438e-07, "model_forward_time": 5.0698676109313965, "step": 1799 }, { "epoch": 1.7156600952148438e-07, "step": 1799, "training_step_time": 17.600373029708862 }, { "epoch": 1.71661376953125e-07, "grad_norm": 2.740875005722046, "learning_rate": 5.140000000000001e-06, "loss": 0.1818, "step": 1800 }, { "epoch": 1.71661376953125e-07, "model_forward_time": 5.262887477874756, "step": 1800 }, { "dynamics_loss_avg": 0.036252896022051576, "epoch": 1.71661376953125e-07, "step": 1800 }, { "action_loss_avg": 0.16709527336061, "epoch": 1.71661376953125e-07, "step": 1800 }, { "arm_loss_avg": 0.30567497611045835, "epoch": 1.71661376953125e-07, "step": 1800 }, { "ee_loss_avg": 0.404277104139328, "epoch": 1.71661376953125e-07, "step": 1800 }, { "aux_loss_avg": 0.013475511281285435, "epoch": 1.71661376953125e-07, "step": 1800 }, { "epoch": 1.71661376953125e-07, "step": 1800, "training_step_time": 17.83345127105713 }, { "epoch": 1.7175674438476563e-07, "model_forward_time": 5.080331563949585, "step": 1801 }, { "epoch": 1.7175674438476563e-07, "step": 1801, "training_step_time": 17.594898462295532 }, { "epoch": 1.7185211181640625e-07, "model_forward_time": 3.8487625122070312, "step": 1802 }, { "epoch": 1.7185211181640625e-07, "step": 1802, "training_step_time": 17.59230923652649 }, { "epoch": 1.7194747924804686e-07, "model_forward_time": 5.056334018707275, "step": 1803 }, { "epoch": 1.7194747924804686e-07, "step": 1803, "training_step_time": 17.603761672973633 }, { "epoch": 1.720428466796875e-07, "model_forward_time": 5.067888259887695, "step": 1804 }, { "epoch": 1.720428466796875e-07, "step": 1804, "training_step_time": 17.59183359146118 }, { "epoch": 1.7213821411132812e-07, "model_forward_time": 5.3215718269348145, "step": 1805 }, { "epoch": 1.7213821411132812e-07, "step": 1805, "training_step_time": 17.689916372299194 }, { "epoch": 1.7223358154296876e-07, "model_forward_time": 3.8525619506835938, "step": 1806 }, { "epoch": 1.7223358154296876e-07, "step": 1806, "training_step_time": 17.528040885925293 }, { "epoch": 1.7232894897460937e-07, "model_forward_time": 5.063483715057373, "step": 1807 }, { "epoch": 1.7232894897460937e-07, "step": 1807, "training_step_time": 17.566246032714844 }, { "epoch": 1.7242431640625e-07, "model_forward_time": 5.076794147491455, "step": 1808 }, { "epoch": 1.7242431640625e-07, "step": 1808, "training_step_time": 17.598115921020508 }, { "epoch": 1.7251968383789063e-07, "model_forward_time": 5.08311653137207, "step": 1809 }, { "epoch": 1.7251968383789063e-07, "step": 1809, "training_step_time": 17.587631702423096 }, { "epoch": 1.7261505126953124e-07, "grad_norm": 2.3083693981170654, "learning_rate": 5.16857142857143e-06, "loss": 0.2013, "step": 1810 }, { "epoch": 1.7261505126953124e-07, "model_forward_time": 5.090989351272583, "step": 1810 }, { "dynamics_loss_avg": 0.06176159512251615, "epoch": 1.7261505126953124e-07, "step": 1810 }, { "action_loss_avg": 0.16218627914786338, "epoch": 1.7261505126953124e-07, "step": 1810 }, { "arm_loss_avg": 0.2200676456093788, "epoch": 1.7261505126953124e-07, "step": 1810 }, { "ee_loss_avg": 0.2819166876375675, "epoch": 1.7261505126953124e-07, "step": 1810 }, { "aux_loss_avg": 0.0046979831589851525, "epoch": 1.7261505126953124e-07, "step": 1810 }, { "epoch": 1.7261505126953124e-07, "step": 1810, "training_step_time": 17.820838689804077 }, { "epoch": 1.7271041870117189e-07, "model_forward_time": 5.091464281082153, "step": 1811 }, { "epoch": 1.7271041870117189e-07, "step": 1811, "training_step_time": 17.603023052215576 }, { "epoch": 1.728057861328125e-07, "model_forward_time": 5.095319509506226, "step": 1812 }, { "epoch": 1.728057861328125e-07, "step": 1812, "training_step_time": 17.602089405059814 }, { "epoch": 1.7290115356445311e-07, "model_forward_time": 3.856898307800293, "step": 1813 }, { "epoch": 1.7290115356445311e-07, "step": 1813, "training_step_time": 17.62247586250305 }, { "epoch": 1.7299652099609376e-07, "model_forward_time": 5.05740213394165, "step": 1814 }, { "epoch": 1.7299652099609376e-07, "step": 1814, "training_step_time": 17.609537601470947 }, { "epoch": 1.7309188842773437e-07, "model_forward_time": 5.066679239273071, "step": 1815 }, { "epoch": 1.7309188842773437e-07, "step": 1815, "training_step_time": 17.79615831375122 }, { "epoch": 1.73187255859375e-07, "model_forward_time": 5.077681064605713, "step": 1816 }, { "epoch": 1.73187255859375e-07, "step": 1816, "training_step_time": 17.594018697738647 }, { "epoch": 1.7328262329101563e-07, "model_forward_time": 5.077840805053711, "step": 1817 }, { "epoch": 1.7328262329101563e-07, "step": 1817, "training_step_time": 17.57896327972412 }, { "epoch": 1.7337799072265624e-07, "model_forward_time": 5.084149599075317, "step": 1818 }, { "epoch": 1.7337799072265624e-07, "step": 1818, "training_step_time": 17.570393562316895 }, { "epoch": 1.7347335815429688e-07, "model_forward_time": 5.088052272796631, "step": 1819 }, { "epoch": 1.7347335815429688e-07, "step": 1819, "training_step_time": 17.578762769699097 }, { "epoch": 1.735687255859375e-07, "grad_norm": 1.1653850078582764, "learning_rate": 5.197142857142857e-06, "loss": 0.1723, "step": 1820 }, { "epoch": 1.735687255859375e-07, "model_forward_time": 5.289013147354126, "step": 1820 }, { "dynamics_loss_avg": 0.05932552022859454, "epoch": 1.735687255859375e-07, "step": 1820 }, { "action_loss_avg": 0.12112482711672783, "epoch": 1.735687255859375e-07, "step": 1820 }, { "arm_loss_avg": 0.22960562109947205, "epoch": 1.735687255859375e-07, "step": 1820 }, { "ee_loss_avg": 0.2328408569097519, "epoch": 1.735687255859375e-07, "step": 1820 }, { "aux_loss_avg": 0.00789770598639734, "epoch": 1.735687255859375e-07, "step": 1820 }, { "epoch": 1.735687255859375e-07, "step": 1820, "training_step_time": 17.80901050567627 }, { "epoch": 1.7366409301757814e-07, "model_forward_time": 5.085713624954224, "step": 1821 }, { "epoch": 1.7366409301757814e-07, "step": 1821, "training_step_time": 17.43472456932068 }, { "epoch": 1.7375946044921875e-07, "model_forward_time": 5.083350658416748, "step": 1822 }, { "epoch": 1.7375946044921875e-07, "step": 1822, "training_step_time": 17.477499961853027 }, { "epoch": 1.7385482788085937e-07, "model_forward_time": 5.084011077880859, "step": 1823 }, { "epoch": 1.7385482788085937e-07, "step": 1823, "training_step_time": 17.534265518188477 }, { "epoch": 1.739501953125e-07, "model_forward_time": 5.079524040222168, "step": 1824 }, { "epoch": 1.739501953125e-07, "step": 1824, "training_step_time": 17.67454719543457 }, { "epoch": 1.7404556274414062e-07, "model_forward_time": 5.079804182052612, "step": 1825 }, { "epoch": 1.7404556274414062e-07, "step": 1825, "training_step_time": 17.783359050750732 }, { "epoch": 1.7414093017578126e-07, "model_forward_time": 5.073149681091309, "step": 1826 }, { "epoch": 1.7414093017578126e-07, "step": 1826, "training_step_time": 17.613012552261353 }, { "epoch": 1.7423629760742188e-07, "model_forward_time": 5.083089113235474, "step": 1827 }, { "epoch": 1.7423629760742188e-07, "step": 1827, "training_step_time": 17.63011384010315 }, { "epoch": 1.743316650390625e-07, "model_forward_time": 5.084189414978027, "step": 1828 }, { "epoch": 1.743316650390625e-07, "step": 1828, "training_step_time": 17.61885714530945 }, { "epoch": 1.7442703247070313e-07, "model_forward_time": 5.080940008163452, "step": 1829 }, { "epoch": 1.7442703247070313e-07, "step": 1829, "training_step_time": 17.837682962417603 }, { "epoch": 1.7452239990234375e-07, "grad_norm": 2.6892528533935547, "learning_rate": 5.225714285714286e-06, "loss": 0.2039, "step": 1830 }, { "epoch": 1.7452239990234375e-07, "model_forward_time": 5.273308515548706, "step": 1830 }, { "dynamics_loss_avg": 0.05360598918050528, "epoch": 1.7452239990234375e-07, "step": 1830 }, { "action_loss_avg": 0.17994523122906686, "epoch": 1.7452239990234375e-07, "step": 1830 }, { "arm_loss_avg": 0.29277808368206026, "epoch": 1.7452239990234375e-07, "step": 1830 }, { "ee_loss_avg": 0.2829296089708805, "epoch": 1.7452239990234375e-07, "step": 1830 }, { "aux_loss_avg": 0.014385740703437478, "epoch": 1.7452239990234375e-07, "step": 1830 }, { "epoch": 1.7452239990234375e-07, "step": 1830, "training_step_time": 17.617194175720215 }, { "epoch": 1.746177673339844e-07, "model_forward_time": 3.847168445587158, "step": 1831 }, { "epoch": 1.746177673339844e-07, "step": 1831, "training_step_time": 17.60482907295227 }, { "epoch": 1.74713134765625e-07, "model_forward_time": 3.8339426517486572, "step": 1832 }, { "epoch": 1.74713134765625e-07, "step": 1832, "training_step_time": 17.600629806518555 }, { "epoch": 1.7480850219726562e-07, "model_forward_time": 5.04709529876709, "step": 1833 }, { "epoch": 1.7480850219726562e-07, "step": 1833, "training_step_time": 17.597432136535645 }, { "epoch": 1.7490386962890626e-07, "model_forward_time": 5.063305616378784, "step": 1834 }, { "epoch": 1.7490386962890626e-07, "step": 1834, "training_step_time": 17.62979292869568 }, { "epoch": 1.7499923706054687e-07, "model_forward_time": 5.079174518585205, "step": 1835 }, { "epoch": 1.7499923706054687e-07, "step": 1835, "training_step_time": 17.47569704055786 }, { "epoch": 1.750946044921875e-07, "model_forward_time": 5.3345654010772705, "step": 1836 }, { "epoch": 1.750946044921875e-07, "step": 1836, "training_step_time": 17.515767097473145 }, { "epoch": 1.7518997192382813e-07, "model_forward_time": 5.100841283798218, "step": 1837 }, { "epoch": 1.7518997192382813e-07, "step": 1837, "training_step_time": 17.448107719421387 }, { "epoch": 1.7528533935546874e-07, "model_forward_time": 5.103807687759399, "step": 1838 }, { "epoch": 1.7528533935546874e-07, "step": 1838, "training_step_time": 17.476842880249023 }, { "epoch": 1.7538070678710938e-07, "model_forward_time": 5.097027540206909, "step": 1839 }, { "epoch": 1.7538070678710938e-07, "step": 1839, "training_step_time": 17.579992294311523 }, { "epoch": 1.7547607421875e-07, "grad_norm": 3.2472829818725586, "learning_rate": 5.254285714285715e-06, "loss": 0.1995, "step": 1840 }, { "epoch": 1.7547607421875e-07, "model_forward_time": 5.091216325759888, "step": 1840 }, { "dynamics_loss_avg": 0.052835066337138414, "epoch": 1.7547607421875e-07, "step": 1840 }, { "action_loss_avg": 0.16271128952503205, "epoch": 1.7547607421875e-07, "step": 1840 }, { "arm_loss_avg": 0.23829583525657655, "epoch": 1.7547607421875e-07, "step": 1840 }, { "ee_loss_avg": 0.3118472844362259, "epoch": 1.7547607421875e-07, "step": 1840 }, { "aux_loss_avg": 0.003959129092982039, "epoch": 1.7547607421875e-07, "step": 1840 }, { "epoch": 1.7547607421875e-07, "step": 1840, "training_step_time": 17.81648850440979 }, { "epoch": 1.7557144165039064e-07, "model_forward_time": 5.083382844924927, "step": 1841 }, { "epoch": 1.7557144165039064e-07, "step": 1841, "training_step_time": 17.605968952178955 }, { "epoch": 1.7566680908203125e-07, "model_forward_time": 5.079965591430664, "step": 1842 }, { "epoch": 1.7566680908203125e-07, "step": 1842, "training_step_time": 17.63024353981018 }, { "epoch": 1.7576217651367187e-07, "model_forward_time": 5.078946352005005, "step": 1843 }, { "epoch": 1.7576217651367187e-07, "step": 1843, "training_step_time": 17.637137174606323 }, { "epoch": 1.758575439453125e-07, "model_forward_time": 5.076105117797852, "step": 1844 }, { "epoch": 1.758575439453125e-07, "step": 1844, "training_step_time": 17.885924339294434 }, { "epoch": 1.7595291137695312e-07, "model_forward_time": 5.07699728012085, "step": 1845 }, { "epoch": 1.7595291137695312e-07, "step": 1845, "training_step_time": 17.408234357833862 }, { "epoch": 1.7604827880859374e-07, "model_forward_time": 5.083296060562134, "step": 1846 }, { "epoch": 1.7604827880859374e-07, "step": 1846, "training_step_time": 17.530489444732666 }, { "epoch": 1.7614364624023438e-07, "model_forward_time": 5.0856804847717285, "step": 1847 }, { "epoch": 1.7614364624023438e-07, "step": 1847, "training_step_time": 17.56537389755249 }, { "epoch": 1.76239013671875e-07, "model_forward_time": 5.082939147949219, "step": 1848 }, { "epoch": 1.76239013671875e-07, "step": 1848, "training_step_time": 17.583877563476562 }, { "epoch": 1.7633438110351563e-07, "model_forward_time": 5.082911014556885, "step": 1849 }, { "epoch": 1.7633438110351563e-07, "step": 1849, "training_step_time": 17.585872650146484 }, { "epoch": 1.7642974853515625e-07, "grad_norm": 2.377166271209717, "learning_rate": 5.282857142857143e-06, "loss": 0.1747, "step": 1850 }, { "epoch": 1.7642974853515625e-07, "model_forward_time": 5.083808183670044, "step": 1850 }, { "dynamics_loss_avg": 0.05680662449449301, "epoch": 1.7642974853515625e-07, "step": 1850 }, { "action_loss_avg": 0.1583374448120594, "epoch": 1.7642974853515625e-07, "step": 1850 }, { "arm_loss_avg": 0.25216306895017626, "epoch": 1.7642974853515625e-07, "step": 1850 }, { "ee_loss_avg": 0.34639031291007993, "epoch": 1.7642974853515625e-07, "step": 1850 }, { "aux_loss_avg": 0.0010891251266002655, "epoch": 1.7642974853515625e-07, "step": 1850 }, { "epoch": 1.7642974853515625e-07, "step": 1850, "training_step_time": 17.834553718566895 }, { "epoch": 1.7652511596679686e-07, "model_forward_time": 5.086704969406128, "step": 1851 }, { "epoch": 1.7652511596679686e-07, "step": 1851, "training_step_time": 17.595802307128906 }, { "epoch": 1.766204833984375e-07, "model_forward_time": 5.084165096282959, "step": 1852 }, { "epoch": 1.766204833984375e-07, "step": 1852, "training_step_time": 17.589571475982666 }, { "epoch": 1.7671585083007812e-07, "model_forward_time": 5.085490942001343, "step": 1853 }, { "epoch": 1.7671585083007812e-07, "step": 1853, "training_step_time": 17.58298420906067 }, { "epoch": 1.7681121826171876e-07, "model_forward_time": 5.083822965621948, "step": 1854 }, { "epoch": 1.7681121826171876e-07, "step": 1854, "training_step_time": 17.614561319351196 }, { "epoch": 1.7690658569335937e-07, "model_forward_time": 5.328735113143921, "step": 1855 }, { "epoch": 1.7690658569335937e-07, "step": 1855, "training_step_time": 17.76438879966736 }, { "epoch": 1.77001953125e-07, "model_forward_time": 5.100112199783325, "step": 1856 }, { "epoch": 1.77001953125e-07, "step": 1856, "training_step_time": 17.608927011489868 }, { "epoch": 1.7709732055664063e-07, "model_forward_time": 5.104659795761108, "step": 1857 }, { "epoch": 1.7709732055664063e-07, "step": 1857, "training_step_time": 17.47651720046997 }, { "epoch": 1.7719268798828124e-07, "model_forward_time": 5.108314037322998, "step": 1858 }, { "epoch": 1.7719268798828124e-07, "step": 1858, "training_step_time": 17.527970790863037 }, { "epoch": 1.7728805541992188e-07, "model_forward_time": 5.106356620788574, "step": 1859 }, { "epoch": 1.7728805541992188e-07, "step": 1859, "training_step_time": 17.685534715652466 }, { "epoch": 1.773834228515625e-07, "grad_norm": 3.2181928157806396, "learning_rate": 5.311428571428572e-06, "loss": 0.1708, "step": 1860 }, { "epoch": 1.773834228515625e-07, "model_forward_time": 5.301557302474976, "step": 1860 }, { "dynamics_loss_avg": 0.051580393221229315, "epoch": 1.773834228515625e-07, "step": 1860 }, { "action_loss_avg": 0.14021244198083876, "epoch": 1.773834228515625e-07, "step": 1860 }, { "arm_loss_avg": 0.2896440550684929, "epoch": 1.773834228515625e-07, "step": 1860 }, { "ee_loss_avg": 0.2440606601536274, "epoch": 1.773834228515625e-07, "step": 1860 }, { "aux_loss_avg": 0.007684297615196556, "epoch": 1.773834228515625e-07, "step": 1860 }, { "epoch": 1.773834228515625e-07, "step": 1860, "training_step_time": 17.830888509750366 }, { "epoch": 1.774787902832031e-07, "model_forward_time": 5.085989236831665, "step": 1861 }, { "epoch": 1.774787902832031e-07, "step": 1861, "training_step_time": 17.587674379348755 }, { "epoch": 1.7757415771484375e-07, "model_forward_time": 5.086318492889404, "step": 1862 }, { "epoch": 1.7757415771484375e-07, "step": 1862, "training_step_time": 17.233491897583008 }, { "epoch": 1.7766952514648437e-07, "model_forward_time": 5.089401483535767, "step": 1863 }, { "epoch": 1.7766952514648437e-07, "step": 1863, "training_step_time": 17.53472399711609 }, { "epoch": 1.77764892578125e-07, "model_forward_time": 5.086925268173218, "step": 1864 }, { "epoch": 1.77764892578125e-07, "step": 1864, "training_step_time": 17.595677852630615 }, { "epoch": 1.7786026000976562e-07, "model_forward_time": 5.084943056106567, "step": 1865 }, { "epoch": 1.7786026000976562e-07, "step": 1865, "training_step_time": 17.77766728401184 }, { "epoch": 1.7795562744140624e-07, "model_forward_time": 5.0865631103515625, "step": 1866 }, { "epoch": 1.7795562744140624e-07, "step": 1866, "training_step_time": 17.60826563835144 }, { "epoch": 1.7805099487304688e-07, "model_forward_time": 3.8492918014526367, "step": 1867 }, { "epoch": 1.7805099487304688e-07, "step": 1867, "training_step_time": 17.61501145362854 }, { "epoch": 1.781463623046875e-07, "model_forward_time": 5.053945302963257, "step": 1868 }, { "epoch": 1.781463623046875e-07, "step": 1868, "training_step_time": 17.618812561035156 }, { "epoch": 1.7824172973632814e-07, "model_forward_time": 5.069536924362183, "step": 1869 }, { "epoch": 1.7824172973632814e-07, "step": 1869, "training_step_time": 17.60871911048889 }, { "epoch": 1.7833709716796875e-07, "grad_norm": 2.628053665161133, "learning_rate": 5.3400000000000005e-06, "loss": 0.2199, "step": 1870 }, { "epoch": 1.7833709716796875e-07, "model_forward_time": 5.075917959213257, "step": 1870 }, { "dynamics_loss_avg": 0.05585236065089703, "epoch": 1.7833709716796875e-07, "step": 1870 }, { "action_loss_avg": 0.17179279625415803, "epoch": 1.7833709716796875e-07, "step": 1870 }, { "arm_loss_avg": 0.2526161909103394, "epoch": 1.7833709716796875e-07, "step": 1870 }, { "ee_loss_avg": 0.27196075543761256, "epoch": 1.7833709716796875e-07, "step": 1870 }, { "aux_loss_avg": 0.005083997035399079, "epoch": 1.7833709716796875e-07, "step": 1870 }, { "epoch": 1.7833709716796875e-07, "step": 1870, "training_step_time": 17.836724996566772 }, { "epoch": 1.7843246459960936e-07, "model_forward_time": 5.088492393493652, "step": 1871 }, { "epoch": 1.7843246459960936e-07, "step": 1871, "training_step_time": 17.611921548843384 }, { "epoch": 1.7852783203125e-07, "model_forward_time": 5.092400550842285, "step": 1872 }, { "epoch": 1.7852783203125e-07, "step": 1872, "training_step_time": 17.603365898132324 }, { "epoch": 1.7862319946289062e-07, "model_forward_time": 5.099005937576294, "step": 1873 }, { "epoch": 1.7862319946289062e-07, "step": 1873, "training_step_time": 17.618611574172974 }, { "epoch": 1.7871856689453126e-07, "model_forward_time": 3.8576319217681885, "step": 1874 }, { "epoch": 1.7871856689453126e-07, "step": 1874, "training_step_time": 17.587273836135864 }, { "epoch": 1.7881393432617188e-07, "model_forward_time": 5.065784454345703, "step": 1875 }, { "epoch": 1.7881393432617188e-07, "step": 1875, "training_step_time": 17.78834891319275 }, { "epoch": 1.789093017578125e-07, "model_forward_time": 5.0739586353302, "step": 1876 }, { "epoch": 1.789093017578125e-07, "step": 1876, "training_step_time": 17.58167600631714 }, { "epoch": 1.7900466918945313e-07, "model_forward_time": 5.081085681915283, "step": 1877 }, { "epoch": 1.7900466918945313e-07, "step": 1877, "training_step_time": 17.580342769622803 }, { "epoch": 1.7910003662109374e-07, "model_forward_time": 3.8529365062713623, "step": 1878 }, { "epoch": 1.7910003662109374e-07, "step": 1878, "training_step_time": 17.633312702178955 }, { "epoch": 1.7919540405273439e-07, "model_forward_time": 5.063304901123047, "step": 1879 }, { "epoch": 1.7919540405273439e-07, "step": 1879, "training_step_time": 17.60119366645813 }, { "epoch": 1.79290771484375e-07, "grad_norm": 2.4814302921295166, "learning_rate": 5.368571428571429e-06, "loss": 0.2259, "step": 1880 }, { "epoch": 1.79290771484375e-07, "model_forward_time": 5.077860355377197, "step": 1880 }, { "dynamics_loss_avg": 0.06695772223174572, "epoch": 1.79290771484375e-07, "step": 1880 }, { "action_loss_avg": 0.1803237073123455, "epoch": 1.79290771484375e-07, "step": 1880 }, { "arm_loss_avg": 0.2760652706027031, "epoch": 1.79290771484375e-07, "step": 1880 }, { "ee_loss_avg": 0.3267827659845352, "epoch": 1.79290771484375e-07, "step": 1880 }, { "aux_loss_avg": 0.0021474718931131067, "epoch": 1.79290771484375e-07, "step": 1880 }, { "epoch": 1.79290771484375e-07, "step": 1880, "training_step_time": 17.82814073562622 }, { "epoch": 1.7938613891601561e-07, "model_forward_time": 3.851475477218628, "step": 1881 }, { "epoch": 1.7938613891601561e-07, "step": 1881, "training_step_time": 17.58912467956543 }, { "epoch": 1.7948150634765626e-07, "model_forward_time": 3.8313608169555664, "step": 1882 }, { "epoch": 1.7948150634765626e-07, "step": 1882, "training_step_time": 17.591881275177002 }, { "epoch": 1.7957687377929687e-07, "model_forward_time": 5.055067539215088, "step": 1883 }, { "epoch": 1.7957687377929687e-07, "step": 1883, "training_step_time": 17.633907794952393 }, { "epoch": 1.796722412109375e-07, "model_forward_time": 5.072654724121094, "step": 1884 }, { "epoch": 1.796722412109375e-07, "step": 1884, "training_step_time": 17.83208394050598 }, { "epoch": 1.7976760864257813e-07, "model_forward_time": 5.090084075927734, "step": 1885 }, { "epoch": 1.7976760864257813e-07, "step": 1885, "training_step_time": 17.57724952697754 }, { "epoch": 1.7986297607421874e-07, "model_forward_time": 5.330413579940796, "step": 1886 }, { "epoch": 1.7986297607421874e-07, "step": 1886, "training_step_time": 17.578938484191895 }, { "epoch": 1.7995834350585938e-07, "model_forward_time": 5.108807563781738, "step": 1887 }, { "epoch": 1.7995834350585938e-07, "step": 1887, "training_step_time": 17.262842655181885 }, { "epoch": 1.800537109375e-07, "model_forward_time": 5.1056671142578125, "step": 1888 }, { "epoch": 1.800537109375e-07, "step": 1888, "training_step_time": 17.513057231903076 }, { "epoch": 1.8014907836914064e-07, "model_forward_time": 5.0996315479278564, "step": 1889 }, { "epoch": 1.8014907836914064e-07, "step": 1889, "training_step_time": 17.556337118148804 }, { "epoch": 1.8024444580078125e-07, "grad_norm": 3.186999559402466, "learning_rate": 5.3971428571428575e-06, "loss": 0.2213, "step": 1890 }, { "epoch": 1.8024444580078125e-07, "model_forward_time": 5.086760997772217, "step": 1890 }, { "dynamics_loss_avg": 0.04745207913219929, "epoch": 1.8024444580078125e-07, "step": 1890 }, { "action_loss_avg": 0.18284379690885544, "epoch": 1.8024444580078125e-07, "step": 1890 }, { "arm_loss_avg": 0.23684498369693757, "epoch": 1.8024444580078125e-07, "step": 1890 }, { "ee_loss_avg": 0.36515540555119513, "epoch": 1.8024444580078125e-07, "step": 1890 }, { "aux_loss_avg": 0.002188045543152839, "epoch": 1.8024444580078125e-07, "step": 1890 }, { "epoch": 1.8024444580078125e-07, "step": 1890, "training_step_time": 17.809066772460938 }, { "epoch": 1.8033981323242187e-07, "model_forward_time": 5.280776262283325, "step": 1891 }, { "epoch": 1.8033981323242187e-07, "step": 1891, "training_step_time": 17.579323768615723 }, { "epoch": 1.804351806640625e-07, "model_forward_time": 5.087076902389526, "step": 1892 }, { "epoch": 1.804351806640625e-07, "step": 1892, "training_step_time": 21.040015697479248 }, { "epoch": 1.8053054809570312e-07, "model_forward_time": 5.088265895843506, "step": 1893 }, { "epoch": 1.8053054809570312e-07, "step": 1893, "training_step_time": 17.55912208557129 }, { "epoch": 1.8062591552734376e-07, "model_forward_time": 5.079185962677002, "step": 1894 }, { "epoch": 1.8062591552734376e-07, "step": 1894, "training_step_time": 17.646199941635132 }, { "epoch": 1.8072128295898438e-07, "model_forward_time": 5.077564239501953, "step": 1895 }, { "epoch": 1.8072128295898438e-07, "step": 1895, "training_step_time": 17.789475202560425 }, { "epoch": 1.80816650390625e-07, "model_forward_time": 5.081898212432861, "step": 1896 }, { "epoch": 1.80816650390625e-07, "step": 1896, "training_step_time": 17.60318422317505 }, { "epoch": 1.8091201782226563e-07, "model_forward_time": 5.0893402099609375, "step": 1897 }, { "epoch": 1.8091201782226563e-07, "step": 1897, "training_step_time": 17.655845642089844 }, { "epoch": 1.8100738525390625e-07, "model_forward_time": 5.0992937088012695, "step": 1898 }, { "epoch": 1.8100738525390625e-07, "step": 1898, "training_step_time": 17.6450412273407 }, { "epoch": 1.811027526855469e-07, "model_forward_time": 5.103021621704102, "step": 1899 }, { "epoch": 1.811027526855469e-07, "step": 1899, "training_step_time": 17.653934955596924 }, { "epoch": 1.811981201171875e-07, "grad_norm": 3.3263769149780273, "learning_rate": 5.425714285714286e-06, "loss": 0.2248, "step": 1900 }, { "epoch": 1.811981201171875e-07, "model_forward_time": 5.310189485549927, "step": 1900 }, { "dynamics_loss_avg": 0.06532953381538391, "epoch": 1.811981201171875e-07, "step": 1900 }, { "action_loss_avg": 0.17422220818698406, "epoch": 1.811981201171875e-07, "step": 1900 }, { "arm_loss_avg": 0.27889470010995865, "epoch": 1.811981201171875e-07, "step": 1900 }, { "ee_loss_avg": 0.26732690185308455, "epoch": 1.811981201171875e-07, "step": 1900 }, { "aux_loss_avg": 0.006144613621290773, "epoch": 1.811981201171875e-07, "step": 1900 }, { "epoch": 1.811981201171875e-07, "step": 1900, "training_step_time": 17.39229702949524 }, { "epoch": 1.8129348754882812e-07, "model_forward_time": 5.095815181732178, "step": 1901 }, { "epoch": 1.8129348754882812e-07, "step": 1901, "training_step_time": 17.531248092651367 }, { "epoch": 1.8138885498046876e-07, "model_forward_time": 5.093300819396973, "step": 1902 }, { "epoch": 1.8138885498046876e-07, "step": 1902, "training_step_time": 17.571563482284546 }, { "epoch": 1.8148422241210937e-07, "model_forward_time": 5.088554620742798, "step": 1903 }, { "epoch": 1.8148422241210937e-07, "step": 1903, "training_step_time": 17.593088626861572 }, { "epoch": 1.8157958984375e-07, "model_forward_time": 5.086223363876343, "step": 1904 }, { "epoch": 1.8157958984375e-07, "step": 1904, "training_step_time": 17.6406466960907 }, { "epoch": 1.8167495727539063e-07, "model_forward_time": 5.085734844207764, "step": 1905 }, { "epoch": 1.8167495727539063e-07, "step": 1905, "training_step_time": 17.81260371208191 }, { "epoch": 1.8177032470703124e-07, "model_forward_time": 5.095183610916138, "step": 1906 }, { "epoch": 1.8177032470703124e-07, "step": 1906, "training_step_time": 17.62263560295105 }, { "epoch": 1.8186569213867188e-07, "model_forward_time": 5.08648419380188, "step": 1907 }, { "epoch": 1.8186569213867188e-07, "step": 1907, "training_step_time": 17.623637199401855 }, { "epoch": 1.819610595703125e-07, "model_forward_time": 5.088425159454346, "step": 1908 }, { "epoch": 1.819610595703125e-07, "step": 1908, "training_step_time": 17.62189245223999 }, { "epoch": 1.820564270019531e-07, "model_forward_time": 5.084120988845825, "step": 1909 }, { "epoch": 1.820564270019531e-07, "step": 1909, "training_step_time": 17.82393193244934 }, { "epoch": 1.8215179443359375e-07, "grad_norm": 2.699979782104492, "learning_rate": 5.4542857142857145e-06, "loss": 0.2113, "step": 1910 }, { "epoch": 1.8215179443359375e-07, "model_forward_time": 5.277338266372681, "step": 1910 }, { "dynamics_loss_avg": 0.05031079957261682, "epoch": 1.8215179443359375e-07, "step": 1910 }, { "action_loss_avg": 0.14834805503487586, "epoch": 1.8215179443359375e-07, "step": 1910 }, { "arm_loss_avg": 0.24377523958683014, "epoch": 1.8215179443359375e-07, "step": 1910 }, { "ee_loss_avg": 0.28749410063028336, "epoch": 1.8215179443359375e-07, "step": 1910 }, { "aux_loss_avg": 0.02490107743651606, "epoch": 1.8215179443359375e-07, "step": 1910 }, { "epoch": 1.8215179443359375e-07, "step": 1910, "training_step_time": 17.609235048294067 }, { "epoch": 1.8224716186523437e-07, "model_forward_time": 3.8513100147247314, "step": 1911 }, { "epoch": 1.8224716186523437e-07, "step": 1911, "training_step_time": 17.610501289367676 }, { "epoch": 1.82342529296875e-07, "model_forward_time": 5.063175439834595, "step": 1912 }, { "epoch": 1.82342529296875e-07, "step": 1912, "training_step_time": 17.6000497341156 }, { "epoch": 1.8243789672851562e-07, "model_forward_time": 5.069389343261719, "step": 1913 }, { "epoch": 1.8243789672851562e-07, "step": 1913, "training_step_time": 17.598082780838013 }, { "epoch": 1.8253326416015624e-07, "model_forward_time": 5.084384918212891, "step": 1914 }, { "epoch": 1.8253326416015624e-07, "step": 1914, "training_step_time": 17.784579277038574 }, { "epoch": 1.8262863159179688e-07, "model_forward_time": 3.8514225482940674, "step": 1915 }, { "epoch": 1.8262863159179688e-07, "step": 1915, "training_step_time": 17.378377437591553 }, { "epoch": 1.827239990234375e-07, "model_forward_time": 5.298429250717163, "step": 1916 }, { "epoch": 1.827239990234375e-07, "step": 1916, "training_step_time": 17.383261919021606 }, { "epoch": 1.8281936645507813e-07, "model_forward_time": 5.081831932067871, "step": 1917 }, { "epoch": 1.8281936645507813e-07, "step": 1917, "training_step_time": 17.44931387901306 }, { "epoch": 1.8291473388671875e-07, "model_forward_time": 5.092024326324463, "step": 1918 }, { "epoch": 1.8291473388671875e-07, "step": 1918, "training_step_time": 17.292448043823242 }, { "epoch": 1.8301010131835936e-07, "model_forward_time": 5.101454496383667, "step": 1919 }, { "epoch": 1.8301010131835936e-07, "step": 1919, "training_step_time": 17.5201575756073 }, { "epoch": 1.8310546875e-07, "grad_norm": 2.1737430095672607, "learning_rate": 5.482857142857143e-06, "loss": 0.2055, "step": 1920 }, { "epoch": 1.8310546875e-07, "model_forward_time": 5.10020112991333, "step": 1920 }, { "dynamics_loss_avg": 0.055029592104256154, "epoch": 1.8310546875e-07, "step": 1920 }, { "action_loss_avg": 0.17174830175936223, "epoch": 1.8310546875e-07, "step": 1920 }, { "arm_loss_avg": 0.24935113936662673, "epoch": 1.8310546875e-07, "step": 1920 }, { "ee_loss_avg": 0.23674750253558158, "epoch": 1.8310546875e-07, "step": 1920 }, { "aux_loss_avg": 0.005650995648466051, "epoch": 1.8310546875e-07, "step": 1920 }, { "epoch": 1.8310546875e-07, "step": 1920, "training_step_time": 17.772600412368774 }, { "epoch": 1.8320083618164062e-07, "model_forward_time": 5.1003265380859375, "step": 1921 }, { "epoch": 1.8320083618164062e-07, "step": 1921, "training_step_time": 17.585877180099487 }, { "epoch": 1.8329620361328126e-07, "model_forward_time": 5.097488641738892, "step": 1922 }, { "epoch": 1.8329620361328126e-07, "step": 1922, "training_step_time": 17.611746788024902 }, { "epoch": 1.8339157104492187e-07, "model_forward_time": 5.091323137283325, "step": 1923 }, { "epoch": 1.8339157104492187e-07, "step": 1923, "training_step_time": 17.64870309829712 }, { "epoch": 1.834869384765625e-07, "model_forward_time": 5.090033531188965, "step": 1924 }, { "epoch": 1.834869384765625e-07, "step": 1924, "training_step_time": 17.655319213867188 }, { "epoch": 1.8358230590820313e-07, "model_forward_time": 5.081765413284302, "step": 1925 }, { "epoch": 1.8358230590820313e-07, "step": 1925, "training_step_time": 17.848320245742798 }, { "epoch": 1.8367767333984374e-07, "model_forward_time": 5.079965353012085, "step": 1926 }, { "epoch": 1.8367767333984374e-07, "step": 1926, "training_step_time": 17.641295909881592 }, { "epoch": 1.8377304077148438e-07, "model_forward_time": 5.082064867019653, "step": 1927 }, { "epoch": 1.8377304077148438e-07, "step": 1927, "training_step_time": 17.629137992858887 }, { "epoch": 1.83868408203125e-07, "model_forward_time": 5.082100868225098, "step": 1928 }, { "epoch": 1.83868408203125e-07, "step": 1928, "training_step_time": 17.61693000793457 }, { "epoch": 1.8396377563476561e-07, "model_forward_time": 5.08463716506958, "step": 1929 }, { "epoch": 1.8396377563476561e-07, "step": 1929, "training_step_time": 17.822022676467896 }, { "epoch": 1.8405914306640625e-07, "grad_norm": 3.271333694458008, "learning_rate": 5.511428571428572e-06, "loss": 0.184, "step": 1930 }, { "epoch": 1.8405914306640625e-07, "model_forward_time": 5.081456184387207, "step": 1930 }, { "dynamics_loss_avg": 0.05804107766598463, "epoch": 1.8405914306640625e-07, "step": 1930 }, { "action_loss_avg": 0.16508630737662316, "epoch": 1.8405914306640625e-07, "step": 1930 }, { "arm_loss_avg": 0.28890308290719985, "epoch": 1.8405914306640625e-07, "step": 1930 }, { "ee_loss_avg": 0.2921891860663891, "epoch": 1.8405914306640625e-07, "step": 1930 }, { "aux_loss_avg": 0.0037818783312104642, "epoch": 1.8405914306640625e-07, "step": 1930 }, { "epoch": 1.8405914306640625e-07, "step": 1930, "training_step_time": 17.58992576599121 }, { "epoch": 1.8415451049804687e-07, "model_forward_time": 5.086024522781372, "step": 1931 }, { "epoch": 1.8415451049804687e-07, "step": 1931, "training_step_time": 17.57731533050537 }, { "epoch": 1.842498779296875e-07, "model_forward_time": 5.0832202434539795, "step": 1932 }, { "epoch": 1.842498779296875e-07, "step": 1932, "training_step_time": 17.562565803527832 }, { "epoch": 1.8434524536132812e-07, "model_forward_time": 3.8520090579986572, "step": 1933 }, { "epoch": 1.8434524536132812e-07, "step": 1933, "training_step_time": 17.57662606239319 }, { "epoch": 1.8444061279296874e-07, "model_forward_time": 5.051265716552734, "step": 1934 }, { "epoch": 1.8444061279296874e-07, "step": 1934, "training_step_time": 17.779995679855347 }, { "epoch": 1.8453598022460938e-07, "model_forward_time": 5.061840295791626, "step": 1935 }, { "epoch": 1.8453598022460938e-07, "step": 1935, "training_step_time": 17.57576870918274 }, { "epoch": 1.8463134765625e-07, "model_forward_time": 5.0779101848602295, "step": 1936 }, { "epoch": 1.8463134765625e-07, "step": 1936, "training_step_time": 17.56547474861145 }, { "epoch": 1.8472671508789064e-07, "model_forward_time": 3.850257396697998, "step": 1937 }, { "epoch": 1.8472671508789064e-07, "step": 1937, "training_step_time": 17.47054886817932 }, { "epoch": 1.8482208251953125e-07, "model_forward_time": 5.062870502471924, "step": 1938 }, { "epoch": 1.8482208251953125e-07, "step": 1938, "training_step_time": 17.488887548446655 }, { "epoch": 1.8491744995117186e-07, "model_forward_time": 5.076930999755859, "step": 1939 }, { "epoch": 1.8491744995117186e-07, "step": 1939, "training_step_time": 17.78410840034485 }, { "epoch": 1.850128173828125e-07, "grad_norm": 4.303323268890381, "learning_rate": 5.540000000000001e-06, "loss": 0.204, "step": 1940 }, { "epoch": 1.850128173828125e-07, "model_forward_time": 5.0827882289886475, "step": 1940 }, { "dynamics_loss_avg": 0.05506650488823652, "epoch": 1.850128173828125e-07, "step": 1940 }, { "action_loss_avg": 0.15172142013907433, "epoch": 1.850128173828125e-07, "step": 1940 }, { "arm_loss_avg": 0.2845498323440552, "epoch": 1.850128173828125e-07, "step": 1940 }, { "ee_loss_avg": 0.39831840693950654, "epoch": 1.850128173828125e-07, "step": 1940 }, { "aux_loss_avg": 0.02529485858976841, "epoch": 1.850128173828125e-07, "step": 1940 }, { "epoch": 1.850128173828125e-07, "step": 1940, "training_step_time": 17.55471134185791 }, { "epoch": 1.8510818481445312e-07, "model_forward_time": 5.095573902130127, "step": 1941 }, { "epoch": 1.8510818481445312e-07, "step": 1941, "training_step_time": 17.583972930908203 }, { "epoch": 1.8520355224609376e-07, "model_forward_time": 5.099261045455933, "step": 1942 }, { "epoch": 1.8520355224609376e-07, "step": 1942, "training_step_time": 17.597285985946655 }, { "epoch": 1.8529891967773438e-07, "model_forward_time": 5.098919630050659, "step": 1943 }, { "epoch": 1.8529891967773438e-07, "step": 1943, "training_step_time": 17.616897344589233 }, { "epoch": 1.85394287109375e-07, "model_forward_time": 5.097750663757324, "step": 1944 }, { "epoch": 1.85394287109375e-07, "step": 1944, "training_step_time": 17.838881492614746 }, { "epoch": 1.8548965454101563e-07, "model_forward_time": 5.090301752090454, "step": 1945 }, { "epoch": 1.8548965454101563e-07, "step": 1945, "training_step_time": 17.614248037338257 }, { "epoch": 1.8558502197265625e-07, "model_forward_time": 5.090778112411499, "step": 1946 }, { "epoch": 1.8558502197265625e-07, "step": 1946, "training_step_time": 17.625096559524536 }, { "epoch": 1.8568038940429689e-07, "model_forward_time": 5.084014892578125, "step": 1947 }, { "epoch": 1.8568038940429689e-07, "step": 1947, "training_step_time": 17.617809772491455 }, { "epoch": 1.857757568359375e-07, "model_forward_time": 3.850037097930908, "step": 1948 }, { "epoch": 1.857757568359375e-07, "step": 1948, "training_step_time": 17.607695817947388 }, { "epoch": 1.8587112426757812e-07, "model_forward_time": 5.067931890487671, "step": 1949 }, { "epoch": 1.8587112426757812e-07, "step": 1949, "training_step_time": 17.615313291549683 }, { "epoch": 1.8596649169921876e-07, "grad_norm": 2.0221707820892334, "learning_rate": 5.568571428571428e-06, "loss": 0.1749, "step": 1950 }, { "epoch": 1.8596649169921876e-07, "model_forward_time": 5.067410230636597, "step": 1950 }, { "dynamics_loss_avg": 0.04744392652064562, "epoch": 1.8596649169921876e-07, "step": 1950 }, { "action_loss_avg": 0.13512192964553832, "epoch": 1.8596649169921876e-07, "step": 1950 }, { "arm_loss_avg": 0.2591029167175293, "epoch": 1.8596649169921876e-07, "step": 1950 }, { "ee_loss_avg": 0.2685290202498436, "epoch": 1.8596649169921876e-07, "step": 1950 }, { "aux_loss_avg": 0.017700147727737203, "epoch": 1.8596649169921876e-07, "step": 1950 }, { "epoch": 1.8596649169921876e-07, "step": 1950, "training_step_time": 17.7361900806427 }, { "epoch": 1.8606185913085937e-07, "model_forward_time": 5.265812635421753, "step": 1951 }, { "epoch": 1.8606185913085937e-07, "step": 1951, "training_step_time": 17.545562982559204 }, { "epoch": 1.861572265625e-07, "model_forward_time": 5.085001468658447, "step": 1952 }, { "epoch": 1.861572265625e-07, "step": 1952, "training_step_time": 17.562017917633057 }, { "epoch": 1.8625259399414063e-07, "model_forward_time": 5.089202642440796, "step": 1953 }, { "epoch": 1.8625259399414063e-07, "step": 1953, "training_step_time": 17.627136945724487 }, { "epoch": 1.8634796142578124e-07, "model_forward_time": 5.095964670181274, "step": 1954 }, { "epoch": 1.8634796142578124e-07, "step": 1954, "training_step_time": 17.8267080783844 }, { "epoch": 1.8644332885742188e-07, "model_forward_time": 5.090667963027954, "step": 1955 }, { "epoch": 1.8644332885742188e-07, "step": 1955, "training_step_time": 17.60334610939026 }, { "epoch": 1.865386962890625e-07, "model_forward_time": 5.090764045715332, "step": 1956 }, { "epoch": 1.865386962890625e-07, "step": 1956, "training_step_time": 17.611608505249023 }, { "epoch": 1.8663406372070314e-07, "model_forward_time": 3.855100393295288, "step": 1957 }, { "epoch": 1.8663406372070314e-07, "step": 1957, "training_step_time": 17.605510711669922 }, { "epoch": 1.8672943115234375e-07, "model_forward_time": 5.062366247177124, "step": 1958 }, { "epoch": 1.8672943115234375e-07, "step": 1958, "training_step_time": 17.610872507095337 }, { "epoch": 1.8682479858398437e-07, "model_forward_time": 5.072603940963745, "step": 1959 }, { "epoch": 1.8682479858398437e-07, "step": 1959, "training_step_time": 17.83561420440674 }, { "epoch": 1.86920166015625e-07, "grad_norm": 2.8141608238220215, "learning_rate": 5.597142857142857e-06, "loss": 0.2412, "step": 1960 }, { "epoch": 1.86920166015625e-07, "model_forward_time": 5.075409650802612, "step": 1960 }, { "dynamics_loss_avg": 0.08210995942354202, "epoch": 1.86920166015625e-07, "step": 1960 }, { "action_loss_avg": 0.17590953260660172, "epoch": 1.86920166015625e-07, "step": 1960 }, { "arm_loss_avg": 0.22462955862283707, "epoch": 1.86920166015625e-07, "step": 1960 }, { "ee_loss_avg": 0.19701039418578148, "epoch": 1.86920166015625e-07, "step": 1960 }, { "aux_loss_avg": 0.003440706367837265, "epoch": 1.86920166015625e-07, "step": 1960 }, { "epoch": 1.86920166015625e-07, "step": 1960, "training_step_time": 17.583720207214355 }, { "epoch": 1.8701553344726562e-07, "model_forward_time": 5.317241668701172, "step": 1961 }, { "epoch": 1.8701553344726562e-07, "step": 1961, "training_step_time": 17.579015016555786 }, { "epoch": 1.8711090087890626e-07, "model_forward_time": 5.0934062004089355, "step": 1962 }, { "epoch": 1.8711090087890626e-07, "step": 1962, "training_step_time": 17.577394723892212 }, { "epoch": 1.8720626831054688e-07, "model_forward_time": 5.097277402877808, "step": 1963 }, { "epoch": 1.8720626831054688e-07, "step": 1963, "training_step_time": 17.62343120574951 }, { "epoch": 1.873016357421875e-07, "model_forward_time": 5.095147371292114, "step": 1964 }, { "epoch": 1.873016357421875e-07, "step": 1964, "training_step_time": 17.79456114768982 }, { "epoch": 1.8739700317382813e-07, "model_forward_time": 5.089824676513672, "step": 1965 }, { "epoch": 1.8739700317382813e-07, "step": 1965, "training_step_time": 17.578080415725708 }, { "epoch": 1.8749237060546875e-07, "model_forward_time": 5.08891749382019, "step": 1966 }, { "epoch": 1.8749237060546875e-07, "step": 1966, "training_step_time": 17.57801866531372 }, { "epoch": 1.875877380371094e-07, "model_forward_time": 5.08784556388855, "step": 1967 }, { "epoch": 1.875877380371094e-07, "step": 1967, "training_step_time": 17.585585117340088 }, { "epoch": 1.8768310546875e-07, "model_forward_time": 5.0821146965026855, "step": 1968 }, { "epoch": 1.8768310546875e-07, "step": 1968, "training_step_time": 17.623900175094604 }, { "epoch": 1.8777847290039062e-07, "model_forward_time": 5.084760665893555, "step": 1969 }, { "epoch": 1.8777847290039062e-07, "step": 1969, "training_step_time": 17.39457130432129 }, { "epoch": 1.8787384033203126e-07, "grad_norm": 2.948326349258423, "learning_rate": 5.625714285714286e-06, "loss": 0.1985, "step": 1970 }, { "epoch": 1.8787384033203126e-07, "model_forward_time": 5.083601951599121, "step": 1970 }, { "dynamics_loss_avg": 0.04499277919530868, "epoch": 1.8787384033203126e-07, "step": 1970 }, { "action_loss_avg": 0.15411683917045593, "epoch": 1.8787384033203126e-07, "step": 1970 }, { "arm_loss_avg": 0.23191382437944413, "epoch": 1.8787384033203126e-07, "step": 1970 }, { "ee_loss_avg": 0.2804443068802357, "epoch": 1.8787384033203126e-07, "step": 1970 }, { "aux_loss_avg": 0.0010106729110702871, "epoch": 1.8787384033203126e-07, "step": 1970 }, { "epoch": 1.8787384033203126e-07, "step": 1970, "training_step_time": 17.721667289733887 }, { "epoch": 1.8796920776367187e-07, "model_forward_time": 5.083993911743164, "step": 1971 }, { "epoch": 1.8796920776367187e-07, "step": 1971, "training_step_time": 17.54350185394287 }, { "epoch": 1.880645751953125e-07, "model_forward_time": 5.08139705657959, "step": 1972 }, { "epoch": 1.880645751953125e-07, "step": 1972, "training_step_time": 17.422239065170288 }, { "epoch": 1.8815994262695313e-07, "model_forward_time": 5.085817575454712, "step": 1973 }, { "epoch": 1.8815994262695313e-07, "step": 1973, "training_step_time": 17.487823247909546 }, { "epoch": 1.8825531005859374e-07, "model_forward_time": 5.084796190261841, "step": 1974 }, { "epoch": 1.8825531005859374e-07, "step": 1974, "training_step_time": 17.189929723739624 }, { "epoch": 1.8835067749023438e-07, "model_forward_time": 5.325980186462402, "step": 1975 }, { "epoch": 1.8835067749023438e-07, "step": 1975, "training_step_time": 17.672950983047485 }, { "epoch": 1.88446044921875e-07, "model_forward_time": 5.081200361251831, "step": 1976 }, { "epoch": 1.88446044921875e-07, "step": 1976, "training_step_time": 17.557199954986572 }, { "epoch": 1.885414123535156e-07, "model_forward_time": 5.095435619354248, "step": 1977 }, { "epoch": 1.885414123535156e-07, "step": 1977, "training_step_time": 17.602830171585083 }, { "epoch": 1.8863677978515625e-07, "model_forward_time": 5.1014533042907715, "step": 1978 }, { "epoch": 1.8863677978515625e-07, "step": 1978, "training_step_time": 17.630292892456055 }, { "epoch": 1.8873214721679687e-07, "model_forward_time": 5.100904941558838, "step": 1979 }, { "epoch": 1.8873214721679687e-07, "step": 1979, "training_step_time": 17.635265588760376 }, { "epoch": 1.888275146484375e-07, "grad_norm": 3.104639768600464, "learning_rate": 5.654285714285714e-06, "loss": 0.1924, "step": 1980 }, { "epoch": 1.888275146484375e-07, "model_forward_time": 5.343091249465942, "step": 1980 }, { "dynamics_loss_avg": 0.04459368782117963, "epoch": 1.888275146484375e-07, "step": 1980 }, { "action_loss_avg": 0.17261447980999947, "epoch": 1.888275146484375e-07, "step": 1980 }, { "arm_loss_avg": 0.2615665063261986, "epoch": 1.888275146484375e-07, "step": 1980 }, { "ee_loss_avg": 0.3206943079829216, "epoch": 1.888275146484375e-07, "step": 1980 }, { "aux_loss_avg": 0.008234236238058657, "epoch": 1.888275146484375e-07, "step": 1980 }, { "epoch": 1.888275146484375e-07, "step": 1980, "training_step_time": 17.887431621551514 }, { "epoch": 1.8892288208007812e-07, "model_forward_time": 5.0865700244903564, "step": 1981 }, { "epoch": 1.8892288208007812e-07, "step": 1981, "training_step_time": 17.409423351287842 }, { "epoch": 1.8901824951171874e-07, "model_forward_time": 5.085346698760986, "step": 1982 }, { "epoch": 1.8901824951171874e-07, "step": 1982, "training_step_time": 17.526955604553223 }, { "epoch": 1.8911361694335938e-07, "model_forward_time": 5.088836669921875, "step": 1983 }, { "epoch": 1.8911361694335938e-07, "step": 1983, "training_step_time": 17.572702646255493 }, { "epoch": 1.89208984375e-07, "model_forward_time": 5.090369462966919, "step": 1984 }, { "epoch": 1.89208984375e-07, "step": 1984, "training_step_time": 17.643324613571167 }, { "epoch": 1.8930435180664063e-07, "model_forward_time": 5.088347673416138, "step": 1985 }, { "epoch": 1.8930435180664063e-07, "step": 1985, "training_step_time": 17.412014961242676 }, { "epoch": 1.8939971923828125e-07, "model_forward_time": 5.092068672180176, "step": 1986 }, { "epoch": 1.8939971923828125e-07, "step": 1986, "training_step_time": 17.52237606048584 }, { "epoch": 1.8949508666992186e-07, "model_forward_time": 5.087514638900757, "step": 1987 }, { "epoch": 1.8949508666992186e-07, "step": 1987, "training_step_time": 17.577261924743652 }, { "epoch": 1.895904541015625e-07, "model_forward_time": 5.08927321434021, "step": 1988 }, { "epoch": 1.895904541015625e-07, "step": 1988, "training_step_time": 17.585870504379272 }, { "epoch": 1.8968582153320312e-07, "model_forward_time": 5.086198568344116, "step": 1989 }, { "epoch": 1.8968582153320312e-07, "step": 1989, "training_step_time": 17.60630202293396 }, { "epoch": 1.8978118896484376e-07, "grad_norm": 3.60148024559021, "learning_rate": 5.682857142857143e-06, "loss": 0.1992, "step": 1990 }, { "epoch": 1.8978118896484376e-07, "model_forward_time": 5.294377565383911, "step": 1990 }, { "dynamics_loss_avg": 0.05007091071456671, "epoch": 1.8978118896484376e-07, "step": 1990 }, { "action_loss_avg": 0.1464417427778244, "epoch": 1.8978118896484376e-07, "step": 1990 }, { "arm_loss_avg": 0.2066307283937931, "epoch": 1.8978118896484376e-07, "step": 1990 }, { "ee_loss_avg": 0.28016212284564973, "epoch": 1.8978118896484376e-07, "step": 1990 }, { "aux_loss_avg": 0.0022804869164247065, "epoch": 1.8978118896484376e-07, "step": 1990 }, { "epoch": 1.8978118896484376e-07, "step": 1990, "training_step_time": 17.84569025039673 }, { "epoch": 1.8987655639648437e-07, "model_forward_time": 3.850816249847412, "step": 1991 }, { "epoch": 1.8987655639648437e-07, "step": 1991, "training_step_time": 17.609729290008545 }, { "epoch": 1.89971923828125e-07, "model_forward_time": 5.052830457687378, "step": 1992 }, { "epoch": 1.89971923828125e-07, "step": 1992, "training_step_time": 17.60708785057068 }, { "epoch": 1.9006729125976563e-07, "model_forward_time": 5.068485498428345, "step": 1993 }, { "epoch": 1.9006729125976563e-07, "step": 1993, "training_step_time": 17.30707025527954 }, { "epoch": 1.9016265869140624e-07, "model_forward_time": 5.0787034034729, "step": 1994 }, { "epoch": 1.9016265869140624e-07, "step": 1994, "training_step_time": 17.57879638671875 }, { "epoch": 1.9025802612304689e-07, "model_forward_time": 5.089810848236084, "step": 1995 }, { "epoch": 1.9025802612304689e-07, "step": 1995, "training_step_time": 17.70646905899048 }, { "epoch": 1.903533935546875e-07, "model_forward_time": 5.342695236206055, "step": 1996 }, { "epoch": 1.903533935546875e-07, "step": 1996, "training_step_time": 17.570342779159546 }, { "epoch": 1.9044876098632811e-07, "model_forward_time": 5.126450300216675, "step": 1997 }, { "epoch": 1.9044876098632811e-07, "step": 1997, "training_step_time": 17.583784341812134 }, { "epoch": 1.9054412841796876e-07, "model_forward_time": 5.12235426902771, "step": 1998 }, { "epoch": 1.9054412841796876e-07, "step": 1998, "training_step_time": 17.601916313171387 }, { "epoch": 1.9063949584960937e-07, "model_forward_time": 5.120216608047485, "step": 1999 }, { "epoch": 1.9063949584960937e-07, "step": 1999, "training_step_time": 17.618019342422485 }, { "epoch": 1.9073486328125e-07, "grad_norm": 2.7440831661224365, "learning_rate": 5.711428571428572e-06, "loss": 0.1998, "step": 2000 }, { "epoch": 1.9073486328125e-07, "model_forward_time": 5.323085308074951, "step": 2000 }, { "dynamics_loss_avg": 0.046121353097259996, "epoch": 1.9073486328125e-07, "step": 2000 }, { "action_loss_avg": 0.1349454777315259, "epoch": 1.9073486328125e-07, "step": 2000 }, { "arm_loss_avg": 0.158241712115705, "epoch": 1.9073486328125e-07, "step": 2000 }, { "ee_loss_avg": 0.17902520783245562, "epoch": 1.9073486328125e-07, "step": 2000 }, { "aux_loss_avg": 0.01101934686594177, "epoch": 1.9073486328125e-07, "step": 2000 }, { "epoch": 1.9073486328125e-07, "step": 2000, "training_step_time": 17.827553510665894 }, { "epoch": 1.9083023071289063e-07, "model_forward_time": 5.090847015380859, "step": 2001 }, { "epoch": 1.9083023071289063e-07, "step": 2001, "training_step_time": 17.59913420677185 }, { "epoch": 1.9092559814453124e-07, "model_forward_time": 5.084304571151733, "step": 2002 }, { "epoch": 1.9092559814453124e-07, "step": 2002, "training_step_time": 17.58113694190979 }, { "epoch": 1.9102096557617188e-07, "model_forward_time": 5.087787389755249, "step": 2003 }, { "epoch": 1.9102096557617188e-07, "step": 2003, "training_step_time": 17.58143162727356 }, { "epoch": 1.911163330078125e-07, "model_forward_time": 5.085995197296143, "step": 2004 }, { "epoch": 1.911163330078125e-07, "step": 2004, "training_step_time": 17.584465503692627 }, { "epoch": 1.9121170043945314e-07, "model_forward_time": 5.0855491161346436, "step": 2005 }, { "epoch": 1.9121170043945314e-07, "step": 2005, "training_step_time": 17.754355430603027 }, { "epoch": 1.9130706787109375e-07, "model_forward_time": 5.0834221839904785, "step": 2006 }, { "epoch": 1.9130706787109375e-07, "step": 2006, "training_step_time": 17.562523365020752 }, { "epoch": 1.9140243530273437e-07, "model_forward_time": 3.8497836589813232, "step": 2007 }, { "epoch": 1.9140243530273437e-07, "step": 2007, "training_step_time": 17.553213119506836 }, { "epoch": 1.91497802734375e-07, "model_forward_time": 5.062924385070801, "step": 2008 }, { "epoch": 1.91497802734375e-07, "step": 2008, "training_step_time": 17.555705070495605 }, { "epoch": 1.9159317016601562e-07, "model_forward_time": 5.068991184234619, "step": 2009 }, { "epoch": 1.9159317016601562e-07, "step": 2009, "training_step_time": 17.57740616798401 }, { "epoch": 1.9168853759765626e-07, "grad_norm": 2.8512513637542725, "learning_rate": 5.74e-06, "loss": 0.2338, "step": 2010 }, { "epoch": 1.9168853759765626e-07, "model_forward_time": 5.080948114395142, "step": 2010 }, { "dynamics_loss_avg": 0.06350222444161772, "epoch": 1.9168853759765626e-07, "step": 2010 }, { "action_loss_avg": 0.19791166740469635, "epoch": 1.9168853759765626e-07, "step": 2010 }, { "arm_loss_avg": 0.30624875049106776, "epoch": 1.9168853759765626e-07, "step": 2010 }, { "ee_loss_avg": 0.2598578169941902, "epoch": 1.9168853759765626e-07, "step": 2010 }, { "aux_loss_avg": 0.006637612832128071, "epoch": 1.9168853759765626e-07, "step": 2010 }, { "epoch": 1.9168853759765626e-07, "step": 2010, "training_step_time": 17.775080680847168 }, { "epoch": 1.9178390502929688e-07, "model_forward_time": 5.091152191162109, "step": 2011 }, { "epoch": 1.9178390502929688e-07, "step": 2011, "training_step_time": 17.547801733016968 }, { "epoch": 1.918792724609375e-07, "model_forward_time": 5.094192266464233, "step": 2012 }, { "epoch": 1.918792724609375e-07, "step": 2012, "training_step_time": 17.552037000656128 }, { "epoch": 1.9197463989257813e-07, "model_forward_time": 5.10134220123291, "step": 2013 }, { "epoch": 1.9197463989257813e-07, "step": 2013, "training_step_time": 17.552846431732178 }, { "epoch": 1.9207000732421875e-07, "model_forward_time": 5.097629547119141, "step": 2014 }, { "epoch": 1.9207000732421875e-07, "step": 2014, "training_step_time": 17.64586353302002 }, { "epoch": 1.921653747558594e-07, "model_forward_time": 5.364591121673584, "step": 2015 }, { "epoch": 1.921653747558594e-07, "step": 2015, "training_step_time": 17.709964752197266 }, { "epoch": 1.922607421875e-07, "model_forward_time": 5.09874153137207, "step": 2016 }, { "epoch": 1.922607421875e-07, "step": 2016, "training_step_time": 17.533954620361328 }, { "epoch": 1.9235610961914062e-07, "model_forward_time": 5.098669767379761, "step": 2017 }, { "epoch": 1.9235610961914062e-07, "step": 2017, "training_step_time": 17.559926986694336 }, { "epoch": 1.9245147705078126e-07, "model_forward_time": 5.094483852386475, "step": 2018 }, { "epoch": 1.9245147705078126e-07, "step": 2018, "training_step_time": 17.592069149017334 }, { "epoch": 1.9254684448242187e-07, "model_forward_time": 5.093850135803223, "step": 2019 }, { "epoch": 1.9254684448242187e-07, "step": 2019, "training_step_time": 17.618096113204956 }, { "epoch": 1.926422119140625e-07, "grad_norm": 2.993976354598999, "learning_rate": 5.768571428571429e-06, "loss": 0.205, "step": 2020 }, { "epoch": 1.926422119140625e-07, "model_forward_time": 5.2927422523498535, "step": 2020 }, { "dynamics_loss_avg": 0.05506251007318497, "epoch": 1.926422119140625e-07, "step": 2020 }, { "action_loss_avg": 0.17059751600027084, "epoch": 1.926422119140625e-07, "step": 2020 }, { "arm_loss_avg": 0.2360154306748882, "epoch": 1.926422119140625e-07, "step": 2020 }, { "ee_loss_avg": 0.2133901346474886, "epoch": 1.926422119140625e-07, "step": 2020 }, { "aux_loss_avg": 0.0015520239248871803, "epoch": 1.926422119140625e-07, "step": 2020 }, { "epoch": 1.926422119140625e-07, "step": 2020, "training_step_time": 17.857115268707275 }, { "epoch": 1.9273757934570313e-07, "model_forward_time": 5.087662935256958, "step": 2021 }, { "epoch": 1.9273757934570313e-07, "step": 2021, "training_step_time": 17.621870040893555 }, { "epoch": 1.9283294677734374e-07, "model_forward_time": 5.082593202590942, "step": 2022 }, { "epoch": 1.9283294677734374e-07, "step": 2022, "training_step_time": 17.614647388458252 }, { "epoch": 1.9292831420898438e-07, "model_forward_time": 5.085149526596069, "step": 2023 }, { "epoch": 1.9292831420898438e-07, "step": 2023, "training_step_time": 17.60480308532715 }, { "epoch": 1.93023681640625e-07, "model_forward_time": 5.085947036743164, "step": 2024 }, { "epoch": 1.93023681640625e-07, "step": 2024, "training_step_time": 17.59883713722229 }, { "epoch": 1.9311904907226564e-07, "model_forward_time": 5.089597225189209, "step": 2025 }, { "epoch": 1.9311904907226564e-07, "step": 2025, "training_step_time": 17.782453060150146 }, { "epoch": 1.9321441650390625e-07, "model_forward_time": 5.085997581481934, "step": 2026 }, { "epoch": 1.9321441650390625e-07, "step": 2026, "training_step_time": 17.584782361984253 }, { "epoch": 1.9330978393554687e-07, "model_forward_time": 5.08468222618103, "step": 2027 }, { "epoch": 1.9330978393554687e-07, "step": 2027, "training_step_time": 17.584413766860962 }, { "epoch": 1.934051513671875e-07, "model_forward_time": 5.084887266159058, "step": 2028 }, { "epoch": 1.934051513671875e-07, "step": 2028, "training_step_time": 17.563185691833496 }, { "epoch": 1.9350051879882812e-07, "model_forward_time": 5.088183879852295, "step": 2029 }, { "epoch": 1.9350051879882812e-07, "step": 2029, "training_step_time": 17.60055136680603 }, { "epoch": 1.9359588623046876e-07, "grad_norm": 1.7357019186019897, "learning_rate": 5.797142857142858e-06, "loss": 0.2213, "step": 2030 }, { "epoch": 1.9359588623046876e-07, "model_forward_time": 5.284245491027832, "step": 2030 }, { "dynamics_loss_avg": 0.060981318913400175, "epoch": 1.9359588623046876e-07, "step": 2030 }, { "action_loss_avg": 0.21094986274838448, "epoch": 1.9359588623046876e-07, "step": 2030 }, { "arm_loss_avg": 0.2882157077547163, "epoch": 1.9359588623046876e-07, "step": 2030 }, { "ee_loss_avg": 0.1890861473977566, "epoch": 1.9359588623046876e-07, "step": 2030 }, { "aux_loss_avg": 0.002214188379002735, "epoch": 1.9359588623046876e-07, "step": 2030 }, { "epoch": 1.9359588623046876e-07, "step": 2030, "training_step_time": 17.416935920715332 }, { "epoch": 1.9369125366210938e-07, "model_forward_time": 5.092269420623779, "step": 2031 }, { "epoch": 1.9369125366210938e-07, "step": 2031, "training_step_time": 17.476860761642456 }, { "epoch": 1.9378662109375e-07, "model_forward_time": 5.089644432067871, "step": 2032 }, { "epoch": 1.9378662109375e-07, "step": 2032, "training_step_time": 17.524354696273804 }, { "epoch": 1.9388198852539063e-07, "model_forward_time": 5.086762428283691, "step": 2033 }, { "epoch": 1.9388198852539063e-07, "step": 2033, "training_step_time": 17.55384087562561 }, { "epoch": 1.9397735595703125e-07, "model_forward_time": 5.086148262023926, "step": 2034 }, { "epoch": 1.9397735595703125e-07, "step": 2034, "training_step_time": 17.56548500061035 }, { "epoch": 1.9407272338867186e-07, "model_forward_time": 5.336209058761597, "step": 2035 }, { "epoch": 1.9407272338867186e-07, "step": 2035, "training_step_time": 17.50183367729187 }, { "epoch": 1.941680908203125e-07, "model_forward_time": 5.087146997451782, "step": 2036 }, { "epoch": 1.941680908203125e-07, "step": 2036, "training_step_time": 17.737510204315186 }, { "epoch": 1.9426345825195312e-07, "model_forward_time": 5.0882415771484375, "step": 2037 }, { "epoch": 1.9426345825195312e-07, "step": 2037, "training_step_time": 17.604817628860474 }, { "epoch": 1.9435882568359376e-07, "model_forward_time": 5.095949649810791, "step": 2038 }, { "epoch": 1.9435882568359376e-07, "step": 2038, "training_step_time": 17.63149118423462 }, { "epoch": 1.9445419311523437e-07, "model_forward_time": 5.088913202285767, "step": 2039 }, { "epoch": 1.9445419311523437e-07, "step": 2039, "training_step_time": 17.644701957702637 }, { "epoch": 1.94549560546875e-07, "grad_norm": 2.438037157058716, "learning_rate": 5.825714285714286e-06, "loss": 0.1759, "step": 2040 }, { "epoch": 1.94549560546875e-07, "model_forward_time": 5.316052198410034, "step": 2040 }, { "dynamics_loss_avg": 0.045390527974814174, "epoch": 1.94549560546875e-07, "step": 2040 }, { "action_loss_avg": 0.12054296303540468, "epoch": 1.94549560546875e-07, "step": 2040 }, { "arm_loss_avg": 0.16758443596772848, "epoch": 1.94549560546875e-07, "step": 2040 }, { "ee_loss_avg": 0.19586369898170233, "epoch": 1.94549560546875e-07, "step": 2040 }, { "aux_loss_avg": 0.001926855879719369, "epoch": 1.94549560546875e-07, "step": 2040 }, { "epoch": 1.94549560546875e-07, "step": 2040, "training_step_time": 17.432217597961426 }, { "epoch": 1.9464492797851563e-07, "model_forward_time": 5.091185092926025, "step": 2041 }, { "epoch": 1.9464492797851563e-07, "step": 2041, "training_step_time": 17.78437852859497 }, { "epoch": 1.9474029541015624e-07, "model_forward_time": 5.086017608642578, "step": 2042 }, { "epoch": 1.9474029541015624e-07, "step": 2042, "training_step_time": 17.5867760181427 }, { "epoch": 1.9483566284179688e-07, "model_forward_time": 3.8519084453582764, "step": 2043 }, { "epoch": 1.9483566284179688e-07, "step": 2043, "training_step_time": 17.598920583724976 }, { "epoch": 1.949310302734375e-07, "model_forward_time": 3.8241865634918213, "step": 2044 }, { "epoch": 1.949310302734375e-07, "step": 2044, "training_step_time": 17.62059473991394 }, { "epoch": 1.950263977050781e-07, "model_forward_time": 3.8198304176330566, "step": 2045 }, { "epoch": 1.950263977050781e-07, "step": 2045, "training_step_time": 17.837504386901855 }, { "epoch": 1.9512176513671875e-07, "model_forward_time": 3.996852159500122, "step": 2046 }, { "epoch": 1.9512176513671875e-07, "step": 2046, "training_step_time": 17.592287063598633 }, { "epoch": 1.9521713256835937e-07, "model_forward_time": 5.045497179031372, "step": 2047 }, { "epoch": 1.9521713256835937e-07, "step": 2047, "training_step_time": 17.497254371643066 }, { "epoch": 1.953125e-07, "model_forward_time": 5.068101167678833, "step": 2048 }, { "epoch": 1.953125e-07, "step": 2048, "training_step_time": 17.583571195602417 }, { "epoch": 1.9540786743164062e-07, "model_forward_time": 5.0870325565338135, "step": 2049 }, { "epoch": 1.9540786743164062e-07, "step": 2049, "training_step_time": 17.58331799507141 }, { "epoch": 1.9550323486328124e-07, "grad_norm": 2.5701489448547363, "learning_rate": 5.854285714285715e-06, "loss": 0.2136, "step": 2050 }, { "epoch": 1.9550323486328124e-07, "model_forward_time": 5.104116916656494, "step": 2050 }, { "dynamics_loss_avg": 0.05190611779689789, "epoch": 1.9550323486328124e-07, "step": 2050 }, { "action_loss_avg": 0.13843305953778326, "epoch": 1.9550323486328124e-07, "step": 2050 }, { "arm_loss_avg": 0.21958316192030908, "epoch": 1.9550323486328124e-07, "step": 2050 }, { "ee_loss_avg": 0.2719640746712685, "epoch": 1.9550323486328124e-07, "step": 2050 }, { "aux_loss_avg": 0.006830430758418516, "epoch": 1.9550323486328124e-07, "step": 2050 }, { "epoch": 1.9550323486328124e-07, "step": 2050, "training_step_time": 17.805992126464844 }, { "epoch": 1.9559860229492188e-07, "model_forward_time": 4.0702972412109375, "step": 2051 }, { "epoch": 1.9559860229492188e-07, "step": 2051, "training_step_time": 17.27163004875183 }, { "epoch": 1.956939697265625e-07, "model_forward_time": 5.073360919952393, "step": 2052 }, { "epoch": 1.956939697265625e-07, "step": 2052, "training_step_time": 17.494956254959106 }, { "epoch": 1.9578933715820313e-07, "model_forward_time": 5.080490350723267, "step": 2053 }, { "epoch": 1.9578933715820313e-07, "step": 2053, "training_step_time": 17.54085612297058 }, { "epoch": 1.9588470458984375e-07, "model_forward_time": 5.085581302642822, "step": 2054 }, { "epoch": 1.9588470458984375e-07, "step": 2054, "training_step_time": 17.594541311264038 }, { "epoch": 1.9598007202148436e-07, "model_forward_time": 5.08673620223999, "step": 2055 }, { "epoch": 1.9598007202148436e-07, "step": 2055, "training_step_time": 17.5884370803833 }, { "epoch": 1.96075439453125e-07, "model_forward_time": 4.091432332992554, "step": 2056 }, { "epoch": 1.96075439453125e-07, "step": 2056, "training_step_time": 17.796427011489868 }, { "epoch": 1.9617080688476562e-07, "model_forward_time": 5.0605645179748535, "step": 2057 }, { "epoch": 1.9617080688476562e-07, "step": 2057, "training_step_time": 17.561633110046387 }, { "epoch": 1.9626617431640626e-07, "model_forward_time": 5.0704896450042725, "step": 2058 }, { "epoch": 1.9626617431640626e-07, "step": 2058, "training_step_time": 17.60971474647522 }, { "epoch": 1.9636154174804687e-07, "model_forward_time": 5.07998514175415, "step": 2059 }, { "epoch": 1.9636154174804687e-07, "step": 2059, "training_step_time": 17.608312368392944 }, { "epoch": 1.964569091796875e-07, "grad_norm": 3.053535223007202, "learning_rate": 5.882857142857144e-06, "loss": 0.1922, "step": 2060 }, { "epoch": 1.964569091796875e-07, "model_forward_time": 5.084898948669434, "step": 2060 }, { "dynamics_loss_avg": 0.04667169591411948, "epoch": 1.964569091796875e-07, "step": 2060 }, { "action_loss_avg": 0.13661947539076208, "epoch": 1.964569091796875e-07, "step": 2060 }, { "arm_loss_avg": 0.18985050518531352, "epoch": 1.964569091796875e-07, "step": 2060 }, { "ee_loss_avg": 0.29131661877036097, "epoch": 1.964569091796875e-07, "step": 2060 }, { "aux_loss_avg": 0.001647164492169395, "epoch": 1.964569091796875e-07, "step": 2060 }, { "epoch": 1.964569091796875e-07, "step": 2060, "training_step_time": 17.823714017868042 }, { "epoch": 1.9655227661132813e-07, "model_forward_time": 5.283086776733398, "step": 2061 }, { "epoch": 1.9655227661132813e-07, "step": 2061, "training_step_time": 17.599355459213257 }, { "epoch": 1.9664764404296874e-07, "model_forward_time": 5.100329399108887, "step": 2062 }, { "epoch": 1.9664764404296874e-07, "step": 2062, "training_step_time": 17.594008445739746 }, { "epoch": 1.9674301147460939e-07, "model_forward_time": 5.099560737609863, "step": 2063 }, { "epoch": 1.9674301147460939e-07, "step": 2063, "training_step_time": 17.591010332107544 }, { "epoch": 1.9683837890625e-07, "model_forward_time": 5.097640037536621, "step": 2064 }, { "epoch": 1.9683837890625e-07, "step": 2064, "training_step_time": 17.592670917510986 }, { "epoch": 1.9693374633789061e-07, "model_forward_time": 5.096405982971191, "step": 2065 }, { "epoch": 1.9693374633789061e-07, "step": 2065, "training_step_time": 17.78813910484314 }, { "epoch": 1.9702911376953126e-07, "model_forward_time": 5.34623384475708, "step": 2066 }, { "epoch": 1.9702911376953126e-07, "step": 2066, "training_step_time": 17.575040817260742 }, { "epoch": 1.9712448120117187e-07, "model_forward_time": 5.0902392864227295, "step": 2067 }, { "epoch": 1.9712448120117187e-07, "step": 2067, "training_step_time": 17.57253623008728 }, { "epoch": 1.972198486328125e-07, "model_forward_time": 5.084475755691528, "step": 2068 }, { "epoch": 1.972198486328125e-07, "step": 2068, "training_step_time": 17.40254545211792 }, { "epoch": 1.9731521606445313e-07, "model_forward_time": 5.085782289505005, "step": 2069 }, { "epoch": 1.9731521606445313e-07, "step": 2069, "training_step_time": 17.594865560531616 }, { "epoch": 1.9741058349609374e-07, "grad_norm": 1.8752355575561523, "learning_rate": 5.911428571428573e-06, "loss": 0.1786, "step": 2070 }, { "epoch": 1.9741058349609374e-07, "model_forward_time": 5.087038278579712, "step": 2070 }, { "dynamics_loss_avg": 0.0437752852216363, "epoch": 1.9741058349609374e-07, "step": 2070 }, { "action_loss_avg": 0.08505650083534419, "epoch": 1.9741058349609374e-07, "step": 2070 }, { "arm_loss_avg": 0.1297226468101144, "epoch": 1.9741058349609374e-07, "step": 2070 }, { "ee_loss_avg": 0.23250655382871627, "epoch": 1.9741058349609374e-07, "step": 2070 }, { "aux_loss_avg": 0.007464019086910412, "epoch": 1.9741058349609374e-07, "step": 2070 }, { "epoch": 1.9741058349609374e-07, "step": 2070, "training_step_time": 17.220561027526855 }, { "epoch": 1.9750595092773438e-07, "model_forward_time": 5.274529695510864, "step": 2071 }, { "epoch": 1.9750595092773438e-07, "step": 2071, "training_step_time": 17.703907012939453 }, { "epoch": 1.97601318359375e-07, "model_forward_time": 5.085163116455078, "step": 2072 }, { "epoch": 1.97601318359375e-07, "step": 2072, "training_step_time": 17.529979705810547 }, { "epoch": 1.9769668579101564e-07, "model_forward_time": 5.088943958282471, "step": 2073 }, { "epoch": 1.9769668579101564e-07, "step": 2073, "training_step_time": 17.55951762199402 }, { "epoch": 1.9779205322265625e-07, "model_forward_time": 5.0854833126068115, "step": 2074 }, { "epoch": 1.9779205322265625e-07, "step": 2074, "training_step_time": 17.601177215576172 }, { "epoch": 1.9788742065429687e-07, "model_forward_time": 5.084992408752441, "step": 2075 }, { "epoch": 1.9788742065429687e-07, "step": 2075, "training_step_time": 17.400551795959473 }, { "epoch": 1.979827880859375e-07, "model_forward_time": 4.072874546051025, "step": 2076 }, { "epoch": 1.979827880859375e-07, "step": 2076, "training_step_time": 17.70172142982483 }, { "epoch": 1.9807815551757812e-07, "model_forward_time": 5.065935134887695, "step": 2077 }, { "epoch": 1.9807815551757812e-07, "step": 2077, "training_step_time": 17.5834379196167 }, { "epoch": 1.9817352294921876e-07, "model_forward_time": 5.071280002593994, "step": 2078 }, { "epoch": 1.9817352294921876e-07, "step": 2078, "training_step_time": 17.59501338005066 }, { "epoch": 1.9826889038085938e-07, "model_forward_time": 5.079498052597046, "step": 2079 }, { "epoch": 1.9826889038085938e-07, "step": 2079, "training_step_time": 17.615753889083862 }, { "epoch": 1.983642578125e-07, "grad_norm": 2.6210508346557617, "learning_rate": 5.94e-06, "loss": 0.2129, "step": 2080 }, { "epoch": 1.983642578125e-07, "model_forward_time": 5.088117599487305, "step": 2080 }, { "dynamics_loss_avg": 0.056103294529020784, "epoch": 1.983642578125e-07, "step": 2080 }, { "action_loss_avg": 0.17152222278527915, "epoch": 1.983642578125e-07, "step": 2080 }, { "arm_loss_avg": 0.26284809729550035, "epoch": 1.983642578125e-07, "step": 2080 }, { "ee_loss_avg": 0.2642506634816527, "epoch": 1.983642578125e-07, "step": 2080 }, { "aux_loss_avg": 0.008685652501299046, "epoch": 1.983642578125e-07, "step": 2080 }, { "epoch": 1.983642578125e-07, "step": 2080, "training_step_time": 17.61495590209961 }, { "epoch": 1.9845962524414063e-07, "model_forward_time": 5.283164024353027, "step": 2081 }, { "epoch": 1.9845962524414063e-07, "step": 2081, "training_step_time": 17.412898540496826 }, { "epoch": 1.9855499267578125e-07, "model_forward_time": 5.102584362030029, "step": 2082 }, { "epoch": 1.9855499267578125e-07, "step": 2082, "training_step_time": 17.536128997802734 }, { "epoch": 1.986503601074219e-07, "model_forward_time": 5.104249000549316, "step": 2083 }, { "epoch": 1.986503601074219e-07, "step": 2083, "training_step_time": 17.56762981414795 }, { "epoch": 1.987457275390625e-07, "model_forward_time": 5.0983827114105225, "step": 2084 }, { "epoch": 1.987457275390625e-07, "step": 2084, "training_step_time": 17.60314416885376 }, { "epoch": 1.9884109497070312e-07, "model_forward_time": 5.098218202590942, "step": 2085 }, { "epoch": 1.9884109497070312e-07, "step": 2085, "training_step_time": 17.610552310943604 }, { "epoch": 1.9893646240234376e-07, "model_forward_time": 5.3288633823394775, "step": 2086 }, { "epoch": 1.9893646240234376e-07, "step": 2086, "training_step_time": 17.789475202560425 }, { "epoch": 1.9903182983398437e-07, "model_forward_time": 5.0924553871154785, "step": 2087 }, { "epoch": 1.9903182983398437e-07, "step": 2087, "training_step_time": 17.613485097885132 }, { "epoch": 1.99127197265625e-07, "model_forward_time": 3.8536689281463623, "step": 2088 }, { "epoch": 1.99127197265625e-07, "step": 2088, "training_step_time": 17.467071056365967 }, { "epoch": 1.9922256469726563e-07, "model_forward_time": 5.065542936325073, "step": 2089 }, { "epoch": 1.9922256469726563e-07, "step": 2089, "training_step_time": 17.505956172943115 }, { "epoch": 1.9931793212890624e-07, "grad_norm": 3.815227746963501, "learning_rate": 5.968571428571429e-06, "loss": 0.2361, "step": 2090 }, { "epoch": 1.9931793212890624e-07, "model_forward_time": 5.068286895751953, "step": 2090 }, { "dynamics_loss_avg": 0.0594595193862915, "epoch": 1.9931793212890624e-07, "step": 2090 }, { "action_loss_avg": 0.17779685156419872, "epoch": 1.9931793212890624e-07, "step": 2090 }, { "arm_loss_avg": 0.22384701436385512, "epoch": 1.9931793212890624e-07, "step": 2090 }, { "ee_loss_avg": 0.25577854849398135, "epoch": 1.9931793212890624e-07, "step": 2090 }, { "aux_loss_avg": 0.0013265463581774383, "epoch": 1.9931793212890624e-07, "step": 2090 }, { "epoch": 1.9931793212890624e-07, "step": 2090, "training_step_time": 17.539628982543945 }, { "epoch": 1.9941329956054688e-07, "model_forward_time": 5.075477838516235, "step": 2091 }, { "epoch": 1.9941329956054688e-07, "step": 2091, "training_step_time": 17.791011810302734 }, { "epoch": 1.995086669921875e-07, "model_forward_time": 5.079434394836426, "step": 2092 }, { "epoch": 1.995086669921875e-07, "step": 2092, "training_step_time": 17.5620014667511 }, { "epoch": 1.9960403442382814e-07, "model_forward_time": 5.0916907787323, "step": 2093 }, { "epoch": 1.9960403442382814e-07, "step": 2093, "training_step_time": 17.571205139160156 }, { "epoch": 1.9969940185546875e-07, "model_forward_time": 5.094592809677124, "step": 2094 }, { "epoch": 1.9969940185546875e-07, "step": 2094, "training_step_time": 17.63120746612549 }, { "epoch": 1.9979476928710937e-07, "model_forward_time": 5.096636533737183, "step": 2095 }, { "epoch": 1.9979476928710937e-07, "step": 2095, "training_step_time": 17.589914083480835 }, { "epoch": 1.9989013671875e-07, "model_forward_time": 5.094340562820435, "step": 2096 }, { "epoch": 1.9989013671875e-07, "step": 2096, "training_step_time": 17.787973403930664 }, { "epoch": 1.9998550415039062e-07, "model_forward_time": 3.863063335418701, "step": 2097 }, { "epoch": 1.9998550415039062e-07, "step": 2097, "training_step_time": 17.613003730773926 }, { "epoch": 2.0008087158203124e-07, "model_forward_time": 5.082389831542969, "step": 2098 }, { "epoch": 2.0008087158203124e-07, "step": 2098, "training_step_time": 17.619253396987915 }, { "epoch": 2.0017623901367188e-07, "model_forward_time": 5.07846999168396, "step": 2099 }, { "epoch": 2.0017623901367188e-07, "step": 2099, "training_step_time": 17.63701105117798 }, { "epoch": 2.002716064453125e-07, "grad_norm": 1.939133882522583, "learning_rate": 5.997142857142858e-06, "loss": 0.18, "step": 2100 }, { "epoch": 2.002716064453125e-07, "model_forward_time": 5.093299627304077, "step": 2100 }, { "dynamics_loss_avg": 0.0473480636253953, "epoch": 2.002716064453125e-07, "step": 2100 }, { "action_loss_avg": 0.1464964745566249, "epoch": 2.002716064453125e-07, "step": 2100 }, { "arm_loss_avg": 0.1915302248671651, "epoch": 2.002716064453125e-07, "step": 2100 }, { "ee_loss_avg": 0.26292411983013153, "epoch": 2.002716064453125e-07, "step": 2100 }, { "aux_loss_avg": 0.00854575039120391, "epoch": 2.002716064453125e-07, "step": 2100 }, { "epoch": 2.002716064453125e-07, "step": 2100, "training_step_time": 17.843956470489502 }, { "epoch": 2.0036697387695313e-07, "model_forward_time": 5.087474346160889, "step": 2101 }, { "epoch": 2.0036697387695313e-07, "step": 2101, "training_step_time": 17.584916353225708 }, { "epoch": 2.0046234130859375e-07, "model_forward_time": 5.097335577011108, "step": 2102 }, { "epoch": 2.0046234130859375e-07, "step": 2102, "training_step_time": 17.603636264801025 }, { "epoch": 2.0055770874023436e-07, "model_forward_time": 5.0945985317230225, "step": 2103 }, { "epoch": 2.0055770874023436e-07, "step": 2103, "training_step_time": 17.582200527191162 }, { "epoch": 2.00653076171875e-07, "model_forward_time": 5.098221063613892, "step": 2104 }, { "epoch": 2.00653076171875e-07, "step": 2104, "training_step_time": 17.615877628326416 }, { "epoch": 2.0074844360351562e-07, "model_forward_time": 5.094561576843262, "step": 2105 }, { "epoch": 2.0074844360351562e-07, "step": 2105, "training_step_time": 17.776122331619263 }, { "epoch": 2.0084381103515626e-07, "model_forward_time": 5.0930562019348145, "step": 2106 }, { "epoch": 2.0084381103515626e-07, "step": 2106, "training_step_time": 17.58384871482849 }, { "epoch": 2.0093917846679687e-07, "model_forward_time": 5.097487449645996, "step": 2107 }, { "epoch": 2.0093917846679687e-07, "step": 2107, "training_step_time": 17.57976007461548 }, { "epoch": 2.010345458984375e-07, "model_forward_time": 5.097370862960815, "step": 2108 }, { "epoch": 2.010345458984375e-07, "step": 2108, "training_step_time": 17.57850933074951 }, { "epoch": 2.0112991333007813e-07, "model_forward_time": 5.090008974075317, "step": 2109 }, { "epoch": 2.0112991333007813e-07, "step": 2109, "training_step_time": 17.576794385910034 }, { "epoch": 2.0122528076171874e-07, "grad_norm": 2.194504499435425, "learning_rate": 6.025714285714286e-06, "loss": 0.2041, "step": 2110 }, { "epoch": 2.0122528076171874e-07, "model_forward_time": 5.089277029037476, "step": 2110 }, { "dynamics_loss_avg": 0.05866821594536305, "epoch": 2.0122528076171874e-07, "step": 2110 }, { "action_loss_avg": 0.16431777807883918, "epoch": 2.0122528076171874e-07, "step": 2110 }, { "arm_loss_avg": 0.20721487433183938, "epoch": 2.0122528076171874e-07, "step": 2110 }, { "ee_loss_avg": 0.2349980711005628, "epoch": 2.0122528076171874e-07, "step": 2110 }, { "aux_loss_avg": 0.006700700096553191, "epoch": 2.0122528076171874e-07, "step": 2110 }, { "epoch": 2.0122528076171874e-07, "step": 2110, "training_step_time": 17.789029359817505 }, { "epoch": 2.0132064819335938e-07, "model_forward_time": 3.8477835655212402, "step": 2111 }, { "epoch": 2.0132064819335938e-07, "step": 2111, "training_step_time": 17.568809032440186 }, { "epoch": 2.01416015625e-07, "model_forward_time": 5.259310007095337, "step": 2112 }, { "epoch": 2.01416015625e-07, "step": 2112, "training_step_time": 17.332319021224976 }, { "epoch": 2.0151138305664061e-07, "model_forward_time": 5.067975282669067, "step": 2113 }, { "epoch": 2.0151138305664061e-07, "step": 2113, "training_step_time": 17.369428873062134 }, { "epoch": 2.0160675048828125e-07, "model_forward_time": 5.083081245422363, "step": 2114 }, { "epoch": 2.0160675048828125e-07, "step": 2114, "training_step_time": 17.621010303497314 }, { "epoch": 2.0170211791992187e-07, "model_forward_time": 5.087660312652588, "step": 2115 }, { "epoch": 2.0170211791992187e-07, "step": 2115, "training_step_time": 17.50172448158264 }, { "epoch": 2.017974853515625e-07, "model_forward_time": 5.092720985412598, "step": 2116 }, { "epoch": 2.017974853515625e-07, "step": 2116, "training_step_time": 17.74194860458374 }, { "epoch": 2.0189285278320312e-07, "model_forward_time": 3.8608267307281494, "step": 2117 }, { "epoch": 2.0189285278320312e-07, "step": 2117, "training_step_time": 17.57621455192566 }, { "epoch": 2.0198822021484374e-07, "model_forward_time": 5.06572699546814, "step": 2118 }, { "epoch": 2.0198822021484374e-07, "step": 2118, "training_step_time": 17.626863479614258 }, { "epoch": 2.0208358764648438e-07, "model_forward_time": 5.083918333053589, "step": 2119 }, { "epoch": 2.0208358764648438e-07, "step": 2119, "training_step_time": 17.622283697128296 }, { "epoch": 2.02178955078125e-07, "grad_norm": 2.587860584259033, "learning_rate": 6.054285714285715e-06, "loss": 0.1876, "step": 2120 }, { "epoch": 2.02178955078125e-07, "model_forward_time": 5.085418224334717, "step": 2120 }, { "dynamics_loss_avg": 0.056187121849507096, "epoch": 2.02178955078125e-07, "step": 2120 }, { "action_loss_avg": 0.10662415162660181, "epoch": 2.02178955078125e-07, "step": 2120 }, { "arm_loss_avg": 0.1544149865861982, "epoch": 2.02178955078125e-07, "step": 2120 }, { "ee_loss_avg": 0.1960824355483055, "epoch": 2.02178955078125e-07, "step": 2120 }, { "aux_loss_avg": 0.0027618108608294277, "epoch": 2.02178955078125e-07, "step": 2120 }, { "epoch": 2.02178955078125e-07, "step": 2120, "training_step_time": 17.853360176086426 }, { "epoch": 2.0227432250976564e-07, "model_forward_time": 5.097628116607666, "step": 2121 }, { "epoch": 2.0227432250976564e-07, "step": 2121, "training_step_time": 17.452107429504395 }, { "epoch": 2.0236968994140625e-07, "model_forward_time": 5.097853660583496, "step": 2122 }, { "epoch": 2.0236968994140625e-07, "step": 2122, "training_step_time": 17.533726453781128 }, { "epoch": 2.0246505737304686e-07, "model_forward_time": 5.102267026901245, "step": 2123 }, { "epoch": 2.0246505737304686e-07, "step": 2123, "training_step_time": 17.575949668884277 }, { "epoch": 2.025604248046875e-07, "model_forward_time": 5.101492881774902, "step": 2124 }, { "epoch": 2.025604248046875e-07, "step": 2124, "training_step_time": 17.6048686504364 }, { "epoch": 2.0265579223632812e-07, "model_forward_time": 5.096982479095459, "step": 2125 }, { "epoch": 2.0265579223632812e-07, "step": 2125, "training_step_time": 17.60538387298584 }, { "epoch": 2.0275115966796876e-07, "model_forward_time": 5.090587377548218, "step": 2126 }, { "epoch": 2.0275115966796876e-07, "step": 2126, "training_step_time": 17.826416492462158 }, { "epoch": 2.0284652709960938e-07, "model_forward_time": 5.089195251464844, "step": 2127 }, { "epoch": 2.0284652709960938e-07, "step": 2127, "training_step_time": 17.607951164245605 }, { "epoch": 2.0294189453125e-07, "model_forward_time": 5.08980917930603, "step": 2128 }, { "epoch": 2.0294189453125e-07, "step": 2128, "training_step_time": 17.599073886871338 }, { "epoch": 2.0303726196289063e-07, "model_forward_time": 5.08217453956604, "step": 2129 }, { "epoch": 2.0303726196289063e-07, "step": 2129, "training_step_time": 17.600088834762573 }, { "epoch": 2.0313262939453125e-07, "grad_norm": 2.9558236598968506, "learning_rate": 6.0828571428571435e-06, "loss": 0.2098, "step": 2130 }, { "epoch": 2.0313262939453125e-07, "model_forward_time": 5.082071781158447, "step": 2130 }, { "dynamics_loss_avg": 0.053441693633794786, "epoch": 2.0313262939453125e-07, "step": 2130 }, { "action_loss_avg": 0.1110880424734205, "epoch": 2.0313262939453125e-07, "step": 2130 }, { "arm_loss_avg": 0.2450430073775351, "epoch": 2.0313262939453125e-07, "step": 2130 }, { "ee_loss_avg": 0.21538314083591104, "epoch": 2.0313262939453125e-07, "step": 2130 }, { "aux_loss_avg": 0.03305465920129791, "epoch": 2.0313262939453125e-07, "step": 2130 }, { "epoch": 2.0313262939453125e-07, "step": 2130, "training_step_time": 17.81117081642151 }, { "epoch": 2.0322799682617189e-07, "model_forward_time": 5.081806659698486, "step": 2131 }, { "epoch": 2.0322799682617189e-07, "step": 2131, "training_step_time": 17.577672958374023 }, { "epoch": 2.033233642578125e-07, "model_forward_time": 5.079597473144531, "step": 2132 }, { "epoch": 2.033233642578125e-07, "step": 2132, "training_step_time": 17.579360961914062 }, { "epoch": 2.0341873168945312e-07, "model_forward_time": 5.083757638931274, "step": 2133 }, { "epoch": 2.0341873168945312e-07, "step": 2133, "training_step_time": 17.57787847518921 }, { "epoch": 2.0351409912109376e-07, "model_forward_time": 5.081281423568726, "step": 2134 }, { "epoch": 2.0351409912109376e-07, "step": 2134, "training_step_time": 17.576976537704468 }, { "epoch": 2.0360946655273437e-07, "model_forward_time": 5.084133625030518, "step": 2135 }, { "epoch": 2.0360946655273437e-07, "step": 2135, "training_step_time": 17.802117586135864 }, { "epoch": 2.03704833984375e-07, "model_forward_time": 5.31595253944397, "step": 2136 }, { "epoch": 2.03704833984375e-07, "step": 2136, "training_step_time": 17.417990684509277 }, { "epoch": 2.0380020141601563e-07, "model_forward_time": 5.092560291290283, "step": 2137 }, { "epoch": 2.0380020141601563e-07, "step": 2137, "training_step_time": 17.49025821685791 }, { "epoch": 2.0389556884765624e-07, "model_forward_time": 5.097085952758789, "step": 2138 }, { "epoch": 2.0389556884765624e-07, "step": 2138, "training_step_time": 17.575380563735962 }, { "epoch": 2.0399093627929688e-07, "model_forward_time": 5.104264974594116, "step": 2139 }, { "epoch": 2.0399093627929688e-07, "step": 2139, "training_step_time": 17.671744346618652 }, { "epoch": 2.040863037109375e-07, "grad_norm": 3.690917491912842, "learning_rate": 6.111428571428572e-06, "loss": 0.2102, "step": 2140 }, { "epoch": 2.040863037109375e-07, "model_forward_time": 5.0969109535217285, "step": 2140 }, { "dynamics_loss_avg": 0.04925515889190137, "epoch": 2.040863037109375e-07, "step": 2140 }, { "action_loss_avg": 0.1347670163260773, "epoch": 2.040863037109375e-07, "step": 2140 }, { "arm_loss_avg": 0.19734712571371346, "epoch": 2.040863037109375e-07, "step": 2140 }, { "ee_loss_avg": 0.2363573339767754, "epoch": 2.040863037109375e-07, "step": 2140 }, { "aux_loss_avg": 0.013875792143517173, "epoch": 2.040863037109375e-07, "step": 2140 }, { "epoch": 2.040863037109375e-07, "step": 2140, "training_step_time": 17.409839868545532 }, { "epoch": 2.0418167114257814e-07, "model_forward_time": 5.290153980255127, "step": 2141 }, { "epoch": 2.0418167114257814e-07, "step": 2141, "training_step_time": 17.750462770462036 }, { "epoch": 2.0427703857421875e-07, "model_forward_time": 5.081833362579346, "step": 2142 }, { "epoch": 2.0427703857421875e-07, "step": 2142, "training_step_time": 17.54890465736389 }, { "epoch": 2.0437240600585937e-07, "model_forward_time": 5.084829568862915, "step": 2143 }, { "epoch": 2.0437240600585937e-07, "step": 2143, "training_step_time": 17.588186264038086 }, { "epoch": 2.044677734375e-07, "model_forward_time": 5.079699277877808, "step": 2144 }, { "epoch": 2.044677734375e-07, "step": 2144, "training_step_time": 17.586817264556885 }, { "epoch": 2.0456314086914062e-07, "model_forward_time": 5.078930854797363, "step": 2145 }, { "epoch": 2.0456314086914062e-07, "step": 2145, "training_step_time": 17.525081396102905 }, { "epoch": 2.0465850830078126e-07, "model_forward_time": 5.078860282897949, "step": 2146 }, { "epoch": 2.0465850830078126e-07, "step": 2146, "training_step_time": 17.75623059272766 }, { "epoch": 2.0475387573242188e-07, "model_forward_time": 5.084289312362671, "step": 2147 }, { "epoch": 2.0475387573242188e-07, "step": 2147, "training_step_time": 17.58733344078064 }, { "epoch": 2.048492431640625e-07, "model_forward_time": 5.0842673778533936, "step": 2148 }, { "epoch": 2.048492431640625e-07, "step": 2148, "training_step_time": 17.6084144115448 }, { "epoch": 2.0494461059570313e-07, "model_forward_time": 3.852095603942871, "step": 2149 }, { "epoch": 2.0494461059570313e-07, "step": 2149, "training_step_time": 17.610803604125977 }, { "epoch": 2.0503997802734375e-07, "grad_norm": 2.1669423580169678, "learning_rate": 6.1400000000000005e-06, "loss": 0.1814, "step": 2150 }, { "epoch": 2.0503997802734375e-07, "model_forward_time": 5.060596466064453, "step": 2150 }, { "dynamics_loss_avg": 0.06282159164547921, "epoch": 2.0503997802734375e-07, "step": 2150 }, { "action_loss_avg": 0.15061868131160736, "epoch": 2.0503997802734375e-07, "step": 2150 }, { "arm_loss_avg": 0.2048515684902668, "epoch": 2.0503997802734375e-07, "step": 2150 }, { "ee_loss_avg": 0.21767050325870513, "epoch": 2.0503997802734375e-07, "step": 2150 }, { "aux_loss_avg": 0.004110090958420187, "epoch": 2.0503997802734375e-07, "step": 2150 }, { "epoch": 2.0503997802734375e-07, "step": 2150, "training_step_time": 17.604154348373413 }, { "epoch": 2.051353454589844e-07, "model_forward_time": 5.06917405128479, "step": 2151 }, { "epoch": 2.051353454589844e-07, "step": 2151, "training_step_time": 17.827474117279053 }, { "epoch": 2.05230712890625e-07, "model_forward_time": 5.266366958618164, "step": 2152 }, { "epoch": 2.05230712890625e-07, "step": 2152, "training_step_time": 17.591031789779663 }, { "epoch": 2.0532608032226562e-07, "model_forward_time": 5.086486101150513, "step": 2153 }, { "epoch": 2.0532608032226562e-07, "step": 2153, "training_step_time": 17.581592559814453 }, { "epoch": 2.0542144775390626e-07, "model_forward_time": 5.092965126037598, "step": 2154 }, { "epoch": 2.0542144775390626e-07, "step": 2154, "training_step_time": 17.21757411956787 }, { "epoch": 2.0551681518554687e-07, "model_forward_time": 3.8614985942840576, "step": 2155 }, { "epoch": 2.0551681518554687e-07, "step": 2155, "training_step_time": 17.553436279296875 }, { "epoch": 2.056121826171875e-07, "model_forward_time": 5.0718300342559814, "step": 2156 }, { "epoch": 2.056121826171875e-07, "step": 2156, "training_step_time": 17.72037434577942 }, { "epoch": 2.0570755004882813e-07, "model_forward_time": 5.318135976791382, "step": 2157 }, { "epoch": 2.0570755004882813e-07, "step": 2157, "training_step_time": 17.5565927028656 }, { "epoch": 2.0580291748046874e-07, "model_forward_time": 5.084865570068359, "step": 2158 }, { "epoch": 2.0580291748046874e-07, "step": 2158, "training_step_time": 17.567952156066895 }, { "epoch": 2.0589828491210938e-07, "model_forward_time": 5.0875935554504395, "step": 2159 }, { "epoch": 2.0589828491210938e-07, "step": 2159, "training_step_time": 17.577654123306274 }, { "epoch": 2.0599365234375e-07, "grad_norm": 2.3761990070343018, "learning_rate": 6.168571428571429e-06, "loss": 0.2249, "step": 2160 }, { "epoch": 2.0599365234375e-07, "model_forward_time": 5.087959051132202, "step": 2160 }, { "dynamics_loss_avg": 0.05563629865646362, "epoch": 2.0599365234375e-07, "step": 2160 }, { "action_loss_avg": 0.194093843922019, "epoch": 2.0599365234375e-07, "step": 2160 }, { "arm_loss_avg": 0.20585429966449736, "epoch": 2.0599365234375e-07, "step": 2160 }, { "ee_loss_avg": 0.26924613006412984, "epoch": 2.0599365234375e-07, "step": 2160 }, { "aux_loss_avg": 0.0015755970525788143, "epoch": 2.0599365234375e-07, "step": 2160 }, { "epoch": 2.0599365234375e-07, "step": 2160, "training_step_time": 17.583585262298584 }, { "epoch": 2.060890197753906e-07, "model_forward_time": 5.088165760040283, "step": 2161 }, { "epoch": 2.060890197753906e-07, "step": 2161, "training_step_time": 17.82758903503418 }, { "epoch": 2.0618438720703125e-07, "model_forward_time": 5.089548826217651, "step": 2162 }, { "epoch": 2.0618438720703125e-07, "step": 2162, "training_step_time": 17.584736347198486 }, { "epoch": 2.0627975463867187e-07, "model_forward_time": 5.089693307876587, "step": 2163 }, { "epoch": 2.0627975463867187e-07, "step": 2163, "training_step_time": 17.590113639831543 }, { "epoch": 2.063751220703125e-07, "model_forward_time": 5.0867063999176025, "step": 2164 }, { "epoch": 2.063751220703125e-07, "step": 2164, "training_step_time": 17.597764253616333 }, { "epoch": 2.0647048950195312e-07, "model_forward_time": 5.085753917694092, "step": 2165 }, { "epoch": 2.0647048950195312e-07, "step": 2165, "training_step_time": 17.807564735412598 }, { "epoch": 2.0656585693359374e-07, "model_forward_time": 5.083080053329468, "step": 2166 }, { "epoch": 2.0656585693359374e-07, "step": 2166, "training_step_time": 17.584205627441406 }, { "epoch": 2.0666122436523438e-07, "model_forward_time": 5.084833145141602, "step": 2167 }, { "epoch": 2.0666122436523438e-07, "step": 2167, "training_step_time": 17.58226776123047 }, { "epoch": 2.06756591796875e-07, "model_forward_time": 5.07801365852356, "step": 2168 }, { "epoch": 2.06756591796875e-07, "step": 2168, "training_step_time": 17.578223943710327 }, { "epoch": 2.0685195922851563e-07, "model_forward_time": 5.0783772468566895, "step": 2169 }, { "epoch": 2.0685195922851563e-07, "step": 2169, "training_step_time": 17.569928646087646 }, { "epoch": 2.0694732666015625e-07, "grad_norm": 1.4303020238876343, "learning_rate": 6.1971428571428575e-06, "loss": 0.1904, "step": 2170 }, { "epoch": 2.0694732666015625e-07, "model_forward_time": 3.8490538597106934, "step": 2170 }, { "dynamics_loss_avg": 0.05302443578839302, "epoch": 2.0694732666015625e-07, "step": 2170 }, { "action_loss_avg": 0.13137117736041545, "epoch": 2.0694732666015625e-07, "step": 2170 }, { "arm_loss_avg": 0.25882012993097303, "epoch": 2.0694732666015625e-07, "step": 2170 }, { "ee_loss_avg": 0.20773912891745566, "epoch": 2.0694732666015625e-07, "step": 2170 }, { "aux_loss_avg": 0.003355615126201883, "epoch": 2.0694732666015625e-07, "step": 2170 }, { "epoch": 2.0694732666015625e-07, "step": 2170, "training_step_time": 17.793863534927368 }, { "epoch": 2.0704269409179686e-07, "model_forward_time": 3.8293120861053467, "step": 2171 }, { "epoch": 2.0704269409179686e-07, "step": 2171, "training_step_time": 17.567291259765625 }, { "epoch": 2.071380615234375e-07, "model_forward_time": 5.25700044631958, "step": 2172 }, { "epoch": 2.071380615234375e-07, "step": 2172, "training_step_time": 17.562379837036133 }, { "epoch": 2.0723342895507812e-07, "model_forward_time": 5.0638108253479, "step": 2173 }, { "epoch": 2.0723342895507812e-07, "step": 2173, "training_step_time": 17.554293394088745 }, { "epoch": 2.0732879638671876e-07, "model_forward_time": 5.078044652938843, "step": 2174 }, { "epoch": 2.0732879638671876e-07, "step": 2174, "training_step_time": 17.545462369918823 }, { "epoch": 2.0742416381835937e-07, "model_forward_time": 5.094504356384277, "step": 2175 }, { "epoch": 2.0742416381835937e-07, "step": 2175, "training_step_time": 17.629026889801025 }, { "epoch": 2.0751953125e-07, "model_forward_time": 5.103712797164917, "step": 2176 }, { "epoch": 2.0751953125e-07, "step": 2176, "training_step_time": 17.66032075881958 }, { "epoch": 2.0761489868164063e-07, "model_forward_time": 5.344226121902466, "step": 2177 }, { "epoch": 2.0761489868164063e-07, "step": 2177, "training_step_time": 17.516989707946777 }, { "epoch": 2.0771026611328124e-07, "model_forward_time": 5.103664875030518, "step": 2178 }, { "epoch": 2.0771026611328124e-07, "step": 2178, "training_step_time": 17.54522442817688 }, { "epoch": 2.0780563354492188e-07, "model_forward_time": 5.097436904907227, "step": 2179 }, { "epoch": 2.0780563354492188e-07, "step": 2179, "training_step_time": 17.61946153640747 }, { "epoch": 2.079010009765625e-07, "grad_norm": 3.32649302482605, "learning_rate": 6.225714285714286e-06, "loss": 0.2025, "step": 2180 }, { "epoch": 2.079010009765625e-07, "model_forward_time": 5.096698760986328, "step": 2180 }, { "dynamics_loss_avg": 0.04389417050406337, "epoch": 2.079010009765625e-07, "step": 2180 }, { "action_loss_avg": 0.1423319758847356, "epoch": 2.079010009765625e-07, "step": 2180 }, { "arm_loss_avg": 0.2433680310845375, "epoch": 2.079010009765625e-07, "step": 2180 }, { "ee_loss_avg": 0.21543943509459496, "epoch": 2.079010009765625e-07, "step": 2180 }, { "aux_loss_avg": 0.0040756875823717564, "epoch": 2.079010009765625e-07, "step": 2180 }, { "epoch": 2.079010009765625e-07, "step": 2180, "training_step_time": 17.8218731880188 }, { "epoch": 2.0799636840820311e-07, "model_forward_time": 5.083717584609985, "step": 2181 }, { "epoch": 2.0799636840820311e-07, "step": 2181, "training_step_time": 17.60821557044983 }, { "epoch": 2.0809173583984375e-07, "model_forward_time": 5.083571672439575, "step": 2182 }, { "epoch": 2.0809173583984375e-07, "step": 2182, "training_step_time": 17.6063551902771 }, { "epoch": 2.0818710327148437e-07, "model_forward_time": 5.080979824066162, "step": 2183 }, { "epoch": 2.0818710327148437e-07, "step": 2183, "training_step_time": 17.60647201538086 }, { "epoch": 2.08282470703125e-07, "model_forward_time": 5.08063530921936, "step": 2184 }, { "epoch": 2.08282470703125e-07, "step": 2184, "training_step_time": 17.60717248916626 }, { "epoch": 2.0837783813476562e-07, "model_forward_time": 5.078516483306885, "step": 2185 }, { "epoch": 2.0837783813476562e-07, "step": 2185, "training_step_time": 17.805635929107666 }, { "epoch": 2.0847320556640624e-07, "model_forward_time": 5.079214334487915, "step": 2186 }, { "epoch": 2.0847320556640624e-07, "step": 2186, "training_step_time": 17.398311853408813 }, { "epoch": 2.0856857299804688e-07, "model_forward_time": 5.088447570800781, "step": 2187 }, { "epoch": 2.0856857299804688e-07, "step": 2187, "training_step_time": 17.501951932907104 }, { "epoch": 2.086639404296875e-07, "model_forward_time": 5.0902099609375, "step": 2188 }, { "epoch": 2.086639404296875e-07, "step": 2188, "training_step_time": 17.539361476898193 }, { "epoch": 2.0875930786132814e-07, "model_forward_time": 5.0881664752960205, "step": 2189 }, { "epoch": 2.0875930786132814e-07, "step": 2189, "training_step_time": 17.5726580619812 }, { "epoch": 2.0885467529296875e-07, "grad_norm": 3.201554298400879, "learning_rate": 6.254285714285715e-06, "loss": 0.2272, "step": 2190 }, { "epoch": 2.0885467529296875e-07, "model_forward_time": 5.089982509613037, "step": 2190 }, { "dynamics_loss_avg": 0.057571843080222604, "epoch": 2.0885467529296875e-07, "step": 2190 }, { "action_loss_avg": 0.15741673335433007, "epoch": 2.0885467529296875e-07, "step": 2190 }, { "arm_loss_avg": 0.19566893428564072, "epoch": 2.0885467529296875e-07, "step": 2190 }, { "ee_loss_avg": 0.20600016564130783, "epoch": 2.0885467529296875e-07, "step": 2190 }, { "aux_loss_avg": 0.002361625881167129, "epoch": 2.0885467529296875e-07, "step": 2190 }, { "epoch": 2.0885467529296875e-07, "step": 2190, "training_step_time": 17.39986753463745 }, { "epoch": 2.0895004272460936e-07, "model_forward_time": 5.08545446395874, "step": 2191 }, { "epoch": 2.0895004272460936e-07, "step": 2191, "training_step_time": 17.729561805725098 }, { "epoch": 2.0904541015625e-07, "model_forward_time": 5.086001634597778, "step": 2192 }, { "epoch": 2.0904541015625e-07, "step": 2192, "training_step_time": 17.546669244766235 }, { "epoch": 2.0914077758789062e-07, "model_forward_time": 5.083839178085327, "step": 2193 }, { "epoch": 2.0914077758789062e-07, "step": 2193, "training_step_time": 17.591131448745728 }, { "epoch": 2.0923614501953126e-07, "model_forward_time": 5.084381103515625, "step": 2194 }, { "epoch": 2.0923614501953126e-07, "step": 2194, "training_step_time": 17.605112552642822 }, { "epoch": 2.0933151245117188e-07, "model_forward_time": 5.083329677581787, "step": 2195 }, { "epoch": 2.0933151245117188e-07, "step": 2195, "training_step_time": 17.615721940994263 }, { "epoch": 2.094268798828125e-07, "model_forward_time": 3.854792833328247, "step": 2196 }, { "epoch": 2.094268798828125e-07, "step": 2196, "training_step_time": 17.84510612487793 }, { "epoch": 2.0952224731445313e-07, "model_forward_time": 4.1072118282318115, "step": 2197 }, { "epoch": 2.0952224731445313e-07, "step": 2197, "training_step_time": 17.66010093688965 }, { "epoch": 2.0961761474609375e-07, "model_forward_time": 5.077048301696777, "step": 2198 }, { "epoch": 2.0961761474609375e-07, "step": 2198, "training_step_time": 17.654905319213867 }, { "epoch": 2.0971298217773439e-07, "model_forward_time": 5.077784061431885, "step": 2199 }, { "epoch": 2.0971298217773439e-07, "step": 2199, "training_step_time": 17.32525658607483 }, { "epoch": 2.09808349609375e-07, "grad_norm": 2.183131456375122, "learning_rate": 6.282857142857144e-06, "loss": 0.1893, "step": 2200 }, { "epoch": 2.09808349609375e-07, "model_forward_time": 5.093569278717041, "step": 2200 }, { "dynamics_loss_avg": 0.04041055925190449, "epoch": 2.09808349609375e-07, "step": 2200 }, { "action_loss_avg": 0.10971838235855103, "epoch": 2.09808349609375e-07, "step": 2200 }, { "arm_loss_avg": 0.15244130343198775, "epoch": 2.09808349609375e-07, "step": 2200 }, { "ee_loss_avg": 0.26875350028276446, "epoch": 2.09808349609375e-07, "step": 2200 }, { "aux_loss_avg": 0.0013900858524721117, "epoch": 2.09808349609375e-07, "step": 2200 }, { "epoch": 2.09808349609375e-07, "step": 2200, "training_step_time": 17.560091972351074 }, { "epoch": 2.0990371704101562e-07, "model_forward_time": 5.101562738418579, "step": 2201 }, { "epoch": 2.0990371704101562e-07, "step": 2201, "training_step_time": 17.676146268844604 }, { "epoch": 2.0999908447265626e-07, "model_forward_time": 5.289700031280518, "step": 2202 }, { "epoch": 2.0999908447265626e-07, "step": 2202, "training_step_time": 17.50572967529297 }, { "epoch": 2.1009445190429687e-07, "model_forward_time": 5.106884717941284, "step": 2203 }, { "epoch": 2.1009445190429687e-07, "step": 2203, "training_step_time": 17.552523612976074 }, { "epoch": 2.101898193359375e-07, "model_forward_time": 5.1026105880737305, "step": 2204 }, { "epoch": 2.101898193359375e-07, "step": 2204, "training_step_time": 17.622636079788208 }, { "epoch": 2.1028518676757813e-07, "model_forward_time": 5.094959497451782, "step": 2205 }, { "epoch": 2.1028518676757813e-07, "step": 2205, "training_step_time": 17.612857818603516 }, { "epoch": 2.1038055419921874e-07, "model_forward_time": 5.0931010246276855, "step": 2206 }, { "epoch": 2.1038055419921874e-07, "step": 2206, "training_step_time": 17.815930604934692 }, { "epoch": 2.1047592163085938e-07, "model_forward_time": 5.3276543617248535, "step": 2207 }, { "epoch": 2.1047592163085938e-07, "step": 2207, "training_step_time": 17.432703971862793 }, { "epoch": 2.105712890625e-07, "model_forward_time": 5.085686683654785, "step": 2208 }, { "epoch": 2.105712890625e-07, "step": 2208, "training_step_time": 17.54153347015381 }, { "epoch": 2.1066665649414064e-07, "model_forward_time": 5.081178188323975, "step": 2209 }, { "epoch": 2.1066665649414064e-07, "step": 2209, "training_step_time": 17.580936431884766 }, { "epoch": 2.1076202392578125e-07, "grad_norm": 2.8063621520996094, "learning_rate": 6.311428571428571e-06, "loss": 0.1986, "step": 2210 }, { "epoch": 2.1076202392578125e-07, "model_forward_time": 5.0791380405426025, "step": 2210 }, { "dynamics_loss_avg": 0.047226832062005994, "epoch": 2.1076202392578125e-07, "step": 2210 }, { "action_loss_avg": 0.13739201202988624, "epoch": 2.1076202392578125e-07, "step": 2210 }, { "arm_loss_avg": 0.21355404555797577, "epoch": 2.1076202392578125e-07, "step": 2210 }, { "ee_loss_avg": 0.3429141167551279, "epoch": 2.1076202392578125e-07, "step": 2210 }, { "aux_loss_avg": 0.0015730013430584223, "epoch": 2.1076202392578125e-07, "step": 2210 }, { "epoch": 2.1076202392578125e-07, "step": 2210, "training_step_time": 17.5957989692688 }, { "epoch": 2.1085739135742187e-07, "model_forward_time": 5.07761812210083, "step": 2211 }, { "epoch": 2.1085739135742187e-07, "step": 2211, "training_step_time": 17.83338165283203 }, { "epoch": 2.109527587890625e-07, "model_forward_time": 5.079427719116211, "step": 2212 }, { "epoch": 2.109527587890625e-07, "step": 2212, "training_step_time": 17.60561490058899 }, { "epoch": 2.1104812622070312e-07, "model_forward_time": 5.08167028427124, "step": 2213 }, { "epoch": 2.1104812622070312e-07, "step": 2213, "training_step_time": 17.60037350654602 }, { "epoch": 2.1114349365234376e-07, "model_forward_time": 5.082122325897217, "step": 2214 }, { "epoch": 2.1114349365234376e-07, "step": 2214, "training_step_time": 17.60014820098877 }, { "epoch": 2.1123886108398438e-07, "model_forward_time": 3.8521676063537598, "step": 2215 }, { "epoch": 2.1123886108398438e-07, "step": 2215, "training_step_time": 17.634408473968506 }, { "epoch": 2.11334228515625e-07, "model_forward_time": 5.055864095687866, "step": 2216 }, { "epoch": 2.11334228515625e-07, "step": 2216, "training_step_time": 17.78983759880066 }, { "epoch": 2.1142959594726563e-07, "model_forward_time": 5.3144989013671875, "step": 2217 }, { "epoch": 2.1142959594726563e-07, "step": 2217, "training_step_time": 17.605268478393555 }, { "epoch": 2.1152496337890625e-07, "model_forward_time": 3.8539514541625977, "step": 2218 }, { "epoch": 2.1152496337890625e-07, "step": 2218, "training_step_time": 17.607532739639282 }, { "epoch": 2.1162033081054686e-07, "model_forward_time": 5.084782123565674, "step": 2219 }, { "epoch": 2.1162033081054686e-07, "step": 2219, "training_step_time": 17.672828435897827 }, { "epoch": 2.117156982421875e-07, "grad_norm": 2.855341911315918, "learning_rate": 6.34e-06, "loss": 0.1946, "step": 2220 }, { "epoch": 2.117156982421875e-07, "model_forward_time": 5.090810537338257, "step": 2220 }, { "dynamics_loss_avg": 0.07478400357067586, "epoch": 2.117156982421875e-07, "step": 2220 }, { "action_loss_avg": 0.18862030729651452, "epoch": 2.117156982421875e-07, "step": 2220 }, { "arm_loss_avg": 0.27116326093673704, "epoch": 2.117156982421875e-07, "step": 2220 }, { "ee_loss_avg": 0.2083308607339859, "epoch": 2.117156982421875e-07, "step": 2220 }, { "aux_loss_avg": 0.013908056262880563, "epoch": 2.117156982421875e-07, "step": 2220 }, { "epoch": 2.117156982421875e-07, "step": 2220, "training_step_time": 17.828731536865234 }, { "epoch": 2.1181106567382812e-07, "model_forward_time": 5.087877511978149, "step": 2221 }, { "epoch": 2.1181106567382812e-07, "step": 2221, "training_step_time": 17.567413330078125 }, { "epoch": 2.1190643310546876e-07, "model_forward_time": 5.28312611579895, "step": 2222 }, { "epoch": 2.1190643310546876e-07, "step": 2222, "training_step_time": 17.562660694122314 }, { "epoch": 2.1200180053710937e-07, "model_forward_time": 5.097797155380249, "step": 2223 }, { "epoch": 2.1200180053710937e-07, "step": 2223, "training_step_time": 17.577855825424194 }, { "epoch": 2.1209716796875e-07, "model_forward_time": 3.859891176223755, "step": 2224 }, { "epoch": 2.1209716796875e-07, "step": 2224, "training_step_time": 17.57451295852661 }, { "epoch": 2.1219253540039063e-07, "model_forward_time": 5.070007085800171, "step": 2225 }, { "epoch": 2.1219253540039063e-07, "step": 2225, "training_step_time": 17.540265560150146 }, { "epoch": 2.1228790283203124e-07, "model_forward_time": 5.073590993881226, "step": 2226 }, { "epoch": 2.1228790283203124e-07, "step": 2226, "training_step_time": 17.708890676498413 }, { "epoch": 2.1238327026367188e-07, "model_forward_time": 5.307332515716553, "step": 2227 }, { "epoch": 2.1238327026367188e-07, "step": 2227, "training_step_time": 17.52419137954712 }, { "epoch": 2.124786376953125e-07, "model_forward_time": 5.086318016052246, "step": 2228 }, { "epoch": 2.124786376953125e-07, "step": 2228, "training_step_time": 17.549590349197388 }, { "epoch": 2.125740051269531e-07, "model_forward_time": 5.090195655822754, "step": 2229 }, { "epoch": 2.125740051269531e-07, "step": 2229, "training_step_time": 17.630143404006958 }, { "epoch": 2.1266937255859375e-07, "grad_norm": 1.6459161043167114, "learning_rate": 6.368571428571429e-06, "loss": 0.2223, "step": 2230 }, { "epoch": 2.1266937255859375e-07, "model_forward_time": 3.8539822101593018, "step": 2230 }, { "dynamics_loss_avg": 0.05598900653421879, "epoch": 2.1266937255859375e-07, "step": 2230 }, { "action_loss_avg": 0.16962179727852345, "epoch": 2.1266937255859375e-07, "step": 2230 }, { "arm_loss_avg": 0.22487010657787324, "epoch": 2.1266937255859375e-07, "step": 2230 }, { "ee_loss_avg": 0.1913712564855814, "epoch": 2.1266937255859375e-07, "step": 2230 }, { "aux_loss_avg": 0.0021969103370793166, "epoch": 2.1266937255859375e-07, "step": 2230 }, { "epoch": 2.1266937255859375e-07, "step": 2230, "training_step_time": 17.81048035621643 }, { "epoch": 2.1276473999023437e-07, "model_forward_time": 5.0605692863464355, "step": 2231 }, { "epoch": 2.1276473999023437e-07, "step": 2231, "training_step_time": 17.602320432662964 }, { "epoch": 2.12860107421875e-07, "model_forward_time": 5.255408525466919, "step": 2232 }, { "epoch": 2.12860107421875e-07, "step": 2232, "training_step_time": 17.60264754295349 }, { "epoch": 2.1295547485351562e-07, "model_forward_time": 5.079004764556885, "step": 2233 }, { "epoch": 2.1295547485351562e-07, "step": 2233, "training_step_time": 17.599701166152954 }, { "epoch": 2.1305084228515624e-07, "model_forward_time": 5.084939956665039, "step": 2234 }, { "epoch": 2.1305084228515624e-07, "step": 2234, "training_step_time": 17.398791790008545 }, { "epoch": 2.1314620971679688e-07, "model_forward_time": 5.095434188842773, "step": 2235 }, { "epoch": 2.1314620971679688e-07, "step": 2235, "training_step_time": 17.640049934387207 }, { "epoch": 2.132415771484375e-07, "model_forward_time": 5.094637870788574, "step": 2236 }, { "epoch": 2.132415771484375e-07, "step": 2236, "training_step_time": 17.736977338790894 }, { "epoch": 2.1333694458007813e-07, "model_forward_time": 5.345541000366211, "step": 2237 }, { "epoch": 2.1333694458007813e-07, "step": 2237, "training_step_time": 17.56965661048889 }, { "epoch": 2.1343231201171875e-07, "model_forward_time": 5.093757629394531, "step": 2238 }, { "epoch": 2.1343231201171875e-07, "step": 2238, "training_step_time": 17.588533639907837 }, { "epoch": 2.1352767944335936e-07, "model_forward_time": 5.09301495552063, "step": 2239 }, { "epoch": 2.1352767944335936e-07, "step": 2239, "training_step_time": 17.596243858337402 }, { "epoch": 2.13623046875e-07, "grad_norm": 2.1273834705352783, "learning_rate": 6.397142857142857e-06, "loss": 0.2018, "step": 2240 }, { "epoch": 2.13623046875e-07, "model_forward_time": 5.087716579437256, "step": 2240 }, { "dynamics_loss_avg": 0.053336134552955626, "epoch": 2.13623046875e-07, "step": 2240 }, { "action_loss_avg": 0.14740828424692154, "epoch": 2.13623046875e-07, "step": 2240 }, { "arm_loss_avg": 0.23003666698932648, "epoch": 2.13623046875e-07, "step": 2240 }, { "ee_loss_avg": 0.162777441740036, "epoch": 2.13623046875e-07, "step": 2240 }, { "aux_loss_avg": 0.0018766226654406636, "epoch": 2.13623046875e-07, "step": 2240 }, { "epoch": 2.13623046875e-07, "step": 2240, "training_step_time": 17.825923442840576 }, { "epoch": 2.1371841430664062e-07, "model_forward_time": 5.085846662521362, "step": 2241 }, { "epoch": 2.1371841430664062e-07, "step": 2241, "training_step_time": 17.418113946914673 }, { "epoch": 2.1381378173828126e-07, "model_forward_time": 5.088282346725464, "step": 2242 }, { "epoch": 2.1381378173828126e-07, "step": 2242, "training_step_time": 17.516498804092407 }, { "epoch": 2.1390914916992187e-07, "model_forward_time": 5.086485147476196, "step": 2243 }, { "epoch": 2.1390914916992187e-07, "step": 2243, "training_step_time": 17.401090621948242 }, { "epoch": 2.140045166015625e-07, "model_forward_time": 5.083533048629761, "step": 2244 }, { "epoch": 2.140045166015625e-07, "step": 2244, "training_step_time": 17.609811067581177 }, { "epoch": 2.1409988403320313e-07, "model_forward_time": 5.083497762680054, "step": 2245 }, { "epoch": 2.1409988403320313e-07, "step": 2245, "training_step_time": 17.53637981414795 }, { "epoch": 2.1419525146484374e-07, "model_forward_time": 5.079447984695435, "step": 2246 }, { "epoch": 2.1419525146484374e-07, "step": 2246, "training_step_time": 17.76123356819153 }, { "epoch": 2.1429061889648439e-07, "model_forward_time": 3.8481757640838623, "step": 2247 }, { "epoch": 2.1429061889648439e-07, "step": 2247, "training_step_time": 17.59943389892578 }, { "epoch": 2.14385986328125e-07, "model_forward_time": 3.8269197940826416, "step": 2248 }, { "epoch": 2.14385986328125e-07, "step": 2248, "training_step_time": 17.482516050338745 }, { "epoch": 2.1448135375976561e-07, "model_forward_time": 5.048298120498657, "step": 2249 }, { "epoch": 2.1448135375976561e-07, "step": 2249, "training_step_time": 17.56581950187683 }, { "epoch": 2.1457672119140626e-07, "grad_norm": 2.7812695503234863, "learning_rate": 6.425714285714286e-06, "loss": 0.1799, "step": 2250 }, { "epoch": 2.1457672119140626e-07, "model_forward_time": 5.06049108505249, "step": 2250 }, { "dynamics_loss_avg": 0.046683202125132085, "epoch": 2.1457672119140626e-07, "step": 2250 }, { "action_loss_avg": 0.14057759791612626, "epoch": 2.1457672119140626e-07, "step": 2250 }, { "arm_loss_avg": 0.21730253249406814, "epoch": 2.1457672119140626e-07, "step": 2250 }, { "ee_loss_avg": 0.24141085855662822, "epoch": 2.1457672119140626e-07, "step": 2250 }, { "aux_loss_avg": 0.0031747288652695716, "epoch": 2.1457672119140626e-07, "step": 2250 }, { "epoch": 2.1457672119140626e-07, "step": 2250, "training_step_time": 17.563191175460815 }, { "epoch": 2.1467208862304687e-07, "model_forward_time": 5.082505464553833, "step": 2251 }, { "epoch": 2.1467208862304687e-07, "step": 2251, "training_step_time": 17.80760669708252 }, { "epoch": 2.147674560546875e-07, "model_forward_time": 5.274877548217773, "step": 2252 }, { "epoch": 2.147674560546875e-07, "step": 2252, "training_step_time": 17.402071475982666 }, { "epoch": 2.1486282348632813e-07, "model_forward_time": 5.102494239807129, "step": 2253 }, { "epoch": 2.1486282348632813e-07, "step": 2253, "training_step_time": 17.508329153060913 }, { "epoch": 2.1495819091796874e-07, "model_forward_time": 5.102291822433472, "step": 2254 }, { "epoch": 2.1495819091796874e-07, "step": 2254, "training_step_time": 17.564164638519287 }, { "epoch": 2.1505355834960938e-07, "model_forward_time": 5.097369194030762, "step": 2255 }, { "epoch": 2.1505355834960938e-07, "step": 2255, "training_step_time": 17.591054916381836 }, { "epoch": 2.1514892578125e-07, "model_forward_time": 5.090172290802002, "step": 2256 }, { "epoch": 2.1514892578125e-07, "step": 2256, "training_step_time": 17.799931049346924 }, { "epoch": 2.1524429321289064e-07, "model_forward_time": 5.325145959854126, "step": 2257 }, { "epoch": 2.1524429321289064e-07, "step": 2257, "training_step_time": 17.611546754837036 }, { "epoch": 2.1533966064453125e-07, "model_forward_time": 5.078567266464233, "step": 2258 }, { "epoch": 2.1533966064453125e-07, "step": 2258, "training_step_time": 17.616962671279907 }, { "epoch": 2.1543502807617187e-07, "model_forward_time": 5.080022573471069, "step": 2259 }, { "epoch": 2.1543502807617187e-07, "step": 2259, "training_step_time": 17.62381935119629 }, { "epoch": 2.155303955078125e-07, "grad_norm": 1.929969310760498, "learning_rate": 6.454285714285715e-06, "loss": 0.185, "step": 2260 }, { "epoch": 2.155303955078125e-07, "model_forward_time": 3.8412234783172607, "step": 2260 }, { "dynamics_loss_avg": 0.05219041034579277, "epoch": 2.155303955078125e-07, "step": 2260 }, { "action_loss_avg": 0.13457335121929645, "epoch": 2.155303955078125e-07, "step": 2260 }, { "arm_loss_avg": 0.20279961228370666, "epoch": 2.155303955078125e-07, "step": 2260 }, { "ee_loss_avg": 0.2730279237031937, "epoch": 2.155303955078125e-07, "step": 2260 }, { "aux_loss_avg": 0.015861585323000325, "epoch": 2.155303955078125e-07, "step": 2260 }, { "epoch": 2.155303955078125e-07, "step": 2260, "training_step_time": 17.597729206085205 }, { "epoch": 2.1562576293945312e-07, "model_forward_time": 5.049740314483643, "step": 2261 }, { "epoch": 2.1562576293945312e-07, "step": 2261, "training_step_time": 17.836759328842163 }, { "epoch": 2.1572113037109376e-07, "model_forward_time": 5.249381065368652, "step": 2262 }, { "epoch": 2.1572113037109376e-07, "step": 2262, "training_step_time": 17.588160037994385 }, { "epoch": 2.1581649780273438e-07, "model_forward_time": 3.8396847248077393, "step": 2263 }, { "epoch": 2.1581649780273438e-07, "step": 2263, "training_step_time": 17.573909282684326 }, { "epoch": 2.15911865234375e-07, "model_forward_time": 5.05837082862854, "step": 2264 }, { "epoch": 2.15911865234375e-07, "step": 2264, "training_step_time": 17.62221074104309 }, { "epoch": 2.1600723266601563e-07, "model_forward_time": 5.073922157287598, "step": 2265 }, { "epoch": 2.1600723266601563e-07, "step": 2265, "training_step_time": 17.404059648513794 }, { "epoch": 2.1610260009765625e-07, "model_forward_time": 5.093442678451538, "step": 2266 }, { "epoch": 2.1610260009765625e-07, "step": 2266, "training_step_time": 17.665465831756592 }, { "epoch": 2.161979675292969e-07, "model_forward_time": 5.325090169906616, "step": 2267 }, { "epoch": 2.161979675292969e-07, "step": 2267, "training_step_time": 17.5087468624115 }, { "epoch": 2.162933349609375e-07, "model_forward_time": 5.0973615646362305, "step": 2268 }, { "epoch": 2.162933349609375e-07, "step": 2268, "training_step_time": 17.546383380889893 }, { "epoch": 2.1638870239257812e-07, "model_forward_time": 5.096778631210327, "step": 2269 }, { "epoch": 2.1638870239257812e-07, "step": 2269, "training_step_time": 17.565630674362183 }, { "epoch": 2.1648406982421876e-07, "grad_norm": 2.4973952770233154, "learning_rate": 6.482857142857143e-06, "loss": 0.1948, "step": 2270 }, { "epoch": 2.1648406982421876e-07, "model_forward_time": 5.092638254165649, "step": 2270 }, { "dynamics_loss_avg": 0.05472231563180685, "epoch": 2.1648406982421876e-07, "step": 2270 }, { "action_loss_avg": 0.1388086199760437, "epoch": 2.1648406982421876e-07, "step": 2270 }, { "arm_loss_avg": 0.22172438651323317, "epoch": 2.1648406982421876e-07, "step": 2270 }, { "ee_loss_avg": 0.2159931965172291, "epoch": 2.1648406982421876e-07, "step": 2270 }, { "aux_loss_avg": 0.001785149477655068, "epoch": 2.1648406982421876e-07, "step": 2270 }, { "epoch": 2.1648406982421876e-07, "step": 2270, "training_step_time": 17.57902455329895 }, { "epoch": 2.1657943725585937e-07, "model_forward_time": 5.090170383453369, "step": 2271 }, { "epoch": 2.1657943725585937e-07, "step": 2271, "training_step_time": 17.8156156539917 }, { "epoch": 2.166748046875e-07, "model_forward_time": 5.270320653915405, "step": 2272 }, { "epoch": 2.166748046875e-07, "step": 2272, "training_step_time": 17.58966040611267 }, { "epoch": 2.1677017211914063e-07, "model_forward_time": 5.080570459365845, "step": 2273 }, { "epoch": 2.1677017211914063e-07, "step": 2273, "training_step_time": 17.589908838272095 }, { "epoch": 2.1686553955078124e-07, "model_forward_time": 5.07805871963501, "step": 2274 }, { "epoch": 2.1686553955078124e-07, "step": 2274, "training_step_time": 17.655608654022217 }, { "epoch": 2.1696090698242188e-07, "model_forward_time": 3.8443703651428223, "step": 2275 }, { "epoch": 2.1696090698242188e-07, "step": 2275, "training_step_time": 17.586379766464233 }, { "epoch": 2.170562744140625e-07, "model_forward_time": 3.824244260787964, "step": 2276 }, { "epoch": 2.170562744140625e-07, "step": 2276, "training_step_time": 17.410286903381348 }, { "epoch": 2.1715164184570314e-07, "model_forward_time": 5.277010202407837, "step": 2277 }, { "epoch": 2.1715164184570314e-07, "step": 2277, "training_step_time": 17.49771761894226 }, { "epoch": 2.1724700927734375e-07, "model_forward_time": 5.061236143112183, "step": 2278 }, { "epoch": 2.1724700927734375e-07, "step": 2278, "training_step_time": 17.524389505386353 }, { "epoch": 2.1734237670898437e-07, "model_forward_time": 5.085220813751221, "step": 2279 }, { "epoch": 2.1734237670898437e-07, "step": 2279, "training_step_time": 17.61775255203247 }, { "epoch": 2.17437744140625e-07, "grad_norm": 2.268028974533081, "learning_rate": 6.511428571428572e-06, "loss": 0.1832, "step": 2280 }, { "epoch": 2.17437744140625e-07, "model_forward_time": 5.093080997467041, "step": 2280 }, { "dynamics_loss_avg": 0.058603092655539514, "epoch": 2.17437744140625e-07, "step": 2280 }, { "action_loss_avg": 0.15600795820355415, "epoch": 2.17437744140625e-07, "step": 2280 }, { "arm_loss_avg": 0.2704853355884552, "epoch": 2.17437744140625e-07, "step": 2280 }, { "ee_loss_avg": 0.2568454623222351, "epoch": 2.17437744140625e-07, "step": 2280 }, { "aux_loss_avg": 0.030853913997998462, "epoch": 2.17437744140625e-07, "step": 2280 }, { "epoch": 2.17437744140625e-07, "step": 2280, "training_step_time": 17.56541419029236 }, { "epoch": 2.1753311157226562e-07, "model_forward_time": 5.1110546588897705, "step": 2281 }, { "epoch": 2.1753311157226562e-07, "step": 2281, "training_step_time": 17.819622039794922 }, { "epoch": 2.1762847900390624e-07, "model_forward_time": 5.297395467758179, "step": 2282 }, { "epoch": 2.1762847900390624e-07, "step": 2282, "training_step_time": 17.592044353485107 }, { "epoch": 2.1772384643554688e-07, "model_forward_time": 5.101778507232666, "step": 2283 }, { "epoch": 2.1772384643554688e-07, "step": 2283, "training_step_time": 17.59332799911499 }, { "epoch": 2.178192138671875e-07, "model_forward_time": 5.09508752822876, "step": 2284 }, { "epoch": 2.178192138671875e-07, "step": 2284, "training_step_time": 17.60329294204712 }, { "epoch": 2.1791458129882813e-07, "model_forward_time": 5.090038537979126, "step": 2285 }, { "epoch": 2.1791458129882813e-07, "step": 2285, "training_step_time": 17.832984685897827 }, { "epoch": 2.1800994873046875e-07, "model_forward_time": 5.082657337188721, "step": 2286 }, { "epoch": 2.1800994873046875e-07, "step": 2286, "training_step_time": 17.595279216766357 }, { "epoch": 2.1810531616210936e-07, "model_forward_time": 5.322373390197754, "step": 2287 }, { "epoch": 2.1810531616210936e-07, "step": 2287, "training_step_time": 17.595617532730103 }, { "epoch": 2.1820068359375e-07, "model_forward_time": 5.078542470932007, "step": 2288 }, { "epoch": 2.1820068359375e-07, "step": 2288, "training_step_time": 17.589775562286377 }, { "epoch": 2.1829605102539062e-07, "model_forward_time": 3.846914529800415, "step": 2289 }, { "epoch": 2.1829605102539062e-07, "step": 2289, "training_step_time": 17.603766441345215 }, { "epoch": 2.1839141845703126e-07, "grad_norm": 1.4683616161346436, "learning_rate": 6.540000000000001e-06, "loss": 0.2157, "step": 2290 }, { "epoch": 2.1839141845703126e-07, "model_forward_time": 3.8267135620117188, "step": 2290 }, { "dynamics_loss_avg": 0.05476003158837557, "epoch": 2.1839141845703126e-07, "step": 2290 }, { "action_loss_avg": 0.1483665481209755, "epoch": 2.1839141845703126e-07, "step": 2290 }, { "arm_loss_avg": 0.19917812943458557, "epoch": 2.1839141845703126e-07, "step": 2290 }, { "ee_loss_avg": 0.18945299349725248, "epoch": 2.1839141845703126e-07, "step": 2290 }, { "aux_loss_avg": 0.0018143547524232418, "epoch": 2.1839141845703126e-07, "step": 2290 }, { "epoch": 2.1839141845703126e-07, "step": 2290, "training_step_time": 17.810056447982788 }, { "epoch": 2.1848678588867187e-07, "model_forward_time": 5.042696714401245, "step": 2291 }, { "epoch": 2.1848678588867187e-07, "step": 2291, "training_step_time": 17.57909893989563 }, { "epoch": 2.185821533203125e-07, "model_forward_time": 5.243285179138184, "step": 2292 }, { "epoch": 2.185821533203125e-07, "step": 2292, "training_step_time": 17.569000005722046 }, { "epoch": 2.1867752075195313e-07, "model_forward_time": 5.077800273895264, "step": 2293 }, { "epoch": 2.1867752075195313e-07, "step": 2293, "training_step_time": 17.560388326644897 }, { "epoch": 2.1877288818359374e-07, "model_forward_time": 3.8551042079925537, "step": 2294 }, { "epoch": 2.1877288818359374e-07, "step": 2294, "training_step_time": 17.55532670021057 }, { "epoch": 2.1886825561523438e-07, "model_forward_time": 3.842288017272949, "step": 2295 }, { "epoch": 2.1886825561523438e-07, "step": 2295, "training_step_time": 17.783485651016235 }, { "epoch": 2.18963623046875e-07, "model_forward_time": 5.057491064071655, "step": 2296 }, { "epoch": 2.18963623046875e-07, "step": 2296, "training_step_time": 17.552999258041382 }, { "epoch": 2.190589904785156e-07, "model_forward_time": 5.309583425521851, "step": 2297 }, { "epoch": 2.190589904785156e-07, "step": 2297, "training_step_time": 17.5621075630188 }, { "epoch": 2.1915435791015625e-07, "model_forward_time": 5.096270561218262, "step": 2298 }, { "epoch": 2.1915435791015625e-07, "step": 2298, "training_step_time": 17.565121173858643 }, { "epoch": 2.1924972534179687e-07, "model_forward_time": 5.103875398635864, "step": 2299 }, { "epoch": 2.1924972534179687e-07, "step": 2299, "training_step_time": 17.63981294631958 }, { "epoch": 2.193450927734375e-07, "grad_norm": 2.066800832748413, "learning_rate": 6.568571428571429e-06, "loss": 0.183, "step": 2300 }, { "epoch": 2.193450927734375e-07, "model_forward_time": 5.103574991226196, "step": 2300 }, { "dynamics_loss_avg": 0.04694592170417309, "epoch": 2.193450927734375e-07, "step": 2300 }, { "action_loss_avg": 0.12486830316483974, "epoch": 2.193450927734375e-07, "step": 2300 }, { "arm_loss_avg": 0.19352806508541107, "epoch": 2.193450927734375e-07, "step": 2300 }, { "ee_loss_avg": 0.26865180134773253, "epoch": 2.193450927734375e-07, "step": 2300 }, { "aux_loss_avg": 0.0027958798571489753, "epoch": 2.193450927734375e-07, "step": 2300 }, { "epoch": 2.193450927734375e-07, "step": 2300, "training_step_time": 17.826228380203247 }, { "epoch": 2.1944046020507812e-07, "model_forward_time": 5.097102642059326, "step": 2301 }, { "epoch": 2.1944046020507812e-07, "step": 2301, "training_step_time": 17.58084487915039 }, { "epoch": 2.1953582763671874e-07, "model_forward_time": 5.272353887557983, "step": 2302 }, { "epoch": 2.1953582763671874e-07, "step": 2302, "training_step_time": 17.59913158416748 }, { "epoch": 2.1963119506835938e-07, "model_forward_time": 5.087315797805786, "step": 2303 }, { "epoch": 2.1963119506835938e-07, "step": 2303, "training_step_time": 17.600800275802612 }, { "epoch": 2.197265625e-07, "model_forward_time": 5.082343339920044, "step": 2304 }, { "epoch": 2.197265625e-07, "step": 2304, "training_step_time": 17.605200052261353 }, { "epoch": 2.1982192993164063e-07, "model_forward_time": 3.84714412689209, "step": 2305 }, { "epoch": 2.1982192993164063e-07, "step": 2305, "training_step_time": 17.80238389968872 }, { "epoch": 2.1991729736328125e-07, "model_forward_time": 5.054877519607544, "step": 2306 }, { "epoch": 2.1991729736328125e-07, "step": 2306, "training_step_time": 17.60361075401306 }, { "epoch": 2.2001266479492186e-07, "model_forward_time": 5.293905258178711, "step": 2307 }, { "epoch": 2.2001266479492186e-07, "step": 2307, "training_step_time": 17.58777356147766 }, { "epoch": 2.201080322265625e-07, "model_forward_time": 3.8418056964874268, "step": 2308 }, { "epoch": 2.201080322265625e-07, "step": 2308, "training_step_time": 17.379079341888428 }, { "epoch": 2.2020339965820312e-07, "model_forward_time": 5.0566487312316895, "step": 2309 }, { "epoch": 2.2020339965820312e-07, "step": 2309, "training_step_time": 17.592912673950195 }, { "epoch": 2.2029876708984376e-07, "grad_norm": 2.6809322834014893, "learning_rate": 6.597142857142858e-06, "loss": 0.1906, "step": 2310 }, { "epoch": 2.2029876708984376e-07, "model_forward_time": 5.070077419281006, "step": 2310 }, { "dynamics_loss_avg": 0.04969861786812544, "epoch": 2.2029876708984376e-07, "step": 2310 }, { "action_loss_avg": 0.12513730395585299, "epoch": 2.2029876708984376e-07, "step": 2310 }, { "arm_loss_avg": 0.20193120166659356, "epoch": 2.2029876708984376e-07, "step": 2310 }, { "ee_loss_avg": 0.1829980991780758, "epoch": 2.2029876708984376e-07, "step": 2310 }, { "aux_loss_avg": 0.0020657836983446034, "epoch": 2.2029876708984376e-07, "step": 2310 }, { "epoch": 2.2029876708984376e-07, "step": 2310, "training_step_time": 17.522364616394043 }, { "epoch": 2.2039413452148437e-07, "model_forward_time": 5.082996368408203, "step": 2311 }, { "epoch": 2.2039413452148437e-07, "step": 2311, "training_step_time": 17.775161266326904 }, { "epoch": 2.20489501953125e-07, "model_forward_time": 5.282591104507446, "step": 2312 }, { "epoch": 2.20489501953125e-07, "step": 2312, "training_step_time": 17.41332173347473 }, { "epoch": 2.2058486938476563e-07, "model_forward_time": 5.103771686553955, "step": 2313 }, { "epoch": 2.2058486938476563e-07, "step": 2313, "training_step_time": 17.485244035720825 }, { "epoch": 2.2068023681640624e-07, "model_forward_time": 3.861276865005493, "step": 2314 }, { "epoch": 2.2068023681640624e-07, "step": 2314, "training_step_time": 17.543774604797363 }, { "epoch": 2.2077560424804689e-07, "model_forward_time": 5.0674896240234375, "step": 2315 }, { "epoch": 2.2077560424804689e-07, "step": 2315, "training_step_time": 17.57190728187561 }, { "epoch": 2.208709716796875e-07, "model_forward_time": 5.074525356292725, "step": 2316 }, { "epoch": 2.208709716796875e-07, "step": 2316, "training_step_time": 17.781063318252563 }, { "epoch": 2.2096633911132811e-07, "model_forward_time": 5.31622314453125, "step": 2317 }, { "epoch": 2.2096633911132811e-07, "step": 2317, "training_step_time": 17.61123776435852 }, { "epoch": 2.2106170654296876e-07, "model_forward_time": 5.084016561508179, "step": 2318 }, { "epoch": 2.2106170654296876e-07, "step": 2318, "training_step_time": 17.615808486938477 }, { "epoch": 2.2115707397460937e-07, "model_forward_time": 5.086062669754028, "step": 2319 }, { "epoch": 2.2115707397460937e-07, "step": 2319, "training_step_time": 17.606892824172974 }, { "epoch": 2.2125244140625e-07, "grad_norm": 1.7066500186920166, "learning_rate": 6.625714285714287e-06, "loss": 0.1837, "step": 2320 }, { "epoch": 2.2125244140625e-07, "model_forward_time": 5.087456703186035, "step": 2320 }, { "dynamics_loss_avg": 0.05103413071483374, "epoch": 2.2125244140625e-07, "step": 2320 }, { "action_loss_avg": 0.12752108052372932, "epoch": 2.2125244140625e-07, "step": 2320 }, { "arm_loss_avg": 0.23341583982110023, "epoch": 2.2125244140625e-07, "step": 2320 }, { "ee_loss_avg": 0.20741621851921083, "epoch": 2.2125244140625e-07, "step": 2320 }, { "aux_loss_avg": 0.004729204945033416, "epoch": 2.2125244140625e-07, "step": 2320 }, { "epoch": 2.2125244140625e-07, "step": 2320, "training_step_time": 17.601081132888794 }, { "epoch": 2.2134780883789063e-07, "model_forward_time": 5.090252637863159, "step": 2321 }, { "epoch": 2.2134780883789063e-07, "step": 2321, "training_step_time": 17.394163131713867 }, { "epoch": 2.2144317626953124e-07, "model_forward_time": 5.2824530601501465, "step": 2322 }, { "epoch": 2.2144317626953124e-07, "step": 2322, "training_step_time": 17.503475427627563 }, { "epoch": 2.2153854370117188e-07, "model_forward_time": 5.088420391082764, "step": 2323 }, { "epoch": 2.2153854370117188e-07, "step": 2323, "training_step_time": 17.538248538970947 }, { "epoch": 2.216339111328125e-07, "model_forward_time": 5.08899998664856, "step": 2324 }, { "epoch": 2.216339111328125e-07, "step": 2324, "training_step_time": 17.559953927993774 }, { "epoch": 2.2172927856445314e-07, "model_forward_time": 5.088155269622803, "step": 2325 }, { "epoch": 2.2172927856445314e-07, "step": 2325, "training_step_time": 17.581023454666138 }, { "epoch": 2.2182464599609375e-07, "model_forward_time": 5.089328289031982, "step": 2326 }, { "epoch": 2.2182464599609375e-07, "step": 2326, "training_step_time": 17.782156944274902 }, { "epoch": 2.2192001342773437e-07, "model_forward_time": 5.317802429199219, "step": 2327 }, { "epoch": 2.2192001342773437e-07, "step": 2327, "training_step_time": 17.59838843345642 }, { "epoch": 2.22015380859375e-07, "model_forward_time": 5.081021547317505, "step": 2328 }, { "epoch": 2.22015380859375e-07, "step": 2328, "training_step_time": 17.5992374420166 }, { "epoch": 2.2211074829101562e-07, "model_forward_time": 5.08351993560791, "step": 2329 }, { "epoch": 2.2211074829101562e-07, "step": 2329, "training_step_time": 17.603482007980347 }, { "epoch": 2.2220611572265626e-07, "grad_norm": 3.2164087295532227, "learning_rate": 6.654285714285716e-06, "loss": 0.1919, "step": 2330 }, { "epoch": 2.2220611572265626e-07, "model_forward_time": 5.083540916442871, "step": 2330 }, { "dynamics_loss_avg": 0.05181058011949062, "epoch": 2.2220611572265626e-07, "step": 2330 }, { "action_loss_avg": 0.15660878233611583, "epoch": 2.2220611572265626e-07, "step": 2330 }, { "arm_loss_avg": 0.20257149040699005, "epoch": 2.2220611572265626e-07, "step": 2330 }, { "ee_loss_avg": 0.23298545852303504, "epoch": 2.2220611572265626e-07, "step": 2330 }, { "aux_loss_avg": 0.0026740568573586643, "epoch": 2.2220611572265626e-07, "step": 2330 }, { "epoch": 2.2220611572265626e-07, "step": 2330, "training_step_time": 17.592698335647583 }, { "epoch": 2.2230148315429688e-07, "model_forward_time": 5.086296796798706, "step": 2331 }, { "epoch": 2.2230148315429688e-07, "step": 2331, "training_step_time": 17.82450556755066 }, { "epoch": 2.223968505859375e-07, "model_forward_time": 5.278937339782715, "step": 2332 }, { "epoch": 2.223968505859375e-07, "step": 2332, "training_step_time": 17.594910144805908 }, { "epoch": 2.2249221801757813e-07, "model_forward_time": 5.0876359939575195, "step": 2333 }, { "epoch": 2.2249221801757813e-07, "step": 2333, "training_step_time": 17.594524383544922 }, { "epoch": 2.2258758544921875e-07, "model_forward_time": 5.090483903884888, "step": 2334 }, { "epoch": 2.2258758544921875e-07, "step": 2334, "training_step_time": 17.586570024490356 }, { "epoch": 2.226829528808594e-07, "model_forward_time": 5.083997011184692, "step": 2335 }, { "epoch": 2.226829528808594e-07, "step": 2335, "training_step_time": 17.491933584213257 }, { "epoch": 2.227783203125e-07, "model_forward_time": 5.083153247833252, "step": 2336 }, { "epoch": 2.227783203125e-07, "step": 2336, "training_step_time": 17.722052574157715 }, { "epoch": 2.2287368774414062e-07, "model_forward_time": 3.847825527191162, "step": 2337 }, { "epoch": 2.2287368774414062e-07, "step": 2337, "training_step_time": 17.55843234062195 }, { "epoch": 2.2296905517578126e-07, "model_forward_time": 3.8348162174224854, "step": 2338 }, { "epoch": 2.2296905517578126e-07, "step": 2338, "training_step_time": 17.584179878234863 }, { "epoch": 2.2306442260742187e-07, "model_forward_time": 5.050905704498291, "step": 2339 }, { "epoch": 2.2306442260742187e-07, "step": 2339, "training_step_time": 17.595250606536865 }, { "epoch": 2.231597900390625e-07, "grad_norm": 1.3621331453323364, "learning_rate": 6.682857142857143e-06, "loss": 0.2001, "step": 2340 }, { "epoch": 2.231597900390625e-07, "model_forward_time": 5.06401515007019, "step": 2340 }, { "dynamics_loss_avg": 0.05796755962073803, "epoch": 2.231597900390625e-07, "step": 2340 }, { "action_loss_avg": 0.16769675761461258, "epoch": 2.231597900390625e-07, "step": 2340 }, { "arm_loss_avg": 0.2571044921875, "epoch": 2.231597900390625e-07, "step": 2340 }, { "ee_loss_avg": 0.13871980048716068, "epoch": 2.231597900390625e-07, "step": 2340 }, { "aux_loss_avg": 0.0016073977923952043, "epoch": 2.231597900390625e-07, "step": 2340 }, { "epoch": 2.231597900390625e-07, "step": 2340, "training_step_time": 17.592947959899902 }, { "epoch": 2.2325515747070313e-07, "model_forward_time": 3.8472509384155273, "step": 2341 }, { "epoch": 2.2325515747070313e-07, "step": 2341, "training_step_time": 17.832712650299072 }, { "epoch": 2.2335052490234374e-07, "model_forward_time": 5.063222646713257, "step": 2342 }, { "epoch": 2.2335052490234374e-07, "step": 2342, "training_step_time": 17.588914155960083 }, { "epoch": 2.2344589233398438e-07, "model_forward_time": 5.288806438446045, "step": 2343 }, { "epoch": 2.2344589233398438e-07, "step": 2343, "training_step_time": 17.40535569190979 }, { "epoch": 2.23541259765625e-07, "model_forward_time": 5.099586725234985, "step": 2344 }, { "epoch": 2.23541259765625e-07, "step": 2344, "training_step_time": 17.60689926147461 }, { "epoch": 2.236366271972656e-07, "model_forward_time": 5.105639934539795, "step": 2345 }, { "epoch": 2.236366271972656e-07, "step": 2345, "training_step_time": 17.519017457962036 }, { "epoch": 2.2373199462890625e-07, "model_forward_time": 5.103688716888428, "step": 2346 }, { "epoch": 2.2373199462890625e-07, "step": 2346, "training_step_time": 17.749897718429565 }, { "epoch": 2.2382736206054687e-07, "model_forward_time": 5.10426139831543, "step": 2347 }, { "epoch": 2.2382736206054687e-07, "step": 2347, "training_step_time": 17.58957600593567 }, { "epoch": 2.239227294921875e-07, "model_forward_time": 5.091402053833008, "step": 2348 }, { "epoch": 2.239227294921875e-07, "step": 2348, "training_step_time": 17.61644673347473 }, { "epoch": 2.2401809692382812e-07, "model_forward_time": 5.085542440414429, "step": 2349 }, { "epoch": 2.2401809692382812e-07, "step": 2349, "training_step_time": 17.59946084022522 }, { "epoch": 2.2411346435546874e-07, "grad_norm": 2.4547641277313232, "learning_rate": 6.711428571428572e-06, "loss": 0.2045, "step": 2350 }, { "epoch": 2.2411346435546874e-07, "model_forward_time": 5.07984185218811, "step": 2350 }, { "dynamics_loss_avg": 0.05529512781649828, "epoch": 2.2411346435546874e-07, "step": 2350 }, { "action_loss_avg": 0.13782141283154486, "epoch": 2.2411346435546874e-07, "step": 2350 }, { "arm_loss_avg": 0.1961875282227993, "epoch": 2.2411346435546874e-07, "step": 2350 }, { "ee_loss_avg": 0.1905706949532032, "epoch": 2.2411346435546874e-07, "step": 2350 }, { "aux_loss_avg": 0.001049954371410422, "epoch": 2.2411346435546874e-07, "step": 2350 }, { "epoch": 2.2411346435546874e-07, "step": 2350, "training_step_time": 17.53959345817566 }, { "epoch": 2.2420883178710938e-07, "model_forward_time": 5.077097415924072, "step": 2351 }, { "epoch": 2.2420883178710938e-07, "step": 2351, "training_step_time": 17.812652826309204 }, { "epoch": 2.2430419921875e-07, "model_forward_time": 5.076068162918091, "step": 2352 }, { "epoch": 2.2430419921875e-07, "step": 2352, "training_step_time": 17.591016054153442 }, { "epoch": 2.2439956665039063e-07, "model_forward_time": 5.073118686676025, "step": 2353 }, { "epoch": 2.2439956665039063e-07, "step": 2353, "training_step_time": 17.610070943832397 }, { "epoch": 2.2449493408203125e-07, "model_forward_time": 5.080274820327759, "step": 2354 }, { "epoch": 2.2449493408203125e-07, "step": 2354, "training_step_time": 17.61570453643799 }, { "epoch": 2.2459030151367186e-07, "model_forward_time": 5.077135324478149, "step": 2355 }, { "epoch": 2.2459030151367186e-07, "step": 2355, "training_step_time": 17.60625982284546 }, { "epoch": 2.246856689453125e-07, "model_forward_time": 5.080597400665283, "step": 2356 }, { "epoch": 2.246856689453125e-07, "step": 2356, "training_step_time": 17.810247898101807 }, { "epoch": 2.2478103637695312e-07, "model_forward_time": 5.089865684509277, "step": 2357 }, { "epoch": 2.2478103637695312e-07, "step": 2357, "training_step_time": 17.623511791229248 }, { "epoch": 2.2487640380859376e-07, "model_forward_time": 5.09598445892334, "step": 2358 }, { "epoch": 2.2487640380859376e-07, "step": 2358, "training_step_time": 17.64317774772644 }, { "epoch": 2.2497177124023437e-07, "model_forward_time": 5.095280885696411, "step": 2359 }, { "epoch": 2.2497177124023437e-07, "step": 2359, "training_step_time": 17.629488945007324 }, { "epoch": 2.25067138671875e-07, "grad_norm": 2.9989571571350098, "learning_rate": 6.740000000000001e-06, "loss": 0.2055, "step": 2360 }, { "epoch": 2.25067138671875e-07, "model_forward_time": 5.091035842895508, "step": 2360 }, { "dynamics_loss_avg": 0.052889725938439366, "epoch": 2.25067138671875e-07, "step": 2360 }, { "action_loss_avg": 0.1399043820798397, "epoch": 2.25067138671875e-07, "step": 2360 }, { "arm_loss_avg": 0.24344972744584084, "epoch": 2.25067138671875e-07, "step": 2360 }, { "ee_loss_avg": 0.17664435207843782, "epoch": 2.25067138671875e-07, "step": 2360 }, { "aux_loss_avg": 0.0016250337823294104, "epoch": 2.25067138671875e-07, "step": 2360 }, { "epoch": 2.25067138671875e-07, "step": 2360, "training_step_time": 17.825328826904297 }, { "epoch": 2.2516250610351563e-07, "model_forward_time": 5.082523345947266, "step": 2361 }, { "epoch": 2.2516250610351563e-07, "step": 2361, "training_step_time": 17.571856021881104 }, { "epoch": 2.2525787353515624e-07, "model_forward_time": 5.2649126052856445, "step": 2362 }, { "epoch": 2.2525787353515624e-07, "step": 2362, "training_step_time": 17.57232928276062 }, { "epoch": 2.2535324096679688e-07, "model_forward_time": 5.083927869796753, "step": 2363 }, { "epoch": 2.2535324096679688e-07, "step": 2363, "training_step_time": 17.58806037902832 }, { "epoch": 2.254486083984375e-07, "model_forward_time": 5.0827555656433105, "step": 2364 }, { "epoch": 2.254486083984375e-07, "step": 2364, "training_step_time": 17.651164770126343 }, { "epoch": 2.2554397583007811e-07, "model_forward_time": 5.083334684371948, "step": 2365 }, { "epoch": 2.2554397583007811e-07, "step": 2365, "training_step_time": 17.783233165740967 }, { "epoch": 2.2563934326171875e-07, "model_forward_time": 5.080446481704712, "step": 2366 }, { "epoch": 2.2563934326171875e-07, "step": 2366, "training_step_time": 17.588313102722168 }, { "epoch": 2.2573471069335937e-07, "model_forward_time": 5.324202060699463, "step": 2367 }, { "epoch": 2.2573471069335937e-07, "step": 2367, "training_step_time": 17.584214448928833 }, { "epoch": 2.25830078125e-07, "model_forward_time": 5.081983327865601, "step": 2368 }, { "epoch": 2.25830078125e-07, "step": 2368, "training_step_time": 17.56565499305725 }, { "epoch": 2.2592544555664062e-07, "model_forward_time": 5.080097675323486, "step": 2369 }, { "epoch": 2.2592544555664062e-07, "step": 2369, "training_step_time": 17.58552575111389 }, { "epoch": 2.2602081298828124e-07, "grad_norm": 1.428287386894226, "learning_rate": 6.768571428571429e-06, "loss": 0.1932, "step": 2370 }, { "epoch": 2.2602081298828124e-07, "model_forward_time": 3.8516058921813965, "step": 2370 }, { "dynamics_loss_avg": 0.05131640788167715, "epoch": 2.2602081298828124e-07, "step": 2370 }, { "action_loss_avg": 0.1482908632606268, "epoch": 2.2602081298828124e-07, "step": 2370 }, { "arm_loss_avg": 0.19068000912666322, "epoch": 2.2602081298828124e-07, "step": 2370 }, { "ee_loss_avg": 0.21966169476509095, "epoch": 2.2602081298828124e-07, "step": 2370 }, { "aux_loss_avg": 0.0014889354526530952, "epoch": 2.2602081298828124e-07, "step": 2370 }, { "epoch": 2.2602081298828124e-07, "step": 2370, "training_step_time": 17.79457950592041 }, { "epoch": 2.2611618041992188e-07, "model_forward_time": 5.056055307388306, "step": 2371 }, { "epoch": 2.2611618041992188e-07, "step": 2371, "training_step_time": 17.581210374832153 }, { "epoch": 2.262115478515625e-07, "model_forward_time": 5.062275409698486, "step": 2372 }, { "epoch": 2.262115478515625e-07, "step": 2372, "training_step_time": 17.57613515853882 }, { "epoch": 2.2630691528320314e-07, "model_forward_time": 3.8450582027435303, "step": 2373 }, { "epoch": 2.2630691528320314e-07, "step": 2373, "training_step_time": 17.56943368911743 }, { "epoch": 2.2640228271484375e-07, "model_forward_time": 5.061054229736328, "step": 2374 }, { "epoch": 2.2640228271484375e-07, "step": 2374, "training_step_time": 17.579090118408203 }, { "epoch": 2.2649765014648436e-07, "model_forward_time": 5.0731306076049805, "step": 2375 }, { "epoch": 2.2649765014648436e-07, "step": 2375, "training_step_time": 17.574108362197876 }, { "epoch": 2.26593017578125e-07, "model_forward_time": 5.094245910644531, "step": 2376 }, { "epoch": 2.26593017578125e-07, "step": 2376, "training_step_time": 17.490639209747314 }, { "epoch": 2.2668838500976562e-07, "model_forward_time": 5.102715492248535, "step": 2377 }, { "epoch": 2.2668838500976562e-07, "step": 2377, "training_step_time": 17.573058605194092 }, { "epoch": 2.2678375244140626e-07, "model_forward_time": 5.356271505355835, "step": 2378 }, { "epoch": 2.2678375244140626e-07, "step": 2378, "training_step_time": 17.56768035888672 }, { "epoch": 2.2687911987304688e-07, "model_forward_time": 5.115274667739868, "step": 2379 }, { "epoch": 2.2687911987304688e-07, "step": 2379, "training_step_time": 17.58781385421753 }, { "epoch": 2.269744873046875e-07, "grad_norm": 1.196526288986206, "learning_rate": 6.797142857142858e-06, "loss": 0.175, "step": 2380 }, { "epoch": 2.269744873046875e-07, "model_forward_time": 3.858442783355713, "step": 2380 }, { "dynamics_loss_avg": 0.04847084563225508, "epoch": 2.269744873046875e-07, "step": 2380 }, { "action_loss_avg": 0.1143361434340477, "epoch": 2.269744873046875e-07, "step": 2380 }, { "arm_loss_avg": 0.18811339363455773, "epoch": 2.269744873046875e-07, "step": 2380 }, { "ee_loss_avg": 0.15484364554286004, "epoch": 2.269744873046875e-07, "step": 2380 }, { "aux_loss_avg": 0.0021415012306533754, "epoch": 2.269744873046875e-07, "step": 2380 }, { "epoch": 2.269744873046875e-07, "step": 2380, "training_step_time": 17.60353112220764 }, { "epoch": 2.2706985473632813e-07, "model_forward_time": 5.063009738922119, "step": 2381 }, { "epoch": 2.2706985473632813e-07, "step": 2381, "training_step_time": 17.510056972503662 }, { "epoch": 2.2716522216796875e-07, "model_forward_time": 5.0670552253723145, "step": 2382 }, { "epoch": 2.2716522216796875e-07, "step": 2382, "training_step_time": 17.413492679595947 }, { "epoch": 2.2726058959960939e-07, "model_forward_time": 5.2579779624938965, "step": 2383 }, { "epoch": 2.2726058959960939e-07, "step": 2383, "training_step_time": 17.49355697631836 }, { "epoch": 2.2735595703125e-07, "model_forward_time": 5.079938173294067, "step": 2384 }, { "epoch": 2.2735595703125e-07, "step": 2384, "training_step_time": 17.625999927520752 }, { "epoch": 2.2745132446289062e-07, "model_forward_time": 5.082621335983276, "step": 2385 }, { "epoch": 2.2745132446289062e-07, "step": 2385, "training_step_time": 17.824498653411865 }, { "epoch": 2.2754669189453126e-07, "model_forward_time": 5.081724166870117, "step": 2386 }, { "epoch": 2.2754669189453126e-07, "step": 2386, "training_step_time": 17.618955373764038 }, { "epoch": 2.2764205932617187e-07, "model_forward_time": 5.085848093032837, "step": 2387 }, { "epoch": 2.2764205932617187e-07, "step": 2387, "training_step_time": 17.413280963897705 }, { "epoch": 2.277374267578125e-07, "model_forward_time": 5.088274002075195, "step": 2388 }, { "epoch": 2.277374267578125e-07, "step": 2388, "training_step_time": 17.54043459892273 }, { "epoch": 2.2783279418945313e-07, "model_forward_time": 5.083983659744263, "step": 2389 }, { "epoch": 2.2783279418945313e-07, "step": 2389, "training_step_time": 17.582331657409668 }, { "epoch": 2.2792816162109374e-07, "grad_norm": 2.60943603515625, "learning_rate": 6.8257142857142866e-06, "loss": 0.2156, "step": 2390 }, { "epoch": 2.2792816162109374e-07, "model_forward_time": 5.083832025527954, "step": 2390 }, { "dynamics_loss_avg": 0.060113152116537096, "epoch": 2.2792816162109374e-07, "step": 2390 }, { "action_loss_avg": 0.16886928752064706, "epoch": 2.2792816162109374e-07, "step": 2390 }, { "arm_loss_avg": 0.20206765756011008, "epoch": 2.2792816162109374e-07, "step": 2390 }, { "ee_loss_avg": 0.2029689632356167, "epoch": 2.2792816162109374e-07, "step": 2390 }, { "aux_loss_avg": 0.0011327834567055107, "epoch": 2.2792816162109374e-07, "step": 2390 }, { "epoch": 2.2792816162109374e-07, "step": 2390, "training_step_time": 17.595457553863525 }, { "epoch": 2.2802352905273438e-07, "model_forward_time": 5.084380865097046, "step": 2391 }, { "epoch": 2.2802352905273438e-07, "step": 2391, "training_step_time": 17.839496612548828 }, { "epoch": 2.28118896484375e-07, "model_forward_time": 5.077616214752197, "step": 2392 }, { "epoch": 2.28118896484375e-07, "step": 2392, "training_step_time": 17.612237453460693 }, { "epoch": 2.2821426391601564e-07, "model_forward_time": 5.084108591079712, "step": 2393 }, { "epoch": 2.2821426391601564e-07, "step": 2393, "training_step_time": 17.178974628448486 }, { "epoch": 2.2830963134765625e-07, "model_forward_time": 5.0796730518341064, "step": 2394 }, { "epoch": 2.2830963134765625e-07, "step": 2394, "training_step_time": 17.532289028167725 }, { "epoch": 2.2840499877929687e-07, "model_forward_time": 3.8491616249084473, "step": 2395 }, { "epoch": 2.2840499877929687e-07, "step": 2395, "training_step_time": 17.53795289993286 }, { "epoch": 2.285003662109375e-07, "model_forward_time": 5.068301200866699, "step": 2396 }, { "epoch": 2.285003662109375e-07, "step": 2396, "training_step_time": 17.769565105438232 }, { "epoch": 2.2859573364257812e-07, "model_forward_time": 5.080885171890259, "step": 2397 }, { "epoch": 2.2859573364257812e-07, "step": 2397, "training_step_time": 17.5824294090271 }, { "epoch": 2.2869110107421876e-07, "model_forward_time": 5.322534799575806, "step": 2398 }, { "epoch": 2.2869110107421876e-07, "step": 2398, "training_step_time": 17.604942798614502 }, { "epoch": 2.2878646850585938e-07, "model_forward_time": 5.0986809730529785, "step": 2399 }, { "epoch": 2.2878646850585938e-07, "step": 2399, "training_step_time": 17.606791734695435 }, { "epoch": 2.288818359375e-07, "grad_norm": 2.2769618034362793, "learning_rate": 6.854285714285715e-06, "loss": 0.2151, "step": 2400 }, { "epoch": 2.288818359375e-07, "model_forward_time": 5.084821462631226, "step": 2400 }, { "dynamics_loss_avg": 0.05814970275387168, "epoch": 2.288818359375e-07, "step": 2400 }, { "action_loss_avg": 0.1438442014157772, "epoch": 2.288818359375e-07, "step": 2400 }, { "arm_loss_avg": 0.19931918308138846, "epoch": 2.288818359375e-07, "step": 2400 }, { "ee_loss_avg": 0.11932474114000798, "epoch": 2.288818359375e-07, "step": 2400 }, { "aux_loss_avg": 0.0024401097442023458, "epoch": 2.288818359375e-07, "step": 2400 }, { "epoch": 2.288818359375e-07, "step": 2400, "training_step_time": 17.20438551902771 }, { "epoch": 2.2897720336914063e-07, "model_forward_time": 5.092214107513428, "step": 2401 }, { "epoch": 2.2897720336914063e-07, "step": 2401, "training_step_time": 17.577965259552002 }, { "epoch": 2.2907257080078125e-07, "model_forward_time": 5.2876458168029785, "step": 2402 }, { "epoch": 2.2907257080078125e-07, "step": 2402, "training_step_time": 17.58059287071228 }, { "epoch": 2.291679382324219e-07, "model_forward_time": 5.092544078826904, "step": 2403 }, { "epoch": 2.291679382324219e-07, "step": 2403, "training_step_time": 17.582350492477417 }, { "epoch": 2.292633056640625e-07, "model_forward_time": 5.0898637771606445, "step": 2404 }, { "epoch": 2.292633056640625e-07, "step": 2404, "training_step_time": 17.650937795639038 }, { "epoch": 2.2935867309570312e-07, "model_forward_time": 5.08764910697937, "step": 2405 }, { "epoch": 2.2935867309570312e-07, "step": 2405, "training_step_time": 17.778873443603516 }, { "epoch": 2.2945404052734376e-07, "model_forward_time": 5.08254861831665, "step": 2406 }, { "epoch": 2.2945404052734376e-07, "step": 2406, "training_step_time": 17.569657802581787 }, { "epoch": 2.2954940795898437e-07, "model_forward_time": 5.331263303756714, "step": 2407 }, { "epoch": 2.2954940795898437e-07, "step": 2407, "training_step_time": 17.58299231529236 }, { "epoch": 2.29644775390625e-07, "model_forward_time": 3.851344108581543, "step": 2408 }, { "epoch": 2.29644775390625e-07, "step": 2408, "training_step_time": 17.583628177642822 }, { "epoch": 2.2974014282226563e-07, "model_forward_time": 5.048328876495361, "step": 2409 }, { "epoch": 2.2974014282226563e-07, "step": 2409, "training_step_time": 17.59821081161499 }, { "epoch": 2.2983551025390624e-07, "grad_norm": 2.2087082862854004, "learning_rate": 6.8828571428571435e-06, "loss": 0.1964, "step": 2410 }, { "epoch": 2.2983551025390624e-07, "model_forward_time": 5.062496185302734, "step": 2410 }, { "dynamics_loss_avg": 0.04389479961246252, "epoch": 2.2983551025390624e-07, "step": 2410 }, { "action_loss_avg": 0.10425607599318028, "epoch": 2.2983551025390624e-07, "step": 2410 }, { "arm_loss_avg": 0.1674836240708828, "epoch": 2.2983551025390624e-07, "step": 2410 }, { "ee_loss_avg": 0.35061260089278223, "epoch": 2.2983551025390624e-07, "step": 2410 }, { "aux_loss_avg": 0.001123832887969911, "epoch": 2.2983551025390624e-07, "step": 2410 }, { "epoch": 2.2983551025390624e-07, "step": 2410, "training_step_time": 17.80717134475708 }, { "epoch": 2.2993087768554688e-07, "model_forward_time": 5.070210218429565, "step": 2411 }, { "epoch": 2.2993087768554688e-07, "step": 2411, "training_step_time": 17.573752880096436 }, { "epoch": 2.300262451171875e-07, "model_forward_time": 5.082151174545288, "step": 2412 }, { "epoch": 2.300262451171875e-07, "step": 2412, "training_step_time": 17.576494932174683 }, { "epoch": 2.301216125488281e-07, "model_forward_time": 5.28577446937561, "step": 2413 }, { "epoch": 2.301216125488281e-07, "step": 2413, "training_step_time": 17.580049514770508 }, { "epoch": 2.3021697998046875e-07, "model_forward_time": 5.09155797958374, "step": 2414 }, { "epoch": 2.3021697998046875e-07, "step": 2414, "training_step_time": 17.604961395263672 }, { "epoch": 2.3031234741210937e-07, "model_forward_time": 5.090340852737427, "step": 2415 }, { "epoch": 2.3031234741210937e-07, "step": 2415, "training_step_time": 17.697625160217285 }, { "epoch": 2.3040771484375e-07, "model_forward_time": 5.086992502212524, "step": 2416 }, { "epoch": 2.3040771484375e-07, "step": 2416, "training_step_time": 17.52845788002014 }, { "epoch": 2.3050308227539062e-07, "model_forward_time": 5.085387945175171, "step": 2417 }, { "epoch": 2.3050308227539062e-07, "step": 2417, "training_step_time": 17.55023169517517 }, { "epoch": 2.3059844970703124e-07, "model_forward_time": 5.083730936050415, "step": 2418 }, { "epoch": 2.3059844970703124e-07, "step": 2418, "training_step_time": 17.57482385635376 }, { "epoch": 2.3069381713867188e-07, "model_forward_time": 5.0809712409973145, "step": 2419 }, { "epoch": 2.3069381713867188e-07, "step": 2419, "training_step_time": 17.586072206497192 }, { "epoch": 2.307891845703125e-07, "grad_norm": 2.8720626831054688, "learning_rate": 6.911428571428572e-06, "loss": 0.2117, "step": 2420 }, { "epoch": 2.307891845703125e-07, "model_forward_time": 5.083348035812378, "step": 2420 }, { "dynamics_loss_avg": 0.044351165741682054, "epoch": 2.307891845703125e-07, "step": 2420 }, { "action_loss_avg": 0.11239484623074532, "epoch": 2.307891845703125e-07, "step": 2420 }, { "arm_loss_avg": 0.181031883507967, "epoch": 2.307891845703125e-07, "step": 2420 }, { "ee_loss_avg": 0.2797004349529743, "epoch": 2.307891845703125e-07, "step": 2420 }, { "aux_loss_avg": 0.01150846520322375, "epoch": 2.307891845703125e-07, "step": 2420 }, { "epoch": 2.307891845703125e-07, "step": 2420, "training_step_time": 17.833143949508667 }, { "epoch": 2.3088455200195313e-07, "model_forward_time": 5.077325820922852, "step": 2421 }, { "epoch": 2.3088455200195313e-07, "step": 2421, "training_step_time": 17.594869136810303 }, { "epoch": 2.3097991943359375e-07, "model_forward_time": 5.270320653915405, "step": 2422 }, { "epoch": 2.3097991943359375e-07, "step": 2422, "training_step_time": 17.40093684196472 }, { "epoch": 2.3107528686523436e-07, "model_forward_time": 5.082531452178955, "step": 2423 }, { "epoch": 2.3107528686523436e-07, "step": 2423, "training_step_time": 17.501815795898438 }, { "epoch": 2.31170654296875e-07, "model_forward_time": 5.077050685882568, "step": 2424 }, { "epoch": 2.31170654296875e-07, "step": 2424, "training_step_time": 17.623830556869507 }, { "epoch": 2.3126602172851562e-07, "model_forward_time": 5.080522298812866, "step": 2425 }, { "epoch": 2.3126602172851562e-07, "step": 2425, "training_step_time": 17.56945037841797 }, { "epoch": 2.3136138916015626e-07, "model_forward_time": 5.084306001663208, "step": 2426 }, { "epoch": 2.3136138916015626e-07, "step": 2426, "training_step_time": 17.817068576812744 }, { "epoch": 2.3145675659179687e-07, "model_forward_time": 5.3300111293792725, "step": 2427 }, { "epoch": 2.3145675659179687e-07, "step": 2427, "training_step_time": 17.420865535736084 }, { "epoch": 2.315521240234375e-07, "model_forward_time": 5.088768005371094, "step": 2428 }, { "epoch": 2.315521240234375e-07, "step": 2428, "training_step_time": 17.51230263710022 }, { "epoch": 2.3164749145507813e-07, "model_forward_time": 5.086663007736206, "step": 2429 }, { "epoch": 2.3164749145507813e-07, "step": 2429, "training_step_time": 17.553980588912964 }, { "epoch": 2.3174285888671874e-07, "grad_norm": 2.21022367477417, "learning_rate": 6.9400000000000005e-06, "loss": 0.1907, "step": 2430 }, { "epoch": 2.3174285888671874e-07, "model_forward_time": 5.088143825531006, "step": 2430 }, { "dynamics_loss_avg": 0.0420315383002162, "epoch": 2.3174285888671874e-07, "step": 2430 }, { "action_loss_avg": 0.11919746585190297, "epoch": 2.3174285888671874e-07, "step": 2430 }, { "arm_loss_avg": 0.17768587917089462, "epoch": 2.3174285888671874e-07, "step": 2430 }, { "ee_loss_avg": 0.41518317982554437, "epoch": 2.3174285888671874e-07, "step": 2430 }, { "aux_loss_avg": 0.0033795734809245912, "epoch": 2.3174285888671874e-07, "step": 2430 }, { "epoch": 2.3174285888671874e-07, "step": 2430, "training_step_time": 17.346101760864258 }, { "epoch": 2.3183822631835939e-07, "model_forward_time": 5.090469598770142, "step": 2431 }, { "epoch": 2.3183822631835939e-07, "step": 2431, "training_step_time": 17.7355318069458 }, { "epoch": 2.3193359375e-07, "model_forward_time": 5.08642053604126, "step": 2432 }, { "epoch": 2.3193359375e-07, "step": 2432, "training_step_time": 17.559078216552734 }, { "epoch": 2.3202896118164061e-07, "model_forward_time": 5.086964130401611, "step": 2433 }, { "epoch": 2.3202896118164061e-07, "step": 2433, "training_step_time": 17.581749200820923 }, { "epoch": 2.3212432861328125e-07, "model_forward_time": 5.081284761428833, "step": 2434 }, { "epoch": 2.3212432861328125e-07, "step": 2434, "training_step_time": 17.622121572494507 }, { "epoch": 2.3221969604492187e-07, "model_forward_time": 5.082708835601807, "step": 2435 }, { "epoch": 2.3221969604492187e-07, "step": 2435, "training_step_time": 17.610411405563354 }, { "epoch": 2.323150634765625e-07, "model_forward_time": 5.082249164581299, "step": 2436 }, { "epoch": 2.323150634765625e-07, "step": 2436, "training_step_time": 17.811671495437622 }, { "epoch": 2.3241043090820312e-07, "model_forward_time": 5.078334808349609, "step": 2437 }, { "epoch": 2.3241043090820312e-07, "step": 2437, "training_step_time": 17.6125590801239 }, { "epoch": 2.3250579833984374e-07, "model_forward_time": 5.084038019180298, "step": 2438 }, { "epoch": 2.3250579833984374e-07, "step": 2438, "training_step_time": 17.60953187942505 }, { "epoch": 2.3260116577148438e-07, "model_forward_time": 5.08171820640564, "step": 2439 }, { "epoch": 2.3260116577148438e-07, "step": 2439, "training_step_time": 17.597655296325684 }, { "epoch": 2.32696533203125e-07, "grad_norm": 1.783667802810669, "learning_rate": 6.968571428571429e-06, "loss": 0.171, "step": 2440 }, { "epoch": 2.32696533203125e-07, "model_forward_time": 5.089328765869141, "step": 2440 }, { "dynamics_loss_avg": 0.041215083375573155, "epoch": 2.32696533203125e-07, "step": 2440 }, { "action_loss_avg": 0.09650722704827785, "epoch": 2.32696533203125e-07, "step": 2440 }, { "arm_loss_avg": 0.15302837938070296, "epoch": 2.32696533203125e-07, "step": 2440 }, { "ee_loss_avg": 0.302873794734478, "epoch": 2.32696533203125e-07, "step": 2440 }, { "aux_loss_avg": 0.0013819758140016347, "epoch": 2.32696533203125e-07, "step": 2440 }, { "epoch": 2.32696533203125e-07, "step": 2440, "training_step_time": 17.813936233520508 }, { "epoch": 2.3279190063476564e-07, "model_forward_time": 5.085846424102783, "step": 2441 }, { "epoch": 2.3279190063476564e-07, "step": 2441, "training_step_time": 17.578540802001953 }, { "epoch": 2.3288726806640625e-07, "model_forward_time": 5.28141975402832, "step": 2442 }, { "epoch": 2.3288726806640625e-07, "step": 2442, "training_step_time": 17.58183741569519 }, { "epoch": 2.3298263549804686e-07, "model_forward_time": 5.089545488357544, "step": 2443 }, { "epoch": 2.3298263549804686e-07, "step": 2443, "training_step_time": 17.296852827072144 }, { "epoch": 2.330780029296875e-07, "model_forward_time": 5.085848093032837, "step": 2444 }, { "epoch": 2.330780029296875e-07, "step": 2444, "training_step_time": 17.564717054367065 }, { "epoch": 2.3317337036132812e-07, "model_forward_time": 5.086745262145996, "step": 2445 }, { "epoch": 2.3317337036132812e-07, "step": 2445, "training_step_time": 17.733242511749268 }, { "epoch": 2.3326873779296876e-07, "model_forward_time": 5.086594581604004, "step": 2446 }, { "epoch": 2.3326873779296876e-07, "step": 2446, "training_step_time": 17.372050523757935 }, { "epoch": 2.3336410522460938e-07, "model_forward_time": 5.339702606201172, "step": 2447 }, { "epoch": 2.3336410522460938e-07, "step": 2447, "training_step_time": 17.441114902496338 }, { "epoch": 2.3345947265625e-07, "model_forward_time": 5.090005159378052, "step": 2448 }, { "epoch": 2.3345947265625e-07, "step": 2448, "training_step_time": 17.440672874450684 }, { "epoch": 2.3355484008789063e-07, "model_forward_time": 5.084792375564575, "step": 2449 }, { "epoch": 2.3355484008789063e-07, "step": 2449, "training_step_time": 17.51717257499695 }, { "epoch": 2.3365020751953125e-07, "grad_norm": 4.647617816925049, "learning_rate": 6.997142857142858e-06, "loss": 0.196, "step": 2450 }, { "epoch": 2.3365020751953125e-07, "model_forward_time": 5.0816264152526855, "step": 2450 }, { "dynamics_loss_avg": 0.04742117915302515, "epoch": 2.3365020751953125e-07, "step": 2450 }, { "action_loss_avg": 0.12884632349014283, "epoch": 2.3365020751953125e-07, "step": 2450 }, { "arm_loss_avg": 0.18648111298680306, "epoch": 2.3365020751953125e-07, "step": 2450 }, { "ee_loss_avg": 0.35729710608720777, "epoch": 2.3365020751953125e-07, "step": 2450 }, { "aux_loss_avg": 0.0023866991570685057, "epoch": 2.3365020751953125e-07, "step": 2450 }, { "epoch": 2.3365020751953125e-07, "step": 2450, "training_step_time": 17.57446813583374 }, { "epoch": 2.3374557495117189e-07, "model_forward_time": 5.082531690597534, "step": 2451 }, { "epoch": 2.3374557495117189e-07, "step": 2451, "training_step_time": 17.836459398269653 }, { "epoch": 2.338409423828125e-07, "model_forward_time": 5.076701641082764, "step": 2452 }, { "epoch": 2.338409423828125e-07, "step": 2452, "training_step_time": 17.637165546417236 }, { "epoch": 2.3393630981445312e-07, "model_forward_time": 5.078518867492676, "step": 2453 }, { "epoch": 2.3393630981445312e-07, "step": 2453, "training_step_time": 17.647043466567993 }, { "epoch": 2.3403167724609376e-07, "model_forward_time": 5.0812647342681885, "step": 2454 }, { "epoch": 2.3403167724609376e-07, "step": 2454, "training_step_time": 17.643977880477905 }, { "epoch": 2.3412704467773437e-07, "model_forward_time": 3.848945140838623, "step": 2455 }, { "epoch": 2.3412704467773437e-07, "step": 2455, "training_step_time": 17.62233257293701 }, { "epoch": 2.34222412109375e-07, "model_forward_time": 5.057408571243286, "step": 2456 }, { "epoch": 2.34222412109375e-07, "step": 2456, "training_step_time": 17.81322956085205 }, { "epoch": 2.3431777954101563e-07, "model_forward_time": 5.076533079147339, "step": 2457 }, { "epoch": 2.3431777954101563e-07, "step": 2457, "training_step_time": 17.626359462738037 }, { "epoch": 2.3441314697265624e-07, "model_forward_time": 5.330825567245483, "step": 2458 }, { "epoch": 2.3441314697265624e-07, "step": 2458, "training_step_time": 17.64706063270569 }, { "epoch": 2.3450851440429688e-07, "model_forward_time": 5.104235649108887, "step": 2459 }, { "epoch": 2.3450851440429688e-07, "step": 2459, "training_step_time": 17.632959127426147 }, { "epoch": 2.346038818359375e-07, "grad_norm": 2.7103946208953857, "learning_rate": 7.025714285714287e-06, "loss": 0.2224, "step": 2460 }, { "epoch": 2.346038818359375e-07, "model_forward_time": 5.1030113697052, "step": 2460 }, { "dynamics_loss_avg": 0.05288814790546894, "epoch": 2.346038818359375e-07, "step": 2460 }, { "action_loss_avg": 0.10904179885983467, "epoch": 2.346038818359375e-07, "step": 2460 }, { "arm_loss_avg": 0.14663311019539832, "epoch": 2.346038818359375e-07, "step": 2460 }, { "ee_loss_avg": 0.284871057420969, "epoch": 2.346038818359375e-07, "step": 2460 }, { "aux_loss_avg": 0.005287454178323969, "epoch": 2.346038818359375e-07, "step": 2460 }, { "epoch": 2.346038818359375e-07, "step": 2460, "training_step_time": 17.82935667037964 }, { "epoch": 2.3469924926757814e-07, "model_forward_time": 5.094972133636475, "step": 2461 }, { "epoch": 2.3469924926757814e-07, "step": 2461, "training_step_time": 17.572616815567017 }, { "epoch": 2.3479461669921875e-07, "model_forward_time": 5.287668466567993, "step": 2462 }, { "epoch": 2.3479461669921875e-07, "step": 2462, "training_step_time": 17.56952977180481 }, { "epoch": 2.3488998413085937e-07, "model_forward_time": 5.0924036502838135, "step": 2463 }, { "epoch": 2.3488998413085937e-07, "step": 2463, "training_step_time": 17.56198215484619 }, { "epoch": 2.349853515625e-07, "model_forward_time": 5.089492321014404, "step": 2464 }, { "epoch": 2.349853515625e-07, "step": 2464, "training_step_time": 17.61946988105774 }, { "epoch": 2.3508071899414062e-07, "model_forward_time": 5.085525989532471, "step": 2465 }, { "epoch": 2.3508071899414062e-07, "step": 2465, "training_step_time": 17.781291961669922 }, { "epoch": 2.3517608642578126e-07, "model_forward_time": 5.077929973602295, "step": 2466 }, { "epoch": 2.3517608642578126e-07, "step": 2466, "training_step_time": 17.565227508544922 }, { "epoch": 2.3527145385742188e-07, "model_forward_time": 5.330121755599976, "step": 2467 }, { "epoch": 2.3527145385742188e-07, "step": 2467, "training_step_time": 17.57643437385559 }, { "epoch": 2.353668212890625e-07, "model_forward_time": 5.078346490859985, "step": 2468 }, { "epoch": 2.353668212890625e-07, "step": 2468, "training_step_time": 17.58698320388794 }, { "epoch": 2.3546218872070313e-07, "model_forward_time": 5.079769849777222, "step": 2469 }, { "epoch": 2.3546218872070313e-07, "step": 2469, "training_step_time": 17.588754415512085 }, { "epoch": 2.3555755615234375e-07, "grad_norm": 2.554652214050293, "learning_rate": 7.054285714285714e-06, "loss": 0.2124, "step": 2470 }, { "epoch": 2.3555755615234375e-07, "model_forward_time": 5.0749831199646, "step": 2470 }, { "dynamics_loss_avg": 0.05149593986570835, "epoch": 2.3555755615234375e-07, "step": 2470 }, { "action_loss_avg": 0.12071588784456252, "epoch": 2.3555755615234375e-07, "step": 2470 }, { "arm_loss_avg": 0.1513667680323124, "epoch": 2.3555755615234375e-07, "step": 2470 }, { "ee_loss_avg": 0.31769469641149045, "epoch": 2.3555755615234375e-07, "step": 2470 }, { "aux_loss_avg": 0.0016834401525557042, "epoch": 2.3555755615234375e-07, "step": 2470 }, { "epoch": 2.3555755615234375e-07, "step": 2470, "training_step_time": 17.79365611076355 }, { "epoch": 2.3565292358398436e-07, "model_forward_time": 5.075169801712036, "step": 2471 }, { "epoch": 2.3565292358398436e-07, "step": 2471, "training_step_time": 17.577446222305298 }, { "epoch": 2.35748291015625e-07, "model_forward_time": 5.074089050292969, "step": 2472 }, { "epoch": 2.35748291015625e-07, "step": 2472, "training_step_time": 17.38228416442871 }, { "epoch": 2.3584365844726562e-07, "model_forward_time": 5.084157943725586, "step": 2473 }, { "epoch": 2.3584365844726562e-07, "step": 2473, "training_step_time": 17.4811954498291 }, { "epoch": 2.3593902587890626e-07, "model_forward_time": 5.077092409133911, "step": 2474 }, { "epoch": 2.3593902587890626e-07, "step": 2474, "training_step_time": 17.601933479309082 }, { "epoch": 2.3603439331054687e-07, "model_forward_time": 5.078080892562866, "step": 2475 }, { "epoch": 2.3603439331054687e-07, "step": 2475, "training_step_time": 17.452789068222046 }, { "epoch": 2.361297607421875e-07, "model_forward_time": 5.079212427139282, "step": 2476 }, { "epoch": 2.361297607421875e-07, "step": 2476, "training_step_time": 17.244911670684814 }, { "epoch": 2.3622512817382813e-07, "model_forward_time": 5.0859925746917725, "step": 2477 }, { "epoch": 2.3622512817382813e-07, "step": 2477, "training_step_time": 17.47724175453186 }, { "epoch": 2.3632049560546874e-07, "model_forward_time": 5.082182884216309, "step": 2478 }, { "epoch": 2.3632049560546874e-07, "step": 2478, "training_step_time": 17.548720121383667 }, { "epoch": 2.3641586303710938e-07, "model_forward_time": 3.849294424057007, "step": 2479 }, { "epoch": 2.3641586303710938e-07, "step": 2479, "training_step_time": 17.589723825454712 }, { "epoch": 2.3651123046875e-07, "grad_norm": 2.5032410621643066, "learning_rate": 7.082857142857143e-06, "loss": 0.1728, "step": 2480 }, { "epoch": 2.3651123046875e-07, "model_forward_time": 5.055100440979004, "step": 2480 }, { "dynamics_loss_avg": 0.03961013369262219, "epoch": 2.3651123046875e-07, "step": 2480 }, { "action_loss_avg": 0.09252122566103935, "epoch": 2.3651123046875e-07, "step": 2480 }, { "arm_loss_avg": 0.14578126966953278, "epoch": 2.3651123046875e-07, "step": 2480 }, { "ee_loss_avg": 0.3214766435325146, "epoch": 2.3651123046875e-07, "step": 2480 }, { "aux_loss_avg": 0.0009753816178999841, "epoch": 2.3651123046875e-07, "step": 2480 }, { "epoch": 2.3651123046875e-07, "step": 2480, "training_step_time": 17.611627101898193 }, { "epoch": 2.366065979003906e-07, "model_forward_time": 5.0622758865356445, "step": 2481 }, { "epoch": 2.366065979003906e-07, "step": 2481, "training_step_time": 17.851804971694946 }, { "epoch": 2.3670196533203125e-07, "model_forward_time": 3.8416366577148438, "step": 2482 }, { "epoch": 2.3670196533203125e-07, "step": 2482, "training_step_time": 17.624417543411255 }, { "epoch": 2.3679733276367187e-07, "model_forward_time": 5.245819807052612, "step": 2483 }, { "epoch": 2.3679733276367187e-07, "step": 2483, "training_step_time": 17.614510536193848 }, { "epoch": 2.368927001953125e-07, "model_forward_time": 5.069571495056152, "step": 2484 }, { "epoch": 2.368927001953125e-07, "step": 2484, "training_step_time": 17.65263557434082 }, { "epoch": 2.3698806762695312e-07, "model_forward_time": 5.086820363998413, "step": 2485 }, { "epoch": 2.3698806762695312e-07, "step": 2485, "training_step_time": 17.588305234909058 }, { "epoch": 2.3708343505859374e-07, "model_forward_time": 5.096710205078125, "step": 2486 }, { "epoch": 2.3708343505859374e-07, "step": 2486, "training_step_time": 17.814639568328857 }, { "epoch": 2.3717880249023438e-07, "model_forward_time": 5.098801612854004, "step": 2487 }, { "epoch": 2.3717880249023438e-07, "step": 2487, "training_step_time": 17.568519115447998 }, { "epoch": 2.37274169921875e-07, "model_forward_time": 5.108148813247681, "step": 2488 }, { "epoch": 2.37274169921875e-07, "step": 2488, "training_step_time": 17.369177103042603 }, { "epoch": 2.3736953735351563e-07, "model_forward_time": 5.101656436920166, "step": 2489 }, { "epoch": 2.3736953735351563e-07, "step": 2489, "training_step_time": 17.581899166107178 }, { "epoch": 2.3746490478515625e-07, "grad_norm": 3.099735736846924, "learning_rate": 7.111428571428572e-06, "loss": 0.2243, "step": 2490 }, { "epoch": 2.3746490478515625e-07, "model_forward_time": 5.092473268508911, "step": 2490 }, { "dynamics_loss_avg": 0.054385574720799926, "epoch": 2.3746490478515625e-07, "step": 2490 }, { "action_loss_avg": 0.11930112019181252, "epoch": 2.3746490478515625e-07, "step": 2490 }, { "arm_loss_avg": 0.15926826149225234, "epoch": 2.3746490478515625e-07, "step": 2490 }, { "ee_loss_avg": 0.2596956826746464, "epoch": 2.3746490478515625e-07, "step": 2490 }, { "aux_loss_avg": 0.007658533233916387, "epoch": 2.3746490478515625e-07, "step": 2490 }, { "epoch": 2.3746490478515625e-07, "step": 2490, "training_step_time": 17.485465049743652 }, { "epoch": 2.3756027221679686e-07, "model_forward_time": 3.8528356552124023, "step": 2491 }, { "epoch": 2.3756027221679686e-07, "step": 2491, "training_step_time": 17.727131128311157 }, { "epoch": 2.376556396484375e-07, "model_forward_time": 5.059093236923218, "step": 2492 }, { "epoch": 2.376556396484375e-07, "step": 2492, "training_step_time": 17.547406911849976 }, { "epoch": 2.3775100708007812e-07, "model_forward_time": 5.0616936683654785, "step": 2493 }, { "epoch": 2.3775100708007812e-07, "step": 2493, "training_step_time": 17.58017897605896 }, { "epoch": 2.3784637451171876e-07, "model_forward_time": 5.07030177116394, "step": 2494 }, { "epoch": 2.3784637451171876e-07, "step": 2494, "training_step_time": 17.634721517562866 }, { "epoch": 2.3794174194335937e-07, "model_forward_time": 5.073817253112793, "step": 2495 }, { "epoch": 2.3794174194335937e-07, "step": 2495, "training_step_time": 17.61410617828369 }, { "epoch": 2.38037109375e-07, "model_forward_time": 5.083700895309448, "step": 2496 }, { "epoch": 2.38037109375e-07, "step": 2496, "training_step_time": 17.808940172195435 }, { "epoch": 2.3813247680664063e-07, "model_forward_time": 3.847900390625, "step": 2497 }, { "epoch": 2.3813247680664063e-07, "step": 2497, "training_step_time": 17.610948085784912 }, { "epoch": 2.3822784423828124e-07, "model_forward_time": 4.07982325553894, "step": 2498 }, { "epoch": 2.3822784423828124e-07, "step": 2498, "training_step_time": 17.606102228164673 }, { "epoch": 2.3832321166992189e-07, "model_forward_time": 5.053197622299194, "step": 2499 }, { "epoch": 2.3832321166992189e-07, "step": 2499, "training_step_time": 17.599714756011963 }, { "epoch": 2.384185791015625e-07, "grad_norm": 2.453498363494873, "learning_rate": 7.14e-06, "loss": 0.2056, "step": 2500 }, { "epoch": 2.384185791015625e-07, "model_forward_time": 5.0710930824279785, "step": 2500 }, { "dynamics_loss_avg": 0.044446331448853016, "epoch": 2.384185791015625e-07, "step": 2500 }, { "action_loss_avg": 0.13629420176148416, "epoch": 2.384185791015625e-07, "step": 2500 }, { "arm_loss_avg": 0.182545904815197, "epoch": 2.384185791015625e-07, "step": 2500 }, { "ee_loss_avg": 0.3677466928958893, "epoch": 2.384185791015625e-07, "step": 2500 }, { "aux_loss_avg": 0.0010900130262598395, "epoch": 2.384185791015625e-07, "step": 2500 }, { "epoch": 2.384185791015625e-07, "step": 2500, "training_step_time": 17.807342529296875 }, { "epoch": 2.385139465332031e-07, "model_forward_time": 5.0853376388549805, "step": 2501 }, { "epoch": 2.385139465332031e-07, "step": 2501, "training_step_time": 17.557316780090332 }, { "epoch": 2.3860931396484373e-07, "model_forward_time": 5.093632698059082, "step": 2502 }, { "epoch": 2.3860931396484373e-07, "step": 2502, "training_step_time": 17.555962324142456 }, { "epoch": 2.387046813964844e-07, "model_forward_time": 5.297317028045654, "step": 2503 }, { "epoch": 2.387046813964844e-07, "step": 2503, "training_step_time": 17.551189661026 }, { "epoch": 2.38800048828125e-07, "model_forward_time": 5.10824179649353, "step": 2504 }, { "epoch": 2.38800048828125e-07, "step": 2504, "training_step_time": 17.573615312576294 }, { "epoch": 2.388954162597656e-07, "model_forward_time": 5.096153497695923, "step": 2505 }, { "epoch": 2.388954162597656e-07, "step": 2505, "training_step_time": 17.76475501060486 }, { "epoch": 2.3899078369140624e-07, "model_forward_time": 5.096419334411621, "step": 2506 }, { "epoch": 2.3899078369140624e-07, "step": 2506, "training_step_time": 17.575546741485596 }, { "epoch": 2.3908615112304685e-07, "model_forward_time": 5.088078260421753, "step": 2507 }, { "epoch": 2.3908615112304685e-07, "step": 2507, "training_step_time": 17.571447372436523 }, { "epoch": 2.391815185546875e-07, "model_forward_time": 5.084401369094849, "step": 2508 }, { "epoch": 2.391815185546875e-07, "step": 2508, "training_step_time": 17.572702407836914 }, { "epoch": 2.3927688598632814e-07, "model_forward_time": 5.083090782165527, "step": 2509 }, { "epoch": 2.3927688598632814e-07, "step": 2509, "training_step_time": 17.575759410858154 }, { "epoch": 2.3937225341796875e-07, "grad_norm": 1.5827540159225464, "learning_rate": 7.168571428571429e-06, "loss": 0.1896, "step": 2510 }, { "epoch": 2.3937225341796875e-07, "model_forward_time": 5.075316905975342, "step": 2510 }, { "dynamics_loss_avg": 0.045198535360395906, "epoch": 2.3937225341796875e-07, "step": 2510 }, { "action_loss_avg": 0.10981126390397548, "epoch": 2.3937225341796875e-07, "step": 2510 }, { "arm_loss_avg": 0.1632220610976219, "epoch": 2.3937225341796875e-07, "step": 2510 }, { "ee_loss_avg": 0.19748342595994473, "epoch": 2.3937225341796875e-07, "step": 2510 }, { "aux_loss_avg": 0.0032163784198928624, "epoch": 2.3937225341796875e-07, "step": 2510 }, { "epoch": 2.3937225341796875e-07, "step": 2510, "training_step_time": 17.7916419506073 }, { "epoch": 2.3946762084960937e-07, "model_forward_time": 5.074405908584595, "step": 2511 }, { "epoch": 2.3946762084960937e-07, "step": 2511, "training_step_time": 17.570031881332397 }, { "epoch": 2.3956298828125e-07, "model_forward_time": 5.0806214809417725, "step": 2512 }, { "epoch": 2.3956298828125e-07, "step": 2512, "training_step_time": 17.577884435653687 }, { "epoch": 2.3965835571289065e-07, "model_forward_time": 5.0762457847595215, "step": 2513 }, { "epoch": 2.3965835571289065e-07, "step": 2513, "training_step_time": 17.57310175895691 }, { "epoch": 2.3975372314453126e-07, "model_forward_time": 5.080027103424072, "step": 2514 }, { "epoch": 2.3975372314453126e-07, "step": 2514, "training_step_time": 17.595556259155273 }, { "epoch": 2.398490905761719e-07, "model_forward_time": 5.079688787460327, "step": 2515 }, { "epoch": 2.398490905761719e-07, "step": 2515, "training_step_time": 17.765934705734253 }, { "epoch": 2.399444580078125e-07, "model_forward_time": 5.081169366836548, "step": 2516 }, { "epoch": 2.399444580078125e-07, "step": 2516, "training_step_time": 17.57640790939331 }, { "epoch": 2.400398254394531e-07, "model_forward_time": 5.092749357223511, "step": 2517 }, { "epoch": 2.400398254394531e-07, "step": 2517, "training_step_time": 17.608885765075684 }, { "epoch": 2.4013519287109377e-07, "model_forward_time": 5.1002960205078125, "step": 2518 }, { "epoch": 2.4013519287109377e-07, "step": 2518, "training_step_time": 17.610065937042236 }, { "epoch": 2.402305603027344e-07, "model_forward_time": 5.0965659618377686, "step": 2519 }, { "epoch": 2.402305603027344e-07, "step": 2519, "training_step_time": 17.651195287704468 }, { "epoch": 2.40325927734375e-07, "grad_norm": 3.132772207260132, "learning_rate": 7.197142857142858e-06, "loss": 0.2073, "step": 2520 }, { "epoch": 2.40325927734375e-07, "model_forward_time": 5.097416877746582, "step": 2520 }, { "dynamics_loss_avg": 0.044970303773880005, "epoch": 2.40325927734375e-07, "step": 2520 }, { "action_loss_avg": 0.11573732867836953, "epoch": 2.40325927734375e-07, "step": 2520 }, { "arm_loss_avg": 0.16688779443502427, "epoch": 2.40325927734375e-07, "step": 2520 }, { "ee_loss_avg": 0.23658508583903312, "epoch": 2.40325927734375e-07, "step": 2520 }, { "aux_loss_avg": 0.012562521290965379, "epoch": 2.40325927734375e-07, "step": 2520 }, { "epoch": 2.40325927734375e-07, "step": 2520, "training_step_time": 17.852813959121704 }, { "epoch": 2.404212951660156e-07, "model_forward_time": 5.087765693664551, "step": 2521 }, { "epoch": 2.404212951660156e-07, "step": 2521, "training_step_time": 17.59465742111206 }, { "epoch": 2.4051666259765623e-07, "model_forward_time": 5.286679029464722, "step": 2522 }, { "epoch": 2.4051666259765623e-07, "step": 2522, "training_step_time": 17.575664520263672 }, { "epoch": 2.406120300292969e-07, "model_forward_time": 5.081082344055176, "step": 2523 }, { "epoch": 2.406120300292969e-07, "step": 2523, "training_step_time": 17.577251434326172 }, { "epoch": 2.407073974609375e-07, "model_forward_time": 5.077440977096558, "step": 2524 }, { "epoch": 2.407073974609375e-07, "step": 2524, "training_step_time": 17.647581338882446 }, { "epoch": 2.4080276489257813e-07, "model_forward_time": 5.085738182067871, "step": 2525 }, { "epoch": 2.4080276489257813e-07, "step": 2525, "training_step_time": 17.451801776885986 }, { "epoch": 2.4089813232421874e-07, "model_forward_time": 5.081393003463745, "step": 2526 }, { "epoch": 2.4089813232421874e-07, "step": 2526, "training_step_time": 17.73011302947998 }, { "epoch": 2.4099349975585936e-07, "model_forward_time": 5.322047472000122, "step": 2527 }, { "epoch": 2.4099349975585936e-07, "step": 2527, "training_step_time": 17.527649879455566 }, { "epoch": 2.410888671875e-07, "model_forward_time": 3.8453586101531982, "step": 2528 }, { "epoch": 2.410888671875e-07, "step": 2528, "training_step_time": 17.55682134628296 }, { "epoch": 2.4118423461914064e-07, "model_forward_time": 5.057056665420532, "step": 2529 }, { "epoch": 2.4118423461914064e-07, "step": 2529, "training_step_time": 17.595149040222168 }, { "epoch": 2.4127960205078125e-07, "grad_norm": 3.4301304817199707, "learning_rate": 7.225714285714286e-06, "loss": 0.1893, "step": 2530 }, { "epoch": 2.4127960205078125e-07, "model_forward_time": 5.064858913421631, "step": 2530 }, { "dynamics_loss_avg": 0.0443277177400887, "epoch": 2.4127960205078125e-07, "step": 2530 }, { "action_loss_avg": 0.10625308379530907, "epoch": 2.4127960205078125e-07, "step": 2530 }, { "arm_loss_avg": 0.1410640150308609, "epoch": 2.4127960205078125e-07, "step": 2530 }, { "ee_loss_avg": 0.32365991547703743, "epoch": 2.4127960205078125e-07, "step": 2530 }, { "aux_loss_avg": 0.0011951350228628145, "epoch": 2.4127960205078125e-07, "step": 2530 }, { "epoch": 2.4127960205078125e-07, "step": 2530, "training_step_time": 17.821403980255127 }, { "epoch": 2.4137496948242187e-07, "model_forward_time": 5.07332181930542, "step": 2531 }, { "epoch": 2.4137496948242187e-07, "step": 2531, "training_step_time": 17.604488849639893 }, { "epoch": 2.414703369140625e-07, "model_forward_time": 5.08142352104187, "step": 2532 }, { "epoch": 2.414703369140625e-07, "step": 2532, "training_step_time": 17.599947929382324 }, { "epoch": 2.4156570434570315e-07, "model_forward_time": 5.0903871059417725, "step": 2533 }, { "epoch": 2.4156570434570315e-07, "step": 2533, "training_step_time": 17.61487317085266 }, { "epoch": 2.4166107177734376e-07, "model_forward_time": 5.094708204269409, "step": 2534 }, { "epoch": 2.4166107177734376e-07, "step": 2534, "training_step_time": 17.5599045753479 }, { "epoch": 2.417564392089844e-07, "model_forward_time": 5.096676349639893, "step": 2535 }, { "epoch": 2.417564392089844e-07, "step": 2535, "training_step_time": 17.829347610473633 }, { "epoch": 2.41851806640625e-07, "model_forward_time": 3.853519916534424, "step": 2536 }, { "epoch": 2.41851806640625e-07, "step": 2536, "training_step_time": 17.590858936309814 }, { "epoch": 2.419471740722656e-07, "model_forward_time": 5.060527801513672, "step": 2537 }, { "epoch": 2.419471740722656e-07, "step": 2537, "training_step_time": 17.597375631332397 }, { "epoch": 2.420425415039063e-07, "model_forward_time": 5.305097579956055, "step": 2538 }, { "epoch": 2.420425415039063e-07, "step": 2538, "training_step_time": 17.396708250045776 }, { "epoch": 2.421379089355469e-07, "model_forward_time": 3.8474955558776855, "step": 2539 }, { "epoch": 2.421379089355469e-07, "step": 2539, "training_step_time": 17.592673778533936 }, { "epoch": 2.422332763671875e-07, "grad_norm": 2.4903433322906494, "learning_rate": 7.254285714285715e-06, "loss": 0.2125, "step": 2540 }, { "epoch": 2.422332763671875e-07, "model_forward_time": 3.8308935165405273, "step": 2540 }, { "dynamics_loss_avg": 0.05682323761284351, "epoch": 2.422332763671875e-07, "step": 2540 }, { "action_loss_avg": 0.12065504193305969, "epoch": 2.422332763671875e-07, "step": 2540 }, { "arm_loss_avg": 0.16570407077670096, "epoch": 2.422332763671875e-07, "step": 2540 }, { "ee_loss_avg": 0.34461893141269684, "epoch": 2.422332763671875e-07, "step": 2540 }, { "aux_loss_avg": 0.002921427256660536, "epoch": 2.422332763671875e-07, "step": 2540 }, { "epoch": 2.422332763671875e-07, "step": 2540, "training_step_time": 17.52986192703247 }, { "epoch": 2.423286437988281e-07, "model_forward_time": 5.045124530792236, "step": 2541 }, { "epoch": 2.423286437988281e-07, "step": 2541, "training_step_time": 17.799840927124023 }, { "epoch": 2.4242401123046873e-07, "model_forward_time": 5.065373659133911, "step": 2542 }, { "epoch": 2.4242401123046873e-07, "step": 2542, "training_step_time": 17.570367574691772 }, { "epoch": 2.425193786621094e-07, "model_forward_time": 5.266566038131714, "step": 2543 }, { "epoch": 2.425193786621094e-07, "step": 2543, "training_step_time": 17.578773736953735 }, { "epoch": 2.4261474609375e-07, "model_forward_time": 5.092290163040161, "step": 2544 }, { "epoch": 2.4261474609375e-07, "step": 2544, "training_step_time": 17.616724967956543 }, { "epoch": 2.4271011352539063e-07, "model_forward_time": 5.097199440002441, "step": 2545 }, { "epoch": 2.4271011352539063e-07, "step": 2545, "training_step_time": 17.598381519317627 }, { "epoch": 2.4280548095703124e-07, "model_forward_time": 5.09856653213501, "step": 2546 }, { "epoch": 2.4280548095703124e-07, "step": 2546, "training_step_time": 17.83626961708069 }, { "epoch": 2.4290084838867186e-07, "model_forward_time": 3.8561933040618896, "step": 2547 }, { "epoch": 2.4290084838867186e-07, "step": 2547, "training_step_time": 17.604986906051636 }, { "epoch": 2.429962158203125e-07, "model_forward_time": 4.043822526931763, "step": 2548 }, { "epoch": 2.429962158203125e-07, "step": 2548, "training_step_time": 17.61309814453125 }, { "epoch": 2.4309158325195314e-07, "model_forward_time": 5.0454113483428955, "step": 2549 }, { "epoch": 2.4309158325195314e-07, "step": 2549, "training_step_time": 17.5906925201416 }, { "epoch": 2.4318695068359375e-07, "grad_norm": 2.9044406414031982, "learning_rate": 7.282857142857144e-06, "loss": 0.198, "step": 2550 }, { "epoch": 2.4318695068359375e-07, "model_forward_time": 5.05689811706543, "step": 2550 }, { "dynamics_loss_avg": 0.05369382947683334, "epoch": 2.4318695068359375e-07, "step": 2550 }, { "action_loss_avg": 0.11120588630437851, "epoch": 2.4318695068359375e-07, "step": 2550 }, { "arm_loss_avg": 0.14616970494389533, "epoch": 2.4318695068359375e-07, "step": 2550 }, { "ee_loss_avg": 0.4965690433979034, "epoch": 2.4318695068359375e-07, "step": 2550 }, { "aux_loss_avg": 0.0020080493355635553, "epoch": 2.4318695068359375e-07, "step": 2550 }, { "epoch": 2.4318695068359375e-07, "step": 2550, "training_step_time": 17.829570055007935 }, { "epoch": 2.4328231811523437e-07, "model_forward_time": 5.070942163467407, "step": 2551 }, { "epoch": 2.4328231811523437e-07, "step": 2551, "training_step_time": 17.589342832565308 }, { "epoch": 2.43377685546875e-07, "model_forward_time": 5.079636096954346, "step": 2552 }, { "epoch": 2.43377685546875e-07, "step": 2552, "training_step_time": 17.3004367351532 }, { "epoch": 2.4347305297851565e-07, "model_forward_time": 5.2825469970703125, "step": 2553 }, { "epoch": 2.4347305297851565e-07, "step": 2553, "training_step_time": 17.492807865142822 }, { "epoch": 2.4356842041015627e-07, "model_forward_time": 5.097342252731323, "step": 2554 }, { "epoch": 2.4356842041015627e-07, "step": 2554, "training_step_time": 17.602657318115234 }, { "epoch": 2.436637878417969e-07, "model_forward_time": 3.859743118286133, "step": 2555 }, { "epoch": 2.436637878417969e-07, "step": 2555, "training_step_time": 17.561638593673706 }, { "epoch": 2.437591552734375e-07, "model_forward_time": 5.061344623565674, "step": 2556 }, { "epoch": 2.437591552734375e-07, "step": 2556, "training_step_time": 17.776204824447632 }, { "epoch": 2.438545227050781e-07, "model_forward_time": 5.071342945098877, "step": 2557 }, { "epoch": 2.438545227050781e-07, "step": 2557, "training_step_time": 17.589216709136963 }, { "epoch": 2.439498901367188e-07, "model_forward_time": 5.313363075256348, "step": 2558 }, { "epoch": 2.439498901367188e-07, "step": 2558, "training_step_time": 17.603346824645996 }, { "epoch": 2.440452575683594e-07, "model_forward_time": 5.082737684249878, "step": 2559 }, { "epoch": 2.440452575683594e-07, "step": 2559, "training_step_time": 17.59754991531372 }, { "epoch": 2.44140625e-07, "grad_norm": 1.9303675889968872, "learning_rate": 7.311428571428571e-06, "loss": 0.2002, "step": 2560 }, { "epoch": 2.44140625e-07, "model_forward_time": 3.849341869354248, "step": 2560 }, { "dynamics_loss_avg": 0.04848977215588093, "epoch": 2.44140625e-07, "step": 2560 }, { "action_loss_avg": 0.12498783394694328, "epoch": 2.44140625e-07, "step": 2560 }, { "arm_loss_avg": 0.16832953840494155, "epoch": 2.44140625e-07, "step": 2560 }, { "ee_loss_avg": 0.3191834010183811, "epoch": 2.44140625e-07, "step": 2560 }, { "aux_loss_avg": 0.00222950738389045, "epoch": 2.44140625e-07, "step": 2560 }, { "epoch": 2.44140625e-07, "step": 2560, "training_step_time": 17.814213037490845 }, { "epoch": 2.442359924316406e-07, "model_forward_time": 5.0550456047058105, "step": 2561 }, { "epoch": 2.442359924316406e-07, "step": 2561, "training_step_time": 17.59593439102173 }, { "epoch": 2.4433135986328123e-07, "model_forward_time": 3.8384900093078613, "step": 2562 }, { "epoch": 2.4433135986328123e-07, "step": 2562, "training_step_time": 17.593866109848022 }, { "epoch": 2.4442672729492185e-07, "model_forward_time": 5.061177492141724, "step": 2563 }, { "epoch": 2.4442672729492185e-07, "step": 2563, "training_step_time": 17.40232563018799 }, { "epoch": 2.445220947265625e-07, "model_forward_time": 5.261278390884399, "step": 2564 }, { "epoch": 2.445220947265625e-07, "step": 2564, "training_step_time": 17.62586545944214 }, { "epoch": 2.4461746215820313e-07, "model_forward_time": 5.082987546920776, "step": 2565 }, { "epoch": 2.4461746215820313e-07, "step": 2565, "training_step_time": 17.730066537857056 }, { "epoch": 2.4471282958984375e-07, "model_forward_time": 3.8584001064300537, "step": 2566 }, { "epoch": 2.4471282958984375e-07, "step": 2566, "training_step_time": 17.548979997634888 }, { "epoch": 2.4480819702148436e-07, "model_forward_time": 5.073470115661621, "step": 2567 }, { "epoch": 2.4480819702148436e-07, "step": 2567, "training_step_time": 17.472416162490845 }, { "epoch": 2.44903564453125e-07, "model_forward_time": 5.084080219268799, "step": 2568 }, { "epoch": 2.44903564453125e-07, "step": 2568, "training_step_time": 17.58799409866333 }, { "epoch": 2.4499893188476564e-07, "model_forward_time": 5.327708005905151, "step": 2569 }, { "epoch": 2.4499893188476564e-07, "step": 2569, "training_step_time": 17.597492218017578 }, { "epoch": 2.4509429931640626e-07, "grad_norm": 2.399264097213745, "learning_rate": 7.340000000000001e-06, "loss": 0.1889, "step": 2570 }, { "epoch": 2.4509429931640626e-07, "model_forward_time": 5.098028659820557, "step": 2570 }, { "dynamics_loss_avg": 0.05250754309818149, "epoch": 2.4509429931640626e-07, "step": 2570 }, { "action_loss_avg": 0.10922449566423893, "epoch": 2.4509429931640626e-07, "step": 2570 }, { "arm_loss_avg": 0.17060080766677857, "epoch": 2.4509429931640626e-07, "step": 2570 }, { "ee_loss_avg": 0.22061358168721198, "epoch": 2.4509429931640626e-07, "step": 2570 }, { "aux_loss_avg": 0.0017224454786628485, "epoch": 2.4509429931640626e-07, "step": 2570 }, { "epoch": 2.4509429931640626e-07, "step": 2570, "training_step_time": 17.81787133216858 }, { "epoch": 2.4518966674804687e-07, "model_forward_time": 5.095947504043579, "step": 2571 }, { "epoch": 2.4518966674804687e-07, "step": 2571, "training_step_time": 17.60124945640564 }, { "epoch": 2.452850341796875e-07, "model_forward_time": 5.095531940460205, "step": 2572 }, { "epoch": 2.452850341796875e-07, "step": 2572, "training_step_time": 17.597270011901855 }, { "epoch": 2.453804016113281e-07, "model_forward_time": 5.093852996826172, "step": 2573 }, { "epoch": 2.453804016113281e-07, "step": 2573, "training_step_time": 17.59513783454895 }, { "epoch": 2.4547576904296877e-07, "model_forward_time": 5.089209318161011, "step": 2574 }, { "epoch": 2.4547576904296877e-07, "step": 2574, "training_step_time": 17.594911575317383 }, { "epoch": 2.455711364746094e-07, "model_forward_time": 5.085092782974243, "step": 2575 }, { "epoch": 2.455711364746094e-07, "step": 2575, "training_step_time": 17.79975438117981 }, { "epoch": 2.4566650390625e-07, "model_forward_time": 5.082080364227295, "step": 2576 }, { "epoch": 2.4566650390625e-07, "step": 2576, "training_step_time": 17.400853157043457 }, { "epoch": 2.457618713378906e-07, "model_forward_time": 5.084241628646851, "step": 2577 }, { "epoch": 2.457618713378906e-07, "step": 2577, "training_step_time": 17.496936082839966 }, { "epoch": 2.458572387695312e-07, "model_forward_time": 3.850147247314453, "step": 2578 }, { "epoch": 2.458572387695312e-07, "step": 2578, "training_step_time": 17.54009199142456 }, { "epoch": 2.459526062011719e-07, "model_forward_time": 3.8280043601989746, "step": 2579 }, { "epoch": 2.459526062011719e-07, "step": 2579, "training_step_time": 17.562403202056885 }, { "epoch": 2.460479736328125e-07, "grad_norm": 2.4089128971099854, "learning_rate": 7.36857142857143e-06, "loss": 0.2137, "step": 2580 }, { "epoch": 2.460479736328125e-07, "model_forward_time": 3.8157269954681396, "step": 2580 }, { "dynamics_loss_avg": 0.06888586208224297, "epoch": 2.460479736328125e-07, "step": 2580 }, { "action_loss_avg": 0.15068809166550637, "epoch": 2.460479736328125e-07, "step": 2580 }, { "arm_loss_avg": 0.17541379109025002, "epoch": 2.460479736328125e-07, "step": 2580 }, { "ee_loss_avg": 0.36601847782731056, "epoch": 2.460479736328125e-07, "step": 2580 }, { "aux_loss_avg": 0.017768585158046336, "epoch": 2.460479736328125e-07, "step": 2580 }, { "epoch": 2.460479736328125e-07, "step": 2580, "training_step_time": 17.79337763786316 }, { "epoch": 2.461433410644531e-07, "model_forward_time": 3.8119757175445557, "step": 2581 }, { "epoch": 2.461433410644531e-07, "step": 2581, "training_step_time": 17.582863807678223 }, { "epoch": 2.4623870849609374e-07, "model_forward_time": 5.039248704910278, "step": 2582 }, { "epoch": 2.4623870849609374e-07, "step": 2582, "training_step_time": 17.583917140960693 }, { "epoch": 2.4633407592773435e-07, "model_forward_time": 3.831320285797119, "step": 2583 }, { "epoch": 2.4633407592773435e-07, "step": 2583, "training_step_time": 17.568718910217285 }, { "epoch": 2.46429443359375e-07, "model_forward_time": 5.230717658996582, "step": 2584 }, { "epoch": 2.46429443359375e-07, "step": 2584, "training_step_time": 17.620996475219727 }, { "epoch": 2.4652481079101563e-07, "model_forward_time": 3.8440051078796387, "step": 2585 }, { "epoch": 2.4652481079101563e-07, "step": 2585, "training_step_time": 17.765801906585693 }, { "epoch": 2.4662017822265625e-07, "model_forward_time": 5.0677266120910645, "step": 2586 }, { "epoch": 2.4662017822265625e-07, "step": 2586, "training_step_time": 17.575388193130493 }, { "epoch": 2.4671554565429686e-07, "model_forward_time": 5.0941667556762695, "step": 2587 }, { "epoch": 2.4671554565429686e-07, "step": 2587, "training_step_time": 17.57169246673584 }, { "epoch": 2.468109130859375e-07, "model_forward_time": 5.111796617507935, "step": 2588 }, { "epoch": 2.468109130859375e-07, "step": 2588, "training_step_time": 17.573915481567383 }, { "epoch": 2.4690628051757814e-07, "model_forward_time": 4.098442077636719, "step": 2589 }, { "epoch": 2.4690628051757814e-07, "step": 2589, "training_step_time": 17.57632613182068 }, { "epoch": 2.4700164794921876e-07, "grad_norm": 2.05068302154541, "learning_rate": 7.397142857142859e-06, "loss": 0.1846, "step": 2590 }, { "epoch": 2.4700164794921876e-07, "model_forward_time": 5.066572427749634, "step": 2590 }, { "dynamics_loss_avg": 0.05158949214965105, "epoch": 2.4700164794921876e-07, "step": 2590 }, { "action_loss_avg": 0.10245155654847622, "epoch": 2.4700164794921876e-07, "step": 2590 }, { "arm_loss_avg": 0.13076183795928956, "epoch": 2.4700164794921876e-07, "step": 2590 }, { "ee_loss_avg": 0.3135146304965019, "epoch": 2.4700164794921876e-07, "step": 2590 }, { "aux_loss_avg": 0.0015946702274959534, "epoch": 2.4700164794921876e-07, "step": 2590 }, { "epoch": 2.4700164794921876e-07, "step": 2590, "training_step_time": 17.79818320274353 }, { "epoch": 2.4709701538085937e-07, "model_forward_time": 5.070218563079834, "step": 2591 }, { "epoch": 2.4709701538085937e-07, "step": 2591, "training_step_time": 17.583965063095093 }, { "epoch": 2.471923828125e-07, "model_forward_time": 5.0752623081207275, "step": 2592 }, { "epoch": 2.471923828125e-07, "step": 2592, "training_step_time": 17.54539966583252 }, { "epoch": 2.472877502441406e-07, "model_forward_time": 5.081387519836426, "step": 2593 }, { "epoch": 2.472877502441406e-07, "step": 2593, "training_step_time": 17.582687377929688 }, { "epoch": 2.4738311767578127e-07, "model_forward_time": 5.269644021987915, "step": 2594 }, { "epoch": 2.4738311767578127e-07, "step": 2594, "training_step_time": 17.577629804611206 }, { "epoch": 2.474784851074219e-07, "model_forward_time": 5.090186834335327, "step": 2595 }, { "epoch": 2.474784851074219e-07, "step": 2595, "training_step_time": 17.76796269416809 }, { "epoch": 2.475738525390625e-07, "model_forward_time": 5.090069770812988, "step": 2596 }, { "epoch": 2.475738525390625e-07, "step": 2596, "training_step_time": 17.582479238510132 }, { "epoch": 2.476692199707031e-07, "model_forward_time": 5.09202241897583, "step": 2597 }, { "epoch": 2.476692199707031e-07, "step": 2597, "training_step_time": 17.594743728637695 }, { "epoch": 2.4776458740234373e-07, "model_forward_time": 5.088638782501221, "step": 2598 }, { "epoch": 2.4776458740234373e-07, "step": 2598, "training_step_time": 17.575393199920654 }, { "epoch": 2.478599548339844e-07, "model_forward_time": 5.322019815444946, "step": 2599 }, { "epoch": 2.478599548339844e-07, "step": 2599, "training_step_time": 17.599970817565918 }, { "epoch": 2.47955322265625e-07, "grad_norm": 1.0421723127365112, "learning_rate": 7.425714285714286e-06, "loss": 0.1681, "step": 2600 }, { "epoch": 2.47955322265625e-07, "model_forward_time": 5.088638544082642, "step": 2600 }, { "dynamics_loss_avg": 0.04315756019204855, "epoch": 2.47955322265625e-07, "step": 2600 }, { "action_loss_avg": 0.10337877497076989, "epoch": 2.47955322265625e-07, "step": 2600 }, { "arm_loss_avg": 0.1314756914973259, "epoch": 2.47955322265625e-07, "step": 2600 }, { "ee_loss_avg": 0.27936887592077253, "epoch": 2.47955322265625e-07, "step": 2600 }, { "aux_loss_avg": 0.0008034609520109371, "epoch": 2.47955322265625e-07, "step": 2600 }, { "epoch": 2.47955322265625e-07, "step": 2600, "training_step_time": 17.822845220565796 }, { "epoch": 2.480506896972656e-07, "model_forward_time": 5.084787130355835, "step": 2601 }, { "epoch": 2.480506896972656e-07, "step": 2601, "training_step_time": 17.57909607887268 }, { "epoch": 2.4814605712890624e-07, "model_forward_time": 5.088215112686157, "step": 2602 }, { "epoch": 2.4814605712890624e-07, "step": 2602, "training_step_time": 17.584426641464233 }, { "epoch": 2.4824142456054685e-07, "model_forward_time": 5.083492279052734, "step": 2603 }, { "epoch": 2.4824142456054685e-07, "step": 2603, "training_step_time": 17.584972381591797 }, { "epoch": 2.483367919921875e-07, "model_forward_time": 4.043508529663086, "step": 2604 }, { "epoch": 2.483367919921875e-07, "step": 2604, "training_step_time": 17.621023893356323 }, { "epoch": 2.4843215942382813e-07, "model_forward_time": 5.061645269393921, "step": 2605 }, { "epoch": 2.4843215942382813e-07, "step": 2605, "training_step_time": 17.773499250411987 }, { "epoch": 2.4852752685546875e-07, "model_forward_time": 5.069850444793701, "step": 2606 }, { "epoch": 2.4852752685546875e-07, "step": 2606, "training_step_time": 17.563432216644287 }, { "epoch": 2.4862289428710936e-07, "model_forward_time": 5.077385663986206, "step": 2607 }, { "epoch": 2.4862289428710936e-07, "step": 2607, "training_step_time": 17.563310384750366 }, { "epoch": 2.4871826171875e-07, "model_forward_time": 5.0867919921875, "step": 2608 }, { "epoch": 2.4871826171875e-07, "step": 2608, "training_step_time": 17.56223225593567 }, { "epoch": 2.4881362915039064e-07, "model_forward_time": 5.3279502391815186, "step": 2609 }, { "epoch": 2.4881362915039064e-07, "step": 2609, "training_step_time": 17.570335865020752 }, { "epoch": 2.4890899658203126e-07, "grad_norm": 2.7757558822631836, "learning_rate": 7.454285714285715e-06, "loss": 0.1742, "step": 2610 }, { "epoch": 2.4890899658203126e-07, "model_forward_time": 3.8608603477478027, "step": 2610 }, { "dynamics_loss_avg": 0.05299172643572092, "epoch": 2.4890899658203126e-07, "step": 2610 }, { "action_loss_avg": 0.11835887767374516, "epoch": 2.4890899658203126e-07, "step": 2610 }, { "arm_loss_avg": 0.16101199239492417, "epoch": 2.4890899658203126e-07, "step": 2610 }, { "ee_loss_avg": 0.2277199886739254, "epoch": 2.4890899658203126e-07, "step": 2610 }, { "aux_loss_avg": 0.009240008029155432, "epoch": 2.4890899658203126e-07, "step": 2610 }, { "epoch": 2.4890899658203126e-07, "step": 2610, "training_step_time": 17.777769804000854 }, { "epoch": 2.490043640136719e-07, "model_forward_time": 5.063596487045288, "step": 2611 }, { "epoch": 2.490043640136719e-07, "step": 2611, "training_step_time": 17.567158937454224 }, { "epoch": 2.490997314453125e-07, "model_forward_time": 5.079257488250732, "step": 2612 }, { "epoch": 2.490997314453125e-07, "step": 2612, "training_step_time": 17.559402227401733 }, { "epoch": 2.491950988769531e-07, "model_forward_time": 3.847707986831665, "step": 2613 }, { "epoch": 2.491950988769531e-07, "step": 2613, "training_step_time": 17.559036254882812 }, { "epoch": 2.4929046630859377e-07, "model_forward_time": 5.0608971118927, "step": 2614 }, { "epoch": 2.4929046630859377e-07, "step": 2614, "training_step_time": 17.618656635284424 }, { "epoch": 2.493858337402344e-07, "model_forward_time": 5.080948114395142, "step": 2615 }, { "epoch": 2.493858337402344e-07, "step": 2615, "training_step_time": 17.75199604034424 }, { "epoch": 2.49481201171875e-07, "model_forward_time": 5.087393522262573, "step": 2616 }, { "epoch": 2.49481201171875e-07, "step": 2616, "training_step_time": 17.573928356170654 }, { "epoch": 2.495765686035156e-07, "model_forward_time": 5.099551439285278, "step": 2617 }, { "epoch": 2.495765686035156e-07, "step": 2617, "training_step_time": 17.575984477996826 }, { "epoch": 2.4967193603515623e-07, "model_forward_time": 5.099602222442627, "step": 2618 }, { "epoch": 2.4967193603515623e-07, "step": 2618, "training_step_time": 17.574567556381226 }, { "epoch": 2.497673034667969e-07, "model_forward_time": 5.101481914520264, "step": 2619 }, { "epoch": 2.497673034667969e-07, "step": 2619, "training_step_time": 17.568063020706177 }, { "epoch": 2.498626708984375e-07, "grad_norm": 2.4169728755950928, "learning_rate": 7.482857142857144e-06, "loss": 0.2045, "step": 2620 }, { "epoch": 2.498626708984375e-07, "model_forward_time": 5.094261407852173, "step": 2620 }, { "dynamics_loss_avg": 0.04594984324648976, "epoch": 2.498626708984375e-07, "step": 2620 }, { "action_loss_avg": 0.13081206399947404, "epoch": 2.498626708984375e-07, "step": 2620 }, { "arm_loss_avg": 0.18642377853393555, "epoch": 2.498626708984375e-07, "step": 2620 }, { "ee_loss_avg": 0.36395627707242967, "epoch": 2.498626708984375e-07, "step": 2620 }, { "aux_loss_avg": 0.0022220423503313213, "epoch": 2.498626708984375e-07, "step": 2620 }, { "epoch": 2.498626708984375e-07, "step": 2620, "training_step_time": 17.810923099517822 }, { "epoch": 2.499580383300781e-07, "model_forward_time": 5.090359687805176, "step": 2621 }, { "epoch": 2.499580383300781e-07, "step": 2621, "training_step_time": 17.571107864379883 }, { "epoch": 2.5005340576171874e-07, "model_forward_time": 5.087203741073608, "step": 2622 }, { "epoch": 2.5005340576171874e-07, "step": 2622, "training_step_time": 17.57003378868103 }, { "epoch": 2.5014877319335935e-07, "model_forward_time": 5.0856194496154785, "step": 2623 }, { "epoch": 2.5014877319335935e-07, "step": 2623, "training_step_time": 17.57619309425354 }, { "epoch": 2.50244140625e-07, "model_forward_time": 5.082012414932251, "step": 2624 }, { "epoch": 2.50244140625e-07, "step": 2624, "training_step_time": 17.570207595825195 }, { "epoch": 2.5033950805664064e-07, "model_forward_time": 5.080003976821899, "step": 2625 }, { "epoch": 2.5033950805664064e-07, "step": 2625, "training_step_time": 17.78003978729248 }, { "epoch": 2.5043487548828125e-07, "model_forward_time": 3.8452322483062744, "step": 2626 }, { "epoch": 2.5043487548828125e-07, "step": 2626, "training_step_time": 17.56583261489868 }, { "epoch": 2.5053024291992186e-07, "model_forward_time": 5.050073146820068, "step": 2627 }, { "epoch": 2.5053024291992186e-07, "step": 2627, "training_step_time": 17.579241037368774 }, { "epoch": 2.506256103515625e-07, "model_forward_time": 5.062902450561523, "step": 2628 }, { "epoch": 2.506256103515625e-07, "step": 2628, "training_step_time": 17.564862489700317 }, { "epoch": 2.5072097778320315e-07, "model_forward_time": 5.076335668563843, "step": 2629 }, { "epoch": 2.5072097778320315e-07, "step": 2629, "training_step_time": 17.62946105003357 }, { "epoch": 2.5081634521484376e-07, "grad_norm": 1.0580540895462036, "learning_rate": 7.511428571428572e-06, "loss": 0.1636, "step": 2630 }, { "epoch": 2.5081634521484376e-07, "model_forward_time": 5.318679571151733, "step": 2630 }, { "dynamics_loss_avg": 0.04188044127076864, "epoch": 2.5081634521484376e-07, "step": 2630 }, { "action_loss_avg": 0.08912711814045907, "epoch": 2.5081634521484376e-07, "step": 2630 }, { "arm_loss_avg": 0.14869554340839386, "epoch": 2.5081634521484376e-07, "step": 2630 }, { "ee_loss_avg": 0.3006577707827091, "epoch": 2.5081634521484376e-07, "step": 2630 }, { "aux_loss_avg": 0.0015933757327729835, "epoch": 2.5081634521484376e-07, "step": 2630 }, { "epoch": 2.5081634521484376e-07, "step": 2630, "training_step_time": 17.484777450561523 }, { "epoch": 2.509117126464844e-07, "model_forward_time": 3.8572850227355957, "step": 2631 }, { "epoch": 2.509117126464844e-07, "step": 2631, "training_step_time": 17.47629690170288 }, { "epoch": 2.51007080078125e-07, "model_forward_time": 5.065952301025391, "step": 2632 }, { "epoch": 2.51007080078125e-07, "step": 2632, "training_step_time": 17.477654933929443 }, { "epoch": 2.511024475097656e-07, "model_forward_time": 5.078966856002808, "step": 2633 }, { "epoch": 2.511024475097656e-07, "step": 2633, "training_step_time": 17.53313446044922 }, { "epoch": 2.5119781494140627e-07, "model_forward_time": 5.088172912597656, "step": 2634 }, { "epoch": 2.5119781494140627e-07, "step": 2634, "training_step_time": 17.62441921234131 }, { "epoch": 2.512931823730469e-07, "model_forward_time": 5.288545608520508, "step": 2635 }, { "epoch": 2.512931823730469e-07, "step": 2635, "training_step_time": 17.51082158088684 }, { "epoch": 2.513885498046875e-07, "model_forward_time": 5.106298923492432, "step": 2636 }, { "epoch": 2.513885498046875e-07, "step": 2636, "training_step_time": 17.79773259162903 }, { "epoch": 2.514839172363281e-07, "model_forward_time": 5.102972745895386, "step": 2637 }, { "epoch": 2.514839172363281e-07, "step": 2637, "training_step_time": 17.418145179748535 }, { "epoch": 2.5157928466796873e-07, "model_forward_time": 5.109407663345337, "step": 2638 }, { "epoch": 2.5157928466796873e-07, "step": 2638, "training_step_time": 17.57559299468994 }, { "epoch": 2.516746520996094e-07, "model_forward_time": 5.104381561279297, "step": 2639 }, { "epoch": 2.516746520996094e-07, "step": 2639, "training_step_time": 17.619580268859863 }, { "epoch": 2.5177001953125e-07, "grad_norm": 3.467036008834839, "learning_rate": 7.540000000000001e-06, "loss": 0.172, "step": 2640 }, { "epoch": 2.5177001953125e-07, "model_forward_time": 5.328021287918091, "step": 2640 }, { "dynamics_loss_avg": 0.03568398961797357, "epoch": 2.5177001953125e-07, "step": 2640 }, { "action_loss_avg": 0.07917272094637155, "epoch": 2.5177001953125e-07, "step": 2640 }, { "arm_loss_avg": 0.1933560438454151, "epoch": 2.5177001953125e-07, "step": 2640 }, { "ee_loss_avg": 0.2514389369636774, "epoch": 2.5177001953125e-07, "step": 2640 }, { "aux_loss_avg": 0.029397514637093992, "epoch": 2.5177001953125e-07, "step": 2640 }, { "epoch": 2.5177001953125e-07, "step": 2640, "training_step_time": 17.633829832077026 }, { "epoch": 2.518653869628906e-07, "model_forward_time": 5.083008050918579, "step": 2641 }, { "epoch": 2.518653869628906e-07, "step": 2641, "training_step_time": 17.861422538757324 }, { "epoch": 2.5196075439453124e-07, "model_forward_time": 5.0791401863098145, "step": 2642 }, { "epoch": 2.5196075439453124e-07, "step": 2642, "training_step_time": 17.633339643478394 }, { "epoch": 2.5205612182617186e-07, "model_forward_time": 3.847782850265503, "step": 2643 }, { "epoch": 2.5205612182617186e-07, "step": 2643, "training_step_time": 17.62008810043335 }, { "epoch": 2.521514892578125e-07, "model_forward_time": 5.05535364151001, "step": 2644 }, { "epoch": 2.521514892578125e-07, "step": 2644, "training_step_time": 17.617016077041626 }, { "epoch": 2.5224685668945314e-07, "model_forward_time": 5.259877443313599, "step": 2645 }, { "epoch": 2.5224685668945314e-07, "step": 2645, "training_step_time": 17.341280698776245 }, { "epoch": 2.5234222412109375e-07, "model_forward_time": 5.07732367515564, "step": 2646 }, { "epoch": 2.5234222412109375e-07, "step": 2646, "training_step_time": 17.683494329452515 }, { "epoch": 2.5243759155273437e-07, "model_forward_time": 5.08601188659668, "step": 2647 }, { "epoch": 2.5243759155273437e-07, "step": 2647, "training_step_time": 17.522688627243042 }, { "epoch": 2.52532958984375e-07, "model_forward_time": 5.092051267623901, "step": 2648 }, { "epoch": 2.52532958984375e-07, "step": 2648, "training_step_time": 17.554656982421875 }, { "epoch": 2.5262832641601565e-07, "model_forward_time": 5.094390153884888, "step": 2649 }, { "epoch": 2.5262832641601565e-07, "step": 2649, "training_step_time": 17.59381365776062 }, { "epoch": 2.5272369384765626e-07, "grad_norm": 1.4230047464370728, "learning_rate": 7.5685714285714296e-06, "loss": 0.2174, "step": 2650 }, { "epoch": 2.5272369384765626e-07, "model_forward_time": 5.094374418258667, "step": 2650 }, { "dynamics_loss_avg": 0.06414978634566068, "epoch": 2.5272369384765626e-07, "step": 2650 }, { "action_loss_avg": 0.1216493621468544, "epoch": 2.5272369384765626e-07, "step": 2650 }, { "arm_loss_avg": 0.1626690737903118, "epoch": 2.5272369384765626e-07, "step": 2650 }, { "ee_loss_avg": 0.2420611709356308, "epoch": 2.5272369384765626e-07, "step": 2650 }, { "aux_loss_avg": 0.003993404441280291, "epoch": 2.5272369384765626e-07, "step": 2650 }, { "epoch": 2.5272369384765626e-07, "step": 2650, "training_step_time": 17.565446138381958 }, { "epoch": 2.528190612792969e-07, "model_forward_time": 5.094439744949341, "step": 2651 }, { "epoch": 2.528190612792969e-07, "step": 2651, "training_step_time": 17.8145592212677 }, { "epoch": 2.529144287109375e-07, "model_forward_time": 5.089264869689941, "step": 2652 }, { "epoch": 2.529144287109375e-07, "step": 2652, "training_step_time": 17.586836099624634 }, { "epoch": 2.530097961425781e-07, "model_forward_time": 5.088064193725586, "step": 2653 }, { "epoch": 2.530097961425781e-07, "step": 2653, "training_step_time": 17.5954372882843 }, { "epoch": 2.531051635742188e-07, "model_forward_time": 5.279249668121338, "step": 2654 }, { "epoch": 2.531051635742188e-07, "step": 2654, "training_step_time": 17.596699237823486 }, { "epoch": 2.532005310058594e-07, "model_forward_time": 5.085517168045044, "step": 2655 }, { "epoch": 2.532005310058594e-07, "step": 2655, "training_step_time": 17.597479104995728 }, { "epoch": 2.532958984375e-07, "model_forward_time": 5.081755876541138, "step": 2656 }, { "epoch": 2.532958984375e-07, "step": 2656, "training_step_time": 17.779371738433838 }, { "epoch": 2.533912658691406e-07, "model_forward_time": 5.080564022064209, "step": 2657 }, { "epoch": 2.533912658691406e-07, "step": 2657, "training_step_time": 17.5939462184906 }, { "epoch": 2.5348663330078123e-07, "model_forward_time": 5.083878755569458, "step": 2658 }, { "epoch": 2.5348663330078123e-07, "step": 2658, "training_step_time": 17.38058590888977 }, { "epoch": 2.535820007324219e-07, "model_forward_time": 5.08978271484375, "step": 2659 }, { "epoch": 2.535820007324219e-07, "step": 2659, "training_step_time": 17.61594557762146 }, { "epoch": 2.536773681640625e-07, "grad_norm": 2.4709670543670654, "learning_rate": 7.597142857142858e-06, "loss": 0.204, "step": 2660 }, { "epoch": 2.536773681640625e-07, "model_forward_time": 5.089320659637451, "step": 2660 }, { "dynamics_loss_avg": 0.04993241410702467, "epoch": 2.536773681640625e-07, "step": 2660 }, { "action_loss_avg": 0.1247265249490738, "epoch": 2.536773681640625e-07, "step": 2660 }, { "arm_loss_avg": 0.14260630458593368, "epoch": 2.536773681640625e-07, "step": 2660 }, { "ee_loss_avg": 0.23778736181557178, "epoch": 2.536773681640625e-07, "step": 2660 }, { "aux_loss_avg": 0.0016319419315550475, "epoch": 2.536773681640625e-07, "step": 2660 }, { "epoch": 2.536773681640625e-07, "step": 2660, "training_step_time": 17.450767517089844 }, { "epoch": 2.5377273559570313e-07, "model_forward_time": 5.086120128631592, "step": 2661 }, { "epoch": 2.5377273559570313e-07, "step": 2661, "training_step_time": 17.747178077697754 }, { "epoch": 2.5386810302734374e-07, "model_forward_time": 5.086371898651123, "step": 2662 }, { "epoch": 2.5386810302734374e-07, "step": 2662, "training_step_time": 17.39397358894348 }, { "epoch": 2.5396347045898436e-07, "model_forward_time": 5.084511041641235, "step": 2663 }, { "epoch": 2.5396347045898436e-07, "step": 2663, "training_step_time": 17.501894235610962 }, { "epoch": 2.54058837890625e-07, "model_forward_time": 5.084482192993164, "step": 2664 }, { "epoch": 2.54058837890625e-07, "step": 2664, "training_step_time": 17.601677417755127 }, { "epoch": 2.5415420532226564e-07, "model_forward_time": 5.08645224571228, "step": 2665 }, { "epoch": 2.5415420532226564e-07, "step": 2665, "training_step_time": 17.603192806243896 }, { "epoch": 2.5424957275390625e-07, "model_forward_time": 5.087106227874756, "step": 2666 }, { "epoch": 2.5424957275390625e-07, "step": 2666, "training_step_time": 17.832584381103516 }, { "epoch": 2.5434494018554687e-07, "model_forward_time": 5.083972454071045, "step": 2667 }, { "epoch": 2.5434494018554687e-07, "step": 2667, "training_step_time": 17.245936155319214 }, { "epoch": 2.544403076171875e-07, "model_forward_time": 5.0885350704193115, "step": 2668 }, { "epoch": 2.544403076171875e-07, "step": 2668, "training_step_time": 17.31637668609619 }, { "epoch": 2.5453567504882815e-07, "model_forward_time": 5.323333501815796, "step": 2669 }, { "epoch": 2.5453567504882815e-07, "step": 2669, "training_step_time": 17.431259393692017 }, { "epoch": 2.5463104248046876e-07, "grad_norm": 1.6968663930892944, "learning_rate": 7.6257142857142865e-06, "loss": 0.1793, "step": 2670 }, { "epoch": 2.5463104248046876e-07, "model_forward_time": 5.08505654335022, "step": 2670 }, { "dynamics_loss_avg": 0.0382983984425664, "epoch": 2.5463104248046876e-07, "step": 2670 }, { "action_loss_avg": 0.11013871505856514, "epoch": 2.5463104248046876e-07, "step": 2670 }, { "arm_loss_avg": 0.15783026143908502, "epoch": 2.5463104248046876e-07, "step": 2670 }, { "ee_loss_avg": 0.20238694883883, "epoch": 2.5463104248046876e-07, "step": 2670 }, { "aux_loss_avg": 0.004233401879901066, "epoch": 2.5463104248046876e-07, "step": 2670 }, { "epoch": 2.5463104248046876e-07, "step": 2670, "training_step_time": 17.576655864715576 }, { "epoch": 2.547264099121094e-07, "model_forward_time": 5.085243463516235, "step": 2671 }, { "epoch": 2.547264099121094e-07, "step": 2671, "training_step_time": 17.52037811279297 }, { "epoch": 2.5482177734375e-07, "model_forward_time": 5.0851030349731445, "step": 2672 }, { "epoch": 2.5482177734375e-07, "step": 2672, "training_step_time": 17.792266130447388 }, { "epoch": 2.549171447753906e-07, "model_forward_time": 5.08252739906311, "step": 2673 }, { "epoch": 2.549171447753906e-07, "step": 2673, "training_step_time": 17.609524488449097 }, { "epoch": 2.550125122070313e-07, "model_forward_time": 5.286365985870361, "step": 2674 }, { "epoch": 2.550125122070313e-07, "step": 2674, "training_step_time": 17.625516414642334 }, { "epoch": 2.551078796386719e-07, "model_forward_time": 5.087960481643677, "step": 2675 }, { "epoch": 2.551078796386719e-07, "step": 2675, "training_step_time": 17.64802861213684 }, { "epoch": 2.552032470703125e-07, "model_forward_time": 3.8516035079956055, "step": 2676 }, { "epoch": 2.552032470703125e-07, "step": 2676, "training_step_time": 17.6369047164917 }, { "epoch": 2.552986145019531e-07, "model_forward_time": 5.064155101776123, "step": 2677 }, { "epoch": 2.552986145019531e-07, "step": 2677, "training_step_time": 17.817212104797363 }, { "epoch": 2.5539398193359373e-07, "model_forward_time": 5.070223808288574, "step": 2678 }, { "epoch": 2.5539398193359373e-07, "step": 2678, "training_step_time": 17.6137957572937 }, { "epoch": 2.554893493652344e-07, "model_forward_time": 3.8484108448028564, "step": 2679 }, { "epoch": 2.554893493652344e-07, "step": 2679, "training_step_time": 17.594735383987427 }, { "epoch": 2.55584716796875e-07, "grad_norm": 2.4971044063568115, "learning_rate": 7.654285714285715e-06, "loss": 0.1715, "step": 2680 }, { "epoch": 2.55584716796875e-07, "model_forward_time": 5.30237889289856, "step": 2680 }, { "dynamics_loss_avg": 0.053982999548316, "epoch": 2.55584716796875e-07, "step": 2680 }, { "action_loss_avg": 0.11584497578442096, "epoch": 2.55584716796875e-07, "step": 2680 }, { "arm_loss_avg": 0.15724073946475983, "epoch": 2.55584716796875e-07, "step": 2680 }, { "ee_loss_avg": 0.34827226027846336, "epoch": 2.55584716796875e-07, "step": 2680 }, { "aux_loss_avg": 0.0043766897113528104, "epoch": 2.55584716796875e-07, "step": 2680 }, { "epoch": 2.55584716796875e-07, "step": 2680, "training_step_time": 17.58805751800537 }, { "epoch": 2.5568008422851563e-07, "model_forward_time": 5.082087516784668, "step": 2681 }, { "epoch": 2.5568008422851563e-07, "step": 2681, "training_step_time": 17.582435607910156 }, { "epoch": 2.5577545166015624e-07, "model_forward_time": 5.097959518432617, "step": 2682 }, { "epoch": 2.5577545166015624e-07, "step": 2682, "training_step_time": 17.798376083374023 }, { "epoch": 2.5587081909179686e-07, "model_forward_time": 5.102116823196411, "step": 2683 }, { "epoch": 2.5587081909179686e-07, "step": 2683, "training_step_time": 17.559998750686646 }, { "epoch": 2.559661865234375e-07, "model_forward_time": 5.106739521026611, "step": 2684 }, { "epoch": 2.559661865234375e-07, "step": 2684, "training_step_time": 17.565663814544678 }, { "epoch": 2.5606155395507814e-07, "model_forward_time": 5.295270919799805, "step": 2685 }, { "epoch": 2.5606155395507814e-07, "step": 2685, "training_step_time": 17.56428360939026 }, { "epoch": 2.5615692138671876e-07, "model_forward_time": 5.099965333938599, "step": 2686 }, { "epoch": 2.5615692138671876e-07, "step": 2686, "training_step_time": 17.57038950920105 }, { "epoch": 2.5625228881835937e-07, "model_forward_time": 5.093677043914795, "step": 2687 }, { "epoch": 2.5625228881835937e-07, "step": 2687, "training_step_time": 17.752896785736084 }, { "epoch": 2.5634765625e-07, "model_forward_time": 5.090693235397339, "step": 2688 }, { "epoch": 2.5634765625e-07, "step": 2688, "training_step_time": 17.56780505180359 }, { "epoch": 2.564430236816406e-07, "model_forward_time": 5.086841821670532, "step": 2689 }, { "epoch": 2.564430236816406e-07, "step": 2689, "training_step_time": 17.416079998016357 }, { "epoch": 2.5653839111328127e-07, "grad_norm": 2.7927308082580566, "learning_rate": 7.682857142857143e-06, "loss": 0.1747, "step": 2690 }, { "epoch": 2.5653839111328127e-07, "model_forward_time": 5.08708643913269, "step": 2690 }, { "dynamics_loss_avg": 0.03572554998099804, "epoch": 2.5653839111328127e-07, "step": 2690 }, { "action_loss_avg": 0.07837607003748417, "epoch": 2.5653839111328127e-07, "step": 2690 }, { "arm_loss_avg": 0.15753712952136995, "epoch": 2.5653839111328127e-07, "step": 2690 }, { "ee_loss_avg": 0.2504047860391438, "epoch": 2.5653839111328127e-07, "step": 2690 }, { "aux_loss_avg": 0.006750621384708211, "epoch": 2.5653839111328127e-07, "step": 2690 }, { "epoch": 2.5653839111328127e-07, "step": 2690, "training_step_time": 17.58605170249939 }, { "epoch": 2.566337585449219e-07, "model_forward_time": 5.085096836090088, "step": 2691 }, { "epoch": 2.566337585449219e-07, "step": 2691, "training_step_time": 17.4056339263916 }, { "epoch": 2.567291259765625e-07, "model_forward_time": 5.080720663070679, "step": 2692 }, { "epoch": 2.567291259765625e-07, "step": 2692, "training_step_time": 17.70565128326416 }, { "epoch": 2.568244934082031e-07, "model_forward_time": 5.078579902648926, "step": 2693 }, { "epoch": 2.568244934082031e-07, "step": 2693, "training_step_time": 17.53387951850891 }, { "epoch": 2.569198608398437e-07, "model_forward_time": 5.289313316345215, "step": 2694 }, { "epoch": 2.569198608398437e-07, "step": 2694, "training_step_time": 17.578890800476074 }, { "epoch": 2.570152282714844e-07, "model_forward_time": 5.0801615715026855, "step": 2695 }, { "epoch": 2.570152282714844e-07, "step": 2695, "training_step_time": 17.614235401153564 }, { "epoch": 2.57110595703125e-07, "model_forward_time": 5.0807037353515625, "step": 2696 }, { "epoch": 2.57110595703125e-07, "step": 2696, "training_step_time": 17.623321056365967 }, { "epoch": 2.572059631347656e-07, "model_forward_time": 5.093683481216431, "step": 2697 }, { "epoch": 2.572059631347656e-07, "step": 2697, "training_step_time": 17.861403703689575 }, { "epoch": 2.5730133056640624e-07, "model_forward_time": 5.091108083724976, "step": 2698 }, { "epoch": 2.5730133056640624e-07, "step": 2698, "training_step_time": 17.655714750289917 }, { "epoch": 2.5739669799804685e-07, "model_forward_time": 5.100406169891357, "step": 2699 }, { "epoch": 2.5739669799804685e-07, "step": 2699, "training_step_time": 17.619590997695923 }, { "epoch": 2.574920654296875e-07, "grad_norm": 3.7268528938293457, "learning_rate": 7.711428571428572e-06, "loss": 0.1819, "step": 2700 }, { "epoch": 2.574920654296875e-07, "model_forward_time": 5.103748559951782, "step": 2700 }, { "dynamics_loss_avg": 0.04350685998797417, "epoch": 2.574920654296875e-07, "step": 2700 }, { "action_loss_avg": 0.09025238417088985, "epoch": 2.574920654296875e-07, "step": 2700 }, { "arm_loss_avg": 0.17287758514285087, "epoch": 2.574920654296875e-07, "step": 2700 }, { "ee_loss_avg": 0.15621523782610894, "epoch": 2.574920654296875e-07, "step": 2700 }, { "aux_loss_avg": 0.010368317857501096, "epoch": 2.574920654296875e-07, "step": 2700 }, { "epoch": 2.574920654296875e-07, "step": 2700, "training_step_time": 17.621171712875366 }, { "epoch": 2.5758743286132813e-07, "model_forward_time": 5.0866618156433105, "step": 2701 }, { "epoch": 2.5758743286132813e-07, "step": 2701, "training_step_time": 17.60767936706543 }, { "epoch": 2.5768280029296875e-07, "model_forward_time": 5.083917617797852, "step": 2702 }, { "epoch": 2.5768280029296875e-07, "step": 2702, "training_step_time": 17.83343243598938 }, { "epoch": 2.5777816772460936e-07, "model_forward_time": 5.082446098327637, "step": 2703 }, { "epoch": 2.5777816772460936e-07, "step": 2703, "training_step_time": 17.576165437698364 }, { "epoch": 2.5787353515625e-07, "model_forward_time": 5.085666179656982, "step": 2704 }, { "epoch": 2.5787353515625e-07, "step": 2704, "training_step_time": 17.598013639450073 }, { "epoch": 2.5796890258789064e-07, "model_forward_time": 5.086296319961548, "step": 2705 }, { "epoch": 2.5796890258789064e-07, "step": 2705, "training_step_time": 17.562649726867676 }, { "epoch": 2.5806427001953126e-07, "model_forward_time": 5.08217978477478, "step": 2706 }, { "epoch": 2.5806427001953126e-07, "step": 2706, "training_step_time": 17.565411806106567 }, { "epoch": 2.5815963745117187e-07, "model_forward_time": 5.086820602416992, "step": 2707 }, { "epoch": 2.5815963745117187e-07, "step": 2707, "training_step_time": 17.754838943481445 }, { "epoch": 2.582550048828125e-07, "model_forward_time": 5.084649324417114, "step": 2708 }, { "epoch": 2.582550048828125e-07, "step": 2708, "training_step_time": 17.56596302986145 }, { "epoch": 2.583503723144531e-07, "model_forward_time": 5.324250936508179, "step": 2709 }, { "epoch": 2.583503723144531e-07, "step": 2709, "training_step_time": 17.571765422821045 }, { "epoch": 2.5844573974609377e-07, "grad_norm": 1.8975446224212646, "learning_rate": 7.74e-06, "loss": 0.1819, "step": 2710 }, { "epoch": 2.5844573974609377e-07, "model_forward_time": 5.089874267578125, "step": 2710 }, { "dynamics_loss_avg": 0.037704185023903845, "epoch": 2.5844573974609377e-07, "step": 2710 }, { "action_loss_avg": 0.1163899153470993, "epoch": 2.5844573974609377e-07, "step": 2710 }, { "arm_loss_avg": 0.16887716799974442, "epoch": 2.5844573974609377e-07, "step": 2710 }, { "ee_loss_avg": 0.2911924012005329, "epoch": 2.5844573974609377e-07, "step": 2710 }, { "aux_loss_avg": 0.006915246474090963, "epoch": 2.5844573974609377e-07, "step": 2710 }, { "epoch": 2.5844573974609377e-07, "step": 2710, "training_step_time": 17.564685344696045 }, { "epoch": 2.585411071777344e-07, "model_forward_time": 5.083690404891968, "step": 2711 }, { "epoch": 2.585411071777344e-07, "step": 2711, "training_step_time": 17.57983708381653 }, { "epoch": 2.58636474609375e-07, "model_forward_time": 5.088182687759399, "step": 2712 }, { "epoch": 2.58636474609375e-07, "step": 2712, "training_step_time": 17.819661140441895 }, { "epoch": 2.587318420410156e-07, "model_forward_time": 5.082808971405029, "step": 2713 }, { "epoch": 2.587318420410156e-07, "step": 2713, "training_step_time": 17.587687253952026 }, { "epoch": 2.588272094726562e-07, "model_forward_time": 5.282031059265137, "step": 2714 }, { "epoch": 2.588272094726562e-07, "step": 2714, "training_step_time": 17.60898208618164 }, { "epoch": 2.589225769042969e-07, "model_forward_time": 5.0872581005096436, "step": 2715 }, { "epoch": 2.589225769042969e-07, "step": 2715, "training_step_time": 17.58948016166687 }, { "epoch": 2.590179443359375e-07, "model_forward_time": 5.084200143814087, "step": 2716 }, { "epoch": 2.590179443359375e-07, "step": 2716, "training_step_time": 17.59030842781067 }, { "epoch": 2.591133117675781e-07, "model_forward_time": 3.852637767791748, "step": 2717 }, { "epoch": 2.591133117675781e-07, "step": 2717, "training_step_time": 17.773900032043457 }, { "epoch": 2.5920867919921874e-07, "model_forward_time": 5.0668275356292725, "step": 2718 }, { "epoch": 2.5920867919921874e-07, "step": 2718, "training_step_time": 17.58243989944458 }, { "epoch": 2.5930404663085935e-07, "model_forward_time": 5.072252035140991, "step": 2719 }, { "epoch": 2.5930404663085935e-07, "step": 2719, "training_step_time": 17.603245973587036 }, { "epoch": 2.593994140625e-07, "grad_norm": 3.301072835922241, "learning_rate": 7.768571428571428e-06, "loss": 0.1954, "step": 2720 }, { "epoch": 2.593994140625e-07, "model_forward_time": 5.3206703662872314, "step": 2720 }, { "dynamics_loss_avg": 0.04025239693000913, "epoch": 2.593994140625e-07, "step": 2720 }, { "action_loss_avg": 0.10803568214178086, "epoch": 2.593994140625e-07, "step": 2720 }, { "arm_loss_avg": 0.11163818836212158, "epoch": 2.593994140625e-07, "step": 2720 }, { "ee_loss_avg": 0.3797867730259895, "epoch": 2.593994140625e-07, "step": 2720 }, { "aux_loss_avg": 0.001992781995795667, "epoch": 2.593994140625e-07, "step": 2720 }, { "epoch": 2.593994140625e-07, "step": 2720, "training_step_time": 17.491347074508667 }, { "epoch": 2.5949478149414063e-07, "model_forward_time": 5.0899248123168945, "step": 2721 }, { "epoch": 2.5949478149414063e-07, "step": 2721, "training_step_time": 17.52782440185547 }, { "epoch": 2.5959014892578125e-07, "model_forward_time": 5.090153932571411, "step": 2722 }, { "epoch": 2.5959014892578125e-07, "step": 2722, "training_step_time": 17.79386830329895 }, { "epoch": 2.5968551635742186e-07, "model_forward_time": 5.096659898757935, "step": 2723 }, { "epoch": 2.5968551635742186e-07, "step": 2723, "training_step_time": 17.580750942230225 }, { "epoch": 2.597808837890625e-07, "model_forward_time": 5.094842433929443, "step": 2724 }, { "epoch": 2.597808837890625e-07, "step": 2724, "training_step_time": 17.6546950340271 }, { "epoch": 2.5987625122070314e-07, "model_forward_time": 5.094717264175415, "step": 2725 }, { "epoch": 2.5987625122070314e-07, "step": 2725, "training_step_time": 17.400901794433594 }, { "epoch": 2.5997161865234376e-07, "model_forward_time": 3.8550822734832764, "step": 2726 }, { "epoch": 2.5997161865234376e-07, "step": 2726, "training_step_time": 17.50956106185913 }, { "epoch": 2.6006698608398437e-07, "model_forward_time": 5.061703205108643, "step": 2727 }, { "epoch": 2.6006698608398437e-07, "step": 2727, "training_step_time": 17.78236198425293 }, { "epoch": 2.60162353515625e-07, "model_forward_time": 5.070946931838989, "step": 2728 }, { "epoch": 2.60162353515625e-07, "step": 2728, "training_step_time": 17.58357548713684 }, { "epoch": 2.602577209472656e-07, "model_forward_time": 5.073184013366699, "step": 2729 }, { "epoch": 2.602577209472656e-07, "step": 2729, "training_step_time": 17.599872589111328 }, { "epoch": 2.6035308837890627e-07, "grad_norm": 2.036048650741577, "learning_rate": 7.797142857142858e-06, "loss": 0.1858, "step": 2730 }, { "epoch": 2.6035308837890627e-07, "model_forward_time": 5.322288274765015, "step": 2730 }, { "dynamics_loss_avg": 0.05161657240241766, "epoch": 2.6035308837890627e-07, "step": 2730 }, { "action_loss_avg": 0.10837197229266167, "epoch": 2.6035308837890627e-07, "step": 2730 }, { "arm_loss_avg": 0.16510332226753235, "epoch": 2.6035308837890627e-07, "step": 2730 }, { "ee_loss_avg": 0.24733594208955764, "epoch": 2.6035308837890627e-07, "step": 2730 }, { "aux_loss_avg": 0.015576415846589952, "epoch": 2.6035308837890627e-07, "step": 2730 }, { "epoch": 2.6035308837890627e-07, "step": 2730, "training_step_time": 17.608217477798462 }, { "epoch": 2.604484558105469e-07, "model_forward_time": 5.087020397186279, "step": 2731 }, { "epoch": 2.604484558105469e-07, "step": 2731, "training_step_time": 17.593724727630615 }, { "epoch": 2.605438232421875e-07, "model_forward_time": 5.096266269683838, "step": 2732 }, { "epoch": 2.605438232421875e-07, "step": 2732, "training_step_time": 17.836562156677246 }, { "epoch": 2.606391906738281e-07, "model_forward_time": 5.090967416763306, "step": 2733 }, { "epoch": 2.606391906738281e-07, "step": 2733, "training_step_time": 17.59312343597412 }, { "epoch": 2.6073455810546873e-07, "model_forward_time": 5.093811273574829, "step": 2734 }, { "epoch": 2.6073455810546873e-07, "step": 2734, "training_step_time": 17.60265278816223 }, { "epoch": 2.608299255371094e-07, "model_forward_time": 5.092848539352417, "step": 2735 }, { "epoch": 2.608299255371094e-07, "step": 2735, "training_step_time": 17.392619132995605 }, { "epoch": 2.6092529296875e-07, "model_forward_time": 5.091595411300659, "step": 2736 }, { "epoch": 2.6092529296875e-07, "step": 2736, "training_step_time": 17.42853808403015 }, { "epoch": 2.610206604003906e-07, "model_forward_time": 3.8537704944610596, "step": 2737 }, { "epoch": 2.610206604003906e-07, "step": 2737, "training_step_time": 17.443074226379395 }, { "epoch": 2.6111602783203124e-07, "model_forward_time": 5.064002513885498, "step": 2738 }, { "epoch": 2.6111602783203124e-07, "step": 2738, "training_step_time": 17.694185972213745 }, { "epoch": 2.6121139526367185e-07, "model_forward_time": 3.8361449241638184, "step": 2739 }, { "epoch": 2.6121139526367185e-07, "step": 2739, "training_step_time": 17.53919005393982 }, { "epoch": 2.613067626953125e-07, "grad_norm": 2.0752551555633545, "learning_rate": 7.825714285714286e-06, "loss": 0.1935, "step": 2740 }, { "epoch": 2.613067626953125e-07, "model_forward_time": 5.28868842124939, "step": 2740 }, { "dynamics_loss_avg": 0.04292224710807204, "epoch": 2.613067626953125e-07, "step": 2740 }, { "action_loss_avg": 0.10439488664269447, "epoch": 2.613067626953125e-07, "step": 2740 }, { "arm_loss_avg": 0.14177679270505905, "epoch": 2.613067626953125e-07, "step": 2740 }, { "ee_loss_avg": 0.4011885106563568, "epoch": 2.613067626953125e-07, "step": 2740 }, { "aux_loss_avg": 0.00119702439988032, "epoch": 2.613067626953125e-07, "step": 2740 }, { "epoch": 2.613067626953125e-07, "step": 2740, "training_step_time": 17.574920177459717 }, { "epoch": 2.6140213012695313e-07, "model_forward_time": 5.06329083442688, "step": 2741 }, { "epoch": 2.6140213012695313e-07, "step": 2741, "training_step_time": 17.595321655273438 }, { "epoch": 2.6149749755859375e-07, "model_forward_time": 5.0811522006988525, "step": 2742 }, { "epoch": 2.6149749755859375e-07, "step": 2742, "training_step_time": 17.604613065719604 }, { "epoch": 2.6159286499023436e-07, "model_forward_time": 5.0955235958099365, "step": 2743 }, { "epoch": 2.6159286499023436e-07, "step": 2743, "training_step_time": 17.829442024230957 }, { "epoch": 2.61688232421875e-07, "model_forward_time": 5.099289178848267, "step": 2744 }, { "epoch": 2.61688232421875e-07, "step": 2744, "training_step_time": 17.607369661331177 }, { "epoch": 2.6178359985351565e-07, "model_forward_time": 4.112326622009277, "step": 2745 }, { "epoch": 2.6178359985351565e-07, "step": 2745, "training_step_time": 17.512396812438965 }, { "epoch": 2.6187896728515626e-07, "model_forward_time": 5.0713794231414795, "step": 2746 }, { "epoch": 2.6187896728515626e-07, "step": 2746, "training_step_time": 17.55222201347351 }, { "epoch": 2.619743347167969e-07, "model_forward_time": 5.080444097518921, "step": 2747 }, { "epoch": 2.619743347167969e-07, "step": 2747, "training_step_time": 17.57136845588684 }, { "epoch": 2.620697021484375e-07, "model_forward_time": 5.088279485702515, "step": 2748 }, { "epoch": 2.620697021484375e-07, "step": 2748, "training_step_time": 17.773558616638184 }, { "epoch": 2.621650695800781e-07, "model_forward_time": 5.087175369262695, "step": 2749 }, { "epoch": 2.621650695800781e-07, "step": 2749, "training_step_time": 17.588703155517578 }, { "epoch": 2.6226043701171877e-07, "grad_norm": 2.598313570022583, "learning_rate": 7.854285714285716e-06, "loss": 0.163, "step": 2750 }, { "epoch": 2.6226043701171877e-07, "model_forward_time": 5.330120801925659, "step": 2750 }, { "dynamics_loss_avg": 0.034731735847890376, "epoch": 2.6226043701171877e-07, "step": 2750 }, { "action_loss_avg": 0.0748069129884243, "epoch": 2.6226043701171877e-07, "step": 2750 }, { "arm_loss_avg": 0.12949285358190538, "epoch": 2.6226043701171877e-07, "step": 2750 }, { "ee_loss_avg": 0.20186977572739123, "epoch": 2.6226043701171877e-07, "step": 2750 }, { "aux_loss_avg": 0.0017364908824674785, "epoch": 2.6226043701171877e-07, "step": 2750 }, { "epoch": 2.6226043701171877e-07, "step": 2750, "training_step_time": 17.597023725509644 }, { "epoch": 2.623558044433594e-07, "model_forward_time": 5.091073989868164, "step": 2751 }, { "epoch": 2.623558044433594e-07, "step": 2751, "training_step_time": 17.599273443222046 }, { "epoch": 2.62451171875e-07, "model_forward_time": 3.855342149734497, "step": 2752 }, { "epoch": 2.62451171875e-07, "step": 2752, "training_step_time": 17.591750860214233 }, { "epoch": 2.625465393066406e-07, "model_forward_time": 5.0589048862457275, "step": 2753 }, { "epoch": 2.625465393066406e-07, "step": 2753, "training_step_time": 17.831838846206665 }, { "epoch": 2.6264190673828123e-07, "model_forward_time": 5.0666844844818115, "step": 2754 }, { "epoch": 2.6264190673828123e-07, "step": 2754, "training_step_time": 17.61247229576111 }, { "epoch": 2.627372741699219e-07, "model_forward_time": 4.078121662139893, "step": 2755 }, { "epoch": 2.627372741699219e-07, "step": 2755, "training_step_time": 17.575154304504395 }, { "epoch": 2.628326416015625e-07, "model_forward_time": 5.065277338027954, "step": 2756 }, { "epoch": 2.628326416015625e-07, "step": 2756, "training_step_time": 17.612842559814453 }, { "epoch": 2.629280090332031e-07, "model_forward_time": 5.087652921676636, "step": 2757 }, { "epoch": 2.629280090332031e-07, "step": 2757, "training_step_time": 17.606656789779663 }, { "epoch": 2.6302337646484374e-07, "model_forward_time": 5.101612091064453, "step": 2758 }, { "epoch": 2.6302337646484374e-07, "step": 2758, "training_step_time": 17.813063859939575 }, { "epoch": 2.6311874389648435e-07, "model_forward_time": 5.108151435852051, "step": 2759 }, { "epoch": 2.6311874389648435e-07, "step": 2759, "training_step_time": 17.555875301361084 }, { "epoch": 2.63214111328125e-07, "grad_norm": 1.8554757833480835, "learning_rate": 7.882857142857142e-06, "loss": 0.1817, "step": 2760 }, { "epoch": 2.63214111328125e-07, "model_forward_time": 5.331163644790649, "step": 2760 }, { "dynamics_loss_avg": 0.05044359201565385, "epoch": 2.63214111328125e-07, "step": 2760 }, { "action_loss_avg": 0.1290440410375595, "epoch": 2.63214111328125e-07, "step": 2760 }, { "arm_loss_avg": 0.17231403812766075, "epoch": 2.63214111328125e-07, "step": 2760 }, { "ee_loss_avg": 0.39421104788780215, "epoch": 2.63214111328125e-07, "step": 2760 }, { "aux_loss_avg": 0.006128599005751312, "epoch": 2.63214111328125e-07, "step": 2760 }, { "epoch": 2.63214111328125e-07, "step": 2760, "training_step_time": 17.55348515510559 }, { "epoch": 2.6330947875976564e-07, "model_forward_time": 5.098645210266113, "step": 2761 }, { "epoch": 2.6330947875976564e-07, "step": 2761, "training_step_time": 17.553207397460938 }, { "epoch": 2.6340484619140625e-07, "model_forward_time": 5.097605228424072, "step": 2762 }, { "epoch": 2.6340484619140625e-07, "step": 2762, "training_step_time": 17.39314341545105 }, { "epoch": 2.6350021362304687e-07, "model_forward_time": 5.092282772064209, "step": 2763 }, { "epoch": 2.6350021362304687e-07, "step": 2763, "training_step_time": 17.701879262924194 }, { "epoch": 2.635955810546875e-07, "model_forward_time": 5.08836817741394, "step": 2764 }, { "epoch": 2.635955810546875e-07, "step": 2764, "training_step_time": 17.525663375854492 }, { "epoch": 2.6369094848632815e-07, "model_forward_time": 5.283776044845581, "step": 2765 }, { "epoch": 2.6369094848632815e-07, "step": 2765, "training_step_time": 17.656641483306885 }, { "epoch": 2.6378631591796876e-07, "model_forward_time": 5.080848217010498, "step": 2766 }, { "epoch": 2.6378631591796876e-07, "step": 2766, "training_step_time": 17.58690881729126 }, { "epoch": 2.638816833496094e-07, "model_forward_time": 3.845775842666626, "step": 2767 }, { "epoch": 2.638816833496094e-07, "step": 2767, "training_step_time": 17.416619539260864 }, { "epoch": 2.6397705078125e-07, "model_forward_time": 5.0566675662994385, "step": 2768 }, { "epoch": 2.6397705078125e-07, "step": 2768, "training_step_time": 17.72444200515747 }, { "epoch": 2.640724182128906e-07, "model_forward_time": 5.064167737960815, "step": 2769 }, { "epoch": 2.640724182128906e-07, "step": 2769, "training_step_time": 17.5772225856781 }, { "epoch": 2.6416778564453127e-07, "grad_norm": 2.112739324569702, "learning_rate": 7.911428571428572e-06, "loss": 0.1731, "step": 2770 }, { "epoch": 2.6416778564453127e-07, "model_forward_time": 5.30657434463501, "step": 2770 }, { "dynamics_loss_avg": 0.03831559391692281, "epoch": 2.6416778564453127e-07, "step": 2770 }, { "action_loss_avg": 0.09221860654652118, "epoch": 2.6416778564453127e-07, "step": 2770 }, { "arm_loss_avg": 0.13901992738246918, "epoch": 2.6416778564453127e-07, "step": 2770 }, { "ee_loss_avg": 0.2760231353342533, "epoch": 2.6416778564453127e-07, "step": 2770 }, { "aux_loss_avg": 0.0011030641500838101, "epoch": 2.6416778564453127e-07, "step": 2770 }, { "epoch": 2.6416778564453127e-07, "step": 2770, "training_step_time": 17.51853656768799 }, { "epoch": 2.642631530761719e-07, "model_forward_time": 5.082086086273193, "step": 2771 }, { "epoch": 2.642631530761719e-07, "step": 2771, "training_step_time": 17.602635383605957 }, { "epoch": 2.643585205078125e-07, "model_forward_time": 5.088624954223633, "step": 2772 }, { "epoch": 2.643585205078125e-07, "step": 2772, "training_step_time": 17.61289954185486 }, { "epoch": 2.644538879394531e-07, "model_forward_time": 5.0935211181640625, "step": 2773 }, { "epoch": 2.644538879394531e-07, "step": 2773, "training_step_time": 17.855634450912476 }, { "epoch": 2.6454925537109373e-07, "model_forward_time": 5.09196138381958, "step": 2774 }, { "epoch": 2.6454925537109373e-07, "step": 2774, "training_step_time": 17.60635995864868 }, { "epoch": 2.646446228027344e-07, "model_forward_time": 5.094277381896973, "step": 2775 }, { "epoch": 2.646446228027344e-07, "step": 2775, "training_step_time": 17.600367784500122 }, { "epoch": 2.64739990234375e-07, "model_forward_time": 5.090252876281738, "step": 2776 }, { "epoch": 2.64739990234375e-07, "step": 2776, "training_step_time": 17.595515727996826 }, { "epoch": 2.6483535766601563e-07, "model_forward_time": 5.0887603759765625, "step": 2777 }, { "epoch": 2.6483535766601563e-07, "step": 2777, "training_step_time": 17.82502508163452 }, { "epoch": 2.6493072509765624e-07, "model_forward_time": 5.0850770473480225, "step": 2778 }, { "epoch": 2.6493072509765624e-07, "step": 2778, "training_step_time": 17.58113670349121 }, { "epoch": 2.6502609252929686e-07, "model_forward_time": 5.081639528274536, "step": 2779 }, { "epoch": 2.6502609252929686e-07, "step": 2779, "training_step_time": 17.580448865890503 }, { "epoch": 2.651214599609375e-07, "grad_norm": 1.170032262802124, "learning_rate": 7.94e-06, "loss": 0.1719, "step": 2780 }, { "epoch": 2.651214599609375e-07, "model_forward_time": 5.0827860832214355, "step": 2780 }, { "dynamics_loss_avg": 0.049316874518990514, "epoch": 2.651214599609375e-07, "step": 2780 }, { "action_loss_avg": 0.10534044988453388, "epoch": 2.651214599609375e-07, "step": 2780 }, { "arm_loss_avg": 0.13594213277101516, "epoch": 2.651214599609375e-07, "step": 2780 }, { "ee_loss_avg": 0.2363614533096552, "epoch": 2.651214599609375e-07, "step": 2780 }, { "aux_loss_avg": 0.0049047123524360355, "epoch": 2.651214599609375e-07, "step": 2780 }, { "epoch": 2.651214599609375e-07, "step": 2780, "training_step_time": 17.57753086090088 }, { "epoch": 2.6521682739257814e-07, "model_forward_time": 5.079474925994873, "step": 2781 }, { "epoch": 2.6521682739257814e-07, "step": 2781, "training_step_time": 17.583338260650635 }, { "epoch": 2.6531219482421875e-07, "model_forward_time": 3.8475770950317383, "step": 2782 }, { "epoch": 2.6531219482421875e-07, "step": 2782, "training_step_time": 17.584061861038208 }, { "epoch": 2.6540756225585937e-07, "model_forward_time": 5.05298924446106, "step": 2783 }, { "epoch": 2.6540756225585937e-07, "step": 2783, "training_step_time": 17.404130458831787 }, { "epoch": 2.655029296875e-07, "model_forward_time": 5.067665338516235, "step": 2784 }, { "epoch": 2.655029296875e-07, "step": 2784, "training_step_time": 17.501314401626587 }, { "epoch": 2.6559829711914065e-07, "model_forward_time": 5.272372007369995, "step": 2785 }, { "epoch": 2.6559829711914065e-07, "step": 2785, "training_step_time": 17.537935495376587 }, { "epoch": 2.6569366455078126e-07, "model_forward_time": 5.084695100784302, "step": 2786 }, { "epoch": 2.6569366455078126e-07, "step": 2786, "training_step_time": 17.559781551361084 }, { "epoch": 2.657890319824219e-07, "model_forward_time": 5.089101314544678, "step": 2787 }, { "epoch": 2.657890319824219e-07, "step": 2787, "training_step_time": 17.568361520767212 }, { "epoch": 2.658843994140625e-07, "model_forward_time": 5.091576814651489, "step": 2788 }, { "epoch": 2.658843994140625e-07, "step": 2788, "training_step_time": 17.771827936172485 }, { "epoch": 2.659797668457031e-07, "model_forward_time": 5.088205337524414, "step": 2789 }, { "epoch": 2.659797668457031e-07, "step": 2789, "training_step_time": 17.59625768661499 }, { "epoch": 2.660751342773438e-07, "grad_norm": 2.0485031604766846, "learning_rate": 7.968571428571428e-06, "loss": 0.1748, "step": 2790 }, { "epoch": 2.660751342773438e-07, "model_forward_time": 5.0919060707092285, "step": 2790 }, { "dynamics_loss_avg": 0.05114525593817234, "epoch": 2.660751342773438e-07, "step": 2790 }, { "action_loss_avg": 0.09340229071676731, "epoch": 2.660751342773438e-07, "step": 2790 }, { "arm_loss_avg": 0.1180632121860981, "epoch": 2.660751342773438e-07, "step": 2790 }, { "ee_loss_avg": 0.18872985783964397, "epoch": 2.660751342773438e-07, "step": 2790 }, { "aux_loss_avg": 0.0054639995039906354, "epoch": 2.660751342773438e-07, "step": 2790 }, { "epoch": 2.660751342773438e-07, "step": 2790, "training_step_time": 17.601904153823853 }, { "epoch": 2.661705017089844e-07, "model_forward_time": 5.088517427444458, "step": 2791 }, { "epoch": 2.661705017089844e-07, "step": 2791, "training_step_time": 17.3780779838562 }, { "epoch": 2.66265869140625e-07, "model_forward_time": 5.088537931442261, "step": 2792 }, { "epoch": 2.66265869140625e-07, "step": 2792, "training_step_time": 17.513962745666504 }, { "epoch": 2.663612365722656e-07, "model_forward_time": 5.086888790130615, "step": 2793 }, { "epoch": 2.663612365722656e-07, "step": 2793, "training_step_time": 17.784329652786255 }, { "epoch": 2.6645660400390623e-07, "model_forward_time": 5.277339220046997, "step": 2794 }, { "epoch": 2.6645660400390623e-07, "step": 2794, "training_step_time": 17.579683780670166 }, { "epoch": 2.665519714355469e-07, "model_forward_time": 5.081942319869995, "step": 2795 }, { "epoch": 2.665519714355469e-07, "step": 2795, "training_step_time": 17.567822694778442 }, { "epoch": 2.666473388671875e-07, "model_forward_time": 5.0809104442596436, "step": 2796 }, { "epoch": 2.666473388671875e-07, "step": 2796, "training_step_time": 17.526309967041016 }, { "epoch": 2.6674270629882813e-07, "model_forward_time": 5.091320514678955, "step": 2797 }, { "epoch": 2.6674270629882813e-07, "step": 2797, "training_step_time": 17.41546654701233 }, { "epoch": 2.6683807373046874e-07, "model_forward_time": 5.098427772521973, "step": 2798 }, { "epoch": 2.6683807373046874e-07, "step": 2798, "training_step_time": 17.728995323181152 }, { "epoch": 2.6693344116210936e-07, "model_forward_time": 5.090789318084717, "step": 2799 }, { "epoch": 2.6693344116210936e-07, "step": 2799, "training_step_time": 17.58226752281189 }, { "epoch": 2.6702880859375e-07, "grad_norm": 2.029998779296875, "learning_rate": 7.997142857142858e-06, "loss": 0.1877, "step": 2800 }, { "epoch": 2.6702880859375e-07, "model_forward_time": 5.096004962921143, "step": 2800 }, { "dynamics_loss_avg": 0.03914094753563404, "epoch": 2.6702880859375e-07, "step": 2800 }, { "action_loss_avg": 0.09519393071532249, "epoch": 2.6702880859375e-07, "step": 2800 }, { "arm_loss_avg": 0.1228078305721283, "epoch": 2.6702880859375e-07, "step": 2800 }, { "ee_loss_avg": 0.29951537139713763, "epoch": 2.6702880859375e-07, "step": 2800 }, { "aux_loss_avg": 0.0021256017207633704, "epoch": 2.6702880859375e-07, "step": 2800 }, { "epoch": 2.6702880859375e-07, "step": 2800, "training_step_time": 17.616647005081177 }, { "epoch": 2.6712417602539064e-07, "model_forward_time": 5.093735694885254, "step": 2801 }, { "epoch": 2.6712417602539064e-07, "step": 2801, "training_step_time": 17.67725157737732 }, { "epoch": 2.6721954345703125e-07, "model_forward_time": 5.083098888397217, "step": 2802 }, { "epoch": 2.6721954345703125e-07, "step": 2802, "training_step_time": 17.63249444961548 }, { "epoch": 2.6731491088867187e-07, "model_forward_time": 5.081294775009155, "step": 2803 }, { "epoch": 2.6731491088867187e-07, "step": 2803, "training_step_time": 17.86093759536743 }, { "epoch": 2.674102783203125e-07, "model_forward_time": 5.07973051071167, "step": 2804 }, { "epoch": 2.674102783203125e-07, "step": 2804, "training_step_time": 17.63366389274597 }, { "epoch": 2.6750564575195315e-07, "model_forward_time": 3.8491013050079346, "step": 2805 }, { "epoch": 2.6750564575195315e-07, "step": 2805, "training_step_time": 17.62835669517517 }, { "epoch": 2.6760101318359377e-07, "model_forward_time": 5.062076807022095, "step": 2806 }, { "epoch": 2.6760101318359377e-07, "step": 2806, "training_step_time": 17.380920886993408 }, { "epoch": 2.676963806152344e-07, "model_forward_time": 5.072718381881714, "step": 2807 }, { "epoch": 2.676963806152344e-07, "step": 2807, "training_step_time": 17.52350926399231 }, { "epoch": 2.67791748046875e-07, "model_forward_time": 5.0792601108551025, "step": 2808 }, { "epoch": 2.67791748046875e-07, "step": 2808, "training_step_time": 17.7355740070343 }, { "epoch": 2.678871154785156e-07, "model_forward_time": 3.848200798034668, "step": 2809 }, { "epoch": 2.678871154785156e-07, "step": 2809, "training_step_time": 17.561150074005127 }, { "epoch": 2.679824829101563e-07, "grad_norm": 1.9565571546554565, "learning_rate": 8.025714285714286e-06, "loss": 0.1641, "step": 2810 }, { "epoch": 2.679824829101563e-07, "model_forward_time": 5.2983784675598145, "step": 2810 }, { "dynamics_loss_avg": 0.060250152833759785, "epoch": 2.679824829101563e-07, "step": 2810 }, { "action_loss_avg": 0.09690081998705864, "epoch": 2.679824829101563e-07, "step": 2810 }, { "arm_loss_avg": 0.13505520075559616, "epoch": 2.679824829101563e-07, "step": 2810 }, { "ee_loss_avg": 0.24123026989400387, "epoch": 2.679824829101563e-07, "step": 2810 }, { "aux_loss_avg": 0.011927169183036313, "epoch": 2.679824829101563e-07, "step": 2810 }, { "epoch": 2.679824829101563e-07, "step": 2810, "training_step_time": 17.579569101333618 }, { "epoch": 2.680778503417969e-07, "model_forward_time": 5.07784628868103, "step": 2811 }, { "epoch": 2.680778503417969e-07, "step": 2811, "training_step_time": 17.584001541137695 }, { "epoch": 2.681732177734375e-07, "model_forward_time": 5.089102506637573, "step": 2812 }, { "epoch": 2.681732177734375e-07, "step": 2812, "training_step_time": 17.591981410980225 }, { "epoch": 2.682685852050781e-07, "model_forward_time": 5.0954270362854, "step": 2813 }, { "epoch": 2.682685852050781e-07, "step": 2813, "training_step_time": 17.829439878463745 }, { "epoch": 2.6836395263671873e-07, "model_forward_time": 5.094227313995361, "step": 2814 }, { "epoch": 2.6836395263671873e-07, "step": 2814, "training_step_time": 17.597641706466675 }, { "epoch": 2.6845932006835935e-07, "model_forward_time": 5.0980401039123535, "step": 2815 }, { "epoch": 2.6845932006835935e-07, "step": 2815, "training_step_time": 17.605079174041748 }, { "epoch": 2.685546875e-07, "model_forward_time": 5.096070051193237, "step": 2816 }, { "epoch": 2.685546875e-07, "step": 2816, "training_step_time": 17.601489543914795 }, { "epoch": 2.6865005493164063e-07, "model_forward_time": 5.103001117706299, "step": 2817 }, { "epoch": 2.6865005493164063e-07, "step": 2817, "training_step_time": 17.62824583053589 }, { "epoch": 2.6874542236328125e-07, "model_forward_time": 5.09813380241394, "step": 2818 }, { "epoch": 2.6874542236328125e-07, "step": 2818, "training_step_time": 17.829925298690796 }, { "epoch": 2.6884078979492186e-07, "model_forward_time": 5.101242542266846, "step": 2819 }, { "epoch": 2.6884078979492186e-07, "step": 2819, "training_step_time": 17.62657141685486 }, { "epoch": 2.689361572265625e-07, "grad_norm": 2.334824800491333, "learning_rate": 8.054285714285714e-06, "loss": 0.1689, "step": 2820 }, { "epoch": 2.689361572265625e-07, "model_forward_time": 5.096776723861694, "step": 2820 }, { "dynamics_loss_avg": 0.05340707954019308, "epoch": 2.689361572265625e-07, "step": 2820 }, { "action_loss_avg": 0.1244221106171608, "epoch": 2.689361572265625e-07, "step": 2820 }, { "arm_loss_avg": 0.1574704445898533, "epoch": 2.689361572265625e-07, "step": 2820 }, { "ee_loss_avg": 0.278853839635849, "epoch": 2.689361572265625e-07, "step": 2820 }, { "aux_loss_avg": 0.002715011837426573, "epoch": 2.689361572265625e-07, "step": 2820 }, { "epoch": 2.689361572265625e-07, "step": 2820, "training_step_time": 17.623552083969116 }, { "epoch": 2.6903152465820314e-07, "model_forward_time": 5.083906650543213, "step": 2821 }, { "epoch": 2.6903152465820314e-07, "step": 2821, "training_step_time": 17.585951328277588 }, { "epoch": 2.6912689208984376e-07, "model_forward_time": 5.081159353256226, "step": 2822 }, { "epoch": 2.6912689208984376e-07, "step": 2822, "training_step_time": 17.589118242263794 }, { "epoch": 2.6922225952148437e-07, "model_forward_time": 5.08099102973938, "step": 2823 }, { "epoch": 2.6922225952148437e-07, "step": 2823, "training_step_time": 17.81839346885681 }, { "epoch": 2.69317626953125e-07, "model_forward_time": 5.079598426818848, "step": 2824 }, { "epoch": 2.69317626953125e-07, "step": 2824, "training_step_time": 17.400026321411133 }, { "epoch": 2.694129943847656e-07, "model_forward_time": 5.088581085205078, "step": 2825 }, { "epoch": 2.694129943847656e-07, "step": 2825, "training_step_time": 17.49756145477295 }, { "epoch": 2.6950836181640627e-07, "model_forward_time": 5.0817787647247314, "step": 2826 }, { "epoch": 2.6950836181640627e-07, "step": 2826, "training_step_time": 17.529385805130005 }, { "epoch": 2.696037292480469e-07, "model_forward_time": 5.0805230140686035, "step": 2827 }, { "epoch": 2.696037292480469e-07, "step": 2827, "training_step_time": 17.557889699935913 }, { "epoch": 2.696990966796875e-07, "model_forward_time": 5.082644701004028, "step": 2828 }, { "epoch": 2.696990966796875e-07, "step": 2828, "training_step_time": 17.76513409614563 }, { "epoch": 2.697944641113281e-07, "model_forward_time": 5.326184034347534, "step": 2829 }, { "epoch": 2.697944641113281e-07, "step": 2829, "training_step_time": 17.589391708374023 }, { "epoch": 2.698898315429687e-07, "grad_norm": 1.7540485858917236, "learning_rate": 8.082857142857144e-06, "loss": 0.1563, "step": 2830 }, { "epoch": 2.698898315429687e-07, "model_forward_time": 5.083542823791504, "step": 2830 }, { "dynamics_loss_avg": 0.050760979764163494, "epoch": 2.698898315429687e-07, "step": 2830 }, { "action_loss_avg": 0.09037665873765946, "epoch": 2.698898315429687e-07, "step": 2830 }, { "arm_loss_avg": 0.1118674948811531, "epoch": 2.698898315429687e-07, "step": 2830 }, { "ee_loss_avg": 0.24551948644220828, "epoch": 2.698898315429687e-07, "step": 2830 }, { "aux_loss_avg": 0.0025714174611493946, "epoch": 2.698898315429687e-07, "step": 2830 }, { "epoch": 2.698898315429687e-07, "step": 2830, "training_step_time": 17.597588300704956 }, { "epoch": 2.699851989746094e-07, "model_forward_time": 5.079134941101074, "step": 2831 }, { "epoch": 2.699851989746094e-07, "step": 2831, "training_step_time": 17.608394145965576 }, { "epoch": 2.7008056640625e-07, "model_forward_time": 5.080073595046997, "step": 2832 }, { "epoch": 2.7008056640625e-07, "step": 2832, "training_step_time": 17.614747762680054 }, { "epoch": 2.701759338378906e-07, "model_forward_time": 5.0831663608551025, "step": 2833 }, { "epoch": 2.701759338378906e-07, "step": 2833, "training_step_time": 17.85131311416626 }, { "epoch": 2.7027130126953124e-07, "model_forward_time": 3.8458406925201416, "step": 2834 }, { "epoch": 2.7027130126953124e-07, "step": 2834, "training_step_time": 17.61217474937439 }, { "epoch": 2.7036666870117185e-07, "model_forward_time": 5.297308683395386, "step": 2835 }, { "epoch": 2.7036666870117185e-07, "step": 2835, "training_step_time": 17.618018865585327 }, { "epoch": 2.704620361328125e-07, "model_forward_time": 5.065678119659424, "step": 2836 }, { "epoch": 2.704620361328125e-07, "step": 2836, "training_step_time": 17.59985113143921 }, { "epoch": 2.7055740356445313e-07, "model_forward_time": 5.074162244796753, "step": 2837 }, { "epoch": 2.7055740356445313e-07, "step": 2837, "training_step_time": 17.584958791732788 }, { "epoch": 2.7065277099609375e-07, "model_forward_time": 3.8493359088897705, "step": 2838 }, { "epoch": 2.7065277099609375e-07, "step": 2838, "training_step_time": 17.383795261383057 }, { "epoch": 2.7074813842773436e-07, "model_forward_time": 5.060133457183838, "step": 2839 }, { "epoch": 2.7074813842773436e-07, "step": 2839, "training_step_time": 17.49616765975952 }, { "epoch": 2.70843505859375e-07, "grad_norm": 3.0497751235961914, "learning_rate": 8.111428571428572e-06, "loss": 0.1767, "step": 2840 }, { "epoch": 2.70843505859375e-07, "model_forward_time": 5.07744574546814, "step": 2840 }, { "dynamics_loss_avg": 0.0470197144895792, "epoch": 2.70843505859375e-07, "step": 2840 }, { "action_loss_avg": 0.11731768995523453, "epoch": 2.70843505859375e-07, "step": 2840 }, { "arm_loss_avg": 0.13155252933502198, "epoch": 2.70843505859375e-07, "step": 2840 }, { "ee_loss_avg": 0.255033765360713, "epoch": 2.70843505859375e-07, "step": 2840 }, { "aux_loss_avg": 0.001548194367205724, "epoch": 2.70843505859375e-07, "step": 2840 }, { "epoch": 2.70843505859375e-07, "step": 2840, "training_step_time": 17.554068326950073 }, { "epoch": 2.7093887329101564e-07, "model_forward_time": 5.086247682571411, "step": 2841 }, { "epoch": 2.7093887329101564e-07, "step": 2841, "training_step_time": 17.556588411331177 }, { "epoch": 2.7103424072265626e-07, "model_forward_time": 5.091259956359863, "step": 2842 }, { "epoch": 2.7103424072265626e-07, "step": 2842, "training_step_time": 17.570180892944336 }, { "epoch": 2.7112960815429687e-07, "model_forward_time": 5.0962913036346436, "step": 2843 }, { "epoch": 2.7112960815429687e-07, "step": 2843, "training_step_time": 17.82732844352722 }, { "epoch": 2.712249755859375e-07, "model_forward_time": 5.098426103591919, "step": 2844 }, { "epoch": 2.712249755859375e-07, "step": 2844, "training_step_time": 17.451541423797607 }, { "epoch": 2.713203430175781e-07, "model_forward_time": 5.092767238616943, "step": 2845 }, { "epoch": 2.713203430175781e-07, "step": 2845, "training_step_time": 17.568429946899414 }, { "epoch": 2.7141571044921877e-07, "model_forward_time": 5.09131932258606, "step": 2846 }, { "epoch": 2.7141571044921877e-07, "step": 2846, "training_step_time": 17.552401304244995 }, { "epoch": 2.715110778808594e-07, "model_forward_time": 5.08840799331665, "step": 2847 }, { "epoch": 2.715110778808594e-07, "step": 2847, "training_step_time": 17.567957401275635 }, { "epoch": 2.716064453125e-07, "model_forward_time": 3.8484792709350586, "step": 2848 }, { "epoch": 2.716064453125e-07, "step": 2848, "training_step_time": 17.807835817337036 }, { "epoch": 2.717018127441406e-07, "model_forward_time": 5.053849697113037, "step": 2849 }, { "epoch": 2.717018127441406e-07, "step": 2849, "training_step_time": 17.394930124282837 }, { "epoch": 2.7179718017578123e-07, "grad_norm": 3.9416229724884033, "learning_rate": 8.14e-06, "loss": 0.1733, "step": 2850 }, { "epoch": 2.7179718017578123e-07, "model_forward_time": 5.305428743362427, "step": 2850 }, { "dynamics_loss_avg": 0.03519607447087765, "epoch": 2.7179718017578123e-07, "step": 2850 }, { "action_loss_avg": 0.09205313622951508, "epoch": 2.7179718017578123e-07, "step": 2850 }, { "arm_loss_avg": 0.12691667452454566, "epoch": 2.7179718017578123e-07, "step": 2850 }, { "ee_loss_avg": 0.28461516574025153, "epoch": 2.7179718017578123e-07, "step": 2850 }, { "aux_loss_avg": 0.0010801347205415368, "epoch": 2.7179718017578123e-07, "step": 2850 }, { "epoch": 2.7179718017578123e-07, "step": 2850, "training_step_time": 17.57732391357422 }, { "epoch": 2.718925476074219e-07, "model_forward_time": 5.0713465213775635, "step": 2851 }, { "epoch": 2.718925476074219e-07, "step": 2851, "training_step_time": 17.55746841430664 }, { "epoch": 2.719879150390625e-07, "model_forward_time": 5.077415466308594, "step": 2852 }, { "epoch": 2.719879150390625e-07, "step": 2852, "training_step_time": 17.582979440689087 }, { "epoch": 2.720832824707031e-07, "model_forward_time": 5.08451509475708, "step": 2853 }, { "epoch": 2.720832824707031e-07, "step": 2853, "training_step_time": 17.825612783432007 }, { "epoch": 2.7217864990234374e-07, "model_forward_time": 3.850275754928589, "step": 2854 }, { "epoch": 2.7217864990234374e-07, "step": 2854, "training_step_time": 17.602592945098877 }, { "epoch": 2.7227401733398435e-07, "model_forward_time": 4.018281936645508, "step": 2855 }, { "epoch": 2.7227401733398435e-07, "step": 2855, "training_step_time": 17.61584973335266 }, { "epoch": 2.72369384765625e-07, "model_forward_time": 5.052066802978516, "step": 2856 }, { "epoch": 2.72369384765625e-07, "step": 2856, "training_step_time": 17.617465257644653 }, { "epoch": 2.7246475219726563e-07, "model_forward_time": 5.0668861865997314, "step": 2857 }, { "epoch": 2.7246475219726563e-07, "step": 2857, "training_step_time": 17.608830451965332 }, { "epoch": 2.7256011962890625e-07, "model_forward_time": 5.081657409667969, "step": 2858 }, { "epoch": 2.7256011962890625e-07, "step": 2858, "training_step_time": 17.821494817733765 }, { "epoch": 2.7265548706054686e-07, "model_forward_time": 3.859140157699585, "step": 2859 }, { "epoch": 2.7265548706054686e-07, "step": 2859, "training_step_time": 17.580529928207397 }, { "epoch": 2.727508544921875e-07, "grad_norm": 2.422694206237793, "learning_rate": 8.16857142857143e-06, "loss": 0.1667, "step": 2860 }, { "epoch": 2.727508544921875e-07, "model_forward_time": 5.304841041564941, "step": 2860 }, { "dynamics_loss_avg": 0.049500596895813945, "epoch": 2.727508544921875e-07, "step": 2860 }, { "action_loss_avg": 0.08535702396184205, "epoch": 2.727508544921875e-07, "step": 2860 }, { "arm_loss_avg": 0.13472989797592164, "epoch": 2.727508544921875e-07, "step": 2860 }, { "ee_loss_avg": 0.2580972146242857, "epoch": 2.727508544921875e-07, "step": 2860 }, { "aux_loss_avg": 0.006757415298488922, "epoch": 2.727508544921875e-07, "step": 2860 }, { "epoch": 2.727508544921875e-07, "step": 2860, "training_step_time": 17.589138746261597 }, { "epoch": 2.7284622192382814e-07, "model_forward_time": 5.088508605957031, "step": 2861 }, { "epoch": 2.7284622192382814e-07, "step": 2861, "training_step_time": 17.57817268371582 }, { "epoch": 2.7294158935546876e-07, "model_forward_time": 5.099682569503784, "step": 2862 }, { "epoch": 2.7294158935546876e-07, "step": 2862, "training_step_time": 17.584791660308838 }, { "epoch": 2.730369567871094e-07, "model_forward_time": 5.095799922943115, "step": 2863 }, { "epoch": 2.730369567871094e-07, "step": 2863, "training_step_time": 17.79337430000305 }, { "epoch": 2.7313232421875e-07, "model_forward_time": 3.860274076461792, "step": 2864 }, { "epoch": 2.7313232421875e-07, "step": 2864, "training_step_time": 17.58065104484558 }, { "epoch": 2.732276916503906e-07, "model_forward_time": 5.252159833908081, "step": 2865 }, { "epoch": 2.732276916503906e-07, "step": 2865, "training_step_time": 17.60676670074463 }, { "epoch": 2.7332305908203127e-07, "model_forward_time": 5.077476739883423, "step": 2866 }, { "epoch": 2.7332305908203127e-07, "step": 2866, "training_step_time": 17.428430318832397 }, { "epoch": 2.734184265136719e-07, "model_forward_time": 5.084301710128784, "step": 2867 }, { "epoch": 2.734184265136719e-07, "step": 2867, "training_step_time": 17.49593710899353 }, { "epoch": 2.735137939453125e-07, "model_forward_time": 3.8550162315368652, "step": 2868 }, { "epoch": 2.735137939453125e-07, "step": 2868, "training_step_time": 17.760753631591797 }, { "epoch": 2.736091613769531e-07, "model_forward_time": 5.057287216186523, "step": 2869 }, { "epoch": 2.736091613769531e-07, "step": 2869, "training_step_time": 17.566184759140015 }, { "epoch": 2.7370452880859373e-07, "grad_norm": 3.2648932933807373, "learning_rate": 8.197142857142858e-06, "loss": 0.159, "step": 2870 }, { "epoch": 2.7370452880859373e-07, "model_forward_time": 5.303140640258789, "step": 2870 }, { "dynamics_loss_avg": 0.049223513528704646, "epoch": 2.7370452880859373e-07, "step": 2870 }, { "action_loss_avg": 0.11226484514772891, "epoch": 2.7370452880859373e-07, "step": 2870 }, { "arm_loss_avg": 0.13700877577066423, "epoch": 2.7370452880859373e-07, "step": 2870 }, { "ee_loss_avg": 0.22833370342850684, "epoch": 2.7370452880859373e-07, "step": 2870 }, { "aux_loss_avg": 0.0014803353697061539, "epoch": 2.7370452880859373e-07, "step": 2870 }, { "epoch": 2.7370452880859373e-07, "step": 2870, "training_step_time": 17.574719190597534 }, { "epoch": 2.737998962402344e-07, "model_forward_time": 5.082120418548584, "step": 2871 }, { "epoch": 2.737998962402344e-07, "step": 2871, "training_step_time": 17.5786874294281 }, { "epoch": 2.73895263671875e-07, "model_forward_time": 5.0915000438690186, "step": 2872 }, { "epoch": 2.73895263671875e-07, "step": 2872, "training_step_time": 17.5943603515625 }, { "epoch": 2.739906311035156e-07, "model_forward_time": 3.858342170715332, "step": 2873 }, { "epoch": 2.739906311035156e-07, "step": 2873, "training_step_time": 17.83267092704773 }, { "epoch": 2.7408599853515624e-07, "model_forward_time": 5.07145094871521, "step": 2874 }, { "epoch": 2.7408599853515624e-07, "step": 2874, "training_step_time": 17.59262990951538 }, { "epoch": 2.7418136596679685e-07, "model_forward_time": 5.2682647705078125, "step": 2875 }, { "epoch": 2.7418136596679685e-07, "step": 2875, "training_step_time": 17.614331007003784 }, { "epoch": 2.742767333984375e-07, "model_forward_time": 5.085677862167358, "step": 2876 }, { "epoch": 2.742767333984375e-07, "step": 2876, "training_step_time": 17.594529390335083 }, { "epoch": 2.7437210083007814e-07, "model_forward_time": 5.091539621353149, "step": 2877 }, { "epoch": 2.7437210083007814e-07, "step": 2877, "training_step_time": 17.593262195587158 }, { "epoch": 2.7446746826171875e-07, "model_forward_time": 5.093215227127075, "step": 2878 }, { "epoch": 2.7446746826171875e-07, "step": 2878, "training_step_time": 17.79345941543579 }, { "epoch": 2.7456283569335936e-07, "model_forward_time": 5.093951225280762, "step": 2879 }, { "epoch": 2.7456283569335936e-07, "step": 2879, "training_step_time": 17.58637762069702 }, { "epoch": 2.74658203125e-07, "grad_norm": 1.9679498672485352, "learning_rate": 8.225714285714288e-06, "loss": 0.1547, "step": 2880 }, { "epoch": 2.74658203125e-07, "model_forward_time": 5.330476760864258, "step": 2880 }, { "dynamics_loss_avg": 0.049112293682992456, "epoch": 2.74658203125e-07, "step": 2880 }, { "action_loss_avg": 0.09491197541356086, "epoch": 2.74658203125e-07, "step": 2880 }, { "arm_loss_avg": 0.12826719582080842, "epoch": 2.74658203125e-07, "step": 2880 }, { "ee_loss_avg": 0.26661036536097527, "epoch": 2.74658203125e-07, "step": 2880 }, { "aux_loss_avg": 0.0017970083514228462, "epoch": 2.74658203125e-07, "step": 2880 }, { "epoch": 2.74658203125e-07, "step": 2880, "training_step_time": 17.5855393409729 }, { "epoch": 2.7475357055664065e-07, "model_forward_time": 5.090998649597168, "step": 2881 }, { "epoch": 2.7475357055664065e-07, "step": 2881, "training_step_time": 17.58866858482361 }, { "epoch": 2.7484893798828126e-07, "model_forward_time": 5.08757758140564, "step": 2882 }, { "epoch": 2.7484893798828126e-07, "step": 2882, "training_step_time": 17.586905241012573 }, { "epoch": 2.749443054199219e-07, "model_forward_time": 5.088601350784302, "step": 2883 }, { "epoch": 2.749443054199219e-07, "step": 2883, "training_step_time": 17.795934915542603 }, { "epoch": 2.750396728515625e-07, "model_forward_time": 5.079341173171997, "step": 2884 }, { "epoch": 2.750396728515625e-07, "step": 2884, "training_step_time": 17.585119247436523 }, { "epoch": 2.751350402832031e-07, "model_forward_time": 4.0750861167907715, "step": 2885 }, { "epoch": 2.751350402832031e-07, "step": 2885, "training_step_time": 17.61555528640747 }, { "epoch": 2.7523040771484377e-07, "model_forward_time": 5.059737205505371, "step": 2886 }, { "epoch": 2.7523040771484377e-07, "step": 2886, "training_step_time": 17.590083837509155 }, { "epoch": 2.753257751464844e-07, "model_forward_time": 5.061832427978516, "step": 2887 }, { "epoch": 2.753257751464844e-07, "step": 2887, "training_step_time": 17.583322525024414 }, { "epoch": 2.75421142578125e-07, "model_forward_time": 5.075615406036377, "step": 2888 }, { "epoch": 2.75421142578125e-07, "step": 2888, "training_step_time": 17.384871244430542 }, { "epoch": 2.755165100097656e-07, "model_forward_time": 5.0836687088012695, "step": 2889 }, { "epoch": 2.755165100097656e-07, "step": 2889, "training_step_time": 17.497209548950195 }, { "epoch": 2.7561187744140623e-07, "grad_norm": 1.8966983556747437, "learning_rate": 8.254285714285714e-06, "loss": 0.1538, "step": 2890 }, { "epoch": 2.7561187744140623e-07, "model_forward_time": 5.32957649230957, "step": 2890 }, { "dynamics_loss_avg": 0.046618579886853695, "epoch": 2.7561187744140623e-07, "step": 2890 }, { "action_loss_avg": 0.07347576208412647, "epoch": 2.7561187744140623e-07, "step": 2890 }, { "arm_loss_avg": 0.15118305310606955, "epoch": 2.7561187744140623e-07, "step": 2890 }, { "ee_loss_avg": 0.21519557870924472, "epoch": 2.7561187744140623e-07, "step": 2890 }, { "aux_loss_avg": 0.002840480546001345, "epoch": 2.7561187744140623e-07, "step": 2890 }, { "epoch": 2.7561187744140623e-07, "step": 2890, "training_step_time": 17.564476490020752 }, { "epoch": 2.757072448730469e-07, "model_forward_time": 5.099008798599243, "step": 2891 }, { "epoch": 2.757072448730469e-07, "step": 2891, "training_step_time": 17.56055998802185 }, { "epoch": 2.758026123046875e-07, "model_forward_time": 5.097900390625, "step": 2892 }, { "epoch": 2.758026123046875e-07, "step": 2892, "training_step_time": 17.579724073410034 }, { "epoch": 2.7589797973632813e-07, "model_forward_time": 5.0926573276519775, "step": 2893 }, { "epoch": 2.7589797973632813e-07, "step": 2893, "training_step_time": 17.843598127365112 }, { "epoch": 2.7599334716796874e-07, "model_forward_time": 5.088864326477051, "step": 2894 }, { "epoch": 2.7599334716796874e-07, "step": 2894, "training_step_time": 17.603361129760742 }, { "epoch": 2.7608871459960936e-07, "model_forward_time": 5.279632568359375, "step": 2895 }, { "epoch": 2.7608871459960936e-07, "step": 2895, "training_step_time": 17.599911212921143 }, { "epoch": 2.7618408203125e-07, "model_forward_time": 5.098207950592041, "step": 2896 }, { "epoch": 2.7618408203125e-07, "step": 2896, "training_step_time": 17.624148845672607 }, { "epoch": 2.7627944946289064e-07, "model_forward_time": 5.095603704452515, "step": 2897 }, { "epoch": 2.7627944946289064e-07, "step": 2897, "training_step_time": 17.628884077072144 }, { "epoch": 2.7637481689453125e-07, "model_forward_time": 5.092105150222778, "step": 2898 }, { "epoch": 2.7637481689453125e-07, "step": 2898, "training_step_time": 17.85602045059204 }, { "epoch": 2.7647018432617187e-07, "model_forward_time": 5.0878965854644775, "step": 2899 }, { "epoch": 2.7647018432617187e-07, "step": 2899, "training_step_time": 17.424818754196167 }, { "epoch": 2.765655517578125e-07, "grad_norm": 2.467829942703247, "learning_rate": 8.282857142857144e-06, "loss": 0.1562, "step": 2900 }, { "epoch": 2.765655517578125e-07, "model_forward_time": 5.327714920043945, "step": 2900 }, { "dynamics_loss_avg": 0.04477824866771698, "epoch": 2.765655517578125e-07, "step": 2900 }, { "action_loss_avg": 0.09053882360458373, "epoch": 2.765655517578125e-07, "step": 2900 }, { "arm_loss_avg": 0.13716887906193734, "epoch": 2.765655517578125e-07, "step": 2900 }, { "ee_loss_avg": 0.22895456608384848, "epoch": 2.765655517578125e-07, "step": 2900 }, { "aux_loss_avg": 0.001685025985352695, "epoch": 2.765655517578125e-07, "step": 2900 }, { "epoch": 2.765655517578125e-07, "step": 2900, "training_step_time": 17.50329566001892 }, { "epoch": 2.7666091918945315e-07, "model_forward_time": 5.082086563110352, "step": 2901 }, { "epoch": 2.7666091918945315e-07, "step": 2901, "training_step_time": 17.626589059829712 }, { "epoch": 2.7675628662109376e-07, "model_forward_time": 5.080238580703735, "step": 2902 }, { "epoch": 2.7675628662109376e-07, "step": 2902, "training_step_time": 17.418046951293945 }, { "epoch": 2.768516540527344e-07, "model_forward_time": 5.084982633590698, "step": 2903 }, { "epoch": 2.768516540527344e-07, "step": 2903, "training_step_time": 17.504449367523193 }, { "epoch": 2.76947021484375e-07, "model_forward_time": 5.080735921859741, "step": 2904 }, { "epoch": 2.76947021484375e-07, "step": 2904, "training_step_time": 17.783750534057617 }, { "epoch": 2.770423889160156e-07, "model_forward_time": 5.269495248794556, "step": 2905 }, { "epoch": 2.770423889160156e-07, "step": 2905, "training_step_time": 17.6102237701416 }, { "epoch": 2.771377563476563e-07, "model_forward_time": 5.081580638885498, "step": 2906 }, { "epoch": 2.771377563476563e-07, "step": 2906, "training_step_time": 17.439204216003418 }, { "epoch": 2.772331237792969e-07, "model_forward_time": 5.082262992858887, "step": 2907 }, { "epoch": 2.772331237792969e-07, "step": 2907, "training_step_time": 17.547399044036865 }, { "epoch": 2.773284912109375e-07, "model_forward_time": 5.083615303039551, "step": 2908 }, { "epoch": 2.773284912109375e-07, "step": 2908, "training_step_time": 17.594236612319946 }, { "epoch": 2.774238586425781e-07, "model_forward_time": 5.082700252532959, "step": 2909 }, { "epoch": 2.774238586425781e-07, "step": 2909, "training_step_time": 17.7923321723938 }, { "epoch": 2.7751922607421873e-07, "grad_norm": 3.244225025177002, "learning_rate": 8.311428571428572e-06, "loss": 0.1567, "step": 2910 }, { "epoch": 2.7751922607421873e-07, "model_forward_time": 5.322705030441284, "step": 2910 }, { "dynamics_loss_avg": 0.04028060650452971, "epoch": 2.7751922607421873e-07, "step": 2910 }, { "action_loss_avg": 0.1086692113429308, "epoch": 2.7751922607421873e-07, "step": 2910 }, { "arm_loss_avg": 0.16997065991163254, "epoch": 2.7751922607421873e-07, "step": 2910 }, { "ee_loss_avg": 0.19320791810750962, "epoch": 2.7751922607421873e-07, "step": 2910 }, { "aux_loss_avg": 0.0014020711940247565, "epoch": 2.7751922607421873e-07, "step": 2910 }, { "epoch": 2.7751922607421873e-07, "step": 2910, "training_step_time": 17.628374099731445 }, { "epoch": 2.776145935058594e-07, "model_forward_time": 5.082151174545288, "step": 2911 }, { "epoch": 2.776145935058594e-07, "step": 2911, "training_step_time": 17.63441276550293 }, { "epoch": 2.777099609375e-07, "model_forward_time": 5.085781574249268, "step": 2912 }, { "epoch": 2.777099609375e-07, "step": 2912, "training_step_time": 17.62929654121399 }, { "epoch": 2.7780532836914063e-07, "model_forward_time": 5.086880683898926, "step": 2913 }, { "epoch": 2.7780532836914063e-07, "step": 2913, "training_step_time": 17.639776945114136 }, { "epoch": 2.7790069580078124e-07, "model_forward_time": 3.8538715839385986, "step": 2914 }, { "epoch": 2.7790069580078124e-07, "step": 2914, "training_step_time": 17.856677055358887 }, { "epoch": 2.7799606323242186e-07, "model_forward_time": 5.0506532192230225, "step": 2915 }, { "epoch": 2.7799606323242186e-07, "step": 2915, "training_step_time": 17.60704803466797 }, { "epoch": 2.780914306640625e-07, "model_forward_time": 5.070549726486206, "step": 2916 }, { "epoch": 2.780914306640625e-07, "step": 2916, "training_step_time": 17.587236166000366 }, { "epoch": 2.7818679809570314e-07, "model_forward_time": 5.074256896972656, "step": 2917 }, { "epoch": 2.7818679809570314e-07, "step": 2917, "training_step_time": 17.568658590316772 }, { "epoch": 2.7828216552734375e-07, "model_forward_time": 5.084913730621338, "step": 2918 }, { "epoch": 2.7828216552734375e-07, "step": 2918, "training_step_time": 17.789043426513672 }, { "epoch": 2.7837753295898437e-07, "model_forward_time": 5.089986085891724, "step": 2919 }, { "epoch": 2.7837753295898437e-07, "step": 2919, "training_step_time": 17.56674861907959 }, { "epoch": 2.78472900390625e-07, "grad_norm": 2.6870768070220947, "learning_rate": 8.34e-06, "loss": 0.1482, "step": 2920 }, { "epoch": 2.78472900390625e-07, "model_forward_time": 5.347311735153198, "step": 2920 }, { "dynamics_loss_avg": 0.0471410708501935, "epoch": 2.78472900390625e-07, "step": 2920 }, { "action_loss_avg": 0.11127298232167959, "epoch": 2.78472900390625e-07, "step": 2920 }, { "arm_loss_avg": 0.18692057207226753, "epoch": 2.78472900390625e-07, "step": 2920 }, { "ee_loss_avg": 0.18046839199960232, "epoch": 2.78472900390625e-07, "step": 2920 }, { "aux_loss_avg": 0.0017317939084023238, "epoch": 2.78472900390625e-07, "step": 2920 }, { "epoch": 2.78472900390625e-07, "step": 2920, "training_step_time": 17.477043390274048 }, { "epoch": 2.7856826782226565e-07, "model_forward_time": 3.8578555583953857, "step": 2921 }, { "epoch": 2.7856826782226565e-07, "step": 2921, "training_step_time": 17.630553245544434 }, { "epoch": 2.7866363525390626e-07, "model_forward_time": 5.066777229309082, "step": 2922 }, { "epoch": 2.7866363525390626e-07, "step": 2922, "training_step_time": 17.545214891433716 }, { "epoch": 2.787590026855469e-07, "model_forward_time": 5.077157735824585, "step": 2923 }, { "epoch": 2.787590026855469e-07, "step": 2923, "training_step_time": 17.565781116485596 }, { "epoch": 2.788543701171875e-07, "model_forward_time": 5.084433078765869, "step": 2924 }, { "epoch": 2.788543701171875e-07, "step": 2924, "training_step_time": 17.82184362411499 }, { "epoch": 2.789497375488281e-07, "model_forward_time": 3.8526222705841064, "step": 2925 }, { "epoch": 2.789497375488281e-07, "step": 2925, "training_step_time": 17.60905385017395 }, { "epoch": 2.790451049804688e-07, "model_forward_time": 5.242459058761597, "step": 2926 }, { "epoch": 2.790451049804688e-07, "step": 2926, "training_step_time": 17.62366557121277 }, { "epoch": 2.791404724121094e-07, "model_forward_time": 5.0719640254974365, "step": 2927 }, { "epoch": 2.791404724121094e-07, "step": 2927, "training_step_time": 17.391209363937378 }, { "epoch": 2.7923583984375e-07, "model_forward_time": 5.083043098449707, "step": 2928 }, { "epoch": 2.7923583984375e-07, "step": 2928, "training_step_time": 17.525182247161865 }, { "epoch": 2.793312072753906e-07, "model_forward_time": 5.098107576370239, "step": 2929 }, { "epoch": 2.793312072753906e-07, "step": 2929, "training_step_time": 17.753098726272583 }, { "epoch": 2.7942657470703123e-07, "grad_norm": 1.3791600465774536, "learning_rate": 8.36857142857143e-06, "loss": 0.1529, "step": 2930 }, { "epoch": 2.7942657470703123e-07, "model_forward_time": 5.092291593551636, "step": 2930 }, { "dynamics_loss_avg": 0.036827085772529244, "epoch": 2.7942657470703123e-07, "step": 2930 }, { "action_loss_avg": 0.10244730710983277, "epoch": 2.7942657470703123e-07, "step": 2930 }, { "arm_loss_avg": 0.13519112169742584, "epoch": 2.7942657470703123e-07, "step": 2930 }, { "ee_loss_avg": 0.1564742684364319, "epoch": 2.7942657470703123e-07, "step": 2930 }, { "aux_loss_avg": 0.0009500739193754271, "epoch": 2.7942657470703123e-07, "step": 2930 }, { "epoch": 2.7942657470703123e-07, "step": 2930, "training_step_time": 17.585948944091797 }, { "epoch": 2.795219421386719e-07, "model_forward_time": 5.327173709869385, "step": 2931 }, { "epoch": 2.795219421386719e-07, "step": 2931, "training_step_time": 17.586629152297974 }, { "epoch": 2.796173095703125e-07, "model_forward_time": 5.097009658813477, "step": 2932 }, { "epoch": 2.796173095703125e-07, "step": 2932, "training_step_time": 17.59245491027832 }, { "epoch": 2.7971267700195313e-07, "model_forward_time": 5.095523834228516, "step": 2933 }, { "epoch": 2.7971267700195313e-07, "step": 2933, "training_step_time": 17.808892965316772 }, { "epoch": 2.7980804443359374e-07, "model_forward_time": 5.091516971588135, "step": 2934 }, { "epoch": 2.7980804443359374e-07, "step": 2934, "training_step_time": 17.596988677978516 }, { "epoch": 2.7990341186523436e-07, "model_forward_time": 5.084103107452393, "step": 2935 }, { "epoch": 2.7990341186523436e-07, "step": 2935, "training_step_time": 17.61482334136963 }, { "epoch": 2.79998779296875e-07, "model_forward_time": 5.291025638580322, "step": 2936 }, { "epoch": 2.79998779296875e-07, "step": 2936, "training_step_time": 17.62295126914978 }, { "epoch": 2.8009414672851564e-07, "model_forward_time": 5.101295709609985, "step": 2937 }, { "epoch": 2.8009414672851564e-07, "step": 2937, "training_step_time": 17.612520694732666 }, { "epoch": 2.8018951416015626e-07, "model_forward_time": 5.1000707149505615, "step": 2938 }, { "epoch": 2.8018951416015626e-07, "step": 2938, "training_step_time": 17.83546757698059 }, { "epoch": 2.8028488159179687e-07, "model_forward_time": 5.092107057571411, "step": 2939 }, { "epoch": 2.8028488159179687e-07, "step": 2939, "training_step_time": 17.620920658111572 }, { "epoch": 2.803802490234375e-07, "grad_norm": 3.0175013542175293, "learning_rate": 8.397142857142858e-06, "loss": 0.1606, "step": 2940 }, { "epoch": 2.803802490234375e-07, "model_forward_time": 5.082274913787842, "step": 2940 }, { "dynamics_loss_avg": 0.04839120451360941, "epoch": 2.803802490234375e-07, "step": 2940 }, { "action_loss_avg": 0.09722829461097718, "epoch": 2.803802490234375e-07, "step": 2940 }, { "arm_loss_avg": 0.17036743685603142, "epoch": 2.803802490234375e-07, "step": 2940 }, { "ee_loss_avg": 0.18491739146411418, "epoch": 2.803802490234375e-07, "step": 2940 }, { "aux_loss_avg": 0.01356688872911036, "epoch": 2.803802490234375e-07, "step": 2940 }, { "epoch": 2.803802490234375e-07, "step": 2940, "training_step_time": 17.579252004623413 }, { "epoch": 2.804756164550781e-07, "model_forward_time": 5.085407733917236, "step": 2941 }, { "epoch": 2.804756164550781e-07, "step": 2941, "training_step_time": 17.581763744354248 }, { "epoch": 2.8057098388671877e-07, "model_forward_time": 5.0857579708099365, "step": 2942 }, { "epoch": 2.8057098388671877e-07, "step": 2942, "training_step_time": 17.57143783569336 }, { "epoch": 2.806663513183594e-07, "model_forward_time": 5.088741302490234, "step": 2943 }, { "epoch": 2.806663513183594e-07, "step": 2943, "training_step_time": 17.78635001182556 }, { "epoch": 2.8076171875e-07, "model_forward_time": 3.85434889793396, "step": 2944 }, { "epoch": 2.8076171875e-07, "step": 2944, "training_step_time": 17.34306025505066 }, { "epoch": 2.808570861816406e-07, "model_forward_time": 3.8330702781677246, "step": 2945 }, { "epoch": 2.808570861816406e-07, "step": 2945, "training_step_time": 17.387086153030396 }, { "epoch": 2.809524536132812e-07, "model_forward_time": 5.2593584060668945, "step": 2946 }, { "epoch": 2.809524536132812e-07, "step": 2946, "training_step_time": 17.636800527572632 }, { "epoch": 2.810478210449219e-07, "model_forward_time": 5.064925193786621, "step": 2947 }, { "epoch": 2.810478210449219e-07, "step": 2947, "training_step_time": 17.496369123458862 }, { "epoch": 2.811431884765625e-07, "model_forward_time": 5.080219984054565, "step": 2948 }, { "epoch": 2.811431884765625e-07, "step": 2948, "training_step_time": 17.550979137420654 }, { "epoch": 2.812385559082031e-07, "model_forward_time": 5.0886218547821045, "step": 2949 }, { "epoch": 2.812385559082031e-07, "step": 2949, "training_step_time": 17.77547001838684 }, { "epoch": 2.8133392333984374e-07, "grad_norm": 2.4319305419921875, "learning_rate": 8.425714285714286e-06, "loss": 0.1559, "step": 2950 }, { "epoch": 2.8133392333984374e-07, "model_forward_time": 5.094559669494629, "step": 2950 }, { "dynamics_loss_avg": 0.047361918911337855, "epoch": 2.8133392333984374e-07, "step": 2950 }, { "action_loss_avg": 0.10630903840065002, "epoch": 2.8133392333984374e-07, "step": 2950 }, { "arm_loss_avg": 0.17382860332727432, "epoch": 2.8133392333984374e-07, "step": 2950 }, { "ee_loss_avg": 0.17595050744712354, "epoch": 2.8133392333984374e-07, "step": 2950 }, { "aux_loss_avg": 0.010182431098655798, "epoch": 2.8133392333984374e-07, "step": 2950 }, { "epoch": 2.8133392333984374e-07, "step": 2950, "training_step_time": 17.60926628112793 }, { "epoch": 2.8142929077148435e-07, "model_forward_time": 5.1020143032073975, "step": 2951 }, { "epoch": 2.8142929077148435e-07, "step": 2951, "training_step_time": 17.61875581741333 }, { "epoch": 2.81524658203125e-07, "model_forward_time": 3.862417697906494, "step": 2952 }, { "epoch": 2.81524658203125e-07, "step": 2952, "training_step_time": 17.620811939239502 }, { "epoch": 2.8162002563476563e-07, "model_forward_time": 5.068195104598999, "step": 2953 }, { "epoch": 2.8162002563476563e-07, "step": 2953, "training_step_time": 17.838301181793213 }, { "epoch": 2.8171539306640625e-07, "model_forward_time": 5.072389125823975, "step": 2954 }, { "epoch": 2.8171539306640625e-07, "step": 2954, "training_step_time": 17.602837085723877 }, { "epoch": 2.8181076049804686e-07, "model_forward_time": 5.079014301300049, "step": 2955 }, { "epoch": 2.8181076049804686e-07, "step": 2955, "training_step_time": 17.603734493255615 }, { "epoch": 2.819061279296875e-07, "model_forward_time": 5.085436105728149, "step": 2956 }, { "epoch": 2.819061279296875e-07, "step": 2956, "training_step_time": 17.62842583656311 }, { "epoch": 2.8200149536132814e-07, "model_forward_time": 5.100003242492676, "step": 2957 }, { "epoch": 2.8200149536132814e-07, "step": 2957, "training_step_time": 17.523255586624146 }, { "epoch": 2.8209686279296876e-07, "model_forward_time": 5.106157541275024, "step": 2958 }, { "epoch": 2.8209686279296876e-07, "step": 2958, "training_step_time": 17.783214330673218 }, { "epoch": 2.8219223022460937e-07, "model_forward_time": 5.09836220741272, "step": 2959 }, { "epoch": 2.8219223022460937e-07, "step": 2959, "training_step_time": 17.581111431121826 }, { "epoch": 2.8228759765625e-07, "grad_norm": 1.8014445304870605, "learning_rate": 8.454285714285715e-06, "loss": 0.1573, "step": 2960 }, { "epoch": 2.8228759765625e-07, "model_forward_time": 5.350696802139282, "step": 2960 }, { "dynamics_loss_avg": 0.05078635104000569, "epoch": 2.8228759765625e-07, "step": 2960 }, { "action_loss_avg": 0.09834549427032471, "epoch": 2.8228759765625e-07, "step": 2960 }, { "arm_loss_avg": 0.16847596168518067, "epoch": 2.8228759765625e-07, "step": 2960 }, { "ee_loss_avg": 0.17269485034048557, "epoch": 2.8228759765625e-07, "step": 2960 }, { "aux_loss_avg": 0.004248788952827454, "epoch": 2.8228759765625e-07, "step": 2960 }, { "epoch": 2.8228759765625e-07, "step": 2960, "training_step_time": 17.581165552139282 }, { "epoch": 2.823829650878906e-07, "model_forward_time": 5.086402654647827, "step": 2961 }, { "epoch": 2.823829650878906e-07, "step": 2961, "training_step_time": 17.589561462402344 }, { "epoch": 2.8247833251953127e-07, "model_forward_time": 5.080996751785278, "step": 2962 }, { "epoch": 2.8247833251953127e-07, "step": 2962, "training_step_time": 17.59176206588745 }, { "epoch": 2.825736999511719e-07, "model_forward_time": 5.082561492919922, "step": 2963 }, { "epoch": 2.825736999511719e-07, "step": 2963, "training_step_time": 17.814756155014038 }, { "epoch": 2.826690673828125e-07, "model_forward_time": 5.081010818481445, "step": 2964 }, { "epoch": 2.826690673828125e-07, "step": 2964, "training_step_time": 17.599048852920532 }, { "epoch": 2.827644348144531e-07, "model_forward_time": 5.08393931388855, "step": 2965 }, { "epoch": 2.827644348144531e-07, "step": 2965, "training_step_time": 17.417046308517456 }, { "epoch": 2.828598022460937e-07, "model_forward_time": 3.8533308506011963, "step": 2966 }, { "epoch": 2.828598022460937e-07, "step": 2966, "training_step_time": 17.55880570411682 }, { "epoch": 2.829551696777344e-07, "model_forward_time": 5.063081502914429, "step": 2967 }, { "epoch": 2.829551696777344e-07, "step": 2967, "training_step_time": 17.538063764572144 }, { "epoch": 2.83050537109375e-07, "model_forward_time": 5.070600748062134, "step": 2968 }, { "epoch": 2.83050537109375e-07, "step": 2968, "training_step_time": 17.55783247947693 }, { "epoch": 2.831459045410156e-07, "model_forward_time": 5.078320026397705, "step": 2969 }, { "epoch": 2.831459045410156e-07, "step": 2969, "training_step_time": 17.746656894683838 }, { "epoch": 2.8324127197265624e-07, "grad_norm": 1.2986550331115723, "learning_rate": 8.482857142857143e-06, "loss": 0.1493, "step": 2970 }, { "epoch": 2.8324127197265624e-07, "model_forward_time": 3.850829839706421, "step": 2970 }, { "dynamics_loss_avg": 0.04289755374193192, "epoch": 2.8324127197265624e-07, "step": 2970 }, { "action_loss_avg": 0.07929310463368892, "epoch": 2.8324127197265624e-07, "step": 2970 }, { "arm_loss_avg": 0.1291855439543724, "epoch": 2.8324127197265624e-07, "step": 2970 }, { "ee_loss_avg": 0.15707282349467278, "epoch": 2.8324127197265624e-07, "step": 2970 }, { "aux_loss_avg": 0.001819729816634208, "epoch": 2.8324127197265624e-07, "step": 2970 }, { "epoch": 2.8324127197265624e-07, "step": 2970, "training_step_time": 17.563802242279053 }, { "epoch": 2.8333663940429685e-07, "model_forward_time": 5.286766767501831, "step": 2971 }, { "epoch": 2.8333663940429685e-07, "step": 2971, "training_step_time": 17.594911336898804 }, { "epoch": 2.834320068359375e-07, "model_forward_time": 5.080167770385742, "step": 2972 }, { "epoch": 2.834320068359375e-07, "step": 2972, "training_step_time": 17.59065294265747 }, { "epoch": 2.8352737426757813e-07, "model_forward_time": 5.089993953704834, "step": 2973 }, { "epoch": 2.8352737426757813e-07, "step": 2973, "training_step_time": 17.805259704589844 }, { "epoch": 2.8362274169921875e-07, "model_forward_time": 5.097540378570557, "step": 2974 }, { "epoch": 2.8362274169921875e-07, "step": 2974, "training_step_time": 17.58812189102173 }, { "epoch": 2.8371810913085936e-07, "model_forward_time": 5.099527835845947, "step": 2975 }, { "epoch": 2.8371810913085936e-07, "step": 2975, "training_step_time": 17.578375816345215 }, { "epoch": 2.838134765625e-07, "model_forward_time": 5.297048091888428, "step": 2976 }, { "epoch": 2.838134765625e-07, "step": 2976, "training_step_time": 17.60793447494507 }, { "epoch": 2.8390884399414064e-07, "model_forward_time": 3.8748557567596436, "step": 2977 }, { "epoch": 2.8390884399414064e-07, "step": 2977, "training_step_time": 17.607433795928955 }, { "epoch": 2.8400421142578126e-07, "model_forward_time": 5.074257850646973, "step": 2978 }, { "epoch": 2.8400421142578126e-07, "step": 2978, "training_step_time": 17.822936534881592 }, { "epoch": 2.8409957885742187e-07, "model_forward_time": 5.0829761028289795, "step": 2979 }, { "epoch": 2.8409957885742187e-07, "step": 2979, "training_step_time": 17.248594760894775 }, { "epoch": 2.841949462890625e-07, "grad_norm": 1.2094848155975342, "learning_rate": 8.511428571428571e-06, "loss": 0.1359, "step": 2980 }, { "epoch": 2.841949462890625e-07, "model_forward_time": 5.079338788986206, "step": 2980 }, { "dynamics_loss_avg": 0.04171131942421198, "epoch": 2.841949462890625e-07, "step": 2980 }, { "action_loss_avg": 0.08376886360347272, "epoch": 2.841949462890625e-07, "step": 2980 }, { "arm_loss_avg": 0.17577419206500053, "epoch": 2.841949462890625e-07, "step": 2980 }, { "ee_loss_avg": 0.19084357768297194, "epoch": 2.841949462890625e-07, "step": 2980 }, { "aux_loss_avg": 0.007243832049425691, "epoch": 2.841949462890625e-07, "step": 2980 }, { "epoch": 2.841949462890625e-07, "step": 2980, "training_step_time": 17.4870388507843 }, { "epoch": 2.842903137207031e-07, "model_forward_time": 5.318486213684082, "step": 2981 }, { "epoch": 2.842903137207031e-07, "step": 2981, "training_step_time": 17.54689645767212 }, { "epoch": 2.8438568115234377e-07, "model_forward_time": 5.084769010543823, "step": 2982 }, { "epoch": 2.8438568115234377e-07, "step": 2982, "training_step_time": 17.545465230941772 }, { "epoch": 2.844810485839844e-07, "model_forward_time": 5.084841966629028, "step": 2983 }, { "epoch": 2.844810485839844e-07, "step": 2983, "training_step_time": 17.568429470062256 }, { "epoch": 2.84576416015625e-07, "model_forward_time": 5.085594415664673, "step": 2984 }, { "epoch": 2.84576416015625e-07, "step": 2984, "training_step_time": 17.810951948165894 }, { "epoch": 2.846717834472656e-07, "model_forward_time": 5.087153911590576, "step": 2985 }, { "epoch": 2.846717834472656e-07, "step": 2985, "training_step_time": 17.594297409057617 }, { "epoch": 2.8476715087890623e-07, "model_forward_time": 5.289872169494629, "step": 2986 }, { "epoch": 2.8476715087890623e-07, "step": 2986, "training_step_time": 17.604653120040894 }, { "epoch": 2.848625183105469e-07, "model_forward_time": 5.082367181777954, "step": 2987 }, { "epoch": 2.848625183105469e-07, "step": 2987, "training_step_time": 17.597447872161865 }, { "epoch": 2.849578857421875e-07, "model_forward_time": 5.084360361099243, "step": 2988 }, { "epoch": 2.849578857421875e-07, "step": 2988, "training_step_time": 17.60611367225647 }, { "epoch": 2.850532531738281e-07, "model_forward_time": 5.079493761062622, "step": 2989 }, { "epoch": 2.850532531738281e-07, "step": 2989, "training_step_time": 17.796382188796997 }, { "epoch": 2.8514862060546874e-07, "grad_norm": 3.589890480041504, "learning_rate": 8.540000000000001e-06, "loss": 0.1526, "step": 2990 }, { "epoch": 2.8514862060546874e-07, "model_forward_time": 5.079233884811401, "step": 2990 }, { "dynamics_loss_avg": 0.04615221247076988, "epoch": 2.8514862060546874e-07, "step": 2990 }, { "action_loss_avg": 0.10155601948499679, "epoch": 2.8514862060546874e-07, "step": 2990 }, { "arm_loss_avg": 0.1826815664768219, "epoch": 2.8514862060546874e-07, "step": 2990 }, { "ee_loss_avg": 0.13560701236128808, "epoch": 2.8514862060546874e-07, "step": 2990 }, { "aux_loss_avg": 0.0018072410486638546, "epoch": 2.8514862060546874e-07, "step": 2990 }, { "epoch": 2.8514862060546874e-07, "step": 2990, "training_step_time": 17.60180115699768 }, { "epoch": 2.8524398803710935e-07, "model_forward_time": 3.8472554683685303, "step": 2991 }, { "epoch": 2.8524398803710935e-07, "step": 2991, "training_step_time": 17.59238052368164 }, { "epoch": 2.8533935546875e-07, "model_forward_time": 5.05741286277771, "step": 2992 }, { "epoch": 2.8533935546875e-07, "step": 2992, "training_step_time": 17.5992112159729 }, { "epoch": 2.8543472290039063e-07, "model_forward_time": 5.06538987159729, "step": 2993 }, { "epoch": 2.8543472290039063e-07, "step": 2993, "training_step_time": 17.797539234161377 }, { "epoch": 2.8553009033203125e-07, "model_forward_time": 3.8402836322784424, "step": 2994 }, { "epoch": 2.8553009033203125e-07, "step": 2994, "training_step_time": 17.357131481170654 }, { "epoch": 2.8562545776367186e-07, "model_forward_time": 5.05404257774353, "step": 2995 }, { "epoch": 2.8562545776367186e-07, "step": 2995, "training_step_time": 17.485921144485474 }, { "epoch": 2.857208251953125e-07, "model_forward_time": 5.263983726501465, "step": 2996 }, { "epoch": 2.857208251953125e-07, "step": 2996, "training_step_time": 17.533220529556274 }, { "epoch": 2.8581619262695315e-07, "model_forward_time": 5.099064350128174, "step": 2997 }, { "epoch": 2.8581619262695315e-07, "step": 2997, "training_step_time": 17.574407815933228 }, { "epoch": 2.8591156005859376e-07, "model_forward_time": 5.107922792434692, "step": 2998 }, { "epoch": 2.8591156005859376e-07, "step": 2998, "training_step_time": 17.596547603607178 }, { "epoch": 2.860069274902344e-07, "model_forward_time": 5.111809015274048, "step": 2999 }, { "epoch": 2.860069274902344e-07, "step": 2999, "training_step_time": 17.857412576675415 }, { "epoch": 2.86102294921875e-07, "grad_norm": 1.523080587387085, "learning_rate": 8.56857142857143e-06, "loss": 0.138, "step": 3000 }, { "epoch": 2.86102294921875e-07, "model_forward_time": 5.117929458618164, "step": 3000 }, { "dynamics_loss_avg": 0.03597801309078932, "epoch": 2.86102294921875e-07, "step": 3000 }, { "action_loss_avg": 0.08610176965594292, "epoch": 2.86102294921875e-07, "step": 3000 }, { "arm_loss_avg": 0.16136735081672668, "epoch": 2.86102294921875e-07, "step": 3000 }, { "ee_loss_avg": 0.154795803129673, "epoch": 2.86102294921875e-07, "step": 3000 }, { "aux_loss_avg": 0.000847807910759002, "epoch": 2.86102294921875e-07, "step": 3000 }, { "epoch": 2.86102294921875e-07, "step": 3000, "training_step_time": 17.63646650314331 }, { "epoch": 2.861976623535156e-07, "model_forward_time": 5.0974249839782715, "step": 3001 }, { "epoch": 2.861976623535156e-07, "step": 3001, "training_step_time": 17.610045433044434 }, { "epoch": 2.8629302978515627e-07, "model_forward_time": 5.09412407875061, "step": 3002 }, { "epoch": 2.8629302978515627e-07, "step": 3002, "training_step_time": 17.617664098739624 }, { "epoch": 2.863883972167969e-07, "model_forward_time": 5.091962814331055, "step": 3003 }, { "epoch": 2.863883972167969e-07, "step": 3003, "training_step_time": 17.839813232421875 }, { "epoch": 2.864837646484375e-07, "model_forward_time": 5.0816404819488525, "step": 3004 }, { "epoch": 2.864837646484375e-07, "step": 3004, "training_step_time": 17.614617109298706 }, { "epoch": 2.865791320800781e-07, "model_forward_time": 5.084321022033691, "step": 3005 }, { "epoch": 2.865791320800781e-07, "step": 3005, "training_step_time": 17.613784790039062 }, { "epoch": 2.8667449951171873e-07, "model_forward_time": 5.084824800491333, "step": 3006 }, { "epoch": 2.8667449951171873e-07, "step": 3006, "training_step_time": 17.611259937286377 }, { "epoch": 2.867698669433594e-07, "model_forward_time": 5.082577705383301, "step": 3007 }, { "epoch": 2.867698669433594e-07, "step": 3007, "training_step_time": 17.606029748916626 }, { "epoch": 2.86865234375e-07, "model_forward_time": 5.084733486175537, "step": 3008 }, { "epoch": 2.86865234375e-07, "step": 3008, "training_step_time": 17.82852029800415 }, { "epoch": 2.869606018066406e-07, "model_forward_time": 5.083292484283447, "step": 3009 }, { "epoch": 2.869606018066406e-07, "step": 3009, "training_step_time": 17.594043016433716 }, { "epoch": 2.8705596923828124e-07, "grad_norm": 1.5576467514038086, "learning_rate": 8.597142857142859e-06, "loss": 0.1526, "step": 3010 }, { "epoch": 2.8705596923828124e-07, "model_forward_time": 5.0851075649261475, "step": 3010 }, { "dynamics_loss_avg": 0.04731348697096109, "epoch": 2.8705596923828124e-07, "step": 3010 }, { "action_loss_avg": 0.11530268229544163, "epoch": 2.8705596923828124e-07, "step": 3010 }, { "arm_loss_avg": 0.15098508037626743, "epoch": 2.8705596923828124e-07, "step": 3010 }, { "ee_loss_avg": 0.18827613219618797, "epoch": 2.8705596923828124e-07, "step": 3010 }, { "aux_loss_avg": 0.003587485459866002, "epoch": 2.8705596923828124e-07, "step": 3010 }, { "epoch": 2.8705596923828124e-07, "step": 3010, "training_step_time": 17.59186291694641 }, { "epoch": 2.8715133666992185e-07, "model_forward_time": 5.090888500213623, "step": 3011 }, { "epoch": 2.8715133666992185e-07, "step": 3011, "training_step_time": 17.60446810722351 }, { "epoch": 2.872467041015625e-07, "model_forward_time": 5.087625503540039, "step": 3012 }, { "epoch": 2.872467041015625e-07, "step": 3012, "training_step_time": 17.48862624168396 }, { "epoch": 2.8734207153320314e-07, "model_forward_time": 5.088628530502319, "step": 3013 }, { "epoch": 2.8734207153320314e-07, "step": 3013, "training_step_time": 17.540764093399048 }, { "epoch": 2.8743743896484375e-07, "model_forward_time": 5.0864927768707275, "step": 3014 }, { "epoch": 2.8743743896484375e-07, "step": 3014, "training_step_time": 17.812703371047974 }, { "epoch": 2.8753280639648437e-07, "model_forward_time": 5.273761987686157, "step": 3015 }, { "epoch": 2.8753280639648437e-07, "step": 3015, "training_step_time": 17.58143973350525 }, { "epoch": 2.87628173828125e-07, "model_forward_time": 5.0977325439453125, "step": 3016 }, { "epoch": 2.87628173828125e-07, "step": 3016, "training_step_time": 17.620311975479126 }, { "epoch": 2.8772354125976565e-07, "model_forward_time": 5.09828519821167, "step": 3017 }, { "epoch": 2.8772354125976565e-07, "step": 3017, "training_step_time": 17.650904655456543 }, { "epoch": 2.8781890869140626e-07, "model_forward_time": 5.109375, "step": 3018 }, { "epoch": 2.8781890869140626e-07, "step": 3018, "training_step_time": 17.87658405303955 }, { "epoch": 2.879142761230469e-07, "model_forward_time": 5.107130289077759, "step": 3019 }, { "epoch": 2.879142761230469e-07, "step": 3019, "training_step_time": 17.62555718421936 }, { "epoch": 2.880096435546875e-07, "grad_norm": 2.1615524291992188, "learning_rate": 8.625714285714285e-06, "loss": 0.1609, "step": 3020 }, { "epoch": 2.880096435546875e-07, "model_forward_time": 5.333807706832886, "step": 3020 }, { "dynamics_loss_avg": 0.05869276039302349, "epoch": 2.880096435546875e-07, "step": 3020 }, { "action_loss_avg": 0.12228969335556031, "epoch": 2.880096435546875e-07, "step": 3020 }, { "arm_loss_avg": 0.1704978920519352, "epoch": 2.880096435546875e-07, "step": 3020 }, { "ee_loss_avg": 0.18748528137803078, "epoch": 2.880096435546875e-07, "step": 3020 }, { "aux_loss_avg": 0.0031127134105190636, "epoch": 2.880096435546875e-07, "step": 3020 }, { "epoch": 2.880096435546875e-07, "step": 3020, "training_step_time": 17.60895347595215 }, { "epoch": 2.881050109863281e-07, "model_forward_time": 5.085932016372681, "step": 3021 }, { "epoch": 2.881050109863281e-07, "step": 3021, "training_step_time": 17.60346555709839 }, { "epoch": 2.8820037841796877e-07, "model_forward_time": 5.086180925369263, "step": 3022 }, { "epoch": 2.8820037841796877e-07, "step": 3022, "training_step_time": 17.589837551116943 }, { "epoch": 2.882957458496094e-07, "model_forward_time": 5.086033344268799, "step": 3023 }, { "epoch": 2.882957458496094e-07, "step": 3023, "training_step_time": 17.818819284439087 }, { "epoch": 2.8839111328125e-07, "model_forward_time": 5.084483623504639, "step": 3024 }, { "epoch": 2.8839111328125e-07, "step": 3024, "training_step_time": 17.595458269119263 }, { "epoch": 2.884864807128906e-07, "model_forward_time": 5.282960653305054, "step": 3025 }, { "epoch": 2.884864807128906e-07, "step": 3025, "training_step_time": 17.587663650512695 }, { "epoch": 2.8858184814453123e-07, "model_forward_time": 5.090328693389893, "step": 3026 }, { "epoch": 2.8858184814453123e-07, "step": 3026, "training_step_time": 17.58303213119507 }, { "epoch": 2.886772155761719e-07, "model_forward_time": 5.091145753860474, "step": 3027 }, { "epoch": 2.886772155761719e-07, "step": 3027, "training_step_time": 17.58707547187805 }, { "epoch": 2.887725830078125e-07, "model_forward_time": 5.090082406997681, "step": 3028 }, { "epoch": 2.887725830078125e-07, "step": 3028, "training_step_time": 17.812321662902832 }, { "epoch": 2.8886795043945313e-07, "model_forward_time": 5.083625316619873, "step": 3029 }, { "epoch": 2.8886795043945313e-07, "step": 3029, "training_step_time": 17.585466146469116 }, { "epoch": 2.8896331787109374e-07, "grad_norm": 1.577077865600586, "learning_rate": 8.654285714285715e-06, "loss": 0.1432, "step": 3030 }, { "epoch": 2.8896331787109374e-07, "model_forward_time": 5.332028150558472, "step": 3030 }, { "dynamics_loss_avg": 0.04654413384851068, "epoch": 2.8896331787109374e-07, "step": 3030 }, { "action_loss_avg": 0.08588836705312133, "epoch": 2.8896331787109374e-07, "step": 3030 }, { "arm_loss_avg": 0.14375853836536406, "epoch": 2.8896331787109374e-07, "step": 3030 }, { "ee_loss_avg": 0.1715707540512085, "epoch": 2.8896331787109374e-07, "step": 3030 }, { "aux_loss_avg": 0.001764175173593685, "epoch": 2.8896331787109374e-07, "step": 3030 }, { "epoch": 2.8896331787109374e-07, "step": 3030, "training_step_time": 17.593385219573975 }, { "epoch": 2.8905868530273436e-07, "model_forward_time": 5.087568044662476, "step": 3031 }, { "epoch": 2.8905868530273436e-07, "step": 3031, "training_step_time": 17.576977491378784 }, { "epoch": 2.89154052734375e-07, "model_forward_time": 5.089741468429565, "step": 3032 }, { "epoch": 2.89154052734375e-07, "step": 3032, "training_step_time": 17.580750703811646 }, { "epoch": 2.8924942016601564e-07, "model_forward_time": 5.084765195846558, "step": 3033 }, { "epoch": 2.8924942016601564e-07, "step": 3033, "training_step_time": 17.81737208366394 }, { "epoch": 2.8934478759765625e-07, "model_forward_time": 5.084529876708984, "step": 3034 }, { "epoch": 2.8934478759765625e-07, "step": 3034, "training_step_time": 17.590684175491333 }, { "epoch": 2.8944015502929687e-07, "model_forward_time": 5.282098293304443, "step": 3035 }, { "epoch": 2.8944015502929687e-07, "step": 3035, "training_step_time": 17.586052656173706 }, { "epoch": 2.895355224609375e-07, "model_forward_time": 5.0859668254852295, "step": 3036 }, { "epoch": 2.895355224609375e-07, "step": 3036, "training_step_time": 17.59111499786377 }, { "epoch": 2.8963088989257815e-07, "model_forward_time": 5.085075378417969, "step": 3037 }, { "epoch": 2.8963088989257815e-07, "step": 3037, "training_step_time": 17.61637592315674 }, { "epoch": 2.8972625732421876e-07, "model_forward_time": 5.087126016616821, "step": 3038 }, { "epoch": 2.8972625732421876e-07, "step": 3038, "training_step_time": 17.78827142715454 }, { "epoch": 2.898216247558594e-07, "model_forward_time": 5.081026792526245, "step": 3039 }, { "epoch": 2.898216247558594e-07, "step": 3039, "training_step_time": 17.603372812271118 }, { "epoch": 2.899169921875e-07, "grad_norm": 1.6041536331176758, "learning_rate": 8.682857142857143e-06, "loss": 0.142, "step": 3040 }, { "epoch": 2.899169921875e-07, "model_forward_time": 3.852787733078003, "step": 3040 }, { "dynamics_loss_avg": 0.05221136845648289, "epoch": 2.899169921875e-07, "step": 3040 }, { "action_loss_avg": 0.09591374024748803, "epoch": 2.899169921875e-07, "step": 3040 }, { "arm_loss_avg": 0.1500413067638874, "epoch": 2.899169921875e-07, "step": 3040 }, { "ee_loss_avg": 0.14562082812190055, "epoch": 2.899169921875e-07, "step": 3040 }, { "aux_loss_avg": 0.0033162454375997184, "epoch": 2.899169921875e-07, "step": 3040 }, { "epoch": 2.899169921875e-07, "step": 3040, "training_step_time": 17.599287033081055 }, { "epoch": 2.900123596191406e-07, "model_forward_time": 5.301326513290405, "step": 3041 }, { "epoch": 2.900123596191406e-07, "step": 3041, "training_step_time": 17.60340714454651 }, { "epoch": 2.901077270507813e-07, "model_forward_time": 3.8380918502807617, "step": 3042 }, { "epoch": 2.901077270507813e-07, "step": 3042, "training_step_time": 17.595356464385986 }, { "epoch": 2.902030944824219e-07, "model_forward_time": 5.050055265426636, "step": 3043 }, { "epoch": 2.902030944824219e-07, "step": 3043, "training_step_time": 17.33404803276062 }, { "epoch": 2.902984619140625e-07, "model_forward_time": 5.073200941085815, "step": 3044 }, { "epoch": 2.902984619140625e-07, "step": 3044, "training_step_time": 17.730700492858887 }, { "epoch": 2.903938293457031e-07, "model_forward_time": 5.082448720932007, "step": 3045 }, { "epoch": 2.903938293457031e-07, "step": 3045, "training_step_time": 17.53230357170105 }, { "epoch": 2.9048919677734373e-07, "model_forward_time": 5.0991370677948, "step": 3046 }, { "epoch": 2.9048919677734373e-07, "step": 3046, "training_step_time": 17.559863090515137 }, { "epoch": 2.905845642089844e-07, "model_forward_time": 5.102714538574219, "step": 3047 }, { "epoch": 2.905845642089844e-07, "step": 3047, "training_step_time": 17.607101917266846 }, { "epoch": 2.90679931640625e-07, "model_forward_time": 5.102373838424683, "step": 3048 }, { "epoch": 2.90679931640625e-07, "step": 3048, "training_step_time": 17.449426412582397 }, { "epoch": 2.9077529907226563e-07, "model_forward_time": 5.1028828620910645, "step": 3049 }, { "epoch": 2.9077529907226563e-07, "step": 3049, "training_step_time": 17.65752673149109 }, { "epoch": 2.9087066650390624e-07, "grad_norm": 2.3590080738067627, "learning_rate": 8.711428571428571e-06, "loss": 0.1506, "step": 3050 }, { "epoch": 2.9087066650390624e-07, "model_forward_time": 5.095017910003662, "step": 3050 }, { "dynamics_loss_avg": 0.04309710925444961, "epoch": 2.9087066650390624e-07, "step": 3050 }, { "action_loss_avg": 0.10859325416386127, "epoch": 2.9087066650390624e-07, "step": 3050 }, { "arm_loss_avg": 0.16237597465515136, "epoch": 2.9087066650390624e-07, "step": 3050 }, { "ee_loss_avg": 0.15698331072926522, "epoch": 2.9087066650390624e-07, "step": 3050 }, { "aux_loss_avg": 0.002577371324878186, "epoch": 2.9087066650390624e-07, "step": 3050 }, { "epoch": 2.9087066650390624e-07, "step": 3050, "training_step_time": 17.548416137695312 }, { "epoch": 2.9096603393554686e-07, "model_forward_time": 5.093581676483154, "step": 3051 }, { "epoch": 2.9096603393554686e-07, "step": 3051, "training_step_time": 17.59568428993225 }, { "epoch": 2.910614013671875e-07, "model_forward_time": 3.8523449897766113, "step": 3052 }, { "epoch": 2.910614013671875e-07, "step": 3052, "training_step_time": 17.62453818321228 }, { "epoch": 2.9115676879882814e-07, "model_forward_time": 5.059969186782837, "step": 3053 }, { "epoch": 2.9115676879882814e-07, "step": 3053, "training_step_time": 17.648850202560425 }, { "epoch": 2.9125213623046875e-07, "model_forward_time": 5.064789295196533, "step": 3054 }, { "epoch": 2.9125213623046875e-07, "step": 3054, "training_step_time": 17.865020990371704 }, { "epoch": 2.9134750366210937e-07, "model_forward_time": 5.0757529735565186, "step": 3055 }, { "epoch": 2.9134750366210937e-07, "step": 3055, "training_step_time": 17.630218029022217 }, { "epoch": 2.9144287109375e-07, "model_forward_time": 5.315788984298706, "step": 3056 }, { "epoch": 2.9144287109375e-07, "step": 3056, "training_step_time": 17.427833795547485 }, { "epoch": 2.9153823852539065e-07, "model_forward_time": 5.0921406745910645, "step": 3057 }, { "epoch": 2.9153823852539065e-07, "step": 3057, "training_step_time": 17.594177722930908 }, { "epoch": 2.9163360595703127e-07, "model_forward_time": 5.097785472869873, "step": 3058 }, { "epoch": 2.9163360595703127e-07, "step": 3058, "training_step_time": 17.549995183944702 }, { "epoch": 2.917289733886719e-07, "model_forward_time": 5.094172477722168, "step": 3059 }, { "epoch": 2.917289733886719e-07, "step": 3059, "training_step_time": 17.748372554779053 }, { "epoch": 2.918243408203125e-07, "grad_norm": 1.9490644931793213, "learning_rate": 8.740000000000001e-06, "loss": 0.1518, "step": 3060 }, { "epoch": 2.918243408203125e-07, "model_forward_time": 5.340096473693848, "step": 3060 }, { "dynamics_loss_avg": 0.04265785105526447, "epoch": 2.918243408203125e-07, "step": 3060 }, { "action_loss_avg": 0.10459202155470848, "epoch": 2.918243408203125e-07, "step": 3060 }, { "arm_loss_avg": 0.14698913544416428, "epoch": 2.918243408203125e-07, "step": 3060 }, { "ee_loss_avg": 0.18969106897711754, "epoch": 2.918243408203125e-07, "step": 3060 }, { "aux_loss_avg": 0.0011159862508066, "epoch": 2.918243408203125e-07, "step": 3060 }, { "epoch": 2.918243408203125e-07, "step": 3060, "training_step_time": 17.57816767692566 }, { "epoch": 2.919197082519531e-07, "model_forward_time": 5.090931177139282, "step": 3061 }, { "epoch": 2.919197082519531e-07, "step": 3061, "training_step_time": 17.605401754379272 }, { "epoch": 2.920150756835938e-07, "model_forward_time": 5.0897016525268555, "step": 3062 }, { "epoch": 2.920150756835938e-07, "step": 3062, "training_step_time": 17.59424090385437 }, { "epoch": 2.921104431152344e-07, "model_forward_time": 5.08899998664856, "step": 3063 }, { "epoch": 2.921104431152344e-07, "step": 3063, "training_step_time": 17.58815336227417 }, { "epoch": 2.92205810546875e-07, "model_forward_time": 5.085405588150024, "step": 3064 }, { "epoch": 2.92205810546875e-07, "step": 3064, "training_step_time": 17.82784676551819 }, { "epoch": 2.923011779785156e-07, "model_forward_time": 5.086736679077148, "step": 3065 }, { "epoch": 2.923011779785156e-07, "step": 3065, "training_step_time": 17.595682382583618 }, { "epoch": 2.9239654541015623e-07, "model_forward_time": 5.0835206508636475, "step": 3066 }, { "epoch": 2.9239654541015623e-07, "step": 3066, "training_step_time": 17.610785961151123 }, { "epoch": 2.9249191284179685e-07, "model_forward_time": 5.086365461349487, "step": 3067 }, { "epoch": 2.9249191284179685e-07, "step": 3067, "training_step_time": 17.589290618896484 }, { "epoch": 2.925872802734375e-07, "model_forward_time": 3.8525021076202393, "step": 3068 }, { "epoch": 2.925872802734375e-07, "step": 3068, "training_step_time": 17.58538055419922 }, { "epoch": 2.9268264770507813e-07, "model_forward_time": 5.061976194381714, "step": 3069 }, { "epoch": 2.9268264770507813e-07, "step": 3069, "training_step_time": 17.772756576538086 }, { "epoch": 2.9277801513671875e-07, "grad_norm": 2.3631343841552734, "learning_rate": 8.768571428571429e-06, "loss": 0.1478, "step": 3070 }, { "epoch": 2.9277801513671875e-07, "model_forward_time": 5.070691108703613, "step": 3070 }, { "dynamics_loss_avg": 0.0478128251619637, "epoch": 2.9277801513671875e-07, "step": 3070 }, { "action_loss_avg": 0.09495938420295716, "epoch": 2.9277801513671875e-07, "step": 3070 }, { "arm_loss_avg": 0.14197870716452599, "epoch": 2.9277801513671875e-07, "step": 3070 }, { "ee_loss_avg": 0.15276341177523137, "epoch": 2.9277801513671875e-07, "step": 3070 }, { "aux_loss_avg": 0.003027678484795615, "epoch": 2.9277801513671875e-07, "step": 3070 }, { "epoch": 2.9277801513671875e-07, "step": 3070, "training_step_time": 17.581592321395874 }, { "epoch": 2.9287338256835936e-07, "model_forward_time": 5.314672470092773, "step": 3071 }, { "epoch": 2.9287338256835936e-07, "step": 3071, "training_step_time": 17.599258422851562 }, { "epoch": 2.9296875e-07, "model_forward_time": 5.086164951324463, "step": 3072 }, { "epoch": 2.9296875e-07, "step": 3072, "training_step_time": 17.571261882781982 }, { "epoch": 2.9306411743164064e-07, "model_forward_time": 5.094326972961426, "step": 3073 }, { "epoch": 2.9306411743164064e-07, "step": 3073, "training_step_time": 17.567432641983032 }, { "epoch": 2.9315948486328126e-07, "model_forward_time": 5.095117568969727, "step": 3074 }, { "epoch": 2.9315948486328126e-07, "step": 3074, "training_step_time": 17.809011459350586 }, { "epoch": 2.9325485229492187e-07, "model_forward_time": 5.293685436248779, "step": 3075 }, { "epoch": 2.9325485229492187e-07, "step": 3075, "training_step_time": 17.56480574607849 }, { "epoch": 2.933502197265625e-07, "model_forward_time": 5.097348213195801, "step": 3076 }, { "epoch": 2.933502197265625e-07, "step": 3076, "training_step_time": 17.601069927215576 }, { "epoch": 2.934455871582031e-07, "model_forward_time": 5.092391490936279, "step": 3077 }, { "epoch": 2.934455871582031e-07, "step": 3077, "training_step_time": 17.58452033996582 }, { "epoch": 2.9354095458984377e-07, "model_forward_time": 5.092127323150635, "step": 3078 }, { "epoch": 2.9354095458984377e-07, "step": 3078, "training_step_time": 17.588140964508057 }, { "epoch": 2.936363220214844e-07, "model_forward_time": 5.08516001701355, "step": 3079 }, { "epoch": 2.936363220214844e-07, "step": 3079, "training_step_time": 17.780516624450684 }, { "epoch": 2.93731689453125e-07, "grad_norm": 2.439490556716919, "learning_rate": 8.797142857142857e-06, "loss": 0.1407, "step": 3080 }, { "epoch": 2.93731689453125e-07, "model_forward_time": 5.3265697956085205, "step": 3080 }, { "dynamics_loss_avg": 0.04295430108904839, "epoch": 2.93731689453125e-07, "step": 3080 }, { "action_loss_avg": 0.09139706306159497, "epoch": 2.93731689453125e-07, "step": 3080 }, { "arm_loss_avg": 0.16937292516231536, "epoch": 2.93731689453125e-07, "step": 3080 }, { "ee_loss_avg": 0.175677353143692, "epoch": 2.93731689453125e-07, "step": 3080 }, { "aux_loss_avg": 0.0027087378955911847, "epoch": 2.93731689453125e-07, "step": 3080 }, { "epoch": 2.93731689453125e-07, "step": 3080, "training_step_time": 17.591912746429443 }, { "epoch": 2.938270568847656e-07, "model_forward_time": 5.082024812698364, "step": 3081 }, { "epoch": 2.938270568847656e-07, "step": 3081, "training_step_time": 17.56269145011902 }, { "epoch": 2.939224243164062e-07, "model_forward_time": 5.0837953090667725, "step": 3082 }, { "epoch": 2.939224243164062e-07, "step": 3082, "training_step_time": 17.498847484588623 }, { "epoch": 2.940177917480469e-07, "model_forward_time": 5.08746337890625, "step": 3083 }, { "epoch": 2.940177917480469e-07, "step": 3083, "training_step_time": 17.53593921661377 }, { "epoch": 2.941131591796875e-07, "model_forward_time": 5.081562280654907, "step": 3084 }, { "epoch": 2.941131591796875e-07, "step": 3084, "training_step_time": 17.811129808425903 }, { "epoch": 2.942085266113281e-07, "model_forward_time": 5.079425811767578, "step": 3085 }, { "epoch": 2.942085266113281e-07, "step": 3085, "training_step_time": 17.58616542816162 }, { "epoch": 2.9430389404296874e-07, "model_forward_time": 3.8518879413604736, "step": 3086 }, { "epoch": 2.9430389404296874e-07, "step": 3086, "training_step_time": 17.600796699523926 }, { "epoch": 2.9439926147460935e-07, "model_forward_time": 5.0655436515808105, "step": 3087 }, { "epoch": 2.9439926147460935e-07, "step": 3087, "training_step_time": 17.618955850601196 }, { "epoch": 2.9449462890625e-07, "model_forward_time": 5.071966886520386, "step": 3088 }, { "epoch": 2.9449462890625e-07, "step": 3088, "training_step_time": 17.379535913467407 }, { "epoch": 2.9458999633789063e-07, "model_forward_time": 5.083306074142456, "step": 3089 }, { "epoch": 2.9458999633789063e-07, "step": 3089, "training_step_time": 17.379154920578003 }, { "epoch": 2.9468536376953125e-07, "grad_norm": 2.468135118484497, "learning_rate": 8.825714285714287e-06, "loss": 0.1273, "step": 3090 }, { "epoch": 2.9468536376953125e-07, "model_forward_time": 5.090416431427002, "step": 3090 }, { "dynamics_loss_avg": 0.03076022509485483, "epoch": 2.9468536376953125e-07, "step": 3090 }, { "action_loss_avg": 0.09018452391028405, "epoch": 2.9468536376953125e-07, "step": 3090 }, { "arm_loss_avg": 0.16533781662583352, "epoch": 2.9468536376953125e-07, "step": 3090 }, { "ee_loss_avg": 0.16971863880753518, "epoch": 2.9468536376953125e-07, "step": 3090 }, { "aux_loss_avg": 0.0028987218538532034, "epoch": 2.9468536376953125e-07, "step": 3090 }, { "epoch": 2.9468536376953125e-07, "step": 3090, "training_step_time": 17.6635844707489 }, { "epoch": 2.9478073120117186e-07, "model_forward_time": 5.334286212921143, "step": 3091 }, { "epoch": 2.9478073120117186e-07, "step": 3091, "training_step_time": 17.558512210845947 }, { "epoch": 2.948760986328125e-07, "model_forward_time": 5.097925901412964, "step": 3092 }, { "epoch": 2.948760986328125e-07, "step": 3092, "training_step_time": 17.568941354751587 }, { "epoch": 2.9497146606445314e-07, "model_forward_time": 5.097651481628418, "step": 3093 }, { "epoch": 2.9497146606445314e-07, "step": 3093, "training_step_time": 17.362615823745728 }, { "epoch": 2.9506683349609376e-07, "model_forward_time": 5.094825267791748, "step": 3094 }, { "epoch": 2.9506683349609376e-07, "step": 3094, "training_step_time": 17.527358055114746 }, { "epoch": 2.9516220092773437e-07, "model_forward_time": 5.288416624069214, "step": 3095 }, { "epoch": 2.9516220092773437e-07, "step": 3095, "training_step_time": 17.81627106666565 }, { "epoch": 2.95257568359375e-07, "model_forward_time": 5.086398124694824, "step": 3096 }, { "epoch": 2.95257568359375e-07, "step": 3096, "training_step_time": 17.601652145385742 }, { "epoch": 2.953529357910156e-07, "model_forward_time": 3.8514199256896973, "step": 3097 }, { "epoch": 2.953529357910156e-07, "step": 3097, "training_step_time": 17.534887313842773 }, { "epoch": 2.9544830322265627e-07, "model_forward_time": 5.052576065063477, "step": 3098 }, { "epoch": 2.9544830322265627e-07, "step": 3098, "training_step_time": 17.372525453567505 }, { "epoch": 2.955436706542969e-07, "model_forward_time": 5.06222677230835, "step": 3099 }, { "epoch": 2.955436706542969e-07, "step": 3099, "training_step_time": 17.526623010635376 }, { "epoch": 2.956390380859375e-07, "grad_norm": 2.398022174835205, "learning_rate": 8.854285714285715e-06, "loss": 0.1466, "step": 3100 }, { "epoch": 2.956390380859375e-07, "model_forward_time": 5.074329614639282, "step": 3100 }, { "dynamics_loss_avg": 0.05098201772198081, "epoch": 2.956390380859375e-07, "step": 3100 }, { "action_loss_avg": 0.10043863207101822, "epoch": 2.956390380859375e-07, "step": 3100 }, { "arm_loss_avg": 0.16643108427524567, "epoch": 2.956390380859375e-07, "step": 3100 }, { "ee_loss_avg": 0.1540451917797327, "epoch": 2.956390380859375e-07, "step": 3100 }, { "aux_loss_avg": 0.00975929785054177, "epoch": 2.956390380859375e-07, "step": 3100 }, { "epoch": 2.956390380859375e-07, "step": 3100, "training_step_time": 17.759632349014282 }, { "epoch": 2.957344055175781e-07, "model_forward_time": 5.318791389465332, "step": 3101 }, { "epoch": 2.957344055175781e-07, "step": 3101, "training_step_time": 17.606919288635254 }, { "epoch": 2.9582977294921873e-07, "model_forward_time": 5.08836030960083, "step": 3102 }, { "epoch": 2.9582977294921873e-07, "step": 3102, "training_step_time": 17.62945318222046 }, { "epoch": 2.959251403808594e-07, "model_forward_time": 5.089214563369751, "step": 3103 }, { "epoch": 2.959251403808594e-07, "step": 3103, "training_step_time": 17.63916277885437 }, { "epoch": 2.960205078125e-07, "model_forward_time": 5.094319820404053, "step": 3104 }, { "epoch": 2.960205078125e-07, "step": 3104, "training_step_time": 17.63352870941162 }, { "epoch": 2.961158752441406e-07, "model_forward_time": 5.095384120941162, "step": 3105 }, { "epoch": 2.961158752441406e-07, "step": 3105, "training_step_time": 17.847307682037354 }, { "epoch": 2.9621124267578124e-07, "model_forward_time": 5.091735363006592, "step": 3106 }, { "epoch": 2.9621124267578124e-07, "step": 3106, "training_step_time": 17.615238666534424 }, { "epoch": 2.9630661010742185e-07, "model_forward_time": 5.084529161453247, "step": 3107 }, { "epoch": 2.9630661010742185e-07, "step": 3107, "training_step_time": 17.60047483444214 }, { "epoch": 2.964019775390625e-07, "model_forward_time": 5.084554433822632, "step": 3108 }, { "epoch": 2.964019775390625e-07, "step": 3108, "training_step_time": 17.5965473651886 }, { "epoch": 2.9649734497070313e-07, "model_forward_time": 5.083303689956665, "step": 3109 }, { "epoch": 2.9649734497070313e-07, "step": 3109, "training_step_time": 17.587090730667114 }, { "epoch": 2.9659271240234375e-07, "grad_norm": 1.6463701725006104, "learning_rate": 8.882857142857143e-06, "loss": 0.1445, "step": 3110 }, { "epoch": 2.9659271240234375e-07, "model_forward_time": 5.0810136795043945, "step": 3110 }, { "dynamics_loss_avg": 0.03981825588271022, "epoch": 2.9659271240234375e-07, "step": 3110 }, { "action_loss_avg": 0.1207828089594841, "epoch": 2.9659271240234375e-07, "step": 3110 }, { "arm_loss_avg": 0.17326649874448777, "epoch": 2.9659271240234375e-07, "step": 3110 }, { "ee_loss_avg": 0.2206549674272537, "epoch": 2.9659271240234375e-07, "step": 3110 }, { "aux_loss_avg": 0.012917367520276456, "epoch": 2.9659271240234375e-07, "step": 3110 }, { "epoch": 2.9659271240234375e-07, "step": 3110, "training_step_time": 17.398515462875366 }, { "epoch": 2.9668807983398436e-07, "model_forward_time": 5.0843305587768555, "step": 3111 }, { "epoch": 2.9668807983398436e-07, "step": 3111, "training_step_time": 17.613499641418457 }, { "epoch": 2.96783447265625e-07, "model_forward_time": 3.8479557037353516, "step": 3112 }, { "epoch": 2.96783447265625e-07, "step": 3112, "training_step_time": 17.531769037246704 }, { "epoch": 2.9687881469726565e-07, "model_forward_time": 5.060070037841797, "step": 3113 }, { "epoch": 2.9687881469726565e-07, "step": 3113, "training_step_time": 17.397581577301025 }, { "epoch": 2.9697418212890626e-07, "model_forward_time": 5.068735122680664, "step": 3114 }, { "epoch": 2.9697418212890626e-07, "step": 3114, "training_step_time": 17.389368057250977 }, { "epoch": 2.970695495605469e-07, "model_forward_time": 5.268801689147949, "step": 3115 }, { "epoch": 2.970695495605469e-07, "step": 3115, "training_step_time": 17.688409328460693 }, { "epoch": 2.971649169921875e-07, "model_forward_time": 3.847191572189331, "step": 3116 }, { "epoch": 2.971649169921875e-07, "step": 3116, "training_step_time": 17.619221448898315 }, { "epoch": 2.972602844238281e-07, "model_forward_time": 5.065844535827637, "step": 3117 }, { "epoch": 2.972602844238281e-07, "step": 3117, "training_step_time": 17.61022114753723 }, { "epoch": 2.9735565185546877e-07, "model_forward_time": 5.076921463012695, "step": 3118 }, { "epoch": 2.9735565185546877e-07, "step": 3118, "training_step_time": 17.635186910629272 }, { "epoch": 2.974510192871094e-07, "model_forward_time": 5.097593069076538, "step": 3119 }, { "epoch": 2.974510192871094e-07, "step": 3119, "training_step_time": 17.66420888900757 }, { "epoch": 2.9754638671875e-07, "grad_norm": 2.0576560497283936, "learning_rate": 8.911428571428573e-06, "loss": 0.1223, "step": 3120 }, { "epoch": 2.9754638671875e-07, "model_forward_time": 5.114015579223633, "step": 3120 }, { "dynamics_loss_avg": 0.037991410866379735, "epoch": 2.9754638671875e-07, "step": 3120 }, { "action_loss_avg": 0.07730957344174386, "epoch": 2.9754638671875e-07, "step": 3120 }, { "arm_loss_avg": 0.1518320173025131, "epoch": 2.9754638671875e-07, "step": 3120 }, { "ee_loss_avg": 0.14524598866701127, "epoch": 2.9754638671875e-07, "step": 3120 }, { "aux_loss_avg": 0.001537411182653159, "epoch": 2.9754638671875e-07, "step": 3120 }, { "epoch": 2.9754638671875e-07, "step": 3120, "training_step_time": 17.400153875350952 }, { "epoch": 2.976417541503906e-07, "model_forward_time": 5.3548595905303955, "step": 3121 }, { "epoch": 2.976417541503906e-07, "step": 3121, "training_step_time": 17.579559087753296 }, { "epoch": 2.9773712158203123e-07, "model_forward_time": 5.098937749862671, "step": 3122 }, { "epoch": 2.9773712158203123e-07, "step": 3122, "training_step_time": 17.587788820266724 }, { "epoch": 2.978324890136719e-07, "model_forward_time": 3.860572576522827, "step": 3123 }, { "epoch": 2.978324890136719e-07, "step": 3123, "training_step_time": 17.600366830825806 }, { "epoch": 2.979278564453125e-07, "model_forward_time": 5.0593812465667725, "step": 3124 }, { "epoch": 2.979278564453125e-07, "step": 3124, "training_step_time": 17.608102083206177 }, { "epoch": 2.980232238769531e-07, "model_forward_time": 5.071105003356934, "step": 3125 }, { "epoch": 2.980232238769531e-07, "step": 3125, "training_step_time": 17.85403537750244 }, { "epoch": 2.9811859130859374e-07, "model_forward_time": 5.075256109237671, "step": 3126 }, { "epoch": 2.9811859130859374e-07, "step": 3126, "training_step_time": 17.605802059173584 }, { "epoch": 2.9821395874023435e-07, "model_forward_time": 5.080014705657959, "step": 3127 }, { "epoch": 2.9821395874023435e-07, "step": 3127, "training_step_time": 17.599852085113525 }, { "epoch": 2.98309326171875e-07, "model_forward_time": 5.082321882247925, "step": 3128 }, { "epoch": 2.98309326171875e-07, "step": 3128, "training_step_time": 17.593903064727783 }, { "epoch": 2.9840469360351564e-07, "model_forward_time": 5.084340572357178, "step": 3129 }, { "epoch": 2.9840469360351564e-07, "step": 3129, "training_step_time": 17.589851140975952 }, { "epoch": 2.9850006103515625e-07, "grad_norm": 2.5799672603607178, "learning_rate": 8.94e-06, "loss": 0.1596, "step": 3130 }, { "epoch": 2.9850006103515625e-07, "model_forward_time": 5.087605237960815, "step": 3130 }, { "dynamics_loss_avg": 0.047244733572006224, "epoch": 2.9850006103515625e-07, "step": 3130 }, { "action_loss_avg": 0.15211343728005886, "epoch": 2.9850006103515625e-07, "step": 3130 }, { "arm_loss_avg": 0.2244924560189247, "epoch": 2.9850006103515625e-07, "step": 3130 }, { "ee_loss_avg": 0.3751758739352226, "epoch": 2.9850006103515625e-07, "step": 3130 }, { "aux_loss_avg": 0.002478683297522366, "epoch": 2.9850006103515625e-07, "step": 3130 }, { "epoch": 2.9850006103515625e-07, "step": 3130, "training_step_time": 17.797844409942627 }, { "epoch": 2.9859542846679686e-07, "model_forward_time": 5.085145473480225, "step": 3131 }, { "epoch": 2.9859542846679686e-07, "step": 3131, "training_step_time": 17.56593346595764 }, { "epoch": 2.986907958984375e-07, "model_forward_time": 5.087039232254028, "step": 3132 }, { "epoch": 2.986907958984375e-07, "step": 3132, "training_step_time": 17.569249629974365 }, { "epoch": 2.9878616333007815e-07, "model_forward_time": 5.086371898651123, "step": 3133 }, { "epoch": 2.9878616333007815e-07, "step": 3133, "training_step_time": 17.567709922790527 }, { "epoch": 2.9888153076171876e-07, "model_forward_time": 5.085625410079956, "step": 3134 }, { "epoch": 2.9888153076171876e-07, "step": 3134, "training_step_time": 17.57277488708496 }, { "epoch": 2.989768981933594e-07, "model_forward_time": 5.2753729820251465, "step": 3135 }, { "epoch": 2.989768981933594e-07, "step": 3135, "training_step_time": 17.78941512107849 }, { "epoch": 2.99072265625e-07, "model_forward_time": 5.07956337928772, "step": 3136 }, { "epoch": 2.99072265625e-07, "step": 3136, "training_step_time": 17.573092937469482 }, { "epoch": 2.991676330566406e-07, "model_forward_time": 5.07825779914856, "step": 3137 }, { "epoch": 2.991676330566406e-07, "step": 3137, "training_step_time": 17.624938011169434 }, { "epoch": 2.9926300048828127e-07, "model_forward_time": 5.082667589187622, "step": 3138 }, { "epoch": 2.9926300048828127e-07, "step": 3138, "training_step_time": 17.57765793800354 }, { "epoch": 2.993583679199219e-07, "model_forward_time": 5.083406448364258, "step": 3139 }, { "epoch": 2.993583679199219e-07, "step": 3139, "training_step_time": 17.585957765579224 }, { "epoch": 2.994537353515625e-07, "grad_norm": 2.624782085418701, "learning_rate": 8.96857142857143e-06, "loss": 0.1655, "step": 3140 }, { "epoch": 2.994537353515625e-07, "model_forward_time": 5.326444864273071, "step": 3140 }, { "dynamics_loss_avg": 0.052197429537773135, "epoch": 2.994537353515625e-07, "step": 3140 }, { "action_loss_avg": 0.14627256691455842, "epoch": 2.994537353515625e-07, "step": 3140 }, { "arm_loss_avg": 0.20659485086798668, "epoch": 2.994537353515625e-07, "step": 3140 }, { "ee_loss_avg": 0.29947691336274146, "epoch": 2.994537353515625e-07, "step": 3140 }, { "aux_loss_avg": 0.014688104431843384, "epoch": 2.994537353515625e-07, "step": 3140 }, { "epoch": 2.994537353515625e-07, "step": 3140, "training_step_time": 17.782424449920654 }, { "epoch": 2.995491027832031e-07, "model_forward_time": 5.079309940338135, "step": 3141 }, { "epoch": 2.995491027832031e-07, "step": 3141, "training_step_time": 17.629427909851074 }, { "epoch": 2.9964447021484373e-07, "model_forward_time": 3.8479502201080322, "step": 3142 }, { "epoch": 2.9964447021484373e-07, "step": 3142, "training_step_time": 17.5853750705719 }, { "epoch": 2.997398376464844e-07, "model_forward_time": 5.056550025939941, "step": 3143 }, { "epoch": 2.997398376464844e-07, "step": 3143, "training_step_time": 17.4254207611084 }, { "epoch": 2.99835205078125e-07, "model_forward_time": 5.069311618804932, "step": 3144 }, { "epoch": 2.99835205078125e-07, "step": 3144, "training_step_time": 17.391819953918457 }, { "epoch": 2.9993057250976563e-07, "model_forward_time": 5.079687833786011, "step": 3145 }, { "epoch": 2.9993057250976563e-07, "step": 3145, "training_step_time": 17.45956325531006 }, { "epoch": 3.0002593994140624e-07, "model_forward_time": 5.289843559265137, "step": 3146 }, { "epoch": 3.0002593994140624e-07, "step": 3146, "training_step_time": 17.74920105934143 }, { "epoch": 3.0012130737304686e-07, "model_forward_time": 5.0890052318573, "step": 3147 }, { "epoch": 3.0012130737304686e-07, "step": 3147, "training_step_time": 17.546791791915894 }, { "epoch": 3.002166748046875e-07, "model_forward_time": 5.086947202682495, "step": 3148 }, { "epoch": 3.002166748046875e-07, "step": 3148, "training_step_time": 17.575485229492188 }, { "epoch": 3.0031204223632814e-07, "model_forward_time": 5.092642545700073, "step": 3149 }, { "epoch": 3.0031204223632814e-07, "step": 3149, "training_step_time": 17.614641666412354 }, { "epoch": 3.0040740966796875e-07, "grad_norm": 2.6145646572113037, "learning_rate": 8.997142857142857e-06, "loss": 0.1459, "step": 3150 }, { "epoch": 3.0040740966796875e-07, "model_forward_time": 3.852569341659546, "step": 3150 }, { "dynamics_loss_avg": 0.03961582751944661, "epoch": 3.0040740966796875e-07, "step": 3150 }, { "action_loss_avg": 0.11834386810660362, "epoch": 3.0040740966796875e-07, "step": 3150 }, { "arm_loss_avg": 0.18123573958873748, "epoch": 3.0040740966796875e-07, "step": 3150 }, { "ee_loss_avg": 0.20389361642301082, "epoch": 3.0040740966796875e-07, "step": 3150 }, { "aux_loss_avg": 0.0038713155139703304, "epoch": 3.0040740966796875e-07, "step": 3150 }, { "epoch": 3.0040740966796875e-07, "step": 3150, "training_step_time": 17.61992835998535 }, { "epoch": 3.0050277709960937e-07, "model_forward_time": 5.296025514602661, "step": 3151 }, { "epoch": 3.0050277709960937e-07, "step": 3151, "training_step_time": 17.818716526031494 }, { "epoch": 3.0059814453125e-07, "model_forward_time": 5.068636894226074, "step": 3152 }, { "epoch": 3.0059814453125e-07, "step": 3152, "training_step_time": 17.635051488876343 }, { "epoch": 3.0069351196289065e-07, "model_forward_time": 5.078159332275391, "step": 3153 }, { "epoch": 3.0069351196289065e-07, "step": 3153, "training_step_time": 17.605133295059204 }, { "epoch": 3.0078887939453126e-07, "model_forward_time": 5.083087921142578, "step": 3154 }, { "epoch": 3.0078887939453126e-07, "step": 3154, "training_step_time": 17.60330367088318 }, { "epoch": 3.008842468261719e-07, "model_forward_time": 5.2835259437561035, "step": 3155 }, { "epoch": 3.008842468261719e-07, "step": 3155, "training_step_time": 17.80062460899353 }, { "epoch": 3.009796142578125e-07, "model_forward_time": 5.111521482467651, "step": 3156 }, { "epoch": 3.009796142578125e-07, "step": 3156, "training_step_time": 17.608700037002563 }, { "epoch": 3.010749816894531e-07, "model_forward_time": 5.110216379165649, "step": 3157 }, { "epoch": 3.010749816894531e-07, "step": 3157, "training_step_time": 17.63694715499878 }, { "epoch": 3.011703491210938e-07, "model_forward_time": 5.117005109786987, "step": 3158 }, { "epoch": 3.011703491210938e-07, "step": 3158, "training_step_time": 17.506524801254272 }, { "epoch": 3.012657165527344e-07, "model_forward_time": 3.8711609840393066, "step": 3159 }, { "epoch": 3.012657165527344e-07, "step": 3159, "training_step_time": 17.557350158691406 }, { "epoch": 3.01361083984375e-07, "grad_norm": 3.2714221477508545, "learning_rate": 9.025714285714287e-06, "loss": 0.1537, "step": 3160 }, { "epoch": 3.01361083984375e-07, "model_forward_time": 5.0825514793396, "step": 3160 }, { "dynamics_loss_avg": 0.04408581256866455, "epoch": 3.01361083984375e-07, "step": 3160 }, { "action_loss_avg": 0.15263801515102388, "epoch": 3.01361083984375e-07, "step": 3160 }, { "arm_loss_avg": 0.20646752715110778, "epoch": 3.01361083984375e-07, "step": 3160 }, { "ee_loss_avg": 0.21967916302382945, "epoch": 3.01361083984375e-07, "step": 3160 }, { "aux_loss_avg": 0.001096614933339879, "epoch": 3.01361083984375e-07, "step": 3160 }, { "epoch": 3.01361083984375e-07, "step": 3160, "training_step_time": 17.782820463180542 }, { "epoch": 3.014564514160156e-07, "model_forward_time": 5.323974370956421, "step": 3161 }, { "epoch": 3.014564514160156e-07, "step": 3161, "training_step_time": 17.639939069747925 }, { "epoch": 3.0155181884765623e-07, "model_forward_time": 3.8414459228515625, "step": 3162 }, { "epoch": 3.0155181884765623e-07, "step": 3162, "training_step_time": 17.58175754547119 }, { "epoch": 3.016471862792969e-07, "model_forward_time": 5.0525963306427, "step": 3163 }, { "epoch": 3.016471862792969e-07, "step": 3163, "training_step_time": 17.60523748397827 }, { "epoch": 3.017425537109375e-07, "model_forward_time": 5.067917585372925, "step": 3164 }, { "epoch": 3.017425537109375e-07, "step": 3164, "training_step_time": 17.48414134979248 }, { "epoch": 3.0183792114257813e-07, "model_forward_time": 5.0851099491119385, "step": 3165 }, { "epoch": 3.0183792114257813e-07, "step": 3165, "training_step_time": 17.513853549957275 }, { "epoch": 3.0193328857421874e-07, "model_forward_time": 5.093307018280029, "step": 3166 }, { "epoch": 3.0193328857421874e-07, "step": 3166, "training_step_time": 17.799436569213867 }, { "epoch": 3.0202865600585936e-07, "model_forward_time": 5.094183444976807, "step": 3167 }, { "epoch": 3.0202865600585936e-07, "step": 3167, "training_step_time": 17.577131748199463 }, { "epoch": 3.021240234375e-07, "model_forward_time": 5.098310947418213, "step": 3168 }, { "epoch": 3.021240234375e-07, "step": 3168, "training_step_time": 17.586374759674072 }, { "epoch": 3.0221939086914064e-07, "model_forward_time": 5.098474502563477, "step": 3169 }, { "epoch": 3.0221939086914064e-07, "step": 3169, "training_step_time": 17.61627697944641 }, { "epoch": 3.0231475830078125e-07, "grad_norm": 2.4245352745056152, "learning_rate": 9.054285714285715e-06, "loss": 0.1776, "step": 3170 }, { "epoch": 3.0231475830078125e-07, "model_forward_time": 3.858983039855957, "step": 3170 }, { "dynamics_loss_avg": 0.0415618676925078, "epoch": 3.0231475830078125e-07, "step": 3170 }, { "action_loss_avg": 0.13170302491635083, "epoch": 3.0231475830078125e-07, "step": 3170 }, { "arm_loss_avg": 0.19486993327736854, "epoch": 3.0231475830078125e-07, "step": 3170 }, { "ee_loss_avg": 0.13652961514890194, "epoch": 3.0231475830078125e-07, "step": 3170 }, { "aux_loss_avg": 0.001109393109800294, "epoch": 3.0231475830078125e-07, "step": 3170 }, { "epoch": 3.0231475830078125e-07, "step": 3170, "training_step_time": 17.3957839012146 }, { "epoch": 3.0241012573242187e-07, "model_forward_time": 3.8341047763824463, "step": 3171 }, { "epoch": 3.0241012573242187e-07, "step": 3171, "training_step_time": 17.538939476013184 }, { "epoch": 3.025054931640625e-07, "model_forward_time": 5.052576541900635, "step": 3172 }, { "epoch": 3.025054931640625e-07, "step": 3172, "training_step_time": 17.59095001220703 }, { "epoch": 3.0260086059570315e-07, "model_forward_time": 5.062394857406616, "step": 3173 }, { "epoch": 3.0260086059570315e-07, "step": 3173, "training_step_time": 17.586363315582275 }, { "epoch": 3.0269622802734376e-07, "model_forward_time": 5.074806451797485, "step": 3174 }, { "epoch": 3.0269622802734376e-07, "step": 3174, "training_step_time": 17.59001612663269 }, { "epoch": 3.027915954589844e-07, "model_forward_time": 5.285814046859741, "step": 3175 }, { "epoch": 3.027915954589844e-07, "step": 3175, "training_step_time": 17.81799602508545 }, { "epoch": 3.02886962890625e-07, "model_forward_time": 5.0937793254852295, "step": 3176 }, { "epoch": 3.02886962890625e-07, "step": 3176, "training_step_time": 17.598739624023438 }, { "epoch": 3.029823303222656e-07, "model_forward_time": 5.108593940734863, "step": 3177 }, { "epoch": 3.029823303222656e-07, "step": 3177, "training_step_time": 17.616591691970825 }, { "epoch": 3.030776977539063e-07, "model_forward_time": 5.121044397354126, "step": 3178 }, { "epoch": 3.030776977539063e-07, "step": 3178, "training_step_time": 17.643290281295776 }, { "epoch": 3.031730651855469e-07, "model_forward_time": 5.121214389801025, "step": 3179 }, { "epoch": 3.031730651855469e-07, "step": 3179, "training_step_time": 17.61844491958618 }, { "epoch": 3.032684326171875e-07, "grad_norm": 1.62588369846344, "learning_rate": 9.082857142857143e-06, "loss": 0.1732, "step": 3180 }, { "epoch": 3.032684326171875e-07, "model_forward_time": 5.379992961883545, "step": 3180 }, { "dynamics_loss_avg": 0.04864461831748486, "epoch": 3.032684326171875e-07, "step": 3180 }, { "action_loss_avg": 0.14550521224737167, "epoch": 3.032684326171875e-07, "step": 3180 }, { "arm_loss_avg": 0.21485962420701982, "epoch": 3.032684326171875e-07, "step": 3180 }, { "ee_loss_avg": 0.3761906620115042, "epoch": 3.032684326171875e-07, "step": 3180 }, { "aux_loss_avg": 0.005329749977681786, "epoch": 3.032684326171875e-07, "step": 3180 }, { "epoch": 3.032684326171875e-07, "step": 3180, "training_step_time": 17.827440977096558 }, { "epoch": 3.033638000488281e-07, "model_forward_time": 5.095407962799072, "step": 3181 }, { "epoch": 3.033638000488281e-07, "step": 3181, "training_step_time": 17.600916385650635 }, { "epoch": 3.0345916748046873e-07, "model_forward_time": 5.090206623077393, "step": 3182 }, { "epoch": 3.0345916748046873e-07, "step": 3182, "training_step_time": 17.587151050567627 }, { "epoch": 3.035545349121094e-07, "model_forward_time": 5.083630800247192, "step": 3183 }, { "epoch": 3.035545349121094e-07, "step": 3183, "training_step_time": 17.576713800430298 }, { "epoch": 3.0364990234375e-07, "model_forward_time": 5.080042123794556, "step": 3184 }, { "epoch": 3.0364990234375e-07, "step": 3184, "training_step_time": 17.575035095214844 }, { "epoch": 3.0374526977539063e-07, "model_forward_time": 5.080327033996582, "step": 3185 }, { "epoch": 3.0374526977539063e-07, "step": 3185, "training_step_time": 17.798494815826416 }, { "epoch": 3.0384063720703124e-07, "model_forward_time": 5.080225706100464, "step": 3186 }, { "epoch": 3.0384063720703124e-07, "step": 3186, "training_step_time": 17.620428323745728 }, { "epoch": 3.0393600463867186e-07, "model_forward_time": 5.081743240356445, "step": 3187 }, { "epoch": 3.0393600463867186e-07, "step": 3187, "training_step_time": 17.568740606307983 }, { "epoch": 3.040313720703125e-07, "model_forward_time": 5.083048343658447, "step": 3188 }, { "epoch": 3.040313720703125e-07, "step": 3188, "training_step_time": 17.437766790390015 }, { "epoch": 3.0412673950195314e-07, "model_forward_time": 5.087196111679077, "step": 3189 }, { "epoch": 3.0412673950195314e-07, "step": 3189, "training_step_time": 17.483323574066162 }, { "epoch": 3.0422210693359376e-07, "grad_norm": 2.0593409538269043, "learning_rate": 9.111428571428573e-06, "loss": 0.1643, "step": 3190 }, { "epoch": 3.0422210693359376e-07, "model_forward_time": 5.08579683303833, "step": 3190 }, { "dynamics_loss_avg": 0.05281473882496357, "epoch": 3.0422210693359376e-07, "step": 3190 }, { "action_loss_avg": 0.14228609763085842, "epoch": 3.0422210693359376e-07, "step": 3190 }, { "arm_loss_avg": 0.2276753693819046, "epoch": 3.0422210693359376e-07, "step": 3190 }, { "ee_loss_avg": 0.17793233916163445, "epoch": 3.0422210693359376e-07, "step": 3190 }, { "aux_loss_avg": 0.0015149669314268976, "epoch": 3.0422210693359376e-07, "step": 3190 }, { "epoch": 3.0422210693359376e-07, "step": 3190, "training_step_time": 17.52084255218506 }, { "epoch": 3.0431747436523437e-07, "model_forward_time": 5.085598945617676, "step": 3191 }, { "epoch": 3.0431747436523437e-07, "step": 3191, "training_step_time": 17.756332397460938 }, { "epoch": 3.04412841796875e-07, "model_forward_time": 5.08719277381897, "step": 3192 }, { "epoch": 3.04412841796875e-07, "step": 3192, "training_step_time": 17.581315755844116 }, { "epoch": 3.045082092285156e-07, "model_forward_time": 5.0851149559021, "step": 3193 }, { "epoch": 3.045082092285156e-07, "step": 3193, "training_step_time": 17.591039419174194 }, { "epoch": 3.0460357666015627e-07, "model_forward_time": 3.8522703647613525, "step": 3194 }, { "epoch": 3.0460357666015627e-07, "step": 3194, "training_step_time": 17.30987310409546 }, { "epoch": 3.046989440917969e-07, "model_forward_time": 3.833904981613159, "step": 3195 }, { "epoch": 3.046989440917969e-07, "step": 3195, "training_step_time": 17.507702827453613 }, { "epoch": 3.047943115234375e-07, "model_forward_time": 5.243122816085815, "step": 3196 }, { "epoch": 3.047943115234375e-07, "step": 3196, "training_step_time": 17.794525384902954 }, { "epoch": 3.048896789550781e-07, "model_forward_time": 5.0614707469940186, "step": 3197 }, { "epoch": 3.048896789550781e-07, "step": 3197, "training_step_time": 17.619805097579956 }, { "epoch": 3.049850463867187e-07, "model_forward_time": 5.075276613235474, "step": 3198 }, { "epoch": 3.049850463867187e-07, "step": 3198, "training_step_time": 17.574557542800903 }, { "epoch": 3.050804138183594e-07, "model_forward_time": 5.093044757843018, "step": 3199 }, { "epoch": 3.050804138183594e-07, "step": 3199, "training_step_time": 17.41035032272339 }, { "epoch": 3.0517578125e-07, "grad_norm": 1.8590314388275146, "learning_rate": 9.14e-06, "loss": 0.1775, "step": 3200 }, { "epoch": 3.0517578125e-07, "model_forward_time": 5.104256868362427, "step": 3200 }, { "dynamics_loss_avg": 0.04803085010498762, "epoch": 3.0517578125e-07, "step": 3200 }, { "action_loss_avg": 0.13296532332897187, "epoch": 3.0517578125e-07, "step": 3200 }, { "arm_loss_avg": 0.20047996416687966, "epoch": 3.0517578125e-07, "step": 3200 }, { "ee_loss_avg": 0.18894614102318882, "epoch": 3.0517578125e-07, "step": 3200 }, { "aux_loss_avg": 0.0017332122079096735, "epoch": 3.0517578125e-07, "step": 3200 }, { "epoch": 3.0517578125e-07, "step": 3200, "training_step_time": 17.510083198547363 }, { "epoch": 3.052711486816406e-07, "model_forward_time": 5.10438084602356, "step": 3201 }, { "epoch": 3.052711486816406e-07, "step": 3201, "training_step_time": 17.7479989528656 }, { "epoch": 3.0536651611328124e-07, "model_forward_time": 5.0984625816345215, "step": 3202 }, { "epoch": 3.0536651611328124e-07, "step": 3202, "training_step_time": 17.58976674079895 }, { "epoch": 3.0546188354492185e-07, "model_forward_time": 5.094609022140503, "step": 3203 }, { "epoch": 3.0546188354492185e-07, "step": 3203, "training_step_time": 17.609659671783447 }, { "epoch": 3.055572509765625e-07, "model_forward_time": 5.0833985805511475, "step": 3204 }, { "epoch": 3.055572509765625e-07, "step": 3204, "training_step_time": 17.392008781433105 }, { "epoch": 3.0565261840820313e-07, "model_forward_time": 5.084813594818115, "step": 3205 }, { "epoch": 3.0565261840820313e-07, "step": 3205, "training_step_time": 17.54648733139038 }, { "epoch": 3.0574798583984375e-07, "model_forward_time": 5.0773704051971436, "step": 3206 }, { "epoch": 3.0574798583984375e-07, "step": 3206, "training_step_time": 17.811341762542725 }, { "epoch": 3.0584335327148436e-07, "model_forward_time": 5.077563047409058, "step": 3207 }, { "epoch": 3.0584335327148436e-07, "step": 3207, "training_step_time": 17.592305421829224 }, { "epoch": 3.05938720703125e-07, "model_forward_time": 5.0768537521362305, "step": 3208 }, { "epoch": 3.05938720703125e-07, "step": 3208, "training_step_time": 17.59989833831787 }, { "epoch": 3.0603408813476564e-07, "model_forward_time": 5.077443838119507, "step": 3209 }, { "epoch": 3.0603408813476564e-07, "step": 3209, "training_step_time": 17.606433629989624 }, { "epoch": 3.0612945556640626e-07, "grad_norm": 1.5994763374328613, "learning_rate": 9.168571428571429e-06, "loss": 0.1615, "step": 3210 }, { "epoch": 3.0612945556640626e-07, "model_forward_time": 5.0765745639801025, "step": 3210 }, { "dynamics_loss_avg": 0.04438795242458582, "epoch": 3.0612945556640626e-07, "step": 3210 }, { "action_loss_avg": 0.10817530937492847, "epoch": 3.0612945556640626e-07, "step": 3210 }, { "arm_loss_avg": 0.1995299704372883, "epoch": 3.0612945556640626e-07, "step": 3210 }, { "ee_loss_avg": 0.23468841314315797, "epoch": 3.0612945556640626e-07, "step": 3210 }, { "aux_loss_avg": 0.0034246805967995896, "epoch": 3.0612945556640626e-07, "step": 3210 }, { "epoch": 3.0612945556640626e-07, "step": 3210, "training_step_time": 17.600685596466064 }, { "epoch": 3.0622482299804687e-07, "model_forward_time": 5.076645851135254, "step": 3211 }, { "epoch": 3.0622482299804687e-07, "step": 3211, "training_step_time": 17.331536769866943 }, { "epoch": 3.063201904296875e-07, "model_forward_time": 5.080923795700073, "step": 3212 }, { "epoch": 3.063201904296875e-07, "step": 3212, "training_step_time": 17.567690134048462 }, { "epoch": 3.064155578613281e-07, "model_forward_time": 5.081003427505493, "step": 3213 }, { "epoch": 3.064155578613281e-07, "step": 3213, "training_step_time": 17.546934366226196 }, { "epoch": 3.0651092529296877e-07, "model_forward_time": 5.079557657241821, "step": 3214 }, { "epoch": 3.0651092529296877e-07, "step": 3214, "training_step_time": 17.567673683166504 }, { "epoch": 3.066062927246094e-07, "model_forward_time": 5.274167060852051, "step": 3215 }, { "epoch": 3.066062927246094e-07, "step": 3215, "training_step_time": 17.580606698989868 }, { "epoch": 3.0670166015625e-07, "model_forward_time": 5.078826904296875, "step": 3216 }, { "epoch": 3.0670166015625e-07, "step": 3216, "training_step_time": 17.81309413909912 }, { "epoch": 3.067970275878906e-07, "model_forward_time": 5.08099627494812, "step": 3217 }, { "epoch": 3.067970275878906e-07, "step": 3217, "training_step_time": 17.60977578163147 }, { "epoch": 3.068923950195312e-07, "model_forward_time": 5.080649375915527, "step": 3218 }, { "epoch": 3.068923950195312e-07, "step": 3218, "training_step_time": 17.601268768310547 }, { "epoch": 3.069877624511719e-07, "model_forward_time": 3.851213216781616, "step": 3219 }, { "epoch": 3.069877624511719e-07, "step": 3219, "training_step_time": 17.603355169296265 }, { "epoch": 3.070831298828125e-07, "grad_norm": 2.421937942504883, "learning_rate": 9.197142857142858e-06, "loss": 0.1844, "step": 3220 }, { "epoch": 3.070831298828125e-07, "model_forward_time": 3.8273699283599854, "step": 3220 }, { "dynamics_loss_avg": 0.04374333508312702, "epoch": 3.070831298828125e-07, "step": 3220 }, { "action_loss_avg": 0.12429399266839028, "epoch": 3.070831298828125e-07, "step": 3220 }, { "arm_loss_avg": 0.1754972070455551, "epoch": 3.070831298828125e-07, "step": 3220 }, { "ee_loss_avg": 0.15100098494440317, "epoch": 3.070831298828125e-07, "step": 3220 }, { "aux_loss_avg": 0.002782940323231742, "epoch": 3.070831298828125e-07, "step": 3220 }, { "epoch": 3.070831298828125e-07, "step": 3220, "training_step_time": 17.82276749610901 }, { "epoch": 3.071784973144531e-07, "model_forward_time": 5.052157402038574, "step": 3221 }, { "epoch": 3.071784973144531e-07, "step": 3221, "training_step_time": 17.60216736793518 }, { "epoch": 3.0727386474609374e-07, "model_forward_time": 5.061861038208008, "step": 3222 }, { "epoch": 3.0727386474609374e-07, "step": 3222, "training_step_time": 17.59327793121338 }, { "epoch": 3.0736923217773435e-07, "model_forward_time": 5.080897808074951, "step": 3223 }, { "epoch": 3.0736923217773435e-07, "step": 3223, "training_step_time": 17.583828449249268 }, { "epoch": 3.07464599609375e-07, "model_forward_time": 5.094236850738525, "step": 3224 }, { "epoch": 3.07464599609375e-07, "step": 3224, "training_step_time": 17.575212955474854 }, { "epoch": 3.0755996704101563e-07, "model_forward_time": 5.102238178253174, "step": 3225 }, { "epoch": 3.0755996704101563e-07, "step": 3225, "training_step_time": 17.796300888061523 }, { "epoch": 3.0765533447265625e-07, "model_forward_time": 5.100813627243042, "step": 3226 }, { "epoch": 3.0765533447265625e-07, "step": 3226, "training_step_time": 17.57528305053711 }, { "epoch": 3.0775070190429686e-07, "model_forward_time": 3.865480661392212, "step": 3227 }, { "epoch": 3.0775070190429686e-07, "step": 3227, "training_step_time": 17.612150192260742 }, { "epoch": 3.078460693359375e-07, "model_forward_time": 5.068217754364014, "step": 3228 }, { "epoch": 3.078460693359375e-07, "step": 3228, "training_step_time": 17.587841749191284 }, { "epoch": 3.0794143676757814e-07, "model_forward_time": 5.074777364730835, "step": 3229 }, { "epoch": 3.0794143676757814e-07, "step": 3229, "training_step_time": 17.58795952796936 }, { "epoch": 3.0803680419921876e-07, "grad_norm": 2.0348916053771973, "learning_rate": 9.225714285714286e-06, "loss": 0.1784, "step": 3230 }, { "epoch": 3.0803680419921876e-07, "model_forward_time": 5.079619646072388, "step": 3230 }, { "dynamics_loss_avg": 0.0499138044193387, "epoch": 3.0803680419921876e-07, "step": 3230 }, { "action_loss_avg": 0.1261316381394863, "epoch": 3.0803680419921876e-07, "step": 3230 }, { "arm_loss_avg": 0.2152419053018093, "epoch": 3.0803680419921876e-07, "step": 3230 }, { "ee_loss_avg": 0.14686081781983376, "epoch": 3.0803680419921876e-07, "step": 3230 }, { "aux_loss_avg": 0.004651493235724047, "epoch": 3.0803680419921876e-07, "step": 3230 }, { "epoch": 3.0803680419921876e-07, "step": 3230, "training_step_time": 17.81190323829651 }, { "epoch": 3.0813217163085937e-07, "model_forward_time": 5.326598882675171, "step": 3231 }, { "epoch": 3.0813217163085937e-07, "step": 3231, "training_step_time": 17.57951068878174 }, { "epoch": 3.082275390625e-07, "model_forward_time": 5.086386680603027, "step": 3232 }, { "epoch": 3.082275390625e-07, "step": 3232, "training_step_time": 17.592529773712158 }, { "epoch": 3.083229064941406e-07, "model_forward_time": 3.8535025119781494, "step": 3233 }, { "epoch": 3.083229064941406e-07, "step": 3233, "training_step_time": 17.59415340423584 }, { "epoch": 3.0841827392578127e-07, "model_forward_time": 5.058888912200928, "step": 3234 }, { "epoch": 3.0841827392578127e-07, "step": 3234, "training_step_time": 17.588114261627197 }, { "epoch": 3.085136413574219e-07, "model_forward_time": 5.069868564605713, "step": 3235 }, { "epoch": 3.085136413574219e-07, "step": 3235, "training_step_time": 17.81183886528015 }, { "epoch": 3.086090087890625e-07, "model_forward_time": 5.274990081787109, "step": 3236 }, { "epoch": 3.086090087890625e-07, "step": 3236, "training_step_time": 17.596706867218018 }, { "epoch": 3.087043762207031e-07, "model_forward_time": 5.09083104133606, "step": 3237 }, { "epoch": 3.087043762207031e-07, "step": 3237, "training_step_time": 17.585169076919556 }, { "epoch": 3.0879974365234373e-07, "model_forward_time": 5.093846559524536, "step": 3238 }, { "epoch": 3.0879974365234373e-07, "step": 3238, "training_step_time": 17.577209949493408 }, { "epoch": 3.088951110839844e-07, "model_forward_time": 5.095603942871094, "step": 3239 }, { "epoch": 3.088951110839844e-07, "step": 3239, "training_step_time": 17.342602968215942 }, { "epoch": 3.08990478515625e-07, "grad_norm": 4.209103107452393, "learning_rate": 9.254285714285714e-06, "loss": 0.1939, "step": 3240 }, { "epoch": 3.08990478515625e-07, "model_forward_time": 5.097003221511841, "step": 3240 }, { "dynamics_loss_avg": 0.055665220320224765, "epoch": 3.08990478515625e-07, "step": 3240 }, { "action_loss_avg": 0.13432359397411348, "epoch": 3.08990478515625e-07, "step": 3240 }, { "arm_loss_avg": 0.18810968846082687, "epoch": 3.08990478515625e-07, "step": 3240 }, { "ee_loss_avg": 0.2723845299333334, "epoch": 3.08990478515625e-07, "step": 3240 }, { "aux_loss_avg": 0.001999798195902258, "epoch": 3.08990478515625e-07, "step": 3240 }, { "epoch": 3.08990478515625e-07, "step": 3240, "training_step_time": 17.710450887680054 }, { "epoch": 3.090858459472656e-07, "model_forward_time": 5.096433877944946, "step": 3241 }, { "epoch": 3.090858459472656e-07, "step": 3241, "training_step_time": 17.5429425239563 }, { "epoch": 3.0918121337890624e-07, "model_forward_time": 5.087876558303833, "step": 3242 }, { "epoch": 3.0918121337890624e-07, "step": 3242, "training_step_time": 17.561585903167725 }, { "epoch": 3.0927658081054685e-07, "model_forward_time": 5.081248760223389, "step": 3243 }, { "epoch": 3.0927658081054685e-07, "step": 3243, "training_step_time": 17.584770441055298 }, { "epoch": 3.093719482421875e-07, "model_forward_time": 5.085926055908203, "step": 3244 }, { "epoch": 3.093719482421875e-07, "step": 3244, "training_step_time": 17.59990096092224 }, { "epoch": 3.0946731567382814e-07, "model_forward_time": 5.079847812652588, "step": 3245 }, { "epoch": 3.0946731567382814e-07, "step": 3245, "training_step_time": 17.841627597808838 }, { "epoch": 3.0956268310546875e-07, "model_forward_time": 5.077319145202637, "step": 3246 }, { "epoch": 3.0956268310546875e-07, "step": 3246, "training_step_time": 17.59628462791443 }, { "epoch": 3.0965805053710936e-07, "model_forward_time": 5.077580690383911, "step": 3247 }, { "epoch": 3.0965805053710936e-07, "step": 3247, "training_step_time": 17.6074640750885 }, { "epoch": 3.0975341796875e-07, "model_forward_time": 5.077159643173218, "step": 3248 }, { "epoch": 3.0975341796875e-07, "step": 3248, "training_step_time": 17.605438470840454 }, { "epoch": 3.0984878540039065e-07, "model_forward_time": 5.084348917007446, "step": 3249 }, { "epoch": 3.0984878540039065e-07, "step": 3249, "training_step_time": 17.581918478012085 }, { "epoch": 3.0994415283203126e-07, "grad_norm": 2.1962594985961914, "learning_rate": 9.282857142857144e-06, "loss": 0.1455, "step": 3250 }, { "epoch": 3.0994415283203126e-07, "model_forward_time": 3.8453567028045654, "step": 3250 }, { "dynamics_loss_avg": 0.039540602918714286, "epoch": 3.0994415283203126e-07, "step": 3250 }, { "action_loss_avg": 0.0769910141825676, "epoch": 3.0994415283203126e-07, "step": 3250 }, { "arm_loss_avg": 0.2140531547367573, "epoch": 3.0994415283203126e-07, "step": 3250 }, { "ee_loss_avg": 0.17179739028215407, "epoch": 3.0994415283203126e-07, "step": 3250 }, { "aux_loss_avg": 0.017644234595354646, "epoch": 3.0994415283203126e-07, "step": 3250 }, { "epoch": 3.0994415283203126e-07, "step": 3250, "training_step_time": 17.811453819274902 }, { "epoch": 3.100395202636719e-07, "model_forward_time": 5.2984459400177, "step": 3251 }, { "epoch": 3.100395202636719e-07, "step": 3251, "training_step_time": 17.588499784469604 }, { "epoch": 3.101348876953125e-07, "model_forward_time": 5.066497087478638, "step": 3252 }, { "epoch": 3.101348876953125e-07, "step": 3252, "training_step_time": 17.578079223632812 }, { "epoch": 3.102302551269531e-07, "model_forward_time": 5.074438571929932, "step": 3253 }, { "epoch": 3.102302551269531e-07, "step": 3253, "training_step_time": 17.565967798233032 }, { "epoch": 3.1032562255859377e-07, "model_forward_time": 3.8483023643493652, "step": 3254 }, { "epoch": 3.1032562255859377e-07, "step": 3254, "training_step_time": 17.56396484375 }, { "epoch": 3.104209899902344e-07, "model_forward_time": 5.056380987167358, "step": 3255 }, { "epoch": 3.104209899902344e-07, "step": 3255, "training_step_time": 17.777657985687256 }, { "epoch": 3.10516357421875e-07, "model_forward_time": 5.2781782150268555, "step": 3256 }, { "epoch": 3.10516357421875e-07, "step": 3256, "training_step_time": 17.569248914718628 }, { "epoch": 3.106117248535156e-07, "model_forward_time": 3.8580942153930664, "step": 3257 }, { "epoch": 3.106117248535156e-07, "step": 3257, "training_step_time": 17.600178718566895 }, { "epoch": 3.1070709228515623e-07, "model_forward_time": 5.0773773193359375, "step": 3258 }, { "epoch": 3.1070709228515623e-07, "step": 3258, "training_step_time": 17.60227632522583 }, { "epoch": 3.108024597167969e-07, "model_forward_time": 5.087908029556274, "step": 3259 }, { "epoch": 3.108024597167969e-07, "step": 3259, "training_step_time": 17.579301834106445 }, { "epoch": 3.108978271484375e-07, "grad_norm": 3.4614663124084473, "learning_rate": 9.311428571428572e-06, "loss": 0.1875, "step": 3260 }, { "epoch": 3.108978271484375e-07, "model_forward_time": 5.091208219528198, "step": 3260 }, { "dynamics_loss_avg": 0.054352883249521255, "epoch": 3.108978271484375e-07, "step": 3260 }, { "action_loss_avg": 0.14673935063183308, "epoch": 3.108978271484375e-07, "step": 3260 }, { "arm_loss_avg": 0.21150105819106102, "epoch": 3.108978271484375e-07, "step": 3260 }, { "ee_loss_avg": 0.2606595907360315, "epoch": 3.108978271484375e-07, "step": 3260 }, { "aux_loss_avg": 0.0016925753501709551, "epoch": 3.108978271484375e-07, "step": 3260 }, { "epoch": 3.108978271484375e-07, "step": 3260, "training_step_time": 17.759995937347412 }, { "epoch": 3.109931945800781e-07, "model_forward_time": 5.341859340667725, "step": 3261 }, { "epoch": 3.109931945800781e-07, "step": 3261, "training_step_time": 17.55812096595764 }, { "epoch": 3.1108856201171874e-07, "model_forward_time": 5.099087476730347, "step": 3262 }, { "epoch": 3.1108856201171874e-07, "step": 3262, "training_step_time": 17.568714141845703 }, { "epoch": 3.1118392944335935e-07, "model_forward_time": 5.099440813064575, "step": 3263 }, { "epoch": 3.1118392944335935e-07, "step": 3263, "training_step_time": 17.484331607818604 }, { "epoch": 3.11279296875e-07, "model_forward_time": 5.094800710678101, "step": 3264 }, { "epoch": 3.11279296875e-07, "step": 3264, "training_step_time": 17.532048225402832 }, { "epoch": 3.1137466430664064e-07, "model_forward_time": 5.092444658279419, "step": 3265 }, { "epoch": 3.1137466430664064e-07, "step": 3265, "training_step_time": 17.563288688659668 }, { "epoch": 3.1147003173828125e-07, "model_forward_time": 5.299380779266357, "step": 3266 }, { "epoch": 3.1147003173828125e-07, "step": 3266, "training_step_time": 17.82738709449768 }, { "epoch": 3.1156539916992187e-07, "model_forward_time": 5.083987712860107, "step": 3267 }, { "epoch": 3.1156539916992187e-07, "step": 3267, "training_step_time": 17.607480764389038 }, { "epoch": 3.116607666015625e-07, "model_forward_time": 5.0813233852386475, "step": 3268 }, { "epoch": 3.116607666015625e-07, "step": 3268, "training_step_time": 17.6036536693573 }, { "epoch": 3.1175613403320315e-07, "model_forward_time": 5.078039646148682, "step": 3269 }, { "epoch": 3.1175613403320315e-07, "step": 3269, "training_step_time": 17.61323070526123 }, { "epoch": 3.1185150146484376e-07, "grad_norm": 3.0770511627197266, "learning_rate": 9.340000000000002e-06, "loss": 0.1904, "step": 3270 }, { "epoch": 3.1185150146484376e-07, "model_forward_time": 5.077049255371094, "step": 3270 }, { "dynamics_loss_avg": 0.045517698675394055, "epoch": 3.1185150146484376e-07, "step": 3270 }, { "action_loss_avg": 0.13564599305391312, "epoch": 3.1185150146484376e-07, "step": 3270 }, { "arm_loss_avg": 0.18770626485347747, "epoch": 3.1185150146484376e-07, "step": 3270 }, { "ee_loss_avg": 0.19467324372380973, "epoch": 3.1185150146484376e-07, "step": 3270 }, { "aux_loss_avg": 0.0011544904846232384, "epoch": 3.1185150146484376e-07, "step": 3270 }, { "epoch": 3.1185150146484376e-07, "step": 3270, "training_step_time": 17.848467111587524 }, { "epoch": 3.119468688964844e-07, "model_forward_time": 5.073784351348877, "step": 3271 }, { "epoch": 3.119468688964844e-07, "step": 3271, "training_step_time": 17.58750319480896 }, { "epoch": 3.12042236328125e-07, "model_forward_time": 5.080565690994263, "step": 3272 }, { "epoch": 3.12042236328125e-07, "step": 3272, "training_step_time": 17.490342140197754 }, { "epoch": 3.121376037597656e-07, "model_forward_time": 5.085034132003784, "step": 3273 }, { "epoch": 3.121376037597656e-07, "step": 3273, "training_step_time": 17.53213906288147 }, { "epoch": 3.1223297119140627e-07, "model_forward_time": 5.083593130111694, "step": 3274 }, { "epoch": 3.1223297119140627e-07, "step": 3274, "training_step_time": 17.54998755455017 }, { "epoch": 3.123283386230469e-07, "model_forward_time": 5.278806686401367, "step": 3275 }, { "epoch": 3.123283386230469e-07, "step": 3275, "training_step_time": 17.383465051651 }, { "epoch": 3.124237060546875e-07, "model_forward_time": 5.086600303649902, "step": 3276 }, { "epoch": 3.124237060546875e-07, "step": 3276, "training_step_time": 17.71936273574829 }, { "epoch": 3.125190734863281e-07, "model_forward_time": 5.087841033935547, "step": 3277 }, { "epoch": 3.125190734863281e-07, "step": 3277, "training_step_time": 17.369685649871826 }, { "epoch": 3.1261444091796873e-07, "model_forward_time": 5.093235492706299, "step": 3278 }, { "epoch": 3.1261444091796873e-07, "step": 3278, "training_step_time": 17.48799777030945 }, { "epoch": 3.127098083496094e-07, "model_forward_time": 5.087139129638672, "step": 3279 }, { "epoch": 3.127098083496094e-07, "step": 3279, "training_step_time": 17.542680740356445 }, { "epoch": 3.1280517578125e-07, "grad_norm": 2.2981486320495605, "learning_rate": 9.368571428571428e-06, "loss": 0.1622, "step": 3280 }, { "epoch": 3.1280517578125e-07, "model_forward_time": 5.336329936981201, "step": 3280 }, { "dynamics_loss_avg": 0.04291632566601038, "epoch": 3.1280517578125e-07, "step": 3280 }, { "action_loss_avg": 0.10762900933623314, "epoch": 3.1280517578125e-07, "step": 3280 }, { "arm_loss_avg": 0.19814566746354104, "epoch": 3.1280517578125e-07, "step": 3280 }, { "ee_loss_avg": 0.17920803278684616, "epoch": 3.1280517578125e-07, "step": 3280 }, { "aux_loss_avg": 0.0008873334096278995, "epoch": 3.1280517578125e-07, "step": 3280 }, { "epoch": 3.1280517578125e-07, "step": 3280, "training_step_time": 17.58219051361084 }, { "epoch": 3.1290054321289063e-07, "model_forward_time": 5.082043170928955, "step": 3281 }, { "epoch": 3.1290054321289063e-07, "step": 3281, "training_step_time": 17.787086248397827 }, { "epoch": 3.1299591064453124e-07, "model_forward_time": 5.080390453338623, "step": 3282 }, { "epoch": 3.1299591064453124e-07, "step": 3282, "training_step_time": 17.615580558776855 }, { "epoch": 3.1309127807617186e-07, "model_forward_time": 5.082064628601074, "step": 3283 }, { "epoch": 3.1309127807617186e-07, "step": 3283, "training_step_time": 17.266744136810303 }, { "epoch": 3.131866455078125e-07, "model_forward_time": 5.081363677978516, "step": 3284 }, { "epoch": 3.131866455078125e-07, "step": 3284, "training_step_time": 17.523224592208862 }, { "epoch": 3.1328201293945314e-07, "model_forward_time": 5.08443808555603, "step": 3285 }, { "epoch": 3.1328201293945314e-07, "step": 3285, "training_step_time": 17.55912709236145 }, { "epoch": 3.1337738037109375e-07, "model_forward_time": 5.080618143081665, "step": 3286 }, { "epoch": 3.1337738037109375e-07, "step": 3286, "training_step_time": 17.80309510231018 }, { "epoch": 3.1347274780273437e-07, "model_forward_time": 5.080792665481567, "step": 3287 }, { "epoch": 3.1347274780273437e-07, "step": 3287, "training_step_time": 17.63508701324463 }, { "epoch": 3.13568115234375e-07, "model_forward_time": 5.078317642211914, "step": 3288 }, { "epoch": 3.13568115234375e-07, "step": 3288, "training_step_time": 17.426496267318726 }, { "epoch": 3.1366348266601565e-07, "model_forward_time": 3.8474960327148438, "step": 3289 }, { "epoch": 3.1366348266601565e-07, "step": 3289, "training_step_time": 17.515886306762695 }, { "epoch": 3.1375885009765626e-07, "grad_norm": 1.8199970722198486, "learning_rate": 9.397142857142858e-06, "loss": 0.193, "step": 3290 }, { "epoch": 3.1375885009765626e-07, "model_forward_time": 3.8236637115478516, "step": 3290 }, { "dynamics_loss_avg": 0.0636338222771883, "epoch": 3.1375885009765626e-07, "step": 3290 }, { "action_loss_avg": 0.15422307923436165, "epoch": 3.1375885009765626e-07, "step": 3290 }, { "arm_loss_avg": 0.19160984680056573, "epoch": 3.1375885009765626e-07, "step": 3290 }, { "ee_loss_avg": 0.21295545268803834, "epoch": 3.1375885009765626e-07, "step": 3290 }, { "aux_loss_avg": 0.013730920030502603, "epoch": 3.1375885009765626e-07, "step": 3290 }, { "epoch": 3.1375885009765626e-07, "step": 3290, "training_step_time": 17.572420835494995 }, { "epoch": 3.138542175292969e-07, "model_forward_time": 5.279893636703491, "step": 3291 }, { "epoch": 3.138542175292969e-07, "step": 3291, "training_step_time": 17.775287628173828 }, { "epoch": 3.139495849609375e-07, "model_forward_time": 5.070002555847168, "step": 3292 }, { "epoch": 3.139495849609375e-07, "step": 3292, "training_step_time": 17.599433660507202 }, { "epoch": 3.140449523925781e-07, "model_forward_time": 3.8474440574645996, "step": 3293 }, { "epoch": 3.140449523925781e-07, "step": 3293, "training_step_time": 17.6031391620636 }, { "epoch": 3.141403198242188e-07, "model_forward_time": 5.060147762298584, "step": 3294 }, { "epoch": 3.141403198242188e-07, "step": 3294, "training_step_time": 17.59770369529724 }, { "epoch": 3.142356872558594e-07, "model_forward_time": 5.083382606506348, "step": 3295 }, { "epoch": 3.142356872558594e-07, "step": 3295, "training_step_time": 17.59810709953308 }, { "epoch": 3.143310546875e-07, "model_forward_time": 5.278313875198364, "step": 3296 }, { "epoch": 3.143310546875e-07, "step": 3296, "training_step_time": 17.836439847946167 }, { "epoch": 3.144264221191406e-07, "model_forward_time": 5.098294496536255, "step": 3297 }, { "epoch": 3.144264221191406e-07, "step": 3297, "training_step_time": 17.603692770004272 }, { "epoch": 3.1452178955078123e-07, "model_forward_time": 5.096227645874023, "step": 3298 }, { "epoch": 3.1452178955078123e-07, "step": 3298, "training_step_time": 17.58597493171692 }, { "epoch": 3.146171569824219e-07, "model_forward_time": 5.094288110733032, "step": 3299 }, { "epoch": 3.146171569824219e-07, "step": 3299, "training_step_time": 17.587598085403442 }, { "epoch": 3.147125244140625e-07, "grad_norm": 2.173814058303833, "learning_rate": 9.425714285714286e-06, "loss": 0.1831, "step": 3300 }, { "epoch": 3.147125244140625e-07, "model_forward_time": 5.088613271713257, "step": 3300 }, { "dynamics_loss_avg": 0.05427409093827009, "epoch": 3.147125244140625e-07, "step": 3300 }, { "action_loss_avg": 0.14373316317796708, "epoch": 3.147125244140625e-07, "step": 3300 }, { "arm_loss_avg": 0.19632028341293334, "epoch": 3.147125244140625e-07, "step": 3300 }, { "ee_loss_avg": 0.22714340621605517, "epoch": 3.147125244140625e-07, "step": 3300 }, { "aux_loss_avg": 0.002492325339699164, "epoch": 3.147125244140625e-07, "step": 3300 }, { "epoch": 3.147125244140625e-07, "step": 3300, "training_step_time": 17.581120491027832 }, { "epoch": 3.1480789184570313e-07, "model_forward_time": 5.3385162353515625, "step": 3301 }, { "epoch": 3.1480789184570313e-07, "step": 3301, "training_step_time": 17.568222761154175 }, { "epoch": 3.1490325927734374e-07, "model_forward_time": 5.078707933425903, "step": 3302 }, { "epoch": 3.1490325927734374e-07, "step": 3302, "training_step_time": 17.496541023254395 }, { "epoch": 3.1499862670898436e-07, "model_forward_time": 5.0724780559539795, "step": 3303 }, { "epoch": 3.1499862670898436e-07, "step": 3303, "training_step_time": 17.524372816085815 }, { "epoch": 3.15093994140625e-07, "model_forward_time": 5.069390058517456, "step": 3304 }, { "epoch": 3.15093994140625e-07, "step": 3304, "training_step_time": 17.512665271759033 }, { "epoch": 3.1518936157226564e-07, "model_forward_time": 5.073277950286865, "step": 3305 }, { "epoch": 3.1518936157226564e-07, "step": 3305, "training_step_time": 17.574432373046875 }, { "epoch": 3.1528472900390625e-07, "model_forward_time": 5.283767938613892, "step": 3306 }, { "epoch": 3.1528472900390625e-07, "step": 3306, "training_step_time": 17.823535203933716 }, { "epoch": 3.1538009643554687e-07, "model_forward_time": 5.071063280105591, "step": 3307 }, { "epoch": 3.1538009643554687e-07, "step": 3307, "training_step_time": 17.592946529388428 }, { "epoch": 3.154754638671875e-07, "model_forward_time": 5.073614597320557, "step": 3308 }, { "epoch": 3.154754638671875e-07, "step": 3308, "training_step_time": 17.594475507736206 }, { "epoch": 3.1557083129882815e-07, "model_forward_time": 5.074808359146118, "step": 3309 }, { "epoch": 3.1557083129882815e-07, "step": 3309, "training_step_time": 17.59199810028076 }, { "epoch": 3.1566619873046877e-07, "grad_norm": 2.787623882293701, "learning_rate": 9.454285714285714e-06, "loss": 0.1697, "step": 3310 }, { "epoch": 3.1566619873046877e-07, "model_forward_time": 5.075262069702148, "step": 3310 }, { "dynamics_loss_avg": 0.0494872335344553, "epoch": 3.1566619873046877e-07, "step": 3310 }, { "action_loss_avg": 0.15319062396883965, "epoch": 3.1566619873046877e-07, "step": 3310 }, { "arm_loss_avg": 0.22866560965776445, "epoch": 3.1566619873046877e-07, "step": 3310 }, { "ee_loss_avg": 0.2422370832413435, "epoch": 3.1566619873046877e-07, "step": 3310 }, { "aux_loss_avg": 0.0012197479838505388, "epoch": 3.1566619873046877e-07, "step": 3310 }, { "epoch": 3.1566619873046877e-07, "step": 3310, "training_step_time": 17.59578537940979 }, { "epoch": 3.157615661621094e-07, "model_forward_time": 5.077507972717285, "step": 3311 }, { "epoch": 3.157615661621094e-07, "step": 3311, "training_step_time": 17.77193021774292 }, { "epoch": 3.1585693359375e-07, "model_forward_time": 5.077810049057007, "step": 3312 }, { "epoch": 3.1585693359375e-07, "step": 3312, "training_step_time": 17.59125566482544 }, { "epoch": 3.159523010253906e-07, "model_forward_time": 5.0784595012664795, "step": 3313 }, { "epoch": 3.159523010253906e-07, "step": 3313, "training_step_time": 17.57796812057495 }, { "epoch": 3.160476684570312e-07, "model_forward_time": 3.847073554992676, "step": 3314 }, { "epoch": 3.160476684570312e-07, "step": 3314, "training_step_time": 17.57011079788208 }, { "epoch": 3.161430358886719e-07, "model_forward_time": 5.053152084350586, "step": 3315 }, { "epoch": 3.161430358886719e-07, "step": 3315, "training_step_time": 17.579401969909668 }, { "epoch": 3.162384033203125e-07, "model_forward_time": 5.0705976486206055, "step": 3316 }, { "epoch": 3.162384033203125e-07, "step": 3316, "training_step_time": 17.82963275909424 }, { "epoch": 3.163337707519531e-07, "model_forward_time": 3.856445789337158, "step": 3317 }, { "epoch": 3.163337707519531e-07, "step": 3317, "training_step_time": 17.583679914474487 }, { "epoch": 3.1642913818359373e-07, "model_forward_time": 5.062117338180542, "step": 3318 }, { "epoch": 3.1642913818359373e-07, "step": 3318, "training_step_time": 17.60291075706482 }, { "epoch": 3.1652450561523435e-07, "model_forward_time": 5.081465721130371, "step": 3319 }, { "epoch": 3.1652450561523435e-07, "step": 3319, "training_step_time": 17.59498381614685 }, { "epoch": 3.16619873046875e-07, "grad_norm": 1.6401008367538452, "learning_rate": 9.482857142857144e-06, "loss": 0.1647, "step": 3320 }, { "epoch": 3.16619873046875e-07, "model_forward_time": 5.0911900997161865, "step": 3320 }, { "dynamics_loss_avg": 0.03941153176128864, "epoch": 3.16619873046875e-07, "step": 3320 }, { "action_loss_avg": 0.10287795104086399, "epoch": 3.16619873046875e-07, "step": 3320 }, { "arm_loss_avg": 0.1957818552851677, "epoch": 3.16619873046875e-07, "step": 3320 }, { "ee_loss_avg": 0.17056052722036838, "epoch": 3.16619873046875e-07, "step": 3320 }, { "aux_loss_avg": 0.000778510287636891, "epoch": 3.16619873046875e-07, "step": 3320 }, { "epoch": 3.16619873046875e-07, "step": 3320, "training_step_time": 17.593878507614136 }, { "epoch": 3.1671524047851563e-07, "model_forward_time": 5.32955002784729, "step": 3321 }, { "epoch": 3.1671524047851563e-07, "step": 3321, "training_step_time": 17.752542734146118 }, { "epoch": 3.1681060791015625e-07, "model_forward_time": 5.089160203933716, "step": 3322 }, { "epoch": 3.1681060791015625e-07, "step": 3322, "training_step_time": 17.56876230239868 }, { "epoch": 3.1690597534179686e-07, "model_forward_time": 5.09525465965271, "step": 3323 }, { "epoch": 3.1690597534179686e-07, "step": 3323, "training_step_time": 17.58851146697998 }, { "epoch": 3.170013427734375e-07, "model_forward_time": 5.09367561340332, "step": 3324 }, { "epoch": 3.170013427734375e-07, "step": 3324, "training_step_time": 17.596986293792725 }, { "epoch": 3.1709671020507814e-07, "model_forward_time": 3.852736234664917, "step": 3325 }, { "epoch": 3.1709671020507814e-07, "step": 3325, "training_step_time": 17.582563161849976 }, { "epoch": 3.1719207763671876e-07, "model_forward_time": 5.053000211715698, "step": 3326 }, { "epoch": 3.1719207763671876e-07, "step": 3326, "training_step_time": 17.605438947677612 }, { "epoch": 3.1728744506835937e-07, "model_forward_time": 5.064502477645874, "step": 3327 }, { "epoch": 3.1728744506835937e-07, "step": 3327, "training_step_time": 17.50440502166748 }, { "epoch": 3.173828125e-07, "model_forward_time": 5.0680201053619385, "step": 3328 }, { "epoch": 3.173828125e-07, "step": 3328, "training_step_time": 17.55809736251831 }, { "epoch": 3.174781799316406e-07, "model_forward_time": 5.075405120849609, "step": 3329 }, { "epoch": 3.174781799316406e-07, "step": 3329, "training_step_time": 17.563146352767944 }, { "epoch": 3.1757354736328127e-07, "grad_norm": 4.689040660858154, "learning_rate": 9.511428571428572e-06, "loss": 0.1757, "step": 3330 }, { "epoch": 3.1757354736328127e-07, "model_forward_time": 5.080727577209473, "step": 3330 }, { "dynamics_loss_avg": 0.051519031450152394, "epoch": 3.1757354736328127e-07, "step": 3330 }, { "action_loss_avg": 0.11557813286781311, "epoch": 3.1757354736328127e-07, "step": 3330 }, { "arm_loss_avg": 0.20675422996282578, "epoch": 3.1757354736328127e-07, "step": 3330 }, { "ee_loss_avg": 0.30485471040010453, "epoch": 3.1757354736328127e-07, "step": 3330 }, { "aux_loss_avg": 0.011080850736470893, "epoch": 3.1757354736328127e-07, "step": 3330 }, { "epoch": 3.1757354736328127e-07, "step": 3330, "training_step_time": 17.58069896697998 }, { "epoch": 3.176689147949219e-07, "model_forward_time": 5.080281019210815, "step": 3331 }, { "epoch": 3.176689147949219e-07, "step": 3331, "training_step_time": 17.790709733963013 }, { "epoch": 3.177642822265625e-07, "model_forward_time": 5.082091569900513, "step": 3332 }, { "epoch": 3.177642822265625e-07, "step": 3332, "training_step_time": 17.594810962677002 }, { "epoch": 3.178596496582031e-07, "model_forward_time": 5.081104040145874, "step": 3333 }, { "epoch": 3.178596496582031e-07, "step": 3333, "training_step_time": 17.600804090499878 }, { "epoch": 3.179550170898437e-07, "model_forward_time": 5.080743789672852, "step": 3334 }, { "epoch": 3.179550170898437e-07, "step": 3334, "training_step_time": 17.597145795822144 }, { "epoch": 3.180503845214844e-07, "model_forward_time": 5.27892279624939, "step": 3335 }, { "epoch": 3.180503845214844e-07, "step": 3335, "training_step_time": 17.79810380935669 }, { "epoch": 3.18145751953125e-07, "model_forward_time": 5.080168962478638, "step": 3336 }, { "epoch": 3.18145751953125e-07, "step": 3336, "training_step_time": 17.580946445465088 }, { "epoch": 3.182411193847656e-07, "model_forward_time": 3.846266508102417, "step": 3337 }, { "epoch": 3.182411193847656e-07, "step": 3337, "training_step_time": 17.579399347305298 }, { "epoch": 3.1833648681640624e-07, "model_forward_time": 5.05346155166626, "step": 3338 }, { "epoch": 3.1833648681640624e-07, "step": 3338, "training_step_time": 17.5886549949646 }, { "epoch": 3.1843185424804685e-07, "model_forward_time": 5.059041976928711, "step": 3339 }, { "epoch": 3.1843185424804685e-07, "step": 3339, "training_step_time": 17.567826986312866 }, { "epoch": 3.185272216796875e-07, "grad_norm": 3.4445648193359375, "learning_rate": 9.54e-06, "loss": 0.1965, "step": 3340 }, { "epoch": 3.185272216796875e-07, "model_forward_time": 5.071441411972046, "step": 3340 }, { "dynamics_loss_avg": 0.0573953902348876, "epoch": 3.185272216796875e-07, "step": 3340 }, { "action_loss_avg": 0.14307220727205278, "epoch": 3.185272216796875e-07, "step": 3340 }, { "arm_loss_avg": 0.20712746754288675, "epoch": 3.185272216796875e-07, "step": 3340 }, { "ee_loss_avg": 0.13367287181317805, "epoch": 3.185272216796875e-07, "step": 3340 }, { "aux_loss_avg": 0.0016635653737466782, "epoch": 3.185272216796875e-07, "step": 3340 }, { "epoch": 3.185272216796875e-07, "step": 3340, "training_step_time": 17.76064944267273 }, { "epoch": 3.1862258911132813e-07, "model_forward_time": 5.326371431350708, "step": 3341 }, { "epoch": 3.1862258911132813e-07, "step": 3341, "training_step_time": 17.599300384521484 }, { "epoch": 3.1871795654296875e-07, "model_forward_time": 5.086732625961304, "step": 3342 }, { "epoch": 3.1871795654296875e-07, "step": 3342, "training_step_time": 17.569053173065186 }, { "epoch": 3.1881332397460936e-07, "model_forward_time": 5.089879274368286, "step": 3343 }, { "epoch": 3.1881332397460936e-07, "step": 3343, "training_step_time": 17.443178415298462 }, { "epoch": 3.1890869140625e-07, "model_forward_time": 5.092581272125244, "step": 3344 }, { "epoch": 3.1890869140625e-07, "step": 3344, "training_step_time": 17.482975721359253 }, { "epoch": 3.1900405883789064e-07, "model_forward_time": 5.089505910873413, "step": 3345 }, { "epoch": 3.1900405883789064e-07, "step": 3345, "training_step_time": 17.779114723205566 }, { "epoch": 3.1909942626953126e-07, "model_forward_time": 5.089481353759766, "step": 3346 }, { "epoch": 3.1909942626953126e-07, "step": 3346, "training_step_time": 17.616487503051758 }, { "epoch": 3.1919479370117187e-07, "model_forward_time": 5.083439826965332, "step": 3347 }, { "epoch": 3.1919479370117187e-07, "step": 3347, "training_step_time": 17.483720541000366 }, { "epoch": 3.192901611328125e-07, "model_forward_time": 5.085160970687866, "step": 3348 }, { "epoch": 3.192901611328125e-07, "step": 3348, "training_step_time": 17.5483238697052 }, { "epoch": 3.193855285644531e-07, "model_forward_time": 5.080486059188843, "step": 3349 }, { "epoch": 3.193855285644531e-07, "step": 3349, "training_step_time": 17.588498830795288 }, { "epoch": 3.1948089599609377e-07, "grad_norm": 3.0070621967315674, "learning_rate": 9.56857142857143e-06, "loss": 0.1827, "step": 3350 }, { "epoch": 3.1948089599609377e-07, "model_forward_time": 5.077362298965454, "step": 3350 }, { "dynamics_loss_avg": 0.043183838576078416, "epoch": 3.1948089599609377e-07, "step": 3350 }, { "action_loss_avg": 0.10830287002027035, "epoch": 3.1948089599609377e-07, "step": 3350 }, { "arm_loss_avg": 0.20750560611486435, "epoch": 3.1948089599609377e-07, "step": 3350 }, { "ee_loss_avg": 0.15211488865315914, "epoch": 3.1948089599609377e-07, "step": 3350 }, { "aux_loss_avg": 0.0007847452157875523, "epoch": 3.1948089599609377e-07, "step": 3350 }, { "epoch": 3.1948089599609377e-07, "step": 3350, "training_step_time": 17.38864302635193 }, { "epoch": 3.195762634277344e-07, "model_forward_time": 5.080789804458618, "step": 3351 }, { "epoch": 3.195762634277344e-07, "step": 3351, "training_step_time": 17.724697828292847 }, { "epoch": 3.19671630859375e-07, "model_forward_time": 5.073679685592651, "step": 3352 }, { "epoch": 3.19671630859375e-07, "step": 3352, "training_step_time": 17.58013343811035 }, { "epoch": 3.197669982910156e-07, "model_forward_time": 5.073945045471191, "step": 3353 }, { "epoch": 3.197669982910156e-07, "step": 3353, "training_step_time": 17.59931468963623 }, { "epoch": 3.1986236572265623e-07, "model_forward_time": 5.078897714614868, "step": 3354 }, { "epoch": 3.1986236572265623e-07, "step": 3354, "training_step_time": 17.500629663467407 }, { "epoch": 3.199577331542969e-07, "model_forward_time": 5.272093057632446, "step": 3355 }, { "epoch": 3.199577331542969e-07, "step": 3355, "training_step_time": 17.517709016799927 }, { "epoch": 3.200531005859375e-07, "model_forward_time": 5.0831639766693115, "step": 3356 }, { "epoch": 3.200531005859375e-07, "step": 3356, "training_step_time": 17.802261352539062 }, { "epoch": 3.201484680175781e-07, "model_forward_time": 5.083894491195679, "step": 3357 }, { "epoch": 3.201484680175781e-07, "step": 3357, "training_step_time": 17.590224266052246 }, { "epoch": 3.2024383544921874e-07, "model_forward_time": 5.081593990325928, "step": 3358 }, { "epoch": 3.2024383544921874e-07, "step": 3358, "training_step_time": 17.613869190216064 }, { "epoch": 3.2033920288085935e-07, "model_forward_time": 5.081939458847046, "step": 3359 }, { "epoch": 3.2033920288085935e-07, "step": 3359, "training_step_time": 17.609867095947266 }, { "epoch": 3.204345703125e-07, "grad_norm": 3.1295268535614014, "learning_rate": 9.597142857142858e-06, "loss": 0.1833, "step": 3360 }, { "epoch": 3.204345703125e-07, "model_forward_time": 5.314806222915649, "step": 3360 }, { "dynamics_loss_avg": 0.049717798829078674, "epoch": 3.204345703125e-07, "step": 3360 }, { "action_loss_avg": 0.13269703425467014, "epoch": 3.204345703125e-07, "step": 3360 }, { "arm_loss_avg": 0.22283329367637633, "epoch": 3.204345703125e-07, "step": 3360 }, { "ee_loss_avg": 0.17758189961314202, "epoch": 3.204345703125e-07, "step": 3360 }, { "aux_loss_avg": 0.0023888362396974117, "epoch": 3.204345703125e-07, "step": 3360 }, { "epoch": 3.204345703125e-07, "step": 3360, "training_step_time": 17.614704370498657 }, { "epoch": 3.2052993774414063e-07, "model_forward_time": 5.080526113510132, "step": 3361 }, { "epoch": 3.2052993774414063e-07, "step": 3361, "training_step_time": 17.79520320892334 }, { "epoch": 3.2062530517578125e-07, "model_forward_time": 5.08047342300415, "step": 3362 }, { "epoch": 3.2062530517578125e-07, "step": 3362, "training_step_time": 17.616472721099854 }, { "epoch": 3.2072067260742186e-07, "model_forward_time": 5.0830159187316895, "step": 3363 }, { "epoch": 3.2072067260742186e-07, "step": 3363, "training_step_time": 17.59386706352234 }, { "epoch": 3.208160400390625e-07, "model_forward_time": 5.078185319900513, "step": 3364 }, { "epoch": 3.208160400390625e-07, "step": 3364, "training_step_time": 17.585267305374146 }, { "epoch": 3.2091140747070315e-07, "model_forward_time": 5.283433198928833, "step": 3365 }, { "epoch": 3.2091140747070315e-07, "step": 3365, "training_step_time": 17.584882736206055 }, { "epoch": 3.2100677490234376e-07, "model_forward_time": 5.084869384765625, "step": 3366 }, { "epoch": 3.2100677490234376e-07, "step": 3366, "training_step_time": 17.820209980010986 }, { "epoch": 3.211021423339844e-07, "model_forward_time": 5.083752870559692, "step": 3367 }, { "epoch": 3.211021423339844e-07, "step": 3367, "training_step_time": 17.573724031448364 }, { "epoch": 3.21197509765625e-07, "model_forward_time": 5.084460020065308, "step": 3368 }, { "epoch": 3.21197509765625e-07, "step": 3368, "training_step_time": 17.57361602783203 }, { "epoch": 3.212928771972656e-07, "model_forward_time": 5.083063840866089, "step": 3369 }, { "epoch": 3.212928771972656e-07, "step": 3369, "training_step_time": 17.570239782333374 }, { "epoch": 3.2138824462890627e-07, "grad_norm": 1.8358949422836304, "learning_rate": 9.625714285714286e-06, "loss": 0.1759, "step": 3370 }, { "epoch": 3.2138824462890627e-07, "model_forward_time": 5.319661855697632, "step": 3370 }, { "dynamics_loss_avg": 0.04682699404656887, "epoch": 3.2138824462890627e-07, "step": 3370 }, { "action_loss_avg": 0.1253798833116889, "epoch": 3.2138824462890627e-07, "step": 3370 }, { "arm_loss_avg": 0.21410942524671556, "epoch": 3.2138824462890627e-07, "step": 3370 }, { "ee_loss_avg": 0.16935241743922233, "epoch": 3.2138824462890627e-07, "step": 3370 }, { "aux_loss_avg": 0.002432846967712976, "epoch": 3.2138824462890627e-07, "step": 3370 }, { "epoch": 3.2138824462890627e-07, "step": 3370, "training_step_time": 17.57382035255432 }, { "epoch": 3.214836120605469e-07, "model_forward_time": 5.082081317901611, "step": 3371 }, { "epoch": 3.214836120605469e-07, "step": 3371, "training_step_time": 17.554744243621826 }, { "epoch": 3.215789794921875e-07, "model_forward_time": 5.082815170288086, "step": 3372 }, { "epoch": 3.215789794921875e-07, "step": 3372, "training_step_time": 17.478116035461426 }, { "epoch": 3.216743469238281e-07, "model_forward_time": 5.081242561340332, "step": 3373 }, { "epoch": 3.216743469238281e-07, "step": 3373, "training_step_time": 17.527748823165894 }, { "epoch": 3.2176971435546873e-07, "model_forward_time": 5.0788819789886475, "step": 3374 }, { "epoch": 3.2176971435546873e-07, "step": 3374, "training_step_time": 17.555569887161255 }, { "epoch": 3.218650817871094e-07, "model_forward_time": 5.27368688583374, "step": 3375 }, { "epoch": 3.218650817871094e-07, "step": 3375, "training_step_time": 17.57918691635132 }, { "epoch": 3.2196044921875e-07, "model_forward_time": 5.081991910934448, "step": 3376 }, { "epoch": 3.2196044921875e-07, "step": 3376, "training_step_time": 17.811426639556885 }, { "epoch": 3.220558166503906e-07, "model_forward_time": 5.082089900970459, "step": 3377 }, { "epoch": 3.220558166503906e-07, "step": 3377, "training_step_time": 17.600234985351562 }, { "epoch": 3.2215118408203124e-07, "model_forward_time": 5.078255653381348, "step": 3378 }, { "epoch": 3.2215118408203124e-07, "step": 3378, "training_step_time": 17.60180163383484 }, { "epoch": 3.2224655151367185e-07, "model_forward_time": 5.082380771636963, "step": 3379 }, { "epoch": 3.2224655151367185e-07, "step": 3379, "training_step_time": 17.598427057266235 }, { "epoch": 3.223419189453125e-07, "grad_norm": 2.0046095848083496, "learning_rate": 9.654285714285716e-06, "loss": 0.1733, "step": 3380 }, { "epoch": 3.223419189453125e-07, "model_forward_time": 3.849487543106079, "step": 3380 }, { "dynamics_loss_avg": 0.046637616399675605, "epoch": 3.223419189453125e-07, "step": 3380 }, { "action_loss_avg": 0.1357032112777233, "epoch": 3.223419189453125e-07, "step": 3380 }, { "arm_loss_avg": 0.20758046880364417, "epoch": 3.223419189453125e-07, "step": 3380 }, { "ee_loss_avg": 0.2611489355564117, "epoch": 3.223419189453125e-07, "step": 3380 }, { "aux_loss_avg": 0.0024661243543960152, "epoch": 3.223419189453125e-07, "step": 3380 }, { "epoch": 3.223419189453125e-07, "step": 3380, "training_step_time": 17.818843126296997 }, { "epoch": 3.2243728637695314e-07, "model_forward_time": 5.300731420516968, "step": 3381 }, { "epoch": 3.2243728637695314e-07, "step": 3381, "training_step_time": 17.594586610794067 }, { "epoch": 3.2253265380859375e-07, "model_forward_time": 5.065737247467041, "step": 3382 }, { "epoch": 3.2253265380859375e-07, "step": 3382, "training_step_time": 17.552483320236206 }, { "epoch": 3.2262802124023437e-07, "model_forward_time": 5.073829889297485, "step": 3383 }, { "epoch": 3.2262802124023437e-07, "step": 3383, "training_step_time": 17.593664169311523 }, { "epoch": 3.22723388671875e-07, "model_forward_time": 5.085292100906372, "step": 3384 }, { "epoch": 3.22723388671875e-07, "step": 3384, "training_step_time": 17.58088731765747 }, { "epoch": 3.2281875610351565e-07, "model_forward_time": 5.093160629272461, "step": 3385 }, { "epoch": 3.2281875610351565e-07, "step": 3385, "training_step_time": 17.81251811981201 }, { "epoch": 3.2291412353515626e-07, "model_forward_time": 5.093803882598877, "step": 3386 }, { "epoch": 3.2291412353515626e-07, "step": 3386, "training_step_time": 17.59575343132019 }, { "epoch": 3.230094909667969e-07, "model_forward_time": 5.093233108520508, "step": 3387 }, { "epoch": 3.230094909667969e-07, "step": 3387, "training_step_time": 17.57560706138611 }, { "epoch": 3.231048583984375e-07, "model_forward_time": 5.091889142990112, "step": 3388 }, { "epoch": 3.231048583984375e-07, "step": 3388, "training_step_time": 17.571967840194702 }, { "epoch": 3.232002258300781e-07, "model_forward_time": 5.09141993522644, "step": 3389 }, { "epoch": 3.232002258300781e-07, "step": 3389, "training_step_time": 17.37758183479309 }, { "epoch": 3.2329559326171877e-07, "grad_norm": 1.5885618925094604, "learning_rate": 9.682857142857144e-06, "loss": 0.1566, "step": 3390 }, { "epoch": 3.2329559326171877e-07, "model_forward_time": 5.085809230804443, "step": 3390 }, { "dynamics_loss_avg": 0.05077211786992848, "epoch": 3.2329559326171877e-07, "step": 3390 }, { "action_loss_avg": 0.10373986624181271, "epoch": 3.2329559326171877e-07, "step": 3390 }, { "arm_loss_avg": 0.15953524336218833, "epoch": 3.2329559326171877e-07, "step": 3390 }, { "ee_loss_avg": 0.19020976386964322, "epoch": 3.2329559326171877e-07, "step": 3390 }, { "aux_loss_avg": 0.005128624860662967, "epoch": 3.2329559326171877e-07, "step": 3390 }, { "epoch": 3.2329559326171877e-07, "step": 3390, "training_step_time": 17.47963285446167 }, { "epoch": 3.233909606933594e-07, "model_forward_time": 5.083501100540161, "step": 3391 }, { "epoch": 3.233909606933594e-07, "step": 3391, "training_step_time": 17.294011116027832 }, { "epoch": 3.23486328125e-07, "model_forward_time": 5.083676815032959, "step": 3392 }, { "epoch": 3.23486328125e-07, "step": 3392, "training_step_time": 17.544490575790405 }, { "epoch": 3.235816955566406e-07, "model_forward_time": 5.08440089225769, "step": 3393 }, { "epoch": 3.235816955566406e-07, "step": 3393, "training_step_time": 17.444715976715088 }, { "epoch": 3.2367706298828123e-07, "model_forward_time": 3.8444461822509766, "step": 3394 }, { "epoch": 3.2367706298828123e-07, "step": 3394, "training_step_time": 17.50944972038269 }, { "epoch": 3.237724304199219e-07, "model_forward_time": 5.242712497711182, "step": 3395 }, { "epoch": 3.237724304199219e-07, "step": 3395, "training_step_time": 17.568925142288208 }, { "epoch": 3.238677978515625e-07, "model_forward_time": 5.0574140548706055, "step": 3396 }, { "epoch": 3.238677978515625e-07, "step": 3396, "training_step_time": 17.830227851867676 }, { "epoch": 3.2396316528320313e-07, "model_forward_time": 5.068179130554199, "step": 3397 }, { "epoch": 3.2396316528320313e-07, "step": 3397, "training_step_time": 17.630855798721313 }, { "epoch": 3.2405853271484374e-07, "model_forward_time": 3.8429813385009766, "step": 3398 }, { "epoch": 3.2405853271484374e-07, "step": 3398, "training_step_time": 17.632023811340332 }, { "epoch": 3.2415390014648436e-07, "model_forward_time": 5.055820941925049, "step": 3399 }, { "epoch": 3.2415390014648436e-07, "step": 3399, "training_step_time": 17.637978076934814 }, { "epoch": 3.24249267578125e-07, "grad_norm": 1.6304106712341309, "learning_rate": 9.711428571428574e-06, "loss": 0.1848, "step": 3400 }, { "epoch": 3.24249267578125e-07, "model_forward_time": 3.8420300483703613, "step": 3400 }, { "dynamics_loss_avg": 0.0425573555752635, "epoch": 3.24249267578125e-07, "step": 3400 }, { "action_loss_avg": 0.08172772470861674, "epoch": 3.24249267578125e-07, "step": 3400 }, { "arm_loss_avg": 0.1692768048495054, "epoch": 3.24249267578125e-07, "step": 3400 }, { "ee_loss_avg": 0.12137851007282734, "epoch": 3.24249267578125e-07, "step": 3400 }, { "aux_loss_avg": 0.003188678401056677, "epoch": 3.24249267578125e-07, "step": 3400 }, { "epoch": 3.24249267578125e-07, "step": 3400, "training_step_time": 17.306641101837158 }, { "epoch": 3.2434463500976564e-07, "model_forward_time": 4.054748773574829, "step": 3401 }, { "epoch": 3.2434463500976564e-07, "step": 3401, "training_step_time": 17.70819592475891 }, { "epoch": 3.2444000244140625e-07, "model_forward_time": 5.04228401184082, "step": 3402 }, { "epoch": 3.2444000244140625e-07, "step": 3402, "training_step_time": 17.560500621795654 }, { "epoch": 3.2453536987304687e-07, "model_forward_time": 5.070716619491577, "step": 3403 }, { "epoch": 3.2453536987304687e-07, "step": 3403, "training_step_time": 17.5620334148407 }, { "epoch": 3.246307373046875e-07, "model_forward_time": 5.087343454360962, "step": 3404 }, { "epoch": 3.246307373046875e-07, "step": 3404, "training_step_time": 17.579648971557617 }, { "epoch": 3.2472610473632815e-07, "model_forward_time": 3.8622236251831055, "step": 3405 }, { "epoch": 3.2472610473632815e-07, "step": 3405, "training_step_time": 17.589871644973755 }, { "epoch": 3.2482147216796876e-07, "model_forward_time": 5.249121189117432, "step": 3406 }, { "epoch": 3.2482147216796876e-07, "step": 3406, "training_step_time": 17.83639621734619 }, { "epoch": 3.249168395996094e-07, "model_forward_time": 3.8453614711761475, "step": 3407 }, { "epoch": 3.249168395996094e-07, "step": 3407, "training_step_time": 17.597288846969604 }, { "epoch": 3.2501220703125e-07, "model_forward_time": 5.055168390274048, "step": 3408 }, { "epoch": 3.2501220703125e-07, "step": 3408, "training_step_time": 17.59607768058777 }, { "epoch": 3.251075744628906e-07, "model_forward_time": 5.066316604614258, "step": 3409 }, { "epoch": 3.251075744628906e-07, "step": 3409, "training_step_time": 17.589919805526733 }, { "epoch": 3.252029418945313e-07, "grad_norm": 1.7991597652435303, "learning_rate": 9.74e-06, "loss": 0.1609, "step": 3410 }, { "epoch": 3.252029418945313e-07, "model_forward_time": 5.079079866409302, "step": 3410 }, { "dynamics_loss_avg": 0.03903554882854223, "epoch": 3.252029418945313e-07, "step": 3410 }, { "action_loss_avg": 0.09389644265174865, "epoch": 3.252029418945313e-07, "step": 3410 }, { "arm_loss_avg": 0.24298459589481353, "epoch": 3.252029418945313e-07, "step": 3410 }, { "ee_loss_avg": 0.19156343601644038, "epoch": 3.252029418945313e-07, "step": 3410 }, { "aux_loss_avg": 0.014206496992846951, "epoch": 3.252029418945313e-07, "step": 3410 }, { "epoch": 3.252029418945313e-07, "step": 3410, "training_step_time": 17.586011171340942 }, { "epoch": 3.252983093261719e-07, "model_forward_time": 5.316348075866699, "step": 3411 }, { "epoch": 3.252983093261719e-07, "step": 3411, "training_step_time": 17.78670835494995 }, { "epoch": 3.253936767578125e-07, "model_forward_time": 5.0916571617126465, "step": 3412 }, { "epoch": 3.253936767578125e-07, "step": 3412, "training_step_time": 17.573850631713867 }, { "epoch": 3.254890441894531e-07, "model_forward_time": 5.094381093978882, "step": 3413 }, { "epoch": 3.254890441894531e-07, "step": 3413, "training_step_time": 17.57863426208496 }, { "epoch": 3.2558441162109373e-07, "model_forward_time": 5.094522476196289, "step": 3414 }, { "epoch": 3.2558441162109373e-07, "step": 3414, "training_step_time": 17.569250345230103 }, { "epoch": 3.256797790527344e-07, "model_forward_time": 5.095485687255859, "step": 3415 }, { "epoch": 3.256797790527344e-07, "step": 3415, "training_step_time": 17.79147505760193 }, { "epoch": 3.25775146484375e-07, "model_forward_time": 5.288873672485352, "step": 3416 }, { "epoch": 3.25775146484375e-07, "step": 3416, "training_step_time": 17.61009907722473 }, { "epoch": 3.2587051391601563e-07, "model_forward_time": 5.099756240844727, "step": 3417 }, { "epoch": 3.2587051391601563e-07, "step": 3417, "training_step_time": 17.615721464157104 }, { "epoch": 3.2596588134765624e-07, "model_forward_time": 5.096035957336426, "step": 3418 }, { "epoch": 3.2596588134765624e-07, "step": 3418, "training_step_time": 17.60774302482605 }, { "epoch": 3.2606124877929686e-07, "model_forward_time": 5.094753980636597, "step": 3419 }, { "epoch": 3.2606124877929686e-07, "step": 3419, "training_step_time": 17.605876684188843 }, { "epoch": 3.261566162109375e-07, "grad_norm": 1.7769818305969238, "learning_rate": 9.76857142857143e-06, "loss": 0.1766, "step": 3420 }, { "epoch": 3.261566162109375e-07, "model_forward_time": 5.077244758605957, "step": 3420 }, { "dynamics_loss_avg": 0.04560184199362993, "epoch": 3.261566162109375e-07, "step": 3420 }, { "action_loss_avg": 0.1267760768532753, "epoch": 3.261566162109375e-07, "step": 3420 }, { "arm_loss_avg": 0.22692252844572067, "epoch": 3.261566162109375e-07, "step": 3420 }, { "ee_loss_avg": 0.13254349045455455, "epoch": 3.261566162109375e-07, "step": 3420 }, { "aux_loss_avg": 0.0013872031413484365, "epoch": 3.261566162109375e-07, "step": 3420 }, { "epoch": 3.261566162109375e-07, "step": 3420, "training_step_time": 17.773168563842773 }, { "epoch": 3.2625198364257814e-07, "model_forward_time": 5.308240175247192, "step": 3421 }, { "epoch": 3.2625198364257814e-07, "step": 3421, "training_step_time": 17.59007430076599 }, { "epoch": 3.2634735107421875e-07, "model_forward_time": 5.077613353729248, "step": 3422 }, { "epoch": 3.2634735107421875e-07, "step": 3422, "training_step_time": 17.581462621688843 }, { "epoch": 3.2644271850585937e-07, "model_forward_time": 5.077829360961914, "step": 3423 }, { "epoch": 3.2644271850585937e-07, "step": 3423, "training_step_time": 17.58404779434204 }, { "epoch": 3.265380859375e-07, "model_forward_time": 5.0799925327301025, "step": 3424 }, { "epoch": 3.265380859375e-07, "step": 3424, "training_step_time": 17.58871293067932 }, { "epoch": 3.2663345336914065e-07, "model_forward_time": 5.080233812332153, "step": 3425 }, { "epoch": 3.2663345336914065e-07, "step": 3425, "training_step_time": 17.82091736793518 }, { "epoch": 3.2672882080078126e-07, "model_forward_time": 5.265508651733398, "step": 3426 }, { "epoch": 3.2672882080078126e-07, "step": 3426, "training_step_time": 17.599528312683105 }, { "epoch": 3.268241882324219e-07, "model_forward_time": 5.079548358917236, "step": 3427 }, { "epoch": 3.268241882324219e-07, "step": 3427, "training_step_time": 17.595505237579346 }, { "epoch": 3.269195556640625e-07, "model_forward_time": 5.080973863601685, "step": 3428 }, { "epoch": 3.269195556640625e-07, "step": 3428, "training_step_time": 17.600444316864014 }, { "epoch": 3.270149230957031e-07, "model_forward_time": 5.0809948444366455, "step": 3429 }, { "epoch": 3.270149230957031e-07, "step": 3429, "training_step_time": 17.594318628311157 }, { "epoch": 3.271102905273438e-07, "grad_norm": 3.318129301071167, "learning_rate": 9.797142857142858e-06, "loss": 0.2063, "step": 3430 }, { "epoch": 3.271102905273438e-07, "model_forward_time": 5.080813407897949, "step": 3430 }, { "dynamics_loss_avg": 0.04279936440289021, "epoch": 3.271102905273438e-07, "step": 3430 }, { "action_loss_avg": 0.14370949193835258, "epoch": 3.271102905273438e-07, "step": 3430 }, { "arm_loss_avg": 0.19490419179201127, "epoch": 3.271102905273438e-07, "step": 3430 }, { "ee_loss_avg": 0.26998176276683805, "epoch": 3.271102905273438e-07, "step": 3430 }, { "aux_loss_avg": 0.0011912800779100507, "epoch": 3.271102905273438e-07, "step": 3430 }, { "epoch": 3.271102905273438e-07, "step": 3430, "training_step_time": 17.777506351470947 }, { "epoch": 3.272056579589844e-07, "model_forward_time": 5.314067840576172, "step": 3431 }, { "epoch": 3.272056579589844e-07, "step": 3431, "training_step_time": 17.581149578094482 }, { "epoch": 3.27301025390625e-07, "model_forward_time": 5.079084396362305, "step": 3432 }, { "epoch": 3.27301025390625e-07, "step": 3432, "training_step_time": 17.59350895881653 }, { "epoch": 3.273963928222656e-07, "model_forward_time": 3.848292589187622, "step": 3433 }, { "epoch": 3.273963928222656e-07, "step": 3433, "training_step_time": 17.46043610572815 }, { "epoch": 3.2749176025390623e-07, "model_forward_time": 5.056654691696167, "step": 3434 }, { "epoch": 3.2749176025390623e-07, "step": 3434, "training_step_time": 17.503581047058105 }, { "epoch": 3.275871276855469e-07, "model_forward_time": 5.06304931640625, "step": 3435 }, { "epoch": 3.275871276855469e-07, "step": 3435, "training_step_time": 17.75652050971985 }, { "epoch": 3.276824951171875e-07, "model_forward_time": 4.020005226135254, "step": 3436 }, { "epoch": 3.276824951171875e-07, "step": 3436, "training_step_time": 17.56138014793396 }, { "epoch": 3.2777786254882813e-07, "model_forward_time": 5.057527542114258, "step": 3437 }, { "epoch": 3.2777786254882813e-07, "step": 3437, "training_step_time": 17.608525037765503 }, { "epoch": 3.2787322998046874e-07, "model_forward_time": 5.069508790969849, "step": 3438 }, { "epoch": 3.2787322998046874e-07, "step": 3438, "training_step_time": 17.57620596885681 }, { "epoch": 3.2796859741210936e-07, "model_forward_time": 5.08389949798584, "step": 3439 }, { "epoch": 3.2796859741210936e-07, "step": 3439, "training_step_time": 17.582687854766846 }, { "epoch": 3.2806396484375e-07, "grad_norm": 1.9456075429916382, "learning_rate": 9.825714285714286e-06, "loss": 0.1966, "step": 3440 }, { "epoch": 3.2806396484375e-07, "model_forward_time": 5.095459461212158, "step": 3440 }, { "dynamics_loss_avg": 0.0529881464317441, "epoch": 3.2806396484375e-07, "step": 3440 }, { "action_loss_avg": 0.14681730568408966, "epoch": 3.2806396484375e-07, "step": 3440 }, { "arm_loss_avg": 0.19615813195705414, "epoch": 3.2806396484375e-07, "step": 3440 }, { "ee_loss_avg": 0.30296310149133204, "epoch": 3.2806396484375e-07, "step": 3440 }, { "aux_loss_avg": 0.011911217507440596, "epoch": 3.2806396484375e-07, "step": 3440 }, { "epoch": 3.2806396484375e-07, "step": 3440, "training_step_time": 17.78937840461731 }, { "epoch": 3.2815933227539064e-07, "model_forward_time": 5.3293373584747314, "step": 3441 }, { "epoch": 3.2815933227539064e-07, "step": 3441, "training_step_time": 17.604156017303467 }, { "epoch": 3.2825469970703126e-07, "model_forward_time": 5.097832918167114, "step": 3442 }, { "epoch": 3.2825469970703126e-07, "step": 3442, "training_step_time": 17.601041793823242 }, { "epoch": 3.2835006713867187e-07, "model_forward_time": 5.094113826751709, "step": 3443 }, { "epoch": 3.2835006713867187e-07, "step": 3443, "training_step_time": 17.602419137954712 }, { "epoch": 3.284454345703125e-07, "model_forward_time": 5.093372583389282, "step": 3444 }, { "epoch": 3.284454345703125e-07, "step": 3444, "training_step_time": 17.610788822174072 }, { "epoch": 3.285408020019531e-07, "model_forward_time": 3.852241277694702, "step": 3445 }, { "epoch": 3.285408020019531e-07, "step": 3445, "training_step_time": 17.823128700256348 }, { "epoch": 3.2863616943359377e-07, "model_forward_time": 5.266308546066284, "step": 3446 }, { "epoch": 3.2863616943359377e-07, "step": 3446, "training_step_time": 17.59587001800537 }, { "epoch": 3.287315368652344e-07, "model_forward_time": 5.06730318069458, "step": 3447 }, { "epoch": 3.287315368652344e-07, "step": 3447, "training_step_time": 17.586284637451172 }, { "epoch": 3.28826904296875e-07, "model_forward_time": 5.073240280151367, "step": 3448 }, { "epoch": 3.28826904296875e-07, "step": 3448, "training_step_time": 17.574718236923218 }, { "epoch": 3.289222717285156e-07, "model_forward_time": 5.077947616577148, "step": 3449 }, { "epoch": 3.289222717285156e-07, "step": 3449, "training_step_time": 17.573535919189453 }, { "epoch": 3.290176391601562e-07, "grad_norm": 3.3972067832946777, "learning_rate": 9.854285714285716e-06, "loss": 0.2065, "step": 3450 }, { "epoch": 3.290176391601562e-07, "model_forward_time": 5.08289361000061, "step": 3450 }, { "dynamics_loss_avg": 0.04616161622107029, "epoch": 3.290176391601562e-07, "step": 3450 }, { "action_loss_avg": 0.11846009343862533, "epoch": 3.290176391601562e-07, "step": 3450 }, { "arm_loss_avg": 0.193238814920187, "epoch": 3.290176391601562e-07, "step": 3450 }, { "ee_loss_avg": 0.2182076532393694, "epoch": 3.290176391601562e-07, "step": 3450 }, { "aux_loss_avg": 0.001554548292187974, "epoch": 3.290176391601562e-07, "step": 3450 }, { "epoch": 3.290176391601562e-07, "step": 3450, "training_step_time": 17.78851008415222 }, { "epoch": 3.291130065917969e-07, "model_forward_time": 5.08768892288208, "step": 3451 }, { "epoch": 3.291130065917969e-07, "step": 3451, "training_step_time": 17.567463159561157 }, { "epoch": 3.292083740234375e-07, "model_forward_time": 5.086144924163818, "step": 3452 }, { "epoch": 3.292083740234375e-07, "step": 3452, "training_step_time": 17.584115266799927 }, { "epoch": 3.293037414550781e-07, "model_forward_time": 5.087498903274536, "step": 3453 }, { "epoch": 3.293037414550781e-07, "step": 3453, "training_step_time": 17.461961030960083 }, { "epoch": 3.2939910888671874e-07, "model_forward_time": 5.0866310596466064, "step": 3454 }, { "epoch": 3.2939910888671874e-07, "step": 3454, "training_step_time": 17.39191961288452 }, { "epoch": 3.2949447631835935e-07, "model_forward_time": 5.08679461479187, "step": 3455 }, { "epoch": 3.2949447631835935e-07, "step": 3455, "training_step_time": 17.451422452926636 }, { "epoch": 3.2958984375e-07, "model_forward_time": 5.277541160583496, "step": 3456 }, { "epoch": 3.2958984375e-07, "step": 3456, "training_step_time": 17.61371898651123 }, { "epoch": 3.2968521118164063e-07, "model_forward_time": 5.081563234329224, "step": 3457 }, { "epoch": 3.2968521118164063e-07, "step": 3457, "training_step_time": 17.389639854431152 }, { "epoch": 3.2978057861328125e-07, "model_forward_time": 5.080164194107056, "step": 3458 }, { "epoch": 3.2978057861328125e-07, "step": 3458, "training_step_time": 17.467198133468628 }, { "epoch": 3.2987594604492186e-07, "model_forward_time": 5.075894594192505, "step": 3459 }, { "epoch": 3.2987594604492186e-07, "step": 3459, "training_step_time": 17.558967351913452 }, { "epoch": 3.299713134765625e-07, "grad_norm": 3.47289776802063, "learning_rate": 9.882857142857144e-06, "loss": 0.1871, "step": 3460 }, { "epoch": 3.299713134765625e-07, "model_forward_time": 5.079274892807007, "step": 3460 }, { "dynamics_loss_avg": 0.048026907816529275, "epoch": 3.299713134765625e-07, "step": 3460 }, { "action_loss_avg": 0.15252545848488808, "epoch": 3.299713134765625e-07, "step": 3460 }, { "arm_loss_avg": 0.21251577287912368, "epoch": 3.299713134765625e-07, "step": 3460 }, { "ee_loss_avg": 0.12969410046935081, "epoch": 3.299713134765625e-07, "step": 3460 }, { "aux_loss_avg": 0.0015294994809664786, "epoch": 3.299713134765625e-07, "step": 3460 }, { "epoch": 3.299713134765625e-07, "step": 3460, "training_step_time": 17.619446992874146 }, { "epoch": 3.3006668090820314e-07, "model_forward_time": 5.3150315284729, "step": 3461 }, { "epoch": 3.3006668090820314e-07, "step": 3461, "training_step_time": 17.832364320755005 }, { "epoch": 3.3016204833984376e-07, "model_forward_time": 5.078211784362793, "step": 3462 }, { "epoch": 3.3016204833984376e-07, "step": 3462, "training_step_time": 17.648711919784546 }, { "epoch": 3.3025741577148437e-07, "model_forward_time": 3.846881151199341, "step": 3463 }, { "epoch": 3.3025741577148437e-07, "step": 3463, "training_step_time": 17.64214777946472 }, { "epoch": 3.30352783203125e-07, "model_forward_time": 5.0533764362335205, "step": 3464 }, { "epoch": 3.30352783203125e-07, "step": 3464, "training_step_time": 17.632341146469116 }, { "epoch": 3.304481506347656e-07, "model_forward_time": 5.063738822937012, "step": 3465 }, { "epoch": 3.304481506347656e-07, "step": 3465, "training_step_time": 17.37488603591919 }, { "epoch": 3.3054351806640627e-07, "model_forward_time": 5.074918031692505, "step": 3466 }, { "epoch": 3.3054351806640627e-07, "step": 3466, "training_step_time": 17.743036031723022 }, { "epoch": 3.306388854980469e-07, "model_forward_time": 5.3043694496154785, "step": 3467 }, { "epoch": 3.306388854980469e-07, "step": 3467, "training_step_time": 17.541993856430054 }, { "epoch": 3.307342529296875e-07, "model_forward_time": 5.089193344116211, "step": 3468 }, { "epoch": 3.307342529296875e-07, "step": 3468, "training_step_time": 17.560441493988037 }, { "epoch": 3.308296203613281e-07, "model_forward_time": 5.093456029891968, "step": 3469 }, { "epoch": 3.308296203613281e-07, "step": 3469, "training_step_time": 17.57694125175476 }, { "epoch": 3.309249877929687e-07, "grad_norm": 1.781752586364746, "learning_rate": 9.911428571428572e-06, "loss": 0.1918, "step": 3470 }, { "epoch": 3.309249877929687e-07, "model_forward_time": 5.091169834136963, "step": 3470 }, { "dynamics_loss_avg": 0.05245845718309283, "epoch": 3.309249877929687e-07, "step": 3470 }, { "action_loss_avg": 0.1264541544020176, "epoch": 3.309249877929687e-07, "step": 3470 }, { "arm_loss_avg": 0.16677088886499405, "epoch": 3.309249877929687e-07, "step": 3470 }, { "ee_loss_avg": 0.1493723329156637, "epoch": 3.309249877929687e-07, "step": 3470 }, { "aux_loss_avg": 0.0012987325666472317, "epoch": 3.309249877929687e-07, "step": 3470 }, { "epoch": 3.309249877929687e-07, "step": 3470, "training_step_time": 17.584797620773315 }, { "epoch": 3.310203552246094e-07, "model_forward_time": 5.089754104614258, "step": 3471 }, { "epoch": 3.310203552246094e-07, "step": 3471, "training_step_time": 17.78418469429016 }, { "epoch": 3.3111572265625e-07, "model_forward_time": 3.851604700088501, "step": 3472 }, { "epoch": 3.3111572265625e-07, "step": 3472, "training_step_time": 17.603670597076416 }, { "epoch": 3.312110900878906e-07, "model_forward_time": 5.055958271026611, "step": 3473 }, { "epoch": 3.312110900878906e-07, "step": 3473, "training_step_time": 17.619852781295776 }, { "epoch": 3.3130645751953124e-07, "model_forward_time": 5.0629355907440186, "step": 3474 }, { "epoch": 3.3130645751953124e-07, "step": 3474, "training_step_time": 17.611194849014282 }, { "epoch": 3.3140182495117185e-07, "model_forward_time": 5.069565296173096, "step": 3475 }, { "epoch": 3.3140182495117185e-07, "step": 3475, "training_step_time": 17.605687618255615 }, { "epoch": 3.314971923828125e-07, "model_forward_time": 5.07763409614563, "step": 3476 }, { "epoch": 3.314971923828125e-07, "step": 3476, "training_step_time": 17.828578233718872 }, { "epoch": 3.3159255981445313e-07, "model_forward_time": 5.269840478897095, "step": 3477 }, { "epoch": 3.3159255981445313e-07, "step": 3477, "training_step_time": 17.596611261367798 }, { "epoch": 3.3168792724609375e-07, "model_forward_time": 5.08704400062561, "step": 3478 }, { "epoch": 3.3168792724609375e-07, "step": 3478, "training_step_time": 17.580657720565796 }, { "epoch": 3.3178329467773436e-07, "model_forward_time": 5.089409351348877, "step": 3479 }, { "epoch": 3.3178329467773436e-07, "step": 3479, "training_step_time": 17.578639030456543 }, { "epoch": 3.31878662109375e-07, "grad_norm": 2.2273013591766357, "learning_rate": 9.940000000000001e-06, "loss": 0.177, "step": 3480 }, { "epoch": 3.31878662109375e-07, "model_forward_time": 5.089759826660156, "step": 3480 }, { "dynamics_loss_avg": 0.04153360165655613, "epoch": 3.31878662109375e-07, "step": 3480 }, { "action_loss_avg": 0.11289620324969292, "epoch": 3.31878662109375e-07, "step": 3480 }, { "arm_loss_avg": 0.19350984916090966, "epoch": 3.31878662109375e-07, "step": 3480 }, { "ee_loss_avg": 0.19357185922563075, "epoch": 3.31878662109375e-07, "step": 3480 }, { "aux_loss_avg": 0.0021771253785118462, "epoch": 3.31878662109375e-07, "step": 3480 }, { "epoch": 3.31878662109375e-07, "step": 3480, "training_step_time": 17.577939748764038 }, { "epoch": 3.3197402954101564e-07, "model_forward_time": 5.088208436965942, "step": 3481 }, { "epoch": 3.3197402954101564e-07, "step": 3481, "training_step_time": 17.760061740875244 }, { "epoch": 3.3206939697265626e-07, "model_forward_time": 5.084047794342041, "step": 3482 }, { "epoch": 3.3206939697265626e-07, "step": 3482, "training_step_time": 17.568787574768066 }, { "epoch": 3.321647644042969e-07, "model_forward_time": 5.086974382400513, "step": 3483 }, { "epoch": 3.321647644042969e-07, "step": 3483, "training_step_time": 17.571930408477783 }, { "epoch": 3.322601318359375e-07, "model_forward_time": 5.080418825149536, "step": 3484 }, { "epoch": 3.322601318359375e-07, "step": 3484, "training_step_time": 17.574997186660767 }, { "epoch": 3.323554992675781e-07, "model_forward_time": 5.081212043762207, "step": 3485 }, { "epoch": 3.323554992675781e-07, "step": 3485, "training_step_time": 17.578274250030518 }, { "epoch": 3.3245086669921877e-07, "model_forward_time": 5.279353618621826, "step": 3486 }, { "epoch": 3.3245086669921877e-07, "step": 3486, "training_step_time": 17.80684518814087 }, { "epoch": 3.325462341308594e-07, "model_forward_time": 5.078113555908203, "step": 3487 }, { "epoch": 3.325462341308594e-07, "step": 3487, "training_step_time": 17.597537755966187 }, { "epoch": 3.326416015625e-07, "model_forward_time": 5.078123092651367, "step": 3488 }, { "epoch": 3.326416015625e-07, "step": 3488, "training_step_time": 17.567981719970703 }, { "epoch": 3.327369689941406e-07, "model_forward_time": 5.080490589141846, "step": 3489 }, { "epoch": 3.327369689941406e-07, "step": 3489, "training_step_time": 17.566776037216187 }, { "epoch": 3.3283233642578123e-07, "grad_norm": 3.144477605819702, "learning_rate": 9.96857142857143e-06, "loss": 0.183, "step": 3490 }, { "epoch": 3.3283233642578123e-07, "model_forward_time": 5.078656911849976, "step": 3490 }, { "dynamics_loss_avg": 0.03642050735652447, "epoch": 3.3283233642578123e-07, "step": 3490 }, { "action_loss_avg": 0.1278097599744797, "epoch": 3.3283233642578123e-07, "step": 3490 }, { "arm_loss_avg": 0.20686960071325303, "epoch": 3.3283233642578123e-07, "step": 3490 }, { "ee_loss_avg": 0.1806565947830677, "epoch": 3.3283233642578123e-07, "step": 3490 }, { "aux_loss_avg": 0.0026156774314586074, "epoch": 3.3283233642578123e-07, "step": 3490 }, { "epoch": 3.3283233642578123e-07, "step": 3490, "training_step_time": 17.38447618484497 }, { "epoch": 3.329277038574219e-07, "model_forward_time": 5.082831144332886, "step": 3491 }, { "epoch": 3.329277038574219e-07, "step": 3491, "training_step_time": 17.677157878875732 }, { "epoch": 3.330230712890625e-07, "model_forward_time": 5.083364486694336, "step": 3492 }, { "epoch": 3.330230712890625e-07, "step": 3492, "training_step_time": 17.53917407989502 }, { "epoch": 3.331184387207031e-07, "model_forward_time": 5.084147930145264, "step": 3493 }, { "epoch": 3.331184387207031e-07, "step": 3493, "training_step_time": 17.56134796142578 }, { "epoch": 3.3321380615234374e-07, "model_forward_time": 5.080863952636719, "step": 3494 }, { "epoch": 3.3321380615234374e-07, "step": 3494, "training_step_time": 17.581538677215576 }, { "epoch": 3.3330917358398435e-07, "model_forward_time": 5.08254337310791, "step": 3495 }, { "epoch": 3.3330917358398435e-07, "step": 3495, "training_step_time": 17.60065245628357 }, { "epoch": 3.33404541015625e-07, "model_forward_time": 5.270566463470459, "step": 3496 }, { "epoch": 3.33404541015625e-07, "step": 3496, "training_step_time": 17.834562063217163 }, { "epoch": 3.3349990844726564e-07, "model_forward_time": 5.093995571136475, "step": 3497 }, { "epoch": 3.3349990844726564e-07, "step": 3497, "training_step_time": 17.632872819900513 }, { "epoch": 3.3359527587890625e-07, "model_forward_time": 5.099222898483276, "step": 3498 }, { "epoch": 3.3359527587890625e-07, "step": 3498, "training_step_time": 17.640271425247192 }, { "epoch": 3.3369064331054686e-07, "model_forward_time": 5.096620559692383, "step": 3499 }, { "epoch": 3.3369064331054686e-07, "step": 3499, "training_step_time": 17.643707990646362 }, { "epoch": 3.337860107421875e-07, "grad_norm": 1.83951997756958, "learning_rate": 9.997142857142858e-06, "loss": 0.1689, "step": 3500 }, { "epoch": 3.337860107421875e-07, "model_forward_time": 5.096741437911987, "step": 3500 }, { "dynamics_loss_avg": 0.030977153778076173, "epoch": 3.337860107421875e-07, "step": 3500 }, { "action_loss_avg": 0.11882469058036804, "epoch": 3.337860107421875e-07, "step": 3500 }, { "arm_loss_avg": 0.2006078615784645, "epoch": 3.337860107421875e-07, "step": 3500 }, { "ee_loss_avg": 0.17485362105071545, "epoch": 3.337860107421875e-07, "step": 3500 }, { "aux_loss_avg": 0.0017090538050979376, "epoch": 3.337860107421875e-07, "step": 3500 }, { "epoch": 3.337860107421875e-07, "step": 3500, "training_step_time": 17.6254985332489 }, { "epoch": 3.3388137817382815e-07, "model_forward_time": 5.323892831802368, "step": 3501 }, { "epoch": 3.3388137817382815e-07, "step": 3501, "training_step_time": 17.430460214614868 }, { "epoch": 3.3397674560546876e-07, "model_forward_time": 5.085889101028442, "step": 3502 }, { "epoch": 3.3397674560546876e-07, "step": 3502, "training_step_time": 17.582211017608643 }, { "epoch": 3.340721130371094e-07, "model_forward_time": 3.849207639694214, "step": 3503 }, { "epoch": 3.340721130371094e-07, "step": 3503, "training_step_time": 17.575143337249756 }, { "epoch": 3.3416748046875e-07, "model_forward_time": 5.060263395309448, "step": 3504 }, { "epoch": 3.3416748046875e-07, "step": 3504, "training_step_time": 17.571831226348877 }, { "epoch": 3.342628479003906e-07, "model_forward_time": 5.067581653594971, "step": 3505 }, { "epoch": 3.342628479003906e-07, "step": 3505, "training_step_time": 17.557812452316284 }, { "epoch": 3.3435821533203127e-07, "model_forward_time": 5.074581623077393, "step": 3506 }, { "epoch": 3.3435821533203127e-07, "step": 3506, "training_step_time": 17.793723344802856 }, { "epoch": 3.344535827636719e-07, "model_forward_time": 5.30735182762146, "step": 3507 }, { "epoch": 3.344535827636719e-07, "step": 3507, "training_step_time": 17.551187992095947 }, { "epoch": 3.345489501953125e-07, "model_forward_time": 5.085418939590454, "step": 3508 }, { "epoch": 3.345489501953125e-07, "step": 3508, "training_step_time": 17.5512433052063 }, { "epoch": 3.346443176269531e-07, "model_forward_time": 5.092536926269531, "step": 3509 }, { "epoch": 3.346443176269531e-07, "step": 3509, "training_step_time": 17.363102197647095 }, { "epoch": 3.3473968505859373e-07, "grad_norm": 1.9984583854675293, "learning_rate": 9.999999548059278e-06, "loss": 0.1819, "step": 3510 }, { "epoch": 3.3473968505859373e-07, "model_forward_time": 5.092770576477051, "step": 3510 }, { "dynamics_loss_avg": 0.04543473282828927, "epoch": 3.3473968505859373e-07, "step": 3510 }, { "action_loss_avg": 0.12971111610531808, "epoch": 3.3473968505859373e-07, "step": 3510 }, { "arm_loss_avg": 0.18633246719837188, "epoch": 3.3473968505859373e-07, "step": 3510 }, { "ee_loss_avg": 0.23087554499506951, "epoch": 3.3473968505859373e-07, "step": 3510 }, { "aux_loss_avg": 0.00470471796579659, "epoch": 3.3473968505859373e-07, "step": 3510 }, { "epoch": 3.3473968505859373e-07, "step": 3510, "training_step_time": 17.4732403755188 }, { "epoch": 3.348350524902344e-07, "model_forward_time": 5.094093322753906, "step": 3511 }, { "epoch": 3.348350524902344e-07, "step": 3511, "training_step_time": 17.615781784057617 }, { "epoch": 3.34930419921875e-07, "model_forward_time": 5.091454029083252, "step": 3512 }, { "epoch": 3.34930419921875e-07, "step": 3512, "training_step_time": 17.400235176086426 }, { "epoch": 3.350257873535156e-07, "model_forward_time": 3.8518481254577637, "step": 3513 }, { "epoch": 3.350257873535156e-07, "step": 3513, "training_step_time": 17.25850796699524 }, { "epoch": 3.3512115478515624e-07, "model_forward_time": 5.056107521057129, "step": 3514 }, { "epoch": 3.3512115478515624e-07, "step": 3514, "training_step_time": 17.477052688598633 }, { "epoch": 3.3521652221679686e-07, "model_forward_time": 5.065190076828003, "step": 3515 }, { "epoch": 3.3521652221679686e-07, "step": 3515, "training_step_time": 17.539936065673828 }, { "epoch": 3.353118896484375e-07, "model_forward_time": 3.83906626701355, "step": 3516 }, { "epoch": 3.353118896484375e-07, "step": 3516, "training_step_time": 17.59155559539795 }, { "epoch": 3.3540725708007814e-07, "model_forward_time": 5.2331626415252686, "step": 3517 }, { "epoch": 3.3540725708007814e-07, "step": 3517, "training_step_time": 17.856308221817017 }, { "epoch": 3.3550262451171875e-07, "model_forward_time": 5.060751676559448, "step": 3518 }, { "epoch": 3.3550262451171875e-07, "step": 3518, "training_step_time": 17.637707233428955 }, { "epoch": 3.3559799194335937e-07, "model_forward_time": 5.078564167022705, "step": 3519 }, { "epoch": 3.3559799194335937e-07, "step": 3519, "training_step_time": 17.403040170669556 }, { "epoch": 3.35693359375e-07, "grad_norm": 1.930100679397583, "learning_rate": 9.999997985795156e-06, "loss": 0.1748, "step": 3520 }, { "epoch": 3.35693359375e-07, "model_forward_time": 5.092583417892456, "step": 3520 }, { "dynamics_loss_avg": 0.04419866688549519, "epoch": 3.35693359375e-07, "step": 3520 }, { "action_loss_avg": 0.13052360527217388, "epoch": 3.35693359375e-07, "step": 3520 }, { "arm_loss_avg": 0.1914251282811165, "epoch": 3.35693359375e-07, "step": 3520 }, { "ee_loss_avg": 0.21843078285455703, "epoch": 3.35693359375e-07, "step": 3520 }, { "aux_loss_avg": 0.0011228676419705152, "epoch": 3.35693359375e-07, "step": 3520 }, { "epoch": 3.35693359375e-07, "step": 3520, "training_step_time": 17.55537724494934 }, { "epoch": 3.3578872680664065e-07, "model_forward_time": 5.098882675170898, "step": 3521 }, { "epoch": 3.3578872680664065e-07, "step": 3521, "training_step_time": 17.58780312538147 }, { "epoch": 3.3588409423828126e-07, "model_forward_time": 4.109367847442627, "step": 3522 }, { "epoch": 3.3588409423828126e-07, "step": 3522, "training_step_time": 17.78278875350952 }, { "epoch": 3.359794616699219e-07, "model_forward_time": 5.0654356479644775, "step": 3523 }, { "epoch": 3.359794616699219e-07, "step": 3523, "training_step_time": 17.608590126037598 }, { "epoch": 3.360748291015625e-07, "model_forward_time": 5.074880838394165, "step": 3524 }, { "epoch": 3.360748291015625e-07, "step": 3524, "training_step_time": 17.60198426246643 }, { "epoch": 3.361701965332031e-07, "model_forward_time": 5.080599546432495, "step": 3525 }, { "epoch": 3.361701965332031e-07, "step": 3525, "training_step_time": 17.47753620147705 }, { "epoch": 3.3626556396484377e-07, "model_forward_time": 5.08628511428833, "step": 3526 }, { "epoch": 3.3626556396484377e-07, "step": 3526, "training_step_time": 17.507988691329956 }, { "epoch": 3.363609313964844e-07, "model_forward_time": 5.282545804977417, "step": 3527 }, { "epoch": 3.363609313964844e-07, "step": 3527, "training_step_time": 17.783684253692627 }, { "epoch": 3.36456298828125e-07, "model_forward_time": 5.091787099838257, "step": 3528 }, { "epoch": 3.36456298828125e-07, "step": 3528, "training_step_time": 17.565831422805786 }, { "epoch": 3.365516662597656e-07, "model_forward_time": 3.851987600326538, "step": 3529 }, { "epoch": 3.365516662597656e-07, "step": 3529, "training_step_time": 17.590067863464355 }, { "epoch": 3.3664703369140623e-07, "grad_norm": 3.2578790187835693, "learning_rate": 9.999995307628469e-06, "loss": 0.1951, "step": 3530 }, { "epoch": 3.3664703369140623e-07, "model_forward_time": 5.057323694229126, "step": 3530 }, { "dynamics_loss_avg": 0.04378497907891869, "epoch": 3.3664703369140623e-07, "step": 3530 }, { "action_loss_avg": 0.12922938223928213, "epoch": 3.3664703369140623e-07, "step": 3530 }, { "arm_loss_avg": 0.20238283053040504, "epoch": 3.3664703369140623e-07, "step": 3530 }, { "ee_loss_avg": 0.21063874922692777, "epoch": 3.3664703369140623e-07, "step": 3530 }, { "aux_loss_avg": 0.00488878019968979, "epoch": 3.3664703369140623e-07, "step": 3530 }, { "epoch": 3.3664703369140623e-07, "step": 3530, "training_step_time": 17.601011514663696 }, { "epoch": 3.367424011230469e-07, "model_forward_time": 5.069967985153198, "step": 3531 }, { "epoch": 3.367424011230469e-07, "step": 3531, "training_step_time": 17.61489486694336 }, { "epoch": 3.368377685546875e-07, "model_forward_time": 5.3023905754089355, "step": 3532 }, { "epoch": 3.368377685546875e-07, "step": 3532, "training_step_time": 17.799956798553467 }, { "epoch": 3.3693313598632813e-07, "model_forward_time": 3.8508708477020264, "step": 3533 }, { "epoch": 3.3693313598632813e-07, "step": 3533, "training_step_time": 17.601794004440308 }, { "epoch": 3.3702850341796874e-07, "model_forward_time": 5.058293104171753, "step": 3534 }, { "epoch": 3.3702850341796874e-07, "step": 3534, "training_step_time": 17.408611297607422 }, { "epoch": 3.3712387084960936e-07, "model_forward_time": 5.074880838394165, "step": 3535 }, { "epoch": 3.3712387084960936e-07, "step": 3535, "training_step_time": 17.51029062271118 }, { "epoch": 3.3721923828125e-07, "model_forward_time": 5.096872568130493, "step": 3536 }, { "epoch": 3.3721923828125e-07, "step": 3536, "training_step_time": 17.57491946220398 }, { "epoch": 3.3731460571289064e-07, "model_forward_time": 5.32951021194458, "step": 3537 }, { "epoch": 3.3731460571289064e-07, "step": 3537, "training_step_time": 17.843917846679688 }, { "epoch": 3.3740997314453125e-07, "model_forward_time": 3.868610143661499, "step": 3538 }, { "epoch": 3.3740997314453125e-07, "step": 3538, "training_step_time": 17.630088567733765 }, { "epoch": 3.3750534057617187e-07, "model_forward_time": 5.073843002319336, "step": 3539 }, { "epoch": 3.3750534057617187e-07, "step": 3539, "training_step_time": 17.632763862609863 }, { "epoch": 3.376007080078125e-07, "grad_norm": 2.477388858795166, "learning_rate": 9.999991513559814e-06, "loss": 0.1641, "step": 3540 }, { "epoch": 3.376007080078125e-07, "model_forward_time": 5.084051609039307, "step": 3540 }, { "dynamics_loss_avg": 0.04425771068781614, "epoch": 3.376007080078125e-07, "step": 3540 }, { "action_loss_avg": 0.13144289404153825, "epoch": 3.376007080078125e-07, "step": 3540 }, { "arm_loss_avg": 0.18013510927557946, "epoch": 3.376007080078125e-07, "step": 3540 }, { "ee_loss_avg": 0.19825747199356555, "epoch": 3.376007080078125e-07, "step": 3540 }, { "aux_loss_avg": 0.0013666480779647827, "epoch": 3.376007080078125e-07, "step": 3540 }, { "epoch": 3.376007080078125e-07, "step": 3540, "training_step_time": 17.625080585479736 }, { "epoch": 3.3769607543945315e-07, "model_forward_time": 5.0822272300720215, "step": 3541 }, { "epoch": 3.3769607543945315e-07, "step": 3541, "training_step_time": 17.60175108909607 }, { "epoch": 3.3779144287109376e-07, "model_forward_time": 4.0906476974487305, "step": 3542 }, { "epoch": 3.3779144287109376e-07, "step": 3542, "training_step_time": 17.79328417778015 }, { "epoch": 3.378868103027344e-07, "model_forward_time": 5.06326961517334, "step": 3543 }, { "epoch": 3.378868103027344e-07, "step": 3543, "training_step_time": 17.596945762634277 }, { "epoch": 3.37982177734375e-07, "model_forward_time": 5.073959589004517, "step": 3544 }, { "epoch": 3.37982177734375e-07, "step": 3544, "training_step_time": 17.59602665901184 }, { "epoch": 3.380775451660156e-07, "model_forward_time": 5.0831687450408936, "step": 3545 }, { "epoch": 3.380775451660156e-07, "step": 3545, "training_step_time": 17.58768582344055 }, { "epoch": 3.381729125976563e-07, "model_forward_time": 5.090675115585327, "step": 3546 }, { "epoch": 3.381729125976563e-07, "step": 3546, "training_step_time": 17.81591796875 }, { "epoch": 3.382682800292969e-07, "model_forward_time": 5.273802995681763, "step": 3547 }, { "epoch": 3.382682800292969e-07, "step": 3547, "training_step_time": 17.584755659103394 }, { "epoch": 3.383636474609375e-07, "model_forward_time": 5.095083475112915, "step": 3548 }, { "epoch": 3.383636474609375e-07, "step": 3548, "training_step_time": 17.597094774246216 }, { "epoch": 3.384590148925781e-07, "model_forward_time": 5.0930469036102295, "step": 3549 }, { "epoch": 3.384590148925781e-07, "step": 3549, "training_step_time": 17.587324380874634 }, { "epoch": 3.3855438232421873e-07, "grad_norm": 3.68599009513855, "learning_rate": 9.999986603590038e-06, "loss": 0.1637, "step": 3550 }, { "epoch": 3.3855438232421873e-07, "model_forward_time": 3.8561086654663086, "step": 3550 }, { "dynamics_loss_avg": 0.035318825859576464, "epoch": 3.3855438232421873e-07, "step": 3550 }, { "action_loss_avg": 0.09358959011733532, "epoch": 3.3855438232421873e-07, "step": 3550 }, { "arm_loss_avg": 0.1759535439312458, "epoch": 3.3855438232421873e-07, "step": 3550 }, { "ee_loss_avg": 0.19857350885868072, "epoch": 3.3855438232421873e-07, "step": 3550 }, { "aux_loss_avg": 0.0011670851497910916, "epoch": 3.3855438232421873e-07, "step": 3550 }, { "epoch": 3.3855438232421873e-07, "step": 3550, "training_step_time": 17.582578897476196 }, { "epoch": 3.386497497558594e-07, "model_forward_time": 3.8290581703186035, "step": 3551 }, { "epoch": 3.386497497558594e-07, "step": 3551, "training_step_time": 17.7932550907135 }, { "epoch": 3.387451171875e-07, "model_forward_time": 5.282594919204712, "step": 3552 }, { "epoch": 3.387451171875e-07, "step": 3552, "training_step_time": 17.593952417373657 }, { "epoch": 3.3884048461914063e-07, "model_forward_time": 5.06250262260437, "step": 3553 }, { "epoch": 3.3884048461914063e-07, "step": 3553, "training_step_time": 17.5802640914917 }, { "epoch": 3.3893585205078124e-07, "model_forward_time": 5.0740227699279785, "step": 3554 }, { "epoch": 3.3893585205078124e-07, "step": 3554, "training_step_time": 17.582672119140625 }, { "epoch": 3.3903121948242186e-07, "model_forward_time": 5.087947130203247, "step": 3555 }, { "epoch": 3.3903121948242186e-07, "step": 3555, "training_step_time": 17.57840871810913 }, { "epoch": 3.391265869140625e-07, "model_forward_time": 5.107777118682861, "step": 3556 }, { "epoch": 3.391265869140625e-07, "step": 3556, "training_step_time": 17.843829870224 }, { "epoch": 3.3922195434570314e-07, "model_forward_time": 5.327078342437744, "step": 3557 }, { "epoch": 3.3922195434570314e-07, "step": 3557, "training_step_time": 17.649828672409058 }, { "epoch": 3.3931732177734375e-07, "model_forward_time": 3.8796894550323486, "step": 3558 }, { "epoch": 3.3931732177734375e-07, "step": 3558, "training_step_time": 17.639584064483643 }, { "epoch": 3.3941268920898437e-07, "model_forward_time": 5.085177898406982, "step": 3559 }, { "epoch": 3.3941268920898437e-07, "step": 3559, "training_step_time": 17.640377521514893 }, { "epoch": 3.39508056640625e-07, "grad_norm": 1.9691534042358398, "learning_rate": 9.999980577720236e-06, "loss": 0.1765, "step": 3560 }, { "epoch": 3.39508056640625e-07, "model_forward_time": 3.8472330570220947, "step": 3560 }, { "dynamics_loss_avg": 0.0495023924857378, "epoch": 3.39508056640625e-07, "step": 3560 }, { "action_loss_avg": 0.1255422554910183, "epoch": 3.39508056640625e-07, "step": 3560 }, { "arm_loss_avg": 0.19870966896414757, "epoch": 3.39508056640625e-07, "step": 3560 }, { "ee_loss_avg": 0.2016483098268509, "epoch": 3.39508056640625e-07, "step": 3560 }, { "aux_loss_avg": 0.005503781972220167, "epoch": 3.39508056640625e-07, "step": 3560 }, { "epoch": 3.39508056640625e-07, "step": 3560, "training_step_time": 17.200878620147705 }, { "epoch": 3.3960342407226565e-07, "model_forward_time": 5.060055732727051, "step": 3561 }, { "epoch": 3.3960342407226565e-07, "step": 3561, "training_step_time": 17.722145557403564 }, { "epoch": 3.3969879150390627e-07, "model_forward_time": 4.064431190490723, "step": 3562 }, { "epoch": 3.3969879150390627e-07, "step": 3562, "training_step_time": 17.546719074249268 }, { "epoch": 3.397941589355469e-07, "model_forward_time": 5.05737566947937, "step": 3563 }, { "epoch": 3.397941589355469e-07, "step": 3563, "training_step_time": 17.562353372573853 }, { "epoch": 3.398895263671875e-07, "model_forward_time": 5.074499130249023, "step": 3564 }, { "epoch": 3.398895263671875e-07, "step": 3564, "training_step_time": 17.58118724822998 }, { "epoch": 3.399848937988281e-07, "model_forward_time": 3.8510379791259766, "step": 3565 }, { "epoch": 3.399848937988281e-07, "step": 3565, "training_step_time": 17.588243007659912 }, { "epoch": 3.400802612304687e-07, "model_forward_time": 5.069997310638428, "step": 3566 }, { "epoch": 3.400802612304687e-07, "step": 3566, "training_step_time": 17.61380672454834 }, { "epoch": 3.401756286621094e-07, "model_forward_time": 5.087537527084351, "step": 3567 }, { "epoch": 3.401756286621094e-07, "step": 3567, "training_step_time": 17.425523281097412 }, { "epoch": 3.4027099609375e-07, "model_forward_time": 5.101594686508179, "step": 3568 }, { "epoch": 3.4027099609375e-07, "step": 3568, "training_step_time": 17.47039008140564 }, { "epoch": 3.403663635253906e-07, "model_forward_time": 5.100281476974487, "step": 3569 }, { "epoch": 3.403663635253906e-07, "step": 3569, "training_step_time": 17.53677272796631 }, { "epoch": 3.4046173095703123e-07, "grad_norm": 2.2947275638580322, "learning_rate": 9.999973435951753e-06, "loss": 0.1958, "step": 3570 }, { "epoch": 3.4046173095703123e-07, "model_forward_time": 5.102227210998535, "step": 3570 }, { "dynamics_loss_avg": 0.05881128329783678, "epoch": 3.4046173095703123e-07, "step": 3570 }, { "action_loss_avg": 0.12795292921364307, "epoch": 3.4046173095703123e-07, "step": 3570 }, { "arm_loss_avg": 0.19867973402142525, "epoch": 3.4046173095703123e-07, "step": 3570 }, { "ee_loss_avg": 0.2504998594522476, "epoch": 3.4046173095703123e-07, "step": 3570 }, { "aux_loss_avg": 0.00856992902699858, "epoch": 3.4046173095703123e-07, "step": 3570 }, { "epoch": 3.4046173095703123e-07, "step": 3570, "training_step_time": 17.589281797409058 }, { "epoch": 3.4055709838867185e-07, "model_forward_time": 5.096136569976807, "step": 3571 }, { "epoch": 3.4055709838867185e-07, "step": 3571, "training_step_time": 17.844956636428833 }, { "epoch": 3.406524658203125e-07, "model_forward_time": 5.084992170333862, "step": 3572 }, { "epoch": 3.406524658203125e-07, "step": 3572, "training_step_time": 17.640211820602417 }, { "epoch": 3.4074783325195313e-07, "model_forward_time": 3.848924398422241, "step": 3573 }, { "epoch": 3.4074783325195313e-07, "step": 3573, "training_step_time": 17.64884901046753 }, { "epoch": 3.4084320068359375e-07, "model_forward_time": 5.058756113052368, "step": 3574 }, { "epoch": 3.4084320068359375e-07, "step": 3574, "training_step_time": 17.641359567642212 }, { "epoch": 3.4093856811523436e-07, "model_forward_time": 5.063830852508545, "step": 3575 }, { "epoch": 3.4093856811523436e-07, "step": 3575, "training_step_time": 17.633777856826782 }, { "epoch": 3.41033935546875e-07, "model_forward_time": 5.075641632080078, "step": 3576 }, { "epoch": 3.41033935546875e-07, "step": 3576, "training_step_time": 17.856218576431274 }, { "epoch": 3.4112930297851564e-07, "model_forward_time": 5.080090761184692, "step": 3577 }, { "epoch": 3.4112930297851564e-07, "step": 3577, "training_step_time": 17.609098196029663 }, { "epoch": 3.4122467041015626e-07, "model_forward_time": 5.270110130310059, "step": 3578 }, { "epoch": 3.4122467041015626e-07, "step": 3578, "training_step_time": 17.5912663936615 }, { "epoch": 3.4132003784179687e-07, "model_forward_time": 5.093252658843994, "step": 3579 }, { "epoch": 3.4132003784179687e-07, "step": 3579, "training_step_time": 17.59177041053772 }, { "epoch": 3.414154052734375e-07, "grad_norm": 1.8562588691711426, "learning_rate": 9.999965178286183e-06, "loss": 0.1966, "step": 3580 }, { "epoch": 3.414154052734375e-07, "model_forward_time": 5.0971033573150635, "step": 3580 }, { "dynamics_loss_avg": 0.040638970118016, "epoch": 3.414154052734375e-07, "step": 3580 }, { "action_loss_avg": 0.14244432672858237, "epoch": 3.414154052734375e-07, "step": 3580 }, { "arm_loss_avg": 0.22894624173641204, "epoch": 3.414154052734375e-07, "step": 3580 }, { "ee_loss_avg": 0.17221880629658698, "epoch": 3.414154052734375e-07, "step": 3580 }, { "aux_loss_avg": 0.00771820101654157, "epoch": 3.414154052734375e-07, "step": 3580 }, { "epoch": 3.414154052734375e-07, "step": 3580, "training_step_time": 17.587726593017578 }, { "epoch": 3.415107727050781e-07, "model_forward_time": 5.0954084396362305, "step": 3581 }, { "epoch": 3.415107727050781e-07, "step": 3581, "training_step_time": 17.814765214920044 }, { "epoch": 3.4160614013671877e-07, "model_forward_time": 5.0862226486206055, "step": 3582 }, { "epoch": 3.4160614013671877e-07, "step": 3582, "training_step_time": 17.588500261306763 }, { "epoch": 3.417015075683594e-07, "model_forward_time": 5.093120813369751, "step": 3583 }, { "epoch": 3.417015075683594e-07, "step": 3583, "training_step_time": 17.585679531097412 }, { "epoch": 3.41796875e-07, "model_forward_time": 3.850482225418091, "step": 3584 }, { "epoch": 3.41796875e-07, "step": 3584, "training_step_time": 17.58592438697815 }, { "epoch": 3.418922424316406e-07, "model_forward_time": 5.055349826812744, "step": 3585 }, { "epoch": 3.418922424316406e-07, "step": 3585, "training_step_time": 17.586575269699097 }, { "epoch": 3.419876098632812e-07, "model_forward_time": 3.8355162143707275, "step": 3586 }, { "epoch": 3.419876098632812e-07, "step": 3586, "training_step_time": 17.815282821655273 }, { "epoch": 3.420829772949219e-07, "model_forward_time": 5.051300287246704, "step": 3587 }, { "epoch": 3.420829772949219e-07, "step": 3587, "training_step_time": 17.169175386428833 }, { "epoch": 3.421783447265625e-07, "model_forward_time": 4.016963958740234, "step": 3588 }, { "epoch": 3.421783447265625e-07, "step": 3588, "training_step_time": 17.49814748764038 }, { "epoch": 3.422737121582031e-07, "model_forward_time": 5.056932210922241, "step": 3589 }, { "epoch": 3.422737121582031e-07, "step": 3589, "training_step_time": 17.535720825195312 }, { "epoch": 3.4236907958984374e-07, "grad_norm": 3.2535979747772217, "learning_rate": 9.999955804725372e-06, "loss": 0.1691, "step": 3590 }, { "epoch": 3.4236907958984374e-07, "model_forward_time": 5.074524879455566, "step": 3590 }, { "dynamics_loss_avg": 0.048155884351581336, "epoch": 3.4236907958984374e-07, "step": 3590 }, { "action_loss_avg": 0.11856326870620251, "epoch": 3.4236907958984374e-07, "step": 3590 }, { "arm_loss_avg": 0.18989951014518738, "epoch": 3.4236907958984374e-07, "step": 3590 }, { "ee_loss_avg": 0.18960292637348175, "epoch": 3.4236907958984374e-07, "step": 3590 }, { "aux_loss_avg": 0.004026340570999309, "epoch": 3.4236907958984374e-07, "step": 3590 }, { "epoch": 3.4236907958984374e-07, "step": 3590, "training_step_time": 17.565019130706787 }, { "epoch": 3.4246444702148435e-07, "model_forward_time": 5.091962575912476, "step": 3591 }, { "epoch": 3.4246444702148435e-07, "step": 3591, "training_step_time": 17.575239181518555 }, { "epoch": 3.42559814453125e-07, "model_forward_time": 5.103636026382446, "step": 3592 }, { "epoch": 3.42559814453125e-07, "step": 3592, "training_step_time": 17.824811935424805 }, { "epoch": 3.4265518188476563e-07, "model_forward_time": 5.329419374465942, "step": 3593 }, { "epoch": 3.4265518188476563e-07, "step": 3593, "training_step_time": 17.605721950531006 }, { "epoch": 3.4275054931640625e-07, "model_forward_time": 5.09871768951416, "step": 3594 }, { "epoch": 3.4275054931640625e-07, "step": 3594, "training_step_time": 17.615729808807373 }, { "epoch": 3.4284591674804686e-07, "model_forward_time": 5.096721887588501, "step": 3595 }, { "epoch": 3.4284591674804686e-07, "step": 3595, "training_step_time": 17.612393856048584 }, { "epoch": 3.429412841796875e-07, "model_forward_time": 5.089155912399292, "step": 3596 }, { "epoch": 3.429412841796875e-07, "step": 3596, "training_step_time": 17.85172963142395 }, { "epoch": 3.4303665161132814e-07, "model_forward_time": 5.08332085609436, "step": 3597 }, { "epoch": 3.4303665161132814e-07, "step": 3597, "training_step_time": 17.659058570861816 }, { "epoch": 3.4313201904296876e-07, "model_forward_time": 5.2645416259765625, "step": 3598 }, { "epoch": 3.4313201904296876e-07, "step": 3598, "training_step_time": 17.42028307914734 }, { "epoch": 3.4322738647460937e-07, "model_forward_time": 5.082335472106934, "step": 3599 }, { "epoch": 3.4322738647460937e-07, "step": 3599, "training_step_time": 17.534289836883545 }, { "epoch": 3.4332275390625e-07, "grad_norm": 2.792271614074707, "learning_rate": 9.999945315271406e-06, "loss": 0.1788, "step": 3600 }, { "epoch": 3.4332275390625e-07, "model_forward_time": 5.079831123352051, "step": 3600 }, { "dynamics_loss_avg": 0.03712970996275544, "epoch": 3.4332275390625e-07, "step": 3600 }, { "action_loss_avg": 0.13738061264157295, "epoch": 3.4332275390625e-07, "step": 3600 }, { "arm_loss_avg": 0.18820347636938095, "epoch": 3.4332275390625e-07, "step": 3600 }, { "ee_loss_avg": 0.22576268687844275, "epoch": 3.4332275390625e-07, "step": 3600 }, { "aux_loss_avg": 0.01641683503985405, "epoch": 3.4332275390625e-07, "step": 3600 }, { "epoch": 3.4332275390625e-07, "step": 3600, "training_step_time": 17.468612670898438 }, { "epoch": 3.434181213378906e-07, "model_forward_time": 5.079033613204956, "step": 3601 }, { "epoch": 3.434181213378906e-07, "step": 3601, "training_step_time": 17.616653203964233 }, { "epoch": 3.4351348876953127e-07, "model_forward_time": 3.8445067405700684, "step": 3602 }, { "epoch": 3.4351348876953127e-07, "step": 3602, "training_step_time": 17.735125064849854 }, { "epoch": 3.436088562011719e-07, "model_forward_time": 5.296143531799316, "step": 3603 }, { "epoch": 3.436088562011719e-07, "step": 3603, "training_step_time": 17.589230060577393 }, { "epoch": 3.437042236328125e-07, "model_forward_time": 5.065059423446655, "step": 3604 }, { "epoch": 3.437042236328125e-07, "step": 3604, "training_step_time": 17.601717710494995 }, { "epoch": 3.437995910644531e-07, "model_forward_time": 5.074817895889282, "step": 3605 }, { "epoch": 3.437995910644531e-07, "step": 3605, "training_step_time": 17.611629009246826 }, { "epoch": 3.4389495849609373e-07, "model_forward_time": 5.0839598178863525, "step": 3606 }, { "epoch": 3.4389495849609373e-07, "step": 3606, "training_step_time": 17.543874263763428 }, { "epoch": 3.439903259277344e-07, "model_forward_time": 5.093177795410156, "step": 3607 }, { "epoch": 3.439903259277344e-07, "step": 3607, "training_step_time": 17.754721879959106 }, { "epoch": 3.44085693359375e-07, "model_forward_time": 5.097131252288818, "step": 3608 }, { "epoch": 3.44085693359375e-07, "step": 3608, "training_step_time": 17.562156200408936 }, { "epoch": 3.441810607910156e-07, "model_forward_time": 5.096947908401489, "step": 3609 }, { "epoch": 3.441810607910156e-07, "step": 3609, "training_step_time": 17.376550912857056 }, { "epoch": 3.4427642822265624e-07, "grad_norm": 2.2379937171936035, "learning_rate": 9.999933709926632e-06, "loss": 0.1694, "step": 3610 }, { "epoch": 3.4427642822265624e-07, "model_forward_time": 5.099628448486328, "step": 3610 }, { "dynamics_loss_avg": 0.040944007225334644, "epoch": 3.4427642822265624e-07, "step": 3610 }, { "action_loss_avg": 0.14215842261910439, "epoch": 3.4427642822265624e-07, "step": 3610 }, { "arm_loss_avg": 0.1828693702816963, "epoch": 3.4427642822265624e-07, "step": 3610 }, { "ee_loss_avg": 0.22790502682328223, "epoch": 3.4427642822265624e-07, "step": 3610 }, { "aux_loss_avg": 0.001415015905513428, "epoch": 3.4427642822265624e-07, "step": 3610 }, { "epoch": 3.4427642822265624e-07, "step": 3610, "training_step_time": 17.515068531036377 }, { "epoch": 3.4437179565429685e-07, "model_forward_time": 5.089898109436035, "step": 3611 }, { "epoch": 3.4437179565429685e-07, "step": 3611, "training_step_time": 17.57822036743164 }, { "epoch": 3.444671630859375e-07, "model_forward_time": 5.085393667221069, "step": 3612 }, { "epoch": 3.444671630859375e-07, "step": 3612, "training_step_time": 17.779768466949463 }, { "epoch": 3.4456253051757813e-07, "model_forward_time": 5.0816333293914795, "step": 3613 }, { "epoch": 3.4456253051757813e-07, "step": 3613, "training_step_time": 17.617225646972656 }, { "epoch": 3.4465789794921875e-07, "model_forward_time": 5.081231594085693, "step": 3614 }, { "epoch": 3.4465789794921875e-07, "step": 3614, "training_step_time": 17.630881309509277 }, { "epoch": 3.4475326538085936e-07, "model_forward_time": 5.082497835159302, "step": 3615 }, { "epoch": 3.4475326538085936e-07, "step": 3615, "training_step_time": 17.634632110595703 }, { "epoch": 3.448486328125e-07, "model_forward_time": 5.079951763153076, "step": 3616 }, { "epoch": 3.448486328125e-07, "step": 3616, "training_step_time": 17.653665781021118 }, { "epoch": 3.4494400024414065e-07, "model_forward_time": 5.083454132080078, "step": 3617 }, { "epoch": 3.4494400024414065e-07, "step": 3617, "training_step_time": 17.761168241500854 }, { "epoch": 3.4503936767578126e-07, "model_forward_time": 5.077574014663696, "step": 3618 }, { "epoch": 3.4503936767578126e-07, "step": 3618, "training_step_time": 17.567811489105225 }, { "epoch": 3.451347351074219e-07, "model_forward_time": 5.083235263824463, "step": 3619 }, { "epoch": 3.451347351074219e-07, "step": 3619, "training_step_time": 17.584623098373413 }, { "epoch": 3.452301025390625e-07, "grad_norm": 2.2912180423736572, "learning_rate": 9.999920988693636e-06, "loss": 0.1633, "step": 3620 }, { "epoch": 3.452301025390625e-07, "model_forward_time": 5.080706596374512, "step": 3620 }, { "dynamics_loss_avg": 0.03856536997482181, "epoch": 3.452301025390625e-07, "step": 3620 }, { "action_loss_avg": 0.10587500613182783, "epoch": 3.452301025390625e-07, "step": 3620 }, { "arm_loss_avg": 0.18431118577718736, "epoch": 3.452301025390625e-07, "step": 3620 }, { "ee_loss_avg": 0.20538569167256354, "epoch": 3.452301025390625e-07, "step": 3620 }, { "aux_loss_avg": 0.002855108375661075, "epoch": 3.452301025390625e-07, "step": 3620 }, { "epoch": 3.452301025390625e-07, "step": 3620, "training_step_time": 17.408669233322144 }, { "epoch": 3.453254699707031e-07, "model_forward_time": 5.084110260009766, "step": 3621 }, { "epoch": 3.453254699707031e-07, "step": 3621, "training_step_time": 17.526432991027832 }, { "epoch": 3.4542083740234377e-07, "model_forward_time": 5.329629182815552, "step": 3622 }, { "epoch": 3.4542083740234377e-07, "step": 3622, "training_step_time": 17.747485876083374 }, { "epoch": 3.455162048339844e-07, "model_forward_time": 5.084284067153931, "step": 3623 }, { "epoch": 3.455162048339844e-07, "step": 3623, "training_step_time": 17.581815481185913 }, { "epoch": 3.45611572265625e-07, "model_forward_time": 5.081786394119263, "step": 3624 }, { "epoch": 3.45611572265625e-07, "step": 3624, "training_step_time": 17.60158610343933 }, { "epoch": 3.457069396972656e-07, "model_forward_time": 5.084111452102661, "step": 3625 }, { "epoch": 3.457069396972656e-07, "step": 3625, "training_step_time": 17.605252027511597 }, { "epoch": 3.4580230712890623e-07, "model_forward_time": 5.07865309715271, "step": 3626 }, { "epoch": 3.4580230712890623e-07, "step": 3626, "training_step_time": 17.620095252990723 }, { "epoch": 3.458976745605469e-07, "model_forward_time": 5.276871919631958, "step": 3627 }, { "epoch": 3.458976745605469e-07, "step": 3627, "training_step_time": 17.845415115356445 }, { "epoch": 3.459930419921875e-07, "model_forward_time": 5.080263376235962, "step": 3628 }, { "epoch": 3.459930419921875e-07, "step": 3628, "training_step_time": 17.603652715682983 }, { "epoch": 3.460884094238281e-07, "model_forward_time": 5.083942413330078, "step": 3629 }, { "epoch": 3.460884094238281e-07, "step": 3629, "training_step_time": 17.59974455833435 }, { "epoch": 3.4618377685546874e-07, "grad_norm": 2.2158446311950684, "learning_rate": 9.999907151575262e-06, "loss": 0.1682, "step": 3630 }, { "epoch": 3.4618377685546874e-07, "model_forward_time": 5.082486152648926, "step": 3630 }, { "dynamics_loss_avg": 0.047913302667438984, "epoch": 3.4618377685546874e-07, "step": 3630 }, { "action_loss_avg": 0.12197977602481842, "epoch": 3.4618377685546874e-07, "step": 3630 }, { "arm_loss_avg": 0.22952185273170472, "epoch": 3.4618377685546874e-07, "step": 3630 }, { "ee_loss_avg": 0.20337220802903175, "epoch": 3.4618377685546874e-07, "step": 3630 }, { "aux_loss_avg": 0.004031644598580897, "epoch": 3.4618377685546874e-07, "step": 3630 }, { "epoch": 3.4618377685546874e-07, "step": 3630, "training_step_time": 17.599465131759644 }, { "epoch": 3.4627914428710935e-07, "model_forward_time": 5.081686019897461, "step": 3631 }, { "epoch": 3.4627914428710935e-07, "step": 3631, "training_step_time": 17.598721265792847 }, { "epoch": 3.4637451171875e-07, "model_forward_time": 3.850930690765381, "step": 3632 }, { "epoch": 3.4637451171875e-07, "step": 3632, "training_step_time": 17.78186583518982 }, { "epoch": 3.4646987915039064e-07, "model_forward_time": 5.302177667617798, "step": 3633 }, { "epoch": 3.4646987915039064e-07, "step": 3633, "training_step_time": 17.590693950653076 }, { "epoch": 3.4656524658203125e-07, "model_forward_time": 3.83894419670105, "step": 3634 }, { "epoch": 3.4656524658203125e-07, "step": 3634, "training_step_time": 17.57921838760376 }, { "epoch": 3.4666061401367187e-07, "model_forward_time": 5.05433988571167, "step": 3635 }, { "epoch": 3.4666061401367187e-07, "step": 3635, "training_step_time": 17.589120864868164 }, { "epoch": 3.467559814453125e-07, "model_forward_time": 5.07171630859375, "step": 3636 }, { "epoch": 3.467559814453125e-07, "step": 3636, "training_step_time": 17.572455406188965 }, { "epoch": 3.4685134887695315e-07, "model_forward_time": 5.094777345657349, "step": 3637 }, { "epoch": 3.4685134887695315e-07, "step": 3637, "training_step_time": 17.605558156967163 }, { "epoch": 3.4694671630859376e-07, "model_forward_time": 5.308179616928101, "step": 3638 }, { "epoch": 3.4694671630859376e-07, "step": 3638, "training_step_time": 17.51876974105835 }, { "epoch": 3.470420837402344e-07, "model_forward_time": 5.119664192199707, "step": 3639 }, { "epoch": 3.470420837402344e-07, "step": 3639, "training_step_time": 17.55109667778015 }, { "epoch": 3.47137451171875e-07, "grad_norm": 2.7062666416168213, "learning_rate": 9.99989219857459e-06, "loss": 0.1801, "step": 3640 }, { "epoch": 3.47137451171875e-07, "model_forward_time": 5.115953207015991, "step": 3640 }, { "dynamics_loss_avg": 0.047753388248384, "epoch": 3.47137451171875e-07, "step": 3640 }, { "action_loss_avg": 0.11637716814875602, "epoch": 3.47137451171875e-07, "step": 3640 }, { "arm_loss_avg": 0.203370301425457, "epoch": 3.47137451171875e-07, "step": 3640 }, { "ee_loss_avg": 0.23023705333471298, "epoch": 3.47137451171875e-07, "step": 3640 }, { "aux_loss_avg": 0.002087266219314188, "epoch": 3.47137451171875e-07, "step": 3640 }, { "epoch": 3.47137451171875e-07, "step": 3640, "training_step_time": 17.582393646240234 }, { "epoch": 3.472328186035156e-07, "model_forward_time": 5.101396083831787, "step": 3641 }, { "epoch": 3.472328186035156e-07, "step": 3641, "training_step_time": 17.459447383880615 }, { "epoch": 3.4732818603515627e-07, "model_forward_time": 5.096667051315308, "step": 3642 }, { "epoch": 3.4732818603515627e-07, "step": 3642, "training_step_time": 17.52435827255249 }, { "epoch": 3.474235534667969e-07, "model_forward_time": 3.8530941009521484, "step": 3643 }, { "epoch": 3.474235534667969e-07, "step": 3643, "training_step_time": 17.75007963180542 }, { "epoch": 3.475189208984375e-07, "model_forward_time": 5.059386491775513, "step": 3644 }, { "epoch": 3.475189208984375e-07, "step": 3644, "training_step_time": 17.604129552841187 }, { "epoch": 3.476142883300781e-07, "model_forward_time": 5.063072681427002, "step": 3645 }, { "epoch": 3.476142883300781e-07, "step": 3645, "training_step_time": 17.380950689315796 }, { "epoch": 3.4770965576171873e-07, "model_forward_time": 5.072240591049194, "step": 3646 }, { "epoch": 3.4770965576171873e-07, "step": 3646, "training_step_time": 17.530665397644043 }, { "epoch": 3.478050231933594e-07, "model_forward_time": 5.075489282608032, "step": 3647 }, { "epoch": 3.478050231933594e-07, "step": 3647, "training_step_time": 17.641419649124146 }, { "epoch": 3.47900390625e-07, "model_forward_time": 5.082862138748169, "step": 3648 }, { "epoch": 3.47900390625e-07, "step": 3648, "training_step_time": 17.842742919921875 }, { "epoch": 3.4799575805664063e-07, "model_forward_time": 5.0857837200164795, "step": 3649 }, { "epoch": 3.4799575805664063e-07, "step": 3649, "training_step_time": 17.394360065460205 }, { "epoch": 3.4809112548828124e-07, "grad_norm": 1.8709124326705933, "learning_rate": 9.999876129694966e-06, "loss": 0.1654, "step": 3650 }, { "epoch": 3.4809112548828124e-07, "model_forward_time": 5.091049909591675, "step": 3650 }, { "dynamics_loss_avg": 0.06209512925706804, "epoch": 3.4809112548828124e-07, "step": 3650 }, { "action_loss_avg": 0.13014011606574058, "epoch": 3.4809112548828124e-07, "step": 3650 }, { "arm_loss_avg": 0.1795867033302784, "epoch": 3.4809112548828124e-07, "step": 3650 }, { "ee_loss_avg": 0.20044297948479653, "epoch": 3.4809112548828124e-07, "step": 3650 }, { "aux_loss_avg": 0.002062231657328084, "epoch": 3.4809112548828124e-07, "step": 3650 }, { "epoch": 3.4809112548828124e-07, "step": 3650, "training_step_time": 17.536675930023193 }, { "epoch": 3.4818649291992186e-07, "model_forward_time": 5.087486267089844, "step": 3651 }, { "epoch": 3.4818649291992186e-07, "step": 3651, "training_step_time": 17.624128818511963 }, { "epoch": 3.482818603515625e-07, "model_forward_time": 5.100900888442993, "step": 3652 }, { "epoch": 3.482818603515625e-07, "step": 3652, "training_step_time": 17.636449337005615 }, { "epoch": 3.4837722778320314e-07, "model_forward_time": 5.095050573348999, "step": 3653 }, { "epoch": 3.4837722778320314e-07, "step": 3653, "training_step_time": 17.83171796798706 }, { "epoch": 3.4847259521484375e-07, "model_forward_time": 5.082838296890259, "step": 3654 }, { "epoch": 3.4847259521484375e-07, "step": 3654, "training_step_time": 17.63317608833313 }, { "epoch": 3.4856796264648437e-07, "model_forward_time": 5.081659555435181, "step": 3655 }, { "epoch": 3.4856796264648437e-07, "step": 3655, "training_step_time": 17.63177251815796 }, { "epoch": 3.48663330078125e-07, "model_forward_time": 5.079024791717529, "step": 3656 }, { "epoch": 3.48663330078125e-07, "step": 3656, "training_step_time": 17.63291573524475 }, { "epoch": 3.4875869750976565e-07, "model_forward_time": 5.078816175460815, "step": 3657 }, { "epoch": 3.4875869750976565e-07, "step": 3657, "training_step_time": 17.62295627593994 }, { "epoch": 3.4885406494140626e-07, "model_forward_time": 5.080770015716553, "step": 3658 }, { "epoch": 3.4885406494140626e-07, "step": 3658, "training_step_time": 17.85539937019348 }, { "epoch": 3.489494323730469e-07, "model_forward_time": 5.074694395065308, "step": 3659 }, { "epoch": 3.489494323730469e-07, "step": 3659, "training_step_time": 17.603553533554077 }, { "epoch": 3.490447998046875e-07, "grad_norm": 2.3953843116760254, "learning_rate": 9.99985894493997e-06, "loss": 0.1652, "step": 3660 }, { "epoch": 3.490447998046875e-07, "model_forward_time": 5.078607797622681, "step": 3660 }, { "dynamics_loss_avg": 0.04776806766167283, "epoch": 3.490447998046875e-07, "step": 3660 }, { "action_loss_avg": 0.10461261123418808, "epoch": 3.490447998046875e-07, "step": 3660 }, { "arm_loss_avg": 0.17860705479979516, "epoch": 3.490447998046875e-07, "step": 3660 }, { "ee_loss_avg": 0.2127656601369381, "epoch": 3.490447998046875e-07, "step": 3660 }, { "aux_loss_avg": 0.006385828362544999, "epoch": 3.490447998046875e-07, "step": 3660 }, { "epoch": 3.490447998046875e-07, "step": 3660, "training_step_time": 17.594969034194946 }, { "epoch": 3.491401672363281e-07, "model_forward_time": 5.0809326171875, "step": 3661 }, { "epoch": 3.491401672363281e-07, "step": 3661, "training_step_time": 17.578174829483032 }, { "epoch": 3.492355346679688e-07, "model_forward_time": 3.8481011390686035, "step": 3662 }, { "epoch": 3.492355346679688e-07, "step": 3662, "training_step_time": 17.804745197296143 }, { "epoch": 3.493309020996094e-07, "model_forward_time": 5.296159982681274, "step": 3663 }, { "epoch": 3.493309020996094e-07, "step": 3663, "training_step_time": 17.580440759658813 }, { "epoch": 3.4942626953125e-07, "model_forward_time": 5.068639516830444, "step": 3664 }, { "epoch": 3.4942626953125e-07, "step": 3664, "training_step_time": 17.576391458511353 }, { "epoch": 3.495216369628906e-07, "model_forward_time": 5.075726509094238, "step": 3665 }, { "epoch": 3.495216369628906e-07, "step": 3665, "training_step_time": 17.563064336776733 }, { "epoch": 3.4961700439453123e-07, "model_forward_time": 3.8490183353424072, "step": 3666 }, { "epoch": 3.4961700439453123e-07, "step": 3666, "training_step_time": 17.626375675201416 }, { "epoch": 3.497123718261719e-07, "model_forward_time": 3.8303260803222656, "step": 3667 }, { "epoch": 3.497123718261719e-07, "step": 3667, "training_step_time": 17.79335594177246 }, { "epoch": 3.498077392578125e-07, "model_forward_time": 5.2774200439453125, "step": 3668 }, { "epoch": 3.498077392578125e-07, "step": 3668, "training_step_time": 17.57270359992981 }, { "epoch": 3.4990310668945313e-07, "model_forward_time": 5.068272113800049, "step": 3669 }, { "epoch": 3.4990310668945313e-07, "step": 3669, "training_step_time": 17.56394863128662 }, { "epoch": 3.4999847412109374e-07, "grad_norm": 2.697056770324707, "learning_rate": 9.99984064431344e-06, "loss": 0.1631, "step": 3670 }, { "epoch": 3.4999847412109374e-07, "model_forward_time": 5.087146520614624, "step": 3670 }, { "dynamics_loss_avg": 0.04341950248926878, "epoch": 3.4999847412109374e-07, "step": 3670 }, { "action_loss_avg": 0.1412068210542202, "epoch": 3.4999847412109374e-07, "step": 3670 }, { "arm_loss_avg": 0.2068390056490898, "epoch": 3.4999847412109374e-07, "step": 3670 }, { "ee_loss_avg": 0.21995787248015403, "epoch": 3.4999847412109374e-07, "step": 3670 }, { "aux_loss_avg": 0.006268887157784775, "epoch": 3.4999847412109374e-07, "step": 3670 }, { "epoch": 3.4999847412109374e-07, "step": 3670, "training_step_time": 17.5673086643219 }, { "epoch": 3.5009384155273436e-07, "model_forward_time": 5.0989978313446045, "step": 3671 }, { "epoch": 3.5009384155273436e-07, "step": 3671, "training_step_time": 17.566383123397827 }, { "epoch": 3.50189208984375e-07, "model_forward_time": 5.10204291343689, "step": 3672 }, { "epoch": 3.50189208984375e-07, "step": 3672, "training_step_time": 17.782724618911743 }, { "epoch": 3.5028457641601564e-07, "model_forward_time": 5.097206115722656, "step": 3673 }, { "epoch": 3.5028457641601564e-07, "step": 3673, "training_step_time": 17.588341236114502 }, { "epoch": 3.5037994384765625e-07, "model_forward_time": 5.096471309661865, "step": 3674 }, { "epoch": 3.5037994384765625e-07, "step": 3674, "training_step_time": 17.59596586227417 }, { "epoch": 3.5047531127929687e-07, "model_forward_time": 5.091435432434082, "step": 3675 }, { "epoch": 3.5047531127929687e-07, "step": 3675, "training_step_time": 17.598283052444458 }, { "epoch": 3.505706787109375e-07, "model_forward_time": 5.083228349685669, "step": 3676 }, { "epoch": 3.505706787109375e-07, "step": 3676, "training_step_time": 17.62133026123047 }, { "epoch": 3.5066604614257815e-07, "model_forward_time": 5.0851874351501465, "step": 3677 }, { "epoch": 3.5066604614257815e-07, "step": 3677, "training_step_time": 17.813526153564453 }, { "epoch": 3.5076141357421877e-07, "model_forward_time": 5.07905387878418, "step": 3678 }, { "epoch": 3.5076141357421877e-07, "step": 3678, "training_step_time": 17.601929903030396 }, { "epoch": 3.508567810058594e-07, "model_forward_time": 5.077159404754639, "step": 3679 }, { "epoch": 3.508567810058594e-07, "step": 3679, "training_step_time": 17.594238758087158 }, { "epoch": 3.509521484375e-07, "grad_norm": 1.797502875328064, "learning_rate": 9.99982122781946e-06, "loss": 0.1786, "step": 3680 }, { "epoch": 3.509521484375e-07, "model_forward_time": 5.077380418777466, "step": 3680 }, { "dynamics_loss_avg": 0.040608798433095214, "epoch": 3.509521484375e-07, "step": 3680 }, { "action_loss_avg": 0.1093324687331915, "epoch": 3.509521484375e-07, "step": 3680 }, { "arm_loss_avg": 0.18286441639065742, "epoch": 3.509521484375e-07, "step": 3680 }, { "ee_loss_avg": 0.1958749670535326, "epoch": 3.509521484375e-07, "step": 3680 }, { "aux_loss_avg": 0.0012831967498641462, "epoch": 3.509521484375e-07, "step": 3680 }, { "epoch": 3.509521484375e-07, "step": 3680, "training_step_time": 17.59389877319336 }, { "epoch": 3.510475158691406e-07, "model_forward_time": 5.077409744262695, "step": 3681 }, { "epoch": 3.510475158691406e-07, "step": 3681, "training_step_time": 17.58284568786621 }, { "epoch": 3.511428833007813e-07, "model_forward_time": 5.3153064250946045, "step": 3682 }, { "epoch": 3.511428833007813e-07, "step": 3682, "training_step_time": 17.61794090270996 }, { "epoch": 3.512382507324219e-07, "model_forward_time": 5.077810525894165, "step": 3683 }, { "epoch": 3.512382507324219e-07, "step": 3683, "training_step_time": 17.67292356491089 }, { "epoch": 3.513336181640625e-07, "model_forward_time": 5.080276966094971, "step": 3684 }, { "epoch": 3.513336181640625e-07, "step": 3684, "training_step_time": 17.5328426361084 }, { "epoch": 3.514289855957031e-07, "model_forward_time": 5.081580877304077, "step": 3685 }, { "epoch": 3.514289855957031e-07, "step": 3685, "training_step_time": 17.39025902748108 }, { "epoch": 3.5152435302734373e-07, "model_forward_time": 5.083795070648193, "step": 3686 }, { "epoch": 3.5152435302734373e-07, "step": 3686, "training_step_time": 17.6142635345459 }, { "epoch": 3.516197204589844e-07, "model_forward_time": 3.848361015319824, "step": 3687 }, { "epoch": 3.516197204589844e-07, "step": 3687, "training_step_time": 17.538946866989136 }, { "epoch": 3.51715087890625e-07, "model_forward_time": 5.2849931716918945, "step": 3688 }, { "epoch": 3.51715087890625e-07, "step": 3688, "training_step_time": 17.823790311813354 }, { "epoch": 3.5181045532226563e-07, "model_forward_time": 5.062689304351807, "step": 3689 }, { "epoch": 3.5181045532226563e-07, "step": 3689, "training_step_time": 17.592469215393066 }, { "epoch": 3.5190582275390624e-07, "grad_norm": 1.1335400342941284, "learning_rate": 9.999800695462363e-06, "loss": 0.135, "step": 3690 }, { "epoch": 3.5190582275390624e-07, "model_forward_time": 5.074784517288208, "step": 3690 }, { "dynamics_loss_avg": 0.030187591537833215, "epoch": 3.5190582275390624e-07, "step": 3690 }, { "action_loss_avg": 0.10628930032253266, "epoch": 3.5190582275390624e-07, "step": 3690 }, { "arm_loss_avg": 0.21120651364326476, "epoch": 3.5190582275390624e-07, "step": 3690 }, { "ee_loss_avg": 0.24245060235261917, "epoch": 3.5190582275390624e-07, "step": 3690 }, { "aux_loss_avg": 0.0007106392935384065, "epoch": 3.5190582275390624e-07, "step": 3690 }, { "epoch": 3.5190582275390624e-07, "step": 3690, "training_step_time": 17.612348079681396 }, { "epoch": 3.5200119018554686e-07, "model_forward_time": 5.08320951461792, "step": 3691 }, { "epoch": 3.5200119018554686e-07, "step": 3691, "training_step_time": 17.627698183059692 }, { "epoch": 3.520965576171875e-07, "model_forward_time": 5.091232061386108, "step": 3692 }, { "epoch": 3.520965576171875e-07, "step": 3692, "training_step_time": 17.846224308013916 }, { "epoch": 3.5219192504882814e-07, "model_forward_time": 5.094114542007446, "step": 3693 }, { "epoch": 3.5219192504882814e-07, "step": 3693, "training_step_time": 17.611226320266724 }, { "epoch": 3.5228729248046876e-07, "model_forward_time": 5.095825672149658, "step": 3694 }, { "epoch": 3.5228729248046876e-07, "step": 3694, "training_step_time": 17.60612440109253 }, { "epoch": 3.5238265991210937e-07, "model_forward_time": 5.092318773269653, "step": 3695 }, { "epoch": 3.5238265991210937e-07, "step": 3695, "training_step_time": 17.60936188697815 }, { "epoch": 3.5247802734375e-07, "model_forward_time": 5.0929856300354, "step": 3696 }, { "epoch": 3.5247802734375e-07, "step": 3696, "training_step_time": 17.5974440574646 }, { "epoch": 3.525733947753906e-07, "model_forward_time": 5.099791526794434, "step": 3697 }, { "epoch": 3.525733947753906e-07, "step": 3697, "training_step_time": 17.849148273468018 }, { "epoch": 3.5266876220703127e-07, "model_forward_time": 5.098441123962402, "step": 3698 }, { "epoch": 3.5266876220703127e-07, "step": 3698, "training_step_time": 17.61469602584839 }, { "epoch": 3.527641296386719e-07, "model_forward_time": 3.86504864692688, "step": 3699 }, { "epoch": 3.527641296386719e-07, "step": 3699, "training_step_time": 17.604228258132935 }, { "epoch": 3.528594970703125e-07, "grad_norm": 3.283066987991333, "learning_rate": 9.999779047246732e-06, "loss": 0.1641, "step": 3700 }, { "epoch": 3.528594970703125e-07, "model_forward_time": 5.0661866664886475, "step": 3700 }, { "dynamics_loss_avg": 0.04223270220682025, "epoch": 3.528594970703125e-07, "step": 3700 }, { "action_loss_avg": 0.12042481824755669, "epoch": 3.528594970703125e-07, "step": 3700 }, { "arm_loss_avg": 0.20204495564103125, "epoch": 3.528594970703125e-07, "step": 3700 }, { "ee_loss_avg": 0.23028320223093032, "epoch": 3.528594970703125e-07, "step": 3700 }, { "aux_loss_avg": 0.004012615807005205, "epoch": 3.528594970703125e-07, "step": 3700 }, { "epoch": 3.528594970703125e-07, "step": 3700, "training_step_time": 17.598066329956055 }, { "epoch": 3.529548645019531e-07, "model_forward_time": 5.0646398067474365, "step": 3701 }, { "epoch": 3.529548645019531e-07, "step": 3701, "training_step_time": 17.582709074020386 }, { "epoch": 3.530502319335937e-07, "model_forward_time": 5.069572687149048, "step": 3702 }, { "epoch": 3.530502319335937e-07, "step": 3702, "training_step_time": 17.368989944458008 }, { "epoch": 3.531455993652344e-07, "model_forward_time": 5.083087921142578, "step": 3703 }, { "epoch": 3.531455993652344e-07, "step": 3703, "training_step_time": 17.678623914718628 }, { "epoch": 3.53240966796875e-07, "model_forward_time": 5.0869300365448, "step": 3704 }, { "epoch": 3.53240966796875e-07, "step": 3704, "training_step_time": 17.532618522644043 }, { "epoch": 3.533363342285156e-07, "model_forward_time": 5.09020733833313, "step": 3705 }, { "epoch": 3.533363342285156e-07, "step": 3705, "training_step_time": 17.556581020355225 }, { "epoch": 3.5343170166015624e-07, "model_forward_time": 5.0912110805511475, "step": 3706 }, { "epoch": 3.5343170166015624e-07, "step": 3706, "training_step_time": 17.624067783355713 }, { "epoch": 3.5352706909179685e-07, "model_forward_time": 5.2809083461761475, "step": 3707 }, { "epoch": 3.5352706909179685e-07, "step": 3707, "training_step_time": 17.82059955596924 }, { "epoch": 3.536224365234375e-07, "model_forward_time": 5.083761692047119, "step": 3708 }, { "epoch": 3.536224365234375e-07, "step": 3708, "training_step_time": 17.60888433456421 }, { "epoch": 3.5371780395507813e-07, "model_forward_time": 5.083979368209839, "step": 3709 }, { "epoch": 3.5371780395507813e-07, "step": 3709, "training_step_time": 17.620373487472534 }, { "epoch": 3.5381317138671875e-07, "grad_norm": 1.5757932662963867, "learning_rate": 9.999756283177399e-06, "loss": 0.1516, "step": 3710 }, { "epoch": 3.5381317138671875e-07, "model_forward_time": 5.079475164413452, "step": 3710 }, { "dynamics_loss_avg": 0.043955241609364745, "epoch": 3.5381317138671875e-07, "step": 3710 }, { "action_loss_avg": 0.12188999280333519, "epoch": 3.5381317138671875e-07, "step": 3710 }, { "arm_loss_avg": 0.17080946937203406, "epoch": 3.5381317138671875e-07, "step": 3710 }, { "ee_loss_avg": 0.22706466726958752, "epoch": 3.5381317138671875e-07, "step": 3710 }, { "aux_loss_avg": 0.0013089823652990163, "epoch": 3.5381317138671875e-07, "step": 3710 }, { "epoch": 3.5381317138671875e-07, "step": 3710, "training_step_time": 17.395591735839844 }, { "epoch": 3.5390853881835936e-07, "model_forward_time": 5.084717035293579, "step": 3711 }, { "epoch": 3.5390853881835936e-07, "step": 3711, "training_step_time": 17.62796926498413 }, { "epoch": 3.5400390625e-07, "model_forward_time": 5.075833320617676, "step": 3712 }, { "epoch": 3.5400390625e-07, "step": 3712, "training_step_time": 17.79859495162964 }, { "epoch": 3.5409927368164064e-07, "model_forward_time": 5.0775861740112305, "step": 3713 }, { "epoch": 3.5409927368164064e-07, "step": 3713, "training_step_time": 17.586592197418213 }, { "epoch": 3.5419464111328126e-07, "model_forward_time": 5.076317071914673, "step": 3714 }, { "epoch": 3.5419464111328126e-07, "step": 3714, "training_step_time": 17.58908772468567 }, { "epoch": 3.5429000854492187e-07, "model_forward_time": 5.077938795089722, "step": 3715 }, { "epoch": 3.5429000854492187e-07, "step": 3715, "training_step_time": 17.59716248512268 }, { "epoch": 3.543853759765625e-07, "model_forward_time": 5.077209234237671, "step": 3716 }, { "epoch": 3.543853759765625e-07, "step": 3716, "training_step_time": 17.595924854278564 }, { "epoch": 3.544807434082031e-07, "model_forward_time": 5.0756285190582275, "step": 3717 }, { "epoch": 3.544807434082031e-07, "step": 3717, "training_step_time": 17.811341762542725 }, { "epoch": 3.5457611083984377e-07, "model_forward_time": 5.074453830718994, "step": 3718 }, { "epoch": 3.5457611083984377e-07, "step": 3718, "training_step_time": 17.595290899276733 }, { "epoch": 3.546714782714844e-07, "model_forward_time": 5.076707601547241, "step": 3719 }, { "epoch": 3.546714782714844e-07, "step": 3719, "training_step_time": 17.581773042678833 }, { "epoch": 3.54766845703125e-07, "grad_norm": 1.9228483438491821, "learning_rate": 9.999732403259443e-06, "loss": 0.1659, "step": 3720 }, { "epoch": 3.54766845703125e-07, "model_forward_time": 3.8466014862060547, "step": 3720 }, { "dynamics_loss_avg": 0.040612663468346, "epoch": 3.54766845703125e-07, "step": 3720 }, { "action_loss_avg": 0.09989574886858463, "epoch": 3.54766845703125e-07, "step": 3720 }, { "arm_loss_avg": 0.15337249711155893, "epoch": 3.54766845703125e-07, "step": 3720 }, { "ee_loss_avg": 0.18036941364407538, "epoch": 3.54766845703125e-07, "step": 3720 }, { "aux_loss_avg": 0.0022395441978005693, "epoch": 3.54766845703125e-07, "step": 3720 }, { "epoch": 3.54766845703125e-07, "step": 3720, "training_step_time": 17.57389497756958 }, { "epoch": 3.548622131347656e-07, "model_forward_time": 5.055274724960327, "step": 3721 }, { "epoch": 3.548622131347656e-07, "step": 3721, "training_step_time": 17.613340616226196 }, { "epoch": 3.549575805664062e-07, "model_forward_time": 5.064368963241577, "step": 3722 }, { "epoch": 3.549575805664062e-07, "step": 3722, "training_step_time": 17.412386417388916 }, { "epoch": 3.550529479980469e-07, "model_forward_time": 5.309223651885986, "step": 3723 }, { "epoch": 3.550529479980469e-07, "step": 3723, "training_step_time": 17.40965485572815 }, { "epoch": 3.551483154296875e-07, "model_forward_time": 5.083040952682495, "step": 3724 }, { "epoch": 3.551483154296875e-07, "step": 3724, "training_step_time": 17.435093641281128 }, { "epoch": 3.552436828613281e-07, "model_forward_time": 3.8550734519958496, "step": 3725 }, { "epoch": 3.552436828613281e-07, "step": 3725, "training_step_time": 17.497885942459106 }, { "epoch": 3.5533905029296874e-07, "model_forward_time": 5.059295415878296, "step": 3726 }, { "epoch": 3.5533905029296874e-07, "step": 3726, "training_step_time": 17.554620265960693 }, { "epoch": 3.5543441772460935e-07, "model_forward_time": 5.076044082641602, "step": 3727 }, { "epoch": 3.5543441772460935e-07, "step": 3727, "training_step_time": 17.584923028945923 }, { "epoch": 3.5552978515625e-07, "model_forward_time": 5.270040512084961, "step": 3728 }, { "epoch": 3.5552978515625e-07, "step": 3728, "training_step_time": 17.376278162002563 }, { "epoch": 3.5562515258789063e-07, "model_forward_time": 5.091947555541992, "step": 3729 }, { "epoch": 3.5562515258789063e-07, "step": 3729, "training_step_time": 17.527055263519287 }, { "epoch": 3.5572052001953125e-07, "grad_norm": 1.9075788259506226, "learning_rate": 9.999707407498194e-06, "loss": 0.1523, "step": 3730 }, { "epoch": 3.5572052001953125e-07, "model_forward_time": 5.093765497207642, "step": 3730 }, { "dynamics_loss_avg": 0.04645676678046584, "epoch": 3.5572052001953125e-07, "step": 3730 }, { "action_loss_avg": 0.11277339942753314, "epoch": 3.5572052001953125e-07, "step": 3730 }, { "arm_loss_avg": 0.21291969045996667, "epoch": 3.5572052001953125e-07, "step": 3730 }, { "ee_loss_avg": 0.21056988090276718, "epoch": 3.5572052001953125e-07, "step": 3730 }, { "aux_loss_avg": 0.012997212051413954, "epoch": 3.5572052001953125e-07, "step": 3730 }, { "epoch": 3.5572052001953125e-07, "step": 3730, "training_step_time": 17.576743841171265 }, { "epoch": 3.5581588745117186e-07, "model_forward_time": 5.091484785079956, "step": 3731 }, { "epoch": 3.5581588745117186e-07, "step": 3731, "training_step_time": 17.596222400665283 }, { "epoch": 3.559112548828125e-07, "model_forward_time": 5.092032432556152, "step": 3732 }, { "epoch": 3.559112548828125e-07, "step": 3732, "training_step_time": 17.455400705337524 }, { "epoch": 3.5600662231445314e-07, "model_forward_time": 5.325665473937988, "step": 3733 }, { "epoch": 3.5600662231445314e-07, "step": 3733, "training_step_time": 17.705143213272095 }, { "epoch": 3.5610198974609376e-07, "model_forward_time": 5.082458019256592, "step": 3734 }, { "epoch": 3.5610198974609376e-07, "step": 3734, "training_step_time": 17.563215732574463 }, { "epoch": 3.561973571777344e-07, "model_forward_time": 5.078343391418457, "step": 3735 }, { "epoch": 3.561973571777344e-07, "step": 3735, "training_step_time": 17.5777268409729 }, { "epoch": 3.56292724609375e-07, "model_forward_time": 5.076075315475464, "step": 3736 }, { "epoch": 3.56292724609375e-07, "step": 3736, "training_step_time": 17.590883493423462 }, { "epoch": 3.563880920410156e-07, "model_forward_time": 5.0756566524505615, "step": 3737 }, { "epoch": 3.563880920410156e-07, "step": 3737, "training_step_time": 17.63527250289917 }, { "epoch": 3.5648345947265627e-07, "model_forward_time": 5.078204870223999, "step": 3738 }, { "epoch": 3.5648345947265627e-07, "step": 3738, "training_step_time": 17.8275945186615 }, { "epoch": 3.565788269042969e-07, "model_forward_time": 5.074650049209595, "step": 3739 }, { "epoch": 3.565788269042969e-07, "step": 3739, "training_step_time": 17.600646018981934 }, { "epoch": 3.566741943359375e-07, "grad_norm": 3.188897132873535, "learning_rate": 9.99968129589923e-06, "loss": 0.1558, "step": 3740 }, { "epoch": 3.566741943359375e-07, "model_forward_time": 5.072972774505615, "step": 3740 }, { "dynamics_loss_avg": 0.036472296062856915, "epoch": 3.566741943359375e-07, "step": 3740 }, { "action_loss_avg": 0.11914984956383705, "epoch": 3.566741943359375e-07, "step": 3740 }, { "arm_loss_avg": 0.19259714037179948, "epoch": 3.566741943359375e-07, "step": 3740 }, { "ee_loss_avg": 0.19024153873324395, "epoch": 3.566741943359375e-07, "step": 3740 }, { "aux_loss_avg": 0.0011556383920833468, "epoch": 3.566741943359375e-07, "step": 3740 }, { "epoch": 3.566741943359375e-07, "step": 3740, "training_step_time": 17.597689151763916 }, { "epoch": 3.567695617675781e-07, "model_forward_time": 5.077122449874878, "step": 3741 }, { "epoch": 3.567695617675781e-07, "step": 3741, "training_step_time": 17.583888292312622 }, { "epoch": 3.5686492919921873e-07, "model_forward_time": 5.076023101806641, "step": 3742 }, { "epoch": 3.5686492919921873e-07, "step": 3742, "training_step_time": 17.590867042541504 }, { "epoch": 3.569602966308594e-07, "model_forward_time": 5.075892448425293, "step": 3743 }, { "epoch": 3.569602966308594e-07, "step": 3743, "training_step_time": 17.762919664382935 }, { "epoch": 3.570556640625e-07, "model_forward_time": 5.076361894607544, "step": 3744 }, { "epoch": 3.570556640625e-07, "step": 3744, "training_step_time": 17.569571018218994 }, { "epoch": 3.571510314941406e-07, "model_forward_time": 5.07745623588562, "step": 3745 }, { "epoch": 3.571510314941406e-07, "step": 3745, "training_step_time": 17.564431190490723 }, { "epoch": 3.5724639892578124e-07, "model_forward_time": 5.077498435974121, "step": 3746 }, { "epoch": 3.5724639892578124e-07, "step": 3746, "training_step_time": 17.568923234939575 }, { "epoch": 3.5734176635742185e-07, "model_forward_time": 5.273291110992432, "step": 3747 }, { "epoch": 3.5734176635742185e-07, "step": 3747, "training_step_time": 17.609861135482788 }, { "epoch": 3.574371337890625e-07, "model_forward_time": 5.079181909561157, "step": 3748 }, { "epoch": 3.574371337890625e-07, "step": 3748, "training_step_time": 17.708861827850342 }, { "epoch": 3.5753250122070314e-07, "model_forward_time": 5.078567743301392, "step": 3749 }, { "epoch": 3.5753250122070314e-07, "step": 3749, "training_step_time": 17.52755904197693 }, { "epoch": 3.5762786865234375e-07, "grad_norm": 2.248089551925659, "learning_rate": 9.999654068468381e-06, "loss": 0.1631, "step": 3750 }, { "epoch": 3.5762786865234375e-07, "model_forward_time": 5.075570583343506, "step": 3750 }, { "dynamics_loss_avg": 0.06093098614364863, "epoch": 3.5762786865234375e-07, "step": 3750 }, { "action_loss_avg": 0.1360559891909361, "epoch": 3.5762786865234375e-07, "step": 3750 }, { "arm_loss_avg": 0.17386168837547303, "epoch": 3.5762786865234375e-07, "step": 3750 }, { "ee_loss_avg": 0.22385760098695756, "epoch": 3.5762786865234375e-07, "step": 3750 }, { "aux_loss_avg": 0.0010496803442947567, "epoch": 3.5762786865234375e-07, "step": 3750 }, { "epoch": 3.5762786865234375e-07, "step": 3750, "training_step_time": 17.55006766319275 }, { "epoch": 3.5772323608398436e-07, "model_forward_time": 5.074612855911255, "step": 3751 }, { "epoch": 3.5772323608398436e-07, "step": 3751, "training_step_time": 17.43584179878235 }, { "epoch": 3.57818603515625e-07, "model_forward_time": 5.075229644775391, "step": 3752 }, { "epoch": 3.57818603515625e-07, "step": 3752, "training_step_time": 17.599919080734253 }, { "epoch": 3.5791397094726565e-07, "model_forward_time": 5.07247257232666, "step": 3753 }, { "epoch": 3.5791397094726565e-07, "step": 3753, "training_step_time": 17.73879098892212 }, { "epoch": 3.5800933837890626e-07, "model_forward_time": 5.071406126022339, "step": 3754 }, { "epoch": 3.5800933837890626e-07, "step": 3754, "training_step_time": 17.58539128303528 }, { "epoch": 3.581047058105469e-07, "model_forward_time": 5.073495388031006, "step": 3755 }, { "epoch": 3.581047058105469e-07, "step": 3755, "training_step_time": 17.60363745689392 }, { "epoch": 3.582000732421875e-07, "model_forward_time": 5.072435617446899, "step": 3756 }, { "epoch": 3.582000732421875e-07, "step": 3756, "training_step_time": 17.613832235336304 }, { "epoch": 3.582954406738281e-07, "model_forward_time": 5.074241876602173, "step": 3757 }, { "epoch": 3.582954406738281e-07, "step": 3757, "training_step_time": 17.62852907180786 }, { "epoch": 3.5839080810546877e-07, "model_forward_time": 3.841618537902832, "step": 3758 }, { "epoch": 3.5839080810546877e-07, "step": 3758, "training_step_time": 17.850369930267334 }, { "epoch": 3.584861755371094e-07, "model_forward_time": 5.046075344085693, "step": 3759 }, { "epoch": 3.584861755371094e-07, "step": 3759, "training_step_time": 17.615903854370117 }, { "epoch": 3.5858154296875e-07, "grad_norm": 1.8954871892929077, "learning_rate": 9.999625725211722e-06, "loss": 0.1657, "step": 3760 }, { "epoch": 3.5858154296875e-07, "model_forward_time": 5.059130907058716, "step": 3760 }, { "dynamics_loss_avg": 0.04764517731964588, "epoch": 3.5858154296875e-07, "step": 3760 }, { "action_loss_avg": 0.13073733672499657, "epoch": 3.5858154296875e-07, "step": 3760 }, { "arm_loss_avg": 0.18233667090535163, "epoch": 3.5858154296875e-07, "step": 3760 }, { "ee_loss_avg": 0.2380418475717306, "epoch": 3.5858154296875e-07, "step": 3760 }, { "aux_loss_avg": 0.0037773354066303, "epoch": 3.5858154296875e-07, "step": 3760 }, { "epoch": 3.5858154296875e-07, "step": 3760, "training_step_time": 17.605209827423096 }, { "epoch": 3.586769104003906e-07, "model_forward_time": 5.066333532333374, "step": 3761 }, { "epoch": 3.586769104003906e-07, "step": 3761, "training_step_time": 17.59395432472229 }, { "epoch": 3.5877227783203123e-07, "model_forward_time": 3.847583293914795, "step": 3762 }, { "epoch": 3.5877227783203123e-07, "step": 3762, "training_step_time": 17.613202333450317 }, { "epoch": 3.588676452636719e-07, "model_forward_time": 4.078252553939819, "step": 3763 }, { "epoch": 3.588676452636719e-07, "step": 3763, "training_step_time": 17.77940320968628 }, { "epoch": 3.589630126953125e-07, "model_forward_time": 5.043364763259888, "step": 3764 }, { "epoch": 3.589630126953125e-07, "step": 3764, "training_step_time": 17.58304190635681 }, { "epoch": 3.590583801269531e-07, "model_forward_time": 3.8368821144104004, "step": 3765 }, { "epoch": 3.590583801269531e-07, "step": 3765, "training_step_time": 17.580121517181396 }, { "epoch": 3.5915374755859374e-07, "model_forward_time": 5.051605701446533, "step": 3766 }, { "epoch": 3.5915374755859374e-07, "step": 3766, "training_step_time": 17.582629919052124 }, { "epoch": 3.5924911499023436e-07, "model_forward_time": 5.076028347015381, "step": 3767 }, { "epoch": 3.5924911499023436e-07, "step": 3767, "training_step_time": 17.637466430664062 }, { "epoch": 3.59344482421875e-07, "model_forward_time": 5.296127557754517, "step": 3768 }, { "epoch": 3.59344482421875e-07, "step": 3768, "training_step_time": 17.813409566879272 }, { "epoch": 3.5943984985351564e-07, "model_forward_time": 5.099282741546631, "step": 3769 }, { "epoch": 3.5943984985351564e-07, "step": 3769, "training_step_time": 17.56626605987549 }, { "epoch": 3.5953521728515625e-07, "grad_norm": 1.740303874015808, "learning_rate": 9.999596266135578e-06, "loss": 0.1566, "step": 3770 }, { "epoch": 3.5953521728515625e-07, "model_forward_time": 5.096652269363403, "step": 3770 }, { "dynamics_loss_avg": 0.040730223152786495, "epoch": 3.5953521728515625e-07, "step": 3770 }, { "action_loss_avg": 0.1409170337021351, "epoch": 3.5953521728515625e-07, "step": 3770 }, { "arm_loss_avg": 0.19442886263132095, "epoch": 3.5953521728515625e-07, "step": 3770 }, { "ee_loss_avg": 0.21646425873041153, "epoch": 3.5953521728515625e-07, "step": 3770 }, { "aux_loss_avg": 0.0007846885884646327, "epoch": 3.5953521728515625e-07, "step": 3770 }, { "epoch": 3.5953521728515625e-07, "step": 3770, "training_step_time": 17.57663893699646 }, { "epoch": 3.5963058471679687e-07, "model_forward_time": 5.0911688804626465, "step": 3771 }, { "epoch": 3.5963058471679687e-07, "step": 3771, "training_step_time": 17.58467984199524 }, { "epoch": 3.597259521484375e-07, "model_forward_time": 5.08408260345459, "step": 3772 }, { "epoch": 3.597259521484375e-07, "step": 3772, "training_step_time": 17.596026182174683 }, { "epoch": 3.5982131958007815e-07, "model_forward_time": 5.328680515289307, "step": 3773 }, { "epoch": 3.5982131958007815e-07, "step": 3773, "training_step_time": 17.780017137527466 }, { "epoch": 3.5991668701171876e-07, "model_forward_time": 5.078390121459961, "step": 3774 }, { "epoch": 3.5991668701171876e-07, "step": 3774, "training_step_time": 17.59154510498047 }, { "epoch": 3.600120544433594e-07, "model_forward_time": 5.074312448501587, "step": 3775 }, { "epoch": 3.600120544433594e-07, "step": 3775, "training_step_time": 17.58995485305786 }, { "epoch": 3.60107421875e-07, "model_forward_time": 5.071307182312012, "step": 3776 }, { "epoch": 3.60107421875e-07, "step": 3776, "training_step_time": 17.62959861755371 }, { "epoch": 3.602027893066406e-07, "model_forward_time": 5.100356817245483, "step": 3777 }, { "epoch": 3.602027893066406e-07, "step": 3777, "training_step_time": 17.631136894226074 }, { "epoch": 3.602981567382813e-07, "model_forward_time": 5.093977212905884, "step": 3778 }, { "epoch": 3.602981567382813e-07, "step": 3778, "training_step_time": 17.891072511672974 }, { "epoch": 3.603935241699219e-07, "model_forward_time": 5.096635818481445, "step": 3779 }, { "epoch": 3.603935241699219e-07, "step": 3779, "training_step_time": 17.627777814865112 }, { "epoch": 3.604888916015625e-07, "grad_norm": 2.435260534286499, "learning_rate": 9.999565691246525e-06, "loss": 0.1431, "step": 3780 }, { "epoch": 3.604888916015625e-07, "model_forward_time": 5.0890727043151855, "step": 3780 }, { "dynamics_loss_avg": 0.04287100816145539, "epoch": 3.604888916015625e-07, "step": 3780 }, { "action_loss_avg": 0.10235174968838692, "epoch": 3.604888916015625e-07, "step": 3780 }, { "arm_loss_avg": 0.17589948773384095, "epoch": 3.604888916015625e-07, "step": 3780 }, { "ee_loss_avg": 0.22389230281114578, "epoch": 3.604888916015625e-07, "step": 3780 }, { "aux_loss_avg": 0.0010040552879218012, "epoch": 3.604888916015625e-07, "step": 3780 }, { "epoch": 3.604888916015625e-07, "step": 3780, "training_step_time": 17.46353530883789 }, { "epoch": 3.605842590332031e-07, "model_forward_time": 5.080312013626099, "step": 3781 }, { "epoch": 3.605842590332031e-07, "step": 3781, "training_step_time": 17.606433629989624 }, { "epoch": 3.6067962646484373e-07, "model_forward_time": 5.0781848430633545, "step": 3782 }, { "epoch": 3.6067962646484373e-07, "step": 3782, "training_step_time": 17.54344367980957 }, { "epoch": 3.607749938964844e-07, "model_forward_time": 5.078779220581055, "step": 3783 }, { "epoch": 3.607749938964844e-07, "step": 3783, "training_step_time": 17.820837020874023 }, { "epoch": 3.60870361328125e-07, "model_forward_time": 5.072182893753052, "step": 3784 }, { "epoch": 3.60870361328125e-07, "step": 3784, "training_step_time": 17.589473485946655 }, { "epoch": 3.6096572875976563e-07, "model_forward_time": 5.077150344848633, "step": 3785 }, { "epoch": 3.6096572875976563e-07, "step": 3785, "training_step_time": 17.592267513275146 }, { "epoch": 3.6106109619140624e-07, "model_forward_time": 5.075700998306274, "step": 3786 }, { "epoch": 3.6106109619140624e-07, "step": 3786, "training_step_time": 17.610979795455933 }, { "epoch": 3.6115646362304686e-07, "model_forward_time": 5.283274412155151, "step": 3787 }, { "epoch": 3.6115646362304686e-07, "step": 3787, "training_step_time": 17.38031315803528 }, { "epoch": 3.612518310546875e-07, "model_forward_time": 5.0801169872283936, "step": 3788 }, { "epoch": 3.612518310546875e-07, "step": 3788, "training_step_time": 17.519051790237427 }, { "epoch": 3.6134719848632814e-07, "model_forward_time": 5.08371901512146, "step": 3789 }, { "epoch": 3.6134719848632814e-07, "step": 3789, "training_step_time": 17.784713983535767 }, { "epoch": 3.6144256591796875e-07, "grad_norm": 2.282256603240967, "learning_rate": 9.999534000551386e-06, "loss": 0.1665, "step": 3790 }, { "epoch": 3.6144256591796875e-07, "model_forward_time": 3.842985153198242, "step": 3790 }, { "dynamics_loss_avg": 0.04306501867249608, "epoch": 3.6144256591796875e-07, "step": 3790 }, { "action_loss_avg": 0.10402219258248806, "epoch": 3.6144256591796875e-07, "step": 3790 }, { "arm_loss_avg": 0.1593232646584511, "epoch": 3.6144256591796875e-07, "step": 3790 }, { "ee_loss_avg": 0.14511523246765137, "epoch": 3.6144256591796875e-07, "step": 3790 }, { "aux_loss_avg": 0.0009219324856530875, "epoch": 3.6144256591796875e-07, "step": 3790 }, { "epoch": 3.6144256591796875e-07, "step": 3790, "training_step_time": 17.578734397888184 }, { "epoch": 3.6153793334960937e-07, "model_forward_time": 5.050625324249268, "step": 3791 }, { "epoch": 3.6153793334960937e-07, "step": 3791, "training_step_time": 17.595171451568604 }, { "epoch": 3.6163330078125e-07, "model_forward_time": 5.063047885894775, "step": 3792 }, { "epoch": 3.6163330078125e-07, "step": 3792, "training_step_time": 17.601500034332275 }, { "epoch": 3.6172866821289065e-07, "model_forward_time": 5.3132922649383545, "step": 3793 }, { "epoch": 3.6172866821289065e-07, "step": 3793, "training_step_time": 17.59380269050598 }, { "epoch": 3.6182403564453126e-07, "model_forward_time": 5.078870534896851, "step": 3794 }, { "epoch": 3.6182403564453126e-07, "step": 3794, "training_step_time": 17.790864944458008 }, { "epoch": 3.619194030761719e-07, "model_forward_time": 5.085059404373169, "step": 3795 }, { "epoch": 3.619194030761719e-07, "step": 3795, "training_step_time": 17.59276819229126 }, { "epoch": 3.620147705078125e-07, "model_forward_time": 5.089115142822266, "step": 3796 }, { "epoch": 3.620147705078125e-07, "step": 3796, "training_step_time": 17.604756593704224 }, { "epoch": 3.621101379394531e-07, "model_forward_time": 5.091474771499634, "step": 3797 }, { "epoch": 3.621101379394531e-07, "step": 3797, "training_step_time": 17.638174533843994 }, { "epoch": 3.622055053710938e-07, "model_forward_time": 5.090364217758179, "step": 3798 }, { "epoch": 3.622055053710938e-07, "step": 3798, "training_step_time": 17.596593379974365 }, { "epoch": 3.623008728027344e-07, "model_forward_time": 3.85449481010437, "step": 3799 }, { "epoch": 3.623008728027344e-07, "step": 3799, "training_step_time": 17.841808795928955 }, { "epoch": 3.62396240234375e-07, "grad_norm": 1.7061582803726196, "learning_rate": 9.999501194057234e-06, "loss": 0.1602, "step": 3800 }, { "epoch": 3.62396240234375e-07, "model_forward_time": 5.055906295776367, "step": 3800 }, { "dynamics_loss_avg": 0.04862640909850598, "epoch": 3.62396240234375e-07, "step": 3800 }, { "action_loss_avg": 0.09701633602380752, "epoch": 3.62396240234375e-07, "step": 3800 }, { "arm_loss_avg": 0.13878386840224266, "epoch": 3.62396240234375e-07, "step": 3800 }, { "ee_loss_avg": 0.15241232588887216, "epoch": 3.62396240234375e-07, "step": 3800 }, { "aux_loss_avg": 0.007610006479080766, "epoch": 3.62396240234375e-07, "step": 3800 }, { "epoch": 3.62396240234375e-07, "step": 3800, "training_step_time": 17.59940457344055 }, { "epoch": 3.624916076660156e-07, "model_forward_time": 5.069063186645508, "step": 3801 }, { "epoch": 3.624916076660156e-07, "step": 3801, "training_step_time": 17.613173723220825 }, { "epoch": 3.6258697509765623e-07, "model_forward_time": 5.073216915130615, "step": 3802 }, { "epoch": 3.6258697509765623e-07, "step": 3802, "training_step_time": 17.592895984649658 }, { "epoch": 3.626823425292969e-07, "model_forward_time": 5.319122791290283, "step": 3803 }, { "epoch": 3.626823425292969e-07, "step": 3803, "training_step_time": 17.83677101135254 }, { "epoch": 3.627777099609375e-07, "model_forward_time": 5.085812330245972, "step": 3804 }, { "epoch": 3.627777099609375e-07, "step": 3804, "training_step_time": 17.58557438850403 }, { "epoch": 3.6287307739257813e-07, "model_forward_time": 5.088911056518555, "step": 3805 }, { "epoch": 3.6287307739257813e-07, "step": 3805, "training_step_time": 17.581636905670166 }, { "epoch": 3.6296844482421874e-07, "model_forward_time": 3.8538241386413574, "step": 3806 }, { "epoch": 3.6296844482421874e-07, "step": 3806, "training_step_time": 17.615768671035767 }, { "epoch": 3.6306381225585936e-07, "model_forward_time": 5.057750940322876, "step": 3807 }, { "epoch": 3.6306381225585936e-07, "step": 3807, "training_step_time": 17.579080820083618 }, { "epoch": 3.631591796875e-07, "model_forward_time": 5.269373178482056, "step": 3808 }, { "epoch": 3.631591796875e-07, "step": 3808, "training_step_time": 17.57756543159485 }, { "epoch": 3.6325454711914064e-07, "model_forward_time": 5.07730507850647, "step": 3809 }, { "epoch": 3.6325454711914064e-07, "step": 3809, "training_step_time": 17.814778089523315 }, { "epoch": 3.6334991455078126e-07, "grad_norm": 3.5326485633850098, "learning_rate": 9.99946727177139e-06, "loss": 0.1591, "step": 3810 }, { "epoch": 3.6334991455078126e-07, "model_forward_time": 5.083517074584961, "step": 3810 }, { "dynamics_loss_avg": 0.04883454497903585, "epoch": 3.6334991455078126e-07, "step": 3810 }, { "action_loss_avg": 0.10244096629321575, "epoch": 3.6334991455078126e-07, "step": 3810 }, { "arm_loss_avg": 0.186350679397583, "epoch": 3.6334991455078126e-07, "step": 3810 }, { "ee_loss_avg": 0.21215925738215446, "epoch": 3.6334991455078126e-07, "step": 3810 }, { "aux_loss_avg": 0.008083213015925138, "epoch": 3.6334991455078126e-07, "step": 3810 }, { "epoch": 3.6334991455078126e-07, "step": 3810, "training_step_time": 17.581432580947876 }, { "epoch": 3.6344528198242187e-07, "model_forward_time": 3.8509023189544678, "step": 3811 }, { "epoch": 3.6344528198242187e-07, "step": 3811, "training_step_time": 17.610825061798096 }, { "epoch": 3.635406494140625e-07, "model_forward_time": 5.0584845542907715, "step": 3812 }, { "epoch": 3.635406494140625e-07, "step": 3812, "training_step_time": 17.583433628082275 }, { "epoch": 3.636360168457031e-07, "model_forward_time": 5.301337003707886, "step": 3813 }, { "epoch": 3.636360168457031e-07, "step": 3813, "training_step_time": 17.79145622253418 }, { "epoch": 3.6373138427734377e-07, "model_forward_time": 5.079531908035278, "step": 3814 }, { "epoch": 3.6373138427734377e-07, "step": 3814, "training_step_time": 17.564539194107056 }, { "epoch": 3.638267517089844e-07, "model_forward_time": 5.086843967437744, "step": 3815 }, { "epoch": 3.638267517089844e-07, "step": 3815, "training_step_time": 17.57494068145752 }, { "epoch": 3.63922119140625e-07, "model_forward_time": 5.089665651321411, "step": 3816 }, { "epoch": 3.63922119140625e-07, "step": 3816, "training_step_time": 17.613311529159546 }, { "epoch": 3.640174865722656e-07, "model_forward_time": 5.09524393081665, "step": 3817 }, { "epoch": 3.640174865722656e-07, "step": 3817, "training_step_time": 17.57790994644165 }, { "epoch": 3.641128540039062e-07, "model_forward_time": 4.098663330078125, "step": 3818 }, { "epoch": 3.641128540039062e-07, "step": 3818, "training_step_time": 17.376054048538208 }, { "epoch": 3.642082214355469e-07, "model_forward_time": 5.061742067337036, "step": 3819 }, { "epoch": 3.642082214355469e-07, "step": 3819, "training_step_time": 17.738771438598633 }, { "epoch": 3.643035888671875e-07, "grad_norm": 3.3084375858306885, "learning_rate": 9.999432233701427e-06, "loss": 0.1686, "step": 3820 }, { "epoch": 3.643035888671875e-07, "model_forward_time": 5.067112684249878, "step": 3820 }, { "dynamics_loss_avg": 0.050552286021411416, "epoch": 3.643035888671875e-07, "step": 3820 }, { "action_loss_avg": 0.1097310584038496, "epoch": 3.643035888671875e-07, "step": 3820 }, { "arm_loss_avg": 0.15921827927231788, "epoch": 3.643035888671875e-07, "step": 3820 }, { "ee_loss_avg": 0.13251199424266816, "epoch": 3.643035888671875e-07, "step": 3820 }, { "aux_loss_avg": 0.0014670904842205346, "epoch": 3.643035888671875e-07, "step": 3820 }, { "epoch": 3.643035888671875e-07, "step": 3820, "training_step_time": 17.38098907470703 }, { "epoch": 3.643989562988281e-07, "model_forward_time": 5.077045917510986, "step": 3821 }, { "epoch": 3.643989562988281e-07, "step": 3821, "training_step_time": 17.57279324531555 }, { "epoch": 3.6449432373046873e-07, "model_forward_time": 5.080822944641113, "step": 3822 }, { "epoch": 3.6449432373046873e-07, "step": 3822, "training_step_time": 17.53118586540222 }, { "epoch": 3.6458969116210935e-07, "model_forward_time": 5.321675777435303, "step": 3823 }, { "epoch": 3.6458969116210935e-07, "step": 3823, "training_step_time": 17.574968814849854 }, { "epoch": 3.6468505859375e-07, "model_forward_time": 3.8526744842529297, "step": 3824 }, { "epoch": 3.6468505859375e-07, "step": 3824, "training_step_time": 17.77898144721985 }, { "epoch": 3.6478042602539063e-07, "model_forward_time": 5.057314157485962, "step": 3825 }, { "epoch": 3.6478042602539063e-07, "step": 3825, "training_step_time": 17.61323857307434 }, { "epoch": 3.6487579345703125e-07, "model_forward_time": 5.064733028411865, "step": 3826 }, { "epoch": 3.6487579345703125e-07, "step": 3826, "training_step_time": 17.37091374397278 }, { "epoch": 3.6497116088867186e-07, "model_forward_time": 5.0778539180755615, "step": 3827 }, { "epoch": 3.6497116088867186e-07, "step": 3827, "training_step_time": 17.610050916671753 }, { "epoch": 3.650665283203125e-07, "model_forward_time": 5.278441429138184, "step": 3828 }, { "epoch": 3.650665283203125e-07, "step": 3828, "training_step_time": 17.57644557952881 }, { "epoch": 3.6516189575195314e-07, "model_forward_time": 5.088038682937622, "step": 3829 }, { "epoch": 3.6516189575195314e-07, "step": 3829, "training_step_time": 17.81909155845642 }, { "epoch": 3.6525726318359376e-07, "grad_norm": 2.030616283416748, "learning_rate": 9.999396079855161e-06, "loss": 0.1553, "step": 3830 }, { "epoch": 3.6525726318359376e-07, "model_forward_time": 3.8528850078582764, "step": 3830 }, { "dynamics_loss_avg": 0.04009078843519091, "epoch": 3.6525726318359376e-07, "step": 3830 }, { "action_loss_avg": 0.09862673319876195, "epoch": 3.6525726318359376e-07, "step": 3830 }, { "arm_loss_avg": 0.134640134871006, "epoch": 3.6525726318359376e-07, "step": 3830 }, { "ee_loss_avg": 0.1781218059360981, "epoch": 3.6525726318359376e-07, "step": 3830 }, { "aux_loss_avg": 0.0014621735783293844, "epoch": 3.6525726318359376e-07, "step": 3830 }, { "epoch": 3.6525726318359376e-07, "step": 3830, "training_step_time": 17.38691020011902 }, { "epoch": 3.6535263061523437e-07, "model_forward_time": 5.060436010360718, "step": 3831 }, { "epoch": 3.6535263061523437e-07, "step": 3831, "training_step_time": 17.63433861732483 }, { "epoch": 3.65447998046875e-07, "model_forward_time": 5.0682783126831055, "step": 3832 }, { "epoch": 3.65447998046875e-07, "step": 3832, "training_step_time": 17.55934190750122 }, { "epoch": 3.655433654785156e-07, "model_forward_time": 5.3085548877716064, "step": 3833 }, { "epoch": 3.655433654785156e-07, "step": 3833, "training_step_time": 17.577392101287842 }, { "epoch": 3.6563873291015627e-07, "model_forward_time": 5.08822226524353, "step": 3834 }, { "epoch": 3.6563873291015627e-07, "step": 3834, "training_step_time": 17.782084703445435 }, { "epoch": 3.657341003417969e-07, "model_forward_time": 5.086382150650024, "step": 3835 }, { "epoch": 3.657341003417969e-07, "step": 3835, "training_step_time": 17.60243844985962 }, { "epoch": 3.658294677734375e-07, "model_forward_time": 5.08874773979187, "step": 3836 }, { "epoch": 3.658294677734375e-07, "step": 3836, "training_step_time": 17.62654709815979 }, { "epoch": 3.659248352050781e-07, "model_forward_time": 3.8533589839935303, "step": 3837 }, { "epoch": 3.659248352050781e-07, "step": 3837, "training_step_time": 17.608689308166504 }, { "epoch": 3.660202026367187e-07, "model_forward_time": 5.244204998016357, "step": 3838 }, { "epoch": 3.660202026367187e-07, "step": 3838, "training_step_time": 17.61701989173889 }, { "epoch": 3.661155700683594e-07, "model_forward_time": 5.069573402404785, "step": 3839 }, { "epoch": 3.661155700683594e-07, "step": 3839, "training_step_time": 17.38117003440857 }, { "epoch": 3.662109375e-07, "grad_norm": 3.347287654876709, "learning_rate": 9.999358810240665e-06, "loss": 0.1291, "step": 3840 }, { "epoch": 3.662109375e-07, "model_forward_time": 5.081415891647339, "step": 3840 }, { "dynamics_loss_avg": 0.029737506853416563, "epoch": 3.662109375e-07, "step": 3840 }, { "action_loss_avg": 0.07281091772019863, "epoch": 3.662109375e-07, "step": 3840 }, { "arm_loss_avg": 0.14150657430291175, "epoch": 3.662109375e-07, "step": 3840 }, { "ee_loss_avg": 0.1748493429273367, "epoch": 3.662109375e-07, "step": 3840 }, { "aux_loss_avg": 0.002927632554201409, "epoch": 3.662109375e-07, "step": 3840 }, { "epoch": 3.662109375e-07, "step": 3840, "training_step_time": 17.506619691848755 }, { "epoch": 3.663063049316406e-07, "model_forward_time": 5.082580804824829, "step": 3841 }, { "epoch": 3.663063049316406e-07, "step": 3841, "training_step_time": 17.554235696792603 }, { "epoch": 3.6640167236328124e-07, "model_forward_time": 5.0858213901519775, "step": 3842 }, { "epoch": 3.6640167236328124e-07, "step": 3842, "training_step_time": 17.566927671432495 }, { "epoch": 3.6649703979492185e-07, "model_forward_time": 5.321489334106445, "step": 3843 }, { "epoch": 3.6649703979492185e-07, "step": 3843, "training_step_time": 17.560867309570312 }, { "epoch": 3.665924072265625e-07, "model_forward_time": 5.0870513916015625, "step": 3844 }, { "epoch": 3.665924072265625e-07, "step": 3844, "training_step_time": 17.771535873413086 }, { "epoch": 3.6668777465820313e-07, "model_forward_time": 5.082659482955933, "step": 3845 }, { "epoch": 3.6668777465820313e-07, "step": 3845, "training_step_time": 17.582855939865112 }, { "epoch": 3.6678314208984375e-07, "model_forward_time": 5.084749221801758, "step": 3846 }, { "epoch": 3.6678314208984375e-07, "step": 3846, "training_step_time": 17.60372805595398 }, { "epoch": 3.6687850952148436e-07, "model_forward_time": 5.079977750778198, "step": 3847 }, { "epoch": 3.6687850952148436e-07, "step": 3847, "training_step_time": 17.591123819351196 }, { "epoch": 3.66973876953125e-07, "model_forward_time": 5.08224630355835, "step": 3848 }, { "epoch": 3.66973876953125e-07, "step": 3848, "training_step_time": 17.590553045272827 }, { "epoch": 3.6706924438476564e-07, "model_forward_time": 5.077898979187012, "step": 3849 }, { "epoch": 3.6706924438476564e-07, "step": 3849, "training_step_time": 17.382206916809082 }, { "epoch": 3.6716461181640626e-07, "grad_norm": 1.8239682912826538, "learning_rate": 9.999320424866255e-06, "loss": 0.146, "step": 3850 }, { "epoch": 3.6716461181640626e-07, "model_forward_time": 5.082388639450073, "step": 3850 }, { "dynamics_loss_avg": 0.05015470813959837, "epoch": 3.6716461181640626e-07, "step": 3850 }, { "action_loss_avg": 0.09786851443350315, "epoch": 3.6716461181640626e-07, "step": 3850 }, { "arm_loss_avg": 0.15338456705212594, "epoch": 3.6716461181640626e-07, "step": 3850 }, { "ee_loss_avg": 0.16334979720413684, "epoch": 3.6716461181640626e-07, "step": 3850 }, { "aux_loss_avg": 0.0011413949832785875, "epoch": 3.6716461181640626e-07, "step": 3850 }, { "epoch": 3.6716461181640626e-07, "step": 3850, "training_step_time": 17.5092511177063 }, { "epoch": 3.6725997924804687e-07, "model_forward_time": 5.083309173583984, "step": 3851 }, { "epoch": 3.6725997924804687e-07, "step": 3851, "training_step_time": 17.577940702438354 }, { "epoch": 3.673553466796875e-07, "model_forward_time": 5.081757545471191, "step": 3852 }, { "epoch": 3.673553466796875e-07, "step": 3852, "training_step_time": 17.574623346328735 }, { "epoch": 3.674507141113281e-07, "model_forward_time": 5.082980632781982, "step": 3853 }, { "epoch": 3.674507141113281e-07, "step": 3853, "training_step_time": 17.59450101852417 }, { "epoch": 3.6754608154296877e-07, "model_forward_time": 5.080077409744263, "step": 3854 }, { "epoch": 3.6754608154296877e-07, "step": 3854, "training_step_time": 17.796966552734375 }, { "epoch": 3.676414489746094e-07, "model_forward_time": 5.0772082805633545, "step": 3855 }, { "epoch": 3.676414489746094e-07, "step": 3855, "training_step_time": 17.594313859939575 }, { "epoch": 3.6773681640625e-07, "model_forward_time": 5.08859920501709, "step": 3856 }, { "epoch": 3.6773681640625e-07, "step": 3856, "training_step_time": 17.6450092792511 }, { "epoch": 3.678321838378906e-07, "model_forward_time": 5.096534490585327, "step": 3857 }, { "epoch": 3.678321838378906e-07, "step": 3857, "training_step_time": 17.639888286590576 }, { "epoch": 3.6792755126953123e-07, "model_forward_time": 3.854856491088867, "step": 3858 }, { "epoch": 3.6792755126953123e-07, "step": 3858, "training_step_time": 17.620771646499634 }, { "epoch": 3.680229187011719e-07, "model_forward_time": 5.08061671257019, "step": 3859 }, { "epoch": 3.680229187011719e-07, "step": 3859, "training_step_time": 17.149418830871582 }, { "epoch": 3.681182861328125e-07, "grad_norm": 3.2938902378082275, "learning_rate": 9.999280923740496e-06, "loss": 0.1513, "step": 3860 }, { "epoch": 3.681182861328125e-07, "model_forward_time": 3.8425979614257812, "step": 3860 }, { "dynamics_loss_avg": 0.04010649253614247, "epoch": 3.681182861328125e-07, "step": 3860 }, { "action_loss_avg": 0.0897043414413929, "epoch": 3.681182861328125e-07, "step": 3860 }, { "arm_loss_avg": 0.16681787967681885, "epoch": 3.681182861328125e-07, "step": 3860 }, { "ee_loss_avg": 0.16727673932909964, "epoch": 3.681182861328125e-07, "step": 3860 }, { "aux_loss_avg": 0.012052367517026142, "epoch": 3.681182861328125e-07, "step": 3860 }, { "epoch": 3.681182861328125e-07, "step": 3860, "training_step_time": 17.749847173690796 }, { "epoch": 3.682136535644531e-07, "model_forward_time": 5.052333354949951, "step": 3861 }, { "epoch": 3.682136535644531e-07, "step": 3861, "training_step_time": 17.553924083709717 }, { "epoch": 3.6830902099609374e-07, "model_forward_time": 5.064271450042725, "step": 3862 }, { "epoch": 3.6830902099609374e-07, "step": 3862, "training_step_time": 17.546019077301025 }, { "epoch": 3.6840438842773435e-07, "model_forward_time": 5.3156211376190186, "step": 3863 }, { "epoch": 3.6840438842773435e-07, "step": 3863, "training_step_time": 17.5648353099823 }, { "epoch": 3.68499755859375e-07, "model_forward_time": 5.095987796783447, "step": 3864 }, { "epoch": 3.68499755859375e-07, "step": 3864, "training_step_time": 17.779040575027466 }, { "epoch": 3.6859512329101563e-07, "model_forward_time": 5.095782995223999, "step": 3865 }, { "epoch": 3.6859512329101563e-07, "step": 3865, "training_step_time": 17.386008977890015 }, { "epoch": 3.6869049072265625e-07, "model_forward_time": 5.100367784500122, "step": 3866 }, { "epoch": 3.6869049072265625e-07, "step": 3866, "training_step_time": 17.61356258392334 }, { "epoch": 3.6878585815429686e-07, "model_forward_time": 5.102402448654175, "step": 3867 }, { "epoch": 3.6878585815429686e-07, "step": 3867, "training_step_time": 17.559643268585205 }, { "epoch": 3.688812255859375e-07, "model_forward_time": 5.093927621841431, "step": 3868 }, { "epoch": 3.688812255859375e-07, "step": 3868, "training_step_time": 17.591193914413452 }, { "epoch": 3.6897659301757815e-07, "model_forward_time": 5.0843727588653564, "step": 3869 }, { "epoch": 3.6897659301757815e-07, "step": 3869, "training_step_time": 17.618082523345947 }, { "epoch": 3.6907196044921876e-07, "grad_norm": 1.074911117553711, "learning_rate": 9.999240306872207e-06, "loss": 0.1486, "step": 3870 }, { "epoch": 3.6907196044921876e-07, "model_forward_time": 5.082246541976929, "step": 3870 }, { "dynamics_loss_avg": 0.03838664097711444, "epoch": 3.6907196044921876e-07, "step": 3870 }, { "action_loss_avg": 0.08468880876898766, "epoch": 3.6907196044921876e-07, "step": 3870 }, { "arm_loss_avg": 0.11540557518601417, "epoch": 3.6907196044921876e-07, "step": 3870 }, { "ee_loss_avg": 0.16824394576251506, "epoch": 3.6907196044921876e-07, "step": 3870 }, { "aux_loss_avg": 0.0016267119150143116, "epoch": 3.6907196044921876e-07, "step": 3870 }, { "epoch": 3.6907196044921876e-07, "step": 3870, "training_step_time": 17.842631816864014 }, { "epoch": 3.691673278808594e-07, "model_forward_time": 5.076360464096069, "step": 3871 }, { "epoch": 3.691673278808594e-07, "step": 3871, "training_step_time": 17.62853693962097 }, { "epoch": 3.692626953125e-07, "model_forward_time": 5.076905012130737, "step": 3872 }, { "epoch": 3.692626953125e-07, "step": 3872, "training_step_time": 17.626701593399048 }, { "epoch": 3.693580627441406e-07, "model_forward_time": 5.076651096343994, "step": 3873 }, { "epoch": 3.693580627441406e-07, "step": 3873, "training_step_time": 17.61335015296936 }, { "epoch": 3.6945343017578127e-07, "model_forward_time": 5.076712131500244, "step": 3874 }, { "epoch": 3.6945343017578127e-07, "step": 3874, "training_step_time": 17.614447593688965 }, { "epoch": 3.695487976074219e-07, "model_forward_time": 5.077382802963257, "step": 3875 }, { "epoch": 3.695487976074219e-07, "step": 3875, "training_step_time": 17.79992437362671 }, { "epoch": 3.696441650390625e-07, "model_forward_time": 5.077607870101929, "step": 3876 }, { "epoch": 3.696441650390625e-07, "step": 3876, "training_step_time": 17.62611413002014 }, { "epoch": 3.697395324707031e-07, "model_forward_time": 5.078619956970215, "step": 3877 }, { "epoch": 3.697395324707031e-07, "step": 3877, "training_step_time": 17.587606191635132 }, { "epoch": 3.6983489990234373e-07, "model_forward_time": 5.081120729446411, "step": 3878 }, { "epoch": 3.6983489990234373e-07, "step": 3878, "training_step_time": 17.593993663787842 }, { "epoch": 3.699302673339844e-07, "model_forward_time": 5.0773210525512695, "step": 3879 }, { "epoch": 3.699302673339844e-07, "step": 3879, "training_step_time": 17.812448740005493 }, { "epoch": 3.70025634765625e-07, "grad_norm": 1.2333345413208008, "learning_rate": 9.999198574270453e-06, "loss": 0.1523, "step": 3880 }, { "epoch": 3.70025634765625e-07, "model_forward_time": 5.081563711166382, "step": 3880 }, { "dynamics_loss_avg": 0.05330054275691509, "epoch": 3.70025634765625e-07, "step": 3880 }, { "action_loss_avg": 0.09019352160394192, "epoch": 3.70025634765625e-07, "step": 3880 }, { "arm_loss_avg": 0.13689484000205993, "epoch": 3.70025634765625e-07, "step": 3880 }, { "ee_loss_avg": 0.1724105030298233, "epoch": 3.70025634765625e-07, "step": 3880 }, { "aux_loss_avg": 0.002808662358438596, "epoch": 3.70025634765625e-07, "step": 3880 }, { "epoch": 3.70025634765625e-07, "step": 3880, "training_step_time": 17.58008885383606 }, { "epoch": 3.701210021972656e-07, "model_forward_time": 5.082772970199585, "step": 3881 }, { "epoch": 3.701210021972656e-07, "step": 3881, "training_step_time": 17.570258855819702 }, { "epoch": 3.7021636962890624e-07, "model_forward_time": 5.3202409744262695, "step": 3882 }, { "epoch": 3.7021636962890624e-07, "step": 3882, "training_step_time": 17.498328924179077 }, { "epoch": 3.7031173706054685e-07, "model_forward_time": 3.8505451679229736, "step": 3883 }, { "epoch": 3.7031173706054685e-07, "step": 3883, "training_step_time": 17.442069053649902 }, { "epoch": 3.704071044921875e-07, "model_forward_time": 5.057427644729614, "step": 3884 }, { "epoch": 3.704071044921875e-07, "step": 3884, "training_step_time": 17.784358739852905 }, { "epoch": 3.7050247192382814e-07, "model_forward_time": 5.059248447418213, "step": 3885 }, { "epoch": 3.7050247192382814e-07, "step": 3885, "training_step_time": 17.580137729644775 }, { "epoch": 3.7059783935546875e-07, "model_forward_time": 5.07080602645874, "step": 3886 }, { "epoch": 3.7059783935546875e-07, "step": 3886, "training_step_time": 17.592843770980835 }, { "epoch": 3.7069320678710937e-07, "model_forward_time": 5.077599287033081, "step": 3887 }, { "epoch": 3.7069320678710937e-07, "step": 3887, "training_step_time": 17.597811222076416 }, { "epoch": 3.7078857421875e-07, "model_forward_time": 5.0834057331085205, "step": 3888 }, { "epoch": 3.7078857421875e-07, "step": 3888, "training_step_time": 17.37659478187561 }, { "epoch": 3.7088394165039065e-07, "model_forward_time": 3.850679874420166, "step": 3889 }, { "epoch": 3.7088394165039065e-07, "step": 3889, "training_step_time": 17.734347343444824 }, { "epoch": 3.7097930908203126e-07, "grad_norm": 2.7396161556243896, "learning_rate": 9.999155725944544e-06, "loss": 0.1561, "step": 3890 }, { "epoch": 3.7097930908203126e-07, "model_forward_time": 5.0546393394470215, "step": 3890 }, { "dynamics_loss_avg": 0.04733407255262136, "epoch": 3.7097930908203126e-07, "step": 3890 }, { "action_loss_avg": 0.10800043866038322, "epoch": 3.7097930908203126e-07, "step": 3890 }, { "arm_loss_avg": 0.16104123517870902, "epoch": 3.7097930908203126e-07, "step": 3890 }, { "ee_loss_avg": 0.15976178795099258, "epoch": 3.7097930908203126e-07, "step": 3890 }, { "aux_loss_avg": 0.001785102265421301, "epoch": 3.7097930908203126e-07, "step": 3890 }, { "epoch": 3.7097930908203126e-07, "step": 3890, "training_step_time": 17.558441877365112 }, { "epoch": 3.710746765136719e-07, "model_forward_time": 5.068810701370239, "step": 3891 }, { "epoch": 3.710746765136719e-07, "step": 3891, "training_step_time": 17.622754335403442 }, { "epoch": 3.711700439453125e-07, "model_forward_time": 3.8459768295288086, "step": 3892 }, { "epoch": 3.711700439453125e-07, "step": 3892, "training_step_time": 17.586223125457764 }, { "epoch": 3.712654113769531e-07, "model_forward_time": 5.288705348968506, "step": 3893 }, { "epoch": 3.712654113769531e-07, "step": 3893, "training_step_time": 17.393423080444336 }, { "epoch": 3.7136077880859377e-07, "model_forward_time": 5.074370861053467, "step": 3894 }, { "epoch": 3.7136077880859377e-07, "step": 3894, "training_step_time": 17.73652148246765 }, { "epoch": 3.714561462402344e-07, "model_forward_time": 5.0819785594940186, "step": 3895 }, { "epoch": 3.714561462402344e-07, "step": 3895, "training_step_time": 17.562427043914795 }, { "epoch": 3.71551513671875e-07, "model_forward_time": 5.092887878417969, "step": 3896 }, { "epoch": 3.71551513671875e-07, "step": 3896, "training_step_time": 17.594470977783203 }, { "epoch": 3.716468811035156e-07, "model_forward_time": 5.092252492904663, "step": 3897 }, { "epoch": 3.716468811035156e-07, "step": 3897, "training_step_time": 17.607242822647095 }, { "epoch": 3.7174224853515623e-07, "model_forward_time": 5.283064126968384, "step": 3898 }, { "epoch": 3.7174224853515623e-07, "step": 3898, "training_step_time": 17.62408471107483 }, { "epoch": 3.718376159667969e-07, "model_forward_time": 5.091188430786133, "step": 3899 }, { "epoch": 3.718376159667969e-07, "step": 3899, "training_step_time": 17.854387521743774 }, { "epoch": 3.719329833984375e-07, "grad_norm": 1.642473816871643, "learning_rate": 9.999111761904046e-06, "loss": 0.138, "step": 3900 }, { "epoch": 3.719329833984375e-07, "model_forward_time": 5.0881264209747314, "step": 3900 }, { "dynamics_loss_avg": 0.054354678839445114, "epoch": 3.719329833984375e-07, "step": 3900 }, { "action_loss_avg": 0.07728115282952785, "epoch": 3.719329833984375e-07, "step": 3900 }, { "arm_loss_avg": 0.11051494665443898, "epoch": 3.719329833984375e-07, "step": 3900 }, { "ee_loss_avg": 0.2070307943969965, "epoch": 3.719329833984375e-07, "step": 3900 }, { "aux_loss_avg": 0.003371912462171167, "epoch": 3.719329833984375e-07, "step": 3900 }, { "epoch": 3.719329833984375e-07, "step": 3900, "training_step_time": 17.607664585113525 }, { "epoch": 3.7202835083007813e-07, "model_forward_time": 5.087141036987305, "step": 3901 }, { "epoch": 3.7202835083007813e-07, "step": 3901, "training_step_time": 17.61216902732849 }, { "epoch": 3.7212371826171874e-07, "model_forward_time": 5.08012580871582, "step": 3902 }, { "epoch": 3.7212371826171874e-07, "step": 3902, "training_step_time": 17.598770141601562 }, { "epoch": 3.7221908569335936e-07, "model_forward_time": 5.0801002979278564, "step": 3903 }, { "epoch": 3.7221908569335936e-07, "step": 3903, "training_step_time": 17.59670662879944 }, { "epoch": 3.72314453125e-07, "model_forward_time": 5.078633546829224, "step": 3904 }, { "epoch": 3.72314453125e-07, "step": 3904, "training_step_time": 17.790177822113037 }, { "epoch": 3.7240982055664064e-07, "model_forward_time": 3.8421640396118164, "step": 3905 }, { "epoch": 3.7240982055664064e-07, "step": 3905, "training_step_time": 17.577675104141235 }, { "epoch": 3.7250518798828125e-07, "model_forward_time": 5.054602146148682, "step": 3906 }, { "epoch": 3.7250518798828125e-07, "step": 3906, "training_step_time": 17.601457834243774 }, { "epoch": 3.7260055541992187e-07, "model_forward_time": 5.061764717102051, "step": 3907 }, { "epoch": 3.7260055541992187e-07, "step": 3907, "training_step_time": 17.571473598480225 }, { "epoch": 3.726959228515625e-07, "model_forward_time": 5.074268579483032, "step": 3908 }, { "epoch": 3.726959228515625e-07, "step": 3908, "training_step_time": 17.581723928451538 }, { "epoch": 3.7279129028320315e-07, "model_forward_time": 5.081288814544678, "step": 3909 }, { "epoch": 3.7279129028320315e-07, "step": 3909, "training_step_time": 17.7835431098938 }, { "epoch": 3.7288665771484376e-07, "grad_norm": 1.7254033088684082, "learning_rate": 9.999066682158771e-06, "loss": 0.1388, "step": 3910 }, { "epoch": 3.7288665771484376e-07, "model_forward_time": 5.088183641433716, "step": 3910 }, { "dynamics_loss_avg": 0.03903252426534891, "epoch": 3.7288665771484376e-07, "step": 3910 }, { "action_loss_avg": 0.09654057286679744, "epoch": 3.7288665771484376e-07, "step": 3910 }, { "arm_loss_avg": 0.14796262010931968, "epoch": 3.7288665771484376e-07, "step": 3910 }, { "ee_loss_avg": 0.18578686490654944, "epoch": 3.7288665771484376e-07, "step": 3910 }, { "aux_loss_avg": 0.00909469389298465, "epoch": 3.7288665771484376e-07, "step": 3910 }, { "epoch": 3.7288665771484376e-07, "step": 3910, "training_step_time": 17.56735873222351 }, { "epoch": 3.729820251464844e-07, "model_forward_time": 5.092987537384033, "step": 3911 }, { "epoch": 3.729820251464844e-07, "step": 3911, "training_step_time": 17.561636209487915 }, { "epoch": 3.73077392578125e-07, "model_forward_time": 5.093406677246094, "step": 3912 }, { "epoch": 3.73077392578125e-07, "step": 3912, "training_step_time": 17.487223863601685 }, { "epoch": 3.731727600097656e-07, "model_forward_time": 5.095552921295166, "step": 3913 }, { "epoch": 3.731727600097656e-07, "step": 3913, "training_step_time": 17.522379875183105 }, { "epoch": 3.732681274414063e-07, "model_forward_time": 5.091156959533691, "step": 3914 }, { "epoch": 3.732681274414063e-07, "step": 3914, "training_step_time": 17.771944999694824 }, { "epoch": 3.733634948730469e-07, "model_forward_time": 5.0875244140625, "step": 3915 }, { "epoch": 3.733634948730469e-07, "step": 3915, "training_step_time": 17.57868194580078 }, { "epoch": 3.734588623046875e-07, "model_forward_time": 5.091336488723755, "step": 3916 }, { "epoch": 3.734588623046875e-07, "step": 3916, "training_step_time": 17.613250017166138 }, { "epoch": 3.735542297363281e-07, "model_forward_time": 5.090756893157959, "step": 3917 }, { "epoch": 3.735542297363281e-07, "step": 3917, "training_step_time": 17.64236068725586 }, { "epoch": 3.7364959716796873e-07, "model_forward_time": 5.086892366409302, "step": 3918 }, { "epoch": 3.7364959716796873e-07, "step": 3918, "training_step_time": 17.634167671203613 }, { "epoch": 3.737449645996094e-07, "model_forward_time": 5.091917037963867, "step": 3919 }, { "epoch": 3.737449645996094e-07, "step": 3919, "training_step_time": 17.880170106887817 }, { "epoch": 3.7384033203125e-07, "grad_norm": 2.0519301891326904, "learning_rate": 9.999020486718777e-06, "loss": 0.1562, "step": 3920 }, { "epoch": 3.7384033203125e-07, "model_forward_time": 5.07726788520813, "step": 3920 }, { "dynamics_loss_avg": 0.049947626516222955, "epoch": 3.7384033203125e-07, "step": 3920 }, { "action_loss_avg": 0.09216299578547478, "epoch": 3.7384033203125e-07, "step": 3920 }, { "arm_loss_avg": 0.16919876486063004, "epoch": 3.7384033203125e-07, "step": 3920 }, { "ee_loss_avg": 0.11870811395347118, "epoch": 3.7384033203125e-07, "step": 3920 }, { "aux_loss_avg": 0.0046521218901034445, "epoch": 3.7384033203125e-07, "step": 3920 }, { "epoch": 3.7384033203125e-07, "step": 3920, "training_step_time": 17.585644245147705 }, { "epoch": 3.7393569946289063e-07, "model_forward_time": 5.0750367641448975, "step": 3921 }, { "epoch": 3.7393569946289063e-07, "step": 3921, "training_step_time": 17.58133363723755 }, { "epoch": 3.7403106689453124e-07, "model_forward_time": 5.318449974060059, "step": 3922 }, { "epoch": 3.7403106689453124e-07, "step": 3922, "training_step_time": 17.59006977081299 }, { "epoch": 3.7412643432617186e-07, "model_forward_time": 5.077160120010376, "step": 3923 }, { "epoch": 3.7412643432617186e-07, "step": 3923, "training_step_time": 17.57583236694336 }, { "epoch": 3.742218017578125e-07, "model_forward_time": 5.085077285766602, "step": 3924 }, { "epoch": 3.742218017578125e-07, "step": 3924, "training_step_time": 17.774370193481445 }, { "epoch": 3.7431716918945314e-07, "model_forward_time": 5.080856084823608, "step": 3925 }, { "epoch": 3.7431716918945314e-07, "step": 3925, "training_step_time": 17.578566551208496 }, { "epoch": 3.7441253662109375e-07, "model_forward_time": 5.08485221862793, "step": 3926 }, { "epoch": 3.7441253662109375e-07, "step": 3926, "training_step_time": 17.627833604812622 }, { "epoch": 3.7450790405273437e-07, "model_forward_time": 5.278160810470581, "step": 3927 }, { "epoch": 3.7450790405273437e-07, "step": 3927, "training_step_time": 17.580883026123047 }, { "epoch": 3.74603271484375e-07, "model_forward_time": 5.084474802017212, "step": 3928 }, { "epoch": 3.74603271484375e-07, "step": 3928, "training_step_time": 17.584818601608276 }, { "epoch": 3.7469863891601565e-07, "model_forward_time": 5.080567121505737, "step": 3929 }, { "epoch": 3.7469863891601565e-07, "step": 3929, "training_step_time": 17.81015419960022 }, { "epoch": 3.7479400634765627e-07, "grad_norm": 1.4905554056167603, "learning_rate": 9.99897317559438e-06, "loss": 0.1355, "step": 3930 }, { "epoch": 3.7479400634765627e-07, "model_forward_time": 5.081172943115234, "step": 3930 }, { "dynamics_loss_avg": 0.04851734908297658, "epoch": 3.7479400634765627e-07, "step": 3930 }, { "action_loss_avg": 0.09758307673037052, "epoch": 3.7479400634765627e-07, "step": 3930 }, { "arm_loss_avg": 0.1631571963429451, "epoch": 3.7479400634765627e-07, "step": 3930 }, { "ee_loss_avg": 0.14904481023550034, "epoch": 3.7479400634765627e-07, "step": 3930 }, { "aux_loss_avg": 0.0012635203660465778, "epoch": 3.7479400634765627e-07, "step": 3930 }, { "epoch": 3.7479400634765627e-07, "step": 3930, "training_step_time": 17.584600687026978 }, { "epoch": 3.748893737792969e-07, "model_forward_time": 3.84477162361145, "step": 3931 }, { "epoch": 3.748893737792969e-07, "step": 3931, "training_step_time": 17.584120750427246 }, { "epoch": 3.749847412109375e-07, "model_forward_time": 5.052290439605713, "step": 3932 }, { "epoch": 3.749847412109375e-07, "step": 3932, "training_step_time": 17.591679573059082 }, { "epoch": 3.750801086425781e-07, "model_forward_time": 5.302658796310425, "step": 3933 }, { "epoch": 3.750801086425781e-07, "step": 3933, "training_step_time": 17.489415645599365 }, { "epoch": 3.751754760742188e-07, "model_forward_time": 5.074336767196655, "step": 3934 }, { "epoch": 3.751754760742188e-07, "step": 3934, "training_step_time": 17.745680809020996 }, { "epoch": 3.752708435058594e-07, "model_forward_time": 5.0792224407196045, "step": 3935 }, { "epoch": 3.752708435058594e-07, "step": 3935, "training_step_time": 17.544914484024048 }, { "epoch": 3.753662109375e-07, "model_forward_time": 5.092633962631226, "step": 3936 }, { "epoch": 3.753662109375e-07, "step": 3936, "training_step_time": 17.59414839744568 }, { "epoch": 3.754615783691406e-07, "model_forward_time": 5.096945285797119, "step": 3937 }, { "epoch": 3.754615783691406e-07, "step": 3937, "training_step_time": 17.63990879058838 }, { "epoch": 3.7555694580078123e-07, "model_forward_time": 5.106197357177734, "step": 3938 }, { "epoch": 3.7555694580078123e-07, "step": 3938, "training_step_time": 17.65512704849243 }, { "epoch": 3.7565231323242185e-07, "model_forward_time": 3.8691234588623047, "step": 3939 }, { "epoch": 3.7565231323242185e-07, "step": 3939, "training_step_time": 17.887344121932983 }, { "epoch": 3.757476806640625e-07, "grad_norm": 1.3811217546463013, "learning_rate": 9.998924748796134e-06, "loss": 0.1342, "step": 3940 }, { "epoch": 3.757476806640625e-07, "model_forward_time": 5.06685996055603, "step": 3940 }, { "dynamics_loss_avg": 0.05298853572458029, "epoch": 3.757476806640625e-07, "step": 3940 }, { "action_loss_avg": 0.08216905370354652, "epoch": 3.757476806640625e-07, "step": 3940 }, { "arm_loss_avg": 0.15962073281407357, "epoch": 3.757476806640625e-07, "step": 3940 }, { "ee_loss_avg": 0.16023319065570832, "epoch": 3.757476806640625e-07, "step": 3940 }, { "aux_loss_avg": 0.005291714036138729, "epoch": 3.757476806640625e-07, "step": 3940 }, { "epoch": 3.757476806640625e-07, "step": 3940, "training_step_time": 17.608051538467407 }, { "epoch": 3.7584304809570313e-07, "model_forward_time": 3.8376412391662598, "step": 3941 }, { "epoch": 3.7584304809570313e-07, "step": 3941, "training_step_time": 17.605255126953125 }, { "epoch": 3.7593841552734375e-07, "model_forward_time": 5.048747777938843, "step": 3942 }, { "epoch": 3.7593841552734375e-07, "step": 3942, "training_step_time": 17.587245225906372 }, { "epoch": 3.7603378295898436e-07, "model_forward_time": 5.295551300048828, "step": 3943 }, { "epoch": 3.7603378295898436e-07, "step": 3943, "training_step_time": 17.573591709136963 }, { "epoch": 3.76129150390625e-07, "model_forward_time": 5.0826616287231445, "step": 3944 }, { "epoch": 3.76129150390625e-07, "step": 3944, "training_step_time": 17.762007236480713 }, { "epoch": 3.7622451782226564e-07, "model_forward_time": 5.091272830963135, "step": 3945 }, { "epoch": 3.7622451782226564e-07, "step": 3945, "training_step_time": 17.566304683685303 }, { "epoch": 3.7631988525390626e-07, "model_forward_time": 5.095333099365234, "step": 3946 }, { "epoch": 3.7631988525390626e-07, "step": 3946, "training_step_time": 17.57091975212097 }, { "epoch": 3.7641525268554687e-07, "model_forward_time": 5.1004884243011475, "step": 3947 }, { "epoch": 3.7641525268554687e-07, "step": 3947, "training_step_time": 17.481650590896606 }, { "epoch": 3.765106201171875e-07, "model_forward_time": 5.288008451461792, "step": 3948 }, { "epoch": 3.765106201171875e-07, "step": 3948, "training_step_time": 17.47676730155945 }, { "epoch": 3.766059875488281e-07, "model_forward_time": 5.09169602394104, "step": 3949 }, { "epoch": 3.766059875488281e-07, "step": 3949, "training_step_time": 17.514034748077393 }, { "epoch": 3.7670135498046877e-07, "grad_norm": 1.313791036605835, "learning_rate": 9.998875206334846e-06, "loss": 0.1281, "step": 3950 }, { "epoch": 3.7670135498046877e-07, "model_forward_time": 5.087165594100952, "step": 3950 }, { "dynamics_loss_avg": 0.04316972764208913, "epoch": 3.7670135498046877e-07, "step": 3950 }, { "action_loss_avg": 0.059836449660360815, "epoch": 3.7670135498046877e-07, "step": 3950 }, { "arm_loss_avg": 0.14218626841902732, "epoch": 3.7670135498046877e-07, "step": 3950 }, { "ee_loss_avg": 0.10274684615433216, "epoch": 3.7670135498046877e-07, "step": 3950 }, { "aux_loss_avg": 0.0014386299153557047, "epoch": 3.7670135498046877e-07, "step": 3950 }, { "epoch": 3.7670135498046877e-07, "step": 3950, "training_step_time": 17.78153085708618 }, { "epoch": 3.767967224121094e-07, "model_forward_time": 5.077432155609131, "step": 3951 }, { "epoch": 3.767967224121094e-07, "step": 3951, "training_step_time": 17.573927640914917 }, { "epoch": 3.7689208984375e-07, "model_forward_time": 5.076346397399902, "step": 3952 }, { "epoch": 3.7689208984375e-07, "step": 3952, "training_step_time": 17.584954977035522 }, { "epoch": 3.769874572753906e-07, "model_forward_time": 5.3136937618255615, "step": 3953 }, { "epoch": 3.769874572753906e-07, "step": 3953, "training_step_time": 17.599448680877686 }, { "epoch": 3.770828247070312e-07, "model_forward_time": 5.072813034057617, "step": 3954 }, { "epoch": 3.770828247070312e-07, "step": 3954, "training_step_time": 17.606863975524902 }, { "epoch": 3.771781921386719e-07, "model_forward_time": 5.072680950164795, "step": 3955 }, { "epoch": 3.771781921386719e-07, "step": 3955, "training_step_time": 17.786625146865845 }, { "epoch": 3.772735595703125e-07, "model_forward_time": 5.0757739543914795, "step": 3956 }, { "epoch": 3.772735595703125e-07, "step": 3956, "training_step_time": 17.599684953689575 }, { "epoch": 3.773689270019531e-07, "model_forward_time": 5.079236030578613, "step": 3957 }, { "epoch": 3.773689270019531e-07, "step": 3957, "training_step_time": 17.60512065887451 }, { "epoch": 3.7746429443359374e-07, "model_forward_time": 5.078657388687134, "step": 3958 }, { "epoch": 3.7746429443359374e-07, "step": 3958, "training_step_time": 17.48562479019165 }, { "epoch": 3.7755966186523435e-07, "model_forward_time": 3.8496909141540527, "step": 3959 }, { "epoch": 3.7755966186523435e-07, "step": 3959, "training_step_time": 17.531569957733154 }, { "epoch": 3.77655029296875e-07, "grad_norm": 1.7247520685195923, "learning_rate": 9.998824548221577e-06, "loss": 0.1498, "step": 3960 }, { "epoch": 3.77655029296875e-07, "model_forward_time": 5.057884454727173, "step": 3960 }, { "dynamics_loss_avg": 0.044216067902743815, "epoch": 3.77655029296875e-07, "step": 3960 }, { "action_loss_avg": 0.09500392265617848, "epoch": 3.77655029296875e-07, "step": 3960 }, { "arm_loss_avg": 0.1556253232061863, "epoch": 3.77655029296875e-07, "step": 3960 }, { "ee_loss_avg": 0.12144772559404374, "epoch": 3.77655029296875e-07, "step": 3960 }, { "aux_loss_avg": 0.003785694623365998, "epoch": 3.77655029296875e-07, "step": 3960 }, { "epoch": 3.77655029296875e-07, "step": 3960, "training_step_time": 17.363382577896118 }, { "epoch": 3.7775039672851563e-07, "model_forward_time": 5.066826343536377, "step": 3961 }, { "epoch": 3.7775039672851563e-07, "step": 3961, "training_step_time": 17.431384801864624 }, { "epoch": 3.7784576416015625e-07, "model_forward_time": 5.079471588134766, "step": 3962 }, { "epoch": 3.7784576416015625e-07, "step": 3962, "training_step_time": 17.438257694244385 }, { "epoch": 3.7794113159179686e-07, "model_forward_time": 5.325707912445068, "step": 3963 }, { "epoch": 3.7794113159179686e-07, "step": 3963, "training_step_time": 17.505333423614502 }, { "epoch": 3.780364990234375e-07, "model_forward_time": 5.0900022983551025, "step": 3964 }, { "epoch": 3.780364990234375e-07, "step": 3964, "training_step_time": 17.551695346832275 }, { "epoch": 3.7813186645507814e-07, "model_forward_time": 3.853177547454834, "step": 3965 }, { "epoch": 3.7813186645507814e-07, "step": 3965, "training_step_time": 17.768230438232422 }, { "epoch": 3.7822723388671876e-07, "model_forward_time": 5.060863018035889, "step": 3966 }, { "epoch": 3.7822723388671876e-07, "step": 3966, "training_step_time": 17.610310792922974 }, { "epoch": 3.7832260131835937e-07, "model_forward_time": 5.075467348098755, "step": 3967 }, { "epoch": 3.7832260131835937e-07, "step": 3967, "training_step_time": 17.612056016921997 }, { "epoch": 3.7841796875e-07, "model_forward_time": 5.27327036857605, "step": 3968 }, { "epoch": 3.7841796875e-07, "step": 3968, "training_step_time": 17.608588218688965 }, { "epoch": 3.785133361816406e-07, "model_forward_time": 3.84907603263855, "step": 3969 }, { "epoch": 3.785133361816406e-07, "step": 3969, "training_step_time": 17.600032567977905 }, { "epoch": 3.7860870361328127e-07, "grad_norm": 2.0169150829315186, "learning_rate": 9.998772774467631e-06, "loss": 0.1449, "step": 3970 }, { "epoch": 3.7860870361328127e-07, "model_forward_time": 5.057563781738281, "step": 3970 }, { "dynamics_loss_avg": 0.05028808638453484, "epoch": 3.7860870361328127e-07, "step": 3970 }, { "action_loss_avg": 0.07832131534814835, "epoch": 3.7860870361328127e-07, "step": 3970 }, { "arm_loss_avg": 0.13694381415843965, "epoch": 3.7860870361328127e-07, "step": 3970 }, { "ee_loss_avg": 0.16038302779197694, "epoch": 3.7860870361328127e-07, "step": 3970 }, { "aux_loss_avg": 0.0035995551792439074, "epoch": 3.7860870361328127e-07, "step": 3970 }, { "epoch": 3.7860870361328127e-07, "step": 3970, "training_step_time": 17.82891845703125 }, { "epoch": 3.787040710449219e-07, "model_forward_time": 5.073729991912842, "step": 3971 }, { "epoch": 3.787040710449219e-07, "step": 3971, "training_step_time": 17.572872161865234 }, { "epoch": 3.787994384765625e-07, "model_forward_time": 5.083509683609009, "step": 3972 }, { "epoch": 3.787994384765625e-07, "step": 3972, "training_step_time": 17.56725811958313 }, { "epoch": 3.788948059082031e-07, "model_forward_time": 4.0621771812438965, "step": 3973 }, { "epoch": 3.788948059082031e-07, "step": 3973, "training_step_time": 17.56134343147278 }, { "epoch": 3.7899017333984373e-07, "model_forward_time": 5.066902160644531, "step": 3974 }, { "epoch": 3.7899017333984373e-07, "step": 3974, "training_step_time": 17.56748676300049 }, { "epoch": 3.790855407714844e-07, "model_forward_time": 5.079472064971924, "step": 3975 }, { "epoch": 3.790855407714844e-07, "step": 3975, "training_step_time": 17.740802764892578 }, { "epoch": 3.79180908203125e-07, "model_forward_time": 5.084065914154053, "step": 3976 }, { "epoch": 3.79180908203125e-07, "step": 3976, "training_step_time": 17.55468773841858 }, { "epoch": 3.792762756347656e-07, "model_forward_time": 5.087165594100952, "step": 3977 }, { "epoch": 3.792762756347656e-07, "step": 3977, "training_step_time": 17.593316316604614 }, { "epoch": 3.7937164306640624e-07, "model_forward_time": 5.273468017578125, "step": 3978 }, { "epoch": 3.7937164306640624e-07, "step": 3978, "training_step_time": 17.553675651550293 }, { "epoch": 3.7946701049804685e-07, "model_forward_time": 5.09334135055542, "step": 3979 }, { "epoch": 3.7946701049804685e-07, "step": 3979, "training_step_time": 17.560495615005493 }, { "epoch": 3.795623779296875e-07, "grad_norm": 2.5458292961120605, "learning_rate": 9.99871988508456e-06, "loss": 0.1648, "step": 3980 }, { "epoch": 3.795623779296875e-07, "model_forward_time": 5.094863414764404, "step": 3980 }, { "dynamics_loss_avg": 0.04641736149787903, "epoch": 3.795623779296875e-07, "step": 3980 }, { "action_loss_avg": 0.10536649152636528, "epoch": 3.795623779296875e-07, "step": 3980 }, { "arm_loss_avg": 0.1389711953699589, "epoch": 3.795623779296875e-07, "step": 3980 }, { "ee_loss_avg": 0.17133357524871826, "epoch": 3.795623779296875e-07, "step": 3980 }, { "aux_loss_avg": 0.0033645675284788013, "epoch": 3.795623779296875e-07, "step": 3980 }, { "epoch": 3.795623779296875e-07, "step": 3980, "training_step_time": 17.809391736984253 }, { "epoch": 3.7965774536132813e-07, "model_forward_time": 5.088188648223877, "step": 3981 }, { "epoch": 3.7965774536132813e-07, "step": 3981, "training_step_time": 17.572861909866333 }, { "epoch": 3.7975311279296875e-07, "model_forward_time": 5.08463191986084, "step": 3982 }, { "epoch": 3.7975311279296875e-07, "step": 3982, "training_step_time": 17.585155487060547 }, { "epoch": 3.7984848022460936e-07, "model_forward_time": 5.33156156539917, "step": 3983 }, { "epoch": 3.7984848022460936e-07, "step": 3983, "training_step_time": 17.58459711074829 }, { "epoch": 3.7994384765625e-07, "model_forward_time": 3.8519535064697266, "step": 3984 }, { "epoch": 3.7994384765625e-07, "step": 3984, "training_step_time": 17.58286952972412 }, { "epoch": 3.8003921508789064e-07, "model_forward_time": 5.058096408843994, "step": 3985 }, { "epoch": 3.8003921508789064e-07, "step": 3985, "training_step_time": 17.772204160690308 }, { "epoch": 3.8013458251953126e-07, "model_forward_time": 3.8318886756896973, "step": 3986 }, { "epoch": 3.8013458251953126e-07, "step": 3986, "training_step_time": 17.56158137321472 }, { "epoch": 3.802299499511719e-07, "model_forward_time": 5.054096460342407, "step": 3987 }, { "epoch": 3.802299499511719e-07, "step": 3987, "training_step_time": 17.632049083709717 }, { "epoch": 3.803253173828125e-07, "model_forward_time": 5.264652490615845, "step": 3988 }, { "epoch": 3.803253173828125e-07, "step": 3988, "training_step_time": 17.55439519882202 }, { "epoch": 3.804206848144531e-07, "model_forward_time": 5.085445404052734, "step": 3989 }, { "epoch": 3.804206848144531e-07, "step": 3989, "training_step_time": 17.564090251922607 }, { "epoch": 3.8051605224609377e-07, "grad_norm": 1.3625248670578003, "learning_rate": 9.998665880084173e-06, "loss": 0.1387, "step": 3990 }, { "epoch": 3.8051605224609377e-07, "model_forward_time": 5.102639198303223, "step": 3990 }, { "dynamics_loss_avg": 0.03527072761207819, "epoch": 3.8051605224609377e-07, "step": 3990 }, { "action_loss_avg": 0.08544779047369958, "epoch": 3.8051605224609377e-07, "step": 3990 }, { "arm_loss_avg": 0.14223720356822014, "epoch": 3.8051605224609377e-07, "step": 3990 }, { "ee_loss_avg": 0.15905770361423494, "epoch": 3.8051605224609377e-07, "step": 3990 }, { "aux_loss_avg": 0.011907276476267725, "epoch": 3.8051605224609377e-07, "step": 3990 }, { "epoch": 3.8051605224609377e-07, "step": 3990, "training_step_time": 17.798335790634155 }, { "epoch": 3.806114196777344e-07, "model_forward_time": 5.098661661148071, "step": 3991 }, { "epoch": 3.806114196777344e-07, "step": 3991, "training_step_time": 17.547578811645508 }, { "epoch": 3.80706787109375e-07, "model_forward_time": 5.1026060581207275, "step": 3992 }, { "epoch": 3.80706787109375e-07, "step": 3992, "training_step_time": 17.519004106521606 }, { "epoch": 3.808021545410156e-07, "model_forward_time": 5.34006142616272, "step": 3993 }, { "epoch": 3.808021545410156e-07, "step": 3993, "training_step_time": 17.4763445854187 }, { "epoch": 3.8089752197265623e-07, "model_forward_time": 3.8567569255828857, "step": 3994 }, { "epoch": 3.8089752197265623e-07, "step": 3994, "training_step_time": 17.517662525177002 }, { "epoch": 3.809928894042969e-07, "model_forward_time": 5.058660507202148, "step": 3995 }, { "epoch": 3.809928894042969e-07, "step": 3995, "training_step_time": 17.75525999069214 }, { "epoch": 3.810882568359375e-07, "model_forward_time": 5.064643144607544, "step": 3996 }, { "epoch": 3.810882568359375e-07, "step": 3996, "training_step_time": 17.57407569885254 }, { "epoch": 3.811836242675781e-07, "model_forward_time": 5.077608585357666, "step": 3997 }, { "epoch": 3.811836242675781e-07, "step": 3997, "training_step_time": 17.653842449188232 }, { "epoch": 3.8127899169921874e-07, "model_forward_time": 5.290851593017578, "step": 3998 }, { "epoch": 3.8127899169921874e-07, "step": 3998, "training_step_time": 17.620651960372925 }, { "epoch": 3.8137435913085935e-07, "model_forward_time": 5.092153549194336, "step": 3999 }, { "epoch": 3.8137435913085935e-07, "step": 3999, "training_step_time": 17.64374566078186 }, { "epoch": 3.814697265625e-07, "grad_norm": 2.3319029808044434, "learning_rate": 9.998610759478523e-06, "loss": 0.141, "step": 4000 }, { "epoch": 3.814697265625e-07, "model_forward_time": 5.098655700683594, "step": 4000 }, { "dynamics_loss_avg": 0.04845001613721252, "epoch": 3.814697265625e-07, "step": 4000 }, { "action_loss_avg": 0.0912611298263073, "epoch": 3.814697265625e-07, "step": 4000 }, { "arm_loss_avg": 0.13578613921999932, "epoch": 3.814697265625e-07, "step": 4000 }, { "ee_loss_avg": 0.11535562314093113, "epoch": 3.814697265625e-07, "step": 4000 }, { "aux_loss_avg": 0.001258509251056239, "epoch": 3.814697265625e-07, "step": 4000 }, { "epoch": 3.814697265625e-07, "step": 4000, "training_step_time": 17.882989406585693 }, { "epoch": 3.8156509399414064e-07, "model_forward_time": 5.080246686935425, "step": 4001 }, { "epoch": 3.8156509399414064e-07, "step": 4001, "training_step_time": 17.604576587677002 }, { "epoch": 3.8166046142578125e-07, "model_forward_time": 5.082850694656372, "step": 4002 }, { "epoch": 3.8166046142578125e-07, "step": 4002, "training_step_time": 17.595067977905273 }, { "epoch": 3.8175582885742186e-07, "model_forward_time": 5.083101987838745, "step": 4003 }, { "epoch": 3.8175582885742186e-07, "step": 4003, "training_step_time": 17.58672070503235 }, { "epoch": 3.818511962890625e-07, "model_forward_time": 5.082261562347412, "step": 4004 }, { "epoch": 3.818511962890625e-07, "step": 4004, "training_step_time": 17.572975158691406 }, { "epoch": 3.8194656372070315e-07, "model_forward_time": 5.084212303161621, "step": 4005 }, { "epoch": 3.8194656372070315e-07, "step": 4005, "training_step_time": 17.752521753311157 }, { "epoch": 3.8204193115234376e-07, "model_forward_time": 5.082505226135254, "step": 4006 }, { "epoch": 3.8204193115234376e-07, "step": 4006, "training_step_time": 17.567765951156616 }, { "epoch": 3.821372985839844e-07, "model_forward_time": 5.277733325958252, "step": 4007 }, { "epoch": 3.821372985839844e-07, "step": 4007, "training_step_time": 17.642640829086304 }, { "epoch": 3.82232666015625e-07, "model_forward_time": 5.07881498336792, "step": 4008 }, { "epoch": 3.82232666015625e-07, "step": 4008, "training_step_time": 17.574612855911255 }, { "epoch": 3.823280334472656e-07, "model_forward_time": 5.079962253570557, "step": 4009 }, { "epoch": 3.823280334472656e-07, "step": 4009, "training_step_time": 17.41493844985962 }, { "epoch": 3.8242340087890627e-07, "grad_norm": 2.605797529220581, "learning_rate": 9.998554523279904e-06, "loss": 0.1422, "step": 4010 }, { "epoch": 3.8242340087890627e-07, "model_forward_time": 5.082391262054443, "step": 4010 }, { "dynamics_loss_avg": 0.04072731491178274, "epoch": 3.8242340087890627e-07, "step": 4010 }, { "action_loss_avg": 0.08180189430713654, "epoch": 3.8242340087890627e-07, "step": 4010 }, { "arm_loss_avg": 0.1534424602985382, "epoch": 3.8242340087890627e-07, "step": 4010 }, { "ee_loss_avg": 0.151775136962533, "epoch": 3.8242340087890627e-07, "step": 4010 }, { "aux_loss_avg": 0.00346211664727889, "epoch": 3.8242340087890627e-07, "step": 4010 }, { "epoch": 3.8242340087890627e-07, "step": 4010, "training_step_time": 17.7315776348114 }, { "epoch": 3.825187683105469e-07, "model_forward_time": 5.074704647064209, "step": 4011 }, { "epoch": 3.825187683105469e-07, "step": 4011, "training_step_time": 17.6213059425354 }, { "epoch": 3.826141357421875e-07, "model_forward_time": 5.077092885971069, "step": 4012 }, { "epoch": 3.826141357421875e-07, "step": 4012, "training_step_time": 17.553981065750122 }, { "epoch": 3.827095031738281e-07, "model_forward_time": 5.07572078704834, "step": 4013 }, { "epoch": 3.827095031738281e-07, "step": 4013, "training_step_time": 17.569751024246216 }, { "epoch": 3.8280487060546873e-07, "model_forward_time": 5.077697038650513, "step": 4014 }, { "epoch": 3.8280487060546873e-07, "step": 4014, "training_step_time": 17.585134744644165 }, { "epoch": 3.829002380371094e-07, "model_forward_time": 5.0766942501068115, "step": 4015 }, { "epoch": 3.829002380371094e-07, "step": 4015, "training_step_time": 17.805657386779785 }, { "epoch": 3.8299560546875e-07, "model_forward_time": 5.074130535125732, "step": 4016 }, { "epoch": 3.8299560546875e-07, "step": 4016, "training_step_time": 17.61066246032715 }, { "epoch": 3.830909729003906e-07, "model_forward_time": 5.077481985092163, "step": 4017 }, { "epoch": 3.830909729003906e-07, "step": 4017, "training_step_time": 17.394400358200073 }, { "epoch": 3.8318634033203124e-07, "model_forward_time": 3.846489429473877, "step": 4018 }, { "epoch": 3.8318634033203124e-07, "step": 4018, "training_step_time": 17.503664255142212 }, { "epoch": 3.8328170776367186e-07, "model_forward_time": 5.058354377746582, "step": 4019 }, { "epoch": 3.8328170776367186e-07, "step": 4019, "training_step_time": 17.39049458503723 }, { "epoch": 3.833770751953125e-07, "grad_norm": 1.4460704326629639, "learning_rate": 9.998497171500876e-06, "loss": 0.1578, "step": 4020 }, { "epoch": 3.833770751953125e-07, "model_forward_time": 5.067107915878296, "step": 4020 }, { "dynamics_loss_avg": 0.039663466392084956, "epoch": 3.833770751953125e-07, "step": 4020 }, { "action_loss_avg": 0.07656612265855074, "epoch": 3.833770751953125e-07, "step": 4020 }, { "arm_loss_avg": 0.11180940717458725, "epoch": 3.833770751953125e-07, "step": 4020 }, { "ee_loss_avg": 0.1542872704565525, "epoch": 3.833770751953125e-07, "step": 4020 }, { "aux_loss_avg": 0.0020734679303131996, "epoch": 3.833770751953125e-07, "step": 4020 }, { "epoch": 3.833770751953125e-07, "step": 4020, "training_step_time": 17.486820220947266 }, { "epoch": 3.8347244262695314e-07, "model_forward_time": 5.07169246673584, "step": 4021 }, { "epoch": 3.8347244262695314e-07, "step": 4021, "training_step_time": 17.761087894439697 }, { "epoch": 3.8356781005859375e-07, "model_forward_time": 5.078314781188965, "step": 4022 }, { "epoch": 3.8356781005859375e-07, "step": 4022, "training_step_time": 17.560909748077393 }, { "epoch": 3.8366317749023437e-07, "model_forward_time": 5.325892925262451, "step": 4023 }, { "epoch": 3.8366317749023437e-07, "step": 4023, "training_step_time": 17.589075803756714 }, { "epoch": 3.83758544921875e-07, "model_forward_time": 5.089188098907471, "step": 4024 }, { "epoch": 3.83758544921875e-07, "step": 4024, "training_step_time": 17.612151384353638 }, { "epoch": 3.8385391235351565e-07, "model_forward_time": 5.088416814804077, "step": 4025 }, { "epoch": 3.8385391235351565e-07, "step": 4025, "training_step_time": 17.83224868774414 }, { "epoch": 3.8394927978515626e-07, "model_forward_time": 5.086766958236694, "step": 4026 }, { "epoch": 3.8394927978515626e-07, "step": 4026, "training_step_time": 17.60032320022583 }, { "epoch": 3.840446472167969e-07, "model_forward_time": 5.086004018783569, "step": 4027 }, { "epoch": 3.840446472167969e-07, "step": 4027, "training_step_time": 17.589877367019653 }, { "epoch": 3.841400146484375e-07, "model_forward_time": 5.0874245166778564, "step": 4028 }, { "epoch": 3.841400146484375e-07, "step": 4028, "training_step_time": 17.588908433914185 }, { "epoch": 3.842353820800781e-07, "model_forward_time": 5.083540201187134, "step": 4029 }, { "epoch": 3.842353820800781e-07, "step": 4029, "training_step_time": 17.58806824684143 }, { "epoch": 3.843307495117188e-07, "grad_norm": 1.8605142831802368, "learning_rate": 9.998438704154233e-06, "loss": 0.1573, "step": 4030 }, { "epoch": 3.843307495117188e-07, "model_forward_time": 5.082788705825806, "step": 4030 }, { "dynamics_loss_avg": 0.05237875245511532, "epoch": 3.843307495117188e-07, "step": 4030 }, { "action_loss_avg": 0.10429424941539764, "epoch": 3.843307495117188e-07, "step": 4030 }, { "arm_loss_avg": 0.14762536734342574, "epoch": 3.843307495117188e-07, "step": 4030 }, { "ee_loss_avg": 0.18812390901148318, "epoch": 3.843307495117188e-07, "step": 4030 }, { "aux_loss_avg": 0.012837293726624921, "epoch": 3.843307495117188e-07, "step": 4030 }, { "epoch": 3.843307495117188e-07, "step": 4030, "training_step_time": 17.3911874294281 }, { "epoch": 3.844261169433594e-07, "model_forward_time": 5.082350730895996, "step": 4031 }, { "epoch": 3.844261169433594e-07, "step": 4031, "training_step_time": 17.74195170402527 }, { "epoch": 3.84521484375e-07, "model_forward_time": 3.843628406524658, "step": 4032 }, { "epoch": 3.84521484375e-07, "step": 4032, "training_step_time": 17.521957635879517 }, { "epoch": 3.846168518066406e-07, "model_forward_time": 4.030795574188232, "step": 4033 }, { "epoch": 3.846168518066406e-07, "step": 4033, "training_step_time": 17.550601720809937 }, { "epoch": 3.8471221923828123e-07, "model_forward_time": 5.045934677124023, "step": 4034 }, { "epoch": 3.8471221923828123e-07, "step": 4034, "training_step_time": 17.564411640167236 }, { "epoch": 3.848075866699219e-07, "model_forward_time": 5.054973840713501, "step": 4035 }, { "epoch": 3.848075866699219e-07, "step": 4035, "training_step_time": 17.792654275894165 }, { "epoch": 3.849029541015625e-07, "model_forward_time": 5.076972007751465, "step": 4036 }, { "epoch": 3.849029541015625e-07, "step": 4036, "training_step_time": 17.625849723815918 }, { "epoch": 3.8499832153320313e-07, "model_forward_time": 5.088236093521118, "step": 4037 }, { "epoch": 3.8499832153320313e-07, "step": 4037, "training_step_time": 17.58700728416443 }, { "epoch": 3.8509368896484374e-07, "model_forward_time": 5.292734384536743, "step": 4038 }, { "epoch": 3.8509368896484374e-07, "step": 4038, "training_step_time": 17.583801984786987 }, { "epoch": 3.8518905639648436e-07, "model_forward_time": 5.104491710662842, "step": 4039 }, { "epoch": 3.8518905639648436e-07, "step": 4039, "training_step_time": 17.592891931533813 }, { "epoch": 3.85284423828125e-07, "grad_norm": 1.3909385204315186, "learning_rate": 9.998379121253027e-06, "loss": 0.1795, "step": 4040 }, { "epoch": 3.85284423828125e-07, "model_forward_time": 5.098764419555664, "step": 4040 }, { "dynamics_loss_avg": 0.04543588757514953, "epoch": 3.85284423828125e-07, "step": 4040 }, { "action_loss_avg": 0.08199857398867608, "epoch": 3.85284423828125e-07, "step": 4040 }, { "arm_loss_avg": 0.13678104504942895, "epoch": 3.85284423828125e-07, "step": 4040 }, { "ee_loss_avg": 0.153377815335989, "epoch": 3.85284423828125e-07, "step": 4040 }, { "aux_loss_avg": 0.001089898857753724, "epoch": 3.85284423828125e-07, "step": 4040 }, { "epoch": 3.85284423828125e-07, "step": 4040, "training_step_time": 17.834139108657837 }, { "epoch": 3.8537979125976564e-07, "model_forward_time": 5.0925445556640625, "step": 4041 }, { "epoch": 3.8537979125976564e-07, "step": 4041, "training_step_time": 17.604233503341675 }, { "epoch": 3.8547515869140625e-07, "model_forward_time": 5.084511756896973, "step": 4042 }, { "epoch": 3.8547515869140625e-07, "step": 4042, "training_step_time": 17.615516662597656 }, { "epoch": 3.8557052612304687e-07, "model_forward_time": 5.0812859535217285, "step": 4043 }, { "epoch": 3.8557052612304687e-07, "step": 4043, "training_step_time": 17.37200665473938 }, { "epoch": 3.856658935546875e-07, "model_forward_time": 5.081439018249512, "step": 4044 }, { "epoch": 3.856658935546875e-07, "step": 4044, "training_step_time": 17.504392862319946 }, { "epoch": 3.8576126098632815e-07, "model_forward_time": 5.076444149017334, "step": 4045 }, { "epoch": 3.8576126098632815e-07, "step": 4045, "training_step_time": 17.548738956451416 }, { "epoch": 3.8585662841796876e-07, "model_forward_time": 5.0728819370269775, "step": 4046 }, { "epoch": 3.8585662841796876e-07, "step": 4046, "training_step_time": 17.800894498825073 }, { "epoch": 3.859519958496094e-07, "model_forward_time": 3.842176675796509, "step": 4047 }, { "epoch": 3.859519958496094e-07, "step": 4047, "training_step_time": 17.58341932296753 }, { "epoch": 3.8604736328125e-07, "model_forward_time": 5.053914546966553, "step": 4048 }, { "epoch": 3.8604736328125e-07, "step": 4048, "training_step_time": 17.602554321289062 }, { "epoch": 3.861427307128906e-07, "model_forward_time": 5.059486389160156, "step": 4049 }, { "epoch": 3.861427307128906e-07, "step": 4049, "training_step_time": 17.600935220718384 }, { "epoch": 3.862380981445313e-07, "grad_norm": 1.6865754127502441, "learning_rate": 9.998318422810554e-06, "loss": 0.1497, "step": 4050 }, { "epoch": 3.862380981445313e-07, "model_forward_time": 5.072341442108154, "step": 4050 }, { "dynamics_loss_avg": 0.04515680451877415, "epoch": 3.862380981445313e-07, "step": 4050 }, { "action_loss_avg": 0.08733392395079136, "epoch": 3.862380981445313e-07, "step": 4050 }, { "arm_loss_avg": 0.13578326553106307, "epoch": 3.862380981445313e-07, "step": 4050 }, { "ee_loss_avg": 0.1425430081784725, "epoch": 3.862380981445313e-07, "step": 4050 }, { "aux_loss_avg": 0.001024089549900964, "epoch": 3.862380981445313e-07, "step": 4050 }, { "epoch": 3.862380981445313e-07, "step": 4050, "training_step_time": 17.849449396133423 }, { "epoch": 3.863334655761719e-07, "model_forward_time": 5.080143928527832, "step": 4051 }, { "epoch": 3.863334655761719e-07, "step": 4051, "training_step_time": 17.59464454650879 }, { "epoch": 3.864288330078125e-07, "model_forward_time": 5.089947462081909, "step": 4052 }, { "epoch": 3.864288330078125e-07, "step": 4052, "training_step_time": 17.594743728637695 }, { "epoch": 3.865242004394531e-07, "model_forward_time": 3.853888988494873, "step": 4053 }, { "epoch": 3.865242004394531e-07, "step": 4053, "training_step_time": 17.58700442314148 }, { "epoch": 3.8661956787109373e-07, "model_forward_time": 5.063863515853882, "step": 4054 }, { "epoch": 3.8661956787109373e-07, "step": 4054, "training_step_time": 17.589781761169434 }, { "epoch": 3.867149353027344e-07, "model_forward_time": 5.076476097106934, "step": 4055 }, { "epoch": 3.867149353027344e-07, "step": 4055, "training_step_time": 17.807257890701294 }, { "epoch": 3.86810302734375e-07, "model_forward_time": 5.087596893310547, "step": 4056 }, { "epoch": 3.86810302734375e-07, "step": 4056, "training_step_time": 17.625422716140747 }, { "epoch": 3.8690567016601563e-07, "model_forward_time": 5.101780414581299, "step": 4057 }, { "epoch": 3.8690567016601563e-07, "step": 4057, "training_step_time": 17.518014430999756 }, { "epoch": 3.8700103759765624e-07, "model_forward_time": 5.321346759796143, "step": 4058 }, { "epoch": 3.8700103759765624e-07, "step": 4058, "training_step_time": 17.562519550323486 }, { "epoch": 3.8709640502929686e-07, "model_forward_time": 5.104637861251831, "step": 4059 }, { "epoch": 3.8709640502929686e-07, "step": 4059, "training_step_time": 17.58440089225769 }, { "epoch": 3.871917724609375e-07, "grad_norm": 1.5813246965408325, "learning_rate": 9.998256608840362e-06, "loss": 0.1457, "step": 4060 }, { "epoch": 3.871917724609375e-07, "model_forward_time": 5.09097695350647, "step": 4060 }, { "dynamics_loss_avg": 0.04743933500722051, "epoch": 3.871917724609375e-07, "step": 4060 }, { "action_loss_avg": 0.058313600905239585, "epoch": 3.871917724609375e-07, "step": 4060 }, { "arm_loss_avg": 0.1030890392139554, "epoch": 3.871917724609375e-07, "step": 4060 }, { "ee_loss_avg": 0.10179081782698632, "epoch": 3.871917724609375e-07, "step": 4060 }, { "aux_loss_avg": 0.001357315224595368, "epoch": 3.871917724609375e-07, "step": 4060 }, { "epoch": 3.871917724609375e-07, "step": 4060, "training_step_time": 17.21215271949768 }, { "epoch": 3.8728713989257814e-07, "model_forward_time": 5.089614152908325, "step": 4061 }, { "epoch": 3.8728713989257814e-07, "step": 4061, "training_step_time": 17.27052617073059 }, { "epoch": 3.8738250732421876e-07, "model_forward_time": 5.08715033531189, "step": 4062 }, { "epoch": 3.8738250732421876e-07, "step": 4062, "training_step_time": 17.464021921157837 }, { "epoch": 3.8747787475585937e-07, "model_forward_time": 5.086566686630249, "step": 4063 }, { "epoch": 3.8747787475585937e-07, "step": 4063, "training_step_time": 17.52539372444153 }, { "epoch": 3.875732421875e-07, "model_forward_time": 5.078402280807495, "step": 4064 }, { "epoch": 3.875732421875e-07, "step": 4064, "training_step_time": 17.566845655441284 }, { "epoch": 3.876686096191406e-07, "model_forward_time": 5.073263645172119, "step": 4065 }, { "epoch": 3.876686096191406e-07, "step": 4065, "training_step_time": 17.604183673858643 }, { "epoch": 3.8776397705078127e-07, "model_forward_time": 5.069559097290039, "step": 4066 }, { "epoch": 3.8776397705078127e-07, "step": 4066, "training_step_time": 17.817789316177368 }, { "epoch": 3.878593444824219e-07, "model_forward_time": 5.262280702590942, "step": 4067 }, { "epoch": 3.878593444824219e-07, "step": 4067, "training_step_time": 17.632189989089966 }, { "epoch": 3.879547119140625e-07, "model_forward_time": 5.072041273117065, "step": 4068 }, { "epoch": 3.879547119140625e-07, "step": 4068, "training_step_time": 17.632211208343506 }, { "epoch": 3.880500793457031e-07, "model_forward_time": 5.075611352920532, "step": 4069 }, { "epoch": 3.880500793457031e-07, "step": 4069, "training_step_time": 17.63384461402893 }, { "epoch": 3.881454467773437e-07, "grad_norm": 1.947442650794983, "learning_rate": 9.998193679356246e-06, "loss": 0.1407, "step": 4070 }, { "epoch": 3.881454467773437e-07, "model_forward_time": 5.077149868011475, "step": 4070 }, { "dynamics_loss_avg": 0.05531252734363079, "epoch": 3.881454467773437e-07, "step": 4070 }, { "action_loss_avg": 0.07664133980870247, "epoch": 3.881454467773437e-07, "step": 4070 }, { "arm_loss_avg": 0.13391247913241386, "epoch": 3.881454467773437e-07, "step": 4070 }, { "ee_loss_avg": 0.14672117605805396, "epoch": 3.881454467773437e-07, "step": 4070 }, { "aux_loss_avg": 0.005396503294468858, "epoch": 3.881454467773437e-07, "step": 4070 }, { "epoch": 3.881454467773437e-07, "step": 4070, "training_step_time": 17.623875379562378 }, { "epoch": 3.882408142089844e-07, "model_forward_time": 5.078407049179077, "step": 4071 }, { "epoch": 3.882408142089844e-07, "step": 4071, "training_step_time": 17.86690044403076 }, { "epoch": 3.88336181640625e-07, "model_forward_time": 3.8489081859588623, "step": 4072 }, { "epoch": 3.88336181640625e-07, "step": 4072, "training_step_time": 17.613499879837036 }, { "epoch": 3.884315490722656e-07, "model_forward_time": 5.305135726928711, "step": 4073 }, { "epoch": 3.884315490722656e-07, "step": 4073, "training_step_time": 17.606892108917236 }, { "epoch": 3.8852691650390624e-07, "model_forward_time": 5.065491437911987, "step": 4074 }, { "epoch": 3.8852691650390624e-07, "step": 4074, "training_step_time": 17.588945150375366 }, { "epoch": 3.8862228393554685e-07, "model_forward_time": 3.8465065956115723, "step": 4075 }, { "epoch": 3.8862228393554685e-07, "step": 4075, "training_step_time": 17.371361017227173 }, { "epoch": 3.887176513671875e-07, "model_forward_time": 5.055458307266235, "step": 4076 }, { "epoch": 3.887176513671875e-07, "step": 4076, "training_step_time": 17.690059661865234 }, { "epoch": 3.8881301879882813e-07, "model_forward_time": 5.069576740264893, "step": 4077 }, { "epoch": 3.8881301879882813e-07, "step": 4077, "training_step_time": 17.58842968940735 }, { "epoch": 3.8890838623046875e-07, "model_forward_time": 4.0984885692596436, "step": 4078 }, { "epoch": 3.8890838623046875e-07, "step": 4078, "training_step_time": 17.549906492233276 }, { "epoch": 3.8900375366210936e-07, "model_forward_time": 5.061697483062744, "step": 4079 }, { "epoch": 3.8900375366210936e-07, "step": 4079, "training_step_time": 17.577204942703247 }, { "epoch": 3.8909912109375e-07, "grad_norm": 2.1984548568725586, "learning_rate": 9.998129634372249e-06, "loss": 0.153, "step": 4080 }, { "epoch": 3.8909912109375e-07, "model_forward_time": 5.08096981048584, "step": 4080 }, { "dynamics_loss_avg": 0.05942246727645397, "epoch": 3.8909912109375e-07, "step": 4080 }, { "action_loss_avg": 0.06631140690296888, "epoch": 3.8909912109375e-07, "step": 4080 }, { "arm_loss_avg": 0.13035073652863502, "epoch": 3.8909912109375e-07, "step": 4080 }, { "ee_loss_avg": 0.11267264299094677, "epoch": 3.8909912109375e-07, "step": 4080 }, { "aux_loss_avg": 0.005523498170077801, "epoch": 3.8909912109375e-07, "step": 4080 }, { "epoch": 3.8909912109375e-07, "step": 4080, "training_step_time": 17.804786443710327 }, { "epoch": 3.8919448852539064e-07, "model_forward_time": 5.088991403579712, "step": 4081 }, { "epoch": 3.8919448852539064e-07, "step": 4081, "training_step_time": 17.60080647468567 }, { "epoch": 3.8928985595703126e-07, "model_forward_time": 5.094705820083618, "step": 4082 }, { "epoch": 3.8928985595703126e-07, "step": 4082, "training_step_time": 17.5989248752594 }, { "epoch": 3.8938522338867187e-07, "model_forward_time": 5.338097095489502, "step": 4083 }, { "epoch": 3.8938522338867187e-07, "step": 4083, "training_step_time": 17.60590934753418 }, { "epoch": 3.894805908203125e-07, "model_forward_time": 5.10193657875061, "step": 4084 }, { "epoch": 3.894805908203125e-07, "step": 4084, "training_step_time": 17.379863739013672 }, { "epoch": 3.895759582519531e-07, "model_forward_time": 5.097008228302002, "step": 4085 }, { "epoch": 3.895759582519531e-07, "step": 4085, "training_step_time": 17.757079362869263 }, { "epoch": 3.8967132568359377e-07, "model_forward_time": 5.090366363525391, "step": 4086 }, { "epoch": 3.8967132568359377e-07, "step": 4086, "training_step_time": 17.463489055633545 }, { "epoch": 3.897666931152344e-07, "model_forward_time": 5.0869245529174805, "step": 4087 }, { "epoch": 3.897666931152344e-07, "step": 4087, "training_step_time": 17.53830885887146 }, { "epoch": 3.89862060546875e-07, "model_forward_time": 5.082725286483765, "step": 4088 }, { "epoch": 3.89862060546875e-07, "step": 4088, "training_step_time": 17.54643487930298 }, { "epoch": 3.899574279785156e-07, "model_forward_time": 5.078766584396362, "step": 4089 }, { "epoch": 3.899574279785156e-07, "step": 4089, "training_step_time": 17.582746982574463 }, { "epoch": 3.900527954101562e-07, "grad_norm": 2.7619354724884033, "learning_rate": 9.998064473902667e-06, "loss": 0.1532, "step": 4090 }, { "epoch": 3.900527954101562e-07, "model_forward_time": 5.074772596359253, "step": 4090 }, { "dynamics_loss_avg": 0.0462060883641243, "epoch": 3.900527954101562e-07, "step": 4090 }, { "action_loss_avg": 0.08234087266027927, "epoch": 3.900527954101562e-07, "step": 4090 }, { "arm_loss_avg": 0.12282321713864804, "epoch": 3.900527954101562e-07, "step": 4090 }, { "ee_loss_avg": 0.11948010772466659, "epoch": 3.900527954101562e-07, "step": 4090 }, { "aux_loss_avg": 0.0019053204450756311, "epoch": 3.900527954101562e-07, "step": 4090 }, { "epoch": 3.900527954101562e-07, "step": 4090, "training_step_time": 17.62628746032715 }, { "epoch": 3.901481628417969e-07, "model_forward_time": 5.075488328933716, "step": 4091 }, { "epoch": 3.901481628417969e-07, "step": 4091, "training_step_time": 17.418302536010742 }, { "epoch": 3.902435302734375e-07, "model_forward_time": 5.076871871948242, "step": 4092 }, { "epoch": 3.902435302734375e-07, "step": 4092, "training_step_time": 17.580072164535522 }, { "epoch": 3.903388977050781e-07, "model_forward_time": 5.073307037353516, "step": 4093 }, { "epoch": 3.903388977050781e-07, "step": 4093, "training_step_time": 17.582353115081787 }, { "epoch": 3.9043426513671874e-07, "model_forward_time": 5.077799558639526, "step": 4094 }, { "epoch": 3.9043426513671874e-07, "step": 4094, "training_step_time": 17.60900378227234 }, { "epoch": 3.9052963256835935e-07, "model_forward_time": 3.8439016342163086, "step": 4095 }, { "epoch": 3.9052963256835935e-07, "step": 4095, "training_step_time": 17.618086099624634 }, { "epoch": 3.90625e-07, "model_forward_time": 5.072979211807251, "step": 4096 }, { "epoch": 3.90625e-07, "step": 4096, "training_step_time": 17.846494436264038 }, { "epoch": 3.9072036743164063e-07, "model_forward_time": 5.085888385772705, "step": 4097 }, { "epoch": 3.9072036743164063e-07, "step": 4097, "training_step_time": 17.648164749145508 }, { "epoch": 3.9081573486328125e-07, "model_forward_time": 5.319196701049805, "step": 4098 }, { "epoch": 3.9081573486328125e-07, "step": 4098, "training_step_time": 17.43028497695923 }, { "epoch": 3.9091110229492186e-07, "model_forward_time": 5.096224308013916, "step": 4099 }, { "epoch": 3.9091110229492186e-07, "step": 4099, "training_step_time": 17.525826930999756 }, { "epoch": 3.910064697265625e-07, "grad_norm": 2.7945284843444824, "learning_rate": 9.997998197962043e-06, "loss": 0.1505, "step": 4100 }, { "epoch": 3.910064697265625e-07, "model_forward_time": 5.089090347290039, "step": 4100 }, { "dynamics_loss_avg": 0.04722610749304294, "epoch": 3.910064697265625e-07, "step": 4100 }, { "action_loss_avg": 0.06500015426427126, "epoch": 3.910064697265625e-07, "step": 4100 }, { "arm_loss_avg": 0.10842246934771538, "epoch": 3.910064697265625e-07, "step": 4100 }, { "ee_loss_avg": 0.13804347738623618, "epoch": 3.910064697265625e-07, "step": 4100 }, { "aux_loss_avg": 0.0034768986457493155, "epoch": 3.910064697265625e-07, "step": 4100 }, { "epoch": 3.910064697265625e-07, "step": 4100, "training_step_time": 17.539855003356934 }, { "epoch": 3.9110183715820314e-07, "model_forward_time": 5.089156866073608, "step": 4101 }, { "epoch": 3.9110183715820314e-07, "step": 4101, "training_step_time": 17.797785758972168 }, { "epoch": 3.9119720458984376e-07, "model_forward_time": 5.089312314987183, "step": 4102 }, { "epoch": 3.9119720458984376e-07, "step": 4102, "training_step_time": 17.580564498901367 }, { "epoch": 3.9129257202148437e-07, "model_forward_time": 5.0891571044921875, "step": 4103 }, { "epoch": 3.9129257202148437e-07, "step": 4103, "training_step_time": 17.601183652877808 }, { "epoch": 3.91387939453125e-07, "model_forward_time": 5.084822177886963, "step": 4104 }, { "epoch": 3.91387939453125e-07, "step": 4104, "training_step_time": 17.616074085235596 }, { "epoch": 3.914833068847656e-07, "model_forward_time": 5.082576274871826, "step": 4105 }, { "epoch": 3.914833068847656e-07, "step": 4105, "training_step_time": 17.85317087173462 }, { "epoch": 3.9157867431640627e-07, "model_forward_time": 5.076306343078613, "step": 4106 }, { "epoch": 3.9157867431640627e-07, "step": 4106, "training_step_time": 17.36669158935547 }, { "epoch": 3.916740417480469e-07, "model_forward_time": 5.278272867202759, "step": 4107 }, { "epoch": 3.916740417480469e-07, "step": 4107, "training_step_time": 17.599803924560547 }, { "epoch": 3.917694091796875e-07, "model_forward_time": 5.078960657119751, "step": 4108 }, { "epoch": 3.917694091796875e-07, "step": 4108, "training_step_time": 17.558529376983643 }, { "epoch": 3.918647766113281e-07, "model_forward_time": 5.0752363204956055, "step": 4109 }, { "epoch": 3.918647766113281e-07, "step": 4109, "training_step_time": 17.589389324188232 }, { "epoch": 3.9196014404296873e-07, "grad_norm": 2.9227659702301025, "learning_rate": 9.997930806565166e-06, "loss": 0.1499, "step": 4110 }, { "epoch": 3.9196014404296873e-07, "model_forward_time": 5.078557729721069, "step": 4110 }, { "dynamics_loss_avg": 0.056475008837878704, "epoch": 3.9196014404296873e-07, "step": 4110 }, { "action_loss_avg": 0.09295430611819029, "epoch": 3.9196014404296873e-07, "step": 4110 }, { "arm_loss_avg": 0.10667453855276107, "epoch": 3.9196014404296873e-07, "step": 4110 }, { "ee_loss_avg": 0.11745203323662282, "epoch": 3.9196014404296873e-07, "step": 4110 }, { "aux_loss_avg": 0.003288713627262041, "epoch": 3.9196014404296873e-07, "step": 4110 }, { "epoch": 3.9196014404296873e-07, "step": 4110, "training_step_time": 17.605412244796753 }, { "epoch": 3.920555114746094e-07, "model_forward_time": 5.072901964187622, "step": 4111 }, { "epoch": 3.920555114746094e-07, "step": 4111, "training_step_time": 17.84141230583191 }, { "epoch": 3.9215087890625e-07, "model_forward_time": 5.073866605758667, "step": 4112 }, { "epoch": 3.9215087890625e-07, "step": 4112, "training_step_time": 17.605847358703613 }, { "epoch": 3.922462463378906e-07, "model_forward_time": 5.070642948150635, "step": 4113 }, { "epoch": 3.922462463378906e-07, "step": 4113, "training_step_time": 17.601000547409058 }, { "epoch": 3.9234161376953124e-07, "model_forward_time": 5.074923276901245, "step": 4114 }, { "epoch": 3.9234161376953124e-07, "step": 4114, "training_step_time": 17.60555124282837 }, { "epoch": 3.9243698120117185e-07, "model_forward_time": 5.0754382610321045, "step": 4115 }, { "epoch": 3.9243698120117185e-07, "step": 4115, "training_step_time": 17.814605236053467 }, { "epoch": 3.925323486328125e-07, "model_forward_time": 5.0745344161987305, "step": 4116 }, { "epoch": 3.925323486328125e-07, "step": 4116, "training_step_time": 17.589248657226562 }, { "epoch": 3.9262771606445313e-07, "model_forward_time": 5.072876214981079, "step": 4117 }, { "epoch": 3.9262771606445313e-07, "step": 4117, "training_step_time": 17.584509134292603 }, { "epoch": 3.9272308349609375e-07, "model_forward_time": 5.076286315917969, "step": 4118 }, { "epoch": 3.9272308349609375e-07, "step": 4118, "training_step_time": 17.577627897262573 }, { "epoch": 3.9281845092773436e-07, "model_forward_time": 5.075589418411255, "step": 4119 }, { "epoch": 3.9281845092773436e-07, "step": 4119, "training_step_time": 17.347934007644653 }, { "epoch": 3.92913818359375e-07, "grad_norm": 2.062847375869751, "learning_rate": 9.997862299727076e-06, "loss": 0.1631, "step": 4120 }, { "epoch": 3.92913818359375e-07, "model_forward_time": 5.080491781234741, "step": 4120 }, { "dynamics_loss_avg": 0.05376861561089754, "epoch": 3.92913818359375e-07, "step": 4120 }, { "action_loss_avg": 0.08322738781571389, "epoch": 3.92913818359375e-07, "step": 4120 }, { "arm_loss_avg": 0.10417788699269295, "epoch": 3.92913818359375e-07, "step": 4120 }, { "ee_loss_avg": 0.13245748318731784, "epoch": 3.92913818359375e-07, "step": 4120 }, { "aux_loss_avg": 0.0010775150789413602, "epoch": 3.92913818359375e-07, "step": 4120 }, { "epoch": 3.92913818359375e-07, "step": 4120, "training_step_time": 17.49030041694641 }, { "epoch": 3.9300918579101565e-07, "model_forward_time": 5.07925271987915, "step": 4121 }, { "epoch": 3.9300918579101565e-07, "step": 4121, "training_step_time": 17.75797152519226 }, { "epoch": 3.9310455322265626e-07, "model_forward_time": 5.322927713394165, "step": 4122 }, { "epoch": 3.9310455322265626e-07, "step": 4122, "training_step_time": 17.556007385253906 }, { "epoch": 3.931999206542969e-07, "model_forward_time": 5.077650547027588, "step": 4123 }, { "epoch": 3.931999206542969e-07, "step": 4123, "training_step_time": 17.566436767578125 }, { "epoch": 3.932952880859375e-07, "model_forward_time": 5.0755393505096436, "step": 4124 }, { "epoch": 3.932952880859375e-07, "step": 4124, "training_step_time": 17.571800231933594 }, { "epoch": 3.933906555175781e-07, "model_forward_time": 5.074291467666626, "step": 4125 }, { "epoch": 3.933906555175781e-07, "step": 4125, "training_step_time": 17.28789710998535 }, { "epoch": 3.9348602294921877e-07, "model_forward_time": 5.07867169380188, "step": 4126 }, { "epoch": 3.9348602294921877e-07, "step": 4126, "training_step_time": 17.695755004882812 }, { "epoch": 3.935813903808594e-07, "model_forward_time": 5.275696516036987, "step": 4127 }, { "epoch": 3.935813903808594e-07, "step": 4127, "training_step_time": 17.540985345840454 }, { "epoch": 3.936767578125e-07, "model_forward_time": 3.847435712814331, "step": 4128 }, { "epoch": 3.936767578125e-07, "step": 4128, "training_step_time": 17.56187343597412 }, { "epoch": 3.937721252441406e-07, "model_forward_time": 5.054535865783691, "step": 4129 }, { "epoch": 3.937721252441406e-07, "step": 4129, "training_step_time": 17.592809200286865 }, { "epoch": 3.9386749267578123e-07, "grad_norm": 2.6815927028656006, "learning_rate": 9.997792677463068e-06, "loss": 0.1669, "step": 4130 }, { "epoch": 3.9386749267578123e-07, "model_forward_time": 5.063883543014526, "step": 4130 }, { "dynamics_loss_avg": 0.07042519357055425, "epoch": 3.9386749267578123e-07, "step": 4130 }, { "action_loss_avg": 0.0818599233403802, "epoch": 3.9386749267578123e-07, "step": 4130 }, { "arm_loss_avg": 0.09111099056899548, "epoch": 3.9386749267578123e-07, "step": 4130 }, { "ee_loss_avg": 0.08406693674623966, "epoch": 3.9386749267578123e-07, "step": 4130 }, { "aux_loss_avg": 0.0014639838191214949, "epoch": 3.9386749267578123e-07, "step": 4130 }, { "epoch": 3.9386749267578123e-07, "step": 4130, "training_step_time": 17.591707706451416 }, { "epoch": 3.939628601074219e-07, "model_forward_time": 5.073967218399048, "step": 4131 }, { "epoch": 3.939628601074219e-07, "step": 4131, "training_step_time": 17.831964254379272 }, { "epoch": 3.940582275390625e-07, "model_forward_time": 5.078371047973633, "step": 4132 }, { "epoch": 3.940582275390625e-07, "step": 4132, "training_step_time": 17.586569786071777 }, { "epoch": 3.941535949707031e-07, "model_forward_time": 5.3370513916015625, "step": 4133 }, { "epoch": 3.941535949707031e-07, "step": 4133, "training_step_time": 17.443871021270752 }, { "epoch": 3.9424896240234374e-07, "model_forward_time": 5.091764688491821, "step": 4134 }, { "epoch": 3.9424896240234374e-07, "step": 4134, "training_step_time": 17.49834108352661 }, { "epoch": 3.9434432983398435e-07, "model_forward_time": 5.096341371536255, "step": 4135 }, { "epoch": 3.9434432983398435e-07, "step": 4135, "training_step_time": 17.53333878517151 }, { "epoch": 3.94439697265625e-07, "model_forward_time": 5.092310428619385, "step": 4136 }, { "epoch": 3.94439697265625e-07, "step": 4136, "training_step_time": 17.382096529006958 }, { "epoch": 3.9453506469726564e-07, "model_forward_time": 5.089227914810181, "step": 4137 }, { "epoch": 3.9453506469726564e-07, "step": 4137, "training_step_time": 17.513230323791504 }, { "epoch": 3.9463043212890625e-07, "model_forward_time": 5.088831663131714, "step": 4138 }, { "epoch": 3.9463043212890625e-07, "step": 4138, "training_step_time": 17.636524200439453 }, { "epoch": 3.9472579956054687e-07, "model_forward_time": 5.081207990646362, "step": 4139 }, { "epoch": 3.9472579956054687e-07, "step": 4139, "training_step_time": 17.564669370651245 }, { "epoch": 3.948211669921875e-07, "grad_norm": 1.5631662607192993, "learning_rate": 9.997721939788674e-06, "loss": 0.1518, "step": 4140 }, { "epoch": 3.948211669921875e-07, "model_forward_time": 5.0781919956207275, "step": 4140 }, { "dynamics_loss_avg": 0.042004332132637504, "epoch": 3.948211669921875e-07, "step": 4140 }, { "action_loss_avg": 0.06473642718046904, "epoch": 3.948211669921875e-07, "step": 4140 }, { "arm_loss_avg": 0.13686567470431327, "epoch": 3.948211669921875e-07, "step": 4140 }, { "ee_loss_avg": 0.12955489866435527, "epoch": 3.948211669921875e-07, "step": 4140 }, { "aux_loss_avg": 0.005437171860830858, "epoch": 3.948211669921875e-07, "step": 4140 }, { "epoch": 3.948211669921875e-07, "step": 4140, "training_step_time": 17.416531085968018 }, { "epoch": 3.9491653442382815e-07, "model_forward_time": 5.079249143600464, "step": 4141 }, { "epoch": 3.9491653442382815e-07, "step": 4141, "training_step_time": 17.412445545196533 }, { "epoch": 3.9501190185546876e-07, "model_forward_time": 3.8449816703796387, "step": 4142 }, { "epoch": 3.9501190185546876e-07, "step": 4142, "training_step_time": 17.484243392944336 }, { "epoch": 3.951072692871094e-07, "model_forward_time": 5.29956579208374, "step": 4143 }, { "epoch": 3.951072692871094e-07, "step": 4143, "training_step_time": 17.5836284160614 }, { "epoch": 3.9520263671875e-07, "model_forward_time": 5.064429044723511, "step": 4144 }, { "epoch": 3.9520263671875e-07, "step": 4144, "training_step_time": 17.586366176605225 }, { "epoch": 3.952980041503906e-07, "model_forward_time": 5.071295261383057, "step": 4145 }, { "epoch": 3.952980041503906e-07, "step": 4145, "training_step_time": 17.613853454589844 }, { "epoch": 3.9539337158203127e-07, "model_forward_time": 5.081609487533569, "step": 4146 }, { "epoch": 3.9539337158203127e-07, "step": 4146, "training_step_time": 17.795284748077393 }, { "epoch": 3.954887390136719e-07, "model_forward_time": 5.086463689804077, "step": 4147 }, { "epoch": 3.954887390136719e-07, "step": 4147, "training_step_time": 17.6144757270813 }, { "epoch": 3.955841064453125e-07, "model_forward_time": 5.092709064483643, "step": 4148 }, { "epoch": 3.955841064453125e-07, "step": 4148, "training_step_time": 17.61058020591736 }, { "epoch": 3.956794738769531e-07, "model_forward_time": 5.089627981185913, "step": 4149 }, { "epoch": 3.956794738769531e-07, "step": 4149, "training_step_time": 17.60292649269104 }, { "epoch": 3.9577484130859373e-07, "grad_norm": 2.291144371032715, "learning_rate": 9.997650086719683e-06, "loss": 0.1392, "step": 4150 }, { "epoch": 3.9577484130859373e-07, "model_forward_time": 5.092181444168091, "step": 4150 }, { "dynamics_loss_avg": 0.055845743231475356, "epoch": 3.9577484130859373e-07, "step": 4150 }, { "action_loss_avg": 0.060849649272859095, "epoch": 3.9577484130859373e-07, "step": 4150 }, { "arm_loss_avg": 0.09355877935886384, "epoch": 3.9577484130859373e-07, "step": 4150 }, { "ee_loss_avg": 0.1151027712970972, "epoch": 3.9577484130859373e-07, "step": 4150 }, { "aux_loss_avg": 0.0013664511498063803, "epoch": 3.9577484130859373e-07, "step": 4150 }, { "epoch": 3.9577484130859373e-07, "step": 4150, "training_step_time": 17.592246294021606 }, { "epoch": 3.958702087402344e-07, "model_forward_time": 5.090286016464233, "step": 4151 }, { "epoch": 3.958702087402344e-07, "step": 4151, "training_step_time": 17.81202721595764 }, { "epoch": 3.95965576171875e-07, "model_forward_time": 5.085278272628784, "step": 4152 }, { "epoch": 3.95965576171875e-07, "step": 4152, "training_step_time": 17.577084064483643 }, { "epoch": 3.9606094360351563e-07, "model_forward_time": 5.0858659744262695, "step": 4153 }, { "epoch": 3.9606094360351563e-07, "step": 4153, "training_step_time": 17.590966939926147 }, { "epoch": 3.9615631103515624e-07, "model_forward_time": 5.084128141403198, "step": 4154 }, { "epoch": 3.9615631103515624e-07, "step": 4154, "training_step_time": 17.566877841949463 }, { "epoch": 3.9625167846679686e-07, "model_forward_time": 5.0787129402160645, "step": 4155 }, { "epoch": 3.9625167846679686e-07, "step": 4155, "training_step_time": 17.57480239868164 }, { "epoch": 3.963470458984375e-07, "model_forward_time": 5.079362154006958, "step": 4156 }, { "epoch": 3.963470458984375e-07, "step": 4156, "training_step_time": 17.759358644485474 }, { "epoch": 3.9644241333007814e-07, "model_forward_time": 3.8446249961853027, "step": 4157 }, { "epoch": 3.9644241333007814e-07, "step": 4157, "training_step_time": 17.577439785003662 }, { "epoch": 3.9653778076171875e-07, "model_forward_time": 4.069907188415527, "step": 4158 }, { "epoch": 3.9653778076171875e-07, "step": 4158, "training_step_time": 17.597594499588013 }, { "epoch": 3.9663314819335937e-07, "model_forward_time": 5.043374300003052, "step": 4159 }, { "epoch": 3.9663314819335937e-07, "step": 4159, "training_step_time": 17.56749725341797 }, { "epoch": 3.96728515625e-07, "grad_norm": 1.485306739807129, "learning_rate": 9.997577118272133e-06, "loss": 0.138, "step": 4160 }, { "epoch": 3.96728515625e-07, "model_forward_time": 5.0616233348846436, "step": 4160 }, { "dynamics_loss_avg": 0.05378097388893366, "epoch": 3.96728515625e-07, "step": 4160 }, { "action_loss_avg": 0.07868346497416497, "epoch": 3.96728515625e-07, "step": 4160 }, { "arm_loss_avg": 0.13171305693686008, "epoch": 3.96728515625e-07, "step": 4160 }, { "ee_loss_avg": 0.1335251398384571, "epoch": 3.96728515625e-07, "step": 4160 }, { "aux_loss_avg": 0.003933814534684643, "epoch": 3.96728515625e-07, "step": 4160 }, { "epoch": 3.96728515625e-07, "step": 4160, "training_step_time": 17.565932989120483 }, { "epoch": 3.9682388305664065e-07, "model_forward_time": 5.076695442199707, "step": 4161 }, { "epoch": 3.9682388305664065e-07, "step": 4161, "training_step_time": 17.367490768432617 }, { "epoch": 3.9691925048828126e-07, "model_forward_time": 5.093930244445801, "step": 4162 }, { "epoch": 3.9691925048828126e-07, "step": 4162, "training_step_time": 17.48524236679077 }, { "epoch": 3.970146179199219e-07, "model_forward_time": 4.117616653442383, "step": 4163 }, { "epoch": 3.970146179199219e-07, "step": 4163, "training_step_time": 17.55214762687683 }, { "epoch": 3.971099853515625e-07, "model_forward_time": 5.074625492095947, "step": 4164 }, { "epoch": 3.971099853515625e-07, "step": 4164, "training_step_time": 17.541993618011475 }, { "epoch": 3.972053527832031e-07, "model_forward_time": 5.082944631576538, "step": 4165 }, { "epoch": 3.972053527832031e-07, "step": 4165, "training_step_time": 17.581931829452515 }, { "epoch": 3.973007202148438e-07, "model_forward_time": 5.090478897094727, "step": 4166 }, { "epoch": 3.973007202148438e-07, "step": 4166, "training_step_time": 17.786900758743286 }, { "epoch": 3.973960876464844e-07, "model_forward_time": 5.087477445602417, "step": 4167 }, { "epoch": 3.973960876464844e-07, "step": 4167, "training_step_time": 17.60201120376587 }, { "epoch": 3.97491455078125e-07, "model_forward_time": 4.047920227050781, "step": 4168 }, { "epoch": 3.97491455078125e-07, "step": 4168, "training_step_time": 17.597477436065674 }, { "epoch": 3.975868225097656e-07, "model_forward_time": 5.058184623718262, "step": 4169 }, { "epoch": 3.975868225097656e-07, "step": 4169, "training_step_time": 17.532795190811157 }, { "epoch": 3.9768218994140623e-07, "grad_norm": 1.7539416551589966, "learning_rate": 9.997503034462308e-06, "loss": 0.1573, "step": 4170 }, { "epoch": 3.9768218994140623e-07, "model_forward_time": 5.073122262954712, "step": 4170 }, { "dynamics_loss_avg": 0.05989852920174599, "epoch": 3.9768218994140623e-07, "step": 4170 }, { "action_loss_avg": 0.08171804361045361, "epoch": 3.9768218994140623e-07, "step": 4170 }, { "arm_loss_avg": 0.10487407222390174, "epoch": 3.9768218994140623e-07, "step": 4170 }, { "ee_loss_avg": 0.11425266414880753, "epoch": 3.9768218994140623e-07, "step": 4170 }, { "aux_loss_avg": 0.0040738239185884595, "epoch": 3.9768218994140623e-07, "step": 4170 }, { "epoch": 3.9768218994140623e-07, "step": 4170, "training_step_time": 17.57066297531128 }, { "epoch": 3.977775573730469e-07, "model_forward_time": 5.076153039932251, "step": 4171 }, { "epoch": 3.977775573730469e-07, "step": 4171, "training_step_time": 17.815629482269287 }, { "epoch": 3.978729248046875e-07, "model_forward_time": 5.084962368011475, "step": 4172 }, { "epoch": 3.978729248046875e-07, "step": 4172, "training_step_time": 17.59192419052124 }, { "epoch": 3.9796829223632813e-07, "model_forward_time": 5.320117712020874, "step": 4173 }, { "epoch": 3.9796829223632813e-07, "step": 4173, "training_step_time": 17.61293649673462 }, { "epoch": 3.9806365966796874e-07, "model_forward_time": 5.093480587005615, "step": 4174 }, { "epoch": 3.9806365966796874e-07, "step": 4174, "training_step_time": 17.59845995903015 }, { "epoch": 3.9815902709960936e-07, "model_forward_time": 5.089706659317017, "step": 4175 }, { "epoch": 3.9815902709960936e-07, "step": 4175, "training_step_time": 17.60311198234558 }, { "epoch": 3.9825439453125e-07, "model_forward_time": 5.08758282661438, "step": 4176 }, { "epoch": 3.9825439453125e-07, "step": 4176, "training_step_time": 17.788589239120483 }, { "epoch": 3.9834976196289064e-07, "model_forward_time": 5.0901830196380615, "step": 4177 }, { "epoch": 3.9834976196289064e-07, "step": 4177, "training_step_time": 17.605461597442627 }, { "epoch": 3.9844512939453125e-07, "model_forward_time": 5.280937910079956, "step": 4178 }, { "epoch": 3.9844512939453125e-07, "step": 4178, "training_step_time": 17.611661672592163 }, { "epoch": 3.9854049682617187e-07, "model_forward_time": 5.086279630661011, "step": 4179 }, { "epoch": 3.9854049682617187e-07, "step": 4179, "training_step_time": 17.59948992729187 }, { "epoch": 3.986358642578125e-07, "grad_norm": 2.3314404487609863, "learning_rate": 9.997427835306742e-06, "loss": 0.1399, "step": 4180 }, { "epoch": 3.986358642578125e-07, "model_forward_time": 5.089681386947632, "step": 4180 }, { "dynamics_loss_avg": 0.04697403833270073, "epoch": 3.986358642578125e-07, "step": 4180 }, { "action_loss_avg": 0.07625111564993858, "epoch": 3.986358642578125e-07, "step": 4180 }, { "arm_loss_avg": 0.10499217547476292, "epoch": 3.986358642578125e-07, "step": 4180 }, { "ee_loss_avg": 0.09005836732685565, "epoch": 3.986358642578125e-07, "step": 4180 }, { "aux_loss_avg": 0.0020489072194322944, "epoch": 3.986358642578125e-07, "step": 4180 }, { "epoch": 3.986358642578125e-07, "step": 4180, "training_step_time": 17.593608140945435 }, { "epoch": 3.9873123168945315e-07, "model_forward_time": 5.083434581756592, "step": 4181 }, { "epoch": 3.9873123168945315e-07, "step": 4181, "training_step_time": 17.82073664665222 }, { "epoch": 3.9882659912109377e-07, "model_forward_time": 5.078487396240234, "step": 4182 }, { "epoch": 3.9882659912109377e-07, "step": 4182, "training_step_time": 17.580845594406128 }, { "epoch": 3.989219665527344e-07, "model_forward_time": 5.078075170516968, "step": 4183 }, { "epoch": 3.989219665527344e-07, "step": 4183, "training_step_time": 17.571624279022217 }, { "epoch": 3.99017333984375e-07, "model_forward_time": 3.8510782718658447, "step": 4184 }, { "epoch": 3.99017333984375e-07, "step": 4184, "training_step_time": 17.569137573242188 }, { "epoch": 3.991127014160156e-07, "model_forward_time": 5.049779176712036, "step": 4185 }, { "epoch": 3.991127014160156e-07, "step": 4185, "training_step_time": 17.57712197303772 }, { "epoch": 3.992080688476563e-07, "model_forward_time": 3.8350186347961426, "step": 4186 }, { "epoch": 3.992080688476563e-07, "step": 4186, "training_step_time": 17.763206481933594 }, { "epoch": 3.993034362792969e-07, "model_forward_time": 3.828861951828003, "step": 4187 }, { "epoch": 3.993034362792969e-07, "step": 4187, "training_step_time": 17.57430338859558 }, { "epoch": 3.993988037109375e-07, "model_forward_time": 5.229482889175415, "step": 4188 }, { "epoch": 3.993988037109375e-07, "step": 4188, "training_step_time": 17.650474548339844 }, { "epoch": 3.994941711425781e-07, "model_forward_time": 5.06355619430542, "step": 4189 }, { "epoch": 3.994941711425781e-07, "step": 4189, "training_step_time": 17.55663275718689 }, { "epoch": 3.9958953857421873e-07, "grad_norm": 1.6095349788665771, "learning_rate": 9.997351520822219e-06, "loss": 0.1186, "step": 4190 }, { "epoch": 3.9958953857421873e-07, "model_forward_time": 5.08375883102417, "step": 4190 }, { "dynamics_loss_avg": 0.033719745092093946, "epoch": 3.9958953857421873e-07, "step": 4190 }, { "action_loss_avg": 0.04694027826189995, "epoch": 3.9958953857421873e-07, "step": 4190 }, { "arm_loss_avg": 0.11363208554685116, "epoch": 3.9958953857421873e-07, "step": 4190 }, { "ee_loss_avg": 0.10520031154155732, "epoch": 3.9958953857421873e-07, "step": 4190 }, { "aux_loss_avg": 0.0007662757998332381, "epoch": 3.9958953857421873e-07, "step": 4190 }, { "epoch": 3.9958953857421873e-07, "step": 4190, "training_step_time": 17.54908800125122 }, { "epoch": 3.9968490600585935e-07, "model_forward_time": 5.100656986236572, "step": 4191 }, { "epoch": 3.9968490600585935e-07, "step": 4191, "training_step_time": 17.797396421432495 }, { "epoch": 3.997802734375e-07, "model_forward_time": 5.10518741607666, "step": 4192 }, { "epoch": 3.997802734375e-07, "step": 4192, "training_step_time": 17.571954011917114 }, { "epoch": 3.9987564086914063e-07, "model_forward_time": 5.3334715366363525, "step": 4193 }, { "epoch": 3.9987564086914063e-07, "step": 4193, "training_step_time": 17.580252647399902 }, { "epoch": 3.9997100830078125e-07, "model_forward_time": 5.098732948303223, "step": 4194 }, { "epoch": 3.9997100830078125e-07, "step": 4194, "training_step_time": 17.601680040359497 }, { "epoch": 4.0006637573242186e-07, "model_forward_time": 5.088191032409668, "step": 4195 }, { "epoch": 4.0006637573242186e-07, "step": 4195, "training_step_time": 17.599655866622925 }, { "epoch": 4.001617431640625e-07, "model_forward_time": 5.081900119781494, "step": 4196 }, { "epoch": 4.001617431640625e-07, "step": 4196, "training_step_time": 17.78472590446472 }, { "epoch": 4.0025711059570314e-07, "model_forward_time": 5.07427191734314, "step": 4197 }, { "epoch": 4.0025711059570314e-07, "step": 4197, "training_step_time": 17.58319592475891 }, { "epoch": 4.0035247802734376e-07, "model_forward_time": 5.265815734863281, "step": 4198 }, { "epoch": 4.0035247802734376e-07, "step": 4198, "training_step_time": 17.641005516052246 }, { "epoch": 4.0044784545898437e-07, "model_forward_time": 5.0728044509887695, "step": 4199 }, { "epoch": 4.0044784545898437e-07, "step": 4199, "training_step_time": 17.58364963531494 }, { "epoch": 4.00543212890625e-07, "grad_norm": 1.4307820796966553, "learning_rate": 9.997274091025768e-06, "loss": 0.139, "step": 4200 }, { "epoch": 4.00543212890625e-07, "model_forward_time": 3.844827890396118, "step": 4200 }, { "dynamics_loss_avg": 0.05116499932482839, "epoch": 4.00543212890625e-07, "step": 4200 }, { "action_loss_avg": 0.07735804095864296, "epoch": 4.00543212890625e-07, "step": 4200 }, { "arm_loss_avg": 0.09050814509391784, "epoch": 4.00543212890625e-07, "step": 4200 }, { "ee_loss_avg": 0.15608284138143064, "epoch": 4.00543212890625e-07, "step": 4200 }, { "aux_loss_avg": 0.0009902992518618704, "epoch": 4.00543212890625e-07, "step": 4200 }, { "epoch": 4.00543212890625e-07, "step": 4200, "training_step_time": 17.585171461105347 }, { "epoch": 4.006385803222656e-07, "model_forward_time": 5.0532386302948, "step": 4201 }, { "epoch": 4.006385803222656e-07, "step": 4201, "training_step_time": 17.835932731628418 }, { "epoch": 4.0073394775390627e-07, "model_forward_time": 5.058428764343262, "step": 4202 }, { "epoch": 4.0073394775390627e-07, "step": 4202, "training_step_time": 17.583004236221313 }, { "epoch": 4.008293151855469e-07, "model_forward_time": 5.314028263092041, "step": 4203 }, { "epoch": 4.008293151855469e-07, "step": 4203, "training_step_time": 17.578539848327637 }, { "epoch": 4.009246826171875e-07, "model_forward_time": 5.083860397338867, "step": 4204 }, { "epoch": 4.009246826171875e-07, "step": 4204, "training_step_time": 17.577003717422485 }, { "epoch": 4.010200500488281e-07, "model_forward_time": 5.089796543121338, "step": 4205 }, { "epoch": 4.010200500488281e-07, "step": 4205, "training_step_time": 17.582366704940796 }, { "epoch": 4.011154174804687e-07, "model_forward_time": 3.85709810256958, "step": 4206 }, { "epoch": 4.011154174804687e-07, "step": 4206, "training_step_time": 17.780136585235596 }, { "epoch": 4.012107849121094e-07, "model_forward_time": 5.060322999954224, "step": 4207 }, { "epoch": 4.012107849121094e-07, "step": 4207, "training_step_time": 17.588627576828003 }, { "epoch": 4.0130615234375e-07, "model_forward_time": 5.260197401046753, "step": 4208 }, { "epoch": 4.0130615234375e-07, "step": 4208, "training_step_time": 17.611790895462036 }, { "epoch": 4.014015197753906e-07, "model_forward_time": 3.847529888153076, "step": 4209 }, { "epoch": 4.014015197753906e-07, "step": 4209, "training_step_time": 17.57864284515381 }, { "epoch": 4.0149688720703124e-07, "grad_norm": 2.0090582370758057, "learning_rate": 9.997195545934674e-06, "loss": 0.112, "step": 4210 }, { "epoch": 4.0149688720703124e-07, "model_forward_time": 5.0558600425720215, "step": 4210 }, { "dynamics_loss_avg": 0.0367785878945142, "epoch": 4.0149688720703124e-07, "step": 4210 }, { "action_loss_avg": 0.06581575013697147, "epoch": 4.0149688720703124e-07, "step": 4210 }, { "arm_loss_avg": 0.12310202494263649, "epoch": 4.0149688720703124e-07, "step": 4210 }, { "ee_loss_avg": 0.10252604857087136, "epoch": 4.0149688720703124e-07, "step": 4210 }, { "aux_loss_avg": 0.0023932870710268615, "epoch": 4.0149688720703124e-07, "step": 4210 }, { "epoch": 4.0149688720703124e-07, "step": 4210, "training_step_time": 17.57238531112671 }, { "epoch": 4.0159225463867185e-07, "model_forward_time": 5.074586629867554, "step": 4211 }, { "epoch": 4.0159225463867185e-07, "step": 4211, "training_step_time": 17.81329345703125 }, { "epoch": 4.016876220703125e-07, "model_forward_time": 5.078059911727905, "step": 4212 }, { "epoch": 4.016876220703125e-07, "step": 4212, "training_step_time": 17.600159168243408 }, { "epoch": 4.0178298950195313e-07, "model_forward_time": 4.049277067184448, "step": 4213 }, { "epoch": 4.0178298950195313e-07, "step": 4213, "training_step_time": 17.4824640750885 }, { "epoch": 4.0187835693359375e-07, "model_forward_time": 5.061527490615845, "step": 4214 }, { "epoch": 4.0187835693359375e-07, "step": 4214, "training_step_time": 17.531965017318726 }, { "epoch": 4.0197372436523436e-07, "model_forward_time": 5.077433824539185, "step": 4215 }, { "epoch": 4.0197372436523436e-07, "step": 4215, "training_step_time": 17.56324815750122 }, { "epoch": 4.02069091796875e-07, "model_forward_time": 5.09699273109436, "step": 4216 }, { "epoch": 4.02069091796875e-07, "step": 4216, "training_step_time": 17.613407135009766 }, { "epoch": 4.0216445922851564e-07, "model_forward_time": 5.108110666275024, "step": 4217 }, { "epoch": 4.0216445922851564e-07, "step": 4217, "training_step_time": 17.863445281982422 }, { "epoch": 4.0225982666015626e-07, "model_forward_time": 5.314507246017456, "step": 4218 }, { "epoch": 4.0225982666015626e-07, "step": 4218, "training_step_time": 17.639967918395996 }, { "epoch": 4.0235519409179687e-07, "model_forward_time": 5.1197896003723145, "step": 4219 }, { "epoch": 4.0235519409179687e-07, "step": 4219, "training_step_time": 17.65509605407715 }, { "epoch": 4.024505615234375e-07, "grad_norm": 1.9007084369659424, "learning_rate": 9.997115885566464e-06, "loss": 0.1449, "step": 4220 }, { "epoch": 4.024505615234375e-07, "model_forward_time": 5.0986549854278564, "step": 4220 }, { "dynamics_loss_avg": 0.05729463919997215, "epoch": 4.024505615234375e-07, "step": 4220 }, { "action_loss_avg": 0.06365312505513429, "epoch": 4.024505615234375e-07, "step": 4220 }, { "arm_loss_avg": 0.0950749721378088, "epoch": 4.024505615234375e-07, "step": 4220 }, { "ee_loss_avg": 0.10188031755387783, "epoch": 4.024505615234375e-07, "step": 4220 }, { "aux_loss_avg": 0.0010666120098903776, "epoch": 4.024505615234375e-07, "step": 4220 }, { "epoch": 4.024505615234375e-07, "step": 4220, "training_step_time": 17.629443883895874 }, { "epoch": 4.025459289550781e-07, "model_forward_time": 3.8583691120147705, "step": 4221 }, { "epoch": 4.025459289550781e-07, "step": 4221, "training_step_time": 17.834113836288452 }, { "epoch": 4.0264129638671877e-07, "model_forward_time": 3.8347697257995605, "step": 4222 }, { "epoch": 4.0264129638671877e-07, "step": 4222, "training_step_time": 17.606574535369873 }, { "epoch": 4.027366638183594e-07, "model_forward_time": 5.278185844421387, "step": 4223 }, { "epoch": 4.027366638183594e-07, "step": 4223, "training_step_time": 17.507468700408936 }, { "epoch": 4.0283203125e-07, "model_forward_time": 5.064134120941162, "step": 4224 }, { "epoch": 4.0283203125e-07, "step": 4224, "training_step_time": 17.53093647956848 }, { "epoch": 4.029273986816406e-07, "model_forward_time": 5.078771352767944, "step": 4225 }, { "epoch": 4.029273986816406e-07, "step": 4225, "training_step_time": 17.552402019500732 }, { "epoch": 4.0302276611328123e-07, "model_forward_time": 5.09481143951416, "step": 4226 }, { "epoch": 4.0302276611328123e-07, "step": 4226, "training_step_time": 17.760275840759277 }, { "epoch": 4.031181335449219e-07, "model_forward_time": 5.1013031005859375, "step": 4227 }, { "epoch": 4.031181335449219e-07, "step": 4227, "training_step_time": 17.634041786193848 }, { "epoch": 4.032135009765625e-07, "model_forward_time": 5.280851125717163, "step": 4228 }, { "epoch": 4.032135009765625e-07, "step": 4228, "training_step_time": 17.598811388015747 }, { "epoch": 4.033088684082031e-07, "model_forward_time": 5.108556509017944, "step": 4229 }, { "epoch": 4.033088684082031e-07, "step": 4229, "training_step_time": 17.269291639328003 }, { "epoch": 4.0340423583984374e-07, "grad_norm": 2.014683723449707, "learning_rate": 9.997035109938917e-06, "loss": 0.131, "step": 4230 }, { "epoch": 4.0340423583984374e-07, "model_forward_time": 3.8642961978912354, "step": 4230 }, { "dynamics_loss_avg": 0.05117067489773035, "epoch": 4.0340423583984374e-07, "step": 4230 }, { "action_loss_avg": 0.06206816341727972, "epoch": 4.0340423583984374e-07, "step": 4230 }, { "arm_loss_avg": 0.10470127500593662, "epoch": 4.0340423583984374e-07, "step": 4230 }, { "ee_loss_avg": 0.12123218756169081, "epoch": 4.0340423583984374e-07, "step": 4230 }, { "aux_loss_avg": 0.003574775904417038, "epoch": 4.0340423583984374e-07, "step": 4230 }, { "epoch": 4.0340423583984374e-07, "step": 4230, "training_step_time": 17.52077627182007 }, { "epoch": 4.0349960327148435e-07, "model_forward_time": 5.063849210739136, "step": 4231 }, { "epoch": 4.0349960327148435e-07, "step": 4231, "training_step_time": 17.55738639831543 }, { "epoch": 4.03594970703125e-07, "model_forward_time": 5.068703651428223, "step": 4232 }, { "epoch": 4.03594970703125e-07, "step": 4232, "training_step_time": 17.811014413833618 }, { "epoch": 4.0369033813476563e-07, "model_forward_time": 5.300334692001343, "step": 4233 }, { "epoch": 4.0369033813476563e-07, "step": 4233, "training_step_time": 17.583618640899658 }, { "epoch": 4.0378570556640625e-07, "model_forward_time": 5.0819714069366455, "step": 4234 }, { "epoch": 4.0378570556640625e-07, "step": 4234, "training_step_time": 17.591008186340332 }, { "epoch": 4.0388107299804686e-07, "model_forward_time": 5.083446979522705, "step": 4235 }, { "epoch": 4.0388107299804686e-07, "step": 4235, "training_step_time": 17.595489025115967 }, { "epoch": 4.039764404296875e-07, "model_forward_time": 5.0876781940460205, "step": 4236 }, { "epoch": 4.039764404296875e-07, "step": 4236, "training_step_time": 17.83800959587097 }, { "epoch": 4.0407180786132815e-07, "model_forward_time": 5.086143970489502, "step": 4237 }, { "epoch": 4.0407180786132815e-07, "step": 4237, "training_step_time": 17.587167501449585 }, { "epoch": 4.0416717529296876e-07, "model_forward_time": 4.078538417816162, "step": 4238 }, { "epoch": 4.0416717529296876e-07, "step": 4238, "training_step_time": 17.585322618484497 }, { "epoch": 4.042625427246094e-07, "model_forward_time": 3.8357627391815186, "step": 4239 }, { "epoch": 4.042625427246094e-07, "step": 4239, "training_step_time": 17.579471588134766 }, { "epoch": 4.0435791015625e-07, "grad_norm": 2.008800983428955, "learning_rate": 9.99695321907006e-06, "loss": 0.1223, "step": 4240 }, { "epoch": 4.0435791015625e-07, "model_forward_time": 5.051713705062866, "step": 4240 }, { "dynamics_loss_avg": 0.04108248967677355, "epoch": 4.0435791015625e-07, "step": 4240 }, { "action_loss_avg": 0.06975401584059, "epoch": 4.0435791015625e-07, "step": 4240 }, { "arm_loss_avg": 0.11425572074949741, "epoch": 4.0435791015625e-07, "step": 4240 }, { "ee_loss_avg": 0.13873571678996086, "epoch": 4.0435791015625e-07, "step": 4240 }, { "aux_loss_avg": 0.0016302009928040207, "epoch": 4.0435791015625e-07, "step": 4240 }, { "epoch": 4.0435791015625e-07, "step": 4240, "training_step_time": 17.577805995941162 }, { "epoch": 4.044532775878906e-07, "model_forward_time": 5.067491769790649, "step": 4241 }, { "epoch": 4.044532775878906e-07, "step": 4241, "training_step_time": 17.561965465545654 }, { "epoch": 4.0454864501953127e-07, "model_forward_time": 5.081898927688599, "step": 4242 }, { "epoch": 4.0454864501953127e-07, "step": 4242, "training_step_time": 17.805679082870483 }, { "epoch": 4.046440124511719e-07, "model_forward_time": 4.101834058761597, "step": 4243 }, { "epoch": 4.046440124511719e-07, "step": 4243, "training_step_time": 17.583534240722656 }, { "epoch": 4.047393798828125e-07, "model_forward_time": 5.069039821624756, "step": 4244 }, { "epoch": 4.047393798828125e-07, "step": 4244, "training_step_time": 17.574974536895752 }, { "epoch": 4.048347473144531e-07, "model_forward_time": 5.088644742965698, "step": 4245 }, { "epoch": 4.048347473144531e-07, "step": 4245, "training_step_time": 17.56034016609192 }, { "epoch": 4.0493011474609373e-07, "model_forward_time": 5.098779201507568, "step": 4246 }, { "epoch": 4.0493011474609373e-07, "step": 4246, "training_step_time": 17.79470133781433 }, { "epoch": 4.050254821777344e-07, "model_forward_time": 5.1002278327941895, "step": 4247 }, { "epoch": 4.050254821777344e-07, "step": 4247, "training_step_time": 17.585407733917236 }, { "epoch": 4.05120849609375e-07, "model_forward_time": 4.095577716827393, "step": 4248 }, { "epoch": 4.05120849609375e-07, "step": 4248, "training_step_time": 17.610417127609253 }, { "epoch": 4.052162170410156e-07, "model_forward_time": 5.064478158950806, "step": 4249 }, { "epoch": 4.052162170410156e-07, "step": 4249, "training_step_time": 17.595298767089844 }, { "epoch": 4.0531158447265624e-07, "grad_norm": 1.909145474433899, "learning_rate": 9.996870212978171e-06, "loss": 0.1347, "step": 4250 }, { "epoch": 4.0531158447265624e-07, "model_forward_time": 5.074557781219482, "step": 4250 }, { "dynamics_loss_avg": 0.06384663805365562, "epoch": 4.0531158447265624e-07, "step": 4250 }, { "action_loss_avg": 0.08613085187971592, "epoch": 4.0531158447265624e-07, "step": 4250 }, { "arm_loss_avg": 0.1297639526426792, "epoch": 4.0531158447265624e-07, "step": 4250 }, { "ee_loss_avg": 0.1473098464310169, "epoch": 4.0531158447265624e-07, "step": 4250 }, { "aux_loss_avg": 0.005122331349411979, "epoch": 4.0531158447265624e-07, "step": 4250 }, { "epoch": 4.0531158447265624e-07, "step": 4250, "training_step_time": 17.58675193786621 }, { "epoch": 4.0540695190429685e-07, "model_forward_time": 5.081189870834351, "step": 4251 }, { "epoch": 4.0540695190429685e-07, "step": 4251, "training_step_time": 17.815521001815796 }, { "epoch": 4.055023193359375e-07, "model_forward_time": 5.0809667110443115, "step": 4252 }, { "epoch": 4.055023193359375e-07, "step": 4252, "training_step_time": 17.5990731716156 }, { "epoch": 4.0559768676757814e-07, "model_forward_time": 5.324024677276611, "step": 4253 }, { "epoch": 4.0559768676757814e-07, "step": 4253, "training_step_time": 17.583757877349854 }, { "epoch": 4.0569305419921875e-07, "model_forward_time": 5.091017484664917, "step": 4254 }, { "epoch": 4.0569305419921875e-07, "step": 4254, "training_step_time": 17.38999366760254 }, { "epoch": 4.0578842163085936e-07, "model_forward_time": 5.0890278816223145, "step": 4255 }, { "epoch": 4.0578842163085936e-07, "step": 4255, "training_step_time": 17.4923894405365 }, { "epoch": 4.058837890625e-07, "model_forward_time": 5.0894129276275635, "step": 4256 }, { "epoch": 4.058837890625e-07, "step": 4256, "training_step_time": 17.538509130477905 }, { "epoch": 4.0597915649414065e-07, "model_forward_time": 3.8551015853881836, "step": 4257 }, { "epoch": 4.0597915649414065e-07, "step": 4257, "training_step_time": 17.76145887374878 }, { "epoch": 4.0607452392578126e-07, "model_forward_time": 5.05860710144043, "step": 4258 }, { "epoch": 4.0607452392578126e-07, "step": 4258, "training_step_time": 17.64148187637329 }, { "epoch": 4.061698913574219e-07, "model_forward_time": 5.069263696670532, "step": 4259 }, { "epoch": 4.061698913574219e-07, "step": 4259, "training_step_time": 17.592588424682617 }, { "epoch": 4.062652587890625e-07, "grad_norm": 2.4963486194610596, "learning_rate": 9.996786091681774e-06, "loss": 0.1187, "step": 4260 }, { "epoch": 4.062652587890625e-07, "model_forward_time": 5.07672905921936, "step": 4260 }, { "dynamics_loss_avg": 0.0350792882964015, "epoch": 4.062652587890625e-07, "step": 4260 }, { "action_loss_avg": 0.061161747202277184, "epoch": 4.062652587890625e-07, "step": 4260 }, { "arm_loss_avg": 0.10139755457639694, "epoch": 4.062652587890625e-07, "step": 4260 }, { "ee_loss_avg": 0.12112011900171638, "epoch": 4.062652587890625e-07, "step": 4260 }, { "aux_loss_avg": 0.000911122077377513, "epoch": 4.062652587890625e-07, "step": 4260 }, { "epoch": 4.062652587890625e-07, "step": 4260, "training_step_time": 17.604095458984375 }, { "epoch": 4.063606262207031e-07, "model_forward_time": 5.088285207748413, "step": 4261 }, { "epoch": 4.063606262207031e-07, "step": 4261, "training_step_time": 17.824671268463135 }, { "epoch": 4.0645599365234377e-07, "model_forward_time": 5.086824417114258, "step": 4262 }, { "epoch": 4.0645599365234377e-07, "step": 4262, "training_step_time": 17.608213663101196 }, { "epoch": 4.065513610839844e-07, "model_forward_time": 5.0915749073028564, "step": 4263 }, { "epoch": 4.065513610839844e-07, "step": 4263, "training_step_time": 17.600584983825684 }, { "epoch": 4.06646728515625e-07, "model_forward_time": 5.094634056091309, "step": 4264 }, { "epoch": 4.06646728515625e-07, "step": 4264, "training_step_time": 17.60546064376831 }, { "epoch": 4.067420959472656e-07, "model_forward_time": 5.09293007850647, "step": 4265 }, { "epoch": 4.067420959472656e-07, "step": 4265, "training_step_time": 17.36973476409912 }, { "epoch": 4.0683746337890623e-07, "model_forward_time": 5.094277620315552, "step": 4266 }, { "epoch": 4.0683746337890623e-07, "step": 4266, "training_step_time": 17.708420753479004 }, { "epoch": 4.069328308105469e-07, "model_forward_time": 5.088091611862183, "step": 4267 }, { "epoch": 4.069328308105469e-07, "step": 4267, "training_step_time": 17.550313711166382 }, { "epoch": 4.070281982421875e-07, "model_forward_time": 5.276025056838989, "step": 4268 }, { "epoch": 4.070281982421875e-07, "step": 4268, "training_step_time": 17.60158371925354 }, { "epoch": 4.0712356567382813e-07, "model_forward_time": 5.084152460098267, "step": 4269 }, { "epoch": 4.0712356567382813e-07, "step": 4269, "training_step_time": 17.484601736068726 }, { "epoch": 4.0721893310546874e-07, "grad_norm": 2.581066608428955, "learning_rate": 9.996700855199645e-06, "loss": 0.1453, "step": 4270 }, { "epoch": 4.0721893310546874e-07, "model_forward_time": 5.083930969238281, "step": 4270 }, { "dynamics_loss_avg": 0.05543720461428166, "epoch": 4.0721893310546874e-07, "step": 4270 }, { "action_loss_avg": 0.07020687330514193, "epoch": 4.0721893310546874e-07, "step": 4270 }, { "arm_loss_avg": 0.11787358932197094, "epoch": 4.0721893310546874e-07, "step": 4270 }, { "ee_loss_avg": 0.1665799256414175, "epoch": 4.0721893310546874e-07, "step": 4270 }, { "aux_loss_avg": 0.00904918952146545, "epoch": 4.0721893310546874e-07, "step": 4270 }, { "epoch": 4.0721893310546874e-07, "step": 4270, "training_step_time": 17.539781093597412 }, { "epoch": 4.0731430053710936e-07, "model_forward_time": 5.082313299179077, "step": 4271 }, { "epoch": 4.0731430053710936e-07, "step": 4271, "training_step_time": 17.570361375808716 }, { "epoch": 4.0740966796875e-07, "model_forward_time": 5.079962968826294, "step": 4272 }, { "epoch": 4.0740966796875e-07, "step": 4272, "training_step_time": 17.837847471237183 }, { "epoch": 4.0750503540039064e-07, "model_forward_time": 5.3182923793792725, "step": 4273 }, { "epoch": 4.0750503540039064e-07, "step": 4273, "training_step_time": 17.54959774017334 }, { "epoch": 4.0760040283203125e-07, "model_forward_time": 5.0783984661102295, "step": 4274 }, { "epoch": 4.0760040283203125e-07, "step": 4274, "training_step_time": 17.378374338150024 }, { "epoch": 4.0769577026367187e-07, "model_forward_time": 5.082254409790039, "step": 4275 }, { "epoch": 4.0769577026367187e-07, "step": 4275, "training_step_time": 17.485783576965332 }, { "epoch": 4.077911376953125e-07, "model_forward_time": 5.084050178527832, "step": 4276 }, { "epoch": 4.077911376953125e-07, "step": 4276, "training_step_time": 17.532602310180664 }, { "epoch": 4.0788650512695315e-07, "model_forward_time": 5.085128545761108, "step": 4277 }, { "epoch": 4.0788650512695315e-07, "step": 4277, "training_step_time": 17.757377862930298 }, { "epoch": 4.0798187255859376e-07, "model_forward_time": 5.273424386978149, "step": 4278 }, { "epoch": 4.0798187255859376e-07, "step": 4278, "training_step_time": 17.61362910270691 }, { "epoch": 4.080772399902344e-07, "model_forward_time": 5.085832357406616, "step": 4279 }, { "epoch": 4.080772399902344e-07, "step": 4279, "training_step_time": 17.627216339111328 }, { "epoch": 4.08172607421875e-07, "grad_norm": 3.039212942123413, "learning_rate": 9.996614503550806e-06, "loss": 0.1303, "step": 4280 }, { "epoch": 4.08172607421875e-07, "model_forward_time": 3.8542428016662598, "step": 4280 }, { "dynamics_loss_avg": 0.037102512270212176, "epoch": 4.08172607421875e-07, "step": 4280 }, { "action_loss_avg": 0.06379084791988135, "epoch": 4.08172607421875e-07, "step": 4280 }, { "arm_loss_avg": 0.10942638777196408, "epoch": 4.08172607421875e-07, "step": 4280 }, { "ee_loss_avg": 0.09787465967237949, "epoch": 4.08172607421875e-07, "step": 4280 }, { "aux_loss_avg": 0.0009399075381224975, "epoch": 4.08172607421875e-07, "step": 4280 }, { "epoch": 4.08172607421875e-07, "step": 4280, "training_step_time": 17.636737823486328 }, { "epoch": 4.082679748535156e-07, "model_forward_time": 5.06536865234375, "step": 4281 }, { "epoch": 4.082679748535156e-07, "step": 4281, "training_step_time": 17.630651235580444 }, { "epoch": 4.083633422851563e-07, "model_forward_time": 5.068640232086182, "step": 4282 }, { "epoch": 4.083633422851563e-07, "step": 4282, "training_step_time": 17.396097421646118 }, { "epoch": 4.084587097167969e-07, "model_forward_time": 5.078520059585571, "step": 4283 }, { "epoch": 4.084587097167969e-07, "step": 4283, "training_step_time": 17.566608905792236 }, { "epoch": 4.085540771484375e-07, "model_forward_time": 5.091630935668945, "step": 4284 }, { "epoch": 4.085540771484375e-07, "step": 4284, "training_step_time": 17.561272621154785 }, { "epoch": 4.086494445800781e-07, "model_forward_time": 5.0929296016693115, "step": 4285 }, { "epoch": 4.086494445800781e-07, "step": 4285, "training_step_time": 17.57978892326355 }, { "epoch": 4.0874481201171873e-07, "model_forward_time": 5.094781398773193, "step": 4286 }, { "epoch": 4.0874481201171873e-07, "step": 4286, "training_step_time": 17.58523726463318 }, { "epoch": 4.088401794433594e-07, "model_forward_time": 3.860520124435425, "step": 4287 }, { "epoch": 4.088401794433594e-07, "step": 4287, "training_step_time": 17.7648983001709 }, { "epoch": 4.08935546875e-07, "model_forward_time": 5.057076930999756, "step": 4288 }, { "epoch": 4.08935546875e-07, "step": 4288, "training_step_time": 17.59806752204895 }, { "epoch": 4.0903091430664063e-07, "model_forward_time": 5.076656341552734, "step": 4289 }, { "epoch": 4.0903091430664063e-07, "step": 4289, "training_step_time": 17.589637994766235 }, { "epoch": 4.0912628173828124e-07, "grad_norm": 1.9185173511505127, "learning_rate": 9.996527036754527e-06, "loss": 0.1372, "step": 4290 }, { "epoch": 4.0912628173828124e-07, "model_forward_time": 5.08108377456665, "step": 4290 }, { "dynamics_loss_avg": 0.0398632338270545, "epoch": 4.0912628173828124e-07, "step": 4290 }, { "action_loss_avg": 0.06257375217974186, "epoch": 4.0912628173828124e-07, "step": 4290 }, { "arm_loss_avg": 0.08796971887350083, "epoch": 4.0912628173828124e-07, "step": 4290 }, { "ee_loss_avg": 0.1305971685796976, "epoch": 4.0912628173828124e-07, "step": 4290 }, { "aux_loss_avg": 0.0007503882952732965, "epoch": 4.0912628173828124e-07, "step": 4290 }, { "epoch": 4.0912628173828124e-07, "step": 4290, "training_step_time": 17.586986541748047 }, { "epoch": 4.0922164916992186e-07, "model_forward_time": 5.086419582366943, "step": 4291 }, { "epoch": 4.0922164916992186e-07, "step": 4291, "training_step_time": 17.58166742324829 }, { "epoch": 4.093170166015625e-07, "model_forward_time": 5.093164682388306, "step": 4292 }, { "epoch": 4.093170166015625e-07, "step": 4292, "training_step_time": 17.812771320343018 }, { "epoch": 4.0941238403320314e-07, "model_forward_time": 5.337453603744507, "step": 4293 }, { "epoch": 4.0941238403320314e-07, "step": 4293, "training_step_time": 17.565381288528442 }, { "epoch": 4.0950775146484375e-07, "model_forward_time": 5.092265367507935, "step": 4294 }, { "epoch": 4.0950775146484375e-07, "step": 4294, "training_step_time": 17.56937527656555 }, { "epoch": 4.0960311889648437e-07, "model_forward_time": 5.095245122909546, "step": 4295 }, { "epoch": 4.0960311889648437e-07, "step": 4295, "training_step_time": 17.56943702697754 }, { "epoch": 4.09698486328125e-07, "model_forward_time": 5.095060586929321, "step": 4296 }, { "epoch": 4.09698486328125e-07, "step": 4296, "training_step_time": 17.574668645858765 }, { "epoch": 4.0979385375976565e-07, "model_forward_time": 5.091623783111572, "step": 4297 }, { "epoch": 4.0979385375976565e-07, "step": 4297, "training_step_time": 17.772017002105713 }, { "epoch": 4.0988922119140626e-07, "model_forward_time": 5.086174726486206, "step": 4298 }, { "epoch": 4.0988922119140626e-07, "step": 4298, "training_step_time": 17.66128921508789 }, { "epoch": 4.099845886230469e-07, "model_forward_time": 5.082796335220337, "step": 4299 }, { "epoch": 4.099845886230469e-07, "step": 4299, "training_step_time": 17.575661659240723 }, { "epoch": 4.100799560546875e-07, "grad_norm": 0.8066710829734802, "learning_rate": 9.996438454830333e-06, "loss": 0.104, "step": 4300 }, { "epoch": 4.100799560546875e-07, "model_forward_time": 3.8516547679901123, "step": 4300 }, { "dynamics_loss_avg": 0.03777935365214944, "epoch": 4.100799560546875e-07, "step": 4300 }, { "action_loss_avg": 0.04730514008551836, "epoch": 4.100799560546875e-07, "step": 4300 }, { "arm_loss_avg": 0.09814695231616496, "epoch": 4.100799560546875e-07, "step": 4300 }, { "ee_loss_avg": 0.10275919511914253, "epoch": 4.100799560546875e-07, "step": 4300 }, { "aux_loss_avg": 0.0016603386087808759, "epoch": 4.100799560546875e-07, "step": 4300 }, { "epoch": 4.100799560546875e-07, "step": 4300, "training_step_time": 17.600881338119507 }, { "epoch": 4.101753234863281e-07, "model_forward_time": 5.0623626708984375, "step": 4301 }, { "epoch": 4.101753234863281e-07, "step": 4301, "training_step_time": 17.80541491508484 }, { "epoch": 4.102706909179688e-07, "model_forward_time": 5.066452741622925, "step": 4302 }, { "epoch": 4.102706909179688e-07, "step": 4302, "training_step_time": 17.5794677734375 }, { "epoch": 4.103660583496094e-07, "model_forward_time": 5.072751045227051, "step": 4303 }, { "epoch": 4.103660583496094e-07, "step": 4303, "training_step_time": 17.51340675354004 }, { "epoch": 4.1046142578125e-07, "model_forward_time": 5.324102878570557, "step": 4304 }, { "epoch": 4.1046142578125e-07, "step": 4304, "training_step_time": 17.486315488815308 }, { "epoch": 4.105567932128906e-07, "model_forward_time": 5.094858884811401, "step": 4305 }, { "epoch": 4.105567932128906e-07, "step": 4305, "training_step_time": 17.536080360412598 }, { "epoch": 4.1065216064453123e-07, "model_forward_time": 5.09810471534729, "step": 4306 }, { "epoch": 4.1065216064453123e-07, "step": 4306, "training_step_time": 17.743778944015503 }, { "epoch": 4.107475280761719e-07, "model_forward_time": 5.098164319992065, "step": 4307 }, { "epoch": 4.107475280761719e-07, "step": 4307, "training_step_time": 17.576207876205444 }, { "epoch": 4.108428955078125e-07, "model_forward_time": 5.283432245254517, "step": 4308 }, { "epoch": 4.108428955078125e-07, "step": 4308, "training_step_time": 17.629101514816284 }, { "epoch": 4.1093826293945313e-07, "model_forward_time": 5.093603610992432, "step": 4309 }, { "epoch": 4.1093826293945313e-07, "step": 4309, "training_step_time": 17.59369730949402 }, { "epoch": 4.1103363037109374e-07, "grad_norm": 2.1476941108703613, "learning_rate": 9.996348757797991e-06, "loss": 0.1128, "step": 4310 }, { "epoch": 4.1103363037109374e-07, "model_forward_time": 5.092991828918457, "step": 4310 }, { "dynamics_loss_avg": 0.0528946484439075, "epoch": 4.1103363037109374e-07, "step": 4310 }, { "action_loss_avg": 0.06317566838115454, "epoch": 4.1103363037109374e-07, "step": 4310 }, { "arm_loss_avg": 0.09855699092149735, "epoch": 4.1103363037109374e-07, "step": 4310 }, { "ee_loss_avg": 0.09403830990195275, "epoch": 4.1103363037109374e-07, "step": 4310 }, { "aux_loss_avg": 0.0030262348940595985, "epoch": 4.1103363037109374e-07, "step": 4310 }, { "epoch": 4.1103363037109374e-07, "step": 4310, "training_step_time": 17.606621742248535 }, { "epoch": 4.1112899780273436e-07, "model_forward_time": 5.088918209075928, "step": 4311 }, { "epoch": 4.1112899780273436e-07, "step": 4311, "training_step_time": 17.82634162902832 }, { "epoch": 4.11224365234375e-07, "model_forward_time": 5.087433338165283, "step": 4312 }, { "epoch": 4.11224365234375e-07, "step": 4312, "training_step_time": 17.606906175613403 }, { "epoch": 4.1131973266601564e-07, "model_forward_time": 5.340703010559082, "step": 4313 }, { "epoch": 4.1131973266601564e-07, "step": 4313, "training_step_time": 17.606839895248413 }, { "epoch": 4.1141510009765626e-07, "model_forward_time": 5.0884246826171875, "step": 4314 }, { "epoch": 4.1141510009765626e-07, "step": 4314, "training_step_time": 17.607606887817383 }, { "epoch": 4.1151046752929687e-07, "model_forward_time": 5.085695505142212, "step": 4315 }, { "epoch": 4.1151046752929687e-07, "step": 4315, "training_step_time": 17.6105694770813 }, { "epoch": 4.116058349609375e-07, "model_forward_time": 5.10464882850647, "step": 4316 }, { "epoch": 4.116058349609375e-07, "step": 4316, "training_step_time": 17.870768308639526 }, { "epoch": 4.117012023925781e-07, "model_forward_time": 5.099096775054932, "step": 4317 }, { "epoch": 4.117012023925781e-07, "step": 4317, "training_step_time": 17.618114471435547 }, { "epoch": 4.1179656982421877e-07, "model_forward_time": 5.100951433181763, "step": 4318 }, { "epoch": 4.1179656982421877e-07, "step": 4318, "training_step_time": 17.672184228897095 }, { "epoch": 4.118919372558594e-07, "model_forward_time": 5.101521253585815, "step": 4319 }, { "epoch": 4.118919372558594e-07, "step": 4319, "training_step_time": 17.40390920639038 }, { "epoch": 4.119873046875e-07, "grad_norm": 2.3223915100097656, "learning_rate": 9.99625794567752e-06, "loss": 0.1159, "step": 4320 }, { "epoch": 4.119873046875e-07, "model_forward_time": 5.091212272644043, "step": 4320 }, { "dynamics_loss_avg": 0.0360223026946187, "epoch": 4.119873046875e-07, "step": 4320 }, { "action_loss_avg": 0.05754363462328911, "epoch": 4.119873046875e-07, "step": 4320 }, { "arm_loss_avg": 0.09862168207764625, "epoch": 4.119873046875e-07, "step": 4320 }, { "ee_loss_avg": 0.11280642729252577, "epoch": 4.119873046875e-07, "step": 4320 }, { "aux_loss_avg": 0.001078386348672211, "epoch": 4.119873046875e-07, "step": 4320 }, { "epoch": 4.119873046875e-07, "step": 4320, "training_step_time": 17.45962619781494 }, { "epoch": 4.120826721191406e-07, "model_forward_time": 5.086461782455444, "step": 4321 }, { "epoch": 4.120826721191406e-07, "step": 4321, "training_step_time": 17.511662483215332 }, { "epoch": 4.121780395507812e-07, "model_forward_time": 5.088439464569092, "step": 4322 }, { "epoch": 4.121780395507812e-07, "step": 4322, "training_step_time": 17.79249596595764 }, { "epoch": 4.122734069824219e-07, "model_forward_time": 3.8461110591888428, "step": 4323 }, { "epoch": 4.122734069824219e-07, "step": 4323, "training_step_time": 17.589305877685547 }, { "epoch": 4.123687744140625e-07, "model_forward_time": 5.301564931869507, "step": 4324 }, { "epoch": 4.123687744140625e-07, "step": 4324, "training_step_time": 17.619297981262207 }, { "epoch": 4.124641418457031e-07, "model_forward_time": 5.067314624786377, "step": 4325 }, { "epoch": 4.124641418457031e-07, "step": 4325, "training_step_time": 17.625442504882812 }, { "epoch": 4.1255950927734374e-07, "model_forward_time": 5.076336145401001, "step": 4326 }, { "epoch": 4.1255950927734374e-07, "step": 4326, "training_step_time": 17.62121868133545 }, { "epoch": 4.1265487670898435e-07, "model_forward_time": 5.085427522659302, "step": 4327 }, { "epoch": 4.1265487670898435e-07, "step": 4327, "training_step_time": 17.807969093322754 }, { "epoch": 4.12750244140625e-07, "model_forward_time": 5.288673639297485, "step": 4328 }, { "epoch": 4.12750244140625e-07, "step": 4328, "training_step_time": 17.62354588508606 }, { "epoch": 4.1284561157226563e-07, "model_forward_time": 5.093928813934326, "step": 4329 }, { "epoch": 4.1284561157226563e-07, "step": 4329, "training_step_time": 17.596870183944702 }, { "epoch": 4.1294097900390625e-07, "grad_norm": 3.4783272743225098, "learning_rate": 9.996166018489189e-06, "loss": 0.1503, "step": 4330 }, { "epoch": 4.1294097900390625e-07, "model_forward_time": 5.098986387252808, "step": 4330 }, { "dynamics_loss_avg": 0.046193028707057236, "epoch": 4.1294097900390625e-07, "step": 4330 }, { "action_loss_avg": 0.07316563241183757, "epoch": 4.1294097900390625e-07, "step": 4330 }, { "arm_loss_avg": 0.10305061917752027, "epoch": 4.1294097900390625e-07, "step": 4330 }, { "ee_loss_avg": 0.09639042094349862, "epoch": 4.1294097900390625e-07, "step": 4330 }, { "aux_loss_avg": 0.0008508292055921629, "epoch": 4.1294097900390625e-07, "step": 4330 }, { "epoch": 4.1294097900390625e-07, "step": 4330, "training_step_time": 17.608261585235596 }, { "epoch": 4.1303634643554686e-07, "model_forward_time": 5.093714237213135, "step": 4331 }, { "epoch": 4.1303634643554686e-07, "step": 4331, "training_step_time": 17.603229522705078 }, { "epoch": 4.131317138671875e-07, "model_forward_time": 5.096319198608398, "step": 4332 }, { "epoch": 4.131317138671875e-07, "step": 4332, "training_step_time": 17.831764221191406 }, { "epoch": 4.1322708129882814e-07, "model_forward_time": 3.8550188541412354, "step": 4333 }, { "epoch": 4.1322708129882814e-07, "step": 4333, "training_step_time": 17.614092588424683 }, { "epoch": 4.1332244873046876e-07, "model_forward_time": 5.308770656585693, "step": 4334 }, { "epoch": 4.1332244873046876e-07, "step": 4334, "training_step_time": 17.590646743774414 }, { "epoch": 4.1341781616210937e-07, "model_forward_time": 5.067671537399292, "step": 4335 }, { "epoch": 4.1341781616210937e-07, "step": 4335, "training_step_time": 17.56816792488098 }, { "epoch": 4.1351318359375e-07, "model_forward_time": 5.077893257141113, "step": 4336 }, { "epoch": 4.1351318359375e-07, "step": 4336, "training_step_time": 17.37080430984497 }, { "epoch": 4.136085510253906e-07, "model_forward_time": 5.089886903762817, "step": 4337 }, { "epoch": 4.136085510253906e-07, "step": 4337, "training_step_time": 17.494687795639038 }, { "epoch": 4.1370391845703127e-07, "model_forward_time": 5.096222877502441, "step": 4338 }, { "epoch": 4.1370391845703127e-07, "step": 4338, "training_step_time": 17.59281349182129 }, { "epoch": 4.137992858886719e-07, "model_forward_time": 5.096171855926514, "step": 4339 }, { "epoch": 4.137992858886719e-07, "step": 4339, "training_step_time": 17.563549995422363 }, { "epoch": 4.138946533203125e-07, "grad_norm": 1.8983750343322754, "learning_rate": 9.99607297625351e-06, "loss": 0.1239, "step": 4340 }, { "epoch": 4.138946533203125e-07, "model_forward_time": 5.097965240478516, "step": 4340 }, { "dynamics_loss_avg": 0.04566999897360802, "epoch": 4.138946533203125e-07, "step": 4340 }, { "action_loss_avg": 0.062241533398628236, "epoch": 4.138946533203125e-07, "step": 4340 }, { "arm_loss_avg": 0.0959971658885479, "epoch": 4.138946533203125e-07, "step": 4340 }, { "ee_loss_avg": 0.09643806330859661, "epoch": 4.138946533203125e-07, "step": 4340 }, { "aux_loss_avg": 0.001643711910583079, "epoch": 4.138946533203125e-07, "step": 4340 }, { "epoch": 4.138946533203125e-07, "step": 4340, "training_step_time": 17.58517622947693 }, { "epoch": 4.139900207519531e-07, "model_forward_time": 5.095579147338867, "step": 4341 }, { "epoch": 4.139900207519531e-07, "step": 4341, "training_step_time": 17.824666738510132 }, { "epoch": 4.140853881835937e-07, "model_forward_time": 5.092986583709717, "step": 4342 }, { "epoch": 4.140853881835937e-07, "step": 4342, "training_step_time": 17.59359049797058 }, { "epoch": 4.141807556152344e-07, "model_forward_time": 5.085851430892944, "step": 4343 }, { "epoch": 4.141807556152344e-07, "step": 4343, "training_step_time": 17.59500765800476 }, { "epoch": 4.14276123046875e-07, "model_forward_time": 5.089795827865601, "step": 4344 }, { "epoch": 4.14276123046875e-07, "step": 4344, "training_step_time": 17.612457036972046 }, { "epoch": 4.143714904785156e-07, "model_forward_time": 5.087470293045044, "step": 4345 }, { "epoch": 4.143714904785156e-07, "step": 4345, "training_step_time": 17.601011037826538 }, { "epoch": 4.1446685791015624e-07, "model_forward_time": 5.0843799114227295, "step": 4346 }, { "epoch": 4.1446685791015624e-07, "step": 4346, "training_step_time": 17.796249389648438 }, { "epoch": 4.1456222534179685e-07, "model_forward_time": 5.082103967666626, "step": 4347 }, { "epoch": 4.1456222534179685e-07, "step": 4347, "training_step_time": 17.224854707717896 }, { "epoch": 4.146575927734375e-07, "model_forward_time": 5.2815022468566895, "step": 4348 }, { "epoch": 4.146575927734375e-07, "step": 4348, "training_step_time": 17.5190327167511 }, { "epoch": 4.1475296020507813e-07, "model_forward_time": 5.088562726974487, "step": 4349 }, { "epoch": 4.1475296020507813e-07, "step": 4349, "training_step_time": 17.582744359970093 }, { "epoch": 4.1484832763671875e-07, "grad_norm": 2.40283465385437, "learning_rate": 9.995978818991254e-06, "loss": 0.1293, "step": 4350 }, { "epoch": 4.1484832763671875e-07, "model_forward_time": 5.085040092468262, "step": 4350 }, { "dynamics_loss_avg": 0.03495998177677393, "epoch": 4.1484832763671875e-07, "step": 4350 }, { "action_loss_avg": 0.05037197694182396, "epoch": 4.1484832763671875e-07, "step": 4350 }, { "arm_loss_avg": 0.118369559943676, "epoch": 4.1484832763671875e-07, "step": 4350 }, { "ee_loss_avg": 0.14658033475279808, "epoch": 4.1484832763671875e-07, "step": 4350 }, { "aux_loss_avg": 0.003131434274837375, "epoch": 4.1484832763671875e-07, "step": 4350 }, { "epoch": 4.1484832763671875e-07, "step": 4350, "training_step_time": 17.556477308273315 }, { "epoch": 4.1494369506835936e-07, "model_forward_time": 3.850785493850708, "step": 4351 }, { "epoch": 4.1494369506835936e-07, "step": 4351, "training_step_time": 17.572468042373657 }, { "epoch": 4.150390625e-07, "model_forward_time": 5.067707777023315, "step": 4352 }, { "epoch": 4.150390625e-07, "step": 4352, "training_step_time": 17.818541288375854 }, { "epoch": 4.1513442993164064e-07, "model_forward_time": 5.3182666301727295, "step": 4353 }, { "epoch": 4.1513442993164064e-07, "step": 4353, "training_step_time": 17.602371215820312 }, { "epoch": 4.1522979736328126e-07, "model_forward_time": 3.8436989784240723, "step": 4354 }, { "epoch": 4.1522979736328126e-07, "step": 4354, "training_step_time": 17.58250403404236 }, { "epoch": 4.1532516479492187e-07, "model_forward_time": 5.060065507888794, "step": 4355 }, { "epoch": 4.1532516479492187e-07, "step": 4355, "training_step_time": 17.588284015655518 }, { "epoch": 4.154205322265625e-07, "model_forward_time": 5.079505681991577, "step": 4356 }, { "epoch": 4.154205322265625e-07, "step": 4356, "training_step_time": 17.5819890499115 }, { "epoch": 4.155158996582031e-07, "model_forward_time": 5.099361896514893, "step": 4357 }, { "epoch": 4.155158996582031e-07, "step": 4357, "training_step_time": 17.7928204536438 }, { "epoch": 4.1561126708984377e-07, "model_forward_time": 5.11223292350769, "step": 4358 }, { "epoch": 4.1561126708984377e-07, "step": 4358, "training_step_time": 17.67575740814209 }, { "epoch": 4.157066345214844e-07, "model_forward_time": 5.35765266418457, "step": 4359 }, { "epoch": 4.157066345214844e-07, "step": 4359, "training_step_time": 17.52169942855835 }, { "epoch": 4.15802001953125e-07, "grad_norm": 1.6175082921981812, "learning_rate": 9.995883546723434e-06, "loss": 0.1351, "step": 4360 }, { "epoch": 4.15802001953125e-07, "model_forward_time": 5.130336046218872, "step": 4360 }, { "dynamics_loss_avg": 0.04846065808087587, "epoch": 4.15802001953125e-07, "step": 4360 }, { "action_loss_avg": 0.07581648230552673, "epoch": 4.15802001953125e-07, "step": 4360 }, { "arm_loss_avg": 0.1159989956766367, "epoch": 4.15802001953125e-07, "step": 4360 }, { "ee_loss_avg": 0.1396843519061804, "epoch": 4.15802001953125e-07, "step": 4360 }, { "aux_loss_avg": 0.0007767928356770426, "epoch": 4.15802001953125e-07, "step": 4360 }, { "epoch": 4.15802001953125e-07, "step": 4360, "training_step_time": 17.558221340179443 }, { "epoch": 4.158973693847656e-07, "model_forward_time": 5.113013029098511, "step": 4361 }, { "epoch": 4.158973693847656e-07, "step": 4361, "training_step_time": 17.579066038131714 }, { "epoch": 4.1599273681640623e-07, "model_forward_time": 5.10063099861145, "step": 4362 }, { "epoch": 4.1599273681640623e-07, "step": 4362, "training_step_time": 17.839861392974854 }, { "epoch": 4.160881042480469e-07, "model_forward_time": 5.096238851547241, "step": 4363 }, { "epoch": 4.160881042480469e-07, "step": 4363, "training_step_time": 17.61284613609314 }, { "epoch": 4.161834716796875e-07, "model_forward_time": 5.093233823776245, "step": 4364 }, { "epoch": 4.161834716796875e-07, "step": 4364, "training_step_time": 17.61050844192505 }, { "epoch": 4.162788391113281e-07, "model_forward_time": 5.085185289382935, "step": 4365 }, { "epoch": 4.162788391113281e-07, "step": 4365, "training_step_time": 17.612110137939453 }, { "epoch": 4.1637420654296874e-07, "model_forward_time": 5.085222244262695, "step": 4366 }, { "epoch": 4.1637420654296874e-07, "step": 4366, "training_step_time": 17.851641416549683 }, { "epoch": 4.1646957397460935e-07, "model_forward_time": 5.078489780426025, "step": 4367 }, { "epoch": 4.1646957397460935e-07, "step": 4367, "training_step_time": 17.613630533218384 }, { "epoch": 4.1656494140625e-07, "model_forward_time": 3.8460116386413574, "step": 4368 }, { "epoch": 4.1656494140625e-07, "step": 4368, "training_step_time": 17.609300136566162 }, { "epoch": 4.1666030883789064e-07, "model_forward_time": 3.836374521255493, "step": 4369 }, { "epoch": 4.1666030883789064e-07, "step": 4369, "training_step_time": 17.609445810317993 }, { "epoch": 4.1675567626953125e-07, "grad_norm": 1.2142292261123657, "learning_rate": 9.995787159471308e-06, "loss": 0.1451, "step": 4370 }, { "epoch": 4.1675567626953125e-07, "model_forward_time": 5.050208806991577, "step": 4370 }, { "dynamics_loss_avg": 0.06100086495280266, "epoch": 4.1675567626953125e-07, "step": 4370 }, { "action_loss_avg": 0.07488173842430115, "epoch": 4.1675567626953125e-07, "step": 4370 }, { "arm_loss_avg": 0.15007307901978492, "epoch": 4.1675567626953125e-07, "step": 4370 }, { "ee_loss_avg": 0.1237427107989788, "epoch": 4.1675567626953125e-07, "step": 4370 }, { "aux_loss_avg": 0.019165622349828482, "epoch": 4.1675567626953125e-07, "step": 4370 }, { "epoch": 4.1675567626953125e-07, "step": 4370, "training_step_time": 17.601489067077637 }, { "epoch": 4.1685104370117186e-07, "model_forward_time": 5.066264629364014, "step": 4371 }, { "epoch": 4.1685104370117186e-07, "step": 4371, "training_step_time": 17.81614661216736 }, { "epoch": 4.169464111328125e-07, "model_forward_time": 5.082969903945923, "step": 4372 }, { "epoch": 4.169464111328125e-07, "step": 4372, "training_step_time": 17.58388876914978 }, { "epoch": 4.1704177856445315e-07, "model_forward_time": 5.0938401222229, "step": 4373 }, { "epoch": 4.1704177856445315e-07, "step": 4373, "training_step_time": 17.57834005355835 }, { "epoch": 4.1713714599609376e-07, "model_forward_time": 5.351627588272095, "step": 4374 }, { "epoch": 4.1713714599609376e-07, "step": 4374, "training_step_time": 17.577316761016846 }, { "epoch": 4.172325134277344e-07, "model_forward_time": 5.108515024185181, "step": 4375 }, { "epoch": 4.172325134277344e-07, "step": 4375, "training_step_time": 17.578442573547363 }, { "epoch": 4.17327880859375e-07, "model_forward_time": 5.111795663833618, "step": 4376 }, { "epoch": 4.17327880859375e-07, "step": 4376, "training_step_time": 17.846270084381104 }, { "epoch": 4.174232482910156e-07, "model_forward_time": 5.110659122467041, "step": 4377 }, { "epoch": 4.174232482910156e-07, "step": 4377, "training_step_time": 17.64646625518799 }, { "epoch": 4.1751861572265627e-07, "model_forward_time": 5.09954309463501, "step": 4378 }, { "epoch": 4.1751861572265627e-07, "step": 4378, "training_step_time": 17.6734561920166 }, { "epoch": 4.176139831542969e-07, "model_forward_time": 5.102393865585327, "step": 4379 }, { "epoch": 4.176139831542969e-07, "step": 4379, "training_step_time": 17.64981508255005 }, { "epoch": 4.177093505859375e-07, "grad_norm": 2.468158483505249, "learning_rate": 9.995689657256393e-06, "loss": 0.1347, "step": 4380 }, { "epoch": 4.177093505859375e-07, "model_forward_time": 5.093830585479736, "step": 4380 }, { "dynamics_loss_avg": 0.04082325082272291, "epoch": 4.177093505859375e-07, "step": 4380 }, { "action_loss_avg": 0.056627752259373665, "epoch": 4.177093505859375e-07, "step": 4380 }, { "arm_loss_avg": 0.11271242015063762, "epoch": 4.177093505859375e-07, "step": 4380 }, { "ee_loss_avg": 0.12673322893679143, "epoch": 4.177093505859375e-07, "step": 4380 }, { "aux_loss_avg": 0.0014775337389437483, "epoch": 4.177093505859375e-07, "step": 4380 }, { "epoch": 4.177093505859375e-07, "step": 4380, "training_step_time": 17.618067502975464 }, { "epoch": 4.178047180175781e-07, "model_forward_time": 5.081458806991577, "step": 4381 }, { "epoch": 4.178047180175781e-07, "step": 4381, "training_step_time": 17.821370363235474 }, { "epoch": 4.1790008544921873e-07, "model_forward_time": 5.0769360065460205, "step": 4382 }, { "epoch": 4.1790008544921873e-07, "step": 4382, "training_step_time": 17.392357349395752 }, { "epoch": 4.179954528808594e-07, "model_forward_time": 5.079240083694458, "step": 4383 }, { "epoch": 4.179954528808594e-07, "step": 4383, "training_step_time": 17.585404634475708 }, { "epoch": 4.180908203125e-07, "model_forward_time": 5.083970069885254, "step": 4384 }, { "epoch": 4.180908203125e-07, "step": 4384, "training_step_time": 17.56304383277893 }, { "epoch": 4.181861877441406e-07, "model_forward_time": 5.081830263137817, "step": 4385 }, { "epoch": 4.181861877441406e-07, "step": 4385, "training_step_time": 17.576043844223022 }, { "epoch": 4.1828155517578124e-07, "model_forward_time": 5.082345724105835, "step": 4386 }, { "epoch": 4.1828155517578124e-07, "step": 4386, "training_step_time": 17.83342146873474 }, { "epoch": 4.1837692260742185e-07, "model_forward_time": 5.085133075714111, "step": 4387 }, { "epoch": 4.1837692260742185e-07, "step": 4387, "training_step_time": 17.60871934890747 }, { "epoch": 4.184722900390625e-07, "model_forward_time": 5.273472309112549, "step": 4388 }, { "epoch": 4.184722900390625e-07, "step": 4388, "training_step_time": 17.62312889099121 }, { "epoch": 4.1856765747070314e-07, "model_forward_time": 5.083629846572876, "step": 4389 }, { "epoch": 4.1856765747070314e-07, "step": 4389, "training_step_time": 17.608549118041992 }, { "epoch": 4.1866302490234375e-07, "grad_norm": 2.1503825187683105, "learning_rate": 9.995591040100446e-06, "loss": 0.1464, "step": 4390 }, { "epoch": 4.1866302490234375e-07, "model_forward_time": 5.088276147842407, "step": 4390 }, { "dynamics_loss_avg": 0.05835061073303223, "epoch": 4.1866302490234375e-07, "step": 4390 }, { "action_loss_avg": 0.08299825638532639, "epoch": 4.1866302490234375e-07, "step": 4390 }, { "arm_loss_avg": 0.11963943764567375, "epoch": 4.1866302490234375e-07, "step": 4390 }, { "ee_loss_avg": 0.09605007097125054, "epoch": 4.1866302490234375e-07, "step": 4390 }, { "aux_loss_avg": 0.0038968724373262377, "epoch": 4.1866302490234375e-07, "step": 4390 }, { "epoch": 4.1866302490234375e-07, "step": 4390, "training_step_time": 17.608492612838745 }, { "epoch": 4.1875839233398437e-07, "model_forward_time": 5.084928035736084, "step": 4391 }, { "epoch": 4.1875839233398437e-07, "step": 4391, "training_step_time": 17.840495347976685 }, { "epoch": 4.18853759765625e-07, "model_forward_time": 3.858417510986328, "step": 4392 }, { "epoch": 4.18853759765625e-07, "step": 4392, "training_step_time": 17.60326337814331 }, { "epoch": 4.1894912719726565e-07, "model_forward_time": 5.295079231262207, "step": 4393 }, { "epoch": 4.1894912719726565e-07, "step": 4393, "training_step_time": 17.606882572174072 }, { "epoch": 4.1904449462890626e-07, "model_forward_time": 5.064090251922607, "step": 4394 }, { "epoch": 4.1904449462890626e-07, "step": 4394, "training_step_time": 17.59803533554077 }, { "epoch": 4.191398620605469e-07, "model_forward_time": 5.073117733001709, "step": 4395 }, { "epoch": 4.191398620605469e-07, "step": 4395, "training_step_time": 17.391396522521973 }, { "epoch": 4.192352294921875e-07, "model_forward_time": 5.090584754943848, "step": 4396 }, { "epoch": 4.192352294921875e-07, "step": 4396, "training_step_time": 17.497127056121826 }, { "epoch": 4.193305969238281e-07, "model_forward_time": 5.090632677078247, "step": 4397 }, { "epoch": 4.193305969238281e-07, "step": 4397, "training_step_time": 17.415899515151978 }, { "epoch": 4.1942596435546877e-07, "model_forward_time": 5.089421510696411, "step": 4398 }, { "epoch": 4.1942596435546877e-07, "step": 4398, "training_step_time": 17.487417697906494 }, { "epoch": 4.195213317871094e-07, "model_forward_time": 5.09408712387085, "step": 4399 }, { "epoch": 4.195213317871094e-07, "step": 4399, "training_step_time": 17.557497024536133 }, { "epoch": 4.1961669921875e-07, "grad_norm": 1.9975436925888062, "learning_rate": 9.99549130802548e-06, "loss": 0.1331, "step": 4400 }, { "epoch": 4.1961669921875e-07, "model_forward_time": 5.090909004211426, "step": 4400 }, { "dynamics_loss_avg": 0.05514098834246397, "epoch": 4.1961669921875e-07, "step": 4400 }, { "action_loss_avg": 0.05908597931265831, "epoch": 4.1961669921875e-07, "step": 4400 }, { "arm_loss_avg": 0.08088238947093487, "epoch": 4.1961669921875e-07, "step": 4400 }, { "ee_loss_avg": 0.1081823106855154, "epoch": 4.1961669921875e-07, "step": 4400 }, { "aux_loss_avg": 0.003012449905509129, "epoch": 4.1961669921875e-07, "step": 4400 }, { "epoch": 4.1961669921875e-07, "step": 4400, "training_step_time": 17.493654012680054 }, { "epoch": 4.197120666503906e-07, "model_forward_time": 5.0925681591033936, "step": 4401 }, { "epoch": 4.197120666503906e-07, "step": 4401, "training_step_time": 17.56020498275757 }, { "epoch": 4.1980743408203123e-07, "model_forward_time": 5.090555667877197, "step": 4402 }, { "epoch": 4.1980743408203123e-07, "step": 4402, "training_step_time": 17.39210605621338 }, { "epoch": 4.199028015136719e-07, "model_forward_time": 3.853158473968506, "step": 4403 }, { "epoch": 4.199028015136719e-07, "step": 4403, "training_step_time": 17.58712601661682 }, { "epoch": 4.199981689453125e-07, "model_forward_time": 5.306505918502808, "step": 4404 }, { "epoch": 4.199981689453125e-07, "step": 4404, "training_step_time": 17.407422065734863 }, { "epoch": 4.2009353637695313e-07, "model_forward_time": 5.072678804397583, "step": 4405 }, { "epoch": 4.2009353637695313e-07, "step": 4405, "training_step_time": 17.538771867752075 }, { "epoch": 4.2018890380859374e-07, "model_forward_time": 5.079431772232056, "step": 4406 }, { "epoch": 4.2018890380859374e-07, "step": 4406, "training_step_time": 17.592750072479248 }, { "epoch": 4.2028427124023436e-07, "model_forward_time": 5.084218502044678, "step": 4407 }, { "epoch": 4.2028427124023436e-07, "step": 4407, "training_step_time": 17.813618898391724 }, { "epoch": 4.20379638671875e-07, "model_forward_time": 5.281613111495972, "step": 4408 }, { "epoch": 4.20379638671875e-07, "step": 4408, "training_step_time": 17.648382425308228 }, { "epoch": 4.2047500610351564e-07, "model_forward_time": 5.09308934211731, "step": 4409 }, { "epoch": 4.2047500610351564e-07, "step": 4409, "training_step_time": 17.647364616394043 }, { "epoch": 4.2057037353515625e-07, "grad_norm": 2.045039415359497, "learning_rate": 9.99539046105375e-06, "loss": 0.1313, "step": 4410 }, { "epoch": 4.2057037353515625e-07, "model_forward_time": 5.098936557769775, "step": 4410 }, { "dynamics_loss_avg": 0.05073349270969629, "epoch": 4.2057037353515625e-07, "step": 4410 }, { "action_loss_avg": 0.07250655516982078, "epoch": 4.2057037353515625e-07, "step": 4410 }, { "arm_loss_avg": 0.11135265342891217, "epoch": 4.2057037353515625e-07, "step": 4410 }, { "ee_loss_avg": 0.15728303771466018, "epoch": 4.2057037353515625e-07, "step": 4410 }, { "aux_loss_avg": 0.01188148184446618, "epoch": 4.2057037353515625e-07, "step": 4410 }, { "epoch": 4.2057037353515625e-07, "step": 4410, "training_step_time": 17.64365816116333 }, { "epoch": 4.2066574096679687e-07, "model_forward_time": 5.097256660461426, "step": 4411 }, { "epoch": 4.2066574096679687e-07, "step": 4411, "training_step_time": 17.40202307701111 }, { "epoch": 4.207611083984375e-07, "model_forward_time": 5.095569372177124, "step": 4412 }, { "epoch": 4.207611083984375e-07, "step": 4412, "training_step_time": 17.410455226898193 }, { "epoch": 4.2085647583007815e-07, "model_forward_time": 5.3413379192352295, "step": 4413 }, { "epoch": 4.2085647583007815e-07, "step": 4413, "training_step_time": 17.64608120918274 }, { "epoch": 4.2095184326171876e-07, "model_forward_time": 5.09433650970459, "step": 4414 }, { "epoch": 4.2095184326171876e-07, "step": 4414, "training_step_time": 17.398046731948853 }, { "epoch": 4.210472106933594e-07, "model_forward_time": 5.089715003967285, "step": 4415 }, { "epoch": 4.210472106933594e-07, "step": 4415, "training_step_time": 17.488032341003418 }, { "epoch": 4.21142578125e-07, "model_forward_time": 5.089087724685669, "step": 4416 }, { "epoch": 4.21142578125e-07, "step": 4416, "training_step_time": 17.55928874015808 }, { "epoch": 4.212379455566406e-07, "model_forward_time": 5.08446478843689, "step": 4417 }, { "epoch": 4.212379455566406e-07, "step": 4417, "training_step_time": 17.795203685760498 }, { "epoch": 4.213333129882813e-07, "model_forward_time": 5.084503650665283, "step": 4418 }, { "epoch": 4.213333129882813e-07, "step": 4418, "training_step_time": 17.617048501968384 }, { "epoch": 4.214286804199219e-07, "model_forward_time": 5.083971738815308, "step": 4419 }, { "epoch": 4.214286804199219e-07, "step": 4419, "training_step_time": 17.64280390739441 }, { "epoch": 4.215240478515625e-07, "grad_norm": 2.3262386322021484, "learning_rate": 9.995288499207764e-06, "loss": 0.1525, "step": 4420 }, { "epoch": 4.215240478515625e-07, "model_forward_time": 5.08348822593689, "step": 4420 }, { "dynamics_loss_avg": 0.05023552421480417, "epoch": 4.215240478515625e-07, "step": 4420 }, { "action_loss_avg": 0.06966590583324432, "epoch": 4.215240478515625e-07, "step": 4420 }, { "arm_loss_avg": 0.07888542488217354, "epoch": 4.215240478515625e-07, "step": 4420 }, { "ee_loss_avg": 0.11839921660721302, "epoch": 4.215240478515625e-07, "step": 4420 }, { "aux_loss_avg": 0.0025268939760280775, "epoch": 4.215240478515625e-07, "step": 4420 }, { "epoch": 4.215240478515625e-07, "step": 4420, "training_step_time": 17.647068738937378 }, { "epoch": 4.216194152832031e-07, "model_forward_time": 5.087920665740967, "step": 4421 }, { "epoch": 4.216194152832031e-07, "step": 4421, "training_step_time": 17.55064105987549 }, { "epoch": 4.2171478271484373e-07, "model_forward_time": 5.085598945617676, "step": 4422 }, { "epoch": 4.2171478271484373e-07, "step": 4422, "training_step_time": 17.861291646957397 }, { "epoch": 4.218101501464844e-07, "model_forward_time": 5.083348035812378, "step": 4423 }, { "epoch": 4.218101501464844e-07, "step": 4423, "training_step_time": 17.624362468719482 }, { "epoch": 4.21905517578125e-07, "model_forward_time": 5.090654611587524, "step": 4424 }, { "epoch": 4.21905517578125e-07, "step": 4424, "training_step_time": 17.60945987701416 }, { "epoch": 4.2200088500976563e-07, "model_forward_time": 3.850639581680298, "step": 4425 }, { "epoch": 4.2200088500976563e-07, "step": 4425, "training_step_time": 17.589938163757324 }, { "epoch": 4.2209625244140624e-07, "model_forward_time": 5.063975095748901, "step": 4426 }, { "epoch": 4.2209625244140624e-07, "step": 4426, "training_step_time": 17.401816606521606 }, { "epoch": 4.2219161987304686e-07, "model_forward_time": 5.071239709854126, "step": 4427 }, { "epoch": 4.2219161987304686e-07, "step": 4427, "training_step_time": 17.495582580566406 }, { "epoch": 4.222869873046875e-07, "model_forward_time": 5.0826942920684814, "step": 4428 }, { "epoch": 4.222869873046875e-07, "step": 4428, "training_step_time": 17.717067003250122 }, { "epoch": 4.2238235473632814e-07, "model_forward_time": 5.084731340408325, "step": 4429 }, { "epoch": 4.2238235473632814e-07, "step": 4429, "training_step_time": 17.450499773025513 }, { "epoch": 4.2247772216796875e-07, "grad_norm": 1.1596537828445435, "learning_rate": 9.995185422510281e-06, "loss": 0.1246, "step": 4430 }, { "epoch": 4.2247772216796875e-07, "model_forward_time": 5.094581365585327, "step": 4430 }, { "dynamics_loss_avg": 0.043885445967316625, "epoch": 4.2247772216796875e-07, "step": 4430 }, { "action_loss_avg": 0.059136650152504446, "epoch": 4.2247772216796875e-07, "step": 4430 }, { "arm_loss_avg": 0.10647196099162101, "epoch": 4.2247772216796875e-07, "step": 4430 }, { "ee_loss_avg": 0.09973608367145062, "epoch": 4.2247772216796875e-07, "step": 4430 }, { "aux_loss_avg": 0.001115093257976696, "epoch": 4.2247772216796875e-07, "step": 4430 }, { "epoch": 4.2247772216796875e-07, "step": 4430, "training_step_time": 17.473508834838867 }, { "epoch": 4.2257308959960937e-07, "model_forward_time": 5.0978522300720215, "step": 4431 }, { "epoch": 4.2257308959960937e-07, "step": 4431, "training_step_time": 17.536154747009277 }, { "epoch": 4.2266845703125e-07, "model_forward_time": 5.098078966140747, "step": 4432 }, { "epoch": 4.2266845703125e-07, "step": 4432, "training_step_time": 17.56821894645691 }, { "epoch": 4.2276382446289065e-07, "model_forward_time": 5.094952583312988, "step": 4433 }, { "epoch": 4.2276382446289065e-07, "step": 4433, "training_step_time": 17.435062646865845 }, { "epoch": 4.2285919189453127e-07, "model_forward_time": 5.0950422286987305, "step": 4434 }, { "epoch": 4.2285919189453127e-07, "step": 4434, "training_step_time": 17.59963345527649 }, { "epoch": 4.229545593261719e-07, "model_forward_time": 5.088945150375366, "step": 4435 }, { "epoch": 4.229545593261719e-07, "step": 4435, "training_step_time": 17.567442178726196 }, { "epoch": 4.230499267578125e-07, "model_forward_time": 5.106067419052124, "step": 4436 }, { "epoch": 4.230499267578125e-07, "step": 4436, "training_step_time": 17.63175868988037 }, { "epoch": 4.231452941894531e-07, "model_forward_time": 5.098287343978882, "step": 4437 }, { "epoch": 4.231452941894531e-07, "step": 4437, "training_step_time": 17.659613370895386 }, { "epoch": 4.232406616210937e-07, "model_forward_time": 5.0980589389801025, "step": 4438 }, { "epoch": 4.232406616210937e-07, "step": 4438, "training_step_time": 17.868526697158813 }, { "epoch": 4.233360290527344e-07, "model_forward_time": 3.8646843433380127, "step": 4439 }, { "epoch": 4.233360290527344e-07, "step": 4439, "training_step_time": 17.65630602836609 }, { "epoch": 4.23431396484375e-07, "grad_norm": 2.4889068603515625, "learning_rate": 9.995081230984302e-06, "loss": 0.1214, "step": 4440 }, { "epoch": 4.23431396484375e-07, "model_forward_time": 5.058393955230713, "step": 4440 }, { "dynamics_loss_avg": 0.0441141621209681, "epoch": 4.23431396484375e-07, "step": 4440 }, { "action_loss_avg": 0.06262125538196414, "epoch": 4.23431396484375e-07, "step": 4440 }, { "arm_loss_avg": 0.11030126102268696, "epoch": 4.23431396484375e-07, "step": 4440 }, { "ee_loss_avg": 0.13142532259225845, "epoch": 4.23431396484375e-07, "step": 4440 }, { "aux_loss_avg": 0.0010722827457357198, "epoch": 4.23431396484375e-07, "step": 4440 }, { "epoch": 4.23431396484375e-07, "step": 4440, "training_step_time": 17.62915802001953 }, { "epoch": 4.235267639160156e-07, "model_forward_time": 5.070524454116821, "step": 4441 }, { "epoch": 4.235267639160156e-07, "step": 4441, "training_step_time": 17.628597497940063 }, { "epoch": 4.2362213134765623e-07, "model_forward_time": 5.080780982971191, "step": 4442 }, { "epoch": 4.2362213134765623e-07, "step": 4442, "training_step_time": 17.619797706604004 }, { "epoch": 4.2371749877929685e-07, "model_forward_time": 5.090650796890259, "step": 4443 }, { "epoch": 4.2371749877929685e-07, "step": 4443, "training_step_time": 17.83556580543518 }, { "epoch": 4.238128662109375e-07, "model_forward_time": 5.334871768951416, "step": 4444 }, { "epoch": 4.238128662109375e-07, "step": 4444, "training_step_time": 17.596194982528687 }, { "epoch": 4.2390823364257813e-07, "model_forward_time": 5.0984814167022705, "step": 4445 }, { "epoch": 4.2390823364257813e-07, "step": 4445, "training_step_time": 17.588631868362427 }, { "epoch": 4.2400360107421875e-07, "model_forward_time": 5.104954719543457, "step": 4446 }, { "epoch": 4.2400360107421875e-07, "step": 4446, "training_step_time": 17.605746507644653 }, { "epoch": 4.2409896850585936e-07, "model_forward_time": 5.1026129722595215, "step": 4447 }, { "epoch": 4.2409896850585936e-07, "step": 4447, "training_step_time": 17.603514194488525 }, { "epoch": 4.241943359375e-07, "model_forward_time": 5.291559934616089, "step": 4448 }, { "epoch": 4.241943359375e-07, "step": 4448, "training_step_time": 17.801371097564697 }, { "epoch": 4.2428970336914064e-07, "model_forward_time": 3.857722759246826, "step": 4449 }, { "epoch": 4.2428970336914064e-07, "step": 4449, "training_step_time": 17.597090005874634 }, { "epoch": 4.2438507080078126e-07, "grad_norm": 1.7421680688858032, "learning_rate": 9.994975924653081e-06, "loss": 0.1343, "step": 4450 }, { "epoch": 4.2438507080078126e-07, "model_forward_time": 5.061851978302002, "step": 4450 }, { "dynamics_loss_avg": 0.05450366269797087, "epoch": 4.2438507080078126e-07, "step": 4450 }, { "action_loss_avg": 0.05692143738269806, "epoch": 4.2438507080078126e-07, "step": 4450 }, { "arm_loss_avg": 0.11597894094884395, "epoch": 4.2438507080078126e-07, "step": 4450 }, { "ee_loss_avg": 0.10386621989309788, "epoch": 4.2438507080078126e-07, "step": 4450 }, { "aux_loss_avg": 0.0021095517033245413, "epoch": 4.2438507080078126e-07, "step": 4450 }, { "epoch": 4.2438507080078126e-07, "step": 4450, "training_step_time": 17.597212314605713 }, { "epoch": 4.2448043823242187e-07, "model_forward_time": 5.0706257820129395, "step": 4451 }, { "epoch": 4.2448043823242187e-07, "step": 4451, "training_step_time": 17.598105907440186 }, { "epoch": 4.245758056640625e-07, "model_forward_time": 5.076268434524536, "step": 4452 }, { "epoch": 4.245758056640625e-07, "step": 4452, "training_step_time": 17.814786195755005 }, { "epoch": 4.246711730957031e-07, "model_forward_time": 5.081295967102051, "step": 4453 }, { "epoch": 4.246711730957031e-07, "step": 4453, "training_step_time": 17.631081342697144 }, { "epoch": 4.2476654052734377e-07, "model_forward_time": 5.332859992980957, "step": 4454 }, { "epoch": 4.2476654052734377e-07, "step": 4454, "training_step_time": 17.59759283065796 }, { "epoch": 4.248619079589844e-07, "model_forward_time": 5.094140529632568, "step": 4455 }, { "epoch": 4.248619079589844e-07, "step": 4455, "training_step_time": 17.58995246887207 }, { "epoch": 4.24957275390625e-07, "model_forward_time": 5.093325614929199, "step": 4456 }, { "epoch": 4.24957275390625e-07, "step": 4456, "training_step_time": 17.39312505722046 }, { "epoch": 4.250526428222656e-07, "model_forward_time": 5.102514028549194, "step": 4457 }, { "epoch": 4.250526428222656e-07, "step": 4457, "training_step_time": 17.532378673553467 }, { "epoch": 4.251480102539062e-07, "model_forward_time": 5.120941877365112, "step": 4458 }, { "epoch": 4.251480102539062e-07, "step": 4458, "training_step_time": 17.832505226135254 }, { "epoch": 4.252433776855469e-07, "model_forward_time": 3.87331485748291, "step": 4459 }, { "epoch": 4.252433776855469e-07, "step": 4459, "training_step_time": 17.597938537597656 }, { "epoch": 4.253387451171875e-07, "grad_norm": 1.6414368152618408, "learning_rate": 9.994869503540121e-06, "loss": 0.1266, "step": 4460 }, { "epoch": 4.253387451171875e-07, "model_forward_time": 5.069154977798462, "step": 4460 }, { "dynamics_loss_avg": 0.03712856126949191, "epoch": 4.253387451171875e-07, "step": 4460 }, { "action_loss_avg": 0.058196634985506535, "epoch": 4.253387451171875e-07, "step": 4460 }, { "arm_loss_avg": 0.1145816195756197, "epoch": 4.253387451171875e-07, "step": 4460 }, { "ee_loss_avg": 0.07286524064838887, "epoch": 4.253387451171875e-07, "step": 4460 }, { "aux_loss_avg": 0.000960145058343187, "epoch": 4.253387451171875e-07, "step": 4460 }, { "epoch": 4.253387451171875e-07, "step": 4460, "training_step_time": 17.622175216674805 }, { "epoch": 4.254341125488281e-07, "model_forward_time": 5.071462869644165, "step": 4461 }, { "epoch": 4.254341125488281e-07, "step": 4461, "training_step_time": 17.616323709487915 }, { "epoch": 4.2552947998046874e-07, "model_forward_time": 5.078871250152588, "step": 4462 }, { "epoch": 4.2552947998046874e-07, "step": 4462, "training_step_time": 17.36277174949646 }, { "epoch": 4.2562484741210935e-07, "model_forward_time": 5.085563659667969, "step": 4463 }, { "epoch": 4.2562484741210935e-07, "step": 4463, "training_step_time": 17.76947045326233 }, { "epoch": 4.2572021484375e-07, "model_forward_time": 5.322748422622681, "step": 4464 }, { "epoch": 4.2572021484375e-07, "step": 4464, "training_step_time": 17.431086778640747 }, { "epoch": 4.2581558227539063e-07, "model_forward_time": 5.092829465866089, "step": 4465 }, { "epoch": 4.2581558227539063e-07, "step": 4465, "training_step_time": 17.494313955307007 }, { "epoch": 4.2591094970703125e-07, "model_forward_time": 5.092511892318726, "step": 4466 }, { "epoch": 4.2591094970703125e-07, "step": 4466, "training_step_time": 17.55643081665039 }, { "epoch": 4.2600631713867186e-07, "model_forward_time": 5.091855764389038, "step": 4467 }, { "epoch": 4.2600631713867186e-07, "step": 4467, "training_step_time": 17.591856002807617 }, { "epoch": 4.261016845703125e-07, "model_forward_time": 5.282225608825684, "step": 4468 }, { "epoch": 4.261016845703125e-07, "step": 4468, "training_step_time": 17.828567266464233 }, { "epoch": 4.2619705200195314e-07, "model_forward_time": 5.089131116867065, "step": 4469 }, { "epoch": 4.2619705200195314e-07, "step": 4469, "training_step_time": 17.63775062561035 }, { "epoch": 4.2629241943359376e-07, "grad_norm": 2.0197629928588867, "learning_rate": 9.994761967669175e-06, "loss": 0.1305, "step": 4470 }, { "epoch": 4.2629241943359376e-07, "model_forward_time": 5.0862250328063965, "step": 4470 }, { "dynamics_loss_avg": 0.053032146953046325, "epoch": 4.2629241943359376e-07, "step": 4470 }, { "action_loss_avg": 0.06771534532308579, "epoch": 4.2629241943359376e-07, "step": 4470 }, { "arm_loss_avg": 0.09176944047212601, "epoch": 4.2629241943359376e-07, "step": 4470 }, { "ee_loss_avg": 0.10346568692475558, "epoch": 4.2629241943359376e-07, "step": 4470 }, { "aux_loss_avg": 0.001597040769411251, "epoch": 4.2629241943359376e-07, "step": 4470 }, { "epoch": 4.2629241943359376e-07, "step": 4470, "training_step_time": 17.642030477523804 }, { "epoch": 4.2638778686523437e-07, "model_forward_time": 5.086533784866333, "step": 4471 }, { "epoch": 4.2638778686523437e-07, "step": 4471, "training_step_time": 17.64247155189514 }, { "epoch": 4.26483154296875e-07, "model_forward_time": 5.086111783981323, "step": 4472 }, { "epoch": 4.26483154296875e-07, "step": 4472, "training_step_time": 17.86006188392639 }, { "epoch": 4.265785217285156e-07, "model_forward_time": 5.326540470123291, "step": 4473 }, { "epoch": 4.265785217285156e-07, "step": 4473, "training_step_time": 17.624126195907593 }, { "epoch": 4.2667388916015627e-07, "model_forward_time": 3.846769332885742, "step": 4474 }, { "epoch": 4.2667388916015627e-07, "step": 4474, "training_step_time": 17.614494562149048 }, { "epoch": 4.267692565917969e-07, "model_forward_time": 5.059139728546143, "step": 4475 }, { "epoch": 4.267692565917969e-07, "step": 4475, "training_step_time": 17.614903450012207 }, { "epoch": 4.268646240234375e-07, "model_forward_time": 5.069052696228027, "step": 4476 }, { "epoch": 4.268646240234375e-07, "step": 4476, "training_step_time": 17.62064242362976 }, { "epoch": 4.269599914550781e-07, "model_forward_time": 5.086718320846558, "step": 4477 }, { "epoch": 4.269599914550781e-07, "step": 4477, "training_step_time": 17.423859119415283 }, { "epoch": 4.2705535888671873e-07, "model_forward_time": 5.097066879272461, "step": 4478 }, { "epoch": 4.2705535888671873e-07, "step": 4478, "training_step_time": 17.78006100654602 }, { "epoch": 4.271507263183594e-07, "model_forward_time": 5.318002223968506, "step": 4479 }, { "epoch": 4.271507263183594e-07, "step": 4479, "training_step_time": 17.566598415374756 }, { "epoch": 4.2724609375e-07, "grad_norm": 1.955634355545044, "learning_rate": 9.99465331706424e-06, "loss": 0.125, "step": 4480 }, { "epoch": 4.2724609375e-07, "model_forward_time": 5.109553098678589, "step": 4480 }, { "dynamics_loss_avg": 0.05331614310853183, "epoch": 4.2724609375e-07, "step": 4480 }, { "action_loss_avg": 0.06187889836728573, "epoch": 4.2724609375e-07, "step": 4480 }, { "arm_loss_avg": 0.10572652518749237, "epoch": 4.2724609375e-07, "step": 4480 }, { "ee_loss_avg": 0.11279098466038703, "epoch": 4.2724609375e-07, "step": 4480 }, { "aux_loss_avg": 0.0013635474431794136, "epoch": 4.2724609375e-07, "step": 4480 }, { "epoch": 4.2724609375e-07, "step": 4480, "training_step_time": 17.58419704437256 }, { "epoch": 4.273414611816406e-07, "model_forward_time": 5.097437381744385, "step": 4481 }, { "epoch": 4.273414611816406e-07, "step": 4481, "training_step_time": 17.36977195739746 }, { "epoch": 4.2743682861328124e-07, "model_forward_time": 5.0956456661224365, "step": 4482 }, { "epoch": 4.2743682861328124e-07, "step": 4482, "training_step_time": 17.517549753189087 }, { "epoch": 4.2753219604492185e-07, "model_forward_time": 5.093358039855957, "step": 4483 }, { "epoch": 4.2753219604492185e-07, "step": 4483, "training_step_time": 17.811990976333618 }, { "epoch": 4.276275634765625e-07, "model_forward_time": 5.089049339294434, "step": 4484 }, { "epoch": 4.276275634765625e-07, "step": 4484, "training_step_time": 17.60164451599121 }, { "epoch": 4.2772293090820313e-07, "model_forward_time": 5.0857555866241455, "step": 4485 }, { "epoch": 4.2772293090820313e-07, "step": 4485, "training_step_time": 17.6197566986084 }, { "epoch": 4.2781829833984375e-07, "model_forward_time": 5.082678556442261, "step": 4486 }, { "epoch": 4.2781829833984375e-07, "step": 4486, "training_step_time": 17.641897439956665 }, { "epoch": 4.2791366577148436e-07, "model_forward_time": 5.081977367401123, "step": 4487 }, { "epoch": 4.2791366577148436e-07, "step": 4487, "training_step_time": 17.36146569252014 }, { "epoch": 4.28009033203125e-07, "model_forward_time": 3.8522696495056152, "step": 4488 }, { "epoch": 4.28009033203125e-07, "step": 4488, "training_step_time": 17.46621608734131 }, { "epoch": 4.2810440063476565e-07, "model_forward_time": 5.064039468765259, "step": 4489 }, { "epoch": 4.2810440063476565e-07, "step": 4489, "training_step_time": 17.660158157348633 }, { "epoch": 4.2819976806640626e-07, "grad_norm": 1.77951979637146, "learning_rate": 9.994543551749566e-06, "loss": 0.142, "step": 4490 }, { "epoch": 4.2819976806640626e-07, "model_forward_time": 5.0676109790802, "step": 4490 }, { "dynamics_loss_avg": 0.050935788080096245, "epoch": 4.2819976806640626e-07, "step": 4490 }, { "action_loss_avg": 0.0673310998827219, "epoch": 4.2819976806640626e-07, "step": 4490 }, { "arm_loss_avg": 0.06627084258943797, "epoch": 4.2819976806640626e-07, "step": 4490 }, { "ee_loss_avg": 0.09953224435448646, "epoch": 4.2819976806640626e-07, "step": 4490 }, { "aux_loss_avg": 0.001336135162273422, "epoch": 4.2819976806640626e-07, "step": 4490 }, { "epoch": 4.2819976806640626e-07, "step": 4490, "training_step_time": 17.54196310043335 }, { "epoch": 4.282951354980469e-07, "model_forward_time": 5.07641077041626, "step": 4491 }, { "epoch": 4.282951354980469e-07, "step": 4491, "training_step_time": 17.588279962539673 }, { "epoch": 4.283905029296875e-07, "model_forward_time": 5.085341453552246, "step": 4492 }, { "epoch": 4.283905029296875e-07, "step": 4492, "training_step_time": 17.616575717926025 }, { "epoch": 4.284858703613281e-07, "model_forward_time": 5.33965802192688, "step": 4493 }, { "epoch": 4.284858703613281e-07, "step": 4493, "training_step_time": 17.875154733657837 }, { "epoch": 4.2858123779296877e-07, "model_forward_time": 5.098268747329712, "step": 4494 }, { "epoch": 4.2858123779296877e-07, "step": 4494, "training_step_time": 17.641854286193848 }, { "epoch": 4.286766052246094e-07, "model_forward_time": 5.097460031509399, "step": 4495 }, { "epoch": 4.286766052246094e-07, "step": 4495, "training_step_time": 17.643414974212646 }, { "epoch": 4.2877197265625e-07, "model_forward_time": 5.098962783813477, "step": 4496 }, { "epoch": 4.2877197265625e-07, "step": 4496, "training_step_time": 17.642044067382812 }, { "epoch": 4.288673400878906e-07, "model_forward_time": 5.098541975021362, "step": 4497 }, { "epoch": 4.288673400878906e-07, "step": 4497, "training_step_time": 17.62980818748474 }, { "epoch": 4.2896270751953123e-07, "model_forward_time": 5.09820294380188, "step": 4498 }, { "epoch": 4.2896270751953123e-07, "step": 4498, "training_step_time": 17.85520911216736 }, { "epoch": 4.290580749511719e-07, "model_forward_time": 5.095293998718262, "step": 4499 }, { "epoch": 4.290580749511719e-07, "step": 4499, "training_step_time": 17.607120037078857 }, { "epoch": 4.291534423828125e-07, "grad_norm": 1.7453147172927856, "learning_rate": 9.99443267174965e-06, "loss": 0.1248, "step": 4500 }, { "epoch": 4.291534423828125e-07, "model_forward_time": 5.090922117233276, "step": 4500 }, { "dynamics_loss_avg": 0.05451477877795696, "epoch": 4.291534423828125e-07, "step": 4500 }, { "action_loss_avg": 0.06436987258493901, "epoch": 4.291534423828125e-07, "step": 4500 }, { "arm_loss_avg": 0.0975574791431427, "epoch": 4.291534423828125e-07, "step": 4500 }, { "ee_loss_avg": 0.10694070607423782, "epoch": 4.291534423828125e-07, "step": 4500 }, { "aux_loss_avg": 0.0012625710805878043, "epoch": 4.291534423828125e-07, "step": 4500 }, { "epoch": 4.291534423828125e-07, "step": 4500, "training_step_time": 17.594549655914307 }, { "epoch": 4.292488098144531e-07, "model_forward_time": 5.0892908573150635, "step": 4501 }, { "epoch": 4.292488098144531e-07, "step": 4501, "training_step_time": 17.59132170677185 }, { "epoch": 4.2934417724609374e-07, "model_forward_time": 5.085869550704956, "step": 4502 }, { "epoch": 4.2934417724609374e-07, "step": 4502, "training_step_time": 17.808884859085083 }, { "epoch": 4.2943954467773435e-07, "model_forward_time": 5.088095426559448, "step": 4503 }, { "epoch": 4.2943954467773435e-07, "step": 4503, "training_step_time": 17.59874939918518 }, { "epoch": 4.29534912109375e-07, "model_forward_time": 3.849332809448242, "step": 4504 }, { "epoch": 4.29534912109375e-07, "step": 4504, "training_step_time": 17.497945547103882 }, { "epoch": 4.2963027954101564e-07, "model_forward_time": 5.065809726715088, "step": 4505 }, { "epoch": 4.2963027954101564e-07, "step": 4505, "training_step_time": 17.540602445602417 }, { "epoch": 4.2972564697265625e-07, "model_forward_time": 5.071027040481567, "step": 4506 }, { "epoch": 4.2972564697265625e-07, "step": 4506, "training_step_time": 17.5577130317688 }, { "epoch": 4.2982101440429687e-07, "model_forward_time": 5.081512928009033, "step": 4507 }, { "epoch": 4.2982101440429687e-07, "step": 4507, "training_step_time": 17.58209729194641 }, { "epoch": 4.299163818359375e-07, "model_forward_time": 3.8544318675994873, "step": 4508 }, { "epoch": 4.299163818359375e-07, "step": 4508, "training_step_time": 17.781500101089478 }, { "epoch": 4.3001174926757815e-07, "model_forward_time": 5.258522987365723, "step": 4509 }, { "epoch": 4.3001174926757815e-07, "step": 4509, "training_step_time": 17.611599922180176 }, { "epoch": 4.3010711669921876e-07, "grad_norm": 2.7222702503204346, "learning_rate": 9.994320677089237e-06, "loss": 0.1395, "step": 4510 }, { "epoch": 4.3010711669921876e-07, "model_forward_time": 5.082073450088501, "step": 4510 }, { "dynamics_loss_avg": 0.05859530344605446, "epoch": 4.3010711669921876e-07, "step": 4510 }, { "action_loss_avg": 0.07259501665830612, "epoch": 4.3010711669921876e-07, "step": 4510 }, { "arm_loss_avg": 0.10117466412484646, "epoch": 4.3010711669921876e-07, "step": 4510 }, { "ee_loss_avg": 0.13701194897294044, "epoch": 4.3010711669921876e-07, "step": 4510 }, { "aux_loss_avg": 0.0018715749552939086, "epoch": 4.3010711669921876e-07, "step": 4510 }, { "epoch": 4.3010711669921876e-07, "step": 4510, "training_step_time": 17.60780429840088 }, { "epoch": 4.302024841308594e-07, "model_forward_time": 5.091180324554443, "step": 4511 }, { "epoch": 4.302024841308594e-07, "step": 4511, "training_step_time": 17.611777782440186 }, { "epoch": 4.302978515625e-07, "model_forward_time": 5.100609540939331, "step": 4512 }, { "epoch": 4.302978515625e-07, "step": 4512, "training_step_time": 17.837170839309692 }, { "epoch": 4.303932189941406e-07, "model_forward_time": 5.098017454147339, "step": 4513 }, { "epoch": 4.303932189941406e-07, "step": 4513, "training_step_time": 17.65509533882141 }, { "epoch": 4.3048858642578127e-07, "model_forward_time": 5.101665496826172, "step": 4514 }, { "epoch": 4.3048858642578127e-07, "step": 4514, "training_step_time": 17.625234842300415 }, { "epoch": 4.305839538574219e-07, "model_forward_time": 5.096708536148071, "step": 4515 }, { "epoch": 4.305839538574219e-07, "step": 4515, "training_step_time": 17.326931476593018 }, { "epoch": 4.306793212890625e-07, "model_forward_time": 5.0995213985443115, "step": 4516 }, { "epoch": 4.306793212890625e-07, "step": 4516, "training_step_time": 17.528401374816895 }, { "epoch": 4.307746887207031e-07, "model_forward_time": 5.095798969268799, "step": 4517 }, { "epoch": 4.307746887207031e-07, "step": 4517, "training_step_time": 17.776317358016968 }, { "epoch": 4.3087005615234373e-07, "model_forward_time": 5.086714267730713, "step": 4518 }, { "epoch": 4.3087005615234373e-07, "step": 4518, "training_step_time": 17.576598405838013 }, { "epoch": 4.309654235839844e-07, "model_forward_time": 5.086009740829468, "step": 4519 }, { "epoch": 4.309654235839844e-07, "step": 4519, "training_step_time": 17.595732927322388 }, { "epoch": 4.31060791015625e-07, "grad_norm": 2.094226121902466, "learning_rate": 9.994207567793326e-06, "loss": 0.1545, "step": 4520 }, { "epoch": 4.31060791015625e-07, "model_forward_time": 5.084895372390747, "step": 4520 }, { "dynamics_loss_avg": 0.06512180157005787, "epoch": 4.31060791015625e-07, "step": 4520 }, { "action_loss_avg": 0.07300149314105511, "epoch": 4.31060791015625e-07, "step": 4520 }, { "arm_loss_avg": 0.08286222368478775, "epoch": 4.31060791015625e-07, "step": 4520 }, { "ee_loss_avg": 0.09355348255485296, "epoch": 4.31060791015625e-07, "step": 4520 }, { "aux_loss_avg": 0.0012898579589091241, "epoch": 4.31060791015625e-07, "step": 4520 }, { "epoch": 4.31060791015625e-07, "step": 4520, "training_step_time": 17.600365161895752 }, { "epoch": 4.3115615844726563e-07, "model_forward_time": 5.081808090209961, "step": 4521 }, { "epoch": 4.3115615844726563e-07, "step": 4521, "training_step_time": 17.608535051345825 }, { "epoch": 4.3125152587890624e-07, "model_forward_time": 5.085651874542236, "step": 4522 }, { "epoch": 4.3125152587890624e-07, "step": 4522, "training_step_time": 17.412636041641235 }, { "epoch": 4.3134689331054686e-07, "model_forward_time": 5.083340644836426, "step": 4523 }, { "epoch": 4.3134689331054686e-07, "step": 4523, "training_step_time": 17.523052215576172 }, { "epoch": 4.314422607421875e-07, "model_forward_time": 5.087522268295288, "step": 4524 }, { "epoch": 4.314422607421875e-07, "step": 4524, "training_step_time": 17.61380887031555 }, { "epoch": 4.3153762817382814e-07, "model_forward_time": 5.083312273025513, "step": 4525 }, { "epoch": 4.3153762817382814e-07, "step": 4525, "training_step_time": 17.57636594772339 }, { "epoch": 4.3163299560546875e-07, "model_forward_time": 5.086530685424805, "step": 4526 }, { "epoch": 4.3163299560546875e-07, "step": 4526, "training_step_time": 17.60412073135376 }, { "epoch": 4.3172836303710937e-07, "model_forward_time": 5.086161136627197, "step": 4527 }, { "epoch": 4.3172836303710937e-07, "step": 4527, "training_step_time": 17.808416604995728 }, { "epoch": 4.3182373046875e-07, "model_forward_time": 5.275052785873413, "step": 4528 }, { "epoch": 4.3182373046875e-07, "step": 4528, "training_step_time": 17.63190507888794 }, { "epoch": 4.3191909790039065e-07, "model_forward_time": 5.085230827331543, "step": 4529 }, { "epoch": 4.3191909790039065e-07, "step": 4529, "training_step_time": 17.394553661346436 }, { "epoch": 4.3201446533203126e-07, "grad_norm": 1.8879896402359009, "learning_rate": 9.994093343887158e-06, "loss": 0.1217, "step": 4530 }, { "epoch": 4.3201446533203126e-07, "model_forward_time": 5.089726209640503, "step": 4530 }, { "dynamics_loss_avg": 0.040059350756928326, "epoch": 4.3201446533203126e-07, "step": 4530 }, { "action_loss_avg": 0.055184269323945045, "epoch": 4.3201446533203126e-07, "step": 4530 }, { "arm_loss_avg": 0.08090082332491874, "epoch": 4.3201446533203126e-07, "step": 4530 }, { "ee_loss_avg": 0.11659846864640713, "epoch": 4.3201446533203126e-07, "step": 4530 }, { "aux_loss_avg": 0.0006439971330109984, "epoch": 4.3201446533203126e-07, "step": 4530 }, { "epoch": 4.3201446533203126e-07, "step": 4530, "training_step_time": 17.531904220581055 }, { "epoch": 4.321098327636719e-07, "model_forward_time": 5.089279413223267, "step": 4531 }, { "epoch": 4.321098327636719e-07, "step": 4531, "training_step_time": 17.572540760040283 }, { "epoch": 4.322052001953125e-07, "model_forward_time": 3.853523015975952, "step": 4532 }, { "epoch": 4.322052001953125e-07, "step": 4532, "training_step_time": 17.59314513206482 }, { "epoch": 4.323005676269531e-07, "model_forward_time": 5.301730394363403, "step": 4533 }, { "epoch": 4.323005676269531e-07, "step": 4533, "training_step_time": 17.84208345413208 }, { "epoch": 4.323959350585938e-07, "model_forward_time": 5.070417881011963, "step": 4534 }, { "epoch": 4.323959350585938e-07, "step": 4534, "training_step_time": 17.597492694854736 }, { "epoch": 4.324913024902344e-07, "model_forward_time": 5.075317621231079, "step": 4535 }, { "epoch": 4.324913024902344e-07, "step": 4535, "training_step_time": 17.60850763320923 }, { "epoch": 4.32586669921875e-07, "model_forward_time": 5.0833213329315186, "step": 4536 }, { "epoch": 4.32586669921875e-07, "step": 4536, "training_step_time": 17.607351064682007 }, { "epoch": 4.326820373535156e-07, "model_forward_time": 5.098063230514526, "step": 4537 }, { "epoch": 4.326820373535156e-07, "step": 4537, "training_step_time": 17.44610571861267 }, { "epoch": 4.3277740478515623e-07, "model_forward_time": 5.104955673217773, "step": 4538 }, { "epoch": 4.3277740478515623e-07, "step": 4538, "training_step_time": 17.549642324447632 }, { "epoch": 4.328727722167969e-07, "model_forward_time": 3.876133680343628, "step": 4539 }, { "epoch": 4.328727722167969e-07, "step": 4539, "training_step_time": 17.582348346710205 }, { "epoch": 4.329681396484375e-07, "grad_norm": 1.7627108097076416, "learning_rate": 9.993978005396223e-06, "loss": 0.1303, "step": 4540 }, { "epoch": 4.329681396484375e-07, "model_forward_time": 3.8508453369140625, "step": 4540 }, { "dynamics_loss_avg": 0.06775166597217322, "epoch": 4.329681396484375e-07, "step": 4540 }, { "action_loss_avg": 0.0776819609105587, "epoch": 4.329681396484375e-07, "step": 4540 }, { "arm_loss_avg": 0.11160268113017083, "epoch": 4.329681396484375e-07, "step": 4540 }, { "ee_loss_avg": 0.10847321301698684, "epoch": 4.329681396484375e-07, "step": 4540 }, { "aux_loss_avg": 0.0008060245774686337, "epoch": 4.329681396484375e-07, "step": 4540 }, { "epoch": 4.329681396484375e-07, "step": 4540, "training_step_time": 17.605363130569458 }, { "epoch": 4.3306350708007813e-07, "model_forward_time": 5.057039976119995, "step": 4541 }, { "epoch": 4.3306350708007813e-07, "step": 4541, "training_step_time": 17.600321292877197 }, { "epoch": 4.3315887451171874e-07, "model_forward_time": 5.06664252281189, "step": 4542 }, { "epoch": 4.3315887451171874e-07, "step": 4542, "training_step_time": 17.842170000076294 }, { "epoch": 4.3325424194335936e-07, "model_forward_time": 5.075141191482544, "step": 4543 }, { "epoch": 4.3325424194335936e-07, "step": 4543, "training_step_time": 17.610467195510864 }, { "epoch": 4.33349609375e-07, "model_forward_time": 5.316384553909302, "step": 4544 }, { "epoch": 4.33349609375e-07, "step": 4544, "training_step_time": 17.609063863754272 }, { "epoch": 4.3344497680664064e-07, "model_forward_time": 5.0974955558776855, "step": 4545 }, { "epoch": 4.3344497680664064e-07, "step": 4545, "training_step_time": 17.603448629379272 }, { "epoch": 4.3354034423828125e-07, "model_forward_time": 5.100409507751465, "step": 4546 }, { "epoch": 4.3354034423828125e-07, "step": 4546, "training_step_time": 17.614849090576172 }, { "epoch": 4.3363571166992187e-07, "model_forward_time": 5.0965895652771, "step": 4547 }, { "epoch": 4.3363571166992187e-07, "step": 4547, "training_step_time": 17.412779808044434 }, { "epoch": 4.337310791015625e-07, "model_forward_time": 5.098472833633423, "step": 4548 }, { "epoch": 4.337310791015625e-07, "step": 4548, "training_step_time": 17.72476601600647 }, { "epoch": 4.3382644653320315e-07, "model_forward_time": 4.065365791320801, "step": 4549 }, { "epoch": 4.3382644653320315e-07, "step": 4549, "training_step_time": 17.560495615005493 }, { "epoch": 4.3392181396484376e-07, "grad_norm": 1.8906790018081665, "learning_rate": 9.993861552346268e-06, "loss": 0.1577, "step": 4550 }, { "epoch": 4.3392181396484376e-07, "model_forward_time": 3.8283426761627197, "step": 4550 }, { "dynamics_loss_avg": 0.06970010288059711, "epoch": 4.3392181396484376e-07, "step": 4550 }, { "action_loss_avg": 0.13093700483441353, "epoch": 4.3392181396484376e-07, "step": 4550 }, { "arm_loss_avg": 0.1662924075499177, "epoch": 4.3392181396484376e-07, "step": 4550 }, { "ee_loss_avg": 0.23790129721164704, "epoch": 4.3392181396484376e-07, "step": 4550 }, { "aux_loss_avg": 0.006589100771816447, "epoch": 4.3392181396484376e-07, "step": 4550 }, { "epoch": 4.3392181396484376e-07, "step": 4550, "training_step_time": 17.4096200466156 }, { "epoch": 4.340171813964844e-07, "model_forward_time": 5.046257019042969, "step": 4551 }, { "epoch": 4.340171813964844e-07, "step": 4551, "training_step_time": 17.413981437683105 }, { "epoch": 4.34112548828125e-07, "model_forward_time": 5.060640335083008, "step": 4552 }, { "epoch": 4.34112548828125e-07, "step": 4552, "training_step_time": 17.483492374420166 }, { "epoch": 4.342079162597656e-07, "model_forward_time": 5.071223258972168, "step": 4553 }, { "epoch": 4.342079162597656e-07, "step": 4553, "training_step_time": 17.780819416046143 }, { "epoch": 4.343032836914063e-07, "model_forward_time": 5.309133052825928, "step": 4554 }, { "epoch": 4.343032836914063e-07, "step": 4554, "training_step_time": 17.589872360229492 }, { "epoch": 4.343986511230469e-07, "model_forward_time": 5.0960166454315186, "step": 4555 }, { "epoch": 4.343986511230469e-07, "step": 4555, "training_step_time": 17.6280620098114 }, { "epoch": 4.344940185546875e-07, "model_forward_time": 5.09629225730896, "step": 4556 }, { "epoch": 4.344940185546875e-07, "step": 4556, "training_step_time": 17.648313522338867 }, { "epoch": 4.345893859863281e-07, "model_forward_time": 5.112032651901245, "step": 4557 }, { "epoch": 4.345893859863281e-07, "step": 4557, "training_step_time": 17.67760419845581 }, { "epoch": 4.3468475341796873e-07, "model_forward_time": 5.111926555633545, "step": 4558 }, { "epoch": 4.3468475341796873e-07, "step": 4558, "training_step_time": 17.864093780517578 }, { "epoch": 4.347801208496094e-07, "model_forward_time": 5.307436227798462, "step": 4559 }, { "epoch": 4.347801208496094e-07, "step": 4559, "training_step_time": 17.667737245559692 }, { "epoch": 4.3487548828125e-07, "grad_norm": 2.204803466796875, "learning_rate": 9.99374398476328e-06, "loss": 0.1334, "step": 4560 }, { "epoch": 4.3487548828125e-07, "model_forward_time": 5.108348369598389, "step": 4560 }, { "dynamics_loss_avg": 0.05470201121643185, "epoch": 4.3487548828125e-07, "step": 4560 }, { "action_loss_avg": 0.09194427505135536, "epoch": 4.3487548828125e-07, "step": 4560 }, { "arm_loss_avg": 0.1715206317603588, "epoch": 4.3487548828125e-07, "step": 4560 }, { "ee_loss_avg": 0.24379598200321198, "epoch": 4.3487548828125e-07, "step": 4560 }, { "aux_loss_avg": 0.003365941735683009, "epoch": 4.3487548828125e-07, "step": 4560 }, { "epoch": 4.3487548828125e-07, "step": 4560, "training_step_time": 17.638619422912598 }, { "epoch": 4.3497085571289063e-07, "model_forward_time": 5.090451717376709, "step": 4561 }, { "epoch": 4.3497085571289063e-07, "step": 4561, "training_step_time": 17.614880561828613 }, { "epoch": 4.3506622314453124e-07, "model_forward_time": 5.088238716125488, "step": 4562 }, { "epoch": 4.3506622314453124e-07, "step": 4562, "training_step_time": 17.613328218460083 }, { "epoch": 4.3516159057617186e-07, "model_forward_time": 5.083886384963989, "step": 4563 }, { "epoch": 4.3516159057617186e-07, "step": 4563, "training_step_time": 17.61376142501831 }, { "epoch": 4.352569580078125e-07, "model_forward_time": 5.318126678466797, "step": 4564 }, { "epoch": 4.352569580078125e-07, "step": 4564, "training_step_time": 17.50454592704773 }, { "epoch": 4.3535232543945314e-07, "model_forward_time": 3.851198673248291, "step": 4565 }, { "epoch": 4.3535232543945314e-07, "step": 4565, "training_step_time": 17.547986030578613 }, { "epoch": 4.3544769287109376e-07, "model_forward_time": 3.830662965774536, "step": 4566 }, { "epoch": 4.3544769287109376e-07, "step": 4566, "training_step_time": 17.570188760757446 }, { "epoch": 4.3554306030273437e-07, "model_forward_time": 3.8181161880493164, "step": 4567 }, { "epoch": 4.3554306030273437e-07, "step": 4567, "training_step_time": 17.592607259750366 }, { "epoch": 4.35638427734375e-07, "model_forward_time": 5.045759439468384, "step": 4568 }, { "epoch": 4.35638427734375e-07, "step": 4568, "training_step_time": 17.77615976333618 }, { "epoch": 4.357337951660156e-07, "model_forward_time": 5.246011018753052, "step": 4569 }, { "epoch": 4.357337951660156e-07, "step": 4569, "training_step_time": 17.625699281692505 }, { "epoch": 4.3582916259765627e-07, "grad_norm": 2.362928628921509, "learning_rate": 9.993625302673497e-06, "loss": 0.1517, "step": 4570 }, { "epoch": 4.3582916259765627e-07, "model_forward_time": 5.086021661758423, "step": 4570 }, { "dynamics_loss_avg": 0.05274311844259501, "epoch": 4.3582916259765627e-07, "step": 4570 }, { "action_loss_avg": 0.10250289887189865, "epoch": 4.3582916259765627e-07, "step": 4570 }, { "arm_loss_avg": 0.1643642783164978, "epoch": 4.3582916259765627e-07, "step": 4570 }, { "ee_loss_avg": 0.14363544788211585, "epoch": 4.3582916259765627e-07, "step": 4570 }, { "aux_loss_avg": 0.00397009990119841, "epoch": 4.3582916259765627e-07, "step": 4570 }, { "epoch": 4.3582916259765627e-07, "step": 4570, "training_step_time": 17.596360683441162 }, { "epoch": 4.359245300292969e-07, "model_forward_time": 5.108008861541748, "step": 4571 }, { "epoch": 4.359245300292969e-07, "step": 4571, "training_step_time": 17.592095375061035 }, { "epoch": 4.360198974609375e-07, "model_forward_time": 5.109418153762817, "step": 4572 }, { "epoch": 4.360198974609375e-07, "step": 4572, "training_step_time": 17.607257604599 }, { "epoch": 4.361152648925781e-07, "model_forward_time": 5.1053078174591064, "step": 4573 }, { "epoch": 4.361152648925781e-07, "step": 4573, "training_step_time": 17.846673488616943 }, { "epoch": 4.362106323242187e-07, "model_forward_time": 5.328334093093872, "step": 4574 }, { "epoch": 4.362106323242187e-07, "step": 4574, "training_step_time": 17.61946678161621 }, { "epoch": 4.363059997558594e-07, "model_forward_time": 5.088735342025757, "step": 4575 }, { "epoch": 4.363059997558594e-07, "step": 4575, "training_step_time": 17.62125277519226 }, { "epoch": 4.364013671875e-07, "model_forward_time": 5.0863237380981445, "step": 4576 }, { "epoch": 4.364013671875e-07, "step": 4576, "training_step_time": 17.405644178390503 }, { "epoch": 4.364967346191406e-07, "model_forward_time": 5.087086915969849, "step": 4577 }, { "epoch": 4.364967346191406e-07, "step": 4577, "training_step_time": 17.524800539016724 }, { "epoch": 4.3659210205078124e-07, "model_forward_time": 5.084015846252441, "step": 4578 }, { "epoch": 4.3659210205078124e-07, "step": 4578, "training_step_time": 17.764541149139404 }, { "epoch": 4.3668746948242185e-07, "model_forward_time": 5.271745204925537, "step": 4579 }, { "epoch": 4.3668746948242185e-07, "step": 4579, "training_step_time": 17.477854013442993 }, { "epoch": 4.367828369140625e-07, "grad_norm": 2.5585620403289795, "learning_rate": 9.99350550610341e-06, "loss": 0.1543, "step": 4580 }, { "epoch": 4.367828369140625e-07, "model_forward_time": 5.086069583892822, "step": 4580 }, { "dynamics_loss_avg": 0.04472153373062611, "epoch": 4.367828369140625e-07, "step": 4580 }, { "action_loss_avg": 0.11623279564082623, "epoch": 4.367828369140625e-07, "step": 4580 }, { "arm_loss_avg": 0.1315748743712902, "epoch": 4.367828369140625e-07, "step": 4580 }, { "ee_loss_avg": 0.1955859621986747, "epoch": 4.367828369140625e-07, "step": 4580 }, { "aux_loss_avg": 0.0018101346446201204, "epoch": 4.367828369140625e-07, "step": 4580 }, { "epoch": 4.367828369140625e-07, "step": 4580, "training_step_time": 17.521663904190063 }, { "epoch": 4.3687820434570313e-07, "model_forward_time": 5.084244966506958, "step": 4581 }, { "epoch": 4.3687820434570313e-07, "step": 4581, "training_step_time": 17.565922737121582 }, { "epoch": 4.3697357177734375e-07, "model_forward_time": 5.088711977005005, "step": 4582 }, { "epoch": 4.3697357177734375e-07, "step": 4582, "training_step_time": 17.59005379676819 }, { "epoch": 4.3706893920898436e-07, "model_forward_time": 5.085484981536865, "step": 4583 }, { "epoch": 4.3706893920898436e-07, "step": 4583, "training_step_time": 17.84344506263733 }, { "epoch": 4.37164306640625e-07, "model_forward_time": 5.318766832351685, "step": 4584 }, { "epoch": 4.37164306640625e-07, "step": 4584, "training_step_time": 17.620840072631836 }, { "epoch": 4.3725967407226564e-07, "model_forward_time": 3.8533194065093994, "step": 4585 }, { "epoch": 4.3725967407226564e-07, "step": 4585, "training_step_time": 17.615686178207397 }, { "epoch": 4.3735504150390626e-07, "model_forward_time": 5.065823316574097, "step": 4586 }, { "epoch": 4.3735504150390626e-07, "step": 4586, "training_step_time": 17.645111799240112 }, { "epoch": 4.3745040893554687e-07, "model_forward_time": 5.0724709033966064, "step": 4587 }, { "epoch": 4.3745040893554687e-07, "step": 4587, "training_step_time": 17.629128217697144 }, { "epoch": 4.375457763671875e-07, "model_forward_time": 5.082610368728638, "step": 4588 }, { "epoch": 4.375457763671875e-07, "step": 4588, "training_step_time": 17.812469959259033 }, { "epoch": 4.376411437988281e-07, "model_forward_time": 5.289190053939819, "step": 4589 }, { "epoch": 4.376411437988281e-07, "step": 4589, "training_step_time": 17.612165451049805 }, { "epoch": 4.3773651123046877e-07, "grad_norm": 2.7554681301116943, "learning_rate": 9.99338459507975e-06, "loss": 0.1382, "step": 4590 }, { "epoch": 4.3773651123046877e-07, "model_forward_time": 5.100138425827026, "step": 4590 }, { "dynamics_loss_avg": 0.05010140649974346, "epoch": 4.3773651123046877e-07, "step": 4590 }, { "action_loss_avg": 0.09252357939258218, "epoch": 4.3773651123046877e-07, "step": 4590 }, { "arm_loss_avg": 0.20838014110922815, "epoch": 4.3773651123046877e-07, "step": 4590 }, { "ee_loss_avg": 0.18265156336128713, "epoch": 4.3773651123046877e-07, "step": 4590 }, { "aux_loss_avg": 0.017626918957103044, "epoch": 4.3773651123046877e-07, "step": 4590 }, { "epoch": 4.3773651123046877e-07, "step": 4590, "training_step_time": 17.607977151870728 }, { "epoch": 4.378318786621094e-07, "model_forward_time": 5.10322904586792, "step": 4591 }, { "epoch": 4.378318786621094e-07, "step": 4591, "training_step_time": 17.598149299621582 }, { "epoch": 4.3792724609375e-07, "model_forward_time": 5.1013476848602295, "step": 4592 }, { "epoch": 4.3792724609375e-07, "step": 4592, "training_step_time": 17.823015451431274 }, { "epoch": 4.380226135253906e-07, "model_forward_time": 5.098681211471558, "step": 4593 }, { "epoch": 4.380226135253906e-07, "step": 4593, "training_step_time": 17.594887018203735 }, { "epoch": 4.381179809570312e-07, "model_forward_time": 5.336897611618042, "step": 4594 }, { "epoch": 4.381179809570312e-07, "step": 4594, "training_step_time": 17.605032444000244 }, { "epoch": 4.382133483886719e-07, "model_forward_time": 3.859577178955078, "step": 4595 }, { "epoch": 4.382133483886719e-07, "step": 4595, "training_step_time": 17.593530416488647 }, { "epoch": 4.383087158203125e-07, "model_forward_time": 5.103174686431885, "step": 4596 }, { "epoch": 4.383087158203125e-07, "step": 4596, "training_step_time": 17.630561590194702 }, { "epoch": 4.384040832519531e-07, "model_forward_time": 3.860234260559082, "step": 4597 }, { "epoch": 4.384040832519531e-07, "step": 4597, "training_step_time": 17.464385509490967 }, { "epoch": 4.3849945068359374e-07, "model_forward_time": 5.063733816146851, "step": 4598 }, { "epoch": 4.3849945068359374e-07, "step": 4598, "training_step_time": 17.784847259521484 }, { "epoch": 4.3859481811523435e-07, "model_forward_time": 5.087496280670166, "step": 4599 }, { "epoch": 4.3859481811523435e-07, "step": 4599, "training_step_time": 17.571608304977417 }, { "epoch": 4.38690185546875e-07, "grad_norm": 2.3689124584198, "learning_rate": 9.993262569629507e-06, "loss": 0.1281, "step": 4600 }, { "epoch": 4.38690185546875e-07, "model_forward_time": 5.317671775817871, "step": 4600 }, { "dynamics_loss_avg": 0.03951726211234927, "epoch": 4.38690185546875e-07, "step": 4600 }, { "action_loss_avg": 0.0959512922912836, "epoch": 4.38690185546875e-07, "step": 4600 }, { "arm_loss_avg": 0.17005601078271865, "epoch": 4.38690185546875e-07, "step": 4600 }, { "ee_loss_avg": 0.21826376691460608, "epoch": 4.38690185546875e-07, "step": 4600 }, { "aux_loss_avg": 0.0047006740351207554, "epoch": 4.38690185546875e-07, "step": 4600 }, { "epoch": 4.38690185546875e-07, "step": 4600, "training_step_time": 17.585596084594727 }, { "epoch": 4.3878555297851563e-07, "model_forward_time": 5.099782705307007, "step": 4601 }, { "epoch": 4.3878555297851563e-07, "step": 4601, "training_step_time": 17.598180532455444 }, { "epoch": 4.3888092041015625e-07, "model_forward_time": 3.867835760116577, "step": 4602 }, { "epoch": 4.3888092041015625e-07, "step": 4602, "training_step_time": 17.836678743362427 }, { "epoch": 4.3897628784179686e-07, "model_forward_time": 5.078807592391968, "step": 4603 }, { "epoch": 4.3897628784179686e-07, "step": 4603, "training_step_time": 17.614676237106323 }, { "epoch": 4.390716552734375e-07, "model_forward_time": 5.087702989578247, "step": 4604 }, { "epoch": 4.390716552734375e-07, "step": 4604, "training_step_time": 17.625269412994385 }, { "epoch": 4.3916702270507814e-07, "model_forward_time": 4.0472962856292725, "step": 4605 }, { "epoch": 4.3916702270507814e-07, "step": 4605, "training_step_time": 17.617281436920166 }, { "epoch": 4.3926239013671876e-07, "model_forward_time": 5.072296619415283, "step": 4606 }, { "epoch": 4.3926239013671876e-07, "step": 4606, "training_step_time": 17.631306886672974 }, { "epoch": 4.3935775756835937e-07, "model_forward_time": 5.085943698883057, "step": 4607 }, { "epoch": 4.3935775756835937e-07, "step": 4607, "training_step_time": 17.843048810958862 }, { "epoch": 4.39453125e-07, "model_forward_time": 5.091203689575195, "step": 4608 }, { "epoch": 4.39453125e-07, "step": 4608, "training_step_time": 17.6083824634552 }, { "epoch": 4.395484924316406e-07, "model_forward_time": 5.101717233657837, "step": 4609 }, { "epoch": 4.395484924316406e-07, "step": 4609, "training_step_time": 17.608470916748047 }, { "epoch": 4.3964385986328127e-07, "grad_norm": 2.074091911315918, "learning_rate": 9.993139429779912e-06, "loss": 0.1319, "step": 4610 }, { "epoch": 4.3964385986328127e-07, "model_forward_time": 4.090649366378784, "step": 4610 }, { "dynamics_loss_avg": 0.05221835561096668, "epoch": 4.3964385986328127e-07, "step": 4610 }, { "action_loss_avg": 0.1282122939825058, "epoch": 4.3964385986328127e-07, "step": 4610 }, { "arm_loss_avg": 0.2234945222735405, "epoch": 4.3964385986328127e-07, "step": 4610 }, { "ee_loss_avg": 0.17346924412995576, "epoch": 4.3964385986328127e-07, "step": 4610 }, { "aux_loss_avg": 0.004128716164268553, "epoch": 4.3964385986328127e-07, "step": 4610 }, { "epoch": 4.3964385986328127e-07, "step": 4610, "training_step_time": 17.59219980239868 }, { "epoch": 4.397392272949219e-07, "model_forward_time": 5.0757737159729, "step": 4611 }, { "epoch": 4.397392272949219e-07, "step": 4611, "training_step_time": 17.603984832763672 }, { "epoch": 4.398345947265625e-07, "model_forward_time": 5.08870005607605, "step": 4612 }, { "epoch": 4.398345947265625e-07, "step": 4612, "training_step_time": 17.8257577419281 }, { "epoch": 4.399299621582031e-07, "model_forward_time": 5.092074155807495, "step": 4613 }, { "epoch": 4.399299621582031e-07, "step": 4613, "training_step_time": 17.628273248672485 }, { "epoch": 4.4002532958984373e-07, "model_forward_time": 5.097073554992676, "step": 4614 }, { "epoch": 4.4002532958984373e-07, "step": 4614, "training_step_time": 17.60266613960266 }, { "epoch": 4.401206970214844e-07, "model_forward_time": 5.328179836273193, "step": 4615 }, { "epoch": 4.401206970214844e-07, "step": 4615, "training_step_time": 17.602825164794922 }, { "epoch": 4.40216064453125e-07, "model_forward_time": 5.117570877075195, "step": 4616 }, { "epoch": 4.40216064453125e-07, "step": 4616, "training_step_time": 17.647560119628906 }, { "epoch": 4.403114318847656e-07, "model_forward_time": 5.1160383224487305, "step": 4617 }, { "epoch": 4.403114318847656e-07, "step": 4617, "training_step_time": 17.885390520095825 }, { "epoch": 4.4040679931640624e-07, "model_forward_time": 5.107936143875122, "step": 4618 }, { "epoch": 4.4040679931640624e-07, "step": 4618, "training_step_time": 17.666598081588745 }, { "epoch": 4.4050216674804685e-07, "model_forward_time": 3.874537706375122, "step": 4619 }, { "epoch": 4.4050216674804685e-07, "step": 4619, "training_step_time": 17.651766777038574 }, { "epoch": 4.405975341796875e-07, "grad_norm": 2.062845230102539, "learning_rate": 9.993015175558448e-06, "loss": 0.1572, "step": 4620 }, { "epoch": 4.405975341796875e-07, "model_forward_time": 5.274458885192871, "step": 4620 }, { "dynamics_loss_avg": 0.0628476932644844, "epoch": 4.405975341796875e-07, "step": 4620 }, { "action_loss_avg": 0.13058699071407318, "epoch": 4.405975341796875e-07, "step": 4620 }, { "arm_loss_avg": 0.18912337720394135, "epoch": 4.405975341796875e-07, "step": 4620 }, { "ee_loss_avg": 0.1861509881913662, "epoch": 4.405975341796875e-07, "step": 4620 }, { "aux_loss_avg": 0.0015334630734287202, "epoch": 4.405975341796875e-07, "step": 4620 }, { "epoch": 4.405975341796875e-07, "step": 4620, "training_step_time": 17.632200479507446 }, { "epoch": 4.4069290161132814e-07, "model_forward_time": 5.076601505279541, "step": 4621 }, { "epoch": 4.4069290161132814e-07, "step": 4621, "training_step_time": 17.623374223709106 }, { "epoch": 4.4078826904296875e-07, "model_forward_time": 3.8485469818115234, "step": 4622 }, { "epoch": 4.4078826904296875e-07, "step": 4622, "training_step_time": 17.830264806747437 }, { "epoch": 4.4088363647460936e-07, "model_forward_time": 5.061828374862671, "step": 4623 }, { "epoch": 4.4088363647460936e-07, "step": 4623, "training_step_time": 17.605740308761597 }, { "epoch": 4.4097900390625e-07, "model_forward_time": 5.07538104057312, "step": 4624 }, { "epoch": 4.4097900390625e-07, "step": 4624, "training_step_time": 17.595184803009033 }, { "epoch": 4.4107437133789065e-07, "model_forward_time": 5.322603464126587, "step": 4625 }, { "epoch": 4.4107437133789065e-07, "step": 4625, "training_step_time": 17.592674255371094 }, { "epoch": 4.4116973876953126e-07, "model_forward_time": 5.102706432342529, "step": 4626 }, { "epoch": 4.4116973876953126e-07, "step": 4626, "training_step_time": 17.590415477752686 }, { "epoch": 4.412651062011719e-07, "model_forward_time": 5.107635974884033, "step": 4627 }, { "epoch": 4.412651062011719e-07, "step": 4627, "training_step_time": 17.787525177001953 }, { "epoch": 4.413604736328125e-07, "model_forward_time": 5.106668472290039, "step": 4628 }, { "epoch": 4.413604736328125e-07, "step": 4628, "training_step_time": 17.59928560256958 }, { "epoch": 4.414558410644531e-07, "model_forward_time": 5.10143256187439, "step": 4629 }, { "epoch": 4.414558410644531e-07, "step": 4629, "training_step_time": 17.603641033172607 }, { "epoch": 4.4155120849609377e-07, "grad_norm": 3.250973701477051, "learning_rate": 9.992889806992845e-06, "loss": 0.1549, "step": 4630 }, { "epoch": 4.4155120849609377e-07, "model_forward_time": 5.279458522796631, "step": 4630 }, { "dynamics_loss_avg": 0.05500705665908754, "epoch": 4.4155120849609377e-07, "step": 4630 }, { "action_loss_avg": 0.11064934358000755, "epoch": 4.4155120849609377e-07, "step": 4630 }, { "arm_loss_avg": 0.17445043176412584, "epoch": 4.4155120849609377e-07, "step": 4630 }, { "ee_loss_avg": 0.1955933727324009, "epoch": 4.4155120849609377e-07, "step": 4630 }, { "aux_loss_avg": 0.0060794075834564865, "epoch": 4.4155120849609377e-07, "step": 4630 }, { "epoch": 4.4155120849609377e-07, "step": 4630, "training_step_time": 17.605326652526855 }, { "epoch": 4.416465759277344e-07, "model_forward_time": 5.093061447143555, "step": 4631 }, { "epoch": 4.416465759277344e-07, "step": 4631, "training_step_time": 17.62205481529236 }, { "epoch": 4.41741943359375e-07, "model_forward_time": 5.089687347412109, "step": 4632 }, { "epoch": 4.41741943359375e-07, "step": 4632, "training_step_time": 17.850099563598633 }, { "epoch": 4.418373107910156e-07, "model_forward_time": 5.083069562911987, "step": 4633 }, { "epoch": 4.418373107910156e-07, "step": 4633, "training_step_time": 17.628989458084106 }, { "epoch": 4.4193267822265623e-07, "model_forward_time": 5.081712007522583, "step": 4634 }, { "epoch": 4.4193267822265623e-07, "step": 4634, "training_step_time": 17.601563692092896 }, { "epoch": 4.420280456542969e-07, "model_forward_time": 5.318212270736694, "step": 4635 }, { "epoch": 4.420280456542969e-07, "step": 4635, "training_step_time": 17.60985779762268 }, { "epoch": 4.421234130859375e-07, "model_forward_time": 5.082276344299316, "step": 4636 }, { "epoch": 4.421234130859375e-07, "step": 4636, "training_step_time": 17.605892181396484 }, { "epoch": 4.422187805175781e-07, "model_forward_time": 5.084496736526489, "step": 4637 }, { "epoch": 4.422187805175781e-07, "step": 4637, "training_step_time": 17.814003944396973 }, { "epoch": 4.4231414794921874e-07, "model_forward_time": 5.081539869308472, "step": 4638 }, { "epoch": 4.4231414794921874e-07, "step": 4638, "training_step_time": 17.61608600616455 }, { "epoch": 4.4240951538085936e-07, "model_forward_time": 5.088499069213867, "step": 4639 }, { "epoch": 4.4240951538085936e-07, "step": 4639, "training_step_time": 17.61420226097107 }, { "epoch": 4.425048828125e-07, "grad_norm": 1.953790545463562, "learning_rate": 9.992763324111085e-06, "loss": 0.1418, "step": 4640 }, { "epoch": 4.425048828125e-07, "model_forward_time": 5.274996280670166, "step": 4640 }, { "dynamics_loss_avg": 0.043039264250546695, "epoch": 4.425048828125e-07, "step": 4640 }, { "action_loss_avg": 0.11120333969593048, "epoch": 4.425048828125e-07, "step": 4640 }, { "arm_loss_avg": 0.186355385184288, "epoch": 4.425048828125e-07, "step": 4640 }, { "ee_loss_avg": 0.14073951467871665, "epoch": 4.425048828125e-07, "step": 4640 }, { "aux_loss_avg": 0.01209854674525559, "epoch": 4.425048828125e-07, "step": 4640 }, { "epoch": 4.425048828125e-07, "step": 4640, "training_step_time": 17.604886293411255 }, { "epoch": 4.4260025024414064e-07, "model_forward_time": 5.085957050323486, "step": 4641 }, { "epoch": 4.4260025024414064e-07, "step": 4641, "training_step_time": 17.610998392105103 }, { "epoch": 4.4269561767578125e-07, "model_forward_time": 5.0855326652526855, "step": 4642 }, { "epoch": 4.4269561767578125e-07, "step": 4642, "training_step_time": 17.82299518585205 }, { "epoch": 4.4279098510742187e-07, "model_forward_time": 5.086085796356201, "step": 4643 }, { "epoch": 4.4279098510742187e-07, "step": 4643, "training_step_time": 17.603798866271973 }, { "epoch": 4.428863525390625e-07, "model_forward_time": 5.088701963424683, "step": 4644 }, { "epoch": 4.428863525390625e-07, "step": 4644, "training_step_time": 17.615498781204224 }, { "epoch": 4.4298171997070315e-07, "model_forward_time": 4.095355749130249, "step": 4645 }, { "epoch": 4.4298171997070315e-07, "step": 4645, "training_step_time": 17.62039804458618 }, { "epoch": 4.4307708740234376e-07, "model_forward_time": 5.056312799453735, "step": 4646 }, { "epoch": 4.4307708740234376e-07, "step": 4646, "training_step_time": 17.615872621536255 }, { "epoch": 4.431724548339844e-07, "model_forward_time": 5.06587290763855, "step": 4647 }, { "epoch": 4.431724548339844e-07, "step": 4647, "training_step_time": 17.793244123458862 }, { "epoch": 4.43267822265625e-07, "model_forward_time": 5.074967622756958, "step": 4648 }, { "epoch": 4.43267822265625e-07, "step": 4648, "training_step_time": 17.61150860786438 }, { "epoch": 4.433631896972656e-07, "model_forward_time": 5.086052894592285, "step": 4649 }, { "epoch": 4.433631896972656e-07, "step": 4649, "training_step_time": 17.596269130706787 }, { "epoch": 4.4345855712890627e-07, "grad_norm": 3.1436243057250977, "learning_rate": 9.992635726941396e-06, "loss": 0.1567, "step": 4650 }, { "epoch": 4.4345855712890627e-07, "model_forward_time": 5.290344953536987, "step": 4650 }, { "dynamics_loss_avg": 0.04968020711094141, "epoch": 4.4345855712890627e-07, "step": 4650 }, { "action_loss_avg": 0.1174584336578846, "epoch": 4.4345855712890627e-07, "step": 4650 }, { "arm_loss_avg": 0.1742495082318783, "epoch": 4.4345855712890627e-07, "step": 4650 }, { "ee_loss_avg": 0.18576149120926858, "epoch": 4.4345855712890627e-07, "step": 4650 }, { "aux_loss_avg": 0.011053306754911318, "epoch": 4.4345855712890627e-07, "step": 4650 }, { "epoch": 4.4345855712890627e-07, "step": 4650, "training_step_time": 17.600688934326172 }, { "epoch": 4.435539245605469e-07, "model_forward_time": 5.095060586929321, "step": 4651 }, { "epoch": 4.435539245605469e-07, "step": 4651, "training_step_time": 17.605238676071167 }, { "epoch": 4.436492919921875e-07, "model_forward_time": 5.100128173828125, "step": 4652 }, { "epoch": 4.436492919921875e-07, "step": 4652, "training_step_time": 17.862184286117554 }, { "epoch": 4.437446594238281e-07, "model_forward_time": 5.09410548210144, "step": 4653 }, { "epoch": 4.437446594238281e-07, "step": 4653, "training_step_time": 17.598681211471558 }, { "epoch": 4.4384002685546873e-07, "model_forward_time": 5.092077255249023, "step": 4654 }, { "epoch": 4.4384002685546873e-07, "step": 4654, "training_step_time": 17.591891050338745 }, { "epoch": 4.439353942871094e-07, "model_forward_time": 5.332043647766113, "step": 4655 }, { "epoch": 4.439353942871094e-07, "step": 4655, "training_step_time": 17.60150718688965 }, { "epoch": 4.4403076171875e-07, "model_forward_time": 5.098474740982056, "step": 4656 }, { "epoch": 4.4403076171875e-07, "step": 4656, "training_step_time": 17.597284078598022 }, { "epoch": 4.4412612915039063e-07, "model_forward_time": 5.086341381072998, "step": 4657 }, { "epoch": 4.4412612915039063e-07, "step": 4657, "training_step_time": 17.797206163406372 }, { "epoch": 4.4422149658203124e-07, "model_forward_time": 3.8501272201538086, "step": 4658 }, { "epoch": 4.4422149658203124e-07, "step": 4658, "training_step_time": 17.346010446548462 }, { "epoch": 4.4431686401367186e-07, "model_forward_time": 5.055766582489014, "step": 4659 }, { "epoch": 4.4431686401367186e-07, "step": 4659, "training_step_time": 17.603833436965942 }, { "epoch": 4.444122314453125e-07, "grad_norm": 2.7492105960845947, "learning_rate": 9.992507015512254e-06, "loss": 0.1584, "step": 4660 }, { "epoch": 4.444122314453125e-07, "model_forward_time": 5.069943904876709, "step": 4660 }, { "dynamics_loss_avg": 0.05503334179520607, "epoch": 4.444122314453125e-07, "step": 4660 }, { "action_loss_avg": 0.14983313381671906, "epoch": 4.444122314453125e-07, "step": 4660 }, { "arm_loss_avg": 0.24128840416669844, "epoch": 4.444122314453125e-07, "step": 4660 }, { "ee_loss_avg": 0.22090545147657395, "epoch": 4.444122314453125e-07, "step": 4660 }, { "aux_loss_avg": 0.00529576709959656, "epoch": 4.444122314453125e-07, "step": 4660 }, { "epoch": 4.444122314453125e-07, "step": 4660, "training_step_time": 17.53635025024414 }, { "epoch": 4.4450759887695314e-07, "model_forward_time": 5.0781261920928955, "step": 4661 }, { "epoch": 4.4450759887695314e-07, "step": 4661, "training_step_time": 17.56312847137451 }, { "epoch": 4.4460296630859375e-07, "model_forward_time": 5.087296962738037, "step": 4662 }, { "epoch": 4.4460296630859375e-07, "step": 4662, "training_step_time": 17.57790207862854 }, { "epoch": 4.4469833374023437e-07, "model_forward_time": 5.093384504318237, "step": 4663 }, { "epoch": 4.4469833374023437e-07, "step": 4663, "training_step_time": 17.822110176086426 }, { "epoch": 4.44793701171875e-07, "model_forward_time": 5.095005750656128, "step": 4664 }, { "epoch": 4.44793701171875e-07, "step": 4664, "training_step_time": 17.616833686828613 }, { "epoch": 4.4488906860351565e-07, "model_forward_time": 5.099844694137573, "step": 4665 }, { "epoch": 4.4488906860351565e-07, "step": 4665, "training_step_time": 17.621596336364746 }, { "epoch": 4.4498443603515626e-07, "model_forward_time": 5.0982935428619385, "step": 4666 }, { "epoch": 4.4498443603515626e-07, "step": 4666, "training_step_time": 17.61754536628723 }, { "epoch": 4.450798034667969e-07, "model_forward_time": 5.098258018493652, "step": 4667 }, { "epoch": 4.450798034667969e-07, "step": 4667, "training_step_time": 17.622838258743286 }, { "epoch": 4.451751708984375e-07, "model_forward_time": 5.097187042236328, "step": 4668 }, { "epoch": 4.451751708984375e-07, "step": 4668, "training_step_time": 17.823765754699707 }, { "epoch": 4.452705383300781e-07, "model_forward_time": 5.092055559158325, "step": 4669 }, { "epoch": 4.452705383300781e-07, "step": 4669, "training_step_time": 17.612422227859497 }, { "epoch": 4.453659057617188e-07, "grad_norm": 2.5224344730377197, "learning_rate": 9.992377189852387e-06, "loss": 0.1425, "step": 4670 }, { "epoch": 4.453659057617188e-07, "model_forward_time": 5.086719274520874, "step": 4670 }, { "dynamics_loss_avg": 0.04433077722787857, "epoch": 4.453659057617188e-07, "step": 4670 }, { "action_loss_avg": 0.11226112842559814, "epoch": 4.453659057617188e-07, "step": 4670 }, { "arm_loss_avg": 0.19354103803634642, "epoch": 4.453659057617188e-07, "step": 4670 }, { "ee_loss_avg": 0.20061579570174218, "epoch": 4.453659057617188e-07, "step": 4670 }, { "aux_loss_avg": 0.00503617940703407, "epoch": 4.453659057617188e-07, "step": 4670 }, { "epoch": 4.453659057617188e-07, "step": 4670, "training_step_time": 17.616667985916138 }, { "epoch": 4.454612731933594e-07, "model_forward_time": 3.8546366691589355, "step": 4671 }, { "epoch": 4.454612731933594e-07, "step": 4671, "training_step_time": 17.61216449737549 }, { "epoch": 4.45556640625e-07, "model_forward_time": 5.054974555969238, "step": 4672 }, { "epoch": 4.45556640625e-07, "step": 4672, "training_step_time": 17.83517098426819 }, { "epoch": 4.456520080566406e-07, "model_forward_time": 5.071967840194702, "step": 4673 }, { "epoch": 4.456520080566406e-07, "step": 4673, "training_step_time": 17.617973566055298 }, { "epoch": 4.4574737548828123e-07, "model_forward_time": 5.081056356430054, "step": 4674 }, { "epoch": 4.4574737548828123e-07, "step": 4674, "training_step_time": 17.60065793991089 }, { "epoch": 4.458427429199219e-07, "model_forward_time": 5.087582588195801, "step": 4675 }, { "epoch": 4.458427429199219e-07, "step": 4675, "training_step_time": 17.599556922912598 }, { "epoch": 4.459381103515625e-07, "model_forward_time": 5.0937135219573975, "step": 4676 }, { "epoch": 4.459381103515625e-07, "step": 4676, "training_step_time": 17.392450094223022 }, { "epoch": 4.4603347778320313e-07, "model_forward_time": 5.1027514934539795, "step": 4677 }, { "epoch": 4.4603347778320313e-07, "step": 4677, "training_step_time": 17.49995446205139 }, { "epoch": 4.4612884521484374e-07, "model_forward_time": 5.104860305786133, "step": 4678 }, { "epoch": 4.4612884521484374e-07, "step": 4678, "training_step_time": 17.77057385444641 }, { "epoch": 4.4622421264648436e-07, "model_forward_time": 5.104783058166504, "step": 4679 }, { "epoch": 4.4622421264648436e-07, "step": 4679, "training_step_time": 17.581172704696655 }, { "epoch": 4.46319580078125e-07, "grad_norm": 1.9040327072143555, "learning_rate": 9.992246249990766e-06, "loss": 0.1634, "step": 4680 }, { "epoch": 4.46319580078125e-07, "model_forward_time": 3.858473777770996, "step": 4680 }, { "dynamics_loss_avg": 0.07307985164225102, "epoch": 4.46319580078125e-07, "step": 4680 }, { "action_loss_avg": 0.13154638335108756, "epoch": 4.46319580078125e-07, "step": 4680 }, { "arm_loss_avg": 0.2070963576436043, "epoch": 4.46319580078125e-07, "step": 4680 }, { "ee_loss_avg": 0.1719953015446663, "epoch": 4.46319580078125e-07, "step": 4680 }, { "aux_loss_avg": 0.0025404571497347206, "epoch": 4.46319580078125e-07, "step": 4680 }, { "epoch": 4.46319580078125e-07, "step": 4680, "training_step_time": 17.594518184661865 }, { "epoch": 4.4641494750976564e-07, "model_forward_time": 5.067026853561401, "step": 4681 }, { "epoch": 4.4641494750976564e-07, "step": 4681, "training_step_time": 17.61096954345703 }, { "epoch": 4.4651031494140625e-07, "model_forward_time": 5.074302434921265, "step": 4682 }, { "epoch": 4.4651031494140625e-07, "step": 4682, "training_step_time": 17.841429710388184 }, { "epoch": 4.4660568237304687e-07, "model_forward_time": 5.082284927368164, "step": 4683 }, { "epoch": 4.4660568237304687e-07, "step": 4683, "training_step_time": 17.610103130340576 }, { "epoch": 4.467010498046875e-07, "model_forward_time": 5.08969521522522, "step": 4684 }, { "epoch": 4.467010498046875e-07, "step": 4684, "training_step_time": 17.61056351661682 }, { "epoch": 4.4679641723632815e-07, "model_forward_time": 5.092451095581055, "step": 4685 }, { "epoch": 4.4679641723632815e-07, "step": 4685, "training_step_time": 17.603751182556152 }, { "epoch": 4.4689178466796877e-07, "model_forward_time": 5.099186658859253, "step": 4686 }, { "epoch": 4.4689178466796877e-07, "step": 4686, "training_step_time": 17.613012075424194 }, { "epoch": 4.469871520996094e-07, "model_forward_time": 5.099275827407837, "step": 4687 }, { "epoch": 4.469871520996094e-07, "step": 4687, "training_step_time": 17.8366060256958 }, { "epoch": 4.4708251953125e-07, "model_forward_time": 5.096337080001831, "step": 4688 }, { "epoch": 4.4708251953125e-07, "step": 4688, "training_step_time": 17.64712929725647 }, { "epoch": 4.471778869628906e-07, "model_forward_time": 5.097461700439453, "step": 4689 }, { "epoch": 4.471778869628906e-07, "step": 4689, "training_step_time": 17.2333242893219 }, { "epoch": 4.472732543945312e-07, "grad_norm": 1.9217026233673096, "learning_rate": 9.992114195956619e-06, "loss": 0.1341, "step": 4690 }, { "epoch": 4.472732543945312e-07, "model_forward_time": 5.1024250984191895, "step": 4690 }, { "dynamics_loss_avg": 0.04292593970894813, "epoch": 4.472732543945312e-07, "step": 4690 }, { "action_loss_avg": 0.10466193407773972, "epoch": 4.472732543945312e-07, "step": 4690 }, { "arm_loss_avg": 0.21311240941286086, "epoch": 4.472732543945312e-07, "step": 4690 }, { "ee_loss_avg": 0.2075131157413125, "epoch": 4.472732543945312e-07, "step": 4690 }, { "aux_loss_avg": 0.0019491304061375558, "epoch": 4.472732543945312e-07, "step": 4690 }, { "epoch": 4.472732543945312e-07, "step": 4690, "training_step_time": 17.527915239334106 }, { "epoch": 4.473686218261719e-07, "model_forward_time": 3.861710548400879, "step": 4691 }, { "epoch": 4.473686218261719e-07, "step": 4691, "training_step_time": 17.560895681381226 }, { "epoch": 4.474639892578125e-07, "model_forward_time": 3.8430750370025635, "step": 4692 }, { "epoch": 4.474639892578125e-07, "step": 4692, "training_step_time": 17.382601737976074 }, { "epoch": 4.475593566894531e-07, "model_forward_time": 5.058033227920532, "step": 4693 }, { "epoch": 4.475593566894531e-07, "step": 4693, "training_step_time": 17.73789691925049 }, { "epoch": 4.4765472412109373e-07, "model_forward_time": 5.066399812698364, "step": 4694 }, { "epoch": 4.4765472412109373e-07, "step": 4694, "training_step_time": 17.59643244743347 }, { "epoch": 4.4775009155273435e-07, "model_forward_time": 5.082677841186523, "step": 4695 }, { "epoch": 4.4775009155273435e-07, "step": 4695, "training_step_time": 17.572759866714478 }, { "epoch": 4.47845458984375e-07, "model_forward_time": 5.335068702697754, "step": 4696 }, { "epoch": 4.47845458984375e-07, "step": 4696, "training_step_time": 17.602381706237793 }, { "epoch": 4.4794082641601563e-07, "model_forward_time": 5.102627754211426, "step": 4697 }, { "epoch": 4.4794082641601563e-07, "step": 4697, "training_step_time": 17.338804483413696 }, { "epoch": 4.4803619384765625e-07, "model_forward_time": 5.110519170761108, "step": 4698 }, { "epoch": 4.4803619384765625e-07, "step": 4698, "training_step_time": 17.72411274909973 }, { "epoch": 4.4813156127929686e-07, "model_forward_time": 5.108388185501099, "step": 4699 }, { "epoch": 4.4813156127929686e-07, "step": 4699, "training_step_time": 17.631780862808228 }, { "epoch": 4.482269287109375e-07, "grad_norm": 2.3202171325683594, "learning_rate": 9.991981027779414e-06, "loss": 0.1557, "step": 4700 }, { "epoch": 4.482269287109375e-07, "model_forward_time": 5.100467681884766, "step": 4700 }, { "dynamics_loss_avg": 0.054226764105260374, "epoch": 4.482269287109375e-07, "step": 4700 }, { "action_loss_avg": 0.13100090250372887, "epoch": 4.482269287109375e-07, "step": 4700 }, { "arm_loss_avg": 0.19478861913084983, "epoch": 4.482269287109375e-07, "step": 4700 }, { "ee_loss_avg": 0.11596333887428045, "epoch": 4.482269287109375e-07, "step": 4700 }, { "aux_loss_avg": 0.006861068296711892, "epoch": 4.482269287109375e-07, "step": 4700 }, { "epoch": 4.482269287109375e-07, "step": 4700, "training_step_time": 17.613343954086304 }, { "epoch": 4.4832229614257814e-07, "model_forward_time": 5.0968897342681885, "step": 4701 }, { "epoch": 4.4832229614257814e-07, "step": 4701, "training_step_time": 17.637492179870605 }, { "epoch": 4.4841766357421876e-07, "model_forward_time": 5.091338157653809, "step": 4702 }, { "epoch": 4.4841766357421876e-07, "step": 4702, "training_step_time": 17.645625591278076 }, { "epoch": 4.4851303100585937e-07, "model_forward_time": 5.089079856872559, "step": 4703 }, { "epoch": 4.4851303100585937e-07, "step": 4703, "training_step_time": 17.87557077407837 }, { "epoch": 4.486083984375e-07, "model_forward_time": 5.087416648864746, "step": 4704 }, { "epoch": 4.486083984375e-07, "step": 4704, "training_step_time": 17.64128065109253 }, { "epoch": 4.487037658691406e-07, "model_forward_time": 5.083471775054932, "step": 4705 }, { "epoch": 4.487037658691406e-07, "step": 4705, "training_step_time": 17.634621381759644 }, { "epoch": 4.4879913330078127e-07, "model_forward_time": 5.087592124938965, "step": 4706 }, { "epoch": 4.4879913330078127e-07, "step": 4706, "training_step_time": 17.62229347229004 }, { "epoch": 4.488945007324219e-07, "model_forward_time": 5.08843469619751, "step": 4707 }, { "epoch": 4.488945007324219e-07, "step": 4707, "training_step_time": 17.61325192451477 }, { "epoch": 4.489898681640625e-07, "model_forward_time": 5.085897207260132, "step": 4708 }, { "epoch": 4.489898681640625e-07, "step": 4708, "training_step_time": 17.790361881256104 }, { "epoch": 4.490852355957031e-07, "model_forward_time": 5.086167335510254, "step": 4709 }, { "epoch": 4.490852355957031e-07, "step": 4709, "training_step_time": 17.632580280303955 }, { "epoch": 4.491806030273437e-07, "grad_norm": 2.163142442703247, "learning_rate": 9.991846745488873e-06, "loss": 0.1382, "step": 4710 }, { "epoch": 4.491806030273437e-07, "model_forward_time": 3.861003875732422, "step": 4710 }, { "dynamics_loss_avg": 0.051877346448600294, "epoch": 4.491806030273437e-07, "step": 4710 }, { "action_loss_avg": 0.12120647951960564, "epoch": 4.491806030273437e-07, "step": 4710 }, { "arm_loss_avg": 0.2444297969341278, "epoch": 4.491806030273437e-07, "step": 4710 }, { "ee_loss_avg": 0.19736817870289086, "epoch": 4.491806030273437e-07, "step": 4710 }, { "aux_loss_avg": 0.017967178154503927, "epoch": 4.491806030273437e-07, "step": 4710 }, { "epoch": 4.491806030273437e-07, "step": 4710, "training_step_time": 17.586907863616943 }, { "epoch": 4.492759704589844e-07, "model_forward_time": 5.259939670562744, "step": 4711 }, { "epoch": 4.492759704589844e-07, "step": 4711, "training_step_time": 17.58977198600769 }, { "epoch": 4.49371337890625e-07, "model_forward_time": 5.074673652648926, "step": 4712 }, { "epoch": 4.49371337890625e-07, "step": 4712, "training_step_time": 17.4021098613739 }, { "epoch": 4.494667053222656e-07, "model_forward_time": 5.08702826499939, "step": 4713 }, { "epoch": 4.494667053222656e-07, "step": 4713, "training_step_time": 17.730071544647217 }, { "epoch": 4.4956207275390624e-07, "model_forward_time": 5.091109991073608, "step": 4714 }, { "epoch": 4.4956207275390624e-07, "step": 4714, "training_step_time": 17.545252799987793 }, { "epoch": 4.4965744018554685e-07, "model_forward_time": 5.097672462463379, "step": 4715 }, { "epoch": 4.4965744018554685e-07, "step": 4715, "training_step_time": 17.559324979782104 }, { "epoch": 4.497528076171875e-07, "model_forward_time": 5.1037774085998535, "step": 4716 }, { "epoch": 4.497528076171875e-07, "step": 4716, "training_step_time": 17.58942222595215 }, { "epoch": 4.4984817504882813e-07, "model_forward_time": 5.102463960647583, "step": 4717 }, { "epoch": 4.4984817504882813e-07, "step": 4717, "training_step_time": 17.811042308807373 }, { "epoch": 4.4994354248046875e-07, "model_forward_time": 3.8596601486206055, "step": 4718 }, { "epoch": 4.4994354248046875e-07, "step": 4718, "training_step_time": 17.614864349365234 }, { "epoch": 4.5003890991210936e-07, "model_forward_time": 5.067720174789429, "step": 4719 }, { "epoch": 4.5003890991210936e-07, "step": 4719, "training_step_time": 17.63282871246338 }, { "epoch": 4.5013427734375e-07, "grad_norm": 2.7791433334350586, "learning_rate": 9.991711349114964e-06, "loss": 0.1518, "step": 4720 }, { "epoch": 4.5013427734375e-07, "model_forward_time": 5.0784690380096436, "step": 4720 }, { "dynamics_loss_avg": 0.05490613654255867, "epoch": 4.5013427734375e-07, "step": 4720 }, { "action_loss_avg": 0.11350474990904331, "epoch": 4.5013427734375e-07, "step": 4720 }, { "arm_loss_avg": 0.16974783092737197, "epoch": 4.5013427734375e-07, "step": 4720 }, { "ee_loss_avg": 0.13681618608534335, "epoch": 4.5013427734375e-07, "step": 4720 }, { "aux_loss_avg": 0.0020891121705062686, "epoch": 4.5013427734375e-07, "step": 4720 }, { "epoch": 4.5013427734375e-07, "step": 4720, "training_step_time": 17.63130021095276 }, { "epoch": 4.5022964477539064e-07, "model_forward_time": 3.8504140377044678, "step": 4721 }, { "epoch": 4.5022964477539064e-07, "step": 4721, "training_step_time": 17.625319004058838 }, { "epoch": 4.5032501220703126e-07, "model_forward_time": 5.059474945068359, "step": 4722 }, { "epoch": 4.5032501220703126e-07, "step": 4722, "training_step_time": 17.85838294029236 }, { "epoch": 4.5042037963867187e-07, "model_forward_time": 5.080801248550415, "step": 4723 }, { "epoch": 4.5042037963867187e-07, "step": 4723, "training_step_time": 17.603681325912476 }, { "epoch": 4.505157470703125e-07, "model_forward_time": 5.093102216720581, "step": 4724 }, { "epoch": 4.505157470703125e-07, "step": 4724, "training_step_time": 17.602158308029175 }, { "epoch": 4.506111145019531e-07, "model_forward_time": 5.10421347618103, "step": 4725 }, { "epoch": 4.506111145019531e-07, "step": 4725, "training_step_time": 17.604342937469482 }, { "epoch": 4.5070648193359377e-07, "model_forward_time": 5.339066505432129, "step": 4726 }, { "epoch": 4.5070648193359377e-07, "step": 4726, "training_step_time": 17.58980131149292 }, { "epoch": 4.508018493652344e-07, "model_forward_time": 5.110109090805054, "step": 4727 }, { "epoch": 4.508018493652344e-07, "step": 4727, "training_step_time": 17.80959725379944 }, { "epoch": 4.50897216796875e-07, "model_forward_time": 5.1041419506073, "step": 4728 }, { "epoch": 4.50897216796875e-07, "step": 4728, "training_step_time": 17.58522891998291 }, { "epoch": 4.509925842285156e-07, "model_forward_time": 5.105548620223999, "step": 4729 }, { "epoch": 4.509925842285156e-07, "step": 4729, "training_step_time": 17.581154108047485 }, { "epoch": 4.5108795166015623e-07, "grad_norm": 2.718487501144409, "learning_rate": 9.991574838687907e-06, "loss": 0.1431, "step": 4730 }, { "epoch": 4.5108795166015623e-07, "model_forward_time": 5.103876829147339, "step": 4730 }, { "dynamics_loss_avg": 0.0581696986220777, "epoch": 4.5108795166015623e-07, "step": 4730 }, { "action_loss_avg": 0.11493057087063789, "epoch": 4.5108795166015623e-07, "step": 4730 }, { "arm_loss_avg": 0.18013890758156775, "epoch": 4.5108795166015623e-07, "step": 4730 }, { "ee_loss_avg": 0.12945337016135455, "epoch": 4.5108795166015623e-07, "step": 4730 }, { "aux_loss_avg": 0.0034486731863580646, "epoch": 4.5108795166015623e-07, "step": 4730 }, { "epoch": 4.5108795166015623e-07, "step": 4730, "training_step_time": 17.58871579170227 }, { "epoch": 4.511833190917969e-07, "model_forward_time": 5.094231367111206, "step": 4731 }, { "epoch": 4.511833190917969e-07, "step": 4731, "training_step_time": 17.600245237350464 }, { "epoch": 4.512786865234375e-07, "model_forward_time": 5.092069387435913, "step": 4732 }, { "epoch": 4.512786865234375e-07, "step": 4732, "training_step_time": 17.834550857543945 }, { "epoch": 4.513740539550781e-07, "model_forward_time": 5.086529016494751, "step": 4733 }, { "epoch": 4.513740539550781e-07, "step": 4733, "training_step_time": 17.603678464889526 }, { "epoch": 4.5146942138671874e-07, "model_forward_time": 5.083922863006592, "step": 4734 }, { "epoch": 4.5146942138671874e-07, "step": 4734, "training_step_time": 17.617274045944214 }, { "epoch": 4.5156478881835935e-07, "model_forward_time": 5.087860345840454, "step": 4735 }, { "epoch": 4.5156478881835935e-07, "step": 4735, "training_step_time": 17.60495638847351 }, { "epoch": 4.5166015625e-07, "model_forward_time": 3.8531620502471924, "step": 4736 }, { "epoch": 4.5166015625e-07, "step": 4736, "training_step_time": 17.61203360557556 }, { "epoch": 4.5175552368164063e-07, "model_forward_time": 5.067205429077148, "step": 4737 }, { "epoch": 4.5175552368164063e-07, "step": 4737, "training_step_time": 17.826338052749634 }, { "epoch": 4.5185089111328125e-07, "model_forward_time": 5.075470209121704, "step": 4738 }, { "epoch": 4.5185089111328125e-07, "step": 4738, "training_step_time": 17.62215828895569 }, { "epoch": 4.5194625854492186e-07, "model_forward_time": 5.083764314651489, "step": 4739 }, { "epoch": 4.5194625854492186e-07, "step": 4739, "training_step_time": 17.61305594444275 }, { "epoch": 4.520416259765625e-07, "grad_norm": 2.895132541656494, "learning_rate": 9.991437214238168e-06, "loss": 0.1675, "step": 4740 }, { "epoch": 4.520416259765625e-07, "model_forward_time": 5.092848062515259, "step": 4740 }, { "dynamics_loss_avg": 0.05636124694719911, "epoch": 4.520416259765625e-07, "step": 4740 }, { "action_loss_avg": 0.13323713913559915, "epoch": 4.520416259765625e-07, "step": 4740 }, { "arm_loss_avg": 0.19726189896464347, "epoch": 4.520416259765625e-07, "step": 4740 }, { "ee_loss_avg": 0.13261185493320227, "epoch": 4.520416259765625e-07, "step": 4740 }, { "aux_loss_avg": 0.0017595344572328031, "epoch": 4.520416259765625e-07, "step": 4740 }, { "epoch": 4.520416259765625e-07, "step": 4740, "training_step_time": 17.600254774093628 }, { "epoch": 4.5213699340820315e-07, "model_forward_time": 5.102949380874634, "step": 4741 }, { "epoch": 4.5213699340820315e-07, "step": 4741, "training_step_time": 17.59878182411194 }, { "epoch": 4.5223236083984376e-07, "model_forward_time": 5.104833364486694, "step": 4742 }, { "epoch": 4.5223236083984376e-07, "step": 4742, "training_step_time": 17.817201614379883 }, { "epoch": 4.523277282714844e-07, "model_forward_time": 5.099709987640381, "step": 4743 }, { "epoch": 4.523277282714844e-07, "step": 4743, "training_step_time": 17.602864980697632 }, { "epoch": 4.52423095703125e-07, "model_forward_time": 5.102339029312134, "step": 4744 }, { "epoch": 4.52423095703125e-07, "step": 4744, "training_step_time": 17.254464626312256 }, { "epoch": 4.525184631347656e-07, "model_forward_time": 5.10421347618103, "step": 4745 }, { "epoch": 4.525184631347656e-07, "step": 4745, "training_step_time": 17.523374319076538 }, { "epoch": 4.5261383056640627e-07, "model_forward_time": 5.101381540298462, "step": 4746 }, { "epoch": 4.5261383056640627e-07, "step": 4746, "training_step_time": 17.56985902786255 }, { "epoch": 4.527091979980469e-07, "model_forward_time": 5.09190821647644, "step": 4747 }, { "epoch": 4.527091979980469e-07, "step": 4747, "training_step_time": 17.803133726119995 }, { "epoch": 4.528045654296875e-07, "model_forward_time": 5.0878541469573975, "step": 4748 }, { "epoch": 4.528045654296875e-07, "step": 4748, "training_step_time": 17.60488224029541 }, { "epoch": 4.528999328613281e-07, "model_forward_time": 5.083047866821289, "step": 4749 }, { "epoch": 4.528999328613281e-07, "step": 4749, "training_step_time": 17.651305198669434 }, { "epoch": 4.5299530029296873e-07, "grad_norm": 2.7293195724487305, "learning_rate": 9.99129847579646e-06, "loss": 0.1593, "step": 4750 }, { "epoch": 4.5299530029296873e-07, "model_forward_time": 5.081373453140259, "step": 4750 }, { "dynamics_loss_avg": 0.04958072435110807, "epoch": 4.5299530029296873e-07, "step": 4750 }, { "action_loss_avg": 0.12791675366461278, "epoch": 4.5299530029296873e-07, "step": 4750 }, { "arm_loss_avg": 0.22027530074119567, "epoch": 4.5299530029296873e-07, "step": 4750 }, { "ee_loss_avg": 0.14197711646556854, "epoch": 4.5299530029296873e-07, "step": 4750 }, { "aux_loss_avg": 0.002942219760734588, "epoch": 4.5299530029296873e-07, "step": 4750 }, { "epoch": 4.5299530029296873e-07, "step": 4750, "training_step_time": 17.6295006275177 }, { "epoch": 4.530906677246094e-07, "model_forward_time": 3.849130392074585, "step": 4751 }, { "epoch": 4.530906677246094e-07, "step": 4751, "training_step_time": 17.625341415405273 }, { "epoch": 4.5318603515625e-07, "model_forward_time": 5.058018684387207, "step": 4752 }, { "epoch": 4.5318603515625e-07, "step": 4752, "training_step_time": 17.873584508895874 }, { "epoch": 4.532814025878906e-07, "model_forward_time": 5.0672056674957275, "step": 4753 }, { "epoch": 4.532814025878906e-07, "step": 4753, "training_step_time": 17.6245219707489 }, { "epoch": 4.5337677001953124e-07, "model_forward_time": 5.0781004428863525, "step": 4754 }, { "epoch": 4.5337677001953124e-07, "step": 4754, "training_step_time": 17.61007809638977 }, { "epoch": 4.5347213745117185e-07, "model_forward_time": 5.086708307266235, "step": 4755 }, { "epoch": 4.5347213745117185e-07, "step": 4755, "training_step_time": 17.60245370864868 }, { "epoch": 4.535675048828125e-07, "model_forward_time": 5.0953099727630615, "step": 4756 }, { "epoch": 4.535675048828125e-07, "step": 4756, "training_step_time": 17.26120114326477 }, { "epoch": 4.5366287231445314e-07, "model_forward_time": 5.10114049911499, "step": 4757 }, { "epoch": 4.5366287231445314e-07, "step": 4757, "training_step_time": 17.506062746047974 }, { "epoch": 4.5375823974609375e-07, "model_forward_time": 5.102220296859741, "step": 4758 }, { "epoch": 4.5375823974609375e-07, "step": 4758, "training_step_time": 17.754976511001587 }, { "epoch": 4.5385360717773437e-07, "model_forward_time": 5.100232124328613, "step": 4759 }, { "epoch": 4.5385360717773437e-07, "step": 4759, "training_step_time": 17.614572525024414 }, { "epoch": 4.53948974609375e-07, "grad_norm": 2.270190715789795, "learning_rate": 9.99115862339375e-06, "loss": 0.1425, "step": 4760 }, { "epoch": 4.53948974609375e-07, "model_forward_time": 5.29495096206665, "step": 4760 }, { "dynamics_loss_avg": 0.04628008678555488, "epoch": 4.53948974609375e-07, "step": 4760 }, { "action_loss_avg": 0.12582269981503486, "epoch": 4.53948974609375e-07, "step": 4760 }, { "arm_loss_avg": 0.1764103129506111, "epoch": 4.53948974609375e-07, "step": 4760 }, { "ee_loss_avg": 0.12026103660464287, "epoch": 4.53948974609375e-07, "step": 4760 }, { "aux_loss_avg": 0.0017366482003126293, "epoch": 4.53948974609375e-07, "step": 4760 }, { "epoch": 4.53948974609375e-07, "step": 4760, "training_step_time": 17.567874431610107 }, { "epoch": 4.5404434204101565e-07, "model_forward_time": 5.0995659828186035, "step": 4761 }, { "epoch": 4.5404434204101565e-07, "step": 4761, "training_step_time": 17.59375500679016 }, { "epoch": 4.5413970947265626e-07, "model_forward_time": 3.853369951248169, "step": 4762 }, { "epoch": 4.5413970947265626e-07, "step": 4762, "training_step_time": 17.826693534851074 }, { "epoch": 4.542350769042969e-07, "model_forward_time": 5.065426349639893, "step": 4763 }, { "epoch": 4.542350769042969e-07, "step": 4763, "training_step_time": 17.60367727279663 }, { "epoch": 4.543304443359375e-07, "model_forward_time": 5.070037364959717, "step": 4764 }, { "epoch": 4.543304443359375e-07, "step": 4764, "training_step_time": 17.602207899093628 }, { "epoch": 4.544258117675781e-07, "model_forward_time": 5.078380346298218, "step": 4765 }, { "epoch": 4.544258117675781e-07, "step": 4765, "training_step_time": 17.604210376739502 }, { "epoch": 4.5452117919921877e-07, "model_forward_time": 5.330211877822876, "step": 4766 }, { "epoch": 4.5452117919921877e-07, "step": 4766, "training_step_time": 17.601913928985596 }, { "epoch": 4.546165466308594e-07, "model_forward_time": 5.093736410140991, "step": 4767 }, { "epoch": 4.546165466308594e-07, "step": 4767, "training_step_time": 17.84920573234558 }, { "epoch": 4.547119140625e-07, "model_forward_time": 5.098093509674072, "step": 4768 }, { "epoch": 4.547119140625e-07, "step": 4768, "training_step_time": 17.603076934814453 }, { "epoch": 4.548072814941406e-07, "model_forward_time": 5.0995073318481445, "step": 4769 }, { "epoch": 4.548072814941406e-07, "step": 4769, "training_step_time": 17.644997596740723 }, { "epoch": 4.5490264892578123e-07, "grad_norm": 4.291886806488037, "learning_rate": 9.991017657061248e-06, "loss": 0.1386, "step": 4770 }, { "epoch": 4.5490264892578123e-07, "model_forward_time": 5.103455543518066, "step": 4770 }, { "dynamics_loss_avg": 0.04226017445325851, "epoch": 4.5490264892578123e-07, "step": 4770 }, { "action_loss_avg": 0.11431127898395062, "epoch": 4.5490264892578123e-07, "step": 4770 }, { "arm_loss_avg": 0.22011236399412154, "epoch": 4.5490264892578123e-07, "step": 4770 }, { "ee_loss_avg": 0.16422253083437682, "epoch": 4.5490264892578123e-07, "step": 4770 }, { "aux_loss_avg": 0.002122277853777632, "epoch": 4.5490264892578123e-07, "step": 4770 }, { "epoch": 4.5490264892578123e-07, "step": 4770, "training_step_time": 17.60809898376465 }, { "epoch": 4.549980163574219e-07, "model_forward_time": 5.098606109619141, "step": 4771 }, { "epoch": 4.549980163574219e-07, "step": 4771, "training_step_time": 17.609595775604248 }, { "epoch": 4.550933837890625e-07, "model_forward_time": 5.098144769668579, "step": 4772 }, { "epoch": 4.550933837890625e-07, "step": 4772, "training_step_time": 17.8478524684906 }, { "epoch": 4.5518875122070313e-07, "model_forward_time": 5.092586040496826, "step": 4773 }, { "epoch": 4.5518875122070313e-07, "step": 4773, "training_step_time": 17.613359451293945 }, { "epoch": 4.5528411865234374e-07, "model_forward_time": 5.094318389892578, "step": 4774 }, { "epoch": 4.5528411865234374e-07, "step": 4774, "training_step_time": 17.613748788833618 }, { "epoch": 4.5537948608398436e-07, "model_forward_time": 5.090944290161133, "step": 4775 }, { "epoch": 4.5537948608398436e-07, "step": 4775, "training_step_time": 17.611493349075317 }, { "epoch": 4.55474853515625e-07, "model_forward_time": 5.091511487960815, "step": 4776 }, { "epoch": 4.55474853515625e-07, "step": 4776, "training_step_time": 17.612021446228027 }, { "epoch": 4.5557022094726564e-07, "model_forward_time": 5.090819358825684, "step": 4777 }, { "epoch": 4.5557022094726564e-07, "step": 4777, "training_step_time": 17.811472177505493 }, { "epoch": 4.5566558837890625e-07, "model_forward_time": 5.08695387840271, "step": 4778 }, { "epoch": 4.5566558837890625e-07, "step": 4778, "training_step_time": 17.389142751693726 }, { "epoch": 4.5576095581054687e-07, "model_forward_time": 5.093599796295166, "step": 4779 }, { "epoch": 4.5576095581054687e-07, "step": 4779, "training_step_time": 17.589009761810303 }, { "epoch": 4.558563232421875e-07, "grad_norm": 1.5359209775924683, "learning_rate": 9.990875576830414e-06, "loss": 0.1459, "step": 4780 }, { "epoch": 4.558563232421875e-07, "model_forward_time": 5.286431789398193, "step": 4780 }, { "dynamics_loss_avg": 0.05170482052490115, "epoch": 4.558563232421875e-07, "step": 4780 }, { "action_loss_avg": 0.12643417455255984, "epoch": 4.558563232421875e-07, "step": 4780 }, { "arm_loss_avg": 0.2103022113442421, "epoch": 4.558563232421875e-07, "step": 4780 }, { "ee_loss_avg": 0.12205661572515965, "epoch": 4.558563232421875e-07, "step": 4780 }, { "aux_loss_avg": 0.0028059663658495993, "epoch": 4.558563232421875e-07, "step": 4780 }, { "epoch": 4.558563232421875e-07, "step": 4780, "training_step_time": 17.40732169151306 }, { "epoch": 4.5595169067382815e-07, "model_forward_time": 5.097382545471191, "step": 4781 }, { "epoch": 4.5595169067382815e-07, "step": 4781, "training_step_time": 17.501969575881958 }, { "epoch": 4.5604705810546876e-07, "model_forward_time": 5.097776412963867, "step": 4782 }, { "epoch": 4.5604705810546876e-07, "step": 4782, "training_step_time": 17.558733701705933 }, { "epoch": 4.561424255371094e-07, "model_forward_time": 5.091598033905029, "step": 4783 }, { "epoch": 4.561424255371094e-07, "step": 4783, "training_step_time": 17.819666147232056 }, { "epoch": 4.5623779296875e-07, "model_forward_time": 5.08955454826355, "step": 4784 }, { "epoch": 4.5623779296875e-07, "step": 4784, "training_step_time": 17.614565134048462 }, { "epoch": 4.563331604003906e-07, "model_forward_time": 5.091491937637329, "step": 4785 }, { "epoch": 4.563331604003906e-07, "step": 4785, "training_step_time": 17.639301300048828 }, { "epoch": 4.564285278320313e-07, "model_forward_time": 5.090039968490601, "step": 4786 }, { "epoch": 4.564285278320313e-07, "step": 4786, "training_step_time": 17.648158311843872 }, { "epoch": 4.565238952636719e-07, "model_forward_time": 5.089902400970459, "step": 4787 }, { "epoch": 4.565238952636719e-07, "step": 4787, "training_step_time": 17.647668838500977 }, { "epoch": 4.566192626953125e-07, "model_forward_time": 5.087954521179199, "step": 4788 }, { "epoch": 4.566192626953125e-07, "step": 4788, "training_step_time": 17.827950716018677 }, { "epoch": 4.567146301269531e-07, "model_forward_time": 5.0918707847595215, "step": 4789 }, { "epoch": 4.567146301269531e-07, "step": 4789, "training_step_time": 17.636574268341064 }, { "epoch": 4.5680999755859373e-07, "grad_norm": 3.2989985942840576, "learning_rate": 9.990732382732962e-06, "loss": 0.1484, "step": 4790 }, { "epoch": 4.5680999755859373e-07, "model_forward_time": 5.087925434112549, "step": 4790 }, { "dynamics_loss_avg": 0.05334893334656954, "epoch": 4.5680999755859373e-07, "step": 4790 }, { "action_loss_avg": 0.10502554774284363, "epoch": 4.5680999755859373e-07, "step": 4790 }, { "arm_loss_avg": 0.1880233772099018, "epoch": 4.5680999755859373e-07, "step": 4790 }, { "ee_loss_avg": 0.16413291096687316, "epoch": 4.5680999755859373e-07, "step": 4790 }, { "aux_loss_avg": 0.002395999967120588, "epoch": 4.5680999755859373e-07, "step": 4790 }, { "epoch": 4.5680999755859373e-07, "step": 4790, "training_step_time": 17.545849323272705 }, { "epoch": 4.569053649902344e-07, "model_forward_time": 5.093655586242676, "step": 4791 }, { "epoch": 4.569053649902344e-07, "step": 4791, "training_step_time": 17.577815294265747 }, { "epoch": 4.57000732421875e-07, "model_forward_time": 3.855485200881958, "step": 4792 }, { "epoch": 4.57000732421875e-07, "step": 4792, "training_step_time": 17.59561324119568 }, { "epoch": 4.5709609985351563e-07, "model_forward_time": 5.062352895736694, "step": 4793 }, { "epoch": 4.5709609985351563e-07, "step": 4793, "training_step_time": 17.862563848495483 }, { "epoch": 4.5719146728515624e-07, "model_forward_time": 5.071039199829102, "step": 4794 }, { "epoch": 4.5719146728515624e-07, "step": 4794, "training_step_time": 17.62779712677002 }, { "epoch": 4.5728683471679686e-07, "model_forward_time": 5.082496404647827, "step": 4795 }, { "epoch": 4.5728683471679686e-07, "step": 4795, "training_step_time": 17.622894763946533 }, { "epoch": 4.573822021484375e-07, "model_forward_time": 5.341374397277832, "step": 4796 }, { "epoch": 4.573822021484375e-07, "step": 4796, "training_step_time": 17.619657516479492 }, { "epoch": 4.5747756958007814e-07, "model_forward_time": 5.097832679748535, "step": 4797 }, { "epoch": 4.5747756958007814e-07, "step": 4797, "training_step_time": 17.617557287216187 }, { "epoch": 4.5757293701171875e-07, "model_forward_time": 5.100255727767944, "step": 4798 }, { "epoch": 4.5757293701171875e-07, "step": 4798, "training_step_time": 17.858055591583252 }, { "epoch": 4.5766830444335937e-07, "model_forward_time": 5.09717869758606, "step": 4799 }, { "epoch": 4.5766830444335937e-07, "step": 4799, "training_step_time": 17.61197304725647 }, { "epoch": 4.57763671875e-07, "grad_norm": 1.5031237602233887, "learning_rate": 9.990588074800845e-06, "loss": 0.1552, "step": 4800 }, { "epoch": 4.57763671875e-07, "model_forward_time": 3.8601720333099365, "step": 4800 }, { "dynamics_loss_avg": 0.047708374075591566, "epoch": 4.57763671875e-07, "step": 4800 }, { "action_loss_avg": 0.12319035157561302, "epoch": 4.57763671875e-07, "step": 4800 }, { "arm_loss_avg": 0.2046624630689621, "epoch": 4.57763671875e-07, "step": 4800 }, { "ee_loss_avg": 0.14492667373269796, "epoch": 4.57763671875e-07, "step": 4800 }, { "aux_loss_avg": 0.0013272034528199583, "epoch": 4.57763671875e-07, "step": 4800 }, { "epoch": 4.57763671875e-07, "step": 4800, "training_step_time": 17.610880851745605 }, { "epoch": 4.5785903930664065e-07, "model_forward_time": 4.082533121109009, "step": 4801 }, { "epoch": 4.5785903930664065e-07, "step": 4801, "training_step_time": 17.404261350631714 }, { "epoch": 4.5795440673828126e-07, "model_forward_time": 5.05764627456665, "step": 4802 }, { "epoch": 4.5795440673828126e-07, "step": 4802, "training_step_time": 17.539650917053223 }, { "epoch": 4.580497741699219e-07, "model_forward_time": 5.075232028961182, "step": 4803 }, { "epoch": 4.580497741699219e-07, "step": 4803, "training_step_time": 17.804754972457886 }, { "epoch": 4.581451416015625e-07, "model_forward_time": 5.082368612289429, "step": 4804 }, { "epoch": 4.581451416015625e-07, "step": 4804, "training_step_time": 17.312663316726685 }, { "epoch": 4.582405090332031e-07, "model_forward_time": 5.09913444519043, "step": 4805 }, { "epoch": 4.582405090332031e-07, "step": 4805, "training_step_time": 17.57221817970276 }, { "epoch": 4.583358764648438e-07, "model_forward_time": 5.341464042663574, "step": 4806 }, { "epoch": 4.583358764648438e-07, "step": 4806, "training_step_time": 17.56197190284729 }, { "epoch": 4.584312438964844e-07, "model_forward_time": 5.113568067550659, "step": 4807 }, { "epoch": 4.584312438964844e-07, "step": 4807, "training_step_time": 17.382267475128174 }, { "epoch": 4.58526611328125e-07, "model_forward_time": 5.11046290397644, "step": 4808 }, { "epoch": 4.58526611328125e-07, "step": 4808, "training_step_time": 17.722628831863403 }, { "epoch": 4.586219787597656e-07, "model_forward_time": 5.107262849807739, "step": 4809 }, { "epoch": 4.586219787597656e-07, "step": 4809, "training_step_time": 17.606513023376465 }, { "epoch": 4.5871734619140623e-07, "grad_norm": 1.7341384887695312, "learning_rate": 9.990442653066272e-06, "loss": 0.133, "step": 4810 }, { "epoch": 4.5871734619140623e-07, "model_forward_time": 5.102214574813843, "step": 4810 }, { "dynamics_loss_avg": 0.04404561538249254, "epoch": 4.5871734619140623e-07, "step": 4810 }, { "action_loss_avg": 0.10332522913813591, "epoch": 4.5871734619140623e-07, "step": 4810 }, { "arm_loss_avg": 0.23278831392526628, "epoch": 4.5871734619140623e-07, "step": 4810 }, { "ee_loss_avg": 0.13631645645946264, "epoch": 4.5871734619140623e-07, "step": 4810 }, { "aux_loss_avg": 0.0015664413571357728, "epoch": 4.5871734619140623e-07, "step": 4810 }, { "epoch": 4.5871734619140623e-07, "step": 4810, "training_step_time": 17.629615783691406 }, { "epoch": 4.588127136230469e-07, "model_forward_time": 5.293332099914551, "step": 4811 }, { "epoch": 4.588127136230469e-07, "step": 4811, "training_step_time": 17.64803409576416 }, { "epoch": 4.589080810546875e-07, "model_forward_time": 5.094232082366943, "step": 4812 }, { "epoch": 4.589080810546875e-07, "step": 4812, "training_step_time": 17.396509885787964 }, { "epoch": 4.5900344848632813e-07, "model_forward_time": 5.092630624771118, "step": 4813 }, { "epoch": 4.5900344848632813e-07, "step": 4813, "training_step_time": 17.79168391227722 }, { "epoch": 4.5909881591796874e-07, "model_forward_time": 5.091166973114014, "step": 4814 }, { "epoch": 4.5909881591796874e-07, "step": 4814, "training_step_time": 17.61327362060547 }, { "epoch": 4.5919418334960936e-07, "model_forward_time": 5.089981317520142, "step": 4815 }, { "epoch": 4.5919418334960936e-07, "step": 4815, "training_step_time": 17.635509729385376 }, { "epoch": 4.5928955078125e-07, "model_forward_time": 5.095098495483398, "step": 4816 }, { "epoch": 4.5928955078125e-07, "step": 4816, "training_step_time": 17.645248413085938 }, { "epoch": 4.5938491821289064e-07, "model_forward_time": 5.08646035194397, "step": 4817 }, { "epoch": 4.5938491821289064e-07, "step": 4817, "training_step_time": 17.642090797424316 }, { "epoch": 4.5948028564453126e-07, "model_forward_time": 5.090494871139526, "step": 4818 }, { "epoch": 4.5948028564453126e-07, "step": 4818, "training_step_time": 17.81830406188965 }, { "epoch": 4.5957565307617187e-07, "model_forward_time": 5.090490818023682, "step": 4819 }, { "epoch": 4.5957565307617187e-07, "step": 4819, "training_step_time": 17.637316465377808 }, { "epoch": 4.596710205078125e-07, "grad_norm": 2.4590885639190674, "learning_rate": 9.990296117561699e-06, "loss": 0.1344, "step": 4820 }, { "epoch": 4.596710205078125e-07, "model_forward_time": 3.855830430984497, "step": 4820 }, { "dynamics_loss_avg": 0.05260194968432188, "epoch": 4.596710205078125e-07, "step": 4820 }, { "action_loss_avg": 0.10036636069417, "epoch": 4.596710205078125e-07, "step": 4820 }, { "arm_loss_avg": 0.23029189109802245, "epoch": 4.596710205078125e-07, "step": 4820 }, { "ee_loss_avg": 0.14280875474214555, "epoch": 4.596710205078125e-07, "step": 4820 }, { "aux_loss_avg": 0.006385959661565721, "epoch": 4.596710205078125e-07, "step": 4820 }, { "epoch": 4.596710205078125e-07, "step": 4820, "training_step_time": 17.627811908721924 }, { "epoch": 4.597663879394531e-07, "model_forward_time": 5.063267469406128, "step": 4821 }, { "epoch": 4.597663879394531e-07, "step": 4821, "training_step_time": 17.628247022628784 }, { "epoch": 4.5986175537109377e-07, "model_forward_time": 3.8458118438720703, "step": 4822 }, { "epoch": 4.5986175537109377e-07, "step": 4822, "training_step_time": 17.621081590652466 }, { "epoch": 4.599571228027344e-07, "model_forward_time": 5.06751823425293, "step": 4823 }, { "epoch": 4.599571228027344e-07, "step": 4823, "training_step_time": 17.85194230079651 }, { "epoch": 4.60052490234375e-07, "model_forward_time": 5.081294536590576, "step": 4824 }, { "epoch": 4.60052490234375e-07, "step": 4824, "training_step_time": 17.594549655914307 }, { "epoch": 4.601478576660156e-07, "model_forward_time": 5.096997261047363, "step": 4825 }, { "epoch": 4.601478576660156e-07, "step": 4825, "training_step_time": 17.580552577972412 }, { "epoch": 4.602432250976562e-07, "model_forward_time": 5.10755467414856, "step": 4826 }, { "epoch": 4.602432250976562e-07, "step": 4826, "training_step_time": 17.58411192893982 }, { "epoch": 4.603385925292969e-07, "model_forward_time": 3.8689661026000977, "step": 4827 }, { "epoch": 4.603385925292969e-07, "step": 4827, "training_step_time": 17.581268548965454 }, { "epoch": 4.604339599609375e-07, "model_forward_time": 5.074750661849976, "step": 4828 }, { "epoch": 4.604339599609375e-07, "step": 4828, "training_step_time": 17.387473106384277 }, { "epoch": 4.605293273925781e-07, "model_forward_time": 5.092652082443237, "step": 4829 }, { "epoch": 4.605293273925781e-07, "step": 4829, "training_step_time": 17.622942209243774 }, { "epoch": 4.6062469482421874e-07, "grad_norm": 1.7470929622650146, "learning_rate": 9.99014846831983e-06, "loss": 0.1483, "step": 4830 }, { "epoch": 4.6062469482421874e-07, "model_forward_time": 5.094182014465332, "step": 4830 }, { "dynamics_loss_avg": 0.049230512231588364, "epoch": 4.6062469482421874e-07, "step": 4830 }, { "action_loss_avg": 0.12492275908589363, "epoch": 4.6062469482421874e-07, "step": 4830 }, { "arm_loss_avg": 0.16566817760467528, "epoch": 4.6062469482421874e-07, "step": 4830 }, { "ee_loss_avg": 0.13429230116307736, "epoch": 4.6062469482421874e-07, "step": 4830 }, { "aux_loss_avg": 0.0012235323898494243, "epoch": 4.6062469482421874e-07, "step": 4830 }, { "epoch": 4.6062469482421874e-07, "step": 4830, "training_step_time": 17.533994436264038 }, { "epoch": 4.6072006225585935e-07, "model_forward_time": 5.293533802032471, "step": 4831 }, { "epoch": 4.6072006225585935e-07, "step": 4831, "training_step_time": 17.57201099395752 }, { "epoch": 4.608154296875e-07, "model_forward_time": 5.096308708190918, "step": 4832 }, { "epoch": 4.608154296875e-07, "step": 4832, "training_step_time": 17.383371114730835 }, { "epoch": 4.6091079711914063e-07, "model_forward_time": 5.093869686126709, "step": 4833 }, { "epoch": 4.6091079711914063e-07, "step": 4833, "training_step_time": 17.75852870941162 }, { "epoch": 4.6100616455078125e-07, "model_forward_time": 5.089411735534668, "step": 4834 }, { "epoch": 4.6100616455078125e-07, "step": 4834, "training_step_time": 17.57571792602539 }, { "epoch": 4.6110153198242186e-07, "model_forward_time": 5.088836193084717, "step": 4835 }, { "epoch": 4.6110153198242186e-07, "step": 4835, "training_step_time": 17.604309797286987 }, { "epoch": 4.611968994140625e-07, "model_forward_time": 5.084355354309082, "step": 4836 }, { "epoch": 4.611968994140625e-07, "step": 4836, "training_step_time": 17.631672143936157 }, { "epoch": 4.6129226684570314e-07, "model_forward_time": 5.090012550354004, "step": 4837 }, { "epoch": 4.6129226684570314e-07, "step": 4837, "training_step_time": 17.639357089996338 }, { "epoch": 4.6138763427734376e-07, "model_forward_time": 5.093157052993774, "step": 4838 }, { "epoch": 4.6138763427734376e-07, "step": 4838, "training_step_time": 17.85939073562622 }, { "epoch": 4.6148300170898437e-07, "model_forward_time": 5.101176500320435, "step": 4839 }, { "epoch": 4.6148300170898437e-07, "step": 4839, "training_step_time": 17.691935062408447 }, { "epoch": 4.61578369140625e-07, "grad_norm": 2.6194982528686523, "learning_rate": 9.989999705373617e-06, "loss": 0.1494, "step": 4840 }, { "epoch": 4.61578369140625e-07, "model_forward_time": 5.30541729927063, "step": 4840 }, { "dynamics_loss_avg": 0.05895515587180853, "epoch": 4.61578369140625e-07, "step": 4840 }, { "action_loss_avg": 0.12407285384833813, "epoch": 4.61578369140625e-07, "step": 4840 }, { "arm_loss_avg": 0.17564468681812287, "epoch": 4.61578369140625e-07, "step": 4840 }, { "ee_loss_avg": 0.1570163931697607, "epoch": 4.61578369140625e-07, "step": 4840 }, { "aux_loss_avg": 0.003559749497799203, "epoch": 4.61578369140625e-07, "step": 4840 }, { "epoch": 4.61578369140625e-07, "step": 4840, "training_step_time": 17.664413928985596 }, { "epoch": 4.616737365722656e-07, "model_forward_time": 5.083768844604492, "step": 4841 }, { "epoch": 4.616737365722656e-07, "step": 4841, "training_step_time": 17.617139101028442 }, { "epoch": 4.6176910400390627e-07, "model_forward_time": 5.082682371139526, "step": 4842 }, { "epoch": 4.6176910400390627e-07, "step": 4842, "training_step_time": 17.61213254928589 }, { "epoch": 4.618644714355469e-07, "model_forward_time": 5.0843024253845215, "step": 4843 }, { "epoch": 4.618644714355469e-07, "step": 4843, "training_step_time": 17.41472363471985 }, { "epoch": 4.619598388671875e-07, "model_forward_time": 5.086721658706665, "step": 4844 }, { "epoch": 4.619598388671875e-07, "step": 4844, "training_step_time": 17.63383412361145 }, { "epoch": 4.620552062988281e-07, "model_forward_time": 5.0854926109313965, "step": 4845 }, { "epoch": 4.620552062988281e-07, "step": 4845, "training_step_time": 17.546953678131104 }, { "epoch": 4.621505737304687e-07, "model_forward_time": 5.087915897369385, "step": 4846 }, { "epoch": 4.621505737304687e-07, "step": 4846, "training_step_time": 17.579750299453735 }, { "epoch": 4.622459411621094e-07, "model_forward_time": 5.092335224151611, "step": 4847 }, { "epoch": 4.622459411621094e-07, "step": 4847, "training_step_time": 17.593820095062256 }, { "epoch": 4.6234130859375e-07, "model_forward_time": 5.090502500534058, "step": 4848 }, { "epoch": 4.6234130859375e-07, "step": 4848, "training_step_time": 17.790818214416504 }, { "epoch": 4.624366760253906e-07, "model_forward_time": 5.088060617446899, "step": 4849 }, { "epoch": 4.624366760253906e-07, "step": 4849, "training_step_time": 17.634722471237183 }, { "epoch": 4.6253204345703124e-07, "grad_norm": 1.5179688930511475, "learning_rate": 9.98984982875626e-06, "loss": 0.1459, "step": 4850 }, { "epoch": 4.6253204345703124e-07, "model_forward_time": 5.088954210281372, "step": 4850 }, { "dynamics_loss_avg": 0.05517843384295702, "epoch": 4.6253204345703124e-07, "step": 4850 }, { "action_loss_avg": 0.11094659194350243, "epoch": 4.6253204345703124e-07, "step": 4850 }, { "arm_loss_avg": 0.16129876002669336, "epoch": 4.6253204345703124e-07, "step": 4850 }, { "ee_loss_avg": 0.10773219093680382, "epoch": 4.6253204345703124e-07, "step": 4850 }, { "aux_loss_avg": 0.0010346412484068424, "epoch": 4.6253204345703124e-07, "step": 4850 }, { "epoch": 4.6253204345703124e-07, "step": 4850, "training_step_time": 17.62230610847473 }, { "epoch": 4.6262741088867185e-07, "model_forward_time": 5.089162349700928, "step": 4851 }, { "epoch": 4.6262741088867185e-07, "step": 4851, "training_step_time": 17.615097999572754 }, { "epoch": 4.627227783203125e-07, "model_forward_time": 5.091003179550171, "step": 4852 }, { "epoch": 4.627227783203125e-07, "step": 4852, "training_step_time": 17.619499683380127 }, { "epoch": 4.6281814575195313e-07, "model_forward_time": 5.087082624435425, "step": 4853 }, { "epoch": 4.6281814575195313e-07, "step": 4853, "training_step_time": 17.843793153762817 }, { "epoch": 4.6291351318359375e-07, "model_forward_time": 5.091059684753418, "step": 4854 }, { "epoch": 4.6291351318359375e-07, "step": 4854, "training_step_time": 17.60689902305603 }, { "epoch": 4.6300888061523436e-07, "model_forward_time": 5.329609632492065, "step": 4855 }, { "epoch": 4.6300888061523436e-07, "step": 4855, "training_step_time": 17.6084041595459 }, { "epoch": 4.63104248046875e-07, "model_forward_time": 5.092702865600586, "step": 4856 }, { "epoch": 4.63104248046875e-07, "step": 4856, "training_step_time": 17.61636710166931 }, { "epoch": 4.6319961547851564e-07, "model_forward_time": 3.859459638595581, "step": 4857 }, { "epoch": 4.6319961547851564e-07, "step": 4857, "training_step_time": 17.63113260269165 }, { "epoch": 4.6329498291015626e-07, "model_forward_time": 5.077103137969971, "step": 4858 }, { "epoch": 4.6329498291015626e-07, "step": 4858, "training_step_time": 17.884217977523804 }, { "epoch": 4.633903503417969e-07, "model_forward_time": 5.081103324890137, "step": 4859 }, { "epoch": 4.633903503417969e-07, "step": 4859, "training_step_time": 17.698033571243286 }, { "epoch": 4.634857177734375e-07, "grad_norm": 1.556714653968811, "learning_rate": 9.989698838501208e-06, "loss": 0.1387, "step": 4860 }, { "epoch": 4.634857177734375e-07, "model_forward_time": 5.101848363876343, "step": 4860 }, { "dynamics_loss_avg": 0.037117686681449415, "epoch": 4.634857177734375e-07, "step": 4860 }, { "action_loss_avg": 0.09483309425413608, "epoch": 4.634857177734375e-07, "step": 4860 }, { "arm_loss_avg": 0.1493396058678627, "epoch": 4.634857177734375e-07, "step": 4860 }, { "ee_loss_avg": 0.10295905657112599, "epoch": 4.634857177734375e-07, "step": 4860 }, { "aux_loss_avg": 0.0010174307157285512, "epoch": 4.634857177734375e-07, "step": 4860 }, { "epoch": 4.634857177734375e-07, "step": 4860, "training_step_time": 17.62468123435974 }, { "epoch": 4.635810852050781e-07, "model_forward_time": 3.859222650527954, "step": 4861 }, { "epoch": 4.635810852050781e-07, "step": 4861, "training_step_time": 17.611520767211914 }, { "epoch": 4.6367645263671877e-07, "model_forward_time": 5.067761182785034, "step": 4862 }, { "epoch": 4.6367645263671877e-07, "step": 4862, "training_step_time": 17.844136476516724 }, { "epoch": 4.637718200683594e-07, "model_forward_time": 5.080048084259033, "step": 4863 }, { "epoch": 4.637718200683594e-07, "step": 4863, "training_step_time": 17.607550621032715 }, { "epoch": 4.638671875e-07, "model_forward_time": 5.097181558609009, "step": 4864 }, { "epoch": 4.638671875e-07, "step": 4864, "training_step_time": 17.64710545539856 }, { "epoch": 4.639625549316406e-07, "model_forward_time": 5.100000619888306, "step": 4865 }, { "epoch": 4.639625549316406e-07, "step": 4865, "training_step_time": 17.47031879425049 }, { "epoch": 4.6405792236328123e-07, "model_forward_time": 5.110987663269043, "step": 4866 }, { "epoch": 4.6405792236328123e-07, "step": 4866, "training_step_time": 17.51963973045349 }, { "epoch": 4.641532897949219e-07, "model_forward_time": 5.10560941696167, "step": 4867 }, { "epoch": 4.641532897949219e-07, "step": 4867, "training_step_time": 17.561091899871826 }, { "epoch": 4.642486572265625e-07, "model_forward_time": 3.8653297424316406, "step": 4868 }, { "epoch": 4.642486572265625e-07, "step": 4868, "training_step_time": 17.769568920135498 }, { "epoch": 4.643440246582031e-07, "model_forward_time": 5.066986083984375, "step": 4869 }, { "epoch": 4.643440246582031e-07, "step": 4869, "training_step_time": 17.612021684646606 }, { "epoch": 4.6443939208984374e-07, "grad_norm": 1.0632864236831665, "learning_rate": 9.98954673464216e-06, "loss": 0.1336, "step": 4870 }, { "epoch": 4.6443939208984374e-07, "model_forward_time": 5.077251672744751, "step": 4870 }, { "dynamics_loss_avg": 0.05146763902157545, "epoch": 4.6443939208984374e-07, "step": 4870 }, { "action_loss_avg": 0.11084296181797981, "epoch": 4.6443939208984374e-07, "step": 4870 }, { "arm_loss_avg": 0.12077437788248062, "epoch": 4.6443939208984374e-07, "step": 4870 }, { "ee_loss_avg": 0.14949893653392793, "epoch": 4.6443939208984374e-07, "step": 4870 }, { "aux_loss_avg": 0.0009167424635961652, "epoch": 4.6443939208984374e-07, "step": 4870 }, { "epoch": 4.6443939208984374e-07, "step": 4870, "training_step_time": 17.62875461578369 }, { "epoch": 4.6453475952148435e-07, "model_forward_time": 5.266443967819214, "step": 4871 }, { "epoch": 4.6453475952148435e-07, "step": 4871, "training_step_time": 17.625020027160645 }, { "epoch": 4.64630126953125e-07, "model_forward_time": 5.0926666259765625, "step": 4872 }, { "epoch": 4.64630126953125e-07, "step": 4872, "training_step_time": 17.860299825668335 }, { "epoch": 4.6472549438476564e-07, "model_forward_time": 5.096036434173584, "step": 4873 }, { "epoch": 4.6472549438476564e-07, "step": 4873, "training_step_time": 17.63149881362915 }, { "epoch": 4.6482086181640625e-07, "model_forward_time": 5.099457025527954, "step": 4874 }, { "epoch": 4.6482086181640625e-07, "step": 4874, "training_step_time": 17.628793954849243 }, { "epoch": 4.6491622924804686e-07, "model_forward_time": 3.8589518070220947, "step": 4875 }, { "epoch": 4.6491622924804686e-07, "step": 4875, "training_step_time": 17.61716604232788 }, { "epoch": 4.650115966796875e-07, "model_forward_time": 5.30151891708374, "step": 4876 }, { "epoch": 4.650115966796875e-07, "step": 4876, "training_step_time": 17.625746965408325 }, { "epoch": 4.6510696411132815e-07, "model_forward_time": 5.082509756088257, "step": 4877 }, { "epoch": 4.6510696411132815e-07, "step": 4877, "training_step_time": 17.823352098464966 }, { "epoch": 4.6520233154296876e-07, "model_forward_time": 5.085817575454712, "step": 4878 }, { "epoch": 4.6520233154296876e-07, "step": 4878, "training_step_time": 17.609198093414307 }, { "epoch": 4.652976989746094e-07, "model_forward_time": 5.091714382171631, "step": 4879 }, { "epoch": 4.652976989746094e-07, "step": 4879, "training_step_time": 17.62760591506958 }, { "epoch": 4.6539306640625e-07, "grad_norm": 1.1759235858917236, "learning_rate": 9.989393517213063e-06, "loss": 0.1199, "step": 4880 }, { "epoch": 4.6539306640625e-07, "model_forward_time": 5.096243619918823, "step": 4880 }, { "dynamics_loss_avg": 0.045705413166433576, "epoch": 4.6539306640625e-07, "step": 4880 }, { "action_loss_avg": 0.10016353018581867, "epoch": 4.6539306640625e-07, "step": 4880 }, { "arm_loss_avg": 0.1274172194302082, "epoch": 4.6539306640625e-07, "step": 4880 }, { "ee_loss_avg": 0.13608830142766237, "epoch": 4.6539306640625e-07, "step": 4880 }, { "aux_loss_avg": 0.0008659790328238159, "epoch": 4.6539306640625e-07, "step": 4880 }, { "epoch": 4.6539306640625e-07, "step": 4880, "training_step_time": 17.60906219482422 }, { "epoch": 4.654884338378906e-07, "model_forward_time": 5.098396301269531, "step": 4881 }, { "epoch": 4.654884338378906e-07, "step": 4881, "training_step_time": 17.605650424957275 }, { "epoch": 4.6558380126953127e-07, "model_forward_time": 5.100373268127441, "step": 4882 }, { "epoch": 4.6558380126953127e-07, "step": 4882, "training_step_time": 17.829455375671387 }, { "epoch": 4.656791687011719e-07, "model_forward_time": 5.093007326126099, "step": 4883 }, { "epoch": 4.656791687011719e-07, "step": 4883, "training_step_time": 17.607317209243774 }, { "epoch": 4.657745361328125e-07, "model_forward_time": 5.093467712402344, "step": 4884 }, { "epoch": 4.657745361328125e-07, "step": 4884, "training_step_time": 17.61020016670227 }, { "epoch": 4.658699035644531e-07, "model_forward_time": 5.091206312179565, "step": 4885 }, { "epoch": 4.658699035644531e-07, "step": 4885, "training_step_time": 17.612143993377686 }, { "epoch": 4.6596527099609373e-07, "model_forward_time": 5.09102725982666, "step": 4886 }, { "epoch": 4.6596527099609373e-07, "step": 4886, "training_step_time": 17.44670534133911 }, { "epoch": 4.660606384277344e-07, "model_forward_time": 5.0884013175964355, "step": 4887 }, { "epoch": 4.660606384277344e-07, "step": 4887, "training_step_time": 17.280944108963013 }, { "epoch": 4.66156005859375e-07, "model_forward_time": 5.089890480041504, "step": 4888 }, { "epoch": 4.66156005859375e-07, "step": 4888, "training_step_time": 17.320988178253174 }, { "epoch": 4.662513732910156e-07, "model_forward_time": 5.088115215301514, "step": 4889 }, { "epoch": 4.662513732910156e-07, "step": 4889, "training_step_time": 17.452279567718506 }, { "epoch": 4.6634674072265624e-07, "grad_norm": 1.8047946691513062, "learning_rate": 9.989239186248114e-06, "loss": 0.1402, "step": 4890 }, { "epoch": 4.6634674072265624e-07, "model_forward_time": 5.086175203323364, "step": 4890 }, { "dynamics_loss_avg": 0.05968229454010725, "epoch": 4.6634674072265624e-07, "step": 4890 }, { "action_loss_avg": 0.09290548488497734, "epoch": 4.6634674072265624e-07, "step": 4890 }, { "arm_loss_avg": 0.14170468226075172, "epoch": 4.6634674072265624e-07, "step": 4890 }, { "ee_loss_avg": 0.13016767613589764, "epoch": 4.6634674072265624e-07, "step": 4890 }, { "aux_loss_avg": 0.001809376577148214, "epoch": 4.6634674072265624e-07, "step": 4890 }, { "epoch": 4.6634674072265624e-07, "step": 4890, "training_step_time": 17.62374520301819 }, { "epoch": 4.6644210815429686e-07, "model_forward_time": 3.850896120071411, "step": 4891 }, { "epoch": 4.6644210815429686e-07, "step": 4891, "training_step_time": 17.59525990486145 }, { "epoch": 4.665374755859375e-07, "model_forward_time": 5.062419652938843, "step": 4892 }, { "epoch": 4.665374755859375e-07, "step": 4892, "training_step_time": 17.647882223129272 }, { "epoch": 4.6663284301757814e-07, "model_forward_time": 5.066407203674316, "step": 4893 }, { "epoch": 4.6663284301757814e-07, "step": 4893, "training_step_time": 17.894426345825195 }, { "epoch": 4.6672821044921875e-07, "model_forward_time": 5.071347951889038, "step": 4894 }, { "epoch": 4.6672821044921875e-07, "step": 4894, "training_step_time": 17.664530038833618 }, { "epoch": 4.6682357788085937e-07, "model_forward_time": 5.083657503128052, "step": 4895 }, { "epoch": 4.6682357788085937e-07, "step": 4895, "training_step_time": 17.375885009765625 }, { "epoch": 4.669189453125e-07, "model_forward_time": 5.347046375274658, "step": 4896 }, { "epoch": 4.669189453125e-07, "step": 4896, "training_step_time": 17.598264694213867 }, { "epoch": 4.6701431274414065e-07, "model_forward_time": 5.108676433563232, "step": 4897 }, { "epoch": 4.6701431274414065e-07, "step": 4897, "training_step_time": 17.612813711166382 }, { "epoch": 4.6710968017578126e-07, "model_forward_time": 5.107955694198608, "step": 4898 }, { "epoch": 4.6710968017578126e-07, "step": 4898, "training_step_time": 17.82442331314087 }, { "epoch": 4.672050476074219e-07, "model_forward_time": 5.110347270965576, "step": 4899 }, { "epoch": 4.672050476074219e-07, "step": 4899, "training_step_time": 17.649132013320923 }, { "epoch": 4.673004150390625e-07, "grad_norm": 1.6245466470718384, "learning_rate": 9.989083741781754e-06, "loss": 0.1282, "step": 4900 }, { "epoch": 4.673004150390625e-07, "model_forward_time": 5.089794397354126, "step": 4900 }, { "dynamics_loss_avg": 0.04854721538722515, "epoch": 4.673004150390625e-07, "step": 4900 }, { "action_loss_avg": 0.10671003200113774, "epoch": 4.673004150390625e-07, "step": 4900 }, { "arm_loss_avg": 0.159616170078516, "epoch": 4.673004150390625e-07, "step": 4900 }, { "ee_loss_avg": 0.12532532587647438, "epoch": 4.673004150390625e-07, "step": 4900 }, { "aux_loss_avg": 0.001043986575677991, "epoch": 4.673004150390625e-07, "step": 4900 }, { "epoch": 4.673004150390625e-07, "step": 4900, "training_step_time": 17.63152241706848 }, { "epoch": 4.673957824707031e-07, "model_forward_time": 5.090710401535034, "step": 4901 }, { "epoch": 4.673957824707031e-07, "step": 4901, "training_step_time": 17.62000584602356 }, { "epoch": 4.6749114990234377e-07, "model_forward_time": 5.086498022079468, "step": 4902 }, { "epoch": 4.6749114990234377e-07, "step": 4902, "training_step_time": 17.61708688735962 }, { "epoch": 4.675865173339844e-07, "model_forward_time": 5.081669807434082, "step": 4903 }, { "epoch": 4.675865173339844e-07, "step": 4903, "training_step_time": 17.84524393081665 }, { "epoch": 4.67681884765625e-07, "model_forward_time": 5.078514337539673, "step": 4904 }, { "epoch": 4.67681884765625e-07, "step": 4904, "training_step_time": 17.620619773864746 }, { "epoch": 4.677772521972656e-07, "model_forward_time": 5.07858419418335, "step": 4905 }, { "epoch": 4.677772521972656e-07, "step": 4905, "training_step_time": 17.613051891326904 }, { "epoch": 4.6787261962890623e-07, "model_forward_time": 5.0793373584747314, "step": 4906 }, { "epoch": 4.6787261962890623e-07, "step": 4906, "training_step_time": 17.609200716018677 }, { "epoch": 4.679679870605469e-07, "model_forward_time": 5.0836827754974365, "step": 4907 }, { "epoch": 4.679679870605469e-07, "step": 4907, "training_step_time": 17.589219093322754 }, { "epoch": 4.680633544921875e-07, "model_forward_time": 5.083275079727173, "step": 4908 }, { "epoch": 4.680633544921875e-07, "step": 4908, "training_step_time": 17.775338649749756 }, { "epoch": 4.6815872192382813e-07, "model_forward_time": 5.079220294952393, "step": 4909 }, { "epoch": 4.6815872192382813e-07, "step": 4909, "training_step_time": 17.3760187625885 }, { "epoch": 4.6825408935546874e-07, "grad_norm": 1.955210566520691, "learning_rate": 9.988927183848676e-06, "loss": 0.1274, "step": 4910 }, { "epoch": 4.6825408935546874e-07, "model_forward_time": 5.081014156341553, "step": 4910 }, { "dynamics_loss_avg": 0.05072052646428347, "epoch": 4.6825408935546874e-07, "step": 4910 }, { "action_loss_avg": 0.08922368697822095, "epoch": 4.6825408935546874e-07, "step": 4910 }, { "arm_loss_avg": 0.15089855641126632, "epoch": 4.6825408935546874e-07, "step": 4910 }, { "ee_loss_avg": 0.11729183532297612, "epoch": 4.6825408935546874e-07, "step": 4910 }, { "aux_loss_avg": 0.002460242051165551, "epoch": 4.6825408935546874e-07, "step": 4910 }, { "epoch": 4.6825408935546874e-07, "step": 4910, "training_step_time": 17.63547396659851 }, { "epoch": 4.6834945678710936e-07, "model_forward_time": 5.078858375549316, "step": 4911 }, { "epoch": 4.6834945678710936e-07, "step": 4911, "training_step_time": 17.520795583724976 }, { "epoch": 4.6844482421875e-07, "model_forward_time": 5.080315351486206, "step": 4912 }, { "epoch": 4.6844482421875e-07, "step": 4912, "training_step_time": 17.40640616416931 }, { "epoch": 4.6854019165039064e-07, "model_forward_time": 5.0854926109313965, "step": 4913 }, { "epoch": 4.6854019165039064e-07, "step": 4913, "training_step_time": 17.714837074279785 }, { "epoch": 4.6863555908203125e-07, "model_forward_time": 5.0804057121276855, "step": 4914 }, { "epoch": 4.6863555908203125e-07, "step": 4914, "training_step_time": 17.60637640953064 }, { "epoch": 4.6873092651367187e-07, "model_forward_time": 3.8493449687957764, "step": 4915 }, { "epoch": 4.6873092651367187e-07, "step": 4915, "training_step_time": 17.60271906852722 }, { "epoch": 4.688262939453125e-07, "model_forward_time": 5.288736820220947, "step": 4916 }, { "epoch": 4.688262939453125e-07, "step": 4916, "training_step_time": 17.62136173248291 }, { "epoch": 4.6892166137695315e-07, "model_forward_time": 5.066220045089722, "step": 4917 }, { "epoch": 4.6892166137695315e-07, "step": 4917, "training_step_time": 17.640502452850342 }, { "epoch": 4.6901702880859376e-07, "model_forward_time": 5.075163841247559, "step": 4918 }, { "epoch": 4.6901702880859376e-07, "step": 4918, "training_step_time": 17.389132738113403 }, { "epoch": 4.691123962402344e-07, "model_forward_time": 5.083623886108398, "step": 4919 }, { "epoch": 4.691123962402344e-07, "step": 4919, "training_step_time": 17.59693217277527 }, { "epoch": 4.69207763671875e-07, "grad_norm": 1.1479332447052002, "learning_rate": 9.98876951248382e-06, "loss": 0.133, "step": 4920 }, { "epoch": 4.69207763671875e-07, "model_forward_time": 5.092662334442139, "step": 4920 }, { "dynamics_loss_avg": 0.050521080009639265, "epoch": 4.69207763671875e-07, "step": 4920 }, { "action_loss_avg": 0.11200794279575348, "epoch": 4.69207763671875e-07, "step": 4920 }, { "arm_loss_avg": 0.15419388487935065, "epoch": 4.69207763671875e-07, "step": 4920 }, { "ee_loss_avg": 0.11555923186242581, "epoch": 4.69207763671875e-07, "step": 4920 }, { "aux_loss_avg": 0.0010316341475117951, "epoch": 4.69207763671875e-07, "step": 4920 }, { "epoch": 4.69207763671875e-07, "step": 4920, "training_step_time": 17.582760334014893 }, { "epoch": 4.693031311035156e-07, "model_forward_time": 5.096833229064941, "step": 4921 }, { "epoch": 4.693031311035156e-07, "step": 4921, "training_step_time": 17.61527132987976 }, { "epoch": 4.693984985351563e-07, "model_forward_time": 5.0996692180633545, "step": 4922 }, { "epoch": 4.693984985351563e-07, "step": 4922, "training_step_time": 17.627230167388916 }, { "epoch": 4.694938659667969e-07, "model_forward_time": 5.099125862121582, "step": 4923 }, { "epoch": 4.694938659667969e-07, "step": 4923, "training_step_time": 17.855603456497192 }, { "epoch": 4.695892333984375e-07, "model_forward_time": 5.095131874084473, "step": 4924 }, { "epoch": 4.695892333984375e-07, "step": 4924, "training_step_time": 17.63106870651245 }, { "epoch": 4.696846008300781e-07, "model_forward_time": 5.094525098800659, "step": 4925 }, { "epoch": 4.696846008300781e-07, "step": 4925, "training_step_time": 17.632696390151978 }, { "epoch": 4.6977996826171873e-07, "model_forward_time": 5.090760946273804, "step": 4926 }, { "epoch": 4.6977996826171873e-07, "step": 4926, "training_step_time": 17.64003300666809 }, { "epoch": 4.698753356933594e-07, "model_forward_time": 5.088961362838745, "step": 4927 }, { "epoch": 4.698753356933594e-07, "step": 4927, "training_step_time": 17.63585114479065 }, { "epoch": 4.69970703125e-07, "model_forward_time": 5.088807106018066, "step": 4928 }, { "epoch": 4.69970703125e-07, "step": 4928, "training_step_time": 17.830764293670654 }, { "epoch": 4.7006607055664063e-07, "model_forward_time": 3.848343849182129, "step": 4929 }, { "epoch": 4.7006607055664063e-07, "step": 4929, "training_step_time": 17.659164667129517 }, { "epoch": 4.7016143798828124e-07, "grad_norm": 1.8986506462097168, "learning_rate": 9.988610727722375e-06, "loss": 0.1268, "step": 4930 }, { "epoch": 4.7016143798828124e-07, "model_forward_time": 5.055706024169922, "step": 4930 }, { "dynamics_loss_avg": 0.04504076400771737, "epoch": 4.7016143798828124e-07, "step": 4930 }, { "action_loss_avg": 0.08431999310851097, "epoch": 4.7016143798828124e-07, "step": 4930 }, { "arm_loss_avg": 0.1351512972265482, "epoch": 4.7016143798828124e-07, "step": 4930 }, { "ee_loss_avg": 0.124598054215312, "epoch": 4.7016143798828124e-07, "step": 4930 }, { "aux_loss_avg": 0.004109833599068224, "epoch": 4.7016143798828124e-07, "step": 4930 }, { "epoch": 4.7016143798828124e-07, "step": 4930, "training_step_time": 17.62037229537964 }, { "epoch": 4.7025680541992186e-07, "model_forward_time": 5.259639739990234, "step": 4931 }, { "epoch": 4.7025680541992186e-07, "step": 4931, "training_step_time": 17.621681690216064 }, { "epoch": 4.703521728515625e-07, "model_forward_time": 5.081281661987305, "step": 4932 }, { "epoch": 4.703521728515625e-07, "step": 4932, "training_step_time": 17.827884912490845 }, { "epoch": 4.7044754028320314e-07, "model_forward_time": 5.084171533584595, "step": 4933 }, { "epoch": 4.7044754028320314e-07, "step": 4933, "training_step_time": 17.59584403038025 }, { "epoch": 4.7054290771484375e-07, "model_forward_time": 5.090023994445801, "step": 4934 }, { "epoch": 4.7054290771484375e-07, "step": 4934, "training_step_time": 17.60231351852417 }, { "epoch": 4.7063827514648437e-07, "model_forward_time": 5.095024824142456, "step": 4935 }, { "epoch": 4.7063827514648437e-07, "step": 4935, "training_step_time": 17.592472791671753 }, { "epoch": 4.70733642578125e-07, "model_forward_time": 5.094796895980835, "step": 4936 }, { "epoch": 4.70733642578125e-07, "step": 4936, "training_step_time": 17.588644981384277 }, { "epoch": 4.7082901000976565e-07, "model_forward_time": 5.107216119766235, "step": 4937 }, { "epoch": 4.7082901000976565e-07, "step": 4937, "training_step_time": 17.824890613555908 }, { "epoch": 4.7092437744140627e-07, "model_forward_time": 5.115582704544067, "step": 4938 }, { "epoch": 4.7092437744140627e-07, "step": 4938, "training_step_time": 17.62072205543518 }, { "epoch": 4.710197448730469e-07, "model_forward_time": 5.098937034606934, "step": 4939 }, { "epoch": 4.710197448730469e-07, "step": 4939, "training_step_time": 17.622414350509644 }, { "epoch": 4.711151123046875e-07, "grad_norm": 1.5958702564239502, "learning_rate": 9.98845082959978e-06, "loss": 0.1353, "step": 4940 }, { "epoch": 4.711151123046875e-07, "model_forward_time": 3.8613619804382324, "step": 4940 }, { "dynamics_loss_avg": 0.044999368488788605, "epoch": 4.711151123046875e-07, "step": 4940 }, { "action_loss_avg": 0.08232045248150825, "epoch": 4.711151123046875e-07, "step": 4940 }, { "arm_loss_avg": 0.16613321006298065, "epoch": 4.711151123046875e-07, "step": 4940 }, { "ee_loss_avg": 0.11856277100741863, "epoch": 4.711151123046875e-07, "step": 4940 }, { "aux_loss_avg": 0.003590511466609314, "epoch": 4.711151123046875e-07, "step": 4940 }, { "epoch": 4.711151123046875e-07, "step": 4940, "training_step_time": 17.616512775421143 }, { "epoch": 4.712104797363281e-07, "model_forward_time": 5.060300350189209, "step": 4941 }, { "epoch": 4.712104797363281e-07, "step": 4941, "training_step_time": 18.009379148483276 }, { "epoch": 4.713058471679687e-07, "model_forward_time": 3.839414596557617, "step": 4942 }, { "epoch": 4.713058471679687e-07, "step": 4942, "training_step_time": 17.493862628936768 }, { "epoch": 4.714012145996094e-07, "model_forward_time": 5.053577899932861, "step": 4943 }, { "epoch": 4.714012145996094e-07, "step": 4943, "training_step_time": 17.787362813949585 }, { "epoch": 4.7149658203125e-07, "model_forward_time": 5.068246603012085, "step": 4944 }, { "epoch": 4.7149658203125e-07, "step": 4944, "training_step_time": 17.573955535888672 }, { "epoch": 4.715919494628906e-07, "model_forward_time": 5.08401346206665, "step": 4945 }, { "epoch": 4.715919494628906e-07, "step": 4945, "training_step_time": 17.482454538345337 }, { "epoch": 4.7168731689453123e-07, "model_forward_time": 5.099038362503052, "step": 4946 }, { "epoch": 4.7168731689453123e-07, "step": 4946, "training_step_time": 17.532244443893433 }, { "epoch": 4.7178268432617185e-07, "model_forward_time": 5.106910467147827, "step": 4947 }, { "epoch": 4.7178268432617185e-07, "step": 4947, "training_step_time": 17.57973074913025 }, { "epoch": 4.718780517578125e-07, "model_forward_time": 5.109956979751587, "step": 4948 }, { "epoch": 4.718780517578125e-07, "step": 4948, "training_step_time": 17.421813249588013 }, { "epoch": 4.7197341918945313e-07, "model_forward_time": 5.10653281211853, "step": 4949 }, { "epoch": 4.7197341918945313e-07, "step": 4949, "training_step_time": 17.558963298797607 }, { "epoch": 4.7206878662109375e-07, "grad_norm": 2.7951531410217285, "learning_rate": 9.988289818151721e-06, "loss": 0.136, "step": 4950 }, { "epoch": 4.7206878662109375e-07, "model_forward_time": 5.101848840713501, "step": 4950 }, { "dynamics_loss_avg": 0.04351407652720809, "epoch": 4.7206878662109375e-07, "step": 4950 }, { "action_loss_avg": 0.07732171192765236, "epoch": 4.7206878662109375e-07, "step": 4950 }, { "arm_loss_avg": 0.12121051400899888, "epoch": 4.7206878662109375e-07, "step": 4950 }, { "ee_loss_avg": 0.1193319946527481, "epoch": 4.7206878662109375e-07, "step": 4950 }, { "aux_loss_avg": 0.001823097071610391, "epoch": 4.7206878662109375e-07, "step": 4950 }, { "epoch": 4.7206878662109375e-07, "step": 4950, "training_step_time": 17.67164921760559 }, { "epoch": 4.7216415405273436e-07, "model_forward_time": 3.856199264526367, "step": 4951 }, { "epoch": 4.7216415405273436e-07, "step": 4951, "training_step_time": 17.636708974838257 }, { "epoch": 4.72259521484375e-07, "model_forward_time": 5.061127662658691, "step": 4952 }, { "epoch": 4.72259521484375e-07, "step": 4952, "training_step_time": 17.67005205154419 }, { "epoch": 4.7235488891601564e-07, "model_forward_time": 5.068463087081909, "step": 4953 }, { "epoch": 4.7235488891601564e-07, "step": 4953, "training_step_time": 17.894886016845703 }, { "epoch": 4.7245025634765626e-07, "model_forward_time": 5.070767641067505, "step": 4954 }, { "epoch": 4.7245025634765626e-07, "step": 4954, "training_step_time": 17.659358024597168 }, { "epoch": 4.7254562377929687e-07, "model_forward_time": 3.847886800765991, "step": 4955 }, { "epoch": 4.7254562377929687e-07, "step": 4955, "training_step_time": 17.65721344947815 }, { "epoch": 4.726409912109375e-07, "model_forward_time": 5.286933660507202, "step": 4956 }, { "epoch": 4.726409912109375e-07, "step": 4956, "training_step_time": 17.649495601654053 }, { "epoch": 4.727363586425781e-07, "model_forward_time": 5.072307109832764, "step": 4957 }, { "epoch": 4.727363586425781e-07, "step": 4957, "training_step_time": 17.24296498298645 }, { "epoch": 4.7283172607421877e-07, "model_forward_time": 5.087757587432861, "step": 4958 }, { "epoch": 4.7283172607421877e-07, "step": 4958, "training_step_time": 17.71798849105835 }, { "epoch": 4.729270935058594e-07, "model_forward_time": 5.09546685218811, "step": 4959 }, { "epoch": 4.729270935058594e-07, "step": 4959, "training_step_time": 17.567821741104126 }, { "epoch": 4.730224609375e-07, "grad_norm": 1.8039730787277222, "learning_rate": 9.988127693414133e-06, "loss": 0.1382, "step": 4960 }, { "epoch": 4.730224609375e-07, "model_forward_time": 5.102120637893677, "step": 4960 }, { "dynamics_loss_avg": 0.04750009384006262, "epoch": 4.730224609375e-07, "step": 4960 }, { "action_loss_avg": 0.11112037561833858, "epoch": 4.730224609375e-07, "step": 4960 }, { "arm_loss_avg": 0.14496535509824754, "epoch": 4.730224609375e-07, "step": 4960 }, { "ee_loss_avg": 0.11677056550979614, "epoch": 4.730224609375e-07, "step": 4960 }, { "aux_loss_avg": 0.0011227629147469997, "epoch": 4.730224609375e-07, "step": 4960 }, { "epoch": 4.730224609375e-07, "step": 4960, "training_step_time": 17.645055770874023 }, { "epoch": 4.731178283691406e-07, "model_forward_time": 5.288023471832275, "step": 4961 }, { "epoch": 4.731178283691406e-07, "step": 4961, "training_step_time": 17.419092416763306 }, { "epoch": 4.732131958007812e-07, "model_forward_time": 5.097707509994507, "step": 4962 }, { "epoch": 4.732131958007812e-07, "step": 4962, "training_step_time": 17.431886434555054 }, { "epoch": 4.733085632324219e-07, "model_forward_time": 5.096044540405273, "step": 4963 }, { "epoch": 4.733085632324219e-07, "step": 4963, "training_step_time": 17.720211029052734 }, { "epoch": 4.734039306640625e-07, "model_forward_time": 5.090691566467285, "step": 4964 }, { "epoch": 4.734039306640625e-07, "step": 4964, "training_step_time": 17.55625867843628 }, { "epoch": 4.734992980957031e-07, "model_forward_time": 3.8480212688446045, "step": 4965 }, { "epoch": 4.734992980957031e-07, "step": 4965, "training_step_time": 17.60082769393921 }, { "epoch": 4.7359466552734374e-07, "model_forward_time": 4.038401365280151, "step": 4966 }, { "epoch": 4.7359466552734374e-07, "step": 4966, "training_step_time": 17.635404586791992 }, { "epoch": 4.7369003295898435e-07, "model_forward_time": 5.041939735412598, "step": 4967 }, { "epoch": 4.7369003295898435e-07, "step": 4967, "training_step_time": 17.645120859146118 }, { "epoch": 4.73785400390625e-07, "model_forward_time": 5.05541729927063, "step": 4968 }, { "epoch": 4.73785400390625e-07, "step": 4968, "training_step_time": 17.835604429244995 }, { "epoch": 4.7388076782226563e-07, "model_forward_time": 5.067854404449463, "step": 4969 }, { "epoch": 4.7388076782226563e-07, "step": 4969, "training_step_time": 17.64060139656067 }, { "epoch": 4.7397613525390625e-07, "grad_norm": 1.7422047853469849, "learning_rate": 9.987964455423198e-06, "loss": 0.1212, "step": 4970 }, { "epoch": 4.7397613525390625e-07, "model_forward_time": 5.082028150558472, "step": 4970 }, { "dynamics_loss_avg": 0.05061427187174559, "epoch": 4.7397613525390625e-07, "step": 4970 }, { "action_loss_avg": 0.08408247530460358, "epoch": 4.7397613525390625e-07, "step": 4970 }, { "arm_loss_avg": 0.12501644268631934, "epoch": 4.7397613525390625e-07, "step": 4970 }, { "ee_loss_avg": 0.12475845851004123, "epoch": 4.7397613525390625e-07, "step": 4970 }, { "aux_loss_avg": 0.006417523830896244, "epoch": 4.7397613525390625e-07, "step": 4970 }, { "epoch": 4.7397613525390625e-07, "step": 4970, "training_step_time": 17.631895303726196 }, { "epoch": 4.7407150268554686e-07, "model_forward_time": 5.279136657714844, "step": 4971 }, { "epoch": 4.7407150268554686e-07, "step": 4971, "training_step_time": 17.6128990650177 }, { "epoch": 4.741668701171875e-07, "model_forward_time": 5.101788282394409, "step": 4972 }, { "epoch": 4.741668701171875e-07, "step": 4972, "training_step_time": 17.610894918441772 }, { "epoch": 4.7426223754882814e-07, "model_forward_time": 5.097778797149658, "step": 4973 }, { "epoch": 4.7426223754882814e-07, "step": 4973, "training_step_time": 17.836929082870483 }, { "epoch": 4.7435760498046876e-07, "model_forward_time": 3.8566339015960693, "step": 4974 }, { "epoch": 4.7435760498046876e-07, "step": 4974, "training_step_time": 17.594816207885742 }, { "epoch": 4.7445297241210937e-07, "model_forward_time": 5.059091329574585, "step": 4975 }, { "epoch": 4.7445297241210937e-07, "step": 4975, "training_step_time": 17.580848455429077 }, { "epoch": 4.7454833984375e-07, "model_forward_time": 5.307544231414795, "step": 4976 }, { "epoch": 4.7454833984375e-07, "step": 4976, "training_step_time": 17.40145182609558 }, { "epoch": 4.746437072753906e-07, "model_forward_time": 5.0873730182647705, "step": 4977 }, { "epoch": 4.746437072753906e-07, "step": 4977, "training_step_time": 17.522584199905396 }, { "epoch": 4.7473907470703127e-07, "model_forward_time": 5.08965802192688, "step": 4978 }, { "epoch": 4.7473907470703127e-07, "step": 4978, "training_step_time": 17.782557487487793 }, { "epoch": 4.748344421386719e-07, "model_forward_time": 5.094157695770264, "step": 4979 }, { "epoch": 4.748344421386719e-07, "step": 4979, "training_step_time": 17.58245277404785 }, { "epoch": 4.749298095703125e-07, "grad_norm": 2.651782274246216, "learning_rate": 9.987800104215349e-06, "loss": 0.1356, "step": 4980 }, { "epoch": 4.749298095703125e-07, "model_forward_time": 5.084787130355835, "step": 4980 }, { "dynamics_loss_avg": 0.049496017023921014, "epoch": 4.749298095703125e-07, "step": 4980 }, { "action_loss_avg": 0.07864351570606232, "epoch": 4.749298095703125e-07, "step": 4980 }, { "arm_loss_avg": 0.1354096196591854, "epoch": 4.749298095703125e-07, "step": 4980 }, { "ee_loss_avg": 0.13567760325968264, "epoch": 4.749298095703125e-07, "step": 4980 }, { "aux_loss_avg": 0.0012734400865156204, "epoch": 4.749298095703125e-07, "step": 4980 }, { "epoch": 4.749298095703125e-07, "step": 4980, "training_step_time": 17.5874285697937 }, { "epoch": 4.750251770019531e-07, "model_forward_time": 5.272654294967651, "step": 4981 }, { "epoch": 4.750251770019531e-07, "step": 4981, "training_step_time": 17.594982147216797 }, { "epoch": 4.7512054443359373e-07, "model_forward_time": 5.084248781204224, "step": 4982 }, { "epoch": 4.7512054443359373e-07, "step": 4982, "training_step_time": 17.609333038330078 }, { "epoch": 4.752159118652344e-07, "model_forward_time": 5.082366943359375, "step": 4983 }, { "epoch": 4.752159118652344e-07, "step": 4983, "training_step_time": 17.862757682800293 }, { "epoch": 4.75311279296875e-07, "model_forward_time": 5.081257581710815, "step": 4984 }, { "epoch": 4.75311279296875e-07, "step": 4984, "training_step_time": 17.61522674560547 }, { "epoch": 4.754066467285156e-07, "model_forward_time": 5.08191990852356, "step": 4985 }, { "epoch": 4.754066467285156e-07, "step": 4985, "training_step_time": 17.618852853775024 }, { "epoch": 4.7550201416015624e-07, "model_forward_time": 5.320101499557495, "step": 4986 }, { "epoch": 4.7550201416015624e-07, "step": 4986, "training_step_time": 17.622726678848267 }, { "epoch": 4.7559738159179685e-07, "model_forward_time": 5.084091901779175, "step": 4987 }, { "epoch": 4.7559738159179685e-07, "step": 4987, "training_step_time": 17.622527599334717 }, { "epoch": 4.756927490234375e-07, "model_forward_time": 5.08535623550415, "step": 4988 }, { "epoch": 4.756927490234375e-07, "step": 4988, "training_step_time": 17.835644483566284 }, { "epoch": 4.7578811645507813e-07, "model_forward_time": 5.082897663116455, "step": 4989 }, { "epoch": 4.7578811645507813e-07, "step": 4989, "training_step_time": 17.642898559570312 }, { "epoch": 4.7588348388671875e-07, "grad_norm": 1.9371075630187988, "learning_rate": 9.987634639827264e-06, "loss": 0.1319, "step": 4990 }, { "epoch": 4.7588348388671875e-07, "model_forward_time": 3.850602865219116, "step": 4990 }, { "dynamics_loss_avg": 0.04417795240879059, "epoch": 4.7588348388671875e-07, "step": 4990 }, { "action_loss_avg": 0.09546168372035027, "epoch": 4.7588348388671875e-07, "step": 4990 }, { "arm_loss_avg": 0.11987424865365029, "epoch": 4.7588348388671875e-07, "step": 4990 }, { "ee_loss_avg": 0.11854008175432681, "epoch": 4.7588348388671875e-07, "step": 4990 }, { "aux_loss_avg": 0.0013115506910253317, "epoch": 4.7588348388671875e-07, "step": 4990 }, { "epoch": 4.7588348388671875e-07, "step": 4990, "training_step_time": 17.608636379241943 }, { "epoch": 4.7597885131835936e-07, "model_forward_time": 5.252981901168823, "step": 4991 }, { "epoch": 4.7597885131835936e-07, "step": 4991, "training_step_time": 17.617223501205444 }, { "epoch": 4.7607421875e-07, "model_forward_time": 5.06776237487793, "step": 4992 }, { "epoch": 4.7607421875e-07, "step": 4992, "training_step_time": 17.610565662384033 }, { "epoch": 4.7616958618164065e-07, "model_forward_time": 5.080745697021484, "step": 4993 }, { "epoch": 4.7616958618164065e-07, "step": 4993, "training_step_time": 17.840184926986694 }, { "epoch": 4.7626495361328126e-07, "model_forward_time": 3.8554649353027344, "step": 4994 }, { "epoch": 4.7626495361328126e-07, "step": 4994, "training_step_time": 17.590003490447998 }, { "epoch": 4.763603210449219e-07, "model_forward_time": 5.059136152267456, "step": 4995 }, { "epoch": 4.763603210449219e-07, "step": 4995, "training_step_time": 17.59130358695984 }, { "epoch": 4.764556884765625e-07, "model_forward_time": 5.323187589645386, "step": 4996 }, { "epoch": 4.764556884765625e-07, "step": 4996, "training_step_time": 17.58841347694397 }, { "epoch": 4.765510559082031e-07, "model_forward_time": 5.088689565658569, "step": 4997 }, { "epoch": 4.765510559082031e-07, "step": 4997, "training_step_time": 17.602285385131836 }, { "epoch": 4.7664642333984377e-07, "model_forward_time": 5.095384359359741, "step": 4998 }, { "epoch": 4.7664642333984377e-07, "step": 4998, "training_step_time": 17.791598081588745 }, { "epoch": 4.767417907714844e-07, "model_forward_time": 5.097219944000244, "step": 4999 }, { "epoch": 4.767417907714844e-07, "step": 4999, "training_step_time": 17.61335587501526 }, { "epoch": 4.76837158203125e-07, "grad_norm": 1.6832548379898071, "learning_rate": 9.987468062295871e-06, "loss": 0.1397, "step": 5000 }, { "epoch": 4.76837158203125e-07, "model_forward_time": 5.100873708724976, "step": 5000 }, { "dynamics_loss_avg": 0.04074840401299298, "epoch": 4.76837158203125e-07, "step": 5000 }, { "action_loss_avg": 0.08351155929267406, "epoch": 4.76837158203125e-07, "step": 5000 }, { "arm_loss_avg": 0.1373459853231907, "epoch": 4.76837158203125e-07, "step": 5000 }, { "ee_loss_avg": 0.12404603734612465, "epoch": 4.76837158203125e-07, "step": 5000 }, { "aux_loss_avg": 0.0016870769468368962, "epoch": 4.76837158203125e-07, "step": 5000 }, { "epoch": 4.76837158203125e-07, "step": 5000, "training_step_time": 17.488046169281006 }, { "epoch": 4.769325256347656e-07, "model_forward_time": 5.103968858718872, "step": 5001 }, { "epoch": 4.769325256347656e-07, "step": 5001, "training_step_time": 17.52428388595581 }, { "epoch": 4.770278930664062e-07, "model_forward_time": 5.097198963165283, "step": 5002 }, { "epoch": 4.770278930664062e-07, "step": 5002, "training_step_time": 17.570116996765137 }, { "epoch": 4.771232604980468e-07, "model_forward_time": 5.088313102722168, "step": 5003 }, { "epoch": 4.771232604980468e-07, "step": 5003, "training_step_time": 17.601860761642456 }, { "epoch": 4.772186279296875e-07, "model_forward_time": 5.088282823562622, "step": 5004 }, { "epoch": 4.772186279296875e-07, "step": 5004, "training_step_time": 17.85533356666565 }, { "epoch": 4.773139953613281e-07, "model_forward_time": 5.08076024055481, "step": 5005 }, { "epoch": 4.773139953613281e-07, "step": 5005, "training_step_time": 17.628042936325073 }, { "epoch": 4.774093627929688e-07, "model_forward_time": 5.085146188735962, "step": 5006 }, { "epoch": 4.774093627929688e-07, "step": 5006, "training_step_time": 17.640970706939697 }, { "epoch": 4.775047302246094e-07, "model_forward_time": 5.085428714752197, "step": 5007 }, { "epoch": 4.775047302246094e-07, "step": 5007, "training_step_time": 17.649060487747192 }, { "epoch": 4.7760009765625e-07, "model_forward_time": 5.085550785064697, "step": 5008 }, { "epoch": 4.7760009765625e-07, "step": 5008, "training_step_time": 17.649080514907837 }, { "epoch": 4.776954650878906e-07, "model_forward_time": 5.085900545120239, "step": 5009 }, { "epoch": 4.776954650878906e-07, "step": 5009, "training_step_time": 17.83368968963623 }, { "epoch": 4.777908325195313e-07, "grad_norm": 1.2837427854537964, "learning_rate": 9.98730037165835e-06, "loss": 0.1336, "step": 5010 }, { "epoch": 4.777908325195313e-07, "model_forward_time": 5.086283922195435, "step": 5010 }, { "dynamics_loss_avg": 0.050573190208524466, "epoch": 4.777908325195313e-07, "step": 5010 }, { "action_loss_avg": 0.07019143812358379, "epoch": 4.777908325195313e-07, "step": 5010 }, { "arm_loss_avg": 0.13466597720980644, "epoch": 4.777908325195313e-07, "step": 5010 }, { "ee_loss_avg": 0.11302778925746679, "epoch": 4.777908325195313e-07, "step": 5010 }, { "aux_loss_avg": 0.005518057884182781, "epoch": 4.777908325195313e-07, "step": 5010 }, { "epoch": 4.777908325195313e-07, "step": 5010, "training_step_time": 17.62864375114441 }, { "epoch": 4.778861999511719e-07, "model_forward_time": 5.088496923446655, "step": 5011 }, { "epoch": 4.778861999511719e-07, "step": 5011, "training_step_time": 17.62232995033264 }, { "epoch": 4.779815673828125e-07, "model_forward_time": 5.0939085483551025, "step": 5012 }, { "epoch": 4.779815673828125e-07, "step": 5012, "training_step_time": 17.604656457901 }, { "epoch": 4.780769348144531e-07, "model_forward_time": 5.089989900588989, "step": 5013 }, { "epoch": 4.780769348144531e-07, "step": 5013, "training_step_time": 17.826548099517822 }, { "epoch": 4.781723022460937e-07, "model_forward_time": 5.092315912246704, "step": 5014 }, { "epoch": 4.781723022460937e-07, "step": 5014, "training_step_time": 17.60264277458191 }, { "epoch": 4.782676696777343e-07, "model_forward_time": 5.3411195278167725, "step": 5015 }, { "epoch": 4.782676696777343e-07, "step": 5015, "training_step_time": 17.605706691741943 }, { "epoch": 4.78363037109375e-07, "model_forward_time": 5.093728065490723, "step": 5016 }, { "epoch": 4.78363037109375e-07, "step": 5016, "training_step_time": 17.61010193824768 }, { "epoch": 4.784584045410157e-07, "model_forward_time": 5.0914106369018555, "step": 5017 }, { "epoch": 4.784584045410157e-07, "step": 5017, "training_step_time": 17.601702213287354 }, { "epoch": 4.785537719726563e-07, "model_forward_time": 3.854888439178467, "step": 5018 }, { "epoch": 4.785537719726563e-07, "step": 5018, "training_step_time": 17.792994022369385 }, { "epoch": 4.786491394042969e-07, "model_forward_time": 5.058583498001099, "step": 5019 }, { "epoch": 4.786491394042969e-07, "step": 5019, "training_step_time": 17.601277828216553 }, { "epoch": 4.787445068359375e-07, "grad_norm": 2.656562089920044, "learning_rate": 9.987131567952125e-06, "loss": 0.1387, "step": 5020 }, { "epoch": 4.787445068359375e-07, "model_forward_time": 5.073604583740234, "step": 5020 }, { "dynamics_loss_avg": 0.058264867216348645, "epoch": 4.787445068359375e-07, "step": 5020 }, { "action_loss_avg": 0.08800312094390392, "epoch": 4.787445068359375e-07, "step": 5020 }, { "arm_loss_avg": 0.1355960950255394, "epoch": 4.787445068359375e-07, "step": 5020 }, { "ee_loss_avg": 0.09490276779979467, "epoch": 4.787445068359375e-07, "step": 5020 }, { "aux_loss_avg": 0.0012298469315283, "epoch": 4.787445068359375e-07, "step": 5020 }, { "epoch": 4.787445068359375e-07, "step": 5020, "training_step_time": 17.692684173583984 }, { "epoch": 4.788398742675781e-07, "model_forward_time": 5.0807929039001465, "step": 5021 }, { "epoch": 4.788398742675781e-07, "step": 5021, "training_step_time": 17.61459994316101 }, { "epoch": 4.789352416992187e-07, "model_forward_time": 5.090050458908081, "step": 5022 }, { "epoch": 4.789352416992187e-07, "step": 5022, "training_step_time": 17.62164807319641 }, { "epoch": 4.790306091308593e-07, "model_forward_time": 5.097975254058838, "step": 5023 }, { "epoch": 4.790306091308593e-07, "step": 5023, "training_step_time": 17.446709156036377 }, { "epoch": 4.791259765625e-07, "model_forward_time": 5.103921890258789, "step": 5024 }, { "epoch": 4.791259765625e-07, "step": 5024, "training_step_time": 17.772374153137207 }, { "epoch": 4.792213439941406e-07, "model_forward_time": 5.098653554916382, "step": 5025 }, { "epoch": 4.792213439941406e-07, "step": 5025, "training_step_time": 17.480772972106934 }, { "epoch": 4.793167114257813e-07, "model_forward_time": 5.098988056182861, "step": 5026 }, { "epoch": 4.793167114257813e-07, "step": 5026, "training_step_time": 17.509472846984863 }, { "epoch": 4.794120788574219e-07, "model_forward_time": 5.088053941726685, "step": 5027 }, { "epoch": 4.794120788574219e-07, "step": 5027, "training_step_time": 17.564146757125854 }, { "epoch": 4.795074462890625e-07, "model_forward_time": 5.089450120925903, "step": 5028 }, { "epoch": 4.795074462890625e-07, "step": 5028, "training_step_time": 17.6075599193573 }, { "epoch": 4.796028137207031e-07, "model_forward_time": 5.088980197906494, "step": 5029 }, { "epoch": 4.796028137207031e-07, "step": 5029, "training_step_time": 17.801450967788696 }, { "epoch": 4.796981811523438e-07, "grad_norm": 2.102163076400757, "learning_rate": 9.986961651214867e-06, "loss": 0.1275, "step": 5030 }, { "epoch": 4.796981811523438e-07, "model_forward_time": 5.0813891887664795, "step": 5030 }, { "dynamics_loss_avg": 0.04988788235932588, "epoch": 4.796981811523438e-07, "step": 5030 }, { "action_loss_avg": 0.0701683584600687, "epoch": 4.796981811523438e-07, "step": 5030 }, { "arm_loss_avg": 0.13590812049806117, "epoch": 4.796981811523438e-07, "step": 5030 }, { "ee_loss_avg": 0.08345452640205622, "epoch": 4.796981811523438e-07, "step": 5030 }, { "aux_loss_avg": 0.0018360959948040545, "epoch": 4.796981811523438e-07, "step": 5030 }, { "epoch": 4.796981811523438e-07, "step": 5030, "training_step_time": 17.40291404724121 }, { "epoch": 4.797935485839844e-07, "model_forward_time": 5.083544969558716, "step": 5031 }, { "epoch": 4.797935485839844e-07, "step": 5031, "training_step_time": 17.548768281936646 }, { "epoch": 4.79888916015625e-07, "model_forward_time": 5.08661961555481, "step": 5032 }, { "epoch": 4.79888916015625e-07, "step": 5032, "training_step_time": 17.597647666931152 }, { "epoch": 4.799842834472656e-07, "model_forward_time": 5.080667734146118, "step": 5033 }, { "epoch": 4.799842834472656e-07, "step": 5033, "training_step_time": 17.613084077835083 }, { "epoch": 4.800796508789062e-07, "model_forward_time": 5.0825440883636475, "step": 5034 }, { "epoch": 4.800796508789062e-07, "step": 5034, "training_step_time": 17.84764266014099 }, { "epoch": 4.801750183105468e-07, "model_forward_time": 3.845071792602539, "step": 5035 }, { "epoch": 4.801750183105468e-07, "step": 5035, "training_step_time": 17.43732190132141 }, { "epoch": 4.802703857421875e-07, "model_forward_time": 5.066331386566162, "step": 5036 }, { "epoch": 4.802703857421875e-07, "step": 5036, "training_step_time": 17.557366132736206 }, { "epoch": 4.803657531738282e-07, "model_forward_time": 5.077969789505005, "step": 5037 }, { "epoch": 4.803657531738282e-07, "step": 5037, "training_step_time": 17.591001272201538 }, { "epoch": 4.804611206054688e-07, "model_forward_time": 5.084750413894653, "step": 5038 }, { "epoch": 4.804611206054688e-07, "step": 5038, "training_step_time": 17.628113746643066 }, { "epoch": 4.805564880371094e-07, "model_forward_time": 5.106088399887085, "step": 5039 }, { "epoch": 4.805564880371094e-07, "step": 5039, "training_step_time": 17.821361303329468 }, { "epoch": 4.8065185546875e-07, "grad_norm": 0.953758180141449, "learning_rate": 9.9867906214845e-06, "loss": 0.1259, "step": 5040 }, { "epoch": 4.8065185546875e-07, "model_forward_time": 5.283944845199585, "step": 5040 }, { "dynamics_loss_avg": 0.04574789274483919, "epoch": 4.8065185546875e-07, "step": 5040 }, { "action_loss_avg": 0.07709262724965811, "epoch": 4.8065185546875e-07, "step": 5040 }, { "arm_loss_avg": 0.13119446635246276, "epoch": 4.8065185546875e-07, "step": 5040 }, { "ee_loss_avg": 0.12137174755334854, "epoch": 4.8065185546875e-07, "step": 5040 }, { "aux_loss_avg": 0.0032850937626790256, "epoch": 4.8065185546875e-07, "step": 5040 }, { "epoch": 4.8065185546875e-07, "step": 5040, "training_step_time": 17.61491584777832 }, { "epoch": 4.807472229003906e-07, "model_forward_time": 5.089846849441528, "step": 5041 }, { "epoch": 4.807472229003906e-07, "step": 5041, "training_step_time": 17.612573623657227 }, { "epoch": 4.808425903320312e-07, "model_forward_time": 5.092027425765991, "step": 5042 }, { "epoch": 4.808425903320312e-07, "step": 5042, "training_step_time": 17.617753267288208 }, { "epoch": 4.809379577636718e-07, "model_forward_time": 5.092601776123047, "step": 5043 }, { "epoch": 4.809379577636718e-07, "step": 5043, "training_step_time": 17.61150074005127 }, { "epoch": 4.810333251953125e-07, "model_forward_time": 3.85554838180542, "step": 5044 }, { "epoch": 4.810333251953125e-07, "step": 5044, "training_step_time": 17.830324172973633 }, { "epoch": 4.811286926269531e-07, "model_forward_time": 5.054068088531494, "step": 5045 }, { "epoch": 4.811286926269531e-07, "step": 5045, "training_step_time": 17.61041235923767 }, { "epoch": 4.812240600585938e-07, "model_forward_time": 5.3127827644348145, "step": 5046 }, { "epoch": 4.812240600585938e-07, "step": 5046, "training_step_time": 17.59973955154419 }, { "epoch": 4.813194274902344e-07, "model_forward_time": 5.072290658950806, "step": 5047 }, { "epoch": 4.813194274902344e-07, "step": 5047, "training_step_time": 17.595080614089966 }, { "epoch": 4.81414794921875e-07, "model_forward_time": 5.083903789520264, "step": 5048 }, { "epoch": 4.81414794921875e-07, "step": 5048, "training_step_time": 17.585196256637573 }, { "epoch": 4.815101623535156e-07, "model_forward_time": 5.09145975112915, "step": 5049 }, { "epoch": 4.815101623535156e-07, "step": 5049, "training_step_time": 17.633756160736084 }, { "epoch": 4.816055297851563e-07, "grad_norm": 1.504252314567566, "learning_rate": 9.9866184787992e-06, "loss": 0.123, "step": 5050 }, { "epoch": 4.816055297851563e-07, "model_forward_time": 5.095411062240601, "step": 5050 }, { "dynamics_loss_avg": 0.051044815313071014, "epoch": 4.816055297851563e-07, "step": 5050 }, { "action_loss_avg": 0.0644388735294342, "epoch": 4.816055297851563e-07, "step": 5050 }, { "arm_loss_avg": 0.11978396773338318, "epoch": 4.816055297851563e-07, "step": 5050 }, { "ee_loss_avg": 0.09120600707828999, "epoch": 4.816055297851563e-07, "step": 5050 }, { "aux_loss_avg": 0.0037206956942100076, "epoch": 4.816055297851563e-07, "step": 5050 }, { "epoch": 4.816055297851563e-07, "step": 5050, "training_step_time": 17.506359100341797 }, { "epoch": 4.817008972167969e-07, "model_forward_time": 5.097755670547485, "step": 5051 }, { "epoch": 4.817008972167969e-07, "step": 5051, "training_step_time": 17.54181218147278 }, { "epoch": 4.817962646484375e-07, "model_forward_time": 5.090947389602661, "step": 5052 }, { "epoch": 4.817962646484375e-07, "step": 5052, "training_step_time": 17.567196369171143 }, { "epoch": 4.818916320800781e-07, "model_forward_time": 5.092153549194336, "step": 5053 }, { "epoch": 4.818916320800781e-07, "step": 5053, "training_step_time": 17.596778869628906 }, { "epoch": 4.819869995117187e-07, "model_forward_time": 5.08906364440918, "step": 5054 }, { "epoch": 4.819869995117187e-07, "step": 5054, "training_step_time": 17.84748888015747 }, { "epoch": 4.820823669433593e-07, "model_forward_time": 5.082530975341797, "step": 5055 }, { "epoch": 4.820823669433593e-07, "step": 5055, "training_step_time": 17.47249436378479 }, { "epoch": 4.82177734375e-07, "model_forward_time": 5.084214448928833, "step": 5056 }, { "epoch": 4.82177734375e-07, "step": 5056, "training_step_time": 17.545679330825806 }, { "epoch": 4.822731018066407e-07, "model_forward_time": 5.093199253082275, "step": 5057 }, { "epoch": 4.822731018066407e-07, "step": 5057, "training_step_time": 17.61288332939148 }, { "epoch": 4.823684692382813e-07, "model_forward_time": 5.092706680297852, "step": 5058 }, { "epoch": 4.823684692382813e-07, "step": 5058, "training_step_time": 17.63953447341919 }, { "epoch": 4.824638366699219e-07, "model_forward_time": 3.8520987033843994, "step": 5059 }, { "epoch": 4.824638366699219e-07, "step": 5059, "training_step_time": 17.847825050354004 }, { "epoch": 4.825592041015625e-07, "grad_norm": 2.2711310386657715, "learning_rate": 9.986445223197376e-06, "loss": 0.1336, "step": 5060 }, { "epoch": 4.825592041015625e-07, "model_forward_time": 5.073791742324829, "step": 5060 }, { "dynamics_loss_avg": 0.052120694890618324, "epoch": 4.825592041015625e-07, "step": 5060 }, { "action_loss_avg": 0.07679326012730599, "epoch": 4.825592041015625e-07, "step": 5060 }, { "arm_loss_avg": 0.13216638155281543, "epoch": 4.825592041015625e-07, "step": 5060 }, { "ee_loss_avg": 0.07134087476879358, "epoch": 4.825592041015625e-07, "step": 5060 }, { "aux_loss_avg": 0.0026839433965506034, "epoch": 4.825592041015625e-07, "step": 5060 }, { "epoch": 4.825592041015625e-07, "step": 5060, "training_step_time": 17.65054440498352 }, { "epoch": 4.826545715332031e-07, "model_forward_time": 5.0734031200408936, "step": 5061 }, { "epoch": 4.826545715332031e-07, "step": 5061, "training_step_time": 17.621991395950317 }, { "epoch": 4.827499389648437e-07, "model_forward_time": 5.080077171325684, "step": 5062 }, { "epoch": 4.827499389648437e-07, "step": 5062, "training_step_time": 17.625688314437866 }, { "epoch": 4.828453063964843e-07, "model_forward_time": 5.090615749359131, "step": 5063 }, { "epoch": 4.828453063964843e-07, "step": 5063, "training_step_time": 17.63029146194458 }, { "epoch": 4.82940673828125e-07, "model_forward_time": 3.8583929538726807, "step": 5064 }, { "epoch": 4.82940673828125e-07, "step": 5064, "training_step_time": 17.847856998443604 }, { "epoch": 4.830360412597656e-07, "model_forward_time": 5.067086219787598, "step": 5065 }, { "epoch": 4.830360412597656e-07, "step": 5065, "training_step_time": 17.611995697021484 }, { "epoch": 4.831314086914063e-07, "model_forward_time": 5.079859733581543, "step": 5066 }, { "epoch": 4.831314086914063e-07, "step": 5066, "training_step_time": 17.615278959274292 }, { "epoch": 4.832267761230469e-07, "model_forward_time": 5.08944034576416, "step": 5067 }, { "epoch": 4.832267761230469e-07, "step": 5067, "training_step_time": 17.595165729522705 }, { "epoch": 4.833221435546875e-07, "model_forward_time": 5.09444522857666, "step": 5068 }, { "epoch": 4.833221435546875e-07, "step": 5068, "training_step_time": 17.588063955307007 }, { "epoch": 4.834175109863281e-07, "model_forward_time": 3.8627188205718994, "step": 5069 }, { "epoch": 4.834175109863281e-07, "step": 5069, "training_step_time": 17.779457807540894 }, { "epoch": 4.835128784179688e-07, "grad_norm": 1.4864559173583984, "learning_rate": 9.986270854717702e-06, "loss": 0.149, "step": 5070 }, { "epoch": 4.835128784179688e-07, "model_forward_time": 5.071052074432373, "step": 5070 }, { "dynamics_loss_avg": 0.055741868913173676, "epoch": 4.835128784179688e-07, "step": 5070 }, { "action_loss_avg": 0.11883700117468834, "epoch": 4.835128784179688e-07, "step": 5070 }, { "arm_loss_avg": 0.18687524273991585, "epoch": 4.835128784179688e-07, "step": 5070 }, { "ee_loss_avg": 0.1452871460467577, "epoch": 4.835128784179688e-07, "step": 5070 }, { "aux_loss_avg": 0.002777597843669355, "epoch": 4.835128784179688e-07, "step": 5070 }, { "epoch": 4.835128784179688e-07, "step": 5070, "training_step_time": 17.507395267486572 }, { "epoch": 4.836082458496094e-07, "model_forward_time": 5.077983617782593, "step": 5071 }, { "epoch": 4.836082458496094e-07, "step": 5071, "training_step_time": 17.502766847610474 }, { "epoch": 4.8370361328125e-07, "model_forward_time": 3.853844404220581, "step": 5072 }, { "epoch": 4.8370361328125e-07, "step": 5072, "training_step_time": 17.547016859054565 }, { "epoch": 4.837989807128906e-07, "model_forward_time": 5.061999320983887, "step": 5073 }, { "epoch": 4.837989807128906e-07, "step": 5073, "training_step_time": 17.585023641586304 }, { "epoch": 4.838943481445312e-07, "model_forward_time": 5.080135822296143, "step": 5074 }, { "epoch": 4.838943481445312e-07, "step": 5074, "training_step_time": 17.837404012680054 }, { "epoch": 4.839897155761718e-07, "model_forward_time": 3.852565288543701, "step": 5075 }, { "epoch": 4.839897155761718e-07, "step": 5075, "training_step_time": 17.60455822944641 }, { "epoch": 4.840850830078125e-07, "model_forward_time": 5.300858497619629, "step": 5076 }, { "epoch": 4.840850830078125e-07, "step": 5076, "training_step_time": 17.610480070114136 }, { "epoch": 4.841804504394532e-07, "model_forward_time": 5.1013569831848145, "step": 5077 }, { "epoch": 4.841804504394532e-07, "step": 5077, "training_step_time": 17.662887811660767 }, { "epoch": 4.842758178710938e-07, "model_forward_time": 5.109017610549927, "step": 5078 }, { "epoch": 4.842758178710938e-07, "step": 5078, "training_step_time": 17.67158341407776 }, { "epoch": 4.843711853027344e-07, "model_forward_time": 3.87827730178833, "step": 5079 }, { "epoch": 4.843711853027344e-07, "step": 5079, "training_step_time": 17.877487421035767 }, { "epoch": 4.84466552734375e-07, "grad_norm": 2.9045889377593994, "learning_rate": 9.986095373399091e-06, "loss": 0.1587, "step": 5080 }, { "epoch": 4.84466552734375e-07, "model_forward_time": 5.084483623504639, "step": 5080 }, { "dynamics_loss_avg": 0.047523482888937, "epoch": 4.84466552734375e-07, "step": 5080 }, { "action_loss_avg": 0.10184726715087891, "epoch": 4.84466552734375e-07, "step": 5080 }, { "arm_loss_avg": 0.18620345294475554, "epoch": 4.84466552734375e-07, "step": 5080 }, { "ee_loss_avg": 0.12604862302541733, "epoch": 4.84466552734375e-07, "step": 5080 }, { "aux_loss_avg": 0.0012654446298256516, "epoch": 4.84466552734375e-07, "step": 5080 }, { "epoch": 4.84466552734375e-07, "step": 5080, "training_step_time": 17.534746408462524 }, { "epoch": 4.845619201660156e-07, "model_forward_time": 5.296081781387329, "step": 5081 }, { "epoch": 4.845619201660156e-07, "step": 5081, "training_step_time": 17.528843879699707 }, { "epoch": 4.846572875976562e-07, "model_forward_time": 5.094720363616943, "step": 5082 }, { "epoch": 4.846572875976562e-07, "step": 5082, "training_step_time": 17.560996532440186 }, { "epoch": 4.847526550292969e-07, "model_forward_time": 5.1012938022613525, "step": 5083 }, { "epoch": 4.847526550292969e-07, "step": 5083, "training_step_time": 17.595242500305176 }, { "epoch": 4.848480224609375e-07, "model_forward_time": 3.8618509769439697, "step": 5084 }, { "epoch": 4.848480224609375e-07, "step": 5084, "training_step_time": 17.621583461761475 }, { "epoch": 4.849433898925781e-07, "model_forward_time": 5.068599224090576, "step": 5085 }, { "epoch": 4.849433898925781e-07, "step": 5085, "training_step_time": 17.869359254837036 }, { "epoch": 4.850387573242188e-07, "model_forward_time": 5.309197187423706, "step": 5086 }, { "epoch": 4.850387573242188e-07, "step": 5086, "training_step_time": 17.64396023750305 }, { "epoch": 4.851341247558594e-07, "model_forward_time": 5.0875303745269775, "step": 5087 }, { "epoch": 4.851341247558594e-07, "step": 5087, "training_step_time": 17.635920524597168 }, { "epoch": 4.852294921875e-07, "model_forward_time": 5.091555833816528, "step": 5088 }, { "epoch": 4.852294921875e-07, "step": 5088, "training_step_time": 17.632309913635254 }, { "epoch": 4.853248596191406e-07, "model_forward_time": 5.095781326293945, "step": 5089 }, { "epoch": 4.853248596191406e-07, "step": 5089, "training_step_time": 17.64723539352417 }, { "epoch": 4.854202270507813e-07, "grad_norm": 1.7320753335952759, "learning_rate": 9.985918779280708e-06, "loss": 0.1567, "step": 5090 }, { "epoch": 4.854202270507813e-07, "model_forward_time": 5.0958240032196045, "step": 5090 }, { "dynamics_loss_avg": 0.06052527744323015, "epoch": 4.854202270507813e-07, "step": 5090 }, { "action_loss_avg": 0.13239379078149796, "epoch": 4.854202270507813e-07, "step": 5090 }, { "arm_loss_avg": 0.19086299017071723, "epoch": 4.854202270507813e-07, "step": 5090 }, { "ee_loss_avg": 0.156375640258193, "epoch": 4.854202270507813e-07, "step": 5090 }, { "aux_loss_avg": 0.008224326185882092, "epoch": 4.854202270507813e-07, "step": 5090 }, { "epoch": 4.854202270507813e-07, "step": 5090, "training_step_time": 17.826977252960205 }, { "epoch": 4.855155944824219e-07, "model_forward_time": 5.286696434020996, "step": 5091 }, { "epoch": 4.855155944824219e-07, "step": 5091, "training_step_time": 17.616631507873535 }, { "epoch": 4.856109619140625e-07, "model_forward_time": 5.0929951667785645, "step": 5092 }, { "epoch": 4.856109619140625e-07, "step": 5092, "training_step_time": 17.614079236984253 }, { "epoch": 4.857063293457031e-07, "model_forward_time": 5.092458009719849, "step": 5093 }, { "epoch": 4.857063293457031e-07, "step": 5093, "training_step_time": 17.401750802993774 }, { "epoch": 4.858016967773437e-07, "model_forward_time": 3.8550658226013184, "step": 5094 }, { "epoch": 4.858016967773437e-07, "step": 5094, "training_step_time": 17.609503746032715 }, { "epoch": 4.858970642089843e-07, "model_forward_time": 5.061479330062866, "step": 5095 }, { "epoch": 4.858970642089843e-07, "step": 5095, "training_step_time": 17.463340759277344 }, { "epoch": 4.85992431640625e-07, "model_forward_time": 5.304511070251465, "step": 5096 }, { "epoch": 4.85992431640625e-07, "step": 5096, "training_step_time": 17.479032516479492 }, { "epoch": 4.860877990722657e-07, "model_forward_time": 5.07500696182251, "step": 5097 }, { "epoch": 4.860877990722657e-07, "step": 5097, "training_step_time": 17.524117946624756 }, { "epoch": 4.861831665039063e-07, "model_forward_time": 5.080688953399658, "step": 5098 }, { "epoch": 4.861831665039063e-07, "step": 5098, "training_step_time": 17.563089609146118 }, { "epoch": 4.862785339355469e-07, "model_forward_time": 5.087968349456787, "step": 5099 }, { "epoch": 4.862785339355469e-07, "step": 5099, "training_step_time": 17.598737716674805 }, { "epoch": 4.863739013671875e-07, "grad_norm": 1.5789116621017456, "learning_rate": 9.985741072401964e-06, "loss": 0.1325, "step": 5100 }, { "epoch": 4.863739013671875e-07, "model_forward_time": 5.088294982910156, "step": 5100 }, { "dynamics_loss_avg": 0.047116152942180634, "epoch": 4.863739013671875e-07, "step": 5100 }, { "action_loss_avg": 0.09231225810945035, "epoch": 4.863739013671875e-07, "step": 5100 }, { "arm_loss_avg": 0.17237338349223136, "epoch": 4.863739013671875e-07, "step": 5100 }, { "ee_loss_avg": 0.08474008608609437, "epoch": 4.863739013671875e-07, "step": 5100 }, { "aux_loss_avg": 0.0012802187178749592, "epoch": 4.863739013671875e-07, "step": 5100 }, { "epoch": 4.863739013671875e-07, "step": 5100, "training_step_time": 17.79158592224121 }, { "epoch": 4.864692687988281e-07, "model_forward_time": 5.089998006820679, "step": 5101 }, { "epoch": 4.864692687988281e-07, "step": 5101, "training_step_time": 17.395114421844482 }, { "epoch": 4.865646362304687e-07, "model_forward_time": 5.088344097137451, "step": 5102 }, { "epoch": 4.865646362304687e-07, "step": 5102, "training_step_time": 17.534545421600342 }, { "epoch": 4.866600036621094e-07, "model_forward_time": 5.087169885635376, "step": 5103 }, { "epoch": 4.866600036621094e-07, "step": 5103, "training_step_time": 17.57404923439026 }, { "epoch": 4.8675537109375e-07, "model_forward_time": 5.089323282241821, "step": 5104 }, { "epoch": 4.8675537109375e-07, "step": 5104, "training_step_time": 17.60874652862549 }, { "epoch": 4.868507385253906e-07, "model_forward_time": 5.083801031112671, "step": 5105 }, { "epoch": 4.868507385253906e-07, "step": 5105, "training_step_time": 17.84844398498535 }, { "epoch": 4.869461059570313e-07, "model_forward_time": 5.081440210342407, "step": 5106 }, { "epoch": 4.869461059570313e-07, "step": 5106, "training_step_time": 17.62068223953247 }, { "epoch": 4.870414733886719e-07, "model_forward_time": 5.079047441482544, "step": 5107 }, { "epoch": 4.870414733886719e-07, "step": 5107, "training_step_time": 17.622263431549072 }, { "epoch": 4.871368408203125e-07, "model_forward_time": 5.07974648475647, "step": 5108 }, { "epoch": 4.871368408203125e-07, "step": 5108, "training_step_time": 17.33205223083496 }, { "epoch": 4.872322082519531e-07, "model_forward_time": 5.083433151245117, "step": 5109 }, { "epoch": 4.872322082519531e-07, "step": 5109, "training_step_time": 17.57496976852417 }, { "epoch": 4.873275756835938e-07, "grad_norm": 1.7393492460250854, "learning_rate": 9.985562252802524e-06, "loss": 0.1124, "step": 5110 }, { "epoch": 4.873275756835938e-07, "model_forward_time": 3.8504316806793213, "step": 5110 }, { "dynamics_loss_avg": 0.04556424412876368, "epoch": 4.873275756835938e-07, "step": 5110 }, { "action_loss_avg": 0.08297219462692737, "epoch": 4.873275756835938e-07, "step": 5110 }, { "arm_loss_avg": 0.1718810111284256, "epoch": 4.873275756835938e-07, "step": 5110 }, { "ee_loss_avg": 0.10056041553616524, "epoch": 4.873275756835938e-07, "step": 5110 }, { "aux_loss_avg": 0.002764319669222459, "epoch": 4.873275756835938e-07, "step": 5110 }, { "epoch": 4.873275756835938e-07, "step": 5110, "training_step_time": 17.742184162139893 }, { "epoch": 4.874229431152344e-07, "model_forward_time": 5.2537617683410645, "step": 5111 }, { "epoch": 4.874229431152344e-07, "step": 5111, "training_step_time": 17.579381227493286 }, { "epoch": 4.87518310546875e-07, "model_forward_time": 5.065043210983276, "step": 5112 }, { "epoch": 4.87518310546875e-07, "step": 5112, "training_step_time": 17.587108373641968 }, { "epoch": 4.876136779785156e-07, "model_forward_time": 5.080065727233887, "step": 5113 }, { "epoch": 4.876136779785156e-07, "step": 5113, "training_step_time": 17.61329698562622 }, { "epoch": 4.877090454101562e-07, "model_forward_time": 5.089439868927002, "step": 5114 }, { "epoch": 4.877090454101562e-07, "step": 5114, "training_step_time": 17.609410762786865 }, { "epoch": 4.878044128417968e-07, "model_forward_time": 5.096028804779053, "step": 5115 }, { "epoch": 4.878044128417968e-07, "step": 5115, "training_step_time": 17.85305905342102 }, { "epoch": 4.878997802734376e-07, "model_forward_time": 5.100413799285889, "step": 5116 }, { "epoch": 4.878997802734376e-07, "step": 5116, "training_step_time": 17.622095823287964 }, { "epoch": 4.879951477050782e-07, "model_forward_time": 5.099935054779053, "step": 5117 }, { "epoch": 4.879951477050782e-07, "step": 5117, "training_step_time": 17.62552809715271 }, { "epoch": 4.880905151367188e-07, "model_forward_time": 5.105126619338989, "step": 5118 }, { "epoch": 4.880905151367188e-07, "step": 5118, "training_step_time": 17.620638370513916 }, { "epoch": 4.881858825683594e-07, "model_forward_time": 5.101003170013428, "step": 5119 }, { "epoch": 4.881858825683594e-07, "step": 5119, "training_step_time": 17.625826835632324 }, { "epoch": 4.8828125e-07, "grad_norm": 1.58240807056427, "learning_rate": 9.98538232052229e-06, "loss": 0.1297, "step": 5120 }, { "epoch": 4.8828125e-07, "model_forward_time": 3.8583431243896484, "step": 5120 }, { "dynamics_loss_avg": 0.052587765734642744, "epoch": 4.8828125e-07, "step": 5120 }, { "action_loss_avg": 0.09703274369239807, "epoch": 4.8828125e-07, "step": 5120 }, { "arm_loss_avg": 0.18132558688521386, "epoch": 4.8828125e-07, "step": 5120 }, { "ee_loss_avg": 0.13933195024728776, "epoch": 4.8828125e-07, "step": 5120 }, { "aux_loss_avg": 0.024048844038043173, "epoch": 4.8828125e-07, "step": 5120 }, { "epoch": 4.8828125e-07, "step": 5120, "training_step_time": 17.802114486694336 }, { "epoch": 4.883766174316406e-07, "model_forward_time": 5.066588401794434, "step": 5121 }, { "epoch": 4.883766174316406e-07, "step": 5121, "training_step_time": 17.630027294158936 }, { "epoch": 4.884719848632812e-07, "model_forward_time": 5.073965072631836, "step": 5122 }, { "epoch": 4.884719848632812e-07, "step": 5122, "training_step_time": 17.616117477416992 }, { "epoch": 4.885673522949219e-07, "model_forward_time": 5.081233024597168, "step": 5123 }, { "epoch": 4.885673522949219e-07, "step": 5123, "training_step_time": 17.610049962997437 }, { "epoch": 4.886627197265625e-07, "model_forward_time": 5.0898942947387695, "step": 5124 }, { "epoch": 4.886627197265625e-07, "step": 5124, "training_step_time": 17.587238073349 }, { "epoch": 4.887580871582031e-07, "model_forward_time": 5.094198703765869, "step": 5125 }, { "epoch": 4.887580871582031e-07, "step": 5125, "training_step_time": 17.759719133377075 }, { "epoch": 4.888534545898437e-07, "model_forward_time": 5.099944114685059, "step": 5126 }, { "epoch": 4.888534545898437e-07, "step": 5126, "training_step_time": 17.548969984054565 }, { "epoch": 4.889488220214844e-07, "model_forward_time": 3.8640735149383545, "step": 5127 }, { "epoch": 4.889488220214844e-07, "step": 5127, "training_step_time": 17.572876453399658 }, { "epoch": 4.89044189453125e-07, "model_forward_time": 5.066146612167358, "step": 5128 }, { "epoch": 4.89044189453125e-07, "step": 5128, "training_step_time": 17.60743761062622 }, { "epoch": 4.891395568847656e-07, "model_forward_time": 5.0782248973846436, "step": 5129 }, { "epoch": 4.891395568847656e-07, "step": 5129, "training_step_time": 17.62630295753479 }, { "epoch": 4.892349243164063e-07, "grad_norm": 1.1333446502685547, "learning_rate": 9.985201275601426e-06, "loss": 0.1367, "step": 5130 }, { "epoch": 4.892349243164063e-07, "model_forward_time": 5.086161136627197, "step": 5130 }, { "dynamics_loss_avg": 0.04990620967000723, "epoch": 4.892349243164063e-07, "step": 5130 }, { "action_loss_avg": 0.11089021787047386, "epoch": 4.892349243164063e-07, "step": 5130 }, { "arm_loss_avg": 0.1718798726797104, "epoch": 4.892349243164063e-07, "step": 5130 }, { "ee_loss_avg": 0.12591023035347462, "epoch": 4.892349243164063e-07, "step": 5130 }, { "aux_loss_avg": 0.0012024010124150664, "epoch": 4.892349243164063e-07, "step": 5130 }, { "epoch": 4.892349243164063e-07, "step": 5130, "training_step_time": 17.82860827445984 }, { "epoch": 4.893302917480469e-07, "model_forward_time": 5.284836530685425, "step": 5131 }, { "epoch": 4.893302917480469e-07, "step": 5131, "training_step_time": 17.504249334335327 }, { "epoch": 4.894256591796875e-07, "model_forward_time": 5.09733772277832, "step": 5132 }, { "epoch": 4.894256591796875e-07, "step": 5132, "training_step_time": 17.53731894493103 }, { "epoch": 4.895210266113281e-07, "model_forward_time": 5.0945024490356445, "step": 5133 }, { "epoch": 4.895210266113281e-07, "step": 5133, "training_step_time": 17.585129022598267 }, { "epoch": 4.896163940429687e-07, "model_forward_time": 5.0950915813446045, "step": 5134 }, { "epoch": 4.896163940429687e-07, "step": 5134, "training_step_time": 17.606305599212646 }, { "epoch": 4.897117614746093e-07, "model_forward_time": 5.092623472213745, "step": 5135 }, { "epoch": 4.897117614746093e-07, "step": 5135, "training_step_time": 17.86412739753723 }, { "epoch": 4.8980712890625e-07, "model_forward_time": 5.092748165130615, "step": 5136 }, { "epoch": 4.8980712890625e-07, "step": 5136, "training_step_time": 17.629651308059692 }, { "epoch": 4.899024963378907e-07, "model_forward_time": 5.086359024047852, "step": 5137 }, { "epoch": 4.899024963378907e-07, "step": 5137, "training_step_time": 17.639681339263916 }, { "epoch": 4.899978637695313e-07, "model_forward_time": 5.090007543563843, "step": 5138 }, { "epoch": 4.899978637695313e-07, "step": 5138, "training_step_time": 17.634819746017456 }, { "epoch": 4.900932312011719e-07, "model_forward_time": 5.08734393119812, "step": 5139 }, { "epoch": 4.900932312011719e-07, "step": 5139, "training_step_time": 17.867992877960205 }, { "epoch": 4.901885986328125e-07, "grad_norm": 1.6780654191970825, "learning_rate": 9.985019118080335e-06, "loss": 0.1181, "step": 5140 }, { "epoch": 4.901885986328125e-07, "model_forward_time": 5.2906670570373535, "step": 5140 }, { "dynamics_loss_avg": 0.047962598688900474, "epoch": 4.901885986328125e-07, "step": 5140 }, { "action_loss_avg": 0.09614975620061159, "epoch": 4.901885986328125e-07, "step": 5140 }, { "arm_loss_avg": 0.15459930524230003, "epoch": 4.901885986328125e-07, "step": 5140 }, { "ee_loss_avg": 0.08030125927180051, "epoch": 4.901885986328125e-07, "step": 5140 }, { "aux_loss_avg": 0.004511642901343293, "epoch": 4.901885986328125e-07, "step": 5140 }, { "epoch": 4.901885986328125e-07, "step": 5140, "training_step_time": 17.618726015090942 }, { "epoch": 4.902839660644531e-07, "model_forward_time": 5.087982654571533, "step": 5141 }, { "epoch": 4.902839660644531e-07, "step": 5141, "training_step_time": 17.624756813049316 }, { "epoch": 4.903793334960937e-07, "model_forward_time": 5.088294267654419, "step": 5142 }, { "epoch": 4.903793334960937e-07, "step": 5142, "training_step_time": 17.61257839202881 }, { "epoch": 4.904747009277344e-07, "model_forward_time": 5.089529991149902, "step": 5143 }, { "epoch": 4.904747009277344e-07, "step": 5143, "training_step_time": 17.62343168258667 }, { "epoch": 4.90570068359375e-07, "model_forward_time": 5.091036081314087, "step": 5144 }, { "epoch": 4.90570068359375e-07, "step": 5144, "training_step_time": 17.85011124610901 }, { "epoch": 4.906654357910156e-07, "model_forward_time": 5.092414140701294, "step": 5145 }, { "epoch": 4.906654357910156e-07, "step": 5145, "training_step_time": 17.610867261886597 }, { "epoch": 4.907608032226562e-07, "model_forward_time": 5.0916588306427, "step": 5146 }, { "epoch": 4.907608032226562e-07, "step": 5146, "training_step_time": 17.611138343811035 }, { "epoch": 4.908561706542969e-07, "model_forward_time": 3.8542261123657227, "step": 5147 }, { "epoch": 4.908561706542969e-07, "step": 5147, "training_step_time": 17.616340398788452 }, { "epoch": 4.909515380859375e-07, "model_forward_time": 5.065757513046265, "step": 5148 }, { "epoch": 4.909515380859375e-07, "step": 5148, "training_step_time": 17.615532636642456 }, { "epoch": 4.910469055175781e-07, "model_forward_time": 5.077116012573242, "step": 5149 }, { "epoch": 4.910469055175781e-07, "step": 5149, "training_step_time": 17.831854343414307 }, { "epoch": 4.911422729492188e-07, "grad_norm": 1.5606173276901245, "learning_rate": 9.984835847999671e-06, "loss": 0.1206, "step": 5150 }, { "epoch": 4.911422729492188e-07, "model_forward_time": 5.083577632904053, "step": 5150 }, { "dynamics_loss_avg": 0.0599262822419405, "epoch": 4.911422729492188e-07, "step": 5150 }, { "action_loss_avg": 0.09969708174467087, "epoch": 4.911422729492188e-07, "step": 5150 }, { "arm_loss_avg": 0.1604918994009495, "epoch": 4.911422729492188e-07, "step": 5150 }, { "ee_loss_avg": 0.0989041194319725, "epoch": 4.911422729492188e-07, "step": 5150 }, { "aux_loss_avg": 0.001018002681666985, "epoch": 4.911422729492188e-07, "step": 5150 }, { "epoch": 4.911422729492188e-07, "step": 5150, "training_step_time": 17.645393133163452 }, { "epoch": 4.912376403808594e-07, "model_forward_time": 4.101624011993408, "step": 5151 }, { "epoch": 4.912376403808594e-07, "step": 5151, "training_step_time": 17.60420036315918 }, { "epoch": 4.913330078125e-07, "model_forward_time": 5.066845178604126, "step": 5152 }, { "epoch": 4.913330078125e-07, "step": 5152, "training_step_time": 17.524718284606934 }, { "epoch": 4.914283752441406e-07, "model_forward_time": 5.083690881729126, "step": 5153 }, { "epoch": 4.914283752441406e-07, "step": 5153, "training_step_time": 17.611758708953857 }, { "epoch": 4.915237426757812e-07, "model_forward_time": 5.092986822128296, "step": 5154 }, { "epoch": 4.915237426757812e-07, "step": 5154, "training_step_time": 17.822007656097412 }, { "epoch": 4.916191101074218e-07, "model_forward_time": 5.09813928604126, "step": 5155 }, { "epoch": 4.916191101074218e-07, "step": 5155, "training_step_time": 17.614672899246216 }, { "epoch": 4.917144775390624e-07, "model_forward_time": 5.335306167602539, "step": 5156 }, { "epoch": 4.917144775390624e-07, "step": 5156, "training_step_time": 17.468197345733643 }, { "epoch": 4.918098449707032e-07, "model_forward_time": 3.8630027770996094, "step": 5157 }, { "epoch": 4.918098449707032e-07, "step": 5157, "training_step_time": 17.51292657852173 }, { "epoch": 4.919052124023438e-07, "model_forward_time": 5.067584037780762, "step": 5158 }, { "epoch": 4.919052124023438e-07, "step": 5158, "training_step_time": 17.39811086654663 }, { "epoch": 4.920005798339844e-07, "model_forward_time": 5.0777082443237305, "step": 5159 }, { "epoch": 4.920005798339844e-07, "step": 5159, "training_step_time": 17.48292064666748 }, { "epoch": 4.92095947265625e-07, "grad_norm": 1.1699875593185425, "learning_rate": 9.984651465400336e-06, "loss": 0.1156, "step": 5160 }, { "epoch": 4.92095947265625e-07, "model_forward_time": 5.084423780441284, "step": 5160 }, { "dynamics_loss_avg": 0.046901457011699677, "epoch": 4.92095947265625e-07, "step": 5160 }, { "action_loss_avg": 0.08897444866597652, "epoch": 4.92095947265625e-07, "step": 5160 }, { "arm_loss_avg": 0.17242745235562323, "epoch": 4.92095947265625e-07, "step": 5160 }, { "ee_loss_avg": 0.11800999939441681, "epoch": 4.92095947265625e-07, "step": 5160 }, { "aux_loss_avg": 0.0007214531709905714, "epoch": 4.92095947265625e-07, "step": 5160 }, { "epoch": 4.92095947265625e-07, "step": 5160, "training_step_time": 17.729727268218994 }, { "epoch": 4.921913146972656e-07, "model_forward_time": 5.273459434509277, "step": 5161 }, { "epoch": 4.921913146972656e-07, "step": 5161, "training_step_time": 17.57957172393799 }, { "epoch": 4.922866821289062e-07, "model_forward_time": 5.089606046676636, "step": 5162 }, { "epoch": 4.922866821289062e-07, "step": 5162, "training_step_time": 17.600308179855347 }, { "epoch": 4.923820495605469e-07, "model_forward_time": 5.092703342437744, "step": 5163 }, { "epoch": 4.923820495605469e-07, "step": 5163, "training_step_time": 17.615841150283813 }, { "epoch": 4.924774169921875e-07, "model_forward_time": 5.08931565284729, "step": 5164 }, { "epoch": 4.924774169921875e-07, "step": 5164, "training_step_time": 17.62655806541443 }, { "epoch": 4.925727844238281e-07, "model_forward_time": 5.088161945343018, "step": 5165 }, { "epoch": 4.925727844238281e-07, "step": 5165, "training_step_time": 17.86108374595642 }, { "epoch": 4.926681518554687e-07, "model_forward_time": 5.333662509918213, "step": 5166 }, { "epoch": 4.926681518554687e-07, "step": 5166, "training_step_time": 17.619277954101562 }, { "epoch": 4.927635192871094e-07, "model_forward_time": 5.087221384048462, "step": 5167 }, { "epoch": 4.927635192871094e-07, "step": 5167, "training_step_time": 17.615292072296143 }, { "epoch": 4.9285888671875e-07, "model_forward_time": 5.086801767349243, "step": 5168 }, { "epoch": 4.9285888671875e-07, "step": 5168, "training_step_time": 17.601205825805664 }, { "epoch": 4.929542541503906e-07, "model_forward_time": 5.081073760986328, "step": 5169 }, { "epoch": 4.929542541503906e-07, "step": 5169, "training_step_time": 17.838081121444702 }, { "epoch": 4.930496215820313e-07, "grad_norm": 2.68571400642395, "learning_rate": 9.98446597032348e-06, "loss": 0.1208, "step": 5170 }, { "epoch": 4.930496215820313e-07, "model_forward_time": 5.079497814178467, "step": 5170 }, { "dynamics_loss_avg": 0.056927289068698886, "epoch": 4.930496215820313e-07, "step": 5170 }, { "action_loss_avg": 0.08722686991095543, "epoch": 4.930496215820313e-07, "step": 5170 }, { "arm_loss_avg": 0.1563492126762867, "epoch": 4.930496215820313e-07, "step": 5170 }, { "ee_loss_avg": 0.09891433417797088, "epoch": 4.930496215820313e-07, "step": 5170 }, { "aux_loss_avg": 0.0025978165649576113, "epoch": 4.930496215820313e-07, "step": 5170 }, { "epoch": 4.930496215820313e-07, "step": 5170, "training_step_time": 17.57668709754944 }, { "epoch": 4.931449890136719e-07, "model_forward_time": 5.07820200920105, "step": 5171 }, { "epoch": 4.931449890136719e-07, "step": 5171, "training_step_time": 17.56024479866028 }, { "epoch": 4.932403564453125e-07, "model_forward_time": 5.080046653747559, "step": 5172 }, { "epoch": 4.932403564453125e-07, "step": 5172, "training_step_time": 17.559475421905518 }, { "epoch": 4.933357238769531e-07, "model_forward_time": 5.079811096191406, "step": 5173 }, { "epoch": 4.933357238769531e-07, "step": 5173, "training_step_time": 17.56005620956421 }, { "epoch": 4.934310913085937e-07, "model_forward_time": 5.081285238265991, "step": 5174 }, { "epoch": 4.934310913085937e-07, "step": 5174, "training_step_time": 17.63825249671936 }, { "epoch": 4.935264587402343e-07, "model_forward_time": 5.083973407745361, "step": 5175 }, { "epoch": 4.935264587402343e-07, "step": 5175, "training_step_time": 17.80407977104187 }, { "epoch": 4.93621826171875e-07, "model_forward_time": 3.846658945083618, "step": 5176 }, { "epoch": 4.93621826171875e-07, "step": 5176, "training_step_time": 17.572010278701782 }, { "epoch": 4.937171936035157e-07, "model_forward_time": 5.062900066375732, "step": 5177 }, { "epoch": 4.937171936035157e-07, "step": 5177, "training_step_time": 17.58345937728882 }, { "epoch": 4.938125610351563e-07, "model_forward_time": 5.068305969238281, "step": 5178 }, { "epoch": 4.938125610351563e-07, "step": 5178, "training_step_time": 17.232814073562622 }, { "epoch": 4.939079284667969e-07, "model_forward_time": 5.08092188835144, "step": 5179 }, { "epoch": 4.939079284667969e-07, "step": 5179, "training_step_time": 17.484163999557495 }, { "epoch": 4.940032958984375e-07, "grad_norm": 1.9842480421066284, "learning_rate": 9.984279362810504e-06, "loss": 0.1175, "step": 5180 }, { "epoch": 4.940032958984375e-07, "model_forward_time": 5.089719533920288, "step": 5180 }, { "dynamics_loss_avg": 0.04795840233564377, "epoch": 4.940032958984375e-07, "step": 5180 }, { "action_loss_avg": 0.10909612961113453, "epoch": 4.940032958984375e-07, "step": 5180 }, { "arm_loss_avg": 0.17717901319265367, "epoch": 4.940032958984375e-07, "step": 5180 }, { "ee_loss_avg": 0.10642807073891163, "epoch": 4.940032958984375e-07, "step": 5180 }, { "aux_loss_avg": 0.0030846943671349438, "epoch": 4.940032958984375e-07, "step": 5180 }, { "epoch": 4.940032958984375e-07, "step": 5180, "training_step_time": 17.730934858322144 }, { "epoch": 4.940986633300781e-07, "model_forward_time": 5.0981504917144775, "step": 5181 }, { "epoch": 4.940986633300781e-07, "step": 5181, "training_step_time": 17.561898946762085 }, { "epoch": 4.941940307617187e-07, "model_forward_time": 5.101563453674316, "step": 5182 }, { "epoch": 4.941940307617187e-07, "step": 5182, "training_step_time": 17.588533878326416 }, { "epoch": 4.942893981933594e-07, "model_forward_time": 5.102191209793091, "step": 5183 }, { "epoch": 4.942893981933594e-07, "step": 5183, "training_step_time": 17.600343465805054 }, { "epoch": 4.94384765625e-07, "model_forward_time": 3.8626482486724854, "step": 5184 }, { "epoch": 4.94384765625e-07, "step": 5184, "training_step_time": 17.60730791091919 }, { "epoch": 4.944801330566406e-07, "model_forward_time": 5.070334196090698, "step": 5185 }, { "epoch": 4.944801330566406e-07, "step": 5185, "training_step_time": 17.868394374847412 }, { "epoch": 4.945755004882812e-07, "model_forward_time": 5.321367979049683, "step": 5186 }, { "epoch": 4.945755004882812e-07, "step": 5186, "training_step_time": 17.62666940689087 }, { "epoch": 4.946708679199219e-07, "model_forward_time": 5.085621118545532, "step": 5187 }, { "epoch": 4.946708679199219e-07, "step": 5187, "training_step_time": 17.63090205192566 }, { "epoch": 4.947662353515625e-07, "model_forward_time": 5.091794013977051, "step": 5188 }, { "epoch": 4.947662353515625e-07, "step": 5188, "training_step_time": 17.630143880844116 }, { "epoch": 4.948616027832032e-07, "model_forward_time": 5.09826922416687, "step": 5189 }, { "epoch": 4.948616027832032e-07, "step": 5189, "training_step_time": 17.875274419784546 }, { "epoch": 4.949569702148438e-07, "grad_norm": 1.041634440422058, "learning_rate": 9.984091642903056e-06, "loss": 0.1321, "step": 5190 }, { "epoch": 4.949569702148438e-07, "model_forward_time": 5.095575332641602, "step": 5190 }, { "dynamics_loss_avg": 0.06862915121018887, "epoch": 4.949569702148438e-07, "step": 5190 }, { "action_loss_avg": 0.09943929202854633, "epoch": 4.949569702148438e-07, "step": 5190 }, { "arm_loss_avg": 0.15930797010660172, "epoch": 4.949569702148438e-07, "step": 5190 }, { "ee_loss_avg": 0.08438362209126353, "epoch": 4.949569702148438e-07, "step": 5190 }, { "aux_loss_avg": 0.0021514196356292813, "epoch": 4.949569702148438e-07, "step": 5190 }, { "epoch": 4.949569702148438e-07, "step": 5190, "training_step_time": 17.616721391677856 }, { "epoch": 4.950523376464844e-07, "model_forward_time": 5.098511695861816, "step": 5191 }, { "epoch": 4.950523376464844e-07, "step": 5191, "training_step_time": 17.614986658096313 }, { "epoch": 4.95147705078125e-07, "model_forward_time": 5.102170467376709, "step": 5192 }, { "epoch": 4.95147705078125e-07, "step": 5192, "training_step_time": 17.618562936782837 }, { "epoch": 4.952430725097656e-07, "model_forward_time": 5.0987913608551025, "step": 5193 }, { "epoch": 4.952430725097656e-07, "step": 5193, "training_step_time": 17.258507013320923 }, { "epoch": 4.953384399414062e-07, "model_forward_time": 3.8604538440704346, "step": 5194 }, { "epoch": 4.953384399414062e-07, "step": 5194, "training_step_time": 17.532320261001587 }, { "epoch": 4.954338073730468e-07, "model_forward_time": 5.062393665313721, "step": 5195 }, { "epoch": 4.954338073730468e-07, "step": 5195, "training_step_time": 17.590226888656616 }, { "epoch": 4.955291748046875e-07, "model_forward_time": 5.309073209762573, "step": 5196 }, { "epoch": 4.955291748046875e-07, "step": 5196, "training_step_time": 17.500637531280518 }, { "epoch": 4.956245422363282e-07, "model_forward_time": 3.848362684249878, "step": 5197 }, { "epoch": 4.956245422363282e-07, "step": 5197, "training_step_time": 17.558146715164185 }, { "epoch": 4.957199096679688e-07, "model_forward_time": 5.057366132736206, "step": 5198 }, { "epoch": 4.957199096679688e-07, "step": 5198, "training_step_time": 17.596182584762573 }, { "epoch": 4.958152770996094e-07, "model_forward_time": 5.0736918449401855, "step": 5199 }, { "epoch": 4.958152770996094e-07, "step": 5199, "training_step_time": 17.63288378715515 }, { "epoch": 4.9591064453125e-07, "grad_norm": 1.7116529941558838, "learning_rate": 9.983902810643028e-06, "loss": 0.1403, "step": 5200 }, { "epoch": 4.9591064453125e-07, "model_forward_time": 5.08957839012146, "step": 5200 }, { "dynamics_loss_avg": 0.05130816251039505, "epoch": 4.9591064453125e-07, "step": 5200 }, { "action_loss_avg": 0.09185966067016124, "epoch": 4.9591064453125e-07, "step": 5200 }, { "arm_loss_avg": 0.14665989056229592, "epoch": 4.9591064453125e-07, "step": 5200 }, { "ee_loss_avg": 0.10442295987159014, "epoch": 4.9591064453125e-07, "step": 5200 }, { "aux_loss_avg": 0.0023595877690240743, "epoch": 4.9591064453125e-07, "step": 5200 }, { "epoch": 4.9591064453125e-07, "step": 5200, "training_step_time": 17.816985368728638 }, { "epoch": 4.960060119628906e-07, "model_forward_time": 5.292828321456909, "step": 5201 }, { "epoch": 4.960060119628906e-07, "step": 5201, "training_step_time": 17.638582944869995 }, { "epoch": 4.961013793945312e-07, "model_forward_time": 5.104222774505615, "step": 5202 }, { "epoch": 4.961013793945312e-07, "step": 5202, "training_step_time": 17.64347767829895 }, { "epoch": 4.961967468261719e-07, "model_forward_time": 5.107856512069702, "step": 5203 }, { "epoch": 4.961967468261719e-07, "step": 5203, "training_step_time": 17.642336130142212 }, { "epoch": 4.962921142578125e-07, "model_forward_time": 5.1081156730651855, "step": 5204 }, { "epoch": 4.962921142578125e-07, "step": 5204, "training_step_time": 17.645121335983276 }, { "epoch": 4.963874816894531e-07, "model_forward_time": 5.107307195663452, "step": 5205 }, { "epoch": 4.963874816894531e-07, "step": 5205, "training_step_time": 17.899874210357666 }, { "epoch": 4.964828491210937e-07, "model_forward_time": 5.343682050704956, "step": 5206 }, { "epoch": 4.964828491210937e-07, "step": 5206, "training_step_time": 17.47405481338501 }, { "epoch": 4.965782165527344e-07, "model_forward_time": 5.095336675643921, "step": 5207 }, { "epoch": 4.965782165527344e-07, "step": 5207, "training_step_time": 17.54600763320923 }, { "epoch": 4.96673583984375e-07, "model_forward_time": 3.856860876083374, "step": 5208 }, { "epoch": 4.96673583984375e-07, "step": 5208, "training_step_time": 17.567809104919434 }, { "epoch": 4.967689514160157e-07, "model_forward_time": 5.062158584594727, "step": 5209 }, { "epoch": 4.967689514160157e-07, "step": 5209, "training_step_time": 17.637837886810303 }, { "epoch": 4.968643188476563e-07, "grad_norm": 1.4876210689544678, "learning_rate": 9.983712866072564e-06, "loss": 0.1211, "step": 5210 }, { "epoch": 4.968643188476563e-07, "model_forward_time": 5.072369337081909, "step": 5210 }, { "dynamics_loss_avg": 0.0582134859636426, "epoch": 4.968643188476563e-07, "step": 5210 }, { "action_loss_avg": 0.08994201496243477, "epoch": 4.968643188476563e-07, "step": 5210 }, { "arm_loss_avg": 0.14523740336298943, "epoch": 4.968643188476563e-07, "step": 5210 }, { "ee_loss_avg": 0.1079164857044816, "epoch": 4.968643188476563e-07, "step": 5210 }, { "aux_loss_avg": 0.0014995437872130425, "epoch": 4.968643188476563e-07, "step": 5210 }, { "epoch": 4.968643188476563e-07, "step": 5210, "training_step_time": 17.78990077972412 }, { "epoch": 4.969596862792969e-07, "model_forward_time": 5.261934757232666, "step": 5211 }, { "epoch": 4.969596862792969e-07, "step": 5211, "training_step_time": 17.606884241104126 }, { "epoch": 4.970550537109375e-07, "model_forward_time": 5.090412139892578, "step": 5212 }, { "epoch": 4.970550537109375e-07, "step": 5212, "training_step_time": 17.611650466918945 }, { "epoch": 4.971504211425781e-07, "model_forward_time": 5.095198631286621, "step": 5213 }, { "epoch": 4.971504211425781e-07, "step": 5213, "training_step_time": 17.62541103363037 }, { "epoch": 4.972457885742187e-07, "model_forward_time": 5.100785970687866, "step": 5214 }, { "epoch": 4.972457885742187e-07, "step": 5214, "training_step_time": 17.623064041137695 }, { "epoch": 4.973411560058593e-07, "model_forward_time": 5.102652072906494, "step": 5215 }, { "epoch": 4.973411560058593e-07, "step": 5215, "training_step_time": 17.465017795562744 }, { "epoch": 4.974365234375e-07, "model_forward_time": 5.099905967712402, "step": 5216 }, { "epoch": 4.974365234375e-07, "step": 5216, "training_step_time": 17.529507637023926 }, { "epoch": 4.975318908691407e-07, "model_forward_time": 3.8696646690368652, "step": 5217 }, { "epoch": 4.975318908691407e-07, "step": 5217, "training_step_time": 17.587267637252808 }, { "epoch": 4.976272583007813e-07, "model_forward_time": 5.081360816955566, "step": 5218 }, { "epoch": 4.976272583007813e-07, "step": 5218, "training_step_time": 17.621622562408447 }, { "epoch": 4.977226257324219e-07, "model_forward_time": 5.082903861999512, "step": 5219 }, { "epoch": 4.977226257324219e-07, "step": 5219, "training_step_time": 17.618612051010132 }, { "epoch": 4.978179931640625e-07, "grad_norm": 1.6814457178115845, "learning_rate": 9.983521809234057e-06, "loss": 0.1201, "step": 5220 }, { "epoch": 4.978179931640625e-07, "model_forward_time": 5.099844694137573, "step": 5220 }, { "dynamics_loss_avg": 0.05282406341284514, "epoch": 4.978179931640625e-07, "step": 5220 }, { "action_loss_avg": 0.08635433055460454, "epoch": 4.978179931640625e-07, "step": 5220 }, { "arm_loss_avg": 0.16700555011630058, "epoch": 4.978179931640625e-07, "step": 5220 }, { "ee_loss_avg": 0.10261789299547672, "epoch": 4.978179931640625e-07, "step": 5220 }, { "aux_loss_avg": 0.005289865576196462, "epoch": 4.978179931640625e-07, "step": 5220 }, { "epoch": 4.978179931640625e-07, "step": 5220, "training_step_time": 17.67917037010193 }, { "epoch": 4.979133605957031e-07, "model_forward_time": 3.8545403480529785, "step": 5221 }, { "epoch": 4.979133605957031e-07, "step": 5221, "training_step_time": 17.512750148773193 }, { "epoch": 4.980087280273437e-07, "model_forward_time": 5.061526775360107, "step": 5222 }, { "epoch": 4.980087280273437e-07, "step": 5222, "training_step_time": 17.55811619758606 }, { "epoch": 4.981040954589844e-07, "model_forward_time": 5.075832366943359, "step": 5223 }, { "epoch": 4.981040954589844e-07, "step": 5223, "training_step_time": 17.5660457611084 }, { "epoch": 4.98199462890625e-07, "model_forward_time": 5.082927465438843, "step": 5224 }, { "epoch": 4.98199462890625e-07, "step": 5224, "training_step_time": 17.632508516311646 }, { "epoch": 4.982948303222656e-07, "model_forward_time": 5.091814756393433, "step": 5225 }, { "epoch": 4.982948303222656e-07, "step": 5225, "training_step_time": 17.828372478485107 }, { "epoch": 4.983901977539062e-07, "model_forward_time": 5.337170124053955, "step": 5226 }, { "epoch": 4.983901977539062e-07, "step": 5226, "training_step_time": 17.59631109237671 }, { "epoch": 4.984855651855469e-07, "model_forward_time": 5.099116086959839, "step": 5227 }, { "epoch": 4.984855651855469e-07, "step": 5227, "training_step_time": 17.596304655075073 }, { "epoch": 4.985809326171875e-07, "model_forward_time": 5.096818208694458, "step": 5228 }, { "epoch": 4.985809326171875e-07, "step": 5228, "training_step_time": 17.604650020599365 }, { "epoch": 4.986763000488282e-07, "model_forward_time": 5.098592519760132, "step": 5229 }, { "epoch": 4.986763000488282e-07, "step": 5229, "training_step_time": 17.614630460739136 }, { "epoch": 4.987716674804688e-07, "grad_norm": 1.736693263053894, "learning_rate": 9.98332964017015e-06, "loss": 0.1261, "step": 5230 }, { "epoch": 4.987716674804688e-07, "model_forward_time": 5.0941550731658936, "step": 5230 }, { "dynamics_loss_avg": 0.05252775494009256, "epoch": 4.987716674804688e-07, "step": 5230 }, { "action_loss_avg": 0.11705928295850754, "epoch": 4.987716674804688e-07, "step": 5230 }, { "arm_loss_avg": 0.17592320293188096, "epoch": 4.987716674804688e-07, "step": 5230 }, { "ee_loss_avg": 0.09492084309458733, "epoch": 4.987716674804688e-07, "step": 5230 }, { "aux_loss_avg": 0.0032068177300971002, "epoch": 4.987716674804688e-07, "step": 5230 }, { "epoch": 4.987716674804688e-07, "step": 5230, "training_step_time": 17.781195163726807 }, { "epoch": 4.988670349121094e-07, "model_forward_time": 5.09094500541687, "step": 5231 }, { "epoch": 4.988670349121094e-07, "step": 5231, "training_step_time": 17.586982011795044 }, { "epoch": 4.9896240234375e-07, "model_forward_time": 5.086153030395508, "step": 5232 }, { "epoch": 4.9896240234375e-07, "step": 5232, "training_step_time": 17.589776039123535 }, { "epoch": 4.990577697753906e-07, "model_forward_time": 5.0844433307647705, "step": 5233 }, { "epoch": 4.990577697753906e-07, "step": 5233, "training_step_time": 17.58060050010681 }, { "epoch": 4.991531372070312e-07, "model_forward_time": 5.084265470504761, "step": 5234 }, { "epoch": 4.991531372070312e-07, "step": 5234, "training_step_time": 17.569942712783813 }, { "epoch": 4.992485046386718e-07, "model_forward_time": 5.082894563674927, "step": 5235 }, { "epoch": 4.992485046386718e-07, "step": 5235, "training_step_time": 17.61462092399597 }, { "epoch": 4.993438720703125e-07, "model_forward_time": 5.084606885910034, "step": 5236 }, { "epoch": 4.993438720703125e-07, "step": 5236, "training_step_time": 17.436765670776367 }, { "epoch": 4.994392395019532e-07, "model_forward_time": 5.088014125823975, "step": 5237 }, { "epoch": 4.994392395019532e-07, "step": 5237, "training_step_time": 17.424588918685913 }, { "epoch": 4.995346069335938e-07, "model_forward_time": 5.087704181671143, "step": 5238 }, { "epoch": 4.995346069335938e-07, "step": 5238, "training_step_time": 17.50223970413208 }, { "epoch": 4.996299743652344e-07, "model_forward_time": 5.087264537811279, "step": 5239 }, { "epoch": 4.996299743652344e-07, "step": 5239, "training_step_time": 17.548088788986206 }, { "epoch": 4.99725341796875e-07, "grad_norm": 1.5832246541976929, "learning_rate": 9.983136358923728e-06, "loss": 0.1219, "step": 5240 }, { "epoch": 4.99725341796875e-07, "model_forward_time": 5.279996633529663, "step": 5240 }, { "dynamics_loss_avg": 0.05998821686953306, "epoch": 4.99725341796875e-07, "step": 5240 }, { "action_loss_avg": 0.07555792145431042, "epoch": 4.99725341796875e-07, "step": 5240 }, { "arm_loss_avg": 0.1590687297284603, "epoch": 4.99725341796875e-07, "step": 5240 }, { "ee_loss_avg": 0.09851108398288488, "epoch": 4.99725341796875e-07, "step": 5240 }, { "aux_loss_avg": 0.0036192360217683016, "epoch": 4.99725341796875e-07, "step": 5240 }, { "epoch": 4.99725341796875e-07, "step": 5240, "training_step_time": 17.781038761138916 }, { "epoch": 4.998207092285156e-07, "model_forward_time": 5.0864012241363525, "step": 5241 }, { "epoch": 4.998207092285156e-07, "step": 5241, "training_step_time": 17.607993125915527 }, { "epoch": 4.999160766601562e-07, "model_forward_time": 5.090804576873779, "step": 5242 }, { "epoch": 4.999160766601562e-07, "step": 5242, "training_step_time": 17.650619506835938 }, { "epoch": 5.000114440917969e-07, "model_forward_time": 3.8528637886047363, "step": 5243 }, { "epoch": 5.000114440917969e-07, "step": 5243, "training_step_time": 17.64156484603882 }, { "epoch": 5.001068115234375e-07, "model_forward_time": 5.063585042953491, "step": 5244 }, { "epoch": 5.001068115234375e-07, "step": 5244, "training_step_time": 17.644808530807495 }, { "epoch": 5.002021789550781e-07, "model_forward_time": 5.0731353759765625, "step": 5245 }, { "epoch": 5.002021789550781e-07, "step": 5245, "training_step_time": 17.8611319065094 }, { "epoch": 5.002975463867187e-07, "model_forward_time": 5.321148872375488, "step": 5246 }, { "epoch": 5.002975463867187e-07, "step": 5246, "training_step_time": 17.61736750602722 }, { "epoch": 5.003929138183594e-07, "model_forward_time": 5.091494560241699, "step": 5247 }, { "epoch": 5.003929138183594e-07, "step": 5247, "training_step_time": 17.619701147079468 }, { "epoch": 5.0048828125e-07, "model_forward_time": 5.100004434585571, "step": 5248 }, { "epoch": 5.0048828125e-07, "step": 5248, "training_step_time": 17.63061285018921 }, { "epoch": 5.005836486816407e-07, "model_forward_time": 5.10354208946228, "step": 5249 }, { "epoch": 5.005836486816407e-07, "step": 5249, "training_step_time": 17.597349882125854 }, { "epoch": 5.006790161132813e-07, "grad_norm": 1.6848034858703613, "learning_rate": 9.982941965537928e-06, "loss": 0.1069, "step": 5250 }, { "epoch": 5.006790161132813e-07, "model_forward_time": 5.104203939437866, "step": 5250 }, { "dynamics_loss_avg": 0.057472008652985095, "epoch": 5.006790161132813e-07, "step": 5250 }, { "action_loss_avg": 0.09135445393621922, "epoch": 5.006790161132813e-07, "step": 5250 }, { "arm_loss_avg": 0.15036458894610405, "epoch": 5.006790161132813e-07, "step": 5250 }, { "ee_loss_avg": 0.1486759215593338, "epoch": 5.006790161132813e-07, "step": 5250 }, { "aux_loss_avg": 0.009727200417546555, "epoch": 5.006790161132813e-07, "step": 5250 }, { "epoch": 5.006790161132813e-07, "step": 5250, "training_step_time": 17.5702543258667 }, { "epoch": 5.007743835449219e-07, "model_forward_time": 5.106036901473999, "step": 5251 }, { "epoch": 5.007743835449219e-07, "step": 5251, "training_step_time": 17.512590408325195 }, { "epoch": 5.008697509765625e-07, "model_forward_time": 5.098040580749512, "step": 5252 }, { "epoch": 5.008697509765625e-07, "step": 5252, "training_step_time": 17.551384925842285 }, { "epoch": 5.009651184082031e-07, "model_forward_time": 5.092424392700195, "step": 5253 }, { "epoch": 5.009651184082031e-07, "step": 5253, "training_step_time": 17.413694620132446 }, { "epoch": 5.010604858398437e-07, "model_forward_time": 5.0930516719818115, "step": 5254 }, { "epoch": 5.010604858398437e-07, "step": 5254, "training_step_time": 17.512768983840942 }, { "epoch": 5.011558532714843e-07, "model_forward_time": 5.09284234046936, "step": 5255 }, { "epoch": 5.011558532714843e-07, "step": 5255, "training_step_time": 17.796615839004517 }, { "epoch": 5.01251220703125e-07, "model_forward_time": 5.099424362182617, "step": 5256 }, { "epoch": 5.01251220703125e-07, "step": 5256, "training_step_time": 17.60851240158081 }, { "epoch": 5.013465881347656e-07, "model_forward_time": 5.102566480636597, "step": 5257 }, { "epoch": 5.013465881347656e-07, "step": 5257, "training_step_time": 17.66102433204651 }, { "epoch": 5.014419555664063e-07, "model_forward_time": 3.866103172302246, "step": 5258 }, { "epoch": 5.014419555664063e-07, "step": 5258, "training_step_time": 17.66505527496338 }, { "epoch": 5.015373229980469e-07, "model_forward_time": 5.081554889678955, "step": 5259 }, { "epoch": 5.015373229980469e-07, "step": 5259, "training_step_time": 17.68894386291504 }, { "epoch": 5.016326904296875e-07, "grad_norm": 1.2958760261535645, "learning_rate": 9.982746460056134e-06, "loss": 0.1233, "step": 5260 }, { "epoch": 5.016326904296875e-07, "model_forward_time": 5.072551250457764, "step": 5260 }, { "dynamics_loss_avg": 0.05706821549683809, "epoch": 5.016326904296875e-07, "step": 5260 }, { "action_loss_avg": 0.10106888376176357, "epoch": 5.016326904296875e-07, "step": 5260 }, { "arm_loss_avg": 0.15560172274708747, "epoch": 5.016326904296875e-07, "step": 5260 }, { "ee_loss_avg": 0.06916277734562755, "epoch": 5.016326904296875e-07, "step": 5260 }, { "aux_loss_avg": 0.0017188150668516755, "epoch": 5.016326904296875e-07, "step": 5260 }, { "epoch": 5.016326904296875e-07, "step": 5260, "training_step_time": 18.03039789199829 }, { "epoch": 5.017280578613281e-07, "model_forward_time": 5.082287549972534, "step": 5261 }, { "epoch": 5.017280578613281e-07, "step": 5261, "training_step_time": 17.62341809272766 }, { "epoch": 5.018234252929688e-07, "model_forward_time": 5.092959642410278, "step": 5262 }, { "epoch": 5.018234252929688e-07, "step": 5262, "training_step_time": 17.628225564956665 }, { "epoch": 5.019187927246094e-07, "model_forward_time": 5.098289489746094, "step": 5263 }, { "epoch": 5.019187927246094e-07, "step": 5263, "training_step_time": 17.608898878097534 }, { "epoch": 5.0201416015625e-07, "model_forward_time": 5.102185010910034, "step": 5264 }, { "epoch": 5.0201416015625e-07, "step": 5264, "training_step_time": 17.6057345867157 }, { "epoch": 5.021095275878906e-07, "model_forward_time": 5.1041717529296875, "step": 5265 }, { "epoch": 5.021095275878906e-07, "step": 5265, "training_step_time": 17.84072494506836 }, { "epoch": 5.022048950195312e-07, "model_forward_time": 5.101609468460083, "step": 5266 }, { "epoch": 5.022048950195312e-07, "step": 5266, "training_step_time": 17.589130401611328 }, { "epoch": 5.023002624511718e-07, "model_forward_time": 5.098971843719482, "step": 5267 }, { "epoch": 5.023002624511718e-07, "step": 5267, "training_step_time": 17.588173866271973 }, { "epoch": 5.023956298828125e-07, "model_forward_time": 3.8577682971954346, "step": 5268 }, { "epoch": 5.023956298828125e-07, "step": 5268, "training_step_time": 17.583739280700684 }, { "epoch": 5.024909973144532e-07, "model_forward_time": 5.062930345535278, "step": 5269 }, { "epoch": 5.024909973144532e-07, "step": 5269, "training_step_time": 17.589659929275513 }, { "epoch": 5.025863647460938e-07, "grad_norm": 1.822261095046997, "learning_rate": 9.982549842521982e-06, "loss": 0.1259, "step": 5270 }, { "epoch": 5.025863647460938e-07, "model_forward_time": 5.071869134902954, "step": 5270 }, { "dynamics_loss_avg": 0.049090539664030076, "epoch": 5.025863647460938e-07, "step": 5270 }, { "action_loss_avg": 0.08297829665243625, "epoch": 5.025863647460938e-07, "step": 5270 }, { "arm_loss_avg": 0.15435753539204597, "epoch": 5.025863647460938e-07, "step": 5270 }, { "ee_loss_avg": 0.09471179731190205, "epoch": 5.025863647460938e-07, "step": 5270 }, { "aux_loss_avg": 0.0029961318301502614, "epoch": 5.025863647460938e-07, "step": 5270 }, { "epoch": 5.025863647460938e-07, "step": 5270, "training_step_time": 17.792396783828735 }, { "epoch": 5.026817321777344e-07, "model_forward_time": 5.27057957649231, "step": 5271 }, { "epoch": 5.026817321777344e-07, "step": 5271, "training_step_time": 17.5833158493042 }, { "epoch": 5.02777099609375e-07, "model_forward_time": 5.087158679962158, "step": 5272 }, { "epoch": 5.02777099609375e-07, "step": 5272, "training_step_time": 17.588184118270874 }, { "epoch": 5.028724670410156e-07, "model_forward_time": 5.094350099563599, "step": 5273 }, { "epoch": 5.028724670410156e-07, "step": 5273, "training_step_time": 17.612053871154785 }, { "epoch": 5.029678344726562e-07, "model_forward_time": 5.0979766845703125, "step": 5274 }, { "epoch": 5.029678344726562e-07, "step": 5274, "training_step_time": 17.632582902908325 }, { "epoch": 5.030632019042968e-07, "model_forward_time": 5.101806163787842, "step": 5275 }, { "epoch": 5.030632019042968e-07, "step": 5275, "training_step_time": 17.458824396133423 }, { "epoch": 5.031585693359375e-07, "model_forward_time": 5.099628925323486, "step": 5276 }, { "epoch": 5.031585693359375e-07, "step": 5276, "training_step_time": 17.761066913604736 }, { "epoch": 5.032539367675781e-07, "model_forward_time": 5.098421096801758, "step": 5277 }, { "epoch": 5.032539367675781e-07, "step": 5277, "training_step_time": 17.563114881515503 }, { "epoch": 5.033493041992188e-07, "model_forward_time": 5.095007419586182, "step": 5278 }, { "epoch": 5.033493041992188e-07, "step": 5278, "training_step_time": 17.597655773162842 }, { "epoch": 5.034446716308594e-07, "model_forward_time": 5.089348793029785, "step": 5279 }, { "epoch": 5.034446716308594e-07, "step": 5279, "training_step_time": 17.621495246887207 }, { "epoch": 5.035400390625e-07, "grad_norm": 1.217991590499878, "learning_rate": 9.982352112979352e-06, "loss": 0.1221, "step": 5280 }, { "epoch": 5.035400390625e-07, "model_forward_time": 5.282163858413696, "step": 5280 }, { "dynamics_loss_avg": 0.05297905215993524, "epoch": 5.035400390625e-07, "step": 5280 }, { "action_loss_avg": 0.07794069051742554, "epoch": 5.035400390625e-07, "step": 5280 }, { "arm_loss_avg": 0.15000229142606258, "epoch": 5.035400390625e-07, "step": 5280 }, { "ee_loss_avg": 0.05919950641691685, "epoch": 5.035400390625e-07, "step": 5280 }, { "aux_loss_avg": 0.0034158420050516723, "epoch": 5.035400390625e-07, "step": 5280 }, { "epoch": 5.035400390625e-07, "step": 5280, "training_step_time": 17.630255460739136 }, { "epoch": 5.036354064941406e-07, "model_forward_time": 5.087294578552246, "step": 5281 }, { "epoch": 5.036354064941406e-07, "step": 5281, "training_step_time": 17.824091911315918 }, { "epoch": 5.037307739257813e-07, "model_forward_time": 5.0821614265441895, "step": 5282 }, { "epoch": 5.037307739257813e-07, "step": 5282, "training_step_time": 17.630260705947876 }, { "epoch": 5.038261413574219e-07, "model_forward_time": 5.0831146240234375, "step": 5283 }, { "epoch": 5.038261413574219e-07, "step": 5283, "training_step_time": 17.62540555000305 }, { "epoch": 5.039215087890625e-07, "model_forward_time": 5.083030939102173, "step": 5284 }, { "epoch": 5.039215087890625e-07, "step": 5284, "training_step_time": 17.620450258255005 }, { "epoch": 5.040168762207031e-07, "model_forward_time": 5.086467742919922, "step": 5285 }, { "epoch": 5.040168762207031e-07, "step": 5285, "training_step_time": 17.833747386932373 }, { "epoch": 5.041122436523437e-07, "model_forward_time": 3.847215414047241, "step": 5286 }, { "epoch": 5.041122436523437e-07, "step": 5286, "training_step_time": 17.59424638748169 }, { "epoch": 5.042076110839843e-07, "model_forward_time": 5.058861255645752, "step": 5287 }, { "epoch": 5.042076110839843e-07, "step": 5287, "training_step_time": 17.603537559509277 }, { "epoch": 5.04302978515625e-07, "model_forward_time": 5.069349527359009, "step": 5288 }, { "epoch": 5.04302978515625e-07, "step": 5288, "training_step_time": 17.5885169506073 }, { "epoch": 5.043983459472657e-07, "model_forward_time": 5.081645965576172, "step": 5289 }, { "epoch": 5.043983459472657e-07, "step": 5289, "training_step_time": 17.57122540473938 }, { "epoch": 5.044937133789063e-07, "grad_norm": 0.7770117521286011, "learning_rate": 9.982153271472371e-06, "loss": 0.1128, "step": 5290 }, { "epoch": 5.044937133789063e-07, "model_forward_time": 5.086607217788696, "step": 5290 }, { "dynamics_loss_avg": 0.046807368285954, "epoch": 5.044937133789063e-07, "step": 5290 }, { "action_loss_avg": 0.08422348424792289, "epoch": 5.044937133789063e-07, "step": 5290 }, { "arm_loss_avg": 0.13193553537130356, "epoch": 5.044937133789063e-07, "step": 5290 }, { "ee_loss_avg": 0.08682884685695172, "epoch": 5.044937133789063e-07, "step": 5290 }, { "aux_loss_avg": 0.0010165078041609378, "epoch": 5.044937133789063e-07, "step": 5290 }, { "epoch": 5.044937133789063e-07, "step": 5290, "training_step_time": 17.768442153930664 }, { "epoch": 5.045890808105469e-07, "model_forward_time": 5.2841174602508545, "step": 5291 }, { "epoch": 5.045890808105469e-07, "step": 5291, "training_step_time": 17.556291341781616 }, { "epoch": 5.046844482421875e-07, "model_forward_time": 3.861816644668579, "step": 5292 }, { "epoch": 5.046844482421875e-07, "step": 5292, "training_step_time": 17.57064986228943 }, { "epoch": 5.047798156738281e-07, "model_forward_time": 5.0676655769348145, "step": 5293 }, { "epoch": 5.047798156738281e-07, "step": 5293, "training_step_time": 17.583959102630615 }, { "epoch": 5.048751831054687e-07, "model_forward_time": 5.079731464385986, "step": 5294 }, { "epoch": 5.048751831054687e-07, "step": 5294, "training_step_time": 17.64824867248535 }, { "epoch": 5.049705505371093e-07, "model_forward_time": 5.088271856307983, "step": 5295 }, { "epoch": 5.049705505371093e-07, "step": 5295, "training_step_time": 17.789162158966064 }, { "epoch": 5.0506591796875e-07, "model_forward_time": 5.32260537147522, "step": 5296 }, { "epoch": 5.0506591796875e-07, "step": 5296, "training_step_time": 17.591055393218994 }, { "epoch": 5.051612854003906e-07, "model_forward_time": 5.093941926956177, "step": 5297 }, { "epoch": 5.051612854003906e-07, "step": 5297, "training_step_time": 17.41641139984131 }, { "epoch": 5.052566528320313e-07, "model_forward_time": 5.102144479751587, "step": 5298 }, { "epoch": 5.052566528320313e-07, "step": 5298, "training_step_time": 17.508986949920654 }, { "epoch": 5.053520202636719e-07, "model_forward_time": 5.099421739578247, "step": 5299 }, { "epoch": 5.053520202636719e-07, "step": 5299, "training_step_time": 17.631128311157227 }, { "epoch": 5.054473876953125e-07, "grad_norm": 0.9285727739334106, "learning_rate": 9.98195331804542e-06, "loss": 0.1217, "step": 5300 }, { "epoch": 5.054473876953125e-07, "model_forward_time": 3.8577258586883545, "step": 5300 }, { "dynamics_loss_avg": 0.05581270176917315, "epoch": 5.054473876953125e-07, "step": 5300 }, { "action_loss_avg": 0.07853993624448777, "epoch": 5.054473876953125e-07, "step": 5300 }, { "arm_loss_avg": 0.1526864252984524, "epoch": 5.054473876953125e-07, "step": 5300 }, { "ee_loss_avg": 0.08239751160144806, "epoch": 5.054473876953125e-07, "step": 5300 }, { "aux_loss_avg": 0.00497649580356665, "epoch": 5.054473876953125e-07, "step": 5300 }, { "epoch": 5.054473876953125e-07, "step": 5300, "training_step_time": 17.79206109046936 }, { "epoch": 5.055427551269531e-07, "model_forward_time": 5.253446102142334, "step": 5301 }, { "epoch": 5.055427551269531e-07, "step": 5301, "training_step_time": 17.60013175010681 }, { "epoch": 5.056381225585938e-07, "model_forward_time": 5.0757904052734375, "step": 5302 }, { "epoch": 5.056381225585938e-07, "step": 5302, "training_step_time": 17.60708498954773 }, { "epoch": 5.057334899902344e-07, "model_forward_time": 5.079965591430664, "step": 5303 }, { "epoch": 5.057334899902344e-07, "step": 5303, "training_step_time": 17.61360502243042 }, { "epoch": 5.05828857421875e-07, "model_forward_time": 5.084185600280762, "step": 5304 }, { "epoch": 5.05828857421875e-07, "step": 5304, "training_step_time": 17.60364532470703 }, { "epoch": 5.059242248535156e-07, "model_forward_time": 5.090477228164673, "step": 5305 }, { "epoch": 5.059242248535156e-07, "step": 5305, "training_step_time": 17.83383584022522 }, { "epoch": 5.060195922851562e-07, "model_forward_time": 5.335310459136963, "step": 5306 }, { "epoch": 5.060195922851562e-07, "step": 5306, "training_step_time": 17.595362424850464 }, { "epoch": 5.061149597167968e-07, "model_forward_time": 5.100884199142456, "step": 5307 }, { "epoch": 5.061149597167968e-07, "step": 5307, "training_step_time": 17.593494176864624 }, { "epoch": 5.062103271484375e-07, "model_forward_time": 5.1000823974609375, "step": 5308 }, { "epoch": 5.062103271484375e-07, "step": 5308, "training_step_time": 17.235568284988403 }, { "epoch": 5.063056945800782e-07, "model_forward_time": 5.099393367767334, "step": 5309 }, { "epoch": 5.063056945800782e-07, "step": 5309, "training_step_time": 17.51785159111023 }, { "epoch": 5.064010620117188e-07, "grad_norm": 1.7085572481155396, "learning_rate": 9.981752252743122e-06, "loss": 0.1313, "step": 5310 }, { "epoch": 5.064010620117188e-07, "model_forward_time": 5.099508285522461, "step": 5310 }, { "dynamics_loss_avg": 0.05654422603547573, "epoch": 5.064010620117188e-07, "step": 5310 }, { "action_loss_avg": 0.08694063313305378, "epoch": 5.064010620117188e-07, "step": 5310 }, { "arm_loss_avg": 0.12393314838409424, "epoch": 5.064010620117188e-07, "step": 5310 }, { "ee_loss_avg": 0.08736337143927812, "epoch": 5.064010620117188e-07, "step": 5310 }, { "aux_loss_avg": 0.0015414145833346992, "epoch": 5.064010620117188e-07, "step": 5310 }, { "epoch": 5.064010620117188e-07, "step": 5310, "training_step_time": 17.634714126586914 }, { "epoch": 5.064964294433594e-07, "model_forward_time": 5.093656778335571, "step": 5311 }, { "epoch": 5.064964294433594e-07, "step": 5311, "training_step_time": 17.68586564064026 }, { "epoch": 5.06591796875e-07, "model_forward_time": 5.088165521621704, "step": 5312 }, { "epoch": 5.06591796875e-07, "step": 5312, "training_step_time": 17.578060626983643 }, { "epoch": 5.066871643066406e-07, "model_forward_time": 5.088125467300415, "step": 5313 }, { "epoch": 5.066871643066406e-07, "step": 5313, "training_step_time": 17.599882125854492 }, { "epoch": 5.067825317382812e-07, "model_forward_time": 5.0823657512664795, "step": 5314 }, { "epoch": 5.067825317382812e-07, "step": 5314, "training_step_time": 17.63550591468811 }, { "epoch": 5.068778991699218e-07, "model_forward_time": 5.086097717285156, "step": 5315 }, { "epoch": 5.068778991699218e-07, "step": 5315, "training_step_time": 17.65095829963684 }, { "epoch": 5.069732666015625e-07, "model_forward_time": 5.0853166580200195, "step": 5316 }, { "epoch": 5.069732666015625e-07, "step": 5316, "training_step_time": 17.344862937927246 }, { "epoch": 5.070686340332031e-07, "model_forward_time": 5.088913679122925, "step": 5317 }, { "epoch": 5.070686340332031e-07, "step": 5317, "training_step_time": 17.56725311279297 }, { "epoch": 5.071640014648438e-07, "model_forward_time": 5.088722467422485, "step": 5318 }, { "epoch": 5.071640014648438e-07, "step": 5318, "training_step_time": 17.61263394355774 }, { "epoch": 5.072593688964844e-07, "model_forward_time": 5.087338924407959, "step": 5319 }, { "epoch": 5.072593688964844e-07, "step": 5319, "training_step_time": 17.619482278823853 }, { "epoch": 5.07354736328125e-07, "grad_norm": 1.6833686828613281, "learning_rate": 9.981550075610353e-06, "loss": 0.1229, "step": 5320 }, { "epoch": 5.07354736328125e-07, "model_forward_time": 5.291142463684082, "step": 5320 }, { "dynamics_loss_avg": 0.0487132741138339, "epoch": 5.07354736328125e-07, "step": 5320 }, { "action_loss_avg": 0.09773370698094368, "epoch": 5.07354736328125e-07, "step": 5320 }, { "arm_loss_avg": 0.1525429978966713, "epoch": 5.07354736328125e-07, "step": 5320 }, { "ee_loss_avg": 0.06800463171675801, "epoch": 5.07354736328125e-07, "step": 5320 }, { "aux_loss_avg": 0.0034424785641022026, "epoch": 5.07354736328125e-07, "step": 5320 }, { "epoch": 5.07354736328125e-07, "step": 5320, "training_step_time": 17.63724946975708 }, { "epoch": 5.074501037597656e-07, "model_forward_time": 5.09116792678833, "step": 5321 }, { "epoch": 5.074501037597656e-07, "step": 5321, "training_step_time": 17.8121120929718 }, { "epoch": 5.075454711914063e-07, "model_forward_time": 5.090302467346191, "step": 5322 }, { "epoch": 5.075454711914063e-07, "step": 5322, "training_step_time": 17.643786191940308 }, { "epoch": 5.076408386230469e-07, "model_forward_time": 5.089617013931274, "step": 5323 }, { "epoch": 5.076408386230469e-07, "step": 5323, "training_step_time": 17.6398766040802 }, { "epoch": 5.077362060546875e-07, "model_forward_time": 5.094479322433472, "step": 5324 }, { "epoch": 5.077362060546875e-07, "step": 5324, "training_step_time": 17.63517665863037 }, { "epoch": 5.078315734863281e-07, "model_forward_time": 5.0949835777282715, "step": 5325 }, { "epoch": 5.078315734863281e-07, "step": 5325, "training_step_time": 17.64158535003662 }, { "epoch": 5.079269409179687e-07, "model_forward_time": 5.094917058944702, "step": 5326 }, { "epoch": 5.079269409179687e-07, "step": 5326, "training_step_time": 17.862247467041016 }, { "epoch": 5.080223083496093e-07, "model_forward_time": 3.8504388332366943, "step": 5327 }, { "epoch": 5.080223083496093e-07, "step": 5327, "training_step_time": 17.617353200912476 }, { "epoch": 5.0811767578125e-07, "model_forward_time": 5.064400672912598, "step": 5328 }, { "epoch": 5.0811767578125e-07, "step": 5328, "training_step_time": 17.62905216217041 }, { "epoch": 5.082130432128907e-07, "model_forward_time": 3.84226131439209, "step": 5329 }, { "epoch": 5.082130432128907e-07, "step": 5329, "training_step_time": 17.607179880142212 }, { "epoch": 5.083084106445313e-07, "grad_norm": 1.424491286277771, "learning_rate": 9.981346786692234e-06, "loss": 0.1177, "step": 5330 }, { "epoch": 5.083084106445313e-07, "model_forward_time": 3.829586982727051, "step": 5330 }, { "dynamics_loss_avg": 0.053925003670156, "epoch": 5.083084106445313e-07, "step": 5330 }, { "action_loss_avg": 0.08569678142666817, "epoch": 5.083084106445313e-07, "step": 5330 }, { "arm_loss_avg": 0.17572315335273742, "epoch": 5.083084106445313e-07, "step": 5330 }, { "ee_loss_avg": 0.0909341836348176, "epoch": 5.083084106445313e-07, "step": 5330 }, { "aux_loss_avg": 0.010071560560027138, "epoch": 5.083084106445313e-07, "step": 5330 }, { "epoch": 5.083084106445313e-07, "step": 5330, "training_step_time": 17.81938886642456 }, { "epoch": 5.084037780761719e-07, "model_forward_time": 5.236099481582642, "step": 5331 }, { "epoch": 5.084037780761719e-07, "step": 5331, "training_step_time": 17.60020351409912 }, { "epoch": 5.084991455078125e-07, "model_forward_time": 5.07946252822876, "step": 5332 }, { "epoch": 5.084991455078125e-07, "step": 5332, "training_step_time": 17.5951669216156 }, { "epoch": 5.085945129394531e-07, "model_forward_time": 5.101078033447266, "step": 5333 }, { "epoch": 5.085945129394531e-07, "step": 5333, "training_step_time": 17.40253973007202 }, { "epoch": 5.086898803710937e-07, "model_forward_time": 5.118524551391602, "step": 5334 }, { "epoch": 5.086898803710937e-07, "step": 5334, "training_step_time": 17.507332801818848 }, { "epoch": 5.087852478027344e-07, "model_forward_time": 5.11951470375061, "step": 5335 }, { "epoch": 5.087852478027344e-07, "step": 5335, "training_step_time": 17.596515655517578 }, { "epoch": 5.08880615234375e-07, "model_forward_time": 5.344808578491211, "step": 5336 }, { "epoch": 5.08880615234375e-07, "step": 5336, "training_step_time": 17.824668407440186 }, { "epoch": 5.089759826660156e-07, "model_forward_time": 5.097835540771484, "step": 5337 }, { "epoch": 5.089759826660156e-07, "step": 5337, "training_step_time": 17.625526428222656 }, { "epoch": 5.090713500976563e-07, "model_forward_time": 5.091545581817627, "step": 5338 }, { "epoch": 5.090713500976563e-07, "step": 5338, "training_step_time": 17.641719818115234 }, { "epoch": 5.091667175292969e-07, "model_forward_time": 5.0827085971832275, "step": 5339 }, { "epoch": 5.091667175292969e-07, "step": 5339, "training_step_time": 17.656408309936523 }, { "epoch": 5.092620849609375e-07, "grad_norm": 1.6403120756149292, "learning_rate": 9.981142386034136e-06, "loss": 0.1459, "step": 5340 }, { "epoch": 5.092620849609375e-07, "model_forward_time": 5.08352255821228, "step": 5340 }, { "dynamics_loss_avg": 0.053466003946959974, "epoch": 5.092620849609375e-07, "step": 5340 }, { "action_loss_avg": 0.09973146840929985, "epoch": 5.092620849609375e-07, "step": 5340 }, { "arm_loss_avg": 0.16504589840769768, "epoch": 5.092620849609375e-07, "step": 5340 }, { "ee_loss_avg": 0.05508806128054857, "epoch": 5.092620849609375e-07, "step": 5340 }, { "aux_loss_avg": 0.0048494338931050155, "epoch": 5.092620849609375e-07, "step": 5340 }, { "epoch": 5.092620849609375e-07, "step": 5340, "training_step_time": 17.629793405532837 }, { "epoch": 5.093574523925781e-07, "model_forward_time": 5.265089750289917, "step": 5341 }, { "epoch": 5.093574523925781e-07, "step": 5341, "training_step_time": 17.73922300338745 }, { "epoch": 5.094528198242188e-07, "model_forward_time": 5.078883647918701, "step": 5342 }, { "epoch": 5.094528198242188e-07, "step": 5342, "training_step_time": 17.407376050949097 }, { "epoch": 5.095481872558594e-07, "model_forward_time": 5.081066131591797, "step": 5343 }, { "epoch": 5.095481872558594e-07, "step": 5343, "training_step_time": 17.508321523666382 }, { "epoch": 5.096435546875e-07, "model_forward_time": 5.084756135940552, "step": 5344 }, { "epoch": 5.096435546875e-07, "step": 5344, "training_step_time": 17.562339782714844 }, { "epoch": 5.097389221191406e-07, "model_forward_time": 5.080204248428345, "step": 5345 }, { "epoch": 5.097389221191406e-07, "step": 5345, "training_step_time": 17.599152088165283 }, { "epoch": 5.098342895507812e-07, "model_forward_time": 5.317606687545776, "step": 5346 }, { "epoch": 5.098342895507812e-07, "step": 5346, "training_step_time": 17.846776247024536 }, { "epoch": 5.099296569824218e-07, "model_forward_time": 5.08526349067688, "step": 5347 }, { "epoch": 5.099296569824218e-07, "step": 5347, "training_step_time": 17.638417720794678 }, { "epoch": 5.100250244140626e-07, "model_forward_time": 5.083411693572998, "step": 5348 }, { "epoch": 5.100250244140626e-07, "step": 5348, "training_step_time": 17.629326343536377 }, { "epoch": 5.101203918457032e-07, "model_forward_time": 5.088577032089233, "step": 5349 }, { "epoch": 5.101203918457032e-07, "step": 5349, "training_step_time": 17.632497787475586 }, { "epoch": 5.102157592773438e-07, "grad_norm": 1.4906445741653442, "learning_rate": 9.980936873681674e-06, "loss": 0.1116, "step": 5350 }, { "epoch": 5.102157592773438e-07, "model_forward_time": 5.086381196975708, "step": 5350 }, { "dynamics_loss_avg": 0.05334434099495411, "epoch": 5.102157592773438e-07, "step": 5350 }, { "action_loss_avg": 0.0796171635389328, "epoch": 5.102157592773438e-07, "step": 5350 }, { "arm_loss_avg": 0.15083842277526854, "epoch": 5.102157592773438e-07, "step": 5350 }, { "ee_loss_avg": 0.08039443837478757, "epoch": 5.102157592773438e-07, "step": 5350 }, { "aux_loss_avg": 0.009731264901347458, "epoch": 5.102157592773438e-07, "step": 5350 }, { "epoch": 5.102157592773438e-07, "step": 5350, "training_step_time": 17.620453119277954 }, { "epoch": 5.103111267089844e-07, "model_forward_time": 5.286523818969727, "step": 5351 }, { "epoch": 5.103111267089844e-07, "step": 5351, "training_step_time": 17.845959424972534 }, { "epoch": 5.10406494140625e-07, "model_forward_time": 5.085262775421143, "step": 5352 }, { "epoch": 5.10406494140625e-07, "step": 5352, "training_step_time": 17.624387741088867 }, { "epoch": 5.105018615722656e-07, "model_forward_time": 5.086556911468506, "step": 5353 }, { "epoch": 5.105018615722656e-07, "step": 5353, "training_step_time": 17.60882806777954 }, { "epoch": 5.105972290039062e-07, "model_forward_time": 5.0862672328948975, "step": 5354 }, { "epoch": 5.105972290039062e-07, "step": 5354, "training_step_time": 17.38947343826294 }, { "epoch": 5.106925964355469e-07, "model_forward_time": 5.0831615924835205, "step": 5355 }, { "epoch": 5.106925964355469e-07, "step": 5355, "training_step_time": 17.58121347427368 }, { "epoch": 5.107879638671875e-07, "model_forward_time": 3.850738048553467, "step": 5356 }, { "epoch": 5.107879638671875e-07, "step": 5356, "training_step_time": 17.780198335647583 }, { "epoch": 5.108833312988281e-07, "model_forward_time": 5.060992956161499, "step": 5357 }, { "epoch": 5.108833312988281e-07, "step": 5357, "training_step_time": 17.426128387451172 }, { "epoch": 5.109786987304688e-07, "model_forward_time": 5.074202060699463, "step": 5358 }, { "epoch": 5.109786987304688e-07, "step": 5358, "training_step_time": 17.51718258857727 }, { "epoch": 5.110740661621094e-07, "model_forward_time": 5.078252077102661, "step": 5359 }, { "epoch": 5.110740661621094e-07, "step": 5359, "training_step_time": 17.560023069381714 }, { "epoch": 5.1116943359375e-07, "grad_norm": 1.3688452243804932, "learning_rate": 9.98073024968072e-06, "loss": 0.1166, "step": 5360 }, { "epoch": 5.1116943359375e-07, "model_forward_time": 3.8506743907928467, "step": 5360 }, { "dynamics_loss_avg": 0.04355987273156643, "epoch": 5.1116943359375e-07, "step": 5360 }, { "action_loss_avg": 0.06641971431672573, "epoch": 5.1116943359375e-07, "step": 5360 }, { "arm_loss_avg": 0.1546409048140049, "epoch": 5.1116943359375e-07, "step": 5360 }, { "ee_loss_avg": 0.06758499834686518, "epoch": 5.1116943359375e-07, "step": 5360 }, { "aux_loss_avg": 0.004820661304984241, "epoch": 5.1116943359375e-07, "step": 5360 }, { "epoch": 5.1116943359375e-07, "step": 5360, "training_step_time": 17.617091417312622 }, { "epoch": 5.112648010253906e-07, "model_forward_time": 5.256817102432251, "step": 5361 }, { "epoch": 5.112648010253906e-07, "step": 5361, "training_step_time": 17.82633137702942 }, { "epoch": 5.113601684570313e-07, "model_forward_time": 5.075039863586426, "step": 5362 }, { "epoch": 5.113601684570313e-07, "step": 5362, "training_step_time": 17.64078378677368 }, { "epoch": 5.114555358886719e-07, "model_forward_time": 5.085721254348755, "step": 5363 }, { "epoch": 5.114555358886719e-07, "step": 5363, "training_step_time": 17.6407151222229 }, { "epoch": 5.115509033203125e-07, "model_forward_time": 5.100027561187744, "step": 5364 }, { "epoch": 5.115509033203125e-07, "step": 5364, "training_step_time": 17.640231609344482 }, { "epoch": 5.116462707519531e-07, "model_forward_time": 5.0983726978302, "step": 5365 }, { "epoch": 5.116462707519531e-07, "step": 5365, "training_step_time": 17.855706214904785 }, { "epoch": 5.117416381835937e-07, "model_forward_time": 5.3477208614349365, "step": 5366 }, { "epoch": 5.117416381835937e-07, "step": 5366, "training_step_time": 17.621092557907104 }, { "epoch": 5.118370056152343e-07, "model_forward_time": 3.863582134246826, "step": 5367 }, { "epoch": 5.118370056152343e-07, "step": 5367, "training_step_time": 17.608407020568848 }, { "epoch": 5.11932373046875e-07, "model_forward_time": 5.065664529800415, "step": 5368 }, { "epoch": 5.11932373046875e-07, "step": 5368, "training_step_time": 17.62392234802246 }, { "epoch": 5.120277404785157e-07, "model_forward_time": 3.8479690551757812, "step": 5369 }, { "epoch": 5.120277404785157e-07, "step": 5369, "training_step_time": 17.603816032409668 }, { "epoch": 5.121231079101563e-07, "grad_norm": 1.6144273281097412, "learning_rate": 9.980522514077381e-06, "loss": 0.1139, "step": 5370 }, { "epoch": 5.121231079101563e-07, "model_forward_time": 5.059888601303101, "step": 5370 }, { "dynamics_loss_avg": 0.05676951054483652, "epoch": 5.121231079101563e-07, "step": 5370 }, { "action_loss_avg": 0.09787721261382103, "epoch": 5.121231079101563e-07, "step": 5370 }, { "arm_loss_avg": 0.14657133668661118, "epoch": 5.121231079101563e-07, "step": 5370 }, { "ee_loss_avg": 0.04771842295303941, "epoch": 5.121231079101563e-07, "step": 5370 }, { "aux_loss_avg": 0.0023424825922120363, "epoch": 5.121231079101563e-07, "step": 5370 }, { "epoch": 5.121231079101563e-07, "step": 5370, "training_step_time": 17.810733795166016 }, { "epoch": 5.122184753417969e-07, "model_forward_time": 5.254977464675903, "step": 5371 }, { "epoch": 5.122184753417969e-07, "step": 5371, "training_step_time": 17.664844751358032 }, { "epoch": 5.123138427734375e-07, "model_forward_time": 5.0874106884002686, "step": 5372 }, { "epoch": 5.123138427734375e-07, "step": 5372, "training_step_time": 17.612828493118286 }, { "epoch": 5.124092102050781e-07, "model_forward_time": 5.0997254848480225, "step": 5373 }, { "epoch": 5.124092102050781e-07, "step": 5373, "training_step_time": 17.617225885391235 }, { "epoch": 5.125045776367187e-07, "model_forward_time": 5.1020543575286865, "step": 5374 }, { "epoch": 5.125045776367187e-07, "step": 5374, "training_step_time": 17.61881422996521 }, { "epoch": 5.125999450683594e-07, "model_forward_time": 5.107117176055908, "step": 5375 }, { "epoch": 5.125999450683594e-07, "step": 5375, "training_step_time": 17.831639289855957 }, { "epoch": 5.126953125e-07, "model_forward_time": 5.346484184265137, "step": 5376 }, { "epoch": 5.126953125e-07, "step": 5376, "training_step_time": 17.618595361709595 }, { "epoch": 5.127906799316406e-07, "model_forward_time": 5.109811782836914, "step": 5377 }, { "epoch": 5.127906799316406e-07, "step": 5377, "training_step_time": 17.448068380355835 }, { "epoch": 5.128860473632812e-07, "model_forward_time": 5.110889673233032, "step": 5378 }, { "epoch": 5.128860473632812e-07, "step": 5378, "training_step_time": 17.563737392425537 }, { "epoch": 5.129814147949219e-07, "model_forward_time": 5.113005876541138, "step": 5379 }, { "epoch": 5.129814147949219e-07, "step": 5379, "training_step_time": 17.602087020874023 }, { "epoch": 5.130767822265625e-07, "grad_norm": 1.0152430534362793, "learning_rate": 9.980313666918029e-06, "loss": 0.125, "step": 5380 }, { "epoch": 5.130767822265625e-07, "model_forward_time": 5.107093572616577, "step": 5380 }, { "dynamics_loss_avg": 0.06681617684662342, "epoch": 5.130767822265625e-07, "step": 5380 }, { "action_loss_avg": 0.09588739722967148, "epoch": 5.130767822265625e-07, "step": 5380 }, { "arm_loss_avg": 0.17134495079517365, "epoch": 5.130767822265625e-07, "step": 5380 }, { "ee_loss_avg": 0.06295511638745666, "epoch": 5.130767822265625e-07, "step": 5380 }, { "aux_loss_avg": 0.021832715696655215, "epoch": 5.130767822265625e-07, "step": 5380 }, { "epoch": 5.130767822265625e-07, "step": 5380, "training_step_time": 17.835355043411255 }, { "epoch": 5.131721496582031e-07, "model_forward_time": 5.085317611694336, "step": 5381 }, { "epoch": 5.131721496582031e-07, "step": 5381, "training_step_time": 17.655816793441772 }, { "epoch": 5.132675170898438e-07, "model_forward_time": 5.089454650878906, "step": 5382 }, { "epoch": 5.132675170898438e-07, "step": 5382, "training_step_time": 17.6361825466156 }, { "epoch": 5.133628845214844e-07, "model_forward_time": 5.078848838806152, "step": 5383 }, { "epoch": 5.133628845214844e-07, "step": 5383, "training_step_time": 17.645476579666138 }, { "epoch": 5.13458251953125e-07, "model_forward_time": 5.081676959991455, "step": 5384 }, { "epoch": 5.13458251953125e-07, "step": 5384, "training_step_time": 17.41420292854309 }, { "epoch": 5.135536193847656e-07, "model_forward_time": 5.0835654735565186, "step": 5385 }, { "epoch": 5.135536193847656e-07, "step": 5385, "training_step_time": 17.78030300140381 }, { "epoch": 5.136489868164062e-07, "model_forward_time": 5.085732460021973, "step": 5386 }, { "epoch": 5.136489868164062e-07, "step": 5386, "training_step_time": 17.607903957366943 }, { "epoch": 5.137443542480468e-07, "model_forward_time": 5.083946704864502, "step": 5387 }, { "epoch": 5.137443542480468e-07, "step": 5387, "training_step_time": 17.61523127555847 }, { "epoch": 5.138397216796874e-07, "model_forward_time": 5.088894605636597, "step": 5388 }, { "epoch": 5.138397216796874e-07, "step": 5388, "training_step_time": 17.6385395526886 }, { "epoch": 5.139350891113282e-07, "model_forward_time": 3.850510597229004, "step": 5389 }, { "epoch": 5.139350891113282e-07, "step": 5389, "training_step_time": 17.647130727767944 }, { "epoch": 5.140304565429688e-07, "grad_norm": 1.4706140756607056, "learning_rate": 9.980103708249266e-06, "loss": 0.122, "step": 5390 }, { "epoch": 5.140304565429688e-07, "model_forward_time": 3.8311760425567627, "step": 5390 }, { "dynamics_loss_avg": 0.053394848853349684, "epoch": 5.140304565429688e-07, "step": 5390 }, { "action_loss_avg": 0.09635217003524303, "epoch": 5.140304565429688e-07, "step": 5390 }, { "arm_loss_avg": 0.1590193174779415, "epoch": 5.140304565429688e-07, "step": 5390 }, { "ee_loss_avg": 0.062446797266602516, "epoch": 5.140304565429688e-07, "step": 5390 }, { "aux_loss_avg": 0.002608803450129926, "epoch": 5.140304565429688e-07, "step": 5390 }, { "epoch": 5.140304565429688e-07, "step": 5390, "training_step_time": 17.84913659095764 }, { "epoch": 5.141258239746094e-07, "model_forward_time": 5.238216876983643, "step": 5391 }, { "epoch": 5.141258239746094e-07, "step": 5391, "training_step_time": 17.524930953979492 }, { "epoch": 5.1422119140625e-07, "model_forward_time": 5.068565845489502, "step": 5392 }, { "epoch": 5.1422119140625e-07, "step": 5392, "training_step_time": 17.531391859054565 }, { "epoch": 5.143165588378906e-07, "model_forward_time": 5.083884239196777, "step": 5393 }, { "epoch": 5.143165588378906e-07, "step": 5393, "training_step_time": 17.389867782592773 }, { "epoch": 5.144119262695312e-07, "model_forward_time": 5.098918914794922, "step": 5394 }, { "epoch": 5.144119262695312e-07, "step": 5394, "training_step_time": 17.500407695770264 }, { "epoch": 5.145072937011719e-07, "model_forward_time": 5.107289552688599, "step": 5395 }, { "epoch": 5.145072937011719e-07, "step": 5395, "training_step_time": 17.562976121902466 }, { "epoch": 5.146026611328125e-07, "model_forward_time": 5.341303110122681, "step": 5396 }, { "epoch": 5.146026611328125e-07, "step": 5396, "training_step_time": 17.838826656341553 }, { "epoch": 5.146980285644531e-07, "model_forward_time": 5.102322816848755, "step": 5397 }, { "epoch": 5.146980285644531e-07, "step": 5397, "training_step_time": 17.628854513168335 }, { "epoch": 5.147933959960937e-07, "model_forward_time": 5.096959352493286, "step": 5398 }, { "epoch": 5.147933959960937e-07, "step": 5398, "training_step_time": 17.659462213516235 }, { "epoch": 5.148887634277344e-07, "model_forward_time": 5.090251207351685, "step": 5399 }, { "epoch": 5.148887634277344e-07, "step": 5399, "training_step_time": 17.37440514564514 }, { "epoch": 5.14984130859375e-07, "grad_norm": 2.4545340538024902, "learning_rate": 9.979892638117957e-06, "loss": 0.147, "step": 5400 }, { "epoch": 5.14984130859375e-07, "model_forward_time": 5.0889809131622314, "step": 5400 }, { "dynamics_loss_avg": 0.06337841060012579, "epoch": 5.14984130859375e-07, "step": 5400 }, { "action_loss_avg": 0.0887170311063528, "epoch": 5.14984130859375e-07, "step": 5400 }, { "arm_loss_avg": 0.1430352061986923, "epoch": 5.14984130859375e-07, "step": 5400 }, { "ee_loss_avg": 0.07212406452745199, "epoch": 5.14984130859375e-07, "step": 5400 }, { "aux_loss_avg": 0.0013848048110958189, "epoch": 5.14984130859375e-07, "step": 5400 }, { "epoch": 5.14984130859375e-07, "step": 5400, "training_step_time": 17.59195566177368 }, { "epoch": 5.150794982910156e-07, "model_forward_time": 3.852125406265259, "step": 5401 }, { "epoch": 5.150794982910156e-07, "step": 5401, "training_step_time": 17.795149087905884 }, { "epoch": 5.151748657226563e-07, "model_forward_time": 5.054002046585083, "step": 5402 }, { "epoch": 5.151748657226563e-07, "step": 5402, "training_step_time": 17.65897846221924 }, { "epoch": 5.152702331542969e-07, "model_forward_time": 5.062169075012207, "step": 5403 }, { "epoch": 5.152702331542969e-07, "step": 5403, "training_step_time": 17.54262661933899 }, { "epoch": 5.153656005859375e-07, "model_forward_time": 5.074732303619385, "step": 5404 }, { "epoch": 5.153656005859375e-07, "step": 5404, "training_step_time": 17.586432218551636 }, { "epoch": 5.154609680175781e-07, "model_forward_time": 3.8449289798736572, "step": 5405 }, { "epoch": 5.154609680175781e-07, "step": 5405, "training_step_time": 17.599510192871094 }, { "epoch": 5.155563354492187e-07, "model_forward_time": 5.2839837074279785, "step": 5406 }, { "epoch": 5.155563354492187e-07, "step": 5406, "training_step_time": 17.853688955307007 }, { "epoch": 5.156517028808593e-07, "model_forward_time": 5.070536136627197, "step": 5407 }, { "epoch": 5.156517028808593e-07, "step": 5407, "training_step_time": 17.624122381210327 }, { "epoch": 5.157470703125e-07, "model_forward_time": 5.080890655517578, "step": 5408 }, { "epoch": 5.157470703125e-07, "step": 5408, "training_step_time": 17.631553888320923 }, { "epoch": 5.158424377441407e-07, "model_forward_time": 5.092805862426758, "step": 5409 }, { "epoch": 5.158424377441407e-07, "step": 5409, "training_step_time": 17.623952388763428 }, { "epoch": 5.159378051757813e-07, "grad_norm": 2.386086940765381, "learning_rate": 9.979680456571203e-06, "loss": 0.1249, "step": 5410 }, { "epoch": 5.159378051757813e-07, "model_forward_time": 3.859945297241211, "step": 5410 }, { "dynamics_loss_avg": 0.0575647471472621, "epoch": 5.159378051757813e-07, "step": 5410 }, { "action_loss_avg": 0.09882335625588894, "epoch": 5.159378051757813e-07, "step": 5410 }, { "arm_loss_avg": 0.16189194917678834, "epoch": 5.159378051757813e-07, "step": 5410 }, { "ee_loss_avg": 0.07343201274052262, "epoch": 5.159378051757813e-07, "step": 5410 }, { "aux_loss_avg": 0.006710612925235182, "epoch": 5.159378051757813e-07, "step": 5410 }, { "epoch": 5.159378051757813e-07, "step": 5410, "training_step_time": 17.223053216934204 }, { "epoch": 5.160331726074219e-07, "model_forward_time": 4.072789192199707, "step": 5411 }, { "epoch": 5.160331726074219e-07, "step": 5411, "training_step_time": 17.71437430381775 }, { "epoch": 5.161285400390625e-07, "model_forward_time": 5.052205562591553, "step": 5412 }, { "epoch": 5.161285400390625e-07, "step": 5412, "training_step_time": 17.568862438201904 }, { "epoch": 5.162239074707031e-07, "model_forward_time": 5.071271896362305, "step": 5413 }, { "epoch": 5.162239074707031e-07, "step": 5413, "training_step_time": 17.581891298294067 }, { "epoch": 5.163192749023437e-07, "model_forward_time": 5.08237886428833, "step": 5414 }, { "epoch": 5.163192749023437e-07, "step": 5414, "training_step_time": 17.370338439941406 }, { "epoch": 5.164146423339844e-07, "model_forward_time": 3.858376979827881, "step": 5415 }, { "epoch": 5.164146423339844e-07, "step": 5415, "training_step_time": 17.51234006881714 }, { "epoch": 5.16510009765625e-07, "model_forward_time": 5.297875642776489, "step": 5416 }, { "epoch": 5.16510009765625e-07, "step": 5416, "training_step_time": 17.799009323120117 }, { "epoch": 5.166053771972656e-07, "model_forward_time": 5.081008195877075, "step": 5417 }, { "epoch": 5.166053771972656e-07, "step": 5417, "training_step_time": 17.59641170501709 }, { "epoch": 5.167007446289062e-07, "model_forward_time": 5.089841842651367, "step": 5418 }, { "epoch": 5.167007446289062e-07, "step": 5418, "training_step_time": 17.61229634284973 }, { "epoch": 5.167961120605469e-07, "model_forward_time": 5.0936925411224365, "step": 5419 }, { "epoch": 5.167961120605469e-07, "step": 5419, "training_step_time": 17.638036727905273 }, { "epoch": 5.168914794921875e-07, "grad_norm": 1.656154990196228, "learning_rate": 9.979467163656364e-06, "loss": 0.1244, "step": 5420 }, { "epoch": 5.168914794921875e-07, "model_forward_time": 5.0957677364349365, "step": 5420 }, { "dynamics_loss_avg": 0.06414698623120785, "epoch": 5.168914794921875e-07, "step": 5420 }, { "action_loss_avg": 0.09261514022946357, "epoch": 5.168914794921875e-07, "step": 5420 }, { "arm_loss_avg": 0.14020711779594422, "epoch": 5.168914794921875e-07, "step": 5420 }, { "ee_loss_avg": 0.057559730298817155, "epoch": 5.168914794921875e-07, "step": 5420 }, { "aux_loss_avg": 0.0035946298798080535, "epoch": 5.168914794921875e-07, "step": 5420 }, { "epoch": 5.168914794921875e-07, "step": 5420, "training_step_time": 17.62456464767456 }, { "epoch": 5.169868469238282e-07, "model_forward_time": 5.274109125137329, "step": 5421 }, { "epoch": 5.169868469238282e-07, "step": 5421, "training_step_time": 17.81034231185913 }, { "epoch": 5.170822143554688e-07, "model_forward_time": 5.090904951095581, "step": 5422 }, { "epoch": 5.170822143554688e-07, "step": 5422, "training_step_time": 17.62316584587097 }, { "epoch": 5.171775817871094e-07, "model_forward_time": 5.091601371765137, "step": 5423 }, { "epoch": 5.171775817871094e-07, "step": 5423, "training_step_time": 17.617878675460815 }, { "epoch": 5.1727294921875e-07, "model_forward_time": 5.082590341567993, "step": 5424 }, { "epoch": 5.1727294921875e-07, "step": 5424, "training_step_time": 17.60668182373047 }, { "epoch": 5.173683166503906e-07, "model_forward_time": 5.087548017501831, "step": 5425 }, { "epoch": 5.173683166503906e-07, "step": 5425, "training_step_time": 17.606441736221313 }, { "epoch": 5.174636840820312e-07, "model_forward_time": 5.32637619972229, "step": 5426 }, { "epoch": 5.174636840820312e-07, "step": 5426, "training_step_time": 17.835782766342163 }, { "epoch": 5.175590515136718e-07, "model_forward_time": 5.086666822433472, "step": 5427 }, { "epoch": 5.175590515136718e-07, "step": 5427, "training_step_time": 17.63161849975586 }, { "epoch": 5.176544189453125e-07, "model_forward_time": 5.086507320404053, "step": 5428 }, { "epoch": 5.176544189453125e-07, "step": 5428, "training_step_time": 17.593382835388184 }, { "epoch": 5.177497863769532e-07, "model_forward_time": 5.084916114807129, "step": 5429 }, { "epoch": 5.177497863769532e-07, "step": 5429, "training_step_time": 17.411605834960938 }, { "epoch": 5.178451538085938e-07, "grad_norm": 2.4743874073028564, "learning_rate": 9.97925275942104e-06, "loss": 0.1261, "step": 5430 }, { "epoch": 5.178451538085938e-07, "model_forward_time": 5.088725566864014, "step": 5430 }, { "dynamics_loss_avg": 0.05511402254924178, "epoch": 5.178451538085938e-07, "step": 5430 }, { "action_loss_avg": 0.08742345087230205, "epoch": 5.178451538085938e-07, "step": 5430 }, { "arm_loss_avg": 0.13196358382701873, "epoch": 5.178451538085938e-07, "step": 5430 }, { "ee_loss_avg": 0.0905212288722396, "epoch": 5.178451538085938e-07, "step": 5430 }, { "aux_loss_avg": 0.0019580805907025932, "epoch": 5.178451538085938e-07, "step": 5430 }, { "epoch": 5.178451538085938e-07, "step": 5430, "training_step_time": 17.517394304275513 }, { "epoch": 5.179405212402344e-07, "model_forward_time": 5.281008958816528, "step": 5431 }, { "epoch": 5.179405212402344e-07, "step": 5431, "training_step_time": 17.736552953720093 }, { "epoch": 5.18035888671875e-07, "model_forward_time": 5.087518215179443, "step": 5432 }, { "epoch": 5.18035888671875e-07, "step": 5432, "training_step_time": 17.58106303215027 }, { "epoch": 5.181312561035156e-07, "model_forward_time": 3.850480318069458, "step": 5433 }, { "epoch": 5.181312561035156e-07, "step": 5433, "training_step_time": 17.599040985107422 }, { "epoch": 5.182266235351562e-07, "model_forward_time": 5.057587623596191, "step": 5434 }, { "epoch": 5.182266235351562e-07, "step": 5434, "training_step_time": 17.6401526927948 }, { "epoch": 5.183219909667969e-07, "model_forward_time": 5.069350719451904, "step": 5435 }, { "epoch": 5.183219909667969e-07, "step": 5435, "training_step_time": 17.632410287857056 }, { "epoch": 5.184173583984375e-07, "model_forward_time": 5.318475961685181, "step": 5436 }, { "epoch": 5.184173583984375e-07, "step": 5436, "training_step_time": 17.891390323638916 }, { "epoch": 5.185127258300781e-07, "model_forward_time": 5.0894176959991455, "step": 5437 }, { "epoch": 5.185127258300781e-07, "step": 5437, "training_step_time": 17.629941940307617 }, { "epoch": 5.186080932617187e-07, "model_forward_time": 5.093956470489502, "step": 5438 }, { "epoch": 5.186080932617187e-07, "step": 5438, "training_step_time": 17.6402747631073 }, { "epoch": 5.187034606933594e-07, "model_forward_time": 5.100203514099121, "step": 5439 }, { "epoch": 5.187034606933594e-07, "step": 5439, "training_step_time": 17.636056423187256 }, { "epoch": 5.18798828125e-07, "grad_norm": 1.6778666973114014, "learning_rate": 9.979037243913081e-06, "loss": 0.1282, "step": 5440 }, { "epoch": 5.18798828125e-07, "model_forward_time": 5.100557327270508, "step": 5440 }, { "dynamics_loss_avg": 0.0651097096502781, "epoch": 5.18798828125e-07, "step": 5440 }, { "action_loss_avg": 0.08443466797471047, "epoch": 5.18798828125e-07, "step": 5440 }, { "arm_loss_avg": 0.12856468558311462, "epoch": 5.18798828125e-07, "step": 5440 }, { "ee_loss_avg": 0.0681637467816472, "epoch": 5.18798828125e-07, "step": 5440 }, { "aux_loss_avg": 0.0013707898207940162, "epoch": 5.18798828125e-07, "step": 5440 }, { "epoch": 5.18798828125e-07, "step": 5440, "training_step_time": 17.633060693740845 }, { "epoch": 5.188941955566407e-07, "model_forward_time": 5.099698305130005, "step": 5441 }, { "epoch": 5.188941955566407e-07, "step": 5441, "training_step_time": 17.845186948776245 }, { "epoch": 5.189895629882813e-07, "model_forward_time": 5.090337514877319, "step": 5442 }, { "epoch": 5.189895629882813e-07, "step": 5442, "training_step_time": 17.62299919128418 }, { "epoch": 5.190849304199219e-07, "model_forward_time": 5.093786716461182, "step": 5443 }, { "epoch": 5.190849304199219e-07, "step": 5443, "training_step_time": 17.618661880493164 }, { "epoch": 5.191802978515625e-07, "model_forward_time": 5.090055227279663, "step": 5444 }, { "epoch": 5.191802978515625e-07, "step": 5444, "training_step_time": 17.39987301826477 }, { "epoch": 5.192756652832031e-07, "model_forward_time": 5.091446876525879, "step": 5445 }, { "epoch": 5.192756652832031e-07, "step": 5445, "training_step_time": 17.525578022003174 }, { "epoch": 5.193710327148437e-07, "model_forward_time": 3.8491437435150146, "step": 5446 }, { "epoch": 5.193710327148437e-07, "step": 5446, "training_step_time": 17.786203145980835 }, { "epoch": 5.194664001464843e-07, "model_forward_time": 5.050971746444702, "step": 5447 }, { "epoch": 5.194664001464843e-07, "step": 5447, "training_step_time": 17.584331274032593 }, { "epoch": 5.19561767578125e-07, "model_forward_time": 5.068382501602173, "step": 5448 }, { "epoch": 5.19561767578125e-07, "step": 5448, "training_step_time": 17.613166093826294 }, { "epoch": 5.196571350097657e-07, "model_forward_time": 3.8441503047943115, "step": 5449 }, { "epoch": 5.196571350097657e-07, "step": 5449, "training_step_time": 17.616608142852783 }, { "epoch": 5.197525024414063e-07, "grad_norm": 1.6882295608520508, "learning_rate": 9.978820617180589e-06, "loss": 0.1145, "step": 5450 }, { "epoch": 5.197525024414063e-07, "model_forward_time": 5.058924436569214, "step": 5450 }, { "dynamics_loss_avg": 0.04924876186996698, "epoch": 5.197525024414063e-07, "step": 5450 }, { "action_loss_avg": 0.08930747024714947, "epoch": 5.197525024414063e-07, "step": 5450 }, { "arm_loss_avg": 0.14560030028223991, "epoch": 5.197525024414063e-07, "step": 5450 }, { "ee_loss_avg": 0.08572850292548537, "epoch": 5.197525024414063e-07, "step": 5450 }, { "aux_loss_avg": 0.0058302481018472465, "epoch": 5.197525024414063e-07, "step": 5450 }, { "epoch": 5.197525024414063e-07, "step": 5450, "training_step_time": 17.625959873199463 }, { "epoch": 5.198478698730469e-07, "model_forward_time": 5.254613161087036, "step": 5451 }, { "epoch": 5.198478698730469e-07, "step": 5451, "training_step_time": 17.82238459587097 }, { "epoch": 5.199432373046875e-07, "model_forward_time": 5.087067127227783, "step": 5452 }, { "epoch": 5.199432373046875e-07, "step": 5452, "training_step_time": 17.63068437576294 }, { "epoch": 5.200386047363281e-07, "model_forward_time": 5.096887588500977, "step": 5453 }, { "epoch": 5.200386047363281e-07, "step": 5453, "training_step_time": 17.406073331832886 }, { "epoch": 5.201339721679687e-07, "model_forward_time": 5.101083517074585, "step": 5454 }, { "epoch": 5.201339721679687e-07, "step": 5454, "training_step_time": 17.531556367874146 }, { "epoch": 5.202293395996094e-07, "model_forward_time": 5.105014324188232, "step": 5455 }, { "epoch": 5.202293395996094e-07, "step": 5455, "training_step_time": 17.57644486427307 }, { "epoch": 5.2032470703125e-07, "model_forward_time": 5.323112487792969, "step": 5456 }, { "epoch": 5.2032470703125e-07, "step": 5456, "training_step_time": 17.60873770713806 }, { "epoch": 5.204200744628906e-07, "model_forward_time": 5.09243106842041, "step": 5457 }, { "epoch": 5.204200744628906e-07, "step": 5457, "training_step_time": 17.849828004837036 }, { "epoch": 5.205154418945312e-07, "model_forward_time": 5.085232734680176, "step": 5458 }, { "epoch": 5.205154418945312e-07, "step": 5458, "training_step_time": 17.629034519195557 }, { "epoch": 5.206108093261719e-07, "model_forward_time": 5.086206436157227, "step": 5459 }, { "epoch": 5.206108093261719e-07, "step": 5459, "training_step_time": 17.629150867462158 }, { "epoch": 5.207061767578125e-07, "grad_norm": 1.6025609970092773, "learning_rate": 9.978602879271909e-06, "loss": 0.1158, "step": 5460 }, { "epoch": 5.207061767578125e-07, "model_forward_time": 3.8477590084075928, "step": 5460 }, { "dynamics_loss_avg": 0.059542263858020306, "epoch": 5.207061767578125e-07, "step": 5460 }, { "action_loss_avg": 0.06970945205539465, "epoch": 5.207061767578125e-07, "step": 5460 }, { "arm_loss_avg": 0.12736184448003768, "epoch": 5.207061767578125e-07, "step": 5460 }, { "ee_loss_avg": 0.08826579577289521, "epoch": 5.207061767578125e-07, "step": 5460 }, { "aux_loss_avg": 0.003578121808823198, "epoch": 5.207061767578125e-07, "step": 5460 }, { "epoch": 5.207061767578125e-07, "step": 5460, "training_step_time": 17.6238272190094 }, { "epoch": 5.208015441894532e-07, "model_forward_time": 5.246880769729614, "step": 5461 }, { "epoch": 5.208015441894532e-07, "step": 5461, "training_step_time": 17.63301420211792 }, { "epoch": 5.208969116210938e-07, "model_forward_time": 5.063109874725342, "step": 5462 }, { "epoch": 5.208969116210938e-07, "step": 5462, "training_step_time": 17.81132960319519 }, { "epoch": 5.209922790527344e-07, "model_forward_time": 5.066277980804443, "step": 5463 }, { "epoch": 5.209922790527344e-07, "step": 5463, "training_step_time": 17.613445281982422 }, { "epoch": 5.21087646484375e-07, "model_forward_time": 5.076355457305908, "step": 5464 }, { "epoch": 5.21087646484375e-07, "step": 5464, "training_step_time": 17.59963607788086 }, { "epoch": 5.211830139160156e-07, "model_forward_time": 5.082119703292847, "step": 5465 }, { "epoch": 5.211830139160156e-07, "step": 5465, "training_step_time": 17.599421977996826 }, { "epoch": 5.212783813476562e-07, "model_forward_time": 5.327954053878784, "step": 5466 }, { "epoch": 5.212783813476562e-07, "step": 5466, "training_step_time": 17.804746866226196 }, { "epoch": 5.213737487792968e-07, "model_forward_time": 5.089858531951904, "step": 5467 }, { "epoch": 5.213737487792968e-07, "step": 5467, "training_step_time": 17.58172035217285 }, { "epoch": 5.214691162109375e-07, "model_forward_time": 5.0886735916137695, "step": 5468 }, { "epoch": 5.214691162109375e-07, "step": 5468, "training_step_time": 17.57899832725525 }, { "epoch": 5.215644836425782e-07, "model_forward_time": 5.087097406387329, "step": 5469 }, { "epoch": 5.215644836425782e-07, "step": 5469, "training_step_time": 17.5811824798584 }, { "epoch": 5.216598510742188e-07, "grad_norm": 1.0399768352508545, "learning_rate": 9.978384030235638e-06, "loss": 0.1278, "step": 5470 }, { "epoch": 5.216598510742188e-07, "model_forward_time": 5.085072040557861, "step": 5470 }, { "dynamics_loss_avg": 0.04826524173840881, "epoch": 5.216598510742188e-07, "step": 5470 }, { "action_loss_avg": 0.08749587684869767, "epoch": 5.216598510742188e-07, "step": 5470 }, { "arm_loss_avg": 0.1429370664060116, "epoch": 5.216598510742188e-07, "step": 5470 }, { "ee_loss_avg": 0.06539614992216229, "epoch": 5.216598510742188e-07, "step": 5470 }, { "aux_loss_avg": 0.00346291660098359, "epoch": 5.216598510742188e-07, "step": 5470 }, { "epoch": 5.216598510742188e-07, "step": 5470, "training_step_time": 17.583131313323975 }, { "epoch": 5.217552185058594e-07, "model_forward_time": 5.083720684051514, "step": 5471 }, { "epoch": 5.217552185058594e-07, "step": 5471, "training_step_time": 17.78934407234192 }, { "epoch": 5.218505859375e-07, "model_forward_time": 5.0821309089660645, "step": 5472 }, { "epoch": 5.218505859375e-07, "step": 5472, "training_step_time": 17.59627342224121 }, { "epoch": 5.219459533691406e-07, "model_forward_time": 5.076661825180054, "step": 5473 }, { "epoch": 5.219459533691406e-07, "step": 5473, "training_step_time": 17.596084117889404 }, { "epoch": 5.220413208007812e-07, "model_forward_time": 5.077535390853882, "step": 5474 }, { "epoch": 5.220413208007812e-07, "step": 5474, "training_step_time": 17.595922231674194 }, { "epoch": 5.221366882324219e-07, "model_forward_time": 5.0765461921691895, "step": 5475 }, { "epoch": 5.221366882324219e-07, "step": 5475, "training_step_time": 17.60367751121521 }, { "epoch": 5.222320556640625e-07, "model_forward_time": 5.074457883834839, "step": 5476 }, { "epoch": 5.222320556640625e-07, "step": 5476, "training_step_time": 17.822901964187622 }, { "epoch": 5.223274230957031e-07, "model_forward_time": 5.073981046676636, "step": 5477 }, { "epoch": 5.223274230957031e-07, "step": 5477, "training_step_time": 17.579893589019775 }, { "epoch": 5.224227905273437e-07, "model_forward_time": 5.073103904724121, "step": 5478 }, { "epoch": 5.224227905273437e-07, "step": 5478, "training_step_time": 17.494927406311035 }, { "epoch": 5.225181579589844e-07, "model_forward_time": 3.848263740539551, "step": 5479 }, { "epoch": 5.225181579589844e-07, "step": 5479, "training_step_time": 17.54415988922119 }, { "epoch": 5.22613525390625e-07, "grad_norm": 1.4616414308547974, "learning_rate": 9.978164070120613e-06, "loss": 0.1238, "step": 5480 }, { "epoch": 5.22613525390625e-07, "model_forward_time": 5.056512117385864, "step": 5480 }, { "dynamics_loss_avg": 0.056017093174159524, "epoch": 5.22613525390625e-07, "step": 5480 }, { "action_loss_avg": 0.07611504085361957, "epoch": 5.22613525390625e-07, "step": 5480 }, { "arm_loss_avg": 0.15368608757853508, "epoch": 5.22613525390625e-07, "step": 5480 }, { "ee_loss_avg": 0.08034885711967946, "epoch": 5.22613525390625e-07, "step": 5480 }, { "aux_loss_avg": 0.004870924371061847, "epoch": 5.22613525390625e-07, "step": 5480 }, { "epoch": 5.22613525390625e-07, "step": 5480, "training_step_time": 17.571228981018066 }, { "epoch": 5.227088928222657e-07, "model_forward_time": 5.063575983047485, "step": 5481 }, { "epoch": 5.227088928222657e-07, "step": 5481, "training_step_time": 17.59167790412903 }, { "epoch": 5.228042602539063e-07, "model_forward_time": 5.070252418518066, "step": 5482 }, { "epoch": 5.228042602539063e-07, "step": 5482, "training_step_time": 17.80254316329956 }, { "epoch": 5.228996276855469e-07, "model_forward_time": 5.0807647705078125, "step": 5483 }, { "epoch": 5.228996276855469e-07, "step": 5483, "training_step_time": 17.624078512191772 }, { "epoch": 5.229949951171875e-07, "model_forward_time": 5.0922462940216064, "step": 5484 }, { "epoch": 5.229949951171875e-07, "step": 5484, "training_step_time": 17.618241786956787 }, { "epoch": 5.230903625488281e-07, "model_forward_time": 5.095556020736694, "step": 5485 }, { "epoch": 5.230903625488281e-07, "step": 5485, "training_step_time": 17.62354588508606 }, { "epoch": 5.231857299804687e-07, "model_forward_time": 5.1005518436431885, "step": 5486 }, { "epoch": 5.231857299804687e-07, "step": 5486, "training_step_time": 17.83258581161499 }, { "epoch": 5.232810974121093e-07, "model_forward_time": 5.09784722328186, "step": 5487 }, { "epoch": 5.232810974121093e-07, "step": 5487, "training_step_time": 17.616823434829712 }, { "epoch": 5.2337646484375e-07, "model_forward_time": 5.093398094177246, "step": 5488 }, { "epoch": 5.2337646484375e-07, "step": 5488, "training_step_time": 17.619341611862183 }, { "epoch": 5.234718322753907e-07, "model_forward_time": 5.091904163360596, "step": 5489 }, { "epoch": 5.234718322753907e-07, "step": 5489, "training_step_time": 17.62290596961975 }, { "epoch": 5.235671997070313e-07, "grad_norm": 2.481027126312256, "learning_rate": 9.977942998975931e-06, "loss": 0.1358, "step": 5490 }, { "epoch": 5.235671997070313e-07, "model_forward_time": 5.088110446929932, "step": 5490 }, { "dynamics_loss_avg": 0.05383157692849636, "epoch": 5.235671997070313e-07, "step": 5490 }, { "action_loss_avg": 0.08381329141557217, "epoch": 5.235671997070313e-07, "step": 5490 }, { "arm_loss_avg": 0.13109667375683784, "epoch": 5.235671997070313e-07, "step": 5490 }, { "ee_loss_avg": 0.07854664009064435, "epoch": 5.235671997070313e-07, "step": 5490 }, { "aux_loss_avg": 0.0016410687239840627, "epoch": 5.235671997070313e-07, "step": 5490 }, { "epoch": 5.235671997070313e-07, "step": 5490, "training_step_time": 17.526144981384277 }, { "epoch": 5.236625671386719e-07, "model_forward_time": 5.08620023727417, "step": 5491 }, { "epoch": 5.236625671386719e-07, "step": 5491, "training_step_time": 17.803642988204956 }, { "epoch": 5.237579345703125e-07, "model_forward_time": 5.0824294090271, "step": 5492 }, { "epoch": 5.237579345703125e-07, "step": 5492, "training_step_time": 17.639875888824463 }, { "epoch": 5.238533020019531e-07, "model_forward_time": 5.080821990966797, "step": 5493 }, { "epoch": 5.238533020019531e-07, "step": 5493, "training_step_time": 17.605688333511353 }, { "epoch": 5.239486694335937e-07, "model_forward_time": 5.080416679382324, "step": 5494 }, { "epoch": 5.239486694335937e-07, "step": 5494, "training_step_time": 17.616472721099854 }, { "epoch": 5.240440368652344e-07, "model_forward_time": 5.324352979660034, "step": 5495 }, { "epoch": 5.240440368652344e-07, "step": 5495, "training_step_time": 17.42932105064392 }, { "epoch": 5.24139404296875e-07, "model_forward_time": 5.088712930679321, "step": 5496 }, { "epoch": 5.24139404296875e-07, "step": 5496, "training_step_time": 17.510550260543823 }, { "epoch": 5.242347717285156e-07, "model_forward_time": 5.100367784500122, "step": 5497 }, { "epoch": 5.242347717285156e-07, "step": 5497, "training_step_time": 17.827285289764404 }, { "epoch": 5.243301391601562e-07, "model_forward_time": 3.8578131198883057, "step": 5498 }, { "epoch": 5.243301391601562e-07, "step": 5498, "training_step_time": 17.624454259872437 }, { "epoch": 5.244255065917969e-07, "model_forward_time": 5.07419228553772, "step": 5499 }, { "epoch": 5.244255065917969e-07, "step": 5499, "training_step_time": 17.669878244400024 }, { "epoch": 5.245208740234375e-07, "grad_norm": 1.8864195346832275, "learning_rate": 9.977720816850928e-06, "loss": 0.1296, "step": 5500 }, { "epoch": 5.245208740234375e-07, "model_forward_time": 5.0866858959198, "step": 5500 }, { "dynamics_loss_avg": 0.058502817153930665, "epoch": 5.245208740234375e-07, "step": 5500 }, { "action_loss_avg": 0.09766466170549393, "epoch": 5.245208740234375e-07, "step": 5500 }, { "arm_loss_avg": 0.16411849558353425, "epoch": 5.245208740234375e-07, "step": 5500 }, { "ee_loss_avg": 0.053620266262441874, "epoch": 5.245208740234375e-07, "step": 5500 }, { "aux_loss_avg": 0.0040716359275393185, "epoch": 5.245208740234375e-07, "step": 5500 }, { "epoch": 5.245208740234375e-07, "step": 5500, "training_step_time": 17.631425380706787 }, { "epoch": 5.246162414550782e-07, "model_forward_time": 5.078367710113525, "step": 5501 }, { "epoch": 5.246162414550782e-07, "step": 5501, "training_step_time": 17.635034799575806 }, { "epoch": 5.247116088867188e-07, "model_forward_time": 5.086756706237793, "step": 5502 }, { "epoch": 5.247116088867188e-07, "step": 5502, "training_step_time": 17.819088459014893 }, { "epoch": 5.248069763183594e-07, "model_forward_time": 5.093802213668823, "step": 5503 }, { "epoch": 5.248069763183594e-07, "step": 5503, "training_step_time": 17.64012336730957 }, { "epoch": 5.2490234375e-07, "model_forward_time": 5.09316086769104, "step": 5504 }, { "epoch": 5.2490234375e-07, "step": 5504, "training_step_time": 17.632850646972656 }, { "epoch": 5.249977111816406e-07, "model_forward_time": 5.097986698150635, "step": 5505 }, { "epoch": 5.249977111816406e-07, "step": 5505, "training_step_time": 17.632772207260132 }, { "epoch": 5.250930786132812e-07, "model_forward_time": 5.098414182662964, "step": 5506 }, { "epoch": 5.250930786132812e-07, "step": 5506, "training_step_time": 17.85494613647461 }, { "epoch": 5.251884460449218e-07, "model_forward_time": 5.092686414718628, "step": 5507 }, { "epoch": 5.251884460449218e-07, "step": 5507, "training_step_time": 17.615049123764038 }, { "epoch": 5.252838134765625e-07, "model_forward_time": 5.087460517883301, "step": 5508 }, { "epoch": 5.252838134765625e-07, "step": 5508, "training_step_time": 17.631020069122314 }, { "epoch": 5.253791809082031e-07, "model_forward_time": 5.090552568435669, "step": 5509 }, { "epoch": 5.253791809082031e-07, "step": 5509, "training_step_time": 17.628758907318115 }, { "epoch": 5.254745483398438e-07, "grad_norm": 0.8276291489601135, "learning_rate": 9.977497523795194e-06, "loss": 0.1156, "step": 5510 }, { "epoch": 5.254745483398438e-07, "model_forward_time": 5.087953329086304, "step": 5510 }, { "dynamics_loss_avg": 0.04165265280753374, "epoch": 5.254745483398438e-07, "step": 5510 }, { "action_loss_avg": 0.06861573830246925, "epoch": 5.254745483398438e-07, "step": 5510 }, { "arm_loss_avg": 0.14362137392163277, "epoch": 5.254745483398438e-07, "step": 5510 }, { "ee_loss_avg": 0.06527977362275124, "epoch": 5.254745483398438e-07, "step": 5510 }, { "aux_loss_avg": 0.003070238116197288, "epoch": 5.254745483398438e-07, "step": 5510 }, { "epoch": 5.254745483398438e-07, "step": 5510, "training_step_time": 17.625515699386597 }, { "epoch": 5.255699157714844e-07, "model_forward_time": 5.091898202896118, "step": 5511 }, { "epoch": 5.255699157714844e-07, "step": 5511, "training_step_time": 17.81283402442932 }, { "epoch": 5.25665283203125e-07, "model_forward_time": 5.0816285610198975, "step": 5512 }, { "epoch": 5.25665283203125e-07, "step": 5512, "training_step_time": 17.38921070098877 }, { "epoch": 5.257606506347656e-07, "model_forward_time": 5.086296796798706, "step": 5513 }, { "epoch": 5.257606506347656e-07, "step": 5513, "training_step_time": 17.523319721221924 }, { "epoch": 5.258560180664063e-07, "model_forward_time": 5.084620714187622, "step": 5514 }, { "epoch": 5.258560180664063e-07, "step": 5514, "training_step_time": 17.576194524765015 }, { "epoch": 5.259513854980469e-07, "model_forward_time": 5.33330225944519, "step": 5515 }, { "epoch": 5.259513854980469e-07, "step": 5515, "training_step_time": 17.60423493385315 }, { "epoch": 5.260467529296875e-07, "model_forward_time": 5.094683647155762, "step": 5516 }, { "epoch": 5.260467529296875e-07, "step": 5516, "training_step_time": 17.635351419448853 }, { "epoch": 5.261421203613281e-07, "model_forward_time": 5.095091104507446, "step": 5517 }, { "epoch": 5.261421203613281e-07, "step": 5517, "training_step_time": 17.877988576889038 }, { "epoch": 5.262374877929687e-07, "model_forward_time": 5.101181983947754, "step": 5518 }, { "epoch": 5.262374877929687e-07, "step": 5518, "training_step_time": 17.668571710586548 }, { "epoch": 5.263328552246093e-07, "model_forward_time": 5.096879959106445, "step": 5519 }, { "epoch": 5.263328552246093e-07, "step": 5519, "training_step_time": 17.652684688568115 }, { "epoch": 5.2642822265625e-07, "grad_norm": 1.5841245651245117, "learning_rate": 9.97727311985856e-06, "loss": 0.1326, "step": 5520 }, { "epoch": 5.2642822265625e-07, "model_forward_time": 5.275017023086548, "step": 5520 }, { "dynamics_loss_avg": 0.048618280049413445, "epoch": 5.2642822265625e-07, "step": 5520 }, { "action_loss_avg": 0.08420021533966064, "epoch": 5.2642822265625e-07, "step": 5520 }, { "arm_loss_avg": 0.148823856562376, "epoch": 5.2642822265625e-07, "step": 5520 }, { "ee_loss_avg": 0.0967369731515646, "epoch": 5.2642822265625e-07, "step": 5520 }, { "aux_loss_avg": 0.003390562592539936, "epoch": 5.2642822265625e-07, "step": 5520 }, { "epoch": 5.2642822265625e-07, "step": 5520, "training_step_time": 17.62181329727173 }, { "epoch": 5.265235900878907e-07, "model_forward_time": 5.084239959716797, "step": 5521 }, { "epoch": 5.265235900878907e-07, "step": 5521, "training_step_time": 17.617541551589966 }, { "epoch": 5.266189575195313e-07, "model_forward_time": 5.08696985244751, "step": 5522 }, { "epoch": 5.266189575195313e-07, "step": 5522, "training_step_time": 17.705625295639038 }, { "epoch": 5.267143249511719e-07, "model_forward_time": 5.082074403762817, "step": 5523 }, { "epoch": 5.267143249511719e-07, "step": 5523, "training_step_time": 17.54454231262207 }, { "epoch": 5.268096923828125e-07, "model_forward_time": 5.082903146743774, "step": 5524 }, { "epoch": 5.268096923828125e-07, "step": 5524, "training_step_time": 17.570514678955078 }, { "epoch": 5.269050598144531e-07, "model_forward_time": 3.8482048511505127, "step": 5525 }, { "epoch": 5.269050598144531e-07, "step": 5525, "training_step_time": 17.575926780700684 }, { "epoch": 5.270004272460937e-07, "model_forward_time": 5.3021440505981445, "step": 5526 }, { "epoch": 5.270004272460937e-07, "step": 5526, "training_step_time": 17.598836421966553 }, { "epoch": 5.270957946777343e-07, "model_forward_time": 5.067583084106445, "step": 5527 }, { "epoch": 5.270957946777343e-07, "step": 5527, "training_step_time": 17.82568907737732 }, { "epoch": 5.27191162109375e-07, "model_forward_time": 5.071930646896362, "step": 5528 }, { "epoch": 5.27191162109375e-07, "step": 5528, "training_step_time": 17.585797786712646 }, { "epoch": 5.272865295410156e-07, "model_forward_time": 5.080729246139526, "step": 5529 }, { "epoch": 5.272865295410156e-07, "step": 5529, "training_step_time": 17.591586112976074 }, { "epoch": 5.273818969726563e-07, "grad_norm": 1.2566978931427002, "learning_rate": 9.977047605091108e-06, "loss": 0.1307, "step": 5530 }, { "epoch": 5.273818969726563e-07, "model_forward_time": 5.087745666503906, "step": 5530 }, { "dynamics_loss_avg": 0.054412796162068844, "epoch": 5.273818969726563e-07, "step": 5530 }, { "action_loss_avg": 0.09914531037211419, "epoch": 5.273818969726563e-07, "step": 5530 }, { "arm_loss_avg": 0.21766377836465836, "epoch": 5.273818969726563e-07, "step": 5530 }, { "ee_loss_avg": 0.08506126524880528, "epoch": 5.273818969726563e-07, "step": 5530 }, { "aux_loss_avg": 0.0036502114206086846, "epoch": 5.273818969726563e-07, "step": 5530 }, { "epoch": 5.273818969726563e-07, "step": 5530, "training_step_time": 17.59787940979004 }, { "epoch": 5.274772644042969e-07, "model_forward_time": 5.092319011688232, "step": 5531 }, { "epoch": 5.274772644042969e-07, "step": 5531, "training_step_time": 17.823768854141235 }, { "epoch": 5.275726318359375e-07, "model_forward_time": 5.093773603439331, "step": 5532 }, { "epoch": 5.275726318359375e-07, "step": 5532, "training_step_time": 17.23319983482361 }, { "epoch": 5.276679992675781e-07, "model_forward_time": 5.092413425445557, "step": 5533 }, { "epoch": 5.276679992675781e-07, "step": 5533, "training_step_time": 17.517022371292114 }, { "epoch": 5.277633666992188e-07, "model_forward_time": 5.096017122268677, "step": 5534 }, { "epoch": 5.277633666992188e-07, "step": 5534, "training_step_time": 17.545968532562256 }, { "epoch": 5.278587341308594e-07, "model_forward_time": 5.087488174438477, "step": 5535 }, { "epoch": 5.278587341308594e-07, "step": 5535, "training_step_time": 17.57003426551819 }, { "epoch": 5.279541015625e-07, "model_forward_time": 5.095527172088623, "step": 5536 }, { "epoch": 5.279541015625e-07, "step": 5536, "training_step_time": 17.618028163909912 }, { "epoch": 5.280494689941406e-07, "model_forward_time": 5.090981960296631, "step": 5537 }, { "epoch": 5.280494689941406e-07, "step": 5537, "training_step_time": 17.891396284103394 }, { "epoch": 5.281448364257812e-07, "model_forward_time": 5.093053817749023, "step": 5538 }, { "epoch": 5.281448364257812e-07, "step": 5538, "training_step_time": 17.647071361541748 }, { "epoch": 5.282402038574218e-07, "model_forward_time": 3.8556087017059326, "step": 5539 }, { "epoch": 5.282402038574218e-07, "step": 5539, "training_step_time": 17.619673252105713 }, { "epoch": 5.283355712890625e-07, "grad_norm": 1.8326283693313599, "learning_rate": 9.97682097954317e-06, "loss": 0.1529, "step": 5540 }, { "epoch": 5.283355712890625e-07, "model_forward_time": 5.055523157119751, "step": 5540 }, { "dynamics_loss_avg": 0.07095667272806168, "epoch": 5.283355712890625e-07, "step": 5540 }, { "action_loss_avg": 0.11927969455718994, "epoch": 5.283355712890625e-07, "step": 5540 }, { "arm_loss_avg": 0.16810871437191963, "epoch": 5.283355712890625e-07, "step": 5540 }, { "ee_loss_avg": 0.16164020951837302, "epoch": 5.283355712890625e-07, "step": 5540 }, { "aux_loss_avg": 0.00734117798274383, "epoch": 5.283355712890625e-07, "step": 5540 }, { "epoch": 5.283355712890625e-07, "step": 5540, "training_step_time": 17.60706901550293 }, { "epoch": 5.284309387207032e-07, "model_forward_time": 5.062492847442627, "step": 5541 }, { "epoch": 5.284309387207032e-07, "step": 5541, "training_step_time": 17.840179681777954 }, { "epoch": 5.285263061523438e-07, "model_forward_time": 5.0731799602508545, "step": 5542 }, { "epoch": 5.285263061523438e-07, "step": 5542, "training_step_time": 17.595551013946533 }, { "epoch": 5.286216735839844e-07, "model_forward_time": 5.082998991012573, "step": 5543 }, { "epoch": 5.286216735839844e-07, "step": 5543, "training_step_time": 17.58326482772827 }, { "epoch": 5.28717041015625e-07, "model_forward_time": 5.091824531555176, "step": 5544 }, { "epoch": 5.28717041015625e-07, "step": 5544, "training_step_time": 17.58973979949951 }, { "epoch": 5.288124084472656e-07, "model_forward_time": 5.093283176422119, "step": 5545 }, { "epoch": 5.288124084472656e-07, "step": 5545, "training_step_time": 17.586398363113403 }, { "epoch": 5.289077758789062e-07, "model_forward_time": 5.095739126205444, "step": 5546 }, { "epoch": 5.289077758789062e-07, "step": 5546, "training_step_time": 17.825887441635132 }, { "epoch": 5.290031433105468e-07, "model_forward_time": 5.094934701919556, "step": 5547 }, { "epoch": 5.290031433105468e-07, "step": 5547, "training_step_time": 17.591363668441772 }, { "epoch": 5.290985107421875e-07, "model_forward_time": 5.096367835998535, "step": 5548 }, { "epoch": 5.290985107421875e-07, "step": 5548, "training_step_time": 17.59979772567749 }, { "epoch": 5.291938781738281e-07, "model_forward_time": 5.0920257568359375, "step": 5549 }, { "epoch": 5.291938781738281e-07, "step": 5549, "training_step_time": 17.601431369781494 }, { "epoch": 5.292892456054688e-07, "grad_norm": 1.5795738697052002, "learning_rate": 9.976593243265326e-06, "loss": 0.1502, "step": 5550 }, { "epoch": 5.292892456054688e-07, "model_forward_time": 5.0876243114471436, "step": 5550 }, { "dynamics_loss_avg": 0.0761856522411108, "epoch": 5.292892456054688e-07, "step": 5550 }, { "action_loss_avg": 0.14223738089203836, "epoch": 5.292892456054688e-07, "step": 5550 }, { "arm_loss_avg": 0.22193686068058013, "epoch": 5.292892456054688e-07, "step": 5550 }, { "ee_loss_avg": 0.14014801252633333, "epoch": 5.292892456054688e-07, "step": 5550 }, { "aux_loss_avg": 0.004847209755098447, "epoch": 5.292892456054688e-07, "step": 5550 }, { "epoch": 5.292892456054688e-07, "step": 5550, "training_step_time": 17.597386598587036 }, { "epoch": 5.293846130371094e-07, "model_forward_time": 5.087266445159912, "step": 5551 }, { "epoch": 5.293846130371094e-07, "step": 5551, "training_step_time": 17.7897629737854 }, { "epoch": 5.2947998046875e-07, "model_forward_time": 5.082293510437012, "step": 5552 }, { "epoch": 5.2947998046875e-07, "step": 5552, "training_step_time": 17.587634563446045 }, { "epoch": 5.295753479003906e-07, "model_forward_time": 5.082024812698364, "step": 5553 }, { "epoch": 5.295753479003906e-07, "step": 5553, "training_step_time": 17.58751344680786 }, { "epoch": 5.296707153320313e-07, "model_forward_time": 3.8502111434936523, "step": 5554 }, { "epoch": 5.296707153320313e-07, "step": 5554, "training_step_time": 17.584859132766724 }, { "epoch": 5.297660827636719e-07, "model_forward_time": 5.05556058883667, "step": 5555 }, { "epoch": 5.297660827636719e-07, "step": 5555, "training_step_time": 17.586595058441162 }, { "epoch": 5.298614501953125e-07, "model_forward_time": 3.839538335800171, "step": 5556 }, { "epoch": 5.298614501953125e-07, "step": 5556, "training_step_time": 17.82735800743103 }, { "epoch": 5.299568176269531e-07, "model_forward_time": 5.056313753128052, "step": 5557 }, { "epoch": 5.299568176269531e-07, "step": 5557, "training_step_time": 17.622878313064575 }, { "epoch": 5.300521850585937e-07, "model_forward_time": 5.069791316986084, "step": 5558 }, { "epoch": 5.300521850585937e-07, "step": 5558, "training_step_time": 17.586979627609253 }, { "epoch": 5.301475524902343e-07, "model_forward_time": 5.081772565841675, "step": 5559 }, { "epoch": 5.301475524902343e-07, "step": 5559, "training_step_time": 17.60580801963806 }, { "epoch": 5.30242919921875e-07, "grad_norm": 2.143601655960083, "learning_rate": 9.9763643963084e-06, "loss": 0.1225, "step": 5560 }, { "epoch": 5.30242919921875e-07, "model_forward_time": 5.29625678062439, "step": 5560 }, { "dynamics_loss_avg": 0.04901764541864395, "epoch": 5.30242919921875e-07, "step": 5560 }, { "action_loss_avg": 0.08380875457078218, "epoch": 5.30242919921875e-07, "step": 5560 }, { "arm_loss_avg": 0.16836775168776513, "epoch": 5.30242919921875e-07, "step": 5560 }, { "ee_loss_avg": 0.11167791653424501, "epoch": 5.30242919921875e-07, "step": 5560 }, { "aux_loss_avg": 0.0025310155178885907, "epoch": 5.30242919921875e-07, "step": 5560 }, { "epoch": 5.30242919921875e-07, "step": 5560, "training_step_time": 17.604246616363525 }, { "epoch": 5.303382873535157e-07, "model_forward_time": 5.105960845947266, "step": 5561 }, { "epoch": 5.303382873535157e-07, "step": 5561, "training_step_time": 17.83785057067871 }, { "epoch": 5.304336547851563e-07, "model_forward_time": 5.103079080581665, "step": 5562 }, { "epoch": 5.304336547851563e-07, "step": 5562, "training_step_time": 17.60766577720642 }, { "epoch": 5.305290222167969e-07, "model_forward_time": 5.096107721328735, "step": 5563 }, { "epoch": 5.305290222167969e-07, "step": 5563, "training_step_time": 17.61164402961731 }, { "epoch": 5.306243896484375e-07, "model_forward_time": 5.090325832366943, "step": 5564 }, { "epoch": 5.306243896484375e-07, "step": 5564, "training_step_time": 17.618955612182617 }, { "epoch": 5.307197570800781e-07, "model_forward_time": 5.087971925735474, "step": 5565 }, { "epoch": 5.307197570800781e-07, "step": 5565, "training_step_time": 17.617229461669922 }, { "epoch": 5.308151245117187e-07, "model_forward_time": 5.0849292278289795, "step": 5566 }, { "epoch": 5.308151245117187e-07, "step": 5566, "training_step_time": 17.843605041503906 }, { "epoch": 5.309104919433593e-07, "model_forward_time": 5.08014988899231, "step": 5567 }, { "epoch": 5.309104919433593e-07, "step": 5567, "training_step_time": 17.623363494873047 }, { "epoch": 5.31005859375e-07, "model_forward_time": 5.07734751701355, "step": 5568 }, { "epoch": 5.31005859375e-07, "step": 5568, "training_step_time": 17.614454984664917 }, { "epoch": 5.311012268066406e-07, "model_forward_time": 5.078965902328491, "step": 5569 }, { "epoch": 5.311012268066406e-07, "step": 5569, "training_step_time": 17.606668949127197 }, { "epoch": 5.311965942382813e-07, "grad_norm": 1.3671661615371704, "learning_rate": 9.976134438723468e-06, "loss": 0.1079, "step": 5570 }, { "epoch": 5.311965942382813e-07, "model_forward_time": 5.080485582351685, "step": 5570 }, { "dynamics_loss_avg": 0.046805881522595884, "epoch": 5.311965942382813e-07, "step": 5570 }, { "action_loss_avg": 0.088990543410182, "epoch": 5.311965942382813e-07, "step": 5570 }, { "arm_loss_avg": 0.2042723022401333, "epoch": 5.311965942382813e-07, "step": 5570 }, { "ee_loss_avg": 0.09901461629197002, "epoch": 5.311965942382813e-07, "step": 5570 }, { "aux_loss_avg": 0.0025526382203679534, "epoch": 5.311965942382813e-07, "step": 5570 }, { "epoch": 5.311965942382813e-07, "step": 5570, "training_step_time": 17.59630513191223 }, { "epoch": 5.312919616699219e-07, "model_forward_time": 5.083698511123657, "step": 5571 }, { "epoch": 5.312919616699219e-07, "step": 5571, "training_step_time": 17.789146423339844 }, { "epoch": 5.313873291015625e-07, "model_forward_time": 3.850992202758789, "step": 5572 }, { "epoch": 5.313873291015625e-07, "step": 5572, "training_step_time": 17.61438536643982 }, { "epoch": 5.314826965332031e-07, "model_forward_time": 3.828554630279541, "step": 5573 }, { "epoch": 5.314826965332031e-07, "step": 5573, "training_step_time": 17.406763315200806 }, { "epoch": 5.315780639648438e-07, "model_forward_time": 5.052626371383667, "step": 5574 }, { "epoch": 5.315780639648438e-07, "step": 5574, "training_step_time": 17.513854503631592 }, { "epoch": 5.316734313964844e-07, "model_forward_time": 5.070258378982544, "step": 5575 }, { "epoch": 5.316734313964844e-07, "step": 5575, "training_step_time": 17.54702115058899 }, { "epoch": 5.31768798828125e-07, "model_forward_time": 5.318565130233765, "step": 5576 }, { "epoch": 5.31768798828125e-07, "step": 5576, "training_step_time": 17.570484399795532 }, { "epoch": 5.318641662597656e-07, "model_forward_time": 5.103315591812134, "step": 5577 }, { "epoch": 5.318641662597656e-07, "step": 5577, "training_step_time": 17.85609793663025 }, { "epoch": 5.319595336914062e-07, "model_forward_time": 5.114760637283325, "step": 5578 }, { "epoch": 5.319595336914062e-07, "step": 5578, "training_step_time": 17.416770935058594 }, { "epoch": 5.320549011230468e-07, "model_forward_time": 3.872293710708618, "step": 5579 }, { "epoch": 5.320549011230468e-07, "step": 5579, "training_step_time": 17.559972524642944 }, { "epoch": 5.321502685546875e-07, "grad_norm": 1.19947350025177, "learning_rate": 9.97590337056185e-06, "loss": 0.1222, "step": 5580 }, { "epoch": 5.321502685546875e-07, "model_forward_time": 5.0862603187561035, "step": 5580 }, { "dynamics_loss_avg": 0.053556973673403264, "epoch": 5.321502685546875e-07, "step": 5580 }, { "action_loss_avg": 0.10306302830576897, "epoch": 5.321502685546875e-07, "step": 5580 }, { "arm_loss_avg": 0.1655912920832634, "epoch": 5.321502685546875e-07, "step": 5580 }, { "ee_loss_avg": 0.08745188675820828, "epoch": 5.321502685546875e-07, "step": 5580 }, { "aux_loss_avg": 0.005157132790191099, "epoch": 5.321502685546875e-07, "step": 5580 }, { "epoch": 5.321502685546875e-07, "step": 5580, "training_step_time": 17.42598032951355 }, { "epoch": 5.322456359863282e-07, "model_forward_time": 5.2818028926849365, "step": 5581 }, { "epoch": 5.322456359863282e-07, "step": 5581, "training_step_time": 17.403005838394165 }, { "epoch": 5.323410034179688e-07, "model_forward_time": 5.082131385803223, "step": 5582 }, { "epoch": 5.323410034179688e-07, "step": 5582, "training_step_time": 17.675792932510376 }, { "epoch": 5.324363708496094e-07, "model_forward_time": 5.084149122238159, "step": 5583 }, { "epoch": 5.324363708496094e-07, "step": 5583, "training_step_time": 17.555657386779785 }, { "epoch": 5.3253173828125e-07, "model_forward_time": 5.088322401046753, "step": 5584 }, { "epoch": 5.3253173828125e-07, "step": 5584, "training_step_time": 17.61349058151245 }, { "epoch": 5.326271057128906e-07, "model_forward_time": 3.8526546955108643, "step": 5585 }, { "epoch": 5.326271057128906e-07, "step": 5585, "training_step_time": 17.63936758041382 }, { "epoch": 5.327224731445312e-07, "model_forward_time": 5.291327953338623, "step": 5586 }, { "epoch": 5.327224731445312e-07, "step": 5586, "training_step_time": 17.654141664505005 }, { "epoch": 5.328178405761719e-07, "model_forward_time": 5.069333076477051, "step": 5587 }, { "epoch": 5.328178405761719e-07, "step": 5587, "training_step_time": 17.878079175949097 }, { "epoch": 5.329132080078125e-07, "model_forward_time": 5.071849584579468, "step": 5588 }, { "epoch": 5.329132080078125e-07, "step": 5588, "training_step_time": 17.629817247390747 }, { "epoch": 5.330085754394531e-07, "model_forward_time": 5.080150604248047, "step": 5589 }, { "epoch": 5.330085754394531e-07, "step": 5589, "training_step_time": 17.6218683719635 }, { "epoch": 5.331039428710938e-07, "grad_norm": 2.099065065383911, "learning_rate": 9.975671191875118e-06, "loss": 0.1535, "step": 5590 }, { "epoch": 5.331039428710938e-07, "model_forward_time": 5.090705394744873, "step": 5590 }, { "dynamics_loss_avg": 0.05331924594938755, "epoch": 5.331039428710938e-07, "step": 5590 }, { "action_loss_avg": 0.1279330588877201, "epoch": 5.331039428710938e-07, "step": 5590 }, { "arm_loss_avg": 0.19903661385178567, "epoch": 5.331039428710938e-07, "step": 5590 }, { "ee_loss_avg": 0.06616920568048953, "epoch": 5.331039428710938e-07, "step": 5590 }, { "aux_loss_avg": 0.0010905370523687451, "epoch": 5.331039428710938e-07, "step": 5590 }, { "epoch": 5.331039428710938e-07, "step": 5590, "training_step_time": 17.60610008239746 }, { "epoch": 5.331993103027344e-07, "model_forward_time": 5.285391569137573, "step": 5591 }, { "epoch": 5.331993103027344e-07, "step": 5591, "training_step_time": 17.592772245407104 }, { "epoch": 5.33294677734375e-07, "model_forward_time": 5.092755317687988, "step": 5592 }, { "epoch": 5.33294677734375e-07, "step": 5592, "training_step_time": 17.77383780479431 }, { "epoch": 5.333900451660156e-07, "model_forward_time": 5.089991569519043, "step": 5593 }, { "epoch": 5.333900451660156e-07, "step": 5593, "training_step_time": 17.394208908081055 }, { "epoch": 5.334854125976563e-07, "model_forward_time": 5.0891807079315186, "step": 5594 }, { "epoch": 5.334854125976563e-07, "step": 5594, "training_step_time": 17.4848530292511 }, { "epoch": 5.335807800292969e-07, "model_forward_time": 5.0843424797058105, "step": 5595 }, { "epoch": 5.335807800292969e-07, "step": 5595, "training_step_time": 17.53106927871704 }, { "epoch": 5.336761474609375e-07, "model_forward_time": 5.085950613021851, "step": 5596 }, { "epoch": 5.336761474609375e-07, "step": 5596, "training_step_time": 17.397109031677246 }, { "epoch": 5.337715148925781e-07, "model_forward_time": 5.079115152359009, "step": 5597 }, { "epoch": 5.337715148925781e-07, "step": 5597, "training_step_time": 17.737794160842896 }, { "epoch": 5.338668823242187e-07, "model_forward_time": 5.077505588531494, "step": 5598 }, { "epoch": 5.338668823242187e-07, "step": 5598, "training_step_time": 17.32296061515808 }, { "epoch": 5.339622497558593e-07, "model_forward_time": 5.080447673797607, "step": 5599 }, { "epoch": 5.339622497558593e-07, "step": 5599, "training_step_time": 17.497402667999268 }, { "epoch": 5.340576171875e-07, "grad_norm": 2.141669511795044, "learning_rate": 9.97543790271509e-06, "loss": 0.1277, "step": 5600 }, { "epoch": 5.340576171875e-07, "model_forward_time": 5.281758546829224, "step": 5600 }, { "dynamics_loss_avg": 0.04620252698659897, "epoch": 5.340576171875e-07, "step": 5600 }, { "action_loss_avg": 0.09471015334129333, "epoch": 5.340576171875e-07, "step": 5600 }, { "arm_loss_avg": 0.19176456034183503, "epoch": 5.340576171875e-07, "step": 5600 }, { "ee_loss_avg": 0.09742140164598823, "epoch": 5.340576171875e-07, "step": 5600 }, { "aux_loss_avg": 0.0018697629624512047, "epoch": 5.340576171875e-07, "step": 5600 }, { "epoch": 5.340576171875e-07, "step": 5600, "training_step_time": 17.565626859664917 }, { "epoch": 5.341529846191407e-07, "model_forward_time": 5.0775134563446045, "step": 5601 }, { "epoch": 5.341529846191407e-07, "step": 5601, "training_step_time": 17.610262155532837 }, { "epoch": 5.342483520507813e-07, "model_forward_time": 5.074767827987671, "step": 5602 }, { "epoch": 5.342483520507813e-07, "step": 5602, "training_step_time": 17.63481330871582 }, { "epoch": 5.343437194824219e-07, "model_forward_time": 5.07435417175293, "step": 5603 }, { "epoch": 5.343437194824219e-07, "step": 5603, "training_step_time": 17.838887691497803 }, { "epoch": 5.344390869140625e-07, "model_forward_time": 5.073098421096802, "step": 5604 }, { "epoch": 5.344390869140625e-07, "step": 5604, "training_step_time": 17.6365704536438 }, { "epoch": 5.345344543457031e-07, "model_forward_time": 5.079740285873413, "step": 5605 }, { "epoch": 5.345344543457031e-07, "step": 5605, "training_step_time": 17.642905235290527 }, { "epoch": 5.346298217773437e-07, "model_forward_time": 5.082278251647949, "step": 5606 }, { "epoch": 5.346298217773437e-07, "step": 5606, "training_step_time": 17.639191150665283 }, { "epoch": 5.347251892089844e-07, "model_forward_time": 3.8492233753204346, "step": 5607 }, { "epoch": 5.347251892089844e-07, "step": 5607, "training_step_time": 17.854100704193115 }, { "epoch": 5.34820556640625e-07, "model_forward_time": 3.830997943878174, "step": 5608 }, { "epoch": 5.34820556640625e-07, "step": 5608, "training_step_time": 17.624865770339966 }, { "epoch": 5.349159240722656e-07, "model_forward_time": 5.046080589294434, "step": 5609 }, { "epoch": 5.349159240722656e-07, "step": 5609, "training_step_time": 17.60916566848755 }, { "epoch": 5.350112915039063e-07, "grad_norm": 2.8643126487731934, "learning_rate": 9.975203503133829e-06, "loss": 0.1481, "step": 5610 }, { "epoch": 5.350112915039063e-07, "model_forward_time": 5.0641844272613525, "step": 5610 }, { "dynamics_loss_avg": 0.05865435795858502, "epoch": 5.350112915039063e-07, "step": 5610 }, { "action_loss_avg": 0.1397200383245945, "epoch": 5.350112915039063e-07, "step": 5610 }, { "arm_loss_avg": 0.2318569891154766, "epoch": 5.350112915039063e-07, "step": 5610 }, { "ee_loss_avg": 0.0960503158159554, "epoch": 5.350112915039063e-07, "step": 5610 }, { "aux_loss_avg": 0.006295665178913623, "epoch": 5.350112915039063e-07, "step": 5610 }, { "epoch": 5.350112915039063e-07, "step": 5610, "training_step_time": 17.59264302253723 }, { "epoch": 5.351066589355469e-07, "model_forward_time": 5.263705015182495, "step": 5611 }, { "epoch": 5.351066589355469e-07, "step": 5611, "training_step_time": 17.624825954437256 }, { "epoch": 5.352020263671875e-07, "model_forward_time": 5.098897218704224, "step": 5612 }, { "epoch": 5.352020263671875e-07, "step": 5612, "training_step_time": 17.773754596710205 }, { "epoch": 5.352973937988281e-07, "model_forward_time": 5.104819059371948, "step": 5613 }, { "epoch": 5.352973937988281e-07, "step": 5613, "training_step_time": 17.57853627204895 }, { "epoch": 5.353927612304688e-07, "model_forward_time": 3.8632891178131104, "step": 5614 }, { "epoch": 5.353927612304688e-07, "step": 5614, "training_step_time": 17.587312698364258 }, { "epoch": 5.354881286621094e-07, "model_forward_time": 5.07078742980957, "step": 5615 }, { "epoch": 5.354881286621094e-07, "step": 5615, "training_step_time": 17.4162757396698 }, { "epoch": 5.3558349609375e-07, "model_forward_time": 5.308986186981201, "step": 5616 }, { "epoch": 5.3558349609375e-07, "step": 5616, "training_step_time": 17.59528374671936 }, { "epoch": 5.356788635253906e-07, "model_forward_time": 5.086453914642334, "step": 5617 }, { "epoch": 5.356788635253906e-07, "step": 5617, "training_step_time": 17.801348209381104 }, { "epoch": 5.357742309570312e-07, "model_forward_time": 3.8507344722747803, "step": 5618 }, { "epoch": 5.357742309570312e-07, "step": 5618, "training_step_time": 17.58555507659912 }, { "epoch": 5.358695983886718e-07, "model_forward_time": 5.058629035949707, "step": 5619 }, { "epoch": 5.358695983886718e-07, "step": 5619, "training_step_time": 17.6046359539032 }, { "epoch": 5.359649658203126e-07, "grad_norm": 1.1931737661361694, "learning_rate": 9.97496799318365e-06, "loss": 0.1253, "step": 5620 }, { "epoch": 5.359649658203126e-07, "model_forward_time": 5.075366020202637, "step": 5620 }, { "dynamics_loss_avg": 0.05219025518745184, "epoch": 5.359649658203126e-07, "step": 5620 }, { "action_loss_avg": 0.07766555920243264, "epoch": 5.359649658203126e-07, "step": 5620 }, { "arm_loss_avg": 0.14193465188145638, "epoch": 5.359649658203126e-07, "step": 5620 }, { "ee_loss_avg": 0.12955453135073186, "epoch": 5.359649658203126e-07, "step": 5620 }, { "aux_loss_avg": 0.0032040440535638483, "epoch": 5.359649658203126e-07, "step": 5620 }, { "epoch": 5.359649658203126e-07, "step": 5620, "training_step_time": 17.619696855545044 }, { "epoch": 5.360603332519532e-07, "model_forward_time": 5.263469219207764, "step": 5621 }, { "epoch": 5.360603332519532e-07, "step": 5621, "training_step_time": 17.372384309768677 }, { "epoch": 5.361557006835938e-07, "model_forward_time": 5.094778060913086, "step": 5622 }, { "epoch": 5.361557006835938e-07, "step": 5622, "training_step_time": 17.60683822631836 }, { "epoch": 5.362510681152344e-07, "model_forward_time": 5.0968170166015625, "step": 5623 }, { "epoch": 5.362510681152344e-07, "step": 5623, "training_step_time": 17.385836601257324 }, { "epoch": 5.36346435546875e-07, "model_forward_time": 5.097784996032715, "step": 5624 }, { "epoch": 5.36346435546875e-07, "step": 5624, "training_step_time": 17.519201278686523 }, { "epoch": 5.364418029785156e-07, "model_forward_time": 3.859069585800171, "step": 5625 }, { "epoch": 5.364418029785156e-07, "step": 5625, "training_step_time": 17.57034468650818 }, { "epoch": 5.365371704101562e-07, "model_forward_time": 5.294156551361084, "step": 5626 }, { "epoch": 5.365371704101562e-07, "step": 5626, "training_step_time": 17.65341544151306 }, { "epoch": 5.366325378417969e-07, "model_forward_time": 5.07285475730896, "step": 5627 }, { "epoch": 5.366325378417969e-07, "step": 5627, "training_step_time": 17.630655527114868 }, { "epoch": 5.367279052734375e-07, "model_forward_time": 5.080687046051025, "step": 5628 }, { "epoch": 5.367279052734375e-07, "step": 5628, "training_step_time": 17.88817000389099 }, { "epoch": 5.368232727050781e-07, "model_forward_time": 5.084726095199585, "step": 5629 }, { "epoch": 5.368232727050781e-07, "step": 5629, "training_step_time": 17.644404649734497 }, { "epoch": 5.369186401367187e-07, "grad_norm": 1.5790702104568481, "learning_rate": 9.974731372917115e-06, "loss": 0.1282, "step": 5630 }, { "epoch": 5.369186401367187e-07, "model_forward_time": 5.08968710899353, "step": 5630 }, { "dynamics_loss_avg": 0.07108456622809171, "epoch": 5.369186401367187e-07, "step": 5630 }, { "action_loss_avg": 0.09844592101871967, "epoch": 5.369186401367187e-07, "step": 5630 }, { "arm_loss_avg": 0.1810925006866455, "epoch": 5.369186401367187e-07, "step": 5630 }, { "ee_loss_avg": 0.08940090984106064, "epoch": 5.369186401367187e-07, "step": 5630 }, { "aux_loss_avg": 0.00392066813656129, "epoch": 5.369186401367187e-07, "step": 5630 }, { "epoch": 5.369186401367187e-07, "step": 5630, "training_step_time": 17.6440212726593 }, { "epoch": 5.370140075683594e-07, "model_forward_time": 4.073364973068237, "step": 5631 }, { "epoch": 5.370140075683594e-07, "step": 5631, "training_step_time": 17.6401846408844 }, { "epoch": 5.37109375e-07, "model_forward_time": 5.0642547607421875, "step": 5632 }, { "epoch": 5.37109375e-07, "step": 5632, "training_step_time": 17.881409883499146 }, { "epoch": 5.372047424316406e-07, "model_forward_time": 5.0756988525390625, "step": 5633 }, { "epoch": 5.372047424316406e-07, "step": 5633, "training_step_time": 17.622522354125977 }, { "epoch": 5.373001098632813e-07, "model_forward_time": 5.0830018520355225, "step": 5634 }, { "epoch": 5.373001098632813e-07, "step": 5634, "training_step_time": 17.387083053588867 }, { "epoch": 5.373954772949219e-07, "model_forward_time": 5.089484930038452, "step": 5635 }, { "epoch": 5.373954772949219e-07, "step": 5635, "training_step_time": 17.518308401107788 }, { "epoch": 5.374908447265625e-07, "model_forward_time": 5.323972940444946, "step": 5636 }, { "epoch": 5.374908447265625e-07, "step": 5636, "training_step_time": 17.586350679397583 }, { "epoch": 5.375862121582031e-07, "model_forward_time": 5.099653959274292, "step": 5637 }, { "epoch": 5.375862121582031e-07, "step": 5637, "training_step_time": 17.585705518722534 }, { "epoch": 5.376815795898437e-07, "model_forward_time": 5.096353530883789, "step": 5638 }, { "epoch": 5.376815795898437e-07, "step": 5638, "training_step_time": 17.845523834228516 }, { "epoch": 5.377769470214843e-07, "model_forward_time": 5.08993673324585, "step": 5639 }, { "epoch": 5.377769470214843e-07, "step": 5639, "training_step_time": 17.61781144142151 }, { "epoch": 5.37872314453125e-07, "grad_norm": 2.9912123680114746, "learning_rate": 9.974493642387033e-06, "loss": 0.134, "step": 5640 }, { "epoch": 5.37872314453125e-07, "model_forward_time": 5.085785150527954, "step": 5640 }, { "dynamics_loss_avg": 0.059993868321180345, "epoch": 5.37872314453125e-07, "step": 5640 }, { "action_loss_avg": 0.10816780179738998, "epoch": 5.37872314453125e-07, "step": 5640 }, { "arm_loss_avg": 0.1950890026986599, "epoch": 5.37872314453125e-07, "step": 5640 }, { "ee_loss_avg": 0.11516472371295094, "epoch": 5.37872314453125e-07, "step": 5640 }, { "aux_loss_avg": 0.002709381130989641, "epoch": 5.37872314453125e-07, "step": 5640 }, { "epoch": 5.37872314453125e-07, "step": 5640, "training_step_time": 17.61763834953308 }, { "epoch": 5.379676818847657e-07, "model_forward_time": 5.263295650482178, "step": 5641 }, { "epoch": 5.379676818847657e-07, "step": 5641, "training_step_time": 17.63829731941223 }, { "epoch": 5.380630493164063e-07, "model_forward_time": 5.077481508255005, "step": 5642 }, { "epoch": 5.380630493164063e-07, "step": 5642, "training_step_time": 17.622742414474487 }, { "epoch": 5.381584167480469e-07, "model_forward_time": 5.078777551651001, "step": 5643 }, { "epoch": 5.381584167480469e-07, "step": 5643, "training_step_time": 17.39780068397522 }, { "epoch": 5.382537841796875e-07, "model_forward_time": 3.84761905670166, "step": 5644 }, { "epoch": 5.382537841796875e-07, "step": 5644, "training_step_time": 17.526599407196045 }, { "epoch": 5.383491516113281e-07, "model_forward_time": 5.056891918182373, "step": 5645 }, { "epoch": 5.383491516113281e-07, "step": 5645, "training_step_time": 17.569345951080322 }, { "epoch": 5.384445190429687e-07, "model_forward_time": 5.288788795471191, "step": 5646 }, { "epoch": 5.384445190429687e-07, "step": 5646, "training_step_time": 17.578654527664185 }, { "epoch": 5.385398864746094e-07, "model_forward_time": 5.073319435119629, "step": 5647 }, { "epoch": 5.385398864746094e-07, "step": 5647, "training_step_time": 17.59688091278076 }, { "epoch": 5.3863525390625e-07, "model_forward_time": 5.077858209609985, "step": 5648 }, { "epoch": 5.3863525390625e-07, "step": 5648, "training_step_time": 17.35727548599243 }, { "epoch": 5.387306213378906e-07, "model_forward_time": 5.087652921676636, "step": 5649 }, { "epoch": 5.387306213378906e-07, "step": 5649, "training_step_time": 17.51176643371582 }, { "epoch": 5.388259887695312e-07, "grad_norm": 1.3499293327331543, "learning_rate": 9.974254801646458e-06, "loss": 0.1394, "step": 5650 }, { "epoch": 5.388259887695312e-07, "model_forward_time": 5.094273328781128, "step": 5650 }, { "dynamics_loss_avg": 0.06661252174526452, "epoch": 5.388259887695312e-07, "step": 5650 }, { "action_loss_avg": 0.10702409483492374, "epoch": 5.388259887695312e-07, "step": 5650 }, { "arm_loss_avg": 0.16232075840234755, "epoch": 5.388259887695312e-07, "step": 5650 }, { "ee_loss_avg": 0.10322723556309939, "epoch": 5.388259887695312e-07, "step": 5650 }, { "aux_loss_avg": 0.004798956238664687, "epoch": 5.388259887695312e-07, "step": 5650 }, { "epoch": 5.388259887695312e-07, "step": 5650, "training_step_time": 17.55424952507019 }, { "epoch": 5.389213562011719e-07, "model_forward_time": 5.278504133224487, "step": 5651 }, { "epoch": 5.389213562011719e-07, "step": 5651, "training_step_time": 17.60230851173401 }, { "epoch": 5.390167236328125e-07, "model_forward_time": 5.0957629680633545, "step": 5652 }, { "epoch": 5.390167236328125e-07, "step": 5652, "training_step_time": 17.611632585525513 }, { "epoch": 5.391120910644531e-07, "model_forward_time": 5.090122938156128, "step": 5653 }, { "epoch": 5.391120910644531e-07, "step": 5653, "training_step_time": 17.81542658805847 }, { "epoch": 5.392074584960938e-07, "model_forward_time": 5.086115121841431, "step": 5654 }, { "epoch": 5.392074584960938e-07, "step": 5654, "training_step_time": 17.624411821365356 }, { "epoch": 5.393028259277344e-07, "model_forward_time": 5.083104610443115, "step": 5655 }, { "epoch": 5.393028259277344e-07, "step": 5655, "training_step_time": 17.625149965286255 }, { "epoch": 5.39398193359375e-07, "model_forward_time": 5.305532217025757, "step": 5656 }, { "epoch": 5.39398193359375e-07, "step": 5656, "training_step_time": 17.612730264663696 }, { "epoch": 5.394935607910156e-07, "model_forward_time": 5.077998638153076, "step": 5657 }, { "epoch": 5.394935607910156e-07, "step": 5657, "training_step_time": 17.615344047546387 }, { "epoch": 5.395889282226562e-07, "model_forward_time": 5.07950758934021, "step": 5658 }, { "epoch": 5.395889282226562e-07, "step": 5658, "training_step_time": 17.84500288963318 }, { "epoch": 5.396842956542968e-07, "model_forward_time": 5.077410936355591, "step": 5659 }, { "epoch": 5.396842956542968e-07, "step": 5659, "training_step_time": 17.60113501548767 }, { "epoch": 5.397796630859375e-07, "grad_norm": 1.4856748580932617, "learning_rate": 9.974014850748698e-06, "loss": 0.1319, "step": 5660 }, { "epoch": 5.397796630859375e-07, "model_forward_time": 3.846287727355957, "step": 5660 }, { "dynamics_loss_avg": 0.06438791155815124, "epoch": 5.397796630859375e-07, "step": 5660 }, { "action_loss_avg": 0.08813680708408356, "epoch": 5.397796630859375e-07, "step": 5660 }, { "arm_loss_avg": 0.1672895960509777, "epoch": 5.397796630859375e-07, "step": 5660 }, { "ee_loss_avg": 0.06707706591114401, "epoch": 5.397796630859375e-07, "step": 5660 }, { "aux_loss_avg": 0.0035762197920121254, "epoch": 5.397796630859375e-07, "step": 5660 }, { "epoch": 5.397796630859375e-07, "step": 5660, "training_step_time": 17.597699880599976 }, { "epoch": 5.398750305175782e-07, "model_forward_time": 5.240525245666504, "step": 5661 }, { "epoch": 5.398750305175782e-07, "step": 5661, "training_step_time": 17.58422827720642 }, { "epoch": 5.399703979492188e-07, "model_forward_time": 5.062137842178345, "step": 5662 }, { "epoch": 5.399703979492188e-07, "step": 5662, "training_step_time": 17.83074975013733 }, { "epoch": 5.400657653808594e-07, "model_forward_time": 5.071137428283691, "step": 5663 }, { "epoch": 5.400657653808594e-07, "step": 5663, "training_step_time": 17.575608253479004 }, { "epoch": 5.401611328125e-07, "model_forward_time": 5.08142352104187, "step": 5664 }, { "epoch": 5.401611328125e-07, "step": 5664, "training_step_time": 17.573895692825317 }, { "epoch": 5.402565002441406e-07, "model_forward_time": 5.091270923614502, "step": 5665 }, { "epoch": 5.402565002441406e-07, "step": 5665, "training_step_time": 17.578965425491333 }, { "epoch": 5.403518676757812e-07, "model_forward_time": 4.0513670444488525, "step": 5666 }, { "epoch": 5.403518676757812e-07, "step": 5666, "training_step_time": 17.659669876098633 }, { "epoch": 5.404472351074219e-07, "model_forward_time": 5.06149697303772, "step": 5667 }, { "epoch": 5.404472351074219e-07, "step": 5667, "training_step_time": 17.596818208694458 }, { "epoch": 5.405426025390625e-07, "model_forward_time": 3.844940662384033, "step": 5668 }, { "epoch": 5.405426025390625e-07, "step": 5668, "training_step_time": 17.829043865203857 }, { "epoch": 5.406379699707031e-07, "model_forward_time": 5.051870584487915, "step": 5669 }, { "epoch": 5.406379699707031e-07, "step": 5669, "training_step_time": 17.603243827819824 }, { "epoch": 5.407333374023437e-07, "grad_norm": 2.306720018386841, "learning_rate": 9.973773789747303e-06, "loss": 0.127, "step": 5670 }, { "epoch": 5.407333374023437e-07, "model_forward_time": 3.8394038677215576, "step": 5670 }, { "dynamics_loss_avg": 0.06267910487949849, "epoch": 5.407333374023437e-07, "step": 5670 }, { "action_loss_avg": 0.1141843993216753, "epoch": 5.407333374023437e-07, "step": 5670 }, { "arm_loss_avg": 0.15356942191720008, "epoch": 5.407333374023437e-07, "step": 5670 }, { "ee_loss_avg": 0.11312701068818569, "epoch": 5.407333374023437e-07, "step": 5670 }, { "aux_loss_avg": 0.0024993931467179207, "epoch": 5.407333374023437e-07, "step": 5670 }, { "epoch": 5.407333374023437e-07, "step": 5670, "training_step_time": 17.602503299713135 }, { "epoch": 5.408287048339844e-07, "model_forward_time": 5.056631326675415, "step": 5671 }, { "epoch": 5.408287048339844e-07, "step": 5671, "training_step_time": 17.608458995819092 }, { "epoch": 5.40924072265625e-07, "model_forward_time": 5.079892635345459, "step": 5672 }, { "epoch": 5.40924072265625e-07, "step": 5672, "training_step_time": 17.824870109558105 }, { "epoch": 5.410194396972657e-07, "model_forward_time": 5.093029975891113, "step": 5673 }, { "epoch": 5.410194396972657e-07, "step": 5673, "training_step_time": 17.600515365600586 }, { "epoch": 5.411148071289063e-07, "model_forward_time": 5.101112365722656, "step": 5674 }, { "epoch": 5.411148071289063e-07, "step": 5674, "training_step_time": 17.474095821380615 }, { "epoch": 5.412101745605469e-07, "model_forward_time": 5.1083502769470215, "step": 5675 }, { "epoch": 5.412101745605469e-07, "step": 5675, "training_step_time": 17.516499519348145 }, { "epoch": 5.413055419921875e-07, "model_forward_time": 5.101804733276367, "step": 5676 }, { "epoch": 5.413055419921875e-07, "step": 5676, "training_step_time": 17.55957865715027 }, { "epoch": 5.414009094238281e-07, "model_forward_time": 5.111562728881836, "step": 5677 }, { "epoch": 5.414009094238281e-07, "step": 5677, "training_step_time": 17.653297901153564 }, { "epoch": 5.414962768554687e-07, "model_forward_time": 5.103211402893066, "step": 5678 }, { "epoch": 5.414962768554687e-07, "step": 5678, "training_step_time": 17.470420360565186 }, { "epoch": 5.415916442871093e-07, "model_forward_time": 5.1016058921813965, "step": 5679 }, { "epoch": 5.415916442871093e-07, "step": 5679, "training_step_time": 17.575018167495728 }, { "epoch": 5.4168701171875e-07, "grad_norm": 1.4369701147079468, "learning_rate": 9.973531618696075e-06, "loss": 0.1403, "step": 5680 }, { "epoch": 5.4168701171875e-07, "model_forward_time": 5.09684944152832, "step": 5680 }, { "dynamics_loss_avg": 0.06304675471037627, "epoch": 5.4168701171875e-07, "step": 5680 }, { "action_loss_avg": 0.13784668333828448, "epoch": 5.4168701171875e-07, "step": 5680 }, { "arm_loss_avg": 0.2034512385725975, "epoch": 5.4168701171875e-07, "step": 5680 }, { "ee_loss_avg": 0.10778806162998081, "epoch": 5.4168701171875e-07, "step": 5680 }, { "aux_loss_avg": 0.0034580297418870033, "epoch": 5.4168701171875e-07, "step": 5680 }, { "epoch": 5.4168701171875e-07, "step": 5680, "training_step_time": 17.62180805206299 }, { "epoch": 5.417823791503907e-07, "model_forward_time": 5.291356801986694, "step": 5681 }, { "epoch": 5.417823791503907e-07, "step": 5681, "training_step_time": 17.63564133644104 }, { "epoch": 5.418777465820313e-07, "model_forward_time": 5.081337928771973, "step": 5682 }, { "epoch": 5.418777465820313e-07, "step": 5682, "training_step_time": 17.656610012054443 }, { "epoch": 5.419731140136719e-07, "model_forward_time": 5.081954479217529, "step": 5683 }, { "epoch": 5.419731140136719e-07, "step": 5683, "training_step_time": 17.836260557174683 }, { "epoch": 5.420684814453125e-07, "model_forward_time": 3.8487958908081055, "step": 5684 }, { "epoch": 5.420684814453125e-07, "step": 5684, "training_step_time": 17.641814947128296 }, { "epoch": 5.421638488769531e-07, "model_forward_time": 5.05697774887085, "step": 5685 }, { "epoch": 5.421638488769531e-07, "step": 5685, "training_step_time": 17.642808437347412 }, { "epoch": 5.422592163085937e-07, "model_forward_time": 5.315939426422119, "step": 5686 }, { "epoch": 5.422592163085937e-07, "step": 5686, "training_step_time": 17.62286353111267 }, { "epoch": 5.423545837402344e-07, "model_forward_time": 5.07505464553833, "step": 5687 }, { "epoch": 5.423545837402344e-07, "step": 5687, "training_step_time": 17.61238741874695 }, { "epoch": 5.42449951171875e-07, "model_forward_time": 5.087464809417725, "step": 5688 }, { "epoch": 5.42449951171875e-07, "step": 5688, "training_step_time": 17.37825584411621 }, { "epoch": 5.425453186035156e-07, "model_forward_time": 5.090268611907959, "step": 5689 }, { "epoch": 5.425453186035156e-07, "step": 5689, "training_step_time": 17.507524490356445 }, { "epoch": 5.426406860351562e-07, "grad_norm": 2.5957424640655518, "learning_rate": 9.973288337649061e-06, "loss": 0.1377, "step": 5690 }, { "epoch": 5.426406860351562e-07, "model_forward_time": 5.0952043533325195, "step": 5690 }, { "dynamics_loss_avg": 0.05549682090058923, "epoch": 5.426406860351562e-07, "step": 5690 }, { "action_loss_avg": 0.112963130697608, "epoch": 5.426406860351562e-07, "step": 5690 }, { "arm_loss_avg": 0.20166460573673248, "epoch": 5.426406860351562e-07, "step": 5690 }, { "ee_loss_avg": 0.18817622549831867, "epoch": 5.426406860351562e-07, "step": 5690 }, { "aux_loss_avg": 0.011673199426149949, "epoch": 5.426406860351562e-07, "step": 5690 }, { "epoch": 5.426406860351562e-07, "step": 5690, "training_step_time": 17.534337282180786 }, { "epoch": 5.427360534667969e-07, "model_forward_time": 5.09163761138916, "step": 5691 }, { "epoch": 5.427360534667969e-07, "step": 5691, "training_step_time": 17.56430745124817 }, { "epoch": 5.428314208984375e-07, "model_forward_time": 5.09729528427124, "step": 5692 }, { "epoch": 5.428314208984375e-07, "step": 5692, "training_step_time": 17.67446279525757 }, { "epoch": 5.429267883300782e-07, "model_forward_time": 5.094297409057617, "step": 5693 }, { "epoch": 5.429267883300782e-07, "step": 5693, "training_step_time": 17.78540873527527 }, { "epoch": 5.430221557617188e-07, "model_forward_time": 5.088761806488037, "step": 5694 }, { "epoch": 5.430221557617188e-07, "step": 5694, "training_step_time": 17.60971188545227 }, { "epoch": 5.431175231933594e-07, "model_forward_time": 5.085150241851807, "step": 5695 }, { "epoch": 5.431175231933594e-07, "step": 5695, "training_step_time": 17.434139728546143 }, { "epoch": 5.43212890625e-07, "model_forward_time": 5.109150648117065, "step": 5696 }, { "epoch": 5.43212890625e-07, "step": 5696, "training_step_time": 17.5695481300354 }, { "epoch": 5.433082580566406e-07, "model_forward_time": 5.1060216426849365, "step": 5697 }, { "epoch": 5.433082580566406e-07, "step": 5697, "training_step_time": 17.647624969482422 }, { "epoch": 5.434036254882812e-07, "model_forward_time": 5.098273754119873, "step": 5698 }, { "epoch": 5.434036254882812e-07, "step": 5698, "training_step_time": 17.879093170166016 }, { "epoch": 5.434989929199218e-07, "model_forward_time": 5.091928720474243, "step": 5699 }, { "epoch": 5.434989929199218e-07, "step": 5699, "training_step_time": 17.646938800811768 }, { "epoch": 5.435943603515625e-07, "grad_norm": 2.165133237838745, "learning_rate": 9.973043946660558e-06, "loss": 0.1282, "step": 5700 }, { "epoch": 5.435943603515625e-07, "model_forward_time": 5.087615728378296, "step": 5700 }, { "dynamics_loss_avg": 0.04590734988451004, "epoch": 5.435943603515625e-07, "step": 5700 }, { "action_loss_avg": 0.11764704920351506, "epoch": 5.435943603515625e-07, "step": 5700 }, { "arm_loss_avg": 0.17709982618689538, "epoch": 5.435943603515625e-07, "step": 5700 }, { "ee_loss_avg": 0.07153982305899262, "epoch": 5.435943603515625e-07, "step": 5700 }, { "aux_loss_avg": 0.000971555698197335, "epoch": 5.435943603515625e-07, "step": 5700 }, { "epoch": 5.435943603515625e-07, "step": 5700, "training_step_time": 17.63683843612671 }, { "epoch": 5.436897277832032e-07, "model_forward_time": 5.277001619338989, "step": 5701 }, { "epoch": 5.436897277832032e-07, "step": 5701, "training_step_time": 17.634520053863525 }, { "epoch": 5.437850952148438e-07, "model_forward_time": 5.083847761154175, "step": 5702 }, { "epoch": 5.437850952148438e-07, "step": 5702, "training_step_time": 17.62863063812256 }, { "epoch": 5.438804626464844e-07, "model_forward_time": 5.085638999938965, "step": 5703 }, { "epoch": 5.438804626464844e-07, "step": 5703, "training_step_time": 17.80849552154541 }, { "epoch": 5.43975830078125e-07, "model_forward_time": 5.078275442123413, "step": 5704 }, { "epoch": 5.43975830078125e-07, "step": 5704, "training_step_time": 17.610715866088867 }, { "epoch": 5.440711975097656e-07, "model_forward_time": 5.080451011657715, "step": 5705 }, { "epoch": 5.440711975097656e-07, "step": 5705, "training_step_time": 17.608203649520874 }, { "epoch": 5.441665649414062e-07, "model_forward_time": 5.327239990234375, "step": 5706 }, { "epoch": 5.441665649414062e-07, "step": 5706, "training_step_time": 17.420500993728638 }, { "epoch": 5.442619323730469e-07, "model_forward_time": 5.082229137420654, "step": 5707 }, { "epoch": 5.442619323730469e-07, "step": 5707, "training_step_time": 17.50339150428772 }, { "epoch": 5.443572998046875e-07, "model_forward_time": 3.8494062423706055, "step": 5708 }, { "epoch": 5.443572998046875e-07, "step": 5708, "training_step_time": 17.758410692214966 }, { "epoch": 5.444526672363281e-07, "model_forward_time": 5.060347080230713, "step": 5709 }, { "epoch": 5.444526672363281e-07, "step": 5709, "training_step_time": 17.557037115097046 }, { "epoch": 5.445480346679687e-07, "grad_norm": 2.624818801879883, "learning_rate": 9.972798445785109e-06, "loss": 0.1392, "step": 5710 }, { "epoch": 5.445480346679687e-07, "model_forward_time": 3.836235761642456, "step": 5710 }, { "dynamics_loss_avg": 0.04977836459875107, "epoch": 5.445480346679687e-07, "step": 5710 }, { "action_loss_avg": 0.11259989812970161, "epoch": 5.445480346679687e-07, "step": 5710 }, { "arm_loss_avg": 0.19330496117472648, "epoch": 5.445480346679687e-07, "step": 5710 }, { "ee_loss_avg": 0.1106553116813302, "epoch": 5.445480346679687e-07, "step": 5710 }, { "aux_loss_avg": 0.0016633962222840637, "epoch": 5.445480346679687e-07, "step": 5710 }, { "epoch": 5.445480346679687e-07, "step": 5710, "training_step_time": 17.56943106651306 }, { "epoch": 5.446434020996094e-07, "model_forward_time": 5.047060251235962, "step": 5711 }, { "epoch": 5.446434020996094e-07, "step": 5711, "training_step_time": 17.58998727798462 }, { "epoch": 5.4473876953125e-07, "model_forward_time": 5.254251956939697, "step": 5712 }, { "epoch": 5.4473876953125e-07, "step": 5712, "training_step_time": 17.62718105316162 }, { "epoch": 5.448341369628907e-07, "model_forward_time": 3.846965789794922, "step": 5713 }, { "epoch": 5.448341369628907e-07, "step": 5713, "training_step_time": 17.77199411392212 }, { "epoch": 5.449295043945313e-07, "model_forward_time": 5.065102815628052, "step": 5714 }, { "epoch": 5.449295043945313e-07, "step": 5714, "training_step_time": 17.593239307403564 }, { "epoch": 5.450248718261719e-07, "model_forward_time": 5.0823235511779785, "step": 5715 }, { "epoch": 5.450248718261719e-07, "step": 5715, "training_step_time": 17.58773446083069 }, { "epoch": 5.451202392578125e-07, "model_forward_time": 5.095059156417847, "step": 5716 }, { "epoch": 5.451202392578125e-07, "step": 5716, "training_step_time": 17.590718269348145 }, { "epoch": 5.452156066894531e-07, "model_forward_time": 4.100100517272949, "step": 5717 }, { "epoch": 5.452156066894531e-07, "step": 5717, "training_step_time": 17.594133853912354 }, { "epoch": 5.453109741210937e-07, "model_forward_time": 5.071946620941162, "step": 5718 }, { "epoch": 5.453109741210937e-07, "step": 5718, "training_step_time": 17.834193229675293 }, { "epoch": 5.454063415527343e-07, "model_forward_time": 5.079756498336792, "step": 5719 }, { "epoch": 5.454063415527343e-07, "step": 5719, "training_step_time": 17.591326236724854 }, { "epoch": 5.45501708984375e-07, "grad_norm": 1.4668734073638916, "learning_rate": 9.9725518350775e-06, "loss": 0.1237, "step": 5720 }, { "epoch": 5.45501708984375e-07, "model_forward_time": 5.087173938751221, "step": 5720 }, { "dynamics_loss_avg": 0.04977303873747587, "epoch": 5.45501708984375e-07, "step": 5720 }, { "action_loss_avg": 0.09120512465015054, "epoch": 5.45501708984375e-07, "step": 5720 }, { "arm_loss_avg": 0.19816423170268535, "epoch": 5.45501708984375e-07, "step": 5720 }, { "ee_loss_avg": 0.10341347511857749, "epoch": 5.45501708984375e-07, "step": 5720 }, { "aux_loss_avg": 0.009654871077509597, "epoch": 5.45501708984375e-07, "step": 5720 }, { "epoch": 5.45501708984375e-07, "step": 5720, "training_step_time": 17.446995496749878 }, { "epoch": 5.455970764160157e-07, "model_forward_time": 5.091681241989136, "step": 5721 }, { "epoch": 5.455970764160157e-07, "step": 5721, "training_step_time": 17.499820709228516 }, { "epoch": 5.456924438476563e-07, "model_forward_time": 5.276175022125244, "step": 5722 }, { "epoch": 5.456924438476563e-07, "step": 5722, "training_step_time": 17.60765266418457 }, { "epoch": 5.457878112792969e-07, "model_forward_time": 5.090230703353882, "step": 5723 }, { "epoch": 5.457878112792969e-07, "step": 5723, "training_step_time": 17.66063618659973 }, { "epoch": 5.458831787109375e-07, "model_forward_time": 5.084719181060791, "step": 5724 }, { "epoch": 5.458831787109375e-07, "step": 5724, "training_step_time": 17.52913784980774 }, { "epoch": 5.459785461425781e-07, "model_forward_time": 5.083298683166504, "step": 5725 }, { "epoch": 5.459785461425781e-07, "step": 5725, "training_step_time": 17.585857391357422 }, { "epoch": 5.460739135742187e-07, "model_forward_time": 5.084245681762695, "step": 5726 }, { "epoch": 5.460739135742187e-07, "step": 5726, "training_step_time": 17.61029815673828 }, { "epoch": 5.461692810058594e-07, "model_forward_time": 5.311131715774536, "step": 5727 }, { "epoch": 5.461692810058594e-07, "step": 5727, "training_step_time": 17.642212629318237 }, { "epoch": 5.462646484375e-07, "model_forward_time": 5.080606698989868, "step": 5728 }, { "epoch": 5.462646484375e-07, "step": 5728, "training_step_time": 17.88094925880432 }, { "epoch": 5.463600158691406e-07, "model_forward_time": 5.078165769577026, "step": 5729 }, { "epoch": 5.463600158691406e-07, "step": 5729, "training_step_time": 17.647807121276855 }, { "epoch": 5.464553833007812e-07, "grad_norm": 2.774127721786499, "learning_rate": 9.972304114592777e-06, "loss": 0.1519, "step": 5730 }, { "epoch": 5.464553833007812e-07, "model_forward_time": 5.079702377319336, "step": 5730 }, { "dynamics_loss_avg": 0.05385006219148636, "epoch": 5.464553833007812e-07, "step": 5730 }, { "action_loss_avg": 0.11467454209923744, "epoch": 5.464553833007812e-07, "step": 5730 }, { "arm_loss_avg": 0.17696669623255729, "epoch": 5.464553833007812e-07, "step": 5730 }, { "ee_loss_avg": 0.11937512457370758, "epoch": 5.464553833007812e-07, "step": 5730 }, { "aux_loss_avg": 0.008582182924146763, "epoch": 5.464553833007812e-07, "step": 5730 }, { "epoch": 5.464553833007812e-07, "step": 5730, "training_step_time": 17.647634267807007 }, { "epoch": 5.465507507324219e-07, "model_forward_time": 5.07864785194397, "step": 5731 }, { "epoch": 5.465507507324219e-07, "step": 5731, "training_step_time": 17.64367938041687 }, { "epoch": 5.466461181640625e-07, "model_forward_time": 5.2875659465789795, "step": 5732 }, { "epoch": 5.466461181640625e-07, "step": 5732, "training_step_time": 17.6368989944458 }, { "epoch": 5.467414855957032e-07, "model_forward_time": 5.084262371063232, "step": 5733 }, { "epoch": 5.467414855957032e-07, "step": 5733, "training_step_time": 17.804376125335693 }, { "epoch": 5.468368530273438e-07, "model_forward_time": 5.085097074508667, "step": 5734 }, { "epoch": 5.468368530273438e-07, "step": 5734, "training_step_time": 17.607733011245728 }, { "epoch": 5.469322204589844e-07, "model_forward_time": 5.085536956787109, "step": 5735 }, { "epoch": 5.469322204589844e-07, "step": 5735, "training_step_time": 17.60520339012146 }, { "epoch": 5.47027587890625e-07, "model_forward_time": 5.100953102111816, "step": 5736 }, { "epoch": 5.47027587890625e-07, "step": 5736, "training_step_time": 17.638102293014526 }, { "epoch": 5.471229553222656e-07, "model_forward_time": 5.106206893920898, "step": 5737 }, { "epoch": 5.471229553222656e-07, "step": 5737, "training_step_time": 17.668546438217163 }, { "epoch": 5.472183227539062e-07, "model_forward_time": 5.097877502441406, "step": 5738 }, { "epoch": 5.472183227539062e-07, "step": 5738, "training_step_time": 17.867127180099487 }, { "epoch": 5.473136901855468e-07, "model_forward_time": 3.861741542816162, "step": 5739 }, { "epoch": 5.473136901855468e-07, "step": 5739, "training_step_time": 17.646110773086548 }, { "epoch": 5.474090576171875e-07, "grad_norm": 2.3994839191436768, "learning_rate": 9.972055284386222e-06, "loss": 0.15, "step": 5740 }, { "epoch": 5.474090576171875e-07, "model_forward_time": 5.060169458389282, "step": 5740 }, { "dynamics_loss_avg": 0.05714610032737255, "epoch": 5.474090576171875e-07, "step": 5740 }, { "action_loss_avg": 0.12039626315236092, "epoch": 5.474090576171875e-07, "step": 5740 }, { "arm_loss_avg": 0.1782380308955908, "epoch": 5.474090576171875e-07, "step": 5740 }, { "ee_loss_avg": 0.16899381950497627, "epoch": 5.474090576171875e-07, "step": 5740 }, { "aux_loss_avg": 0.013910091292927973, "epoch": 5.474090576171875e-07, "step": 5740 }, { "epoch": 5.474090576171875e-07, "step": 5740, "training_step_time": 17.58787488937378 }, { "epoch": 5.475044250488282e-07, "model_forward_time": 3.8366527557373047, "step": 5741 }, { "epoch": 5.475044250488282e-07, "step": 5741, "training_step_time": 17.622450828552246 }, { "epoch": 5.475997924804688e-07, "model_forward_time": 5.241500377655029, "step": 5742 }, { "epoch": 5.475997924804688e-07, "step": 5742, "training_step_time": 17.5990993976593 }, { "epoch": 5.476951599121094e-07, "model_forward_time": 5.069467306137085, "step": 5743 }, { "epoch": 5.476951599121094e-07, "step": 5743, "training_step_time": 17.79215693473816 }, { "epoch": 5.4779052734375e-07, "model_forward_time": 5.084265947341919, "step": 5744 }, { "epoch": 5.4779052734375e-07, "step": 5744, "training_step_time": 17.589714288711548 }, { "epoch": 5.478858947753906e-07, "model_forward_time": 5.0932557582855225, "step": 5745 }, { "epoch": 5.478858947753906e-07, "step": 5745, "training_step_time": 17.593350648880005 }, { "epoch": 5.479812622070312e-07, "model_forward_time": 5.106870174407959, "step": 5746 }, { "epoch": 5.479812622070312e-07, "step": 5746, "training_step_time": 17.623347282409668 }, { "epoch": 5.480766296386719e-07, "model_forward_time": 5.108533620834351, "step": 5747 }, { "epoch": 5.480766296386719e-07, "step": 5747, "training_step_time": 17.81682848930359 }, { "epoch": 5.481719970703125e-07, "model_forward_time": 5.10133695602417, "step": 5748 }, { "epoch": 5.481719970703125e-07, "step": 5748, "training_step_time": 17.595348119735718 }, { "epoch": 5.482673645019531e-07, "model_forward_time": 5.095592260360718, "step": 5749 }, { "epoch": 5.482673645019531e-07, "step": 5749, "training_step_time": 17.62084197998047 }, { "epoch": 5.483627319335937e-07, "grad_norm": 1.217205286026001, "learning_rate": 9.97180534451337e-06, "loss": 0.1346, "step": 5750 }, { "epoch": 5.483627319335937e-07, "model_forward_time": 5.089726209640503, "step": 5750 }, { "dynamics_loss_avg": 0.05746212601661682, "epoch": 5.483627319335937e-07, "step": 5750 }, { "action_loss_avg": 0.09034133795648813, "epoch": 5.483627319335937e-07, "step": 5750 }, { "arm_loss_avg": 0.1693004511296749, "epoch": 5.483627319335937e-07, "step": 5750 }, { "ee_loss_avg": 0.13411055505275726, "epoch": 5.483627319335937e-07, "step": 5750 }, { "aux_loss_avg": 0.00695986005011946, "epoch": 5.483627319335937e-07, "step": 5750 }, { "epoch": 5.483627319335937e-07, "step": 5750, "training_step_time": 17.619653463363647 }, { "epoch": 5.484580993652343e-07, "model_forward_time": 5.085526466369629, "step": 5751 }, { "epoch": 5.484580993652343e-07, "step": 5751, "training_step_time": 17.62864851951599 }, { "epoch": 5.48553466796875e-07, "model_forward_time": 5.087027311325073, "step": 5752 }, { "epoch": 5.48553466796875e-07, "step": 5752, "training_step_time": 17.813254594802856 }, { "epoch": 5.486488342285157e-07, "model_forward_time": 3.848165988922119, "step": 5753 }, { "epoch": 5.486488342285157e-07, "step": 5753, "training_step_time": 17.610706090927124 }, { "epoch": 5.487442016601563e-07, "model_forward_time": 5.055980682373047, "step": 5754 }, { "epoch": 5.487442016601563e-07, "step": 5754, "training_step_time": 17.61075234413147 }, { "epoch": 5.488395690917969e-07, "model_forward_time": 5.064148902893066, "step": 5755 }, { "epoch": 5.488395690917969e-07, "step": 5755, "training_step_time": 17.408243894577026 }, { "epoch": 5.489349365234375e-07, "model_forward_time": 5.074324369430542, "step": 5756 }, { "epoch": 5.489349365234375e-07, "step": 5756, "training_step_time": 17.507400512695312 }, { "epoch": 5.490303039550781e-07, "model_forward_time": 5.318535089492798, "step": 5757 }, { "epoch": 5.490303039550781e-07, "step": 5757, "training_step_time": 17.810299158096313 }, { "epoch": 5.491256713867187e-07, "model_forward_time": 3.8554162979125977, "step": 5758 }, { "epoch": 5.491256713867187e-07, "step": 5758, "training_step_time": 17.573922157287598 }, { "epoch": 5.492210388183593e-07, "model_forward_time": 5.062409400939941, "step": 5759 }, { "epoch": 5.492210388183593e-07, "step": 5759, "training_step_time": 17.591057777404785 }, { "epoch": 5.4931640625e-07, "grad_norm": 2.426805257797241, "learning_rate": 9.971554295030004e-06, "loss": 0.1353, "step": 5760 }, { "epoch": 5.4931640625e-07, "model_forward_time": 5.073972225189209, "step": 5760 }, { "dynamics_loss_avg": 0.058693128451704976, "epoch": 5.4931640625e-07, "step": 5760 }, { "action_loss_avg": 0.07097928896546364, "epoch": 5.4931640625e-07, "step": 5760 }, { "arm_loss_avg": 0.14973389878869056, "epoch": 5.4931640625e-07, "step": 5760 }, { "ee_loss_avg": 0.08619860988110303, "epoch": 5.4931640625e-07, "step": 5760 }, { "aux_loss_avg": 0.0036177358881104736, "epoch": 5.4931640625e-07, "step": 5760 }, { "epoch": 5.4931640625e-07, "step": 5760, "training_step_time": 17.408003568649292 }, { "epoch": 5.494117736816406e-07, "model_forward_time": 5.08600640296936, "step": 5761 }, { "epoch": 5.494117736816406e-07, "step": 5761, "training_step_time": 17.52892231941223 }, { "epoch": 5.495071411132813e-07, "model_forward_time": 5.284373044967651, "step": 5762 }, { "epoch": 5.495071411132813e-07, "step": 5762, "training_step_time": 17.575567483901978 }, { "epoch": 5.496025085449219e-07, "model_forward_time": 5.093778848648071, "step": 5763 }, { "epoch": 5.496025085449219e-07, "step": 5763, "training_step_time": 17.81191110610962 }, { "epoch": 5.496978759765625e-07, "model_forward_time": 3.8561630249023438, "step": 5764 }, { "epoch": 5.496978759765625e-07, "step": 5764, "training_step_time": 17.600310564041138 }, { "epoch": 5.497932434082031e-07, "model_forward_time": 5.060612440109253, "step": 5765 }, { "epoch": 5.497932434082031e-07, "step": 5765, "training_step_time": 17.62152910232544 }, { "epoch": 5.498886108398438e-07, "model_forward_time": 3.8398122787475586, "step": 5766 }, { "epoch": 5.498886108398438e-07, "step": 5766, "training_step_time": 17.640941619873047 }, { "epoch": 5.499839782714844e-07, "model_forward_time": 5.277221441268921, "step": 5767 }, { "epoch": 5.499839782714844e-07, "step": 5767, "training_step_time": 17.846118211746216 }, { "epoch": 5.50079345703125e-07, "model_forward_time": 5.0617053508758545, "step": 5768 }, { "epoch": 5.50079345703125e-07, "step": 5768, "training_step_time": 17.609001398086548 }, { "epoch": 5.501747131347656e-07, "model_forward_time": 5.078290939331055, "step": 5769 }, { "epoch": 5.501747131347656e-07, "step": 5769, "training_step_time": 17.597230195999146 }, { "epoch": 5.502700805664062e-07, "grad_norm": 1.1829396486282349, "learning_rate": 9.971302135992152e-06, "loss": 0.1578, "step": 5770 }, { "epoch": 5.502700805664062e-07, "model_forward_time": 5.089102745056152, "step": 5770 }, { "dynamics_loss_avg": 0.05415151864290237, "epoch": 5.502700805664062e-07, "step": 5770 }, { "action_loss_avg": 0.11098715253174304, "epoch": 5.502700805664062e-07, "step": 5770 }, { "arm_loss_avg": 0.19670402854681016, "epoch": 5.502700805664062e-07, "step": 5770 }, { "ee_loss_avg": 0.14034839048981668, "epoch": 5.502700805664062e-07, "step": 5770 }, { "aux_loss_avg": 0.024049532762728632, "epoch": 5.502700805664062e-07, "step": 5770 }, { "epoch": 5.502700805664062e-07, "step": 5770, "training_step_time": 17.587433576583862 }, { "epoch": 5.503654479980468e-07, "model_forward_time": 5.088932991027832, "step": 5771 }, { "epoch": 5.503654479980468e-07, "step": 5771, "training_step_time": 17.62248182296753 }, { "epoch": 5.504608154296875e-07, "model_forward_time": 5.271235227584839, "step": 5772 }, { "epoch": 5.504608154296875e-07, "step": 5772, "training_step_time": 17.765284299850464 }, { "epoch": 5.505561828613282e-07, "model_forward_time": 5.093740463256836, "step": 5773 }, { "epoch": 5.505561828613282e-07, "step": 5773, "training_step_time": 17.586984395980835 }, { "epoch": 5.506515502929688e-07, "model_forward_time": 5.096694707870483, "step": 5774 }, { "epoch": 5.506515502929688e-07, "step": 5774, "training_step_time": 17.580281734466553 }, { "epoch": 5.507469177246094e-07, "model_forward_time": 5.091987609863281, "step": 5775 }, { "epoch": 5.507469177246094e-07, "step": 5775, "training_step_time": 17.409467697143555 }, { "epoch": 5.5084228515625e-07, "model_forward_time": 5.104251861572266, "step": 5776 }, { "epoch": 5.5084228515625e-07, "step": 5776, "training_step_time": 17.649231672286987 }, { "epoch": 5.509376525878906e-07, "model_forward_time": 5.328178644180298, "step": 5777 }, { "epoch": 5.509376525878906e-07, "step": 5777, "training_step_time": 17.706812858581543 }, { "epoch": 5.510330200195312e-07, "model_forward_time": 5.098246812820435, "step": 5778 }, { "epoch": 5.510330200195312e-07, "step": 5778, "training_step_time": 17.545143604278564 }, { "epoch": 5.511283874511718e-07, "model_forward_time": 5.086814641952515, "step": 5779 }, { "epoch": 5.511283874511718e-07, "step": 5779, "training_step_time": 17.57425308227539 }, { "epoch": 5.512237548828125e-07, "grad_norm": 2.749375104904175, "learning_rate": 9.971048867456092e-06, "loss": 0.1434, "step": 5780 }, { "epoch": 5.512237548828125e-07, "model_forward_time": 5.076263189315796, "step": 5780 }, { "dynamics_loss_avg": 0.04564509680494666, "epoch": 5.512237548828125e-07, "step": 5780 }, { "action_loss_avg": 0.10449269600212574, "epoch": 5.512237548828125e-07, "step": 5780 }, { "arm_loss_avg": 0.1877082757651806, "epoch": 5.512237548828125e-07, "step": 5780 }, { "ee_loss_avg": 0.09898163508623839, "epoch": 5.512237548828125e-07, "step": 5780 }, { "aux_loss_avg": 0.0015647954074665903, "epoch": 5.512237548828125e-07, "step": 5780 }, { "epoch": 5.512237548828125e-07, "step": 5780, "training_step_time": 17.310799837112427 }, { "epoch": 5.513191223144531e-07, "model_forward_time": 3.8427557945251465, "step": 5781 }, { "epoch": 5.513191223144531e-07, "step": 5781, "training_step_time": 17.572336673736572 }, { "epoch": 5.514144897460938e-07, "model_forward_time": 5.242162227630615, "step": 5782 }, { "epoch": 5.514144897460938e-07, "step": 5782, "training_step_time": 17.3610360622406 }, { "epoch": 5.515098571777344e-07, "model_forward_time": 3.8319544792175293, "step": 5783 }, { "epoch": 5.515098571777344e-07, "step": 5783, "training_step_time": 17.712629795074463 }, { "epoch": 5.51605224609375e-07, "model_forward_time": 5.046383619308472, "step": 5784 }, { "epoch": 5.51605224609375e-07, "step": 5784, "training_step_time": 17.55765724182129 }, { "epoch": 5.517005920410156e-07, "model_forward_time": 5.059436798095703, "step": 5785 }, { "epoch": 5.517005920410156e-07, "step": 5785, "training_step_time": 17.579580068588257 }, { "epoch": 5.517959594726563e-07, "model_forward_time": 5.080451011657715, "step": 5786 }, { "epoch": 5.517959594726563e-07, "step": 5786, "training_step_time": 17.589173555374146 }, { "epoch": 5.518913269042969e-07, "model_forward_time": 5.320700645446777, "step": 5787 }, { "epoch": 5.518913269042969e-07, "step": 5787, "training_step_time": 17.825945138931274 }, { "epoch": 5.519866943359375e-07, "model_forward_time": 5.0981714725494385, "step": 5788 }, { "epoch": 5.519866943359375e-07, "step": 5788, "training_step_time": 17.6070454120636 }, { "epoch": 5.520820617675781e-07, "model_forward_time": 5.099011421203613, "step": 5789 }, { "epoch": 5.520820617675781e-07, "step": 5789, "training_step_time": 17.606186389923096 }, { "epoch": 5.521774291992187e-07, "grad_norm": 1.807921051979065, "learning_rate": 9.970794489478348e-06, "loss": 0.143, "step": 5790 }, { "epoch": 5.521774291992187e-07, "model_forward_time": 5.100250720977783, "step": 5790 }, { "dynamics_loss_avg": 0.05280027762055397, "epoch": 5.521774291992187e-07, "step": 5790 }, { "action_loss_avg": 0.10154892541468144, "epoch": 5.521774291992187e-07, "step": 5790 }, { "arm_loss_avg": 0.17600051797926425, "epoch": 5.521774291992187e-07, "step": 5790 }, { "ee_loss_avg": 0.13473786041140556, "epoch": 5.521774291992187e-07, "step": 5790 }, { "aux_loss_avg": 0.0014998379454482346, "epoch": 5.521774291992187e-07, "step": 5790 }, { "epoch": 5.521774291992187e-07, "step": 5790, "training_step_time": 17.613770008087158 }, { "epoch": 5.522727966308593e-07, "model_forward_time": 5.09600567817688, "step": 5791 }, { "epoch": 5.522727966308593e-07, "step": 5791, "training_step_time": 17.616222381591797 }, { "epoch": 5.523681640625e-07, "model_forward_time": 5.274147272109985, "step": 5792 }, { "epoch": 5.523681640625e-07, "step": 5792, "training_step_time": 17.808144092559814 }, { "epoch": 5.524635314941407e-07, "model_forward_time": 5.080805063247681, "step": 5793 }, { "epoch": 5.524635314941407e-07, "step": 5793, "training_step_time": 17.60815691947937 }, { "epoch": 5.525588989257813e-07, "model_forward_time": 5.079342603683472, "step": 5794 }, { "epoch": 5.525588989257813e-07, "step": 5794, "training_step_time": 17.634101390838623 }, { "epoch": 5.526542663574219e-07, "model_forward_time": 5.078827381134033, "step": 5795 }, { "epoch": 5.526542663574219e-07, "step": 5795, "training_step_time": 17.617648601531982 }, { "epoch": 5.527496337890625e-07, "model_forward_time": 5.084338903427124, "step": 5796 }, { "epoch": 5.527496337890625e-07, "step": 5796, "training_step_time": 17.627642154693604 }, { "epoch": 5.528450012207031e-07, "model_forward_time": 5.305728197097778, "step": 5797 }, { "epoch": 5.528450012207031e-07, "step": 5797, "training_step_time": 17.61865758895874 }, { "epoch": 5.529403686523437e-07, "model_forward_time": 5.085652112960815, "step": 5798 }, { "epoch": 5.529403686523437e-07, "step": 5798, "training_step_time": 17.512492895126343 }, { "epoch": 5.530357360839843e-07, "model_forward_time": 5.081897258758545, "step": 5799 }, { "epoch": 5.530357360839843e-07, "step": 5799, "training_step_time": 17.559585094451904 }, { "epoch": 5.53131103515625e-07, "grad_norm": 2.0459930896759033, "learning_rate": 9.97053900211569e-06, "loss": 0.1659, "step": 5800 }, { "epoch": 5.53131103515625e-07, "model_forward_time": 5.086706161499023, "step": 5800 }, { "dynamics_loss_avg": 0.0641117824241519, "epoch": 5.53131103515625e-07, "step": 5800 }, { "action_loss_avg": 0.11196741312742234, "epoch": 5.53131103515625e-07, "step": 5800 }, { "arm_loss_avg": 0.16154521107673644, "epoch": 5.53131103515625e-07, "step": 5800 }, { "ee_loss_avg": 0.13023069947957994, "epoch": 5.53131103515625e-07, "step": 5800 }, { "aux_loss_avg": 0.0021451763110235333, "epoch": 5.53131103515625e-07, "step": 5800 }, { "epoch": 5.53131103515625e-07, "step": 5800, "training_step_time": 17.580053567886353 }, { "epoch": 5.532264709472656e-07, "model_forward_time": 5.08745551109314, "step": 5801 }, { "epoch": 5.532264709472656e-07, "step": 5801, "training_step_time": 17.597749948501587 }, { "epoch": 5.533218383789063e-07, "model_forward_time": 5.277533769607544, "step": 5802 }, { "epoch": 5.533218383789063e-07, "step": 5802, "training_step_time": 17.862951040267944 }, { "epoch": 5.534172058105469e-07, "model_forward_time": 5.084758996963501, "step": 5803 }, { "epoch": 5.534172058105469e-07, "step": 5803, "training_step_time": 17.418319940567017 }, { "epoch": 5.535125732421875e-07, "model_forward_time": 5.090551137924194, "step": 5804 }, { "epoch": 5.535125732421875e-07, "step": 5804, "training_step_time": 17.527974605560303 }, { "epoch": 5.536079406738281e-07, "model_forward_time": 5.088673114776611, "step": 5805 }, { "epoch": 5.536079406738281e-07, "step": 5805, "training_step_time": 17.573659896850586 }, { "epoch": 5.537033081054688e-07, "model_forward_time": 5.0885233879089355, "step": 5806 }, { "epoch": 5.537033081054688e-07, "step": 5806, "training_step_time": 17.600874662399292 }, { "epoch": 5.537986755371094e-07, "model_forward_time": 5.08513331413269, "step": 5807 }, { "epoch": 5.537986755371094e-07, "step": 5807, "training_step_time": 17.618075847625732 }, { "epoch": 5.5389404296875e-07, "model_forward_time": 5.087292909622192, "step": 5808 }, { "epoch": 5.5389404296875e-07, "step": 5808, "training_step_time": 17.851000785827637 }, { "epoch": 5.539894104003906e-07, "model_forward_time": 5.087464332580566, "step": 5809 }, { "epoch": 5.539894104003906e-07, "step": 5809, "training_step_time": 17.407411813735962 }, { "epoch": 5.540847778320312e-07, "grad_norm": 2.878497838973999, "learning_rate": 9.970282405425143e-06, "loss": 0.1607, "step": 5810 }, { "epoch": 5.540847778320312e-07, "model_forward_time": 5.0851967334747314, "step": 5810 }, { "dynamics_loss_avg": 0.058923070691525935, "epoch": 5.540847778320312e-07, "step": 5810 }, { "action_loss_avg": 0.09771136622875928, "epoch": 5.540847778320312e-07, "step": 5810 }, { "arm_loss_avg": 0.14362872950732708, "epoch": 5.540847778320312e-07, "step": 5810 }, { "ee_loss_avg": 0.11339372992515565, "epoch": 5.540847778320312e-07, "step": 5810 }, { "aux_loss_avg": 0.0036698910407721996, "epoch": 5.540847778320312e-07, "step": 5810 }, { "epoch": 5.540847778320312e-07, "step": 5810, "training_step_time": 17.553826332092285 }, { "epoch": 5.541801452636718e-07, "model_forward_time": 3.8510427474975586, "step": 5811 }, { "epoch": 5.541801452636718e-07, "step": 5811, "training_step_time": 17.579278469085693 }, { "epoch": 5.542755126953125e-07, "model_forward_time": 5.057079076766968, "step": 5812 }, { "epoch": 5.542755126953125e-07, "step": 5812, "training_step_time": 17.643720149993896 }, { "epoch": 5.543708801269532e-07, "model_forward_time": 5.072606325149536, "step": 5813 }, { "epoch": 5.543708801269532e-07, "step": 5813, "training_step_time": 17.797720193862915 }, { "epoch": 5.544662475585938e-07, "model_forward_time": 5.0758137702941895, "step": 5814 }, { "epoch": 5.544662475585938e-07, "step": 5814, "training_step_time": 17.61876082420349 }, { "epoch": 5.545616149902344e-07, "model_forward_time": 5.08644437789917, "step": 5815 }, { "epoch": 5.545616149902344e-07, "step": 5815, "training_step_time": 17.622171640396118 }, { "epoch": 5.54656982421875e-07, "model_forward_time": 5.089830160140991, "step": 5816 }, { "epoch": 5.54656982421875e-07, "step": 5816, "training_step_time": 17.624328136444092 }, { "epoch": 5.547523498535156e-07, "model_forward_time": 5.095758676528931, "step": 5817 }, { "epoch": 5.547523498535156e-07, "step": 5817, "training_step_time": 17.625720500946045 }, { "epoch": 5.548477172851562e-07, "model_forward_time": 5.099952220916748, "step": 5818 }, { "epoch": 5.548477172851562e-07, "step": 5818, "training_step_time": 17.855217933654785 }, { "epoch": 5.549430847167968e-07, "model_forward_time": 5.096335172653198, "step": 5819 }, { "epoch": 5.549430847167968e-07, "step": 5819, "training_step_time": 17.6215877532959 }, { "epoch": 5.550384521484375e-07, "grad_norm": 1.5600427389144897, "learning_rate": 9.970024699463972e-06, "loss": 0.1533, "step": 5820 }, { "epoch": 5.550384521484375e-07, "model_forward_time": 5.093813896179199, "step": 5820 }, { "dynamics_loss_avg": 0.06329433359205723, "epoch": 5.550384521484375e-07, "step": 5820 }, { "action_loss_avg": 0.12661390975117684, "epoch": 5.550384521484375e-07, "step": 5820 }, { "arm_loss_avg": 0.15014585368335248, "epoch": 5.550384521484375e-07, "step": 5820 }, { "ee_loss_avg": 0.09722355492413044, "epoch": 5.550384521484375e-07, "step": 5820 }, { "aux_loss_avg": 0.0010485041479114444, "epoch": 5.550384521484375e-07, "step": 5820 }, { "epoch": 5.550384521484375e-07, "step": 5820, "training_step_time": 17.619928121566772 }, { "epoch": 5.551338195800781e-07, "model_forward_time": 5.281392574310303, "step": 5821 }, { "epoch": 5.551338195800781e-07, "step": 5821, "training_step_time": 17.611689567565918 }, { "epoch": 5.552291870117188e-07, "model_forward_time": 5.088037490844727, "step": 5822 }, { "epoch": 5.552291870117188e-07, "step": 5822, "training_step_time": 17.59868860244751 }, { "epoch": 5.553245544433594e-07, "model_forward_time": 5.087125539779663, "step": 5823 }, { "epoch": 5.553245544433594e-07, "step": 5823, "training_step_time": 17.810747385025024 }, { "epoch": 5.55419921875e-07, "model_forward_time": 5.084726572036743, "step": 5824 }, { "epoch": 5.55419921875e-07, "step": 5824, "training_step_time": 17.604894876480103 }, { "epoch": 5.555152893066406e-07, "model_forward_time": 5.086295127868652, "step": 5825 }, { "epoch": 5.555152893066406e-07, "step": 5825, "training_step_time": 17.601597547531128 }, { "epoch": 5.556106567382813e-07, "model_forward_time": 5.334961652755737, "step": 5826 }, { "epoch": 5.556106567382813e-07, "step": 5826, "training_step_time": 17.60340142250061 }, { "epoch": 5.557060241699219e-07, "model_forward_time": 5.083875894546509, "step": 5827 }, { "epoch": 5.557060241699219e-07, "step": 5827, "training_step_time": 17.82859444618225 }, { "epoch": 5.558013916015625e-07, "model_forward_time": 5.0790839195251465, "step": 5828 }, { "epoch": 5.558013916015625e-07, "step": 5828, "training_step_time": 17.598544359207153 }, { "epoch": 5.558967590332031e-07, "model_forward_time": 5.085813283920288, "step": 5829 }, { "epoch": 5.558967590332031e-07, "step": 5829, "training_step_time": 17.605872631072998 }, { "epoch": 5.559921264648437e-07, "grad_norm": 1.9312934875488281, "learning_rate": 9.96976588428969e-06, "loss": 0.1359, "step": 5830 }, { "epoch": 5.559921264648437e-07, "model_forward_time": 5.0812904834747314, "step": 5830 }, { "dynamics_loss_avg": 0.049903700780123475, "epoch": 5.559921264648437e-07, "step": 5830 }, { "action_loss_avg": 0.1082577645778656, "epoch": 5.559921264648437e-07, "step": 5830 }, { "arm_loss_avg": 0.19817354828119277, "epoch": 5.559921264648437e-07, "step": 5830 }, { "ee_loss_avg": 0.08765063993632793, "epoch": 5.559921264648437e-07, "step": 5830 }, { "aux_loss_avg": 0.000996402557939291, "epoch": 5.559921264648437e-07, "step": 5830 }, { "epoch": 5.559921264648437e-07, "step": 5830, "training_step_time": 17.601966381072998 }, { "epoch": 5.560874938964843e-07, "model_forward_time": 5.082056999206543, "step": 5831 }, { "epoch": 5.560874938964843e-07, "step": 5831, "training_step_time": 17.588890075683594 }, { "epoch": 5.56182861328125e-07, "model_forward_time": 5.08353590965271, "step": 5832 }, { "epoch": 5.56182861328125e-07, "step": 5832, "training_step_time": 17.781232357025146 }, { "epoch": 5.562782287597657e-07, "model_forward_time": 3.8518922328948975, "step": 5833 }, { "epoch": 5.562782287597657e-07, "step": 5833, "training_step_time": 17.588563203811646 }, { "epoch": 5.563735961914063e-07, "model_forward_time": 5.0527143478393555, "step": 5834 }, { "epoch": 5.563735961914063e-07, "step": 5834, "training_step_time": 17.599647283554077 }, { "epoch": 5.564689636230469e-07, "model_forward_time": 5.064523220062256, "step": 5835 }, { "epoch": 5.564689636230469e-07, "step": 5835, "training_step_time": 17.58432650566101 }, { "epoch": 5.565643310546875e-07, "model_forward_time": 5.074513912200928, "step": 5836 }, { "epoch": 5.565643310546875e-07, "step": 5836, "training_step_time": 17.581783294677734 }, { "epoch": 5.566596984863281e-07, "model_forward_time": 5.318571090698242, "step": 5837 }, { "epoch": 5.566596984863281e-07, "step": 5837, "training_step_time": 17.81696105003357 }, { "epoch": 5.567550659179687e-07, "model_forward_time": 5.088223218917847, "step": 5838 }, { "epoch": 5.567550659179687e-07, "step": 5838, "training_step_time": 17.57374596595764 }, { "epoch": 5.568504333496094e-07, "model_forward_time": 5.09417986869812, "step": 5839 }, { "epoch": 5.568504333496094e-07, "step": 5839, "training_step_time": 17.565699815750122 }, { "epoch": 5.5694580078125e-07, "grad_norm": 1.6081721782684326, "learning_rate": 9.96950595996006e-06, "loss": 0.153, "step": 5840 }, { "epoch": 5.5694580078125e-07, "model_forward_time": 5.095523118972778, "step": 5840 }, { "dynamics_loss_avg": 0.061481421999633315, "epoch": 5.5694580078125e-07, "step": 5840 }, { "action_loss_avg": 0.1123686483129859, "epoch": 5.5694580078125e-07, "step": 5840 }, { "arm_loss_avg": 0.181697066873312, "epoch": 5.5694580078125e-07, "step": 5840 }, { "ee_loss_avg": 0.13525549303740264, "epoch": 5.5694580078125e-07, "step": 5840 }, { "aux_loss_avg": 0.0038818299246486275, "epoch": 5.5694580078125e-07, "step": 5840 }, { "epoch": 5.5694580078125e-07, "step": 5840, "training_step_time": 17.57169795036316 }, { "epoch": 5.570411682128906e-07, "model_forward_time": 5.290304660797119, "step": 5841 }, { "epoch": 5.570411682128906e-07, "step": 5841, "training_step_time": 17.577948331832886 }, { "epoch": 5.571365356445313e-07, "model_forward_time": 5.091435432434082, "step": 5842 }, { "epoch": 5.571365356445313e-07, "step": 5842, "training_step_time": 17.761624097824097 }, { "epoch": 5.572319030761719e-07, "model_forward_time": 5.088213682174683, "step": 5843 }, { "epoch": 5.572319030761719e-07, "step": 5843, "training_step_time": 17.582629442214966 }, { "epoch": 5.573272705078125e-07, "model_forward_time": 5.0840301513671875, "step": 5844 }, { "epoch": 5.573272705078125e-07, "step": 5844, "training_step_time": 17.5779869556427 }, { "epoch": 5.574226379394531e-07, "model_forward_time": 5.085507869720459, "step": 5845 }, { "epoch": 5.574226379394531e-07, "step": 5845, "training_step_time": 17.58750057220459 }, { "epoch": 5.575180053710938e-07, "model_forward_time": 5.332256078720093, "step": 5846 }, { "epoch": 5.575180053710938e-07, "step": 5846, "training_step_time": 17.5983669757843 }, { "epoch": 5.576133728027344e-07, "model_forward_time": 5.086270570755005, "step": 5847 }, { "epoch": 5.576133728027344e-07, "step": 5847, "training_step_time": 17.606138229370117 }, { "epoch": 5.57708740234375e-07, "model_forward_time": 5.083193063735962, "step": 5848 }, { "epoch": 5.57708740234375e-07, "step": 5848, "training_step_time": 17.50805902481079 }, { "epoch": 5.578041076660156e-07, "model_forward_time": 5.0852625370025635, "step": 5849 }, { "epoch": 5.578041076660156e-07, "step": 5849, "training_step_time": 17.54938530921936 }, { "epoch": 5.578994750976562e-07, "grad_norm": 2.5216987133026123, "learning_rate": 9.969244926533094e-06, "loss": 0.1483, "step": 5850 }, { "epoch": 5.578994750976562e-07, "model_forward_time": 5.084141731262207, "step": 5850 }, { "dynamics_loss_avg": 0.059573169238865374, "epoch": 5.578994750976562e-07, "step": 5850 }, { "action_loss_avg": 0.09843237847089767, "epoch": 5.578994750976562e-07, "step": 5850 }, { "arm_loss_avg": 0.1818010300397873, "epoch": 5.578994750976562e-07, "step": 5850 }, { "ee_loss_avg": 0.13672481924295427, "epoch": 5.578994750976562e-07, "step": 5850 }, { "aux_loss_avg": 0.01892538345127832, "epoch": 5.578994750976562e-07, "step": 5850 }, { "epoch": 5.578994750976562e-07, "step": 5850, "training_step_time": 17.572404146194458 }, { "epoch": 5.579948425292968e-07, "model_forward_time": 5.086113452911377, "step": 5851 }, { "epoch": 5.579948425292968e-07, "step": 5851, "training_step_time": 17.588054418563843 }, { "epoch": 5.580902099609376e-07, "model_forward_time": 5.087552547454834, "step": 5852 }, { "epoch": 5.580902099609376e-07, "step": 5852, "training_step_time": 17.80046796798706 }, { "epoch": 5.581855773925782e-07, "model_forward_time": 5.0808281898498535, "step": 5853 }, { "epoch": 5.581855773925782e-07, "step": 5853, "training_step_time": 17.61798119544983 }, { "epoch": 5.582809448242188e-07, "model_forward_time": 5.085895538330078, "step": 5854 }, { "epoch": 5.582809448242188e-07, "step": 5854, "training_step_time": 17.614232778549194 }, { "epoch": 5.583763122558594e-07, "model_forward_time": 5.08729362487793, "step": 5855 }, { "epoch": 5.583763122558594e-07, "step": 5855, "training_step_time": 17.62723159790039 }, { "epoch": 5.584716796875e-07, "model_forward_time": 5.099754810333252, "step": 5856 }, { "epoch": 5.584716796875e-07, "step": 5856, "training_step_time": 17.629096269607544 }, { "epoch": 5.585670471191406e-07, "model_forward_time": 5.10712194442749, "step": 5857 }, { "epoch": 5.585670471191406e-07, "step": 5857, "training_step_time": 17.910929918289185 }, { "epoch": 5.586624145507812e-07, "model_forward_time": 5.10352349281311, "step": 5858 }, { "epoch": 5.586624145507812e-07, "step": 5858, "training_step_time": 17.631962060928345 }, { "epoch": 5.587577819824219e-07, "model_forward_time": 5.101297378540039, "step": 5859 }, { "epoch": 5.587577819824219e-07, "step": 5859, "training_step_time": 17.619006633758545 }, { "epoch": 5.588531494140625e-07, "grad_norm": 1.388802170753479, "learning_rate": 9.96898278406705e-06, "loss": 0.15, "step": 5860 }, { "epoch": 5.588531494140625e-07, "model_forward_time": 5.096235275268555, "step": 5860 }, { "dynamics_loss_avg": 0.05786757227033377, "epoch": 5.588531494140625e-07, "step": 5860 }, { "action_loss_avg": 0.10905388221144677, "epoch": 5.588531494140625e-07, "step": 5860 }, { "arm_loss_avg": 0.18349498584866525, "epoch": 5.588531494140625e-07, "step": 5860 }, { "ee_loss_avg": 0.14755982980132104, "epoch": 5.588531494140625e-07, "step": 5860 }, { "aux_loss_avg": 0.015426793205551802, "epoch": 5.588531494140625e-07, "step": 5860 }, { "epoch": 5.588531494140625e-07, "step": 5860, "training_step_time": 17.555453300476074 }, { "epoch": 5.589485168457031e-07, "model_forward_time": 5.286717891693115, "step": 5861 }, { "epoch": 5.589485168457031e-07, "step": 5861, "training_step_time": 17.61039900779724 }, { "epoch": 5.590438842773438e-07, "model_forward_time": 5.092727184295654, "step": 5862 }, { "epoch": 5.590438842773438e-07, "step": 5862, "training_step_time": 17.673979997634888 }, { "epoch": 5.591392517089844e-07, "model_forward_time": 5.090608596801758, "step": 5863 }, { "epoch": 5.591392517089844e-07, "step": 5863, "training_step_time": 17.71274733543396 }, { "epoch": 5.59234619140625e-07, "model_forward_time": 5.0875654220581055, "step": 5864 }, { "epoch": 5.59234619140625e-07, "step": 5864, "training_step_time": 17.422582864761353 }, { "epoch": 5.593299865722656e-07, "model_forward_time": 5.08854603767395, "step": 5865 }, { "epoch": 5.593299865722656e-07, "step": 5865, "training_step_time": 17.503792762756348 }, { "epoch": 5.594253540039063e-07, "model_forward_time": 5.33555793762207, "step": 5866 }, { "epoch": 5.594253540039063e-07, "step": 5866, "training_step_time": 17.582558155059814 }, { "epoch": 5.595207214355469e-07, "model_forward_time": 5.089752674102783, "step": 5867 }, { "epoch": 5.595207214355469e-07, "step": 5867, "training_step_time": 17.620038747787476 }, { "epoch": 5.596160888671875e-07, "model_forward_time": 5.084559917449951, "step": 5868 }, { "epoch": 5.596160888671875e-07, "step": 5868, "training_step_time": 17.881842374801636 }, { "epoch": 5.597114562988281e-07, "model_forward_time": 3.8454782962799072, "step": 5869 }, { "epoch": 5.597114562988281e-07, "step": 5869, "training_step_time": 17.647098541259766 }, { "epoch": 5.598068237304687e-07, "grad_norm": 1.615026593208313, "learning_rate": 9.96871953262043e-06, "loss": 0.1458, "step": 5870 }, { "epoch": 5.598068237304687e-07, "model_forward_time": 5.054892301559448, "step": 5870 }, { "dynamics_loss_avg": 0.03980506234802306, "epoch": 5.598068237304687e-07, "step": 5870 }, { "action_loss_avg": 0.0621808398514986, "epoch": 5.598068237304687e-07, "step": 5870 }, { "arm_loss_avg": 0.12897917963564395, "epoch": 5.598068237304687e-07, "step": 5870 }, { "ee_loss_avg": 0.07322903200984002, "epoch": 5.598068237304687e-07, "step": 5870 }, { "aux_loss_avg": 0.003870140912476927, "epoch": 5.598068237304687e-07, "step": 5870 }, { "epoch": 5.598068237304687e-07, "step": 5870, "training_step_time": 17.658121585845947 }, { "epoch": 5.599021911621093e-07, "model_forward_time": 5.0715250968933105, "step": 5871 }, { "epoch": 5.599021911621093e-07, "step": 5871, "training_step_time": 17.65887951850891 }, { "epoch": 5.5999755859375e-07, "model_forward_time": 5.285788059234619, "step": 5872 }, { "epoch": 5.5999755859375e-07, "step": 5872, "training_step_time": 17.89521884918213 }, { "epoch": 5.600929260253907e-07, "model_forward_time": 5.084671497344971, "step": 5873 }, { "epoch": 5.600929260253907e-07, "step": 5873, "training_step_time": 17.644240379333496 }, { "epoch": 5.601882934570313e-07, "model_forward_time": 5.0930163860321045, "step": 5874 }, { "epoch": 5.601882934570313e-07, "step": 5874, "training_step_time": 17.650392770767212 }, { "epoch": 5.602836608886719e-07, "model_forward_time": 5.096378326416016, "step": 5875 }, { "epoch": 5.602836608886719e-07, "step": 5875, "training_step_time": 17.632628440856934 }, { "epoch": 5.603790283203125e-07, "model_forward_time": 5.09827184677124, "step": 5876 }, { "epoch": 5.603790283203125e-07, "step": 5876, "training_step_time": 17.61100745201111 }, { "epoch": 5.604743957519531e-07, "model_forward_time": 5.107131242752075, "step": 5877 }, { "epoch": 5.604743957519531e-07, "step": 5877, "training_step_time": 17.430304527282715 }, { "epoch": 5.605697631835937e-07, "model_forward_time": 5.107288599014282, "step": 5878 }, { "epoch": 5.605697631835937e-07, "step": 5878, "training_step_time": 17.78478217124939 }, { "epoch": 5.606651306152344e-07, "model_forward_time": 5.102557897567749, "step": 5879 }, { "epoch": 5.606651306152344e-07, "step": 5879, "training_step_time": 17.376275539398193 }, { "epoch": 5.60760498046875e-07, "grad_norm": 2.8226518630981445, "learning_rate": 9.96845517225199e-06, "loss": 0.1288, "step": 5880 }, { "epoch": 5.60760498046875e-07, "model_forward_time": 5.107794761657715, "step": 5880 }, { "dynamics_loss_avg": 0.0531913073733449, "epoch": 5.60760498046875e-07, "step": 5880 }, { "action_loss_avg": 0.08636667281389236, "epoch": 5.60760498046875e-07, "step": 5880 }, { "arm_loss_avg": 0.14310448318719865, "epoch": 5.60760498046875e-07, "step": 5880 }, { "ee_loss_avg": 0.09783855639398098, "epoch": 5.60760498046875e-07, "step": 5880 }, { "aux_loss_avg": 0.008701777138048783, "epoch": 5.60760498046875e-07, "step": 5880 }, { "epoch": 5.60760498046875e-07, "step": 5880, "training_step_time": 17.415228605270386 }, { "epoch": 5.608558654785156e-07, "model_forward_time": 5.288564205169678, "step": 5881 }, { "epoch": 5.608558654785156e-07, "step": 5881, "training_step_time": 17.680809259414673 }, { "epoch": 5.609512329101562e-07, "model_forward_time": 5.083029747009277, "step": 5882 }, { "epoch": 5.609512329101562e-07, "step": 5882, "training_step_time": 17.667514324188232 }, { "epoch": 5.610466003417969e-07, "model_forward_time": 5.079587697982788, "step": 5883 }, { "epoch": 5.610466003417969e-07, "step": 5883, "training_step_time": 17.78243613243103 }, { "epoch": 5.611419677734375e-07, "model_forward_time": 5.078713417053223, "step": 5884 }, { "epoch": 5.611419677734375e-07, "step": 5884, "training_step_time": 17.65567135810852 }, { "epoch": 5.612373352050781e-07, "model_forward_time": 5.077802658081055, "step": 5885 }, { "epoch": 5.612373352050781e-07, "step": 5885, "training_step_time": 17.674081087112427 }, { "epoch": 5.613327026367188e-07, "model_forward_time": 5.333147287368774, "step": 5886 }, { "epoch": 5.613327026367188e-07, "step": 5886, "training_step_time": 17.434070348739624 }, { "epoch": 5.614280700683594e-07, "model_forward_time": 5.084183216094971, "step": 5887 }, { "epoch": 5.614280700683594e-07, "step": 5887, "training_step_time": 17.500463247299194 }, { "epoch": 5.615234375e-07, "model_forward_time": 5.084640264511108, "step": 5888 }, { "epoch": 5.615234375e-07, "step": 5888, "training_step_time": 17.77159571647644 }, { "epoch": 5.616188049316406e-07, "model_forward_time": 5.087457656860352, "step": 5889 }, { "epoch": 5.616188049316406e-07, "step": 5889, "training_step_time": 17.588815450668335 }, { "epoch": 5.617141723632812e-07, "grad_norm": 1.7914891242980957, "learning_rate": 9.968189703020728e-06, "loss": 0.1509, "step": 5890 }, { "epoch": 5.617141723632812e-07, "model_forward_time": 5.081067323684692, "step": 5890 }, { "dynamics_loss_avg": 0.04086750522255898, "epoch": 5.617141723632812e-07, "step": 5890 }, { "action_loss_avg": 0.08602995388209819, "epoch": 5.617141723632812e-07, "step": 5890 }, { "arm_loss_avg": 0.11547881029546261, "epoch": 5.617141723632812e-07, "step": 5890 }, { "ee_loss_avg": 0.10392779745161533, "epoch": 5.617141723632812e-07, "step": 5890 }, { "aux_loss_avg": 0.00084673477394972, "epoch": 5.617141723632812e-07, "step": 5890 }, { "epoch": 5.617141723632812e-07, "step": 5890, "training_step_time": 17.620242834091187 }, { "epoch": 5.618095397949218e-07, "model_forward_time": 3.851351737976074, "step": 5891 }, { "epoch": 5.618095397949218e-07, "step": 5891, "training_step_time": 17.642109155654907 }, { "epoch": 5.619049072265624e-07, "model_forward_time": 5.265455961227417, "step": 5892 }, { "epoch": 5.619049072265624e-07, "step": 5892, "training_step_time": 17.653138875961304 }, { "epoch": 5.620002746582032e-07, "model_forward_time": 5.0707056522369385, "step": 5893 }, { "epoch": 5.620002746582032e-07, "step": 5893, "training_step_time": 17.84095573425293 }, { "epoch": 5.620956420898438e-07, "model_forward_time": 5.074807643890381, "step": 5894 }, { "epoch": 5.620956420898438e-07, "step": 5894, "training_step_time": 17.633424997329712 }, { "epoch": 5.621910095214844e-07, "model_forward_time": 5.082051753997803, "step": 5895 }, { "epoch": 5.621910095214844e-07, "step": 5895, "training_step_time": 17.63095188140869 }, { "epoch": 5.62286376953125e-07, "model_forward_time": 5.091382265090942, "step": 5896 }, { "epoch": 5.62286376953125e-07, "step": 5896, "training_step_time": 17.63380479812622 }, { "epoch": 5.623817443847656e-07, "model_forward_time": 5.102298259735107, "step": 5897 }, { "epoch": 5.623817443847656e-07, "step": 5897, "training_step_time": 17.664806604385376 }, { "epoch": 5.624771118164062e-07, "model_forward_time": 5.122763395309448, "step": 5898 }, { "epoch": 5.624771118164062e-07, "step": 5898, "training_step_time": 17.891550540924072 }, { "epoch": 5.625724792480469e-07, "model_forward_time": 5.107074499130249, "step": 5899 }, { "epoch": 5.625724792480469e-07, "step": 5899, "training_step_time": 17.63674020767212 }, { "epoch": 5.626678466796875e-07, "grad_norm": 1.9652173519134521, "learning_rate": 9.967923124985889e-06, "loss": 0.147, "step": 5900 }, { "epoch": 5.626678466796875e-07, "model_forward_time": 5.104513168334961, "step": 5900 }, { "dynamics_loss_avg": 0.03406351013109088, "epoch": 5.626678466796875e-07, "step": 5900 }, { "action_loss_avg": 0.07659623175859451, "epoch": 5.626678466796875e-07, "step": 5900 }, { "arm_loss_avg": 0.12107469066977501, "epoch": 5.626678466796875e-07, "step": 5900 }, { "ee_loss_avg": 0.09263272490352392, "epoch": 5.626678466796875e-07, "step": 5900 }, { "aux_loss_avg": 0.0016084251517895609, "epoch": 5.626678466796875e-07, "step": 5900 }, { "epoch": 5.626678466796875e-07, "step": 5900, "training_step_time": 17.630966424942017 }, { "epoch": 5.627632141113281e-07, "model_forward_time": 5.3026134967803955, "step": 5901 }, { "epoch": 5.627632141113281e-07, "step": 5901, "training_step_time": 17.40605330467224 }, { "epoch": 5.628585815429687e-07, "model_forward_time": 3.8499960899353027, "step": 5902 }, { "epoch": 5.628585815429687e-07, "step": 5902, "training_step_time": 17.632428884506226 }, { "epoch": 5.629539489746094e-07, "model_forward_time": 5.053589344024658, "step": 5903 }, { "epoch": 5.629539489746094e-07, "step": 5903, "training_step_time": 17.787177085876465 }, { "epoch": 5.6304931640625e-07, "model_forward_time": 5.066120624542236, "step": 5904 }, { "epoch": 5.6304931640625e-07, "step": 5904, "training_step_time": 17.58224320411682 }, { "epoch": 5.631446838378906e-07, "model_forward_time": 5.0739288330078125, "step": 5905 }, { "epoch": 5.631446838378906e-07, "step": 5905, "training_step_time": 17.580787420272827 }, { "epoch": 5.632400512695313e-07, "model_forward_time": 5.081617832183838, "step": 5906 }, { "epoch": 5.632400512695313e-07, "step": 5906, "training_step_time": 17.596129417419434 }, { "epoch": 5.633354187011719e-07, "model_forward_time": 5.331372976303101, "step": 5907 }, { "epoch": 5.633354187011719e-07, "step": 5907, "training_step_time": 17.593148946762085 }, { "epoch": 5.634307861328125e-07, "model_forward_time": 5.09114670753479, "step": 5908 }, { "epoch": 5.634307861328125e-07, "step": 5908, "training_step_time": 17.8170428276062 }, { "epoch": 5.635261535644531e-07, "model_forward_time": 5.087909698486328, "step": 5909 }, { "epoch": 5.635261535644531e-07, "step": 5909, "training_step_time": 17.39259386062622 }, { "epoch": 5.636215209960937e-07, "grad_norm": 1.9920355081558228, "learning_rate": 9.967655438206976e-06, "loss": 0.1322, "step": 5910 }, { "epoch": 5.636215209960937e-07, "model_forward_time": 3.857433795928955, "step": 5910 }, { "dynamics_loss_avg": 0.037026206217706206, "epoch": 5.636215209960937e-07, "step": 5910 }, { "action_loss_avg": 0.07740103807300329, "epoch": 5.636215209960937e-07, "step": 5910 }, { "arm_loss_avg": 0.13671840466558932, "epoch": 5.636215209960937e-07, "step": 5910 }, { "ee_loss_avg": 0.13317141830921173, "epoch": 5.636215209960937e-07, "step": 5910 }, { "aux_loss_avg": 0.002811968297464773, "epoch": 5.636215209960937e-07, "step": 5910 }, { "epoch": 5.636215209960937e-07, "step": 5910, "training_step_time": 17.268007516860962 }, { "epoch": 5.637168884277343e-07, "model_forward_time": 5.06354546546936, "step": 5911 }, { "epoch": 5.637168884277343e-07, "step": 5911, "training_step_time": 17.50907588005066 }, { "epoch": 5.63812255859375e-07, "model_forward_time": 5.074850797653198, "step": 5912 }, { "epoch": 5.63812255859375e-07, "step": 5912, "training_step_time": 17.444546699523926 }, { "epoch": 5.639076232910157e-07, "model_forward_time": 5.07778000831604, "step": 5913 }, { "epoch": 5.639076232910157e-07, "step": 5913, "training_step_time": 17.609822988510132 }, { "epoch": 5.640029907226563e-07, "model_forward_time": 3.8534209728240967, "step": 5914 }, { "epoch": 5.640029907226563e-07, "step": 5914, "training_step_time": 17.785375356674194 }, { "epoch": 5.640983581542969e-07, "model_forward_time": 5.0575785636901855, "step": 5915 }, { "epoch": 5.640983581542969e-07, "step": 5915, "training_step_time": 17.62813425064087 }, { "epoch": 5.641937255859375e-07, "model_forward_time": 5.088022947311401, "step": 5916 }, { "epoch": 5.641937255859375e-07, "step": 5916, "training_step_time": 17.67295002937317 }, { "epoch": 5.642890930175781e-07, "model_forward_time": 5.367990255355835, "step": 5917 }, { "epoch": 5.642890930175781e-07, "step": 5917, "training_step_time": 17.681154012680054 }, { "epoch": 5.643844604492187e-07, "model_forward_time": 5.116959095001221, "step": 5918 }, { "epoch": 5.643844604492187e-07, "step": 5918, "training_step_time": 17.678717851638794 }, { "epoch": 5.644798278808594e-07, "model_forward_time": 5.112056732177734, "step": 5919 }, { "epoch": 5.644798278808594e-07, "step": 5919, "training_step_time": 17.92994785308838 }, { "epoch": 5.645751953125e-07, "grad_norm": 1.8166273832321167, "learning_rate": 9.967386642743724e-06, "loss": 0.1436, "step": 5920 }, { "epoch": 5.645751953125e-07, "model_forward_time": 5.1035120487213135, "step": 5920 }, { "dynamics_loss_avg": 0.04276462160050869, "epoch": 5.645751953125e-07, "step": 5920 }, { "action_loss_avg": 0.10177620649337768, "epoch": 5.645751953125e-07, "step": 5920 }, { "arm_loss_avg": 0.12279408350586891, "epoch": 5.645751953125e-07, "step": 5920 }, { "ee_loss_avg": 0.13353685159236192, "epoch": 5.645751953125e-07, "step": 5920 }, { "aux_loss_avg": 0.0008167995547410101, "epoch": 5.645751953125e-07, "step": 5920 }, { "epoch": 5.645751953125e-07, "step": 5920, "training_step_time": 17.6442654132843 }, { "epoch": 5.646705627441406e-07, "model_forward_time": 5.292739152908325, "step": 5921 }, { "epoch": 5.646705627441406e-07, "step": 5921, "training_step_time": 17.632057905197144 }, { "epoch": 5.647659301757812e-07, "model_forward_time": 5.099757432937622, "step": 5922 }, { "epoch": 5.647659301757812e-07, "step": 5922, "training_step_time": 17.664670944213867 }, { "epoch": 5.648612976074219e-07, "model_forward_time": 5.096151828765869, "step": 5923 }, { "epoch": 5.648612976074219e-07, "step": 5923, "training_step_time": 17.427661418914795 }, { "epoch": 5.649566650390625e-07, "model_forward_time": 5.092224836349487, "step": 5924 }, { "epoch": 5.649566650390625e-07, "step": 5924, "training_step_time": 17.715867519378662 }, { "epoch": 5.650520324707032e-07, "model_forward_time": 5.0872321128845215, "step": 5925 }, { "epoch": 5.650520324707032e-07, "step": 5925, "training_step_time": 17.577922821044922 }, { "epoch": 5.651473999023438e-07, "model_forward_time": 3.8524937629699707, "step": 5926 }, { "epoch": 5.651473999023438e-07, "step": 5926, "training_step_time": 17.599562406539917 }, { "epoch": 5.652427673339844e-07, "model_forward_time": 5.29962420463562, "step": 5927 }, { "epoch": 5.652427673339844e-07, "step": 5927, "training_step_time": 17.61949920654297 }, { "epoch": 5.65338134765625e-07, "model_forward_time": 5.066596269607544, "step": 5928 }, { "epoch": 5.65338134765625e-07, "step": 5928, "training_step_time": 17.41240167617798 }, { "epoch": 5.654335021972656e-07, "model_forward_time": 5.07589054107666, "step": 5929 }, { "epoch": 5.654335021972656e-07, "step": 5929, "training_step_time": 17.762017250061035 }, { "epoch": 5.655288696289062e-07, "grad_norm": 2.264662265777588, "learning_rate": 9.967116738656125e-06, "loss": 0.1331, "step": 5930 }, { "epoch": 5.655288696289062e-07, "model_forward_time": 5.083884954452515, "step": 5930 }, { "dynamics_loss_avg": 0.03383324048481882, "epoch": 5.655288696289062e-07, "step": 5930 }, { "action_loss_avg": 0.08505535237491131, "epoch": 5.655288696289062e-07, "step": 5930 }, { "arm_loss_avg": 0.1366203770041466, "epoch": 5.655288696289062e-07, "step": 5930 }, { "ee_loss_avg": 0.10387283405289054, "epoch": 5.655288696289062e-07, "step": 5930 }, { "aux_loss_avg": 0.0015552172495517879, "epoch": 5.655288696289062e-07, "step": 5930 }, { "epoch": 5.655288696289062e-07, "step": 5930, "training_step_time": 17.571470260620117 }, { "epoch": 5.656242370605468e-07, "model_forward_time": 5.089204788208008, "step": 5931 }, { "epoch": 5.656242370605468e-07, "step": 5931, "training_step_time": 17.44884753227234 }, { "epoch": 5.657196044921875e-07, "model_forward_time": 5.099241018295288, "step": 5932 }, { "epoch": 5.657196044921875e-07, "step": 5932, "training_step_time": 17.525508880615234 }, { "epoch": 5.658149719238282e-07, "model_forward_time": 5.100846529006958, "step": 5933 }, { "epoch": 5.658149719238282e-07, "step": 5933, "training_step_time": 17.57633066177368 }, { "epoch": 5.659103393554688e-07, "model_forward_time": 5.095821857452393, "step": 5934 }, { "epoch": 5.659103393554688e-07, "step": 5934, "training_step_time": 17.780059337615967 }, { "epoch": 5.660057067871094e-07, "model_forward_time": 5.09372878074646, "step": 5935 }, { "epoch": 5.660057067871094e-07, "step": 5935, "training_step_time": 17.61448836326599 }, { "epoch": 5.6610107421875e-07, "model_forward_time": 5.0895469188690186, "step": 5936 }, { "epoch": 5.6610107421875e-07, "step": 5936, "training_step_time": 17.62609887123108 }, { "epoch": 5.661964416503906e-07, "model_forward_time": 5.090810060501099, "step": 5937 }, { "epoch": 5.661964416503906e-07, "step": 5937, "training_step_time": 17.64191174507141 }, { "epoch": 5.662918090820312e-07, "model_forward_time": 3.8515326976776123, "step": 5938 }, { "epoch": 5.662918090820312e-07, "step": 5938, "training_step_time": 17.638144493103027 }, { "epoch": 5.663871765136719e-07, "model_forward_time": 5.058607339859009, "step": 5939 }, { "epoch": 5.663871765136719e-07, "step": 5939, "training_step_time": 17.884548902511597 }, { "epoch": 5.664825439453125e-07, "grad_norm": 1.6424773931503296, "learning_rate": 9.96684572600442e-06, "loss": 0.1227, "step": 5940 }, { "epoch": 5.664825439453125e-07, "model_forward_time": 5.066141843795776, "step": 5940 }, { "dynamics_loss_avg": 0.03652470875531435, "epoch": 5.664825439453125e-07, "step": 5940 }, { "action_loss_avg": 0.07343258894979954, "epoch": 5.664825439453125e-07, "step": 5940 }, { "arm_loss_avg": 0.10271199941635131, "epoch": 5.664825439453125e-07, "step": 5940 }, { "ee_loss_avg": 0.15096736662089824, "epoch": 5.664825439453125e-07, "step": 5940 }, { "aux_loss_avg": 0.0008099564060103148, "epoch": 5.664825439453125e-07, "step": 5940 }, { "epoch": 5.664825439453125e-07, "step": 5940, "training_step_time": 17.64082956314087 }, { "epoch": 5.665779113769531e-07, "model_forward_time": 5.263142108917236, "step": 5941 }, { "epoch": 5.665779113769531e-07, "step": 5941, "training_step_time": 17.632214307785034 }, { "epoch": 5.666732788085937e-07, "model_forward_time": 5.086720705032349, "step": 5942 }, { "epoch": 5.666732788085937e-07, "step": 5942, "training_step_time": 17.634233474731445 }, { "epoch": 5.667686462402344e-07, "model_forward_time": 5.093729734420776, "step": 5943 }, { "epoch": 5.667686462402344e-07, "step": 5943, "training_step_time": 17.620336055755615 }, { "epoch": 5.66864013671875e-07, "model_forward_time": 5.097080945968628, "step": 5944 }, { "epoch": 5.66864013671875e-07, "step": 5944, "training_step_time": 17.838778972625732 }, { "epoch": 5.669593811035157e-07, "model_forward_time": 5.094712495803833, "step": 5945 }, { "epoch": 5.669593811035157e-07, "step": 5945, "training_step_time": 17.610233545303345 }, { "epoch": 5.670547485351563e-07, "model_forward_time": 5.345046281814575, "step": 5946 }, { "epoch": 5.670547485351563e-07, "step": 5946, "training_step_time": 17.61272168159485 }, { "epoch": 5.671501159667969e-07, "model_forward_time": 5.091059684753418, "step": 5947 }, { "epoch": 5.671501159667969e-07, "step": 5947, "training_step_time": 17.647815704345703 }, { "epoch": 5.672454833984375e-07, "model_forward_time": 5.089820384979248, "step": 5948 }, { "epoch": 5.672454833984375e-07, "step": 5948, "training_step_time": 17.83873438835144 }, { "epoch": 5.673408508300781e-07, "model_forward_time": 5.087508916854858, "step": 5949 }, { "epoch": 5.673408508300781e-07, "step": 5949, "training_step_time": 17.43925380706787 }, { "epoch": 5.674362182617187e-07, "grad_norm": 2.1600162982940674, "learning_rate": 9.966573604849089e-06, "loss": 0.1403, "step": 5950 }, { "epoch": 5.674362182617187e-07, "model_forward_time": 5.087693452835083, "step": 5950 }, { "dynamics_loss_avg": 0.039031253987923266, "epoch": 5.674362182617187e-07, "step": 5950 }, { "action_loss_avg": 0.07903554923832416, "epoch": 5.674362182617187e-07, "step": 5950 }, { "arm_loss_avg": 0.119468455016613, "epoch": 5.674362182617187e-07, "step": 5950 }, { "ee_loss_avg": 0.13233085740357636, "epoch": 5.674362182617187e-07, "step": 5950 }, { "aux_loss_avg": 0.0018167274538427591, "epoch": 5.674362182617187e-07, "step": 5950 }, { "epoch": 5.674362182617187e-07, "step": 5950, "training_step_time": 17.512989044189453 }, { "epoch": 5.675315856933593e-07, "model_forward_time": 5.083659887313843, "step": 5951 }, { "epoch": 5.675315856933593e-07, "step": 5951, "training_step_time": 17.552632093429565 }, { "epoch": 5.67626953125e-07, "model_forward_time": 3.8520569801330566, "step": 5952 }, { "epoch": 5.67626953125e-07, "step": 5952, "training_step_time": 17.66354990005493 }, { "epoch": 5.677223205566407e-07, "model_forward_time": 5.056960344314575, "step": 5953 }, { "epoch": 5.677223205566407e-07, "step": 5953, "training_step_time": 17.601292848587036 }, { "epoch": 5.678176879882813e-07, "model_forward_time": 5.065280914306641, "step": 5954 }, { "epoch": 5.678176879882813e-07, "step": 5954, "training_step_time": 17.79766058921814 }, { "epoch": 5.679130554199219e-07, "model_forward_time": 5.068256378173828, "step": 5955 }, { "epoch": 5.679130554199219e-07, "step": 5955, "training_step_time": 17.605746507644653 }, { "epoch": 5.680084228515625e-07, "model_forward_time": 5.079611301422119, "step": 5956 }, { "epoch": 5.680084228515625e-07, "step": 5956, "training_step_time": 17.599294185638428 }, { "epoch": 5.681037902832031e-07, "model_forward_time": 5.312114953994751, "step": 5957 }, { "epoch": 5.681037902832031e-07, "step": 5957, "training_step_time": 17.59416389465332 }, { "epoch": 5.681991577148437e-07, "model_forward_time": 5.093194007873535, "step": 5958 }, { "epoch": 5.681991577148437e-07, "step": 5958, "training_step_time": 17.837518215179443 }, { "epoch": 5.682945251464844e-07, "model_forward_time": 5.087409973144531, "step": 5959 }, { "epoch": 5.682945251464844e-07, "step": 5959, "training_step_time": 17.587559461593628 }, { "epoch": 5.68389892578125e-07, "grad_norm": 2.5565693378448486, "learning_rate": 9.966300375250864e-06, "loss": 0.1338, "step": 5960 }, { "epoch": 5.68389892578125e-07, "model_forward_time": 5.093590259552002, "step": 5960 }, { "dynamics_loss_avg": 0.040962917380966246, "epoch": 5.68389892578125e-07, "step": 5960 }, { "action_loss_avg": 0.0922425452619791, "epoch": 5.68389892578125e-07, "step": 5960 }, { "arm_loss_avg": 0.1543005883693695, "epoch": 5.68389892578125e-07, "step": 5960 }, { "ee_loss_avg": 0.11453148648142815, "epoch": 5.68389892578125e-07, "step": 5960 }, { "aux_loss_avg": 0.0037810264620929956, "epoch": 5.68389892578125e-07, "step": 5960 }, { "epoch": 5.68389892578125e-07, "step": 5960, "training_step_time": 17.580559015274048 }, { "epoch": 5.684852600097656e-07, "model_forward_time": 3.8542490005493164, "step": 5961 }, { "epoch": 5.684852600097656e-07, "step": 5961, "training_step_time": 17.407270193099976 }, { "epoch": 5.685806274414062e-07, "model_forward_time": 5.253399848937988, "step": 5962 }, { "epoch": 5.685806274414062e-07, "step": 5962, "training_step_time": 17.642289876937866 }, { "epoch": 5.686759948730469e-07, "model_forward_time": 5.069855213165283, "step": 5963 }, { "epoch": 5.686759948730469e-07, "step": 5963, "training_step_time": 17.74244976043701 }, { "epoch": 5.687713623046875e-07, "model_forward_time": 5.073459148406982, "step": 5964 }, { "epoch": 5.687713623046875e-07, "step": 5964, "training_step_time": 17.551337480545044 }, { "epoch": 5.688667297363282e-07, "model_forward_time": 5.081610918045044, "step": 5965 }, { "epoch": 5.688667297363282e-07, "step": 5965, "training_step_time": 17.57449197769165 }, { "epoch": 5.689620971679688e-07, "model_forward_time": 5.087996482849121, "step": 5966 }, { "epoch": 5.689620971679688e-07, "step": 5966, "training_step_time": 17.597305059432983 }, { "epoch": 5.690574645996094e-07, "model_forward_time": 3.853452205657959, "step": 5967 }, { "epoch": 5.690574645996094e-07, "step": 5967, "training_step_time": 17.57680368423462 }, { "epoch": 5.6915283203125e-07, "model_forward_time": 3.83259654045105, "step": 5968 }, { "epoch": 5.6915283203125e-07, "step": 5968, "training_step_time": 17.7251193523407 }, { "epoch": 5.692481994628906e-07, "model_forward_time": 5.0523681640625, "step": 5969 }, { "epoch": 5.692481994628906e-07, "step": 5969, "training_step_time": 17.55799412727356 }, { "epoch": 5.693435668945312e-07, "grad_norm": 2.2376937866210938, "learning_rate": 9.966026037270729e-06, "loss": 0.1347, "step": 5970 }, { "epoch": 5.693435668945312e-07, "model_forward_time": 5.067866802215576, "step": 5970 }, { "dynamics_loss_avg": 0.03154913987964392, "epoch": 5.693435668945312e-07, "step": 5970 }, { "action_loss_avg": 0.07540179379284381, "epoch": 5.693435668945312e-07, "step": 5970 }, { "arm_loss_avg": 0.13789060823619365, "epoch": 5.693435668945312e-07, "step": 5970 }, { "ee_loss_avg": 0.12869418459013104, "epoch": 5.693435668945312e-07, "step": 5970 }, { "aux_loss_avg": 0.003506076073972508, "epoch": 5.693435668945312e-07, "step": 5970 }, { "epoch": 5.693435668945312e-07, "step": 5970, "training_step_time": 17.575594186782837 }, { "epoch": 5.694389343261718e-07, "model_forward_time": 5.081718444824219, "step": 5971 }, { "epoch": 5.694389343261718e-07, "step": 5971, "training_step_time": 17.58878207206726 }, { "epoch": 5.695343017578125e-07, "model_forward_time": 5.28512716293335, "step": 5972 }, { "epoch": 5.695343017578125e-07, "step": 5972, "training_step_time": 17.423572063446045 }, { "epoch": 5.696296691894532e-07, "model_forward_time": 3.8679091930389404, "step": 5973 }, { "epoch": 5.696296691894532e-07, "step": 5973, "training_step_time": 17.71453070640564 }, { "epoch": 5.697250366210938e-07, "model_forward_time": 5.072382211685181, "step": 5974 }, { "epoch": 5.697250366210938e-07, "step": 5974, "training_step_time": 17.546473503112793 }, { "epoch": 5.698204040527344e-07, "model_forward_time": 5.089007377624512, "step": 5975 }, { "epoch": 5.698204040527344e-07, "step": 5975, "training_step_time": 17.570293426513672 }, { "epoch": 5.69915771484375e-07, "model_forward_time": 5.090159177780151, "step": 5976 }, { "epoch": 5.69915771484375e-07, "step": 5976, "training_step_time": 17.59538769721985 }, { "epoch": 5.700111389160156e-07, "model_forward_time": 4.101396560668945, "step": 5977 }, { "epoch": 5.700111389160156e-07, "step": 5977, "training_step_time": 17.60473370552063 }, { "epoch": 5.701065063476562e-07, "model_forward_time": 5.0646138191223145, "step": 5978 }, { "epoch": 5.701065063476562e-07, "step": 5978, "training_step_time": 17.854886293411255 }, { "epoch": 5.702018737792969e-07, "model_forward_time": 5.074286222457886, "step": 5979 }, { "epoch": 5.702018737792969e-07, "step": 5979, "training_step_time": 17.6109676361084 }, { "epoch": 5.702972412109375e-07, "grad_norm": 2.5970492362976074, "learning_rate": 9.965750590969907e-06, "loss": 0.152, "step": 5980 }, { "epoch": 5.702972412109375e-07, "model_forward_time": 5.085712909698486, "step": 5980 }, { "dynamics_loss_avg": 0.03379110768437386, "epoch": 5.702972412109375e-07, "step": 5980 }, { "action_loss_avg": 0.10298090502619743, "epoch": 5.702972412109375e-07, "step": 5980 }, { "arm_loss_avg": 0.13623711615800857, "epoch": 5.702972412109375e-07, "step": 5980 }, { "ee_loss_avg": 0.15006861444562675, "epoch": 5.702972412109375e-07, "step": 5980 }, { "aux_loss_avg": 0.001590397537802346, "epoch": 5.702972412109375e-07, "step": 5980 }, { "epoch": 5.702972412109375e-07, "step": 5980, "training_step_time": 17.607380151748657 }, { "epoch": 5.703926086425781e-07, "model_forward_time": 5.0915820598602295, "step": 5981 }, { "epoch": 5.703926086425781e-07, "step": 5981, "training_step_time": 17.606593132019043 }, { "epoch": 5.704879760742187e-07, "model_forward_time": 5.280071020126343, "step": 5982 }, { "epoch": 5.704879760742187e-07, "step": 5982, "training_step_time": 17.67069125175476 }, { "epoch": 5.705833435058594e-07, "model_forward_time": 5.102431535720825, "step": 5983 }, { "epoch": 5.705833435058594e-07, "step": 5983, "training_step_time": 17.510109186172485 }, { "epoch": 5.706787109375e-07, "model_forward_time": 5.103176116943359, "step": 5984 }, { "epoch": 5.706787109375e-07, "step": 5984, "training_step_time": 17.783290147781372 }, { "epoch": 5.707740783691407e-07, "model_forward_time": 5.093125104904175, "step": 5985 }, { "epoch": 5.707740783691407e-07, "step": 5985, "training_step_time": 17.41731834411621 }, { "epoch": 5.708694458007813e-07, "model_forward_time": 5.093891620635986, "step": 5986 }, { "epoch": 5.708694458007813e-07, "step": 5986, "training_step_time": 17.514666080474854 }, { "epoch": 5.709648132324219e-07, "model_forward_time": 5.323015213012695, "step": 5987 }, { "epoch": 5.709648132324219e-07, "step": 5987, "training_step_time": 17.60848307609558 }, { "epoch": 5.710601806640625e-07, "model_forward_time": 5.08964467048645, "step": 5988 }, { "epoch": 5.710601806640625e-07, "step": 5988, "training_step_time": 17.602046966552734 }, { "epoch": 5.711555480957031e-07, "model_forward_time": 5.086118459701538, "step": 5989 }, { "epoch": 5.711555480957031e-07, "step": 5989, "training_step_time": 17.862101316452026 }, { "epoch": 5.712509155273437e-07, "grad_norm": 1.6569043397903442, "learning_rate": 9.965474036409874e-06, "loss": 0.1334, "step": 5990 }, { "epoch": 5.712509155273437e-07, "model_forward_time": 5.079476594924927, "step": 5990 }, { "dynamics_loss_avg": 0.03568150904029608, "epoch": 5.712509155273437e-07, "step": 5990 }, { "action_loss_avg": 0.08602478243410587, "epoch": 5.712509155273437e-07, "step": 5990 }, { "arm_loss_avg": 0.12359042167663574, "epoch": 5.712509155273437e-07, "step": 5990 }, { "ee_loss_avg": 0.09677914083003998, "epoch": 5.712509155273437e-07, "step": 5990 }, { "aux_loss_avg": 0.0020135384402237833, "epoch": 5.712509155273437e-07, "step": 5990 }, { "epoch": 5.712509155273437e-07, "step": 5990, "training_step_time": 17.642114639282227 }, { "epoch": 5.713462829589843e-07, "model_forward_time": 5.078420639038086, "step": 5991 }, { "epoch": 5.713462829589843e-07, "step": 5991, "training_step_time": 17.643434524536133 }, { "epoch": 5.71441650390625e-07, "model_forward_time": 5.28506064414978, "step": 5992 }, { "epoch": 5.71441650390625e-07, "step": 5992, "training_step_time": 17.637316465377808 }, { "epoch": 5.715370178222657e-07, "model_forward_time": 5.081649303436279, "step": 5993 }, { "epoch": 5.715370178222657e-07, "step": 5993, "training_step_time": 17.854089736938477 }, { "epoch": 5.716323852539063e-07, "model_forward_time": 5.082251071929932, "step": 5994 }, { "epoch": 5.716323852539063e-07, "step": 5994, "training_step_time": 17.61795163154602 }, { "epoch": 5.717277526855469e-07, "model_forward_time": 5.087793827056885, "step": 5995 }, { "epoch": 5.717277526855469e-07, "step": 5995, "training_step_time": 17.200409412384033 }, { "epoch": 5.718231201171875e-07, "model_forward_time": 5.090538024902344, "step": 5996 }, { "epoch": 5.718231201171875e-07, "step": 5996, "training_step_time": 17.42740249633789 }, { "epoch": 5.719184875488281e-07, "model_forward_time": 5.091994285583496, "step": 5997 }, { "epoch": 5.719184875488281e-07, "step": 5997, "training_step_time": 17.45303726196289 }, { "epoch": 5.720138549804687e-07, "model_forward_time": 5.091801166534424, "step": 5998 }, { "epoch": 5.720138549804687e-07, "step": 5998, "training_step_time": 17.59093427658081 }, { "epoch": 5.721092224121094e-07, "model_forward_time": 5.090214729309082, "step": 5999 }, { "epoch": 5.721092224121094e-07, "step": 5999, "training_step_time": 17.740516185760498 }, { "epoch": 5.7220458984375e-07, "grad_norm": 1.987456202507019, "learning_rate": 9.965196373652352e-06, "loss": 0.1221, "step": 6000 }, { "epoch": 5.7220458984375e-07, "model_forward_time": 5.08806037902832, "step": 6000 }, { "dynamics_loss_avg": 0.03364748414605856, "epoch": 5.7220458984375e-07, "step": 6000 }, { "action_loss_avg": 0.07089580371975898, "epoch": 5.7220458984375e-07, "step": 6000 }, { "arm_loss_avg": 0.10779241770505905, "epoch": 5.7220458984375e-07, "step": 6000 }, { "ee_loss_avg": 0.15513616986572742, "epoch": 5.7220458984375e-07, "step": 6000 }, { "aux_loss_avg": 0.0007931802945677191, "epoch": 5.7220458984375e-07, "step": 6000 }, { "epoch": 5.7220458984375e-07, "step": 6000, "training_step_time": 17.585892915725708 }, { "epoch": 5.722999572753906e-07, "model_forward_time": 5.285196304321289, "step": 6001 }, { "epoch": 5.722999572753906e-07, "step": 6001, "training_step_time": 17.608690977096558 }, { "epoch": 5.723953247070312e-07, "model_forward_time": 5.087954521179199, "step": 6002 }, { "epoch": 5.723953247070312e-07, "step": 6002, "training_step_time": 17.482882499694824 }, { "epoch": 5.724906921386718e-07, "model_forward_time": 5.089774131774902, "step": 6003 }, { "epoch": 5.724906921386718e-07, "step": 6003, "training_step_time": 17.60764169692993 }, { "epoch": 5.725860595703125e-07, "model_forward_time": 5.08864426612854, "step": 6004 }, { "epoch": 5.725860595703125e-07, "step": 6004, "training_step_time": 17.785013914108276 }, { "epoch": 5.726814270019532e-07, "model_forward_time": 5.086197376251221, "step": 6005 }, { "epoch": 5.726814270019532e-07, "step": 6005, "training_step_time": 17.620356798171997 }, { "epoch": 5.727767944335938e-07, "model_forward_time": 5.339000225067139, "step": 6006 }, { "epoch": 5.727767944335938e-07, "step": 6006, "training_step_time": 17.62929940223694 }, { "epoch": 5.728721618652344e-07, "model_forward_time": 5.088812589645386, "step": 6007 }, { "epoch": 5.728721618652344e-07, "step": 6007, "training_step_time": 17.63101100921631 }, { "epoch": 5.72967529296875e-07, "model_forward_time": 5.0863037109375, "step": 6008 }, { "epoch": 5.72967529296875e-07, "step": 6008, "training_step_time": 17.59874725341797 }, { "epoch": 5.730628967285156e-07, "model_forward_time": 5.087573766708374, "step": 6009 }, { "epoch": 5.730628967285156e-07, "step": 6009, "training_step_time": 17.748626232147217 }, { "epoch": 5.731582641601562e-07, "grad_norm": 2.4531874656677246, "learning_rate": 9.964917602759308e-06, "loss": 0.1375, "step": 6010 }, { "epoch": 5.731582641601562e-07, "model_forward_time": 3.854663133621216, "step": 6010 }, { "dynamics_loss_avg": 0.036381119210273025, "epoch": 5.731582641601562e-07, "step": 6010 }, { "action_loss_avg": 0.08064532615244388, "epoch": 5.731582641601562e-07, "step": 6010 }, { "arm_loss_avg": 0.11971761211752892, "epoch": 5.731582641601562e-07, "step": 6010 }, { "ee_loss_avg": 0.12229321133345365, "epoch": 5.731582641601562e-07, "step": 6010 }, { "aux_loss_avg": 0.0018197793629951774, "epoch": 5.731582641601562e-07, "step": 6010 }, { "epoch": 5.731582641601562e-07, "step": 6010, "training_step_time": 17.556042909622192 }, { "epoch": 5.732536315917968e-07, "model_forward_time": 5.06228232383728, "step": 6011 }, { "epoch": 5.732536315917968e-07, "step": 6011, "training_step_time": 17.586220026016235 }, { "epoch": 5.733489990234375e-07, "model_forward_time": 5.284772872924805, "step": 6012 }, { "epoch": 5.733489990234375e-07, "step": 6012, "training_step_time": 17.590798377990723 }, { "epoch": 5.734443664550781e-07, "model_forward_time": 5.0824573040008545, "step": 6013 }, { "epoch": 5.734443664550781e-07, "step": 6013, "training_step_time": 17.640082597732544 }, { "epoch": 5.735397338867188e-07, "model_forward_time": 5.086350679397583, "step": 6014 }, { "epoch": 5.735397338867188e-07, "step": 6014, "training_step_time": 17.77599310874939 }, { "epoch": 5.736351013183594e-07, "model_forward_time": 5.089178562164307, "step": 6015 }, { "epoch": 5.736351013183594e-07, "step": 6015, "training_step_time": 17.60378932952881 }, { "epoch": 5.7373046875e-07, "model_forward_time": 5.09531569480896, "step": 6016 }, { "epoch": 5.7373046875e-07, "step": 6016, "training_step_time": 17.598217248916626 }, { "epoch": 5.738258361816406e-07, "model_forward_time": 5.103533029556274, "step": 6017 }, { "epoch": 5.738258361816406e-07, "step": 6017, "training_step_time": 17.521432638168335 }, { "epoch": 5.739212036132813e-07, "model_forward_time": 5.111809253692627, "step": 6018 }, { "epoch": 5.739212036132813e-07, "step": 6018, "training_step_time": 17.674059629440308 }, { "epoch": 5.740165710449219e-07, "model_forward_time": 5.116713523864746, "step": 6019 }, { "epoch": 5.740165710449219e-07, "step": 6019, "training_step_time": 17.810911178588867 }, { "epoch": 5.741119384765625e-07, "grad_norm": 2.0528934001922607, "learning_rate": 9.964637723792961e-06, "loss": 0.1182, "step": 6020 }, { "epoch": 5.741119384765625e-07, "model_forward_time": 5.101759910583496, "step": 6020 }, { "dynamics_loss_avg": 0.0420237809419632, "epoch": 5.741119384765625e-07, "step": 6020 }, { "action_loss_avg": 0.09279146268963814, "epoch": 5.741119384765625e-07, "step": 6020 }, { "arm_loss_avg": 0.1324324518442154, "epoch": 5.741119384765625e-07, "step": 6020 }, { "ee_loss_avg": 0.1388529298827052, "epoch": 5.741119384765625e-07, "step": 6020 }, { "aux_loss_avg": 0.0017899040540214628, "epoch": 5.741119384765625e-07, "step": 6020 }, { "epoch": 5.741119384765625e-07, "step": 6020, "training_step_time": 17.584505319595337 }, { "epoch": 5.742073059082031e-07, "model_forward_time": 5.289604663848877, "step": 6021 }, { "epoch": 5.742073059082031e-07, "step": 6021, "training_step_time": 17.402812957763672 }, { "epoch": 5.743026733398437e-07, "model_forward_time": 5.089213848114014, "step": 6022 }, { "epoch": 5.743026733398437e-07, "step": 6022, "training_step_time": 17.510344743728638 }, { "epoch": 5.743980407714843e-07, "model_forward_time": 5.082575798034668, "step": 6023 }, { "epoch": 5.743980407714843e-07, "step": 6023, "training_step_time": 17.61908459663391 }, { "epoch": 5.74493408203125e-07, "model_forward_time": 5.080089330673218, "step": 6024 }, { "epoch": 5.74493408203125e-07, "step": 6024, "training_step_time": 17.764837741851807 }, { "epoch": 5.745887756347657e-07, "model_forward_time": 5.0774946212768555, "step": 6025 }, { "epoch": 5.745887756347657e-07, "step": 6025, "training_step_time": 17.592656135559082 }, { "epoch": 5.746841430664063e-07, "model_forward_time": 5.33301305770874, "step": 6026 }, { "epoch": 5.746841430664063e-07, "step": 6026, "training_step_time": 17.605988025665283 }, { "epoch": 5.747795104980469e-07, "model_forward_time": 5.079473495483398, "step": 6027 }, { "epoch": 5.747795104980469e-07, "step": 6027, "training_step_time": 17.61237406730652 }, { "epoch": 5.748748779296875e-07, "model_forward_time": 5.082429647445679, "step": 6028 }, { "epoch": 5.748748779296875e-07, "step": 6028, "training_step_time": 17.611679553985596 }, { "epoch": 5.749702453613281e-07, "model_forward_time": 5.083119630813599, "step": 6029 }, { "epoch": 5.749702453613281e-07, "step": 6029, "training_step_time": 17.837920665740967 }, { "epoch": 5.750656127929687e-07, "grad_norm": 2.545103073120117, "learning_rate": 9.96435673681577e-06, "loss": 0.1429, "step": 6030 }, { "epoch": 5.750656127929687e-07, "model_forward_time": 5.083862066268921, "step": 6030 }, { "dynamics_loss_avg": 0.04532402083277702, "epoch": 5.750656127929687e-07, "step": 6030 }, { "action_loss_avg": 0.08981263414025306, "epoch": 5.750656127929687e-07, "step": 6030 }, { "arm_loss_avg": 0.13315884098410607, "epoch": 5.750656127929687e-07, "step": 6030 }, { "ee_loss_avg": 0.14689979366958142, "epoch": 5.750656127929687e-07, "step": 6030 }, { "aux_loss_avg": 0.0016391126264352351, "epoch": 5.750656127929687e-07, "step": 6030 }, { "epoch": 5.750656127929687e-07, "step": 6030, "training_step_time": 17.593251705169678 }, { "epoch": 5.751609802246093e-07, "model_forward_time": 5.08361554145813, "step": 6031 }, { "epoch": 5.751609802246093e-07, "step": 6031, "training_step_time": 17.58977484703064 }, { "epoch": 5.7525634765625e-07, "model_forward_time": 3.8555030822753906, "step": 6032 }, { "epoch": 5.7525634765625e-07, "step": 6032, "training_step_time": 17.58575677871704 }, { "epoch": 5.753517150878906e-07, "model_forward_time": 5.057516813278198, "step": 6033 }, { "epoch": 5.753517150878906e-07, "step": 6033, "training_step_time": 17.6284122467041 }, { "epoch": 5.754470825195313e-07, "model_forward_time": 5.068040132522583, "step": 6034 }, { "epoch": 5.754470825195313e-07, "step": 6034, "training_step_time": 17.39276623725891 }, { "epoch": 5.755424499511719e-07, "model_forward_time": 5.07609748840332, "step": 6035 }, { "epoch": 5.755424499511719e-07, "step": 6035, "training_step_time": 17.480840921401978 }, { "epoch": 5.756378173828125e-07, "model_forward_time": 5.086226940155029, "step": 6036 }, { "epoch": 5.756378173828125e-07, "step": 6036, "training_step_time": 17.512484550476074 }, { "epoch": 5.757331848144531e-07, "model_forward_time": 5.328747749328613, "step": 6037 }, { "epoch": 5.757331848144531e-07, "step": 6037, "training_step_time": 17.547194242477417 }, { "epoch": 5.758285522460938e-07, "model_forward_time": 5.0995118618011475, "step": 6038 }, { "epoch": 5.758285522460938e-07, "step": 6038, "training_step_time": 17.561250925064087 }, { "epoch": 5.759239196777344e-07, "model_forward_time": 5.096137762069702, "step": 6039 }, { "epoch": 5.759239196777344e-07, "step": 6039, "training_step_time": 17.808905601501465 }, { "epoch": 5.76019287109375e-07, "grad_norm": 1.6804871559143066, "learning_rate": 9.964074641890452e-06, "loss": 0.1275, "step": 6040 }, { "epoch": 5.76019287109375e-07, "model_forward_time": 5.096206426620483, "step": 6040 }, { "dynamics_loss_avg": 0.037823486141860485, "epoch": 5.76019287109375e-07, "step": 6040 }, { "action_loss_avg": 0.07795297950506211, "epoch": 5.76019287109375e-07, "step": 6040 }, { "arm_loss_avg": 0.122869061678648, "epoch": 5.76019287109375e-07, "step": 6040 }, { "ee_loss_avg": 0.1564956482499838, "epoch": 5.76019287109375e-07, "step": 6040 }, { "aux_loss_avg": 0.0028139278991147878, "epoch": 5.76019287109375e-07, "step": 6040 }, { "epoch": 5.76019287109375e-07, "step": 6040, "training_step_time": 17.582998514175415 }, { "epoch": 5.761146545410156e-07, "model_forward_time": 5.2902092933654785, "step": 6041 }, { "epoch": 5.761146545410156e-07, "step": 6041, "training_step_time": 17.594109058380127 }, { "epoch": 5.762100219726562e-07, "model_forward_time": 5.093869686126709, "step": 6042 }, { "epoch": 5.762100219726562e-07, "step": 6042, "training_step_time": 17.613081216812134 }, { "epoch": 5.763053894042968e-07, "model_forward_time": 5.087557792663574, "step": 6043 }, { "epoch": 5.763053894042968e-07, "step": 6043, "training_step_time": 17.687955617904663 }, { "epoch": 5.764007568359375e-07, "model_forward_time": 5.091049432754517, "step": 6044 }, { "epoch": 5.764007568359375e-07, "step": 6044, "training_step_time": 17.840429544448853 }, { "epoch": 5.764961242675782e-07, "model_forward_time": 5.086986303329468, "step": 6045 }, { "epoch": 5.764961242675782e-07, "step": 6045, "training_step_time": 17.6143217086792 }, { "epoch": 5.765914916992188e-07, "model_forward_time": 5.348944425582886, "step": 6046 }, { "epoch": 5.765914916992188e-07, "step": 6046, "training_step_time": 17.615505695343018 }, { "epoch": 5.766868591308594e-07, "model_forward_time": 5.096483469009399, "step": 6047 }, { "epoch": 5.766868591308594e-07, "step": 6047, "training_step_time": 17.617310047149658 }, { "epoch": 5.767822265625e-07, "model_forward_time": 5.09187912940979, "step": 6048 }, { "epoch": 5.767822265625e-07, "step": 6048, "training_step_time": 17.624282836914062 }, { "epoch": 5.768775939941406e-07, "model_forward_time": 3.858445167541504, "step": 6049 }, { "epoch": 5.768775939941406e-07, "step": 6049, "training_step_time": 17.421375274658203 }, { "epoch": 5.769729614257812e-07, "grad_norm": 2.109877347946167, "learning_rate": 9.96379143907996e-06, "loss": 0.1271, "step": 6050 }, { "epoch": 5.769729614257812e-07, "model_forward_time": 5.0604612827301025, "step": 6050 }, { "dynamics_loss_avg": 0.04640576662495732, "epoch": 5.769729614257812e-07, "step": 6050 }, { "action_loss_avg": 0.08675081320106984, "epoch": 5.769729614257812e-07, "step": 6050 }, { "arm_loss_avg": 0.11772297024726867, "epoch": 5.769729614257812e-07, "step": 6050 }, { "ee_loss_avg": 0.13681067004799843, "epoch": 5.769729614257812e-07, "step": 6050 }, { "aux_loss_avg": 0.003620918025262654, "epoch": 5.769729614257812e-07, "step": 6050 }, { "epoch": 5.769729614257812e-07, "step": 6050, "training_step_time": 17.475395679473877 }, { "epoch": 5.770683288574218e-07, "model_forward_time": 5.077539682388306, "step": 6051 }, { "epoch": 5.770683288574218e-07, "step": 6051, "training_step_time": 17.53542160987854 }, { "epoch": 5.771636962890625e-07, "model_forward_time": 5.296764135360718, "step": 6052 }, { "epoch": 5.771636962890625e-07, "step": 6052, "training_step_time": 17.57122492790222 }, { "epoch": 5.772590637207031e-07, "model_forward_time": 5.092480659484863, "step": 6053 }, { "epoch": 5.772590637207031e-07, "step": 6053, "training_step_time": 17.67027759552002 }, { "epoch": 5.773544311523438e-07, "model_forward_time": 5.096548795700073, "step": 6054 }, { "epoch": 5.773544311523438e-07, "step": 6054, "training_step_time": 17.82918119430542 }, { "epoch": 5.774497985839844e-07, "model_forward_time": 5.0987114906311035, "step": 6055 }, { "epoch": 5.774497985839844e-07, "step": 6055, "training_step_time": 17.647127628326416 }, { "epoch": 5.77545166015625e-07, "model_forward_time": 5.102619647979736, "step": 6056 }, { "epoch": 5.77545166015625e-07, "step": 6056, "training_step_time": 17.640201807022095 }, { "epoch": 5.776405334472656e-07, "model_forward_time": 5.098456382751465, "step": 6057 }, { "epoch": 5.776405334472656e-07, "step": 6057, "training_step_time": 17.652499437332153 }, { "epoch": 5.777359008789063e-07, "model_forward_time": 5.098655939102173, "step": 6058 }, { "epoch": 5.777359008789063e-07, "step": 6058, "training_step_time": 17.87135410308838 }, { "epoch": 5.778312683105469e-07, "model_forward_time": 3.8610291481018066, "step": 6059 }, { "epoch": 5.778312683105469e-07, "step": 6059, "training_step_time": 17.634783029556274 }, { "epoch": 5.779266357421875e-07, "grad_norm": 1.8024544715881348, "learning_rate": 9.963507128447501e-06, "loss": 0.1352, "step": 6060 }, { "epoch": 5.779266357421875e-07, "model_forward_time": 5.061138391494751, "step": 6060 }, { "dynamics_loss_avg": 0.03310640174895525, "epoch": 5.779266357421875e-07, "step": 6060 }, { "action_loss_avg": 0.09778932463377714, "epoch": 5.779266357421875e-07, "step": 6060 }, { "arm_loss_avg": 0.15136579275131226, "epoch": 5.779266357421875e-07, "step": 6060 }, { "ee_loss_avg": 0.1260236343368888, "epoch": 5.779266357421875e-07, "step": 6060 }, { "aux_loss_avg": 0.0008130710455588996, "epoch": 5.779266357421875e-07, "step": 6060 }, { "epoch": 5.779266357421875e-07, "step": 6060, "training_step_time": 17.634196996688843 }, { "epoch": 5.780220031738281e-07, "model_forward_time": 5.074756145477295, "step": 6061 }, { "epoch": 5.780220031738281e-07, "step": 6061, "training_step_time": 17.610867023468018 }, { "epoch": 5.781173706054687e-07, "model_forward_time": 5.0815558433532715, "step": 6062 }, { "epoch": 5.781173706054687e-07, "step": 6062, "training_step_time": 17.59886384010315 }, { "epoch": 5.782127380371093e-07, "model_forward_time": 5.090881586074829, "step": 6063 }, { "epoch": 5.782127380371093e-07, "step": 6063, "training_step_time": 17.780468940734863 }, { "epoch": 5.7830810546875e-07, "model_forward_time": 3.856987953186035, "step": 6064 }, { "epoch": 5.7830810546875e-07, "step": 6064, "training_step_time": 17.583545207977295 }, { "epoch": 5.784034729003907e-07, "model_forward_time": 5.070470333099365, "step": 6065 }, { "epoch": 5.784034729003907e-07, "step": 6065, "training_step_time": 17.58002543449402 }, { "epoch": 5.784988403320313e-07, "model_forward_time": 5.085347414016724, "step": 6066 }, { "epoch": 5.784988403320313e-07, "step": 6066, "training_step_time": 17.55121898651123 }, { "epoch": 5.785942077636719e-07, "model_forward_time": 5.339488744735718, "step": 6067 }, { "epoch": 5.785942077636719e-07, "step": 6067, "training_step_time": 17.57805609703064 }, { "epoch": 5.786895751953125e-07, "model_forward_time": 5.101377725601196, "step": 6068 }, { "epoch": 5.786895751953125e-07, "step": 6068, "training_step_time": 17.614992380142212 }, { "epoch": 5.787849426269531e-07, "model_forward_time": 5.102753400802612, "step": 6069 }, { "epoch": 5.787849426269531e-07, "step": 6069, "training_step_time": 17.73213839530945 }, { "epoch": 5.788803100585937e-07, "grad_norm": 3.3616697788238525, "learning_rate": 9.96322171005653e-06, "loss": 0.1311, "step": 6070 }, { "epoch": 5.788803100585937e-07, "model_forward_time": 5.104344844818115, "step": 6070 }, { "dynamics_loss_avg": 0.027838877053000033, "epoch": 5.788803100585937e-07, "step": 6070 }, { "action_loss_avg": 0.08023506253957749, "epoch": 5.788803100585937e-07, "step": 6070 }, { "arm_loss_avg": 0.11548474207520484, "epoch": 5.788803100585937e-07, "step": 6070 }, { "ee_loss_avg": 0.11363295763731003, "epoch": 5.788803100585937e-07, "step": 6070 }, { "aux_loss_avg": 0.0011788295989390463, "epoch": 5.788803100585937e-07, "step": 6070 }, { "epoch": 5.788803100585937e-07, "step": 6070, "training_step_time": 17.543112993240356 }, { "epoch": 5.789756774902343e-07, "model_forward_time": 5.10314679145813, "step": 6071 }, { "epoch": 5.789756774902343e-07, "step": 6071, "training_step_time": 17.570958852767944 }, { "epoch": 5.79071044921875e-07, "model_forward_time": 5.104723215103149, "step": 6072 }, { "epoch": 5.79071044921875e-07, "step": 6072, "training_step_time": 17.58614206314087 }, { "epoch": 5.791664123535156e-07, "model_forward_time": 3.8605973720550537, "step": 6073 }, { "epoch": 5.791664123535156e-07, "step": 6073, "training_step_time": 17.60024333000183 }, { "epoch": 5.792617797851563e-07, "model_forward_time": 3.831545352935791, "step": 6074 }, { "epoch": 5.792617797851563e-07, "step": 6074, "training_step_time": 17.795291900634766 }, { "epoch": 5.793571472167969e-07, "model_forward_time": 5.05042839050293, "step": 6075 }, { "epoch": 5.793571472167969e-07, "step": 6075, "training_step_time": 17.614888906478882 }, { "epoch": 5.794525146484375e-07, "model_forward_time": 5.073139905929565, "step": 6076 }, { "epoch": 5.794525146484375e-07, "step": 6076, "training_step_time": 17.63511633872986 }, { "epoch": 5.795478820800781e-07, "model_forward_time": 5.341026782989502, "step": 6077 }, { "epoch": 5.795478820800781e-07, "step": 6077, "training_step_time": 17.637102842330933 }, { "epoch": 5.796432495117188e-07, "model_forward_time": 5.115056753158569, "step": 6078 }, { "epoch": 5.796432495117188e-07, "step": 6078, "training_step_time": 17.855464935302734 }, { "epoch": 5.797386169433594e-07, "model_forward_time": 5.112356662750244, "step": 6079 }, { "epoch": 5.797386169433594e-07, "step": 6079, "training_step_time": 17.609469652175903 }, { "epoch": 5.79833984375e-07, "grad_norm": 2.325284719467163, "learning_rate": 9.962935183970743e-06, "loss": 0.1228, "step": 6080 }, { "epoch": 5.79833984375e-07, "model_forward_time": 5.107870101928711, "step": 6080 }, { "dynamics_loss_avg": 0.03932582475244999, "epoch": 5.79833984375e-07, "step": 6080 }, { "action_loss_avg": 0.06986596360802651, "epoch": 5.79833984375e-07, "step": 6080 }, { "arm_loss_avg": 0.1340276598930359, "epoch": 5.79833984375e-07, "step": 6080 }, { "ee_loss_avg": 0.09778861496597528, "epoch": 5.79833984375e-07, "step": 6080 }, { "aux_loss_avg": 0.0027725446270778775, "epoch": 5.79833984375e-07, "step": 6080 }, { "epoch": 5.79833984375e-07, "step": 6080, "training_step_time": 17.586610317230225 }, { "epoch": 5.799293518066406e-07, "model_forward_time": 5.104266166687012, "step": 6081 }, { "epoch": 5.799293518066406e-07, "step": 6081, "training_step_time": 17.586512088775635 }, { "epoch": 5.800247192382812e-07, "model_forward_time": 5.2934558391571045, "step": 6082 }, { "epoch": 5.800247192382812e-07, "step": 6082, "training_step_time": 17.448838710784912 }, { "epoch": 5.801200866699218e-07, "model_forward_time": 5.101962327957153, "step": 6083 }, { "epoch": 5.801200866699218e-07, "step": 6083, "training_step_time": 17.379438400268555 }, { "epoch": 5.802154541015625e-07, "model_forward_time": 5.0936338901519775, "step": 6084 }, { "epoch": 5.802154541015625e-07, "step": 6084, "training_step_time": 17.63750720024109 }, { "epoch": 5.803108215332032e-07, "model_forward_time": 5.086610555648804, "step": 6085 }, { "epoch": 5.803108215332032e-07, "step": 6085, "training_step_time": 17.51218056678772 }, { "epoch": 5.804061889648438e-07, "model_forward_time": 5.083856582641602, "step": 6086 }, { "epoch": 5.804061889648438e-07, "step": 6086, "training_step_time": 17.577651500701904 }, { "epoch": 5.805015563964844e-07, "model_forward_time": 5.078513145446777, "step": 6087 }, { "epoch": 5.805015563964844e-07, "step": 6087, "training_step_time": 17.611477851867676 }, { "epoch": 5.80596923828125e-07, "model_forward_time": 3.8464574813842773, "step": 6088 }, { "epoch": 5.80596923828125e-07, "step": 6088, "training_step_time": 17.635632753372192 }, { "epoch": 5.806922912597656e-07, "model_forward_time": 3.8263473510742188, "step": 6089 }, { "epoch": 5.806922912597656e-07, "step": 6089, "training_step_time": 17.869812965393066 }, { "epoch": 5.807876586914062e-07, "grad_norm": 2.1490836143493652, "learning_rate": 9.96264755025409e-06, "loss": 0.1344, "step": 6090 }, { "epoch": 5.807876586914062e-07, "model_forward_time": 5.04092001914978, "step": 6090 }, { "dynamics_loss_avg": 0.04700605981051922, "epoch": 5.807876586914062e-07, "step": 6090 }, { "action_loss_avg": 0.11682716943323612, "epoch": 5.807876586914062e-07, "step": 6090 }, { "arm_loss_avg": 0.19508530274033548, "epoch": 5.807876586914062e-07, "step": 6090 }, { "ee_loss_avg": 0.1566399423405528, "epoch": 5.807876586914062e-07, "step": 6090 }, { "aux_loss_avg": 0.0011098634626250715, "epoch": 5.807876586914062e-07, "step": 6090 }, { "epoch": 5.807876586914062e-07, "step": 6090, "training_step_time": 17.62731122970581 }, { "epoch": 5.808830261230469e-07, "model_forward_time": 5.060973882675171, "step": 6091 }, { "epoch": 5.808830261230469e-07, "step": 6091, "training_step_time": 17.625182390213013 }, { "epoch": 5.809783935546875e-07, "model_forward_time": 5.28683876991272, "step": 6092 }, { "epoch": 5.809783935546875e-07, "step": 6092, "training_step_time": 17.607813835144043 }, { "epoch": 5.810737609863281e-07, "model_forward_time": 5.096775770187378, "step": 6093 }, { "epoch": 5.810737609863281e-07, "step": 6093, "training_step_time": 17.615574836730957 }, { "epoch": 5.811691284179688e-07, "model_forward_time": 3.8672666549682617, "step": 6094 }, { "epoch": 5.811691284179688e-07, "step": 6094, "training_step_time": 17.773233890533447 }, { "epoch": 5.812644958496094e-07, "model_forward_time": 5.075186491012573, "step": 6095 }, { "epoch": 5.812644958496094e-07, "step": 6095, "training_step_time": 17.594369411468506 }, { "epoch": 5.8135986328125e-07, "model_forward_time": 5.089165687561035, "step": 6096 }, { "epoch": 5.8135986328125e-07, "step": 6096, "training_step_time": 17.384456157684326 }, { "epoch": 5.814552307128906e-07, "model_forward_time": 5.330336570739746, "step": 6097 }, { "epoch": 5.814552307128906e-07, "step": 6097, "training_step_time": 17.49408721923828 }, { "epoch": 5.815505981445313e-07, "model_forward_time": 5.10257887840271, "step": 6098 }, { "epoch": 5.815505981445313e-07, "step": 6098, "training_step_time": 17.607636213302612 }, { "epoch": 5.816459655761719e-07, "model_forward_time": 3.8604447841644287, "step": 6099 }, { "epoch": 5.816459655761719e-07, "step": 6099, "training_step_time": 17.78496217727661 }, { "epoch": 5.817413330078125e-07, "grad_norm": 1.7621606588363647, "learning_rate": 9.962358808970763e-06, "loss": 0.1277, "step": 6100 }, { "epoch": 5.817413330078125e-07, "model_forward_time": 5.069756507873535, "step": 6100 }, { "dynamics_loss_avg": 0.046784985810518265, "epoch": 5.817413330078125e-07, "step": 6100 }, { "action_loss_avg": 0.10467368233948945, "epoch": 5.817413330078125e-07, "step": 6100 }, { "arm_loss_avg": 0.20073885172605516, "epoch": 5.817413330078125e-07, "step": 6100 }, { "ee_loss_avg": 0.23130891248583793, "epoch": 5.817413330078125e-07, "step": 6100 }, { "aux_loss_avg": 0.00666600611875765, "epoch": 5.817413330078125e-07, "step": 6100 }, { "epoch": 5.817413330078125e-07, "step": 6100, "training_step_time": 17.583297729492188 }, { "epoch": 5.818367004394531e-07, "model_forward_time": 5.077837228775024, "step": 6101 }, { "epoch": 5.818367004394531e-07, "step": 6101, "training_step_time": 17.59476661682129 }, { "epoch": 5.819320678710937e-07, "model_forward_time": 5.291589975357056, "step": 6102 }, { "epoch": 5.819320678710937e-07, "step": 6102, "training_step_time": 17.61056900024414 }, { "epoch": 5.820274353027343e-07, "model_forward_time": 3.857658624649048, "step": 6103 }, { "epoch": 5.820274353027343e-07, "step": 6103, "training_step_time": 17.635846376419067 }, { "epoch": 5.82122802734375e-07, "model_forward_time": 5.0693957805633545, "step": 6104 }, { "epoch": 5.82122802734375e-07, "step": 6104, "training_step_time": 17.72017502784729 }, { "epoch": 5.822181701660157e-07, "model_forward_time": 5.076200246810913, "step": 6105 }, { "epoch": 5.822181701660157e-07, "step": 6105, "training_step_time": 17.569259643554688 }, { "epoch": 5.823135375976563e-07, "model_forward_time": 5.091969013214111, "step": 6106 }, { "epoch": 5.823135375976563e-07, "step": 6106, "training_step_time": 17.587101697921753 }, { "epoch": 5.824089050292969e-07, "model_forward_time": 5.331366539001465, "step": 6107 }, { "epoch": 5.824089050292969e-07, "step": 6107, "training_step_time": 17.46236252784729 }, { "epoch": 5.825042724609375e-07, "model_forward_time": 5.10607647895813, "step": 6108 }, { "epoch": 5.825042724609375e-07, "step": 6108, "training_step_time": 17.61344337463379 }, { "epoch": 5.825996398925781e-07, "model_forward_time": 5.100423812866211, "step": 6109 }, { "epoch": 5.825996398925781e-07, "step": 6109, "training_step_time": 17.80441975593567 }, { "epoch": 5.826950073242187e-07, "grad_norm": 3.1584737300872803, "learning_rate": 9.962068960185205e-06, "loss": 0.1262, "step": 6110 }, { "epoch": 5.826950073242187e-07, "model_forward_time": 5.097625255584717, "step": 6110 }, { "dynamics_loss_avg": 0.037668530270457266, "epoch": 5.826950073242187e-07, "step": 6110 }, { "action_loss_avg": 0.06704561859369278, "epoch": 5.826950073242187e-07, "step": 6110 }, { "arm_loss_avg": 0.16485538929700852, "epoch": 5.826950073242187e-07, "step": 6110 }, { "ee_loss_avg": 0.1861454002559185, "epoch": 5.826950073242187e-07, "step": 6110 }, { "aux_loss_avg": 0.012510611687321215, "epoch": 5.826950073242187e-07, "step": 6110 }, { "epoch": 5.826950073242187e-07, "step": 6110, "training_step_time": 17.603183031082153 }, { "epoch": 5.827903747558594e-07, "model_forward_time": 5.0957958698272705, "step": 6111 }, { "epoch": 5.827903747558594e-07, "step": 6111, "training_step_time": 17.622459173202515 }, { "epoch": 5.828857421875e-07, "model_forward_time": 5.3032402992248535, "step": 6112 }, { "epoch": 5.828857421875e-07, "step": 6112, "training_step_time": 17.628358602523804 }, { "epoch": 5.829811096191406e-07, "model_forward_time": 5.090324401855469, "step": 6113 }, { "epoch": 5.829811096191406e-07, "step": 6113, "training_step_time": 17.636900186538696 }, { "epoch": 5.830764770507813e-07, "model_forward_time": 5.0868775844573975, "step": 6114 }, { "epoch": 5.830764770507813e-07, "step": 6114, "training_step_time": 17.825103044509888 }, { "epoch": 5.831718444824219e-07, "model_forward_time": 5.080411434173584, "step": 6115 }, { "epoch": 5.831718444824219e-07, "step": 6115, "training_step_time": 17.631078958511353 }, { "epoch": 5.832672119140625e-07, "model_forward_time": 5.082962989807129, "step": 6116 }, { "epoch": 5.832672119140625e-07, "step": 6116, "training_step_time": 17.621376037597656 }, { "epoch": 5.833625793457031e-07, "model_forward_time": 5.085077285766602, "step": 6117 }, { "epoch": 5.833625793457031e-07, "step": 6117, "training_step_time": 17.56676721572876 }, { "epoch": 5.834579467773438e-07, "model_forward_time": 5.092920780181885, "step": 6118 }, { "epoch": 5.834579467773438e-07, "step": 6118, "training_step_time": 17.843635320663452 }, { "epoch": 5.835533142089844e-07, "model_forward_time": 5.0842108726501465, "step": 6119 }, { "epoch": 5.835533142089844e-07, "step": 6119, "training_step_time": 17.595281839370728 }, { "epoch": 5.83648681640625e-07, "grad_norm": 1.47833251953125, "learning_rate": 9.961778003962103e-06, "loss": 0.1383, "step": 6120 }, { "epoch": 5.83648681640625e-07, "model_forward_time": 3.853316307067871, "step": 6120 }, { "dynamics_loss_avg": 0.05626208931207657, "epoch": 5.83648681640625e-07, "step": 6120 }, { "action_loss_avg": 0.09473824538290501, "epoch": 5.83648681640625e-07, "step": 6120 }, { "arm_loss_avg": 0.15119353383779527, "epoch": 5.83648681640625e-07, "step": 6120 }, { "ee_loss_avg": 0.15044168420135975, "epoch": 5.83648681640625e-07, "step": 6120 }, { "aux_loss_avg": 0.007637636532308534, "epoch": 5.83648681640625e-07, "step": 6120 }, { "epoch": 5.83648681640625e-07, "step": 6120, "training_step_time": 17.591870307922363 }, { "epoch": 5.837440490722656e-07, "model_forward_time": 5.063420057296753, "step": 6121 }, { "epoch": 5.837440490722656e-07, "step": 6121, "training_step_time": 17.586320638656616 }, { "epoch": 5.838394165039062e-07, "model_forward_time": 5.075564384460449, "step": 6122 }, { "epoch": 5.838394165039062e-07, "step": 6122, "training_step_time": 17.58019208908081 }, { "epoch": 5.839347839355468e-07, "model_forward_time": 3.84897780418396, "step": 6123 }, { "epoch": 5.839347839355468e-07, "step": 6123, "training_step_time": 17.789695262908936 }, { "epoch": 5.840301513671876e-07, "model_forward_time": 5.0606608390808105, "step": 6124 }, { "epoch": 5.840301513671876e-07, "step": 6124, "training_step_time": 17.58835530281067 }, { "epoch": 5.841255187988282e-07, "model_forward_time": 5.077993631362915, "step": 6125 }, { "epoch": 5.841255187988282e-07, "step": 6125, "training_step_time": 17.571408987045288 }, { "epoch": 5.842208862304688e-07, "model_forward_time": 3.8580970764160156, "step": 6126 }, { "epoch": 5.842208862304688e-07, "step": 6126, "training_step_time": 17.574744939804077 }, { "epoch": 5.843162536621094e-07, "model_forward_time": 5.308906555175781, "step": 6127 }, { "epoch": 5.843162536621094e-07, "step": 6127, "training_step_time": 17.57442569732666 }, { "epoch": 5.8441162109375e-07, "model_forward_time": 5.090162992477417, "step": 6128 }, { "epoch": 5.8441162109375e-07, "step": 6128, "training_step_time": 17.790152072906494 }, { "epoch": 5.845069885253906e-07, "model_forward_time": 5.098403215408325, "step": 6129 }, { "epoch": 5.845069885253906e-07, "step": 6129, "training_step_time": 17.576213598251343 }, { "epoch": 5.846023559570312e-07, "grad_norm": 1.3804185390472412, "learning_rate": 9.961485940366396e-06, "loss": 0.1541, "step": 6130 }, { "epoch": 5.846023559570312e-07, "model_forward_time": 5.104819297790527, "step": 6130 }, { "dynamics_loss_avg": 0.060872526839375496, "epoch": 5.846023559570312e-07, "step": 6130 }, { "action_loss_avg": 0.12494983300566673, "epoch": 5.846023559570312e-07, "step": 6130 }, { "arm_loss_avg": 0.19362497963011266, "epoch": 5.846023559570312e-07, "step": 6130 }, { "ee_loss_avg": 0.23874171562492846, "epoch": 5.846023559570312e-07, "step": 6130 }, { "aux_loss_avg": 0.0033711334865074603, "epoch": 5.846023559570312e-07, "step": 6130 }, { "epoch": 5.846023559570312e-07, "step": 6130, "training_step_time": 17.53816509246826 }, { "epoch": 5.846977233886719e-07, "model_forward_time": 5.108490705490112, "step": 6131 }, { "epoch": 5.846977233886719e-07, "step": 6131, "training_step_time": 17.591724634170532 }, { "epoch": 5.847930908203125e-07, "model_forward_time": 5.310708045959473, "step": 6132 }, { "epoch": 5.847930908203125e-07, "step": 6132, "training_step_time": 17.585416078567505 }, { "epoch": 5.848884582519531e-07, "model_forward_time": 5.1020286083221436, "step": 6133 }, { "epoch": 5.848884582519531e-07, "step": 6133, "training_step_time": 17.793139457702637 }, { "epoch": 5.849838256835937e-07, "model_forward_time": 5.095232009887695, "step": 6134 }, { "epoch": 5.849838256835937e-07, "step": 6134, "training_step_time": 17.60163140296936 }, { "epoch": 5.850791931152344e-07, "model_forward_time": 5.09165358543396, "step": 6135 }, { "epoch": 5.850791931152344e-07, "step": 6135, "training_step_time": 17.61108922958374 }, { "epoch": 5.85174560546875e-07, "model_forward_time": 5.110082626342773, "step": 6136 }, { "epoch": 5.85174560546875e-07, "step": 6136, "training_step_time": 17.63815474510193 }, { "epoch": 5.852699279785156e-07, "model_forward_time": 5.105012655258179, "step": 6137 }, { "epoch": 5.852699279785156e-07, "step": 6137, "training_step_time": 17.637823343276978 }, { "epoch": 5.853652954101563e-07, "model_forward_time": 5.1077940464019775, "step": 6138 }, { "epoch": 5.853652954101563e-07, "step": 6138, "training_step_time": 17.892920970916748 }, { "epoch": 5.854606628417969e-07, "model_forward_time": 5.098828077316284, "step": 6139 }, { "epoch": 5.854606628417969e-07, "step": 6139, "training_step_time": 17.435908794403076 }, { "epoch": 5.855560302734375e-07, "grad_norm": 2.6075925827026367, "learning_rate": 9.961192769463264e-06, "loss": 0.1279, "step": 6140 }, { "epoch": 5.855560302734375e-07, "model_forward_time": 5.091683387756348, "step": 6140 }, { "dynamics_loss_avg": 0.051439019292593, "epoch": 5.855560302734375e-07, "step": 6140 }, { "action_loss_avg": 0.10515295267105103, "epoch": 5.855560302734375e-07, "step": 6140 }, { "arm_loss_avg": 0.1485733285546303, "epoch": 5.855560302734375e-07, "step": 6140 }, { "ee_loss_avg": 0.1793760323897004, "epoch": 5.855560302734375e-07, "step": 6140 }, { "aux_loss_avg": 0.00280234637320973, "epoch": 5.855560302734375e-07, "step": 6140 }, { "epoch": 5.855560302734375e-07, "step": 6140, "training_step_time": 17.414028644561768 }, { "epoch": 5.856513977050781e-07, "model_forward_time": 5.285430192947388, "step": 6141 }, { "epoch": 5.856513977050781e-07, "step": 6141, "training_step_time": 17.452895641326904 }, { "epoch": 5.857467651367187e-07, "model_forward_time": 5.086268424987793, "step": 6142 }, { "epoch": 5.857467651367187e-07, "step": 6142, "training_step_time": 17.52879571914673 }, { "epoch": 5.858421325683593e-07, "model_forward_time": 5.082576751708984, "step": 6143 }, { "epoch": 5.858421325683593e-07, "step": 6143, "training_step_time": 17.628493785858154 }, { "epoch": 5.859375e-07, "model_forward_time": 5.085513114929199, "step": 6144 }, { "epoch": 5.859375e-07, "step": 6144, "training_step_time": 17.792181968688965 }, { "epoch": 5.860328674316407e-07, "model_forward_time": 5.082879066467285, "step": 6145 }, { "epoch": 5.860328674316407e-07, "step": 6145, "training_step_time": 17.611030101776123 }, { "epoch": 5.861282348632813e-07, "model_forward_time": 5.331990718841553, "step": 6146 }, { "epoch": 5.861282348632813e-07, "step": 6146, "training_step_time": 17.616922616958618 }, { "epoch": 5.862236022949219e-07, "model_forward_time": 3.8509531021118164, "step": 6147 }, { "epoch": 5.862236022949219e-07, "step": 6147, "training_step_time": 17.444328784942627 }, { "epoch": 5.863189697265625e-07, "model_forward_time": 5.066080570220947, "step": 6148 }, { "epoch": 5.863189697265625e-07, "step": 6148, "training_step_time": 17.59986162185669 }, { "epoch": 5.864143371582031e-07, "model_forward_time": 5.072735548019409, "step": 6149 }, { "epoch": 5.864143371582031e-07, "step": 6149, "training_step_time": 17.795120239257812 }, { "epoch": 5.865097045898437e-07, "grad_norm": 1.6435837745666504, "learning_rate": 9.960898491318138e-06, "loss": 0.1357, "step": 6150 }, { "epoch": 5.865097045898437e-07, "model_forward_time": 5.076824188232422, "step": 6150 }, { "dynamics_loss_avg": 0.04893192201852799, "epoch": 5.865097045898437e-07, "step": 6150 }, { "action_loss_avg": 0.10100954845547676, "epoch": 5.865097045898437e-07, "step": 6150 }, { "arm_loss_avg": 0.17687493339180946, "epoch": 5.865097045898437e-07, "step": 6150 }, { "ee_loss_avg": 0.15119904708117246, "epoch": 5.865097045898437e-07, "step": 6150 }, { "aux_loss_avg": 0.03724495258647949, "epoch": 5.865097045898437e-07, "step": 6150 }, { "epoch": 5.865097045898437e-07, "step": 6150, "training_step_time": 17.580562353134155 }, { "epoch": 5.866050720214844e-07, "model_forward_time": 5.086217403411865, "step": 6151 }, { "epoch": 5.866050720214844e-07, "step": 6151, "training_step_time": 17.59200644493103 }, { "epoch": 5.86700439453125e-07, "model_forward_time": 5.310445547103882, "step": 6152 }, { "epoch": 5.86700439453125e-07, "step": 6152, "training_step_time": 17.592931985855103 }, { "epoch": 5.867958068847656e-07, "model_forward_time": 5.09666109085083, "step": 6153 }, { "epoch": 5.867958068847656e-07, "step": 6153, "training_step_time": 17.60508131980896 }, { "epoch": 5.868911743164062e-07, "model_forward_time": 5.098487377166748, "step": 6154 }, { "epoch": 5.868911743164062e-07, "step": 6154, "training_step_time": 17.79777503013611 }, { "epoch": 5.869865417480469e-07, "model_forward_time": 5.091493129730225, "step": 6155 }, { "epoch": 5.869865417480469e-07, "step": 6155, "training_step_time": 17.600571393966675 }, { "epoch": 5.870819091796875e-07, "model_forward_time": 5.091054916381836, "step": 6156 }, { "epoch": 5.870819091796875e-07, "step": 6156, "training_step_time": 17.593097448349 }, { "epoch": 5.871772766113281e-07, "model_forward_time": 5.100167512893677, "step": 6157 }, { "epoch": 5.871772766113281e-07, "step": 6157, "training_step_time": 17.61458659172058 }, { "epoch": 5.872726440429688e-07, "model_forward_time": 5.107762336730957, "step": 6158 }, { "epoch": 5.872726440429688e-07, "step": 6158, "training_step_time": 17.861284494400024 }, { "epoch": 5.873680114746094e-07, "model_forward_time": 5.1143105030059814, "step": 6159 }, { "epoch": 5.873680114746094e-07, "step": 6159, "training_step_time": 17.641358613967896 }, { "epoch": 5.8746337890625e-07, "grad_norm": 2.477003335952759, "learning_rate": 9.960603105996696e-06, "loss": 0.1431, "step": 6160 }, { "epoch": 5.8746337890625e-07, "model_forward_time": 5.104583501815796, "step": 6160 }, { "dynamics_loss_avg": 0.04117395374923945, "epoch": 5.8746337890625e-07, "step": 6160 }, { "action_loss_avg": 0.09552940279245377, "epoch": 5.8746337890625e-07, "step": 6160 }, { "arm_loss_avg": 0.1569690465927124, "epoch": 5.8746337890625e-07, "step": 6160 }, { "ee_loss_avg": 0.2524810075759888, "epoch": 5.8746337890625e-07, "step": 6160 }, { "aux_loss_avg": 0.002575022302335128, "epoch": 5.8746337890625e-07, "step": 6160 }, { "epoch": 5.8746337890625e-07, "step": 6160, "training_step_time": 17.619069576263428 }, { "epoch": 5.875587463378906e-07, "model_forward_time": 5.290849208831787, "step": 6161 }, { "epoch": 5.875587463378906e-07, "step": 6161, "training_step_time": 17.392598628997803 }, { "epoch": 5.876541137695312e-07, "model_forward_time": 3.84635591506958, "step": 6162 }, { "epoch": 5.876541137695312e-07, "step": 6162, "training_step_time": 17.490883111953735 }, { "epoch": 5.877494812011718e-07, "model_forward_time": 5.0612311363220215, "step": 6163 }, { "epoch": 5.877494812011718e-07, "step": 6163, "training_step_time": 17.74500584602356 }, { "epoch": 5.878448486328125e-07, "model_forward_time": 5.065016746520996, "step": 6164 }, { "epoch": 5.878448486328125e-07, "step": 6164, "training_step_time": 17.642138957977295 }, { "epoch": 5.879402160644532e-07, "model_forward_time": 3.841520309448242, "step": 6165 }, { "epoch": 5.879402160644532e-07, "step": 6165, "training_step_time": 17.47936749458313 }, { "epoch": 5.880355834960938e-07, "model_forward_time": 5.063280344009399, "step": 6166 }, { "epoch": 5.880355834960938e-07, "step": 6166, "training_step_time": 17.537768125534058 }, { "epoch": 5.881309509277344e-07, "model_forward_time": 5.306621313095093, "step": 6167 }, { "epoch": 5.881309509277344e-07, "step": 6167, "training_step_time": 17.563136339187622 }, { "epoch": 5.88226318359375e-07, "model_forward_time": 5.092111825942993, "step": 6168 }, { "epoch": 5.88226318359375e-07, "step": 6168, "training_step_time": 17.81267762184143 }, { "epoch": 5.883216857910156e-07, "model_forward_time": 5.096129894256592, "step": 6169 }, { "epoch": 5.883216857910156e-07, "step": 6169, "training_step_time": 17.611156225204468 }, { "epoch": 5.884170532226562e-07, "grad_norm": 2.605762481689453, "learning_rate": 9.960306613564861e-06, "loss": 0.1395, "step": 6170 }, { "epoch": 5.884170532226562e-07, "model_forward_time": 5.108014106750488, "step": 6170 }, { "dynamics_loss_avg": 0.05335266068577767, "epoch": 5.884170532226562e-07, "step": 6170 }, { "action_loss_avg": 0.10331196244806051, "epoch": 5.884170532226562e-07, "step": 6170 }, { "arm_loss_avg": 0.15932959578931333, "epoch": 5.884170532226562e-07, "step": 6170 }, { "ee_loss_avg": 0.16080630831420423, "epoch": 5.884170532226562e-07, "step": 6170 }, { "aux_loss_avg": 0.002500818739645183, "epoch": 5.884170532226562e-07, "step": 6170 }, { "epoch": 5.884170532226562e-07, "step": 6170, "training_step_time": 17.624647855758667 }, { "epoch": 5.885124206542969e-07, "model_forward_time": 5.10293436050415, "step": 6171 }, { "epoch": 5.885124206542969e-07, "step": 6171, "training_step_time": 17.62222695350647 }, { "epoch": 5.886077880859375e-07, "model_forward_time": 5.3017213344573975, "step": 6172 }, { "epoch": 5.886077880859375e-07, "step": 6172, "training_step_time": 17.632142066955566 }, { "epoch": 5.887031555175781e-07, "model_forward_time": 5.101552724838257, "step": 6173 }, { "epoch": 5.887031555175781e-07, "step": 6173, "training_step_time": 17.812483549118042 }, { "epoch": 5.887985229492187e-07, "model_forward_time": 5.092991828918457, "step": 6174 }, { "epoch": 5.887985229492187e-07, "step": 6174, "training_step_time": 17.645665407180786 }, { "epoch": 5.888938903808594e-07, "model_forward_time": 5.092763423919678, "step": 6175 }, { "epoch": 5.888938903808594e-07, "step": 6175, "training_step_time": 17.622219562530518 }, { "epoch": 5.889892578125e-07, "model_forward_time": 5.089313268661499, "step": 6176 }, { "epoch": 5.889892578125e-07, "step": 6176, "training_step_time": 17.622021913528442 }, { "epoch": 5.890846252441407e-07, "model_forward_time": 5.084062576293945, "step": 6177 }, { "epoch": 5.890846252441407e-07, "step": 6177, "training_step_time": 17.599279403686523 }, { "epoch": 5.891799926757813e-07, "model_forward_time": 5.082261562347412, "step": 6178 }, { "epoch": 5.891799926757813e-07, "step": 6178, "training_step_time": 17.840222120285034 }, { "epoch": 5.892753601074219e-07, "model_forward_time": 5.080340385437012, "step": 6179 }, { "epoch": 5.892753601074219e-07, "step": 6179, "training_step_time": 17.58230948448181 }, { "epoch": 5.893707275390625e-07, "grad_norm": 2.680943250656128, "learning_rate": 9.960009014088803e-06, "loss": 0.1455, "step": 6180 }, { "epoch": 5.893707275390625e-07, "model_forward_time": 5.08457350730896, "step": 6180 }, { "dynamics_loss_avg": 0.05541677232831717, "epoch": 5.893707275390625e-07, "step": 6180 }, { "action_loss_avg": 0.09672740828245878, "epoch": 5.893707275390625e-07, "step": 6180 }, { "arm_loss_avg": 0.17686849012970923, "epoch": 5.893707275390625e-07, "step": 6180 }, { "ee_loss_avg": 0.19158698488026857, "epoch": 5.893707275390625e-07, "step": 6180 }, { "aux_loss_avg": 0.00666382543859072, "epoch": 5.893707275390625e-07, "step": 6180 }, { "epoch": 5.893707275390625e-07, "step": 6180, "training_step_time": 17.585110187530518 }, { "epoch": 5.894660949707031e-07, "model_forward_time": 5.286061525344849, "step": 6181 }, { "epoch": 5.894660949707031e-07, "step": 6181, "training_step_time": 17.59149718284607 }, { "epoch": 5.895614624023437e-07, "model_forward_time": 5.090917348861694, "step": 6182 }, { "epoch": 5.895614624023437e-07, "step": 6182, "training_step_time": 17.593632221221924 }, { "epoch": 5.896568298339843e-07, "model_forward_time": 5.087907552719116, "step": 6183 }, { "epoch": 5.896568298339843e-07, "step": 6183, "training_step_time": 17.781689167022705 }, { "epoch": 5.89752197265625e-07, "model_forward_time": 5.08674168586731, "step": 6184 }, { "epoch": 5.89752197265625e-07, "step": 6184, "training_step_time": 17.584229230880737 }, { "epoch": 5.898475646972657e-07, "model_forward_time": 5.087891340255737, "step": 6185 }, { "epoch": 5.898475646972657e-07, "step": 6185, "training_step_time": 17.582438468933105 }, { "epoch": 5.899429321289063e-07, "model_forward_time": 5.341764450073242, "step": 6186 }, { "epoch": 5.899429321289063e-07, "step": 6186, "training_step_time": 17.594423055648804 }, { "epoch": 5.900382995605469e-07, "model_forward_time": 5.089890718460083, "step": 6187 }, { "epoch": 5.900382995605469e-07, "step": 6187, "training_step_time": 17.582242250442505 }, { "epoch": 5.901336669921875e-07, "model_forward_time": 5.089849472045898, "step": 6188 }, { "epoch": 5.901336669921875e-07, "step": 6188, "training_step_time": 17.808218479156494 }, { "epoch": 5.902290344238281e-07, "model_forward_time": 5.083889722824097, "step": 6189 }, { "epoch": 5.902290344238281e-07, "step": 6189, "training_step_time": 17.588332891464233 }, { "epoch": 5.903244018554687e-07, "grad_norm": 1.8061357736587524, "learning_rate": 9.959710307634944e-06, "loss": 0.1291, "step": 6190 }, { "epoch": 5.903244018554687e-07, "model_forward_time": 5.088380575180054, "step": 6190 }, { "dynamics_loss_avg": 0.0381117488257587, "epoch": 5.903244018554687e-07, "step": 6190 }, { "action_loss_avg": 0.08248967714607716, "epoch": 5.903244018554687e-07, "step": 6190 }, { "arm_loss_avg": 0.14640568494796752, "epoch": 5.903244018554687e-07, "step": 6190 }, { "ee_loss_avg": 0.16592976488173009, "epoch": 5.903244018554687e-07, "step": 6190 }, { "aux_loss_avg": 0.006408899917732924, "epoch": 5.903244018554687e-07, "step": 6190 }, { "epoch": 5.903244018554687e-07, "step": 6190, "training_step_time": 17.585641860961914 }, { "epoch": 5.904197692871094e-07, "model_forward_time": 5.089297533035278, "step": 6191 }, { "epoch": 5.904197692871094e-07, "step": 6191, "training_step_time": 17.5914089679718 }, { "epoch": 5.9051513671875e-07, "model_forward_time": 5.090773582458496, "step": 6192 }, { "epoch": 5.9051513671875e-07, "step": 6192, "training_step_time": 17.59362769126892 }, { "epoch": 5.906105041503906e-07, "model_forward_time": 5.090563774108887, "step": 6193 }, { "epoch": 5.906105041503906e-07, "step": 6193, "training_step_time": 17.793324947357178 }, { "epoch": 5.907058715820312e-07, "model_forward_time": 5.0890607833862305, "step": 6194 }, { "epoch": 5.907058715820312e-07, "step": 6194, "training_step_time": 17.650705099105835 }, { "epoch": 5.908012390136719e-07, "model_forward_time": 5.0903120040893555, "step": 6195 }, { "epoch": 5.908012390136719e-07, "step": 6195, "training_step_time": 17.598313331604004 }, { "epoch": 5.908966064453125e-07, "model_forward_time": 5.091464042663574, "step": 6196 }, { "epoch": 5.908966064453125e-07, "step": 6196, "training_step_time": 17.599705457687378 }, { "epoch": 5.909919738769532e-07, "model_forward_time": 5.092238187789917, "step": 6197 }, { "epoch": 5.909919738769532e-07, "step": 6197, "training_step_time": 17.60378861427307 }, { "epoch": 5.910873413085938e-07, "model_forward_time": 5.093307733535767, "step": 6198 }, { "epoch": 5.910873413085938e-07, "step": 6198, "training_step_time": 17.85491418838501 }, { "epoch": 5.911827087402344e-07, "model_forward_time": 5.085348606109619, "step": 6199 }, { "epoch": 5.911827087402344e-07, "step": 6199, "training_step_time": 17.60338044166565 }, { "epoch": 5.91278076171875e-07, "grad_norm": 2.353870391845703, "learning_rate": 9.959410494269948e-06, "loss": 0.1278, "step": 6200 }, { "epoch": 5.91278076171875e-07, "model_forward_time": 3.853842258453369, "step": 6200 }, { "dynamics_loss_avg": 0.048959119245409966, "epoch": 5.91278076171875e-07, "step": 6200 }, { "action_loss_avg": 0.10308987684547902, "epoch": 5.91278076171875e-07, "step": 6200 }, { "arm_loss_avg": 0.1804338738322258, "epoch": 5.91278076171875e-07, "step": 6200 }, { "ee_loss_avg": 0.12233586106449365, "epoch": 5.91278076171875e-07, "step": 6200 }, { "aux_loss_avg": 0.0010649597621522843, "epoch": 5.91278076171875e-07, "step": 6200 }, { "epoch": 5.91278076171875e-07, "step": 6200, "training_step_time": 17.6022310256958 }, { "epoch": 5.913734436035156e-07, "model_forward_time": 5.066389560699463, "step": 6201 }, { "epoch": 5.913734436035156e-07, "step": 6201, "training_step_time": 17.607208013534546 }, { "epoch": 5.914688110351562e-07, "model_forward_time": 5.074843883514404, "step": 6202 }, { "epoch": 5.914688110351562e-07, "step": 6202, "training_step_time": 17.604275226593018 }, { "epoch": 5.915641784667968e-07, "model_forward_time": 3.8489856719970703, "step": 6203 }, { "epoch": 5.915641784667968e-07, "step": 6203, "training_step_time": 17.800048351287842 }, { "epoch": 5.916595458984375e-07, "model_forward_time": 5.062913656234741, "step": 6204 }, { "epoch": 5.916595458984375e-07, "step": 6204, "training_step_time": 17.599748134613037 }, { "epoch": 5.917549133300782e-07, "model_forward_time": 5.078856706619263, "step": 6205 }, { "epoch": 5.917549133300782e-07, "step": 6205, "training_step_time": 17.60011887550354 }, { "epoch": 5.918502807617188e-07, "model_forward_time": 5.0917956829071045, "step": 6206 }, { "epoch": 5.918502807617188e-07, "step": 6206, "training_step_time": 17.594778537750244 }, { "epoch": 5.919456481933594e-07, "model_forward_time": 5.347069501876831, "step": 6207 }, { "epoch": 5.919456481933594e-07, "step": 6207, "training_step_time": 17.58378267288208 }, { "epoch": 5.92041015625e-07, "model_forward_time": 3.869274139404297, "step": 6208 }, { "epoch": 5.92041015625e-07, "step": 6208, "training_step_time": 17.806821823120117 }, { "epoch": 5.921363830566406e-07, "model_forward_time": 5.073897838592529, "step": 6209 }, { "epoch": 5.921363830566406e-07, "step": 6209, "training_step_time": 17.58806538581848 }, { "epoch": 5.922317504882812e-07, "grad_norm": 2.5127322673797607, "learning_rate": 9.959109574060726e-06, "loss": 0.1337, "step": 6210 }, { "epoch": 5.922317504882812e-07, "model_forward_time": 5.087066173553467, "step": 6210 }, { "dynamics_loss_avg": 0.04701954368501902, "epoch": 5.922317504882812e-07, "step": 6210 }, { "action_loss_avg": 0.10063424296677112, "epoch": 5.922317504882812e-07, "step": 6210 }, { "arm_loss_avg": 0.12660885378718376, "epoch": 5.922317504882812e-07, "step": 6210 }, { "ee_loss_avg": 0.18133862502872944, "epoch": 5.922317504882812e-07, "step": 6210 }, { "aux_loss_avg": 0.0025379925791639835, "epoch": 5.922317504882812e-07, "step": 6210 }, { "epoch": 5.922317504882812e-07, "step": 6210, "training_step_time": 17.593656063079834 }, { "epoch": 5.923271179199219e-07, "model_forward_time": 3.8575925827026367, "step": 6211 }, { "epoch": 5.923271179199219e-07, "step": 6211, "training_step_time": 17.600305795669556 }, { "epoch": 5.924224853515625e-07, "model_forward_time": 5.258416652679443, "step": 6212 }, { "epoch": 5.924224853515625e-07, "step": 6212, "training_step_time": 17.60226011276245 }, { "epoch": 5.925178527832031e-07, "model_forward_time": 5.081006288528442, "step": 6213 }, { "epoch": 5.925178527832031e-07, "step": 6213, "training_step_time": 17.77720022201538 }, { "epoch": 5.926132202148437e-07, "model_forward_time": 5.091409683227539, "step": 6214 }, { "epoch": 5.926132202148437e-07, "step": 6214, "training_step_time": 17.59012532234192 }, { "epoch": 5.927085876464844e-07, "model_forward_time": 5.100766181945801, "step": 6215 }, { "epoch": 5.927085876464844e-07, "step": 6215, "training_step_time": 17.594922065734863 }, { "epoch": 5.92803955078125e-07, "model_forward_time": 5.101497411727905, "step": 6216 }, { "epoch": 5.92803955078125e-07, "step": 6216, "training_step_time": 17.59549355506897 }, { "epoch": 5.928993225097657e-07, "model_forward_time": 5.326956510543823, "step": 6217 }, { "epoch": 5.928993225097657e-07, "step": 6217, "training_step_time": 17.598555088043213 }, { "epoch": 5.929946899414063e-07, "model_forward_time": 5.096237421035767, "step": 6218 }, { "epoch": 5.929946899414063e-07, "step": 6218, "training_step_time": 17.852054357528687 }, { "epoch": 5.930900573730469e-07, "model_forward_time": 5.094655275344849, "step": 6219 }, { "epoch": 5.930900573730469e-07, "step": 6219, "training_step_time": 17.606239080429077 }, { "epoch": 5.931854248046875e-07, "grad_norm": 1.9282820224761963, "learning_rate": 9.95880754707444e-06, "loss": 0.1163, "step": 6220 }, { "epoch": 5.931854248046875e-07, "model_forward_time": 5.089977502822876, "step": 6220 }, { "dynamics_loss_avg": 0.04673694455996156, "epoch": 5.931854248046875e-07, "step": 6220 }, { "action_loss_avg": 0.07214791402220726, "epoch": 5.931854248046875e-07, "step": 6220 }, { "arm_loss_avg": 0.14352845549583435, "epoch": 5.931854248046875e-07, "step": 6220 }, { "ee_loss_avg": 0.22527102753520012, "epoch": 5.931854248046875e-07, "step": 6220 }, { "aux_loss_avg": 0.026938931859331206, "epoch": 5.931854248046875e-07, "step": 6220 }, { "epoch": 5.931854248046875e-07, "step": 6220, "training_step_time": 17.609524250030518 }, { "epoch": 5.932807922363281e-07, "model_forward_time": 5.087395906448364, "step": 6221 }, { "epoch": 5.932807922363281e-07, "step": 6221, "training_step_time": 17.599299430847168 }, { "epoch": 5.933761596679687e-07, "model_forward_time": 4.060913324356079, "step": 6222 }, { "epoch": 5.933761596679687e-07, "step": 6222, "training_step_time": 17.606470346450806 }, { "epoch": 5.934715270996093e-07, "model_forward_time": 5.0613813400268555, "step": 6223 }, { "epoch": 5.934715270996093e-07, "step": 6223, "training_step_time": 17.79353904724121 }, { "epoch": 5.9356689453125e-07, "model_forward_time": 5.062326908111572, "step": 6224 }, { "epoch": 5.9356689453125e-07, "step": 6224, "training_step_time": 17.624598264694214 }, { "epoch": 5.936622619628907e-07, "model_forward_time": 5.072957992553711, "step": 6225 }, { "epoch": 5.936622619628907e-07, "step": 6225, "training_step_time": 17.579615116119385 }, { "epoch": 5.937576293945313e-07, "model_forward_time": 5.079598665237427, "step": 6226 }, { "epoch": 5.937576293945313e-07, "step": 6226, "training_step_time": 17.579912185668945 }, { "epoch": 5.938529968261719e-07, "model_forward_time": 5.316038370132446, "step": 6227 }, { "epoch": 5.938529968261719e-07, "step": 6227, "training_step_time": 17.574530363082886 }, { "epoch": 5.939483642578125e-07, "model_forward_time": 5.096189737319946, "step": 6228 }, { "epoch": 5.939483642578125e-07, "step": 6228, "training_step_time": 17.796793699264526 }, { "epoch": 5.940437316894531e-07, "model_forward_time": 3.856395959854126, "step": 6229 }, { "epoch": 5.940437316894531e-07, "step": 6229, "training_step_time": 17.574676752090454 }, { "epoch": 5.941390991210937e-07, "grad_norm": 0.6646513342857361, "learning_rate": 9.958504413378494e-06, "loss": 0.1151, "step": 6230 }, { "epoch": 5.941390991210937e-07, "model_forward_time": 5.065548419952393, "step": 6230 }, { "dynamics_loss_avg": 0.04690877655521035, "epoch": 5.941390991210937e-07, "step": 6230 }, { "action_loss_avg": 0.10058850403875112, "epoch": 5.941390991210937e-07, "step": 6230 }, { "arm_loss_avg": 0.20252275243401527, "epoch": 5.941390991210937e-07, "step": 6230 }, { "ee_loss_avg": 0.15955435251817107, "epoch": 5.941390991210937e-07, "step": 6230 }, { "aux_loss_avg": 0.005121859582141041, "epoch": 5.941390991210937e-07, "step": 6230 }, { "epoch": 5.941390991210937e-07, "step": 6230, "training_step_time": 17.575804710388184 }, { "epoch": 5.942344665527344e-07, "model_forward_time": 5.0732667446136475, "step": 6231 }, { "epoch": 5.942344665527344e-07, "step": 6231, "training_step_time": 17.35527729988098 }, { "epoch": 5.94329833984375e-07, "model_forward_time": 5.2755303382873535, "step": 6232 }, { "epoch": 5.94329833984375e-07, "step": 6232, "training_step_time": 17.490809202194214 }, { "epoch": 5.944252014160156e-07, "model_forward_time": 3.8585968017578125, "step": 6233 }, { "epoch": 5.944252014160156e-07, "step": 6233, "training_step_time": 17.748121738433838 }, { "epoch": 5.945205688476562e-07, "model_forward_time": 3.836026191711426, "step": 6234 }, { "epoch": 5.945205688476562e-07, "step": 6234, "training_step_time": 17.62991690635681 }, { "epoch": 5.946159362792969e-07, "model_forward_time": 5.05472993850708, "step": 6235 }, { "epoch": 5.946159362792969e-07, "step": 6235, "training_step_time": 17.58403754234314 }, { "epoch": 5.947113037109375e-07, "model_forward_time": 5.075695514678955, "step": 6236 }, { "epoch": 5.947113037109375e-07, "step": 6236, "training_step_time": 17.615300178527832 }, { "epoch": 5.948066711425782e-07, "model_forward_time": 5.3559229373931885, "step": 6237 }, { "epoch": 5.948066711425782e-07, "step": 6237, "training_step_time": 17.643988132476807 }, { "epoch": 5.949020385742188e-07, "model_forward_time": 5.117334604263306, "step": 6238 }, { "epoch": 5.949020385742188e-07, "step": 6238, "training_step_time": 17.899346113204956 }, { "epoch": 5.949974060058594e-07, "model_forward_time": 5.117995977401733, "step": 6239 }, { "epoch": 5.949974060058594e-07, "step": 6239, "training_step_time": 17.6339008808136 }, { "epoch": 5.950927734375e-07, "grad_norm": 2.200209379196167, "learning_rate": 9.958200173040543e-06, "loss": 0.1099, "step": 6240 }, { "epoch": 5.950927734375e-07, "model_forward_time": 3.8673245906829834, "step": 6240 }, { "dynamics_loss_avg": 0.03026810260489583, "epoch": 5.950927734375e-07, "step": 6240 }, { "action_loss_avg": 0.08661296106874943, "epoch": 5.950927734375e-07, "step": 6240 }, { "arm_loss_avg": 0.1940262109041214, "epoch": 5.950927734375e-07, "step": 6240 }, { "ee_loss_avg": 0.17320481659844517, "epoch": 5.950927734375e-07, "step": 6240 }, { "aux_loss_avg": 0.0008319118293002248, "epoch": 5.950927734375e-07, "step": 6240 }, { "epoch": 5.950927734375e-07, "step": 6240, "training_step_time": 17.534634590148926 }, { "epoch": 5.951881408691406e-07, "model_forward_time": 5.077020883560181, "step": 6241 }, { "epoch": 5.951881408691406e-07, "step": 6241, "training_step_time": 17.55284094810486 }, { "epoch": 5.952835083007812e-07, "model_forward_time": 4.033107280731201, "step": 6242 }, { "epoch": 5.952835083007812e-07, "step": 6242, "training_step_time": 17.59844160079956 }, { "epoch": 5.953788757324218e-07, "model_forward_time": 5.05846643447876, "step": 6243 }, { "epoch": 5.953788757324218e-07, "step": 6243, "training_step_time": 17.60407018661499 }, { "epoch": 5.954742431640625e-07, "model_forward_time": 5.076697826385498, "step": 6244 }, { "epoch": 5.954742431640625e-07, "step": 6244, "training_step_time": 17.72325325012207 }, { "epoch": 5.955696105957032e-07, "model_forward_time": 5.087607145309448, "step": 6245 }, { "epoch": 5.955696105957032e-07, "step": 6245, "training_step_time": 17.5717511177063 }, { "epoch": 5.956649780273438e-07, "model_forward_time": 5.096579551696777, "step": 6246 }, { "epoch": 5.956649780273438e-07, "step": 6246, "training_step_time": 17.608993530273438 }, { "epoch": 5.957603454589844e-07, "model_forward_time": 5.3353564739227295, "step": 6247 }, { "epoch": 5.957603454589844e-07, "step": 6247, "training_step_time": 17.489030599594116 }, { "epoch": 5.95855712890625e-07, "model_forward_time": 5.108321189880371, "step": 6248 }, { "epoch": 5.95855712890625e-07, "step": 6248, "training_step_time": 17.57063341140747 }, { "epoch": 5.959510803222656e-07, "model_forward_time": 5.104820013046265, "step": 6249 }, { "epoch": 5.959510803222656e-07, "step": 6249, "training_step_time": 17.825457096099854 }, { "epoch": 5.960464477539062e-07, "grad_norm": 1.4661316871643066, "learning_rate": 9.957894826128488e-06, "loss": 0.1237, "step": 6250 }, { "epoch": 5.960464477539062e-07, "model_forward_time": 5.102236747741699, "step": 6250 }, { "dynamics_loss_avg": 0.047551211714744565, "epoch": 5.960464477539062e-07, "step": 6250 }, { "action_loss_avg": 0.0987414252012968, "epoch": 5.960464477539062e-07, "step": 6250 }, { "arm_loss_avg": 0.1970342218875885, "epoch": 5.960464477539062e-07, "step": 6250 }, { "ee_loss_avg": 0.1392326969653368, "epoch": 5.960464477539062e-07, "step": 6250 }, { "aux_loss_avg": 0.004075176164042205, "epoch": 5.960464477539062e-07, "step": 6250 }, { "epoch": 5.960464477539062e-07, "step": 6250, "training_step_time": 17.614876985549927 }, { "epoch": 5.961418151855469e-07, "model_forward_time": 5.100637435913086, "step": 6251 }, { "epoch": 5.961418151855469e-07, "step": 6251, "training_step_time": 17.638006687164307 }, { "epoch": 5.962371826171875e-07, "model_forward_time": 5.280228853225708, "step": 6252 }, { "epoch": 5.962371826171875e-07, "step": 6252, "training_step_time": 17.636929273605347 }, { "epoch": 5.963325500488281e-07, "model_forward_time": 5.090873956680298, "step": 6253 }, { "epoch": 5.963325500488281e-07, "step": 6253, "training_step_time": 17.64868474006653 }, { "epoch": 5.964279174804687e-07, "model_forward_time": 5.090661287307739, "step": 6254 }, { "epoch": 5.964279174804687e-07, "step": 6254, "training_step_time": 17.827972173690796 }, { "epoch": 5.965232849121093e-07, "model_forward_time": 5.086589574813843, "step": 6255 }, { "epoch": 5.965232849121093e-07, "step": 6255, "training_step_time": 17.62595272064209 }, { "epoch": 5.9661865234375e-07, "model_forward_time": 5.084825277328491, "step": 6256 }, { "epoch": 5.9661865234375e-07, "step": 6256, "training_step_time": 17.62164831161499 }, { "epoch": 5.967140197753907e-07, "model_forward_time": 5.343803405761719, "step": 6257 }, { "epoch": 5.967140197753907e-07, "step": 6257, "training_step_time": 17.635189056396484 }, { "epoch": 5.968093872070313e-07, "model_forward_time": 5.101949214935303, "step": 6258 }, { "epoch": 5.968093872070313e-07, "step": 6258, "training_step_time": 17.885091543197632 }, { "epoch": 5.969047546386719e-07, "model_forward_time": 5.100233316421509, "step": 6259 }, { "epoch": 5.969047546386719e-07, "step": 6259, "training_step_time": 17.641117334365845 }, { "epoch": 5.970001220703125e-07, "grad_norm": 2.240243434906006, "learning_rate": 9.957588372710477e-06, "loss": 0.1455, "step": 6260 }, { "epoch": 5.970001220703125e-07, "model_forward_time": 3.862236738204956, "step": 6260 }, { "dynamics_loss_avg": 0.07114593964070082, "epoch": 5.970001220703125e-07, "step": 6260 }, { "action_loss_avg": 0.11029202416539192, "epoch": 5.970001220703125e-07, "step": 6260 }, { "arm_loss_avg": 0.17086122408509255, "epoch": 5.970001220703125e-07, "step": 6260 }, { "ee_loss_avg": 0.15917699672281743, "epoch": 5.970001220703125e-07, "step": 6260 }, { "aux_loss_avg": 0.0021582280285656454, "epoch": 5.970001220703125e-07, "step": 6260 }, { "epoch": 5.970001220703125e-07, "step": 6260, "training_step_time": 17.61715054512024 }, { "epoch": 5.970954895019531e-07, "model_forward_time": 5.0604774951934814, "step": 6261 }, { "epoch": 5.970954895019531e-07, "step": 6261, "training_step_time": 18.094738721847534 }, { "epoch": 5.971908569335937e-07, "model_forward_time": 5.265395164489746, "step": 6262 }, { "epoch": 5.971908569335937e-07, "step": 6262, "training_step_time": 17.596335411071777 }, { "epoch": 5.972862243652343e-07, "model_forward_time": 5.085914611816406, "step": 6263 }, { "epoch": 5.972862243652343e-07, "step": 6263, "training_step_time": 17.78712010383606 }, { "epoch": 5.97381591796875e-07, "model_forward_time": 5.08468770980835, "step": 6264 }, { "epoch": 5.97381591796875e-07, "step": 6264, "training_step_time": 17.596819400787354 }, { "epoch": 5.974769592285156e-07, "model_forward_time": 5.092343807220459, "step": 6265 }, { "epoch": 5.974769592285156e-07, "step": 6265, "training_step_time": 17.59526515007019 }, { "epoch": 5.975723266601563e-07, "model_forward_time": 5.0993218421936035, "step": 6266 }, { "epoch": 5.975723266601563e-07, "step": 6266, "training_step_time": 17.59875774383545 }, { "epoch": 5.976676940917969e-07, "model_forward_time": 4.073199510574341, "step": 6267 }, { "epoch": 5.976676940917969e-07, "step": 6267, "training_step_time": 17.597668647766113 }, { "epoch": 5.977630615234375e-07, "model_forward_time": 3.8368759155273438, "step": 6268 }, { "epoch": 5.977630615234375e-07, "step": 6268, "training_step_time": 17.816843032836914 }, { "epoch": 5.978584289550781e-07, "model_forward_time": 5.057626008987427, "step": 6269 }, { "epoch": 5.978584289550781e-07, "step": 6269, "training_step_time": 17.413155555725098 }, { "epoch": 5.979537963867188e-07, "grad_norm": 1.5883121490478516, "learning_rate": 9.9572808128549e-06, "loss": 0.1663, "step": 6270 }, { "epoch": 5.979537963867188e-07, "model_forward_time": 5.072773456573486, "step": 6270 }, { "dynamics_loss_avg": 0.05377866979688406, "epoch": 5.979537963867188e-07, "step": 6270 }, { "action_loss_avg": 0.12514000497758387, "epoch": 5.979537963867188e-07, "step": 6270 }, { "arm_loss_avg": 0.17277216762304307, "epoch": 5.979537963867188e-07, "step": 6270 }, { "ee_loss_avg": 0.13093113228678704, "epoch": 5.979537963867188e-07, "step": 6270 }, { "aux_loss_avg": 0.0016923849936574698, "epoch": 5.979537963867188e-07, "step": 6270 }, { "epoch": 5.979537963867188e-07, "step": 6270, "training_step_time": 17.52361559867859 }, { "epoch": 5.980491638183594e-07, "model_forward_time": 5.085093021392822, "step": 6271 }, { "epoch": 5.980491638183594e-07, "step": 6271, "training_step_time": 17.56760263442993 }, { "epoch": 5.9814453125e-07, "model_forward_time": 5.3108038902282715, "step": 6272 }, { "epoch": 5.9814453125e-07, "step": 6272, "training_step_time": 17.58514904975891 }, { "epoch": 5.982398986816406e-07, "model_forward_time": 5.104437351226807, "step": 6273 }, { "epoch": 5.982398986816406e-07, "step": 6273, "training_step_time": 17.82810616493225 }, { "epoch": 5.983352661132812e-07, "model_forward_time": 5.10303807258606, "step": 6274 }, { "epoch": 5.983352661132812e-07, "step": 6274, "training_step_time": 17.611164569854736 }, { "epoch": 5.984306335449218e-07, "model_forward_time": 5.101843357086182, "step": 6275 }, { "epoch": 5.984306335449218e-07, "step": 6275, "training_step_time": 17.62336540222168 }, { "epoch": 5.985260009765625e-07, "model_forward_time": 5.0952229499816895, "step": 6276 }, { "epoch": 5.985260009765625e-07, "step": 6276, "training_step_time": 17.620177030563354 }, { "epoch": 5.986213684082032e-07, "model_forward_time": 5.089908123016357, "step": 6277 }, { "epoch": 5.986213684082032e-07, "step": 6277, "training_step_time": 17.615867137908936 }, { "epoch": 5.987167358398438e-07, "model_forward_time": 5.089584589004517, "step": 6278 }, { "epoch": 5.987167358398438e-07, "step": 6278, "training_step_time": 17.866204261779785 }, { "epoch": 5.988121032714844e-07, "model_forward_time": 5.08488917350769, "step": 6279 }, { "epoch": 5.988121032714844e-07, "step": 6279, "training_step_time": 17.615164518356323 }, { "epoch": 5.98907470703125e-07, "grad_norm": 1.669653296470642, "learning_rate": 9.956972146630405e-06, "loss": 0.1452, "step": 6280 }, { "epoch": 5.98907470703125e-07, "model_forward_time": 5.0833282470703125, "step": 6280 }, { "dynamics_loss_avg": 0.057462085783481595, "epoch": 5.98907470703125e-07, "step": 6280 }, { "action_loss_avg": 0.11015641503036022, "epoch": 5.98907470703125e-07, "step": 6280 }, { "arm_loss_avg": 0.16697285920381547, "epoch": 5.98907470703125e-07, "step": 6280 }, { "ee_loss_avg": 0.1325947966426611, "epoch": 5.98907470703125e-07, "step": 6280 }, { "aux_loss_avg": 0.0016035569715313613, "epoch": 5.98907470703125e-07, "step": 6280 }, { "epoch": 5.98907470703125e-07, "step": 6280, "training_step_time": 17.607826232910156 }, { "epoch": 5.990028381347656e-07, "model_forward_time": 5.086220026016235, "step": 6281 }, { "epoch": 5.990028381347656e-07, "step": 6281, "training_step_time": 17.607067346572876 }, { "epoch": 5.990982055664062e-07, "model_forward_time": 5.2799882888793945, "step": 6282 }, { "epoch": 5.990982055664062e-07, "step": 6282, "training_step_time": 17.605112552642822 }, { "epoch": 5.991935729980468e-07, "model_forward_time": 5.086167335510254, "step": 6283 }, { "epoch": 5.991935729980468e-07, "step": 6283, "training_step_time": 17.803014755249023 }, { "epoch": 5.992889404296875e-07, "model_forward_time": 5.085232496261597, "step": 6284 }, { "epoch": 5.992889404296875e-07, "step": 6284, "training_step_time": 17.59646201133728 }, { "epoch": 5.993843078613281e-07, "model_forward_time": 5.086143493652344, "step": 6285 }, { "epoch": 5.993843078613281e-07, "step": 6285, "training_step_time": 17.585846662521362 }, { "epoch": 5.994796752929688e-07, "model_forward_time": 5.090195178985596, "step": 6286 }, { "epoch": 5.994796752929688e-07, "step": 6286, "training_step_time": 17.589836835861206 }, { "epoch": 5.995750427246094e-07, "model_forward_time": 3.8556506633758545, "step": 6287 }, { "epoch": 5.995750427246094e-07, "step": 6287, "training_step_time": 17.413559436798096 }, { "epoch": 5.9967041015625e-07, "model_forward_time": 5.30234956741333, "step": 6288 }, { "epoch": 5.9967041015625e-07, "step": 6288, "training_step_time": 17.485775470733643 }, { "epoch": 5.997657775878906e-07, "model_forward_time": 3.8406624794006348, "step": 6289 }, { "epoch": 5.997657775878906e-07, "step": 6289, "training_step_time": 17.61212944984436 }, { "epoch": 5.998611450195313e-07, "grad_norm": 1.8862563371658325, "learning_rate": 9.956662374105876e-06, "loss": 0.1384, "step": 6290 }, { "epoch": 5.998611450195313e-07, "model_forward_time": 5.060256719589233, "step": 6290 }, { "dynamics_loss_avg": 0.05768222324550152, "epoch": 5.998611450195313e-07, "step": 6290 }, { "action_loss_avg": 0.11398212388157844, "epoch": 5.998611450195313e-07, "step": 6290 }, { "arm_loss_avg": 0.18556746318936349, "epoch": 5.998611450195313e-07, "step": 6290 }, { "ee_loss_avg": 0.13645316176116468, "epoch": 5.998611450195313e-07, "step": 6290 }, { "aux_loss_avg": 0.0011783090245444327, "epoch": 5.998611450195313e-07, "step": 6290 }, { "epoch": 5.998611450195313e-07, "step": 6290, "training_step_time": 17.432974576950073 }, { "epoch": 5.999565124511719e-07, "model_forward_time": 5.072833061218262, "step": 6291 }, { "epoch": 5.999565124511719e-07, "step": 6291, "training_step_time": 17.502937078475952 }, { "epoch": 6.000518798828125e-07, "model_forward_time": 5.284259557723999, "step": 6292 }, { "epoch": 6.000518798828125e-07, "step": 6292, "training_step_time": 17.5821475982666 }, { "epoch": 6.001472473144531e-07, "model_forward_time": 5.095939874649048, "step": 6293 }, { "epoch": 6.001472473144531e-07, "step": 6293, "training_step_time": 17.64029812812805 }, { "epoch": 6.002426147460937e-07, "model_forward_time": 3.8623392581939697, "step": 6294 }, { "epoch": 6.002426147460937e-07, "step": 6294, "training_step_time": 17.835158109664917 }, { "epoch": 6.003379821777343e-07, "model_forward_time": 5.068551301956177, "step": 6295 }, { "epoch": 6.003379821777343e-07, "step": 6295, "training_step_time": 17.602033853530884 }, { "epoch": 6.00433349609375e-07, "model_forward_time": 5.087997913360596, "step": 6296 }, { "epoch": 6.00433349609375e-07, "step": 6296, "training_step_time": 17.63878607749939 }, { "epoch": 6.005287170410157e-07, "model_forward_time": 5.090435743331909, "step": 6297 }, { "epoch": 6.005287170410157e-07, "step": 6297, "training_step_time": 17.62674856185913 }, { "epoch": 6.006240844726563e-07, "model_forward_time": 5.334505081176758, "step": 6298 }, { "epoch": 6.006240844726563e-07, "step": 6298, "training_step_time": 17.616814851760864 }, { "epoch": 6.007194519042969e-07, "model_forward_time": 3.8583273887634277, "step": 6299 }, { "epoch": 6.007194519042969e-07, "step": 6299, "training_step_time": 17.83918595314026 }, { "epoch": 6.008148193359375e-07, "grad_norm": 2.3574588298797607, "learning_rate": 9.956351495350449e-06, "loss": 0.1282, "step": 6300 }, { "epoch": 6.008148193359375e-07, "model_forward_time": 5.065807104110718, "step": 6300 }, { "dynamics_loss_avg": 0.046621672715991734, "epoch": 6.008148193359375e-07, "step": 6300 }, { "action_loss_avg": 0.10371986664831638, "epoch": 6.008148193359375e-07, "step": 6300 }, { "arm_loss_avg": 0.2185739502310753, "epoch": 6.008148193359375e-07, "step": 6300 }, { "ee_loss_avg": 0.154057808406651, "epoch": 6.008148193359375e-07, "step": 6300 }, { "aux_loss_avg": 0.012627254356630147, "epoch": 6.008148193359375e-07, "step": 6300 }, { "epoch": 6.008148193359375e-07, "step": 6300, "training_step_time": 17.591655731201172 }, { "epoch": 6.009101867675781e-07, "model_forward_time": 5.073551177978516, "step": 6301 }, { "epoch": 6.009101867675781e-07, "step": 6301, "training_step_time": 17.587651252746582 }, { "epoch": 6.010055541992187e-07, "model_forward_time": 5.081076145172119, "step": 6302 }, { "epoch": 6.010055541992187e-07, "step": 6302, "training_step_time": 17.576794147491455 }, { "epoch": 6.011009216308593e-07, "model_forward_time": 5.279465675354004, "step": 6303 }, { "epoch": 6.011009216308593e-07, "step": 6303, "training_step_time": 17.569775342941284 }, { "epoch": 6.011962890625e-07, "model_forward_time": 5.096259832382202, "step": 6304 }, { "epoch": 6.011962890625e-07, "step": 6304, "training_step_time": 17.801921606063843 }, { "epoch": 6.012916564941406e-07, "model_forward_time": 5.093995094299316, "step": 6305 }, { "epoch": 6.012916564941406e-07, "step": 6305, "training_step_time": 17.57260251045227 }, { "epoch": 6.013870239257813e-07, "model_forward_time": 5.0909340381622314, "step": 6306 }, { "epoch": 6.013870239257813e-07, "step": 6306, "training_step_time": 17.403127193450928 }, { "epoch": 6.014823913574219e-07, "model_forward_time": 5.091620206832886, "step": 6307 }, { "epoch": 6.014823913574219e-07, "step": 6307, "training_step_time": 17.49990439414978 }, { "epoch": 6.015777587890625e-07, "model_forward_time": 5.090367078781128, "step": 6308 }, { "epoch": 6.015777587890625e-07, "step": 6308, "training_step_time": 17.545392513275146 }, { "epoch": 6.016731262207031e-07, "model_forward_time": 5.084000825881958, "step": 6309 }, { "epoch": 6.016731262207031e-07, "step": 6309, "training_step_time": 17.80860161781311 }, { "epoch": 6.017684936523438e-07, "grad_norm": 1.7776565551757812, "learning_rate": 9.956039510433509e-06, "loss": 0.1288, "step": 6310 }, { "epoch": 6.017684936523438e-07, "model_forward_time": 3.848342180252075, "step": 6310 }, { "dynamics_loss_avg": 0.05456060227006674, "epoch": 6.017684936523438e-07, "step": 6310 }, { "action_loss_avg": 0.10918109938502311, "epoch": 6.017684936523438e-07, "step": 6310 }, { "arm_loss_avg": 0.16317530050873758, "epoch": 6.017684936523438e-07, "step": 6310 }, { "ee_loss_avg": 0.15351865030825138, "epoch": 6.017684936523438e-07, "step": 6310 }, { "aux_loss_avg": 0.006793947366531938, "epoch": 6.017684936523438e-07, "step": 6310 }, { "epoch": 6.017684936523438e-07, "step": 6310, "training_step_time": 17.585641622543335 }, { "epoch": 6.018638610839844e-07, "model_forward_time": 5.057109832763672, "step": 6311 }, { "epoch": 6.018638610839844e-07, "step": 6311, "training_step_time": 17.600720405578613 }, { "epoch": 6.01959228515625e-07, "model_forward_time": 5.063432693481445, "step": 6312 }, { "epoch": 6.01959228515625e-07, "step": 6312, "training_step_time": 17.60859441757202 }, { "epoch": 6.020545959472656e-07, "model_forward_time": 5.291602611541748, "step": 6313 }, { "epoch": 6.020545959472656e-07, "step": 6313, "training_step_time": 17.382007837295532 }, { "epoch": 6.021499633789062e-07, "model_forward_time": 3.8485302925109863, "step": 6314 }, { "epoch": 6.021499633789062e-07, "step": 6314, "training_step_time": 17.7139835357666 }, { "epoch": 6.022453308105468e-07, "model_forward_time": 5.057764291763306, "step": 6315 }, { "epoch": 6.022453308105468e-07, "step": 6315, "training_step_time": 17.5526704788208 }, { "epoch": 6.023406982421875e-07, "model_forward_time": 5.079228162765503, "step": 6316 }, { "epoch": 6.023406982421875e-07, "step": 6316, "training_step_time": 17.384507656097412 }, { "epoch": 6.024360656738282e-07, "model_forward_time": 5.090141534805298, "step": 6317 }, { "epoch": 6.024360656738282e-07, "step": 6317, "training_step_time": 17.50163984298706 }, { "epoch": 6.025314331054688e-07, "model_forward_time": 5.33768892288208, "step": 6318 }, { "epoch": 6.025314331054688e-07, "step": 6318, "training_step_time": 17.612510442733765 }, { "epoch": 6.026268005371094e-07, "model_forward_time": 5.097100257873535, "step": 6319 }, { "epoch": 6.026268005371094e-07, "step": 6319, "training_step_time": 17.824825286865234 }, { "epoch": 6.0272216796875e-07, "grad_norm": 1.3382771015167236, "learning_rate": 9.955726419424679e-06, "loss": 0.1167, "step": 6320 }, { "epoch": 6.0272216796875e-07, "model_forward_time": 5.098509311676025, "step": 6320 }, { "dynamics_loss_avg": 0.04802893712185323, "epoch": 6.0272216796875e-07, "step": 6320 }, { "action_loss_avg": 0.08786784522235394, "epoch": 6.0272216796875e-07, "step": 6320 }, { "arm_loss_avg": 0.21026096493005753, "epoch": 6.0272216796875e-07, "step": 6320 }, { "ee_loss_avg": 0.16385040618479252, "epoch": 6.0272216796875e-07, "step": 6320 }, { "aux_loss_avg": 0.0009238493978045881, "epoch": 6.0272216796875e-07, "step": 6320 }, { "epoch": 6.0272216796875e-07, "step": 6320, "training_step_time": 17.612982034683228 }, { "epoch": 6.028175354003906e-07, "model_forward_time": 5.098077297210693, "step": 6321 }, { "epoch": 6.028175354003906e-07, "step": 6321, "training_step_time": 17.633119344711304 }, { "epoch": 6.029129028320312e-07, "model_forward_time": 5.09452486038208, "step": 6322 }, { "epoch": 6.029129028320312e-07, "step": 6322, "training_step_time": 17.64047622680664 }, { "epoch": 6.030082702636718e-07, "model_forward_time": 5.096191883087158, "step": 6323 }, { "epoch": 6.030082702636718e-07, "step": 6323, "training_step_time": 17.858514308929443 }, { "epoch": 6.031036376953125e-07, "model_forward_time": 5.088094234466553, "step": 6324 }, { "epoch": 6.031036376953125e-07, "step": 6324, "training_step_time": 17.396743297576904 }, { "epoch": 6.031990051269531e-07, "model_forward_time": 5.088927745819092, "step": 6325 }, { "epoch": 6.031990051269531e-07, "step": 6325, "training_step_time": 17.538643836975098 }, { "epoch": 6.032943725585938e-07, "model_forward_time": 5.087300062179565, "step": 6326 }, { "epoch": 6.032943725585938e-07, "step": 6326, "training_step_time": 17.389915704727173 }, { "epoch": 6.033897399902344e-07, "model_forward_time": 5.329575777053833, "step": 6327 }, { "epoch": 6.033897399902344e-07, "step": 6327, "training_step_time": 17.504018783569336 }, { "epoch": 6.03485107421875e-07, "model_forward_time": 5.088960886001587, "step": 6328 }, { "epoch": 6.03485107421875e-07, "step": 6328, "training_step_time": 17.586878061294556 }, { "epoch": 6.035804748535156e-07, "model_forward_time": 5.087557792663574, "step": 6329 }, { "epoch": 6.035804748535156e-07, "step": 6329, "training_step_time": 17.825016736984253 }, { "epoch": 6.036758422851563e-07, "grad_norm": 3.0821125507354736, "learning_rate": 9.955412222393839e-06, "loss": 0.1242, "step": 6330 }, { "epoch": 6.036758422851563e-07, "model_forward_time": 5.083281755447388, "step": 6330 }, { "dynamics_loss_avg": 0.04230540441349149, "epoch": 6.036758422851563e-07, "step": 6330 }, { "action_loss_avg": 0.10488452054560185, "epoch": 6.036758422851563e-07, "step": 6330 }, { "arm_loss_avg": 0.18214308694005013, "epoch": 6.036758422851563e-07, "step": 6330 }, { "ee_loss_avg": 0.1390727050602436, "epoch": 6.036758422851563e-07, "step": 6330 }, { "aux_loss_avg": 0.0009584923856891692, "epoch": 6.036758422851563e-07, "step": 6330 }, { "epoch": 6.036758422851563e-07, "step": 6330, "training_step_time": 17.614691257476807 }, { "epoch": 6.037712097167969e-07, "model_forward_time": 5.084576368331909, "step": 6331 }, { "epoch": 6.037712097167969e-07, "step": 6331, "training_step_time": 17.625704526901245 }, { "epoch": 6.038665771484375e-07, "model_forward_time": 5.289423227310181, "step": 6332 }, { "epoch": 6.038665771484375e-07, "step": 6332, "training_step_time": 17.638888120651245 }, { "epoch": 6.039619445800781e-07, "model_forward_time": 5.0883400440216064, "step": 6333 }, { "epoch": 6.039619445800781e-07, "step": 6333, "training_step_time": 17.629355669021606 }, { "epoch": 6.040573120117187e-07, "model_forward_time": 5.088403701782227, "step": 6334 }, { "epoch": 6.040573120117187e-07, "step": 6334, "training_step_time": 17.82010793685913 }, { "epoch": 6.041526794433593e-07, "model_forward_time": 5.089023113250732, "step": 6335 }, { "epoch": 6.041526794433593e-07, "step": 6335, "training_step_time": 17.619900703430176 }, { "epoch": 6.04248046875e-07, "model_forward_time": 5.090093612670898, "step": 6336 }, { "epoch": 6.04248046875e-07, "step": 6336, "training_step_time": 17.612462520599365 }, { "epoch": 6.043434143066407e-07, "model_forward_time": 3.8548738956451416, "step": 6337 }, { "epoch": 6.043434143066407e-07, "step": 6337, "training_step_time": 17.60161828994751 }, { "epoch": 6.044387817382813e-07, "model_forward_time": 5.298668384552002, "step": 6338 }, { "epoch": 6.044387817382813e-07, "step": 6338, "training_step_time": 17.62814164161682 }, { "epoch": 6.045341491699219e-07, "model_forward_time": 5.079625606536865, "step": 6339 }, { "epoch": 6.045341491699219e-07, "step": 6339, "training_step_time": 17.74379539489746 }, { "epoch": 6.046295166015625e-07, "grad_norm": 1.567565679550171, "learning_rate": 9.955096919411111e-06, "loss": 0.12, "step": 6340 }, { "epoch": 6.046295166015625e-07, "model_forward_time": 5.084673643112183, "step": 6340 }, { "dynamics_loss_avg": 0.041202105954289435, "epoch": 6.046295166015625e-07, "step": 6340 }, { "action_loss_avg": 0.08663722053170204, "epoch": 6.046295166015625e-07, "step": 6340 }, { "arm_loss_avg": 0.173423158377409, "epoch": 6.046295166015625e-07, "step": 6340 }, { "ee_loss_avg": 0.16204459108412267, "epoch": 6.046295166015625e-07, "step": 6340 }, { "aux_loss_avg": 0.0028904632024932654, "epoch": 6.046295166015625e-07, "step": 6340 }, { "epoch": 6.046295166015625e-07, "step": 6340, "training_step_time": 17.543744802474976 }, { "epoch": 6.047248840332031e-07, "model_forward_time": 5.088444948196411, "step": 6341 }, { "epoch": 6.047248840332031e-07, "step": 6341, "training_step_time": 17.56144070625305 }, { "epoch": 6.048202514648437e-07, "model_forward_time": 5.096073150634766, "step": 6342 }, { "epoch": 6.048202514648437e-07, "step": 6342, "training_step_time": 17.453492641448975 }, { "epoch": 6.049156188964844e-07, "model_forward_time": 5.100364923477173, "step": 6343 }, { "epoch": 6.049156188964844e-07, "step": 6343, "training_step_time": 17.628488779067993 }, { "epoch": 6.05010986328125e-07, "model_forward_time": 5.099612236022949, "step": 6344 }, { "epoch": 6.05010986328125e-07, "step": 6344, "training_step_time": 17.760390281677246 }, { "epoch": 6.051063537597656e-07, "model_forward_time": 5.092723369598389, "step": 6345 }, { "epoch": 6.051063537597656e-07, "step": 6345, "training_step_time": 17.600159406661987 }, { "epoch": 6.052017211914063e-07, "model_forward_time": 5.089951276779175, "step": 6346 }, { "epoch": 6.052017211914063e-07, "step": 6346, "training_step_time": 17.22528100013733 }, { "epoch": 6.052970886230469e-07, "model_forward_time": 5.330579519271851, "step": 6347 }, { "epoch": 6.052970886230469e-07, "step": 6347, "training_step_time": 17.554328203201294 }, { "epoch": 6.053924560546875e-07, "model_forward_time": 5.090816497802734, "step": 6348 }, { "epoch": 6.053924560546875e-07, "step": 6348, "training_step_time": 17.595895528793335 }, { "epoch": 6.054878234863281e-07, "model_forward_time": 5.0889832973480225, "step": 6349 }, { "epoch": 6.054878234863281e-07, "step": 6349, "training_step_time": 17.84461522102356 }, { "epoch": 6.055831909179688e-07, "grad_norm": 1.9303866624832153, "learning_rate": 9.954780510546866e-06, "loss": 0.1413, "step": 6350 }, { "epoch": 6.055831909179688e-07, "model_forward_time": 5.0842201709747314, "step": 6350 }, { "dynamics_loss_avg": 0.04976647309958935, "epoch": 6.055831909179688e-07, "step": 6350 }, { "action_loss_avg": 0.10685913898050785, "epoch": 6.055831909179688e-07, "step": 6350 }, { "arm_loss_avg": 0.15999571681022645, "epoch": 6.055831909179688e-07, "step": 6350 }, { "ee_loss_avg": 0.11379366889595985, "epoch": 6.055831909179688e-07, "step": 6350 }, { "aux_loss_avg": 0.0020546431245747955, "epoch": 6.055831909179688e-07, "step": 6350 }, { "epoch": 6.055831909179688e-07, "step": 6350, "training_step_time": 17.37964391708374 }, { "epoch": 6.056785583496094e-07, "model_forward_time": 5.0890984535217285, "step": 6351 }, { "epoch": 6.056785583496094e-07, "step": 6351, "training_step_time": 17.54242777824402 }, { "epoch": 6.0577392578125e-07, "model_forward_time": 3.850736141204834, "step": 6352 }, { "epoch": 6.0577392578125e-07, "step": 6352, "training_step_time": 17.56973123550415 }, { "epoch": 6.058692932128906e-07, "model_forward_time": 5.296998977661133, "step": 6353 }, { "epoch": 6.058692932128906e-07, "step": 6353, "training_step_time": 17.65789771080017 }, { "epoch": 6.059646606445312e-07, "model_forward_time": 5.068343162536621, "step": 6354 }, { "epoch": 6.059646606445312e-07, "step": 6354, "training_step_time": 17.79083013534546 }, { "epoch": 6.060600280761718e-07, "model_forward_time": 5.07620906829834, "step": 6355 }, { "epoch": 6.060600280761718e-07, "step": 6355, "training_step_time": 17.618922472000122 }, { "epoch": 6.061553955078126e-07, "model_forward_time": 5.088383913040161, "step": 6356 }, { "epoch": 6.061553955078126e-07, "step": 6356, "training_step_time": 17.40114712715149 }, { "epoch": 6.062507629394532e-07, "model_forward_time": 5.099291086196899, "step": 6357 }, { "epoch": 6.062507629394532e-07, "step": 6357, "training_step_time": 17.539228200912476 }, { "epoch": 6.063461303710938e-07, "model_forward_time": 5.102593421936035, "step": 6358 }, { "epoch": 6.063461303710938e-07, "step": 6358, "training_step_time": 17.613344430923462 }, { "epoch": 6.064414978027344e-07, "model_forward_time": 5.104809284210205, "step": 6359 }, { "epoch": 6.064414978027344e-07, "step": 6359, "training_step_time": 17.82770276069641 }, { "epoch": 6.06536865234375e-07, "grad_norm": 2.4853708744049072, "learning_rate": 9.954462995871717e-06, "loss": 0.1218, "step": 6360 }, { "epoch": 6.06536865234375e-07, "model_forward_time": 5.100250005722046, "step": 6360 }, { "dynamics_loss_avg": 0.04811953166499734, "epoch": 6.06536865234375e-07, "step": 6360 }, { "action_loss_avg": 0.09902703203260899, "epoch": 6.06536865234375e-07, "step": 6360 }, { "arm_loss_avg": 0.1743708372116089, "epoch": 6.06536865234375e-07, "step": 6360 }, { "ee_loss_avg": 0.0995114203542471, "epoch": 6.06536865234375e-07, "step": 6360 }, { "aux_loss_avg": 0.0008504860626999289, "epoch": 6.06536865234375e-07, "step": 6360 }, { "epoch": 6.06536865234375e-07, "step": 6360, "training_step_time": 17.385722398757935 }, { "epoch": 6.066322326660156e-07, "model_forward_time": 5.0998334884643555, "step": 6361 }, { "epoch": 6.066322326660156e-07, "step": 6361, "training_step_time": 17.54028010368347 }, { "epoch": 6.067276000976562e-07, "model_forward_time": 5.096952438354492, "step": 6362 }, { "epoch": 6.067276000976562e-07, "step": 6362, "training_step_time": 17.5744206905365 }, { "epoch": 6.068229675292969e-07, "model_forward_time": 5.089465856552124, "step": 6363 }, { "epoch": 6.068229675292969e-07, "step": 6363, "training_step_time": 17.621067762374878 }, { "epoch": 6.069183349609375e-07, "model_forward_time": 5.091202020645142, "step": 6364 }, { "epoch": 6.069183349609375e-07, "step": 6364, "training_step_time": 17.795811891555786 }, { "epoch": 6.070137023925781e-07, "model_forward_time": 3.8496315479278564, "step": 6365 }, { "epoch": 6.070137023925781e-07, "step": 6365, "training_step_time": 17.303582191467285 }, { "epoch": 6.071090698242188e-07, "model_forward_time": 5.056754112243652, "step": 6366 }, { "epoch": 6.071090698242188e-07, "step": 6366, "training_step_time": 17.340219259262085 }, { "epoch": 6.072044372558594e-07, "model_forward_time": 5.068631887435913, "step": 6367 }, { "epoch": 6.072044372558594e-07, "step": 6367, "training_step_time": 17.485174655914307 }, { "epoch": 6.072998046875e-07, "model_forward_time": 5.076830863952637, "step": 6368 }, { "epoch": 6.072998046875e-07, "step": 6368, "training_step_time": 17.54347586631775 }, { "epoch": 6.073951721191406e-07, "model_forward_time": 5.08495569229126, "step": 6369 }, { "epoch": 6.073951721191406e-07, "step": 6369, "training_step_time": 17.813366174697876 }, { "epoch": 6.074905395507813e-07, "grad_norm": 3.8261849880218506, "learning_rate": 9.954144375456531e-06, "loss": 0.1446, "step": 6370 }, { "epoch": 6.074905395507813e-07, "model_forward_time": 5.089063405990601, "step": 6370 }, { "dynamics_loss_avg": 0.06042654742486775, "epoch": 6.074905395507813e-07, "step": 6370 }, { "action_loss_avg": 0.10097297485917807, "epoch": 6.074905395507813e-07, "step": 6370 }, { "arm_loss_avg": 0.15318073891103268, "epoch": 6.074905395507813e-07, "step": 6370 }, { "ee_loss_avg": 0.15008633993566037, "epoch": 6.074905395507813e-07, "step": 6370 }, { "aux_loss_avg": 0.0014416042540688068, "epoch": 6.074905395507813e-07, "step": 6370 }, { "epoch": 6.074905395507813e-07, "step": 6370, "training_step_time": 17.375849962234497 }, { "epoch": 6.075859069824219e-07, "model_forward_time": 5.094875335693359, "step": 6371 }, { "epoch": 6.075859069824219e-07, "step": 6371, "training_step_time": 17.527472019195557 }, { "epoch": 6.076812744140625e-07, "model_forward_time": 5.302201747894287, "step": 6372 }, { "epoch": 6.076812744140625e-07, "step": 6372, "training_step_time": 17.583956718444824 }, { "epoch": 6.077766418457031e-07, "model_forward_time": 5.0984015464782715, "step": 6373 }, { "epoch": 6.077766418457031e-07, "step": 6373, "training_step_time": 17.61528444290161 }, { "epoch": 6.078720092773437e-07, "model_forward_time": 3.8590493202209473, "step": 6374 }, { "epoch": 6.078720092773437e-07, "step": 6374, "training_step_time": 17.82487416267395 }, { "epoch": 6.079673767089843e-07, "model_forward_time": 3.8309402465820312, "step": 6375 }, { "epoch": 6.079673767089843e-07, "step": 6375, "training_step_time": 17.64380407333374 }, { "epoch": 6.08062744140625e-07, "model_forward_time": 5.050737619400024, "step": 6376 }, { "epoch": 6.08062744140625e-07, "step": 6376, "training_step_time": 17.643370866775513 }, { "epoch": 6.081581115722657e-07, "model_forward_time": 5.064496994018555, "step": 6377 }, { "epoch": 6.081581115722657e-07, "step": 6377, "training_step_time": 17.632555723190308 }, { "epoch": 6.082534790039063e-07, "model_forward_time": 5.310730457305908, "step": 6378 }, { "epoch": 6.082534790039063e-07, "step": 6378, "training_step_time": 17.622880458831787 }, { "epoch": 6.083488464355469e-07, "model_forward_time": 5.094704627990723, "step": 6379 }, { "epoch": 6.083488464355469e-07, "step": 6379, "training_step_time": 17.840298652648926 }, { "epoch": 6.084442138671875e-07, "grad_norm": 1.162712812423706, "learning_rate": 9.953824649372415e-06, "loss": 0.1405, "step": 6380 }, { "epoch": 6.084442138671875e-07, "model_forward_time": 5.101221799850464, "step": 6380 }, { "dynamics_loss_avg": 0.05201290715485811, "epoch": 6.084442138671875e-07, "step": 6380 }, { "action_loss_avg": 0.11846893168985843, "epoch": 6.084442138671875e-07, "step": 6380 }, { "arm_loss_avg": 0.18221546784043313, "epoch": 6.084442138671875e-07, "step": 6380 }, { "ee_loss_avg": 0.1562670137733221, "epoch": 6.084442138671875e-07, "step": 6380 }, { "aux_loss_avg": 0.0016150261275470258, "epoch": 6.084442138671875e-07, "step": 6380 }, { "epoch": 6.084442138671875e-07, "step": 6380, "training_step_time": 17.59525775909424 }, { "epoch": 6.085395812988281e-07, "model_forward_time": 5.105034351348877, "step": 6381 }, { "epoch": 6.085395812988281e-07, "step": 6381, "training_step_time": 17.585252046585083 }, { "epoch": 6.086349487304687e-07, "model_forward_time": 5.103376388549805, "step": 6382 }, { "epoch": 6.086349487304687e-07, "step": 6382, "training_step_time": 17.589983701705933 }, { "epoch": 6.087303161621094e-07, "model_forward_time": 5.287083864212036, "step": 6383 }, { "epoch": 6.087303161621094e-07, "step": 6383, "training_step_time": 17.596101760864258 }, { "epoch": 6.0882568359375e-07, "model_forward_time": 5.100546598434448, "step": 6384 }, { "epoch": 6.0882568359375e-07, "step": 6384, "training_step_time": 17.78658390045166 }, { "epoch": 6.089210510253906e-07, "model_forward_time": 5.092628479003906, "step": 6385 }, { "epoch": 6.089210510253906e-07, "step": 6385, "training_step_time": 17.58447504043579 }, { "epoch": 6.090164184570312e-07, "model_forward_time": 5.087356328964233, "step": 6386 }, { "epoch": 6.090164184570312e-07, "step": 6386, "training_step_time": 17.584128379821777 }, { "epoch": 6.091117858886719e-07, "model_forward_time": 3.853642702102661, "step": 6387 }, { "epoch": 6.091117858886719e-07, "step": 6387, "training_step_time": 17.57972264289856 }, { "epoch": 6.092071533203125e-07, "model_forward_time": 5.299134254455566, "step": 6388 }, { "epoch": 6.092071533203125e-07, "step": 6388, "training_step_time": 17.591747045516968 }, { "epoch": 6.093025207519531e-07, "model_forward_time": 5.06948709487915, "step": 6389 }, { "epoch": 6.093025207519531e-07, "step": 6389, "training_step_time": 17.81324601173401 }, { "epoch": 6.093978881835938e-07, "grad_norm": 2.333338499069214, "learning_rate": 9.953503817690723e-06, "loss": 0.1247, "step": 6390 }, { "epoch": 6.093978881835938e-07, "model_forward_time": 5.075224876403809, "step": 6390 }, { "dynamics_loss_avg": 0.04261780139058828, "epoch": 6.093978881835938e-07, "step": 6390 }, { "action_loss_avg": 0.09888730049133301, "epoch": 6.093978881835938e-07, "step": 6390 }, { "arm_loss_avg": 0.1690680216997862, "epoch": 6.093978881835938e-07, "step": 6390 }, { "ee_loss_avg": 0.15074250437319278, "epoch": 6.093978881835938e-07, "step": 6390 }, { "aux_loss_avg": 0.0031844523968175054, "epoch": 6.093978881835938e-07, "step": 6390 }, { "epoch": 6.093978881835938e-07, "step": 6390, "training_step_time": 17.593169689178467 }, { "epoch": 6.094932556152344e-07, "model_forward_time": 5.082736492156982, "step": 6391 }, { "epoch": 6.094932556152344e-07, "step": 6391, "training_step_time": 17.588716745376587 }, { "epoch": 6.09588623046875e-07, "model_forward_time": 5.096390008926392, "step": 6392 }, { "epoch": 6.09588623046875e-07, "step": 6392, "training_step_time": 17.583508014678955 }, { "epoch": 6.096839904785156e-07, "model_forward_time": 3.862009048461914, "step": 6393 }, { "epoch": 6.096839904785156e-07, "step": 6393, "training_step_time": 17.59787368774414 }, { "epoch": 6.097793579101562e-07, "model_forward_time": 5.067940711975098, "step": 6394 }, { "epoch": 6.097793579101562e-07, "step": 6394, "training_step_time": 17.82271385192871 }, { "epoch": 6.098747253417968e-07, "model_forward_time": 5.078521966934204, "step": 6395 }, { "epoch": 6.098747253417968e-07, "step": 6395, "training_step_time": 17.588111400604248 }, { "epoch": 6.099700927734374e-07, "model_forward_time": 5.092778444290161, "step": 6396 }, { "epoch": 6.099700927734374e-07, "step": 6396, "training_step_time": 17.596483945846558 }, { "epoch": 6.100654602050782e-07, "model_forward_time": 5.097706079483032, "step": 6397 }, { "epoch": 6.100654602050782e-07, "step": 6397, "training_step_time": 17.59539270401001 }, { "epoch": 6.101608276367188e-07, "model_forward_time": 5.101476430892944, "step": 6398 }, { "epoch": 6.101608276367188e-07, "step": 6398, "training_step_time": 17.60712456703186 }, { "epoch": 6.102561950683594e-07, "model_forward_time": 5.103654384613037, "step": 6399 }, { "epoch": 6.102561950683594e-07, "step": 6399, "training_step_time": 17.824684381484985 }, { "epoch": 6.103515625e-07, "grad_norm": 2.9313852787017822, "learning_rate": 9.953181880483067e-06, "loss": 0.1349, "step": 6400 }, { "epoch": 6.103515625e-07, "model_forward_time": 5.093168497085571, "step": 6400 }, { "dynamics_loss_avg": 0.056147169694304465, "epoch": 6.103515625e-07, "step": 6400 }, { "action_loss_avg": 0.09041673839092254, "epoch": 6.103515625e-07, "step": 6400 }, { "arm_loss_avg": 0.1520397372543812, "epoch": 6.103515625e-07, "step": 6400 }, { "ee_loss_avg": 0.10961457751691342, "epoch": 6.103515625e-07, "step": 6400 }, { "aux_loss_avg": 0.0030970080755651, "epoch": 6.103515625e-07, "step": 6400 }, { "epoch": 6.103515625e-07, "step": 6400, "training_step_time": 17.600264072418213 }, { "epoch": 6.104469299316406e-07, "model_forward_time": 5.093698978424072, "step": 6401 }, { "epoch": 6.104469299316406e-07, "step": 6401, "training_step_time": 17.60013222694397 }, { "epoch": 6.105422973632812e-07, "model_forward_time": 5.281757116317749, "step": 6402 }, { "epoch": 6.105422973632812e-07, "step": 6402, "training_step_time": 17.605801343917847 }, { "epoch": 6.106376647949219e-07, "model_forward_time": 5.090885877609253, "step": 6403 }, { "epoch": 6.106376647949219e-07, "step": 6403, "training_step_time": 17.632421493530273 }, { "epoch": 6.107330322265625e-07, "model_forward_time": 5.088061094284058, "step": 6404 }, { "epoch": 6.107330322265625e-07, "step": 6404, "training_step_time": 17.802940607070923 }, { "epoch": 6.108283996582031e-07, "model_forward_time": 5.0840466022491455, "step": 6405 }, { "epoch": 6.108283996582031e-07, "step": 6405, "training_step_time": 17.601548433303833 }, { "epoch": 6.109237670898437e-07, "model_forward_time": 5.087100505828857, "step": 6406 }, { "epoch": 6.109237670898437e-07, "step": 6406, "training_step_time": 17.612464427947998 }, { "epoch": 6.110191345214844e-07, "model_forward_time": 5.3266026973724365, "step": 6407 }, { "epoch": 6.110191345214844e-07, "step": 6407, "training_step_time": 17.609151363372803 }, { "epoch": 6.11114501953125e-07, "model_forward_time": 5.090898513793945, "step": 6408 }, { "epoch": 6.11114501953125e-07, "step": 6408, "training_step_time": 17.618926286697388 }, { "epoch": 6.112098693847656e-07, "model_forward_time": 5.086585521697998, "step": 6409 }, { "epoch": 6.112098693847656e-07, "step": 6409, "training_step_time": 17.831202268600464 }, { "epoch": 6.113052368164063e-07, "grad_norm": 1.9242243766784668, "learning_rate": 9.952858837821289e-06, "loss": 0.1469, "step": 6410 }, { "epoch": 6.113052368164063e-07, "model_forward_time": 5.088183403015137, "step": 6410 }, { "dynamics_loss_avg": 0.06237742118537426, "epoch": 6.113052368164063e-07, "step": 6410 }, { "action_loss_avg": 0.1347707375884056, "epoch": 6.113052368164063e-07, "step": 6410 }, { "arm_loss_avg": 0.16487227901816368, "epoch": 6.113052368164063e-07, "step": 6410 }, { "ee_loss_avg": 0.17047858610749245, "epoch": 6.113052368164063e-07, "step": 6410 }, { "aux_loss_avg": 0.0007828231726307421, "epoch": 6.113052368164063e-07, "step": 6410 }, { "epoch": 6.113052368164063e-07, "step": 6410, "training_step_time": 17.612037181854248 }, { "epoch": 6.114006042480469e-07, "model_forward_time": 5.088121175765991, "step": 6411 }, { "epoch": 6.114006042480469e-07, "step": 6411, "training_step_time": 17.603403329849243 }, { "epoch": 6.114959716796875e-07, "model_forward_time": 5.291908502578735, "step": 6412 }, { "epoch": 6.114959716796875e-07, "step": 6412, "training_step_time": 17.598356008529663 }, { "epoch": 6.115913391113281e-07, "model_forward_time": 5.0906360149383545, "step": 6413 }, { "epoch": 6.115913391113281e-07, "step": 6413, "training_step_time": 17.220991134643555 }, { "epoch": 6.116867065429687e-07, "model_forward_time": 5.089059591293335, "step": 6414 }, { "epoch": 6.116867065429687e-07, "step": 6414, "training_step_time": 17.530034065246582 }, { "epoch": 6.117820739746093e-07, "model_forward_time": 5.091670274734497, "step": 6415 }, { "epoch": 6.117820739746093e-07, "step": 6415, "training_step_time": 17.744483470916748 }, { "epoch": 6.1187744140625e-07, "model_forward_time": 5.090928077697754, "step": 6416 }, { "epoch": 6.1187744140625e-07, "step": 6416, "training_step_time": 17.577386140823364 }, { "epoch": 6.119728088378907e-07, "model_forward_time": 5.086892127990723, "step": 6417 }, { "epoch": 6.119728088378907e-07, "step": 6417, "training_step_time": 17.586491107940674 }, { "epoch": 6.120681762695313e-07, "model_forward_time": 5.0869832038879395, "step": 6418 }, { "epoch": 6.120681762695313e-07, "step": 6418, "training_step_time": 17.60275626182556 }, { "epoch": 6.121635437011719e-07, "model_forward_time": 3.8540098667144775, "step": 6419 }, { "epoch": 6.121635437011719e-07, "step": 6419, "training_step_time": 17.828843355178833 }, { "epoch": 6.122589111328125e-07, "grad_norm": 1.3372286558151245, "learning_rate": 9.952534689777489e-06, "loss": 0.1313, "step": 6420 }, { "epoch": 6.122589111328125e-07, "model_forward_time": 5.061875104904175, "step": 6420 }, { "dynamics_loss_avg": 0.05030336971394718, "epoch": 6.122589111328125e-07, "step": 6420 }, { "action_loss_avg": 0.09126638099551201, "epoch": 6.122589111328125e-07, "step": 6420 }, { "arm_loss_avg": 0.15757796838879584, "epoch": 6.122589111328125e-07, "step": 6420 }, { "ee_loss_avg": 0.13141299597918987, "epoch": 6.122589111328125e-07, "step": 6420 }, { "aux_loss_avg": 0.005297009053174406, "epoch": 6.122589111328125e-07, "step": 6420 }, { "epoch": 6.122589111328125e-07, "step": 6420, "training_step_time": 17.61234951019287 }, { "epoch": 6.123542785644531e-07, "model_forward_time": 5.072047233581543, "step": 6421 }, { "epoch": 6.123542785644531e-07, "step": 6421, "training_step_time": 17.61027216911316 }, { "epoch": 6.124496459960937e-07, "model_forward_time": 5.079693794250488, "step": 6422 }, { "epoch": 6.124496459960937e-07, "step": 6422, "training_step_time": 17.415228366851807 }, { "epoch": 6.125450134277344e-07, "model_forward_time": 5.0917747020721436, "step": 6423 }, { "epoch": 6.125450134277344e-07, "step": 6423, "training_step_time": 17.5110285282135 }, { "epoch": 6.12640380859375e-07, "model_forward_time": 5.098703145980835, "step": 6424 }, { "epoch": 6.12640380859375e-07, "step": 6424, "training_step_time": 17.77439594268799 }, { "epoch": 6.127357482910156e-07, "model_forward_time": 5.098639965057373, "step": 6425 }, { "epoch": 6.127357482910156e-07, "step": 6425, "training_step_time": 17.570985078811646 }, { "epoch": 6.128311157226562e-07, "model_forward_time": 5.102247953414917, "step": 6426 }, { "epoch": 6.128311157226562e-07, "step": 6426, "training_step_time": 17.356029272079468 }, { "epoch": 6.129264831542969e-07, "model_forward_time": 5.349626779556274, "step": 6427 }, { "epoch": 6.129264831542969e-07, "step": 6427, "training_step_time": 17.51202893257141 }, { "epoch": 6.130218505859375e-07, "model_forward_time": 5.100774765014648, "step": 6428 }, { "epoch": 6.130218505859375e-07, "step": 6428, "training_step_time": 17.571778535842896 }, { "epoch": 6.131172180175782e-07, "model_forward_time": 5.097245454788208, "step": 6429 }, { "epoch": 6.131172180175782e-07, "step": 6429, "training_step_time": 17.602811813354492 }, { "epoch": 6.132125854492188e-07, "grad_norm": 1.9132161140441895, "learning_rate": 9.952209436424011e-06, "loss": 0.1244, "step": 6430 }, { "epoch": 6.132125854492188e-07, "model_forward_time": 5.094203472137451, "step": 6430 }, { "dynamics_loss_avg": 0.03627350199967623, "epoch": 6.132125854492188e-07, "step": 6430 }, { "action_loss_avg": 0.08201576732099056, "epoch": 6.132125854492188e-07, "step": 6430 }, { "arm_loss_avg": 0.16863256990909575, "epoch": 6.132125854492188e-07, "step": 6430 }, { "ee_loss_avg": 0.15381325371563434, "epoch": 6.132125854492188e-07, "step": 6430 }, { "aux_loss_avg": 0.0046119684004224835, "epoch": 6.132125854492188e-07, "step": 6430 }, { "epoch": 6.132125854492188e-07, "step": 6430, "training_step_time": 17.86030101776123 }, { "epoch": 6.133079528808594e-07, "model_forward_time": 5.088997840881348, "step": 6431 }, { "epoch": 6.133079528808594e-07, "step": 6431, "training_step_time": 17.649002075195312 }, { "epoch": 6.134033203125e-07, "model_forward_time": 5.299972295761108, "step": 6432 }, { "epoch": 6.134033203125e-07, "step": 6432, "training_step_time": 17.660260677337646 }, { "epoch": 6.134986877441406e-07, "model_forward_time": 5.089321136474609, "step": 6433 }, { "epoch": 6.134986877441406e-07, "step": 6433, "training_step_time": 17.4819393157959 }, { "epoch": 6.135940551757812e-07, "model_forward_time": 5.090619087219238, "step": 6434 }, { "epoch": 6.135940551757812e-07, "step": 6434, "training_step_time": 17.619747400283813 }, { "epoch": 6.136894226074218e-07, "model_forward_time": 5.087797164916992, "step": 6435 }, { "epoch": 6.136894226074218e-07, "step": 6435, "training_step_time": 17.764628887176514 }, { "epoch": 6.137847900390625e-07, "model_forward_time": 5.088911056518555, "step": 6436 }, { "epoch": 6.137847900390625e-07, "step": 6436, "training_step_time": 17.613929510116577 }, { "epoch": 6.138801574707032e-07, "model_forward_time": 5.087419271469116, "step": 6437 }, { "epoch": 6.138801574707032e-07, "step": 6437, "training_step_time": 17.61922025680542 }, { "epoch": 6.139755249023438e-07, "model_forward_time": 5.08646559715271, "step": 6438 }, { "epoch": 6.139755249023438e-07, "step": 6438, "training_step_time": 17.63438868522644 }, { "epoch": 6.140708923339844e-07, "model_forward_time": 5.08530068397522, "step": 6439 }, { "epoch": 6.140708923339844e-07, "step": 6439, "training_step_time": 17.557626247406006 }, { "epoch": 6.14166259765625e-07, "grad_norm": 2.950319766998291, "learning_rate": 9.951883077833445e-06, "loss": 0.1376, "step": 6440 }, { "epoch": 6.14166259765625e-07, "model_forward_time": 5.090403079986572, "step": 6440 }, { "dynamics_loss_avg": 0.05436265328899026, "epoch": 6.14166259765625e-07, "step": 6440 }, { "action_loss_avg": 0.10657652616500854, "epoch": 6.14166259765625e-07, "step": 6440 }, { "arm_loss_avg": 0.16853193789720536, "epoch": 6.14166259765625e-07, "step": 6440 }, { "ee_loss_avg": 0.10402063112705946, "epoch": 6.14166259765625e-07, "step": 6440 }, { "aux_loss_avg": 0.0010973129246849567, "epoch": 6.14166259765625e-07, "step": 6440 }, { "epoch": 6.14166259765625e-07, "step": 6440, "training_step_time": 17.767277002334595 }, { "epoch": 6.142616271972656e-07, "model_forward_time": 5.087383508682251, "step": 6441 }, { "epoch": 6.142616271972656e-07, "step": 6441, "training_step_time": 17.575839281082153 }, { "epoch": 6.143569946289062e-07, "model_forward_time": 5.283749580383301, "step": 6442 }, { "epoch": 6.143569946289062e-07, "step": 6442, "training_step_time": 17.604131937026978 }, { "epoch": 6.144523620605469e-07, "model_forward_time": 5.09029221534729, "step": 6443 }, { "epoch": 6.144523620605469e-07, "step": 6443, "training_step_time": 17.204969882965088 }, { "epoch": 6.145477294921875e-07, "model_forward_time": 5.0903050899505615, "step": 6444 }, { "epoch": 6.145477294921875e-07, "step": 6444, "training_step_time": 17.54134702682495 }, { "epoch": 6.146430969238281e-07, "model_forward_time": 5.087993860244751, "step": 6445 }, { "epoch": 6.146430969238281e-07, "step": 6445, "training_step_time": 17.754663944244385 }, { "epoch": 6.147384643554687e-07, "model_forward_time": 5.086002349853516, "step": 6446 }, { "epoch": 6.147384643554687e-07, "step": 6446, "training_step_time": 17.6026029586792 }, { "epoch": 6.148338317871094e-07, "model_forward_time": 5.330492734909058, "step": 6447 }, { "epoch": 6.148338317871094e-07, "step": 6447, "training_step_time": 17.611566066741943 }, { "epoch": 6.1492919921875e-07, "model_forward_time": 5.0873026847839355, "step": 6448 }, { "epoch": 6.1492919921875e-07, "step": 6448, "training_step_time": 17.61878228187561 }, { "epoch": 6.150245666503907e-07, "model_forward_time": 3.8519716262817383, "step": 6449 }, { "epoch": 6.150245666503907e-07, "step": 6449, "training_step_time": 17.61823034286499 }, { "epoch": 6.151199340820313e-07, "grad_norm": 1.90823233127594, "learning_rate": 9.951555614078627e-06, "loss": 0.1412, "step": 6450 }, { "epoch": 6.151199340820313e-07, "model_forward_time": 5.067428350448608, "step": 6450 }, { "dynamics_loss_avg": 0.04558213045820594, "epoch": 6.151199340820313e-07, "step": 6450 }, { "action_loss_avg": 0.09128518290817737, "epoch": 6.151199340820313e-07, "step": 6450 }, { "arm_loss_avg": 0.1762130431830883, "epoch": 6.151199340820313e-07, "step": 6450 }, { "ee_loss_avg": 0.1532890608534217, "epoch": 6.151199340820313e-07, "step": 6450 }, { "aux_loss_avg": 0.01957285455428064, "epoch": 6.151199340820313e-07, "step": 6450 }, { "epoch": 6.151199340820313e-07, "step": 6450, "training_step_time": 17.85107159614563 }, { "epoch": 6.152153015136719e-07, "model_forward_time": 5.07227635383606, "step": 6451 }, { "epoch": 6.152153015136719e-07, "step": 6451, "training_step_time": 17.614383459091187 }, { "epoch": 6.153106689453125e-07, "model_forward_time": 5.082697868347168, "step": 6452 }, { "epoch": 6.153106689453125e-07, "step": 6452, "training_step_time": 17.61442255973816 }, { "epoch": 6.154060363769531e-07, "model_forward_time": 5.317630290985107, "step": 6453 }, { "epoch": 6.154060363769531e-07, "step": 6453, "training_step_time": 17.605417728424072 }, { "epoch": 6.155014038085937e-07, "model_forward_time": 5.099519729614258, "step": 6454 }, { "epoch": 6.155014038085937e-07, "step": 6454, "training_step_time": 17.60263991355896 }, { "epoch": 6.155967712402343e-07, "model_forward_time": 5.100530624389648, "step": 6455 }, { "epoch": 6.155967712402343e-07, "step": 6455, "training_step_time": 17.78107714653015 }, { "epoch": 6.15692138671875e-07, "model_forward_time": 5.104428291320801, "step": 6456 }, { "epoch": 6.15692138671875e-07, "step": 6456, "training_step_time": 17.59421944618225 }, { "epoch": 6.157875061035157e-07, "model_forward_time": 5.103736162185669, "step": 6457 }, { "epoch": 6.157875061035157e-07, "step": 6457, "training_step_time": 17.47424340248108 }, { "epoch": 6.158828735351563e-07, "model_forward_time": 5.10118842124939, "step": 6458 }, { "epoch": 6.158828735351563e-07, "step": 6458, "training_step_time": 17.509239673614502 }, { "epoch": 6.159782409667969e-07, "model_forward_time": 5.098179340362549, "step": 6459 }, { "epoch": 6.159782409667969e-07, "step": 6459, "training_step_time": 17.58478856086731 }, { "epoch": 6.160736083984375e-07, "grad_norm": 1.5103412866592407, "learning_rate": 9.951227045232641e-06, "loss": 0.1217, "step": 6460 }, { "epoch": 6.160736083984375e-07, "model_forward_time": 5.092526912689209, "step": 6460 }, { "dynamics_loss_avg": 0.04701221869327128, "epoch": 6.160736083984375e-07, "step": 6460 }, { "action_loss_avg": 0.07894260361790657, "epoch": 6.160736083984375e-07, "step": 6460 }, { "arm_loss_avg": 0.1515591587871313, "epoch": 6.160736083984375e-07, "step": 6460 }, { "ee_loss_avg": 0.11558382101356983, "epoch": 6.160736083984375e-07, "step": 6460 }, { "aux_loss_avg": 0.0008639601728646085, "epoch": 6.160736083984375e-07, "step": 6460 }, { "epoch": 6.160736083984375e-07, "step": 6460, "training_step_time": 17.814759969711304 }, { "epoch": 6.161689758300781e-07, "model_forward_time": 5.103583335876465, "step": 6461 }, { "epoch": 6.161689758300781e-07, "step": 6461, "training_step_time": 17.619386672973633 }, { "epoch": 6.162643432617187e-07, "model_forward_time": 5.087133884429932, "step": 6462 }, { "epoch": 6.162643432617187e-07, "step": 6462, "training_step_time": 17.602192401885986 }, { "epoch": 6.163597106933594e-07, "model_forward_time": 5.092662811279297, "step": 6463 }, { "epoch": 6.163597106933594e-07, "step": 6463, "training_step_time": 17.624189376831055 }, { "epoch": 6.16455078125e-07, "model_forward_time": 5.09524393081665, "step": 6464 }, { "epoch": 6.16455078125e-07, "step": 6464, "training_step_time": 17.638379335403442 }, { "epoch": 6.165504455566406e-07, "model_forward_time": 5.089150667190552, "step": 6465 }, { "epoch": 6.165504455566406e-07, "step": 6465, "training_step_time": 17.804805278778076 }, { "epoch": 6.166458129882812e-07, "model_forward_time": 5.086176633834839, "step": 6466 }, { "epoch": 6.166458129882812e-07, "step": 6466, "training_step_time": 17.616467475891113 }, { "epoch": 6.167411804199219e-07, "model_forward_time": 5.332316875457764, "step": 6467 }, { "epoch": 6.167411804199219e-07, "step": 6467, "training_step_time": 17.61141562461853 }, { "epoch": 6.168365478515625e-07, "model_forward_time": 5.088375806808472, "step": 6468 }, { "epoch": 6.168365478515625e-07, "step": 6468, "training_step_time": 17.606891870498657 }, { "epoch": 6.169319152832032e-07, "model_forward_time": 5.086978912353516, "step": 6469 }, { "epoch": 6.169319152832032e-07, "step": 6469, "training_step_time": 17.603389263153076 }, { "epoch": 6.170272827148438e-07, "grad_norm": 2.529050350189209, "learning_rate": 9.950897371368817e-06, "loss": 0.1333, "step": 6470 }, { "epoch": 6.170272827148438e-07, "model_forward_time": 5.088923454284668, "step": 6470 }, { "dynamics_loss_avg": 0.04535222770646215, "epoch": 6.170272827148438e-07, "step": 6470 }, { "action_loss_avg": 0.10716681834310293, "epoch": 6.170272827148438e-07, "step": 6470 }, { "arm_loss_avg": 0.14562357515096663, "epoch": 6.170272827148438e-07, "step": 6470 }, { "ee_loss_avg": 0.0956624336540699, "epoch": 6.170272827148438e-07, "step": 6470 }, { "aux_loss_avg": 0.0034142561955377458, "epoch": 6.170272827148438e-07, "step": 6470 }, { "epoch": 6.170272827148438e-07, "step": 6470, "training_step_time": 17.79287552833557 }, { "epoch": 6.171226501464844e-07, "model_forward_time": 5.088637828826904, "step": 6471 }, { "epoch": 6.171226501464844e-07, "step": 6471, "training_step_time": 17.598775148391724 }, { "epoch": 6.17218017578125e-07, "model_forward_time": 5.290653467178345, "step": 6472 }, { "epoch": 6.17218017578125e-07, "step": 6472, "training_step_time": 17.59599781036377 }, { "epoch": 6.173133850097656e-07, "model_forward_time": 5.088918924331665, "step": 6473 }, { "epoch": 6.173133850097656e-07, "step": 6473, "training_step_time": 17.62063455581665 }, { "epoch": 6.174087524414062e-07, "model_forward_time": 3.8526835441589355, "step": 6474 }, { "epoch": 6.174087524414062e-07, "step": 6474, "training_step_time": 17.581002950668335 }, { "epoch": 6.175041198730468e-07, "model_forward_time": 5.0654308795928955, "step": 6475 }, { "epoch": 6.175041198730468e-07, "step": 6475, "training_step_time": 17.379460334777832 }, { "epoch": 6.175994873046875e-07, "model_forward_time": 5.075246334075928, "step": 6476 }, { "epoch": 6.175994873046875e-07, "step": 6476, "training_step_time": 17.380818367004395 }, { "epoch": 6.176948547363282e-07, "model_forward_time": 5.090675115585327, "step": 6477 }, { "epoch": 6.176948547363282e-07, "step": 6477, "training_step_time": 17.481518745422363 }, { "epoch": 6.177902221679688e-07, "model_forward_time": 5.354366064071655, "step": 6478 }, { "epoch": 6.177902221679688e-07, "step": 6478, "training_step_time": 17.632755994796753 }, { "epoch": 6.178855895996094e-07, "model_forward_time": 5.10828971862793, "step": 6479 }, { "epoch": 6.178855895996094e-07, "step": 6479, "training_step_time": 17.59955072402954 }, { "epoch": 6.1798095703125e-07, "grad_norm": 1.9884933233261108, "learning_rate": 9.950566592560732e-06, "loss": 0.1453, "step": 6480 }, { "epoch": 6.1798095703125e-07, "model_forward_time": 5.116965293884277, "step": 6480 }, { "dynamics_loss_avg": 0.059292592108249664, "epoch": 6.1798095703125e-07, "step": 6480 }, { "action_loss_avg": 0.11187694147229195, "epoch": 6.1798095703125e-07, "step": 6480 }, { "arm_loss_avg": 0.17459039203822613, "epoch": 6.1798095703125e-07, "step": 6480 }, { "ee_loss_avg": 0.11815473511815071, "epoch": 6.1798095703125e-07, "step": 6480 }, { "aux_loss_avg": 0.006946117675397545, "epoch": 6.1798095703125e-07, "step": 6480 }, { "epoch": 6.1798095703125e-07, "step": 6480, "training_step_time": 17.86578392982483 }, { "epoch": 6.180763244628906e-07, "model_forward_time": 5.093271970748901, "step": 6481 }, { "epoch": 6.180763244628906e-07, "step": 6481, "training_step_time": 17.624706029891968 }, { "epoch": 6.181716918945312e-07, "model_forward_time": 5.094412803649902, "step": 6482 }, { "epoch": 6.181716918945312e-07, "step": 6482, "training_step_time": 17.63235878944397 }, { "epoch": 6.182670593261719e-07, "model_forward_time": 5.090261936187744, "step": 6483 }, { "epoch": 6.182670593261719e-07, "step": 6483, "training_step_time": 17.633069276809692 }, { "epoch": 6.183624267578125e-07, "model_forward_time": 5.092613220214844, "step": 6484 }, { "epoch": 6.183624267578125e-07, "step": 6484, "training_step_time": 17.64049243927002 }, { "epoch": 6.184577941894531e-07, "model_forward_time": 3.855194568634033, "step": 6485 }, { "epoch": 6.184577941894531e-07, "step": 6485, "training_step_time": 17.829749584197998 }, { "epoch": 6.185531616210937e-07, "model_forward_time": 5.063401222229004, "step": 6486 }, { "epoch": 6.185531616210937e-07, "step": 6486, "training_step_time": 17.629250526428223 }, { "epoch": 6.186485290527344e-07, "model_forward_time": 5.067770004272461, "step": 6487 }, { "epoch": 6.186485290527344e-07, "step": 6487, "training_step_time": 17.621463298797607 }, { "epoch": 6.18743896484375e-07, "model_forward_time": 5.077301979064941, "step": 6488 }, { "epoch": 6.18743896484375e-07, "step": 6488, "training_step_time": 17.612000465393066 }, { "epoch": 6.188392639160157e-07, "model_forward_time": 5.084111928939819, "step": 6489 }, { "epoch": 6.188392639160157e-07, "step": 6489, "training_step_time": 17.59839153289795 }, { "epoch": 6.189346313476563e-07, "grad_norm": 1.2171694040298462, "learning_rate": 9.950234708882212e-06, "loss": 0.1459, "step": 6490 }, { "epoch": 6.189346313476563e-07, "model_forward_time": 5.091380834579468, "step": 6490 }, { "dynamics_loss_avg": 0.057888821512460706, "epoch": 6.189346313476563e-07, "step": 6490 }, { "action_loss_avg": 0.10019801296293736, "epoch": 6.189346313476563e-07, "step": 6490 }, { "arm_loss_avg": 0.18812436014413833, "epoch": 6.189346313476563e-07, "step": 6490 }, { "ee_loss_avg": 0.15309157893061637, "epoch": 6.189346313476563e-07, "step": 6490 }, { "aux_loss_avg": 0.003300252399640158, "epoch": 6.189346313476563e-07, "step": 6490 }, { "epoch": 6.189346313476563e-07, "step": 6490, "training_step_time": 17.814189672470093 }, { "epoch": 6.190299987792969e-07, "model_forward_time": 5.09003210067749, "step": 6491 }, { "epoch": 6.190299987792969e-07, "step": 6491, "training_step_time": 17.22443199157715 }, { "epoch": 6.191253662109375e-07, "model_forward_time": 5.303194761276245, "step": 6492 }, { "epoch": 6.191253662109375e-07, "step": 6492, "training_step_time": 17.508036613464355 }, { "epoch": 6.192207336425781e-07, "model_forward_time": 3.8589744567871094, "step": 6493 }, { "epoch": 6.192207336425781e-07, "step": 6493, "training_step_time": 17.5351300239563 }, { "epoch": 6.193161010742187e-07, "model_forward_time": 5.063260793685913, "step": 6494 }, { "epoch": 6.193161010742187e-07, "step": 6494, "training_step_time": 17.586185693740845 }, { "epoch": 6.194114685058593e-07, "model_forward_time": 5.071090936660767, "step": 6495 }, { "epoch": 6.194114685058593e-07, "step": 6495, "training_step_time": 17.577128171920776 }, { "epoch": 6.195068359375e-07, "model_forward_time": 5.08012056350708, "step": 6496 }, { "epoch": 6.195068359375e-07, "step": 6496, "training_step_time": 17.78608465194702 }, { "epoch": 6.196022033691407e-07, "model_forward_time": 5.083863019943237, "step": 6497 }, { "epoch": 6.196022033691407e-07, "step": 6497, "training_step_time": 17.59265160560608 }, { "epoch": 6.196975708007813e-07, "model_forward_time": 5.327196836471558, "step": 6498 }, { "epoch": 6.196975708007813e-07, "step": 6498, "training_step_time": 17.60009455680847 }, { "epoch": 6.197929382324219e-07, "model_forward_time": 5.09442138671875, "step": 6499 }, { "epoch": 6.197929382324219e-07, "step": 6499, "training_step_time": 17.605576038360596 }, { "epoch": 6.198883056640625e-07, "grad_norm": 2.386312246322632, "learning_rate": 9.949901720407323e-06, "loss": 0.1215, "step": 6500 }, { "epoch": 6.198883056640625e-07, "model_forward_time": 5.093134880065918, "step": 6500 }, { "dynamics_loss_avg": 0.04099266938865185, "epoch": 6.198883056640625e-07, "step": 6500 }, { "action_loss_avg": 0.08910992667078972, "epoch": 6.198883056640625e-07, "step": 6500 }, { "arm_loss_avg": 0.18134550899267196, "epoch": 6.198883056640625e-07, "step": 6500 }, { "ee_loss_avg": 0.10807031430304051, "epoch": 6.198883056640625e-07, "step": 6500 }, { "aux_loss_avg": 0.001957287883851677, "epoch": 6.198883056640625e-07, "step": 6500 }, { "epoch": 6.198883056640625e-07, "step": 6500, "training_step_time": 17.84534192085266 }, { "epoch": 6.199836730957031e-07, "model_forward_time": 5.087133169174194, "step": 6501 }, { "epoch": 6.199836730957031e-07, "step": 6501, "training_step_time": 17.611467599868774 }, { "epoch": 6.200790405273438e-07, "model_forward_time": 5.0901055335998535, "step": 6502 }, { "epoch": 6.200790405273438e-07, "step": 6502, "training_step_time": 17.60483980178833 }, { "epoch": 6.201744079589844e-07, "model_forward_time": 5.088272333145142, "step": 6503 }, { "epoch": 6.201744079589844e-07, "step": 6503, "training_step_time": 17.592116117477417 }, { "epoch": 6.20269775390625e-07, "model_forward_time": 5.08909273147583, "step": 6504 }, { "epoch": 6.20269775390625e-07, "step": 6504, "training_step_time": 17.590834856033325 }, { "epoch": 6.203651428222656e-07, "model_forward_time": 5.086088180541992, "step": 6505 }, { "epoch": 6.203651428222656e-07, "step": 6505, "training_step_time": 17.772846698760986 }, { "epoch": 6.204605102539062e-07, "model_forward_time": 3.8480095863342285, "step": 6506 }, { "epoch": 6.204605102539062e-07, "step": 6506, "training_step_time": 17.578568696975708 }, { "epoch": 6.205558776855468e-07, "model_forward_time": 5.052489757537842, "step": 6507 }, { "epoch": 6.205558776855468e-07, "step": 6507, "training_step_time": 17.573173761367798 }, { "epoch": 6.206512451171875e-07, "model_forward_time": 5.070984601974487, "step": 6508 }, { "epoch": 6.206512451171875e-07, "step": 6508, "training_step_time": 17.580721616744995 }, { "epoch": 6.207466125488282e-07, "model_forward_time": 5.072911024093628, "step": 6509 }, { "epoch": 6.207466125488282e-07, "step": 6509, "training_step_time": 17.608899116516113 }, { "epoch": 6.208419799804688e-07, "grad_norm": 1.9446890354156494, "learning_rate": 9.949567627210383e-06, "loss": 0.1516, "step": 6510 }, { "epoch": 6.208419799804688e-07, "model_forward_time": 5.081953287124634, "step": 6510 }, { "dynamics_loss_avg": 0.06742659248411656, "epoch": 6.208419799804688e-07, "step": 6510 }, { "action_loss_avg": 0.0999163430184126, "epoch": 6.208419799804688e-07, "step": 6510 }, { "arm_loss_avg": 0.17955528870224952, "epoch": 6.208419799804688e-07, "step": 6510 }, { "ee_loss_avg": 0.1157192762941122, "epoch": 6.208419799804688e-07, "step": 6510 }, { "aux_loss_avg": 0.0029475722898496316, "epoch": 6.208419799804688e-07, "step": 6510 }, { "epoch": 6.208419799804688e-07, "step": 6510, "training_step_time": 17.824095487594604 }, { "epoch": 6.209373474121094e-07, "model_forward_time": 5.087464809417725, "step": 6511 }, { "epoch": 6.209373474121094e-07, "step": 6511, "training_step_time": 17.59838080406189 }, { "epoch": 6.2103271484375e-07, "model_forward_time": 5.2938148975372314, "step": 6512 }, { "epoch": 6.2103271484375e-07, "step": 6512, "training_step_time": 17.59125804901123 }, { "epoch": 6.211280822753906e-07, "model_forward_time": 3.8588740825653076, "step": 6513 }, { "epoch": 6.211280822753906e-07, "step": 6513, "training_step_time": 17.38815999031067 }, { "epoch": 6.212234497070312e-07, "model_forward_time": 5.067904949188232, "step": 6514 }, { "epoch": 6.212234497070312e-07, "step": 6514, "training_step_time": 17.60828971862793 }, { "epoch": 6.213188171386718e-07, "model_forward_time": 5.071176052093506, "step": 6515 }, { "epoch": 6.213188171386718e-07, "step": 6515, "training_step_time": 17.81293559074402 }, { "epoch": 6.214141845703125e-07, "model_forward_time": 5.084982872009277, "step": 6516 }, { "epoch": 6.214141845703125e-07, "step": 6516, "training_step_time": 17.60394811630249 }, { "epoch": 6.215095520019531e-07, "model_forward_time": 5.093338966369629, "step": 6517 }, { "epoch": 6.215095520019531e-07, "step": 6517, "training_step_time": 17.631330728530884 }, { "epoch": 6.216049194335938e-07, "model_forward_time": 5.3504250049591064, "step": 6518 }, { "epoch": 6.216049194335938e-07, "step": 6518, "training_step_time": 17.647043704986572 }, { "epoch": 6.217002868652344e-07, "model_forward_time": 3.865509510040283, "step": 6519 }, { "epoch": 6.217002868652344e-07, "step": 6519, "training_step_time": 17.65648913383484 }, { "epoch": 6.21795654296875e-07, "grad_norm": 1.4877028465270996, "learning_rate": 9.949232429365955e-06, "loss": 0.1431, "step": 6520 }, { "epoch": 6.21795654296875e-07, "model_forward_time": 5.071090936660767, "step": 6520 }, { "dynamics_loss_avg": 0.05240043215453625, "epoch": 6.21795654296875e-07, "step": 6520 }, { "action_loss_avg": 0.11363905966281891, "epoch": 6.21795654296875e-07, "step": 6520 }, { "arm_loss_avg": 0.1765964262187481, "epoch": 6.21795654296875e-07, "step": 6520 }, { "ee_loss_avg": 0.17406517639756203, "epoch": 6.21795654296875e-07, "step": 6520 }, { "aux_loss_avg": 0.003715286322403699, "epoch": 6.21795654296875e-07, "step": 6520 }, { "epoch": 6.21795654296875e-07, "step": 6520, "training_step_time": 17.64713144302368 }, { "epoch": 6.218910217285156e-07, "model_forward_time": 5.076269626617432, "step": 6521 }, { "epoch": 6.218910217285156e-07, "step": 6521, "training_step_time": 17.868633031845093 }, { "epoch": 6.219863891601563e-07, "model_forward_time": 5.0821075439453125, "step": 6522 }, { "epoch": 6.219863891601563e-07, "step": 6522, "training_step_time": 17.59516143798828 }, { "epoch": 6.220817565917969e-07, "model_forward_time": 5.279115200042725, "step": 6523 }, { "epoch": 6.220817565917969e-07, "step": 6523, "training_step_time": 17.6009521484375 }, { "epoch": 6.221771240234375e-07, "model_forward_time": 5.095079660415649, "step": 6524 }, { "epoch": 6.221771240234375e-07, "step": 6524, "training_step_time": 17.597723722457886 }, { "epoch": 6.222724914550781e-07, "model_forward_time": 5.097674608230591, "step": 6525 }, { "epoch": 6.222724914550781e-07, "step": 6525, "training_step_time": 17.513559103012085 }, { "epoch": 6.223678588867187e-07, "model_forward_time": 5.099140644073486, "step": 6526 }, { "epoch": 6.223678588867187e-07, "step": 6526, "training_step_time": 17.728926420211792 }, { "epoch": 6.224632263183593e-07, "model_forward_time": 5.09933614730835, "step": 6527 }, { "epoch": 6.224632263183593e-07, "step": 6527, "training_step_time": 17.559402227401733 }, { "epoch": 6.2255859375e-07, "model_forward_time": 5.0933997631073, "step": 6528 }, { "epoch": 6.2255859375e-07, "step": 6528, "training_step_time": 17.590574264526367 }, { "epoch": 6.226539611816407e-07, "model_forward_time": 5.0923285484313965, "step": 6529 }, { "epoch": 6.226539611816407e-07, "step": 6529, "training_step_time": 17.606340885162354 }, { "epoch": 6.227493286132813e-07, "grad_norm": 1.5021411180496216, "learning_rate": 9.948896126948847e-06, "loss": 0.1422, "step": 6530 }, { "epoch": 6.227493286132813e-07, "model_forward_time": 5.091184616088867, "step": 6530 }, { "dynamics_loss_avg": 0.05509384144097566, "epoch": 6.227493286132813e-07, "step": 6530 }, { "action_loss_avg": 0.13032224774360657, "epoch": 6.227493286132813e-07, "step": 6530 }, { "arm_loss_avg": 0.15816841199994086, "epoch": 6.227493286132813e-07, "step": 6530 }, { "ee_loss_avg": 0.16901708748191596, "epoch": 6.227493286132813e-07, "step": 6530 }, { "aux_loss_avg": 0.0013539435400161891, "epoch": 6.227493286132813e-07, "step": 6530 }, { "epoch": 6.227493286132813e-07, "step": 6530, "training_step_time": 17.612062215805054 }, { "epoch": 6.228446960449219e-07, "model_forward_time": 5.086447238922119, "step": 6531 }, { "epoch": 6.228446960449219e-07, "step": 6531, "training_step_time": 17.860979557037354 }, { "epoch": 6.229400634765625e-07, "model_forward_time": 5.293385982513428, "step": 6532 }, { "epoch": 6.229400634765625e-07, "step": 6532, "training_step_time": 17.619247674942017 }, { "epoch": 6.230354309082031e-07, "model_forward_time": 5.085298299789429, "step": 6533 }, { "epoch": 6.230354309082031e-07, "step": 6533, "training_step_time": 17.608831644058228 }, { "epoch": 6.231307983398437e-07, "model_forward_time": 5.084782123565674, "step": 6534 }, { "epoch": 6.231307983398437e-07, "step": 6534, "training_step_time": 17.591652154922485 }, { "epoch": 6.232261657714843e-07, "model_forward_time": 5.084322690963745, "step": 6535 }, { "epoch": 6.232261657714843e-07, "step": 6535, "training_step_time": 17.835768461227417 }, { "epoch": 6.23321533203125e-07, "model_forward_time": 5.081806182861328, "step": 6536 }, { "epoch": 6.23321533203125e-07, "step": 6536, "training_step_time": 17.589940786361694 }, { "epoch": 6.234169006347656e-07, "model_forward_time": 5.082197427749634, "step": 6537 }, { "epoch": 6.234169006347656e-07, "step": 6537, "training_step_time": 17.590908765792847 }, { "epoch": 6.235122680664063e-07, "model_forward_time": 5.08482813835144, "step": 6538 }, { "epoch": 6.235122680664063e-07, "step": 6538, "training_step_time": 17.586130142211914 }, { "epoch": 6.236076354980469e-07, "model_forward_time": 5.0832579135894775, "step": 6539 }, { "epoch": 6.236076354980469e-07, "step": 6539, "training_step_time": 17.585984468460083 }, { "epoch": 6.237030029296875e-07, "grad_norm": 3.247847080230713, "learning_rate": 9.948558720034121e-06, "loss": 0.1417, "step": 6540 }, { "epoch": 6.237030029296875e-07, "model_forward_time": 5.086190223693848, "step": 6540 }, { "dynamics_loss_avg": 0.05894316304475069, "epoch": 6.237030029296875e-07, "step": 6540 }, { "action_loss_avg": 0.11445512622594833, "epoch": 6.237030029296875e-07, "step": 6540 }, { "arm_loss_avg": 0.15024485439062119, "epoch": 6.237030029296875e-07, "step": 6540 }, { "ee_loss_avg": 0.17197945732623338, "epoch": 6.237030029296875e-07, "step": 6540 }, { "aux_loss_avg": 0.0030932970461435617, "epoch": 6.237030029296875e-07, "step": 6540 }, { "epoch": 6.237030029296875e-07, "step": 6540, "training_step_time": 17.577444314956665 }, { "epoch": 6.237983703613281e-07, "model_forward_time": 5.086912155151367, "step": 6541 }, { "epoch": 6.237983703613281e-07, "step": 6541, "training_step_time": 17.81591796875 }, { "epoch": 6.238937377929688e-07, "model_forward_time": 5.283854246139526, "step": 6542 }, { "epoch": 6.238937377929688e-07, "step": 6542, "training_step_time": 17.586045026779175 }, { "epoch": 6.239891052246094e-07, "model_forward_time": 3.849702835083008, "step": 6543 }, { "epoch": 6.239891052246094e-07, "step": 6543, "training_step_time": 17.59123134613037 }, { "epoch": 6.2408447265625e-07, "model_forward_time": 5.054646968841553, "step": 6544 }, { "epoch": 6.2408447265625e-07, "step": 6544, "training_step_time": 17.591701984405518 }, { "epoch": 6.241798400878906e-07, "model_forward_time": 5.0724101066589355, "step": 6545 }, { "epoch": 6.241798400878906e-07, "step": 6545, "training_step_time": 17.822362184524536 }, { "epoch": 6.242752075195312e-07, "model_forward_time": 5.074146270751953, "step": 6546 }, { "epoch": 6.242752075195312e-07, "step": 6546, "training_step_time": 17.58625292778015 }, { "epoch": 6.243705749511718e-07, "model_forward_time": 5.082919597625732, "step": 6547 }, { "epoch": 6.243705749511718e-07, "step": 6547, "training_step_time": 17.587340593338013 }, { "epoch": 6.244659423828125e-07, "model_forward_time": 5.353623390197754, "step": 6548 }, { "epoch": 6.244659423828125e-07, "step": 6548, "training_step_time": 17.589357614517212 }, { "epoch": 6.245613098144532e-07, "model_forward_time": 5.096398115158081, "step": 6549 }, { "epoch": 6.245613098144532e-07, "step": 6549, "training_step_time": 17.362201929092407 }, { "epoch": 6.246566772460938e-07, "grad_norm": 2.2224013805389404, "learning_rate": 9.948220208697072e-06, "loss": 0.1425, "step": 6550 }, { "epoch": 6.246566772460938e-07, "model_forward_time": 5.098695993423462, "step": 6550 }, { "dynamics_loss_avg": 0.059715360798873005, "epoch": 6.246566772460938e-07, "step": 6550 }, { "action_loss_avg": 0.09748768173158169, "epoch": 6.246566772460938e-07, "step": 6550 }, { "arm_loss_avg": 0.16744930371642114, "epoch": 6.246566772460938e-07, "step": 6550 }, { "ee_loss_avg": 0.12306662630289793, "epoch": 6.246566772460938e-07, "step": 6550 }, { "aux_loss_avg": 0.001573177584214136, "epoch": 6.246566772460938e-07, "step": 6550 }, { "epoch": 6.246566772460938e-07, "step": 6550, "training_step_time": 17.568664073944092 }, { "epoch": 6.247520446777344e-07, "model_forward_time": 5.09386134147644, "step": 6551 }, { "epoch": 6.247520446777344e-07, "step": 6551, "training_step_time": 17.78676128387451 }, { "epoch": 6.24847412109375e-07, "model_forward_time": 3.85294771194458, "step": 6552 }, { "epoch": 6.24847412109375e-07, "step": 6552, "training_step_time": 17.574540853500366 }, { "epoch": 6.249427795410156e-07, "model_forward_time": 5.062352895736694, "step": 6553 }, { "epoch": 6.249427795410156e-07, "step": 6553, "training_step_time": 17.602067708969116 }, { "epoch": 6.250381469726562e-07, "model_forward_time": 5.068859815597534, "step": 6554 }, { "epoch": 6.250381469726562e-07, "step": 6554, "training_step_time": 17.627266883850098 }, { "epoch": 6.251335144042968e-07, "model_forward_time": 5.075835704803467, "step": 6555 }, { "epoch": 6.251335144042968e-07, "step": 6555, "training_step_time": 17.617931365966797 }, { "epoch": 6.252288818359375e-07, "model_forward_time": 5.084338903427124, "step": 6556 }, { "epoch": 6.252288818359375e-07, "step": 6556, "training_step_time": 17.379425287246704 }, { "epoch": 6.253242492675781e-07, "model_forward_time": 5.10234808921814, "step": 6557 }, { "epoch": 6.253242492675781e-07, "step": 6557, "training_step_time": 17.56320834159851 }, { "epoch": 6.254196166992188e-07, "model_forward_time": 3.8723604679107666, "step": 6558 }, { "epoch": 6.254196166992188e-07, "step": 6558, "training_step_time": 17.605929851531982 }, { "epoch": 6.255149841308594e-07, "model_forward_time": 5.077377080917358, "step": 6559 }, { "epoch": 6.255149841308594e-07, "step": 6559, "training_step_time": 17.682116270065308 }, { "epoch": 6.256103515625e-07, "grad_norm": 1.825348973274231, "learning_rate": 9.947880593013256e-06, "loss": 0.1258, "step": 6560 }, { "epoch": 6.256103515625e-07, "model_forward_time": 3.85758376121521, "step": 6560 }, { "dynamics_loss_avg": 0.03779656058177352, "epoch": 6.256103515625e-07, "step": 6560 }, { "action_loss_avg": 0.11595328487455844, "epoch": 6.256103515625e-07, "step": 6560 }, { "arm_loss_avg": 0.2197660207748413, "epoch": 6.256103515625e-07, "step": 6560 }, { "ee_loss_avg": 0.16910695657134056, "epoch": 6.256103515625e-07, "step": 6560 }, { "aux_loss_avg": 0.00113184952060692, "epoch": 6.256103515625e-07, "step": 6560 }, { "epoch": 6.256103515625e-07, "step": 6560, "training_step_time": 17.625974893569946 }, { "epoch": 6.257057189941406e-07, "model_forward_time": 5.054089784622192, "step": 6561 }, { "epoch": 6.257057189941406e-07, "step": 6561, "training_step_time": 17.84966731071472 }, { "epoch": 6.258010864257813e-07, "model_forward_time": 5.074094772338867, "step": 6562 }, { "epoch": 6.258010864257813e-07, "step": 6562, "training_step_time": 17.612831830978394 }, { "epoch": 6.258964538574219e-07, "model_forward_time": 5.270347595214844, "step": 6563 }, { "epoch": 6.258964538574219e-07, "step": 6563, "training_step_time": 17.598701000213623 }, { "epoch": 6.259918212890625e-07, "model_forward_time": 5.098053455352783, "step": 6564 }, { "epoch": 6.259918212890625e-07, "step": 6564, "training_step_time": 17.600050449371338 }, { "epoch": 6.260871887207031e-07, "model_forward_time": 5.101989984512329, "step": 6565 }, { "epoch": 6.260871887207031e-07, "step": 6565, "training_step_time": 17.600987672805786 }, { "epoch": 6.261825561523437e-07, "model_forward_time": 5.10567569732666, "step": 6566 }, { "epoch": 6.261825561523437e-07, "step": 6566, "training_step_time": 17.69412350654602 }, { "epoch": 6.262779235839843e-07, "model_forward_time": 5.1060755252838135, "step": 6567 }, { "epoch": 6.262779235839843e-07, "step": 6567, "training_step_time": 17.548802375793457 }, { "epoch": 6.26373291015625e-07, "model_forward_time": 5.341672897338867, "step": 6568 }, { "epoch": 6.26373291015625e-07, "step": 6568, "training_step_time": 17.578613996505737 }, { "epoch": 6.264686584472657e-07, "model_forward_time": 3.8587968349456787, "step": 6569 }, { "epoch": 6.264686584472657e-07, "step": 6569, "training_step_time": 17.592726469039917 }, { "epoch": 6.265640258789063e-07, "grad_norm": 2.481966972351074, "learning_rate": 9.947539873058464e-06, "loss": 0.12, "step": 6570 }, { "epoch": 6.265640258789063e-07, "model_forward_time": 5.061591625213623, "step": 6570 }, { "dynamics_loss_avg": 0.05716515649110079, "epoch": 6.265640258789063e-07, "step": 6570 }, { "action_loss_avg": 0.07709512077271938, "epoch": 6.265640258789063e-07, "step": 6570 }, { "arm_loss_avg": 0.1466834768652916, "epoch": 6.265640258789063e-07, "step": 6570 }, { "ee_loss_avg": 0.11063376031816005, "epoch": 6.265640258789063e-07, "step": 6570 }, { "aux_loss_avg": 0.005173912295140326, "epoch": 6.265640258789063e-07, "step": 6570 }, { "epoch": 6.265640258789063e-07, "step": 6570, "training_step_time": 17.60423469543457 }, { "epoch": 6.266593933105469e-07, "model_forward_time": 5.073611497879028, "step": 6571 }, { "epoch": 6.266593933105469e-07, "step": 6571, "training_step_time": 17.856292486190796 }, { "epoch": 6.267547607421875e-07, "model_forward_time": 5.072097539901733, "step": 6572 }, { "epoch": 6.267547607421875e-07, "step": 6572, "training_step_time": 17.59622859954834 }, { "epoch": 6.268501281738281e-07, "model_forward_time": 5.272428750991821, "step": 6573 }, { "epoch": 6.268501281738281e-07, "step": 6573, "training_step_time": 17.599618911743164 }, { "epoch": 6.269454956054687e-07, "model_forward_time": 5.089531183242798, "step": 6574 }, { "epoch": 6.269454956054687e-07, "step": 6574, "training_step_time": 17.590731143951416 }, { "epoch": 6.270408630371093e-07, "model_forward_time": 5.092816591262817, "step": 6575 }, { "epoch": 6.270408630371093e-07, "step": 6575, "training_step_time": 17.834369897842407 }, { "epoch": 6.2713623046875e-07, "model_forward_time": 5.096325874328613, "step": 6576 }, { "epoch": 6.2713623046875e-07, "step": 6576, "training_step_time": 17.575499296188354 }, { "epoch": 6.272315979003906e-07, "model_forward_time": 5.098217725753784, "step": 6577 }, { "epoch": 6.272315979003906e-07, "step": 6577, "training_step_time": 17.56950545310974 }, { "epoch": 6.273269653320313e-07, "model_forward_time": 5.325429439544678, "step": 6578 }, { "epoch": 6.273269653320313e-07, "step": 6578, "training_step_time": 17.570042848587036 }, { "epoch": 6.274223327636719e-07, "model_forward_time": 5.0887627601623535, "step": 6579 }, { "epoch": 6.274223327636719e-07, "step": 6579, "training_step_time": 17.571767807006836 }, { "epoch": 6.275177001953125e-07, "grad_norm": 1.0091010332107544, "learning_rate": 9.94719804890874e-06, "loss": 0.1314, "step": 6580 }, { "epoch": 6.275177001953125e-07, "model_forward_time": 5.091648817062378, "step": 6580 }, { "dynamics_loss_avg": 0.05362201882526278, "epoch": 6.275177001953125e-07, "step": 6580 }, { "action_loss_avg": 0.057559316419065, "epoch": 6.275177001953125e-07, "step": 6580 }, { "arm_loss_avg": 0.11584140115883201, "epoch": 6.275177001953125e-07, "step": 6580 }, { "ee_loss_avg": 0.0946339295245707, "epoch": 6.275177001953125e-07, "step": 6580 }, { "aux_loss_avg": 0.0012787347513949499, "epoch": 6.275177001953125e-07, "step": 6580 }, { "epoch": 6.275177001953125e-07, "step": 6580, "training_step_time": 17.606393814086914 }, { "epoch": 6.276130676269531e-07, "model_forward_time": 5.090687274932861, "step": 6581 }, { "epoch": 6.276130676269531e-07, "step": 6581, "training_step_time": 17.829782009124756 }, { "epoch": 6.277084350585938e-07, "model_forward_time": 3.855595588684082, "step": 6582 }, { "epoch": 6.277084350585938e-07, "step": 6582, "training_step_time": 17.59296202659607 }, { "epoch": 6.278038024902344e-07, "model_forward_time": 5.25555944442749, "step": 6583 }, { "epoch": 6.278038024902344e-07, "step": 6583, "training_step_time": 17.603759050369263 }, { "epoch": 6.27899169921875e-07, "model_forward_time": 5.069287300109863, "step": 6584 }, { "epoch": 6.27899169921875e-07, "step": 6584, "training_step_time": 17.599351167678833 }, { "epoch": 6.279945373535156e-07, "model_forward_time": 5.078487873077393, "step": 6585 }, { "epoch": 6.279945373535156e-07, "step": 6585, "training_step_time": 17.819822788238525 }, { "epoch": 6.280899047851562e-07, "model_forward_time": 5.085699796676636, "step": 6586 }, { "epoch": 6.280899047851562e-07, "step": 6586, "training_step_time": 17.58915400505066 }, { "epoch": 6.281852722167968e-07, "model_forward_time": 5.092830181121826, "step": 6587 }, { "epoch": 6.281852722167968e-07, "step": 6587, "training_step_time": 17.589935302734375 }, { "epoch": 6.282806396484375e-07, "model_forward_time": 5.098885774612427, "step": 6588 }, { "epoch": 6.282806396484375e-07, "step": 6588, "training_step_time": 17.39139199256897 }, { "epoch": 6.283760070800782e-07, "model_forward_time": 5.099959373474121, "step": 6589 }, { "epoch": 6.283760070800782e-07, "step": 6589, "training_step_time": 17.50639271736145 }, { "epoch": 6.284713745117188e-07, "grad_norm": 2.2511818408966064, "learning_rate": 9.946855120640372e-06, "loss": 0.1235, "step": 6590 }, { "epoch": 6.284713745117188e-07, "model_forward_time": 5.100413084030151, "step": 6590 }, { "dynamics_loss_avg": 0.05064401663839817, "epoch": 6.284713745117188e-07, "step": 6590 }, { "action_loss_avg": 0.07501922564115375, "epoch": 6.284713745117188e-07, "step": 6590 }, { "arm_loss_avg": 0.13058840725570917, "epoch": 6.284713745117188e-07, "step": 6590 }, { "ee_loss_avg": 0.10023832409642637, "epoch": 6.284713745117188e-07, "step": 6590 }, { "aux_loss_avg": 0.0008008819888345898, "epoch": 6.284713745117188e-07, "step": 6590 }, { "epoch": 6.284713745117188e-07, "step": 6590, "training_step_time": 17.572509050369263 }, { "epoch": 6.285667419433594e-07, "model_forward_time": 5.093249082565308, "step": 6591 }, { "epoch": 6.285667419433594e-07, "step": 6591, "training_step_time": 17.810667753219604 }, { "epoch": 6.28662109375e-07, "model_forward_time": 5.29642391204834, "step": 6592 }, { "epoch": 6.28662109375e-07, "step": 6592, "training_step_time": 17.59190845489502 }, { "epoch": 6.287574768066406e-07, "model_forward_time": 3.8571314811706543, "step": 6593 }, { "epoch": 6.287574768066406e-07, "step": 6593, "training_step_time": 17.602773427963257 }, { "epoch": 6.288528442382812e-07, "model_forward_time": 5.060266494750977, "step": 6594 }, { "epoch": 6.288528442382812e-07, "step": 6594, "training_step_time": 17.615345239639282 }, { "epoch": 6.289482116699219e-07, "model_forward_time": 5.067076206207275, "step": 6595 }, { "epoch": 6.289482116699219e-07, "step": 6595, "training_step_time": 17.61856770515442 }, { "epoch": 6.290435791015625e-07, "model_forward_time": 5.092071294784546, "step": 6596 }, { "epoch": 6.290435791015625e-07, "step": 6596, "training_step_time": 17.840863704681396 }, { "epoch": 6.291389465332031e-07, "model_forward_time": 5.095757484436035, "step": 6597 }, { "epoch": 6.291389465332031e-07, "step": 6597, "training_step_time": 17.68072748184204 }, { "epoch": 6.292343139648438e-07, "model_forward_time": 5.3679986000061035, "step": 6598 }, { "epoch": 6.292343139648438e-07, "step": 6598, "training_step_time": 17.508148431777954 }, { "epoch": 6.293296813964844e-07, "model_forward_time": 5.109227657318115, "step": 6599 }, { "epoch": 6.293296813964844e-07, "step": 6599, "training_step_time": 17.520480155944824 }, { "epoch": 6.29425048828125e-07, "grad_norm": 1.225246548652649, "learning_rate": 9.946511088329894e-06, "loss": 0.1218, "step": 6600 }, { "epoch": 6.29425048828125e-07, "model_forward_time": 5.102742910385132, "step": 6600 }, { "dynamics_loss_avg": 0.06347157750278712, "epoch": 6.29425048828125e-07, "step": 6600 }, { "action_loss_avg": 0.09580107815563679, "epoch": 6.29425048828125e-07, "step": 6600 }, { "arm_loss_avg": 0.1319081500172615, "epoch": 6.29425048828125e-07, "step": 6600 }, { "ee_loss_avg": 0.12675263173878193, "epoch": 6.29425048828125e-07, "step": 6600 }, { "aux_loss_avg": 0.0009185783332213759, "epoch": 6.29425048828125e-07, "step": 6600 }, { "epoch": 6.29425048828125e-07, "step": 6600, "training_step_time": 17.541459798812866 }, { "epoch": 6.295204162597656e-07, "model_forward_time": 5.101572036743164, "step": 6601 }, { "epoch": 6.295204162597656e-07, "step": 6601, "training_step_time": 17.80557894706726 }, { "epoch": 6.296157836914063e-07, "model_forward_time": 5.091387033462524, "step": 6602 }, { "epoch": 6.296157836914063e-07, "step": 6602, "training_step_time": 17.434531927108765 }, { "epoch": 6.297111511230469e-07, "model_forward_time": 5.090087652206421, "step": 6603 }, { "epoch": 6.297111511230469e-07, "step": 6603, "training_step_time": 17.493643283843994 }, { "epoch": 6.298065185546875e-07, "model_forward_time": 5.085592746734619, "step": 6604 }, { "epoch": 6.298065185546875e-07, "step": 6604, "training_step_time": 17.618982791900635 }, { "epoch": 6.299018859863281e-07, "model_forward_time": 5.0829808712005615, "step": 6605 }, { "epoch": 6.299018859863281e-07, "step": 6605, "training_step_time": 17.57658886909485 }, { "epoch": 6.299972534179687e-07, "model_forward_time": 5.084096670150757, "step": 6606 }, { "epoch": 6.299972534179687e-07, "step": 6606, "training_step_time": 17.773946285247803 }, { "epoch": 6.300926208496093e-07, "model_forward_time": 5.327347755432129, "step": 6607 }, { "epoch": 6.300926208496093e-07, "step": 6607, "training_step_time": 17.421923637390137 }, { "epoch": 6.3018798828125e-07, "model_forward_time": 5.082690000534058, "step": 6608 }, { "epoch": 6.3018798828125e-07, "step": 6608, "training_step_time": 17.3890438079834 }, { "epoch": 6.302833557128907e-07, "model_forward_time": 5.083192586898804, "step": 6609 }, { "epoch": 6.302833557128907e-07, "step": 6609, "training_step_time": 17.5757737159729 }, { "epoch": 6.303787231445313e-07, "grad_norm": 3.0178146362304688, "learning_rate": 9.94616595205409e-06, "loss": 0.1356, "step": 6610 }, { "epoch": 6.303787231445313e-07, "model_forward_time": 5.08170747756958, "step": 6610 }, { "dynamics_loss_avg": 0.05119245415553451, "epoch": 6.303787231445313e-07, "step": 6610 }, { "action_loss_avg": 0.07135002565337345, "epoch": 6.303787231445313e-07, "step": 6610 }, { "arm_loss_avg": 0.11162039758637547, "epoch": 6.303787231445313e-07, "step": 6610 }, { "ee_loss_avg": 0.14233580138534307, "epoch": 6.303787231445313e-07, "step": 6610 }, { "aux_loss_avg": 0.0034298569371458143, "epoch": 6.303787231445313e-07, "step": 6610 }, { "epoch": 6.303787231445313e-07, "step": 6610, "training_step_time": 17.4935405254364 }, { "epoch": 6.304740905761719e-07, "model_forward_time": 5.080363035202026, "step": 6611 }, { "epoch": 6.304740905761719e-07, "step": 6611, "training_step_time": 17.714813470840454 }, { "epoch": 6.305694580078125e-07, "model_forward_time": 5.2815821170806885, "step": 6612 }, { "epoch": 6.305694580078125e-07, "step": 6612, "training_step_time": 17.54534673690796 }, { "epoch": 6.306648254394531e-07, "model_forward_time": 5.082606792449951, "step": 6613 }, { "epoch": 6.306648254394531e-07, "step": 6613, "training_step_time": 17.60194706916809 }, { "epoch": 6.307601928710937e-07, "model_forward_time": 5.084298133850098, "step": 6614 }, { "epoch": 6.307601928710937e-07, "step": 6614, "training_step_time": 17.618881225585938 }, { "epoch": 6.308555603027344e-07, "model_forward_time": 5.080592155456543, "step": 6615 }, { "epoch": 6.308555603027344e-07, "step": 6615, "training_step_time": 17.626943111419678 }, { "epoch": 6.30950927734375e-07, "model_forward_time": 5.085191011428833, "step": 6616 }, { "epoch": 6.30950927734375e-07, "step": 6616, "training_step_time": 17.80610227584839 }, { "epoch": 6.310462951660156e-07, "model_forward_time": 5.083194971084595, "step": 6617 }, { "epoch": 6.310462951660156e-07, "step": 6617, "training_step_time": 17.401575565338135 }, { "epoch": 6.311416625976563e-07, "model_forward_time": 5.086510896682739, "step": 6618 }, { "epoch": 6.311416625976563e-07, "step": 6618, "training_step_time": 17.51852822303772 }, { "epoch": 6.312370300292969e-07, "model_forward_time": 5.084257125854492, "step": 6619 }, { "epoch": 6.312370300292969e-07, "step": 6619, "training_step_time": 17.61844491958618 }, { "epoch": 6.313323974609375e-07, "grad_norm": 1.8835608959197998, "learning_rate": 9.945819711889987e-06, "loss": 0.1283, "step": 6620 }, { "epoch": 6.313323974609375e-07, "model_forward_time": 5.084962368011475, "step": 6620 }, { "dynamics_loss_avg": 0.03821531482972205, "epoch": 6.313323974609375e-07, "step": 6620 }, { "action_loss_avg": 0.051681133185047655, "epoch": 6.313323974609375e-07, "step": 6620 }, { "arm_loss_avg": 0.10176854128949345, "epoch": 6.313323974609375e-07, "step": 6620 }, { "ee_loss_avg": 0.06594024451915174, "epoch": 6.313323974609375e-07, "step": 6620 }, { "aux_loss_avg": 0.0007554852083558217, "epoch": 6.313323974609375e-07, "step": 6620 }, { "epoch": 6.313323974609375e-07, "step": 6620, "training_step_time": 17.55780339241028 }, { "epoch": 6.314277648925781e-07, "model_forward_time": 5.084961175918579, "step": 6621 }, { "epoch": 6.314277648925781e-07, "step": 6621, "training_step_time": 17.81710433959961 }, { "epoch": 6.315231323242188e-07, "model_forward_time": 3.847686290740967, "step": 6622 }, { "epoch": 6.315231323242188e-07, "step": 6622, "training_step_time": 17.582645416259766 }, { "epoch": 6.316184997558594e-07, "model_forward_time": 5.053532361984253, "step": 6623 }, { "epoch": 6.316184997558594e-07, "step": 6623, "training_step_time": 17.594383001327515 }, { "epoch": 6.317138671875e-07, "model_forward_time": 5.065876007080078, "step": 6624 }, { "epoch": 6.317138671875e-07, "step": 6624, "training_step_time": 17.59918737411499 }, { "epoch": 6.318092346191406e-07, "model_forward_time": 5.074883222579956, "step": 6625 }, { "epoch": 6.318092346191406e-07, "step": 6625, "training_step_time": 17.606289625167847 }, { "epoch": 6.319046020507812e-07, "model_forward_time": 5.0840840339660645, "step": 6626 }, { "epoch": 6.319046020507812e-07, "step": 6626, "training_step_time": 17.78904438018799 }, { "epoch": 6.319999694824218e-07, "model_forward_time": 3.8571956157684326, "step": 6627 }, { "epoch": 6.319999694824218e-07, "step": 6627, "training_step_time": 17.596996068954468 }, { "epoch": 6.320953369140624e-07, "model_forward_time": 5.063915014266968, "step": 6628 }, { "epoch": 6.320953369140624e-07, "step": 6628, "training_step_time": 17.393937587738037 }, { "epoch": 6.321907043457032e-07, "model_forward_time": 5.080271244049072, "step": 6629 }, { "epoch": 6.321907043457032e-07, "step": 6629, "training_step_time": 17.234572887420654 }, { "epoch": 6.322860717773438e-07, "grad_norm": 2.382927894592285, "learning_rate": 9.945472367914854e-06, "loss": 0.1182, "step": 6630 }, { "epoch": 6.322860717773438e-07, "model_forward_time": 3.857837438583374, "step": 6630 }, { "dynamics_loss_avg": 0.06023512184619904, "epoch": 6.322860717773438e-07, "step": 6630 }, { "action_loss_avg": 0.07727233766345307, "epoch": 6.322860717773438e-07, "step": 6630 }, { "arm_loss_avg": 0.15760784782469273, "epoch": 6.322860717773438e-07, "step": 6630 }, { "ee_loss_avg": 0.17034650852438063, "epoch": 6.322860717773438e-07, "step": 6630 }, { "aux_loss_avg": 0.008349089632974937, "epoch": 6.322860717773438e-07, "step": 6630 }, { "epoch": 6.322860717773438e-07, "step": 6630, "training_step_time": 17.454209327697754 }, { "epoch": 6.323814392089844e-07, "model_forward_time": 5.066437721252441, "step": 6631 }, { "epoch": 6.323814392089844e-07, "step": 6631, "training_step_time": 17.73962163925171 }, { "epoch": 6.32476806640625e-07, "model_forward_time": 5.078661203384399, "step": 6632 }, { "epoch": 6.32476806640625e-07, "step": 6632, "training_step_time": 17.550185918807983 }, { "epoch": 6.325721740722656e-07, "model_forward_time": 5.089847087860107, "step": 6633 }, { "epoch": 6.325721740722656e-07, "step": 6633, "training_step_time": 17.587016344070435 }, { "epoch": 6.326675415039062e-07, "model_forward_time": 3.8588955402374268, "step": 6634 }, { "epoch": 6.326675415039062e-07, "step": 6634, "training_step_time": 17.62018394470215 }, { "epoch": 6.327629089355469e-07, "model_forward_time": 5.0713911056518555, "step": 6635 }, { "epoch": 6.327629089355469e-07, "step": 6635, "training_step_time": 17.623836755752563 }, { "epoch": 6.328582763671875e-07, "model_forward_time": 5.074934959411621, "step": 6636 }, { "epoch": 6.328582763671875e-07, "step": 6636, "training_step_time": 17.832881450653076 }, { "epoch": 6.329536437988281e-07, "model_forward_time": 5.08543062210083, "step": 6637 }, { "epoch": 6.329536437988281e-07, "step": 6637, "training_step_time": 17.61844754219055 }, { "epoch": 6.330490112304687e-07, "model_forward_time": 5.3286285400390625, "step": 6638 }, { "epoch": 6.330490112304687e-07, "step": 6638, "training_step_time": 17.614799976348877 }, { "epoch": 6.331443786621094e-07, "model_forward_time": 5.096553087234497, "step": 6639 }, { "epoch": 6.331443786621094e-07, "step": 6639, "training_step_time": 17.610883951187134 }, { "epoch": 6.3323974609375e-07, "grad_norm": 1.7069292068481445, "learning_rate": 9.945123920206218e-06, "loss": 0.1158, "step": 6640 }, { "epoch": 6.3323974609375e-07, "model_forward_time": 5.094983339309692, "step": 6640 }, { "dynamics_loss_avg": 0.04872718900442123, "epoch": 6.3323974609375e-07, "step": 6640 }, { "action_loss_avg": 0.05263580125756562, "epoch": 6.3323974609375e-07, "step": 6640 }, { "arm_loss_avg": 0.12983941999264062, "epoch": 6.3323974609375e-07, "step": 6640 }, { "ee_loss_avg": 0.11851480575278402, "epoch": 6.3323974609375e-07, "step": 6640 }, { "aux_loss_avg": 0.018672679029987194, "epoch": 6.3323974609375e-07, "step": 6640 }, { "epoch": 6.3323974609375e-07, "step": 6640, "training_step_time": 17.596115589141846 }, { "epoch": 6.333351135253906e-07, "model_forward_time": 3.860725164413452, "step": 6641 }, { "epoch": 6.333351135253906e-07, "step": 6641, "training_step_time": 17.80445885658264 }, { "epoch": 6.334304809570313e-07, "model_forward_time": 3.8334758281707764, "step": 6642 }, { "epoch": 6.334304809570313e-07, "step": 6642, "training_step_time": 17.580751419067383 }, { "epoch": 6.335258483886719e-07, "model_forward_time": 4.044888973236084, "step": 6643 }, { "epoch": 6.335258483886719e-07, "step": 6643, "training_step_time": 17.572593927383423 }, { "epoch": 6.336212158203125e-07, "model_forward_time": 5.043688058853149, "step": 6644 }, { "epoch": 6.336212158203125e-07, "step": 6644, "training_step_time": 17.601184606552124 }, { "epoch": 6.337165832519531e-07, "model_forward_time": 5.064199447631836, "step": 6645 }, { "epoch": 6.337165832519531e-07, "step": 6645, "training_step_time": 17.555699110031128 }, { "epoch": 6.338119506835937e-07, "model_forward_time": 5.084460020065308, "step": 6646 }, { "epoch": 6.338119506835937e-07, "step": 6646, "training_step_time": 17.750076055526733 }, { "epoch": 6.339073181152343e-07, "model_forward_time": 5.097803831100464, "step": 6647 }, { "epoch": 6.339073181152343e-07, "step": 6647, "training_step_time": 17.556066274642944 }, { "epoch": 6.34002685546875e-07, "model_forward_time": 5.3303046226501465, "step": 6648 }, { "epoch": 6.34002685546875e-07, "step": 6648, "training_step_time": 17.55331516265869 }, { "epoch": 6.340980529785157e-07, "model_forward_time": 5.106829404830933, "step": 6649 }, { "epoch": 6.340980529785157e-07, "step": 6649, "training_step_time": 17.573519945144653 }, { "epoch": 6.341934204101563e-07, "grad_norm": 1.735465168952942, "learning_rate": 9.944774368841846e-06, "loss": 0.1249, "step": 6650 }, { "epoch": 6.341934204101563e-07, "model_forward_time": 5.1016998291015625, "step": 6650 }, { "dynamics_loss_avg": 0.04827096173539758, "epoch": 6.341934204101563e-07, "step": 6650 }, { "action_loss_avg": 0.0838638081215322, "epoch": 6.341934204101563e-07, "step": 6650 }, { "arm_loss_avg": 0.10876643136143685, "epoch": 6.341934204101563e-07, "step": 6650 }, { "ee_loss_avg": 0.09116969991009682, "epoch": 6.341934204101563e-07, "step": 6650 }, { "aux_loss_avg": 0.000997826986713335, "epoch": 6.341934204101563e-07, "step": 6650 }, { "epoch": 6.341934204101563e-07, "step": 6650, "training_step_time": 17.58601951599121 }, { "epoch": 6.342887878417969e-07, "model_forward_time": 3.8562886714935303, "step": 6651 }, { "epoch": 6.342887878417969e-07, "step": 6651, "training_step_time": 17.8207528591156 }, { "epoch": 6.343841552734375e-07, "model_forward_time": 5.065193176269531, "step": 6652 }, { "epoch": 6.343841552734375e-07, "step": 6652, "training_step_time": 17.59598135948181 }, { "epoch": 6.344795227050781e-07, "model_forward_time": 5.253402233123779, "step": 6653 }, { "epoch": 6.344795227050781e-07, "step": 6653, "training_step_time": 17.582565784454346 }, { "epoch": 6.345748901367187e-07, "model_forward_time": 5.07383918762207, "step": 6654 }, { "epoch": 6.345748901367187e-07, "step": 6654, "training_step_time": 17.612671613693237 }, { "epoch": 6.346702575683594e-07, "model_forward_time": 5.081304550170898, "step": 6655 }, { "epoch": 6.346702575683594e-07, "step": 6655, "training_step_time": 17.578238487243652 }, { "epoch": 6.34765625e-07, "model_forward_time": 5.087350606918335, "step": 6656 }, { "epoch": 6.34765625e-07, "step": 6656, "training_step_time": 17.7814998626709 }, { "epoch": 6.348609924316406e-07, "model_forward_time": 5.090601921081543, "step": 6657 }, { "epoch": 6.348609924316406e-07, "step": 6657, "training_step_time": 17.569384336471558 }, { "epoch": 6.349563598632812e-07, "model_forward_time": 5.3270416259765625, "step": 6658 }, { "epoch": 6.349563598632812e-07, "step": 6658, "training_step_time": 17.580034255981445 }, { "epoch": 6.350517272949219e-07, "model_forward_time": 5.099148273468018, "step": 6659 }, { "epoch": 6.350517272949219e-07, "step": 6659, "training_step_time": 17.58831477165222 }, { "epoch": 6.351470947265625e-07, "grad_norm": 1.3469502925872803, "learning_rate": 9.944423713899745e-06, "loss": 0.1255, "step": 6660 }, { "epoch": 6.351470947265625e-07, "model_forward_time": 3.8579177856445312, "step": 6660 }, { "dynamics_loss_avg": 0.051658214256167415, "epoch": 6.351470947265625e-07, "step": 6660 }, { "action_loss_avg": 0.07604853846132756, "epoch": 6.351470947265625e-07, "step": 6660 }, { "arm_loss_avg": 0.12831892147660257, "epoch": 6.351470947265625e-07, "step": 6660 }, { "ee_loss_avg": 0.11131230928003788, "epoch": 6.351470947265625e-07, "step": 6660 }, { "aux_loss_avg": 0.002599148463923484, "epoch": 6.351470947265625e-07, "step": 6660 }, { "epoch": 6.351470947265625e-07, "step": 6660, "training_step_time": 17.572084665298462 }, { "epoch": 6.352424621582031e-07, "model_forward_time": 3.834972858428955, "step": 6661 }, { "epoch": 6.352424621582031e-07, "step": 6661, "training_step_time": 17.80093002319336 }, { "epoch": 6.353378295898438e-07, "model_forward_time": 5.0520405769348145, "step": 6662 }, { "epoch": 6.353378295898438e-07, "step": 6662, "training_step_time": 17.573912143707275 }, { "epoch": 6.354331970214844e-07, "model_forward_time": 5.25356388092041, "step": 6663 }, { "epoch": 6.354331970214844e-07, "step": 6663, "training_step_time": 17.567432403564453 }, { "epoch": 6.35528564453125e-07, "model_forward_time": 5.083433389663696, "step": 6664 }, { "epoch": 6.35528564453125e-07, "step": 6664, "training_step_time": 17.568978548049927 }, { "epoch": 6.356239318847656e-07, "model_forward_time": 5.096094369888306, "step": 6665 }, { "epoch": 6.356239318847656e-07, "step": 6665, "training_step_time": 17.569897413253784 }, { "epoch": 6.357192993164062e-07, "model_forward_time": 5.099328994750977, "step": 6666 }, { "epoch": 6.357192993164062e-07, "step": 6666, "training_step_time": 17.755839586257935 }, { "epoch": 6.358146667480468e-07, "model_forward_time": 5.106233596801758, "step": 6667 }, { "epoch": 6.358146667480468e-07, "step": 6667, "training_step_time": 17.552965879440308 }, { "epoch": 6.359100341796875e-07, "model_forward_time": 5.338453054428101, "step": 6668 }, { "epoch": 6.359100341796875e-07, "step": 6668, "training_step_time": 17.56691288948059 }, { "epoch": 6.360054016113282e-07, "model_forward_time": 5.102754831314087, "step": 6669 }, { "epoch": 6.360054016113282e-07, "step": 6669, "training_step_time": 17.57737946510315 }, { "epoch": 6.361007690429688e-07, "grad_norm": 1.88834810256958, "learning_rate": 9.944071955458178e-06, "loss": 0.1072, "step": 6670 }, { "epoch": 6.361007690429688e-07, "model_forward_time": 5.095064163208008, "step": 6670 }, { "dynamics_loss_avg": 0.041253981506451966, "epoch": 6.361007690429688e-07, "step": 6670 }, { "action_loss_avg": 0.047937026584986595, "epoch": 6.361007690429688e-07, "step": 6670 }, { "arm_loss_avg": 0.07989576335530728, "epoch": 6.361007690429688e-07, "step": 6670 }, { "ee_loss_avg": 0.06666974099352956, "epoch": 6.361007690429688e-07, "step": 6670 }, { "aux_loss_avg": 0.0007174907252192498, "epoch": 6.361007690429688e-07, "step": 6670 }, { "epoch": 6.361007690429688e-07, "step": 6670, "training_step_time": 17.557695627212524 }, { "epoch": 6.361961364746094e-07, "model_forward_time": 5.092423677444458, "step": 6671 }, { "epoch": 6.361961364746094e-07, "step": 6671, "training_step_time": 17.810940980911255 }, { "epoch": 6.3629150390625e-07, "model_forward_time": 5.086992263793945, "step": 6672 }, { "epoch": 6.3629150390625e-07, "step": 6672, "training_step_time": 17.578816175460815 }, { "epoch": 6.363868713378906e-07, "model_forward_time": 5.272771120071411, "step": 6673 }, { "epoch": 6.363868713378906e-07, "step": 6673, "training_step_time": 17.58442211151123 }, { "epoch": 6.364822387695312e-07, "model_forward_time": 3.849022388458252, "step": 6674 }, { "epoch": 6.364822387695312e-07, "step": 6674, "training_step_time": 17.224641799926758 }, { "epoch": 6.365776062011719e-07, "model_forward_time": 5.064011573791504, "step": 6675 }, { "epoch": 6.365776062011719e-07, "step": 6675, "training_step_time": 17.556344509124756 }, { "epoch": 6.366729736328125e-07, "model_forward_time": 5.079188585281372, "step": 6676 }, { "epoch": 6.366729736328125e-07, "step": 6676, "training_step_time": 17.569708824157715 }, { "epoch": 6.367683410644531e-07, "model_forward_time": 5.095316648483276, "step": 6677 }, { "epoch": 6.367683410644531e-07, "step": 6677, "training_step_time": 17.84352135658264 }, { "epoch": 6.368637084960937e-07, "model_forward_time": 5.350359201431274, "step": 6678 }, { "epoch": 6.368637084960937e-07, "step": 6678, "training_step_time": 17.601710081100464 }, { "epoch": 6.369590759277344e-07, "model_forward_time": 5.110554218292236, "step": 6679 }, { "epoch": 6.369590759277344e-07, "step": 6679, "training_step_time": 17.61105966567993 }, { "epoch": 6.37054443359375e-07, "grad_norm": 1.4987176656723022, "learning_rate": 9.943719093595653e-06, "loss": 0.095, "step": 6680 }, { "epoch": 6.37054443359375e-07, "model_forward_time": 3.863886594772339, "step": 6680 }, { "dynamics_loss_avg": 0.04120364934206009, "epoch": 6.37054443359375e-07, "step": 6680 }, { "action_loss_avg": 0.05827906113117933, "epoch": 6.37054443359375e-07, "step": 6680 }, { "arm_loss_avg": 0.12220333209261298, "epoch": 6.37054443359375e-07, "step": 6680 }, { "ee_loss_avg": 0.08656536880880594, "epoch": 6.37054443359375e-07, "step": 6680 }, { "aux_loss_avg": 0.0033188903878908606, "epoch": 6.37054443359375e-07, "step": 6680 }, { "epoch": 6.37054443359375e-07, "step": 6680, "training_step_time": 17.583072662353516 }, { "epoch": 6.371498107910157e-07, "model_forward_time": 5.061089754104614, "step": 6681 }, { "epoch": 6.371498107910157e-07, "step": 6681, "training_step_time": 17.81665062904358 }, { "epoch": 6.372451782226563e-07, "model_forward_time": 5.0727622509002686, "step": 6682 }, { "epoch": 6.372451782226563e-07, "step": 6682, "training_step_time": 17.59139657020569 }, { "epoch": 6.373405456542969e-07, "model_forward_time": 5.083944797515869, "step": 6683 }, { "epoch": 6.373405456542969e-07, "step": 6683, "training_step_time": 17.582347631454468 }, { "epoch": 6.374359130859375e-07, "model_forward_time": 5.088985204696655, "step": 6684 }, { "epoch": 6.374359130859375e-07, "step": 6684, "training_step_time": 17.61650776863098 }, { "epoch": 6.375312805175781e-07, "model_forward_time": 5.093733787536621, "step": 6685 }, { "epoch": 6.375312805175781e-07, "step": 6685, "training_step_time": 17.584812879562378 }, { "epoch": 6.376266479492187e-07, "model_forward_time": 5.09466814994812, "step": 6686 }, { "epoch": 6.376266479492187e-07, "step": 6686, "training_step_time": 17.808284759521484 }, { "epoch": 6.377220153808593e-07, "model_forward_time": 5.094028472900391, "step": 6687 }, { "epoch": 6.377220153808593e-07, "step": 6687, "training_step_time": 17.583212852478027 }, { "epoch": 6.378173828125e-07, "model_forward_time": 5.093219518661499, "step": 6688 }, { "epoch": 6.378173828125e-07, "step": 6688, "training_step_time": 17.581175804138184 }, { "epoch": 6.379127502441407e-07, "model_forward_time": 3.8552370071411133, "step": 6689 }, { "epoch": 6.379127502441407e-07, "step": 6689, "training_step_time": 17.588146686553955 }, { "epoch": 6.380081176757813e-07, "grad_norm": 1.8706936836242676, "learning_rate": 9.943365128390918e-06, "loss": 0.1215, "step": 6690 }, { "epoch": 6.380081176757813e-07, "model_forward_time": 5.0659339427948, "step": 6690 }, { "dynamics_loss_avg": 0.03871567826718092, "epoch": 6.380081176757813e-07, "step": 6690 }, { "action_loss_avg": 0.07297737195622175, "epoch": 6.380081176757813e-07, "step": 6690 }, { "arm_loss_avg": 0.15222550383768976, "epoch": 6.380081176757813e-07, "step": 6690 }, { "ee_loss_avg": 0.08470549259800464, "epoch": 6.380081176757813e-07, "step": 6690 }, { "aux_loss_avg": 0.0008339116349816323, "epoch": 6.380081176757813e-07, "step": 6690 }, { "epoch": 6.380081176757813e-07, "step": 6690, "training_step_time": 17.579380989074707 }, { "epoch": 6.381034851074219e-07, "model_forward_time": 5.067324876785278, "step": 6691 }, { "epoch": 6.381034851074219e-07, "step": 6691, "training_step_time": 17.81077003479004 }, { "epoch": 6.381988525390625e-07, "model_forward_time": 5.072835206985474, "step": 6692 }, { "epoch": 6.381988525390625e-07, "step": 6692, "training_step_time": 17.56978416442871 }, { "epoch": 6.382942199707031e-07, "model_forward_time": 5.083611488342285, "step": 6693 }, { "epoch": 6.382942199707031e-07, "step": 6693, "training_step_time": 17.57235860824585 }, { "epoch": 6.383895874023437e-07, "model_forward_time": 5.090895652770996, "step": 6694 }, { "epoch": 6.383895874023437e-07, "step": 6694, "training_step_time": 17.60794162750244 }, { "epoch": 6.384849548339844e-07, "model_forward_time": 5.094935417175293, "step": 6695 }, { "epoch": 6.384849548339844e-07, "step": 6695, "training_step_time": 17.497549295425415 }, { "epoch": 6.38580322265625e-07, "model_forward_time": 5.095282554626465, "step": 6696 }, { "epoch": 6.38580322265625e-07, "step": 6696, "training_step_time": 17.535396099090576 }, { "epoch": 6.386756896972656e-07, "model_forward_time": 5.094301223754883, "step": 6697 }, { "epoch": 6.386756896972656e-07, "step": 6697, "training_step_time": 17.771379709243774 }, { "epoch": 6.387710571289062e-07, "model_forward_time": 5.088370323181152, "step": 6698 }, { "epoch": 6.387710571289062e-07, "step": 6698, "training_step_time": 17.591127634048462 }, { "epoch": 6.388664245605469e-07, "model_forward_time": 5.0872015953063965, "step": 6699 }, { "epoch": 6.388664245605469e-07, "step": 6699, "training_step_time": 17.60418391227722 }, { "epoch": 6.389617919921875e-07, "grad_norm": 1.420379400253296, "learning_rate": 9.943010059922973e-06, "loss": 0.1484, "step": 6700 }, { "epoch": 6.389617919921875e-07, "model_forward_time": 5.08720326423645, "step": 6700 }, { "dynamics_loss_avg": 0.058084238693118094, "epoch": 6.389617919921875e-07, "step": 6700 }, { "action_loss_avg": 0.08907115221954882, "epoch": 6.389617919921875e-07, "step": 6700 }, { "arm_loss_avg": 0.17042277653235943, "epoch": 6.389617919921875e-07, "step": 6700 }, { "ee_loss_avg": 0.08426836160942912, "epoch": 6.389617919921875e-07, "step": 6700 }, { "aux_loss_avg": 0.004683003146783449, "epoch": 6.389617919921875e-07, "step": 6700 }, { "epoch": 6.389617919921875e-07, "step": 6700, "training_step_time": 17.604724645614624 }, { "epoch": 6.390571594238282e-07, "model_forward_time": 5.085241317749023, "step": 6701 }, { "epoch": 6.390571594238282e-07, "step": 6701, "training_step_time": 17.47018051147461 }, { "epoch": 6.391525268554688e-07, "model_forward_time": 5.083593845367432, "step": 6702 }, { "epoch": 6.391525268554688e-07, "step": 6702, "training_step_time": 17.75504207611084 }, { "epoch": 6.392478942871094e-07, "model_forward_time": 5.081305265426636, "step": 6703 }, { "epoch": 6.392478942871094e-07, "step": 6703, "training_step_time": 17.39867067337036 }, { "epoch": 6.3934326171875e-07, "model_forward_time": 5.0810911655426025, "step": 6704 }, { "epoch": 6.3934326171875e-07, "step": 6704, "training_step_time": 17.589251279830933 }, { "epoch": 6.394386291503906e-07, "model_forward_time": 5.081400394439697, "step": 6705 }, { "epoch": 6.394386291503906e-07, "step": 6705, "training_step_time": 17.556889057159424 }, { "epoch": 6.395339965820312e-07, "model_forward_time": 5.0811896324157715, "step": 6706 }, { "epoch": 6.395339965820312e-07, "step": 6706, "training_step_time": 17.58853578567505 }, { "epoch": 6.396293640136718e-07, "model_forward_time": 5.082237720489502, "step": 6707 }, { "epoch": 6.396293640136718e-07, "step": 6707, "training_step_time": 17.80940818786621 }, { "epoch": 6.397247314453125e-07, "model_forward_time": 5.321016550064087, "step": 6708 }, { "epoch": 6.397247314453125e-07, "step": 6708, "training_step_time": 17.62990379333496 }, { "epoch": 6.398200988769532e-07, "model_forward_time": 5.0784592628479, "step": 6709 }, { "epoch": 6.398200988769532e-07, "step": 6709, "training_step_time": 17.631608486175537 }, { "epoch": 6.399154663085938e-07, "grad_norm": 1.8233050107955933, "learning_rate": 9.942653888271062e-06, "loss": 0.1357, "step": 6710 }, { "epoch": 6.399154663085938e-07, "model_forward_time": 5.080970287322998, "step": 6710 }, { "dynamics_loss_avg": 0.04882793417200446, "epoch": 6.399154663085938e-07, "step": 6710 }, { "action_loss_avg": 0.07543357315007597, "epoch": 6.399154663085938e-07, "step": 6710 }, { "arm_loss_avg": 0.12818315862677993, "epoch": 6.399154663085938e-07, "step": 6710 }, { "ee_loss_avg": 0.06662122458219528, "epoch": 6.399154663085938e-07, "step": 6710 }, { "aux_loss_avg": 0.00267995236790739, "epoch": 6.399154663085938e-07, "step": 6710 }, { "epoch": 6.399154663085938e-07, "step": 6710, "training_step_time": 17.624979972839355 }, { "epoch": 6.400108337402344e-07, "model_forward_time": 5.079923152923584, "step": 6711 }, { "epoch": 6.400108337402344e-07, "step": 6711, "training_step_time": 17.836342334747314 }, { "epoch": 6.40106201171875e-07, "model_forward_time": 5.085014581680298, "step": 6712 }, { "epoch": 6.40106201171875e-07, "step": 6712, "training_step_time": 17.615442276000977 }, { "epoch": 6.402015686035156e-07, "model_forward_time": 5.288089752197266, "step": 6713 }, { "epoch": 6.402015686035156e-07, "step": 6713, "training_step_time": 17.606637001037598 }, { "epoch": 6.402969360351562e-07, "model_forward_time": 5.085282802581787, "step": 6714 }, { "epoch": 6.402969360351562e-07, "step": 6714, "training_step_time": 17.628596544265747 }, { "epoch": 6.403923034667969e-07, "model_forward_time": 5.082230567932129, "step": 6715 }, { "epoch": 6.403923034667969e-07, "step": 6715, "training_step_time": 17.45325231552124 }, { "epoch": 6.404876708984375e-07, "model_forward_time": 5.086571455001831, "step": 6716 }, { "epoch": 6.404876708984375e-07, "step": 6716, "training_step_time": 17.721686840057373 }, { "epoch": 6.405830383300781e-07, "model_forward_time": 5.104336738586426, "step": 6717 }, { "epoch": 6.405830383300781e-07, "step": 6717, "training_step_time": 17.57044219970703 }, { "epoch": 6.406784057617187e-07, "model_forward_time": 3.8586370944976807, "step": 6718 }, { "epoch": 6.406784057617187e-07, "step": 6718, "training_step_time": 17.58565640449524 }, { "epoch": 6.407737731933594e-07, "model_forward_time": 5.314111948013306, "step": 6719 }, { "epoch": 6.407737731933594e-07, "step": 6719, "training_step_time": 17.643554210662842 }, { "epoch": 6.40869140625e-07, "grad_norm": 0.8485206961631775, "learning_rate": 9.942296613514675e-06, "loss": 0.1163, "step": 6720 }, { "epoch": 6.40869140625e-07, "model_forward_time": 5.077674865722656, "step": 6720 }, { "dynamics_loss_avg": 0.04652944402769208, "epoch": 6.40869140625e-07, "step": 6720 }, { "action_loss_avg": 0.08680052035488188, "epoch": 6.40869140625e-07, "step": 6720 }, { "arm_loss_avg": 0.1745897980639711, "epoch": 6.40869140625e-07, "step": 6720 }, { "ee_loss_avg": 0.08376043252646923, "epoch": 6.40869140625e-07, "step": 6720 }, { "aux_loss_avg": 0.030970325891394167, "epoch": 6.40869140625e-07, "step": 6720 }, { "epoch": 6.40869140625e-07, "step": 6720, "training_step_time": 17.6381356716156 }, { "epoch": 6.409645080566407e-07, "model_forward_time": 5.074361562728882, "step": 6721 }, { "epoch": 6.409645080566407e-07, "step": 6721, "training_step_time": 17.832679748535156 }, { "epoch": 6.410598754882813e-07, "model_forward_time": 5.085847854614258, "step": 6722 }, { "epoch": 6.410598754882813e-07, "step": 6722, "training_step_time": 17.60030221939087 }, { "epoch": 6.411552429199219e-07, "model_forward_time": 5.087103366851807, "step": 6723 }, { "epoch": 6.411552429199219e-07, "step": 6723, "training_step_time": 17.59294629096985 }, { "epoch": 6.412506103515625e-07, "model_forward_time": 5.0966291427612305, "step": 6724 }, { "epoch": 6.412506103515625e-07, "step": 6724, "training_step_time": 17.596248149871826 }, { "epoch": 6.413459777832031e-07, "model_forward_time": 5.095947265625, "step": 6725 }, { "epoch": 6.413459777832031e-07, "step": 6725, "training_step_time": 17.592753887176514 }, { "epoch": 6.414413452148437e-07, "model_forward_time": 5.095341205596924, "step": 6726 }, { "epoch": 6.414413452148437e-07, "step": 6726, "training_step_time": 17.797300100326538 }, { "epoch": 6.415367126464843e-07, "model_forward_time": 5.086864709854126, "step": 6727 }, { "epoch": 6.415367126464843e-07, "step": 6727, "training_step_time": 17.57853412628174 }, { "epoch": 6.41632080078125e-07, "model_forward_time": 5.08476996421814, "step": 6728 }, { "epoch": 6.41632080078125e-07, "step": 6728, "training_step_time": 17.572068691253662 }, { "epoch": 6.417274475097657e-07, "model_forward_time": 5.082711458206177, "step": 6729 }, { "epoch": 6.417274475097657e-07, "step": 6729, "training_step_time": 17.575459003448486 }, { "epoch": 6.418228149414063e-07, "grad_norm": 1.7115589380264282, "learning_rate": 9.94193823573355e-06, "loss": 0.1153, "step": 6730 }, { "epoch": 6.418228149414063e-07, "model_forward_time": 5.085416316986084, "step": 6730 }, { "dynamics_loss_avg": 0.03448733203113079, "epoch": 6.418228149414063e-07, "step": 6730 }, { "action_loss_avg": 0.08982336036860943, "epoch": 6.418228149414063e-07, "step": 6730 }, { "arm_loss_avg": 0.14017546586692334, "epoch": 6.418228149414063e-07, "step": 6730 }, { "ee_loss_avg": 0.137608702480793, "epoch": 6.418228149414063e-07, "step": 6730 }, { "aux_loss_avg": 0.003415306576061994, "epoch": 6.418228149414063e-07, "step": 6730 }, { "epoch": 6.418228149414063e-07, "step": 6730, "training_step_time": 17.580455541610718 }, { "epoch": 6.419181823730469e-07, "model_forward_time": 5.082333326339722, "step": 6731 }, { "epoch": 6.419181823730469e-07, "step": 6731, "training_step_time": 17.818977117538452 }, { "epoch": 6.420135498046875e-07, "model_forward_time": 5.081344127655029, "step": 6732 }, { "epoch": 6.420135498046875e-07, "step": 6732, "training_step_time": 17.40791654586792 }, { "epoch": 6.421089172363281e-07, "model_forward_time": 5.279640197753906, "step": 6733 }, { "epoch": 6.421089172363281e-07, "step": 6733, "training_step_time": 17.501659870147705 }, { "epoch": 6.422042846679687e-07, "model_forward_time": 3.847956418991089, "step": 6734 }, { "epoch": 6.422042846679687e-07, "step": 6734, "training_step_time": 17.54421591758728 }, { "epoch": 6.422996520996094e-07, "model_forward_time": 5.06013560295105, "step": 6735 }, { "epoch": 6.422996520996094e-07, "step": 6735, "training_step_time": 17.636947870254517 }, { "epoch": 6.4239501953125e-07, "model_forward_time": 5.067454099655151, "step": 6736 }, { "epoch": 6.4239501953125e-07, "step": 6736, "training_step_time": 17.59958004951477 }, { "epoch": 6.424903869628906e-07, "model_forward_time": 5.0845160484313965, "step": 6737 }, { "epoch": 6.424903869628906e-07, "step": 6737, "training_step_time": 17.403284788131714 }, { "epoch": 6.425857543945312e-07, "model_forward_time": 5.099012613296509, "step": 6738 }, { "epoch": 6.425857543945312e-07, "step": 6738, "training_step_time": 17.397026300430298 }, { "epoch": 6.426811218261719e-07, "model_forward_time": 4.068282127380371, "step": 6739 }, { "epoch": 6.426811218261719e-07, "step": 6739, "training_step_time": 17.51457953453064 }, { "epoch": 6.427764892578125e-07, "grad_norm": 1.3900372982025146, "learning_rate": 9.94157875500767e-06, "loss": 0.1209, "step": 6740 }, { "epoch": 6.427764892578125e-07, "model_forward_time": 5.07789945602417, "step": 6740 }, { "dynamics_loss_avg": 0.044242982752621174, "epoch": 6.427764892578125e-07, "step": 6740 }, { "action_loss_avg": 0.08622410334646702, "epoch": 6.427764892578125e-07, "step": 6740 }, { "arm_loss_avg": 0.1253606468439102, "epoch": 6.427764892578125e-07, "step": 6740 }, { "ee_loss_avg": 0.19319709539413452, "epoch": 6.427764892578125e-07, "step": 6740 }, { "aux_loss_avg": 0.005811254581203684, "epoch": 6.427764892578125e-07, "step": 6740 }, { "epoch": 6.427764892578125e-07, "step": 6740, "training_step_time": 17.617271661758423 }, { "epoch": 6.428718566894532e-07, "model_forward_time": 5.085846900939941, "step": 6741 }, { "epoch": 6.428718566894532e-07, "step": 6741, "training_step_time": 17.362947940826416 }, { "epoch": 6.429672241210938e-07, "model_forward_time": 5.08957314491272, "step": 6742 }, { "epoch": 6.429672241210938e-07, "step": 6742, "training_step_time": 17.75950598716736 }, { "epoch": 6.430625915527344e-07, "model_forward_time": 5.090890645980835, "step": 6743 }, { "epoch": 6.430625915527344e-07, "step": 6743, "training_step_time": 17.581200122833252 }, { "epoch": 6.43157958984375e-07, "model_forward_time": 5.28152060508728, "step": 6744 }, { "epoch": 6.43157958984375e-07, "step": 6744, "training_step_time": 17.610060214996338 }, { "epoch": 6.432533264160156e-07, "model_forward_time": 5.0932464599609375, "step": 6745 }, { "epoch": 6.432533264160156e-07, "step": 6745, "training_step_time": 17.637850046157837 }, { "epoch": 6.433486938476562e-07, "model_forward_time": 5.090311527252197, "step": 6746 }, { "epoch": 6.433486938476562e-07, "step": 6746, "training_step_time": 17.423786401748657 }, { "epoch": 6.434440612792968e-07, "model_forward_time": 5.085449934005737, "step": 6747 }, { "epoch": 6.434440612792968e-07, "step": 6747, "training_step_time": 17.74245285987854 }, { "epoch": 6.435394287109375e-07, "model_forward_time": 5.086110830307007, "step": 6748 }, { "epoch": 6.435394287109375e-07, "step": 6748, "training_step_time": 17.574889659881592 }, { "epoch": 6.436347961425782e-07, "model_forward_time": 5.082765579223633, "step": 6749 }, { "epoch": 6.436347961425782e-07, "step": 6749, "training_step_time": 17.607223987579346 }, { "epoch": 6.437301635742188e-07, "grad_norm": 2.1769959926605225, "learning_rate": 9.941218171417263e-06, "loss": 0.1287, "step": 6750 }, { "epoch": 6.437301635742188e-07, "model_forward_time": 5.080701589584351, "step": 6750 }, { "dynamics_loss_avg": 0.050641891360282895, "epoch": 6.437301635742188e-07, "step": 6750 }, { "action_loss_avg": 0.09102942943572997, "epoch": 6.437301635742188e-07, "step": 6750 }, { "arm_loss_avg": 0.14515353217720986, "epoch": 6.437301635742188e-07, "step": 6750 }, { "ee_loss_avg": 0.11582770012319088, "epoch": 6.437301635742188e-07, "step": 6750 }, { "aux_loss_avg": 0.0013629810651764273, "epoch": 6.437301635742188e-07, "step": 6750 }, { "epoch": 6.437301635742188e-07, "step": 6750, "training_step_time": 17.236039400100708 }, { "epoch": 6.438255310058594e-07, "model_forward_time": 5.081077575683594, "step": 6751 }, { "epoch": 6.438255310058594e-07, "step": 6751, "training_step_time": 17.537119150161743 }, { "epoch": 6.439208984375e-07, "model_forward_time": 5.080557346343994, "step": 6752 }, { "epoch": 6.439208984375e-07, "step": 6752, "training_step_time": 17.797659635543823 }, { "epoch": 6.440162658691406e-07, "model_forward_time": 5.274557590484619, "step": 6753 }, { "epoch": 6.440162658691406e-07, "step": 6753, "training_step_time": 17.58692741394043 }, { "epoch": 6.441116333007813e-07, "model_forward_time": 5.082017183303833, "step": 6754 }, { "epoch": 6.441116333007813e-07, "step": 6754, "training_step_time": 17.336024045944214 }, { "epoch": 6.442070007324219e-07, "model_forward_time": 5.081529140472412, "step": 6755 }, { "epoch": 6.442070007324219e-07, "step": 6755, "training_step_time": 17.60507106781006 }, { "epoch": 6.443023681640625e-07, "model_forward_time": 5.080929279327393, "step": 6756 }, { "epoch": 6.443023681640625e-07, "step": 6756, "training_step_time": 17.46222972869873 }, { "epoch": 6.443977355957031e-07, "model_forward_time": 3.8475465774536133, "step": 6757 }, { "epoch": 6.443977355957031e-07, "step": 6757, "training_step_time": 17.67969846725464 }, { "epoch": 6.444931030273437e-07, "model_forward_time": 5.054344654083252, "step": 6758 }, { "epoch": 6.444931030273437e-07, "step": 6758, "training_step_time": 17.550663948059082 }, { "epoch": 6.445884704589843e-07, "model_forward_time": 5.310633659362793, "step": 6759 }, { "epoch": 6.445884704589843e-07, "step": 6759, "training_step_time": 17.5927152633667 }, { "epoch": 6.44683837890625e-07, "grad_norm": 2.0505013465881348, "learning_rate": 9.940856485042805e-06, "loss": 0.1327, "step": 6760 }, { "epoch": 6.44683837890625e-07, "model_forward_time": 5.078801870346069, "step": 6760 }, { "dynamics_loss_avg": 0.04179913364350796, "epoch": 6.44683837890625e-07, "step": 6760 }, { "action_loss_avg": 0.09048173390328884, "epoch": 6.44683837890625e-07, "step": 6760 }, { "arm_loss_avg": 0.13689031302928925, "epoch": 6.44683837890625e-07, "step": 6760 }, { "ee_loss_avg": 0.15081327073276043, "epoch": 6.44683837890625e-07, "step": 6760 }, { "aux_loss_avg": 0.0010087592119816691, "epoch": 6.44683837890625e-07, "step": 6760 }, { "epoch": 6.44683837890625e-07, "step": 6760, "training_step_time": 17.62377429008484 }, { "epoch": 6.447792053222657e-07, "model_forward_time": 5.084913969039917, "step": 6761 }, { "epoch": 6.447792053222657e-07, "step": 6761, "training_step_time": 17.64453625679016 }, { "epoch": 6.448745727539063e-07, "model_forward_time": 5.089300632476807, "step": 6762 }, { "epoch": 6.448745727539063e-07, "step": 6762, "training_step_time": 17.857560396194458 }, { "epoch": 6.449699401855469e-07, "model_forward_time": 5.092928647994995, "step": 6763 }, { "epoch": 6.449699401855469e-07, "step": 6763, "training_step_time": 17.63341450691223 }, { "epoch": 6.450653076171875e-07, "model_forward_time": 5.096162796020508, "step": 6764 }, { "epoch": 6.450653076171875e-07, "step": 6764, "training_step_time": 17.620213270187378 }, { "epoch": 6.451606750488281e-07, "model_forward_time": 5.095393180847168, "step": 6765 }, { "epoch": 6.451606750488281e-07, "step": 6765, "training_step_time": 17.613150596618652 }, { "epoch": 6.452560424804687e-07, "model_forward_time": 5.090384483337402, "step": 6766 }, { "epoch": 6.452560424804687e-07, "step": 6766, "training_step_time": 17.602940559387207 }, { "epoch": 6.453514099121093e-07, "model_forward_time": 5.086285352706909, "step": 6767 }, { "epoch": 6.453514099121093e-07, "step": 6767, "training_step_time": 17.78390121459961 }, { "epoch": 6.4544677734375e-07, "model_forward_time": 5.085615396499634, "step": 6768 }, { "epoch": 6.4544677734375e-07, "step": 6768, "training_step_time": 17.59942317008972 }, { "epoch": 6.455421447753906e-07, "model_forward_time": 5.083570718765259, "step": 6769 }, { "epoch": 6.455421447753906e-07, "step": 6769, "training_step_time": 17.59027338027954 }, { "epoch": 6.456375122070313e-07, "grad_norm": 1.5013772249221802, "learning_rate": 9.940493695965017e-06, "loss": 0.1234, "step": 6770 }, { "epoch": 6.456375122070313e-07, "model_forward_time": 5.0767388343811035, "step": 6770 }, { "dynamics_loss_avg": 0.04339180532842875, "epoch": 6.456375122070313e-07, "step": 6770 }, { "action_loss_avg": 0.09444984756410121, "epoch": 6.456375122070313e-07, "step": 6770 }, { "arm_loss_avg": 0.14726914577186107, "epoch": 6.456375122070313e-07, "step": 6770 }, { "ee_loss_avg": 0.14760142415761948, "epoch": 6.456375122070313e-07, "step": 6770 }, { "aux_loss_avg": 0.001308182696811855, "epoch": 6.456375122070313e-07, "step": 6770 }, { "epoch": 6.456375122070313e-07, "step": 6770, "training_step_time": 17.589301824569702 }, { "epoch": 6.457328796386719e-07, "model_forward_time": 5.078163385391235, "step": 6771 }, { "epoch": 6.457328796386719e-07, "step": 6771, "training_step_time": 17.599201917648315 }, { "epoch": 6.458282470703125e-07, "model_forward_time": 5.078685998916626, "step": 6772 }, { "epoch": 6.458282470703125e-07, "step": 6772, "training_step_time": 17.823816299438477 }, { "epoch": 6.459236145019531e-07, "model_forward_time": 5.270725965499878, "step": 6773 }, { "epoch": 6.459236145019531e-07, "step": 6773, "training_step_time": 17.575669527053833 }, { "epoch": 6.460189819335938e-07, "model_forward_time": 5.080170631408691, "step": 6774 }, { "epoch": 6.460189819335938e-07, "step": 6774, "training_step_time": 17.57054829597473 }, { "epoch": 6.461143493652344e-07, "model_forward_time": 5.076944351196289, "step": 6775 }, { "epoch": 6.461143493652344e-07, "step": 6775, "training_step_time": 17.57901358604431 }, { "epoch": 6.46209716796875e-07, "model_forward_time": 5.081456184387207, "step": 6776 }, { "epoch": 6.46209716796875e-07, "step": 6776, "training_step_time": 17.41983985900879 }, { "epoch": 6.463050842285156e-07, "model_forward_time": 5.086678981781006, "step": 6777 }, { "epoch": 6.463050842285156e-07, "step": 6777, "training_step_time": 17.688475847244263 }, { "epoch": 6.464004516601562e-07, "model_forward_time": 5.084994316101074, "step": 6778 }, { "epoch": 6.464004516601562e-07, "step": 6778, "training_step_time": 17.53553867340088 }, { "epoch": 6.464958190917968e-07, "model_forward_time": 5.085400819778442, "step": 6779 }, { "epoch": 6.464958190917968e-07, "step": 6779, "training_step_time": 17.56136679649353 }, { "epoch": 6.465911865234375e-07, "grad_norm": 2.812783718109131, "learning_rate": 9.940129804264867e-06, "loss": 0.1255, "step": 6780 }, { "epoch": 6.465911865234375e-07, "model_forward_time": 5.082968235015869, "step": 6780 }, { "dynamics_loss_avg": 0.040170804411172864, "epoch": 6.465911865234375e-07, "step": 6780 }, { "action_loss_avg": 0.08865968491882086, "epoch": 6.465911865234375e-07, "step": 6780 }, { "arm_loss_avg": 0.13061355501413346, "epoch": 6.465911865234375e-07, "step": 6780 }, { "ee_loss_avg": 0.09102340824902058, "epoch": 6.465911865234375e-07, "step": 6780 }, { "aux_loss_avg": 0.0012045083101838827, "epoch": 6.465911865234375e-07, "step": 6780 }, { "epoch": 6.465911865234375e-07, "step": 6780, "training_step_time": 17.582425594329834 }, { "epoch": 6.466865539550782e-07, "model_forward_time": 5.085707664489746, "step": 6781 }, { "epoch": 6.466865539550782e-07, "step": 6781, "training_step_time": 17.603009700775146 }, { "epoch": 6.467819213867188e-07, "model_forward_time": 5.085146188735962, "step": 6782 }, { "epoch": 6.467819213867188e-07, "step": 6782, "training_step_time": 17.822637796401978 }, { "epoch": 6.468772888183594e-07, "model_forward_time": 5.081665515899658, "step": 6783 }, { "epoch": 6.468772888183594e-07, "step": 6783, "training_step_time": 17.6155047416687 }, { "epoch": 6.4697265625e-07, "model_forward_time": 5.084973096847534, "step": 6784 }, { "epoch": 6.4697265625e-07, "step": 6784, "training_step_time": 17.61422038078308 }, { "epoch": 6.470680236816406e-07, "model_forward_time": 5.080072641372681, "step": 6785 }, { "epoch": 6.470680236816406e-07, "step": 6785, "training_step_time": 17.603372812271118 }, { "epoch": 6.471633911132812e-07, "model_forward_time": 5.082182168960571, "step": 6786 }, { "epoch": 6.471633911132812e-07, "step": 6786, "training_step_time": 17.599681854248047 }, { "epoch": 6.472587585449218e-07, "model_forward_time": 5.082324266433716, "step": 6787 }, { "epoch": 6.472587585449218e-07, "step": 6787, "training_step_time": 17.812141180038452 }, { "epoch": 6.473541259765625e-07, "model_forward_time": 3.8460960388183594, "step": 6788 }, { "epoch": 6.473541259765625e-07, "step": 6788, "training_step_time": 17.590863943099976 }, { "epoch": 6.474494934082031e-07, "model_forward_time": 5.295042991638184, "step": 6789 }, { "epoch": 6.474494934082031e-07, "step": 6789, "training_step_time": 17.58847188949585 }, { "epoch": 6.475448608398438e-07, "grad_norm": 1.8774259090423584, "learning_rate": 9.939764810023566e-06, "loss": 0.1432, "step": 6790 }, { "epoch": 6.475448608398438e-07, "model_forward_time": 5.070890188217163, "step": 6790 }, { "dynamics_loss_avg": 0.053936713561415675, "epoch": 6.475448608398438e-07, "step": 6790 }, { "action_loss_avg": 0.09091098122298717, "epoch": 6.475448608398438e-07, "step": 6790 }, { "arm_loss_avg": 0.1561366893351078, "epoch": 6.475448608398438e-07, "step": 6790 }, { "ee_loss_avg": 0.08185677360743285, "epoch": 6.475448608398438e-07, "step": 6790 }, { "aux_loss_avg": 0.0019539928063750265, "epoch": 6.475448608398438e-07, "step": 6790 }, { "epoch": 6.475448608398438e-07, "step": 6790, "training_step_time": 17.572694063186646 }, { "epoch": 6.476402282714844e-07, "model_forward_time": 5.077838182449341, "step": 6791 }, { "epoch": 6.476402282714844e-07, "step": 6791, "training_step_time": 17.568023443222046 }, { "epoch": 6.47735595703125e-07, "model_forward_time": 5.0888001918792725, "step": 6792 }, { "epoch": 6.47735595703125e-07, "step": 6792, "training_step_time": 17.778266191482544 }, { "epoch": 6.478309631347656e-07, "model_forward_time": 5.0934898853302, "step": 6793 }, { "epoch": 6.478309631347656e-07, "step": 6793, "training_step_time": 17.56521511077881 }, { "epoch": 6.479263305664063e-07, "model_forward_time": 5.096059799194336, "step": 6794 }, { "epoch": 6.479263305664063e-07, "step": 6794, "training_step_time": 17.59339475631714 }, { "epoch": 6.480216979980469e-07, "model_forward_time": 5.094509601593018, "step": 6795 }, { "epoch": 6.480216979980469e-07, "step": 6795, "training_step_time": 17.57809543609619 }, { "epoch": 6.481170654296875e-07, "model_forward_time": 5.093815803527832, "step": 6796 }, { "epoch": 6.481170654296875e-07, "step": 6796, "training_step_time": 17.58479905128479 }, { "epoch": 6.482124328613281e-07, "model_forward_time": 5.091982841491699, "step": 6797 }, { "epoch": 6.482124328613281e-07, "step": 6797, "training_step_time": 17.787626266479492 }, { "epoch": 6.483078002929687e-07, "model_forward_time": 5.087244033813477, "step": 6798 }, { "epoch": 6.483078002929687e-07, "step": 6798, "training_step_time": 17.587815284729004 }, { "epoch": 6.484031677246093e-07, "model_forward_time": 5.088583707809448, "step": 6799 }, { "epoch": 6.484031677246093e-07, "step": 6799, "training_step_time": 17.625319719314575 }, { "epoch": 6.4849853515625e-07, "grad_norm": 2.034559965133667, "learning_rate": 9.939398713322579e-06, "loss": 0.1311, "step": 6800 }, { "epoch": 6.4849853515625e-07, "model_forward_time": 5.082277536392212, "step": 6800 }, { "dynamics_loss_avg": 0.047773844189941884, "epoch": 6.4849853515625e-07, "step": 6800 }, { "action_loss_avg": 0.09067726247012615, "epoch": 6.4849853515625e-07, "step": 6800 }, { "arm_loss_avg": 0.13028389140963553, "epoch": 6.4849853515625e-07, "step": 6800 }, { "ee_loss_avg": 0.08236099630594254, "epoch": 6.4849853515625e-07, "step": 6800 }, { "aux_loss_avg": 0.0007953987747896463, "epoch": 6.4849853515625e-07, "step": 6800 }, { "epoch": 6.4849853515625e-07, "step": 6800, "training_step_time": 17.59463405609131 }, { "epoch": 6.485939025878907e-07, "model_forward_time": 5.077440023422241, "step": 6801 }, { "epoch": 6.485939025878907e-07, "step": 6801, "training_step_time": 17.59345841407776 }, { "epoch": 6.486892700195313e-07, "model_forward_time": 5.08423924446106, "step": 6802 }, { "epoch": 6.486892700195313e-07, "step": 6802, "training_step_time": 17.804041862487793 }, { "epoch": 6.487846374511719e-07, "model_forward_time": 5.079893589019775, "step": 6803 }, { "epoch": 6.487846374511719e-07, "step": 6803, "training_step_time": 17.593414306640625 }, { "epoch": 6.488800048828125e-07, "model_forward_time": 3.8480544090270996, "step": 6804 }, { "epoch": 6.488800048828125e-07, "step": 6804, "training_step_time": 17.590245723724365 }, { "epoch": 6.489753723144531e-07, "model_forward_time": 5.056619644165039, "step": 6805 }, { "epoch": 6.489753723144531e-07, "step": 6805, "training_step_time": 17.36608099937439 }, { "epoch": 6.490707397460937e-07, "model_forward_time": 5.071317434310913, "step": 6806 }, { "epoch": 6.490707397460937e-07, "step": 6806, "training_step_time": 17.496274709701538 }, { "epoch": 6.491661071777343e-07, "model_forward_time": 5.08271336555481, "step": 6807 }, { "epoch": 6.491661071777343e-07, "step": 6807, "training_step_time": 17.53460431098938 }, { "epoch": 6.49261474609375e-07, "model_forward_time": 5.088594198226929, "step": 6808 }, { "epoch": 6.49261474609375e-07, "step": 6808, "training_step_time": 17.752208948135376 }, { "epoch": 6.493568420410156e-07, "model_forward_time": 5.329998970031738, "step": 6809 }, { "epoch": 6.493568420410156e-07, "step": 6809, "training_step_time": 17.576745748519897 }, { "epoch": 6.494522094726563e-07, "grad_norm": 2.338557720184326, "learning_rate": 9.939031514243606e-06, "loss": 0.1361, "step": 6810 }, { "epoch": 6.494522094726563e-07, "model_forward_time": 5.091712236404419, "step": 6810 }, { "dynamics_loss_avg": 0.03926707878708839, "epoch": 6.494522094726563e-07, "step": 6810 }, { "action_loss_avg": 0.0845436724834144, "epoch": 6.494522094726563e-07, "step": 6810 }, { "arm_loss_avg": 0.1744846735149622, "epoch": 6.494522094726563e-07, "step": 6810 }, { "ee_loss_avg": 0.09615552332252264, "epoch": 6.494522094726563e-07, "step": 6810 }, { "aux_loss_avg": 0.0029759995464701205, "epoch": 6.494522094726563e-07, "step": 6810 }, { "epoch": 6.494522094726563e-07, "step": 6810, "training_step_time": 17.599149703979492 }, { "epoch": 6.495475769042969e-07, "model_forward_time": 5.095799684524536, "step": 6811 }, { "epoch": 6.495475769042969e-07, "step": 6811, "training_step_time": 17.602394342422485 }, { "epoch": 6.496429443359375e-07, "model_forward_time": 5.091548919677734, "step": 6812 }, { "epoch": 6.496429443359375e-07, "step": 6812, "training_step_time": 17.82823395729065 }, { "epoch": 6.497383117675781e-07, "model_forward_time": 5.088627815246582, "step": 6813 }, { "epoch": 6.497383117675781e-07, "step": 6813, "training_step_time": 17.603859424591064 }, { "epoch": 6.498336791992188e-07, "model_forward_time": 3.851776123046875, "step": 6814 }, { "epoch": 6.498336791992188e-07, "step": 6814, "training_step_time": 17.622095584869385 }, { "epoch": 6.499290466308594e-07, "model_forward_time": 5.062203884124756, "step": 6815 }, { "epoch": 6.499290466308594e-07, "step": 6815, "training_step_time": 17.624319076538086 }, { "epoch": 6.500244140625e-07, "model_forward_time": 5.069743633270264, "step": 6816 }, { "epoch": 6.500244140625e-07, "step": 6816, "training_step_time": 17.592283725738525 }, { "epoch": 6.501197814941406e-07, "model_forward_time": 5.075282096862793, "step": 6817 }, { "epoch": 6.501197814941406e-07, "step": 6817, "training_step_time": 17.77753496170044 }, { "epoch": 6.502151489257812e-07, "model_forward_time": 5.08052134513855, "step": 6818 }, { "epoch": 6.502151489257812e-07, "step": 6818, "training_step_time": 17.585591554641724 }, { "epoch": 6.503105163574218e-07, "model_forward_time": 5.323055982589722, "step": 6819 }, { "epoch": 6.503105163574218e-07, "step": 6819, "training_step_time": 17.61413264274597 }, { "epoch": 6.504058837890625e-07, "grad_norm": 1.4981848001480103, "learning_rate": 9.938663212868603e-06, "loss": 0.1139, "step": 6820 }, { "epoch": 6.504058837890625e-07, "model_forward_time": 5.0917205810546875, "step": 6820 }, { "dynamics_loss_avg": 0.04284913092851639, "epoch": 6.504058837890625e-07, "step": 6820 }, { "action_loss_avg": 0.07886337842792272, "epoch": 6.504058837890625e-07, "step": 6820 }, { "arm_loss_avg": 0.12990287132561207, "epoch": 6.504058837890625e-07, "step": 6820 }, { "ee_loss_avg": 0.10628197640180588, "epoch": 6.504058837890625e-07, "step": 6820 }, { "aux_loss_avg": 0.0007216176076326519, "epoch": 6.504058837890625e-07, "step": 6820 }, { "epoch": 6.504058837890625e-07, "step": 6820, "training_step_time": 17.49567222595215 }, { "epoch": 6.505012512207032e-07, "model_forward_time": 5.0957605838775635, "step": 6821 }, { "epoch": 6.505012512207032e-07, "step": 6821, "training_step_time": 17.53580331802368 }, { "epoch": 6.505966186523438e-07, "model_forward_time": 5.098494529724121, "step": 6822 }, { "epoch": 6.505966186523438e-07, "step": 6822, "training_step_time": 17.240533113479614 }, { "epoch": 6.506919860839844e-07, "model_forward_time": 5.094737529754639, "step": 6823 }, { "epoch": 6.506919860839844e-07, "step": 6823, "training_step_time": 17.445189476013184 }, { "epoch": 6.50787353515625e-07, "model_forward_time": 5.091198444366455, "step": 6824 }, { "epoch": 6.50787353515625e-07, "step": 6824, "training_step_time": 17.464849948883057 }, { "epoch": 6.508827209472656e-07, "model_forward_time": 5.088094234466553, "step": 6825 }, { "epoch": 6.508827209472656e-07, "step": 6825, "training_step_time": 17.539531707763672 }, { "epoch": 6.509780883789062e-07, "model_forward_time": 5.087846279144287, "step": 6826 }, { "epoch": 6.509780883789062e-07, "step": 6826, "training_step_time": 17.27722477912903 }, { "epoch": 6.510734558105468e-07, "model_forward_time": 5.08696174621582, "step": 6827 }, { "epoch": 6.510734558105468e-07, "step": 6827, "training_step_time": 17.524002075195312 }, { "epoch": 6.511688232421875e-07, "model_forward_time": 5.081228017807007, "step": 6828 }, { "epoch": 6.511688232421875e-07, "step": 6828, "training_step_time": 17.758572340011597 }, { "epoch": 6.512641906738281e-07, "model_forward_time": 5.080055475234985, "step": 6829 }, { "epoch": 6.512641906738281e-07, "step": 6829, "training_step_time": 17.613610982894897 }, { "epoch": 6.513595581054688e-07, "grad_norm": 2.6794497966766357, "learning_rate": 9.938293809279766e-06, "loss": 0.1178, "step": 6830 }, { "epoch": 6.513595581054688e-07, "model_forward_time": 5.082909822463989, "step": 6830 }, { "dynamics_loss_avg": 0.03885968253016472, "epoch": 6.513595581054688e-07, "step": 6830 }, { "action_loss_avg": 0.0843434676527977, "epoch": 6.513595581054688e-07, "step": 6830 }, { "arm_loss_avg": 0.17415302023291587, "epoch": 6.513595581054688e-07, "step": 6830 }, { "ee_loss_avg": 0.08910213289782405, "epoch": 6.513595581054688e-07, "step": 6830 }, { "aux_loss_avg": 0.002659090285305865, "epoch": 6.513595581054688e-07, "step": 6830 }, { "epoch": 6.513595581054688e-07, "step": 6830, "training_step_time": 17.64095163345337 }, { "epoch": 6.514549255371094e-07, "model_forward_time": 5.081439256668091, "step": 6831 }, { "epoch": 6.514549255371094e-07, "step": 6831, "training_step_time": 17.455852270126343 }, { "epoch": 6.5155029296875e-07, "model_forward_time": 3.8473126888275146, "step": 6832 }, { "epoch": 6.5155029296875e-07, "step": 6832, "training_step_time": 17.546541929244995 }, { "epoch": 6.516456604003906e-07, "model_forward_time": 5.051884889602661, "step": 6833 }, { "epoch": 6.516456604003906e-07, "step": 6833, "training_step_time": 17.404913425445557 }, { "epoch": 6.517410278320313e-07, "model_forward_time": 5.068891525268555, "step": 6834 }, { "epoch": 6.517410278320313e-07, "step": 6834, "training_step_time": 17.618300914764404 }, { "epoch": 6.518363952636719e-07, "model_forward_time": 5.0777504444122314, "step": 6835 }, { "epoch": 6.518363952636719e-07, "step": 6835, "training_step_time": 17.54805326461792 }, { "epoch": 6.519317626953125e-07, "model_forward_time": 5.0836029052734375, "step": 6836 }, { "epoch": 6.519317626953125e-07, "step": 6836, "training_step_time": 17.577580213546753 }, { "epoch": 6.520271301269531e-07, "model_forward_time": 5.092066526412964, "step": 6837 }, { "epoch": 6.520271301269531e-07, "step": 6837, "training_step_time": 17.601571083068848 }, { "epoch": 6.521224975585937e-07, "model_forward_time": 5.095449924468994, "step": 6838 }, { "epoch": 6.521224975585937e-07, "step": 6838, "training_step_time": 17.80029606819153 }, { "epoch": 6.522178649902343e-07, "model_forward_time": 5.095129489898682, "step": 6839 }, { "epoch": 6.522178649902343e-07, "step": 6839, "training_step_time": 17.61227321624756 }, { "epoch": 6.52313232421875e-07, "grad_norm": 1.5735466480255127, "learning_rate": 9.937923303559539e-06, "loss": 0.1216, "step": 6840 }, { "epoch": 6.52313232421875e-07, "model_forward_time": 5.091973543167114, "step": 6840 }, { "dynamics_loss_avg": 0.057160957157611846, "epoch": 6.52313232421875e-07, "step": 6840 }, { "action_loss_avg": 0.08622754160314798, "epoch": 6.52313232421875e-07, "step": 6840 }, { "arm_loss_avg": 0.1264301985502243, "epoch": 6.52313232421875e-07, "step": 6840 }, { "ee_loss_avg": 0.11260302811861038, "epoch": 6.52313232421875e-07, "step": 6840 }, { "aux_loss_avg": 0.0031636954343412073, "epoch": 6.52313232421875e-07, "step": 6840 }, { "epoch": 6.52313232421875e-07, "step": 6840, "training_step_time": 17.52762007713318 }, { "epoch": 6.524085998535157e-07, "model_forward_time": 5.090876817703247, "step": 6841 }, { "epoch": 6.524085998535157e-07, "step": 6841, "training_step_time": 17.555244207382202 }, { "epoch": 6.525039672851563e-07, "model_forward_time": 5.0870373249053955, "step": 6842 }, { "epoch": 6.525039672851563e-07, "step": 6842, "training_step_time": 17.57828450202942 }, { "epoch": 6.525993347167969e-07, "model_forward_time": 3.850522041320801, "step": 6843 }, { "epoch": 6.525993347167969e-07, "step": 6843, "training_step_time": 17.823161602020264 }, { "epoch": 6.526947021484375e-07, "model_forward_time": 4.066739559173584, "step": 6844 }, { "epoch": 6.526947021484375e-07, "step": 6844, "training_step_time": 17.587034702301025 }, { "epoch": 6.527900695800781e-07, "model_forward_time": 5.044531345367432, "step": 6845 }, { "epoch": 6.527900695800781e-07, "step": 6845, "training_step_time": 17.58374857902527 }, { "epoch": 6.528854370117187e-07, "model_forward_time": 5.062584638595581, "step": 6846 }, { "epoch": 6.528854370117187e-07, "step": 6846, "training_step_time": 17.57115626335144 }, { "epoch": 6.529808044433594e-07, "model_forward_time": 5.076352119445801, "step": 6847 }, { "epoch": 6.529808044433594e-07, "step": 6847, "training_step_time": 17.57106637954712 }, { "epoch": 6.53076171875e-07, "model_forward_time": 5.092010021209717, "step": 6848 }, { "epoch": 6.53076171875e-07, "step": 6848, "training_step_time": 17.748904943466187 }, { "epoch": 6.531715393066406e-07, "model_forward_time": 5.346036195755005, "step": 6849 }, { "epoch": 6.531715393066406e-07, "step": 6849, "training_step_time": 17.56391453742981 }, { "epoch": 6.532669067382813e-07, "grad_norm": 2.0043082237243652, "learning_rate": 9.937551695790609e-06, "loss": 0.1434, "step": 6850 }, { "epoch": 6.532669067382813e-07, "model_forward_time": 5.106853723526001, "step": 6850 }, { "dynamics_loss_avg": 0.048511787317693233, "epoch": 6.532669067382813e-07, "step": 6850 }, { "action_loss_avg": 0.08325850516557694, "epoch": 6.532669067382813e-07, "step": 6850 }, { "arm_loss_avg": 0.12962464094161988, "epoch": 6.532669067382813e-07, "step": 6850 }, { "ee_loss_avg": 0.0880155298858881, "epoch": 6.532669067382813e-07, "step": 6850 }, { "aux_loss_avg": 0.0011782007291913032, "epoch": 6.532669067382813e-07, "step": 6850 }, { "epoch": 6.532669067382813e-07, "step": 6850, "training_step_time": 17.575161933898926 }, { "epoch": 6.533622741699219e-07, "model_forward_time": 5.1032702922821045, "step": 6851 }, { "epoch": 6.533622741699219e-07, "step": 6851, "training_step_time": 17.578067779541016 }, { "epoch": 6.534576416015625e-07, "model_forward_time": 5.098555564880371, "step": 6852 }, { "epoch": 6.534576416015625e-07, "step": 6852, "training_step_time": 17.57324719429016 }, { "epoch": 6.535530090332031e-07, "model_forward_time": 5.093903064727783, "step": 6853 }, { "epoch": 6.535530090332031e-07, "step": 6853, "training_step_time": 17.819293975830078 }, { "epoch": 6.536483764648438e-07, "model_forward_time": 5.089465379714966, "step": 6854 }, { "epoch": 6.536483764648438e-07, "step": 6854, "training_step_time": 17.58293867111206 }, { "epoch": 6.537437438964844e-07, "model_forward_time": 5.085790157318115, "step": 6855 }, { "epoch": 6.537437438964844e-07, "step": 6855, "training_step_time": 17.576133251190186 }, { "epoch": 6.53839111328125e-07, "model_forward_time": 5.083088397979736, "step": 6856 }, { "epoch": 6.53839111328125e-07, "step": 6856, "training_step_time": 17.579044342041016 }, { "epoch": 6.539344787597656e-07, "model_forward_time": 5.082958459854126, "step": 6857 }, { "epoch": 6.539344787597656e-07, "step": 6857, "training_step_time": 17.578844785690308 }, { "epoch": 6.540298461914062e-07, "model_forward_time": 3.847916603088379, "step": 6858 }, { "epoch": 6.540298461914062e-07, "step": 6858, "training_step_time": 17.761475324630737 }, { "epoch": 6.541252136230468e-07, "model_forward_time": 5.299823760986328, "step": 6859 }, { "epoch": 6.541252136230468e-07, "step": 6859, "training_step_time": 17.57555103302002 }, { "epoch": 6.542205810546876e-07, "grad_norm": 1.6898367404937744, "learning_rate": 9.937178986055916e-06, "loss": 0.1167, "step": 6860 }, { "epoch": 6.542205810546876e-07, "model_forward_time": 5.068695068359375, "step": 6860 }, { "dynamics_loss_avg": 0.046471724845469, "epoch": 6.542205810546876e-07, "step": 6860 }, { "action_loss_avg": 0.06760370470583439, "epoch": 6.542205810546876e-07, "step": 6860 }, { "arm_loss_avg": 0.12728672735393048, "epoch": 6.542205810546876e-07, "step": 6860 }, { "ee_loss_avg": 0.07740678060799837, "epoch": 6.542205810546876e-07, "step": 6860 }, { "aux_loss_avg": 0.0012959536747075618, "epoch": 6.542205810546876e-07, "step": 6860 }, { "epoch": 6.542205810546876e-07, "step": 6860, "training_step_time": 17.57241916656494 }, { "epoch": 6.543159484863282e-07, "model_forward_time": 5.078982591629028, "step": 6861 }, { "epoch": 6.543159484863282e-07, "step": 6861, "training_step_time": 17.565449714660645 }, { "epoch": 6.544113159179688e-07, "model_forward_time": 5.0844886302948, "step": 6862 }, { "epoch": 6.544113159179688e-07, "step": 6862, "training_step_time": 17.56577181816101 }, { "epoch": 6.545066833496094e-07, "model_forward_time": 5.095974683761597, "step": 6863 }, { "epoch": 6.545066833496094e-07, "step": 6863, "training_step_time": 17.797290563583374 }, { "epoch": 6.5460205078125e-07, "model_forward_time": 5.096621036529541, "step": 6864 }, { "epoch": 6.5460205078125e-07, "step": 6864, "training_step_time": 17.589727878570557 }, { "epoch": 6.546974182128906e-07, "model_forward_time": 5.0988545417785645, "step": 6865 }, { "epoch": 6.546974182128906e-07, "step": 6865, "training_step_time": 17.382147550582886 }, { "epoch": 6.547927856445312e-07, "model_forward_time": 5.095881223678589, "step": 6866 }, { "epoch": 6.547927856445312e-07, "step": 6866, "training_step_time": 17.486436367034912 }, { "epoch": 6.548881530761719e-07, "model_forward_time": 5.096143484115601, "step": 6867 }, { "epoch": 6.548881530761719e-07, "step": 6867, "training_step_time": 17.52543330192566 }, { "epoch": 6.549835205078125e-07, "model_forward_time": 5.092990875244141, "step": 6868 }, { "epoch": 6.549835205078125e-07, "step": 6868, "training_step_time": 17.43049693107605 }, { "epoch": 6.550788879394531e-07, "model_forward_time": 5.093470096588135, "step": 6869 }, { "epoch": 6.550788879394531e-07, "step": 6869, "training_step_time": 17.700628757476807 }, { "epoch": 6.551742553710938e-07, "grad_norm": 1.3943111896514893, "learning_rate": 9.93680517443864e-06, "loss": 0.114, "step": 6870 }, { "epoch": 6.551742553710938e-07, "model_forward_time": 5.089422941207886, "step": 6870 }, { "dynamics_loss_avg": 0.041139118187129495, "epoch": 6.551742553710938e-07, "step": 6870 }, { "action_loss_avg": 0.06333463657647372, "epoch": 6.551742553710938e-07, "step": 6870 }, { "arm_loss_avg": 0.13692986741662025, "epoch": 6.551742553710938e-07, "step": 6870 }, { "ee_loss_avg": 0.13144131191074848, "epoch": 6.551742553710938e-07, "step": 6870 }, { "aux_loss_avg": 0.00492522512213327, "epoch": 6.551742553710938e-07, "step": 6870 }, { "epoch": 6.551742553710938e-07, "step": 6870, "training_step_time": 17.550349473953247 }, { "epoch": 6.552696228027344e-07, "model_forward_time": 5.080508232116699, "step": 6871 }, { "epoch": 6.552696228027344e-07, "step": 6871, "training_step_time": 17.58598017692566 }, { "epoch": 6.55364990234375e-07, "model_forward_time": 5.081750392913818, "step": 6872 }, { "epoch": 6.55364990234375e-07, "step": 6872, "training_step_time": 17.609898328781128 }, { "epoch": 6.554603576660156e-07, "model_forward_time": 5.277588844299316, "step": 6873 }, { "epoch": 6.554603576660156e-07, "step": 6873, "training_step_time": 17.850460529327393 }, { "epoch": 6.555557250976563e-07, "model_forward_time": 5.0774571895599365, "step": 6874 }, { "epoch": 6.555557250976563e-07, "step": 6874, "training_step_time": 17.616159200668335 }, { "epoch": 6.556510925292969e-07, "model_forward_time": 5.081298112869263, "step": 6875 }, { "epoch": 6.556510925292969e-07, "step": 6875, "training_step_time": 17.184605598449707 }, { "epoch": 6.557464599609375e-07, "model_forward_time": 5.098295211791992, "step": 6876 }, { "epoch": 6.557464599609375e-07, "step": 6876, "training_step_time": 17.54598569869995 }, { "epoch": 6.558418273925781e-07, "model_forward_time": 5.101772785186768, "step": 6877 }, { "epoch": 6.558418273925781e-07, "step": 6877, "training_step_time": 17.62116575241089 }, { "epoch": 6.559371948242187e-07, "model_forward_time": 5.115302324295044, "step": 6878 }, { "epoch": 6.559371948242187e-07, "step": 6878, "training_step_time": 17.498252630233765 }, { "epoch": 6.560325622558593e-07, "model_forward_time": 5.1133763790130615, "step": 6879 }, { "epoch": 6.560325622558593e-07, "step": 6879, "training_step_time": 17.724873781204224 }, { "epoch": 6.561279296875e-07, "grad_norm": 2.0004723072052, "learning_rate": 9.936430261022206e-06, "loss": 0.1076, "step": 6880 }, { "epoch": 6.561279296875e-07, "model_forward_time": 5.103655815124512, "step": 6880 }, { "dynamics_loss_avg": 0.04351425487548113, "epoch": 6.561279296875e-07, "step": 6880 }, { "action_loss_avg": 0.07470737583935261, "epoch": 6.561279296875e-07, "step": 6880 }, { "arm_loss_avg": 0.15639893040060998, "epoch": 6.561279296875e-07, "step": 6880 }, { "ee_loss_avg": 0.11073974259197712, "epoch": 6.561279296875e-07, "step": 6880 }, { "aux_loss_avg": 0.0035835389513522386, "epoch": 6.561279296875e-07, "step": 6880 }, { "epoch": 6.561279296875e-07, "step": 6880, "training_step_time": 17.560838222503662 }, { "epoch": 6.562232971191407e-07, "model_forward_time": 5.090005874633789, "step": 6881 }, { "epoch": 6.562232971191407e-07, "step": 6881, "training_step_time": 17.581223964691162 }, { "epoch": 6.563186645507813e-07, "model_forward_time": 5.083499193191528, "step": 6882 }, { "epoch": 6.563186645507813e-07, "step": 6882, "training_step_time": 17.601353883743286 }, { "epoch": 6.564140319824219e-07, "model_forward_time": 5.083250284194946, "step": 6883 }, { "epoch": 6.564140319824219e-07, "step": 6883, "training_step_time": 17.615408897399902 }, { "epoch": 6.565093994140625e-07, "model_forward_time": 5.085169792175293, "step": 6884 }, { "epoch": 6.565093994140625e-07, "step": 6884, "training_step_time": 17.870964527130127 }, { "epoch": 6.566047668457031e-07, "model_forward_time": 5.082557678222656, "step": 6885 }, { "epoch": 6.566047668457031e-07, "step": 6885, "training_step_time": 17.622661590576172 }, { "epoch": 6.567001342773437e-07, "model_forward_time": 5.0821685791015625, "step": 6886 }, { "epoch": 6.567001342773437e-07, "step": 6886, "training_step_time": 17.616498708724976 }, { "epoch": 6.567955017089844e-07, "model_forward_time": 5.07955002784729, "step": 6887 }, { "epoch": 6.567955017089844e-07, "step": 6887, "training_step_time": 17.61790704727173 }, { "epoch": 6.56890869140625e-07, "model_forward_time": 5.323058605194092, "step": 6888 }, { "epoch": 6.56890869140625e-07, "step": 6888, "training_step_time": 17.859734535217285 }, { "epoch": 6.569862365722656e-07, "model_forward_time": 5.084476947784424, "step": 6889 }, { "epoch": 6.569862365722656e-07, "step": 6889, "training_step_time": 17.594616174697876 }, { "epoch": 6.570816040039062e-07, "grad_norm": 1.9445078372955322, "learning_rate": 9.93605424589029e-06, "loss": 0.134, "step": 6890 }, { "epoch": 6.570816040039062e-07, "model_forward_time": 5.084273815155029, "step": 6890 }, { "dynamics_loss_avg": 0.04881072733551264, "epoch": 6.570816040039062e-07, "step": 6890 }, { "action_loss_avg": 0.09966281279921532, "epoch": 6.570816040039062e-07, "step": 6890 }, { "arm_loss_avg": 0.15385360606014728, "epoch": 6.570816040039062e-07, "step": 6890 }, { "ee_loss_avg": 0.1376313179731369, "epoch": 6.570816040039062e-07, "step": 6890 }, { "aux_loss_avg": 0.0010292646533343942, "epoch": 6.570816040039062e-07, "step": 6890 }, { "epoch": 6.570816040039062e-07, "step": 6890, "training_step_time": 17.58233904838562 }, { "epoch": 6.571769714355469e-07, "model_forward_time": 5.08540940284729, "step": 6891 }, { "epoch": 6.571769714355469e-07, "step": 6891, "training_step_time": 17.57445478439331 }, { "epoch": 6.572723388671875e-07, "model_forward_time": 5.085700511932373, "step": 6892 }, { "epoch": 6.572723388671875e-07, "step": 6892, "training_step_time": 17.57229709625244 }, { "epoch": 6.573677062988281e-07, "model_forward_time": 5.282743692398071, "step": 6893 }, { "epoch": 6.573677062988281e-07, "step": 6893, "training_step_time": 17.570727586746216 }, { "epoch": 6.574630737304688e-07, "model_forward_time": 5.084290266036987, "step": 6894 }, { "epoch": 6.574630737304688e-07, "step": 6894, "training_step_time": 17.81037211418152 }, { "epoch": 6.575584411621094e-07, "model_forward_time": 5.08245062828064, "step": 6895 }, { "epoch": 6.575584411621094e-07, "step": 6895, "training_step_time": 17.580961227416992 }, { "epoch": 6.5765380859375e-07, "model_forward_time": 5.087379217147827, "step": 6896 }, { "epoch": 6.5765380859375e-07, "step": 6896, "training_step_time": 17.585394859313965 }, { "epoch": 6.577491760253906e-07, "model_forward_time": 3.850802183151245, "step": 6897 }, { "epoch": 6.577491760253906e-07, "step": 6897, "training_step_time": 17.584655046463013 }, { "epoch": 6.578445434570312e-07, "model_forward_time": 5.059558391571045, "step": 6898 }, { "epoch": 6.578445434570312e-07, "step": 6898, "training_step_time": 17.814623594284058 }, { "epoch": 6.579399108886718e-07, "model_forward_time": 4.064378499984741, "step": 6899 }, { "epoch": 6.579399108886718e-07, "step": 6899, "training_step_time": 17.609607458114624 }, { "epoch": 6.580352783203124e-07, "grad_norm": 1.4173566102981567, "learning_rate": 9.935677129126813e-06, "loss": 0.122, "step": 6900 }, { "epoch": 6.580352783203124e-07, "model_forward_time": 5.054233074188232, "step": 6900 }, { "dynamics_loss_avg": 0.048846404440701006, "epoch": 6.580352783203124e-07, "step": 6900 }, { "action_loss_avg": 0.08060126267373562, "epoch": 6.580352783203124e-07, "step": 6900 }, { "arm_loss_avg": 0.13299834728240967, "epoch": 6.580352783203124e-07, "step": 6900 }, { "ee_loss_avg": 0.09536173902451991, "epoch": 6.580352783203124e-07, "step": 6900 }, { "aux_loss_avg": 0.0026406662247609345, "epoch": 6.580352783203124e-07, "step": 6900 }, { "epoch": 6.580352783203124e-07, "step": 6900, "training_step_time": 17.568443059921265 }, { "epoch": 6.581306457519532e-07, "model_forward_time": 5.068258762359619, "step": 6901 }, { "epoch": 6.581306457519532e-07, "step": 6901, "training_step_time": 17.569068670272827 }, { "epoch": 6.582260131835938e-07, "model_forward_time": 3.8500633239746094, "step": 6902 }, { "epoch": 6.582260131835938e-07, "step": 6902, "training_step_time": 17.568053007125854 }, { "epoch": 6.583213806152344e-07, "model_forward_time": 5.064086675643921, "step": 6903 }, { "epoch": 6.583213806152344e-07, "step": 6903, "training_step_time": 17.794634580612183 }, { "epoch": 6.58416748046875e-07, "model_forward_time": 5.2707133293151855, "step": 6904 }, { "epoch": 6.58416748046875e-07, "step": 6904, "training_step_time": 17.567863941192627 }, { "epoch": 6.585121154785156e-07, "model_forward_time": 5.098584890365601, "step": 6905 }, { "epoch": 6.585121154785156e-07, "step": 6905, "training_step_time": 17.58678889274597 }, { "epoch": 6.586074829101562e-07, "model_forward_time": 5.1024346351623535, "step": 6906 }, { "epoch": 6.586074829101562e-07, "step": 6906, "training_step_time": 17.57269597053528 }, { "epoch": 6.587028503417969e-07, "model_forward_time": 5.103017091751099, "step": 6907 }, { "epoch": 6.587028503417969e-07, "step": 6907, "training_step_time": 17.397610902786255 }, { "epoch": 6.587982177734375e-07, "model_forward_time": 5.098418712615967, "step": 6908 }, { "epoch": 6.587982177734375e-07, "step": 6908, "training_step_time": 17.50227189064026 }, { "epoch": 6.588935852050781e-07, "model_forward_time": 5.320693254470825, "step": 6909 }, { "epoch": 6.588935852050781e-07, "step": 6909, "training_step_time": 17.75079655647278 }, { "epoch": 6.589889526367187e-07, "grad_norm": 1.4200780391693115, "learning_rate": 9.935298910815937e-06, "loss": 0.136, "step": 6910 }, { "epoch": 6.589889526367187e-07, "model_forward_time": 5.08306360244751, "step": 6910 }, { "dynamics_loss_avg": 0.054119757004082204, "epoch": 6.589889526367187e-07, "step": 6910 }, { "action_loss_avg": 0.09833098165690898, "epoch": 6.589889526367187e-07, "step": 6910 }, { "arm_loss_avg": 0.14506970345973969, "epoch": 6.589889526367187e-07, "step": 6910 }, { "ee_loss_avg": 0.07763536982238292, "epoch": 6.589889526367187e-07, "step": 6910 }, { "aux_loss_avg": 0.0014220816257875413, "epoch": 6.589889526367187e-07, "step": 6910 }, { "epoch": 6.589889526367187e-07, "step": 6910, "training_step_time": 17.572245836257935 }, { "epoch": 6.590843200683594e-07, "model_forward_time": 5.079533815383911, "step": 6911 }, { "epoch": 6.590843200683594e-07, "step": 6911, "training_step_time": 17.587062120437622 }, { "epoch": 6.591796875e-07, "model_forward_time": 5.076578617095947, "step": 6912 }, { "epoch": 6.591796875e-07, "step": 6912, "training_step_time": 17.616302728652954 }, { "epoch": 6.592750549316406e-07, "model_forward_time": 5.073811292648315, "step": 6913 }, { "epoch": 6.592750549316406e-07, "step": 6913, "training_step_time": 17.393598318099976 }, { "epoch": 6.593704223632813e-07, "model_forward_time": 5.078579425811768, "step": 6914 }, { "epoch": 6.593704223632813e-07, "step": 6914, "training_step_time": 17.76632070541382 }, { "epoch": 6.594657897949219e-07, "model_forward_time": 3.843441963195801, "step": 6915 }, { "epoch": 6.594657897949219e-07, "step": 6915, "training_step_time": 17.570470333099365 }, { "epoch": 6.595611572265625e-07, "model_forward_time": 5.062257528305054, "step": 6916 }, { "epoch": 6.595611572265625e-07, "step": 6916, "training_step_time": 17.62153172492981 }, { "epoch": 6.596565246582031e-07, "model_forward_time": 5.095802545547485, "step": 6917 }, { "epoch": 6.596565246582031e-07, "step": 6917, "training_step_time": 17.63910222053528 }, { "epoch": 6.597518920898437e-07, "model_forward_time": 5.095562934875488, "step": 6918 }, { "epoch": 6.597518920898437e-07, "step": 6918, "training_step_time": 17.89095664024353 }, { "epoch": 6.598472595214843e-07, "model_forward_time": 5.373360633850098, "step": 6919 }, { "epoch": 6.598472595214843e-07, "step": 6919, "training_step_time": 17.638768196105957 }, { "epoch": 6.59942626953125e-07, "grad_norm": 1.6629021167755127, "learning_rate": 9.934919591042073e-06, "loss": 0.1311, "step": 6920 }, { "epoch": 6.59942626953125e-07, "model_forward_time": 5.104629993438721, "step": 6920 }, { "dynamics_loss_avg": 0.04740967359393835, "epoch": 6.59942626953125e-07, "step": 6920 }, { "action_loss_avg": 0.08243671134114265, "epoch": 6.59942626953125e-07, "step": 6920 }, { "arm_loss_avg": 0.118932294100523, "epoch": 6.59942626953125e-07, "step": 6920 }, { "ee_loss_avg": 0.10566004253923893, "epoch": 6.59942626953125e-07, "step": 6920 }, { "aux_loss_avg": 0.0011946747836191207, "epoch": 6.59942626953125e-07, "step": 6920 }, { "epoch": 6.59942626953125e-07, "step": 6920, "training_step_time": 17.534311294555664 }, { "epoch": 6.600379943847657e-07, "model_forward_time": 5.093684911727905, "step": 6921 }, { "epoch": 6.600379943847657e-07, "step": 6921, "training_step_time": 17.35921549797058 }, { "epoch": 6.601333618164063e-07, "model_forward_time": 5.097411632537842, "step": 6922 }, { "epoch": 6.601333618164063e-07, "step": 6922, "training_step_time": 17.498358488082886 }, { "epoch": 6.602287292480469e-07, "model_forward_time": 5.098497152328491, "step": 6923 }, { "epoch": 6.602287292480469e-07, "step": 6923, "training_step_time": 17.554975032806396 }, { "epoch": 6.603240966796875e-07, "model_forward_time": 5.094077825546265, "step": 6924 }, { "epoch": 6.603240966796875e-07, "step": 6924, "training_step_time": 17.818912267684937 }, { "epoch": 6.604194641113281e-07, "model_forward_time": 5.088611364364624, "step": 6925 }, { "epoch": 6.604194641113281e-07, "step": 6925, "training_step_time": 17.61390447616577 }, { "epoch": 6.605148315429687e-07, "model_forward_time": 5.085451126098633, "step": 6926 }, { "epoch": 6.605148315429687e-07, "step": 6926, "training_step_time": 17.640591859817505 }, { "epoch": 6.606101989746094e-07, "model_forward_time": 5.080706357955933, "step": 6927 }, { "epoch": 6.606101989746094e-07, "step": 6927, "training_step_time": 17.64342951774597 }, { "epoch": 6.6070556640625e-07, "model_forward_time": 5.07940673828125, "step": 6928 }, { "epoch": 6.6070556640625e-07, "step": 6928, "training_step_time": 17.635612964630127 }, { "epoch": 6.608009338378906e-07, "model_forward_time": 3.8449347019195557, "step": 6929 }, { "epoch": 6.608009338378906e-07, "step": 6929, "training_step_time": 17.835636615753174 }, { "epoch": 6.608963012695312e-07, "grad_norm": 1.2066690921783447, "learning_rate": 9.934539169889879e-06, "loss": 0.1393, "step": 6930 }, { "epoch": 6.608963012695312e-07, "model_forward_time": 5.052039861679077, "step": 6930 }, { "dynamics_loss_avg": 0.041150765307247636, "epoch": 6.608963012695312e-07, "step": 6930 }, { "action_loss_avg": 0.1025928046554327, "epoch": 6.608963012695312e-07, "step": 6930 }, { "arm_loss_avg": 0.1698599636554718, "epoch": 6.608963012695312e-07, "step": 6930 }, { "ee_loss_avg": 0.1630190871655941, "epoch": 6.608963012695312e-07, "step": 6930 }, { "aux_loss_avg": 0.0023566756251966582, "epoch": 6.608963012695312e-07, "step": 6930 }, { "epoch": 6.608963012695312e-07, "step": 6930, "training_step_time": 17.61247420310974 }, { "epoch": 6.609916687011719e-07, "model_forward_time": 5.067056894302368, "step": 6931 }, { "epoch": 6.609916687011719e-07, "step": 6931, "training_step_time": 17.607229709625244 }, { "epoch": 6.610870361328125e-07, "model_forward_time": 5.076551675796509, "step": 6932 }, { "epoch": 6.610870361328125e-07, "step": 6932, "training_step_time": 17.598019123077393 }, { "epoch": 6.611824035644532e-07, "model_forward_time": 5.086169004440308, "step": 6933 }, { "epoch": 6.611824035644532e-07, "step": 6933, "training_step_time": 17.80972695350647 }, { "epoch": 6.612777709960938e-07, "model_forward_time": 5.0909388065338135, "step": 6934 }, { "epoch": 6.612777709960938e-07, "step": 6934, "training_step_time": 17.613239526748657 }, { "epoch": 6.613731384277344e-07, "model_forward_time": 5.090137243270874, "step": 6935 }, { "epoch": 6.613731384277344e-07, "step": 6935, "training_step_time": 17.580241441726685 }, { "epoch": 6.61468505859375e-07, "model_forward_time": 5.097712516784668, "step": 6936 }, { "epoch": 6.61468505859375e-07, "step": 6936, "training_step_time": 17.58353877067566 }, { "epoch": 6.615638732910156e-07, "model_forward_time": 5.096101760864258, "step": 6937 }, { "epoch": 6.615638732910156e-07, "step": 6937, "training_step_time": 17.574989318847656 }, { "epoch": 6.616592407226562e-07, "model_forward_time": 3.854534387588501, "step": 6938 }, { "epoch": 6.616592407226562e-07, "step": 6938, "training_step_time": 17.754647493362427 }, { "epoch": 6.617546081542968e-07, "model_forward_time": 5.304227352142334, "step": 6939 }, { "epoch": 6.617546081542968e-07, "step": 6939, "training_step_time": 17.58656668663025 }, { "epoch": 6.618499755859375e-07, "grad_norm": 2.2490646839141846, "learning_rate": 9.934157647444258e-06, "loss": 0.1322, "step": 6940 }, { "epoch": 6.618499755859375e-07, "model_forward_time": 5.067795515060425, "step": 6940 }, { "dynamics_loss_avg": 0.059550828859210016, "epoch": 6.618499755859375e-07, "step": 6940 }, { "action_loss_avg": 0.0848485317081213, "epoch": 6.618499755859375e-07, "step": 6940 }, { "arm_loss_avg": 0.13737426176667214, "epoch": 6.618499755859375e-07, "step": 6940 }, { "ee_loss_avg": 0.10303977392613888, "epoch": 6.618499755859375e-07, "step": 6940 }, { "aux_loss_avg": 0.0011049171851482242, "epoch": 6.618499755859375e-07, "step": 6940 }, { "epoch": 6.618499755859375e-07, "step": 6940, "training_step_time": 17.483784914016724 }, { "epoch": 6.619453430175782e-07, "model_forward_time": 5.079613924026489, "step": 6941 }, { "epoch": 6.619453430175782e-07, "step": 6941, "training_step_time": 17.51555109024048 }, { "epoch": 6.620407104492188e-07, "model_forward_time": 3.8526439666748047, "step": 6942 }, { "epoch": 6.620407104492188e-07, "step": 6942, "training_step_time": 17.549803733825684 }, { "epoch": 6.621360778808594e-07, "model_forward_time": 5.0586161613464355, "step": 6943 }, { "epoch": 6.621360778808594e-07, "step": 6943, "training_step_time": 17.818101167678833 }, { "epoch": 6.622314453125e-07, "model_forward_time": 5.257741212844849, "step": 6944 }, { "epoch": 6.622314453125e-07, "step": 6944, "training_step_time": 17.57715368270874 }, { "epoch": 6.623268127441406e-07, "model_forward_time": 5.086458444595337, "step": 6945 }, { "epoch": 6.623268127441406e-07, "step": 6945, "training_step_time": 17.58351731300354 }, { "epoch": 6.624221801757812e-07, "model_forward_time": 5.090118408203125, "step": 6946 }, { "epoch": 6.624221801757812e-07, "step": 6946, "training_step_time": 17.584925413131714 }, { "epoch": 6.625175476074219e-07, "model_forward_time": 5.09653115272522, "step": 6947 }, { "epoch": 6.625175476074219e-07, "step": 6947, "training_step_time": 17.36583185195923 }, { "epoch": 6.626129150390625e-07, "model_forward_time": 5.097296237945557, "step": 6948 }, { "epoch": 6.626129150390625e-07, "step": 6948, "training_step_time": 17.50266933441162 }, { "epoch": 6.627082824707031e-07, "model_forward_time": 5.097197532653809, "step": 6949 }, { "epoch": 6.627082824707031e-07, "step": 6949, "training_step_time": 17.748891353607178 }, { "epoch": 6.628036499023437e-07, "grad_norm": 0.8527547717094421, "learning_rate": 9.933775023790358e-06, "loss": 0.1326, "step": 6950 }, { "epoch": 6.628036499023437e-07, "model_forward_time": 5.095976114273071, "step": 6950 }, { "dynamics_loss_avg": 0.04245047159492969, "epoch": 6.628036499023437e-07, "step": 6950 }, { "action_loss_avg": 0.0804778529331088, "epoch": 6.628036499023437e-07, "step": 6950 }, { "arm_loss_avg": 0.13482927940785885, "epoch": 6.628036499023437e-07, "step": 6950 }, { "ee_loss_avg": 0.08431237135082484, "epoch": 6.628036499023437e-07, "step": 6950 }, { "aux_loss_avg": 0.0013396688445936888, "epoch": 6.628036499023437e-07, "step": 6950 }, { "epoch": 6.628036499023437e-07, "step": 6950, "training_step_time": 17.569669008255005 }, { "epoch": 6.628990173339844e-07, "model_forward_time": 5.090373992919922, "step": 6951 }, { "epoch": 6.628990173339844e-07, "step": 6951, "training_step_time": 17.590909719467163 }, { "epoch": 6.62994384765625e-07, "model_forward_time": 5.088439226150513, "step": 6952 }, { "epoch": 6.62994384765625e-07, "step": 6952, "training_step_time": 17.60465908050537 }, { "epoch": 6.630897521972657e-07, "model_forward_time": 5.283064126968384, "step": 6953 }, { "epoch": 6.630897521972657e-07, "step": 6953, "training_step_time": 17.82956576347351 }, { "epoch": 6.631851196289063e-07, "model_forward_time": 5.081763982772827, "step": 6954 }, { "epoch": 6.631851196289063e-07, "step": 6954, "training_step_time": 17.60699200630188 }, { "epoch": 6.632804870605469e-07, "model_forward_time": 5.079882383346558, "step": 6955 }, { "epoch": 6.632804870605469e-07, "step": 6955, "training_step_time": 17.613826751708984 }, { "epoch": 6.633758544921875e-07, "model_forward_time": 5.080499887466431, "step": 6956 }, { "epoch": 6.633758544921875e-07, "step": 6956, "training_step_time": 17.60175395011902 }, { "epoch": 6.634712219238281e-07, "model_forward_time": 3.8490309715270996, "step": 6957 }, { "epoch": 6.634712219238281e-07, "step": 6957, "training_step_time": 17.383029222488403 }, { "epoch": 6.635665893554687e-07, "model_forward_time": 5.062753677368164, "step": 6958 }, { "epoch": 6.635665893554687e-07, "step": 6958, "training_step_time": 17.68498921394348 }, { "epoch": 6.636619567871093e-07, "model_forward_time": 5.302548885345459, "step": 6959 }, { "epoch": 6.636619567871093e-07, "step": 6959, "training_step_time": 17.60727858543396 }, { "epoch": 6.6375732421875e-07, "grad_norm": 1.6683285236358643, "learning_rate": 9.933391299013572e-06, "loss": 0.1353, "step": 6960 }, { "epoch": 6.6375732421875e-07, "model_forward_time": 5.077685356140137, "step": 6960 }, { "dynamics_loss_avg": 0.0430290013551712, "epoch": 6.6375732421875e-07, "step": 6960 }, { "action_loss_avg": 0.08363735899329186, "epoch": 6.6375732421875e-07, "step": 6960 }, { "arm_loss_avg": 0.15034209713339805, "epoch": 6.6375732421875e-07, "step": 6960 }, { "ee_loss_avg": 0.0869015771895647, "epoch": 6.6375732421875e-07, "step": 6960 }, { "aux_loss_avg": 0.0014932005084119736, "epoch": 6.6375732421875e-07, "step": 6960 }, { "epoch": 6.6375732421875e-07, "step": 6960, "training_step_time": 17.54595112800598 }, { "epoch": 6.638526916503907e-07, "model_forward_time": 3.8472933769226074, "step": 6961 }, { "epoch": 6.638526916503907e-07, "step": 6961, "training_step_time": 17.554882049560547 }, { "epoch": 6.639480590820313e-07, "model_forward_time": 5.0609986782073975, "step": 6962 }, { "epoch": 6.639480590820313e-07, "step": 6962, "training_step_time": 17.575357675552368 }, { "epoch": 6.640434265136719e-07, "model_forward_time": 5.079265356063843, "step": 6963 }, { "epoch": 6.640434265136719e-07, "step": 6963, "training_step_time": 17.80048179626465 }, { "epoch": 6.641387939453125e-07, "model_forward_time": 5.273450613021851, "step": 6964 }, { "epoch": 6.641387939453125e-07, "step": 6964, "training_step_time": 17.570560693740845 }, { "epoch": 6.642341613769531e-07, "model_forward_time": 5.094945669174194, "step": 6965 }, { "epoch": 6.642341613769531e-07, "step": 6965, "training_step_time": 17.571757078170776 }, { "epoch": 6.643295288085937e-07, "model_forward_time": 5.100459098815918, "step": 6966 }, { "epoch": 6.643295288085937e-07, "step": 6966, "training_step_time": 17.574920177459717 }, { "epoch": 6.644248962402344e-07, "model_forward_time": 5.102266550064087, "step": 6967 }, { "epoch": 6.644248962402344e-07, "step": 6967, "training_step_time": 17.352888107299805 }, { "epoch": 6.64520263671875e-07, "model_forward_time": 3.8591582775115967, "step": 6968 }, { "epoch": 6.64520263671875e-07, "step": 6968, "training_step_time": 17.489030599594116 }, { "epoch": 6.646156311035156e-07, "model_forward_time": 5.2992589473724365, "step": 6969 }, { "epoch": 6.646156311035156e-07, "step": 6969, "training_step_time": 17.73386573791504 }, { "epoch": 6.647109985351562e-07, "grad_norm": 1.3478924036026, "learning_rate": 9.93300647319954e-06, "loss": 0.1206, "step": 6970 }, { "epoch": 6.647109985351562e-07, "model_forward_time": 3.8405864238739014, "step": 6970 }, { "dynamics_loss_avg": 0.038207145407795906, "epoch": 6.647109985351562e-07, "step": 6970 }, { "action_loss_avg": 0.07608634047210217, "epoch": 6.647109985351562e-07, "step": 6970 }, { "arm_loss_avg": 0.15091051533818245, "epoch": 6.647109985351562e-07, "step": 6970 }, { "ee_loss_avg": 0.10025503505021334, "epoch": 6.647109985351562e-07, "step": 6970 }, { "aux_loss_avg": 0.001010999715072103, "epoch": 6.647109985351562e-07, "step": 6970 }, { "epoch": 6.647109985351562e-07, "step": 6970, "training_step_time": 17.54982328414917 }, { "epoch": 6.648063659667969e-07, "model_forward_time": 5.0511040687561035, "step": 6971 }, { "epoch": 6.648063659667969e-07, "step": 6971, "training_step_time": 17.559145212173462 }, { "epoch": 6.649017333984375e-07, "model_forward_time": 5.067207336425781, "step": 6972 }, { "epoch": 6.649017333984375e-07, "step": 6972, "training_step_time": 17.56321907043457 }, { "epoch": 6.649971008300782e-07, "model_forward_time": 5.080575942993164, "step": 6973 }, { "epoch": 6.649971008300782e-07, "step": 6973, "training_step_time": 17.778723001480103 }, { "epoch": 6.650924682617188e-07, "model_forward_time": 5.284777641296387, "step": 6974 }, { "epoch": 6.650924682617188e-07, "step": 6974, "training_step_time": 17.579964876174927 }, { "epoch": 6.651878356933594e-07, "model_forward_time": 5.097065448760986, "step": 6975 }, { "epoch": 6.651878356933594e-07, "step": 6975, "training_step_time": 17.569104433059692 }, { "epoch": 6.65283203125e-07, "model_forward_time": 3.873600959777832, "step": 6976 }, { "epoch": 6.65283203125e-07, "step": 6976, "training_step_time": 17.61406970024109 }, { "epoch": 6.653785705566406e-07, "model_forward_time": 5.091110944747925, "step": 6977 }, { "epoch": 6.653785705566406e-07, "step": 6977, "training_step_time": 17.620352029800415 }, { "epoch": 6.654739379882812e-07, "model_forward_time": 5.095034122467041, "step": 6978 }, { "epoch": 6.654739379882812e-07, "step": 6978, "training_step_time": 17.80515480041504 }, { "epoch": 6.655693054199218e-07, "model_forward_time": 5.349349737167358, "step": 6979 }, { "epoch": 6.655693054199218e-07, "step": 6979, "training_step_time": 17.591281414031982 }, { "epoch": 6.656646728515625e-07, "grad_norm": 2.0239851474761963, "learning_rate": 9.932620546434151e-06, "loss": 0.1354, "step": 6980 }, { "epoch": 6.656646728515625e-07, "model_forward_time": 5.097896337509155, "step": 6980 }, { "dynamics_loss_avg": 0.05312812495976686, "epoch": 6.656646728515625e-07, "step": 6980 }, { "action_loss_avg": 0.10574973281472921, "epoch": 6.656646728515625e-07, "step": 6980 }, { "arm_loss_avg": 0.12771211341023445, "epoch": 6.656646728515625e-07, "step": 6980 }, { "ee_loss_avg": 0.14359645061194898, "epoch": 6.656646728515625e-07, "step": 6980 }, { "aux_loss_avg": 0.0014471250877249985, "epoch": 6.656646728515625e-07, "step": 6980 }, { "epoch": 6.656646728515625e-07, "step": 6980, "training_step_time": 17.624963998794556 }, { "epoch": 6.657600402832032e-07, "model_forward_time": 5.096836805343628, "step": 6981 }, { "epoch": 6.657600402832032e-07, "step": 6981, "training_step_time": 17.563053846359253 }, { "epoch": 6.658554077148438e-07, "model_forward_time": 5.0961267948150635, "step": 6982 }, { "epoch": 6.658554077148438e-07, "step": 6982, "training_step_time": 17.570852518081665 }, { "epoch": 6.659507751464844e-07, "model_forward_time": 5.095436334609985, "step": 6983 }, { "epoch": 6.659507751464844e-07, "step": 6983, "training_step_time": 17.809309244155884 }, { "epoch": 6.66046142578125e-07, "model_forward_time": 5.280576705932617, "step": 6984 }, { "epoch": 6.66046142578125e-07, "step": 6984, "training_step_time": 17.621853590011597 }, { "epoch": 6.661415100097656e-07, "model_forward_time": 3.8532845973968506, "step": 6985 }, { "epoch": 6.661415100097656e-07, "step": 6985, "training_step_time": 17.58397674560547 }, { "epoch": 6.662368774414062e-07, "model_forward_time": 5.0633299350738525, "step": 6986 }, { "epoch": 6.662368774414062e-07, "step": 6986, "training_step_time": 17.58766222000122 }, { "epoch": 6.663322448730469e-07, "model_forward_time": 5.063380241394043, "step": 6987 }, { "epoch": 6.663322448730469e-07, "step": 6987, "training_step_time": 17.57705807685852 }, { "epoch": 6.664276123046875e-07, "model_forward_time": 5.073554039001465, "step": 6988 }, { "epoch": 6.664276123046875e-07, "step": 6988, "training_step_time": 17.771854400634766 }, { "epoch": 6.665229797363281e-07, "model_forward_time": 4.089243173599243, "step": 6989 }, { "epoch": 6.665229797363281e-07, "step": 6989, "training_step_time": 17.572227716445923 }, { "epoch": 6.666183471679687e-07, "grad_norm": 1.7388520240783691, "learning_rate": 9.932233518803533e-06, "loss": 0.1331, "step": 6990 }, { "epoch": 6.666183471679687e-07, "model_forward_time": 5.055665731430054, "step": 6990 }, { "dynamics_loss_avg": 0.043413522141054275, "epoch": 6.666183471679687e-07, "step": 6990 }, { "action_loss_avg": 0.06963952295482159, "epoch": 6.666183471679687e-07, "step": 6990 }, { "arm_loss_avg": 0.13904988169670104, "epoch": 6.666183471679687e-07, "step": 6990 }, { "ee_loss_avg": 0.10021615214645863, "epoch": 6.666183471679687e-07, "step": 6990 }, { "aux_loss_avg": 0.0006799035210860894, "epoch": 6.666183471679687e-07, "step": 6990 }, { "epoch": 6.666183471679687e-07, "step": 6990, "training_step_time": 17.565569162368774 }, { "epoch": 6.667137145996094e-07, "model_forward_time": 5.074431419372559, "step": 6991 }, { "epoch": 6.667137145996094e-07, "step": 6991, "training_step_time": 17.35183572769165 }, { "epoch": 6.6680908203125e-07, "model_forward_time": 5.088705062866211, "step": 6992 }, { "epoch": 6.6680908203125e-07, "step": 6992, "training_step_time": 17.48132300376892 }, { "epoch": 6.669044494628907e-07, "model_forward_time": 5.09140157699585, "step": 6993 }, { "epoch": 6.669044494628907e-07, "step": 6993, "training_step_time": 17.743619918823242 }, { "epoch": 6.669998168945313e-07, "model_forward_time": 5.28776478767395, "step": 6994 }, { "epoch": 6.669998168945313e-07, "step": 6994, "training_step_time": 17.574476718902588 }, { "epoch": 6.670951843261719e-07, "model_forward_time": 5.097760200500488, "step": 6995 }, { "epoch": 6.670951843261719e-07, "step": 6995, "training_step_time": 17.475825786590576 }, { "epoch": 6.671905517578125e-07, "model_forward_time": 5.098928451538086, "step": 6996 }, { "epoch": 6.671905517578125e-07, "step": 6996, "training_step_time": 17.34337854385376 }, { "epoch": 6.672859191894531e-07, "model_forward_time": 3.85988450050354, "step": 6997 }, { "epoch": 6.672859191894531e-07, "step": 6997, "training_step_time": 17.484790802001953 }, { "epoch": 6.673812866210937e-07, "model_forward_time": 5.06561017036438, "step": 6998 }, { "epoch": 6.673812866210937e-07, "step": 6998, "training_step_time": 17.550211429595947 }, { "epoch": 6.674766540527343e-07, "model_forward_time": 5.308984756469727, "step": 6999 }, { "epoch": 6.674766540527343e-07, "step": 6999, "training_step_time": 17.79018235206604 }, { "epoch": 6.67572021484375e-07, "grad_norm": 1.6877011060714722, "learning_rate": 9.931845390394063e-06, "loss": 0.1509, "step": 7000 }, { "epoch": 6.67572021484375e-07, "model_forward_time": 5.077854156494141, "step": 7000 }, { "dynamics_loss_avg": 0.07618118729442358, "epoch": 6.67572021484375e-07, "step": 7000 }, { "action_loss_avg": 0.09187676087021827, "epoch": 6.67572021484375e-07, "step": 7000 }, { "arm_loss_avg": 0.1098556149750948, "epoch": 6.67572021484375e-07, "step": 7000 }, { "ee_loss_avg": 0.1312701039016247, "epoch": 6.67572021484375e-07, "step": 7000 }, { "aux_loss_avg": 0.0037830744782695546, "epoch": 6.67572021484375e-07, "step": 7000 }, { "epoch": 6.67572021484375e-07, "step": 7000, "training_step_time": 17.625885486602783 }, { "epoch": 6.676673889160156e-07, "model_forward_time": 5.080004930496216, "step": 7001 }, { "epoch": 6.676673889160156e-07, "step": 7001, "training_step_time": 17.642136812210083 }, { "epoch": 6.677627563476563e-07, "model_forward_time": 3.851914882659912, "step": 7002 }, { "epoch": 6.677627563476563e-07, "step": 7002, "training_step_time": 17.637207508087158 }, { "epoch": 6.678581237792969e-07, "model_forward_time": 5.059458494186401, "step": 7003 }, { "epoch": 6.678581237792969e-07, "step": 7003, "training_step_time": 17.645573139190674 }, { "epoch": 6.679534912109375e-07, "model_forward_time": 5.267247915267944, "step": 7004 }, { "epoch": 6.679534912109375e-07, "step": 7004, "training_step_time": 17.850260734558105 }, { "epoch": 6.680488586425781e-07, "model_forward_time": 5.0881218910217285, "step": 7005 }, { "epoch": 6.680488586425781e-07, "step": 7005, "training_step_time": 17.607772827148438 }, { "epoch": 6.681442260742188e-07, "model_forward_time": 5.09061861038208, "step": 7006 }, { "epoch": 6.681442260742188e-07, "step": 7006, "training_step_time": 17.59294867515564 }, { "epoch": 6.682395935058594e-07, "model_forward_time": 5.090751647949219, "step": 7007 }, { "epoch": 6.682395935058594e-07, "step": 7007, "training_step_time": 17.581347465515137 }, { "epoch": 6.683349609375e-07, "model_forward_time": 5.096539735794067, "step": 7008 }, { "epoch": 6.683349609375e-07, "step": 7008, "training_step_time": 17.82071328163147 }, { "epoch": 6.684303283691406e-07, "model_forward_time": 5.324146270751953, "step": 7009 }, { "epoch": 6.684303283691406e-07, "step": 7009, "training_step_time": 17.558138132095337 }, { "epoch": 6.685256958007812e-07, "grad_norm": 1.5320239067077637, "learning_rate": 9.931456161292366e-06, "loss": 0.141, "step": 7010 }, { "epoch": 6.685256958007812e-07, "model_forward_time": 5.091087818145752, "step": 7010 }, { "dynamics_loss_avg": 0.04844335038214922, "epoch": 6.685256958007812e-07, "step": 7010 }, { "action_loss_avg": 0.09368405714631081, "epoch": 6.685256958007812e-07, "step": 7010 }, { "arm_loss_avg": 0.1300798960030079, "epoch": 6.685256958007812e-07, "step": 7010 }, { "ee_loss_avg": 0.09742006175220012, "epoch": 6.685256958007812e-07, "step": 7010 }, { "aux_loss_avg": 0.014263412106083706, "epoch": 6.685256958007812e-07, "step": 7010 }, { "epoch": 6.685256958007812e-07, "step": 7010, "training_step_time": 17.565927982330322 }, { "epoch": 6.686210632324218e-07, "model_forward_time": 5.08489465713501, "step": 7011 }, { "epoch": 6.686210632324218e-07, "step": 7011, "training_step_time": 17.56237483024597 }, { "epoch": 6.687164306640625e-07, "model_forward_time": 3.8483457565307617, "step": 7012 }, { "epoch": 6.687164306640625e-07, "step": 7012, "training_step_time": 17.56236958503723 }, { "epoch": 6.688117980957032e-07, "model_forward_time": 5.059061765670776, "step": 7013 }, { "epoch": 6.688117980957032e-07, "step": 7013, "training_step_time": 17.57792592048645 }, { "epoch": 6.689071655273438e-07, "model_forward_time": 4.019535779953003, "step": 7014 }, { "epoch": 6.689071655273438e-07, "step": 7014, "training_step_time": 17.812964916229248 }, { "epoch": 6.690025329589844e-07, "model_forward_time": 5.046571731567383, "step": 7015 }, { "epoch": 6.690025329589844e-07, "step": 7015, "training_step_time": 17.572017908096313 }, { "epoch": 6.69097900390625e-07, "model_forward_time": 5.064759254455566, "step": 7016 }, { "epoch": 6.69097900390625e-07, "step": 7016, "training_step_time": 17.55200433731079 }, { "epoch": 6.691932678222656e-07, "model_forward_time": 5.085301399230957, "step": 7017 }, { "epoch": 6.691932678222656e-07, "step": 7017, "training_step_time": 17.57668423652649 }, { "epoch": 6.692886352539062e-07, "model_forward_time": 5.112884521484375, "step": 7018 }, { "epoch": 6.692886352539062e-07, "step": 7018, "training_step_time": 17.333892107009888 }, { "epoch": 6.693840026855468e-07, "model_forward_time": 4.1198296546936035, "step": 7019 }, { "epoch": 6.693840026855468e-07, "step": 7019, "training_step_time": 17.711754322052002 }, { "epoch": 6.694793701171875e-07, "grad_norm": 2.6128151416778564, "learning_rate": 9.931065831585309e-06, "loss": 0.14, "step": 7020 }, { "epoch": 6.694793701171875e-07, "model_forward_time": 5.086567640304565, "step": 7020 }, { "dynamics_loss_avg": 0.053402419202029705, "epoch": 6.694793701171875e-07, "step": 7020 }, { "action_loss_avg": 0.08487103506922722, "epoch": 6.694793701171875e-07, "step": 7020 }, { "arm_loss_avg": 0.19637318402528764, "epoch": 6.694793701171875e-07, "step": 7020 }, { "ee_loss_avg": 0.20085248369723557, "epoch": 6.694793701171875e-07, "step": 7020 }, { "aux_loss_avg": 0.004273288429249078, "epoch": 6.694793701171875e-07, "step": 7020 }, { "epoch": 6.694793701171875e-07, "step": 7020, "training_step_time": 17.573004961013794 }, { "epoch": 6.695747375488281e-07, "model_forward_time": 5.089615821838379, "step": 7021 }, { "epoch": 6.695747375488281e-07, "step": 7021, "training_step_time": 17.546234607696533 }, { "epoch": 6.696701049804688e-07, "model_forward_time": 5.089890956878662, "step": 7022 }, { "epoch": 6.696701049804688e-07, "step": 7022, "training_step_time": 17.57574486732483 }, { "epoch": 6.697654724121094e-07, "model_forward_time": 5.09119176864624, "step": 7023 }, { "epoch": 6.697654724121094e-07, "step": 7023, "training_step_time": 17.595552921295166 }, { "epoch": 6.6986083984375e-07, "model_forward_time": 5.274238586425781, "step": 7024 }, { "epoch": 6.6986083984375e-07, "step": 7024, "training_step_time": 17.846574306488037 }, { "epoch": 6.699562072753906e-07, "model_forward_time": 5.089263677597046, "step": 7025 }, { "epoch": 6.699562072753906e-07, "step": 7025, "training_step_time": 17.609760284423828 }, { "epoch": 6.700515747070313e-07, "model_forward_time": 5.085126876831055, "step": 7026 }, { "epoch": 6.700515747070313e-07, "step": 7026, "training_step_time": 17.61356472969055 }, { "epoch": 6.701469421386719e-07, "model_forward_time": 3.8501646518707275, "step": 7027 }, { "epoch": 6.701469421386719e-07, "step": 7027, "training_step_time": 17.608062744140625 }, { "epoch": 6.702423095703125e-07, "model_forward_time": 5.056999206542969, "step": 7028 }, { "epoch": 6.702423095703125e-07, "step": 7028, "training_step_time": 17.85091280937195 }, { "epoch": 6.703376770019531e-07, "model_forward_time": 5.293983221054077, "step": 7029 }, { "epoch": 6.703376770019531e-07, "step": 7029, "training_step_time": 17.601412296295166 }, { "epoch": 6.704330444335937e-07, "grad_norm": 1.6858433485031128, "learning_rate": 9.930674401360006e-06, "loss": 0.1245, "step": 7030 }, { "epoch": 6.704330444335937e-07, "model_forward_time": 5.075979232788086, "step": 7030 }, { "dynamics_loss_avg": 0.04214000003412366, "epoch": 6.704330444335937e-07, "step": 7030 }, { "action_loss_avg": 0.06915113162249327, "epoch": 6.704330444335937e-07, "step": 7030 }, { "arm_loss_avg": 0.12014263346791268, "epoch": 6.704330444335937e-07, "step": 7030 }, { "ee_loss_avg": 0.13462791517376899, "epoch": 6.704330444335937e-07, "step": 7030 }, { "aux_loss_avg": 0.002137594169471413, "epoch": 6.704330444335937e-07, "step": 7030 }, { "epoch": 6.704330444335937e-07, "step": 7030, "training_step_time": 17.590758562088013 }, { "epoch": 6.705284118652343e-07, "model_forward_time": 5.082361221313477, "step": 7031 }, { "epoch": 6.705284118652343e-07, "step": 7031, "training_step_time": 17.577423095703125 }, { "epoch": 6.70623779296875e-07, "model_forward_time": 5.0909528732299805, "step": 7032 }, { "epoch": 6.70623779296875e-07, "step": 7032, "training_step_time": 17.564374685287476 }, { "epoch": 6.707191467285157e-07, "model_forward_time": 5.091473817825317, "step": 7033 }, { "epoch": 6.707191467285157e-07, "step": 7033, "training_step_time": 17.566025495529175 }, { "epoch": 6.708145141601563e-07, "model_forward_time": 5.287883758544922, "step": 7034 }, { "epoch": 6.708145141601563e-07, "step": 7034, "training_step_time": 17.805029153823853 }, { "epoch": 6.709098815917969e-07, "model_forward_time": 5.09345817565918, "step": 7035 }, { "epoch": 6.709098815917969e-07, "step": 7035, "training_step_time": 17.56109070777893 }, { "epoch": 6.710052490234375e-07, "model_forward_time": 5.087249755859375, "step": 7036 }, { "epoch": 6.710052490234375e-07, "step": 7036, "training_step_time": 17.56583571434021 }, { "epoch": 6.711006164550781e-07, "model_forward_time": 5.0830323696136475, "step": 7037 }, { "epoch": 6.711006164550781e-07, "step": 7037, "training_step_time": 17.55895757675171 }, { "epoch": 6.711959838867187e-07, "model_forward_time": 5.083156108856201, "step": 7038 }, { "epoch": 6.711959838867187e-07, "step": 7038, "training_step_time": 17.791130304336548 }, { "epoch": 6.712913513183593e-07, "model_forward_time": 5.322551250457764, "step": 7039 }, { "epoch": 6.712913513183593e-07, "step": 7039, "training_step_time": 17.565616130828857 }, { "epoch": 6.7138671875e-07, "grad_norm": 1.9143236875534058, "learning_rate": 9.930281870703817e-06, "loss": 0.1313, "step": 7040 }, { "epoch": 6.7138671875e-07, "model_forward_time": 5.0836803913116455, "step": 7040 }, { "dynamics_loss_avg": 0.03586246501654387, "epoch": 6.7138671875e-07, "step": 7040 }, { "action_loss_avg": 0.08235958218574524, "epoch": 6.7138671875e-07, "step": 7040 }, { "arm_loss_avg": 0.122100231051445, "epoch": 6.7138671875e-07, "step": 7040 }, { "ee_loss_avg": 0.09887485355138778, "epoch": 6.7138671875e-07, "step": 7040 }, { "aux_loss_avg": 0.00400129787158221, "epoch": 6.7138671875e-07, "step": 7040 }, { "epoch": 6.7138671875e-07, "step": 7040, "training_step_time": 17.595531702041626 }, { "epoch": 6.714820861816406e-07, "model_forward_time": 3.847163200378418, "step": 7041 }, { "epoch": 6.714820861816406e-07, "step": 7041, "training_step_time": 17.478403329849243 }, { "epoch": 6.715774536132813e-07, "model_forward_time": 5.049901008605957, "step": 7042 }, { "epoch": 6.715774536132813e-07, "step": 7042, "training_step_time": 17.5258207321167 }, { "epoch": 6.716728210449219e-07, "model_forward_time": 5.065678834915161, "step": 7043 }, { "epoch": 6.716728210449219e-07, "step": 7043, "training_step_time": 17.56144094467163 }, { "epoch": 6.717681884765625e-07, "model_forward_time": 5.267035722732544, "step": 7044 }, { "epoch": 6.717681884765625e-07, "step": 7044, "training_step_time": 17.797879219055176 }, { "epoch": 6.718635559082031e-07, "model_forward_time": 5.088196039199829, "step": 7045 }, { "epoch": 6.718635559082031e-07, "step": 7045, "training_step_time": 17.577561855316162 }, { "epoch": 6.719589233398438e-07, "model_forward_time": 3.8552980422973633, "step": 7046 }, { "epoch": 6.719589233398438e-07, "step": 7046, "training_step_time": 17.589314460754395 }, { "epoch": 6.720542907714844e-07, "model_forward_time": 5.060621976852417, "step": 7047 }, { "epoch": 6.720542907714844e-07, "step": 7047, "training_step_time": 17.606926202774048 }, { "epoch": 6.72149658203125e-07, "model_forward_time": 5.072839975357056, "step": 7048 }, { "epoch": 6.72149658203125e-07, "step": 7048, "training_step_time": 17.596628189086914 }, { "epoch": 6.722450256347656e-07, "model_forward_time": 4.098158597946167, "step": 7049 }, { "epoch": 6.722450256347656e-07, "step": 7049, "training_step_time": 17.800939798355103 }, { "epoch": 6.723403930664062e-07, "grad_norm": 2.0154569149017334, "learning_rate": 9.929888239704346e-06, "loss": 0.1335, "step": 7050 }, { "epoch": 6.723403930664062e-07, "model_forward_time": 5.060377597808838, "step": 7050 }, { "dynamics_loss_avg": 0.03882544501684606, "epoch": 6.723403930664062e-07, "step": 7050 }, { "action_loss_avg": 0.07043257355690002, "epoch": 6.723403930664062e-07, "step": 7050 }, { "arm_loss_avg": 0.10691606812179089, "epoch": 6.723403930664062e-07, "step": 7050 }, { "ee_loss_avg": 0.12345784269273281, "epoch": 6.723403930664062e-07, "step": 7050 }, { "aux_loss_avg": 0.0009255773649783805, "epoch": 6.723403930664062e-07, "step": 7050 }, { "epoch": 6.723403930664062e-07, "step": 7050, "training_step_time": 17.582765817642212 }, { "epoch": 6.724357604980468e-07, "model_forward_time": 5.075521469116211, "step": 7051 }, { "epoch": 6.724357604980468e-07, "step": 7051, "training_step_time": 17.580545663833618 }, { "epoch": 6.725311279296875e-07, "model_forward_time": 5.091572999954224, "step": 7052 }, { "epoch": 6.725311279296875e-07, "step": 7052, "training_step_time": 17.569711923599243 }, { "epoch": 6.726264953613282e-07, "model_forward_time": 5.095956802368164, "step": 7053 }, { "epoch": 6.726264953613282e-07, "step": 7053, "training_step_time": 17.784155130386353 }, { "epoch": 6.727218627929688e-07, "model_forward_time": 5.289485931396484, "step": 7054 }, { "epoch": 6.727218627929688e-07, "step": 7054, "training_step_time": 17.554450035095215 }, { "epoch": 6.728172302246094e-07, "model_forward_time": 3.8585212230682373, "step": 7055 }, { "epoch": 6.728172302246094e-07, "step": 7055, "training_step_time": 17.61162257194519 }, { "epoch": 6.7291259765625e-07, "model_forward_time": 5.064202547073364, "step": 7056 }, { "epoch": 6.7291259765625e-07, "step": 7056, "training_step_time": 17.38454818725586 }, { "epoch": 6.730079650878906e-07, "model_forward_time": 5.077082633972168, "step": 7057 }, { "epoch": 6.730079650878906e-07, "step": 7057, "training_step_time": 17.489447355270386 }, { "epoch": 6.731033325195312e-07, "model_forward_time": 5.082346677780151, "step": 7058 }, { "epoch": 6.731033325195312e-07, "step": 7058, "training_step_time": 17.711363792419434 }, { "epoch": 6.731986999511718e-07, "model_forward_time": 5.30894136428833, "step": 7059 }, { "epoch": 6.731986999511718e-07, "step": 7059, "training_step_time": 17.613003969192505 }, { "epoch": 6.732940673828125e-07, "grad_norm": 1.0976592302322388, "learning_rate": 9.929493508449444e-06, "loss": 0.1489, "step": 7060 }, { "epoch": 6.732940673828125e-07, "model_forward_time": 5.088050842285156, "step": 7060 }, { "dynamics_loss_avg": 0.041873544733971355, "epoch": 6.732940673828125e-07, "step": 7060 }, { "action_loss_avg": 0.07099794251844287, "epoch": 6.732940673828125e-07, "step": 7060 }, { "arm_loss_avg": 0.10732323341071606, "epoch": 6.732940673828125e-07, "step": 7060 }, { "ee_loss_avg": 0.08109092228114605, "epoch": 6.732940673828125e-07, "step": 7060 }, { "aux_loss_avg": 0.0007974027539603412, "epoch": 6.732940673828125e-07, "step": 7060 }, { "epoch": 6.732940673828125e-07, "step": 7060, "training_step_time": 17.566643953323364 }, { "epoch": 6.733894348144531e-07, "model_forward_time": 5.091562509536743, "step": 7061 }, { "epoch": 6.733894348144531e-07, "step": 7061, "training_step_time": 17.59486174583435 }, { "epoch": 6.734848022460938e-07, "model_forward_time": 5.0915327072143555, "step": 7062 }, { "epoch": 6.734848022460938e-07, "step": 7062, "training_step_time": 17.602490425109863 }, { "epoch": 6.735801696777344e-07, "model_forward_time": 5.091634035110474, "step": 7063 }, { "epoch": 6.735801696777344e-07, "step": 7063, "training_step_time": 17.82950496673584 }, { "epoch": 6.73675537109375e-07, "model_forward_time": 5.277429819107056, "step": 7064 }, { "epoch": 6.73675537109375e-07, "step": 7064, "training_step_time": 17.59601855278015 }, { "epoch": 6.737709045410156e-07, "model_forward_time": 5.086733102798462, "step": 7065 }, { "epoch": 6.737709045410156e-07, "step": 7065, "training_step_time": 17.597759246826172 }, { "epoch": 6.738662719726563e-07, "model_forward_time": 5.081173658370972, "step": 7066 }, { "epoch": 6.738662719726563e-07, "step": 7066, "training_step_time": 17.5891215801239 }, { "epoch": 6.739616394042969e-07, "model_forward_time": 5.078022003173828, "step": 7067 }, { "epoch": 6.739616394042969e-07, "step": 7067, "training_step_time": 17.58343744277954 }, { "epoch": 6.740570068359375e-07, "model_forward_time": 5.084408760070801, "step": 7068 }, { "epoch": 6.740570068359375e-07, "step": 7068, "training_step_time": 17.804088592529297 }, { "epoch": 6.741523742675781e-07, "model_forward_time": 5.078970193862915, "step": 7069 }, { "epoch": 6.741523742675781e-07, "step": 7069, "training_step_time": 17.56160044670105 }, { "epoch": 6.742477416992187e-07, "grad_norm": 2.0000734329223633, "learning_rate": 9.92909767702721e-06, "loss": 0.1482, "step": 7070 }, { "epoch": 6.742477416992187e-07, "model_forward_time": 5.0825724601745605, "step": 7070 }, { "dynamics_loss_avg": 0.05239745485596359, "epoch": 6.742477416992187e-07, "step": 7070 }, { "action_loss_avg": 0.07130261547863484, "epoch": 6.742477416992187e-07, "step": 7070 }, { "arm_loss_avg": 0.13434200510382652, "epoch": 6.742477416992187e-07, "step": 7070 }, { "ee_loss_avg": 0.08572889920324087, "epoch": 6.742477416992187e-07, "step": 7070 }, { "aux_loss_avg": 0.001681053766515106, "epoch": 6.742477416992187e-07, "step": 7070 }, { "epoch": 6.742477416992187e-07, "step": 7070, "training_step_time": 17.56951117515564 }, { "epoch": 6.743431091308593e-07, "model_forward_time": 5.081625938415527, "step": 7071 }, { "epoch": 6.743431091308593e-07, "step": 7071, "training_step_time": 17.57288956642151 }, { "epoch": 6.744384765625e-07, "model_forward_time": 5.083096265792847, "step": 7072 }, { "epoch": 6.744384765625e-07, "step": 7072, "training_step_time": 17.568874835968018 }, { "epoch": 6.745338439941407e-07, "model_forward_time": 3.8480117321014404, "step": 7073 }, { "epoch": 6.745338439941407e-07, "step": 7073, "training_step_time": 17.788732528686523 }, { "epoch": 6.746292114257813e-07, "model_forward_time": 5.0586936473846436, "step": 7074 }, { "epoch": 6.746292114257813e-07, "step": 7074, "training_step_time": 17.608295440673828 }, { "epoch": 6.747245788574219e-07, "model_forward_time": 5.066740989685059, "step": 7075 }, { "epoch": 6.747245788574219e-07, "step": 7075, "training_step_time": 17.56956911087036 }, { "epoch": 6.748199462890625e-07, "model_forward_time": 5.077739477157593, "step": 7076 }, { "epoch": 6.748199462890625e-07, "step": 7076, "training_step_time": 17.566998720169067 }, { "epoch": 6.749153137207031e-07, "model_forward_time": 5.080715179443359, "step": 7077 }, { "epoch": 6.749153137207031e-07, "step": 7077, "training_step_time": 17.565417528152466 }, { "epoch": 6.750106811523437e-07, "model_forward_time": 5.092764139175415, "step": 7078 }, { "epoch": 6.750106811523437e-07, "step": 7078, "training_step_time": 17.771113395690918 }, { "epoch": 6.751060485839843e-07, "model_forward_time": 5.090773820877075, "step": 7079 }, { "epoch": 6.751060485839843e-07, "step": 7079, "training_step_time": 17.57165026664734 }, { "epoch": 6.75201416015625e-07, "grad_norm": 2.214756727218628, "learning_rate": 9.928700745525983e-06, "loss": 0.1389, "step": 7080 }, { "epoch": 6.75201416015625e-07, "model_forward_time": 5.093467712402344, "step": 7080 }, { "dynamics_loss_avg": 0.06198053658008575, "epoch": 6.75201416015625e-07, "step": 7080 }, { "action_loss_avg": 0.07503287494182587, "epoch": 6.75201416015625e-07, "step": 7080 }, { "arm_loss_avg": 0.14081441909074782, "epoch": 6.75201416015625e-07, "step": 7080 }, { "ee_loss_avg": 0.08009995594620704, "epoch": 6.75201416015625e-07, "step": 7080 }, { "aux_loss_avg": 0.004980054497718811, "epoch": 6.75201416015625e-07, "step": 7080 }, { "epoch": 6.75201416015625e-07, "step": 7080, "training_step_time": 17.564327001571655 }, { "epoch": 6.752967834472656e-07, "model_forward_time": 5.092205286026001, "step": 7081 }, { "epoch": 6.752967834472656e-07, "step": 7081, "training_step_time": 17.574142694473267 }, { "epoch": 6.753921508789063e-07, "model_forward_time": 5.0917603969573975, "step": 7082 }, { "epoch": 6.753921508789063e-07, "step": 7082, "training_step_time": 17.57655119895935 }, { "epoch": 6.754875183105469e-07, "model_forward_time": 3.852031707763672, "step": 7083 }, { "epoch": 6.754875183105469e-07, "step": 7083, "training_step_time": 17.80291199684143 }, { "epoch": 6.755828857421875e-07, "model_forward_time": 5.241701126098633, "step": 7084 }, { "epoch": 6.755828857421875e-07, "step": 7084, "training_step_time": 17.57729482650757 }, { "epoch": 6.756782531738281e-07, "model_forward_time": 5.063209056854248, "step": 7085 }, { "epoch": 6.756782531738281e-07, "step": 7085, "training_step_time": 17.57616090774536 }, { "epoch": 6.757736206054688e-07, "model_forward_time": 5.073543071746826, "step": 7086 }, { "epoch": 6.757736206054688e-07, "step": 7086, "training_step_time": 17.572914361953735 }, { "epoch": 6.758689880371094e-07, "model_forward_time": 5.081687688827515, "step": 7087 }, { "epoch": 6.758689880371094e-07, "step": 7087, "training_step_time": 17.365132331848145 }, { "epoch": 6.7596435546875e-07, "model_forward_time": 5.089945554733276, "step": 7088 }, { "epoch": 6.7596435546875e-07, "step": 7088, "training_step_time": 17.427822828292847 }, { "epoch": 6.760597229003906e-07, "model_forward_time": 5.094998836517334, "step": 7089 }, { "epoch": 6.760597229003906e-07, "step": 7089, "training_step_time": 17.56514573097229 }, { "epoch": 6.761550903320312e-07, "grad_norm": 2.535123109817505, "learning_rate": 9.928302714034353e-06, "loss": 0.1447, "step": 7090 }, { "epoch": 6.761550903320312e-07, "model_forward_time": 5.093552112579346, "step": 7090 }, { "dynamics_loss_avg": 0.05467170691117644, "epoch": 6.761550903320312e-07, "step": 7090 }, { "action_loss_avg": 0.07102887891232967, "epoch": 6.761550903320312e-07, "step": 7090 }, { "arm_loss_avg": 0.12681567221879958, "epoch": 6.761550903320312e-07, "step": 7090 }, { "ee_loss_avg": 0.07781464476138353, "epoch": 6.761550903320312e-07, "step": 7090 }, { "aux_loss_avg": 0.0020397909567691384, "epoch": 6.761550903320312e-07, "step": 7090 }, { "epoch": 6.761550903320312e-07, "step": 7090, "training_step_time": 17.425411462783813 }, { "epoch": 6.762504577636718e-07, "model_forward_time": 5.087242841720581, "step": 7091 }, { "epoch": 6.762504577636718e-07, "step": 7091, "training_step_time": 17.497543811798096 }, { "epoch": 6.763458251953126e-07, "model_forward_time": 5.087604761123657, "step": 7092 }, { "epoch": 6.763458251953126e-07, "step": 7092, "training_step_time": 17.569124937057495 }, { "epoch": 6.764411926269532e-07, "model_forward_time": 5.27689528465271, "step": 7093 }, { "epoch": 6.764411926269532e-07, "step": 7093, "training_step_time": 17.60956883430481 }, { "epoch": 6.765365600585938e-07, "model_forward_time": 5.085386276245117, "step": 7094 }, { "epoch": 6.765365600585938e-07, "step": 7094, "training_step_time": 17.861218452453613 }, { "epoch": 6.766319274902344e-07, "model_forward_time": 5.078960418701172, "step": 7095 }, { "epoch": 6.766319274902344e-07, "step": 7095, "training_step_time": 17.348533868789673 }, { "epoch": 6.76727294921875e-07, "model_forward_time": 5.085027456283569, "step": 7096 }, { "epoch": 6.76727294921875e-07, "step": 7096, "training_step_time": 17.545759201049805 }, { "epoch": 6.768226623535156e-07, "model_forward_time": 5.092156171798706, "step": 7097 }, { "epoch": 6.768226623535156e-07, "step": 7097, "training_step_time": 17.61247205734253 }, { "epoch": 6.769180297851562e-07, "model_forward_time": 5.093714475631714, "step": 7098 }, { "epoch": 6.769180297851562e-07, "step": 7098, "training_step_time": 17.593879461288452 }, { "epoch": 6.770133972167969e-07, "model_forward_time": 5.096132040023804, "step": 7099 }, { "epoch": 6.770133972167969e-07, "step": 7099, "training_step_time": 17.832501649856567 }, { "epoch": 6.771087646484375e-07, "grad_norm": 1.5595510005950928, "learning_rate": 9.927903582641149e-06, "loss": 0.1459, "step": 7100 }, { "epoch": 6.771087646484375e-07, "model_forward_time": 5.094952821731567, "step": 7100 }, { "dynamics_loss_avg": 0.05808326937258244, "epoch": 6.771087646484375e-07, "step": 7100 }, { "action_loss_avg": 0.07858352996408939, "epoch": 6.771087646484375e-07, "step": 7100 }, { "arm_loss_avg": 0.1365623541176319, "epoch": 6.771087646484375e-07, "step": 7100 }, { "ee_loss_avg": 0.10751884132623672, "epoch": 6.771087646484375e-07, "step": 7100 }, { "aux_loss_avg": 0.00543864156352356, "epoch": 6.771087646484375e-07, "step": 7100 }, { "epoch": 6.771087646484375e-07, "step": 7100, "training_step_time": 17.621862411499023 }, { "epoch": 6.772041320800781e-07, "model_forward_time": 5.080851078033447, "step": 7101 }, { "epoch": 6.772041320800781e-07, "step": 7101, "training_step_time": 17.607784748077393 }, { "epoch": 6.772994995117188e-07, "model_forward_time": 5.080590724945068, "step": 7102 }, { "epoch": 6.772994995117188e-07, "step": 7102, "training_step_time": 17.599570751190186 }, { "epoch": 6.773948669433594e-07, "model_forward_time": 5.081707239151001, "step": 7103 }, { "epoch": 6.773948669433594e-07, "step": 7103, "training_step_time": 17.595405101776123 }, { "epoch": 6.77490234375e-07, "model_forward_time": 5.084245443344116, "step": 7104 }, { "epoch": 6.77490234375e-07, "step": 7104, "training_step_time": 17.812553644180298 }, { "epoch": 6.775856018066406e-07, "model_forward_time": 5.07842493057251, "step": 7105 }, { "epoch": 6.775856018066406e-07, "step": 7105, "training_step_time": 17.58413314819336 }, { "epoch": 6.776809692382813e-07, "model_forward_time": 5.077032804489136, "step": 7106 }, { "epoch": 6.776809692382813e-07, "step": 7106, "training_step_time": 17.585209608078003 }, { "epoch": 6.777763366699219e-07, "model_forward_time": 5.077609300613403, "step": 7107 }, { "epoch": 6.777763366699219e-07, "step": 7107, "training_step_time": 17.58398938179016 }, { "epoch": 6.778717041015625e-07, "model_forward_time": 3.8471903800964355, "step": 7108 }, { "epoch": 6.778717041015625e-07, "step": 7108, "training_step_time": 17.39555335044861 }, { "epoch": 6.779670715332031e-07, "model_forward_time": 5.298845291137695, "step": 7109 }, { "epoch": 6.779670715332031e-07, "step": 7109, "training_step_time": 17.691577434539795 }, { "epoch": 6.780624389648437e-07, "grad_norm": 1.8575636148452759, "learning_rate": 9.927503351435455e-06, "loss": 0.1358, "step": 7110 }, { "epoch": 6.780624389648437e-07, "model_forward_time": 5.061956405639648, "step": 7110 }, { "dynamics_loss_avg": 0.04064018111675978, "epoch": 6.780624389648437e-07, "step": 7110 }, { "action_loss_avg": 0.07966246046125888, "epoch": 6.780624389648437e-07, "step": 7110 }, { "arm_loss_avg": 0.12115656398236752, "epoch": 6.780624389648437e-07, "step": 7110 }, { "ee_loss_avg": 0.2060088410973549, "epoch": 6.780624389648437e-07, "step": 7110 }, { "aux_loss_avg": 0.0009437408793019131, "epoch": 6.780624389648437e-07, "step": 7110 }, { "epoch": 6.780624389648437e-07, "step": 7110, "training_step_time": 17.532629251480103 }, { "epoch": 6.781578063964843e-07, "model_forward_time": 5.075072288513184, "step": 7111 }, { "epoch": 6.781578063964843e-07, "step": 7111, "training_step_time": 17.565979480743408 }, { "epoch": 6.78253173828125e-07, "model_forward_time": 5.082590818405151, "step": 7112 }, { "epoch": 6.78253173828125e-07, "step": 7112, "training_step_time": 17.58858585357666 }, { "epoch": 6.783485412597657e-07, "model_forward_time": 5.08964729309082, "step": 7113 }, { "epoch": 6.783485412597657e-07, "step": 7113, "training_step_time": 17.588263273239136 }, { "epoch": 6.784439086914063e-07, "model_forward_time": 3.8566272258758545, "step": 7114 }, { "epoch": 6.784439086914063e-07, "step": 7114, "training_step_time": 17.841908931732178 }, { "epoch": 6.785392761230469e-07, "model_forward_time": 5.057335615158081, "step": 7115 }, { "epoch": 6.785392761230469e-07, "step": 7115, "training_step_time": 17.609784841537476 }, { "epoch": 6.786346435546875e-07, "model_forward_time": 5.071164131164551, "step": 7116 }, { "epoch": 6.786346435546875e-07, "step": 7116, "training_step_time": 17.604193449020386 }, { "epoch": 6.787300109863281e-07, "model_forward_time": 5.083268880844116, "step": 7117 }, { "epoch": 6.787300109863281e-07, "step": 7117, "training_step_time": 17.352601528167725 }, { "epoch": 6.788253784179687e-07, "model_forward_time": 3.8521740436553955, "step": 7118 }, { "epoch": 6.788253784179687e-07, "step": 7118, "training_step_time": 17.5174617767334 }, { "epoch": 6.789207458496094e-07, "model_forward_time": 5.294623136520386, "step": 7119 }, { "epoch": 6.789207458496094e-07, "step": 7119, "training_step_time": 17.753381490707397 }, { "epoch": 6.7901611328125e-07, "grad_norm": 2.0064640045166016, "learning_rate": 9.927102020506589e-06, "loss": 0.1591, "step": 7120 }, { "epoch": 6.7901611328125e-07, "model_forward_time": 5.073603391647339, "step": 7120 }, { "dynamics_loss_avg": 0.054060319997370244, "epoch": 6.7901611328125e-07, "step": 7120 }, { "action_loss_avg": 0.10600198544561863, "epoch": 6.7901611328125e-07, "step": 7120 }, { "arm_loss_avg": 0.1214046135544777, "epoch": 6.7901611328125e-07, "step": 7120 }, { "ee_loss_avg": 0.238261616230011, "epoch": 6.7901611328125e-07, "step": 7120 }, { "aux_loss_avg": 0.0020139789558015764, "epoch": 6.7901611328125e-07, "step": 7120 }, { "epoch": 6.7901611328125e-07, "step": 7120, "training_step_time": 17.56491231918335 }, { "epoch": 6.791114807128906e-07, "model_forward_time": 5.0871217250823975, "step": 7121 }, { "epoch": 6.791114807128906e-07, "step": 7121, "training_step_time": 17.597596168518066 }, { "epoch": 6.792068481445313e-07, "model_forward_time": 5.087752103805542, "step": 7122 }, { "epoch": 6.792068481445313e-07, "step": 7122, "training_step_time": 17.373571395874023 }, { "epoch": 6.793022155761719e-07, "model_forward_time": 5.091057538986206, "step": 7123 }, { "epoch": 6.793022155761719e-07, "step": 7123, "training_step_time": 17.529903888702393 }, { "epoch": 6.793975830078125e-07, "model_forward_time": 4.1053643226623535, "step": 7124 }, { "epoch": 6.793975830078125e-07, "step": 7124, "training_step_time": 17.594961166381836 }, { "epoch": 6.794929504394531e-07, "model_forward_time": 5.058217287063599, "step": 7125 }, { "epoch": 6.794929504394531e-07, "step": 7125, "training_step_time": 17.836713552474976 }, { "epoch": 6.795883178710938e-07, "model_forward_time": 5.065680980682373, "step": 7126 }, { "epoch": 6.795883178710938e-07, "step": 7126, "training_step_time": 17.605177640914917 }, { "epoch": 6.796836853027344e-07, "model_forward_time": 5.074198007583618, "step": 7127 }, { "epoch": 6.796836853027344e-07, "step": 7127, "training_step_time": 17.619489669799805 }, { "epoch": 6.79779052734375e-07, "model_forward_time": 5.081623554229736, "step": 7128 }, { "epoch": 6.79779052734375e-07, "step": 7128, "training_step_time": 17.62190079689026 }, { "epoch": 6.798744201660156e-07, "model_forward_time": 5.323473691940308, "step": 7129 }, { "epoch": 6.798744201660156e-07, "step": 7129, "training_step_time": 17.570007801055908 }, { "epoch": 6.799697875976562e-07, "grad_norm": 1.7820545434951782, "learning_rate": 9.926699589944123e-06, "loss": 0.1337, "step": 7130 }, { "epoch": 6.799697875976562e-07, "model_forward_time": 5.091780185699463, "step": 7130 }, { "dynamics_loss_avg": 0.05264560487121343, "epoch": 6.799697875976562e-07, "step": 7130 }, { "action_loss_avg": 0.09153217356652021, "epoch": 6.799697875976562e-07, "step": 7130 }, { "arm_loss_avg": 0.13181564547121524, "epoch": 6.799697875976562e-07, "step": 7130 }, { "ee_loss_avg": 0.22875402271747589, "epoch": 6.799697875976562e-07, "step": 7130 }, { "aux_loss_avg": 0.00105316256522201, "epoch": 6.799697875976562e-07, "step": 7130 }, { "epoch": 6.799697875976562e-07, "step": 7130, "training_step_time": 17.511032342910767 }, { "epoch": 6.800651550292968e-07, "model_forward_time": 3.8553593158721924, "step": 7131 }, { "epoch": 6.800651550292968e-07, "step": 7131, "training_step_time": 17.55761981010437 }, { "epoch": 6.801605224609374e-07, "model_forward_time": 5.053337574005127, "step": 7132 }, { "epoch": 6.801605224609374e-07, "step": 7132, "training_step_time": 17.581241130828857 }, { "epoch": 6.802558898925782e-07, "model_forward_time": 5.068638563156128, "step": 7133 }, { "epoch": 6.802558898925782e-07, "step": 7133, "training_step_time": 17.593188285827637 }, { "epoch": 6.803512573242188e-07, "model_forward_time": 5.2713541984558105, "step": 7134 }, { "epoch": 6.803512573242188e-07, "step": 7134, "training_step_time": 17.8281307220459 }, { "epoch": 6.804466247558594e-07, "model_forward_time": 5.080367803573608, "step": 7135 }, { "epoch": 6.804466247558594e-07, "step": 7135, "training_step_time": 17.60421323776245 }, { "epoch": 6.805419921875e-07, "model_forward_time": 3.8503212928771973, "step": 7136 }, { "epoch": 6.805419921875e-07, "step": 7136, "training_step_time": 17.370033740997314 }, { "epoch": 6.806373596191406e-07, "model_forward_time": 5.059590101242065, "step": 7137 }, { "epoch": 6.806373596191406e-07, "step": 7137, "training_step_time": 17.51979923248291 }, { "epoch": 6.807327270507812e-07, "model_forward_time": 5.072878360748291, "step": 7138 }, { "epoch": 6.807327270507812e-07, "step": 7138, "training_step_time": 17.55771541595459 }, { "epoch": 6.808280944824219e-07, "model_forward_time": 5.312932729721069, "step": 7139 }, { "epoch": 6.808280944824219e-07, "step": 7139, "training_step_time": 17.571864128112793 }, { "epoch": 6.809234619140625e-07, "grad_norm": 1.7754020690917969, "learning_rate": 9.926296059837873e-06, "loss": 0.1485, "step": 7140 }, { "epoch": 6.809234619140625e-07, "model_forward_time": 5.09098744392395, "step": 7140 }, { "dynamics_loss_avg": 0.04346738774329424, "epoch": 6.809234619140625e-07, "step": 7140 }, { "action_loss_avg": 0.0942909300327301, "epoch": 6.809234619140625e-07, "step": 7140 }, { "arm_loss_avg": 0.173600222915411, "epoch": 6.809234619140625e-07, "step": 7140 }, { "ee_loss_avg": 0.30762745887041093, "epoch": 6.809234619140625e-07, "step": 7140 }, { "aux_loss_avg": 0.01487912957672961, "epoch": 6.809234619140625e-07, "step": 7140 }, { "epoch": 6.809234619140625e-07, "step": 7140, "training_step_time": 17.445523262023926 }, { "epoch": 6.810188293457031e-07, "model_forward_time": 5.094332695007324, "step": 7141 }, { "epoch": 6.810188293457031e-07, "step": 7141, "training_step_time": 17.50719976425171 }, { "epoch": 6.811141967773437e-07, "model_forward_time": 5.092421531677246, "step": 7142 }, { "epoch": 6.811141967773437e-07, "step": 7142, "training_step_time": 17.56205177307129 }, { "epoch": 6.812095642089844e-07, "model_forward_time": 5.091281890869141, "step": 7143 }, { "epoch": 6.812095642089844e-07, "step": 7143, "training_step_time": 17.576497077941895 }, { "epoch": 6.81304931640625e-07, "model_forward_time": 5.278005599975586, "step": 7144 }, { "epoch": 6.81304931640625e-07, "step": 7144, "training_step_time": 17.596687078475952 }, { "epoch": 6.814002990722656e-07, "model_forward_time": 5.086772680282593, "step": 7145 }, { "epoch": 6.814002990722656e-07, "step": 7145, "training_step_time": 17.84346055984497 }, { "epoch": 6.814956665039063e-07, "model_forward_time": 3.852316379547119, "step": 7146 }, { "epoch": 6.814956665039063e-07, "step": 7146, "training_step_time": 17.60659885406494 }, { "epoch": 6.815910339355469e-07, "model_forward_time": 5.056803464889526, "step": 7147 }, { "epoch": 6.815910339355469e-07, "step": 7147, "training_step_time": 17.60485529899597 }, { "epoch": 6.816864013671875e-07, "model_forward_time": 5.062067270278931, "step": 7148 }, { "epoch": 6.816864013671875e-07, "step": 7148, "training_step_time": 17.59601640701294 }, { "epoch": 6.817817687988281e-07, "model_forward_time": 5.308984279632568, "step": 7149 }, { "epoch": 6.817817687988281e-07, "step": 7149, "training_step_time": 17.579240560531616 }, { "epoch": 6.818771362304687e-07, "grad_norm": 1.2067416906356812, "learning_rate": 9.925891430277897e-06, "loss": 0.1397, "step": 7150 }, { "epoch": 6.818771362304687e-07, "model_forward_time": 5.07994270324707, "step": 7150 }, { "dynamics_loss_avg": 0.06236656215041876, "epoch": 6.818771362304687e-07, "step": 7150 }, { "action_loss_avg": 0.10109576433897019, "epoch": 6.818771362304687e-07, "step": 7150 }, { "arm_loss_avg": 0.11080941893160343, "epoch": 6.818771362304687e-07, "step": 7150 }, { "ee_loss_avg": 0.23256586939096452, "epoch": 6.818771362304687e-07, "step": 7150 }, { "aux_loss_avg": 0.0010594326187856496, "epoch": 6.818771362304687e-07, "step": 7150 }, { "epoch": 6.818771362304687e-07, "step": 7150, "training_step_time": 17.78973889350891 }, { "epoch": 6.819725036621093e-07, "model_forward_time": 5.082151412963867, "step": 7151 }, { "epoch": 6.819725036621093e-07, "step": 7151, "training_step_time": 17.57281732559204 }, { "epoch": 6.8206787109375e-07, "model_forward_time": 5.088639259338379, "step": 7152 }, { "epoch": 6.8206787109375e-07, "step": 7152, "training_step_time": 17.566241979599 }, { "epoch": 6.821632385253907e-07, "model_forward_time": 5.088310241699219, "step": 7153 }, { "epoch": 6.821632385253907e-07, "step": 7153, "training_step_time": 17.566649675369263 }, { "epoch": 6.822586059570313e-07, "model_forward_time": 5.092608451843262, "step": 7154 }, { "epoch": 6.822586059570313e-07, "step": 7154, "training_step_time": 17.79854726791382 }, { "epoch": 6.823539733886719e-07, "model_forward_time": 3.8502755165100098, "step": 7155 }, { "epoch": 6.823539733886719e-07, "step": 7155, "training_step_time": 17.56435251235962 }, { "epoch": 6.824493408203125e-07, "model_forward_time": 3.826932430267334, "step": 7156 }, { "epoch": 6.824493408203125e-07, "step": 7156, "training_step_time": 17.56513285636902 }, { "epoch": 6.825447082519531e-07, "model_forward_time": 5.049558401107788, "step": 7157 }, { "epoch": 6.825447082519531e-07, "step": 7157, "training_step_time": 17.569398164749146 }, { "epoch": 6.826400756835937e-07, "model_forward_time": 5.060001850128174, "step": 7158 }, { "epoch": 6.826400756835937e-07, "step": 7158, "training_step_time": 17.56381344795227 }, { "epoch": 6.827354431152344e-07, "model_forward_time": 5.311431407928467, "step": 7159 }, { "epoch": 6.827354431152344e-07, "step": 7159, "training_step_time": 17.8005633354187 }, { "epoch": 6.82830810546875e-07, "grad_norm": 2.3042755126953125, "learning_rate": 9.925485701354501e-06, "loss": 0.1508, "step": 7160 }, { "epoch": 6.82830810546875e-07, "model_forward_time": 3.851933002471924, "step": 7160 }, { "dynamics_loss_avg": 0.04786547599360347, "epoch": 6.82830810546875e-07, "step": 7160 }, { "action_loss_avg": 0.09610932990908623, "epoch": 6.82830810546875e-07, "step": 7160 }, { "arm_loss_avg": 0.1140061415731907, "epoch": 6.82830810546875e-07, "step": 7160 }, { "ee_loss_avg": 0.32395184859633447, "epoch": 6.82830810546875e-07, "step": 7160 }, { "aux_loss_avg": 0.0008927587477955967, "epoch": 6.82830810546875e-07, "step": 7160 }, { "epoch": 6.82830810546875e-07, "step": 7160, "training_step_time": 17.56471586227417 }, { "epoch": 6.829261779785156e-07, "model_forward_time": 5.068185329437256, "step": 7161 }, { "epoch": 6.829261779785156e-07, "step": 7161, "training_step_time": 17.577818632125854 }, { "epoch": 6.830215454101562e-07, "model_forward_time": 5.08001184463501, "step": 7162 }, { "epoch": 6.830215454101562e-07, "step": 7162, "training_step_time": 17.569183588027954 }, { "epoch": 6.831169128417969e-07, "model_forward_time": 5.098550081253052, "step": 7163 }, { "epoch": 6.831169128417969e-07, "step": 7163, "training_step_time": 17.57121753692627 }, { "epoch": 6.832122802734375e-07, "model_forward_time": 5.279574155807495, "step": 7164 }, { "epoch": 6.832122802734375e-07, "step": 7164, "training_step_time": 17.80080008506775 }, { "epoch": 6.833076477050781e-07, "model_forward_time": 5.098388195037842, "step": 7165 }, { "epoch": 6.833076477050781e-07, "step": 7165, "training_step_time": 17.60961675643921 }, { "epoch": 6.834030151367188e-07, "model_forward_time": 5.0954344272613525, "step": 7166 }, { "epoch": 6.834030151367188e-07, "step": 7166, "training_step_time": 17.588448762893677 }, { "epoch": 6.834983825683594e-07, "model_forward_time": 5.093961477279663, "step": 7167 }, { "epoch": 6.834983825683594e-07, "step": 7167, "training_step_time": 17.590866327285767 }, { "epoch": 6.8359375e-07, "model_forward_time": 5.0910093784332275, "step": 7168 }, { "epoch": 6.8359375e-07, "step": 7168, "training_step_time": 17.38365387916565 }, { "epoch": 6.836891174316406e-07, "model_forward_time": 5.321433782577515, "step": 7169 }, { "epoch": 6.836891174316406e-07, "step": 7169, "training_step_time": 17.50985360145569 }, { "epoch": 6.837844848632812e-07, "grad_norm": 2.1700963973999023, "learning_rate": 9.925078873158234e-06, "loss": 0.147, "step": 7170 }, { "epoch": 6.837844848632812e-07, "model_forward_time": 5.08211874961853, "step": 7170 }, { "dynamics_loss_avg": 0.051115788705646995, "epoch": 6.837844848632812e-07, "step": 7170 }, { "action_loss_avg": 0.09126084409654141, "epoch": 6.837844848632812e-07, "step": 7170 }, { "arm_loss_avg": 0.12327522784471512, "epoch": 6.837844848632812e-07, "step": 7170 }, { "ee_loss_avg": 0.24585490189492704, "epoch": 6.837844848632812e-07, "step": 7170 }, { "aux_loss_avg": 0.0007844739593565464, "epoch": 6.837844848632812e-07, "step": 7170 }, { "epoch": 6.837844848632812e-07, "step": 7170, "training_step_time": 17.77391505241394 }, { "epoch": 6.838798522949218e-07, "model_forward_time": 5.079642295837402, "step": 7171 }, { "epoch": 6.838798522949218e-07, "step": 7171, "training_step_time": 17.573878526687622 }, { "epoch": 6.839752197265625e-07, "model_forward_time": 5.078995943069458, "step": 7172 }, { "epoch": 6.839752197265625e-07, "step": 7172, "training_step_time": 17.577691316604614 }, { "epoch": 6.840705871582032e-07, "model_forward_time": 5.07758355140686, "step": 7173 }, { "epoch": 6.840705871582032e-07, "step": 7173, "training_step_time": 17.58241105079651 }, { "epoch": 6.841659545898438e-07, "model_forward_time": 5.076930522918701, "step": 7174 }, { "epoch": 6.841659545898438e-07, "step": 7174, "training_step_time": 17.820955514907837 }, { "epoch": 6.842613220214844e-07, "model_forward_time": 5.0767292976379395, "step": 7175 }, { "epoch": 6.842613220214844e-07, "step": 7175, "training_step_time": 17.596048831939697 }, { "epoch": 6.84356689453125e-07, "model_forward_time": 5.075655221939087, "step": 7176 }, { "epoch": 6.84356689453125e-07, "step": 7176, "training_step_time": 17.582714796066284 }, { "epoch": 6.844520568847656e-07, "model_forward_time": 5.080321311950684, "step": 7177 }, { "epoch": 6.844520568847656e-07, "step": 7177, "training_step_time": 17.257219314575195 }, { "epoch": 6.845474243164062e-07, "model_forward_time": 5.0832555294036865, "step": 7178 }, { "epoch": 6.845474243164062e-07, "step": 7178, "training_step_time": 17.50389838218689 }, { "epoch": 6.846427917480469e-07, "model_forward_time": 3.8525874614715576, "step": 7179 }, { "epoch": 6.846427917480469e-07, "step": 7179, "training_step_time": 17.538216829299927 }, { "epoch": 6.847381591796875e-07, "grad_norm": 2.123422622680664, "learning_rate": 9.924670945779897e-06, "loss": 0.1519, "step": 7180 }, { "epoch": 6.847381591796875e-07, "model_forward_time": 5.066087484359741, "step": 7180 }, { "dynamics_loss_avg": 0.06492677833884955, "epoch": 6.847381591796875e-07, "step": 7180 }, { "action_loss_avg": 0.09142963699996472, "epoch": 6.847381591796875e-07, "step": 7180 }, { "arm_loss_avg": 0.1342652127146721, "epoch": 6.847381591796875e-07, "step": 7180 }, { "ee_loss_avg": 0.24264088571071624, "epoch": 6.847381591796875e-07, "step": 7180 }, { "aux_loss_avg": 0.004904869082383812, "epoch": 6.847381591796875e-07, "step": 7180 }, { "epoch": 6.847381591796875e-07, "step": 7180, "training_step_time": 17.753538131713867 }, { "epoch": 6.848335266113281e-07, "model_forward_time": 5.06485390663147, "step": 7181 }, { "epoch": 6.848335266113281e-07, "step": 7181, "training_step_time": 17.583460569381714 }, { "epoch": 6.849288940429687e-07, "model_forward_time": 3.845231533050537, "step": 7182 }, { "epoch": 6.849288940429687e-07, "step": 7182, "training_step_time": 17.58370852470398 }, { "epoch": 6.850242614746094e-07, "model_forward_time": 5.054227352142334, "step": 7183 }, { "epoch": 6.850242614746094e-07, "step": 7183, "training_step_time": 17.590377807617188 }, { "epoch": 6.8511962890625e-07, "model_forward_time": 5.259270906448364, "step": 7184 }, { "epoch": 6.8511962890625e-07, "step": 7184, "training_step_time": 17.808985948562622 }, { "epoch": 6.852149963378907e-07, "model_forward_time": 3.8464882373809814, "step": 7185 }, { "epoch": 6.852149963378907e-07, "step": 7185, "training_step_time": 17.578256845474243 }, { "epoch": 6.853103637695313e-07, "model_forward_time": 5.064240455627441, "step": 7186 }, { "epoch": 6.853103637695313e-07, "step": 7186, "training_step_time": 17.381004810333252 }, { "epoch": 6.854057312011719e-07, "model_forward_time": 5.087011098861694, "step": 7187 }, { "epoch": 6.854057312011719e-07, "step": 7187, "training_step_time": 17.49047541618347 }, { "epoch": 6.855010986328125e-07, "model_forward_time": 5.099020957946777, "step": 7188 }, { "epoch": 6.855010986328125e-07, "step": 7188, "training_step_time": 17.52591872215271 }, { "epoch": 6.855964660644531e-07, "model_forward_time": 4.104562044143677, "step": 7189 }, { "epoch": 6.855964660644531e-07, "step": 7189, "training_step_time": 17.769795656204224 }, { "epoch": 6.856918334960937e-07, "grad_norm": 1.1892694234848022, "learning_rate": 9.924261919310527e-06, "loss": 0.1357, "step": 7190 }, { "epoch": 6.856918334960937e-07, "model_forward_time": 5.070119619369507, "step": 7190 }, { "dynamics_loss_avg": 0.045439782459288834, "epoch": 6.856918334960937e-07, "step": 7190 }, { "action_loss_avg": 0.09162774756550789, "epoch": 6.856918334960937e-07, "step": 7190 }, { "arm_loss_avg": 0.1420423321425915, "epoch": 6.856918334960937e-07, "step": 7190 }, { "ee_loss_avg": 0.3374649924226105, "epoch": 6.856918334960937e-07, "step": 7190 }, { "aux_loss_avg": 0.0013363967649638654, "epoch": 6.856918334960937e-07, "step": 7190 }, { "epoch": 6.856918334960937e-07, "step": 7190, "training_step_time": 17.566614389419556 }, { "epoch": 6.857872009277343e-07, "model_forward_time": 5.082675933837891, "step": 7191 }, { "epoch": 6.857872009277343e-07, "step": 7191, "training_step_time": 17.501174926757812 }, { "epoch": 6.85882568359375e-07, "model_forward_time": 5.0856475830078125, "step": 7192 }, { "epoch": 6.85882568359375e-07, "step": 7192, "training_step_time": 17.542877674102783 }, { "epoch": 6.859779357910157e-07, "model_forward_time": 3.855142831802368, "step": 7193 }, { "epoch": 6.859779357910157e-07, "step": 7193, "training_step_time": 17.573944091796875 }, { "epoch": 6.860733032226563e-07, "model_forward_time": 5.250382661819458, "step": 7194 }, { "epoch": 6.860733032226563e-07, "step": 7194, "training_step_time": 17.817213535308838 }, { "epoch": 6.861686706542969e-07, "model_forward_time": 5.0704240798950195, "step": 7195 }, { "epoch": 6.861686706542969e-07, "step": 7195, "training_step_time": 17.61481261253357 }, { "epoch": 6.862640380859375e-07, "model_forward_time": 5.076926946640015, "step": 7196 }, { "epoch": 6.862640380859375e-07, "step": 7196, "training_step_time": 17.61252188682556 }, { "epoch": 6.863594055175781e-07, "model_forward_time": 5.083865404129028, "step": 7197 }, { "epoch": 6.863594055175781e-07, "step": 7197, "training_step_time": 17.602542400360107 }, { "epoch": 6.864547729492187e-07, "model_forward_time": 5.091593027114868, "step": 7198 }, { "epoch": 6.864547729492187e-07, "step": 7198, "training_step_time": 17.60578155517578 }, { "epoch": 6.865501403808594e-07, "model_forward_time": 5.323325872421265, "step": 7199 }, { "epoch": 6.865501403808594e-07, "step": 7199, "training_step_time": 17.79059076309204 }, { "epoch": 6.866455078125e-07, "grad_norm": 1.6278077363967896, "learning_rate": 9.923851793841412e-06, "loss": 0.1329, "step": 7200 }, { "epoch": 6.866455078125e-07, "model_forward_time": 5.094894170761108, "step": 7200 }, { "dynamics_loss_avg": 0.03659375393763185, "epoch": 6.866455078125e-07, "step": 7200 }, { "action_loss_avg": 0.07473803460597991, "epoch": 6.866455078125e-07, "step": 7200 }, { "arm_loss_avg": 0.11901445612311363, "epoch": 6.866455078125e-07, "step": 7200 }, { "ee_loss_avg": 0.20618012305349112, "epoch": 6.866455078125e-07, "step": 7200 }, { "aux_loss_avg": 0.0011947978782700375, "epoch": 6.866455078125e-07, "step": 7200 }, { "epoch": 6.866455078125e-07, "step": 7200, "training_step_time": 17.370983600616455 }, { "epoch": 6.867408752441406e-07, "model_forward_time": 3.858675956726074, "step": 7201 }, { "epoch": 6.867408752441406e-07, "step": 7201, "training_step_time": 17.49241042137146 }, { "epoch": 6.868362426757812e-07, "model_forward_time": 5.063922882080078, "step": 7202 }, { "epoch": 6.868362426757812e-07, "step": 7202, "training_step_time": 17.53338646888733 }, { "epoch": 6.869316101074219e-07, "model_forward_time": 5.0672996044158936, "step": 7203 }, { "epoch": 6.869316101074219e-07, "step": 7203, "training_step_time": 17.549760580062866 }, { "epoch": 6.870269775390625e-07, "model_forward_time": 5.264494180679321, "step": 7204 }, { "epoch": 6.870269775390625e-07, "step": 7204, "training_step_time": 17.564461708068848 }, { "epoch": 6.871223449707032e-07, "model_forward_time": 5.082911252975464, "step": 7205 }, { "epoch": 6.871223449707032e-07, "step": 7205, "training_step_time": 17.81062889099121 }, { "epoch": 6.872177124023438e-07, "model_forward_time": 5.0877931118011475, "step": 7206 }, { "epoch": 6.872177124023438e-07, "step": 7206, "training_step_time": 17.58627939224243 }, { "epoch": 6.873130798339844e-07, "model_forward_time": 5.09214186668396, "step": 7207 }, { "epoch": 6.873130798339844e-07, "step": 7207, "training_step_time": 17.593613386154175 }, { "epoch": 6.87408447265625e-07, "model_forward_time": 5.0939366817474365, "step": 7208 }, { "epoch": 6.87408447265625e-07, "step": 7208, "training_step_time": 17.599966287612915 }, { "epoch": 6.875038146972656e-07, "model_forward_time": 5.324897766113281, "step": 7209 }, { "epoch": 6.875038146972656e-07, "step": 7209, "training_step_time": 17.80188751220703 }, { "epoch": 6.875991821289062e-07, "grad_norm": 1.402644395828247, "learning_rate": 9.923440569464087e-06, "loss": 0.1266, "step": 7210 }, { "epoch": 6.875991821289062e-07, "model_forward_time": 5.089803457260132, "step": 7210 }, { "dynamics_loss_avg": 0.04033261351287365, "epoch": 6.875991821289062e-07, "step": 7210 }, { "action_loss_avg": 0.08770280685275793, "epoch": 6.875991821289062e-07, "step": 7210 }, { "arm_loss_avg": 0.1468791365623474, "epoch": 6.875991821289062e-07, "step": 7210 }, { "ee_loss_avg": 0.18989458940923215, "epoch": 6.875991821289062e-07, "step": 7210 }, { "aux_loss_avg": 0.004191068484215066, "epoch": 6.875991821289062e-07, "step": 7210 }, { "epoch": 6.875991821289062e-07, "step": 7210, "training_step_time": 17.594438314437866 }, { "epoch": 6.876945495605468e-07, "model_forward_time": 5.087358236312866, "step": 7211 }, { "epoch": 6.876945495605468e-07, "step": 7211, "training_step_time": 17.604941606521606 }, { "epoch": 6.877899169921875e-07, "model_forward_time": 5.089969635009766, "step": 7212 }, { "epoch": 6.877899169921875e-07, "step": 7212, "training_step_time": 17.60149645805359 }, { "epoch": 6.878852844238282e-07, "model_forward_time": 5.085111141204834, "step": 7213 }, { "epoch": 6.878852844238282e-07, "step": 7213, "training_step_time": 17.598744869232178 }, { "epoch": 6.879806518554688e-07, "model_forward_time": 5.2750244140625, "step": 7214 }, { "epoch": 6.879806518554688e-07, "step": 7214, "training_step_time": 17.602110862731934 }, { "epoch": 6.880760192871094e-07, "model_forward_time": 5.080301523208618, "step": 7215 }, { "epoch": 6.880760192871094e-07, "step": 7215, "training_step_time": 17.743370056152344 }, { "epoch": 6.8817138671875e-07, "model_forward_time": 5.081914901733398, "step": 7216 }, { "epoch": 6.8817138671875e-07, "step": 7216, "training_step_time": 17.54777503013611 }, { "epoch": 6.882667541503906e-07, "model_forward_time": 5.086982011795044, "step": 7217 }, { "epoch": 6.882667541503906e-07, "step": 7217, "training_step_time": 17.59024667739868 }, { "epoch": 6.883621215820312e-07, "model_forward_time": 5.100771903991699, "step": 7218 }, { "epoch": 6.883621215820312e-07, "step": 7218, "training_step_time": 17.624728679656982 }, { "epoch": 6.884574890136719e-07, "model_forward_time": 5.336886882781982, "step": 7219 }, { "epoch": 6.884574890136719e-07, "step": 7219, "training_step_time": 17.563332557678223 }, { "epoch": 6.885528564453125e-07, "grad_norm": 1.6669268608093262, "learning_rate": 9.923028246270325e-06, "loss": 0.1352, "step": 7220 }, { "epoch": 6.885528564453125e-07, "model_forward_time": 5.100960731506348, "step": 7220 }, { "dynamics_loss_avg": 0.04319402519613504, "epoch": 6.885528564453125e-07, "step": 7220 }, { "action_loss_avg": 0.06456877049058676, "epoch": 6.885528564453125e-07, "step": 7220 }, { "arm_loss_avg": 0.13245511054992676, "epoch": 6.885528564453125e-07, "step": 7220 }, { "ee_loss_avg": 0.18397094141691922, "epoch": 6.885528564453125e-07, "step": 7220 }, { "aux_loss_avg": 0.006249116448452696, "epoch": 6.885528564453125e-07, "step": 7220 }, { "epoch": 6.885528564453125e-07, "step": 7220, "training_step_time": 17.720222234725952 }, { "epoch": 6.886482238769531e-07, "model_forward_time": 5.078540086746216, "step": 7221 }, { "epoch": 6.886482238769531e-07, "step": 7221, "training_step_time": 17.554426670074463 }, { "epoch": 6.887435913085937e-07, "model_forward_time": 5.078592538833618, "step": 7222 }, { "epoch": 6.887435913085937e-07, "step": 7222, "training_step_time": 17.573251962661743 }, { "epoch": 6.888389587402344e-07, "model_forward_time": 3.8437767028808594, "step": 7223 }, { "epoch": 6.888389587402344e-07, "step": 7223, "training_step_time": 17.595197200775146 }, { "epoch": 6.88934326171875e-07, "model_forward_time": 5.0581347942352295, "step": 7224 }, { "epoch": 6.88934326171875e-07, "step": 7224, "training_step_time": 17.613223791122437 }, { "epoch": 6.890296936035157e-07, "model_forward_time": 5.0637946128845215, "step": 7225 }, { "epoch": 6.890296936035157e-07, "step": 7225, "training_step_time": 17.864743947982788 }, { "epoch": 6.891250610351563e-07, "model_forward_time": 5.0763702392578125, "step": 7226 }, { "epoch": 6.891250610351563e-07, "step": 7226, "training_step_time": 17.621867418289185 }, { "epoch": 6.892204284667969e-07, "model_forward_time": 5.085752725601196, "step": 7227 }, { "epoch": 6.892204284667969e-07, "step": 7227, "training_step_time": 17.614363193511963 }, { "epoch": 6.893157958984375e-07, "model_forward_time": 3.8536038398742676, "step": 7228 }, { "epoch": 6.893157958984375e-07, "step": 7228, "training_step_time": 17.59943962097168 }, { "epoch": 6.894111633300781e-07, "model_forward_time": 5.059144973754883, "step": 7229 }, { "epoch": 6.894111633300781e-07, "step": 7229, "training_step_time": 17.811872720718384 }, { "epoch": 6.895065307617187e-07, "grad_norm": 2.4491965770721436, "learning_rate": 9.92261482435215e-06, "loss": 0.1374, "step": 7230 }, { "epoch": 6.895065307617187e-07, "model_forward_time": 5.297299385070801, "step": 7230 }, { "dynamics_loss_avg": 0.04517341973260045, "epoch": 6.895065307617187e-07, "step": 7230 }, { "action_loss_avg": 0.08375327736139297, "epoch": 6.895065307617187e-07, "step": 7230 }, { "arm_loss_avg": 0.11539236232638359, "epoch": 6.895065307617187e-07, "step": 7230 }, { "ee_loss_avg": 0.21880337335169314, "epoch": 6.895065307617187e-07, "step": 7230 }, { "aux_loss_avg": 0.0010317454929463566, "epoch": 6.895065307617187e-07, "step": 7230 }, { "epoch": 6.895065307617187e-07, "step": 7230, "training_step_time": 17.585304498672485 }, { "epoch": 6.896018981933593e-07, "model_forward_time": 5.082950830459595, "step": 7231 }, { "epoch": 6.896018981933593e-07, "step": 7231, "training_step_time": 17.587613344192505 }, { "epoch": 6.89697265625e-07, "model_forward_time": 3.852672815322876, "step": 7232 }, { "epoch": 6.89697265625e-07, "step": 7232, "training_step_time": 17.580504179000854 }, { "epoch": 6.897926330566407e-07, "model_forward_time": 5.064882040023804, "step": 7233 }, { "epoch": 6.897926330566407e-07, "step": 7233, "training_step_time": 17.59110140800476 }, { "epoch": 6.898880004882813e-07, "model_forward_time": 5.0776166915893555, "step": 7234 }, { "epoch": 6.898880004882813e-07, "step": 7234, "training_step_time": 17.813072204589844 }, { "epoch": 6.899833679199219e-07, "model_forward_time": 5.261305570602417, "step": 7235 }, { "epoch": 6.899833679199219e-07, "step": 7235, "training_step_time": 17.588338136672974 }, { "epoch": 6.900787353515625e-07, "model_forward_time": 5.090956926345825, "step": 7236 }, { "epoch": 6.900787353515625e-07, "step": 7236, "training_step_time": 17.58555817604065 }, { "epoch": 6.901741027832031e-07, "model_forward_time": 5.090389728546143, "step": 7237 }, { "epoch": 6.901741027832031e-07, "step": 7237, "training_step_time": 17.59184503555298 }, { "epoch": 6.902694702148437e-07, "model_forward_time": 5.09140419960022, "step": 7238 }, { "epoch": 6.902694702148437e-07, "step": 7238, "training_step_time": 17.594157218933105 }, { "epoch": 6.903648376464844e-07, "model_forward_time": 3.8558197021484375, "step": 7239 }, { "epoch": 6.903648376464844e-07, "step": 7239, "training_step_time": 17.806541204452515 }, { "epoch": 6.90460205078125e-07, "grad_norm": 2.232093572616577, "learning_rate": 9.92220030380183e-06, "loss": 0.1396, "step": 7240 }, { "epoch": 6.90460205078125e-07, "model_forward_time": 5.286561727523804, "step": 7240 }, { "dynamics_loss_avg": 0.057664177194237706, "epoch": 6.90460205078125e-07, "step": 7240 }, { "action_loss_avg": 0.09013049192726612, "epoch": 6.90460205078125e-07, "step": 7240 }, { "arm_loss_avg": 0.11883053183555603, "epoch": 6.90460205078125e-07, "step": 7240 }, { "ee_loss_avg": 0.19523981995880604, "epoch": 6.90460205078125e-07, "step": 7240 }, { "aux_loss_avg": 0.0012684764864388854, "epoch": 6.90460205078125e-07, "step": 7240 }, { "epoch": 6.90460205078125e-07, "step": 7240, "training_step_time": 17.58507776260376 }, { "epoch": 6.905555725097656e-07, "model_forward_time": 3.8401122093200684, "step": 7241 }, { "epoch": 6.905555725097656e-07, "step": 7241, "training_step_time": 17.596264839172363 }, { "epoch": 6.906509399414062e-07, "model_forward_time": 5.055119276046753, "step": 7242 }, { "epoch": 6.906509399414062e-07, "step": 7242, "training_step_time": 17.608930110931396 }, { "epoch": 6.907463073730469e-07, "model_forward_time": 5.072249889373779, "step": 7243 }, { "epoch": 6.907463073730469e-07, "step": 7243, "training_step_time": 17.593375205993652 }, { "epoch": 6.908416748046875e-07, "model_forward_time": 5.083100318908691, "step": 7244 }, { "epoch": 6.908416748046875e-07, "step": 7244, "training_step_time": 17.825255393981934 }, { "epoch": 6.909370422363282e-07, "model_forward_time": 5.273408651351929, "step": 7245 }, { "epoch": 6.909370422363282e-07, "step": 7245, "training_step_time": 17.578124284744263 }, { "epoch": 6.910324096679688e-07, "model_forward_time": 5.096987962722778, "step": 7246 }, { "epoch": 6.910324096679688e-07, "step": 7246, "training_step_time": 17.582847356796265 }, { "epoch": 6.911277770996094e-07, "model_forward_time": 5.100622892379761, "step": 7247 }, { "epoch": 6.911277770996094e-07, "step": 7247, "training_step_time": 17.58497190475464 }, { "epoch": 6.9122314453125e-07, "model_forward_time": 5.1021411418914795, "step": 7248 }, { "epoch": 6.9122314453125e-07, "step": 7248, "training_step_time": 17.5856990814209 }, { "epoch": 6.913185119628906e-07, "model_forward_time": 5.095666170120239, "step": 7249 }, { "epoch": 6.913185119628906e-07, "step": 7249, "training_step_time": 17.789008378982544 }, { "epoch": 6.914138793945312e-07, "grad_norm": 1.482062578201294, "learning_rate": 9.921784684711878e-06, "loss": 0.1428, "step": 7250 }, { "epoch": 6.914138793945312e-07, "model_forward_time": 5.31601881980896, "step": 7250 }, { "dynamics_loss_avg": 0.04756299667060375, "epoch": 6.914138793945312e-07, "step": 7250 }, { "action_loss_avg": 0.0994471985846758, "epoch": 6.914138793945312e-07, "step": 7250 }, { "arm_loss_avg": 0.10138714239001274, "epoch": 6.914138793945312e-07, "step": 7250 }, { "ee_loss_avg": 0.1728215016424656, "epoch": 6.914138793945312e-07, "step": 7250 }, { "aux_loss_avg": 0.000912463350687176, "epoch": 6.914138793945312e-07, "step": 7250 }, { "epoch": 6.914138793945312e-07, "step": 7250, "training_step_time": 17.58665418624878 }, { "epoch": 6.915092468261718e-07, "model_forward_time": 5.086071729660034, "step": 7251 }, { "epoch": 6.915092468261718e-07, "step": 7251, "training_step_time": 17.593621969223022 }, { "epoch": 6.916046142578125e-07, "model_forward_time": 5.083681106567383, "step": 7252 }, { "epoch": 6.916046142578125e-07, "step": 7252, "training_step_time": 17.591758728027344 }, { "epoch": 6.916999816894531e-07, "model_forward_time": 5.079786777496338, "step": 7253 }, { "epoch": 6.916999816894531e-07, "step": 7253, "training_step_time": 17.597222566604614 }, { "epoch": 6.917953491210938e-07, "model_forward_time": 5.082180500030518, "step": 7254 }, { "epoch": 6.917953491210938e-07, "step": 7254, "training_step_time": 17.804851770401 }, { "epoch": 6.918907165527344e-07, "model_forward_time": 5.261158227920532, "step": 7255 }, { "epoch": 6.918907165527344e-07, "step": 7255, "training_step_time": 17.594013214111328 }, { "epoch": 6.91986083984375e-07, "model_forward_time": 5.080850839614868, "step": 7256 }, { "epoch": 6.91986083984375e-07, "step": 7256, "training_step_time": 17.58656120300293 }, { "epoch": 6.920814514160156e-07, "model_forward_time": 3.8466148376464844, "step": 7257 }, { "epoch": 6.920814514160156e-07, "step": 7257, "training_step_time": 17.575528144836426 }, { "epoch": 6.921768188476563e-07, "model_forward_time": 5.05964207649231, "step": 7258 }, { "epoch": 6.921768188476563e-07, "step": 7258, "training_step_time": 17.587318420410156 }, { "epoch": 6.922721862792969e-07, "model_forward_time": 5.061990737915039, "step": 7259 }, { "epoch": 6.922721862792969e-07, "step": 7259, "training_step_time": 17.768121480941772 }, { "epoch": 6.923675537109375e-07, "grad_norm": 3.646003246307373, "learning_rate": 9.921367967175053e-06, "loss": 0.1285, "step": 7260 }, { "epoch": 6.923675537109375e-07, "model_forward_time": 5.298024654388428, "step": 7260 }, { "dynamics_loss_avg": 0.03967231959104538, "epoch": 6.923675537109375e-07, "step": 7260 }, { "action_loss_avg": 0.06402114238590002, "epoch": 6.923675537109375e-07, "step": 7260 }, { "arm_loss_avg": 0.10011697746813297, "epoch": 6.923675537109375e-07, "step": 7260 }, { "ee_loss_avg": 0.2086105991154909, "epoch": 6.923675537109375e-07, "step": 7260 }, { "aux_loss_avg": 0.0008157259318977595, "epoch": 6.923675537109375e-07, "step": 7260 }, { "epoch": 6.923675537109375e-07, "step": 7260, "training_step_time": 17.572137355804443 }, { "epoch": 6.924629211425781e-07, "model_forward_time": 5.085386037826538, "step": 7261 }, { "epoch": 6.924629211425781e-07, "step": 7261, "training_step_time": 17.575761318206787 }, { "epoch": 6.925582885742187e-07, "model_forward_time": 5.092320442199707, "step": 7262 }, { "epoch": 6.925582885742187e-07, "step": 7262, "training_step_time": 17.383204460144043 }, { "epoch": 6.926536560058593e-07, "model_forward_time": 5.098950386047363, "step": 7263 }, { "epoch": 6.926536560058593e-07, "step": 7263, "training_step_time": 17.502789974212646 }, { "epoch": 6.927490234375e-07, "model_forward_time": 5.096814155578613, "step": 7264 }, { "epoch": 6.927490234375e-07, "step": 7264, "training_step_time": 17.543033123016357 }, { "epoch": 6.928443908691407e-07, "model_forward_time": 5.277918577194214, "step": 7265 }, { "epoch": 6.928443908691407e-07, "step": 7265, "training_step_time": 17.60170269012451 }, { "epoch": 6.929397583007813e-07, "model_forward_time": 5.092452764511108, "step": 7266 }, { "epoch": 6.929397583007813e-07, "step": 7266, "training_step_time": 17.509718894958496 }, { "epoch": 6.930351257324219e-07, "model_forward_time": 5.08474588394165, "step": 7267 }, { "epoch": 6.930351257324219e-07, "step": 7267, "training_step_time": 17.564453840255737 }, { "epoch": 6.931304931640625e-07, "model_forward_time": 5.083985328674316, "step": 7268 }, { "epoch": 6.931304931640625e-07, "step": 7268, "training_step_time": 17.597054481506348 }, { "epoch": 6.932258605957031e-07, "model_forward_time": 5.077807426452637, "step": 7269 }, { "epoch": 6.932258605957031e-07, "step": 7269, "training_step_time": 17.845641613006592 }, { "epoch": 6.933212280273437e-07, "grad_norm": 1.9425156116485596, "learning_rate": 9.920950151284357e-06, "loss": 0.1362, "step": 7270 }, { "epoch": 6.933212280273437e-07, "model_forward_time": 5.3029255867004395, "step": 7270 }, { "dynamics_loss_avg": 0.047687056194990876, "epoch": 6.933212280273437e-07, "step": 7270 }, { "action_loss_avg": 0.07028059363365173, "epoch": 6.933212280273437e-07, "step": 7270 }, { "arm_loss_avg": 0.10548309348523617, "epoch": 6.933212280273437e-07, "step": 7270 }, { "ee_loss_avg": 0.21438730265945197, "epoch": 6.933212280273437e-07, "step": 7270 }, { "aux_loss_avg": 0.009095567546319216, "epoch": 6.933212280273437e-07, "step": 7270 }, { "epoch": 6.933212280273437e-07, "step": 7270, "training_step_time": 17.622670650482178 }, { "epoch": 6.934165954589843e-07, "model_forward_time": 5.076681613922119, "step": 7271 }, { "epoch": 6.934165954589843e-07, "step": 7271, "training_step_time": 17.630719423294067 }, { "epoch": 6.93511962890625e-07, "model_forward_time": 3.8422129154205322, "step": 7272 }, { "epoch": 6.93511962890625e-07, "step": 7272, "training_step_time": 17.616772174835205 }, { "epoch": 6.936073303222656e-07, "model_forward_time": 5.061254501342773, "step": 7273 }, { "epoch": 6.936073303222656e-07, "step": 7273, "training_step_time": 17.60982346534729 }, { "epoch": 6.937026977539063e-07, "model_forward_time": 5.068557024002075, "step": 7274 }, { "epoch": 6.937026977539063e-07, "step": 7274, "training_step_time": 17.361395120620728 }, { "epoch": 6.937980651855469e-07, "model_forward_time": 5.25873064994812, "step": 7275 }, { "epoch": 6.937980651855469e-07, "step": 7275, "training_step_time": 17.73897671699524 }, { "epoch": 6.938934326171875e-07, "model_forward_time": 5.083876848220825, "step": 7276 }, { "epoch": 6.938934326171875e-07, "step": 7276, "training_step_time": 17.24086022377014 }, { "epoch": 6.939888000488281e-07, "model_forward_time": 5.0933308601379395, "step": 7277 }, { "epoch": 6.939888000488281e-07, "step": 7277, "training_step_time": 17.47316288948059 }, { "epoch": 6.940841674804688e-07, "model_forward_time": 5.095491409301758, "step": 7278 }, { "epoch": 6.940841674804688e-07, "step": 7278, "training_step_time": 17.521583557128906 }, { "epoch": 6.941795349121094e-07, "model_forward_time": 5.093697786331177, "step": 7279 }, { "epoch": 6.941795349121094e-07, "step": 7279, "training_step_time": 17.55752158164978 }, { "epoch": 6.9427490234375e-07, "grad_norm": 1.2652970552444458, "learning_rate": 9.920531237133037e-06, "loss": 0.142, "step": 7280 }, { "epoch": 6.9427490234375e-07, "model_forward_time": 5.326180934906006, "step": 7280 }, { "dynamics_loss_avg": 0.04422960793599486, "epoch": 6.9427490234375e-07, "step": 7280 }, { "action_loss_avg": 0.08158684801310301, "epoch": 6.9427490234375e-07, "step": 7280 }, { "arm_loss_avg": 0.12617132738232611, "epoch": 6.9427490234375e-07, "step": 7280 }, { "ee_loss_avg": 0.20450511649250985, "epoch": 6.9427490234375e-07, "step": 7280 }, { "aux_loss_avg": 0.0011494236998260022, "epoch": 6.9427490234375e-07, "step": 7280 }, { "epoch": 6.9427490234375e-07, "step": 7280, "training_step_time": 17.76908564567566 }, { "epoch": 6.943702697753906e-07, "model_forward_time": 5.090211391448975, "step": 7281 }, { "epoch": 6.943702697753906e-07, "step": 7281, "training_step_time": 17.61923313140869 }, { "epoch": 6.944656372070312e-07, "model_forward_time": 5.085294723510742, "step": 7282 }, { "epoch": 6.944656372070312e-07, "step": 7282, "training_step_time": 17.6228084564209 }, { "epoch": 6.945610046386718e-07, "model_forward_time": 3.8499364852905273, "step": 7283 }, { "epoch": 6.945610046386718e-07, "step": 7283, "training_step_time": 17.625924825668335 }, { "epoch": 6.946563720703125e-07, "model_forward_time": 5.0597546100616455, "step": 7284 }, { "epoch": 6.946563720703125e-07, "step": 7284, "training_step_time": 17.85796546936035 }, { "epoch": 6.947517395019532e-07, "model_forward_time": 5.24888801574707, "step": 7285 }, { "epoch": 6.947517395019532e-07, "step": 7285, "training_step_time": 17.611106395721436 }, { "epoch": 6.948471069335938e-07, "model_forward_time": 5.073918342590332, "step": 7286 }, { "epoch": 6.948471069335938e-07, "step": 7286, "training_step_time": 17.600369691848755 }, { "epoch": 6.949424743652344e-07, "model_forward_time": 5.08002495765686, "step": 7287 }, { "epoch": 6.949424743652344e-07, "step": 7287, "training_step_time": 17.59611463546753 }, { "epoch": 6.95037841796875e-07, "model_forward_time": 5.087939262390137, "step": 7288 }, { "epoch": 6.95037841796875e-07, "step": 7288, "training_step_time": 17.58688759803772 }, { "epoch": 6.951332092285156e-07, "model_forward_time": 5.092751502990723, "step": 7289 }, { "epoch": 6.951332092285156e-07, "step": 7289, "training_step_time": 17.778329372406006 }, { "epoch": 6.952285766601562e-07, "grad_norm": 1.8772315979003906, "learning_rate": 9.920111224814591e-06, "loss": 0.13, "step": 7290 }, { "epoch": 6.952285766601562e-07, "model_forward_time": 5.32000207901001, "step": 7290 }, { "dynamics_loss_avg": 0.0425825173035264, "epoch": 6.952285766601562e-07, "step": 7290 }, { "action_loss_avg": 0.08762796372175216, "epoch": 6.952285766601562e-07, "step": 7290 }, { "arm_loss_avg": 0.11838796846568585, "epoch": 6.952285766601562e-07, "step": 7290 }, { "ee_loss_avg": 0.1998326238244772, "epoch": 6.952285766601562e-07, "step": 7290 }, { "aux_loss_avg": 0.0009740834881085903, "epoch": 6.952285766601562e-07, "step": 7290 }, { "epoch": 6.952285766601562e-07, "step": 7290, "training_step_time": 17.572994470596313 }, { "epoch": 6.953239440917968e-07, "model_forward_time": 5.092467546463013, "step": 7291 }, { "epoch": 6.953239440917968e-07, "step": 7291, "training_step_time": 17.58167004585266 }, { "epoch": 6.954193115234375e-07, "model_forward_time": 5.091265916824341, "step": 7292 }, { "epoch": 6.954193115234375e-07, "step": 7292, "training_step_time": 17.58003544807434 }, { "epoch": 6.955146789550781e-07, "model_forward_time": 5.087664365768433, "step": 7293 }, { "epoch": 6.955146789550781e-07, "step": 7293, "training_step_time": 17.578820943832397 }, { "epoch": 6.956100463867188e-07, "model_forward_time": 5.08582615852356, "step": 7294 }, { "epoch": 6.956100463867188e-07, "step": 7294, "training_step_time": 17.79058265686035 }, { "epoch": 6.957054138183594e-07, "model_forward_time": 5.262874126434326, "step": 7295 }, { "epoch": 6.957054138183594e-07, "step": 7295, "training_step_time": 17.59213137626648 }, { "epoch": 6.9580078125e-07, "model_forward_time": 5.082730293273926, "step": 7296 }, { "epoch": 6.9580078125e-07, "step": 7296, "training_step_time": 17.576851844787598 }, { "epoch": 6.958961486816406e-07, "model_forward_time": 5.082261562347412, "step": 7297 }, { "epoch": 6.958961486816406e-07, "step": 7297, "training_step_time": 17.57889986038208 }, { "epoch": 6.959915161132813e-07, "model_forward_time": 5.077887058258057, "step": 7298 }, { "epoch": 6.959915161132813e-07, "step": 7298, "training_step_time": 17.58262848854065 }, { "epoch": 6.960868835449219e-07, "model_forward_time": 5.077629804611206, "step": 7299 }, { "epoch": 6.960868835449219e-07, "step": 7299, "training_step_time": 17.777276039123535 }, { "epoch": 6.961822509765625e-07, "grad_norm": 1.881249189376831, "learning_rate": 9.919690114422754e-06, "loss": 0.1389, "step": 7300 }, { "epoch": 6.961822509765625e-07, "model_forward_time": 5.082548379898071, "step": 7300 }, { "dynamics_loss_avg": 0.04922378603368997, "epoch": 6.961822509765625e-07, "step": 7300 }, { "action_loss_avg": 0.07425497733056545, "epoch": 6.961822509765625e-07, "step": 7300 }, { "arm_loss_avg": 0.10990431942045689, "epoch": 6.961822509765625e-07, "step": 7300 }, { "ee_loss_avg": 0.2307675488293171, "epoch": 6.961822509765625e-07, "step": 7300 }, { "aux_loss_avg": 0.00237068054266274, "epoch": 6.961822509765625e-07, "step": 7300 }, { "epoch": 6.961822509765625e-07, "step": 7300, "training_step_time": 17.570480346679688 }, { "epoch": 6.962776184082031e-07, "model_forward_time": 5.082223892211914, "step": 7301 }, { "epoch": 6.962776184082031e-07, "step": 7301, "training_step_time": 17.579538345336914 }, { "epoch": 6.963729858398437e-07, "model_forward_time": 5.081550121307373, "step": 7302 }, { "epoch": 6.963729858398437e-07, "step": 7302, "training_step_time": 17.576440811157227 }, { "epoch": 6.964683532714843e-07, "model_forward_time": 3.851571559906006, "step": 7303 }, { "epoch": 6.964683532714843e-07, "step": 7303, "training_step_time": 17.567702770233154 }, { "epoch": 6.96563720703125e-07, "model_forward_time": 5.05949854850769, "step": 7304 }, { "epoch": 6.96563720703125e-07, "step": 7304, "training_step_time": 17.81594944000244 }, { "epoch": 6.966590881347657e-07, "model_forward_time": 5.064690828323364, "step": 7305 }, { "epoch": 6.966590881347657e-07, "step": 7305, "training_step_time": 17.568598985671997 }, { "epoch": 6.967544555664063e-07, "model_forward_time": 3.8447070121765137, "step": 7306 }, { "epoch": 6.967544555664063e-07, "step": 7306, "training_step_time": 17.611393928527832 }, { "epoch": 6.968498229980469e-07, "model_forward_time": 5.059221506118774, "step": 7307 }, { "epoch": 6.968498229980469e-07, "step": 7307, "training_step_time": 17.558172702789307 }, { "epoch": 6.969451904296875e-07, "model_forward_time": 5.0763936042785645, "step": 7308 }, { "epoch": 6.969451904296875e-07, "step": 7308, "training_step_time": 17.56276822090149 }, { "epoch": 6.970405578613281e-07, "model_forward_time": 5.08799934387207, "step": 7309 }, { "epoch": 6.970405578613281e-07, "step": 7309, "training_step_time": 17.767624378204346 }, { "epoch": 6.971359252929687e-07, "grad_norm": 2.276064157485962, "learning_rate": 9.91926790605151e-06, "loss": 0.1351, "step": 7310 }, { "epoch": 6.971359252929687e-07, "model_forward_time": 5.33278226852417, "step": 7310 }, { "dynamics_loss_avg": 0.04454484134912491, "epoch": 6.971359252929687e-07, "step": 7310 }, { "action_loss_avg": 0.0704635139554739, "epoch": 6.971359252929687e-07, "step": 7310 }, { "arm_loss_avg": 0.12118849381804467, "epoch": 6.971359252929687e-07, "step": 7310 }, { "ee_loss_avg": 0.2370590426027775, "epoch": 6.971359252929687e-07, "step": 7310 }, { "aux_loss_avg": 0.0011554068478289992, "epoch": 6.971359252929687e-07, "step": 7310 }, { "epoch": 6.971359252929687e-07, "step": 7310, "training_step_time": 17.563237190246582 }, { "epoch": 6.972312927246093e-07, "model_forward_time": 5.105257511138916, "step": 7311 }, { "epoch": 6.972312927246093e-07, "step": 7311, "training_step_time": 17.568830251693726 }, { "epoch": 6.9732666015625e-07, "model_forward_time": 5.106709718704224, "step": 7312 }, { "epoch": 6.9732666015625e-07, "step": 7312, "training_step_time": 17.57866096496582 }, { "epoch": 6.974220275878906e-07, "model_forward_time": 5.099032878875732, "step": 7313 }, { "epoch": 6.974220275878906e-07, "step": 7313, "training_step_time": 17.575721263885498 }, { "epoch": 6.975173950195313e-07, "model_forward_time": 5.291224241256714, "step": 7314 }, { "epoch": 6.975173950195313e-07, "step": 7314, "training_step_time": 17.793521881103516 }, { "epoch": 6.976127624511719e-07, "model_forward_time": 5.092443227767944, "step": 7315 }, { "epoch": 6.976127624511719e-07, "step": 7315, "training_step_time": 17.58104133605957 }, { "epoch": 6.977081298828125e-07, "model_forward_time": 5.084356069564819, "step": 7316 }, { "epoch": 6.977081298828125e-07, "step": 7316, "training_step_time": 17.600452423095703 }, { "epoch": 6.978034973144531e-07, "model_forward_time": 5.100209474563599, "step": 7317 }, { "epoch": 6.978034973144531e-07, "step": 7317, "training_step_time": 17.608460187911987 }, { "epoch": 6.978988647460938e-07, "model_forward_time": 5.099842309951782, "step": 7318 }, { "epoch": 6.978988647460938e-07, "step": 7318, "training_step_time": 17.27340269088745 }, { "epoch": 6.979942321777344e-07, "model_forward_time": 5.3671510219573975, "step": 7319 }, { "epoch": 6.979942321777344e-07, "step": 7319, "training_step_time": 17.500532388687134 }, { "epoch": 6.98089599609375e-07, "grad_norm": 2.1943540573120117, "learning_rate": 9.918844599795088e-06, "loss": 0.1325, "step": 7320 }, { "epoch": 6.98089599609375e-07, "model_forward_time": 5.100551605224609, "step": 7320 }, { "dynamics_loss_avg": 0.05203888230025768, "epoch": 6.98089599609375e-07, "step": 7320 }, { "action_loss_avg": 0.08974865972995758, "epoch": 6.98089599609375e-07, "step": 7320 }, { "arm_loss_avg": 0.11082521080970764, "epoch": 6.98089599609375e-07, "step": 7320 }, { "ee_loss_avg": 0.1956873569637537, "epoch": 6.98089599609375e-07, "step": 7320 }, { "aux_loss_avg": 0.0009726103337015957, "epoch": 6.98089599609375e-07, "step": 7320 }, { "epoch": 6.98089599609375e-07, "step": 7320, "training_step_time": 17.679707527160645 }, { "epoch": 6.981849670410156e-07, "model_forward_time": 5.084462881088257, "step": 7321 }, { "epoch": 6.981849670410156e-07, "step": 7321, "training_step_time": 17.50350284576416 }, { "epoch": 6.982803344726562e-07, "model_forward_time": 5.078753709793091, "step": 7322 }, { "epoch": 6.982803344726562e-07, "step": 7322, "training_step_time": 17.543619871139526 }, { "epoch": 6.983757019042968e-07, "model_forward_time": 5.080984592437744, "step": 7323 }, { "epoch": 6.983757019042968e-07, "step": 7323, "training_step_time": 17.576597690582275 }, { "epoch": 6.984710693359375e-07, "model_forward_time": 5.082443714141846, "step": 7324 }, { "epoch": 6.984710693359375e-07, "step": 7324, "training_step_time": 17.81625199317932 }, { "epoch": 6.985664367675782e-07, "model_forward_time": 3.847316026687622, "step": 7325 }, { "epoch": 6.985664367675782e-07, "step": 7325, "training_step_time": 17.60716938972473 }, { "epoch": 6.986618041992188e-07, "model_forward_time": 5.056904315948486, "step": 7326 }, { "epoch": 6.986618041992188e-07, "step": 7326, "training_step_time": 17.62641453742981 }, { "epoch": 6.987571716308594e-07, "model_forward_time": 5.066551446914673, "step": 7327 }, { "epoch": 6.987571716308594e-07, "step": 7327, "training_step_time": 17.61525869369507 }, { "epoch": 6.988525390625e-07, "model_forward_time": 5.075993776321411, "step": 7328 }, { "epoch": 6.988525390625e-07, "step": 7328, "training_step_time": 17.613870859146118 }, { "epoch": 6.989479064941406e-07, "model_forward_time": 5.0864577293396, "step": 7329 }, { "epoch": 6.989479064941406e-07, "step": 7329, "training_step_time": 17.793452739715576 }, { "epoch": 6.990432739257812e-07, "grad_norm": 2.734635353088379, "learning_rate": 9.918420195747962e-06, "loss": 0.1396, "step": 7330 }, { "epoch": 6.990432739257812e-07, "model_forward_time": 5.336936712265015, "step": 7330 }, { "dynamics_loss_avg": 0.0531139150261879, "epoch": 6.990432739257812e-07, "step": 7330 }, { "action_loss_avg": 0.06383561976253986, "epoch": 6.990432739257812e-07, "step": 7330 }, { "arm_loss_avg": 0.09582549706101418, "epoch": 6.990432739257812e-07, "step": 7330 }, { "ee_loss_avg": 0.1787178497761488, "epoch": 6.990432739257812e-07, "step": 7330 }, { "aux_loss_avg": 0.0012986459129024296, "epoch": 6.990432739257812e-07, "step": 7330 }, { "epoch": 6.990432739257812e-07, "step": 7330, "training_step_time": 17.476404905319214 }, { "epoch": 6.991386413574219e-07, "model_forward_time": 3.857558012008667, "step": 7331 }, { "epoch": 6.991386413574219e-07, "step": 7331, "training_step_time": 17.563688039779663 }, { "epoch": 6.992340087890625e-07, "model_forward_time": 5.068496465682983, "step": 7332 }, { "epoch": 6.992340087890625e-07, "step": 7332, "training_step_time": 17.180882930755615 }, { "epoch": 6.993293762207031e-07, "model_forward_time": 5.080486059188843, "step": 7333 }, { "epoch": 6.993293762207031e-07, "step": 7333, "training_step_time": 17.28960132598877 }, { "epoch": 6.994247436523438e-07, "model_forward_time": 5.0898518562316895, "step": 7334 }, { "epoch": 6.994247436523438e-07, "step": 7334, "training_step_time": 17.432711601257324 }, { "epoch": 6.995201110839844e-07, "model_forward_time": 5.288214445114136, "step": 7335 }, { "epoch": 6.995201110839844e-07, "step": 7335, "training_step_time": 17.733317375183105 }, { "epoch": 6.99615478515625e-07, "model_forward_time": 5.093733787536621, "step": 7336 }, { "epoch": 6.99615478515625e-07, "step": 7336, "training_step_time": 17.57652235031128 }, { "epoch": 6.997108459472656e-07, "model_forward_time": 5.092447996139526, "step": 7337 }, { "epoch": 6.997108459472656e-07, "step": 7337, "training_step_time": 17.588292360305786 }, { "epoch": 6.998062133789063e-07, "model_forward_time": 5.087172508239746, "step": 7338 }, { "epoch": 6.998062133789063e-07, "step": 7338, "training_step_time": 17.617393493652344 }, { "epoch": 6.999015808105469e-07, "model_forward_time": 5.083589553833008, "step": 7339 }, { "epoch": 6.999015808105469e-07, "step": 7339, "training_step_time": 17.632703065872192 }, { "epoch": 6.999969482421875e-07, "grad_norm": 2.7306487560272217, "learning_rate": 9.91799469400485e-06, "loss": 0.1342, "step": 7340 }, { "epoch": 6.999969482421875e-07, "model_forward_time": 5.084841966629028, "step": 7340 }, { "dynamics_loss_avg": 0.045292659848928454, "epoch": 6.999969482421875e-07, "step": 7340 }, { "action_loss_avg": 0.07093250099569559, "epoch": 6.999969482421875e-07, "step": 7340 }, { "arm_loss_avg": 0.10523888301104307, "epoch": 6.999969482421875e-07, "step": 7340 }, { "ee_loss_avg": 0.1525680676102638, "epoch": 6.999969482421875e-07, "step": 7340 }, { "aux_loss_avg": 0.001249377429485321, "epoch": 6.999969482421875e-07, "step": 7340 }, { "epoch": 6.999969482421875e-07, "step": 7340, "training_step_time": 17.813502550125122 }, { "epoch": 7.000923156738281e-07, "model_forward_time": 5.080287933349609, "step": 7341 }, { "epoch": 7.000923156738281e-07, "step": 7341, "training_step_time": 17.626211404800415 }, { "epoch": 7.001876831054687e-07, "model_forward_time": 5.08397364616394, "step": 7342 }, { "epoch": 7.001876831054687e-07, "step": 7342, "training_step_time": 17.606169939041138 }, { "epoch": 7.002830505371093e-07, "model_forward_time": 5.082660436630249, "step": 7343 }, { "epoch": 7.002830505371093e-07, "step": 7343, "training_step_time": 17.595052480697632 }, { "epoch": 7.0037841796875e-07, "model_forward_time": 5.08386492729187, "step": 7344 }, { "epoch": 7.0037841796875e-07, "step": 7344, "training_step_time": 17.59057879447937 }, { "epoch": 7.004737854003907e-07, "model_forward_time": 5.084310531616211, "step": 7345 }, { "epoch": 7.004737854003907e-07, "step": 7345, "training_step_time": 17.8045711517334 }, { "epoch": 7.005691528320313e-07, "model_forward_time": 5.081348180770874, "step": 7346 }, { "epoch": 7.005691528320313e-07, "step": 7346, "training_step_time": 17.565982580184937 }, { "epoch": 7.006645202636719e-07, "model_forward_time": 5.0796592235565186, "step": 7347 }, { "epoch": 7.006645202636719e-07, "step": 7347, "training_step_time": 17.55439257621765 }, { "epoch": 7.007598876953125e-07, "model_forward_time": 5.08231520652771, "step": 7348 }, { "epoch": 7.007598876953125e-07, "step": 7348, "training_step_time": 17.558658361434937 }, { "epoch": 7.008552551269531e-07, "model_forward_time": 5.079492092132568, "step": 7349 }, { "epoch": 7.008552551269531e-07, "step": 7349, "training_step_time": 17.54158616065979 }, { "epoch": 7.009506225585937e-07, "grad_norm": 1.907285213470459, "learning_rate": 9.917568094660718e-06, "loss": 0.1412, "step": 7350 }, { "epoch": 7.009506225585937e-07, "model_forward_time": 5.081497430801392, "step": 7350 }, { "dynamics_loss_avg": 0.04918540772050619, "epoch": 7.009506225585937e-07, "step": 7350 }, { "action_loss_avg": 0.08135573901236057, "epoch": 7.009506225585937e-07, "step": 7350 }, { "arm_loss_avg": 0.11462532728910446, "epoch": 7.009506225585937e-07, "step": 7350 }, { "ee_loss_avg": 0.221472555026412, "epoch": 7.009506225585937e-07, "step": 7350 }, { "aux_loss_avg": 0.0012301219569053501, "epoch": 7.009506225585937e-07, "step": 7350 }, { "epoch": 7.009506225585937e-07, "step": 7350, "training_step_time": 17.736687898635864 }, { "epoch": 7.010459899902344e-07, "model_forward_time": 5.082086801528931, "step": 7351 }, { "epoch": 7.010459899902344e-07, "step": 7351, "training_step_time": 17.546413898468018 }, { "epoch": 7.01141357421875e-07, "model_forward_time": 5.083786725997925, "step": 7352 }, { "epoch": 7.01141357421875e-07, "step": 7352, "training_step_time": 17.549586057662964 }, { "epoch": 7.012367248535156e-07, "model_forward_time": 3.848670721054077, "step": 7353 }, { "epoch": 7.012367248535156e-07, "step": 7353, "training_step_time": 17.563961505889893 }, { "epoch": 7.013320922851563e-07, "model_forward_time": 5.253321170806885, "step": 7354 }, { "epoch": 7.013320922851563e-07, "step": 7354, "training_step_time": 17.57030439376831 }, { "epoch": 7.014274597167969e-07, "model_forward_time": 5.064027786254883, "step": 7355 }, { "epoch": 7.014274597167969e-07, "step": 7355, "training_step_time": 17.78762912750244 }, { "epoch": 7.015228271484375e-07, "model_forward_time": 5.075681447982788, "step": 7356 }, { "epoch": 7.015228271484375e-07, "step": 7356, "training_step_time": 17.560422658920288 }, { "epoch": 7.016181945800781e-07, "model_forward_time": 5.081935167312622, "step": 7357 }, { "epoch": 7.016181945800781e-07, "step": 7357, "training_step_time": 17.62697982788086 }, { "epoch": 7.017135620117188e-07, "model_forward_time": 5.087604522705078, "step": 7358 }, { "epoch": 7.017135620117188e-07, "step": 7358, "training_step_time": 17.57218074798584 }, { "epoch": 7.018089294433594e-07, "model_forward_time": 5.3383307456970215, "step": 7359 }, { "epoch": 7.018089294433594e-07, "step": 7359, "training_step_time": 17.577646017074585 }, { "epoch": 7.01904296875e-07, "grad_norm": 1.6820800304412842, "learning_rate": 9.917140397810773e-06, "loss": 0.1363, "step": 7360 }, { "epoch": 7.01904296875e-07, "model_forward_time": 3.857288360595703, "step": 7360 }, { "dynamics_loss_avg": 0.04956673514097929, "epoch": 7.01904296875e-07, "step": 7360 }, { "action_loss_avg": 0.08001946248114108, "epoch": 7.01904296875e-07, "step": 7360 }, { "arm_loss_avg": 0.10288548581302166, "epoch": 7.01904296875e-07, "step": 7360 }, { "ee_loss_avg": 0.14803235102444887, "epoch": 7.01904296875e-07, "step": 7360 }, { "aux_loss_avg": 0.002198813552968204, "epoch": 7.01904296875e-07, "step": 7360 }, { "epoch": 7.01904296875e-07, "step": 7360, "training_step_time": 17.763073921203613 }, { "epoch": 7.019996643066406e-07, "model_forward_time": 5.060040473937988, "step": 7361 }, { "epoch": 7.019996643066406e-07, "step": 7361, "training_step_time": 17.584619998931885 }, { "epoch": 7.020950317382812e-07, "model_forward_time": 5.0693464279174805, "step": 7362 }, { "epoch": 7.020950317382812e-07, "step": 7362, "training_step_time": 17.580516815185547 }, { "epoch": 7.021903991699218e-07, "model_forward_time": 5.078666687011719, "step": 7363 }, { "epoch": 7.021903991699218e-07, "step": 7363, "training_step_time": 17.580486536026 }, { "epoch": 7.022857666015626e-07, "model_forward_time": 3.850182294845581, "step": 7364 }, { "epoch": 7.022857666015626e-07, "step": 7364, "training_step_time": 17.577608823776245 }, { "epoch": 7.023811340332032e-07, "model_forward_time": 5.244995594024658, "step": 7365 }, { "epoch": 7.023811340332032e-07, "step": 7365, "training_step_time": 17.806294202804565 }, { "epoch": 7.024765014648438e-07, "model_forward_time": 5.0749664306640625, "step": 7366 }, { "epoch": 7.024765014648438e-07, "step": 7366, "training_step_time": 17.53647518157959 }, { "epoch": 7.025718688964844e-07, "model_forward_time": 5.086824655532837, "step": 7367 }, { "epoch": 7.025718688964844e-07, "step": 7367, "training_step_time": 17.60140895843506 }, { "epoch": 7.02667236328125e-07, "model_forward_time": 5.091893911361694, "step": 7368 }, { "epoch": 7.02667236328125e-07, "step": 7368, "training_step_time": 17.56147813796997 }, { "epoch": 7.027626037597656e-07, "model_forward_time": 5.092555284500122, "step": 7369 }, { "epoch": 7.027626037597656e-07, "step": 7369, "training_step_time": 17.570463180541992 }, { "epoch": 7.028579711914062e-07, "grad_norm": 2.1171605587005615, "learning_rate": 9.916711603550468e-06, "loss": 0.1491, "step": 7370 }, { "epoch": 7.028579711914062e-07, "model_forward_time": 5.319171190261841, "step": 7370 }, { "dynamics_loss_avg": 0.057791711017489436, "epoch": 7.028579711914062e-07, "step": 7370 }, { "action_loss_avg": 0.10474092438817025, "epoch": 7.028579711914062e-07, "step": 7370 }, { "arm_loss_avg": 0.10949309282004833, "epoch": 7.028579711914062e-07, "step": 7370 }, { "ee_loss_avg": 0.22695234045386314, "epoch": 7.028579711914062e-07, "step": 7370 }, { "aux_loss_avg": 0.0026055663649458436, "epoch": 7.028579711914062e-07, "step": 7370 }, { "epoch": 7.028579711914062e-07, "step": 7370, "training_step_time": 17.760430574417114 }, { "epoch": 7.029533386230469e-07, "model_forward_time": 5.093204498291016, "step": 7371 }, { "epoch": 7.029533386230469e-07, "step": 7371, "training_step_time": 17.572937726974487 }, { "epoch": 7.030487060546875e-07, "model_forward_time": 5.088626384735107, "step": 7372 }, { "epoch": 7.030487060546875e-07, "step": 7372, "training_step_time": 17.495047569274902 }, { "epoch": 7.031440734863281e-07, "model_forward_time": 5.086316823959351, "step": 7373 }, { "epoch": 7.031440734863281e-07, "step": 7373, "training_step_time": 17.528318405151367 }, { "epoch": 7.032394409179688e-07, "model_forward_time": 5.086145877838135, "step": 7374 }, { "epoch": 7.032394409179688e-07, "step": 7374, "training_step_time": 17.27142071723938 }, { "epoch": 7.033348083496094e-07, "model_forward_time": 5.270600318908691, "step": 7375 }, { "epoch": 7.033348083496094e-07, "step": 7375, "training_step_time": 17.73167371749878 }, { "epoch": 7.0343017578125e-07, "model_forward_time": 3.845036268234253, "step": 7376 }, { "epoch": 7.0343017578125e-07, "step": 7376, "training_step_time": 17.328068256378174 }, { "epoch": 7.035255432128906e-07, "model_forward_time": 5.053571939468384, "step": 7377 }, { "epoch": 7.035255432128906e-07, "step": 7377, "training_step_time": 17.590413331985474 }, { "epoch": 7.036209106445313e-07, "model_forward_time": 5.064954996109009, "step": 7378 }, { "epoch": 7.036209106445313e-07, "step": 7378, "training_step_time": 17.540215015411377 }, { "epoch": 7.037162780761719e-07, "model_forward_time": 5.071799039840698, "step": 7379 }, { "epoch": 7.037162780761719e-07, "step": 7379, "training_step_time": 17.36217999458313 }, { "epoch": 7.038116455078125e-07, "grad_norm": 2.2149477005004883, "learning_rate": 9.916281711975504e-06, "loss": 0.145, "step": 7380 }, { "epoch": 7.038116455078125e-07, "model_forward_time": 5.32126784324646, "step": 7380 }, { "dynamics_loss_avg": 0.04820247534662485, "epoch": 7.038116455078125e-07, "step": 7380 }, { "action_loss_avg": 0.07539127096533775, "epoch": 7.038116455078125e-07, "step": 7380 }, { "arm_loss_avg": 0.12269198819994927, "epoch": 7.038116455078125e-07, "step": 7380 }, { "ee_loss_avg": 0.2269551556557417, "epoch": 7.038116455078125e-07, "step": 7380 }, { "aux_loss_avg": 0.011462602854589932, "epoch": 7.038116455078125e-07, "step": 7380 }, { "epoch": 7.038116455078125e-07, "step": 7380, "training_step_time": 17.52504539489746 }, { "epoch": 7.039070129394531e-07, "model_forward_time": 5.0901501178741455, "step": 7381 }, { "epoch": 7.039070129394531e-07, "step": 7381, "training_step_time": 17.75512933731079 }, { "epoch": 7.040023803710937e-07, "model_forward_time": 5.090650796890259, "step": 7382 }, { "epoch": 7.040023803710937e-07, "step": 7382, "training_step_time": 17.610271692276 }, { "epoch": 7.040977478027343e-07, "model_forward_time": 5.091389417648315, "step": 7383 }, { "epoch": 7.040977478027343e-07, "step": 7383, "training_step_time": 17.273123741149902 }, { "epoch": 7.04193115234375e-07, "model_forward_time": 5.091171979904175, "step": 7384 }, { "epoch": 7.04193115234375e-07, "step": 7384, "training_step_time": 17.538088083267212 }, { "epoch": 7.042884826660157e-07, "model_forward_time": 5.299030303955078, "step": 7385 }, { "epoch": 7.042884826660157e-07, "step": 7385, "training_step_time": 17.582760095596313 }, { "epoch": 7.043838500976563e-07, "model_forward_time": 5.092004776000977, "step": 7386 }, { "epoch": 7.043838500976563e-07, "step": 7386, "training_step_time": 17.84275197982788 }, { "epoch": 7.044792175292969e-07, "model_forward_time": 5.087831020355225, "step": 7387 }, { "epoch": 7.044792175292969e-07, "step": 7387, "training_step_time": 17.613845586776733 }, { "epoch": 7.045745849609375e-07, "model_forward_time": 5.084082126617432, "step": 7388 }, { "epoch": 7.045745849609375e-07, "step": 7388, "training_step_time": 17.36916208267212 }, { "epoch": 7.046699523925781e-07, "model_forward_time": 5.0842955112457275, "step": 7389 }, { "epoch": 7.046699523925781e-07, "step": 7389, "training_step_time": 17.52267050743103 }, { "epoch": 7.047653198242187e-07, "grad_norm": 1.5923261642456055, "learning_rate": 9.915850723181822e-06, "loss": 0.106, "step": 7390 }, { "epoch": 7.047653198242187e-07, "model_forward_time": 5.085228681564331, "step": 7390 }, { "dynamics_loss_avg": 0.03893815828487277, "epoch": 7.047653198242187e-07, "step": 7390 }, { "action_loss_avg": 0.06091487947851419, "epoch": 7.047653198242187e-07, "step": 7390 }, { "arm_loss_avg": 0.1349302940070629, "epoch": 7.047653198242187e-07, "step": 7390 }, { "ee_loss_avg": 0.16779842991381883, "epoch": 7.047653198242187e-07, "step": 7390 }, { "aux_loss_avg": 0.0007547590881586075, "epoch": 7.047653198242187e-07, "step": 7390 }, { "epoch": 7.047653198242187e-07, "step": 7390, "training_step_time": 17.557780981063843 }, { "epoch": 7.048606872558594e-07, "model_forward_time": 5.08109712600708, "step": 7391 }, { "epoch": 7.048606872558594e-07, "step": 7391, "training_step_time": 17.75669550895691 }, { "epoch": 7.049560546875e-07, "model_forward_time": 5.081732749938965, "step": 7392 }, { "epoch": 7.049560546875e-07, "step": 7392, "training_step_time": 17.585075616836548 }, { "epoch": 7.050514221191406e-07, "model_forward_time": 5.078985214233398, "step": 7393 }, { "epoch": 7.050514221191406e-07, "step": 7393, "training_step_time": 17.578296422958374 }, { "epoch": 7.051467895507812e-07, "model_forward_time": 5.275238990783691, "step": 7394 }, { "epoch": 7.051467895507812e-07, "step": 7394, "training_step_time": 17.590956926345825 }, { "epoch": 7.052421569824219e-07, "model_forward_time": 5.082151651382446, "step": 7395 }, { "epoch": 7.052421569824219e-07, "step": 7395, "training_step_time": 17.456048011779785 }, { "epoch": 7.053375244140625e-07, "model_forward_time": 5.103362560272217, "step": 7396 }, { "epoch": 7.053375244140625e-07, "step": 7396, "training_step_time": 17.77417016029358 }, { "epoch": 7.054328918457031e-07, "model_forward_time": 5.103587627410889, "step": 7397 }, { "epoch": 7.054328918457031e-07, "step": 7397, "training_step_time": 17.58070468902588 }, { "epoch": 7.055282592773438e-07, "model_forward_time": 5.098024606704712, "step": 7398 }, { "epoch": 7.055282592773438e-07, "step": 7398, "training_step_time": 17.598284244537354 }, { "epoch": 7.056236267089844e-07, "model_forward_time": 3.870765447616577, "step": 7399 }, { "epoch": 7.056236267089844e-07, "step": 7399, "training_step_time": 17.39198398590088 }, { "epoch": 7.05718994140625e-07, "grad_norm": 1.4657294750213623, "learning_rate": 9.91541863726561e-06, "loss": 0.1379, "step": 7400 }, { "epoch": 7.05718994140625e-07, "model_forward_time": 5.320695638656616, "step": 7400 }, { "dynamics_loss_avg": 0.042931685037910935, "epoch": 7.05718994140625e-07, "step": 7400 }, { "action_loss_avg": 0.0850841635838151, "epoch": 7.05718994140625e-07, "step": 7400 }, { "arm_loss_avg": 0.1226461611688137, "epoch": 7.05718994140625e-07, "step": 7400 }, { "ee_loss_avg": 0.15496433787047864, "epoch": 7.05718994140625e-07, "step": 7400 }, { "aux_loss_avg": 0.0024066514160949737, "epoch": 7.05718994140625e-07, "step": 7400 }, { "epoch": 7.05718994140625e-07, "step": 7400, "training_step_time": 17.51486849784851 }, { "epoch": 7.058143615722656e-07, "model_forward_time": 5.079798698425293, "step": 7401 }, { "epoch": 7.058143615722656e-07, "step": 7401, "training_step_time": 17.587769746780396 }, { "epoch": 7.059097290039062e-07, "model_forward_time": 5.079310178756714, "step": 7402 }, { "epoch": 7.059097290039062e-07, "step": 7402, "training_step_time": 17.38182044029236 }, { "epoch": 7.060050964355468e-07, "model_forward_time": 5.087430000305176, "step": 7403 }, { "epoch": 7.060050964355468e-07, "step": 7403, "training_step_time": 17.453001499176025 }, { "epoch": 7.061004638671874e-07, "model_forward_time": 5.089562654495239, "step": 7404 }, { "epoch": 7.061004638671874e-07, "step": 7404, "training_step_time": 17.53079080581665 }, { "epoch": 7.061958312988282e-07, "model_forward_time": 5.0953590869903564, "step": 7405 }, { "epoch": 7.061958312988282e-07, "step": 7405, "training_step_time": 17.572896718978882 }, { "epoch": 7.062911987304688e-07, "model_forward_time": 5.096234560012817, "step": 7406 }, { "epoch": 7.062911987304688e-07, "step": 7406, "training_step_time": 17.858019590377808 }, { "epoch": 7.063865661621094e-07, "model_forward_time": 5.089396953582764, "step": 7407 }, { "epoch": 7.063865661621094e-07, "step": 7407, "training_step_time": 17.639452934265137 }, { "epoch": 7.0648193359375e-07, "model_forward_time": 3.850024700164795, "step": 7408 }, { "epoch": 7.0648193359375e-07, "step": 7408, "training_step_time": 17.645803213119507 }, { "epoch": 7.065773010253906e-07, "model_forward_time": 5.055509805679321, "step": 7409 }, { "epoch": 7.065773010253906e-07, "step": 7409, "training_step_time": 17.642516613006592 }, { "epoch": 7.066726684570312e-07, "grad_norm": 1.5021624565124512, "learning_rate": 9.914985454323306e-06, "loss": 0.1199, "step": 7410 }, { "epoch": 7.066726684570312e-07, "model_forward_time": 5.295300245285034, "step": 7410 }, { "dynamics_loss_avg": 0.04623937886208296, "epoch": 7.066726684570312e-07, "step": 7410 }, { "action_loss_avg": 0.0693226058036089, "epoch": 7.066726684570312e-07, "step": 7410 }, { "arm_loss_avg": 0.10520517937839031, "epoch": 7.066726684570312e-07, "step": 7410 }, { "ee_loss_avg": 0.12605111300945282, "epoch": 7.066726684570312e-07, "step": 7410 }, { "aux_loss_avg": 0.002381606271956116, "epoch": 7.066726684570312e-07, "step": 7410 }, { "epoch": 7.066726684570312e-07, "step": 7410, "training_step_time": 17.613683700561523 }, { "epoch": 7.067680358886719e-07, "model_forward_time": 5.076064109802246, "step": 7411 }, { "epoch": 7.067680358886719e-07, "step": 7411, "training_step_time": 17.78407573699951 }, { "epoch": 7.068634033203125e-07, "model_forward_time": 5.0824878215789795, "step": 7412 }, { "epoch": 7.068634033203125e-07, "step": 7412, "training_step_time": 17.57826519012451 }, { "epoch": 7.069587707519531e-07, "model_forward_time": 5.089405536651611, "step": 7413 }, { "epoch": 7.069587707519531e-07, "step": 7413, "training_step_time": 17.375528812408447 }, { "epoch": 7.070541381835937e-07, "model_forward_time": 5.094338893890381, "step": 7414 }, { "epoch": 7.070541381835937e-07, "step": 7414, "training_step_time": 17.47692847251892 }, { "epoch": 7.071495056152344e-07, "model_forward_time": 5.279879331588745, "step": 7415 }, { "epoch": 7.071495056152344e-07, "step": 7415, "training_step_time": 17.4993577003479 }, { "epoch": 7.07244873046875e-07, "model_forward_time": 3.854779005050659, "step": 7416 }, { "epoch": 7.07244873046875e-07, "step": 7416, "training_step_time": 17.61240243911743 }, { "epoch": 7.073402404785156e-07, "model_forward_time": 5.0606536865234375, "step": 7417 }, { "epoch": 7.073402404785156e-07, "step": 7417, "training_step_time": 17.471174716949463 }, { "epoch": 7.074356079101563e-07, "model_forward_time": 5.067750453948975, "step": 7418 }, { "epoch": 7.074356079101563e-07, "step": 7418, "training_step_time": 17.5131356716156 }, { "epoch": 7.075309753417969e-07, "model_forward_time": 5.0748701095581055, "step": 7419 }, { "epoch": 7.075309753417969e-07, "step": 7419, "training_step_time": 17.54632329940796 }, { "epoch": 7.076263427734375e-07, "grad_norm": 2.1996285915374756, "learning_rate": 9.914551174451581e-06, "loss": 0.1425, "step": 7420 }, { "epoch": 7.076263427734375e-07, "model_forward_time": 5.314754247665405, "step": 7420 }, { "dynamics_loss_avg": 0.056518766283988955, "epoch": 7.076263427734375e-07, "step": 7420 }, { "action_loss_avg": 0.07094348091632127, "epoch": 7.076263427734375e-07, "step": 7420 }, { "arm_loss_avg": 0.11366053633391857, "epoch": 7.076263427734375e-07, "step": 7420 }, { "ee_loss_avg": 0.16162881329655648, "epoch": 7.076263427734375e-07, "step": 7420 }, { "aux_loss_avg": 0.001476039766566828, "epoch": 7.076263427734375e-07, "step": 7420 }, { "epoch": 7.076263427734375e-07, "step": 7420, "training_step_time": 17.57447099685669 }, { "epoch": 7.077217102050781e-07, "model_forward_time": 5.084837198257446, "step": 7421 }, { "epoch": 7.077217102050781e-07, "step": 7421, "training_step_time": 17.829433917999268 }, { "epoch": 7.078170776367187e-07, "model_forward_time": 5.0854926109313965, "step": 7422 }, { "epoch": 7.078170776367187e-07, "step": 7422, "training_step_time": 17.582237720489502 }, { "epoch": 7.079124450683593e-07, "model_forward_time": 5.0859503746032715, "step": 7423 }, { "epoch": 7.079124450683593e-07, "step": 7423, "training_step_time": 17.588048696517944 }, { "epoch": 7.080078125e-07, "model_forward_time": 5.086777925491333, "step": 7424 }, { "epoch": 7.080078125e-07, "step": 7424, "training_step_time": 17.58872938156128 }, { "epoch": 7.081031799316407e-07, "model_forward_time": 4.09107780456543, "step": 7425 }, { "epoch": 7.081031799316407e-07, "step": 7425, "training_step_time": 17.576260089874268 }, { "epoch": 7.081985473632813e-07, "model_forward_time": 3.83258318901062, "step": 7426 }, { "epoch": 7.081985473632813e-07, "step": 7426, "training_step_time": 17.61077117919922 }, { "epoch": 7.082939147949219e-07, "model_forward_time": 3.8216331005096436, "step": 7427 }, { "epoch": 7.082939147949219e-07, "step": 7427, "training_step_time": 17.789763927459717 }, { "epoch": 7.083892822265625e-07, "model_forward_time": 3.8136086463928223, "step": 7428 }, { "epoch": 7.083892822265625e-07, "step": 7428, "training_step_time": 17.549113750457764 }, { "epoch": 7.084846496582031e-07, "model_forward_time": 5.038121700286865, "step": 7429 }, { "epoch": 7.084846496582031e-07, "step": 7429, "training_step_time": 17.547818422317505 }, { "epoch": 7.085800170898437e-07, "grad_norm": 1.31486976146698, "learning_rate": 9.914115797747361e-06, "loss": 0.1382, "step": 7430 }, { "epoch": 7.085800170898437e-07, "model_forward_time": 5.2921576499938965, "step": 7430 }, { "dynamics_loss_avg": 0.05517979525029659, "epoch": 7.085800170898437e-07, "step": 7430 }, { "action_loss_avg": 0.07611750643700362, "epoch": 7.085800170898437e-07, "step": 7430 }, { "arm_loss_avg": 0.12349214199930429, "epoch": 7.085800170898437e-07, "step": 7430 }, { "ee_loss_avg": 0.18898681402206421, "epoch": 7.085800170898437e-07, "step": 7430 }, { "aux_loss_avg": 0.0012302710500080138, "epoch": 7.085800170898437e-07, "step": 7430 }, { "epoch": 7.085800170898437e-07, "step": 7430, "training_step_time": 17.53815197944641 }, { "epoch": 7.086753845214844e-07, "model_forward_time": 5.082598924636841, "step": 7431 }, { "epoch": 7.086753845214844e-07, "step": 7431, "training_step_time": 17.753149271011353 }, { "epoch": 7.08770751953125e-07, "model_forward_time": 5.096977472305298, "step": 7432 }, { "epoch": 7.08770751953125e-07, "step": 7432, "training_step_time": 17.524527311325073 }, { "epoch": 7.088661193847656e-07, "model_forward_time": 5.100572824478149, "step": 7433 }, { "epoch": 7.088661193847656e-07, "step": 7433, "training_step_time": 17.539971351623535 }, { "epoch": 7.089614868164062e-07, "model_forward_time": 5.101137638092041, "step": 7434 }, { "epoch": 7.089614868164062e-07, "step": 7434, "training_step_time": 17.555043935775757 }, { "epoch": 7.090568542480469e-07, "model_forward_time": 5.27726674079895, "step": 7435 }, { "epoch": 7.090568542480469e-07, "step": 7435, "training_step_time": 17.56307816505432 }, { "epoch": 7.091522216796875e-07, "model_forward_time": 5.103958606719971, "step": 7436 }, { "epoch": 7.091522216796875e-07, "step": 7436, "training_step_time": 17.843743801116943 }, { "epoch": 7.092475891113282e-07, "model_forward_time": 5.1028594970703125, "step": 7437 }, { "epoch": 7.092475891113282e-07, "step": 7437, "training_step_time": 17.600648164749146 }, { "epoch": 7.093429565429688e-07, "model_forward_time": 5.086806535720825, "step": 7438 }, { "epoch": 7.093429565429688e-07, "step": 7438, "training_step_time": 17.594218730926514 }, { "epoch": 7.094383239746094e-07, "model_forward_time": 5.087095737457275, "step": 7439 }, { "epoch": 7.094383239746094e-07, "step": 7439, "training_step_time": 17.60958194732666 }, { "epoch": 7.0953369140625e-07, "grad_norm": 1.4135698080062866, "learning_rate": 9.913679324307815e-06, "loss": 0.1329, "step": 7440 }, { "epoch": 7.0953369140625e-07, "model_forward_time": 5.308836221694946, "step": 7440 }, { "dynamics_loss_avg": 0.043721361784264445, "epoch": 7.0953369140625e-07, "step": 7440 }, { "action_loss_avg": 0.08599994517862797, "epoch": 7.0953369140625e-07, "step": 7440 }, { "arm_loss_avg": 0.12709820941090583, "epoch": 7.0953369140625e-07, "step": 7440 }, { "ee_loss_avg": 0.14382610619068145, "epoch": 7.0953369140625e-07, "step": 7440 }, { "aux_loss_avg": 0.001634665485471487, "epoch": 7.0953369140625e-07, "step": 7440 }, { "epoch": 7.0953369140625e-07, "step": 7440, "training_step_time": 17.57406520843506 }, { "epoch": 7.096290588378906e-07, "model_forward_time": 5.0776190757751465, "step": 7441 }, { "epoch": 7.096290588378906e-07, "step": 7441, "training_step_time": 17.800963401794434 }, { "epoch": 7.097244262695312e-07, "model_forward_time": 5.077310562133789, "step": 7442 }, { "epoch": 7.097244262695312e-07, "step": 7442, "training_step_time": 17.56839942932129 }, { "epoch": 7.098197937011718e-07, "model_forward_time": 3.8487939834594727, "step": 7443 }, { "epoch": 7.098197937011718e-07, "step": 7443, "training_step_time": 17.559902906417847 }, { "epoch": 7.099151611328125e-07, "model_forward_time": 5.0570666790008545, "step": 7444 }, { "epoch": 7.099151611328125e-07, "step": 7444, "training_step_time": 17.574097394943237 }, { "epoch": 7.100105285644532e-07, "model_forward_time": 5.249924898147583, "step": 7445 }, { "epoch": 7.100105285644532e-07, "step": 7445, "training_step_time": 17.561607122421265 }, { "epoch": 7.101058959960938e-07, "model_forward_time": 5.083092451095581, "step": 7446 }, { "epoch": 7.101058959960938e-07, "step": 7446, "training_step_time": 17.78854012489319 }, { "epoch": 7.102012634277344e-07, "model_forward_time": 5.0815043449401855, "step": 7447 }, { "epoch": 7.102012634277344e-07, "step": 7447, "training_step_time": 17.55770254135132 }, { "epoch": 7.10296630859375e-07, "model_forward_time": 5.091209650039673, "step": 7448 }, { "epoch": 7.10296630859375e-07, "step": 7448, "training_step_time": 17.55357575416565 }, { "epoch": 7.103919982910156e-07, "model_forward_time": 5.093152046203613, "step": 7449 }, { "epoch": 7.103919982910156e-07, "step": 7449, "training_step_time": 17.549619913101196 }, { "epoch": 7.104873657226562e-07, "grad_norm": 1.2479617595672607, "learning_rate": 9.913241754230355e-06, "loss": 0.1252, "step": 7450 }, { "epoch": 7.104873657226562e-07, "model_forward_time": 5.330751419067383, "step": 7450 }, { "dynamics_loss_avg": 0.04766613091342151, "epoch": 7.104873657226562e-07, "step": 7450 }, { "action_loss_avg": 0.07052573314867913, "epoch": 7.104873657226562e-07, "step": 7450 }, { "arm_loss_avg": 0.11690591350197792, "epoch": 7.104873657226562e-07, "step": 7450 }, { "ee_loss_avg": 0.19396975748240947, "epoch": 7.104873657226562e-07, "step": 7450 }, { "aux_loss_avg": 0.0016197877994272858, "epoch": 7.104873657226562e-07, "step": 7450 }, { "epoch": 7.104873657226562e-07, "step": 7450, "training_step_time": 17.54778528213501 }, { "epoch": 7.105827331542969e-07, "model_forward_time": 5.093260288238525, "step": 7451 }, { "epoch": 7.105827331542969e-07, "step": 7451, "training_step_time": 17.75997042655945 }, { "epoch": 7.106781005859375e-07, "model_forward_time": 5.088887691497803, "step": 7452 }, { "epoch": 7.106781005859375e-07, "step": 7452, "training_step_time": 17.579086780548096 }, { "epoch": 7.107734680175781e-07, "model_forward_time": 5.085728883743286, "step": 7453 }, { "epoch": 7.107734680175781e-07, "step": 7453, "training_step_time": 17.556817054748535 }, { "epoch": 7.108688354492187e-07, "model_forward_time": 5.082916736602783, "step": 7454 }, { "epoch": 7.108688354492187e-07, "step": 7454, "training_step_time": 17.566790103912354 }, { "epoch": 7.109642028808594e-07, "model_forward_time": 5.276540279388428, "step": 7455 }, { "epoch": 7.109642028808594e-07, "step": 7455, "training_step_time": 17.570389986038208 }, { "epoch": 7.110595703125e-07, "model_forward_time": 5.082840442657471, "step": 7456 }, { "epoch": 7.110595703125e-07, "step": 7456, "training_step_time": 17.794540643692017 }, { "epoch": 7.111549377441407e-07, "model_forward_time": 5.07953143119812, "step": 7457 }, { "epoch": 7.111549377441407e-07, "step": 7457, "training_step_time": 17.566169500350952 }, { "epoch": 7.112503051757813e-07, "model_forward_time": 3.8474035263061523, "step": 7458 }, { "epoch": 7.112503051757813e-07, "step": 7458, "training_step_time": 17.56745147705078 }, { "epoch": 7.113456726074219e-07, "model_forward_time": 5.061938524246216, "step": 7459 }, { "epoch": 7.113456726074219e-07, "step": 7459, "training_step_time": 17.567516088485718 }, { "epoch": 7.114410400390625e-07, "grad_norm": 1.9547185897827148, "learning_rate": 9.912803087612637e-06, "loss": 0.1273, "step": 7460 }, { "epoch": 7.114410400390625e-07, "model_forward_time": 5.304689884185791, "step": 7460 }, { "dynamics_loss_avg": 0.04260620437562466, "epoch": 7.114410400390625e-07, "step": 7460 }, { "action_loss_avg": 0.09197763055562973, "epoch": 7.114410400390625e-07, "step": 7460 }, { "arm_loss_avg": 0.12534792944788933, "epoch": 7.114410400390625e-07, "step": 7460 }, { "ee_loss_avg": 0.24413990452885628, "epoch": 7.114410400390625e-07, "step": 7460 }, { "aux_loss_avg": 0.004543702449882403, "epoch": 7.114410400390625e-07, "step": 7460 }, { "epoch": 7.114410400390625e-07, "step": 7460, "training_step_time": 17.564399480819702 }, { "epoch": 7.115364074707031e-07, "model_forward_time": 5.0817248821258545, "step": 7461 }, { "epoch": 7.115364074707031e-07, "step": 7461, "training_step_time": 17.457932233810425 }, { "epoch": 7.116317749023437e-07, "model_forward_time": 5.090787887573242, "step": 7462 }, { "epoch": 7.116317749023437e-07, "step": 7462, "training_step_time": 17.69339919090271 }, { "epoch": 7.117271423339843e-07, "model_forward_time": 3.8548786640167236, "step": 7463 }, { "epoch": 7.117271423339843e-07, "step": 7463, "training_step_time": 17.51673150062561 }, { "epoch": 7.11822509765625e-07, "model_forward_time": 5.066010475158691, "step": 7464 }, { "epoch": 7.11822509765625e-07, "step": 7464, "training_step_time": 17.35337996482849 }, { "epoch": 7.119178771972657e-07, "model_forward_time": 5.269225597381592, "step": 7465 }, { "epoch": 7.119178771972657e-07, "step": 7465, "training_step_time": 17.473671913146973 }, { "epoch": 7.120132446289063e-07, "model_forward_time": 5.088972091674805, "step": 7466 }, { "epoch": 7.120132446289063e-07, "step": 7466, "training_step_time": 17.613362550735474 }, { "epoch": 7.121086120605469e-07, "model_forward_time": 5.090096712112427, "step": 7467 }, { "epoch": 7.121086120605469e-07, "step": 7467, "training_step_time": 17.69763994216919 }, { "epoch": 7.122039794921875e-07, "model_forward_time": 5.096274137496948, "step": 7468 }, { "epoch": 7.122039794921875e-07, "step": 7468, "training_step_time": 17.308371543884277 }, { "epoch": 7.122993469238281e-07, "model_forward_time": 5.090720891952515, "step": 7469 }, { "epoch": 7.122993469238281e-07, "step": 7469, "training_step_time": 17.340656757354736 }, { "epoch": 7.123947143554687e-07, "grad_norm": 1.4885188341140747, "learning_rate": 9.912363324552563e-06, "loss": 0.131, "step": 7470 }, { "epoch": 7.123947143554687e-07, "model_forward_time": 5.330384254455566, "step": 7470 }, { "dynamics_loss_avg": 0.04861781606450677, "epoch": 7.123947143554687e-07, "step": 7470 }, { "action_loss_avg": 0.07597944568842649, "epoch": 7.123947143554687e-07, "step": 7470 }, { "arm_loss_avg": 0.10925982147455215, "epoch": 7.123947143554687e-07, "step": 7470 }, { "ee_loss_avg": 0.20703450515866278, "epoch": 7.123947143554687e-07, "step": 7470 }, { "aux_loss_avg": 0.002413082687417045, "epoch": 7.123947143554687e-07, "step": 7470 }, { "epoch": 7.123947143554687e-07, "step": 7470, "training_step_time": 17.476630210876465 }, { "epoch": 7.124900817871094e-07, "model_forward_time": 5.091336011886597, "step": 7471 }, { "epoch": 7.124900817871094e-07, "step": 7471, "training_step_time": 17.370437622070312 }, { "epoch": 7.1258544921875e-07, "model_forward_time": 5.089514255523682, "step": 7472 }, { "epoch": 7.1258544921875e-07, "step": 7472, "training_step_time": 17.71439504623413 }, { "epoch": 7.126808166503906e-07, "model_forward_time": 5.084462642669678, "step": 7473 }, { "epoch": 7.126808166503906e-07, "step": 7473, "training_step_time": 17.591994047164917 }, { "epoch": 7.127761840820312e-07, "model_forward_time": 5.082339525222778, "step": 7474 }, { "epoch": 7.127761840820312e-07, "step": 7474, "training_step_time": 17.63359045982361 }, { "epoch": 7.128715515136719e-07, "model_forward_time": 5.26583194732666, "step": 7475 }, { "epoch": 7.128715515136719e-07, "step": 7475, "training_step_time": 17.37117886543274 }, { "epoch": 7.129669189453125e-07, "model_forward_time": 5.088500738143921, "step": 7476 }, { "epoch": 7.129669189453125e-07, "step": 7476, "training_step_time": 17.599856853485107 }, { "epoch": 7.130622863769532e-07, "model_forward_time": 5.084134817123413, "step": 7477 }, { "epoch": 7.130622863769532e-07, "step": 7477, "training_step_time": 17.814427375793457 }, { "epoch": 7.131576538085938e-07, "model_forward_time": 5.084822654724121, "step": 7478 }, { "epoch": 7.131576538085938e-07, "step": 7478, "training_step_time": 17.592020511627197 }, { "epoch": 7.132530212402344e-07, "model_forward_time": 5.086790084838867, "step": 7479 }, { "epoch": 7.132530212402344e-07, "step": 7479, "training_step_time": 17.59939479827881 }, { "epoch": 7.13348388671875e-07, "grad_norm": 1.4187108278274536, "learning_rate": 9.911922465148281e-06, "loss": 0.1079, "step": 7480 }, { "epoch": 7.13348388671875e-07, "model_forward_time": 5.32403039932251, "step": 7480 }, { "dynamics_loss_avg": 0.042786229960620405, "epoch": 7.13348388671875e-07, "step": 7480 }, { "action_loss_avg": 0.05476102493703365, "epoch": 7.13348388671875e-07, "step": 7480 }, { "arm_loss_avg": 0.10524992421269416, "epoch": 7.13348388671875e-07, "step": 7480 }, { "ee_loss_avg": 0.20738683082163334, "epoch": 7.13348388671875e-07, "step": 7480 }, { "aux_loss_avg": 0.0008418809564318507, "epoch": 7.13348388671875e-07, "step": 7480 }, { "epoch": 7.13348388671875e-07, "step": 7480, "training_step_time": 17.60191249847412 }, { "epoch": 7.134437561035156e-07, "model_forward_time": 5.0877063274383545, "step": 7481 }, { "epoch": 7.134437561035156e-07, "step": 7481, "training_step_time": 17.590701580047607 }, { "epoch": 7.135391235351562e-07, "model_forward_time": 5.083975791931152, "step": 7482 }, { "epoch": 7.135391235351562e-07, "step": 7482, "training_step_time": 17.784966707229614 }, { "epoch": 7.136344909667968e-07, "model_forward_time": 5.082719326019287, "step": 7483 }, { "epoch": 7.136344909667968e-07, "step": 7483, "training_step_time": 17.575955390930176 }, { "epoch": 7.137298583984375e-07, "model_forward_time": 5.089690923690796, "step": 7484 }, { "epoch": 7.137298583984375e-07, "step": 7484, "training_step_time": 17.582523345947266 }, { "epoch": 7.138252258300782e-07, "model_forward_time": 5.274060964584351, "step": 7485 }, { "epoch": 7.138252258300782e-07, "step": 7485, "training_step_time": 17.580459356307983 }, { "epoch": 7.139205932617188e-07, "model_forward_time": 5.086981296539307, "step": 7486 }, { "epoch": 7.139205932617188e-07, "step": 7486, "training_step_time": 17.62869095802307 }, { "epoch": 7.140159606933594e-07, "model_forward_time": 5.087820291519165, "step": 7487 }, { "epoch": 7.140159606933594e-07, "step": 7487, "training_step_time": 17.80197834968567 }, { "epoch": 7.14111328125e-07, "model_forward_time": 3.8489418029785156, "step": 7488 }, { "epoch": 7.14111328125e-07, "step": 7488, "training_step_time": 17.55772590637207 }, { "epoch": 7.142066955566406e-07, "model_forward_time": 5.061128377914429, "step": 7489 }, { "epoch": 7.142066955566406e-07, "step": 7489, "training_step_time": 17.577115535736084 }, { "epoch": 7.143020629882812e-07, "grad_norm": 1.5129941701889038, "learning_rate": 9.911480509498178e-06, "loss": 0.1222, "step": 7490 }, { "epoch": 7.143020629882812e-07, "model_forward_time": 5.303162097930908, "step": 7490 }, { "dynamics_loss_avg": 0.047171762026846406, "epoch": 7.143020629882812e-07, "step": 7490 }, { "action_loss_avg": 0.06650816649198532, "epoch": 7.143020629882812e-07, "step": 7490 }, { "arm_loss_avg": 0.10763144567608833, "epoch": 7.143020629882812e-07, "step": 7490 }, { "ee_loss_avg": 0.1726641334593296, "epoch": 7.143020629882812e-07, "step": 7490 }, { "aux_loss_avg": 0.004932887741597369, "epoch": 7.143020629882812e-07, "step": 7490 }, { "epoch": 7.143020629882812e-07, "step": 7490, "training_step_time": 17.564202308654785 }, { "epoch": 7.143974304199219e-07, "model_forward_time": 3.8422865867614746, "step": 7491 }, { "epoch": 7.143974304199219e-07, "step": 7491, "training_step_time": 17.58982229232788 }, { "epoch": 7.144927978515625e-07, "model_forward_time": 5.055824518203735, "step": 7492 }, { "epoch": 7.144927978515625e-07, "step": 7492, "training_step_time": 17.802270650863647 }, { "epoch": 7.145881652832031e-07, "model_forward_time": 5.0735156536102295, "step": 7493 }, { "epoch": 7.145881652832031e-07, "step": 7493, "training_step_time": 17.37831473350525 }, { "epoch": 7.146835327148437e-07, "model_forward_time": 5.087952136993408, "step": 7494 }, { "epoch": 7.146835327148437e-07, "step": 7494, "training_step_time": 17.47703528404236 }, { "epoch": 7.147789001464844e-07, "model_forward_time": 5.287268161773682, "step": 7495 }, { "epoch": 7.147789001464844e-07, "step": 7495, "training_step_time": 17.51252555847168 }, { "epoch": 7.14874267578125e-07, "model_forward_time": 5.120599031448364, "step": 7496 }, { "epoch": 7.14874267578125e-07, "step": 7496, "training_step_time": 17.62984824180603 }, { "epoch": 7.149696350097657e-07, "model_forward_time": 5.114711046218872, "step": 7497 }, { "epoch": 7.149696350097657e-07, "step": 7497, "training_step_time": 17.86627459526062 }, { "epoch": 7.150650024414063e-07, "model_forward_time": 5.124967336654663, "step": 7498 }, { "epoch": 7.150650024414063e-07, "step": 7498, "training_step_time": 17.623502492904663 }, { "epoch": 7.151603698730469e-07, "model_forward_time": 5.1079487800598145, "step": 7499 }, { "epoch": 7.151603698730469e-07, "step": 7499, "training_step_time": 17.633971452713013 }, { "epoch": 7.152557373046875e-07, "grad_norm": 2.4819600582122803, "learning_rate": 9.911037457700896e-06, "loss": 0.1249, "step": 7500 }, { "epoch": 7.152557373046875e-07, "model_forward_time": 5.371815919876099, "step": 7500 }, { "dynamics_loss_avg": 0.04529984649270773, "epoch": 7.152557373046875e-07, "step": 7500 }, { "action_loss_avg": 0.06128261089324951, "epoch": 7.152557373046875e-07, "step": 7500 }, { "arm_loss_avg": 0.08512526005506516, "epoch": 7.152557373046875e-07, "step": 7500 }, { "ee_loss_avg": 0.19352865498512983, "epoch": 7.152557373046875e-07, "step": 7500 }, { "aux_loss_avg": 0.002739472908433527, "epoch": 7.152557373046875e-07, "step": 7500 }, { "epoch": 7.152557373046875e-07, "step": 7500, "training_step_time": 17.62389302253723 }, { "epoch": 7.153511047363281e-07, "model_forward_time": 5.085170269012451, "step": 7501 }, { "epoch": 7.153511047363281e-07, "step": 7501, "training_step_time": 17.61167049407959 }, { "epoch": 7.154464721679687e-07, "model_forward_time": 5.082291126251221, "step": 7502 }, { "epoch": 7.154464721679687e-07, "step": 7502, "training_step_time": 17.788456439971924 }, { "epoch": 7.155418395996093e-07, "model_forward_time": 5.077564239501953, "step": 7503 }, { "epoch": 7.155418395996093e-07, "step": 7503, "training_step_time": 17.590112686157227 }, { "epoch": 7.1563720703125e-07, "model_forward_time": 5.08243989944458, "step": 7504 }, { "epoch": 7.1563720703125e-07, "step": 7504, "training_step_time": 17.577504634857178 }, { "epoch": 7.157325744628906e-07, "model_forward_time": 3.846510648727417, "step": 7505 }, { "epoch": 7.157325744628906e-07, "step": 7505, "training_step_time": 17.579254150390625 }, { "epoch": 7.158279418945313e-07, "model_forward_time": 5.288243532180786, "step": 7506 }, { "epoch": 7.158279418945313e-07, "step": 7506, "training_step_time": 17.588724613189697 }, { "epoch": 7.159233093261719e-07, "model_forward_time": 5.0637593269348145, "step": 7507 }, { "epoch": 7.159233093261719e-07, "step": 7507, "training_step_time": 17.808181762695312 }, { "epoch": 7.160186767578125e-07, "model_forward_time": 5.077562570571899, "step": 7508 }, { "epoch": 7.160186767578125e-07, "step": 7508, "training_step_time": 17.56162428855896 }, { "epoch": 7.161140441894531e-07, "model_forward_time": 3.852065324783325, "step": 7509 }, { "epoch": 7.161140441894531e-07, "step": 7509, "training_step_time": 17.557373046875 }, { "epoch": 7.162094116210938e-07, "grad_norm": 1.9280508756637573, "learning_rate": 9.910593309855312e-06, "loss": 0.1338, "step": 7510 }, { "epoch": 7.162094116210938e-07, "model_forward_time": 5.064350605010986, "step": 7510 }, { "dynamics_loss_avg": 0.0486203083768487, "epoch": 7.162094116210938e-07, "step": 7510 }, { "action_loss_avg": 0.06124869808554649, "epoch": 7.162094116210938e-07, "step": 7510 }, { "arm_loss_avg": 0.0850399849936366, "epoch": 7.162094116210938e-07, "step": 7510 }, { "ee_loss_avg": 0.29227137714624407, "epoch": 7.162094116210938e-07, "step": 7510 }, { "aux_loss_avg": 0.005432269512675702, "epoch": 7.162094116210938e-07, "step": 7510 }, { "epoch": 7.162094116210938e-07, "step": 7510, "training_step_time": 17.562721490859985 }, { "epoch": 7.163047790527344e-07, "model_forward_time": 5.30627965927124, "step": 7511 }, { "epoch": 7.163047790527344e-07, "step": 7511, "training_step_time": 17.553613901138306 }, { "epoch": 7.16400146484375e-07, "model_forward_time": 5.091254711151123, "step": 7512 }, { "epoch": 7.16400146484375e-07, "step": 7512, "training_step_time": 17.760976552963257 }, { "epoch": 7.164955139160156e-07, "model_forward_time": 5.095465660095215, "step": 7513 }, { "epoch": 7.164955139160156e-07, "step": 7513, "training_step_time": 17.56415581703186 }, { "epoch": 7.165908813476562e-07, "model_forward_time": 5.097829818725586, "step": 7514 }, { "epoch": 7.165908813476562e-07, "step": 7514, "training_step_time": 17.572593212127686 }, { "epoch": 7.166862487792968e-07, "model_forward_time": 5.093595743179321, "step": 7515 }, { "epoch": 7.166862487792968e-07, "step": 7515, "training_step_time": 17.576338052749634 }, { "epoch": 7.167816162109375e-07, "model_forward_time": 5.097712993621826, "step": 7516 }, { "epoch": 7.167816162109375e-07, "step": 7516, "training_step_time": 17.584982872009277 }, { "epoch": 7.168769836425782e-07, "model_forward_time": 5.091590642929077, "step": 7517 }, { "epoch": 7.168769836425782e-07, "step": 7517, "training_step_time": 17.82930588722229 }, { "epoch": 7.169723510742188e-07, "model_forward_time": 5.086161136627197, "step": 7518 }, { "epoch": 7.169723510742188e-07, "step": 7518, "training_step_time": 17.585243940353394 }, { "epoch": 7.170677185058594e-07, "model_forward_time": 5.084040641784668, "step": 7519 }, { "epoch": 7.170677185058594e-07, "step": 7519, "training_step_time": 17.58966588973999 }, { "epoch": 7.171630859375e-07, "grad_norm": 0.969350278377533, "learning_rate": 9.910148066060552e-06, "loss": 0.1151, "step": 7520 }, { "epoch": 7.171630859375e-07, "model_forward_time": 5.32915472984314, "step": 7520 }, { "dynamics_loss_avg": 0.040028330590575936, "epoch": 7.171630859375e-07, "step": 7520 }, { "action_loss_avg": 0.059817233588546515, "epoch": 7.171630859375e-07, "step": 7520 }, { "arm_loss_avg": 0.08896295689046382, "epoch": 7.171630859375e-07, "step": 7520 }, { "ee_loss_avg": 0.13853063508868219, "epoch": 7.171630859375e-07, "step": 7520 }, { "aux_loss_avg": 0.001809458335628733, "epoch": 7.171630859375e-07, "step": 7520 }, { "epoch": 7.171630859375e-07, "step": 7520, "training_step_time": 17.579667329788208 }, { "epoch": 7.172584533691406e-07, "model_forward_time": 5.084884166717529, "step": 7521 }, { "epoch": 7.172584533691406e-07, "step": 7521, "training_step_time": 17.57810926437378 }, { "epoch": 7.173538208007812e-07, "model_forward_time": 5.080157279968262, "step": 7522 }, { "epoch": 7.173538208007812e-07, "step": 7522, "training_step_time": 17.77449631690979 }, { "epoch": 7.174491882324218e-07, "model_forward_time": 5.077648401260376, "step": 7523 }, { "epoch": 7.174491882324218e-07, "step": 7523, "training_step_time": 17.579397678375244 }, { "epoch": 7.175445556640625e-07, "model_forward_time": 5.077895402908325, "step": 7524 }, { "epoch": 7.175445556640625e-07, "step": 7524, "training_step_time": 17.56931233406067 }, { "epoch": 7.176399230957031e-07, "model_forward_time": 5.2848591804504395, "step": 7525 }, { "epoch": 7.176399230957031e-07, "step": 7525, "training_step_time": 17.573166131973267 }, { "epoch": 7.177352905273438e-07, "model_forward_time": 5.083046197891235, "step": 7526 }, { "epoch": 7.177352905273438e-07, "step": 7526, "training_step_time": 17.576467752456665 }, { "epoch": 7.178306579589844e-07, "model_forward_time": 5.082070827484131, "step": 7527 }, { "epoch": 7.178306579589844e-07, "step": 7527, "training_step_time": 17.791741847991943 }, { "epoch": 7.17926025390625e-07, "model_forward_time": 5.082817316055298, "step": 7528 }, { "epoch": 7.17926025390625e-07, "step": 7528, "training_step_time": 17.576127290725708 }, { "epoch": 7.180213928222656e-07, "model_forward_time": 5.084353685379028, "step": 7529 }, { "epoch": 7.180213928222656e-07, "step": 7529, "training_step_time": 17.576942920684814 }, { "epoch": 7.181167602539063e-07, "grad_norm": 1.2376424074172974, "learning_rate": 9.909701726415986e-06, "loss": 0.1332, "step": 7530 }, { "epoch": 7.181167602539063e-07, "model_forward_time": 5.089140176773071, "step": 7530 }, { "dynamics_loss_avg": 0.050454501807689664, "epoch": 7.181167602539063e-07, "step": 7530 }, { "action_loss_avg": 0.05065439529716968, "epoch": 7.181167602539063e-07, "step": 7530 }, { "arm_loss_avg": 0.06937361769378185, "epoch": 7.181167602539063e-07, "step": 7530 }, { "ee_loss_avg": 0.11127141080796718, "epoch": 7.181167602539063e-07, "step": 7530 }, { "aux_loss_avg": 0.0011557482997886837, "epoch": 7.181167602539063e-07, "step": 7530 }, { "epoch": 7.181167602539063e-07, "step": 7530, "training_step_time": 17.582037925720215 }, { "epoch": 7.182121276855469e-07, "model_forward_time": 5.08519721031189, "step": 7531 }, { "epoch": 7.182121276855469e-07, "step": 7531, "training_step_time": 17.579368352890015 }, { "epoch": 7.183074951171875e-07, "model_forward_time": 5.083729028701782, "step": 7532 }, { "epoch": 7.183074951171875e-07, "step": 7532, "training_step_time": 17.77824592590332 }, { "epoch": 7.184028625488281e-07, "model_forward_time": 5.08135461807251, "step": 7533 }, { "epoch": 7.184028625488281e-07, "step": 7533, "training_step_time": 17.570508241653442 }, { "epoch": 7.184982299804687e-07, "model_forward_time": 5.087610960006714, "step": 7534 }, { "epoch": 7.184982299804687e-07, "step": 7534, "training_step_time": 17.57456660270691 }, { "epoch": 7.185935974121093e-07, "model_forward_time": 5.2778003215789795, "step": 7535 }, { "epoch": 7.185935974121093e-07, "step": 7535, "training_step_time": 17.571352005004883 }, { "epoch": 7.1868896484375e-07, "model_forward_time": 5.085108041763306, "step": 7536 }, { "epoch": 7.1868896484375e-07, "step": 7536, "training_step_time": 17.573455572128296 }, { "epoch": 7.187843322753907e-07, "model_forward_time": 5.097766876220703, "step": 7537 }, { "epoch": 7.187843322753907e-07, "step": 7537, "training_step_time": 17.850541353225708 }, { "epoch": 7.188796997070313e-07, "model_forward_time": 5.10374116897583, "step": 7538 }, { "epoch": 7.188796997070313e-07, "step": 7538, "training_step_time": 17.419570922851562 }, { "epoch": 7.189750671386719e-07, "model_forward_time": 5.103143215179443, "step": 7539 }, { "epoch": 7.189750671386719e-07, "step": 7539, "training_step_time": 17.435354471206665 }, { "epoch": 7.190704345703125e-07, "grad_norm": 1.7555373907089233, "learning_rate": 9.909254291021228e-06, "loss": 0.1123, "step": 7540 }, { "epoch": 7.190704345703125e-07, "model_forward_time": 5.368966817855835, "step": 7540 }, { "dynamics_loss_avg": 0.04728199224919081, "epoch": 7.190704345703125e-07, "step": 7540 }, { "action_loss_avg": 0.047858749702572825, "epoch": 7.190704345703125e-07, "step": 7540 }, { "arm_loss_avg": 0.06752631962299346, "epoch": 7.190704345703125e-07, "step": 7540 }, { "ee_loss_avg": 0.13033759091049432, "epoch": 7.190704345703125e-07, "step": 7540 }, { "aux_loss_avg": 0.002948688325705007, "epoch": 7.190704345703125e-07, "step": 7540 }, { "epoch": 7.190704345703125e-07, "step": 7540, "training_step_time": 17.4824481010437 }, { "epoch": 7.191658020019531e-07, "model_forward_time": 5.090612411499023, "step": 7541 }, { "epoch": 7.191658020019531e-07, "step": 7541, "training_step_time": 17.59782099723816 }, { "epoch": 7.192611694335937e-07, "model_forward_time": 5.08643913269043, "step": 7542 }, { "epoch": 7.192611694335937e-07, "step": 7542, "training_step_time": 17.551741361618042 }, { "epoch": 7.193565368652343e-07, "model_forward_time": 5.083679914474487, "step": 7543 }, { "epoch": 7.193565368652343e-07, "step": 7543, "training_step_time": 17.775609016418457 }, { "epoch": 7.19451904296875e-07, "model_forward_time": 5.077103137969971, "step": 7544 }, { "epoch": 7.19451904296875e-07, "step": 7544, "training_step_time": 17.61791157722473 }, { "epoch": 7.195472717285156e-07, "model_forward_time": 5.280056953430176, "step": 7545 }, { "epoch": 7.195472717285156e-07, "step": 7545, "training_step_time": 17.625850200653076 }, { "epoch": 7.196426391601563e-07, "model_forward_time": 5.086031436920166, "step": 7546 }, { "epoch": 7.196426391601563e-07, "step": 7546, "training_step_time": 17.629865884780884 }, { "epoch": 7.197380065917969e-07, "model_forward_time": 5.083683967590332, "step": 7547 }, { "epoch": 7.197380065917969e-07, "step": 7547, "training_step_time": 17.622323274612427 }, { "epoch": 7.198333740234375e-07, "model_forward_time": 5.08383321762085, "step": 7548 }, { "epoch": 7.198333740234375e-07, "step": 7548, "training_step_time": 17.83969259262085 }, { "epoch": 7.199287414550781e-07, "model_forward_time": 5.082753896713257, "step": 7549 }, { "epoch": 7.199287414550781e-07, "step": 7549, "training_step_time": 17.61157727241516 }, { "epoch": 7.200241088867188e-07, "grad_norm": 1.134385347366333, "learning_rate": 9.908805759976135e-06, "loss": 0.1168, "step": 7550 }, { "epoch": 7.200241088867188e-07, "model_forward_time": 5.08512020111084, "step": 7550 }, { "dynamics_loss_avg": 0.045051822811365126, "epoch": 7.200241088867188e-07, "step": 7550 }, { "action_loss_avg": 0.05713234320282936, "epoch": 7.200241088867188e-07, "step": 7550 }, { "arm_loss_avg": 0.09631217755377293, "epoch": 7.200241088867188e-07, "step": 7550 }, { "ee_loss_avg": 0.24786250554025174, "epoch": 7.200241088867188e-07, "step": 7550 }, { "aux_loss_avg": 0.017612279567401856, "epoch": 7.200241088867188e-07, "step": 7550 }, { "epoch": 7.200241088867188e-07, "step": 7550, "training_step_time": 17.598929405212402 }, { "epoch": 7.201194763183594e-07, "model_forward_time": 5.0864386558532715, "step": 7551 }, { "epoch": 7.201194763183594e-07, "step": 7551, "training_step_time": 17.609944581985474 }, { "epoch": 7.2021484375e-07, "model_forward_time": 5.084264516830444, "step": 7552 }, { "epoch": 7.2021484375e-07, "step": 7552, "training_step_time": 17.5810649394989 }, { "epoch": 7.203102111816406e-07, "model_forward_time": 5.082306623458862, "step": 7553 }, { "epoch": 7.203102111816406e-07, "step": 7553, "training_step_time": 17.771374464035034 }, { "epoch": 7.204055786132812e-07, "model_forward_time": 5.081806182861328, "step": 7554 }, { "epoch": 7.204055786132812e-07, "step": 7554, "training_step_time": 17.55782699584961 }, { "epoch": 7.205009460449218e-07, "model_forward_time": 5.272834777832031, "step": 7555 }, { "epoch": 7.205009460449218e-07, "step": 7555, "training_step_time": 17.560306549072266 }, { "epoch": 7.205963134765625e-07, "model_forward_time": 5.091960668563843, "step": 7556 }, { "epoch": 7.205963134765625e-07, "step": 7556, "training_step_time": 17.635477781295776 }, { "epoch": 7.206916809082032e-07, "model_forward_time": 5.09389328956604, "step": 7557 }, { "epoch": 7.206916809082032e-07, "step": 7557, "training_step_time": 17.826106071472168 }, { "epoch": 7.207870483398438e-07, "model_forward_time": 5.100266456604004, "step": 7558 }, { "epoch": 7.207870483398438e-07, "step": 7558, "training_step_time": 17.591825008392334 }, { "epoch": 7.208824157714844e-07, "model_forward_time": 5.09222674369812, "step": 7559 }, { "epoch": 7.208824157714844e-07, "step": 7559, "training_step_time": 17.59573745727539 }, { "epoch": 7.20977783203125e-07, "grad_norm": 1.3329015970230103, "learning_rate": 9.908356133380814e-06, "loss": 0.1212, "step": 7560 }, { "epoch": 7.20977783203125e-07, "model_forward_time": 5.33377742767334, "step": 7560 }, { "dynamics_loss_avg": 0.04315652083605528, "epoch": 7.20977783203125e-07, "step": 7560 }, { "action_loss_avg": 0.05007689353078604, "epoch": 7.20977783203125e-07, "step": 7560 }, { "arm_loss_avg": 0.0724081601947546, "epoch": 7.20977783203125e-07, "step": 7560 }, { "ee_loss_avg": 0.13434021919965744, "epoch": 7.20977783203125e-07, "step": 7560 }, { "aux_loss_avg": 0.0009568080626195296, "epoch": 7.20977783203125e-07, "step": 7560 }, { "epoch": 7.20977783203125e-07, "step": 7560, "training_step_time": 17.570392370224 }, { "epoch": 7.210731506347656e-07, "model_forward_time": 5.083536863327026, "step": 7561 }, { "epoch": 7.210731506347656e-07, "step": 7561, "training_step_time": 17.56234312057495 }, { "epoch": 7.211685180664062e-07, "model_forward_time": 5.084640979766846, "step": 7562 }, { "epoch": 7.211685180664062e-07, "step": 7562, "training_step_time": 17.717352390289307 }, { "epoch": 7.212638854980468e-07, "model_forward_time": 5.082102537155151, "step": 7563 }, { "epoch": 7.212638854980468e-07, "step": 7563, "training_step_time": 17.36674165725708 }, { "epoch": 7.213592529296875e-07, "model_forward_time": 5.087424278259277, "step": 7564 }, { "epoch": 7.213592529296875e-07, "step": 7564, "training_step_time": 17.471662521362305 }, { "epoch": 7.214546203613281e-07, "model_forward_time": 5.2872912883758545, "step": 7565 }, { "epoch": 7.214546203613281e-07, "step": 7565, "training_step_time": 17.52408504486084 }, { "epoch": 7.215499877929688e-07, "model_forward_time": 5.082638740539551, "step": 7566 }, { "epoch": 7.215499877929688e-07, "step": 7566, "training_step_time": 17.58316922187805 }, { "epoch": 7.216453552246094e-07, "model_forward_time": 3.8464441299438477, "step": 7567 }, { "epoch": 7.216453552246094e-07, "step": 7567, "training_step_time": 17.503474950790405 }, { "epoch": 7.2174072265625e-07, "model_forward_time": 5.055545330047607, "step": 7568 }, { "epoch": 7.2174072265625e-07, "step": 7568, "training_step_time": 17.798420190811157 }, { "epoch": 7.218360900878906e-07, "model_forward_time": 5.058804035186768, "step": 7569 }, { "epoch": 7.218360900878906e-07, "step": 7569, "training_step_time": 17.605370044708252 }, { "epoch": 7.219314575195313e-07, "grad_norm": 2.35270094871521, "learning_rate": 9.907905411335612e-06, "loss": 0.1058, "step": 7570 }, { "epoch": 7.219314575195313e-07, "model_forward_time": 5.072504997253418, "step": 7570 }, { "dynamics_loss_avg": 0.03929668795317411, "epoch": 7.219314575195313e-07, "step": 7570 }, { "action_loss_avg": 0.03798297587782144, "epoch": 7.219314575195313e-07, "step": 7570 }, { "arm_loss_avg": 0.058605166524648665, "epoch": 7.219314575195313e-07, "step": 7570 }, { "ee_loss_avg": 0.11005403399467469, "epoch": 7.219314575195313e-07, "step": 7570 }, { "aux_loss_avg": 0.000708810007199645, "epoch": 7.219314575195313e-07, "step": 7570 }, { "epoch": 7.219314575195313e-07, "step": 7570, "training_step_time": 17.612556219100952 }, { "epoch": 7.220268249511719e-07, "model_forward_time": 5.317417144775391, "step": 7571 }, { "epoch": 7.220268249511719e-07, "step": 7571, "training_step_time": 17.625848054885864 }, { "epoch": 7.221221923828125e-07, "model_forward_time": 5.091211318969727, "step": 7572 }, { "epoch": 7.221221923828125e-07, "step": 7572, "training_step_time": 17.62417769432068 }, { "epoch": 7.222175598144531e-07, "model_forward_time": 5.088881492614746, "step": 7573 }, { "epoch": 7.222175598144531e-07, "step": 7573, "training_step_time": 17.810307025909424 }, { "epoch": 7.223129272460937e-07, "model_forward_time": 3.85416316986084, "step": 7574 }, { "epoch": 7.223129272460937e-07, "step": 7574, "training_step_time": 17.60822057723999 }, { "epoch": 7.224082946777343e-07, "model_forward_time": 5.059243440628052, "step": 7575 }, { "epoch": 7.224082946777343e-07, "step": 7575, "training_step_time": 17.60076904296875 }, { "epoch": 7.22503662109375e-07, "model_forward_time": 5.262827396392822, "step": 7576 }, { "epoch": 7.22503662109375e-07, "step": 7576, "training_step_time": 17.595113039016724 }, { "epoch": 7.225990295410157e-07, "model_forward_time": 3.846285581588745, "step": 7577 }, { "epoch": 7.225990295410157e-07, "step": 7577, "training_step_time": 17.79792070388794 }, { "epoch": 7.226943969726563e-07, "model_forward_time": 5.056549787521362, "step": 7578 }, { "epoch": 7.226943969726563e-07, "step": 7578, "training_step_time": 17.565160751342773 }, { "epoch": 7.227897644042969e-07, "model_forward_time": 5.070701599121094, "step": 7579 }, { "epoch": 7.227897644042969e-07, "step": 7579, "training_step_time": 17.550761699676514 }, { "epoch": 7.228851318359375e-07, "grad_norm": 1.7049168348312378, "learning_rate": 9.907453593941118e-06, "loss": 0.1194, "step": 7580 }, { "epoch": 7.228851318359375e-07, "model_forward_time": 5.084333419799805, "step": 7580 }, { "dynamics_loss_avg": 0.0431631114333868, "epoch": 7.228851318359375e-07, "step": 7580 }, { "action_loss_avg": 0.051975361071527004, "epoch": 7.228851318359375e-07, "step": 7580 }, { "arm_loss_avg": 0.07338587529957294, "epoch": 7.228851318359375e-07, "step": 7580 }, { "ee_loss_avg": 0.10832125302404165, "epoch": 7.228851318359375e-07, "step": 7580 }, { "aux_loss_avg": 0.0007416137552354485, "epoch": 7.228851318359375e-07, "step": 7580 }, { "epoch": 7.228851318359375e-07, "step": 7580, "training_step_time": 17.558164358139038 }, { "epoch": 7.229804992675781e-07, "model_forward_time": 5.312750816345215, "step": 7581 }, { "epoch": 7.229804992675781e-07, "step": 7581, "training_step_time": 17.55465292930603 }, { "epoch": 7.230758666992187e-07, "model_forward_time": 5.09347677230835, "step": 7582 }, { "epoch": 7.230758666992187e-07, "step": 7582, "training_step_time": 17.74560856819153 }, { "epoch": 7.231712341308594e-07, "model_forward_time": 5.093745470046997, "step": 7583 }, { "epoch": 7.231712341308594e-07, "step": 7583, "training_step_time": 17.344518661499023 }, { "epoch": 7.232666015625e-07, "model_forward_time": 5.094785928726196, "step": 7584 }, { "epoch": 7.232666015625e-07, "step": 7584, "training_step_time": 17.4716477394104 }, { "epoch": 7.233619689941406e-07, "model_forward_time": 5.088942050933838, "step": 7585 }, { "epoch": 7.233619689941406e-07, "step": 7585, "training_step_time": 17.41872525215149 }, { "epoch": 7.234573364257813e-07, "model_forward_time": 5.089311599731445, "step": 7586 }, { "epoch": 7.234573364257813e-07, "step": 7586, "training_step_time": 17.457722425460815 }, { "epoch": 7.235527038574219e-07, "model_forward_time": 5.083924770355225, "step": 7587 }, { "epoch": 7.235527038574219e-07, "step": 7587, "training_step_time": 17.516860961914062 }, { "epoch": 7.236480712890625e-07, "model_forward_time": 5.078571796417236, "step": 7588 }, { "epoch": 7.236480712890625e-07, "step": 7588, "training_step_time": 17.785914659500122 }, { "epoch": 7.237434387207031e-07, "model_forward_time": 5.0737292766571045, "step": 7589 }, { "epoch": 7.237434387207031e-07, "step": 7589, "training_step_time": 17.59043049812317 }, { "epoch": 7.238388061523438e-07, "grad_norm": 1.5709658861160278, "learning_rate": 9.907000681298175e-06, "loss": 0.1294, "step": 7590 }, { "epoch": 7.238388061523438e-07, "model_forward_time": 5.0749571323394775, "step": 7590 }, { "dynamics_loss_avg": 0.04341301005333662, "epoch": 7.238388061523438e-07, "step": 7590 }, { "action_loss_avg": 0.04766994118690491, "epoch": 7.238388061523438e-07, "step": 7590 }, { "arm_loss_avg": 0.06676641646772623, "epoch": 7.238388061523438e-07, "step": 7590 }, { "ee_loss_avg": 0.18189772106707097, "epoch": 7.238388061523438e-07, "step": 7590 }, { "aux_loss_avg": 0.0006905468093464151, "epoch": 7.238388061523438e-07, "step": 7590 }, { "epoch": 7.238388061523438e-07, "step": 7590, "training_step_time": 17.61425256729126 }, { "epoch": 7.239341735839844e-07, "model_forward_time": 5.07647705078125, "step": 7591 }, { "epoch": 7.239341735839844e-07, "step": 7591, "training_step_time": 17.325286865234375 }, { "epoch": 7.24029541015625e-07, "model_forward_time": 5.082327842712402, "step": 7592 }, { "epoch": 7.24029541015625e-07, "step": 7592, "training_step_time": 17.546180486679077 }, { "epoch": 7.241249084472656e-07, "model_forward_time": 5.077299118041992, "step": 7593 }, { "epoch": 7.241249084472656e-07, "step": 7593, "training_step_time": 17.742140769958496 }, { "epoch": 7.242202758789062e-07, "model_forward_time": 5.077269792556763, "step": 7594 }, { "epoch": 7.242202758789062e-07, "step": 7594, "training_step_time": 17.583269119262695 }, { "epoch": 7.243156433105468e-07, "model_forward_time": 5.079446792602539, "step": 7595 }, { "epoch": 7.243156433105468e-07, "step": 7595, "training_step_time": 17.595645904541016 }, { "epoch": 7.244110107421876e-07, "model_forward_time": 5.080981969833374, "step": 7596 }, { "epoch": 7.244110107421876e-07, "step": 7596, "training_step_time": 17.60537600517273 }, { "epoch": 7.245063781738282e-07, "model_forward_time": 5.079871416091919, "step": 7597 }, { "epoch": 7.245063781738282e-07, "step": 7597, "training_step_time": 17.613898754119873 }, { "epoch": 7.246017456054688e-07, "model_forward_time": 5.082606792449951, "step": 7598 }, { "epoch": 7.246017456054688e-07, "step": 7598, "training_step_time": 17.82566738128662 }, { "epoch": 7.246971130371094e-07, "model_forward_time": 5.078725814819336, "step": 7599 }, { "epoch": 7.246971130371094e-07, "step": 7599, "training_step_time": 17.591426372528076 }, { "epoch": 7.2479248046875e-07, "grad_norm": 1.1497678756713867, "learning_rate": 9.906546673507858e-06, "loss": 0.1236, "step": 7600 }, { "epoch": 7.2479248046875e-07, "model_forward_time": 5.326484203338623, "step": 7600 }, { "dynamics_loss_avg": 0.047532093711197376, "epoch": 7.2479248046875e-07, "step": 7600 }, { "action_loss_avg": 0.06885121203958988, "epoch": 7.2479248046875e-07, "step": 7600 }, { "arm_loss_avg": 0.09664390943944454, "epoch": 7.2479248046875e-07, "step": 7600 }, { "ee_loss_avg": 0.2350461408495903, "epoch": 7.2479248046875e-07, "step": 7600 }, { "aux_loss_avg": 0.005136315914569423, "epoch": 7.2479248046875e-07, "step": 7600 }, { "epoch": 7.2479248046875e-07, "step": 7600, "training_step_time": 17.58532452583313 }, { "epoch": 7.248878479003906e-07, "model_forward_time": 5.083270311355591, "step": 7601 }, { "epoch": 7.248878479003906e-07, "step": 7601, "training_step_time": 17.57726287841797 }, { "epoch": 7.249832153320312e-07, "model_forward_time": 5.0809149742126465, "step": 7602 }, { "epoch": 7.249832153320312e-07, "step": 7602, "training_step_time": 17.791675567626953 }, { "epoch": 7.250785827636719e-07, "model_forward_time": 5.0782692432403564, "step": 7603 }, { "epoch": 7.250785827636719e-07, "step": 7603, "training_step_time": 17.56961727142334 }, { "epoch": 7.251739501953125e-07, "model_forward_time": 5.079514741897583, "step": 7604 }, { "epoch": 7.251739501953125e-07, "step": 7604, "training_step_time": 17.558403968811035 }, { "epoch": 7.252693176269531e-07, "model_forward_time": 5.2816314697265625, "step": 7605 }, { "epoch": 7.252693176269531e-07, "step": 7605, "training_step_time": 17.54881525039673 }, { "epoch": 7.253646850585938e-07, "model_forward_time": 5.083983898162842, "step": 7606 }, { "epoch": 7.253646850585938e-07, "step": 7606, "training_step_time": 17.570940494537354 }, { "epoch": 7.254600524902344e-07, "model_forward_time": 5.078917741775513, "step": 7607 }, { "epoch": 7.254600524902344e-07, "step": 7607, "training_step_time": 17.77981472015381 }, { "epoch": 7.25555419921875e-07, "model_forward_time": 5.078456401824951, "step": 7608 }, { "epoch": 7.25555419921875e-07, "step": 7608, "training_step_time": 17.551607131958008 }, { "epoch": 7.256507873535156e-07, "model_forward_time": 5.081656217575073, "step": 7609 }, { "epoch": 7.256507873535156e-07, "step": 7609, "training_step_time": 17.553146600723267 }, { "epoch": 7.257461547851563e-07, "grad_norm": 1.1004952192306519, "learning_rate": 9.906091570671496e-06, "loss": 0.1142, "step": 7610 }, { "epoch": 7.257461547851563e-07, "model_forward_time": 5.082101345062256, "step": 7610 }, { "dynamics_loss_avg": 0.04904470443725586, "epoch": 7.257461547851563e-07, "step": 7610 }, { "action_loss_avg": 0.052840595692396165, "epoch": 7.257461547851563e-07, "step": 7610 }, { "arm_loss_avg": 0.07258129641413688, "epoch": 7.257461547851563e-07, "step": 7610 }, { "ee_loss_avg": 0.15420570485293866, "epoch": 7.257461547851563e-07, "step": 7610 }, { "aux_loss_avg": 0.0011386271100491286, "epoch": 7.257461547851563e-07, "step": 7610 }, { "epoch": 7.257461547851563e-07, "step": 7610, "training_step_time": 17.556228399276733 }, { "epoch": 7.258415222167969e-07, "model_forward_time": 5.081069469451904, "step": 7611 }, { "epoch": 7.258415222167969e-07, "step": 7611, "training_step_time": 17.560728549957275 }, { "epoch": 7.259368896484375e-07, "model_forward_time": 3.8463566303253174, "step": 7612 }, { "epoch": 7.259368896484375e-07, "step": 7612, "training_step_time": 17.77191472053528 }, { "epoch": 7.260322570800781e-07, "model_forward_time": 5.055491924285889, "step": 7613 }, { "epoch": 7.260322570800781e-07, "step": 7613, "training_step_time": 17.547587156295776 }, { "epoch": 7.261276245117187e-07, "model_forward_time": 5.064233779907227, "step": 7614 }, { "epoch": 7.261276245117187e-07, "step": 7614, "training_step_time": 17.545053720474243 }, { "epoch": 7.262229919433593e-07, "model_forward_time": 5.070621490478516, "step": 7615 }, { "epoch": 7.262229919433593e-07, "step": 7615, "training_step_time": 17.549594402313232 }, { "epoch": 7.26318359375e-07, "model_forward_time": 5.081878662109375, "step": 7616 }, { "epoch": 7.26318359375e-07, "step": 7616, "training_step_time": 17.57808017730713 }, { "epoch": 7.264137268066407e-07, "model_forward_time": 5.089046001434326, "step": 7617 }, { "epoch": 7.264137268066407e-07, "step": 7617, "training_step_time": 17.800562858581543 }, { "epoch": 7.265090942382813e-07, "model_forward_time": 5.086215257644653, "step": 7618 }, { "epoch": 7.265090942382813e-07, "step": 7618, "training_step_time": 17.550071716308594 }, { "epoch": 7.266044616699219e-07, "model_forward_time": 5.090317010879517, "step": 7619 }, { "epoch": 7.266044616699219e-07, "step": 7619, "training_step_time": 17.352871417999268 }, { "epoch": 7.266998291015625e-07, "grad_norm": 1.9860303401947021, "learning_rate": 9.90563537289066e-06, "loss": 0.113, "step": 7620 }, { "epoch": 7.266998291015625e-07, "model_forward_time": 5.331222295761108, "step": 7620 }, { "dynamics_loss_avg": 0.04625066574662924, "epoch": 7.266998291015625e-07, "step": 7620 }, { "action_loss_avg": 0.05368240177631378, "epoch": 7.266998291015625e-07, "step": 7620 }, { "arm_loss_avg": 0.07692878432571888, "epoch": 7.266998291015625e-07, "step": 7620 }, { "ee_loss_avg": 0.20788414105772973, "epoch": 7.266998291015625e-07, "step": 7620 }, { "aux_loss_avg": 0.0013705700053833424, "epoch": 7.266998291015625e-07, "step": 7620 }, { "epoch": 7.266998291015625e-07, "step": 7620, "training_step_time": 17.48934507369995 }, { "epoch": 7.267951965332031e-07, "model_forward_time": 5.088728666305542, "step": 7621 }, { "epoch": 7.267951965332031e-07, "step": 7621, "training_step_time": 17.545524835586548 }, { "epoch": 7.268905639648437e-07, "model_forward_time": 5.0853471755981445, "step": 7622 }, { "epoch": 7.268905639648437e-07, "step": 7622, "training_step_time": 17.3510844707489 }, { "epoch": 7.269859313964844e-07, "model_forward_time": 5.084729909896851, "step": 7623 }, { "epoch": 7.269859313964844e-07, "step": 7623, "training_step_time": 17.67262363433838 }, { "epoch": 7.27081298828125e-07, "model_forward_time": 5.076767206192017, "step": 7624 }, { "epoch": 7.27081298828125e-07, "step": 7624, "training_step_time": 17.53927230834961 }, { "epoch": 7.271766662597656e-07, "model_forward_time": 5.278677701950073, "step": 7625 }, { "epoch": 7.271766662597656e-07, "step": 7625, "training_step_time": 17.566372632980347 }, { "epoch": 7.272720336914062e-07, "model_forward_time": 5.07663369178772, "step": 7626 }, { "epoch": 7.272720336914062e-07, "step": 7626, "training_step_time": 17.58674144744873 }, { "epoch": 7.273674011230469e-07, "model_forward_time": 5.073653697967529, "step": 7627 }, { "epoch": 7.273674011230469e-07, "step": 7627, "training_step_time": 17.598034858703613 }, { "epoch": 7.274627685546875e-07, "model_forward_time": 3.8411622047424316, "step": 7628 }, { "epoch": 7.274627685546875e-07, "step": 7628, "training_step_time": 17.816208600997925 }, { "epoch": 7.275581359863281e-07, "model_forward_time": 3.8245959281921387, "step": 7629 }, { "epoch": 7.275581359863281e-07, "step": 7629, "training_step_time": 17.591317892074585 }, { "epoch": 7.276535034179688e-07, "grad_norm": 2.1224524974823, "learning_rate": 9.905178080267164e-06, "loss": 0.1267, "step": 7630 }, { "epoch": 7.276535034179688e-07, "model_forward_time": 5.045055627822876, "step": 7630 }, { "dynamics_loss_avg": 0.045604035072028634, "epoch": 7.276535034179688e-07, "step": 7630 }, { "action_loss_avg": 0.056367994658648966, "epoch": 7.276535034179688e-07, "step": 7630 }, { "arm_loss_avg": 0.05932113155722618, "epoch": 7.276535034179688e-07, "step": 7630 }, { "ee_loss_avg": 0.11320551708340645, "epoch": 7.276535034179688e-07, "step": 7630 }, { "aux_loss_avg": 0.0009788932133233176, "epoch": 7.276535034179688e-07, "step": 7630 }, { "epoch": 7.276535034179688e-07, "step": 7630, "training_step_time": 17.580482244491577 }, { "epoch": 7.277488708496094e-07, "model_forward_time": 5.282181739807129, "step": 7631 }, { "epoch": 7.277488708496094e-07, "step": 7631, "training_step_time": 17.58114719390869 }, { "epoch": 7.2784423828125e-07, "model_forward_time": 5.076781749725342, "step": 7632 }, { "epoch": 7.2784423828125e-07, "step": 7632, "training_step_time": 17.553019762039185 }, { "epoch": 7.279396057128906e-07, "model_forward_time": 5.089087724685669, "step": 7633 }, { "epoch": 7.279396057128906e-07, "step": 7633, "training_step_time": 17.72883129119873 }, { "epoch": 7.280349731445312e-07, "model_forward_time": 5.101183891296387, "step": 7634 }, { "epoch": 7.280349731445312e-07, "step": 7634, "training_step_time": 17.545414447784424 }, { "epoch": 7.281303405761718e-07, "model_forward_time": 5.104865550994873, "step": 7635 }, { "epoch": 7.281303405761718e-07, "step": 7635, "training_step_time": 17.55215072631836 }, { "epoch": 7.282257080078124e-07, "model_forward_time": 5.28942084312439, "step": 7636 }, { "epoch": 7.282257080078124e-07, "step": 7636, "training_step_time": 17.582258224487305 }, { "epoch": 7.283210754394532e-07, "model_forward_time": 5.098936319351196, "step": 7637 }, { "epoch": 7.283210754394532e-07, "step": 7637, "training_step_time": 17.813705921173096 }, { "epoch": 7.284164428710938e-07, "model_forward_time": 5.095374822616577, "step": 7638 }, { "epoch": 7.284164428710938e-07, "step": 7638, "training_step_time": 17.59438467025757 }, { "epoch": 7.285118103027344e-07, "model_forward_time": 5.093594551086426, "step": 7639 }, { "epoch": 7.285118103027344e-07, "step": 7639, "training_step_time": 17.606143951416016 }, { "epoch": 7.28607177734375e-07, "grad_norm": 1.2866814136505127, "learning_rate": 9.904719692903063e-06, "loss": 0.1218, "step": 7640 }, { "epoch": 7.28607177734375e-07, "model_forward_time": 5.092910528182983, "step": 7640 }, { "dynamics_loss_avg": 0.04575770776718855, "epoch": 7.28607177734375e-07, "step": 7640 }, { "action_loss_avg": 0.04848818751052022, "epoch": 7.28607177734375e-07, "step": 7640 }, { "arm_loss_avg": 0.0658133216202259, "epoch": 7.28607177734375e-07, "step": 7640 }, { "ee_loss_avg": 0.12891267854720354, "epoch": 7.28607177734375e-07, "step": 7640 }, { "aux_loss_avg": 0.0008322119596414268, "epoch": 7.28607177734375e-07, "step": 7640 }, { "epoch": 7.28607177734375e-07, "step": 7640, "training_step_time": 17.606752395629883 }, { "epoch": 7.287025451660156e-07, "model_forward_time": 5.082901239395142, "step": 7641 }, { "epoch": 7.287025451660156e-07, "step": 7641, "training_step_time": 17.576931953430176 }, { "epoch": 7.287979125976562e-07, "model_forward_time": 5.076634883880615, "step": 7642 }, { "epoch": 7.287979125976562e-07, "step": 7642, "training_step_time": 17.764678478240967 }, { "epoch": 7.288932800292969e-07, "model_forward_time": 5.075044870376587, "step": 7643 }, { "epoch": 7.288932800292969e-07, "step": 7643, "training_step_time": 17.56268858909607 }, { "epoch": 7.289886474609375e-07, "model_forward_time": 5.07500958442688, "step": 7644 }, { "epoch": 7.289886474609375e-07, "step": 7644, "training_step_time": 17.56494450569153 }, { "epoch": 7.290840148925781e-07, "model_forward_time": 5.278693675994873, "step": 7645 }, { "epoch": 7.290840148925781e-07, "step": 7645, "training_step_time": 17.57436203956604 }, { "epoch": 7.291793823242187e-07, "model_forward_time": 3.8490889072418213, "step": 7646 }, { "epoch": 7.291793823242187e-07, "step": 7646, "training_step_time": 17.562174558639526 }, { "epoch": 7.292747497558594e-07, "model_forward_time": 5.0531227588653564, "step": 7647 }, { "epoch": 7.292747497558594e-07, "step": 7647, "training_step_time": 17.44254422187805 }, { "epoch": 7.293701171875e-07, "model_forward_time": 5.066534996032715, "step": 7648 }, { "epoch": 7.293701171875e-07, "step": 7648, "training_step_time": 17.694832801818848 }, { "epoch": 7.294654846191406e-07, "model_forward_time": 5.075825452804565, "step": 7649 }, { "epoch": 7.294654846191406e-07, "step": 7649, "training_step_time": 17.282215118408203 }, { "epoch": 7.295608520507813e-07, "grad_norm": 1.5381706953048706, "learning_rate": 9.904260210900667e-06, "loss": 0.1342, "step": 7650 }, { "epoch": 7.295608520507813e-07, "model_forward_time": 5.085749387741089, "step": 7650 }, { "dynamics_loss_avg": 0.05691027976572514, "epoch": 7.295608520507813e-07, "step": 7650 }, { "action_loss_avg": 0.06299711242318154, "epoch": 7.295608520507813e-07, "step": 7650 }, { "arm_loss_avg": 0.1243838369846344, "epoch": 7.295608520507813e-07, "step": 7650 }, { "ee_loss_avg": 0.09627931527793407, "epoch": 7.295608520507813e-07, "step": 7650 }, { "aux_loss_avg": 0.008016041369410231, "epoch": 7.295608520507813e-07, "step": 7650 }, { "epoch": 7.295608520507813e-07, "step": 7650, "training_step_time": 17.454122304916382 }, { "epoch": 7.296562194824219e-07, "model_forward_time": 5.329813480377197, "step": 7651 }, { "epoch": 7.296562194824219e-07, "step": 7651, "training_step_time": 17.491797924041748 }, { "epoch": 7.297515869140625e-07, "model_forward_time": 5.091557502746582, "step": 7652 }, { "epoch": 7.297515869140625e-07, "step": 7652, "training_step_time": 17.544122219085693 }, { "epoch": 7.298469543457031e-07, "model_forward_time": 5.09170126914978, "step": 7653 }, { "epoch": 7.298469543457031e-07, "step": 7653, "training_step_time": 17.761930227279663 }, { "epoch": 7.299423217773437e-07, "model_forward_time": 5.091382741928101, "step": 7654 }, { "epoch": 7.299423217773437e-07, "step": 7654, "training_step_time": 17.605443954467773 }, { "epoch": 7.300376892089843e-07, "model_forward_time": 5.084527492523193, "step": 7655 }, { "epoch": 7.300376892089843e-07, "step": 7655, "training_step_time": 17.411622047424316 }, { "epoch": 7.30133056640625e-07, "model_forward_time": 5.087233781814575, "step": 7656 }, { "epoch": 7.30133056640625e-07, "step": 7656, "training_step_time": 17.35342836380005 }, { "epoch": 7.302284240722657e-07, "model_forward_time": 5.081228256225586, "step": 7657 }, { "epoch": 7.302284240722657e-07, "step": 7657, "training_step_time": 17.46140766143799 }, { "epoch": 7.303237915039063e-07, "model_forward_time": 5.077787637710571, "step": 7658 }, { "epoch": 7.303237915039063e-07, "step": 7658, "training_step_time": 17.68466329574585 }, { "epoch": 7.304191589355469e-07, "model_forward_time": 5.073566675186157, "step": 7659 }, { "epoch": 7.304191589355469e-07, "step": 7659, "training_step_time": 17.527604579925537 }, { "epoch": 7.305145263671875e-07, "grad_norm": 1.8640564680099487, "learning_rate": 9.903799634362516e-06, "loss": 0.1279, "step": 7660 }, { "epoch": 7.305145263671875e-07, "model_forward_time": 5.317188262939453, "step": 7660 }, { "dynamics_loss_avg": 0.05065739694982767, "epoch": 7.305145263671875e-07, "step": 7660 }, { "action_loss_avg": 0.05150882005691528, "epoch": 7.305145263671875e-07, "step": 7660 }, { "arm_loss_avg": 0.08460832610726357, "epoch": 7.305145263671875e-07, "step": 7660 }, { "ee_loss_avg": 0.059839927777647975, "epoch": 7.305145263671875e-07, "step": 7660 }, { "aux_loss_avg": 0.0007422586728353054, "epoch": 7.305145263671875e-07, "step": 7660 }, { "epoch": 7.305145263671875e-07, "step": 7660, "training_step_time": 17.57433009147644 }, { "epoch": 7.306098937988281e-07, "model_forward_time": 5.07630729675293, "step": 7661 }, { "epoch": 7.306098937988281e-07, "step": 7661, "training_step_time": 17.38700842857361 }, { "epoch": 7.307052612304687e-07, "model_forward_time": 5.076634645462036, "step": 7662 }, { "epoch": 7.307052612304687e-07, "step": 7662, "training_step_time": 17.572336435317993 }, { "epoch": 7.308006286621094e-07, "model_forward_time": 5.075727939605713, "step": 7663 }, { "epoch": 7.308006286621094e-07, "step": 7663, "training_step_time": 17.78040862083435 }, { "epoch": 7.3089599609375e-07, "model_forward_time": 5.074696063995361, "step": 7664 }, { "epoch": 7.3089599609375e-07, "step": 7664, "training_step_time": 17.617116928100586 }, { "epoch": 7.309913635253906e-07, "model_forward_time": 5.278015613555908, "step": 7665 }, { "epoch": 7.309913635253906e-07, "step": 7665, "training_step_time": 17.61752414703369 }, { "epoch": 7.310867309570312e-07, "model_forward_time": 3.8458402156829834, "step": 7666 }, { "epoch": 7.310867309570312e-07, "step": 7666, "training_step_time": 17.62231469154358 }, { "epoch": 7.311820983886719e-07, "model_forward_time": 5.052462339401245, "step": 7667 }, { "epoch": 7.311820983886719e-07, "step": 7667, "training_step_time": 17.61729121208191 }, { "epoch": 7.312774658203125e-07, "model_forward_time": 5.066838502883911, "step": 7668 }, { "epoch": 7.312774658203125e-07, "step": 7668, "training_step_time": 17.497529983520508 }, { "epoch": 7.313728332519531e-07, "model_forward_time": 3.8412375450134277, "step": 7669 }, { "epoch": 7.313728332519531e-07, "step": 7669, "training_step_time": 17.511524438858032 }, { "epoch": 7.314682006835938e-07, "grad_norm": 2.0845754146575928, "learning_rate": 9.903337963391408e-06, "loss": 0.1185, "step": 7670 }, { "epoch": 7.314682006835938e-07, "model_forward_time": 5.050874471664429, "step": 7670 }, { "dynamics_loss_avg": 0.04401754066348076, "epoch": 7.314682006835938e-07, "step": 7670 }, { "action_loss_avg": 0.0391730073839426, "epoch": 7.314682006835938e-07, "step": 7670 }, { "arm_loss_avg": 0.07785142846405506, "epoch": 7.314682006835938e-07, "step": 7670 }, { "ee_loss_avg": 0.09151279479265213, "epoch": 7.314682006835938e-07, "step": 7670 }, { "aux_loss_avg": 0.0014212926384061576, "epoch": 7.314682006835938e-07, "step": 7670 }, { "epoch": 7.314682006835938e-07, "step": 7670, "training_step_time": 17.26624083518982 }, { "epoch": 7.315635681152344e-07, "model_forward_time": 4.030450820922852, "step": 7671 }, { "epoch": 7.315635681152344e-07, "step": 7671, "training_step_time": 17.460957765579224 }, { "epoch": 7.31658935546875e-07, "model_forward_time": 5.053697109222412, "step": 7672 }, { "epoch": 7.31658935546875e-07, "step": 7672, "training_step_time": 17.489323377609253 }, { "epoch": 7.317543029785156e-07, "model_forward_time": 5.07663369178772, "step": 7673 }, { "epoch": 7.317543029785156e-07, "step": 7673, "training_step_time": 17.451032161712646 }, { "epoch": 7.318496704101562e-07, "model_forward_time": 5.088361501693726, "step": 7674 }, { "epoch": 7.318496704101562e-07, "step": 7674, "training_step_time": 17.690704345703125 }, { "epoch": 7.319450378417968e-07, "model_forward_time": 5.095417261123657, "step": 7675 }, { "epoch": 7.319450378417968e-07, "step": 7675, "training_step_time": 17.55526041984558 }, { "epoch": 7.320404052734375e-07, "model_forward_time": 4.106105089187622, "step": 7676 }, { "epoch": 7.320404052734375e-07, "step": 7676, "training_step_time": 17.581263542175293 }, { "epoch": 7.321357727050782e-07, "model_forward_time": 5.0664355754852295, "step": 7677 }, { "epoch": 7.321357727050782e-07, "step": 7677, "training_step_time": 17.636844158172607 }, { "epoch": 7.322311401367188e-07, "model_forward_time": 3.845381498336792, "step": 7678 }, { "epoch": 7.322311401367188e-07, "step": 7678, "training_step_time": 17.522560596466064 }, { "epoch": 7.323265075683594e-07, "model_forward_time": 5.057264566421509, "step": 7679 }, { "epoch": 7.323265075683594e-07, "step": 7679, "training_step_time": 17.80183720588684 }, { "epoch": 7.32421875e-07, "grad_norm": 1.4853793382644653, "learning_rate": 9.902875198090376e-06, "loss": 0.1345, "step": 7680 }, { "epoch": 7.32421875e-07, "model_forward_time": 5.068132638931274, "step": 7680 }, { "dynamics_loss_avg": 0.04993601813912392, "epoch": 7.32421875e-07, "step": 7680 }, { "action_loss_avg": 0.05013617668300867, "epoch": 7.32421875e-07, "step": 7680 }, { "arm_loss_avg": 0.07161298841238022, "epoch": 7.32421875e-07, "step": 7680 }, { "ee_loss_avg": 0.09215512163937092, "epoch": 7.32421875e-07, "step": 7680 }, { "aux_loss_avg": 0.0035778808407485483, "epoch": 7.32421875e-07, "step": 7680 }, { "epoch": 7.32421875e-07, "step": 7680, "training_step_time": 17.595958709716797 }, { "epoch": 7.325172424316406e-07, "model_forward_time": 5.308387041091919, "step": 7681 }, { "epoch": 7.325172424316406e-07, "step": 7681, "training_step_time": 17.60820436477661 }, { "epoch": 7.326126098632812e-07, "model_forward_time": 5.093583345413208, "step": 7682 }, { "epoch": 7.326126098632812e-07, "step": 7682, "training_step_time": 17.613170623779297 }, { "epoch": 7.327079772949219e-07, "model_forward_time": 5.094244480133057, "step": 7683 }, { "epoch": 7.327079772949219e-07, "step": 7683, "training_step_time": 17.604131937026978 }, { "epoch": 7.328033447265625e-07, "model_forward_time": 5.0974647998809814, "step": 7684 }, { "epoch": 7.328033447265625e-07, "step": 7684, "training_step_time": 17.789069175720215 }, { "epoch": 7.328987121582031e-07, "model_forward_time": 3.8549461364746094, "step": 7685 }, { "epoch": 7.328987121582031e-07, "step": 7685, "training_step_time": 17.58733558654785 }, { "epoch": 7.329940795898437e-07, "model_forward_time": 5.248512029647827, "step": 7686 }, { "epoch": 7.329940795898437e-07, "step": 7686, "training_step_time": 17.5917706489563 }, { "epoch": 7.330894470214844e-07, "model_forward_time": 5.075990200042725, "step": 7687 }, { "epoch": 7.330894470214844e-07, "step": 7687, "training_step_time": 17.58156967163086 }, { "epoch": 7.33184814453125e-07, "model_forward_time": 5.077644348144531, "step": 7688 }, { "epoch": 7.33184814453125e-07, "step": 7688, "training_step_time": 17.579309701919556 }, { "epoch": 7.332801818847657e-07, "model_forward_time": 5.081995248794556, "step": 7689 }, { "epoch": 7.332801818847657e-07, "step": 7689, "training_step_time": 17.802162647247314 }, { "epoch": 7.333755493164063e-07, "grad_norm": 1.2645150423049927, "learning_rate": 9.902411338562701e-06, "loss": 0.1183, "step": 7690 }, { "epoch": 7.333755493164063e-07, "model_forward_time": 5.084003448486328, "step": 7690 }, { "dynamics_loss_avg": 0.046124257054179905, "epoch": 7.333755493164063e-07, "step": 7690 }, { "action_loss_avg": 0.0521207083016634, "epoch": 7.333755493164063e-07, "step": 7690 }, { "arm_loss_avg": 0.07588943503797055, "epoch": 7.333755493164063e-07, "step": 7690 }, { "ee_loss_avg": 0.07562440689653158, "epoch": 7.333755493164063e-07, "step": 7690 }, { "aux_loss_avg": 0.0010335346159990877, "epoch": 7.333755493164063e-07, "step": 7690 }, { "epoch": 7.333755493164063e-07, "step": 7690, "training_step_time": 17.56832218170166 }, { "epoch": 7.334709167480469e-07, "model_forward_time": 5.31705641746521, "step": 7691 }, { "epoch": 7.334709167480469e-07, "step": 7691, "training_step_time": 17.57818293571472 }, { "epoch": 7.335662841796875e-07, "model_forward_time": 5.0884130001068115, "step": 7692 }, { "epoch": 7.335662841796875e-07, "step": 7692, "training_step_time": 17.569153547286987 }, { "epoch": 7.336616516113281e-07, "model_forward_time": 5.085809946060181, "step": 7693 }, { "epoch": 7.336616516113281e-07, "step": 7693, "training_step_time": 17.79134964942932 }, { "epoch": 7.337570190429687e-07, "model_forward_time": 5.086894273757935, "step": 7694 }, { "epoch": 7.337570190429687e-07, "step": 7694, "training_step_time": 17.567302703857422 }, { "epoch": 7.338523864746093e-07, "model_forward_time": 5.085504770278931, "step": 7695 }, { "epoch": 7.338523864746093e-07, "step": 7695, "training_step_time": 17.36409282684326 }, { "epoch": 7.3394775390625e-07, "model_forward_time": 5.270603179931641, "step": 7696 }, { "epoch": 7.3394775390625e-07, "step": 7696, "training_step_time": 17.608665943145752 }, { "epoch": 7.340431213378907e-07, "model_forward_time": 5.08402681350708, "step": 7697 }, { "epoch": 7.340431213378907e-07, "step": 7697, "training_step_time": 17.515281438827515 }, { "epoch": 7.341384887695313e-07, "model_forward_time": 5.082308769226074, "step": 7698 }, { "epoch": 7.341384887695313e-07, "step": 7698, "training_step_time": 17.543943643569946 }, { "epoch": 7.342338562011719e-07, "model_forward_time": 5.078027963638306, "step": 7699 }, { "epoch": 7.342338562011719e-07, "step": 7699, "training_step_time": 17.79254722595215 }, { "epoch": 7.343292236328125e-07, "grad_norm": 1.4948807954788208, "learning_rate": 9.901946384911905e-06, "loss": 0.1164, "step": 7700 }, { "epoch": 7.343292236328125e-07, "model_forward_time": 5.077575206756592, "step": 7700 }, { "dynamics_loss_avg": 0.046347828954458235, "epoch": 7.343292236328125e-07, "step": 7700 }, { "action_loss_avg": 0.03803357630968094, "epoch": 7.343292236328125e-07, "step": 7700 }, { "arm_loss_avg": 0.05631096847355366, "epoch": 7.343292236328125e-07, "step": 7700 }, { "ee_loss_avg": 0.060945832170546055, "epoch": 7.343292236328125e-07, "step": 7700 }, { "aux_loss_avg": 0.0008699432655703276, "epoch": 7.343292236328125e-07, "step": 7700 }, { "epoch": 7.343292236328125e-07, "step": 7700, "training_step_time": 17.570252180099487 }, { "epoch": 7.344245910644531e-07, "model_forward_time": 5.310629844665527, "step": 7701 }, { "epoch": 7.344245910644531e-07, "step": 7701, "training_step_time": 17.572171211242676 }, { "epoch": 7.345199584960937e-07, "model_forward_time": 5.083291292190552, "step": 7702 }, { "epoch": 7.345199584960937e-07, "step": 7702, "training_step_time": 17.575661659240723 }, { "epoch": 7.346153259277344e-07, "model_forward_time": 5.084432601928711, "step": 7703 }, { "epoch": 7.346153259277344e-07, "step": 7703, "training_step_time": 17.80692219734192 }, { "epoch": 7.34710693359375e-07, "model_forward_time": 5.079938650131226, "step": 7704 }, { "epoch": 7.34710693359375e-07, "step": 7704, "training_step_time": 17.578563928604126 }, { "epoch": 7.348060607910156e-07, "model_forward_time": 5.08383584022522, "step": 7705 }, { "epoch": 7.348060607910156e-07, "step": 7705, "training_step_time": 17.259097814559937 }, { "epoch": 7.349014282226562e-07, "model_forward_time": 5.277536869049072, "step": 7706 }, { "epoch": 7.349014282226562e-07, "step": 7706, "training_step_time": 17.482088327407837 }, { "epoch": 7.349967956542969e-07, "model_forward_time": 5.086521148681641, "step": 7707 }, { "epoch": 7.349967956542969e-07, "step": 7707, "training_step_time": 17.577288150787354 }, { "epoch": 7.350921630859375e-07, "model_forward_time": 3.8487672805786133, "step": 7708 }, { "epoch": 7.350921630859375e-07, "step": 7708, "training_step_time": 17.536133289337158 }, { "epoch": 7.351875305175782e-07, "model_forward_time": 5.058764457702637, "step": 7709 }, { "epoch": 7.351875305175782e-07, "step": 7709, "training_step_time": 17.785741806030273 }, { "epoch": 7.352828979492188e-07, "grad_norm": 1.7930991649627686, "learning_rate": 9.901480337241762e-06, "loss": 0.1114, "step": 7710 }, { "epoch": 7.352828979492188e-07, "model_forward_time": 5.065902471542358, "step": 7710 }, { "dynamics_loss_avg": 0.048698824737221, "epoch": 7.352828979492188e-07, "step": 7710 }, { "action_loss_avg": 0.04371754825115204, "epoch": 7.352828979492188e-07, "step": 7710 }, { "arm_loss_avg": 0.08288687355816364, "epoch": 7.352828979492188e-07, "step": 7710 }, { "ee_loss_avg": 0.08287130426615477, "epoch": 7.352828979492188e-07, "step": 7710 }, { "aux_loss_avg": 0.0007802880601957441, "epoch": 7.352828979492188e-07, "step": 7710 }, { "epoch": 7.352828979492188e-07, "step": 7710, "training_step_time": 17.5752170085907 }, { "epoch": 7.353782653808594e-07, "model_forward_time": 5.311094284057617, "step": 7711 }, { "epoch": 7.353782653808594e-07, "step": 7711, "training_step_time": 17.580368041992188 }, { "epoch": 7.354736328125e-07, "model_forward_time": 5.081338405609131, "step": 7712 }, { "epoch": 7.354736328125e-07, "step": 7712, "training_step_time": 17.590423822402954 }, { "epoch": 7.355690002441406e-07, "model_forward_time": 5.090272665023804, "step": 7713 }, { "epoch": 7.355690002441406e-07, "step": 7713, "training_step_time": 17.589333295822144 }, { "epoch": 7.356643676757812e-07, "model_forward_time": 5.091620206832886, "step": 7714 }, { "epoch": 7.356643676757812e-07, "step": 7714, "training_step_time": 17.782079935073853 }, { "epoch": 7.357597351074218e-07, "model_forward_time": 5.093566179275513, "step": 7715 }, { "epoch": 7.357597351074218e-07, "step": 7715, "training_step_time": 17.58579707145691 }, { "epoch": 7.358551025390625e-07, "model_forward_time": 5.2851855754852295, "step": 7716 }, { "epoch": 7.358551025390625e-07, "step": 7716, "training_step_time": 17.586933851242065 }, { "epoch": 7.359504699707032e-07, "model_forward_time": 5.090888977050781, "step": 7717 }, { "epoch": 7.359504699707032e-07, "step": 7717, "training_step_time": 17.487650632858276 }, { "epoch": 7.360458374023438e-07, "model_forward_time": 5.090296983718872, "step": 7718 }, { "epoch": 7.360458374023438e-07, "step": 7718, "training_step_time": 17.52179455757141 }, { "epoch": 7.361412048339844e-07, "model_forward_time": 5.0856828689575195, "step": 7719 }, { "epoch": 7.361412048339844e-07, "step": 7719, "training_step_time": 17.78127694129944 }, { "epoch": 7.36236572265625e-07, "grad_norm": 1.3825712203979492, "learning_rate": 9.901013195656279e-06, "loss": 0.1277, "step": 7720 }, { "epoch": 7.36236572265625e-07, "model_forward_time": 5.083132982254028, "step": 7720 }, { "dynamics_loss_avg": 0.050311563350260255, "epoch": 7.36236572265625e-07, "step": 7720 }, { "action_loss_avg": 0.07862771674990654, "epoch": 7.36236572265625e-07, "step": 7720 }, { "arm_loss_avg": 0.0954757932573557, "epoch": 7.36236572265625e-07, "step": 7720 }, { "ee_loss_avg": 0.08355226144194602, "epoch": 7.36236572265625e-07, "step": 7720 }, { "aux_loss_avg": 0.0007753762707579881, "epoch": 7.36236572265625e-07, "step": 7720 }, { "epoch": 7.36236572265625e-07, "step": 7720, "training_step_time": 17.564286947250366 }, { "epoch": 7.363319396972656e-07, "model_forward_time": 5.318241834640503, "step": 7721 }, { "epoch": 7.363319396972656e-07, "step": 7721, "training_step_time": 17.572469234466553 }, { "epoch": 7.364273071289062e-07, "model_forward_time": 5.081275939941406, "step": 7722 }, { "epoch": 7.364273071289062e-07, "step": 7722, "training_step_time": 17.583525896072388 }, { "epoch": 7.365226745605469e-07, "model_forward_time": 5.080992221832275, "step": 7723 }, { "epoch": 7.365226745605469e-07, "step": 7723, "training_step_time": 17.799726724624634 }, { "epoch": 7.366180419921875e-07, "model_forward_time": 5.081639528274536, "step": 7724 }, { "epoch": 7.366180419921875e-07, "step": 7724, "training_step_time": 17.577868223190308 }, { "epoch": 7.367134094238281e-07, "model_forward_time": 5.081586837768555, "step": 7725 }, { "epoch": 7.367134094238281e-07, "step": 7725, "training_step_time": 17.569111347198486 }, { "epoch": 7.368087768554687e-07, "model_forward_time": 5.284219264984131, "step": 7726 }, { "epoch": 7.368087768554687e-07, "step": 7726, "training_step_time": 17.558753728866577 }, { "epoch": 7.369041442871094e-07, "model_forward_time": 5.083369016647339, "step": 7727 }, { "epoch": 7.369041442871094e-07, "step": 7727, "training_step_time": 17.55900549888611 }, { "epoch": 7.3699951171875e-07, "model_forward_time": 5.083134174346924, "step": 7728 }, { "epoch": 7.3699951171875e-07, "step": 7728, "training_step_time": 17.77155375480652 }, { "epoch": 7.370948791503907e-07, "model_forward_time": 5.082603693008423, "step": 7729 }, { "epoch": 7.370948791503907e-07, "step": 7729, "training_step_time": 17.54900622367859 }, { "epoch": 7.371902465820313e-07, "grad_norm": 1.1644660234451294, "learning_rate": 9.900544960259717e-06, "loss": 0.1093, "step": 7730 }, { "epoch": 7.371902465820313e-07, "model_forward_time": 5.087417364120483, "step": 7730 }, { "dynamics_loss_avg": 0.0454829772002995, "epoch": 7.371902465820313e-07, "step": 7730 }, { "action_loss_avg": 0.047044189646840096, "epoch": 7.371902465820313e-07, "step": 7730 }, { "arm_loss_avg": 0.11461035571992398, "epoch": 7.371902465820313e-07, "step": 7730 }, { "ee_loss_avg": 0.09849187955260277, "epoch": 7.371902465820313e-07, "step": 7730 }, { "aux_loss_avg": 0.000897976863780059, "epoch": 7.371902465820313e-07, "step": 7730 }, { "epoch": 7.371902465820313e-07, "step": 7730, "training_step_time": 17.54578948020935 }, { "epoch": 7.372856140136719e-07, "model_forward_time": 5.083662271499634, "step": 7731 }, { "epoch": 7.372856140136719e-07, "step": 7731, "training_step_time": 17.61091184616089 }, { "epoch": 7.373809814453125e-07, "model_forward_time": 5.082169771194458, "step": 7732 }, { "epoch": 7.373809814453125e-07, "step": 7732, "training_step_time": 17.546990633010864 }, { "epoch": 7.374763488769531e-07, "model_forward_time": 5.079780340194702, "step": 7733 }, { "epoch": 7.374763488769531e-07, "step": 7733, "training_step_time": 17.776610374450684 }, { "epoch": 7.375717163085937e-07, "model_forward_time": 5.0793232917785645, "step": 7734 }, { "epoch": 7.375717163085937e-07, "step": 7734, "training_step_time": 17.55436396598816 }, { "epoch": 7.376670837402343e-07, "model_forward_time": 5.0772905349731445, "step": 7735 }, { "epoch": 7.376670837402343e-07, "step": 7735, "training_step_time": 17.56131887435913 }, { "epoch": 7.37762451171875e-07, "model_forward_time": 5.082750082015991, "step": 7736 }, { "epoch": 7.37762451171875e-07, "step": 7736, "training_step_time": 17.593864917755127 }, { "epoch": 7.378578186035157e-07, "model_forward_time": 5.081381797790527, "step": 7737 }, { "epoch": 7.378578186035157e-07, "step": 7737, "training_step_time": 17.476929903030396 }, { "epoch": 7.379531860351563e-07, "model_forward_time": 5.081756591796875, "step": 7738 }, { "epoch": 7.379531860351563e-07, "step": 7738, "training_step_time": 17.50976872444153 }, { "epoch": 7.380485534667969e-07, "model_forward_time": 5.078084230422974, "step": 7739 }, { "epoch": 7.380485534667969e-07, "step": 7739, "training_step_time": 17.772074699401855 }, { "epoch": 7.381439208984375e-07, "grad_norm": 1.405670404434204, "learning_rate": 9.900075631156574e-06, "loss": 0.113, "step": 7740 }, { "epoch": 7.381439208984375e-07, "model_forward_time": 5.080984115600586, "step": 7740 }, { "dynamics_loss_avg": 0.04474516352638602, "epoch": 7.381439208984375e-07, "step": 7740 }, { "action_loss_avg": 0.04757799580693245, "epoch": 7.381439208984375e-07, "step": 7740 }, { "arm_loss_avg": 0.07824245058000087, "epoch": 7.381439208984375e-07, "step": 7740 }, { "ee_loss_avg": 0.08012494305148721, "epoch": 7.381439208984375e-07, "step": 7740 }, { "aux_loss_avg": 0.002946893702028319, "epoch": 7.381439208984375e-07, "step": 7740 }, { "epoch": 7.381439208984375e-07, "step": 7740, "training_step_time": 17.559945821762085 }, { "epoch": 7.382392883300781e-07, "model_forward_time": 5.318399429321289, "step": 7741 }, { "epoch": 7.382392883300781e-07, "step": 7741, "training_step_time": 17.564414501190186 }, { "epoch": 7.383346557617187e-07, "model_forward_time": 5.080041885375977, "step": 7742 }, { "epoch": 7.383346557617187e-07, "step": 7742, "training_step_time": 17.57744312286377 }, { "epoch": 7.384300231933594e-07, "model_forward_time": 5.082645416259766, "step": 7743 }, { "epoch": 7.384300231933594e-07, "step": 7743, "training_step_time": 17.808395385742188 }, { "epoch": 7.38525390625e-07, "model_forward_time": 5.077077388763428, "step": 7744 }, { "epoch": 7.38525390625e-07, "step": 7744, "training_step_time": 17.579996824264526 }, { "epoch": 7.386207580566406e-07, "model_forward_time": 5.078857183456421, "step": 7745 }, { "epoch": 7.386207580566406e-07, "step": 7745, "training_step_time": 17.57133197784424 }, { "epoch": 7.387161254882812e-07, "model_forward_time": 5.280315637588501, "step": 7746 }, { "epoch": 7.387161254882812e-07, "step": 7746, "training_step_time": 17.575576305389404 }, { "epoch": 7.388114929199219e-07, "model_forward_time": 5.080973863601685, "step": 7747 }, { "epoch": 7.388114929199219e-07, "step": 7747, "training_step_time": 17.579418659210205 }, { "epoch": 7.389068603515625e-07, "model_forward_time": 5.0817999839782715, "step": 7748 }, { "epoch": 7.389068603515625e-07, "step": 7748, "training_step_time": 17.77652406692505 }, { "epoch": 7.390022277832032e-07, "model_forward_time": 5.079792261123657, "step": 7749 }, { "epoch": 7.390022277832032e-07, "step": 7749, "training_step_time": 17.544284343719482 }, { "epoch": 7.390975952148438e-07, "grad_norm": 2.503692626953125, "learning_rate": 9.899605208451598e-06, "loss": 0.1268, "step": 7750 }, { "epoch": 7.390975952148438e-07, "model_forward_time": 5.082911729812622, "step": 7750 }, { "dynamics_loss_avg": 0.06055298894643783, "epoch": 7.390975952148438e-07, "step": 7750 }, { "action_loss_avg": 0.05543918013572693, "epoch": 7.390975952148438e-07, "step": 7750 }, { "arm_loss_avg": 0.06541786044836044, "epoch": 7.390975952148438e-07, "step": 7750 }, { "ee_loss_avg": 0.11804951429367065, "epoch": 7.390975952148438e-07, "step": 7750 }, { "aux_loss_avg": 0.00187608958221972, "epoch": 7.390975952148438e-07, "step": 7750 }, { "epoch": 7.390975952148438e-07, "step": 7750, "training_step_time": 17.558938026428223 }, { "epoch": 7.391929626464844e-07, "model_forward_time": 5.0801732540130615, "step": 7751 }, { "epoch": 7.391929626464844e-07, "step": 7751, "training_step_time": 17.597795963287354 }, { "epoch": 7.39288330078125e-07, "model_forward_time": 3.8479416370391846, "step": 7752 }, { "epoch": 7.39288330078125e-07, "step": 7752, "training_step_time": 17.551045656204224 }, { "epoch": 7.393836975097656e-07, "model_forward_time": 5.059597015380859, "step": 7753 }, { "epoch": 7.393836975097656e-07, "step": 7753, "training_step_time": 17.787981748580933 }, { "epoch": 7.394790649414062e-07, "model_forward_time": 3.8329591751098633, "step": 7754 }, { "epoch": 7.394790649414062e-07, "step": 7754, "training_step_time": 17.549561500549316 }, { "epoch": 7.395744323730468e-07, "model_forward_time": 5.048779249191284, "step": 7755 }, { "epoch": 7.395744323730468e-07, "step": 7755, "training_step_time": 17.55820322036743 }, { "epoch": 7.396697998046875e-07, "model_forward_time": 5.0706822872161865, "step": 7756 }, { "epoch": 7.396697998046875e-07, "step": 7756, "training_step_time": 17.59447979927063 }, { "epoch": 7.397651672363281e-07, "model_forward_time": 5.26140832901001, "step": 7757 }, { "epoch": 7.397651672363281e-07, "step": 7757, "training_step_time": 17.531582832336426 }, { "epoch": 7.398605346679688e-07, "model_forward_time": 5.094591856002808, "step": 7758 }, { "epoch": 7.398605346679688e-07, "step": 7758, "training_step_time": 17.37126922607422 }, { "epoch": 7.399559020996094e-07, "model_forward_time": 5.105767488479614, "step": 7759 }, { "epoch": 7.399559020996094e-07, "step": 7759, "training_step_time": 17.70312237739563 }, { "epoch": 7.4005126953125e-07, "grad_norm": 2.2316367626190186, "learning_rate": 9.899133692249775e-06, "loss": 0.1173, "step": 7760 }, { "epoch": 7.4005126953125e-07, "model_forward_time": 5.10123348236084, "step": 7760 }, { "dynamics_loss_avg": 0.04901216998696327, "epoch": 7.4005126953125e-07, "step": 7760 }, { "action_loss_avg": 0.06899174898862839, "epoch": 7.4005126953125e-07, "step": 7760 }, { "arm_loss_avg": 0.08512689396739007, "epoch": 7.4005126953125e-07, "step": 7760 }, { "ee_loss_avg": 0.09733167178928852, "epoch": 7.4005126953125e-07, "step": 7760 }, { "aux_loss_avg": 0.0017296023841481655, "epoch": 7.4005126953125e-07, "step": 7760 }, { "epoch": 7.4005126953125e-07, "step": 7760, "training_step_time": 17.512873649597168 }, { "epoch": 7.401466369628906e-07, "model_forward_time": 3.8557512760162354, "step": 7761 }, { "epoch": 7.401466369628906e-07, "step": 7761, "training_step_time": 17.54698920249939 }, { "epoch": 7.402420043945313e-07, "model_forward_time": 5.2862842082977295, "step": 7762 }, { "epoch": 7.402420043945313e-07, "step": 7762, "training_step_time": 17.561657190322876 }, { "epoch": 7.403373718261719e-07, "model_forward_time": 5.066187858581543, "step": 7763 }, { "epoch": 7.403373718261719e-07, "step": 7763, "training_step_time": 17.801340341567993 }, { "epoch": 7.404327392578125e-07, "model_forward_time": 3.838285207748413, "step": 7764 }, { "epoch": 7.404327392578125e-07, "step": 7764, "training_step_time": 17.575600624084473 }, { "epoch": 7.405281066894531e-07, "model_forward_time": 3.8220503330230713, "step": 7765 }, { "epoch": 7.405281066894531e-07, "step": 7765, "training_step_time": 17.586994886398315 }, { "epoch": 7.406234741210937e-07, "model_forward_time": 5.047089338302612, "step": 7766 }, { "epoch": 7.406234741210937e-07, "step": 7766, "training_step_time": 17.582175970077515 }, { "epoch": 7.407188415527343e-07, "model_forward_time": 5.246158123016357, "step": 7767 }, { "epoch": 7.407188415527343e-07, "step": 7767, "training_step_time": 17.560282707214355 }, { "epoch": 7.40814208984375e-07, "model_forward_time": 5.081488370895386, "step": 7768 }, { "epoch": 7.40814208984375e-07, "step": 7768, "training_step_time": 17.769409894943237 }, { "epoch": 7.409095764160157e-07, "model_forward_time": 5.093932151794434, "step": 7769 }, { "epoch": 7.409095764160157e-07, "step": 7769, "training_step_time": 17.538530588150024 }, { "epoch": 7.410049438476563e-07, "grad_norm": 1.2856279611587524, "learning_rate": 9.898661082656344e-06, "loss": 0.1017, "step": 7770 }, { "epoch": 7.410049438476563e-07, "model_forward_time": 5.102112531661987, "step": 7770 }, { "dynamics_loss_avg": 0.04466208852827549, "epoch": 7.410049438476563e-07, "step": 7770 }, { "action_loss_avg": 0.045186851546168326, "epoch": 7.410049438476563e-07, "step": 7770 }, { "arm_loss_avg": 0.07257348112761974, "epoch": 7.410049438476563e-07, "step": 7770 }, { "ee_loss_avg": 0.08346570432186126, "epoch": 7.410049438476563e-07, "step": 7770 }, { "aux_loss_avg": 0.0007517990976339206, "epoch": 7.410049438476563e-07, "step": 7770 }, { "epoch": 7.410049438476563e-07, "step": 7770, "training_step_time": 17.347866535186768 }, { "epoch": 7.411003112792969e-07, "model_forward_time": 5.103888988494873, "step": 7771 }, { "epoch": 7.411003112792969e-07, "step": 7771, "training_step_time": 17.60120964050293 }, { "epoch": 7.411956787109375e-07, "model_forward_time": 5.323781251907349, "step": 7772 }, { "epoch": 7.411956787109375e-07, "step": 7772, "training_step_time": 17.503101587295532 }, { "epoch": 7.412910461425781e-07, "model_forward_time": 5.089238166809082, "step": 7773 }, { "epoch": 7.412910461425781e-07, "step": 7773, "training_step_time": 17.530152320861816 }, { "epoch": 7.413864135742187e-07, "model_forward_time": 3.8473262786865234, "step": 7774 }, { "epoch": 7.413864135742187e-07, "step": 7774, "training_step_time": 17.23564577102661 }, { "epoch": 7.414817810058593e-07, "model_forward_time": 5.055837631225586, "step": 7775 }, { "epoch": 7.414817810058593e-07, "step": 7775, "training_step_time": 17.49300217628479 }, { "epoch": 7.415771484375e-07, "model_forward_time": 3.832000970840454, "step": 7776 }, { "epoch": 7.415771484375e-07, "step": 7776, "training_step_time": 17.35899519920349 }, { "epoch": 7.416725158691406e-07, "model_forward_time": 5.262760877609253, "step": 7777 }, { "epoch": 7.416725158691406e-07, "step": 7777, "training_step_time": 17.623059511184692 }, { "epoch": 7.417678833007813e-07, "model_forward_time": 5.084715366363525, "step": 7778 }, { "epoch": 7.417678833007813e-07, "step": 7778, "training_step_time": 17.565768003463745 }, { "epoch": 7.418632507324219e-07, "model_forward_time": 5.093106746673584, "step": 7779 }, { "epoch": 7.418632507324219e-07, "step": 7779, "training_step_time": 17.83236026763916 }, { "epoch": 7.419586181640625e-07, "grad_norm": 1.4838168621063232, "learning_rate": 9.898187379776775e-06, "loss": 0.1466, "step": 7780 }, { "epoch": 7.419586181640625e-07, "model_forward_time": 5.097565174102783, "step": 7780 }, { "dynamics_loss_avg": 0.05597927812486887, "epoch": 7.419586181640625e-07, "step": 7780 }, { "action_loss_avg": 0.06442508548498153, "epoch": 7.419586181640625e-07, "step": 7780 }, { "arm_loss_avg": 0.07886121906340123, "epoch": 7.419586181640625e-07, "step": 7780 }, { "ee_loss_avg": 0.12060103882104159, "epoch": 7.419586181640625e-07, "step": 7780 }, { "aux_loss_avg": 0.0024481646600179375, "epoch": 7.419586181640625e-07, "step": 7780 }, { "epoch": 7.419586181640625e-07, "step": 7780, "training_step_time": 17.59610104560852 }, { "epoch": 7.420539855957031e-07, "model_forward_time": 5.094669818878174, "step": 7781 }, { "epoch": 7.420539855957031e-07, "step": 7781, "training_step_time": 17.604941368103027 }, { "epoch": 7.421493530273438e-07, "model_forward_time": 3.857008218765259, "step": 7782 }, { "epoch": 7.421493530273438e-07, "step": 7782, "training_step_time": 17.61245059967041 }, { "epoch": 7.422447204589844e-07, "model_forward_time": 3.8364434242248535, "step": 7783 }, { "epoch": 7.422447204589844e-07, "step": 7783, "training_step_time": 17.614157915115356 }, { "epoch": 7.42340087890625e-07, "model_forward_time": 5.051173686981201, "step": 7784 }, { "epoch": 7.42340087890625e-07, "step": 7784, "training_step_time": 17.790103673934937 }, { "epoch": 7.424354553222656e-07, "model_forward_time": 5.069542646408081, "step": 7785 }, { "epoch": 7.424354553222656e-07, "step": 7785, "training_step_time": 17.58679962158203 }, { "epoch": 7.425308227539062e-07, "model_forward_time": 5.084445476531982, "step": 7786 }, { "epoch": 7.425308227539062e-07, "step": 7786, "training_step_time": 17.603009700775146 }, { "epoch": 7.426261901855468e-07, "model_forward_time": 5.090481519699097, "step": 7787 }, { "epoch": 7.426261901855468e-07, "step": 7787, "training_step_time": 17.56481647491455 }, { "epoch": 7.427215576171875e-07, "model_forward_time": 5.102627277374268, "step": 7788 }, { "epoch": 7.427215576171875e-07, "step": 7788, "training_step_time": 17.55482006072998 }, { "epoch": 7.428169250488282e-07, "model_forward_time": 3.858858346939087, "step": 7789 }, { "epoch": 7.428169250488282e-07, "step": 7789, "training_step_time": 17.796960592269897 }, { "epoch": 7.429122924804688e-07, "grad_norm": 1.245949625968933, "learning_rate": 9.897712583716795e-06, "loss": 0.1312, "step": 7790 }, { "epoch": 7.429122924804688e-07, "model_forward_time": 5.062258005142212, "step": 7790 }, { "dynamics_loss_avg": 0.058139624446630477, "epoch": 7.429122924804688e-07, "step": 7790 }, { "action_loss_avg": 0.04934365153312683, "epoch": 7.429122924804688e-07, "step": 7790 }, { "arm_loss_avg": 0.103260238468647, "epoch": 7.429122924804688e-07, "step": 7790 }, { "ee_loss_avg": 0.12102253194898367, "epoch": 7.429122924804688e-07, "step": 7790 }, { "aux_loss_avg": 0.004461190843721851, "epoch": 7.429122924804688e-07, "step": 7790 }, { "epoch": 7.429122924804688e-07, "step": 7790, "training_step_time": 17.555827617645264 }, { "epoch": 7.430076599121094e-07, "model_forward_time": 5.070836782455444, "step": 7791 }, { "epoch": 7.430076599121094e-07, "step": 7791, "training_step_time": 17.58899736404419 }, { "epoch": 7.4310302734375e-07, "model_forward_time": 3.8473734855651855, "step": 7792 }, { "epoch": 7.4310302734375e-07, "step": 7792, "training_step_time": 17.554152965545654 }, { "epoch": 7.431983947753906e-07, "model_forward_time": 5.294826984405518, "step": 7793 }, { "epoch": 7.431983947753906e-07, "step": 7793, "training_step_time": 17.77776789665222 }, { "epoch": 7.432937622070312e-07, "model_forward_time": 5.070539236068726, "step": 7794 }, { "epoch": 7.432937622070312e-07, "step": 7794, "training_step_time": 17.372861862182617 }, { "epoch": 7.433891296386718e-07, "model_forward_time": 5.081824541091919, "step": 7795 }, { "epoch": 7.433891296386718e-07, "step": 7795, "training_step_time": 17.470335483551025 }, { "epoch": 7.434844970703125e-07, "model_forward_time": 5.104080438613892, "step": 7796 }, { "epoch": 7.434844970703125e-07, "step": 7796, "training_step_time": 17.547353982925415 }, { "epoch": 7.435798645019531e-07, "model_forward_time": 5.110321044921875, "step": 7797 }, { "epoch": 7.435798645019531e-07, "step": 7797, "training_step_time": 17.633838176727295 }, { "epoch": 7.436752319335938e-07, "model_forward_time": 5.323605060577393, "step": 7798 }, { "epoch": 7.436752319335938e-07, "step": 7798, "training_step_time": 17.61232018470764 }, { "epoch": 7.437705993652344e-07, "model_forward_time": 3.869415760040283, "step": 7799 }, { "epoch": 7.437705993652344e-07, "step": 7799, "training_step_time": 17.841139793395996 }, { "epoch": 7.43865966796875e-07, "grad_norm": 2.073167562484741, "learning_rate": 9.897236694582366e-06, "loss": 0.1415, "step": 7800 }, { "epoch": 7.43865966796875e-07, "model_forward_time": 5.056828022003174, "step": 7800 }, { "dynamics_loss_avg": 0.05751994140446186, "epoch": 7.43865966796875e-07, "step": 7800 }, { "action_loss_avg": 0.051106135454028846, "epoch": 7.43865966796875e-07, "step": 7800 }, { "arm_loss_avg": 0.06065393113531172, "epoch": 7.43865966796875e-07, "step": 7800 }, { "ee_loss_avg": 0.05249886391684413, "epoch": 7.43865966796875e-07, "step": 7800 }, { "aux_loss_avg": 0.001227557403035462, "epoch": 7.43865966796875e-07, "step": 7800 }, { "epoch": 7.43865966796875e-07, "step": 7800, "training_step_time": 17.592018604278564 }, { "epoch": 7.439613342285156e-07, "model_forward_time": 5.066822528839111, "step": 7801 }, { "epoch": 7.439613342285156e-07, "step": 7801, "training_step_time": 17.613598585128784 }, { "epoch": 7.440567016601563e-07, "model_forward_time": 5.071732044219971, "step": 7802 }, { "epoch": 7.440567016601563e-07, "step": 7802, "training_step_time": 17.604422330856323 }, { "epoch": 7.441520690917969e-07, "model_forward_time": 5.317335367202759, "step": 7803 }, { "epoch": 7.441520690917969e-07, "step": 7803, "training_step_time": 17.8334379196167 }, { "epoch": 7.442474365234375e-07, "model_forward_time": 5.07944393157959, "step": 7804 }, { "epoch": 7.442474365234375e-07, "step": 7804, "training_step_time": 17.594881534576416 }, { "epoch": 7.443428039550781e-07, "model_forward_time": 5.0881102085113525, "step": 7805 }, { "epoch": 7.443428039550781e-07, "step": 7805, "training_step_time": 17.587191820144653 }, { "epoch": 7.444381713867187e-07, "model_forward_time": 5.0863189697265625, "step": 7806 }, { "epoch": 7.444381713867187e-07, "step": 7806, "training_step_time": 17.210119247436523 }, { "epoch": 7.445335388183593e-07, "model_forward_time": 5.286616325378418, "step": 7807 }, { "epoch": 7.445335388183593e-07, "step": 7807, "training_step_time": 17.547592163085938 }, { "epoch": 7.4462890625e-07, "model_forward_time": 5.088929891586304, "step": 7808 }, { "epoch": 7.4462890625e-07, "step": 7808, "training_step_time": 17.53395915031433 }, { "epoch": 7.447242736816407e-07, "model_forward_time": 5.086329936981201, "step": 7809 }, { "epoch": 7.447242736816407e-07, "step": 7809, "training_step_time": 17.791055917739868 }, { "epoch": 7.448196411132813e-07, "grad_norm": 1.5957096815109253, "learning_rate": 9.8967597124797e-06, "loss": 0.1298, "step": 7810 }, { "epoch": 7.448196411132813e-07, "model_forward_time": 5.079268455505371, "step": 7810 }, { "dynamics_loss_avg": 0.039102588593959806, "epoch": 7.448196411132813e-07, "step": 7810 }, { "action_loss_avg": 0.02120188173139468, "epoch": 7.448196411132813e-07, "step": 7810 }, { "arm_loss_avg": 0.04099227690603584, "epoch": 7.448196411132813e-07, "step": 7810 }, { "ee_loss_avg": 0.02396893666591495, "epoch": 7.448196411132813e-07, "step": 7810 }, { "aux_loss_avg": 0.000779642426641658, "epoch": 7.448196411132813e-07, "step": 7810 }, { "epoch": 7.448196411132813e-07, "step": 7810, "training_step_time": 17.564115524291992 }, { "epoch": 7.449150085449219e-07, "model_forward_time": 5.074813365936279, "step": 7811 }, { "epoch": 7.449150085449219e-07, "step": 7811, "training_step_time": 17.577571868896484 }, { "epoch": 7.450103759765625e-07, "model_forward_time": 5.320237636566162, "step": 7812 }, { "epoch": 7.450103759765625e-07, "step": 7812, "training_step_time": 17.585476875305176 }, { "epoch": 7.451057434082031e-07, "model_forward_time": 5.071799039840698, "step": 7813 }, { "epoch": 7.451057434082031e-07, "step": 7813, "training_step_time": 17.80522871017456 }, { "epoch": 7.452011108398437e-07, "model_forward_time": 5.074122905731201, "step": 7814 }, { "epoch": 7.452011108398437e-07, "step": 7814, "training_step_time": 17.581194400787354 }, { "epoch": 7.452964782714843e-07, "model_forward_time": 5.077921628952026, "step": 7815 }, { "epoch": 7.452964782714843e-07, "step": 7815, "training_step_time": 17.578962087631226 }, { "epoch": 7.45391845703125e-07, "model_forward_time": 5.078402042388916, "step": 7816 }, { "epoch": 7.45391845703125e-07, "step": 7816, "training_step_time": 17.62234926223755 }, { "epoch": 7.454872131347656e-07, "model_forward_time": 5.077195644378662, "step": 7817 }, { "epoch": 7.454872131347656e-07, "step": 7817, "training_step_time": 17.493174076080322 }, { "epoch": 7.455825805664063e-07, "model_forward_time": 5.080554485321045, "step": 7818 }, { "epoch": 7.455825805664063e-07, "step": 7818, "training_step_time": 17.537219524383545 }, { "epoch": 7.456779479980469e-07, "model_forward_time": 5.082535028457642, "step": 7819 }, { "epoch": 7.456779479980469e-07, "step": 7819, "training_step_time": 17.389402389526367 }, { "epoch": 7.457733154296875e-07, "grad_norm": 1.5561933517456055, "learning_rate": 9.896281637515247e-06, "loss": 0.1091, "step": 7820 }, { "epoch": 7.457733154296875e-07, "model_forward_time": 5.084589242935181, "step": 7820 }, { "dynamics_loss_avg": 0.03527405653148889, "epoch": 7.457733154296875e-07, "step": 7820 }, { "action_loss_avg": 0.024801257462240756, "epoch": 7.457733154296875e-07, "step": 7820 }, { "arm_loss_avg": 0.045025164540857074, "epoch": 7.457733154296875e-07, "step": 7820 }, { "ee_loss_avg": 0.028642496070824565, "epoch": 7.457733154296875e-07, "step": 7820 }, { "aux_loss_avg": 0.001272450655233115, "epoch": 7.457733154296875e-07, "step": 7820 }, { "epoch": 7.457733154296875e-07, "step": 7820, "training_step_time": 17.492382049560547 }, { "epoch": 7.458686828613281e-07, "model_forward_time": 5.0797483921051025, "step": 7821 }, { "epoch": 7.458686828613281e-07, "step": 7821, "training_step_time": 17.570080518722534 }, { "epoch": 7.459640502929688e-07, "model_forward_time": 3.8467161655426025, "step": 7822 }, { "epoch": 7.459640502929688e-07, "step": 7822, "training_step_time": 17.572572469711304 }, { "epoch": 7.460594177246094e-07, "model_forward_time": 5.297756910324097, "step": 7823 }, { "epoch": 7.460594177246094e-07, "step": 7823, "training_step_time": 17.594990968704224 }, { "epoch": 7.4615478515625e-07, "model_forward_time": 5.063767433166504, "step": 7824 }, { "epoch": 7.4615478515625e-07, "step": 7824, "training_step_time": 17.78709316253662 }, { "epoch": 7.462501525878906e-07, "model_forward_time": 5.068417072296143, "step": 7825 }, { "epoch": 7.462501525878906e-07, "step": 7825, "training_step_time": 17.346136808395386 }, { "epoch": 7.463455200195312e-07, "model_forward_time": 5.079786777496338, "step": 7826 }, { "epoch": 7.463455200195312e-07, "step": 7826, "training_step_time": 17.570475101470947 }, { "epoch": 7.464408874511718e-07, "model_forward_time": 5.2747087478637695, "step": 7827 }, { "epoch": 7.464408874511718e-07, "step": 7827, "training_step_time": 17.53397846221924 }, { "epoch": 7.465362548828125e-07, "model_forward_time": 5.089652061462402, "step": 7828 }, { "epoch": 7.465362548828125e-07, "step": 7828, "training_step_time": 17.561118841171265 }, { "epoch": 7.466316223144532e-07, "model_forward_time": 5.090257406234741, "step": 7829 }, { "epoch": 7.466316223144532e-07, "step": 7829, "training_step_time": 17.810294151306152 }, { "epoch": 7.467269897460938e-07, "grad_norm": 3.403989315032959, "learning_rate": 9.895802469795706e-06, "loss": 0.1157, "step": 7830 }, { "epoch": 7.467269897460938e-07, "model_forward_time": 5.0845558643341064, "step": 7830 }, { "dynamics_loss_avg": 0.043412402458488944, "epoch": 7.467269897460938e-07, "step": 7830 }, { "action_loss_avg": 0.046994647849351166, "epoch": 7.467269897460938e-07, "step": 7830 }, { "arm_loss_avg": 0.055342361086513844, "epoch": 7.467269897460938e-07, "step": 7830 }, { "ee_loss_avg": 0.0702886228915304, "epoch": 7.467269897460938e-07, "step": 7830 }, { "aux_loss_avg": 0.0012307251221500338, "epoch": 7.467269897460938e-07, "step": 7830 }, { "epoch": 7.467269897460938e-07, "step": 7830, "training_step_time": 17.583872318267822 }, { "epoch": 7.468223571777344e-07, "model_forward_time": 5.084432125091553, "step": 7831 }, { "epoch": 7.468223571777344e-07, "step": 7831, "training_step_time": 17.588152647018433 }, { "epoch": 7.46917724609375e-07, "model_forward_time": 5.325384616851807, "step": 7832 }, { "epoch": 7.46917724609375e-07, "step": 7832, "training_step_time": 17.592779636383057 }, { "epoch": 7.470130920410156e-07, "model_forward_time": 5.080027103424072, "step": 7833 }, { "epoch": 7.470130920410156e-07, "step": 7833, "training_step_time": 17.594979763031006 }, { "epoch": 7.471084594726562e-07, "model_forward_time": 5.077586650848389, "step": 7834 }, { "epoch": 7.471084594726562e-07, "step": 7834, "training_step_time": 17.78197479248047 }, { "epoch": 7.472038269042969e-07, "model_forward_time": 5.074542284011841, "step": 7835 }, { "epoch": 7.472038269042969e-07, "step": 7835, "training_step_time": 17.57714319229126 }, { "epoch": 7.472991943359375e-07, "model_forward_time": 5.071711301803589, "step": 7836 }, { "epoch": 7.472991943359375e-07, "step": 7836, "training_step_time": 17.21385145187378 }, { "epoch": 7.473945617675781e-07, "model_forward_time": 5.078801870346069, "step": 7837 }, { "epoch": 7.473945617675781e-07, "step": 7837, "training_step_time": 17.517942667007446 }, { "epoch": 7.474899291992188e-07, "model_forward_time": 5.079183578491211, "step": 7838 }, { "epoch": 7.474899291992188e-07, "step": 7838, "training_step_time": 17.528489351272583 }, { "epoch": 7.475852966308594e-07, "model_forward_time": 5.082008123397827, "step": 7839 }, { "epoch": 7.475852966308594e-07, "step": 7839, "training_step_time": 17.78707003593445 }, { "epoch": 7.476806640625e-07, "grad_norm": 1.501232624053955, "learning_rate": 9.895322209428017e-06, "loss": 0.1063, "step": 7840 }, { "epoch": 7.476806640625e-07, "model_forward_time": 5.076622009277344, "step": 7840 }, { "dynamics_loss_avg": 0.03749336455948651, "epoch": 7.476806640625e-07, "step": 7840 }, { "action_loss_avg": 0.04786460793111473, "epoch": 7.476806640625e-07, "step": 7840 }, { "arm_loss_avg": 0.05984501191414893, "epoch": 7.476806640625e-07, "step": 7840 }, { "ee_loss_avg": 0.03602859587408602, "epoch": 7.476806640625e-07, "step": 7840 }, { "aux_loss_avg": 0.0020961094938684254, "epoch": 7.476806640625e-07, "step": 7840 }, { "epoch": 7.476806640625e-07, "step": 7840, "training_step_time": 17.344736337661743 }, { "epoch": 7.477760314941406e-07, "model_forward_time": 5.081069469451904, "step": 7841 }, { "epoch": 7.477760314941406e-07, "step": 7841, "training_step_time": 17.57761526107788 }, { "epoch": 7.478713989257813e-07, "model_forward_time": 5.077077388763428, "step": 7842 }, { "epoch": 7.478713989257813e-07, "step": 7842, "training_step_time": 17.527885913848877 }, { "epoch": 7.479667663574219e-07, "model_forward_time": 5.077876567840576, "step": 7843 }, { "epoch": 7.479667663574219e-07, "step": 7843, "training_step_time": 17.559901237487793 }, { "epoch": 7.480621337890625e-07, "model_forward_time": 5.081571817398071, "step": 7844 }, { "epoch": 7.480621337890625e-07, "step": 7844, "training_step_time": 17.776973009109497 }, { "epoch": 7.481575012207031e-07, "model_forward_time": 5.076929330825806, "step": 7845 }, { "epoch": 7.481575012207031e-07, "step": 7845, "training_step_time": 17.604707956314087 }, { "epoch": 7.482528686523437e-07, "model_forward_time": 5.080946922302246, "step": 7846 }, { "epoch": 7.482528686523437e-07, "step": 7846, "training_step_time": 17.608343362808228 }, { "epoch": 7.483482360839843e-07, "model_forward_time": 5.2742743492126465, "step": 7847 }, { "epoch": 7.483482360839843e-07, "step": 7847, "training_step_time": 17.606577157974243 }, { "epoch": 7.48443603515625e-07, "model_forward_time": 5.078833341598511, "step": 7848 }, { "epoch": 7.48443603515625e-07, "step": 7848, "training_step_time": 17.608152151107788 }, { "epoch": 7.485389709472657e-07, "model_forward_time": 5.079824447631836, "step": 7849 }, { "epoch": 7.485389709472657e-07, "step": 7849, "training_step_time": 17.35970115661621 }, { "epoch": 7.486343383789063e-07, "grad_norm": 2.7726478576660156, "learning_rate": 9.894840856519366e-06, "loss": 0.1233, "step": 7850 }, { "epoch": 7.486343383789063e-07, "model_forward_time": 3.8464839458465576, "step": 7850 }, { "dynamics_loss_avg": 0.04078473681584001, "epoch": 7.486343383789063e-07, "step": 7850 }, { "action_loss_avg": 0.04478258385788649, "epoch": 7.486343383789063e-07, "step": 7850 }, { "arm_loss_avg": 0.06008248841390014, "epoch": 7.486343383789063e-07, "step": 7850 }, { "ee_loss_avg": 0.04518243880011141, "epoch": 7.486343383789063e-07, "step": 7850 }, { "aux_loss_avg": 0.0014899639965733514, "epoch": 7.486343383789063e-07, "step": 7850 }, { "epoch": 7.486343383789063e-07, "step": 7850, "training_step_time": 17.518182039260864 }, { "epoch": 7.487297058105469e-07, "model_forward_time": 5.058982849121094, "step": 7851 }, { "epoch": 7.487297058105469e-07, "step": 7851, "training_step_time": 17.547548532485962 }, { "epoch": 7.488250732421875e-07, "model_forward_time": 5.067586183547974, "step": 7852 }, { "epoch": 7.488250732421875e-07, "step": 7852, "training_step_time": 17.568028211593628 }, { "epoch": 7.489204406738281e-07, "model_forward_time": 5.311808824539185, "step": 7853 }, { "epoch": 7.489204406738281e-07, "step": 7853, "training_step_time": 17.582032442092896 }, { "epoch": 7.490158081054687e-07, "model_forward_time": 5.079908847808838, "step": 7854 }, { "epoch": 7.490158081054687e-07, "step": 7854, "training_step_time": 17.75860285758972 }, { "epoch": 7.491111755371094e-07, "model_forward_time": 5.083387851715088, "step": 7855 }, { "epoch": 7.491111755371094e-07, "step": 7855, "training_step_time": 17.587379932403564 }, { "epoch": 7.4920654296875e-07, "model_forward_time": 5.081934452056885, "step": 7856 }, { "epoch": 7.4920654296875e-07, "step": 7856, "training_step_time": 17.579716682434082 }, { "epoch": 7.493019104003906e-07, "model_forward_time": 5.088744640350342, "step": 7857 }, { "epoch": 7.493019104003906e-07, "step": 7857, "training_step_time": 17.590128898620605 }, { "epoch": 7.493972778320313e-07, "model_forward_time": 5.088610649108887, "step": 7858 }, { "epoch": 7.493972778320313e-07, "step": 7858, "training_step_time": 17.404390335083008 }, { "epoch": 7.494926452636719e-07, "model_forward_time": 3.850644111633301, "step": 7859 }, { "epoch": 7.494926452636719e-07, "step": 7859, "training_step_time": 17.721012115478516 }, { "epoch": 7.495880126953125e-07, "grad_norm": 0.8499407172203064, "learning_rate": 9.89435841117718e-06, "loss": 0.1061, "step": 7860 }, { "epoch": 7.495880126953125e-07, "model_forward_time": 5.0620949268341064, "step": 7860 }, { "dynamics_loss_avg": 0.04293239302933216, "epoch": 7.495880126953125e-07, "step": 7860 }, { "action_loss_avg": 0.048468975350260735, "epoch": 7.495880126953125e-07, "step": 7860 }, { "arm_loss_avg": 0.12983695585280658, "epoch": 7.495880126953125e-07, "step": 7860 }, { "ee_loss_avg": 0.10968164433725178, "epoch": 7.495880126953125e-07, "step": 7860 }, { "aux_loss_avg": 0.03174506960203871, "epoch": 7.495880126953125e-07, "step": 7860 }, { "epoch": 7.495880126953125e-07, "step": 7860, "training_step_time": 17.52058506011963 }, { "epoch": 7.496833801269531e-07, "model_forward_time": 5.062805652618408, "step": 7861 }, { "epoch": 7.496833801269531e-07, "step": 7861, "training_step_time": 17.547081470489502 }, { "epoch": 7.497787475585938e-07, "model_forward_time": 5.072599411010742, "step": 7862 }, { "epoch": 7.497787475585938e-07, "step": 7862, "training_step_time": 17.5963933467865 }, { "epoch": 7.498741149902344e-07, "model_forward_time": 5.31399393081665, "step": 7863 }, { "epoch": 7.498741149902344e-07, "step": 7863, "training_step_time": 17.445087671279907 }, { "epoch": 7.49969482421875e-07, "model_forward_time": 3.850745677947998, "step": 7864 }, { "epoch": 7.49969482421875e-07, "step": 7864, "training_step_time": 17.699340343475342 }, { "epoch": 7.500648498535156e-07, "model_forward_time": 3.830127716064453, "step": 7865 }, { "epoch": 7.500648498535156e-07, "step": 7865, "training_step_time": 17.362736463546753 }, { "epoch": 7.501602172851562e-07, "model_forward_time": 5.046677589416504, "step": 7866 }, { "epoch": 7.501602172851562e-07, "step": 7866, "training_step_time": 17.49964714050293 }, { "epoch": 7.502555847167968e-07, "model_forward_time": 5.063799142837524, "step": 7867 }, { "epoch": 7.502555847167968e-07, "step": 7867, "training_step_time": 17.59397006034851 }, { "epoch": 7.503509521484376e-07, "model_forward_time": 5.264566421508789, "step": 7868 }, { "epoch": 7.503509521484376e-07, "step": 7868, "training_step_time": 17.581782817840576 }, { "epoch": 7.504463195800782e-07, "model_forward_time": 5.0970776081085205, "step": 7869 }, { "epoch": 7.504463195800782e-07, "step": 7869, "training_step_time": 17.827904224395752 }, { "epoch": 7.505416870117188e-07, "grad_norm": 1.132729172706604, "learning_rate": 9.893874873509133e-06, "loss": 0.1231, "step": 7870 }, { "epoch": 7.505416870117188e-07, "model_forward_time": 5.093128681182861, "step": 7870 }, { "dynamics_loss_avg": 0.03568690936081111, "epoch": 7.505416870117188e-07, "step": 7870 }, { "action_loss_avg": 0.04557872754521668, "epoch": 7.505416870117188e-07, "step": 7870 }, { "arm_loss_avg": 0.09191982375923544, "epoch": 7.505416870117188e-07, "step": 7870 }, { "ee_loss_avg": 0.08795750027056784, "epoch": 7.505416870117188e-07, "step": 7870 }, { "aux_loss_avg": 0.015047851373674348, "epoch": 7.505416870117188e-07, "step": 7870 }, { "epoch": 7.505416870117188e-07, "step": 7870, "training_step_time": 17.60508966445923 }, { "epoch": 7.506370544433594e-07, "model_forward_time": 5.096553325653076, "step": 7871 }, { "epoch": 7.506370544433594e-07, "step": 7871, "training_step_time": 17.6206796169281 }, { "epoch": 7.50732421875e-07, "model_forward_time": 5.094598770141602, "step": 7872 }, { "epoch": 7.50732421875e-07, "step": 7872, "training_step_time": 17.619781017303467 }, { "epoch": 7.508277893066406e-07, "model_forward_time": 5.319286108016968, "step": 7873 }, { "epoch": 7.508277893066406e-07, "step": 7873, "training_step_time": 17.61564826965332 }, { "epoch": 7.509231567382812e-07, "model_forward_time": 3.8509035110473633, "step": 7874 }, { "epoch": 7.509231567382812e-07, "step": 7874, "training_step_time": 17.794965982437134 }, { "epoch": 7.510185241699219e-07, "model_forward_time": 5.061817169189453, "step": 7875 }, { "epoch": 7.510185241699219e-07, "step": 7875, "training_step_time": 17.60021471977234 }, { "epoch": 7.511138916015625e-07, "model_forward_time": 5.060597658157349, "step": 7876 }, { "epoch": 7.511138916015625e-07, "step": 7876, "training_step_time": 17.579792499542236 }, { "epoch": 7.512092590332031e-07, "model_forward_time": 5.065783262252808, "step": 7877 }, { "epoch": 7.512092590332031e-07, "step": 7877, "training_step_time": 17.569228172302246 }, { "epoch": 7.513046264648437e-07, "model_forward_time": 5.2650392055511475, "step": 7878 }, { "epoch": 7.513046264648437e-07, "step": 7878, "training_step_time": 17.775270462036133 }, { "epoch": 7.513999938964844e-07, "model_forward_time": 5.07884955406189, "step": 7879 }, { "epoch": 7.513999938964844e-07, "step": 7879, "training_step_time": 17.551795482635498 }, { "epoch": 7.51495361328125e-07, "grad_norm": 1.4901249408721924, "learning_rate": 9.89339024362314e-06, "loss": 0.1217, "step": 7880 }, { "epoch": 7.51495361328125e-07, "model_forward_time": 5.083606004714966, "step": 7880 }, { "dynamics_loss_avg": 0.03964754156768322, "epoch": 7.51495361328125e-07, "step": 7880 }, { "action_loss_avg": 0.03126023409422487, "epoch": 7.51495361328125e-07, "step": 7880 }, { "arm_loss_avg": 0.036251463904045524, "epoch": 7.51495361328125e-07, "step": 7880 }, { "ee_loss_avg": 0.025431919330731034, "epoch": 7.51495361328125e-07, "step": 7880 }, { "aux_loss_avg": 0.001966109115164727, "epoch": 7.51495361328125e-07, "step": 7880 }, { "epoch": 7.51495361328125e-07, "step": 7880, "training_step_time": 17.543636798858643 }, { "epoch": 7.515907287597656e-07, "model_forward_time": 5.09019660949707, "step": 7881 }, { "epoch": 7.515907287597656e-07, "step": 7881, "training_step_time": 17.553771495819092 }, { "epoch": 7.516860961914063e-07, "model_forward_time": 5.089933395385742, "step": 7882 }, { "epoch": 7.516860961914063e-07, "step": 7882, "training_step_time": 17.57746958732605 }, { "epoch": 7.517814636230469e-07, "model_forward_time": 5.3098344802856445, "step": 7883 }, { "epoch": 7.517814636230469e-07, "step": 7883, "training_step_time": 17.75968599319458 }, { "epoch": 7.518768310546875e-07, "model_forward_time": 5.08522367477417, "step": 7884 }, { "epoch": 7.518768310546875e-07, "step": 7884, "training_step_time": 17.563092470169067 }, { "epoch": 7.519721984863281e-07, "model_forward_time": 5.0841124057769775, "step": 7885 }, { "epoch": 7.519721984863281e-07, "step": 7885, "training_step_time": 17.569678783416748 }, { "epoch": 7.520675659179687e-07, "model_forward_time": 5.08107590675354, "step": 7886 }, { "epoch": 7.520675659179687e-07, "step": 7886, "training_step_time": 17.573761463165283 }, { "epoch": 7.521629333496093e-07, "model_forward_time": 3.8478987216949463, "step": 7887 }, { "epoch": 7.521629333496093e-07, "step": 7887, "training_step_time": 17.60573697090149 }, { "epoch": 7.5225830078125e-07, "model_forward_time": 5.240776300430298, "step": 7888 }, { "epoch": 7.5225830078125e-07, "step": 7888, "training_step_time": 17.374820232391357 }, { "epoch": 7.523536682128907e-07, "model_forward_time": 5.067351341247559, "step": 7889 }, { "epoch": 7.523536682128907e-07, "step": 7889, "training_step_time": 17.71712565422058 }, { "epoch": 7.524490356445313e-07, "grad_norm": 1.3639659881591797, "learning_rate": 9.89290452162736e-06, "loss": 0.101, "step": 7890 }, { "epoch": 7.524490356445313e-07, "model_forward_time": 5.071803569793701, "step": 7890 }, { "dynamics_loss_avg": 0.03214878949802369, "epoch": 7.524490356445313e-07, "step": 7890 }, { "action_loss_avg": 0.023426393663976343, "epoch": 7.524490356445313e-07, "step": 7890 }, { "arm_loss_avg": 0.044626023061573504, "epoch": 7.524490356445313e-07, "step": 7890 }, { "ee_loss_avg": 0.05331965506775305, "epoch": 7.524490356445313e-07, "step": 7890 }, { "aux_loss_avg": 0.0014015213120728732, "epoch": 7.524490356445313e-07, "step": 7890 }, { "epoch": 7.524490356445313e-07, "step": 7890, "training_step_time": 17.516268014907837 }, { "epoch": 7.525444030761719e-07, "model_forward_time": 5.082500696182251, "step": 7891 }, { "epoch": 7.525444030761719e-07, "step": 7891, "training_step_time": 17.580162525177002 }, { "epoch": 7.526397705078125e-07, "model_forward_time": 5.084598541259766, "step": 7892 }, { "epoch": 7.526397705078125e-07, "step": 7892, "training_step_time": 17.566487312316895 }, { "epoch": 7.527351379394531e-07, "model_forward_time": 5.316527843475342, "step": 7893 }, { "epoch": 7.527351379394531e-07, "step": 7893, "training_step_time": 17.57163429260254 }, { "epoch": 7.528305053710937e-07, "model_forward_time": 5.090831279754639, "step": 7894 }, { "epoch": 7.528305053710937e-07, "step": 7894, "training_step_time": 17.77307939529419 }, { "epoch": 7.529258728027344e-07, "model_forward_time": 3.853137254714966, "step": 7895 }, { "epoch": 7.529258728027344e-07, "step": 7895, "training_step_time": 17.58679223060608 }, { "epoch": 7.53021240234375e-07, "model_forward_time": 3.8335797786712646, "step": 7896 }, { "epoch": 7.53021240234375e-07, "step": 7896, "training_step_time": 17.61591863632202 }, { "epoch": 7.531166076660156e-07, "model_forward_time": 3.8325233459472656, "step": 7897 }, { "epoch": 7.531166076660156e-07, "step": 7897, "training_step_time": 17.605910778045654 }, { "epoch": 7.532119750976562e-07, "model_forward_time": 5.252260446548462, "step": 7898 }, { "epoch": 7.532119750976562e-07, "step": 7898, "training_step_time": 17.839507579803467 }, { "epoch": 7.533073425292969e-07, "model_forward_time": 5.077274560928345, "step": 7899 }, { "epoch": 7.533073425292969e-07, "step": 7899, "training_step_time": 17.582317113876343 }, { "epoch": 7.534027099609375e-07, "grad_norm": 0.9684897065162659, "learning_rate": 9.892417707630201e-06, "loss": 0.1142, "step": 7900 }, { "epoch": 7.534027099609375e-07, "model_forward_time": 5.07413649559021, "step": 7900 }, { "dynamics_loss_avg": 0.04368593208491802, "epoch": 7.534027099609375e-07, "step": 7900 }, { "action_loss_avg": 0.05549081140197813, "epoch": 7.534027099609375e-07, "step": 7900 }, { "arm_loss_avg": 0.09280045735649764, "epoch": 7.534027099609375e-07, "step": 7900 }, { "ee_loss_avg": 0.09410876786569133, "epoch": 7.534027099609375e-07, "step": 7900 }, { "aux_loss_avg": 0.002520919585367665, "epoch": 7.534027099609375e-07, "step": 7900 }, { "epoch": 7.534027099609375e-07, "step": 7900, "training_step_time": 17.55340838432312 }, { "epoch": 7.534980773925781e-07, "model_forward_time": 5.09294056892395, "step": 7901 }, { "epoch": 7.534980773925781e-07, "step": 7901, "training_step_time": 17.547486543655396 }, { "epoch": 7.535934448242188e-07, "model_forward_time": 5.102348804473877, "step": 7902 }, { "epoch": 7.535934448242188e-07, "step": 7902, "training_step_time": 17.553094625473022 }, { "epoch": 7.536888122558594e-07, "model_forward_time": 5.330754518508911, "step": 7903 }, { "epoch": 7.536888122558594e-07, "step": 7903, "training_step_time": 17.776872158050537 }, { "epoch": 7.537841796875e-07, "model_forward_time": 5.095598220825195, "step": 7904 }, { "epoch": 7.537841796875e-07, "step": 7904, "training_step_time": 17.415570974349976 }, { "epoch": 7.538795471191406e-07, "model_forward_time": 5.088294506072998, "step": 7905 }, { "epoch": 7.538795471191406e-07, "step": 7905, "training_step_time": 17.476747512817383 }, { "epoch": 7.539749145507812e-07, "model_forward_time": 5.0841405391693115, "step": 7906 }, { "epoch": 7.539749145507812e-07, "step": 7906, "training_step_time": 17.509427785873413 }, { "epoch": 7.540702819824218e-07, "model_forward_time": 5.081240892410278, "step": 7907 }, { "epoch": 7.540702819824218e-07, "step": 7907, "training_step_time": 17.59102439880371 }, { "epoch": 7.541656494140624e-07, "model_forward_time": 4.0257508754730225, "step": 7908 }, { "epoch": 7.541656494140624e-07, "step": 7908, "training_step_time": 17.570789575576782 }, { "epoch": 7.542610168457032e-07, "model_forward_time": 3.824774742126465, "step": 7909 }, { "epoch": 7.542610168457032e-07, "step": 7909, "training_step_time": 17.818589448928833 }, { "epoch": 7.543563842773438e-07, "grad_norm": 2.1299383640289307, "learning_rate": 9.891929801740307e-06, "loss": 0.1146, "step": 7910 }, { "epoch": 7.543563842773438e-07, "model_forward_time": 3.812648296356201, "step": 7910 }, { "dynamics_loss_avg": 0.04321681708097458, "epoch": 7.543563842773438e-07, "step": 7910 }, { "action_loss_avg": 0.05453925486654043, "epoch": 7.543563842773438e-07, "step": 7910 }, { "arm_loss_avg": 0.07761264918372035, "epoch": 7.543563842773438e-07, "step": 7910 }, { "ee_loss_avg": 0.05095474198460579, "epoch": 7.543563842773438e-07, "step": 7910 }, { "aux_loss_avg": 0.002089127170620486, "epoch": 7.543563842773438e-07, "step": 7910 }, { "epoch": 7.543563842773438e-07, "step": 7910, "training_step_time": 17.591979026794434 }, { "epoch": 7.544517517089844e-07, "model_forward_time": 5.033594131469727, "step": 7911 }, { "epoch": 7.544517517089844e-07, "step": 7911, "training_step_time": 17.600799322128296 }, { "epoch": 7.54547119140625e-07, "model_forward_time": 5.0622878074646, "step": 7912 }, { "epoch": 7.54547119140625e-07, "step": 7912, "training_step_time": 17.587247848510742 }, { "epoch": 7.546424865722656e-07, "model_forward_time": 5.308104991912842, "step": 7913 }, { "epoch": 7.546424865722656e-07, "step": 7913, "training_step_time": 17.57591485977173 }, { "epoch": 7.547378540039062e-07, "model_forward_time": 3.855597496032715, "step": 7914 }, { "epoch": 7.547378540039062e-07, "step": 7914, "training_step_time": 17.757341384887695 }, { "epoch": 7.548332214355469e-07, "model_forward_time": 5.069127082824707, "step": 7915 }, { "epoch": 7.548332214355469e-07, "step": 7915, "training_step_time": 17.575974464416504 }, { "epoch": 7.549285888671875e-07, "model_forward_time": 3.855607271194458, "step": 7916 }, { "epoch": 7.549285888671875e-07, "step": 7916, "training_step_time": 17.58220648765564 }, { "epoch": 7.550239562988281e-07, "model_forward_time": 5.0813024044036865, "step": 7917 }, { "epoch": 7.550239562988281e-07, "step": 7917, "training_step_time": 17.595877408981323 }, { "epoch": 7.551193237304687e-07, "model_forward_time": 5.1116907596588135, "step": 7918 }, { "epoch": 7.551193237304687e-07, "step": 7918, "training_step_time": 17.825148582458496 }, { "epoch": 7.552146911621094e-07, "model_forward_time": 3.8722805976867676, "step": 7919 }, { "epoch": 7.552146911621094e-07, "step": 7919, "training_step_time": 17.59235715866089 }, { "epoch": 7.5531005859375e-07, "grad_norm": 1.4532771110534668, "learning_rate": 9.89144080406657e-06, "loss": 0.1116, "step": 7920 }, { "epoch": 7.5531005859375e-07, "model_forward_time": 5.0861968994140625, "step": 7920 }, { "dynamics_loss_avg": 0.03835127102211118, "epoch": 7.5531005859375e-07, "step": 7920 }, { "action_loss_avg": 0.057676981517579405, "epoch": 7.5531005859375e-07, "step": 7920 }, { "arm_loss_avg": 0.0910045498982072, "epoch": 7.5531005859375e-07, "step": 7920 }, { "ee_loss_avg": 0.03256053493823856, "epoch": 7.5531005859375e-07, "step": 7920 }, { "aux_loss_avg": 0.0011138107132865117, "epoch": 7.5531005859375e-07, "step": 7920 }, { "epoch": 7.5531005859375e-07, "step": 7920, "training_step_time": 17.384552717208862 }, { "epoch": 7.554054260253907e-07, "model_forward_time": 5.084829807281494, "step": 7921 }, { "epoch": 7.554054260253907e-07, "step": 7921, "training_step_time": 17.56753897666931 }, { "epoch": 7.555007934570313e-07, "model_forward_time": 5.085327863693237, "step": 7922 }, { "epoch": 7.555007934570313e-07, "step": 7922, "training_step_time": 17.524812698364258 }, { "epoch": 7.555961608886719e-07, "model_forward_time": 5.090518236160278, "step": 7923 }, { "epoch": 7.555961608886719e-07, "step": 7923, "training_step_time": 17.789574146270752 }, { "epoch": 7.556915283203125e-07, "model_forward_time": 5.325709104537964, "step": 7924 }, { "epoch": 7.556915283203125e-07, "step": 7924, "training_step_time": 17.57679533958435 }, { "epoch": 7.557868957519531e-07, "model_forward_time": 5.087333679199219, "step": 7925 }, { "epoch": 7.557868957519531e-07, "step": 7925, "training_step_time": 17.594447374343872 }, { "epoch": 7.558822631835937e-07, "model_forward_time": 5.084396839141846, "step": 7926 }, { "epoch": 7.558822631835937e-07, "step": 7926, "training_step_time": 17.605063915252686 }, { "epoch": 7.559776306152343e-07, "model_forward_time": 5.082602500915527, "step": 7927 }, { "epoch": 7.559776306152343e-07, "step": 7927, "training_step_time": 17.616668224334717 }, { "epoch": 7.56072998046875e-07, "model_forward_time": 5.080408096313477, "step": 7928 }, { "epoch": 7.56072998046875e-07, "step": 7928, "training_step_time": 17.83301830291748 }, { "epoch": 7.561683654785157e-07, "model_forward_time": 5.076338768005371, "step": 7929 }, { "epoch": 7.561683654785157e-07, "step": 7929, "training_step_time": 17.602174282073975 }, { "epoch": 7.562637329101563e-07, "grad_norm": 1.5528316497802734, "learning_rate": 9.890950714718124e-06, "loss": 0.1165, "step": 7930 }, { "epoch": 7.562637329101563e-07, "model_forward_time": 5.077510356903076, "step": 7930 }, { "dynamics_loss_avg": 0.038387208618223666, "epoch": 7.562637329101563e-07, "step": 7930 }, { "action_loss_avg": 0.02564214579761028, "epoch": 7.562637329101563e-07, "step": 7930 }, { "arm_loss_avg": 0.049655004288069904, "epoch": 7.562637329101563e-07, "step": 7930 }, { "ee_loss_avg": 0.08011664396617561, "epoch": 7.562637329101563e-07, "step": 7930 }, { "aux_loss_avg": 0.017194466473301872, "epoch": 7.562637329101563e-07, "step": 7930 }, { "epoch": 7.562637329101563e-07, "step": 7930, "training_step_time": 17.589792013168335 }, { "epoch": 7.563591003417969e-07, "model_forward_time": 5.078413248062134, "step": 7931 }, { "epoch": 7.563591003417969e-07, "step": 7931, "training_step_time": 17.583687782287598 }, { "epoch": 7.564544677734375e-07, "model_forward_time": 5.079699277877808, "step": 7932 }, { "epoch": 7.564544677734375e-07, "step": 7932, "training_step_time": 17.370429754257202 }, { "epoch": 7.565498352050781e-07, "model_forward_time": 5.3221893310546875, "step": 7933 }, { "epoch": 7.565498352050781e-07, "step": 7933, "training_step_time": 17.474465131759644 }, { "epoch": 7.566452026367187e-07, "model_forward_time": 5.08483362197876, "step": 7934 }, { "epoch": 7.566452026367187e-07, "step": 7934, "training_step_time": 17.597373247146606 }, { "epoch": 7.567405700683594e-07, "model_forward_time": 5.080454111099243, "step": 7935 }, { "epoch": 7.567405700683594e-07, "step": 7935, "training_step_time": 17.488492488861084 }, { "epoch": 7.568359375e-07, "model_forward_time": 5.081759691238403, "step": 7936 }, { "epoch": 7.568359375e-07, "step": 7936, "training_step_time": 17.60715913772583 }, { "epoch": 7.569313049316406e-07, "model_forward_time": 5.079672574996948, "step": 7937 }, { "epoch": 7.569313049316406e-07, "step": 7937, "training_step_time": 17.594710111618042 }, { "epoch": 7.570266723632812e-07, "model_forward_time": 5.284886598587036, "step": 7938 }, { "epoch": 7.570266723632812e-07, "step": 7938, "training_step_time": 17.628361463546753 }, { "epoch": 7.571220397949219e-07, "model_forward_time": 5.075004577636719, "step": 7939 }, { "epoch": 7.571220397949219e-07, "step": 7939, "training_step_time": 17.85869073867798 }, { "epoch": 7.572174072265625e-07, "grad_norm": 2.1903674602508545, "learning_rate": 9.890459533804348e-06, "loss": 0.1051, "step": 7940 }, { "epoch": 7.572174072265625e-07, "model_forward_time": 5.075221538543701, "step": 7940 }, { "dynamics_loss_avg": 0.0378681090194732, "epoch": 7.572174072265625e-07, "step": 7940 }, { "action_loss_avg": 0.03425887316698208, "epoch": 7.572174072265625e-07, "step": 7940 }, { "arm_loss_avg": 0.0845413547474891, "epoch": 7.572174072265625e-07, "step": 7940 }, { "ee_loss_avg": 0.03820056611439213, "epoch": 7.572174072265625e-07, "step": 7940 }, { "aux_loss_avg": 0.020257895276881755, "epoch": 7.572174072265625e-07, "step": 7940 }, { "epoch": 7.572174072265625e-07, "step": 7940, "training_step_time": 17.6317081451416 }, { "epoch": 7.573127746582032e-07, "model_forward_time": 3.844014883041382, "step": 7941 }, { "epoch": 7.573127746582032e-07, "step": 7941, "training_step_time": 17.61926531791687 }, { "epoch": 7.574081420898438e-07, "model_forward_time": 5.053729772567749, "step": 7942 }, { "epoch": 7.574081420898438e-07, "step": 7942, "training_step_time": 17.612713098526 }, { "epoch": 7.575035095214844e-07, "model_forward_time": 5.0643627643585205, "step": 7943 }, { "epoch": 7.575035095214844e-07, "step": 7943, "training_step_time": 17.579487085342407 }, { "epoch": 7.57598876953125e-07, "model_forward_time": 4.035122632980347, "step": 7944 }, { "epoch": 7.57598876953125e-07, "step": 7944, "training_step_time": 17.747994661331177 }, { "epoch": 7.576942443847656e-07, "model_forward_time": 3.829213857650757, "step": 7945 }, { "epoch": 7.576942443847656e-07, "step": 7945, "training_step_time": 17.55834650993347 }, { "epoch": 7.577896118164062e-07, "model_forward_time": 3.8296666145324707, "step": 7946 }, { "epoch": 7.577896118164062e-07, "step": 7946, "training_step_time": 17.58451747894287 }, { "epoch": 7.578849792480468e-07, "model_forward_time": 5.044767379760742, "step": 7947 }, { "epoch": 7.578849792480468e-07, "step": 7947, "training_step_time": 17.536978244781494 }, { "epoch": 7.579803466796875e-07, "model_forward_time": 5.0613157749176025, "step": 7948 }, { "epoch": 7.579803466796875e-07, "step": 7948, "training_step_time": 17.507452964782715 }, { "epoch": 7.580757141113282e-07, "model_forward_time": 5.265553951263428, "step": 7949 }, { "epoch": 7.580757141113282e-07, "step": 7949, "training_step_time": 17.688349723815918 }, { "epoch": 7.581710815429688e-07, "grad_norm": 2.6235411167144775, "learning_rate": 9.889967261434866e-06, "loss": 0.1071, "step": 7950 }, { "epoch": 7.581710815429688e-07, "model_forward_time": 5.092207193374634, "step": 7950 }, { "dynamics_loss_avg": 0.03674981147050858, "epoch": 7.581710815429688e-07, "step": 7950 }, { "action_loss_avg": 0.025285422848537565, "epoch": 7.581710815429688e-07, "step": 7950 }, { "arm_loss_avg": 0.055360077111981806, "epoch": 7.581710815429688e-07, "step": 7950 }, { "ee_loss_avg": 0.02751070326194167, "epoch": 7.581710815429688e-07, "step": 7950 }, { "aux_loss_avg": 0.0050914355204440655, "epoch": 7.581710815429688e-07, "step": 7950 }, { "epoch": 7.581710815429688e-07, "step": 7950, "training_step_time": 17.49885654449463 }, { "epoch": 7.582664489746094e-07, "model_forward_time": 3.8633081912994385, "step": 7951 }, { "epoch": 7.582664489746094e-07, "step": 7951, "training_step_time": 17.531469345092773 }, { "epoch": 7.5836181640625e-07, "model_forward_time": 5.070125341415405, "step": 7952 }, { "epoch": 7.5836181640625e-07, "step": 7952, "training_step_time": 17.576587438583374 }, { "epoch": 7.584571838378906e-07, "model_forward_time": 5.073241710662842, "step": 7953 }, { "epoch": 7.584571838378906e-07, "step": 7953, "training_step_time": 17.596827268600464 }, { "epoch": 7.585525512695312e-07, "model_forward_time": 5.308349609375, "step": 7954 }, { "epoch": 7.585525512695312e-07, "step": 7954, "training_step_time": 17.786871194839478 }, { "epoch": 7.586479187011719e-07, "model_forward_time": 5.077990293502808, "step": 7955 }, { "epoch": 7.586479187011719e-07, "step": 7955, "training_step_time": 17.605368614196777 }, { "epoch": 7.587432861328125e-07, "model_forward_time": 5.078712224960327, "step": 7956 }, { "epoch": 7.587432861328125e-07, "step": 7956, "training_step_time": 17.603270769119263 }, { "epoch": 7.588386535644531e-07, "model_forward_time": 5.0816428661346436, "step": 7957 }, { "epoch": 7.588386535644531e-07, "step": 7957, "training_step_time": 17.605597496032715 }, { "epoch": 7.589340209960937e-07, "model_forward_time": 5.082178354263306, "step": 7958 }, { "epoch": 7.589340209960937e-07, "step": 7958, "training_step_time": 17.59514331817627 }, { "epoch": 7.590293884277344e-07, "model_forward_time": 5.272885799407959, "step": 7959 }, { "epoch": 7.590293884277344e-07, "step": 7959, "training_step_time": 17.820696115493774 }, { "epoch": 7.59124755859375e-07, "grad_norm": 1.606697678565979, "learning_rate": 9.88947389771954e-06, "loss": 0.1175, "step": 7960 }, { "epoch": 7.59124755859375e-07, "model_forward_time": 5.082686901092529, "step": 7960 }, { "dynamics_loss_avg": 0.04164847508072853, "epoch": 7.59124755859375e-07, "step": 7960 }, { "action_loss_avg": 0.03188371917931363, "epoch": 7.59124755859375e-07, "step": 7960 }, { "arm_loss_avg": 0.0672777722007595, "epoch": 7.59124755859375e-07, "step": 7960 }, { "ee_loss_avg": 0.05463286269223318, "epoch": 7.59124755859375e-07, "step": 7960 }, { "aux_loss_avg": 0.0014110155461821705, "epoch": 7.59124755859375e-07, "step": 7960 }, { "epoch": 7.59124755859375e-07, "step": 7960, "training_step_time": 17.577476501464844 }, { "epoch": 7.592201232910157e-07, "model_forward_time": 5.08363151550293, "step": 7961 }, { "epoch": 7.592201232910157e-07, "step": 7961, "training_step_time": 17.583600282669067 }, { "epoch": 7.593154907226563e-07, "model_forward_time": 5.082230806350708, "step": 7962 }, { "epoch": 7.593154907226563e-07, "step": 7962, "training_step_time": 17.570807218551636 }, { "epoch": 7.594108581542969e-07, "model_forward_time": 5.0789475440979, "step": 7963 }, { "epoch": 7.594108581542969e-07, "step": 7963, "training_step_time": 17.57231116294861 }, { "epoch": 7.595062255859375e-07, "model_forward_time": 5.31692361831665, "step": 7964 }, { "epoch": 7.595062255859375e-07, "step": 7964, "training_step_time": 17.74196434020996 }, { "epoch": 7.596015930175781e-07, "model_forward_time": 5.077029228210449, "step": 7965 }, { "epoch": 7.596015930175781e-07, "step": 7965, "training_step_time": 17.556095123291016 }, { "epoch": 7.596969604492187e-07, "model_forward_time": 5.081053972244263, "step": 7966 }, { "epoch": 7.596969604492187e-07, "step": 7966, "training_step_time": 17.553728580474854 }, { "epoch": 7.597923278808593e-07, "model_forward_time": 5.082089424133301, "step": 7967 }, { "epoch": 7.597923278808593e-07, "step": 7967, "training_step_time": 17.56287932395935 }, { "epoch": 7.598876953125e-07, "model_forward_time": 5.083672285079956, "step": 7968 }, { "epoch": 7.598876953125e-07, "step": 7968, "training_step_time": 17.437893390655518 }, { "epoch": 7.599830627441407e-07, "model_forward_time": 5.270433664321899, "step": 7969 }, { "epoch": 7.599830627441407e-07, "step": 7969, "training_step_time": 17.701913595199585 }, { "epoch": 7.600784301757813e-07, "grad_norm": 2.0262370109558105, "learning_rate": 9.888979442768481e-06, "loss": 0.1371, "step": 7970 }, { "epoch": 7.600784301757813e-07, "model_forward_time": 5.083241939544678, "step": 7970 }, { "dynamics_loss_avg": 0.04037589728832245, "epoch": 7.600784301757813e-07, "step": 7970 }, { "action_loss_avg": 0.05668489334639162, "epoch": 7.600784301757813e-07, "step": 7970 }, { "arm_loss_avg": 0.08188788322731852, "epoch": 7.600784301757813e-07, "step": 7970 }, { "ee_loss_avg": 0.08563239616341889, "epoch": 7.600784301757813e-07, "step": 7970 }, { "aux_loss_avg": 0.0012650095042772592, "epoch": 7.600784301757813e-07, "step": 7970 }, { "epoch": 7.600784301757813e-07, "step": 7970, "training_step_time": 17.516459703445435 }, { "epoch": 7.601737976074219e-07, "model_forward_time": 5.082679033279419, "step": 7971 }, { "epoch": 7.601737976074219e-07, "step": 7971, "training_step_time": 17.604471683502197 }, { "epoch": 7.602691650390625e-07, "model_forward_time": 5.080832242965698, "step": 7972 }, { "epoch": 7.602691650390625e-07, "step": 7972, "training_step_time": 17.56303358078003 }, { "epoch": 7.603645324707031e-07, "model_forward_time": 5.083964824676514, "step": 7973 }, { "epoch": 7.603645324707031e-07, "step": 7973, "training_step_time": 17.567612409591675 }, { "epoch": 7.604598999023437e-07, "model_forward_time": 5.316900730133057, "step": 7974 }, { "epoch": 7.604598999023437e-07, "step": 7974, "training_step_time": 17.767030954360962 }, { "epoch": 7.605552673339844e-07, "model_forward_time": 5.079730987548828, "step": 7975 }, { "epoch": 7.605552673339844e-07, "step": 7975, "training_step_time": 17.588353395462036 }, { "epoch": 7.60650634765625e-07, "model_forward_time": 5.080286502838135, "step": 7976 }, { "epoch": 7.60650634765625e-07, "step": 7976, "training_step_time": 17.58973789215088 }, { "epoch": 7.607460021972656e-07, "model_forward_time": 5.078634738922119, "step": 7977 }, { "epoch": 7.607460021972656e-07, "step": 7977, "training_step_time": 17.591201305389404 }, { "epoch": 7.608413696289062e-07, "model_forward_time": 5.0811614990234375, "step": 7978 }, { "epoch": 7.608413696289062e-07, "step": 7978, "training_step_time": 17.583752870559692 }, { "epoch": 7.609367370605469e-07, "model_forward_time": 5.263695240020752, "step": 7979 }, { "epoch": 7.609367370605469e-07, "step": 7979, "training_step_time": 17.48184895515442 }, { "epoch": 7.610321044921875e-07, "grad_norm": 1.897500991821289, "learning_rate": 9.888483896692043e-06, "loss": 0.1165, "step": 7980 }, { "epoch": 7.610321044921875e-07, "model_forward_time": 5.082413196563721, "step": 7980 }, { "dynamics_loss_avg": 0.04211795297451317, "epoch": 7.610321044921875e-07, "step": 7980 }, { "action_loss_avg": 0.030818609497509898, "epoch": 7.610321044921875e-07, "step": 7980 }, { "arm_loss_avg": 0.04603968212613836, "epoch": 7.610321044921875e-07, "step": 7980 }, { "ee_loss_avg": 0.0618303299183026, "epoch": 7.610321044921875e-07, "step": 7980 }, { "aux_loss_avg": 0.0036093917908146976, "epoch": 7.610321044921875e-07, "step": 7980 }, { "epoch": 7.610321044921875e-07, "step": 7980, "training_step_time": 17.495349168777466 }, { "epoch": 7.611274719238282e-07, "model_forward_time": 5.0831193923950195, "step": 7981 }, { "epoch": 7.611274719238282e-07, "step": 7981, "training_step_time": 17.562184810638428 }, { "epoch": 7.612228393554688e-07, "model_forward_time": 5.081386089324951, "step": 7982 }, { "epoch": 7.612228393554688e-07, "step": 7982, "training_step_time": 17.548321962356567 }, { "epoch": 7.613182067871094e-07, "model_forward_time": 5.080981254577637, "step": 7983 }, { "epoch": 7.613182067871094e-07, "step": 7983, "training_step_time": 17.56764030456543 }, { "epoch": 7.6141357421875e-07, "model_forward_time": 5.321022987365723, "step": 7984 }, { "epoch": 7.6141357421875e-07, "step": 7984, "training_step_time": 17.767388820648193 }, { "epoch": 7.615089416503906e-07, "model_forward_time": 5.081146240234375, "step": 7985 }, { "epoch": 7.615089416503906e-07, "step": 7985, "training_step_time": 17.58001947402954 }, { "epoch": 7.616043090820312e-07, "model_forward_time": 5.080536365509033, "step": 7986 }, { "epoch": 7.616043090820312e-07, "step": 7986, "training_step_time": 17.587074756622314 }, { "epoch": 7.616996765136718e-07, "model_forward_time": 5.076892852783203, "step": 7987 }, { "epoch": 7.616996765136718e-07, "step": 7987, "training_step_time": 17.588147401809692 }, { "epoch": 7.617950439453125e-07, "model_forward_time": 5.079926013946533, "step": 7988 }, { "epoch": 7.617950439453125e-07, "step": 7988, "training_step_time": 17.585180044174194 }, { "epoch": 7.618904113769532e-07, "model_forward_time": 5.269459247589111, "step": 7989 }, { "epoch": 7.618904113769532e-07, "step": 7989, "training_step_time": 17.81321120262146 }, { "epoch": 7.619857788085938e-07, "grad_norm": 1.100076675415039, "learning_rate": 9.88798725960082e-06, "loss": 0.0969, "step": 7990 }, { "epoch": 7.619857788085938e-07, "model_forward_time": 5.0861616134643555, "step": 7990 }, { "dynamics_loss_avg": 0.02661633938550949, "epoch": 7.619857788085938e-07, "step": 7990 }, { "action_loss_avg": 0.01975720765767619, "epoch": 7.619857788085938e-07, "step": 7990 }, { "arm_loss_avg": 0.059865386586170646, "epoch": 7.619857788085938e-07, "step": 7990 }, { "ee_loss_avg": 0.02941738088848069, "epoch": 7.619857788085938e-07, "step": 7990 }, { "aux_loss_avg": 0.0007961372437421232, "epoch": 7.619857788085938e-07, "step": 7990 }, { "epoch": 7.619857788085938e-07, "step": 7990, "training_step_time": 17.57763123512268 }, { "epoch": 7.620811462402344e-07, "model_forward_time": 5.080720663070679, "step": 7991 }, { "epoch": 7.620811462402344e-07, "step": 7991, "training_step_time": 17.590155839920044 }, { "epoch": 7.62176513671875e-07, "model_forward_time": 5.080402851104736, "step": 7992 }, { "epoch": 7.62176513671875e-07, "step": 7992, "training_step_time": 17.558443069458008 }, { "epoch": 7.622718811035156e-07, "model_forward_time": 3.8461573123931885, "step": 7993 }, { "epoch": 7.622718811035156e-07, "step": 7993, "training_step_time": 17.564117908477783 }, { "epoch": 7.623672485351562e-07, "model_forward_time": 5.055216312408447, "step": 7994 }, { "epoch": 7.623672485351562e-07, "step": 7994, "training_step_time": 17.751368284225464 }, { "epoch": 7.624626159667969e-07, "model_forward_time": 5.064311742782593, "step": 7995 }, { "epoch": 7.624626159667969e-07, "step": 7995, "training_step_time": 17.556045293807983 }, { "epoch": 7.625579833984375e-07, "model_forward_time": 5.070957660675049, "step": 7996 }, { "epoch": 7.625579833984375e-07, "step": 7996, "training_step_time": 17.54885172843933 }, { "epoch": 7.626533508300781e-07, "model_forward_time": 5.081820487976074, "step": 7997 }, { "epoch": 7.626533508300781e-07, "step": 7997, "training_step_time": 17.619948148727417 }, { "epoch": 7.627487182617187e-07, "model_forward_time": 5.088212013244629, "step": 7998 }, { "epoch": 7.627487182617187e-07, "step": 7998, "training_step_time": 17.55190658569336 }, { "epoch": 7.628440856933594e-07, "model_forward_time": 5.294472932815552, "step": 7999 }, { "epoch": 7.628440856933594e-07, "step": 7999, "training_step_time": 17.793323040008545 }, { "epoch": 7.62939453125e-07, "grad_norm": 2.518425941467285, "learning_rate": 9.887489531605653e-06, "loss": 0.1211, "step": 8000 }, { "epoch": 7.62939453125e-07, "model_forward_time": 5.088241338729858, "step": 8000 }, { "dynamics_loss_avg": 0.039059491455554964, "epoch": 7.62939453125e-07, "step": 8000 }, { "action_loss_avg": 0.04829790167277679, "epoch": 7.62939453125e-07, "step": 8000 }, { "arm_loss_avg": 0.10940228749532252, "epoch": 7.62939453125e-07, "step": 8000 }, { "ee_loss_avg": 0.07980141649022698, "epoch": 7.62939453125e-07, "step": 8000 }, { "aux_loss_avg": 0.008022551191970706, "epoch": 7.62939453125e-07, "step": 8000 }, { "epoch": 7.62939453125e-07, "step": 8000, "training_step_time": 17.558944702148438 }, { "epoch": 7.630348205566407e-07, "model_forward_time": 5.089528322219849, "step": 8001 }, { "epoch": 7.630348205566407e-07, "step": 8001, "training_step_time": 17.60462212562561 }, { "epoch": 7.631301879882813e-07, "model_forward_time": 5.087111949920654, "step": 8002 }, { "epoch": 7.631301879882813e-07, "step": 8002, "training_step_time": 17.572499990463257 }, { "epoch": 7.632255554199219e-07, "model_forward_time": 3.850815534591675, "step": 8003 }, { "epoch": 7.632255554199219e-07, "step": 8003, "training_step_time": 17.422775745391846 }, { "epoch": 7.633209228515625e-07, "model_forward_time": 5.065341234207153, "step": 8004 }, { "epoch": 7.633209228515625e-07, "step": 8004, "training_step_time": 17.681087017059326 }, { "epoch": 7.634162902832031e-07, "model_forward_time": 5.307044982910156, "step": 8005 }, { "epoch": 7.634162902832031e-07, "step": 8005, "training_step_time": 17.51233410835266 }, { "epoch": 7.635116577148437e-07, "model_forward_time": 5.077178239822388, "step": 8006 }, { "epoch": 7.635116577148437e-07, "step": 8006, "training_step_time": 17.578073263168335 }, { "epoch": 7.636070251464843e-07, "model_forward_time": 5.082486867904663, "step": 8007 }, { "epoch": 7.636070251464843e-07, "step": 8007, "training_step_time": 17.561789512634277 }, { "epoch": 7.63702392578125e-07, "model_forward_time": 5.089127779006958, "step": 8008 }, { "epoch": 7.63702392578125e-07, "step": 8008, "training_step_time": 17.57717251777649 }, { "epoch": 7.637977600097656e-07, "model_forward_time": 5.094022035598755, "step": 8009 }, { "epoch": 7.637977600097656e-07, "step": 8009, "training_step_time": 17.462751150131226 }, { "epoch": 7.638931274414063e-07, "grad_norm": 1.3200610876083374, "learning_rate": 9.886990712817625e-06, "loss": 0.1256, "step": 8010 }, { "epoch": 7.638931274414063e-07, "model_forward_time": 5.096582651138306, "step": 8010 }, { "dynamics_loss_avg": 0.058929175790399316, "epoch": 7.638931274414063e-07, "step": 8010 }, { "action_loss_avg": 0.03423444725922309, "epoch": 7.638931274414063e-07, "step": 8010 }, { "arm_loss_avg": 0.057086850656196474, "epoch": 7.638931274414063e-07, "step": 8010 }, { "ee_loss_avg": 0.056402125232853, "epoch": 7.638931274414063e-07, "step": 8010 }, { "aux_loss_avg": 0.006531838217051699, "epoch": 7.638931274414063e-07, "step": 8010 }, { "epoch": 7.638931274414063e-07, "step": 8010, "training_step_time": 17.503504514694214 }, { "epoch": 7.639884948730469e-07, "model_forward_time": 5.093411207199097, "step": 8011 }, { "epoch": 7.639884948730469e-07, "step": 8011, "training_step_time": 17.56916069984436 }, { "epoch": 7.640838623046875e-07, "model_forward_time": 5.091383934020996, "step": 8012 }, { "epoch": 7.640838623046875e-07, "step": 8012, "training_step_time": 17.56261658668518 }, { "epoch": 7.641792297363281e-07, "model_forward_time": 5.087941646575928, "step": 8013 }, { "epoch": 7.641792297363281e-07, "step": 8013, "training_step_time": 17.576385974884033 }, { "epoch": 7.642745971679688e-07, "model_forward_time": 5.088228464126587, "step": 8014 }, { "epoch": 7.642745971679688e-07, "step": 8014, "training_step_time": 17.422170639038086 }, { "epoch": 7.643699645996094e-07, "model_forward_time": 5.0875983238220215, "step": 8015 }, { "epoch": 7.643699645996094e-07, "step": 8015, "training_step_time": 17.499966859817505 }, { "epoch": 7.6446533203125e-07, "model_forward_time": 5.08544135093689, "step": 8016 }, { "epoch": 7.6446533203125e-07, "step": 8016, "training_step_time": 17.535250186920166 }, { "epoch": 7.645606994628906e-07, "model_forward_time": 5.080593585968018, "step": 8017 }, { "epoch": 7.645606994628906e-07, "step": 8017, "training_step_time": 17.622518062591553 }, { "epoch": 7.646560668945312e-07, "model_forward_time": 5.081725597381592, "step": 8018 }, { "epoch": 7.646560668945312e-07, "step": 8018, "training_step_time": 17.566466808319092 }, { "epoch": 7.647514343261718e-07, "model_forward_time": 5.2778801918029785, "step": 8019 }, { "epoch": 7.647514343261718e-07, "step": 8019, "training_step_time": 17.804275512695312 }, { "epoch": 7.648468017578125e-07, "grad_norm": 2.157522201538086, "learning_rate": 9.886490803348064e-06, "loss": 0.1272, "step": 8020 }, { "epoch": 7.648468017578125e-07, "model_forward_time": 5.079310178756714, "step": 8020 }, { "dynamics_loss_avg": 0.05628206878900528, "epoch": 7.648468017578125e-07, "step": 8020 }, { "action_loss_avg": 0.043076224997639655, "epoch": 7.648468017578125e-07, "step": 8020 }, { "arm_loss_avg": 0.06523345173336566, "epoch": 7.648468017578125e-07, "step": 8020 }, { "ee_loss_avg": 0.047392556618433446, "epoch": 7.648468017578125e-07, "step": 8020 }, { "aux_loss_avg": 0.003826670319540426, "epoch": 7.648468017578125e-07, "step": 8020 }, { "epoch": 7.648468017578125e-07, "step": 8020, "training_step_time": 17.585065126419067 }, { "epoch": 7.649421691894532e-07, "model_forward_time": 5.081174612045288, "step": 8021 }, { "epoch": 7.649421691894532e-07, "step": 8021, "training_step_time": 17.582902431488037 }, { "epoch": 7.650375366210938e-07, "model_forward_time": 5.081885099411011, "step": 8022 }, { "epoch": 7.650375366210938e-07, "step": 8022, "training_step_time": 17.53302764892578 }, { "epoch": 7.651329040527344e-07, "model_forward_time": 5.082316875457764, "step": 8023 }, { "epoch": 7.651329040527344e-07, "step": 8023, "training_step_time": 17.485391855239868 }, { "epoch": 7.65228271484375e-07, "model_forward_time": 5.0852391719818115, "step": 8024 }, { "epoch": 7.65228271484375e-07, "step": 8024, "training_step_time": 17.70606780052185 }, { "epoch": 7.653236389160156e-07, "model_forward_time": 5.084365129470825, "step": 8025 }, { "epoch": 7.653236389160156e-07, "step": 8025, "training_step_time": 17.533894777297974 }, { "epoch": 7.654190063476562e-07, "model_forward_time": 5.0838623046875, "step": 8026 }, { "epoch": 7.654190063476562e-07, "step": 8026, "training_step_time": 17.550033807754517 }, { "epoch": 7.655143737792968e-07, "model_forward_time": 3.84999942779541, "step": 8027 }, { "epoch": 7.655143737792968e-07, "step": 8027, "training_step_time": 17.623427152633667 }, { "epoch": 7.656097412109375e-07, "model_forward_time": 5.061705827713013, "step": 8028 }, { "epoch": 7.656097412109375e-07, "step": 8028, "training_step_time": 17.587588787078857 }, { "epoch": 7.657051086425781e-07, "model_forward_time": 5.071800708770752, "step": 8029 }, { "epoch": 7.657051086425781e-07, "step": 8029, "training_step_time": 17.812398433685303 }, { "epoch": 7.658004760742188e-07, "grad_norm": 1.528058648109436, "learning_rate": 9.885989803308535e-06, "loss": 0.115, "step": 8030 }, { "epoch": 7.658004760742188e-07, "model_forward_time": 5.266737699508667, "step": 8030 }, { "dynamics_loss_avg": 0.03367045256309211, "epoch": 7.658004760742188e-07, "step": 8030 }, { "action_loss_avg": 0.02197494686115533, "epoch": 7.658004760742188e-07, "step": 8030 }, { "arm_loss_avg": 0.03983056410215795, "epoch": 7.658004760742188e-07, "step": 8030 }, { "ee_loss_avg": 0.02278015811461955, "epoch": 7.658004760742188e-07, "step": 8030 }, { "aux_loss_avg": 0.0009359032439533622, "epoch": 7.658004760742188e-07, "step": 8030 }, { "epoch": 7.658004760742188e-07, "step": 8030, "training_step_time": 17.585357427597046 }, { "epoch": 7.658958435058594e-07, "model_forward_time": 5.088802814483643, "step": 8031 }, { "epoch": 7.658958435058594e-07, "step": 8031, "training_step_time": 17.575690984725952 }, { "epoch": 7.659912109375e-07, "model_forward_time": 5.091434717178345, "step": 8032 }, { "epoch": 7.659912109375e-07, "step": 8032, "training_step_time": 17.570401191711426 }, { "epoch": 7.660865783691406e-07, "model_forward_time": 5.091090679168701, "step": 8033 }, { "epoch": 7.660865783691406e-07, "step": 8033, "training_step_time": 17.568121910095215 }, { "epoch": 7.661819458007813e-07, "model_forward_time": 5.092974901199341, "step": 8034 }, { "epoch": 7.661819458007813e-07, "step": 8034, "training_step_time": 17.7889187335968 }, { "epoch": 7.662773132324219e-07, "model_forward_time": 5.096177577972412, "step": 8035 }, { "epoch": 7.662773132324219e-07, "step": 8035, "training_step_time": 17.57407569885254 }, { "epoch": 7.663726806640625e-07, "model_forward_time": 5.102194786071777, "step": 8036 }, { "epoch": 7.663726806640625e-07, "step": 8036, "training_step_time": 17.580703020095825 }, { "epoch": 7.664680480957031e-07, "model_forward_time": 5.0865137577056885, "step": 8037 }, { "epoch": 7.664680480957031e-07, "step": 8037, "training_step_time": 17.620368480682373 }, { "epoch": 7.665634155273437e-07, "model_forward_time": 5.083873987197876, "step": 8038 }, { "epoch": 7.665634155273437e-07, "step": 8038, "training_step_time": 17.571430921554565 }, { "epoch": 7.666587829589843e-07, "model_forward_time": 5.295624732971191, "step": 8039 }, { "epoch": 7.666587829589843e-07, "step": 8039, "training_step_time": 17.78041434288025 }, { "epoch": 7.66754150390625e-07, "grad_norm": 2.5315539836883545, "learning_rate": 9.88548771281086e-06, "loss": 0.1109, "step": 8040 }, { "epoch": 7.66754150390625e-07, "model_forward_time": 5.077559471130371, "step": 8040 }, { "dynamics_loss_avg": 0.03609956013970077, "epoch": 7.66754150390625e-07, "step": 8040 }, { "action_loss_avg": 0.03268634882988408, "epoch": 7.66754150390625e-07, "step": 8040 }, { "arm_loss_avg": 0.04458263727137819, "epoch": 7.66754150390625e-07, "step": 8040 }, { "ee_loss_avg": 0.07250909744761884, "epoch": 7.66754150390625e-07, "step": 8040 }, { "aux_loss_avg": 0.0009921547723934054, "epoch": 7.66754150390625e-07, "step": 8040 }, { "epoch": 7.66754150390625e-07, "step": 8040, "training_step_time": 17.339590072631836 }, { "epoch": 7.668495178222657e-07, "model_forward_time": 3.8464488983154297, "step": 8041 }, { "epoch": 7.668495178222657e-07, "step": 8041, "training_step_time": 17.489086866378784 }, { "epoch": 7.669448852539063e-07, "model_forward_time": 3.824981451034546, "step": 8042 }, { "epoch": 7.669448852539063e-07, "step": 8042, "training_step_time": 17.52386498451233 }, { "epoch": 7.670402526855469e-07, "model_forward_time": 5.044386148452759, "step": 8043 }, { "epoch": 7.670402526855469e-07, "step": 8043, "training_step_time": 17.535860300064087 }, { "epoch": 7.671356201171875e-07, "model_forward_time": 5.060904026031494, "step": 8044 }, { "epoch": 7.671356201171875e-07, "step": 8044, "training_step_time": 17.78833317756653 }, { "epoch": 7.672309875488281e-07, "model_forward_time": 5.32147741317749, "step": 8045 }, { "epoch": 7.672309875488281e-07, "step": 8045, "training_step_time": 17.56950283050537 }, { "epoch": 7.673263549804687e-07, "model_forward_time": 5.09432578086853, "step": 8046 }, { "epoch": 7.673263549804687e-07, "step": 8046, "training_step_time": 17.57707643508911 }, { "epoch": 7.674217224121093e-07, "model_forward_time": 5.101731300354004, "step": 8047 }, { "epoch": 7.674217224121093e-07, "step": 8047, "training_step_time": 17.591251373291016 }, { "epoch": 7.6751708984375e-07, "model_forward_time": 5.1048595905303955, "step": 8048 }, { "epoch": 7.6751708984375e-07, "step": 8048, "training_step_time": 17.595896005630493 }, { "epoch": 7.676124572753906e-07, "model_forward_time": 5.09839129447937, "step": 8049 }, { "epoch": 7.676124572753906e-07, "step": 8049, "training_step_time": 17.8158962726593 }, { "epoch": 7.677078247070313e-07, "grad_norm": 2.1548306941986084, "learning_rate": 9.884984531967088e-06, "loss": 0.1129, "step": 8050 }, { "epoch": 7.677078247070313e-07, "model_forward_time": 4.101441860198975, "step": 8050 }, { "dynamics_loss_avg": 0.03845802033320069, "epoch": 7.677078247070313e-07, "step": 8050 }, { "action_loss_avg": 0.042939112451858816, "epoch": 7.677078247070313e-07, "step": 8050 }, { "arm_loss_avg": 0.06281211138702929, "epoch": 7.677078247070313e-07, "step": 8050 }, { "ee_loss_avg": 0.03583553755888715, "epoch": 7.677078247070313e-07, "step": 8050 }, { "aux_loss_avg": 0.0016462883562780918, "epoch": 7.677078247070313e-07, "step": 8050 }, { "epoch": 7.677078247070313e-07, "step": 8050, "training_step_time": 17.588816165924072 }, { "epoch": 7.678031921386719e-07, "model_forward_time": 5.062967300415039, "step": 8051 }, { "epoch": 7.678031921386719e-07, "step": 8051, "training_step_time": 17.600575923919678 }, { "epoch": 7.678985595703125e-07, "model_forward_time": 5.072441101074219, "step": 8052 }, { "epoch": 7.678985595703125e-07, "step": 8052, "training_step_time": 17.584609270095825 }, { "epoch": 7.679939270019531e-07, "model_forward_time": 5.07773494720459, "step": 8053 }, { "epoch": 7.679939270019531e-07, "step": 8053, "training_step_time": 17.58334231376648 }, { "epoch": 7.680892944335938e-07, "model_forward_time": 3.85274076461792, "step": 8054 }, { "epoch": 7.680892944335938e-07, "step": 8054, "training_step_time": 17.80974817276001 }, { "epoch": 7.681846618652344e-07, "model_forward_time": 5.288127660751343, "step": 8055 }, { "epoch": 7.681846618652344e-07, "step": 8055, "training_step_time": 17.57349443435669 }, { "epoch": 7.68280029296875e-07, "model_forward_time": 5.077686786651611, "step": 8056 }, { "epoch": 7.68280029296875e-07, "step": 8056, "training_step_time": 17.57875633239746 }, { "epoch": 7.683753967285156e-07, "model_forward_time": 5.089737415313721, "step": 8057 }, { "epoch": 7.683753967285156e-07, "step": 8057, "training_step_time": 17.57196593284607 }, { "epoch": 7.684707641601562e-07, "model_forward_time": 5.094095706939697, "step": 8058 }, { "epoch": 7.684707641601562e-07, "step": 8058, "training_step_time": 17.566051959991455 }, { "epoch": 7.685661315917968e-07, "model_forward_time": 5.096273899078369, "step": 8059 }, { "epoch": 7.685661315917968e-07, "step": 8059, "training_step_time": 17.782052993774414 }, { "epoch": 7.686614990234375e-07, "grad_norm": 3.0467283725738525, "learning_rate": 9.884480260889524e-06, "loss": 0.1356, "step": 8060 }, { "epoch": 7.686614990234375e-07, "model_forward_time": 5.298134803771973, "step": 8060 }, { "dynamics_loss_avg": 0.04878846425563097, "epoch": 7.686614990234375e-07, "step": 8060 }, { "action_loss_avg": 0.0765786711126566, "epoch": 7.686614990234375e-07, "step": 8060 }, { "arm_loss_avg": 0.1435099510010332, "epoch": 7.686614990234375e-07, "step": 8060 }, { "ee_loss_avg": 0.081314508151263, "epoch": 7.686614990234375e-07, "step": 8060 }, { "aux_loss_avg": 0.0011891221336554735, "epoch": 7.686614990234375e-07, "step": 8060 }, { "epoch": 7.686614990234375e-07, "step": 8060, "training_step_time": 17.563698530197144 }, { "epoch": 7.687568664550782e-07, "model_forward_time": 5.097642421722412, "step": 8061 }, { "epoch": 7.687568664550782e-07, "step": 8061, "training_step_time": 17.57667589187622 }, { "epoch": 7.688522338867188e-07, "model_forward_time": 5.094301462173462, "step": 8062 }, { "epoch": 7.688522338867188e-07, "step": 8062, "training_step_time": 17.574732065200806 }, { "epoch": 7.689476013183594e-07, "model_forward_time": 5.085151433944702, "step": 8063 }, { "epoch": 7.689476013183594e-07, "step": 8063, "training_step_time": 17.57961368560791 }, { "epoch": 7.6904296875e-07, "model_forward_time": 5.0847742557525635, "step": 8064 }, { "epoch": 7.6904296875e-07, "step": 8064, "training_step_time": 17.782978773117065 }, { "epoch": 7.691383361816406e-07, "model_forward_time": 5.316615343093872, "step": 8065 }, { "epoch": 7.691383361816406e-07, "step": 8065, "training_step_time": 17.579379320144653 }, { "epoch": 7.692337036132812e-07, "model_forward_time": 5.08042049407959, "step": 8066 }, { "epoch": 7.692337036132812e-07, "step": 8066, "training_step_time": 17.574050426483154 }, { "epoch": 7.693290710449218e-07, "model_forward_time": 3.8447728157043457, "step": 8067 }, { "epoch": 7.693290710449218e-07, "step": 8067, "training_step_time": 17.596381187438965 }, { "epoch": 7.694244384765625e-07, "model_forward_time": 5.056570529937744, "step": 8068 }, { "epoch": 7.694244384765625e-07, "step": 8068, "training_step_time": 17.587737560272217 }, { "epoch": 7.695198059082031e-07, "model_forward_time": 5.066125869750977, "step": 8069 }, { "epoch": 7.695198059082031e-07, "step": 8069, "training_step_time": 17.795862197875977 }, { "epoch": 7.696151733398438e-07, "grad_norm": 0.9312797784805298, "learning_rate": 9.88397489969071e-06, "loss": 0.1017, "step": 8070 }, { "epoch": 7.696151733398438e-07, "model_forward_time": 5.270536422729492, "step": 8070 }, { "dynamics_loss_avg": 0.03620083332061767, "epoch": 7.696151733398438e-07, "step": 8070 }, { "action_loss_avg": 0.018803636869415642, "epoch": 7.696151733398438e-07, "step": 8070 }, { "arm_loss_avg": 0.040576396766118704, "epoch": 7.696151733398438e-07, "step": 8070 }, { "ee_loss_avg": 0.03466189302271232, "epoch": 7.696151733398438e-07, "step": 8070 }, { "aux_loss_avg": 0.003963334910804406, "epoch": 7.696151733398438e-07, "step": 8070 }, { "epoch": 7.696151733398438e-07, "step": 8070, "training_step_time": 17.563831567764282 }, { "epoch": 7.697105407714844e-07, "model_forward_time": 5.086215972900391, "step": 8071 }, { "epoch": 7.697105407714844e-07, "step": 8071, "training_step_time": 17.561160564422607 }, { "epoch": 7.69805908203125e-07, "model_forward_time": 5.0893120765686035, "step": 8072 }, { "epoch": 7.69805908203125e-07, "step": 8072, "training_step_time": 17.55979323387146 }, { "epoch": 7.699012756347656e-07, "model_forward_time": 5.093403577804565, "step": 8073 }, { "epoch": 7.699012756347656e-07, "step": 8073, "training_step_time": 17.355944871902466 }, { "epoch": 7.699966430664063e-07, "model_forward_time": 5.094483375549316, "step": 8074 }, { "epoch": 7.699966430664063e-07, "step": 8074, "training_step_time": 17.47923755645752 }, { "epoch": 7.700920104980469e-07, "model_forward_time": 5.09898567199707, "step": 8075 }, { "epoch": 7.700920104980469e-07, "step": 8075, "training_step_time": 17.730265140533447 }, { "epoch": 7.701873779296875e-07, "model_forward_time": 5.0925612449646, "step": 8076 }, { "epoch": 7.701873779296875e-07, "step": 8076, "training_step_time": 17.557055234909058 }, { "epoch": 7.702827453613281e-07, "model_forward_time": 5.091697931289673, "step": 8077 }, { "epoch": 7.702827453613281e-07, "step": 8077, "training_step_time": 17.24984860420227 }, { "epoch": 7.703781127929687e-07, "model_forward_time": 5.088500022888184, "step": 8078 }, { "epoch": 7.703781127929687e-07, "step": 8078, "training_step_time": 17.518378257751465 }, { "epoch": 7.704734802246093e-07, "model_forward_time": 5.277529716491699, "step": 8079 }, { "epoch": 7.704734802246093e-07, "step": 8079, "training_step_time": 17.556103467941284 }, { "epoch": 7.7056884765625e-07, "grad_norm": 2.1233091354370117, "learning_rate": 9.88346844848343e-06, "loss": 0.1185, "step": 8080 }, { "epoch": 7.7056884765625e-07, "model_forward_time": 5.081993818283081, "step": 8080 }, { "dynamics_loss_avg": 0.0489266156218946, "epoch": 7.7056884765625e-07, "step": 8080 }, { "action_loss_avg": 0.05054863840341568, "epoch": 7.7056884765625e-07, "step": 8080 }, { "arm_loss_avg": 0.097674046526663, "epoch": 7.7056884765625e-07, "step": 8080 }, { "ee_loss_avg": 0.0846195749239996, "epoch": 7.7056884765625e-07, "step": 8080 }, { "aux_loss_avg": 0.0012930043274536728, "epoch": 7.7056884765625e-07, "step": 8080 }, { "epoch": 7.7056884765625e-07, "step": 8080, "training_step_time": 17.822360038757324 }, { "epoch": 7.706642150878907e-07, "model_forward_time": 5.077452898025513, "step": 8081 }, { "epoch": 7.706642150878907e-07, "step": 8081, "training_step_time": 17.39090585708618 }, { "epoch": 7.707595825195313e-07, "model_forward_time": 5.078296899795532, "step": 8082 }, { "epoch": 7.707595825195313e-07, "step": 8082, "training_step_time": 17.599122524261475 }, { "epoch": 7.708549499511719e-07, "model_forward_time": 5.075874328613281, "step": 8083 }, { "epoch": 7.708549499511719e-07, "step": 8083, "training_step_time": 17.430554389953613 }, { "epoch": 7.709503173828125e-07, "model_forward_time": 5.077331066131592, "step": 8084 }, { "epoch": 7.709503173828125e-07, "step": 8084, "training_step_time": 17.50402045249939 }, { "epoch": 7.710456848144531e-07, "model_forward_time": 5.079648494720459, "step": 8085 }, { "epoch": 7.710456848144531e-07, "step": 8085, "training_step_time": 17.744061708450317 }, { "epoch": 7.711410522460937e-07, "model_forward_time": 5.077870607376099, "step": 8086 }, { "epoch": 7.711410522460937e-07, "step": 8086, "training_step_time": 17.609251737594604 }, { "epoch": 7.712364196777344e-07, "model_forward_time": 5.079237461090088, "step": 8087 }, { "epoch": 7.712364196777344e-07, "step": 8087, "training_step_time": 17.63580584526062 }, { "epoch": 7.71331787109375e-07, "model_forward_time": 5.0827295780181885, "step": 8088 }, { "epoch": 7.71331787109375e-07, "step": 8088, "training_step_time": 17.64192485809326 }, { "epoch": 7.714271545410156e-07, "model_forward_time": 5.079412937164307, "step": 8089 }, { "epoch": 7.714271545410156e-07, "step": 8089, "training_step_time": 17.487854719161987 }, { "epoch": 7.715225219726563e-07, "grad_norm": 2.076754093170166, "learning_rate": 9.882960907380718e-06, "loss": 0.1313, "step": 8090 }, { "epoch": 7.715225219726563e-07, "model_forward_time": 3.8498568534851074, "step": 8090 }, { "dynamics_loss_avg": 0.04389411564916372, "epoch": 7.715225219726563e-07, "step": 8090 }, { "action_loss_avg": 0.04801841608714312, "epoch": 7.715225219726563e-07, "step": 8090 }, { "arm_loss_avg": 0.09461651993915439, "epoch": 7.715225219726563e-07, "step": 8090 }, { "ee_loss_avg": 0.09093930888921023, "epoch": 7.715225219726563e-07, "step": 8090 }, { "aux_loss_avg": 0.007286939915502444, "epoch": 7.715225219726563e-07, "step": 8090 }, { "epoch": 7.715225219726563e-07, "step": 8090, "training_step_time": 17.776169538497925 }, { "epoch": 7.716178894042969e-07, "model_forward_time": 5.064732313156128, "step": 8091 }, { "epoch": 7.716178894042969e-07, "step": 8091, "training_step_time": 17.596119165420532 }, { "epoch": 7.717132568359375e-07, "model_forward_time": 3.8406522274017334, "step": 8092 }, { "epoch": 7.717132568359375e-07, "step": 8092, "training_step_time": 17.588995695114136 }, { "epoch": 7.718086242675781e-07, "model_forward_time": 5.050054311752319, "step": 8093 }, { "epoch": 7.718086242675781e-07, "step": 8093, "training_step_time": 17.597837924957275 }, { "epoch": 7.719039916992188e-07, "model_forward_time": 5.068871021270752, "step": 8094 }, { "epoch": 7.719039916992188e-07, "step": 8094, "training_step_time": 17.597545862197876 }, { "epoch": 7.719993591308594e-07, "model_forward_time": 5.316982746124268, "step": 8095 }, { "epoch": 7.719993591308594e-07, "step": 8095, "training_step_time": 17.777015209197998 }, { "epoch": 7.720947265625e-07, "model_forward_time": 5.108638048171997, "step": 8096 }, { "epoch": 7.720947265625e-07, "step": 8096, "training_step_time": 17.632121801376343 }, { "epoch": 7.721900939941406e-07, "model_forward_time": 5.116838455200195, "step": 8097 }, { "epoch": 7.721900939941406e-07, "step": 8097, "training_step_time": 17.278990507125854 }, { "epoch": 7.722854614257812e-07, "model_forward_time": 5.116556882858276, "step": 8098 }, { "epoch": 7.722854614257812e-07, "step": 8098, "training_step_time": 17.536491632461548 }, { "epoch": 7.723808288574218e-07, "model_forward_time": 5.1122212409973145, "step": 8099 }, { "epoch": 7.723808288574218e-07, "step": 8099, "training_step_time": 17.554202556610107 }, { "epoch": 7.724761962890626e-07, "grad_norm": 1.482033610343933, "learning_rate": 9.882452276495848e-06, "loss": 0.1152, "step": 8100 }, { "epoch": 7.724761962890626e-07, "model_forward_time": 5.097947597503662, "step": 8100 }, { "dynamics_loss_avg": 0.040412265341728926, "epoch": 7.724761962890626e-07, "step": 8100 }, { "action_loss_avg": 0.0365694523206912, "epoch": 7.724761962890626e-07, "step": 8100 }, { "arm_loss_avg": 0.06697558128507808, "epoch": 7.724761962890626e-07, "step": 8100 }, { "ee_loss_avg": 0.07015737474430353, "epoch": 7.724761962890626e-07, "step": 8100 }, { "aux_loss_avg": 0.0008399526646826416, "epoch": 7.724761962890626e-07, "step": 8100 }, { "epoch": 7.724761962890626e-07, "step": 8100, "training_step_time": 17.816402435302734 }, { "epoch": 7.725715637207032e-07, "model_forward_time": 5.086116313934326, "step": 8101 }, { "epoch": 7.725715637207032e-07, "step": 8101, "training_step_time": 17.589350938796997 }, { "epoch": 7.726669311523438e-07, "model_forward_time": 5.085703611373901, "step": 8102 }, { "epoch": 7.726669311523438e-07, "step": 8102, "training_step_time": 17.449062824249268 }, { "epoch": 7.727622985839844e-07, "model_forward_time": 5.0791614055633545, "step": 8103 }, { "epoch": 7.727622985839844e-07, "step": 8103, "training_step_time": 17.486952781677246 }, { "epoch": 7.72857666015625e-07, "model_forward_time": 5.081825256347656, "step": 8104 }, { "epoch": 7.72857666015625e-07, "step": 8104, "training_step_time": 17.537965774536133 }, { "epoch": 7.729530334472656e-07, "model_forward_time": 5.072930812835693, "step": 8105 }, { "epoch": 7.729530334472656e-07, "step": 8105, "training_step_time": 17.743491888046265 }, { "epoch": 7.730484008789062e-07, "model_forward_time": 5.070918083190918, "step": 8106 }, { "epoch": 7.730484008789062e-07, "step": 8106, "training_step_time": 17.57750940322876 }, { "epoch": 7.731437683105469e-07, "model_forward_time": 5.07795786857605, "step": 8107 }, { "epoch": 7.731437683105469e-07, "step": 8107, "training_step_time": 17.589649438858032 }, { "epoch": 7.732391357421875e-07, "model_forward_time": 5.078212022781372, "step": 8108 }, { "epoch": 7.732391357421875e-07, "step": 8108, "training_step_time": 17.591182708740234 }, { "epoch": 7.733345031738281e-07, "model_forward_time": 5.077552556991577, "step": 8109 }, { "epoch": 7.733345031738281e-07, "step": 8109, "training_step_time": 17.584269046783447 }, { "epoch": 7.734298706054688e-07, "grad_norm": 1.4196239709854126, "learning_rate": 9.881942555942334e-06, "loss": 0.1146, "step": 8110 }, { "epoch": 7.734298706054688e-07, "model_forward_time": 5.0789101123809814, "step": 8110 }, { "dynamics_loss_avg": 0.04161094934679568, "epoch": 7.734298706054688e-07, "step": 8110 }, { "action_loss_avg": 0.05419449801556766, "epoch": 7.734298706054688e-07, "step": 8110 }, { "arm_loss_avg": 0.08832087644841521, "epoch": 7.734298706054688e-07, "step": 8110 }, { "ee_loss_avg": 0.08856546923052519, "epoch": 7.734298706054688e-07, "step": 8110 }, { "aux_loss_avg": 0.000803933065617457, "epoch": 7.734298706054688e-07, "step": 8110 }, { "epoch": 7.734298706054688e-07, "step": 8110, "training_step_time": 17.8157799243927 }, { "epoch": 7.735252380371094e-07, "model_forward_time": 5.080376863479614, "step": 8111 }, { "epoch": 7.735252380371094e-07, "step": 8111, "training_step_time": 17.587477922439575 }, { "epoch": 7.7362060546875e-07, "model_forward_time": 5.080162763595581, "step": 8112 }, { "epoch": 7.7362060546875e-07, "step": 8112, "training_step_time": 17.58051323890686 }, { "epoch": 7.737159729003906e-07, "model_forward_time": 5.084176540374756, "step": 8113 }, { "epoch": 7.737159729003906e-07, "step": 8113, "training_step_time": 17.576868057250977 }, { "epoch": 7.738113403320313e-07, "model_forward_time": 5.324305057525635, "step": 8114 }, { "epoch": 7.738113403320313e-07, "step": 8114, "training_step_time": 17.58101773262024 }, { "epoch": 7.739067077636719e-07, "model_forward_time": 5.088404893875122, "step": 8115 }, { "epoch": 7.739067077636719e-07, "step": 8115, "training_step_time": 17.75953769683838 }, { "epoch": 7.740020751953125e-07, "model_forward_time": 5.08677339553833, "step": 8116 }, { "epoch": 7.740020751953125e-07, "step": 8116, "training_step_time": 17.564055919647217 }, { "epoch": 7.740974426269531e-07, "model_forward_time": 3.8553316593170166, "step": 8117 }, { "epoch": 7.740974426269531e-07, "step": 8117, "training_step_time": 17.59300708770752 }, { "epoch": 7.741928100585937e-07, "model_forward_time": 5.07302188873291, "step": 8118 }, { "epoch": 7.741928100585937e-07, "step": 8118, "training_step_time": 17.66539239883423 }, { "epoch": 7.742881774902343e-07, "model_forward_time": 5.093453884124756, "step": 8119 }, { "epoch": 7.742881774902343e-07, "step": 8119, "training_step_time": 17.59100031852722 }, { "epoch": 7.74383544921875e-07, "grad_norm": 1.613204002380371, "learning_rate": 9.881431745833936e-06, "loss": 0.1129, "step": 8120 }, { "epoch": 7.74383544921875e-07, "model_forward_time": 3.8508195877075195, "step": 8120 }, { "dynamics_loss_avg": 0.04160513994283974, "epoch": 7.74383544921875e-07, "step": 8120 }, { "action_loss_avg": 0.05775722162798047, "epoch": 7.74383544921875e-07, "step": 8120 }, { "arm_loss_avg": 0.0967621506890282, "epoch": 7.74383544921875e-07, "step": 8120 }, { "ee_loss_avg": 0.06171173928305507, "epoch": 7.74383544921875e-07, "step": 8120 }, { "aux_loss_avg": 0.0010685466462746263, "epoch": 7.74383544921875e-07, "step": 8120 }, { "epoch": 7.74383544921875e-07, "step": 8120, "training_step_time": 17.84046196937561 }, { "epoch": 7.744789123535157e-07, "model_forward_time": 5.06932806968689, "step": 8121 }, { "epoch": 7.744789123535157e-07, "step": 8121, "training_step_time": 17.42572593688965 }, { "epoch": 7.745742797851563e-07, "model_forward_time": 5.072864055633545, "step": 8122 }, { "epoch": 7.745742797851563e-07, "step": 8122, "training_step_time": 17.599209785461426 }, { "epoch": 7.746696472167969e-07, "model_forward_time": 5.080243349075317, "step": 8123 }, { "epoch": 7.746696472167969e-07, "step": 8123, "training_step_time": 17.51270031929016 }, { "epoch": 7.747650146484375e-07, "model_forward_time": 5.095319032669067, "step": 8124 }, { "epoch": 7.747650146484375e-07, "step": 8124, "training_step_time": 17.53415012359619 }, { "epoch": 7.748603820800781e-07, "model_forward_time": 5.097613334655762, "step": 8125 }, { "epoch": 7.748603820800781e-07, "step": 8125, "training_step_time": 17.75796937942505 }, { "epoch": 7.749557495117187e-07, "model_forward_time": 5.09787130355835, "step": 8126 }, { "epoch": 7.749557495117187e-07, "step": 8126, "training_step_time": 17.586644887924194 }, { "epoch": 7.750511169433594e-07, "model_forward_time": 5.09688401222229, "step": 8127 }, { "epoch": 7.750511169433594e-07, "step": 8127, "training_step_time": 17.60740327835083 }, { "epoch": 7.75146484375e-07, "model_forward_time": 5.091325521469116, "step": 8128 }, { "epoch": 7.75146484375e-07, "step": 8128, "training_step_time": 17.501598834991455 }, { "epoch": 7.752418518066406e-07, "model_forward_time": 5.086674928665161, "step": 8129 }, { "epoch": 7.752418518066406e-07, "step": 8129, "training_step_time": 17.545531272888184 }, { "epoch": 7.753372192382812e-07, "grad_norm": 2.1656548976898193, "learning_rate": 9.880919846284657e-06, "loss": 0.1206, "step": 8130 }, { "epoch": 7.753372192382812e-07, "model_forward_time": 5.087714195251465, "step": 8130 }, { "dynamics_loss_avg": 0.03652337221428752, "epoch": 7.753372192382812e-07, "step": 8130 }, { "action_loss_avg": 0.03199642968829721, "epoch": 7.753372192382812e-07, "step": 8130 }, { "arm_loss_avg": 0.06248093463946134, "epoch": 7.753372192382812e-07, "step": 8130 }, { "ee_loss_avg": 0.0818032426177524, "epoch": 7.753372192382812e-07, "step": 8130 }, { "aux_loss_avg": 0.005563724093372002, "epoch": 7.753372192382812e-07, "step": 8130 }, { "epoch": 7.753372192382812e-07, "step": 8130, "training_step_time": 17.80824851989746 }, { "epoch": 7.754325866699219e-07, "model_forward_time": 5.07725191116333, "step": 8131 }, { "epoch": 7.754325866699219e-07, "step": 8131, "training_step_time": 17.585850715637207 }, { "epoch": 7.755279541015625e-07, "model_forward_time": 3.8491721153259277, "step": 8132 }, { "epoch": 7.755279541015625e-07, "step": 8132, "training_step_time": 17.58183193206787 }, { "epoch": 7.756233215332031e-07, "model_forward_time": 5.057503700256348, "step": 8133 }, { "epoch": 7.756233215332031e-07, "step": 8133, "training_step_time": 17.51838207244873 }, { "epoch": 7.757186889648438e-07, "model_forward_time": 5.063887596130371, "step": 8134 }, { "epoch": 7.757186889648438e-07, "step": 8134, "training_step_time": 17.46064567565918 }, { "epoch": 7.758140563964844e-07, "model_forward_time": 4.090348482131958, "step": 8135 }, { "epoch": 7.758140563964844e-07, "step": 8135, "training_step_time": 17.679070949554443 }, { "epoch": 7.75909423828125e-07, "model_forward_time": 5.057291269302368, "step": 8136 }, { "epoch": 7.75909423828125e-07, "step": 8136, "training_step_time": 17.544203758239746 }, { "epoch": 7.760047912597656e-07, "model_forward_time": 5.07548189163208, "step": 8137 }, { "epoch": 7.760047912597656e-07, "step": 8137, "training_step_time": 17.601304054260254 }, { "epoch": 7.761001586914062e-07, "model_forward_time": 5.096056938171387, "step": 8138 }, { "epoch": 7.761001586914062e-07, "step": 8138, "training_step_time": 17.59553360939026 }, { "epoch": 7.761955261230468e-07, "model_forward_time": 3.85603404045105, "step": 8139 }, { "epoch": 7.761955261230468e-07, "step": 8139, "training_step_time": 17.423243284225464 }, { "epoch": 7.762908935546874e-07, "grad_norm": 2.396890878677368, "learning_rate": 9.880406857408744e-06, "loss": 0.1297, "step": 8140 }, { "epoch": 7.762908935546874e-07, "model_forward_time": 5.27810263633728, "step": 8140 }, { "dynamics_loss_avg": 0.044353649578988553, "epoch": 7.762908935546874e-07, "step": 8140 }, { "action_loss_avg": 0.043096671462990344, "epoch": 7.762908935546874e-07, "step": 8140 }, { "arm_loss_avg": 0.08492685314267874, "epoch": 7.762908935546874e-07, "step": 8140 }, { "ee_loss_avg": 0.1141882270341739, "epoch": 7.762908935546874e-07, "step": 8140 }, { "aux_loss_avg": 0.0015965066908393056, "epoch": 7.762908935546874e-07, "step": 8140 }, { "epoch": 7.762908935546874e-07, "step": 8140, "training_step_time": 17.73168659210205 }, { "epoch": 7.763862609863282e-07, "model_forward_time": 5.088854551315308, "step": 8141 }, { "epoch": 7.763862609863282e-07, "step": 8141, "training_step_time": 17.560097217559814 }, { "epoch": 7.764816284179688e-07, "model_forward_time": 5.09705376625061, "step": 8142 }, { "epoch": 7.764816284179688e-07, "step": 8142, "training_step_time": 17.589109659194946 }, { "epoch": 7.765769958496094e-07, "model_forward_time": 5.1023170948028564, "step": 8143 }, { "epoch": 7.765769958496094e-07, "step": 8143, "training_step_time": 17.604541540145874 }, { "epoch": 7.7667236328125e-07, "model_forward_time": 5.096898078918457, "step": 8144 }, { "epoch": 7.7667236328125e-07, "step": 8144, "training_step_time": 17.612528800964355 }, { "epoch": 7.767677307128906e-07, "model_forward_time": 5.342835187911987, "step": 8145 }, { "epoch": 7.767677307128906e-07, "step": 8145, "training_step_time": 17.813336610794067 }, { "epoch": 7.768630981445312e-07, "model_forward_time": 5.091772794723511, "step": 8146 }, { "epoch": 7.768630981445312e-07, "step": 8146, "training_step_time": 17.615139961242676 }, { "epoch": 7.769584655761719e-07, "model_forward_time": 5.095208406448364, "step": 8147 }, { "epoch": 7.769584655761719e-07, "step": 8147, "training_step_time": 17.603250741958618 }, { "epoch": 7.770538330078125e-07, "model_forward_time": 5.086782693862915, "step": 8148 }, { "epoch": 7.770538330078125e-07, "step": 8148, "training_step_time": 17.596855401992798 }, { "epoch": 7.771492004394531e-07, "model_forward_time": 5.079797029495239, "step": 8149 }, { "epoch": 7.771492004394531e-07, "step": 8149, "training_step_time": 17.580089330673218 }, { "epoch": 7.772445678710937e-07, "grad_norm": 2.0667223930358887, "learning_rate": 9.879892779320684e-06, "loss": 0.1405, "step": 8150 }, { "epoch": 7.772445678710937e-07, "model_forward_time": 5.082091331481934, "step": 8150 }, { "dynamics_loss_avg": 0.04944742489606142, "epoch": 7.772445678710937e-07, "step": 8150 }, { "action_loss_avg": 0.08299988843500614, "epoch": 7.772445678710937e-07, "step": 8150 }, { "arm_loss_avg": 0.12994252964854242, "epoch": 7.772445678710937e-07, "step": 8150 }, { "ee_loss_avg": 0.13499368745833634, "epoch": 7.772445678710937e-07, "step": 8150 }, { "aux_loss_avg": 0.0053868913382757455, "epoch": 7.772445678710937e-07, "step": 8150 }, { "epoch": 7.772445678710937e-07, "step": 8150, "training_step_time": 17.831687927246094 }, { "epoch": 7.773399353027344e-07, "model_forward_time": 5.078012943267822, "step": 8151 }, { "epoch": 7.773399353027344e-07, "step": 8151, "training_step_time": 17.57219409942627 }, { "epoch": 7.77435302734375e-07, "model_forward_time": 5.080893516540527, "step": 8152 }, { "epoch": 7.77435302734375e-07, "step": 8152, "training_step_time": 17.60095477104187 }, { "epoch": 7.775306701660156e-07, "model_forward_time": 5.0805583000183105, "step": 8153 }, { "epoch": 7.775306701660156e-07, "step": 8153, "training_step_time": 17.562939643859863 }, { "epoch": 7.776260375976563e-07, "model_forward_time": 5.0773396492004395, "step": 8154 }, { "epoch": 7.776260375976563e-07, "step": 8154, "training_step_time": 17.455796480178833 }, { "epoch": 7.777214050292969e-07, "model_forward_time": 5.082301616668701, "step": 8155 }, { "epoch": 7.777214050292969e-07, "step": 8155, "training_step_time": 17.479011297225952 }, { "epoch": 7.778167724609375e-07, "model_forward_time": 5.085538864135742, "step": 8156 }, { "epoch": 7.778167724609375e-07, "step": 8156, "training_step_time": 17.747676849365234 }, { "epoch": 7.779121398925781e-07, "model_forward_time": 5.082605361938477, "step": 8157 }, { "epoch": 7.779121398925781e-07, "step": 8157, "training_step_time": 17.617990970611572 }, { "epoch": 7.780075073242187e-07, "model_forward_time": 5.080616474151611, "step": 8158 }, { "epoch": 7.780075073242187e-07, "step": 8158, "training_step_time": 17.57393527030945 }, { "epoch": 7.781028747558593e-07, "model_forward_time": 5.2796056270599365, "step": 8159 }, { "epoch": 7.781028747558593e-07, "step": 8159, "training_step_time": 17.58525323867798 }, { "epoch": 7.781982421875e-07, "grad_norm": 1.8388162851333618, "learning_rate": 9.879377612135213e-06, "loss": 0.1399, "step": 8160 }, { "epoch": 7.781982421875e-07, "model_forward_time": 5.082565546035767, "step": 8160 }, { "dynamics_loss_avg": 0.05023736990988255, "epoch": 7.781982421875e-07, "step": 8160 }, { "action_loss_avg": 0.03306721951812506, "epoch": 7.781982421875e-07, "step": 8160 }, { "arm_loss_avg": 0.03971656437497586, "epoch": 7.781982421875e-07, "step": 8160 }, { "ee_loss_avg": 0.06776922009885311, "epoch": 7.781982421875e-07, "step": 8160 }, { "aux_loss_avg": 0.0023121709760744124, "epoch": 7.781982421875e-07, "step": 8160 }, { "epoch": 7.781982421875e-07, "step": 8160, "training_step_time": 17.8287456035614 }, { "epoch": 7.782936096191407e-07, "model_forward_time": 5.083630800247192, "step": 8161 }, { "epoch": 7.782936096191407e-07, "step": 8161, "training_step_time": 17.597707271575928 }, { "epoch": 7.783889770507813e-07, "model_forward_time": 5.083813905715942, "step": 8162 }, { "epoch": 7.783889770507813e-07, "step": 8162, "training_step_time": 17.587774991989136 }, { "epoch": 7.784843444824219e-07, "model_forward_time": 5.0794689655303955, "step": 8163 }, { "epoch": 7.784843444824219e-07, "step": 8163, "training_step_time": 17.59226965904236 }, { "epoch": 7.785797119140625e-07, "model_forward_time": 5.08348822593689, "step": 8164 }, { "epoch": 7.785797119140625e-07, "step": 8164, "training_step_time": 17.58365750312805 }, { "epoch": 7.786750793457031e-07, "model_forward_time": 5.0798420906066895, "step": 8165 }, { "epoch": 7.786750793457031e-07, "step": 8165, "training_step_time": 17.800434589385986 }, { "epoch": 7.787704467773437e-07, "model_forward_time": 5.074066400527954, "step": 8166 }, { "epoch": 7.787704467773437e-07, "step": 8166, "training_step_time": 17.36218786239624 }, { "epoch": 7.788658142089844e-07, "model_forward_time": 5.077463388442993, "step": 8167 }, { "epoch": 7.788658142089844e-07, "step": 8167, "training_step_time": 17.61443781852722 }, { "epoch": 7.78961181640625e-07, "model_forward_time": 5.086362361907959, "step": 8168 }, { "epoch": 7.78961181640625e-07, "step": 8168, "training_step_time": 17.378036499023438 }, { "epoch": 7.790565490722656e-07, "model_forward_time": 5.0856382846832275, "step": 8169 }, { "epoch": 7.790565490722656e-07, "step": 8169, "training_step_time": 17.4602632522583 }, { "epoch": 7.791519165039062e-07, "grad_norm": 1.7233325242996216, "learning_rate": 9.878861355967302e-06, "loss": 0.1422, "step": 8170 }, { "epoch": 7.791519165039062e-07, "model_forward_time": 5.088937759399414, "step": 8170 }, { "dynamics_loss_avg": 0.04573052623309195, "epoch": 7.791519165039062e-07, "step": 8170 }, { "action_loss_avg": 0.04493228562641889, "epoch": 7.791519165039062e-07, "step": 8170 }, { "arm_loss_avg": 0.08236088394187391, "epoch": 7.791519165039062e-07, "step": 8170 }, { "ee_loss_avg": 0.10679942577844485, "epoch": 7.791519165039062e-07, "step": 8170 }, { "aux_loss_avg": 0.0012685179070103913, "epoch": 7.791519165039062e-07, "step": 8170 }, { "epoch": 7.791519165039062e-07, "step": 8170, "training_step_time": 17.51341485977173 }, { "epoch": 7.792472839355469e-07, "model_forward_time": 5.083805799484253, "step": 8171 }, { "epoch": 7.792472839355469e-07, "step": 8171, "training_step_time": 17.31973958015442 }, { "epoch": 7.793426513671875e-07, "model_forward_time": 5.083377838134766, "step": 8172 }, { "epoch": 7.793426513671875e-07, "step": 8172, "training_step_time": 17.49857449531555 }, { "epoch": 7.794380187988282e-07, "model_forward_time": 5.085200071334839, "step": 8173 }, { "epoch": 7.794380187988282e-07, "step": 8173, "training_step_time": 17.54980158805847 }, { "epoch": 7.795333862304688e-07, "model_forward_time": 5.326923370361328, "step": 8174 }, { "epoch": 7.795333862304688e-07, "step": 8174, "training_step_time": 17.582806825637817 }, { "epoch": 7.796287536621094e-07, "model_forward_time": 5.081269264221191, "step": 8175 }, { "epoch": 7.796287536621094e-07, "step": 8175, "training_step_time": 17.61249327659607 }, { "epoch": 7.7972412109375e-07, "model_forward_time": 5.091548204421997, "step": 8176 }, { "epoch": 7.7972412109375e-07, "step": 8176, "training_step_time": 17.848932027816772 }, { "epoch": 7.798194885253906e-07, "model_forward_time": 5.100545883178711, "step": 8177 }, { "epoch": 7.798194885253906e-07, "step": 8177, "training_step_time": 17.667235851287842 }, { "epoch": 7.799148559570312e-07, "model_forward_time": 5.095986843109131, "step": 8178 }, { "epoch": 7.799148559570312e-07, "step": 8178, "training_step_time": 17.654737949371338 }, { "epoch": 7.800102233886718e-07, "model_forward_time": 5.2997846603393555, "step": 8179 }, { "epoch": 7.800102233886718e-07, "step": 8179, "training_step_time": 17.63525390625 }, { "epoch": 7.801055908203125e-07, "grad_norm": 2.0322320461273193, "learning_rate": 9.878344010932173e-06, "loss": 0.1091, "step": 8180 }, { "epoch": 7.801055908203125e-07, "model_forward_time": 5.084763288497925, "step": 8180 }, { "dynamics_loss_avg": 0.040260622790083286, "epoch": 7.801055908203125e-07, "step": 8180 }, { "action_loss_avg": 0.02507461943605449, "epoch": 7.801055908203125e-07, "step": 8180 }, { "arm_loss_avg": 0.04092944106087089, "epoch": 7.801055908203125e-07, "step": 8180 }, { "ee_loss_avg": 0.04074803093681112, "epoch": 7.801055908203125e-07, "step": 8180 }, { "aux_loss_avg": 0.0033372396545019003, "epoch": 7.801055908203125e-07, "step": 8180 }, { "epoch": 7.801055908203125e-07, "step": 8180, "training_step_time": 17.605827808380127 }, { "epoch": 7.802009582519532e-07, "model_forward_time": 5.082858324050903, "step": 8181 }, { "epoch": 7.802009582519532e-07, "step": 8181, "training_step_time": 17.810277700424194 }, { "epoch": 7.802963256835938e-07, "model_forward_time": 5.076453924179077, "step": 8182 }, { "epoch": 7.802963256835938e-07, "step": 8182, "training_step_time": 17.586776733398438 }, { "epoch": 7.803916931152344e-07, "model_forward_time": 5.0784478187561035, "step": 8183 }, { "epoch": 7.803916931152344e-07, "step": 8183, "training_step_time": 17.569408893585205 }, { "epoch": 7.80487060546875e-07, "model_forward_time": 5.079063653945923, "step": 8184 }, { "epoch": 7.80487060546875e-07, "step": 8184, "training_step_time": 17.55994987487793 }, { "epoch": 7.805824279785156e-07, "model_forward_time": 5.079302787780762, "step": 8185 }, { "epoch": 7.805824279785156e-07, "step": 8185, "training_step_time": 17.55921196937561 }, { "epoch": 7.806777954101562e-07, "model_forward_time": 5.079555034637451, "step": 8186 }, { "epoch": 7.806777954101562e-07, "step": 8186, "training_step_time": 17.73144769668579 }, { "epoch": 7.807731628417969e-07, "model_forward_time": 5.079117298126221, "step": 8187 }, { "epoch": 7.807731628417969e-07, "step": 8187, "training_step_time": 17.545149564743042 }, { "epoch": 7.808685302734375e-07, "model_forward_time": 5.075774908065796, "step": 8188 }, { "epoch": 7.808685302734375e-07, "step": 8188, "training_step_time": 17.551584720611572 }, { "epoch": 7.809638977050781e-07, "model_forward_time": 5.077402591705322, "step": 8189 }, { "epoch": 7.809638977050781e-07, "step": 8189, "training_step_time": 17.45289945602417 }, { "epoch": 7.810592651367187e-07, "grad_norm": 2.207031011581421, "learning_rate": 9.877825577145286e-06, "loss": 0.129, "step": 8190 }, { "epoch": 7.810592651367187e-07, "model_forward_time": 5.082025766372681, "step": 8190 }, { "dynamics_loss_avg": 0.046433385694399476, "epoch": 7.810592651367187e-07, "step": 8190 }, { "action_loss_avg": 0.036211886419914664, "epoch": 7.810592651367187e-07, "step": 8190 }, { "arm_loss_avg": 0.07600544788874686, "epoch": 7.810592651367187e-07, "step": 8190 }, { "ee_loss_avg": 0.066984598711133, "epoch": 7.810592651367187e-07, "step": 8190 }, { "aux_loss_avg": 0.022242209388059563, "epoch": 7.810592651367187e-07, "step": 8190 }, { "epoch": 7.810592651367187e-07, "step": 8190, "training_step_time": 17.481245517730713 }, { "epoch": 7.811546325683594e-07, "model_forward_time": 3.845349073410034, "step": 8191 }, { "epoch": 7.811546325683594e-07, "step": 8191, "training_step_time": 17.741150856018066 }, { "epoch": 7.8125e-07, "model_forward_time": 5.058059453964233, "step": 8192 }, { "epoch": 7.8125e-07, "step": 8192, "training_step_time": 17.534563779830933 }, { "epoch": 7.813453674316407e-07, "model_forward_time": 5.062152147293091, "step": 8193 }, { "epoch": 7.813453674316407e-07, "step": 8193, "training_step_time": 17.560469388961792 }, { "epoch": 7.814407348632813e-07, "model_forward_time": 5.074785947799683, "step": 8194 }, { "epoch": 7.814407348632813e-07, "step": 8194, "training_step_time": 17.57278871536255 }, { "epoch": 7.815361022949219e-07, "model_forward_time": 5.317700386047363, "step": 8195 }, { "epoch": 7.815361022949219e-07, "step": 8195, "training_step_time": 17.79426884651184 }, { "epoch": 7.816314697265625e-07, "model_forward_time": 3.86191463470459, "step": 8196 }, { "epoch": 7.816314697265625e-07, "step": 8196, "training_step_time": 17.613138437271118 }, { "epoch": 7.817268371582031e-07, "model_forward_time": 5.0777363777160645, "step": 8197 }, { "epoch": 7.817268371582031e-07, "step": 8197, "training_step_time": 17.63568878173828 }, { "epoch": 7.818222045898437e-07, "model_forward_time": 3.854583501815796, "step": 8198 }, { "epoch": 7.818222045898437e-07, "step": 8198, "training_step_time": 17.65871262550354 }, { "epoch": 7.819175720214843e-07, "model_forward_time": 5.07453727722168, "step": 8199 }, { "epoch": 7.819175720214843e-07, "step": 8199, "training_step_time": 17.63343644142151 }, { "epoch": 7.82012939453125e-07, "grad_norm": 2.2130227088928223, "learning_rate": 9.877306054722344e-06, "loss": 0.1173, "step": 8200 }, { "epoch": 7.82012939453125e-07, "model_forward_time": 5.2850587368011475, "step": 8200 }, { "dynamics_loss_avg": 0.03593017254024744, "epoch": 7.82012939453125e-07, "step": 8200 }, { "action_loss_avg": 0.03771371589973569, "epoch": 7.82012939453125e-07, "step": 8200 }, { "arm_loss_avg": 0.08824249000754207, "epoch": 7.82012939453125e-07, "step": 8200 }, { "ee_loss_avg": 0.07863888128194958, "epoch": 7.82012939453125e-07, "step": 8200 }, { "aux_loss_avg": 0.001161502132890746, "epoch": 7.82012939453125e-07, "step": 8200 }, { "epoch": 7.82012939453125e-07, "step": 8200, "training_step_time": 17.402364015579224 }, { "epoch": 7.821083068847657e-07, "model_forward_time": 5.091148853302002, "step": 8201 }, { "epoch": 7.821083068847657e-07, "step": 8201, "training_step_time": 17.554354429244995 }, { "epoch": 7.822036743164063e-07, "model_forward_time": 5.101562261581421, "step": 8202 }, { "epoch": 7.822036743164063e-07, "step": 8202, "training_step_time": 17.574281454086304 }, { "epoch": 7.822990417480469e-07, "model_forward_time": 5.103320837020874, "step": 8203 }, { "epoch": 7.822990417480469e-07, "step": 8203, "training_step_time": 17.565650463104248 }, { "epoch": 7.823944091796875e-07, "model_forward_time": 3.8638083934783936, "step": 8204 }, { "epoch": 7.823944091796875e-07, "step": 8204, "training_step_time": 17.56678295135498 }, { "epoch": 7.824897766113281e-07, "model_forward_time": 5.30049467086792, "step": 8205 }, { "epoch": 7.824897766113281e-07, "step": 8205, "training_step_time": 17.780388593673706 }, { "epoch": 7.825851440429687e-07, "model_forward_time": 5.072737455368042, "step": 8206 }, { "epoch": 7.825851440429687e-07, "step": 8206, "training_step_time": 17.55452060699463 }, { "epoch": 7.826805114746094e-07, "model_forward_time": 5.07623553276062, "step": 8207 }, { "epoch": 7.826805114746094e-07, "step": 8207, "training_step_time": 17.554150104522705 }, { "epoch": 7.8277587890625e-07, "model_forward_time": 5.081767559051514, "step": 8208 }, { "epoch": 7.8277587890625e-07, "step": 8208, "training_step_time": 17.55013108253479 }, { "epoch": 7.828712463378906e-07, "model_forward_time": 5.08771014213562, "step": 8209 }, { "epoch": 7.828712463378906e-07, "step": 8209, "training_step_time": 17.54705238342285 }, { "epoch": 7.829666137695312e-07, "grad_norm": 1.4106050729751587, "learning_rate": 9.876785443779295e-06, "loss": 0.1275, "step": 8210 }, { "epoch": 7.829666137695312e-07, "model_forward_time": 5.271325588226318, "step": 8210 }, { "dynamics_loss_avg": 0.05041975229978561, "epoch": 7.829666137695312e-07, "step": 8210 }, { "action_loss_avg": 0.0831917492672801, "epoch": 7.829666137695312e-07, "step": 8210 }, { "arm_loss_avg": 0.12365297451615334, "epoch": 7.829666137695312e-07, "step": 8210 }, { "ee_loss_avg": 0.13848922960460186, "epoch": 7.829666137695312e-07, "step": 8210 }, { "aux_loss_avg": 0.007291369349695742, "epoch": 7.829666137695312e-07, "step": 8210 }, { "epoch": 7.829666137695312e-07, "step": 8210, "training_step_time": 17.792325735092163 }, { "epoch": 7.830619812011719e-07, "model_forward_time": 3.8507254123687744, "step": 8211 }, { "epoch": 7.830619812011719e-07, "step": 8211, "training_step_time": 17.551329374313354 }, { "epoch": 7.831573486328125e-07, "model_forward_time": 5.061342477798462, "step": 8212 }, { "epoch": 7.831573486328125e-07, "step": 8212, "training_step_time": 17.552789211273193 }, { "epoch": 7.832527160644532e-07, "model_forward_time": 5.072067737579346, "step": 8213 }, { "epoch": 7.832527160644532e-07, "step": 8213, "training_step_time": 17.59817123413086 }, { "epoch": 7.833480834960938e-07, "model_forward_time": 5.080252408981323, "step": 8214 }, { "epoch": 7.833480834960938e-07, "step": 8214, "training_step_time": 17.203270435333252 }, { "epoch": 7.834434509277344e-07, "model_forward_time": 5.319988012313843, "step": 8215 }, { "epoch": 7.834434509277344e-07, "step": 8215, "training_step_time": 17.47000288963318 }, { "epoch": 7.83538818359375e-07, "model_forward_time": 5.11279559135437, "step": 8216 }, { "epoch": 7.83538818359375e-07, "step": 8216, "training_step_time": 17.763461351394653 }, { "epoch": 7.836341857910156e-07, "model_forward_time": 5.112749814987183, "step": 8217 }, { "epoch": 7.836341857910156e-07, "step": 8217, "training_step_time": 17.585530281066895 }, { "epoch": 7.837295532226562e-07, "model_forward_time": 5.102883338928223, "step": 8218 }, { "epoch": 7.837295532226562e-07, "step": 8218, "training_step_time": 17.58782434463501 }, { "epoch": 7.838249206542968e-07, "model_forward_time": 5.101083517074585, "step": 8219 }, { "epoch": 7.838249206542968e-07, "step": 8219, "training_step_time": 17.593316793441772 }, { "epoch": 7.839202880859375e-07, "grad_norm": 2.017995595932007, "learning_rate": 9.876263744432332e-06, "loss": 0.1237, "step": 8220 }, { "epoch": 7.839202880859375e-07, "model_forward_time": 5.0867979526519775, "step": 8220 }, { "dynamics_loss_avg": 0.04977569617331028, "epoch": 7.839202880859375e-07, "step": 8220 }, { "action_loss_avg": 0.07706624772399664, "epoch": 7.839202880859375e-07, "step": 8220 }, { "arm_loss_avg": 0.11746164821088315, "epoch": 7.839202880859375e-07, "step": 8220 }, { "ee_loss_avg": 0.05752813741564751, "epoch": 7.839202880859375e-07, "step": 8220 }, { "aux_loss_avg": 0.0006546494405483827, "epoch": 7.839202880859375e-07, "step": 8220 }, { "epoch": 7.839202880859375e-07, "step": 8220, "training_step_time": 17.81380271911621 }, { "epoch": 7.840156555175782e-07, "model_forward_time": 5.078225374221802, "step": 8221 }, { "epoch": 7.840156555175782e-07, "step": 8221, "training_step_time": 17.592514276504517 }, { "epoch": 7.841110229492188e-07, "model_forward_time": 5.084491968154907, "step": 8222 }, { "epoch": 7.841110229492188e-07, "step": 8222, "training_step_time": 17.58776068687439 }, { "epoch": 7.842063903808594e-07, "model_forward_time": 5.075636625289917, "step": 8223 }, { "epoch": 7.842063903808594e-07, "step": 8223, "training_step_time": 17.6378972530365 }, { "epoch": 7.843017578125e-07, "model_forward_time": 5.080881595611572, "step": 8224 }, { "epoch": 7.843017578125e-07, "step": 8224, "training_step_time": 17.578882932662964 }, { "epoch": 7.843971252441406e-07, "model_forward_time": 3.8436782360076904, "step": 8225 }, { "epoch": 7.843971252441406e-07, "step": 8225, "training_step_time": 17.81242799758911 }, { "epoch": 7.844924926757812e-07, "model_forward_time": 5.052905082702637, "step": 8226 }, { "epoch": 7.844924926757812e-07, "step": 8226, "training_step_time": 17.575875997543335 }, { "epoch": 7.845878601074219e-07, "model_forward_time": 5.059175968170166, "step": 8227 }, { "epoch": 7.845878601074219e-07, "step": 8227, "training_step_time": 17.565171003341675 }, { "epoch": 7.846832275390625e-07, "model_forward_time": 5.075038194656372, "step": 8228 }, { "epoch": 7.846832275390625e-07, "step": 8228, "training_step_time": 17.616568326950073 }, { "epoch": 7.847785949707031e-07, "model_forward_time": 5.080578804016113, "step": 8229 }, { "epoch": 7.847785949707031e-07, "step": 8229, "training_step_time": 17.473240852355957 }, { "epoch": 7.848739624023437e-07, "grad_norm": 1.2251272201538086, "learning_rate": 9.875740956797884e-06, "loss": 0.1438, "step": 8230 }, { "epoch": 7.848739624023437e-07, "model_forward_time": 4.104220628738403, "step": 8230 }, { "dynamics_loss_avg": 0.042567200027406216, "epoch": 7.848739624023437e-07, "step": 8230 }, { "action_loss_avg": 0.07397876475006342, "epoch": 7.848739624023437e-07, "step": 8230 }, { "arm_loss_avg": 0.11427326928824186, "epoch": 7.848739624023437e-07, "step": 8230 }, { "ee_loss_avg": 0.13323179008439184, "epoch": 7.848739624023437e-07, "step": 8230 }, { "aux_loss_avg": 0.0020307107886765154, "epoch": 7.848739624023437e-07, "step": 8230 }, { "epoch": 7.848739624023437e-07, "step": 8230, "training_step_time": 17.513577699661255 }, { "epoch": 7.849693298339844e-07, "model_forward_time": 5.066770792007446, "step": 8231 }, { "epoch": 7.849693298339844e-07, "step": 8231, "training_step_time": 17.772586584091187 }, { "epoch": 7.85064697265625e-07, "model_forward_time": 5.075643539428711, "step": 8232 }, { "epoch": 7.85064697265625e-07, "step": 8232, "training_step_time": 17.55197286605835 }, { "epoch": 7.851600646972657e-07, "model_forward_time": 5.083844423294067, "step": 8233 }, { "epoch": 7.851600646972657e-07, "step": 8233, "training_step_time": 17.58716344833374 }, { "epoch": 7.852554321289063e-07, "model_forward_time": 3.8532490730285645, "step": 8234 }, { "epoch": 7.852554321289063e-07, "step": 8234, "training_step_time": 17.434513330459595 }, { "epoch": 7.853507995605469e-07, "model_forward_time": 5.290159225463867, "step": 8235 }, { "epoch": 7.853507995605469e-07, "step": 8235, "training_step_time": 17.46328902244568 }, { "epoch": 7.854461669921875e-07, "model_forward_time": 5.075859308242798, "step": 8236 }, { "epoch": 7.854461669921875e-07, "step": 8236, "training_step_time": 17.71062135696411 }, { "epoch": 7.855415344238281e-07, "model_forward_time": 5.0875403881073, "step": 8237 }, { "epoch": 7.855415344238281e-07, "step": 8237, "training_step_time": 17.568024158477783 }, { "epoch": 7.856369018554687e-07, "model_forward_time": 5.095368146896362, "step": 8238 }, { "epoch": 7.856369018554687e-07, "step": 8238, "training_step_time": 17.589860677719116 }, { "epoch": 7.857322692871093e-07, "model_forward_time": 5.095736265182495, "step": 8239 }, { "epoch": 7.857322692871093e-07, "step": 8239, "training_step_time": 17.52724027633667 }, { "epoch": 7.8582763671875e-07, "grad_norm": 2.214998483657837, "learning_rate": 9.875217080992631e-06, "loss": 0.1457, "step": 8240 }, { "epoch": 7.8582763671875e-07, "model_forward_time": 5.288219690322876, "step": 8240 }, { "dynamics_loss_avg": 0.05071712788194418, "epoch": 7.8582763671875e-07, "step": 8240 }, { "action_loss_avg": 0.09737682398408651, "epoch": 7.8582763671875e-07, "step": 8240 }, { "arm_loss_avg": 0.12963627614080905, "epoch": 7.8582763671875e-07, "step": 8240 }, { "ee_loss_avg": 0.15417617224156857, "epoch": 7.8582763671875e-07, "step": 8240 }, { "aux_loss_avg": 0.005535086843883619, "epoch": 7.8582763671875e-07, "step": 8240 }, { "epoch": 7.8582763671875e-07, "step": 8240, "training_step_time": 17.416569471359253 }, { "epoch": 7.859230041503907e-07, "model_forward_time": 5.0967020988464355, "step": 8241 }, { "epoch": 7.859230041503907e-07, "step": 8241, "training_step_time": 17.75019097328186 }, { "epoch": 7.860183715820313e-07, "model_forward_time": 5.089978456497192, "step": 8242 }, { "epoch": 7.860183715820313e-07, "step": 8242, "training_step_time": 17.56498074531555 }, { "epoch": 7.861137390136719e-07, "model_forward_time": 5.085091590881348, "step": 8243 }, { "epoch": 7.861137390136719e-07, "step": 8243, "training_step_time": 17.605757236480713 }, { "epoch": 7.862091064453125e-07, "model_forward_time": 3.849886655807495, "step": 8244 }, { "epoch": 7.862091064453125e-07, "step": 8244, "training_step_time": 17.61253333091736 }, { "epoch": 7.863044738769531e-07, "model_forward_time": 5.299865245819092, "step": 8245 }, { "epoch": 7.863044738769531e-07, "step": 8245, "training_step_time": 17.631574153900146 }, { "epoch": 7.863998413085937e-07, "model_forward_time": 3.836430311203003, "step": 8246 }, { "epoch": 7.863998413085937e-07, "step": 8246, "training_step_time": 17.793511390686035 }, { "epoch": 7.864952087402344e-07, "model_forward_time": 5.05407452583313, "step": 8247 }, { "epoch": 7.864952087402344e-07, "step": 8247, "training_step_time": 17.607889413833618 }, { "epoch": 7.86590576171875e-07, "model_forward_time": 5.066547632217407, "step": 8248 }, { "epoch": 7.86590576171875e-07, "step": 8248, "training_step_time": 17.616817235946655 }, { "epoch": 7.866859436035156e-07, "model_forward_time": 5.078101634979248, "step": 8249 }, { "epoch": 7.866859436035156e-07, "step": 8249, "training_step_time": 17.57785654067993 }, { "epoch": 7.867813110351562e-07, "grad_norm": 1.8854464292526245, "learning_rate": 9.874692117133488e-06, "loss": 0.1157, "step": 8250 }, { "epoch": 7.867813110351562e-07, "model_forward_time": 5.270805835723877, "step": 8250 }, { "dynamics_loss_avg": 0.035738719161599874, "epoch": 7.867813110351562e-07, "step": 8250 }, { "action_loss_avg": 0.06493274047970772, "epoch": 7.867813110351562e-07, "step": 8250 }, { "arm_loss_avg": 0.10924896076321602, "epoch": 7.867813110351562e-07, "step": 8250 }, { "ee_loss_avg": 0.13940868619829416, "epoch": 7.867813110351562e-07, "step": 8250 }, { "aux_loss_avg": 0.0021322389133274556, "epoch": 7.867813110351562e-07, "step": 8250 }, { "epoch": 7.867813110351562e-07, "step": 8250, "training_step_time": 17.571993589401245 }, { "epoch": 7.868766784667968e-07, "model_forward_time": 5.09751558303833, "step": 8251 }, { "epoch": 7.868766784667968e-07, "step": 8251, "training_step_time": 17.81152629852295 }, { "epoch": 7.869720458984375e-07, "model_forward_time": 5.094655513763428, "step": 8252 }, { "epoch": 7.869720458984375e-07, "step": 8252, "training_step_time": 17.56694483757019 }, { "epoch": 7.870674133300782e-07, "model_forward_time": 3.8584537506103516, "step": 8253 }, { "epoch": 7.870674133300782e-07, "step": 8253, "training_step_time": 17.583991527557373 }, { "epoch": 7.871627807617188e-07, "model_forward_time": 5.059178113937378, "step": 8254 }, { "epoch": 7.871627807617188e-07, "step": 8254, "training_step_time": 17.488795280456543 }, { "epoch": 7.872581481933594e-07, "model_forward_time": 5.295205593109131, "step": 8255 }, { "epoch": 7.872581481933594e-07, "step": 8255, "training_step_time": 17.518685340881348 }, { "epoch": 7.87353515625e-07, "model_forward_time": 5.073652982711792, "step": 8256 }, { "epoch": 7.87353515625e-07, "step": 8256, "training_step_time": 17.370237350463867 }, { "epoch": 7.874488830566406e-07, "model_forward_time": 5.088758945465088, "step": 8257 }, { "epoch": 7.874488830566406e-07, "step": 8257, "training_step_time": 17.509129762649536 }, { "epoch": 7.875442504882812e-07, "model_forward_time": 5.097442626953125, "step": 8258 }, { "epoch": 7.875442504882812e-07, "step": 8258, "training_step_time": 17.639243125915527 }, { "epoch": 7.876396179199218e-07, "model_forward_time": 3.856981039047241, "step": 8259 }, { "epoch": 7.876396179199218e-07, "step": 8259, "training_step_time": 17.609654188156128 }, { "epoch": 7.877349853515625e-07, "grad_norm": 1.909127950668335, "learning_rate": 9.874166065337621e-06, "loss": 0.1241, "step": 8260 }, { "epoch": 7.877349853515625e-07, "model_forward_time": 5.26611590385437, "step": 8260 }, { "dynamics_loss_avg": 0.044150359183549884, "epoch": 7.877349853515625e-07, "step": 8260 }, { "action_loss_avg": 0.0791724419221282, "epoch": 7.877349853515625e-07, "step": 8260 }, { "arm_loss_avg": 0.11329191289842129, "epoch": 7.877349853515625e-07, "step": 8260 }, { "ee_loss_avg": 0.11579626742750407, "epoch": 7.877349853515625e-07, "step": 8260 }, { "aux_loss_avg": 0.0010525274788960814, "epoch": 7.877349853515625e-07, "step": 8260 }, { "epoch": 7.877349853515625e-07, "step": 8260, "training_step_time": 17.61671018600464 }, { "epoch": 7.878303527832031e-07, "model_forward_time": 5.0750627517700195, "step": 8261 }, { "epoch": 7.878303527832031e-07, "step": 8261, "training_step_time": 17.873230695724487 }, { "epoch": 7.879257202148438e-07, "model_forward_time": 3.842662811279297, "step": 8262 }, { "epoch": 7.879257202148438e-07, "step": 8262, "training_step_time": 17.607458353042603 }, { "epoch": 7.880210876464844e-07, "model_forward_time": 5.057384490966797, "step": 8263 }, { "epoch": 7.880210876464844e-07, "step": 8263, "training_step_time": 17.610902309417725 }, { "epoch": 7.88116455078125e-07, "model_forward_time": 3.842292070388794, "step": 8264 }, { "epoch": 7.88116455078125e-07, "step": 8264, "training_step_time": 17.58323049545288 }, { "epoch": 7.882118225097656e-07, "model_forward_time": 5.287410736083984, "step": 8265 }, { "epoch": 7.882118225097656e-07, "step": 8265, "training_step_time": 17.591604232788086 }, { "epoch": 7.883071899414063e-07, "model_forward_time": 5.081951141357422, "step": 8266 }, { "epoch": 7.883071899414063e-07, "step": 8266, "training_step_time": 17.36549711227417 }, { "epoch": 7.884025573730469e-07, "model_forward_time": 5.09478497505188, "step": 8267 }, { "epoch": 7.884025573730469e-07, "step": 8267, "training_step_time": 17.66247582435608 }, { "epoch": 7.884979248046875e-07, "model_forward_time": 5.103164911270142, "step": 8268 }, { "epoch": 7.884979248046875e-07, "step": 8268, "training_step_time": 17.59681224822998 }, { "epoch": 7.885932922363281e-07, "model_forward_time": 5.097550630569458, "step": 8269 }, { "epoch": 7.885932922363281e-07, "step": 8269, "training_step_time": 17.52917194366455 }, { "epoch": 7.886886596679687e-07, "grad_norm": 1.78046452999115, "learning_rate": 9.87363892572243e-06, "loss": 0.1325, "step": 8270 }, { "epoch": 7.886886596679687e-07, "model_forward_time": 5.285698175430298, "step": 8270 }, { "dynamics_loss_avg": 0.047794906236231324, "epoch": 7.886886596679687e-07, "step": 8270 }, { "action_loss_avg": 0.09147003032267094, "epoch": 7.886886596679687e-07, "step": 8270 }, { "arm_loss_avg": 0.16016039177775382, "epoch": 7.886886596679687e-07, "step": 8270 }, { "ee_loss_avg": 0.11647858917713165, "epoch": 7.886886596679687e-07, "step": 8270 }, { "aux_loss_avg": 0.0011053552443627268, "epoch": 7.886886596679687e-07, "step": 8270 }, { "epoch": 7.886886596679687e-07, "step": 8270, "training_step_time": 17.554001092910767 }, { "epoch": 7.887840270996093e-07, "model_forward_time": 5.098134756088257, "step": 8271 }, { "epoch": 7.887840270996093e-07, "step": 8271, "training_step_time": 17.799015998840332 }, { "epoch": 7.8887939453125e-07, "model_forward_time": 5.085428714752197, "step": 8272 }, { "epoch": 7.8887939453125e-07, "step": 8272, "training_step_time": 17.594377040863037 }, { "epoch": 7.889747619628907e-07, "model_forward_time": 5.080269813537598, "step": 8273 }, { "epoch": 7.889747619628907e-07, "step": 8273, "training_step_time": 17.596482038497925 }, { "epoch": 7.890701293945313e-07, "model_forward_time": 5.078988790512085, "step": 8274 }, { "epoch": 7.890701293945313e-07, "step": 8274, "training_step_time": 17.600982189178467 }, { "epoch": 7.891654968261719e-07, "model_forward_time": 5.317040920257568, "step": 8275 }, { "epoch": 7.891654968261719e-07, "step": 8275, "training_step_time": 17.604547023773193 }, { "epoch": 7.892608642578125e-07, "model_forward_time": 5.079611539840698, "step": 8276 }, { "epoch": 7.892608642578125e-07, "step": 8276, "training_step_time": 17.384227514266968 }, { "epoch": 7.893562316894531e-07, "model_forward_time": 5.082849740982056, "step": 8277 }, { "epoch": 7.893562316894531e-07, "step": 8277, "training_step_time": 17.489519596099854 }, { "epoch": 7.894515991210937e-07, "model_forward_time": 5.080719470977783, "step": 8278 }, { "epoch": 7.894515991210937e-07, "step": 8278, "training_step_time": 17.60573101043701 }, { "epoch": 7.895469665527343e-07, "model_forward_time": 5.081039905548096, "step": 8279 }, { "epoch": 7.895469665527343e-07, "step": 8279, "training_step_time": 17.54695224761963 }, { "epoch": 7.89642333984375e-07, "grad_norm": 2.1085803508758545, "learning_rate": 9.873110698405566e-06, "loss": 0.131, "step": 8280 }, { "epoch": 7.89642333984375e-07, "model_forward_time": 5.264859676361084, "step": 8280 }, { "dynamics_loss_avg": 0.04864497762173414, "epoch": 7.89642333984375e-07, "step": 8280 }, { "action_loss_avg": 0.06815187148749828, "epoch": 7.89642333984375e-07, "step": 8280 }, { "arm_loss_avg": 0.12853040248155595, "epoch": 7.89642333984375e-07, "step": 8280 }, { "ee_loss_avg": 0.1098217360675335, "epoch": 7.89642333984375e-07, "step": 8280 }, { "aux_loss_avg": 0.0009853515832219273, "epoch": 7.89642333984375e-07, "step": 8280 }, { "epoch": 7.89642333984375e-07, "step": 8280, "training_step_time": 17.568251132965088 }, { "epoch": 7.897377014160156e-07, "model_forward_time": 5.0810816287994385, "step": 8281 }, { "epoch": 7.897377014160156e-07, "step": 8281, "training_step_time": 17.334755659103394 }, { "epoch": 7.898330688476563e-07, "model_forward_time": 5.081957817077637, "step": 8282 }, { "epoch": 7.898330688476563e-07, "step": 8282, "training_step_time": 17.735740661621094 }, { "epoch": 7.899284362792969e-07, "model_forward_time": 5.076899528503418, "step": 8283 }, { "epoch": 7.899284362792969e-07, "step": 8283, "training_step_time": 17.52471923828125 }, { "epoch": 7.900238037109375e-07, "model_forward_time": 5.078512907028198, "step": 8284 }, { "epoch": 7.900238037109375e-07, "step": 8284, "training_step_time": 17.56286597251892 }, { "epoch": 7.901191711425781e-07, "model_forward_time": 5.313065052032471, "step": 8285 }, { "epoch": 7.901191711425781e-07, "step": 8285, "training_step_time": 17.579927921295166 }, { "epoch": 7.902145385742188e-07, "model_forward_time": 5.084022283554077, "step": 8286 }, { "epoch": 7.902145385742188e-07, "step": 8286, "training_step_time": 17.35836148262024 }, { "epoch": 7.903099060058594e-07, "model_forward_time": 5.08269476890564, "step": 8287 }, { "epoch": 7.903099060058594e-07, "step": 8287, "training_step_time": 17.690053462982178 }, { "epoch": 7.904052734375e-07, "model_forward_time": 5.085236549377441, "step": 8288 }, { "epoch": 7.904052734375e-07, "step": 8288, "training_step_time": 17.547289848327637 }, { "epoch": 7.905006408691406e-07, "model_forward_time": 5.076937437057495, "step": 8289 }, { "epoch": 7.905006408691406e-07, "step": 8289, "training_step_time": 17.47400736808777 }, { "epoch": 7.905960083007812e-07, "grad_norm": 1.425115704536438, "learning_rate": 9.872581383504916e-06, "loss": 0.1379, "step": 8290 }, { "epoch": 7.905960083007812e-07, "model_forward_time": 5.271941423416138, "step": 8290 }, { "dynamics_loss_avg": 0.0438291260972619, "epoch": 7.905960083007812e-07, "step": 8290 }, { "action_loss_avg": 0.09279771484434604, "epoch": 7.905960083007812e-07, "step": 8290 }, { "arm_loss_avg": 0.158954706043005, "epoch": 7.905960083007812e-07, "step": 8290 }, { "ee_loss_avg": 0.09083344526588917, "epoch": 7.905960083007812e-07, "step": 8290 }, { "aux_loss_avg": 0.0032374098431319, "epoch": 7.905960083007812e-07, "step": 8290 }, { "epoch": 7.905960083007812e-07, "step": 8290, "training_step_time": 17.53032398223877 }, { "epoch": 7.906913757324218e-07, "model_forward_time": 5.081609725952148, "step": 8291 }, { "epoch": 7.906913757324218e-07, "step": 8291, "training_step_time": 17.57338285446167 }, { "epoch": 7.907867431640625e-07, "model_forward_time": 5.07604193687439, "step": 8292 }, { "epoch": 7.907867431640625e-07, "step": 8292, "training_step_time": 17.828901767730713 }, { "epoch": 7.908821105957032e-07, "model_forward_time": 5.081671237945557, "step": 8293 }, { "epoch": 7.908821105957032e-07, "step": 8293, "training_step_time": 17.60635256767273 }, { "epoch": 7.909774780273438e-07, "model_forward_time": 5.081316232681274, "step": 8294 }, { "epoch": 7.909774780273438e-07, "step": 8294, "training_step_time": 17.616886377334595 }, { "epoch": 7.910728454589844e-07, "model_forward_time": 5.312670707702637, "step": 8295 }, { "epoch": 7.910728454589844e-07, "step": 8295, "training_step_time": 17.614580631256104 }, { "epoch": 7.91168212890625e-07, "model_forward_time": 5.088908672332764, "step": 8296 }, { "epoch": 7.91168212890625e-07, "step": 8296, "training_step_time": 17.854182958602905 }, { "epoch": 7.912635803222656e-07, "model_forward_time": 3.860198736190796, "step": 8297 }, { "epoch": 7.912635803222656e-07, "step": 8297, "training_step_time": 17.607557773590088 }, { "epoch": 7.913589477539062e-07, "model_forward_time": 5.070093631744385, "step": 8298 }, { "epoch": 7.913589477539062e-07, "step": 8298, "training_step_time": 17.6457679271698 }, { "epoch": 7.914543151855468e-07, "model_forward_time": 3.841625213623047, "step": 8299 }, { "epoch": 7.914543151855468e-07, "step": 8299, "training_step_time": 17.58267307281494 }, { "epoch": 7.915496826171875e-07, "grad_norm": 2.512211561203003, "learning_rate": 9.872050981138617e-06, "loss": 0.1331, "step": 8300 }, { "epoch": 7.915496826171875e-07, "model_forward_time": 5.243802547454834, "step": 8300 }, { "dynamics_loss_avg": 0.054944108612835406, "epoch": 7.915496826171875e-07, "step": 8300 }, { "action_loss_avg": 0.09584037475287914, "epoch": 7.915496826171875e-07, "step": 8300 }, { "arm_loss_avg": 0.14797594919800758, "epoch": 7.915496826171875e-07, "step": 8300 }, { "ee_loss_avg": 0.1438417199999094, "epoch": 7.915496826171875e-07, "step": 8300 }, { "aux_loss_avg": 0.0025309138407465072, "epoch": 7.915496826171875e-07, "step": 8300 }, { "epoch": 7.915496826171875e-07, "step": 8300, "training_step_time": 17.557332515716553 }, { "epoch": 7.916450500488281e-07, "model_forward_time": 5.06963849067688, "step": 8301 }, { "epoch": 7.916450500488281e-07, "step": 8301, "training_step_time": 17.771454572677612 }, { "epoch": 7.917404174804688e-07, "model_forward_time": 5.080195426940918, "step": 8302 }, { "epoch": 7.917404174804688e-07, "step": 8302, "training_step_time": 17.549590826034546 }, { "epoch": 7.918357849121094e-07, "model_forward_time": 5.0909271240234375, "step": 8303 }, { "epoch": 7.918357849121094e-07, "step": 8303, "training_step_time": 17.539469242095947 }, { "epoch": 7.9193115234375e-07, "model_forward_time": 5.1015784740448, "step": 8304 }, { "epoch": 7.9193115234375e-07, "step": 8304, "training_step_time": 17.552416563034058 }, { "epoch": 7.920265197753906e-07, "model_forward_time": 5.340080738067627, "step": 8305 }, { "epoch": 7.920265197753906e-07, "step": 8305, "training_step_time": 17.542438983917236 }, { "epoch": 7.921218872070313e-07, "model_forward_time": 5.099013328552246, "step": 8306 }, { "epoch": 7.921218872070313e-07, "step": 8306, "training_step_time": 17.7786762714386 }, { "epoch": 7.922172546386719e-07, "model_forward_time": 5.086000442504883, "step": 8307 }, { "epoch": 7.922172546386719e-07, "step": 8307, "training_step_time": 17.550567150115967 }, { "epoch": 7.923126220703125e-07, "model_forward_time": 5.081467151641846, "step": 8308 }, { "epoch": 7.923126220703125e-07, "step": 8308, "training_step_time": 17.587555170059204 }, { "epoch": 7.924079895019531e-07, "model_forward_time": 5.076025724411011, "step": 8309 }, { "epoch": 7.924079895019531e-07, "step": 8309, "training_step_time": 17.558427333831787 }, { "epoch": 7.925033569335937e-07, "grad_norm": 1.1493521928787231, "learning_rate": 9.871519491425039e-06, "loss": 0.1135, "step": 8310 }, { "epoch": 7.925033569335937e-07, "model_forward_time": 5.261856317520142, "step": 8310 }, { "dynamics_loss_avg": 0.04118366008624434, "epoch": 7.925033569335937e-07, "step": 8310 }, { "action_loss_avg": 0.07500849086791277, "epoch": 7.925033569335937e-07, "step": 8310 }, { "arm_loss_avg": 0.15248681828379632, "epoch": 7.925033569335937e-07, "step": 8310 }, { "ee_loss_avg": 0.10472468435764312, "epoch": 7.925033569335937e-07, "step": 8310 }, { "aux_loss_avg": 0.0018610344908665867, "epoch": 7.925033569335937e-07, "step": 8310 }, { "epoch": 7.925033569335937e-07, "step": 8310, "training_step_time": 17.56676983833313 }, { "epoch": 7.925987243652343e-07, "model_forward_time": 5.0695881843566895, "step": 8311 }, { "epoch": 7.925987243652343e-07, "step": 8311, "training_step_time": 17.802917003631592 }, { "epoch": 7.92694091796875e-07, "model_forward_time": 5.073472738265991, "step": 8312 }, { "epoch": 7.92694091796875e-07, "step": 8312, "training_step_time": 17.574830532073975 }, { "epoch": 7.927894592285157e-07, "model_forward_time": 3.8412015438079834, "step": 8313 }, { "epoch": 7.927894592285157e-07, "step": 8313, "training_step_time": 17.591487407684326 }, { "epoch": 7.928848266601563e-07, "model_forward_time": 5.055597543716431, "step": 8314 }, { "epoch": 7.928848266601563e-07, "step": 8314, "training_step_time": 17.58676290512085 }, { "epoch": 7.929801940917969e-07, "model_forward_time": 5.062355995178223, "step": 8315 }, { "epoch": 7.929801940917969e-07, "step": 8315, "training_step_time": 17.45608425140381 }, { "epoch": 7.930755615234375e-07, "model_forward_time": 5.075273513793945, "step": 8316 }, { "epoch": 7.930755615234375e-07, "step": 8316, "training_step_time": 17.712987899780273 }, { "epoch": 7.931709289550781e-07, "model_forward_time": 5.081140756607056, "step": 8317 }, { "epoch": 7.931709289550781e-07, "step": 8317, "training_step_time": 17.528522968292236 }, { "epoch": 7.932662963867187e-07, "model_forward_time": 5.0851523876190186, "step": 8318 }, { "epoch": 7.932662963867187e-07, "step": 8318, "training_step_time": 17.546371459960938 }, { "epoch": 7.933616638183593e-07, "model_forward_time": 5.091531276702881, "step": 8319 }, { "epoch": 7.933616638183593e-07, "step": 8319, "training_step_time": 17.59899663925171 }, { "epoch": 7.9345703125e-07, "grad_norm": 1.6365028619766235, "learning_rate": 9.870986914482805e-06, "loss": 0.1185, "step": 8320 }, { "epoch": 7.9345703125e-07, "model_forward_time": 5.2825798988342285, "step": 8320 }, { "dynamics_loss_avg": 0.04743188563734293, "epoch": 7.9345703125e-07, "step": 8320 }, { "action_loss_avg": 0.07726117819547654, "epoch": 7.9345703125e-07, "step": 8320 }, { "arm_loss_avg": 0.14305098429322244, "epoch": 7.9345703125e-07, "step": 8320 }, { "ee_loss_avg": 0.10003780834376812, "epoch": 7.9345703125e-07, "step": 8320 }, { "aux_loss_avg": 0.004575263214064762, "epoch": 7.9345703125e-07, "step": 8320 }, { "epoch": 7.9345703125e-07, "step": 8320, "training_step_time": 17.580547094345093 }, { "epoch": 7.935523986816406e-07, "model_forward_time": 5.0983946323394775, "step": 8321 }, { "epoch": 7.935523986816406e-07, "step": 8321, "training_step_time": 17.865806102752686 }, { "epoch": 7.936477661132813e-07, "model_forward_time": 3.8471264839172363, "step": 8322 }, { "epoch": 7.936477661132813e-07, "step": 8322, "training_step_time": 17.588908910751343 }, { "epoch": 7.937431335449219e-07, "model_forward_time": 5.065199375152588, "step": 8323 }, { "epoch": 7.937431335449219e-07, "step": 8323, "training_step_time": 17.61688470840454 }, { "epoch": 7.938385009765625e-07, "model_forward_time": 5.07374382019043, "step": 8324 }, { "epoch": 7.938385009765625e-07, "step": 8324, "training_step_time": 17.587606191635132 }, { "epoch": 7.939338684082031e-07, "model_forward_time": 5.070849418640137, "step": 8325 }, { "epoch": 7.939338684082031e-07, "step": 8325, "training_step_time": 17.57818102836609 }, { "epoch": 7.940292358398438e-07, "model_forward_time": 5.326223850250244, "step": 8326 }, { "epoch": 7.940292358398438e-07, "step": 8326, "training_step_time": 17.802502155303955 }, { "epoch": 7.941246032714844e-07, "model_forward_time": 5.084534645080566, "step": 8327 }, { "epoch": 7.941246032714844e-07, "step": 8327, "training_step_time": 17.568038940429688 }, { "epoch": 7.94219970703125e-07, "model_forward_time": 3.8533756732940674, "step": 8328 }, { "epoch": 7.94219970703125e-07, "step": 8328, "training_step_time": 17.557814359664917 }, { "epoch": 7.943153381347656e-07, "model_forward_time": 3.8300459384918213, "step": 8329 }, { "epoch": 7.943153381347656e-07, "step": 8329, "training_step_time": 17.563297033309937 }, { "epoch": 7.944107055664062e-07, "grad_norm": 2.2827959060668945, "learning_rate": 9.870453250430774e-06, "loss": 0.1373, "step": 8330 }, { "epoch": 7.944107055664062e-07, "model_forward_time": 5.054444313049316, "step": 8330 }, { "dynamics_loss_avg": 0.057438649237155914, "epoch": 7.944107055664062e-07, "step": 8330 }, { "action_loss_avg": 0.08930670991539955, "epoch": 7.944107055664062e-07, "step": 8330 }, { "arm_loss_avg": 0.12743882611393928, "epoch": 7.944107055664062e-07, "step": 8330 }, { "ee_loss_avg": 0.128674135543406, "epoch": 7.944107055664062e-07, "step": 8330 }, { "aux_loss_avg": 0.0010905409697443246, "epoch": 7.944107055664062e-07, "step": 8330 }, { "epoch": 7.944107055664062e-07, "step": 8330, "training_step_time": 17.561609506607056 }, { "epoch": 7.945060729980468e-07, "model_forward_time": 5.272433280944824, "step": 8331 }, { "epoch": 7.945060729980468e-07, "step": 8331, "training_step_time": 17.78747868537903 }, { "epoch": 7.946014404296875e-07, "model_forward_time": 5.078371524810791, "step": 8332 }, { "epoch": 7.946014404296875e-07, "step": 8332, "training_step_time": 17.54638147354126 }, { "epoch": 7.946968078613282e-07, "model_forward_time": 5.08793044090271, "step": 8333 }, { "epoch": 7.946968078613282e-07, "step": 8333, "training_step_time": 17.59999680519104 }, { "epoch": 7.947921752929688e-07, "model_forward_time": 5.097370147705078, "step": 8334 }, { "epoch": 7.947921752929688e-07, "step": 8334, "training_step_time": 17.403117656707764 }, { "epoch": 7.948875427246094e-07, "model_forward_time": 5.09635591506958, "step": 8335 }, { "epoch": 7.948875427246094e-07, "step": 8335, "training_step_time": 17.476345777511597 }, { "epoch": 7.9498291015625e-07, "model_forward_time": 5.093663215637207, "step": 8336 }, { "epoch": 7.9498291015625e-07, "step": 8336, "training_step_time": 17.525350332260132 }, { "epoch": 7.950782775878906e-07, "model_forward_time": 5.086378574371338, "step": 8337 }, { "epoch": 7.950782775878906e-07, "step": 8337, "training_step_time": 17.781155347824097 }, { "epoch": 7.951736450195312e-07, "model_forward_time": 5.078028678894043, "step": 8338 }, { "epoch": 7.951736450195312e-07, "step": 8338, "training_step_time": 17.59287977218628 }, { "epoch": 7.952690124511719e-07, "model_forward_time": 3.8426551818847656, "step": 8339 }, { "epoch": 7.952690124511719e-07, "step": 8339, "training_step_time": 17.365046739578247 }, { "epoch": 7.953643798828125e-07, "grad_norm": 1.8086458444595337, "learning_rate": 9.86991849938805e-06, "loss": 0.1323, "step": 8340 }, { "epoch": 7.953643798828125e-07, "model_forward_time": 5.056715726852417, "step": 8340 }, { "dynamics_loss_avg": 0.04443269157782197, "epoch": 7.953643798828125e-07, "step": 8340 }, { "action_loss_avg": 0.0749321423470974, "epoch": 7.953643798828125e-07, "step": 8340 }, { "arm_loss_avg": 0.15392622873187065, "epoch": 7.953643798828125e-07, "step": 8340 }, { "ee_loss_avg": 0.11540328580886125, "epoch": 7.953643798828125e-07, "step": 8340 }, { "aux_loss_avg": 0.0010715249984059483, "epoch": 7.953643798828125e-07, "step": 8340 }, { "epoch": 7.953643798828125e-07, "step": 8340, "training_step_time": 17.535566568374634 }, { "epoch": 7.954597473144531e-07, "model_forward_time": 5.064120769500732, "step": 8341 }, { "epoch": 7.954597473144531e-07, "step": 8341, "training_step_time": 17.37174677848816 }, { "epoch": 7.955551147460938e-07, "model_forward_time": 5.073554754257202, "step": 8342 }, { "epoch": 7.955551147460938e-07, "step": 8342, "training_step_time": 17.74021553993225 }, { "epoch": 7.956504821777344e-07, "model_forward_time": 5.072519063949585, "step": 8343 }, { "epoch": 7.956504821777344e-07, "step": 8343, "training_step_time": 17.588725090026855 }, { "epoch": 7.95745849609375e-07, "model_forward_time": 5.081462144851685, "step": 8344 }, { "epoch": 7.95745849609375e-07, "step": 8344, "training_step_time": 17.580915927886963 }, { "epoch": 7.958412170410156e-07, "model_forward_time": 5.083624839782715, "step": 8345 }, { "epoch": 7.958412170410156e-07, "step": 8345, "training_step_time": 17.593114852905273 }, { "epoch": 7.959365844726563e-07, "model_forward_time": 5.084833145141602, "step": 8346 }, { "epoch": 7.959365844726563e-07, "step": 8346, "training_step_time": 17.599105834960938 }, { "epoch": 7.960319519042969e-07, "model_forward_time": 5.084979057312012, "step": 8347 }, { "epoch": 7.960319519042969e-07, "step": 8347, "training_step_time": 17.35512351989746 }, { "epoch": 7.961273193359375e-07, "model_forward_time": 5.0855677127838135, "step": 8348 }, { "epoch": 7.961273193359375e-07, "step": 8348, "training_step_time": 17.566020250320435 }, { "epoch": 7.962226867675781e-07, "model_forward_time": 5.083089113235474, "step": 8349 }, { "epoch": 7.962226867675781e-07, "step": 8349, "training_step_time": 17.560065984725952 }, { "epoch": 7.963180541992187e-07, "grad_norm": 2.5943541526794434, "learning_rate": 9.869382661473978e-06, "loss": 0.1324, "step": 8350 }, { "epoch": 7.963180541992187e-07, "model_forward_time": 5.0803446769714355, "step": 8350 }, { "dynamics_loss_avg": 0.06910263821482658, "epoch": 7.963180541992187e-07, "step": 8350 }, { "action_loss_avg": 0.08655037004500628, "epoch": 7.963180541992187e-07, "step": 8350 }, { "arm_loss_avg": 0.12454004250466824, "epoch": 7.963180541992187e-07, "step": 8350 }, { "ee_loss_avg": 0.10697768907994032, "epoch": 7.963180541992187e-07, "step": 8350 }, { "aux_loss_avg": 0.0030341425503138454, "epoch": 7.963180541992187e-07, "step": 8350 }, { "epoch": 7.963180541992187e-07, "step": 8350, "training_step_time": 17.527562856674194 }, { "epoch": 7.964134216308593e-07, "model_forward_time": 5.079421281814575, "step": 8351 }, { "epoch": 7.964134216308593e-07, "step": 8351, "training_step_time": 17.363778829574585 }, { "epoch": 7.965087890625e-07, "model_forward_time": 3.848398208618164, "step": 8352 }, { "epoch": 7.965087890625e-07, "step": 8352, "training_step_time": 17.718960285186768 }, { "epoch": 7.966041564941407e-07, "model_forward_time": 5.049898624420166, "step": 8353 }, { "epoch": 7.966041564941407e-07, "step": 8353, "training_step_time": 17.57500123977661 }, { "epoch": 7.966995239257813e-07, "model_forward_time": 5.058798789978027, "step": 8354 }, { "epoch": 7.966995239257813e-07, "step": 8354, "training_step_time": 17.56471061706543 }, { "epoch": 7.967948913574219e-07, "model_forward_time": 3.8351144790649414, "step": 8355 }, { "epoch": 7.967948913574219e-07, "step": 8355, "training_step_time": 17.58490777015686 }, { "epoch": 7.968902587890625e-07, "model_forward_time": 5.278245687484741, "step": 8356 }, { "epoch": 7.968902587890625e-07, "step": 8356, "training_step_time": 17.585248470306396 }, { "epoch": 7.969856262207031e-07, "model_forward_time": 5.079583406448364, "step": 8357 }, { "epoch": 7.969856262207031e-07, "step": 8357, "training_step_time": 17.80707025527954 }, { "epoch": 7.970809936523437e-07, "model_forward_time": 5.095569133758545, "step": 8358 }, { "epoch": 7.970809936523437e-07, "step": 8358, "training_step_time": 17.60124683380127 }, { "epoch": 7.971763610839844e-07, "model_forward_time": 3.863229990005493, "step": 8359 }, { "epoch": 7.971763610839844e-07, "step": 8359, "training_step_time": 17.602168798446655 }, { "epoch": 7.97271728515625e-07, "grad_norm": 2.5765626430511475, "learning_rate": 9.868845736808148e-06, "loss": 0.1224, "step": 8360 }, { "epoch": 7.97271728515625e-07, "model_forward_time": 5.081240892410278, "step": 8360 }, { "dynamics_loss_avg": 0.05004334468394518, "epoch": 7.97271728515625e-07, "step": 8360 }, { "action_loss_avg": 0.07000534273684025, "epoch": 7.97271728515625e-07, "step": 8360 }, { "arm_loss_avg": 0.20711049549281596, "epoch": 7.97271728515625e-07, "step": 8360 }, { "ee_loss_avg": 0.19850195832550527, "epoch": 7.97271728515625e-07, "step": 8360 }, { "aux_loss_avg": 0.039213976025348526, "epoch": 7.97271728515625e-07, "step": 8360 }, { "epoch": 7.97271728515625e-07, "step": 8360, "training_step_time": 17.605560541152954 }, { "epoch": 7.973670959472656e-07, "model_forward_time": 5.265568256378174, "step": 8361 }, { "epoch": 7.973670959472656e-07, "step": 8361, "training_step_time": 17.574976921081543 }, { "epoch": 7.974624633789063e-07, "model_forward_time": 5.088562488555908, "step": 8362 }, { "epoch": 7.974624633789063e-07, "step": 8362, "training_step_time": 17.806769847869873 }, { "epoch": 7.975578308105469e-07, "model_forward_time": 3.8492558002471924, "step": 8363 }, { "epoch": 7.975578308105469e-07, "step": 8363, "training_step_time": 17.561659336090088 }, { "epoch": 7.976531982421875e-07, "model_forward_time": 5.061831474304199, "step": 8364 }, { "epoch": 7.976531982421875e-07, "step": 8364, "training_step_time": 17.5929274559021 }, { "epoch": 7.977485656738281e-07, "model_forward_time": 3.846435785293579, "step": 8365 }, { "epoch": 7.977485656738281e-07, "step": 8365, "training_step_time": 17.562880039215088 }, { "epoch": 7.978439331054688e-07, "model_forward_time": 5.284738540649414, "step": 8366 }, { "epoch": 7.978439331054688e-07, "step": 8366, "training_step_time": 17.80372166633606 }, { "epoch": 7.979393005371094e-07, "model_forward_time": 5.0684285163879395, "step": 8367 }, { "epoch": 7.979393005371094e-07, "step": 8367, "training_step_time": 17.56334686279297 }, { "epoch": 7.9803466796875e-07, "model_forward_time": 5.082424163818359, "step": 8368 }, { "epoch": 7.9803466796875e-07, "step": 8368, "training_step_time": 17.583688497543335 }, { "epoch": 7.981300354003906e-07, "model_forward_time": 5.0920326709747314, "step": 8369 }, { "epoch": 7.981300354003906e-07, "step": 8369, "training_step_time": 17.566017627716064 }, { "epoch": 7.982254028320312e-07, "grad_norm": 2.7541861534118652, "learning_rate": 9.868307725510388e-06, "loss": 0.147, "step": 8370 }, { "epoch": 7.982254028320312e-07, "model_forward_time": 5.091678857803345, "step": 8370 }, { "dynamics_loss_avg": 0.061726575065404174, "epoch": 7.982254028320312e-07, "step": 8370 }, { "action_loss_avg": 0.10124254431575537, "epoch": 7.982254028320312e-07, "step": 8370 }, { "arm_loss_avg": 0.15265463516116143, "epoch": 7.982254028320312e-07, "step": 8370 }, { "ee_loss_avg": 0.10118350349366664, "epoch": 7.982254028320312e-07, "step": 8370 }, { "aux_loss_avg": 0.002097709849476814, "epoch": 7.982254028320312e-07, "step": 8370 }, { "epoch": 7.982254028320312e-07, "step": 8370, "training_step_time": 17.573396921157837 }, { "epoch": 7.983207702636718e-07, "model_forward_time": 5.281785011291504, "step": 8371 }, { "epoch": 7.983207702636718e-07, "step": 8371, "training_step_time": 17.80475616455078 }, { "epoch": 7.984161376953126e-07, "model_forward_time": 3.8591597080230713, "step": 8372 }, { "epoch": 7.984161376953126e-07, "step": 8372, "training_step_time": 17.5693039894104 }, { "epoch": 7.985115051269532e-07, "model_forward_time": 5.057037353515625, "step": 8373 }, { "epoch": 7.985115051269532e-07, "step": 8373, "training_step_time": 17.595680952072144 }, { "epoch": 7.986068725585938e-07, "model_forward_time": 3.836228847503662, "step": 8374 }, { "epoch": 7.986068725585938e-07, "step": 8374, "training_step_time": 17.571313619613647 }, { "epoch": 7.987022399902344e-07, "model_forward_time": 5.053096771240234, "step": 8375 }, { "epoch": 7.987022399902344e-07, "step": 8375, "training_step_time": 17.564600467681885 }, { "epoch": 7.98797607421875e-07, "model_forward_time": 5.301143407821655, "step": 8376 }, { "epoch": 7.98797607421875e-07, "step": 8376, "training_step_time": 17.765830039978027 }, { "epoch": 7.988929748535156e-07, "model_forward_time": 5.07245945930481, "step": 8377 }, { "epoch": 7.988929748535156e-07, "step": 8377, "training_step_time": 17.570446729660034 }, { "epoch": 7.989883422851562e-07, "model_forward_time": 5.086685419082642, "step": 8378 }, { "epoch": 7.989883422851562e-07, "step": 8378, "training_step_time": 17.557326316833496 }, { "epoch": 7.990837097167969e-07, "model_forward_time": 5.089747667312622, "step": 8379 }, { "epoch": 7.990837097167969e-07, "step": 8379, "training_step_time": 17.58200693130493 }, { "epoch": 7.991790771484375e-07, "grad_norm": 2.7814385890960693, "learning_rate": 9.867768627700777e-06, "loss": 0.1195, "step": 8380 }, { "epoch": 7.991790771484375e-07, "model_forward_time": 5.091427326202393, "step": 8380 }, { "dynamics_loss_avg": 0.04930369472131133, "epoch": 7.991790771484375e-07, "step": 8380 }, { "action_loss_avg": 0.06557670589536428, "epoch": 7.991790771484375e-07, "step": 8380 }, { "arm_loss_avg": 0.11668026242405176, "epoch": 7.991790771484375e-07, "step": 8380 }, { "ee_loss_avg": 0.10749374907463789, "epoch": 7.991790771484375e-07, "step": 8380 }, { "aux_loss_avg": 0.001955237815855071, "epoch": 7.991790771484375e-07, "step": 8380 }, { "epoch": 7.991790771484375e-07, "step": 8380, "training_step_time": 17.5509831905365 }, { "epoch": 7.992744445800781e-07, "model_forward_time": 5.2882983684539795, "step": 8381 }, { "epoch": 7.992744445800781e-07, "step": 8381, "training_step_time": 17.77997136116028 }, { "epoch": 7.993698120117187e-07, "model_forward_time": 5.084995746612549, "step": 8382 }, { "epoch": 7.993698120117187e-07, "step": 8382, "training_step_time": 17.561694383621216 }, { "epoch": 7.994651794433594e-07, "model_forward_time": 5.084519863128662, "step": 8383 }, { "epoch": 7.994651794433594e-07, "step": 8383, "training_step_time": 17.563385725021362 }, { "epoch": 7.99560546875e-07, "model_forward_time": 5.0785534381866455, "step": 8384 }, { "epoch": 7.99560546875e-07, "step": 8384, "training_step_time": 17.27658200263977 }, { "epoch": 7.996559143066406e-07, "model_forward_time": 5.079785346984863, "step": 8385 }, { "epoch": 7.996559143066406e-07, "step": 8385, "training_step_time": 17.49632215499878 }, { "epoch": 7.997512817382813e-07, "model_forward_time": 5.323883056640625, "step": 8386 }, { "epoch": 7.997512817382813e-07, "step": 8386, "training_step_time": 17.531004190444946 }, { "epoch": 7.998466491699219e-07, "model_forward_time": 5.079445123672485, "step": 8387 }, { "epoch": 7.998466491699219e-07, "step": 8387, "training_step_time": 17.741613388061523 }, { "epoch": 7.999420166015625e-07, "model_forward_time": 5.069833755493164, "step": 8388 }, { "epoch": 7.999420166015625e-07, "step": 8388, "training_step_time": 17.570374011993408 }, { "epoch": 8.000373840332031e-07, "model_forward_time": 5.070573568344116, "step": 8389 }, { "epoch": 8.000373840332031e-07, "step": 8389, "training_step_time": 17.648311853408813 }, { "epoch": 8.001327514648437e-07, "grad_norm": 1.6620970964431763, "learning_rate": 9.867228443499627e-06, "loss": 0.1341, "step": 8390 }, { "epoch": 8.001327514648437e-07, "model_forward_time": 5.071776866912842, "step": 8390 }, { "dynamics_loss_avg": 0.0597740089520812, "epoch": 8.001327514648437e-07, "step": 8390 }, { "action_loss_avg": 0.08196988515555859, "epoch": 8.001327514648437e-07, "step": 8390 }, { "arm_loss_avg": 0.1344139762222767, "epoch": 8.001327514648437e-07, "step": 8390 }, { "ee_loss_avg": 0.11401426047086716, "epoch": 8.001327514648437e-07, "step": 8390 }, { "aux_loss_avg": 0.003080457932082936, "epoch": 8.001327514648437e-07, "step": 8390 }, { "epoch": 8.001327514648437e-07, "step": 8390, "training_step_time": 17.584731817245483 }, { "epoch": 8.002281188964843e-07, "model_forward_time": 5.284074783325195, "step": 8391 }, { "epoch": 8.002281188964843e-07, "step": 8391, "training_step_time": 17.806175708770752 }, { "epoch": 8.00323486328125e-07, "model_forward_time": 5.0772130489349365, "step": 8392 }, { "epoch": 8.00323486328125e-07, "step": 8392, "training_step_time": 17.596004486083984 }, { "epoch": 8.004188537597657e-07, "model_forward_time": 5.077394962310791, "step": 8393 }, { "epoch": 8.004188537597657e-07, "step": 8393, "training_step_time": 17.610987424850464 }, { "epoch": 8.005142211914063e-07, "model_forward_time": 5.078293561935425, "step": 8394 }, { "epoch": 8.005142211914063e-07, "step": 8394, "training_step_time": 17.595677137374878 }, { "epoch": 8.006095886230469e-07, "model_forward_time": 3.846209764480591, "step": 8395 }, { "epoch": 8.006095886230469e-07, "step": 8395, "training_step_time": 17.589009761810303 }, { "epoch": 8.007049560546875e-07, "model_forward_time": 5.056517601013184, "step": 8396 }, { "epoch": 8.007049560546875e-07, "step": 8396, "training_step_time": 17.795032262802124 }, { "epoch": 8.008003234863281e-07, "model_forward_time": 5.313896179199219, "step": 8397 }, { "epoch": 8.008003234863281e-07, "step": 8397, "training_step_time": 17.610018730163574 }, { "epoch": 8.008956909179687e-07, "model_forward_time": 5.086808681488037, "step": 8398 }, { "epoch": 8.008956909179687e-07, "step": 8398, "training_step_time": 17.62763285636902 }, { "epoch": 8.009910583496094e-07, "model_forward_time": 5.0949156284332275, "step": 8399 }, { "epoch": 8.009910583496094e-07, "step": 8399, "training_step_time": 17.598047971725464 }, { "epoch": 8.0108642578125e-07, "grad_norm": 2.4748384952545166, "learning_rate": 9.866687173027499e-06, "loss": 0.1364, "step": 8400 }, { "epoch": 8.0108642578125e-07, "model_forward_time": 5.096276760101318, "step": 8400 }, { "dynamics_loss_avg": 0.05725250346586108, "epoch": 8.0108642578125e-07, "step": 8400 }, { "action_loss_avg": 0.077119966968894, "epoch": 8.0108642578125e-07, "step": 8400 }, { "arm_loss_avg": 0.13597145415842532, "epoch": 8.0108642578125e-07, "step": 8400 }, { "ee_loss_avg": 0.09349603736773134, "epoch": 8.0108642578125e-07, "step": 8400 }, { "aux_loss_avg": 0.003661014378303662, "epoch": 8.0108642578125e-07, "step": 8400 }, { "epoch": 8.0108642578125e-07, "step": 8400, "training_step_time": 17.580820560455322 }, { "epoch": 8.011817932128906e-07, "model_forward_time": 5.088616609573364, "step": 8401 }, { "epoch": 8.011817932128906e-07, "step": 8401, "training_step_time": 17.800775289535522 }, { "epoch": 8.012771606445312e-07, "model_forward_time": 5.087014436721802, "step": 8402 }, { "epoch": 8.012771606445312e-07, "step": 8402, "training_step_time": 17.560915231704712 }, { "epoch": 8.013725280761719e-07, "model_forward_time": 3.8551363945007324, "step": 8403 }, { "epoch": 8.013725280761719e-07, "step": 8403, "training_step_time": 17.303829431533813 }, { "epoch": 8.014678955078125e-07, "model_forward_time": 5.057020664215088, "step": 8404 }, { "epoch": 8.014678955078125e-07, "step": 8404, "training_step_time": 17.529693126678467 }, { "epoch": 8.015632629394531e-07, "model_forward_time": 5.065227746963501, "step": 8405 }, { "epoch": 8.015632629394531e-07, "step": 8405, "training_step_time": 17.42716407775879 }, { "epoch": 8.016586303710938e-07, "model_forward_time": 5.073425531387329, "step": 8406 }, { "epoch": 8.016586303710938e-07, "step": 8406, "training_step_time": 17.487286806106567 }, { "epoch": 8.017539978027344e-07, "model_forward_time": 5.076938629150391, "step": 8407 }, { "epoch": 8.017539978027344e-07, "step": 8407, "training_step_time": 17.711799383163452 }, { "epoch": 8.01849365234375e-07, "model_forward_time": 5.08696436882019, "step": 8408 }, { "epoch": 8.01849365234375e-07, "step": 8408, "training_step_time": 17.56428289413452 }, { "epoch": 8.019447326660156e-07, "model_forward_time": 5.084719896316528, "step": 8409 }, { "epoch": 8.019447326660156e-07, "step": 8409, "training_step_time": 17.60085105895996 }, { "epoch": 8.020401000976562e-07, "grad_norm": 2.507552146911621, "learning_rate": 9.86614481640519e-06, "loss": 0.1614, "step": 8410 }, { "epoch": 8.020401000976562e-07, "model_forward_time": 5.084885120391846, "step": 8410 }, { "dynamics_loss_avg": 0.05132296662777662, "epoch": 8.020401000976562e-07, "step": 8410 }, { "action_loss_avg": 0.1052811585366726, "epoch": 8.020401000976562e-07, "step": 8410 }, { "arm_loss_avg": 0.15256367661058903, "epoch": 8.020401000976562e-07, "step": 8410 }, { "ee_loss_avg": 0.13143635764718056, "epoch": 8.020401000976562e-07, "step": 8410 }, { "aux_loss_avg": 0.002060789236566052, "epoch": 8.020401000976562e-07, "step": 8410 }, { "epoch": 8.020401000976562e-07, "step": 8410, "training_step_time": 17.609463930130005 }, { "epoch": 8.021354675292968e-07, "model_forward_time": 5.282844305038452, "step": 8411 }, { "epoch": 8.021354675292968e-07, "step": 8411, "training_step_time": 17.504916191101074 }, { "epoch": 8.022308349609375e-07, "model_forward_time": 5.084743976593018, "step": 8412 }, { "epoch": 8.022308349609375e-07, "step": 8412, "training_step_time": 17.741580486297607 }, { "epoch": 8.023262023925782e-07, "model_forward_time": 5.0807178020477295, "step": 8413 }, { "epoch": 8.023262023925782e-07, "step": 8413, "training_step_time": 17.55748224258423 }, { "epoch": 8.024215698242188e-07, "model_forward_time": 5.076456546783447, "step": 8414 }, { "epoch": 8.024215698242188e-07, "step": 8414, "training_step_time": 17.579776763916016 }, { "epoch": 8.025169372558594e-07, "model_forward_time": 5.0781309604644775, "step": 8415 }, { "epoch": 8.025169372558594e-07, "step": 8415, "training_step_time": 17.592292547225952 }, { "epoch": 8.026123046875e-07, "model_forward_time": 5.079012393951416, "step": 8416 }, { "epoch": 8.026123046875e-07, "step": 8416, "training_step_time": 17.59118413925171 }, { "epoch": 8.027076721191406e-07, "model_forward_time": 3.8503212928771973, "step": 8417 }, { "epoch": 8.027076721191406e-07, "step": 8417, "training_step_time": 17.809197187423706 }, { "epoch": 8.028030395507812e-07, "model_forward_time": 3.83738374710083, "step": 8418 }, { "epoch": 8.028030395507812e-07, "step": 8418, "training_step_time": 17.62459444999695 }, { "epoch": 8.028984069824219e-07, "model_forward_time": 5.056599378585815, "step": 8419 }, { "epoch": 8.028984069824219e-07, "step": 8419, "training_step_time": 17.696710109710693 }, { "epoch": 8.029937744140625e-07, "grad_norm": 1.879553198814392, "learning_rate": 9.865601373753749e-06, "loss": 0.1465, "step": 8420 }, { "epoch": 8.029937744140625e-07, "model_forward_time": 5.070493936538696, "step": 8420 }, { "dynamics_loss_avg": 0.06200667824596166, "epoch": 8.029937744140625e-07, "step": 8420 }, { "action_loss_avg": 0.09827482551336289, "epoch": 8.029937744140625e-07, "step": 8420 }, { "arm_loss_avg": 0.12744444832205773, "epoch": 8.029937744140625e-07, "step": 8420 }, { "ee_loss_avg": 0.1634205114096403, "epoch": 8.029937744140625e-07, "step": 8420 }, { "aux_loss_avg": 0.0012477208743803202, "epoch": 8.029937744140625e-07, "step": 8420 }, { "epoch": 8.029937744140625e-07, "step": 8420, "training_step_time": 17.592222929000854 }, { "epoch": 8.030891418457031e-07, "model_forward_time": 3.8468568325042725, "step": 8421 }, { "epoch": 8.030891418457031e-07, "step": 8421, "training_step_time": 17.930936813354492 }, { "epoch": 8.031845092773437e-07, "model_forward_time": 5.243110179901123, "step": 8422 }, { "epoch": 8.031845092773437e-07, "step": 8422, "training_step_time": 17.78571319580078 }, { "epoch": 8.032798767089844e-07, "model_forward_time": 5.079153776168823, "step": 8423 }, { "epoch": 8.032798767089844e-07, "step": 8423, "training_step_time": 17.60439443588257 }, { "epoch": 8.03375244140625e-07, "model_forward_time": 5.095140218734741, "step": 8424 }, { "epoch": 8.03375244140625e-07, "step": 8424, "training_step_time": 17.536307334899902 }, { "epoch": 8.034706115722657e-07, "model_forward_time": 5.100962162017822, "step": 8425 }, { "epoch": 8.034706115722657e-07, "step": 8425, "training_step_time": 17.449995756149292 }, { "epoch": 8.035659790039063e-07, "model_forward_time": 5.099321365356445, "step": 8426 }, { "epoch": 8.035659790039063e-07, "step": 8426, "training_step_time": 17.460512161254883 }, { "epoch": 8.036613464355469e-07, "model_forward_time": 5.337097406387329, "step": 8427 }, { "epoch": 8.036613464355469e-07, "step": 8427, "training_step_time": 17.701513528823853 }, { "epoch": 8.037567138671875e-07, "model_forward_time": 5.090061664581299, "step": 8428 }, { "epoch": 8.037567138671875e-07, "step": 8428, "training_step_time": 17.591537952423096 }, { "epoch": 8.038520812988281e-07, "model_forward_time": 5.081045389175415, "step": 8429 }, { "epoch": 8.038520812988281e-07, "step": 8429, "training_step_time": 17.57427716255188 }, { "epoch": 8.039474487304687e-07, "grad_norm": 2.09149169921875, "learning_rate": 9.865056845194458e-06, "loss": 0.1481, "step": 8430 }, { "epoch": 8.039474487304687e-07, "model_forward_time": 5.078135251998901, "step": 8430 }, { "dynamics_loss_avg": 0.051460263319313526, "epoch": 8.039474487304687e-07, "step": 8430 }, { "action_loss_avg": 0.08469977714121342, "epoch": 8.039474487304687e-07, "step": 8430 }, { "arm_loss_avg": 0.13820611834526061, "epoch": 8.039474487304687e-07, "step": 8430 }, { "ee_loss_avg": 0.08375485194846988, "epoch": 8.039474487304687e-07, "step": 8430 }, { "aux_loss_avg": 0.0008627568517113104, "epoch": 8.039474487304687e-07, "step": 8430 }, { "epoch": 8.039474487304687e-07, "step": 8430, "training_step_time": 17.588525772094727 }, { "epoch": 8.040428161621093e-07, "model_forward_time": 5.077378988265991, "step": 8431 }, { "epoch": 8.040428161621093e-07, "step": 8431, "training_step_time": 17.80647897720337 }, { "epoch": 8.0413818359375e-07, "model_forward_time": 5.077718019485474, "step": 8432 }, { "epoch": 8.0413818359375e-07, "step": 8432, "training_step_time": 17.582292556762695 }, { "epoch": 8.042335510253907e-07, "model_forward_time": 5.073251247406006, "step": 8433 }, { "epoch": 8.042335510253907e-07, "step": 8433, "training_step_time": 17.586250066757202 }, { "epoch": 8.043289184570313e-07, "model_forward_time": 5.074910402297974, "step": 8434 }, { "epoch": 8.043289184570313e-07, "step": 8434, "training_step_time": 17.577900886535645 }, { "epoch": 8.044242858886719e-07, "model_forward_time": 5.075000762939453, "step": 8435 }, { "epoch": 8.044242858886719e-07, "step": 8435, "training_step_time": 17.5797061920166 }, { "epoch": 8.045196533203125e-07, "model_forward_time": 5.081284999847412, "step": 8436 }, { "epoch": 8.045196533203125e-07, "step": 8436, "training_step_time": 17.766385793685913 }, { "epoch": 8.046150207519531e-07, "model_forward_time": 5.079293727874756, "step": 8437 }, { "epoch": 8.046150207519531e-07, "step": 8437, "training_step_time": 17.567368030548096 }, { "epoch": 8.047103881835937e-07, "model_forward_time": 5.080459833145142, "step": 8438 }, { "epoch": 8.047103881835937e-07, "step": 8438, "training_step_time": 17.572949647903442 }, { "epoch": 8.048057556152344e-07, "model_forward_time": 5.0819878578186035, "step": 8439 }, { "epoch": 8.048057556152344e-07, "step": 8439, "training_step_time": 17.63455843925476 }, { "epoch": 8.04901123046875e-07, "grad_norm": 1.659292459487915, "learning_rate": 9.864511230848849e-06, "loss": 0.1258, "step": 8440 }, { "epoch": 8.04901123046875e-07, "model_forward_time": 5.081016302108765, "step": 8440 }, { "dynamics_loss_avg": 0.03762856312096119, "epoch": 8.04901123046875e-07, "step": 8440 }, { "action_loss_avg": 0.06574584096670151, "epoch": 8.04901123046875e-07, "step": 8440 }, { "arm_loss_avg": 0.12996155582368374, "epoch": 8.04901123046875e-07, "step": 8440 }, { "ee_loss_avg": 0.07720049265772104, "epoch": 8.04901123046875e-07, "step": 8440 }, { "aux_loss_avg": 0.001320194429717958, "epoch": 8.04901123046875e-07, "step": 8440 }, { "epoch": 8.04901123046875e-07, "step": 8440, "training_step_time": 17.559447765350342 }, { "epoch": 8.049964904785156e-07, "model_forward_time": 5.0794267654418945, "step": 8441 }, { "epoch": 8.049964904785156e-07, "step": 8441, "training_step_time": 17.775519371032715 }, { "epoch": 8.050918579101562e-07, "model_forward_time": 5.083644866943359, "step": 8442 }, { "epoch": 8.050918579101562e-07, "step": 8442, "training_step_time": 17.560749769210815 }, { "epoch": 8.051872253417969e-07, "model_forward_time": 5.080196380615234, "step": 8443 }, { "epoch": 8.051872253417969e-07, "step": 8443, "training_step_time": 17.619586944580078 }, { "epoch": 8.052825927734375e-07, "model_forward_time": 5.080190181732178, "step": 8444 }, { "epoch": 8.052825927734375e-07, "step": 8444, "training_step_time": 17.576033115386963 }, { "epoch": 8.053779602050782e-07, "model_forward_time": 5.082509994506836, "step": 8445 }, { "epoch": 8.053779602050782e-07, "step": 8445, "training_step_time": 17.562594175338745 }, { "epoch": 8.054733276367188e-07, "model_forward_time": 5.321735143661499, "step": 8446 }, { "epoch": 8.054733276367188e-07, "step": 8446, "training_step_time": 17.799733638763428 }, { "epoch": 8.055686950683594e-07, "model_forward_time": 5.082575082778931, "step": 8447 }, { "epoch": 8.055686950683594e-07, "step": 8447, "training_step_time": 17.572434663772583 }, { "epoch": 8.056640625e-07, "model_forward_time": 5.079357147216797, "step": 8448 }, { "epoch": 8.056640625e-07, "step": 8448, "training_step_time": 17.57382559776306 }, { "epoch": 8.057594299316406e-07, "model_forward_time": 5.07830286026001, "step": 8449 }, { "epoch": 8.057594299316406e-07, "step": 8449, "training_step_time": 17.607202529907227 }, { "epoch": 8.058547973632812e-07, "grad_norm": 1.4102938175201416, "learning_rate": 9.863964530838688e-06, "loss": 0.1461, "step": 8450 }, { "epoch": 8.058547973632812e-07, "model_forward_time": 5.082347869873047, "step": 8450 }, { "dynamics_loss_avg": 0.05026061274111271, "epoch": 8.058547973632812e-07, "step": 8450 }, { "action_loss_avg": 0.09517082273960113, "epoch": 8.058547973632812e-07, "step": 8450 }, { "arm_loss_avg": 0.15018381774425507, "epoch": 8.058547973632812e-07, "step": 8450 }, { "ee_loss_avg": 0.08377608563750982, "epoch": 8.058547973632812e-07, "step": 8450 }, { "aux_loss_avg": 0.0011023409490007908, "epoch": 8.058547973632812e-07, "step": 8450 }, { "epoch": 8.058547973632812e-07, "step": 8450, "training_step_time": 17.568542957305908 }, { "epoch": 8.059501647949218e-07, "model_forward_time": 5.284299612045288, "step": 8451 }, { "epoch": 8.059501647949218e-07, "step": 8451, "training_step_time": 17.797958612442017 }, { "epoch": 8.060455322265625e-07, "model_forward_time": 3.847041130065918, "step": 8452 }, { "epoch": 8.060455322265625e-07, "step": 8452, "training_step_time": 17.5651695728302 }, { "epoch": 8.061408996582032e-07, "model_forward_time": 5.05375862121582, "step": 8453 }, { "epoch": 8.061408996582032e-07, "step": 8453, "training_step_time": 17.57653522491455 }, { "epoch": 8.062362670898438e-07, "model_forward_time": 5.064659833908081, "step": 8454 }, { "epoch": 8.062362670898438e-07, "step": 8454, "training_step_time": 17.580849409103394 }, { "epoch": 8.063316345214844e-07, "model_forward_time": 5.07279109954834, "step": 8455 }, { "epoch": 8.063316345214844e-07, "step": 8455, "training_step_time": 17.580848693847656 }, { "epoch": 8.06427001953125e-07, "model_forward_time": 5.079378366470337, "step": 8456 }, { "epoch": 8.06427001953125e-07, "step": 8456, "training_step_time": 17.274245262145996 }, { "epoch": 8.065223693847656e-07, "model_forward_time": 4.054653644561768, "step": 8457 }, { "epoch": 8.065223693847656e-07, "step": 8457, "training_step_time": 17.32372212409973 }, { "epoch": 8.066177368164062e-07, "model_forward_time": 5.06636118888855, "step": 8458 }, { "epoch": 8.066177368164062e-07, "step": 8458, "training_step_time": 17.361305475234985 }, { "epoch": 8.067131042480469e-07, "model_forward_time": 5.0759360790252686, "step": 8459 }, { "epoch": 8.067131042480469e-07, "step": 8459, "training_step_time": 17.597358465194702 }, { "epoch": 8.068084716796875e-07, "grad_norm": 2.387875556945801, "learning_rate": 9.86341674528599e-06, "loss": 0.1433, "step": 8460 }, { "epoch": 8.068084716796875e-07, "model_forward_time": 5.086043119430542, "step": 8460 }, { "dynamics_loss_avg": 0.04696334563195705, "epoch": 8.068084716796875e-07, "step": 8460 }, { "action_loss_avg": 0.07025007046759128, "epoch": 8.068084716796875e-07, "step": 8460 }, { "arm_loss_avg": 0.12817771323025226, "epoch": 8.068084716796875e-07, "step": 8460 }, { "ee_loss_avg": 0.06670308401808142, "epoch": 8.068084716796875e-07, "step": 8460 }, { "aux_loss_avg": 0.0009195437305606902, "epoch": 8.068084716796875e-07, "step": 8460 }, { "epoch": 8.068084716796875e-07, "step": 8460, "training_step_time": 17.484768390655518 }, { "epoch": 8.069038391113281e-07, "model_forward_time": 5.087451696395874, "step": 8461 }, { "epoch": 8.069038391113281e-07, "step": 8461, "training_step_time": 17.322662353515625 }, { "epoch": 8.069992065429687e-07, "model_forward_time": 5.2790610790252686, "step": 8462 }, { "epoch": 8.069992065429687e-07, "step": 8462, "training_step_time": 17.73629379272461 }, { "epoch": 8.070945739746094e-07, "model_forward_time": 5.086851596832275, "step": 8463 }, { "epoch": 8.070945739746094e-07, "step": 8463, "training_step_time": 17.578439235687256 }, { "epoch": 8.0718994140625e-07, "model_forward_time": 5.086808204650879, "step": 8464 }, { "epoch": 8.0718994140625e-07, "step": 8464, "training_step_time": 17.617913007736206 }, { "epoch": 8.072853088378907e-07, "model_forward_time": 5.0818140506744385, "step": 8465 }, { "epoch": 8.072853088378907e-07, "step": 8465, "training_step_time": 17.640262603759766 }, { "epoch": 8.073806762695313e-07, "model_forward_time": 5.082919597625732, "step": 8466 }, { "epoch": 8.073806762695313e-07, "step": 8466, "training_step_time": 17.631004810333252 }, { "epoch": 8.074760437011719e-07, "model_forward_time": 5.082115650177002, "step": 8467 }, { "epoch": 8.074760437011719e-07, "step": 8467, "training_step_time": 17.803393840789795 }, { "epoch": 8.075714111328125e-07, "model_forward_time": 5.079780578613281, "step": 8468 }, { "epoch": 8.075714111328125e-07, "step": 8468, "training_step_time": 17.609822750091553 }, { "epoch": 8.076667785644531e-07, "model_forward_time": 5.0764055252075195, "step": 8469 }, { "epoch": 8.076667785644531e-07, "step": 8469, "training_step_time": 17.590903282165527 }, { "epoch": 8.077621459960937e-07, "grad_norm": 2.5176761150360107, "learning_rate": 9.862867874313009e-06, "loss": 0.1571, "step": 8470 }, { "epoch": 8.077621459960937e-07, "model_forward_time": 5.077951669692993, "step": 8470 }, { "dynamics_loss_avg": 0.05421982714906335, "epoch": 8.077621459960937e-07, "step": 8470 }, { "action_loss_avg": 0.1014130225405097, "epoch": 8.077621459960937e-07, "step": 8470 }, { "arm_loss_avg": 0.14497713446617128, "epoch": 8.077621459960937e-07, "step": 8470 }, { "ee_loss_avg": 0.08023774065077305, "epoch": 8.077621459960937e-07, "step": 8470 }, { "aux_loss_avg": 0.000779277557739988, "epoch": 8.077621459960937e-07, "step": 8470 }, { "epoch": 8.077621459960937e-07, "step": 8470, "training_step_time": 17.573582887649536 }, { "epoch": 8.078575134277343e-07, "model_forward_time": 5.276624917984009, "step": 8471 }, { "epoch": 8.078575134277343e-07, "step": 8471, "training_step_time": 17.572312831878662 }, { "epoch": 8.07952880859375e-07, "model_forward_time": 5.079087972640991, "step": 8472 }, { "epoch": 8.07952880859375e-07, "step": 8472, "training_step_time": 17.80078959465027 }, { "epoch": 8.080482482910157e-07, "model_forward_time": 5.077475070953369, "step": 8473 }, { "epoch": 8.080482482910157e-07, "step": 8473, "training_step_time": 17.393282413482666 }, { "epoch": 8.081436157226563e-07, "model_forward_time": 5.083956241607666, "step": 8474 }, { "epoch": 8.081436157226563e-07, "step": 8474, "training_step_time": 17.580472469329834 }, { "epoch": 8.082389831542969e-07, "model_forward_time": 5.085255861282349, "step": 8475 }, { "epoch": 8.082389831542969e-07, "step": 8475, "training_step_time": 17.513563632965088 }, { "epoch": 8.083343505859375e-07, "model_forward_time": 5.087711572647095, "step": 8476 }, { "epoch": 8.083343505859375e-07, "step": 8476, "training_step_time": 17.576077461242676 }, { "epoch": 8.084297180175781e-07, "model_forward_time": 3.852385997772217, "step": 8477 }, { "epoch": 8.084297180175781e-07, "step": 8477, "training_step_time": 17.796496868133545 }, { "epoch": 8.085250854492187e-07, "model_forward_time": 5.073987245559692, "step": 8478 }, { "epoch": 8.085250854492187e-07, "step": 8478, "training_step_time": 17.40377688407898 }, { "epoch": 8.086204528808594e-07, "model_forward_time": 5.076228141784668, "step": 8479 }, { "epoch": 8.086204528808594e-07, "step": 8479, "training_step_time": 17.61422562599182 }, { "epoch": 8.087158203125e-07, "grad_norm": 2.0256757736206055, "learning_rate": 9.862317918042245e-06, "loss": 0.1383, "step": 8480 }, { "epoch": 8.087158203125e-07, "model_forward_time": 5.082442045211792, "step": 8480 }, { "dynamics_loss_avg": 0.0564620167016983, "epoch": 8.087158203125e-07, "step": 8480 }, { "action_loss_avg": 0.07946020662784577, "epoch": 8.087158203125e-07, "step": 8480 }, { "arm_loss_avg": 0.1521913256496191, "epoch": 8.087158203125e-07, "step": 8480 }, { "ee_loss_avg": 0.06178792919963598, "epoch": 8.087158203125e-07, "step": 8480 }, { "aux_loss_avg": 0.0008681244042236357, "epoch": 8.087158203125e-07, "step": 8480 }, { "epoch": 8.087158203125e-07, "step": 8480, "training_step_time": 17.193272590637207 }, { "epoch": 8.088111877441406e-07, "model_forward_time": 3.8527238368988037, "step": 8481 }, { "epoch": 8.088111877441406e-07, "step": 8481, "training_step_time": 17.549821853637695 }, { "epoch": 8.089065551757812e-07, "model_forward_time": 4.067234992980957, "step": 8482 }, { "epoch": 8.089065551757812e-07, "step": 8482, "training_step_time": 17.821468114852905 }, { "epoch": 8.090019226074219e-07, "model_forward_time": 5.051250219345093, "step": 8483 }, { "epoch": 8.090019226074219e-07, "step": 8483, "training_step_time": 17.592687606811523 }, { "epoch": 8.090972900390625e-07, "model_forward_time": 5.065716743469238, "step": 8484 }, { "epoch": 8.090972900390625e-07, "step": 8484, "training_step_time": 17.58924961090088 }, { "epoch": 8.091926574707032e-07, "model_forward_time": 5.085981607437134, "step": 8485 }, { "epoch": 8.091926574707032e-07, "step": 8485, "training_step_time": 17.31658434867859 }, { "epoch": 8.092880249023438e-07, "model_forward_time": 5.09921407699585, "step": 8486 }, { "epoch": 8.092880249023438e-07, "step": 8486, "training_step_time": 17.489004611968994 }, { "epoch": 8.093833923339844e-07, "model_forward_time": 5.333578824996948, "step": 8487 }, { "epoch": 8.093833923339844e-07, "step": 8487, "training_step_time": 17.72386598587036 }, { "epoch": 8.09478759765625e-07, "model_forward_time": 5.099000930786133, "step": 8488 }, { "epoch": 8.09478759765625e-07, "step": 8488, "training_step_time": 17.56299901008606 }, { "epoch": 8.095741271972656e-07, "model_forward_time": 5.094665050506592, "step": 8489 }, { "epoch": 8.095741271972656e-07, "step": 8489, "training_step_time": 17.592738389968872 }, { "epoch": 8.096694946289062e-07, "grad_norm": 2.3876914978027344, "learning_rate": 9.861766876596435e-06, "loss": 0.1451, "step": 8490 }, { "epoch": 8.096694946289062e-07, "model_forward_time": 5.088378667831421, "step": 8490 }, { "dynamics_loss_avg": 0.05868676099926233, "epoch": 8.096694946289062e-07, "step": 8490 }, { "action_loss_avg": 0.09589039236307144, "epoch": 8.096694946289062e-07, "step": 8490 }, { "arm_loss_avg": 0.13212117776274682, "epoch": 8.096694946289062e-07, "step": 8490 }, { "ee_loss_avg": 0.1581738717854023, "epoch": 8.096694946289062e-07, "step": 8490 }, { "aux_loss_avg": 0.0011164533731061964, "epoch": 8.096694946289062e-07, "step": 8490 }, { "epoch": 8.096694946289062e-07, "step": 8490, "training_step_time": 17.6049542427063 }, { "epoch": 8.097648620605468e-07, "model_forward_time": 5.081490516662598, "step": 8491 }, { "epoch": 8.097648620605468e-07, "step": 8491, "training_step_time": 17.609421730041504 }, { "epoch": 8.098602294921875e-07, "model_forward_time": 5.078460216522217, "step": 8492 }, { "epoch": 8.098602294921875e-07, "step": 8492, "training_step_time": 17.85245680809021 }, { "epoch": 8.099555969238282e-07, "model_forward_time": 3.8446590900421143, "step": 8493 }, { "epoch": 8.099555969238282e-07, "step": 8493, "training_step_time": 17.603655338287354 }, { "epoch": 8.100509643554688e-07, "model_forward_time": 5.05285120010376, "step": 8494 }, { "epoch": 8.100509643554688e-07, "step": 8494, "training_step_time": 17.60166049003601 }, { "epoch": 8.101463317871094e-07, "model_forward_time": 5.064052581787109, "step": 8495 }, { "epoch": 8.101463317871094e-07, "step": 8495, "training_step_time": 17.584698915481567 }, { "epoch": 8.1024169921875e-07, "model_forward_time": 5.072414875030518, "step": 8496 }, { "epoch": 8.1024169921875e-07, "step": 8496, "training_step_time": 17.575374364852905 }, { "epoch": 8.103370666503906e-07, "model_forward_time": 5.082684278488159, "step": 8497 }, { "epoch": 8.103370666503906e-07, "step": 8497, "training_step_time": 17.75929617881775 }, { "epoch": 8.104324340820312e-07, "model_forward_time": 3.8465781211853027, "step": 8498 }, { "epoch": 8.104324340820312e-07, "step": 8498, "training_step_time": 17.569270372390747 }, { "epoch": 8.105278015136719e-07, "model_forward_time": 5.0584447383880615, "step": 8499 }, { "epoch": 8.105278015136719e-07, "step": 8499, "training_step_time": 17.587862968444824 }, { "epoch": 8.106231689453125e-07, "grad_norm": 1.6998921632766724, "learning_rate": 9.861214750098563e-06, "loss": 0.1313, "step": 8500 }, { "epoch": 8.106231689453125e-07, "model_forward_time": 5.074690818786621, "step": 8500 }, { "dynamics_loss_avg": 0.05313901165500283, "epoch": 8.106231689453125e-07, "step": 8500 }, { "action_loss_avg": 0.08475881069898605, "epoch": 8.106231689453125e-07, "step": 8500 }, { "arm_loss_avg": 0.15410114862024785, "epoch": 8.106231689453125e-07, "step": 8500 }, { "ee_loss_avg": 0.09997180327773095, "epoch": 8.106231689453125e-07, "step": 8500 }, { "aux_loss_avg": 0.0014611568534746767, "epoch": 8.106231689453125e-07, "step": 8500 }, { "epoch": 8.106231689453125e-07, "step": 8500, "training_step_time": 17.551238775253296 }, { "epoch": 8.107185363769531e-07, "model_forward_time": 5.087603807449341, "step": 8501 }, { "epoch": 8.107185363769531e-07, "step": 8501, "training_step_time": 17.55802011489868 }, { "epoch": 8.108139038085937e-07, "model_forward_time": 3.854574680328369, "step": 8502 }, { "epoch": 8.108139038085937e-07, "step": 8502, "training_step_time": 17.783390522003174 }, { "epoch": 8.109092712402343e-07, "model_forward_time": 5.064544916152954, "step": 8503 }, { "epoch": 8.109092712402343e-07, "step": 8503, "training_step_time": 17.56201934814453 }, { "epoch": 8.11004638671875e-07, "model_forward_time": 5.07702374458313, "step": 8504 }, { "epoch": 8.11004638671875e-07, "step": 8504, "training_step_time": 17.562612533569336 }, { "epoch": 8.111000061035157e-07, "model_forward_time": 5.084882020950317, "step": 8505 }, { "epoch": 8.111000061035157e-07, "step": 8505, "training_step_time": 17.55299973487854 }, { "epoch": 8.111953735351563e-07, "model_forward_time": 3.8551926612854004, "step": 8506 }, { "epoch": 8.111953735351563e-07, "step": 8506, "training_step_time": 17.55328607559204 }, { "epoch": 8.112907409667969e-07, "model_forward_time": 5.3003575801849365, "step": 8507 }, { "epoch": 8.112907409667969e-07, "step": 8507, "training_step_time": 17.387447357177734 }, { "epoch": 8.113861083984375e-07, "model_forward_time": 3.845677375793457, "step": 8508 }, { "epoch": 8.113861083984375e-07, "step": 8508, "training_step_time": 17.67682909965515 }, { "epoch": 8.114814758300781e-07, "model_forward_time": 5.057780027389526, "step": 8509 }, { "epoch": 8.114814758300781e-07, "step": 8509, "training_step_time": 17.62562131881714 }, { "epoch": 8.115768432617187e-07, "grad_norm": 2.111673355102539, "learning_rate": 9.86066153867185e-06, "loss": 0.1272, "step": 8510 }, { "epoch": 8.115768432617187e-07, "model_forward_time": 5.073250770568848, "step": 8510 }, { "dynamics_loss_avg": 0.05308415060862899, "epoch": 8.115768432617187e-07, "step": 8510 }, { "action_loss_avg": 0.07471004985272885, "epoch": 8.115768432617187e-07, "step": 8510 }, { "arm_loss_avg": 0.1462548714131117, "epoch": 8.115768432617187e-07, "step": 8510 }, { "ee_loss_avg": 0.08341484796255827, "epoch": 8.115768432617187e-07, "step": 8510 }, { "aux_loss_avg": 0.0015548469615168869, "epoch": 8.115768432617187e-07, "step": 8510 }, { "epoch": 8.115768432617187e-07, "step": 8510, "training_step_time": 17.530174732208252 }, { "epoch": 8.116722106933593e-07, "model_forward_time": 5.08946681022644, "step": 8511 }, { "epoch": 8.116722106933593e-07, "step": 8511, "training_step_time": 17.55954337120056 }, { "epoch": 8.11767578125e-07, "model_forward_time": 5.28268837928772, "step": 8512 }, { "epoch": 8.11767578125e-07, "step": 8512, "training_step_time": 17.789952039718628 }, { "epoch": 8.118629455566406e-07, "model_forward_time": 5.101519823074341, "step": 8513 }, { "epoch": 8.118629455566406e-07, "step": 8513, "training_step_time": 17.58177638053894 }, { "epoch": 8.119583129882813e-07, "model_forward_time": 5.09738564491272, "step": 8514 }, { "epoch": 8.119583129882813e-07, "step": 8514, "training_step_time": 17.566631317138672 }, { "epoch": 8.120536804199219e-07, "model_forward_time": 5.0943872928619385, "step": 8515 }, { "epoch": 8.120536804199219e-07, "step": 8515, "training_step_time": 17.5077805519104 }, { "epoch": 8.121490478515625e-07, "model_forward_time": 5.0911993980407715, "step": 8516 }, { "epoch": 8.121490478515625e-07, "step": 8516, "training_step_time": 17.54370427131653 }, { "epoch": 8.122444152832031e-07, "model_forward_time": 5.324259281158447, "step": 8517 }, { "epoch": 8.122444152832031e-07, "step": 8517, "training_step_time": 17.766870498657227 }, { "epoch": 8.123397827148438e-07, "model_forward_time": 3.8494393825531006, "step": 8518 }, { "epoch": 8.123397827148438e-07, "step": 8518, "training_step_time": 17.573163986206055 }, { "epoch": 8.124351501464844e-07, "model_forward_time": 5.05739688873291, "step": 8519 }, { "epoch": 8.124351501464844e-07, "step": 8519, "training_step_time": 17.586812257766724 }, { "epoch": 8.12530517578125e-07, "grad_norm": 1.694118857383728, "learning_rate": 9.860107242439766e-06, "loss": 0.1362, "step": 8520 }, { "epoch": 8.12530517578125e-07, "model_forward_time": 5.063608884811401, "step": 8520 }, { "dynamics_loss_avg": 0.05214719511568546, "epoch": 8.12530517578125e-07, "step": 8520 }, { "action_loss_avg": 0.087972741574049, "epoch": 8.12530517578125e-07, "step": 8520 }, { "arm_loss_avg": 0.12750389352440833, "epoch": 8.12530517578125e-07, "step": 8520 }, { "ee_loss_avg": 0.13699710331857204, "epoch": 8.12530517578125e-07, "step": 8520 }, { "aux_loss_avg": 0.00336753306328319, "epoch": 8.12530517578125e-07, "step": 8520 }, { "epoch": 8.12530517578125e-07, "step": 8520, "training_step_time": 17.58362340927124 }, { "epoch": 8.126258850097656e-07, "model_forward_time": 5.073662281036377, "step": 8521 }, { "epoch": 8.126258850097656e-07, "step": 8521, "training_step_time": 17.572598457336426 }, { "epoch": 8.127212524414062e-07, "model_forward_time": 5.2773964405059814, "step": 8522 }, { "epoch": 8.127212524414062e-07, "step": 8522, "training_step_time": 17.79616403579712 }, { "epoch": 8.128166198730468e-07, "model_forward_time": 5.079850196838379, "step": 8523 }, { "epoch": 8.128166198730468e-07, "step": 8523, "training_step_time": 17.57198143005371 }, { "epoch": 8.129119873046875e-07, "model_forward_time": 5.090179681777954, "step": 8524 }, { "epoch": 8.129119873046875e-07, "step": 8524, "training_step_time": 17.57977032661438 }, { "epoch": 8.130073547363282e-07, "model_forward_time": 5.093610763549805, "step": 8525 }, { "epoch": 8.130073547363282e-07, "step": 8525, "training_step_time": 17.395299434661865 }, { "epoch": 8.131027221679688e-07, "model_forward_time": 5.094313859939575, "step": 8526 }, { "epoch": 8.131027221679688e-07, "step": 8526, "training_step_time": 17.478426933288574 }, { "epoch": 8.131980895996094e-07, "model_forward_time": 5.093414306640625, "step": 8527 }, { "epoch": 8.131980895996094e-07, "step": 8527, "training_step_time": 17.503458499908447 }, { "epoch": 8.1329345703125e-07, "model_forward_time": 5.089595794677734, "step": 8528 }, { "epoch": 8.1329345703125e-07, "step": 8528, "training_step_time": 17.7430579662323 }, { "epoch": 8.133888244628906e-07, "model_forward_time": 5.082647323608398, "step": 8529 }, { "epoch": 8.133888244628906e-07, "step": 8529, "training_step_time": 17.551233291625977 }, { "epoch": 8.134841918945312e-07, "grad_norm": 1.3382078409194946, "learning_rate": 9.859551861526014e-06, "loss": 0.1355, "step": 8530 }, { "epoch": 8.134841918945312e-07, "model_forward_time": 5.080490589141846, "step": 8530 }, { "dynamics_loss_avg": 0.058991558849811554, "epoch": 8.134841918945312e-07, "step": 8530 }, { "action_loss_avg": 0.10969668701291084, "epoch": 8.134841918945312e-07, "step": 8530 }, { "arm_loss_avg": 0.15738637633621694, "epoch": 8.134841918945312e-07, "step": 8530 }, { "ee_loss_avg": 0.12927910629659892, "epoch": 8.134841918945312e-07, "step": 8530 }, { "aux_loss_avg": 0.0013512556441128254, "epoch": 8.134841918945312e-07, "step": 8530 }, { "epoch": 8.134841918945312e-07, "step": 8530, "training_step_time": 17.568231344223022 }, { "epoch": 8.135795593261718e-07, "model_forward_time": 3.8446998596191406, "step": 8531 }, { "epoch": 8.135795593261718e-07, "step": 8531, "training_step_time": 17.569523811340332 }, { "epoch": 8.136749267578125e-07, "model_forward_time": 4.066340208053589, "step": 8532 }, { "epoch": 8.136749267578125e-07, "step": 8532, "training_step_time": 17.799105882644653 }, { "epoch": 8.137702941894531e-07, "model_forward_time": 3.818540334701538, "step": 8533 }, { "epoch": 8.137702941894531e-07, "step": 8533, "training_step_time": 17.583678007125854 }, { "epoch": 8.138656616210938e-07, "model_forward_time": 3.8137612342834473, "step": 8534 }, { "epoch": 8.138656616210938e-07, "step": 8534, "training_step_time": 17.48285222053528 }, { "epoch": 8.139610290527344e-07, "model_forward_time": 5.03968358039856, "step": 8535 }, { "epoch": 8.139610290527344e-07, "step": 8535, "training_step_time": 17.517723321914673 }, { "epoch": 8.14056396484375e-07, "model_forward_time": 5.058422088623047, "step": 8536 }, { "epoch": 8.14056396484375e-07, "step": 8536, "training_step_time": 17.52342462539673 }, { "epoch": 8.141517639160156e-07, "model_forward_time": 5.315772771835327, "step": 8537 }, { "epoch": 8.141517639160156e-07, "step": 8537, "training_step_time": 17.424757957458496 }, { "epoch": 8.142471313476563e-07, "model_forward_time": 5.092138051986694, "step": 8538 }, { "epoch": 8.142471313476563e-07, "step": 8538, "training_step_time": 17.6518771648407 }, { "epoch": 8.143424987792969e-07, "model_forward_time": 5.102646350860596, "step": 8539 }, { "epoch": 8.143424987792969e-07, "step": 8539, "training_step_time": 17.51783585548401 }, { "epoch": 8.144378662109375e-07, "grad_norm": 1.9059644937515259, "learning_rate": 9.858995396054547e-06, "loss": 0.1346, "step": 8540 }, { "epoch": 8.144378662109375e-07, "model_forward_time": 5.105417490005493, "step": 8540 }, { "dynamics_loss_avg": 0.053280331753194334, "epoch": 8.144378662109375e-07, "step": 8540 }, { "action_loss_avg": 0.07962145581841469, "epoch": 8.144378662109375e-07, "step": 8540 }, { "arm_loss_avg": 0.19988924041390418, "epoch": 8.144378662109375e-07, "step": 8540 }, { "ee_loss_avg": 0.18800128884613515, "epoch": 8.144378662109375e-07, "step": 8540 }, { "aux_loss_avg": 0.03677526750252582, "epoch": 8.144378662109375e-07, "step": 8540 }, { "epoch": 8.144378662109375e-07, "step": 8540, "training_step_time": 17.55368709564209 }, { "epoch": 8.145332336425781e-07, "model_forward_time": 5.099306106567383, "step": 8541 }, { "epoch": 8.145332336425781e-07, "step": 8541, "training_step_time": 17.57553267478943 }, { "epoch": 8.146286010742187e-07, "model_forward_time": 4.0924766063690186, "step": 8542 }, { "epoch": 8.146286010742187e-07, "step": 8542, "training_step_time": 17.58045268058777 }, { "epoch": 8.147239685058593e-07, "model_forward_time": 5.065860033035278, "step": 8543 }, { "epoch": 8.147239685058593e-07, "step": 8543, "training_step_time": 17.83720350265503 }, { "epoch": 8.148193359375e-07, "model_forward_time": 5.068841457366943, "step": 8544 }, { "epoch": 8.148193359375e-07, "step": 8544, "training_step_time": 17.599775791168213 }, { "epoch": 8.149147033691407e-07, "model_forward_time": 5.071682691574097, "step": 8545 }, { "epoch": 8.149147033691407e-07, "step": 8545, "training_step_time": 17.596620321273804 }, { "epoch": 8.150100708007813e-07, "model_forward_time": 5.083360910415649, "step": 8546 }, { "epoch": 8.150100708007813e-07, "step": 8546, "training_step_time": 17.591445207595825 }, { "epoch": 8.151054382324219e-07, "model_forward_time": 5.313600063323975, "step": 8547 }, { "epoch": 8.151054382324219e-07, "step": 8547, "training_step_time": 17.81298804283142 }, { "epoch": 8.152008056640625e-07, "model_forward_time": 3.852175712585449, "step": 8548 }, { "epoch": 8.152008056640625e-07, "step": 8548, "training_step_time": 17.63068985939026 }, { "epoch": 8.152961730957031e-07, "model_forward_time": 5.063436508178711, "step": 8549 }, { "epoch": 8.152961730957031e-07, "step": 8549, "training_step_time": 17.562347412109375 }, { "epoch": 8.153915405273437e-07, "grad_norm": 2.8777782917022705, "learning_rate": 9.85843784614956e-06, "loss": 0.1287, "step": 8550 }, { "epoch": 8.153915405273437e-07, "model_forward_time": 5.079748153686523, "step": 8550 }, { "dynamics_loss_avg": 0.047362778522074225, "epoch": 8.153915405273437e-07, "step": 8550 }, { "action_loss_avg": 0.0650639958679676, "epoch": 8.153915405273437e-07, "step": 8550 }, { "arm_loss_avg": 0.12461742274463176, "epoch": 8.153915405273437e-07, "step": 8550 }, { "ee_loss_avg": 0.14018266424536704, "epoch": 8.153915405273437e-07, "step": 8550 }, { "aux_loss_avg": 0.002299786114599556, "epoch": 8.153915405273437e-07, "step": 8550 }, { "epoch": 8.153915405273437e-07, "step": 8550, "training_step_time": 17.552883625030518 }, { "epoch": 8.154869079589843e-07, "model_forward_time": 5.089455842971802, "step": 8551 }, { "epoch": 8.154869079589843e-07, "step": 8551, "training_step_time": 17.43859553337097 }, { "epoch": 8.15582275390625e-07, "model_forward_time": 5.278459548950195, "step": 8552 }, { "epoch": 8.15582275390625e-07, "step": 8552, "training_step_time": 17.412198543548584 }, { "epoch": 8.156776428222656e-07, "model_forward_time": 5.098525047302246, "step": 8553 }, { "epoch": 8.156776428222656e-07, "step": 8553, "training_step_time": 17.646967887878418 }, { "epoch": 8.157730102539063e-07, "model_forward_time": 5.097073316574097, "step": 8554 }, { "epoch": 8.157730102539063e-07, "step": 8554, "training_step_time": 17.48082208633423 }, { "epoch": 8.158683776855469e-07, "model_forward_time": 5.094125509262085, "step": 8555 }, { "epoch": 8.158683776855469e-07, "step": 8555, "training_step_time": 17.530516147613525 }, { "epoch": 8.159637451171875e-07, "model_forward_time": 5.094642639160156, "step": 8556 }, { "epoch": 8.159637451171875e-07, "step": 8556, "training_step_time": 17.58476424217224 }, { "epoch": 8.160591125488281e-07, "model_forward_time": 5.34744930267334, "step": 8557 }, { "epoch": 8.160591125488281e-07, "step": 8557, "training_step_time": 17.623579263687134 }, { "epoch": 8.161544799804688e-07, "model_forward_time": 5.104009389877319, "step": 8558 }, { "epoch": 8.161544799804688e-07, "step": 8558, "training_step_time": 17.843395233154297 }, { "epoch": 8.162498474121094e-07, "model_forward_time": 5.0988945960998535, "step": 8559 }, { "epoch": 8.162498474121094e-07, "step": 8559, "training_step_time": 17.657941818237305 }, { "epoch": 8.1634521484375e-07, "grad_norm": 1.8361376523971558, "learning_rate": 9.857879211935482e-06, "loss": 0.1416, "step": 8560 }, { "epoch": 8.1634521484375e-07, "model_forward_time": 5.083662748336792, "step": 8560 }, { "dynamics_loss_avg": 0.04939133320003748, "epoch": 8.1634521484375e-07, "step": 8560 }, { "action_loss_avg": 0.0949120581150055, "epoch": 8.1634521484375e-07, "step": 8560 }, { "arm_loss_avg": 0.1396454345434904, "epoch": 8.1634521484375e-07, "step": 8560 }, { "ee_loss_avg": 0.15283145159482955, "epoch": 8.1634521484375e-07, "step": 8560 }, { "aux_loss_avg": 0.0008218096103519201, "epoch": 8.1634521484375e-07, "step": 8560 }, { "epoch": 8.1634521484375e-07, "step": 8560, "training_step_time": 17.602091312408447 }, { "epoch": 8.164405822753906e-07, "model_forward_time": 5.077110290527344, "step": 8561 }, { "epoch": 8.164405822753906e-07, "step": 8561, "training_step_time": 17.597005605697632 }, { "epoch": 8.165359497070312e-07, "model_forward_time": 5.282208681106567, "step": 8562 }, { "epoch": 8.165359497070312e-07, "step": 8562, "training_step_time": 17.595620155334473 }, { "epoch": 8.166313171386718e-07, "model_forward_time": 5.083026170730591, "step": 8563 }, { "epoch": 8.166313171386718e-07, "step": 8563, "training_step_time": 17.825695991516113 }, { "epoch": 8.167266845703125e-07, "model_forward_time": 5.083861351013184, "step": 8564 }, { "epoch": 8.167266845703125e-07, "step": 8564, "training_step_time": 17.59333109855652 }, { "epoch": 8.168220520019532e-07, "model_forward_time": 5.081622838973999, "step": 8565 }, { "epoch": 8.168220520019532e-07, "step": 8565, "training_step_time": 17.411537408828735 }, { "epoch": 8.169174194335938e-07, "model_forward_time": 5.08596134185791, "step": 8566 }, { "epoch": 8.169174194335938e-07, "step": 8566, "training_step_time": 17.47840189933777 }, { "epoch": 8.170127868652344e-07, "model_forward_time": 5.316936731338501, "step": 8567 }, { "epoch": 8.170127868652344e-07, "step": 8567, "training_step_time": 17.742295026779175 }, { "epoch": 8.17108154296875e-07, "model_forward_time": 5.085954666137695, "step": 8568 }, { "epoch": 8.17108154296875e-07, "step": 8568, "training_step_time": 17.533002376556396 }, { "epoch": 8.172035217285156e-07, "model_forward_time": 5.083000659942627, "step": 8569 }, { "epoch": 8.172035217285156e-07, "step": 8569, "training_step_time": 17.583088636398315 }, { "epoch": 8.172988891601562e-07, "grad_norm": 2.252943992614746, "learning_rate": 9.857319493536994e-06, "loss": 0.1235, "step": 8570 }, { "epoch": 8.172988891601562e-07, "model_forward_time": 5.082604885101318, "step": 8570 }, { "dynamics_loss_avg": 0.045172352343797684, "epoch": 8.172988891601562e-07, "step": 8570 }, { "action_loss_avg": 0.0863463368266821, "epoch": 8.172988891601562e-07, "step": 8570 }, { "arm_loss_avg": 0.1493289677426219, "epoch": 8.172988891601562e-07, "step": 8570 }, { "ee_loss_avg": 0.09888658840209245, "epoch": 8.172988891601562e-07, "step": 8570 }, { "aux_loss_avg": 0.0015772904094774275, "epoch": 8.172988891601562e-07, "step": 8570 }, { "epoch": 8.172988891601562e-07, "step": 8570, "training_step_time": 17.363035678863525 }, { "epoch": 8.173942565917968e-07, "model_forward_time": 5.085969924926758, "step": 8571 }, { "epoch": 8.173942565917968e-07, "step": 8571, "training_step_time": 17.506072282791138 }, { "epoch": 8.174896240234375e-07, "model_forward_time": 5.271889925003052, "step": 8572 }, { "epoch": 8.174896240234375e-07, "step": 8572, "training_step_time": 17.540136098861694 }, { "epoch": 8.175849914550781e-07, "model_forward_time": 5.085306882858276, "step": 8573 }, { "epoch": 8.175849914550781e-07, "step": 8573, "training_step_time": 17.803170919418335 }, { "epoch": 8.176803588867188e-07, "model_forward_time": 5.080119848251343, "step": 8574 }, { "epoch": 8.176803588867188e-07, "step": 8574, "training_step_time": 17.5746488571167 }, { "epoch": 8.177757263183594e-07, "model_forward_time": 5.0807554721832275, "step": 8575 }, { "epoch": 8.177757263183594e-07, "step": 8575, "training_step_time": 17.59722328186035 }, { "epoch": 8.1787109375e-07, "model_forward_time": 5.078472375869751, "step": 8576 }, { "epoch": 8.1787109375e-07, "step": 8576, "training_step_time": 17.595147848129272 }, { "epoch": 8.179664611816406e-07, "model_forward_time": 5.314696311950684, "step": 8577 }, { "epoch": 8.179664611816406e-07, "step": 8577, "training_step_time": 17.81817650794983 }, { "epoch": 8.180618286132813e-07, "model_forward_time": 3.845951557159424, "step": 8578 }, { "epoch": 8.180618286132813e-07, "step": 8578, "training_step_time": 17.380167961120605 }, { "epoch": 8.181571960449219e-07, "model_forward_time": 5.059124946594238, "step": 8579 }, { "epoch": 8.181571960449219e-07, "step": 8579, "training_step_time": 17.634676694869995 }, { "epoch": 8.182525634765625e-07, "grad_norm": 2.190369129180908, "learning_rate": 9.856758691079012e-06, "loss": 0.1401, "step": 8580 }, { "epoch": 8.182525634765625e-07, "model_forward_time": 5.068230628967285, "step": 8580 }, { "dynamics_loss_avg": 0.056254456751048565, "epoch": 8.182525634765625e-07, "step": 8580 }, { "action_loss_avg": 0.07333484329283238, "epoch": 8.182525634765625e-07, "step": 8580 }, { "arm_loss_avg": 0.12177764512598514, "epoch": 8.182525634765625e-07, "step": 8580 }, { "ee_loss_avg": 0.092685910128057, "epoch": 8.182525634765625e-07, "step": 8580 }, { "aux_loss_avg": 0.005059879139298573, "epoch": 8.182525634765625e-07, "step": 8580 }, { "epoch": 8.182525634765625e-07, "step": 8580, "training_step_time": 17.53818702697754 }, { "epoch": 8.183479309082031e-07, "model_forward_time": 5.0784618854522705, "step": 8581 }, { "epoch": 8.183479309082031e-07, "step": 8581, "training_step_time": 17.555776119232178 }, { "epoch": 8.184432983398437e-07, "model_forward_time": 5.27459716796875, "step": 8582 }, { "epoch": 8.184432983398437e-07, "step": 8582, "training_step_time": 17.583518743515015 }, { "epoch": 8.185386657714843e-07, "model_forward_time": 5.088902235031128, "step": 8583 }, { "epoch": 8.185386657714843e-07, "step": 8583, "training_step_time": 17.8146071434021 }, { "epoch": 8.18634033203125e-07, "model_forward_time": 5.090555906295776, "step": 8584 }, { "epoch": 8.18634033203125e-07, "step": 8584, "training_step_time": 17.554744243621826 }, { "epoch": 8.187294006347657e-07, "model_forward_time": 5.091378927230835, "step": 8585 }, { "epoch": 8.187294006347657e-07, "step": 8585, "training_step_time": 17.59604048728943 }, { "epoch": 8.188247680664063e-07, "model_forward_time": 5.091385364532471, "step": 8586 }, { "epoch": 8.188247680664063e-07, "step": 8586, "training_step_time": 17.594882249832153 }, { "epoch": 8.189201354980469e-07, "model_forward_time": 5.089463710784912, "step": 8587 }, { "epoch": 8.189201354980469e-07, "step": 8587, "training_step_time": 17.360645055770874 }, { "epoch": 8.190155029296875e-07, "model_forward_time": 5.088216781616211, "step": 8588 }, { "epoch": 8.190155029296875e-07, "step": 8588, "training_step_time": 17.69323992729187 }, { "epoch": 8.191108703613281e-07, "model_forward_time": 5.086829900741577, "step": 8589 }, { "epoch": 8.191108703613281e-07, "step": 8589, "training_step_time": 17.497381925582886 }, { "epoch": 8.192062377929687e-07, "grad_norm": 1.9595321416854858, "learning_rate": 9.856196804686697e-06, "loss": 0.1191, "step": 8590 }, { "epoch": 8.192062377929687e-07, "model_forward_time": 5.08146595954895, "step": 8590 }, { "dynamics_loss_avg": 0.05240660198032856, "epoch": 8.192062377929687e-07, "step": 8590 }, { "action_loss_avg": 0.06589980367571116, "epoch": 8.192062377929687e-07, "step": 8590 }, { "arm_loss_avg": 0.1292287115007639, "epoch": 8.192062377929687e-07, "step": 8590 }, { "ee_loss_avg": 0.08331449422985315, "epoch": 8.192062377929687e-07, "step": 8590 }, { "aux_loss_avg": 0.0009312410373240709, "epoch": 8.192062377929687e-07, "step": 8590 }, { "epoch": 8.192062377929687e-07, "step": 8590, "training_step_time": 17.544169425964355 }, { "epoch": 8.193016052246094e-07, "model_forward_time": 5.285522699356079, "step": 8591 }, { "epoch": 8.193016052246094e-07, "step": 8591, "training_step_time": 17.565956115722656 }, { "epoch": 8.1939697265625e-07, "model_forward_time": 5.080198287963867, "step": 8592 }, { "epoch": 8.1939697265625e-07, "step": 8592, "training_step_time": 17.575788021087646 }, { "epoch": 8.194923400878906e-07, "model_forward_time": 5.074296951293945, "step": 8593 }, { "epoch": 8.194923400878906e-07, "step": 8593, "training_step_time": 17.808274269104004 }, { "epoch": 8.195877075195313e-07, "model_forward_time": 5.074337720870972, "step": 8594 }, { "epoch": 8.195877075195313e-07, "step": 8594, "training_step_time": 17.597888946533203 }, { "epoch": 8.196830749511719e-07, "model_forward_time": 5.0748584270477295, "step": 8595 }, { "epoch": 8.196830749511719e-07, "step": 8595, "training_step_time": 17.573362350463867 }, { "epoch": 8.197784423828125e-07, "model_forward_time": 5.079649925231934, "step": 8596 }, { "epoch": 8.197784423828125e-07, "step": 8596, "training_step_time": 17.572688579559326 }, { "epoch": 8.198738098144531e-07, "model_forward_time": 5.079286098480225, "step": 8597 }, { "epoch": 8.198738098144531e-07, "step": 8597, "training_step_time": 17.571438550949097 }, { "epoch": 8.199691772460938e-07, "model_forward_time": 5.081366539001465, "step": 8598 }, { "epoch": 8.199691772460938e-07, "step": 8598, "training_step_time": 17.767978191375732 }, { "epoch": 8.200645446777344e-07, "model_forward_time": 5.081303596496582, "step": 8599 }, { "epoch": 8.200645446777344e-07, "step": 8599, "training_step_time": 17.61643362045288 }, { "epoch": 8.20159912109375e-07, "grad_norm": 1.8032132387161255, "learning_rate": 9.85563383448545e-06, "loss": 0.1245, "step": 8600 }, { "epoch": 8.20159912109375e-07, "model_forward_time": 5.082858085632324, "step": 8600 }, { "dynamics_loss_avg": 0.046286910958588126, "epoch": 8.20159912109375e-07, "step": 8600 }, { "action_loss_avg": 0.0802137739956379, "epoch": 8.20159912109375e-07, "step": 8600 }, { "arm_loss_avg": 0.13725745249539614, "epoch": 8.20159912109375e-07, "step": 8600 }, { "ee_loss_avg": 0.10909210685640573, "epoch": 8.20159912109375e-07, "step": 8600 }, { "aux_loss_avg": 0.0015794172621099278, "epoch": 8.20159912109375e-07, "step": 8600 }, { "epoch": 8.20159912109375e-07, "step": 8600, "training_step_time": 17.580743312835693 }, { "epoch": 8.202552795410156e-07, "model_forward_time": 5.27436375617981, "step": 8601 }, { "epoch": 8.202552795410156e-07, "step": 8601, "training_step_time": 17.56829261779785 }, { "epoch": 8.203506469726562e-07, "model_forward_time": 5.084134340286255, "step": 8602 }, { "epoch": 8.203506469726562e-07, "step": 8602, "training_step_time": 17.56982421875 }, { "epoch": 8.204460144042968e-07, "model_forward_time": 5.0804078578948975, "step": 8603 }, { "epoch": 8.204460144042968e-07, "step": 8603, "training_step_time": 17.80835461616516 }, { "epoch": 8.205413818359376e-07, "model_forward_time": 5.076860666275024, "step": 8604 }, { "epoch": 8.205413818359376e-07, "step": 8604, "training_step_time": 17.578911304473877 }, { "epoch": 8.206367492675782e-07, "model_forward_time": 3.850294589996338, "step": 8605 }, { "epoch": 8.206367492675782e-07, "step": 8605, "training_step_time": 17.567574739456177 }, { "epoch": 8.207321166992188e-07, "model_forward_time": 3.831611394882202, "step": 8606 }, { "epoch": 8.207321166992188e-07, "step": 8606, "training_step_time": 17.57304573059082 }, { "epoch": 8.208274841308594e-07, "model_forward_time": 5.28647780418396, "step": 8607 }, { "epoch": 8.208274841308594e-07, "step": 8607, "training_step_time": 17.80707025527954 }, { "epoch": 8.209228515625e-07, "model_forward_time": 5.058531045913696, "step": 8608 }, { "epoch": 8.209228515625e-07, "step": 8608, "training_step_time": 17.546583890914917 }, { "epoch": 8.210182189941406e-07, "model_forward_time": 5.073434829711914, "step": 8609 }, { "epoch": 8.210182189941406e-07, "step": 8609, "training_step_time": 17.550055742263794 }, { "epoch": 8.211135864257812e-07, "grad_norm": 2.3542206287384033, "learning_rate": 9.855069780600914e-06, "loss": 0.1244, "step": 8610 }, { "epoch": 8.211135864257812e-07, "model_forward_time": 5.088347673416138, "step": 8610 }, { "dynamics_loss_avg": 0.04055260457098484, "epoch": 8.211135864257812e-07, "step": 8610 }, { "action_loss_avg": 0.07519883159548044, "epoch": 8.211135864257812e-07, "step": 8610 }, { "arm_loss_avg": 0.12836307473480701, "epoch": 8.211135864257812e-07, "step": 8610 }, { "ee_loss_avg": 0.12684702798724173, "epoch": 8.211135864257812e-07, "step": 8610 }, { "aux_loss_avg": 0.003038679133169353, "epoch": 8.211135864257812e-07, "step": 8610 }, { "epoch": 8.211135864257812e-07, "step": 8610, "training_step_time": 17.545631885528564 }, { "epoch": 8.212089538574219e-07, "model_forward_time": 5.100672960281372, "step": 8611 }, { "epoch": 8.212089538574219e-07, "step": 8611, "training_step_time": 17.563637495040894 }, { "epoch": 8.213043212890625e-07, "model_forward_time": 5.105041027069092, "step": 8612 }, { "epoch": 8.213043212890625e-07, "step": 8612, "training_step_time": 17.56996440887451 }, { "epoch": 8.213996887207031e-07, "model_forward_time": 5.099252939224243, "step": 8613 }, { "epoch": 8.213996887207031e-07, "step": 8613, "training_step_time": 17.808119297027588 }, { "epoch": 8.214950561523438e-07, "model_forward_time": 3.8521106243133545, "step": 8614 }, { "epoch": 8.214950561523438e-07, "step": 8614, "training_step_time": 17.59458088874817 }, { "epoch": 8.215904235839844e-07, "model_forward_time": 5.054180145263672, "step": 8615 }, { "epoch": 8.215904235839844e-07, "step": 8615, "training_step_time": 17.571025133132935 }, { "epoch": 8.21685791015625e-07, "model_forward_time": 5.063471078872681, "step": 8616 }, { "epoch": 8.21685791015625e-07, "step": 8616, "training_step_time": 17.577553749084473 }, { "epoch": 8.217811584472656e-07, "model_forward_time": 5.091198682785034, "step": 8617 }, { "epoch": 8.217811584472656e-07, "step": 8617, "training_step_time": 17.84685230255127 }, { "epoch": 8.218765258789063e-07, "model_forward_time": 5.100770473480225, "step": 8618 }, { "epoch": 8.218765258789063e-07, "step": 8618, "training_step_time": 17.592241764068604 }, { "epoch": 8.219718933105469e-07, "model_forward_time": 5.094586372375488, "step": 8619 }, { "epoch": 8.219718933105469e-07, "step": 8619, "training_step_time": 17.64307928085327 }, { "epoch": 8.220672607421875e-07, "grad_norm": 2.34993839263916, "learning_rate": 9.854504643158979e-06, "loss": 0.1411, "step": 8620 }, { "epoch": 8.220672607421875e-07, "model_forward_time": 5.100451946258545, "step": 8620 }, { "dynamics_loss_avg": 0.05729280458763242, "epoch": 8.220672607421875e-07, "step": 8620 }, { "action_loss_avg": 0.06543603166937828, "epoch": 8.220672607421875e-07, "step": 8620 }, { "arm_loss_avg": 0.10187944993376732, "epoch": 8.220672607421875e-07, "step": 8620 }, { "ee_loss_avg": 0.07904850784689188, "epoch": 8.220672607421875e-07, "step": 8620 }, { "aux_loss_avg": 0.0014940803230274469, "epoch": 8.220672607421875e-07, "step": 8620 }, { "epoch": 8.220672607421875e-07, "step": 8620, "training_step_time": 17.596625566482544 }, { "epoch": 8.221626281738281e-07, "model_forward_time": 5.285079479217529, "step": 8621 }, { "epoch": 8.221626281738281e-07, "step": 8621, "training_step_time": 17.660290956497192 }, { "epoch": 8.222579956054687e-07, "model_forward_time": 3.8498244285583496, "step": 8622 }, { "epoch": 8.222579956054687e-07, "step": 8622, "training_step_time": 17.805055379867554 }, { "epoch": 8.223533630371093e-07, "model_forward_time": 5.059596300125122, "step": 8623 }, { "epoch": 8.223533630371093e-07, "step": 8623, "training_step_time": 17.584151029586792 }, { "epoch": 8.2244873046875e-07, "model_forward_time": 5.065279006958008, "step": 8624 }, { "epoch": 8.2244873046875e-07, "step": 8624, "training_step_time": 17.57981562614441 }, { "epoch": 8.225440979003907e-07, "model_forward_time": 5.076247453689575, "step": 8625 }, { "epoch": 8.225440979003907e-07, "step": 8625, "training_step_time": 17.364423513412476 }, { "epoch": 8.226394653320313e-07, "model_forward_time": 5.083970785140991, "step": 8626 }, { "epoch": 8.226394653320313e-07, "step": 8626, "training_step_time": 17.482490062713623 }, { "epoch": 8.227348327636719e-07, "model_forward_time": 5.327243804931641, "step": 8627 }, { "epoch": 8.227348327636719e-07, "step": 8627, "training_step_time": 17.523371934890747 }, { "epoch": 8.228302001953125e-07, "model_forward_time": 5.094882011413574, "step": 8628 }, { "epoch": 8.228302001953125e-07, "step": 8628, "training_step_time": 17.764132499694824 }, { "epoch": 8.229255676269531e-07, "model_forward_time": 5.086621522903442, "step": 8629 }, { "epoch": 8.229255676269531e-07, "step": 8629, "training_step_time": 17.58484172821045 }, { "epoch": 8.230209350585937e-07, "grad_norm": 1.4754271507263184, "learning_rate": 9.85393842228577e-06, "loss": 0.1242, "step": 8630 }, { "epoch": 8.230209350585937e-07, "model_forward_time": 5.089235067367554, "step": 8630 }, { "dynamics_loss_avg": 0.051231605280190703, "epoch": 8.230209350585937e-07, "step": 8630 }, { "action_loss_avg": 0.0795179506763816, "epoch": 8.230209350585937e-07, "step": 8630 }, { "arm_loss_avg": 0.13843445777893065, "epoch": 8.230209350585937e-07, "step": 8630 }, { "ee_loss_avg": 0.06925846925005316, "epoch": 8.230209350585937e-07, "step": 8630 }, { "aux_loss_avg": 0.0012682462693192065, "epoch": 8.230209350585937e-07, "step": 8630 }, { "epoch": 8.230209350585937e-07, "step": 8630, "training_step_time": 17.58346152305603 }, { "epoch": 8.231163024902344e-07, "model_forward_time": 3.851207971572876, "step": 8631 }, { "epoch": 8.231163024902344e-07, "step": 8631, "training_step_time": 17.590537071228027 }, { "epoch": 8.23211669921875e-07, "model_forward_time": 5.061352014541626, "step": 8632 }, { "epoch": 8.23211669921875e-07, "step": 8632, "training_step_time": 17.81111192703247 }, { "epoch": 8.233070373535156e-07, "model_forward_time": 5.061732769012451, "step": 8633 }, { "epoch": 8.233070373535156e-07, "step": 8633, "training_step_time": 17.581624746322632 }, { "epoch": 8.234024047851562e-07, "model_forward_time": 5.069037437438965, "step": 8634 }, { "epoch": 8.234024047851562e-07, "step": 8634, "training_step_time": 17.54959988594055 }, { "epoch": 8.234977722167969e-07, "model_forward_time": 5.077872276306152, "step": 8635 }, { "epoch": 8.234977722167969e-07, "step": 8635, "training_step_time": 17.48676347732544 }, { "epoch": 8.235931396484375e-07, "model_forward_time": 3.8503212928771973, "step": 8636 }, { "epoch": 8.235931396484375e-07, "step": 8636, "training_step_time": 17.518889665603638 }, { "epoch": 8.236885070800781e-07, "model_forward_time": 5.289430618286133, "step": 8637 }, { "epoch": 8.236885070800781e-07, "step": 8637, "training_step_time": 17.744682550430298 }, { "epoch": 8.237838745117188e-07, "model_forward_time": 5.07337212562561, "step": 8638 }, { "epoch": 8.237838745117188e-07, "step": 8638, "training_step_time": 17.56101083755493 }, { "epoch": 8.238792419433594e-07, "model_forward_time": 5.080461740493774, "step": 8639 }, { "epoch": 8.238792419433594e-07, "step": 8639, "training_step_time": 17.577813148498535 }, { "epoch": 8.23974609375e-07, "grad_norm": 1.450452208518982, "learning_rate": 9.853371118107655e-06, "loss": 0.1214, "step": 8640 }, { "epoch": 8.23974609375e-07, "model_forward_time": 5.0902087688446045, "step": 8640 }, { "dynamics_loss_avg": 0.04195539299398661, "epoch": 8.23974609375e-07, "step": 8640 }, { "action_loss_avg": 0.0563856091350317, "epoch": 8.23974609375e-07, "step": 8640 }, { "arm_loss_avg": 0.10287329014390707, "epoch": 8.23974609375e-07, "step": 8640 }, { "ee_loss_avg": 0.10009941663593054, "epoch": 8.23974609375e-07, "step": 8640 }, { "aux_loss_avg": 0.0012679842213401571, "epoch": 8.23974609375e-07, "step": 8640 }, { "epoch": 8.23974609375e-07, "step": 8640, "training_step_time": 17.582096815109253 }, { "epoch": 8.240699768066406e-07, "model_forward_time": 3.85557222366333, "step": 8641 }, { "epoch": 8.240699768066406e-07, "step": 8641, "training_step_time": 17.58963704109192 }, { "epoch": 8.241653442382812e-07, "model_forward_time": 5.251236438751221, "step": 8642 }, { "epoch": 8.241653442382812e-07, "step": 8642, "training_step_time": 17.814589977264404 }, { "epoch": 8.242607116699218e-07, "model_forward_time": 5.07209038734436, "step": 8643 }, { "epoch": 8.242607116699218e-07, "step": 8643, "training_step_time": 17.582833528518677 }, { "epoch": 8.243560791015624e-07, "model_forward_time": 5.080969572067261, "step": 8644 }, { "epoch": 8.243560791015624e-07, "step": 8644, "training_step_time": 17.579823970794678 }, { "epoch": 8.244514465332032e-07, "model_forward_time": 5.085741996765137, "step": 8645 }, { "epoch": 8.244514465332032e-07, "step": 8645, "training_step_time": 17.571120738983154 }, { "epoch": 8.245468139648438e-07, "model_forward_time": 5.087171792984009, "step": 8646 }, { "epoch": 8.245468139648438e-07, "step": 8646, "training_step_time": 17.43992829322815 }, { "epoch": 8.246421813964844e-07, "model_forward_time": 5.090998649597168, "step": 8647 }, { "epoch": 8.246421813964844e-07, "step": 8647, "training_step_time": 17.483073234558105 }, { "epoch": 8.24737548828125e-07, "model_forward_time": 5.09235143661499, "step": 8648 }, { "epoch": 8.24737548828125e-07, "step": 8648, "training_step_time": 17.726587772369385 }, { "epoch": 8.248329162597656e-07, "model_forward_time": 3.852994918823242, "step": 8649 }, { "epoch": 8.248329162597656e-07, "step": 8649, "training_step_time": 17.543707609176636 }, { "epoch": 8.249282836914062e-07, "grad_norm": 1.6917393207550049, "learning_rate": 9.85280273075125e-06, "loss": 0.1389, "step": 8650 }, { "epoch": 8.249282836914062e-07, "model_forward_time": 5.062493801116943, "step": 8650 }, { "dynamics_loss_avg": 0.05538851525634527, "epoch": 8.249282836914062e-07, "step": 8650 }, { "action_loss_avg": 0.09200462885200977, "epoch": 8.249282836914062e-07, "step": 8650 }, { "arm_loss_avg": 0.14857724606990813, "epoch": 8.249282836914062e-07, "step": 8650 }, { "ee_loss_avg": 0.09377533346414565, "epoch": 8.249282836914062e-07, "step": 8650 }, { "aux_loss_avg": 0.0011893784860149026, "epoch": 8.249282836914062e-07, "step": 8650 }, { "epoch": 8.249282836914062e-07, "step": 8650, "training_step_time": 17.569854259490967 }, { "epoch": 8.250236511230469e-07, "model_forward_time": 5.064739227294922, "step": 8651 }, { "epoch": 8.250236511230469e-07, "step": 8651, "training_step_time": 17.482114791870117 }, { "epoch": 8.251190185546875e-07, "model_forward_time": 5.2963948249816895, "step": 8652 }, { "epoch": 8.251190185546875e-07, "step": 8652, "training_step_time": 17.526271104812622 }, { "epoch": 8.252143859863281e-07, "model_forward_time": 5.082557439804077, "step": 8653 }, { "epoch": 8.252143859863281e-07, "step": 8653, "training_step_time": 17.791548490524292 }, { "epoch": 8.253097534179687e-07, "model_forward_time": 5.081762075424194, "step": 8654 }, { "epoch": 8.253097534179687e-07, "step": 8654, "training_step_time": 17.579205989837646 }, { "epoch": 8.254051208496094e-07, "model_forward_time": 5.084363698959351, "step": 8655 }, { "epoch": 8.254051208496094e-07, "step": 8655, "training_step_time": 17.59444308280945 }, { "epoch": 8.2550048828125e-07, "model_forward_time": 3.8615262508392334, "step": 8656 }, { "epoch": 8.2550048828125e-07, "step": 8656, "training_step_time": 17.49313974380493 }, { "epoch": 8.255958557128906e-07, "model_forward_time": 5.352883815765381, "step": 8657 }, { "epoch": 8.255958557128906e-07, "step": 8657, "training_step_time": 17.53169345855713 }, { "epoch": 8.256912231445313e-07, "model_forward_time": 5.090903997421265, "step": 8658 }, { "epoch": 8.256912231445313e-07, "step": 8658, "training_step_time": 17.782511472702026 }, { "epoch": 8.257865905761719e-07, "model_forward_time": 5.1041858196258545, "step": 8659 }, { "epoch": 8.257865905761719e-07, "step": 8659, "training_step_time": 17.592203617095947 }, { "epoch": 8.258819580078125e-07, "grad_norm": 3.3513755798339844, "learning_rate": 9.852233260343404e-06, "loss": 0.1229, "step": 8660 }, { "epoch": 8.258819580078125e-07, "model_forward_time": 5.083982467651367, "step": 8660 }, { "dynamics_loss_avg": 0.04555339701473713, "epoch": 8.258819580078125e-07, "step": 8660 }, { "action_loss_avg": 0.051479938253760335, "epoch": 8.258819580078125e-07, "step": 8660 }, { "arm_loss_avg": 0.10752869956195354, "epoch": 8.258819580078125e-07, "step": 8660 }, { "ee_loss_avg": 0.07250611558556556, "epoch": 8.258819580078125e-07, "step": 8660 }, { "aux_loss_avg": 0.0011568285815883427, "epoch": 8.258819580078125e-07, "step": 8660 }, { "epoch": 8.258819580078125e-07, "step": 8660, "training_step_time": 17.623600006103516 }, { "epoch": 8.259773254394531e-07, "model_forward_time": 5.090296268463135, "step": 8661 }, { "epoch": 8.259773254394531e-07, "step": 8661, "training_step_time": 17.58608055114746 }, { "epoch": 8.260726928710937e-07, "model_forward_time": 5.0926525592803955, "step": 8662 }, { "epoch": 8.260726928710937e-07, "step": 8662, "training_step_time": 17.594765424728394 }, { "epoch": 8.261680603027343e-07, "model_forward_time": 5.0880818367004395, "step": 8663 }, { "epoch": 8.261680603027343e-07, "step": 8663, "training_step_time": 17.832889556884766 }, { "epoch": 8.26263427734375e-07, "model_forward_time": 5.09013032913208, "step": 8664 }, { "epoch": 8.26263427734375e-07, "step": 8664, "training_step_time": 17.592732191085815 }, { "epoch": 8.263587951660157e-07, "model_forward_time": 3.856449842453003, "step": 8665 }, { "epoch": 8.263587951660157e-07, "step": 8665, "training_step_time": 17.58575677871704 }, { "epoch": 8.264541625976563e-07, "model_forward_time": 5.055719614028931, "step": 8666 }, { "epoch": 8.264541625976563e-07, "step": 8666, "training_step_time": 17.58054280281067 }, { "epoch": 8.265495300292969e-07, "model_forward_time": 5.068160533905029, "step": 8667 }, { "epoch": 8.265495300292969e-07, "step": 8667, "training_step_time": 17.812976121902466 }, { "epoch": 8.266448974609375e-07, "model_forward_time": 5.072135925292969, "step": 8668 }, { "epoch": 8.266448974609375e-07, "step": 8668, "training_step_time": 17.553946495056152 }, { "epoch": 8.267402648925781e-07, "model_forward_time": 5.07788872718811, "step": 8669 }, { "epoch": 8.267402648925781e-07, "step": 8669, "training_step_time": 17.55195426940918 }, { "epoch": 8.268356323242187e-07, "grad_norm": 2.582610845565796, "learning_rate": 9.851662707011212e-06, "loss": 0.1225, "step": 8670 }, { "epoch": 8.268356323242187e-07, "model_forward_time": 5.081090927124023, "step": 8670 }, { "dynamics_loss_avg": 0.03835497079417109, "epoch": 8.268356323242187e-07, "step": 8670 }, { "action_loss_avg": 0.05803198572248221, "epoch": 8.268356323242187e-07, "step": 8670 }, { "arm_loss_avg": 0.09795896410942077, "epoch": 8.268356323242187e-07, "step": 8670 }, { "ee_loss_avg": 0.09723897576332093, "epoch": 8.268356323242187e-07, "step": 8670 }, { "aux_loss_avg": 0.0029867131379432976, "epoch": 8.268356323242187e-07, "step": 8670 }, { "epoch": 8.268356323242187e-07, "step": 8670, "training_step_time": 17.549272060394287 }, { "epoch": 8.269309997558594e-07, "model_forward_time": 5.295239210128784, "step": 8671 }, { "epoch": 8.269309997558594e-07, "step": 8671, "training_step_time": 17.40372633934021 }, { "epoch": 8.270263671875e-07, "model_forward_time": 5.087750434875488, "step": 8672 }, { "epoch": 8.270263671875e-07, "step": 8672, "training_step_time": 17.4533371925354 }, { "epoch": 8.271217346191406e-07, "model_forward_time": 5.0878095626831055, "step": 8673 }, { "epoch": 8.271217346191406e-07, "step": 8673, "training_step_time": 17.729979991912842 }, { "epoch": 8.272171020507812e-07, "model_forward_time": 5.088080644607544, "step": 8674 }, { "epoch": 8.272171020507812e-07, "step": 8674, "training_step_time": 17.194193601608276 }, { "epoch": 8.273124694824219e-07, "model_forward_time": 5.087399482727051, "step": 8675 }, { "epoch": 8.273124694824219e-07, "step": 8675, "training_step_time": 17.4932963848114 }, { "epoch": 8.274078369140625e-07, "model_forward_time": 3.847794771194458, "step": 8676 }, { "epoch": 8.274078369140625e-07, "step": 8676, "training_step_time": 17.529401063919067 }, { "epoch": 8.275032043457032e-07, "model_forward_time": 5.286338567733765, "step": 8677 }, { "epoch": 8.275032043457032e-07, "step": 8677, "training_step_time": 17.568981647491455 }, { "epoch": 8.275985717773438e-07, "model_forward_time": 5.062772989273071, "step": 8678 }, { "epoch": 8.275985717773438e-07, "step": 8678, "training_step_time": 17.763216733932495 }, { "epoch": 8.276939392089844e-07, "model_forward_time": 5.067796945571899, "step": 8679 }, { "epoch": 8.276939392089844e-07, "step": 8679, "training_step_time": 17.600923776626587 }, { "epoch": 8.27789306640625e-07, "grad_norm": 3.1628775596618652, "learning_rate": 9.851091070882012e-06, "loss": 0.1319, "step": 8680 }, { "epoch": 8.27789306640625e-07, "model_forward_time": 5.075530052185059, "step": 8680 }, { "dynamics_loss_avg": 0.04679918885231018, "epoch": 8.27789306640625e-07, "step": 8680 }, { "action_loss_avg": 0.08471393417567015, "epoch": 8.27789306640625e-07, "step": 8680 }, { "arm_loss_avg": 0.12608858086168767, "epoch": 8.27789306640625e-07, "step": 8680 }, { "ee_loss_avg": 0.07959382366389037, "epoch": 8.27789306640625e-07, "step": 8680 }, { "aux_loss_avg": 0.0035817050142213703, "epoch": 8.27789306640625e-07, "step": 8680 }, { "epoch": 8.27789306640625e-07, "step": 8680, "training_step_time": 17.59606671333313 }, { "epoch": 8.278846740722656e-07, "model_forward_time": 5.085732936859131, "step": 8681 }, { "epoch": 8.278846740722656e-07, "step": 8681, "training_step_time": 17.607173919677734 }, { "epoch": 8.279800415039062e-07, "model_forward_time": 5.0875513553619385, "step": 8682 }, { "epoch": 8.279800415039062e-07, "step": 8682, "training_step_time": 17.60404682159424 }, { "epoch": 8.280754089355468e-07, "model_forward_time": 5.088815689086914, "step": 8683 }, { "epoch": 8.280754089355468e-07, "step": 8683, "training_step_time": 17.836007118225098 }, { "epoch": 8.281707763671875e-07, "model_forward_time": 5.088653087615967, "step": 8684 }, { "epoch": 8.281707763671875e-07, "step": 8684, "training_step_time": 17.589476346969604 }, { "epoch": 8.282661437988282e-07, "model_forward_time": 5.087894678115845, "step": 8685 }, { "epoch": 8.282661437988282e-07, "step": 8685, "training_step_time": 17.490714073181152 }, { "epoch": 8.283615112304688e-07, "model_forward_time": 5.330503702163696, "step": 8686 }, { "epoch": 8.283615112304688e-07, "step": 8686, "training_step_time": 17.52785038948059 }, { "epoch": 8.284568786621094e-07, "model_forward_time": 5.087372303009033, "step": 8687 }, { "epoch": 8.284568786621094e-07, "step": 8687, "training_step_time": 17.557275772094727 }, { "epoch": 8.2855224609375e-07, "model_forward_time": 5.0854880809783936, "step": 8688 }, { "epoch": 8.2855224609375e-07, "step": 8688, "training_step_time": 17.756247520446777 }, { "epoch": 8.286476135253906e-07, "model_forward_time": 5.082097291946411, "step": 8689 }, { "epoch": 8.286476135253906e-07, "step": 8689, "training_step_time": 17.578253269195557 }, { "epoch": 8.287429809570312e-07, "grad_norm": 2.4424610137939453, "learning_rate": 9.85051835208338e-06, "loss": 0.1461, "step": 8690 }, { "epoch": 8.287429809570312e-07, "model_forward_time": 5.081417083740234, "step": 8690 }, { "dynamics_loss_avg": 0.0678589966148138, "epoch": 8.287429809570312e-07, "step": 8690 }, { "action_loss_avg": 0.1067168477922678, "epoch": 8.287429809570312e-07, "step": 8690 }, { "arm_loss_avg": 0.13747334219515323, "epoch": 8.287429809570312e-07, "step": 8690 }, { "ee_loss_avg": 0.08353115431964397, "epoch": 8.287429809570312e-07, "step": 8690 }, { "aux_loss_avg": 0.0023515132314059885, "epoch": 8.287429809570312e-07, "step": 8690 }, { "epoch": 8.287429809570312e-07, "step": 8690, "training_step_time": 17.582446575164795 }, { "epoch": 8.288383483886719e-07, "model_forward_time": 5.289710998535156, "step": 8691 }, { "epoch": 8.288383483886719e-07, "step": 8691, "training_step_time": 17.5851309299469 }, { "epoch": 8.289337158203125e-07, "model_forward_time": 5.078026294708252, "step": 8692 }, { "epoch": 8.289337158203125e-07, "step": 8692, "training_step_time": 17.588685512542725 }, { "epoch": 8.290290832519531e-07, "model_forward_time": 5.0793468952178955, "step": 8693 }, { "epoch": 8.290290832519531e-07, "step": 8693, "training_step_time": 17.801210641860962 }, { "epoch": 8.291244506835937e-07, "model_forward_time": 5.07907772064209, "step": 8694 }, { "epoch": 8.291244506835937e-07, "step": 8694, "training_step_time": 17.57602834701538 }, { "epoch": 8.292198181152344e-07, "model_forward_time": 5.080230236053467, "step": 8695 }, { "epoch": 8.292198181152344e-07, "step": 8695, "training_step_time": 17.577131509780884 }, { "epoch": 8.29315185546875e-07, "model_forward_time": 5.0792810916900635, "step": 8696 }, { "epoch": 8.29315185546875e-07, "step": 8696, "training_step_time": 17.579301834106445 }, { "epoch": 8.294105529785157e-07, "model_forward_time": 5.100976228713989, "step": 8697 }, { "epoch": 8.294105529785157e-07, "step": 8697, "training_step_time": 17.581982612609863 }, { "epoch": 8.295059204101563e-07, "model_forward_time": 5.093975782394409, "step": 8698 }, { "epoch": 8.295059204101563e-07, "step": 8698, "training_step_time": 17.808342218399048 }, { "epoch": 8.296012878417969e-07, "model_forward_time": 5.092113971710205, "step": 8699 }, { "epoch": 8.296012878417969e-07, "step": 8699, "training_step_time": 17.576773643493652 }, { "epoch": 8.296966552734375e-07, "grad_norm": 2.502204179763794, "learning_rate": 9.84994455074314e-06, "loss": 0.1315, "step": 8700 }, { "epoch": 8.296966552734375e-07, "model_forward_time": 5.091835975646973, "step": 8700 }, { "dynamics_loss_avg": 0.045730150677263735, "epoch": 8.296966552734375e-07, "step": 8700 }, { "action_loss_avg": 0.0821562048047781, "epoch": 8.296966552734375e-07, "step": 8700 }, { "arm_loss_avg": 0.15952941291034223, "epoch": 8.296966552734375e-07, "step": 8700 }, { "ee_loss_avg": 0.13986347634345292, "epoch": 8.296966552734375e-07, "step": 8700 }, { "aux_loss_avg": 0.007999857765389607, "epoch": 8.296966552734375e-07, "step": 8700 }, { "epoch": 8.296966552734375e-07, "step": 8700, "training_step_time": 17.642256259918213 }, { "epoch": 8.297920227050781e-07, "model_forward_time": 5.282357454299927, "step": 8701 }, { "epoch": 8.297920227050781e-07, "step": 8701, "training_step_time": 17.559354543685913 }, { "epoch": 8.298873901367187e-07, "model_forward_time": 5.0829832553863525, "step": 8702 }, { "epoch": 8.298873901367187e-07, "step": 8702, "training_step_time": 17.55773687362671 }, { "epoch": 8.299827575683593e-07, "model_forward_time": 5.082205057144165, "step": 8703 }, { "epoch": 8.299827575683593e-07, "step": 8703, "training_step_time": 17.8104407787323 }, { "epoch": 8.30078125e-07, "model_forward_time": 5.079631567001343, "step": 8704 }, { "epoch": 8.30078125e-07, "step": 8704, "training_step_time": 17.59476113319397 }, { "epoch": 8.301734924316407e-07, "model_forward_time": 5.081122636795044, "step": 8705 }, { "epoch": 8.301734924316407e-07, "step": 8705, "training_step_time": 17.56831169128418 }, { "epoch": 8.302688598632813e-07, "model_forward_time": 5.326152086257935, "step": 8706 }, { "epoch": 8.302688598632813e-07, "step": 8706, "training_step_time": 17.56387186050415 }, { "epoch": 8.303642272949219e-07, "model_forward_time": 5.083381652832031, "step": 8707 }, { "epoch": 8.303642272949219e-07, "step": 8707, "training_step_time": 17.817228078842163 }, { "epoch": 8.304595947265625e-07, "model_forward_time": 5.0803868770599365, "step": 8708 }, { "epoch": 8.304595947265625e-07, "step": 8708, "training_step_time": 17.57183074951172 }, { "epoch": 8.305549621582031e-07, "model_forward_time": 5.082335948944092, "step": 8709 }, { "epoch": 8.305549621582031e-07, "step": 8709, "training_step_time": 17.56427502632141 }, { "epoch": 8.306503295898437e-07, "grad_norm": 1.9358325004577637, "learning_rate": 9.84936966698935e-06, "loss": 0.127, "step": 8710 }, { "epoch": 8.306503295898437e-07, "model_forward_time": 5.0836992263793945, "step": 8710 }, { "dynamics_loss_avg": 0.05721523407846689, "epoch": 8.306503295898437e-07, "step": 8710 }, { "action_loss_avg": 0.06276185903698206, "epoch": 8.306503295898437e-07, "step": 8710 }, { "arm_loss_avg": 0.11304675750434398, "epoch": 8.306503295898437e-07, "step": 8710 }, { "ee_loss_avg": 0.10507134832441807, "epoch": 8.306503295898437e-07, "step": 8710 }, { "aux_loss_avg": 0.0024877916846890004, "epoch": 8.306503295898437e-07, "step": 8710 }, { "epoch": 8.306503295898437e-07, "step": 8710, "training_step_time": 17.559892177581787 }, { "epoch": 8.307456970214844e-07, "model_forward_time": 5.2833240032196045, "step": 8711 }, { "epoch": 8.307456970214844e-07, "step": 8711, "training_step_time": 17.56717085838318 }, { "epoch": 8.30841064453125e-07, "model_forward_time": 5.081555604934692, "step": 8712 }, { "epoch": 8.30841064453125e-07, "step": 8712, "training_step_time": 17.55334734916687 }, { "epoch": 8.309364318847656e-07, "model_forward_time": 5.0827038288116455, "step": 8713 }, { "epoch": 8.309364318847656e-07, "step": 8713, "training_step_time": 17.79283046722412 }, { "epoch": 8.310317993164062e-07, "model_forward_time": 5.083554267883301, "step": 8714 }, { "epoch": 8.310317993164062e-07, "step": 8714, "training_step_time": 17.584336042404175 }, { "epoch": 8.311271667480469e-07, "model_forward_time": 5.083291053771973, "step": 8715 }, { "epoch": 8.311271667480469e-07, "step": 8715, "training_step_time": 17.556552171707153 }, { "epoch": 8.312225341796875e-07, "model_forward_time": 5.080465078353882, "step": 8716 }, { "epoch": 8.312225341796875e-07, "step": 8716, "training_step_time": 17.56912326812744 }, { "epoch": 8.313179016113282e-07, "model_forward_time": 5.082496881484985, "step": 8717 }, { "epoch": 8.313179016113282e-07, "step": 8717, "training_step_time": 17.794829845428467 }, { "epoch": 8.314132690429688e-07, "model_forward_time": 5.083843469619751, "step": 8718 }, { "epoch": 8.314132690429688e-07, "step": 8718, "training_step_time": 17.555138111114502 }, { "epoch": 8.315086364746094e-07, "model_forward_time": 5.082587718963623, "step": 8719 }, { "epoch": 8.315086364746094e-07, "step": 8719, "training_step_time": 17.573041677474976 }, { "epoch": 8.3160400390625e-07, "grad_norm": 1.4876633882522583, "learning_rate": 9.848793700950312e-06, "loss": 0.1049, "step": 8720 }, { "epoch": 8.3160400390625e-07, "model_forward_time": 5.080217599868774, "step": 8720 }, { "dynamics_loss_avg": 0.03622669214382768, "epoch": 8.3160400390625e-07, "step": 8720 }, { "action_loss_avg": 0.05135827399790287, "epoch": 8.3160400390625e-07, "step": 8720 }, { "arm_loss_avg": 0.10846693217754363, "epoch": 8.3160400390625e-07, "step": 8720 }, { "ee_loss_avg": 0.07604481149464845, "epoch": 8.3160400390625e-07, "step": 8720 }, { "aux_loss_avg": 0.0009369765466544777, "epoch": 8.3160400390625e-07, "step": 8720 }, { "epoch": 8.3160400390625e-07, "step": 8720, "training_step_time": 17.56126856803894 }, { "epoch": 8.316993713378906e-07, "model_forward_time": 5.275174617767334, "step": 8721 }, { "epoch": 8.316993713378906e-07, "step": 8721, "training_step_time": 17.56840491294861 }, { "epoch": 8.317947387695312e-07, "model_forward_time": 5.082964181900024, "step": 8722 }, { "epoch": 8.317947387695312e-07, "step": 8722, "training_step_time": 17.811606645584106 }, { "epoch": 8.318901062011718e-07, "model_forward_time": 5.0769360065460205, "step": 8723 }, { "epoch": 8.318901062011718e-07, "step": 8723, "training_step_time": 17.365001440048218 }, { "epoch": 8.319854736328125e-07, "model_forward_time": 5.0802903175354, "step": 8724 }, { "epoch": 8.319854736328125e-07, "step": 8724, "training_step_time": 17.486077070236206 }, { "epoch": 8.320808410644532e-07, "model_forward_time": 5.07949423789978, "step": 8725 }, { "epoch": 8.320808410644532e-07, "step": 8725, "training_step_time": 17.57764458656311 }, { "epoch": 8.321762084960938e-07, "model_forward_time": 3.845571517944336, "step": 8726 }, { "epoch": 8.321762084960938e-07, "step": 8726, "training_step_time": 17.45889639854431 }, { "epoch": 8.322715759277344e-07, "model_forward_time": 4.060877084732056, "step": 8727 }, { "epoch": 8.322715759277344e-07, "step": 8727, "training_step_time": 17.52833366394043 }, { "epoch": 8.32366943359375e-07, "model_forward_time": 5.04682469367981, "step": 8728 }, { "epoch": 8.32366943359375e-07, "step": 8728, "training_step_time": 17.767282724380493 }, { "epoch": 8.324623107910156e-07, "model_forward_time": 5.05748438835144, "step": 8729 }, { "epoch": 8.324623107910156e-07, "step": 8729, "training_step_time": 17.58958649635315 }, { "epoch": 8.325576782226562e-07, "grad_norm": 2.1196813583374023, "learning_rate": 9.848216652754572e-06, "loss": 0.1196, "step": 8730 }, { "epoch": 8.325576782226562e-07, "model_forward_time": 5.077482461929321, "step": 8730 }, { "dynamics_loss_avg": 0.04653229331597686, "epoch": 8.325576782226562e-07, "step": 8730 }, { "action_loss_avg": 0.07512674871832133, "epoch": 8.325576782226562e-07, "step": 8730 }, { "arm_loss_avg": 0.10527778454124928, "epoch": 8.325576782226562e-07, "step": 8730 }, { "ee_loss_avg": 0.08831868832930923, "epoch": 8.325576782226562e-07, "step": 8730 }, { "aux_loss_avg": 0.000832815861213021, "epoch": 8.325576782226562e-07, "step": 8730 }, { "epoch": 8.325576782226562e-07, "step": 8730, "training_step_time": 17.603328704833984 }, { "epoch": 8.326530456542969e-07, "model_forward_time": 5.085695743560791, "step": 8731 }, { "epoch": 8.326530456542969e-07, "step": 8731, "training_step_time": 17.6109778881073 }, { "epoch": 8.327484130859375e-07, "model_forward_time": 5.099567890167236, "step": 8732 }, { "epoch": 8.327484130859375e-07, "step": 8732, "training_step_time": 17.620898962020874 }, { "epoch": 8.328437805175781e-07, "model_forward_time": 5.099466800689697, "step": 8733 }, { "epoch": 8.328437805175781e-07, "step": 8733, "training_step_time": 17.354992628097534 }, { "epoch": 8.329391479492187e-07, "model_forward_time": 5.100629568099976, "step": 8734 }, { "epoch": 8.329391479492187e-07, "step": 8734, "training_step_time": 17.560296535491943 }, { "epoch": 8.330345153808594e-07, "model_forward_time": 5.092172861099243, "step": 8735 }, { "epoch": 8.330345153808594e-07, "step": 8735, "training_step_time": 17.56857681274414 }, { "epoch": 8.331298828125e-07, "model_forward_time": 5.089959621429443, "step": 8736 }, { "epoch": 8.331298828125e-07, "step": 8736, "training_step_time": 17.578490495681763 }, { "epoch": 8.332252502441407e-07, "model_forward_time": 5.0829017162323, "step": 8737 }, { "epoch": 8.332252502441407e-07, "step": 8737, "training_step_time": 17.598036766052246 }, { "epoch": 8.333206176757813e-07, "model_forward_time": 5.078144311904907, "step": 8738 }, { "epoch": 8.333206176757813e-07, "step": 8738, "training_step_time": 17.781584978103638 }, { "epoch": 8.334159851074219e-07, "model_forward_time": 5.073134660720825, "step": 8739 }, { "epoch": 8.334159851074219e-07, "step": 8739, "training_step_time": 17.601011753082275 }, { "epoch": 8.335113525390625e-07, "grad_norm": 1.2999638319015503, "learning_rate": 9.847638522530916e-06, "loss": 0.1259, "step": 8740 }, { "epoch": 8.335113525390625e-07, "model_forward_time": 5.07270359992981, "step": 8740 }, { "dynamics_loss_avg": 0.05308898668736219, "epoch": 8.335113525390625e-07, "step": 8740 }, { "action_loss_avg": 0.07293026894330978, "epoch": 8.335113525390625e-07, "step": 8740 }, { "arm_loss_avg": 0.1448941696435213, "epoch": 8.335113525390625e-07, "step": 8740 }, { "ee_loss_avg": 0.06330842114984989, "epoch": 8.335113525390625e-07, "step": 8740 }, { "aux_loss_avg": 0.001365432614693418, "epoch": 8.335113525390625e-07, "step": 8740 }, { "epoch": 8.335113525390625e-07, "step": 8740, "training_step_time": 17.596531867980957 }, { "epoch": 8.336067199707031e-07, "model_forward_time": 5.072122573852539, "step": 8741 }, { "epoch": 8.336067199707031e-07, "step": 8741, "training_step_time": 17.591023921966553 }, { "epoch": 8.337020874023437e-07, "model_forward_time": 5.0759711265563965, "step": 8742 }, { "epoch": 8.337020874023437e-07, "step": 8742, "training_step_time": 17.591565132141113 }, { "epoch": 8.337974548339843e-07, "model_forward_time": 5.074534893035889, "step": 8743 }, { "epoch": 8.337974548339843e-07, "step": 8743, "training_step_time": 17.81239938735962 }, { "epoch": 8.33892822265625e-07, "model_forward_time": 5.077539920806885, "step": 8744 }, { "epoch": 8.33892822265625e-07, "step": 8744, "training_step_time": 17.610177755355835 }, { "epoch": 8.339881896972657e-07, "model_forward_time": 5.077646255493164, "step": 8745 }, { "epoch": 8.339881896972657e-07, "step": 8745, "training_step_time": 17.473228931427002 }, { "epoch": 8.340835571289063e-07, "model_forward_time": 5.321685314178467, "step": 8746 }, { "epoch": 8.340835571289063e-07, "step": 8746, "training_step_time": 17.51428985595703 }, { "epoch": 8.341789245605469e-07, "model_forward_time": 5.080022096633911, "step": 8747 }, { "epoch": 8.341789245605469e-07, "step": 8747, "training_step_time": 17.53796887397766 }, { "epoch": 8.342742919921875e-07, "model_forward_time": 3.8458516597747803, "step": 8748 }, { "epoch": 8.342742919921875e-07, "step": 8748, "training_step_time": 17.7471182346344 }, { "epoch": 8.343696594238281e-07, "model_forward_time": 5.054037094116211, "step": 8749 }, { "epoch": 8.343696594238281e-07, "step": 8749, "training_step_time": 17.60919713973999 }, { "epoch": 8.344650268554688e-07, "grad_norm": 1.6125272512435913, "learning_rate": 9.847059310408372e-06, "loss": 0.1092, "step": 8750 }, { "epoch": 8.344650268554688e-07, "model_forward_time": 4.93067741394043, "step": 8750 }, { "dynamics_loss_avg": 0.0420408577658236, "epoch": 8.344650268554688e-07, "step": 8750 }, { "action_loss_avg": 0.062499414663761854, "epoch": 8.344650268554688e-07, "step": 8750 }, { "arm_loss_avg": 0.1544078655540943, "epoch": 8.344650268554688e-07, "step": 8750 }, { "ee_loss_avg": 0.17764560468494892, "epoch": 8.344650268554688e-07, "step": 8750 }, { "aux_loss_avg": 0.01111760656349361, "epoch": 8.344650268554688e-07, "step": 8750 }, { "epoch": 8.344650268554688e-07, "step": 8750, "training_step_time": 16.66698932647705 }, { "epoch": 8.345603942871094e-07, "model_forward_time": 8.15929651260376, "step": 8751 }, { "epoch": 8.345603942871094e-07, "step": 8751, "training_step_time": 20.11237382888794 }, { "epoch": 8.3465576171875e-07, "model_forward_time": 4.987101793289185, "step": 8752 }, { "epoch": 8.3465576171875e-07, "step": 8752, "training_step_time": 17.447818756103516 }, { "epoch": 8.347511291503906e-07, "model_forward_time": 5.023271560668945, "step": 8753 }, { "epoch": 8.347511291503906e-07, "step": 8753, "training_step_time": 17.537440538406372 }, { "epoch": 8.348464965820312e-07, "model_forward_time": 5.050281763076782, "step": 8754 }, { "epoch": 8.348464965820312e-07, "step": 8754, "training_step_time": 17.580252647399902 }, { "epoch": 8.349418640136718e-07, "model_forward_time": 5.069095611572266, "step": 8755 }, { "epoch": 8.349418640136718e-07, "step": 8755, "training_step_time": 17.389336347579956 }, { "epoch": 8.350372314453125e-07, "model_forward_time": 5.352905988693237, "step": 8756 }, { "epoch": 8.350372314453125e-07, "step": 8756, "training_step_time": 17.541332006454468 }, { "epoch": 8.351325988769532e-07, "model_forward_time": 5.108158826828003, "step": 8757 }, { "epoch": 8.351325988769532e-07, "step": 8757, "training_step_time": 17.821977138519287 }, { "epoch": 8.352279663085938e-07, "model_forward_time": 5.109375238418579, "step": 8758 }, { "epoch": 8.352279663085938e-07, "step": 8758, "training_step_time": 17.611369848251343 }, { "epoch": 8.353233337402344e-07, "model_forward_time": 5.116061687469482, "step": 8759 }, { "epoch": 8.353233337402344e-07, "step": 8759, "training_step_time": 17.66180992126465 }, { "epoch": 8.35418701171875e-07, "grad_norm": 1.5545529127120972, "learning_rate": 9.846479016516208e-06, "loss": 0.133, "step": 8760 }, { "epoch": 8.35418701171875e-07, "model_forward_time": 5.096217155456543, "step": 8760 }, { "dynamics_loss_avg": 0.06382730724290013, "epoch": 8.35418701171875e-07, "step": 8760 }, { "action_loss_avg": 0.07857580892741681, "epoch": 8.35418701171875e-07, "step": 8760 }, { "arm_loss_avg": 0.12674921713769435, "epoch": 8.35418701171875e-07, "step": 8760 }, { "ee_loss_avg": 0.1248035877943039, "epoch": 8.35418701171875e-07, "step": 8760 }, { "aux_loss_avg": 0.002943264425266534, "epoch": 8.35418701171875e-07, "step": 8760 }, { "epoch": 8.35418701171875e-07, "step": 8760, "training_step_time": 17.400079250335693 }, { "epoch": 8.355140686035156e-07, "model_forward_time": 5.295377731323242, "step": 8761 }, { "epoch": 8.355140686035156e-07, "step": 8761, "training_step_time": 17.410221099853516 }, { "epoch": 8.356094360351562e-07, "model_forward_time": 5.088829278945923, "step": 8762 }, { "epoch": 8.356094360351562e-07, "step": 8762, "training_step_time": 17.50237488746643 }, { "epoch": 8.357048034667968e-07, "model_forward_time": 5.0836663246154785, "step": 8763 }, { "epoch": 8.357048034667968e-07, "step": 8763, "training_step_time": 17.818559646606445 }, { "epoch": 8.358001708984375e-07, "model_forward_time": 5.079543113708496, "step": 8764 }, { "epoch": 8.358001708984375e-07, "step": 8764, "training_step_time": 17.602055549621582 }, { "epoch": 8.358955383300781e-07, "model_forward_time": 5.074338674545288, "step": 8765 }, { "epoch": 8.358955383300781e-07, "step": 8765, "training_step_time": 17.63161015510559 }, { "epoch": 8.359909057617188e-07, "model_forward_time": 5.0761518478393555, "step": 8766 }, { "epoch": 8.359909057617188e-07, "step": 8766, "training_step_time": 17.631490468978882 }, { "epoch": 8.360862731933594e-07, "model_forward_time": 5.075551271438599, "step": 8767 }, { "epoch": 8.360862731933594e-07, "step": 8767, "training_step_time": 17.62514066696167 }, { "epoch": 8.36181640625e-07, "model_forward_time": 5.079797267913818, "step": 8768 }, { "epoch": 8.36181640625e-07, "step": 8768, "training_step_time": 17.78674817085266 }, { "epoch": 8.362770080566406e-07, "model_forward_time": 5.0779900550842285, "step": 8769 }, { "epoch": 8.362770080566406e-07, "step": 8769, "training_step_time": 17.59528398513794 }, { "epoch": 8.363723754882813e-07, "grad_norm": 2.3135969638824463, "learning_rate": 9.845897640983933e-06, "loss": 0.1208, "step": 8770 }, { "epoch": 8.363723754882813e-07, "model_forward_time": 5.2838757038116455, "step": 8770 }, { "dynamics_loss_avg": 0.03700378839857876, "epoch": 8.363723754882813e-07, "step": 8770 }, { "action_loss_avg": 0.057652286067605016, "epoch": 8.363723754882813e-07, "step": 8770 }, { "arm_loss_avg": 0.15945349372923373, "epoch": 8.363723754882813e-07, "step": 8770 }, { "ee_loss_avg": 0.13516237046569585, "epoch": 8.363723754882813e-07, "step": 8770 }, { "aux_loss_avg": 0.01487893751473166, "epoch": 8.363723754882813e-07, "step": 8770 }, { "epoch": 8.363723754882813e-07, "step": 8770, "training_step_time": 17.586856365203857 }, { "epoch": 8.364677429199219e-07, "model_forward_time": 5.083150386810303, "step": 8771 }, { "epoch": 8.364677429199219e-07, "step": 8771, "training_step_time": 17.571372509002686 }, { "epoch": 8.365631103515625e-07, "model_forward_time": 5.075786352157593, "step": 8772 }, { "epoch": 8.365631103515625e-07, "step": 8772, "training_step_time": 17.56248378753662 }, { "epoch": 8.366584777832031e-07, "model_forward_time": 3.846198797225952, "step": 8773 }, { "epoch": 8.366584777832031e-07, "step": 8773, "training_step_time": 17.790228366851807 }, { "epoch": 8.367538452148437e-07, "model_forward_time": 5.06113338470459, "step": 8774 }, { "epoch": 8.367538452148437e-07, "step": 8774, "training_step_time": 17.552673816680908 }, { "epoch": 8.368492126464843e-07, "model_forward_time": 5.061748504638672, "step": 8775 }, { "epoch": 8.368492126464843e-07, "step": 8775, "training_step_time": 17.37075114250183 }, { "epoch": 8.36944580078125e-07, "model_forward_time": 5.321405410766602, "step": 8776 }, { "epoch": 8.36944580078125e-07, "step": 8776, "training_step_time": 17.41665482521057 }, { "epoch": 8.370399475097657e-07, "model_forward_time": 5.0849785804748535, "step": 8777 }, { "epoch": 8.370399475097657e-07, "step": 8777, "training_step_time": 17.45022988319397 }, { "epoch": 8.371353149414063e-07, "model_forward_time": 5.088158845901489, "step": 8778 }, { "epoch": 8.371353149414063e-07, "step": 8778, "training_step_time": 17.66542339324951 }, { "epoch": 8.372306823730469e-07, "model_forward_time": 5.08976411819458, "step": 8779 }, { "epoch": 8.372306823730469e-07, "step": 8779, "training_step_time": 17.5320041179657 }, { "epoch": 8.373260498046875e-07, "grad_norm": 1.8784582614898682, "learning_rate": 9.845315183941302e-06, "loss": 0.143, "step": 8780 }, { "epoch": 8.373260498046875e-07, "model_forward_time": 5.088310241699219, "step": 8780 }, { "dynamics_loss_avg": 0.04633810091763735, "epoch": 8.373260498046875e-07, "step": 8780 }, { "action_loss_avg": 0.05430370550602674, "epoch": 8.373260498046875e-07, "step": 8780 }, { "arm_loss_avg": 0.08768363296985626, "epoch": 8.373260498046875e-07, "step": 8780 }, { "ee_loss_avg": 0.08739039823412895, "epoch": 8.373260498046875e-07, "step": 8780 }, { "aux_loss_avg": 0.0035895106673706325, "epoch": 8.373260498046875e-07, "step": 8780 }, { "epoch": 8.373260498046875e-07, "step": 8780, "training_step_time": 17.575644969940186 }, { "epoch": 8.374214172363281e-07, "model_forward_time": 5.088888168334961, "step": 8781 }, { "epoch": 8.374214172363281e-07, "step": 8781, "training_step_time": 17.58711338043213 }, { "epoch": 8.375167846679687e-07, "model_forward_time": 3.851501703262329, "step": 8782 }, { "epoch": 8.375167846679687e-07, "step": 8782, "training_step_time": 17.61152958869934 }, { "epoch": 8.376121520996093e-07, "model_forward_time": 5.058717250823975, "step": 8783 }, { "epoch": 8.376121520996093e-07, "step": 8783, "training_step_time": 17.846253633499146 }, { "epoch": 8.3770751953125e-07, "model_forward_time": 5.064725875854492, "step": 8784 }, { "epoch": 8.3770751953125e-07, "step": 8784, "training_step_time": 17.60595726966858 }, { "epoch": 8.378028869628906e-07, "model_forward_time": 5.070573806762695, "step": 8785 }, { "epoch": 8.378028869628906e-07, "step": 8785, "training_step_time": 17.60458207130432 }, { "epoch": 8.378982543945313e-07, "model_forward_time": 5.309279680252075, "step": 8786 }, { "epoch": 8.378982543945313e-07, "step": 8786, "training_step_time": 17.59462022781372 }, { "epoch": 8.379936218261719e-07, "model_forward_time": 3.847886085510254, "step": 8787 }, { "epoch": 8.379936218261719e-07, "step": 8787, "training_step_time": 17.588815450668335 }, { "epoch": 8.380889892578125e-07, "model_forward_time": 5.058119535446167, "step": 8788 }, { "epoch": 8.380889892578125e-07, "step": 8788, "training_step_time": 17.77271580696106 }, { "epoch": 8.381843566894531e-07, "model_forward_time": 5.070425510406494, "step": 8789 }, { "epoch": 8.381843566894531e-07, "step": 8789, "training_step_time": 17.239692449569702 }, { "epoch": 8.382797241210938e-07, "grad_norm": 1.946653127670288, "learning_rate": 9.844731645518306e-06, "loss": 0.1313, "step": 8790 }, { "epoch": 8.382797241210938e-07, "model_forward_time": 5.084141969680786, "step": 8790 }, { "dynamics_loss_avg": 0.05717277303338051, "epoch": 8.382797241210938e-07, "step": 8790 }, { "action_loss_avg": 0.062006547674536706, "epoch": 8.382797241210938e-07, "step": 8790 }, { "arm_loss_avg": 0.14064905196428298, "epoch": 8.382797241210938e-07, "step": 8790 }, { "ee_loss_avg": 0.10668709687888622, "epoch": 8.382797241210938e-07, "step": 8790 }, { "aux_loss_avg": 0.005463304521981627, "epoch": 8.382797241210938e-07, "step": 8790 }, { "epoch": 8.382797241210938e-07, "step": 8790, "training_step_time": 17.538941860198975 }, { "epoch": 8.383750915527344e-07, "model_forward_time": 5.272761821746826, "step": 8791 }, { "epoch": 8.383750915527344e-07, "step": 8791, "training_step_time": 17.519025087356567 }, { "epoch": 8.38470458984375e-07, "model_forward_time": 5.0941853523254395, "step": 8792 }, { "epoch": 8.38470458984375e-07, "step": 8792, "training_step_time": 17.542759895324707 }, { "epoch": 8.385658264160156e-07, "model_forward_time": 5.091947793960571, "step": 8793 }, { "epoch": 8.385658264160156e-07, "step": 8793, "training_step_time": 17.79480481147766 }, { "epoch": 8.386611938476562e-07, "model_forward_time": 5.0885045528411865, "step": 8794 }, { "epoch": 8.386611938476562e-07, "step": 8794, "training_step_time": 17.57380199432373 }, { "epoch": 8.387565612792968e-07, "model_forward_time": 3.851083517074585, "step": 8795 }, { "epoch": 8.387565612792968e-07, "step": 8795, "training_step_time": 17.584232807159424 }, { "epoch": 8.388519287109375e-07, "model_forward_time": 5.288319110870361, "step": 8796 }, { "epoch": 8.388519287109375e-07, "step": 8796, "training_step_time": 17.59414291381836 }, { "epoch": 8.389472961425782e-07, "model_forward_time": 5.0642499923706055, "step": 8797 }, { "epoch": 8.389472961425782e-07, "step": 8797, "training_step_time": 17.595192670822144 }, { "epoch": 8.390426635742188e-07, "model_forward_time": 5.070785999298096, "step": 8798 }, { "epoch": 8.390426635742188e-07, "step": 8798, "training_step_time": 17.779868125915527 }, { "epoch": 8.391380310058594e-07, "model_forward_time": 5.073295831680298, "step": 8799 }, { "epoch": 8.391380310058594e-07, "step": 8799, "training_step_time": 17.59840488433838 }, { "epoch": 8.392333984375e-07, "grad_norm": 1.8505574464797974, "learning_rate": 9.844147025845179e-06, "loss": 0.1196, "step": 8800 }, { "epoch": 8.392333984375e-07, "model_forward_time": 5.0826215744018555, "step": 8800 }, { "dynamics_loss_avg": 0.04542549457401037, "epoch": 8.392333984375e-07, "step": 8800 }, { "action_loss_avg": 0.06837631780654192, "epoch": 8.392333984375e-07, "step": 8800 }, { "arm_loss_avg": 0.12680044025182724, "epoch": 8.392333984375e-07, "step": 8800 }, { "ee_loss_avg": 0.12811420671641827, "epoch": 8.392333984375e-07, "step": 8800 }, { "aux_loss_avg": 0.002758250304032117, "epoch": 8.392333984375e-07, "step": 8800 }, { "epoch": 8.392333984375e-07, "step": 8800, "training_step_time": 17.577210903167725 }, { "epoch": 8.393287658691406e-07, "model_forward_time": 5.280213117599487, "step": 8801 }, { "epoch": 8.393287658691406e-07, "step": 8801, "training_step_time": 17.578165531158447 }, { "epoch": 8.394241333007812e-07, "model_forward_time": 5.0902626514434814, "step": 8802 }, { "epoch": 8.394241333007812e-07, "step": 8802, "training_step_time": 17.57739782333374 }, { "epoch": 8.395195007324218e-07, "model_forward_time": 5.089338064193726, "step": 8803 }, { "epoch": 8.395195007324218e-07, "step": 8803, "training_step_time": 17.463024854660034 }, { "epoch": 8.396148681640625e-07, "model_forward_time": 5.088917016983032, "step": 8804 }, { "epoch": 8.396148681640625e-07, "step": 8804, "training_step_time": 17.60722064971924 }, { "epoch": 8.397102355957031e-07, "model_forward_time": 5.085933685302734, "step": 8805 }, { "epoch": 8.397102355957031e-07, "step": 8805, "training_step_time": 17.536158323287964 }, { "epoch": 8.398056030273438e-07, "model_forward_time": 5.309777736663818, "step": 8806 }, { "epoch": 8.398056030273438e-07, "step": 8806, "training_step_time": 17.550084590911865 }, { "epoch": 8.399009704589844e-07, "model_forward_time": 5.081639289855957, "step": 8807 }, { "epoch": 8.399009704589844e-07, "step": 8807, "training_step_time": 17.570131301879883 }, { "epoch": 8.39996337890625e-07, "model_forward_time": 5.078715562820435, "step": 8808 }, { "epoch": 8.39996337890625e-07, "step": 8808, "training_step_time": 17.775557041168213 }, { "epoch": 8.400917053222656e-07, "model_forward_time": 5.077466726303101, "step": 8809 }, { "epoch": 8.400917053222656e-07, "step": 8809, "training_step_time": 17.585598707199097 }, { "epoch": 8.401870727539063e-07, "grad_norm": 2.1469242572784424, "learning_rate": 9.843561325052397e-06, "loss": 0.1363, "step": 8810 }, { "epoch": 8.401870727539063e-07, "model_forward_time": 3.847827196121216, "step": 8810 }, { "dynamics_loss_avg": 0.05350609519518912, "epoch": 8.401870727539063e-07, "step": 8810 }, { "action_loss_avg": 0.07408887259662152, "epoch": 8.401870727539063e-07, "step": 8810 }, { "arm_loss_avg": 0.14725324138998985, "epoch": 8.401870727539063e-07, "step": 8810 }, { "ee_loss_avg": 0.11075698342174292, "epoch": 8.401870727539063e-07, "step": 8810 }, { "aux_loss_avg": 0.002852295519551262, "epoch": 8.401870727539063e-07, "step": 8810 }, { "epoch": 8.401870727539063e-07, "step": 8810, "training_step_time": 17.583909034729004 }, { "epoch": 8.402824401855469e-07, "model_forward_time": 5.242823123931885, "step": 8811 }, { "epoch": 8.402824401855469e-07, "step": 8811, "training_step_time": 17.599308490753174 }, { "epoch": 8.403778076171875e-07, "model_forward_time": 5.066583156585693, "step": 8812 }, { "epoch": 8.403778076171875e-07, "step": 8812, "training_step_time": 17.574718952178955 }, { "epoch": 8.404731750488281e-07, "model_forward_time": 5.075205564498901, "step": 8813 }, { "epoch": 8.404731750488281e-07, "step": 8813, "training_step_time": 17.790501832962036 }, { "epoch": 8.405685424804687e-07, "model_forward_time": 5.082515716552734, "step": 8814 }, { "epoch": 8.405685424804687e-07, "step": 8814, "training_step_time": 17.565635681152344 }, { "epoch": 8.406639099121093e-07, "model_forward_time": 5.089085102081299, "step": 8815 }, { "epoch": 8.406639099121093e-07, "step": 8815, "training_step_time": 17.566038131713867 }, { "epoch": 8.4075927734375e-07, "model_forward_time": 5.343350172042847, "step": 8816 }, { "epoch": 8.4075927734375e-07, "step": 8816, "training_step_time": 17.482673168182373 }, { "epoch": 8.408546447753907e-07, "model_forward_time": 5.110212326049805, "step": 8817 }, { "epoch": 8.408546447753907e-07, "step": 8817, "training_step_time": 17.504570245742798 }, { "epoch": 8.409500122070313e-07, "model_forward_time": 5.109454870223999, "step": 8818 }, { "epoch": 8.409500122070313e-07, "step": 8818, "training_step_time": 17.4724760055542 }, { "epoch": 8.410453796386719e-07, "model_forward_time": 5.1076202392578125, "step": 8819 }, { "epoch": 8.410453796386719e-07, "step": 8819, "training_step_time": 17.67061758041382 }, { "epoch": 8.411407470703125e-07, "grad_norm": 1.9412752389907837, "learning_rate": 9.84297454327068e-06, "loss": 0.1168, "step": 8820 }, { "epoch": 8.411407470703125e-07, "model_forward_time": 5.089216709136963, "step": 8820 }, { "dynamics_loss_avg": 0.04596008136868477, "epoch": 8.411407470703125e-07, "step": 8820 }, { "action_loss_avg": 0.06406941451132298, "epoch": 8.411407470703125e-07, "step": 8820 }, { "arm_loss_avg": 0.09349368922412396, "epoch": 8.411407470703125e-07, "step": 8820 }, { "ee_loss_avg": 0.06669182367622853, "epoch": 8.411407470703125e-07, "step": 8820 }, { "aux_loss_avg": 0.0014235028706025333, "epoch": 8.411407470703125e-07, "step": 8820 }, { "epoch": 8.411407470703125e-07, "step": 8820, "training_step_time": 17.543508291244507 }, { "epoch": 8.412361145019531e-07, "model_forward_time": 5.281660079956055, "step": 8821 }, { "epoch": 8.412361145019531e-07, "step": 8821, "training_step_time": 17.570162057876587 }, { "epoch": 8.413314819335937e-07, "model_forward_time": 5.081666469573975, "step": 8822 }, { "epoch": 8.413314819335937e-07, "step": 8822, "training_step_time": 17.600926160812378 }, { "epoch": 8.414268493652343e-07, "model_forward_time": 3.844632863998413, "step": 8823 }, { "epoch": 8.414268493652343e-07, "step": 8823, "training_step_time": 17.609925270080566 }, { "epoch": 8.41522216796875e-07, "model_forward_time": 5.055744171142578, "step": 8824 }, { "epoch": 8.41522216796875e-07, "step": 8824, "training_step_time": 17.854750394821167 }, { "epoch": 8.416175842285156e-07, "model_forward_time": 5.061197757720947, "step": 8825 }, { "epoch": 8.416175842285156e-07, "step": 8825, "training_step_time": 17.62170433998108 }, { "epoch": 8.417129516601563e-07, "model_forward_time": 5.310370683670044, "step": 8826 }, { "epoch": 8.417129516601563e-07, "step": 8826, "training_step_time": 17.619407176971436 }, { "epoch": 8.418083190917969e-07, "model_forward_time": 5.083232402801514, "step": 8827 }, { "epoch": 8.418083190917969e-07, "step": 8827, "training_step_time": 17.607365369796753 }, { "epoch": 8.419036865234375e-07, "model_forward_time": 5.0899717807769775, "step": 8828 }, { "epoch": 8.419036865234375e-07, "step": 8828, "training_step_time": 17.363654851913452 }, { "epoch": 8.419990539550781e-07, "model_forward_time": 5.095511436462402, "step": 8829 }, { "epoch": 8.419990539550781e-07, "step": 8829, "training_step_time": 17.67933440208435 }, { "epoch": 8.420944213867188e-07, "grad_norm": 1.7552465200424194, "learning_rate": 9.842386680630983e-06, "loss": 0.1414, "step": 8830 }, { "epoch": 8.420944213867188e-07, "model_forward_time": 5.093486785888672, "step": 8830 }, { "dynamics_loss_avg": 0.06166187915951014, "epoch": 8.420944213867188e-07, "step": 8830 }, { "action_loss_avg": 0.09668507799506187, "epoch": 8.420944213867188e-07, "step": 8830 }, { "arm_loss_avg": 0.12647850327193738, "epoch": 8.420944213867188e-07, "step": 8830 }, { "ee_loss_avg": 0.11067022439092397, "epoch": 8.420944213867188e-07, "step": 8830 }, { "aux_loss_avg": 0.001079767115879804, "epoch": 8.420944213867188e-07, "step": 8830 }, { "epoch": 8.420944213867188e-07, "step": 8830, "training_step_time": 17.528202295303345 }, { "epoch": 8.421897888183594e-07, "model_forward_time": 5.092008829116821, "step": 8831 }, { "epoch": 8.421897888183594e-07, "step": 8831, "training_step_time": 17.549434185028076 }, { "epoch": 8.4228515625e-07, "model_forward_time": 5.091152191162109, "step": 8832 }, { "epoch": 8.4228515625e-07, "step": 8832, "training_step_time": 17.56903600692749 }, { "epoch": 8.423805236816406e-07, "model_forward_time": 5.088660001754761, "step": 8833 }, { "epoch": 8.423805236816406e-07, "step": 8833, "training_step_time": 17.589470624923706 }, { "epoch": 8.424758911132812e-07, "model_forward_time": 5.084596395492554, "step": 8834 }, { "epoch": 8.424758911132812e-07, "step": 8834, "training_step_time": 17.83552074432373 }, { "epoch": 8.425712585449218e-07, "model_forward_time": 5.076615810394287, "step": 8835 }, { "epoch": 8.425712585449218e-07, "step": 8835, "training_step_time": 17.600486516952515 }, { "epoch": 8.426666259765625e-07, "model_forward_time": 5.082529306411743, "step": 8836 }, { "epoch": 8.426666259765625e-07, "step": 8836, "training_step_time": 17.59053325653076 }, { "epoch": 8.427619934082032e-07, "model_forward_time": 5.103003025054932, "step": 8837 }, { "epoch": 8.427619934082032e-07, "step": 8837, "training_step_time": 17.600810527801514 }, { "epoch": 8.428573608398438e-07, "model_forward_time": 5.09543514251709, "step": 8838 }, { "epoch": 8.428573608398438e-07, "step": 8838, "training_step_time": 17.86784863471985 }, { "epoch": 8.429527282714844e-07, "model_forward_time": 5.0934529304504395, "step": 8839 }, { "epoch": 8.429527282714844e-07, "step": 8839, "training_step_time": 17.630455017089844 }, { "epoch": 8.43048095703125e-07, "grad_norm": 2.52860164642334, "learning_rate": 9.841797737264507e-06, "loss": 0.1368, "step": 8840 }, { "epoch": 8.43048095703125e-07, "model_forward_time": 5.095311641693115, "step": 8840 }, { "dynamics_loss_avg": 0.037890782300382855, "epoch": 8.43048095703125e-07, "step": 8840 }, { "action_loss_avg": 0.07774279955774546, "epoch": 8.43048095703125e-07, "step": 8840 }, { "arm_loss_avg": 0.1284270092844963, "epoch": 8.43048095703125e-07, "step": 8840 }, { "ee_loss_avg": 0.09930428341031075, "epoch": 8.43048095703125e-07, "step": 8840 }, { "aux_loss_avg": 0.0011728184996172785, "epoch": 8.43048095703125e-07, "step": 8840 }, { "epoch": 8.43048095703125e-07, "step": 8840, "training_step_time": 17.593740224838257 }, { "epoch": 8.431434631347656e-07, "model_forward_time": 5.084921598434448, "step": 8841 }, { "epoch": 8.431434631347656e-07, "step": 8841, "training_step_time": 17.57520580291748 }, { "epoch": 8.432388305664062e-07, "model_forward_time": 5.08949875831604, "step": 8842 }, { "epoch": 8.432388305664062e-07, "step": 8842, "training_step_time": 17.569899559020996 }, { "epoch": 8.433341979980469e-07, "model_forward_time": 5.088467597961426, "step": 8843 }, { "epoch": 8.433341979980469e-07, "step": 8843, "training_step_time": 17.794917345046997 }, { "epoch": 8.434295654296875e-07, "model_forward_time": 5.084625959396362, "step": 8844 }, { "epoch": 8.434295654296875e-07, "step": 8844, "training_step_time": 17.55306100845337 }, { "epoch": 8.435249328613281e-07, "model_forward_time": 5.0832719802856445, "step": 8845 }, { "epoch": 8.435249328613281e-07, "step": 8845, "training_step_time": 17.545654773712158 }, { "epoch": 8.436203002929688e-07, "model_forward_time": 5.087980508804321, "step": 8846 }, { "epoch": 8.436203002929688e-07, "step": 8846, "training_step_time": 17.55501365661621 }, { "epoch": 8.437156677246094e-07, "model_forward_time": 3.8507168292999268, "step": 8847 }, { "epoch": 8.437156677246094e-07, "step": 8847, "training_step_time": 17.560058116912842 }, { "epoch": 8.4381103515625e-07, "model_forward_time": 3.8359506130218506, "step": 8848 }, { "epoch": 8.4381103515625e-07, "step": 8848, "training_step_time": 17.762023448944092 }, { "epoch": 8.439064025878906e-07, "model_forward_time": 5.048409938812256, "step": 8849 }, { "epoch": 8.439064025878906e-07, "step": 8849, "training_step_time": 17.367429494857788 }, { "epoch": 8.440017700195313e-07, "grad_norm": 3.546182870864868, "learning_rate": 9.84120771330269e-06, "loss": 0.1381, "step": 8850 }, { "epoch": 8.440017700195313e-07, "model_forward_time": 5.065483331680298, "step": 8850 }, { "dynamics_loss_avg": 0.062477520667016506, "epoch": 8.440017700195313e-07, "step": 8850 }, { "action_loss_avg": 0.08959085121750832, "epoch": 8.440017700195313e-07, "step": 8850 }, { "arm_loss_avg": 0.125744965672493, "epoch": 8.440017700195313e-07, "step": 8850 }, { "ee_loss_avg": 0.11712390556931496, "epoch": 8.440017700195313e-07, "step": 8850 }, { "aux_loss_avg": 0.0022354038199409844, "epoch": 8.440017700195313e-07, "step": 8850 }, { "epoch": 8.440017700195313e-07, "step": 8850, "training_step_time": 17.634113550186157 }, { "epoch": 8.440971374511719e-07, "model_forward_time": 5.2746288776397705, "step": 8851 }, { "epoch": 8.440971374511719e-07, "step": 8851, "training_step_time": 17.50062656402588 }, { "epoch": 8.441925048828125e-07, "model_forward_time": 5.094420909881592, "step": 8852 }, { "epoch": 8.441925048828125e-07, "step": 8852, "training_step_time": 17.52230143547058 }, { "epoch": 8.442878723144531e-07, "model_forward_time": 5.104706764221191, "step": 8853 }, { "epoch": 8.442878723144531e-07, "step": 8853, "training_step_time": 17.557222843170166 }, { "epoch": 8.443832397460937e-07, "model_forward_time": 5.1053853034973145, "step": 8854 }, { "epoch": 8.443832397460937e-07, "step": 8854, "training_step_time": 17.80736780166626 }, { "epoch": 8.444786071777343e-07, "model_forward_time": 5.0989158153533936, "step": 8855 }, { "epoch": 8.444786071777343e-07, "step": 8855, "training_step_time": 17.59608221054077 }, { "epoch": 8.44573974609375e-07, "model_forward_time": 5.098747253417969, "step": 8856 }, { "epoch": 8.44573974609375e-07, "step": 8856, "training_step_time": 17.601085901260376 }, { "epoch": 8.446693420410157e-07, "model_forward_time": 5.100175857543945, "step": 8857 }, { "epoch": 8.446693420410157e-07, "step": 8857, "training_step_time": 17.636856079101562 }, { "epoch": 8.447647094726563e-07, "model_forward_time": 5.101713180541992, "step": 8858 }, { "epoch": 8.447647094726563e-07, "step": 8858, "training_step_time": 17.520999670028687 }, { "epoch": 8.448600769042969e-07, "model_forward_time": 5.096489429473877, "step": 8859 }, { "epoch": 8.448600769042969e-07, "step": 8859, "training_step_time": 17.73379898071289 }, { "epoch": 8.449554443359375e-07, "grad_norm": 1.3310941457748413, "learning_rate": 9.840616608877217e-06, "loss": 0.128, "step": 8860 }, { "epoch": 8.449554443359375e-07, "model_forward_time": 5.094103574752808, "step": 8860 }, { "dynamics_loss_avg": 0.05365156419575214, "epoch": 8.449554443359375e-07, "step": 8860 }, { "action_loss_avg": 0.07758770287036895, "epoch": 8.449554443359375e-07, "step": 8860 }, { "arm_loss_avg": 0.12074075937271118, "epoch": 8.449554443359375e-07, "step": 8860 }, { "ee_loss_avg": 0.09626611359417439, "epoch": 8.449554443359375e-07, "step": 8860 }, { "aux_loss_avg": 0.002457544591743499, "epoch": 8.449554443359375e-07, "step": 8860 }, { "epoch": 8.449554443359375e-07, "step": 8860, "training_step_time": 17.630218744277954 }, { "epoch": 8.450508117675781e-07, "model_forward_time": 3.8459043502807617, "step": 8861 }, { "epoch": 8.450508117675781e-07, "step": 8861, "training_step_time": 17.56613039970398 }, { "epoch": 8.451461791992187e-07, "model_forward_time": 5.055666446685791, "step": 8862 }, { "epoch": 8.451461791992187e-07, "step": 8862, "training_step_time": 17.5814688205719 }, { "epoch": 8.452415466308594e-07, "model_forward_time": 5.067473649978638, "step": 8863 }, { "epoch": 8.452415466308594e-07, "step": 8863, "training_step_time": 17.581720113754272 }, { "epoch": 8.453369140625e-07, "model_forward_time": 5.073907375335693, "step": 8864 }, { "epoch": 8.453369140625e-07, "step": 8864, "training_step_time": 17.82343029975891 }, { "epoch": 8.454322814941406e-07, "model_forward_time": 5.085545778274536, "step": 8865 }, { "epoch": 8.454322814941406e-07, "step": 8865, "training_step_time": 17.56967568397522 }, { "epoch": 8.455276489257813e-07, "model_forward_time": 5.323823690414429, "step": 8866 }, { "epoch": 8.455276489257813e-07, "step": 8866, "training_step_time": 17.56599998474121 }, { "epoch": 8.456230163574219e-07, "model_forward_time": 5.099216938018799, "step": 8867 }, { "epoch": 8.456230163574219e-07, "step": 8867, "training_step_time": 17.569814920425415 }, { "epoch": 8.457183837890625e-07, "model_forward_time": 5.099358797073364, "step": 8868 }, { "epoch": 8.457183837890625e-07, "step": 8868, "training_step_time": 17.79279112815857 }, { "epoch": 8.458137512207031e-07, "model_forward_time": 5.094632625579834, "step": 8869 }, { "epoch": 8.458137512207031e-07, "step": 8869, "training_step_time": 17.565741777420044 }, { "epoch": 8.459091186523438e-07, "grad_norm": 2.714815139770508, "learning_rate": 9.840024424120011e-06, "loss": 0.1182, "step": 8870 }, { "epoch": 8.459091186523438e-07, "model_forward_time": 5.0938193798065186, "step": 8870 }, { "dynamics_loss_avg": 0.04569377973675728, "epoch": 8.459091186523438e-07, "step": 8870 }, { "action_loss_avg": 0.07864259593188763, "epoch": 8.459091186523438e-07, "step": 8870 }, { "arm_loss_avg": 0.13702540695667267, "epoch": 8.459091186523438e-07, "step": 8870 }, { "ee_loss_avg": 0.08942047357559205, "epoch": 8.459091186523438e-07, "step": 8870 }, { "aux_loss_avg": 0.0012419265694916248, "epoch": 8.459091186523438e-07, "step": 8870 }, { "epoch": 8.459091186523438e-07, "step": 8870, "training_step_time": 17.56708788871765 }, { "epoch": 8.460044860839844e-07, "model_forward_time": 5.281575441360474, "step": 8871 }, { "epoch": 8.460044860839844e-07, "step": 8871, "training_step_time": 17.554574012756348 }, { "epoch": 8.46099853515625e-07, "model_forward_time": 5.091724157333374, "step": 8872 }, { "epoch": 8.46099853515625e-07, "step": 8872, "training_step_time": 17.563740253448486 }, { "epoch": 8.461952209472656e-07, "model_forward_time": 5.08617377281189, "step": 8873 }, { "epoch": 8.461952209472656e-07, "step": 8873, "training_step_time": 17.775858879089355 }, { "epoch": 8.462905883789062e-07, "model_forward_time": 5.082383155822754, "step": 8874 }, { "epoch": 8.462905883789062e-07, "step": 8874, "training_step_time": 17.54712462425232 }, { "epoch": 8.463859558105468e-07, "model_forward_time": 5.08310604095459, "step": 8875 }, { "epoch": 8.463859558105468e-07, "step": 8875, "training_step_time": 17.560529947280884 }, { "epoch": 8.464813232421874e-07, "model_forward_time": 5.087101936340332, "step": 8876 }, { "epoch": 8.464813232421874e-07, "step": 8876, "training_step_time": 17.557368993759155 }, { "epoch": 8.465766906738282e-07, "model_forward_time": 5.083482265472412, "step": 8877 }, { "epoch": 8.465766906738282e-07, "step": 8877, "training_step_time": 17.56452703475952 }, { "epoch": 8.466720581054688e-07, "model_forward_time": 5.083254098892212, "step": 8878 }, { "epoch": 8.466720581054688e-07, "step": 8878, "training_step_time": 17.79815173149109 }, { "epoch": 8.467674255371094e-07, "model_forward_time": 5.08357572555542, "step": 8879 }, { "epoch": 8.467674255371094e-07, "step": 8879, "training_step_time": 17.561410427093506 }, { "epoch": 8.4686279296875e-07, "grad_norm": 2.0327250957489014, "learning_rate": 9.839431159163236e-06, "loss": 0.148, "step": 8880 }, { "epoch": 8.4686279296875e-07, "model_forward_time": 3.844754695892334, "step": 8880 }, { "dynamics_loss_avg": 0.04521376192569733, "epoch": 8.4686279296875e-07, "step": 8880 }, { "action_loss_avg": 0.0800956603139639, "epoch": 8.4686279296875e-07, "step": 8880 }, { "arm_loss_avg": 0.11241035759449006, "epoch": 8.4686279296875e-07, "step": 8880 }, { "ee_loss_avg": 0.08534174934029579, "epoch": 8.4686279296875e-07, "step": 8880 }, { "aux_loss_avg": 0.0019220855785533786, "epoch": 8.4686279296875e-07, "step": 8880 }, { "epoch": 8.4686279296875e-07, "step": 8880, "training_step_time": 17.628758430480957 }, { "epoch": 8.469581604003906e-07, "model_forward_time": 5.063571453094482, "step": 8881 }, { "epoch": 8.469581604003906e-07, "step": 8881, "training_step_time": 17.57426953315735 }, { "epoch": 8.470535278320312e-07, "model_forward_time": 5.07394003868103, "step": 8882 }, { "epoch": 8.470535278320312e-07, "step": 8882, "training_step_time": 17.569921255111694 }, { "epoch": 8.471488952636719e-07, "model_forward_time": 5.085821866989136, "step": 8883 }, { "epoch": 8.471488952636719e-07, "step": 8883, "training_step_time": 17.78097152709961 }, { "epoch": 8.472442626953125e-07, "model_forward_time": 5.0873589515686035, "step": 8884 }, { "epoch": 8.472442626953125e-07, "step": 8884, "training_step_time": 17.560932397842407 }, { "epoch": 8.473396301269531e-07, "model_forward_time": 5.09220814704895, "step": 8885 }, { "epoch": 8.473396301269531e-07, "step": 8885, "training_step_time": 17.56159543991089 }, { "epoch": 8.474349975585937e-07, "model_forward_time": 5.097846269607544, "step": 8886 }, { "epoch": 8.474349975585937e-07, "step": 8886, "training_step_time": 17.562832832336426 }, { "epoch": 8.475303649902344e-07, "model_forward_time": 5.09762167930603, "step": 8887 }, { "epoch": 8.475303649902344e-07, "step": 8887, "training_step_time": 17.561652421951294 }, { "epoch": 8.47625732421875e-07, "model_forward_time": 5.098124742507935, "step": 8888 }, { "epoch": 8.47625732421875e-07, "step": 8888, "training_step_time": 17.764536380767822 }, { "epoch": 8.477210998535156e-07, "model_forward_time": 5.0939788818359375, "step": 8889 }, { "epoch": 8.477210998535156e-07, "step": 8889, "training_step_time": 17.56635546684265 }, { "epoch": 8.478164672851563e-07, "grad_norm": 2.06661319732666, "learning_rate": 9.838836814139297e-06, "loss": 0.1197, "step": 8890 }, { "epoch": 8.478164672851563e-07, "model_forward_time": 5.314711332321167, "step": 8890 }, { "dynamics_loss_avg": 0.04628462595865131, "epoch": 8.478164672851563e-07, "step": 8890 }, { "action_loss_avg": 0.07435358837246894, "epoch": 8.478164672851563e-07, "step": 8890 }, { "arm_loss_avg": 0.11784402653574944, "epoch": 8.478164672851563e-07, "step": 8890 }, { "ee_loss_avg": 0.09482103772461414, "epoch": 8.478164672851563e-07, "step": 8890 }, { "aux_loss_avg": 0.0008841985196340829, "epoch": 8.478164672851563e-07, "step": 8890 }, { "epoch": 8.478164672851563e-07, "step": 8890, "training_step_time": 17.57673692703247 }, { "epoch": 8.479118347167969e-07, "model_forward_time": 5.084418296813965, "step": 8891 }, { "epoch": 8.479118347167969e-07, "step": 8891, "training_step_time": 17.568166971206665 }, { "epoch": 8.480072021484375e-07, "model_forward_time": 5.081540822982788, "step": 8892 }, { "epoch": 8.480072021484375e-07, "step": 8892, "training_step_time": 17.55437469482422 }, { "epoch": 8.481025695800781e-07, "model_forward_time": 5.075653553009033, "step": 8893 }, { "epoch": 8.481025695800781e-07, "step": 8893, "training_step_time": 17.77102828025818 }, { "epoch": 8.481979370117187e-07, "model_forward_time": 5.07813835144043, "step": 8894 }, { "epoch": 8.481979370117187e-07, "step": 8894, "training_step_time": 17.554001331329346 }, { "epoch": 8.482933044433593e-07, "model_forward_time": 5.078256130218506, "step": 8895 }, { "epoch": 8.482933044433593e-07, "step": 8895, "training_step_time": 17.54249930381775 }, { "epoch": 8.48388671875e-07, "model_forward_time": 5.0787131786346436, "step": 8896 }, { "epoch": 8.48388671875e-07, "step": 8896, "training_step_time": 17.5553777217865 }, { "epoch": 8.484840393066407e-07, "model_forward_time": 5.081555604934692, "step": 8897 }, { "epoch": 8.484840393066407e-07, "step": 8897, "training_step_time": 17.572136640548706 }, { "epoch": 8.485794067382813e-07, "model_forward_time": 5.082921266555786, "step": 8898 }, { "epoch": 8.485794067382813e-07, "step": 8898, "training_step_time": 17.811333417892456 }, { "epoch": 8.486747741699219e-07, "model_forward_time": 5.084362506866455, "step": 8899 }, { "epoch": 8.486747741699219e-07, "step": 8899, "training_step_time": 17.56572127342224 }, { "epoch": 8.487701416015625e-07, "grad_norm": 3.506094217300415, "learning_rate": 9.838241389180838e-06, "loss": 0.1353, "step": 8900 }, { "epoch": 8.487701416015625e-07, "model_forward_time": 5.087467908859253, "step": 8900 }, { "dynamics_loss_avg": 0.043864992540329696, "epoch": 8.487701416015625e-07, "step": 8900 }, { "action_loss_avg": 0.06864548735320568, "epoch": 8.487701416015625e-07, "step": 8900 }, { "arm_loss_avg": 0.11870497167110443, "epoch": 8.487701416015625e-07, "step": 8900 }, { "ee_loss_avg": 0.07618951713666319, "epoch": 8.487701416015625e-07, "step": 8900 }, { "aux_loss_avg": 0.0011661190947052091, "epoch": 8.487701416015625e-07, "step": 8900 }, { "epoch": 8.487701416015625e-07, "step": 8900, "training_step_time": 17.580589294433594 }, { "epoch": 8.488655090332031e-07, "model_forward_time": 3.8569443225860596, "step": 8901 }, { "epoch": 8.488655090332031e-07, "step": 8901, "training_step_time": 17.582998514175415 }, { "epoch": 8.489608764648437e-07, "model_forward_time": 5.061353921890259, "step": 8902 }, { "epoch": 8.489608764648437e-07, "step": 8902, "training_step_time": 17.592710733413696 }, { "epoch": 8.490562438964844e-07, "model_forward_time": 5.068833351135254, "step": 8903 }, { "epoch": 8.490562438964844e-07, "step": 8903, "training_step_time": 17.37480592727661 }, { "epoch": 8.49151611328125e-07, "model_forward_time": 5.080121994018555, "step": 8904 }, { "epoch": 8.49151611328125e-07, "step": 8904, "training_step_time": 17.74258327484131 }, { "epoch": 8.492469787597656e-07, "model_forward_time": 5.081668376922607, "step": 8905 }, { "epoch": 8.492469787597656e-07, "step": 8905, "training_step_time": 17.547417879104614 }, { "epoch": 8.493423461914062e-07, "model_forward_time": 5.329882621765137, "step": 8906 }, { "epoch": 8.493423461914062e-07, "step": 8906, "training_step_time": 17.447370767593384 }, { "epoch": 8.494377136230469e-07, "model_forward_time": 5.1037726402282715, "step": 8907 }, { "epoch": 8.494377136230469e-07, "step": 8907, "training_step_time": 17.49783492088318 }, { "epoch": 8.495330810546875e-07, "model_forward_time": 5.10321044921875, "step": 8908 }, { "epoch": 8.495330810546875e-07, "step": 8908, "training_step_time": 17.562687397003174 }, { "epoch": 8.496284484863281e-07, "model_forward_time": 5.09592866897583, "step": 8909 }, { "epoch": 8.496284484863281e-07, "step": 8909, "training_step_time": 17.785629272460938 }, { "epoch": 8.497238159179688e-07, "grad_norm": 2.2089040279388428, "learning_rate": 9.83764488442075e-06, "loss": 0.1191, "step": 8910 }, { "epoch": 8.497238159179688e-07, "model_forward_time": 5.090773105621338, "step": 8910 }, { "dynamics_loss_avg": 0.053614850621670485, "epoch": 8.497238159179688e-07, "step": 8910 }, { "action_loss_avg": 0.07935877777636051, "epoch": 8.497238159179688e-07, "step": 8910 }, { "arm_loss_avg": 0.14101051427423955, "epoch": 8.497238159179688e-07, "step": 8910 }, { "ee_loss_avg": 0.08176484927535058, "epoch": 8.497238159179688e-07, "step": 8910 }, { "aux_loss_avg": 0.002658342762151733, "epoch": 8.497238159179688e-07, "step": 8910 }, { "epoch": 8.497238159179688e-07, "step": 8910, "training_step_time": 17.604881048202515 }, { "epoch": 8.498191833496094e-07, "model_forward_time": 5.100298166275024, "step": 8911 }, { "epoch": 8.498191833496094e-07, "step": 8911, "training_step_time": 17.618732929229736 }, { "epoch": 8.4991455078125e-07, "model_forward_time": 5.087783098220825, "step": 8912 }, { "epoch": 8.4991455078125e-07, "step": 8912, "training_step_time": 17.37056589126587 }, { "epoch": 8.500099182128906e-07, "model_forward_time": 5.092703580856323, "step": 8913 }, { "epoch": 8.500099182128906e-07, "step": 8913, "training_step_time": 17.54670524597168 }, { "epoch": 8.501052856445312e-07, "model_forward_time": 5.087698459625244, "step": 8914 }, { "epoch": 8.501052856445312e-07, "step": 8914, "training_step_time": 17.80740761756897 }, { "epoch": 8.502006530761718e-07, "model_forward_time": 5.085374116897583, "step": 8915 }, { "epoch": 8.502006530761718e-07, "step": 8915, "training_step_time": 17.591249704360962 }, { "epoch": 8.502960205078125e-07, "model_forward_time": 5.085173606872559, "step": 8916 }, { "epoch": 8.502960205078125e-07, "step": 8916, "training_step_time": 17.601962566375732 }, { "epoch": 8.503913879394532e-07, "model_forward_time": 5.085873365402222, "step": 8917 }, { "epoch": 8.503913879394532e-07, "step": 8917, "training_step_time": 17.616363525390625 }, { "epoch": 8.504867553710938e-07, "model_forward_time": 5.0856873989105225, "step": 8918 }, { "epoch": 8.504867553710938e-07, "step": 8918, "training_step_time": 17.606934547424316 }, { "epoch": 8.505821228027344e-07, "model_forward_time": 3.850620746612549, "step": 8919 }, { "epoch": 8.505821228027344e-07, "step": 8919, "training_step_time": 17.792497873306274 }, { "epoch": 8.50677490234375e-07, "grad_norm": 2.384241819381714, "learning_rate": 9.837047299992157e-06, "loss": 0.1198, "step": 8920 }, { "epoch": 8.50677490234375e-07, "model_forward_time": 5.061627149581909, "step": 8920 }, { "dynamics_loss_avg": 0.04224958950653672, "epoch": 8.50677490234375e-07, "step": 8920 }, { "action_loss_avg": 0.08656145334243774, "epoch": 8.50677490234375e-07, "step": 8920 }, { "arm_loss_avg": 0.15628597959876062, "epoch": 8.50677490234375e-07, "step": 8920 }, { "ee_loss_avg": 0.0983639720827341, "epoch": 8.50677490234375e-07, "step": 8920 }, { "aux_loss_avg": 0.0027641336433589458, "epoch": 8.50677490234375e-07, "step": 8920 }, { "epoch": 8.50677490234375e-07, "step": 8920, "training_step_time": 17.62537670135498 }, { "epoch": 8.507728576660156e-07, "model_forward_time": 5.27978777885437, "step": 8921 }, { "epoch": 8.507728576660156e-07, "step": 8921, "training_step_time": 17.58193063735962 }, { "epoch": 8.508682250976562e-07, "model_forward_time": 5.091322660446167, "step": 8922 }, { "epoch": 8.508682250976562e-07, "step": 8922, "training_step_time": 17.583511114120483 }, { "epoch": 8.509635925292969e-07, "model_forward_time": 5.090969800949097, "step": 8923 }, { "epoch": 8.509635925292969e-07, "step": 8923, "training_step_time": 17.795562982559204 }, { "epoch": 8.510589599609375e-07, "model_forward_time": 5.092663764953613, "step": 8924 }, { "epoch": 8.510589599609375e-07, "step": 8924, "training_step_time": 17.570908308029175 }, { "epoch": 8.511543273925781e-07, "model_forward_time": 5.100264549255371, "step": 8925 }, { "epoch": 8.511543273925781e-07, "step": 8925, "training_step_time": 17.581153631210327 }, { "epoch": 8.512496948242187e-07, "model_forward_time": 5.099785327911377, "step": 8926 }, { "epoch": 8.512496948242187e-07, "step": 8926, "training_step_time": 17.390743017196655 }, { "epoch": 8.513450622558594e-07, "model_forward_time": 5.09733772277832, "step": 8927 }, { "epoch": 8.513450622558594e-07, "step": 8927, "training_step_time": 17.44746422767639 }, { "epoch": 8.514404296875e-07, "model_forward_time": 5.101466178894043, "step": 8928 }, { "epoch": 8.514404296875e-07, "step": 8928, "training_step_time": 17.30690622329712 }, { "epoch": 8.515357971191407e-07, "model_forward_time": 5.092924356460571, "step": 8929 }, { "epoch": 8.515357971191407e-07, "step": 8929, "training_step_time": 17.674426078796387 }, { "epoch": 8.516311645507813e-07, "grad_norm": 2.841500759124756, "learning_rate": 9.836448636028433e-06, "loss": 0.1342, "step": 8930 }, { "epoch": 8.516311645507813e-07, "model_forward_time": 5.294321775436401, "step": 8930 }, { "dynamics_loss_avg": 0.058007264696061614, "epoch": 8.516311645507813e-07, "step": 8930 }, { "action_loss_avg": 0.07304693683981896, "epoch": 8.516311645507813e-07, "step": 8930 }, { "arm_loss_avg": 0.11647838875651359, "epoch": 8.516311645507813e-07, "step": 8930 }, { "ee_loss_avg": 0.11899089701473713, "epoch": 8.516311645507813e-07, "step": 8930 }, { "aux_loss_avg": 0.0011369325569830836, "epoch": 8.516311645507813e-07, "step": 8930 }, { "epoch": 8.516311645507813e-07, "step": 8930, "training_step_time": 17.58805799484253 }, { "epoch": 8.517265319824219e-07, "model_forward_time": 3.859631061553955, "step": 8931 }, { "epoch": 8.517265319824219e-07, "step": 8931, "training_step_time": 17.596308946609497 }, { "epoch": 8.518218994140625e-07, "model_forward_time": 5.07430100440979, "step": 8932 }, { "epoch": 8.518218994140625e-07, "step": 8932, "training_step_time": 17.623178005218506 }, { "epoch": 8.519172668457031e-07, "model_forward_time": 5.069851875305176, "step": 8933 }, { "epoch": 8.519172668457031e-07, "step": 8933, "training_step_time": 17.639586687088013 }, { "epoch": 8.520126342773437e-07, "model_forward_time": 5.08130955696106, "step": 8934 }, { "epoch": 8.520126342773437e-07, "step": 8934, "training_step_time": 17.873092651367188 }, { "epoch": 8.521080017089843e-07, "model_forward_time": 3.8497045040130615, "step": 8935 }, { "epoch": 8.521080017089843e-07, "step": 8935, "training_step_time": 17.618215084075928 }, { "epoch": 8.52203369140625e-07, "model_forward_time": 4.081533670425415, "step": 8936 }, { "epoch": 8.52203369140625e-07, "step": 8936, "training_step_time": 17.62474274635315 }, { "epoch": 8.522987365722657e-07, "model_forward_time": 5.0591795444488525, "step": 8937 }, { "epoch": 8.522987365722657e-07, "step": 8937, "training_step_time": 17.548470973968506 }, { "epoch": 8.523941040039063e-07, "model_forward_time": 5.077029466629028, "step": 8938 }, { "epoch": 8.523941040039063e-07, "step": 8938, "training_step_time": 17.59186100959778 }, { "epoch": 8.524894714355469e-07, "model_forward_time": 5.095984935760498, "step": 8939 }, { "epoch": 8.524894714355469e-07, "step": 8939, "training_step_time": 17.763445615768433 }, { "epoch": 8.525848388671875e-07, "grad_norm": 1.4151731729507446, "learning_rate": 9.835848892663184e-06, "loss": 0.134, "step": 8940 }, { "epoch": 8.525848388671875e-07, "model_forward_time": 3.8828437328338623, "step": 8940 }, { "dynamics_loss_avg": 0.0690069418400526, "epoch": 8.525848388671875e-07, "step": 8940 }, { "action_loss_avg": 0.073267837241292, "epoch": 8.525848388671875e-07, "step": 8940 }, { "arm_loss_avg": 0.1051915492862463, "epoch": 8.525848388671875e-07, "step": 8940 }, { "ee_loss_avg": 0.06991360047832132, "epoch": 8.525848388671875e-07, "step": 8940 }, { "aux_loss_avg": 0.005088376236381009, "epoch": 8.525848388671875e-07, "step": 8940 }, { "epoch": 8.525848388671875e-07, "step": 8940, "training_step_time": 17.57752537727356 }, { "epoch": 8.526802062988281e-07, "model_forward_time": 5.28038215637207, "step": 8941 }, { "epoch": 8.526802062988281e-07, "step": 8941, "training_step_time": 17.429637670516968 }, { "epoch": 8.527755737304687e-07, "model_forward_time": 5.108295202255249, "step": 8942 }, { "epoch": 8.527755737304687e-07, "step": 8942, "training_step_time": 17.50412940979004 }, { "epoch": 8.528709411621094e-07, "model_forward_time": 5.100344896316528, "step": 8943 }, { "epoch": 8.528709411621094e-07, "step": 8943, "training_step_time": 17.532905340194702 }, { "epoch": 8.5296630859375e-07, "model_forward_time": 5.094443082809448, "step": 8944 }, { "epoch": 8.5296630859375e-07, "step": 8944, "training_step_time": 17.85212755203247 }, { "epoch": 8.530616760253906e-07, "model_forward_time": 3.884990930557251, "step": 8945 }, { "epoch": 8.530616760253906e-07, "step": 8945, "training_step_time": 17.460103750228882 }, { "epoch": 8.531570434570312e-07, "model_forward_time": 5.370051860809326, "step": 8946 }, { "epoch": 8.531570434570312e-07, "step": 8946, "training_step_time": 17.569167852401733 }, { "epoch": 8.532524108886719e-07, "model_forward_time": 5.118924617767334, "step": 8947 }, { "epoch": 8.532524108886719e-07, "step": 8947, "training_step_time": 17.591161966323853 }, { "epoch": 8.533477783203125e-07, "model_forward_time": 5.078857898712158, "step": 8948 }, { "epoch": 8.533477783203125e-07, "step": 8948, "training_step_time": 17.567877054214478 }, { "epoch": 8.534431457519532e-07, "model_forward_time": 5.084073305130005, "step": 8949 }, { "epoch": 8.534431457519532e-07, "step": 8949, "training_step_time": 17.77487826347351 }, { "epoch": 8.535385131835938e-07, "grad_norm": 1.9453598260879517, "learning_rate": 9.835248070030263e-06, "loss": 0.1292, "step": 8950 }, { "epoch": 8.535385131835938e-07, "model_forward_time": 5.084115982055664, "step": 8950 }, { "dynamics_loss_avg": 0.04230194333940744, "epoch": 8.535385131835938e-07, "step": 8950 }, { "action_loss_avg": 0.07926225923001766, "epoch": 8.535385131835938e-07, "step": 8950 }, { "arm_loss_avg": 0.12306914441287517, "epoch": 8.535385131835938e-07, "step": 8950 }, { "ee_loss_avg": 0.08334673494100571, "epoch": 8.535385131835938e-07, "step": 8950 }, { "aux_loss_avg": 0.0007954845670610667, "epoch": 8.535385131835938e-07, "step": 8950 }, { "epoch": 8.535385131835938e-07, "step": 8950, "training_step_time": 17.595486402511597 }, { "epoch": 8.536338806152344e-07, "model_forward_time": 5.275706768035889, "step": 8951 }, { "epoch": 8.536338806152344e-07, "step": 8951, "training_step_time": 17.60295796394348 }, { "epoch": 8.53729248046875e-07, "model_forward_time": 5.087883472442627, "step": 8952 }, { "epoch": 8.53729248046875e-07, "step": 8952, "training_step_time": 17.595465183258057 }, { "epoch": 8.538246154785156e-07, "model_forward_time": 5.088873386383057, "step": 8953 }, { "epoch": 8.538246154785156e-07, "step": 8953, "training_step_time": 17.596192359924316 }, { "epoch": 8.539199829101562e-07, "model_forward_time": 5.086191415786743, "step": 8954 }, { "epoch": 8.539199829101562e-07, "step": 8954, "training_step_time": 17.813678741455078 }, { "epoch": 8.540153503417968e-07, "model_forward_time": 5.082255125045776, "step": 8955 }, { "epoch": 8.540153503417968e-07, "step": 8955, "training_step_time": 17.5648512840271 }, { "epoch": 8.541107177734375e-07, "model_forward_time": 5.323969602584839, "step": 8956 }, { "epoch": 8.541107177734375e-07, "step": 8956, "training_step_time": 17.42691946029663 }, { "epoch": 8.542060852050782e-07, "model_forward_time": 5.082356929779053, "step": 8957 }, { "epoch": 8.542060852050782e-07, "step": 8957, "training_step_time": 17.461984634399414 }, { "epoch": 8.543014526367188e-07, "model_forward_time": 5.083348512649536, "step": 8958 }, { "epoch": 8.543014526367188e-07, "step": 8958, "training_step_time": 17.50776433944702 }, { "epoch": 8.543968200683594e-07, "model_forward_time": 3.8484721183776855, "step": 8959 }, { "epoch": 8.543968200683594e-07, "step": 8959, "training_step_time": 17.74052596092224 }, { "epoch": 8.544921875e-07, "grad_norm": 1.2098115682601929, "learning_rate": 9.834646168263764e-06, "loss": 0.1369, "step": 8960 }, { "epoch": 8.544921875e-07, "model_forward_time": 5.05709171295166, "step": 8960 }, { "dynamics_loss_avg": 0.05347553938627243, "epoch": 8.544921875e-07, "step": 8960 }, { "action_loss_avg": 0.09263639040291309, "epoch": 8.544921875e-07, "step": 8960 }, { "arm_loss_avg": 0.149658016115427, "epoch": 8.544921875e-07, "step": 8960 }, { "ee_loss_avg": 0.08724989891052246, "epoch": 8.544921875e-07, "step": 8960 }, { "aux_loss_avg": 0.0013951457163784652, "epoch": 8.544921875e-07, "step": 8960 }, { "epoch": 8.544921875e-07, "step": 8960, "training_step_time": 17.558945894241333 }, { "epoch": 8.545875549316406e-07, "model_forward_time": 4.072890281677246, "step": 8961 }, { "epoch": 8.545875549316406e-07, "step": 8961, "training_step_time": 17.56493854522705 }, { "epoch": 8.546829223632812e-07, "model_forward_time": 5.052062273025513, "step": 8962 }, { "epoch": 8.546829223632812e-07, "step": 8962, "training_step_time": 17.580752849578857 }, { "epoch": 8.547782897949219e-07, "model_forward_time": 5.06561279296875, "step": 8963 }, { "epoch": 8.547782897949219e-07, "step": 8963, "training_step_time": 17.497498273849487 }, { "epoch": 8.548736572265625e-07, "model_forward_time": 5.0851593017578125, "step": 8964 }, { "epoch": 8.548736572265625e-07, "step": 8964, "training_step_time": 17.701477527618408 }, { "epoch": 8.549690246582031e-07, "model_forward_time": 5.091473579406738, "step": 8965 }, { "epoch": 8.549690246582031e-07, "step": 8965, "training_step_time": 17.521410942077637 }, { "epoch": 8.550643920898437e-07, "model_forward_time": 5.09853458404541, "step": 8966 }, { "epoch": 8.550643920898437e-07, "step": 8966, "training_step_time": 17.557949781417847 }, { "epoch": 8.551597595214844e-07, "model_forward_time": 5.098992586135864, "step": 8967 }, { "epoch": 8.551597595214844e-07, "step": 8967, "training_step_time": 17.582081079483032 }, { "epoch": 8.55255126953125e-07, "model_forward_time": 5.094232797622681, "step": 8968 }, { "epoch": 8.55255126953125e-07, "step": 8968, "training_step_time": 17.585110902786255 }, { "epoch": 8.553504943847657e-07, "model_forward_time": 5.089116096496582, "step": 8969 }, { "epoch": 8.553504943847657e-07, "step": 8969, "training_step_time": 17.78769564628601 }, { "epoch": 8.554458618164063e-07, "grad_norm": 1.696298599243164, "learning_rate": 9.834043187498016e-06, "loss": 0.1274, "step": 8970 }, { "epoch": 8.554458618164063e-07, "model_forward_time": 5.086141586303711, "step": 8970 }, { "dynamics_loss_avg": 0.049348460882902144, "epoch": 8.554458618164063e-07, "step": 8970 }, { "action_loss_avg": 0.08933429531753063, "epoch": 8.554458618164063e-07, "step": 8970 }, { "arm_loss_avg": 0.15466811284422874, "epoch": 8.554458618164063e-07, "step": 8970 }, { "ee_loss_avg": 0.09740362670272588, "epoch": 8.554458618164063e-07, "step": 8970 }, { "aux_loss_avg": 0.0010691384319216012, "epoch": 8.554458618164063e-07, "step": 8970 }, { "epoch": 8.554458618164063e-07, "step": 8970, "training_step_time": 17.379778385162354 }, { "epoch": 8.555412292480469e-07, "model_forward_time": 5.280084848403931, "step": 8971 }, { "epoch": 8.555412292480469e-07, "step": 8971, "training_step_time": 17.5194411277771 }, { "epoch": 8.556365966796875e-07, "model_forward_time": 5.082707643508911, "step": 8972 }, { "epoch": 8.556365966796875e-07, "step": 8972, "training_step_time": 17.548338890075684 }, { "epoch": 8.557319641113281e-07, "model_forward_time": 3.843813180923462, "step": 8973 }, { "epoch": 8.557319641113281e-07, "step": 8973, "training_step_time": 17.56341028213501 }, { "epoch": 8.558273315429687e-07, "model_forward_time": 5.048129081726074, "step": 8974 }, { "epoch": 8.558273315429687e-07, "step": 8974, "training_step_time": 17.58603835105896 }, { "epoch": 8.559226989746093e-07, "model_forward_time": 5.0601441860198975, "step": 8975 }, { "epoch": 8.559226989746093e-07, "step": 8975, "training_step_time": 17.816767692565918 }, { "epoch": 8.5601806640625e-07, "model_forward_time": 5.065808057785034, "step": 8976 }, { "epoch": 8.5601806640625e-07, "step": 8976, "training_step_time": 17.572761297225952 }, { "epoch": 8.561134338378907e-07, "model_forward_time": 5.32280421257019, "step": 8977 }, { "epoch": 8.561134338378907e-07, "step": 8977, "training_step_time": 17.597965717315674 }, { "epoch": 8.562088012695313e-07, "model_forward_time": 5.097941637039185, "step": 8978 }, { "epoch": 8.562088012695313e-07, "step": 8978, "training_step_time": 17.58472990989685 }, { "epoch": 8.563041687011719e-07, "model_forward_time": 5.108652353286743, "step": 8979 }, { "epoch": 8.563041687011719e-07, "step": 8979, "training_step_time": 17.657360792160034 }, { "epoch": 8.563995361328125e-07, "grad_norm": 1.8637484312057495, "learning_rate": 9.833439127867594e-06, "loss": 0.133, "step": 8980 }, { "epoch": 8.563995361328125e-07, "model_forward_time": 5.1080405712127686, "step": 8980 }, { "dynamics_loss_avg": 0.04044641638174653, "epoch": 8.563995361328125e-07, "step": 8980 }, { "action_loss_avg": 0.08792769014835358, "epoch": 8.563995361328125e-07, "step": 8980 }, { "arm_loss_avg": 0.17799278609454633, "epoch": 8.563995361328125e-07, "step": 8980 }, { "ee_loss_avg": 0.12076935656368733, "epoch": 8.563995361328125e-07, "step": 8980 }, { "aux_loss_avg": 0.0023419527220539748, "epoch": 8.563995361328125e-07, "step": 8980 }, { "epoch": 8.563995361328125e-07, "step": 8980, "training_step_time": 17.796077966690063 }, { "epoch": 8.564949035644531e-07, "model_forward_time": 3.863318920135498, "step": 8981 }, { "epoch": 8.564949035644531e-07, "step": 8981, "training_step_time": 17.57500648498535 }, { "epoch": 8.565902709960937e-07, "model_forward_time": 5.060917854309082, "step": 8982 }, { "epoch": 8.565902709960937e-07, "step": 8982, "training_step_time": 17.56939458847046 }, { "epoch": 8.566856384277344e-07, "model_forward_time": 5.066422939300537, "step": 8983 }, { "epoch": 8.566856384277344e-07, "step": 8983, "training_step_time": 17.573833227157593 }, { "epoch": 8.56781005859375e-07, "model_forward_time": 5.078402996063232, "step": 8984 }, { "epoch": 8.56781005859375e-07, "step": 8984, "training_step_time": 17.785035848617554 }, { "epoch": 8.568763732910156e-07, "model_forward_time": 5.079349756240845, "step": 8985 }, { "epoch": 8.568763732910156e-07, "step": 8985, "training_step_time": 17.569801330566406 }, { "epoch": 8.569717407226562e-07, "model_forward_time": 5.08665657043457, "step": 8986 }, { "epoch": 8.569717407226562e-07, "step": 8986, "training_step_time": 17.576112747192383 }, { "epoch": 8.570671081542969e-07, "model_forward_time": 5.088371753692627, "step": 8987 }, { "epoch": 8.570671081542969e-07, "step": 8987, "training_step_time": 17.386871099472046 }, { "epoch": 8.571624755859375e-07, "model_forward_time": 5.091714859008789, "step": 8988 }, { "epoch": 8.571624755859375e-07, "step": 8988, "training_step_time": 17.485954999923706 }, { "epoch": 8.572578430175782e-07, "model_forward_time": 5.086037874221802, "step": 8989 }, { "epoch": 8.572578430175782e-07, "step": 8989, "training_step_time": 17.717238426208496 }, { "epoch": 8.573532104492188e-07, "grad_norm": 1.496537446975708, "learning_rate": 9.832833989507315e-06, "loss": 0.135, "step": 8990 }, { "epoch": 8.573532104492188e-07, "model_forward_time": 5.087277173995972, "step": 8990 }, { "dynamics_loss_avg": 0.04558899793773889, "epoch": 8.573532104492188e-07, "step": 8990 }, { "action_loss_avg": 0.08998843729496002, "epoch": 8.573532104492188e-07, "step": 8990 }, { "arm_loss_avg": 0.13909198120236396, "epoch": 8.573532104492188e-07, "step": 8990 }, { "ee_loss_avg": 0.0774387339130044, "epoch": 8.573532104492188e-07, "step": 8990 }, { "aux_loss_avg": 0.0019818354048766196, "epoch": 8.573532104492188e-07, "step": 8990 }, { "epoch": 8.573532104492188e-07, "step": 8990, "training_step_time": 17.55645728111267 }, { "epoch": 8.574485778808594e-07, "model_forward_time": 5.083036661148071, "step": 8991 }, { "epoch": 8.574485778808594e-07, "step": 8991, "training_step_time": 17.574201583862305 }, { "epoch": 8.575439453125e-07, "model_forward_time": 5.0819549560546875, "step": 8992 }, { "epoch": 8.575439453125e-07, "step": 8992, "training_step_time": 17.585493087768555 }, { "epoch": 8.576393127441406e-07, "model_forward_time": 5.079698801040649, "step": 8993 }, { "epoch": 8.576393127441406e-07, "step": 8993, "training_step_time": 17.599643230438232 }, { "epoch": 8.577346801757812e-07, "model_forward_time": 5.081159591674805, "step": 8994 }, { "epoch": 8.577346801757812e-07, "step": 8994, "training_step_time": 17.819517135620117 }, { "epoch": 8.578300476074218e-07, "model_forward_time": 5.078054666519165, "step": 8995 }, { "epoch": 8.578300476074218e-07, "step": 8995, "training_step_time": 17.59286093711853 }, { "epoch": 8.579254150390625e-07, "model_forward_time": 5.3235392570495605, "step": 8996 }, { "epoch": 8.579254150390625e-07, "step": 8996, "training_step_time": 17.583982467651367 }, { "epoch": 8.580207824707032e-07, "model_forward_time": 5.078728914260864, "step": 8997 }, { "epoch": 8.580207824707032e-07, "step": 8997, "training_step_time": 17.571398496627808 }, { "epoch": 8.581161499023438e-07, "model_forward_time": 5.076717376708984, "step": 8998 }, { "epoch": 8.581161499023438e-07, "step": 8998, "training_step_time": 17.572355031967163 }, { "epoch": 8.582115173339844e-07, "model_forward_time": 5.080538034439087, "step": 8999 }, { "epoch": 8.582115173339844e-07, "step": 8999, "training_step_time": 17.798264026641846 }, { "epoch": 8.58306884765625e-07, "grad_norm": 1.8468008041381836, "learning_rate": 9.83222777255223e-06, "loss": 0.1407, "step": 9000 }, { "epoch": 8.58306884765625e-07, "model_forward_time": 5.079753875732422, "step": 9000 }, { "dynamics_loss_avg": 0.055256081745028496, "epoch": 8.58306884765625e-07, "step": 9000 }, { "action_loss_avg": 0.0906588587909937, "epoch": 8.58306884765625e-07, "step": 9000 }, { "arm_loss_avg": 0.1548933919519186, "epoch": 8.58306884765625e-07, "step": 9000 }, { "ee_loss_avg": 0.06208542138338089, "epoch": 8.58306884765625e-07, "step": 9000 }, { "aux_loss_avg": 0.0011728606128599494, "epoch": 8.58306884765625e-07, "step": 9000 }, { "epoch": 8.58306884765625e-07, "step": 9000, "training_step_time": 17.35600757598877 }, { "epoch": 8.584022521972656e-07, "model_forward_time": 5.296175956726074, "step": 9001 }, { "epoch": 8.584022521972656e-07, "step": 9001, "training_step_time": 17.485020399093628 }, { "epoch": 8.584976196289063e-07, "model_forward_time": 5.086905479431152, "step": 9002 }, { "epoch": 8.584976196289063e-07, "step": 9002, "training_step_time": 17.368332386016846 }, { "epoch": 8.585929870605469e-07, "model_forward_time": 5.085219383239746, "step": 9003 }, { "epoch": 8.585929870605469e-07, "step": 9003, "training_step_time": 17.455129384994507 }, { "epoch": 8.586883544921875e-07, "model_forward_time": 5.085087299346924, "step": 9004 }, { "epoch": 8.586883544921875e-07, "step": 9004, "training_step_time": 17.562017917633057 }, { "epoch": 8.587837219238281e-07, "model_forward_time": 5.079126596450806, "step": 9005 }, { "epoch": 8.587837219238281e-07, "step": 9005, "training_step_time": 17.788329362869263 }, { "epoch": 8.588790893554687e-07, "model_forward_time": 5.0776543617248535, "step": 9006 }, { "epoch": 8.588790893554687e-07, "step": 9006, "training_step_time": 17.585870027542114 }, { "epoch": 8.589744567871093e-07, "model_forward_time": 5.075316667556763, "step": 9007 }, { "epoch": 8.589744567871093e-07, "step": 9007, "training_step_time": 17.608490228652954 }, { "epoch": 8.5906982421875e-07, "model_forward_time": 5.081622838973999, "step": 9008 }, { "epoch": 8.5906982421875e-07, "step": 9008, "training_step_time": 17.61013150215149 }, { "epoch": 8.591651916503907e-07, "model_forward_time": 5.079561471939087, "step": 9009 }, { "epoch": 8.591651916503907e-07, "step": 9009, "training_step_time": 17.612417936325073 }, { "epoch": 8.592605590820313e-07, "grad_norm": 1.8432484865188599, "learning_rate": 9.831620477137637e-06, "loss": 0.1133, "step": 9010 }, { "epoch": 8.592605590820313e-07, "model_forward_time": 5.081027984619141, "step": 9010 }, { "dynamics_loss_avg": 0.049481016024947165, "epoch": 8.592605590820313e-07, "step": 9010 }, { "action_loss_avg": 0.08348118998110295, "epoch": 8.592605590820313e-07, "step": 9010 }, { "arm_loss_avg": 0.1463584668934345, "epoch": 8.592605590820313e-07, "step": 9010 }, { "ee_loss_avg": 0.06028934232890606, "epoch": 8.592605590820313e-07, "step": 9010 }, { "aux_loss_avg": 0.002776258223457262, "epoch": 8.592605590820313e-07, "step": 9010 }, { "epoch": 8.592605590820313e-07, "step": 9010, "training_step_time": 17.799525260925293 }, { "epoch": 8.593559265136719e-07, "model_forward_time": 5.27445912361145, "step": 9011 }, { "epoch": 8.593559265136719e-07, "step": 9011, "training_step_time": 17.3769850730896 }, { "epoch": 8.594512939453125e-07, "model_forward_time": 5.083202600479126, "step": 9012 }, { "epoch": 8.594512939453125e-07, "step": 9012, "training_step_time": 17.50669288635254 }, { "epoch": 8.595466613769531e-07, "model_forward_time": 5.086933374404907, "step": 9013 }, { "epoch": 8.595466613769531e-07, "step": 9013, "training_step_time": 17.534887313842773 }, { "epoch": 8.596420288085937e-07, "model_forward_time": 5.082063913345337, "step": 9014 }, { "epoch": 8.596420288085937e-07, "step": 9014, "training_step_time": 17.5606529712677 }, { "epoch": 8.597373962402343e-07, "model_forward_time": 5.082537412643433, "step": 9015 }, { "epoch": 8.597373962402343e-07, "step": 9015, "training_step_time": 17.796212196350098 }, { "epoch": 8.59832763671875e-07, "model_forward_time": 5.321619987487793, "step": 9016 }, { "epoch": 8.59832763671875e-07, "step": 9016, "training_step_time": 17.562994241714478 }, { "epoch": 8.599281311035156e-07, "model_forward_time": 3.849005699157715, "step": 9017 }, { "epoch": 8.599281311035156e-07, "step": 9017, "training_step_time": 17.57109546661377 }, { "epoch": 8.600234985351563e-07, "model_forward_time": 5.06042218208313, "step": 9018 }, { "epoch": 8.600234985351563e-07, "step": 9018, "training_step_time": 17.579694509506226 }, { "epoch": 8.601188659667969e-07, "model_forward_time": 5.066706895828247, "step": 9019 }, { "epoch": 8.601188659667969e-07, "step": 9019, "training_step_time": 17.62102746963501 }, { "epoch": 8.602142333984375e-07, "grad_norm": 1.6639180183410645, "learning_rate": 9.831012103399073e-06, "loss": 0.1341, "step": 9020 }, { "epoch": 8.602142333984375e-07, "model_forward_time": 5.073833227157593, "step": 9020 }, { "dynamics_loss_avg": 0.04654995948076248, "epoch": 8.602142333984375e-07, "step": 9020 }, { "action_loss_avg": 0.09458701852709055, "epoch": 8.602142333984375e-07, "step": 9020 }, { "arm_loss_avg": 0.17100727185606956, "epoch": 8.602142333984375e-07, "step": 9020 }, { "ee_loss_avg": 0.11963932309299707, "epoch": 8.602142333984375e-07, "step": 9020 }, { "aux_loss_avg": 0.002981724531855434, "epoch": 8.602142333984375e-07, "step": 9020 }, { "epoch": 8.602142333984375e-07, "step": 9020, "training_step_time": 17.77298355102539 }, { "epoch": 8.603096008300781e-07, "model_forward_time": 5.082964181900024, "step": 9021 }, { "epoch": 8.603096008300781e-07, "step": 9021, "training_step_time": 17.572707891464233 }, { "epoch": 8.604049682617188e-07, "model_forward_time": 5.314068794250488, "step": 9022 }, { "epoch": 8.604049682617188e-07, "step": 9022, "training_step_time": 17.561216115951538 }, { "epoch": 8.605003356933594e-07, "model_forward_time": 5.0956034660339355, "step": 9023 }, { "epoch": 8.605003356933594e-07, "step": 9023, "training_step_time": 17.568355321884155 }, { "epoch": 8.60595703125e-07, "model_forward_time": 5.09623646736145, "step": 9024 }, { "epoch": 8.60595703125e-07, "step": 9024, "training_step_time": 17.783018112182617 }, { "epoch": 8.606910705566406e-07, "model_forward_time": 5.093673229217529, "step": 9025 }, { "epoch": 8.606910705566406e-07, "step": 9025, "training_step_time": 17.566431999206543 }, { "epoch": 8.607864379882812e-07, "model_forward_time": 3.853708028793335, "step": 9026 }, { "epoch": 8.607864379882812e-07, "step": 9026, "training_step_time": 17.56413698196411 }, { "epoch": 8.608818054199218e-07, "model_forward_time": 5.297523498535156, "step": 9027 }, { "epoch": 8.608818054199218e-07, "step": 9027, "training_step_time": 17.565361499786377 }, { "epoch": 8.609771728515625e-07, "model_forward_time": 5.071817398071289, "step": 9028 }, { "epoch": 8.609771728515625e-07, "step": 9028, "training_step_time": 17.568928241729736 }, { "epoch": 8.610725402832032e-07, "model_forward_time": 5.073250770568848, "step": 9029 }, { "epoch": 8.610725402832032e-07, "step": 9029, "training_step_time": 17.758727550506592 }, { "epoch": 8.611679077148438e-07, "grad_norm": 1.5380491018295288, "learning_rate": 9.830402651472314e-06, "loss": 0.1313, "step": 9030 }, { "epoch": 8.611679077148438e-07, "model_forward_time": 5.0829758644104, "step": 9030 }, { "dynamics_loss_avg": 0.04891111785545945, "epoch": 8.611679077148438e-07, "step": 9030 }, { "action_loss_avg": 0.09817370511591435, "epoch": 8.611679077148438e-07, "step": 9030 }, { "arm_loss_avg": 0.17998524568974972, "epoch": 8.611679077148438e-07, "step": 9030 }, { "ee_loss_avg": 0.11218635998666286, "epoch": 8.611679077148438e-07, "step": 9030 }, { "aux_loss_avg": 0.0046439746394753454, "epoch": 8.611679077148438e-07, "step": 9030 }, { "epoch": 8.611679077148438e-07, "step": 9030, "training_step_time": 17.55697751045227 }, { "epoch": 8.612632751464844e-07, "model_forward_time": 5.087941884994507, "step": 9031 }, { "epoch": 8.612632751464844e-07, "step": 9031, "training_step_time": 17.5525381565094 }, { "epoch": 8.61358642578125e-07, "model_forward_time": 5.092166185379028, "step": 9032 }, { "epoch": 8.61358642578125e-07, "step": 9032, "training_step_time": 17.555598497390747 }, { "epoch": 8.614540100097656e-07, "model_forward_time": 5.091953992843628, "step": 9033 }, { "epoch": 8.614540100097656e-07, "step": 9033, "training_step_time": 17.562960624694824 }, { "epoch": 8.615493774414062e-07, "model_forward_time": 5.092846870422363, "step": 9034 }, { "epoch": 8.615493774414062e-07, "step": 9034, "training_step_time": 17.80473828315735 }, { "epoch": 8.616447448730468e-07, "model_forward_time": 5.086832284927368, "step": 9035 }, { "epoch": 8.616447448730468e-07, "step": 9035, "training_step_time": 17.357022762298584 }, { "epoch": 8.617401123046875e-07, "model_forward_time": 5.334191083908081, "step": 9036 }, { "epoch": 8.617401123046875e-07, "step": 9036, "training_step_time": 17.441876649856567 }, { "epoch": 8.618354797363281e-07, "model_forward_time": 5.08582329750061, "step": 9037 }, { "epoch": 8.618354797363281e-07, "step": 9037, "training_step_time": 17.423043727874756 }, { "epoch": 8.619308471679688e-07, "model_forward_time": 5.085515737533569, "step": 9038 }, { "epoch": 8.619308471679688e-07, "step": 9038, "training_step_time": 17.489153146743774 }, { "epoch": 8.620262145996094e-07, "model_forward_time": 5.080610513687134, "step": 9039 }, { "epoch": 8.620262145996094e-07, "step": 9039, "training_step_time": 17.615869522094727 }, { "epoch": 8.6212158203125e-07, "grad_norm": 2.0760715007781982, "learning_rate": 9.829792121493378e-06, "loss": 0.1202, "step": 9040 }, { "epoch": 8.6212158203125e-07, "model_forward_time": 5.077517986297607, "step": 9040 }, { "dynamics_loss_avg": 0.05142552256584167, "epoch": 8.6212158203125e-07, "step": 9040 }, { "action_loss_avg": 0.08445077035576105, "epoch": 8.6212158203125e-07, "step": 9040 }, { "arm_loss_avg": 0.17373785078525544, "epoch": 8.6212158203125e-07, "step": 9040 }, { "ee_loss_avg": 0.10579424798488617, "epoch": 8.6212158203125e-07, "step": 9040 }, { "aux_loss_avg": 0.018621897022239865, "epoch": 8.6212158203125e-07, "step": 9040 }, { "epoch": 8.6212158203125e-07, "step": 9040, "training_step_time": 17.386082410812378 }, { "epoch": 8.622169494628906e-07, "model_forward_time": 3.8440096378326416, "step": 9041 }, { "epoch": 8.622169494628906e-07, "step": 9041, "training_step_time": 17.513006448745728 }, { "epoch": 8.623123168945313e-07, "model_forward_time": 5.285902976989746, "step": 9042 }, { "epoch": 8.623123168945313e-07, "step": 9042, "training_step_time": 17.57122492790222 }, { "epoch": 8.624076843261719e-07, "model_forward_time": 5.065779685974121, "step": 9043 }, { "epoch": 8.624076843261719e-07, "step": 9043, "training_step_time": 17.588587999343872 }, { "epoch": 8.625030517578125e-07, "model_forward_time": 5.073686361312866, "step": 9044 }, { "epoch": 8.625030517578125e-07, "step": 9044, "training_step_time": 17.603890419006348 }, { "epoch": 8.625984191894531e-07, "model_forward_time": 5.08185076713562, "step": 9045 }, { "epoch": 8.625984191894531e-07, "step": 9045, "training_step_time": 17.36232852935791 }, { "epoch": 8.626937866210937e-07, "model_forward_time": 5.088595867156982, "step": 9046 }, { "epoch": 8.626937866210937e-07, "step": 9046, "training_step_time": 17.52585530281067 }, { "epoch": 8.627891540527343e-07, "model_forward_time": 5.092414855957031, "step": 9047 }, { "epoch": 8.627891540527343e-07, "step": 9047, "training_step_time": 17.557544946670532 }, { "epoch": 8.62884521484375e-07, "model_forward_time": 5.092442750930786, "step": 9048 }, { "epoch": 8.62884521484375e-07, "step": 9048, "training_step_time": 17.57603359222412 }, { "epoch": 8.629798889160157e-07, "model_forward_time": 5.09400749206543, "step": 9049 }, { "epoch": 8.629798889160157e-07, "step": 9049, "training_step_time": 17.568073511123657 }, { "epoch": 8.630752563476563e-07, "grad_norm": 2.2221522331237793, "learning_rate": 9.829180513598523e-06, "loss": 0.1274, "step": 9050 }, { "epoch": 8.630752563476563e-07, "model_forward_time": 5.091689586639404, "step": 9050 }, { "dynamics_loss_avg": 0.04519046451896429, "epoch": 8.630752563476563e-07, "step": 9050 }, { "action_loss_avg": 0.06966275293380023, "epoch": 8.630752563476563e-07, "step": 9050 }, { "arm_loss_avg": 0.13130851909518243, "epoch": 8.630752563476563e-07, "step": 9050 }, { "ee_loss_avg": 0.08226356087252498, "epoch": 8.630752563476563e-07, "step": 9050 }, { "aux_loss_avg": 0.0016910196747630835, "epoch": 8.630752563476563e-07, "step": 9050 }, { "epoch": 8.630752563476563e-07, "step": 9050, "training_step_time": 17.565458059310913 }, { "epoch": 8.631706237792969e-07, "model_forward_time": 5.084966421127319, "step": 9051 }, { "epoch": 8.631706237792969e-07, "step": 9051, "training_step_time": 17.48803162574768 }, { "epoch": 8.632659912109375e-07, "model_forward_time": 5.0864551067352295, "step": 9052 }, { "epoch": 8.632659912109375e-07, "step": 9052, "training_step_time": 17.535923719406128 }, { "epoch": 8.633613586425781e-07, "model_forward_time": 5.081660509109497, "step": 9053 }, { "epoch": 8.633613586425781e-07, "step": 9053, "training_step_time": 17.388038396835327 }, { "epoch": 8.634567260742187e-07, "model_forward_time": 5.0802083015441895, "step": 9054 }, { "epoch": 8.634567260742187e-07, "step": 9054, "training_step_time": 17.590911149978638 }, { "epoch": 8.635520935058593e-07, "model_forward_time": 5.080540418624878, "step": 9055 }, { "epoch": 8.635520935058593e-07, "step": 9055, "training_step_time": 17.75512433052063 }, { "epoch": 8.636474609375e-07, "model_forward_time": 5.363279342651367, "step": 9056 }, { "epoch": 8.636474609375e-07, "step": 9056, "training_step_time": 17.594128131866455 }, { "epoch": 8.637428283691406e-07, "model_forward_time": 5.107100248336792, "step": 9057 }, { "epoch": 8.637428283691406e-07, "step": 9057, "training_step_time": 17.5956871509552 }, { "epoch": 8.638381958007813e-07, "model_forward_time": 5.0977842807769775, "step": 9058 }, { "epoch": 8.638381958007813e-07, "step": 9058, "training_step_time": 17.61886501312256 }, { "epoch": 8.639335632324219e-07, "model_forward_time": 5.086548089981079, "step": 9059 }, { "epoch": 8.639335632324219e-07, "step": 9059, "training_step_time": 17.602144956588745 }, { "epoch": 8.640289306640625e-07, "grad_norm": 2.276087522506714, "learning_rate": 9.82856782792425e-06, "loss": 0.1311, "step": 9060 }, { "epoch": 8.640289306640625e-07, "model_forward_time": 3.8494136333465576, "step": 9060 }, { "dynamics_loss_avg": 0.05598335918039084, "epoch": 8.640289306640625e-07, "step": 9060 }, { "action_loss_avg": 0.09417763352394104, "epoch": 8.640289306640625e-07, "step": 9060 }, { "arm_loss_avg": 0.13675963021814824, "epoch": 8.640289306640625e-07, "step": 9060 }, { "ee_loss_avg": 0.07706068735569715, "epoch": 8.640289306640625e-07, "step": 9060 }, { "aux_loss_avg": 0.0011445927200838923, "epoch": 8.640289306640625e-07, "step": 9060 }, { "epoch": 8.640289306640625e-07, "step": 9060, "training_step_time": 17.778509616851807 }, { "epoch": 8.641242980957031e-07, "model_forward_time": 5.0546629428863525, "step": 9061 }, { "epoch": 8.641242980957031e-07, "step": 9061, "training_step_time": 17.583906173706055 }, { "epoch": 8.642196655273438e-07, "model_forward_time": 4.079010725021362, "step": 9062 }, { "epoch": 8.642196655273438e-07, "step": 9062, "training_step_time": 17.578383684158325 }, { "epoch": 8.643150329589844e-07, "model_forward_time": 5.06743311882019, "step": 9063 }, { "epoch": 8.643150329589844e-07, "step": 9063, "training_step_time": 17.584871530532837 }, { "epoch": 8.64410400390625e-07, "model_forward_time": 3.8409264087677, "step": 9064 }, { "epoch": 8.64410400390625e-07, "step": 9064, "training_step_time": 17.571932315826416 }, { "epoch": 8.645057678222656e-07, "model_forward_time": 5.057132959365845, "step": 9065 }, { "epoch": 8.645057678222656e-07, "step": 9065, "training_step_time": 17.779350519180298 }, { "epoch": 8.646011352539062e-07, "model_forward_time": 5.076821565628052, "step": 9066 }, { "epoch": 8.646011352539062e-07, "step": 9066, "training_step_time": 17.56110191345215 }, { "epoch": 8.646965026855468e-07, "model_forward_time": 5.457895517349243, "step": 9067 }, { "epoch": 8.646965026855468e-07, "step": 9067, "training_step_time": 17.637750148773193 }, { "epoch": 8.647918701171875e-07, "model_forward_time": 5.139242649078369, "step": 9068 }, { "epoch": 8.647918701171875e-07, "step": 9068, "training_step_time": 17.616549730300903 }, { "epoch": 8.648872375488282e-07, "model_forward_time": 5.152037143707275, "step": 9069 }, { "epoch": 8.648872375488282e-07, "step": 9069, "training_step_time": 17.78201913833618 }, { "epoch": 8.649826049804688e-07, "grad_norm": 2.6919853687286377, "learning_rate": 9.8279540646073e-06, "loss": 0.1157, "step": 9070 }, { "epoch": 8.649826049804688e-07, "model_forward_time": 5.097048997879028, "step": 9070 }, { "dynamics_loss_avg": 0.0426027849316597, "epoch": 8.649826049804688e-07, "step": 9070 }, { "action_loss_avg": 0.06621309854090214, "epoch": 8.649826049804688e-07, "step": 9070 }, { "arm_loss_avg": 0.10577514357864856, "epoch": 8.649826049804688e-07, "step": 9070 }, { "ee_loss_avg": 0.1555106452666223, "epoch": 8.649826049804688e-07, "step": 9070 }, { "aux_loss_avg": 0.0018466801499016582, "epoch": 8.649826049804688e-07, "step": 9070 }, { "epoch": 8.649826049804688e-07, "step": 9070, "training_step_time": 17.752405643463135 }, { "epoch": 8.650779724121094e-07, "model_forward_time": 5.085400342941284, "step": 9071 }, { "epoch": 8.650779724121094e-07, "step": 9071, "training_step_time": 17.572315454483032 }, { "epoch": 8.6517333984375e-07, "model_forward_time": 5.272936820983887, "step": 9072 }, { "epoch": 8.6517333984375e-07, "step": 9072, "training_step_time": 17.530497550964355 }, { "epoch": 8.652687072753906e-07, "model_forward_time": 5.077234983444214, "step": 9073 }, { "epoch": 8.652687072753906e-07, "step": 9073, "training_step_time": 17.573283195495605 }, { "epoch": 8.653640747070312e-07, "model_forward_time": 5.078099250793457, "step": 9074 }, { "epoch": 8.653640747070312e-07, "step": 9074, "training_step_time": 17.574706554412842 }, { "epoch": 8.654594421386718e-07, "model_forward_time": 5.074969291687012, "step": 9075 }, { "epoch": 8.654594421386718e-07, "step": 9075, "training_step_time": 17.803133010864258 }, { "epoch": 8.655548095703125e-07, "model_forward_time": 5.0745627880096436, "step": 9076 }, { "epoch": 8.655548095703125e-07, "step": 9076, "training_step_time": 17.566760778427124 }, { "epoch": 8.656501770019531e-07, "model_forward_time": 5.087877035140991, "step": 9077 }, { "epoch": 8.656501770019531e-07, "step": 9077, "training_step_time": 17.581693172454834 }, { "epoch": 8.657455444335938e-07, "model_forward_time": 5.095099210739136, "step": 9078 }, { "epoch": 8.657455444335938e-07, "step": 9078, "training_step_time": 17.588661193847656 }, { "epoch": 8.658409118652344e-07, "model_forward_time": 5.10373330116272, "step": 9079 }, { "epoch": 8.658409118652344e-07, "step": 9079, "training_step_time": 17.842965364456177 }, { "epoch": 8.65936279296875e-07, "grad_norm": 1.6422039270401, "learning_rate": 9.827339223784646e-06, "loss": 0.1081, "step": 9080 }, { "epoch": 8.65936279296875e-07, "model_forward_time": 5.102794170379639, "step": 9080 }, { "dynamics_loss_avg": 0.03790704198181629, "epoch": 8.65936279296875e-07, "step": 9080 }, { "action_loss_avg": 0.08379743136465549, "epoch": 8.65936279296875e-07, "step": 9080 }, { "arm_loss_avg": 0.1642063021659851, "epoch": 8.65936279296875e-07, "step": 9080 }, { "ee_loss_avg": 0.04899902478791773, "epoch": 8.65936279296875e-07, "step": 9080 }, { "aux_loss_avg": 0.0008162779675330966, "epoch": 8.65936279296875e-07, "step": 9080 }, { "epoch": 8.65936279296875e-07, "step": 9080, "training_step_time": 17.58612322807312 }, { "epoch": 8.660316467285156e-07, "model_forward_time": 5.305263996124268, "step": 9081 }, { "epoch": 8.660316467285156e-07, "step": 9081, "training_step_time": 17.560304641723633 }, { "epoch": 8.661270141601563e-07, "model_forward_time": 5.089128732681274, "step": 9082 }, { "epoch": 8.661270141601563e-07, "step": 9082, "training_step_time": 17.563248872756958 }, { "epoch": 8.662223815917969e-07, "model_forward_time": 5.0847556591033936, "step": 9083 }, { "epoch": 8.662223815917969e-07, "step": 9083, "training_step_time": 17.56027317047119 }, { "epoch": 8.663177490234375e-07, "model_forward_time": 3.8488125801086426, "step": 9084 }, { "epoch": 8.663177490234375e-07, "step": 9084, "training_step_time": 17.602186918258667 }, { "epoch": 8.664131164550781e-07, "model_forward_time": 5.063218832015991, "step": 9085 }, { "epoch": 8.664131164550781e-07, "step": 9085, "training_step_time": 17.803649187088013 }, { "epoch": 8.665084838867187e-07, "model_forward_time": 5.064661026000977, "step": 9086 }, { "epoch": 8.665084838867187e-07, "step": 9086, "training_step_time": 17.557891130447388 }, { "epoch": 8.666038513183593e-07, "model_forward_time": 5.3044421672821045, "step": 9087 }, { "epoch": 8.666038513183593e-07, "step": 9087, "training_step_time": 17.555683374404907 }, { "epoch": 8.6669921875e-07, "model_forward_time": 5.089698076248169, "step": 9088 }, { "epoch": 8.6669921875e-07, "step": 9088, "training_step_time": 17.444738388061523 }, { "epoch": 8.667945861816407e-07, "model_forward_time": 5.089586973190308, "step": 9089 }, { "epoch": 8.667945861816407e-07, "step": 9089, "training_step_time": 17.586774349212646 }, { "epoch": 8.668899536132813e-07, "grad_norm": 1.4912956953048706, "learning_rate": 9.826723305593516e-06, "loss": 0.1111, "step": 9090 }, { "epoch": 8.668899536132813e-07, "model_forward_time": 5.095195055007935, "step": 9090 }, { "dynamics_loss_avg": 0.04907655511051416, "epoch": 8.668899536132813e-07, "step": 9090 }, { "action_loss_avg": 0.10751240942627191, "epoch": 8.668899536132813e-07, "step": 9090 }, { "arm_loss_avg": 0.13606979846954345, "epoch": 8.668899536132813e-07, "step": 9090 }, { "ee_loss_avg": 0.06621114891022443, "epoch": 8.668899536132813e-07, "step": 9090 }, { "aux_loss_avg": 0.0015688473009504377, "epoch": 8.668899536132813e-07, "step": 9090 }, { "epoch": 8.668899536132813e-07, "step": 9090, "training_step_time": 17.692950963974 }, { "epoch": 8.669853210449219e-07, "model_forward_time": 5.089148998260498, "step": 9091 }, { "epoch": 8.669853210449219e-07, "step": 9091, "training_step_time": 17.534782648086548 }, { "epoch": 8.670806884765625e-07, "model_forward_time": 5.284688234329224, "step": 9092 }, { "epoch": 8.670806884765625e-07, "step": 9092, "training_step_time": 17.554221391677856 }, { "epoch": 8.671760559082031e-07, "model_forward_time": 5.091509580612183, "step": 9093 }, { "epoch": 8.671760559082031e-07, "step": 9093, "training_step_time": 17.572367429733276 }, { "epoch": 8.672714233398437e-07, "model_forward_time": 5.089346408843994, "step": 9094 }, { "epoch": 8.672714233398437e-07, "step": 9094, "training_step_time": 17.58367109298706 }, { "epoch": 8.673667907714844e-07, "model_forward_time": 5.08589243888855, "step": 9095 }, { "epoch": 8.673667907714844e-07, "step": 9095, "training_step_time": 17.835917711257935 }, { "epoch": 8.67462158203125e-07, "model_forward_time": 5.08182954788208, "step": 9096 }, { "epoch": 8.67462158203125e-07, "step": 9096, "training_step_time": 17.593121767044067 }, { "epoch": 8.675575256347656e-07, "model_forward_time": 5.080163240432739, "step": 9097 }, { "epoch": 8.675575256347656e-07, "step": 9097, "training_step_time": 17.589866161346436 }, { "epoch": 8.676528930664063e-07, "model_forward_time": 5.079954385757446, "step": 9098 }, { "epoch": 8.676528930664063e-07, "step": 9098, "training_step_time": 17.466689825057983 }, { "epoch": 8.677482604980469e-07, "model_forward_time": 5.078948497772217, "step": 9099 }, { "epoch": 8.677482604980469e-07, "step": 9099, "training_step_time": 17.707711935043335 }, { "epoch": 8.678436279296875e-07, "grad_norm": 1.415894865989685, "learning_rate": 9.826106310171367e-06, "loss": 0.116, "step": 9100 }, { "epoch": 8.678436279296875e-07, "model_forward_time": 5.075856447219849, "step": 9100 }, { "dynamics_loss_avg": 0.04348569754511118, "epoch": 8.678436279296875e-07, "step": 9100 }, { "action_loss_avg": 0.08387584649026394, "epoch": 8.678436279296875e-07, "step": 9100 }, { "arm_loss_avg": 0.17016527131199838, "epoch": 8.678436279296875e-07, "step": 9100 }, { "ee_loss_avg": 0.13940275721251966, "epoch": 8.678436279296875e-07, "step": 9100 }, { "aux_loss_avg": 0.004464931617258116, "epoch": 8.678436279296875e-07, "step": 9100 }, { "epoch": 8.678436279296875e-07, "step": 9100, "training_step_time": 17.623736143112183 }, { "epoch": 8.679389953613281e-07, "model_forward_time": 5.283377170562744, "step": 9101 }, { "epoch": 8.679389953613281e-07, "step": 9101, "training_step_time": 17.543925523757935 }, { "epoch": 8.680343627929688e-07, "model_forward_time": 5.079664707183838, "step": 9102 }, { "epoch": 8.680343627929688e-07, "step": 9102, "training_step_time": 17.55970335006714 }, { "epoch": 8.681297302246094e-07, "model_forward_time": 5.072450637817383, "step": 9103 }, { "epoch": 8.681297302246094e-07, "step": 9103, "training_step_time": 17.572349071502686 }, { "epoch": 8.6822509765625e-07, "model_forward_time": 5.079504013061523, "step": 9104 }, { "epoch": 8.6822509765625e-07, "step": 9104, "training_step_time": 17.826119422912598 }, { "epoch": 8.683204650878906e-07, "model_forward_time": 5.074953079223633, "step": 9105 }, { "epoch": 8.683204650878906e-07, "step": 9105, "training_step_time": 17.587357997894287 }, { "epoch": 8.684158325195312e-07, "model_forward_time": 5.077098369598389, "step": 9106 }, { "epoch": 8.684158325195312e-07, "step": 9106, "training_step_time": 17.595929861068726 }, { "epoch": 8.685111999511718e-07, "model_forward_time": 3.8510823249816895, "step": 9107 }, { "epoch": 8.685111999511718e-07, "step": 9107, "training_step_time": 17.36807155609131 }, { "epoch": 8.686065673828126e-07, "model_forward_time": 5.056250810623169, "step": 9108 }, { "epoch": 8.686065673828126e-07, "step": 9108, "training_step_time": 17.509376049041748 }, { "epoch": 8.687019348144532e-07, "model_forward_time": 5.062686920166016, "step": 9109 }, { "epoch": 8.687019348144532e-07, "step": 9109, "training_step_time": 17.587707996368408 }, { "epoch": 8.687973022460938e-07, "grad_norm": 1.8239154815673828, "learning_rate": 9.8254882376559e-06, "loss": 0.1092, "step": 9110 }, { "epoch": 8.687973022460938e-07, "model_forward_time": 5.071120977401733, "step": 9110 }, { "dynamics_loss_avg": 0.04080302193760872, "epoch": 8.687973022460938e-07, "step": 9110 }, { "action_loss_avg": 0.08031237311661243, "epoch": 8.687973022460938e-07, "step": 9110 }, { "arm_loss_avg": 0.17556037269532682, "epoch": 8.687973022460938e-07, "step": 9110 }, { "ee_loss_avg": 0.12553876405581832, "epoch": 8.687973022460938e-07, "step": 9110 }, { "aux_loss_avg": 0.01014674540492706, "epoch": 8.687973022460938e-07, "step": 9110 }, { "epoch": 8.687973022460938e-07, "step": 9110, "training_step_time": 17.739408016204834 }, { "epoch": 8.688926696777344e-07, "model_forward_time": 5.082376480102539, "step": 9111 }, { "epoch": 8.688926696777344e-07, "step": 9111, "training_step_time": 17.558027267456055 }, { "epoch": 8.68988037109375e-07, "model_forward_time": 3.8496456146240234, "step": 9112 }, { "epoch": 8.68988037109375e-07, "step": 9112, "training_step_time": 17.57333755493164 }, { "epoch": 8.690834045410156e-07, "model_forward_time": 5.057868957519531, "step": 9113 }, { "epoch": 8.690834045410156e-07, "step": 9113, "training_step_time": 17.451162338256836 }, { "epoch": 8.691787719726562e-07, "model_forward_time": 3.8400166034698486, "step": 9114 }, { "epoch": 8.691787719726562e-07, "step": 9114, "training_step_time": 17.55434799194336 }, { "epoch": 8.692741394042969e-07, "model_forward_time": 5.0568764209747314, "step": 9115 }, { "epoch": 8.692741394042969e-07, "step": 9115, "training_step_time": 17.776625394821167 }, { "epoch": 8.693695068359375e-07, "model_forward_time": 3.845790147781372, "step": 9116 }, { "epoch": 8.693695068359375e-07, "step": 9116, "training_step_time": 17.58836841583252 }, { "epoch": 8.694648742675781e-07, "model_forward_time": 5.319509744644165, "step": 9117 }, { "epoch": 8.694648742675781e-07, "step": 9117, "training_step_time": 17.591071605682373 }, { "epoch": 8.695602416992188e-07, "model_forward_time": 5.086514472961426, "step": 9118 }, { "epoch": 8.695602416992188e-07, "step": 9118, "training_step_time": 17.61427640914917 }, { "epoch": 8.696556091308594e-07, "model_forward_time": 5.106870651245117, "step": 9119 }, { "epoch": 8.696556091308594e-07, "step": 9119, "training_step_time": 17.60171103477478 }, { "epoch": 8.697509765625e-07, "grad_norm": 2.5526795387268066, "learning_rate": 9.82486908818506e-06, "loss": 0.116, "step": 9120 }, { "epoch": 8.697509765625e-07, "model_forward_time": 5.099379062652588, "step": 9120 }, { "dynamics_loss_avg": 0.052046345360577104, "epoch": 8.697509765625e-07, "step": 9120 }, { "action_loss_avg": 0.07565138563513756, "epoch": 8.697509765625e-07, "step": 9120 }, { "arm_loss_avg": 0.11140024699270726, "epoch": 8.697509765625e-07, "step": 9120 }, { "ee_loss_avg": 0.06717657465487718, "epoch": 8.697509765625e-07, "step": 9120 }, { "aux_loss_avg": 0.0012726607150398196, "epoch": 8.697509765625e-07, "step": 9120 }, { "epoch": 8.697509765625e-07, "step": 9120, "training_step_time": 18.443812608718872 }, { "epoch": 8.698463439941406e-07, "model_forward_time": 5.093970537185669, "step": 9121 }, { "epoch": 8.698463439941406e-07, "step": 9121, "training_step_time": 17.58663034439087 }, { "epoch": 8.699417114257813e-07, "model_forward_time": 5.282505750656128, "step": 9122 }, { "epoch": 8.699417114257813e-07, "step": 9122, "training_step_time": 17.591124534606934 }, { "epoch": 8.700370788574219e-07, "model_forward_time": 5.095592737197876, "step": 9123 }, { "epoch": 8.700370788574219e-07, "step": 9123, "training_step_time": 17.553372383117676 }, { "epoch": 8.701324462890625e-07, "model_forward_time": 5.088940620422363, "step": 9124 }, { "epoch": 8.701324462890625e-07, "step": 9124, "training_step_time": 17.816309928894043 }, { "epoch": 8.702278137207031e-07, "model_forward_time": 5.082392454147339, "step": 9125 }, { "epoch": 8.702278137207031e-07, "step": 9125, "training_step_time": 17.59026026725769 }, { "epoch": 8.703231811523437e-07, "model_forward_time": 5.083430528640747, "step": 9126 }, { "epoch": 8.703231811523437e-07, "step": 9126, "training_step_time": 17.590856075286865 }, { "epoch": 8.704185485839843e-07, "model_forward_time": 5.323531627655029, "step": 9127 }, { "epoch": 8.704185485839843e-07, "step": 9127, "training_step_time": 17.594410181045532 }, { "epoch": 8.70513916015625e-07, "model_forward_time": 5.079763174057007, "step": 9128 }, { "epoch": 8.70513916015625e-07, "step": 9128, "training_step_time": 17.580474376678467 }, { "epoch": 8.706092834472657e-07, "model_forward_time": 5.076556444168091, "step": 9129 }, { "epoch": 8.706092834472657e-07, "step": 9129, "training_step_time": 17.773938417434692 }, { "epoch": 8.707046508789063e-07, "grad_norm": 1.36691415309906, "learning_rate": 9.824248861897025e-06, "loss": 0.1131, "step": 9130 }, { "epoch": 8.707046508789063e-07, "model_forward_time": 5.076228857040405, "step": 9130 }, { "dynamics_loss_avg": 0.04658065121620893, "epoch": 8.707046508789063e-07, "step": 9130 }, { "action_loss_avg": 0.08290908094495535, "epoch": 8.707046508789063e-07, "step": 9130 }, { "arm_loss_avg": 0.12447671219706535, "epoch": 8.707046508789063e-07, "step": 9130 }, { "ee_loss_avg": 0.05930776461027563, "epoch": 8.707046508789063e-07, "step": 9130 }, { "aux_loss_avg": 0.006099074130179361, "epoch": 8.707046508789063e-07, "step": 9130 }, { "epoch": 8.707046508789063e-07, "step": 9130, "training_step_time": 17.582981824874878 }, { "epoch": 8.708000183105469e-07, "model_forward_time": 5.076786279678345, "step": 9131 }, { "epoch": 8.708000183105469e-07, "step": 9131, "training_step_time": 17.56604790687561 }, { "epoch": 8.708953857421875e-07, "model_forward_time": 5.283964395523071, "step": 9132 }, { "epoch": 8.708953857421875e-07, "step": 9132, "training_step_time": 17.567439794540405 }, { "epoch": 8.709907531738281e-07, "model_forward_time": 5.0833680629730225, "step": 9133 }, { "epoch": 8.709907531738281e-07, "step": 9133, "training_step_time": 17.570403575897217 }, { "epoch": 8.710861206054687e-07, "model_forward_time": 5.080492973327637, "step": 9134 }, { "epoch": 8.710861206054687e-07, "step": 9134, "training_step_time": 17.808257579803467 }, { "epoch": 8.711814880371094e-07, "model_forward_time": 3.8463315963745117, "step": 9135 }, { "epoch": 8.711814880371094e-07, "step": 9135, "training_step_time": 17.57859516143799 }, { "epoch": 8.7127685546875e-07, "model_forward_time": 5.055434942245483, "step": 9136 }, { "epoch": 8.7127685546875e-07, "step": 9136, "training_step_time": 17.572500944137573 }, { "epoch": 8.713722229003906e-07, "model_forward_time": 5.319394826889038, "step": 9137 }, { "epoch": 8.713722229003906e-07, "step": 9137, "training_step_time": 17.58749485015869 }, { "epoch": 8.714675903320312e-07, "model_forward_time": 5.0974860191345215, "step": 9138 }, { "epoch": 8.714675903320312e-07, "step": 9138, "training_step_time": 17.591708660125732 }, { "epoch": 8.715629577636719e-07, "model_forward_time": 5.097491025924683, "step": 9139 }, { "epoch": 8.715629577636719e-07, "step": 9139, "training_step_time": 17.809975147247314 }, { "epoch": 8.716583251953125e-07, "grad_norm": 2.6367149353027344, "learning_rate": 9.823627558930222e-06, "loss": 0.1247, "step": 9140 }, { "epoch": 8.716583251953125e-07, "model_forward_time": 3.8636257648468018, "step": 9140 }, { "dynamics_loss_avg": 0.05749490801244974, "epoch": 8.716583251953125e-07, "step": 9140 }, { "action_loss_avg": 0.10014312677085399, "epoch": 8.716583251953125e-07, "step": 9140 }, { "arm_loss_avg": 0.15358172208070756, "epoch": 8.716583251953125e-07, "step": 9140 }, { "ee_loss_avg": 0.0789175717625767, "epoch": 8.716583251953125e-07, "step": 9140 }, { "aux_loss_avg": 0.002385412430157885, "epoch": 8.716583251953125e-07, "step": 9140 }, { "epoch": 8.716583251953125e-07, "step": 9140, "training_step_time": 17.680187463760376 }, { "epoch": 8.717536926269531e-07, "model_forward_time": 5.063979864120483, "step": 9141 }, { "epoch": 8.717536926269531e-07, "step": 9141, "training_step_time": 17.13586187362671 }, { "epoch": 8.718490600585938e-07, "model_forward_time": 5.278600215911865, "step": 9142 }, { "epoch": 8.718490600585938e-07, "step": 9142, "training_step_time": 17.57639741897583 }, { "epoch": 8.719444274902344e-07, "model_forward_time": 5.08327841758728, "step": 9143 }, { "epoch": 8.719444274902344e-07, "step": 9143, "training_step_time": 17.392070531845093 }, { "epoch": 8.72039794921875e-07, "model_forward_time": 5.09564208984375, "step": 9144 }, { "epoch": 8.72039794921875e-07, "step": 9144, "training_step_time": 17.701934337615967 }, { "epoch": 8.721351623535156e-07, "model_forward_time": 5.093763828277588, "step": 9145 }, { "epoch": 8.721351623535156e-07, "step": 9145, "training_step_time": 17.564889907836914 }, { "epoch": 8.722305297851562e-07, "model_forward_time": 5.096472978591919, "step": 9146 }, { "epoch": 8.722305297851562e-07, "step": 9146, "training_step_time": 17.559531450271606 }, { "epoch": 8.723258972167968e-07, "model_forward_time": 5.32414698600769, "step": 9147 }, { "epoch": 8.723258972167968e-07, "step": 9147, "training_step_time": 17.604297876358032 }, { "epoch": 8.724212646484374e-07, "model_forward_time": 5.102572202682495, "step": 9148 }, { "epoch": 8.724212646484374e-07, "step": 9148, "training_step_time": 17.613839864730835 }, { "epoch": 8.725166320800782e-07, "model_forward_time": 5.083065986633301, "step": 9149 }, { "epoch": 8.725166320800782e-07, "step": 9149, "training_step_time": 17.81214141845703 }, { "epoch": 8.726119995117188e-07, "grad_norm": 2.3648934364318848, "learning_rate": 9.823005179423312e-06, "loss": 0.1238, "step": 9150 }, { "epoch": 8.726119995117188e-07, "model_forward_time": 3.8524980545043945, "step": 9150 }, { "dynamics_loss_avg": 0.041502737626433375, "epoch": 8.726119995117188e-07, "step": 9150 }, { "action_loss_avg": 0.08580057062208653, "epoch": 8.726119995117188e-07, "step": 9150 }, { "arm_loss_avg": 0.10243475139141082, "epoch": 8.726119995117188e-07, "step": 9150 }, { "ee_loss_avg": 0.1444025779142976, "epoch": 8.726119995117188e-07, "step": 9150 }, { "aux_loss_avg": 0.0013357477320823819, "epoch": 8.726119995117188e-07, "step": 9150 }, { "epoch": 8.726119995117188e-07, "step": 9150, "training_step_time": 17.598925352096558 }, { "epoch": 8.727073669433594e-07, "model_forward_time": 5.059174537658691, "step": 9151 }, { "epoch": 8.727073669433594e-07, "step": 9151, "training_step_time": 17.611377477645874 }, { "epoch": 8.72802734375e-07, "model_forward_time": 5.254903554916382, "step": 9152 }, { "epoch": 8.72802734375e-07, "step": 9152, "training_step_time": 17.606304168701172 }, { "epoch": 8.728981018066406e-07, "model_forward_time": 3.8402485847473145, "step": 9153 }, { "epoch": 8.728981018066406e-07, "step": 9153, "training_step_time": 17.590657472610474 }, { "epoch": 8.729934692382812e-07, "model_forward_time": 5.0595715045928955, "step": 9154 }, { "epoch": 8.729934692382812e-07, "step": 9154, "training_step_time": 17.627665996551514 }, { "epoch": 8.730888366699219e-07, "model_forward_time": 5.068715810775757, "step": 9155 }, { "epoch": 8.730888366699219e-07, "step": 9155, "training_step_time": 17.732617139816284 }, { "epoch": 8.731842041015625e-07, "model_forward_time": 5.089555978775024, "step": 9156 }, { "epoch": 8.731842041015625e-07, "step": 9156, "training_step_time": 17.559027194976807 }, { "epoch": 8.732795715332031e-07, "model_forward_time": 4.12328314781189, "step": 9157 }, { "epoch": 8.732795715332031e-07, "step": 9157, "training_step_time": 17.591644525527954 }, { "epoch": 8.733749389648437e-07, "model_forward_time": 5.079864978790283, "step": 9158 }, { "epoch": 8.733749389648437e-07, "step": 9158, "training_step_time": 17.600931882858276 }, { "epoch": 8.734703063964844e-07, "model_forward_time": 5.084359884262085, "step": 9159 }, { "epoch": 8.734703063964844e-07, "step": 9159, "training_step_time": 17.64814805984497 }, { "epoch": 8.73565673828125e-07, "grad_norm": 2.280365467071533, "learning_rate": 9.822381723515197e-06, "loss": 0.1039, "step": 9160 }, { "epoch": 8.73565673828125e-07, "model_forward_time": 5.103764057159424, "step": 9160 }, { "dynamics_loss_avg": 0.033863403648138043, "epoch": 8.73565673828125e-07, "step": 9160 }, { "action_loss_avg": 0.08309492245316505, "epoch": 8.73565673828125e-07, "step": 9160 }, { "arm_loss_avg": 0.12317186444997788, "epoch": 8.73565673828125e-07, "step": 9160 }, { "ee_loss_avg": 0.07987694330513477, "epoch": 8.73565673828125e-07, "step": 9160 }, { "aux_loss_avg": 0.0007715026586083695, "epoch": 8.73565673828125e-07, "step": 9160 }, { "epoch": 8.73565673828125e-07, "step": 9160, "training_step_time": 17.840044498443604 }, { "epoch": 8.736610412597656e-07, "model_forward_time": 5.100514650344849, "step": 9161 }, { "epoch": 8.736610412597656e-07, "step": 9161, "training_step_time": 17.61313819885254 }, { "epoch": 8.737564086914063e-07, "model_forward_time": 5.289173603057861, "step": 9162 }, { "epoch": 8.737564086914063e-07, "step": 9162, "training_step_time": 17.61099076271057 }, { "epoch": 8.738517761230469e-07, "model_forward_time": 5.106539249420166, "step": 9163 }, { "epoch": 8.738517761230469e-07, "step": 9163, "training_step_time": 17.62775492668152 }, { "epoch": 8.739471435546875e-07, "model_forward_time": 5.131375789642334, "step": 9164 }, { "epoch": 8.739471435546875e-07, "step": 9164, "training_step_time": 17.9067862033844 }, { "epoch": 8.740425109863281e-07, "model_forward_time": 5.087371349334717, "step": 9165 }, { "epoch": 8.740425109863281e-07, "step": 9165, "training_step_time": 17.600589990615845 }, { "epoch": 8.741378784179687e-07, "model_forward_time": 5.086449146270752, "step": 9166 }, { "epoch": 8.741378784179687e-07, "step": 9166, "training_step_time": 17.59756326675415 }, { "epoch": 8.742332458496093e-07, "model_forward_time": 5.385156631469727, "step": 9167 }, { "epoch": 8.742332458496093e-07, "step": 9167, "training_step_time": 17.646236658096313 }, { "epoch": 8.7432861328125e-07, "model_forward_time": 5.0879998207092285, "step": 9168 }, { "epoch": 8.7432861328125e-07, "step": 9168, "training_step_time": 17.582807302474976 }, { "epoch": 8.744239807128907e-07, "model_forward_time": 3.848207712173462, "step": 9169 }, { "epoch": 8.744239807128907e-07, "step": 9169, "training_step_time": 17.77715301513672 }, { "epoch": 8.745193481445313e-07, "grad_norm": 1.4359631538391113, "learning_rate": 9.821757191345021e-06, "loss": 0.1292, "step": 9170 }, { "epoch": 8.745193481445313e-07, "model_forward_time": 5.064824104309082, "step": 9170 }, { "dynamics_loss_avg": 0.05149923767894506, "epoch": 8.745193481445313e-07, "step": 9170 }, { "action_loss_avg": 0.08809124045073986, "epoch": 8.745193481445313e-07, "step": 9170 }, { "arm_loss_avg": 0.12001010961830616, "epoch": 8.745193481445313e-07, "step": 9170 }, { "ee_loss_avg": 0.10979909915477037, "epoch": 8.745193481445313e-07, "step": 9170 }, { "aux_loss_avg": 0.008861745113972575, "epoch": 8.745193481445313e-07, "step": 9170 }, { "epoch": 8.745193481445313e-07, "step": 9170, "training_step_time": 17.650816440582275 }, { "epoch": 8.746147155761719e-07, "model_forward_time": 5.068150758743286, "step": 9171 }, { "epoch": 8.746147155761719e-07, "step": 9171, "training_step_time": 17.49086308479309 }, { "epoch": 8.747100830078125e-07, "model_forward_time": 4.04511833190918, "step": 9172 }, { "epoch": 8.747100830078125e-07, "step": 9172, "training_step_time": 17.540896892547607 }, { "epoch": 8.748054504394531e-07, "model_forward_time": 3.8333542346954346, "step": 9173 }, { "epoch": 8.748054504394531e-07, "step": 9173, "training_step_time": 17.565237522125244 }, { "epoch": 8.749008178710937e-07, "model_forward_time": 5.055814027786255, "step": 9174 }, { "epoch": 8.749008178710937e-07, "step": 9174, "training_step_time": 17.844175815582275 }, { "epoch": 8.749961853027344e-07, "model_forward_time": 5.070627689361572, "step": 9175 }, { "epoch": 8.749961853027344e-07, "step": 9175, "training_step_time": 17.59294080734253 }, { "epoch": 8.75091552734375e-07, "model_forward_time": 3.8579764366149902, "step": 9176 }, { "epoch": 8.75091552734375e-07, "step": 9176, "training_step_time": 17.588099002838135 }, { "epoch": 8.751869201660156e-07, "model_forward_time": 5.346537828445435, "step": 9177 }, { "epoch": 8.751869201660156e-07, "step": 9177, "training_step_time": 17.625585079193115 }, { "epoch": 8.752822875976562e-07, "model_forward_time": 5.106413841247559, "step": 9178 }, { "epoch": 8.752822875976562e-07, "step": 9178, "training_step_time": 17.613417625427246 }, { "epoch": 8.753776550292969e-07, "model_forward_time": 5.116950273513794, "step": 9179 }, { "epoch": 8.753776550292969e-07, "step": 9179, "training_step_time": 17.429226636886597 }, { "epoch": 8.754730224609375e-07, "grad_norm": 2.318391799926758, "learning_rate": 9.821131583052166e-06, "loss": 0.1133, "step": 9180 }, { "epoch": 8.754730224609375e-07, "model_forward_time": 5.114208936691284, "step": 9180 }, { "dynamics_loss_avg": 0.036932509206235406, "epoch": 8.754730224609375e-07, "step": 9180 }, { "action_loss_avg": 0.07880216091871262, "epoch": 8.754730224609375e-07, "step": 9180 }, { "arm_loss_avg": 0.11572331450879574, "epoch": 8.754730224609375e-07, "step": 9180 }, { "ee_loss_avg": 0.08697065720334649, "epoch": 8.754730224609375e-07, "step": 9180 }, { "aux_loss_avg": 0.0006993479910306633, "epoch": 8.754730224609375e-07, "step": 9180 }, { "epoch": 8.754730224609375e-07, "step": 9180, "training_step_time": 17.744110345840454 }, { "epoch": 8.755683898925782e-07, "model_forward_time": 5.104635000228882, "step": 9181 }, { "epoch": 8.755683898925782e-07, "step": 9181, "training_step_time": 18.1667640209198 }, { "epoch": 8.756637573242188e-07, "model_forward_time": 5.288055658340454, "step": 9182 }, { "epoch": 8.756637573242188e-07, "step": 9182, "training_step_time": 17.40905475616455 }, { "epoch": 8.757591247558594e-07, "model_forward_time": 5.094620943069458, "step": 9183 }, { "epoch": 8.757591247558594e-07, "step": 9183, "training_step_time": 17.50308585166931 }, { "epoch": 8.758544921875e-07, "model_forward_time": 5.088484287261963, "step": 9184 }, { "epoch": 8.758544921875e-07, "step": 9184, "training_step_time": 17.555808782577515 }, { "epoch": 8.759498596191406e-07, "model_forward_time": 5.085831165313721, "step": 9185 }, { "epoch": 8.759498596191406e-07, "step": 9185, "training_step_time": 17.827707290649414 }, { "epoch": 8.760452270507812e-07, "model_forward_time": 5.07783842086792, "step": 9186 }, { "epoch": 8.760452270507812e-07, "step": 9186, "training_step_time": 17.61480975151062 }, { "epoch": 8.761405944824218e-07, "model_forward_time": 5.0808045864105225, "step": 9187 }, { "epoch": 8.761405944824218e-07, "step": 9187, "training_step_time": 17.43881344795227 }, { "epoch": 8.762359619140625e-07, "model_forward_time": 5.0813188552856445, "step": 9188 }, { "epoch": 8.762359619140625e-07, "step": 9188, "training_step_time": 17.53998875617981 }, { "epoch": 8.763313293457032e-07, "model_forward_time": 5.081610918045044, "step": 9189 }, { "epoch": 8.763313293457032e-07, "step": 9189, "training_step_time": 17.613950729370117 }, { "epoch": 8.764266967773438e-07, "grad_norm": 1.3182344436645508, "learning_rate": 9.820504898776258e-06, "loss": 0.1041, "step": 9190 }, { "epoch": 8.764266967773438e-07, "model_forward_time": 3.849169969558716, "step": 9190 }, { "dynamics_loss_avg": 0.04087896160781383, "epoch": 8.764266967773438e-07, "step": 9190 }, { "action_loss_avg": 0.07072298340499401, "epoch": 8.764266967773438e-07, "step": 9190 }, { "arm_loss_avg": 0.1515674524009228, "epoch": 8.764266967773438e-07, "step": 9190 }, { "ee_loss_avg": 0.0652577738277614, "epoch": 8.764266967773438e-07, "step": 9190 }, { "aux_loss_avg": 0.001839890581322834, "epoch": 8.764266967773438e-07, "step": 9190 }, { "epoch": 8.764266967773438e-07, "step": 9190, "training_step_time": 17.793776750564575 }, { "epoch": 8.765220642089844e-07, "model_forward_time": 5.06096625328064, "step": 9191 }, { "epoch": 8.765220642089844e-07, "step": 9191, "training_step_time": 17.618218898773193 }, { "epoch": 8.76617431640625e-07, "model_forward_time": 5.071072101593018, "step": 9192 }, { "epoch": 8.76617431640625e-07, "step": 9192, "training_step_time": 17.608574628829956 }, { "epoch": 8.767127990722656e-07, "model_forward_time": 5.271663665771484, "step": 9193 }, { "epoch": 8.767127990722656e-07, "step": 9193, "training_step_time": 17.473921537399292 }, { "epoch": 8.768081665039062e-07, "model_forward_time": 5.093811750411987, "step": 9194 }, { "epoch": 8.768081665039062e-07, "step": 9194, "training_step_time": 17.6000816822052 }, { "epoch": 8.769035339355469e-07, "model_forward_time": 5.096210241317749, "step": 9195 }, { "epoch": 8.769035339355469e-07, "step": 9195, "training_step_time": 17.796980619430542 }, { "epoch": 8.769989013671875e-07, "model_forward_time": 5.09640645980835, "step": 9196 }, { "epoch": 8.769989013671875e-07, "step": 9196, "training_step_time": 17.573116540908813 }, { "epoch": 8.770942687988281e-07, "model_forward_time": 5.098174095153809, "step": 9197 }, { "epoch": 8.770942687988281e-07, "step": 9197, "training_step_time": 17.5887348651886 }, { "epoch": 8.771896362304687e-07, "model_forward_time": 5.140948534011841, "step": 9198 }, { "epoch": 8.771896362304687e-07, "step": 9198, "training_step_time": 17.641762256622314 }, { "epoch": 8.772850036621094e-07, "model_forward_time": 3.8610503673553467, "step": 9199 }, { "epoch": 8.772850036621094e-07, "step": 9199, "training_step_time": 17.594876050949097 }, { "epoch": 8.7738037109375e-07, "grad_norm": 1.5648760795593262, "learning_rate": 9.819877138657162e-06, "loss": 0.1172, "step": 9200 }, { "epoch": 8.7738037109375e-07, "model_forward_time": 5.062667608261108, "step": 9200 }, { "dynamics_loss_avg": 0.04090995835140347, "epoch": 8.7738037109375e-07, "step": 9200 }, { "action_loss_avg": 0.09755447627976536, "epoch": 8.7738037109375e-07, "step": 9200 }, { "arm_loss_avg": 0.15442532449960708, "epoch": 8.7738037109375e-07, "step": 9200 }, { "ee_loss_avg": 0.1250335500575602, "epoch": 8.7738037109375e-07, "step": 9200 }, { "aux_loss_avg": 0.0018450278090313076, "epoch": 8.7738037109375e-07, "step": 9200 }, { "epoch": 8.7738037109375e-07, "step": 9200, "training_step_time": 17.807253122329712 }, { "epoch": 8.774757385253907e-07, "model_forward_time": 5.072499513626099, "step": 9201 }, { "epoch": 8.774757385253907e-07, "step": 9201, "training_step_time": 17.600860357284546 }, { "epoch": 8.775711059570313e-07, "model_forward_time": 5.0790114402771, "step": 9202 }, { "epoch": 8.775711059570313e-07, "step": 9202, "training_step_time": 17.592788457870483 }, { "epoch": 8.776664733886719e-07, "model_forward_time": 5.094801425933838, "step": 9203 }, { "epoch": 8.776664733886719e-07, "step": 9203, "training_step_time": 17.592142343521118 }, { "epoch": 8.777618408203125e-07, "model_forward_time": 5.095676898956299, "step": 9204 }, { "epoch": 8.777618408203125e-07, "step": 9204, "training_step_time": 17.661674737930298 }, { "epoch": 8.778572082519531e-07, "model_forward_time": 5.095976829528809, "step": 9205 }, { "epoch": 8.778572082519531e-07, "step": 9205, "training_step_time": 17.732112407684326 }, { "epoch": 8.779525756835937e-07, "model_forward_time": 5.100162744522095, "step": 9206 }, { "epoch": 8.779525756835937e-07, "step": 9206, "training_step_time": 17.327661752700806 }, { "epoch": 8.780479431152343e-07, "model_forward_time": 5.094106912612915, "step": 9207 }, { "epoch": 8.780479431152343e-07, "step": 9207, "training_step_time": 17.476428508758545 }, { "epoch": 8.78143310546875e-07, "model_forward_time": 5.09745192527771, "step": 9208 }, { "epoch": 8.78143310546875e-07, "step": 9208, "training_step_time": 17.539538145065308 }, { "epoch": 8.782386779785157e-07, "model_forward_time": 5.095002174377441, "step": 9209 }, { "epoch": 8.782386779785157e-07, "step": 9209, "training_step_time": 17.578116178512573 }, { "epoch": 8.783340454101563e-07, "grad_norm": 1.2060022354125977, "learning_rate": 9.819248302834975e-06, "loss": 0.1355, "step": 9210 }, { "epoch": 8.783340454101563e-07, "model_forward_time": 5.090364933013916, "step": 9210 }, { "dynamics_loss_avg": 0.04823120627552271, "epoch": 8.783340454101563e-07, "step": 9210 }, { "action_loss_avg": 0.08655511802062392, "epoch": 8.783340454101563e-07, "step": 9210 }, { "arm_loss_avg": 0.1247468639165163, "epoch": 8.783340454101563e-07, "step": 9210 }, { "ee_loss_avg": 0.15822844710201026, "epoch": 8.783340454101563e-07, "step": 9210 }, { "aux_loss_avg": 0.002134478243533522, "epoch": 8.783340454101563e-07, "step": 9210 }, { "epoch": 8.783340454101563e-07, "step": 9210, "training_step_time": 17.800111532211304 }, { "epoch": 8.784294128417969e-07, "model_forward_time": 5.087652206420898, "step": 9211 }, { "epoch": 8.784294128417969e-07, "step": 9211, "training_step_time": 17.362960815429688 }, { "epoch": 8.785247802734375e-07, "model_forward_time": 5.08837628364563, "step": 9212 }, { "epoch": 8.785247802734375e-07, "step": 9212, "training_step_time": 17.548957347869873 }, { "epoch": 8.786201477050781e-07, "model_forward_time": 5.088371515274048, "step": 9213 }, { "epoch": 8.786201477050781e-07, "step": 9213, "training_step_time": 17.587639570236206 }, { "epoch": 8.787155151367187e-07, "model_forward_time": 5.088346481323242, "step": 9214 }, { "epoch": 8.787155151367187e-07, "step": 9214, "training_step_time": 17.610467195510864 }, { "epoch": 8.788108825683594e-07, "model_forward_time": 5.086905002593994, "step": 9215 }, { "epoch": 8.788108825683594e-07, "step": 9215, "training_step_time": 17.858765602111816 }, { "epoch": 8.7890625e-07, "model_forward_time": 5.081929683685303, "step": 9216 }, { "epoch": 8.7890625e-07, "step": 9216, "training_step_time": 17.61732053756714 }, { "epoch": 8.790016174316406e-07, "model_forward_time": 5.085143804550171, "step": 9217 }, { "epoch": 8.790016174316406e-07, "step": 9217, "training_step_time": 17.616391897201538 }, { "epoch": 8.790969848632812e-07, "model_forward_time": 5.082337141036987, "step": 9218 }, { "epoch": 8.790969848632812e-07, "step": 9218, "training_step_time": 17.60901427268982 }, { "epoch": 8.791923522949219e-07, "model_forward_time": 5.084730625152588, "step": 9219 }, { "epoch": 8.791923522949219e-07, "step": 9219, "training_step_time": 17.603416919708252 }, { "epoch": 8.792877197265625e-07, "grad_norm": 1.6147582530975342, "learning_rate": 9.81861839145005e-06, "loss": 0.1048, "step": 9220 }, { "epoch": 8.792877197265625e-07, "model_forward_time": 3.850943088531494, "step": 9220 }, { "dynamics_loss_avg": 0.04217257015407085, "epoch": 8.792877197265625e-07, "step": 9220 }, { "action_loss_avg": 0.07420577257871627, "epoch": 8.792877197265625e-07, "step": 9220 }, { "arm_loss_avg": 0.16382466219365596, "epoch": 8.792877197265625e-07, "step": 9220 }, { "ee_loss_avg": 0.08764555472880602, "epoch": 8.792877197265625e-07, "step": 9220 }, { "aux_loss_avg": 0.00921312066493556, "epoch": 8.792877197265625e-07, "step": 9220 }, { "epoch": 8.792877197265625e-07, "step": 9220, "training_step_time": 17.805020332336426 }, { "epoch": 8.793830871582032e-07, "model_forward_time": 5.052676200866699, "step": 9221 }, { "epoch": 8.793830871582032e-07, "step": 9221, "training_step_time": 17.59738302230835 }, { "epoch": 8.794784545898438e-07, "model_forward_time": 5.0680506229400635, "step": 9222 }, { "epoch": 8.794784545898438e-07, "step": 9222, "training_step_time": 17.590638637542725 }, { "epoch": 8.795738220214844e-07, "model_forward_time": 5.077329397201538, "step": 9223 }, { "epoch": 8.795738220214844e-07, "step": 9223, "training_step_time": 17.54473066329956 }, { "epoch": 8.79669189453125e-07, "model_forward_time": 5.085418224334717, "step": 9224 }, { "epoch": 8.79669189453125e-07, "step": 9224, "training_step_time": 17.798643589019775 }, { "epoch": 8.797645568847656e-07, "model_forward_time": 5.093181848526001, "step": 9225 }, { "epoch": 8.797645568847656e-07, "step": 9225, "training_step_time": 17.59557294845581 }, { "epoch": 8.798599243164062e-07, "model_forward_time": 5.096640586853027, "step": 9226 }, { "epoch": 8.798599243164062e-07, "step": 9226, "training_step_time": 17.57261347770691 }, { "epoch": 8.799552917480468e-07, "model_forward_time": 5.0970985889434814, "step": 9227 }, { "epoch": 8.799552917480468e-07, "step": 9227, "training_step_time": 17.580830812454224 }, { "epoch": 8.800506591796875e-07, "model_forward_time": 5.095993518829346, "step": 9228 }, { "epoch": 8.800506591796875e-07, "step": 9228, "training_step_time": 17.5862295627594 }, { "epoch": 8.801460266113282e-07, "model_forward_time": 5.090704917907715, "step": 9229 }, { "epoch": 8.801460266113282e-07, "step": 9229, "training_step_time": 17.78592610359192 }, { "epoch": 8.802413940429688e-07, "grad_norm": 1.0012388229370117, "learning_rate": 9.817987404642963e-06, "loss": 0.1148, "step": 9230 }, { "epoch": 8.802413940429688e-07, "model_forward_time": 5.081224679946899, "step": 9230 }, { "dynamics_loss_avg": 0.03600294794887304, "epoch": 8.802413940429688e-07, "step": 9230 }, { "action_loss_avg": 0.07820448316633702, "epoch": 8.802413940429688e-07, "step": 9230 }, { "arm_loss_avg": 0.11705203130841255, "epoch": 8.802413940429688e-07, "step": 9230 }, { "ee_loss_avg": 0.10922046620398759, "epoch": 8.802413940429688e-07, "step": 9230 }, { "aux_loss_avg": 0.0007761873916024342, "epoch": 8.802413940429688e-07, "step": 9230 }, { "epoch": 8.802413940429688e-07, "step": 9230, "training_step_time": 17.591567039489746 }, { "epoch": 8.803367614746094e-07, "model_forward_time": 5.082150459289551, "step": 9231 }, { "epoch": 8.803367614746094e-07, "step": 9231, "training_step_time": 17.59159827232361 }, { "epoch": 8.8043212890625e-07, "model_forward_time": 5.079584121704102, "step": 9232 }, { "epoch": 8.8043212890625e-07, "step": 9232, "training_step_time": 17.58485507965088 }, { "epoch": 8.805274963378906e-07, "model_forward_time": 5.080102920532227, "step": 9233 }, { "epoch": 8.805274963378906e-07, "step": 9233, "training_step_time": 17.58966040611267 }, { "epoch": 8.806228637695312e-07, "model_forward_time": 5.075984477996826, "step": 9234 }, { "epoch": 8.806228637695312e-07, "step": 9234, "training_step_time": 17.81719398498535 }, { "epoch": 8.807182312011719e-07, "model_forward_time": 5.074539661407471, "step": 9235 }, { "epoch": 8.807182312011719e-07, "step": 9235, "training_step_time": 17.576581478118896 }, { "epoch": 8.808135986328125e-07, "model_forward_time": 5.078060150146484, "step": 9236 }, { "epoch": 8.808135986328125e-07, "step": 9236, "training_step_time": 17.475890398025513 }, { "epoch": 8.809089660644531e-07, "model_forward_time": 5.323284864425659, "step": 9237 }, { "epoch": 8.809089660644531e-07, "step": 9237, "training_step_time": 17.519066333770752 }, { "epoch": 8.810043334960937e-07, "model_forward_time": 5.080250978469849, "step": 9238 }, { "epoch": 8.810043334960937e-07, "step": 9238, "training_step_time": 17.5495343208313 }, { "epoch": 8.810997009277344e-07, "model_forward_time": 5.079139232635498, "step": 9239 }, { "epoch": 8.810997009277344e-07, "step": 9239, "training_step_time": 17.821196794509888 }, { "epoch": 8.81195068359375e-07, "grad_norm": 1.609750509262085, "learning_rate": 9.817355342554544e-06, "loss": 0.096, "step": 9240 }, { "epoch": 8.81195068359375e-07, "model_forward_time": 5.0799500942230225, "step": 9240 }, { "dynamics_loss_avg": 0.0427747393026948, "epoch": 8.81195068359375e-07, "step": 9240 }, { "action_loss_avg": 0.09568971432745457, "epoch": 8.81195068359375e-07, "step": 9240 }, { "arm_loss_avg": 0.12833786755800247, "epoch": 8.81195068359375e-07, "step": 9240 }, { "ee_loss_avg": 0.16211388502269983, "epoch": 8.81195068359375e-07, "step": 9240 }, { "aux_loss_avg": 0.004196222056634724, "epoch": 8.81195068359375e-07, "step": 9240 }, { "epoch": 8.81195068359375e-07, "step": 9240, "training_step_time": 17.589266777038574 }, { "epoch": 8.812904357910157e-07, "model_forward_time": 5.078766584396362, "step": 9241 }, { "epoch": 8.812904357910157e-07, "step": 9241, "training_step_time": 17.595906972885132 }, { "epoch": 8.813858032226563e-07, "model_forward_time": 5.278223991394043, "step": 9242 }, { "epoch": 8.813858032226563e-07, "step": 9242, "training_step_time": 17.383949995040894 }, { "epoch": 8.814811706542969e-07, "model_forward_time": 5.0828492641448975, "step": 9243 }, { "epoch": 8.814811706542969e-07, "step": 9243, "training_step_time": 17.517184734344482 }, { "epoch": 8.815765380859375e-07, "model_forward_time": 5.080736398696899, "step": 9244 }, { "epoch": 8.815765380859375e-07, "step": 9244, "training_step_time": 17.560123443603516 }, { "epoch": 8.816719055175781e-07, "model_forward_time": 5.079756498336792, "step": 9245 }, { "epoch": 8.816719055175781e-07, "step": 9245, "training_step_time": 17.807756662368774 }, { "epoch": 8.817672729492187e-07, "model_forward_time": 5.078045129776001, "step": 9246 }, { "epoch": 8.817672729492187e-07, "step": 9246, "training_step_time": 17.600290536880493 }, { "epoch": 8.818626403808593e-07, "model_forward_time": 5.078658819198608, "step": 9247 }, { "epoch": 8.818626403808593e-07, "step": 9247, "training_step_time": 17.607991695404053 }, { "epoch": 8.819580078125e-07, "model_forward_time": 5.083465099334717, "step": 9248 }, { "epoch": 8.819580078125e-07, "step": 9248, "training_step_time": 17.609574794769287 }, { "epoch": 8.820533752441407e-07, "model_forward_time": 5.082044363021851, "step": 9249 }, { "epoch": 8.820533752441407e-07, "step": 9249, "training_step_time": 17.60895562171936 }, { "epoch": 8.821487426757813e-07, "grad_norm": 1.4302982091903687, "learning_rate": 9.816722205325856e-06, "loss": 0.1147, "step": 9250 }, { "epoch": 8.821487426757813e-07, "model_forward_time": 3.8497631549835205, "step": 9250 }, { "dynamics_loss_avg": 0.046262305602431296, "epoch": 8.821487426757813e-07, "step": 9250 }, { "action_loss_avg": 0.08680677115917206, "epoch": 8.821487426757813e-07, "step": 9250 }, { "arm_loss_avg": 0.13219719976186753, "epoch": 8.821487426757813e-07, "step": 9250 }, { "ee_loss_avg": 0.2092239238321781, "epoch": 8.821487426757813e-07, "step": 9250 }, { "aux_loss_avg": 0.00674634599708952, "epoch": 8.821487426757813e-07, "step": 9250 }, { "epoch": 8.821487426757813e-07, "step": 9250, "training_step_time": 17.797481536865234 }, { "epoch": 8.822441101074219e-07, "model_forward_time": 5.059805631637573, "step": 9251 }, { "epoch": 8.822441101074219e-07, "step": 9251, "training_step_time": 17.597232818603516 }, { "epoch": 8.823394775390625e-07, "model_forward_time": 3.8341870307922363, "step": 9252 }, { "epoch": 8.823394775390625e-07, "step": 9252, "training_step_time": 17.596090078353882 }, { "epoch": 8.824348449707031e-07, "model_forward_time": 5.241424322128296, "step": 9253 }, { "epoch": 8.824348449707031e-07, "step": 9253, "training_step_time": 17.59160828590393 }, { "epoch": 8.825302124023438e-07, "model_forward_time": 5.068784236907959, "step": 9254 }, { "epoch": 8.825302124023438e-07, "step": 9254, "training_step_time": 17.576725482940674 }, { "epoch": 8.826255798339844e-07, "model_forward_time": 5.087091445922852, "step": 9255 }, { "epoch": 8.826255798339844e-07, "step": 9255, "training_step_time": 17.40768337249756 }, { "epoch": 8.82720947265625e-07, "model_forward_time": 5.098042726516724, "step": 9256 }, { "epoch": 8.82720947265625e-07, "step": 9256, "training_step_time": 17.47915005683899 }, { "epoch": 8.828163146972656e-07, "model_forward_time": 5.101694107055664, "step": 9257 }, { "epoch": 8.828163146972656e-07, "step": 9257, "training_step_time": 17.408740758895874 }, { "epoch": 8.829116821289062e-07, "model_forward_time": 5.346704959869385, "step": 9258 }, { "epoch": 8.829116821289062e-07, "step": 9258, "training_step_time": 17.480124473571777 }, { "epoch": 8.830070495605468e-07, "model_forward_time": 5.10033917427063, "step": 9259 }, { "epoch": 8.830070495605468e-07, "step": 9259, "training_step_time": 17.637967348098755 }, { "epoch": 8.831024169921875e-07, "grad_norm": 1.5757150650024414, "learning_rate": 9.816087993098197e-06, "loss": 0.1168, "step": 9260 }, { "epoch": 8.831024169921875e-07, "model_forward_time": 5.092607736587524, "step": 9260 }, { "dynamics_loss_avg": 0.03439832255244255, "epoch": 8.831024169921875e-07, "step": 9260 }, { "action_loss_avg": 0.0830026563256979, "epoch": 8.831024169921875e-07, "step": 9260 }, { "arm_loss_avg": 0.13037015944719316, "epoch": 8.831024169921875e-07, "step": 9260 }, { "ee_loss_avg": 0.09088250482454896, "epoch": 8.831024169921875e-07, "step": 9260 }, { "aux_loss_avg": 0.001084742823150009, "epoch": 8.831024169921875e-07, "step": 9260 }, { "epoch": 8.831024169921875e-07, "step": 9260, "training_step_time": 17.754140853881836 }, { "epoch": 8.831977844238282e-07, "model_forward_time": 5.08366322517395, "step": 9261 }, { "epoch": 8.831977844238282e-07, "step": 9261, "training_step_time": 17.602481842041016 }, { "epoch": 8.832931518554688e-07, "model_forward_time": 5.0797271728515625, "step": 9262 }, { "epoch": 8.832931518554688e-07, "step": 9262, "training_step_time": 17.624558925628662 }, { "epoch": 8.833885192871094e-07, "model_forward_time": 5.079753398895264, "step": 9263 }, { "epoch": 8.833885192871094e-07, "step": 9263, "training_step_time": 17.630608558654785 }, { "epoch": 8.8348388671875e-07, "model_forward_time": 3.8454062938690186, "step": 9264 }, { "epoch": 8.8348388671875e-07, "step": 9264, "training_step_time": 17.62383460998535 }, { "epoch": 8.835792541503906e-07, "model_forward_time": 5.052364110946655, "step": 9265 }, { "epoch": 8.835792541503906e-07, "step": 9265, "training_step_time": 17.37889266014099 }, { "epoch": 8.836746215820312e-07, "model_forward_time": 5.067690134048462, "step": 9266 }, { "epoch": 8.836746215820312e-07, "step": 9266, "training_step_time": 17.521823406219482 }, { "epoch": 8.837699890136718e-07, "model_forward_time": 3.8449389934539795, "step": 9267 }, { "epoch": 8.837699890136718e-07, "step": 9267, "training_step_time": 17.54730772972107 }, { "epoch": 8.838653564453125e-07, "model_forward_time": 5.293264865875244, "step": 9268 }, { "epoch": 8.838653564453125e-07, "step": 9268, "training_step_time": 17.569018363952637 }, { "epoch": 8.839607238769531e-07, "model_forward_time": 5.076862812042236, "step": 9269 }, { "epoch": 8.839607238769531e-07, "step": 9269, "training_step_time": 17.59590220451355 }, { "epoch": 8.840560913085938e-07, "grad_norm": 1.8471565246582031, "learning_rate": 9.81545270601312e-06, "loss": 0.1223, "step": 9270 }, { "epoch": 8.840560913085938e-07, "model_forward_time": 5.092209577560425, "step": 9270 }, { "dynamics_loss_avg": 0.0497319707646966, "epoch": 8.840560913085938e-07, "step": 9270 }, { "action_loss_avg": 0.09937014207243919, "epoch": 8.840560913085938e-07, "step": 9270 }, { "arm_loss_avg": 0.14660265371203424, "epoch": 8.840560913085938e-07, "step": 9270 }, { "ee_loss_avg": 0.11343682622537017, "epoch": 8.840560913085938e-07, "step": 9270 }, { "aux_loss_avg": 0.004293159896042198, "epoch": 8.840560913085938e-07, "step": 9270 }, { "epoch": 8.840560913085938e-07, "step": 9270, "training_step_time": 17.764546871185303 }, { "epoch": 8.841514587402344e-07, "model_forward_time": 5.096609115600586, "step": 9271 }, { "epoch": 8.841514587402344e-07, "step": 9271, "training_step_time": 17.57840132713318 }, { "epoch": 8.84246826171875e-07, "model_forward_time": 5.101166486740112, "step": 9272 }, { "epoch": 8.84246826171875e-07, "step": 9272, "training_step_time": 17.5814151763916 }, { "epoch": 8.843421936035156e-07, "model_forward_time": 4.106001377105713, "step": 9273 }, { "epoch": 8.843421936035156e-07, "step": 9273, "training_step_time": 17.58446455001831 }, { "epoch": 8.844375610351563e-07, "model_forward_time": 5.068374156951904, "step": 9274 }, { "epoch": 8.844375610351563e-07, "step": 9274, "training_step_time": 17.600692987442017 }, { "epoch": 8.845329284667969e-07, "model_forward_time": 5.079490423202515, "step": 9275 }, { "epoch": 8.845329284667969e-07, "step": 9275, "training_step_time": 17.868141174316406 }, { "epoch": 8.846282958984375e-07, "model_forward_time": 5.09752893447876, "step": 9276 }, { "epoch": 8.846282958984375e-07, "step": 9276, "training_step_time": 17.624936819076538 }, { "epoch": 8.847236633300781e-07, "model_forward_time": 5.0917322635650635, "step": 9277 }, { "epoch": 8.847236633300781e-07, "step": 9277, "training_step_time": 17.594836950302124 }, { "epoch": 8.848190307617187e-07, "model_forward_time": 5.362746477127075, "step": 9278 }, { "epoch": 8.848190307617187e-07, "step": 9278, "training_step_time": 17.60191035270691 }, { "epoch": 8.849143981933593e-07, "model_forward_time": 5.104465484619141, "step": 9279 }, { "epoch": 8.849143981933593e-07, "step": 9279, "training_step_time": 17.652687311172485 }, { "epoch": 8.85009765625e-07, "grad_norm": 1.4436246156692505, "learning_rate": 9.8148163442124e-06, "loss": 0.12, "step": 9280 }, { "epoch": 8.85009765625e-07, "model_forward_time": 5.092314720153809, "step": 9280 }, { "dynamics_loss_avg": 0.03397786375135183, "epoch": 8.85009765625e-07, "step": 9280 }, { "action_loss_avg": 0.07617169506847858, "epoch": 8.85009765625e-07, "step": 9280 }, { "arm_loss_avg": 0.12363893054425716, "epoch": 8.85009765625e-07, "step": 9280 }, { "ee_loss_avg": 0.12661699783056973, "epoch": 8.85009765625e-07, "step": 9280 }, { "aux_loss_avg": 0.0007862915110308677, "epoch": 8.85009765625e-07, "step": 9280 }, { "epoch": 8.85009765625e-07, "step": 9280, "training_step_time": 17.372674226760864 }, { "epoch": 8.851051330566407e-07, "model_forward_time": 5.08384895324707, "step": 9281 }, { "epoch": 8.851051330566407e-07, "step": 9281, "training_step_time": 17.482265949249268 }, { "epoch": 8.852005004882813e-07, "model_forward_time": 5.084109783172607, "step": 9282 }, { "epoch": 8.852005004882813e-07, "step": 9282, "training_step_time": 17.518005847930908 }, { "epoch": 8.852958679199219e-07, "model_forward_time": 5.082837343215942, "step": 9283 }, { "epoch": 8.852958679199219e-07, "step": 9283, "training_step_time": 17.54649782180786 }, { "epoch": 8.853912353515625e-07, "model_forward_time": 5.082118034362793, "step": 9284 }, { "epoch": 8.853912353515625e-07, "step": 9284, "training_step_time": 17.565778732299805 }, { "epoch": 8.854866027832031e-07, "model_forward_time": 5.083031177520752, "step": 9285 }, { "epoch": 8.854866027832031e-07, "step": 9285, "training_step_time": 17.82159972190857 }, { "epoch": 8.855819702148437e-07, "model_forward_time": 5.078518390655518, "step": 9286 }, { "epoch": 8.855819702148437e-07, "step": 9286, "training_step_time": 17.587987899780273 }, { "epoch": 8.856773376464843e-07, "model_forward_time": 5.0780580043792725, "step": 9287 }, { "epoch": 8.856773376464843e-07, "step": 9287, "training_step_time": 17.393722772598267 }, { "epoch": 8.85772705078125e-07, "model_forward_time": 5.080325365066528, "step": 9288 }, { "epoch": 8.85772705078125e-07, "step": 9288, "training_step_time": 17.506306886672974 }, { "epoch": 8.858680725097656e-07, "model_forward_time": 5.078416109085083, "step": 9289 }, { "epoch": 8.858680725097656e-07, "step": 9289, "training_step_time": 17.54644012451172 }, { "epoch": 8.859634399414063e-07, "grad_norm": 2.317279100418091, "learning_rate": 9.81417890783807e-06, "loss": 0.1273, "step": 9290 }, { "epoch": 8.859634399414063e-07, "model_forward_time": 5.077688217163086, "step": 9290 }, { "dynamics_loss_avg": 0.05397226009517908, "epoch": 8.859634399414063e-07, "step": 9290 }, { "action_loss_avg": 0.0982542410492897, "epoch": 8.859634399414063e-07, "step": 9290 }, { "arm_loss_avg": 0.17231186330318451, "epoch": 8.859634399414063e-07, "step": 9290 }, { "ee_loss_avg": 0.09332508817315102, "epoch": 8.859634399414063e-07, "step": 9290 }, { "aux_loss_avg": 0.004907741385977715, "epoch": 8.859634399414063e-07, "step": 9290 }, { "epoch": 8.859634399414063e-07, "step": 9290, "training_step_time": 17.74393606185913 }, { "epoch": 8.860588073730469e-07, "model_forward_time": 5.078343868255615, "step": 9291 }, { "epoch": 8.860588073730469e-07, "step": 9291, "training_step_time": 17.5788152217865 }, { "epoch": 8.861541748046875e-07, "model_forward_time": 5.079521656036377, "step": 9292 }, { "epoch": 8.861541748046875e-07, "step": 9292, "training_step_time": 17.593875408172607 }, { "epoch": 8.862495422363281e-07, "model_forward_time": 5.080530166625977, "step": 9293 }, { "epoch": 8.862495422363281e-07, "step": 9293, "training_step_time": 17.601645708084106 }, { "epoch": 8.863449096679688e-07, "model_forward_time": 5.079980373382568, "step": 9294 }, { "epoch": 8.863449096679688e-07, "step": 9294, "training_step_time": 17.60673975944519 }, { "epoch": 8.864402770996094e-07, "model_forward_time": 5.081593036651611, "step": 9295 }, { "epoch": 8.864402770996094e-07, "step": 9295, "training_step_time": 17.85600757598877 }, { "epoch": 8.8653564453125e-07, "model_forward_time": 5.079237222671509, "step": 9296 }, { "epoch": 8.8653564453125e-07, "step": 9296, "training_step_time": 17.5925509929657 }, { "epoch": 8.866310119628906e-07, "model_forward_time": 3.8486006259918213, "step": 9297 }, { "epoch": 8.866310119628906e-07, "step": 9297, "training_step_time": 17.409122943878174 }, { "epoch": 8.867263793945312e-07, "model_forward_time": 5.2898759841918945, "step": 9298 }, { "epoch": 8.867263793945312e-07, "step": 9298, "training_step_time": 17.50863552093506 }, { "epoch": 8.868217468261718e-07, "model_forward_time": 5.06555962562561, "step": 9299 }, { "epoch": 8.868217468261718e-07, "step": 9299, "training_step_time": 17.76709771156311 }, { "epoch": 8.869171142578125e-07, "grad_norm": 1.7066864967346191, "learning_rate": 9.813540397032384e-06, "loss": 0.142, "step": 9300 }, { "epoch": 8.869171142578125e-07, "model_forward_time": 5.073391675949097, "step": 9300 }, { "dynamics_loss_avg": 0.053704846650362015, "epoch": 8.869171142578125e-07, "step": 9300 }, { "action_loss_avg": 0.09066215567290783, "epoch": 8.869171142578125e-07, "step": 9300 }, { "arm_loss_avg": 0.16317784786224365, "epoch": 8.869171142578125e-07, "step": 9300 }, { "ee_loss_avg": 0.07596171721816063, "epoch": 8.869171142578125e-07, "step": 9300 }, { "aux_loss_avg": 0.00715221693390049, "epoch": 8.869171142578125e-07, "step": 9300 }, { "epoch": 8.869171142578125e-07, "step": 9300, "training_step_time": 17.621444702148438 }, { "epoch": 8.870124816894532e-07, "model_forward_time": 5.0818610191345215, "step": 9301 }, { "epoch": 8.870124816894532e-07, "step": 9301, "training_step_time": 17.48478126525879 }, { "epoch": 8.871078491210938e-07, "model_forward_time": 5.08771824836731, "step": 9302 }, { "epoch": 8.871078491210938e-07, "step": 9302, "training_step_time": 17.537057161331177 }, { "epoch": 8.872032165527344e-07, "model_forward_time": 3.856818437576294, "step": 9303 }, { "epoch": 8.872032165527344e-07, "step": 9303, "training_step_time": 17.564473152160645 }, { "epoch": 8.87298583984375e-07, "model_forward_time": 5.0608367919921875, "step": 9304 }, { "epoch": 8.87298583984375e-07, "step": 9304, "training_step_time": 17.602588176727295 }, { "epoch": 8.873939514160156e-07, "model_forward_time": 5.07314658164978, "step": 9305 }, { "epoch": 8.873939514160156e-07, "step": 9305, "training_step_time": 17.851712226867676 }, { "epoch": 8.874893188476562e-07, "model_forward_time": 5.079675197601318, "step": 9306 }, { "epoch": 8.874893188476562e-07, "step": 9306, "training_step_time": 17.61821961402893 }, { "epoch": 8.875846862792968e-07, "model_forward_time": 5.087580919265747, "step": 9307 }, { "epoch": 8.875846862792968e-07, "step": 9307, "training_step_time": 17.618757486343384 }, { "epoch": 8.876800537109375e-07, "model_forward_time": 5.339660882949829, "step": 9308 }, { "epoch": 8.876800537109375e-07, "step": 9308, "training_step_time": 17.610859394073486 }, { "epoch": 8.877754211425781e-07, "model_forward_time": 5.0902252197265625, "step": 9309 }, { "epoch": 8.877754211425781e-07, "step": 9309, "training_step_time": 17.831013679504395 }, { "epoch": 8.878707885742188e-07, "grad_norm": 1.9624252319335938, "learning_rate": 9.81290081193785e-06, "loss": 0.1146, "step": 9310 }, { "epoch": 8.878707885742188e-07, "model_forward_time": 5.089487075805664, "step": 9310 }, { "dynamics_loss_avg": 0.052814837032929066, "epoch": 8.878707885742188e-07, "step": 9310 }, { "action_loss_avg": 0.08834379278123379, "epoch": 8.878707885742188e-07, "step": 9310 }, { "arm_loss_avg": 0.16871021389961244, "epoch": 8.878707885742188e-07, "step": 9310 }, { "ee_loss_avg": 0.08513335743919015, "epoch": 8.878707885742188e-07, "step": 9310 }, { "aux_loss_avg": 0.010001884843222796, "epoch": 8.878707885742188e-07, "step": 9310 }, { "epoch": 8.878707885742188e-07, "step": 9310, "training_step_time": 17.60077667236328 }, { "epoch": 8.879661560058594e-07, "model_forward_time": 5.090919494628906, "step": 9311 }, { "epoch": 8.879661560058594e-07, "step": 9311, "training_step_time": 17.587151050567627 }, { "epoch": 8.880615234375e-07, "model_forward_time": 5.088264226913452, "step": 9312 }, { "epoch": 8.880615234375e-07, "step": 9312, "training_step_time": 17.604228496551514 }, { "epoch": 8.881568908691406e-07, "model_forward_time": 5.087255954742432, "step": 9313 }, { "epoch": 8.881568908691406e-07, "step": 9313, "training_step_time": 17.595935821533203 }, { "epoch": 8.882522583007813e-07, "model_forward_time": 5.083146095275879, "step": 9314 }, { "epoch": 8.882522583007813e-07, "step": 9314, "training_step_time": 17.79951310157776 }, { "epoch": 8.883476257324219e-07, "model_forward_time": 5.0802998542785645, "step": 9315 }, { "epoch": 8.883476257324219e-07, "step": 9315, "training_step_time": 17.58775496482849 }, { "epoch": 8.884429931640625e-07, "model_forward_time": 3.8476529121398926, "step": 9316 }, { "epoch": 8.884429931640625e-07, "step": 9316, "training_step_time": 17.58613348007202 }, { "epoch": 8.885383605957031e-07, "model_forward_time": 5.061911344528198, "step": 9317 }, { "epoch": 8.885383605957031e-07, "step": 9317, "training_step_time": 17.588297367095947 }, { "epoch": 8.886337280273437e-07, "model_forward_time": 5.2999794483184814, "step": 9318 }, { "epoch": 8.886337280273437e-07, "step": 9318, "training_step_time": 17.588666439056396 }, { "epoch": 8.887290954589843e-07, "model_forward_time": 5.073111534118652, "step": 9319 }, { "epoch": 8.887290954589843e-07, "step": 9319, "training_step_time": 17.803815603256226 }, { "epoch": 8.88824462890625e-07, "grad_norm": 1.086679220199585, "learning_rate": 9.812260152697213e-06, "loss": 0.1162, "step": 9320 }, { "epoch": 8.88824462890625e-07, "model_forward_time": 5.081275939941406, "step": 9320 }, { "dynamics_loss_avg": 0.050808736309409144, "epoch": 8.88824462890625e-07, "step": 9320 }, { "action_loss_avg": 0.08132772706449032, "epoch": 8.88824462890625e-07, "step": 9320 }, { "arm_loss_avg": 0.16383886858820915, "epoch": 8.88824462890625e-07, "step": 9320 }, { "ee_loss_avg": 0.050759030412882565, "epoch": 8.88824462890625e-07, "step": 9320 }, { "aux_loss_avg": 0.005303624726366252, "epoch": 8.88824462890625e-07, "step": 9320 }, { "epoch": 8.88824462890625e-07, "step": 9320, "training_step_time": 17.58366584777832 }, { "epoch": 8.889198303222657e-07, "model_forward_time": 5.087589979171753, "step": 9321 }, { "epoch": 8.889198303222657e-07, "step": 9321, "training_step_time": 17.576560497283936 }, { "epoch": 8.890151977539063e-07, "model_forward_time": 5.091960906982422, "step": 9322 }, { "epoch": 8.890151977539063e-07, "step": 9322, "training_step_time": 17.584141492843628 }, { "epoch": 8.891105651855469e-07, "model_forward_time": 5.095654726028442, "step": 9323 }, { "epoch": 8.891105651855469e-07, "step": 9323, "training_step_time": 17.222419500350952 }, { "epoch": 8.892059326171875e-07, "model_forward_time": 5.093566417694092, "step": 9324 }, { "epoch": 8.892059326171875e-07, "step": 9324, "training_step_time": 17.504780054092407 }, { "epoch": 8.893013000488281e-07, "model_forward_time": 5.091079473495483, "step": 9325 }, { "epoch": 8.893013000488281e-07, "step": 9325, "training_step_time": 17.772713899612427 }, { "epoch": 8.893966674804687e-07, "model_forward_time": 5.085906267166138, "step": 9326 }, { "epoch": 8.893966674804687e-07, "step": 9326, "training_step_time": 17.55858850479126 }, { "epoch": 8.894920349121093e-07, "model_forward_time": 5.08293080329895, "step": 9327 }, { "epoch": 8.894920349121093e-07, "step": 9327, "training_step_time": 17.586264848709106 }, { "epoch": 8.8958740234375e-07, "model_forward_time": 5.079458951950073, "step": 9328 }, { "epoch": 8.8958740234375e-07, "step": 9328, "training_step_time": 17.59969401359558 }, { "epoch": 8.896827697753906e-07, "model_forward_time": 5.078547954559326, "step": 9329 }, { "epoch": 8.896827697753906e-07, "step": 9329, "training_step_time": 17.835957288742065 }, { "epoch": 8.897781372070313e-07, "grad_norm": 1.7767428159713745, "learning_rate": 9.81161841945345e-06, "loss": 0.1045, "step": 9330 }, { "epoch": 8.897781372070313e-07, "model_forward_time": 5.075930833816528, "step": 9330 }, { "dynamics_loss_avg": 0.04075205139815807, "epoch": 8.897781372070313e-07, "step": 9330 }, { "action_loss_avg": 0.06969745755195618, "epoch": 8.897781372070313e-07, "step": 9330 }, { "arm_loss_avg": 0.13146117553114892, "epoch": 8.897781372070313e-07, "step": 9330 }, { "ee_loss_avg": 0.058849680796265603, "epoch": 8.897781372070313e-07, "step": 9330 }, { "aux_loss_avg": 0.0009802535991184414, "epoch": 8.897781372070313e-07, "step": 9330 }, { "epoch": 8.897781372070313e-07, "step": 9330, "training_step_time": 17.600290775299072 }, { "epoch": 8.898735046386719e-07, "model_forward_time": 5.075698137283325, "step": 9331 }, { "epoch": 8.898735046386719e-07, "step": 9331, "training_step_time": 17.596538066864014 }, { "epoch": 8.899688720703125e-07, "model_forward_time": 5.077531814575195, "step": 9332 }, { "epoch": 8.899688720703125e-07, "step": 9332, "training_step_time": 17.411445379257202 }, { "epoch": 8.900642395019531e-07, "model_forward_time": 5.079876661300659, "step": 9333 }, { "epoch": 8.900642395019531e-07, "step": 9333, "training_step_time": 17.515323162078857 }, { "epoch": 8.901596069335938e-07, "model_forward_time": 5.084712505340576, "step": 9334 }, { "epoch": 8.901596069335938e-07, "step": 9334, "training_step_time": 17.55094313621521 }, { "epoch": 8.902549743652344e-07, "model_forward_time": 5.084246873855591, "step": 9335 }, { "epoch": 8.902549743652344e-07, "step": 9335, "training_step_time": 17.812407970428467 }, { "epoch": 8.90350341796875e-07, "model_forward_time": 5.081767559051514, "step": 9336 }, { "epoch": 8.90350341796875e-07, "step": 9336, "training_step_time": 17.375306606292725 }, { "epoch": 8.904457092285156e-07, "model_forward_time": 5.0853588581085205, "step": 9337 }, { "epoch": 8.904457092285156e-07, "step": 9337, "training_step_time": 17.511378049850464 }, { "epoch": 8.905410766601562e-07, "model_forward_time": 5.085663318634033, "step": 9338 }, { "epoch": 8.905410766601562e-07, "step": 9338, "training_step_time": 17.566749811172485 }, { "epoch": 8.906364440917968e-07, "model_forward_time": 5.080855846405029, "step": 9339 }, { "epoch": 8.906364440917968e-07, "step": 9339, "training_step_time": 17.59760022163391 }, { "epoch": 8.907318115234375e-07, "grad_norm": 1.760097622871399, "learning_rate": 9.810975612349789e-06, "loss": 0.1121, "step": 9340 }, { "epoch": 8.907318115234375e-07, "model_forward_time": 5.081884860992432, "step": 9340 }, { "dynamics_loss_avg": 0.04039192870259285, "epoch": 8.907318115234375e-07, "step": 9340 }, { "action_loss_avg": 0.07628187350928783, "epoch": 8.907318115234375e-07, "step": 9340 }, { "arm_loss_avg": 0.16590716168284417, "epoch": 8.907318115234375e-07, "step": 9340 }, { "ee_loss_avg": 0.08535973513498903, "epoch": 8.907318115234375e-07, "step": 9340 }, { "aux_loss_avg": 0.0009774915932212024, "epoch": 8.907318115234375e-07, "step": 9340 }, { "epoch": 8.907318115234375e-07, "step": 9340, "training_step_time": 17.78979730606079 }, { "epoch": 8.908271789550782e-07, "model_forward_time": 5.078822135925293, "step": 9341 }, { "epoch": 8.908271789550782e-07, "step": 9341, "training_step_time": 17.619856357574463 }, { "epoch": 8.909225463867188e-07, "model_forward_time": 5.280117988586426, "step": 9342 }, { "epoch": 8.909225463867188e-07, "step": 9342, "training_step_time": 17.619990348815918 }, { "epoch": 8.910179138183594e-07, "model_forward_time": 5.082169532775879, "step": 9343 }, { "epoch": 8.910179138183594e-07, "step": 9343, "training_step_time": 17.62488627433777 }, { "epoch": 8.9111328125e-07, "model_forward_time": 5.079299688339233, "step": 9344 }, { "epoch": 8.9111328125e-07, "step": 9344, "training_step_time": 17.621098518371582 }, { "epoch": 8.912086486816406e-07, "model_forward_time": 5.081360578536987, "step": 9345 }, { "epoch": 8.912086486816406e-07, "step": 9345, "training_step_time": 17.851386785507202 }, { "epoch": 8.913040161132812e-07, "model_forward_time": 5.079288959503174, "step": 9346 }, { "epoch": 8.913040161132812e-07, "step": 9346, "training_step_time": 17.61809802055359 }, { "epoch": 8.913993835449219e-07, "model_forward_time": 5.079214096069336, "step": 9347 }, { "epoch": 8.913993835449219e-07, "step": 9347, "training_step_time": 17.612802982330322 }, { "epoch": 8.914947509765625e-07, "model_forward_time": 5.084903717041016, "step": 9348 }, { "epoch": 8.914947509765625e-07, "step": 9348, "training_step_time": 17.610225200653076 }, { "epoch": 8.915901184082031e-07, "model_forward_time": 5.082372426986694, "step": 9349 }, { "epoch": 8.915901184082031e-07, "step": 9349, "training_step_time": 17.599284410476685 }, { "epoch": 8.916854858398438e-07, "grad_norm": 1.199375867843628, "learning_rate": 9.81033173152969e-06, "loss": 0.1092, "step": 9350 }, { "epoch": 8.916854858398438e-07, "model_forward_time": 3.851560115814209, "step": 9350 }, { "dynamics_loss_avg": 0.03755019935779273, "epoch": 8.916854858398438e-07, "step": 9350 }, { "action_loss_avg": 0.0725512383505702, "epoch": 8.916854858398438e-07, "step": 9350 }, { "arm_loss_avg": 0.16673277094960212, "epoch": 8.916854858398438e-07, "step": 9350 }, { "ee_loss_avg": 0.06914348043501377, "epoch": 8.916854858398438e-07, "step": 9350 }, { "aux_loss_avg": 0.002723815804347396, "epoch": 8.916854858398438e-07, "step": 9350 }, { "epoch": 8.916854858398438e-07, "step": 9350, "training_step_time": 17.625614404678345 }, { "epoch": 8.917808532714844e-07, "model_forward_time": 5.059986114501953, "step": 9351 }, { "epoch": 8.917808532714844e-07, "step": 9351, "training_step_time": 17.498297452926636 }, { "epoch": 8.91876220703125e-07, "model_forward_time": 3.8349485397338867, "step": 9352 }, { "epoch": 8.91876220703125e-07, "step": 9352, "training_step_time": 17.533918857574463 }, { "epoch": 8.919715881347656e-07, "model_forward_time": 5.241221904754639, "step": 9353 }, { "epoch": 8.919715881347656e-07, "step": 9353, "training_step_time": 17.557048320770264 }, { "epoch": 8.920669555664063e-07, "model_forward_time": 5.064768075942993, "step": 9354 }, { "epoch": 8.920669555664063e-07, "step": 9354, "training_step_time": 17.575493097305298 }, { "epoch": 8.921623229980469e-07, "model_forward_time": 5.0812249183654785, "step": 9355 }, { "epoch": 8.921623229980469e-07, "step": 9355, "training_step_time": 17.195668935775757 }, { "epoch": 8.922576904296875e-07, "model_forward_time": 5.106431484222412, "step": 9356 }, { "epoch": 8.922576904296875e-07, "step": 9356, "training_step_time": 17.525464296340942 }, { "epoch": 8.923530578613281e-07, "model_forward_time": 5.108886957168579, "step": 9357 }, { "epoch": 8.923530578613281e-07, "step": 9357, "training_step_time": 17.575350284576416 }, { "epoch": 8.924484252929687e-07, "model_forward_time": 5.366247892379761, "step": 9358 }, { "epoch": 8.924484252929687e-07, "step": 9358, "training_step_time": 17.513023376464844 }, { "epoch": 8.925437927246093e-07, "model_forward_time": 5.110919237136841, "step": 9359 }, { "epoch": 8.925437927246093e-07, "step": 9359, "training_step_time": 17.535136461257935 }, { "epoch": 8.9263916015625e-07, "grad_norm": 1.0025144815444946, "learning_rate": 9.809686777136853e-06, "loss": 0.118, "step": 9360 }, { "epoch": 8.9263916015625e-07, "model_forward_time": 5.096799850463867, "step": 9360 }, { "dynamics_loss_avg": 0.049965998996049164, "epoch": 8.9263916015625e-07, "step": 9360 }, { "action_loss_avg": 0.09521214552223682, "epoch": 8.9263916015625e-07, "step": 9360 }, { "arm_loss_avg": 0.15504086017608643, "epoch": 8.9263916015625e-07, "step": 9360 }, { "ee_loss_avg": 0.07972281221300363, "epoch": 8.9263916015625e-07, "step": 9360 }, { "aux_loss_avg": 0.0008878908993210644, "epoch": 8.9263916015625e-07, "step": 9360 }, { "epoch": 8.9263916015625e-07, "step": 9360, "training_step_time": 17.74025297164917 }, { "epoch": 8.927345275878907e-07, "model_forward_time": 5.086781978607178, "step": 9361 }, { "epoch": 8.927345275878907e-07, "step": 9361, "training_step_time": 17.589917182922363 }, { "epoch": 8.928298950195313e-07, "model_forward_time": 5.079927444458008, "step": 9362 }, { "epoch": 8.928298950195313e-07, "step": 9362, "training_step_time": 17.61361813545227 }, { "epoch": 8.929252624511719e-07, "model_forward_time": 5.0760557651519775, "step": 9363 }, { "epoch": 8.929252624511719e-07, "step": 9363, "training_step_time": 17.633774995803833 }, { "epoch": 8.930206298828125e-07, "model_forward_time": 5.075098037719727, "step": 9364 }, { "epoch": 8.930206298828125e-07, "step": 9364, "training_step_time": 17.63789129257202 }, { "epoch": 8.931159973144531e-07, "model_forward_time": 5.075331687927246, "step": 9365 }, { "epoch": 8.931159973144531e-07, "step": 9365, "training_step_time": 17.864834308624268 }, { "epoch": 8.932113647460937e-07, "model_forward_time": 5.070811033248901, "step": 9366 }, { "epoch": 8.932113647460937e-07, "step": 9366, "training_step_time": 17.622638702392578 }, { "epoch": 8.933067321777344e-07, "model_forward_time": 5.074549436569214, "step": 9367 }, { "epoch": 8.933067321777344e-07, "step": 9367, "training_step_time": 17.621711254119873 }, { "epoch": 8.93402099609375e-07, "model_forward_time": 5.077909231185913, "step": 9368 }, { "epoch": 8.93402099609375e-07, "step": 9368, "training_step_time": 17.608643293380737 }, { "epoch": 8.934974670410156e-07, "model_forward_time": 5.077105283737183, "step": 9369 }, { "epoch": 8.934974670410156e-07, "step": 9369, "training_step_time": 17.60793113708496 }, { "epoch": 8.935928344726563e-07, "grad_norm": 1.1884212493896484, "learning_rate": 9.80904074931522e-06, "loss": 0.1118, "step": 9370 }, { "epoch": 8.935928344726563e-07, "model_forward_time": 5.086305141448975, "step": 9370 }, { "dynamics_loss_avg": 0.04857765082269907, "epoch": 8.935928344726563e-07, "step": 9370 }, { "action_loss_avg": 0.09076236411929131, "epoch": 8.935928344726563e-07, "step": 9370 }, { "arm_loss_avg": 0.1553877331316471, "epoch": 8.935928344726563e-07, "step": 9370 }, { "ee_loss_avg": 0.10505612064152955, "epoch": 8.935928344726563e-07, "step": 9370 }, { "aux_loss_avg": 0.016099267947720364, "epoch": 8.935928344726563e-07, "step": 9370 }, { "epoch": 8.935928344726563e-07, "step": 9370, "training_step_time": 17.23916006088257 }, { "epoch": 8.936882019042969e-07, "model_forward_time": 5.0862743854522705, "step": 9371 }, { "epoch": 8.936882019042969e-07, "step": 9371, "training_step_time": 17.513217210769653 }, { "epoch": 8.937835693359375e-07, "model_forward_time": 3.8548808097839355, "step": 9372 }, { "epoch": 8.937835693359375e-07, "step": 9372, "training_step_time": 17.538052082061768 }, { "epoch": 8.938789367675781e-07, "model_forward_time": 5.249602794647217, "step": 9373 }, { "epoch": 8.938789367675781e-07, "step": 9373, "training_step_time": 17.565929889678955 }, { "epoch": 8.939743041992188e-07, "model_forward_time": 5.066381931304932, "step": 9374 }, { "epoch": 8.939743041992188e-07, "step": 9374, "training_step_time": 17.583746910095215 }, { "epoch": 8.940696716308594e-07, "model_forward_time": 5.076334238052368, "step": 9375 }, { "epoch": 8.940696716308594e-07, "step": 9375, "training_step_time": 17.81479525566101 }, { "epoch": 8.941650390625e-07, "model_forward_time": 5.080338716506958, "step": 9376 }, { "epoch": 8.941650390625e-07, "step": 9376, "training_step_time": 17.596648693084717 }, { "epoch": 8.942604064941406e-07, "model_forward_time": 3.8536298274993896, "step": 9377 }, { "epoch": 8.942604064941406e-07, "step": 9377, "training_step_time": 17.602657079696655 }, { "epoch": 8.943557739257812e-07, "model_forward_time": 5.302529811859131, "step": 9378 }, { "epoch": 8.943557739257812e-07, "step": 9378, "training_step_time": 17.59622073173523 }, { "epoch": 8.944511413574218e-07, "model_forward_time": 5.075704336166382, "step": 9379 }, { "epoch": 8.944511413574218e-07, "step": 9379, "training_step_time": 17.603375673294067 }, { "epoch": 8.945465087890624e-07, "grad_norm": 1.3426028490066528, "learning_rate": 9.808393648208973e-06, "loss": 0.1284, "step": 9380 }, { "epoch": 8.945465087890624e-07, "model_forward_time": 5.081005573272705, "step": 9380 }, { "dynamics_loss_avg": 0.050274002552032473, "epoch": 8.945465087890624e-07, "step": 9380 }, { "action_loss_avg": 0.08220589039847255, "epoch": 8.945465087890624e-07, "step": 9380 }, { "arm_loss_avg": 0.13891457617282868, "epoch": 8.945465087890624e-07, "step": 9380 }, { "ee_loss_avg": 0.07491889148950577, "epoch": 8.945465087890624e-07, "step": 9380 }, { "aux_loss_avg": 0.0026778181607369335, "epoch": 8.945465087890624e-07, "step": 9380 }, { "epoch": 8.945465087890624e-07, "step": 9380, "training_step_time": 17.778290033340454 }, { "epoch": 8.946418762207032e-07, "model_forward_time": 5.086405277252197, "step": 9381 }, { "epoch": 8.946418762207032e-07, "step": 9381, "training_step_time": 17.596084594726562 }, { "epoch": 8.947372436523438e-07, "model_forward_time": 5.094502925872803, "step": 9382 }, { "epoch": 8.947372436523438e-07, "step": 9382, "training_step_time": 17.591052293777466 }, { "epoch": 8.948326110839844e-07, "model_forward_time": 5.094182252883911, "step": 9383 }, { "epoch": 8.948326110839844e-07, "step": 9383, "training_step_time": 17.5910222530365 }, { "epoch": 8.94927978515625e-07, "model_forward_time": 5.0900514125823975, "step": 9384 }, { "epoch": 8.94927978515625e-07, "step": 9384, "training_step_time": 17.58822250366211 }, { "epoch": 8.950233459472656e-07, "model_forward_time": 5.089296817779541, "step": 9385 }, { "epoch": 8.950233459472656e-07, "step": 9385, "training_step_time": 17.809889793395996 }, { "epoch": 8.951187133789062e-07, "model_forward_time": 5.085750341415405, "step": 9386 }, { "epoch": 8.951187133789062e-07, "step": 9386, "training_step_time": 17.577210187911987 }, { "epoch": 8.952140808105469e-07, "model_forward_time": 5.083778381347656, "step": 9387 }, { "epoch": 8.952140808105469e-07, "step": 9387, "training_step_time": 17.414384126663208 }, { "epoch": 8.953094482421875e-07, "model_forward_time": 5.083392143249512, "step": 9388 }, { "epoch": 8.953094482421875e-07, "step": 9388, "training_step_time": 17.493641138076782 }, { "epoch": 8.954048156738281e-07, "model_forward_time": 5.082794904708862, "step": 9389 }, { "epoch": 8.954048156738281e-07, "step": 9389, "training_step_time": 17.533320426940918 }, { "epoch": 8.955001831054687e-07, "grad_norm": 1.4658088684082031, "learning_rate": 9.807745473962533e-06, "loss": 0.1121, "step": 9390 }, { "epoch": 8.955001831054687e-07, "model_forward_time": 5.079703092575073, "step": 9390 }, { "dynamics_loss_avg": 0.04885022658854723, "epoch": 8.955001831054687e-07, "step": 9390 }, { "action_loss_avg": 0.07818462215363979, "epoch": 8.955001831054687e-07, "step": 9390 }, { "arm_loss_avg": 0.15792943090200423, "epoch": 8.955001831054687e-07, "step": 9390 }, { "ee_loss_avg": 0.09269184954464435, "epoch": 8.955001831054687e-07, "step": 9390 }, { "aux_loss_avg": 0.00227311517810449, "epoch": 8.955001831054687e-07, "step": 9390 }, { "epoch": 8.955001831054687e-07, "step": 9390, "training_step_time": 17.556758642196655 }, { "epoch": 8.955955505371094e-07, "model_forward_time": 5.076964616775513, "step": 9391 }, { "epoch": 8.955955505371094e-07, "step": 9391, "training_step_time": 17.493919610977173 }, { "epoch": 8.9569091796875e-07, "model_forward_time": 5.0812084674835205, "step": 9392 }, { "epoch": 8.9569091796875e-07, "step": 9392, "training_step_time": 17.546035051345825 }, { "epoch": 8.957862854003906e-07, "model_forward_time": 3.844308853149414, "step": 9393 }, { "epoch": 8.957862854003906e-07, "step": 9393, "training_step_time": 17.578497171401978 }, { "epoch": 8.958816528320313e-07, "model_forward_time": 3.829502820968628, "step": 9394 }, { "epoch": 8.958816528320313e-07, "step": 9394, "training_step_time": 17.6058509349823 }, { "epoch": 8.959770202636719e-07, "model_forward_time": 5.041234016418457, "step": 9395 }, { "epoch": 8.959770202636719e-07, "step": 9395, "training_step_time": 17.841954946517944 }, { "epoch": 8.960723876953125e-07, "model_forward_time": 5.064921855926514, "step": 9396 }, { "epoch": 8.960723876953125e-07, "step": 9396, "training_step_time": 17.63218593597412 }, { "epoch": 8.961677551269531e-07, "model_forward_time": 3.8498799800872803, "step": 9397 }, { "epoch": 8.961677551269531e-07, "step": 9397, "training_step_time": 17.626439332962036 }, { "epoch": 8.962631225585937e-07, "model_forward_time": 5.3246564865112305, "step": 9398 }, { "epoch": 8.962631225585937e-07, "step": 9398, "training_step_time": 17.646198987960815 }, { "epoch": 8.963584899902343e-07, "model_forward_time": 5.096369504928589, "step": 9399 }, { "epoch": 8.963584899902343e-07, "step": 9399, "training_step_time": 17.61996102333069 }, { "epoch": 8.96453857421875e-07, "grad_norm": 1.9484792947769165, "learning_rate": 9.807096226720558e-06, "loss": 0.1119, "step": 9400 }, { "epoch": 8.96453857421875e-07, "model_forward_time": 5.101505279541016, "step": 9400 }, { "dynamics_loss_avg": 0.05789444176480174, "epoch": 8.96453857421875e-07, "step": 9400 }, { "action_loss_avg": 0.07712575066834688, "epoch": 8.96453857421875e-07, "step": 9400 }, { "arm_loss_avg": 0.13596605211496354, "epoch": 8.96453857421875e-07, "step": 9400 }, { "ee_loss_avg": 0.12710782922804356, "epoch": 8.96453857421875e-07, "step": 9400 }, { "aux_loss_avg": 0.0035731857817154376, "epoch": 8.96453857421875e-07, "step": 9400 }, { "epoch": 8.96453857421875e-07, "step": 9400, "training_step_time": 17.42119002342224 }, { "epoch": 8.965492248535157e-07, "model_forward_time": 5.105718612670898, "step": 9401 }, { "epoch": 8.965492248535157e-07, "step": 9401, "training_step_time": 17.647310972213745 }, { "epoch": 8.966445922851563e-07, "model_forward_time": 5.099932432174683, "step": 9402 }, { "epoch": 8.966445922851563e-07, "step": 9402, "training_step_time": 17.46541476249695 }, { "epoch": 8.967399597167969e-07, "model_forward_time": 5.275251865386963, "step": 9403 }, { "epoch": 8.967399597167969e-07, "step": 9403, "training_step_time": 17.53301429748535 }, { "epoch": 8.968353271484375e-07, "model_forward_time": 3.854492425918579, "step": 9404 }, { "epoch": 8.968353271484375e-07, "step": 9404, "training_step_time": 17.582196474075317 }, { "epoch": 8.969306945800781e-07, "model_forward_time": 5.058979272842407, "step": 9405 }, { "epoch": 8.969306945800781e-07, "step": 9405, "training_step_time": 17.849554777145386 }, { "epoch": 8.970260620117187e-07, "model_forward_time": 5.061477422714233, "step": 9406 }, { "epoch": 8.970260620117187e-07, "step": 9406, "training_step_time": 17.634687900543213 }, { "epoch": 8.971214294433594e-07, "model_forward_time": 5.069413423538208, "step": 9407 }, { "epoch": 8.971214294433594e-07, "step": 9407, "training_step_time": 17.383009910583496 }, { "epoch": 8.97216796875e-07, "model_forward_time": 5.306970834732056, "step": 9408 }, { "epoch": 8.97216796875e-07, "step": 9408, "training_step_time": 17.546799659729004 }, { "epoch": 8.973121643066406e-07, "model_forward_time": 5.087257623672485, "step": 9409 }, { "epoch": 8.973121643066406e-07, "step": 9409, "training_step_time": 17.588624238967896 }, { "epoch": 8.974075317382812e-07, "grad_norm": 2.192516565322876, "learning_rate": 9.806445906627949e-06, "loss": 0.1165, "step": 9410 }, { "epoch": 8.974075317382812e-07, "model_forward_time": 5.09127140045166, "step": 9410 }, { "dynamics_loss_avg": 0.05913821468129754, "epoch": 8.974075317382812e-07, "step": 9410 }, { "action_loss_avg": 0.10071297027170659, "epoch": 8.974075317382812e-07, "step": 9410 }, { "arm_loss_avg": 0.13479122668504714, "epoch": 8.974075317382812e-07, "step": 9410 }, { "ee_loss_avg": 0.12041447572410106, "epoch": 8.974075317382812e-07, "step": 9410 }, { "aux_loss_avg": 0.0013596039265394212, "epoch": 8.974075317382812e-07, "step": 9410 }, { "epoch": 8.974075317382812e-07, "step": 9410, "training_step_time": 17.78122115135193 }, { "epoch": 8.975028991699219e-07, "model_forward_time": 5.090346336364746, "step": 9411 }, { "epoch": 8.975028991699219e-07, "step": 9411, "training_step_time": 17.601224184036255 }, { "epoch": 8.975982666015625e-07, "model_forward_time": 5.092430830001831, "step": 9412 }, { "epoch": 8.975982666015625e-07, "step": 9412, "training_step_time": 17.602922439575195 }, { "epoch": 8.976936340332031e-07, "model_forward_time": 5.2750561237335205, "step": 9413 }, { "epoch": 8.976936340332031e-07, "step": 9413, "training_step_time": 17.597464084625244 }, { "epoch": 8.977890014648438e-07, "model_forward_time": 5.0905444622039795, "step": 9414 }, { "epoch": 8.977890014648438e-07, "step": 9414, "training_step_time": 17.598662853240967 }, { "epoch": 8.978843688964844e-07, "model_forward_time": 5.0834434032440186, "step": 9415 }, { "epoch": 8.978843688964844e-07, "step": 9415, "training_step_time": 17.836079359054565 }, { "epoch": 8.97979736328125e-07, "model_forward_time": 5.0833985805511475, "step": 9416 }, { "epoch": 8.97979736328125e-07, "step": 9416, "training_step_time": 17.58475136756897 }, { "epoch": 8.980751037597656e-07, "model_forward_time": 5.084110736846924, "step": 9417 }, { "epoch": 8.980751037597656e-07, "step": 9417, "training_step_time": 17.591300010681152 }, { "epoch": 8.981704711914062e-07, "model_forward_time": 5.314787864685059, "step": 9418 }, { "epoch": 8.981704711914062e-07, "step": 9418, "training_step_time": 17.58485746383667 }, { "epoch": 8.982658386230468e-07, "model_forward_time": 5.0866265296936035, "step": 9419 }, { "epoch": 8.982658386230468e-07, "step": 9419, "training_step_time": 17.581604719161987 }, { "epoch": 8.983612060546875e-07, "grad_norm": 1.7096766233444214, "learning_rate": 9.805794513829843e-06, "loss": 0.1126, "step": 9420 }, { "epoch": 8.983612060546875e-07, "model_forward_time": 5.086156845092773, "step": 9420 }, { "dynamics_loss_avg": 0.03199632139876485, "epoch": 8.983612060546875e-07, "step": 9420 }, { "action_loss_avg": 0.07767118904739619, "epoch": 8.983612060546875e-07, "step": 9420 }, { "arm_loss_avg": 0.1609783113002777, "epoch": 8.983612060546875e-07, "step": 9420 }, { "ee_loss_avg": 0.08505678549408913, "epoch": 8.983612060546875e-07, "step": 9420 }, { "aux_loss_avg": 0.01296370784402825, "epoch": 8.983612060546875e-07, "step": 9420 }, { "epoch": 8.983612060546875e-07, "step": 9420, "training_step_time": 17.764899253845215 }, { "epoch": 8.984565734863282e-07, "model_forward_time": 3.849386692047119, "step": 9421 }, { "epoch": 8.984565734863282e-07, "step": 9421, "training_step_time": 17.573549509048462 }, { "epoch": 8.985519409179688e-07, "model_forward_time": 5.062174558639526, "step": 9422 }, { "epoch": 8.985519409179688e-07, "step": 9422, "training_step_time": 17.57445764541626 }, { "epoch": 8.986473083496094e-07, "model_forward_time": 5.256375551223755, "step": 9423 }, { "epoch": 8.986473083496094e-07, "step": 9423, "training_step_time": 17.560191869735718 }, { "epoch": 8.9874267578125e-07, "model_forward_time": 5.078242063522339, "step": 9424 }, { "epoch": 8.9874267578125e-07, "step": 9424, "training_step_time": 17.560444116592407 }, { "epoch": 8.988380432128906e-07, "model_forward_time": 5.085256099700928, "step": 9425 }, { "epoch": 8.988380432128906e-07, "step": 9425, "training_step_time": 17.803115367889404 }, { "epoch": 8.989334106445312e-07, "model_forward_time": 5.091922998428345, "step": 9426 }, { "epoch": 8.989334106445312e-07, "step": 9426, "training_step_time": 17.55073833465576 }, { "epoch": 8.990287780761719e-07, "model_forward_time": 5.095538139343262, "step": 9427 }, { "epoch": 8.990287780761719e-07, "step": 9427, "training_step_time": 17.55351734161377 }, { "epoch": 8.991241455078125e-07, "model_forward_time": 5.330273628234863, "step": 9428 }, { "epoch": 8.991241455078125e-07, "step": 9428, "training_step_time": 17.557218074798584 }, { "epoch": 8.992195129394531e-07, "model_forward_time": 5.096017122268677, "step": 9429 }, { "epoch": 8.992195129394531e-07, "step": 9429, "training_step_time": 17.5682635307312 }, { "epoch": 8.993148803710937e-07, "grad_norm": 2.3768179416656494, "learning_rate": 9.80514204847162e-06, "loss": 0.1219, "step": 9430 }, { "epoch": 8.993148803710937e-07, "model_forward_time": 5.091490983963013, "step": 9430 }, { "dynamics_loss_avg": 0.04842396946623921, "epoch": 8.993148803710937e-07, "step": 9430 }, { "action_loss_avg": 0.07450525481253863, "epoch": 8.993148803710937e-07, "step": 9430 }, { "arm_loss_avg": 0.1439386375248432, "epoch": 8.993148803710937e-07, "step": 9430 }, { "ee_loss_avg": 0.08064512349665165, "epoch": 8.993148803710937e-07, "step": 9430 }, { "aux_loss_avg": 0.0013012003735639154, "epoch": 8.993148803710937e-07, "step": 9430 }, { "epoch": 8.993148803710937e-07, "step": 9430, "training_step_time": 17.769416332244873 }, { "epoch": 8.994102478027344e-07, "model_forward_time": 5.088919639587402, "step": 9431 }, { "epoch": 8.994102478027344e-07, "step": 9431, "training_step_time": 17.583552598953247 }, { "epoch": 8.99505615234375e-07, "model_forward_time": 5.082054376602173, "step": 9432 }, { "epoch": 8.99505615234375e-07, "step": 9432, "training_step_time": 17.59030246734619 }, { "epoch": 8.996009826660157e-07, "model_forward_time": 5.271833181381226, "step": 9433 }, { "epoch": 8.996009826660157e-07, "step": 9433, "training_step_time": 17.577093362808228 }, { "epoch": 8.996963500976563e-07, "model_forward_time": 5.08227014541626, "step": 9434 }, { "epoch": 8.996963500976563e-07, "step": 9434, "training_step_time": 17.5846107006073 }, { "epoch": 8.997917175292969e-07, "model_forward_time": 5.077829837799072, "step": 9435 }, { "epoch": 8.997917175292969e-07, "step": 9435, "training_step_time": 17.826563358306885 }, { "epoch": 8.998870849609375e-07, "model_forward_time": 5.077521085739136, "step": 9436 }, { "epoch": 8.998870849609375e-07, "step": 9436, "training_step_time": 17.607499837875366 }, { "epoch": 8.999824523925781e-07, "model_forward_time": 5.080629110336304, "step": 9437 }, { "epoch": 8.999824523925781e-07, "step": 9437, "training_step_time": 17.602627754211426 }, { "epoch": 9.000778198242187e-07, "model_forward_time": 5.316907167434692, "step": 9438 }, { "epoch": 9.000778198242187e-07, "step": 9438, "training_step_time": 17.603205680847168 }, { "epoch": 9.001731872558593e-07, "model_forward_time": 5.083511829376221, "step": 9439 }, { "epoch": 9.001731872558593e-07, "step": 9439, "training_step_time": 17.40113067626953 }, { "epoch": 9.002685546875e-07, "grad_norm": 1.3151633739471436, "learning_rate": 9.804488510698898e-06, "loss": 0.1091, "step": 9440 }, { "epoch": 9.002685546875e-07, "model_forward_time": 5.084575891494751, "step": 9440 }, { "dynamics_loss_avg": 0.057618900574743746, "epoch": 9.002685546875e-07, "step": 9440 }, { "action_loss_avg": 0.08468655757606029, "epoch": 9.002685546875e-07, "step": 9440 }, { "arm_loss_avg": 0.12244547381997109, "epoch": 9.002685546875e-07, "step": 9440 }, { "ee_loss_avg": 0.06614658981561661, "epoch": 9.002685546875e-07, "step": 9440 }, { "aux_loss_avg": 0.0024216049001552164, "epoch": 9.002685546875e-07, "step": 9440 }, { "epoch": 9.002685546875e-07, "step": 9440, "training_step_time": 17.448044776916504 }, { "epoch": 9.003639221191407e-07, "model_forward_time": 5.086034774780273, "step": 9441 }, { "epoch": 9.003639221191407e-07, "step": 9441, "training_step_time": 17.61102294921875 }, { "epoch": 9.004592895507813e-07, "model_forward_time": 5.082151889801025, "step": 9442 }, { "epoch": 9.004592895507813e-07, "step": 9442, "training_step_time": 17.53055477142334 }, { "epoch": 9.005546569824219e-07, "model_forward_time": 5.270150184631348, "step": 9443 }, { "epoch": 9.005546569824219e-07, "step": 9443, "training_step_time": 17.5710871219635 }, { "epoch": 9.006500244140625e-07, "model_forward_time": 5.0846333503723145, "step": 9444 }, { "epoch": 9.006500244140625e-07, "step": 9444, "training_step_time": 17.378018379211426 }, { "epoch": 9.007453918457031e-07, "model_forward_time": 5.084468603134155, "step": 9445 }, { "epoch": 9.007453918457031e-07, "step": 9445, "training_step_time": 17.52891731262207 }, { "epoch": 9.008407592773437e-07, "model_forward_time": 5.084739923477173, "step": 9446 }, { "epoch": 9.008407592773437e-07, "step": 9446, "training_step_time": 17.81373405456543 }, { "epoch": 9.009361267089844e-07, "model_forward_time": 5.0796332359313965, "step": 9447 }, { "epoch": 9.009361267089844e-07, "step": 9447, "training_step_time": 17.613364934921265 }, { "epoch": 9.01031494140625e-07, "model_forward_time": 5.314210891723633, "step": 9448 }, { "epoch": 9.01031494140625e-07, "step": 9448, "training_step_time": 17.63797903060913 }, { "epoch": 9.011268615722656e-07, "model_forward_time": 5.083660125732422, "step": 9449 }, { "epoch": 9.011268615722656e-07, "step": 9449, "training_step_time": 17.641393899917603 }, { "epoch": 9.012222290039062e-07, "grad_norm": 1.6733378171920776, "learning_rate": 9.803833900657532e-06, "loss": 0.121, "step": 9450 }, { "epoch": 9.012222290039062e-07, "model_forward_time": 5.083875417709351, "step": 9450 }, { "dynamics_loss_avg": 0.05014753434807062, "epoch": 9.012222290039062e-07, "step": 9450 }, { "action_loss_avg": 0.08001730367541313, "epoch": 9.012222290039062e-07, "step": 9450 }, { "arm_loss_avg": 0.13182817175984382, "epoch": 9.012222290039062e-07, "step": 9450 }, { "ee_loss_avg": 0.06381783392280341, "epoch": 9.012222290039062e-07, "step": 9450 }, { "aux_loss_avg": 0.0012834530090913177, "epoch": 9.012222290039062e-07, "step": 9450 }, { "epoch": 9.012222290039062e-07, "step": 9450, "training_step_time": 17.85737442970276 }, { "epoch": 9.013175964355469e-07, "model_forward_time": 5.08388876914978, "step": 9451 }, { "epoch": 9.013175964355469e-07, "step": 9451, "training_step_time": 17.62847590446472 }, { "epoch": 9.014129638671875e-07, "model_forward_time": 5.085167169570923, "step": 9452 }, { "epoch": 9.014129638671875e-07, "step": 9452, "training_step_time": 17.624478816986084 }, { "epoch": 9.015083312988282e-07, "model_forward_time": 5.2723329067230225, "step": 9453 }, { "epoch": 9.015083312988282e-07, "step": 9453, "training_step_time": 17.524779558181763 }, { "epoch": 9.016036987304688e-07, "model_forward_time": 5.087636232376099, "step": 9454 }, { "epoch": 9.016036987304688e-07, "step": 9454, "training_step_time": 17.609012603759766 }, { "epoch": 9.016990661621094e-07, "model_forward_time": 5.084952116012573, "step": 9455 }, { "epoch": 9.016990661621094e-07, "step": 9455, "training_step_time": 17.839625358581543 }, { "epoch": 9.0179443359375e-07, "model_forward_time": 5.08305811882019, "step": 9456 }, { "epoch": 9.0179443359375e-07, "step": 9456, "training_step_time": 17.583612203598022 }, { "epoch": 9.018898010253906e-07, "model_forward_time": 5.085141897201538, "step": 9457 }, { "epoch": 9.018898010253906e-07, "step": 9457, "training_step_time": 17.579612016677856 }, { "epoch": 9.019851684570312e-07, "model_forward_time": 5.325478553771973, "step": 9458 }, { "epoch": 9.019851684570312e-07, "step": 9458, "training_step_time": 17.57446789741516 }, { "epoch": 9.020805358886718e-07, "model_forward_time": 5.081419944763184, "step": 9459 }, { "epoch": 9.020805358886718e-07, "step": 9459, "training_step_time": 17.566243171691895 }, { "epoch": 9.021759033203125e-07, "grad_norm": 1.9534146785736084, "learning_rate": 9.803178218493619e-06, "loss": 0.1041, "step": 9460 }, { "epoch": 9.021759033203125e-07, "model_forward_time": 5.079450368881226, "step": 9460 }, { "dynamics_loss_avg": 0.045374735817313196, "epoch": 9.021759033203125e-07, "step": 9460 }, { "action_loss_avg": 0.07470018342137337, "epoch": 9.021759033203125e-07, "step": 9460 }, { "arm_loss_avg": 0.17608340084552765, "epoch": 9.021759033203125e-07, "step": 9460 }, { "ee_loss_avg": 0.09089316166937352, "epoch": 9.021759033203125e-07, "step": 9460 }, { "aux_loss_avg": 0.0017110261891502888, "epoch": 9.021759033203125e-07, "step": 9460 }, { "epoch": 9.021759033203125e-07, "step": 9460, "training_step_time": 17.76396632194519 }, { "epoch": 9.022712707519532e-07, "model_forward_time": 3.8456971645355225, "step": 9461 }, { "epoch": 9.022712707519532e-07, "step": 9461, "training_step_time": 17.657261610031128 }, { "epoch": 9.023666381835938e-07, "model_forward_time": 5.059241056442261, "step": 9462 }, { "epoch": 9.023666381835938e-07, "step": 9462, "training_step_time": 17.578906536102295 }, { "epoch": 9.024620056152344e-07, "model_forward_time": 3.835993528366089, "step": 9463 }, { "epoch": 9.024620056152344e-07, "step": 9463, "training_step_time": 17.58580183982849 }, { "epoch": 9.02557373046875e-07, "model_forward_time": 5.0555174350738525, "step": 9464 }, { "epoch": 9.02557373046875e-07, "step": 9464, "training_step_time": 17.59784460067749 }, { "epoch": 9.026527404785156e-07, "model_forward_time": 5.069567918777466, "step": 9465 }, { "epoch": 9.026527404785156e-07, "step": 9465, "training_step_time": 17.802646160125732 }, { "epoch": 9.027481079101562e-07, "model_forward_time": 5.08211874961853, "step": 9466 }, { "epoch": 9.027481079101562e-07, "step": 9466, "training_step_time": 17.57674479484558 }, { "epoch": 9.028434753417969e-07, "model_forward_time": 3.860766649246216, "step": 9467 }, { "epoch": 9.028434753417969e-07, "step": 9467, "training_step_time": 17.573193311691284 }, { "epoch": 9.029388427734375e-07, "model_forward_time": 5.071603298187256, "step": 9468 }, { "epoch": 9.029388427734375e-07, "step": 9468, "training_step_time": 17.58866572380066 }, { "epoch": 9.030342102050781e-07, "model_forward_time": 5.329761266708374, "step": 9469 }, { "epoch": 9.030342102050781e-07, "step": 9469, "training_step_time": 17.58670401573181 }, { "epoch": 9.031295776367187e-07, "grad_norm": 1.7293702363967896, "learning_rate": 9.802521464353494e-06, "loss": 0.1214, "step": 9470 }, { "epoch": 9.031295776367187e-07, "model_forward_time": 5.0971457958221436, "step": 9470 }, { "dynamics_loss_avg": 0.06931865941733122, "epoch": 9.031295776367187e-07, "step": 9470 }, { "action_loss_avg": 0.10880077183246613, "epoch": 9.031295776367187e-07, "step": 9470 }, { "arm_loss_avg": 0.16965302079916, "epoch": 9.031295776367187e-07, "step": 9470 }, { "ee_loss_avg": 0.10455419030040503, "epoch": 9.031295776367187e-07, "step": 9470 }, { "aux_loss_avg": 0.0029769008920993655, "epoch": 9.031295776367187e-07, "step": 9470 }, { "epoch": 9.031295776367187e-07, "step": 9470, "training_step_time": 17.774179935455322 }, { "epoch": 9.032249450683594e-07, "model_forward_time": 5.094534397125244, "step": 9471 }, { "epoch": 9.032249450683594e-07, "step": 9471, "training_step_time": 17.611769437789917 }, { "epoch": 9.033203125e-07, "model_forward_time": 5.099578142166138, "step": 9472 }, { "epoch": 9.033203125e-07, "step": 9472, "training_step_time": 17.595426321029663 }, { "epoch": 9.034156799316407e-07, "model_forward_time": 5.095247745513916, "step": 9473 }, { "epoch": 9.034156799316407e-07, "step": 9473, "training_step_time": 17.594278812408447 }, { "epoch": 9.035110473632813e-07, "model_forward_time": 5.093759536743164, "step": 9474 }, { "epoch": 9.035110473632813e-07, "step": 9474, "training_step_time": 17.31107473373413 }, { "epoch": 9.036064147949219e-07, "model_forward_time": 5.090545892715454, "step": 9475 }, { "epoch": 9.036064147949219e-07, "step": 9475, "training_step_time": 17.511158227920532 }, { "epoch": 9.037017822265625e-07, "model_forward_time": 5.088069915771484, "step": 9476 }, { "epoch": 9.037017822265625e-07, "step": 9476, "training_step_time": 17.79678463935852 }, { "epoch": 9.037971496582031e-07, "model_forward_time": 5.081429719924927, "step": 9477 }, { "epoch": 9.037971496582031e-07, "step": 9477, "training_step_time": 17.36519432067871 }, { "epoch": 9.038925170898437e-07, "model_forward_time": 5.081639051437378, "step": 9478 }, { "epoch": 9.038925170898437e-07, "step": 9478, "training_step_time": 17.499974250793457 }, { "epoch": 9.039878845214843e-07, "model_forward_time": 4.0889012813568115, "step": 9479 }, { "epoch": 9.039878845214843e-07, "step": 9479, "training_step_time": 17.549537420272827 }, { "epoch": 9.04083251953125e-07, "grad_norm": 2.165349245071411, "learning_rate": 9.801863638383734e-06, "loss": 0.1267, "step": 9480 }, { "epoch": 9.04083251953125e-07, "model_forward_time": 5.060310125350952, "step": 9480 }, { "dynamics_loss_avg": 0.04848209824413061, "epoch": 9.04083251953125e-07, "step": 9480 }, { "action_loss_avg": 0.07781283929944038, "epoch": 9.04083251953125e-07, "step": 9480 }, { "arm_loss_avg": 0.15900578796863557, "epoch": 9.04083251953125e-07, "step": 9480 }, { "ee_loss_avg": 0.08311927840113639, "epoch": 9.04083251953125e-07, "step": 9480 }, { "aux_loss_avg": 0.003231971862260252, "epoch": 9.04083251953125e-07, "step": 9480 }, { "epoch": 9.04083251953125e-07, "step": 9480, "training_step_time": 17.816901206970215 }, { "epoch": 9.041786193847657e-07, "model_forward_time": 5.062517166137695, "step": 9481 }, { "epoch": 9.041786193847657e-07, "step": 9481, "training_step_time": 17.60257053375244 }, { "epoch": 9.042739868164063e-07, "model_forward_time": 5.070948362350464, "step": 9482 }, { "epoch": 9.042739868164063e-07, "step": 9482, "training_step_time": 17.608220100402832 }, { "epoch": 9.043693542480469e-07, "model_forward_time": 5.081238508224487, "step": 9483 }, { "epoch": 9.043693542480469e-07, "step": 9483, "training_step_time": 17.6167151927948 }, { "epoch": 9.044647216796875e-07, "model_forward_time": 5.282082796096802, "step": 9484 }, { "epoch": 9.044647216796875e-07, "step": 9484, "training_step_time": 17.404258012771606 }, { "epoch": 9.045600891113281e-07, "model_forward_time": 5.098637342453003, "step": 9485 }, { "epoch": 9.045600891113281e-07, "step": 9485, "training_step_time": 17.38740372657776 }, { "epoch": 9.046554565429687e-07, "model_forward_time": 3.859375238418579, "step": 9486 }, { "epoch": 9.046554565429687e-07, "step": 9486, "training_step_time": 17.709709644317627 }, { "epoch": 9.047508239746094e-07, "model_forward_time": 5.066155195236206, "step": 9487 }, { "epoch": 9.047508239746094e-07, "step": 9487, "training_step_time": 17.53695273399353 }, { "epoch": 9.0484619140625e-07, "model_forward_time": 5.074990749359131, "step": 9488 }, { "epoch": 9.0484619140625e-07, "step": 9488, "training_step_time": 17.58014416694641 }, { "epoch": 9.049415588378906e-07, "model_forward_time": 5.323084115982056, "step": 9489 }, { "epoch": 9.049415588378906e-07, "step": 9489, "training_step_time": 17.60132670402527 }, { "epoch": 9.050369262695312e-07, "grad_norm": 1.8128259181976318, "learning_rate": 9.801204740731149e-06, "loss": 0.119, "step": 9490 }, { "epoch": 9.050369262695312e-07, "model_forward_time": 5.090316295623779, "step": 9490 }, { "dynamics_loss_avg": 0.04335314463824034, "epoch": 9.050369262695312e-07, "step": 9490 }, { "action_loss_avg": 0.07673092745244503, "epoch": 9.050369262695312e-07, "step": 9490 }, { "arm_loss_avg": 0.1359627589583397, "epoch": 9.050369262695312e-07, "step": 9490 }, { "ee_loss_avg": 0.07471308168023824, "epoch": 9.050369262695312e-07, "step": 9490 }, { "aux_loss_avg": 0.001123090775217861, "epoch": 9.050369262695312e-07, "step": 9490 }, { "epoch": 9.050369262695312e-07, "step": 9490, "training_step_time": 17.220073223114014 }, { "epoch": 9.051322937011719e-07, "model_forward_time": 5.0909669399261475, "step": 9491 }, { "epoch": 9.051322937011719e-07, "step": 9491, "training_step_time": 17.719494581222534 }, { "epoch": 9.052276611328125e-07, "model_forward_time": 5.091550588607788, "step": 9492 }, { "epoch": 9.052276611328125e-07, "step": 9492, "training_step_time": 17.584371089935303 }, { "epoch": 9.053230285644532e-07, "model_forward_time": 5.092902183532715, "step": 9493 }, { "epoch": 9.053230285644532e-07, "step": 9493, "training_step_time": 17.614469528198242 }, { "epoch": 9.054183959960938e-07, "model_forward_time": 5.299322843551636, "step": 9494 }, { "epoch": 9.054183959960938e-07, "step": 9494, "training_step_time": 17.62393879890442 }, { "epoch": 9.055137634277344e-07, "model_forward_time": 5.085458517074585, "step": 9495 }, { "epoch": 9.055137634277344e-07, "step": 9495, "training_step_time": 17.62019920349121 }, { "epoch": 9.05609130859375e-07, "model_forward_time": 5.085139036178589, "step": 9496 }, { "epoch": 9.05609130859375e-07, "step": 9496, "training_step_time": 17.86302924156189 }, { "epoch": 9.057044982910156e-07, "model_forward_time": 5.087706804275513, "step": 9497 }, { "epoch": 9.057044982910156e-07, "step": 9497, "training_step_time": 17.606355667114258 }, { "epoch": 9.057998657226562e-07, "model_forward_time": 5.082040071487427, "step": 9498 }, { "epoch": 9.057998657226562e-07, "step": 9498, "training_step_time": 17.61270761489868 }, { "epoch": 9.058952331542968e-07, "model_forward_time": 5.082955598831177, "step": 9499 }, { "epoch": 9.058952331542968e-07, "step": 9499, "training_step_time": 17.611035585403442 }, { "epoch": 9.059906005859375e-07, "grad_norm": 2.153233289718628, "learning_rate": 9.800544771542797e-06, "loss": 0.1327, "step": 9500 }, { "epoch": 9.059906005859375e-07, "model_forward_time": 5.084846496582031, "step": 9500 }, { "dynamics_loss_avg": 0.065272983815521, "epoch": 9.059906005859375e-07, "step": 9500 }, { "action_loss_avg": 0.10213034227490425, "epoch": 9.059906005859375e-07, "step": 9500 }, { "arm_loss_avg": 0.13981611281633377, "epoch": 9.059906005859375e-07, "step": 9500 }, { "ee_loss_avg": 0.10550335459411145, "epoch": 9.059906005859375e-07, "step": 9500 }, { "aux_loss_avg": 0.0031643119757063685, "epoch": 9.059906005859375e-07, "step": 9500 }, { "epoch": 9.059906005859375e-07, "step": 9500, "training_step_time": 17.60754919052124 }, { "epoch": 9.060859680175781e-07, "model_forward_time": 5.091635227203369, "step": 9501 }, { "epoch": 9.060859680175781e-07, "step": 9501, "training_step_time": 17.83310055732727 }, { "epoch": 9.061813354492188e-07, "model_forward_time": 3.852909564971924, "step": 9502 }, { "epoch": 9.061813354492188e-07, "step": 9502, "training_step_time": 17.593482971191406 }, { "epoch": 9.062767028808594e-07, "model_forward_time": 5.056992292404175, "step": 9503 }, { "epoch": 9.062767028808594e-07, "step": 9503, "training_step_time": 17.591875791549683 }, { "epoch": 9.063720703125e-07, "model_forward_time": 5.071239233016968, "step": 9504 }, { "epoch": 9.063720703125e-07, "step": 9504, "training_step_time": 17.583206176757812 }, { "epoch": 9.064674377441406e-07, "model_forward_time": 5.07707953453064, "step": 9505 }, { "epoch": 9.064674377441406e-07, "step": 9505, "training_step_time": 17.803767919540405 }, { "epoch": 9.065628051757813e-07, "model_forward_time": 5.081478834152222, "step": 9506 }, { "epoch": 9.065628051757813e-07, "step": 9506, "training_step_time": 17.571948528289795 }, { "epoch": 9.066581726074219e-07, "model_forward_time": 5.090322971343994, "step": 9507 }, { "epoch": 9.066581726074219e-07, "step": 9507, "training_step_time": 17.574055194854736 }, { "epoch": 9.067535400390625e-07, "model_forward_time": 5.343324661254883, "step": 9508 }, { "epoch": 9.067535400390625e-07, "step": 9508, "training_step_time": 17.571558237075806 }, { "epoch": 9.068489074707031e-07, "model_forward_time": 3.8588736057281494, "step": 9509 }, { "epoch": 9.068489074707031e-07, "step": 9509, "training_step_time": 17.576761722564697 }, { "epoch": 9.069442749023437e-07, "grad_norm": 1.5055346488952637, "learning_rate": 9.799883730965968e-06, "loss": 0.1234, "step": 9510 }, { "epoch": 9.069442749023437e-07, "model_forward_time": 5.062851905822754, "step": 9510 }, { "dynamics_loss_avg": 0.05928820986300707, "epoch": 9.069442749023437e-07, "step": 9510 }, { "action_loss_avg": 0.07390985991805792, "epoch": 9.069442749023437e-07, "step": 9510 }, { "arm_loss_avg": 0.10550407506525517, "epoch": 9.069442749023437e-07, "step": 9510 }, { "ee_loss_avg": 0.059618457406759265, "epoch": 9.069442749023437e-07, "step": 9510 }, { "aux_loss_avg": 0.0018114053149474786, "epoch": 9.069442749023437e-07, "step": 9510 }, { "epoch": 9.069442749023437e-07, "step": 9510, "training_step_time": 17.810518264770508 }, { "epoch": 9.070396423339843e-07, "model_forward_time": 5.0766074657440186, "step": 9511 }, { "epoch": 9.070396423339843e-07, "step": 9511, "training_step_time": 17.62559175491333 }, { "epoch": 9.07135009765625e-07, "model_forward_time": 5.080496549606323, "step": 9512 }, { "epoch": 9.07135009765625e-07, "step": 9512, "training_step_time": 17.581334352493286 }, { "epoch": 9.072303771972657e-07, "model_forward_time": 5.084611177444458, "step": 9513 }, { "epoch": 9.072303771972657e-07, "step": 9513, "training_step_time": 17.579861640930176 }, { "epoch": 9.073257446289063e-07, "model_forward_time": 5.3039751052856445, "step": 9514 }, { "epoch": 9.073257446289063e-07, "step": 9514, "training_step_time": 17.59731888771057 }, { "epoch": 9.074211120605469e-07, "model_forward_time": 3.8557662963867188, "step": 9515 }, { "epoch": 9.074211120605469e-07, "step": 9515, "training_step_time": 17.39698815345764 }, { "epoch": 9.075164794921875e-07, "model_forward_time": 5.06450343132019, "step": 9516 }, { "epoch": 9.075164794921875e-07, "step": 9516, "training_step_time": 17.75483226776123 }, { "epoch": 9.076118469238281e-07, "model_forward_time": 5.070614576339722, "step": 9517 }, { "epoch": 9.076118469238281e-07, "step": 9517, "training_step_time": 17.55284595489502 }, { "epoch": 9.077072143554687e-07, "model_forward_time": 5.08088493347168, "step": 9518 }, { "epoch": 9.077072143554687e-07, "step": 9518, "training_step_time": 17.584239721298218 }, { "epoch": 9.078025817871093e-07, "model_forward_time": 5.318163156509399, "step": 9519 }, { "epoch": 9.078025817871093e-07, "step": 9519, "training_step_time": 17.59374976158142 }, { "epoch": 9.0789794921875e-07, "grad_norm": 1.9010382890701294, "learning_rate": 9.799221619148194e-06, "loss": 0.1019, "step": 9520 }, { "epoch": 9.0789794921875e-07, "model_forward_time": 5.086463928222656, "step": 9520 }, { "dynamics_loss_avg": 0.038736459659412505, "epoch": 9.0789794921875e-07, "step": 9520 }, { "action_loss_avg": 0.06723197307437659, "epoch": 9.0789794921875e-07, "step": 9520 }, { "arm_loss_avg": 0.1474832333624363, "epoch": 9.0789794921875e-07, "step": 9520 }, { "ee_loss_avg": 0.09033017996698618, "epoch": 9.0789794921875e-07, "step": 9520 }, { "aux_loss_avg": 0.000825462891953066, "epoch": 9.0789794921875e-07, "step": 9520 }, { "epoch": 9.0789794921875e-07, "step": 9520, "training_step_time": 17.595301628112793 }, { "epoch": 9.079933166503906e-07, "model_forward_time": 5.08950400352478, "step": 9521 }, { "epoch": 9.079933166503906e-07, "step": 9521, "training_step_time": 17.832743406295776 }, { "epoch": 9.080886840820313e-07, "model_forward_time": 5.089371204376221, "step": 9522 }, { "epoch": 9.080886840820313e-07, "step": 9522, "training_step_time": 17.609833002090454 }, { "epoch": 9.081840515136719e-07, "model_forward_time": 3.8531529903411865, "step": 9523 }, { "epoch": 9.081840515136719e-07, "step": 9523, "training_step_time": 17.611146211624146 }, { "epoch": 9.082794189453125e-07, "model_forward_time": 5.248433589935303, "step": 9524 }, { "epoch": 9.082794189453125e-07, "step": 9524, "training_step_time": 17.39874839782715 }, { "epoch": 9.083747863769531e-07, "model_forward_time": 5.074289798736572, "step": 9525 }, { "epoch": 9.083747863769531e-07, "step": 9525, "training_step_time": 17.518272638320923 }, { "epoch": 9.084701538085938e-07, "model_forward_time": 5.080031156539917, "step": 9526 }, { "epoch": 9.084701538085938e-07, "step": 9526, "training_step_time": 17.798178672790527 }, { "epoch": 9.085655212402344e-07, "model_forward_time": 5.085476636886597, "step": 9527 }, { "epoch": 9.085655212402344e-07, "step": 9527, "training_step_time": 17.57456135749817 }, { "epoch": 9.08660888671875e-07, "model_forward_time": 5.090707063674927, "step": 9528 }, { "epoch": 9.08660888671875e-07, "step": 9528, "training_step_time": 17.58537220954895 }, { "epoch": 9.087562561035156e-07, "model_forward_time": 5.092064142227173, "step": 9529 }, { "epoch": 9.087562561035156e-07, "step": 9529, "training_step_time": 17.600860118865967 }, { "epoch": 9.088516235351562e-07, "grad_norm": 1.3089383840560913, "learning_rate": 9.798558436237245e-06, "loss": 0.1009, "step": 9530 }, { "epoch": 9.088516235351562e-07, "model_forward_time": 5.088129997253418, "step": 9530 }, { "dynamics_loss_avg": 0.047610513679683206, "epoch": 9.088516235351562e-07, "step": 9530 }, { "action_loss_avg": 0.07249348573386669, "epoch": 9.088516235351562e-07, "step": 9530 }, { "arm_loss_avg": 0.16896756142377853, "epoch": 9.088516235351562e-07, "step": 9530 }, { "ee_loss_avg": 0.07857208643108607, "epoch": 9.088516235351562e-07, "step": 9530 }, { "aux_loss_avg": 0.01064301515580155, "epoch": 9.088516235351562e-07, "step": 9530 }, { "epoch": 9.088516235351562e-07, "step": 9530, "training_step_time": 17.826513290405273 }, { "epoch": 9.089469909667968e-07, "model_forward_time": 5.087906837463379, "step": 9531 }, { "epoch": 9.089469909667968e-07, "step": 9531, "training_step_time": 17.612335681915283 }, { "epoch": 9.090423583984375e-07, "model_forward_time": 5.085720062255859, "step": 9532 }, { "epoch": 9.090423583984375e-07, "step": 9532, "training_step_time": 17.609600067138672 }, { "epoch": 9.091377258300782e-07, "model_forward_time": 5.0846123695373535, "step": 9533 }, { "epoch": 9.091377258300782e-07, "step": 9533, "training_step_time": 17.61034846305847 }, { "epoch": 9.092330932617188e-07, "model_forward_time": 3.8529343605041504, "step": 9534 }, { "epoch": 9.092330932617188e-07, "step": 9534, "training_step_time": 17.602927684783936 }, { "epoch": 9.093284606933594e-07, "model_forward_time": 5.052407503128052, "step": 9535 }, { "epoch": 9.093284606933594e-07, "step": 9535, "training_step_time": 17.841416835784912 }, { "epoch": 9.09423828125e-07, "model_forward_time": 5.063441276550293, "step": 9536 }, { "epoch": 9.09423828125e-07, "step": 9536, "training_step_time": 17.49862790107727 }, { "epoch": 9.095191955566406e-07, "model_forward_time": 5.083230972290039, "step": 9537 }, { "epoch": 9.095191955566406e-07, "step": 9537, "training_step_time": 17.597851753234863 }, { "epoch": 9.096145629882812e-07, "model_forward_time": 5.10114312171936, "step": 9538 }, { "epoch": 9.096145629882812e-07, "step": 9538, "training_step_time": 17.606669664382935 }, { "epoch": 9.097099304199218e-07, "model_forward_time": 5.335626840591431, "step": 9539 }, { "epoch": 9.097099304199218e-07, "step": 9539, "training_step_time": 17.61809992790222 }, { "epoch": 9.098052978515625e-07, "grad_norm": 2.1792960166931152, "learning_rate": 9.797894182381129e-06, "loss": 0.1123, "step": 9540 }, { "epoch": 9.098052978515625e-07, "model_forward_time": 5.102384567260742, "step": 9540 }, { "dynamics_loss_avg": 0.051851793006062505, "epoch": 9.098052978515625e-07, "step": 9540 }, { "action_loss_avg": 0.07710764817893505, "epoch": 9.098052978515625e-07, "step": 9540 }, { "arm_loss_avg": 0.13793633431196212, "epoch": 9.098052978515625e-07, "step": 9540 }, { "ee_loss_avg": 0.08276638351380824, "epoch": 9.098052978515625e-07, "step": 9540 }, { "aux_loss_avg": 0.001963948825141415, "epoch": 9.098052978515625e-07, "step": 9540 }, { "epoch": 9.098052978515625e-07, "step": 9540, "training_step_time": 17.397395610809326 }, { "epoch": 9.099006652832031e-07, "model_forward_time": 5.094090700149536, "step": 9541 }, { "epoch": 9.099006652832031e-07, "step": 9541, "training_step_time": 18.301329135894775 }, { "epoch": 9.099960327148438e-07, "model_forward_time": 5.0869810581207275, "step": 9542 }, { "epoch": 9.099960327148438e-07, "step": 9542, "training_step_time": 17.523724794387817 }, { "epoch": 9.100914001464844e-07, "model_forward_time": 5.088311672210693, "step": 9543 }, { "epoch": 9.100914001464844e-07, "step": 9543, "training_step_time": 17.561903715133667 }, { "epoch": 9.10186767578125e-07, "model_forward_time": 5.278433799743652, "step": 9544 }, { "epoch": 9.10186767578125e-07, "step": 9544, "training_step_time": 17.59484028816223 }, { "epoch": 9.102821350097656e-07, "model_forward_time": 3.8515830039978027, "step": 9545 }, { "epoch": 9.102821350097656e-07, "step": 9545, "training_step_time": 17.844088792800903 }, { "epoch": 9.103775024414063e-07, "model_forward_time": 3.827547788619995, "step": 9546 }, { "epoch": 9.103775024414063e-07, "step": 9546, "training_step_time": 17.61723494529724 }, { "epoch": 9.104728698730469e-07, "model_forward_time": 5.0475218296051025, "step": 9547 }, { "epoch": 9.104728698730469e-07, "step": 9547, "training_step_time": 17.62080430984497 }, { "epoch": 9.105682373046875e-07, "model_forward_time": 5.061563730239868, "step": 9548 }, { "epoch": 9.105682373046875e-07, "step": 9548, "training_step_time": 17.607537269592285 }, { "epoch": 9.106636047363281e-07, "model_forward_time": 5.3089423179626465, "step": 9549 }, { "epoch": 9.106636047363281e-07, "step": 9549, "training_step_time": 17.599090337753296 }, { "epoch": 9.107589721679687e-07, "grad_norm": 1.545112133026123, "learning_rate": 9.797228857728097e-06, "loss": 0.1248, "step": 9550 }, { "epoch": 9.107589721679687e-07, "model_forward_time": 5.0936439037323, "step": 9550 }, { "dynamics_loss_avg": 0.061482285149395466, "epoch": 9.107589721679687e-07, "step": 9550 }, { "action_loss_avg": 0.10735575929284095, "epoch": 9.107589721679687e-07, "step": 9550 }, { "arm_loss_avg": 0.15570094734430312, "epoch": 9.107589721679687e-07, "step": 9550 }, { "ee_loss_avg": 0.08352027274668217, "epoch": 9.107589721679687e-07, "step": 9550 }, { "aux_loss_avg": 0.003310705302283168, "epoch": 9.107589721679687e-07, "step": 9550 }, { "epoch": 9.107589721679687e-07, "step": 9550, "training_step_time": 17.835427045822144 }, { "epoch": 9.108543395996093e-07, "model_forward_time": 5.100405931472778, "step": 9551 }, { "epoch": 9.108543395996093e-07, "step": 9551, "training_step_time": 17.602736949920654 }, { "epoch": 9.1094970703125e-07, "model_forward_time": 5.102453947067261, "step": 9552 }, { "epoch": 9.1094970703125e-07, "step": 9552, "training_step_time": 17.598955631256104 }, { "epoch": 9.110450744628907e-07, "model_forward_time": 5.1016685962677, "step": 9553 }, { "epoch": 9.110450744628907e-07, "step": 9553, "training_step_time": 17.586214542388916 }, { "epoch": 9.111404418945313e-07, "model_forward_time": 5.288903474807739, "step": 9554 }, { "epoch": 9.111404418945313e-07, "step": 9554, "training_step_time": 17.590728998184204 }, { "epoch": 9.112358093261719e-07, "model_forward_time": 5.09015965461731, "step": 9555 }, { "epoch": 9.112358093261719e-07, "step": 9555, "training_step_time": 17.811227560043335 }, { "epoch": 9.113311767578125e-07, "model_forward_time": 3.852649211883545, "step": 9556 }, { "epoch": 9.113311767578125e-07, "step": 9556, "training_step_time": 17.59928297996521 }, { "epoch": 9.114265441894531e-07, "model_forward_time": 5.066644906997681, "step": 9557 }, { "epoch": 9.114265441894531e-07, "step": 9557, "training_step_time": 17.617785215377808 }, { "epoch": 9.115219116210937e-07, "model_forward_time": 5.0797975063323975, "step": 9558 }, { "epoch": 9.115219116210937e-07, "step": 9558, "training_step_time": 17.616567611694336 }, { "epoch": 9.116172790527343e-07, "model_forward_time": 5.331519365310669, "step": 9559 }, { "epoch": 9.116172790527343e-07, "step": 9559, "training_step_time": 17.616756677627563 }, { "epoch": 9.11712646484375e-07, "grad_norm": 2.2871265411376953, "learning_rate": 9.796562462426634e-06, "loss": 0.1296, "step": 9560 }, { "epoch": 9.11712646484375e-07, "model_forward_time": 5.092292070388794, "step": 9560 }, { "dynamics_loss_avg": 0.06615307945758105, "epoch": 9.11712646484375e-07, "step": 9560 }, { "action_loss_avg": 0.08526094891130924, "epoch": 9.11712646484375e-07, "step": 9560 }, { "arm_loss_avg": 0.14529112130403518, "epoch": 9.11712646484375e-07, "step": 9560 }, { "ee_loss_avg": 0.09018250294029713, "epoch": 9.11712646484375e-07, "step": 9560 }, { "aux_loss_avg": 0.0031204040453303604, "epoch": 9.11712646484375e-07, "step": 9560 }, { "epoch": 9.11712646484375e-07, "step": 9560, "training_step_time": 17.820554971694946 }, { "epoch": 9.118080139160156e-07, "model_forward_time": 5.084784984588623, "step": 9561 }, { "epoch": 9.118080139160156e-07, "step": 9561, "training_step_time": 17.606556177139282 }, { "epoch": 9.119033813476563e-07, "model_forward_time": 3.85160493850708, "step": 9562 }, { "epoch": 9.119033813476563e-07, "step": 9562, "training_step_time": 17.58260226249695 }, { "epoch": 9.119987487792969e-07, "model_forward_time": 5.059906482696533, "step": 9563 }, { "epoch": 9.119987487792969e-07, "step": 9563, "training_step_time": 17.586745023727417 }, { "epoch": 9.120941162109375e-07, "model_forward_time": 5.2600953578948975, "step": 9564 }, { "epoch": 9.120941162109375e-07, "step": 9564, "training_step_time": 17.39519715309143 }, { "epoch": 9.121894836425781e-07, "model_forward_time": 5.085649728775024, "step": 9565 }, { "epoch": 9.121894836425781e-07, "step": 9565, "training_step_time": 17.606916427612305 }, { "epoch": 9.122848510742188e-07, "model_forward_time": 3.8535003662109375, "step": 9566 }, { "epoch": 9.122848510742188e-07, "step": 9566, "training_step_time": 17.40359878540039 }, { "epoch": 9.123802185058594e-07, "model_forward_time": 5.064295053482056, "step": 9567 }, { "epoch": 9.123802185058594e-07, "step": 9567, "training_step_time": 17.505512714385986 }, { "epoch": 9.124755859375e-07, "model_forward_time": 5.072887182235718, "step": 9568 }, { "epoch": 9.124755859375e-07, "step": 9568, "training_step_time": 17.53793168067932 }, { "epoch": 9.125709533691406e-07, "model_forward_time": 5.31563401222229, "step": 9569 }, { "epoch": 9.125709533691406e-07, "step": 9569, "training_step_time": 17.585005521774292 }, { "epoch": 9.126663208007812e-07, "grad_norm": 1.4126406908035278, "learning_rate": 9.79589499662547e-06, "loss": 0.103, "step": 9570 }, { "epoch": 9.126663208007812e-07, "model_forward_time": 5.089436292648315, "step": 9570 }, { "dynamics_loss_avg": 0.04633791116066277, "epoch": 9.126663208007812e-07, "step": 9570 }, { "action_loss_avg": 0.06831837482750416, "epoch": 9.126663208007812e-07, "step": 9570 }, { "arm_loss_avg": 0.14429200515151025, "epoch": 9.126663208007812e-07, "step": 9570 }, { "ee_loss_avg": 0.06837064828723668, "epoch": 9.126663208007812e-07, "step": 9570 }, { "aux_loss_avg": 0.008326863776892424, "epoch": 9.126663208007812e-07, "step": 9570 }, { "epoch": 9.126663208007812e-07, "step": 9570, "training_step_time": 17.615858554840088 }, { "epoch": 9.127616882324218e-07, "model_forward_time": 5.090625762939453, "step": 9571 }, { "epoch": 9.127616882324218e-07, "step": 9571, "training_step_time": 17.813413381576538 }, { "epoch": 9.128570556640625e-07, "model_forward_time": 5.093521595001221, "step": 9572 }, { "epoch": 9.128570556640625e-07, "step": 9572, "training_step_time": 17.64035153388977 }, { "epoch": 9.129524230957032e-07, "model_forward_time": 5.085001468658447, "step": 9573 }, { "epoch": 9.129524230957032e-07, "step": 9573, "training_step_time": 17.634036779403687 }, { "epoch": 9.130477905273438e-07, "model_forward_time": 4.091076612472534, "step": 9574 }, { "epoch": 9.130477905273438e-07, "step": 9574, "training_step_time": 17.636445999145508 }, { "epoch": 9.131431579589844e-07, "model_forward_time": 5.059324264526367, "step": 9575 }, { "epoch": 9.131431579589844e-07, "step": 9575, "training_step_time": 17.630654335021973 }, { "epoch": 9.13238525390625e-07, "model_forward_time": 5.0684473514556885, "step": 9576 }, { "epoch": 9.13238525390625e-07, "step": 9576, "training_step_time": 17.849802494049072 }, { "epoch": 9.133338928222656e-07, "model_forward_time": 5.076316595077515, "step": 9577 }, { "epoch": 9.133338928222656e-07, "step": 9577, "training_step_time": 17.607576608657837 }, { "epoch": 9.134292602539062e-07, "model_forward_time": 5.082677364349365, "step": 9578 }, { "epoch": 9.134292602539062e-07, "step": 9578, "training_step_time": 17.593552112579346 }, { "epoch": 9.135246276855468e-07, "model_forward_time": 5.332387924194336, "step": 9579 }, { "epoch": 9.135246276855468e-07, "step": 9579, "training_step_time": 17.582157850265503 }, { "epoch": 9.136199951171875e-07, "grad_norm": 1.0369073152542114, "learning_rate": 9.795226460473568e-06, "loss": 0.1118, "step": 9580 }, { "epoch": 9.136199951171875e-07, "model_forward_time": 5.092364549636841, "step": 9580 }, { "dynamics_loss_avg": 0.05725415740162134, "epoch": 9.136199951171875e-07, "step": 9580 }, { "action_loss_avg": 0.0827358316630125, "epoch": 9.136199951171875e-07, "step": 9580 }, { "arm_loss_avg": 0.11074229255318642, "epoch": 9.136199951171875e-07, "step": 9580 }, { "ee_loss_avg": 0.10525825954973697, "epoch": 9.136199951171875e-07, "step": 9580 }, { "aux_loss_avg": 0.002882936887908727, "epoch": 9.136199951171875e-07, "step": 9580 }, { "epoch": 9.136199951171875e-07, "step": 9580, "training_step_time": 17.614930629730225 }, { "epoch": 9.137153625488281e-07, "model_forward_time": 5.09443211555481, "step": 9581 }, { "epoch": 9.137153625488281e-07, "step": 9581, "training_step_time": 17.80606961250305 }, { "epoch": 9.138107299804688e-07, "model_forward_time": 5.093909025192261, "step": 9582 }, { "epoch": 9.138107299804688e-07, "step": 9582, "training_step_time": 17.571330547332764 }, { "epoch": 9.139060974121094e-07, "model_forward_time": 5.090608835220337, "step": 9583 }, { "epoch": 9.139060974121094e-07, "step": 9583, "training_step_time": 17.575100660324097 }, { "epoch": 9.1400146484375e-07, "model_forward_time": 5.290246963500977, "step": 9584 }, { "epoch": 9.1400146484375e-07, "step": 9584, "training_step_time": 17.579811334609985 }, { "epoch": 9.140968322753906e-07, "model_forward_time": 5.088678359985352, "step": 9585 }, { "epoch": 9.140968322753906e-07, "step": 9585, "training_step_time": 17.371201515197754 }, { "epoch": 9.141921997070313e-07, "model_forward_time": 5.0907628536224365, "step": 9586 }, { "epoch": 9.141921997070313e-07, "step": 9586, "training_step_time": 17.727969884872437 }, { "epoch": 9.142875671386719e-07, "model_forward_time": 5.082426309585571, "step": 9587 }, { "epoch": 9.142875671386719e-07, "step": 9587, "training_step_time": 17.53480839729309 }, { "epoch": 9.143829345703125e-07, "model_forward_time": 5.082875490188599, "step": 9588 }, { "epoch": 9.143829345703125e-07, "step": 9588, "training_step_time": 17.573024034500122 }, { "epoch": 9.144783020019531e-07, "model_forward_time": 5.313313722610474, "step": 9589 }, { "epoch": 9.144783020019531e-07, "step": 9589, "training_step_time": 17.5861873626709 }, { "epoch": 9.145736694335937e-07, "grad_norm": 1.8979403972625732, "learning_rate": 9.794556854120132e-06, "loss": 0.1169, "step": 9590 }, { "epoch": 9.145736694335937e-07, "model_forward_time": 5.082612037658691, "step": 9590 }, { "dynamics_loss_avg": 0.06008637193590403, "epoch": 9.145736694335937e-07, "step": 9590 }, { "action_loss_avg": 0.09101666919887066, "epoch": 9.145736694335937e-07, "step": 9590 }, { "arm_loss_avg": 0.14794038608670235, "epoch": 9.145736694335937e-07, "step": 9590 }, { "ee_loss_avg": 0.08433526698499919, "epoch": 9.145736694335937e-07, "step": 9590 }, { "aux_loss_avg": 0.0017686284380033612, "epoch": 9.145736694335937e-07, "step": 9590 }, { "epoch": 9.145736694335937e-07, "step": 9590, "training_step_time": 17.826313495635986 }, { "epoch": 9.146690368652343e-07, "model_forward_time": 5.0833821296691895, "step": 9591 }, { "epoch": 9.146690368652343e-07, "step": 9591, "training_step_time": 17.605862379074097 }, { "epoch": 9.14764404296875e-07, "model_forward_time": 5.081068277359009, "step": 9592 }, { "epoch": 9.14764404296875e-07, "step": 9592, "training_step_time": 17.605324268341064 }, { "epoch": 9.148597717285157e-07, "model_forward_time": 5.079725027084351, "step": 9593 }, { "epoch": 9.148597717285157e-07, "step": 9593, "training_step_time": 17.60755705833435 }, { "epoch": 9.149551391601563e-07, "model_forward_time": 5.278185844421387, "step": 9594 }, { "epoch": 9.149551391601563e-07, "step": 9594, "training_step_time": 17.619314670562744 }, { "epoch": 9.150505065917969e-07, "model_forward_time": 5.086653709411621, "step": 9595 }, { "epoch": 9.150505065917969e-07, "step": 9595, "training_step_time": 17.858955144882202 }, { "epoch": 9.151458740234375e-07, "model_forward_time": 5.085447311401367, "step": 9596 }, { "epoch": 9.151458740234375e-07, "step": 9596, "training_step_time": 17.596470594406128 }, { "epoch": 9.152412414550781e-07, "model_forward_time": 5.084439516067505, "step": 9597 }, { "epoch": 9.152412414550781e-07, "step": 9597, "training_step_time": 17.595979690551758 }, { "epoch": 9.153366088867187e-07, "model_forward_time": 5.083817958831787, "step": 9598 }, { "epoch": 9.153366088867187e-07, "step": 9598, "training_step_time": 17.464622497558594 }, { "epoch": 9.154319763183594e-07, "model_forward_time": 5.085362911224365, "step": 9599 }, { "epoch": 9.154319763183594e-07, "step": 9599, "training_step_time": 17.490110158920288 }, { "epoch": 9.1552734375e-07, "grad_norm": 0.9178695678710938, "learning_rate": 9.793886177714607e-06, "loss": 0.1066, "step": 9600 }, { "epoch": 9.1552734375e-07, "model_forward_time": 5.0893495082855225, "step": 9600 }, { "dynamics_loss_avg": 0.044723707530647513, "epoch": 9.1552734375e-07, "step": 9600 }, { "action_loss_avg": 0.06900505386292935, "epoch": 9.1552734375e-07, "step": 9600 }, { "arm_loss_avg": 0.13404084444046022, "epoch": 9.1552734375e-07, "step": 9600 }, { "ee_loss_avg": 0.06486105211079121, "epoch": 9.1552734375e-07, "step": 9600 }, { "aux_loss_avg": 0.005908564652781933, "epoch": 9.1552734375e-07, "step": 9600 }, { "epoch": 9.1552734375e-07, "step": 9600, "training_step_time": 17.62606692314148 }, { "epoch": 9.156227111816406e-07, "model_forward_time": 5.085946083068848, "step": 9601 }, { "epoch": 9.156227111816406e-07, "step": 9601, "training_step_time": 17.764171361923218 }, { "epoch": 9.157180786132813e-07, "model_forward_time": 5.084392309188843, "step": 9602 }, { "epoch": 9.157180786132813e-07, "step": 9602, "training_step_time": 17.579347133636475 }, { "epoch": 9.158134460449219e-07, "model_forward_time": 5.082764625549316, "step": 9603 }, { "epoch": 9.158134460449219e-07, "step": 9603, "training_step_time": 17.595283031463623 }, { "epoch": 9.159088134765625e-07, "model_forward_time": 5.085578441619873, "step": 9604 }, { "epoch": 9.159088134765625e-07, "step": 9604, "training_step_time": 17.60796046257019 }, { "epoch": 9.160041809082031e-07, "model_forward_time": 5.089293003082275, "step": 9605 }, { "epoch": 9.160041809082031e-07, "step": 9605, "training_step_time": 17.83559274673462 }, { "epoch": 9.160995483398438e-07, "model_forward_time": 5.082492113113403, "step": 9606 }, { "epoch": 9.160995483398438e-07, "step": 9606, "training_step_time": 17.61189889907837 }, { "epoch": 9.161949157714844e-07, "model_forward_time": 5.083454847335815, "step": 9607 }, { "epoch": 9.161949157714844e-07, "step": 9607, "training_step_time": 17.606462478637695 }, { "epoch": 9.16290283203125e-07, "model_forward_time": 5.0874316692352295, "step": 9608 }, { "epoch": 9.16290283203125e-07, "step": 9608, "training_step_time": 17.403186798095703 }, { "epoch": 9.163856506347656e-07, "model_forward_time": 5.328381299972534, "step": 9609 }, { "epoch": 9.163856506347656e-07, "step": 9609, "training_step_time": 17.51648449897766 }, { "epoch": 9.164810180664062e-07, "grad_norm": 1.4974868297576904, "learning_rate": 9.793214431406675e-06, "loss": 0.111, "step": 9610 }, { "epoch": 9.164810180664062e-07, "model_forward_time": 5.090346336364746, "step": 9610 }, { "dynamics_loss_avg": 0.05638749487698078, "epoch": 9.164810180664062e-07, "step": 9610 }, { "action_loss_avg": 0.07977020293474198, "epoch": 9.164810180664062e-07, "step": 9610 }, { "arm_loss_avg": 0.13812708333134652, "epoch": 9.164810180664062e-07, "step": 9610 }, { "ee_loss_avg": 0.07014188002794981, "epoch": 9.164810180664062e-07, "step": 9610 }, { "aux_loss_avg": 0.0018276819260790943, "epoch": 9.164810180664062e-07, "step": 9610 }, { "epoch": 9.164810180664062e-07, "step": 9610, "training_step_time": 17.621039152145386 }, { "epoch": 9.165763854980468e-07, "model_forward_time": 5.085637331008911, "step": 9611 }, { "epoch": 9.165763854980468e-07, "step": 9611, "training_step_time": 17.76720428466797 }, { "epoch": 9.166717529296876e-07, "model_forward_time": 5.080615282058716, "step": 9612 }, { "epoch": 9.166717529296876e-07, "step": 9612, "training_step_time": 17.597768545150757 }, { "epoch": 9.167671203613282e-07, "model_forward_time": 5.082422494888306, "step": 9613 }, { "epoch": 9.167671203613282e-07, "step": 9613, "training_step_time": 17.399003744125366 }, { "epoch": 9.168624877929688e-07, "model_forward_time": 5.321686506271362, "step": 9614 }, { "epoch": 9.168624877929688e-07, "step": 9614, "training_step_time": 17.520132303237915 }, { "epoch": 9.169578552246094e-07, "model_forward_time": 5.0851891040802, "step": 9615 }, { "epoch": 9.169578552246094e-07, "step": 9615, "training_step_time": 17.58203387260437 }, { "epoch": 9.1705322265625e-07, "model_forward_time": 5.086832523345947, "step": 9616 }, { "epoch": 9.1705322265625e-07, "step": 9616, "training_step_time": 17.829108238220215 }, { "epoch": 9.171485900878906e-07, "model_forward_time": 5.082101345062256, "step": 9617 }, { "epoch": 9.171485900878906e-07, "step": 9617, "training_step_time": 17.610772132873535 }, { "epoch": 9.172439575195312e-07, "model_forward_time": 5.079158544540405, "step": 9618 }, { "epoch": 9.172439575195312e-07, "step": 9618, "training_step_time": 17.6254460811615 }, { "epoch": 9.173393249511719e-07, "model_forward_time": 5.084697723388672, "step": 9619 }, { "epoch": 9.173393249511719e-07, "step": 9619, "training_step_time": 17.616655349731445 }, { "epoch": 9.174346923828125e-07, "grad_norm": 2.8649871349334717, "learning_rate": 9.792541615346253e-06, "loss": 0.1181, "step": 9620 }, { "epoch": 9.174346923828125e-07, "model_forward_time": 5.0844597816467285, "step": 9620 }, { "dynamics_loss_avg": 0.06462728921324015, "epoch": 9.174346923828125e-07, "step": 9620 }, { "action_loss_avg": 0.09420007504522801, "epoch": 9.174346923828125e-07, "step": 9620 }, { "arm_loss_avg": 0.16226838380098343, "epoch": 9.174346923828125e-07, "step": 9620 }, { "ee_loss_avg": 0.09306405279785394, "epoch": 9.174346923828125e-07, "step": 9620 }, { "aux_loss_avg": 0.02316410112543963, "epoch": 9.174346923828125e-07, "step": 9620 }, { "epoch": 9.174346923828125e-07, "step": 9620, "training_step_time": 17.61131763458252 }, { "epoch": 9.175300598144531e-07, "model_forward_time": 5.084253311157227, "step": 9621 }, { "epoch": 9.175300598144531e-07, "step": 9621, "training_step_time": 17.83007574081421 }, { "epoch": 9.176254272460938e-07, "model_forward_time": 3.853299856185913, "step": 9622 }, { "epoch": 9.176254272460938e-07, "step": 9622, "training_step_time": 17.59963369369507 }, { "epoch": 9.177207946777344e-07, "model_forward_time": 3.832726001739502, "step": 9623 }, { "epoch": 9.177207946777344e-07, "step": 9623, "training_step_time": 17.59914469718933 }, { "epoch": 9.17816162109375e-07, "model_forward_time": 5.050164461135864, "step": 9624 }, { "epoch": 9.17816162109375e-07, "step": 9624, "training_step_time": 17.58907198905945 }, { "epoch": 9.179115295410156e-07, "model_forward_time": 5.259600400924683, "step": 9625 }, { "epoch": 9.179115295410156e-07, "step": 9625, "training_step_time": 17.81417226791382 }, { "epoch": 9.180068969726563e-07, "model_forward_time": 5.0809595584869385, "step": 9626 }, { "epoch": 9.180068969726563e-07, "step": 9626, "training_step_time": 17.56944465637207 }, { "epoch": 9.181022644042969e-07, "model_forward_time": 5.097738265991211, "step": 9627 }, { "epoch": 9.181022644042969e-07, "step": 9627, "training_step_time": 17.58741021156311 }, { "epoch": 9.181976318359375e-07, "model_forward_time": 5.338268041610718, "step": 9628 }, { "epoch": 9.181976318359375e-07, "step": 9628, "training_step_time": 17.77449321746826 }, { "epoch": 9.182929992675781e-07, "model_forward_time": 5.1197593212127686, "step": 9629 }, { "epoch": 9.182929992675781e-07, "step": 9629, "training_step_time": 17.975581407546997 }, { "epoch": 9.183883666992187e-07, "grad_norm": 1.7910889387130737, "learning_rate": 9.791867729683507e-06, "loss": 0.106, "step": 9630 }, { "epoch": 9.183883666992187e-07, "model_forward_time": 6.996004343032837, "step": 9630 }, { "dynamics_loss_avg": 0.058661505579948425, "epoch": 9.183883666992187e-07, "step": 9630 }, { "action_loss_avg": 0.06366411298513412, "epoch": 9.183883666992187e-07, "step": 9630 }, { "arm_loss_avg": 0.12206737250089646, "epoch": 9.183883666992187e-07, "step": 9630 }, { "ee_loss_avg": 0.07425219984725118, "epoch": 9.183883666992187e-07, "step": 9630 }, { "aux_loss_avg": 0.0022986609663348647, "epoch": 9.183883666992187e-07, "step": 9630 }, { "epoch": 9.183883666992187e-07, "step": 9630, "training_step_time": 22.71518564224243 }, { "epoch": 9.184837341308593e-07, "model_forward_time": 6.728533029556274, "step": 9631 }, { "epoch": 9.184837341308593e-07, "step": 9631, "training_step_time": 23.227819442749023 }, { "epoch": 9.185791015625e-07, "model_forward_time": 7.127988338470459, "step": 9632 }, { "epoch": 9.185791015625e-07, "step": 9632, "training_step_time": 22.734386682510376 }, { "epoch": 9.186744689941407e-07, "model_forward_time": 7.071835517883301, "step": 9633 }, { "epoch": 9.186744689941407e-07, "step": 9633, "training_step_time": 23.44101333618164 }, { "epoch": 9.187698364257813e-07, "model_forward_time": 7.202250242233276, "step": 9634 }, { "epoch": 9.187698364257813e-07, "step": 9634, "training_step_time": 23.09109115600586 }, { "epoch": 9.188652038574219e-07, "model_forward_time": 6.918772459030151, "step": 9635 }, { "epoch": 9.188652038574219e-07, "step": 9635, "training_step_time": 23.08178973197937 }, { "epoch": 9.189605712890625e-07, "model_forward_time": 6.960413932800293, "step": 9636 }, { "epoch": 9.189605712890625e-07, "step": 9636, "training_step_time": 23.232102632522583 }, { "epoch": 9.190559387207031e-07, "model_forward_time": 6.56457781791687, "step": 9637 }, { "epoch": 9.190559387207031e-07, "step": 9637, "training_step_time": 23.310977697372437 }, { "epoch": 9.191513061523437e-07, "model_forward_time": 6.693370580673218, "step": 9638 }, { "epoch": 9.191513061523437e-07, "step": 9638, "training_step_time": 22.99895215034485 }, { "epoch": 9.192466735839844e-07, "model_forward_time": 6.762458086013794, "step": 9639 }, { "epoch": 9.192466735839844e-07, "step": 9639, "training_step_time": 23.16165256500244 }, { "epoch": 9.19342041015625e-07, "grad_norm": 1.3831332921981812, "learning_rate": 9.791192774568828e-06, "loss": 0.1062, "step": 9640 }, { "epoch": 9.19342041015625e-07, "model_forward_time": 5.339996814727783, "step": 9640 }, { "dynamics_loss_avg": 0.05187039207667112, "epoch": 9.19342041015625e-07, "step": 9640 }, { "action_loss_avg": 0.08388180024921894, "epoch": 9.19342041015625e-07, "step": 9640 }, { "arm_loss_avg": 0.13188191279768943, "epoch": 9.19342041015625e-07, "step": 9640 }, { "ee_loss_avg": 0.09437589161098003, "epoch": 9.19342041015625e-07, "step": 9640 }, { "aux_loss_avg": 0.00264371425146237, "epoch": 9.19342041015625e-07, "step": 9640 }, { "epoch": 9.19342041015625e-07, "step": 9640, "training_step_time": 22.781136512756348 }, { "epoch": 9.194374084472656e-07, "model_forward_time": 6.88140606880188, "step": 9641 }, { "epoch": 9.194374084472656e-07, "step": 9641, "training_step_time": 23.28991413116455 }, { "epoch": 9.195327758789062e-07, "model_forward_time": 6.810978412628174, "step": 9642 }, { "epoch": 9.195327758789062e-07, "step": 9642, "training_step_time": 22.96836566925049 }, { "epoch": 9.196281433105469e-07, "model_forward_time": 6.9340736865997314, "step": 9643 }, { "epoch": 9.196281433105469e-07, "step": 9643, "training_step_time": 22.847630739212036 }, { "epoch": 9.197235107421875e-07, "model_forward_time": 7.146752595901489, "step": 9644 }, { "epoch": 9.197235107421875e-07, "step": 9644, "training_step_time": 23.14603352546692 }, { "epoch": 9.198188781738281e-07, "model_forward_time": 5.06135106086731, "step": 9645 }, { "epoch": 9.198188781738281e-07, "step": 9645, "training_step_time": 22.523447513580322 }, { "epoch": 9.199142456054688e-07, "model_forward_time": 6.943432569503784, "step": 9646 }, { "epoch": 9.199142456054688e-07, "step": 9646, "training_step_time": 22.636021375656128 }, { "epoch": 9.200096130371094e-07, "model_forward_time": 6.682057619094849, "step": 9647 }, { "epoch": 9.200096130371094e-07, "step": 9647, "training_step_time": 22.901668071746826 }, { "epoch": 9.2010498046875e-07, "model_forward_time": 6.737864971160889, "step": 9648 }, { "epoch": 9.2010498046875e-07, "step": 9648, "training_step_time": 22.83528733253479 }, { "epoch": 9.202003479003906e-07, "model_forward_time": 5.122093439102173, "step": 9649 }, { "epoch": 9.202003479003906e-07, "step": 9649, "training_step_time": 22.43522572517395 }, { "epoch": 9.202957153320312e-07, "grad_norm": 1.6702224016189575, "learning_rate": 9.790516750152859e-06, "loss": 0.1153, "step": 9650 }, { "epoch": 9.202957153320312e-07, "model_forward_time": 5.548340559005737, "step": 9650 }, { "dynamics_loss_avg": 0.04874947993084788, "epoch": 9.202957153320312e-07, "step": 9650 }, { "action_loss_avg": 0.0870460443198681, "epoch": 9.202957153320312e-07, "step": 9650 }, { "arm_loss_avg": 0.13120750486850738, "epoch": 9.202957153320312e-07, "step": 9650 }, { "ee_loss_avg": 0.10331937707960606, "epoch": 9.202957153320312e-07, "step": 9650 }, { "aux_loss_avg": 0.005859140586107969, "epoch": 9.202957153320312e-07, "step": 9650 }, { "epoch": 9.202957153320312e-07, "step": 9650, "training_step_time": 22.6091148853302 }, { "epoch": 9.203910827636718e-07, "model_forward_time": 7.059561252593994, "step": 9651 }, { "epoch": 9.203910827636718e-07, "step": 9651, "training_step_time": 22.97656536102295 }, { "epoch": 9.204864501953124e-07, "model_forward_time": 6.772335529327393, "step": 9652 }, { "epoch": 9.204864501953124e-07, "step": 9652, "training_step_time": 22.79537057876587 }, { "epoch": 9.205818176269532e-07, "model_forward_time": 7.095485210418701, "step": 9653 }, { "epoch": 9.205818176269532e-07, "step": 9653, "training_step_time": 22.768940210342407 }, { "epoch": 9.206771850585938e-07, "model_forward_time": 6.718362808227539, "step": 9654 }, { "epoch": 9.206771850585938e-07, "step": 9654, "training_step_time": 22.615517139434814 }, { "epoch": 9.207725524902344e-07, "model_forward_time": 7.031538724899292, "step": 9655 }, { "epoch": 9.207725524902344e-07, "step": 9655, "training_step_time": 22.017574310302734 }, { "epoch": 9.20867919921875e-07, "model_forward_time": 5.102139949798584, "step": 9656 }, { "epoch": 9.20867919921875e-07, "step": 9656, "training_step_time": 17.8582980632782 }, { "epoch": 9.209632873535156e-07, "model_forward_time": 5.1028993129730225, "step": 9657 }, { "epoch": 9.209632873535156e-07, "step": 9657, "training_step_time": 17.682108402252197 }, { "epoch": 9.210586547851562e-07, "model_forward_time": 5.095864534378052, "step": 9658 }, { "epoch": 9.210586547851562e-07, "step": 9658, "training_step_time": 17.68036127090454 }, { "epoch": 9.211540222167969e-07, "model_forward_time": 5.097304821014404, "step": 9659 }, { "epoch": 9.211540222167969e-07, "step": 9659, "training_step_time": 17.677050828933716 }, { "epoch": 9.212493896484375e-07, "grad_norm": 1.4644540548324585, "learning_rate": 9.78983965658647e-06, "loss": 0.1197, "step": 9660 }, { "epoch": 9.212493896484375e-07, "model_forward_time": 5.3323071002960205, "step": 9660 }, { "dynamics_loss_avg": 0.05597537383437157, "epoch": 9.212493896484375e-07, "step": 9660 }, { "action_loss_avg": 0.07409889698028564, "epoch": 9.212493896484375e-07, "step": 9660 }, { "arm_loss_avg": 0.1042927511036396, "epoch": 9.212493896484375e-07, "step": 9660 }, { "ee_loss_avg": 0.05051757078617811, "epoch": 9.212493896484375e-07, "step": 9660 }, { "aux_loss_avg": 0.001510457502445206, "epoch": 9.212493896484375e-07, "step": 9660 }, { "epoch": 9.212493896484375e-07, "step": 9660, "training_step_time": 17.63794255256653 }, { "epoch": 9.213447570800781e-07, "model_forward_time": 5.082442283630371, "step": 9661 }, { "epoch": 9.213447570800781e-07, "step": 9661, "training_step_time": 17.678126573562622 }, { "epoch": 9.214401245117187e-07, "model_forward_time": 5.077794551849365, "step": 9662 }, { "epoch": 9.214401245117187e-07, "step": 9662, "training_step_time": 17.489011526107788 }, { "epoch": 9.215354919433594e-07, "model_forward_time": 5.084039688110352, "step": 9663 }, { "epoch": 9.215354919433594e-07, "step": 9663, "training_step_time": 17.350171089172363 }, { "epoch": 9.21630859375e-07, "model_forward_time": 5.088401794433594, "step": 9664 }, { "epoch": 9.21630859375e-07, "step": 9664, "training_step_time": 17.383126974105835 }, { "epoch": 9.217262268066406e-07, "model_forward_time": 5.282941818237305, "step": 9665 }, { "epoch": 9.217262268066406e-07, "step": 9665, "training_step_time": 17.462090492248535 }, { "epoch": 9.218215942382813e-07, "model_forward_time": 3.8519699573516846, "step": 9666 }, { "epoch": 9.218215942382813e-07, "step": 9666, "training_step_time": 17.78769612312317 }, { "epoch": 9.219169616699219e-07, "model_forward_time": 5.052236318588257, "step": 9667 }, { "epoch": 9.219169616699219e-07, "step": 9667, "training_step_time": 17.613367080688477 }, { "epoch": 9.220123291015625e-07, "model_forward_time": 5.070165157318115, "step": 9668 }, { "epoch": 9.220123291015625e-07, "step": 9668, "training_step_time": 17.648441791534424 }, { "epoch": 9.221076965332031e-07, "model_forward_time": 5.08274507522583, "step": 9669 }, { "epoch": 9.221076965332031e-07, "step": 9669, "training_step_time": 17.66871476173401 }, { "epoch": 9.222030639648437e-07, "grad_norm": 2.494326114654541, "learning_rate": 9.78916149402078e-06, "loss": 0.1184, "step": 9670 }, { "epoch": 9.222030639648437e-07, "model_forward_time": 5.317768096923828, "step": 9670 }, { "dynamics_loss_avg": 0.052720601810142396, "epoch": 9.222030639648437e-07, "step": 9670 }, { "action_loss_avg": 0.09102913290262223, "epoch": 9.222030639648437e-07, "step": 9670 }, { "arm_loss_avg": 0.13229567632079126, "epoch": 9.222030639648437e-07, "step": 9670 }, { "ee_loss_avg": 0.07279953695833682, "epoch": 9.222030639648437e-07, "step": 9670 }, { "aux_loss_avg": 0.0018916625762358309, "epoch": 9.222030639648437e-07, "step": 9670 }, { "epoch": 9.222030639648437e-07, "step": 9670, "training_step_time": 17.657503366470337 }, { "epoch": 9.222984313964843e-07, "model_forward_time": 5.094163417816162, "step": 9671 }, { "epoch": 9.222984313964843e-07, "step": 9671, "training_step_time": 17.835602283477783 }, { "epoch": 9.22393798828125e-07, "model_forward_time": 5.095358848571777, "step": 9672 }, { "epoch": 9.22393798828125e-07, "step": 9672, "training_step_time": 17.627298831939697 }, { "epoch": 9.224891662597657e-07, "model_forward_time": 5.095257520675659, "step": 9673 }, { "epoch": 9.224891662597657e-07, "step": 9673, "training_step_time": 17.61107873916626 }, { "epoch": 9.225845336914063e-07, "model_forward_time": 5.096978187561035, "step": 9674 }, { "epoch": 9.225845336914063e-07, "step": 9674, "training_step_time": 17.610061407089233 }, { "epoch": 9.226799011230469e-07, "model_forward_time": 5.095356225967407, "step": 9675 }, { "epoch": 9.226799011230469e-07, "step": 9675, "training_step_time": 17.34183430671692 }, { "epoch": 9.227752685546875e-07, "model_forward_time": 5.101263523101807, "step": 9676 }, { "epoch": 9.227752685546875e-07, "step": 9676, "training_step_time": 17.77095675468445 }, { "epoch": 9.228706359863281e-07, "model_forward_time": 5.102763891220093, "step": 9677 }, { "epoch": 9.228706359863281e-07, "step": 9677, "training_step_time": 17.616277933120728 }, { "epoch": 9.229660034179687e-07, "model_forward_time": 5.096800804138184, "step": 9678 }, { "epoch": 9.229660034179687e-07, "step": 9678, "training_step_time": 17.588215589523315 }, { "epoch": 9.230613708496094e-07, "model_forward_time": 5.096508979797363, "step": 9679 }, { "epoch": 9.230613708496094e-07, "step": 9679, "training_step_time": 17.61899423599243 }, { "epoch": 9.2315673828125e-07, "grad_norm": 1.1844096183776855, "learning_rate": 9.78848226260714e-06, "loss": 0.1176, "step": 9680 }, { "epoch": 9.2315673828125e-07, "model_forward_time": 5.085423707962036, "step": 9680 }, { "dynamics_loss_avg": 0.06017606360837817, "epoch": 9.2315673828125e-07, "step": 9680 }, { "action_loss_avg": 0.0721832312643528, "epoch": 9.2315673828125e-07, "step": 9680 }, { "arm_loss_avg": 0.11632849723100662, "epoch": 9.2315673828125e-07, "step": 9680 }, { "ee_loss_avg": 0.07188334781676531, "epoch": 9.2315673828125e-07, "step": 9680 }, { "aux_loss_avg": 0.0018747273308690638, "epoch": 9.2315673828125e-07, "step": 9680 }, { "epoch": 9.2315673828125e-07, "step": 9680, "training_step_time": 17.60344624519348 }, { "epoch": 9.232521057128906e-07, "model_forward_time": 5.08222508430481, "step": 9681 }, { "epoch": 9.232521057128906e-07, "step": 9681, "training_step_time": 17.808120727539062 }, { "epoch": 9.233474731445312e-07, "model_forward_time": 5.080327272415161, "step": 9682 }, { "epoch": 9.233474731445312e-07, "step": 9682, "training_step_time": 17.617076635360718 }, { "epoch": 9.234428405761719e-07, "model_forward_time": 5.0839667320251465, "step": 9683 }, { "epoch": 9.234428405761719e-07, "step": 9683, "training_step_time": 17.402283191680908 }, { "epoch": 9.235382080078125e-07, "model_forward_time": 5.086327791213989, "step": 9684 }, { "epoch": 9.235382080078125e-07, "step": 9684, "training_step_time": 17.52386236190796 }, { "epoch": 9.236335754394532e-07, "model_forward_time": 5.083984851837158, "step": 9685 }, { "epoch": 9.236335754394532e-07, "step": 9685, "training_step_time": 17.633596897125244 }, { "epoch": 9.237289428710938e-07, "model_forward_time": 5.084547519683838, "step": 9686 }, { "epoch": 9.237289428710938e-07, "step": 9686, "training_step_time": 17.837934494018555 }, { "epoch": 9.238243103027344e-07, "model_forward_time": 3.8478004932403564, "step": 9687 }, { "epoch": 9.238243103027344e-07, "step": 9687, "training_step_time": 17.599539279937744 }, { "epoch": 9.23919677734375e-07, "model_forward_time": 5.057928085327148, "step": 9688 }, { "epoch": 9.23919677734375e-07, "step": 9688, "training_step_time": 17.625043392181396 }, { "epoch": 9.240150451660156e-07, "model_forward_time": 5.068989992141724, "step": 9689 }, { "epoch": 9.240150451660156e-07, "step": 9689, "training_step_time": 17.623233318328857 }, { "epoch": 9.241104125976562e-07, "grad_norm": 2.118605613708496, "learning_rate": 9.78780196249714e-06, "loss": 0.0925, "step": 9690 }, { "epoch": 9.241104125976562e-07, "model_forward_time": 5.081530570983887, "step": 9690 }, { "dynamics_loss_avg": 0.03763132938183844, "epoch": 9.241104125976562e-07, "step": 9690 }, { "action_loss_avg": 0.07744785398244858, "epoch": 9.241104125976562e-07, "step": 9690 }, { "arm_loss_avg": 0.11921564191579818, "epoch": 9.241104125976562e-07, "step": 9690 }, { "ee_loss_avg": 0.07242015860974789, "epoch": 9.241104125976562e-07, "step": 9690 }, { "aux_loss_avg": 0.0010779441392514855, "epoch": 9.241104125976562e-07, "step": 9690 }, { "epoch": 9.241104125976562e-07, "step": 9690, "training_step_time": 17.61582112312317 }, { "epoch": 9.242057800292968e-07, "model_forward_time": 5.088810682296753, "step": 9691 }, { "epoch": 9.242057800292968e-07, "step": 9691, "training_step_time": 17.829331636428833 }, { "epoch": 9.243011474609375e-07, "model_forward_time": 5.090502977371216, "step": 9692 }, { "epoch": 9.243011474609375e-07, "step": 9692, "training_step_time": 17.606823205947876 }, { "epoch": 9.243965148925782e-07, "model_forward_time": 3.857564687728882, "step": 9693 }, { "epoch": 9.243965148925782e-07, "step": 9693, "training_step_time": 17.60352396965027 }, { "epoch": 9.244918823242188e-07, "model_forward_time": 5.06792140007019, "step": 9694 }, { "epoch": 9.244918823242188e-07, "step": 9694, "training_step_time": 17.60805034637451 }, { "epoch": 9.245872497558594e-07, "model_forward_time": 5.08052659034729, "step": 9695 }, { "epoch": 9.245872497558594e-07, "step": 9695, "training_step_time": 17.60162043571472 }, { "epoch": 9.246826171875e-07, "model_forward_time": 5.085059642791748, "step": 9696 }, { "epoch": 9.246826171875e-07, "step": 9696, "training_step_time": 17.256919860839844 }, { "epoch": 9.247779846191406e-07, "model_forward_time": 5.102083206176758, "step": 9697 }, { "epoch": 9.247779846191406e-07, "step": 9697, "training_step_time": 17.539004802703857 }, { "epoch": 9.248733520507812e-07, "model_forward_time": 5.113426208496094, "step": 9698 }, { "epoch": 9.248733520507812e-07, "step": 9698, "training_step_time": 17.573330879211426 }, { "epoch": 9.249687194824219e-07, "model_forward_time": 5.115248680114746, "step": 9699 }, { "epoch": 9.249687194824219e-07, "step": 9699, "training_step_time": 17.603795766830444 }, { "epoch": 9.250640869140625e-07, "grad_norm": 2.492978096008301, "learning_rate": 9.787120593842612e-06, "loss": 0.1087, "step": 9700 }, { "epoch": 9.250640869140625e-07, "model_forward_time": 5.117464542388916, "step": 9700 }, { "dynamics_loss_avg": 0.04787641614675522, "epoch": 9.250640869140625e-07, "step": 9700 }, { "action_loss_avg": 0.06353705823421478, "epoch": 9.250640869140625e-07, "step": 9700 }, { "arm_loss_avg": 0.1111238308250904, "epoch": 9.250640869140625e-07, "step": 9700 }, { "ee_loss_avg": 0.058949283044785264, "epoch": 9.250640869140625e-07, "step": 9700 }, { "aux_loss_avg": 0.0021142035257071257, "epoch": 9.250640869140625e-07, "step": 9700 }, { "epoch": 9.250640869140625e-07, "step": 9700, "training_step_time": 17.60267424583435 }, { "epoch": 9.251594543457031e-07, "model_forward_time": 5.093706846237183, "step": 9701 }, { "epoch": 9.251594543457031e-07, "step": 9701, "training_step_time": 17.818268299102783 }, { "epoch": 9.252548217773437e-07, "model_forward_time": 5.0887064933776855, "step": 9702 }, { "epoch": 9.252548217773437e-07, "step": 9702, "training_step_time": 17.62191867828369 }, { "epoch": 9.253501892089844e-07, "model_forward_time": 5.088985919952393, "step": 9703 }, { "epoch": 9.253501892089844e-07, "step": 9703, "training_step_time": 17.423864364624023 }, { "epoch": 9.25445556640625e-07, "model_forward_time": 5.090325593948364, "step": 9704 }, { "epoch": 9.25445556640625e-07, "step": 9704, "training_step_time": 17.52908205986023 }, { "epoch": 9.255409240722657e-07, "model_forward_time": 5.0859081745147705, "step": 9705 }, { "epoch": 9.255409240722657e-07, "step": 9705, "training_step_time": 17.646523237228394 }, { "epoch": 9.256362915039063e-07, "model_forward_time": 5.082398176193237, "step": 9706 }, { "epoch": 9.256362915039063e-07, "step": 9706, "training_step_time": 17.588792085647583 }, { "epoch": 9.257316589355469e-07, "model_forward_time": 5.084510087966919, "step": 9707 }, { "epoch": 9.257316589355469e-07, "step": 9707, "training_step_time": 17.83504581451416 }, { "epoch": 9.258270263671875e-07, "model_forward_time": 5.082661867141724, "step": 9708 }, { "epoch": 9.258270263671875e-07, "step": 9708, "training_step_time": 17.619986534118652 }, { "epoch": 9.259223937988281e-07, "model_forward_time": 5.330139875411987, "step": 9709 }, { "epoch": 9.259223937988281e-07, "step": 9709, "training_step_time": 17.61444664001465 }, { "epoch": 9.260177612304687e-07, "grad_norm": 1.1721210479736328, "learning_rate": 9.786438156795621e-06, "loss": 0.0926, "step": 9710 }, { "epoch": 9.260177612304687e-07, "model_forward_time": 5.0868682861328125, "step": 9710 }, { "dynamics_loss_avg": 0.030187631864100693, "epoch": 9.260177612304687e-07, "step": 9710 }, { "action_loss_avg": 0.061841603741049765, "epoch": 9.260177612304687e-07, "step": 9710 }, { "arm_loss_avg": 0.12210269048810005, "epoch": 9.260177612304687e-07, "step": 9710 }, { "ee_loss_avg": 0.06076350612565875, "epoch": 9.260177612304687e-07, "step": 9710 }, { "aux_loss_avg": 0.0007591977366246283, "epoch": 9.260177612304687e-07, "step": 9710 }, { "epoch": 9.260177612304687e-07, "step": 9710, "training_step_time": 17.619654178619385 }, { "epoch": 9.261131286621093e-07, "model_forward_time": 3.850994348526001, "step": 9711 }, { "epoch": 9.261131286621093e-07, "step": 9711, "training_step_time": 17.622668981552124 }, { "epoch": 9.2620849609375e-07, "model_forward_time": 5.064390659332275, "step": 9712 }, { "epoch": 9.2620849609375e-07, "step": 9712, "training_step_time": 17.809897661209106 }, { "epoch": 9.263038635253907e-07, "model_forward_time": 5.075375080108643, "step": 9713 }, { "epoch": 9.263038635253907e-07, "step": 9713, "training_step_time": 17.60739541053772 }, { "epoch": 9.263992309570313e-07, "model_forward_time": 5.082829236984253, "step": 9714 }, { "epoch": 9.263992309570313e-07, "step": 9714, "training_step_time": 17.602360248565674 }, { "epoch": 9.264945983886719e-07, "model_forward_time": 4.103277683258057, "step": 9715 }, { "epoch": 9.264945983886719e-07, "step": 9715, "training_step_time": 17.581954956054688 }, { "epoch": 9.265899658203125e-07, "model_forward_time": 5.064752578735352, "step": 9716 }, { "epoch": 9.265899658203125e-07, "step": 9716, "training_step_time": 17.811309814453125 }, { "epoch": 9.266853332519531e-07, "model_forward_time": 5.085942983627319, "step": 9717 }, { "epoch": 9.266853332519531e-07, "step": 9717, "training_step_time": 17.610576391220093 }, { "epoch": 9.267807006835937e-07, "model_forward_time": 5.1034255027771, "step": 9718 }, { "epoch": 9.267807006835937e-07, "step": 9718, "training_step_time": 17.627538681030273 }, { "epoch": 9.268760681152344e-07, "model_forward_time": 5.117330551147461, "step": 9719 }, { "epoch": 9.268760681152344e-07, "step": 9719, "training_step_time": 17.620562076568604 }, { "epoch": 9.26971435546875e-07, "grad_norm": 1.4947746992111206, "learning_rate": 9.785754651508476e-06, "loss": 0.0966, "step": 9720 }, { "epoch": 9.26971435546875e-07, "model_forward_time": 4.079319953918457, "step": 9720 }, { "dynamics_loss_avg": 0.04004678567871452, "epoch": 9.26971435546875e-07, "step": 9720 }, { "action_loss_avg": 0.05938688199967146, "epoch": 9.26971435546875e-07, "step": 9720 }, { "arm_loss_avg": 0.14245570078492165, "epoch": 9.26971435546875e-07, "step": 9720 }, { "ee_loss_avg": 0.09742922522127628, "epoch": 9.26971435546875e-07, "step": 9720 }, { "aux_loss_avg": 0.0009092321794014424, "epoch": 9.26971435546875e-07, "step": 9720 }, { "epoch": 9.26971435546875e-07, "step": 9720, "training_step_time": 17.678622722625732 }, { "epoch": 9.270668029785156e-07, "model_forward_time": 3.84736704826355, "step": 9721 }, { "epoch": 9.270668029785156e-07, "step": 9721, "training_step_time": 17.794827938079834 }, { "epoch": 9.271621704101562e-07, "model_forward_time": 5.054726600646973, "step": 9722 }, { "epoch": 9.271621704101562e-07, "step": 9722, "training_step_time": 17.60145878791809 }, { "epoch": 9.272575378417969e-07, "model_forward_time": 3.839982509613037, "step": 9723 }, { "epoch": 9.272575378417969e-07, "step": 9723, "training_step_time": 17.589635848999023 }, { "epoch": 9.273529052734375e-07, "model_forward_time": 5.059077739715576, "step": 9724 }, { "epoch": 9.273529052734375e-07, "step": 9724, "training_step_time": 17.23308753967285 }, { "epoch": 9.274482727050782e-07, "model_forward_time": 5.267113924026489, "step": 9725 }, { "epoch": 9.274482727050782e-07, "step": 9725, "training_step_time": 17.501550674438477 }, { "epoch": 9.275436401367188e-07, "model_forward_time": 5.10106086730957, "step": 9726 }, { "epoch": 9.275436401367188e-07, "step": 9726, "training_step_time": 17.545186281204224 }, { "epoch": 9.276390075683594e-07, "model_forward_time": 5.1058855056762695, "step": 9727 }, { "epoch": 9.276390075683594e-07, "step": 9727, "training_step_time": 17.800243377685547 }, { "epoch": 9.27734375e-07, "model_forward_time": 5.102759122848511, "step": 9728 }, { "epoch": 9.27734375e-07, "step": 9728, "training_step_time": 17.593698263168335 }, { "epoch": 9.278297424316406e-07, "model_forward_time": 5.101829528808594, "step": 9729 }, { "epoch": 9.278297424316406e-07, "step": 9729, "training_step_time": 17.37465262413025 }, { "epoch": 9.279251098632812e-07, "grad_norm": 2.545658588409424, "learning_rate": 9.785070078133724e-06, "loss": 0.1307, "step": 9730 }, { "epoch": 9.279251098632812e-07, "model_forward_time": 5.3270087242126465, "step": 9730 }, { "dynamics_loss_avg": 0.050072653638198975, "epoch": 9.279251098632812e-07, "step": 9730 }, { "action_loss_avg": 0.08712084107100963, "epoch": 9.279251098632812e-07, "step": 9730 }, { "arm_loss_avg": 0.1404276132583618, "epoch": 9.279251098632812e-07, "step": 9730 }, { "ee_loss_avg": 0.08418919388204812, "epoch": 9.279251098632812e-07, "step": 9730 }, { "aux_loss_avg": 0.003513512451900169, "epoch": 9.279251098632812e-07, "step": 9730 }, { "epoch": 9.279251098632812e-07, "step": 9730, "training_step_time": 17.525162935256958 }, { "epoch": 9.280204772949218e-07, "model_forward_time": 3.8602004051208496, "step": 9731 }, { "epoch": 9.280204772949218e-07, "step": 9731, "training_step_time": 17.653522968292236 }, { "epoch": 9.281158447265625e-07, "model_forward_time": 3.8320999145507812, "step": 9732 }, { "epoch": 9.281158447265625e-07, "step": 9732, "training_step_time": 17.798805952072144 }, { "epoch": 9.282112121582032e-07, "model_forward_time": 5.048796892166138, "step": 9733 }, { "epoch": 9.282112121582032e-07, "step": 9733, "training_step_time": 17.63844609260559 }, { "epoch": 9.283065795898438e-07, "model_forward_time": 5.058584213256836, "step": 9734 }, { "epoch": 9.283065795898438e-07, "step": 9734, "training_step_time": 17.63022232055664 }, { "epoch": 9.284019470214844e-07, "model_forward_time": 5.2649009227752686, "step": 9735 }, { "epoch": 9.284019470214844e-07, "step": 9735, "training_step_time": 17.63285779953003 }, { "epoch": 9.28497314453125e-07, "model_forward_time": 3.8602383136749268, "step": 9736 }, { "epoch": 9.28497314453125e-07, "step": 9736, "training_step_time": 17.6495361328125 }, { "epoch": 9.285926818847656e-07, "model_forward_time": 5.083097696304321, "step": 9737 }, { "epoch": 9.285926818847656e-07, "step": 9737, "training_step_time": 17.916701316833496 }, { "epoch": 9.286880493164062e-07, "model_forward_time": 5.104999542236328, "step": 9738 }, { "epoch": 9.286880493164062e-07, "step": 9738, "training_step_time": 17.642662525177002 }, { "epoch": 9.287834167480469e-07, "model_forward_time": 5.103123664855957, "step": 9739 }, { "epoch": 9.287834167480469e-07, "step": 9739, "training_step_time": 17.61323308944702 }, { "epoch": 9.288787841796875e-07, "grad_norm": 1.9518814086914062, "learning_rate": 9.784384436824146e-06, "loss": 0.1206, "step": 9740 }, { "epoch": 9.288787841796875e-07, "model_forward_time": 5.340653419494629, "step": 9740 }, { "dynamics_loss_avg": 0.05969927720725536, "epoch": 9.288787841796875e-07, "step": 9740 }, { "action_loss_avg": 0.08451099954545498, "epoch": 9.288787841796875e-07, "step": 9740 }, { "arm_loss_avg": 0.12931528836488723, "epoch": 9.288787841796875e-07, "step": 9740 }, { "ee_loss_avg": 0.09993125852197408, "epoch": 9.288787841796875e-07, "step": 9740 }, { "aux_loss_avg": 0.006523773848311975, "epoch": 9.288787841796875e-07, "step": 9740 }, { "epoch": 9.288787841796875e-07, "step": 9740, "training_step_time": 17.61450958251953 }, { "epoch": 9.289741516113281e-07, "model_forward_time": 5.105718374252319, "step": 9741 }, { "epoch": 9.289741516113281e-07, "step": 9741, "training_step_time": 17.40924334526062 }, { "epoch": 9.290695190429687e-07, "model_forward_time": 5.105514764785767, "step": 9742 }, { "epoch": 9.290695190429687e-07, "step": 9742, "training_step_time": 17.69423770904541 }, { "epoch": 9.291648864746094e-07, "model_forward_time": 5.095880031585693, "step": 9743 }, { "epoch": 9.291648864746094e-07, "step": 9743, "training_step_time": 17.422325372695923 }, { "epoch": 9.2926025390625e-07, "model_forward_time": 5.093813896179199, "step": 9744 }, { "epoch": 9.2926025390625e-07, "step": 9744, "training_step_time": 17.4875226020813 }, { "epoch": 9.293556213378907e-07, "model_forward_time": 5.280012130737305, "step": 9745 }, { "epoch": 9.293556213378907e-07, "step": 9745, "training_step_time": 17.620247840881348 }, { "epoch": 9.294509887695313e-07, "model_forward_time": 5.088529109954834, "step": 9746 }, { "epoch": 9.294509887695313e-07, "step": 9746, "training_step_time": 17.592280626296997 }, { "epoch": 9.295463562011719e-07, "model_forward_time": 5.0840301513671875, "step": 9747 }, { "epoch": 9.295463562011719e-07, "step": 9747, "training_step_time": 17.85002088546753 }, { "epoch": 9.296417236328125e-07, "model_forward_time": 5.07747483253479, "step": 9748 }, { "epoch": 9.296417236328125e-07, "step": 9748, "training_step_time": 17.64198875427246 }, { "epoch": 9.297370910644531e-07, "model_forward_time": 5.080214023590088, "step": 9749 }, { "epoch": 9.297370910644531e-07, "step": 9749, "training_step_time": 17.65951943397522 }, { "epoch": 9.298324584960937e-07, "grad_norm": 1.5342563390731812, "learning_rate": 9.783697727732764e-06, "loss": 0.1254, "step": 9750 }, { "epoch": 9.298324584960937e-07, "model_forward_time": 5.32029914855957, "step": 9750 }, { "dynamics_loss_avg": 0.05970652401447296, "epoch": 9.298324584960937e-07, "step": 9750 }, { "action_loss_avg": 0.07372642830014228, "epoch": 9.298324584960937e-07, "step": 9750 }, { "arm_loss_avg": 0.12924017235636712, "epoch": 9.298324584960937e-07, "step": 9750 }, { "ee_loss_avg": 0.07813440226018428, "epoch": 9.298324584960937e-07, "step": 9750 }, { "aux_loss_avg": 0.00581071333726868, "epoch": 9.298324584960937e-07, "step": 9750 }, { "epoch": 9.298324584960937e-07, "step": 9750, "training_step_time": 17.64651846885681 }, { "epoch": 9.299278259277343e-07, "model_forward_time": 5.08715295791626, "step": 9751 }, { "epoch": 9.299278259277343e-07, "step": 9751, "training_step_time": 17.64129137992859 }, { "epoch": 9.30023193359375e-07, "model_forward_time": 5.085752248764038, "step": 9752 }, { "epoch": 9.30023193359375e-07, "step": 9752, "training_step_time": 17.813689947128296 }, { "epoch": 9.301185607910156e-07, "model_forward_time": 5.092041015625, "step": 9753 }, { "epoch": 9.301185607910156e-07, "step": 9753, "training_step_time": 17.626312732696533 }, { "epoch": 9.302139282226563e-07, "model_forward_time": 5.089719772338867, "step": 9754 }, { "epoch": 9.302139282226563e-07, "step": 9754, "training_step_time": 17.608495712280273 }, { "epoch": 9.303092956542969e-07, "model_forward_time": 5.279195547103882, "step": 9755 }, { "epoch": 9.303092956542969e-07, "step": 9755, "training_step_time": 17.608529806137085 }, { "epoch": 9.304046630859375e-07, "model_forward_time": 5.090513467788696, "step": 9756 }, { "epoch": 9.304046630859375e-07, "step": 9756, "training_step_time": 17.80603337287903 }, { "epoch": 9.305000305175781e-07, "model_forward_time": 5.0900280475616455, "step": 9757 }, { "epoch": 9.305000305175781e-07, "step": 9757, "training_step_time": 17.581069469451904 }, { "epoch": 9.305953979492188e-07, "model_forward_time": 5.08673095703125, "step": 9758 }, { "epoch": 9.305953979492188e-07, "step": 9758, "training_step_time": 17.575132608413696 }, { "epoch": 9.306907653808594e-07, "model_forward_time": 5.085386753082275, "step": 9759 }, { "epoch": 9.306907653808594e-07, "step": 9759, "training_step_time": 17.57277536392212 }, { "epoch": 9.307861328125e-07, "grad_norm": 1.209754467010498, "learning_rate": 9.783009951012837e-06, "loss": 0.1227, "step": 9760 }, { "epoch": 9.307861328125e-07, "model_forward_time": 5.087249755859375, "step": 9760 }, { "dynamics_loss_avg": 0.059470477234572175, "epoch": 9.307861328125e-07, "step": 9760 }, { "action_loss_avg": 0.07088998984545469, "epoch": 9.307861328125e-07, "step": 9760 }, { "arm_loss_avg": 0.11129861176013947, "epoch": 9.307861328125e-07, "step": 9760 }, { "ee_loss_avg": 0.05763314981013536, "epoch": 9.307861328125e-07, "step": 9760 }, { "aux_loss_avg": 0.005782831547548994, "epoch": 9.307861328125e-07, "step": 9760 }, { "epoch": 9.307861328125e-07, "step": 9760, "training_step_time": 17.6171236038208 }, { "epoch": 9.308815002441406e-07, "model_forward_time": 3.852138042449951, "step": 9761 }, { "epoch": 9.308815002441406e-07, "step": 9761, "training_step_time": 17.77558398246765 }, { "epoch": 9.309768676757812e-07, "model_forward_time": 5.062519311904907, "step": 9762 }, { "epoch": 9.309768676757812e-07, "step": 9762, "training_step_time": 17.494690895080566 }, { "epoch": 9.310722351074218e-07, "model_forward_time": 5.07506799697876, "step": 9763 }, { "epoch": 9.310722351074218e-07, "step": 9763, "training_step_time": 17.503368139266968 }, { "epoch": 9.311676025390625e-07, "model_forward_time": 5.080491065979004, "step": 9764 }, { "epoch": 9.311676025390625e-07, "step": 9764, "training_step_time": 17.537588119506836 }, { "epoch": 9.312629699707032e-07, "model_forward_time": 5.086693286895752, "step": 9765 }, { "epoch": 9.312629699707032e-07, "step": 9765, "training_step_time": 17.646364212036133 }, { "epoch": 9.313583374023438e-07, "model_forward_time": 4.099725961685181, "step": 9766 }, { "epoch": 9.313583374023438e-07, "step": 9766, "training_step_time": 17.598851442337036 }, { "epoch": 9.314537048339844e-07, "model_forward_time": 5.069360733032227, "step": 9767 }, { "epoch": 9.314537048339844e-07, "step": 9767, "training_step_time": 17.86654829978943 }, { "epoch": 9.31549072265625e-07, "model_forward_time": 5.078680515289307, "step": 9768 }, { "epoch": 9.31549072265625e-07, "step": 9768, "training_step_time": 17.635379552841187 }, { "epoch": 9.316444396972656e-07, "model_forward_time": 5.100637197494507, "step": 9769 }, { "epoch": 9.316444396972656e-07, "step": 9769, "training_step_time": 17.64089798927307 }, { "epoch": 9.317398071289062e-07, "grad_norm": 1.451690435409546, "learning_rate": 9.782321106817867e-06, "loss": 0.1163, "step": 9770 }, { "epoch": 9.317398071289062e-07, "model_forward_time": 5.098288536071777, "step": 9770 }, { "dynamics_loss_avg": 0.04688910320401192, "epoch": 9.317398071289062e-07, "step": 9770 }, { "action_loss_avg": 0.07506887223571539, "epoch": 9.317398071289062e-07, "step": 9770 }, { "arm_loss_avg": 0.1368972733616829, "epoch": 9.317398071289062e-07, "step": 9770 }, { "ee_loss_avg": 0.085763718187809, "epoch": 9.317398071289062e-07, "step": 9770 }, { "aux_loss_avg": 0.0029351591947488487, "epoch": 9.317398071289062e-07, "step": 9770 }, { "epoch": 9.317398071289062e-07, "step": 9770, "training_step_time": 17.638047695159912 }, { "epoch": 9.318351745605468e-07, "model_forward_time": 5.342164754867554, "step": 9771 }, { "epoch": 9.318351745605468e-07, "step": 9771, "training_step_time": 17.63895893096924 }, { "epoch": 9.319305419921875e-07, "model_forward_time": 5.102261066436768, "step": 9772 }, { "epoch": 9.319305419921875e-07, "step": 9772, "training_step_time": 17.821240663528442 }, { "epoch": 9.320259094238281e-07, "model_forward_time": 5.104456901550293, "step": 9773 }, { "epoch": 9.320259094238281e-07, "step": 9773, "training_step_time": 17.62769055366516 }, { "epoch": 9.321212768554688e-07, "model_forward_time": 5.100713729858398, "step": 9774 }, { "epoch": 9.321212768554688e-07, "step": 9774, "training_step_time": 17.621453762054443 }, { "epoch": 9.322166442871094e-07, "model_forward_time": 5.09689474105835, "step": 9775 }, { "epoch": 9.322166442871094e-07, "step": 9775, "training_step_time": 17.621184825897217 }, { "epoch": 9.3231201171875e-07, "model_forward_time": 3.861703872680664, "step": 9776 }, { "epoch": 9.3231201171875e-07, "step": 9776, "training_step_time": 17.84240460395813 }, { "epoch": 9.324073791503906e-07, "model_forward_time": 5.065945148468018, "step": 9777 }, { "epoch": 9.324073791503906e-07, "step": 9777, "training_step_time": 17.62082314491272 }, { "epoch": 9.325027465820313e-07, "model_forward_time": 5.071080684661865, "step": 9778 }, { "epoch": 9.325027465820313e-07, "step": 9778, "training_step_time": 17.60082721710205 }, { "epoch": 9.325981140136719e-07, "model_forward_time": 5.079819917678833, "step": 9779 }, { "epoch": 9.325981140136719e-07, "step": 9779, "training_step_time": 17.60616898536682 }, { "epoch": 9.326934814453125e-07, "grad_norm": 1.253006935119629, "learning_rate": 9.781631195301586e-06, "loss": 0.1373, "step": 9780 }, { "epoch": 9.326934814453125e-07, "model_forward_time": 5.089671850204468, "step": 9780 }, { "dynamics_loss_avg": 0.06120578944683075, "epoch": 9.326934814453125e-07, "step": 9780 }, { "action_loss_avg": 0.07581757251173257, "epoch": 9.326934814453125e-07, "step": 9780 }, { "arm_loss_avg": 0.13137267008423806, "epoch": 9.326934814453125e-07, "step": 9780 }, { "ee_loss_avg": 0.06938295513391494, "epoch": 9.326934814453125e-07, "step": 9780 }, { "aux_loss_avg": 0.0023503858596086503, "epoch": 9.326934814453125e-07, "step": 9780 }, { "epoch": 9.326934814453125e-07, "step": 9780, "training_step_time": 17.67429494857788 }, { "epoch": 9.327888488769531e-07, "model_forward_time": 5.343307256698608, "step": 9781 }, { "epoch": 9.327888488769531e-07, "step": 9781, "training_step_time": 17.81161379814148 }, { "epoch": 9.328842163085937e-07, "model_forward_time": 3.861938953399658, "step": 9782 }, { "epoch": 9.328842163085937e-07, "step": 9782, "training_step_time": 17.593597888946533 }, { "epoch": 9.329795837402343e-07, "model_forward_time": 5.072375535964966, "step": 9783 }, { "epoch": 9.329795837402343e-07, "step": 9783, "training_step_time": 17.624412536621094 }, { "epoch": 9.33074951171875e-07, "model_forward_time": 5.086568355560303, "step": 9784 }, { "epoch": 9.33074951171875e-07, "step": 9784, "training_step_time": 17.61735773086548 }, { "epoch": 9.331703186035157e-07, "model_forward_time": 5.095421552658081, "step": 9785 }, { "epoch": 9.331703186035157e-07, "step": 9785, "training_step_time": 17.61845636367798 }, { "epoch": 9.332656860351563e-07, "model_forward_time": 5.307023048400879, "step": 9786 }, { "epoch": 9.332656860351563e-07, "step": 9786, "training_step_time": 17.52830672264099 }, { "epoch": 9.333610534667969e-07, "model_forward_time": 5.104301452636719, "step": 9787 }, { "epoch": 9.333610534667969e-07, "step": 9787, "training_step_time": 17.806744813919067 }, { "epoch": 9.334564208984375e-07, "model_forward_time": 5.101183176040649, "step": 9788 }, { "epoch": 9.334564208984375e-07, "step": 9788, "training_step_time": 17.598320484161377 }, { "epoch": 9.335517883300781e-07, "model_forward_time": 5.100388765335083, "step": 9789 }, { "epoch": 9.335517883300781e-07, "step": 9789, "training_step_time": 17.644356966018677 }, { "epoch": 9.336471557617187e-07, "grad_norm": 1.783581256866455, "learning_rate": 9.780940216617974e-06, "loss": 0.1199, "step": 9790 }, { "epoch": 9.336471557617187e-07, "model_forward_time": 5.0981080532073975, "step": 9790 }, { "dynamics_loss_avg": 0.0642053984105587, "epoch": 9.336471557617187e-07, "step": 9790 }, { "action_loss_avg": 0.09814565889537334, "epoch": 9.336471557617187e-07, "step": 9790 }, { "arm_loss_avg": 0.14164361208677292, "epoch": 9.336471557617187e-07, "step": 9790 }, { "ee_loss_avg": 0.08251575585454703, "epoch": 9.336471557617187e-07, "step": 9790 }, { "aux_loss_avg": 0.001337457331828773, "epoch": 9.336471557617187e-07, "step": 9790 }, { "epoch": 9.336471557617187e-07, "step": 9790, "training_step_time": 17.641313314437866 }, { "epoch": 9.337425231933593e-07, "model_forward_time": 5.097974061965942, "step": 9791 }, { "epoch": 9.337425231933593e-07, "step": 9791, "training_step_time": 17.65120530128479 }, { "epoch": 9.33837890625e-07, "model_forward_time": 3.855978012084961, "step": 9792 }, { "epoch": 9.33837890625e-07, "step": 9792, "training_step_time": 17.830139636993408 }, { "epoch": 9.339332580566406e-07, "model_forward_time": 5.066213607788086, "step": 9793 }, { "epoch": 9.339332580566406e-07, "step": 9793, "training_step_time": 17.645074605941772 }, { "epoch": 9.340286254882813e-07, "model_forward_time": 5.072928428649902, "step": 9794 }, { "epoch": 9.340286254882813e-07, "step": 9794, "training_step_time": 17.627554178237915 }, { "epoch": 9.341239929199219e-07, "model_forward_time": 5.082772493362427, "step": 9795 }, { "epoch": 9.341239929199219e-07, "step": 9795, "training_step_time": 17.648056268692017 }, { "epoch": 9.342193603515625e-07, "model_forward_time": 5.089500188827515, "step": 9796 }, { "epoch": 9.342193603515625e-07, "step": 9796, "training_step_time": 17.832292318344116 }, { "epoch": 9.343147277832031e-07, "model_forward_time": 3.857078790664673, "step": 9797 }, { "epoch": 9.343147277832031e-07, "step": 9797, "training_step_time": 17.610501527786255 }, { "epoch": 9.344100952148438e-07, "model_forward_time": 5.067878246307373, "step": 9798 }, { "epoch": 9.344100952148438e-07, "step": 9798, "training_step_time": 17.449788808822632 }, { "epoch": 9.345054626464844e-07, "model_forward_time": 5.0862877368927, "step": 9799 }, { "epoch": 9.345054626464844e-07, "step": 9799, "training_step_time": 17.499815940856934 }, { "epoch": 9.34600830078125e-07, "grad_norm": 1.2843559980392456, "learning_rate": 9.78024817092124e-06, "loss": 0.1263, "step": 9800 }, { "epoch": 9.34600830078125e-07, "model_forward_time": 3.8572962284088135, "step": 9800 }, { "dynamics_loss_avg": 0.04208930032327771, "epoch": 9.34600830078125e-07, "step": 9800 }, { "action_loss_avg": 0.07115144226700068, "epoch": 9.34600830078125e-07, "step": 9800 }, { "arm_loss_avg": 0.13857221454381943, "epoch": 9.34600830078125e-07, "step": 9800 }, { "ee_loss_avg": 0.10191919505596161, "epoch": 9.34600830078125e-07, "step": 9800 }, { "aux_loss_avg": 0.004797449690522626, "epoch": 9.34600830078125e-07, "step": 9800 }, { "epoch": 9.34600830078125e-07, "step": 9800, "training_step_time": 17.55276393890381 }, { "epoch": 9.346961975097656e-07, "model_forward_time": 5.304052114486694, "step": 9801 }, { "epoch": 9.346961975097656e-07, "step": 9801, "training_step_time": 17.811180591583252 }, { "epoch": 9.347915649414062e-07, "model_forward_time": 5.0810770988464355, "step": 9802 }, { "epoch": 9.347915649414062e-07, "step": 9802, "training_step_time": 17.59110736846924 }, { "epoch": 9.348869323730468e-07, "model_forward_time": 5.094377279281616, "step": 9803 }, { "epoch": 9.348869323730468e-07, "step": 9803, "training_step_time": 17.599742650985718 }, { "epoch": 9.349822998046875e-07, "model_forward_time": 5.103860855102539, "step": 9804 }, { "epoch": 9.349822998046875e-07, "step": 9804, "training_step_time": 17.617105722427368 }, { "epoch": 9.350776672363282e-07, "model_forward_time": 5.106921434402466, "step": 9805 }, { "epoch": 9.350776672363282e-07, "step": 9805, "training_step_time": 17.63856029510498 }, { "epoch": 9.351730346679688e-07, "model_forward_time": 5.304823160171509, "step": 9806 }, { "epoch": 9.351730346679688e-07, "step": 9806, "training_step_time": 17.85657525062561 }, { "epoch": 9.352684020996094e-07, "model_forward_time": 5.1035871505737305, "step": 9807 }, { "epoch": 9.352684020996094e-07, "step": 9807, "training_step_time": 17.62246060371399 }, { "epoch": 9.3536376953125e-07, "model_forward_time": 5.0975987911224365, "step": 9808 }, { "epoch": 9.3536376953125e-07, "step": 9808, "training_step_time": 17.62548542022705 }, { "epoch": 9.354591369628906e-07, "model_forward_time": 5.0921876430511475, "step": 9809 }, { "epoch": 9.354591369628906e-07, "step": 9809, "training_step_time": 17.628607988357544 }, { "epoch": 9.355545043945312e-07, "grad_norm": 2.19588041305542, "learning_rate": 9.779555058365838e-06, "loss": 0.1178, "step": 9810 }, { "epoch": 9.355545043945312e-07, "model_forward_time": 5.093037366867065, "step": 9810 }, { "dynamics_loss_avg": 0.06492472300305963, "epoch": 9.355545043945312e-07, "step": 9810 }, { "action_loss_avg": 0.09285631775856018, "epoch": 9.355545043945312e-07, "step": 9810 }, { "arm_loss_avg": 0.16973949894309043, "epoch": 9.355545043945312e-07, "step": 9810 }, { "ee_loss_avg": 0.09346236176788807, "epoch": 9.355545043945312e-07, "step": 9810 }, { "aux_loss_avg": 0.0017480628681369125, "epoch": 9.355545043945312e-07, "step": 9810 }, { "epoch": 9.355545043945312e-07, "step": 9810, "training_step_time": 17.65402913093567 }, { "epoch": 9.356498718261718e-07, "model_forward_time": 5.088156700134277, "step": 9811 }, { "epoch": 9.356498718261718e-07, "step": 9811, "training_step_time": 17.84986114501953 }, { "epoch": 9.357452392578125e-07, "model_forward_time": 5.084348201751709, "step": 9812 }, { "epoch": 9.357452392578125e-07, "step": 9812, "training_step_time": 17.61671257019043 }, { "epoch": 9.358406066894531e-07, "model_forward_time": 5.08522629737854, "step": 9813 }, { "epoch": 9.358406066894531e-07, "step": 9813, "training_step_time": 17.613771438598633 }, { "epoch": 9.359359741210938e-07, "model_forward_time": 5.084984540939331, "step": 9814 }, { "epoch": 9.359359741210938e-07, "step": 9814, "training_step_time": 17.612892866134644 }, { "epoch": 9.360313415527344e-07, "model_forward_time": 3.8485000133514404, "step": 9815 }, { "epoch": 9.360313415527344e-07, "step": 9815, "training_step_time": 17.609198570251465 }, { "epoch": 9.36126708984375e-07, "model_forward_time": 5.061783790588379, "step": 9816 }, { "epoch": 9.36126708984375e-07, "step": 9816, "training_step_time": 17.831257104873657 }, { "epoch": 9.362220764160156e-07, "model_forward_time": 5.076650142669678, "step": 9817 }, { "epoch": 9.362220764160156e-07, "step": 9817, "training_step_time": 17.637932538986206 }, { "epoch": 9.363174438476563e-07, "model_forward_time": 5.090366840362549, "step": 9818 }, { "epoch": 9.363174438476563e-07, "step": 9818, "training_step_time": 17.63688063621521 }, { "epoch": 9.364128112792969e-07, "model_forward_time": 5.100078821182251, "step": 9819 }, { "epoch": 9.364128112792969e-07, "step": 9819, "training_step_time": 17.634262561798096 }, { "epoch": 9.365081787109375e-07, "grad_norm": 2.296149969100952, "learning_rate": 9.778860879106454e-06, "loss": 0.1471, "step": 9820 }, { "epoch": 9.365081787109375e-07, "model_forward_time": 5.102691173553467, "step": 9820 }, { "dynamics_loss_avg": 0.04480570405721664, "epoch": 9.365081787109375e-07, "step": 9820 }, { "action_loss_avg": 0.0844465097412467, "epoch": 9.365081787109375e-07, "step": 9820 }, { "arm_loss_avg": 0.10247426554560661, "epoch": 9.365081787109375e-07, "step": 9820 }, { "ee_loss_avg": 0.061298124678432944, "epoch": 9.365081787109375e-07, "step": 9820 }, { "aux_loss_avg": 0.0013164450065232813, "epoch": 9.365081787109375e-07, "step": 9820 }, { "epoch": 9.365081787109375e-07, "step": 9820, "training_step_time": 17.672811031341553 }, { "epoch": 9.366035461425781e-07, "model_forward_time": 5.0962090492248535, "step": 9821 }, { "epoch": 9.366035461425781e-07, "step": 9821, "training_step_time": 17.235961437225342 }, { "epoch": 9.366989135742187e-07, "model_forward_time": 3.862523078918457, "step": 9822 }, { "epoch": 9.366989135742187e-07, "step": 9822, "training_step_time": 17.2462158203125 }, { "epoch": 9.367942810058593e-07, "model_forward_time": 5.067923307418823, "step": 9823 }, { "epoch": 9.367942810058593e-07, "step": 9823, "training_step_time": 17.51970934867859 }, { "epoch": 9.368896484375e-07, "model_forward_time": 5.081768274307251, "step": 9824 }, { "epoch": 9.368896484375e-07, "step": 9824, "training_step_time": 17.562095880508423 }, { "epoch": 9.369850158691407e-07, "model_forward_time": 5.087249517440796, "step": 9825 }, { "epoch": 9.369850158691407e-07, "step": 9825, "training_step_time": 17.584197282791138 }, { "epoch": 9.370803833007813e-07, "model_forward_time": 5.292511940002441, "step": 9826 }, { "epoch": 9.370803833007813e-07, "step": 9826, "training_step_time": 17.596025943756104 }, { "epoch": 9.371757507324219e-07, "model_forward_time": 5.096534252166748, "step": 9827 }, { "epoch": 9.371757507324219e-07, "step": 9827, "training_step_time": 17.846319675445557 }, { "epoch": 9.372711181640625e-07, "model_forward_time": 5.096163988113403, "step": 9828 }, { "epoch": 9.372711181640625e-07, "step": 9828, "training_step_time": 17.62693762779236 }, { "epoch": 9.373664855957031e-07, "model_forward_time": 5.097922086715698, "step": 9829 }, { "epoch": 9.373664855957031e-07, "step": 9829, "training_step_time": 17.627527713775635 }, { "epoch": 9.374618530273437e-07, "grad_norm": 1.8475537300109863, "learning_rate": 9.778165633298017e-06, "loss": 0.1257, "step": 9830 }, { "epoch": 9.374618530273437e-07, "model_forward_time": 5.09574031829834, "step": 9830 }, { "dynamics_loss_avg": 0.05032487167045474, "epoch": 9.374618530273437e-07, "step": 9830 }, { "action_loss_avg": 0.08786027766764164, "epoch": 9.374618530273437e-07, "step": 9830 }, { "arm_loss_avg": 0.15064636766910552, "epoch": 9.374618530273437e-07, "step": 9830 }, { "ee_loss_avg": 0.08136238921433687, "epoch": 9.374618530273437e-07, "step": 9830 }, { "aux_loss_avg": 0.002450179134029895, "epoch": 9.374618530273437e-07, "step": 9830 }, { "epoch": 9.374618530273437e-07, "step": 9830, "training_step_time": 17.629160165786743 }, { "epoch": 9.375572204589844e-07, "model_forward_time": 5.093278884887695, "step": 9831 }, { "epoch": 9.375572204589844e-07, "step": 9831, "training_step_time": 17.627151489257812 }, { "epoch": 9.37652587890625e-07, "model_forward_time": 5.09312629699707, "step": 9832 }, { "epoch": 9.37652587890625e-07, "step": 9832, "training_step_time": 17.817317724227905 }, { "epoch": 9.377479553222656e-07, "model_forward_time": 5.089838981628418, "step": 9833 }, { "epoch": 9.377479553222656e-07, "step": 9833, "training_step_time": 17.63023614883423 }, { "epoch": 9.378433227539063e-07, "model_forward_time": 5.0912253856658936, "step": 9834 }, { "epoch": 9.378433227539063e-07, "step": 9834, "training_step_time": 17.62372398376465 }, { "epoch": 9.379386901855469e-07, "model_forward_time": 3.852029800415039, "step": 9835 }, { "epoch": 9.379386901855469e-07, "step": 9835, "training_step_time": 17.620838403701782 }, { "epoch": 9.380340576171875e-07, "model_forward_time": 5.061985969543457, "step": 9836 }, { "epoch": 9.380340576171875e-07, "step": 9836, "training_step_time": 17.841563940048218 }, { "epoch": 9.381294250488281e-07, "model_forward_time": 5.073636531829834, "step": 9837 }, { "epoch": 9.381294250488281e-07, "step": 9837, "training_step_time": 17.614988803863525 }, { "epoch": 9.382247924804688e-07, "model_forward_time": 5.0811684131622314, "step": 9838 }, { "epoch": 9.382247924804688e-07, "step": 9838, "training_step_time": 17.625359296798706 }, { "epoch": 9.383201599121094e-07, "model_forward_time": 5.087582111358643, "step": 9839 }, { "epoch": 9.383201599121094e-07, "step": 9839, "training_step_time": 17.614599227905273 }, { "epoch": 9.3841552734375e-07, "grad_norm": 1.6185795068740845, "learning_rate": 9.777469321095694e-06, "loss": 0.1147, "step": 9840 }, { "epoch": 9.3841552734375e-07, "model_forward_time": 3.859825611114502, "step": 9840 }, { "dynamics_loss_avg": 0.027586295921355485, "epoch": 9.3841552734375e-07, "step": 9840 }, { "action_loss_avg": 0.09301956947892905, "epoch": 9.3841552734375e-07, "step": 9840 }, { "arm_loss_avg": 0.1375122085213661, "epoch": 9.3841552734375e-07, "step": 9840 }, { "ee_loss_avg": 0.0826166176237166, "epoch": 9.3841552734375e-07, "step": 9840 }, { "aux_loss_avg": 0.002413191646337509, "epoch": 9.3841552734375e-07, "step": 9840 }, { "epoch": 9.3841552734375e-07, "step": 9840, "training_step_time": 17.61289095878601 }, { "epoch": 9.385108947753906e-07, "model_forward_time": 5.313986539840698, "step": 9841 }, { "epoch": 9.385108947753906e-07, "step": 9841, "training_step_time": 17.82118558883667 }, { "epoch": 9.386062622070312e-07, "model_forward_time": 5.082757949829102, "step": 9842 }, { "epoch": 9.386062622070312e-07, "step": 9842, "training_step_time": 17.611931324005127 }, { "epoch": 9.387016296386718e-07, "model_forward_time": 5.090707302093506, "step": 9843 }, { "epoch": 9.387016296386718e-07, "step": 9843, "training_step_time": 17.616101503372192 }, { "epoch": 9.387969970703126e-07, "model_forward_time": 5.097076892852783, "step": 9844 }, { "epoch": 9.387969970703126e-07, "step": 9844, "training_step_time": 17.36433482170105 }, { "epoch": 9.388923645019532e-07, "model_forward_time": 5.100089073181152, "step": 9845 }, { "epoch": 9.388923645019532e-07, "step": 9845, "training_step_time": 17.531803846359253 }, { "epoch": 9.389877319335938e-07, "model_forward_time": 5.105798006057739, "step": 9846 }, { "epoch": 9.389877319335938e-07, "step": 9846, "training_step_time": 17.59750270843506 }, { "epoch": 9.390830993652344e-07, "model_forward_time": 5.0994391441345215, "step": 9847 }, { "epoch": 9.390830993652344e-07, "step": 9847, "training_step_time": 17.821330547332764 }, { "epoch": 9.39178466796875e-07, "model_forward_time": 5.102230548858643, "step": 9848 }, { "epoch": 9.39178466796875e-07, "step": 9848, "training_step_time": 17.598538160324097 }, { "epoch": 9.392738342285156e-07, "model_forward_time": 5.09681510925293, "step": 9849 }, { "epoch": 9.392738342285156e-07, "step": 9849, "training_step_time": 17.621147632598877 }, { "epoch": 9.393692016601562e-07, "grad_norm": 2.2828009128570557, "learning_rate": 9.776771942654886e-06, "loss": 0.1122, "step": 9850 }, { "epoch": 9.393692016601562e-07, "model_forward_time": 5.094012022018433, "step": 9850 }, { "dynamics_loss_avg": 0.04712783433496952, "epoch": 9.393692016601562e-07, "step": 9850 }, { "action_loss_avg": 0.07903900109231472, "epoch": 9.393692016601562e-07, "step": 9850 }, { "arm_loss_avg": 0.14871967509388923, "epoch": 9.393692016601562e-07, "step": 9850 }, { "ee_loss_avg": 0.09241130948066711, "epoch": 9.393692016601562e-07, "step": 9850 }, { "aux_loss_avg": 0.0022184858040418475, "epoch": 9.393692016601562e-07, "step": 9850 }, { "epoch": 9.393692016601562e-07, "step": 9850, "training_step_time": 17.621432065963745 }, { "epoch": 9.394645690917969e-07, "model_forward_time": 5.08693790435791, "step": 9851 }, { "epoch": 9.394645690917969e-07, "step": 9851, "training_step_time": 17.62416410446167 }, { "epoch": 9.395599365234375e-07, "model_forward_time": 5.084536790847778, "step": 9852 }, { "epoch": 9.395599365234375e-07, "step": 9852, "training_step_time": 17.80286169052124 }, { "epoch": 9.396553039550781e-07, "model_forward_time": 5.08115816116333, "step": 9853 }, { "epoch": 9.396553039550781e-07, "step": 9853, "training_step_time": 17.624507904052734 }, { "epoch": 9.397506713867188e-07, "model_forward_time": 5.082160234451294, "step": 9854 }, { "epoch": 9.397506713867188e-07, "step": 9854, "training_step_time": 17.626626014709473 }, { "epoch": 9.398460388183594e-07, "model_forward_time": 5.285277605056763, "step": 9855 }, { "epoch": 9.398460388183594e-07, "step": 9855, "training_step_time": 17.618024587631226 }, { "epoch": 9.3994140625e-07, "model_forward_time": 5.092044115066528, "step": 9856 }, { "epoch": 9.3994140625e-07, "step": 9856, "training_step_time": 17.867112159729004 }, { "epoch": 9.400367736816406e-07, "model_forward_time": 5.100408315658569, "step": 9857 }, { "epoch": 9.400367736816406e-07, "step": 9857, "training_step_time": 17.64725399017334 }, { "epoch": 9.401321411132813e-07, "model_forward_time": 5.10870885848999, "step": 9858 }, { "epoch": 9.401321411132813e-07, "step": 9858, "training_step_time": 17.646968603134155 }, { "epoch": 9.402275085449219e-07, "model_forward_time": 5.100241661071777, "step": 9859 }, { "epoch": 9.402275085449219e-07, "step": 9859, "training_step_time": 17.616246461868286 }, { "epoch": 9.403228759765625e-07, "grad_norm": 3.4124507904052734, "learning_rate": 9.776073498131236e-06, "loss": 0.1314, "step": 9860 }, { "epoch": 9.403228759765625e-07, "model_forward_time": 5.0884809494018555, "step": 9860 }, { "dynamics_loss_avg": 0.0436012988910079, "epoch": 9.403228759765625e-07, "step": 9860 }, { "action_loss_avg": 0.09748543743044139, "epoch": 9.403228759765625e-07, "step": 9860 }, { "arm_loss_avg": 0.12303448095917702, "epoch": 9.403228759765625e-07, "step": 9860 }, { "ee_loss_avg": 0.12189791519194841, "epoch": 9.403228759765625e-07, "step": 9860 }, { "aux_loss_avg": 0.0011981237679719926, "epoch": 9.403228759765625e-07, "step": 9860 }, { "epoch": 9.403228759765625e-07, "step": 9860, "training_step_time": 17.599056720733643 }, { "epoch": 9.404182434082031e-07, "model_forward_time": 5.094501972198486, "step": 9861 }, { "epoch": 9.404182434082031e-07, "step": 9861, "training_step_time": 17.644221305847168 }, { "epoch": 9.405136108398437e-07, "model_forward_time": 5.086597919464111, "step": 9862 }, { "epoch": 9.405136108398437e-07, "step": 9862, "training_step_time": 17.41401720046997 }, { "epoch": 9.406089782714843e-07, "model_forward_time": 3.8514914512634277, "step": 9863 }, { "epoch": 9.406089782714843e-07, "step": 9863, "training_step_time": 17.470866203308105 }, { "epoch": 9.40704345703125e-07, "model_forward_time": 5.05928635597229, "step": 9864 }, { "epoch": 9.40704345703125e-07, "step": 9864, "training_step_time": 17.540068864822388 }, { "epoch": 9.407997131347657e-07, "model_forward_time": 5.067423343658447, "step": 9865 }, { "epoch": 9.407997131347657e-07, "step": 9865, "training_step_time": 17.57961344718933 }, { "epoch": 9.408950805664063e-07, "model_forward_time": 5.265491724014282, "step": 9866 }, { "epoch": 9.408950805664063e-07, "step": 9866, "training_step_time": 17.596160173416138 }, { "epoch": 9.409904479980469e-07, "model_forward_time": 5.082749843597412, "step": 9867 }, { "epoch": 9.409904479980469e-07, "step": 9867, "training_step_time": 17.370591163635254 }, { "epoch": 9.410858154296875e-07, "model_forward_time": 5.093218088150024, "step": 9868 }, { "epoch": 9.410858154296875e-07, "step": 9868, "training_step_time": 17.54176425933838 }, { "epoch": 9.411811828613281e-07, "model_forward_time": 5.094541072845459, "step": 9869 }, { "epoch": 9.411811828613281e-07, "step": 9869, "training_step_time": 17.60163640975952 }, { "epoch": 9.412765502929687e-07, "grad_norm": 2.0632381439208984, "learning_rate": 9.77537398768062e-06, "loss": 0.1258, "step": 9870 }, { "epoch": 9.412765502929687e-07, "model_forward_time": 3.8585667610168457, "step": 9870 }, { "dynamics_loss_avg": 0.05132780056446791, "epoch": 9.412765502929687e-07, "step": 9870 }, { "action_loss_avg": 0.10234520500525832, "epoch": 9.412765502929687e-07, "step": 9870 }, { "arm_loss_avg": 0.1821594312787056, "epoch": 9.412765502929687e-07, "step": 9870 }, { "ee_loss_avg": 0.10662317406386138, "epoch": 9.412765502929687e-07, "step": 9870 }, { "aux_loss_avg": 0.0057495375687722115, "epoch": 9.412765502929687e-07, "step": 9870 }, { "epoch": 9.412765502929687e-07, "step": 9870, "training_step_time": 17.408868551254272 }, { "epoch": 9.413719177246094e-07, "model_forward_time": 5.312101364135742, "step": 9871 }, { "epoch": 9.413719177246094e-07, "step": 9871, "training_step_time": 17.644293308258057 }, { "epoch": 9.4146728515625e-07, "model_forward_time": 5.076658725738525, "step": 9872 }, { "epoch": 9.4146728515625e-07, "step": 9872, "training_step_time": 17.780640840530396 }, { "epoch": 9.415626525878906e-07, "model_forward_time": 3.8475799560546875, "step": 9873 }, { "epoch": 9.415626525878906e-07, "step": 9873, "training_step_time": 17.340153694152832 }, { "epoch": 9.416580200195313e-07, "model_forward_time": 5.0619142055511475, "step": 9874 }, { "epoch": 9.416580200195313e-07, "step": 9874, "training_step_time": 17.551323175430298 }, { "epoch": 9.417533874511719e-07, "model_forward_time": 5.076398849487305, "step": 9875 }, { "epoch": 9.417533874511719e-07, "step": 9875, "training_step_time": 17.608067989349365 }, { "epoch": 9.418487548828125e-07, "model_forward_time": 5.293581008911133, "step": 9876 }, { "epoch": 9.418487548828125e-07, "step": 9876, "training_step_time": 17.640545129776 }, { "epoch": 9.419441223144531e-07, "model_forward_time": 5.113442659378052, "step": 9877 }, { "epoch": 9.419441223144531e-07, "step": 9877, "training_step_time": 17.90122890472412 }, { "epoch": 9.420394897460938e-07, "model_forward_time": 5.109360694885254, "step": 9878 }, { "epoch": 9.420394897460938e-07, "step": 9878, "training_step_time": 17.65883445739746 }, { "epoch": 9.421348571777344e-07, "model_forward_time": 5.118797302246094, "step": 9879 }, { "epoch": 9.421348571777344e-07, "step": 9879, "training_step_time": 17.664748191833496 }, { "epoch": 9.42230224609375e-07, "grad_norm": 1.751536250114441, "learning_rate": 9.77467341145916e-06, "loss": 0.1407, "step": 9880 }, { "epoch": 9.42230224609375e-07, "model_forward_time": 5.100589275360107, "step": 9880 }, { "dynamics_loss_avg": 0.05647934786975384, "epoch": 9.42230224609375e-07, "step": 9880 }, { "action_loss_avg": 0.09773219972848893, "epoch": 9.42230224609375e-07, "step": 9880 }, { "arm_loss_avg": 0.13532122373580932, "epoch": 9.42230224609375e-07, "step": 9880 }, { "ee_loss_avg": 0.07671367730945348, "epoch": 9.42230224609375e-07, "step": 9880 }, { "aux_loss_avg": 0.0010629055788740516, "epoch": 9.42230224609375e-07, "step": 9880 }, { "epoch": 9.42230224609375e-07, "step": 9880, "training_step_time": 17.641059398651123 }, { "epoch": 9.423255920410156e-07, "model_forward_time": 5.345161199569702, "step": 9881 }, { "epoch": 9.423255920410156e-07, "step": 9881, "training_step_time": 17.682409048080444 }, { "epoch": 9.424209594726562e-07, "model_forward_time": 5.095907211303711, "step": 9882 }, { "epoch": 9.424209594726562e-07, "step": 9882, "training_step_time": 17.82653284072876 }, { "epoch": 9.425163269042968e-07, "model_forward_time": 5.091587066650391, "step": 9883 }, { "epoch": 9.425163269042968e-07, "step": 9883, "training_step_time": 17.428186893463135 }, { "epoch": 9.426116943359374e-07, "model_forward_time": 3.857999801635742, "step": 9884 }, { "epoch": 9.426116943359374e-07, "step": 9884, "training_step_time": 17.530910968780518 }, { "epoch": 9.427070617675782e-07, "model_forward_time": 5.065252065658569, "step": 9885 }, { "epoch": 9.427070617675782e-07, "step": 9885, "training_step_time": 17.58604907989502 }, { "epoch": 9.428024291992188e-07, "model_forward_time": 5.266515731811523, "step": 9886 }, { "epoch": 9.428024291992188e-07, "step": 9886, "training_step_time": 17.596156358718872 }, { "epoch": 9.428977966308594e-07, "model_forward_time": 5.077040433883667, "step": 9887 }, { "epoch": 9.428977966308594e-07, "step": 9887, "training_step_time": 17.837846040725708 }, { "epoch": 9.429931640625e-07, "model_forward_time": 5.086095333099365, "step": 9888 }, { "epoch": 9.429931640625e-07, "step": 9888, "training_step_time": 17.616172790527344 }, { "epoch": 9.430885314941406e-07, "model_forward_time": 5.091464519500732, "step": 9889 }, { "epoch": 9.430885314941406e-07, "step": 9889, "training_step_time": 17.62800621986389 }, { "epoch": 9.431838989257812e-07, "grad_norm": 2.280410051345825, "learning_rate": 9.77397176962321e-06, "loss": 0.1325, "step": 9890 }, { "epoch": 9.431838989257812e-07, "model_forward_time": 5.0961387157440186, "step": 9890 }, { "dynamics_loss_avg": 0.04484140947461128, "epoch": 9.431838989257812e-07, "step": 9890 }, { "action_loss_avg": 0.10388825088739395, "epoch": 9.431838989257812e-07, "step": 9890 }, { "arm_loss_avg": 0.15415074601769446, "epoch": 9.431838989257812e-07, "step": 9890 }, { "ee_loss_avg": 0.05206510163843632, "epoch": 9.431838989257812e-07, "step": 9890 }, { "aux_loss_avg": 0.003907830262323842, "epoch": 9.431838989257812e-07, "step": 9890 }, { "epoch": 9.431838989257812e-07, "step": 9890, "training_step_time": 17.620678663253784 }, { "epoch": 9.432792663574219e-07, "model_forward_time": 5.097787618637085, "step": 9891 }, { "epoch": 9.432792663574219e-07, "step": 9891, "training_step_time": 17.622086763381958 }, { "epoch": 9.433746337890625e-07, "model_forward_time": 5.0933449268341064, "step": 9892 }, { "epoch": 9.433746337890625e-07, "step": 9892, "training_step_time": 17.80567193031311 }, { "epoch": 9.434700012207031e-07, "model_forward_time": 5.092690467834473, "step": 9893 }, { "epoch": 9.434700012207031e-07, "step": 9893, "training_step_time": 17.630856037139893 }, { "epoch": 9.435653686523437e-07, "model_forward_time": 5.092888116836548, "step": 9894 }, { "epoch": 9.435653686523437e-07, "step": 9894, "training_step_time": 17.632941007614136 }, { "epoch": 9.436607360839844e-07, "model_forward_time": 5.2892680168151855, "step": 9895 }, { "epoch": 9.436607360839844e-07, "step": 9895, "training_step_time": 17.619207859039307 }, { "epoch": 9.43756103515625e-07, "model_forward_time": 5.085595607757568, "step": 9896 }, { "epoch": 9.43756103515625e-07, "step": 9896, "training_step_time": 17.824742078781128 }, { "epoch": 9.438514709472656e-07, "model_forward_time": 5.085902690887451, "step": 9897 }, { "epoch": 9.438514709472656e-07, "step": 9897, "training_step_time": 17.601634979248047 }, { "epoch": 9.439468383789063e-07, "model_forward_time": 5.085803270339966, "step": 9898 }, { "epoch": 9.439468383789063e-07, "step": 9898, "training_step_time": 17.445504665374756 }, { "epoch": 9.440422058105469e-07, "model_forward_time": 5.084992170333862, "step": 9899 }, { "epoch": 9.440422058105469e-07, "step": 9899, "training_step_time": 17.50760531425476 }, { "epoch": 9.441375732421875e-07, "grad_norm": 1.4570965766906738, "learning_rate": 9.77326906232936e-06, "loss": 0.1291, "step": 9900 }, { "epoch": 9.441375732421875e-07, "model_forward_time": 3.8520278930664062, "step": 9900 }, { "dynamics_loss_avg": 0.041303876973688605, "epoch": 9.441375732421875e-07, "step": 9900 }, { "action_loss_avg": 0.08048545047640801, "epoch": 9.441375732421875e-07, "step": 9900 }, { "arm_loss_avg": 0.1414181511849165, "epoch": 9.441375732421875e-07, "step": 9900 }, { "ee_loss_avg": 0.08672091085463762, "epoch": 9.441375732421875e-07, "step": 9900 }, { "aux_loss_avg": 0.00322327486355789, "epoch": 9.441375732421875e-07, "step": 9900 }, { "epoch": 9.441375732421875e-07, "step": 9900, "training_step_time": 17.235841512680054 }, { "epoch": 9.442329406738281e-07, "model_forward_time": 5.309812545776367, "step": 9901 }, { "epoch": 9.442329406738281e-07, "step": 9901, "training_step_time": 17.487096548080444 }, { "epoch": 9.443283081054687e-07, "model_forward_time": 5.070330858230591, "step": 9902 }, { "epoch": 9.443283081054687e-07, "step": 9902, "training_step_time": 17.733603715896606 }, { "epoch": 9.444236755371093e-07, "model_forward_time": 5.077427864074707, "step": 9903 }, { "epoch": 9.444236755371093e-07, "step": 9903, "training_step_time": 17.42098307609558 }, { "epoch": 9.4451904296875e-07, "model_forward_time": 5.087018251419067, "step": 9904 }, { "epoch": 9.4451904296875e-07, "step": 9904, "training_step_time": 17.52613854408264 }, { "epoch": 9.446144104003907e-07, "model_forward_time": 5.092073202133179, "step": 9905 }, { "epoch": 9.446144104003907e-07, "step": 9905, "training_step_time": 17.587626695632935 }, { "epoch": 9.447097778320313e-07, "model_forward_time": 5.0982043743133545, "step": 9906 }, { "epoch": 9.447097778320313e-07, "step": 9906, "training_step_time": 17.640727758407593 }, { "epoch": 9.448051452636719e-07, "model_forward_time": 5.098170042037964, "step": 9907 }, { "epoch": 9.448051452636719e-07, "step": 9907, "training_step_time": 17.89110016822815 }, { "epoch": 9.449005126953125e-07, "model_forward_time": 5.091478109359741, "step": 9908 }, { "epoch": 9.449005126953125e-07, "step": 9908, "training_step_time": 17.496087074279785 }, { "epoch": 9.449958801269531e-07, "model_forward_time": 5.09700608253479, "step": 9909 }, { "epoch": 9.449958801269531e-07, "step": 9909, "training_step_time": 17.584391593933105 }, { "epoch": 9.450912475585937e-07, "grad_norm": 2.136749505996704, "learning_rate": 9.772565289734443e-06, "loss": 0.1223, "step": 9910 }, { "epoch": 9.450912475585937e-07, "model_forward_time": 5.091160535812378, "step": 9910 }, { "dynamics_loss_avg": 0.035788810532540086, "epoch": 9.450912475585937e-07, "step": 9910 }, { "action_loss_avg": 0.08973162993788719, "epoch": 9.450912475585937e-07, "step": 9910 }, { "arm_loss_avg": 0.1499646931886673, "epoch": 9.450912475585937e-07, "step": 9910 }, { "ee_loss_avg": 0.06234391666948795, "epoch": 9.450912475585937e-07, "step": 9910 }, { "aux_loss_avg": 0.0011164623429067433, "epoch": 9.450912475585937e-07, "step": 9910 }, { "epoch": 9.450912475585937e-07, "step": 9910, "training_step_time": 17.61791968345642 }, { "epoch": 9.451866149902344e-07, "model_forward_time": 5.088197469711304, "step": 9911 }, { "epoch": 9.451866149902344e-07, "step": 9911, "training_step_time": 17.6474711894989 }, { "epoch": 9.45281982421875e-07, "model_forward_time": 5.088664293289185, "step": 9912 }, { "epoch": 9.45281982421875e-07, "step": 9912, "training_step_time": 17.82742404937744 }, { "epoch": 9.453773498535156e-07, "model_forward_time": 5.08542013168335, "step": 9913 }, { "epoch": 9.453773498535156e-07, "step": 9913, "training_step_time": 17.644808292388916 }, { "epoch": 9.454727172851562e-07, "model_forward_time": 5.081982851028442, "step": 9914 }, { "epoch": 9.454727172851562e-07, "step": 9914, "training_step_time": 17.637634992599487 }, { "epoch": 9.455680847167969e-07, "model_forward_time": 5.282873868942261, "step": 9915 }, { "epoch": 9.455680847167969e-07, "step": 9915, "training_step_time": 17.385612964630127 }, { "epoch": 9.456634521484375e-07, "model_forward_time": 3.853400707244873, "step": 9916 }, { "epoch": 9.456634521484375e-07, "step": 9916, "training_step_time": 17.532572269439697 }, { "epoch": 9.457588195800781e-07, "model_forward_time": 5.069074392318726, "step": 9917 }, { "epoch": 9.457588195800781e-07, "step": 9917, "training_step_time": 17.827582836151123 }, { "epoch": 9.458541870117188e-07, "model_forward_time": 5.078568696975708, "step": 9918 }, { "epoch": 9.458541870117188e-07, "step": 9918, "training_step_time": 17.427802562713623 }, { "epoch": 9.459495544433594e-07, "model_forward_time": 5.097007751464844, "step": 9919 }, { "epoch": 9.459495544433594e-07, "step": 9919, "training_step_time": 17.54643750190735 }, { "epoch": 9.46044921875e-07, "grad_norm": 3.2203357219696045, "learning_rate": 9.771860451995526e-06, "loss": 0.1239, "step": 9920 }, { "epoch": 9.46044921875e-07, "model_forward_time": 5.098932981491089, "step": 9920 }, { "dynamics_loss_avg": 0.029889235273003578, "epoch": 9.46044921875e-07, "step": 9920 }, { "action_loss_avg": 0.07738267425447702, "epoch": 9.46044921875e-07, "step": 9920 }, { "arm_loss_avg": 0.1846906438469887, "epoch": 9.46044921875e-07, "step": 9920 }, { "ee_loss_avg": 0.1180841626599431, "epoch": 9.46044921875e-07, "step": 9920 }, { "aux_loss_avg": 0.0024327879946213216, "epoch": 9.46044921875e-07, "step": 9920 }, { "epoch": 9.46044921875e-07, "step": 9920, "training_step_time": 17.446606874465942 }, { "epoch": 9.461402893066406e-07, "model_forward_time": 5.33254337310791, "step": 9921 }, { "epoch": 9.461402893066406e-07, "step": 9921, "training_step_time": 17.643441915512085 }, { "epoch": 9.462356567382812e-07, "model_forward_time": 5.097579479217529, "step": 9922 }, { "epoch": 9.462356567382812e-07, "step": 9922, "training_step_time": 17.666017055511475 }, { "epoch": 9.463310241699218e-07, "model_forward_time": 5.0973334312438965, "step": 9923 }, { "epoch": 9.463310241699218e-07, "step": 9923, "training_step_time": 17.556847095489502 }, { "epoch": 9.464263916015625e-07, "model_forward_time": 5.092251300811768, "step": 9924 }, { "epoch": 9.464263916015625e-07, "step": 9924, "training_step_time": 17.602278232574463 }, { "epoch": 9.465217590332032e-07, "model_forward_time": 5.090393304824829, "step": 9925 }, { "epoch": 9.465217590332032e-07, "step": 9925, "training_step_time": 17.61582636833191 }, { "epoch": 9.466171264648438e-07, "model_forward_time": 5.283889055252075, "step": 9926 }, { "epoch": 9.466171264648438e-07, "step": 9926, "training_step_time": 17.668360471725464 }, { "epoch": 9.467124938964844e-07, "model_forward_time": 5.0870771408081055, "step": 9927 }, { "epoch": 9.467124938964844e-07, "step": 9927, "training_step_time": 17.908153295516968 }, { "epoch": 9.46807861328125e-07, "model_forward_time": 5.082720041275024, "step": 9928 }, { "epoch": 9.46807861328125e-07, "step": 9928, "training_step_time": 17.658223152160645 }, { "epoch": 9.469032287597656e-07, "model_forward_time": 5.082320928573608, "step": 9929 }, { "epoch": 9.469032287597656e-07, "step": 9929, "training_step_time": 17.643065929412842 }, { "epoch": 9.469985961914062e-07, "grad_norm": 2.066596746444702, "learning_rate": 9.771154549269917e-06, "loss": 0.117, "step": 9930 }, { "epoch": 9.469985961914062e-07, "model_forward_time": 5.085247755050659, "step": 9930 }, { "dynamics_loss_avg": 0.036820858856663106, "epoch": 9.469985961914062e-07, "step": 9930 }, { "action_loss_avg": 0.08603327199816704, "epoch": 9.469985961914062e-07, "step": 9930 }, { "arm_loss_avg": 0.15527485087513923, "epoch": 9.469985961914062e-07, "step": 9930 }, { "ee_loss_avg": 0.05676799509674311, "epoch": 9.469985961914062e-07, "step": 9930 }, { "aux_loss_avg": 0.0008429163106484338, "epoch": 9.469985961914062e-07, "step": 9930 }, { "epoch": 9.469985961914062e-07, "step": 9930, "training_step_time": 17.63008189201355 }, { "epoch": 9.470939636230469e-07, "model_forward_time": 5.085965394973755, "step": 9931 }, { "epoch": 9.470939636230469e-07, "step": 9931, "training_step_time": 17.630752086639404 }, { "epoch": 9.471893310546875e-07, "model_forward_time": 5.084126234054565, "step": 9932 }, { "epoch": 9.471893310546875e-07, "step": 9932, "training_step_time": 17.801472425460815 }, { "epoch": 9.472846984863281e-07, "model_forward_time": 5.083219289779663, "step": 9933 }, { "epoch": 9.472846984863281e-07, "step": 9933, "training_step_time": 17.481239795684814 }, { "epoch": 9.473800659179687e-07, "model_forward_time": 5.088469982147217, "step": 9934 }, { "epoch": 9.473800659179687e-07, "step": 9934, "training_step_time": 17.516569137573242 }, { "epoch": 9.474754333496094e-07, "model_forward_time": 5.283005475997925, "step": 9935 }, { "epoch": 9.474754333496094e-07, "step": 9935, "training_step_time": 17.389970779418945 }, { "epoch": 9.4757080078125e-07, "model_forward_time": 5.088993072509766, "step": 9936 }, { "epoch": 9.4757080078125e-07, "step": 9936, "training_step_time": 17.48374581336975 }, { "epoch": 9.476661682128907e-07, "model_forward_time": 3.851101875305176, "step": 9937 }, { "epoch": 9.476661682128907e-07, "step": 9937, "training_step_time": 17.616017818450928 }, { "epoch": 9.477615356445313e-07, "model_forward_time": 5.050765514373779, "step": 9938 }, { "epoch": 9.477615356445313e-07, "step": 9938, "training_step_time": 17.735992670059204 }, { "epoch": 9.478569030761719e-07, "model_forward_time": 5.064670562744141, "step": 9939 }, { "epoch": 9.478569030761719e-07, "step": 9939, "training_step_time": 17.55474328994751 }, { "epoch": 9.479522705078125e-07, "grad_norm": 1.9204388856887817, "learning_rate": 9.770447581715156e-06, "loss": 0.1131, "step": 9940 }, { "epoch": 9.479522705078125e-07, "model_forward_time": 5.071930885314941, "step": 9940 }, { "dynamics_loss_avg": 0.03621832653880119, "epoch": 9.479522705078125e-07, "step": 9940 }, { "action_loss_avg": 0.08214706070721149, "epoch": 9.479522705078125e-07, "step": 9940 }, { "arm_loss_avg": 0.16523410528898239, "epoch": 9.479522705078125e-07, "step": 9940 }, { "ee_loss_avg": 0.10265431683510542, "epoch": 9.479522705078125e-07, "step": 9940 }, { "aux_loss_avg": 0.0016439277853351087, "epoch": 9.479522705078125e-07, "step": 9940 }, { "epoch": 9.479522705078125e-07, "step": 9940, "training_step_time": 17.341606378555298 }, { "epoch": 9.480476379394531e-07, "model_forward_time": 5.317961931228638, "step": 9941 }, { "epoch": 9.480476379394531e-07, "step": 9941, "training_step_time": 17.543354511260986 }, { "epoch": 9.481430053710937e-07, "model_forward_time": 5.089348793029785, "step": 9942 }, { "epoch": 9.481430053710937e-07, "step": 9942, "training_step_time": 17.61470651626587 }, { "epoch": 9.482383728027343e-07, "model_forward_time": 3.8559610843658447, "step": 9943 }, { "epoch": 9.482383728027343e-07, "step": 9943, "training_step_time": 17.83283519744873 }, { "epoch": 9.48333740234375e-07, "model_forward_time": 5.06209135055542, "step": 9944 }, { "epoch": 9.48333740234375e-07, "step": 9944, "training_step_time": 17.659619092941284 }, { "epoch": 9.484291076660157e-07, "model_forward_time": 5.070974111557007, "step": 9945 }, { "epoch": 9.484291076660157e-07, "step": 9945, "training_step_time": 17.658651113510132 }, { "epoch": 9.485244750976563e-07, "model_forward_time": 5.266530990600586, "step": 9946 }, { "epoch": 9.485244750976563e-07, "step": 9946, "training_step_time": 17.648340940475464 }, { "epoch": 9.486198425292969e-07, "model_forward_time": 5.0880396366119385, "step": 9947 }, { "epoch": 9.486198425292969e-07, "step": 9947, "training_step_time": 17.647149324417114 }, { "epoch": 9.487152099609375e-07, "model_forward_time": 5.094825744628906, "step": 9948 }, { "epoch": 9.487152099609375e-07, "step": 9948, "training_step_time": 17.886688709259033 }, { "epoch": 9.488105773925781e-07, "model_forward_time": 5.09469747543335, "step": 9949 }, { "epoch": 9.488105773925781e-07, "step": 9949, "training_step_time": 17.62430500984192 }, { "epoch": 9.489059448242187e-07, "grad_norm": 2.295140504837036, "learning_rate": 9.769739549489029e-06, "loss": 0.1057, "step": 9950 }, { "epoch": 9.489059448242187e-07, "model_forward_time": 5.0975165367126465, "step": 9950 }, { "dynamics_loss_avg": 0.041486894432455304, "epoch": 9.489059448242187e-07, "step": 9950 }, { "action_loss_avg": 0.07317480109632016, "epoch": 9.489059448242187e-07, "step": 9950 }, { "arm_loss_avg": 0.15596722587943077, "epoch": 9.489059448242187e-07, "step": 9950 }, { "ee_loss_avg": 0.09956330209970474, "epoch": 9.489059448242187e-07, "step": 9950 }, { "aux_loss_avg": 0.0012413397897034883, "epoch": 9.489059448242187e-07, "step": 9950 }, { "epoch": 9.489059448242187e-07, "step": 9950, "training_step_time": 17.618884801864624 }, { "epoch": 9.490013122558594e-07, "model_forward_time": 5.330811977386475, "step": 9951 }, { "epoch": 9.490013122558594e-07, "step": 9951, "training_step_time": 17.607069492340088 }, { "epoch": 9.490966796875e-07, "model_forward_time": 5.089510202407837, "step": 9952 }, { "epoch": 9.490966796875e-07, "step": 9952, "training_step_time": 17.62475061416626 }, { "epoch": 9.491920471191406e-07, "model_forward_time": 5.08699631690979, "step": 9953 }, { "epoch": 9.491920471191406e-07, "step": 9953, "training_step_time": 17.511046409606934 }, { "epoch": 9.492874145507812e-07, "model_forward_time": 5.08275842666626, "step": 9954 }, { "epoch": 9.492874145507812e-07, "step": 9954, "training_step_time": 17.56494140625 }, { "epoch": 9.493827819824219e-07, "model_forward_time": 5.082179069519043, "step": 9955 }, { "epoch": 9.493827819824219e-07, "step": 9955, "training_step_time": 17.570048570632935 }, { "epoch": 9.494781494140625e-07, "model_forward_time": 5.086208343505859, "step": 9956 }, { "epoch": 9.494781494140625e-07, "step": 9956, "training_step_time": 17.64321732521057 }, { "epoch": 9.495735168457032e-07, "model_forward_time": 5.081170082092285, "step": 9957 }, { "epoch": 9.495735168457032e-07, "step": 9957, "training_step_time": 17.845865488052368 }, { "epoch": 9.496688842773438e-07, "model_forward_time": 3.8451571464538574, "step": 9958 }, { "epoch": 9.496688842773438e-07, "step": 9958, "training_step_time": 17.622456789016724 }, { "epoch": 9.497642517089844e-07, "model_forward_time": 3.830306053161621, "step": 9959 }, { "epoch": 9.497642517089844e-07, "step": 9959, "training_step_time": 17.623265027999878 }, { "epoch": 9.49859619140625e-07, "grad_norm": 1.3425581455230713, "learning_rate": 9.769030452749552e-06, "loss": 0.1196, "step": 9960 }, { "epoch": 9.49859619140625e-07, "model_forward_time": 5.0483152866363525, "step": 9960 }, { "dynamics_loss_avg": 0.046689422242343424, "epoch": 9.49859619140625e-07, "step": 9960 }, { "action_loss_avg": 0.07635423690080642, "epoch": 9.49859619140625e-07, "step": 9960 }, { "arm_loss_avg": 0.14074651002883912, "epoch": 9.49859619140625e-07, "step": 9960 }, { "ee_loss_avg": 0.10687933247536421, "epoch": 9.49859619140625e-07, "step": 9960 }, { "aux_loss_avg": 0.00878678031731397, "epoch": 9.49859619140625e-07, "step": 9960 }, { "epoch": 9.49859619140625e-07, "step": 9960, "training_step_time": 17.626156330108643 }, { "epoch": 9.499549865722656e-07, "model_forward_time": 5.296030759811401, "step": 9961 }, { "epoch": 9.499549865722656e-07, "step": 9961, "training_step_time": 17.62275242805481 }, { "epoch": 9.500503540039062e-07, "model_forward_time": 5.083508014678955, "step": 9962 }, { "epoch": 9.500503540039062e-07, "step": 9962, "training_step_time": 17.8139066696167 }, { "epoch": 9.501457214355468e-07, "model_forward_time": 5.0946125984191895, "step": 9963 }, { "epoch": 9.501457214355468e-07, "step": 9963, "training_step_time": 17.61139440536499 }, { "epoch": 9.502410888671875e-07, "model_forward_time": 5.101803541183472, "step": 9964 }, { "epoch": 9.502410888671875e-07, "step": 9964, "training_step_time": 17.602808237075806 }, { "epoch": 9.503364562988282e-07, "model_forward_time": 3.8692433834075928, "step": 9965 }, { "epoch": 9.503364562988282e-07, "step": 9965, "training_step_time": 17.61067485809326 }, { "epoch": 9.504318237304688e-07, "model_forward_time": 5.258610010147095, "step": 9966 }, { "epoch": 9.504318237304688e-07, "step": 9966, "training_step_time": 17.641253232955933 }, { "epoch": 9.505271911621094e-07, "model_forward_time": 5.082521438598633, "step": 9967 }, { "epoch": 9.505271911621094e-07, "step": 9967, "training_step_time": 17.846036911010742 }, { "epoch": 9.5062255859375e-07, "model_forward_time": 5.082406520843506, "step": 9968 }, { "epoch": 9.5062255859375e-07, "step": 9968, "training_step_time": 17.626469612121582 }, { "epoch": 9.507179260253906e-07, "model_forward_time": 5.0862932205200195, "step": 9969 }, { "epoch": 9.507179260253906e-07, "step": 9969, "training_step_time": 17.620051383972168 }, { "epoch": 9.508132934570312e-07, "grad_norm": 2.5102498531341553, "learning_rate": 9.768320291654983e-06, "loss": 0.1018, "step": 9970 }, { "epoch": 9.508132934570312e-07, "model_forward_time": 5.094084739685059, "step": 9970 }, { "dynamics_loss_avg": 0.0349196745082736, "epoch": 9.508132934570312e-07, "step": 9970 }, { "action_loss_avg": 0.06979433633387089, "epoch": 9.508132934570312e-07, "step": 9970 }, { "arm_loss_avg": 0.13557932376861573, "epoch": 9.508132934570312e-07, "step": 9970 }, { "ee_loss_avg": 0.052879072981886564, "epoch": 9.508132934570312e-07, "step": 9970 }, { "aux_loss_avg": 0.0016020051669329404, "epoch": 9.508132934570312e-07, "step": 9970 }, { "epoch": 9.508132934570312e-07, "step": 9970, "training_step_time": 17.62336277961731 }, { "epoch": 9.509086608886719e-07, "model_forward_time": 5.324593544006348, "step": 9971 }, { "epoch": 9.509086608886719e-07, "step": 9971, "training_step_time": 17.624303102493286 }, { "epoch": 9.510040283203125e-07, "model_forward_time": 5.094561576843262, "step": 9972 }, { "epoch": 9.510040283203125e-07, "step": 9972, "training_step_time": 17.83781909942627 }, { "epoch": 9.510993957519531e-07, "model_forward_time": 5.090394020080566, "step": 9973 }, { "epoch": 9.510993957519531e-07, "step": 9973, "training_step_time": 17.612712144851685 }, { "epoch": 9.511947631835937e-07, "model_forward_time": 5.089785575866699, "step": 9974 }, { "epoch": 9.511947631835937e-07, "step": 9974, "training_step_time": 17.602908849716187 }, { "epoch": 9.512901306152344e-07, "model_forward_time": 3.8540213108062744, "step": 9975 }, { "epoch": 9.512901306152344e-07, "step": 9975, "training_step_time": 17.611035108566284 }, { "epoch": 9.51385498046875e-07, "model_forward_time": 5.261023283004761, "step": 9976 }, { "epoch": 9.51385498046875e-07, "step": 9976, "training_step_time": 17.58791160583496 }, { "epoch": 9.514808654785157e-07, "model_forward_time": 5.07436466217041, "step": 9977 }, { "epoch": 9.514808654785157e-07, "step": 9977, "training_step_time": 17.822790384292603 }, { "epoch": 9.515762329101563e-07, "model_forward_time": 5.077540397644043, "step": 9978 }, { "epoch": 9.515762329101563e-07, "step": 9978, "training_step_time": 17.583463191986084 }, { "epoch": 9.516716003417969e-07, "model_forward_time": 5.090106010437012, "step": 9979 }, { "epoch": 9.516716003417969e-07, "step": 9979, "training_step_time": 17.592109203338623 }, { "epoch": 9.517669677734375e-07, "grad_norm": 2.3797473907470703, "learning_rate": 9.767609066363818e-06, "loss": 0.0993, "step": 9980 }, { "epoch": 9.517669677734375e-07, "model_forward_time": 5.093898773193359, "step": 9980 }, { "dynamics_loss_avg": 0.03449455443769693, "epoch": 9.517669677734375e-07, "step": 9980 }, { "action_loss_avg": 0.06975465230643749, "epoch": 9.517669677734375e-07, "step": 9980 }, { "arm_loss_avg": 0.14719808250665664, "epoch": 9.517669677734375e-07, "step": 9980 }, { "ee_loss_avg": 0.08582604844123125, "epoch": 9.517669677734375e-07, "step": 9980 }, { "aux_loss_avg": 0.006754683272447437, "epoch": 9.517669677734375e-07, "step": 9980 }, { "epoch": 9.517669677734375e-07, "step": 9980, "training_step_time": 17.588027715682983 }, { "epoch": 9.518623352050781e-07, "model_forward_time": 5.3409929275512695, "step": 9981 }, { "epoch": 9.518623352050781e-07, "step": 9981, "training_step_time": 17.662065982818604 }, { "epoch": 9.519577026367187e-07, "model_forward_time": 5.0968921184539795, "step": 9982 }, { "epoch": 9.519577026367187e-07, "step": 9982, "training_step_time": 17.80500340461731 }, { "epoch": 9.520530700683593e-07, "model_forward_time": 5.099351644515991, "step": 9983 }, { "epoch": 9.520530700683593e-07, "step": 9983, "training_step_time": 17.61259889602661 }, { "epoch": 9.521484375e-07, "model_forward_time": 3.8588480949401855, "step": 9984 }, { "epoch": 9.521484375e-07, "step": 9984, "training_step_time": 17.607569694519043 }, { "epoch": 9.522438049316407e-07, "model_forward_time": 5.064634084701538, "step": 9985 }, { "epoch": 9.522438049316407e-07, "step": 9985, "training_step_time": 17.62487244606018 }, { "epoch": 9.523391723632813e-07, "model_forward_time": 5.270776271820068, "step": 9986 }, { "epoch": 9.523391723632813e-07, "step": 9986, "training_step_time": 17.622663736343384 }, { "epoch": 9.524345397949219e-07, "model_forward_time": 5.080639362335205, "step": 9987 }, { "epoch": 9.524345397949219e-07, "step": 9987, "training_step_time": 17.84613275527954 }, { "epoch": 9.525299072265625e-07, "model_forward_time": 3.8554747104644775, "step": 9988 }, { "epoch": 9.525299072265625e-07, "step": 9988, "training_step_time": 17.602360486984253 }, { "epoch": 9.526252746582031e-07, "model_forward_time": 5.063822507858276, "step": 9989 }, { "epoch": 9.526252746582031e-07, "step": 9989, "training_step_time": 17.6133029460907 }, { "epoch": 9.527206420898437e-07, "grad_norm": 2.1060781478881836, "learning_rate": 9.766896777034782e-06, "loss": 0.1217, "step": 9990 }, { "epoch": 9.527206420898437e-07, "model_forward_time": 5.075289964675903, "step": 9990 }, { "dynamics_loss_avg": 0.04360719956457615, "epoch": 9.527206420898437e-07, "step": 9990 }, { "action_loss_avg": 0.09257205612957478, "epoch": 9.527206420898437e-07, "step": 9990 }, { "arm_loss_avg": 0.1413508675992489, "epoch": 9.527206420898437e-07, "step": 9990 }, { "ee_loss_avg": 0.11829548077657819, "epoch": 9.527206420898437e-07, "step": 9990 }, { "aux_loss_avg": 0.0032630007481202483, "epoch": 9.527206420898437e-07, "step": 9990 }, { "epoch": 9.527206420898437e-07, "step": 9990, "training_step_time": 17.609532833099365 }, { "epoch": 9.528160095214844e-07, "model_forward_time": 5.331639766693115, "step": 9991 }, { "epoch": 9.528160095214844e-07, "step": 9991, "training_step_time": 17.605546712875366 }, { "epoch": 9.52911376953125e-07, "model_forward_time": 5.101151943206787, "step": 9992 }, { "epoch": 9.52911376953125e-07, "step": 9992, "training_step_time": 17.817567825317383 }, { "epoch": 9.530067443847656e-07, "model_forward_time": 5.1020827293396, "step": 9993 }, { "epoch": 9.530067443847656e-07, "step": 9993, "training_step_time": 17.59690833091736 }, { "epoch": 9.531021118164062e-07, "model_forward_time": 5.103389024734497, "step": 9994 }, { "epoch": 9.531021118164062e-07, "step": 9994, "training_step_time": 17.587278127670288 }, { "epoch": 9.531974792480469e-07, "model_forward_time": 5.10175347328186, "step": 9995 }, { "epoch": 9.531974792480469e-07, "step": 9995, "training_step_time": 17.595943450927734 }, { "epoch": 9.532928466796875e-07, "model_forward_time": 3.8617799282073975, "step": 9996 }, { "epoch": 9.532928466796875e-07, "step": 9996, "training_step_time": 17.646295070648193 }, { "epoch": 9.533882141113282e-07, "model_forward_time": 5.0640177726745605, "step": 9997 }, { "epoch": 9.533882141113282e-07, "step": 9997, "training_step_time": 17.825543642044067 }, { "epoch": 9.534835815429688e-07, "model_forward_time": 5.069493055343628, "step": 9998 }, { "epoch": 9.534835815429688e-07, "step": 9998, "training_step_time": 17.591099977493286 }, { "epoch": 9.535789489746094e-07, "model_forward_time": 5.077345848083496, "step": 9999 }, { "epoch": 9.535789489746094e-07, "step": 9999, "training_step_time": 17.59727382659912 }, { "epoch": 9.5367431640625e-07, "grad_norm": 1.9096722602844238, "learning_rate": 9.766183423826852e-06, "loss": 0.1074, "step": 10000 }, { "epoch": 9.5367431640625e-07, "model_forward_time": 5.084345102310181, "step": 10000 }, { "dynamics_loss_avg": 0.04074376858770847, "epoch": 9.5367431640625e-07, "step": 10000 }, { "action_loss_avg": 0.09859841912984849, "epoch": 9.5367431640625e-07, "step": 10000 }, { "arm_loss_avg": 0.14018046781420707, "epoch": 9.5367431640625e-07, "step": 10000 }, { "ee_loss_avg": 0.08105624886229634, "epoch": 9.5367431640625e-07, "step": 10000 }, { "aux_loss_avg": 0.0010086277441587299, "epoch": 9.5367431640625e-07, "step": 10000 }, { "epoch": 9.5367431640625e-07, "step": 10000, "training_step_time": 17.591856002807617 }, { "epoch": 9.537696838378906e-07, "model_forward_time": 5.345693349838257, "step": 10001 }, { "epoch": 9.537696838378906e-07, "step": 10001, "training_step_time": 17.593422412872314 }, { "epoch": 9.538650512695312e-07, "model_forward_time": 5.095969200134277, "step": 10002 }, { "epoch": 9.538650512695312e-07, "step": 10002, "training_step_time": 17.770963668823242 }, { "epoch": 9.539604187011718e-07, "model_forward_time": 5.09254002571106, "step": 10003 }, { "epoch": 9.539604187011718e-07, "step": 10003, "training_step_time": 17.590412855148315 }, { "epoch": 9.540557861328125e-07, "model_forward_time": 5.0921525955200195, "step": 10004 }, { "epoch": 9.540557861328125e-07, "step": 10004, "training_step_time": 17.594783306121826 }, { "epoch": 9.54151153564453e-07, "model_forward_time": 5.0934576988220215, "step": 10005 }, { "epoch": 9.54151153564453e-07, "step": 10005, "training_step_time": 17.60007643699646 }, { "epoch": 9.542465209960937e-07, "model_forward_time": 3.855665922164917, "step": 10006 }, { "epoch": 9.542465209960937e-07, "step": 10006, "training_step_time": 17.65574622154236 }, { "epoch": 9.543418884277343e-07, "model_forward_time": 3.8295981884002686, "step": 10007 }, { "epoch": 9.543418884277343e-07, "step": 10007, "training_step_time": 17.24169683456421 }, { "epoch": 9.54437255859375e-07, "model_forward_time": 5.050654888153076, "step": 10008 }, { "epoch": 9.54437255859375e-07, "step": 10008, "training_step_time": 17.752761363983154 }, { "epoch": 9.545326232910155e-07, "model_forward_time": 5.061264991760254, "step": 10009 }, { "epoch": 9.545326232910155e-07, "step": 10009, "training_step_time": 17.545368909835815 }, { "epoch": 9.546279907226561e-07, "grad_norm": 2.2358953952789307, "learning_rate": 9.765469006899231e-06, "loss": 0.1204, "step": 10010 }, { "epoch": 9.546279907226561e-07, "model_forward_time": 3.8440744876861572, "step": 10010 }, { "dynamics_loss_avg": 0.03226326648145914, "epoch": 9.546279907226561e-07, "step": 10010 }, { "action_loss_avg": 0.06127008367329836, "epoch": 9.546279907226561e-07, "step": 10010 }, { "arm_loss_avg": 0.11836070977151394, "epoch": 9.546279907226561e-07, "step": 10010 }, { "ee_loss_avg": 0.0703659949824214, "epoch": 9.546279907226561e-07, "step": 10010 }, { "aux_loss_avg": 0.0019061718485318124, "epoch": 9.546279907226561e-07, "step": 10010 }, { "epoch": 9.546279907226561e-07, "step": 10010, "training_step_time": 17.56369972229004 }, { "epoch": 9.54723358154297e-07, "model_forward_time": 4.081267356872559, "step": 10011 }, { "epoch": 9.54723358154297e-07, "step": 10011, "training_step_time": 17.578202486038208 }, { "epoch": 9.548187255859376e-07, "model_forward_time": 5.054423809051514, "step": 10012 }, { "epoch": 9.548187255859376e-07, "step": 10012, "training_step_time": 17.65702724456787 }, { "epoch": 9.549140930175782e-07, "model_forward_time": 5.077715873718262, "step": 10013 }, { "epoch": 9.549140930175782e-07, "step": 10013, "training_step_time": 17.688541650772095 }, { "epoch": 9.550094604492188e-07, "model_forward_time": 5.09881329536438, "step": 10014 }, { "epoch": 9.550094604492188e-07, "step": 10014, "training_step_time": 17.56651020050049 }, { "epoch": 9.551048278808594e-07, "model_forward_time": 5.107444763183594, "step": 10015 }, { "epoch": 9.551048278808594e-07, "step": 10015, "training_step_time": 17.590160369873047 }, { "epoch": 9.552001953125e-07, "model_forward_time": 5.311467885971069, "step": 10016 }, { "epoch": 9.552001953125e-07, "step": 10016, "training_step_time": 17.64043116569519 }, { "epoch": 9.552955627441407e-07, "model_forward_time": 5.1190595626831055, "step": 10017 }, { "epoch": 9.552955627441407e-07, "step": 10017, "training_step_time": 17.64074444770813 }, { "epoch": 9.553909301757813e-07, "model_forward_time": 5.111493110656738, "step": 10018 }, { "epoch": 9.553909301757813e-07, "step": 10018, "training_step_time": 17.85872459411621 }, { "epoch": 9.554862976074219e-07, "model_forward_time": 5.102407217025757, "step": 10019 }, { "epoch": 9.554862976074219e-07, "step": 10019, "training_step_time": 17.65575885772705 }, { "epoch": 9.555816650390625e-07, "grad_norm": 2.5808634757995605, "learning_rate": 9.764753526411364e-06, "loss": 0.1074, "step": 10020 }, { "epoch": 9.555816650390625e-07, "model_forward_time": 5.094069480895996, "step": 10020 }, { "dynamics_loss_avg": 0.03686591824516654, "epoch": 9.555816650390625e-07, "step": 10020 }, { "action_loss_avg": 0.08633248992264271, "epoch": 9.555816650390625e-07, "step": 10020 }, { "arm_loss_avg": 0.14544300623238088, "epoch": 9.555816650390625e-07, "step": 10020 }, { "ee_loss_avg": 0.12956178709864616, "epoch": 9.555816650390625e-07, "step": 10020 }, { "aux_loss_avg": 0.0019295756763312965, "epoch": 9.555816650390625e-07, "step": 10020 }, { "epoch": 9.555816650390625e-07, "step": 10020, "training_step_time": 17.64532732963562 }, { "epoch": 9.556770324707031e-07, "model_forward_time": 5.318317413330078, "step": 10021 }, { "epoch": 9.556770324707031e-07, "step": 10021, "training_step_time": 17.644951820373535 }, { "epoch": 9.557723999023437e-07, "model_forward_time": 5.081526756286621, "step": 10022 }, { "epoch": 9.557723999023437e-07, "step": 10022, "training_step_time": 17.64297342300415 }, { "epoch": 9.558677673339843e-07, "model_forward_time": 5.081372499465942, "step": 10023 }, { "epoch": 9.558677673339843e-07, "step": 10023, "training_step_time": 17.82215976715088 }, { "epoch": 9.55963134765625e-07, "model_forward_time": 5.077864646911621, "step": 10024 }, { "epoch": 9.55963134765625e-07, "step": 10024, "training_step_time": 17.63605046272278 }, { "epoch": 9.560585021972656e-07, "model_forward_time": 5.083686113357544, "step": 10025 }, { "epoch": 9.560585021972656e-07, "step": 10025, "training_step_time": 17.632174968719482 }, { "epoch": 9.561538696289062e-07, "model_forward_time": 5.271616220474243, "step": 10026 }, { "epoch": 9.561538696289062e-07, "step": 10026, "training_step_time": 17.624481678009033 }, { "epoch": 9.562492370605468e-07, "model_forward_time": 3.851384401321411, "step": 10027 }, { "epoch": 9.562492370605468e-07, "step": 10027, "training_step_time": 17.621642112731934 }, { "epoch": 9.563446044921874e-07, "model_forward_time": 3.829338550567627, "step": 10028 }, { "epoch": 9.563446044921874e-07, "step": 10028, "training_step_time": 17.847275733947754 }, { "epoch": 9.56439971923828e-07, "model_forward_time": 5.047860622406006, "step": 10029 }, { "epoch": 9.56439971923828e-07, "step": 10029, "training_step_time": 17.603924036026 }, { "epoch": 9.565353393554686e-07, "grad_norm": 1.828172206878662, "learning_rate": 9.764036982522928e-06, "loss": 0.1183, "step": 10030 }, { "epoch": 9.565353393554686e-07, "model_forward_time": 5.067485570907593, "step": 10030 }, { "dynamics_loss_avg": 0.044715223275125025, "epoch": 9.565353393554686e-07, "step": 10030 }, { "action_loss_avg": 0.09790911823511124, "epoch": 9.565353393554686e-07, "step": 10030 }, { "arm_loss_avg": 0.1770297683775425, "epoch": 9.565353393554686e-07, "step": 10030 }, { "ee_loss_avg": 0.1406362023204565, "epoch": 9.565353393554686e-07, "step": 10030 }, { "aux_loss_avg": 0.0011243942833971232, "epoch": 9.565353393554686e-07, "step": 10030 }, { "epoch": 9.565353393554686e-07, "step": 10030, "training_step_time": 17.583801746368408 }, { "epoch": 9.566307067871095e-07, "model_forward_time": 5.321979284286499, "step": 10031 }, { "epoch": 9.566307067871095e-07, "step": 10031, "training_step_time": 17.66575002670288 }, { "epoch": 9.5672607421875e-07, "model_forward_time": 5.1010565757751465, "step": 10032 }, { "epoch": 9.5672607421875e-07, "step": 10032, "training_step_time": 17.590718507766724 }, { "epoch": 9.568214416503907e-07, "model_forward_time": 5.1070473194122314, "step": 10033 }, { "epoch": 9.568214416503907e-07, "step": 10033, "training_step_time": 17.76964259147644 }, { "epoch": 9.569168090820313e-07, "model_forward_time": 3.86357045173645, "step": 10034 }, { "epoch": 9.569168090820313e-07, "step": 10034, "training_step_time": 17.58680772781372 }, { "epoch": 9.57012176513672e-07, "model_forward_time": 5.073152542114258, "step": 10035 }, { "epoch": 9.57012176513672e-07, "step": 10035, "training_step_time": 17.60014295578003 }, { "epoch": 9.571075439453125e-07, "model_forward_time": 5.276950120925903, "step": 10036 }, { "epoch": 9.571075439453125e-07, "step": 10036, "training_step_time": 17.626635551452637 }, { "epoch": 9.572029113769532e-07, "model_forward_time": 3.854569911956787, "step": 10037 }, { "epoch": 9.572029113769532e-07, "step": 10037, "training_step_time": 17.827343463897705 }, { "epoch": 9.572982788085938e-07, "model_forward_time": 5.063988208770752, "step": 10038 }, { "epoch": 9.572982788085938e-07, "step": 10038, "training_step_time": 17.61586880683899 }, { "epoch": 9.573936462402344e-07, "model_forward_time": 5.078426361083984, "step": 10039 }, { "epoch": 9.573936462402344e-07, "step": 10039, "training_step_time": 17.60895848274231 }, { "epoch": 9.57489013671875e-07, "grad_norm": 2.1953797340393066, "learning_rate": 9.763319375393849e-06, "loss": 0.1074, "step": 10040 }, { "epoch": 9.57489013671875e-07, "model_forward_time": 5.080509424209595, "step": 10040 }, { "dynamics_loss_avg": 0.04593598898500204, "epoch": 9.57489013671875e-07, "step": 10040 }, { "action_loss_avg": 0.08625063840299844, "epoch": 9.57489013671875e-07, "step": 10040 }, { "arm_loss_avg": 0.17645337134599687, "epoch": 9.57489013671875e-07, "step": 10040 }, { "ee_loss_avg": 0.11550011085346341, "epoch": 9.57489013671875e-07, "step": 10040 }, { "aux_loss_avg": 0.002577590150758624, "epoch": 9.57489013671875e-07, "step": 10040 }, { "epoch": 9.57489013671875e-07, "step": 10040, "training_step_time": 17.6005380153656 }, { "epoch": 9.575843811035156e-07, "model_forward_time": 5.33310604095459, "step": 10041 }, { "epoch": 9.575843811035156e-07, "step": 10041, "training_step_time": 17.624744653701782 }, { "epoch": 9.576797485351562e-07, "model_forward_time": 5.099193334579468, "step": 10042 }, { "epoch": 9.576797485351562e-07, "step": 10042, "training_step_time": 17.784518718719482 }, { "epoch": 9.577751159667968e-07, "model_forward_time": 5.102658033370972, "step": 10043 }, { "epoch": 9.577751159667968e-07, "step": 10043, "training_step_time": 17.587957620620728 }, { "epoch": 9.578704833984375e-07, "model_forward_time": 3.862826347351074, "step": 10044 }, { "epoch": 9.578704833984375e-07, "step": 10044, "training_step_time": 17.587680101394653 }, { "epoch": 9.57965850830078e-07, "model_forward_time": 5.072430610656738, "step": 10045 }, { "epoch": 9.57965850830078e-07, "step": 10045, "training_step_time": 17.606768131256104 }, { "epoch": 9.580612182617187e-07, "model_forward_time": 5.078045606613159, "step": 10046 }, { "epoch": 9.580612182617187e-07, "step": 10046, "training_step_time": 17.60976219177246 }, { "epoch": 9.581565856933593e-07, "model_forward_time": 5.084343910217285, "step": 10047 }, { "epoch": 9.581565856933593e-07, "step": 10047, "training_step_time": 17.836353302001953 }, { "epoch": 9.58251953125e-07, "model_forward_time": 5.087462663650513, "step": 10048 }, { "epoch": 9.58251953125e-07, "step": 10048, "training_step_time": 17.611435413360596 }, { "epoch": 9.583473205566405e-07, "model_forward_time": 5.092414379119873, "step": 10049 }, { "epoch": 9.583473205566405e-07, "step": 10049, "training_step_time": 17.594745874404907 }, { "epoch": 9.584426879882811e-07, "grad_norm": 2.629481792449951, "learning_rate": 9.762600705184279e-06, "loss": 0.1203, "step": 10050 }, { "epoch": 9.584426879882811e-07, "model_forward_time": 5.093843698501587, "step": 10050 }, { "dynamics_loss_avg": 0.03423045792151243, "epoch": 9.584426879882811e-07, "step": 10050 }, { "action_loss_avg": 0.0932328574359417, "epoch": 9.584426879882811e-07, "step": 10050 }, { "arm_loss_avg": 0.15515046417713166, "epoch": 9.584426879882811e-07, "step": 10050 }, { "ee_loss_avg": 0.10127733862027526, "epoch": 9.584426879882811e-07, "step": 10050 }, { "aux_loss_avg": 0.001001515594543889, "epoch": 9.584426879882811e-07, "step": 10050 }, { "epoch": 9.584426879882811e-07, "step": 10050, "training_step_time": 17.372310161590576 }, { "epoch": 9.58538055419922e-07, "model_forward_time": 5.098111391067505, "step": 10051 }, { "epoch": 9.58538055419922e-07, "step": 10051, "training_step_time": 17.507659435272217 }, { "epoch": 9.586334228515626e-07, "model_forward_time": 5.338082313537598, "step": 10052 }, { "epoch": 9.586334228515626e-07, "step": 10052, "training_step_time": 17.64931559562683 }, { "epoch": 9.587287902832032e-07, "model_forward_time": 5.093174695968628, "step": 10053 }, { "epoch": 9.587287902832032e-07, "step": 10053, "training_step_time": 17.688279390335083 }, { "epoch": 9.588241577148438e-07, "model_forward_time": 3.8523290157318115, "step": 10054 }, { "epoch": 9.588241577148438e-07, "step": 10054, "training_step_time": 17.44786810874939 }, { "epoch": 9.589195251464844e-07, "model_forward_time": 5.0620808601379395, "step": 10055 }, { "epoch": 9.589195251464844e-07, "step": 10055, "training_step_time": 17.43175768852234 }, { "epoch": 9.59014892578125e-07, "model_forward_time": 5.070522785186768, "step": 10056 }, { "epoch": 9.59014892578125e-07, "step": 10056, "training_step_time": 17.65534472465515 }, { "epoch": 9.591102600097657e-07, "model_forward_time": 5.2690417766571045, "step": 10057 }, { "epoch": 9.591102600097657e-07, "step": 10057, "training_step_time": 17.425530910491943 }, { "epoch": 9.592056274414063e-07, "model_forward_time": 5.085730791091919, "step": 10058 }, { "epoch": 9.592056274414063e-07, "step": 10058, "training_step_time": 17.753241539001465 }, { "epoch": 9.593009948730469e-07, "model_forward_time": 5.089386940002441, "step": 10059 }, { "epoch": 9.593009948730469e-07, "step": 10059, "training_step_time": 17.60110569000244 }, { "epoch": 9.593963623046875e-07, "grad_norm": 2.174767255783081, "learning_rate": 9.761880972054611e-06, "loss": 0.1166, "step": 10060 }, { "epoch": 9.593963623046875e-07, "model_forward_time": 5.091838836669922, "step": 10060 }, { "dynamics_loss_avg": 0.051528130657970905, "epoch": 9.593963623046875e-07, "step": 10060 }, { "action_loss_avg": 0.11921554319560528, "epoch": 9.593963623046875e-07, "step": 10060 }, { "arm_loss_avg": 0.17032625749707223, "epoch": 9.593963623046875e-07, "step": 10060 }, { "ee_loss_avg": 0.10145570784807205, "epoch": 9.593963623046875e-07, "step": 10060 }, { "aux_loss_avg": 0.0009896126226522028, "epoch": 9.593963623046875e-07, "step": 10060 }, { "epoch": 9.593963623046875e-07, "step": 10060, "training_step_time": 17.649008989334106 }, { "epoch": 9.594917297363281e-07, "model_forward_time": 5.0936713218688965, "step": 10061 }, { "epoch": 9.594917297363281e-07, "step": 10061, "training_step_time": 17.67069125175476 }, { "epoch": 9.595870971679687e-07, "model_forward_time": 5.097697019577026, "step": 10062 }, { "epoch": 9.595870971679687e-07, "step": 10062, "training_step_time": 17.654178380966187 }, { "epoch": 9.596824645996093e-07, "model_forward_time": 5.095127105712891, "step": 10063 }, { "epoch": 9.596824645996093e-07, "step": 10063, "training_step_time": 17.808775663375854 }, { "epoch": 9.5977783203125e-07, "model_forward_time": 5.091703414916992, "step": 10064 }, { "epoch": 9.5977783203125e-07, "step": 10064, "training_step_time": 17.61506152153015 }, { "epoch": 9.598731994628906e-07, "model_forward_time": 5.091744899749756, "step": 10065 }, { "epoch": 9.598731994628906e-07, "step": 10065, "training_step_time": 17.60487413406372 }, { "epoch": 9.599685668945312e-07, "model_forward_time": 5.08863639831543, "step": 10066 }, { "epoch": 9.599685668945312e-07, "step": 10066, "training_step_time": 17.62950301170349 }, { "epoch": 9.600639343261718e-07, "model_forward_time": 5.089218616485596, "step": 10067 }, { "epoch": 9.600639343261718e-07, "step": 10067, "training_step_time": 17.58701252937317 }, { "epoch": 9.601593017578124e-07, "model_forward_time": 5.091473817825317, "step": 10068 }, { "epoch": 9.601593017578124e-07, "step": 10068, "training_step_time": 17.80997943878174 }, { "epoch": 9.60254669189453e-07, "model_forward_time": 5.082970380783081, "step": 10069 }, { "epoch": 9.60254669189453e-07, "step": 10069, "training_step_time": 17.567835092544556 }, { "epoch": 9.603500366210937e-07, "grad_norm": 1.9214272499084473, "learning_rate": 9.761160176165477e-06, "loss": 0.1166, "step": 10070 }, { "epoch": 9.603500366210937e-07, "model_forward_time": 5.082289695739746, "step": 10070 }, { "dynamics_loss_avg": 0.04982279483228922, "epoch": 9.603500366210937e-07, "step": 10070 }, { "action_loss_avg": 0.09108005203306675, "epoch": 9.603500366210937e-07, "step": 10070 }, { "arm_loss_avg": 0.15060381218791008, "epoch": 9.603500366210937e-07, "step": 10070 }, { "ee_loss_avg": 0.09556029755622149, "epoch": 9.603500366210937e-07, "step": 10070 }, { "aux_loss_avg": 0.004311545839300379, "epoch": 9.603500366210937e-07, "step": 10070 }, { "epoch": 9.603500366210937e-07, "step": 10070, "training_step_time": 17.580090045928955 }, { "epoch": 9.604454040527345e-07, "model_forward_time": 5.084962844848633, "step": 10071 }, { "epoch": 9.604454040527345e-07, "step": 10071, "training_step_time": 17.62876868247986 }, { "epoch": 9.60540771484375e-07, "model_forward_time": 5.3239123821258545, "step": 10072 }, { "epoch": 9.60540771484375e-07, "step": 10072, "training_step_time": 17.571080207824707 }, { "epoch": 9.606361389160157e-07, "model_forward_time": 5.089778184890747, "step": 10073 }, { "epoch": 9.606361389160157e-07, "step": 10073, "training_step_time": 17.797536849975586 }, { "epoch": 9.607315063476563e-07, "model_forward_time": 5.083859920501709, "step": 10074 }, { "epoch": 9.607315063476563e-07, "step": 10074, "training_step_time": 17.484101057052612 }, { "epoch": 9.60826873779297e-07, "model_forward_time": 5.088810205459595, "step": 10075 }, { "epoch": 9.60826873779297e-07, "step": 10075, "training_step_time": 17.389448642730713 }, { "epoch": 9.609222412109375e-07, "model_forward_time": 5.0878825187683105, "step": 10076 }, { "epoch": 9.609222412109375e-07, "step": 10076, "training_step_time": 17.607322931289673 }, { "epoch": 9.610176086425782e-07, "model_forward_time": 5.086015939712524, "step": 10077 }, { "epoch": 9.610176086425782e-07, "step": 10077, "training_step_time": 17.513914823532104 }, { "epoch": 9.611129760742188e-07, "model_forward_time": 5.091517210006714, "step": 10078 }, { "epoch": 9.611129760742188e-07, "step": 10078, "training_step_time": 17.38662099838257 }, { "epoch": 9.612083435058594e-07, "model_forward_time": 3.853924512863159, "step": 10079 }, { "epoch": 9.612083435058594e-07, "step": 10079, "training_step_time": 17.516186714172363 }, { "epoch": 9.613037109375e-07, "grad_norm": 1.897907018661499, "learning_rate": 9.760438317677741e-06, "loss": 0.11, "step": 10080 }, { "epoch": 9.613037109375e-07, "model_forward_time": 5.05875301361084, "step": 10080 }, { "dynamics_loss_avg": 0.04097650870680809, "epoch": 9.613037109375e-07, "step": 10080 }, { "action_loss_avg": 0.0909697026014328, "epoch": 9.613037109375e-07, "step": 10080 }, { "arm_loss_avg": 0.15432411432266235, "epoch": 9.613037109375e-07, "step": 10080 }, { "ee_loss_avg": 0.07446247115731239, "epoch": 9.613037109375e-07, "step": 10080 }, { "aux_loss_avg": 0.0008406764536630362, "epoch": 9.613037109375e-07, "step": 10080 }, { "epoch": 9.613037109375e-07, "step": 10080, "training_step_time": 17.58551597595215 }, { "epoch": 9.613990783691406e-07, "model_forward_time": 5.071621894836426, "step": 10081 }, { "epoch": 9.613990783691406e-07, "step": 10081, "training_step_time": 17.621628522872925 }, { "epoch": 9.614944458007812e-07, "model_forward_time": 5.310287714004517, "step": 10082 }, { "epoch": 9.614944458007812e-07, "step": 10082, "training_step_time": 17.57120704650879 }, { "epoch": 9.615898132324219e-07, "model_forward_time": 3.8536455631256104, "step": 10083 }, { "epoch": 9.615898132324219e-07, "step": 10083, "training_step_time": 17.738165378570557 }, { "epoch": 9.616851806640625e-07, "model_forward_time": 5.061448335647583, "step": 10084 }, { "epoch": 9.616851806640625e-07, "step": 10084, "training_step_time": 17.601240634918213 }, { "epoch": 9.61780548095703e-07, "model_forward_time": 5.0801427364349365, "step": 10085 }, { "epoch": 9.61780548095703e-07, "step": 10085, "training_step_time": 17.61309504508972 }, { "epoch": 9.618759155273437e-07, "model_forward_time": 5.090308666229248, "step": 10086 }, { "epoch": 9.618759155273437e-07, "step": 10086, "training_step_time": 17.62515664100647 }, { "epoch": 9.619712829589843e-07, "model_forward_time": 5.276681184768677, "step": 10087 }, { "epoch": 9.619712829589843e-07, "step": 10087, "training_step_time": 17.61841630935669 }, { "epoch": 9.62066650390625e-07, "model_forward_time": 5.1012468338012695, "step": 10088 }, { "epoch": 9.62066650390625e-07, "step": 10088, "training_step_time": 17.845508337020874 }, { "epoch": 9.621620178222655e-07, "model_forward_time": 5.0981059074401855, "step": 10089 }, { "epoch": 9.621620178222655e-07, "step": 10089, "training_step_time": 17.612104177474976 }, { "epoch": 9.622573852539062e-07, "grad_norm": 2.05415678024292, "learning_rate": 9.759715396752515e-06, "loss": 0.1195, "step": 10090 }, { "epoch": 9.622573852539062e-07, "model_forward_time": 5.099980592727661, "step": 10090 }, { "dynamics_loss_avg": 0.04233345612883568, "epoch": 9.622573852539062e-07, "step": 10090 }, { "action_loss_avg": 0.09659867212176323, "epoch": 9.622573852539062e-07, "step": 10090 }, { "arm_loss_avg": 0.1521247573196888, "epoch": 9.622573852539062e-07, "step": 10090 }, { "ee_loss_avg": 0.1432467894628644, "epoch": 9.622573852539062e-07, "step": 10090 }, { "aux_loss_avg": 0.0013938712421804667, "epoch": 9.622573852539062e-07, "step": 10090 }, { "epoch": 9.622573852539062e-07, "step": 10090, "training_step_time": 17.60677933692932 }, { "epoch": 9.62352752685547e-07, "model_forward_time": 5.09913444519043, "step": 10091 }, { "epoch": 9.62352752685547e-07, "step": 10091, "training_step_time": 17.601552486419678 }, { "epoch": 9.624481201171876e-07, "model_forward_time": 5.3250017166137695, "step": 10092 }, { "epoch": 9.624481201171876e-07, "step": 10092, "training_step_time": 17.595914602279663 }, { "epoch": 9.625434875488282e-07, "model_forward_time": 5.091230630874634, "step": 10093 }, { "epoch": 9.625434875488282e-07, "step": 10093, "training_step_time": 17.776721239089966 }, { "epoch": 9.626388549804688e-07, "model_forward_time": 5.085442304611206, "step": 10094 }, { "epoch": 9.626388549804688e-07, "step": 10094, "training_step_time": 17.58893132209778 }, { "epoch": 9.627342224121094e-07, "model_forward_time": 3.8500263690948486, "step": 10095 }, { "epoch": 9.627342224121094e-07, "step": 10095, "training_step_time": 17.581389665603638 }, { "epoch": 9.6282958984375e-07, "model_forward_time": 5.062685489654541, "step": 10096 }, { "epoch": 9.6282958984375e-07, "step": 10096, "training_step_time": 17.58445382118225 }, { "epoch": 9.629249572753907e-07, "model_forward_time": 5.252514123916626, "step": 10097 }, { "epoch": 9.629249572753907e-07, "step": 10097, "training_step_time": 17.636075735092163 }, { "epoch": 9.630203247070313e-07, "model_forward_time": 5.077462673187256, "step": 10098 }, { "epoch": 9.630203247070313e-07, "step": 10098, "training_step_time": 17.804630517959595 }, { "epoch": 9.631156921386719e-07, "model_forward_time": 5.086337566375732, "step": 10099 }, { "epoch": 9.631156921386719e-07, "step": 10099, "training_step_time": 17.576335906982422 }, { "epoch": 9.632110595703125e-07, "grad_norm": 1.417297601699829, "learning_rate": 9.758991413551132e-06, "loss": 0.1214, "step": 10100 }, { "epoch": 9.632110595703125e-07, "model_forward_time": 3.8546972274780273, "step": 10100 }, { "dynamics_loss_avg": 0.04497810397297144, "epoch": 9.632110595703125e-07, "step": 10100 }, { "action_loss_avg": 0.08843099605292082, "epoch": 9.632110595703125e-07, "step": 10100 }, { "arm_loss_avg": 0.15054174587130548, "epoch": 9.632110595703125e-07, "step": 10100 }, { "ee_loss_avg": 0.09856621837243437, "epoch": 9.632110595703125e-07, "step": 10100 }, { "aux_loss_avg": 0.0025339570362120866, "epoch": 9.632110595703125e-07, "step": 10100 }, { "epoch": 9.632110595703125e-07, "step": 10100, "training_step_time": 17.58364248275757 }, { "epoch": 9.633064270019531e-07, "model_forward_time": 5.068474769592285, "step": 10101 }, { "epoch": 9.633064270019531e-07, "step": 10101, "training_step_time": 17.624871492385864 }, { "epoch": 9.634017944335937e-07, "model_forward_time": 5.3068907260894775, "step": 10102 }, { "epoch": 9.634017944335937e-07, "step": 10102, "training_step_time": 17.581427097320557 }, { "epoch": 9.634971618652344e-07, "model_forward_time": 5.090276002883911, "step": 10103 }, { "epoch": 9.634971618652344e-07, "step": 10103, "training_step_time": 17.38761067390442 }, { "epoch": 9.63592529296875e-07, "model_forward_time": 5.099088668823242, "step": 10104 }, { "epoch": 9.63592529296875e-07, "step": 10104, "training_step_time": 17.50220227241516 }, { "epoch": 9.636878967285156e-07, "model_forward_time": 5.100506782531738, "step": 10105 }, { "epoch": 9.636878967285156e-07, "step": 10105, "training_step_time": 17.538569688796997 }, { "epoch": 9.637832641601562e-07, "model_forward_time": 5.1014323234558105, "step": 10106 }, { "epoch": 9.637832641601562e-07, "step": 10106, "training_step_time": 17.584465503692627 }, { "epoch": 9.638786315917968e-07, "model_forward_time": 5.301646709442139, "step": 10107 }, { "epoch": 9.638786315917968e-07, "step": 10107, "training_step_time": 17.59619951248169 }, { "epoch": 9.639739990234374e-07, "model_forward_time": 5.095552206039429, "step": 10108 }, { "epoch": 9.639739990234374e-07, "step": 10108, "training_step_time": 17.845886945724487 }, { "epoch": 9.64069366455078e-07, "model_forward_time": 5.089292049407959, "step": 10109 }, { "epoch": 9.64069366455078e-07, "step": 10109, "training_step_time": 17.611837148666382 }, { "epoch": 9.641647338867187e-07, "grad_norm": 1.964033603668213, "learning_rate": 9.758266368235178e-06, "loss": 0.1154, "step": 10110 }, { "epoch": 9.641647338867187e-07, "model_forward_time": 5.087702751159668, "step": 10110 }, { "dynamics_loss_avg": 0.04067188231274486, "epoch": 9.641647338867187e-07, "step": 10110 }, { "action_loss_avg": 0.0786006523296237, "epoch": 9.641647338867187e-07, "step": 10110 }, { "arm_loss_avg": 0.17174073979258536, "epoch": 9.641647338867187e-07, "step": 10110 }, { "ee_loss_avg": 0.06821702439337969, "epoch": 9.641647338867187e-07, "step": 10110 }, { "aux_loss_avg": 0.0026377117203082888, "epoch": 9.641647338867187e-07, "step": 10110 }, { "epoch": 9.641647338867187e-07, "step": 10110, "training_step_time": 17.618227243423462 }, { "epoch": 9.642601013183595e-07, "model_forward_time": 5.086733818054199, "step": 10111 }, { "epoch": 9.642601013183595e-07, "step": 10111, "training_step_time": 17.628658533096313 }, { "epoch": 9.6435546875e-07, "model_forward_time": 5.3110387325286865, "step": 10112 }, { "epoch": 9.6435546875e-07, "step": 10112, "training_step_time": 17.6169171333313 }, { "epoch": 9.644508361816407e-07, "model_forward_time": 5.085806131362915, "step": 10113 }, { "epoch": 9.644508361816407e-07, "step": 10113, "training_step_time": 17.805872201919556 }, { "epoch": 9.645462036132813e-07, "model_forward_time": 5.0824854373931885, "step": 10114 }, { "epoch": 9.645462036132813e-07, "step": 10114, "training_step_time": 17.43117356300354 }, { "epoch": 9.64641571044922e-07, "model_forward_time": 5.0875489711761475, "step": 10115 }, { "epoch": 9.64641571044922e-07, "step": 10115, "training_step_time": 17.523457288742065 }, { "epoch": 9.647369384765626e-07, "model_forward_time": 5.08774733543396, "step": 10116 }, { "epoch": 9.647369384765626e-07, "step": 10116, "training_step_time": 17.62044620513916 }, { "epoch": 9.648323059082032e-07, "model_forward_time": 5.290476083755493, "step": 10117 }, { "epoch": 9.648323059082032e-07, "step": 10117, "training_step_time": 17.56798768043518 }, { "epoch": 9.649276733398438e-07, "model_forward_time": 5.0886993408203125, "step": 10118 }, { "epoch": 9.649276733398438e-07, "step": 10118, "training_step_time": 17.82416009902954 }, { "epoch": 9.650230407714844e-07, "model_forward_time": 3.851897954940796, "step": 10119 }, { "epoch": 9.650230407714844e-07, "step": 10119, "training_step_time": 17.602773427963257 }, { "epoch": 9.65118408203125e-07, "grad_norm": 2.1172447204589844, "learning_rate": 9.757540260966466e-06, "loss": 0.1111, "step": 10120 }, { "epoch": 9.65118408203125e-07, "model_forward_time": 5.063780307769775, "step": 10120 }, { "dynamics_loss_avg": 0.03593272333964705, "epoch": 9.65118408203125e-07, "step": 10120 }, { "action_loss_avg": 0.09335672259330749, "epoch": 9.65118408203125e-07, "step": 10120 }, { "arm_loss_avg": 0.15722787156701087, "epoch": 9.65118408203125e-07, "step": 10120 }, { "ee_loss_avg": 0.08656270373612643, "epoch": 9.65118408203125e-07, "step": 10120 }, { "aux_loss_avg": 0.003535203164210543, "epoch": 9.65118408203125e-07, "step": 10120 }, { "epoch": 9.65118408203125e-07, "step": 10120, "training_step_time": 17.620817184448242 }, { "epoch": 9.652137756347656e-07, "model_forward_time": 5.070308446884155, "step": 10121 }, { "epoch": 9.652137756347656e-07, "step": 10121, "training_step_time": 17.613808393478394 }, { "epoch": 9.653091430664062e-07, "model_forward_time": 5.314257860183716, "step": 10122 }, { "epoch": 9.653091430664062e-07, "step": 10122, "training_step_time": 17.602250576019287 }, { "epoch": 9.654045104980469e-07, "model_forward_time": 5.095416069030762, "step": 10123 }, { "epoch": 9.654045104980469e-07, "step": 10123, "training_step_time": 17.818931102752686 }, { "epoch": 9.654998779296875e-07, "model_forward_time": 5.0948498249053955, "step": 10124 }, { "epoch": 9.654998779296875e-07, "step": 10124, "training_step_time": 17.59732723236084 }, { "epoch": 9.65595245361328e-07, "model_forward_time": 5.100388765335083, "step": 10125 }, { "epoch": 9.65595245361328e-07, "step": 10125, "training_step_time": 17.448439836502075 }, { "epoch": 9.656906127929687e-07, "model_forward_time": 5.099202632904053, "step": 10126 }, { "epoch": 9.656906127929687e-07, "step": 10126, "training_step_time": 17.54416251182556 }, { "epoch": 9.657859802246093e-07, "model_forward_time": 5.305233716964722, "step": 10127 }, { "epoch": 9.657859802246093e-07, "step": 10127, "training_step_time": 17.450756788253784 }, { "epoch": 9.6588134765625e-07, "model_forward_time": 5.09267783164978, "step": 10128 }, { "epoch": 9.6588134765625e-07, "step": 10128, "training_step_time": 17.524036645889282 }, { "epoch": 9.659767150878905e-07, "model_forward_time": 5.088856220245361, "step": 10129 }, { "epoch": 9.659767150878905e-07, "step": 10129, "training_step_time": 17.79864192008972 }, { "epoch": 9.660720825195312e-07, "grad_norm": 1.8339704275131226, "learning_rate": 9.756813091907049e-06, "loss": 0.1093, "step": 10130 }, { "epoch": 9.660720825195312e-07, "model_forward_time": 5.082812070846558, "step": 10130 }, { "dynamics_loss_avg": 0.036385708348825575, "epoch": 9.660720825195312e-07, "step": 10130 }, { "action_loss_avg": 0.09291460104286671, "epoch": 9.660720825195312e-07, "step": 10130 }, { "arm_loss_avg": 0.15748741254210472, "epoch": 9.660720825195312e-07, "step": 10130 }, { "ee_loss_avg": 0.09776599667966365, "epoch": 9.660720825195312e-07, "step": 10130 }, { "aux_loss_avg": 0.00099624089198187, "epoch": 9.660720825195312e-07, "step": 10130 }, { "epoch": 9.660720825195312e-07, "step": 10130, "training_step_time": 17.601714372634888 }, { "epoch": 9.661674499511718e-07, "model_forward_time": 5.083680152893066, "step": 10131 }, { "epoch": 9.661674499511718e-07, "step": 10131, "training_step_time": 17.628891468048096 }, { "epoch": 9.662628173828126e-07, "model_forward_time": 5.080548524856567, "step": 10132 }, { "epoch": 9.662628173828126e-07, "step": 10132, "training_step_time": 17.64509129524231 }, { "epoch": 9.663581848144532e-07, "model_forward_time": 5.08081579208374, "step": 10133 }, { "epoch": 9.663581848144532e-07, "step": 10133, "training_step_time": 17.387470245361328 }, { "epoch": 9.664535522460938e-07, "model_forward_time": 3.8472487926483154, "step": 10134 }, { "epoch": 9.664535522460938e-07, "step": 10134, "training_step_time": 17.746652841567993 }, { "epoch": 9.665489196777344e-07, "model_forward_time": 5.059332847595215, "step": 10135 }, { "epoch": 9.665489196777344e-07, "step": 10135, "training_step_time": 17.596925735473633 }, { "epoch": 9.66644287109375e-07, "model_forward_time": 5.079201698303223, "step": 10136 }, { "epoch": 9.66644287109375e-07, "step": 10136, "training_step_time": 17.658917903900146 }, { "epoch": 9.667396545410157e-07, "model_forward_time": 5.094785451889038, "step": 10137 }, { "epoch": 9.667396545410157e-07, "step": 10137, "training_step_time": 17.632643938064575 }, { "epoch": 9.668350219726563e-07, "model_forward_time": 5.106590747833252, "step": 10138 }, { "epoch": 9.668350219726563e-07, "step": 10138, "training_step_time": 17.64719319343567 }, { "epoch": 9.66930389404297e-07, "model_forward_time": 5.106911659240723, "step": 10139 }, { "epoch": 9.66930389404297e-07, "step": 10139, "training_step_time": 17.89047145843506 }, { "epoch": 9.670257568359375e-07, "grad_norm": 1.4396016597747803, "learning_rate": 9.756084861219219e-06, "loss": 0.1237, "step": 10140 }, { "epoch": 9.670257568359375e-07, "model_forward_time": 5.100845575332642, "step": 10140 }, { "dynamics_loss_avg": 0.05672326497733593, "epoch": 9.670257568359375e-07, "step": 10140 }, { "action_loss_avg": 0.09459516778588295, "epoch": 9.670257568359375e-07, "step": 10140 }, { "arm_loss_avg": 0.14532505646347998, "epoch": 9.670257568359375e-07, "step": 10140 }, { "ee_loss_avg": 0.1003976792562753, "epoch": 9.670257568359375e-07, "step": 10140 }, { "aux_loss_avg": 0.0033002663403749466, "epoch": 9.670257568359375e-07, "step": 10140 }, { "epoch": 9.670257568359375e-07, "step": 10140, "training_step_time": 17.61226773262024 }, { "epoch": 9.671211242675781e-07, "model_forward_time": 5.345481872558594, "step": 10141 }, { "epoch": 9.671211242675781e-07, "step": 10141, "training_step_time": 17.62240695953369 }, { "epoch": 9.672164916992187e-07, "model_forward_time": 5.10248875617981, "step": 10142 }, { "epoch": 9.672164916992187e-07, "step": 10142, "training_step_time": 17.624958753585815 }, { "epoch": 9.673118591308594e-07, "model_forward_time": 5.099693298339844, "step": 10143 }, { "epoch": 9.673118591308594e-07, "step": 10143, "training_step_time": 17.628743886947632 }, { "epoch": 9.674072265625e-07, "model_forward_time": 5.0940101146698, "step": 10144 }, { "epoch": 9.674072265625e-07, "step": 10144, "training_step_time": 17.808841943740845 }, { "epoch": 9.675025939941406e-07, "model_forward_time": 5.088781833648682, "step": 10145 }, { "epoch": 9.675025939941406e-07, "step": 10145, "training_step_time": 17.610055923461914 }, { "epoch": 9.675979614257812e-07, "model_forward_time": 5.086100339889526, "step": 10146 }, { "epoch": 9.675979614257812e-07, "step": 10146, "training_step_time": 17.606576919555664 }, { "epoch": 9.676933288574218e-07, "model_forward_time": 5.0895960330963135, "step": 10147 }, { "epoch": 9.676933288574218e-07, "step": 10147, "training_step_time": 17.5967116355896 }, { "epoch": 9.677886962890624e-07, "model_forward_time": 5.082628488540649, "step": 10148 }, { "epoch": 9.677886962890624e-07, "step": 10148, "training_step_time": 17.827580451965332 }, { "epoch": 9.67884063720703e-07, "model_forward_time": 5.084298610687256, "step": 10149 }, { "epoch": 9.67884063720703e-07, "step": 10149, "training_step_time": 17.58722758293152 }, { "epoch": 9.679794311523437e-07, "grad_norm": 1.4516180753707886, "learning_rate": 9.7553555690655e-06, "loss": 0.1128, "step": 10150 }, { "epoch": 9.679794311523437e-07, "model_forward_time": 5.081798553466797, "step": 10150 }, { "dynamics_loss_avg": 0.05449575707316399, "epoch": 9.679794311523437e-07, "step": 10150 }, { "action_loss_avg": 0.09176770150661469, "epoch": 9.679794311523437e-07, "step": 10150 }, { "arm_loss_avg": 0.15621053278446198, "epoch": 9.679794311523437e-07, "step": 10150 }, { "ee_loss_avg": 0.12708918587304652, "epoch": 9.679794311523437e-07, "step": 10150 }, { "aux_loss_avg": 0.004688799008727073, "epoch": 9.679794311523437e-07, "step": 10150 }, { "epoch": 9.679794311523437e-07, "step": 10150, "training_step_time": 17.585158586502075 }, { "epoch": 9.680747985839843e-07, "model_forward_time": 5.086609125137329, "step": 10151 }, { "epoch": 9.680747985839843e-07, "step": 10151, "training_step_time": 17.582602977752686 }, { "epoch": 9.68170166015625e-07, "model_forward_time": 5.0821921825408936, "step": 10152 }, { "epoch": 9.68170166015625e-07, "step": 10152, "training_step_time": 17.594610452651978 }, { "epoch": 9.682655334472657e-07, "model_forward_time": 3.8484292030334473, "step": 10153 }, { "epoch": 9.682655334472657e-07, "step": 10153, "training_step_time": 17.419972896575928 }, { "epoch": 9.683609008789063e-07, "model_forward_time": 5.056880474090576, "step": 10154 }, { "epoch": 9.683609008789063e-07, "step": 10154, "training_step_time": 17.72081422805786 }, { "epoch": 9.68456268310547e-07, "model_forward_time": 5.069539308547974, "step": 10155 }, { "epoch": 9.68456268310547e-07, "step": 10155, "training_step_time": 17.533159971237183 }, { "epoch": 9.685516357421876e-07, "model_forward_time": 5.075870513916016, "step": 10156 }, { "epoch": 9.685516357421876e-07, "step": 10156, "training_step_time": 17.57855463027954 }, { "epoch": 9.686470031738282e-07, "model_forward_time": 5.08709979057312, "step": 10157 }, { "epoch": 9.686470031738282e-07, "step": 10157, "training_step_time": 17.536169290542603 }, { "epoch": 9.687423706054688e-07, "model_forward_time": 5.092216491699219, "step": 10158 }, { "epoch": 9.687423706054688e-07, "step": 10158, "training_step_time": 17.52533507347107 }, { "epoch": 9.688377380371094e-07, "model_forward_time": 5.0989603996276855, "step": 10159 }, { "epoch": 9.688377380371094e-07, "step": 10159, "training_step_time": 17.831700086593628 }, { "epoch": 9.6893310546875e-07, "grad_norm": 2.6362221240997314, "learning_rate": 9.754625215608659e-06, "loss": 0.1323, "step": 10160 }, { "epoch": 9.6893310546875e-07, "model_forward_time": 5.094047546386719, "step": 10160 }, { "dynamics_loss_avg": 0.052393521182239056, "epoch": 9.6893310546875e-07, "step": 10160 }, { "action_loss_avg": 0.09503624886274338, "epoch": 9.6893310546875e-07, "step": 10160 }, { "arm_loss_avg": 0.17164046168327332, "epoch": 9.6893310546875e-07, "step": 10160 }, { "ee_loss_avg": 0.07656673016026616, "epoch": 9.6893310546875e-07, "step": 10160 }, { "aux_loss_avg": 0.0026126822107471527, "epoch": 9.6893310546875e-07, "step": 10160 }, { "epoch": 9.6893310546875e-07, "step": 10160, "training_step_time": 17.60726499557495 }, { "epoch": 9.690284729003906e-07, "model_forward_time": 3.8551313877105713, "step": 10161 }, { "epoch": 9.690284729003906e-07, "step": 10161, "training_step_time": 17.632147550582886 }, { "epoch": 9.691238403320312e-07, "model_forward_time": 4.0619542598724365, "step": 10162 }, { "epoch": 9.691238403320312e-07, "step": 10162, "training_step_time": 17.656715631484985 }, { "epoch": 9.692192077636719e-07, "model_forward_time": 5.052477836608887, "step": 10163 }, { "epoch": 9.692192077636719e-07, "step": 10163, "training_step_time": 17.880306720733643 }, { "epoch": 9.693145751953125e-07, "model_forward_time": 5.060528993606567, "step": 10164 }, { "epoch": 9.693145751953125e-07, "step": 10164, "training_step_time": 17.638348817825317 }, { "epoch": 9.69409942626953e-07, "model_forward_time": 5.078396558761597, "step": 10165 }, { "epoch": 9.69409942626953e-07, "step": 10165, "training_step_time": 17.62674641609192 }, { "epoch": 9.695053100585937e-07, "model_forward_time": 5.088454484939575, "step": 10166 }, { "epoch": 9.695053100585937e-07, "step": 10166, "training_step_time": 17.62912940979004 }, { "epoch": 9.696006774902343e-07, "model_forward_time": 5.294064044952393, "step": 10167 }, { "epoch": 9.696006774902343e-07, "step": 10167, "training_step_time": 17.623996257781982 }, { "epoch": 9.69696044921875e-07, "model_forward_time": 5.1027185916900635, "step": 10168 }, { "epoch": 9.69696044921875e-07, "step": 10168, "training_step_time": 17.858306884765625 }, { "epoch": 9.697914123535155e-07, "model_forward_time": 5.10292911529541, "step": 10169 }, { "epoch": 9.697914123535155e-07, "step": 10169, "training_step_time": 17.612390995025635 }, { "epoch": 9.698867797851562e-07, "grad_norm": 1.9637031555175781, "learning_rate": 9.753893801011693e-06, "loss": 0.1329, "step": 10170 }, { "epoch": 9.698867797851562e-07, "model_forward_time": 5.094730377197266, "step": 10170 }, { "dynamics_loss_avg": 0.05021164435893297, "epoch": 9.698867797851562e-07, "step": 10170 }, { "action_loss_avg": 0.08648078776896, "epoch": 9.698867797851562e-07, "step": 10170 }, { "arm_loss_avg": 0.16376228407025337, "epoch": 9.698867797851562e-07, "step": 10170 }, { "ee_loss_avg": 0.10054897796362638, "epoch": 9.698867797851562e-07, "step": 10170 }, { "aux_loss_avg": 0.008227806695504113, "epoch": 9.698867797851562e-07, "step": 10170 }, { "epoch": 9.698867797851562e-07, "step": 10170, "training_step_time": 17.486489057540894 }, { "epoch": 9.699821472167968e-07, "model_forward_time": 5.093647480010986, "step": 10171 }, { "epoch": 9.699821472167968e-07, "step": 10171, "training_step_time": 17.507346630096436 }, { "epoch": 9.700775146484376e-07, "model_forward_time": 5.322583913803101, "step": 10172 }, { "epoch": 9.700775146484376e-07, "step": 10172, "training_step_time": 17.611227989196777 }, { "epoch": 9.701728820800782e-07, "model_forward_time": 5.085505485534668, "step": 10173 }, { "epoch": 9.701728820800782e-07, "step": 10173, "training_step_time": 17.5712628364563 }, { "epoch": 9.702682495117188e-07, "model_forward_time": 5.082374811172485, "step": 10174 }, { "epoch": 9.702682495117188e-07, "step": 10174, "training_step_time": 17.485976219177246 }, { "epoch": 9.703636169433594e-07, "model_forward_time": 5.080896615982056, "step": 10175 }, { "epoch": 9.703636169433594e-07, "step": 10175, "training_step_time": 17.522268533706665 }, { "epoch": 9.70458984375e-07, "model_forward_time": 5.080636501312256, "step": 10176 }, { "epoch": 9.70458984375e-07, "step": 10176, "training_step_time": 17.57768177986145 }, { "epoch": 9.705543518066407e-07, "model_forward_time": 5.279002904891968, "step": 10177 }, { "epoch": 9.705543518066407e-07, "step": 10177, "training_step_time": 17.608917236328125 }, { "epoch": 9.706497192382813e-07, "model_forward_time": 5.081079006195068, "step": 10178 }, { "epoch": 9.706497192382813e-07, "step": 10178, "training_step_time": 17.62123465538025 }, { "epoch": 9.70745086669922e-07, "model_forward_time": 5.085192680358887, "step": 10179 }, { "epoch": 9.70745086669922e-07, "step": 10179, "training_step_time": 17.87101650238037 }, { "epoch": 9.708404541015625e-07, "grad_norm": 1.603853702545166, "learning_rate": 9.753161325437843e-06, "loss": 0.1252, "step": 10180 }, { "epoch": 9.708404541015625e-07, "model_forward_time": 5.079291582107544, "step": 10180 }, { "dynamics_loss_avg": 0.05260311532765627, "epoch": 9.708404541015625e-07, "step": 10180 }, { "action_loss_avg": 0.0954938180744648, "epoch": 9.708404541015625e-07, "step": 10180 }, { "arm_loss_avg": 0.1549281470477581, "epoch": 9.708404541015625e-07, "step": 10180 }, { "ee_loss_avg": 0.12993190241977573, "epoch": 9.708404541015625e-07, "step": 10180 }, { "aux_loss_avg": 0.002087307994952425, "epoch": 9.708404541015625e-07, "step": 10180 }, { "epoch": 9.708404541015625e-07, "step": 10180, "training_step_time": 17.631427764892578 }, { "epoch": 9.709358215332031e-07, "model_forward_time": 5.08259129524231, "step": 10181 }, { "epoch": 9.709358215332031e-07, "step": 10181, "training_step_time": 17.630278825759888 }, { "epoch": 9.710311889648437e-07, "model_forward_time": 5.0863566398620605, "step": 10182 }, { "epoch": 9.710311889648437e-07, "step": 10182, "training_step_time": 17.64236044883728 }, { "epoch": 9.711265563964844e-07, "model_forward_time": 5.089125156402588, "step": 10183 }, { "epoch": 9.711265563964844e-07, "step": 10183, "training_step_time": 17.83374786376953 }, { "epoch": 9.71221923828125e-07, "model_forward_time": 5.086120843887329, "step": 10184 }, { "epoch": 9.71221923828125e-07, "step": 10184, "training_step_time": 17.461238145828247 }, { "epoch": 9.713172912597656e-07, "model_forward_time": 5.088011980056763, "step": 10185 }, { "epoch": 9.713172912597656e-07, "step": 10185, "training_step_time": 17.510403871536255 }, { "epoch": 9.714126586914062e-07, "model_forward_time": 5.0922088623046875, "step": 10186 }, { "epoch": 9.714126586914062e-07, "step": 10186, "training_step_time": 17.55582022666931 }, { "epoch": 9.715080261230468e-07, "model_forward_time": 5.090876579284668, "step": 10187 }, { "epoch": 9.715080261230468e-07, "step": 10187, "training_step_time": 17.54538083076477 }, { "epoch": 9.716033935546874e-07, "model_forward_time": 5.088399410247803, "step": 10188 }, { "epoch": 9.716033935546874e-07, "step": 10188, "training_step_time": 17.496493816375732 }, { "epoch": 9.71698760986328e-07, "model_forward_time": 5.088766574859619, "step": 10189 }, { "epoch": 9.71698760986328e-07, "step": 10189, "training_step_time": 17.78118920326233 }, { "epoch": 9.717941284179687e-07, "grad_norm": 1.8892312049865723, "learning_rate": 9.752427789050583e-06, "loss": 0.1211, "step": 10190 }, { "epoch": 9.717941284179687e-07, "model_forward_time": 5.085969924926758, "step": 10190 }, { "dynamics_loss_avg": 0.05721338130533695, "epoch": 9.717941284179687e-07, "step": 10190 }, { "action_loss_avg": 0.0975179061293602, "epoch": 9.717941284179687e-07, "step": 10190 }, { "arm_loss_avg": 0.1418074145913124, "epoch": 9.717941284179687e-07, "step": 10190 }, { "ee_loss_avg": 0.11603288389742375, "epoch": 9.717941284179687e-07, "step": 10190 }, { "aux_loss_avg": 0.002034628059482202, "epoch": 9.717941284179687e-07, "step": 10190 }, { "epoch": 9.717941284179687e-07, "step": 10190, "training_step_time": 17.425256967544556 }, { "epoch": 9.718894958496093e-07, "model_forward_time": 3.8471643924713135, "step": 10191 }, { "epoch": 9.718894958496093e-07, "step": 10191, "training_step_time": 17.515705108642578 }, { "epoch": 9.7198486328125e-07, "model_forward_time": 5.295715570449829, "step": 10192 }, { "epoch": 9.7198486328125e-07, "step": 10192, "training_step_time": 17.647945642471313 }, { "epoch": 9.720802307128907e-07, "model_forward_time": 5.067317247390747, "step": 10193 }, { "epoch": 9.720802307128907e-07, "step": 10193, "training_step_time": 17.398768663406372 }, { "epoch": 9.721755981445313e-07, "model_forward_time": 5.07445502281189, "step": 10194 }, { "epoch": 9.721755981445313e-07, "step": 10194, "training_step_time": 17.72098708152771 }, { "epoch": 9.72270965576172e-07, "model_forward_time": 5.084454774856567, "step": 10195 }, { "epoch": 9.72270965576172e-07, "step": 10195, "training_step_time": 17.595263719558716 }, { "epoch": 9.723663330078126e-07, "model_forward_time": 5.093461036682129, "step": 10196 }, { "epoch": 9.723663330078126e-07, "step": 10196, "training_step_time": 17.61491823196411 }, { "epoch": 9.724617004394532e-07, "model_forward_time": 5.282186269760132, "step": 10197 }, { "epoch": 9.724617004394532e-07, "step": 10197, "training_step_time": 17.623858213424683 }, { "epoch": 9.725570678710938e-07, "model_forward_time": 3.8559627532958984, "step": 10198 }, { "epoch": 9.725570678710938e-07, "step": 10198, "training_step_time": 17.62969422340393 }, { "epoch": 9.726524353027344e-07, "model_forward_time": 5.068646192550659, "step": 10199 }, { "epoch": 9.726524353027344e-07, "step": 10199, "training_step_time": 17.867721796035767 }, { "epoch": 9.72747802734375e-07, "grad_norm": 1.9901081323623657, "learning_rate": 9.751693192013622e-06, "loss": 0.1222, "step": 10200 }, { "epoch": 9.72747802734375e-07, "model_forward_time": 5.072197198867798, "step": 10200 }, { "dynamics_loss_avg": 0.04869707617908716, "epoch": 9.72747802734375e-07, "step": 10200 }, { "action_loss_avg": 0.08464571945369244, "epoch": 9.72747802734375e-07, "step": 10200 }, { "arm_loss_avg": 0.19781987071037294, "epoch": 9.72747802734375e-07, "step": 10200 }, { "ee_loss_avg": 0.10114695988595486, "epoch": 9.72747802734375e-07, "step": 10200 }, { "aux_loss_avg": 0.021479852084303273, "epoch": 9.72747802734375e-07, "step": 10200 }, { "epoch": 9.72747802734375e-07, "step": 10200, "training_step_time": 17.624001264572144 }, { "epoch": 9.728431701660156e-07, "model_forward_time": 5.083672523498535, "step": 10201 }, { "epoch": 9.728431701660156e-07, "step": 10201, "training_step_time": 17.629245042800903 }, { "epoch": 9.729385375976562e-07, "model_forward_time": 5.326407432556152, "step": 10202 }, { "epoch": 9.729385375976562e-07, "step": 10202, "training_step_time": 17.611075401306152 }, { "epoch": 9.730339050292969e-07, "model_forward_time": 5.09583592414856, "step": 10203 }, { "epoch": 9.730339050292969e-07, "step": 10203, "training_step_time": 17.605711936950684 }, { "epoch": 9.731292724609375e-07, "model_forward_time": 5.096649646759033, "step": 10204 }, { "epoch": 9.731292724609375e-07, "step": 10204, "training_step_time": 17.77778673171997 }, { "epoch": 9.73224639892578e-07, "model_forward_time": 5.093083143234253, "step": 10205 }, { "epoch": 9.73224639892578e-07, "step": 10205, "training_step_time": 17.58015489578247 }, { "epoch": 9.733200073242187e-07, "model_forward_time": 5.091379642486572, "step": 10206 }, { "epoch": 9.733200073242187e-07, "step": 10206, "training_step_time": 17.635859489440918 }, { "epoch": 9.734153747558593e-07, "model_forward_time": 5.286819696426392, "step": 10207 }, { "epoch": 9.734153747558593e-07, "step": 10207, "training_step_time": 17.59032917022705 }, { "epoch": 9.735107421875e-07, "model_forward_time": 5.091467618942261, "step": 10208 }, { "epoch": 9.735107421875e-07, "step": 10208, "training_step_time": 17.586993932724 }, { "epoch": 9.736061096191405e-07, "model_forward_time": 5.091760635375977, "step": 10209 }, { "epoch": 9.736061096191405e-07, "step": 10209, "training_step_time": 17.827107429504395 }, { "epoch": 9.737014770507812e-07, "grad_norm": 2.5761430263519287, "learning_rate": 9.75095753449091e-06, "loss": 0.1342, "step": 10210 }, { "epoch": 9.737014770507812e-07, "model_forward_time": 5.089277744293213, "step": 10210 }, { "dynamics_loss_avg": 0.0516406437382102, "epoch": 9.737014770507812e-07, "step": 10210 }, { "action_loss_avg": 0.10868574529886246, "epoch": 9.737014770507812e-07, "step": 10210 }, { "arm_loss_avg": 0.159855730086565, "epoch": 9.737014770507812e-07, "step": 10210 }, { "ee_loss_avg": 0.1285364545881748, "epoch": 9.737014770507812e-07, "step": 10210 }, { "aux_loss_avg": 0.002789985854178667, "epoch": 9.737014770507812e-07, "step": 10210 }, { "epoch": 9.737014770507812e-07, "step": 10210, "training_step_time": 17.590527296066284 }, { "epoch": 9.737968444824218e-07, "model_forward_time": 5.087876796722412, "step": 10211 }, { "epoch": 9.737968444824218e-07, "step": 10211, "training_step_time": 17.639818906784058 }, { "epoch": 9.738922119140626e-07, "model_forward_time": 5.087492942810059, "step": 10212 }, { "epoch": 9.738922119140626e-07, "step": 10212, "training_step_time": 17.596420764923096 }, { "epoch": 9.739875793457032e-07, "model_forward_time": 5.088488817214966, "step": 10213 }, { "epoch": 9.739875793457032e-07, "step": 10213, "training_step_time": 17.406280040740967 }, { "epoch": 9.740829467773438e-07, "model_forward_time": 5.086772680282593, "step": 10214 }, { "epoch": 9.740829467773438e-07, "step": 10214, "training_step_time": 17.694643020629883 }, { "epoch": 9.741783142089844e-07, "model_forward_time": 5.090403318405151, "step": 10215 }, { "epoch": 9.741783142089844e-07, "step": 10215, "training_step_time": 17.545952796936035 }, { "epoch": 9.74273681640625e-07, "model_forward_time": 5.282299757003784, "step": 10216 }, { "epoch": 9.74273681640625e-07, "step": 10216, "training_step_time": 17.609472274780273 }, { "epoch": 9.743690490722657e-07, "model_forward_time": 5.099366664886475, "step": 10217 }, { "epoch": 9.743690490722657e-07, "step": 10217, "training_step_time": 17.60370373725891 }, { "epoch": 9.744644165039063e-07, "model_forward_time": 5.097371816635132, "step": 10218 }, { "epoch": 9.744644165039063e-07, "step": 10218, "training_step_time": 17.271546602249146 }, { "epoch": 9.74559783935547e-07, "model_forward_time": 3.871622323989868, "step": 10219 }, { "epoch": 9.74559783935547e-07, "step": 10219, "training_step_time": 17.798781156539917 }, { "epoch": 9.746551513671875e-07, "grad_norm": 3.2921760082244873, "learning_rate": 9.75022081664663e-06, "loss": 0.14, "step": 10220 }, { "epoch": 9.746551513671875e-07, "model_forward_time": 3.840153217315674, "step": 10220 }, { "dynamics_loss_avg": 0.05668948134407401, "epoch": 9.746551513671875e-07, "step": 10220 }, { "action_loss_avg": 0.09855557717382908, "epoch": 9.746551513671875e-07, "step": 10220 }, { "arm_loss_avg": 0.13020816519856454, "epoch": 9.746551513671875e-07, "step": 10220 }, { "ee_loss_avg": 0.10943085309118032, "epoch": 9.746551513671875e-07, "step": 10220 }, { "aux_loss_avg": 0.00561477929004468, "epoch": 9.746551513671875e-07, "step": 10220 }, { "epoch": 9.746551513671875e-07, "step": 10220, "training_step_time": 17.58646321296692 }, { "epoch": 9.747505187988281e-07, "model_forward_time": 5.0502769947052, "step": 10221 }, { "epoch": 9.747505187988281e-07, "step": 10221, "training_step_time": 17.589563608169556 }, { "epoch": 9.748458862304687e-07, "model_forward_time": 5.301212549209595, "step": 10222 }, { "epoch": 9.748458862304687e-07, "step": 10222, "training_step_time": 17.59347915649414 }, { "epoch": 9.749412536621094e-07, "model_forward_time": 5.085076808929443, "step": 10223 }, { "epoch": 9.749412536621094e-07, "step": 10223, "training_step_time": 17.35133695602417 }, { "epoch": 9.7503662109375e-07, "model_forward_time": 5.093257904052734, "step": 10224 }, { "epoch": 9.7503662109375e-07, "step": 10224, "training_step_time": 17.697558879852295 }, { "epoch": 9.751319885253906e-07, "model_forward_time": 5.102970600128174, "step": 10225 }, { "epoch": 9.751319885253906e-07, "step": 10225, "training_step_time": 17.546014547348022 }, { "epoch": 9.752273559570312e-07, "model_forward_time": 5.103684902191162, "step": 10226 }, { "epoch": 9.752273559570312e-07, "step": 10226, "training_step_time": 17.57813048362732 }, { "epoch": 9.753227233886718e-07, "model_forward_time": 5.313927173614502, "step": 10227 }, { "epoch": 9.753227233886718e-07, "step": 10227, "training_step_time": 17.5920832157135 }, { "epoch": 9.754180908203124e-07, "model_forward_time": 5.094967365264893, "step": 10228 }, { "epoch": 9.754180908203124e-07, "step": 10228, "training_step_time": 17.610965728759766 }, { "epoch": 9.75513458251953e-07, "model_forward_time": 5.091197490692139, "step": 10229 }, { "epoch": 9.75513458251953e-07, "step": 10229, "training_step_time": 17.86906361579895 }, { "epoch": 9.756088256835937e-07, "grad_norm": 2.1631295680999756, "learning_rate": 9.749483038645205e-06, "loss": 0.1317, "step": 10230 }, { "epoch": 9.756088256835937e-07, "model_forward_time": 5.0849668979644775, "step": 10230 }, { "dynamics_loss_avg": 0.03626350886188447, "epoch": 9.756088256835937e-07, "step": 10230 }, { "action_loss_avg": 0.09005209915339947, "epoch": 9.756088256835937e-07, "step": 10230 }, { "arm_loss_avg": 0.13589631766080856, "epoch": 9.756088256835937e-07, "step": 10230 }, { "ee_loss_avg": 0.08267314322292804, "epoch": 9.756088256835937e-07, "step": 10230 }, { "aux_loss_avg": 0.003023660136386752, "epoch": 9.756088256835937e-07, "step": 10230 }, { "epoch": 9.756088256835937e-07, "step": 10230, "training_step_time": 17.637471914291382 }, { "epoch": 9.757041931152343e-07, "model_forward_time": 5.08083963394165, "step": 10231 }, { "epoch": 9.757041931152343e-07, "step": 10231, "training_step_time": 17.634137392044067 }, { "epoch": 9.75799560546875e-07, "model_forward_time": 5.0806121826171875, "step": 10232 }, { "epoch": 9.75799560546875e-07, "step": 10232, "training_step_time": 17.667413473129272 }, { "epoch": 9.758949279785157e-07, "model_forward_time": 3.8464322090148926, "step": 10233 }, { "epoch": 9.758949279785157e-07, "step": 10233, "training_step_time": 17.417336225509644 }, { "epoch": 9.759902954101563e-07, "model_forward_time": 5.053157567977905, "step": 10234 }, { "epoch": 9.759902954101563e-07, "step": 10234, "training_step_time": 17.538454055786133 }, { "epoch": 9.76085662841797e-07, "model_forward_time": 5.064384937286377, "step": 10235 }, { "epoch": 9.76085662841797e-07, "step": 10235, "training_step_time": 17.786031484603882 }, { "epoch": 9.761810302734376e-07, "model_forward_time": 5.072456359863281, "step": 10236 }, { "epoch": 9.761810302734376e-07, "step": 10236, "training_step_time": 17.627089738845825 }, { "epoch": 9.762763977050782e-07, "model_forward_time": 5.080250263214111, "step": 10237 }, { "epoch": 9.762763977050782e-07, "step": 10237, "training_step_time": 17.589383363723755 }, { "epoch": 9.763717651367188e-07, "model_forward_time": 5.0909318923950195, "step": 10238 }, { "epoch": 9.763717651367188e-07, "step": 10238, "training_step_time": 17.606826543807983 }, { "epoch": 9.764671325683594e-07, "model_forward_time": 5.0929954051971436, "step": 10239 }, { "epoch": 9.764671325683594e-07, "step": 10239, "training_step_time": 17.855339765548706 }, { "epoch": 9.765625e-07, "grad_norm": 2.5457284450531006, "learning_rate": 9.74874420065129e-06, "loss": 0.1511, "step": 10240 }, { "epoch": 9.765625e-07, "model_forward_time": 5.087950706481934, "step": 10240 }, { "dynamics_loss_avg": 0.06229105405509472, "epoch": 9.765625e-07, "step": 10240 }, { "action_loss_avg": 0.11375237852334977, "epoch": 9.765625e-07, "step": 10240 }, { "arm_loss_avg": 0.14043707251548768, "epoch": 9.765625e-07, "step": 10240 }, { "ee_loss_avg": 0.11614519190043211, "epoch": 9.765625e-07, "step": 10240 }, { "aux_loss_avg": 0.005659330362686887, "epoch": 9.765625e-07, "step": 10240 }, { "epoch": 9.765625e-07, "step": 10240, "training_step_time": 17.61789584159851 }, { "epoch": 9.766578674316406e-07, "model_forward_time": 3.855881452560425, "step": 10241 }, { "epoch": 9.766578674316406e-07, "step": 10241, "training_step_time": 17.611220836639404 }, { "epoch": 9.767532348632812e-07, "model_forward_time": 5.2986602783203125, "step": 10242 }, { "epoch": 9.767532348632812e-07, "step": 10242, "training_step_time": 17.618528366088867 }, { "epoch": 9.768486022949219e-07, "model_forward_time": 5.075590133666992, "step": 10243 }, { "epoch": 9.768486022949219e-07, "step": 10243, "training_step_time": 17.353482246398926 }, { "epoch": 9.769439697265625e-07, "model_forward_time": 5.085749864578247, "step": 10244 }, { "epoch": 9.769439697265625e-07, "step": 10244, "training_step_time": 17.511752128601074 }, { "epoch": 9.77039337158203e-07, "model_forward_time": 5.091833114624023, "step": 10245 }, { "epoch": 9.77039337158203e-07, "step": 10245, "training_step_time": 17.7343008518219 }, { "epoch": 9.771347045898437e-07, "model_forward_time": 5.089726686477661, "step": 10246 }, { "epoch": 9.771347045898437e-07, "step": 10246, "training_step_time": 17.619906187057495 }, { "epoch": 9.772300720214843e-07, "model_forward_time": 5.308551788330078, "step": 10247 }, { "epoch": 9.772300720214843e-07, "step": 10247, "training_step_time": 17.432273626327515 }, { "epoch": 9.77325439453125e-07, "model_forward_time": 3.859297037124634, "step": 10248 }, { "epoch": 9.77325439453125e-07, "step": 10248, "training_step_time": 17.51850128173828 }, { "epoch": 9.774208068847656e-07, "model_forward_time": 5.065118312835693, "step": 10249 }, { "epoch": 9.774208068847656e-07, "step": 10249, "training_step_time": 17.258598566055298 }, { "epoch": 9.775161743164062e-07, "grad_norm": 2.7582647800445557, "learning_rate": 9.748004302829779e-06, "loss": 0.1281, "step": 10250 }, { "epoch": 9.775161743164062e-07, "model_forward_time": 5.073948383331299, "step": 10250 }, { "dynamics_loss_avg": 0.03929702416062355, "epoch": 9.775161743164062e-07, "step": 10250 }, { "action_loss_avg": 0.08112630490213632, "epoch": 9.775161743164062e-07, "step": 10250 }, { "arm_loss_avg": 0.16681877002120019, "epoch": 9.775161743164062e-07, "step": 10250 }, { "ee_loss_avg": 0.09676691554486752, "epoch": 9.775161743164062e-07, "step": 10250 }, { "aux_loss_avg": 0.0014624859672039748, "epoch": 9.775161743164062e-07, "step": 10250 }, { "epoch": 9.775161743164062e-07, "step": 10250, "training_step_time": 17.745078802108765 }, { "epoch": 9.776115417480468e-07, "model_forward_time": 5.079420804977417, "step": 10251 }, { "epoch": 9.776115417480468e-07, "step": 10251, "training_step_time": 17.575283765792847 }, { "epoch": 9.777069091796874e-07, "model_forward_time": 5.32505989074707, "step": 10252 }, { "epoch": 9.777069091796874e-07, "step": 10252, "training_step_time": 17.609899282455444 }, { "epoch": 9.778022766113282e-07, "model_forward_time": 5.088933944702148, "step": 10253 }, { "epoch": 9.778022766113282e-07, "step": 10253, "training_step_time": 17.626227140426636 }, { "epoch": 9.778976440429688e-07, "model_forward_time": 5.091992616653442, "step": 10254 }, { "epoch": 9.778976440429688e-07, "step": 10254, "training_step_time": 17.656190395355225 }, { "epoch": 9.779930114746094e-07, "model_forward_time": 5.095975160598755, "step": 10255 }, { "epoch": 9.779930114746094e-07, "step": 10255, "training_step_time": 17.857099294662476 }, { "epoch": 9.7808837890625e-07, "model_forward_time": 5.090623140335083, "step": 10256 }, { "epoch": 9.7808837890625e-07, "step": 10256, "training_step_time": 17.660242557525635 }, { "epoch": 9.781837463378907e-07, "model_forward_time": 5.095318078994751, "step": 10257 }, { "epoch": 9.781837463378907e-07, "step": 10257, "training_step_time": 17.644630908966064 }, { "epoch": 9.782791137695313e-07, "model_forward_time": 5.089000701904297, "step": 10258 }, { "epoch": 9.782791137695313e-07, "step": 10258, "training_step_time": 17.657273054122925 }, { "epoch": 9.78374481201172e-07, "model_forward_time": 5.0881507396698, "step": 10259 }, { "epoch": 9.78374481201172e-07, "step": 10259, "training_step_time": 17.63858127593994 }, { "epoch": 9.784698486328125e-07, "grad_norm": 1.8850882053375244, "learning_rate": 9.747263345345806e-06, "loss": 0.1148, "step": 10260 }, { "epoch": 9.784698486328125e-07, "model_forward_time": 5.087831735610962, "step": 10260 }, { "dynamics_loss_avg": 0.05032556913793087, "epoch": 9.784698486328125e-07, "step": 10260 }, { "action_loss_avg": 0.08642725050449371, "epoch": 9.784698486328125e-07, "step": 10260 }, { "arm_loss_avg": 0.12543016597628592, "epoch": 9.784698486328125e-07, "step": 10260 }, { "ee_loss_avg": 0.07541376482695342, "epoch": 9.784698486328125e-07, "step": 10260 }, { "aux_loss_avg": 0.001049170974874869, "epoch": 9.784698486328125e-07, "step": 10260 }, { "epoch": 9.784698486328125e-07, "step": 10260, "training_step_time": 17.87287473678589 }, { "epoch": 9.785652160644531e-07, "model_forward_time": 5.0864577293396, "step": 10261 }, { "epoch": 9.785652160644531e-07, "step": 10261, "training_step_time": 17.631590366363525 }, { "epoch": 9.786605834960938e-07, "model_forward_time": 5.090084552764893, "step": 10262 }, { "epoch": 9.786605834960938e-07, "step": 10262, "training_step_time": 17.620063304901123 }, { "epoch": 9.787559509277344e-07, "model_forward_time": 3.854595899581909, "step": 10263 }, { "epoch": 9.787559509277344e-07, "step": 10263, "training_step_time": 17.613953351974487 }, { "epoch": 9.78851318359375e-07, "model_forward_time": 5.061647653579712, "step": 10264 }, { "epoch": 9.78851318359375e-07, "step": 10264, "training_step_time": 17.837409734725952 }, { "epoch": 9.789466857910156e-07, "model_forward_time": 5.0725417137146, "step": 10265 }, { "epoch": 9.789466857910156e-07, "step": 10265, "training_step_time": 17.588818788528442 }, { "epoch": 9.790420532226562e-07, "model_forward_time": 3.84495210647583, "step": 10266 }, { "epoch": 9.790420532226562e-07, "step": 10266, "training_step_time": 17.590590715408325 }, { "epoch": 9.791374206542968e-07, "model_forward_time": 5.250944375991821, "step": 10267 }, { "epoch": 9.791374206542968e-07, "step": 10267, "training_step_time": 17.58659338951111 }, { "epoch": 9.792327880859374e-07, "model_forward_time": 5.078431844711304, "step": 10268 }, { "epoch": 9.792327880859374e-07, "step": 10268, "training_step_time": 17.58478569984436 }, { "epoch": 9.79328155517578e-07, "model_forward_time": 5.09235954284668, "step": 10269 }, { "epoch": 9.79328155517578e-07, "step": 10269, "training_step_time": 17.81792950630188 }, { "epoch": 9.794235229492187e-07, "grad_norm": 1.3926242589950562, "learning_rate": 9.746521328364738e-06, "loss": 0.1141, "step": 10270 }, { "epoch": 9.794235229492187e-07, "model_forward_time": 3.862213373184204, "step": 10270 }, { "dynamics_loss_avg": 0.03109785486012697, "epoch": 9.794235229492187e-07, "step": 10270 }, { "action_loss_avg": 0.06960216835141182, "epoch": 9.794235229492187e-07, "step": 10270 }, { "arm_loss_avg": 0.1530686430633068, "epoch": 9.794235229492187e-07, "step": 10270 }, { "ee_loss_avg": 0.09538628719747066, "epoch": 9.794235229492187e-07, "step": 10270 }, { "aux_loss_avg": 0.0018087558972183615, "epoch": 9.794235229492187e-07, "step": 10270 }, { "epoch": 9.794235229492187e-07, "step": 10270, "training_step_time": 17.57398796081543 }, { "epoch": 9.795188903808593e-07, "model_forward_time": 5.070936679840088, "step": 10271 }, { "epoch": 9.795188903808593e-07, "step": 10271, "training_step_time": 17.587534427642822 }, { "epoch": 9.796142578125e-07, "model_forward_time": 5.314242839813232, "step": 10272 }, { "epoch": 9.796142578125e-07, "step": 10272, "training_step_time": 17.59907865524292 }, { "epoch": 9.797096252441407e-07, "model_forward_time": 5.0950164794921875, "step": 10273 }, { "epoch": 9.797096252441407e-07, "step": 10273, "training_step_time": 17.59142804145813 }, { "epoch": 9.798049926757813e-07, "model_forward_time": 5.100080728530884, "step": 10274 }, { "epoch": 9.798049926757813e-07, "step": 10274, "training_step_time": 17.782413005828857 }, { "epoch": 9.79900360107422e-07, "model_forward_time": 5.096137046813965, "step": 10275 }, { "epoch": 9.79900360107422e-07, "step": 10275, "training_step_time": 17.44163179397583 }, { "epoch": 9.799957275390626e-07, "model_forward_time": 3.870121717453003, "step": 10276 }, { "epoch": 9.799957275390626e-07, "step": 10276, "training_step_time": 17.53684401512146 }, { "epoch": 9.800910949707032e-07, "model_forward_time": 5.284846782684326, "step": 10277 }, { "epoch": 9.800910949707032e-07, "step": 10277, "training_step_time": 17.670034885406494 }, { "epoch": 9.801864624023438e-07, "model_forward_time": 5.091002941131592, "step": 10278 }, { "epoch": 9.801864624023438e-07, "step": 10278, "training_step_time": 17.613675832748413 }, { "epoch": 9.802818298339844e-07, "model_forward_time": 5.100123405456543, "step": 10279 }, { "epoch": 9.802818298339844e-07, "step": 10279, "training_step_time": 17.43016815185547 }, { "epoch": 9.80377197265625e-07, "grad_norm": 2.181793451309204, "learning_rate": 9.745778252052176e-06, "loss": 0.1245, "step": 10280 }, { "epoch": 9.80377197265625e-07, "model_forward_time": 5.099283933639526, "step": 10280 }, { "dynamics_loss_avg": 0.04149242118000984, "epoch": 9.80377197265625e-07, "step": 10280 }, { "action_loss_avg": 0.09593168571591378, "epoch": 9.80377197265625e-07, "step": 10280 }, { "arm_loss_avg": 0.15753015354275704, "epoch": 9.80377197265625e-07, "step": 10280 }, { "ee_loss_avg": 0.0693221424240619, "epoch": 9.80377197265625e-07, "step": 10280 }, { "aux_loss_avg": 0.002116210281383246, "epoch": 9.80377197265625e-07, "step": 10280 }, { "epoch": 9.80377197265625e-07, "step": 10280, "training_step_time": 17.81199812889099 }, { "epoch": 9.804725646972656e-07, "model_forward_time": 3.8547816276550293, "step": 10281 }, { "epoch": 9.804725646972656e-07, "step": 10281, "training_step_time": 17.618475437164307 }, { "epoch": 9.805679321289063e-07, "model_forward_time": 5.294888734817505, "step": 10282 }, { "epoch": 9.805679321289063e-07, "step": 10282, "training_step_time": 17.618317365646362 }, { "epoch": 9.806632995605469e-07, "model_forward_time": 5.076213598251343, "step": 10283 }, { "epoch": 9.806632995605469e-07, "step": 10283, "training_step_time": 17.62803626060486 }, { "epoch": 9.807586669921875e-07, "model_forward_time": 5.082169771194458, "step": 10284 }, { "epoch": 9.807586669921875e-07, "step": 10284, "training_step_time": 17.63849925994873 }, { "epoch": 9.80854034423828e-07, "model_forward_time": 5.090337753295898, "step": 10285 }, { "epoch": 9.80854034423828e-07, "step": 10285, "training_step_time": 17.817568063735962 }, { "epoch": 9.809494018554687e-07, "model_forward_time": 5.093107461929321, "step": 10286 }, { "epoch": 9.809494018554687e-07, "step": 10286, "training_step_time": 17.638890743255615 }, { "epoch": 9.810447692871093e-07, "model_forward_time": 5.281698226928711, "step": 10287 }, { "epoch": 9.810447692871093e-07, "step": 10287, "training_step_time": 17.627615213394165 }, { "epoch": 9.8114013671875e-07, "model_forward_time": 5.094781875610352, "step": 10288 }, { "epoch": 9.8114013671875e-07, "step": 10288, "training_step_time": 17.617469310760498 }, { "epoch": 9.812355041503906e-07, "model_forward_time": 5.093255519866943, "step": 10289 }, { "epoch": 9.812355041503906e-07, "step": 10289, "training_step_time": 17.386952877044678 }, { "epoch": 9.813308715820312e-07, "grad_norm": 1.8990836143493652, "learning_rate": 9.745034116573962e-06, "loss": 0.1215, "step": 10290 }, { "epoch": 9.813308715820312e-07, "model_forward_time": 5.0903160572052, "step": 10290 }, { "dynamics_loss_avg": 0.04501947956159711, "epoch": 9.813308715820312e-07, "step": 10290 }, { "action_loss_avg": 0.1002776313573122, "epoch": 9.813308715820312e-07, "step": 10290 }, { "arm_loss_avg": 0.16591313406825065, "epoch": 9.813308715820312e-07, "step": 10290 }, { "ee_loss_avg": 0.08959125280380249, "epoch": 9.813308715820312e-07, "step": 10290 }, { "aux_loss_avg": 0.0012231736560352146, "epoch": 9.813308715820312e-07, "step": 10290 }, { "epoch": 9.813308715820312e-07, "step": 10290, "training_step_time": 17.745042324066162 }, { "epoch": 9.814262390136718e-07, "model_forward_time": 5.0887603759765625, "step": 10291 }, { "epoch": 9.814262390136718e-07, "step": 10291, "training_step_time": 17.61375594139099 }, { "epoch": 9.815216064453124e-07, "model_forward_time": 5.3163721561431885, "step": 10292 }, { "epoch": 9.815216064453124e-07, "step": 10292, "training_step_time": 17.57526707649231 }, { "epoch": 9.816169738769532e-07, "model_forward_time": 5.085736036300659, "step": 10293 }, { "epoch": 9.816169738769532e-07, "step": 10293, "training_step_time": 17.590938329696655 }, { "epoch": 9.817123413085938e-07, "model_forward_time": 5.0830488204956055, "step": 10294 }, { "epoch": 9.817123413085938e-07, "step": 10294, "training_step_time": 17.83599543571472 }, { "epoch": 9.818077087402345e-07, "model_forward_time": 5.079987525939941, "step": 10295 }, { "epoch": 9.818077087402345e-07, "step": 10295, "training_step_time": 17.615742444992065 }, { "epoch": 9.81903076171875e-07, "model_forward_time": 5.082371473312378, "step": 10296 }, { "epoch": 9.81903076171875e-07, "step": 10296, "training_step_time": 17.61122226715088 }, { "epoch": 9.819984436035157e-07, "model_forward_time": 5.27165412902832, "step": 10297 }, { "epoch": 9.819984436035157e-07, "step": 10297, "training_step_time": 17.617969036102295 }, { "epoch": 9.820938110351563e-07, "model_forward_time": 5.0862109661102295, "step": 10298 }, { "epoch": 9.820938110351563e-07, "step": 10298, "training_step_time": 17.395888328552246 }, { "epoch": 9.82189178466797e-07, "model_forward_time": 5.087769508361816, "step": 10299 }, { "epoch": 9.82189178466797e-07, "step": 10299, "training_step_time": 17.525178909301758 }, { "epoch": 9.822845458984375e-07, "grad_norm": 1.8182363510131836, "learning_rate": 9.744288922096173e-06, "loss": 0.132, "step": 10300 }, { "epoch": 9.822845458984375e-07, "model_forward_time": 5.087225437164307, "step": 10300 }, { "dynamics_loss_avg": 0.05638774093240499, "epoch": 9.822845458984375e-07, "step": 10300 }, { "action_loss_avg": 0.10208404958248138, "epoch": 9.822845458984375e-07, "step": 10300 }, { "arm_loss_avg": 0.18476402685046195, "epoch": 9.822845458984375e-07, "step": 10300 }, { "ee_loss_avg": 0.12406892981380224, "epoch": 9.822845458984375e-07, "step": 10300 }, { "aux_loss_avg": 0.028776280378224328, "epoch": 9.822845458984375e-07, "step": 10300 }, { "epoch": 9.822845458984375e-07, "step": 10300, "training_step_time": 17.80022644996643 }, { "epoch": 9.823799133300781e-07, "model_forward_time": 5.088717222213745, "step": 10301 }, { "epoch": 9.823799133300781e-07, "step": 10301, "training_step_time": 17.634061574935913 }, { "epoch": 9.824752807617188e-07, "model_forward_time": 5.32135534286499, "step": 10302 }, { "epoch": 9.824752807617188e-07, "step": 10302, "training_step_time": 17.605719566345215 }, { "epoch": 9.825706481933594e-07, "model_forward_time": 5.089459180831909, "step": 10303 }, { "epoch": 9.825706481933594e-07, "step": 10303, "training_step_time": 17.614130973815918 }, { "epoch": 9.82666015625e-07, "model_forward_time": 5.0884010791778564, "step": 10304 }, { "epoch": 9.82666015625e-07, "step": 10304, "training_step_time": 17.850586891174316 }, { "epoch": 9.827613830566406e-07, "model_forward_time": 5.083142518997192, "step": 10305 }, { "epoch": 9.827613830566406e-07, "step": 10305, "training_step_time": 17.63887858390808 }, { "epoch": 9.828567504882812e-07, "model_forward_time": 5.086746692657471, "step": 10306 }, { "epoch": 9.828567504882812e-07, "step": 10306, "training_step_time": 17.643730640411377 }, { "epoch": 9.829521179199218e-07, "model_forward_time": 5.273858547210693, "step": 10307 }, { "epoch": 9.829521179199218e-07, "step": 10307, "training_step_time": 17.640814781188965 }, { "epoch": 9.830474853515624e-07, "model_forward_time": 5.086409568786621, "step": 10308 }, { "epoch": 9.830474853515624e-07, "step": 10308, "training_step_time": 17.63093066215515 }, { "epoch": 9.83142852783203e-07, "model_forward_time": 3.851487874984741, "step": 10309 }, { "epoch": 9.83142852783203e-07, "step": 10309, "training_step_time": 17.850020170211792 }, { "epoch": 9.832382202148437e-07, "grad_norm": 1.8058552742004395, "learning_rate": 9.743542668785122e-06, "loss": 0.1173, "step": 10310 }, { "epoch": 9.832382202148437e-07, "model_forward_time": 3.8287196159362793, "step": 10310 }, { "dynamics_loss_avg": 0.0369359171949327, "epoch": 9.832382202148437e-07, "step": 10310 }, { "action_loss_avg": 0.08137661013752222, "epoch": 9.832382202148437e-07, "step": 10310 }, { "arm_loss_avg": 0.16531076654791832, "epoch": 9.832382202148437e-07, "step": 10310 }, { "ee_loss_avg": 0.09849871275946498, "epoch": 9.832382202148437e-07, "step": 10310 }, { "aux_loss_avg": 0.0011811976379249244, "epoch": 9.832382202148437e-07, "step": 10310 }, { "epoch": 9.832382202148437e-07, "step": 10310, "training_step_time": 17.611857652664185 }, { "epoch": 9.833335876464843e-07, "model_forward_time": 5.048776149749756, "step": 10311 }, { "epoch": 9.833335876464843e-07, "step": 10311, "training_step_time": 17.61838126182556 }, { "epoch": 9.83428955078125e-07, "model_forward_time": 5.064970016479492, "step": 10312 }, { "epoch": 9.83428955078125e-07, "step": 10312, "training_step_time": 17.602282285690308 }, { "epoch": 9.835243225097657e-07, "model_forward_time": 5.079665184020996, "step": 10313 }, { "epoch": 9.835243225097657e-07, "step": 10313, "training_step_time": 17.402971029281616 }, { "epoch": 9.836196899414063e-07, "model_forward_time": 5.098738193511963, "step": 10314 }, { "epoch": 9.836196899414063e-07, "step": 10314, "training_step_time": 17.50506901741028 }, { "epoch": 9.83715057373047e-07, "model_forward_time": 5.105383634567261, "step": 10315 }, { "epoch": 9.83715057373047e-07, "step": 10315, "training_step_time": 17.75984477996826 }, { "epoch": 9.838104248046876e-07, "model_forward_time": 5.10658597946167, "step": 10316 }, { "epoch": 9.838104248046876e-07, "step": 10316, "training_step_time": 17.573992252349854 }, { "epoch": 9.839057922363282e-07, "model_forward_time": 3.8674516677856445, "step": 10317 }, { "epoch": 9.839057922363282e-07, "step": 10317, "training_step_time": 17.61515188217163 }, { "epoch": 9.840011596679688e-07, "model_forward_time": 5.278516530990601, "step": 10318 }, { "epoch": 9.840011596679688e-07, "step": 10318, "training_step_time": 17.63955020904541 }, { "epoch": 9.840965270996094e-07, "model_forward_time": 5.08329439163208, "step": 10319 }, { "epoch": 9.840965270996094e-07, "step": 10319, "training_step_time": 17.905378341674805 }, { "epoch": 9.8419189453125e-07, "grad_norm": 1.2854211330413818, "learning_rate": 9.742795356807356e-06, "loss": 0.1243, "step": 10320 }, { "epoch": 9.8419189453125e-07, "model_forward_time": 5.088191032409668, "step": 10320 }, { "dynamics_loss_avg": 0.036643474083393815, "epoch": 9.8419189453125e-07, "step": 10320 }, { "action_loss_avg": 0.09788893982768058, "epoch": 9.8419189453125e-07, "step": 10320 }, { "arm_loss_avg": 0.17384045720100402, "epoch": 9.8419189453125e-07, "step": 10320 }, { "ee_loss_avg": 0.07328059808351099, "epoch": 9.8419189453125e-07, "step": 10320 }, { "aux_loss_avg": 0.003697306412504986, "epoch": 9.8419189453125e-07, "step": 10320 }, { "epoch": 9.8419189453125e-07, "step": 10320, "training_step_time": 17.397473335266113 }, { "epoch": 9.842872619628906e-07, "model_forward_time": 5.086860656738281, "step": 10321 }, { "epoch": 9.842872619628906e-07, "step": 10321, "training_step_time": 18.131434679031372 }, { "epoch": 9.843826293945313e-07, "model_forward_time": 5.0814714431762695, "step": 10322 }, { "epoch": 9.843826293945313e-07, "step": 10322, "training_step_time": 17.645124673843384 }, { "epoch": 9.844779968261719e-07, "model_forward_time": 5.086570501327515, "step": 10323 }, { "epoch": 9.844779968261719e-07, "step": 10323, "training_step_time": 17.59927988052368 }, { "epoch": 9.845733642578125e-07, "model_forward_time": 5.088932275772095, "step": 10324 }, { "epoch": 9.845733642578125e-07, "step": 10324, "training_step_time": 17.632524490356445 }, { "epoch": 9.84668731689453e-07, "model_forward_time": 5.087978839874268, "step": 10325 }, { "epoch": 9.84668731689453e-07, "step": 10325, "training_step_time": 17.491519689559937 }, { "epoch": 9.847640991210937e-07, "model_forward_time": 5.0875115394592285, "step": 10326 }, { "epoch": 9.847640991210937e-07, "step": 10326, "training_step_time": 17.554284811019897 }, { "epoch": 9.848594665527343e-07, "model_forward_time": 5.298025846481323, "step": 10327 }, { "epoch": 9.848594665527343e-07, "step": 10327, "training_step_time": 17.608956336975098 }, { "epoch": 9.84954833984375e-07, "model_forward_time": 5.089419603347778, "step": 10328 }, { "epoch": 9.84954833984375e-07, "step": 10328, "training_step_time": 17.625152826309204 }, { "epoch": 9.850502014160156e-07, "model_forward_time": 5.084825754165649, "step": 10329 }, { "epoch": 9.850502014160156e-07, "step": 10329, "training_step_time": 17.64464831352234 }, { "epoch": 9.851455688476562e-07, "grad_norm": 2.3248610496520996, "learning_rate": 9.742046986329664e-06, "loss": 0.1243, "step": 10330 }, { "epoch": 9.851455688476562e-07, "model_forward_time": 5.081518650054932, "step": 10330 }, { "dynamics_loss_avg": 0.04105122052133083, "epoch": 9.851455688476562e-07, "step": 10330 }, { "action_loss_avg": 0.09953573979437351, "epoch": 9.851455688476562e-07, "step": 10330 }, { "arm_loss_avg": 0.14201284050941468, "epoch": 9.851455688476562e-07, "step": 10330 }, { "ee_loss_avg": 0.15914311967790126, "epoch": 9.851455688476562e-07, "step": 10330 }, { "aux_loss_avg": 0.0011094003333710135, "epoch": 9.851455688476562e-07, "step": 10330 }, { "epoch": 9.851455688476562e-07, "step": 10330, "training_step_time": 17.87965965270996 }, { "epoch": 9.852409362792968e-07, "model_forward_time": 5.080526113510132, "step": 10331 }, { "epoch": 9.852409362792968e-07, "step": 10331, "training_step_time": 17.6422598361969 }, { "epoch": 9.853363037109374e-07, "model_forward_time": 5.080798149108887, "step": 10332 }, { "epoch": 9.853363037109374e-07, "step": 10332, "training_step_time": 17.66393756866455 }, { "epoch": 9.854316711425782e-07, "model_forward_time": 5.080856800079346, "step": 10333 }, { "epoch": 9.854316711425782e-07, "step": 10333, "training_step_time": 17.636637449264526 }, { "epoch": 9.855270385742188e-07, "model_forward_time": 5.08193302154541, "step": 10334 }, { "epoch": 9.855270385742188e-07, "step": 10334, "training_step_time": 17.434428930282593 }, { "epoch": 9.856224060058595e-07, "model_forward_time": 5.089685916900635, "step": 10335 }, { "epoch": 9.856224060058595e-07, "step": 10335, "training_step_time": 17.726153135299683 }, { "epoch": 9.857177734375e-07, "model_forward_time": 5.087028741836548, "step": 10336 }, { "epoch": 9.857177734375e-07, "step": 10336, "training_step_time": 17.650941133499146 }, { "epoch": 9.858131408691407e-07, "model_forward_time": 5.284372091293335, "step": 10337 }, { "epoch": 9.858131408691407e-07, "step": 10337, "training_step_time": 17.592864274978638 }, { "epoch": 9.859085083007813e-07, "model_forward_time": 5.084423542022705, "step": 10338 }, { "epoch": 9.859085083007813e-07, "step": 10338, "training_step_time": 17.609588623046875 }, { "epoch": 9.86003875732422e-07, "model_forward_time": 5.086662769317627, "step": 10339 }, { "epoch": 9.86003875732422e-07, "step": 10339, "training_step_time": 17.623033046722412 }, { "epoch": 9.860992431640625e-07, "grad_norm": 1.522484540939331, "learning_rate": 9.741297557519066e-06, "loss": 0.1402, "step": 10340 }, { "epoch": 9.860992431640625e-07, "model_forward_time": 5.086134910583496, "step": 10340 }, { "dynamics_loss_avg": 0.040633341297507286, "epoch": 9.860992431640625e-07, "step": 10340 }, { "action_loss_avg": 0.12202894836664199, "epoch": 9.860992431640625e-07, "step": 10340 }, { "arm_loss_avg": 0.19114700481295585, "epoch": 9.860992431640625e-07, "step": 10340 }, { "ee_loss_avg": 0.09999002199620008, "epoch": 9.860992431640625e-07, "step": 10340 }, { "aux_loss_avg": 0.0025941272673662753, "epoch": 9.860992431640625e-07, "step": 10340 }, { "epoch": 9.860992431640625e-07, "step": 10340, "training_step_time": 17.854964017868042 }, { "epoch": 9.861946105957031e-07, "model_forward_time": 5.079641819000244, "step": 10341 }, { "epoch": 9.861946105957031e-07, "step": 10341, "training_step_time": 17.6177761554718 }, { "epoch": 9.862899780273438e-07, "model_forward_time": 5.322970151901245, "step": 10342 }, { "epoch": 9.862899780273438e-07, "step": 10342, "training_step_time": 17.652532815933228 }, { "epoch": 9.863853454589844e-07, "model_forward_time": 5.085748672485352, "step": 10343 }, { "epoch": 9.863853454589844e-07, "step": 10343, "training_step_time": 17.613905429840088 }, { "epoch": 9.86480712890625e-07, "model_forward_time": 5.086095094680786, "step": 10344 }, { "epoch": 9.86480712890625e-07, "step": 10344, "training_step_time": 17.35530686378479 }, { "epoch": 9.865760803222656e-07, "model_forward_time": 5.088062763214111, "step": 10345 }, { "epoch": 9.865760803222656e-07, "step": 10345, "training_step_time": 17.712656021118164 }, { "epoch": 9.866714477539062e-07, "model_forward_time": 5.0836687088012695, "step": 10346 }, { "epoch": 9.866714477539062e-07, "step": 10346, "training_step_time": 17.54677653312683 }, { "epoch": 9.867668151855468e-07, "model_forward_time": 5.291858673095703, "step": 10347 }, { "epoch": 9.867668151855468e-07, "step": 10347, "training_step_time": 17.583561182022095 }, { "epoch": 9.868621826171874e-07, "model_forward_time": 5.083855628967285, "step": 10348 }, { "epoch": 9.868621826171874e-07, "step": 10348, "training_step_time": 17.410640478134155 }, { "epoch": 9.86957550048828e-07, "model_forward_time": 5.081412315368652, "step": 10349 }, { "epoch": 9.86957550048828e-07, "step": 10349, "training_step_time": 17.51403498649597 }, { "epoch": 9.870529174804687e-07, "grad_norm": 2.513359546661377, "learning_rate": 9.740547070542818e-06, "loss": 0.1216, "step": 10350 }, { "epoch": 9.870529174804687e-07, "model_forward_time": 5.083611249923706, "step": 10350 }, { "dynamics_loss_avg": 0.044432026147842404, "epoch": 9.870529174804687e-07, "step": 10350 }, { "action_loss_avg": 0.10426418371498584, "epoch": 9.870529174804687e-07, "step": 10350 }, { "arm_loss_avg": 0.18077249079942703, "epoch": 9.870529174804687e-07, "step": 10350 }, { "ee_loss_avg": 0.09744010418653488, "epoch": 9.870529174804687e-07, "step": 10350 }, { "aux_loss_avg": 0.0023801980656571685, "epoch": 9.870529174804687e-07, "step": 10350 }, { "epoch": 9.870529174804687e-07, "step": 10350, "training_step_time": 17.810504913330078 }, { "epoch": 9.871482849121093e-07, "model_forward_time": 5.079689979553223, "step": 10351 }, { "epoch": 9.871482849121093e-07, "step": 10351, "training_step_time": 17.589961528778076 }, { "epoch": 9.8724365234375e-07, "model_forward_time": 5.081504583358765, "step": 10352 }, { "epoch": 9.8724365234375e-07, "step": 10352, "training_step_time": 17.654556035995483 }, { "epoch": 9.873390197753907e-07, "model_forward_time": 5.086726188659668, "step": 10353 }, { "epoch": 9.873390197753907e-07, "step": 10353, "training_step_time": 17.416608095169067 }, { "epoch": 9.874343872070313e-07, "model_forward_time": 3.8508193492889404, "step": 10354 }, { "epoch": 9.874343872070313e-07, "step": 10354, "training_step_time": 17.5540509223938 }, { "epoch": 9.87529754638672e-07, "model_forward_time": 5.059475898742676, "step": 10355 }, { "epoch": 9.87529754638672e-07, "step": 10355, "training_step_time": 17.434102058410645 }, { "epoch": 9.876251220703126e-07, "model_forward_time": 5.0701904296875, "step": 10356 }, { "epoch": 9.876251220703126e-07, "step": 10356, "training_step_time": 17.634034156799316 }, { "epoch": 9.877204895019532e-07, "model_forward_time": 5.081672668457031, "step": 10357 }, { "epoch": 9.877204895019532e-07, "step": 10357, "training_step_time": 17.50987696647644 }, { "epoch": 9.878158569335938e-07, "model_forward_time": 3.8520724773406982, "step": 10358 }, { "epoch": 9.878158569335938e-07, "step": 10358, "training_step_time": 17.573290586471558 }, { "epoch": 9.879112243652344e-07, "model_forward_time": 5.064214706420898, "step": 10359 }, { "epoch": 9.879112243652344e-07, "step": 10359, "training_step_time": 17.627780199050903 }, { "epoch": 9.88006591796875e-07, "grad_norm": 0.7880792617797852, "learning_rate": 9.739795525568417e-06, "loss": 0.1112, "step": 10360 }, { "epoch": 9.88006591796875e-07, "model_forward_time": 5.07395339012146, "step": 10360 }, { "dynamics_loss_avg": 0.038671563286334275, "epoch": 9.88006591796875e-07, "step": 10360 }, { "action_loss_avg": 0.09895040281116962, "epoch": 9.88006591796875e-07, "step": 10360 }, { "arm_loss_avg": 0.1731303885579109, "epoch": 9.88006591796875e-07, "step": 10360 }, { "ee_loss_avg": 0.08517479989677668, "epoch": 9.88006591796875e-07, "step": 10360 }, { "aux_loss_avg": 0.0013528223731555044, "epoch": 9.88006591796875e-07, "step": 10360 }, { "epoch": 9.88006591796875e-07, "step": 10360, "training_step_time": 17.6493878364563 }, { "epoch": 9.881019592285156e-07, "model_forward_time": 5.091548204421997, "step": 10361 }, { "epoch": 9.881019592285156e-07, "step": 10361, "training_step_time": 17.898958206176758 }, { "epoch": 9.881973266601563e-07, "model_forward_time": 5.095736265182495, "step": 10362 }, { "epoch": 9.881973266601563e-07, "step": 10362, "training_step_time": 17.652916431427002 }, { "epoch": 9.882926940917969e-07, "model_forward_time": 5.103527784347534, "step": 10363 }, { "epoch": 9.882926940917969e-07, "step": 10363, "training_step_time": 17.67347240447998 }, { "epoch": 9.883880615234375e-07, "model_forward_time": 5.103153944015503, "step": 10364 }, { "epoch": 9.883880615234375e-07, "step": 10364, "training_step_time": 17.653749227523804 }, { "epoch": 9.88483428955078e-07, "model_forward_time": 5.102153301239014, "step": 10365 }, { "epoch": 9.88483428955078e-07, "step": 10365, "training_step_time": 17.888970851898193 }, { "epoch": 9.885787963867187e-07, "model_forward_time": 5.099758625030518, "step": 10366 }, { "epoch": 9.885787963867187e-07, "step": 10366, "training_step_time": 17.33447265625 }, { "epoch": 9.886741638183593e-07, "model_forward_time": 5.306675672531128, "step": 10367 }, { "epoch": 9.886741638183593e-07, "step": 10367, "training_step_time": 17.55636429786682 }, { "epoch": 9.8876953125e-07, "model_forward_time": 5.094096660614014, "step": 10368 }, { "epoch": 9.8876953125e-07, "step": 10368, "training_step_time": 17.400426149368286 }, { "epoch": 9.888648986816406e-07, "model_forward_time": 3.8557887077331543, "step": 10369 }, { "epoch": 9.888648986816406e-07, "step": 10369, "training_step_time": 17.493867874145508 }, { "epoch": 9.889602661132812e-07, "grad_norm": 2.6463499069213867, "learning_rate": 9.739042922763592e-06, "loss": 0.1134, "step": 10370 }, { "epoch": 9.889602661132812e-07, "model_forward_time": 3.8328628540039062, "step": 10370 }, { "dynamics_loss_avg": 0.03333329954184592, "epoch": 9.889602661132812e-07, "step": 10370 }, { "action_loss_avg": 0.09355312287807464, "epoch": 9.889602661132812e-07, "step": 10370 }, { "arm_loss_avg": 0.1708642788231373, "epoch": 9.889602661132812e-07, "step": 10370 }, { "ee_loss_avg": 0.08918333947658538, "epoch": 9.889602661132812e-07, "step": 10370 }, { "aux_loss_avg": 0.0008917337807361036, "epoch": 9.889602661132812e-07, "step": 10370 }, { "epoch": 9.889602661132812e-07, "step": 10370, "training_step_time": 17.548744916915894 }, { "epoch": 9.890556335449218e-07, "model_forward_time": 5.052394390106201, "step": 10371 }, { "epoch": 9.890556335449218e-07, "step": 10371, "training_step_time": 17.773631811141968 }, { "epoch": 9.891510009765624e-07, "model_forward_time": 5.063192129135132, "step": 10372 }, { "epoch": 9.891510009765624e-07, "step": 10372, "training_step_time": 17.64260697364807 }, { "epoch": 9.892463684082032e-07, "model_forward_time": 4.0418384075164795, "step": 10373 }, { "epoch": 9.892463684082032e-07, "step": 10373, "training_step_time": 17.6112380027771 }, { "epoch": 9.893417358398438e-07, "model_forward_time": 5.059218883514404, "step": 10374 }, { "epoch": 9.893417358398438e-07, "step": 10374, "training_step_time": 17.624951362609863 }, { "epoch": 9.894371032714845e-07, "model_forward_time": 5.081491947174072, "step": 10375 }, { "epoch": 9.894371032714845e-07, "step": 10375, "training_step_time": 17.632447957992554 }, { "epoch": 9.89532470703125e-07, "model_forward_time": 5.09623384475708, "step": 10376 }, { "epoch": 9.89532470703125e-07, "step": 10376, "training_step_time": 17.82788348197937 }, { "epoch": 9.896278381347657e-07, "model_forward_time": 5.104922533035278, "step": 10377 }, { "epoch": 9.896278381347657e-07, "step": 10377, "training_step_time": 17.566040515899658 }, { "epoch": 9.897232055664063e-07, "model_forward_time": 5.292548656463623, "step": 10378 }, { "epoch": 9.897232055664063e-07, "step": 10378, "training_step_time": 17.625301837921143 }, { "epoch": 9.89818572998047e-07, "model_forward_time": 5.110366106033325, "step": 10379 }, { "epoch": 9.89818572998047e-07, "step": 10379, "training_step_time": 17.61679768562317 }, { "epoch": 9.899139404296875e-07, "grad_norm": 2.676161766052246, "learning_rate": 9.738289262296311e-06, "loss": 0.1298, "step": 10380 }, { "epoch": 9.899139404296875e-07, "model_forward_time": 5.100809097290039, "step": 10380 }, { "dynamics_loss_avg": 0.04992351345717907, "epoch": 9.899139404296875e-07, "step": 10380 }, { "action_loss_avg": 0.10027147140353918, "epoch": 9.899139404296875e-07, "step": 10380 }, { "arm_loss_avg": 0.13403887450695037, "epoch": 9.899139404296875e-07, "step": 10380 }, { "ee_loss_avg": 0.08325979765504599, "epoch": 9.899139404296875e-07, "step": 10380 }, { "aux_loss_avg": 0.0010615622071782128, "epoch": 9.899139404296875e-07, "step": 10380 }, { "epoch": 9.899139404296875e-07, "step": 10380, "training_step_time": 17.61442279815674 }, { "epoch": 9.900093078613281e-07, "model_forward_time": 5.09600567817688, "step": 10381 }, { "epoch": 9.900093078613281e-07, "step": 10381, "training_step_time": 17.852133989334106 }, { "epoch": 9.901046752929688e-07, "model_forward_time": 5.089803457260132, "step": 10382 }, { "epoch": 9.901046752929688e-07, "step": 10382, "training_step_time": 17.61519455909729 }, { "epoch": 9.902000427246094e-07, "model_forward_time": 5.322059631347656, "step": 10383 }, { "epoch": 9.902000427246094e-07, "step": 10383, "training_step_time": 17.60684585571289 }, { "epoch": 9.9029541015625e-07, "model_forward_time": 5.08695387840271, "step": 10384 }, { "epoch": 9.9029541015625e-07, "step": 10384, "training_step_time": 17.606955766677856 }, { "epoch": 9.903907775878906e-07, "model_forward_time": 5.086568355560303, "step": 10385 }, { "epoch": 9.903907775878906e-07, "step": 10385, "training_step_time": 17.84352731704712 }, { "epoch": 9.904861450195312e-07, "model_forward_time": 5.08215856552124, "step": 10386 }, { "epoch": 9.904861450195312e-07, "step": 10386, "training_step_time": 17.59206771850586 }, { "epoch": 9.905815124511718e-07, "model_forward_time": 5.085848093032837, "step": 10387 }, { "epoch": 9.905815124511718e-07, "step": 10387, "training_step_time": 17.58708930015564 }, { "epoch": 9.906768798828124e-07, "model_forward_time": 5.081492900848389, "step": 10388 }, { "epoch": 9.906768798828124e-07, "step": 10388, "training_step_time": 17.590538263320923 }, { "epoch": 9.90772247314453e-07, "model_forward_time": 5.083893060684204, "step": 10389 }, { "epoch": 9.90772247314453e-07, "step": 10389, "training_step_time": 17.593528270721436 }, { "epoch": 9.908676147460937e-07, "grad_norm": 2.016242742538452, "learning_rate": 9.737534544334774e-06, "loss": 0.1261, "step": 10390 }, { "epoch": 9.908676147460937e-07, "model_forward_time": 5.082700967788696, "step": 10390 }, { "dynamics_loss_avg": 0.045666742883622644, "epoch": 9.908676147460937e-07, "step": 10390 }, { "action_loss_avg": 0.09703057110309601, "epoch": 9.908676147460937e-07, "step": 10390 }, { "arm_loss_avg": 0.14516166597604752, "epoch": 9.908676147460937e-07, "step": 10390 }, { "ee_loss_avg": 0.09358132611960172, "epoch": 9.908676147460937e-07, "step": 10390 }, { "aux_loss_avg": 0.001724230346735567, "epoch": 9.908676147460937e-07, "step": 10390 }, { "epoch": 9.908676147460937e-07, "step": 10390, "training_step_time": 17.581036806106567 }, { "epoch": 9.909629821777343e-07, "model_forward_time": 5.088708400726318, "step": 10391 }, { "epoch": 9.909629821777343e-07, "step": 10391, "training_step_time": 17.8250470161438 }, { "epoch": 9.91058349609375e-07, "model_forward_time": 5.082045555114746, "step": 10392 }, { "epoch": 9.91058349609375e-07, "step": 10392, "training_step_time": 17.603303909301758 }, { "epoch": 9.911537170410155e-07, "model_forward_time": 5.089240312576294, "step": 10393 }, { "epoch": 9.911537170410155e-07, "step": 10393, "training_step_time": 17.5984890460968 }, { "epoch": 9.912490844726563e-07, "model_forward_time": 5.088733196258545, "step": 10394 }, { "epoch": 9.912490844726563e-07, "step": 10394, "training_step_time": 17.61068296432495 }, { "epoch": 9.91344451904297e-07, "model_forward_time": 5.090585947036743, "step": 10395 }, { "epoch": 9.91344451904297e-07, "step": 10395, "training_step_time": 17.83745551109314 }, { "epoch": 9.914398193359376e-07, "model_forward_time": 5.096735239028931, "step": 10396 }, { "epoch": 9.914398193359376e-07, "step": 10396, "training_step_time": 17.635719537734985 }, { "epoch": 9.915351867675782e-07, "model_forward_time": 5.101999759674072, "step": 10397 }, { "epoch": 9.915351867675782e-07, "step": 10397, "training_step_time": 17.65640091896057 }, { "epoch": 9.916305541992188e-07, "model_forward_time": 5.100380182266235, "step": 10398 }, { "epoch": 9.916305541992188e-07, "step": 10398, "training_step_time": 17.632323741912842 }, { "epoch": 9.917259216308594e-07, "model_forward_time": 5.096020460128784, "step": 10399 }, { "epoch": 9.917259216308594e-07, "step": 10399, "training_step_time": 17.612146854400635 }, { "epoch": 9.918212890625e-07, "grad_norm": 2.024301290512085, "learning_rate": 9.736778769047421e-06, "loss": 0.1137, "step": 10400 }, { "epoch": 9.918212890625e-07, "model_forward_time": 5.087553262710571, "step": 10400 }, { "dynamics_loss_avg": 0.03870987910777331, "epoch": 9.918212890625e-07, "step": 10400 }, { "action_loss_avg": 0.09221422001719475, "epoch": 9.918212890625e-07, "step": 10400 }, { "arm_loss_avg": 0.1575774185359478, "epoch": 9.918212890625e-07, "step": 10400 }, { "ee_loss_avg": 0.12468797592446208, "epoch": 9.918212890625e-07, "step": 10400 }, { "aux_loss_avg": 0.004218429926550016, "epoch": 9.918212890625e-07, "step": 10400 }, { "epoch": 9.918212890625e-07, "step": 10400, "training_step_time": 17.826619386672974 }, { "epoch": 9.919166564941406e-07, "model_forward_time": 5.088379144668579, "step": 10401 }, { "epoch": 9.919166564941406e-07, "step": 10401, "training_step_time": 17.602055311203003 }, { "epoch": 9.920120239257813e-07, "model_forward_time": 3.854161500930786, "step": 10402 }, { "epoch": 9.920120239257813e-07, "step": 10402, "training_step_time": 17.608325958251953 }, { "epoch": 9.921073913574219e-07, "model_forward_time": 5.0660810470581055, "step": 10403 }, { "epoch": 9.921073913574219e-07, "step": 10403, "training_step_time": 17.60989737510681 }, { "epoch": 9.922027587890625e-07, "model_forward_time": 5.072441339492798, "step": 10404 }, { "epoch": 9.922027587890625e-07, "step": 10404, "training_step_time": 17.410547256469727 }, { "epoch": 9.922981262207031e-07, "model_forward_time": 5.085158348083496, "step": 10405 }, { "epoch": 9.922981262207031e-07, "step": 10405, "training_step_time": 17.53244113922119 }, { "epoch": 9.923934936523437e-07, "model_forward_time": 5.0914201736450195, "step": 10406 }, { "epoch": 9.923934936523437e-07, "step": 10406, "training_step_time": 17.764479160308838 }, { "epoch": 9.924888610839843e-07, "model_forward_time": 5.297961950302124, "step": 10407 }, { "epoch": 9.924888610839843e-07, "step": 10407, "training_step_time": 17.576372146606445 }, { "epoch": 9.92584228515625e-07, "model_forward_time": 5.097833871841431, "step": 10408 }, { "epoch": 9.92584228515625e-07, "step": 10408, "training_step_time": 17.602721214294434 }, { "epoch": 9.926795959472656e-07, "model_forward_time": 5.1003737449646, "step": 10409 }, { "epoch": 9.926795959472656e-07, "step": 10409, "training_step_time": 17.61887288093567 }, { "epoch": 9.927749633789062e-07, "grad_norm": 2.5101733207702637, "learning_rate": 9.736021936602926e-06, "loss": 0.1381, "step": 10410 }, { "epoch": 9.927749633789062e-07, "model_forward_time": 3.858766555786133, "step": 10410 }, { "dynamics_loss_avg": 0.04501110631972551, "epoch": 9.927749633789062e-07, "step": 10410 }, { "action_loss_avg": 0.09264784939587116, "epoch": 9.927749633789062e-07, "step": 10410 }, { "arm_loss_avg": 0.16885679513216018, "epoch": 9.927749633789062e-07, "step": 10410 }, { "ee_loss_avg": 0.12314197979867458, "epoch": 9.927749633789062e-07, "step": 10410 }, { "aux_loss_avg": 0.0026204845577012747, "epoch": 9.927749633789062e-07, "step": 10410 }, { "epoch": 9.927749633789062e-07, "step": 10410, "training_step_time": 17.845404624938965 }, { "epoch": 9.928703308105468e-07, "model_forward_time": 5.065096139907837, "step": 10411 }, { "epoch": 9.928703308105468e-07, "step": 10411, "training_step_time": 17.628970623016357 }, { "epoch": 9.929656982421874e-07, "model_forward_time": 5.077159643173218, "step": 10412 }, { "epoch": 9.929656982421874e-07, "step": 10412, "training_step_time": 17.659836769104004 }, { "epoch": 9.93061065673828e-07, "model_forward_time": 5.31981635093689, "step": 10413 }, { "epoch": 9.93061065673828e-07, "step": 10413, "training_step_time": 17.57986545562744 }, { "epoch": 9.931564331054688e-07, "model_forward_time": 5.092426538467407, "step": 10414 }, { "epoch": 9.931564331054688e-07, "step": 10414, "training_step_time": 17.6240234375 }, { "epoch": 9.932518005371095e-07, "model_forward_time": 5.096606731414795, "step": 10415 }, { "epoch": 9.932518005371095e-07, "step": 10415, "training_step_time": 17.81706953048706 }, { "epoch": 9.9334716796875e-07, "model_forward_time": 5.095420598983765, "step": 10416 }, { "epoch": 9.9334716796875e-07, "step": 10416, "training_step_time": 17.616175174713135 }, { "epoch": 9.934425354003907e-07, "model_forward_time": 5.097172737121582, "step": 10417 }, { "epoch": 9.934425354003907e-07, "step": 10417, "training_step_time": 17.610493183135986 }, { "epoch": 9.935379028320313e-07, "model_forward_time": 5.2897279262542725, "step": 10418 }, { "epoch": 9.935379028320313e-07, "step": 10418, "training_step_time": 17.61131000518799 }, { "epoch": 9.93633270263672e-07, "model_forward_time": 3.8571999073028564, "step": 10419 }, { "epoch": 9.93633270263672e-07, "step": 10419, "training_step_time": 17.61117124557495 }, { "epoch": 9.937286376953125e-07, "grad_norm": 1.4946651458740234, "learning_rate": 9.735264047170199e-06, "loss": 0.1191, "step": 10420 }, { "epoch": 9.937286376953125e-07, "model_forward_time": 5.062513113021851, "step": 10420 }, { "dynamics_loss_avg": 0.03849028702825308, "epoch": 9.937286376953125e-07, "step": 10420 }, { "action_loss_avg": 0.07566572465002537, "epoch": 9.937286376953125e-07, "step": 10420 }, { "arm_loss_avg": 0.1669195730239153, "epoch": 9.937286376953125e-07, "step": 10420 }, { "ee_loss_avg": 0.11236454602330923, "epoch": 9.937286376953125e-07, "step": 10420 }, { "aux_loss_avg": 0.003389419219456613, "epoch": 9.937286376953125e-07, "step": 10420 }, { "epoch": 9.937286376953125e-07, "step": 10420, "training_step_time": 17.839895725250244 }, { "epoch": 9.938240051269532e-07, "model_forward_time": 5.072705507278442, "step": 10421 }, { "epoch": 9.938240051269532e-07, "step": 10421, "training_step_time": 17.619457006454468 }, { "epoch": 9.939193725585938e-07, "model_forward_time": 3.8465380668640137, "step": 10422 }, { "epoch": 9.939193725585938e-07, "step": 10422, "training_step_time": 17.603397607803345 }, { "epoch": 9.940147399902344e-07, "model_forward_time": 5.288258790969849, "step": 10423 }, { "epoch": 9.940147399902344e-07, "step": 10423, "training_step_time": 17.60403871536255 }, { "epoch": 9.94110107421875e-07, "model_forward_time": 5.076864004135132, "step": 10424 }, { "epoch": 9.94110107421875e-07, "step": 10424, "training_step_time": 17.59764838218689 }, { "epoch": 9.942054748535156e-07, "model_forward_time": 5.090925455093384, "step": 10425 }, { "epoch": 9.942054748535156e-07, "step": 10425, "training_step_time": 17.79104709625244 }, { "epoch": 9.943008422851562e-07, "model_forward_time": 5.094542026519775, "step": 10426 }, { "epoch": 9.943008422851562e-07, "step": 10426, "training_step_time": 17.603646278381348 }, { "epoch": 9.943962097167968e-07, "model_forward_time": 3.862642288208008, "step": 10427 }, { "epoch": 9.943962097167968e-07, "step": 10427, "training_step_time": 17.597930908203125 }, { "epoch": 9.944915771484375e-07, "model_forward_time": 5.256469011306763, "step": 10428 }, { "epoch": 9.944915771484375e-07, "step": 10428, "training_step_time": 17.60071349143982 }, { "epoch": 9.94586944580078e-07, "model_forward_time": 5.0877602100372314, "step": 10429 }, { "epoch": 9.94586944580078e-07, "step": 10429, "training_step_time": 17.606043577194214 }, { "epoch": 9.946823120117187e-07, "grad_norm": 1.7713968753814697, "learning_rate": 9.734505100918387e-06, "loss": 0.1187, "step": 10430 }, { "epoch": 9.946823120117187e-07, "model_forward_time": 3.8543050289154053, "step": 10430 }, { "dynamics_loss_avg": 0.035474866861477494, "epoch": 9.946823120117187e-07, "step": 10430 }, { "action_loss_avg": 0.11105739399790764, "epoch": 9.946823120117187e-07, "step": 10430 }, { "arm_loss_avg": 0.18921537399291993, "epoch": 9.946823120117187e-07, "step": 10430 }, { "ee_loss_avg": 0.09866501744836569, "epoch": 9.946823120117187e-07, "step": 10430 }, { "aux_loss_avg": 0.0014156244636978955, "epoch": 9.946823120117187e-07, "step": 10430 }, { "epoch": 9.946823120117187e-07, "step": 10430, "training_step_time": 17.842591285705566 }, { "epoch": 9.947776794433593e-07, "model_forward_time": 5.067635536193848, "step": 10431 }, { "epoch": 9.947776794433593e-07, "step": 10431, "training_step_time": 17.612712383270264 }, { "epoch": 9.94873046875e-07, "model_forward_time": 5.081053256988525, "step": 10432 }, { "epoch": 9.94873046875e-07, "step": 10432, "training_step_time": 17.611477375030518 }, { "epoch": 9.949684143066405e-07, "model_forward_time": 5.323572397232056, "step": 10433 }, { "epoch": 9.949684143066405e-07, "step": 10433, "training_step_time": 17.607619047164917 }, { "epoch": 9.950637817382814e-07, "model_forward_time": 5.101567029953003, "step": 10434 }, { "epoch": 9.950637817382814e-07, "step": 10434, "training_step_time": 17.600715398788452 }, { "epoch": 9.95159149169922e-07, "model_forward_time": 5.101569890975952, "step": 10435 }, { "epoch": 9.95159149169922e-07, "step": 10435, "training_step_time": 17.7810275554657 }, { "epoch": 9.952545166015626e-07, "model_forward_time": 5.100744724273682, "step": 10436 }, { "epoch": 9.952545166015626e-07, "step": 10436, "training_step_time": 17.64715337753296 }, { "epoch": 9.953498840332032e-07, "model_forward_time": 5.099629640579224, "step": 10437 }, { "epoch": 9.953498840332032e-07, "step": 10437, "training_step_time": 17.60249924659729 }, { "epoch": 9.954452514648438e-07, "model_forward_time": 5.2851316928863525, "step": 10438 }, { "epoch": 9.954452514648438e-07, "step": 10438, "training_step_time": 17.60941243171692 }, { "epoch": 9.955406188964844e-07, "model_forward_time": 5.09349799156189, "step": 10439 }, { "epoch": 9.955406188964844e-07, "step": 10439, "training_step_time": 17.610374927520752 }, { "epoch": 9.95635986328125e-07, "grad_norm": 1.8902617692947388, "learning_rate": 9.733745098016872e-06, "loss": 0.1142, "step": 10440 }, { "epoch": 9.95635986328125e-07, "model_forward_time": 5.090647459030151, "step": 10440 }, { "dynamics_loss_avg": 0.03302922938019037, "epoch": 9.95635986328125e-07, "step": 10440 }, { "action_loss_avg": 0.0818882066756487, "epoch": 9.95635986328125e-07, "step": 10440 }, { "arm_loss_avg": 0.1566464640200138, "epoch": 9.95635986328125e-07, "step": 10440 }, { "ee_loss_avg": 0.08646363466978073, "epoch": 9.95635986328125e-07, "step": 10440 }, { "aux_loss_avg": 0.0024389775993768127, "epoch": 9.95635986328125e-07, "step": 10440 }, { "epoch": 9.95635986328125e-07, "step": 10440, "training_step_time": 17.832930326461792 }, { "epoch": 9.957313537597657e-07, "model_forward_time": 5.09041953086853, "step": 10441 }, { "epoch": 9.957313537597657e-07, "step": 10441, "training_step_time": 17.658931732177734 }, { "epoch": 9.958267211914063e-07, "model_forward_time": 5.09021782875061, "step": 10442 }, { "epoch": 9.958267211914063e-07, "step": 10442, "training_step_time": 17.611722230911255 }, { "epoch": 9.959220886230469e-07, "model_forward_time": 5.323009252548218, "step": 10443 }, { "epoch": 9.959220886230469e-07, "step": 10443, "training_step_time": 17.61385726928711 }, { "epoch": 9.960174560546875e-07, "model_forward_time": 3.8544628620147705, "step": 10444 }, { "epoch": 9.960174560546875e-07, "step": 10444, "training_step_time": 17.619879007339478 }, { "epoch": 9.961128234863281e-07, "model_forward_time": 5.067262172698975, "step": 10445 }, { "epoch": 9.961128234863281e-07, "step": 10445, "training_step_time": 17.845977544784546 }, { "epoch": 9.962081909179687e-07, "model_forward_time": 5.070810317993164, "step": 10446 }, { "epoch": 9.962081909179687e-07, "step": 10446, "training_step_time": 17.604446172714233 }, { "epoch": 9.963035583496093e-07, "model_forward_time": 5.08098840713501, "step": 10447 }, { "epoch": 9.963035583496093e-07, "step": 10447, "training_step_time": 17.599807262420654 }, { "epoch": 9.9639892578125e-07, "model_forward_time": 5.285786151885986, "step": 10448 }, { "epoch": 9.9639892578125e-07, "step": 10448, "training_step_time": 17.595527410507202 }, { "epoch": 9.964942932128906e-07, "model_forward_time": 3.8636727333068848, "step": 10449 }, { "epoch": 9.964942932128906e-07, "step": 10449, "training_step_time": 17.588150024414062 }, { "epoch": 9.965896606445312e-07, "grad_norm": 2.6408557891845703, "learning_rate": 9.73298403863527e-06, "loss": 0.1227, "step": 10450 }, { "epoch": 9.965896606445312e-07, "model_forward_time": 5.072765827178955, "step": 10450 }, { "dynamics_loss_avg": 0.03343322621658444, "epoch": 9.965896606445312e-07, "step": 10450 }, { "action_loss_avg": 0.0957960307598114, "epoch": 9.965896606445312e-07, "step": 10450 }, { "arm_loss_avg": 0.17075130976736547, "epoch": 9.965896606445312e-07, "step": 10450 }, { "ee_loss_avg": 0.11777391016948968, "epoch": 9.965896606445312e-07, "step": 10450 }, { "aux_loss_avg": 0.0009506535308901221, "epoch": 9.965896606445312e-07, "step": 10450 }, { "epoch": 9.965896606445312e-07, "step": 10450, "training_step_time": 17.808833599090576 }, { "epoch": 9.966850280761718e-07, "model_forward_time": 5.082297086715698, "step": 10451 }, { "epoch": 9.966850280761718e-07, "step": 10451, "training_step_time": 17.599684715270996 }, { "epoch": 9.967803955078124e-07, "model_forward_time": 5.09410834312439, "step": 10452 }, { "epoch": 9.967803955078124e-07, "step": 10452, "training_step_time": 17.648339986801147 }, { "epoch": 9.96875762939453e-07, "model_forward_time": 5.095434904098511, "step": 10453 }, { "epoch": 9.96875762939453e-07, "step": 10453, "training_step_time": 17.605252265930176 }, { "epoch": 9.969711303710939e-07, "model_forward_time": 5.100241184234619, "step": 10454 }, { "epoch": 9.969711303710939e-07, "step": 10454, "training_step_time": 17.598773956298828 }, { "epoch": 9.970664978027345e-07, "model_forward_time": 3.8616740703582764, "step": 10455 }, { "epoch": 9.970664978027345e-07, "step": 10455, "training_step_time": 17.794476747512817 }, { "epoch": 9.97161865234375e-07, "model_forward_time": 5.0666444301605225, "step": 10456 }, { "epoch": 9.97161865234375e-07, "step": 10456, "training_step_time": 17.608765602111816 }, { "epoch": 9.972572326660157e-07, "model_forward_time": 5.077806711196899, "step": 10457 }, { "epoch": 9.972572326660157e-07, "step": 10457, "training_step_time": 17.615868091583252 }, { "epoch": 9.973526000976563e-07, "model_forward_time": 5.087287425994873, "step": 10458 }, { "epoch": 9.973526000976563e-07, "step": 10458, "training_step_time": 17.607867002487183 }, { "epoch": 9.97447967529297e-07, "model_forward_time": 5.287878513336182, "step": 10459 }, { "epoch": 9.97447967529297e-07, "step": 10459, "training_step_time": 17.605575561523438 }, { "epoch": 9.975433349609375e-07, "grad_norm": 1.591421365737915, "learning_rate": 9.732221922943437e-06, "loss": 0.1097, "step": 10460 }, { "epoch": 9.975433349609375e-07, "model_forward_time": 5.0979766845703125, "step": 10460 }, { "dynamics_loss_avg": 0.03584130355156958, "epoch": 9.975433349609375e-07, "step": 10460 }, { "action_loss_avg": 0.09480849374085665, "epoch": 9.975433349609375e-07, "step": 10460 }, { "arm_loss_avg": 0.19376042485237122, "epoch": 9.975433349609375e-07, "step": 10460 }, { "ee_loss_avg": 0.06580852977931499, "epoch": 9.975433349609375e-07, "step": 10460 }, { "aux_loss_avg": 0.002550126356072724, "epoch": 9.975433349609375e-07, "step": 10460 }, { "epoch": 9.975433349609375e-07, "step": 10460, "training_step_time": 17.83540630340576 }, { "epoch": 9.976387023925782e-07, "model_forward_time": 5.093856334686279, "step": 10461 }, { "epoch": 9.976387023925782e-07, "step": 10461, "training_step_time": 17.601052284240723 }, { "epoch": 9.977340698242188e-07, "model_forward_time": 3.8582098484039307, "step": 10462 }, { "epoch": 9.977340698242188e-07, "step": 10462, "training_step_time": 17.606181621551514 }, { "epoch": 9.978294372558594e-07, "model_forward_time": 5.067870140075684, "step": 10463 }, { "epoch": 9.978294372558594e-07, "step": 10463, "training_step_time": 17.602431058883667 }, { "epoch": 9.979248046875e-07, "model_forward_time": 5.31882643699646, "step": 10464 }, { "epoch": 9.979248046875e-07, "step": 10464, "training_step_time": 17.598979234695435 }, { "epoch": 9.980201721191406e-07, "model_forward_time": 5.082878112792969, "step": 10465 }, { "epoch": 9.980201721191406e-07, "step": 10465, "training_step_time": 17.827494621276855 }, { "epoch": 9.981155395507812e-07, "model_forward_time": 5.0907440185546875, "step": 10466 }, { "epoch": 9.981155395507812e-07, "step": 10466, "training_step_time": 17.634641885757446 }, { "epoch": 9.982109069824218e-07, "model_forward_time": 5.0958757400512695, "step": 10467 }, { "epoch": 9.982109069824218e-07, "step": 10467, "training_step_time": 17.597028255462646 }, { "epoch": 9.983062744140625e-07, "model_forward_time": 5.0978569984436035, "step": 10468 }, { "epoch": 9.983062744140625e-07, "step": 10468, "training_step_time": 17.604524612426758 }, { "epoch": 9.98401641845703e-07, "model_forward_time": 3.859516143798828, "step": 10469 }, { "epoch": 9.98401641845703e-07, "step": 10469, "training_step_time": 17.59682583808899 }, { "epoch": 9.984970092773437e-07, "grad_norm": 3.3754615783691406, "learning_rate": 9.73145875111146e-06, "loss": 0.1239, "step": 10470 }, { "epoch": 9.984970092773437e-07, "model_forward_time": 5.064952611923218, "step": 10470 }, { "dynamics_loss_avg": 0.038643426913768056, "epoch": 9.984970092773437e-07, "step": 10470 }, { "action_loss_avg": 0.09189246613532305, "epoch": 9.984970092773437e-07, "step": 10470 }, { "arm_loss_avg": 0.17118107080459594, "epoch": 9.984970092773437e-07, "step": 10470 }, { "ee_loss_avg": 0.07153178746812046, "epoch": 9.984970092773437e-07, "step": 10470 }, { "aux_loss_avg": 0.0011565032124053686, "epoch": 9.984970092773437e-07, "step": 10470 }, { "epoch": 9.984970092773437e-07, "step": 10470, "training_step_time": 17.821897506713867 }, { "epoch": 9.985923767089843e-07, "model_forward_time": 3.8454151153564453, "step": 10471 }, { "epoch": 9.985923767089843e-07, "step": 10471, "training_step_time": 17.631165981292725 }, { "epoch": 9.98687744140625e-07, "model_forward_time": 5.0587158203125, "step": 10472 }, { "epoch": 9.98687744140625e-07, "step": 10472, "training_step_time": 17.60456371307373 }, { "epoch": 9.987831115722655e-07, "model_forward_time": 5.078012466430664, "step": 10473 }, { "epoch": 9.987831115722655e-07, "step": 10473, "training_step_time": 17.40038275718689 }, { "epoch": 9.988784790039064e-07, "model_forward_time": 5.326834201812744, "step": 10474 }, { "epoch": 9.988784790039064e-07, "step": 10474, "training_step_time": 17.463096380233765 }, { "epoch": 9.98973846435547e-07, "model_forward_time": 5.10940957069397, "step": 10475 }, { "epoch": 9.98973846435547e-07, "step": 10475, "training_step_time": 17.45572066307068 }, { "epoch": 9.990692138671876e-07, "model_forward_time": 5.11612343788147, "step": 10476 }, { "epoch": 9.990692138671876e-07, "step": 10476, "training_step_time": 17.736176252365112 }, { "epoch": 9.991645812988282e-07, "model_forward_time": 5.1098411083221436, "step": 10477 }, { "epoch": 9.991645812988282e-07, "step": 10477, "training_step_time": 17.57303285598755 }, { "epoch": 9.992599487304688e-07, "model_forward_time": 5.104380369186401, "step": 10478 }, { "epoch": 9.992599487304688e-07, "step": 10478, "training_step_time": 17.62305235862732 }, { "epoch": 9.993553161621094e-07, "model_forward_time": 5.296976566314697, "step": 10479 }, { "epoch": 9.993553161621094e-07, "step": 10479, "training_step_time": 17.642197132110596 }, { "epoch": 9.9945068359375e-07, "grad_norm": 1.4537148475646973, "learning_rate": 9.730694523309667e-06, "loss": 0.126, "step": 10480 }, { "epoch": 9.9945068359375e-07, "model_forward_time": 5.0980470180511475, "step": 10480 }, { "dynamics_loss_avg": 0.03517783768475056, "epoch": 9.9945068359375e-07, "step": 10480 }, { "action_loss_avg": 0.08111175186932087, "epoch": 9.9945068359375e-07, "step": 10480 }, { "arm_loss_avg": 0.15590133741497994, "epoch": 9.9945068359375e-07, "step": 10480 }, { "ee_loss_avg": 0.06263408660888672, "epoch": 9.9945068359375e-07, "step": 10480 }, { "aux_loss_avg": 0.0014921015012077988, "epoch": 9.9945068359375e-07, "step": 10480 }, { "epoch": 9.9945068359375e-07, "step": 10480, "training_step_time": 17.6489474773407 }, { "epoch": 9.995460510253907e-07, "model_forward_time": 5.091910123825073, "step": 10481 }, { "epoch": 9.995460510253907e-07, "step": 10481, "training_step_time": 17.886314153671265 }, { "epoch": 9.996414184570313e-07, "model_forward_time": 5.09041428565979, "step": 10482 }, { "epoch": 9.996414184570313e-07, "step": 10482, "training_step_time": 17.64394211769104 }, { "epoch": 9.997367858886719e-07, "model_forward_time": 5.08912467956543, "step": 10483 }, { "epoch": 9.997367858886719e-07, "step": 10483, "training_step_time": 17.63808512687683 }, { "epoch": 9.998321533203125e-07, "model_forward_time": 5.09562873840332, "step": 10484 }, { "epoch": 9.998321533203125e-07, "step": 10484, "training_step_time": 17.624820709228516 }, { "epoch": 9.999275207519531e-07, "model_forward_time": 3.857635974884033, "step": 10485 }, { "epoch": 9.999275207519531e-07, "step": 10485, "training_step_time": 17.439281702041626 }, { "epoch": 1.0000228881835937e-06, "model_forward_time": 5.067334413528442, "step": 10486 }, { "epoch": 1.0000228881835937e-06, "step": 10486, "training_step_time": 17.688985109329224 }, { "epoch": 1.0001182556152343e-06, "model_forward_time": 5.072066783905029, "step": 10487 }, { "epoch": 1.0001182556152343e-06, "step": 10487, "training_step_time": 17.561449766159058 }, { "epoch": 1.000213623046875e-06, "model_forward_time": 5.084176301956177, "step": 10488 }, { "epoch": 1.000213623046875e-06, "step": 10488, "training_step_time": 17.575235605239868 }, { "epoch": 1.0003089904785156e-06, "model_forward_time": 5.095278978347778, "step": 10489 }, { "epoch": 1.0003089904785156e-06, "step": 10489, "training_step_time": 17.585651636123657 }, { "epoch": 1.0004043579101562e-06, "grad_norm": 2.356678009033203, "learning_rate": 9.729929239708617e-06, "loss": 0.1294, "step": 10490 }, { "epoch": 1.0004043579101562e-06, "model_forward_time": 5.100344896316528, "step": 10490 }, { "dynamics_loss_avg": 0.04852473437786102, "epoch": 1.0004043579101562e-06, "step": 10490 }, { "action_loss_avg": 0.10546113215386868, "epoch": 1.0004043579101562e-06, "step": 10490 }, { "arm_loss_avg": 0.18135641440749167, "epoch": 1.0004043579101562e-06, "step": 10490 }, { "ee_loss_avg": 0.07381073161959648, "epoch": 1.0004043579101562e-06, "step": 10490 }, { "aux_loss_avg": 0.001094406479387544, "epoch": 1.0004043579101562e-06, "step": 10490 }, { "epoch": 1.0004043579101562e-06, "step": 10490, "training_step_time": 17.83341383934021 }, { "epoch": 1.0004997253417968e-06, "model_forward_time": 5.103189468383789, "step": 10491 }, { "epoch": 1.0004997253417968e-06, "step": 10491, "training_step_time": 17.64202904701233 }, { "epoch": 1.0005950927734374e-06, "model_forward_time": 5.1009814739227295, "step": 10492 }, { "epoch": 1.0005950927734374e-06, "step": 10492, "training_step_time": 17.612385272979736 }, { "epoch": 1.000690460205078e-06, "model_forward_time": 5.097137212753296, "step": 10493 }, { "epoch": 1.000690460205078e-06, "step": 10493, "training_step_time": 17.617639541625977 }, { "epoch": 1.0007858276367189e-06, "model_forward_time": 3.8598179817199707, "step": 10494 }, { "epoch": 1.0007858276367189e-06, "step": 10494, "training_step_time": 17.614797830581665 }, { "epoch": 1.0008811950683595e-06, "model_forward_time": 5.062455177307129, "step": 10495 }, { "epoch": 1.0008811950683595e-06, "step": 10495, "training_step_time": 17.804072380065918 }, { "epoch": 1.0009765625e-06, "model_forward_time": 5.074903964996338, "step": 10496 }, { "epoch": 1.0009765625e-06, "step": 10496, "training_step_time": 17.635395288467407 }, { "epoch": 1.0010719299316407e-06, "model_forward_time": 5.0830237865448, "step": 10497 }, { "epoch": 1.0010719299316407e-06, "step": 10497, "training_step_time": 17.598070859909058 }, { "epoch": 1.0011672973632813e-06, "model_forward_time": 5.088605642318726, "step": 10498 }, { "epoch": 1.0011672973632813e-06, "step": 10498, "training_step_time": 17.59716248512268 }, { "epoch": 1.001262664794922e-06, "model_forward_time": 4.104473114013672, "step": 10499 }, { "epoch": 1.001262664794922e-06, "step": 10499, "training_step_time": 17.581459760665894 }, { "epoch": 1.0013580322265625e-06, "grad_norm": 1.597517490386963, "learning_rate": 9.729162900479108e-06, "loss": 0.1283, "step": 10500 }, { "epoch": 1.0013580322265625e-06, "model_forward_time": 5.065565586090088, "step": 10500 }, { "dynamics_loss_avg": 0.04390130750834942, "epoch": 1.0013580322265625e-06, "step": 10500 }, { "action_loss_avg": 0.10193660631775855, "epoch": 1.0013580322265625e-06, "step": 10500 }, { "arm_loss_avg": 0.1808076821267605, "epoch": 1.0013580322265625e-06, "step": 10500 }, { "ee_loss_avg": 0.07689904514700174, "epoch": 1.0013580322265625e-06, "step": 10500 }, { "aux_loss_avg": 0.008544307894771919, "epoch": 1.0013580322265625e-06, "step": 10500 }, { "epoch": 1.0013580322265625e-06, "step": 10500, "training_step_time": 17.803800582885742 }, { "epoch": 1.0014533996582032e-06, "model_forward_time": 5.079092979431152, "step": 10501 }, { "epoch": 1.0014533996582032e-06, "step": 10501, "training_step_time": 17.576104879379272 }, { "epoch": 1.0015487670898438e-06, "model_forward_time": 5.090137004852295, "step": 10502 }, { "epoch": 1.0015487670898438e-06, "step": 10502, "training_step_time": 17.625697374343872 }, { "epoch": 1.0016441345214844e-06, "model_forward_time": 5.09651517868042, "step": 10503 }, { "epoch": 1.0016441345214844e-06, "step": 10503, "training_step_time": 17.583552598953247 }, { "epoch": 1.001739501953125e-06, "model_forward_time": 5.341711044311523, "step": 10504 }, { "epoch": 1.001739501953125e-06, "step": 10504, "training_step_time": 17.586387872695923 }, { "epoch": 1.0018348693847656e-06, "model_forward_time": 5.102330446243286, "step": 10505 }, { "epoch": 1.0018348693847656e-06, "step": 10505, "training_step_time": 17.810858249664307 }, { "epoch": 1.0019302368164062e-06, "model_forward_time": 5.0983922481536865, "step": 10506 }, { "epoch": 1.0019302368164062e-06, "step": 10506, "training_step_time": 17.65393590927124 }, { "epoch": 1.0020256042480468e-06, "model_forward_time": 5.099937915802002, "step": 10507 }, { "epoch": 1.0020256042480468e-06, "step": 10507, "training_step_time": 17.508531093597412 }, { "epoch": 1.0021209716796875e-06, "model_forward_time": 3.859626531600952, "step": 10508 }, { "epoch": 1.0021209716796875e-06, "step": 10508, "training_step_time": 17.547804832458496 }, { "epoch": 1.002216339111328e-06, "model_forward_time": 5.26520848274231, "step": 10509 }, { "epoch": 1.002216339111328e-06, "step": 10509, "training_step_time": 17.595678091049194 }, { "epoch": 1.0023117065429687e-06, "grad_norm": 2.135075092315674, "learning_rate": 9.72839550579217e-06, "loss": 0.1342, "step": 10510 }, { "epoch": 1.0023117065429687e-06, "model_forward_time": 5.076948165893555, "step": 10510 }, { "dynamics_loss_avg": 0.051965661346912384, "epoch": 1.0023117065429687e-06, "step": 10510 }, { "action_loss_avg": 0.08681631088256836, "epoch": 1.0023117065429687e-06, "step": 10510 }, { "arm_loss_avg": 0.14429556764662266, "epoch": 1.0023117065429687e-06, "step": 10510 }, { "ee_loss_avg": 0.03290427308529616, "epoch": 1.0023117065429687e-06, "step": 10510 }, { "aux_loss_avg": 0.0011176740459632128, "epoch": 1.0023117065429687e-06, "step": 10510 }, { "epoch": 1.0023117065429687e-06, "step": 10510, "training_step_time": 17.612012147903442 }, { "epoch": 1.0024070739746093e-06, "model_forward_time": 5.082620143890381, "step": 10511 }, { "epoch": 1.0024070739746093e-06, "step": 10511, "training_step_time": 17.861517190933228 }, { "epoch": 1.00250244140625e-06, "model_forward_time": 5.086034774780273, "step": 10512 }, { "epoch": 1.00250244140625e-06, "step": 10512, "training_step_time": 17.618306636810303 }, { "epoch": 1.0025978088378905e-06, "model_forward_time": 5.089804410934448, "step": 10513 }, { "epoch": 1.0025978088378905e-06, "step": 10513, "training_step_time": 17.39244556427002 }, { "epoch": 1.0026931762695311e-06, "model_forward_time": 5.346770763397217, "step": 10514 }, { "epoch": 1.0026931762695311e-06, "step": 10514, "training_step_time": 17.536118030548096 }, { "epoch": 1.002788543701172e-06, "model_forward_time": 5.09973931312561, "step": 10515 }, { "epoch": 1.002788543701172e-06, "step": 10515, "training_step_time": 17.572641611099243 }, { "epoch": 1.0028839111328126e-06, "model_forward_time": 5.097224712371826, "step": 10516 }, { "epoch": 1.0028839111328126e-06, "step": 10516, "training_step_time": 17.77392029762268 }, { "epoch": 1.0029792785644532e-06, "model_forward_time": 5.097734451293945, "step": 10517 }, { "epoch": 1.0029792785644532e-06, "step": 10517, "training_step_time": 17.60285997390747 }, { "epoch": 1.0030746459960938e-06, "model_forward_time": 5.090694427490234, "step": 10518 }, { "epoch": 1.0030746459960938e-06, "step": 10518, "training_step_time": 17.607291221618652 }, { "epoch": 1.0031700134277344e-06, "model_forward_time": 3.854269027709961, "step": 10519 }, { "epoch": 1.0031700134277344e-06, "step": 10519, "training_step_time": 17.595532178878784 }, { "epoch": 1.003265380859375e-06, "grad_norm": 2.7623772621154785, "learning_rate": 9.727627055819072e-06, "loss": 0.1404, "step": 10520 }, { "epoch": 1.003265380859375e-06, "model_forward_time": 5.066670179367065, "step": 10520 }, { "dynamics_loss_avg": 0.05534855555742979, "epoch": 1.003265380859375e-06, "step": 10520 }, { "action_loss_avg": 0.09807715341448783, "epoch": 1.003265380859375e-06, "step": 10520 }, { "arm_loss_avg": 0.13515476062893866, "epoch": 1.003265380859375e-06, "step": 10520 }, { "ee_loss_avg": 0.08882584720849991, "epoch": 1.003265380859375e-06, "step": 10520 }, { "aux_loss_avg": 0.0028467989526689053, "epoch": 1.003265380859375e-06, "step": 10520 }, { "epoch": 1.003265380859375e-06, "step": 10520, "training_step_time": 17.60437250137329 }, { "epoch": 1.0033607482910157e-06, "model_forward_time": 5.06845760345459, "step": 10521 }, { "epoch": 1.0033607482910157e-06, "step": 10521, "training_step_time": 17.83291459083557 }, { "epoch": 1.0034561157226563e-06, "model_forward_time": 5.078887462615967, "step": 10522 }, { "epoch": 1.0034561157226563e-06, "step": 10522, "training_step_time": 17.629805326461792 }, { "epoch": 1.0035514831542969e-06, "model_forward_time": 5.08799934387207, "step": 10523 }, { "epoch": 1.0035514831542969e-06, "step": 10523, "training_step_time": 17.584161520004272 }, { "epoch": 1.0036468505859375e-06, "model_forward_time": 5.327470302581787, "step": 10524 }, { "epoch": 1.0036468505859375e-06, "step": 10524, "training_step_time": 17.590047359466553 }, { "epoch": 1.0037422180175781e-06, "model_forward_time": 5.095303297042847, "step": 10525 }, { "epoch": 1.0037422180175781e-06, "step": 10525, "training_step_time": 17.827503442764282 }, { "epoch": 1.0038375854492187e-06, "model_forward_time": 5.097134828567505, "step": 10526 }, { "epoch": 1.0038375854492187e-06, "step": 10526, "training_step_time": 17.591925382614136 }, { "epoch": 1.0039329528808593e-06, "model_forward_time": 5.100829362869263, "step": 10527 }, { "epoch": 1.0039329528808593e-06, "step": 10527, "training_step_time": 17.605422258377075 }, { "epoch": 1.0040283203125e-06, "model_forward_time": 5.097942352294922, "step": 10528 }, { "epoch": 1.0040283203125e-06, "step": 10528, "training_step_time": 17.58811926841736 }, { "epoch": 1.0041236877441406e-06, "model_forward_time": 5.1013147830963135, "step": 10529 }, { "epoch": 1.0041236877441406e-06, "step": 10529, "training_step_time": 17.586183309555054 }, { "epoch": 1.0042190551757812e-06, "grad_norm": 1.9254406690597534, "learning_rate": 9.726857550731318e-06, "loss": 0.1201, "step": 10530 }, { "epoch": 1.0042190551757812e-06, "model_forward_time": 5.094116449356079, "step": 10530 }, { "dynamics_loss_avg": 0.048716379515826705, "epoch": 1.0042190551757812e-06, "step": 10530 }, { "action_loss_avg": 0.09072864651679993, "epoch": 1.0042190551757812e-06, "step": 10530 }, { "arm_loss_avg": 0.1387708455324173, "epoch": 1.0042190551757812e-06, "step": 10530 }, { "ee_loss_avg": 0.06685874238610268, "epoch": 1.0042190551757812e-06, "step": 10530 }, { "aux_loss_avg": 0.0011552103096619248, "epoch": 1.0042190551757812e-06, "step": 10530 }, { "epoch": 1.0042190551757812e-06, "step": 10530, "training_step_time": 17.40857982635498 }, { "epoch": 1.0043144226074218e-06, "model_forward_time": 5.0905561447143555, "step": 10531 }, { "epoch": 1.0043144226074218e-06, "step": 10531, "training_step_time": 17.737950086593628 }, { "epoch": 1.0044097900390624e-06, "model_forward_time": 5.083972692489624, "step": 10532 }, { "epoch": 1.0044097900390624e-06, "step": 10532, "training_step_time": 17.61517024040222 }, { "epoch": 1.004505157470703e-06, "model_forward_time": 5.084871530532837, "step": 10533 }, { "epoch": 1.004505157470703e-06, "step": 10533, "training_step_time": 17.40908408164978 }, { "epoch": 1.0046005249023436e-06, "model_forward_time": 5.080642938613892, "step": 10534 }, { "epoch": 1.0046005249023436e-06, "step": 10534, "training_step_time": 17.487035751342773 }, { "epoch": 1.0046958923339845e-06, "model_forward_time": 5.086010456085205, "step": 10535 }, { "epoch": 1.0046958923339845e-06, "step": 10535, "training_step_time": 17.542518138885498 }, { "epoch": 1.004791259765625e-06, "model_forward_time": 5.095566272735596, "step": 10536 }, { "epoch": 1.004791259765625e-06, "step": 10536, "training_step_time": 17.813907623291016 }, { "epoch": 1.0048866271972657e-06, "model_forward_time": 5.094721794128418, "step": 10537 }, { "epoch": 1.0048866271972657e-06, "step": 10537, "training_step_time": 17.65695595741272 }, { "epoch": 1.0049819946289063e-06, "model_forward_time": 3.8708178997039795, "step": 10538 }, { "epoch": 1.0049819946289063e-06, "step": 10538, "training_step_time": 17.412201404571533 }, { "epoch": 1.005077362060547e-06, "model_forward_time": 5.31513237953186, "step": 10539 }, { "epoch": 1.005077362060547e-06, "step": 10539, "training_step_time": 17.398617267608643 }, { "epoch": 1.0051727294921875e-06, "grad_norm": 2.193895101547241, "learning_rate": 9.726086990700643e-06, "loss": 0.1456, "step": 10540 }, { "epoch": 1.0051727294921875e-06, "model_forward_time": 5.077646970748901, "step": 10540 }, { "dynamics_loss_avg": 0.05224085170775652, "epoch": 1.0051727294921875e-06, "step": 10540 }, { "action_loss_avg": 0.13625936936587096, "epoch": 1.0051727294921875e-06, "step": 10540 }, { "arm_loss_avg": 0.19149164110422134, "epoch": 1.0051727294921875e-06, "step": 10540 }, { "ee_loss_avg": 0.062116138730198146, "epoch": 1.0051727294921875e-06, "step": 10540 }, { "aux_loss_avg": 0.001705115957884118, "epoch": 1.0051727294921875e-06, "step": 10540 }, { "epoch": 1.0051727294921875e-06, "step": 10540, "training_step_time": 17.81751585006714 }, { "epoch": 1.0052680969238282e-06, "model_forward_time": 5.080021381378174, "step": 10541 }, { "epoch": 1.0052680969238282e-06, "step": 10541, "training_step_time": 17.68453025817871 }, { "epoch": 1.0053634643554688e-06, "model_forward_time": 5.085517168045044, "step": 10542 }, { "epoch": 1.0053634643554688e-06, "step": 10542, "training_step_time": 17.595251083374023 }, { "epoch": 1.0054588317871094e-06, "model_forward_time": 5.0951690673828125, "step": 10543 }, { "epoch": 1.0054588317871094e-06, "step": 10543, "training_step_time": 17.55999255180359 }, { "epoch": 1.00555419921875e-06, "model_forward_time": 3.862724781036377, "step": 10544 }, { "epoch": 1.00555419921875e-06, "step": 10544, "training_step_time": 17.592954635620117 }, { "epoch": 1.0056495666503906e-06, "model_forward_time": 5.065623760223389, "step": 10545 }, { "epoch": 1.0056495666503906e-06, "step": 10545, "training_step_time": 17.641781091690063 }, { "epoch": 1.0057449340820312e-06, "model_forward_time": 5.078517198562622, "step": 10546 }, { "epoch": 1.0057449340820312e-06, "step": 10546, "training_step_time": 17.823498725891113 }, { "epoch": 1.0058403015136718e-06, "model_forward_time": 5.084941864013672, "step": 10547 }, { "epoch": 1.0058403015136718e-06, "step": 10547, "training_step_time": 17.62725305557251 }, { "epoch": 1.0059356689453125e-06, "model_forward_time": 5.094010829925537, "step": 10548 }, { "epoch": 1.0059356689453125e-06, "step": 10548, "training_step_time": 17.63751482963562 }, { "epoch": 1.006031036376953e-06, "model_forward_time": 5.096203565597534, "step": 10549 }, { "epoch": 1.006031036376953e-06, "step": 10549, "training_step_time": 17.401307344436646 }, { "epoch": 1.0061264038085937e-06, "grad_norm": 1.7259570360183716, "learning_rate": 9.725315375899025e-06, "loss": 0.1343, "step": 10550 }, { "epoch": 1.0061264038085937e-06, "model_forward_time": 5.099853754043579, "step": 10550 }, { "dynamics_loss_avg": 0.05306123662739992, "epoch": 1.0061264038085937e-06, "step": 10550 }, { "action_loss_avg": 0.09147826246917248, "epoch": 1.0061264038085937e-06, "step": 10550 }, { "arm_loss_avg": 0.16580475345253945, "epoch": 1.0061264038085937e-06, "step": 10550 }, { "ee_loss_avg": 0.08945900648832321, "epoch": 1.0061264038085937e-06, "step": 10550 }, { "aux_loss_avg": 0.0021695778938010334, "epoch": 1.0061264038085937e-06, "step": 10550 }, { "epoch": 1.0061264038085937e-06, "step": 10550, "training_step_time": 17.532140731811523 }, { "epoch": 1.0062217712402343e-06, "model_forward_time": 5.0975236892700195, "step": 10551 }, { "epoch": 1.0062217712402343e-06, "step": 10551, "training_step_time": 17.80349612236023 }, { "epoch": 1.006317138671875e-06, "model_forward_time": 5.091707229614258, "step": 10552 }, { "epoch": 1.006317138671875e-06, "step": 10552, "training_step_time": 17.58149290084839 }, { "epoch": 1.0064125061035155e-06, "model_forward_time": 5.0906431674957275, "step": 10553 }, { "epoch": 1.0064125061035155e-06, "step": 10553, "training_step_time": 17.59640908241272 }, { "epoch": 1.0065078735351561e-06, "model_forward_time": 5.088582992553711, "step": 10554 }, { "epoch": 1.0065078735351561e-06, "step": 10554, "training_step_time": 17.600028038024902 }, { "epoch": 1.006603240966797e-06, "model_forward_time": 5.08618688583374, "step": 10555 }, { "epoch": 1.006603240966797e-06, "step": 10555, "training_step_time": 17.40050435066223 }, { "epoch": 1.0066986083984376e-06, "model_forward_time": 5.085440397262573, "step": 10556 }, { "epoch": 1.0066986083984376e-06, "step": 10556, "training_step_time": 17.746224880218506 }, { "epoch": 1.0067939758300782e-06, "model_forward_time": 5.095791339874268, "step": 10557 }, { "epoch": 1.0067939758300782e-06, "step": 10557, "training_step_time": 17.593276262283325 }, { "epoch": 1.0068893432617188e-06, "model_forward_time": 5.106879234313965, "step": 10558 }, { "epoch": 1.0068893432617188e-06, "step": 10558, "training_step_time": 17.6135311126709 }, { "epoch": 1.0069847106933594e-06, "model_forward_time": 5.097161054611206, "step": 10559 }, { "epoch": 1.0069847106933594e-06, "step": 10559, "training_step_time": 17.410099744796753 }, { "epoch": 1.007080078125e-06, "grad_norm": 1.7418509721755981, "learning_rate": 9.724542706498672e-06, "loss": 0.1248, "step": 10560 }, { "epoch": 1.007080078125e-06, "model_forward_time": 5.1090087890625, "step": 10560 }, { "dynamics_loss_avg": 0.04048635503277183, "epoch": 1.007080078125e-06, "step": 10560 }, { "action_loss_avg": 0.1002321220934391, "epoch": 1.007080078125e-06, "step": 10560 }, { "arm_loss_avg": 0.1594892658293247, "epoch": 1.007080078125e-06, "step": 10560 }, { "ee_loss_avg": 0.10201744409278035, "epoch": 1.007080078125e-06, "step": 10560 }, { "aux_loss_avg": 0.0069443917600438, "epoch": 1.007080078125e-06, "step": 10560 }, { "epoch": 1.007080078125e-06, "step": 10560, "training_step_time": 17.542980909347534 }, { "epoch": 1.0071754455566407e-06, "model_forward_time": 3.8564584255218506, "step": 10561 }, { "epoch": 1.0071754455566407e-06, "step": 10561, "training_step_time": 17.79395604133606 }, { "epoch": 1.0072708129882813e-06, "model_forward_time": 5.058983564376831, "step": 10562 }, { "epoch": 1.0072708129882813e-06, "step": 10562, "training_step_time": 17.597123622894287 }, { "epoch": 1.0073661804199219e-06, "model_forward_time": 5.066973686218262, "step": 10563 }, { "epoch": 1.0073661804199219e-06, "step": 10563, "training_step_time": 17.613240003585815 }, { "epoch": 1.0074615478515625e-06, "model_forward_time": 5.308002471923828, "step": 10564 }, { "epoch": 1.0074615478515625e-06, "step": 10564, "training_step_time": 17.61473798751831 }, { "epoch": 1.0075569152832031e-06, "model_forward_time": 5.087201356887817, "step": 10565 }, { "epoch": 1.0075569152832031e-06, "step": 10565, "training_step_time": 17.620251178741455 }, { "epoch": 1.0076522827148437e-06, "model_forward_time": 5.0933449268341064, "step": 10566 }, { "epoch": 1.0076522827148437e-06, "step": 10566, "training_step_time": 17.81082510948181 }, { "epoch": 1.0077476501464843e-06, "model_forward_time": 5.096458911895752, "step": 10567 }, { "epoch": 1.0077476501464843e-06, "step": 10567, "training_step_time": 17.6162052154541 }, { "epoch": 1.007843017578125e-06, "model_forward_time": 5.097100019454956, "step": 10568 }, { "epoch": 1.007843017578125e-06, "step": 10568, "training_step_time": 17.610657215118408 }, { "epoch": 1.0079383850097656e-06, "model_forward_time": 5.097845554351807, "step": 10569 }, { "epoch": 1.0079383850097656e-06, "step": 10569, "training_step_time": 17.606576442718506 }, { "epoch": 1.0080337524414062e-06, "grad_norm": 2.2662599086761475, "learning_rate": 9.723768982672029e-06, "loss": 0.1303, "step": 10570 }, { "epoch": 1.0080337524414062e-06, "model_forward_time": 5.096193075180054, "step": 10570 }, { "dynamics_loss_avg": 0.04348132899031043, "epoch": 1.0080337524414062e-06, "step": 10570 }, { "action_loss_avg": 0.07834658985957503, "epoch": 1.0080337524414062e-06, "step": 10570 }, { "arm_loss_avg": 0.14171528518199922, "epoch": 1.0080337524414062e-06, "step": 10570 }, { "ee_loss_avg": 0.0595421944744885, "epoch": 1.0080337524414062e-06, "step": 10570 }, { "aux_loss_avg": 0.0010090309369843453, "epoch": 1.0080337524414062e-06, "step": 10570 }, { "epoch": 1.0080337524414062e-06, "step": 10570, "training_step_time": 17.60000491142273 }, { "epoch": 1.0081291198730468e-06, "model_forward_time": 5.090539455413818, "step": 10571 }, { "epoch": 1.0081291198730468e-06, "step": 10571, "training_step_time": 17.811961889266968 }, { "epoch": 1.0082244873046874e-06, "model_forward_time": 5.08342432975769, "step": 10572 }, { "epoch": 1.0082244873046874e-06, "step": 10572, "training_step_time": 17.64850401878357 }, { "epoch": 1.008319854736328e-06, "model_forward_time": 3.8519864082336426, "step": 10573 }, { "epoch": 1.008319854736328e-06, "step": 10573, "training_step_time": 17.58784317970276 }, { "epoch": 1.0084152221679687e-06, "model_forward_time": 5.297038555145264, "step": 10574 }, { "epoch": 1.0084152221679687e-06, "step": 10574, "training_step_time": 17.589235305786133 }, { "epoch": 1.0085105895996095e-06, "model_forward_time": 5.068672180175781, "step": 10575 }, { "epoch": 1.0085105895996095e-06, "step": 10575, "training_step_time": 17.582289457321167 }, { "epoch": 1.00860595703125e-06, "model_forward_time": 5.0733232498168945, "step": 10576 }, { "epoch": 1.00860595703125e-06, "step": 10576, "training_step_time": 17.771388292312622 }, { "epoch": 1.0087013244628907e-06, "model_forward_time": 5.083799600601196, "step": 10577 }, { "epoch": 1.0087013244628907e-06, "step": 10577, "training_step_time": 17.576529026031494 }, { "epoch": 1.0087966918945313e-06, "model_forward_time": 5.0921196937561035, "step": 10578 }, { "epoch": 1.0087966918945313e-06, "step": 10578, "training_step_time": 17.580913066864014 }, { "epoch": 1.008892059326172e-06, "model_forward_time": 5.096137285232544, "step": 10579 }, { "epoch": 1.008892059326172e-06, "step": 10579, "training_step_time": 17.591142177581787 }, { "epoch": 1.0089874267578125e-06, "grad_norm": 1.4697142839431763, "learning_rate": 9.722994204591774e-06, "loss": 0.1263, "step": 10580 }, { "epoch": 1.0089874267578125e-06, "model_forward_time": 5.09869122505188, "step": 10580 }, { "dynamics_loss_avg": 0.04261379316449165, "epoch": 1.0089874267578125e-06, "step": 10580 }, { "action_loss_avg": 0.08484321078285575, "epoch": 1.0089874267578125e-06, "step": 10580 }, { "arm_loss_avg": 0.14889817237854003, "epoch": 1.0089874267578125e-06, "step": 10580 }, { "ee_loss_avg": 0.11280213436111808, "epoch": 1.0089874267578125e-06, "step": 10580 }, { "aux_loss_avg": 0.007104197493754327, "epoch": 1.0089874267578125e-06, "step": 10580 }, { "epoch": 1.0089874267578125e-06, "step": 10580, "training_step_time": 17.410882472991943 }, { "epoch": 1.0090827941894532e-06, "model_forward_time": 5.103085279464722, "step": 10581 }, { "epoch": 1.0090827941894532e-06, "step": 10581, "training_step_time": 17.61568832397461 }, { "epoch": 1.0091781616210938e-06, "model_forward_time": 5.0937464237213135, "step": 10582 }, { "epoch": 1.0091781616210938e-06, "step": 10582, "training_step_time": 17.79317617416382 }, { "epoch": 1.0092735290527344e-06, "model_forward_time": 5.092421054840088, "step": 10583 }, { "epoch": 1.0092735290527344e-06, "step": 10583, "training_step_time": 17.5779767036438 }, { "epoch": 1.009368896484375e-06, "model_forward_time": 3.8538291454315186, "step": 10584 }, { "epoch": 1.009368896484375e-06, "step": 10584, "training_step_time": 17.59464979171753 }, { "epoch": 1.0094642639160156e-06, "model_forward_time": 5.058894157409668, "step": 10585 }, { "epoch": 1.0094642639160156e-06, "step": 10585, "training_step_time": 17.627524614334106 }, { "epoch": 1.0095596313476562e-06, "model_forward_time": 5.06643009185791, "step": 10586 }, { "epoch": 1.0095596313476562e-06, "step": 10586, "training_step_time": 17.602763175964355 }, { "epoch": 1.0096549987792969e-06, "model_forward_time": 3.8436014652252197, "step": 10587 }, { "epoch": 1.0096549987792969e-06, "step": 10587, "training_step_time": 17.3983895778656 }, { "epoch": 1.0097503662109375e-06, "model_forward_time": 5.0549561977386475, "step": 10588 }, { "epoch": 1.0097503662109375e-06, "step": 10588, "training_step_time": 17.480642557144165 }, { "epoch": 1.009845733642578e-06, "model_forward_time": 5.2749855518341064, "step": 10589 }, { "epoch": 1.009845733642578e-06, "step": 10589, "training_step_time": 17.535216093063354 }, { "epoch": 1.0099411010742187e-06, "grad_norm": 1.773537516593933, "learning_rate": 9.722218372430825e-06, "loss": 0.1263, "step": 10590 }, { "epoch": 1.0099411010742187e-06, "model_forward_time": 3.849848985671997, "step": 10590 }, { "dynamics_loss_avg": 0.0458159739151597, "epoch": 1.0099411010742187e-06, "step": 10590 }, { "action_loss_avg": 0.07367419339716434, "epoch": 1.0099411010742187e-06, "step": 10590 }, { "arm_loss_avg": 0.0983436606824398, "epoch": 1.0099411010742187e-06, "step": 10590 }, { "ee_loss_avg": 0.09520891723223031, "epoch": 1.0099411010742187e-06, "step": 10590 }, { "aux_loss_avg": 0.0022357968147844074, "epoch": 1.0099411010742187e-06, "step": 10590 }, { "epoch": 1.0099411010742187e-06, "step": 10590, "training_step_time": 17.568202257156372 }, { "epoch": 1.0100364685058593e-06, "model_forward_time": 5.062094449996948, "step": 10591 }, { "epoch": 1.0100364685058593e-06, "step": 10591, "training_step_time": 17.65722131729126 }, { "epoch": 1.0101318359375e-06, "model_forward_time": 5.082810640335083, "step": 10592 }, { "epoch": 1.0101318359375e-06, "step": 10592, "training_step_time": 17.853994131088257 }, { "epoch": 1.0102272033691405e-06, "model_forward_time": 3.8540799617767334, "step": 10593 }, { "epoch": 1.0102272033691405e-06, "step": 10593, "training_step_time": 17.623644590377808 }, { "epoch": 1.0103225708007812e-06, "model_forward_time": 5.295695066452026, "step": 10594 }, { "epoch": 1.0103225708007812e-06, "step": 10594, "training_step_time": 17.397750854492188 }, { "epoch": 1.010417938232422e-06, "model_forward_time": 5.08381986618042, "step": 10595 }, { "epoch": 1.010417938232422e-06, "step": 10595, "training_step_time": 17.540369749069214 }, { "epoch": 1.0105133056640626e-06, "model_forward_time": 5.096127271652222, "step": 10596 }, { "epoch": 1.0105133056640626e-06, "step": 10596, "training_step_time": 17.58369207382202 }, { "epoch": 1.0106086730957032e-06, "model_forward_time": 5.1022608280181885, "step": 10597 }, { "epoch": 1.0106086730957032e-06, "step": 10597, "training_step_time": 17.550684452056885 }, { "epoch": 1.0107040405273438e-06, "model_forward_time": 5.101221799850464, "step": 10598 }, { "epoch": 1.0107040405273438e-06, "step": 10598, "training_step_time": 17.53158187866211 }, { "epoch": 1.0107994079589844e-06, "model_forward_time": 4.0799267292022705, "step": 10599 }, { "epoch": 1.0107994079589844e-06, "step": 10599, "training_step_time": 17.57010579109192 }, { "epoch": 1.010894775390625e-06, "grad_norm": 2.1319081783294678, "learning_rate": 9.721441486362332e-06, "loss": 0.1162, "step": 10600 }, { "epoch": 1.010894775390625e-06, "model_forward_time": 5.065155029296875, "step": 10600 }, { "dynamics_loss_avg": 0.041397248208522794, "epoch": 1.010894775390625e-06, "step": 10600 }, { "action_loss_avg": 0.10135658364742994, "epoch": 1.010894775390625e-06, "step": 10600 }, { "arm_loss_avg": 0.14634036216884852, "epoch": 1.010894775390625e-06, "step": 10600 }, { "ee_loss_avg": 0.12418228394817561, "epoch": 1.010894775390625e-06, "step": 10600 }, { "aux_loss_avg": 0.0021665272885002195, "epoch": 1.010894775390625e-06, "step": 10600 }, { "epoch": 1.010894775390625e-06, "step": 10600, "training_step_time": 17.611968755722046 }, { "epoch": 1.0109901428222657e-06, "model_forward_time": 5.069741249084473, "step": 10601 }, { "epoch": 1.0109901428222657e-06, "step": 10601, "training_step_time": 17.627142906188965 }, { "epoch": 1.0110855102539063e-06, "model_forward_time": 3.8453640937805176, "step": 10602 }, { "epoch": 1.0110855102539063e-06, "step": 10602, "training_step_time": 17.764991760253906 }, { "epoch": 1.011180877685547e-06, "model_forward_time": 5.055621385574341, "step": 10603 }, { "epoch": 1.011180877685547e-06, "step": 10603, "training_step_time": 17.59068489074707 }, { "epoch": 1.0112762451171875e-06, "model_forward_time": 5.301166534423828, "step": 10604 }, { "epoch": 1.0112762451171875e-06, "step": 10604, "training_step_time": 17.603825330734253 }, { "epoch": 1.0113716125488281e-06, "model_forward_time": 5.07805323600769, "step": 10605 }, { "epoch": 1.0113716125488281e-06, "step": 10605, "training_step_time": 17.633757829666138 }, { "epoch": 1.0114669799804687e-06, "model_forward_time": 5.090067625045776, "step": 10606 }, { "epoch": 1.0114669799804687e-06, "step": 10606, "training_step_time": 17.63776421546936 }, { "epoch": 1.0115623474121094e-06, "model_forward_time": 5.097372055053711, "step": 10607 }, { "epoch": 1.0115623474121094e-06, "step": 10607, "training_step_time": 17.82473397254944 }, { "epoch": 1.01165771484375e-06, "model_forward_time": 3.85903000831604, "step": 10608 }, { "epoch": 1.01165771484375e-06, "step": 10608, "training_step_time": 17.651243686676025 }, { "epoch": 1.0117530822753906e-06, "model_forward_time": 4.0693323612213135, "step": 10609 }, { "epoch": 1.0117530822753906e-06, "step": 10609, "training_step_time": 17.635075569152832 }, { "epoch": 1.0118484497070312e-06, "grad_norm": 1.5081908702850342, "learning_rate": 9.720663546559682e-06, "loss": 0.124, "step": 10610 }, { "epoch": 1.0118484497070312e-06, "model_forward_time": 5.053338527679443, "step": 10610 }, { "dynamics_loss_avg": 0.04099908759817481, "epoch": 1.0118484497070312e-06, "step": 10610 }, { "action_loss_avg": 0.0919755931943655, "epoch": 1.0118484497070312e-06, "step": 10610 }, { "arm_loss_avg": 0.15199141576886177, "epoch": 1.0118484497070312e-06, "step": 10610 }, { "ee_loss_avg": 0.16440087230876088, "epoch": 1.0118484497070312e-06, "step": 10610 }, { "aux_loss_avg": 0.0080835607892368, "epoch": 1.0118484497070312e-06, "step": 10610 }, { "epoch": 1.0118484497070312e-06, "step": 10610, "training_step_time": 17.620460987091064 }, { "epoch": 1.0119438171386718e-06, "model_forward_time": 5.070664882659912, "step": 10611 }, { "epoch": 1.0119438171386718e-06, "step": 10611, "training_step_time": 17.61099648475647 }, { "epoch": 1.0120391845703124e-06, "model_forward_time": 5.083467960357666, "step": 10612 }, { "epoch": 1.0120391845703124e-06, "step": 10612, "training_step_time": 17.840211629867554 }, { "epoch": 1.012134552001953e-06, "model_forward_time": 5.091096639633179, "step": 10613 }, { "epoch": 1.012134552001953e-06, "step": 10613, "training_step_time": 17.400960683822632 }, { "epoch": 1.0122299194335937e-06, "model_forward_time": 5.340717554092407, "step": 10614 }, { "epoch": 1.0122299194335937e-06, "step": 10614, "training_step_time": 17.483968496322632 }, { "epoch": 1.0123252868652345e-06, "model_forward_time": 5.10469388961792, "step": 10615 }, { "epoch": 1.0123252868652345e-06, "step": 10615, "training_step_time": 17.47503972053528 }, { "epoch": 1.012420654296875e-06, "model_forward_time": 5.1003193855285645, "step": 10616 }, { "epoch": 1.012420654296875e-06, "step": 10616, "training_step_time": 17.38083291053772 }, { "epoch": 1.0125160217285157e-06, "model_forward_time": 5.101728439331055, "step": 10617 }, { "epoch": 1.0125160217285157e-06, "step": 10617, "training_step_time": 17.447627067565918 }, { "epoch": 1.0126113891601563e-06, "model_forward_time": 3.8574864864349365, "step": 10618 }, { "epoch": 1.0126113891601563e-06, "step": 10618, "training_step_time": 17.4776132106781 }, { "epoch": 1.012706756591797e-06, "model_forward_time": 5.060774087905884, "step": 10619 }, { "epoch": 1.012706756591797e-06, "step": 10619, "training_step_time": 17.58008313179016 }, { "epoch": 1.0128021240234376e-06, "grad_norm": 2.133526563644409, "learning_rate": 9.719884553196494e-06, "loss": 0.1303, "step": 10620 }, { "epoch": 1.0128021240234376e-06, "model_forward_time": 5.070404052734375, "step": 10620 }, { "dynamics_loss_avg": 0.043836063845083116, "epoch": 1.0128021240234376e-06, "step": 10620 }, { "action_loss_avg": 0.09439712166786193, "epoch": 1.0128021240234376e-06, "step": 10620 }, { "arm_loss_avg": 0.14743140041828157, "epoch": 1.0128021240234376e-06, "step": 10620 }, { "ee_loss_avg": 0.08783353180624545, "epoch": 1.0128021240234376e-06, "step": 10620 }, { "aux_loss_avg": 0.0010076147213112564, "epoch": 1.0128021240234376e-06, "step": 10620 }, { "epoch": 1.0128021240234376e-06, "step": 10620, "training_step_time": 17.632051944732666 }, { "epoch": 1.0128974914550782e-06, "model_forward_time": 5.0736000537872314, "step": 10621 }, { "epoch": 1.0128974914550782e-06, "step": 10621, "training_step_time": 17.669459104537964 }, { "epoch": 1.0129928588867188e-06, "model_forward_time": 5.076369762420654, "step": 10622 }, { "epoch": 1.0129928588867188e-06, "step": 10622, "training_step_time": 17.92036008834839 }, { "epoch": 1.0130882263183594e-06, "model_forward_time": 5.081035614013672, "step": 10623 }, { "epoch": 1.0130882263183594e-06, "step": 10623, "training_step_time": 17.667636156082153 }, { "epoch": 1.01318359375e-06, "model_forward_time": 5.090429782867432, "step": 10624 }, { "epoch": 1.01318359375e-06, "step": 10624, "training_step_time": 17.658509969711304 }, { "epoch": 1.0132789611816406e-06, "model_forward_time": 5.330988883972168, "step": 10625 }, { "epoch": 1.0132789611816406e-06, "step": 10625, "training_step_time": 17.45405864715576 }, { "epoch": 1.0133743286132812e-06, "model_forward_time": 5.096792936325073, "step": 10626 }, { "epoch": 1.0133743286132812e-06, "step": 10626, "training_step_time": 17.549261808395386 }, { "epoch": 1.0134696960449219e-06, "model_forward_time": 5.093338489532471, "step": 10627 }, { "epoch": 1.0134696960449219e-06, "step": 10627, "training_step_time": 17.785841941833496 }, { "epoch": 1.0135650634765625e-06, "model_forward_time": 5.0925517082214355, "step": 10628 }, { "epoch": 1.0135650634765625e-06, "step": 10628, "training_step_time": 17.61087393760681 }, { "epoch": 1.013660430908203e-06, "model_forward_time": 5.088292837142944, "step": 10629 }, { "epoch": 1.013660430908203e-06, "step": 10629, "training_step_time": 17.437760829925537 }, { "epoch": 1.0137557983398437e-06, "grad_norm": 2.5309367179870605, "learning_rate": 9.719104506446626e-06, "loss": 0.124, "step": 10630 }, { "epoch": 1.0137557983398437e-06, "model_forward_time": 5.090698719024658, "step": 10630 }, { "dynamics_loss_avg": 0.039070000685751435, "epoch": 1.0137557983398437e-06, "step": 10630 }, { "action_loss_avg": 0.08009222522377968, "epoch": 1.0137557983398437e-06, "step": 10630 }, { "arm_loss_avg": 0.16370477378368378, "epoch": 1.0137557983398437e-06, "step": 10630 }, { "ee_loss_avg": 0.07093958985060453, "epoch": 1.0137557983398437e-06, "step": 10630 }, { "aux_loss_avg": 0.0010920854518190026, "epoch": 1.0137557983398437e-06, "step": 10630 }, { "epoch": 1.0137557983398437e-06, "step": 10630, "training_step_time": 17.533119201660156 }, { "epoch": 1.0138511657714843e-06, "model_forward_time": 5.086872339248657, "step": 10631 }, { "epoch": 1.0138511657714843e-06, "step": 10631, "training_step_time": 17.579935550689697 }, { "epoch": 1.013946533203125e-06, "model_forward_time": 5.085133075714111, "step": 10632 }, { "epoch": 1.013946533203125e-06, "step": 10632, "training_step_time": 17.626418828964233 }, { "epoch": 1.0140419006347655e-06, "model_forward_time": 5.0831592082977295, "step": 10633 }, { "epoch": 1.0140419006347655e-06, "step": 10633, "training_step_time": 17.86008095741272 }, { "epoch": 1.0141372680664062e-06, "model_forward_time": 3.8453400135040283, "step": 10634 }, { "epoch": 1.0141372680664062e-06, "step": 10634, "training_step_time": 17.613325119018555 }, { "epoch": 1.0142326354980468e-06, "model_forward_time": 5.287457704544067, "step": 10635 }, { "epoch": 1.0142326354980468e-06, "step": 10635, "training_step_time": 17.645560026168823 }, { "epoch": 1.0143280029296876e-06, "model_forward_time": 5.067991495132446, "step": 10636 }, { "epoch": 1.0143280029296876e-06, "step": 10636, "training_step_time": 17.623388051986694 }, { "epoch": 1.0144233703613282e-06, "model_forward_time": 5.091244459152222, "step": 10637 }, { "epoch": 1.0144233703613282e-06, "step": 10637, "training_step_time": 17.569612741470337 }, { "epoch": 1.0145187377929688e-06, "model_forward_time": 5.102818489074707, "step": 10638 }, { "epoch": 1.0145187377929688e-06, "step": 10638, "training_step_time": 17.793113470077515 }, { "epoch": 1.0146141052246094e-06, "model_forward_time": 5.112104415893555, "step": 10639 }, { "epoch": 1.0146141052246094e-06, "step": 10639, "training_step_time": 17.616000413894653 }, { "epoch": 1.01470947265625e-06, "grad_norm": 2.1124441623687744, "learning_rate": 9.718323406484168e-06, "loss": 0.1355, "step": 10640 }, { "epoch": 1.01470947265625e-06, "model_forward_time": 5.361807107925415, "step": 10640 }, { "dynamics_loss_avg": 0.0548493416979909, "epoch": 1.01470947265625e-06, "step": 10640 }, { "action_loss_avg": 0.1045586846768856, "epoch": 1.01470947265625e-06, "step": 10640 }, { "arm_loss_avg": 0.17204732596874237, "epoch": 1.01470947265625e-06, "step": 10640 }, { "ee_loss_avg": 0.06094699734821916, "epoch": 1.01470947265625e-06, "step": 10640 }, { "aux_loss_avg": 0.0020178814651444555, "epoch": 1.01470947265625e-06, "step": 10640 }, { "epoch": 1.01470947265625e-06, "step": 10640, "training_step_time": 17.490318059921265 }, { "epoch": 1.0148048400878907e-06, "model_forward_time": 5.101553916931152, "step": 10641 }, { "epoch": 1.0148048400878907e-06, "step": 10641, "training_step_time": 17.611255884170532 }, { "epoch": 1.0149002075195313e-06, "model_forward_time": 3.8574068546295166, "step": 10642 }, { "epoch": 1.0149002075195313e-06, "step": 10642, "training_step_time": 17.584713459014893 }, { "epoch": 1.014995574951172e-06, "model_forward_time": 5.064023017883301, "step": 10643 }, { "epoch": 1.014995574951172e-06, "step": 10643, "training_step_time": 17.845553636550903 }, { "epoch": 1.0150909423828125e-06, "model_forward_time": 5.06988263130188, "step": 10644 }, { "epoch": 1.0150909423828125e-06, "step": 10644, "training_step_time": 17.626731872558594 }, { "epoch": 1.0151863098144531e-06, "model_forward_time": 5.315832614898682, "step": 10645 }, { "epoch": 1.0151863098144531e-06, "step": 10645, "training_step_time": 17.64472532272339 }, { "epoch": 1.0152816772460937e-06, "model_forward_time": 5.086549997329712, "step": 10646 }, { "epoch": 1.0152816772460937e-06, "step": 10646, "training_step_time": 17.632311820983887 }, { "epoch": 1.0153770446777344e-06, "model_forward_time": 5.088573455810547, "step": 10647 }, { "epoch": 1.0153770446777344e-06, "step": 10647, "training_step_time": 17.467238187789917 }, { "epoch": 1.015472412109375e-06, "model_forward_time": 5.09433913230896, "step": 10648 }, { "epoch": 1.015472412109375e-06, "step": 10648, "training_step_time": 17.716949939727783 }, { "epoch": 1.0155677795410156e-06, "model_forward_time": 5.092750787734985, "step": 10649 }, { "epoch": 1.0155677795410156e-06, "step": 10649, "training_step_time": 17.576192378997803 }, { "epoch": 1.0156631469726562e-06, "grad_norm": 1.7302569150924683, "learning_rate": 9.717541253483448e-06, "loss": 0.1195, "step": 10650 }, { "epoch": 1.0156631469726562e-06, "model_forward_time": 5.091367244720459, "step": 10650 }, { "dynamics_loss_avg": 0.04585125539451838, "epoch": 1.0156631469726562e-06, "step": 10650 }, { "action_loss_avg": 0.06795213595032693, "epoch": 1.0156631469726562e-06, "step": 10650 }, { "arm_loss_avg": 0.13714754283428193, "epoch": 1.0156631469726562e-06, "step": 10650 }, { "ee_loss_avg": 0.053372421814128754, "epoch": 1.0156631469726562e-06, "step": 10650 }, { "aux_loss_avg": 0.005753372522303834, "epoch": 1.0156631469726562e-06, "step": 10650 }, { "epoch": 1.0156631469726562e-06, "step": 10650, "training_step_time": 17.599563360214233 }, { "epoch": 1.0157585144042968e-06, "model_forward_time": 5.089403867721558, "step": 10651 }, { "epoch": 1.0157585144042968e-06, "step": 10651, "training_step_time": 17.600491523742676 }, { "epoch": 1.0158538818359374e-06, "model_forward_time": 5.084122896194458, "step": 10652 }, { "epoch": 1.0158538818359374e-06, "step": 10652, "training_step_time": 17.62746548652649 }, { "epoch": 1.015949249267578e-06, "model_forward_time": 5.081455707550049, "step": 10653 }, { "epoch": 1.015949249267578e-06, "step": 10653, "training_step_time": 17.409780263900757 }, { "epoch": 1.0160446166992187e-06, "model_forward_time": 5.084100961685181, "step": 10654 }, { "epoch": 1.0160446166992187e-06, "step": 10654, "training_step_time": 17.523842334747314 }, { "epoch": 1.0161399841308593e-06, "model_forward_time": 5.084346294403076, "step": 10655 }, { "epoch": 1.0161399841308593e-06, "step": 10655, "training_step_time": 17.567906379699707 }, { "epoch": 1.0162353515625e-06, "model_forward_time": 5.088833808898926, "step": 10656 }, { "epoch": 1.0162353515625e-06, "step": 10656, "training_step_time": 17.67601752281189 }, { "epoch": 1.0163307189941407e-06, "model_forward_time": 5.096593618392944, "step": 10657 }, { "epoch": 1.0163307189941407e-06, "step": 10657, "training_step_time": 17.63849663734436 }, { "epoch": 1.0164260864257813e-06, "model_forward_time": 5.091733932495117, "step": 10658 }, { "epoch": 1.0164260864257813e-06, "step": 10658, "training_step_time": 17.84337544441223 }, { "epoch": 1.016521453857422e-06, "model_forward_time": 5.091858863830566, "step": 10659 }, { "epoch": 1.016521453857422e-06, "step": 10659, "training_step_time": 17.630133867263794 }, { "epoch": 1.0166168212890626e-06, "grad_norm": 2.128100633621216, "learning_rate": 9.716758047619023e-06, "loss": 0.113, "step": 10660 }, { "epoch": 1.0166168212890626e-06, "model_forward_time": 5.0867087841033936, "step": 10660 }, { "dynamics_loss_avg": 0.044018796365708115, "epoch": 1.0166168212890626e-06, "step": 10660 }, { "action_loss_avg": 0.08318949416279793, "epoch": 1.0166168212890626e-06, "step": 10660 }, { "arm_loss_avg": 0.1455146886408329, "epoch": 1.0166168212890626e-06, "step": 10660 }, { "ee_loss_avg": 0.10248298887163401, "epoch": 1.0166168212890626e-06, "step": 10660 }, { "aux_loss_avg": 0.004290874977596104, "epoch": 1.0166168212890626e-06, "step": 10660 }, { "epoch": 1.0166168212890626e-06, "step": 10660, "training_step_time": 17.398985624313354 }, { "epoch": 1.0167121887207032e-06, "model_forward_time": 5.0834550857543945, "step": 10661 }, { "epoch": 1.0167121887207032e-06, "step": 10661, "training_step_time": 17.625033378601074 }, { "epoch": 1.0168075561523438e-06, "model_forward_time": 5.07985258102417, "step": 10662 }, { "epoch": 1.0168075561523438e-06, "step": 10662, "training_step_time": 17.567753076553345 }, { "epoch": 1.0169029235839844e-06, "model_forward_time": 3.8505542278289795, "step": 10663 }, { "epoch": 1.0169029235839844e-06, "step": 10663, "training_step_time": 17.816822052001953 }, { "epoch": 1.016998291015625e-06, "model_forward_time": 5.060940742492676, "step": 10664 }, { "epoch": 1.016998291015625e-06, "step": 10664, "training_step_time": 17.598400592803955 }, { "epoch": 1.0170936584472656e-06, "model_forward_time": 5.300910949707031, "step": 10665 }, { "epoch": 1.0170936584472656e-06, "step": 10665, "training_step_time": 17.609468460083008 }, { "epoch": 1.0171890258789062e-06, "model_forward_time": 5.073521137237549, "step": 10666 }, { "epoch": 1.0171890258789062e-06, "step": 10666, "training_step_time": 17.60988473892212 }, { "epoch": 1.0172843933105469e-06, "model_forward_time": 5.08638334274292, "step": 10667 }, { "epoch": 1.0172843933105469e-06, "step": 10667, "training_step_time": 17.61294412612915 }, { "epoch": 1.0173797607421875e-06, "model_forward_time": 5.089636325836182, "step": 10668 }, { "epoch": 1.0173797607421875e-06, "step": 10668, "training_step_time": 17.797362327575684 }, { "epoch": 1.017475128173828e-06, "model_forward_time": 5.092816591262817, "step": 10669 }, { "epoch": 1.017475128173828e-06, "step": 10669, "training_step_time": 17.612141609191895 }, { "epoch": 1.0175704956054687e-06, "grad_norm": 1.7068222761154175, "learning_rate": 9.715973789065696e-06, "loss": 0.1236, "step": 10670 }, { "epoch": 1.0175704956054687e-06, "model_forward_time": 5.0958521366119385, "step": 10670 }, { "dynamics_loss_avg": 0.03722446234896779, "epoch": 1.0175704956054687e-06, "step": 10670 }, { "action_loss_avg": 0.09287663120776415, "epoch": 1.0175704956054687e-06, "step": 10670 }, { "arm_loss_avg": 0.1546374797821045, "epoch": 1.0175704956054687e-06, "step": 10670 }, { "ee_loss_avg": 0.09512733826413751, "epoch": 1.0175704956054687e-06, "step": 10670 }, { "aux_loss_avg": 0.0008114565396681428, "epoch": 1.0175704956054687e-06, "step": 10670 }, { "epoch": 1.0175704956054687e-06, "step": 10670, "training_step_time": 17.60430884361267 }, { "epoch": 1.0176658630371093e-06, "model_forward_time": 5.097155332565308, "step": 10671 }, { "epoch": 1.0176658630371093e-06, "step": 10671, "training_step_time": 17.5887713432312 }, { "epoch": 1.01776123046875e-06, "model_forward_time": 5.092884063720703, "step": 10672 }, { "epoch": 1.01776123046875e-06, "step": 10672, "training_step_time": 17.517655849456787 }, { "epoch": 1.0178565979003905e-06, "model_forward_time": 5.092077732086182, "step": 10673 }, { "epoch": 1.0178565979003905e-06, "step": 10673, "training_step_time": 17.80338191986084 }, { "epoch": 1.0179519653320312e-06, "model_forward_time": 5.089519500732422, "step": 10674 }, { "epoch": 1.0179519653320312e-06, "step": 10674, "training_step_time": 17.43485975265503 }, { "epoch": 1.0180473327636718e-06, "model_forward_time": 5.082893133163452, "step": 10675 }, { "epoch": 1.0180473327636718e-06, "step": 10675, "training_step_time": 17.50274085998535 }, { "epoch": 1.0181427001953126e-06, "model_forward_time": 5.083808183670044, "step": 10676 }, { "epoch": 1.0181427001953126e-06, "step": 10676, "training_step_time": 17.614863395690918 }, { "epoch": 1.0182380676269532e-06, "model_forward_time": 5.082229852676392, "step": 10677 }, { "epoch": 1.0182380676269532e-06, "step": 10677, "training_step_time": 17.59990358352661 }, { "epoch": 1.0183334350585938e-06, "model_forward_time": 5.081689119338989, "step": 10678 }, { "epoch": 1.0183334350585938e-06, "step": 10678, "training_step_time": 17.616483211517334 }, { "epoch": 1.0184288024902344e-06, "model_forward_time": 5.082336187362671, "step": 10679 }, { "epoch": 1.0184288024902344e-06, "step": 10679, "training_step_time": 17.853498935699463 }, { "epoch": 1.018524169921875e-06, "grad_norm": 2.1976044178009033, "learning_rate": 9.715188477998494e-06, "loss": 0.1184, "step": 10680 }, { "epoch": 1.018524169921875e-06, "model_forward_time": 5.079556226730347, "step": 10680 }, { "dynamics_loss_avg": 0.03926671426743269, "epoch": 1.018524169921875e-06, "step": 10680 }, { "action_loss_avg": 0.09382223561406136, "epoch": 1.018524169921875e-06, "step": 10680 }, { "arm_loss_avg": 0.14393319562077522, "epoch": 1.018524169921875e-06, "step": 10680 }, { "ee_loss_avg": 0.12163234977051615, "epoch": 1.018524169921875e-06, "step": 10680 }, { "aux_loss_avg": 0.0008793104439973831, "epoch": 1.018524169921875e-06, "step": 10680 }, { "epoch": 1.018524169921875e-06, "step": 10680, "training_step_time": 17.630592584609985 }, { "epoch": 1.0186195373535157e-06, "model_forward_time": 5.080110549926758, "step": 10681 }, { "epoch": 1.0186195373535157e-06, "step": 10681, "training_step_time": 17.643519401550293 }, { "epoch": 1.0187149047851563e-06, "model_forward_time": 5.081568479537964, "step": 10682 }, { "epoch": 1.0187149047851563e-06, "step": 10682, "training_step_time": 17.634087562561035 }, { "epoch": 1.018810272216797e-06, "model_forward_time": 5.082804203033447, "step": 10683 }, { "epoch": 1.018810272216797e-06, "step": 10683, "training_step_time": 17.846867084503174 }, { "epoch": 1.0189056396484375e-06, "model_forward_time": 5.082204341888428, "step": 10684 }, { "epoch": 1.0189056396484375e-06, "step": 10684, "training_step_time": 17.616534948349 }, { "epoch": 1.0190010070800781e-06, "model_forward_time": 5.087130308151245, "step": 10685 }, { "epoch": 1.0190010070800781e-06, "step": 10685, "training_step_time": 17.600998640060425 }, { "epoch": 1.0190963745117187e-06, "model_forward_time": 5.088025331497192, "step": 10686 }, { "epoch": 1.0190963745117187e-06, "step": 10686, "training_step_time": 17.589231729507446 }, { "epoch": 1.0191917419433594e-06, "model_forward_time": 5.0897057056427, "step": 10687 }, { "epoch": 1.0191917419433594e-06, "step": 10687, "training_step_time": 17.585845947265625 }, { "epoch": 1.019287109375e-06, "model_forward_time": 5.0847296714782715, "step": 10688 }, { "epoch": 1.019287109375e-06, "step": 10688, "training_step_time": 17.783490657806396 }, { "epoch": 1.0193824768066406e-06, "model_forward_time": 5.281297206878662, "step": 10689 }, { "epoch": 1.0193824768066406e-06, "step": 10689, "training_step_time": 17.59162425994873 }, { "epoch": 1.0194778442382812e-06, "grad_norm": 1.8156793117523193, "learning_rate": 9.714402114592682e-06, "loss": 0.1209, "step": 10690 }, { "epoch": 1.0194778442382812e-06, "model_forward_time": 5.0842461585998535, "step": 10690 }, { "dynamics_loss_avg": 0.04497614991851151, "epoch": 1.0194778442382812e-06, "step": 10690 }, { "action_loss_avg": 0.0854244913905859, "epoch": 1.0194778442382812e-06, "step": 10690 }, { "arm_loss_avg": 0.16991806924343109, "epoch": 1.0194778442382812e-06, "step": 10690 }, { "ee_loss_avg": 0.1385863224044442, "epoch": 1.0194778442382812e-06, "step": 10690 }, { "aux_loss_avg": 0.011603627749718726, "epoch": 1.0194778442382812e-06, "step": 10690 }, { "epoch": 1.0194778442382812e-06, "step": 10690, "training_step_time": 17.607306718826294 }, { "epoch": 1.0195732116699218e-06, "model_forward_time": 5.082629203796387, "step": 10691 }, { "epoch": 1.0195732116699218e-06, "step": 10691, "training_step_time": 17.599700689315796 }, { "epoch": 1.0196685791015624e-06, "model_forward_time": 5.086580753326416, "step": 10692 }, { "epoch": 1.0196685791015624e-06, "step": 10692, "training_step_time": 17.606971740722656 }, { "epoch": 1.019763946533203e-06, "model_forward_time": 5.085640907287598, "step": 10693 }, { "epoch": 1.019763946533203e-06, "step": 10693, "training_step_time": 17.84561252593994 }, { "epoch": 1.0198593139648437e-06, "model_forward_time": 3.8507308959960938, "step": 10694 }, { "epoch": 1.0198593139648437e-06, "step": 10694, "training_step_time": 17.59346842765808 }, { "epoch": 1.0199546813964843e-06, "model_forward_time": 5.307075023651123, "step": 10695 }, { "epoch": 1.0199546813964843e-06, "step": 10695, "training_step_time": 17.601829767227173 }, { "epoch": 1.020050048828125e-06, "model_forward_time": 5.068359375, "step": 10696 }, { "epoch": 1.020050048828125e-06, "step": 10696, "training_step_time": 17.59696865081787 }, { "epoch": 1.0201454162597657e-06, "model_forward_time": 5.084759950637817, "step": 10697 }, { "epoch": 1.0201454162597657e-06, "step": 10697, "training_step_time": 17.61769151687622 }, { "epoch": 1.0202407836914063e-06, "model_forward_time": 5.101626873016357, "step": 10698 }, { "epoch": 1.0202407836914063e-06, "step": 10698, "training_step_time": 17.819145917892456 }, { "epoch": 1.020336151123047e-06, "model_forward_time": 5.105451822280884, "step": 10699 }, { "epoch": 1.020336151123047e-06, "step": 10699, "training_step_time": 17.63448739051819 }, { "epoch": 1.0204315185546876e-06, "grad_norm": 2.5977838039398193, "learning_rate": 9.713614699023765e-06, "loss": 0.1187, "step": 10700 }, { "epoch": 1.0204315185546876e-06, "model_forward_time": 5.103473901748657, "step": 10700 }, { "dynamics_loss_avg": 0.036518754437565804, "epoch": 1.0204315185546876e-06, "step": 10700 }, { "action_loss_avg": 0.06733776796609163, "epoch": 1.0204315185546876e-06, "step": 10700 }, { "arm_loss_avg": 0.12366223130375147, "epoch": 1.0204315185546876e-06, "step": 10700 }, { "ee_loss_avg": 0.07529119458049535, "epoch": 1.0204315185546876e-06, "step": 10700 }, { "aux_loss_avg": 0.0008918837003875524, "epoch": 1.0204315185546876e-06, "step": 10700 }, { "epoch": 1.0204315185546876e-06, "step": 10700, "training_step_time": 17.6065731048584 }, { "epoch": 1.0205268859863282e-06, "model_forward_time": 5.097112417221069, "step": 10701 }, { "epoch": 1.0205268859863282e-06, "step": 10701, "training_step_time": 17.60185956954956 }, { "epoch": 1.0206222534179688e-06, "model_forward_time": 3.8545141220092773, "step": 10702 }, { "epoch": 1.0206222534179688e-06, "step": 10702, "training_step_time": 17.623656749725342 }, { "epoch": 1.0207176208496094e-06, "model_forward_time": 5.061227798461914, "step": 10703 }, { "epoch": 1.0207176208496094e-06, "step": 10703, "training_step_time": 17.84811282157898 }, { "epoch": 1.02081298828125e-06, "model_forward_time": 5.069095134735107, "step": 10704 }, { "epoch": 1.02081298828125e-06, "step": 10704, "training_step_time": 17.59636163711548 }, { "epoch": 1.0209083557128906e-06, "model_forward_time": 4.088252782821655, "step": 10705 }, { "epoch": 1.0209083557128906e-06, "step": 10705, "training_step_time": 17.602539539337158 }, { "epoch": 1.0210037231445312e-06, "model_forward_time": 5.053839683532715, "step": 10706 }, { "epoch": 1.0210037231445312e-06, "step": 10706, "training_step_time": 17.61412739753723 }, { "epoch": 1.0210990905761719e-06, "model_forward_time": 5.072510719299316, "step": 10707 }, { "epoch": 1.0210990905761719e-06, "step": 10707, "training_step_time": 17.603307247161865 }, { "epoch": 1.0211944580078125e-06, "model_forward_time": 5.0842695236206055, "step": 10708 }, { "epoch": 1.0211944580078125e-06, "step": 10708, "training_step_time": 17.78628635406494 }, { "epoch": 1.021289825439453e-06, "model_forward_time": 5.089120149612427, "step": 10709 }, { "epoch": 1.021289825439453e-06, "step": 10709, "training_step_time": 17.58759570121765 }, { "epoch": 1.0213851928710937e-06, "grad_norm": 1.9664055109024048, "learning_rate": 9.712826231467478e-06, "loss": 0.1156, "step": 10710 }, { "epoch": 1.0213851928710937e-06, "model_forward_time": 4.054978847503662, "step": 10710 }, { "dynamics_loss_avg": 0.05109783438965678, "epoch": 1.0213851928710937e-06, "step": 10710 }, { "action_loss_avg": 0.10226189456880093, "epoch": 1.0213851928710937e-06, "step": 10710 }, { "arm_loss_avg": 0.15897955149412155, "epoch": 1.0213851928710937e-06, "step": 10710 }, { "ee_loss_avg": 0.09274819795973599, "epoch": 1.0213851928710937e-06, "step": 10710 }, { "aux_loss_avg": 0.0027464132523164152, "epoch": 1.0213851928710937e-06, "step": 10710 }, { "epoch": 1.0213851928710937e-06, "step": 10710, "training_step_time": 17.581944465637207 }, { "epoch": 1.0214805603027343e-06, "model_forward_time": 5.069444417953491, "step": 10711 }, { "epoch": 1.0214805603027343e-06, "step": 10711, "training_step_time": 17.595425367355347 }, { "epoch": 1.021575927734375e-06, "model_forward_time": 5.081851243972778, "step": 10712 }, { "epoch": 1.021575927734375e-06, "step": 10712, "training_step_time": 17.60075616836548 }, { "epoch": 1.0216712951660155e-06, "model_forward_time": 5.088266849517822, "step": 10713 }, { "epoch": 1.0216712951660155e-06, "step": 10713, "training_step_time": 17.822713136672974 }, { "epoch": 1.0217666625976562e-06, "model_forward_time": 5.086864233016968, "step": 10714 }, { "epoch": 1.0217666625976562e-06, "step": 10714, "training_step_time": 17.58767318725586 }, { "epoch": 1.0218620300292968e-06, "model_forward_time": 5.3227105140686035, "step": 10715 }, { "epoch": 1.0218620300292968e-06, "step": 10715, "training_step_time": 17.444049835205078 }, { "epoch": 1.0219573974609376e-06, "model_forward_time": 5.094586372375488, "step": 10716 }, { "epoch": 1.0219573974609376e-06, "step": 10716, "training_step_time": 17.513108491897583 }, { "epoch": 1.0220527648925782e-06, "model_forward_time": 5.093076229095459, "step": 10717 }, { "epoch": 1.0220527648925782e-06, "step": 10717, "training_step_time": 17.577808380126953 }, { "epoch": 1.0221481323242188e-06, "model_forward_time": 5.088781118392944, "step": 10718 }, { "epoch": 1.0221481323242188e-06, "step": 10718, "training_step_time": 17.491222858428955 }, { "epoch": 1.0222434997558594e-06, "model_forward_time": 5.085633277893066, "step": 10719 }, { "epoch": 1.0222434997558594e-06, "step": 10719, "training_step_time": 17.739742279052734 }, { "epoch": 1.0223388671875e-06, "grad_norm": 1.752945065498352, "learning_rate": 9.712036712099789e-06, "loss": 0.1234, "step": 10720 }, { "epoch": 1.0223388671875e-06, "model_forward_time": 5.275243043899536, "step": 10720 }, { "dynamics_loss_avg": 0.0451362730935216, "epoch": 1.0223388671875e-06, "step": 10720 }, { "action_loss_avg": 0.10319705381989479, "epoch": 1.0223388671875e-06, "step": 10720 }, { "arm_loss_avg": 0.1712704949080944, "epoch": 1.0223388671875e-06, "step": 10720 }, { "ee_loss_avg": 0.07667897921055555, "epoch": 1.0223388671875e-06, "step": 10720 }, { "aux_loss_avg": 0.005286840494954958, "epoch": 1.0223388671875e-06, "step": 10720 }, { "epoch": 1.0223388671875e-06, "step": 10720, "training_step_time": 17.406312465667725 }, { "epoch": 1.0224342346191407e-06, "model_forward_time": 5.084072589874268, "step": 10721 }, { "epoch": 1.0224342346191407e-06, "step": 10721, "training_step_time": 17.53721833229065 }, { "epoch": 1.0225296020507813e-06, "model_forward_time": 5.084034442901611, "step": 10722 }, { "epoch": 1.0225296020507813e-06, "step": 10722, "training_step_time": 17.632214784622192 }, { "epoch": 1.022624969482422e-06, "model_forward_time": 5.082689046859741, "step": 10723 }, { "epoch": 1.022624969482422e-06, "step": 10723, "training_step_time": 17.627763748168945 }, { "epoch": 1.0227203369140625e-06, "model_forward_time": 5.0826098918914795, "step": 10724 }, { "epoch": 1.0227203369140625e-06, "step": 10724, "training_step_time": 17.881657123565674 }, { "epoch": 1.0228157043457031e-06, "model_forward_time": 5.310653209686279, "step": 10725 }, { "epoch": 1.0228157043457031e-06, "step": 10725, "training_step_time": 17.65951681137085 }, { "epoch": 1.0229110717773437e-06, "model_forward_time": 5.084450960159302, "step": 10726 }, { "epoch": 1.0229110717773437e-06, "step": 10726, "training_step_time": 17.661547422409058 }, { "epoch": 1.0230064392089844e-06, "model_forward_time": 5.0891008377075195, "step": 10727 }, { "epoch": 1.0230064392089844e-06, "step": 10727, "training_step_time": 17.651323080062866 }, { "epoch": 1.023101806640625e-06, "model_forward_time": 5.085941791534424, "step": 10728 }, { "epoch": 1.023101806640625e-06, "step": 10728, "training_step_time": 17.64849328994751 }, { "epoch": 1.0231971740722656e-06, "model_forward_time": 5.091733932495117, "step": 10729 }, { "epoch": 1.0231971740722656e-06, "step": 10729, "training_step_time": 17.80988073348999 }, { "epoch": 1.0232925415039062e-06, "grad_norm": 1.2270318269729614, "learning_rate": 9.711246141096906e-06, "loss": 0.1086, "step": 10730 }, { "epoch": 1.0232925415039062e-06, "model_forward_time": 5.291094541549683, "step": 10730 }, { "dynamics_loss_avg": 0.043123532086610794, "epoch": 1.0232925415039062e-06, "step": 10730 }, { "action_loss_avg": 0.06716296896338463, "epoch": 1.0232925415039062e-06, "step": 10730 }, { "arm_loss_avg": 0.17172911167144775, "epoch": 1.0232925415039062e-06, "step": 10730 }, { "ee_loss_avg": 0.124170252494514, "epoch": 1.0232925415039062e-06, "step": 10730 }, { "aux_loss_avg": 0.026081526727648453, "epoch": 1.0232925415039062e-06, "step": 10730 }, { "epoch": 1.0232925415039062e-06, "step": 10730, "training_step_time": 17.617866039276123 }, { "epoch": 1.0233879089355468e-06, "model_forward_time": 5.088373184204102, "step": 10731 }, { "epoch": 1.0233879089355468e-06, "step": 10731, "training_step_time": 17.61554265022278 }, { "epoch": 1.0234832763671874e-06, "model_forward_time": 5.0858659744262695, "step": 10732 }, { "epoch": 1.0234832763671874e-06, "step": 10732, "training_step_time": 17.64493441581726 }, { "epoch": 1.023578643798828e-06, "model_forward_time": 5.089950799942017, "step": 10733 }, { "epoch": 1.023578643798828e-06, "step": 10733, "training_step_time": 17.59883165359497 }, { "epoch": 1.0236740112304687e-06, "model_forward_time": 5.08776330947876, "step": 10734 }, { "epoch": 1.0236740112304687e-06, "step": 10734, "training_step_time": 17.83468461036682 }, { "epoch": 1.0237693786621093e-06, "model_forward_time": 3.8498425483703613, "step": 10735 }, { "epoch": 1.0237693786621093e-06, "step": 10735, "training_step_time": 17.41105318069458 }, { "epoch": 1.02386474609375e-06, "model_forward_time": 3.8315305709838867, "step": 10736 }, { "epoch": 1.02386474609375e-06, "step": 10736, "training_step_time": 17.50928497314453 }, { "epoch": 1.0239601135253907e-06, "model_forward_time": 5.052072525024414, "step": 10737 }, { "epoch": 1.0239601135253907e-06, "step": 10737, "training_step_time": 17.598607778549194 }, { "epoch": 1.0240554809570313e-06, "model_forward_time": 5.063520193099976, "step": 10738 }, { "epoch": 1.0240554809570313e-06, "step": 10738, "training_step_time": 17.576814651489258 }, { "epoch": 1.024150848388672e-06, "model_forward_time": 5.080573797225952, "step": 10739 }, { "epoch": 1.024150848388672e-06, "step": 10739, "training_step_time": 17.3993661403656 }, { "epoch": 1.0242462158203126e-06, "grad_norm": 2.85044264793396, "learning_rate": 9.710454518635265e-06, "loss": 0.1084, "step": 10740 }, { "epoch": 1.0242462158203126e-06, "model_forward_time": 5.289662837982178, "step": 10740 }, { "dynamics_loss_avg": 0.05266466196626425, "epoch": 1.0242462158203126e-06, "step": 10740 }, { "action_loss_avg": 0.08213697168976068, "epoch": 1.0242462158203126e-06, "step": 10740 }, { "arm_loss_avg": 0.1426378645002842, "epoch": 1.0242462158203126e-06, "step": 10740 }, { "ee_loss_avg": 0.06123281791806221, "epoch": 1.0242462158203126e-06, "step": 10740 }, { "aux_loss_avg": 0.0066592503746505825, "epoch": 1.0242462158203126e-06, "step": 10740 }, { "epoch": 1.0242462158203126e-06, "step": 10740, "training_step_time": 17.52369713783264 }, { "epoch": 1.0243415832519532e-06, "model_forward_time": 5.104153633117676, "step": 10741 }, { "epoch": 1.0243415832519532e-06, "step": 10741, "training_step_time": 17.612233877182007 }, { "epoch": 1.0244369506835938e-06, "model_forward_time": 5.109628677368164, "step": 10742 }, { "epoch": 1.0244369506835938e-06, "step": 10742, "training_step_time": 17.60231375694275 }, { "epoch": 1.0245323181152344e-06, "model_forward_time": 5.10451340675354, "step": 10743 }, { "epoch": 1.0245323181152344e-06, "step": 10743, "training_step_time": 17.629143476486206 }, { "epoch": 1.024627685546875e-06, "model_forward_time": 5.105545520782471, "step": 10744 }, { "epoch": 1.024627685546875e-06, "step": 10744, "training_step_time": 17.858330726623535 }, { "epoch": 1.0247230529785156e-06, "model_forward_time": 4.101073741912842, "step": 10745 }, { "epoch": 1.0247230529785156e-06, "step": 10745, "training_step_time": 17.639907360076904 }, { "epoch": 1.0248184204101562e-06, "model_forward_time": 3.8371400833129883, "step": 10746 }, { "epoch": 1.0248184204101562e-06, "step": 10746, "training_step_time": 17.642502546310425 }, { "epoch": 1.0249137878417969e-06, "model_forward_time": 5.056634426116943, "step": 10747 }, { "epoch": 1.0249137878417969e-06, "step": 10747, "training_step_time": 17.64667057991028 }, { "epoch": 1.0250091552734375e-06, "model_forward_time": 5.060515403747559, "step": 10748 }, { "epoch": 1.0250091552734375e-06, "step": 10748, "training_step_time": 17.626700162887573 }, { "epoch": 1.025104522705078e-06, "model_forward_time": 5.075686931610107, "step": 10749 }, { "epoch": 1.025104522705078e-06, "step": 10749, "training_step_time": 17.791483640670776 }, { "epoch": 1.0251998901367187e-06, "grad_norm": 1.6965440511703491, "learning_rate": 9.70966184489155e-06, "loss": 0.1096, "step": 10750 }, { "epoch": 1.0251998901367187e-06, "model_forward_time": 5.2731359004974365, "step": 10750 }, { "dynamics_loss_avg": 0.04550508912652731, "epoch": 1.0251998901367187e-06, "step": 10750 }, { "action_loss_avg": 0.0812287051230669, "epoch": 1.0251998901367187e-06, "step": 10750 }, { "arm_loss_avg": 0.12404407411813737, "epoch": 1.0251998901367187e-06, "step": 10750 }, { "ee_loss_avg": 0.09088193280622363, "epoch": 1.0251998901367187e-06, "step": 10750 }, { "aux_loss_avg": 0.0019388194719795137, "epoch": 1.0251998901367187e-06, "step": 10750 }, { "epoch": 1.0251998901367187e-06, "step": 10750, "training_step_time": 17.59759211540222 }, { "epoch": 1.0252952575683593e-06, "model_forward_time": 3.861339569091797, "step": 10751 }, { "epoch": 1.0252952575683593e-06, "step": 10751, "training_step_time": 17.634759187698364 }, { "epoch": 1.025390625e-06, "model_forward_time": 5.077581167221069, "step": 10752 }, { "epoch": 1.025390625e-06, "step": 10752, "training_step_time": 17.507559776306152 }, { "epoch": 1.0254859924316406e-06, "model_forward_time": 5.0906829833984375, "step": 10753 }, { "epoch": 1.0254859924316406e-06, "step": 10753, "training_step_time": 17.54062795639038 }, { "epoch": 1.0255813598632812e-06, "model_forward_time": 5.0938026905059814, "step": 10754 }, { "epoch": 1.0255813598632812e-06, "step": 10754, "training_step_time": 17.79706382751465 }, { "epoch": 1.0256767272949218e-06, "model_forward_time": 5.334780693054199, "step": 10755 }, { "epoch": 1.0256767272949218e-06, "step": 10755, "training_step_time": 17.588621377944946 }, { "epoch": 1.0257720947265624e-06, "model_forward_time": 5.095506191253662, "step": 10756 }, { "epoch": 1.0257720947265624e-06, "step": 10756, "training_step_time": 17.608896017074585 }, { "epoch": 1.0258674621582032e-06, "model_forward_time": 5.1038854122161865, "step": 10757 }, { "epoch": 1.0258674621582032e-06, "step": 10757, "training_step_time": 17.651118516921997 }, { "epoch": 1.0259628295898438e-06, "model_forward_time": 5.1079020500183105, "step": 10758 }, { "epoch": 1.0259628295898438e-06, "step": 10758, "training_step_time": 17.66689419746399 }, { "epoch": 1.0260581970214844e-06, "model_forward_time": 3.875229597091675, "step": 10759 }, { "epoch": 1.0260581970214844e-06, "step": 10759, "training_step_time": 17.844531536102295 }, { "epoch": 1.026153564453125e-06, "grad_norm": 2.5831010341644287, "learning_rate": 9.70886812004266e-06, "loss": 0.1165, "step": 10760 }, { "epoch": 1.026153564453125e-06, "model_forward_time": 5.270965576171875, "step": 10760 }, { "dynamics_loss_avg": 0.04077668152749538, "epoch": 1.026153564453125e-06, "step": 10760 }, { "action_loss_avg": 0.107060057669878, "epoch": 1.026153564453125e-06, "step": 10760 }, { "arm_loss_avg": 0.1568300321698189, "epoch": 1.026153564453125e-06, "step": 10760 }, { "ee_loss_avg": 0.14989815037697554, "epoch": 1.026153564453125e-06, "step": 10760 }, { "aux_loss_avg": 0.003993592190090567, "epoch": 1.026153564453125e-06, "step": 10760 }, { "epoch": 1.026153564453125e-06, "step": 10760, "training_step_time": 17.44121265411377 }, { "epoch": 1.0262489318847657e-06, "model_forward_time": 5.072132110595703, "step": 10761 }, { "epoch": 1.0262489318847657e-06, "step": 10761, "training_step_time": 17.64924383163452 }, { "epoch": 1.0263442993164063e-06, "model_forward_time": 5.080902099609375, "step": 10762 }, { "epoch": 1.0263442993164063e-06, "step": 10762, "training_step_time": 17.414531469345093 }, { "epoch": 1.026439666748047e-06, "model_forward_time": 3.8555054664611816, "step": 10763 }, { "epoch": 1.026439666748047e-06, "step": 10763, "training_step_time": 17.45576286315918 }, { "epoch": 1.0265350341796875e-06, "model_forward_time": 5.0642900466918945, "step": 10764 }, { "epoch": 1.0265350341796875e-06, "step": 10764, "training_step_time": 17.78255558013916 }, { "epoch": 1.0266304016113281e-06, "model_forward_time": 5.313134670257568, "step": 10765 }, { "epoch": 1.0266304016113281e-06, "step": 10765, "training_step_time": 17.600316047668457 }, { "epoch": 1.0267257690429688e-06, "model_forward_time": 5.089174270629883, "step": 10766 }, { "epoch": 1.0267257690429688e-06, "step": 10766, "training_step_time": 17.63440489768982 }, { "epoch": 1.0268211364746094e-06, "model_forward_time": 5.093961000442505, "step": 10767 }, { "epoch": 1.0268211364746094e-06, "step": 10767, "training_step_time": 17.65754508972168 }, { "epoch": 1.02691650390625e-06, "model_forward_time": 5.098317861557007, "step": 10768 }, { "epoch": 1.02691650390625e-06, "step": 10768, "training_step_time": 17.671062707901 }, { "epoch": 1.0270118713378906e-06, "model_forward_time": 5.098361015319824, "step": 10769 }, { "epoch": 1.0270118713378906e-06, "step": 10769, "training_step_time": 17.392134189605713 }, { "epoch": 1.0271072387695312e-06, "grad_norm": 1.1826729774475098, "learning_rate": 9.708073344265746e-06, "loss": 0.1082, "step": 10770 }, { "epoch": 1.0271072387695312e-06, "model_forward_time": 5.294823884963989, "step": 10770 }, { "dynamics_loss_avg": 0.03730725180357695, "epoch": 1.0271072387695312e-06, "step": 10770 }, { "action_loss_avg": 0.07656498216092586, "epoch": 1.0271072387695312e-06, "step": 10770 }, { "arm_loss_avg": 0.13586735650897025, "epoch": 1.0271072387695312e-06, "step": 10770 }, { "ee_loss_avg": 0.08153252024203539, "epoch": 1.0271072387695312e-06, "step": 10770 }, { "aux_loss_avg": 0.004163993027759716, "epoch": 1.0271072387695312e-06, "step": 10770 }, { "epoch": 1.0271072387695312e-06, "step": 10770, "training_step_time": 17.571069955825806 }, { "epoch": 1.0272026062011718e-06, "model_forward_time": 5.101827144622803, "step": 10771 }, { "epoch": 1.0272026062011718e-06, "step": 10771, "training_step_time": 17.668625593185425 }, { "epoch": 1.0272979736328124e-06, "model_forward_time": 5.09400749206543, "step": 10772 }, { "epoch": 1.0272979736328124e-06, "step": 10772, "training_step_time": 17.617358207702637 }, { "epoch": 1.027393341064453e-06, "model_forward_time": 5.090487957000732, "step": 10773 }, { "epoch": 1.027393341064453e-06, "step": 10773, "training_step_time": 17.628051042556763 }, { "epoch": 1.0274887084960937e-06, "model_forward_time": 3.8525989055633545, "step": 10774 }, { "epoch": 1.0274887084960937e-06, "step": 10774, "training_step_time": 17.87195086479187 }, { "epoch": 1.0275840759277343e-06, "model_forward_time": 5.0622100830078125, "step": 10775 }, { "epoch": 1.0275840759277343e-06, "step": 10775, "training_step_time": 17.62456488609314 }, { "epoch": 1.027679443359375e-06, "model_forward_time": 5.313192844390869, "step": 10776 }, { "epoch": 1.027679443359375e-06, "step": 10776, "training_step_time": 17.62992238998413 }, { "epoch": 1.0277748107910157e-06, "model_forward_time": 5.078392744064331, "step": 10777 }, { "epoch": 1.0277748107910157e-06, "step": 10777, "training_step_time": 17.620534658432007 }, { "epoch": 1.0278701782226563e-06, "model_forward_time": 5.085569143295288, "step": 10778 }, { "epoch": 1.0278701782226563e-06, "step": 10778, "training_step_time": 17.62319850921631 }, { "epoch": 1.027965545654297e-06, "model_forward_time": 5.0935351848602295, "step": 10779 }, { "epoch": 1.027965545654297e-06, "step": 10779, "training_step_time": 17.793374061584473 }, { "epoch": 1.0280609130859376e-06, "grad_norm": 1.4929945468902588, "learning_rate": 9.70727751773818e-06, "loss": 0.1245, "step": 10780 }, { "epoch": 1.0280609130859376e-06, "model_forward_time": 5.326907634735107, "step": 10780 }, { "dynamics_loss_avg": 0.05220725852996111, "epoch": 1.0280609130859376e-06, "step": 10780 }, { "action_loss_avg": 0.07964396849274635, "epoch": 1.0280609130859376e-06, "step": 10780 }, { "arm_loss_avg": 0.12260995879769325, "epoch": 1.0280609130859376e-06, "step": 10780 }, { "ee_loss_avg": 0.13661805412266403, "epoch": 1.0280609130859376e-06, "step": 10780 }, { "aux_loss_avg": 0.010841895913472399, "epoch": 1.0280609130859376e-06, "step": 10780 }, { "epoch": 1.0280609130859376e-06, "step": 10780, "training_step_time": 17.591875076293945 }, { "epoch": 1.0281562805175782e-06, "model_forward_time": 5.098989963531494, "step": 10781 }, { "epoch": 1.0281562805175782e-06, "step": 10781, "training_step_time": 17.59172511100769 }, { "epoch": 1.0282516479492188e-06, "model_forward_time": 5.092862129211426, "step": 10782 }, { "epoch": 1.0282516479492188e-06, "step": 10782, "training_step_time": 17.584003686904907 }, { "epoch": 1.0283470153808594e-06, "model_forward_time": 5.0936079025268555, "step": 10783 }, { "epoch": 1.0283470153808594e-06, "step": 10783, "training_step_time": 17.59172797203064 }, { "epoch": 1.0284423828125e-06, "model_forward_time": 5.092403173446655, "step": 10784 }, { "epoch": 1.0284423828125e-06, "step": 10784, "training_step_time": 17.82558298110962 }, { "epoch": 1.0285377502441406e-06, "model_forward_time": 5.087297677993774, "step": 10785 }, { "epoch": 1.0285377502441406e-06, "step": 10785, "training_step_time": 17.601868629455566 }, { "epoch": 1.0286331176757813e-06, "model_forward_time": 3.8544325828552246, "step": 10786 }, { "epoch": 1.0286331176757813e-06, "step": 10786, "training_step_time": 17.61536979675293 }, { "epoch": 1.0287284851074219e-06, "model_forward_time": 3.832353353500366, "step": 10787 }, { "epoch": 1.0287284851074219e-06, "step": 10787, "training_step_time": 17.60553288459778 }, { "epoch": 1.0288238525390625e-06, "model_forward_time": 5.047956466674805, "step": 10788 }, { "epoch": 1.0288238525390625e-06, "step": 10788, "training_step_time": 17.60486650466919 }, { "epoch": 1.028919219970703e-06, "model_forward_time": 5.060011625289917, "step": 10789 }, { "epoch": 1.028919219970703e-06, "step": 10789, "training_step_time": 17.819016218185425 }, { "epoch": 1.0290145874023437e-06, "grad_norm": 0.9742258191108704, "learning_rate": 9.706480640637582e-06, "loss": 0.1092, "step": 10790 }, { "epoch": 1.0290145874023437e-06, "model_forward_time": 5.076366662979126, "step": 10790 }, { "dynamics_loss_avg": 0.033981355279684065, "epoch": 1.0290145874023437e-06, "step": 10790 }, { "action_loss_avg": 0.07872613668441772, "epoch": 1.0290145874023437e-06, "step": 10790 }, { "arm_loss_avg": 0.1384764276444912, "epoch": 1.0290145874023437e-06, "step": 10790 }, { "ee_loss_avg": 0.06805776208639144, "epoch": 1.0290145874023437e-06, "step": 10790 }, { "aux_loss_avg": 0.0034007136535365136, "epoch": 1.0290145874023437e-06, "step": 10790 }, { "epoch": 1.0290145874023437e-06, "step": 10790, "training_step_time": 17.58209204673767 }, { "epoch": 1.0291099548339843e-06, "model_forward_time": 5.290056228637695, "step": 10791 }, { "epoch": 1.0291099548339843e-06, "step": 10791, "training_step_time": 17.60821008682251 }, { "epoch": 1.029205322265625e-06, "model_forward_time": 5.101261854171753, "step": 10792 }, { "epoch": 1.029205322265625e-06, "step": 10792, "training_step_time": 17.59207057952881 }, { "epoch": 1.0293006896972656e-06, "model_forward_time": 5.105754375457764, "step": 10793 }, { "epoch": 1.0293006896972656e-06, "step": 10793, "training_step_time": 17.591691970825195 }, { "epoch": 1.0293960571289062e-06, "model_forward_time": 5.107861280441284, "step": 10794 }, { "epoch": 1.0293960571289062e-06, "step": 10794, "training_step_time": 17.863612174987793 }, { "epoch": 1.0294914245605468e-06, "model_forward_time": 5.099956750869751, "step": 10795 }, { "epoch": 1.0294914245605468e-06, "step": 10795, "training_step_time": 17.60620880126953 }, { "epoch": 1.0295867919921874e-06, "model_forward_time": 5.106478691101074, "step": 10796 }, { "epoch": 1.0295867919921874e-06, "step": 10796, "training_step_time": 17.65774655342102 }, { "epoch": 1.0296821594238282e-06, "model_forward_time": 5.103384256362915, "step": 10797 }, { "epoch": 1.0296821594238282e-06, "step": 10797, "training_step_time": 17.64857244491577 }, { "epoch": 1.0297775268554688e-06, "model_forward_time": 5.095780849456787, "step": 10798 }, { "epoch": 1.0297775268554688e-06, "step": 10798, "training_step_time": 17.649849891662598 }, { "epoch": 1.0298728942871095e-06, "model_forward_time": 5.112098455429077, "step": 10799 }, { "epoch": 1.0298728942871095e-06, "step": 10799, "training_step_time": 17.839568853378296 }, { "epoch": 1.02996826171875e-06, "grad_norm": 1.969228744506836, "learning_rate": 9.705682713141795e-06, "loss": 0.1307, "step": 10800 }, { "epoch": 1.02996826171875e-06, "model_forward_time": 3.854860544204712, "step": 10800 }, { "dynamics_loss_avg": 0.04598237248137593, "epoch": 1.02996826171875e-06, "step": 10800 }, { "action_loss_avg": 0.09169428776949644, "epoch": 1.02996826171875e-06, "step": 10800 }, { "arm_loss_avg": 0.1560197576880455, "epoch": 1.02996826171875e-06, "step": 10800 }, { "ee_loss_avg": 0.10979312062263488, "epoch": 1.02996826171875e-06, "step": 10800 }, { "aux_loss_avg": 0.009191008331254125, "epoch": 1.02996826171875e-06, "step": 10800 }, { "epoch": 1.02996826171875e-06, "step": 10800, "training_step_time": 17.612570762634277 }, { "epoch": 1.0300636291503907e-06, "model_forward_time": 5.275562047958374, "step": 10801 }, { "epoch": 1.0300636291503907e-06, "step": 10801, "training_step_time": 17.34426236152649 }, { "epoch": 1.0301589965820313e-06, "model_forward_time": 5.069791555404663, "step": 10802 }, { "epoch": 1.0301589965820313e-06, "step": 10802, "training_step_time": 17.56255602836609 }, { "epoch": 1.030254364013672e-06, "model_forward_time": 5.077796220779419, "step": 10803 }, { "epoch": 1.030254364013672e-06, "step": 10803, "training_step_time": 17.258635759353638 }, { "epoch": 1.0303497314453125e-06, "model_forward_time": 5.088343620300293, "step": 10804 }, { "epoch": 1.0303497314453125e-06, "step": 10804, "training_step_time": 17.495449542999268 }, { "epoch": 1.0304450988769531e-06, "model_forward_time": 5.0950140953063965, "step": 10805 }, { "epoch": 1.0304450988769531e-06, "step": 10805, "training_step_time": 17.768494367599487 }, { "epoch": 1.0305404663085938e-06, "model_forward_time": 5.099567651748657, "step": 10806 }, { "epoch": 1.0305404663085938e-06, "step": 10806, "training_step_time": 17.591054916381836 }, { "epoch": 1.0306358337402344e-06, "model_forward_time": 5.099791526794434, "step": 10807 }, { "epoch": 1.0306358337402344e-06, "step": 10807, "training_step_time": 17.606560945510864 }, { "epoch": 1.030731201171875e-06, "model_forward_time": 3.8571839332580566, "step": 10808 }, { "epoch": 1.030731201171875e-06, "step": 10808, "training_step_time": 17.62693452835083 }, { "epoch": 1.0308265686035156e-06, "model_forward_time": 5.0621337890625, "step": 10809 }, { "epoch": 1.0308265686035156e-06, "step": 10809, "training_step_time": 17.63824772834778 }, { "epoch": 1.0309219360351562e-06, "grad_norm": 1.3648011684417725, "learning_rate": 9.704883735428905e-06, "loss": 0.1114, "step": 10810 }, { "epoch": 1.0309219360351562e-06, "model_forward_time": 5.0766215324401855, "step": 10810 }, { "dynamics_loss_avg": 0.04053742606192827, "epoch": 1.0309219360351562e-06, "step": 10810 }, { "action_loss_avg": 0.07663899287581444, "epoch": 1.0309219360351562e-06, "step": 10810 }, { "arm_loss_avg": 0.16850243806838988, "epoch": 1.0309219360351562e-06, "step": 10810 }, { "ee_loss_avg": 0.12437790383119136, "epoch": 1.0309219360351562e-06, "step": 10810 }, { "aux_loss_avg": 0.015129139256896452, "epoch": 1.0309219360351562e-06, "step": 10810 }, { "epoch": 1.0309219360351562e-06, "step": 10810, "training_step_time": 17.8338885307312 }, { "epoch": 1.0310173034667968e-06, "model_forward_time": 5.275022745132446, "step": 10811 }, { "epoch": 1.0310173034667968e-06, "step": 10811, "training_step_time": 17.653551816940308 }, { "epoch": 1.0311126708984374e-06, "model_forward_time": 5.089120626449585, "step": 10812 }, { "epoch": 1.0311126708984374e-06, "step": 10812, "training_step_time": 17.644230604171753 }, { "epoch": 1.031208038330078e-06, "model_forward_time": 5.090312719345093, "step": 10813 }, { "epoch": 1.031208038330078e-06, "step": 10813, "training_step_time": 17.63499093055725 }, { "epoch": 1.0313034057617187e-06, "model_forward_time": 5.096086502075195, "step": 10814 }, { "epoch": 1.0313034057617187e-06, "step": 10814, "training_step_time": 17.848893404006958 }, { "epoch": 1.0313987731933593e-06, "model_forward_time": 5.094456195831299, "step": 10815 }, { "epoch": 1.0313987731933593e-06, "step": 10815, "training_step_time": 17.6160831451416 }, { "epoch": 1.031494140625e-06, "model_forward_time": 5.098827838897705, "step": 10816 }, { "epoch": 1.031494140625e-06, "step": 10816, "training_step_time": 17.630038499832153 }, { "epoch": 1.0315895080566407e-06, "model_forward_time": 5.105244874954224, "step": 10817 }, { "epoch": 1.0315895080566407e-06, "step": 10817, "training_step_time": 17.625603437423706 }, { "epoch": 1.0316848754882813e-06, "model_forward_time": 5.10235595703125, "step": 10818 }, { "epoch": 1.0316848754882813e-06, "step": 10818, "training_step_time": 17.646426916122437 }, { "epoch": 1.031780242919922e-06, "model_forward_time": 5.100369930267334, "step": 10819 }, { "epoch": 1.031780242919922e-06, "step": 10819, "training_step_time": 17.85582709312439 }, { "epoch": 1.0318756103515626e-06, "grad_norm": 1.6690552234649658, "learning_rate": 9.704083707677223e-06, "loss": 0.1162, "step": 10820 }, { "epoch": 1.0318756103515626e-06, "model_forward_time": 5.299891233444214, "step": 10820 }, { "dynamics_loss_avg": 0.03613811847753823, "epoch": 1.0318756103515626e-06, "step": 10820 }, { "action_loss_avg": 0.09880907908082008, "epoch": 1.0318756103515626e-06, "step": 10820 }, { "arm_loss_avg": 0.14742046669125558, "epoch": 1.0318756103515626e-06, "step": 10820 }, { "ee_loss_avg": 0.07821271354332567, "epoch": 1.0318756103515626e-06, "step": 10820 }, { "aux_loss_avg": 0.0009534761251416057, "epoch": 1.0318756103515626e-06, "step": 10820 }, { "epoch": 1.0318756103515626e-06, "step": 10820, "training_step_time": 18.08773422241211 }, { "epoch": 1.0319709777832032e-06, "model_forward_time": 5.07962965965271, "step": 10821 }, { "epoch": 1.0319709777832032e-06, "step": 10821, "training_step_time": 17.575589179992676 }, { "epoch": 1.0320663452148438e-06, "model_forward_time": 5.077357530593872, "step": 10822 }, { "epoch": 1.0320663452148438e-06, "step": 10822, "training_step_time": 17.583296537399292 }, { "epoch": 1.0321617126464844e-06, "model_forward_time": 5.08261513710022, "step": 10823 }, { "epoch": 1.0321617126464844e-06, "step": 10823, "training_step_time": 17.594143867492676 }, { "epoch": 1.032257080078125e-06, "model_forward_time": 5.085745096206665, "step": 10824 }, { "epoch": 1.032257080078125e-06, "step": 10824, "training_step_time": 17.81493330001831 }, { "epoch": 1.0323524475097656e-06, "model_forward_time": 5.0848565101623535, "step": 10825 }, { "epoch": 1.0323524475097656e-06, "step": 10825, "training_step_time": 17.595669984817505 }, { "epoch": 1.0324478149414063e-06, "model_forward_time": 5.0858166217803955, "step": 10826 }, { "epoch": 1.0324478149414063e-06, "step": 10826, "training_step_time": 17.59253454208374 }, { "epoch": 1.0325431823730469e-06, "model_forward_time": 5.086466550827026, "step": 10827 }, { "epoch": 1.0325431823730469e-06, "step": 10827, "training_step_time": 17.5913987159729 }, { "epoch": 1.0326385498046875e-06, "model_forward_time": 5.086214303970337, "step": 10828 }, { "epoch": 1.0326385498046875e-06, "step": 10828, "training_step_time": 17.598260402679443 }, { "epoch": 1.032733917236328e-06, "model_forward_time": 5.0846123695373535, "step": 10829 }, { "epoch": 1.032733917236328e-06, "step": 10829, "training_step_time": 17.78702163696289 }, { "epoch": 1.0328292846679687e-06, "grad_norm": 1.4406039714813232, "learning_rate": 9.703282630065303e-06, "loss": 0.1126, "step": 10830 }, { "epoch": 1.0328292846679687e-06, "model_forward_time": 5.2808310985565186, "step": 10830 }, { "dynamics_loss_avg": 0.03120558992959559, "epoch": 1.0328292846679687e-06, "step": 10830 }, { "action_loss_avg": 0.07444537691771984, "epoch": 1.0328292846679687e-06, "step": 10830 }, { "arm_loss_avg": 0.17340876236557962, "epoch": 1.0328292846679687e-06, "step": 10830 }, { "ee_loss_avg": 0.06768498499877751, "epoch": 1.0328292846679687e-06, "step": 10830 }, { "aux_loss_avg": 0.003464113746304065, "epoch": 1.0328292846679687e-06, "step": 10830 }, { "epoch": 1.0328292846679687e-06, "step": 10830, "training_step_time": 17.60210919380188 }, { "epoch": 1.0329246520996093e-06, "model_forward_time": 5.087845325469971, "step": 10831 }, { "epoch": 1.0329246520996093e-06, "step": 10831, "training_step_time": 17.599218606948853 }, { "epoch": 1.03302001953125e-06, "model_forward_time": 5.08803915977478, "step": 10832 }, { "epoch": 1.03302001953125e-06, "step": 10832, "training_step_time": 17.568620920181274 }, { "epoch": 1.0331153869628906e-06, "model_forward_time": 5.087590217590332, "step": 10833 }, { "epoch": 1.0331153869628906e-06, "step": 10833, "training_step_time": 17.516395807266235 }, { "epoch": 1.0332107543945312e-06, "model_forward_time": 5.089836120605469, "step": 10834 }, { "epoch": 1.0332107543945312e-06, "step": 10834, "training_step_time": 17.566548109054565 }, { "epoch": 1.0333061218261718e-06, "model_forward_time": 5.337374448776245, "step": 10835 }, { "epoch": 1.0333061218261718e-06, "step": 10835, "training_step_time": 17.8135883808136 }, { "epoch": 1.0334014892578124e-06, "model_forward_time": 5.086244821548462, "step": 10836 }, { "epoch": 1.0334014892578124e-06, "step": 10836, "training_step_time": 17.594619750976562 }, { "epoch": 1.0334968566894532e-06, "model_forward_time": 5.105781316757202, "step": 10837 }, { "epoch": 1.0334968566894532e-06, "step": 10837, "training_step_time": 17.274921894073486 }, { "epoch": 1.0335922241210938e-06, "model_forward_time": 3.8655662536621094, "step": 10838 }, { "epoch": 1.0335922241210938e-06, "step": 10838, "training_step_time": 17.54650068283081 }, { "epoch": 1.0336875915527345e-06, "model_forward_time": 5.068545579910278, "step": 10839 }, { "epoch": 1.0336875915527345e-06, "step": 10839, "training_step_time": 17.84609627723694 }, { "epoch": 1.033782958984375e-06, "grad_norm": 1.5707224607467651, "learning_rate": 9.702480502771931e-06, "loss": 0.1182, "step": 10840 }, { "epoch": 1.033782958984375e-06, "model_forward_time": 3.8438096046447754, "step": 10840 }, { "dynamics_loss_avg": 0.03992990236729384, "epoch": 1.033782958984375e-06, "step": 10840 }, { "action_loss_avg": 0.06297962479293347, "epoch": 1.033782958984375e-06, "step": 10840 }, { "arm_loss_avg": 0.12826298363506794, "epoch": 1.033782958984375e-06, "step": 10840 }, { "ee_loss_avg": 0.047732895147055386, "epoch": 1.033782958984375e-06, "step": 10840 }, { "aux_loss_avg": 0.004075741133419797, "epoch": 1.033782958984375e-06, "step": 10840 }, { "epoch": 1.033782958984375e-06, "step": 10840, "training_step_time": 17.612465620040894 }, { "epoch": 1.0338783264160157e-06, "model_forward_time": 5.2564616203308105, "step": 10841 }, { "epoch": 1.0338783264160157e-06, "step": 10841, "training_step_time": 17.348474502563477 }, { "epoch": 1.0339736938476563e-06, "model_forward_time": 5.069512844085693, "step": 10842 }, { "epoch": 1.0339736938476563e-06, "step": 10842, "training_step_time": 17.60816717147827 }, { "epoch": 1.034069061279297e-06, "model_forward_time": 5.08610725402832, "step": 10843 }, { "epoch": 1.034069061279297e-06, "step": 10843, "training_step_time": 17.56530523300171 }, { "epoch": 1.0341644287109375e-06, "model_forward_time": 5.094769716262817, "step": 10844 }, { "epoch": 1.0341644287109375e-06, "step": 10844, "training_step_time": 17.587830543518066 }, { "epoch": 1.0342597961425781e-06, "model_forward_time": 5.099214315414429, "step": 10845 }, { "epoch": 1.0342597961425781e-06, "step": 10845, "training_step_time": 17.841657400131226 }, { "epoch": 1.0343551635742188e-06, "model_forward_time": 5.328998327255249, "step": 10846 }, { "epoch": 1.0343551635742188e-06, "step": 10846, "training_step_time": 17.463916301727295 }, { "epoch": 1.0344505310058594e-06, "model_forward_time": 5.0993828773498535, "step": 10847 }, { "epoch": 1.0344505310058594e-06, "step": 10847, "training_step_time": 17.5945987701416 }, { "epoch": 1.0345458984375e-06, "model_forward_time": 5.095173358917236, "step": 10848 }, { "epoch": 1.0345458984375e-06, "step": 10848, "training_step_time": 17.415984630584717 }, { "epoch": 1.0346412658691406e-06, "model_forward_time": 3.8561253547668457, "step": 10849 }, { "epoch": 1.0346412658691406e-06, "step": 10849, "training_step_time": 17.525410890579224 }, { "epoch": 1.0347366333007812e-06, "grad_norm": 1.640830159187317, "learning_rate": 9.701677325976123e-06, "loss": 0.1196, "step": 10850 }, { "epoch": 1.0347366333007812e-06, "model_forward_time": 5.054595708847046, "step": 10850 }, { "dynamics_loss_avg": 0.051390965841710566, "epoch": 1.0347366333007812e-06, "step": 10850 }, { "action_loss_avg": 0.11526036337018013, "epoch": 1.0347366333007812e-06, "step": 10850 }, { "arm_loss_avg": 0.17490656860172749, "epoch": 1.0347366333007812e-06, "step": 10850 }, { "ee_loss_avg": 0.15966046303510667, "epoch": 1.0347366333007812e-06, "step": 10850 }, { "aux_loss_avg": 0.003046067152172327, "epoch": 1.0347366333007812e-06, "step": 10850 }, { "epoch": 1.0347366333007812e-06, "step": 10850, "training_step_time": 17.766753911972046 }, { "epoch": 1.0348320007324218e-06, "model_forward_time": 4.079838275909424, "step": 10851 }, { "epoch": 1.0348320007324218e-06, "step": 10851, "training_step_time": 17.61465072631836 }, { "epoch": 1.0349273681640624e-06, "model_forward_time": 5.051352262496948, "step": 10852 }, { "epoch": 1.0349273681640624e-06, "step": 10852, "training_step_time": 17.640870332717896 }, { "epoch": 1.035022735595703e-06, "model_forward_time": 5.065772294998169, "step": 10853 }, { "epoch": 1.035022735595703e-06, "step": 10853, "training_step_time": 17.63364267349243 }, { "epoch": 1.0351181030273437e-06, "model_forward_time": 5.074814558029175, "step": 10854 }, { "epoch": 1.0351181030273437e-06, "step": 10854, "training_step_time": 17.63815951347351 }, { "epoch": 1.0352134704589843e-06, "model_forward_time": 5.0924389362335205, "step": 10855 }, { "epoch": 1.0352134704589843e-06, "step": 10855, "training_step_time": 17.86077380180359 }, { "epoch": 1.035308837890625e-06, "model_forward_time": 5.325007677078247, "step": 10856 }, { "epoch": 1.035308837890625e-06, "step": 10856, "training_step_time": 17.454678773880005 }, { "epoch": 1.0354042053222657e-06, "model_forward_time": 5.099168539047241, "step": 10857 }, { "epoch": 1.0354042053222657e-06, "step": 10857, "training_step_time": 17.580076456069946 }, { "epoch": 1.0354995727539063e-06, "model_forward_time": 5.098169326782227, "step": 10858 }, { "epoch": 1.0354995727539063e-06, "step": 10858, "training_step_time": 17.56949472427368 }, { "epoch": 1.035594940185547e-06, "model_forward_time": 5.098285436630249, "step": 10859 }, { "epoch": 1.035594940185547e-06, "step": 10859, "training_step_time": 17.585641384124756 }, { "epoch": 1.0356903076171876e-06, "grad_norm": 1.4517323970794678, "learning_rate": 9.700873099857134e-06, "loss": 0.1256, "step": 10860 }, { "epoch": 1.0356903076171876e-06, "model_forward_time": 5.092181921005249, "step": 10860 }, { "dynamics_loss_avg": 0.05183832515031099, "epoch": 1.0356903076171876e-06, "step": 10860 }, { "action_loss_avg": 0.08592662215232849, "epoch": 1.0356903076171876e-06, "step": 10860 }, { "arm_loss_avg": 0.21015874445438384, "epoch": 1.0356903076171876e-06, "step": 10860 }, { "ee_loss_avg": 0.10632290737703443, "epoch": 1.0356903076171876e-06, "step": 10860 }, { "aux_loss_avg": 0.00795201727305539, "epoch": 1.0356903076171876e-06, "step": 10860 }, { "epoch": 1.0356903076171876e-06, "step": 10860, "training_step_time": 17.797978162765503 }, { "epoch": 1.0357856750488282e-06, "model_forward_time": 4.093761205673218, "step": 10861 }, { "epoch": 1.0357856750488282e-06, "step": 10861, "training_step_time": 17.61482882499695 }, { "epoch": 1.0358810424804688e-06, "model_forward_time": 3.8295633792877197, "step": 10862 }, { "epoch": 1.0358810424804688e-06, "step": 10862, "training_step_time": 17.630086421966553 }, { "epoch": 1.0359764099121094e-06, "model_forward_time": 5.047424554824829, "step": 10863 }, { "epoch": 1.0359764099121094e-06, "step": 10863, "training_step_time": 17.392698526382446 }, { "epoch": 1.03607177734375e-06, "model_forward_time": 5.0580949783325195, "step": 10864 }, { "epoch": 1.03607177734375e-06, "step": 10864, "training_step_time": 17.527005434036255 }, { "epoch": 1.0361671447753906e-06, "model_forward_time": 5.075548887252808, "step": 10865 }, { "epoch": 1.0361671447753906e-06, "step": 10865, "training_step_time": 17.788294792175293 }, { "epoch": 1.0362625122070313e-06, "model_forward_time": 5.315435886383057, "step": 10866 }, { "epoch": 1.0362625122070313e-06, "step": 10866, "training_step_time": 17.571046113967896 }, { "epoch": 1.0363578796386719e-06, "model_forward_time": 5.097851753234863, "step": 10867 }, { "epoch": 1.0363578796386719e-06, "step": 10867, "training_step_time": 17.5929696559906 }, { "epoch": 1.0364532470703125e-06, "model_forward_time": 5.100275278091431, "step": 10868 }, { "epoch": 1.0364532470703125e-06, "step": 10868, "training_step_time": 17.615434408187866 }, { "epoch": 1.036548614501953e-06, "model_forward_time": 3.8629865646362305, "step": 10869 }, { "epoch": 1.036548614501953e-06, "step": 10869, "training_step_time": 17.625016450881958 }, { "epoch": 1.0366439819335937e-06, "grad_norm": 1.4985084533691406, "learning_rate": 9.700067824594452e-06, "loss": 0.1241, "step": 10870 }, { "epoch": 1.0366439819335937e-06, "model_forward_time": 5.065674543380737, "step": 10870 }, { "dynamics_loss_avg": 0.05081599690020085, "epoch": 1.0366439819335937e-06, "step": 10870 }, { "action_loss_avg": 0.07062656190246344, "epoch": 1.0366439819335937e-06, "step": 10870 }, { "arm_loss_avg": 0.15660100765526294, "epoch": 1.0366439819335937e-06, "step": 10870 }, { "ee_loss_avg": 0.1558252579998225, "epoch": 1.0366439819335937e-06, "step": 10870 }, { "aux_loss_avg": 0.0027451402973383667, "epoch": 1.0366439819335937e-06, "step": 10870 }, { "epoch": 1.0366439819335937e-06, "step": 10870, "training_step_time": 17.3695809841156 }, { "epoch": 1.0367393493652343e-06, "model_forward_time": 5.263963222503662, "step": 10871 }, { "epoch": 1.0367393493652343e-06, "step": 10871, "training_step_time": 17.53557014465332 }, { "epoch": 1.036834716796875e-06, "model_forward_time": 3.8473222255706787, "step": 10872 }, { "epoch": 1.036834716796875e-06, "step": 10872, "training_step_time": 17.5631206035614 }, { "epoch": 1.0369300842285156e-06, "model_forward_time": 5.058165550231934, "step": 10873 }, { "epoch": 1.0369300842285156e-06, "step": 10873, "training_step_time": 17.588207483291626 }, { "epoch": 1.0370254516601562e-06, "model_forward_time": 5.0699663162231445, "step": 10874 }, { "epoch": 1.0370254516601562e-06, "step": 10874, "training_step_time": 17.500332832336426 }, { "epoch": 1.0371208190917968e-06, "model_forward_time": 5.081277847290039, "step": 10875 }, { "epoch": 1.0371208190917968e-06, "step": 10875, "training_step_time": 17.73698353767395 }, { "epoch": 1.0372161865234374e-06, "model_forward_time": 5.3208818435668945, "step": 10876 }, { "epoch": 1.0372161865234374e-06, "step": 10876, "training_step_time": 17.555967092514038 }, { "epoch": 1.037311553955078e-06, "model_forward_time": 5.093766212463379, "step": 10877 }, { "epoch": 1.037311553955078e-06, "step": 10877, "training_step_time": 17.583389043807983 }, { "epoch": 1.0374069213867188e-06, "model_forward_time": 5.094001054763794, "step": 10878 }, { "epoch": 1.0374069213867188e-06, "step": 10878, "training_step_time": 17.597379684448242 }, { "epoch": 1.0375022888183595e-06, "model_forward_time": 5.093054533004761, "step": 10879 }, { "epoch": 1.0375022888183595e-06, "step": 10879, "training_step_time": 17.600693464279175 }, { "epoch": 1.03759765625e-06, "grad_norm": 0.9220415353775024, "learning_rate": 9.699261500367799e-06, "loss": 0.1248, "step": 10880 }, { "epoch": 1.03759765625e-06, "model_forward_time": 5.091064929962158, "step": 10880 }, { "dynamics_loss_avg": 0.060541408322751525, "epoch": 1.03759765625e-06, "step": 10880 }, { "action_loss_avg": 0.09132325947284699, "epoch": 1.03759765625e-06, "step": 10880 }, { "arm_loss_avg": 0.12291732728481293, "epoch": 1.03759765625e-06, "step": 10880 }, { "ee_loss_avg": 0.09166297712363303, "epoch": 1.03759765625e-06, "step": 10880 }, { "aux_loss_avg": 0.002333567725145258, "epoch": 1.03759765625e-06, "step": 10880 }, { "epoch": 1.03759765625e-06, "step": 10880, "training_step_time": 17.800141096115112 }, { "epoch": 1.0376930236816407e-06, "model_forward_time": 5.283321380615234, "step": 10881 }, { "epoch": 1.0376930236816407e-06, "step": 10881, "training_step_time": 17.61916160583496 }, { "epoch": 1.0377883911132813e-06, "model_forward_time": 5.086830139160156, "step": 10882 }, { "epoch": 1.0377883911132813e-06, "step": 10882, "training_step_time": 17.637715816497803 }, { "epoch": 1.037883758544922e-06, "model_forward_time": 5.08679986000061, "step": 10883 }, { "epoch": 1.037883758544922e-06, "step": 10883, "training_step_time": 17.61312770843506 }, { "epoch": 1.0379791259765625e-06, "model_forward_time": 5.083600044250488, "step": 10884 }, { "epoch": 1.0379791259765625e-06, "step": 10884, "training_step_time": 17.604875564575195 }, { "epoch": 1.0380744934082031e-06, "model_forward_time": 5.07976508140564, "step": 10885 }, { "epoch": 1.0380744934082031e-06, "step": 10885, "training_step_time": 17.853694200515747 }, { "epoch": 1.0381698608398438e-06, "model_forward_time": 5.077926874160767, "step": 10886 }, { "epoch": 1.0381698608398438e-06, "step": 10886, "training_step_time": 17.61238956451416 }, { "epoch": 1.0382652282714844e-06, "model_forward_time": 5.083709001541138, "step": 10887 }, { "epoch": 1.0382652282714844e-06, "step": 10887, "training_step_time": 17.601840257644653 }, { "epoch": 1.038360595703125e-06, "model_forward_time": 5.085658311843872, "step": 10888 }, { "epoch": 1.038360595703125e-06, "step": 10888, "training_step_time": 17.60693335533142 }, { "epoch": 1.0384559631347656e-06, "model_forward_time": 5.083187103271484, "step": 10889 }, { "epoch": 1.0384559631347656e-06, "step": 10889, "training_step_time": 17.58829402923584 }, { "epoch": 1.0385513305664062e-06, "grad_norm": 1.6318275928497314, "learning_rate": 9.69845412735713e-06, "loss": 0.1285, "step": 10890 }, { "epoch": 1.0385513305664062e-06, "model_forward_time": 5.081531047821045, "step": 10890 }, { "dynamics_loss_avg": 0.05335474424064159, "epoch": 1.0385513305664062e-06, "step": 10890 }, { "action_loss_avg": 0.09537873715162277, "epoch": 1.0385513305664062e-06, "step": 10890 }, { "arm_loss_avg": 0.16964280009269714, "epoch": 1.0385513305664062e-06, "step": 10890 }, { "ee_loss_avg": 0.1411447249352932, "epoch": 1.0385513305664062e-06, "step": 10890 }, { "aux_loss_avg": 0.0026200084190350025, "epoch": 1.0385513305664062e-06, "step": 10890 }, { "epoch": 1.0385513305664062e-06, "step": 10890, "training_step_time": 17.439948320388794 }, { "epoch": 1.0386466979980468e-06, "model_forward_time": 5.0874645709991455, "step": 10891 }, { "epoch": 1.0386466979980468e-06, "step": 10891, "training_step_time": 17.5098237991333 }, { "epoch": 1.0387420654296874e-06, "model_forward_time": 5.090563535690308, "step": 10892 }, { "epoch": 1.0387420654296874e-06, "step": 10892, "training_step_time": 17.614436388015747 }, { "epoch": 1.038837432861328e-06, "model_forward_time": 5.084630966186523, "step": 10893 }, { "epoch": 1.038837432861328e-06, "step": 10893, "training_step_time": 17.566970825195312 }, { "epoch": 1.0389328002929687e-06, "model_forward_time": 5.087254285812378, "step": 10894 }, { "epoch": 1.0389328002929687e-06, "step": 10894, "training_step_time": 17.367557764053345 }, { "epoch": 1.0390281677246093e-06, "model_forward_time": 5.086922883987427, "step": 10895 }, { "epoch": 1.0390281677246093e-06, "step": 10895, "training_step_time": 17.747899532318115 }, { "epoch": 1.03912353515625e-06, "model_forward_time": 5.3260815143585205, "step": 10896 }, { "epoch": 1.03912353515625e-06, "step": 10896, "training_step_time": 17.57302951812744 }, { "epoch": 1.0392189025878905e-06, "model_forward_time": 5.085113525390625, "step": 10897 }, { "epoch": 1.0392189025878905e-06, "step": 10897, "training_step_time": 17.5982928276062 }, { "epoch": 1.0393142700195313e-06, "model_forward_time": 5.08409309387207, "step": 10898 }, { "epoch": 1.0393142700195313e-06, "step": 10898, "training_step_time": 17.624941110610962 }, { "epoch": 1.039409637451172e-06, "model_forward_time": 5.081404447555542, "step": 10899 }, { "epoch": 1.039409637451172e-06, "step": 10899, "training_step_time": 17.62511396408081 }, { "epoch": 1.0395050048828126e-06, "grad_norm": 2.0976109504699707, "learning_rate": 9.697645705742637e-06, "loss": 0.123, "step": 10900 }, { "epoch": 1.0395050048828126e-06, "model_forward_time": 5.08559513092041, "step": 10900 }, { "dynamics_loss_avg": 0.04676835965365171, "epoch": 1.0395050048828126e-06, "step": 10900 }, { "action_loss_avg": 0.09532514698803425, "epoch": 1.0395050048828126e-06, "step": 10900 }, { "arm_loss_avg": 0.17447506114840508, "epoch": 1.0395050048828126e-06, "step": 10900 }, { "ee_loss_avg": 0.06760272630490363, "epoch": 1.0395050048828126e-06, "step": 10900 }, { "aux_loss_avg": 0.0010959677339997143, "epoch": 1.0395050048828126e-06, "step": 10900 }, { "epoch": 1.0395050048828126e-06, "step": 10900, "training_step_time": 17.82234287261963 }, { "epoch": 1.0396003723144532e-06, "model_forward_time": 3.8482015132904053, "step": 10901 }, { "epoch": 1.0396003723144532e-06, "step": 10901, "training_step_time": 17.632171630859375 }, { "epoch": 1.0396957397460938e-06, "model_forward_time": 5.281097173690796, "step": 10902 }, { "epoch": 1.0396957397460938e-06, "step": 10902, "training_step_time": 17.63459277153015 }, { "epoch": 1.0397911071777344e-06, "model_forward_time": 3.837660312652588, "step": 10903 }, { "epoch": 1.0397911071777344e-06, "step": 10903, "training_step_time": 17.618558883666992 }, { "epoch": 1.039886474609375e-06, "model_forward_time": 5.055616617202759, "step": 10904 }, { "epoch": 1.039886474609375e-06, "step": 10904, "training_step_time": 17.6109299659729 }, { "epoch": 1.0399818420410156e-06, "model_forward_time": 5.070425271987915, "step": 10905 }, { "epoch": 1.0399818420410156e-06, "step": 10905, "training_step_time": 17.82756280899048 }, { "epoch": 1.0400772094726563e-06, "model_forward_time": 5.083498477935791, "step": 10906 }, { "epoch": 1.0400772094726563e-06, "step": 10906, "training_step_time": 17.586579084396362 }, { "epoch": 1.0401725769042969e-06, "model_forward_time": 5.09804630279541, "step": 10907 }, { "epoch": 1.0401725769042969e-06, "step": 10907, "training_step_time": 17.585362911224365 }, { "epoch": 1.0402679443359375e-06, "model_forward_time": 5.102539777755737, "step": 10908 }, { "epoch": 1.0402679443359375e-06, "step": 10908, "training_step_time": 17.573694467544556 }, { "epoch": 1.0403633117675781e-06, "model_forward_time": 5.10612678527832, "step": 10909 }, { "epoch": 1.0403633117675781e-06, "step": 10909, "training_step_time": 17.5817232131958 }, { "epoch": 1.0404586791992187e-06, "grad_norm": 1.7476245164871216, "learning_rate": 9.696836235704741e-06, "loss": 0.1233, "step": 10910 }, { "epoch": 1.0404586791992187e-06, "model_forward_time": 5.10076379776001, "step": 10910 }, { "dynamics_loss_avg": 0.04878968046978116, "epoch": 1.0404586791992187e-06, "step": 10910 }, { "action_loss_avg": 0.0904106054455042, "epoch": 1.0404586791992187e-06, "step": 10910 }, { "arm_loss_avg": 0.11331413649022579, "epoch": 1.0404586791992187e-06, "step": 10910 }, { "ee_loss_avg": 0.08731277587357908, "epoch": 1.0404586791992187e-06, "step": 10910 }, { "aux_loss_avg": 0.0008996888005640358, "epoch": 1.0404586791992187e-06, "step": 10910 }, { "epoch": 1.0404586791992187e-06, "step": 10910, "training_step_time": 17.768837213516235 }, { "epoch": 1.0405540466308593e-06, "model_forward_time": 5.095653772354126, "step": 10911 }, { "epoch": 1.0405540466308593e-06, "step": 10911, "training_step_time": 17.581641674041748 }, { "epoch": 1.0406494140625e-06, "model_forward_time": 5.089625120162964, "step": 10912 }, { "epoch": 1.0406494140625e-06, "step": 10912, "training_step_time": 17.640557289123535 }, { "epoch": 1.0407447814941406e-06, "model_forward_time": 5.087213754653931, "step": 10913 }, { "epoch": 1.0407447814941406e-06, "step": 10913, "training_step_time": 17.501878261566162 }, { "epoch": 1.0408401489257812e-06, "model_forward_time": 5.082139253616333, "step": 10914 }, { "epoch": 1.0408401489257812e-06, "step": 10914, "training_step_time": 17.550159215927124 }, { "epoch": 1.0409355163574218e-06, "model_forward_time": 5.082361459732056, "step": 10915 }, { "epoch": 1.0409355163574218e-06, "step": 10915, "training_step_time": 17.813400745391846 }, { "epoch": 1.0410308837890624e-06, "model_forward_time": 5.0747106075286865, "step": 10916 }, { "epoch": 1.0410308837890624e-06, "step": 10916, "training_step_time": 17.58996272087097 }, { "epoch": 1.041126251220703e-06, "model_forward_time": 5.077528953552246, "step": 10917 }, { "epoch": 1.041126251220703e-06, "step": 10917, "training_step_time": 17.611986875534058 }, { "epoch": 1.0412216186523438e-06, "model_forward_time": 5.082604885101318, "step": 10918 }, { "epoch": 1.0412216186523438e-06, "step": 10918, "training_step_time": 17.610737085342407 }, { "epoch": 1.0413169860839845e-06, "model_forward_time": 5.083232402801514, "step": 10919 }, { "epoch": 1.0413169860839845e-06, "step": 10919, "training_step_time": 17.82593846321106 }, { "epoch": 1.041412353515625e-06, "grad_norm": 1.4655377864837646, "learning_rate": 9.696025717424103e-06, "loss": 0.1225, "step": 10920 }, { "epoch": 1.041412353515625e-06, "model_forward_time": 5.078486442565918, "step": 10920 }, { "dynamics_loss_avg": 0.05645150765776634, "epoch": 1.041412353515625e-06, "step": 10920 }, { "action_loss_avg": 0.09381481148302555, "epoch": 1.041412353515625e-06, "step": 10920 }, { "arm_loss_avg": 0.1804215632379055, "epoch": 1.041412353515625e-06, "step": 10920 }, { "ee_loss_avg": 0.11895917244255542, "epoch": 1.041412353515625e-06, "step": 10920 }, { "aux_loss_avg": 0.0035686186514794827, "epoch": 1.041412353515625e-06, "step": 10920 }, { "epoch": 1.041412353515625e-06, "step": 10920, "training_step_time": 17.609254598617554 }, { "epoch": 1.0415077209472657e-06, "model_forward_time": 5.2936460971832275, "step": 10921 }, { "epoch": 1.0415077209472657e-06, "step": 10921, "training_step_time": 17.61193585395813 }, { "epoch": 1.0416030883789063e-06, "model_forward_time": 5.086535692214966, "step": 10922 }, { "epoch": 1.0416030883789063e-06, "step": 10922, "training_step_time": 17.605826377868652 }, { "epoch": 1.041698455810547e-06, "model_forward_time": 5.086914300918579, "step": 10923 }, { "epoch": 1.041698455810547e-06, "step": 10923, "training_step_time": 17.60642719268799 }, { "epoch": 1.0417938232421875e-06, "model_forward_time": 5.0824973583221436, "step": 10924 }, { "epoch": 1.0417938232421875e-06, "step": 10924, "training_step_time": 17.837337017059326 }, { "epoch": 1.0418891906738282e-06, "model_forward_time": 5.083752870559692, "step": 10925 }, { "epoch": 1.0418891906738282e-06, "step": 10925, "training_step_time": 17.59542226791382 }, { "epoch": 1.0419845581054688e-06, "model_forward_time": 3.8507816791534424, "step": 10926 }, { "epoch": 1.0419845581054688e-06, "step": 10926, "training_step_time": 17.58450746536255 }, { "epoch": 1.0420799255371094e-06, "model_forward_time": 5.296506404876709, "step": 10927 }, { "epoch": 1.0420799255371094e-06, "step": 10927, "training_step_time": 17.59407377243042 }, { "epoch": 1.04217529296875e-06, "model_forward_time": 5.073342323303223, "step": 10928 }, { "epoch": 1.04217529296875e-06, "step": 10928, "training_step_time": 17.588603496551514 }, { "epoch": 1.0422706604003906e-06, "model_forward_time": 5.0813188552856445, "step": 10929 }, { "epoch": 1.0422706604003906e-06, "step": 10929, "training_step_time": 17.81010413169861 }, { "epoch": 1.0423660278320312e-06, "grad_norm": 1.9539586305618286, "learning_rate": 9.695214151081613e-06, "loss": 0.1181, "step": 10930 }, { "epoch": 1.0423660278320312e-06, "model_forward_time": 5.080624103546143, "step": 10930 }, { "dynamics_loss_avg": 0.0556617546826601, "epoch": 1.0423660278320312e-06, "step": 10930 }, { "action_loss_avg": 0.09980102181434632, "epoch": 1.0423660278320312e-06, "step": 10930 }, { "arm_loss_avg": 0.16660061478614807, "epoch": 1.0423660278320312e-06, "step": 10930 }, { "ee_loss_avg": 0.16130105797201394, "epoch": 1.0423660278320312e-06, "step": 10930 }, { "aux_loss_avg": 0.002886060270247981, "epoch": 1.0423660278320312e-06, "step": 10930 }, { "epoch": 1.0423660278320312e-06, "step": 10930, "training_step_time": 17.591883897781372 }, { "epoch": 1.0424613952636718e-06, "model_forward_time": 5.088865041732788, "step": 10931 }, { "epoch": 1.0424613952636718e-06, "step": 10931, "training_step_time": 17.592163801193237 }, { "epoch": 1.0425567626953125e-06, "model_forward_time": 5.093973159790039, "step": 10932 }, { "epoch": 1.0425567626953125e-06, "step": 10932, "training_step_time": 17.598254442214966 }, { "epoch": 1.042652130126953e-06, "model_forward_time": 5.097023963928223, "step": 10933 }, { "epoch": 1.042652130126953e-06, "step": 10933, "training_step_time": 17.637799739837646 }, { "epoch": 1.0427474975585937e-06, "model_forward_time": 5.090184926986694, "step": 10934 }, { "epoch": 1.0427474975585937e-06, "step": 10934, "training_step_time": 17.84352397918701 }, { "epoch": 1.0428428649902343e-06, "model_forward_time": 5.088866949081421, "step": 10935 }, { "epoch": 1.0428428649902343e-06, "step": 10935, "training_step_time": 17.412100791931152 }, { "epoch": 1.042938232421875e-06, "model_forward_time": 5.091504335403442, "step": 10936 }, { "epoch": 1.042938232421875e-06, "step": 10936, "training_step_time": 17.5130615234375 }, { "epoch": 1.0430335998535155e-06, "model_forward_time": 5.098369359970093, "step": 10937 }, { "epoch": 1.0430335998535155e-06, "step": 10937, "training_step_time": 17.679301738739014 }, { "epoch": 1.0431289672851564e-06, "model_forward_time": 5.094335556030273, "step": 10938 }, { "epoch": 1.0431289672851564e-06, "step": 10938, "training_step_time": 17.632604598999023 }, { "epoch": 1.043224334716797e-06, "model_forward_time": 5.094483375549316, "step": 10939 }, { "epoch": 1.043224334716797e-06, "step": 10939, "training_step_time": 17.635550022125244 }, { "epoch": 1.0433197021484376e-06, "grad_norm": 1.09722101688385, "learning_rate": 9.694401536858397e-06, "loss": 0.1166, "step": 10940 }, { "epoch": 1.0433197021484376e-06, "model_forward_time": 5.093531370162964, "step": 10940 }, { "dynamics_loss_avg": 0.04836102137342095, "epoch": 1.0433197021484376e-06, "step": 10940 }, { "action_loss_avg": 0.08730499595403671, "epoch": 1.0433197021484376e-06, "step": 10940 }, { "arm_loss_avg": 0.16384077370166777, "epoch": 1.0433197021484376e-06, "step": 10940 }, { "ee_loss_avg": 0.11616599271073938, "epoch": 1.0433197021484376e-06, "step": 10940 }, { "aux_loss_avg": 0.0009422563598491251, "epoch": 1.0433197021484376e-06, "step": 10940 }, { "epoch": 1.0433197021484376e-06, "step": 10940, "training_step_time": 17.880610466003418 }, { "epoch": 1.0434150695800782e-06, "model_forward_time": 5.284342527389526, "step": 10941 }, { "epoch": 1.0434150695800782e-06, "step": 10941, "training_step_time": 17.620169162750244 }, { "epoch": 1.0435104370117188e-06, "model_forward_time": 5.086006164550781, "step": 10942 }, { "epoch": 1.0435104370117188e-06, "step": 10942, "training_step_time": 17.62896180152893 }, { "epoch": 1.0436058044433594e-06, "model_forward_time": 3.849733352661133, "step": 10943 }, { "epoch": 1.0436058044433594e-06, "step": 10943, "training_step_time": 17.60975193977356 }, { "epoch": 1.043701171875e-06, "model_forward_time": 5.057546854019165, "step": 10944 }, { "epoch": 1.043701171875e-06, "step": 10944, "training_step_time": 17.84986972808838 }, { "epoch": 1.0437965393066407e-06, "model_forward_time": 5.067859888076782, "step": 10945 }, { "epoch": 1.0437965393066407e-06, "step": 10945, "training_step_time": 17.60088348388672 }, { "epoch": 1.0438919067382813e-06, "model_forward_time": 5.075433015823364, "step": 10946 }, { "epoch": 1.0438919067382813e-06, "step": 10946, "training_step_time": 17.59376049041748 }, { "epoch": 1.0439872741699219e-06, "model_forward_time": 5.320733070373535, "step": 10947 }, { "epoch": 1.0439872741699219e-06, "step": 10947, "training_step_time": 17.58888053894043 }, { "epoch": 1.0440826416015625e-06, "model_forward_time": 5.095715522766113, "step": 10948 }, { "epoch": 1.0440826416015625e-06, "step": 10948, "training_step_time": 17.592286825180054 }, { "epoch": 1.0441780090332031e-06, "model_forward_time": 5.098743915557861, "step": 10949 }, { "epoch": 1.0441780090332031e-06, "step": 10949, "training_step_time": 17.817749500274658 }, { "epoch": 1.0442733764648437e-06, "grad_norm": 1.3010839223861694, "learning_rate": 9.693587874935814e-06, "loss": 0.1169, "step": 10950 }, { "epoch": 1.0442733764648437e-06, "model_forward_time": 3.8587138652801514, "step": 10950 }, { "dynamics_loss_avg": 0.042898460663855074, "epoch": 1.0442733764648437e-06, "step": 10950 }, { "action_loss_avg": 0.09076240621507167, "epoch": 1.0442733764648437e-06, "step": 10950 }, { "arm_loss_avg": 0.1621452532708645, "epoch": 1.0442733764648437e-06, "step": 10950 }, { "ee_loss_avg": 0.1186094922479242, "epoch": 1.0442733764648437e-06, "step": 10950 }, { "aux_loss_avg": 0.005387466074898839, "epoch": 1.0442733764648437e-06, "step": 10950 }, { "epoch": 1.0442733764648437e-06, "step": 10950, "training_step_time": 17.580183267593384 }, { "epoch": 1.0443687438964843e-06, "model_forward_time": 5.065479040145874, "step": 10951 }, { "epoch": 1.0443687438964843e-06, "step": 10951, "training_step_time": 17.587230682373047 }, { "epoch": 1.044464111328125e-06, "model_forward_time": 5.262760877609253, "step": 10952 }, { "epoch": 1.044464111328125e-06, "step": 10952, "training_step_time": 17.607316732406616 }, { "epoch": 1.0445594787597656e-06, "model_forward_time": 5.08383321762085, "step": 10953 }, { "epoch": 1.0445594787597656e-06, "step": 10953, "training_step_time": 17.591662883758545 }, { "epoch": 1.0446548461914062e-06, "model_forward_time": 5.086402416229248, "step": 10954 }, { "epoch": 1.0446548461914062e-06, "step": 10954, "training_step_time": 17.82161283493042 }, { "epoch": 1.0447502136230468e-06, "model_forward_time": 5.092485427856445, "step": 10955 }, { "epoch": 1.0447502136230468e-06, "step": 10955, "training_step_time": 17.582011461257935 }, { "epoch": 1.0448455810546874e-06, "model_forward_time": 5.103986740112305, "step": 10956 }, { "epoch": 1.0448455810546874e-06, "step": 10956, "training_step_time": 17.61520028114319 }, { "epoch": 1.044940948486328e-06, "model_forward_time": 5.370316505432129, "step": 10957 }, { "epoch": 1.044940948486328e-06, "step": 10957, "training_step_time": 17.675283908843994 }, { "epoch": 1.0450363159179689e-06, "model_forward_time": 5.110109329223633, "step": 10958 }, { "epoch": 1.0450363159179689e-06, "step": 10958, "training_step_time": 17.43548846244812 }, { "epoch": 1.0451316833496095e-06, "model_forward_time": 5.10868501663208, "step": 10959 }, { "epoch": 1.0451316833496095e-06, "step": 10959, "training_step_time": 17.56023144721985 }, { "epoch": 1.04522705078125e-06, "grad_norm": 3.7803797721862793, "learning_rate": 9.692773165495461e-06, "loss": 0.1328, "step": 10960 }, { "epoch": 1.04522705078125e-06, "model_forward_time": 5.112249851226807, "step": 10960 }, { "dynamics_loss_avg": 0.050158361764624716, "epoch": 1.04522705078125e-06, "step": 10960 }, { "action_loss_avg": 0.09351209364831448, "epoch": 1.04522705078125e-06, "step": 10960 }, { "arm_loss_avg": 0.20145216584205627, "epoch": 1.04522705078125e-06, "step": 10960 }, { "ee_loss_avg": 0.09509620103053748, "epoch": 1.04522705078125e-06, "step": 10960 }, { "aux_loss_avg": 0.00397596950060688, "epoch": 1.04522705078125e-06, "step": 10960 }, { "epoch": 1.04522705078125e-06, "step": 10960, "training_step_time": 17.83300757408142 }, { "epoch": 1.0453224182128907e-06, "model_forward_time": 5.084534645080566, "step": 10961 }, { "epoch": 1.0453224182128907e-06, "step": 10961, "training_step_time": 17.587449073791504 }, { "epoch": 1.0454177856445313e-06, "model_forward_time": 5.084782838821411, "step": 10962 }, { "epoch": 1.0454177856445313e-06, "step": 10962, "training_step_time": 17.615241765975952 }, { "epoch": 1.045513153076172e-06, "model_forward_time": 5.082298517227173, "step": 10963 }, { "epoch": 1.045513153076172e-06, "step": 10963, "training_step_time": 17.625316858291626 }, { "epoch": 1.0456085205078125e-06, "model_forward_time": 5.082476854324341, "step": 10964 }, { "epoch": 1.0456085205078125e-06, "step": 10964, "training_step_time": 17.861518621444702 }, { "epoch": 1.0457038879394532e-06, "model_forward_time": 5.082754611968994, "step": 10965 }, { "epoch": 1.0457038879394532e-06, "step": 10965, "training_step_time": 17.626487970352173 }, { "epoch": 1.0457992553710938e-06, "model_forward_time": 5.082233428955078, "step": 10966 }, { "epoch": 1.0457992553710938e-06, "step": 10966, "training_step_time": 17.631763458251953 }, { "epoch": 1.0458946228027344e-06, "model_forward_time": 5.086681604385376, "step": 10967 }, { "epoch": 1.0458946228027344e-06, "step": 10967, "training_step_time": 17.632439136505127 }, { "epoch": 1.045989990234375e-06, "model_forward_time": 5.085034370422363, "step": 10968 }, { "epoch": 1.045989990234375e-06, "step": 10968, "training_step_time": 17.621213674545288 }, { "epoch": 1.0460853576660156e-06, "model_forward_time": 5.084977626800537, "step": 10969 }, { "epoch": 1.0460853576660156e-06, "step": 10969, "training_step_time": 17.841381311416626 }, { "epoch": 1.0461807250976562e-06, "grad_norm": 2.114569902420044, "learning_rate": 9.69195740871916e-06, "loss": 0.1233, "step": 10970 }, { "epoch": 1.0461807250976562e-06, "model_forward_time": 3.8495147228240967, "step": 10970 }, { "dynamics_loss_avg": 0.053014034777879714, "epoch": 1.0461807250976562e-06, "step": 10970 }, { "action_loss_avg": 0.09879579860717058, "epoch": 1.0461807250976562e-06, "step": 10970 }, { "arm_loss_avg": 0.1764129338786006, "epoch": 1.0461807250976562e-06, "step": 10970 }, { "ee_loss_avg": 0.06186638129875064, "epoch": 1.0461807250976562e-06, "step": 10970 }, { "aux_loss_avg": 0.0026434219733346255, "epoch": 1.0461807250976562e-06, "step": 10970 }, { "epoch": 1.0461807250976562e-06, "step": 10970, "training_step_time": 17.597100019454956 }, { "epoch": 1.0462760925292968e-06, "model_forward_time": 5.0620245933532715, "step": 10971 }, { "epoch": 1.0462760925292968e-06, "step": 10971, "training_step_time": 17.604907512664795 }, { "epoch": 1.0463714599609375e-06, "model_forward_time": 5.270620822906494, "step": 10972 }, { "epoch": 1.0463714599609375e-06, "step": 10972, "training_step_time": 17.636544704437256 }, { "epoch": 1.046466827392578e-06, "model_forward_time": 5.077309846878052, "step": 10973 }, { "epoch": 1.046466827392578e-06, "step": 10973, "training_step_time": 17.596762657165527 }, { "epoch": 1.0465621948242187e-06, "model_forward_time": 5.084615230560303, "step": 10974 }, { "epoch": 1.0465621948242187e-06, "step": 10974, "training_step_time": 17.44522523880005 }, { "epoch": 1.0466575622558593e-06, "model_forward_time": 3.855116605758667, "step": 10975 }, { "epoch": 1.0466575622558593e-06, "step": 10975, "training_step_time": 17.741339683532715 }, { "epoch": 1.0467529296875e-06, "model_forward_time": 5.063134431838989, "step": 10976 }, { "epoch": 1.0467529296875e-06, "step": 10976, "training_step_time": 17.546815872192383 }, { "epoch": 1.0468482971191405e-06, "model_forward_time": 5.323082685470581, "step": 10977 }, { "epoch": 1.0468482971191405e-06, "step": 10977, "training_step_time": 17.61726450920105 }, { "epoch": 1.0469436645507814e-06, "model_forward_time": 5.088816165924072, "step": 10978 }, { "epoch": 1.0469436645507814e-06, "step": 10978, "training_step_time": 17.393399238586426 }, { "epoch": 1.047039031982422e-06, "model_forward_time": 5.094088315963745, "step": 10979 }, { "epoch": 1.047039031982422e-06, "step": 10979, "training_step_time": 17.527808666229248 }, { "epoch": 1.0471343994140626e-06, "grad_norm": 3.3025381565093994, "learning_rate": 9.69114060478898e-06, "loss": 0.1236, "step": 10980 }, { "epoch": 1.0471343994140626e-06, "model_forward_time": 5.096861362457275, "step": 10980 }, { "dynamics_loss_avg": 0.04999163486063481, "epoch": 1.0471343994140626e-06, "step": 10980 }, { "action_loss_avg": 0.09032025747001171, "epoch": 1.0471343994140626e-06, "step": 10980 }, { "arm_loss_avg": 0.1681774415075779, "epoch": 1.0471343994140626e-06, "step": 10980 }, { "ee_loss_avg": 0.07172185061499477, "epoch": 1.0471343994140626e-06, "step": 10980 }, { "aux_loss_avg": 0.005625881033483893, "epoch": 1.0471343994140626e-06, "step": 10980 }, { "epoch": 1.0471343994140626e-06, "step": 10980, "training_step_time": 17.391872882843018 }, { "epoch": 1.0472297668457032e-06, "model_forward_time": 5.100745439529419, "step": 10981 }, { "epoch": 1.0472297668457032e-06, "step": 10981, "training_step_time": 17.514984846115112 }, { "epoch": 1.0473251342773438e-06, "model_forward_time": 3.861687183380127, "step": 10982 }, { "epoch": 1.0473251342773438e-06, "step": 10982, "training_step_time": 17.581506729125977 }, { "epoch": 1.0474205017089844e-06, "model_forward_time": 5.063735246658325, "step": 10983 }, { "epoch": 1.0474205017089844e-06, "step": 10983, "training_step_time": 17.61284613609314 }, { "epoch": 1.047515869140625e-06, "model_forward_time": 5.068429231643677, "step": 10984 }, { "epoch": 1.047515869140625e-06, "step": 10984, "training_step_time": 17.639654636383057 }, { "epoch": 1.0476112365722657e-06, "model_forward_time": 5.077434301376343, "step": 10985 }, { "epoch": 1.0476112365722657e-06, "step": 10985, "training_step_time": 17.871769905090332 }, { "epoch": 1.0477066040039063e-06, "model_forward_time": 5.083847522735596, "step": 10986 }, { "epoch": 1.0477066040039063e-06, "step": 10986, "training_step_time": 17.652235746383667 }, { "epoch": 1.0478019714355469e-06, "model_forward_time": 5.332753896713257, "step": 10987 }, { "epoch": 1.0478019714355469e-06, "step": 10987, "training_step_time": 17.636108875274658 }, { "epoch": 1.0478973388671875e-06, "model_forward_time": 5.090026378631592, "step": 10988 }, { "epoch": 1.0478973388671875e-06, "step": 10988, "training_step_time": 17.227656841278076 }, { "epoch": 1.0479927062988281e-06, "model_forward_time": 5.096183776855469, "step": 10989 }, { "epoch": 1.0479927062988281e-06, "step": 10989, "training_step_time": 17.528900384902954 }, { "epoch": 1.0480880737304687e-06, "grad_norm": 2.3463187217712402, "learning_rate": 9.690322753887207e-06, "loss": 0.1333, "step": 10990 }, { "epoch": 1.0480880737304687e-06, "model_forward_time": 5.094638347625732, "step": 10990 }, { "dynamics_loss_avg": 0.05953916236758232, "epoch": 1.0480880737304687e-06, "step": 10990 }, { "action_loss_avg": 0.12434667497873306, "epoch": 1.0480880737304687e-06, "step": 10990 }, { "arm_loss_avg": 0.17073074951767922, "epoch": 1.0480880737304687e-06, "step": 10990 }, { "ee_loss_avg": 0.05710826348513365, "epoch": 1.0480880737304687e-06, "step": 10990 }, { "aux_loss_avg": 0.0021095603820867836, "epoch": 1.0480880737304687e-06, "step": 10990 }, { "epoch": 1.0480880737304687e-06, "step": 10990, "training_step_time": 17.74473237991333 }, { "epoch": 1.0481834411621093e-06, "model_forward_time": 5.087568759918213, "step": 10991 }, { "epoch": 1.0481834411621093e-06, "step": 10991, "training_step_time": 17.57789182662964 }, { "epoch": 1.04827880859375e-06, "model_forward_time": 5.091290235519409, "step": 10992 }, { "epoch": 1.04827880859375e-06, "step": 10992, "training_step_time": 17.594348669052124 }, { "epoch": 1.0483741760253906e-06, "model_forward_time": 5.084146738052368, "step": 10993 }, { "epoch": 1.0483741760253906e-06, "step": 10993, "training_step_time": 17.626835107803345 }, { "epoch": 1.0484695434570312e-06, "model_forward_time": 5.08360481262207, "step": 10994 }, { "epoch": 1.0484695434570312e-06, "step": 10994, "training_step_time": 17.619885683059692 }, { "epoch": 1.0485649108886718e-06, "model_forward_time": 5.080225944519043, "step": 10995 }, { "epoch": 1.0485649108886718e-06, "step": 10995, "training_step_time": 17.845827341079712 }, { "epoch": 1.0486602783203124e-06, "model_forward_time": 5.075314283370972, "step": 10996 }, { "epoch": 1.0486602783203124e-06, "step": 10996, "training_step_time": 17.620981693267822 }, { "epoch": 1.048755645751953e-06, "model_forward_time": 3.8512585163116455, "step": 10997 }, { "epoch": 1.048755645751953e-06, "step": 10997, "training_step_time": 17.61519765853882 }, { "epoch": 1.0488510131835939e-06, "model_forward_time": 5.05253005027771, "step": 10998 }, { "epoch": 1.0488510131835939e-06, "step": 10998, "training_step_time": 17.61713743209839 }, { "epoch": 1.0489463806152345e-06, "model_forward_time": 5.065580129623413, "step": 10999 }, { "epoch": 1.0489463806152345e-06, "step": 10999, "training_step_time": 17.47536873817444 }, { "epoch": 1.049041748046875e-06, "grad_norm": 1.8993275165557861, "learning_rate": 9.689503856196376e-06, "loss": 0.1274, "step": 11000 }, { "epoch": 1.049041748046875e-06, "model_forward_time": 5.0756824016571045, "step": 11000 }, { "dynamics_loss_avg": 0.05050688553601503, "epoch": 1.049041748046875e-06, "step": 11000 }, { "action_loss_avg": 0.09832918085157871, "epoch": 1.049041748046875e-06, "step": 11000 }, { "arm_loss_avg": 0.17174476720392703, "epoch": 1.049041748046875e-06, "step": 11000 }, { "ee_loss_avg": 0.06728992755524814, "epoch": 1.049041748046875e-06, "step": 11000 }, { "aux_loss_avg": 0.00176949204178527, "epoch": 1.049041748046875e-06, "step": 11000 }, { "epoch": 1.049041748046875e-06, "step": 11000, "training_step_time": 17.704174041748047 }, { "epoch": 1.0491371154785157e-06, "model_forward_time": 5.086693525314331, "step": 11001 }, { "epoch": 1.0491371154785157e-06, "step": 11001, "training_step_time": 17.54644012451172 }, { "epoch": 1.0492324829101563e-06, "model_forward_time": 5.318112134933472, "step": 11002 }, { "epoch": 1.0492324829101563e-06, "step": 11002, "training_step_time": 17.604045867919922 }, { "epoch": 1.049327850341797e-06, "model_forward_time": 5.094204902648926, "step": 11003 }, { "epoch": 1.049327850341797e-06, "step": 11003, "training_step_time": 17.58021354675293 }, { "epoch": 1.0494232177734375e-06, "model_forward_time": 5.093854665756226, "step": 11004 }, { "epoch": 1.0494232177734375e-06, "step": 11004, "training_step_time": 17.5899441242218 }, { "epoch": 1.0495185852050782e-06, "model_forward_time": 5.095377683639526, "step": 11005 }, { "epoch": 1.0495185852050782e-06, "step": 11005, "training_step_time": 17.38290762901306 }, { "epoch": 1.0496139526367188e-06, "model_forward_time": 5.091820240020752, "step": 11006 }, { "epoch": 1.0496139526367188e-06, "step": 11006, "training_step_time": 17.533666133880615 }, { "epoch": 1.0497093200683594e-06, "model_forward_time": 3.8545875549316406, "step": 11007 }, { "epoch": 1.0497093200683594e-06, "step": 11007, "training_step_time": 17.566139221191406 }, { "epoch": 1.0498046875e-06, "model_forward_time": 5.056557893753052, "step": 11008 }, { "epoch": 1.0498046875e-06, "step": 11008, "training_step_time": 17.591450214385986 }, { "epoch": 1.0499000549316406e-06, "model_forward_time": 5.068512201309204, "step": 11009 }, { "epoch": 1.0499000549316406e-06, "step": 11009, "training_step_time": 17.61391806602478 }, { "epoch": 1.0499954223632812e-06, "grad_norm": 1.8500210046768188, "learning_rate": 9.688683911899243e-06, "loss": 0.1192, "step": 11010 }, { "epoch": 1.0499954223632812e-06, "model_forward_time": 5.07625412940979, "step": 11010 }, { "dynamics_loss_avg": 0.05332806650549173, "epoch": 1.0499954223632812e-06, "step": 11010 }, { "action_loss_avg": 0.09551592376083136, "epoch": 1.0499954223632812e-06, "step": 11010 }, { "arm_loss_avg": 0.14812796376645565, "epoch": 1.0499954223632812e-06, "step": 11010 }, { "ee_loss_avg": 0.14520006021484733, "epoch": 1.0499954223632812e-06, "step": 11010 }, { "aux_loss_avg": 0.011000373214483262, "epoch": 1.0499954223632812e-06, "step": 11010 }, { "epoch": 1.0499954223632812e-06, "step": 11010, "training_step_time": 17.808582067489624 }, { "epoch": 1.0500907897949218e-06, "model_forward_time": 5.082245111465454, "step": 11011 }, { "epoch": 1.0500907897949218e-06, "step": 11011, "training_step_time": 17.281150102615356 }, { "epoch": 1.0501861572265625e-06, "model_forward_time": 4.098640203475952, "step": 11012 }, { "epoch": 1.0501861572265625e-06, "step": 11012, "training_step_time": 17.576346158981323 }, { "epoch": 1.050281524658203e-06, "model_forward_time": 5.063645839691162, "step": 11013 }, { "epoch": 1.050281524658203e-06, "step": 11013, "training_step_time": 17.356263160705566 }, { "epoch": 1.0503768920898437e-06, "model_forward_time": 5.075363874435425, "step": 11014 }, { "epoch": 1.0503768920898437e-06, "step": 11014, "training_step_time": 17.489702701568604 }, { "epoch": 1.0504722595214843e-06, "model_forward_time": 5.085573196411133, "step": 11015 }, { "epoch": 1.0504722595214843e-06, "step": 11015, "training_step_time": 17.783891439437866 }, { "epoch": 1.050567626953125e-06, "model_forward_time": 5.0867249965667725, "step": 11016 }, { "epoch": 1.050567626953125e-06, "step": 11016, "training_step_time": 17.58195424079895 }, { "epoch": 1.0506629943847655e-06, "model_forward_time": 5.329935073852539, "step": 11017 }, { "epoch": 1.0506629943847655e-06, "step": 11017, "training_step_time": 17.621179342269897 }, { "epoch": 1.0507583618164061e-06, "model_forward_time": 5.093306303024292, "step": 11018 }, { "epoch": 1.0507583618164061e-06, "step": 11018, "training_step_time": 17.53396248817444 }, { "epoch": 1.050853729248047e-06, "model_forward_time": 5.091851234436035, "step": 11019 }, { "epoch": 1.050853729248047e-06, "step": 11019, "training_step_time": 17.60507321357727 }, { "epoch": 1.0509490966796876e-06, "grad_norm": 1.9026511907577515, "learning_rate": 9.68786292117881e-06, "loss": 0.1165, "step": 11020 }, { "epoch": 1.0509490966796876e-06, "model_forward_time": 3.855764865875244, "step": 11020 }, { "dynamics_loss_avg": 0.05457169907167554, "epoch": 1.0509490966796876e-06, "step": 11020 }, { "action_loss_avg": 0.08580201007425785, "epoch": 1.0509490966796876e-06, "step": 11020 }, { "arm_loss_avg": 0.1591201826930046, "epoch": 1.0509490966796876e-06, "step": 11020 }, { "ee_loss_avg": 0.0964063759893179, "epoch": 1.0509490966796876e-06, "step": 11020 }, { "aux_loss_avg": 0.004853022197494283, "epoch": 1.0509490966796876e-06, "step": 11020 }, { "epoch": 1.0509490966796876e-06, "step": 11020, "training_step_time": 17.803259134292603 }, { "epoch": 1.0510444641113282e-06, "model_forward_time": 5.058456182479858, "step": 11021 }, { "epoch": 1.0510444641113282e-06, "step": 11021, "training_step_time": 17.644981145858765 }, { "epoch": 1.0511398315429688e-06, "model_forward_time": 5.261272668838501, "step": 11022 }, { "epoch": 1.0511398315429688e-06, "step": 11022, "training_step_time": 17.6239275932312 }, { "epoch": 1.0512351989746094e-06, "model_forward_time": 5.082806825637817, "step": 11023 }, { "epoch": 1.0512351989746094e-06, "step": 11023, "training_step_time": 17.539389610290527 }, { "epoch": 1.05133056640625e-06, "model_forward_time": 5.085580587387085, "step": 11024 }, { "epoch": 1.05133056640625e-06, "step": 11024, "training_step_time": 17.57318639755249 }, { "epoch": 1.0514259338378907e-06, "model_forward_time": 5.088224172592163, "step": 11025 }, { "epoch": 1.0514259338378907e-06, "step": 11025, "training_step_time": 17.838496208190918 }, { "epoch": 1.0515213012695313e-06, "model_forward_time": 5.084583282470703, "step": 11026 }, { "epoch": 1.0515213012695313e-06, "step": 11026, "training_step_time": 17.61820340156555 }, { "epoch": 1.0516166687011719e-06, "model_forward_time": 5.332301139831543, "step": 11027 }, { "epoch": 1.0516166687011719e-06, "step": 11027, "training_step_time": 17.616549015045166 }, { "epoch": 1.0517120361328125e-06, "model_forward_time": 5.091217994689941, "step": 11028 }, { "epoch": 1.0517120361328125e-06, "step": 11028, "training_step_time": 17.6117045879364 }, { "epoch": 1.0518074035644531e-06, "model_forward_time": 5.087602615356445, "step": 11029 }, { "epoch": 1.0518074035644531e-06, "step": 11029, "training_step_time": 17.619473934173584 }, { "epoch": 1.0519027709960937e-06, "grad_norm": 0.8283899426460266, "learning_rate": 9.687040884218302e-06, "loss": 0.126, "step": 11030 }, { "epoch": 1.0519027709960937e-06, "model_forward_time": 5.088751316070557, "step": 11030 }, { "dynamics_loss_avg": 0.051856995187699796, "epoch": 1.0519027709960937e-06, "step": 11030 }, { "action_loss_avg": 0.10104310438036919, "epoch": 1.0519027709960937e-06, "step": 11030 }, { "arm_loss_avg": 0.16823274344205857, "epoch": 1.0519027709960937e-06, "step": 11030 }, { "ee_loss_avg": 0.04778453982435167, "epoch": 1.0519027709960937e-06, "step": 11030 }, { "aux_loss_avg": 0.0020818189019337296, "epoch": 1.0519027709960937e-06, "step": 11030 }, { "epoch": 1.0519027709960937e-06, "step": 11030, "training_step_time": 17.79111933708191 }, { "epoch": 1.0519981384277343e-06, "model_forward_time": 5.085714340209961, "step": 11031 }, { "epoch": 1.0519981384277343e-06, "step": 11031, "training_step_time": 17.613945722579956 }, { "epoch": 1.052093505859375e-06, "model_forward_time": 5.085406064987183, "step": 11032 }, { "epoch": 1.052093505859375e-06, "step": 11032, "training_step_time": 17.60994267463684 }, { "epoch": 1.0521888732910156e-06, "model_forward_time": 5.086706876754761, "step": 11033 }, { "epoch": 1.0521888732910156e-06, "step": 11033, "training_step_time": 17.612895011901855 }, { "epoch": 1.0522842407226562e-06, "model_forward_time": 5.083379745483398, "step": 11034 }, { "epoch": 1.0522842407226562e-06, "step": 11034, "training_step_time": 17.590575456619263 }, { "epoch": 1.0523796081542968e-06, "model_forward_time": 5.083155393600464, "step": 11035 }, { "epoch": 1.0523796081542968e-06, "step": 11035, "training_step_time": 17.824913024902344 }, { "epoch": 1.0524749755859374e-06, "model_forward_time": 5.081183671951294, "step": 11036 }, { "epoch": 1.0524749755859374e-06, "step": 11036, "training_step_time": 17.580434322357178 }, { "epoch": 1.052570343017578e-06, "model_forward_time": 5.0957419872283936, "step": 11037 }, { "epoch": 1.052570343017578e-06, "step": 11037, "training_step_time": 17.608601093292236 }, { "epoch": 1.0526657104492186e-06, "model_forward_time": 5.10298752784729, "step": 11038 }, { "epoch": 1.0526657104492186e-06, "step": 11038, "training_step_time": 17.616291999816895 }, { "epoch": 1.0527610778808595e-06, "model_forward_time": 5.093855619430542, "step": 11039 }, { "epoch": 1.0527610778808595e-06, "step": 11039, "training_step_time": 17.612855434417725 }, { "epoch": 1.0528564453125e-06, "grad_norm": 1.8921494483947754, "learning_rate": 9.686217801201182e-06, "loss": 0.1208, "step": 11040 }, { "epoch": 1.0528564453125e-06, "model_forward_time": 5.095879793167114, "step": 11040 }, { "dynamics_loss_avg": 0.05448862891644239, "epoch": 1.0528564453125e-06, "step": 11040 }, { "action_loss_avg": 0.0850725769996643, "epoch": 1.0528564453125e-06, "step": 11040 }, { "arm_loss_avg": 0.16584759410470723, "epoch": 1.0528564453125e-06, "step": 11040 }, { "ee_loss_avg": 0.07296239761635662, "epoch": 1.0528564453125e-06, "step": 11040 }, { "aux_loss_avg": 0.0011406206293031573, "epoch": 1.0528564453125e-06, "step": 11040 }, { "epoch": 1.0528564453125e-06, "step": 11040, "training_step_time": 17.815481662750244 }, { "epoch": 1.0529518127441407e-06, "model_forward_time": 5.285898208618164, "step": 11041 }, { "epoch": 1.0529518127441407e-06, "step": 11041, "training_step_time": 17.58219003677368 }, { "epoch": 1.0530471801757813e-06, "model_forward_time": 5.080989360809326, "step": 11042 }, { "epoch": 1.0530471801757813e-06, "step": 11042, "training_step_time": 17.588834047317505 }, { "epoch": 1.053142547607422e-06, "model_forward_time": 5.084269762039185, "step": 11043 }, { "epoch": 1.053142547607422e-06, "step": 11043, "training_step_time": 17.608981370925903 }, { "epoch": 1.0532379150390625e-06, "model_forward_time": 5.086076498031616, "step": 11044 }, { "epoch": 1.0532379150390625e-06, "step": 11044, "training_step_time": 17.59664487838745 }, { "epoch": 1.0533332824707032e-06, "model_forward_time": 5.084004163742065, "step": 11045 }, { "epoch": 1.0533332824707032e-06, "step": 11045, "training_step_time": 17.84758949279785 }, { "epoch": 1.0534286499023438e-06, "model_forward_time": 5.080873012542725, "step": 11046 }, { "epoch": 1.0534286499023438e-06, "step": 11046, "training_step_time": 17.599398612976074 }, { "epoch": 1.0535240173339844e-06, "model_forward_time": 5.084239482879639, "step": 11047 }, { "epoch": 1.0535240173339844e-06, "step": 11047, "training_step_time": 17.600675582885742 }, { "epoch": 1.053619384765625e-06, "model_forward_time": 5.08345890045166, "step": 11048 }, { "epoch": 1.053619384765625e-06, "step": 11048, "training_step_time": 17.601367473602295 }, { "epoch": 1.0537147521972656e-06, "model_forward_time": 5.086035966873169, "step": 11049 }, { "epoch": 1.0537147521972656e-06, "step": 11049, "training_step_time": 17.597704887390137 }, { "epoch": 1.0538101196289062e-06, "grad_norm": 1.2747457027435303, "learning_rate": 9.68539367231115e-06, "loss": 0.1062, "step": 11050 }, { "epoch": 1.0538101196289062e-06, "model_forward_time": 5.085193872451782, "step": 11050 }, { "dynamics_loss_avg": 0.049878196232020854, "epoch": 1.0538101196289062e-06, "step": 11050 }, { "action_loss_avg": 0.08972920328378678, "epoch": 1.0538101196289062e-06, "step": 11050 }, { "arm_loss_avg": 0.1627446673810482, "epoch": 1.0538101196289062e-06, "step": 11050 }, { "ee_loss_avg": 0.09600918916985393, "epoch": 1.0538101196289062e-06, "step": 11050 }, { "aux_loss_avg": 0.01863532581483014, "epoch": 1.0538101196289062e-06, "step": 11050 }, { "epoch": 1.0538101196289062e-06, "step": 11050, "training_step_time": 17.814847707748413 }, { "epoch": 1.0539054870605468e-06, "model_forward_time": 5.084992170333862, "step": 11051 }, { "epoch": 1.0539054870605468e-06, "step": 11051, "training_step_time": 17.608383178710938 }, { "epoch": 1.0540008544921875e-06, "model_forward_time": 5.084409952163696, "step": 11052 }, { "epoch": 1.0540008544921875e-06, "step": 11052, "training_step_time": 17.60384202003479 }, { "epoch": 1.054096221923828e-06, "model_forward_time": 5.083266973495483, "step": 11053 }, { "epoch": 1.054096221923828e-06, "step": 11053, "training_step_time": 17.60851740837097 }, { "epoch": 1.0541915893554687e-06, "model_forward_time": 5.083908557891846, "step": 11054 }, { "epoch": 1.0541915893554687e-06, "step": 11054, "training_step_time": 17.598285913467407 }, { "epoch": 1.0542869567871093e-06, "model_forward_time": 5.082745552062988, "step": 11055 }, { "epoch": 1.0542869567871093e-06, "step": 11055, "training_step_time": 17.84725022315979 }, { "epoch": 1.05438232421875e-06, "model_forward_time": 5.078705787658691, "step": 11056 }, { "epoch": 1.05438232421875e-06, "step": 11056, "training_step_time": 17.59414792060852 }, { "epoch": 1.0544776916503905e-06, "model_forward_time": 5.0807788372039795, "step": 11057 }, { "epoch": 1.0544776916503905e-06, "step": 11057, "training_step_time": 17.626160144805908 }, { "epoch": 1.0545730590820311e-06, "model_forward_time": 5.080894470214844, "step": 11058 }, { "epoch": 1.0545730590820311e-06, "step": 11058, "training_step_time": 17.591350555419922 }, { "epoch": 1.054668426513672e-06, "model_forward_time": 5.08435320854187, "step": 11059 }, { "epoch": 1.054668426513672e-06, "step": 11059, "training_step_time": 17.58894681930542 }, { "epoch": 1.0547637939453126e-06, "grad_norm": 1.914762258529663, "learning_rate": 9.684568497732131e-06, "loss": 0.1057, "step": 11060 }, { "epoch": 1.0547637939453126e-06, "model_forward_time": 5.082783222198486, "step": 11060 }, { "dynamics_loss_avg": 0.043316103890538214, "epoch": 1.0547637939453126e-06, "step": 11060 }, { "action_loss_avg": 0.06750787235796452, "epoch": 1.0547637939453126e-06, "step": 11060 }, { "arm_loss_avg": 0.15386588573455812, "epoch": 1.0547637939453126e-06, "step": 11060 }, { "ee_loss_avg": 0.11871793209575117, "epoch": 1.0547637939453126e-06, "step": 11060 }, { "aux_loss_avg": 0.0009988513425923883, "epoch": 1.0547637939453126e-06, "step": 11060 }, { "epoch": 1.0547637939453126e-06, "step": 11060, "training_step_time": 17.786317348480225 }, { "epoch": 1.0548591613769532e-06, "model_forward_time": 3.8472626209259033, "step": 11061 }, { "epoch": 1.0548591613769532e-06, "step": 11061, "training_step_time": 17.588242769241333 }, { "epoch": 1.0549545288085938e-06, "model_forward_time": 3.826401710510254, "step": 11062 }, { "epoch": 1.0549545288085938e-06, "step": 11062, "training_step_time": 17.608482837677002 }, { "epoch": 1.0550498962402344e-06, "model_forward_time": 5.046274185180664, "step": 11063 }, { "epoch": 1.0550498962402344e-06, "step": 11063, "training_step_time": 17.592987060546875 }, { "epoch": 1.055145263671875e-06, "model_forward_time": 5.06118631362915, "step": 11064 }, { "epoch": 1.055145263671875e-06, "step": 11064, "training_step_time": 17.584722995758057 }, { "epoch": 1.0552406311035157e-06, "model_forward_time": 5.0811402797698975, "step": 11065 }, { "epoch": 1.0552406311035157e-06, "step": 11065, "training_step_time": 17.797657251358032 }, { "epoch": 1.0553359985351563e-06, "model_forward_time": 5.092717885971069, "step": 11066 }, { "epoch": 1.0553359985351563e-06, "step": 11066, "training_step_time": 17.568687200546265 }, { "epoch": 1.0554313659667969e-06, "model_forward_time": 5.103607177734375, "step": 11067 }, { "epoch": 1.0554313659667969e-06, "step": 11067, "training_step_time": 17.587358236312866 }, { "epoch": 1.0555267333984375e-06, "model_forward_time": 3.866046905517578, "step": 11068 }, { "epoch": 1.0555267333984375e-06, "step": 11068, "training_step_time": 17.58324408531189 }, { "epoch": 1.0556221008300781e-06, "model_forward_time": 5.069407224655151, "step": 11069 }, { "epoch": 1.0556221008300781e-06, "step": 11069, "training_step_time": 17.595495462417603 }, { "epoch": 1.0557174682617187e-06, "grad_norm": 2.9368128776550293, "learning_rate": 9.683742277648291e-06, "loss": 0.1246, "step": 11070 }, { "epoch": 1.0557174682617187e-06, "model_forward_time": 5.082644939422607, "step": 11070 }, { "dynamics_loss_avg": 0.06333167655393482, "epoch": 1.0557174682617187e-06, "step": 11070 }, { "action_loss_avg": 0.09004801418632269, "epoch": 1.0557174682617187e-06, "step": 11070 }, { "arm_loss_avg": 0.14227815046906472, "epoch": 1.0557174682617187e-06, "step": 11070 }, { "ee_loss_avg": 0.050425569107756016, "epoch": 1.0557174682617187e-06, "step": 11070 }, { "aux_loss_avg": 0.005432347138412297, "epoch": 1.0557174682617187e-06, "step": 11070 }, { "epoch": 1.0557174682617187e-06, "step": 11070, "training_step_time": 17.81741952896118 }, { "epoch": 1.0558128356933593e-06, "model_forward_time": 5.0830066204071045, "step": 11071 }, { "epoch": 1.0558128356933593e-06, "step": 11071, "training_step_time": 17.582973957061768 }, { "epoch": 1.055908203125e-06, "model_forward_time": 5.087947130203247, "step": 11072 }, { "epoch": 1.055908203125e-06, "step": 11072, "training_step_time": 17.606248378753662 }, { "epoch": 1.0560035705566406e-06, "model_forward_time": 5.088744640350342, "step": 11073 }, { "epoch": 1.0560035705566406e-06, "step": 11073, "training_step_time": 17.589441061019897 }, { "epoch": 1.0560989379882812e-06, "model_forward_time": 5.085794925689697, "step": 11074 }, { "epoch": 1.0560989379882812e-06, "step": 11074, "training_step_time": 17.586050748825073 }, { "epoch": 1.0561943054199218e-06, "model_forward_time": 5.088907241821289, "step": 11075 }, { "epoch": 1.0561943054199218e-06, "step": 11075, "training_step_time": 17.816802978515625 }, { "epoch": 1.0562896728515624e-06, "model_forward_time": 5.34273624420166, "step": 11076 }, { "epoch": 1.0562896728515624e-06, "step": 11076, "training_step_time": 17.61323833465576 }, { "epoch": 1.056385040283203e-06, "model_forward_time": 5.103181600570679, "step": 11077 }, { "epoch": 1.056385040283203e-06, "step": 11077, "training_step_time": 17.62613844871521 }, { "epoch": 1.0564804077148437e-06, "model_forward_time": 5.100019931793213, "step": 11078 }, { "epoch": 1.0564804077148437e-06, "step": 11078, "training_step_time": 17.661409616470337 }, { "epoch": 1.0565757751464845e-06, "model_forward_time": 5.094223976135254, "step": 11079 }, { "epoch": 1.0565757751464845e-06, "step": 11079, "training_step_time": 17.620067358016968 }, { "epoch": 1.056671142578125e-06, "grad_norm": 1.526571273803711, "learning_rate": 9.682915012244023e-06, "loss": 0.1299, "step": 11080 }, { "epoch": 1.056671142578125e-06, "model_forward_time": 5.08305549621582, "step": 11080 }, { "dynamics_loss_avg": 0.05653823297470808, "epoch": 1.056671142578125e-06, "step": 11080 }, { "action_loss_avg": 0.09607873633503913, "epoch": 1.056671142578125e-06, "step": 11080 }, { "arm_loss_avg": 0.15651157051324843, "epoch": 1.056671142578125e-06, "step": 11080 }, { "ee_loss_avg": 0.09764900207519531, "epoch": 1.056671142578125e-06, "step": 11080 }, { "aux_loss_avg": 0.008476697985315695, "epoch": 1.056671142578125e-06, "step": 11080 }, { "epoch": 1.056671142578125e-06, "step": 11080, "training_step_time": 17.791662216186523 }, { "epoch": 1.0567665100097657e-06, "model_forward_time": 5.276782512664795, "step": 11081 }, { "epoch": 1.0567665100097657e-06, "step": 11081, "training_step_time": 17.50450849533081 }, { "epoch": 1.0568618774414063e-06, "model_forward_time": 5.08230996131897, "step": 11082 }, { "epoch": 1.0568618774414063e-06, "step": 11082, "training_step_time": 17.614540338516235 }, { "epoch": 1.056957244873047e-06, "model_forward_time": 5.084100008010864, "step": 11083 }, { "epoch": 1.056957244873047e-06, "step": 11083, "training_step_time": 17.631550073623657 }, { "epoch": 1.0570526123046875e-06, "model_forward_time": 5.078805208206177, "step": 11084 }, { "epoch": 1.0570526123046875e-06, "step": 11084, "training_step_time": 17.60340166091919 }, { "epoch": 1.0571479797363282e-06, "model_forward_time": 5.0874810218811035, "step": 11085 }, { "epoch": 1.0571479797363282e-06, "step": 11085, "training_step_time": 17.8187313079834 }, { "epoch": 1.0572433471679688e-06, "model_forward_time": 5.085260629653931, "step": 11086 }, { "epoch": 1.0572433471679688e-06, "step": 11086, "training_step_time": 17.59864354133606 }, { "epoch": 1.0573387145996094e-06, "model_forward_time": 5.087922096252441, "step": 11087 }, { "epoch": 1.0573387145996094e-06, "step": 11087, "training_step_time": 17.585603952407837 }, { "epoch": 1.05743408203125e-06, "model_forward_time": 5.0844902992248535, "step": 11088 }, { "epoch": 1.05743408203125e-06, "step": 11088, "training_step_time": 17.58767867088318 }, { "epoch": 1.0575294494628906e-06, "model_forward_time": 5.083466291427612, "step": 11089 }, { "epoch": 1.0575294494628906e-06, "step": 11089, "training_step_time": 17.39707326889038 }, { "epoch": 1.0576248168945312e-06, "grad_norm": 2.7777509689331055, "learning_rate": 9.68208670170396e-06, "loss": 0.1066, "step": 11090 }, { "epoch": 1.0576248168945312e-06, "model_forward_time": 5.083827495574951, "step": 11090 }, { "dynamics_loss_avg": 0.059372603520751, "epoch": 1.0576248168945312e-06, "step": 11090 }, { "action_loss_avg": 0.07333442531526088, "epoch": 1.0576248168945312e-06, "step": 11090 }, { "arm_loss_avg": 0.15940812826156617, "epoch": 1.0576248168945312e-06, "step": 11090 }, { "ee_loss_avg": 0.07581685013137758, "epoch": 1.0576248168945312e-06, "step": 11090 }, { "aux_loss_avg": 0.010702233482152223, "epoch": 1.0576248168945312e-06, "step": 11090 }, { "epoch": 1.0576248168945312e-06, "step": 11090, "training_step_time": 17.506606340408325 }, { "epoch": 1.0577201843261719e-06, "model_forward_time": 5.0842812061309814, "step": 11091 }, { "epoch": 1.0577201843261719e-06, "step": 11091, "training_step_time": 17.733967542648315 }, { "epoch": 1.0578155517578125e-06, "model_forward_time": 5.08267617225647, "step": 11092 }, { "epoch": 1.0578155517578125e-06, "step": 11092, "training_step_time": 17.61315417289734 }, { "epoch": 1.057910919189453e-06, "model_forward_time": 5.083320379257202, "step": 11093 }, { "epoch": 1.057910919189453e-06, "step": 11093, "training_step_time": 17.58624243736267 }, { "epoch": 1.0580062866210937e-06, "model_forward_time": 5.083415746688843, "step": 11094 }, { "epoch": 1.0580062866210937e-06, "step": 11094, "training_step_time": 17.60942006111145 }, { "epoch": 1.0581016540527343e-06, "model_forward_time": 5.0849854946136475, "step": 11095 }, { "epoch": 1.0581016540527343e-06, "step": 11095, "training_step_time": 17.50115132331848 }, { "epoch": 1.058197021484375e-06, "model_forward_time": 5.093673229217529, "step": 11096 }, { "epoch": 1.058197021484375e-06, "step": 11096, "training_step_time": 17.78926992416382 }, { "epoch": 1.0582923889160155e-06, "model_forward_time": 3.86818265914917, "step": 11097 }, { "epoch": 1.0582923889160155e-06, "step": 11097, "training_step_time": 17.61382031440735 }, { "epoch": 1.0583877563476562e-06, "model_forward_time": 5.084869384765625, "step": 11098 }, { "epoch": 1.0583877563476562e-06, "step": 11098, "training_step_time": 17.656708002090454 }, { "epoch": 1.058483123779297e-06, "model_forward_time": 5.0807881355285645, "step": 11099 }, { "epoch": 1.058483123779297e-06, "step": 11099, "training_step_time": 17.655071258544922 }, { "epoch": 1.0585784912109376e-06, "grad_norm": 1.409117579460144, "learning_rate": 9.681257346212964e-06, "loss": 0.1223, "step": 11100 }, { "epoch": 1.0585784912109376e-06, "model_forward_time": 3.8472306728363037, "step": 11100 }, { "dynamics_loss_avg": 0.05708766654133797, "epoch": 1.0585784912109376e-06, "step": 11100 }, { "action_loss_avg": 0.08126872014254331, "epoch": 1.0585784912109376e-06, "step": 11100 }, { "arm_loss_avg": 0.14144066348671913, "epoch": 1.0585784912109376e-06, "step": 11100 }, { "ee_loss_avg": 0.08214236772619188, "epoch": 1.0585784912109376e-06, "step": 11100 }, { "aux_loss_avg": 0.001436500618001446, "epoch": 1.0585784912109376e-06, "step": 11100 }, { "epoch": 1.0585784912109376e-06, "step": 11100, "training_step_time": 17.868608951568604 }, { "epoch": 1.0586738586425782e-06, "model_forward_time": 5.060366868972778, "step": 11101 }, { "epoch": 1.0586738586425782e-06, "step": 11101, "training_step_time": 17.610276222229004 }, { "epoch": 1.0587692260742188e-06, "model_forward_time": 5.266963005065918, "step": 11102 }, { "epoch": 1.0587692260742188e-06, "step": 11102, "training_step_time": 17.60751748085022 }, { "epoch": 1.0588645935058594e-06, "model_forward_time": 5.08706259727478, "step": 11103 }, { "epoch": 1.0588645935058594e-06, "step": 11103, "training_step_time": 17.634552001953125 }, { "epoch": 1.0589599609375e-06, "model_forward_time": 5.0942769050598145, "step": 11104 }, { "epoch": 1.0589599609375e-06, "step": 11104, "training_step_time": 17.59448528289795 }, { "epoch": 1.0590553283691407e-06, "model_forward_time": 5.102742433547974, "step": 11105 }, { "epoch": 1.0590553283691407e-06, "step": 11105, "training_step_time": 17.81824827194214 }, { "epoch": 1.0591506958007813e-06, "model_forward_time": 5.098551511764526, "step": 11106 }, { "epoch": 1.0591506958007813e-06, "step": 11106, "training_step_time": 17.60877227783203 }, { "epoch": 1.059246063232422e-06, "model_forward_time": 4.063854694366455, "step": 11107 }, { "epoch": 1.059246063232422e-06, "step": 11107, "training_step_time": 17.607090711593628 }, { "epoch": 1.0593414306640625e-06, "model_forward_time": 5.062585115432739, "step": 11108 }, { "epoch": 1.0593414306640625e-06, "step": 11108, "training_step_time": 17.609034061431885 }, { "epoch": 1.0594367980957031e-06, "model_forward_time": 5.074371576309204, "step": 11109 }, { "epoch": 1.0594367980957031e-06, "step": 11109, "training_step_time": 17.598719120025635 }, { "epoch": 1.0595321655273437e-06, "grad_norm": 1.9901469945907593, "learning_rate": 9.68042694595613e-06, "loss": 0.106, "step": 11110 }, { "epoch": 1.0595321655273437e-06, "model_forward_time": 5.0782270431518555, "step": 11110 }, { "dynamics_loss_avg": 0.0447308475151658, "epoch": 1.0595321655273437e-06, "step": 11110 }, { "action_loss_avg": 0.08320557251572609, "epoch": 1.0595321655273437e-06, "step": 11110 }, { "arm_loss_avg": 0.1582025706768036, "epoch": 1.0595321655273437e-06, "step": 11110 }, { "ee_loss_avg": 0.1016066895565018, "epoch": 1.0595321655273437e-06, "step": 11110 }, { "aux_loss_avg": 0.010586661816341802, "epoch": 1.0595321655273437e-06, "step": 11110 }, { "epoch": 1.0595321655273437e-06, "step": 11110, "training_step_time": 17.816879987716675 }, { "epoch": 1.0596275329589844e-06, "model_forward_time": 5.081681728363037, "step": 11111 }, { "epoch": 1.0596275329589844e-06, "step": 11111, "training_step_time": 17.59426784515381 }, { "epoch": 1.059722900390625e-06, "model_forward_time": 5.271606683731079, "step": 11112 }, { "epoch": 1.059722900390625e-06, "step": 11112, "training_step_time": 17.596340656280518 }, { "epoch": 1.0598182678222656e-06, "model_forward_time": 5.085665464401245, "step": 11113 }, { "epoch": 1.0598182678222656e-06, "step": 11113, "training_step_time": 17.546107053756714 }, { "epoch": 1.0599136352539062e-06, "model_forward_time": 5.086524724960327, "step": 11114 }, { "epoch": 1.0599136352539062e-06, "step": 11114, "training_step_time": 17.51198935508728 }, { "epoch": 1.0600090026855468e-06, "model_forward_time": 5.086385488510132, "step": 11115 }, { "epoch": 1.0600090026855468e-06, "step": 11115, "training_step_time": 17.529850482940674 }, { "epoch": 1.0601043701171874e-06, "model_forward_time": 3.850475788116455, "step": 11116 }, { "epoch": 1.0601043701171874e-06, "step": 11116, "training_step_time": 17.80606722831726 }, { "epoch": 1.060199737548828e-06, "model_forward_time": 5.287101984024048, "step": 11117 }, { "epoch": 1.060199737548828e-06, "step": 11117, "training_step_time": 17.55524468421936 }, { "epoch": 1.0602951049804687e-06, "model_forward_time": 5.069598197937012, "step": 11118 }, { "epoch": 1.0602951049804687e-06, "step": 11118, "training_step_time": 17.505595207214355 }, { "epoch": 1.0603904724121095e-06, "model_forward_time": 5.075951814651489, "step": 11119 }, { "epoch": 1.0603904724121095e-06, "step": 11119, "training_step_time": 17.550442934036255 }, { "epoch": 1.06048583984375e-06, "grad_norm": 1.9968899488449097, "learning_rate": 9.679595501118787e-06, "loss": 0.138, "step": 11120 }, { "epoch": 1.06048583984375e-06, "model_forward_time": 5.083438158035278, "step": 11120 }, { "dynamics_loss_avg": 0.06552183479070664, "epoch": 1.06048583984375e-06, "step": 11120 }, { "action_loss_avg": 0.09420025050640106, "epoch": 1.06048583984375e-06, "step": 11120 }, { "arm_loss_avg": 0.13148124366998673, "epoch": 1.06048583984375e-06, "step": 11120 }, { "ee_loss_avg": 0.059858182724565265, "epoch": 1.06048583984375e-06, "step": 11120 }, { "aux_loss_avg": 0.0012528873921837658, "epoch": 1.06048583984375e-06, "step": 11120 }, { "epoch": 1.06048583984375e-06, "step": 11120, "training_step_time": 17.58642029762268 }, { "epoch": 1.0605812072753907e-06, "model_forward_time": 5.084839582443237, "step": 11121 }, { "epoch": 1.0605812072753907e-06, "step": 11121, "training_step_time": 17.419872760772705 }, { "epoch": 1.0606765747070313e-06, "model_forward_time": 5.090694189071655, "step": 11122 }, { "epoch": 1.0606765747070313e-06, "step": 11122, "training_step_time": 17.640352725982666 }, { "epoch": 1.060771942138672e-06, "model_forward_time": 5.095675468444824, "step": 11123 }, { "epoch": 1.060771942138672e-06, "step": 11123, "training_step_time": 17.578258514404297 }, { "epoch": 1.0608673095703126e-06, "model_forward_time": 5.088635683059692, "step": 11124 }, { "epoch": 1.0608673095703126e-06, "step": 11124, "training_step_time": 17.60805654525757 }, { "epoch": 1.0609626770019532e-06, "model_forward_time": 5.086027383804321, "step": 11125 }, { "epoch": 1.0609626770019532e-06, "step": 11125, "training_step_time": 17.629959106445312 }, { "epoch": 1.0610580444335938e-06, "model_forward_time": 5.086722373962402, "step": 11126 }, { "epoch": 1.0610580444335938e-06, "step": 11126, "training_step_time": 17.875145196914673 }, { "epoch": 1.0611534118652344e-06, "model_forward_time": 5.081676244735718, "step": 11127 }, { "epoch": 1.0611534118652344e-06, "step": 11127, "training_step_time": 17.631596565246582 }, { "epoch": 1.061248779296875e-06, "model_forward_time": 5.079931259155273, "step": 11128 }, { "epoch": 1.061248779296875e-06, "step": 11128, "training_step_time": 17.624568700790405 }, { "epoch": 1.0613441467285156e-06, "model_forward_time": 5.081073760986328, "step": 11129 }, { "epoch": 1.0613441467285156e-06, "step": 11129, "training_step_time": 17.62240695953369 }, { "epoch": 1.0614395141601562e-06, "grad_norm": 2.1239218711853027, "learning_rate": 9.678763011886498e-06, "loss": 0.126, "step": 11130 }, { "epoch": 1.0614395141601562e-06, "model_forward_time": 5.0801215171813965, "step": 11130 }, { "dynamics_loss_avg": 0.074397430755198, "epoch": 1.0614395141601562e-06, "step": 11130 }, { "action_loss_avg": 0.10290678218007088, "epoch": 1.0614395141601562e-06, "step": 11130 }, { "arm_loss_avg": 0.14876497760415078, "epoch": 1.0614395141601562e-06, "step": 11130 }, { "ee_loss_avg": 0.07383286347612739, "epoch": 1.0614395141601562e-06, "step": 11130 }, { "aux_loss_avg": 0.0028392623411491514, "epoch": 1.0614395141601562e-06, "step": 11130 }, { "epoch": 1.0614395141601562e-06, "step": 11130, "training_step_time": 17.615742683410645 }, { "epoch": 1.0615348815917969e-06, "model_forward_time": 5.079702138900757, "step": 11131 }, { "epoch": 1.0615348815917969e-06, "step": 11131, "training_step_time": 17.792041540145874 }, { "epoch": 1.0616302490234375e-06, "model_forward_time": 5.078901767730713, "step": 11132 }, { "epoch": 1.0616302490234375e-06, "step": 11132, "training_step_time": 17.59476613998413 }, { "epoch": 1.061725616455078e-06, "model_forward_time": 5.0811381340026855, "step": 11133 }, { "epoch": 1.061725616455078e-06, "step": 11133, "training_step_time": 17.630162239074707 }, { "epoch": 1.0618209838867187e-06, "model_forward_time": 5.080583333969116, "step": 11134 }, { "epoch": 1.0618209838867187e-06, "step": 11134, "training_step_time": 17.582671642303467 }, { "epoch": 1.0619163513183593e-06, "model_forward_time": 5.083057165145874, "step": 11135 }, { "epoch": 1.0619163513183593e-06, "step": 11135, "training_step_time": 17.789493799209595 }, { "epoch": 1.06201171875e-06, "model_forward_time": 5.078812837600708, "step": 11136 }, { "epoch": 1.06201171875e-06, "step": 11136, "training_step_time": 17.56553316116333 }, { "epoch": 1.0621070861816405e-06, "model_forward_time": 3.8539934158325195, "step": 11137 }, { "epoch": 1.0621070861816405e-06, "step": 11137, "training_step_time": 17.643000841140747 }, { "epoch": 1.0622024536132812e-06, "model_forward_time": 5.059435129165649, "step": 11138 }, { "epoch": 1.0622024536132812e-06, "step": 11138, "training_step_time": 17.575451612472534 }, { "epoch": 1.0622978210449218e-06, "model_forward_time": 3.8342652320861816, "step": 11139 }, { "epoch": 1.0622978210449218e-06, "step": 11139, "training_step_time": 17.571180820465088 }, { "epoch": 1.0623931884765626e-06, "grad_norm": 2.3946340084075928, "learning_rate": 9.677929478445061e-06, "loss": 0.138, "step": 11140 }, { "epoch": 1.0623931884765626e-06, "model_forward_time": 5.051599979400635, "step": 11140 }, { "dynamics_loss_avg": 0.06244659386575222, "epoch": 1.0623931884765626e-06, "step": 11140 }, { "action_loss_avg": 0.10054275728762149, "epoch": 1.0623931884765626e-06, "step": 11140 }, { "arm_loss_avg": 0.15142312236130237, "epoch": 1.0623931884765626e-06, "step": 11140 }, { "ee_loss_avg": 0.12908763978630305, "epoch": 1.0623931884765626e-06, "step": 11140 }, { "aux_loss_avg": 0.011296549683902413, "epoch": 1.0623931884765626e-06, "step": 11140 }, { "epoch": 1.0623931884765626e-06, "step": 11140, "training_step_time": 17.7704656124115 }, { "epoch": 1.0624885559082032e-06, "model_forward_time": 5.064931631088257, "step": 11141 }, { "epoch": 1.0624885559082032e-06, "step": 11141, "training_step_time": 17.558584451675415 }, { "epoch": 1.0625839233398438e-06, "model_forward_time": 5.264772415161133, "step": 11142 }, { "epoch": 1.0625839233398438e-06, "step": 11142, "training_step_time": 17.564481258392334 }, { "epoch": 1.0626792907714844e-06, "model_forward_time": 5.094238042831421, "step": 11143 }, { "epoch": 1.0626792907714844e-06, "step": 11143, "training_step_time": 17.56328773498535 }, { "epoch": 1.062774658203125e-06, "model_forward_time": 5.097955703735352, "step": 11144 }, { "epoch": 1.062774658203125e-06, "step": 11144, "training_step_time": 17.557488203048706 }, { "epoch": 1.0628700256347657e-06, "model_forward_time": 5.101564645767212, "step": 11145 }, { "epoch": 1.0628700256347657e-06, "step": 11145, "training_step_time": 17.789530754089355 }, { "epoch": 1.0629653930664063e-06, "model_forward_time": 5.097955942153931, "step": 11146 }, { "epoch": 1.0629653930664063e-06, "step": 11146, "training_step_time": 17.357352256774902 }, { "epoch": 1.063060760498047e-06, "model_forward_time": 5.334211826324463, "step": 11147 }, { "epoch": 1.063060760498047e-06, "step": 11147, "training_step_time": 17.577941417694092 }, { "epoch": 1.0631561279296875e-06, "model_forward_time": 5.088254690170288, "step": 11148 }, { "epoch": 1.0631561279296875e-06, "step": 11148, "training_step_time": 17.53291368484497 }, { "epoch": 1.0632514953613281e-06, "model_forward_time": 5.081552028656006, "step": 11149 }, { "epoch": 1.0632514953613281e-06, "step": 11149, "training_step_time": 17.57150936126709 }, { "epoch": 1.0633468627929687e-06, "grad_norm": 0.7138969302177429, "learning_rate": 9.677094900980499e-06, "loss": 0.1147, "step": 11150 }, { "epoch": 1.0633468627929687e-06, "model_forward_time": 5.078511714935303, "step": 11150 }, { "dynamics_loss_avg": 0.05833733417093754, "epoch": 1.0633468627929687e-06, "step": 11150 }, { "action_loss_avg": 0.08590832464396954, "epoch": 1.0633468627929687e-06, "step": 11150 }, { "arm_loss_avg": 0.16389783658087254, "epoch": 1.0633468627929687e-06, "step": 11150 }, { "ee_loss_avg": 0.06743595460429788, "epoch": 1.0633468627929687e-06, "step": 11150 }, { "aux_loss_avg": 0.004988838953431695, "epoch": 1.0633468627929687e-06, "step": 11150 }, { "epoch": 1.0633468627929687e-06, "step": 11150, "training_step_time": 17.586711406707764 }, { "epoch": 1.0634422302246094e-06, "model_forward_time": 5.076528072357178, "step": 11151 }, { "epoch": 1.0634422302246094e-06, "step": 11151, "training_step_time": 17.773136377334595 }, { "epoch": 1.06353759765625e-06, "model_forward_time": 5.074433326721191, "step": 11152 }, { "epoch": 1.06353759765625e-06, "step": 11152, "training_step_time": 17.595173120498657 }, { "epoch": 1.0636329650878906e-06, "model_forward_time": 5.073313474655151, "step": 11153 }, { "epoch": 1.0636329650878906e-06, "step": 11153, "training_step_time": 17.587780475616455 }, { "epoch": 1.0637283325195312e-06, "model_forward_time": 5.073580980300903, "step": 11154 }, { "epoch": 1.0637283325195312e-06, "step": 11154, "training_step_time": 17.59645175933838 }, { "epoch": 1.0638236999511718e-06, "model_forward_time": 3.8480093479156494, "step": 11155 }, { "epoch": 1.0638236999511718e-06, "step": 11155, "training_step_time": 17.7923424243927 }, { "epoch": 1.0639190673828124e-06, "model_forward_time": 5.054732084274292, "step": 11156 }, { "epoch": 1.0639190673828124e-06, "step": 11156, "training_step_time": 17.57717275619507 }, { "epoch": 1.064014434814453e-06, "model_forward_time": 5.316422939300537, "step": 11157 }, { "epoch": 1.064014434814453e-06, "step": 11157, "training_step_time": 17.648298025131226 }, { "epoch": 1.0641098022460937e-06, "model_forward_time": 5.0762927532196045, "step": 11158 }, { "epoch": 1.0641098022460937e-06, "step": 11158, "training_step_time": 17.572444438934326 }, { "epoch": 1.0642051696777343e-06, "model_forward_time": 5.082817554473877, "step": 11159 }, { "epoch": 1.0642051696777343e-06, "step": 11159, "training_step_time": 17.57037591934204 }, { "epoch": 1.064300537109375e-06, "grad_norm": 1.2539052963256836, "learning_rate": 9.676259279679078e-06, "loss": 0.1202, "step": 11160 }, { "epoch": 1.064300537109375e-06, "model_forward_time": 5.089472532272339, "step": 11160 }, { "dynamics_loss_avg": 0.05984290894120932, "epoch": 1.064300537109375e-06, "step": 11160 }, { "action_loss_avg": 0.08696592189371585, "epoch": 1.064300537109375e-06, "step": 11160 }, { "arm_loss_avg": 0.15064367204904555, "epoch": 1.064300537109375e-06, "step": 11160 }, { "ee_loss_avg": 0.09151851767674088, "epoch": 1.064300537109375e-06, "step": 11160 }, { "aux_loss_avg": 0.009096557809971272, "epoch": 1.064300537109375e-06, "step": 11160 }, { "epoch": 1.064300537109375e-06, "step": 11160, "training_step_time": 17.77086114883423 }, { "epoch": 1.0643959045410157e-06, "model_forward_time": 5.089648962020874, "step": 11161 }, { "epoch": 1.0643959045410157e-06, "step": 11161, "training_step_time": 17.564462900161743 }, { "epoch": 1.0644912719726563e-06, "model_forward_time": 5.091510772705078, "step": 11162 }, { "epoch": 1.0644912719726563e-06, "step": 11162, "training_step_time": 17.585258722305298 }, { "epoch": 1.064586639404297e-06, "model_forward_time": 5.088395833969116, "step": 11163 }, { "epoch": 1.064586639404297e-06, "step": 11163, "training_step_time": 17.573951482772827 }, { "epoch": 1.0646820068359376e-06, "model_forward_time": 5.090416193008423, "step": 11164 }, { "epoch": 1.0646820068359376e-06, "step": 11164, "training_step_time": 17.369482278823853 }, { "epoch": 1.0647773742675782e-06, "model_forward_time": 5.087249040603638, "step": 11165 }, { "epoch": 1.0647773742675782e-06, "step": 11165, "training_step_time": 17.372565031051636 }, { "epoch": 1.0648727416992188e-06, "model_forward_time": 5.087099075317383, "step": 11166 }, { "epoch": 1.0648727416992188e-06, "step": 11166, "training_step_time": 17.680742025375366 }, { "epoch": 1.0649681091308594e-06, "model_forward_time": 3.84639573097229, "step": 11167 }, { "epoch": 1.0649681091308594e-06, "step": 11167, "training_step_time": 17.549598217010498 }, { "epoch": 1.0650634765625e-06, "model_forward_time": 5.056617736816406, "step": 11168 }, { "epoch": 1.0650634765625e-06, "step": 11168, "training_step_time": 17.545108795166016 }, { "epoch": 1.0651588439941406e-06, "model_forward_time": 5.061529874801636, "step": 11169 }, { "epoch": 1.0651588439941406e-06, "step": 11169, "training_step_time": 17.581632137298584 }, { "epoch": 1.0652542114257812e-06, "grad_norm": 1.4016084671020508, "learning_rate": 9.67542261472729e-06, "loss": 0.1229, "step": 11170 }, { "epoch": 1.0652542114257812e-06, "model_forward_time": 5.070643663406372, "step": 11170 }, { "dynamics_loss_avg": 0.055664432048797605, "epoch": 1.0652542114257812e-06, "step": 11170 }, { "action_loss_avg": 0.0919899333268404, "epoch": 1.0652542114257812e-06, "step": 11170 }, { "arm_loss_avg": 0.1442341238260269, "epoch": 1.0652542114257812e-06, "step": 11170 }, { "ee_loss_avg": 0.08127251847181469, "epoch": 1.0652542114257812e-06, "step": 11170 }, { "aux_loss_avg": 0.007095386344008148, "epoch": 1.0652542114257812e-06, "step": 11170 }, { "epoch": 1.0652542114257812e-06, "step": 11170, "training_step_time": 17.610905170440674 }, { "epoch": 1.0653495788574219e-06, "model_forward_time": 5.080502271652222, "step": 11171 }, { "epoch": 1.0653495788574219e-06, "step": 11171, "training_step_time": 17.35419511795044 }, { "epoch": 1.0654449462890625e-06, "model_forward_time": 5.28408408164978, "step": 11172 }, { "epoch": 1.0654449462890625e-06, "step": 11172, "training_step_time": 17.609872817993164 }, { "epoch": 1.065540313720703e-06, "model_forward_time": 5.0927348136901855, "step": 11173 }, { "epoch": 1.065540313720703e-06, "step": 11173, "training_step_time": 17.57497811317444 }, { "epoch": 1.0656356811523437e-06, "model_forward_time": 5.096862077713013, "step": 11174 }, { "epoch": 1.0656356811523437e-06, "step": 11174, "training_step_time": 17.594985723495483 }, { "epoch": 1.0657310485839843e-06, "model_forward_time": 5.09745192527771, "step": 11175 }, { "epoch": 1.0657310485839843e-06, "step": 11175, "training_step_time": 17.605071783065796 }, { "epoch": 1.065826416015625e-06, "model_forward_time": 5.105177402496338, "step": 11176 }, { "epoch": 1.065826416015625e-06, "step": 11176, "training_step_time": 17.883809328079224 }, { "epoch": 1.0659217834472655e-06, "model_forward_time": 5.1086578369140625, "step": 11177 }, { "epoch": 1.0659217834472655e-06, "step": 11177, "training_step_time": 17.64081597328186 }, { "epoch": 1.0660171508789062e-06, "model_forward_time": 5.103434324264526, "step": 11178 }, { "epoch": 1.0660171508789062e-06, "step": 11178, "training_step_time": 17.64332389831543 }, { "epoch": 1.0661125183105468e-06, "model_forward_time": 5.101621389389038, "step": 11179 }, { "epoch": 1.0661125183105468e-06, "step": 11179, "training_step_time": 17.387519598007202 }, { "epoch": 1.0662078857421876e-06, "grad_norm": 3.048490047454834, "learning_rate": 9.674584906311865e-06, "loss": 0.1213, "step": 11180 }, { "epoch": 1.0662078857421876e-06, "model_forward_time": 5.086938142776489, "step": 11180 }, { "dynamics_loss_avg": 0.055098261684179306, "epoch": 1.0662078857421876e-06, "step": 11180 }, { "action_loss_avg": 0.08138658441603183, "epoch": 1.0662078857421876e-06, "step": 11180 }, { "arm_loss_avg": 0.1373104803264141, "epoch": 1.0662078857421876e-06, "step": 11180 }, { "ee_loss_avg": 0.0803061209153384, "epoch": 1.0662078857421876e-06, "step": 11180 }, { "aux_loss_avg": 0.006837640173034743, "epoch": 1.0662078857421876e-06, "step": 11180 }, { "epoch": 1.0662078857421876e-06, "step": 11180, "training_step_time": 17.52861976623535 }, { "epoch": 1.0663032531738282e-06, "model_forward_time": 5.29550576210022, "step": 11181 }, { "epoch": 1.0663032531738282e-06, "step": 11181, "training_step_time": 17.74125051498413 }, { "epoch": 1.0663986206054688e-06, "model_forward_time": 5.081971645355225, "step": 11182 }, { "epoch": 1.0663986206054688e-06, "step": 11182, "training_step_time": 17.622026443481445 }, { "epoch": 1.0664939880371094e-06, "model_forward_time": 3.849555015563965, "step": 11183 }, { "epoch": 1.0664939880371094e-06, "step": 11183, "training_step_time": 17.490328311920166 }, { "epoch": 1.06658935546875e-06, "model_forward_time": 5.053479194641113, "step": 11184 }, { "epoch": 1.06658935546875e-06, "step": 11184, "training_step_time": 17.401735305786133 }, { "epoch": 1.0666847229003907e-06, "model_forward_time": 5.0683348178863525, "step": 11185 }, { "epoch": 1.0666847229003907e-06, "step": 11185, "training_step_time": 17.500520706176758 }, { "epoch": 1.0667800903320313e-06, "model_forward_time": 5.074065685272217, "step": 11186 }, { "epoch": 1.0667800903320313e-06, "step": 11186, "training_step_time": 17.78885054588318 }, { "epoch": 1.066875457763672e-06, "model_forward_time": 5.31434178352356, "step": 11187 }, { "epoch": 1.066875457763672e-06, "step": 11187, "training_step_time": 17.60383105278015 }, { "epoch": 1.0669708251953125e-06, "model_forward_time": 5.0920422077178955, "step": 11188 }, { "epoch": 1.0669708251953125e-06, "step": 11188, "training_step_time": 17.620294332504272 }, { "epoch": 1.0670661926269531e-06, "model_forward_time": 5.0892884731292725, "step": 11189 }, { "epoch": 1.0670661926269531e-06, "step": 11189, "training_step_time": 17.636879920959473 }, { "epoch": 1.0671615600585937e-06, "grad_norm": 2.836688756942749, "learning_rate": 9.67374615461976e-06, "loss": 0.119, "step": 11190 }, { "epoch": 1.0671615600585937e-06, "model_forward_time": 5.089327812194824, "step": 11190 }, { "dynamics_loss_avg": 0.043109878432005644, "epoch": 1.0671615600585937e-06, "step": 11190 }, { "action_loss_avg": 0.05197328105568886, "epoch": 1.0671615600585937e-06, "step": 11190 }, { "arm_loss_avg": 0.14574969187378883, "epoch": 1.0671615600585937e-06, "step": 11190 }, { "ee_loss_avg": 0.09495798465795816, "epoch": 1.0671615600585937e-06, "step": 11190 }, { "aux_loss_avg": 0.0013658270589075982, "epoch": 1.0671615600585937e-06, "step": 11190 }, { "epoch": 1.0671615600585937e-06, "step": 11190, "training_step_time": 17.43525457382202 }, { "epoch": 1.0672569274902344e-06, "model_forward_time": 5.093030214309692, "step": 11191 }, { "epoch": 1.0672569274902344e-06, "step": 11191, "training_step_time": 17.731289863586426 }, { "epoch": 1.067352294921875e-06, "model_forward_time": 5.2838099002838135, "step": 11192 }, { "epoch": 1.067352294921875e-06, "step": 11192, "training_step_time": 17.57591485977173 }, { "epoch": 1.0674476623535156e-06, "model_forward_time": 5.088544130325317, "step": 11193 }, { "epoch": 1.0674476623535156e-06, "step": 11193, "training_step_time": 17.586724042892456 }, { "epoch": 1.0675430297851562e-06, "model_forward_time": 5.0869104862213135, "step": 11194 }, { "epoch": 1.0675430297851562e-06, "step": 11194, "training_step_time": 17.597581148147583 }, { "epoch": 1.0676383972167968e-06, "model_forward_time": 5.0822227001190186, "step": 11195 }, { "epoch": 1.0676383972167968e-06, "step": 11195, "training_step_time": 17.416411638259888 }, { "epoch": 1.0677337646484374e-06, "model_forward_time": 5.084463119506836, "step": 11196 }, { "epoch": 1.0677337646484374e-06, "step": 11196, "training_step_time": 17.7547345161438 }, { "epoch": 1.067829132080078e-06, "model_forward_time": 5.094319581985474, "step": 11197 }, { "epoch": 1.067829132080078e-06, "step": 11197, "training_step_time": 17.591490268707275 }, { "epoch": 1.0679244995117187e-06, "model_forward_time": 5.102492809295654, "step": 11198 }, { "epoch": 1.0679244995117187e-06, "step": 11198, "training_step_time": 17.650400400161743 }, { "epoch": 1.0680198669433593e-06, "model_forward_time": 5.103505611419678, "step": 11199 }, { "epoch": 1.0680198669433593e-06, "step": 11199, "training_step_time": 17.62546157836914 }, { "epoch": 1.068115234375e-06, "grad_norm": 1.205827236175537, "learning_rate": 9.672906359838173e-06, "loss": 0.1351, "step": 11200 }, { "epoch": 1.068115234375e-06, "model_forward_time": 5.106124401092529, "step": 11200 }, { "dynamics_loss_avg": 0.06072096182033419, "epoch": 1.068115234375e-06, "step": 11200 }, { "action_loss_avg": 0.10042639970779418, "epoch": 1.068115234375e-06, "step": 11200 }, { "arm_loss_avg": 0.1386136718094349, "epoch": 1.068115234375e-06, "step": 11200 }, { "ee_loss_avg": 0.06857626275159419, "epoch": 1.068115234375e-06, "step": 11200 }, { "aux_loss_avg": 0.000997193658258766, "epoch": 1.068115234375e-06, "step": 11200 }, { "epoch": 1.068115234375e-06, "step": 11200, "training_step_time": 17.640947818756104 }, { "epoch": 1.0682106018066407e-06, "model_forward_time": 5.283293724060059, "step": 11201 }, { "epoch": 1.0682106018066407e-06, "step": 11201, "training_step_time": 17.809869527816772 }, { "epoch": 1.0683059692382813e-06, "model_forward_time": 5.0824973583221436, "step": 11202 }, { "epoch": 1.0683059692382813e-06, "step": 11202, "training_step_time": 17.61406135559082 }, { "epoch": 1.068401336669922e-06, "model_forward_time": 5.085836887359619, "step": 11203 }, { "epoch": 1.068401336669922e-06, "step": 11203, "training_step_time": 17.606170177459717 }, { "epoch": 1.0684967041015626e-06, "model_forward_time": 5.084442377090454, "step": 11204 }, { "epoch": 1.0684967041015626e-06, "step": 11204, "training_step_time": 17.605140209197998 }, { "epoch": 1.0685920715332032e-06, "model_forward_time": 5.085891485214233, "step": 11205 }, { "epoch": 1.0685920715332032e-06, "step": 11205, "training_step_time": 17.598899126052856 }, { "epoch": 1.0686874389648438e-06, "model_forward_time": 5.087044715881348, "step": 11206 }, { "epoch": 1.0686874389648438e-06, "step": 11206, "training_step_time": 17.83766770362854 }, { "epoch": 1.0687828063964844e-06, "model_forward_time": 5.080744504928589, "step": 11207 }, { "epoch": 1.0687828063964844e-06, "step": 11207, "training_step_time": 17.590397596359253 }, { "epoch": 1.068878173828125e-06, "model_forward_time": 5.0820112228393555, "step": 11208 }, { "epoch": 1.068878173828125e-06, "step": 11208, "training_step_time": 17.57788848876953 }, { "epoch": 1.0689735412597656e-06, "model_forward_time": 3.8484408855438232, "step": 11209 }, { "epoch": 1.0689735412597656e-06, "step": 11209, "training_step_time": 17.579456090927124 }, { "epoch": 1.0690689086914062e-06, "grad_norm": 2.100968837738037, "learning_rate": 9.672065522154524e-06, "loss": 0.1309, "step": 11210 }, { "epoch": 1.0690689086914062e-06, "model_forward_time": 5.056319236755371, "step": 11210 }, { "dynamics_loss_avg": 0.059207485616207124, "epoch": 1.0690689086914062e-06, "step": 11210 }, { "action_loss_avg": 0.0748592808842659, "epoch": 1.0690689086914062e-06, "step": 11210 }, { "arm_loss_avg": 0.15067277029156684, "epoch": 1.0690689086914062e-06, "step": 11210 }, { "ee_loss_avg": 0.039729261538013816, "epoch": 1.0690689086914062e-06, "step": 11210 }, { "aux_loss_avg": 0.0021178750961553306, "epoch": 1.0690689086914062e-06, "step": 11210 }, { "epoch": 1.0690689086914062e-06, "step": 11210, "training_step_time": 17.580546379089355 }, { "epoch": 1.0691642761230469e-06, "model_forward_time": 5.0652947425842285, "step": 11211 }, { "epoch": 1.0691642761230469e-06, "step": 11211, "training_step_time": 17.76011562347412 }, { "epoch": 1.0692596435546875e-06, "model_forward_time": 5.2695472240448, "step": 11212 }, { "epoch": 1.0692596435546875e-06, "step": 11212, "training_step_time": 17.582269430160522 }, { "epoch": 1.069355010986328e-06, "model_forward_time": 3.8511228561401367, "step": 11213 }, { "epoch": 1.069355010986328e-06, "step": 11213, "training_step_time": 17.565780878067017 }, { "epoch": 1.0694503784179687e-06, "model_forward_time": 5.057884931564331, "step": 11214 }, { "epoch": 1.0694503784179687e-06, "step": 11214, "training_step_time": 17.363773107528687 }, { "epoch": 1.0695457458496093e-06, "model_forward_time": 5.080924034118652, "step": 11215 }, { "epoch": 1.0695457458496093e-06, "step": 11215, "training_step_time": 17.492823362350464 }, { "epoch": 1.06964111328125e-06, "model_forward_time": 5.088724613189697, "step": 11216 }, { "epoch": 1.06964111328125e-06, "step": 11216, "training_step_time": 17.76176428794861 }, { "epoch": 1.0697364807128905e-06, "model_forward_time": 5.325841426849365, "step": 11217 }, { "epoch": 1.0697364807128905e-06, "step": 11217, "training_step_time": 17.596072673797607 }, { "epoch": 1.0698318481445312e-06, "model_forward_time": 5.098624229431152, "step": 11218 }, { "epoch": 1.0698318481445312e-06, "step": 11218, "training_step_time": 17.588205575942993 }, { "epoch": 1.0699272155761718e-06, "model_forward_time": 5.098923921585083, "step": 11219 }, { "epoch": 1.0699272155761718e-06, "step": 11219, "training_step_time": 17.605796813964844 }, { "epoch": 1.0700225830078126e-06, "grad_norm": 1.6157734394073486, "learning_rate": 9.671223641756474e-06, "loss": 0.1373, "step": 11220 }, { "epoch": 1.0700225830078126e-06, "model_forward_time": 5.093677043914795, "step": 11220 }, { "dynamics_loss_avg": 0.06511272042989731, "epoch": 1.0700225830078126e-06, "step": 11220 }, { "action_loss_avg": 0.07391103468835354, "epoch": 1.0700225830078126e-06, "step": 11220 }, { "arm_loss_avg": 0.1393750436604023, "epoch": 1.0700225830078126e-06, "step": 11220 }, { "ee_loss_avg": 0.07177447669673712, "epoch": 1.0700225830078126e-06, "step": 11220 }, { "aux_loss_avg": 0.005342920508701355, "epoch": 1.0700225830078126e-06, "step": 11220 }, { "epoch": 1.0700225830078126e-06, "step": 11220, "training_step_time": 17.612733364105225 }, { "epoch": 1.0701179504394532e-06, "model_forward_time": 5.094374418258667, "step": 11221 }, { "epoch": 1.0701179504394532e-06, "step": 11221, "training_step_time": 17.81453776359558 }, { "epoch": 1.0702133178710938e-06, "model_forward_time": 5.093348264694214, "step": 11222 }, { "epoch": 1.0702133178710938e-06, "step": 11222, "training_step_time": 17.620845794677734 }, { "epoch": 1.0703086853027344e-06, "model_forward_time": 5.086182117462158, "step": 11223 }, { "epoch": 1.0703086853027344e-06, "step": 11223, "training_step_time": 17.617303609848022 }, { "epoch": 1.070404052734375e-06, "model_forward_time": 5.087279558181763, "step": 11224 }, { "epoch": 1.070404052734375e-06, "step": 11224, "training_step_time": 17.61085295677185 }, { "epoch": 1.0704994201660157e-06, "model_forward_time": 5.085093259811401, "step": 11225 }, { "epoch": 1.0704994201660157e-06, "step": 11225, "training_step_time": 17.601653814315796 }, { "epoch": 1.0705947875976563e-06, "model_forward_time": 5.083510398864746, "step": 11226 }, { "epoch": 1.0705947875976563e-06, "step": 11226, "training_step_time": 17.82611632347107 }, { "epoch": 1.070690155029297e-06, "model_forward_time": 5.0839457511901855, "step": 11227 }, { "epoch": 1.070690155029297e-06, "step": 11227, "training_step_time": 17.592476844787598 }, { "epoch": 1.0707855224609375e-06, "model_forward_time": 5.0838165283203125, "step": 11228 }, { "epoch": 1.0707855224609375e-06, "step": 11228, "training_step_time": 17.591048002243042 }, { "epoch": 1.0708808898925781e-06, "model_forward_time": 5.088183164596558, "step": 11229 }, { "epoch": 1.0708808898925781e-06, "step": 11229, "training_step_time": 17.603400230407715 }, { "epoch": 1.0709762573242187e-06, "grad_norm": 2.112149238586426, "learning_rate": 9.670380718831915e-06, "loss": 0.1375, "step": 11230 }, { "epoch": 1.0709762573242187e-06, "model_forward_time": 5.089218378067017, "step": 11230 }, { "dynamics_loss_avg": 0.06704155504703521, "epoch": 1.0709762573242187e-06, "step": 11230 }, { "action_loss_avg": 0.06789478622376918, "epoch": 1.0709762573242187e-06, "step": 11230 }, { "arm_loss_avg": 0.1513506405055523, "epoch": 1.0709762573242187e-06, "step": 11230 }, { "ee_loss_avg": 0.07994582317769527, "epoch": 1.0709762573242187e-06, "step": 11230 }, { "aux_loss_avg": 0.004089850938180461, "epoch": 1.0709762573242187e-06, "step": 11230 }, { "epoch": 1.0709762573242187e-06, "step": 11230, "training_step_time": 17.5977520942688 }, { "epoch": 1.0710716247558594e-06, "model_forward_time": 5.088374137878418, "step": 11231 }, { "epoch": 1.0710716247558594e-06, "step": 11231, "training_step_time": 17.428708791732788 }, { "epoch": 1.0711669921875e-06, "model_forward_time": 5.089717388153076, "step": 11232 }, { "epoch": 1.0711669921875e-06, "step": 11232, "training_step_time": 17.710556030273438 }, { "epoch": 1.0712623596191406e-06, "model_forward_time": 5.087688684463501, "step": 11233 }, { "epoch": 1.0712623596191406e-06, "step": 11233, "training_step_time": 17.626709699630737 }, { "epoch": 1.0713577270507812e-06, "model_forward_time": 5.0879011154174805, "step": 11234 }, { "epoch": 1.0713577270507812e-06, "step": 11234, "training_step_time": 17.395472049713135 }, { "epoch": 1.0714530944824218e-06, "model_forward_time": 5.0856547355651855, "step": 11235 }, { "epoch": 1.0714530944824218e-06, "step": 11235, "training_step_time": 17.500455856323242 }, { "epoch": 1.0715484619140624e-06, "model_forward_time": 5.094339609146118, "step": 11236 }, { "epoch": 1.0715484619140624e-06, "step": 11236, "training_step_time": 17.482516765594482 }, { "epoch": 1.071643829345703e-06, "model_forward_time": 5.108280181884766, "step": 11237 }, { "epoch": 1.071643829345703e-06, "step": 11237, "training_step_time": 17.851144313812256 }, { "epoch": 1.0717391967773437e-06, "model_forward_time": 5.102634906768799, "step": 11238 }, { "epoch": 1.0717391967773437e-06, "step": 11238, "training_step_time": 17.646955013275146 }, { "epoch": 1.0718345642089843e-06, "model_forward_time": 5.104368686676025, "step": 11239 }, { "epoch": 1.0718345642089843e-06, "step": 11239, "training_step_time": 17.696301460266113 }, { "epoch": 1.071929931640625e-06, "grad_norm": 2.3437631130218506, "learning_rate": 9.669536753568972e-06, "loss": 0.1339, "step": 11240 }, { "epoch": 1.071929931640625e-06, "model_forward_time": 5.109318017959595, "step": 11240 }, { "dynamics_loss_avg": 0.05945287588983774, "epoch": 1.071929931640625e-06, "step": 11240 }, { "action_loss_avg": 0.09953148290514946, "epoch": 1.071929931640625e-06, "step": 11240 }, { "arm_loss_avg": 0.1565298642963171, "epoch": 1.071929931640625e-06, "step": 11240 }, { "ee_loss_avg": 0.04632988590747118, "epoch": 1.071929931640625e-06, "step": 11240 }, { "aux_loss_avg": 0.0044715014344546946, "epoch": 1.071929931640625e-06, "step": 11240 }, { "epoch": 1.071929931640625e-06, "step": 11240, "training_step_time": 17.680654287338257 }, { "epoch": 1.0720252990722657e-06, "model_forward_time": 5.299052476882935, "step": 11241 }, { "epoch": 1.0720252990722657e-06, "step": 11241, "training_step_time": 17.645355939865112 }, { "epoch": 1.0721206665039063e-06, "model_forward_time": 5.086095809936523, "step": 11242 }, { "epoch": 1.0721206665039063e-06, "step": 11242, "training_step_time": 17.829310417175293 }, { "epoch": 1.072216033935547e-06, "model_forward_time": 5.082733392715454, "step": 11243 }, { "epoch": 1.072216033935547e-06, "step": 11243, "training_step_time": 17.633420944213867 }, { "epoch": 1.0723114013671876e-06, "model_forward_time": 5.085396766662598, "step": 11244 }, { "epoch": 1.0723114013671876e-06, "step": 11244, "training_step_time": 17.622276306152344 }, { "epoch": 1.0724067687988282e-06, "model_forward_time": 5.082208633422852, "step": 11245 }, { "epoch": 1.0724067687988282e-06, "step": 11245, "training_step_time": 17.607866525650024 }, { "epoch": 1.0725021362304688e-06, "model_forward_time": 5.084191083908081, "step": 11246 }, { "epoch": 1.0725021362304688e-06, "step": 11246, "training_step_time": 17.422529935836792 }, { "epoch": 1.0725975036621094e-06, "model_forward_time": 5.089887857437134, "step": 11247 }, { "epoch": 1.0725975036621094e-06, "step": 11247, "training_step_time": 17.75011420249939 }, { "epoch": 1.07269287109375e-06, "model_forward_time": 5.0839691162109375, "step": 11248 }, { "epoch": 1.07269287109375e-06, "step": 11248, "training_step_time": 17.58894658088684 }, { "epoch": 1.0727882385253906e-06, "model_forward_time": 5.0907957553863525, "step": 11249 }, { "epoch": 1.0727882385253906e-06, "step": 11249, "training_step_time": 17.58411455154419 }, { "epoch": 1.0728836059570312e-06, "grad_norm": 3.289001703262329, "learning_rate": 9.668691746156e-06, "loss": 0.1187, "step": 11250 }, { "epoch": 1.0728836059570312e-06, "model_forward_time": 5.089502573013306, "step": 11250 }, { "dynamics_loss_avg": 0.04745382554829121, "epoch": 1.0728836059570312e-06, "step": 11250 }, { "action_loss_avg": 0.07169942520558834, "epoch": 1.0728836059570312e-06, "step": 11250 }, { "arm_loss_avg": 0.14603896364569663, "epoch": 1.0728836059570312e-06, "step": 11250 }, { "ee_loss_avg": 0.061730323173105714, "epoch": 1.0728836059570312e-06, "step": 11250 }, { "aux_loss_avg": 0.006394631951116026, "epoch": 1.0728836059570312e-06, "step": 11250 }, { "epoch": 1.0728836059570312e-06, "step": 11250, "training_step_time": 17.614006996154785 }, { "epoch": 1.0729789733886719e-06, "model_forward_time": 5.088916301727295, "step": 11251 }, { "epoch": 1.0729789733886719e-06, "step": 11251, "training_step_time": 17.620394229888916 }, { "epoch": 1.0730743408203125e-06, "model_forward_time": 5.087687730789185, "step": 11252 }, { "epoch": 1.0730743408203125e-06, "step": 11252, "training_step_time": 17.82188081741333 }, { "epoch": 1.073169708251953e-06, "model_forward_time": 5.083256483078003, "step": 11253 }, { "epoch": 1.073169708251953e-06, "step": 11253, "training_step_time": 17.63461470603943 }, { "epoch": 1.0732650756835937e-06, "model_forward_time": 5.085306882858276, "step": 11254 }, { "epoch": 1.0732650756835937e-06, "step": 11254, "training_step_time": 17.642040729522705 }, { "epoch": 1.0733604431152343e-06, "model_forward_time": 5.082577705383301, "step": 11255 }, { "epoch": 1.0733604431152343e-06, "step": 11255, "training_step_time": 17.62348985671997 }, { "epoch": 1.073455810546875e-06, "model_forward_time": 5.0970399379730225, "step": 11256 }, { "epoch": 1.073455810546875e-06, "step": 11256, "training_step_time": 17.64253878593445 }, { "epoch": 1.0735511779785156e-06, "model_forward_time": 3.8618223667144775, "step": 11257 }, { "epoch": 1.0735511779785156e-06, "step": 11257, "training_step_time": 17.91074824333191 }, { "epoch": 1.0736465454101562e-06, "model_forward_time": 3.8521108627319336, "step": 11258 }, { "epoch": 1.0736465454101562e-06, "step": 11258, "training_step_time": 17.656893491744995 }, { "epoch": 1.0737419128417968e-06, "model_forward_time": 5.077779769897461, "step": 11259 }, { "epoch": 1.0737419128417968e-06, "step": 11259, "training_step_time": 17.658326148986816 }, { "epoch": 1.0738372802734374e-06, "grad_norm": 1.875820517539978, "learning_rate": 9.667845696781588e-06, "loss": 0.1219, "step": 11260 }, { "epoch": 1.0738372802734374e-06, "model_forward_time": 5.081370115280151, "step": 11260 }, { "dynamics_loss_avg": 0.052424306422472, "epoch": 1.0738372802734374e-06, "step": 11260 }, { "action_loss_avg": 0.08126529473811388, "epoch": 1.0738372802734374e-06, "step": 11260 }, { "arm_loss_avg": 0.1355481218546629, "epoch": 1.0738372802734374e-06, "step": 11260 }, { "ee_loss_avg": 0.05513109620660543, "epoch": 1.0738372802734374e-06, "step": 11260 }, { "aux_loss_avg": 0.0014294398657511919, "epoch": 1.0738372802734374e-06, "step": 11260 }, { "epoch": 1.0738372802734374e-06, "step": 11260, "training_step_time": 17.61537742614746 }, { "epoch": 1.0739326477050782e-06, "model_forward_time": 5.080397367477417, "step": 11261 }, { "epoch": 1.0739326477050782e-06, "step": 11261, "training_step_time": 17.573810577392578 }, { "epoch": 1.0740280151367188e-06, "model_forward_time": 5.289641380310059, "step": 11262 }, { "epoch": 1.0740280151367188e-06, "step": 11262, "training_step_time": 17.762056350708008 }, { "epoch": 1.0741233825683595e-06, "model_forward_time": 5.105252742767334, "step": 11263 }, { "epoch": 1.0741233825683595e-06, "step": 11263, "training_step_time": 17.596794605255127 }, { "epoch": 1.07421875e-06, "model_forward_time": 5.103441476821899, "step": 11264 }, { "epoch": 1.07421875e-06, "step": 11264, "training_step_time": 17.584039449691772 }, { "epoch": 1.0743141174316407e-06, "model_forward_time": 5.103631019592285, "step": 11265 }, { "epoch": 1.0743141174316407e-06, "step": 11265, "training_step_time": 17.588115453720093 }, { "epoch": 1.0744094848632813e-06, "model_forward_time": 5.099126577377319, "step": 11266 }, { "epoch": 1.0744094848632813e-06, "step": 11266, "training_step_time": 17.593329668045044 }, { "epoch": 1.074504852294922e-06, "model_forward_time": 5.3339807987213135, "step": 11267 }, { "epoch": 1.074504852294922e-06, "step": 11267, "training_step_time": 17.82671093940735 }, { "epoch": 1.0746002197265625e-06, "model_forward_time": 3.850698471069336, "step": 11268 }, { "epoch": 1.0746002197265625e-06, "step": 11268, "training_step_time": 17.58433723449707 }, { "epoch": 1.0746955871582031e-06, "model_forward_time": 3.830218553543091, "step": 11269 }, { "epoch": 1.0746955871582031e-06, "step": 11269, "training_step_time": 17.586807250976562 }, { "epoch": 1.0747909545898438e-06, "grad_norm": 1.699446201324463, "learning_rate": 9.66699860563456e-06, "loss": 0.1012, "step": 11270 }, { "epoch": 1.0747909545898438e-06, "model_forward_time": 5.04434609413147, "step": 11270 }, { "dynamics_loss_avg": 0.04625199632719159, "epoch": 1.0747909545898438e-06, "step": 11270 }, { "action_loss_avg": 0.046568438783288, "epoch": 1.0747909545898438e-06, "step": 11270 }, { "arm_loss_avg": 0.09482008181512355, "epoch": 1.0747909545898438e-06, "step": 11270 }, { "ee_loss_avg": 0.051859724172391, "epoch": 1.0747909545898438e-06, "step": 11270 }, { "aux_loss_avg": 0.000788948021363467, "epoch": 1.0747909545898438e-06, "step": 11270 }, { "epoch": 1.0747909545898438e-06, "step": 11270, "training_step_time": 17.587153434753418 }, { "epoch": 1.0748863220214844e-06, "model_forward_time": 5.057967901229858, "step": 11271 }, { "epoch": 1.0748863220214844e-06, "step": 11271, "training_step_time": 17.82353639602661 }, { "epoch": 1.074981689453125e-06, "model_forward_time": 5.265052080154419, "step": 11272 }, { "epoch": 1.074981689453125e-06, "step": 11272, "training_step_time": 17.587195873260498 }, { "epoch": 1.0750770568847656e-06, "model_forward_time": 5.0867531299591064, "step": 11273 }, { "epoch": 1.0750770568847656e-06, "step": 11273, "training_step_time": 17.371981620788574 }, { "epoch": 1.0751724243164062e-06, "model_forward_time": 3.860011100769043, "step": 11274 }, { "epoch": 1.0751724243164062e-06, "step": 11274, "training_step_time": 17.480452060699463 }, { "epoch": 1.0752677917480468e-06, "model_forward_time": 3.8391127586364746, "step": 11275 }, { "epoch": 1.0752677917480468e-06, "step": 11275, "training_step_time": 17.531253576278687 }, { "epoch": 1.0753631591796874e-06, "model_forward_time": 5.051045656204224, "step": 11276 }, { "epoch": 1.0753631591796874e-06, "step": 11276, "training_step_time": 17.570300340652466 }, { "epoch": 1.075458526611328e-06, "model_forward_time": 5.305301189422607, "step": 11277 }, { "epoch": 1.075458526611328e-06, "step": 11277, "training_step_time": 17.810282945632935 }, { "epoch": 1.0755538940429687e-06, "model_forward_time": 5.086987733840942, "step": 11278 }, { "epoch": 1.0755538940429687e-06, "step": 11278, "training_step_time": 17.386945247650146 }, { "epoch": 1.0756492614746093e-06, "model_forward_time": 5.098689317703247, "step": 11279 }, { "epoch": 1.0756492614746093e-06, "step": 11279, "training_step_time": 17.520960092544556 }, { "epoch": 1.07574462890625e-06, "grad_norm": 1.4079428911209106, "learning_rate": 9.666150472903969e-06, "loss": 0.1099, "step": 11280 }, { "epoch": 1.07574462890625e-06, "model_forward_time": 5.102659225463867, "step": 11280 }, { "dynamics_loss_avg": 0.05016922894865274, "epoch": 1.07574462890625e-06, "step": 11280 }, { "action_loss_avg": 0.05458609517663717, "epoch": 1.07574462890625e-06, "step": 11280 }, { "arm_loss_avg": 0.08956233076751233, "epoch": 1.07574462890625e-06, "step": 11280 }, { "ee_loss_avg": 0.0406231174711138, "epoch": 1.07574462890625e-06, "step": 11280 }, { "aux_loss_avg": 0.004232354101259261, "epoch": 1.07574462890625e-06, "step": 11280 }, { "epoch": 1.07574462890625e-06, "step": 11280, "training_step_time": 17.569695711135864 }, { "epoch": 1.0758399963378907e-06, "model_forward_time": 5.102856636047363, "step": 11281 }, { "epoch": 1.0758399963378907e-06, "step": 11281, "training_step_time": 17.602538347244263 }, { "epoch": 1.0759353637695313e-06, "model_forward_time": 5.279581785202026, "step": 11282 }, { "epoch": 1.0759353637695313e-06, "step": 11282, "training_step_time": 17.803439617156982 }, { "epoch": 1.076030731201172e-06, "model_forward_time": 5.0937395095825195, "step": 11283 }, { "epoch": 1.076030731201172e-06, "step": 11283, "training_step_time": 17.627048015594482 }, { "epoch": 1.0761260986328126e-06, "model_forward_time": 5.090069532394409, "step": 11284 }, { "epoch": 1.0761260986328126e-06, "step": 11284, "training_step_time": 17.63709855079651 }, { "epoch": 1.0762214660644532e-06, "model_forward_time": 5.0852227210998535, "step": 11285 }, { "epoch": 1.0762214660644532e-06, "step": 11285, "training_step_time": 17.62955617904663 }, { "epoch": 1.0763168334960938e-06, "model_forward_time": 5.080434560775757, "step": 11286 }, { "epoch": 1.0763168334960938e-06, "step": 11286, "training_step_time": 17.61916422843933 }, { "epoch": 1.0764122009277344e-06, "model_forward_time": 4.041036367416382, "step": 11287 }, { "epoch": 1.0764122009277344e-06, "step": 11287, "training_step_time": 17.8490309715271 }, { "epoch": 1.076507568359375e-06, "model_forward_time": 5.052708148956299, "step": 11288 }, { "epoch": 1.076507568359375e-06, "step": 11288, "training_step_time": 17.622019290924072 }, { "epoch": 1.0766029357910156e-06, "model_forward_time": 5.067925930023193, "step": 11289 }, { "epoch": 1.0766029357910156e-06, "step": 11289, "training_step_time": 17.613442182540894 }, { "epoch": 1.0766983032226563e-06, "grad_norm": 1.5979633331298828, "learning_rate": 9.6653012987791e-06, "loss": 0.1044, "step": 11290 }, { "epoch": 1.0766983032226563e-06, "model_forward_time": 3.846667766571045, "step": 11290 }, { "dynamics_loss_avg": 0.04707594979554415, "epoch": 1.0766983032226563e-06, "step": 11290 }, { "action_loss_avg": 0.05824443344026804, "epoch": 1.0766983032226563e-06, "step": 11290 }, { "arm_loss_avg": 0.07855513356626034, "epoch": 1.0766983032226563e-06, "step": 11290 }, { "ee_loss_avg": 0.02942825243808329, "epoch": 1.0766983032226563e-06, "step": 11290 }, { "aux_loss_avg": 0.000854336901102215, "epoch": 1.0766983032226563e-06, "step": 11290 }, { "epoch": 1.0766983032226563e-06, "step": 11290, "training_step_time": 17.602129697799683 }, { "epoch": 1.0767936706542969e-06, "model_forward_time": 5.05736517906189, "step": 11291 }, { "epoch": 1.0767936706542969e-06, "step": 11291, "training_step_time": 17.601483583450317 }, { "epoch": 1.0768890380859375e-06, "model_forward_time": 4.0661468505859375, "step": 11292 }, { "epoch": 1.0768890380859375e-06, "step": 11292, "training_step_time": 17.791200637817383 }, { "epoch": 1.076984405517578e-06, "model_forward_time": 5.062464475631714, "step": 11293 }, { "epoch": 1.076984405517578e-06, "step": 11293, "training_step_time": 17.583736419677734 }, { "epoch": 1.0770797729492187e-06, "model_forward_time": 5.079614877700806, "step": 11294 }, { "epoch": 1.0770797729492187e-06, "step": 11294, "training_step_time": 17.58633255958557 }, { "epoch": 1.0771751403808593e-06, "model_forward_time": 5.097909212112427, "step": 11295 }, { "epoch": 1.0771751403808593e-06, "step": 11295, "training_step_time": 17.583899974822998 }, { "epoch": 1.0772705078125e-06, "model_forward_time": 3.866819143295288, "step": 11296 }, { "epoch": 1.0772705078125e-06, "step": 11296, "training_step_time": 17.802502155303955 }, { "epoch": 1.0773658752441406e-06, "model_forward_time": 5.317330360412598, "step": 11297 }, { "epoch": 1.0773658752441406e-06, "step": 11297, "training_step_time": 17.58931612968445 }, { "epoch": 1.0774612426757812e-06, "model_forward_time": 3.854017734527588, "step": 11298 }, { "epoch": 1.0774612426757812e-06, "step": 11298, "training_step_time": 17.550978660583496 }, { "epoch": 1.0775566101074218e-06, "model_forward_time": 5.063725709915161, "step": 11299 }, { "epoch": 1.0775566101074218e-06, "step": 11299, "training_step_time": 17.513753175735474 }, { "epoch": 1.0776519775390624e-06, "grad_norm": 1.196329116821289, "learning_rate": 9.664451083449474e-06, "loss": 0.1035, "step": 11300 }, { "epoch": 1.0776519775390624e-06, "model_forward_time": 5.07846736907959, "step": 11300 }, { "dynamics_loss_avg": 0.04268089802935719, "epoch": 1.0776519775390624e-06, "step": 11300 }, { "action_loss_avg": 0.0521496431902051, "epoch": 1.0776519775390624e-06, "step": 11300 }, { "arm_loss_avg": 0.09413458369672298, "epoch": 1.0776519775390624e-06, "step": 11300 }, { "ee_loss_avg": 0.04798174467869103, "epoch": 1.0776519775390624e-06, "step": 11300 }, { "aux_loss_avg": 0.00113855060772039, "epoch": 1.0776519775390624e-06, "step": 11300 }, { "epoch": 1.0776519775390624e-06, "step": 11300, "training_step_time": 17.54291582107544 }, { "epoch": 1.0777473449707032e-06, "model_forward_time": 5.088937282562256, "step": 11301 }, { "epoch": 1.0777473449707032e-06, "step": 11301, "training_step_time": 17.40423011779785 }, { "epoch": 1.0778427124023438e-06, "model_forward_time": 5.098085165023804, "step": 11302 }, { "epoch": 1.0778427124023438e-06, "step": 11302, "training_step_time": 17.71480369567871 }, { "epoch": 1.0779380798339845e-06, "model_forward_time": 5.099431991577148, "step": 11303 }, { "epoch": 1.0779380798339845e-06, "step": 11303, "training_step_time": 17.62537169456482 }, { "epoch": 1.078033447265625e-06, "model_forward_time": 5.09937047958374, "step": 11304 }, { "epoch": 1.078033447265625e-06, "step": 11304, "training_step_time": 17.517598867416382 }, { "epoch": 1.0781288146972657e-06, "model_forward_time": 5.097815990447998, "step": 11305 }, { "epoch": 1.0781288146972657e-06, "step": 11305, "training_step_time": 17.59572124481201 }, { "epoch": 1.0782241821289063e-06, "model_forward_time": 5.095837831497192, "step": 11306 }, { "epoch": 1.0782241821289063e-06, "step": 11306, "training_step_time": 17.62947916984558 }, { "epoch": 1.078319549560547e-06, "model_forward_time": 5.349282264709473, "step": 11307 }, { "epoch": 1.078319549560547e-06, "step": 11307, "training_step_time": 17.894839763641357 }, { "epoch": 1.0784149169921875e-06, "model_forward_time": 3.8501064777374268, "step": 11308 }, { "epoch": 1.0784149169921875e-06, "step": 11308, "training_step_time": 17.660269260406494 }, { "epoch": 1.0785102844238281e-06, "model_forward_time": 3.8367366790771484, "step": 11309 }, { "epoch": 1.0785102844238281e-06, "step": 11309, "training_step_time": 17.649138927459717 }, { "epoch": 1.0786056518554688e-06, "grad_norm": 1.3851397037506104, "learning_rate": 9.663599827104843e-06, "loss": 0.1064, "step": 11310 }, { "epoch": 1.0786056518554688e-06, "model_forward_time": 5.050679445266724, "step": 11310 }, { "dynamics_loss_avg": 0.05660556703805923, "epoch": 1.0786056518554688e-06, "step": 11310 }, { "action_loss_avg": 0.04998611025512219, "epoch": 1.0786056518554688e-06, "step": 11310 }, { "arm_loss_avg": 0.12313509061932564, "epoch": 1.0786056518554688e-06, "step": 11310 }, { "ee_loss_avg": 0.09534828928299248, "epoch": 1.0786056518554688e-06, "step": 11310 }, { "aux_loss_avg": 0.03389972973964177, "epoch": 1.0786056518554688e-06, "step": 11310 }, { "epoch": 1.0786056518554688e-06, "step": 11310, "training_step_time": 17.655070543289185 }, { "epoch": 1.0787010192871094e-06, "model_forward_time": 5.063098907470703, "step": 11311 }, { "epoch": 1.0787010192871094e-06, "step": 11311, "training_step_time": 17.62964415550232 }, { "epoch": 1.07879638671875e-06, "model_forward_time": 5.0801472663879395, "step": 11312 }, { "epoch": 1.07879638671875e-06, "step": 11312, "training_step_time": 17.821724891662598 }, { "epoch": 1.0788917541503906e-06, "model_forward_time": 5.281249284744263, "step": 11313 }, { "epoch": 1.0788917541503906e-06, "step": 11313, "training_step_time": 17.591912984848022 }, { "epoch": 1.0789871215820312e-06, "model_forward_time": 3.862051010131836, "step": 11314 }, { "epoch": 1.0789871215820312e-06, "step": 11314, "training_step_time": 17.58395504951477 }, { "epoch": 1.0790824890136718e-06, "model_forward_time": 5.077528953552246, "step": 11315 }, { "epoch": 1.0790824890136718e-06, "step": 11315, "training_step_time": 17.481683254241943 }, { "epoch": 1.0791778564453124e-06, "model_forward_time": 5.090175151824951, "step": 11316 }, { "epoch": 1.0791778564453124e-06, "step": 11316, "training_step_time": 17.49292492866516 }, { "epoch": 1.079273223876953e-06, "model_forward_time": 5.097377061843872, "step": 11317 }, { "epoch": 1.079273223876953e-06, "step": 11317, "training_step_time": 17.77743935585022 }, { "epoch": 1.0793685913085937e-06, "model_forward_time": 4.104325294494629, "step": 11318 }, { "epoch": 1.0793685913085937e-06, "step": 11318, "training_step_time": 17.588281631469727 }, { "epoch": 1.0794639587402343e-06, "model_forward_time": 5.064882278442383, "step": 11319 }, { "epoch": 1.0794639587402343e-06, "step": 11319, "training_step_time": 17.497753620147705 }, { "epoch": 1.079559326171875e-06, "grad_norm": 1.8323132991790771, "learning_rate": 9.662747529935191e-06, "loss": 0.1268, "step": 11320 }, { "epoch": 1.079559326171875e-06, "model_forward_time": 3.84405255317688, "step": 11320 }, { "dynamics_loss_avg": 0.05664653833955526, "epoch": 1.079559326171875e-06, "step": 11320 }, { "action_loss_avg": 0.056326239928603174, "epoch": 1.079559326171875e-06, "step": 11320 }, { "arm_loss_avg": 0.11079376488924027, "epoch": 1.079559326171875e-06, "step": 11320 }, { "ee_loss_avg": 0.0580866648349911, "epoch": 1.079559326171875e-06, "step": 11320 }, { "aux_loss_avg": 0.010336836089845747, "epoch": 1.079559326171875e-06, "step": 11320 }, { "epoch": 1.079559326171875e-06, "step": 11320, "training_step_time": 17.561493158340454 }, { "epoch": 1.0796546936035157e-06, "model_forward_time": 5.05895733833313, "step": 11321 }, { "epoch": 1.0796546936035157e-06, "step": 11321, "training_step_time": 17.60075569152832 }, { "epoch": 1.0797500610351563e-06, "model_forward_time": 5.072901248931885, "step": 11322 }, { "epoch": 1.0797500610351563e-06, "step": 11322, "training_step_time": 17.80870246887207 }, { "epoch": 1.079845428466797e-06, "model_forward_time": 5.272686958312988, "step": 11323 }, { "epoch": 1.079845428466797e-06, "step": 11323, "training_step_time": 17.62375020980835 }, { "epoch": 1.0799407958984376e-06, "model_forward_time": 5.090991973876953, "step": 11324 }, { "epoch": 1.0799407958984376e-06, "step": 11324, "training_step_time": 17.636854648590088 }, { "epoch": 1.0800361633300782e-06, "model_forward_time": 5.097857713699341, "step": 11325 }, { "epoch": 1.0800361633300782e-06, "step": 11325, "training_step_time": 17.646336317062378 }, { "epoch": 1.0801315307617188e-06, "model_forward_time": 5.095657825469971, "step": 11326 }, { "epoch": 1.0801315307617188e-06, "step": 11326, "training_step_time": 17.65013575553894 }, { "epoch": 1.0802268981933594e-06, "model_forward_time": 5.094546794891357, "step": 11327 }, { "epoch": 1.0802268981933594e-06, "step": 11327, "training_step_time": 17.872950553894043 }, { "epoch": 1.080322265625e-06, "model_forward_time": 5.320111513137817, "step": 11328 }, { "epoch": 1.080322265625e-06, "step": 11328, "training_step_time": 17.63759994506836 }, { "epoch": 1.0804176330566406e-06, "model_forward_time": 5.086790561676025, "step": 11329 }, { "epoch": 1.0804176330566406e-06, "step": 11329, "training_step_time": 17.638524293899536 }, { "epoch": 1.0805130004882813e-06, "grad_norm": 1.1136419773101807, "learning_rate": 9.66189419213073e-06, "loss": 0.1122, "step": 11330 }, { "epoch": 1.0805130004882813e-06, "model_forward_time": 5.085618734359741, "step": 11330 }, { "dynamics_loss_avg": 0.054850760661065576, "epoch": 1.0805130004882813e-06, "step": 11330 }, { "action_loss_avg": 0.052999934926629064, "epoch": 1.0805130004882813e-06, "step": 11330 }, { "arm_loss_avg": 0.09568936377763748, "epoch": 1.0805130004882813e-06, "step": 11330 }, { "ee_loss_avg": 0.0461891905637458, "epoch": 1.0805130004882813e-06, "step": 11330 }, { "aux_loss_avg": 0.001003995633800514, "epoch": 1.0805130004882813e-06, "step": 11330 }, { "epoch": 1.0805130004882813e-06, "step": 11330, "training_step_time": 17.617205381393433 }, { "epoch": 1.0806083679199219e-06, "model_forward_time": 5.079144716262817, "step": 11331 }, { "epoch": 1.0806083679199219e-06, "step": 11331, "training_step_time": 17.854403972625732 }, { "epoch": 1.0807037353515625e-06, "model_forward_time": 3.8438823223114014, "step": 11332 }, { "epoch": 1.0807037353515625e-06, "step": 11332, "training_step_time": 17.60130548477173 }, { "epoch": 1.080799102783203e-06, "model_forward_time": 5.239897727966309, "step": 11333 }, { "epoch": 1.080799102783203e-06, "step": 11333, "training_step_time": 17.597530364990234 }, { "epoch": 1.0808944702148437e-06, "model_forward_time": 5.065636873245239, "step": 11334 }, { "epoch": 1.0808944702148437e-06, "step": 11334, "training_step_time": 17.583313703536987 }, { "epoch": 1.0809898376464843e-06, "model_forward_time": 5.070452928543091, "step": 11335 }, { "epoch": 1.0809898376464843e-06, "step": 11335, "training_step_time": 17.579893589019775 }, { "epoch": 1.081085205078125e-06, "model_forward_time": 5.077495098114014, "step": 11336 }, { "epoch": 1.081085205078125e-06, "step": 11336, "training_step_time": 17.573136568069458 }, { "epoch": 1.0811805725097656e-06, "model_forward_time": 5.0834596157073975, "step": 11337 }, { "epoch": 1.0811805725097656e-06, "step": 11337, "training_step_time": 17.80336332321167 }, { "epoch": 1.0812759399414062e-06, "model_forward_time": 5.32752799987793, "step": 11338 }, { "epoch": 1.0812759399414062e-06, "step": 11338, "training_step_time": 17.56068515777588 }, { "epoch": 1.0813713073730468e-06, "model_forward_time": 5.087732315063477, "step": 11339 }, { "epoch": 1.0813713073730468e-06, "step": 11339, "training_step_time": 17.553987741470337 }, { "epoch": 1.0814666748046874e-06, "grad_norm": 2.1827847957611084, "learning_rate": 9.661039813881917e-06, "loss": 0.1086, "step": 11340 }, { "epoch": 1.0814666748046874e-06, "model_forward_time": 5.087211608886719, "step": 11340 }, { "dynamics_loss_avg": 0.053769635409116744, "epoch": 1.0814666748046874e-06, "step": 11340 }, { "action_loss_avg": 0.05377239678055048, "epoch": 1.0814666748046874e-06, "step": 11340 }, { "arm_loss_avg": 0.09941540025174618, "epoch": 1.0814666748046874e-06, "step": 11340 }, { "ee_loss_avg": 0.04302471540868282, "epoch": 1.0814666748046874e-06, "step": 11340 }, { "aux_loss_avg": 0.0009670938423369079, "epoch": 1.0814666748046874e-06, "step": 11340 }, { "epoch": 1.0814666748046874e-06, "step": 11340, "training_step_time": 17.55842685699463 }, { "epoch": 1.0815620422363282e-06, "model_forward_time": 5.086838483810425, "step": 11341 }, { "epoch": 1.0815620422363282e-06, "step": 11341, "training_step_time": 17.804290294647217 }, { "epoch": 1.0816574096679688e-06, "model_forward_time": 5.083778381347656, "step": 11342 }, { "epoch": 1.0816574096679688e-06, "step": 11342, "training_step_time": 17.577518939971924 }, { "epoch": 1.0817527770996095e-06, "model_forward_time": 5.274524688720703, "step": 11343 }, { "epoch": 1.0817527770996095e-06, "step": 11343, "training_step_time": 17.58690857887268 }, { "epoch": 1.08184814453125e-06, "model_forward_time": 5.081214666366577, "step": 11344 }, { "epoch": 1.08184814453125e-06, "step": 11344, "training_step_time": 17.4923152923584 }, { "epoch": 1.0819435119628907e-06, "model_forward_time": 5.078444242477417, "step": 11345 }, { "epoch": 1.0819435119628907e-06, "step": 11345, "training_step_time": 17.287122011184692 }, { "epoch": 1.0820388793945313e-06, "model_forward_time": 5.082001447677612, "step": 11346 }, { "epoch": 1.0820388793945313e-06, "step": 11346, "training_step_time": 17.460692405700684 }, { "epoch": 1.082134246826172e-06, "model_forward_time": 5.078742980957031, "step": 11347 }, { "epoch": 1.082134246826172e-06, "step": 11347, "training_step_time": 17.75417184829712 }, { "epoch": 1.0822296142578125e-06, "model_forward_time": 5.315545082092285, "step": 11348 }, { "epoch": 1.0822296142578125e-06, "step": 11348, "training_step_time": 17.56964111328125 }, { "epoch": 1.0823249816894531e-06, "model_forward_time": 5.075539588928223, "step": 11349 }, { "epoch": 1.0823249816894531e-06, "step": 11349, "training_step_time": 17.60122847557068 }, { "epoch": 1.0824203491210938e-06, "grad_norm": 1.3063668012619019, "learning_rate": 9.660184395379424e-06, "loss": 0.1062, "step": 11350 }, { "epoch": 1.0824203491210938e-06, "model_forward_time": 5.075843334197998, "step": 11350 }, { "dynamics_loss_avg": 0.04259902974590659, "epoch": 1.0824203491210938e-06, "step": 11350 }, { "action_loss_avg": 0.05191301479935646, "epoch": 1.0824203491210938e-06, "step": 11350 }, { "arm_loss_avg": 0.08669821545481682, "epoch": 1.0824203491210938e-06, "step": 11350 }, { "ee_loss_avg": 0.04144304238725453, "epoch": 1.0824203491210938e-06, "step": 11350 }, { "aux_loss_avg": 0.0011642449186183511, "epoch": 1.0824203491210938e-06, "step": 11350 }, { "epoch": 1.0824203491210938e-06, "step": 11350, "training_step_time": 17.613924026489258 }, { "epoch": 1.0825157165527344e-06, "model_forward_time": 5.0757787227630615, "step": 11351 }, { "epoch": 1.0825157165527344e-06, "step": 11351, "training_step_time": 17.62540340423584 }, { "epoch": 1.082611083984375e-06, "model_forward_time": 5.078218936920166, "step": 11352 }, { "epoch": 1.082611083984375e-06, "step": 11352, "training_step_time": 17.831770420074463 }, { "epoch": 1.0827064514160156e-06, "model_forward_time": 5.2694830894470215, "step": 11353 }, { "epoch": 1.0827064514160156e-06, "step": 11353, "training_step_time": 17.614904165267944 }, { "epoch": 1.0828018188476562e-06, "model_forward_time": 5.078087329864502, "step": 11354 }, { "epoch": 1.0828018188476562e-06, "step": 11354, "training_step_time": 17.621052265167236 }, { "epoch": 1.0828971862792968e-06, "model_forward_time": 5.083883762359619, "step": 11355 }, { "epoch": 1.0828971862792968e-06, "step": 11355, "training_step_time": 17.6201651096344 }, { "epoch": 1.0829925537109374e-06, "model_forward_time": 5.083471059799194, "step": 11356 }, { "epoch": 1.0829925537109374e-06, "step": 11356, "training_step_time": 17.819846391677856 }, { "epoch": 1.083087921142578e-06, "model_forward_time": 5.0815205574035645, "step": 11357 }, { "epoch": 1.083087921142578e-06, "step": 11357, "training_step_time": 17.60088610649109 }, { "epoch": 1.0831832885742187e-06, "model_forward_time": 3.850961685180664, "step": 11358 }, { "epoch": 1.0831832885742187e-06, "step": 11358, "training_step_time": 17.626839637756348 }, { "epoch": 1.0832786560058593e-06, "model_forward_time": 3.8296868801116943, "step": 11359 }, { "epoch": 1.0832786560058593e-06, "step": 11359, "training_step_time": 17.595994234085083 }, { "epoch": 1.0833740234375e-06, "grad_norm": 1.485967993736267, "learning_rate": 9.659327936814169e-06, "loss": 0.1175, "step": 11360 }, { "epoch": 1.0833740234375e-06, "model_forward_time": 5.05104923248291, "step": 11360 }, { "dynamics_loss_avg": 0.05558764226734638, "epoch": 1.0833740234375e-06, "step": 11360 }, { "action_loss_avg": 0.06554319970309734, "epoch": 1.0833740234375e-06, "step": 11360 }, { "arm_loss_avg": 0.11628670506179332, "epoch": 1.0833740234375e-06, "step": 11360 }, { "ee_loss_avg": 0.04601077903062105, "epoch": 1.0833740234375e-06, "step": 11360 }, { "aux_loss_avg": 0.0043204459943808615, "epoch": 1.0833740234375e-06, "step": 11360 }, { "epoch": 1.0833740234375e-06, "step": 11360, "training_step_time": 17.603088855743408 }, { "epoch": 1.0834693908691407e-06, "model_forward_time": 5.0641655921936035, "step": 11361 }, { "epoch": 1.0834693908691407e-06, "step": 11361, "training_step_time": 17.769527196884155 }, { "epoch": 1.0835647583007813e-06, "model_forward_time": 5.0787353515625, "step": 11362 }, { "epoch": 1.0835647583007813e-06, "step": 11362, "training_step_time": 17.587722778320312 }, { "epoch": 1.083660125732422e-06, "model_forward_time": 5.094444274902344, "step": 11363 }, { "epoch": 1.083660125732422e-06, "step": 11363, "training_step_time": 17.603954315185547 }, { "epoch": 1.0837554931640626e-06, "model_forward_time": 5.290780544281006, "step": 11364 }, { "epoch": 1.0837554931640626e-06, "step": 11364, "training_step_time": 17.592485427856445 }, { "epoch": 1.0838508605957032e-06, "model_forward_time": 5.107369422912598, "step": 11365 }, { "epoch": 1.0838508605957032e-06, "step": 11365, "training_step_time": 17.38894557952881 }, { "epoch": 1.0839462280273438e-06, "model_forward_time": 5.103636741638184, "step": 11366 }, { "epoch": 1.0839462280273438e-06, "step": 11366, "training_step_time": 17.766969919204712 }, { "epoch": 1.0840415954589844e-06, "model_forward_time": 5.097248792648315, "step": 11367 }, { "epoch": 1.0840415954589844e-06, "step": 11367, "training_step_time": 17.573339223861694 }, { "epoch": 1.084136962890625e-06, "model_forward_time": 5.090929269790649, "step": 11368 }, { "epoch": 1.084136962890625e-06, "step": 11368, "training_step_time": 17.59259605407715 }, { "epoch": 1.0842323303222656e-06, "model_forward_time": 5.087444305419922, "step": 11369 }, { "epoch": 1.0842323303222656e-06, "step": 11369, "training_step_time": 17.60973834991455 }, { "epoch": 1.0843276977539063e-06, "grad_norm": 1.819526195526123, "learning_rate": 9.658470438377294e-06, "loss": 0.1111, "step": 11370 }, { "epoch": 1.0843276977539063e-06, "model_forward_time": 5.0798749923706055, "step": 11370 }, { "dynamics_loss_avg": 0.05710363276302814, "epoch": 1.0843276977539063e-06, "step": 11370 }, { "action_loss_avg": 0.05957943126559258, "epoch": 1.0843276977539063e-06, "step": 11370 }, { "arm_loss_avg": 0.09359241612255573, "epoch": 1.0843276977539063e-06, "step": 11370 }, { "ee_loss_avg": 0.059492288436740634, "epoch": 1.0843276977539063e-06, "step": 11370 }, { "aux_loss_avg": 0.0009612020978238434, "epoch": 1.0843276977539063e-06, "step": 11370 }, { "epoch": 1.0843276977539063e-06, "step": 11370, "training_step_time": 17.620170831680298 }, { "epoch": 1.0844230651855469e-06, "model_forward_time": 5.077072858810425, "step": 11371 }, { "epoch": 1.0844230651855469e-06, "step": 11371, "training_step_time": 17.86690330505371 }, { "epoch": 1.0845184326171875e-06, "model_forward_time": 5.073193550109863, "step": 11372 }, { "epoch": 1.0845184326171875e-06, "step": 11372, "training_step_time": 17.334808826446533 }, { "epoch": 1.084613800048828e-06, "model_forward_time": 5.284536838531494, "step": 11373 }, { "epoch": 1.084613800048828e-06, "step": 11373, "training_step_time": 17.540764808654785 }, { "epoch": 1.0847091674804687e-06, "model_forward_time": 5.081029415130615, "step": 11374 }, { "epoch": 1.0847091674804687e-06, "step": 11374, "training_step_time": 17.621490478515625 }, { "epoch": 1.0848045349121093e-06, "model_forward_time": 5.083301305770874, "step": 11375 }, { "epoch": 1.0848045349121093e-06, "step": 11375, "training_step_time": 17.515243768692017 }, { "epoch": 1.08489990234375e-06, "model_forward_time": 5.083054065704346, "step": 11376 }, { "epoch": 1.08489990234375e-06, "step": 11376, "training_step_time": 17.567457675933838 }, { "epoch": 1.0849952697753906e-06, "model_forward_time": 5.0837321281433105, "step": 11377 }, { "epoch": 1.0849952697753906e-06, "step": 11377, "training_step_time": 17.82025122642517 }, { "epoch": 1.0850906372070312e-06, "model_forward_time": 5.081089735031128, "step": 11378 }, { "epoch": 1.0850906372070312e-06, "step": 11378, "training_step_time": 17.61433506011963 }, { "epoch": 1.0851860046386718e-06, "model_forward_time": 5.08247184753418, "step": 11379 }, { "epoch": 1.0851860046386718e-06, "step": 11379, "training_step_time": 17.63261604309082 }, { "epoch": 1.0852813720703124e-06, "grad_norm": 2.562917947769165, "learning_rate": 9.657611900260178e-06, "loss": 0.0993, "step": 11380 }, { "epoch": 1.0852813720703124e-06, "model_forward_time": 5.084305763244629, "step": 11380 }, { "dynamics_loss_avg": 0.05038817450404167, "epoch": 1.0852813720703124e-06, "step": 11380 }, { "action_loss_avg": 0.0444624301046133, "epoch": 1.0852813720703124e-06, "step": 11380 }, { "arm_loss_avg": 0.09522356614470481, "epoch": 1.0852813720703124e-06, "step": 11380 }, { "ee_loss_avg": 0.04403089031111449, "epoch": 1.0852813720703124e-06, "step": 11380 }, { "aux_loss_avg": 0.0014459150901529939, "epoch": 1.0852813720703124e-06, "step": 11380 }, { "epoch": 1.0852813720703124e-06, "step": 11380, "training_step_time": 17.640122890472412 }, { "epoch": 1.085376739501953e-06, "model_forward_time": 5.0867509841918945, "step": 11381 }, { "epoch": 1.085376739501953e-06, "step": 11381, "training_step_time": 17.636624813079834 }, { "epoch": 1.0854721069335938e-06, "model_forward_time": 5.085234642028809, "step": 11382 }, { "epoch": 1.0854721069335938e-06, "step": 11382, "training_step_time": 17.831446170806885 }, { "epoch": 1.0855674743652345e-06, "model_forward_time": 5.279456853866577, "step": 11383 }, { "epoch": 1.0855674743652345e-06, "step": 11383, "training_step_time": 17.632822275161743 }, { "epoch": 1.085662841796875e-06, "model_forward_time": 5.08942985534668, "step": 11384 }, { "epoch": 1.085662841796875e-06, "step": 11384, "training_step_time": 17.615012884140015 }, { "epoch": 1.0857582092285157e-06, "model_forward_time": 5.085236549377441, "step": 11385 }, { "epoch": 1.0857582092285157e-06, "step": 11385, "training_step_time": 17.618019819259644 }, { "epoch": 1.0858535766601563e-06, "model_forward_time": 5.0834715366363525, "step": 11386 }, { "epoch": 1.0858535766601563e-06, "step": 11386, "training_step_time": 17.613712072372437 }, { "epoch": 1.085948944091797e-06, "model_forward_time": 3.8501179218292236, "step": 11387 }, { "epoch": 1.085948944091797e-06, "step": 11387, "training_step_time": 17.849375247955322 }, { "epoch": 1.0860443115234375e-06, "model_forward_time": 5.056081295013428, "step": 11388 }, { "epoch": 1.0860443115234375e-06, "step": 11388, "training_step_time": 17.60846519470215 }, { "epoch": 1.0861396789550781e-06, "model_forward_time": 5.306926012039185, "step": 11389 }, { "epoch": 1.0861396789550781e-06, "step": 11389, "training_step_time": 17.591923475265503 }, { "epoch": 1.0862350463867188e-06, "grad_norm": 1.060255765914917, "learning_rate": 9.65675232265443e-06, "loss": 0.1202, "step": 11390 }, { "epoch": 1.0862350463867188e-06, "model_forward_time": 5.076899528503418, "step": 11390 }, { "dynamics_loss_avg": 0.0529237724840641, "epoch": 1.0862350463867188e-06, "step": 11390 }, { "action_loss_avg": 0.061052664369344714, "epoch": 1.0862350463867188e-06, "step": 11390 }, { "arm_loss_avg": 0.08543704356998205, "epoch": 1.0862350463867188e-06, "step": 11390 }, { "ee_loss_avg": 0.04430304509587586, "epoch": 1.0862350463867188e-06, "step": 11390 }, { "aux_loss_avg": 0.0010800270130857826, "epoch": 1.0862350463867188e-06, "step": 11390 }, { "epoch": 1.0862350463867188e-06, "step": 11390, "training_step_time": 17.594489336013794 }, { "epoch": 1.0863304138183594e-06, "model_forward_time": 5.08582878112793, "step": 11391 }, { "epoch": 1.0863304138183594e-06, "step": 11391, "training_step_time": 17.828436613082886 }, { "epoch": 1.08642578125e-06, "model_forward_time": 5.089926719665527, "step": 11392 }, { "epoch": 1.08642578125e-06, "step": 11392, "training_step_time": 17.587557792663574 }, { "epoch": 1.0865211486816406e-06, "model_forward_time": 5.30413293838501, "step": 11393 }, { "epoch": 1.0865211486816406e-06, "step": 11393, "training_step_time": 17.58731245994568 }, { "epoch": 1.0866165161132812e-06, "model_forward_time": 5.093047380447388, "step": 11394 }, { "epoch": 1.0866165161132812e-06, "step": 11394, "training_step_time": 17.622803688049316 }, { "epoch": 1.0867118835449218e-06, "model_forward_time": 5.093097448348999, "step": 11395 }, { "epoch": 1.0867118835449218e-06, "step": 11395, "training_step_time": 17.59758758544922 }, { "epoch": 1.0868072509765624e-06, "model_forward_time": 5.088496446609497, "step": 11396 }, { "epoch": 1.0868072509765624e-06, "step": 11396, "training_step_time": 17.605432748794556 }, { "epoch": 1.086902618408203e-06, "model_forward_time": 5.088746070861816, "step": 11397 }, { "epoch": 1.086902618408203e-06, "step": 11397, "training_step_time": 17.84446930885315 }, { "epoch": 1.0869979858398437e-06, "model_forward_time": 5.085805416107178, "step": 11398 }, { "epoch": 1.0869979858398437e-06, "step": 11398, "training_step_time": 17.62709665298462 }, { "epoch": 1.0870933532714843e-06, "model_forward_time": 5.081352233886719, "step": 11399 }, { "epoch": 1.0870933532714843e-06, "step": 11399, "training_step_time": 17.410906314849854 }, { "epoch": 1.087188720703125e-06, "grad_norm": 1.2873483896255493, "learning_rate": 9.65589170575189e-06, "loss": 0.1216, "step": 11400 }, { "epoch": 1.087188720703125e-06, "model_forward_time": 5.0836310386657715, "step": 11400 }, { "dynamics_loss_avg": 0.06159761790186167, "epoch": 1.087188720703125e-06, "step": 11400 }, { "action_loss_avg": 0.059419992566108706, "epoch": 1.087188720703125e-06, "step": 11400 }, { "arm_loss_avg": 0.09501626417040825, "epoch": 1.087188720703125e-06, "step": 11400 }, { "ee_loss_avg": 0.055025444738566874, "epoch": 1.087188720703125e-06, "step": 11400 }, { "aux_loss_avg": 0.004049768985714764, "epoch": 1.087188720703125e-06, "step": 11400 }, { "epoch": 1.087188720703125e-06, "step": 11400, "training_step_time": 17.48458456993103 }, { "epoch": 1.0872840881347655e-06, "model_forward_time": 5.082531452178955, "step": 11401 }, { "epoch": 1.0872840881347655e-06, "step": 11401, "training_step_time": 17.54564142227173 }, { "epoch": 1.0873794555664063e-06, "model_forward_time": 5.082864761352539, "step": 11402 }, { "epoch": 1.0873794555664063e-06, "step": 11402, "training_step_time": 17.773422479629517 }, { "epoch": 1.087474822998047e-06, "model_forward_time": 5.271381139755249, "step": 11403 }, { "epoch": 1.087474822998047e-06, "step": 11403, "training_step_time": 17.623825073242188 }, { "epoch": 1.0875701904296876e-06, "model_forward_time": 5.081303596496582, "step": 11404 }, { "epoch": 1.0875701904296876e-06, "step": 11404, "training_step_time": 17.64293122291565 }, { "epoch": 1.0876655578613282e-06, "model_forward_time": 5.080944776535034, "step": 11405 }, { "epoch": 1.0876655578613282e-06, "step": 11405, "training_step_time": 17.514729022979736 }, { "epoch": 1.0877609252929688e-06, "model_forward_time": 5.08474063873291, "step": 11406 }, { "epoch": 1.0877609252929688e-06, "step": 11406, "training_step_time": 17.566481828689575 }, { "epoch": 1.0878562927246094e-06, "model_forward_time": 5.081765651702881, "step": 11407 }, { "epoch": 1.0878562927246094e-06, "step": 11407, "training_step_time": 17.837196350097656 }, { "epoch": 1.08795166015625e-06, "model_forward_time": 3.8456435203552246, "step": 11408 }, { "epoch": 1.08795166015625e-06, "step": 11408, "training_step_time": 17.617482900619507 }, { "epoch": 1.0880470275878906e-06, "model_forward_time": 5.302767992019653, "step": 11409 }, { "epoch": 1.0880470275878906e-06, "step": 11409, "training_step_time": 17.624313831329346 }, { "epoch": 1.0881423950195313e-06, "grad_norm": 1.752727746963501, "learning_rate": 9.65503004974463e-06, "loss": 0.1175, "step": 11410 }, { "epoch": 1.0881423950195313e-06, "model_forward_time": 5.067418336868286, "step": 11410 }, { "dynamics_loss_avg": 0.062032098323106764, "epoch": 1.0881423950195313e-06, "step": 11410 }, { "action_loss_avg": 0.044245237857103346, "epoch": 1.0881423950195313e-06, "step": 11410 }, { "arm_loss_avg": 0.08044669777154922, "epoch": 1.0881423950195313e-06, "step": 11410 }, { "ee_loss_avg": 0.05547154080122709, "epoch": 1.0881423950195313e-06, "step": 11410 }, { "aux_loss_avg": 0.0033259597083088012, "epoch": 1.0881423950195313e-06, "step": 11410 }, { "epoch": 1.0881423950195313e-06, "step": 11410, "training_step_time": 17.616523504257202 }, { "epoch": 1.0882377624511719e-06, "model_forward_time": 3.8395538330078125, "step": 11411 }, { "epoch": 1.0882377624511719e-06, "step": 11411, "training_step_time": 17.604697465896606 }, { "epoch": 1.0883331298828125e-06, "model_forward_time": 5.050271034240723, "step": 11412 }, { "epoch": 1.0883331298828125e-06, "step": 11412, "training_step_time": 17.785592079162598 }, { "epoch": 1.0884284973144531e-06, "model_forward_time": 3.8323323726654053, "step": 11413 }, { "epoch": 1.0884284973144531e-06, "step": 11413, "training_step_time": 17.578035354614258 }, { "epoch": 1.0885238647460937e-06, "model_forward_time": 5.281904458999634, "step": 11414 }, { "epoch": 1.0885238647460937e-06, "step": 11414, "training_step_time": 17.60636329650879 }, { "epoch": 1.0886192321777343e-06, "model_forward_time": 5.072944641113281, "step": 11415 }, { "epoch": 1.0886192321777343e-06, "step": 11415, "training_step_time": 17.571500062942505 }, { "epoch": 1.088714599609375e-06, "model_forward_time": 5.098605155944824, "step": 11416 }, { "epoch": 1.088714599609375e-06, "step": 11416, "training_step_time": 17.416182041168213 }, { "epoch": 1.0888099670410156e-06, "model_forward_time": 3.868037462234497, "step": 11417 }, { "epoch": 1.0888099670410156e-06, "step": 11417, "training_step_time": 17.76763939857483 }, { "epoch": 1.0889053344726562e-06, "model_forward_time": 5.0828869342803955, "step": 11418 }, { "epoch": 1.0889053344726562e-06, "step": 11418, "training_step_time": 17.642903327941895 }, { "epoch": 1.0890007019042968e-06, "model_forward_time": 5.344918489456177, "step": 11419 }, { "epoch": 1.0890007019042968e-06, "step": 11419, "training_step_time": 17.580960750579834 }, { "epoch": 1.0890960693359374e-06, "grad_norm": 1.726824402809143, "learning_rate": 9.654167354824959e-06, "loss": 0.1093, "step": 11420 }, { "epoch": 1.0890960693359374e-06, "model_forward_time": 5.08484148979187, "step": 11420 }, { "dynamics_loss_avg": 0.050518151558935645, "epoch": 1.0890960693359374e-06, "step": 11420 }, { "action_loss_avg": 0.056791233085095885, "epoch": 1.0890960693359374e-06, "step": 11420 }, { "arm_loss_avg": 0.08749933540821075, "epoch": 1.0890960693359374e-06, "step": 11420 }, { "ee_loss_avg": 0.04521365845575929, "epoch": 1.0890960693359374e-06, "step": 11420 }, { "aux_loss_avg": 0.001788747141836211, "epoch": 1.0890960693359374e-06, "step": 11420 }, { "epoch": 1.0890960693359374e-06, "step": 11420, "training_step_time": 17.591790437698364 }, { "epoch": 1.089191436767578e-06, "model_forward_time": 5.086785316467285, "step": 11421 }, { "epoch": 1.089191436767578e-06, "step": 11421, "training_step_time": 17.59112524986267 }, { "epoch": 1.0892868041992188e-06, "model_forward_time": 5.08556604385376, "step": 11422 }, { "epoch": 1.0892868041992188e-06, "step": 11422, "training_step_time": 17.782039165496826 }, { "epoch": 1.0893821716308595e-06, "model_forward_time": 5.086158752441406, "step": 11423 }, { "epoch": 1.0893821716308595e-06, "step": 11423, "training_step_time": 17.60686469078064 }, { "epoch": 1.0894775390625e-06, "model_forward_time": 5.084277391433716, "step": 11424 }, { "epoch": 1.0894775390625e-06, "step": 11424, "training_step_time": 17.616337537765503 }, { "epoch": 1.0895729064941407e-06, "model_forward_time": 3.8479812145233154, "step": 11425 }, { "epoch": 1.0895729064941407e-06, "step": 11425, "training_step_time": 17.610684871673584 }, { "epoch": 1.0896682739257813e-06, "model_forward_time": 5.050520181655884, "step": 11426 }, { "epoch": 1.0896682739257813e-06, "step": 11426, "training_step_time": 17.624231576919556 }, { "epoch": 1.089763641357422e-06, "model_forward_time": 5.06643009185791, "step": 11427 }, { "epoch": 1.089763641357422e-06, "step": 11427, "training_step_time": 17.858970165252686 }, { "epoch": 1.0898590087890625e-06, "model_forward_time": 5.072230815887451, "step": 11428 }, { "epoch": 1.0898590087890625e-06, "step": 11428, "training_step_time": 17.59846544265747 }, { "epoch": 1.0899543762207032e-06, "model_forward_time": 5.324450254440308, "step": 11429 }, { "epoch": 1.0899543762207032e-06, "step": 11429, "training_step_time": 17.59470295906067 }, { "epoch": 1.0900497436523438e-06, "grad_norm": 1.2124354839324951, "learning_rate": 9.653303621185411e-06, "loss": 0.0951, "step": 11430 }, { "epoch": 1.0900497436523438e-06, "model_forward_time": 5.086379289627075, "step": 11430 }, { "dynamics_loss_avg": 0.03903907425701618, "epoch": 1.0900497436523438e-06, "step": 11430 }, { "action_loss_avg": 0.05477142445743084, "epoch": 1.0900497436523438e-06, "step": 11430 }, { "arm_loss_avg": 0.09535754509270192, "epoch": 1.0900497436523438e-06, "step": 11430 }, { "ee_loss_avg": 0.053096390515565875, "epoch": 1.0900497436523438e-06, "step": 11430 }, { "aux_loss_avg": 0.0009112376894336194, "epoch": 1.0900497436523438e-06, "step": 11430 }, { "epoch": 1.0900497436523438e-06, "step": 11430, "training_step_time": 17.595077753067017 }, { "epoch": 1.0901451110839844e-06, "model_forward_time": 5.093052625656128, "step": 11431 }, { "epoch": 1.0901451110839844e-06, "step": 11431, "training_step_time": 17.592569828033447 }, { "epoch": 1.090240478515625e-06, "model_forward_time": 5.094743728637695, "step": 11432 }, { "epoch": 1.090240478515625e-06, "step": 11432, "training_step_time": 17.79374122619629 }, { "epoch": 1.0903358459472656e-06, "model_forward_time": 5.3013856410980225, "step": 11433 }, { "epoch": 1.0903358459472656e-06, "step": 11433, "training_step_time": 17.614381551742554 }, { "epoch": 1.0904312133789062e-06, "model_forward_time": 5.092687606811523, "step": 11434 }, { "epoch": 1.0904312133789062e-06, "step": 11434, "training_step_time": 17.60710120201111 }, { "epoch": 1.0905265808105468e-06, "model_forward_time": 5.087309837341309, "step": 11435 }, { "epoch": 1.0905265808105468e-06, "step": 11435, "training_step_time": 17.60285258293152 }, { "epoch": 1.0906219482421875e-06, "model_forward_time": 3.8542587757110596, "step": 11436 }, { "epoch": 1.0906219482421875e-06, "step": 11436, "training_step_time": 17.857606887817383 }, { "epoch": 1.090717315673828e-06, "model_forward_time": 5.063486814498901, "step": 11437 }, { "epoch": 1.090717315673828e-06, "step": 11437, "training_step_time": 17.62012267112732 }, { "epoch": 1.0908126831054687e-06, "model_forward_time": 5.084874391555786, "step": 11438 }, { "epoch": 1.0908126831054687e-06, "step": 11438, "training_step_time": 17.63535189628601 }, { "epoch": 1.0909080505371093e-06, "model_forward_time": 5.331805229187012, "step": 11439 }, { "epoch": 1.0909080505371093e-06, "step": 11439, "training_step_time": 17.555532455444336 }, { "epoch": 1.09100341796875e-06, "grad_norm": 2.6221799850463867, "learning_rate": 9.652438849018753e-06, "loss": 0.0954, "step": 11440 }, { "epoch": 1.09100341796875e-06, "model_forward_time": 5.086684703826904, "step": 11440 }, { "dynamics_loss_avg": 0.037720516324043274, "epoch": 1.09100341796875e-06, "step": 11440 }, { "action_loss_avg": 0.04757470041513443, "epoch": 1.09100341796875e-06, "step": 11440 }, { "arm_loss_avg": 0.09915081337094307, "epoch": 1.09100341796875e-06, "step": 11440 }, { "ee_loss_avg": 0.02314624118153006, "epoch": 1.09100341796875e-06, "step": 11440 }, { "aux_loss_avg": 0.0007894074427895248, "epoch": 1.09100341796875e-06, "step": 11440 }, { "epoch": 1.09100341796875e-06, "step": 11440, "training_step_time": 17.98790740966797 }, { "epoch": 1.0910987854003905e-06, "model_forward_time": 5.083468914031982, "step": 11441 }, { "epoch": 1.0910987854003905e-06, "step": 11441, "training_step_time": 17.74072504043579 }, { "epoch": 1.0911941528320314e-06, "model_forward_time": 5.085904836654663, "step": 11442 }, { "epoch": 1.0911941528320314e-06, "step": 11442, "training_step_time": 17.569437265396118 }, { "epoch": 1.091289520263672e-06, "model_forward_time": 5.0904388427734375, "step": 11443 }, { "epoch": 1.091289520263672e-06, "step": 11443, "training_step_time": 17.58357048034668 }, { "epoch": 1.0913848876953126e-06, "model_forward_time": 5.288368463516235, "step": 11444 }, { "epoch": 1.0913848876953126e-06, "step": 11444, "training_step_time": 17.63013768196106 }, { "epoch": 1.0914802551269532e-06, "model_forward_time": 5.093585729598999, "step": 11445 }, { "epoch": 1.0914802551269532e-06, "step": 11445, "training_step_time": 17.620248317718506 }, { "epoch": 1.0915756225585938e-06, "model_forward_time": 5.0893847942352295, "step": 11446 }, { "epoch": 1.0915756225585938e-06, "step": 11446, "training_step_time": 17.85439133644104 }, { "epoch": 1.0916709899902344e-06, "model_forward_time": 5.086576700210571, "step": 11447 }, { "epoch": 1.0916709899902344e-06, "step": 11447, "training_step_time": 17.62718367576599 }, { "epoch": 1.091766357421875e-06, "model_forward_time": 5.083235263824463, "step": 11448 }, { "epoch": 1.091766357421875e-06, "step": 11448, "training_step_time": 17.626219749450684 }, { "epoch": 1.0918617248535157e-06, "model_forward_time": 3.8482143878936768, "step": 11449 }, { "epoch": 1.0918617248535157e-06, "step": 11449, "training_step_time": 17.620072603225708 }, { "epoch": 1.0919570922851563e-06, "grad_norm": 2.5012898445129395, "learning_rate": 9.651573038517987e-06, "loss": 0.1252, "step": 11450 }, { "epoch": 1.0919570922851563e-06, "model_forward_time": 5.057995796203613, "step": 11450 }, { "dynamics_loss_avg": 0.059726781118661164, "epoch": 1.0919570922851563e-06, "step": 11450 }, { "action_loss_avg": 0.052171044051647186, "epoch": 1.0919570922851563e-06, "step": 11450 }, { "arm_loss_avg": 0.06770214103162289, "epoch": 1.0919570922851563e-06, "step": 11450 }, { "ee_loss_avg": 0.04097615466453135, "epoch": 1.0919570922851563e-06, "step": 11450 }, { "aux_loss_avg": 0.0009060449257958681, "epoch": 1.0919570922851563e-06, "step": 11450 }, { "epoch": 1.0919570922851563e-06, "step": 11450, "training_step_time": 17.62136459350586 }, { "epoch": 1.0920524597167969e-06, "model_forward_time": 5.067247629165649, "step": 11451 }, { "epoch": 1.0920524597167969e-06, "step": 11451, "training_step_time": 17.851601362228394 }, { "epoch": 1.0921478271484375e-06, "model_forward_time": 5.076760768890381, "step": 11452 }, { "epoch": 1.0921478271484375e-06, "step": 11452, "training_step_time": 17.60817837715149 }, { "epoch": 1.0922431945800781e-06, "model_forward_time": 3.8494436740875244, "step": 11453 }, { "epoch": 1.0922431945800781e-06, "step": 11453, "training_step_time": 17.589557886123657 }, { "epoch": 1.0923385620117187e-06, "model_forward_time": 5.251152753829956, "step": 11454 }, { "epoch": 1.0923385620117187e-06, "step": 11454, "training_step_time": 17.5938720703125 }, { "epoch": 1.0924339294433593e-06, "model_forward_time": 3.8440608978271484, "step": 11455 }, { "epoch": 1.0924339294433593e-06, "step": 11455, "training_step_time": 17.58521008491516 }, { "epoch": 1.092529296875e-06, "model_forward_time": 5.057836294174194, "step": 11456 }, { "epoch": 1.092529296875e-06, "step": 11456, "training_step_time": 17.803093433380127 }, { "epoch": 1.0926246643066406e-06, "model_forward_time": 5.0773420333862305, "step": 11457 }, { "epoch": 1.0926246643066406e-06, "step": 11457, "training_step_time": 17.57803249359131 }, { "epoch": 1.0927200317382812e-06, "model_forward_time": 3.8562371730804443, "step": 11458 }, { "epoch": 1.0927200317382812e-06, "step": 11458, "training_step_time": 17.57541847229004 }, { "epoch": 1.0928153991699218e-06, "model_forward_time": 5.304317951202393, "step": 11459 }, { "epoch": 1.0928153991699218e-06, "step": 11459, "training_step_time": 17.589710235595703 }, { "epoch": 1.0929107666015624e-06, "grad_norm": 1.9059810638427734, "learning_rate": 9.650706189876347e-06, "loss": 0.1127, "step": 11460 }, { "epoch": 1.0929107666015624e-06, "model_forward_time": 3.8533143997192383, "step": 11460 }, { "dynamics_loss_avg": 0.05081272702664137, "epoch": 1.0929107666015624e-06, "step": 11460 }, { "action_loss_avg": 0.04431880861520767, "epoch": 1.0929107666015624e-06, "step": 11460 }, { "arm_loss_avg": 0.10070794895291328, "epoch": 1.0929107666015624e-06, "step": 11460 }, { "ee_loss_avg": 0.0692071009427309, "epoch": 1.0929107666015624e-06, "step": 11460 }, { "aux_loss_avg": 0.011369090346852318, "epoch": 1.0929107666015624e-06, "step": 11460 }, { "epoch": 1.0929107666015624e-06, "step": 11460, "training_step_time": 17.58965539932251 }, { "epoch": 1.093006134033203e-06, "model_forward_time": 5.07000732421875, "step": 11461 }, { "epoch": 1.093006134033203e-06, "step": 11461, "training_step_time": 17.429123401641846 }, { "epoch": 1.0931015014648439e-06, "model_forward_time": 5.087525844573975, "step": 11462 }, { "epoch": 1.0931015014648439e-06, "step": 11462, "training_step_time": 17.511008501052856 }, { "epoch": 1.0931968688964845e-06, "model_forward_time": 5.098397493362427, "step": 11463 }, { "epoch": 1.0931968688964845e-06, "step": 11463, "training_step_time": 17.551771879196167 }, { "epoch": 1.093292236328125e-06, "model_forward_time": 5.2885119915008545, "step": 11464 }, { "epoch": 1.093292236328125e-06, "step": 11464, "training_step_time": 17.608768701553345 }, { "epoch": 1.0933876037597657e-06, "model_forward_time": 3.8681211471557617, "step": 11465 }, { "epoch": 1.0933876037597657e-06, "step": 11465, "training_step_time": 17.613791704177856 }, { "epoch": 1.0934829711914063e-06, "model_forward_time": 5.073368072509766, "step": 11466 }, { "epoch": 1.0934829711914063e-06, "step": 11466, "training_step_time": 17.876776456832886 }, { "epoch": 1.093578338623047e-06, "model_forward_time": 5.078470468521118, "step": 11467 }, { "epoch": 1.093578338623047e-06, "step": 11467, "training_step_time": 17.639657974243164 }, { "epoch": 1.0936737060546875e-06, "model_forward_time": 5.08420729637146, "step": 11468 }, { "epoch": 1.0936737060546875e-06, "step": 11468, "training_step_time": 17.64669132232666 }, { "epoch": 1.0937690734863282e-06, "model_forward_time": 5.3300206661224365, "step": 11469 }, { "epoch": 1.0937690734863282e-06, "step": 11469, "training_step_time": 17.638203620910645 }, { "epoch": 1.0938644409179688e-06, "grad_norm": 2.2370147705078125, "learning_rate": 9.649838303287295e-06, "loss": 0.0915, "step": 11470 }, { "epoch": 1.0938644409179688e-06, "model_forward_time": 5.0929059982299805, "step": 11470 }, { "dynamics_loss_avg": 0.03301286967471242, "epoch": 1.0938644409179688e-06, "step": 11470 }, { "action_loss_avg": 0.04495520256459713, "epoch": 1.0938644409179688e-06, "step": 11470 }, { "arm_loss_avg": 0.09184621609747409, "epoch": 1.0938644409179688e-06, "step": 11470 }, { "ee_loss_avg": 0.03809029785916209, "epoch": 1.0938644409179688e-06, "step": 11470 }, { "aux_loss_avg": 0.0009115001594182104, "epoch": 1.0938644409179688e-06, "step": 11470 }, { "epoch": 1.0938644409179688e-06, "step": 11470, "training_step_time": 17.647459983825684 }, { "epoch": 1.0939598083496094e-06, "model_forward_time": 5.092251539230347, "step": 11471 }, { "epoch": 1.0939598083496094e-06, "step": 11471, "training_step_time": 17.860538005828857 }, { "epoch": 1.09405517578125e-06, "model_forward_time": 5.088397741317749, "step": 11472 }, { "epoch": 1.09405517578125e-06, "step": 11472, "training_step_time": 17.62210750579834 }, { "epoch": 1.0941505432128906e-06, "model_forward_time": 3.855346202850342, "step": 11473 }, { "epoch": 1.0941505432128906e-06, "step": 11473, "training_step_time": 17.616270303726196 }, { "epoch": 1.0942459106445312e-06, "model_forward_time": 5.259393930435181, "step": 11474 }, { "epoch": 1.0942459106445312e-06, "step": 11474, "training_step_time": 17.616029739379883 }, { "epoch": 1.0943412780761718e-06, "model_forward_time": 5.069221258163452, "step": 11475 }, { "epoch": 1.0943412780761718e-06, "step": 11475, "training_step_time": 17.60121250152588 }, { "epoch": 1.0944366455078125e-06, "model_forward_time": 5.075582027435303, "step": 11476 }, { "epoch": 1.0944366455078125e-06, "step": 11476, "training_step_time": 17.47475790977478 }, { "epoch": 1.094532012939453e-06, "model_forward_time": 5.084696054458618, "step": 11477 }, { "epoch": 1.094532012939453e-06, "step": 11477, "training_step_time": 17.742269277572632 }, { "epoch": 1.0946273803710937e-06, "model_forward_time": 5.082298517227173, "step": 11478 }, { "epoch": 1.0946273803710937e-06, "step": 11478, "training_step_time": 17.53045392036438 }, { "epoch": 1.0947227478027343e-06, "model_forward_time": 5.087672233581543, "step": 11479 }, { "epoch": 1.0947227478027343e-06, "step": 11479, "training_step_time": 17.55659317970276 }, { "epoch": 1.094818115234375e-06, "grad_norm": 1.1013009548187256, "learning_rate": 9.648969378944525e-06, "loss": 0.0877, "step": 11480 }, { "epoch": 1.094818115234375e-06, "model_forward_time": 5.087483644485474, "step": 11480 }, { "dynamics_loss_avg": 0.04240809045732021, "epoch": 1.094818115234375e-06, "step": 11480 }, { "action_loss_avg": 0.05058031044900417, "epoch": 1.094818115234375e-06, "step": 11480 }, { "arm_loss_avg": 0.0765377514064312, "epoch": 1.094818115234375e-06, "step": 11480 }, { "ee_loss_avg": 0.03662452010903507, "epoch": 1.094818115234375e-06, "step": 11480 }, { "aux_loss_avg": 0.001142264570808038, "epoch": 1.094818115234375e-06, "step": 11480 }, { "epoch": 1.094818115234375e-06, "step": 11480, "training_step_time": 17.372630834579468 }, { "epoch": 1.0949134826660155e-06, "model_forward_time": 5.089100360870361, "step": 11481 }, { "epoch": 1.0949134826660155e-06, "step": 11481, "training_step_time": 17.42665457725525 }, { "epoch": 1.0950088500976564e-06, "model_forward_time": 5.086003303527832, "step": 11482 }, { "epoch": 1.0950088500976564e-06, "step": 11482, "training_step_time": 17.651631832122803 }, { "epoch": 1.095104217529297e-06, "model_forward_time": 5.08153223991394, "step": 11483 }, { "epoch": 1.095104217529297e-06, "step": 11483, "training_step_time": 17.53402590751648 }, { "epoch": 1.0951995849609376e-06, "model_forward_time": 5.079134464263916, "step": 11484 }, { "epoch": 1.0951995849609376e-06, "step": 11484, "training_step_time": 17.612809658050537 }, { "epoch": 1.0952949523925782e-06, "model_forward_time": 5.079658031463623, "step": 11485 }, { "epoch": 1.0952949523925782e-06, "step": 11485, "training_step_time": 17.635445833206177 }, { "epoch": 1.0953903198242188e-06, "model_forward_time": 5.07607102394104, "step": 11486 }, { "epoch": 1.0953903198242188e-06, "step": 11486, "training_step_time": 17.648030281066895 }, { "epoch": 1.0954856872558594e-06, "model_forward_time": 5.080368757247925, "step": 11487 }, { "epoch": 1.0954856872558594e-06, "step": 11487, "training_step_time": 17.895158290863037 }, { "epoch": 1.0955810546875e-06, "model_forward_time": 5.07395339012146, "step": 11488 }, { "epoch": 1.0955810546875e-06, "step": 11488, "training_step_time": 17.649287700653076 }, { "epoch": 1.0956764221191407e-06, "model_forward_time": 5.076534271240234, "step": 11489 }, { "epoch": 1.0956764221191407e-06, "step": 11489, "training_step_time": 17.644843578338623 }, { "epoch": 1.0957717895507813e-06, "grad_norm": 1.2250901460647583, "learning_rate": 9.648099417041966e-06, "loss": 0.1049, "step": 11490 }, { "epoch": 1.0957717895507813e-06, "model_forward_time": 5.082440614700317, "step": 11490 }, { "dynamics_loss_avg": 0.047039972804486754, "epoch": 1.0957717895507813e-06, "step": 11490 }, { "action_loss_avg": 0.0369841430336237, "epoch": 1.0957717895507813e-06, "step": 11490 }, { "arm_loss_avg": 0.07128193974494934, "epoch": 1.0957717895507813e-06, "step": 11490 }, { "ee_loss_avg": 0.030444322805851697, "epoch": 1.0957717895507813e-06, "step": 11490 }, { "aux_loss_avg": 0.0007370758568868041, "epoch": 1.0957717895507813e-06, "step": 11490 }, { "epoch": 1.0957717895507813e-06, "step": 11490, "training_step_time": 17.6286563873291 }, { "epoch": 1.0958671569824219e-06, "model_forward_time": 5.085049390792847, "step": 11491 }, { "epoch": 1.0958671569824219e-06, "step": 11491, "training_step_time": 17.620712757110596 }, { "epoch": 1.0959625244140625e-06, "model_forward_time": 3.8496954441070557, "step": 11492 }, { "epoch": 1.0959625244140625e-06, "step": 11492, "training_step_time": 17.31465983390808 }, { "epoch": 1.0960578918457031e-06, "model_forward_time": 5.0612194538116455, "step": 11493 }, { "epoch": 1.0960578918457031e-06, "step": 11493, "training_step_time": 17.506898641586304 }, { "epoch": 1.0961532592773437e-06, "model_forward_time": 5.0720343589782715, "step": 11494 }, { "epoch": 1.0961532592773437e-06, "step": 11494, "training_step_time": 17.610310316085815 }, { "epoch": 1.0962486267089843e-06, "model_forward_time": 5.0768866539001465, "step": 11495 }, { "epoch": 1.0962486267089843e-06, "step": 11495, "training_step_time": 17.567012548446655 }, { "epoch": 1.096343994140625e-06, "model_forward_time": 3.8517065048217773, "step": 11496 }, { "epoch": 1.096343994140625e-06, "step": 11496, "training_step_time": 17.583240509033203 }, { "epoch": 1.0964393615722656e-06, "model_forward_time": 5.060821294784546, "step": 11497 }, { "epoch": 1.0964393615722656e-06, "step": 11497, "training_step_time": 17.834372997283936 }, { "epoch": 1.0965347290039062e-06, "model_forward_time": 5.072080850601196, "step": 11498 }, { "epoch": 1.0965347290039062e-06, "step": 11498, "training_step_time": 17.604234218597412 }, { "epoch": 1.0966300964355468e-06, "model_forward_time": 5.088388442993164, "step": 11499 }, { "epoch": 1.0966300964355468e-06, "step": 11499, "training_step_time": 17.614099502563477 }, { "epoch": 1.0967254638671874e-06, "grad_norm": 1.3005354404449463, "learning_rate": 9.647228417773776e-06, "loss": 0.1202, "step": 11500 }, { "epoch": 1.0967254638671874e-06, "model_forward_time": 5.096771001815796, "step": 11500 }, { "dynamics_loss_avg": 0.05768316276371479, "epoch": 1.0967254638671874e-06, "step": 11500 }, { "action_loss_avg": 0.048810075409710406, "epoch": 1.0967254638671874e-06, "step": 11500 }, { "arm_loss_avg": 0.07609763853251934, "epoch": 1.0967254638671874e-06, "step": 11500 }, { "ee_loss_avg": 0.030131926853209735, "epoch": 1.0967254638671874e-06, "step": 11500 }, { "aux_loss_avg": 0.0025050353026017545, "epoch": 1.0967254638671874e-06, "step": 11500 }, { "epoch": 1.0967254638671874e-06, "step": 11500, "training_step_time": 17.624181032180786 }, { "epoch": 1.096820831298828e-06, "model_forward_time": 5.097625970840454, "step": 11501 }, { "epoch": 1.096820831298828e-06, "step": 11501, "training_step_time": 17.8514301776886 }, { "epoch": 1.0969161987304686e-06, "model_forward_time": 5.099466800689697, "step": 11502 }, { "epoch": 1.0969161987304686e-06, "step": 11502, "training_step_time": 17.61417818069458 }, { "epoch": 1.0970115661621095e-06, "model_forward_time": 5.099554061889648, "step": 11503 }, { "epoch": 1.0970115661621095e-06, "step": 11503, "training_step_time": 17.62587809562683 }, { "epoch": 1.09710693359375e-06, "model_forward_time": 3.8649466037750244, "step": 11504 }, { "epoch": 1.09710693359375e-06, "step": 11504, "training_step_time": 17.63760733604431 }, { "epoch": 1.0972023010253907e-06, "model_forward_time": 5.064593315124512, "step": 11505 }, { "epoch": 1.0972023010253907e-06, "step": 11505, "training_step_time": 17.622543811798096 }, { "epoch": 1.0972976684570313e-06, "model_forward_time": 5.073197364807129, "step": 11506 }, { "epoch": 1.0972976684570313e-06, "step": 11506, "training_step_time": 17.848974227905273 }, { "epoch": 1.097393035888672e-06, "model_forward_time": 5.0754334926605225, "step": 11507 }, { "epoch": 1.097393035888672e-06, "step": 11507, "training_step_time": 17.60784673690796 }, { "epoch": 1.0974884033203125e-06, "model_forward_time": 5.081754446029663, "step": 11508 }, { "epoch": 1.0974884033203125e-06, "step": 11508, "training_step_time": 17.599929332733154 }, { "epoch": 1.0975837707519532e-06, "model_forward_time": 5.328409671783447, "step": 11509 }, { "epoch": 1.0975837707519532e-06, "step": 11509, "training_step_time": 17.612143516540527 }, { "epoch": 1.0976791381835938e-06, "grad_norm": 2.262439727783203, "learning_rate": 9.646356381334346e-06, "loss": 0.107, "step": 11510 }, { "epoch": 1.0976791381835938e-06, "model_forward_time": 5.091289520263672, "step": 11510 }, { "dynamics_loss_avg": 0.045288327150046825, "epoch": 1.0976791381835938e-06, "step": 11510 }, { "action_loss_avg": 0.05109544610604644, "epoch": 1.0976791381835938e-06, "step": 11510 }, { "arm_loss_avg": 0.08581566736102104, "epoch": 1.0976791381835938e-06, "step": 11510 }, { "ee_loss_avg": 0.04832354504615068, "epoch": 1.0976791381835938e-06, "step": 11510 }, { "aux_loss_avg": 0.003441595152253285, "epoch": 1.0976791381835938e-06, "step": 11510 }, { "epoch": 1.0976791381835938e-06, "step": 11510, "training_step_time": 17.594768285751343 }, { "epoch": 1.0977745056152344e-06, "model_forward_time": 5.0938475131988525, "step": 11511 }, { "epoch": 1.0977745056152344e-06, "step": 11511, "training_step_time": 17.829029083251953 }, { "epoch": 1.097869873046875e-06, "model_forward_time": 5.092170476913452, "step": 11512 }, { "epoch": 1.097869873046875e-06, "step": 11512, "training_step_time": 17.596380710601807 }, { "epoch": 1.0979652404785156e-06, "model_forward_time": 5.09429669380188, "step": 11513 }, { "epoch": 1.0979652404785156e-06, "step": 11513, "training_step_time": 17.602226734161377 }, { "epoch": 1.0980606079101562e-06, "model_forward_time": 5.292010307312012, "step": 11514 }, { "epoch": 1.0980606079101562e-06, "step": 11514, "training_step_time": 17.601408004760742 }, { "epoch": 1.0981559753417968e-06, "model_forward_time": 5.091238737106323, "step": 11515 }, { "epoch": 1.0981559753417968e-06, "step": 11515, "training_step_time": 17.600885152816772 }, { "epoch": 1.0982513427734375e-06, "model_forward_time": 5.087517261505127, "step": 11516 }, { "epoch": 1.0982513427734375e-06, "step": 11516, "training_step_time": 17.82015585899353 }, { "epoch": 1.098346710205078e-06, "model_forward_time": 5.085092306137085, "step": 11517 }, { "epoch": 1.098346710205078e-06, "step": 11517, "training_step_time": 17.601181983947754 }, { "epoch": 1.0984420776367187e-06, "model_forward_time": 5.083196401596069, "step": 11518 }, { "epoch": 1.0984420776367187e-06, "step": 11518, "training_step_time": 17.606404066085815 }, { "epoch": 1.0985374450683593e-06, "model_forward_time": 5.086169481277466, "step": 11519 }, { "epoch": 1.0985374450683593e-06, "step": 11519, "training_step_time": 17.60682439804077 }, { "epoch": 1.0986328125e-06, "grad_norm": 1.9539520740509033, "learning_rate": 9.645483307918297e-06, "loss": 0.0994, "step": 11520 }, { "epoch": 1.0986328125e-06, "model_forward_time": 5.086652994155884, "step": 11520 }, { "dynamics_loss_avg": 0.056175384856760505, "epoch": 1.0986328125e-06, "step": 11520 }, { "action_loss_avg": 0.044946965761482716, "epoch": 1.0986328125e-06, "step": 11520 }, { "arm_loss_avg": 0.11392160579562187, "epoch": 1.0986328125e-06, "step": 11520 }, { "ee_loss_avg": 0.054776907153427604, "epoch": 1.0986328125e-06, "step": 11520 }, { "aux_loss_avg": 0.011415286216652021, "epoch": 1.0986328125e-06, "step": 11520 }, { "epoch": 1.0986328125e-06, "step": 11520, "training_step_time": 17.60574960708618 }, { "epoch": 1.0987281799316405e-06, "model_forward_time": 5.0852789878845215, "step": 11521 }, { "epoch": 1.0987281799316405e-06, "step": 11521, "training_step_time": 17.80068564414978 }, { "epoch": 1.0988235473632811e-06, "model_forward_time": 5.085428476333618, "step": 11522 }, { "epoch": 1.0988235473632811e-06, "step": 11522, "training_step_time": 17.599016427993774 }, { "epoch": 1.098918914794922e-06, "model_forward_time": 5.082979679107666, "step": 11523 }, { "epoch": 1.098918914794922e-06, "step": 11523, "training_step_time": 17.612730264663696 }, { "epoch": 1.0990142822265626e-06, "model_forward_time": 5.08278226852417, "step": 11524 }, { "epoch": 1.0990142822265626e-06, "step": 11524, "training_step_time": 17.62748670578003 }, { "epoch": 1.0991096496582032e-06, "model_forward_time": 5.087177991867065, "step": 11525 }, { "epoch": 1.0991096496582032e-06, "step": 11525, "training_step_time": 17.60899257659912 }, { "epoch": 1.0992050170898438e-06, "model_forward_time": 5.08863639831543, "step": 11526 }, { "epoch": 1.0992050170898438e-06, "step": 11526, "training_step_time": 17.829425811767578 }, { "epoch": 1.0993003845214844e-06, "model_forward_time": 5.084666728973389, "step": 11527 }, { "epoch": 1.0993003845214844e-06, "step": 11527, "training_step_time": 17.6092209815979 }, { "epoch": 1.099395751953125e-06, "model_forward_time": 5.089659929275513, "step": 11528 }, { "epoch": 1.099395751953125e-06, "step": 11528, "training_step_time": 17.60004234313965 }, { "epoch": 1.0994911193847657e-06, "model_forward_time": 5.089428186416626, "step": 11529 }, { "epoch": 1.0994911193847657e-06, "step": 11529, "training_step_time": 17.604082822799683 }, { "epoch": 1.0995864868164063e-06, "grad_norm": 1.1291457414627075, "learning_rate": 9.644609197720482e-06, "loss": 0.1075, "step": 11530 }, { "epoch": 1.0995864868164063e-06, "model_forward_time": 5.08578085899353, "step": 11530 }, { "dynamics_loss_avg": 0.0516073826700449, "epoch": 1.0995864868164063e-06, "step": 11530 }, { "action_loss_avg": 0.05460405442863703, "epoch": 1.0995864868164063e-06, "step": 11530 }, { "arm_loss_avg": 0.08604540675878525, "epoch": 1.0995864868164063e-06, "step": 11530 }, { "ee_loss_avg": 0.032441238313913344, "epoch": 1.0995864868164063e-06, "step": 11530 }, { "aux_loss_avg": 0.0013861192506738006, "epoch": 1.0995864868164063e-06, "step": 11530 }, { "epoch": 1.0995864868164063e-06, "step": 11530, "training_step_time": 17.600791931152344 }, { "epoch": 1.0996818542480469e-06, "model_forward_time": 5.084722995758057, "step": 11531 }, { "epoch": 1.0996818542480469e-06, "step": 11531, "training_step_time": 17.83326530456543 }, { "epoch": 1.0997772216796875e-06, "model_forward_time": 5.083434104919434, "step": 11532 }, { "epoch": 1.0997772216796875e-06, "step": 11532, "training_step_time": 17.595483541488647 }, { "epoch": 1.0998725891113281e-06, "model_forward_time": 5.086660861968994, "step": 11533 }, { "epoch": 1.0998725891113281e-06, "step": 11533, "training_step_time": 17.594687700271606 }, { "epoch": 1.0999679565429687e-06, "model_forward_time": 5.285069942474365, "step": 11534 }, { "epoch": 1.0999679565429687e-06, "step": 11534, "training_step_time": 17.615580558776855 }, { "epoch": 1.1000633239746093e-06, "model_forward_time": 5.08911919593811, "step": 11535 }, { "epoch": 1.1000633239746093e-06, "step": 11535, "training_step_time": 17.60281252861023 }, { "epoch": 1.10015869140625e-06, "model_forward_time": 5.088008642196655, "step": 11536 }, { "epoch": 1.10015869140625e-06, "step": 11536, "training_step_time": 17.828346967697144 }, { "epoch": 1.1002540588378906e-06, "model_forward_time": 5.087521553039551, "step": 11537 }, { "epoch": 1.1002540588378906e-06, "step": 11537, "training_step_time": 17.58768939971924 }, { "epoch": 1.1003494262695312e-06, "model_forward_time": 5.085531711578369, "step": 11538 }, { "epoch": 1.1003494262695312e-06, "step": 11538, "training_step_time": 17.601181507110596 }, { "epoch": 1.1004447937011718e-06, "model_forward_time": 5.084902763366699, "step": 11539 }, { "epoch": 1.1004447937011718e-06, "step": 11539, "training_step_time": 17.59468698501587 }, { "epoch": 1.1005401611328124e-06, "grad_norm": 1.4621602296829224, "learning_rate": 9.643734050935984e-06, "loss": 0.107, "step": 11540 }, { "epoch": 1.1005401611328124e-06, "model_forward_time": 5.090760231018066, "step": 11540 }, { "dynamics_loss_avg": 0.048268348444253206, "epoch": 1.1005401611328124e-06, "step": 11540 }, { "action_loss_avg": 0.049117098841816184, "epoch": 1.1005401611328124e-06, "step": 11540 }, { "arm_loss_avg": 0.06942181885242463, "epoch": 1.1005401611328124e-06, "step": 11540 }, { "ee_loss_avg": 0.04906603465788066, "epoch": 1.1005401611328124e-06, "step": 11540 }, { "aux_loss_avg": 0.0010214734938926995, "epoch": 1.1005401611328124e-06, "step": 11540 }, { "epoch": 1.1005401611328124e-06, "step": 11540, "training_step_time": 17.39884662628174 }, { "epoch": 1.100635528564453e-06, "model_forward_time": 5.090634107589722, "step": 11541 }, { "epoch": 1.100635528564453e-06, "step": 11541, "training_step_time": 17.749109983444214 }, { "epoch": 1.1007308959960936e-06, "model_forward_time": 5.089250564575195, "step": 11542 }, { "epoch": 1.1007308959960936e-06, "step": 11542, "training_step_time": 17.542900800704956 }, { "epoch": 1.1008262634277345e-06, "model_forward_time": 5.091295957565308, "step": 11543 }, { "epoch": 1.1008262634277345e-06, "step": 11543, "training_step_time": 17.59345507621765 }, { "epoch": 1.100921630859375e-06, "model_forward_time": 5.091232776641846, "step": 11544 }, { "epoch": 1.100921630859375e-06, "step": 11544, "training_step_time": 17.64383101463318 }, { "epoch": 1.1010169982910157e-06, "model_forward_time": 5.089893102645874, "step": 11545 }, { "epoch": 1.1010169982910157e-06, "step": 11545, "training_step_time": 17.61307692527771 }, { "epoch": 1.1011123657226563e-06, "model_forward_time": 5.084457635879517, "step": 11546 }, { "epoch": 1.1011123657226563e-06, "step": 11546, "training_step_time": 17.393768548965454 }, { "epoch": 1.101207733154297e-06, "model_forward_time": 5.088175058364868, "step": 11547 }, { "epoch": 1.101207733154297e-06, "step": 11547, "training_step_time": 17.775739192962646 }, { "epoch": 1.1013031005859375e-06, "model_forward_time": 5.08599328994751, "step": 11548 }, { "epoch": 1.1013031005859375e-06, "step": 11548, "training_step_time": 17.580783367156982 }, { "epoch": 1.1013984680175782e-06, "model_forward_time": 3.848958969116211, "step": 11549 }, { "epoch": 1.1013984680175782e-06, "step": 11549, "training_step_time": 17.58978033065796 }, { "epoch": 1.1014938354492188e-06, "grad_norm": 1.5988703966140747, "learning_rate": 9.64285786776012e-06, "loss": 0.0859, "step": 11550 }, { "epoch": 1.1014938354492188e-06, "model_forward_time": 5.30134916305542, "step": 11550 }, { "dynamics_loss_avg": 0.04639762891456485, "epoch": 1.1014938354492188e-06, "step": 11550 }, { "action_loss_avg": 0.035628935880959035, "epoch": 1.1014938354492188e-06, "step": 11550 }, { "arm_loss_avg": 0.07509911134839058, "epoch": 1.1014938354492188e-06, "step": 11550 }, { "ee_loss_avg": 0.03685810682363808, "epoch": 1.1014938354492188e-06, "step": 11550 }, { "aux_loss_avg": 0.003684467158745974, "epoch": 1.1014938354492188e-06, "step": 11550 }, { "epoch": 1.1014938354492188e-06, "step": 11550, "training_step_time": 17.598073959350586 }, { "epoch": 1.1015892028808594e-06, "model_forward_time": 5.065526485443115, "step": 11551 }, { "epoch": 1.1015892028808594e-06, "step": 11551, "training_step_time": 17.845702171325684 }, { "epoch": 1.1016845703125e-06, "model_forward_time": 5.0757622718811035, "step": 11552 }, { "epoch": 1.1016845703125e-06, "step": 11552, "training_step_time": 17.594905376434326 }, { "epoch": 1.1017799377441406e-06, "model_forward_time": 5.081557035446167, "step": 11553 }, { "epoch": 1.1017799377441406e-06, "step": 11553, "training_step_time": 17.61600971221924 }, { "epoch": 1.1018753051757812e-06, "model_forward_time": 5.092269659042358, "step": 11554 }, { "epoch": 1.1018753051757812e-06, "step": 11554, "training_step_time": 17.58914017677307 }, { "epoch": 1.1019706726074218e-06, "model_forward_time": 5.096947908401489, "step": 11555 }, { "epoch": 1.1019706726074218e-06, "step": 11555, "training_step_time": 17.592764139175415 }, { "epoch": 1.1020660400390625e-06, "model_forward_time": 5.096168041229248, "step": 11556 }, { "epoch": 1.1020660400390625e-06, "step": 11556, "training_step_time": 17.59768557548523 }, { "epoch": 1.102161407470703e-06, "model_forward_time": 5.095327138900757, "step": 11557 }, { "epoch": 1.102161407470703e-06, "step": 11557, "training_step_time": 17.23351812362671 }, { "epoch": 1.1022567749023437e-06, "model_forward_time": 5.109338998794556, "step": 11558 }, { "epoch": 1.1022567749023437e-06, "step": 11558, "training_step_time": 17.511338472366333 }, { "epoch": 1.1023521423339843e-06, "model_forward_time": 5.093474626541138, "step": 11559 }, { "epoch": 1.1023521423339843e-06, "step": 11559, "training_step_time": 17.573076248168945 }, { "epoch": 1.102447509765625e-06, "grad_norm": 1.416644811630249, "learning_rate": 9.641980648388441e-06, "loss": 0.099, "step": 11560 }, { "epoch": 1.102447509765625e-06, "model_forward_time": 5.086657285690308, "step": 11560 }, { "dynamics_loss_avg": 0.04013548055663705, "epoch": 1.102447509765625e-06, "step": 11560 }, { "action_loss_avg": 0.04581367690116167, "epoch": 1.102447509765625e-06, "step": 11560 }, { "arm_loss_avg": 0.09064720533788204, "epoch": 1.102447509765625e-06, "step": 11560 }, { "ee_loss_avg": 0.03236850581597537, "epoch": 1.102447509765625e-06, "step": 11560 }, { "aux_loss_avg": 0.0009135900414548815, "epoch": 1.102447509765625e-06, "step": 11560 }, { "epoch": 1.102447509765625e-06, "step": 11560, "training_step_time": 17.555758237838745 }, { "epoch": 1.1025428771972655e-06, "model_forward_time": 5.086084604263306, "step": 11561 }, { "epoch": 1.1025428771972655e-06, "step": 11561, "training_step_time": 17.588579654693604 }, { "epoch": 1.1026382446289061e-06, "model_forward_time": 5.084143877029419, "step": 11562 }, { "epoch": 1.1026382446289061e-06, "step": 11562, "training_step_time": 17.7831928730011 }, { "epoch": 1.102733612060547e-06, "model_forward_time": 5.079305410385132, "step": 11563 }, { "epoch": 1.102733612060547e-06, "step": 11563, "training_step_time": 17.61274242401123 }, { "epoch": 1.1028289794921876e-06, "model_forward_time": 5.07951283454895, "step": 11564 }, { "epoch": 1.1028289794921876e-06, "step": 11564, "training_step_time": 17.51882004737854 }, { "epoch": 1.1029243469238282e-06, "model_forward_time": 5.083374738693237, "step": 11565 }, { "epoch": 1.1029243469238282e-06, "step": 11565, "training_step_time": 17.57379174232483 }, { "epoch": 1.1030197143554688e-06, "model_forward_time": 5.085832595825195, "step": 11566 }, { "epoch": 1.1030197143554688e-06, "step": 11566, "training_step_time": 17.588244438171387 }, { "epoch": 1.1031150817871094e-06, "model_forward_time": 5.083622455596924, "step": 11567 }, { "epoch": 1.1031150817871094e-06, "step": 11567, "training_step_time": 17.848353385925293 }, { "epoch": 1.10321044921875e-06, "model_forward_time": 5.083107233047485, "step": 11568 }, { "epoch": 1.10321044921875e-06, "step": 11568, "training_step_time": 17.621357917785645 }, { "epoch": 1.1033058166503907e-06, "model_forward_time": 5.083635568618774, "step": 11569 }, { "epoch": 1.1033058166503907e-06, "step": 11569, "training_step_time": 17.622991800308228 }, { "epoch": 1.1034011840820313e-06, "grad_norm": 1.07233726978302, "learning_rate": 9.641102393016717e-06, "loss": 0.0973, "step": 11570 }, { "epoch": 1.1034011840820313e-06, "model_forward_time": 5.086610794067383, "step": 11570 }, { "dynamics_loss_avg": 0.05685059167444706, "epoch": 1.1034011840820313e-06, "step": 11570 }, { "action_loss_avg": 0.04359822943806648, "epoch": 1.1034011840820313e-06, "step": 11570 }, { "arm_loss_avg": 0.09463291428983212, "epoch": 1.1034011840820313e-06, "step": 11570 }, { "ee_loss_avg": 0.07501285010948777, "epoch": 1.1034011840820313e-06, "step": 11570 }, { "aux_loss_avg": 0.006781535071786493, "epoch": 1.1034011840820313e-06, "step": 11570 }, { "epoch": 1.1034011840820313e-06, "step": 11570, "training_step_time": 17.3854558467865 }, { "epoch": 1.1034965515136719e-06, "model_forward_time": 5.089104890823364, "step": 11571 }, { "epoch": 1.1034965515136719e-06, "step": 11571, "training_step_time": 17.54263472557068 }, { "epoch": 1.1035919189453125e-06, "model_forward_time": 5.087865352630615, "step": 11572 }, { "epoch": 1.1035919189453125e-06, "step": 11572, "training_step_time": 17.776391744613647 }, { "epoch": 1.1036872863769531e-06, "model_forward_time": 5.087058782577515, "step": 11573 }, { "epoch": 1.1036872863769531e-06, "step": 11573, "training_step_time": 17.648810386657715 }, { "epoch": 1.1037826538085937e-06, "model_forward_time": 5.295039653778076, "step": 11574 }, { "epoch": 1.1037826538085937e-06, "step": 11574, "training_step_time": 17.61333394050598 }, { "epoch": 1.1038780212402343e-06, "model_forward_time": 5.090360164642334, "step": 11575 }, { "epoch": 1.1038780212402343e-06, "step": 11575, "training_step_time": 17.63162660598755 }, { "epoch": 1.103973388671875e-06, "model_forward_time": 5.085615396499634, "step": 11576 }, { "epoch": 1.103973388671875e-06, "step": 11576, "training_step_time": 17.6255841255188 }, { "epoch": 1.1040687561035156e-06, "model_forward_time": 5.095577001571655, "step": 11577 }, { "epoch": 1.1040687561035156e-06, "step": 11577, "training_step_time": 17.895053148269653 }, { "epoch": 1.1041641235351562e-06, "model_forward_time": 5.100538015365601, "step": 11578 }, { "epoch": 1.1041641235351562e-06, "step": 11578, "training_step_time": 17.65913677215576 }, { "epoch": 1.1042594909667968e-06, "model_forward_time": 5.103571653366089, "step": 11579 }, { "epoch": 1.1042594909667968e-06, "step": 11579, "training_step_time": 17.46101427078247 }, { "epoch": 1.1043548583984374e-06, "grad_norm": 1.2411785125732422, "learning_rate": 9.640223101840964e-06, "loss": 0.107, "step": 11580 }, { "epoch": 1.1043548583984374e-06, "model_forward_time": 5.106928110122681, "step": 11580 }, { "dynamics_loss_avg": 0.05422722510993481, "epoch": 1.1043548583984374e-06, "step": 11580 }, { "action_loss_avg": 0.051756910234689715, "epoch": 1.1043548583984374e-06, "step": 11580 }, { "arm_loss_avg": 0.0888657659292221, "epoch": 1.1043548583984374e-06, "step": 11580 }, { "ee_loss_avg": 0.035332516627386214, "epoch": 1.1043548583984374e-06, "step": 11580 }, { "aux_loss_avg": 0.0020459354243939744, "epoch": 1.1043548583984374e-06, "step": 11580 }, { "epoch": 1.1043548583984374e-06, "step": 11580, "training_step_time": 17.545236587524414 }, { "epoch": 1.104450225830078e-06, "model_forward_time": 5.093889236450195, "step": 11581 }, { "epoch": 1.104450225830078e-06, "step": 11581, "training_step_time": 17.566107511520386 }, { "epoch": 1.1045455932617187e-06, "model_forward_time": 5.089460611343384, "step": 11582 }, { "epoch": 1.1045455932617187e-06, "step": 11582, "training_step_time": 17.76361584663391 }, { "epoch": 1.1046409606933595e-06, "model_forward_time": 5.087732315063477, "step": 11583 }, { "epoch": 1.1046409606933595e-06, "step": 11583, "training_step_time": 17.60681986808777 }, { "epoch": 1.104736328125e-06, "model_forward_time": 5.086868524551392, "step": 11584 }, { "epoch": 1.104736328125e-06, "step": 11584, "training_step_time": 17.61185932159424 }, { "epoch": 1.1048316955566407e-06, "model_forward_time": 5.087187051773071, "step": 11585 }, { "epoch": 1.1048316955566407e-06, "step": 11585, "training_step_time": 17.618018627166748 }, { "epoch": 1.1049270629882813e-06, "model_forward_time": 5.084001779556274, "step": 11586 }, { "epoch": 1.1049270629882813e-06, "step": 11586, "training_step_time": 17.618416786193848 }, { "epoch": 1.105022430419922e-06, "model_forward_time": 5.085875034332275, "step": 11587 }, { "epoch": 1.105022430419922e-06, "step": 11587, "training_step_time": 17.865835189819336 }, { "epoch": 1.1051177978515625e-06, "model_forward_time": 5.084526777267456, "step": 11588 }, { "epoch": 1.1051177978515625e-06, "step": 11588, "training_step_time": 17.616791009902954 }, { "epoch": 1.1052131652832032e-06, "model_forward_time": 3.851541757583618, "step": 11589 }, { "epoch": 1.1052131652832032e-06, "step": 11589, "training_step_time": 17.620518684387207 }, { "epoch": 1.1053085327148438e-06, "grad_norm": 2.0138442516326904, "learning_rate": 9.639342775057421e-06, "loss": 0.0997, "step": 11590 }, { "epoch": 1.1053085327148438e-06, "model_forward_time": 4.0734782218933105, "step": 11590 }, { "dynamics_loss_avg": 0.04408420901745558, "epoch": 1.1053085327148438e-06, "step": 11590 }, { "action_loss_avg": 0.044843978621065615, "epoch": 1.1053085327148438e-06, "step": 11590 }, { "arm_loss_avg": 0.08083076439797879, "epoch": 1.1053085327148438e-06, "step": 11590 }, { "ee_loss_avg": 0.04127951390109956, "epoch": 1.1053085327148438e-06, "step": 11590 }, { "aux_loss_avg": 0.0035153197299223394, "epoch": 1.1053085327148438e-06, "step": 11590 }, { "epoch": 1.1053085327148438e-06, "step": 11590, "training_step_time": 17.614547729492188 }, { "epoch": 1.1054039001464844e-06, "model_forward_time": 5.050856113433838, "step": 11591 }, { "epoch": 1.1054039001464844e-06, "step": 11591, "training_step_time": 17.617616891860962 }, { "epoch": 1.105499267578125e-06, "model_forward_time": 5.064480781555176, "step": 11592 }, { "epoch": 1.105499267578125e-06, "step": 11592, "training_step_time": 17.801735639572144 }, { "epoch": 1.1055946350097656e-06, "model_forward_time": 5.079489469528198, "step": 11593 }, { "epoch": 1.1055946350097656e-06, "step": 11593, "training_step_time": 17.632320880889893 }, { "epoch": 1.1056900024414062e-06, "model_forward_time": 5.094907522201538, "step": 11594 }, { "epoch": 1.1056900024414062e-06, "step": 11594, "training_step_time": 17.395232915878296 }, { "epoch": 1.1057853698730469e-06, "model_forward_time": 5.300938367843628, "step": 11595 }, { "epoch": 1.1057853698730469e-06, "step": 11595, "training_step_time": 17.496920585632324 }, { "epoch": 1.1058807373046875e-06, "model_forward_time": 5.109694480895996, "step": 11596 }, { "epoch": 1.1058807373046875e-06, "step": 11596, "training_step_time": 17.388073205947876 }, { "epoch": 1.105976104736328e-06, "model_forward_time": 5.11244535446167, "step": 11597 }, { "epoch": 1.105976104736328e-06, "step": 11597, "training_step_time": 17.7804856300354 }, { "epoch": 1.1060714721679687e-06, "model_forward_time": 5.112407207489014, "step": 11598 }, { "epoch": 1.1060714721679687e-06, "step": 11598, "training_step_time": 17.66664147377014 }, { "epoch": 1.1061668395996093e-06, "model_forward_time": 5.105024814605713, "step": 11599 }, { "epoch": 1.1061668395996093e-06, "step": 11599, "training_step_time": 17.67939281463623 }, { "epoch": 1.10626220703125e-06, "grad_norm": 1.5628352165222168, "learning_rate": 9.63846141286256e-06, "loss": 0.1042, "step": 11600 }, { "epoch": 1.10626220703125e-06, "model_forward_time": 5.379560947418213, "step": 11600 }, { "dynamics_loss_avg": 0.04059597719460726, "epoch": 1.10626220703125e-06, "step": 11600 }, { "action_loss_avg": 0.04637106023728847, "epoch": 1.10626220703125e-06, "step": 11600 }, { "arm_loss_avg": 0.08629352413117886, "epoch": 1.10626220703125e-06, "step": 11600 }, { "ee_loss_avg": 0.04155656886287033, "epoch": 1.10626220703125e-06, "step": 11600 }, { "aux_loss_avg": 0.001166006992571056, "epoch": 1.10626220703125e-06, "step": 11600 }, { "epoch": 1.10626220703125e-06, "step": 11600, "training_step_time": 17.693326950073242 }, { "epoch": 1.1063575744628905e-06, "model_forward_time": 5.08839225769043, "step": 11601 }, { "epoch": 1.1063575744628905e-06, "step": 11601, "training_step_time": 17.67084527015686 }, { "epoch": 1.1064529418945312e-06, "model_forward_time": 5.07926082611084, "step": 11602 }, { "epoch": 1.1064529418945312e-06, "step": 11602, "training_step_time": 17.8526771068573 }, { "epoch": 1.106548309326172e-06, "model_forward_time": 5.081270456314087, "step": 11603 }, { "epoch": 1.106548309326172e-06, "step": 11603, "training_step_time": 17.653383016586304 }, { "epoch": 1.1066436767578126e-06, "model_forward_time": 5.083803653717041, "step": 11604 }, { "epoch": 1.1066436767578126e-06, "step": 11604, "training_step_time": 17.65063214302063 }, { "epoch": 1.1067390441894532e-06, "model_forward_time": 5.085973024368286, "step": 11605 }, { "epoch": 1.1067390441894532e-06, "step": 11605, "training_step_time": 17.636468410491943 }, { "epoch": 1.1068344116210938e-06, "model_forward_time": 5.083774089813232, "step": 11606 }, { "epoch": 1.1068344116210938e-06, "step": 11606, "training_step_time": 17.625112295150757 }, { "epoch": 1.1069297790527344e-06, "model_forward_time": 5.0873777866363525, "step": 11607 }, { "epoch": 1.1069297790527344e-06, "step": 11607, "training_step_time": 17.86163878440857 }, { "epoch": 1.107025146484375e-06, "model_forward_time": 5.088371753692627, "step": 11608 }, { "epoch": 1.107025146484375e-06, "step": 11608, "training_step_time": 17.41592574119568 }, { "epoch": 1.1071205139160157e-06, "model_forward_time": 5.093770980834961, "step": 11609 }, { "epoch": 1.1071205139160157e-06, "step": 11609, "training_step_time": 17.61411452293396 }, { "epoch": 1.1072158813476563e-06, "grad_norm": 1.7822781801223755, "learning_rate": 9.637579015453084e-06, "loss": 0.1041, "step": 11610 }, { "epoch": 1.1072158813476563e-06, "model_forward_time": 5.091414213180542, "step": 11610 }, { "dynamics_loss_avg": 0.049423974473029375, "epoch": 1.1072158813476563e-06, "step": 11610 }, { "action_loss_avg": 0.04400176042690873, "epoch": 1.1072158813476563e-06, "step": 11610 }, { "arm_loss_avg": 0.056015671044588086, "epoch": 1.1072158813476563e-06, "step": 11610 }, { "ee_loss_avg": 0.06642926950007677, "epoch": 1.1072158813476563e-06, "step": 11610 }, { "aux_loss_avg": 0.0015590562019497157, "epoch": 1.1072158813476563e-06, "step": 11610 }, { "epoch": 1.1072158813476563e-06, "step": 11610, "training_step_time": 17.547233819961548 }, { "epoch": 1.107311248779297e-06, "model_forward_time": 5.08896279335022, "step": 11611 }, { "epoch": 1.107311248779297e-06, "step": 11611, "training_step_time": 17.57070565223694 }, { "epoch": 1.1074066162109375e-06, "model_forward_time": 5.088187217712402, "step": 11612 }, { "epoch": 1.1074066162109375e-06, "step": 11612, "training_step_time": 17.801552534103394 }, { "epoch": 1.1075019836425781e-06, "model_forward_time": 5.0866639614105225, "step": 11613 }, { "epoch": 1.1075019836425781e-06, "step": 11613, "training_step_time": 17.596877813339233 }, { "epoch": 1.1075973510742187e-06, "model_forward_time": 5.2938432693481445, "step": 11614 }, { "epoch": 1.1075973510742187e-06, "step": 11614, "training_step_time": 17.62928867340088 }, { "epoch": 1.1076927185058594e-06, "model_forward_time": 5.088038682937622, "step": 11615 }, { "epoch": 1.1076927185058594e-06, "step": 11615, "training_step_time": 17.603681564331055 }, { "epoch": 1.1077880859375e-06, "model_forward_time": 5.088163614273071, "step": 11616 }, { "epoch": 1.1077880859375e-06, "step": 11616, "training_step_time": 17.83309292793274 }, { "epoch": 1.1078834533691406e-06, "model_forward_time": 5.089083433151245, "step": 11617 }, { "epoch": 1.1078834533691406e-06, "step": 11617, "training_step_time": 17.616716623306274 }, { "epoch": 1.1079788208007812e-06, "model_forward_time": 5.08846116065979, "step": 11618 }, { "epoch": 1.1079788208007812e-06, "step": 11618, "training_step_time": 17.627435445785522 }, { "epoch": 1.1080741882324218e-06, "model_forward_time": 5.087741851806641, "step": 11619 }, { "epoch": 1.1080741882324218e-06, "step": 11619, "training_step_time": 17.609737634658813 }, { "epoch": 1.1081695556640624e-06, "grad_norm": 1.509218692779541, "learning_rate": 9.636695583025929e-06, "loss": 0.0895, "step": 11620 }, { "epoch": 1.1081695556640624e-06, "model_forward_time": 5.088330507278442, "step": 11620 }, { "dynamics_loss_avg": 0.052830975875258444, "epoch": 1.1081695556640624e-06, "step": 11620 }, { "action_loss_avg": 0.04200993049889803, "epoch": 1.1081695556640624e-06, "step": 11620 }, { "arm_loss_avg": 0.05004632053896785, "epoch": 1.1081695556640624e-06, "step": 11620 }, { "ee_loss_avg": 0.08312493870034814, "epoch": 1.1081695556640624e-06, "step": 11620 }, { "aux_loss_avg": 0.0009427019394934177, "epoch": 1.1081695556640624e-06, "step": 11620 }, { "epoch": 1.1081695556640624e-06, "step": 11620, "training_step_time": 17.61157464981079 }, { "epoch": 1.108264923095703e-06, "model_forward_time": 5.089325904846191, "step": 11621 }, { "epoch": 1.108264923095703e-06, "step": 11621, "training_step_time": 17.792507648468018 }, { "epoch": 1.1083602905273437e-06, "model_forward_time": 5.0837178230285645, "step": 11622 }, { "epoch": 1.1083602905273437e-06, "step": 11622, "training_step_time": 17.616960287094116 }, { "epoch": 1.1084556579589845e-06, "model_forward_time": 5.082854747772217, "step": 11623 }, { "epoch": 1.1084556579589845e-06, "step": 11623, "training_step_time": 17.60548448562622 }, { "epoch": 1.108551025390625e-06, "model_forward_time": 5.082233428955078, "step": 11624 }, { "epoch": 1.108551025390625e-06, "step": 11624, "training_step_time": 17.591003894805908 }, { "epoch": 1.1086463928222657e-06, "model_forward_time": 5.082639455795288, "step": 11625 }, { "epoch": 1.1086463928222657e-06, "step": 11625, "training_step_time": 17.58438539505005 }, { "epoch": 1.1087417602539063e-06, "model_forward_time": 5.081550121307373, "step": 11626 }, { "epoch": 1.1087417602539063e-06, "step": 11626, "training_step_time": 17.81875252723694 }, { "epoch": 1.108837127685547e-06, "model_forward_time": 5.076593399047852, "step": 11627 }, { "epoch": 1.108837127685547e-06, "step": 11627, "training_step_time": 17.5780827999115 }, { "epoch": 1.1089324951171876e-06, "model_forward_time": 5.07935094833374, "step": 11628 }, { "epoch": 1.1089324951171876e-06, "step": 11628, "training_step_time": 17.59065842628479 }, { "epoch": 1.1090278625488282e-06, "model_forward_time": 3.8482484817504883, "step": 11629 }, { "epoch": 1.1090278625488282e-06, "step": 11629, "training_step_time": 17.5737087726593 }, { "epoch": 1.1091232299804688e-06, "grad_norm": 1.3108410835266113, "learning_rate": 9.635811115778254e-06, "loss": 0.0983, "step": 11630 }, { "epoch": 1.1091232299804688e-06, "model_forward_time": 5.292435884475708, "step": 11630 }, { "dynamics_loss_avg": 0.04323590528219938, "epoch": 1.1091232299804688e-06, "step": 11630 }, { "action_loss_avg": 0.04225713927298784, "epoch": 1.1091232299804688e-06, "step": 11630 }, { "arm_loss_avg": 0.05822328459471464, "epoch": 1.1091232299804688e-06, "step": 11630 }, { "ee_loss_avg": 0.12331956145353615, "epoch": 1.1091232299804688e-06, "step": 11630 }, { "aux_loss_avg": 0.0010295124375261366, "epoch": 1.1091232299804688e-06, "step": 11630 }, { "epoch": 1.1091232299804688e-06, "step": 11630, "training_step_time": 17.575085401535034 }, { "epoch": 1.1092185974121094e-06, "model_forward_time": 5.0662922859191895, "step": 11631 }, { "epoch": 1.1092185974121094e-06, "step": 11631, "training_step_time": 17.775086164474487 }, { "epoch": 1.10931396484375e-06, "model_forward_time": 5.0718560218811035, "step": 11632 }, { "epoch": 1.10931396484375e-06, "step": 11632, "training_step_time": 17.562652826309204 }, { "epoch": 1.1094093322753906e-06, "model_forward_time": 5.082746744155884, "step": 11633 }, { "epoch": 1.1094093322753906e-06, "step": 11633, "training_step_time": 17.596055507659912 }, { "epoch": 1.1095046997070312e-06, "model_forward_time": 3.852861166000366, "step": 11634 }, { "epoch": 1.1095046997070312e-06, "step": 11634, "training_step_time": 17.56860589981079 }, { "epoch": 1.1096000671386719e-06, "model_forward_time": 5.253024578094482, "step": 11635 }, { "epoch": 1.1096000671386719e-06, "step": 11635, "training_step_time": 17.574100255966187 }, { "epoch": 1.1096954345703125e-06, "model_forward_time": 5.076018333435059, "step": 11636 }, { "epoch": 1.1096954345703125e-06, "step": 11636, "training_step_time": 17.811359882354736 }, { "epoch": 1.109790802001953e-06, "model_forward_time": 5.084092855453491, "step": 11637 }, { "epoch": 1.109790802001953e-06, "step": 11637, "training_step_time": 17.575759410858154 }, { "epoch": 1.1098861694335937e-06, "model_forward_time": 3.854809522628784, "step": 11638 }, { "epoch": 1.1098861694335937e-06, "step": 11638, "training_step_time": 17.572391986846924 }, { "epoch": 1.1099815368652343e-06, "model_forward_time": 5.0664215087890625, "step": 11639 }, { "epoch": 1.1099815368652343e-06, "step": 11639, "training_step_time": 17.584465742111206 }, { "epoch": 1.110076904296875e-06, "grad_norm": 0.9714889526367188, "learning_rate": 9.63492561390746e-06, "loss": 0.0927, "step": 11640 }, { "epoch": 1.110076904296875e-06, "model_forward_time": 5.314697027206421, "step": 11640 }, { "dynamics_loss_avg": 0.05327009130269289, "epoch": 1.110076904296875e-06, "step": 11640 }, { "action_loss_avg": 0.04131744634360075, "epoch": 1.110076904296875e-06, "step": 11640 }, { "arm_loss_avg": 0.06282825823873281, "epoch": 1.110076904296875e-06, "step": 11640 }, { "ee_loss_avg": 0.07729323818348348, "epoch": 1.110076904296875e-06, "step": 11640 }, { "aux_loss_avg": 0.0018805403495207428, "epoch": 1.110076904296875e-06, "step": 11640 }, { "epoch": 1.110076904296875e-06, "step": 11640, "training_step_time": 17.49944305419922 }, { "epoch": 1.1101722717285155e-06, "model_forward_time": 5.088996887207031, "step": 11641 }, { "epoch": 1.1101722717285155e-06, "step": 11641, "training_step_time": 17.76136040687561 }, { "epoch": 1.1102676391601562e-06, "model_forward_time": 5.09377384185791, "step": 11642 }, { "epoch": 1.1102676391601562e-06, "step": 11642, "training_step_time": 17.39824390411377 }, { "epoch": 1.1103630065917968e-06, "model_forward_time": 5.096966981887817, "step": 11643 }, { "epoch": 1.1103630065917968e-06, "step": 11643, "training_step_time": 17.632916688919067 }, { "epoch": 1.1104583740234376e-06, "model_forward_time": 5.096240520477295, "step": 11644 }, { "epoch": 1.1104583740234376e-06, "step": 11644, "training_step_time": 17.56978988647461 }, { "epoch": 1.1105537414550782e-06, "model_forward_time": 5.2861809730529785, "step": 11645 }, { "epoch": 1.1105537414550782e-06, "step": 11645, "training_step_time": 17.60728621482849 }, { "epoch": 1.1106491088867188e-06, "model_forward_time": 5.093697786331177, "step": 11646 }, { "epoch": 1.1106491088867188e-06, "step": 11646, "training_step_time": 17.85252618789673 }, { "epoch": 1.1107444763183594e-06, "model_forward_time": 5.089545965194702, "step": 11647 }, { "epoch": 1.1107444763183594e-06, "step": 11647, "training_step_time": 17.662553548812866 }, { "epoch": 1.11083984375e-06, "model_forward_time": 3.8517284393310547, "step": 11648 }, { "epoch": 1.11083984375e-06, "step": 11648, "training_step_time": 17.650065422058105 }, { "epoch": 1.1109352111816407e-06, "model_forward_time": 5.068758249282837, "step": 11649 }, { "epoch": 1.1109352111816407e-06, "step": 11649, "training_step_time": 17.64731478691101 }, { "epoch": 1.1110305786132813e-06, "grad_norm": 1.305574655532837, "learning_rate": 9.634039077611172e-06, "loss": 0.0875, "step": 11650 }, { "epoch": 1.1110305786132813e-06, "model_forward_time": 5.3049280643463135, "step": 11650 }, { "dynamics_loss_avg": 0.041801294405013324, "epoch": 1.1110305786132813e-06, "step": 11650 }, { "action_loss_avg": 0.0402741800993681, "epoch": 1.1110305786132813e-06, "step": 11650 }, { "arm_loss_avg": 0.07440780103206635, "epoch": 1.1110305786132813e-06, "step": 11650 }, { "ee_loss_avg": 0.054061194369569424, "epoch": 1.1110305786132813e-06, "step": 11650 }, { "aux_loss_avg": 0.003814873966621235, "epoch": 1.1110305786132813e-06, "step": 11650 }, { "epoch": 1.1110305786132813e-06, "step": 11650, "training_step_time": 17.634312391281128 }, { "epoch": 1.111125946044922e-06, "model_forward_time": 5.077849388122559, "step": 11651 }, { "epoch": 1.111125946044922e-06, "step": 11651, "training_step_time": 17.861685276031494 }, { "epoch": 1.1112213134765625e-06, "model_forward_time": 5.0872962474823, "step": 11652 }, { "epoch": 1.1112213134765625e-06, "step": 11652, "training_step_time": 17.602288007736206 }, { "epoch": 1.1113166809082031e-06, "model_forward_time": 5.0979485511779785, "step": 11653 }, { "epoch": 1.1113166809082031e-06, "step": 11653, "training_step_time": 17.315431594848633 }, { "epoch": 1.1114120483398437e-06, "model_forward_time": 5.101656198501587, "step": 11654 }, { "epoch": 1.1114120483398437e-06, "step": 11654, "training_step_time": 17.595196962356567 }, { "epoch": 1.1115074157714844e-06, "model_forward_time": 5.101992845535278, "step": 11655 }, { "epoch": 1.1115074157714844e-06, "step": 11655, "training_step_time": 17.53364372253418 }, { "epoch": 1.111602783203125e-06, "model_forward_time": 5.100771188735962, "step": 11656 }, { "epoch": 1.111602783203125e-06, "step": 11656, "training_step_time": 17.55464196205139 }, { "epoch": 1.1116981506347656e-06, "model_forward_time": 3.861661672592163, "step": 11657 }, { "epoch": 1.1116981506347656e-06, "step": 11657, "training_step_time": 17.805805444717407 }, { "epoch": 1.1117935180664062e-06, "model_forward_time": 5.063110828399658, "step": 11658 }, { "epoch": 1.1117935180664062e-06, "step": 11658, "training_step_time": 17.598732471466064 }, { "epoch": 1.1118888854980468e-06, "model_forward_time": 5.07219123840332, "step": 11659 }, { "epoch": 1.1118888854980468e-06, "step": 11659, "training_step_time": 17.619771003723145 }, { "epoch": 1.1119842529296874e-06, "grad_norm": 1.093034029006958, "learning_rate": 9.633151507087249e-06, "loss": 0.0903, "step": 11660 }, { "epoch": 1.1119842529296874e-06, "model_forward_time": 5.328403949737549, "step": 11660 }, { "dynamics_loss_avg": 0.04376829769462347, "epoch": 1.1119842529296874e-06, "step": 11660 }, { "action_loss_avg": 0.04118180945515633, "epoch": 1.1119842529296874e-06, "step": 11660 }, { "arm_loss_avg": 0.0863378880545497, "epoch": 1.1119842529296874e-06, "step": 11660 }, { "ee_loss_avg": 0.09598957900889218, "epoch": 1.1119842529296874e-06, "step": 11660 }, { "aux_loss_avg": 0.011128136853221804, "epoch": 1.1119842529296874e-06, "step": 11660 }, { "epoch": 1.1119842529296874e-06, "step": 11660, "training_step_time": 17.627408266067505 }, { "epoch": 1.112079620361328e-06, "model_forward_time": 5.089482307434082, "step": 11661 }, { "epoch": 1.112079620361328e-06, "step": 11661, "training_step_time": 17.62126064300537 }, { "epoch": 1.1121749877929687e-06, "model_forward_time": 5.092256784439087, "step": 11662 }, { "epoch": 1.1121749877929687e-06, "step": 11662, "training_step_time": 17.812158823013306 }, { "epoch": 1.1122703552246093e-06, "model_forward_time": 3.854555368423462, "step": 11663 }, { "epoch": 1.1122703552246093e-06, "step": 11663, "training_step_time": 17.611632108688354 }, { "epoch": 1.11236572265625e-06, "model_forward_time": 5.062871932983398, "step": 11664 }, { "epoch": 1.11236572265625e-06, "step": 11664, "training_step_time": 17.610942363739014 }, { "epoch": 1.1124610900878907e-06, "model_forward_time": 4.08948278427124, "step": 11665 }, { "epoch": 1.1124610900878907e-06, "step": 11665, "training_step_time": 17.597073316574097 }, { "epoch": 1.1125564575195313e-06, "model_forward_time": 5.05518364906311, "step": 11666 }, { "epoch": 1.1125564575195313e-06, "step": 11666, "training_step_time": 17.593825101852417 }, { "epoch": 1.112651824951172e-06, "model_forward_time": 3.8455233573913574, "step": 11667 }, { "epoch": 1.112651824951172e-06, "step": 11667, "training_step_time": 17.82696557044983 }, { "epoch": 1.1127471923828126e-06, "model_forward_time": 5.0596160888671875, "step": 11668 }, { "epoch": 1.1127471923828126e-06, "step": 11668, "training_step_time": 17.422307014465332 }, { "epoch": 1.1128425598144532e-06, "model_forward_time": 5.08411431312561, "step": 11669 }, { "epoch": 1.1128425598144532e-06, "step": 11669, "training_step_time": 17.607202768325806 }, { "epoch": 1.1129379272460938e-06, "grad_norm": 2.1053340435028076, "learning_rate": 9.632262902533779e-06, "loss": 0.0764, "step": 11670 }, { "epoch": 1.1129379272460938e-06, "model_forward_time": 5.32520604133606, "step": 11670 }, { "dynamics_loss_avg": 0.04225894100964069, "epoch": 1.1129379272460938e-06, "step": 11670 }, { "action_loss_avg": 0.043688790313899516, "epoch": 1.1129379272460938e-06, "step": 11670 }, { "arm_loss_avg": 0.08492767438292503, "epoch": 1.1129379272460938e-06, "step": 11670 }, { "ee_loss_avg": 0.2002897967584431, "epoch": 1.1129379272460938e-06, "step": 11670 }, { "aux_loss_avg": 0.0028005958185531197, "epoch": 1.1129379272460938e-06, "step": 11670 }, { "epoch": 1.1129379272460938e-06, "step": 11670, "training_step_time": 17.467442274093628 }, { "epoch": 1.1130332946777344e-06, "model_forward_time": 3.8685927391052246, "step": 11671 }, { "epoch": 1.1130332946777344e-06, "step": 11671, "training_step_time": 17.475343465805054 }, { "epoch": 1.113128662109375e-06, "model_forward_time": 5.075197219848633, "step": 11672 }, { "epoch": 1.113128662109375e-06, "step": 11672, "training_step_time": 17.720428466796875 }, { "epoch": 1.1132240295410156e-06, "model_forward_time": 5.083697319030762, "step": 11673 }, { "epoch": 1.1132240295410156e-06, "step": 11673, "training_step_time": 17.588109493255615 }, { "epoch": 1.1133193969726562e-06, "model_forward_time": 5.090539455413818, "step": 11674 }, { "epoch": 1.1133193969726562e-06, "step": 11674, "training_step_time": 17.62453532218933 }, { "epoch": 1.1134147644042969e-06, "model_forward_time": 5.2794365882873535, "step": 11675 }, { "epoch": 1.1134147644042969e-06, "step": 11675, "training_step_time": 17.648069620132446 }, { "epoch": 1.1135101318359375e-06, "model_forward_time": 3.855541229248047, "step": 11676 }, { "epoch": 1.1135101318359375e-06, "step": 11676, "training_step_time": 17.648802757263184 }, { "epoch": 1.113605499267578e-06, "model_forward_time": 5.065292596817017, "step": 11677 }, { "epoch": 1.113605499267578e-06, "step": 11677, "training_step_time": 17.425979375839233 }, { "epoch": 1.1137008666992187e-06, "model_forward_time": 5.077789783477783, "step": 11678 }, { "epoch": 1.1137008666992187e-06, "step": 11678, "training_step_time": 17.56557536125183 }, { "epoch": 1.1137962341308593e-06, "model_forward_time": 5.087231874465942, "step": 11679 }, { "epoch": 1.1137962341308593e-06, "step": 11679, "training_step_time": 17.601014852523804 }, { "epoch": 1.1138916015625e-06, "grad_norm": 1.8258934020996094, "learning_rate": 9.631373264149078e-06, "loss": 0.1007, "step": 11680 }, { "epoch": 1.1138916015625e-06, "model_forward_time": 4.055130481719971, "step": 11680 }, { "dynamics_loss_avg": 0.046328217908740046, "epoch": 1.1138916015625e-06, "step": 11680 }, { "action_loss_avg": 0.047099852561950685, "epoch": 1.1138916015625e-06, "step": 11680 }, { "arm_loss_avg": 0.06671167500317096, "epoch": 1.1138916015625e-06, "step": 11680 }, { "ee_loss_avg": 0.10357645233161747, "epoch": 1.1138916015625e-06, "step": 11680 }, { "aux_loss_avg": 0.0022737865801900625, "epoch": 1.1138916015625e-06, "step": 11680 }, { "epoch": 1.1138916015625e-06, "step": 11680, "training_step_time": 17.61219334602356 }, { "epoch": 1.1139869689941405e-06, "model_forward_time": 5.06365966796875, "step": 11681 }, { "epoch": 1.1139869689941405e-06, "step": 11681, "training_step_time": 17.623392581939697 }, { "epoch": 1.1140823364257812e-06, "model_forward_time": 5.078303337097168, "step": 11682 }, { "epoch": 1.1140823364257812e-06, "step": 11682, "training_step_time": 17.80465602874756 }, { "epoch": 1.1141777038574218e-06, "model_forward_time": 5.084429502487183, "step": 11683 }, { "epoch": 1.1141777038574218e-06, "step": 11683, "training_step_time": 17.622447729110718 }, { "epoch": 1.1142730712890626e-06, "model_forward_time": 5.096304416656494, "step": 11684 }, { "epoch": 1.1142730712890626e-06, "step": 11684, "training_step_time": 17.61510443687439 }, { "epoch": 1.1143684387207032e-06, "model_forward_time": 5.286995887756348, "step": 11685 }, { "epoch": 1.1143684387207032e-06, "step": 11685, "training_step_time": 17.61160445213318 }, { "epoch": 1.1144638061523438e-06, "model_forward_time": 5.102554559707642, "step": 11686 }, { "epoch": 1.1144638061523438e-06, "step": 11686, "training_step_time": 17.610156297683716 }, { "epoch": 1.1145591735839844e-06, "model_forward_time": 5.098679065704346, "step": 11687 }, { "epoch": 1.1145591735839844e-06, "step": 11687, "training_step_time": 17.844910383224487 }, { "epoch": 1.114654541015625e-06, "model_forward_time": 3.8566410541534424, "step": 11688 }, { "epoch": 1.114654541015625e-06, "step": 11688, "training_step_time": 17.60383939743042 }, { "epoch": 1.1147499084472657e-06, "model_forward_time": 5.064175367355347, "step": 11689 }, { "epoch": 1.1147499084472657e-06, "step": 11689, "training_step_time": 17.61104726791382 }, { "epoch": 1.1148452758789063e-06, "grad_norm": 1.4907370805740356, "learning_rate": 9.630482592131702e-06, "loss": 0.0919, "step": 11690 }, { "epoch": 1.1148452758789063e-06, "model_forward_time": 5.315948724746704, "step": 11690 }, { "dynamics_loss_avg": 0.04864511275663972, "epoch": 1.1148452758789063e-06, "step": 11690 }, { "action_loss_avg": 0.03695518858730793, "epoch": 1.1148452758789063e-06, "step": 11690 }, { "arm_loss_avg": 0.061314689181745055, "epoch": 1.1148452758789063e-06, "step": 11690 }, { "ee_loss_avg": 0.04589153216220439, "epoch": 1.1148452758789063e-06, "step": 11690 }, { "aux_loss_avg": 0.0010557582543697208, "epoch": 1.1148452758789063e-06, "step": 11690 }, { "epoch": 1.1148452758789063e-06, "step": 11690, "training_step_time": 17.601627111434937 }, { "epoch": 1.114940643310547e-06, "model_forward_time": 5.075622797012329, "step": 11691 }, { "epoch": 1.114940643310547e-06, "step": 11691, "training_step_time": 17.595478057861328 }, { "epoch": 1.1150360107421875e-06, "model_forward_time": 3.8529179096221924, "step": 11692 }, { "epoch": 1.1150360107421875e-06, "step": 11692, "training_step_time": 17.392002820968628 }, { "epoch": 1.1151313781738281e-06, "model_forward_time": 5.059985160827637, "step": 11693 }, { "epoch": 1.1151313781738281e-06, "step": 11693, "training_step_time": 17.50966238975525 }, { "epoch": 1.1152267456054687e-06, "model_forward_time": 5.075113773345947, "step": 11694 }, { "epoch": 1.1152267456054687e-06, "step": 11694, "training_step_time": 17.6341552734375 }, { "epoch": 1.1153221130371094e-06, "model_forward_time": 3.8478152751922607, "step": 11695 }, { "epoch": 1.1153221130371094e-06, "step": 11695, "training_step_time": 17.39513659477234 }, { "epoch": 1.11541748046875e-06, "model_forward_time": 5.058946371078491, "step": 11696 }, { "epoch": 1.11541748046875e-06, "step": 11696, "training_step_time": 17.450502634048462 }, { "epoch": 1.1155128479003906e-06, "model_forward_time": 5.076199531555176, "step": 11697 }, { "epoch": 1.1155128479003906e-06, "step": 11697, "training_step_time": 17.73829960823059 }, { "epoch": 1.1156082153320312e-06, "model_forward_time": 5.088510274887085, "step": 11698 }, { "epoch": 1.1156082153320312e-06, "step": 11698, "training_step_time": 17.588674068450928 }, { "epoch": 1.1157035827636718e-06, "model_forward_time": 5.093272686004639, "step": 11699 }, { "epoch": 1.1157035827636718e-06, "step": 11699, "training_step_time": 17.593075275421143 }, { "epoch": 1.1157989501953124e-06, "grad_norm": 1.302847981452942, "learning_rate": 9.629590886680428e-06, "loss": 0.0931, "step": 11700 }, { "epoch": 1.1157989501953124e-06, "model_forward_time": 5.34181022644043, "step": 11700 }, { "dynamics_loss_avg": 0.05417108554393053, "epoch": 1.1157989501953124e-06, "step": 11700 }, { "action_loss_avg": 0.037906631175428626, "epoch": 1.1157989501953124e-06, "step": 11700 }, { "arm_loss_avg": 0.06220142487436533, "epoch": 1.1157989501953124e-06, "step": 11700 }, { "ee_loss_avg": 0.09452226008288563, "epoch": 1.1157989501953124e-06, "step": 11700 }, { "aux_loss_avg": 0.0013370524218771606, "epoch": 1.1157989501953124e-06, "step": 11700 }, { "epoch": 1.1157989501953124e-06, "step": 11700, "training_step_time": 17.629672288894653 }, { "epoch": 1.115894317626953e-06, "model_forward_time": 5.097363233566284, "step": 11701 }, { "epoch": 1.115894317626953e-06, "step": 11701, "training_step_time": 17.63954448699951 }, { "epoch": 1.1159896850585937e-06, "model_forward_time": 5.097526550292969, "step": 11702 }, { "epoch": 1.1159896850585937e-06, "step": 11702, "training_step_time": 17.828638792037964 }, { "epoch": 1.1160850524902343e-06, "model_forward_time": 5.08797812461853, "step": 11703 }, { "epoch": 1.1160850524902343e-06, "step": 11703, "training_step_time": 17.63430881500244 }, { "epoch": 1.116180419921875e-06, "model_forward_time": 5.085943698883057, "step": 11704 }, { "epoch": 1.116180419921875e-06, "step": 11704, "training_step_time": 17.351904153823853 }, { "epoch": 1.1162757873535157e-06, "model_forward_time": 5.082704305648804, "step": 11705 }, { "epoch": 1.1162757873535157e-06, "step": 11705, "training_step_time": 17.423079252243042 }, { "epoch": 1.1163711547851563e-06, "model_forward_time": 5.087130546569824, "step": 11706 }, { "epoch": 1.1163711547851563e-06, "step": 11706, "training_step_time": 17.465394496917725 }, { "epoch": 1.116466522216797e-06, "model_forward_time": 5.083343982696533, "step": 11707 }, { "epoch": 1.116466522216797e-06, "step": 11707, "training_step_time": 17.38023352622986 }, { "epoch": 1.1165618896484376e-06, "model_forward_time": 5.0807945728302, "step": 11708 }, { "epoch": 1.1165618896484376e-06, "step": 11708, "training_step_time": 17.613945484161377 }, { "epoch": 1.1166572570800782e-06, "model_forward_time": 5.080979585647583, "step": 11709 }, { "epoch": 1.1166572570800782e-06, "step": 11709, "training_step_time": 17.533528566360474 }, { "epoch": 1.1167526245117188e-06, "grad_norm": 2.027456045150757, "learning_rate": 9.628698147994268e-06, "loss": 0.0937, "step": 11710 }, { "epoch": 1.1167526245117188e-06, "model_forward_time": 3.8460307121276855, "step": 11710 }, { "dynamics_loss_avg": 0.060401943139731885, "epoch": 1.1167526245117188e-06, "step": 11710 }, { "action_loss_avg": 0.03474888913333416, "epoch": 1.1167526245117188e-06, "step": 11710 }, { "arm_loss_avg": 0.062007108330726625, "epoch": 1.1167526245117188e-06, "step": 11710 }, { "ee_loss_avg": 0.0719477872364223, "epoch": 1.1167526245117188e-06, "step": 11710 }, { "aux_loss_avg": 0.010251520981546492, "epoch": 1.1167526245117188e-06, "step": 11710 }, { "epoch": 1.1167526245117188e-06, "step": 11710, "training_step_time": 17.5878324508667 }, { "epoch": 1.1168479919433594e-06, "model_forward_time": 5.299279451370239, "step": 11711 }, { "epoch": 1.1168479919433594e-06, "step": 11711, "training_step_time": 17.623026609420776 }, { "epoch": 1.116943359375e-06, "model_forward_time": 3.8375637531280518, "step": 11712 }, { "epoch": 1.116943359375e-06, "step": 11712, "training_step_time": 17.819969415664673 }, { "epoch": 1.1170387268066406e-06, "model_forward_time": 5.058318376541138, "step": 11713 }, { "epoch": 1.1170387268066406e-06, "step": 11713, "training_step_time": 17.632830381393433 }, { "epoch": 1.1171340942382812e-06, "model_forward_time": 5.068677663803101, "step": 11714 }, { "epoch": 1.1171340942382812e-06, "step": 11714, "training_step_time": 17.63680911064148 }, { "epoch": 1.1172294616699219e-06, "model_forward_time": 5.083935737609863, "step": 11715 }, { "epoch": 1.1172294616699219e-06, "step": 11715, "training_step_time": 17.633347034454346 }, { "epoch": 1.1173248291015625e-06, "model_forward_time": 5.325556755065918, "step": 11716 }, { "epoch": 1.1173248291015625e-06, "step": 11716, "training_step_time": 17.64759850502014 }, { "epoch": 1.117420196533203e-06, "model_forward_time": 5.12693452835083, "step": 11717 }, { "epoch": 1.117420196533203e-06, "step": 11717, "training_step_time": 17.922478199005127 }, { "epoch": 1.1175155639648437e-06, "model_forward_time": 5.121160268783569, "step": 11718 }, { "epoch": 1.1175155639648437e-06, "step": 11718, "training_step_time": 17.661173343658447 }, { "epoch": 1.1176109313964843e-06, "model_forward_time": 5.120507001876831, "step": 11719 }, { "epoch": 1.1176109313964843e-06, "step": 11719, "training_step_time": 17.45263433456421 }, { "epoch": 1.117706298828125e-06, "grad_norm": 1.3540886640548706, "learning_rate": 9.627804376272464e-06, "loss": 0.0928, "step": 11720 }, { "epoch": 1.117706298828125e-06, "model_forward_time": 5.114074230194092, "step": 11720 }, { "dynamics_loss_avg": 0.045979346707463266, "epoch": 1.117706298828125e-06, "step": 11720 }, { "action_loss_avg": 0.040916675701737404, "epoch": 1.117706298828125e-06, "step": 11720 }, { "arm_loss_avg": 0.08681688159704208, "epoch": 1.117706298828125e-06, "step": 11720 }, { "ee_loss_avg": 0.2077937847469002, "epoch": 1.117706298828125e-06, "step": 11720 }, { "aux_loss_avg": 0.005259157763794065, "epoch": 1.117706298828125e-06, "step": 11720 }, { "epoch": 1.117706298828125e-06, "step": 11720, "training_step_time": 17.546749114990234 }, { "epoch": 1.1178016662597655e-06, "model_forward_time": 5.091542482376099, "step": 11721 }, { "epoch": 1.1178016662597655e-06, "step": 11721, "training_step_time": 17.567599296569824 }, { "epoch": 1.1178970336914062e-06, "model_forward_time": 5.084390163421631, "step": 11722 }, { "epoch": 1.1178970336914062e-06, "step": 11722, "training_step_time": 17.792744636535645 }, { "epoch": 1.1179924011230468e-06, "model_forward_time": 5.082520961761475, "step": 11723 }, { "epoch": 1.1179924011230468e-06, "step": 11723, "training_step_time": 17.608484029769897 }, { "epoch": 1.1180877685546876e-06, "model_forward_time": 5.07981014251709, "step": 11724 }, { "epoch": 1.1180877685546876e-06, "step": 11724, "training_step_time": 17.61613130569458 }, { "epoch": 1.1181831359863282e-06, "model_forward_time": 5.079185962677002, "step": 11725 }, { "epoch": 1.1181831359863282e-06, "step": 11725, "training_step_time": 17.626676559448242 }, { "epoch": 1.1182785034179688e-06, "model_forward_time": 5.079998970031738, "step": 11726 }, { "epoch": 1.1182785034179688e-06, "step": 11726, "training_step_time": 17.63071322441101 }, { "epoch": 1.1183738708496094e-06, "model_forward_time": 5.0814197063446045, "step": 11727 }, { "epoch": 1.1183738708496094e-06, "step": 11727, "training_step_time": 17.864211797714233 }, { "epoch": 1.11846923828125e-06, "model_forward_time": 5.079172611236572, "step": 11728 }, { "epoch": 1.11846923828125e-06, "step": 11728, "training_step_time": 17.614972829818726 }, { "epoch": 1.1185646057128907e-06, "model_forward_time": 5.0824480056762695, "step": 11729 }, { "epoch": 1.1185646057128907e-06, "step": 11729, "training_step_time": 17.61058473587036 }, { "epoch": 1.1186599731445313e-06, "grad_norm": 1.7408461570739746, "learning_rate": 9.626909571714489e-06, "loss": 0.0923, "step": 11730 }, { "epoch": 1.1186599731445313e-06, "model_forward_time": 5.083444118499756, "step": 11730 }, { "dynamics_loss_avg": 0.046331911161541936, "epoch": 1.1186599731445313e-06, "step": 11730 }, { "action_loss_avg": 0.03980524390935898, "epoch": 1.1186599731445313e-06, "step": 11730 }, { "arm_loss_avg": 0.06761913858354092, "epoch": 1.1186599731445313e-06, "step": 11730 }, { "ee_loss_avg": 0.06524761896580458, "epoch": 1.1186599731445313e-06, "step": 11730 }, { "aux_loss_avg": 0.004027571732876822, "epoch": 1.1186599731445313e-06, "step": 11730 }, { "epoch": 1.1186599731445313e-06, "step": 11730, "training_step_time": 17.611595630645752 }, { "epoch": 1.118755340576172e-06, "model_forward_time": 4.108689546585083, "step": 11731 }, { "epoch": 1.118755340576172e-06, "step": 11731, "training_step_time": 17.60440731048584 }, { "epoch": 1.1188507080078125e-06, "model_forward_time": 5.06161093711853, "step": 11732 }, { "epoch": 1.1188507080078125e-06, "step": 11732, "training_step_time": 17.80004096031189 }, { "epoch": 1.1189460754394531e-06, "model_forward_time": 5.069446802139282, "step": 11733 }, { "epoch": 1.1189460754394531e-06, "step": 11733, "training_step_time": 17.595795154571533 }, { "epoch": 1.1190414428710937e-06, "model_forward_time": 5.082112789154053, "step": 11734 }, { "epoch": 1.1190414428710937e-06, "step": 11734, "training_step_time": 17.61236834526062 }, { "epoch": 1.1191368103027344e-06, "model_forward_time": 5.087690114974976, "step": 11735 }, { "epoch": 1.1191368103027344e-06, "step": 11735, "training_step_time": 17.50385618209839 }, { "epoch": 1.119232177734375e-06, "model_forward_time": 5.300687789916992, "step": 11736 }, { "epoch": 1.119232177734375e-06, "step": 11736, "training_step_time": 17.527888298034668 }, { "epoch": 1.1193275451660156e-06, "model_forward_time": 3.8645331859588623, "step": 11737 }, { "epoch": 1.1193275451660156e-06, "step": 11737, "training_step_time": 17.59328317642212 }, { "epoch": 1.1194229125976562e-06, "model_forward_time": 5.084919214248657, "step": 11738 }, { "epoch": 1.1194229125976562e-06, "step": 11738, "training_step_time": 17.864843606948853 }, { "epoch": 1.1195182800292968e-06, "model_forward_time": 5.086850643157959, "step": 11739 }, { "epoch": 1.1195182800292968e-06, "step": 11739, "training_step_time": 17.62638568878174 }, { "epoch": 1.1196136474609374e-06, "grad_norm": 1.2472493648529053, "learning_rate": 9.626013734520046e-06, "loss": 0.11, "step": 11740 }, { "epoch": 1.1196136474609374e-06, "model_forward_time": 5.100295305252075, "step": 11740 }, { "dynamics_loss_avg": 0.04691832885146141, "epoch": 1.1196136474609374e-06, "step": 11740 }, { "action_loss_avg": 0.0454185051843524, "epoch": 1.1196136474609374e-06, "step": 11740 }, { "arm_loss_avg": 0.06315960828214884, "epoch": 1.1196136474609374e-06, "step": 11740 }, { "ee_loss_avg": 0.10512409228831529, "epoch": 1.1196136474609374e-06, "step": 11740 }, { "aux_loss_avg": 0.0019924939901102335, "epoch": 1.1196136474609374e-06, "step": 11740 }, { "epoch": 1.1196136474609374e-06, "step": 11740, "training_step_time": 17.647151231765747 }, { "epoch": 1.119709014892578e-06, "model_forward_time": 5.3277833461761475, "step": 11741 }, { "epoch": 1.119709014892578e-06, "step": 11741, "training_step_time": 17.61810278892517 }, { "epoch": 1.1198043823242187e-06, "model_forward_time": 5.094096422195435, "step": 11742 }, { "epoch": 1.1198043823242187e-06, "step": 11742, "training_step_time": 17.62272071838379 }, { "epoch": 1.1198997497558593e-06, "model_forward_time": 5.093587398529053, "step": 11743 }, { "epoch": 1.1198997497558593e-06, "step": 11743, "training_step_time": 17.80566906929016 }, { "epoch": 1.1199951171875e-06, "model_forward_time": 5.092566728591919, "step": 11744 }, { "epoch": 1.1199951171875e-06, "step": 11744, "training_step_time": 17.624202489852905 }, { "epoch": 1.1200904846191407e-06, "model_forward_time": 5.0961079597473145, "step": 11745 }, { "epoch": 1.1200904846191407e-06, "step": 11745, "training_step_time": 17.628899097442627 }, { "epoch": 1.1201858520507813e-06, "model_forward_time": 5.3061301708221436, "step": 11746 }, { "epoch": 1.1201858520507813e-06, "step": 11746, "training_step_time": 17.608680248260498 }, { "epoch": 1.120281219482422e-06, "model_forward_time": 5.089984178543091, "step": 11747 }, { "epoch": 1.120281219482422e-06, "step": 11747, "training_step_time": 17.437507152557373 }, { "epoch": 1.1203765869140626e-06, "model_forward_time": 5.087507247924805, "step": 11748 }, { "epoch": 1.1203765869140626e-06, "step": 11748, "training_step_time": 17.742019653320312 }, { "epoch": 1.1204719543457032e-06, "model_forward_time": 5.084975004196167, "step": 11749 }, { "epoch": 1.1204719543457032e-06, "step": 11749, "training_step_time": 17.553250551223755 }, { "epoch": 1.1205673217773438e-06, "grad_norm": 1.6288424730300903, "learning_rate": 9.625116864889065e-06, "loss": 0.0935, "step": 11750 }, { "epoch": 1.1205673217773438e-06, "model_forward_time": 3.8521957397460938, "step": 11750 }, { "dynamics_loss_avg": 0.030437283031642438, "epoch": 1.1205673217773438e-06, "step": 11750 }, { "action_loss_avg": 0.04125839853659272, "epoch": 1.1205673217773438e-06, "step": 11750 }, { "arm_loss_avg": 0.05980348438024521, "epoch": 1.1205673217773438e-06, "step": 11750 }, { "ee_loss_avg": 0.11986336186528206, "epoch": 1.1205673217773438e-06, "step": 11750 }, { "aux_loss_avg": 0.002174023777479306, "epoch": 1.1205673217773438e-06, "step": 11750 }, { "epoch": 1.1205673217773438e-06, "step": 11750, "training_step_time": 17.55751347541809 }, { "epoch": 1.1206626892089844e-06, "model_forward_time": 5.300472736358643, "step": 11751 }, { "epoch": 1.1206626892089844e-06, "step": 11751, "training_step_time": 17.586254596710205 }, { "epoch": 1.120758056640625e-06, "model_forward_time": 5.068170785903931, "step": 11752 }, { "epoch": 1.120758056640625e-06, "step": 11752, "training_step_time": 17.595078229904175 }, { "epoch": 1.1208534240722656e-06, "model_forward_time": 5.078705549240112, "step": 11753 }, { "epoch": 1.1208534240722656e-06, "step": 11753, "training_step_time": 17.824932098388672 }, { "epoch": 1.1209487915039063e-06, "model_forward_time": 5.084143161773682, "step": 11754 }, { "epoch": 1.1209487915039063e-06, "step": 11754, "training_step_time": 17.60831093788147 }, { "epoch": 1.1210441589355469e-06, "model_forward_time": 5.090487480163574, "step": 11755 }, { "epoch": 1.1210441589355469e-06, "step": 11755, "training_step_time": 17.608078718185425 }, { "epoch": 1.1211395263671875e-06, "model_forward_time": 5.091514587402344, "step": 11756 }, { "epoch": 1.1211395263671875e-06, "step": 11756, "training_step_time": 17.61124897003174 }, { "epoch": 1.121234893798828e-06, "model_forward_time": 5.094510316848755, "step": 11757 }, { "epoch": 1.121234893798828e-06, "step": 11757, "training_step_time": 17.839418172836304 }, { "epoch": 1.1213302612304687e-06, "model_forward_time": 5.092955589294434, "step": 11758 }, { "epoch": 1.1213302612304687e-06, "step": 11758, "training_step_time": 17.612041473388672 }, { "epoch": 1.1214256286621093e-06, "model_forward_time": 5.093704462051392, "step": 11759 }, { "epoch": 1.1214256286621093e-06, "step": 11759, "training_step_time": 17.613901138305664 }, { "epoch": 1.12152099609375e-06, "grad_norm": 1.579315423965454, "learning_rate": 9.624218963021717e-06, "loss": 0.0836, "step": 11760 }, { "epoch": 1.12152099609375e-06, "model_forward_time": 5.091923952102661, "step": 11760 }, { "dynamics_loss_avg": 0.03631593026220799, "epoch": 1.12152099609375e-06, "step": 11760 }, { "action_loss_avg": 0.032685269601643085, "epoch": 1.12152099609375e-06, "step": 11760 }, { "arm_loss_avg": 0.07321259528398513, "epoch": 1.12152099609375e-06, "step": 11760 }, { "ee_loss_avg": 0.12335513494908809, "epoch": 1.12152099609375e-06, "step": 11760 }, { "aux_loss_avg": 0.0034847926232032477, "epoch": 1.12152099609375e-06, "step": 11760 }, { "epoch": 1.12152099609375e-06, "step": 11760, "training_step_time": 17.610396146774292 }, { "epoch": 1.1216163635253906e-06, "model_forward_time": 3.8543143272399902, "step": 11761 }, { "epoch": 1.1216163635253906e-06, "step": 11761, "training_step_time": 17.414319276809692 }, { "epoch": 1.1217117309570312e-06, "model_forward_time": 3.8287770748138428, "step": 11762 }, { "epoch": 1.1217117309570312e-06, "step": 11762, "training_step_time": 17.526936292648315 }, { "epoch": 1.1218070983886718e-06, "model_forward_time": 5.050583124160767, "step": 11763 }, { "epoch": 1.1218070983886718e-06, "step": 11763, "training_step_time": 17.75504183769226 }, { "epoch": 1.1219024658203124e-06, "model_forward_time": 5.055742979049683, "step": 11764 }, { "epoch": 1.1219024658203124e-06, "step": 11764, "training_step_time": 17.56876254081726 }, { "epoch": 1.1219978332519532e-06, "model_forward_time": 5.075391530990601, "step": 11765 }, { "epoch": 1.1219978332519532e-06, "step": 11765, "training_step_time": 17.579843759536743 }, { "epoch": 1.1220932006835938e-06, "model_forward_time": 5.275085687637329, "step": 11766 }, { "epoch": 1.1220932006835938e-06, "step": 11766, "training_step_time": 17.58653497695923 }, { "epoch": 1.1221885681152345e-06, "model_forward_time": 5.091507196426392, "step": 11767 }, { "epoch": 1.1221885681152345e-06, "step": 11767, "training_step_time": 17.804762840270996 }, { "epoch": 1.122283935546875e-06, "model_forward_time": 5.0977349281311035, "step": 11768 }, { "epoch": 1.122283935546875e-06, "step": 11768, "training_step_time": 17.550349950790405 }, { "epoch": 1.1223793029785157e-06, "model_forward_time": 5.100759744644165, "step": 11769 }, { "epoch": 1.1223793029785157e-06, "step": 11769, "training_step_time": 17.569282293319702 }, { "epoch": 1.1224746704101563e-06, "grad_norm": 1.7923943996429443, "learning_rate": 9.62332002911839e-06, "loss": 0.092, "step": 11770 }, { "epoch": 1.1224746704101563e-06, "model_forward_time": 5.101149797439575, "step": 11770 }, { "dynamics_loss_avg": 0.03231274988502264, "epoch": 1.1224746704101563e-06, "step": 11770 }, { "action_loss_avg": 0.030921993684023617, "epoch": 1.1224746704101563e-06, "step": 11770 }, { "arm_loss_avg": 0.05447679851204157, "epoch": 1.1224746704101563e-06, "step": 11770 }, { "ee_loss_avg": 0.07060001511126757, "epoch": 1.1224746704101563e-06, "step": 11770 }, { "aux_loss_avg": 0.0008239879680331796, "epoch": 1.1224746704101563e-06, "step": 11770 }, { "epoch": 1.1224746704101563e-06, "step": 11770, "training_step_time": 17.502779006958008 }, { "epoch": 1.122570037841797e-06, "model_forward_time": 4.104593992233276, "step": 11771 }, { "epoch": 1.122570037841797e-06, "step": 11771, "training_step_time": 17.54251527786255 }, { "epoch": 1.1226654052734375e-06, "model_forward_time": 5.065592527389526, "step": 11772 }, { "epoch": 1.1226654052734375e-06, "step": 11772, "training_step_time": 17.783496141433716 }, { "epoch": 1.1227607727050781e-06, "model_forward_time": 5.068973779678345, "step": 11773 }, { "epoch": 1.1227607727050781e-06, "step": 11773, "training_step_time": 17.581517696380615 }, { "epoch": 1.1228561401367188e-06, "model_forward_time": 5.076941967010498, "step": 11774 }, { "epoch": 1.1228561401367188e-06, "step": 11774, "training_step_time": 17.648444652557373 }, { "epoch": 1.1229515075683594e-06, "model_forward_time": 5.082267999649048, "step": 11775 }, { "epoch": 1.1229515075683594e-06, "step": 11775, "training_step_time": 17.596497774124146 }, { "epoch": 1.123046875e-06, "model_forward_time": 5.270029544830322, "step": 11776 }, { "epoch": 1.123046875e-06, "step": 11776, "training_step_time": 17.388965368270874 }, { "epoch": 1.1231422424316406e-06, "model_forward_time": 5.09018087387085, "step": 11777 }, { "epoch": 1.1231422424316406e-06, "step": 11777, "training_step_time": 17.43706703186035 }, { "epoch": 1.1232376098632812e-06, "model_forward_time": 5.093839883804321, "step": 11778 }, { "epoch": 1.1232376098632812e-06, "step": 11778, "training_step_time": 17.70028829574585 }, { "epoch": 1.1233329772949218e-06, "model_forward_time": 5.090330600738525, "step": 11779 }, { "epoch": 1.1233329772949218e-06, "step": 11779, "training_step_time": 17.535646200180054 }, { "epoch": 1.1234283447265624e-06, "grad_norm": 1.4721933603286743, "learning_rate": 9.622420063379712e-06, "loss": 0.0859, "step": 11780 }, { "epoch": 1.1234283447265624e-06, "model_forward_time": 5.088895797729492, "step": 11780 }, { "dynamics_loss_avg": 0.04688183506950736, "epoch": 1.1234283447265624e-06, "step": 11780 }, { "action_loss_avg": 0.03168788012117148, "epoch": 1.1234283447265624e-06, "step": 11780 }, { "arm_loss_avg": 0.04402003772556782, "epoch": 1.1234283447265624e-06, "step": 11780 }, { "ee_loss_avg": 0.08041945975273848, "epoch": 1.1234283447265624e-06, "step": 11780 }, { "aux_loss_avg": 0.0008593899838160723, "epoch": 1.1234283447265624e-06, "step": 11780 }, { "epoch": 1.1234283447265624e-06, "step": 11780, "training_step_time": 17.570382595062256 }, { "epoch": 1.123523712158203e-06, "model_forward_time": 4.08836030960083, "step": 11781 }, { "epoch": 1.123523712158203e-06, "step": 11781, "training_step_time": 17.605076551437378 }, { "epoch": 1.1236190795898437e-06, "model_forward_time": 3.835455894470215, "step": 11782 }, { "epoch": 1.1236190795898437e-06, "step": 11782, "training_step_time": 17.623826026916504 }, { "epoch": 1.1237144470214843e-06, "model_forward_time": 5.054259300231934, "step": 11783 }, { "epoch": 1.1237144470214843e-06, "step": 11783, "training_step_time": 17.823992252349854 }, { "epoch": 1.123809814453125e-06, "model_forward_time": 5.066251277923584, "step": 11784 }, { "epoch": 1.123809814453125e-06, "step": 11784, "training_step_time": 17.614888668060303 }, { "epoch": 1.1239051818847657e-06, "model_forward_time": 5.0805277824401855, "step": 11785 }, { "epoch": 1.1239051818847657e-06, "step": 11785, "training_step_time": 17.61221742630005 }, { "epoch": 1.1240005493164063e-06, "model_forward_time": 5.280949115753174, "step": 11786 }, { "epoch": 1.1240005493164063e-06, "step": 11786, "training_step_time": 17.605124473571777 }, { "epoch": 1.124095916748047e-06, "model_forward_time": 5.104710817337036, "step": 11787 }, { "epoch": 1.124095916748047e-06, "step": 11787, "training_step_time": 17.827770709991455 }, { "epoch": 1.1241912841796876e-06, "model_forward_time": 5.10905385017395, "step": 11788 }, { "epoch": 1.1241912841796876e-06, "step": 11788, "training_step_time": 17.605433702468872 }, { "epoch": 1.1242866516113282e-06, "model_forward_time": 3.86234974861145, "step": 11789 }, { "epoch": 1.1242866516113282e-06, "step": 11789, "training_step_time": 17.60372042655945 }, { "epoch": 1.1243820190429688e-06, "grad_norm": 2.716212272644043, "learning_rate": 9.621519066006538e-06, "loss": 0.1047, "step": 11790 }, { "epoch": 1.1243820190429688e-06, "model_forward_time": 5.065612316131592, "step": 11790 }, { "dynamics_loss_avg": 0.047702113725245, "epoch": 1.1243820190429688e-06, "step": 11790 }, { "action_loss_avg": 0.03611238859593868, "epoch": 1.1243820190429688e-06, "step": 11790 }, { "arm_loss_avg": 0.0729286815971136, "epoch": 1.1243820190429688e-06, "step": 11790 }, { "ee_loss_avg": 0.1160799466073513, "epoch": 1.1243820190429688e-06, "step": 11790 }, { "aux_loss_avg": 0.002884345399797894, "epoch": 1.1243820190429688e-06, "step": 11790 }, { "epoch": 1.1243820190429688e-06, "step": 11790, "training_step_time": 17.60624599456787 }, { "epoch": 1.1244773864746094e-06, "model_forward_time": 5.312655925750732, "step": 11791 }, { "epoch": 1.1244773864746094e-06, "step": 11791, "training_step_time": 17.6024169921875 }, { "epoch": 1.12457275390625e-06, "model_forward_time": 5.082120418548584, "step": 11792 }, { "epoch": 1.12457275390625e-06, "step": 11792, "training_step_time": 17.79932975769043 }, { "epoch": 1.1246681213378906e-06, "model_forward_time": 5.086700677871704, "step": 11793 }, { "epoch": 1.1246681213378906e-06, "step": 11793, "training_step_time": 17.393344402313232 }, { "epoch": 1.1247634887695313e-06, "model_forward_time": 5.093179702758789, "step": 11794 }, { "epoch": 1.1247634887695313e-06, "step": 11794, "training_step_time": 17.514260292053223 }, { "epoch": 1.1248588562011719e-06, "model_forward_time": 5.095892906188965, "step": 11795 }, { "epoch": 1.1248588562011719e-06, "step": 11795, "training_step_time": 17.557204246520996 }, { "epoch": 1.1249542236328125e-06, "model_forward_time": 5.279423952102661, "step": 11796 }, { "epoch": 1.1249542236328125e-06, "step": 11796, "training_step_time": 17.585588216781616 }, { "epoch": 1.125049591064453e-06, "model_forward_time": 5.092810869216919, "step": 11797 }, { "epoch": 1.125049591064453e-06, "step": 11797, "training_step_time": 17.596683740615845 }, { "epoch": 1.1251449584960937e-06, "model_forward_time": 5.088847637176514, "step": 11798 }, { "epoch": 1.1251449584960937e-06, "step": 11798, "training_step_time": 17.832844018936157 }, { "epoch": 1.1252403259277343e-06, "model_forward_time": 5.085711240768433, "step": 11799 }, { "epoch": 1.1252403259277343e-06, "step": 11799, "training_step_time": 17.60878276824951 }, { "epoch": 1.125335693359375e-06, "grad_norm": 1.6173732280731201, "learning_rate": 9.62061703719995e-06, "loss": 0.0907, "step": 11800 }, { "epoch": 1.125335693359375e-06, "model_forward_time": 5.086393356323242, "step": 11800 }, { "dynamics_loss_avg": 0.04509778376668692, "epoch": 1.125335693359375e-06, "step": 11800 }, { "action_loss_avg": 0.030807973258197306, "epoch": 1.125335693359375e-06, "step": 11800 }, { "arm_loss_avg": 0.053380854614079, "epoch": 1.125335693359375e-06, "step": 11800 }, { "ee_loss_avg": 0.08567300215363502, "epoch": 1.125335693359375e-06, "step": 11800 }, { "aux_loss_avg": 0.0015009096707217396, "epoch": 1.125335693359375e-06, "step": 11800 }, { "epoch": 1.125335693359375e-06, "step": 11800, "training_step_time": 17.611902475357056 }, { "epoch": 1.1254310607910156e-06, "model_forward_time": 5.31856632232666, "step": 11801 }, { "epoch": 1.1254310607910156e-06, "step": 11801, "training_step_time": 17.608442544937134 }, { "epoch": 1.1255264282226562e-06, "model_forward_time": 5.086409091949463, "step": 11802 }, { "epoch": 1.1255264282226562e-06, "step": 11802, "training_step_time": 17.627605676651 }, { "epoch": 1.1256217956542968e-06, "model_forward_time": 5.086424112319946, "step": 11803 }, { "epoch": 1.1256217956542968e-06, "step": 11803, "training_step_time": 17.80407953262329 }, { "epoch": 1.1257171630859374e-06, "model_forward_time": 5.082880735397339, "step": 11804 }, { "epoch": 1.1257171630859374e-06, "step": 11804, "training_step_time": 17.639440298080444 }, { "epoch": 1.1258125305175782e-06, "model_forward_time": 5.089158535003662, "step": 11805 }, { "epoch": 1.1258125305175782e-06, "step": 11805, "training_step_time": 17.60230016708374 }, { "epoch": 1.1259078979492188e-06, "model_forward_time": 5.2877442836761475, "step": 11806 }, { "epoch": 1.1259078979492188e-06, "step": 11806, "training_step_time": 17.603501796722412 }, { "epoch": 1.1260032653808595e-06, "model_forward_time": 3.861158609390259, "step": 11807 }, { "epoch": 1.1260032653808595e-06, "step": 11807, "training_step_time": 17.83263874053955 }, { "epoch": 1.1260986328125e-06, "model_forward_time": 3.8309056758880615, "step": 11808 }, { "epoch": 1.1260986328125e-06, "step": 11808, "training_step_time": 17.60549783706665 }, { "epoch": 1.1261940002441407e-06, "model_forward_time": 5.053098917007446, "step": 11809 }, { "epoch": 1.1261940002441407e-06, "step": 11809, "training_step_time": 17.610904455184937 }, { "epoch": 1.1262893676757813e-06, "grad_norm": 1.4528971910476685, "learning_rate": 9.619713977161265e-06, "loss": 0.0803, "step": 11810 }, { "epoch": 1.1262893676757813e-06, "model_forward_time": 5.063982963562012, "step": 11810 }, { "dynamics_loss_avg": 0.03641956457868219, "epoch": 1.1262893676757813e-06, "step": 11810 }, { "action_loss_avg": 0.028067271411418914, "epoch": 1.1262893676757813e-06, "step": 11810 }, { "arm_loss_avg": 0.07879550009965897, "epoch": 1.1262893676757813e-06, "step": 11810 }, { "ee_loss_avg": 0.09962647901847958, "epoch": 1.1262893676757813e-06, "step": 11810 }, { "aux_loss_avg": 0.01969922897987999, "epoch": 1.1262893676757813e-06, "step": 11810 }, { "epoch": 1.1262893676757813e-06, "step": 11810, "training_step_time": 17.60199546813965 }, { "epoch": 1.126384735107422e-06, "model_forward_time": 5.0840747356414795, "step": 11811 }, { "epoch": 1.126384735107422e-06, "step": 11811, "training_step_time": 17.60587167739868 }, { "epoch": 1.1264801025390625e-06, "model_forward_time": 5.096836566925049, "step": 11812 }, { "epoch": 1.1264801025390625e-06, "step": 11812, "training_step_time": 17.798815488815308 }, { "epoch": 1.1265754699707031e-06, "model_forward_time": 5.102285385131836, "step": 11813 }, { "epoch": 1.1265754699707031e-06, "step": 11813, "training_step_time": 17.59160327911377 }, { "epoch": 1.1266708374023438e-06, "model_forward_time": 5.106260776519775, "step": 11814 }, { "epoch": 1.1266708374023438e-06, "step": 11814, "training_step_time": 17.627067804336548 }, { "epoch": 1.1267662048339844e-06, "model_forward_time": 5.104285001754761, "step": 11815 }, { "epoch": 1.1267662048339844e-06, "step": 11815, "training_step_time": 17.613105535507202 }, { "epoch": 1.126861572265625e-06, "model_forward_time": 5.097261667251587, "step": 11816 }, { "epoch": 1.126861572265625e-06, "step": 11816, "training_step_time": 17.61804461479187 }, { "epoch": 1.1269569396972656e-06, "model_forward_time": 5.092243432998657, "step": 11817 }, { "epoch": 1.1269569396972656e-06, "step": 11817, "training_step_time": 17.47805643081665 }, { "epoch": 1.1270523071289062e-06, "model_forward_time": 5.0863611698150635, "step": 11818 }, { "epoch": 1.1270523071289062e-06, "step": 11818, "training_step_time": 17.759745359420776 }, { "epoch": 1.1271476745605468e-06, "model_forward_time": 5.0836873054504395, "step": 11819 }, { "epoch": 1.1271476745605468e-06, "step": 11819, "training_step_time": 17.572702407836914 }, { "epoch": 1.1272430419921874e-06, "grad_norm": 1.5941948890686035, "learning_rate": 9.61880988609203e-06, "loss": 0.1076, "step": 11820 }, { "epoch": 1.1272430419921874e-06, "model_forward_time": 5.080835342407227, "step": 11820 }, { "dynamics_loss_avg": 0.04801161494106054, "epoch": 1.1272430419921874e-06, "step": 11820 }, { "action_loss_avg": 0.057588746398687364, "epoch": 1.1272430419921874e-06, "step": 11820 }, { "arm_loss_avg": 0.07579668313264847, "epoch": 1.1272430419921874e-06, "step": 11820 }, { "ee_loss_avg": 0.12361621335148812, "epoch": 1.1272430419921874e-06, "step": 11820 }, { "aux_loss_avg": 0.0052684607333503665, "epoch": 1.1272430419921874e-06, "step": 11820 }, { "epoch": 1.1272430419921874e-06, "step": 11820, "training_step_time": 17.594278812408447 }, { "epoch": 1.127338409423828e-06, "model_forward_time": 5.320921421051025, "step": 11821 }, { "epoch": 1.127338409423828e-06, "step": 11821, "training_step_time": 17.613502025604248 }, { "epoch": 1.1274337768554687e-06, "model_forward_time": 5.080179691314697, "step": 11822 }, { "epoch": 1.1274337768554687e-06, "step": 11822, "training_step_time": 17.623831748962402 }, { "epoch": 1.1275291442871093e-06, "model_forward_time": 5.084034442901611, "step": 11823 }, { "epoch": 1.1275291442871093e-06, "step": 11823, "training_step_time": 17.828447103500366 }, { "epoch": 1.12762451171875e-06, "model_forward_time": 5.082683563232422, "step": 11824 }, { "epoch": 1.12762451171875e-06, "step": 11824, "training_step_time": 17.635631322860718 }, { "epoch": 1.1277198791503907e-06, "model_forward_time": 5.083635330200195, "step": 11825 }, { "epoch": 1.1277198791503907e-06, "step": 11825, "training_step_time": 17.639090538024902 }, { "epoch": 1.1278152465820313e-06, "model_forward_time": 3.847604751586914, "step": 11826 }, { "epoch": 1.1278152465820313e-06, "step": 11826, "training_step_time": 17.62846040725708 }, { "epoch": 1.127910614013672e-06, "model_forward_time": 5.2788636684417725, "step": 11827 }, { "epoch": 1.127910614013672e-06, "step": 11827, "training_step_time": 17.854570865631104 }, { "epoch": 1.1280059814453126e-06, "model_forward_time": 3.8401551246643066, "step": 11828 }, { "epoch": 1.1280059814453126e-06, "step": 11828, "training_step_time": 17.616940021514893 }, { "epoch": 1.1281013488769532e-06, "model_forward_time": 5.060608148574829, "step": 11829 }, { "epoch": 1.1281013488769532e-06, "step": 11829, "training_step_time": 17.614438772201538 }, { "epoch": 1.1281967163085938e-06, "grad_norm": 1.7169301509857178, "learning_rate": 9.617904764194019e-06, "loss": 0.0837, "step": 11830 }, { "epoch": 1.1281967163085938e-06, "model_forward_time": 5.0701422691345215, "step": 11830 }, { "dynamics_loss_avg": 0.04466536957770586, "epoch": 1.1281967163085938e-06, "step": 11830 }, { "action_loss_avg": 0.02978906836360693, "epoch": 1.1281967163085938e-06, "step": 11830 }, { "arm_loss_avg": 0.05133412629365921, "epoch": 1.1281967163085938e-06, "step": 11830 }, { "ee_loss_avg": 0.079179054684937, "epoch": 1.1281967163085938e-06, "step": 11830 }, { "aux_loss_avg": 0.0010279951791744679, "epoch": 1.1281967163085938e-06, "step": 11830 }, { "epoch": 1.1281967163085938e-06, "step": 11830, "training_step_time": 17.384860038757324 }, { "epoch": 1.1282920837402344e-06, "model_forward_time": 5.089031219482422, "step": 11831 }, { "epoch": 1.1282920837402344e-06, "step": 11831, "training_step_time": 17.50474977493286 }, { "epoch": 1.128387451171875e-06, "model_forward_time": 5.341367721557617, "step": 11832 }, { "epoch": 1.128387451171875e-06, "step": 11832, "training_step_time": 17.76667618751526 }, { "epoch": 1.1284828186035156e-06, "model_forward_time": 5.105399131774902, "step": 11833 }, { "epoch": 1.1284828186035156e-06, "step": 11833, "training_step_time": 17.577367067337036 }, { "epoch": 1.1285781860351563e-06, "model_forward_time": 5.106362581253052, "step": 11834 }, { "epoch": 1.1285781860351563e-06, "step": 11834, "training_step_time": 17.600902318954468 }, { "epoch": 1.1286735534667969e-06, "model_forward_time": 5.099088430404663, "step": 11835 }, { "epoch": 1.1286735534667969e-06, "step": 11835, "training_step_time": 17.506904363632202 }, { "epoch": 1.1287689208984375e-06, "model_forward_time": 5.0911030769348145, "step": 11836 }, { "epoch": 1.1287689208984375e-06, "step": 11836, "training_step_time": 17.565886974334717 }, { "epoch": 1.128864288330078e-06, "model_forward_time": 5.086843252182007, "step": 11837 }, { "epoch": 1.128864288330078e-06, "step": 11837, "training_step_time": 17.612156629562378 }, { "epoch": 1.1289596557617187e-06, "model_forward_time": 5.081654071807861, "step": 11838 }, { "epoch": 1.1289596557617187e-06, "step": 11838, "training_step_time": 17.39979314804077 }, { "epoch": 1.1290550231933593e-06, "model_forward_time": 3.8463027477264404, "step": 11839 }, { "epoch": 1.1290550231933593e-06, "step": 11839, "training_step_time": 17.599916219711304 }, { "epoch": 1.129150390625e-06, "grad_norm": 1.6127965450286865, "learning_rate": 9.616998611669238e-06, "loss": 0.0902, "step": 11840 }, { "epoch": 1.129150390625e-06, "model_forward_time": 5.055689334869385, "step": 11840 }, { "dynamics_loss_avg": 0.049724025558680295, "epoch": 1.129150390625e-06, "step": 11840 }, { "action_loss_avg": 0.041009312495589256, "epoch": 1.129150390625e-06, "step": 11840 }, { "arm_loss_avg": 0.07398307174444199, "epoch": 1.129150390625e-06, "step": 11840 }, { "ee_loss_avg": 0.0902966495603323, "epoch": 1.129150390625e-06, "step": 11840 }, { "aux_loss_avg": 0.005420355207752437, "epoch": 1.129150390625e-06, "step": 11840 }, { "epoch": 1.129150390625e-06, "step": 11840, "training_step_time": 17.596691846847534 }, { "epoch": 1.1292457580566406e-06, "model_forward_time": 5.060961723327637, "step": 11841 }, { "epoch": 1.1292457580566406e-06, "step": 11841, "training_step_time": 17.6214656829834 }, { "epoch": 1.1293411254882812e-06, "model_forward_time": 4.071789979934692, "step": 11842 }, { "epoch": 1.1293411254882812e-06, "step": 11842, "training_step_time": 17.625658988952637 }, { "epoch": 1.1294364929199218e-06, "model_forward_time": 5.054589748382568, "step": 11843 }, { "epoch": 1.1294364929199218e-06, "step": 11843, "training_step_time": 17.80850863456726 }, { "epoch": 1.1295318603515624e-06, "model_forward_time": 5.068665266036987, "step": 11844 }, { "epoch": 1.1295318603515624e-06, "step": 11844, "training_step_time": 17.61485457420349 }, { "epoch": 1.1296272277832032e-06, "model_forward_time": 5.08193039894104, "step": 11845 }, { "epoch": 1.1296272277832032e-06, "step": 11845, "training_step_time": 17.62375831604004 }, { "epoch": 1.1297225952148438e-06, "model_forward_time": 5.089397430419922, "step": 11846 }, { "epoch": 1.1297225952148438e-06, "step": 11846, "training_step_time": 17.613969087600708 }, { "epoch": 1.1298179626464845e-06, "model_forward_time": 5.100279092788696, "step": 11847 }, { "epoch": 1.1298179626464845e-06, "step": 11847, "training_step_time": 17.825786352157593 }, { "epoch": 1.129913330078125e-06, "model_forward_time": 5.100876092910767, "step": 11848 }, { "epoch": 1.129913330078125e-06, "step": 11848, "training_step_time": 17.31417989730835 }, { "epoch": 1.1300086975097657e-06, "model_forward_time": 5.097050905227661, "step": 11849 }, { "epoch": 1.1300086975097657e-06, "step": 11849, "training_step_time": 17.508274793624878 }, { "epoch": 1.1301040649414063e-06, "grad_norm": 0.7346318960189819, "learning_rate": 9.616091428719922e-06, "loss": 0.0937, "step": 11850 }, { "epoch": 1.1301040649414063e-06, "model_forward_time": 5.091508626937866, "step": 11850 }, { "dynamics_loss_avg": 0.03466570600867271, "epoch": 1.1301040649414063e-06, "step": 11850 }, { "action_loss_avg": 0.0274970980361104, "epoch": 1.1301040649414063e-06, "step": 11850 }, { "arm_loss_avg": 0.0453314371407032, "epoch": 1.1301040649414063e-06, "step": 11850 }, { "ee_loss_avg": 0.07731547309085726, "epoch": 1.1301040649414063e-06, "step": 11850 }, { "aux_loss_avg": 0.0008868339646141976, "epoch": 1.1301040649414063e-06, "step": 11850 }, { "epoch": 1.1301040649414063e-06, "step": 11850, "training_step_time": 17.559319257736206 }, { "epoch": 1.130199432373047e-06, "model_forward_time": 5.0908424854278564, "step": 11851 }, { "epoch": 1.130199432373047e-06, "step": 11851, "training_step_time": 17.57465362548828 }, { "epoch": 1.1302947998046875e-06, "model_forward_time": 5.085420846939087, "step": 11852 }, { "epoch": 1.1302947998046875e-06, "step": 11852, "training_step_time": 17.59253740310669 }, { "epoch": 1.1303901672363281e-06, "model_forward_time": 5.081355333328247, "step": 11853 }, { "epoch": 1.1303901672363281e-06, "step": 11853, "training_step_time": 17.235677480697632 }, { "epoch": 1.1304855346679688e-06, "model_forward_time": 5.083571434020996, "step": 11854 }, { "epoch": 1.1304855346679688e-06, "step": 11854, "training_step_time": 17.244224548339844 }, { "epoch": 1.1305809020996094e-06, "model_forward_time": 5.0772528648376465, "step": 11855 }, { "epoch": 1.1305809020996094e-06, "step": 11855, "training_step_time": 17.47967791557312 }, { "epoch": 1.13067626953125e-06, "model_forward_time": 5.282550573348999, "step": 11856 }, { "epoch": 1.13067626953125e-06, "step": 11856, "training_step_time": 17.547534704208374 }, { "epoch": 1.1307716369628906e-06, "model_forward_time": 5.0789806842803955, "step": 11857 }, { "epoch": 1.1307716369628906e-06, "step": 11857, "training_step_time": 17.471537590026855 }, { "epoch": 1.1308670043945312e-06, "model_forward_time": 5.079198598861694, "step": 11858 }, { "epoch": 1.1308670043945312e-06, "step": 11858, "training_step_time": 17.753851175308228 }, { "epoch": 1.1309623718261718e-06, "model_forward_time": 3.8502702713012695, "step": 11859 }, { "epoch": 1.1309623718261718e-06, "step": 11859, "training_step_time": 17.577965259552002 }, { "epoch": 1.1310577392578124e-06, "grad_norm": 0.7824471592903137, "learning_rate": 9.615183215548537e-06, "loss": 0.0823, "step": 11860 }, { "epoch": 1.1310577392578124e-06, "model_forward_time": 5.060586214065552, "step": 11860 }, { "dynamics_loss_avg": 0.044445664435625074, "epoch": 1.1310577392578124e-06, "step": 11860 }, { "action_loss_avg": 0.033907151827588675, "epoch": 1.1310577392578124e-06, "step": 11860 }, { "arm_loss_avg": 0.063227494712919, "epoch": 1.1310577392578124e-06, "step": 11860 }, { "ee_loss_avg": 0.08451218046247959, "epoch": 1.1310577392578124e-06, "step": 11860 }, { "aux_loss_avg": 0.0023210690065752714, "epoch": 1.1310577392578124e-06, "step": 11860 }, { "epoch": 1.1310577392578124e-06, "step": 11860, "training_step_time": 17.624411582946777 }, { "epoch": 1.131153106689453e-06, "model_forward_time": 5.069271087646484, "step": 11861 }, { "epoch": 1.131153106689453e-06, "step": 11861, "training_step_time": 17.64444851875305 }, { "epoch": 1.1312484741210937e-06, "model_forward_time": 4.077815055847168, "step": 11862 }, { "epoch": 1.1312484741210937e-06, "step": 11862, "training_step_time": 17.4297456741333 }, { "epoch": 1.1313438415527343e-06, "model_forward_time": 5.058214426040649, "step": 11863 }, { "epoch": 1.1313438415527343e-06, "step": 11863, "training_step_time": 17.75514316558838 }, { "epoch": 1.131439208984375e-06, "model_forward_time": 5.079803943634033, "step": 11864 }, { "epoch": 1.131439208984375e-06, "step": 11864, "training_step_time": 17.601208686828613 }, { "epoch": 1.1315345764160157e-06, "model_forward_time": 5.091958045959473, "step": 11865 }, { "epoch": 1.1315345764160157e-06, "step": 11865, "training_step_time": 17.630094051361084 }, { "epoch": 1.1316299438476563e-06, "model_forward_time": 5.096018314361572, "step": 11866 }, { "epoch": 1.1316299438476563e-06, "step": 11866, "training_step_time": 17.625110626220703 }, { "epoch": 1.131725311279297e-06, "model_forward_time": 5.105638265609741, "step": 11867 }, { "epoch": 1.131725311279297e-06, "step": 11867, "training_step_time": 17.64008641242981 }, { "epoch": 1.1318206787109376e-06, "model_forward_time": 5.105957746505737, "step": 11868 }, { "epoch": 1.1318206787109376e-06, "step": 11868, "training_step_time": 17.86314868927002 }, { "epoch": 1.1319160461425782e-06, "model_forward_time": 5.09774112701416, "step": 11869 }, { "epoch": 1.1319160461425782e-06, "step": 11869, "training_step_time": 17.618957996368408 }, { "epoch": 1.1320114135742188e-06, "grad_norm": 1.312017560005188, "learning_rate": 9.614273972357779e-06, "loss": 0.0865, "step": 11870 }, { "epoch": 1.1320114135742188e-06, "model_forward_time": 5.096419334411621, "step": 11870 }, { "dynamics_loss_avg": 0.05263033788651228, "epoch": 1.1320114135742188e-06, "step": 11870 }, { "action_loss_avg": 0.03824545908719301, "epoch": 1.1320114135742188e-06, "step": 11870 }, { "arm_loss_avg": 0.08697711974382401, "epoch": 1.1320114135742188e-06, "step": 11870 }, { "ee_loss_avg": 0.16854802146553993, "epoch": 1.1320114135742188e-06, "step": 11870 }, { "aux_loss_avg": 0.015085427387384697, "epoch": 1.1320114135742188e-06, "step": 11870 }, { "epoch": 1.1320114135742188e-06, "step": 11870, "training_step_time": 17.236053705215454 }, { "epoch": 1.1321067810058594e-06, "model_forward_time": 5.093108892440796, "step": 11871 }, { "epoch": 1.1321067810058594e-06, "step": 11871, "training_step_time": 17.534770488739014 }, { "epoch": 1.1322021484375e-06, "model_forward_time": 5.0931854248046875, "step": 11872 }, { "epoch": 1.1322021484375e-06, "step": 11872, "training_step_time": 17.567117929458618 }, { "epoch": 1.1322975158691406e-06, "model_forward_time": 5.089406728744507, "step": 11873 }, { "epoch": 1.1322975158691406e-06, "step": 11873, "training_step_time": 17.776131868362427 }, { "epoch": 1.1323928833007813e-06, "model_forward_time": 5.092372417449951, "step": 11874 }, { "epoch": 1.1323928833007813e-06, "step": 11874, "training_step_time": 17.602570295333862 }, { "epoch": 1.1324882507324219e-06, "model_forward_time": 5.080185651779175, "step": 11875 }, { "epoch": 1.1324882507324219e-06, "step": 11875, "training_step_time": 17.599522352218628 }, { "epoch": 1.1325836181640625e-06, "model_forward_time": 5.270972728729248, "step": 11876 }, { "epoch": 1.1325836181640625e-06, "step": 11876, "training_step_time": 17.607277393341064 }, { "epoch": 1.132678985595703e-06, "model_forward_time": 5.08291220664978, "step": 11877 }, { "epoch": 1.132678985595703e-06, "step": 11877, "training_step_time": 17.60537099838257 }, { "epoch": 1.1327743530273437e-06, "model_forward_time": 3.8500449657440186, "step": 11878 }, { "epoch": 1.1327743530273437e-06, "step": 11878, "training_step_time": 17.838951349258423 }, { "epoch": 1.1328697204589843e-06, "model_forward_time": 5.062938690185547, "step": 11879 }, { "epoch": 1.1328697204589843e-06, "step": 11879, "training_step_time": 17.61228370666504 }, { "epoch": 1.132965087890625e-06, "grad_norm": 1.5737521648406982, "learning_rate": 9.613363699350575e-06, "loss": 0.0756, "step": 11880 }, { "epoch": 1.132965087890625e-06, "model_forward_time": 5.068509101867676, "step": 11880 }, { "dynamics_loss_avg": 0.029729702975600958, "epoch": 1.132965087890625e-06, "step": 11880 }, { "action_loss_avg": 0.027245097700506447, "epoch": 1.132965087890625e-06, "step": 11880 }, { "arm_loss_avg": 0.04915779605507851, "epoch": 1.132965087890625e-06, "step": 11880 }, { "ee_loss_avg": 0.09904592763632536, "epoch": 1.132965087890625e-06, "step": 11880 }, { "aux_loss_avg": 0.000923842575866729, "epoch": 1.132965087890625e-06, "step": 11880 }, { "epoch": 1.132965087890625e-06, "step": 11880, "training_step_time": 17.60865569114685 }, { "epoch": 1.1330604553222656e-06, "model_forward_time": 5.076551198959351, "step": 11881 }, { "epoch": 1.1330604553222656e-06, "step": 11881, "training_step_time": 17.597869873046875 }, { "epoch": 1.1331558227539062e-06, "model_forward_time": 5.331212043762207, "step": 11882 }, { "epoch": 1.1331558227539062e-06, "step": 11882, "training_step_time": 17.607781648635864 }, { "epoch": 1.1332511901855468e-06, "model_forward_time": 5.091121196746826, "step": 11883 }, { "epoch": 1.1332511901855468e-06, "step": 11883, "training_step_time": 17.79941725730896 }, { "epoch": 1.1333465576171874e-06, "model_forward_time": 5.095077276229858, "step": 11884 }, { "epoch": 1.1333465576171874e-06, "step": 11884, "training_step_time": 17.613346815109253 }, { "epoch": 1.133441925048828e-06, "model_forward_time": 5.094499826431274, "step": 11885 }, { "epoch": 1.133441925048828e-06, "step": 11885, "training_step_time": 17.634402990341187 }, { "epoch": 1.1335372924804688e-06, "model_forward_time": 5.300449848175049, "step": 11886 }, { "epoch": 1.1335372924804688e-06, "step": 11886, "training_step_time": 17.518767833709717 }, { "epoch": 1.1336326599121095e-06, "model_forward_time": 5.095595121383667, "step": 11887 }, { "epoch": 1.1336326599121095e-06, "step": 11887, "training_step_time": 17.557998657226562 }, { "epoch": 1.13372802734375e-06, "model_forward_time": 5.088160514831543, "step": 11888 }, { "epoch": 1.13372802734375e-06, "step": 11888, "training_step_time": 17.82918429374695 }, { "epoch": 1.1338233947753907e-06, "model_forward_time": 5.086524248123169, "step": 11889 }, { "epoch": 1.1338233947753907e-06, "step": 11889, "training_step_time": 17.611764907836914 }, { "epoch": 1.1339187622070313e-06, "grad_norm": 1.1902658939361572, "learning_rate": 9.612452396730077e-06, "loss": 0.0828, "step": 11890 }, { "epoch": 1.1339187622070313e-06, "model_forward_time": 5.0812296867370605, "step": 11890 }, { "dynamics_loss_avg": 0.047870814241468905, "epoch": 1.1339187622070313e-06, "step": 11890 }, { "action_loss_avg": 0.04382988605648279, "epoch": 1.1339187622070313e-06, "step": 11890 }, { "arm_loss_avg": 0.0686755096539855, "epoch": 1.1339187622070313e-06, "step": 11890 }, { "ee_loss_avg": 0.141009827144444, "epoch": 1.1339187622070313e-06, "step": 11890 }, { "aux_loss_avg": 0.006347967340843752, "epoch": 1.1339187622070313e-06, "step": 11890 }, { "epoch": 1.1339187622070313e-06, "step": 11890, "training_step_time": 17.62574577331543 }, { "epoch": 1.134014129638672e-06, "model_forward_time": 5.080419301986694, "step": 11891 }, { "epoch": 1.134014129638672e-06, "step": 11891, "training_step_time": 17.632083654403687 }, { "epoch": 1.1341094970703125e-06, "model_forward_time": 3.8469841480255127, "step": 11892 }, { "epoch": 1.1341094970703125e-06, "step": 11892, "training_step_time": 17.64526057243347 }, { "epoch": 1.1342048645019531e-06, "model_forward_time": 5.062744379043579, "step": 11893 }, { "epoch": 1.1342048645019531e-06, "step": 11893, "training_step_time": 17.83948564529419 }, { "epoch": 1.1343002319335938e-06, "model_forward_time": 5.068167448043823, "step": 11894 }, { "epoch": 1.1343002319335938e-06, "step": 11894, "training_step_time": 17.369037866592407 }, { "epoch": 1.1343955993652344e-06, "model_forward_time": 5.0804219245910645, "step": 11895 }, { "epoch": 1.1343955993652344e-06, "step": 11895, "training_step_time": 17.59888505935669 }, { "epoch": 1.134490966796875e-06, "model_forward_time": 5.088207006454468, "step": 11896 }, { "epoch": 1.134490966796875e-06, "step": 11896, "training_step_time": 17.57202172279358 }, { "epoch": 1.1345863342285156e-06, "model_forward_time": 5.096505641937256, "step": 11897 }, { "epoch": 1.1345863342285156e-06, "step": 11897, "training_step_time": 17.62298822402954 }, { "epoch": 1.1346817016601562e-06, "model_forward_time": 5.111645698547363, "step": 11898 }, { "epoch": 1.1346817016601562e-06, "step": 11898, "training_step_time": 17.899528741836548 }, { "epoch": 1.1347770690917968e-06, "model_forward_time": 5.1036834716796875, "step": 11899 }, { "epoch": 1.1347770690917968e-06, "step": 11899, "training_step_time": 17.649381637573242 }, { "epoch": 1.1348724365234374e-06, "grad_norm": 2.609520673751831, "learning_rate": 9.611540064699672e-06, "loss": 0.0914, "step": 11900 }, { "epoch": 1.1348724365234374e-06, "model_forward_time": 5.10847806930542, "step": 11900 }, { "dynamics_loss_avg": 0.03805336132645607, "epoch": 1.1348724365234374e-06, "step": 11900 }, { "action_loss_avg": 0.03855597414076328, "epoch": 1.1348724365234374e-06, "step": 11900 }, { "arm_loss_avg": 0.08055551405996084, "epoch": 1.1348724365234374e-06, "step": 11900 }, { "ee_loss_avg": 0.15013445913791656, "epoch": 1.1348724365234374e-06, "step": 11900 }, { "aux_loss_avg": 0.022253686882322654, "epoch": 1.1348724365234374e-06, "step": 11900 }, { "epoch": 1.1348724365234374e-06, "step": 11900, "training_step_time": 17.647908926010132 }, { "epoch": 1.134967803955078e-06, "model_forward_time": 5.337148904800415, "step": 11901 }, { "epoch": 1.134967803955078e-06, "step": 11901, "training_step_time": 17.455891132354736 }, { "epoch": 1.1350631713867187e-06, "model_forward_time": 5.090603590011597, "step": 11902 }, { "epoch": 1.1350631713867187e-06, "step": 11902, "training_step_time": 17.54778027534485 }, { "epoch": 1.1351585388183593e-06, "model_forward_time": 5.087358474731445, "step": 11903 }, { "epoch": 1.1351585388183593e-06, "step": 11903, "training_step_time": 17.583789825439453 }, { "epoch": 1.13525390625e-06, "model_forward_time": 5.08806586265564, "step": 11904 }, { "epoch": 1.13525390625e-06, "step": 11904, "training_step_time": 17.8007915019989 }, { "epoch": 1.1353492736816405e-06, "model_forward_time": 5.081483364105225, "step": 11905 }, { "epoch": 1.1353492736816405e-06, "step": 11905, "training_step_time": 17.391225337982178 }, { "epoch": 1.1354446411132813e-06, "model_forward_time": 5.285355567932129, "step": 11906 }, { "epoch": 1.1354446411132813e-06, "step": 11906, "training_step_time": 17.64536428451538 }, { "epoch": 1.135540008544922e-06, "model_forward_time": 5.081018924713135, "step": 11907 }, { "epoch": 1.135540008544922e-06, "step": 11907, "training_step_time": 17.58481478691101 }, { "epoch": 1.1356353759765626e-06, "model_forward_time": 5.085007905960083, "step": 11908 }, { "epoch": 1.1356353759765626e-06, "step": 11908, "training_step_time": 17.61874294281006 }, { "epoch": 1.1357307434082032e-06, "model_forward_time": 3.848719835281372, "step": 11909 }, { "epoch": 1.1357307434082032e-06, "step": 11909, "training_step_time": 17.87154722213745 }, { "epoch": 1.1358261108398438e-06, "grad_norm": 1.3482270240783691, "learning_rate": 9.610626703462975e-06, "loss": 0.0966, "step": 11910 }, { "epoch": 1.1358261108398438e-06, "model_forward_time": 5.059534549713135, "step": 11910 }, { "dynamics_loss_avg": 0.04320770027115941, "epoch": 1.1358261108398438e-06, "step": 11910 }, { "action_loss_avg": 0.04185437895357609, "epoch": 1.1358261108398438e-06, "step": 11910 }, { "arm_loss_avg": 0.05808967193588614, "epoch": 1.1358261108398438e-06, "step": 11910 }, { "ee_loss_avg": 0.1387556880712509, "epoch": 1.1358261108398438e-06, "step": 11910 }, { "aux_loss_avg": 0.0061881281377282, "epoch": 1.1358261108398438e-06, "step": 11910 }, { "epoch": 1.1358261108398438e-06, "step": 11910, "training_step_time": 17.64586067199707 }, { "epoch": 1.1359214782714844e-06, "model_forward_time": 5.069854974746704, "step": 11911 }, { "epoch": 1.1359214782714844e-06, "step": 11911, "training_step_time": 17.64910078048706 }, { "epoch": 1.136016845703125e-06, "model_forward_time": 5.31213641166687, "step": 11912 }, { "epoch": 1.136016845703125e-06, "step": 11912, "training_step_time": 17.646012544631958 }, { "epoch": 1.1361122131347656e-06, "model_forward_time": 5.086923599243164, "step": 11913 }, { "epoch": 1.1361122131347656e-06, "step": 11913, "training_step_time": 17.863159656524658 }, { "epoch": 1.1362075805664063e-06, "model_forward_time": 5.089378356933594, "step": 11914 }, { "epoch": 1.1362075805664063e-06, "step": 11914, "training_step_time": 17.62370204925537 }, { "epoch": 1.1363029479980469e-06, "model_forward_time": 5.091454267501831, "step": 11915 }, { "epoch": 1.1363029479980469e-06, "step": 11915, "training_step_time": 17.610506057739258 }, { "epoch": 1.1363983154296875e-06, "model_forward_time": 5.09736180305481, "step": 11916 }, { "epoch": 1.1363983154296875e-06, "step": 11916, "training_step_time": 17.60211968421936 }, { "epoch": 1.1364936828613281e-06, "model_forward_time": 5.2940673828125, "step": 11917 }, { "epoch": 1.1364936828613281e-06, "step": 11917, "training_step_time": 17.59010648727417 }, { "epoch": 1.1365890502929687e-06, "model_forward_time": 5.090397357940674, "step": 11918 }, { "epoch": 1.1365890502929687e-06, "step": 11918, "training_step_time": 17.806998014450073 }, { "epoch": 1.1366844177246093e-06, "model_forward_time": 5.084545850753784, "step": 11919 }, { "epoch": 1.1366844177246093e-06, "step": 11919, "training_step_time": 17.57177734375 }, { "epoch": 1.13677978515625e-06, "grad_norm": 1.9869722127914429, "learning_rate": 9.609712313223829e-06, "loss": 0.0863, "step": 11920 }, { "epoch": 1.13677978515625e-06, "model_forward_time": 5.083243131637573, "step": 11920 }, { "dynamics_loss_avg": 0.035661706048995254, "epoch": 1.13677978515625e-06, "step": 11920 }, { "action_loss_avg": 0.02991598043590784, "epoch": 1.13677978515625e-06, "step": 11920 }, { "arm_loss_avg": 0.051196112483739856, "epoch": 1.13677978515625e-06, "step": 11920 }, { "ee_loss_avg": 0.136593568790704, "epoch": 1.13677978515625e-06, "step": 11920 }, { "aux_loss_avg": 0.0010250480845570564, "epoch": 1.13677978515625e-06, "step": 11920 }, { "epoch": 1.13677978515625e-06, "step": 11920, "training_step_time": 17.574086666107178 }, { "epoch": 1.1368751525878906e-06, "model_forward_time": 5.079990863800049, "step": 11921 }, { "epoch": 1.1368751525878906e-06, "step": 11921, "training_step_time": 17.566261053085327 }, { "epoch": 1.1369705200195312e-06, "model_forward_time": 5.085080146789551, "step": 11922 }, { "epoch": 1.1369705200195312e-06, "step": 11922, "training_step_time": 17.40834403038025 }, { "epoch": 1.1370658874511718e-06, "model_forward_time": 3.849651575088501, "step": 11923 }, { "epoch": 1.1370658874511718e-06, "step": 11923, "training_step_time": 17.48037099838257 }, { "epoch": 1.1371612548828124e-06, "model_forward_time": 5.055704832077026, "step": 11924 }, { "epoch": 1.1371612548828124e-06, "step": 11924, "training_step_time": 17.725703239440918 }, { "epoch": 1.137256622314453e-06, "model_forward_time": 5.062135696411133, "step": 11925 }, { "epoch": 1.137256622314453e-06, "step": 11925, "training_step_time": 17.62750220298767 }, { "epoch": 1.1373519897460938e-06, "model_forward_time": 5.070709705352783, "step": 11926 }, { "epoch": 1.1373519897460938e-06, "step": 11926, "training_step_time": 17.56583261489868 }, { "epoch": 1.1374473571777345e-06, "model_forward_time": 5.079140901565552, "step": 11927 }, { "epoch": 1.1374473571777345e-06, "step": 11927, "training_step_time": 17.592167615890503 }, { "epoch": 1.137542724609375e-06, "model_forward_time": 5.088823080062866, "step": 11928 }, { "epoch": 1.137542724609375e-06, "step": 11928, "training_step_time": 17.814967155456543 }, { "epoch": 1.1376380920410157e-06, "model_forward_time": 5.088716506958008, "step": 11929 }, { "epoch": 1.1376380920410157e-06, "step": 11929, "training_step_time": 17.60245943069458 }, { "epoch": 1.1377334594726563e-06, "grad_norm": 1.1753021478652954, "learning_rate": 9.60879689418631e-06, "loss": 0.0806, "step": 11930 }, { "epoch": 1.1377334594726563e-06, "model_forward_time": 3.856407642364502, "step": 11930 }, { "dynamics_loss_avg": 0.046756420936435464, "epoch": 1.1377334594726563e-06, "step": 11930 }, { "action_loss_avg": 0.029212008509784938, "epoch": 1.1377334594726563e-06, "step": 11930 }, { "arm_loss_avg": 0.04432107098400593, "epoch": 1.1377334594726563e-06, "step": 11930 }, { "ee_loss_avg": 0.04970877133309841, "epoch": 1.1377334594726563e-06, "step": 11930 }, { "aux_loss_avg": 0.0017400134704075754, "epoch": 1.1377334594726563e-06, "step": 11930 }, { "epoch": 1.1377334594726563e-06, "step": 11930, "training_step_time": 17.6142635345459 }, { "epoch": 1.137828826904297e-06, "model_forward_time": 5.06680965423584, "step": 11931 }, { "epoch": 1.137828826904297e-06, "step": 11931, "training_step_time": 17.621413946151733 }, { "epoch": 1.1379241943359375e-06, "model_forward_time": 5.078120946884155, "step": 11932 }, { "epoch": 1.1379241943359375e-06, "step": 11932, "training_step_time": 17.607981204986572 }, { "epoch": 1.1380195617675782e-06, "model_forward_time": 5.083606958389282, "step": 11933 }, { "epoch": 1.1380195617675782e-06, "step": 11933, "training_step_time": 17.808257818222046 }, { "epoch": 1.1381149291992188e-06, "model_forward_time": 5.088317155838013, "step": 11934 }, { "epoch": 1.1381149291992188e-06, "step": 11934, "training_step_time": 17.60030508041382 }, { "epoch": 1.1382102966308594e-06, "model_forward_time": 5.094321250915527, "step": 11935 }, { "epoch": 1.1382102966308594e-06, "step": 11935, "training_step_time": 17.60335683822632 }, { "epoch": 1.1383056640625e-06, "model_forward_time": 3.8644096851348877, "step": 11936 }, { "epoch": 1.1383056640625e-06, "step": 11936, "training_step_time": 17.62717056274414 }, { "epoch": 1.1384010314941406e-06, "model_forward_time": 5.0644567012786865, "step": 11937 }, { "epoch": 1.1384010314941406e-06, "step": 11937, "training_step_time": 17.60337233543396 }, { "epoch": 1.1384963989257812e-06, "model_forward_time": 5.075369358062744, "step": 11938 }, { "epoch": 1.1384963989257812e-06, "step": 11938, "training_step_time": 17.414045810699463 }, { "epoch": 1.1385917663574218e-06, "model_forward_time": 5.084335565567017, "step": 11939 }, { "epoch": 1.1385917663574218e-06, "step": 11939, "training_step_time": 17.746469974517822 }, { "epoch": 1.1386871337890625e-06, "grad_norm": 1.6259139776229858, "learning_rate": 9.60788044655472e-06, "loss": 0.1037, "step": 11940 }, { "epoch": 1.1386871337890625e-06, "model_forward_time": 5.090007305145264, "step": 11940 }, { "dynamics_loss_avg": 0.048386655002832415, "epoch": 1.1386871337890625e-06, "step": 11940 }, { "action_loss_avg": 0.04975305460393429, "epoch": 1.1386871337890625e-06, "step": 11940 }, { "arm_loss_avg": 0.07143904194235802, "epoch": 1.1386871337890625e-06, "step": 11940 }, { "ee_loss_avg": 0.11282284380868077, "epoch": 1.1386871337890625e-06, "step": 11940 }, { "aux_loss_avg": 0.003410574427107349, "epoch": 1.1386871337890625e-06, "step": 11940 }, { "epoch": 1.1386871337890625e-06, "step": 11940, "training_step_time": 17.558576107025146 }, { "epoch": 1.138782501220703e-06, "model_forward_time": 5.3377251625061035, "step": 11941 }, { "epoch": 1.138782501220703e-06, "step": 11941, "training_step_time": 17.596210479736328 }, { "epoch": 1.1388778686523437e-06, "model_forward_time": 5.095897912979126, "step": 11942 }, { "epoch": 1.1388778686523437e-06, "step": 11942, "training_step_time": 17.622671127319336 }, { "epoch": 1.1389732360839843e-06, "model_forward_time": 5.092895984649658, "step": 11943 }, { "epoch": 1.1389732360839843e-06, "step": 11943, "training_step_time": 17.61283779144287 }, { "epoch": 1.139068603515625e-06, "model_forward_time": 5.094177722930908, "step": 11944 }, { "epoch": 1.139068603515625e-06, "step": 11944, "training_step_time": 17.830073595046997 }, { "epoch": 1.1391639709472655e-06, "model_forward_time": 5.0899152755737305, "step": 11945 }, { "epoch": 1.1391639709472655e-06, "step": 11945, "training_step_time": 17.64247488975525 }, { "epoch": 1.1392593383789064e-06, "model_forward_time": 5.296534776687622, "step": 11946 }, { "epoch": 1.1392593383789064e-06, "step": 11946, "training_step_time": 17.639204502105713 }, { "epoch": 1.139354705810547e-06, "model_forward_time": 3.8529114723205566, "step": 11947 }, { "epoch": 1.139354705810547e-06, "step": 11947, "training_step_time": 17.63589572906494 }, { "epoch": 1.1394500732421876e-06, "model_forward_time": 5.062105655670166, "step": 11948 }, { "epoch": 1.1394500732421876e-06, "step": 11948, "training_step_time": 17.855817794799805 }, { "epoch": 1.1395454406738282e-06, "model_forward_time": 3.8350462913513184, "step": 11949 }, { "epoch": 1.1395454406738282e-06, "step": 11949, "training_step_time": 17.610001802444458 }, { "epoch": 1.1396408081054688e-06, "grad_norm": 1.1198830604553223, "learning_rate": 9.606962970533596e-06, "loss": 0.0964, "step": 11950 }, { "epoch": 1.1396408081054688e-06, "model_forward_time": 3.8269002437591553, "step": 11950 }, { "dynamics_loss_avg": 0.052267646230757234, "epoch": 1.1396408081054688e-06, "step": 11950 }, { "action_loss_avg": 0.03286650106310844, "epoch": 1.1396408081054688e-06, "step": 11950 }, { "arm_loss_avg": 0.05455860830843449, "epoch": 1.1396408081054688e-06, "step": 11950 }, { "ee_loss_avg": 0.1311964536085725, "epoch": 1.1396408081054688e-06, "step": 11950 }, { "aux_loss_avg": 0.001715482189320028, "epoch": 1.1396408081054688e-06, "step": 11950 }, { "epoch": 1.1396408081054688e-06, "step": 11950, "training_step_time": 17.607630252838135 }, { "epoch": 1.1397361755371094e-06, "model_forward_time": 5.053278684616089, "step": 11951 }, { "epoch": 1.1397361755371094e-06, "step": 11951, "training_step_time": 17.610371112823486 }, { "epoch": 1.13983154296875e-06, "model_forward_time": 4.019287347793579, "step": 11952 }, { "epoch": 1.13983154296875e-06, "step": 11952, "training_step_time": 17.595299243927002 }, { "epoch": 1.1399269104003907e-06, "model_forward_time": 5.06046462059021, "step": 11953 }, { "epoch": 1.1399269104003907e-06, "step": 11953, "training_step_time": 17.783637285232544 }, { "epoch": 1.1400222778320313e-06, "model_forward_time": 5.0903074741363525, "step": 11954 }, { "epoch": 1.1400222778320313e-06, "step": 11954, "training_step_time": 17.5770366191864 }, { "epoch": 1.1401176452636719e-06, "model_forward_time": 5.107441186904907, "step": 11955 }, { "epoch": 1.1401176452636719e-06, "step": 11955, "training_step_time": 17.6093327999115 }, { "epoch": 1.1402130126953125e-06, "model_forward_time": 5.115488529205322, "step": 11956 }, { "epoch": 1.1402130126953125e-06, "step": 11956, "training_step_time": 17.572774648666382 }, { "epoch": 1.1403083801269531e-06, "model_forward_time": 5.309513568878174, "step": 11957 }, { "epoch": 1.1403083801269531e-06, "step": 11957, "training_step_time": 17.66258955001831 }, { "epoch": 1.1404037475585937e-06, "model_forward_time": 5.106401681900024, "step": 11958 }, { "epoch": 1.1404037475585937e-06, "step": 11958, "training_step_time": 17.888817310333252 }, { "epoch": 1.1404991149902343e-06, "model_forward_time": 3.8588943481445312, "step": 11959 }, { "epoch": 1.1404991149902343e-06, "step": 11959, "training_step_time": 17.644275426864624 }, { "epoch": 1.140594482421875e-06, "grad_norm": 1.3128235340118408, "learning_rate": 9.606044466327695e-06, "loss": 0.0847, "step": 11960 }, { "epoch": 1.140594482421875e-06, "model_forward_time": 5.061269283294678, "step": 11960 }, { "dynamics_loss_avg": 0.03825401067733765, "epoch": 1.140594482421875e-06, "step": 11960 }, { "action_loss_avg": 0.0422661691904068, "epoch": 1.140594482421875e-06, "step": 11960 }, { "arm_loss_avg": 0.05317090079188347, "epoch": 1.140594482421875e-06, "step": 11960 }, { "ee_loss_avg": 0.16851730570197104, "epoch": 1.140594482421875e-06, "step": 11960 }, { "aux_loss_avg": 0.0023645187757210806, "epoch": 1.140594482421875e-06, "step": 11960 }, { "epoch": 1.140594482421875e-06, "step": 11960, "training_step_time": 17.630066394805908 }, { "epoch": 1.1406898498535156e-06, "model_forward_time": 5.06646203994751, "step": 11961 }, { "epoch": 1.1406898498535156e-06, "step": 11961, "training_step_time": 17.62474036216736 }, { "epoch": 1.1407852172851562e-06, "model_forward_time": 5.308408737182617, "step": 11962 }, { "epoch": 1.1407852172851562e-06, "step": 11962, "training_step_time": 17.618560314178467 }, { "epoch": 1.1408805847167968e-06, "model_forward_time": 5.081533193588257, "step": 11963 }, { "epoch": 1.1408805847167968e-06, "step": 11963, "training_step_time": 17.84416651725769 }, { "epoch": 1.1409759521484374e-06, "model_forward_time": 5.088301181793213, "step": 11964 }, { "epoch": 1.1409759521484374e-06, "step": 11964, "training_step_time": 17.615270376205444 }, { "epoch": 1.141071319580078e-06, "model_forward_time": 5.08984375, "step": 11965 }, { "epoch": 1.141071319580078e-06, "step": 11965, "training_step_time": 17.636096954345703 }, { "epoch": 1.1411666870117189e-06, "model_forward_time": 5.0933332443237305, "step": 11966 }, { "epoch": 1.1411666870117189e-06, "step": 11966, "training_step_time": 17.61183786392212 }, { "epoch": 1.1412620544433595e-06, "model_forward_time": 5.286551237106323, "step": 11967 }, { "epoch": 1.1412620544433595e-06, "step": 11967, "training_step_time": 17.6054949760437 }, { "epoch": 1.141357421875e-06, "model_forward_time": 5.097006559371948, "step": 11968 }, { "epoch": 1.141357421875e-06, "step": 11968, "training_step_time": 17.83225417137146 }, { "epoch": 1.1414527893066407e-06, "model_forward_time": 5.090752363204956, "step": 11969 }, { "epoch": 1.1414527893066407e-06, "step": 11969, "training_step_time": 17.617492198944092 }, { "epoch": 1.1415481567382813e-06, "grad_norm": 1.401387095451355, "learning_rate": 9.605124934142013e-06, "loss": 0.0806, "step": 11970 }, { "epoch": 1.1415481567382813e-06, "model_forward_time": 5.0918049812316895, "step": 11970 }, { "dynamics_loss_avg": 0.040068515297025445, "epoch": 1.1415481567382813e-06, "step": 11970 }, { "action_loss_avg": 0.03563227355480194, "epoch": 1.1415481567382813e-06, "step": 11970 }, { "arm_loss_avg": 0.08263516072183848, "epoch": 1.1415481567382813e-06, "step": 11970 }, { "ee_loss_avg": 0.09405360072851181, "epoch": 1.1415481567382813e-06, "step": 11970 }, { "aux_loss_avg": 0.012103437172481791, "epoch": 1.1415481567382813e-06, "step": 11970 }, { "epoch": 1.1415481567382813e-06, "step": 11970, "training_step_time": 17.621018886566162 }, { "epoch": 1.141643524169922e-06, "model_forward_time": 5.090403079986572, "step": 11971 }, { "epoch": 1.141643524169922e-06, "step": 11971, "training_step_time": 17.62340259552002 }, { "epoch": 1.1417388916015625e-06, "model_forward_time": 3.8546347618103027, "step": 11972 }, { "epoch": 1.1417388916015625e-06, "step": 11972, "training_step_time": 17.626567602157593 }, { "epoch": 1.1418342590332032e-06, "model_forward_time": 5.061050176620483, "step": 11973 }, { "epoch": 1.1418342590332032e-06, "step": 11973, "training_step_time": 17.816206693649292 }, { "epoch": 1.1419296264648438e-06, "model_forward_time": 5.068765163421631, "step": 11974 }, { "epoch": 1.1419296264648438e-06, "step": 11974, "training_step_time": 17.61835813522339 }, { "epoch": 1.1420249938964844e-06, "model_forward_time": 5.078979253768921, "step": 11975 }, { "epoch": 1.1420249938964844e-06, "step": 11975, "training_step_time": 17.568893909454346 }, { "epoch": 1.142120361328125e-06, "model_forward_time": 5.096149206161499, "step": 11976 }, { "epoch": 1.142120361328125e-06, "step": 11976, "training_step_time": 17.646312475204468 }, { "epoch": 1.1422157287597656e-06, "model_forward_time": 5.109745979309082, "step": 11977 }, { "epoch": 1.1422157287597656e-06, "step": 11977, "training_step_time": 17.63294219970703 }, { "epoch": 1.1423110961914062e-06, "model_forward_time": 3.8667471408843994, "step": 11978 }, { "epoch": 1.1423110961914062e-06, "step": 11978, "training_step_time": 17.879365921020508 }, { "epoch": 1.1424064636230468e-06, "model_forward_time": 5.07775616645813, "step": 11979 }, { "epoch": 1.1424064636230468e-06, "step": 11979, "training_step_time": 17.618619203567505 }, { "epoch": 1.1425018310546875e-06, "grad_norm": 1.7082233428955078, "learning_rate": 9.604204374181771e-06, "loss": 0.0969, "step": 11980 }, { "epoch": 1.1425018310546875e-06, "model_forward_time": 5.079258441925049, "step": 11980 }, { "dynamics_loss_avg": 0.04379959050565958, "epoch": 1.1425018310546875e-06, "step": 11980 }, { "action_loss_avg": 0.03581580277532339, "epoch": 1.1425018310546875e-06, "step": 11980 }, { "arm_loss_avg": 0.07066014148294926, "epoch": 1.1425018310546875e-06, "step": 11980 }, { "ee_loss_avg": 0.08061783984303475, "epoch": 1.1425018310546875e-06, "step": 11980 }, { "aux_loss_avg": 0.0018373971252003685, "epoch": 1.1425018310546875e-06, "step": 11980 }, { "epoch": 1.1425018310546875e-06, "step": 11980, "training_step_time": 17.611972093582153 }, { "epoch": 1.142597198486328e-06, "model_forward_time": 5.087725877761841, "step": 11981 }, { "epoch": 1.142597198486328e-06, "step": 11981, "training_step_time": 17.605103254318237 }, { "epoch": 1.1426925659179687e-06, "model_forward_time": 5.088764190673828, "step": 11982 }, { "epoch": 1.1426925659179687e-06, "step": 11982, "training_step_time": 17.592551231384277 }, { "epoch": 1.1427879333496093e-06, "model_forward_time": 5.344850301742554, "step": 11983 }, { "epoch": 1.1427879333496093e-06, "step": 11983, "training_step_time": 17.81867218017578 }, { "epoch": 1.14288330078125e-06, "model_forward_time": 5.095634698867798, "step": 11984 }, { "epoch": 1.14288330078125e-06, "step": 11984, "training_step_time": 17.593830823898315 }, { "epoch": 1.1429786682128905e-06, "model_forward_time": 5.09560489654541, "step": 11985 }, { "epoch": 1.1429786682128905e-06, "step": 11985, "training_step_time": 17.63818645477295 }, { "epoch": 1.1430740356445314e-06, "model_forward_time": 5.090389013290405, "step": 11986 }, { "epoch": 1.1430740356445314e-06, "step": 11986, "training_step_time": 17.387920379638672 }, { "epoch": 1.143169403076172e-06, "model_forward_time": 5.093234539031982, "step": 11987 }, { "epoch": 1.143169403076172e-06, "step": 11987, "training_step_time": 17.531811237335205 }, { "epoch": 1.1432647705078126e-06, "model_forward_time": 5.089123010635376, "step": 11988 }, { "epoch": 1.1432647705078126e-06, "step": 11988, "training_step_time": 17.4095938205719 }, { "epoch": 1.1433601379394532e-06, "model_forward_time": 5.0863471031188965, "step": 11989 }, { "epoch": 1.1433601379394532e-06, "step": 11989, "training_step_time": 17.73726201057434 }, { "epoch": 1.1434555053710938e-06, "grad_norm": 1.6934261322021484, "learning_rate": 9.603282786652421e-06, "loss": 0.1082, "step": 11990 }, { "epoch": 1.1434555053710938e-06, "model_forward_time": 5.0813798904418945, "step": 11990 }, { "dynamics_loss_avg": 0.03862098315730691, "epoch": 1.1434555053710938e-06, "step": 11990 }, { "action_loss_avg": 0.02906256541609764, "epoch": 1.1434555053710938e-06, "step": 11990 }, { "arm_loss_avg": 0.04713092762976885, "epoch": 1.1434555053710938e-06, "step": 11990 }, { "ee_loss_avg": 0.06170467138290405, "epoch": 1.1434555053710938e-06, "step": 11990 }, { "aux_loss_avg": 0.002676962991245091, "epoch": 1.1434555053710938e-06, "step": 11990 }, { "epoch": 1.1434555053710938e-06, "step": 11990, "training_step_time": 17.624863624572754 }, { "epoch": 1.1435508728027344e-06, "model_forward_time": 5.07919716835022, "step": 11991 }, { "epoch": 1.1435508728027344e-06, "step": 11991, "training_step_time": 17.594083786010742 }, { "epoch": 1.143646240234375e-06, "model_forward_time": 5.078190088272095, "step": 11992 }, { "epoch": 1.143646240234375e-06, "step": 11992, "training_step_time": 17.618200302124023 }, { "epoch": 1.1437416076660157e-06, "model_forward_time": 3.8455679416656494, "step": 11993 }, { "epoch": 1.1437416076660157e-06, "step": 11993, "training_step_time": 17.630558967590332 }, { "epoch": 1.1438369750976563e-06, "model_forward_time": 5.057792901992798, "step": 11994 }, { "epoch": 1.1438369750976563e-06, "step": 11994, "training_step_time": 17.82965922355652 }, { "epoch": 1.1439323425292969e-06, "model_forward_time": 5.0638649463653564, "step": 11995 }, { "epoch": 1.1439323425292969e-06, "step": 11995, "training_step_time": 17.590104341506958 }, { "epoch": 1.1440277099609375e-06, "model_forward_time": 5.07310938835144, "step": 11996 }, { "epoch": 1.1440277099609375e-06, "step": 11996, "training_step_time": 17.538419008255005 }, { "epoch": 1.1441230773925781e-06, "model_forward_time": 5.082952499389648, "step": 11997 }, { "epoch": 1.1441230773925781e-06, "step": 11997, "training_step_time": 17.36516785621643 }, { "epoch": 1.1442184448242187e-06, "model_forward_time": 5.277294158935547, "step": 11998 }, { "epoch": 1.1442184448242187e-06, "step": 11998, "training_step_time": 17.510308265686035 }, { "epoch": 1.1443138122558593e-06, "model_forward_time": 5.0931854248046875, "step": 11999 }, { "epoch": 1.1443138122558593e-06, "step": 11999, "training_step_time": 17.762042999267578 }, { "epoch": 1.1444091796875e-06, "grad_norm": 1.3780821561813354, "learning_rate": 9.602360171759644e-06, "loss": 0.0978, "step": 12000 }, { "epoch": 1.1444091796875e-06, "model_forward_time": 5.08962345123291, "step": 12000 }, { "dynamics_loss_avg": 0.0382455094717443, "epoch": 1.1444091796875e-06, "step": 12000 }, { "action_loss_avg": 0.031270038802176714, "epoch": 1.1444091796875e-06, "step": 12000 }, { "arm_loss_avg": 0.056630543619394305, "epoch": 1.1444091796875e-06, "step": 12000 }, { "ee_loss_avg": 0.09708279073238373, "epoch": 1.1444091796875e-06, "step": 12000 }, { "aux_loss_avg": 0.003897432453231886, "epoch": 1.1444091796875e-06, "step": 12000 }, { "epoch": 1.1444091796875e-06, "step": 12000, "training_step_time": 17.570386171340942 }, { "epoch": 1.1445045471191406e-06, "model_forward_time": 5.093254089355469, "step": 12001 }, { "epoch": 1.1445045471191406e-06, "step": 12001, "training_step_time": 17.592973232269287 }, { "epoch": 1.1445999145507812e-06, "model_forward_time": 5.087019681930542, "step": 12002 }, { "epoch": 1.1445999145507812e-06, "step": 12002, "training_step_time": 17.42642307281494 }, { "epoch": 1.1446952819824218e-06, "model_forward_time": 5.088361501693726, "step": 12003 }, { "epoch": 1.1446952819824218e-06, "step": 12003, "training_step_time": 17.526984691619873 }, { "epoch": 1.1447906494140624e-06, "model_forward_time": 5.082641839981079, "step": 12004 }, { "epoch": 1.1447906494140624e-06, "step": 12004, "training_step_time": 17.75614595413208 }, { "epoch": 1.144886016845703e-06, "model_forward_time": 5.076250076293945, "step": 12005 }, { "epoch": 1.144886016845703e-06, "step": 12005, "training_step_time": 17.60199546813965 }, { "epoch": 1.1449813842773436e-06, "model_forward_time": 5.076035976409912, "step": 12006 }, { "epoch": 1.1449813842773436e-06, "step": 12006, "training_step_time": 17.603347063064575 }, { "epoch": 1.1450767517089845e-06, "model_forward_time": 5.27286434173584, "step": 12007 }, { "epoch": 1.1450767517089845e-06, "step": 12007, "training_step_time": 17.601980447769165 }, { "epoch": 1.145172119140625e-06, "model_forward_time": 5.076810598373413, "step": 12008 }, { "epoch": 1.145172119140625e-06, "step": 12008, "training_step_time": 17.607804775238037 }, { "epoch": 1.1452674865722657e-06, "model_forward_time": 5.081373929977417, "step": 12009 }, { "epoch": 1.1452674865722657e-06, "step": 12009, "training_step_time": 17.832079648971558 }, { "epoch": 1.1453628540039063e-06, "grad_norm": 1.6947396993637085, "learning_rate": 9.601436529709346e-06, "loss": 0.1002, "step": 12010 }, { "epoch": 1.1453628540039063e-06, "model_forward_time": 5.0786943435668945, "step": 12010 }, { "dynamics_loss_avg": 0.045829647406935695, "epoch": 1.1453628540039063e-06, "step": 12010 }, { "action_loss_avg": 0.03840859234333038, "epoch": 1.1453628540039063e-06, "step": 12010 }, { "arm_loss_avg": 0.054145061410963535, "epoch": 1.1453628540039063e-06, "step": 12010 }, { "ee_loss_avg": 0.08012436646968127, "epoch": 1.1453628540039063e-06, "step": 12010 }, { "aux_loss_avg": 0.001381686478271149, "epoch": 1.1453628540039063e-06, "step": 12010 }, { "epoch": 1.1453628540039063e-06, "step": 12010, "training_step_time": 17.59282422065735 }, { "epoch": 1.145458221435547e-06, "model_forward_time": 5.083334684371948, "step": 12011 }, { "epoch": 1.145458221435547e-06, "step": 12011, "training_step_time": 17.583669662475586 }, { "epoch": 1.1455535888671875e-06, "model_forward_time": 5.084221363067627, "step": 12012 }, { "epoch": 1.1455535888671875e-06, "step": 12012, "training_step_time": 17.417751789093018 }, { "epoch": 1.1456489562988282e-06, "model_forward_time": 5.086627244949341, "step": 12013 }, { "epoch": 1.1456489562988282e-06, "step": 12013, "training_step_time": 17.499727725982666 }, { "epoch": 1.1457443237304688e-06, "model_forward_time": 3.8502981662750244, "step": 12014 }, { "epoch": 1.1457443237304688e-06, "step": 12014, "training_step_time": 17.71833634376526 }, { "epoch": 1.1458396911621094e-06, "model_forward_time": 5.058800458908081, "step": 12015 }, { "epoch": 1.1458396911621094e-06, "step": 12015, "training_step_time": 17.561962604522705 }, { "epoch": 1.14593505859375e-06, "model_forward_time": 5.071656703948975, "step": 12016 }, { "epoch": 1.14593505859375e-06, "step": 12016, "training_step_time": 17.602290868759155 }, { "epoch": 1.1460304260253906e-06, "model_forward_time": 5.078979015350342, "step": 12017 }, { "epoch": 1.1460304260253906e-06, "step": 12017, "training_step_time": 17.495777368545532 }, { "epoch": 1.1461257934570312e-06, "model_forward_time": 5.282100439071655, "step": 12018 }, { "epoch": 1.1461257934570312e-06, "step": 12018, "training_step_time": 17.557295322418213 }, { "epoch": 1.1462211608886718e-06, "model_forward_time": 5.094777345657349, "step": 12019 }, { "epoch": 1.1462211608886718e-06, "step": 12019, "training_step_time": 17.828598499298096 }, { "epoch": 1.1463165283203125e-06, "grad_norm": 1.7716317176818848, "learning_rate": 9.600511860707668e-06, "loss": 0.102, "step": 12020 }, { "epoch": 1.1463165283203125e-06, "model_forward_time": 3.8599586486816406, "step": 12020 }, { "dynamics_loss_avg": 0.03970423494465649, "epoch": 1.1463165283203125e-06, "step": 12020 }, { "action_loss_avg": 0.034422137588262555, "epoch": 1.1463165283203125e-06, "step": 12020 }, { "arm_loss_avg": 0.07600553259253502, "epoch": 1.1463165283203125e-06, "step": 12020 }, { "ee_loss_avg": 0.11356160696595907, "epoch": 1.1463165283203125e-06, "step": 12020 }, { "aux_loss_avg": 0.009242296020966023, "epoch": 1.1463165283203125e-06, "step": 12020 }, { "epoch": 1.1463165283203125e-06, "step": 12020, "training_step_time": 17.607953310012817 }, { "epoch": 1.146411895751953e-06, "model_forward_time": 5.06469202041626, "step": 12021 }, { "epoch": 1.146411895751953e-06, "step": 12021, "training_step_time": 17.62952446937561 }, { "epoch": 1.1465072631835937e-06, "model_forward_time": 5.076239109039307, "step": 12022 }, { "epoch": 1.1465072631835937e-06, "step": 12022, "training_step_time": 17.403563022613525 }, { "epoch": 1.1466026306152343e-06, "model_forward_time": 5.32652735710144, "step": 12023 }, { "epoch": 1.1466026306152343e-06, "step": 12023, "training_step_time": 17.53442096710205 }, { "epoch": 1.146697998046875e-06, "model_forward_time": 5.094120979309082, "step": 12024 }, { "epoch": 1.146697998046875e-06, "step": 12024, "training_step_time": 17.81458306312561 }, { "epoch": 1.1467933654785155e-06, "model_forward_time": 5.095001459121704, "step": 12025 }, { "epoch": 1.1467933654785155e-06, "step": 12025, "training_step_time": 17.638695001602173 }, { "epoch": 1.1468887329101561e-06, "model_forward_time": 5.094740152359009, "step": 12026 }, { "epoch": 1.1468887329101561e-06, "step": 12026, "training_step_time": 17.610668659210205 }, { "epoch": 1.146984100341797e-06, "model_forward_time": 5.096033573150635, "step": 12027 }, { "epoch": 1.146984100341797e-06, "step": 12027, "training_step_time": 17.625261783599854 }, { "epoch": 1.1470794677734376e-06, "model_forward_time": 3.8577797412872314, "step": 12028 }, { "epoch": 1.1470794677734376e-06, "step": 12028, "training_step_time": 17.626172304153442 }, { "epoch": 1.1471748352050782e-06, "model_forward_time": 5.060509204864502, "step": 12029 }, { "epoch": 1.1471748352050782e-06, "step": 12029, "training_step_time": 17.6295964717865 }, { "epoch": 1.1472702026367188e-06, "grad_norm": 1.4658993482589722, "learning_rate": 9.599586164960981e-06, "loss": 0.1017, "step": 12030 }, { "epoch": 1.1472702026367188e-06, "model_forward_time": 5.072649240493774, "step": 12030 }, { "dynamics_loss_avg": 0.042346786335110666, "epoch": 1.1472702026367188e-06, "step": 12030 }, { "action_loss_avg": 0.03195855636149645, "epoch": 1.1472702026367188e-06, "step": 12030 }, { "arm_loss_avg": 0.059851495921611785, "epoch": 1.1472702026367188e-06, "step": 12030 }, { "ee_loss_avg": 0.10245206020772457, "epoch": 1.1472702026367188e-06, "step": 12030 }, { "aux_loss_avg": 0.00294455491239205, "epoch": 1.1472702026367188e-06, "step": 12030 }, { "epoch": 1.1472702026367188e-06, "step": 12030, "training_step_time": 17.624598264694214 }, { "epoch": 1.1473655700683594e-06, "model_forward_time": 5.081729888916016, "step": 12031 }, { "epoch": 1.1473655700683594e-06, "step": 12031, "training_step_time": 17.52712321281433 }, { "epoch": 1.1474609375e-06, "model_forward_time": 5.086388826370239, "step": 12032 }, { "epoch": 1.1474609375e-06, "step": 12032, "training_step_time": 17.567620277404785 }, { "epoch": 1.1475563049316407e-06, "model_forward_time": 5.338791847229004, "step": 12033 }, { "epoch": 1.1475563049316407e-06, "step": 12033, "training_step_time": 17.520026206970215 }, { "epoch": 1.1476516723632813e-06, "model_forward_time": 3.853330135345459, "step": 12034 }, { "epoch": 1.1476516723632813e-06, "step": 12034, "training_step_time": 17.510912895202637 }, { "epoch": 1.1477470397949219e-06, "model_forward_time": 5.0608580112457275, "step": 12035 }, { "epoch": 1.1477470397949219e-06, "step": 12035, "training_step_time": 17.742900133132935 }, { "epoch": 1.1478424072265625e-06, "model_forward_time": 5.071948528289795, "step": 12036 }, { "epoch": 1.1478424072265625e-06, "step": 12036, "training_step_time": 17.62893271446228 }, { "epoch": 1.1479377746582031e-06, "model_forward_time": 5.081814765930176, "step": 12037 }, { "epoch": 1.1479377746582031e-06, "step": 12037, "training_step_time": 17.60746431350708 }, { "epoch": 1.1480331420898437e-06, "model_forward_time": 5.291114091873169, "step": 12038 }, { "epoch": 1.1480331420898437e-06, "step": 12038, "training_step_time": 17.626174211502075 }, { "epoch": 1.1481285095214843e-06, "model_forward_time": 5.094040393829346, "step": 12039 }, { "epoch": 1.1481285095214843e-06, "step": 12039, "training_step_time": 17.642489433288574 }, { "epoch": 1.148223876953125e-06, "grad_norm": 1.7216354608535767, "learning_rate": 9.598659442675879e-06, "loss": 0.0964, "step": 12040 }, { "epoch": 1.148223876953125e-06, "model_forward_time": 5.09519362449646, "step": 12040 }, { "dynamics_loss_avg": 0.03341951314359903, "epoch": 1.148223876953125e-06, "step": 12040 }, { "action_loss_avg": 0.02808366259559989, "epoch": 1.148223876953125e-06, "step": 12040 }, { "arm_loss_avg": 0.0783817570656538, "epoch": 1.148223876953125e-06, "step": 12040 }, { "ee_loss_avg": 0.08887061579152941, "epoch": 1.148223876953125e-06, "step": 12040 }, { "aux_loss_avg": 0.0009381567477248609, "epoch": 1.148223876953125e-06, "step": 12040 }, { "epoch": 1.148223876953125e-06, "step": 12040, "training_step_time": 17.872705936431885 }, { "epoch": 1.1483192443847656e-06, "model_forward_time": 3.858896017074585, "step": 12041 }, { "epoch": 1.1483192443847656e-06, "step": 12041, "training_step_time": 17.64160394668579 }, { "epoch": 1.1484146118164062e-06, "model_forward_time": 5.063125848770142, "step": 12042 }, { "epoch": 1.1484146118164062e-06, "step": 12042, "training_step_time": 17.647218227386475 }, { "epoch": 1.1485099792480468e-06, "model_forward_time": 5.313859224319458, "step": 12043 }, { "epoch": 1.1485099792480468e-06, "step": 12043, "training_step_time": 17.6364107131958 }, { "epoch": 1.1486053466796874e-06, "model_forward_time": 5.085708141326904, "step": 12044 }, { "epoch": 1.1486053466796874e-06, "step": 12044, "training_step_time": 17.620356798171997 }, { "epoch": 1.148700714111328e-06, "model_forward_time": 5.088873624801636, "step": 12045 }, { "epoch": 1.148700714111328e-06, "step": 12045, "training_step_time": 17.600186586380005 }, { "epoch": 1.1487960815429686e-06, "model_forward_time": 5.093601226806641, "step": 12046 }, { "epoch": 1.1487960815429686e-06, "step": 12046, "training_step_time": 17.519062280654907 }, { "epoch": 1.1488914489746095e-06, "model_forward_time": 5.098435640335083, "step": 12047 }, { "epoch": 1.1488914489746095e-06, "step": 12047, "training_step_time": 17.563623905181885 }, { "epoch": 1.14898681640625e-06, "model_forward_time": 5.096710681915283, "step": 12048 }, { "epoch": 1.14898681640625e-06, "step": 12048, "training_step_time": 17.578919172286987 }, { "epoch": 1.1490821838378907e-06, "model_forward_time": 5.092628240585327, "step": 12049 }, { "epoch": 1.1490821838378907e-06, "step": 12049, "training_step_time": 17.59681749343872 }, { "epoch": 1.1491775512695313e-06, "grad_norm": 1.5264290571212769, "learning_rate": 9.59773169405919e-06, "loss": 0.0916, "step": 12050 }, { "epoch": 1.1491775512695313e-06, "model_forward_time": 5.092323303222656, "step": 12050 }, { "dynamics_loss_avg": 0.04189030397683382, "epoch": 1.1491775512695313e-06, "step": 12050 }, { "action_loss_avg": 0.028719519171863793, "epoch": 1.1491775512695313e-06, "step": 12050 }, { "arm_loss_avg": 0.04100290834903717, "epoch": 1.1491775512695313e-06, "step": 12050 }, { "ee_loss_avg": 0.06418268443085254, "epoch": 1.1491775512695313e-06, "step": 12050 }, { "aux_loss_avg": 0.002818238694453612, "epoch": 1.1491775512695313e-06, "step": 12050 }, { "epoch": 1.1491775512695313e-06, "step": 12050, "training_step_time": 17.85352087020874 }, { "epoch": 1.149272918701172e-06, "model_forward_time": 5.085008144378662, "step": 12051 }, { "epoch": 1.149272918701172e-06, "step": 12051, "training_step_time": 17.622966051101685 }, { "epoch": 1.1493682861328125e-06, "model_forward_time": 5.085779428482056, "step": 12052 }, { "epoch": 1.1493682861328125e-06, "step": 12052, "training_step_time": 17.61821436882019 }, { "epoch": 1.1494636535644532e-06, "model_forward_time": 5.088550567626953, "step": 12053 }, { "epoch": 1.1494636535644532e-06, "step": 12053, "training_step_time": 17.620420217514038 }, { "epoch": 1.1495590209960938e-06, "model_forward_time": 5.085168838500977, "step": 12054 }, { "epoch": 1.1495590209960938e-06, "step": 12054, "training_step_time": 17.830312252044678 }, { "epoch": 1.1496543884277344e-06, "model_forward_time": 5.083515167236328, "step": 12055 }, { "epoch": 1.1496543884277344e-06, "step": 12055, "training_step_time": 17.622429132461548 }, { "epoch": 1.149749755859375e-06, "model_forward_time": 5.081985712051392, "step": 12056 }, { "epoch": 1.149749755859375e-06, "step": 12056, "training_step_time": 17.61152219772339 }, { "epoch": 1.1498451232910156e-06, "model_forward_time": 5.087250232696533, "step": 12057 }, { "epoch": 1.1498451232910156e-06, "step": 12057, "training_step_time": 17.427429914474487 }, { "epoch": 1.1499404907226562e-06, "model_forward_time": 5.0866382122039795, "step": 12058 }, { "epoch": 1.1499404907226562e-06, "step": 12058, "training_step_time": 17.526864051818848 }, { "epoch": 1.1500358581542968e-06, "model_forward_time": 5.085078239440918, "step": 12059 }, { "epoch": 1.1500358581542968e-06, "step": 12059, "training_step_time": 17.56308150291443 }, { "epoch": 1.1501312255859375e-06, "grad_norm": 1.283549189567566, "learning_rate": 9.59680291931797e-06, "loss": 0.0903, "step": 12060 }, { "epoch": 1.1501312255859375e-06, "model_forward_time": 5.084748029708862, "step": 12060 }, { "dynamics_loss_avg": 0.03393405908718705, "epoch": 1.1501312255859375e-06, "step": 12060 }, { "action_loss_avg": 0.037392350193113086, "epoch": 1.1501312255859375e-06, "step": 12060 }, { "arm_loss_avg": 0.07100034393370151, "epoch": 1.1501312255859375e-06, "step": 12060 }, { "ee_loss_avg": 0.1283681645989418, "epoch": 1.1501312255859375e-06, "step": 12060 }, { "aux_loss_avg": 0.012223966990131886, "epoch": 1.1501312255859375e-06, "step": 12060 }, { "epoch": 1.1501312255859375e-06, "step": 12060, "training_step_time": 17.822566747665405 }, { "epoch": 1.150226593017578e-06, "model_forward_time": 5.084889888763428, "step": 12061 }, { "epoch": 1.150226593017578e-06, "step": 12061, "training_step_time": 17.609751224517822 }, { "epoch": 1.1503219604492187e-06, "model_forward_time": 5.081817865371704, "step": 12062 }, { "epoch": 1.1503219604492187e-06, "step": 12062, "training_step_time": 17.613080263137817 }, { "epoch": 1.1504173278808593e-06, "model_forward_time": 5.0866005420684814, "step": 12063 }, { "epoch": 1.1504173278808593e-06, "step": 12063, "training_step_time": 17.626805305480957 }, { "epoch": 1.1505126953125e-06, "model_forward_time": 5.083250999450684, "step": 12064 }, { "epoch": 1.1505126953125e-06, "step": 12064, "training_step_time": 17.633240461349487 }, { "epoch": 1.1506080627441405e-06, "model_forward_time": 5.086087703704834, "step": 12065 }, { "epoch": 1.1506080627441405e-06, "step": 12065, "training_step_time": 17.848106861114502 }, { "epoch": 1.1507034301757811e-06, "model_forward_time": 5.086119651794434, "step": 12066 }, { "epoch": 1.1507034301757811e-06, "step": 12066, "training_step_time": 17.386255741119385 }, { "epoch": 1.150798797607422e-06, "model_forward_time": 5.293466806411743, "step": 12067 }, { "epoch": 1.150798797607422e-06, "step": 12067, "training_step_time": 17.543084144592285 }, { "epoch": 1.1508941650390626e-06, "model_forward_time": 5.089543581008911, "step": 12068 }, { "epoch": 1.1508941650390626e-06, "step": 12068, "training_step_time": 17.572614908218384 }, { "epoch": 1.1509895324707032e-06, "model_forward_time": 5.088739633560181, "step": 12069 }, { "epoch": 1.1509895324707032e-06, "step": 12069, "training_step_time": 17.595813512802124 }, { "epoch": 1.1510848999023438e-06, "grad_norm": 0.8353418707847595, "learning_rate": 9.5958731186595e-06, "loss": 0.0895, "step": 12070 }, { "epoch": 1.1510848999023438e-06, "model_forward_time": 5.085354804992676, "step": 12070 }, { "dynamics_loss_avg": 0.03611329887062311, "epoch": 1.1510848999023438e-06, "step": 12070 }, { "action_loss_avg": 0.04257781412452459, "epoch": 1.1510848999023438e-06, "step": 12070 }, { "arm_loss_avg": 0.07594307437539101, "epoch": 1.1510848999023438e-06, "step": 12070 }, { "ee_loss_avg": 0.1905281737446785, "epoch": 1.1510848999023438e-06, "step": 12070 }, { "aux_loss_avg": 0.0013955855858512223, "epoch": 1.1510848999023438e-06, "step": 12070 }, { "epoch": 1.1510848999023438e-06, "step": 12070, "training_step_time": 17.85146999359131 }, { "epoch": 1.1511802673339844e-06, "model_forward_time": 5.08676552772522, "step": 12071 }, { "epoch": 1.1511802673339844e-06, "step": 12071, "training_step_time": 17.632269382476807 }, { "epoch": 1.151275634765625e-06, "model_forward_time": 5.084444761276245, "step": 12072 }, { "epoch": 1.151275634765625e-06, "step": 12072, "training_step_time": 17.62299919128418 }, { "epoch": 1.1513710021972657e-06, "model_forward_time": 5.083538293838501, "step": 12073 }, { "epoch": 1.1513710021972657e-06, "step": 12073, "training_step_time": 17.621487379074097 }, { "epoch": 1.1514663696289063e-06, "model_forward_time": 5.085527658462524, "step": 12074 }, { "epoch": 1.1514663696289063e-06, "step": 12074, "training_step_time": 17.848926305770874 }, { "epoch": 1.1515617370605469e-06, "model_forward_time": 5.0798280239105225, "step": 12075 }, { "epoch": 1.1515617370605469e-06, "step": 12075, "training_step_time": 17.612966775894165 }, { "epoch": 1.1516571044921875e-06, "model_forward_time": 5.100839853286743, "step": 12076 }, { "epoch": 1.1516571044921875e-06, "step": 12076, "training_step_time": 17.640103101730347 }, { "epoch": 1.1517524719238281e-06, "model_forward_time": 5.094808340072632, "step": 12077 }, { "epoch": 1.1517524719238281e-06, "step": 12077, "training_step_time": 17.64337182044983 }, { "epoch": 1.1518478393554687e-06, "model_forward_time": 5.094094514846802, "step": 12078 }, { "epoch": 1.1518478393554687e-06, "step": 12078, "training_step_time": 17.6365008354187 }, { "epoch": 1.1519432067871093e-06, "model_forward_time": 5.097207546234131, "step": 12079 }, { "epoch": 1.1519432067871093e-06, "step": 12079, "training_step_time": 17.861686944961548 }, { "epoch": 1.15203857421875e-06, "grad_norm": 1.5242507457733154, "learning_rate": 9.594942292291297e-06, "loss": 0.0891, "step": 12080 }, { "epoch": 1.15203857421875e-06, "model_forward_time": 5.091742277145386, "step": 12080 }, { "dynamics_loss_avg": 0.037685501947999, "epoch": 1.15203857421875e-06, "step": 12080 }, { "action_loss_avg": 0.046133949793875216, "epoch": 1.15203857421875e-06, "step": 12080 }, { "arm_loss_avg": 0.05780923366546631, "epoch": 1.15203857421875e-06, "step": 12080 }, { "ee_loss_avg": 0.12521921936422586, "epoch": 1.15203857421875e-06, "step": 12080 }, { "aux_loss_avg": 0.0007607001200085506, "epoch": 1.15203857421875e-06, "step": 12080 }, { "epoch": 1.15203857421875e-06, "step": 12080, "training_step_time": 17.595557689666748 }, { "epoch": 1.1521339416503906e-06, "model_forward_time": 5.079273462295532, "step": 12081 }, { "epoch": 1.1521339416503906e-06, "step": 12081, "training_step_time": 17.789318799972534 }, { "epoch": 1.1522293090820312e-06, "model_forward_time": 5.0748865604400635, "step": 12082 }, { "epoch": 1.1522293090820312e-06, "step": 12082, "training_step_time": 17.502861499786377 }, { "epoch": 1.1523246765136718e-06, "model_forward_time": 5.077773571014404, "step": 12083 }, { "epoch": 1.1523246765136718e-06, "step": 12083, "training_step_time": 17.54845380783081 }, { "epoch": 1.1524200439453124e-06, "model_forward_time": 5.079498052597046, "step": 12084 }, { "epoch": 1.1524200439453124e-06, "step": 12084, "training_step_time": 17.564155101776123 }, { "epoch": 1.152515411376953e-06, "model_forward_time": 5.077775955200195, "step": 12085 }, { "epoch": 1.152515411376953e-06, "step": 12085, "training_step_time": 17.76841163635254 }, { "epoch": 1.1526107788085937e-06, "model_forward_time": 5.082067251205444, "step": 12086 }, { "epoch": 1.1526107788085937e-06, "step": 12086, "training_step_time": 17.588104248046875 }, { "epoch": 1.1527061462402345e-06, "model_forward_time": 5.279780864715576, "step": 12087 }, { "epoch": 1.1527061462402345e-06, "step": 12087, "training_step_time": 17.592551231384277 }, { "epoch": 1.152801513671875e-06, "model_forward_time": 5.0829854011535645, "step": 12088 }, { "epoch": 1.152801513671875e-06, "step": 12088, "training_step_time": 17.589428424835205 }, { "epoch": 1.1528968811035157e-06, "model_forward_time": 5.082592487335205, "step": 12089 }, { "epoch": 1.1528968811035157e-06, "step": 12089, "training_step_time": 17.80523681640625 }, { "epoch": 1.1529922485351563e-06, "grad_norm": 1.4854004383087158, "learning_rate": 9.594010440421102e-06, "loss": 0.1101, "step": 12090 }, { "epoch": 1.1529922485351563e-06, "model_forward_time": 5.079480171203613, "step": 12090 }, { "dynamics_loss_avg": 0.05508959405124188, "epoch": 1.1529922485351563e-06, "step": 12090 }, { "action_loss_avg": 0.03753067152574659, "epoch": 1.1529922485351563e-06, "step": 12090 }, { "arm_loss_avg": 0.043938649073243144, "epoch": 1.1529922485351563e-06, "step": 12090 }, { "ee_loss_avg": 0.0855900302529335, "epoch": 1.1529922485351563e-06, "step": 12090 }, { "aux_loss_avg": 0.0017475774773629382, "epoch": 1.1529922485351563e-06, "step": 12090 }, { "epoch": 1.1529922485351563e-06, "step": 12090, "training_step_time": 17.601733446121216 }, { "epoch": 1.153087615966797e-06, "model_forward_time": 5.082010746002197, "step": 12091 }, { "epoch": 1.153087615966797e-06, "step": 12091, "training_step_time": 17.58582854270935 }, { "epoch": 1.1531829833984376e-06, "model_forward_time": 5.081568956375122, "step": 12092 }, { "epoch": 1.1531829833984376e-06, "step": 12092, "training_step_time": 17.580121278762817 }, { "epoch": 1.1532783508300782e-06, "model_forward_time": 5.081617593765259, "step": 12093 }, { "epoch": 1.1532783508300782e-06, "step": 12093, "training_step_time": 17.30674409866333 }, { "epoch": 1.1533737182617188e-06, "model_forward_time": 5.091669082641602, "step": 12094 }, { "epoch": 1.1533737182617188e-06, "step": 12094, "training_step_time": 17.686022996902466 }, { "epoch": 1.1534690856933594e-06, "model_forward_time": 5.082662343978882, "step": 12095 }, { "epoch": 1.1534690856933594e-06, "step": 12095, "training_step_time": 17.193476915359497 }, { "epoch": 1.153564453125e-06, "model_forward_time": 5.091525554656982, "step": 12096 }, { "epoch": 1.153564453125e-06, "step": 12096, "training_step_time": 17.51689648628235 }, { "epoch": 1.1536598205566406e-06, "model_forward_time": 5.084264278411865, "step": 12097 }, { "epoch": 1.1536598205566406e-06, "step": 12097, "training_step_time": 17.437653303146362 }, { "epoch": 1.1537551879882812e-06, "model_forward_time": 5.087865114212036, "step": 12098 }, { "epoch": 1.1537551879882812e-06, "step": 12098, "training_step_time": 17.52230477333069 }, { "epoch": 1.1538505554199219e-06, "model_forward_time": 3.8500702381134033, "step": 12099 }, { "epoch": 1.1538505554199219e-06, "step": 12099, "training_step_time": 17.577941417694092 }, { "epoch": 1.1539459228515625e-06, "grad_norm": 1.4747885465621948, "learning_rate": 9.593077563256888e-06, "loss": 0.0937, "step": 12100 }, { "epoch": 1.1539459228515625e-06, "model_forward_time": 5.056651830673218, "step": 12100 }, { "dynamics_loss_avg": 0.05094798840582371, "epoch": 1.1539459228515625e-06, "step": 12100 }, { "action_loss_avg": 0.03897515721619129, "epoch": 1.1539459228515625e-06, "step": 12100 }, { "arm_loss_avg": 0.052451181691139936, "epoch": 1.1539459228515625e-06, "step": 12100 }, { "ee_loss_avg": 0.09621967915445566, "epoch": 1.1539459228515625e-06, "step": 12100 }, { "aux_loss_avg": 0.001399927685270086, "epoch": 1.1539459228515625e-06, "step": 12100 }, { "epoch": 1.1539459228515625e-06, "step": 12100, "training_step_time": 17.862425327301025 }, { "epoch": 1.154041290283203e-06, "model_forward_time": 5.062183856964111, "step": 12101 }, { "epoch": 1.154041290283203e-06, "step": 12101, "training_step_time": 17.641376495361328 }, { "epoch": 1.1541366577148437e-06, "model_forward_time": 5.070189714431763, "step": 12102 }, { "epoch": 1.1541366577148437e-06, "step": 12102, "training_step_time": 17.663758516311646 }, { "epoch": 1.1542320251464843e-06, "model_forward_time": 4.093926191329956, "step": 12103 }, { "epoch": 1.1542320251464843e-06, "step": 12103, "training_step_time": 17.420732736587524 }, { "epoch": 1.154327392578125e-06, "model_forward_time": 3.831259250640869, "step": 12104 }, { "epoch": 1.154327392578125e-06, "step": 12104, "training_step_time": 17.567922353744507 }, { "epoch": 1.1544227600097655e-06, "model_forward_time": 5.056260347366333, "step": 12105 }, { "epoch": 1.1544227600097655e-06, "step": 12105, "training_step_time": 17.78226900100708 }, { "epoch": 1.1545181274414062e-06, "model_forward_time": 3.839071035385132, "step": 12106 }, { "epoch": 1.1545181274414062e-06, "step": 12106, "training_step_time": 17.60204792022705 }, { "epoch": 1.154613494873047e-06, "model_forward_time": 5.060295104980469, "step": 12107 }, { "epoch": 1.154613494873047e-06, "step": 12107, "training_step_time": 17.606333017349243 }, { "epoch": 1.1547088623046876e-06, "model_forward_time": 5.270394563674927, "step": 12108 }, { "epoch": 1.1547088623046876e-06, "step": 12108, "training_step_time": 17.615398406982422 }, { "epoch": 1.1548042297363282e-06, "model_forward_time": 3.8641135692596436, "step": 12109 }, { "epoch": 1.1548042297363282e-06, "step": 12109, "training_step_time": 17.60344433784485 }, { "epoch": 1.1548995971679688e-06, "grad_norm": 1.4700801372528076, "learning_rate": 9.592143661006852e-06, "loss": 0.0934, "step": 12110 }, { "epoch": 1.1548995971679688e-06, "model_forward_time": 5.073651075363159, "step": 12110 }, { "dynamics_loss_avg": 0.035442764637991786, "epoch": 1.1548995971679688e-06, "step": 12110 }, { "action_loss_avg": 0.027838208992034198, "epoch": 1.1548995971679688e-06, "step": 12110 }, { "arm_loss_avg": 0.06498169284313918, "epoch": 1.1548995971679688e-06, "step": 12110 }, { "ee_loss_avg": 0.15991083048284055, "epoch": 1.1548995971679688e-06, "step": 12110 }, { "aux_loss_avg": 0.0037343228934332727, "epoch": 1.1548995971679688e-06, "step": 12110 }, { "epoch": 1.1548995971679688e-06, "step": 12110, "training_step_time": 17.835694551467896 }, { "epoch": 1.1549949645996094e-06, "model_forward_time": 5.084092378616333, "step": 12111 }, { "epoch": 1.1549949645996094e-06, "step": 12111, "training_step_time": 17.589134693145752 }, { "epoch": 1.15509033203125e-06, "model_forward_time": 5.093275308609009, "step": 12112 }, { "epoch": 1.15509033203125e-06, "step": 12112, "training_step_time": 17.52669382095337 }, { "epoch": 1.1551856994628907e-06, "model_forward_time": 5.325567722320557, "step": 12113 }, { "epoch": 1.1551856994628907e-06, "step": 12113, "training_step_time": 17.56543803215027 }, { "epoch": 1.1552810668945313e-06, "model_forward_time": 5.098587274551392, "step": 12114 }, { "epoch": 1.1552810668945313e-06, "step": 12114, "training_step_time": 17.59422278404236 }, { "epoch": 1.155376434326172e-06, "model_forward_time": 5.097738742828369, "step": 12115 }, { "epoch": 1.155376434326172e-06, "step": 12115, "training_step_time": 17.806138038635254 }, { "epoch": 1.1554718017578125e-06, "model_forward_time": 5.091347932815552, "step": 12116 }, { "epoch": 1.1554718017578125e-06, "step": 12116, "training_step_time": 17.634506464004517 }, { "epoch": 1.1555671691894531e-06, "model_forward_time": 5.09894323348999, "step": 12117 }, { "epoch": 1.1555671691894531e-06, "step": 12117, "training_step_time": 17.672597646713257 }, { "epoch": 1.1556625366210937e-06, "model_forward_time": 5.308647155761719, "step": 12118 }, { "epoch": 1.1556625366210937e-06, "step": 12118, "training_step_time": 17.691453456878662 }, { "epoch": 1.1557579040527344e-06, "model_forward_time": 5.102935791015625, "step": 12119 }, { "epoch": 1.1557579040527344e-06, "step": 12119, "training_step_time": 17.672825574874878 }, { "epoch": 1.155853271484375e-06, "grad_norm": 1.8238825798034668, "learning_rate": 9.591208733879424e-06, "loss": 0.0855, "step": 12120 }, { "epoch": 1.155853271484375e-06, "model_forward_time": 5.1028149127960205, "step": 12120 }, { "dynamics_loss_avg": 0.03771250182762742, "epoch": 1.155853271484375e-06, "step": 12120 }, { "action_loss_avg": 0.04305810509249568, "epoch": 1.155853271484375e-06, "step": 12120 }, { "arm_loss_avg": 0.05744631420820952, "epoch": 1.155853271484375e-06, "step": 12120 }, { "ee_loss_avg": 0.10491589587181807, "epoch": 1.155853271484375e-06, "step": 12120 }, { "aux_loss_avg": 0.002069508662680164, "epoch": 1.155853271484375e-06, "step": 12120 }, { "epoch": 1.155853271484375e-06, "step": 12120, "training_step_time": 17.902146339416504 }, { "epoch": 1.1559486389160156e-06, "model_forward_time": 5.089115619659424, "step": 12121 }, { "epoch": 1.1559486389160156e-06, "step": 12121, "training_step_time": 17.631866455078125 }, { "epoch": 1.1560440063476562e-06, "model_forward_time": 5.0801310539245605, "step": 12122 }, { "epoch": 1.1560440063476562e-06, "step": 12122, "training_step_time": 17.63359236717224 }, { "epoch": 1.1561393737792968e-06, "model_forward_time": 5.318670988082886, "step": 12123 }, { "epoch": 1.1561393737792968e-06, "step": 12123, "training_step_time": 17.621444940567017 }, { "epoch": 1.1562347412109374e-06, "model_forward_time": 5.083391427993774, "step": 12124 }, { "epoch": 1.1562347412109374e-06, "step": 12124, "training_step_time": 17.60670828819275 }, { "epoch": 1.156330108642578e-06, "model_forward_time": 5.086404323577881, "step": 12125 }, { "epoch": 1.156330108642578e-06, "step": 12125, "training_step_time": 17.808313131332397 }, { "epoch": 1.1564254760742187e-06, "model_forward_time": 3.8484692573547363, "step": 12126 }, { "epoch": 1.1564254760742187e-06, "step": 12126, "training_step_time": 17.629618167877197 }, { "epoch": 1.1565208435058593e-06, "model_forward_time": 5.055577993392944, "step": 12127 }, { "epoch": 1.1565208435058593e-06, "step": 12127, "training_step_time": 17.589457988739014 }, { "epoch": 1.1566162109375e-06, "model_forward_time": 5.259711027145386, "step": 12128 }, { "epoch": 1.1566162109375e-06, "step": 12128, "training_step_time": 17.58203911781311 }, { "epoch": 1.1567115783691407e-06, "model_forward_time": 5.078633785247803, "step": 12129 }, { "epoch": 1.1567115783691407e-06, "step": 12129, "training_step_time": 17.811686992645264 }, { "epoch": 1.1568069458007813e-06, "grad_norm": 1.0223861932754517, "learning_rate": 9.590272782083264e-06, "loss": 0.1018, "step": 12130 }, { "epoch": 1.1568069458007813e-06, "model_forward_time": 5.087106227874756, "step": 12130 }, { "dynamics_loss_avg": 0.05012718550860882, "epoch": 1.1568069458007813e-06, "step": 12130 }, { "action_loss_avg": 0.053845411911606786, "epoch": 1.1568069458007813e-06, "step": 12130 }, { "arm_loss_avg": 0.12208991553634405, "epoch": 1.1568069458007813e-06, "step": 12130 }, { "ee_loss_avg": 0.08535231910645961, "epoch": 1.1568069458007813e-06, "step": 12130 }, { "aux_loss_avg": 0.003822169912746176, "epoch": 1.1568069458007813e-06, "step": 12130 }, { "epoch": 1.1568069458007813e-06, "step": 12130, "training_step_time": 17.452329874038696 }, { "epoch": 1.156902313232422e-06, "model_forward_time": 5.092185974121094, "step": 12131 }, { "epoch": 1.156902313232422e-06, "step": 12131, "training_step_time": 17.601783514022827 }, { "epoch": 1.1569976806640626e-06, "model_forward_time": 5.098142862319946, "step": 12132 }, { "epoch": 1.1569976806640626e-06, "step": 12132, "training_step_time": 17.54695701599121 }, { "epoch": 1.1570930480957032e-06, "model_forward_time": 5.337276220321655, "step": 12133 }, { "epoch": 1.1570930480957032e-06, "step": 12133, "training_step_time": 17.57692837715149 }, { "epoch": 1.1571884155273438e-06, "model_forward_time": 5.098865985870361, "step": 12134 }, { "epoch": 1.1571884155273438e-06, "step": 12134, "training_step_time": 17.79263949394226 }, { "epoch": 1.1572837829589844e-06, "model_forward_time": 3.85718035697937, "step": 12135 }, { "epoch": 1.1572837829589844e-06, "step": 12135, "training_step_time": 17.611958026885986 }, { "epoch": 1.157379150390625e-06, "model_forward_time": 5.057100296020508, "step": 12136 }, { "epoch": 1.157379150390625e-06, "step": 12136, "training_step_time": 17.630767583847046 }, { "epoch": 1.1574745178222656e-06, "model_forward_time": 5.067564964294434, "step": 12137 }, { "epoch": 1.1574745178222656e-06, "step": 12137, "training_step_time": 17.626038551330566 }, { "epoch": 1.1575698852539062e-06, "model_forward_time": 5.27094578742981, "step": 12138 }, { "epoch": 1.1575698852539062e-06, "step": 12138, "training_step_time": 17.61996102333069 }, { "epoch": 1.1576652526855469e-06, "model_forward_time": 5.08657169342041, "step": 12139 }, { "epoch": 1.1576652526855469e-06, "step": 12139, "training_step_time": 17.46348786354065 }, { "epoch": 1.1577606201171875e-06, "grad_norm": 1.7328888177871704, "learning_rate": 9.589335805827256e-06, "loss": 0.0985, "step": 12140 }, { "epoch": 1.1577606201171875e-06, "model_forward_time": 5.091890335083008, "step": 12140 }, { "dynamics_loss_avg": 0.03668449474498629, "epoch": 1.1577606201171875e-06, "step": 12140 }, { "action_loss_avg": 0.05101536763831973, "epoch": 1.1577606201171875e-06, "step": 12140 }, { "arm_loss_avg": 0.11105952681973577, "epoch": 1.1577606201171875e-06, "step": 12140 }, { "ee_loss_avg": 0.113259859662503, "epoch": 1.1577606201171875e-06, "step": 12140 }, { "aux_loss_avg": 0.004835026629734784, "epoch": 1.1577606201171875e-06, "step": 12140 }, { "epoch": 1.1577606201171875e-06, "step": 12140, "training_step_time": 17.611729621887207 }, { "epoch": 1.157855987548828e-06, "model_forward_time": 5.094559907913208, "step": 12141 }, { "epoch": 1.157855987548828e-06, "step": 12141, "training_step_time": 17.480710983276367 }, { "epoch": 1.1579513549804687e-06, "model_forward_time": 5.0948474407196045, "step": 12142 }, { "epoch": 1.1579513549804687e-06, "step": 12142, "training_step_time": 17.54610776901245 }, { "epoch": 1.1580467224121093e-06, "model_forward_time": 5.332370281219482, "step": 12143 }, { "epoch": 1.1580467224121093e-06, "step": 12143, "training_step_time": 17.58655881881714 }, { "epoch": 1.15814208984375e-06, "model_forward_time": 5.091937065124512, "step": 12144 }, { "epoch": 1.15814208984375e-06, "step": 12144, "training_step_time": 17.618433952331543 }, { "epoch": 1.1582374572753905e-06, "model_forward_time": 5.089045763015747, "step": 12145 }, { "epoch": 1.1582374572753905e-06, "step": 12145, "training_step_time": 17.835129737854004 }, { "epoch": 1.1583328247070312e-06, "model_forward_time": 5.086542367935181, "step": 12146 }, { "epoch": 1.1583328247070312e-06, "step": 12146, "training_step_time": 17.64749574661255 }, { "epoch": 1.1584281921386718e-06, "model_forward_time": 5.084151983261108, "step": 12147 }, { "epoch": 1.1584281921386718e-06, "step": 12147, "training_step_time": 17.650537967681885 }, { "epoch": 1.1585235595703126e-06, "model_forward_time": 5.278547286987305, "step": 12148 }, { "epoch": 1.1585235595703126e-06, "step": 12148, "training_step_time": 17.65655827522278 }, { "epoch": 1.1586189270019532e-06, "model_forward_time": 5.084250211715698, "step": 12149 }, { "epoch": 1.1586189270019532e-06, "step": 12149, "training_step_time": 17.872649431228638 }, { "epoch": 1.1587142944335938e-06, "grad_norm": 1.1991525888442993, "learning_rate": 9.588397805320515e-06, "loss": 0.1155, "step": 12150 }, { "epoch": 1.1587142944335938e-06, "model_forward_time": 5.08217978477478, "step": 12150 }, { "dynamics_loss_avg": 0.05499500576406717, "epoch": 1.1587142944335938e-06, "step": 12150 }, { "action_loss_avg": 0.0787910133600235, "epoch": 1.1587142944335938e-06, "step": 12150 }, { "arm_loss_avg": 0.11116402819752694, "epoch": 1.1587142944335938e-06, "step": 12150 }, { "ee_loss_avg": 0.08723620846867561, "epoch": 1.1587142944335938e-06, "step": 12150 }, { "aux_loss_avg": 0.006753573950845748, "epoch": 1.1587142944335938e-06, "step": 12150 }, { "epoch": 1.1587142944335938e-06, "step": 12150, "training_step_time": 17.632975101470947 }, { "epoch": 1.1588096618652344e-06, "model_forward_time": 5.083494663238525, "step": 12151 }, { "epoch": 1.1588096618652344e-06, "step": 12151, "training_step_time": 17.62287473678589 }, { "epoch": 1.158905029296875e-06, "model_forward_time": 5.082975149154663, "step": 12152 }, { "epoch": 1.158905029296875e-06, "step": 12152, "training_step_time": 17.616326570510864 }, { "epoch": 1.1590003967285157e-06, "model_forward_time": 5.3265626430511475, "step": 12153 }, { "epoch": 1.1590003967285157e-06, "step": 12153, "training_step_time": 17.612077713012695 }, { "epoch": 1.1590957641601563e-06, "model_forward_time": 5.084968090057373, "step": 12154 }, { "epoch": 1.1590957641601563e-06, "step": 12154, "training_step_time": 17.796390533447266 }, { "epoch": 1.159191131591797e-06, "model_forward_time": 5.085775852203369, "step": 12155 }, { "epoch": 1.159191131591797e-06, "step": 12155, "training_step_time": 17.612457275390625 }, { "epoch": 1.1592864990234375e-06, "model_forward_time": 5.084366321563721, "step": 12156 }, { "epoch": 1.1592864990234375e-06, "step": 12156, "training_step_time": 17.60100531578064 }, { "epoch": 1.1593818664550781e-06, "model_forward_time": 3.850762367248535, "step": 12157 }, { "epoch": 1.1593818664550781e-06, "step": 12157, "training_step_time": 17.60497498512268 }, { "epoch": 1.1594772338867187e-06, "model_forward_time": 5.06093955039978, "step": 12158 }, { "epoch": 1.1594772338867187e-06, "step": 12158, "training_step_time": 17.612231492996216 }, { "epoch": 1.1595726013183594e-06, "model_forward_time": 5.0661070346832275, "step": 12159 }, { "epoch": 1.1595726013183594e-06, "step": 12159, "training_step_time": 17.84887933731079 }, { "epoch": 1.15966796875e-06, "grad_norm": 1.8957898616790771, "learning_rate": 9.587458780772385e-06, "loss": 0.1148, "step": 12160 }, { "epoch": 1.15966796875e-06, "model_forward_time": 5.077566623687744, "step": 12160 }, { "dynamics_loss_avg": 0.05782655887305736, "epoch": 1.15966796875e-06, "step": 12160 }, { "action_loss_avg": 0.07377577815204858, "epoch": 1.15966796875e-06, "step": 12160 }, { "arm_loss_avg": 0.10948333032429218, "epoch": 1.15966796875e-06, "step": 12160 }, { "ee_loss_avg": 0.13566683167591692, "epoch": 1.15966796875e-06, "step": 12160 }, { "aux_loss_avg": 0.0020303260360378774, "epoch": 1.15966796875e-06, "step": 12160 }, { "epoch": 1.15966796875e-06, "step": 12160, "training_step_time": 17.61101007461548 }, { "epoch": 1.1597633361816406e-06, "model_forward_time": 5.084823131561279, "step": 12161 }, { "epoch": 1.1597633361816406e-06, "step": 12161, "training_step_time": 17.38685917854309 }, { "epoch": 1.1598587036132812e-06, "model_forward_time": 5.094407320022583, "step": 12162 }, { "epoch": 1.1598587036132812e-06, "step": 12162, "training_step_time": 17.5181086063385 }, { "epoch": 1.1599540710449218e-06, "model_forward_time": 5.0969507694244385, "step": 12163 }, { "epoch": 1.1599540710449218e-06, "step": 12163, "training_step_time": 17.55403470993042 }, { "epoch": 1.1600494384765624e-06, "model_forward_time": 5.335155487060547, "step": 12164 }, { "epoch": 1.1600494384765624e-06, "step": 12164, "training_step_time": 17.820204257965088 }, { "epoch": 1.160144805908203e-06, "model_forward_time": 5.0924365520477295, "step": 12165 }, { "epoch": 1.160144805908203e-06, "step": 12165, "training_step_time": 17.610066890716553 }, { "epoch": 1.1602401733398437e-06, "model_forward_time": 5.086511135101318, "step": 12166 }, { "epoch": 1.1602401733398437e-06, "step": 12166, "training_step_time": 17.60415291786194 }, { "epoch": 1.1603355407714843e-06, "model_forward_time": 5.081135511398315, "step": 12167 }, { "epoch": 1.1603355407714843e-06, "step": 12167, "training_step_time": 17.612767696380615 }, { "epoch": 1.160430908203125e-06, "model_forward_time": 5.080353260040283, "step": 12168 }, { "epoch": 1.160430908203125e-06, "step": 12168, "training_step_time": 17.60855484008789 }, { "epoch": 1.1605262756347657e-06, "model_forward_time": 5.076213598251343, "step": 12169 }, { "epoch": 1.1605262756347657e-06, "step": 12169, "training_step_time": 17.610171794891357 }, { "epoch": 1.1606216430664063e-06, "grad_norm": 1.598002314567566, "learning_rate": 9.586518732392438e-06, "loss": 0.1106, "step": 12170 }, { "epoch": 1.1606216430664063e-06, "model_forward_time": 5.078706741333008, "step": 12170 }, { "dynamics_loss_avg": 0.034992953576147554, "epoch": 1.1606216430664063e-06, "step": 12170 }, { "action_loss_avg": 0.06710169650614262, "epoch": 1.1606216430664063e-06, "step": 12170 }, { "arm_loss_avg": 0.09901731088757515, "epoch": 1.1606216430664063e-06, "step": 12170 }, { "ee_loss_avg": 0.10469557410106063, "epoch": 1.1606216430664063e-06, "step": 12170 }, { "aux_loss_avg": 0.0016691850149072706, "epoch": 1.1606216430664063e-06, "step": 12170 }, { "epoch": 1.1606216430664063e-06, "step": 12170, "training_step_time": 17.837881326675415 }, { "epoch": 1.160717010498047e-06, "model_forward_time": 5.073685884475708, "step": 12171 }, { "epoch": 1.160717010498047e-06, "step": 12171, "training_step_time": 17.58892273902893 }, { "epoch": 1.1608123779296876e-06, "model_forward_time": 5.0773396492004395, "step": 12172 }, { "epoch": 1.1608123779296876e-06, "step": 12172, "training_step_time": 17.577759265899658 }, { "epoch": 1.1609077453613282e-06, "model_forward_time": 5.075215816497803, "step": 12173 }, { "epoch": 1.1609077453613282e-06, "step": 12173, "training_step_time": 17.568892002105713 }, { "epoch": 1.1610031127929688e-06, "model_forward_time": 5.080909252166748, "step": 12174 }, { "epoch": 1.1610031127929688e-06, "step": 12174, "training_step_time": 17.803640127182007 }, { "epoch": 1.1610984802246094e-06, "model_forward_time": 5.0760626792907715, "step": 12175 }, { "epoch": 1.1610984802246094e-06, "step": 12175, "training_step_time": 17.603700876235962 }, { "epoch": 1.16119384765625e-06, "model_forward_time": 3.8469295501708984, "step": 12176 }, { "epoch": 1.16119384765625e-06, "step": 12176, "training_step_time": 17.567363262176514 }, { "epoch": 1.1612892150878906e-06, "model_forward_time": 3.8278889656066895, "step": 12177 }, { "epoch": 1.1612892150878906e-06, "step": 12177, "training_step_time": 17.57190704345703 }, { "epoch": 1.1613845825195312e-06, "model_forward_time": 5.044403314590454, "step": 12178 }, { "epoch": 1.1613845825195312e-06, "step": 12178, "training_step_time": 17.562407732009888 }, { "epoch": 1.1614799499511719e-06, "model_forward_time": 5.250721454620361, "step": 12179 }, { "epoch": 1.1614799499511719e-06, "step": 12179, "training_step_time": 17.77863883972168 }, { "epoch": 1.1615753173828125e-06, "grad_norm": 1.4351959228515625, "learning_rate": 9.585577660390475e-06, "loss": 0.1173, "step": 12180 }, { "epoch": 1.1615753173828125e-06, "model_forward_time": 5.080556392669678, "step": 12180 }, { "dynamics_loss_avg": 0.043112829234451054, "epoch": 1.1615753173828125e-06, "step": 12180 }, { "action_loss_avg": 0.0814510790631175, "epoch": 1.1615753173828125e-06, "step": 12180 }, { "arm_loss_avg": 0.09584704656153917, "epoch": 1.1615753173828125e-06, "step": 12180 }, { "ee_loss_avg": 0.09546860847622156, "epoch": 1.1615753173828125e-06, "step": 12180 }, { "aux_loss_avg": 0.006903024797793478, "epoch": 1.1615753173828125e-06, "step": 12180 }, { "epoch": 1.1615753173828125e-06, "step": 12180, "training_step_time": 17.575334548950195 }, { "epoch": 1.161670684814453e-06, "model_forward_time": 5.090837001800537, "step": 12181 }, { "epoch": 1.161670684814453e-06, "step": 12181, "training_step_time": 17.55126690864563 }, { "epoch": 1.1617660522460937e-06, "model_forward_time": 5.099711894989014, "step": 12182 }, { "epoch": 1.1617660522460937e-06, "step": 12182, "training_step_time": 17.560870885849 }, { "epoch": 1.1618614196777343e-06, "model_forward_time": 5.104906320571899, "step": 12183 }, { "epoch": 1.1618614196777343e-06, "step": 12183, "training_step_time": 17.30497694015503 }, { "epoch": 1.161956787109375e-06, "model_forward_time": 4.112577438354492, "step": 12184 }, { "epoch": 1.161956787109375e-06, "step": 12184, "training_step_time": 17.485130071640015 }, { "epoch": 1.1620521545410155e-06, "model_forward_time": 5.068879127502441, "step": 12185 }, { "epoch": 1.1620521545410155e-06, "step": 12185, "training_step_time": 17.378928422927856 }, { "epoch": 1.1621475219726562e-06, "model_forward_time": 5.078525543212891, "step": 12186 }, { "epoch": 1.1621475219726562e-06, "step": 12186, "training_step_time": 17.630365133285522 }, { "epoch": 1.1622428894042968e-06, "model_forward_time": 5.079268455505371, "step": 12187 }, { "epoch": 1.1622428894042968e-06, "step": 12187, "training_step_time": 17.5439932346344 }, { "epoch": 1.1623382568359376e-06, "model_forward_time": 5.082322120666504, "step": 12188 }, { "epoch": 1.1623382568359376e-06, "step": 12188, "training_step_time": 17.593092679977417 }, { "epoch": 1.1624336242675782e-06, "model_forward_time": 5.275865077972412, "step": 12189 }, { "epoch": 1.1624336242675782e-06, "step": 12189, "training_step_time": 17.615129470825195 }, { "epoch": 1.1625289916992188e-06, "grad_norm": 2.0993988513946533, "learning_rate": 9.584635564976523e-06, "loss": 0.1099, "step": 12190 }, { "epoch": 1.1625289916992188e-06, "model_forward_time": 5.086966514587402, "step": 12190 }, { "dynamics_loss_avg": 0.03677725177258253, "epoch": 1.1625289916992188e-06, "step": 12190 }, { "action_loss_avg": 0.06871254350990057, "epoch": 1.1625289916992188e-06, "step": 12190 }, { "arm_loss_avg": 0.11394490748643875, "epoch": 1.1625289916992188e-06, "step": 12190 }, { "ee_loss_avg": 0.05272038038820028, "epoch": 1.1625289916992188e-06, "step": 12190 }, { "aux_loss_avg": 0.0014865019940771163, "epoch": 1.1625289916992188e-06, "step": 12190 }, { "epoch": 1.1625289916992188e-06, "step": 12190, "training_step_time": 17.870019912719727 }, { "epoch": 1.1626243591308594e-06, "model_forward_time": 5.089584827423096, "step": 12191 }, { "epoch": 1.1626243591308594e-06, "step": 12191, "training_step_time": 17.64715838432312 }, { "epoch": 1.1627197265625e-06, "model_forward_time": 5.086317777633667, "step": 12192 }, { "epoch": 1.1627197265625e-06, "step": 12192, "training_step_time": 17.652011156082153 }, { "epoch": 1.1628150939941407e-06, "model_forward_time": 5.087348937988281, "step": 12193 }, { "epoch": 1.1628150939941407e-06, "step": 12193, "training_step_time": 17.647849082946777 }, { "epoch": 1.1629104614257813e-06, "model_forward_time": 4.07962703704834, "step": 12194 }, { "epoch": 1.1629104614257813e-06, "step": 12194, "training_step_time": 17.865755558013916 }, { "epoch": 1.163005828857422e-06, "model_forward_time": 3.8275299072265625, "step": 12195 }, { "epoch": 1.163005828857422e-06, "step": 12195, "training_step_time": 17.630080223083496 }, { "epoch": 1.1631011962890625e-06, "model_forward_time": 5.04951810836792, "step": 12196 }, { "epoch": 1.1631011962890625e-06, "step": 12196, "training_step_time": 17.61202311515808 }, { "epoch": 1.1631965637207031e-06, "model_forward_time": 5.065165996551514, "step": 12197 }, { "epoch": 1.1631965637207031e-06, "step": 12197, "training_step_time": 17.596643209457397 }, { "epoch": 1.1632919311523437e-06, "model_forward_time": 5.08301568031311, "step": 12198 }, { "epoch": 1.1632919311523437e-06, "step": 12198, "training_step_time": 17.387919425964355 }, { "epoch": 1.1633872985839844e-06, "model_forward_time": 5.28007698059082, "step": 12199 }, { "epoch": 1.1633872985839844e-06, "step": 12199, "training_step_time": 17.501699447631836 }, { "epoch": 1.163482666015625e-06, "grad_norm": 1.2352509498596191, "learning_rate": 9.583692446360841e-06, "loss": 0.1164, "step": 12200 }, { "epoch": 1.163482666015625e-06, "model_forward_time": 5.1086201667785645, "step": 12200 }, { "dynamics_loss_avg": 0.054991716891527175, "epoch": 1.163482666015625e-06, "step": 12200 }, { "action_loss_avg": 0.07091286480426788, "epoch": 1.163482666015625e-06, "step": 12200 }, { "arm_loss_avg": 0.10596147812902927, "epoch": 1.163482666015625e-06, "step": 12200 }, { "ee_loss_avg": 0.09720093496143818, "epoch": 1.163482666015625e-06, "step": 12200 }, { "aux_loss_avg": 0.006003385363146663, "epoch": 1.163482666015625e-06, "step": 12200 }, { "epoch": 1.163482666015625e-06, "step": 12200, "training_step_time": 17.777997493743896 }, { "epoch": 1.1635780334472656e-06, "model_forward_time": 5.103736639022827, "step": 12201 }, { "epoch": 1.1635780334472656e-06, "step": 12201, "training_step_time": 17.570878744125366 }, { "epoch": 1.1636734008789062e-06, "model_forward_time": 5.103241443634033, "step": 12202 }, { "epoch": 1.1636734008789062e-06, "step": 12202, "training_step_time": 17.59796690940857 }, { "epoch": 1.1637687683105468e-06, "model_forward_time": 5.0984046459198, "step": 12203 }, { "epoch": 1.1637687683105468e-06, "step": 12203, "training_step_time": 17.619782209396362 }, { "epoch": 1.1638641357421874e-06, "model_forward_time": 4.085227966308594, "step": 12204 }, { "epoch": 1.1638641357421874e-06, "step": 12204, "training_step_time": 17.630855321884155 }, { "epoch": 1.163959503173828e-06, "model_forward_time": 5.058867692947388, "step": 12205 }, { "epoch": 1.163959503173828e-06, "step": 12205, "training_step_time": 17.83178424835205 }, { "epoch": 1.1640548706054687e-06, "model_forward_time": 5.065751314163208, "step": 12206 }, { "epoch": 1.1640548706054687e-06, "step": 12206, "training_step_time": 17.624917030334473 }, { "epoch": 1.1641502380371093e-06, "model_forward_time": 5.06999135017395, "step": 12207 }, { "epoch": 1.1641502380371093e-06, "step": 12207, "training_step_time": 17.576207876205444 }, { "epoch": 1.16424560546875e-06, "model_forward_time": 5.080889940261841, "step": 12208 }, { "epoch": 1.16424560546875e-06, "step": 12208, "training_step_time": 17.614776372909546 }, { "epoch": 1.1643409729003907e-06, "model_forward_time": 5.271605491638184, "step": 12209 }, { "epoch": 1.1643409729003907e-06, "step": 12209, "training_step_time": 17.831241607666016 }, { "epoch": 1.1644363403320313e-06, "grad_norm": 2.1864380836486816, "learning_rate": 9.582748304753917e-06, "loss": 0.1035, "step": 12210 }, { "epoch": 1.1644363403320313e-06, "model_forward_time": 3.853900909423828, "step": 12210 }, { "dynamics_loss_avg": 0.04332554657012224, "epoch": 1.1644363403320313e-06, "step": 12210 }, { "action_loss_avg": 0.06608160063624383, "epoch": 1.1644363403320313e-06, "step": 12210 }, { "arm_loss_avg": 0.10942335668951272, "epoch": 1.1644363403320313e-06, "step": 12210 }, { "ee_loss_avg": 0.11078805085271597, "epoch": 1.1644363403320313e-06, "step": 12210 }, { "aux_loss_avg": 0.004874990033567883, "epoch": 1.1644363403320313e-06, "step": 12210 }, { "epoch": 1.1644363403320313e-06, "step": 12210, "training_step_time": 17.604650497436523 }, { "epoch": 1.164531707763672e-06, "model_forward_time": 5.065347671508789, "step": 12211 }, { "epoch": 1.164531707763672e-06, "step": 12211, "training_step_time": 17.603362560272217 }, { "epoch": 1.1646270751953126e-06, "model_forward_time": 5.077521324157715, "step": 12212 }, { "epoch": 1.1646270751953126e-06, "step": 12212, "training_step_time": 17.598585605621338 }, { "epoch": 1.1647224426269532e-06, "model_forward_time": 5.090497732162476, "step": 12213 }, { "epoch": 1.1647224426269532e-06, "step": 12213, "training_step_time": 17.588869333267212 }, { "epoch": 1.1648178100585938e-06, "model_forward_time": 5.329440116882324, "step": 12214 }, { "epoch": 1.1648178100585938e-06, "step": 12214, "training_step_time": 17.789693355560303 }, { "epoch": 1.1649131774902344e-06, "model_forward_time": 5.097345590591431, "step": 12215 }, { "epoch": 1.1649131774902344e-06, "step": 12215, "training_step_time": 17.581948041915894 }, { "epoch": 1.165008544921875e-06, "model_forward_time": 5.110295295715332, "step": 12216 }, { "epoch": 1.165008544921875e-06, "step": 12216, "training_step_time": 17.652084350585938 }, { "epoch": 1.1651039123535156e-06, "model_forward_time": 3.8684566020965576, "step": 12217 }, { "epoch": 1.1651039123535156e-06, "step": 12217, "training_step_time": 17.623126983642578 }, { "epoch": 1.1651992797851562e-06, "model_forward_time": 5.074887275695801, "step": 12218 }, { "epoch": 1.1651992797851562e-06, "step": 12218, "training_step_time": 17.456440687179565 }, { "epoch": 1.1652946472167969e-06, "model_forward_time": 5.288715600967407, "step": 12219 }, { "epoch": 1.1652946472167969e-06, "step": 12219, "training_step_time": 17.794416904449463 }, { "epoch": 1.1653900146484375e-06, "grad_norm": 1.7350833415985107, "learning_rate": 9.58180314036646e-06, "loss": 0.0883, "step": 12220 }, { "epoch": 1.1653900146484375e-06, "model_forward_time": 5.084275245666504, "step": 12220 }, { "dynamics_loss_avg": 0.03593563428148627, "epoch": 1.1653900146484375e-06, "step": 12220 }, { "action_loss_avg": 0.05454965699464083, "epoch": 1.1653900146484375e-06, "step": 12220 }, { "arm_loss_avg": 0.10085144508630037, "epoch": 1.1653900146484375e-06, "step": 12220 }, { "ee_loss_avg": 0.11099377013742924, "epoch": 1.1653900146484375e-06, "step": 12220 }, { "aux_loss_avg": 0.003980343387229368, "epoch": 1.1653900146484375e-06, "step": 12220 }, { "epoch": 1.1653900146484375e-06, "step": 12220, "training_step_time": 17.643516063690186 }, { "epoch": 1.165485382080078e-06, "model_forward_time": 5.09030556678772, "step": 12221 }, { "epoch": 1.165485382080078e-06, "step": 12221, "training_step_time": 17.593281269073486 }, { "epoch": 1.1655807495117187e-06, "model_forward_time": 5.093365907669067, "step": 12222 }, { "epoch": 1.1655807495117187e-06, "step": 12222, "training_step_time": 17.617321968078613 }, { "epoch": 1.1656761169433593e-06, "model_forward_time": 5.094454526901245, "step": 12223 }, { "epoch": 1.1656761169433593e-06, "step": 12223, "training_step_time": 17.39202094078064 }, { "epoch": 1.165771484375e-06, "model_forward_time": 4.097732305526733, "step": 12224 }, { "epoch": 1.165771484375e-06, "step": 12224, "training_step_time": 17.55402970314026 }, { "epoch": 1.1658668518066405e-06, "model_forward_time": 5.064263343811035, "step": 12225 }, { "epoch": 1.1658668518066405e-06, "step": 12225, "training_step_time": 17.80922269821167 }, { "epoch": 1.1659622192382812e-06, "model_forward_time": 5.075027704238892, "step": 12226 }, { "epoch": 1.1659622192382812e-06, "step": 12226, "training_step_time": 17.622591257095337 }, { "epoch": 1.1660575866699218e-06, "model_forward_time": 3.84725284576416, "step": 12227 }, { "epoch": 1.1660575866699218e-06, "step": 12227, "training_step_time": 17.638381719589233 }, { "epoch": 1.1661529541015626e-06, "model_forward_time": 5.061235666275024, "step": 12228 }, { "epoch": 1.1661529541015626e-06, "step": 12228, "training_step_time": 17.642033338546753 }, { "epoch": 1.1662483215332032e-06, "model_forward_time": 5.076638698577881, "step": 12229 }, { "epoch": 1.1662483215332032e-06, "step": 12229, "training_step_time": 17.858945608139038 }, { "epoch": 1.1663436889648438e-06, "grad_norm": 1.1237092018127441, "learning_rate": 9.580856953409416e-06, "loss": 0.0958, "step": 12230 }, { "epoch": 1.1663436889648438e-06, "model_forward_time": 5.08518123626709, "step": 12230 }, { "dynamics_loss_avg": 0.04484944492578506, "epoch": 1.1663436889648438e-06, "step": 12230 }, { "action_loss_avg": 0.05730177909135818, "epoch": 1.1663436889648438e-06, "step": 12230 }, { "arm_loss_avg": 0.09531453642994166, "epoch": 1.1663436889648438e-06, "step": 12230 }, { "ee_loss_avg": 0.10684525296092033, "epoch": 1.1663436889648438e-06, "step": 12230 }, { "aux_loss_avg": 0.0021175300586037337, "epoch": 1.1663436889648438e-06, "step": 12230 }, { "epoch": 1.1663436889648438e-06, "step": 12230, "training_step_time": 17.63659358024597 }, { "epoch": 1.1664390563964844e-06, "model_forward_time": 5.096640110015869, "step": 12231 }, { "epoch": 1.1664390563964844e-06, "step": 12231, "training_step_time": 17.62881898880005 }, { "epoch": 1.166534423828125e-06, "model_forward_time": 5.101821184158325, "step": 12232 }, { "epoch": 1.166534423828125e-06, "step": 12232, "training_step_time": 17.61472249031067 }, { "epoch": 1.1666297912597657e-06, "model_forward_time": 5.102997064590454, "step": 12233 }, { "epoch": 1.1666297912597657e-06, "step": 12233, "training_step_time": 17.627285957336426 }, { "epoch": 1.1667251586914063e-06, "model_forward_time": 5.353957414627075, "step": 12234 }, { "epoch": 1.1667251586914063e-06, "step": 12234, "training_step_time": 17.81135129928589 }, { "epoch": 1.166820526123047e-06, "model_forward_time": 5.097692966461182, "step": 12235 }, { "epoch": 1.166820526123047e-06, "step": 12235, "training_step_time": 17.622620344161987 }, { "epoch": 1.1669158935546875e-06, "model_forward_time": 5.102688312530518, "step": 12236 }, { "epoch": 1.1669158935546875e-06, "step": 12236, "training_step_time": 17.647541284561157 }, { "epoch": 1.1670112609863281e-06, "model_forward_time": 5.102224826812744, "step": 12237 }, { "epoch": 1.1670112609863281e-06, "step": 12237, "training_step_time": 17.666377067565918 }, { "epoch": 1.1671066284179687e-06, "model_forward_time": 5.104077339172363, "step": 12238 }, { "epoch": 1.1671066284179687e-06, "step": 12238, "training_step_time": 17.643951416015625 }, { "epoch": 1.1672019958496094e-06, "model_forward_time": 3.859496593475342, "step": 12239 }, { "epoch": 1.1672019958496094e-06, "step": 12239, "training_step_time": 17.880384922027588 }, { "epoch": 1.16729736328125e-06, "grad_norm": 1.0826420783996582, "learning_rate": 9.579909744093956e-06, "loss": 0.0966, "step": 12240 }, { "epoch": 1.16729736328125e-06, "model_forward_time": 4.076402425765991, "step": 12240 }, { "dynamics_loss_avg": 0.04739002659916878, "epoch": 1.16729736328125e-06, "step": 12240 }, { "action_loss_avg": 0.07706171404570342, "epoch": 1.16729736328125e-06, "step": 12240 }, { "arm_loss_avg": 0.10240479409694672, "epoch": 1.16729736328125e-06, "step": 12240 }, { "ee_loss_avg": 0.08412590641528368, "epoch": 1.16729736328125e-06, "step": 12240 }, { "aux_loss_avg": 0.0010048677562735976, "epoch": 1.16729736328125e-06, "step": 12240 }, { "epoch": 1.16729736328125e-06, "step": 12240, "training_step_time": 17.603703260421753 }, { "epoch": 1.1673927307128906e-06, "model_forward_time": 3.821295738220215, "step": 12241 }, { "epoch": 1.1673927307128906e-06, "step": 12241, "training_step_time": 17.602465391159058 }, { "epoch": 1.1674880981445312e-06, "model_forward_time": 5.042941093444824, "step": 12242 }, { "epoch": 1.1674880981445312e-06, "step": 12242, "training_step_time": 17.596616506576538 }, { "epoch": 1.1675834655761718e-06, "model_forward_time": 5.058415651321411, "step": 12243 }, { "epoch": 1.1675834655761718e-06, "step": 12243, "training_step_time": 17.591480493545532 }, { "epoch": 1.1676788330078124e-06, "model_forward_time": 5.08569860458374, "step": 12244 }, { "epoch": 1.1676788330078124e-06, "step": 12244, "training_step_time": 17.25926375389099 }, { "epoch": 1.167774200439453e-06, "model_forward_time": 5.345471143722534, "step": 12245 }, { "epoch": 1.167774200439453e-06, "step": 12245, "training_step_time": 17.503044605255127 }, { "epoch": 1.1678695678710937e-06, "model_forward_time": 5.107994556427002, "step": 12246 }, { "epoch": 1.1678695678710937e-06, "step": 12246, "training_step_time": 17.584445476531982 }, { "epoch": 1.1679649353027343e-06, "model_forward_time": 5.09875750541687, "step": 12247 }, { "epoch": 1.1679649353027343e-06, "step": 12247, "training_step_time": 17.258960008621216 }, { "epoch": 1.168060302734375e-06, "model_forward_time": 5.093066215515137, "step": 12248 }, { "epoch": 1.168060302734375e-06, "step": 12248, "training_step_time": 17.530668258666992 }, { "epoch": 1.1681556701660157e-06, "model_forward_time": 5.083922386169434, "step": 12249 }, { "epoch": 1.1681556701660157e-06, "step": 12249, "training_step_time": 17.590384244918823 }, { "epoch": 1.1682510375976563e-06, "grad_norm": 1.8364932537078857, "learning_rate": 9.578961512631478e-06, "loss": 0.0978, "step": 12250 }, { "epoch": 1.1682510375976563e-06, "model_forward_time": 5.2765185832977295, "step": 12250 }, { "dynamics_loss_avg": 0.04358427505940199, "epoch": 1.1682510375976563e-06, "step": 12250 }, { "action_loss_avg": 0.06340930899605154, "epoch": 1.1682510375976563e-06, "step": 12250 }, { "arm_loss_avg": 0.09676891714334487, "epoch": 1.1682510375976563e-06, "step": 12250 }, { "ee_loss_avg": 0.07767512798309326, "epoch": 1.1682510375976563e-06, "step": 12250 }, { "aux_loss_avg": 0.002566452862811275, "epoch": 1.1682510375976563e-06, "step": 12250 }, { "epoch": 1.1682510375976563e-06, "step": 12250, "training_step_time": 17.8601393699646 }, { "epoch": 1.168346405029297e-06, "model_forward_time": 5.0751869678497314, "step": 12251 }, { "epoch": 1.168346405029297e-06, "step": 12251, "training_step_time": 17.634799242019653 }, { "epoch": 1.1684417724609376e-06, "model_forward_time": 5.076701641082764, "step": 12252 }, { "epoch": 1.1684417724609376e-06, "step": 12252, "training_step_time": 17.648658514022827 }, { "epoch": 1.1685371398925782e-06, "model_forward_time": 5.073502540588379, "step": 12253 }, { "epoch": 1.1685371398925782e-06, "step": 12253, "training_step_time": 17.4126718044281 }, { "epoch": 1.1686325073242188e-06, "model_forward_time": 5.081157922744751, "step": 12254 }, { "epoch": 1.1686325073242188e-06, "step": 12254, "training_step_time": 17.56344199180603 }, { "epoch": 1.1687278747558594e-06, "model_forward_time": 5.084625244140625, "step": 12255 }, { "epoch": 1.1687278747558594e-06, "step": 12255, "training_step_time": 17.784644603729248 }, { "epoch": 1.1688232421875e-06, "model_forward_time": 5.08802056312561, "step": 12256 }, { "epoch": 1.1688232421875e-06, "step": 12256, "training_step_time": 17.61854577064514 }, { "epoch": 1.1689186096191406e-06, "model_forward_time": 3.8531875610351562, "step": 12257 }, { "epoch": 1.1689186096191406e-06, "step": 12257, "training_step_time": 17.633615493774414 }, { "epoch": 1.1690139770507813e-06, "model_forward_time": 5.060946941375732, "step": 12258 }, { "epoch": 1.1690139770507813e-06, "step": 12258, "training_step_time": 17.645227909088135 }, { "epoch": 1.1691093444824219e-06, "model_forward_time": 5.07472825050354, "step": 12259 }, { "epoch": 1.1691093444824219e-06, "step": 12259, "training_step_time": 17.638054370880127 }, { "epoch": 1.1692047119140625e-06, "grad_norm": 1.896828532218933, "learning_rate": 9.578012259233605e-06, "loss": 0.1054, "step": 12260 }, { "epoch": 1.1692047119140625e-06, "model_forward_time": 5.0839011669158936, "step": 12260 }, { "dynamics_loss_avg": 0.040337543655186894, "epoch": 1.1692047119140625e-06, "step": 12260 }, { "action_loss_avg": 0.07062978073954582, "epoch": 1.1692047119140625e-06, "step": 12260 }, { "arm_loss_avg": 0.1083613894879818, "epoch": 1.1692047119140625e-06, "step": 12260 }, { "ee_loss_avg": 0.11741499714553356, "epoch": 1.1692047119140625e-06, "step": 12260 }, { "aux_loss_avg": 0.0010589142242679373, "epoch": 1.1692047119140625e-06, "step": 12260 }, { "epoch": 1.1692047119140625e-06, "step": 12260, "training_step_time": 17.879459619522095 }, { "epoch": 1.169300079345703e-06, "model_forward_time": 5.088864326477051, "step": 12261 }, { "epoch": 1.169300079345703e-06, "step": 12261, "training_step_time": 17.627166271209717 }, { "epoch": 1.1693954467773437e-06, "model_forward_time": 5.089339256286621, "step": 12262 }, { "epoch": 1.1693954467773437e-06, "step": 12262, "training_step_time": 17.37744903564453 }, { "epoch": 1.1694908142089843e-06, "model_forward_time": 5.092854976654053, "step": 12263 }, { "epoch": 1.1694908142089843e-06, "step": 12263, "training_step_time": 17.5150625705719 }, { "epoch": 1.169586181640625e-06, "model_forward_time": 5.096492052078247, "step": 12264 }, { "epoch": 1.169586181640625e-06, "step": 12264, "training_step_time": 17.776039361953735 }, { "epoch": 1.1696815490722656e-06, "model_forward_time": 5.093120336532593, "step": 12265 }, { "epoch": 1.1696815490722656e-06, "step": 12265, "training_step_time": 17.61824321746826 }, { "epoch": 1.1697769165039062e-06, "model_forward_time": 5.088339328765869, "step": 12266 }, { "epoch": 1.1697769165039062e-06, "step": 12266, "training_step_time": 17.584571599960327 }, { "epoch": 1.1698722839355468e-06, "model_forward_time": 5.08835768699646, "step": 12267 }, { "epoch": 1.1698722839355468e-06, "step": 12267, "training_step_time": 17.62220072746277 }, { "epoch": 1.1699676513671874e-06, "model_forward_time": 5.0856688022613525, "step": 12268 }, { "epoch": 1.1699676513671874e-06, "step": 12268, "training_step_time": 17.619080305099487 }, { "epoch": 1.1700630187988282e-06, "model_forward_time": 5.08311653137207, "step": 12269 }, { "epoch": 1.1700630187988282e-06, "step": 12269, "training_step_time": 17.85696291923523 }, { "epoch": 1.1701583862304688e-06, "grad_norm": 1.0808968544006348, "learning_rate": 9.577061984112197e-06, "loss": 0.0899, "step": 12270 }, { "epoch": 1.1701583862304688e-06, "model_forward_time": 5.083884954452515, "step": 12270 }, { "dynamics_loss_avg": 0.034947576373815535, "epoch": 1.1701583862304688e-06, "step": 12270 }, { "action_loss_avg": 0.05600305106490851, "epoch": 1.1701583862304688e-06, "step": 12270 }, { "arm_loss_avg": 0.09638281352818012, "epoch": 1.1701583862304688e-06, "step": 12270 }, { "ee_loss_avg": 0.08864845689386129, "epoch": 1.1701583862304688e-06, "step": 12270 }, { "aux_loss_avg": 0.0012959907529875637, "epoch": 1.1701583862304688e-06, "step": 12270 }, { "epoch": 1.1701583862304688e-06, "step": 12270, "training_step_time": 17.61606740951538 }, { "epoch": 1.1702537536621095e-06, "model_forward_time": 5.07514214515686, "step": 12271 }, { "epoch": 1.1702537536621095e-06, "step": 12271, "training_step_time": 17.61239743232727 }, { "epoch": 1.17034912109375e-06, "model_forward_time": 5.079319715499878, "step": 12272 }, { "epoch": 1.17034912109375e-06, "step": 12272, "training_step_time": 17.595906257629395 }, { "epoch": 1.1704444885253907e-06, "model_forward_time": 5.080230712890625, "step": 12273 }, { "epoch": 1.1704444885253907e-06, "step": 12273, "training_step_time": 17.59754490852356 }, { "epoch": 1.1705398559570313e-06, "model_forward_time": 5.3320088386535645, "step": 12274 }, { "epoch": 1.1705398559570313e-06, "step": 12274, "training_step_time": 17.799468994140625 }, { "epoch": 1.170635223388672e-06, "model_forward_time": 3.8553647994995117, "step": 12275 }, { "epoch": 1.170635223388672e-06, "step": 12275, "training_step_time": 17.5975501537323 }, { "epoch": 1.1707305908203125e-06, "model_forward_time": 5.073367595672607, "step": 12276 }, { "epoch": 1.1707305908203125e-06, "step": 12276, "training_step_time": 17.597039937973022 }, { "epoch": 1.1708259582519531e-06, "model_forward_time": 5.081740856170654, "step": 12277 }, { "epoch": 1.1708259582519531e-06, "step": 12277, "training_step_time": 17.595163106918335 }, { "epoch": 1.1709213256835938e-06, "model_forward_time": 5.084741115570068, "step": 12278 }, { "epoch": 1.1709213256835938e-06, "step": 12278, "training_step_time": 17.58607530593872 }, { "epoch": 1.1710166931152344e-06, "model_forward_time": 5.090494394302368, "step": 12279 }, { "epoch": 1.1710166931152344e-06, "step": 12279, "training_step_time": 17.8094482421875 }, { "epoch": 1.171112060546875e-06, "grad_norm": 1.6716103553771973, "learning_rate": 9.576110687479337e-06, "loss": 0.0881, "step": 12280 }, { "epoch": 1.171112060546875e-06, "model_forward_time": 5.354331731796265, "step": 12280 }, { "dynamics_loss_avg": 0.03941463064402342, "epoch": 1.171112060546875e-06, "step": 12280 }, { "action_loss_avg": 0.07181360442191362, "epoch": 1.171112060546875e-06, "step": 12280 }, { "arm_loss_avg": 0.0954571085050702, "epoch": 1.171112060546875e-06, "step": 12280 }, { "ee_loss_avg": 0.08333605639636517, "epoch": 1.171112060546875e-06, "step": 12280 }, { "aux_loss_avg": 0.001488578598946333, "epoch": 1.171112060546875e-06, "step": 12280 }, { "epoch": 1.171112060546875e-06, "step": 12280, "training_step_time": 17.486945629119873 }, { "epoch": 1.1712074279785156e-06, "model_forward_time": 5.0990355014801025, "step": 12281 }, { "epoch": 1.1712074279785156e-06, "step": 12281, "training_step_time": 17.506468296051025 }, { "epoch": 1.1713027954101562e-06, "model_forward_time": 5.098297595977783, "step": 12282 }, { "epoch": 1.1713027954101562e-06, "step": 12282, "training_step_time": 17.37035870552063 }, { "epoch": 1.1713981628417968e-06, "model_forward_time": 5.099689722061157, "step": 12283 }, { "epoch": 1.1713981628417968e-06, "step": 12283, "training_step_time": 17.4859881401062 }, { "epoch": 1.1714935302734374e-06, "model_forward_time": 5.096224069595337, "step": 12284 }, { "epoch": 1.1714935302734374e-06, "step": 12284, "training_step_time": 17.53609848022461 }, { "epoch": 1.171588897705078e-06, "model_forward_time": 5.091842889785767, "step": 12285 }, { "epoch": 1.171588897705078e-06, "step": 12285, "training_step_time": 17.768330335617065 }, { "epoch": 1.1716842651367187e-06, "model_forward_time": 5.084506034851074, "step": 12286 }, { "epoch": 1.1716842651367187e-06, "step": 12286, "training_step_time": 17.614331245422363 }, { "epoch": 1.1717796325683593e-06, "model_forward_time": 5.0839526653289795, "step": 12287 }, { "epoch": 1.1717796325683593e-06, "step": 12287, "training_step_time": 17.634625911712646 }, { "epoch": 1.171875e-06, "model_forward_time": 5.079610109329224, "step": 12288 }, { "epoch": 1.171875e-06, "step": 12288, "training_step_time": 17.407034635543823 }, { "epoch": 1.1719703674316407e-06, "model_forward_time": 5.07830548286438, "step": 12289 }, { "epoch": 1.1719703674316407e-06, "step": 12289, "training_step_time": 17.569318056106567 }, { "epoch": 1.1720657348632813e-06, "grad_norm": 2.0403177738189697, "learning_rate": 9.575158369547332e-06, "loss": 0.0975, "step": 12290 }, { "epoch": 1.1720657348632813e-06, "model_forward_time": 5.078553676605225, "step": 12290 }, { "dynamics_loss_avg": 0.03274884829297662, "epoch": 1.1720657348632813e-06, "step": 12290 }, { "action_loss_avg": 0.06133267134428024, "epoch": 1.1720657348632813e-06, "step": 12290 }, { "arm_loss_avg": 0.09273297525942326, "epoch": 1.1720657348632813e-06, "step": 12290 }, { "ee_loss_avg": 0.05211583436466753, "epoch": 1.1720657348632813e-06, "step": 12290 }, { "aux_loss_avg": 0.0016589073231443763, "epoch": 1.1720657348632813e-06, "step": 12290 }, { "epoch": 1.1720657348632813e-06, "step": 12290, "training_step_time": 17.83989453315735 }, { "epoch": 1.172161102294922e-06, "model_forward_time": 5.080023527145386, "step": 12291 }, { "epoch": 1.172161102294922e-06, "step": 12291, "training_step_time": 17.617135286331177 }, { "epoch": 1.1722564697265626e-06, "model_forward_time": 5.081557273864746, "step": 12292 }, { "epoch": 1.1722564697265626e-06, "step": 12292, "training_step_time": 17.628352642059326 }, { "epoch": 1.1723518371582032e-06, "model_forward_time": 5.083784341812134, "step": 12293 }, { "epoch": 1.1723518371582032e-06, "step": 12293, "training_step_time": 17.63831114768982 }, { "epoch": 1.1724472045898438e-06, "model_forward_time": 5.3312413692474365, "step": 12294 }, { "epoch": 1.1724472045898438e-06, "step": 12294, "training_step_time": 17.63107132911682 }, { "epoch": 1.1725425720214844e-06, "model_forward_time": 5.085825204849243, "step": 12295 }, { "epoch": 1.1725425720214844e-06, "step": 12295, "training_step_time": 17.80729103088379 }, { "epoch": 1.172637939453125e-06, "model_forward_time": 5.090109348297119, "step": 12296 }, { "epoch": 1.172637939453125e-06, "step": 12296, "training_step_time": 17.632065296173096 }, { "epoch": 1.1727333068847656e-06, "model_forward_time": 5.088961601257324, "step": 12297 }, { "epoch": 1.1727333068847656e-06, "step": 12297, "training_step_time": 17.61277985572815 }, { "epoch": 1.1728286743164063e-06, "model_forward_time": 5.084489822387695, "step": 12298 }, { "epoch": 1.1728286743164063e-06, "step": 12298, "training_step_time": 17.601155519485474 }, { "epoch": 1.1729240417480469e-06, "model_forward_time": 5.292392015457153, "step": 12299 }, { "epoch": 1.1729240417480469e-06, "step": 12299, "training_step_time": 17.606538772583008 }, { "epoch": 1.1730194091796875e-06, "grad_norm": 1.7741010189056396, "learning_rate": 9.574205030528723e-06, "loss": 0.1016, "step": 12300 }, { "epoch": 1.1730194091796875e-06, "model_forward_time": 5.08920693397522, "step": 12300 }, { "dynamics_loss_avg": 0.03728633355349302, "epoch": 1.1730194091796875e-06, "step": 12300 }, { "action_loss_avg": 0.06311161480844021, "epoch": 1.1730194091796875e-06, "step": 12300 }, { "arm_loss_avg": 0.11457461938261986, "epoch": 1.1730194091796875e-06, "step": 12300 }, { "ee_loss_avg": 0.08680841028690338, "epoch": 1.1730194091796875e-06, "step": 12300 }, { "aux_loss_avg": 0.004044039215659723, "epoch": 1.1730194091796875e-06, "step": 12300 }, { "epoch": 1.1730194091796875e-06, "step": 12300, "training_step_time": 17.841046810150146 }, { "epoch": 1.173114776611328e-06, "model_forward_time": 5.084787845611572, "step": 12301 }, { "epoch": 1.173114776611328e-06, "step": 12301, "training_step_time": 17.610641479492188 }, { "epoch": 1.1732101440429687e-06, "model_forward_time": 5.089211463928223, "step": 12302 }, { "epoch": 1.1732101440429687e-06, "step": 12302, "training_step_time": 17.610973358154297 }, { "epoch": 1.1733055114746093e-06, "model_forward_time": 5.082801103591919, "step": 12303 }, { "epoch": 1.1733055114746093e-06, "step": 12303, "training_step_time": 17.612887382507324 }, { "epoch": 1.17340087890625e-06, "model_forward_time": 5.084602355957031, "step": 12304 }, { "epoch": 1.17340087890625e-06, "step": 12304, "training_step_time": 17.60644555091858 }, { "epoch": 1.1734962463378906e-06, "model_forward_time": 3.851850748062134, "step": 12305 }, { "epoch": 1.1734962463378906e-06, "step": 12305, "training_step_time": 17.802059173583984 }, { "epoch": 1.1735916137695312e-06, "model_forward_time": 5.063321828842163, "step": 12306 }, { "epoch": 1.1735916137695312e-06, "step": 12306, "training_step_time": 17.632739543914795 }, { "epoch": 1.1736869812011718e-06, "model_forward_time": 5.073410749435425, "step": 12307 }, { "epoch": 1.1736869812011718e-06, "step": 12307, "training_step_time": 17.408408403396606 }, { "epoch": 1.1737823486328124e-06, "model_forward_time": 5.081418514251709, "step": 12308 }, { "epoch": 1.1737823486328124e-06, "step": 12308, "training_step_time": 17.521737337112427 }, { "epoch": 1.1738777160644532e-06, "model_forward_time": 5.085718393325806, "step": 12309 }, { "epoch": 1.1738777160644532e-06, "step": 12309, "training_step_time": 17.425127267837524 }, { "epoch": 1.1739730834960938e-06, "grad_norm": 1.862371802330017, "learning_rate": 9.573250670636278e-06, "loss": 0.0866, "step": 12310 }, { "epoch": 1.1739730834960938e-06, "model_forward_time": 5.0952839851379395, "step": 12310 }, { "dynamics_loss_avg": 0.03968363720923662, "epoch": 1.1739730834960938e-06, "step": 12310 }, { "action_loss_avg": 0.09496105257421732, "epoch": 1.1739730834960938e-06, "step": 12310 }, { "arm_loss_avg": 0.13895073756575585, "epoch": 1.1739730834960938e-06, "step": 12310 }, { "ee_loss_avg": 0.07502940893173218, "epoch": 1.1739730834960938e-06, "step": 12310 }, { "aux_loss_avg": 0.004543538717553019, "epoch": 1.1739730834960938e-06, "step": 12310 }, { "epoch": 1.1739730834960938e-06, "step": 12310, "training_step_time": 17.725163459777832 }, { "epoch": 1.1740684509277345e-06, "model_forward_time": 5.093955039978027, "step": 12311 }, { "epoch": 1.1740684509277345e-06, "step": 12311, "training_step_time": 17.59796166419983 }, { "epoch": 1.174163818359375e-06, "model_forward_time": 5.0945563316345215, "step": 12312 }, { "epoch": 1.174163818359375e-06, "step": 12312, "training_step_time": 17.598159074783325 }, { "epoch": 1.1742591857910157e-06, "model_forward_time": 3.8586535453796387, "step": 12313 }, { "epoch": 1.1742591857910157e-06, "step": 12313, "training_step_time": 17.624244689941406 }, { "epoch": 1.1743545532226563e-06, "model_forward_time": 5.059945106506348, "step": 12314 }, { "epoch": 1.1743545532226563e-06, "step": 12314, "training_step_time": 17.64383292198181 }, { "epoch": 1.174449920654297e-06, "model_forward_time": 5.07271146774292, "step": 12315 }, { "epoch": 1.174449920654297e-06, "step": 12315, "training_step_time": 17.837581396102905 }, { "epoch": 1.1745452880859375e-06, "model_forward_time": 5.094526767730713, "step": 12316 }, { "epoch": 1.1745452880859375e-06, "step": 12316, "training_step_time": 17.680656671524048 }, { "epoch": 1.1746406555175781e-06, "model_forward_time": 5.100655794143677, "step": 12317 }, { "epoch": 1.1746406555175781e-06, "step": 12317, "training_step_time": 17.66984272003174 }, { "epoch": 1.1747360229492188e-06, "model_forward_time": 5.110379695892334, "step": 12318 }, { "epoch": 1.1747360229492188e-06, "step": 12318, "training_step_time": 17.67252016067505 }, { "epoch": 1.1748313903808594e-06, "model_forward_time": 5.322572231292725, "step": 12319 }, { "epoch": 1.1748313903808594e-06, "step": 12319, "training_step_time": 17.447398900985718 }, { "epoch": 1.1749267578125e-06, "grad_norm": 1.0571502447128296, "learning_rate": 9.572295290082992e-06, "loss": 0.0951, "step": 12320 }, { "epoch": 1.1749267578125e-06, "model_forward_time": 5.1030433177948, "step": 12320 }, { "dynamics_loss_avg": 0.035310488846153024, "epoch": 1.1749267578125e-06, "step": 12320 }, { "action_loss_avg": 0.07124917544424533, "epoch": 1.1749267578125e-06, "step": 12320 }, { "arm_loss_avg": 0.13587709255516528, "epoch": 1.1749267578125e-06, "step": 12320 }, { "ee_loss_avg": 0.08677377086132765, "epoch": 1.1749267578125e-06, "step": 12320 }, { "aux_loss_avg": 0.0010135929798707366, "epoch": 1.1749267578125e-06, "step": 12320 }, { "epoch": 1.1749267578125e-06, "step": 12320, "training_step_time": 17.77031946182251 }, { "epoch": 1.1750221252441406e-06, "model_forward_time": 5.098360300064087, "step": 12321 }, { "epoch": 1.1750221252441406e-06, "step": 12321, "training_step_time": 17.56316328048706 }, { "epoch": 1.1751174926757812e-06, "model_forward_time": 5.097172737121582, "step": 12322 }, { "epoch": 1.1751174926757812e-06, "step": 12322, "training_step_time": 17.597838401794434 }, { "epoch": 1.1752128601074218e-06, "model_forward_time": 5.092868328094482, "step": 12323 }, { "epoch": 1.1752128601074218e-06, "step": 12323, "training_step_time": 17.60280442237854 }, { "epoch": 1.1753082275390624e-06, "model_forward_time": 5.087990999221802, "step": 12324 }, { "epoch": 1.1753082275390624e-06, "step": 12324, "training_step_time": 17.613482236862183 }, { "epoch": 1.175403594970703e-06, "model_forward_time": 5.094701528549194, "step": 12325 }, { "epoch": 1.175403594970703e-06, "step": 12325, "training_step_time": 17.81904101371765 }, { "epoch": 1.1754989624023437e-06, "model_forward_time": 5.088994979858398, "step": 12326 }, { "epoch": 1.1754989624023437e-06, "step": 12326, "training_step_time": 17.631229639053345 }, { "epoch": 1.1755943298339843e-06, "model_forward_time": 5.084553003311157, "step": 12327 }, { "epoch": 1.1755943298339843e-06, "step": 12327, "training_step_time": 17.628923892974854 }, { "epoch": 1.175689697265625e-06, "model_forward_time": 5.083871603012085, "step": 12328 }, { "epoch": 1.175689697265625e-06, "step": 12328, "training_step_time": 17.633158683776855 }, { "epoch": 1.1757850646972657e-06, "model_forward_time": 5.28031587600708, "step": 12329 }, { "epoch": 1.1757850646972657e-06, "step": 12329, "training_step_time": 17.84556221961975 }, { "epoch": 1.1758804321289063e-06, "grad_norm": 1.2056341171264648, "learning_rate": 9.571338889082084e-06, "loss": 0.0989, "step": 12330 }, { "epoch": 1.1758804321289063e-06, "model_forward_time": 5.087926149368286, "step": 12330 }, { "dynamics_loss_avg": 0.045603145658969876, "epoch": 1.1758804321289063e-06, "step": 12330 }, { "action_loss_avg": 0.09401715844869614, "epoch": 1.1758804321289063e-06, "step": 12330 }, { "arm_loss_avg": 0.15714502036571504, "epoch": 1.1758804321289063e-06, "step": 12330 }, { "ee_loss_avg": 0.0800703122280538, "epoch": 1.1758804321289063e-06, "step": 12330 }, { "aux_loss_avg": 0.0035696580831427126, "epoch": 1.1758804321289063e-06, "step": 12330 }, { "epoch": 1.1758804321289063e-06, "step": 12330, "training_step_time": 17.61722469329834 }, { "epoch": 1.175975799560547e-06, "model_forward_time": 5.086382865905762, "step": 12331 }, { "epoch": 1.175975799560547e-06, "step": 12331, "training_step_time": 17.526750564575195 }, { "epoch": 1.1760711669921876e-06, "model_forward_time": 5.089519500732422, "step": 12332 }, { "epoch": 1.1760711669921876e-06, "step": 12332, "training_step_time": 17.576757192611694 }, { "epoch": 1.1761665344238282e-06, "model_forward_time": 5.088899850845337, "step": 12333 }, { "epoch": 1.1761665344238282e-06, "step": 12333, "training_step_time": 17.593135595321655 }, { "epoch": 1.1762619018554688e-06, "model_forward_time": 5.333998441696167, "step": 12334 }, { "epoch": 1.1762619018554688e-06, "step": 12334, "training_step_time": 17.80807852745056 }, { "epoch": 1.1763572692871094e-06, "model_forward_time": 3.8517370223999023, "step": 12335 }, { "epoch": 1.1763572692871094e-06, "step": 12335, "training_step_time": 17.616576194763184 }, { "epoch": 1.17645263671875e-06, "model_forward_time": 5.054738998413086, "step": 12336 }, { "epoch": 1.17645263671875e-06, "step": 12336, "training_step_time": 17.627806901931763 }, { "epoch": 1.1765480041503906e-06, "model_forward_time": 5.067203044891357, "step": 12337 }, { "epoch": 1.1765480041503906e-06, "step": 12337, "training_step_time": 17.63570237159729 }, { "epoch": 1.1766433715820313e-06, "model_forward_time": 5.0771613121032715, "step": 12338 }, { "epoch": 1.1766433715820313e-06, "step": 12338, "training_step_time": 17.628536462783813 }, { "epoch": 1.1767387390136719e-06, "model_forward_time": 5.086374521255493, "step": 12339 }, { "epoch": 1.1767387390136719e-06, "step": 12339, "training_step_time": 17.41773533821106 }, { "epoch": 1.1768341064453125e-06, "grad_norm": 1.434868574142456, "learning_rate": 9.570381467847006e-06, "loss": 0.1106, "step": 12340 }, { "epoch": 1.1768341064453125e-06, "model_forward_time": 5.323614597320557, "step": 12340 }, { "dynamics_loss_avg": 0.050019503384828565, "epoch": 1.1768341064453125e-06, "step": 12340 }, { "action_loss_avg": 0.10008932650089264, "epoch": 1.1768341064453125e-06, "step": 12340 }, { "arm_loss_avg": 0.14342883005738258, "epoch": 1.1768341064453125e-06, "step": 12340 }, { "ee_loss_avg": 0.12342925444245338, "epoch": 1.1768341064453125e-06, "step": 12340 }, { "aux_loss_avg": 0.00938083432847634, "epoch": 1.1768341064453125e-06, "step": 12340 }, { "epoch": 1.1768341064453125e-06, "step": 12340, "training_step_time": 17.76657724380493 }, { "epoch": 1.176929473876953e-06, "model_forward_time": 5.094896554946899, "step": 12341 }, { "epoch": 1.176929473876953e-06, "step": 12341, "training_step_time": 17.570135354995728 }, { "epoch": 1.1770248413085937e-06, "model_forward_time": 5.101220369338989, "step": 12342 }, { "epoch": 1.1770248413085937e-06, "step": 12342, "training_step_time": 17.594034671783447 }, { "epoch": 1.1771202087402343e-06, "model_forward_time": 5.096015691757202, "step": 12343 }, { "epoch": 1.1771202087402343e-06, "step": 12343, "training_step_time": 17.61328649520874 }, { "epoch": 1.177215576171875e-06, "model_forward_time": 5.0941925048828125, "step": 12344 }, { "epoch": 1.177215576171875e-06, "step": 12344, "training_step_time": 17.62458825111389 }, { "epoch": 1.1773109436035156e-06, "model_forward_time": 5.092129230499268, "step": 12345 }, { "epoch": 1.1773109436035156e-06, "step": 12345, "training_step_time": 17.847259759902954 }, { "epoch": 1.1774063110351562e-06, "model_forward_time": 5.087030410766602, "step": 12346 }, { "epoch": 1.1774063110351562e-06, "step": 12346, "training_step_time": 17.410521507263184 }, { "epoch": 1.1775016784667968e-06, "model_forward_time": 5.088090419769287, "step": 12347 }, { "epoch": 1.1775016784667968e-06, "step": 12347, "training_step_time": 17.558788537979126 }, { "epoch": 1.1775970458984374e-06, "model_forward_time": 5.0928473472595215, "step": 12348 }, { "epoch": 1.1775970458984374e-06, "step": 12348, "training_step_time": 17.59485960006714 }, { "epoch": 1.1776924133300782e-06, "model_forward_time": 5.087220191955566, "step": 12349 }, { "epoch": 1.1776924133300782e-06, "step": 12349, "training_step_time": 17.616137504577637 }, { "epoch": 1.1777877807617188e-06, "grad_norm": 1.081924319267273, "learning_rate": 9.569423026591435e-06, "loss": 0.1069, "step": 12350 }, { "epoch": 1.1777877807617188e-06, "model_forward_time": 5.085869073867798, "step": 12350 }, { "dynamics_loss_avg": 0.043993468210101125, "epoch": 1.1777877807617188e-06, "step": 12350 }, { "action_loss_avg": 0.11175064072012901, "epoch": 1.1777877807617188e-06, "step": 12350 }, { "arm_loss_avg": 0.16950809061527253, "epoch": 1.1777877807617188e-06, "step": 12350 }, { "ee_loss_avg": 0.1397481244057417, "epoch": 1.1777877807617188e-06, "step": 12350 }, { "aux_loss_avg": 0.003971456823637709, "epoch": 1.1777877807617188e-06, "step": 12350 }, { "epoch": 1.1777877807617188e-06, "step": 12350, "training_step_time": 17.867555618286133 }, { "epoch": 1.1778831481933595e-06, "model_forward_time": 5.082688570022583, "step": 12351 }, { "epoch": 1.1778831481933595e-06, "step": 12351, "training_step_time": 17.39115881919861 }, { "epoch": 1.177978515625e-06, "model_forward_time": 5.085522413253784, "step": 12352 }, { "epoch": 1.177978515625e-06, "step": 12352, "training_step_time": 17.5475857257843 }, { "epoch": 1.1780738830566407e-06, "model_forward_time": 5.086504697799683, "step": 12353 }, { "epoch": 1.1780738830566407e-06, "step": 12353, "training_step_time": 17.590179443359375 }, { "epoch": 1.1781692504882813e-06, "model_forward_time": 5.325515985488892, "step": 12354 }, { "epoch": 1.1781692504882813e-06, "step": 12354, "training_step_time": 17.608081579208374 }, { "epoch": 1.178264617919922e-06, "model_forward_time": 5.085106372833252, "step": 12355 }, { "epoch": 1.178264617919922e-06, "step": 12355, "training_step_time": 17.812408208847046 }, { "epoch": 1.1783599853515625e-06, "model_forward_time": 5.0953075885772705, "step": 12356 }, { "epoch": 1.1783599853515625e-06, "step": 12356, "training_step_time": 17.65107011795044 }, { "epoch": 1.1784553527832031e-06, "model_forward_time": 5.093738079071045, "step": 12357 }, { "epoch": 1.1784553527832031e-06, "step": 12357, "training_step_time": 17.65107488632202 }, { "epoch": 1.1785507202148438e-06, "model_forward_time": 5.095852613449097, "step": 12358 }, { "epoch": 1.1785507202148438e-06, "step": 12358, "training_step_time": 17.64376711845398 }, { "epoch": 1.1786460876464844e-06, "model_forward_time": 5.314680337905884, "step": 12359 }, { "epoch": 1.1786460876464844e-06, "step": 12359, "training_step_time": 17.631305694580078 }, { "epoch": 1.178741455078125e-06, "grad_norm": 1.8502435684204102, "learning_rate": 9.56846356552928e-06, "loss": 0.0978, "step": 12360 }, { "epoch": 1.178741455078125e-06, "model_forward_time": 5.088481903076172, "step": 12360 }, { "dynamics_loss_avg": 0.03671536734327674, "epoch": 1.178741455078125e-06, "step": 12360 }, { "action_loss_avg": 0.07617554627358913, "epoch": 1.178741455078125e-06, "step": 12360 }, { "arm_loss_avg": 0.12771205082535744, "epoch": 1.178741455078125e-06, "step": 12360 }, { "ee_loss_avg": 0.07352510523051023, "epoch": 1.178741455078125e-06, "step": 12360 }, { "aux_loss_avg": 0.0010673284268705174, "epoch": 1.178741455078125e-06, "step": 12360 }, { "epoch": 1.178741455078125e-06, "step": 12360, "training_step_time": 17.838139057159424 }, { "epoch": 1.1788368225097656e-06, "model_forward_time": 5.08032751083374, "step": 12361 }, { "epoch": 1.1788368225097656e-06, "step": 12361, "training_step_time": 17.601965188980103 }, { "epoch": 1.1789321899414062e-06, "model_forward_time": 5.082883596420288, "step": 12362 }, { "epoch": 1.1789321899414062e-06, "step": 12362, "training_step_time": 17.588104963302612 }, { "epoch": 1.1790275573730468e-06, "model_forward_time": 5.084818124771118, "step": 12363 }, { "epoch": 1.1790275573730468e-06, "step": 12363, "training_step_time": 17.591506958007812 }, { "epoch": 1.1791229248046874e-06, "model_forward_time": 5.080733060836792, "step": 12364 }, { "epoch": 1.1791229248046874e-06, "step": 12364, "training_step_time": 17.822966814041138 }, { "epoch": 1.179218292236328e-06, "model_forward_time": 5.0808327198028564, "step": 12365 }, { "epoch": 1.179218292236328e-06, "step": 12365, "training_step_time": 17.609581470489502 }, { "epoch": 1.1793136596679687e-06, "model_forward_time": 5.080277681350708, "step": 12366 }, { "epoch": 1.1793136596679687e-06, "step": 12366, "training_step_time": 17.57362961769104 }, { "epoch": 1.1794090270996093e-06, "model_forward_time": 5.0776519775390625, "step": 12367 }, { "epoch": 1.1794090270996093e-06, "step": 12367, "training_step_time": 17.577588081359863 }, { "epoch": 1.17950439453125e-06, "model_forward_time": 5.078246355056763, "step": 12368 }, { "epoch": 1.17950439453125e-06, "step": 12368, "training_step_time": 17.582285165786743 }, { "epoch": 1.1795997619628907e-06, "model_forward_time": 5.280255556106567, "step": 12369 }, { "epoch": 1.1795997619628907e-06, "step": 12369, "training_step_time": 17.591305017471313 }, { "epoch": 1.1796951293945313e-06, "grad_norm": 1.9863648414611816, "learning_rate": 9.567503084874669e-06, "loss": 0.0995, "step": 12370 }, { "epoch": 1.1796951293945313e-06, "model_forward_time": 5.081367015838623, "step": 12370 }, { "dynamics_loss_avg": 0.04120556740090251, "epoch": 1.1796951293945313e-06, "step": 12370 }, { "action_loss_avg": 0.10538771599531174, "epoch": 1.1796951293945313e-06, "step": 12370 }, { "arm_loss_avg": 0.16958254724740982, "epoch": 1.1796951293945313e-06, "step": 12370 }, { "ee_loss_avg": 0.12361367037519813, "epoch": 1.1796951293945313e-06, "step": 12370 }, { "aux_loss_avg": 0.0009876453143078834, "epoch": 1.1796951293945313e-06, "step": 12370 }, { "epoch": 1.1796951293945313e-06, "step": 12370, "training_step_time": 17.828362703323364 }, { "epoch": 1.179790496826172e-06, "model_forward_time": 5.075992822647095, "step": 12371 }, { "epoch": 1.179790496826172e-06, "step": 12371, "training_step_time": 17.373117923736572 }, { "epoch": 1.1798858642578126e-06, "model_forward_time": 5.083608627319336, "step": 12372 }, { "epoch": 1.1798858642578126e-06, "step": 12372, "training_step_time": 17.506399631500244 }, { "epoch": 1.1799812316894532e-06, "model_forward_time": 5.081010580062866, "step": 12373 }, { "epoch": 1.1799812316894532e-06, "step": 12373, "training_step_time": 17.54541325569153 }, { "epoch": 1.1800765991210938e-06, "model_forward_time": 5.343329906463623, "step": 12374 }, { "epoch": 1.1800765991210938e-06, "step": 12374, "training_step_time": 17.57434630393982 }, { "epoch": 1.1801719665527344e-06, "model_forward_time": 5.083017826080322, "step": 12375 }, { "epoch": 1.1801719665527344e-06, "step": 12375, "training_step_time": 17.59209656715393 }, { "epoch": 1.180267333984375e-06, "model_forward_time": 5.083012580871582, "step": 12376 }, { "epoch": 1.180267333984375e-06, "step": 12376, "training_step_time": 17.524619817733765 }, { "epoch": 1.1803627014160156e-06, "model_forward_time": 5.083993196487427, "step": 12377 }, { "epoch": 1.1803627014160156e-06, "step": 12377, "training_step_time": 17.574272632598877 }, { "epoch": 1.1804580688476563e-06, "model_forward_time": 5.082399845123291, "step": 12378 }, { "epoch": 1.1804580688476563e-06, "step": 12378, "training_step_time": 17.617119073867798 }, { "epoch": 1.1805534362792969e-06, "model_forward_time": 5.295527696609497, "step": 12379 }, { "epoch": 1.1805534362792969e-06, "step": 12379, "training_step_time": 17.63688611984253 }, { "epoch": 1.1806488037109375e-06, "grad_norm": 1.4491511583328247, "learning_rate": 9.566541584841967e-06, "loss": 0.0954, "step": 12380 }, { "epoch": 1.1806488037109375e-06, "model_forward_time": 5.085453748703003, "step": 12380 }, { "dynamics_loss_avg": 0.05016337633132935, "epoch": 1.1806488037109375e-06, "step": 12380 }, { "action_loss_avg": 0.07338954359292985, "epoch": 1.1806488037109375e-06, "step": 12380 }, { "arm_loss_avg": 0.13980674371123314, "epoch": 1.1806488037109375e-06, "step": 12380 }, { "ee_loss_avg": 0.12542731761932374, "epoch": 1.1806488037109375e-06, "step": 12380 }, { "aux_loss_avg": 0.002212573122233152, "epoch": 1.1806488037109375e-06, "step": 12380 }, { "epoch": 1.1806488037109375e-06, "step": 12380, "training_step_time": 17.880419731140137 }, { "epoch": 1.180744171142578e-06, "model_forward_time": 5.080860614776611, "step": 12381 }, { "epoch": 1.180744171142578e-06, "step": 12381, "training_step_time": 17.65358257293701 }, { "epoch": 1.1808395385742187e-06, "model_forward_time": 3.8531153202056885, "step": 12382 }, { "epoch": 1.1808395385742187e-06, "step": 12382, "training_step_time": 17.642104148864746 }, { "epoch": 1.1809349060058593e-06, "model_forward_time": 5.065300226211548, "step": 12383 }, { "epoch": 1.1809349060058593e-06, "step": 12383, "training_step_time": 17.38111424446106 }, { "epoch": 1.1810302734375e-06, "model_forward_time": 3.8410513401031494, "step": 12384 }, { "epoch": 1.1810302734375e-06, "step": 12384, "training_step_time": 17.38309121131897 }, { "epoch": 1.1811256408691406e-06, "model_forward_time": 4.017003297805786, "step": 12385 }, { "epoch": 1.1811256408691406e-06, "step": 12385, "training_step_time": 17.636929512023926 }, { "epoch": 1.1812210083007812e-06, "model_forward_time": 5.049346923828125, "step": 12386 }, { "epoch": 1.1812210083007812e-06, "step": 12386, "training_step_time": 17.538771390914917 }, { "epoch": 1.1813163757324218e-06, "model_forward_time": 5.0702431201934814, "step": 12387 }, { "epoch": 1.1813163757324218e-06, "step": 12387, "training_step_time": 17.57935380935669 }, { "epoch": 1.1814117431640624e-06, "model_forward_time": 5.088768482208252, "step": 12388 }, { "epoch": 1.1814117431640624e-06, "step": 12388, "training_step_time": 17.61449956893921 }, { "epoch": 1.181507110595703e-06, "model_forward_time": 5.102184534072876, "step": 12389 }, { "epoch": 1.181507110595703e-06, "step": 12389, "training_step_time": 17.621288299560547 }, { "epoch": 1.1816024780273438e-06, "grad_norm": 1.5709089040756226, "learning_rate": 9.565579065645761e-06, "loss": 0.0929, "step": 12390 }, { "epoch": 1.1816024780273438e-06, "model_forward_time": 5.284952640533447, "step": 12390 }, { "dynamics_loss_avg": 0.04835457485169172, "epoch": 1.1816024780273438e-06, "step": 12390 }, { "action_loss_avg": 0.08964738026261329, "epoch": 1.1816024780273438e-06, "step": 12390 }, { "arm_loss_avg": 0.13290569558739662, "epoch": 1.1816024780273438e-06, "step": 12390 }, { "ee_loss_avg": 0.08992220349609852, "epoch": 1.1816024780273438e-06, "step": 12390 }, { "aux_loss_avg": 0.004517153647611849, "epoch": 1.1816024780273438e-06, "step": 12390 }, { "epoch": 1.1816024780273438e-06, "step": 12390, "training_step_time": 17.87033438682556 }, { "epoch": 1.1816978454589845e-06, "model_forward_time": 5.099842071533203, "step": 12391 }, { "epoch": 1.1816978454589845e-06, "step": 12391, "training_step_time": 17.643136501312256 }, { "epoch": 1.181793212890625e-06, "model_forward_time": 5.089964866638184, "step": 12392 }, { "epoch": 1.181793212890625e-06, "step": 12392, "training_step_time": 17.650627374649048 }, { "epoch": 1.1818885803222657e-06, "model_forward_time": 5.090703964233398, "step": 12393 }, { "epoch": 1.1818885803222657e-06, "step": 12393, "training_step_time": 17.655501127243042 }, { "epoch": 1.1819839477539063e-06, "model_forward_time": 5.088951349258423, "step": 12394 }, { "epoch": 1.1819839477539063e-06, "step": 12394, "training_step_time": 17.635515928268433 }, { "epoch": 1.182079315185547e-06, "model_forward_time": 5.320340633392334, "step": 12395 }, { "epoch": 1.182079315185547e-06, "step": 12395, "training_step_time": 17.805792093276978 }, { "epoch": 1.1821746826171875e-06, "model_forward_time": 5.0932464599609375, "step": 12396 }, { "epoch": 1.1821746826171875e-06, "step": 12396, "training_step_time": 17.65529751777649 }, { "epoch": 1.1822700500488281e-06, "model_forward_time": 5.091906547546387, "step": 12397 }, { "epoch": 1.1822700500488281e-06, "step": 12397, "training_step_time": 17.62560486793518 }, { "epoch": 1.1823654174804688e-06, "model_forward_time": 5.088937759399414, "step": 12398 }, { "epoch": 1.1823654174804688e-06, "step": 12398, "training_step_time": 17.62064290046692 }, { "epoch": 1.1824607849121094e-06, "model_forward_time": 5.09464693069458, "step": 12399 }, { "epoch": 1.1824607849121094e-06, "step": 12399, "training_step_time": 17.613645792007446 }, { "epoch": 1.18255615234375e-06, "grad_norm": 1.8188287019729614, "learning_rate": 9.564615527500863e-06, "loss": 0.0984, "step": 12400 }, { "epoch": 1.18255615234375e-06, "model_forward_time": 5.084864377975464, "step": 12400 }, { "dynamics_loss_avg": 0.04108666982501745, "epoch": 1.18255615234375e-06, "step": 12400 }, { "action_loss_avg": 0.08878289423882961, "epoch": 1.18255615234375e-06, "step": 12400 }, { "arm_loss_avg": 0.1681903399527073, "epoch": 1.18255615234375e-06, "step": 12400 }, { "ee_loss_avg": 0.09269231893122196, "epoch": 1.18255615234375e-06, "step": 12400 }, { "aux_loss_avg": 0.0027920422668103128, "epoch": 1.18255615234375e-06, "step": 12400 }, { "epoch": 1.18255615234375e-06, "step": 12400, "training_step_time": 17.861672163009644 }, { "epoch": 1.1826515197753906e-06, "model_forward_time": 5.084456443786621, "step": 12401 }, { "epoch": 1.1826515197753906e-06, "step": 12401, "training_step_time": 17.59147357940674 }, { "epoch": 1.1827468872070312e-06, "model_forward_time": 5.083984375, "step": 12402 }, { "epoch": 1.1827468872070312e-06, "step": 12402, "training_step_time": 17.591203689575195 }, { "epoch": 1.1828422546386718e-06, "model_forward_time": 5.084858655929565, "step": 12403 }, { "epoch": 1.1828422546386718e-06, "step": 12403, "training_step_time": 17.59116268157959 }, { "epoch": 1.1829376220703124e-06, "model_forward_time": 5.093675851821899, "step": 12404 }, { "epoch": 1.1829376220703124e-06, "step": 12404, "training_step_time": 17.446379899978638 }, { "epoch": 1.183032989501953e-06, "model_forward_time": 5.093238830566406, "step": 12405 }, { "epoch": 1.183032989501953e-06, "step": 12405, "training_step_time": 17.703952312469482 }, { "epoch": 1.1831283569335937e-06, "model_forward_time": 5.090242147445679, "step": 12406 }, { "epoch": 1.1831283569335937e-06, "step": 12406, "training_step_time": 17.555704832077026 }, { "epoch": 1.1832237243652343e-06, "model_forward_time": 5.092476844787598, "step": 12407 }, { "epoch": 1.1832237243652343e-06, "step": 12407, "training_step_time": 17.579654455184937 }, { "epoch": 1.183319091796875e-06, "model_forward_time": 5.089487552642822, "step": 12408 }, { "epoch": 1.183319091796875e-06, "step": 12408, "training_step_time": 17.600834369659424 }, { "epoch": 1.1834144592285155e-06, "model_forward_time": 5.086895942687988, "step": 12409 }, { "epoch": 1.1834144592285155e-06, "step": 12409, "training_step_time": 17.605663537979126 }, { "epoch": 1.1835098266601563e-06, "grad_norm": 1.3604744672775269, "learning_rate": 9.563650970622321e-06, "loss": 0.0947, "step": 12410 }, { "epoch": 1.1835098266601563e-06, "model_forward_time": 5.089014053344727, "step": 12410 }, { "dynamics_loss_avg": 0.04745066901668906, "epoch": 1.1835098266601563e-06, "step": 12410 }, { "action_loss_avg": 0.0736592710018158, "epoch": 1.1835098266601563e-06, "step": 12410 }, { "arm_loss_avg": 0.13736055064946412, "epoch": 1.1835098266601563e-06, "step": 12410 }, { "ee_loss_avg": 0.06515959929674864, "epoch": 1.1835098266601563e-06, "step": 12410 }, { "aux_loss_avg": 0.0032398004608694465, "epoch": 1.1835098266601563e-06, "step": 12410 }, { "epoch": 1.1835098266601563e-06, "step": 12410, "training_step_time": 17.848760843276978 }, { "epoch": 1.183605194091797e-06, "model_forward_time": 5.0813093185424805, "step": 12411 }, { "epoch": 1.183605194091797e-06, "step": 12411, "training_step_time": 17.63330912590027 }, { "epoch": 1.1837005615234376e-06, "model_forward_time": 3.8528759479522705, "step": 12412 }, { "epoch": 1.1837005615234376e-06, "step": 12412, "training_step_time": 17.63259220123291 }, { "epoch": 1.1837959289550782e-06, "model_forward_time": 5.057715177536011, "step": 12413 }, { "epoch": 1.1837959289550782e-06, "step": 12413, "training_step_time": 17.62601923942566 }, { "epoch": 1.1838912963867188e-06, "model_forward_time": 5.071108341217041, "step": 12414 }, { "epoch": 1.1838912963867188e-06, "step": 12414, "training_step_time": 17.385077476501465 }, { "epoch": 1.1839866638183594e-06, "model_forward_time": 3.85154390335083, "step": 12415 }, { "epoch": 1.1839866638183594e-06, "step": 12415, "training_step_time": 17.704183340072632 }, { "epoch": 1.18408203125e-06, "model_forward_time": 5.074335813522339, "step": 12416 }, { "epoch": 1.18408203125e-06, "step": 12416, "training_step_time": 17.59567356109619 }, { "epoch": 1.1841773986816406e-06, "model_forward_time": 5.087356805801392, "step": 12417 }, { "epoch": 1.1841773986816406e-06, "step": 12417, "training_step_time": 17.606739044189453 }, { "epoch": 1.1842727661132813e-06, "model_forward_time": 5.102253437042236, "step": 12418 }, { "epoch": 1.1842727661132813e-06, "step": 12418, "training_step_time": 17.404038190841675 }, { "epoch": 1.1843681335449219e-06, "model_forward_time": 5.113072395324707, "step": 12419 }, { "epoch": 1.1843681335449219e-06, "step": 12419, "training_step_time": 17.543519020080566 }, { "epoch": 1.1844635009765625e-06, "grad_norm": 1.6859039068222046, "learning_rate": 9.562685395225404e-06, "loss": 0.0876, "step": 12420 }, { "epoch": 1.1844635009765625e-06, "model_forward_time": 5.370020866394043, "step": 12420 }, { "dynamics_loss_avg": 0.03646646160632372, "epoch": 1.1844635009765625e-06, "step": 12420 }, { "action_loss_avg": 0.07166608199477195, "epoch": 1.1844635009765625e-06, "step": 12420 }, { "arm_loss_avg": 0.11184558719396591, "epoch": 1.1844635009765625e-06, "step": 12420 }, { "ee_loss_avg": 0.14669339954853058, "epoch": 1.1844635009765625e-06, "step": 12420 }, { "aux_loss_avg": 0.0014903769129887222, "epoch": 1.1844635009765625e-06, "step": 12420 }, { "epoch": 1.1844635009765625e-06, "step": 12420, "training_step_time": 17.80369544029236 }, { "epoch": 1.1845588684082031e-06, "model_forward_time": 5.101895093917847, "step": 12421 }, { "epoch": 1.1845588684082031e-06, "step": 12421, "training_step_time": 17.599735260009766 }, { "epoch": 1.1846542358398437e-06, "model_forward_time": 5.100626230239868, "step": 12422 }, { "epoch": 1.1846542358398437e-06, "step": 12422, "training_step_time": 17.624758005142212 }, { "epoch": 1.1847496032714843e-06, "model_forward_time": 5.094852924346924, "step": 12423 }, { "epoch": 1.1847496032714843e-06, "step": 12423, "training_step_time": 17.63399600982666 }, { "epoch": 1.184844970703125e-06, "model_forward_time": 5.08832311630249, "step": 12424 }, { "epoch": 1.184844970703125e-06, "step": 12424, "training_step_time": 17.64086604118347 }, { "epoch": 1.1849403381347656e-06, "model_forward_time": 5.087130308151245, "step": 12425 }, { "epoch": 1.1849403381347656e-06, "step": 12425, "training_step_time": 17.44570517539978 }, { "epoch": 1.1850357055664062e-06, "model_forward_time": 5.080224514007568, "step": 12426 }, { "epoch": 1.1850357055664062e-06, "step": 12426, "training_step_time": 17.620516300201416 }, { "epoch": 1.1851310729980468e-06, "model_forward_time": 5.084203243255615, "step": 12427 }, { "epoch": 1.1851310729980468e-06, "step": 12427, "training_step_time": 17.586416482925415 }, { "epoch": 1.1852264404296874e-06, "model_forward_time": 5.087082147598267, "step": 12428 }, { "epoch": 1.1852264404296874e-06, "step": 12428, "training_step_time": 17.60040044784546 }, { "epoch": 1.185321807861328e-06, "model_forward_time": 5.077274322509766, "step": 12429 }, { "epoch": 1.185321807861328e-06, "step": 12429, "training_step_time": 17.620943307876587 }, { "epoch": 1.1854171752929688e-06, "grad_norm": 1.5110688209533691, "learning_rate": 9.561718801525609e-06, "loss": 0.1153, "step": 12430 }, { "epoch": 1.1854171752929688e-06, "model_forward_time": 5.08045220375061, "step": 12430 }, { "dynamics_loss_avg": 0.05484830709174275, "epoch": 1.1854171752929688e-06, "step": 12430 }, { "action_loss_avg": 0.08650457970798016, "epoch": 1.1854171752929688e-06, "step": 12430 }, { "arm_loss_avg": 0.11412668526172638, "epoch": 1.1854171752929688e-06, "step": 12430 }, { "ee_loss_avg": 0.0775917858351022, "epoch": 1.1854171752929688e-06, "step": 12430 }, { "aux_loss_avg": 0.0013516825041733683, "epoch": 1.1854171752929688e-06, "step": 12430 }, { "epoch": 1.1854171752929688e-06, "step": 12430, "training_step_time": 17.838644981384277 }, { "epoch": 1.1855125427246095e-06, "model_forward_time": 5.076520919799805, "step": 12431 }, { "epoch": 1.1855125427246095e-06, "step": 12431, "training_step_time": 17.62005376815796 }, { "epoch": 1.18560791015625e-06, "model_forward_time": 5.084641695022583, "step": 12432 }, { "epoch": 1.18560791015625e-06, "step": 12432, "training_step_time": 17.607534646987915 }, { "epoch": 1.1857032775878907e-06, "model_forward_time": 5.083432197570801, "step": 12433 }, { "epoch": 1.1857032775878907e-06, "step": 12433, "training_step_time": 17.61358141899109 }, { "epoch": 1.1857986450195313e-06, "model_forward_time": 3.8529813289642334, "step": 12434 }, { "epoch": 1.1857986450195313e-06, "step": 12434, "training_step_time": 17.605208158493042 }, { "epoch": 1.185894012451172e-06, "model_forward_time": 5.300263404846191, "step": 12435 }, { "epoch": 1.185894012451172e-06, "step": 12435, "training_step_time": 17.798757553100586 }, { "epoch": 1.1859893798828125e-06, "model_forward_time": 3.8423783779144287, "step": 12436 }, { "epoch": 1.1859893798828125e-06, "step": 12436, "training_step_time": 17.598758459091187 }, { "epoch": 1.1860847473144532e-06, "model_forward_time": 5.062973737716675, "step": 12437 }, { "epoch": 1.1860847473144532e-06, "step": 12437, "training_step_time": 17.53522753715515 }, { "epoch": 1.1861801147460938e-06, "model_forward_time": 3.8595516681671143, "step": 12438 }, { "epoch": 1.1861801147460938e-06, "step": 12438, "training_step_time": 17.566685676574707 }, { "epoch": 1.1862754821777344e-06, "model_forward_time": 5.0751612186431885, "step": 12439 }, { "epoch": 1.1862754821777344e-06, "step": 12439, "training_step_time": 17.604219913482666 }, { "epoch": 1.186370849609375e-06, "grad_norm": 1.6560890674591064, "learning_rate": 9.560751189738657e-06, "loss": 0.1104, "step": 12440 }, { "epoch": 1.186370849609375e-06, "model_forward_time": 5.3055737018585205, "step": 12440 }, { "dynamics_loss_avg": 0.032446471881121396, "epoch": 1.186370849609375e-06, "step": 12440 }, { "action_loss_avg": 0.09870729111135006, "epoch": 1.186370849609375e-06, "step": 12440 }, { "arm_loss_avg": 0.14538088217377662, "epoch": 1.186370849609375e-06, "step": 12440 }, { "ee_loss_avg": 0.12617348730564118, "epoch": 1.186370849609375e-06, "step": 12440 }, { "aux_loss_avg": 0.0017879423743579538, "epoch": 1.186370849609375e-06, "step": 12440 }, { "epoch": 1.186370849609375e-06, "step": 12440, "training_step_time": 17.876627445220947 }, { "epoch": 1.1864662170410156e-06, "model_forward_time": 5.09964656829834, "step": 12441 }, { "epoch": 1.1864662170410156e-06, "step": 12441, "training_step_time": 17.603532791137695 }, { "epoch": 1.1865615844726562e-06, "model_forward_time": 5.107686758041382, "step": 12442 }, { "epoch": 1.1865615844726562e-06, "step": 12442, "training_step_time": 17.607248306274414 }, { "epoch": 1.1866569519042968e-06, "model_forward_time": 5.1071248054504395, "step": 12443 }, { "epoch": 1.1866569519042968e-06, "step": 12443, "training_step_time": 17.609943389892578 }, { "epoch": 1.1867523193359375e-06, "model_forward_time": 5.1057024002075195, "step": 12444 }, { "epoch": 1.1867523193359375e-06, "step": 12444, "training_step_time": 17.613308429718018 }, { "epoch": 1.186847686767578e-06, "model_forward_time": 5.328064441680908, "step": 12445 }, { "epoch": 1.186847686767578e-06, "step": 12445, "training_step_time": 17.80445909500122 }, { "epoch": 1.1869430541992187e-06, "model_forward_time": 5.087839603424072, "step": 12446 }, { "epoch": 1.1869430541992187e-06, "step": 12446, "training_step_time": 17.626556873321533 }, { "epoch": 1.1870384216308593e-06, "model_forward_time": 5.082490921020508, "step": 12447 }, { "epoch": 1.1870384216308593e-06, "step": 12447, "training_step_time": 17.61289691925049 }, { "epoch": 1.1871337890625e-06, "model_forward_time": 5.081869602203369, "step": 12448 }, { "epoch": 1.1871337890625e-06, "step": 12448, "training_step_time": 17.616438627243042 }, { "epoch": 1.1872291564941405e-06, "model_forward_time": 3.8477373123168945, "step": 12449 }, { "epoch": 1.1872291564941405e-06, "step": 12449, "training_step_time": 17.60456609725952 }, { "epoch": 1.1873245239257814e-06, "grad_norm": 1.3335530757904053, "learning_rate": 9.559782560080508e-06, "loss": 0.1216, "step": 12450 }, { "epoch": 1.1873245239257814e-06, "model_forward_time": 4.028500318527222, "step": 12450 }, { "dynamics_loss_avg": 0.04919625986367464, "epoch": 1.1873245239257814e-06, "step": 12450 }, { "action_loss_avg": 0.11416057720780373, "epoch": 1.1873245239257814e-06, "step": 12450 }, { "arm_loss_avg": 0.18113347068428992, "epoch": 1.1873245239257814e-06, "step": 12450 }, { "ee_loss_avg": 0.20064569935202597, "epoch": 1.1873245239257814e-06, "step": 12450 }, { "aux_loss_avg": 0.0023502778727561235, "epoch": 1.1873245239257814e-06, "step": 12450 }, { "epoch": 1.1873245239257814e-06, "step": 12450, "training_step_time": 17.813215732574463 }, { "epoch": 1.187419891357422e-06, "model_forward_time": 5.038853645324707, "step": 12451 }, { "epoch": 1.187419891357422e-06, "step": 12451, "training_step_time": 17.57715678215027 }, { "epoch": 1.1875152587890626e-06, "model_forward_time": 5.06563401222229, "step": 12452 }, { "epoch": 1.1875152587890626e-06, "step": 12452, "training_step_time": 17.58073139190674 }, { "epoch": 1.1876106262207032e-06, "model_forward_time": 5.08147931098938, "step": 12453 }, { "epoch": 1.1876106262207032e-06, "step": 12453, "training_step_time": 17.554051160812378 }, { "epoch": 1.1877059936523438e-06, "model_forward_time": 5.086962938308716, "step": 12454 }, { "epoch": 1.1877059936523438e-06, "step": 12454, "training_step_time": 17.53646492958069 }, { "epoch": 1.1878013610839844e-06, "model_forward_time": 5.337621450424194, "step": 12455 }, { "epoch": 1.1878013610839844e-06, "step": 12455, "training_step_time": 17.474687337875366 }, { "epoch": 1.187896728515625e-06, "model_forward_time": 5.102642059326172, "step": 12456 }, { "epoch": 1.187896728515625e-06, "step": 12456, "training_step_time": 17.64772915840149 }, { "epoch": 1.1879920959472657e-06, "model_forward_time": 5.10047459602356, "step": 12457 }, { "epoch": 1.1879920959472657e-06, "step": 12457, "training_step_time": 17.527108192443848 }, { "epoch": 1.1880874633789063e-06, "model_forward_time": 3.8552422523498535, "step": 12458 }, { "epoch": 1.1880874633789063e-06, "step": 12458, "training_step_time": 17.560773134231567 }, { "epoch": 1.1881828308105469e-06, "model_forward_time": 5.060342788696289, "step": 12459 }, { "epoch": 1.1881828308105469e-06, "step": 12459, "training_step_time": 17.609153270721436 }, { "epoch": 1.1882781982421875e-06, "grad_norm": 1.9962139129638672, "learning_rate": 9.558812912767337e-06, "loss": 0.1265, "step": 12460 }, { "epoch": 1.1882781982421875e-06, "model_forward_time": 5.257642507553101, "step": 12460 }, { "dynamics_loss_avg": 0.0407636160030961, "epoch": 1.1882781982421875e-06, "step": 12460 }, { "action_loss_avg": 0.10007689036428928, "epoch": 1.1882781982421875e-06, "step": 12460 }, { "arm_loss_avg": 0.134790550917387, "epoch": 1.1882781982421875e-06, "step": 12460 }, { "ee_loss_avg": 0.13867124682292342, "epoch": 1.1882781982421875e-06, "step": 12460 }, { "aux_loss_avg": 0.0027766137092839925, "epoch": 1.1882781982421875e-06, "step": 12460 }, { "epoch": 1.1882781982421875e-06, "step": 12460, "training_step_time": 17.857267379760742 }, { "epoch": 1.1883735656738281e-06, "model_forward_time": 5.075643062591553, "step": 12461 }, { "epoch": 1.1883735656738281e-06, "step": 12461, "training_step_time": 17.640151739120483 }, { "epoch": 1.1884689331054687e-06, "model_forward_time": 5.085421085357666, "step": 12462 }, { "epoch": 1.1884689331054687e-06, "step": 12462, "training_step_time": 17.639442920684814 }, { "epoch": 1.1885643005371093e-06, "model_forward_time": 5.084747552871704, "step": 12463 }, { "epoch": 1.1885643005371093e-06, "step": 12463, "training_step_time": 17.627278089523315 }, { "epoch": 1.18865966796875e-06, "model_forward_time": 5.086537837982178, "step": 12464 }, { "epoch": 1.18865966796875e-06, "step": 12464, "training_step_time": 17.618972301483154 }, { "epoch": 1.1887550354003906e-06, "model_forward_time": 5.32375431060791, "step": 12465 }, { "epoch": 1.1887550354003906e-06, "step": 12465, "training_step_time": 17.82270073890686 }, { "epoch": 1.1888504028320312e-06, "model_forward_time": 5.087866544723511, "step": 12466 }, { "epoch": 1.1888504028320312e-06, "step": 12466, "training_step_time": 17.60990071296692 }, { "epoch": 1.1889457702636718e-06, "model_forward_time": 3.854876756668091, "step": 12467 }, { "epoch": 1.1889457702636718e-06, "step": 12467, "training_step_time": 17.606963872909546 }, { "epoch": 1.1890411376953124e-06, "model_forward_time": 5.060498952865601, "step": 12468 }, { "epoch": 1.1890411376953124e-06, "step": 12468, "training_step_time": 17.606379747390747 }, { "epoch": 1.189136505126953e-06, "model_forward_time": 5.071743726730347, "step": 12469 }, { "epoch": 1.189136505126953e-06, "step": 12469, "training_step_time": 17.816434144973755 }, { "epoch": 1.1892318725585939e-06, "grad_norm": 0.7088703513145447, "learning_rate": 9.557842248015552e-06, "loss": 0.1127, "step": 12470 }, { "epoch": 1.1892318725585939e-06, "model_forward_time": 4.041569709777832, "step": 12470 }, { "dynamics_loss_avg": 0.03862283201888204, "epoch": 1.1892318725585939e-06, "step": 12470 }, { "action_loss_avg": 0.08166926745325327, "epoch": 1.1892318725585939e-06, "step": 12470 }, { "arm_loss_avg": 0.13888641819357872, "epoch": 1.1892318725585939e-06, "step": 12470 }, { "ee_loss_avg": 0.07040491914376616, "epoch": 1.1892318725585939e-06, "step": 12470 }, { "aux_loss_avg": 0.0012229475483763962, "epoch": 1.1892318725585939e-06, "step": 12470 }, { "epoch": 1.1892318725585939e-06, "step": 12470, "training_step_time": 17.382242679595947 }, { "epoch": 1.1893272399902345e-06, "model_forward_time": 5.063861846923828, "step": 12471 }, { "epoch": 1.1893272399902345e-06, "step": 12471, "training_step_time": 17.585028409957886 }, { "epoch": 1.189422607421875e-06, "model_forward_time": 5.075236082077026, "step": 12472 }, { "epoch": 1.189422607421875e-06, "step": 12472, "training_step_time": 17.531792640686035 }, { "epoch": 1.1895179748535157e-06, "model_forward_time": 5.088633298873901, "step": 12473 }, { "epoch": 1.1895179748535157e-06, "step": 12473, "training_step_time": 17.569709062576294 }, { "epoch": 1.1896133422851563e-06, "model_forward_time": 5.093721628189087, "step": 12474 }, { "epoch": 1.1896133422851563e-06, "step": 12474, "training_step_time": 17.78601098060608 }, { "epoch": 1.189708709716797e-06, "model_forward_time": 5.348015069961548, "step": 12475 }, { "epoch": 1.189708709716797e-06, "step": 12475, "training_step_time": 17.59212827682495 }, { "epoch": 1.1898040771484375e-06, "model_forward_time": 5.1019511222839355, "step": 12476 }, { "epoch": 1.1898040771484375e-06, "step": 12476, "training_step_time": 17.60486364364624 }, { "epoch": 1.1898994445800782e-06, "model_forward_time": 5.099042654037476, "step": 12477 }, { "epoch": 1.1898994445800782e-06, "step": 12477, "training_step_time": 17.628241300582886 }, { "epoch": 1.1899948120117188e-06, "model_forward_time": 5.093049049377441, "step": 12478 }, { "epoch": 1.1899948120117188e-06, "step": 12478, "training_step_time": 17.63492178916931 }, { "epoch": 1.1900901794433594e-06, "model_forward_time": 5.092204332351685, "step": 12479 }, { "epoch": 1.1900901794433594e-06, "step": 12479, "training_step_time": 17.87115478515625 }, { "epoch": 1.190185546875e-06, "grad_norm": 1.2397063970565796, "learning_rate": 9.556870566041783e-06, "loss": 0.1191, "step": 12480 }, { "epoch": 1.190185546875e-06, "model_forward_time": 3.8513920307159424, "step": 12480 }, { "dynamics_loss_avg": 0.04454974187538028, "epoch": 1.190185546875e-06, "step": 12480 }, { "action_loss_avg": 0.08817692659795284, "epoch": 1.190185546875e-06, "step": 12480 }, { "arm_loss_avg": 0.12366200983524323, "epoch": 1.190185546875e-06, "step": 12480 }, { "ee_loss_avg": 0.10576913990080357, "epoch": 1.190185546875e-06, "step": 12480 }, { "aux_loss_avg": 0.001905766868731007, "epoch": 1.190185546875e-06, "step": 12480 }, { "epoch": 1.190185546875e-06, "step": 12480, "training_step_time": 17.63083529472351 }, { "epoch": 1.1902809143066406e-06, "model_forward_time": 5.279808521270752, "step": 12481 }, { "epoch": 1.1902809143066406e-06, "step": 12481, "training_step_time": 17.630529403686523 }, { "epoch": 1.1903762817382812e-06, "model_forward_time": 3.83450984954834, "step": 12482 }, { "epoch": 1.1903762817382812e-06, "step": 12482, "training_step_time": 17.629844188690186 }, { "epoch": 1.1904716491699218e-06, "model_forward_time": 3.824355363845825, "step": 12483 }, { "epoch": 1.1904716491699218e-06, "step": 12483, "training_step_time": 17.614770650863647 }, { "epoch": 1.1905670166015625e-06, "model_forward_time": 5.041898965835571, "step": 12484 }, { "epoch": 1.1905670166015625e-06, "step": 12484, "training_step_time": 17.824247121810913 }, { "epoch": 1.190662384033203e-06, "model_forward_time": 5.06116795539856, "step": 12485 }, { "epoch": 1.190662384033203e-06, "step": 12485, "training_step_time": 17.578239679336548 }, { "epoch": 1.1907577514648437e-06, "model_forward_time": 5.3273093700408936, "step": 12486 }, { "epoch": 1.1907577514648437e-06, "step": 12486, "training_step_time": 17.63806438446045 }, { "epoch": 1.1908531188964843e-06, "model_forward_time": 5.105224132537842, "step": 12487 }, { "epoch": 1.1908531188964843e-06, "step": 12487, "training_step_time": 17.576279163360596 }, { "epoch": 1.190948486328125e-06, "model_forward_time": 5.106504917144775, "step": 12488 }, { "epoch": 1.190948486328125e-06, "step": 12488, "training_step_time": 17.580454349517822 }, { "epoch": 1.1910438537597655e-06, "model_forward_time": 5.103932619094849, "step": 12489 }, { "epoch": 1.1910438537597655e-06, "step": 12489, "training_step_time": 17.829896211624146 }, { "epoch": 1.1911392211914064e-06, "grad_norm": 1.796998381614685, "learning_rate": 9.555897867062896e-06, "loss": 0.1103, "step": 12490 }, { "epoch": 1.1911392211914064e-06, "model_forward_time": 5.097531080245972, "step": 12490 }, { "dynamics_loss_avg": 0.04383196597918868, "epoch": 1.1911392211914064e-06, "step": 12490 }, { "action_loss_avg": 0.07790188156068326, "epoch": 1.1911392211914064e-06, "step": 12490 }, { "arm_loss_avg": 0.14216328039765358, "epoch": 1.1911392211914064e-06, "step": 12490 }, { "ee_loss_avg": 0.08797180382534861, "epoch": 1.1911392211914064e-06, "step": 12490 }, { "aux_loss_avg": 0.0013702435593586416, "epoch": 1.1911392211914064e-06, "step": 12490 }, { "epoch": 1.1911392211914064e-06, "step": 12490, "training_step_time": 17.606860160827637 }, { "epoch": 1.191234588623047e-06, "model_forward_time": 5.282536745071411, "step": 12491 }, { "epoch": 1.191234588623047e-06, "step": 12491, "training_step_time": 17.618637561798096 }, { "epoch": 1.1913299560546876e-06, "model_forward_time": 3.8516111373901367, "step": 12492 }, { "epoch": 1.1913299560546876e-06, "step": 12492, "training_step_time": 17.61028528213501 }, { "epoch": 1.1914253234863282e-06, "model_forward_time": 5.060184478759766, "step": 12493 }, { "epoch": 1.1914253234863282e-06, "step": 12493, "training_step_time": 17.615338563919067 }, { "epoch": 1.1915206909179688e-06, "model_forward_time": 5.064874887466431, "step": 12494 }, { "epoch": 1.1915206909179688e-06, "step": 12494, "training_step_time": 17.33988904953003 }, { "epoch": 1.1916160583496094e-06, "model_forward_time": 5.0754148960113525, "step": 12495 }, { "epoch": 1.1916160583496094e-06, "step": 12495, "training_step_time": 17.5313720703125 }, { "epoch": 1.19171142578125e-06, "model_forward_time": 5.323900461196899, "step": 12496 }, { "epoch": 1.19171142578125e-06, "step": 12496, "training_step_time": 17.56352686882019 }, { "epoch": 1.1918067932128907e-06, "model_forward_time": 5.086098670959473, "step": 12497 }, { "epoch": 1.1918067932128907e-06, "step": 12497, "training_step_time": 17.62797260284424 }, { "epoch": 1.1919021606445313e-06, "model_forward_time": 5.091716051101685, "step": 12498 }, { "epoch": 1.1919021606445313e-06, "step": 12498, "training_step_time": 17.504749059677124 }, { "epoch": 1.1919975280761719e-06, "model_forward_time": 5.089271306991577, "step": 12499 }, { "epoch": 1.1919975280761719e-06, "step": 12499, "training_step_time": 17.782707929611206 }, { "epoch": 1.1920928955078125e-06, "grad_norm": 1.968086838722229, "learning_rate": 9.554924151295973e-06, "loss": 0.1231, "step": 12500 }, { "epoch": 1.1920928955078125e-06, "model_forward_time": 5.089701890945435, "step": 12500 }, { "dynamics_loss_avg": 0.045550620555877684, "epoch": 1.1920928955078125e-06, "step": 12500 }, { "action_loss_avg": 0.0992057241499424, "epoch": 1.1920928955078125e-06, "step": 12500 }, { "arm_loss_avg": 0.14560308083891868, "epoch": 1.1920928955078125e-06, "step": 12500 }, { "ee_loss_avg": 0.11624392019584776, "epoch": 1.1920928955078125e-06, "step": 12500 }, { "aux_loss_avg": 0.000864190299762413, "epoch": 1.1920928955078125e-06, "step": 12500 }, { "epoch": 1.1920928955078125e-06, "step": 12500, "training_step_time": 17.597284078598022 }, { "epoch": 1.1921882629394531e-06, "model_forward_time": 5.088415622711182, "step": 12501 }, { "epoch": 1.1921882629394531e-06, "step": 12501, "training_step_time": 17.61565351486206 }, { "epoch": 1.1922836303710937e-06, "model_forward_time": 5.091833591461182, "step": 12502 }, { "epoch": 1.1922836303710937e-06, "step": 12502, "training_step_time": 17.379541158676147 }, { "epoch": 1.1923789978027343e-06, "model_forward_time": 3.851101875305176, "step": 12503 }, { "epoch": 1.1923789978027343e-06, "step": 12503, "training_step_time": 17.55598473548889 }, { "epoch": 1.192474365234375e-06, "model_forward_time": 5.057298183441162, "step": 12504 }, { "epoch": 1.192474365234375e-06, "step": 12504, "training_step_time": 17.821660041809082 }, { "epoch": 1.1925697326660156e-06, "model_forward_time": 5.065525054931641, "step": 12505 }, { "epoch": 1.1925697326660156e-06, "step": 12505, "training_step_time": 17.603138208389282 }, { "epoch": 1.1926651000976562e-06, "model_forward_time": 5.312067270278931, "step": 12506 }, { "epoch": 1.1926651000976562e-06, "step": 12506, "training_step_time": 17.61242914199829 }, { "epoch": 1.1927604675292968e-06, "model_forward_time": 5.079055070877075, "step": 12507 }, { "epoch": 1.1927604675292968e-06, "step": 12507, "training_step_time": 17.614365577697754 }, { "epoch": 1.1928558349609374e-06, "model_forward_time": 5.086202383041382, "step": 12508 }, { "epoch": 1.1928558349609374e-06, "step": 12508, "training_step_time": 17.61471676826477 }, { "epoch": 1.192951202392578e-06, "model_forward_time": 5.0890092849731445, "step": 12509 }, { "epoch": 1.192951202392578e-06, "step": 12509, "training_step_time": 17.849436283111572 }, { "epoch": 1.1930465698242186e-06, "grad_norm": 1.4081676006317139, "learning_rate": 9.553949418958333e-06, "loss": 0.1332, "step": 12510 }, { "epoch": 1.1930465698242186e-06, "model_forward_time": 5.09091854095459, "step": 12510 }, { "dynamics_loss_avg": 0.04225404299795628, "epoch": 1.1930465698242186e-06, "step": 12510 }, { "action_loss_avg": 0.0832313396036625, "epoch": 1.1930465698242186e-06, "step": 12510 }, { "arm_loss_avg": 0.1323070526123047, "epoch": 1.1930465698242186e-06, "step": 12510 }, { "ee_loss_avg": 0.06983590945601463, "epoch": 1.1930465698242186e-06, "step": 12510 }, { "aux_loss_avg": 0.0015808224095962941, "epoch": 1.1930465698242186e-06, "step": 12510 }, { "epoch": 1.1930465698242186e-06, "step": 12510, "training_step_time": 17.612707138061523 }, { "epoch": 1.1931419372558595e-06, "model_forward_time": 5.090761661529541, "step": 12511 }, { "epoch": 1.1931419372558595e-06, "step": 12511, "training_step_time": 17.606749296188354 }, { "epoch": 1.1932373046875e-06, "model_forward_time": 5.090485572814941, "step": 12512 }, { "epoch": 1.1932373046875e-06, "step": 12512, "training_step_time": 17.608860969543457 }, { "epoch": 1.1933326721191407e-06, "model_forward_time": 5.0917253494262695, "step": 12513 }, { "epoch": 1.1933326721191407e-06, "step": 12513, "training_step_time": 17.59888243675232 }, { "epoch": 1.1934280395507813e-06, "model_forward_time": 5.08981990814209, "step": 12514 }, { "epoch": 1.1934280395507813e-06, "step": 12514, "training_step_time": 17.78829598426819 }, { "epoch": 1.193523406982422e-06, "model_forward_time": 5.0874035358428955, "step": 12515 }, { "epoch": 1.193523406982422e-06, "step": 12515, "training_step_time": 17.587078094482422 }, { "epoch": 1.1936187744140625e-06, "model_forward_time": 5.085193157196045, "step": 12516 }, { "epoch": 1.1936187744140625e-06, "step": 12516, "training_step_time": 17.603381872177124 }, { "epoch": 1.1937141418457032e-06, "model_forward_time": 5.08495306968689, "step": 12517 }, { "epoch": 1.1937141418457032e-06, "step": 12517, "training_step_time": 17.66445779800415 }, { "epoch": 1.1938095092773438e-06, "model_forward_time": 5.085954904556274, "step": 12518 }, { "epoch": 1.1938095092773438e-06, "step": 12518, "training_step_time": 17.607038974761963 }, { "epoch": 1.1939048767089844e-06, "model_forward_time": 5.087238073348999, "step": 12519 }, { "epoch": 1.1939048767089844e-06, "step": 12519, "training_step_time": 17.831979513168335 }, { "epoch": 1.194000244140625e-06, "grad_norm": 1.9058184623718262, "learning_rate": 9.552973670267513e-06, "loss": 0.1102, "step": 12520 }, { "epoch": 1.194000244140625e-06, "model_forward_time": 5.2818286418914795, "step": 12520 }, { "dynamics_loss_avg": 0.03733743671327829, "epoch": 1.194000244140625e-06, "step": 12520 }, { "action_loss_avg": 0.0830579049885273, "epoch": 1.194000244140625e-06, "step": 12520 }, { "arm_loss_avg": 0.12713312059640886, "epoch": 1.194000244140625e-06, "step": 12520 }, { "ee_loss_avg": 0.09892304129898548, "epoch": 1.194000244140625e-06, "step": 12520 }, { "aux_loss_avg": 0.0014590103033697232, "epoch": 1.194000244140625e-06, "step": 12520 }, { "epoch": 1.194000244140625e-06, "step": 12520, "training_step_time": 17.591946125030518 }, { "epoch": 1.1940956115722656e-06, "model_forward_time": 5.086217880249023, "step": 12521 }, { "epoch": 1.1940956115722656e-06, "step": 12521, "training_step_time": 17.613498210906982 }, { "epoch": 1.1941909790039062e-06, "model_forward_time": 5.083733558654785, "step": 12522 }, { "epoch": 1.1941909790039062e-06, "step": 12522, "training_step_time": 17.606151819229126 }, { "epoch": 1.1942863464355468e-06, "model_forward_time": 5.08692193031311, "step": 12523 }, { "epoch": 1.1942863464355468e-06, "step": 12523, "training_step_time": 17.616950750350952 }, { "epoch": 1.1943817138671875e-06, "model_forward_time": 5.088230133056641, "step": 12524 }, { "epoch": 1.1943817138671875e-06, "step": 12524, "training_step_time": 17.844642162322998 }, { "epoch": 1.194477081298828e-06, "model_forward_time": 5.08341383934021, "step": 12525 }, { "epoch": 1.194477081298828e-06, "step": 12525, "training_step_time": 17.606159448623657 }, { "epoch": 1.1945724487304687e-06, "model_forward_time": 5.085730314254761, "step": 12526 }, { "epoch": 1.1945724487304687e-06, "step": 12526, "training_step_time": 17.610058784484863 }, { "epoch": 1.1946678161621093e-06, "model_forward_time": 3.846780776977539, "step": 12527 }, { "epoch": 1.1946678161621093e-06, "step": 12527, "training_step_time": 17.610617637634277 }, { "epoch": 1.19476318359375e-06, "model_forward_time": 5.0564866065979, "step": 12528 }, { "epoch": 1.19476318359375e-06, "step": 12528, "training_step_time": 17.607515335083008 }, { "epoch": 1.1948585510253905e-06, "model_forward_time": 5.066413402557373, "step": 12529 }, { "epoch": 1.1948585510253905e-06, "step": 12529, "training_step_time": 17.821828365325928 }, { "epoch": 1.1949539184570311e-06, "grad_norm": 1.5736265182495117, "learning_rate": 9.551996905441288e-06, "loss": 0.1038, "step": 12530 }, { "epoch": 1.1949539184570311e-06, "model_forward_time": 5.0747809410095215, "step": 12530 }, { "dynamics_loss_avg": 0.03562827939167619, "epoch": 1.1949539184570311e-06, "step": 12530 }, { "action_loss_avg": 0.05677206832915545, "epoch": 1.1949539184570311e-06, "step": 12530 }, { "arm_loss_avg": 0.1132507711648941, "epoch": 1.1949539184570311e-06, "step": 12530 }, { "ee_loss_avg": 0.07992175612598658, "epoch": 1.1949539184570311e-06, "step": 12530 }, { "aux_loss_avg": 0.004479080263990909, "epoch": 1.1949539184570311e-06, "step": 12530 }, { "epoch": 1.1949539184570311e-06, "step": 12530, "training_step_time": 17.591747522354126 }, { "epoch": 1.195049285888672e-06, "model_forward_time": 5.274903297424316, "step": 12531 }, { "epoch": 1.195049285888672e-06, "step": 12531, "training_step_time": 17.587717056274414 }, { "epoch": 1.1951446533203126e-06, "model_forward_time": 5.087806463241577, "step": 12532 }, { "epoch": 1.1951446533203126e-06, "step": 12532, "training_step_time": 17.61398673057556 }, { "epoch": 1.1952400207519532e-06, "model_forward_time": 5.090475082397461, "step": 12533 }, { "epoch": 1.1952400207519532e-06, "step": 12533, "training_step_time": 17.59532141685486 }, { "epoch": 1.1953353881835938e-06, "model_forward_time": 5.096561908721924, "step": 12534 }, { "epoch": 1.1953353881835938e-06, "step": 12534, "training_step_time": 17.794420957565308 }, { "epoch": 1.1954307556152344e-06, "model_forward_time": 5.090070486068726, "step": 12535 }, { "epoch": 1.1954307556152344e-06, "step": 12535, "training_step_time": 17.59295153617859 }, { "epoch": 1.195526123046875e-06, "model_forward_time": 3.8545546531677246, "step": 12536 }, { "epoch": 1.195526123046875e-06, "step": 12536, "training_step_time": 17.62590456008911 }, { "epoch": 1.1956214904785157e-06, "model_forward_time": 3.8266234397888184, "step": 12537 }, { "epoch": 1.1956214904785157e-06, "step": 12537, "training_step_time": 17.598655223846436 }, { "epoch": 1.1957168579101563e-06, "model_forward_time": 5.04784369468689, "step": 12538 }, { "epoch": 1.1957168579101563e-06, "step": 12538, "training_step_time": 17.602881908416748 }, { "epoch": 1.1958122253417969e-06, "model_forward_time": 5.053045034408569, "step": 12539 }, { "epoch": 1.1958122253417969e-06, "step": 12539, "training_step_time": 17.812807321548462 }, { "epoch": 1.1959075927734375e-06, "grad_norm": 1.8367632627487183, "learning_rate": 9.551019124697645e-06, "loss": 0.1121, "step": 12540 }, { "epoch": 1.1959075927734375e-06, "model_forward_time": 5.069714546203613, "step": 12540 }, { "dynamics_loss_avg": 0.04136771825142205, "epoch": 1.1959075927734375e-06, "step": 12540 }, { "action_loss_avg": 0.11124475039541722, "epoch": 1.1959075927734375e-06, "step": 12540 }, { "arm_loss_avg": 0.16836498826742172, "epoch": 1.1959075927734375e-06, "step": 12540 }, { "ee_loss_avg": 0.0740500319749117, "epoch": 1.1959075927734375e-06, "step": 12540 }, { "aux_loss_avg": 0.003291611198801547, "epoch": 1.1959075927734375e-06, "step": 12540 }, { "epoch": 1.1959075927734375e-06, "step": 12540, "training_step_time": 17.568222045898438 }, { "epoch": 1.1960029602050781e-06, "model_forward_time": 4.090595722198486, "step": 12541 }, { "epoch": 1.1960029602050781e-06, "step": 12541, "training_step_time": 17.574010610580444 }, { "epoch": 1.1960983276367187e-06, "model_forward_time": 5.062922716140747, "step": 12542 }, { "epoch": 1.1960983276367187e-06, "step": 12542, "training_step_time": 17.570504426956177 }, { "epoch": 1.1961936950683593e-06, "model_forward_time": 5.077431678771973, "step": 12543 }, { "epoch": 1.1961936950683593e-06, "step": 12543, "training_step_time": 17.56854557991028 }, { "epoch": 1.1962890625e-06, "model_forward_time": 5.090524435043335, "step": 12544 }, { "epoch": 1.1962890625e-06, "step": 12544, "training_step_time": 17.790308237075806 }, { "epoch": 1.1963844299316406e-06, "model_forward_time": 5.094336271286011, "step": 12545 }, { "epoch": 1.1963844299316406e-06, "step": 12545, "training_step_time": 17.56795907020569 }, { "epoch": 1.1964797973632812e-06, "model_forward_time": 4.063486576080322, "step": 12546 }, { "epoch": 1.1964797973632812e-06, "step": 12546, "training_step_time": 17.609150171279907 }, { "epoch": 1.1965751647949218e-06, "model_forward_time": 5.064295291900635, "step": 12547 }, { "epoch": 1.1965751647949218e-06, "step": 12547, "training_step_time": 17.58167600631714 }, { "epoch": 1.1966705322265624e-06, "model_forward_time": 5.073729038238525, "step": 12548 }, { "epoch": 1.1966705322265624e-06, "step": 12548, "training_step_time": 17.575863361358643 }, { "epoch": 1.196765899658203e-06, "model_forward_time": 5.079906940460205, "step": 12549 }, { "epoch": 1.196765899658203e-06, "step": 12549, "training_step_time": 17.371820211410522 }, { "epoch": 1.1968612670898436e-06, "grad_norm": 2.250279664993286, "learning_rate": 9.550040328254811e-06, "loss": 0.109, "step": 12550 }, { "epoch": 1.1968612670898436e-06, "model_forward_time": 5.087828874588013, "step": 12550 }, { "dynamics_loss_avg": 0.04335341788828373, "epoch": 1.1968612670898436e-06, "step": 12550 }, { "action_loss_avg": 0.09468424804508686, "epoch": 1.1968612670898436e-06, "step": 12550 }, { "arm_loss_avg": 0.16228367425501347, "epoch": 1.1968612670898436e-06, "step": 12550 }, { "ee_loss_avg": 0.14599737003445626, "epoch": 1.1968612670898436e-06, "step": 12550 }, { "aux_loss_avg": 0.001469281007302925, "epoch": 1.1968612670898436e-06, "step": 12550 }, { "epoch": 1.1968612670898436e-06, "step": 12550, "training_step_time": 17.73323893547058 }, { "epoch": 1.1969566345214845e-06, "model_forward_time": 5.274851322174072, "step": 12551 }, { "epoch": 1.1969566345214845e-06, "step": 12551, "training_step_time": 17.56541609764099 }, { "epoch": 1.197052001953125e-06, "model_forward_time": 5.089242935180664, "step": 12552 }, { "epoch": 1.197052001953125e-06, "step": 12552, "training_step_time": 17.56683921813965 }, { "epoch": 1.1971473693847657e-06, "model_forward_time": 5.088455438613892, "step": 12553 }, { "epoch": 1.1971473693847657e-06, "step": 12553, "training_step_time": 17.59613871574402 }, { "epoch": 1.1972427368164063e-06, "model_forward_time": 5.089232921600342, "step": 12554 }, { "epoch": 1.1972427368164063e-06, "step": 12554, "training_step_time": 17.847599506378174 }, { "epoch": 1.197338104248047e-06, "model_forward_time": 5.084310531616211, "step": 12555 }, { "epoch": 1.197338104248047e-06, "step": 12555, "training_step_time": 17.618644952774048 }, { "epoch": 1.1974334716796875e-06, "model_forward_time": 5.32048225402832, "step": 12556 }, { "epoch": 1.1974334716796875e-06, "step": 12556, "training_step_time": 17.61471390724182 }, { "epoch": 1.1975288391113282e-06, "model_forward_time": 5.082735776901245, "step": 12557 }, { "epoch": 1.1975288391113282e-06, "step": 12557, "training_step_time": 17.614070892333984 }, { "epoch": 1.1976242065429688e-06, "model_forward_time": 5.0837767124176025, "step": 12558 }, { "epoch": 1.1976242065429688e-06, "step": 12558, "training_step_time": 17.60713815689087 }, { "epoch": 1.1977195739746094e-06, "model_forward_time": 5.081310987472534, "step": 12559 }, { "epoch": 1.1977195739746094e-06, "step": 12559, "training_step_time": 17.837880611419678 }, { "epoch": 1.19781494140625e-06, "grad_norm": 1.3626526594161987, "learning_rate": 9.549060516331232e-06, "loss": 0.13, "step": 12560 }, { "epoch": 1.19781494140625e-06, "model_forward_time": 5.083212375640869, "step": 12560 }, { "dynamics_loss_avg": 0.04453398287296295, "epoch": 1.19781494140625e-06, "step": 12560 }, { "action_loss_avg": 0.09376204609870911, "epoch": 1.19781494140625e-06, "step": 12560 }, { "arm_loss_avg": 0.12332752048969269, "epoch": 1.19781494140625e-06, "step": 12560 }, { "ee_loss_avg": 0.06133146723732352, "epoch": 1.19781494140625e-06, "step": 12560 }, { "aux_loss_avg": 0.0019670510140713305, "epoch": 1.19781494140625e-06, "step": 12560 }, { "epoch": 1.19781494140625e-06, "step": 12560, "training_step_time": 17.607819318771362 }, { "epoch": 1.1979103088378906e-06, "model_forward_time": 3.8484888076782227, "step": 12561 }, { "epoch": 1.1979103088378906e-06, "step": 12561, "training_step_time": 17.60830569267273 }, { "epoch": 1.1980056762695312e-06, "model_forward_time": 5.05141806602478, "step": 12562 }, { "epoch": 1.1980056762695312e-06, "step": 12562, "training_step_time": 17.609464406967163 }, { "epoch": 1.1981010437011718e-06, "model_forward_time": 5.069153308868408, "step": 12563 }, { "epoch": 1.1981010437011718e-06, "step": 12563, "training_step_time": 17.60410451889038 }, { "epoch": 1.1981964111328125e-06, "model_forward_time": 5.075212478637695, "step": 12564 }, { "epoch": 1.1981964111328125e-06, "step": 12564, "training_step_time": 17.833483934402466 }, { "epoch": 1.198291778564453e-06, "model_forward_time": 5.086484670639038, "step": 12565 }, { "epoch": 1.198291778564453e-06, "step": 12565, "training_step_time": 17.596913814544678 }, { "epoch": 1.1983871459960937e-06, "model_forward_time": 5.3361945152282715, "step": 12566 }, { "epoch": 1.1983871459960937e-06, "step": 12566, "training_step_time": 17.596238136291504 }, { "epoch": 1.1984825134277343e-06, "model_forward_time": 5.095383405685425, "step": 12567 }, { "epoch": 1.1984825134277343e-06, "step": 12567, "training_step_time": 17.60295271873474 }, { "epoch": 1.198577880859375e-06, "model_forward_time": 5.095690727233887, "step": 12568 }, { "epoch": 1.198577880859375e-06, "step": 12568, "training_step_time": 17.603929042816162 }, { "epoch": 1.1986732482910155e-06, "model_forward_time": 5.0929646492004395, "step": 12569 }, { "epoch": 1.1986732482910155e-06, "step": 12569, "training_step_time": 17.82136631011963 }, { "epoch": 1.1987686157226562e-06, "grad_norm": 2.471151113510132, "learning_rate": 9.548079689145584e-06, "loss": 0.1185, "step": 12570 }, { "epoch": 1.1987686157226562e-06, "model_forward_time": 5.094595432281494, "step": 12570 }, { "dynamics_loss_avg": 0.0476130086928606, "epoch": 1.1987686157226562e-06, "step": 12570 }, { "action_loss_avg": 0.08316418267786503, "epoch": 1.1987686157226562e-06, "step": 12570 }, { "arm_loss_avg": 0.13004006445407867, "epoch": 1.1987686157226562e-06, "step": 12570 }, { "ee_loss_avg": 0.1075937518849969, "epoch": 1.1987686157226562e-06, "step": 12570 }, { "aux_loss_avg": 0.0015054223826155067, "epoch": 1.1987686157226562e-06, "step": 12570 }, { "epoch": 1.1987686157226562e-06, "step": 12570, "training_step_time": 17.601413011550903 }, { "epoch": 1.198863983154297e-06, "model_forward_time": 3.8562586307525635, "step": 12571 }, { "epoch": 1.198863983154297e-06, "step": 12571, "training_step_time": 17.59704041481018 }, { "epoch": 1.1989593505859376e-06, "model_forward_time": 5.062121629714966, "step": 12572 }, { "epoch": 1.1989593505859376e-06, "step": 12572, "training_step_time": 17.612119913101196 }, { "epoch": 1.1990547180175782e-06, "model_forward_time": 5.068905353546143, "step": 12573 }, { "epoch": 1.1990547180175782e-06, "step": 12573, "training_step_time": 17.611047744750977 }, { "epoch": 1.1991500854492188e-06, "model_forward_time": 5.077470302581787, "step": 12574 }, { "epoch": 1.1991500854492188e-06, "step": 12574, "training_step_time": 17.800004959106445 }, { "epoch": 1.1992454528808594e-06, "model_forward_time": 5.081976652145386, "step": 12575 }, { "epoch": 1.1992454528808594e-06, "step": 12575, "training_step_time": 17.600183963775635 }, { "epoch": 1.1993408203125e-06, "model_forward_time": 5.322762966156006, "step": 12576 }, { "epoch": 1.1993408203125e-06, "step": 12576, "training_step_time": 17.60431981086731 }, { "epoch": 1.1994361877441407e-06, "model_forward_time": 5.0882720947265625, "step": 12577 }, { "epoch": 1.1994361877441407e-06, "step": 12577, "training_step_time": 17.601593494415283 }, { "epoch": 1.1995315551757813e-06, "model_forward_time": 5.090986013412476, "step": 12578 }, { "epoch": 1.1995315551757813e-06, "step": 12578, "training_step_time": 17.601876974105835 }, { "epoch": 1.1996269226074219e-06, "model_forward_time": 5.093587398529053, "step": 12579 }, { "epoch": 1.1996269226074219e-06, "step": 12579, "training_step_time": 17.824896812438965 }, { "epoch": 1.1997222900390625e-06, "grad_norm": 1.6491612195968628, "learning_rate": 9.547097846916769e-06, "loss": 0.1176, "step": 12580 }, { "epoch": 1.1997222900390625e-06, "model_forward_time": 5.090341806411743, "step": 12580 }, { "dynamics_loss_avg": 0.04233726058155298, "epoch": 1.1997222900390625e-06, "step": 12580 }, { "action_loss_avg": 0.06895836666226388, "epoch": 1.1997222900390625e-06, "step": 12580 }, { "arm_loss_avg": 0.11236421056091786, "epoch": 1.1997222900390625e-06, "step": 12580 }, { "ee_loss_avg": 0.1212058711796999, "epoch": 1.1997222900390625e-06, "step": 12580 }, { "aux_loss_avg": 0.001024445885559544, "epoch": 1.1997222900390625e-06, "step": 12580 }, { "epoch": 1.1997222900390625e-06, "step": 12580, "training_step_time": 17.598744869232178 }, { "epoch": 1.1998176574707031e-06, "model_forward_time": 5.088599920272827, "step": 12581 }, { "epoch": 1.1998176574707031e-06, "step": 12581, "training_step_time": 17.60567593574524 }, { "epoch": 1.1999130249023437e-06, "model_forward_time": 5.085995674133301, "step": 12582 }, { "epoch": 1.1999130249023437e-06, "step": 12582, "training_step_time": 17.59892702102661 }, { "epoch": 1.2000083923339844e-06, "model_forward_time": 5.0870585441589355, "step": 12583 }, { "epoch": 1.2000083923339844e-06, "step": 12583, "training_step_time": 17.602051734924316 }, { "epoch": 1.200103759765625e-06, "model_forward_time": 5.08101224899292, "step": 12584 }, { "epoch": 1.200103759765625e-06, "step": 12584, "training_step_time": 17.8249351978302 }, { "epoch": 1.2001991271972656e-06, "model_forward_time": 5.078979969024658, "step": 12585 }, { "epoch": 1.2001991271972656e-06, "step": 12585, "training_step_time": 17.5960636138916 }, { "epoch": 1.2002944946289062e-06, "model_forward_time": 5.0798890590667725, "step": 12586 }, { "epoch": 1.2002944946289062e-06, "step": 12586, "training_step_time": 17.634898900985718 }, { "epoch": 1.2003898620605468e-06, "model_forward_time": 5.083284616470337, "step": 12587 }, { "epoch": 1.2003898620605468e-06, "step": 12587, "training_step_time": 17.61077094078064 }, { "epoch": 1.2004852294921874e-06, "model_forward_time": 5.08389949798584, "step": 12588 }, { "epoch": 1.2004852294921874e-06, "step": 12588, "training_step_time": 17.415006160736084 }, { "epoch": 1.200580596923828e-06, "model_forward_time": 5.085855960845947, "step": 12589 }, { "epoch": 1.200580596923828e-06, "step": 12589, "training_step_time": 17.411574363708496 }, { "epoch": 1.2006759643554687e-06, "grad_norm": 1.2867602109909058, "learning_rate": 9.546114989863913e-06, "loss": 0.1079, "step": 12590 }, { "epoch": 1.2006759643554687e-06, "model_forward_time": 5.091752529144287, "step": 12590 }, { "dynamics_loss_avg": 0.05349989198148251, "epoch": 1.2006759643554687e-06, "step": 12590 }, { "action_loss_avg": 0.07360028345137834, "epoch": 1.2006759643554687e-06, "step": 12590 }, { "arm_loss_avg": 0.10357022602111102, "epoch": 1.2006759643554687e-06, "step": 12590 }, { "ee_loss_avg": 0.06143347709439695, "epoch": 1.2006759643554687e-06, "step": 12590 }, { "aux_loss_avg": 0.002364897116785869, "epoch": 1.2006759643554687e-06, "step": 12590 }, { "epoch": 1.2006759643554687e-06, "step": 12590, "training_step_time": 17.44115972518921 }, { "epoch": 1.2007713317871095e-06, "model_forward_time": 5.08880877494812, "step": 12591 }, { "epoch": 1.2007713317871095e-06, "step": 12591, "training_step_time": 17.595390558242798 }, { "epoch": 1.20086669921875e-06, "model_forward_time": 5.083535671234131, "step": 12592 }, { "epoch": 1.20086669921875e-06, "step": 12592, "training_step_time": 17.53178858757019 }, { "epoch": 1.2009620666503907e-06, "model_forward_time": 5.083159685134888, "step": 12593 }, { "epoch": 1.2009620666503907e-06, "step": 12593, "training_step_time": 17.59312868118286 }, { "epoch": 1.2010574340820313e-06, "model_forward_time": 5.0842297077178955, "step": 12594 }, { "epoch": 1.2010574340820313e-06, "step": 12594, "training_step_time": 17.63481044769287 }, { "epoch": 1.201152801513672e-06, "model_forward_time": 5.08099102973938, "step": 12595 }, { "epoch": 1.201152801513672e-06, "step": 12595, "training_step_time": 17.84969711303711 }, { "epoch": 1.2012481689453126e-06, "model_forward_time": 5.089744329452515, "step": 12596 }, { "epoch": 1.2012481689453126e-06, "step": 12596, "training_step_time": 17.68578314781189 }, { "epoch": 1.2013435363769532e-06, "model_forward_time": 5.094098329544067, "step": 12597 }, { "epoch": 1.2013435363769532e-06, "step": 12597, "training_step_time": 17.684097051620483 }, { "epoch": 1.2014389038085938e-06, "model_forward_time": 5.104171991348267, "step": 12598 }, { "epoch": 1.2014389038085938e-06, "step": 12598, "training_step_time": 17.41944408416748 }, { "epoch": 1.2015342712402344e-06, "model_forward_time": 5.0989134311676025, "step": 12599 }, { "epoch": 1.2015342712402344e-06, "step": 12599, "training_step_time": 17.58412265777588 }, { "epoch": 1.201629638671875e-06, "grad_norm": 2.269660711288452, "learning_rate": 9.545131118206373e-06, "loss": 0.1062, "step": 12600 }, { "epoch": 1.201629638671875e-06, "model_forward_time": 3.847717046737671, "step": 12600 }, { "dynamics_loss_avg": 0.04791873637586832, "epoch": 1.201629638671875e-06, "step": 12600 }, { "action_loss_avg": 0.07686633355915547, "epoch": 1.201629638671875e-06, "step": 12600 }, { "arm_loss_avg": 0.12615243643522261, "epoch": 1.201629638671875e-06, "step": 12600 }, { "ee_loss_avg": 0.06524601271376014, "epoch": 1.201629638671875e-06, "step": 12600 }, { "aux_loss_avg": 0.0006830569531302899, "epoch": 1.201629638671875e-06, "step": 12600 }, { "epoch": 1.201629638671875e-06, "step": 12600, "training_step_time": 16.615779876708984 }, { "epoch": 1.2017250061035156e-06, "model_forward_time": 5.057407379150391, "step": 12601 }, { "epoch": 1.2017250061035156e-06, "step": 12601, "training_step_time": 17.523295164108276 }, { "epoch": 1.2018203735351562e-06, "model_forward_time": 5.069413185119629, "step": 12602 }, { "epoch": 1.2018203735351562e-06, "step": 12602, "training_step_time": 17.588772296905518 }, { "epoch": 1.2019157409667969e-06, "model_forward_time": 5.080852508544922, "step": 12603 }, { "epoch": 1.2019157409667969e-06, "step": 12603, "training_step_time": 17.568225383758545 }, { "epoch": 1.2020111083984375e-06, "model_forward_time": 5.087511301040649, "step": 12604 }, { "epoch": 1.2020111083984375e-06, "step": 12604, "training_step_time": 17.58929204940796 }, { "epoch": 1.202106475830078e-06, "model_forward_time": 5.093668699264526, "step": 12605 }, { "epoch": 1.202106475830078e-06, "step": 12605, "training_step_time": 17.792195081710815 }, { "epoch": 1.2022018432617187e-06, "model_forward_time": 5.094656467437744, "step": 12606 }, { "epoch": 1.2022018432617187e-06, "step": 12606, "training_step_time": 17.635822772979736 }, { "epoch": 1.2022972106933593e-06, "model_forward_time": 5.0935962200164795, "step": 12607 }, { "epoch": 1.2022972106933593e-06, "step": 12607, "training_step_time": 17.62705683708191 }, { "epoch": 1.202392578125e-06, "model_forward_time": 5.0899858474731445, "step": 12608 }, { "epoch": 1.202392578125e-06, "step": 12608, "training_step_time": 17.631813049316406 }, { "epoch": 1.2024879455566405e-06, "model_forward_time": 5.091831922531128, "step": 12609 }, { "epoch": 1.2024879455566405e-06, "step": 12609, "training_step_time": 17.635496616363525 }, { "epoch": 1.2025833129882812e-06, "grad_norm": 1.6140475273132324, "learning_rate": 9.54414623216373e-06, "loss": 0.1033, "step": 12610 }, { "epoch": 1.2025833129882812e-06, "model_forward_time": 5.091231107711792, "step": 12610 }, { "dynamics_loss_avg": 0.04424624536186457, "epoch": 1.2025833129882812e-06, "step": 12610 }, { "action_loss_avg": 0.0852428451180458, "epoch": 1.2025833129882812e-06, "step": 12610 }, { "arm_loss_avg": 0.1325484711676836, "epoch": 1.2025833129882812e-06, "step": 12610 }, { "ee_loss_avg": 0.07911728341132403, "epoch": 1.2025833129882812e-06, "step": 12610 }, { "aux_loss_avg": 0.0015055453113745898, "epoch": 1.2025833129882812e-06, "step": 12610 }, { "epoch": 1.2025833129882812e-06, "step": 12610, "training_step_time": 17.85753059387207 }, { "epoch": 1.202678680419922e-06, "model_forward_time": 3.8526201248168945, "step": 12611 }, { "epoch": 1.202678680419922e-06, "step": 12611, "training_step_time": 17.618967056274414 }, { "epoch": 1.2027740478515626e-06, "model_forward_time": 5.063262701034546, "step": 12612 }, { "epoch": 1.2027740478515626e-06, "step": 12612, "training_step_time": 17.614466190338135 }, { "epoch": 1.2028694152832032e-06, "model_forward_time": 5.068742990493774, "step": 12613 }, { "epoch": 1.2028694152832032e-06, "step": 12613, "training_step_time": 17.606117248535156 }, { "epoch": 1.2029647827148438e-06, "model_forward_time": 5.0757222175598145, "step": 12614 }, { "epoch": 1.2029647827148438e-06, "step": 12614, "training_step_time": 17.598327159881592 }, { "epoch": 1.2030601501464844e-06, "model_forward_time": 5.084702730178833, "step": 12615 }, { "epoch": 1.2030601501464844e-06, "step": 12615, "training_step_time": 17.76238512992859 }, { "epoch": 1.203155517578125e-06, "model_forward_time": 5.091430425643921, "step": 12616 }, { "epoch": 1.203155517578125e-06, "step": 12616, "training_step_time": 17.621715545654297 }, { "epoch": 1.2032508850097657e-06, "model_forward_time": 5.092615604400635, "step": 12617 }, { "epoch": 1.2032508850097657e-06, "step": 12617, "training_step_time": 17.584025382995605 }, { "epoch": 1.2033462524414063e-06, "model_forward_time": 5.0959694385528564, "step": 12618 }, { "epoch": 1.2033462524414063e-06, "step": 12618, "training_step_time": 17.583279848098755 }, { "epoch": 1.203441619873047e-06, "model_forward_time": 5.095836162567139, "step": 12619 }, { "epoch": 1.203441619873047e-06, "step": 12619, "training_step_time": 17.58681631088257 }, { "epoch": 1.2035369873046875e-06, "grad_norm": 0.985419750213623, "learning_rate": 9.54316033195579e-06, "loss": 0.1104, "step": 12620 }, { "epoch": 1.2035369873046875e-06, "model_forward_time": 5.289947509765625, "step": 12620 }, { "dynamics_loss_avg": 0.039686244819313286, "epoch": 1.2035369873046875e-06, "step": 12620 }, { "action_loss_avg": 0.0787072462029755, "epoch": 1.2035369873046875e-06, "step": 12620 }, { "arm_loss_avg": 0.1310210932046175, "epoch": 1.2035369873046875e-06, "step": 12620 }, { "ee_loss_avg": 0.10133463190868497, "epoch": 1.2035369873046875e-06, "step": 12620 }, { "aux_loss_avg": 0.0017786888405680657, "epoch": 1.2035369873046875e-06, "step": 12620 }, { "epoch": 1.2035369873046875e-06, "step": 12620, "training_step_time": 17.831892490386963 }, { "epoch": 1.2036323547363281e-06, "model_forward_time": 3.8512351512908936, "step": 12621 }, { "epoch": 1.2036323547363281e-06, "step": 12621, "training_step_time": 17.609400033950806 }, { "epoch": 1.2037277221679687e-06, "model_forward_time": 5.060661792755127, "step": 12622 }, { "epoch": 1.2037277221679687e-06, "step": 12622, "training_step_time": 17.58684730529785 }, { "epoch": 1.2038230895996094e-06, "model_forward_time": 5.067230463027954, "step": 12623 }, { "epoch": 1.2038230895996094e-06, "step": 12623, "training_step_time": 17.37932324409485 }, { "epoch": 1.20391845703125e-06, "model_forward_time": 5.075908660888672, "step": 12624 }, { "epoch": 1.20391845703125e-06, "step": 12624, "training_step_time": 17.500240564346313 }, { "epoch": 1.2040138244628906e-06, "model_forward_time": 5.08378005027771, "step": 12625 }, { "epoch": 1.2040138244628906e-06, "step": 12625, "training_step_time": 17.726413011550903 }, { "epoch": 1.2041091918945312e-06, "model_forward_time": 5.320491790771484, "step": 12626 }, { "epoch": 1.2041091918945312e-06, "step": 12626, "training_step_time": 17.559133768081665 }, { "epoch": 1.2042045593261718e-06, "model_forward_time": 5.093640089035034, "step": 12627 }, { "epoch": 1.2042045593261718e-06, "step": 12627, "training_step_time": 17.57861590385437 }, { "epoch": 1.2042999267578124e-06, "model_forward_time": 5.099435806274414, "step": 12628 }, { "epoch": 1.2042999267578124e-06, "step": 12628, "training_step_time": 17.599748611450195 }, { "epoch": 1.204395294189453e-06, "model_forward_time": 5.0918402671813965, "step": 12629 }, { "epoch": 1.204395294189453e-06, "step": 12629, "training_step_time": 17.32403588294983 }, { "epoch": 1.2044906616210937e-06, "grad_norm": 1.6656382083892822, "learning_rate": 9.542173417802585e-06, "loss": 0.1184, "step": 12630 }, { "epoch": 1.2044906616210937e-06, "model_forward_time": 5.089600086212158, "step": 12630 }, { "dynamics_loss_avg": 0.04387815445661545, "epoch": 1.2044906616210937e-06, "step": 12630 }, { "action_loss_avg": 0.10503601133823395, "epoch": 1.2044906616210937e-06, "step": 12630 }, { "arm_loss_avg": 0.16276804469525813, "epoch": 1.2044906616210937e-06, "step": 12630 }, { "ee_loss_avg": 0.1509842947125435, "epoch": 1.2044906616210937e-06, "step": 12630 }, { "aux_loss_avg": 0.0030399113486055283, "epoch": 1.2044906616210937e-06, "step": 12630 }, { "epoch": 1.2044906616210937e-06, "step": 12630, "training_step_time": 17.371548891067505 }, { "epoch": 1.2045860290527343e-06, "model_forward_time": 5.277652263641357, "step": 12631 }, { "epoch": 1.2045860290527343e-06, "step": 12631, "training_step_time": 17.627087116241455 }, { "epoch": 1.204681396484375e-06, "model_forward_time": 5.092360496520996, "step": 12632 }, { "epoch": 1.204681396484375e-06, "step": 12632, "training_step_time": 17.528223991394043 }, { "epoch": 1.2047767639160157e-06, "model_forward_time": 3.8492350578308105, "step": 12633 }, { "epoch": 1.2047767639160157e-06, "step": 12633, "training_step_time": 17.577539682388306 }, { "epoch": 1.2048721313476563e-06, "model_forward_time": 5.060863971710205, "step": 12634 }, { "epoch": 1.2048721313476563e-06, "step": 12634, "training_step_time": 17.612655878067017 }, { "epoch": 1.204967498779297e-06, "model_forward_time": 5.06316876411438, "step": 12635 }, { "epoch": 1.204967498779297e-06, "step": 12635, "training_step_time": 17.383995532989502 }, { "epoch": 1.2050628662109376e-06, "model_forward_time": 5.310184717178345, "step": 12636 }, { "epoch": 1.2050628662109376e-06, "step": 12636, "training_step_time": 17.538716316223145 }, { "epoch": 1.2051582336425782e-06, "model_forward_time": 5.076329708099365, "step": 12637 }, { "epoch": 1.2051582336425782e-06, "step": 12637, "training_step_time": 17.65032458305359 }, { "epoch": 1.2052536010742188e-06, "model_forward_time": 5.0855302810668945, "step": 12638 }, { "epoch": 1.2052536010742188e-06, "step": 12638, "training_step_time": 17.60182476043701 }, { "epoch": 1.2053489685058594e-06, "model_forward_time": 5.089773893356323, "step": 12639 }, { "epoch": 1.2053489685058594e-06, "step": 12639, "training_step_time": 17.619494676589966 }, { "epoch": 1.2054443359375e-06, "grad_norm": 1.3564265966415405, "learning_rate": 9.54118548992438e-06, "loss": 0.1087, "step": 12640 }, { "epoch": 1.2054443359375e-06, "model_forward_time": 5.088873863220215, "step": 12640 }, { "dynamics_loss_avg": 0.04195994567126036, "epoch": 1.2054443359375e-06, "step": 12640 }, { "action_loss_avg": 0.06578251393511891, "epoch": 1.2054443359375e-06, "step": 12640 }, { "arm_loss_avg": 0.1143717810511589, "epoch": 1.2054443359375e-06, "step": 12640 }, { "ee_loss_avg": 0.05996185215190053, "epoch": 1.2054443359375e-06, "step": 12640 }, { "aux_loss_avg": 0.001170538435690105, "epoch": 1.2054443359375e-06, "step": 12640 }, { "epoch": 1.2054443359375e-06, "step": 12640, "training_step_time": 17.8482563495636 }, { "epoch": 1.2055397033691406e-06, "model_forward_time": 5.091898441314697, "step": 12641 }, { "epoch": 1.2055397033691406e-06, "step": 12641, "training_step_time": 17.631914615631104 }, { "epoch": 1.2056350708007812e-06, "model_forward_time": 5.091913938522339, "step": 12642 }, { "epoch": 1.2056350708007812e-06, "step": 12642, "training_step_time": 17.607236623764038 }, { "epoch": 1.2057304382324219e-06, "model_forward_time": 5.084812164306641, "step": 12643 }, { "epoch": 1.2057304382324219e-06, "step": 12643, "training_step_time": 17.58887505531311 }, { "epoch": 1.2058258056640625e-06, "model_forward_time": 5.085242509841919, "step": 12644 }, { "epoch": 1.2058258056640625e-06, "step": 12644, "training_step_time": 17.586034059524536 }, { "epoch": 1.205921173095703e-06, "model_forward_time": 5.08165979385376, "step": 12645 }, { "epoch": 1.205921173095703e-06, "step": 12645, "training_step_time": 17.76430368423462 }, { "epoch": 1.2060165405273437e-06, "model_forward_time": 5.08734917640686, "step": 12646 }, { "epoch": 1.2060165405273437e-06, "step": 12646, "training_step_time": 17.573209047317505 }, { "epoch": 1.2061119079589843e-06, "model_forward_time": 5.082873344421387, "step": 12647 }, { "epoch": 1.2061119079589843e-06, "step": 12647, "training_step_time": 17.567509412765503 }, { "epoch": 1.206207275390625e-06, "model_forward_time": 5.078001260757446, "step": 12648 }, { "epoch": 1.206207275390625e-06, "step": 12648, "training_step_time": 17.556440114974976 }, { "epoch": 1.2063026428222655e-06, "model_forward_time": 5.076733350753784, "step": 12649 }, { "epoch": 1.2063026428222655e-06, "step": 12649, "training_step_time": 17.232627868652344 }, { "epoch": 1.2063980102539062e-06, "grad_norm": 1.6970202922821045, "learning_rate": 9.54019654854166e-06, "loss": 0.0995, "step": 12650 }, { "epoch": 1.2063980102539062e-06, "model_forward_time": 5.080754041671753, "step": 12650 }, { "dynamics_loss_avg": 0.03932263571768999, "epoch": 1.2063980102539062e-06, "step": 12650 }, { "action_loss_avg": 0.08010609410703182, "epoch": 1.2063980102539062e-06, "step": 12650 }, { "arm_loss_avg": 0.13619096502661704, "epoch": 1.2063980102539062e-06, "step": 12650 }, { "ee_loss_avg": 0.15012011723592877, "epoch": 1.2063980102539062e-06, "step": 12650 }, { "aux_loss_avg": 0.000898558838525787, "epoch": 1.2063980102539062e-06, "step": 12650 }, { "epoch": 1.2063980102539062e-06, "step": 12650, "training_step_time": 17.714646577835083 }, { "epoch": 1.2064933776855468e-06, "model_forward_time": 5.081275939941406, "step": 12651 }, { "epoch": 1.2064933776855468e-06, "step": 12651, "training_step_time": 17.516419172286987 }, { "epoch": 1.2065887451171876e-06, "model_forward_time": 5.079624176025391, "step": 12652 }, { "epoch": 1.2065887451171876e-06, "step": 12652, "training_step_time": 17.533545970916748 }, { "epoch": 1.2066841125488282e-06, "model_forward_time": 5.081418991088867, "step": 12653 }, { "epoch": 1.2066841125488282e-06, "step": 12653, "training_step_time": 17.558401107788086 }, { "epoch": 1.2067794799804688e-06, "model_forward_time": 5.083237648010254, "step": 12654 }, { "epoch": 1.2067794799804688e-06, "step": 12654, "training_step_time": 17.579899549484253 }, { "epoch": 1.2068748474121094e-06, "model_forward_time": 5.086273193359375, "step": 12655 }, { "epoch": 1.2068748474121094e-06, "step": 12655, "training_step_time": 17.778667449951172 }, { "epoch": 1.20697021484375e-06, "model_forward_time": 5.083544015884399, "step": 12656 }, { "epoch": 1.20697021484375e-06, "step": 12656, "training_step_time": 17.59135389328003 }, { "epoch": 1.2070655822753907e-06, "model_forward_time": 3.8505890369415283, "step": 12657 }, { "epoch": 1.2070655822753907e-06, "step": 12657, "training_step_time": 17.65752148628235 }, { "epoch": 1.2071609497070313e-06, "model_forward_time": 5.061109304428101, "step": 12658 }, { "epoch": 1.2071609497070313e-06, "step": 12658, "training_step_time": 17.603935718536377 }, { "epoch": 1.207256317138672e-06, "model_forward_time": 5.069079875946045, "step": 12659 }, { "epoch": 1.207256317138672e-06, "step": 12659, "training_step_time": 17.60641646385193 }, { "epoch": 1.2073516845703125e-06, "grad_norm": 1.4184304475784302, "learning_rate": 9.539206593875135e-06, "loss": 0.1088, "step": 12660 }, { "epoch": 1.2073516845703125e-06, "model_forward_time": 5.079106569290161, "step": 12660 }, { "dynamics_loss_avg": 0.04428383382037282, "epoch": 1.2073516845703125e-06, "step": 12660 }, { "action_loss_avg": 0.07559760138392449, "epoch": 1.2073516845703125e-06, "step": 12660 }, { "arm_loss_avg": 0.14612139109522104, "epoch": 1.2073516845703125e-06, "step": 12660 }, { "ee_loss_avg": 0.10058694370090962, "epoch": 1.2073516845703125e-06, "step": 12660 }, { "aux_loss_avg": 0.005064573301933706, "epoch": 1.2073516845703125e-06, "step": 12660 }, { "epoch": 1.2073516845703125e-06, "step": 12660, "training_step_time": 17.8428156375885 }, { "epoch": 1.2074470520019531e-06, "model_forward_time": 5.086738586425781, "step": 12661 }, { "epoch": 1.2074470520019531e-06, "step": 12661, "training_step_time": 17.598976612091064 }, { "epoch": 1.2075424194335937e-06, "model_forward_time": 5.09535813331604, "step": 12662 }, { "epoch": 1.2075424194335937e-06, "step": 12662, "training_step_time": 17.605655431747437 }, { "epoch": 1.2076377868652344e-06, "model_forward_time": 5.09825587272644, "step": 12663 }, { "epoch": 1.2076377868652344e-06, "step": 12663, "training_step_time": 17.602577686309814 }, { "epoch": 1.207733154296875e-06, "model_forward_time": 5.095183610916138, "step": 12664 }, { "epoch": 1.207733154296875e-06, "step": 12664, "training_step_time": 17.593831539154053 }, { "epoch": 1.2078285217285156e-06, "model_forward_time": 5.1011950969696045, "step": 12665 }, { "epoch": 1.2078285217285156e-06, "step": 12665, "training_step_time": 17.80520510673523 }, { "epoch": 1.2079238891601562e-06, "model_forward_time": 5.09479832649231, "step": 12666 }, { "epoch": 1.2079238891601562e-06, "step": 12666, "training_step_time": 17.585601091384888 }, { "epoch": 1.2080192565917968e-06, "model_forward_time": 5.0903565883636475, "step": 12667 }, { "epoch": 1.2080192565917968e-06, "step": 12667, "training_step_time": 17.595756769180298 }, { "epoch": 1.2081146240234374e-06, "model_forward_time": 5.088872671127319, "step": 12668 }, { "epoch": 1.2081146240234374e-06, "step": 12668, "training_step_time": 17.595388174057007 }, { "epoch": 1.208209991455078e-06, "model_forward_time": 5.081867218017578, "step": 12669 }, { "epoch": 1.208209991455078e-06, "step": 12669, "training_step_time": 17.58111071586609 }, { "epoch": 1.2083053588867187e-06, "grad_norm": 1.7511523962020874, "learning_rate": 9.538215626145744e-06, "loss": 0.1149, "step": 12670 }, { "epoch": 1.2083053588867187e-06, "model_forward_time": 5.083486557006836, "step": 12670 }, { "dynamics_loss_avg": 0.05375319570302963, "epoch": 1.2083053588867187e-06, "step": 12670 }, { "action_loss_avg": 0.08306161146610976, "epoch": 1.2083053588867187e-06, "step": 12670 }, { "arm_loss_avg": 0.1179127499461174, "epoch": 1.2083053588867187e-06, "step": 12670 }, { "ee_loss_avg": 0.07120108529925347, "epoch": 1.2083053588867187e-06, "step": 12670 }, { "aux_loss_avg": 0.002831316483207047, "epoch": 1.2083053588867187e-06, "step": 12670 }, { "epoch": 1.2083053588867187e-06, "step": 12670, "training_step_time": 17.403573989868164 }, { "epoch": 1.2084007263183593e-06, "model_forward_time": 5.085721254348755, "step": 12671 }, { "epoch": 1.2084007263183593e-06, "step": 12671, "training_step_time": 17.712584733963013 }, { "epoch": 1.20849609375e-06, "model_forward_time": 5.080809831619263, "step": 12672 }, { "epoch": 1.20849609375e-06, "step": 12672, "training_step_time": 17.548481225967407 }, { "epoch": 1.2085914611816407e-06, "model_forward_time": 5.083042860031128, "step": 12673 }, { "epoch": 1.2085914611816407e-06, "step": 12673, "training_step_time": 17.27089214324951 }, { "epoch": 1.2086868286132813e-06, "model_forward_time": 5.084827899932861, "step": 12674 }, { "epoch": 1.2086868286132813e-06, "step": 12674, "training_step_time": 17.484957695007324 }, { "epoch": 1.208782196044922e-06, "model_forward_time": 5.326141595840454, "step": 12675 }, { "epoch": 1.208782196044922e-06, "step": 12675, "training_step_time": 17.54450488090515 }, { "epoch": 1.2088775634765626e-06, "model_forward_time": 5.1074910163879395, "step": 12676 }, { "epoch": 1.2088775634765626e-06, "step": 12676, "training_step_time": 17.818251371383667 }, { "epoch": 1.2089729309082032e-06, "model_forward_time": 5.09911036491394, "step": 12677 }, { "epoch": 1.2089729309082032e-06, "step": 12677, "training_step_time": 17.730793476104736 }, { "epoch": 1.2090682983398438e-06, "model_forward_time": 5.095654010772705, "step": 12678 }, { "epoch": 1.2090682983398438e-06, "step": 12678, "training_step_time": 17.482463836669922 }, { "epoch": 1.2091636657714844e-06, "model_forward_time": 3.8572463989257812, "step": 12679 }, { "epoch": 1.2091636657714844e-06, "step": 12679, "training_step_time": 17.57024073600769 }, { "epoch": 1.209259033203125e-06, "grad_norm": 0.6399140954017639, "learning_rate": 9.537223645574655e-06, "loss": 0.1133, "step": 12680 }, { "epoch": 1.209259033203125e-06, "model_forward_time": 5.0616374015808105, "step": 12680 }, { "dynamics_loss_avg": 0.04016743078827858, "epoch": 1.209259033203125e-06, "step": 12680 }, { "action_loss_avg": 0.07494115717709064, "epoch": 1.209259033203125e-06, "step": 12680 }, { "arm_loss_avg": 0.1340235574170947, "epoch": 1.209259033203125e-06, "step": 12680 }, { "ee_loss_avg": 0.06368997544050217, "epoch": 1.209259033203125e-06, "step": 12680 }, { "aux_loss_avg": 0.001328114332864061, "epoch": 1.209259033203125e-06, "step": 12680 }, { "epoch": 1.209259033203125e-06, "step": 12680, "training_step_time": 17.598503828048706 }, { "epoch": 1.2093544006347656e-06, "model_forward_time": 5.294306755065918, "step": 12681 }, { "epoch": 1.2093544006347656e-06, "step": 12681, "training_step_time": 17.844099521636963 }, { "epoch": 1.2094497680664062e-06, "model_forward_time": 5.079454183578491, "step": 12682 }, { "epoch": 1.2094497680664062e-06, "step": 12682, "training_step_time": 17.623696088790894 }, { "epoch": 1.2095451354980469e-06, "model_forward_time": 5.084784030914307, "step": 12683 }, { "epoch": 1.2095451354980469e-06, "step": 12683, "training_step_time": 17.63268733024597 }, { "epoch": 1.2096405029296875e-06, "model_forward_time": 5.094950914382935, "step": 12684 }, { "epoch": 1.2096405029296875e-06, "step": 12684, "training_step_time": 17.628080129623413 }, { "epoch": 1.209735870361328e-06, "model_forward_time": 5.095822095870972, "step": 12685 }, { "epoch": 1.209735870361328e-06, "step": 12685, "training_step_time": 17.623578548431396 }, { "epoch": 1.2098312377929687e-06, "model_forward_time": 5.098127841949463, "step": 12686 }, { "epoch": 1.2098312377929687e-06, "step": 12686, "training_step_time": 17.808214902877808 }, { "epoch": 1.2099266052246093e-06, "model_forward_time": 5.095647096633911, "step": 12687 }, { "epoch": 1.2099266052246093e-06, "step": 12687, "training_step_time": 17.61263871192932 }, { "epoch": 1.21002197265625e-06, "model_forward_time": 5.0952863693237305, "step": 12688 }, { "epoch": 1.21002197265625e-06, "step": 12688, "training_step_time": 17.61616277694702 }, { "epoch": 1.2101173400878905e-06, "model_forward_time": 5.093847274780273, "step": 12689 }, { "epoch": 1.2101173400878905e-06, "step": 12689, "training_step_time": 17.606849431991577 }, { "epoch": 1.2102127075195312e-06, "grad_norm": 1.6445082426071167, "learning_rate": 9.536230652383255e-06, "loss": 0.1061, "step": 12690 }, { "epoch": 1.2102127075195312e-06, "model_forward_time": 5.089154481887817, "step": 12690 }, { "dynamics_loss_avg": 0.047687864303588866, "epoch": 1.2102127075195312e-06, "step": 12690 }, { "action_loss_avg": 0.07717482205480337, "epoch": 1.2102127075195312e-06, "step": 12690 }, { "arm_loss_avg": 0.1393033865839243, "epoch": 1.2102127075195312e-06, "step": 12690 }, { "ee_loss_avg": 0.10679966732859611, "epoch": 1.2102127075195312e-06, "step": 12690 }, { "aux_loss_avg": 0.0029657400969881564, "epoch": 1.2102127075195312e-06, "step": 12690 }, { "epoch": 1.2102127075195312e-06, "step": 12690, "training_step_time": 17.598586082458496 }, { "epoch": 1.2103080749511718e-06, "model_forward_time": 5.086557149887085, "step": 12691 }, { "epoch": 1.2103080749511718e-06, "step": 12691, "training_step_time": 17.82675528526306 }, { "epoch": 1.2104034423828126e-06, "model_forward_time": 3.8471715450286865, "step": 12692 }, { "epoch": 1.2104034423828126e-06, "step": 12692, "training_step_time": 17.6097092628479 }, { "epoch": 1.2104988098144532e-06, "model_forward_time": 5.061506271362305, "step": 12693 }, { "epoch": 1.2104988098144532e-06, "step": 12693, "training_step_time": 17.59749674797058 }, { "epoch": 1.2105941772460938e-06, "model_forward_time": 5.067333698272705, "step": 12694 }, { "epoch": 1.2105941772460938e-06, "step": 12694, "training_step_time": 17.598423719406128 }, { "epoch": 1.2106895446777344e-06, "model_forward_time": 5.0702433586120605, "step": 12695 }, { "epoch": 1.2106895446777344e-06, "step": 12695, "training_step_time": 17.594969749450684 }, { "epoch": 1.210784912109375e-06, "model_forward_time": 5.0905680656433105, "step": 12696 }, { "epoch": 1.210784912109375e-06, "step": 12696, "training_step_time": 17.78206491470337 }, { "epoch": 1.2108802795410157e-06, "model_forward_time": 5.093298673629761, "step": 12697 }, { "epoch": 1.2108802795410157e-06, "step": 12697, "training_step_time": 17.615272760391235 }, { "epoch": 1.2109756469726563e-06, "model_forward_time": 3.857815742492676, "step": 12698 }, { "epoch": 1.2109756469726563e-06, "step": 12698, "training_step_time": 17.58884072303772 }, { "epoch": 1.211071014404297e-06, "model_forward_time": 3.831810474395752, "step": 12699 }, { "epoch": 1.211071014404297e-06, "step": 12699, "training_step_time": 17.4112548828125 }, { "epoch": 1.2111663818359375e-06, "grad_norm": 1.463051676750183, "learning_rate": 9.535236646793164e-06, "loss": 0.1028, "step": 12700 }, { "epoch": 1.2111663818359375e-06, "model_forward_time": 5.055829286575317, "step": 12700 }, { "dynamics_loss_avg": 0.03173184930346906, "epoch": 1.2111663818359375e-06, "step": 12700 }, { "action_loss_avg": 0.06258712066337466, "epoch": 1.2111663818359375e-06, "step": 12700 }, { "arm_loss_avg": 0.1238659244030714, "epoch": 1.2111663818359375e-06, "step": 12700 }, { "ee_loss_avg": 0.10304533066228032, "epoch": 1.2111663818359375e-06, "step": 12700 }, { "aux_loss_avg": 0.002694734599208459, "epoch": 1.2111663818359375e-06, "step": 12700 }, { "epoch": 1.2111663818359375e-06, "step": 12700, "training_step_time": 17.503944158554077 }, { "epoch": 1.2112617492675781e-06, "model_forward_time": 5.264356851577759, "step": 12701 }, { "epoch": 1.2112617492675781e-06, "step": 12701, "training_step_time": 17.77981472015381 }, { "epoch": 1.2113571166992187e-06, "model_forward_time": 5.081364631652832, "step": 12702 }, { "epoch": 1.2113571166992187e-06, "step": 12702, "training_step_time": 17.58566427230835 }, { "epoch": 1.2114524841308594e-06, "model_forward_time": 5.095727443695068, "step": 12703 }, { "epoch": 1.2114524841308594e-06, "step": 12703, "training_step_time": 17.404704570770264 }, { "epoch": 1.2115478515625e-06, "model_forward_time": 5.1045145988464355, "step": 12704 }, { "epoch": 1.2115478515625e-06, "step": 12704, "training_step_time": 17.52183508872986 }, { "epoch": 1.2116432189941406e-06, "model_forward_time": 5.107790231704712, "step": 12705 }, { "epoch": 1.2116432189941406e-06, "step": 12705, "training_step_time": 17.579957246780396 }, { "epoch": 1.2117385864257812e-06, "model_forward_time": 5.342746257781982, "step": 12706 }, { "epoch": 1.2117385864257812e-06, "step": 12706, "training_step_time": 17.476913928985596 }, { "epoch": 1.2118339538574218e-06, "model_forward_time": 5.099542140960693, "step": 12707 }, { "epoch": 1.2118339538574218e-06, "step": 12707, "training_step_time": 17.563899040222168 }, { "epoch": 1.2119293212890624e-06, "model_forward_time": 5.09379768371582, "step": 12708 }, { "epoch": 1.2119293212890624e-06, "step": 12708, "training_step_time": 17.59790587425232 }, { "epoch": 1.212024688720703e-06, "model_forward_time": 5.088623285293579, "step": 12709 }, { "epoch": 1.212024688720703e-06, "step": 12709, "training_step_time": 17.619218349456787 }, { "epoch": 1.2121200561523437e-06, "grad_norm": 1.6487939357757568, "learning_rate": 9.534241629026221e-06, "loss": 0.1024, "step": 12710 }, { "epoch": 1.2121200561523437e-06, "model_forward_time": 5.085125923156738, "step": 12710 }, { "dynamics_loss_avg": 0.04706940706819296, "epoch": 1.2121200561523437e-06, "step": 12710 }, { "action_loss_avg": 0.06726745814085007, "epoch": 1.2121200561523437e-06, "step": 12710 }, { "arm_loss_avg": 0.10616836342960596, "epoch": 1.2121200561523437e-06, "step": 12710 }, { "ee_loss_avg": 0.07607436096295714, "epoch": 1.2121200561523437e-06, "step": 12710 }, { "aux_loss_avg": 0.0021927229536231607, "epoch": 1.2121200561523437e-06, "step": 12710 }, { "epoch": 1.2121200561523437e-06, "step": 12710, "training_step_time": 17.638867378234863 }, { "epoch": 1.2122154235839843e-06, "model_forward_time": 5.080655574798584, "step": 12711 }, { "epoch": 1.2122154235839843e-06, "step": 12711, "training_step_time": 17.877341508865356 }, { "epoch": 1.212310791015625e-06, "model_forward_time": 5.08109974861145, "step": 12712 }, { "epoch": 1.212310791015625e-06, "step": 12712, "training_step_time": 17.63417363166809 }, { "epoch": 1.2124061584472657e-06, "model_forward_time": 5.078031301498413, "step": 12713 }, { "epoch": 1.2124061584472657e-06, "step": 12713, "training_step_time": 17.63917589187622 }, { "epoch": 1.2125015258789063e-06, "model_forward_time": 5.0820934772491455, "step": 12714 }, { "epoch": 1.2125015258789063e-06, "step": 12714, "training_step_time": 17.628704071044922 }, { "epoch": 1.212596893310547e-06, "model_forward_time": 3.8465397357940674, "step": 12715 }, { "epoch": 1.212596893310547e-06, "step": 12715, "training_step_time": 17.628910541534424 }, { "epoch": 1.2126922607421876e-06, "model_forward_time": 5.307314157485962, "step": 12716 }, { "epoch": 1.2126922607421876e-06, "step": 12716, "training_step_time": 17.826043128967285 }, { "epoch": 1.2127876281738282e-06, "model_forward_time": 3.8351104259490967, "step": 12717 }, { "epoch": 1.2127876281738282e-06, "step": 12717, "training_step_time": 17.423635959625244 }, { "epoch": 1.2128829956054688e-06, "model_forward_time": 5.053730487823486, "step": 12718 }, { "epoch": 1.2128829956054688e-06, "step": 12718, "training_step_time": 17.51980996131897 }, { "epoch": 1.2129783630371094e-06, "model_forward_time": 5.071847677230835, "step": 12719 }, { "epoch": 1.2129783630371094e-06, "step": 12719, "training_step_time": 17.55588173866272 }, { "epoch": 1.21307373046875e-06, "grad_norm": 1.3356537818908691, "learning_rate": 9.533245599304501e-06, "loss": 0.0928, "step": 12720 }, { "epoch": 1.21307373046875e-06, "model_forward_time": 5.089303255081177, "step": 12720 }, { "dynamics_loss_avg": 0.044116844329982995, "epoch": 1.21307373046875e-06, "step": 12720 }, { "action_loss_avg": 0.07063203398138285, "epoch": 1.21307373046875e-06, "step": 12720 }, { "arm_loss_avg": 0.12982202284038066, "epoch": 1.21307373046875e-06, "step": 12720 }, { "ee_loss_avg": 0.042376769613474606, "epoch": 1.21307373046875e-06, "step": 12720 }, { "aux_loss_avg": 0.0016268198436591775, "epoch": 1.21307373046875e-06, "step": 12720 }, { "epoch": 1.21307373046875e-06, "step": 12720, "training_step_time": 17.5704824924469 }, { "epoch": 1.2131690979003906e-06, "model_forward_time": 5.279087543487549, "step": 12721 }, { "epoch": 1.2131690979003906e-06, "step": 12721, "training_step_time": 17.81532096862793 }, { "epoch": 1.2132644653320312e-06, "model_forward_time": 5.100835084915161, "step": 12722 }, { "epoch": 1.2132644653320312e-06, "step": 12722, "training_step_time": 17.419260025024414 }, { "epoch": 1.2133598327636719e-06, "model_forward_time": 5.104586124420166, "step": 12723 }, { "epoch": 1.2133598327636719e-06, "step": 12723, "training_step_time": 17.5232412815094 }, { "epoch": 1.2134552001953125e-06, "model_forward_time": 5.101155996322632, "step": 12724 }, { "epoch": 1.2134552001953125e-06, "step": 12724, "training_step_time": 17.574285984039307 }, { "epoch": 1.213550567626953e-06, "model_forward_time": 5.09322714805603, "step": 12725 }, { "epoch": 1.213550567626953e-06, "step": 12725, "training_step_time": 17.369972944259644 }, { "epoch": 1.2136459350585937e-06, "model_forward_time": 5.332232236862183, "step": 12726 }, { "epoch": 1.2136459350585937e-06, "step": 12726, "training_step_time": 17.708722829818726 }, { "epoch": 1.2137413024902343e-06, "model_forward_time": 5.080503940582275, "step": 12727 }, { "epoch": 1.2137413024902343e-06, "step": 12727, "training_step_time": 17.574760675430298 }, { "epoch": 1.213836669921875e-06, "model_forward_time": 5.074674367904663, "step": 12728 }, { "epoch": 1.213836669921875e-06, "step": 12728, "training_step_time": 17.607966423034668 }, { "epoch": 1.2139320373535155e-06, "model_forward_time": 5.071849822998047, "step": 12729 }, { "epoch": 1.2139320373535155e-06, "step": 12729, "training_step_time": 17.61557960510254 }, { "epoch": 1.2140274047851562e-06, "grad_norm": 1.71113920211792, "learning_rate": 9.532248557850291e-06, "loss": 0.1258, "step": 12730 }, { "epoch": 1.2140274047851562e-06, "model_forward_time": 3.8419253826141357, "step": 12730 }, { "dynamics_loss_avg": 0.045501315593719484, "epoch": 1.2140274047851562e-06, "step": 12730 }, { "action_loss_avg": 0.10127616319805384, "epoch": 1.2140274047851562e-06, "step": 12730 }, { "arm_loss_avg": 0.15639856941998004, "epoch": 1.2140274047851562e-06, "step": 12730 }, { "ee_loss_avg": 0.12443611454218625, "epoch": 1.2140274047851562e-06, "step": 12730 }, { "aux_loss_avg": 0.010107061342569067, "epoch": 1.2140274047851562e-06, "step": 12730 }, { "epoch": 1.2140274047851562e-06, "step": 12730, "training_step_time": 17.62104320526123 }, { "epoch": 1.2141227722167968e-06, "model_forward_time": 4.0780768394470215, "step": 12731 }, { "epoch": 1.2141227722167968e-06, "step": 12731, "training_step_time": 17.85380721092224 }, { "epoch": 1.2142181396484376e-06, "model_forward_time": 5.039711236953735, "step": 12732 }, { "epoch": 1.2142181396484376e-06, "step": 12732, "training_step_time": 17.6158549785614 }, { "epoch": 1.2143135070800782e-06, "model_forward_time": 3.8251962661743164, "step": 12733 }, { "epoch": 1.2143135070800782e-06, "step": 12733, "training_step_time": 17.597265243530273 }, { "epoch": 1.2144088745117188e-06, "model_forward_time": 5.048628091812134, "step": 12734 }, { "epoch": 1.2144088745117188e-06, "step": 12734, "training_step_time": 17.579227924346924 }, { "epoch": 1.2145042419433594e-06, "model_forward_time": 5.072456359863281, "step": 12735 }, { "epoch": 1.2145042419433594e-06, "step": 12735, "training_step_time": 17.567517518997192 }, { "epoch": 1.214599609375e-06, "model_forward_time": 5.321423530578613, "step": 12736 }, { "epoch": 1.214599609375e-06, "step": 12736, "training_step_time": 17.59935688972473 }, { "epoch": 1.2146949768066407e-06, "model_forward_time": 5.118479490280151, "step": 12737 }, { "epoch": 1.2146949768066407e-06, "step": 12737, "training_step_time": 17.492090940475464 }, { "epoch": 1.2147903442382813e-06, "model_forward_time": 3.8710696697235107, "step": 12738 }, { "epoch": 1.2147903442382813e-06, "step": 12738, "training_step_time": 17.552706956863403 }, { "epoch": 1.214885711669922e-06, "model_forward_time": 5.085581541061401, "step": 12739 }, { "epoch": 1.214885711669922e-06, "step": 12739, "training_step_time": 17.577994108200073 }, { "epoch": 1.2149810791015625e-06, "grad_norm": 0.8662726879119873, "learning_rate": 9.531250504886116e-06, "loss": 0.099, "step": 12740 }, { "epoch": 1.2149810791015625e-06, "model_forward_time": 5.08337664604187, "step": 12740 }, { "dynamics_loss_avg": 0.04196207635104656, "epoch": 1.2149810791015625e-06, "step": 12740 }, { "action_loss_avg": 0.06580306608229876, "epoch": 1.2149810791015625e-06, "step": 12740 }, { "arm_loss_avg": 0.10065653212368489, "epoch": 1.2149810791015625e-06, "step": 12740 }, { "ee_loss_avg": 0.08895138464868069, "epoch": 1.2149810791015625e-06, "step": 12740 }, { "aux_loss_avg": 0.0011577712837606668, "epoch": 1.2149810791015625e-06, "step": 12740 }, { "epoch": 1.2149810791015625e-06, "step": 12740, "training_step_time": 17.589175701141357 }, { "epoch": 1.2150764465332031e-06, "model_forward_time": 5.277851343154907, "step": 12741 }, { "epoch": 1.2150764465332031e-06, "step": 12741, "training_step_time": 17.583404541015625 }, { "epoch": 1.2151718139648437e-06, "model_forward_time": 5.079965353012085, "step": 12742 }, { "epoch": 1.2151718139648437e-06, "step": 12742, "training_step_time": 17.50932025909424 }, { "epoch": 1.2152671813964844e-06, "model_forward_time": 5.08057975769043, "step": 12743 }, { "epoch": 1.2152671813964844e-06, "step": 12743, "training_step_time": 17.564022064208984 }, { "epoch": 1.215362548828125e-06, "model_forward_time": 5.082813501358032, "step": 12744 }, { "epoch": 1.215362548828125e-06, "step": 12744, "training_step_time": 17.580025911331177 }, { "epoch": 1.2154579162597656e-06, "model_forward_time": 5.085396766662598, "step": 12745 }, { "epoch": 1.2154579162597656e-06, "step": 12745, "training_step_time": 17.60246515274048 }, { "epoch": 1.2155532836914062e-06, "model_forward_time": 5.316395282745361, "step": 12746 }, { "epoch": 1.2155532836914062e-06, "step": 12746, "training_step_time": 17.79804491996765 }, { "epoch": 1.2156486511230468e-06, "model_forward_time": 5.08387565612793, "step": 12747 }, { "epoch": 1.2156486511230468e-06, "step": 12747, "training_step_time": 17.423522233963013 }, { "epoch": 1.2157440185546874e-06, "model_forward_time": 5.087652921676636, "step": 12748 }, { "epoch": 1.2157440185546874e-06, "step": 12748, "training_step_time": 17.5305233001709 }, { "epoch": 1.215839385986328e-06, "model_forward_time": 5.084022521972656, "step": 12749 }, { "epoch": 1.215839385986328e-06, "step": 12749, "training_step_time": 17.55746841430664 }, { "epoch": 1.2159347534179687e-06, "grad_norm": 1.7651147842407227, "learning_rate": 9.53025144063472e-06, "loss": 0.1118, "step": 12750 }, { "epoch": 1.2159347534179687e-06, "model_forward_time": 5.0854809284210205, "step": 12750 }, { "dynamics_loss_avg": 0.041588439233601095, "epoch": 1.2159347534179687e-06, "step": 12750 }, { "action_loss_avg": 0.07452505230903625, "epoch": 1.2159347534179687e-06, "step": 12750 }, { "arm_loss_avg": 0.12987255211919546, "epoch": 1.2159347534179687e-06, "step": 12750 }, { "ee_loss_avg": 0.10218738298863173, "epoch": 1.2159347534179687e-06, "step": 12750 }, { "aux_loss_avg": 0.003362000419292599, "epoch": 1.2159347534179687e-06, "step": 12750 }, { "epoch": 1.2159347534179687e-06, "step": 12750, "training_step_time": 17.585748434066772 }, { "epoch": 1.2160301208496093e-06, "model_forward_time": 5.272054195404053, "step": 12751 }, { "epoch": 1.2160301208496093e-06, "step": 12751, "training_step_time": 17.840055227279663 }, { "epoch": 1.21612548828125e-06, "model_forward_time": 3.8504624366760254, "step": 12752 }, { "epoch": 1.21612548828125e-06, "step": 12752, "training_step_time": 17.60543417930603 }, { "epoch": 1.2162208557128907e-06, "model_forward_time": 5.063252687454224, "step": 12753 }, { "epoch": 1.2162208557128907e-06, "step": 12753, "training_step_time": 17.60982084274292 }, { "epoch": 1.2163162231445313e-06, "model_forward_time": 5.064761161804199, "step": 12754 }, { "epoch": 1.2163162231445313e-06, "step": 12754, "training_step_time": 17.606656312942505 }, { "epoch": 1.216411590576172e-06, "model_forward_time": 5.074470043182373, "step": 12755 }, { "epoch": 1.216411590576172e-06, "step": 12755, "training_step_time": 17.597407817840576 }, { "epoch": 1.2165069580078126e-06, "model_forward_time": 5.316530704498291, "step": 12756 }, { "epoch": 1.2165069580078126e-06, "step": 12756, "training_step_time": 17.775803565979004 }, { "epoch": 1.2166023254394532e-06, "model_forward_time": 5.101025104522705, "step": 12757 }, { "epoch": 1.2166023254394532e-06, "step": 12757, "training_step_time": 17.60346269607544 }, { "epoch": 1.2166976928710938e-06, "model_forward_time": 5.1132941246032715, "step": 12758 }, { "epoch": 1.2166976928710938e-06, "step": 12758, "training_step_time": 17.62188720703125 }, { "epoch": 1.2167930603027344e-06, "model_forward_time": 5.109405994415283, "step": 12759 }, { "epoch": 1.2167930603027344e-06, "step": 12759, "training_step_time": 17.606431245803833 }, { "epoch": 1.216888427734375e-06, "grad_norm": 1.69095778465271, "learning_rate": 9.529251365319077e-06, "loss": 0.1187, "step": 12760 }, { "epoch": 1.216888427734375e-06, "model_forward_time": 5.1162824630737305, "step": 12760 }, { "dynamics_loss_avg": 0.04698628792539239, "epoch": 1.216888427734375e-06, "step": 12760 }, { "action_loss_avg": 0.07814490124583244, "epoch": 1.216888427734375e-06, "step": 12760 }, { "arm_loss_avg": 0.13282776474952698, "epoch": 1.216888427734375e-06, "step": 12760 }, { "ee_loss_avg": 0.11405353099107743, "epoch": 1.216888427734375e-06, "step": 12760 }, { "aux_loss_avg": 0.010823726374655961, "epoch": 1.216888427734375e-06, "step": 12760 }, { "epoch": 1.216888427734375e-06, "step": 12760, "training_step_time": 17.596261024475098 }, { "epoch": 1.2169837951660156e-06, "model_forward_time": 5.288791656494141, "step": 12761 }, { "epoch": 1.2169837951660156e-06, "step": 12761, "training_step_time": 17.815468549728394 }, { "epoch": 1.2170791625976563e-06, "model_forward_time": 5.089395999908447, "step": 12762 }, { "epoch": 1.2170791625976563e-06, "step": 12762, "training_step_time": 17.572073698043823 }, { "epoch": 1.2171745300292969e-06, "model_forward_time": 5.085730791091919, "step": 12763 }, { "epoch": 1.2171745300292969e-06, "step": 12763, "training_step_time": 17.580755949020386 }, { "epoch": 1.2172698974609375e-06, "model_forward_time": 5.085133790969849, "step": 12764 }, { "epoch": 1.2172698974609375e-06, "step": 12764, "training_step_time": 17.589519262313843 }, { "epoch": 1.217365264892578e-06, "model_forward_time": 5.083132028579712, "step": 12765 }, { "epoch": 1.217365264892578e-06, "step": 12765, "training_step_time": 17.59889054298401 }, { "epoch": 1.2174606323242187e-06, "model_forward_time": 5.314950942993164, "step": 12766 }, { "epoch": 1.2174606323242187e-06, "step": 12766, "training_step_time": 17.806171417236328 }, { "epoch": 1.2175559997558593e-06, "model_forward_time": 5.082103729248047, "step": 12767 }, { "epoch": 1.2175559997558593e-06, "step": 12767, "training_step_time": 17.650662422180176 }, { "epoch": 1.2176513671875e-06, "model_forward_time": 5.085510015487671, "step": 12768 }, { "epoch": 1.2176513671875e-06, "step": 12768, "training_step_time": 17.616849422454834 }, { "epoch": 1.2177467346191406e-06, "model_forward_time": 5.086425542831421, "step": 12769 }, { "epoch": 1.2177467346191406e-06, "step": 12769, "training_step_time": 17.611674785614014 }, { "epoch": 1.2178421020507812e-06, "grad_norm": 1.2928770780563354, "learning_rate": 9.528250279162381e-06, "loss": 0.1057, "step": 12770 }, { "epoch": 1.2178421020507812e-06, "model_forward_time": 5.087787389755249, "step": 12770 }, { "dynamics_loss_avg": 0.05502954814583063, "epoch": 1.2178421020507812e-06, "step": 12770 }, { "action_loss_avg": 0.06610153410583734, "epoch": 1.2178421020507812e-06, "step": 12770 }, { "arm_loss_avg": 0.1432879962027073, "epoch": 1.2178421020507812e-06, "step": 12770 }, { "ee_loss_avg": 0.09201417453587055, "epoch": 1.2178421020507812e-06, "step": 12770 }, { "aux_loss_avg": 0.005562417220789939, "epoch": 1.2178421020507812e-06, "step": 12770 }, { "epoch": 1.2178421020507812e-06, "step": 12770, "training_step_time": 17.603939533233643 }, { "epoch": 1.2179374694824218e-06, "model_forward_time": 5.270963668823242, "step": 12771 }, { "epoch": 1.2179374694824218e-06, "step": 12771, "training_step_time": 17.861316680908203 }, { "epoch": 1.2180328369140624e-06, "model_forward_time": 5.087160348892212, "step": 12772 }, { "epoch": 1.2180328369140624e-06, "step": 12772, "training_step_time": 17.60762667655945 }, { "epoch": 1.2181282043457032e-06, "model_forward_time": 5.089446306228638, "step": 12773 }, { "epoch": 1.2181282043457032e-06, "step": 12773, "training_step_time": 17.608617782592773 }, { "epoch": 1.2182235717773438e-06, "model_forward_time": 3.8537542819976807, "step": 12774 }, { "epoch": 1.2182235717773438e-06, "step": 12774, "training_step_time": 17.606170415878296 }, { "epoch": 1.2183189392089845e-06, "model_forward_time": 5.06194281578064, "step": 12775 }, { "epoch": 1.2183189392089845e-06, "step": 12775, "training_step_time": 17.60977339744568 }, { "epoch": 1.218414306640625e-06, "model_forward_time": 5.306819200515747, "step": 12776 }, { "epoch": 1.218414306640625e-06, "step": 12776, "training_step_time": 17.808086395263672 }, { "epoch": 1.2185096740722657e-06, "model_forward_time": 5.076142311096191, "step": 12777 }, { "epoch": 1.2185096740722657e-06, "step": 12777, "training_step_time": 17.653533220291138 }, { "epoch": 1.2186050415039063e-06, "model_forward_time": 5.086446046829224, "step": 12778 }, { "epoch": 1.2186050415039063e-06, "step": 12778, "training_step_time": 17.404699087142944 }, { "epoch": 1.218700408935547e-06, "model_forward_time": 5.0959312915802, "step": 12779 }, { "epoch": 1.218700408935547e-06, "step": 12779, "training_step_time": 17.50069808959961 }, { "epoch": 1.2187957763671875e-06, "grad_norm": 0.8598635792732239, "learning_rate": 9.527248182388058e-06, "loss": 0.1064, "step": 12780 }, { "epoch": 1.2187957763671875e-06, "model_forward_time": 5.098941326141357, "step": 12780 }, { "dynamics_loss_avg": 0.03976832162588835, "epoch": 1.2187957763671875e-06, "step": 12780 }, { "action_loss_avg": 0.08091647736728191, "epoch": 1.2187957763671875e-06, "step": 12780 }, { "arm_loss_avg": 0.14443292766809462, "epoch": 1.2187957763671875e-06, "step": 12780 }, { "ee_loss_avg": 0.10858461186289788, "epoch": 1.2187957763671875e-06, "step": 12780 }, { "aux_loss_avg": 0.00401454545208253, "epoch": 1.2187957763671875e-06, "step": 12780 }, { "epoch": 1.2187957763671875e-06, "step": 12780, "training_step_time": 17.542799711227417 }, { "epoch": 1.2188911437988281e-06, "model_forward_time": 5.2882091999053955, "step": 12781 }, { "epoch": 1.2188911437988281e-06, "step": 12781, "training_step_time": 17.80513572692871 }, { "epoch": 1.2189865112304688e-06, "model_forward_time": 5.0943989753723145, "step": 12782 }, { "epoch": 1.2189865112304688e-06, "step": 12782, "training_step_time": 17.591975688934326 }, { "epoch": 1.2190818786621094e-06, "model_forward_time": 5.092418909072876, "step": 12783 }, { "epoch": 1.2190818786621094e-06, "step": 12783, "training_step_time": 17.373201847076416 }, { "epoch": 1.21917724609375e-06, "model_forward_time": 5.092191457748413, "step": 12784 }, { "epoch": 1.21917724609375e-06, "step": 12784, "training_step_time": 17.37631320953369 }, { "epoch": 1.2192726135253906e-06, "model_forward_time": 5.090691566467285, "step": 12785 }, { "epoch": 1.2192726135253906e-06, "step": 12785, "training_step_time": 17.487916469573975 }, { "epoch": 1.2193679809570312e-06, "model_forward_time": 5.324302434921265, "step": 12786 }, { "epoch": 1.2193679809570312e-06, "step": 12786, "training_step_time": 17.612611532211304 }, { "epoch": 1.2194633483886718e-06, "model_forward_time": 3.851060390472412, "step": 12787 }, { "epoch": 1.2194633483886718e-06, "step": 12787, "training_step_time": 17.7813880443573 }, { "epoch": 1.2195587158203124e-06, "model_forward_time": 5.062172889709473, "step": 12788 }, { "epoch": 1.2195587158203124e-06, "step": 12788, "training_step_time": 17.624631643295288 }, { "epoch": 1.219654083251953e-06, "model_forward_time": 3.834590196609497, "step": 12789 }, { "epoch": 1.219654083251953e-06, "step": 12789, "training_step_time": 17.379146575927734 }, { "epoch": 1.2197494506835937e-06, "grad_norm": 0.8685443997383118, "learning_rate": 9.526245075219756e-06, "loss": 0.1088, "step": 12790 }, { "epoch": 1.2197494506835937e-06, "model_forward_time": 3.829899311065674, "step": 12790 }, { "dynamics_loss_avg": 0.04620650466531515, "epoch": 1.2197494506835937e-06, "step": 12790 }, { "action_loss_avg": 0.06017533298581838, "epoch": 1.2197494506835937e-06, "step": 12790 }, { "arm_loss_avg": 0.12743976023048162, "epoch": 1.2197494506835937e-06, "step": 12790 }, { "ee_loss_avg": 0.09045963566750288, "epoch": 1.2197494506835937e-06, "step": 12790 }, { "aux_loss_avg": 0.0031042949471157045, "epoch": 1.2197494506835937e-06, "step": 12790 }, { "epoch": 1.2197494506835937e-06, "step": 12790, "training_step_time": 17.560588359832764 }, { "epoch": 1.2198448181152343e-06, "model_forward_time": 5.049394845962524, "step": 12791 }, { "epoch": 1.2198448181152343e-06, "step": 12791, "training_step_time": 17.598073720932007 }, { "epoch": 1.219940185546875e-06, "model_forward_time": 3.8426334857940674, "step": 12792 }, { "epoch": 1.219940185546875e-06, "step": 12792, "training_step_time": 17.842039108276367 }, { "epoch": 1.2200355529785157e-06, "model_forward_time": 5.061484336853027, "step": 12793 }, { "epoch": 1.2200355529785157e-06, "step": 12793, "training_step_time": 17.620206356048584 }, { "epoch": 1.2201309204101563e-06, "model_forward_time": 5.091981649398804, "step": 12794 }, { "epoch": 1.2201309204101563e-06, "step": 12794, "training_step_time": 17.620999574661255 }, { "epoch": 1.220226287841797e-06, "model_forward_time": 5.110756874084473, "step": 12795 }, { "epoch": 1.220226287841797e-06, "step": 12795, "training_step_time": 17.614946603775024 }, { "epoch": 1.2203216552734376e-06, "model_forward_time": 5.110068082809448, "step": 12796 }, { "epoch": 1.2203216552734376e-06, "step": 12796, "training_step_time": 17.62900424003601 }, { "epoch": 1.2204170227050782e-06, "model_forward_time": 5.349380970001221, "step": 12797 }, { "epoch": 1.2204170227050782e-06, "step": 12797, "training_step_time": 17.83962607383728 }, { "epoch": 1.2205123901367188e-06, "model_forward_time": 5.103053092956543, "step": 12798 }, { "epoch": 1.2205123901367188e-06, "step": 12798, "training_step_time": 17.650524377822876 }, { "epoch": 1.2206077575683594e-06, "model_forward_time": 5.098841667175293, "step": 12799 }, { "epoch": 1.2206077575683594e-06, "step": 12799, "training_step_time": 17.66708755493164 }, { "epoch": 1.220703125e-06, "grad_norm": 2.1819589138031006, "learning_rate": 9.525240957881348e-06, "loss": 0.1279, "step": 12800 }, { "epoch": 1.220703125e-06, "model_forward_time": 5.103681802749634, "step": 12800 }, { "dynamics_loss_avg": 0.05689947046339512, "epoch": 1.220703125e-06, "step": 12800 }, { "action_loss_avg": 0.11312242262065411, "epoch": 1.220703125e-06, "step": 12800 }, { "arm_loss_avg": 0.1574420366436243, "epoch": 1.220703125e-06, "step": 12800 }, { "ee_loss_avg": 0.06444988958537579, "epoch": 1.220703125e-06, "step": 12800 }, { "aux_loss_avg": 0.0012836523237638175, "epoch": 1.220703125e-06, "step": 12800 }, { "epoch": 1.220703125e-06, "step": 12800, "training_step_time": 17.640000343322754 }, { "epoch": 1.2207984924316406e-06, "model_forward_time": 5.085413694381714, "step": 12801 }, { "epoch": 1.2207984924316406e-06, "step": 12801, "training_step_time": 17.84353280067444 }, { "epoch": 1.2208938598632813e-06, "model_forward_time": 5.0861499309539795, "step": 12802 }, { "epoch": 1.2208938598632813e-06, "step": 12802, "training_step_time": 17.252867698669434 }, { "epoch": 1.2209892272949219e-06, "model_forward_time": 5.08733057975769, "step": 12803 }, { "epoch": 1.2209892272949219e-06, "step": 12803, "training_step_time": 17.51501488685608 }, { "epoch": 1.2210845947265625e-06, "model_forward_time": 5.08344030380249, "step": 12804 }, { "epoch": 1.2210845947265625e-06, "step": 12804, "training_step_time": 17.544548988342285 }, { "epoch": 1.221179962158203e-06, "model_forward_time": 5.083644866943359, "step": 12805 }, { "epoch": 1.221179962158203e-06, "step": 12805, "training_step_time": 17.557023763656616 }, { "epoch": 1.2212753295898437e-06, "model_forward_time": 5.082820653915405, "step": 12806 }, { "epoch": 1.2212753295898437e-06, "step": 12806, "training_step_time": 17.80612587928772 }, { "epoch": 1.2213706970214843e-06, "model_forward_time": 3.8478596210479736, "step": 12807 }, { "epoch": 1.2213706970214843e-06, "step": 12807, "training_step_time": 17.63621473312378 }, { "epoch": 1.221466064453125e-06, "model_forward_time": 5.064992427825928, "step": 12808 }, { "epoch": 1.221466064453125e-06, "step": 12808, "training_step_time": 17.600800275802612 }, { "epoch": 1.2215614318847656e-06, "model_forward_time": 5.071849584579468, "step": 12809 }, { "epoch": 1.2215614318847656e-06, "step": 12809, "training_step_time": 17.61153507232666 }, { "epoch": 1.2216567993164062e-06, "grad_norm": 2.0665345191955566, "learning_rate": 9.524235830596935e-06, "loss": 0.1275, "step": 12810 }, { "epoch": 1.2216567993164062e-06, "model_forward_time": 5.0800981521606445, "step": 12810 }, { "dynamics_loss_avg": 0.05761790676042437, "epoch": 1.2216567993164062e-06, "step": 12810 }, { "action_loss_avg": 0.09547438882291318, "epoch": 1.2216567993164062e-06, "step": 12810 }, { "arm_loss_avg": 0.14042099453508855, "epoch": 1.2216567993164062e-06, "step": 12810 }, { "ee_loss_avg": 0.06370123159140348, "epoch": 1.2216567993164062e-06, "step": 12810 }, { "aux_loss_avg": 0.002185862831538543, "epoch": 1.2216567993164062e-06, "step": 12810 }, { "epoch": 1.2216567993164062e-06, "step": 12810, "training_step_time": 17.610735416412354 }, { "epoch": 1.2217521667480468e-06, "model_forward_time": 5.090759515762329, "step": 12811 }, { "epoch": 1.2217521667480468e-06, "step": 12811, "training_step_time": 17.836567401885986 }, { "epoch": 1.2218475341796874e-06, "model_forward_time": 5.3041064739227295, "step": 12812 }, { "epoch": 1.2218475341796874e-06, "step": 12812, "training_step_time": 17.602309226989746 }, { "epoch": 1.2219429016113282e-06, "model_forward_time": 5.100930690765381, "step": 12813 }, { "epoch": 1.2219429016113282e-06, "step": 12813, "training_step_time": 17.604897260665894 }, { "epoch": 1.2220382690429688e-06, "model_forward_time": 5.100502014160156, "step": 12814 }, { "epoch": 1.2220382690429688e-06, "step": 12814, "training_step_time": 17.60102367401123 }, { "epoch": 1.2221336364746095e-06, "model_forward_time": 5.095412254333496, "step": 12815 }, { "epoch": 1.2221336364746095e-06, "step": 12815, "training_step_time": 17.583553075790405 }, { "epoch": 1.22222900390625e-06, "model_forward_time": 5.093669891357422, "step": 12816 }, { "epoch": 1.22222900390625e-06, "step": 12816, "training_step_time": 17.824355602264404 }, { "epoch": 1.2223243713378907e-06, "model_forward_time": 5.090064287185669, "step": 12817 }, { "epoch": 1.2223243713378907e-06, "step": 12817, "training_step_time": 17.58100175857544 }, { "epoch": 1.2224197387695313e-06, "model_forward_time": 5.083410263061523, "step": 12818 }, { "epoch": 1.2224197387695313e-06, "step": 12818, "training_step_time": 17.575790643692017 }, { "epoch": 1.222515106201172e-06, "model_forward_time": 5.082702398300171, "step": 12819 }, { "epoch": 1.222515106201172e-06, "step": 12819, "training_step_time": 17.574148416519165 }, { "epoch": 1.2226104736328125e-06, "grad_norm": 2.30246639251709, "learning_rate": 9.523229693590842e-06, "loss": 0.1124, "step": 12820 }, { "epoch": 1.2226104736328125e-06, "model_forward_time": 5.0801777839660645, "step": 12820 }, { "dynamics_loss_avg": 0.060117071494460106, "epoch": 1.2226104736328125e-06, "step": 12820 }, { "action_loss_avg": 0.08150156000629068, "epoch": 1.2226104736328125e-06, "step": 12820 }, { "arm_loss_avg": 0.13377978578209876, "epoch": 1.2226104736328125e-06, "step": 12820 }, { "ee_loss_avg": 0.07331391973420978, "epoch": 1.2226104736328125e-06, "step": 12820 }, { "aux_loss_avg": 0.0025070806907024233, "epoch": 1.2226104736328125e-06, "step": 12820 }, { "epoch": 1.2226104736328125e-06, "step": 12820, "training_step_time": 17.58128309249878 }, { "epoch": 1.2227058410644531e-06, "model_forward_time": 3.845057249069214, "step": 12821 }, { "epoch": 1.2227058410644531e-06, "step": 12821, "training_step_time": 17.789650678634644 }, { "epoch": 1.2228012084960938e-06, "model_forward_time": 3.8250975608825684, "step": 12822 }, { "epoch": 1.2228012084960938e-06, "step": 12822, "training_step_time": 17.569096088409424 }, { "epoch": 1.2228965759277344e-06, "model_forward_time": 5.04727578163147, "step": 12823 }, { "epoch": 1.2228965759277344e-06, "step": 12823, "training_step_time": 17.572749137878418 }, { "epoch": 1.222991943359375e-06, "model_forward_time": 5.0607380867004395, "step": 12824 }, { "epoch": 1.222991943359375e-06, "step": 12824, "training_step_time": 17.553910732269287 }, { "epoch": 1.2230873107910156e-06, "model_forward_time": 5.07564377784729, "step": 12825 }, { "epoch": 1.2230873107910156e-06, "step": 12825, "training_step_time": 17.54097628593445 }, { "epoch": 1.2231826782226562e-06, "model_forward_time": 5.091746091842651, "step": 12826 }, { "epoch": 1.2231826782226562e-06, "step": 12826, "training_step_time": 17.741043090820312 }, { "epoch": 1.2232780456542968e-06, "model_forward_time": 5.347888469696045, "step": 12827 }, { "epoch": 1.2232780456542968e-06, "step": 12827, "training_step_time": 17.62644910812378 }, { "epoch": 1.2233734130859374e-06, "model_forward_time": 5.106103420257568, "step": 12828 }, { "epoch": 1.2233734130859374e-06, "step": 12828, "training_step_time": 17.55297589302063 }, { "epoch": 1.223468780517578e-06, "model_forward_time": 5.101646184921265, "step": 12829 }, { "epoch": 1.223468780517578e-06, "step": 12829, "training_step_time": 17.565495252609253 }, { "epoch": 1.2235641479492187e-06, "grad_norm": 1.2646619081497192, "learning_rate": 9.522222547087617e-06, "loss": 0.1215, "step": 12830 }, { "epoch": 1.2235641479492187e-06, "model_forward_time": 5.1024744510650635, "step": 12830 }, { "dynamics_loss_avg": 0.058502492122352125, "epoch": 1.2235641479492187e-06, "step": 12830 }, { "action_loss_avg": 0.0971065504476428, "epoch": 1.2235641479492187e-06, "step": 12830 }, { "arm_loss_avg": 0.12355035245418548, "epoch": 1.2235641479492187e-06, "step": 12830 }, { "ee_loss_avg": 0.06848343117162585, "epoch": 1.2235641479492187e-06, "step": 12830 }, { "aux_loss_avg": 0.0015614700794685632, "epoch": 1.2235641479492187e-06, "step": 12830 }, { "epoch": 1.2235641479492187e-06, "step": 12830, "training_step_time": 17.58564019203186 }, { "epoch": 1.2236595153808593e-06, "model_forward_time": 5.097040891647339, "step": 12831 }, { "epoch": 1.2236595153808593e-06, "step": 12831, "training_step_time": 17.809959888458252 }, { "epoch": 1.2237548828125e-06, "model_forward_time": 5.089949607849121, "step": 12832 }, { "epoch": 1.2237548828125e-06, "step": 12832, "training_step_time": 17.39649772644043 }, { "epoch": 1.2238502502441407e-06, "model_forward_time": 5.085962295532227, "step": 12833 }, { "epoch": 1.2238502502441407e-06, "step": 12833, "training_step_time": 17.518599033355713 }, { "epoch": 1.2239456176757813e-06, "model_forward_time": 5.083079814910889, "step": 12834 }, { "epoch": 1.2239456176757813e-06, "step": 12834, "training_step_time": 17.55888056755066 }, { "epoch": 1.224040985107422e-06, "model_forward_time": 5.083786249160767, "step": 12835 }, { "epoch": 1.224040985107422e-06, "step": 12835, "training_step_time": 17.591134071350098 }, { "epoch": 1.2241363525390626e-06, "model_forward_time": 5.078606128692627, "step": 12836 }, { "epoch": 1.2241363525390626e-06, "step": 12836, "training_step_time": 17.60456132888794 }, { "epoch": 1.2242317199707032e-06, "model_forward_time": 5.318989515304565, "step": 12837 }, { "epoch": 1.2242317199707032e-06, "step": 12837, "training_step_time": 17.8004367351532 }, { "epoch": 1.2243270874023438e-06, "model_forward_time": 5.082925081253052, "step": 12838 }, { "epoch": 1.2243270874023438e-06, "step": 12838, "training_step_time": 17.43376111984253 }, { "epoch": 1.2244224548339844e-06, "model_forward_time": 5.083384037017822, "step": 12839 }, { "epoch": 1.2244224548339844e-06, "step": 12839, "training_step_time": 17.527160167694092 }, { "epoch": 1.224517822265625e-06, "grad_norm": 1.362380027770996, "learning_rate": 9.521214391312037e-06, "loss": 0.1104, "step": 12840 }, { "epoch": 1.224517822265625e-06, "model_forward_time": 5.088207244873047, "step": 12840 }, { "dynamics_loss_avg": 0.05712568983435631, "epoch": 1.224517822265625e-06, "step": 12840 }, { "action_loss_avg": 0.09926217645406724, "epoch": 1.224517822265625e-06, "step": 12840 }, { "arm_loss_avg": 0.16362801864743232, "epoch": 1.224517822265625e-06, "step": 12840 }, { "ee_loss_avg": 0.1057705988176167, "epoch": 1.224517822265625e-06, "step": 12840 }, { "aux_loss_avg": 0.0036049137765076012, "epoch": 1.224517822265625e-06, "step": 12840 }, { "epoch": 1.224517822265625e-06, "step": 12840, "training_step_time": 17.576814889907837 }, { "epoch": 1.2246131896972656e-06, "model_forward_time": 5.090156078338623, "step": 12841 }, { "epoch": 1.2246131896972656e-06, "step": 12841, "training_step_time": 17.602202653884888 }, { "epoch": 1.2247085571289063e-06, "model_forward_time": 5.090655326843262, "step": 12842 }, { "epoch": 1.2247085571289063e-06, "step": 12842, "training_step_time": 17.832711696624756 }, { "epoch": 1.2248039245605469e-06, "model_forward_time": 5.0853986740112305, "step": 12843 }, { "epoch": 1.2248039245605469e-06, "step": 12843, "training_step_time": 17.60576868057251 }, { "epoch": 1.2248992919921875e-06, "model_forward_time": 5.0898826122283936, "step": 12844 }, { "epoch": 1.2248992919921875e-06, "step": 12844, "training_step_time": 17.616433143615723 }, { "epoch": 1.224994659423828e-06, "model_forward_time": 5.085161924362183, "step": 12845 }, { "epoch": 1.224994659423828e-06, "step": 12845, "training_step_time": 17.620640516281128 }, { "epoch": 1.2250900268554687e-06, "model_forward_time": 5.087132215499878, "step": 12846 }, { "epoch": 1.2250900268554687e-06, "step": 12846, "training_step_time": 17.84868311882019 }, { "epoch": 1.2251853942871093e-06, "model_forward_time": 5.089165449142456, "step": 12847 }, { "epoch": 1.2251853942871093e-06, "step": 12847, "training_step_time": 17.607152462005615 }, { "epoch": 1.22528076171875e-06, "model_forward_time": 5.087242603302002, "step": 12848 }, { "epoch": 1.22528076171875e-06, "step": 12848, "training_step_time": 17.60504150390625 }, { "epoch": 1.2253761291503906e-06, "model_forward_time": 5.088480710983276, "step": 12849 }, { "epoch": 1.2253761291503906e-06, "step": 12849, "training_step_time": 17.586939096450806 }, { "epoch": 1.2254714965820312e-06, "grad_norm": 1.2666234970092773, "learning_rate": 9.520205226489101e-06, "loss": 0.088, "step": 12850 }, { "epoch": 1.2254714965820312e-06, "model_forward_time": 5.090896129608154, "step": 12850 }, { "dynamics_loss_avg": 0.04448892250657081, "epoch": 1.2254714965820312e-06, "step": 12850 }, { "action_loss_avg": 0.07272784486413002, "epoch": 1.2254714965820312e-06, "step": 12850 }, { "arm_loss_avg": 0.15063621811568736, "epoch": 1.2254714965820312e-06, "step": 12850 }, { "ee_loss_avg": 0.09910653997212648, "epoch": 1.2254714965820312e-06, "step": 12850 }, { "aux_loss_avg": 0.006433158827712759, "epoch": 1.2254714965820312e-06, "step": 12850 }, { "epoch": 1.2254714965820312e-06, "step": 12850, "training_step_time": 17.580697774887085 }, { "epoch": 1.2255668640136718e-06, "model_forward_time": 5.088364601135254, "step": 12851 }, { "epoch": 1.2255668640136718e-06, "step": 12851, "training_step_time": 17.811070680618286 }, { "epoch": 1.2256622314453124e-06, "model_forward_time": 5.090367794036865, "step": 12852 }, { "epoch": 1.2256622314453124e-06, "step": 12852, "training_step_time": 17.583049535751343 }, { "epoch": 1.2257575988769532e-06, "model_forward_time": 5.085783004760742, "step": 12853 }, { "epoch": 1.2257575988769532e-06, "step": 12853, "training_step_time": 17.57752537727356 }, { "epoch": 1.2258529663085938e-06, "model_forward_time": 5.0883729457855225, "step": 12854 }, { "epoch": 1.2258529663085938e-06, "step": 12854, "training_step_time": 17.579294681549072 }, { "epoch": 1.2259483337402345e-06, "model_forward_time": 5.089843988418579, "step": 12855 }, { "epoch": 1.2259483337402345e-06, "step": 12855, "training_step_time": 17.60897946357727 }, { "epoch": 1.226043701171875e-06, "model_forward_time": 5.097547769546509, "step": 12856 }, { "epoch": 1.226043701171875e-06, "step": 12856, "training_step_time": 17.87509250640869 }, { "epoch": 1.2261390686035157e-06, "model_forward_time": 5.108483791351318, "step": 12857 }, { "epoch": 1.2261390686035157e-06, "step": 12857, "training_step_time": 17.628955841064453 }, { "epoch": 1.2262344360351563e-06, "model_forward_time": 5.100579023361206, "step": 12858 }, { "epoch": 1.2262344360351563e-06, "step": 12858, "training_step_time": 17.507739543914795 }, { "epoch": 1.226329803466797e-06, "model_forward_time": 5.11060643196106, "step": 12859 }, { "epoch": 1.226329803466797e-06, "step": 12859, "training_step_time": 17.53426694869995 }, { "epoch": 1.2264251708984375e-06, "grad_norm": 1.5346311330795288, "learning_rate": 9.51919505284404e-06, "loss": 0.1187, "step": 12860 }, { "epoch": 1.2264251708984375e-06, "model_forward_time": 3.8530566692352295, "step": 12860 }, { "dynamics_loss_avg": 0.058912945352494715, "epoch": 1.2264251708984375e-06, "step": 12860 }, { "action_loss_avg": 0.08200413435697555, "epoch": 1.2264251708984375e-06, "step": 12860 }, { "arm_loss_avg": 0.1573484644293785, "epoch": 1.2264251708984375e-06, "step": 12860 }, { "ee_loss_avg": 0.08875573221594095, "epoch": 1.2264251708984375e-06, "step": 12860 }, { "aux_loss_avg": 0.0021705441642552612, "epoch": 1.2264251708984375e-06, "step": 12860 }, { "epoch": 1.2264251708984375e-06, "step": 12860, "training_step_time": 17.564011335372925 }, { "epoch": 1.2265205383300781e-06, "model_forward_time": 5.0613930225372314, "step": 12861 }, { "epoch": 1.2265205383300781e-06, "step": 12861, "training_step_time": 17.577929973602295 }, { "epoch": 1.2266159057617188e-06, "model_forward_time": 5.07067346572876, "step": 12862 }, { "epoch": 1.2266159057617188e-06, "step": 12862, "training_step_time": 17.590489387512207 }, { "epoch": 1.2267112731933594e-06, "model_forward_time": 5.078898668289185, "step": 12863 }, { "epoch": 1.2267112731933594e-06, "step": 12863, "training_step_time": 17.524572372436523 }, { "epoch": 1.226806640625e-06, "model_forward_time": 5.085317611694336, "step": 12864 }, { "epoch": 1.226806640625e-06, "step": 12864, "training_step_time": 17.576756477355957 }, { "epoch": 1.2269020080566406e-06, "model_forward_time": 5.095516920089722, "step": 12865 }, { "epoch": 1.2269020080566406e-06, "step": 12865, "training_step_time": 17.610583066940308 }, { "epoch": 1.2269973754882812e-06, "model_forward_time": 5.352022647857666, "step": 12866 }, { "epoch": 1.2269973754882812e-06, "step": 12866, "training_step_time": 17.63852047920227 }, { "epoch": 1.2270927429199218e-06, "model_forward_time": 5.102535009384155, "step": 12867 }, { "epoch": 1.2270927429199218e-06, "step": 12867, "training_step_time": 17.83907961845398 }, { "epoch": 1.2271881103515624e-06, "model_forward_time": 5.096512317657471, "step": 12868 }, { "epoch": 1.2271881103515624e-06, "step": 12868, "training_step_time": 17.63944911956787 }, { "epoch": 1.227283477783203e-06, "model_forward_time": 5.098140001296997, "step": 12869 }, { "epoch": 1.227283477783203e-06, "step": 12869, "training_step_time": 17.648587942123413 }, { "epoch": 1.2273788452148437e-06, "grad_norm": 1.8418028354644775, "learning_rate": 9.5181838706023e-06, "loss": 0.1178, "step": 12870 }, { "epoch": 1.2273788452148437e-06, "model_forward_time": 5.089038848876953, "step": 12870 }, { "dynamics_loss_avg": 0.05797769092023373, "epoch": 1.2273788452148437e-06, "step": 12870 }, { "action_loss_avg": 0.07302695438265801, "epoch": 1.2273788452148437e-06, "step": 12870 }, { "arm_loss_avg": 0.13252754434943198, "epoch": 1.2273788452148437e-06, "step": 12870 }, { "ee_loss_avg": 0.08873529061675071, "epoch": 1.2273788452148437e-06, "step": 12870 }, { "aux_loss_avg": 0.006355979200452566, "epoch": 1.2273788452148437e-06, "step": 12870 }, { "epoch": 1.2273788452148437e-06, "step": 12870, "training_step_time": 17.39962077140808 }, { "epoch": 1.2274742126464843e-06, "model_forward_time": 5.091647386550903, "step": 12871 }, { "epoch": 1.2274742126464843e-06, "step": 12871, "training_step_time": 17.59889316558838 }, { "epoch": 1.227569580078125e-06, "model_forward_time": 5.088700771331787, "step": 12872 }, { "epoch": 1.227569580078125e-06, "step": 12872, "training_step_time": 17.820656061172485 }, { "epoch": 1.2276649475097657e-06, "model_forward_time": 5.08681321144104, "step": 12873 }, { "epoch": 1.2276649475097657e-06, "step": 12873, "training_step_time": 17.603979110717773 }, { "epoch": 1.2277603149414063e-06, "model_forward_time": 5.089946508407593, "step": 12874 }, { "epoch": 1.2277603149414063e-06, "step": 12874, "training_step_time": 17.61081099510193 }, { "epoch": 1.227855682373047e-06, "model_forward_time": 5.087099313735962, "step": 12875 }, { "epoch": 1.227855682373047e-06, "step": 12875, "training_step_time": 17.621290922164917 }, { "epoch": 1.2279510498046876e-06, "model_forward_time": 5.0834434032440186, "step": 12876 }, { "epoch": 1.2279510498046876e-06, "step": 12876, "training_step_time": 17.617437839508057 }, { "epoch": 1.2280464172363282e-06, "model_forward_time": 5.087835073471069, "step": 12877 }, { "epoch": 1.2280464172363282e-06, "step": 12877, "training_step_time": 17.82034158706665 }, { "epoch": 1.2281417846679688e-06, "model_forward_time": 5.087113618850708, "step": 12878 }, { "epoch": 1.2281417846679688e-06, "step": 12878, "training_step_time": 17.6176016330719 }, { "epoch": 1.2282371520996094e-06, "model_forward_time": 5.0905327796936035, "step": 12879 }, { "epoch": 1.2282371520996094e-06, "step": 12879, "training_step_time": 17.61194610595703 }, { "epoch": 1.22833251953125e-06, "grad_norm": 1.3107666969299316, "learning_rate": 9.51717167998956e-06, "loss": 0.1286, "step": 12880 }, { "epoch": 1.22833251953125e-06, "model_forward_time": 5.0874903202056885, "step": 12880 }, { "dynamics_loss_avg": 0.06803667023777962, "epoch": 1.22833251953125e-06, "step": 12880 }, { "action_loss_avg": 0.09121518125757574, "epoch": 1.22833251953125e-06, "step": 12880 }, { "arm_loss_avg": 0.14919569715857506, "epoch": 1.22833251953125e-06, "step": 12880 }, { "ee_loss_avg": 0.09205583138391375, "epoch": 1.22833251953125e-06, "step": 12880 }, { "aux_loss_avg": 0.005573222844395787, "epoch": 1.22833251953125e-06, "step": 12880 }, { "epoch": 1.22833251953125e-06, "step": 12880, "training_step_time": 17.61618208885193 }, { "epoch": 1.2284278869628906e-06, "model_forward_time": 5.280841588973999, "step": 12881 }, { "epoch": 1.2284278869628906e-06, "step": 12881, "training_step_time": 17.825380086898804 }, { "epoch": 1.2285232543945313e-06, "model_forward_time": 5.08831524848938, "step": 12882 }, { "epoch": 1.2285232543945313e-06, "step": 12882, "training_step_time": 17.606952667236328 }, { "epoch": 1.2286186218261719e-06, "model_forward_time": 5.088134527206421, "step": 12883 }, { "epoch": 1.2286186218261719e-06, "step": 12883, "training_step_time": 17.60836911201477 }, { "epoch": 1.2287139892578125e-06, "model_forward_time": 5.086235284805298, "step": 12884 }, { "epoch": 1.2287139892578125e-06, "step": 12884, "training_step_time": 17.49448037147522 }, { "epoch": 1.228809356689453e-06, "model_forward_time": 5.090219974517822, "step": 12885 }, { "epoch": 1.228809356689453e-06, "step": 12885, "training_step_time": 17.514891624450684 }, { "epoch": 1.2289047241210937e-06, "model_forward_time": 5.086581468582153, "step": 12886 }, { "epoch": 1.2289047241210937e-06, "step": 12886, "training_step_time": 17.777806282043457 }, { "epoch": 1.2290000915527343e-06, "model_forward_time": 5.088833332061768, "step": 12887 }, { "epoch": 1.2290000915527343e-06, "step": 12887, "training_step_time": 17.577781677246094 }, { "epoch": 1.229095458984375e-06, "model_forward_time": 5.0854339599609375, "step": 12888 }, { "epoch": 1.229095458984375e-06, "step": 12888, "training_step_time": 17.599417448043823 }, { "epoch": 1.2291908264160156e-06, "model_forward_time": 5.0854997634887695, "step": 12889 }, { "epoch": 1.2291908264160156e-06, "step": 12889, "training_step_time": 17.623492002487183 }, { "epoch": 1.2292861938476562e-06, "grad_norm": 1.1799324750900269, "learning_rate": 9.516158481231719e-06, "loss": 0.1039, "step": 12890 }, { "epoch": 1.2292861938476562e-06, "model_forward_time": 3.852107524871826, "step": 12890 }, { "dynamics_loss_avg": 0.053730891458690165, "epoch": 1.2292861938476562e-06, "step": 12890 }, { "action_loss_avg": 0.09279868863523007, "epoch": 1.2292861938476562e-06, "step": 12890 }, { "arm_loss_avg": 0.16132060699164869, "epoch": 1.2292861938476562e-06, "step": 12890 }, { "ee_loss_avg": 0.09294264372438192, "epoch": 1.2292861938476562e-06, "step": 12890 }, { "aux_loss_avg": 0.0014673360157757998, "epoch": 1.2292861938476562e-06, "step": 12890 }, { "epoch": 1.2292861938476562e-06, "step": 12890, "training_step_time": 17.628146171569824 }, { "epoch": 1.2293815612792968e-06, "model_forward_time": 5.058594226837158, "step": 12891 }, { "epoch": 1.2293815612792968e-06, "step": 12891, "training_step_time": 17.857467889785767 }, { "epoch": 1.2294769287109374e-06, "model_forward_time": 5.29076886177063, "step": 12892 }, { "epoch": 1.2294769287109374e-06, "step": 12892, "training_step_time": 17.62364912033081 }, { "epoch": 1.229572296142578e-06, "model_forward_time": 5.0820488929748535, "step": 12893 }, { "epoch": 1.229572296142578e-06, "step": 12893, "training_step_time": 17.63031578063965 }, { "epoch": 1.2296676635742188e-06, "model_forward_time": 5.090801239013672, "step": 12894 }, { "epoch": 1.2296676635742188e-06, "step": 12894, "training_step_time": 17.624193906784058 }, { "epoch": 1.2297630310058595e-06, "model_forward_time": 5.0947465896606445, "step": 12895 }, { "epoch": 1.2297630310058595e-06, "step": 12895, "training_step_time": 17.42344379425049 }, { "epoch": 1.2298583984375e-06, "model_forward_time": 5.110564947128296, "step": 12896 }, { "epoch": 1.2298583984375e-06, "step": 12896, "training_step_time": 17.67421841621399 }, { "epoch": 1.2299537658691407e-06, "model_forward_time": 5.112163782119751, "step": 12897 }, { "epoch": 1.2299537658691407e-06, "step": 12897, "training_step_time": 17.786701679229736 }, { "epoch": 1.2300491333007813e-06, "model_forward_time": 5.115556240081787, "step": 12898 }, { "epoch": 1.2300491333007813e-06, "step": 12898, "training_step_time": 17.60818600654602 }, { "epoch": 1.230144500732422e-06, "model_forward_time": 5.121131420135498, "step": 12899 }, { "epoch": 1.230144500732422e-06, "step": 12899, "training_step_time": 17.646128177642822 }, { "epoch": 1.2302398681640625e-06, "grad_norm": 1.5002092123031616, "learning_rate": 9.515144274554905e-06, "loss": 0.1173, "step": 12900 }, { "epoch": 1.2302398681640625e-06, "model_forward_time": 5.090741872787476, "step": 12900 }, { "dynamics_loss_avg": 0.05625592470169068, "epoch": 1.2302398681640625e-06, "step": 12900 }, { "action_loss_avg": 0.09801645912230014, "epoch": 1.2302398681640625e-06, "step": 12900 }, { "arm_loss_avg": 0.16950347051024436, "epoch": 1.2302398681640625e-06, "step": 12900 }, { "ee_loss_avg": 0.08624735753983259, "epoch": 1.2302398681640625e-06, "step": 12900 }, { "aux_loss_avg": 0.0073390627920161934, "epoch": 1.2302398681640625e-06, "step": 12900 }, { "epoch": 1.2302398681640625e-06, "step": 12900, "training_step_time": 17.619755029678345 }, { "epoch": 1.2303352355957031e-06, "model_forward_time": 5.286407470703125, "step": 12901 }, { "epoch": 1.2303352355957031e-06, "step": 12901, "training_step_time": 17.84615206718445 }, { "epoch": 1.2304306030273438e-06, "model_forward_time": 3.848814010620117, "step": 12902 }, { "epoch": 1.2304306030273438e-06, "step": 12902, "training_step_time": 17.646397829055786 }, { "epoch": 1.2305259704589844e-06, "model_forward_time": 5.058795213699341, "step": 12903 }, { "epoch": 1.2305259704589844e-06, "step": 12903, "training_step_time": 17.632285594940186 }, { "epoch": 1.230621337890625e-06, "model_forward_time": 3.8363842964172363, "step": 12904 }, { "epoch": 1.230621337890625e-06, "step": 12904, "training_step_time": 17.42559242248535 }, { "epoch": 1.2307167053222656e-06, "model_forward_time": 5.051564455032349, "step": 12905 }, { "epoch": 1.2307167053222656e-06, "step": 12905, "training_step_time": 17.525770902633667 }, { "epoch": 1.2308120727539062e-06, "model_forward_time": 5.068225622177124, "step": 12906 }, { "epoch": 1.2308120727539062e-06, "step": 12906, "training_step_time": 17.787018060684204 }, { "epoch": 1.2309074401855468e-06, "model_forward_time": 5.318702220916748, "step": 12907 }, { "epoch": 1.2309074401855468e-06, "step": 12907, "training_step_time": 17.587976932525635 }, { "epoch": 1.2310028076171874e-06, "model_forward_time": 5.095475912094116, "step": 12908 }, { "epoch": 1.2310028076171874e-06, "step": 12908, "training_step_time": 17.598560333251953 }, { "epoch": 1.231098175048828e-06, "model_forward_time": 5.100354433059692, "step": 12909 }, { "epoch": 1.231098175048828e-06, "step": 12909, "training_step_time": 17.60250949859619 }, { "epoch": 1.2311935424804687e-06, "grad_norm": 1.3796844482421875, "learning_rate": 9.514129060185469e-06, "loss": 0.093, "step": 12910 }, { "epoch": 1.2311935424804687e-06, "model_forward_time": 5.102679014205933, "step": 12910 }, { "dynamics_loss_avg": 0.042761442996561524, "epoch": 1.2311935424804687e-06, "step": 12910 }, { "action_loss_avg": 0.061631452199071644, "epoch": 1.2311935424804687e-06, "step": 12910 }, { "arm_loss_avg": 0.10885599441826344, "epoch": 1.2311935424804687e-06, "step": 12910 }, { "ee_loss_avg": 0.08945800270885229, "epoch": 1.2311935424804687e-06, "step": 12910 }, { "aux_loss_avg": 0.0035752799769397823, "epoch": 1.2311935424804687e-06, "step": 12910 }, { "epoch": 1.2311935424804687e-06, "step": 12910, "training_step_time": 17.389689922332764 }, { "epoch": 1.2312889099121093e-06, "model_forward_time": 5.105356693267822, "step": 12911 }, { "epoch": 1.2312889099121093e-06, "step": 12911, "training_step_time": 17.58419442176819 }, { "epoch": 1.23138427734375e-06, "model_forward_time": 5.306638956069946, "step": 12912 }, { "epoch": 1.23138427734375e-06, "step": 12912, "training_step_time": 17.817002058029175 }, { "epoch": 1.2314796447753905e-06, "model_forward_time": 5.090491056442261, "step": 12913 }, { "epoch": 1.2314796447753905e-06, "step": 12913, "training_step_time": 17.47978162765503 }, { "epoch": 1.2315750122070313e-06, "model_forward_time": 5.086925745010376, "step": 12914 }, { "epoch": 1.2315750122070313e-06, "step": 12914, "training_step_time": 17.394323587417603 }, { "epoch": 1.231670379638672e-06, "model_forward_time": 5.083537817001343, "step": 12915 }, { "epoch": 1.231670379638672e-06, "step": 12915, "training_step_time": 17.493149757385254 }, { "epoch": 1.2317657470703126e-06, "model_forward_time": 5.077916145324707, "step": 12916 }, { "epoch": 1.2317657470703126e-06, "step": 12916, "training_step_time": 17.60795021057129 }, { "epoch": 1.2318611145019532e-06, "model_forward_time": 5.0743842124938965, "step": 12917 }, { "epoch": 1.2318611145019532e-06, "step": 12917, "training_step_time": 17.776837825775146 }, { "epoch": 1.2319564819335938e-06, "model_forward_time": 5.069805383682251, "step": 12918 }, { "epoch": 1.2319564819335938e-06, "step": 12918, "training_step_time": 17.630814790725708 }, { "epoch": 1.2320518493652344e-06, "model_forward_time": 3.8408193588256836, "step": 12919 }, { "epoch": 1.2320518493652344e-06, "step": 12919, "training_step_time": 17.62990093231201 }, { "epoch": 1.232147216796875e-06, "grad_norm": 1.2013297080993652, "learning_rate": 9.513112838349989e-06, "loss": 0.1025, "step": 12920 }, { "epoch": 1.232147216796875e-06, "model_forward_time": 5.050944089889526, "step": 12920 }, { "dynamics_loss_avg": 0.05709811188280582, "epoch": 1.232147216796875e-06, "step": 12920 }, { "action_loss_avg": 0.07093314528465271, "epoch": 1.232147216796875e-06, "step": 12920 }, { "arm_loss_avg": 0.12462319582700729, "epoch": 1.232147216796875e-06, "step": 12920 }, { "ee_loss_avg": 0.08797609191387892, "epoch": 1.232147216796875e-06, "step": 12920 }, { "aux_loss_avg": 0.0009168393793515861, "epoch": 1.232147216796875e-06, "step": 12920 }, { "epoch": 1.232147216796875e-06, "step": 12920, "training_step_time": 17.62560510635376 }, { "epoch": 1.2322425842285157e-06, "model_forward_time": 5.259544610977173, "step": 12921 }, { "epoch": 1.2322425842285157e-06, "step": 12921, "training_step_time": 17.632099866867065 }, { "epoch": 1.2323379516601563e-06, "model_forward_time": 5.076090574264526, "step": 12922 }, { "epoch": 1.2323379516601563e-06, "step": 12922, "training_step_time": 17.85153317451477 }, { "epoch": 1.2324333190917969e-06, "model_forward_time": 5.087078809738159, "step": 12923 }, { "epoch": 1.2324333190917969e-06, "step": 12923, "training_step_time": 17.436695337295532 }, { "epoch": 1.2325286865234375e-06, "model_forward_time": 5.091172456741333, "step": 12924 }, { "epoch": 1.2325286865234375e-06, "step": 12924, "training_step_time": 17.51004719734192 }, { "epoch": 1.2326240539550781e-06, "model_forward_time": 5.09679388999939, "step": 12925 }, { "epoch": 1.2326240539550781e-06, "step": 12925, "training_step_time": 17.53839635848999 }, { "epoch": 1.2327194213867187e-06, "model_forward_time": 3.8593697547912598, "step": 12926 }, { "epoch": 1.2327194213867187e-06, "step": 12926, "training_step_time": 17.62839674949646 }, { "epoch": 1.2328147888183593e-06, "model_forward_time": 5.3076252937316895, "step": 12927 }, { "epoch": 1.2328147888183593e-06, "step": 12927, "training_step_time": 17.764364004135132 }, { "epoch": 1.23291015625e-06, "model_forward_time": 5.072497844696045, "step": 12928 }, { "epoch": 1.23291015625e-06, "step": 12928, "training_step_time": 17.58963680267334 }, { "epoch": 1.2330055236816406e-06, "model_forward_time": 5.083902597427368, "step": 12929 }, { "epoch": 1.2330055236816406e-06, "step": 12929, "training_step_time": 17.600112676620483 }, { "epoch": 1.2331008911132812e-06, "grad_norm": 2.0914690494537354, "learning_rate": 9.512095609275262e-06, "loss": 0.1031, "step": 12930 }, { "epoch": 1.2331008911132812e-06, "model_forward_time": 3.853271007537842, "step": 12930 }, { "dynamics_loss_avg": 0.046906092669814825, "epoch": 1.2331008911132812e-06, "step": 12930 }, { "action_loss_avg": 0.07041229791939259, "epoch": 1.2331008911132812e-06, "step": 12930 }, { "arm_loss_avg": 0.10467268861830234, "epoch": 1.2331008911132812e-06, "step": 12930 }, { "ee_loss_avg": 0.07233327999711037, "epoch": 1.2331008911132812e-06, "step": 12930 }, { "aux_loss_avg": 0.000815527857048437, "epoch": 1.2331008911132812e-06, "step": 12930 }, { "epoch": 1.2331008911132812e-06, "step": 12930, "training_step_time": 17.59422516822815 }, { "epoch": 1.2331962585449218e-06, "model_forward_time": 5.062144041061401, "step": 12931 }, { "epoch": 1.2331962585449218e-06, "step": 12931, "training_step_time": 17.59918975830078 }, { "epoch": 1.2332916259765624e-06, "model_forward_time": 3.8426342010498047, "step": 12932 }, { "epoch": 1.2332916259765624e-06, "step": 12932, "training_step_time": 17.81912660598755 }, { "epoch": 1.233386993408203e-06, "model_forward_time": 5.056092262268066, "step": 12933 }, { "epoch": 1.233386993408203e-06, "step": 12933, "training_step_time": 17.59074378013611 }, { "epoch": 1.2334823608398439e-06, "model_forward_time": 5.074489116668701, "step": 12934 }, { "epoch": 1.2334823608398439e-06, "step": 12934, "training_step_time": 17.583123445510864 }, { "epoch": 1.2335777282714845e-06, "model_forward_time": 3.850695848464966, "step": 12935 }, { "epoch": 1.2335777282714845e-06, "step": 12935, "training_step_time": 17.57740044593811 }, { "epoch": 1.233673095703125e-06, "model_forward_time": 3.8377695083618164, "step": 12936 }, { "epoch": 1.233673095703125e-06, "step": 12936, "training_step_time": 17.809083223342896 }, { "epoch": 1.2337684631347657e-06, "model_forward_time": 5.285769701004028, "step": 12937 }, { "epoch": 1.2337684631347657e-06, "step": 12937, "training_step_time": 17.660022020339966 }, { "epoch": 1.2338638305664063e-06, "model_forward_time": 5.079495191574097, "step": 12938 }, { "epoch": 1.2338638305664063e-06, "step": 12938, "training_step_time": 17.58322548866272 }, { "epoch": 1.233959197998047e-06, "model_forward_time": 3.860191583633423, "step": 12939 }, { "epoch": 1.233959197998047e-06, "step": 12939, "training_step_time": 17.587218523025513 }, { "epoch": 1.2340545654296875e-06, "grad_norm": 1.3518620729446411, "learning_rate": 9.511077373188317e-06, "loss": 0.0953, "step": 12940 }, { "epoch": 1.2340545654296875e-06, "model_forward_time": 5.071986436843872, "step": 12940 }, { "dynamics_loss_avg": 0.03910100106149912, "epoch": 1.2340545654296875e-06, "step": 12940 }, { "action_loss_avg": 0.060215925145894286, "epoch": 1.2340545654296875e-06, "step": 12940 }, { "arm_loss_avg": 0.16808428950607776, "epoch": 1.2340545654296875e-06, "step": 12940 }, { "ee_loss_avg": 0.09483959805220366, "epoch": 1.2340545654296875e-06, "step": 12940 }, { "aux_loss_avg": 0.002335363015299663, "epoch": 1.2340545654296875e-06, "step": 12940 }, { "epoch": 1.2340545654296875e-06, "step": 12940, "training_step_time": 17.58072257041931 }, { "epoch": 1.2341499328613282e-06, "model_forward_time": 5.087574005126953, "step": 12941 }, { "epoch": 1.2341499328613282e-06, "step": 12941, "training_step_time": 17.333216667175293 }, { "epoch": 1.2342453002929688e-06, "model_forward_time": 5.280964374542236, "step": 12942 }, { "epoch": 1.2342453002929688e-06, "step": 12942, "training_step_time": 17.751085996627808 }, { "epoch": 1.2343406677246094e-06, "model_forward_time": 5.097999334335327, "step": 12943 }, { "epoch": 1.2343406677246094e-06, "step": 12943, "training_step_time": 17.54975128173828 }, { "epoch": 1.23443603515625e-06, "model_forward_time": 5.101332426071167, "step": 12944 }, { "epoch": 1.23443603515625e-06, "step": 12944, "training_step_time": 17.579256772994995 }, { "epoch": 1.2345314025878906e-06, "model_forward_time": 5.0978639125823975, "step": 12945 }, { "epoch": 1.2345314025878906e-06, "step": 12945, "training_step_time": 17.605222463607788 }, { "epoch": 1.2346267700195312e-06, "model_forward_time": 5.094252347946167, "step": 12946 }, { "epoch": 1.2346267700195312e-06, "step": 12946, "training_step_time": 17.83622097969055 }, { "epoch": 1.2347221374511718e-06, "model_forward_time": 5.313042640686035, "step": 12947 }, { "epoch": 1.2347221374511718e-06, "step": 12947, "training_step_time": 17.625015020370483 }, { "epoch": 1.2348175048828125e-06, "model_forward_time": 5.084699630737305, "step": 12948 }, { "epoch": 1.2348175048828125e-06, "step": 12948, "training_step_time": 17.62823748588562 }, { "epoch": 1.234912872314453e-06, "model_forward_time": 5.078991413116455, "step": 12949 }, { "epoch": 1.234912872314453e-06, "step": 12949, "training_step_time": 17.6393826007843 }, { "epoch": 1.2350082397460937e-06, "grad_norm": 1.122856855392456, "learning_rate": 9.510058130316404e-06, "loss": 0.1137, "step": 12950 }, { "epoch": 1.2350082397460937e-06, "model_forward_time": 5.082213640213013, "step": 12950 }, { "dynamics_loss_avg": 0.05111825559288263, "epoch": 1.2350082397460937e-06, "step": 12950 }, { "action_loss_avg": 0.08485156986862422, "epoch": 1.2350082397460937e-06, "step": 12950 }, { "arm_loss_avg": 0.12652694955468177, "epoch": 1.2350082397460937e-06, "step": 12950 }, { "ee_loss_avg": 0.06859958339482546, "epoch": 1.2350082397460937e-06, "step": 12950 }, { "aux_loss_avg": 0.0007570978195872158, "epoch": 1.2350082397460937e-06, "step": 12950 }, { "epoch": 1.2350082397460937e-06, "step": 12950, "training_step_time": 17.636207580566406 }, { "epoch": 1.2351036071777343e-06, "model_forward_time": 5.079246759414673, "step": 12951 }, { "epoch": 1.2351036071777343e-06, "step": 12951, "training_step_time": 17.618319511413574 }, { "epoch": 1.235198974609375e-06, "model_forward_time": 5.2936365604400635, "step": 12952 }, { "epoch": 1.235198974609375e-06, "step": 12952, "training_step_time": 17.767552375793457 }, { "epoch": 1.2352943420410155e-06, "model_forward_time": 5.082911252975464, "step": 12953 }, { "epoch": 1.2352943420410155e-06, "step": 12953, "training_step_time": 17.57137441635132 }, { "epoch": 1.2353897094726564e-06, "model_forward_time": 5.086563348770142, "step": 12954 }, { "epoch": 1.2353897094726564e-06, "step": 12954, "training_step_time": 17.59325647354126 }, { "epoch": 1.235485076904297e-06, "model_forward_time": 3.8510172367095947, "step": 12955 }, { "epoch": 1.235485076904297e-06, "step": 12955, "training_step_time": 17.60344362258911 }, { "epoch": 1.2355804443359376e-06, "model_forward_time": 5.064307928085327, "step": 12956 }, { "epoch": 1.2355804443359376e-06, "step": 12956, "training_step_time": 17.84318733215332 }, { "epoch": 1.2356758117675782e-06, "model_forward_time": 5.308525800704956, "step": 12957 }, { "epoch": 1.2356758117675782e-06, "step": 12957, "training_step_time": 17.60962677001953 }, { "epoch": 1.2357711791992188e-06, "model_forward_time": 5.085492134094238, "step": 12958 }, { "epoch": 1.2357711791992188e-06, "step": 12958, "training_step_time": 17.60641860961914 }, { "epoch": 1.2358665466308594e-06, "model_forward_time": 5.0901148319244385, "step": 12959 }, { "epoch": 1.2358665466308594e-06, "step": 12959, "training_step_time": 17.605871438980103 }, { "epoch": 1.2359619140625e-06, "grad_norm": 1.7431254386901855, "learning_rate": 9.509037880886997e-06, "loss": 0.1183, "step": 12960 }, { "epoch": 1.2359619140625e-06, "model_forward_time": 5.097342491149902, "step": 12960 }, { "dynamics_loss_avg": 0.05319936834275722, "epoch": 1.2359619140625e-06, "step": 12960 }, { "action_loss_avg": 0.08538997434079647, "epoch": 1.2359619140625e-06, "step": 12960 }, { "arm_loss_avg": 0.16043110508471728, "epoch": 1.2359619140625e-06, "step": 12960 }, { "ee_loss_avg": 0.09415525943040848, "epoch": 1.2359619140625e-06, "step": 12960 }, { "aux_loss_avg": 0.005800070654368028, "epoch": 1.2359619140625e-06, "step": 12960 }, { "epoch": 1.2359619140625e-06, "step": 12960, "training_step_time": 17.606083631515503 }, { "epoch": 1.2360572814941407e-06, "model_forward_time": 5.105924129486084, "step": 12961 }, { "epoch": 1.2360572814941407e-06, "step": 12961, "training_step_time": 17.843950033187866 }, { "epoch": 1.2361526489257813e-06, "model_forward_time": 5.099949598312378, "step": 12962 }, { "epoch": 1.2361526489257813e-06, "step": 12962, "training_step_time": 17.606630086898804 }, { "epoch": 1.2362480163574219e-06, "model_forward_time": 5.10075044631958, "step": 12963 }, { "epoch": 1.2362480163574219e-06, "step": 12963, "training_step_time": 17.40954041481018 }, { "epoch": 1.2363433837890625e-06, "model_forward_time": 5.101673126220703, "step": 12964 }, { "epoch": 1.2363433837890625e-06, "step": 12964, "training_step_time": 17.52268648147583 }, { "epoch": 1.2364387512207031e-06, "model_forward_time": 3.858778715133667, "step": 12965 }, { "epoch": 1.2364387512207031e-06, "step": 12965, "training_step_time": 17.56534194946289 }, { "epoch": 1.2365341186523437e-06, "model_forward_time": 5.063267946243286, "step": 12966 }, { "epoch": 1.2365341186523437e-06, "step": 12966, "training_step_time": 17.629263401031494 }, { "epoch": 1.2366294860839843e-06, "model_forward_time": 5.3052589893341064, "step": 12967 }, { "epoch": 1.2366294860839843e-06, "step": 12967, "training_step_time": 17.82261872291565 }, { "epoch": 1.236724853515625e-06, "model_forward_time": 5.078855991363525, "step": 12968 }, { "epoch": 1.236724853515625e-06, "step": 12968, "training_step_time": 17.609368085861206 }, { "epoch": 1.2368202209472656e-06, "model_forward_time": 5.087581634521484, "step": 12969 }, { "epoch": 1.2368202209472656e-06, "step": 12969, "training_step_time": 17.61589479446411 }, { "epoch": 1.2369155883789062e-06, "grad_norm": 2.3881053924560547, "learning_rate": 9.508016625127798e-06, "loss": 0.1179, "step": 12970 }, { "epoch": 1.2369155883789062e-06, "model_forward_time": 5.093047857284546, "step": 12970 }, { "dynamics_loss_avg": 0.05433044284582138, "epoch": 1.2369155883789062e-06, "step": 12970 }, { "action_loss_avg": 0.09766796212643385, "epoch": 1.2369155883789062e-06, "step": 12970 }, { "arm_loss_avg": 0.1489435400813818, "epoch": 1.2369155883789062e-06, "step": 12970 }, { "ee_loss_avg": 0.16417884211987258, "epoch": 1.2369155883789062e-06, "step": 12970 }, { "aux_loss_avg": 0.002682530297897756, "epoch": 1.2369155883789062e-06, "step": 12970 }, { "epoch": 1.2369155883789062e-06, "step": 12970, "training_step_time": 17.622089862823486 }, { "epoch": 1.2370109558105468e-06, "model_forward_time": 5.094465732574463, "step": 12971 }, { "epoch": 1.2370109558105468e-06, "step": 12971, "training_step_time": 17.870940923690796 }, { "epoch": 1.2371063232421874e-06, "model_forward_time": 5.310471296310425, "step": 12972 }, { "epoch": 1.2371063232421874e-06, "step": 12972, "training_step_time": 17.60425567626953 }, { "epoch": 1.237201690673828e-06, "model_forward_time": 5.093909978866577, "step": 12973 }, { "epoch": 1.237201690673828e-06, "step": 12973, "training_step_time": 17.613466262817383 }, { "epoch": 1.2372970581054689e-06, "model_forward_time": 5.094279766082764, "step": 12974 }, { "epoch": 1.2372970581054689e-06, "step": 12974, "training_step_time": 17.60522770881653 }, { "epoch": 1.2373924255371095e-06, "model_forward_time": 5.090153932571411, "step": 12975 }, { "epoch": 1.2373924255371095e-06, "step": 12975, "training_step_time": 17.398553371429443 }, { "epoch": 1.23748779296875e-06, "model_forward_time": 5.104341745376587, "step": 12976 }, { "epoch": 1.23748779296875e-06, "step": 12976, "training_step_time": 17.666857481002808 }, { "epoch": 1.2375831604003907e-06, "model_forward_time": 5.103640079498291, "step": 12977 }, { "epoch": 1.2375831604003907e-06, "step": 12977, "training_step_time": 17.797241687774658 }, { "epoch": 1.2376785278320313e-06, "model_forward_time": 3.8572912216186523, "step": 12978 }, { "epoch": 1.2376785278320313e-06, "step": 12978, "training_step_time": 17.59800124168396 }, { "epoch": 1.237773895263672e-06, "model_forward_time": 3.8322935104370117, "step": 12979 }, { "epoch": 1.237773895263672e-06, "step": 12979, "training_step_time": 17.63045597076416 }, { "epoch": 1.2378692626953125e-06, "grad_norm": 2.22863507270813, "learning_rate": 9.506994363266728e-06, "loss": 0.0994, "step": 12980 }, { "epoch": 1.2378692626953125e-06, "model_forward_time": 3.8231141567230225, "step": 12980 }, { "dynamics_loss_avg": 0.04836830161511898, "epoch": 1.2378692626953125e-06, "step": 12980 }, { "action_loss_avg": 0.06377991661429405, "epoch": 1.2378692626953125e-06, "step": 12980 }, { "arm_loss_avg": 0.10969159677624703, "epoch": 1.2378692626953125e-06, "step": 12980 }, { "ee_loss_avg": 0.09074966190382838, "epoch": 1.2378692626953125e-06, "step": 12980 }, { "aux_loss_avg": 0.0013231008779257536, "epoch": 1.2378692626953125e-06, "step": 12980 }, { "epoch": 1.2378692626953125e-06, "step": 12980, "training_step_time": 17.607600927352905 }, { "epoch": 1.2379646301269532e-06, "model_forward_time": 5.0406835079193115, "step": 12981 }, { "epoch": 1.2379646301269532e-06, "step": 12981, "training_step_time": 17.829935789108276 }, { "epoch": 1.2380599975585938e-06, "model_forward_time": 5.247121095657349, "step": 12982 }, { "epoch": 1.2380599975585938e-06, "step": 12982, "training_step_time": 17.59727144241333 }, { "epoch": 1.2381553649902344e-06, "model_forward_time": 5.087437868118286, "step": 12983 }, { "epoch": 1.2381553649902344e-06, "step": 12983, "training_step_time": 17.590217351913452 }, { "epoch": 1.238250732421875e-06, "model_forward_time": 5.107317209243774, "step": 12984 }, { "epoch": 1.238250732421875e-06, "step": 12984, "training_step_time": 17.584270238876343 }, { "epoch": 1.2383460998535156e-06, "model_forward_time": 5.1080098152160645, "step": 12985 }, { "epoch": 1.2383460998535156e-06, "step": 12985, "training_step_time": 17.594446659088135 }, { "epoch": 1.2384414672851562e-06, "model_forward_time": 5.099073886871338, "step": 12986 }, { "epoch": 1.2384414672851562e-06, "step": 12986, "training_step_time": 17.64218044281006 }, { "epoch": 1.2385368347167968e-06, "model_forward_time": 5.324677228927612, "step": 12987 }, { "epoch": 1.2385368347167968e-06, "step": 12987, "training_step_time": 17.44371747970581 }, { "epoch": 1.2386322021484375e-06, "model_forward_time": 5.089756727218628, "step": 12988 }, { "epoch": 1.2386322021484375e-06, "step": 12988, "training_step_time": 17.469164609909058 }, { "epoch": 1.238727569580078e-06, "model_forward_time": 5.080749273300171, "step": 12989 }, { "epoch": 1.238727569580078e-06, "step": 12989, "training_step_time": 17.54085612297058 }, { "epoch": 1.2388229370117187e-06, "grad_norm": 1.4857182502746582, "learning_rate": 9.505971095531941e-06, "loss": 0.0934, "step": 12990 }, { "epoch": 1.2388229370117187e-06, "model_forward_time": 5.082123279571533, "step": 12990 }, { "dynamics_loss_avg": 0.04020245186984539, "epoch": 1.2388229370117187e-06, "step": 12990 }, { "action_loss_avg": 0.04959637932479381, "epoch": 1.2388229370117187e-06, "step": 12990 }, { "arm_loss_avg": 0.08854975178837776, "epoch": 1.2388229370117187e-06, "step": 12990 }, { "ee_loss_avg": 0.06621856018900871, "epoch": 1.2388229370117187e-06, "step": 12990 }, { "aux_loss_avg": 0.0026888035994488747, "epoch": 1.2388229370117187e-06, "step": 12990 }, { "epoch": 1.2388229370117187e-06, "step": 12990, "training_step_time": 17.593416929244995 }, { "epoch": 1.2389183044433593e-06, "model_forward_time": 3.848546028137207, "step": 12991 }, { "epoch": 1.2389183044433593e-06, "step": 12991, "training_step_time": 17.637285947799683 }, { "epoch": 1.239013671875e-06, "model_forward_time": 5.2429609298706055, "step": 12992 }, { "epoch": 1.239013671875e-06, "step": 12992, "training_step_time": 17.887895584106445 }, { "epoch": 1.2391090393066405e-06, "model_forward_time": 5.064244031906128, "step": 12993 }, { "epoch": 1.2391090393066405e-06, "step": 12993, "training_step_time": 17.34806180000305 }, { "epoch": 1.2392044067382814e-06, "model_forward_time": 3.843078374862671, "step": 12994 }, { "epoch": 1.2392044067382814e-06, "step": 12994, "training_step_time": 17.553927659988403 }, { "epoch": 1.239299774169922e-06, "model_forward_time": 5.058367729187012, "step": 12995 }, { "epoch": 1.239299774169922e-06, "step": 12995, "training_step_time": 17.59213662147522 }, { "epoch": 1.2393951416015626e-06, "model_forward_time": 5.080956220626831, "step": 12996 }, { "epoch": 1.2393951416015626e-06, "step": 12996, "training_step_time": 17.636686086654663 }, { "epoch": 1.2394905090332032e-06, "model_forward_time": 5.3547141551971436, "step": 12997 }, { "epoch": 1.2394905090332032e-06, "step": 12997, "training_step_time": 17.49579405784607 }, { "epoch": 1.2395858764648438e-06, "model_forward_time": 5.111290454864502, "step": 12998 }, { "epoch": 1.2395858764648438e-06, "step": 12998, "training_step_time": 17.547120571136475 }, { "epoch": 1.2396812438964844e-06, "model_forward_time": 5.117352247238159, "step": 12999 }, { "epoch": 1.2396812438964844e-06, "step": 12999, "training_step_time": 17.609634160995483 }, { "epoch": 1.239776611328125e-06, "grad_norm": 1.8144983053207397, "learning_rate": 9.504946822151805e-06, "loss": 0.0989, "step": 13000 }, { "epoch": 1.239776611328125e-06, "model_forward_time": 5.103130340576172, "step": 13000 }, { "dynamics_loss_avg": 0.05129375848919153, "epoch": 1.239776611328125e-06, "step": 13000 }, { "action_loss_avg": 0.05997561318799853, "epoch": 1.239776611328125e-06, "step": 13000 }, { "arm_loss_avg": 0.09853345863521099, "epoch": 1.239776611328125e-06, "step": 13000 }, { "ee_loss_avg": 0.06430948842316866, "epoch": 1.239776611328125e-06, "step": 13000 }, { "aux_loss_avg": 0.0037273201334755866, "epoch": 1.239776611328125e-06, "step": 13000 }, { "epoch": 1.239776611328125e-06, "step": 13000, "training_step_time": 17.642050743103027 }, { "epoch": 1.2398719787597657e-06, "model_forward_time": 5.09877610206604, "step": 13001 }, { "epoch": 1.2398719787597657e-06, "step": 13001, "training_step_time": 17.636175632476807 }, { "epoch": 1.2399673461914063e-06, "model_forward_time": 4.067529678344727, "step": 13002 }, { "epoch": 1.2399673461914063e-06, "step": 13002, "training_step_time": 17.85405945777893 }, { "epoch": 1.2400627136230469e-06, "model_forward_time": 3.828991651535034, "step": 13003 }, { "epoch": 1.2400627136230469e-06, "step": 13003, "training_step_time": 17.627751111984253 }, { "epoch": 1.2401580810546875e-06, "model_forward_time": 3.8205153942108154, "step": 13004 }, { "epoch": 1.2401580810546875e-06, "step": 13004, "training_step_time": 17.629273176193237 }, { "epoch": 1.2402534484863281e-06, "model_forward_time": 5.038714408874512, "step": 13005 }, { "epoch": 1.2402534484863281e-06, "step": 13005, "training_step_time": 17.60921573638916 }, { "epoch": 1.2403488159179687e-06, "model_forward_time": 5.062812566757202, "step": 13006 }, { "epoch": 1.2403488159179687e-06, "step": 13006, "training_step_time": 17.825000047683716 }, { "epoch": 1.2404441833496093e-06, "model_forward_time": 5.318130731582642, "step": 13007 }, { "epoch": 1.2404441833496093e-06, "step": 13007, "training_step_time": 17.58245348930359 }, { "epoch": 1.24053955078125e-06, "model_forward_time": 5.1053526401519775, "step": 13008 }, { "epoch": 1.24053955078125e-06, "step": 13008, "training_step_time": 17.57575273513794 }, { "epoch": 1.2406349182128906e-06, "model_forward_time": 5.103478908538818, "step": 13009 }, { "epoch": 1.2406349182128906e-06, "step": 13009, "training_step_time": 17.40172243118286 }, { "epoch": 1.2407302856445312e-06, "grad_norm": 1.2442151308059692, "learning_rate": 9.503921543354922e-06, "loss": 0.1062, "step": 13010 }, { "epoch": 1.2407302856445312e-06, "model_forward_time": 5.1052937507629395, "step": 13010 }, { "dynamics_loss_avg": 0.054632720164954664, "epoch": 1.2407302856445312e-06, "step": 13010 }, { "action_loss_avg": 0.09693176895380021, "epoch": 1.2407302856445312e-06, "step": 13010 }, { "arm_loss_avg": 0.15311698168516158, "epoch": 1.2407302856445312e-06, "step": 13010 }, { "ee_loss_avg": 0.06420332491397858, "epoch": 1.2407302856445312e-06, "step": 13010 }, { "aux_loss_avg": 0.0012828353734221309, "epoch": 1.2407302856445312e-06, "step": 13010 }, { "epoch": 1.2407302856445312e-06, "step": 13010, "training_step_time": 17.489772081375122 }, { "epoch": 1.2408256530761718e-06, "model_forward_time": 5.097270965576172, "step": 13011 }, { "epoch": 1.2408256530761718e-06, "step": 13011, "training_step_time": 17.57963466644287 }, { "epoch": 1.2409210205078124e-06, "model_forward_time": 5.278950214385986, "step": 13012 }, { "epoch": 1.2409210205078124e-06, "step": 13012, "training_step_time": 17.38759160041809 }, { "epoch": 1.241016387939453e-06, "model_forward_time": 5.082014560699463, "step": 13013 }, { "epoch": 1.241016387939453e-06, "step": 13013, "training_step_time": 17.498152256011963 }, { "epoch": 1.2411117553710936e-06, "model_forward_time": 3.845398187637329, "step": 13014 }, { "epoch": 1.2411117553710936e-06, "step": 13014, "training_step_time": 17.54268741607666 }, { "epoch": 1.2412071228027345e-06, "model_forward_time": 5.052175045013428, "step": 13015 }, { "epoch": 1.2412071228027345e-06, "step": 13015, "training_step_time": 17.5793297290802 }, { "epoch": 1.241302490234375e-06, "model_forward_time": 5.06023645401001, "step": 13016 }, { "epoch": 1.241302490234375e-06, "step": 13016, "training_step_time": 17.60680389404297 }, { "epoch": 1.2413978576660157e-06, "model_forward_time": 5.312919616699219, "step": 13017 }, { "epoch": 1.2413978576660157e-06, "step": 13017, "training_step_time": 17.79315686225891 }, { "epoch": 1.2414932250976563e-06, "model_forward_time": 5.073818922042847, "step": 13018 }, { "epoch": 1.2414932250976563e-06, "step": 13018, "training_step_time": 17.596590995788574 }, { "epoch": 1.241588592529297e-06, "model_forward_time": 5.077971696853638, "step": 13019 }, { "epoch": 1.241588592529297e-06, "step": 13019, "training_step_time": 17.58528423309326 }, { "epoch": 1.2416839599609375e-06, "grad_norm": 1.4735593795776367, "learning_rate": 9.502895259370111e-06, "loss": 0.113, "step": 13020 }, { "epoch": 1.2416839599609375e-06, "model_forward_time": 5.088559150695801, "step": 13020 }, { "dynamics_loss_avg": 0.055932787247002125, "epoch": 1.2416839599609375e-06, "step": 13020 }, { "action_loss_avg": 0.07289765775203705, "epoch": 1.2416839599609375e-06, "step": 13020 }, { "arm_loss_avg": 0.11701896488666534, "epoch": 1.2416839599609375e-06, "step": 13020 }, { "ee_loss_avg": 0.093943902105093, "epoch": 1.2416839599609375e-06, "step": 13020 }, { "aux_loss_avg": 0.0035449796996545047, "epoch": 1.2416839599609375e-06, "step": 13020 }, { "epoch": 1.2416839599609375e-06, "step": 13020, "training_step_time": 17.578945636749268 }, { "epoch": 1.2417793273925782e-06, "model_forward_time": 5.091278314590454, "step": 13021 }, { "epoch": 1.2417793273925782e-06, "step": 13021, "training_step_time": 17.799861669540405 }, { "epoch": 1.2418746948242188e-06, "model_forward_time": 5.285412311553955, "step": 13022 }, { "epoch": 1.2418746948242188e-06, "step": 13022, "training_step_time": 17.573394775390625 }, { "epoch": 1.2419700622558594e-06, "model_forward_time": 5.091996908187866, "step": 13023 }, { "epoch": 1.2419700622558594e-06, "step": 13023, "training_step_time": 17.571000576019287 }, { "epoch": 1.2420654296875e-06, "model_forward_time": 5.091047763824463, "step": 13024 }, { "epoch": 1.2420654296875e-06, "step": 13024, "training_step_time": 17.505725622177124 }, { "epoch": 1.2421607971191406e-06, "model_forward_time": 5.086780071258545, "step": 13025 }, { "epoch": 1.2421607971191406e-06, "step": 13025, "training_step_time": 17.493164539337158 }, { "epoch": 1.2422561645507812e-06, "model_forward_time": 5.083699703216553, "step": 13026 }, { "epoch": 1.2422561645507812e-06, "step": 13026, "training_step_time": 17.763436555862427 }, { "epoch": 1.2423515319824218e-06, "model_forward_time": 3.845075845718384, "step": 13027 }, { "epoch": 1.2423515319824218e-06, "step": 13027, "training_step_time": 17.634776830673218 }, { "epoch": 1.2424468994140625e-06, "model_forward_time": 5.303554058074951, "step": 13028 }, { "epoch": 1.2424468994140625e-06, "step": 13028, "training_step_time": 17.583012104034424 }, { "epoch": 1.242542266845703e-06, "model_forward_time": 5.064637899398804, "step": 13029 }, { "epoch": 1.242542266845703e-06, "step": 13029, "training_step_time": 17.594048976898193 }, { "epoch": 1.2426376342773437e-06, "grad_norm": 1.5650311708450317, "learning_rate": 9.501867970426424e-06, "loss": 0.0974, "step": 13030 }, { "epoch": 1.2426376342773437e-06, "model_forward_time": 3.8417680263519287, "step": 13030 }, { "dynamics_loss_avg": 0.04679507976397872, "epoch": 1.2426376342773437e-06, "step": 13030 }, { "action_loss_avg": 0.07102433536201716, "epoch": 1.2426376342773437e-06, "step": 13030 }, { "arm_loss_avg": 0.11348288469016551, "epoch": 1.2426376342773437e-06, "step": 13030 }, { "ee_loss_avg": 0.05737524311989546, "epoch": 1.2426376342773437e-06, "step": 13030 }, { "aux_loss_avg": 0.0019763491727644578, "epoch": 1.2426376342773437e-06, "step": 13030 }, { "epoch": 1.2426376342773437e-06, "step": 13030, "training_step_time": 17.60166597366333 }, { "epoch": 1.2427330017089843e-06, "model_forward_time": 3.826829433441162, "step": 13031 }, { "epoch": 1.2427330017089843e-06, "step": 13031, "training_step_time": 17.60814619064331 }, { "epoch": 1.242828369140625e-06, "model_forward_time": 5.048969507217407, "step": 13032 }, { "epoch": 1.242828369140625e-06, "step": 13032, "training_step_time": 17.772499084472656 }, { "epoch": 1.2429237365722655e-06, "model_forward_time": 5.283409833908081, "step": 13033 }, { "epoch": 1.2429237365722655e-06, "step": 13033, "training_step_time": 17.552584171295166 }, { "epoch": 1.2430191040039061e-06, "model_forward_time": 5.094425439834595, "step": 13034 }, { "epoch": 1.2430191040039061e-06, "step": 13034, "training_step_time": 17.57135796546936 }, { "epoch": 1.243114471435547e-06, "model_forward_time": 5.107674598693848, "step": 13035 }, { "epoch": 1.243114471435547e-06, "step": 13035, "training_step_time": 17.606706857681274 }, { "epoch": 1.2432098388671876e-06, "model_forward_time": 5.110055923461914, "step": 13036 }, { "epoch": 1.2432098388671876e-06, "step": 13036, "training_step_time": 17.849489450454712 }, { "epoch": 1.2433052062988282e-06, "model_forward_time": 5.1045331954956055, "step": 13037 }, { "epoch": 1.2433052062988282e-06, "step": 13037, "training_step_time": 17.612473011016846 }, { "epoch": 1.2434005737304688e-06, "model_forward_time": 5.105496406555176, "step": 13038 }, { "epoch": 1.2434005737304688e-06, "step": 13038, "training_step_time": 17.37544560432434 }, { "epoch": 1.2434959411621094e-06, "model_forward_time": 5.096802473068237, "step": 13039 }, { "epoch": 1.2434959411621094e-06, "step": 13039, "training_step_time": 17.22850227355957 }, { "epoch": 1.24359130859375e-06, "grad_norm": 2.3378777503967285, "learning_rate": 9.500839676753127e-06, "loss": 0.1073, "step": 13040 }, { "epoch": 1.24359130859375e-06, "model_forward_time": 5.095267057418823, "step": 13040 }, { "dynamics_loss_avg": 0.05127541553229094, "epoch": 1.24359130859375e-06, "step": 13040 }, { "action_loss_avg": 0.06523495726287365, "epoch": 1.24359130859375e-06, "step": 13040 }, { "arm_loss_avg": 0.1245115078985691, "epoch": 1.24359130859375e-06, "step": 13040 }, { "ee_loss_avg": 0.11096226908266545, "epoch": 1.24359130859375e-06, "step": 13040 }, { "aux_loss_avg": 0.010971626226091758, "epoch": 1.24359130859375e-06, "step": 13040 }, { "epoch": 1.24359130859375e-06, "step": 13040, "training_step_time": 17.499107122421265 }, { "epoch": 1.2436866760253907e-06, "model_forward_time": 5.086935758590698, "step": 13041 }, { "epoch": 1.2436866760253907e-06, "step": 13041, "training_step_time": 17.554290533065796 }, { "epoch": 1.2437820434570313e-06, "model_forward_time": 5.079965353012085, "step": 13042 }, { "epoch": 1.2437820434570313e-06, "step": 13042, "training_step_time": 17.813995599746704 }, { "epoch": 1.2438774108886719e-06, "model_forward_time": 5.078524827957153, "step": 13043 }, { "epoch": 1.2438774108886719e-06, "step": 13043, "training_step_time": 17.612624883651733 }, { "epoch": 1.2439727783203125e-06, "model_forward_time": 5.0797343254089355, "step": 13044 }, { "epoch": 1.2439727783203125e-06, "step": 13044, "training_step_time": 17.623448848724365 }, { "epoch": 1.2440681457519531e-06, "model_forward_time": 5.080075263977051, "step": 13045 }, { "epoch": 1.2440681457519531e-06, "step": 13045, "training_step_time": 17.631920337677002 }, { "epoch": 1.2441635131835937e-06, "model_forward_time": 5.084131240844727, "step": 13046 }, { "epoch": 1.2441635131835937e-06, "step": 13046, "training_step_time": 17.636600494384766 }, { "epoch": 1.2442588806152343e-06, "model_forward_time": 5.323274612426758, "step": 13047 }, { "epoch": 1.2442588806152343e-06, "step": 13047, "training_step_time": 17.8148136138916 }, { "epoch": 1.244354248046875e-06, "model_forward_time": 5.083240985870361, "step": 13048 }, { "epoch": 1.244354248046875e-06, "step": 13048, "training_step_time": 17.630717515945435 }, { "epoch": 1.2444496154785156e-06, "model_forward_time": 5.084589958190918, "step": 13049 }, { "epoch": 1.2444496154785156e-06, "step": 13049, "training_step_time": 17.618109703063965 }, { "epoch": 1.2445449829101562e-06, "grad_norm": 2.1388840675354004, "learning_rate": 9.499810378579715e-06, "loss": 0.0941, "step": 13050 }, { "epoch": 1.2445449829101562e-06, "model_forward_time": 5.086894512176514, "step": 13050 }, { "dynamics_loss_avg": 0.050322502851486206, "epoch": 1.2445449829101562e-06, "step": 13050 }, { "action_loss_avg": 0.06816961504518985, "epoch": 1.2445449829101562e-06, "step": 13050 }, { "arm_loss_avg": 0.11679270006716251, "epoch": 1.2445449829101562e-06, "step": 13050 }, { "ee_loss_avg": 0.0401493988931179, "epoch": 1.2445449829101562e-06, "step": 13050 }, { "aux_loss_avg": 0.0012701604457106442, "epoch": 1.2445449829101562e-06, "step": 13050 }, { "epoch": 1.2445449829101562e-06, "step": 13050, "training_step_time": 17.606881618499756 }, { "epoch": 1.2446403503417968e-06, "model_forward_time": 5.08793830871582, "step": 13051 }, { "epoch": 1.2446403503417968e-06, "step": 13051, "training_step_time": 17.620047330856323 }, { "epoch": 1.2447357177734374e-06, "model_forward_time": 5.297409534454346, "step": 13052 }, { "epoch": 1.2447357177734374e-06, "step": 13052, "training_step_time": 17.84464168548584 }, { "epoch": 1.244831085205078e-06, "model_forward_time": 5.089590549468994, "step": 13053 }, { "epoch": 1.244831085205078e-06, "step": 13053, "training_step_time": 17.603397607803345 }, { "epoch": 1.2449264526367186e-06, "model_forward_time": 5.089366912841797, "step": 13054 }, { "epoch": 1.2449264526367186e-06, "step": 13054, "training_step_time": 17.598355770111084 }, { "epoch": 1.2450218200683595e-06, "model_forward_time": 5.0876805782318115, "step": 13055 }, { "epoch": 1.2450218200683595e-06, "step": 13055, "training_step_time": 17.59419012069702 }, { "epoch": 1.2451171875e-06, "model_forward_time": 5.0882322788238525, "step": 13056 }, { "epoch": 1.2451171875e-06, "step": 13056, "training_step_time": 17.82309651374817 }, { "epoch": 1.2452125549316407e-06, "model_forward_time": 5.09635066986084, "step": 13057 }, { "epoch": 1.2452125549316407e-06, "step": 13057, "training_step_time": 17.618534326553345 }, { "epoch": 1.2453079223632813e-06, "model_forward_time": 5.111267328262329, "step": 13058 }, { "epoch": 1.2453079223632813e-06, "step": 13058, "training_step_time": 17.62664246559143 }, { "epoch": 1.245403289794922e-06, "model_forward_time": 3.8584394454956055, "step": 13059 }, { "epoch": 1.245403289794922e-06, "step": 13059, "training_step_time": 17.636087656021118 }, { "epoch": 1.2454986572265625e-06, "grad_norm": 3.214226484298706, "learning_rate": 9.498780076135912e-06, "loss": 0.1108, "step": 13060 }, { "epoch": 1.2454986572265625e-06, "model_forward_time": 5.06886887550354, "step": 13060 }, { "dynamics_loss_avg": 0.053680259734392166, "epoch": 1.2454986572265625e-06, "step": 13060 }, { "action_loss_avg": 0.053667875565588476, "epoch": 1.2454986572265625e-06, "step": 13060 }, { "arm_loss_avg": 0.09838231168687343, "epoch": 1.2454986572265625e-06, "step": 13060 }, { "ee_loss_avg": 0.06682811956852674, "epoch": 1.2454986572265625e-06, "step": 13060 }, { "aux_loss_avg": 0.0013463809504173697, "epoch": 1.2454986572265625e-06, "step": 13060 }, { "epoch": 1.2454986572265625e-06, "step": 13060, "training_step_time": 17.636356353759766 }, { "epoch": 1.2455940246582032e-06, "model_forward_time": 5.072324752807617, "step": 13061 }, { "epoch": 1.2455940246582032e-06, "step": 13061, "training_step_time": 17.836371660232544 }, { "epoch": 1.2456893920898438e-06, "model_forward_time": 5.07462477684021, "step": 13062 }, { "epoch": 1.2456893920898438e-06, "step": 13062, "training_step_time": 17.60819697380066 }, { "epoch": 1.2457847595214844e-06, "model_forward_time": 5.089564323425293, "step": 13063 }, { "epoch": 1.2457847595214844e-06, "step": 13063, "training_step_time": 17.595643758773804 }, { "epoch": 1.245880126953125e-06, "model_forward_time": 5.090561151504517, "step": 13064 }, { "epoch": 1.245880126953125e-06, "step": 13064, "training_step_time": 17.60368013381958 }, { "epoch": 1.2459754943847656e-06, "model_forward_time": 5.097268581390381, "step": 13065 }, { "epoch": 1.2459754943847656e-06, "step": 13065, "training_step_time": 17.60039448738098 }, { "epoch": 1.2460708618164062e-06, "model_forward_time": 5.099010467529297, "step": 13066 }, { "epoch": 1.2460708618164062e-06, "step": 13066, "training_step_time": 17.799368381500244 }, { "epoch": 1.2461662292480468e-06, "model_forward_time": 5.339964866638184, "step": 13067 }, { "epoch": 1.2461662292480468e-06, "step": 13067, "training_step_time": 17.60816717147827 }, { "epoch": 1.2462615966796875e-06, "model_forward_time": 5.09611964225769, "step": 13068 }, { "epoch": 1.2462615966796875e-06, "step": 13068, "training_step_time": 17.61343812942505 }, { "epoch": 1.246356964111328e-06, "model_forward_time": 5.094096422195435, "step": 13069 }, { "epoch": 1.246356964111328e-06, "step": 13069, "training_step_time": 17.21392273902893 }, { "epoch": 1.2464523315429687e-06, "grad_norm": 1.0030381679534912, "learning_rate": 9.497748769651656e-06, "loss": 0.1012, "step": 13070 }, { "epoch": 1.2464523315429687e-06, "model_forward_time": 5.089802503585815, "step": 13070 }, { "dynamics_loss_avg": 0.044155143387615683, "epoch": 1.2464523315429687e-06, "step": 13070 }, { "action_loss_avg": 0.04792191796004772, "epoch": 1.2464523315429687e-06, "step": 13070 }, { "arm_loss_avg": 0.07647531293332577, "epoch": 1.2464523315429687e-06, "step": 13070 }, { "ee_loss_avg": 0.04635092969983816, "epoch": 1.2464523315429687e-06, "step": 13070 }, { "aux_loss_avg": 0.0006707685999572278, "epoch": 1.2464523315429687e-06, "step": 13070 }, { "epoch": 1.2464523315429687e-06, "step": 13070, "training_step_time": 17.524402618408203 }, { "epoch": 1.2465476989746093e-06, "model_forward_time": 5.085038185119629, "step": 13071 }, { "epoch": 1.2465476989746093e-06, "step": 13071, "training_step_time": 17.553515911102295 }, { "epoch": 1.24664306640625e-06, "model_forward_time": 5.290468215942383, "step": 13072 }, { "epoch": 1.24664306640625e-06, "step": 13072, "training_step_time": 17.80849838256836 }, { "epoch": 1.2467384338378905e-06, "model_forward_time": 5.078753232955933, "step": 13073 }, { "epoch": 1.2467384338378905e-06, "step": 13073, "training_step_time": 17.594767570495605 }, { "epoch": 1.2468338012695312e-06, "model_forward_time": 5.079601526260376, "step": 13074 }, { "epoch": 1.2468338012695312e-06, "step": 13074, "training_step_time": 17.60739278793335 }, { "epoch": 1.246929168701172e-06, "model_forward_time": 5.0800487995147705, "step": 13075 }, { "epoch": 1.246929168701172e-06, "step": 13075, "training_step_time": 17.61060643196106 }, { "epoch": 1.2470245361328126e-06, "model_forward_time": 5.081283807754517, "step": 13076 }, { "epoch": 1.2470245361328126e-06, "step": 13076, "training_step_time": 17.61647057533264 }, { "epoch": 1.2471199035644532e-06, "model_forward_time": 3.853705883026123, "step": 13077 }, { "epoch": 1.2471199035644532e-06, "step": 13077, "training_step_time": 17.859697103500366 }, { "epoch": 1.2472152709960938e-06, "model_forward_time": 5.359157562255859, "step": 13078 }, { "epoch": 1.2472152709960938e-06, "step": 13078, "training_step_time": 17.664403438568115 }, { "epoch": 1.2473106384277344e-06, "model_forward_time": 5.084162712097168, "step": 13079 }, { "epoch": 1.2473106384277344e-06, "step": 13079, "training_step_time": 17.516661882400513 }, { "epoch": 1.247406005859375e-06, "grad_norm": 1.0910507440567017, "learning_rate": 9.49671645935712e-06, "loss": 0.1, "step": 13080 }, { "epoch": 1.247406005859375e-06, "model_forward_time": 5.099245071411133, "step": 13080 }, { "dynamics_loss_avg": 0.04350058371201158, "epoch": 1.247406005859375e-06, "step": 13080 }, { "action_loss_avg": 0.040058732777833936, "epoch": 1.247406005859375e-06, "step": 13080 }, { "arm_loss_avg": 0.09550626464188099, "epoch": 1.247406005859375e-06, "step": 13080 }, { "ee_loss_avg": 0.07173330504447221, "epoch": 1.247406005859375e-06, "step": 13080 }, { "aux_loss_avg": 0.0024245998269179837, "epoch": 1.247406005859375e-06, "step": 13080 }, { "epoch": 1.247406005859375e-06, "step": 13080, "training_step_time": 17.53280544281006 }, { "epoch": 1.2475013732910157e-06, "model_forward_time": 5.091414928436279, "step": 13081 }, { "epoch": 1.2475013732910157e-06, "step": 13081, "training_step_time": 17.859458923339844 }, { "epoch": 1.2475967407226563e-06, "model_forward_time": 5.094717025756836, "step": 13082 }, { "epoch": 1.2475967407226563e-06, "step": 13082, "training_step_time": 17.800620555877686 }, { "epoch": 1.2476921081542969e-06, "model_forward_time": 5.300501108169556, "step": 13083 }, { "epoch": 1.2476921081542969e-06, "step": 13083, "training_step_time": 17.43494176864624 }, { "epoch": 1.2477874755859375e-06, "model_forward_time": 5.099360704421997, "step": 13084 }, { "epoch": 1.2477874755859375e-06, "step": 13084, "training_step_time": 17.517540454864502 }, { "epoch": 1.2478828430175781e-06, "model_forward_time": 5.096306085586548, "step": 13085 }, { "epoch": 1.2478828430175781e-06, "step": 13085, "training_step_time": 17.56885290145874 }, { "epoch": 1.2479782104492187e-06, "model_forward_time": 5.094263553619385, "step": 13086 }, { "epoch": 1.2479782104492187e-06, "step": 13086, "training_step_time": 17.5970675945282 }, { "epoch": 1.2480735778808594e-06, "model_forward_time": 5.09157919883728, "step": 13087 }, { "epoch": 1.2480735778808594e-06, "step": 13087, "training_step_time": 17.809481859207153 }, { "epoch": 1.2481689453125e-06, "model_forward_time": 5.0887815952301025, "step": 13088 }, { "epoch": 1.2481689453125e-06, "step": 13088, "training_step_time": 17.6322603225708 }, { "epoch": 1.2482643127441406e-06, "model_forward_time": 5.08214259147644, "step": 13089 }, { "epoch": 1.2482643127441406e-06, "step": 13089, "training_step_time": 17.633463621139526 }, { "epoch": 1.2483596801757812e-06, "grad_norm": 1.64571213722229, "learning_rate": 9.49568314548269e-06, "loss": 0.1067, "step": 13090 }, { "epoch": 1.2483596801757812e-06, "model_forward_time": 3.848189353942871, "step": 13090 }, { "dynamics_loss_avg": 0.041363473795354364, "epoch": 1.2483596801757812e-06, "step": 13090 }, { "action_loss_avg": 0.04702270720154047, "epoch": 1.2483596801757812e-06, "step": 13090 }, { "arm_loss_avg": 0.10095072612166404, "epoch": 1.2483596801757812e-06, "step": 13090 }, { "ee_loss_avg": 0.0882248904556036, "epoch": 1.2483596801757812e-06, "step": 13090 }, { "aux_loss_avg": 0.015711032226681708, "epoch": 1.2483596801757812e-06, "step": 13090 }, { "epoch": 1.2483596801757812e-06, "step": 13090, "training_step_time": 17.62610936164856 }, { "epoch": 1.2484550476074218e-06, "model_forward_time": 5.055722713470459, "step": 13091 }, { "epoch": 1.2484550476074218e-06, "step": 13091, "training_step_time": 17.63022518157959 }, { "epoch": 1.2485504150390624e-06, "model_forward_time": 5.066053152084351, "step": 13092 }, { "epoch": 1.2485504150390624e-06, "step": 13092, "training_step_time": 17.8499276638031 }, { "epoch": 1.248645782470703e-06, "model_forward_time": 5.073192834854126, "step": 13093 }, { "epoch": 1.248645782470703e-06, "step": 13093, "training_step_time": 17.612872838974 }, { "epoch": 1.2487411499023437e-06, "model_forward_time": 5.084458589553833, "step": 13094 }, { "epoch": 1.2487411499023437e-06, "step": 13094, "training_step_time": 17.606229066848755 }, { "epoch": 1.2488365173339845e-06, "model_forward_time": 3.8554792404174805, "step": 13095 }, { "epoch": 1.2488365173339845e-06, "step": 13095, "training_step_time": 17.598702669143677 }, { "epoch": 1.248931884765625e-06, "model_forward_time": 5.066173791885376, "step": 13096 }, { "epoch": 1.248931884765625e-06, "step": 13096, "training_step_time": 17.827917337417603 }, { "epoch": 1.2490272521972657e-06, "model_forward_time": 5.078384637832642, "step": 13097 }, { "epoch": 1.2490272521972657e-06, "step": 13097, "training_step_time": 17.59086322784424 }, { "epoch": 1.2491226196289063e-06, "model_forward_time": 5.328744411468506, "step": 13098 }, { "epoch": 1.2491226196289063e-06, "step": 13098, "training_step_time": 17.595594882965088 }, { "epoch": 1.249217987060547e-06, "model_forward_time": 5.099217176437378, "step": 13099 }, { "epoch": 1.249217987060547e-06, "step": 13099, "training_step_time": 17.59394884109497 }, { "epoch": 1.2493133544921876e-06, "grad_norm": 1.5963391065597534, "learning_rate": 9.494648828258987e-06, "loss": 0.1034, "step": 13100 }, { "epoch": 1.2493133544921876e-06, "model_forward_time": 5.103257417678833, "step": 13100 }, { "dynamics_loss_avg": 0.052469924092292786, "epoch": 1.2493133544921876e-06, "step": 13100 }, { "action_loss_avg": 0.05360800437629223, "epoch": 1.2493133544921876e-06, "step": 13100 }, { "arm_loss_avg": 0.08192438222467899, "epoch": 1.2493133544921876e-06, "step": 13100 }, { "ee_loss_avg": 0.06928805224597454, "epoch": 1.2493133544921876e-06, "step": 13100 }, { "aux_loss_avg": 0.002554624085314572, "epoch": 1.2493133544921876e-06, "step": 13100 }, { "epoch": 1.2493133544921876e-06, "step": 13100, "training_step_time": 17.5960853099823 }, { "epoch": 1.2494087219238282e-06, "model_forward_time": 3.861771821975708, "step": 13101 }, { "epoch": 1.2494087219238282e-06, "step": 13101, "training_step_time": 17.837844848632812 }, { "epoch": 1.2495040893554688e-06, "model_forward_time": 5.066789150238037, "step": 13102 }, { "epoch": 1.2495040893554688e-06, "step": 13102, "training_step_time": 17.615540266036987 }, { "epoch": 1.2495994567871094e-06, "model_forward_time": 5.268621444702148, "step": 13103 }, { "epoch": 1.2495994567871094e-06, "step": 13103, "training_step_time": 17.605792760849 }, { "epoch": 1.24969482421875e-06, "model_forward_time": 5.08578896522522, "step": 13104 }, { "epoch": 1.24969482421875e-06, "step": 13104, "training_step_time": 17.61166024208069 }, { "epoch": 1.2497901916503906e-06, "model_forward_time": 5.0897910594940186, "step": 13105 }, { "epoch": 1.2497901916503906e-06, "step": 13105, "training_step_time": 17.609482288360596 }, { "epoch": 1.2498855590820312e-06, "model_forward_time": 5.09434700012207, "step": 13106 }, { "epoch": 1.2498855590820312e-06, "step": 13106, "training_step_time": 17.80848789215088 }, { "epoch": 1.2499809265136719e-06, "model_forward_time": 5.091759204864502, "step": 13107 }, { "epoch": 1.2499809265136719e-06, "step": 13107, "training_step_time": 17.436304569244385 }, { "epoch": 1.2500762939453125e-06, "model_forward_time": 5.09060525894165, "step": 13108 }, { "epoch": 1.2500762939453125e-06, "step": 13108, "training_step_time": 17.498470067977905 }, { "epoch": 1.250171661376953e-06, "model_forward_time": 5.088763475418091, "step": 13109 }, { "epoch": 1.250171661376953e-06, "step": 13109, "training_step_time": 17.5354266166687 }, { "epoch": 1.2502670288085937e-06, "grad_norm": 2.445223808288574, "learning_rate": 9.493613507916848e-06, "loss": 0.0987, "step": 13110 }, { "epoch": 1.2502670288085937e-06, "model_forward_time": 5.087950229644775, "step": 13110 }, { "dynamics_loss_avg": 0.037603423930704594, "epoch": 1.2502670288085937e-06, "step": 13110 }, { "action_loss_avg": 0.04971278179436922, "epoch": 1.2502670288085937e-06, "step": 13110 }, { "arm_loss_avg": 0.07494497373700142, "epoch": 1.2502670288085937e-06, "step": 13110 }, { "ee_loss_avg": 0.044378258474171164, "epoch": 1.2502670288085937e-06, "step": 13110 }, { "aux_loss_avg": 0.0022008133528288454, "epoch": 1.2502670288085937e-06, "step": 13110 }, { "epoch": 1.2502670288085937e-06, "step": 13110, "training_step_time": 17.555028200149536 }, { "epoch": 1.2503623962402343e-06, "model_forward_time": 5.082754850387573, "step": 13111 }, { "epoch": 1.2503623962402343e-06, "step": 13111, "training_step_time": 17.57121467590332 }, { "epoch": 1.250457763671875e-06, "model_forward_time": 3.84546160697937, "step": 13112 }, { "epoch": 1.250457763671875e-06, "step": 13112, "training_step_time": 17.812870025634766 }, { "epoch": 1.2505531311035155e-06, "model_forward_time": 5.282146692276001, "step": 13113 }, { "epoch": 1.2505531311035155e-06, "step": 13113, "training_step_time": 17.587745428085327 }, { "epoch": 1.2506484985351562e-06, "model_forward_time": 5.061355829238892, "step": 13114 }, { "epoch": 1.2506484985351562e-06, "step": 13114, "training_step_time": 17.590569257736206 }, { "epoch": 1.250743865966797e-06, "model_forward_time": 5.067574501037598, "step": 13115 }, { "epoch": 1.250743865966797e-06, "step": 13115, "training_step_time": 17.585920095443726 }, { "epoch": 1.2508392333984376e-06, "model_forward_time": 5.081111192703247, "step": 13116 }, { "epoch": 1.2508392333984376e-06, "step": 13116, "training_step_time": 17.586207628250122 }, { "epoch": 1.2509346008300782e-06, "model_forward_time": 5.086831569671631, "step": 13117 }, { "epoch": 1.2509346008300782e-06, "step": 13117, "training_step_time": 17.77181649208069 }, { "epoch": 1.2510299682617188e-06, "model_forward_time": 5.09016227722168, "step": 13118 }, { "epoch": 1.2510299682617188e-06, "step": 13118, "training_step_time": 17.581229209899902 }, { "epoch": 1.2511253356933594e-06, "model_forward_time": 5.0913567543029785, "step": 13119 }, { "epoch": 1.2511253356933594e-06, "step": 13119, "training_step_time": 17.575950622558594 }, { "epoch": 1.251220703125e-06, "grad_norm": 1.4136148691177368, "learning_rate": 9.492577184687335e-06, "loss": 0.1097, "step": 13120 }, { "epoch": 1.251220703125e-06, "model_forward_time": 5.091245412826538, "step": 13120 }, { "dynamics_loss_avg": 0.03765863440930843, "epoch": 1.251220703125e-06, "step": 13120 }, { "action_loss_avg": 0.039425482787191865, "epoch": 1.251220703125e-06, "step": 13120 }, { "arm_loss_avg": 0.06461226586252451, "epoch": 1.251220703125e-06, "step": 13120 }, { "ee_loss_avg": 0.04492161758244038, "epoch": 1.251220703125e-06, "step": 13120 }, { "aux_loss_avg": 0.0006245703843887895, "epoch": 1.251220703125e-06, "step": 13120 }, { "epoch": 1.251220703125e-06, "step": 13120, "training_step_time": 17.581682682037354 }, { "epoch": 1.2513160705566407e-06, "model_forward_time": 5.091034889221191, "step": 13121 }, { "epoch": 1.2513160705566407e-06, "step": 13121, "training_step_time": 17.800828218460083 }, { "epoch": 1.2514114379882813e-06, "model_forward_time": 5.0876641273498535, "step": 13122 }, { "epoch": 1.2514114379882813e-06, "step": 13122, "training_step_time": 17.590463161468506 }, { "epoch": 1.251506805419922e-06, "model_forward_time": 5.084763526916504, "step": 13123 }, { "epoch": 1.251506805419922e-06, "step": 13123, "training_step_time": 17.580885410308838 }, { "epoch": 1.2516021728515625e-06, "model_forward_time": 5.0820698738098145, "step": 13124 }, { "epoch": 1.2516021728515625e-06, "step": 13124, "training_step_time": 17.593855619430542 }, { "epoch": 1.2516975402832031e-06, "model_forward_time": 5.081161260604858, "step": 13125 }, { "epoch": 1.2516975402832031e-06, "step": 13125, "training_step_time": 17.59065532684326 }, { "epoch": 1.2517929077148437e-06, "model_forward_time": 5.080096960067749, "step": 13126 }, { "epoch": 1.2517929077148437e-06, "step": 13126, "training_step_time": 17.797412872314453 }, { "epoch": 1.2518882751464844e-06, "model_forward_time": 5.079689264297485, "step": 13127 }, { "epoch": 1.2518882751464844e-06, "step": 13127, "training_step_time": 17.594308614730835 }, { "epoch": 1.251983642578125e-06, "model_forward_time": 3.848540782928467, "step": 13128 }, { "epoch": 1.251983642578125e-06, "step": 13128, "training_step_time": 17.588348150253296 }, { "epoch": 1.2520790100097656e-06, "model_forward_time": 5.052798509597778, "step": 13129 }, { "epoch": 1.2520790100097656e-06, "step": 13129, "training_step_time": 17.23657250404358 }, { "epoch": 1.2521743774414062e-06, "grad_norm": 2.2191102504730225, "learning_rate": 9.491539858801737e-06, "loss": 0.1115, "step": 13130 }, { "epoch": 1.2521743774414062e-06, "model_forward_time": 5.0706963539123535, "step": 13130 }, { "dynamics_loss_avg": 0.044695008918642996, "epoch": 1.2521743774414062e-06, "step": 13130 }, { "action_loss_avg": 0.059065553918480874, "epoch": 1.2521743774414062e-06, "step": 13130 }, { "arm_loss_avg": 0.11801850534975529, "epoch": 1.2521743774414062e-06, "step": 13130 }, { "ee_loss_avg": 0.0661762986332178, "epoch": 1.2521743774414062e-06, "step": 13130 }, { "aux_loss_avg": 0.0029724192630965264, "epoch": 1.2521743774414062e-06, "step": 13130 }, { "epoch": 1.2521743774414062e-06, "step": 13130, "training_step_time": 17.29593849182129 }, { "epoch": 1.2522697448730468e-06, "model_forward_time": 5.081235408782959, "step": 13131 }, { "epoch": 1.2522697448730468e-06, "step": 13131, "training_step_time": 17.459147214889526 }, { "epoch": 1.2523651123046874e-06, "model_forward_time": 5.0852484703063965, "step": 13132 }, { "epoch": 1.2523651123046874e-06, "step": 13132, "training_step_time": 17.75603461265564 }, { "epoch": 1.252460479736328e-06, "model_forward_time": 5.319496154785156, "step": 13133 }, { "epoch": 1.252460479736328e-06, "step": 13133, "training_step_time": 17.56688904762268 }, { "epoch": 1.2525558471679687e-06, "model_forward_time": 5.093324422836304, "step": 13134 }, { "epoch": 1.2525558471679687e-06, "step": 13134, "training_step_time": 17.592087745666504 }, { "epoch": 1.2526512145996093e-06, "model_forward_time": 5.092250108718872, "step": 13135 }, { "epoch": 1.2526512145996093e-06, "step": 13135, "training_step_time": 17.61712145805359 }, { "epoch": 1.25274658203125e-06, "model_forward_time": 5.092566967010498, "step": 13136 }, { "epoch": 1.25274658203125e-06, "step": 13136, "training_step_time": 17.633090019226074 }, { "epoch": 1.2528419494628907e-06, "model_forward_time": 5.092641115188599, "step": 13137 }, { "epoch": 1.2528419494628907e-06, "step": 13137, "training_step_time": 17.822521686553955 }, { "epoch": 1.2529373168945313e-06, "model_forward_time": 3.853445053100586, "step": 13138 }, { "epoch": 1.2529373168945313e-06, "step": 13138, "training_step_time": 17.62714695930481 }, { "epoch": 1.253032684326172e-06, "model_forward_time": 5.061486005783081, "step": 13139 }, { "epoch": 1.253032684326172e-06, "step": 13139, "training_step_time": 17.637229204177856 }, { "epoch": 1.2531280517578126e-06, "grad_norm": 2.0911693572998047, "learning_rate": 9.490501530491566e-06, "loss": 0.1226, "step": 13140 }, { "epoch": 1.2531280517578126e-06, "model_forward_time": 5.071110725402832, "step": 13140 }, { "dynamics_loss_avg": 0.05935876704752445, "epoch": 1.2531280517578126e-06, "step": 13140 }, { "action_loss_avg": 0.05430913008749485, "epoch": 1.2531280517578126e-06, "step": 13140 }, { "arm_loss_avg": 0.06838586553931236, "epoch": 1.2531280517578126e-06, "step": 13140 }, { "ee_loss_avg": 0.06624668948352337, "epoch": 1.2531280517578126e-06, "step": 13140 }, { "aux_loss_avg": 0.002327395579777658, "epoch": 1.2531280517578126e-06, "step": 13140 }, { "epoch": 1.2531280517578126e-06, "step": 13140, "training_step_time": 17.625181674957275 }, { "epoch": 1.2532234191894532e-06, "model_forward_time": 5.079634428024292, "step": 13141 }, { "epoch": 1.2532234191894532e-06, "step": 13141, "training_step_time": 17.834564208984375 }, { "epoch": 1.2533187866210938e-06, "model_forward_time": 5.082873821258545, "step": 13142 }, { "epoch": 1.2533187866210938e-06, "step": 13142, "training_step_time": 17.380749464035034 }, { "epoch": 1.2534141540527344e-06, "model_forward_time": 4.089688777923584, "step": 13143 }, { "epoch": 1.2534141540527344e-06, "step": 13143, "training_step_time": 17.50684404373169 }, { "epoch": 1.253509521484375e-06, "model_forward_time": 5.068212509155273, "step": 13144 }, { "epoch": 1.253509521484375e-06, "step": 13144, "training_step_time": 17.547502040863037 }, { "epoch": 1.2536048889160156e-06, "model_forward_time": 5.0827414989471436, "step": 13145 }, { "epoch": 1.2536048889160156e-06, "step": 13145, "training_step_time": 17.57400417327881 }, { "epoch": 1.2537002563476562e-06, "model_forward_time": 5.090654611587524, "step": 13146 }, { "epoch": 1.2537002563476562e-06, "step": 13146, "training_step_time": 17.806838512420654 }, { "epoch": 1.2537956237792969e-06, "model_forward_time": 5.097498655319214, "step": 13147 }, { "epoch": 1.2537956237792969e-06, "step": 13147, "training_step_time": 17.59107208251953 }, { "epoch": 1.2538909912109375e-06, "model_forward_time": 5.341099262237549, "step": 13148 }, { "epoch": 1.2538909912109375e-06, "step": 13148, "training_step_time": 17.60733389854431 }, { "epoch": 1.253986358642578e-06, "model_forward_time": 3.865640640258789, "step": 13149 }, { "epoch": 1.253986358642578e-06, "step": 13149, "training_step_time": 17.608541250228882 }, { "epoch": 1.2540817260742187e-06, "grad_norm": 1.6308903694152832, "learning_rate": 9.489462199988555e-06, "loss": 0.0865, "step": 13150 }, { "epoch": 1.2540817260742187e-06, "model_forward_time": 5.072556972503662, "step": 13150 }, { "dynamics_loss_avg": 0.04121662843972444, "epoch": 1.2540817260742187e-06, "step": 13150 }, { "action_loss_avg": 0.035703216679394245, "epoch": 1.2540817260742187e-06, "step": 13150 }, { "arm_loss_avg": 0.07619349025189877, "epoch": 1.2540817260742187e-06, "step": 13150 }, { "ee_loss_avg": 0.06164463981986046, "epoch": 1.2540817260742187e-06, "step": 13150 }, { "aux_loss_avg": 0.001965915728942491, "epoch": 1.2540817260742187e-06, "step": 13150 }, { "epoch": 1.2540817260742187e-06, "step": 13150, "training_step_time": 17.339296579360962 }, { "epoch": 1.2541770935058593e-06, "model_forward_time": 5.085466384887695, "step": 13151 }, { "epoch": 1.2541770935058593e-06, "step": 13151, "training_step_time": 17.579402208328247 }, { "epoch": 1.2542724609375e-06, "model_forward_time": 5.088835000991821, "step": 13152 }, { "epoch": 1.2542724609375e-06, "step": 13152, "training_step_time": 17.39202380180359 }, { "epoch": 1.2543678283691405e-06, "model_forward_time": 5.283751010894775, "step": 13153 }, { "epoch": 1.2543678283691405e-06, "step": 13153, "training_step_time": 17.491758108139038 }, { "epoch": 1.2544631958007812e-06, "model_forward_time": 5.0999133586883545, "step": 13154 }, { "epoch": 1.2544631958007812e-06, "step": 13154, "training_step_time": 17.55736517906189 }, { "epoch": 1.2545585632324218e-06, "model_forward_time": 5.096241235733032, "step": 13155 }, { "epoch": 1.2545585632324218e-06, "step": 13155, "training_step_time": 17.58574604988098 }, { "epoch": 1.2546539306640626e-06, "model_forward_time": 5.095483303070068, "step": 13156 }, { "epoch": 1.2546539306640626e-06, "step": 13156, "training_step_time": 17.6337833404541 }, { "epoch": 1.2547492980957032e-06, "model_forward_time": 5.092955827713013, "step": 13157 }, { "epoch": 1.2547492980957032e-06, "step": 13157, "training_step_time": 17.417656660079956 }, { "epoch": 1.2548446655273438e-06, "model_forward_time": 5.328696966171265, "step": 13158 }, { "epoch": 1.2548446655273438e-06, "step": 13158, "training_step_time": 17.5567786693573 }, { "epoch": 1.2549400329589844e-06, "model_forward_time": 5.093019247055054, "step": 13159 }, { "epoch": 1.2549400329589844e-06, "step": 13159, "training_step_time": 17.597630739212036 }, { "epoch": 1.255035400390625e-06, "grad_norm": 1.3030149936676025, "learning_rate": 9.488421867524663e-06, "loss": 0.0987, "step": 13160 }, { "epoch": 1.255035400390625e-06, "model_forward_time": 5.089577674865723, "step": 13160 }, { "dynamics_loss_avg": 0.04325166828930378, "epoch": 1.255035400390625e-06, "step": 13160 }, { "action_loss_avg": 0.05425706133246422, "epoch": 1.255035400390625e-06, "step": 13160 }, { "arm_loss_avg": 0.08351003490388394, "epoch": 1.255035400390625e-06, "step": 13160 }, { "ee_loss_avg": 0.05287426644936204, "epoch": 1.255035400390625e-06, "step": 13160 }, { "aux_loss_avg": 0.0017229140386916697, "epoch": 1.255035400390625e-06, "step": 13160 }, { "epoch": 1.255035400390625e-06, "step": 13160, "training_step_time": 17.619704008102417 }, { "epoch": 1.2551307678222657e-06, "model_forward_time": 5.084808588027954, "step": 13161 }, { "epoch": 1.2551307678222657e-06, "step": 13161, "training_step_time": 17.622864723205566 }, { "epoch": 1.2552261352539063e-06, "model_forward_time": 5.08636474609375, "step": 13162 }, { "epoch": 1.2552261352539063e-06, "step": 13162, "training_step_time": 17.858219861984253 }, { "epoch": 1.255321502685547e-06, "model_forward_time": 5.270690679550171, "step": 13163 }, { "epoch": 1.255321502685547e-06, "step": 13163, "training_step_time": 17.625635623931885 }, { "epoch": 1.2554168701171875e-06, "model_forward_time": 5.089922666549683, "step": 13164 }, { "epoch": 1.2554168701171875e-06, "step": 13164, "training_step_time": 17.622073650360107 }, { "epoch": 1.2555122375488281e-06, "model_forward_time": 5.089409828186035, "step": 13165 }, { "epoch": 1.2555122375488281e-06, "step": 13165, "training_step_time": 17.609235048294067 }, { "epoch": 1.2556076049804687e-06, "model_forward_time": 3.852546215057373, "step": 13166 }, { "epoch": 1.2556076049804687e-06, "step": 13166, "training_step_time": 17.83141326904297 }, { "epoch": 1.2557029724121094e-06, "model_forward_time": 5.06940484046936, "step": 13167 }, { "epoch": 1.2557029724121094e-06, "step": 13167, "training_step_time": 17.1847722530365 }, { "epoch": 1.25579833984375e-06, "model_forward_time": 5.307449579238892, "step": 13168 }, { "epoch": 1.25579833984375e-06, "step": 13168, "training_step_time": 17.50468611717224 }, { "epoch": 1.2558937072753906e-06, "model_forward_time": 5.084798812866211, "step": 13169 }, { "epoch": 1.2558937072753906e-06, "step": 13169, "training_step_time": 17.534128189086914 }, { "epoch": 1.2559890747070312e-06, "grad_norm": 1.2253210544586182, "learning_rate": 9.487380533332071e-06, "loss": 0.1061, "step": 13170 }, { "epoch": 1.2559890747070312e-06, "model_forward_time": 3.8573083877563477, "step": 13170 }, { "dynamics_loss_avg": 0.04759349375963211, "epoch": 1.2559890747070312e-06, "step": 13170 }, { "action_loss_avg": 0.047014220431447026, "epoch": 1.2559890747070312e-06, "step": 13170 }, { "arm_loss_avg": 0.06039782762527466, "epoch": 1.2559890747070312e-06, "step": 13170 }, { "ee_loss_avg": 0.05608829222619534, "epoch": 1.2559890747070312e-06, "step": 13170 }, { "aux_loss_avg": 0.0009190326149109751, "epoch": 1.2559890747070312e-06, "step": 13170 }, { "epoch": 1.2559890747070312e-06, "step": 13170, "training_step_time": 17.55318856239319 }, { "epoch": 1.2560844421386718e-06, "model_forward_time": 5.067576885223389, "step": 13171 }, { "epoch": 1.2560844421386718e-06, "step": 13171, "training_step_time": 17.58350920677185 }, { "epoch": 1.2561798095703124e-06, "model_forward_time": 5.0790698528289795, "step": 13172 }, { "epoch": 1.2561798095703124e-06, "step": 13172, "training_step_time": 17.818288564682007 }, { "epoch": 1.256275177001953e-06, "model_forward_time": 5.282415866851807, "step": 13173 }, { "epoch": 1.256275177001953e-06, "step": 13173, "training_step_time": 17.400299310684204 }, { "epoch": 1.2563705444335937e-06, "model_forward_time": 5.100034475326538, "step": 13174 }, { "epoch": 1.2563705444335937e-06, "step": 13174, "training_step_time": 17.514484167099 }, { "epoch": 1.2564659118652343e-06, "model_forward_time": 5.102078199386597, "step": 13175 }, { "epoch": 1.2564659118652343e-06, "step": 13175, "training_step_time": 17.556455612182617 }, { "epoch": 1.256561279296875e-06, "model_forward_time": 5.105506658554077, "step": 13176 }, { "epoch": 1.256561279296875e-06, "step": 13176, "training_step_time": 17.247913122177124 }, { "epoch": 1.2566566467285157e-06, "model_forward_time": 5.104528903961182, "step": 13177 }, { "epoch": 1.2566566467285157e-06, "step": 13177, "training_step_time": 17.711554288864136 }, { "epoch": 1.2567520141601563e-06, "model_forward_time": 5.335024833679199, "step": 13178 }, { "epoch": 1.2567520141601563e-06, "step": 13178, "training_step_time": 17.575576782226562 }, { "epoch": 1.256847381591797e-06, "model_forward_time": 5.096339702606201, "step": 13179 }, { "epoch": 1.256847381591797e-06, "step": 13179, "training_step_time": 17.60759425163269 }, { "epoch": 1.2569427490234376e-06, "grad_norm": 1.6871064901351929, "learning_rate": 9.486338197643187e-06, "loss": 0.1137, "step": 13180 }, { "epoch": 1.2569427490234376e-06, "model_forward_time": 3.8561246395111084, "step": 13180 }, { "dynamics_loss_avg": 0.04595200652256608, "epoch": 1.2569427490234376e-06, "step": 13180 }, { "action_loss_avg": 0.04227071441709995, "epoch": 1.2569427490234376e-06, "step": 13180 }, { "arm_loss_avg": 0.1005628328770399, "epoch": 1.2569427490234376e-06, "step": 13180 }, { "ee_loss_avg": 0.061139225214719775, "epoch": 1.2569427490234376e-06, "step": 13180 }, { "aux_loss_avg": 0.00997151086339727, "epoch": 1.2569427490234376e-06, "step": 13180 }, { "epoch": 1.2569427490234376e-06, "step": 13180, "training_step_time": 17.62691569328308 }, { "epoch": 1.2570381164550782e-06, "model_forward_time": 5.065556287765503, "step": 13181 }, { "epoch": 1.2570381164550782e-06, "step": 13181, "training_step_time": 17.649637937545776 }, { "epoch": 1.2571334838867188e-06, "model_forward_time": 5.069603443145752, "step": 13182 }, { "epoch": 1.2571334838867188e-06, "step": 13182, "training_step_time": 17.900712728500366 }, { "epoch": 1.2572288513183594e-06, "model_forward_time": 4.044090032577515, "step": 13183 }, { "epoch": 1.2572288513183594e-06, "step": 13183, "training_step_time": 17.638031721115112 }, { "epoch": 1.25732421875e-06, "model_forward_time": 5.0577757358551025, "step": 13184 }, { "epoch": 1.25732421875e-06, "step": 13184, "training_step_time": 17.63827157020569 }, { "epoch": 1.2574195861816406e-06, "model_forward_time": 5.073993444442749, "step": 13185 }, { "epoch": 1.2574195861816406e-06, "step": 13185, "training_step_time": 17.394163608551025 }, { "epoch": 1.2575149536132812e-06, "model_forward_time": 5.089889049530029, "step": 13186 }, { "epoch": 1.2575149536132812e-06, "step": 13186, "training_step_time": 17.63459801673889 }, { "epoch": 1.2576103210449219e-06, "model_forward_time": 5.1003029346466064, "step": 13187 }, { "epoch": 1.2576103210449219e-06, "step": 13187, "training_step_time": 17.476062536239624 }, { "epoch": 1.2577056884765625e-06, "model_forward_time": 5.334226608276367, "step": 13188 }, { "epoch": 1.2577056884765625e-06, "step": 13188, "training_step_time": 17.478260278701782 }, { "epoch": 1.257801055908203e-06, "model_forward_time": 5.104994297027588, "step": 13189 }, { "epoch": 1.257801055908203e-06, "step": 13189, "training_step_time": 17.46568727493286 }, { "epoch": 1.2578964233398437e-06, "grad_norm": 1.3512719869613647, "learning_rate": 9.485294860690638e-06, "loss": 0.113, "step": 13190 }, { "epoch": 1.2578964233398437e-06, "model_forward_time": 5.104787349700928, "step": 13190 }, { "dynamics_loss_avg": 0.04862229079008103, "epoch": 1.2578964233398437e-06, "step": 13190 }, { "action_loss_avg": 0.05427343249320984, "epoch": 1.2578964233398437e-06, "step": 13190 }, { "arm_loss_avg": 0.11838853172957897, "epoch": 1.2578964233398437e-06, "step": 13190 }, { "ee_loss_avg": 0.11162245590239764, "epoch": 1.2578964233398437e-06, "step": 13190 }, { "aux_loss_avg": 0.018918074545217677, "epoch": 1.2578964233398437e-06, "step": 13190 }, { "epoch": 1.2578964233398437e-06, "step": 13190, "training_step_time": 17.54603672027588 }, { "epoch": 1.2579917907714843e-06, "model_forward_time": 5.100326299667358, "step": 13191 }, { "epoch": 1.2579917907714843e-06, "step": 13191, "training_step_time": 17.566617488861084 }, { "epoch": 1.258087158203125e-06, "model_forward_time": 5.094390869140625, "step": 13192 }, { "epoch": 1.258087158203125e-06, "step": 13192, "training_step_time": 17.76917028427124 }, { "epoch": 1.2581825256347655e-06, "model_forward_time": 5.276630163192749, "step": 13193 }, { "epoch": 1.2581825256347655e-06, "step": 13193, "training_step_time": 17.600412368774414 }, { "epoch": 1.2582778930664062e-06, "model_forward_time": 5.083983898162842, "step": 13194 }, { "epoch": 1.2582778930664062e-06, "step": 13194, "training_step_time": 17.64615797996521 }, { "epoch": 1.2583732604980468e-06, "model_forward_time": 5.0841333866119385, "step": 13195 }, { "epoch": 1.2583732604980468e-06, "step": 13195, "training_step_time": 17.663211822509766 }, { "epoch": 1.2584686279296876e-06, "model_forward_time": 5.097987174987793, "step": 13196 }, { "epoch": 1.2584686279296876e-06, "step": 13196, "training_step_time": 17.68317723274231 }, { "epoch": 1.2585639953613282e-06, "model_forward_time": 5.095218896865845, "step": 13197 }, { "epoch": 1.2585639953613282e-06, "step": 13197, "training_step_time": 17.556162357330322 }, { "epoch": 1.2586593627929688e-06, "model_forward_time": 4.063794136047363, "step": 13198 }, { "epoch": 1.2586593627929688e-06, "step": 13198, "training_step_time": 17.404402256011963 }, { "epoch": 1.2587547302246094e-06, "model_forward_time": 5.069324016571045, "step": 13199 }, { "epoch": 1.2587547302246094e-06, "step": 13199, "training_step_time": 17.515024662017822 }, { "epoch": 1.25885009765625e-06, "grad_norm": 1.3718197345733643, "learning_rate": 9.484250522707277e-06, "loss": 0.0957, "step": 13200 }, { "epoch": 1.25885009765625e-06, "model_forward_time": 5.072173357009888, "step": 13200 }, { "dynamics_loss_avg": 0.03907043188810348, "epoch": 1.25885009765625e-06, "step": 13200 }, { "action_loss_avg": 0.03688721647486091, "epoch": 1.25885009765625e-06, "step": 13200 }, { "arm_loss_avg": 0.0633624216541648, "epoch": 1.25885009765625e-06, "step": 13200 }, { "ee_loss_avg": 0.04672082606703043, "epoch": 1.25885009765625e-06, "step": 13200 }, { "aux_loss_avg": 0.0007422478112857789, "epoch": 1.25885009765625e-06, "step": 13200 }, { "epoch": 1.25885009765625e-06, "step": 13200, "training_step_time": 17.553609609603882 }, { "epoch": 1.2589454650878907e-06, "model_forward_time": 5.076808214187622, "step": 13201 }, { "epoch": 1.2589454650878907e-06, "step": 13201, "training_step_time": 17.59129524230957 }, { "epoch": 1.2590408325195313e-06, "model_forward_time": 5.090303897857666, "step": 13202 }, { "epoch": 1.2590408325195313e-06, "step": 13202, "training_step_time": 17.8485689163208 }, { "epoch": 1.259136199951172e-06, "model_forward_time": 5.276962041854858, "step": 13203 }, { "epoch": 1.259136199951172e-06, "step": 13203, "training_step_time": 17.61805820465088 }, { "epoch": 1.2592315673828125e-06, "model_forward_time": 5.095423936843872, "step": 13204 }, { "epoch": 1.2592315673828125e-06, "step": 13204, "training_step_time": 17.632364749908447 }, { "epoch": 1.2593269348144531e-06, "model_forward_time": 5.097159385681152, "step": 13205 }, { "epoch": 1.2593269348144531e-06, "step": 13205, "training_step_time": 17.6252384185791 }, { "epoch": 1.2594223022460937e-06, "model_forward_time": 5.091667652130127, "step": 13206 }, { "epoch": 1.2594223022460937e-06, "step": 13206, "training_step_time": 17.627365827560425 }, { "epoch": 1.2595176696777344e-06, "model_forward_time": 5.092164039611816, "step": 13207 }, { "epoch": 1.2595176696777344e-06, "step": 13207, "training_step_time": 17.807884216308594 }, { "epoch": 1.259613037109375e-06, "model_forward_time": 5.324477195739746, "step": 13208 }, { "epoch": 1.259613037109375e-06, "step": 13208, "training_step_time": 17.607588291168213 }, { "epoch": 1.2597084045410156e-06, "model_forward_time": 5.0855021476745605, "step": 13209 }, { "epoch": 1.2597084045410156e-06, "step": 13209, "training_step_time": 17.595221519470215 }, { "epoch": 1.2598037719726562e-06, "grad_norm": 1.7893915176391602, "learning_rate": 9.48320518392618e-06, "loss": 0.0895, "step": 13210 }, { "epoch": 1.2598037719726562e-06, "model_forward_time": 5.076711893081665, "step": 13210 }, { "dynamics_loss_avg": 0.03288993444293738, "epoch": 1.2598037719726562e-06, "step": 13210 }, { "action_loss_avg": 0.03779464829713106, "epoch": 1.2598037719726562e-06, "step": 13210 }, { "arm_loss_avg": 0.07850882634520531, "epoch": 1.2598037719726562e-06, "step": 13210 }, { "ee_loss_avg": 0.050991556607186794, "epoch": 1.2598037719726562e-06, "step": 13210 }, { "aux_loss_avg": 0.000656113144941628, "epoch": 1.2598037719726562e-06, "step": 13210 }, { "epoch": 1.2598037719726562e-06, "step": 13210, "training_step_time": 17.587623596191406 }, { "epoch": 1.2598991394042968e-06, "model_forward_time": 5.080526351928711, "step": 13211 }, { "epoch": 1.2598991394042968e-06, "step": 13211, "training_step_time": 17.59274411201477 }, { "epoch": 1.2599945068359374e-06, "model_forward_time": 5.078061819076538, "step": 13212 }, { "epoch": 1.2599945068359374e-06, "step": 13212, "training_step_time": 17.48171305656433 }, { "epoch": 1.260089874267578e-06, "model_forward_time": 5.080474853515625, "step": 13213 }, { "epoch": 1.260089874267578e-06, "step": 13213, "training_step_time": 17.755507469177246 }, { "epoch": 1.2601852416992187e-06, "model_forward_time": 5.076140403747559, "step": 13214 }, { "epoch": 1.2601852416992187e-06, "step": 13214, "training_step_time": 17.547656774520874 }, { "epoch": 1.2602806091308593e-06, "model_forward_time": 5.076133728027344, "step": 13215 }, { "epoch": 1.2602806091308593e-06, "step": 13215, "training_step_time": 17.358803033828735 }, { "epoch": 1.2603759765625e-06, "model_forward_time": 5.0786027908325195, "step": 13216 }, { "epoch": 1.2603759765625e-06, "step": 13216, "training_step_time": 17.57656502723694 }, { "epoch": 1.2604713439941407e-06, "model_forward_time": 5.078531265258789, "step": 13217 }, { "epoch": 1.2604713439941407e-06, "step": 13217, "training_step_time": 17.75782799720764 }, { "epoch": 1.2605667114257813e-06, "model_forward_time": 5.082674980163574, "step": 13218 }, { "epoch": 1.2605667114257813e-06, "step": 13218, "training_step_time": 17.574283123016357 }, { "epoch": 1.260662078857422e-06, "model_forward_time": 5.080641031265259, "step": 13219 }, { "epoch": 1.260662078857422e-06, "step": 13219, "training_step_time": 17.600147485733032 }, { "epoch": 1.2607574462890626e-06, "grad_norm": 1.0759291648864746, "learning_rate": 9.482158844580647e-06, "loss": 0.0969, "step": 13220 }, { "epoch": 1.2607574462890626e-06, "model_forward_time": 5.081604480743408, "step": 13220 }, { "dynamics_loss_avg": 0.04487918131053448, "epoch": 1.2607574462890626e-06, "step": 13220 }, { "action_loss_avg": 0.047621891275048255, "epoch": 1.2607574462890626e-06, "step": 13220 }, { "arm_loss_avg": 0.12562101408839227, "epoch": 1.2607574462890626e-06, "step": 13220 }, { "ee_loss_avg": 0.09509713612496853, "epoch": 1.2607574462890626e-06, "step": 13220 }, { "aux_loss_avg": 0.012556925462558866, "epoch": 1.2607574462890626e-06, "step": 13220 }, { "epoch": 1.2607574462890626e-06, "step": 13220, "training_step_time": 17.61387610435486 }, { "epoch": 1.2608528137207032e-06, "model_forward_time": 5.077723026275635, "step": 13221 }, { "epoch": 1.2608528137207032e-06, "step": 13221, "training_step_time": 17.53955101966858 }, { "epoch": 1.2609481811523438e-06, "model_forward_time": 5.080930233001709, "step": 13222 }, { "epoch": 1.2609481811523438e-06, "step": 13222, "training_step_time": 17.53071093559265 }, { "epoch": 1.2610435485839844e-06, "model_forward_time": 5.085323095321655, "step": 13223 }, { "epoch": 1.2610435485839844e-06, "step": 13223, "training_step_time": 17.806089401245117 }, { "epoch": 1.261138916015625e-06, "model_forward_time": 5.081112623214722, "step": 13224 }, { "epoch": 1.261138916015625e-06, "step": 13224, "training_step_time": 17.60374879837036 }, { "epoch": 1.2612342834472656e-06, "model_forward_time": 5.082620143890381, "step": 13225 }, { "epoch": 1.2612342834472656e-06, "step": 13225, "training_step_time": 17.620079040527344 }, { "epoch": 1.2613296508789062e-06, "model_forward_time": 5.081474781036377, "step": 13226 }, { "epoch": 1.2613296508789062e-06, "step": 13226, "training_step_time": 17.62993574142456 }, { "epoch": 1.2614250183105469e-06, "model_forward_time": 5.3281569480896, "step": 13227 }, { "epoch": 1.2614250183105469e-06, "step": 13227, "training_step_time": 17.85341453552246 }, { "epoch": 1.2615203857421875e-06, "model_forward_time": 5.0812084674835205, "step": 13228 }, { "epoch": 1.2615203857421875e-06, "step": 13228, "training_step_time": 17.37628746032715 }, { "epoch": 1.261615753173828e-06, "model_forward_time": 3.853421926498413, "step": 13229 }, { "epoch": 1.261615753173828e-06, "step": 13229, "training_step_time": 17.383274793624878 }, { "epoch": 1.2617111206054687e-06, "grad_norm": 2.1162619590759277, "learning_rate": 9.4811115049042e-06, "loss": 0.0938, "step": 13230 }, { "epoch": 1.2617111206054687e-06, "model_forward_time": 5.05909538269043, "step": 13230 }, { "dynamics_loss_avg": 0.04088131934404373, "epoch": 1.2617111206054687e-06, "step": 13230 }, { "action_loss_avg": 0.04848420396447182, "epoch": 1.2617111206054687e-06, "step": 13230 }, { "arm_loss_avg": 0.0688360534608364, "epoch": 1.2617111206054687e-06, "step": 13230 }, { "ee_loss_avg": 0.056817279756069185, "epoch": 1.2617111206054687e-06, "step": 13230 }, { "aux_loss_avg": 0.0012431963405106217, "epoch": 1.2617111206054687e-06, "step": 13230 }, { "epoch": 1.2617111206054687e-06, "step": 13230, "training_step_time": 17.48171901702881 }, { "epoch": 1.2618064880371093e-06, "model_forward_time": 5.067410707473755, "step": 13231 }, { "epoch": 1.2618064880371093e-06, "step": 13231, "training_step_time": 17.568708658218384 }, { "epoch": 1.26190185546875e-06, "model_forward_time": 5.078619718551636, "step": 13232 }, { "epoch": 1.26190185546875e-06, "step": 13232, "training_step_time": 17.580637216567993 }, { "epoch": 1.2619972229003905e-06, "model_forward_time": 5.314375877380371, "step": 13233 }, { "epoch": 1.2619972229003905e-06, "step": 13233, "training_step_time": 17.840450048446655 }, { "epoch": 1.2620925903320312e-06, "model_forward_time": 5.088679313659668, "step": 13234 }, { "epoch": 1.2620925903320312e-06, "step": 13234, "training_step_time": 17.617172718048096 }, { "epoch": 1.2621879577636718e-06, "model_forward_time": 3.8544962406158447, "step": 13235 }, { "epoch": 1.2621879577636718e-06, "step": 13235, "training_step_time": 17.63329529762268 }, { "epoch": 1.2622833251953126e-06, "model_forward_time": 5.062378883361816, "step": 13236 }, { "epoch": 1.2622833251953126e-06, "step": 13236, "training_step_time": 17.636614561080933 }, { "epoch": 1.2623786926269532e-06, "model_forward_time": 5.078021049499512, "step": 13237 }, { "epoch": 1.2623786926269532e-06, "step": 13237, "training_step_time": 17.63084650039673 }, { "epoch": 1.2624740600585938e-06, "model_forward_time": 5.3286871910095215, "step": 13238 }, { "epoch": 1.2624740600585938e-06, "step": 13238, "training_step_time": 17.849116802215576 }, { "epoch": 1.2625694274902344e-06, "model_forward_time": 5.093124628067017, "step": 13239 }, { "epoch": 1.2625694274902344e-06, "step": 13239, "training_step_time": 17.294244050979614 }, { "epoch": 1.262664794921875e-06, "grad_norm": 1.0122395753860474, "learning_rate": 9.480063165130586e-06, "loss": 0.0861, "step": 13240 }, { "epoch": 1.262664794921875e-06, "model_forward_time": 5.1011388301849365, "step": 13240 }, { "dynamics_loss_avg": 0.03852020362392068, "epoch": 1.262664794921875e-06, "step": 13240 }, { "action_loss_avg": 0.04157884195446968, "epoch": 1.262664794921875e-06, "step": 13240 }, { "arm_loss_avg": 0.09213241264224052, "epoch": 1.262664794921875e-06, "step": 13240 }, { "ee_loss_avg": 0.05175073593854904, "epoch": 1.262664794921875e-06, "step": 13240 }, { "aux_loss_avg": 0.0008834593812935054, "epoch": 1.262664794921875e-06, "step": 13240 }, { "epoch": 1.262664794921875e-06, "step": 13240, "training_step_time": 17.25990653038025 }, { "epoch": 1.2627601623535157e-06, "model_forward_time": 5.101978302001953, "step": 13241 }, { "epoch": 1.2627601623535157e-06, "step": 13241, "training_step_time": 17.47186827659607 }, { "epoch": 1.2628555297851563e-06, "model_forward_time": 5.095470428466797, "step": 13242 }, { "epoch": 1.2628555297851563e-06, "step": 13242, "training_step_time": 17.532455921173096 }, { "epoch": 1.262950897216797e-06, "model_forward_time": 5.093069076538086, "step": 13243 }, { "epoch": 1.262950897216797e-06, "step": 13243, "training_step_time": 17.807286024093628 }, { "epoch": 1.2630462646484375e-06, "model_forward_time": 5.083822011947632, "step": 13244 }, { "epoch": 1.2630462646484375e-06, "step": 13244, "training_step_time": 17.604257345199585 }, { "epoch": 1.2631416320800781e-06, "model_forward_time": 5.080279111862183, "step": 13245 }, { "epoch": 1.2631416320800781e-06, "step": 13245, "training_step_time": 17.62274193763733 }, { "epoch": 1.2632369995117187e-06, "model_forward_time": 5.078661680221558, "step": 13246 }, { "epoch": 1.2632369995117187e-06, "step": 13246, "training_step_time": 17.650294303894043 }, { "epoch": 1.2633323669433594e-06, "model_forward_time": 5.3195600509643555, "step": 13247 }, { "epoch": 1.2633323669433594e-06, "step": 13247, "training_step_time": 17.629154443740845 }, { "epoch": 1.263427734375e-06, "model_forward_time": 5.077895164489746, "step": 13248 }, { "epoch": 1.263427734375e-06, "step": 13248, "training_step_time": 17.83174228668213 }, { "epoch": 1.2635231018066406e-06, "model_forward_time": 5.079014301300049, "step": 13249 }, { "epoch": 1.2635231018066406e-06, "step": 13249, "training_step_time": 17.6323561668396 }, { "epoch": 1.2636184692382812e-06, "grad_norm": 1.7150185108184814, "learning_rate": 9.479013825493773e-06, "loss": 0.1026, "step": 13250 }, { "epoch": 1.2636184692382812e-06, "model_forward_time": 5.080960988998413, "step": 13250 }, { "dynamics_loss_avg": 0.039003577455878256, "epoch": 1.2636184692382812e-06, "step": 13250 }, { "action_loss_avg": 0.04685425274074077, "epoch": 1.2636184692382812e-06, "step": 13250 }, { "arm_loss_avg": 0.12018183842301369, "epoch": 1.2636184692382812e-06, "step": 13250 }, { "ee_loss_avg": 0.09304658100008964, "epoch": 1.2636184692382812e-06, "step": 13250 }, { "aux_loss_avg": 0.005261176521889866, "epoch": 1.2636184692382812e-06, "step": 13250 }, { "epoch": 1.2636184692382812e-06, "step": 13250, "training_step_time": 17.62018609046936 }, { "epoch": 1.2637138366699218e-06, "model_forward_time": 5.08168888092041, "step": 13251 }, { "epoch": 1.2637138366699218e-06, "step": 13251, "training_step_time": 17.613436937332153 }, { "epoch": 1.2638092041015624e-06, "model_forward_time": 5.290700197219849, "step": 13252 }, { "epoch": 1.2638092041015624e-06, "step": 13252, "training_step_time": 17.614728927612305 }, { "epoch": 1.263904571533203e-06, "model_forward_time": 5.087209939956665, "step": 13253 }, { "epoch": 1.263904571533203e-06, "step": 13253, "training_step_time": 17.84415292739868 }, { "epoch": 1.2639999389648437e-06, "model_forward_time": 5.086552619934082, "step": 13254 }, { "epoch": 1.2639999389648437e-06, "step": 13254, "training_step_time": 17.60408902168274 }, { "epoch": 1.2640953063964843e-06, "model_forward_time": 3.857783317565918, "step": 13255 }, { "epoch": 1.2640953063964843e-06, "step": 13255, "training_step_time": 17.608631134033203 }, { "epoch": 1.264190673828125e-06, "model_forward_time": 5.067707061767578, "step": 13256 }, { "epoch": 1.264190673828125e-06, "step": 13256, "training_step_time": 17.63170576095581 }, { "epoch": 1.2642860412597657e-06, "model_forward_time": 5.086657524108887, "step": 13257 }, { "epoch": 1.2642860412597657e-06, "step": 13257, "training_step_time": 17.881341218948364 }, { "epoch": 1.2643814086914063e-06, "model_forward_time": 5.337263345718384, "step": 13258 }, { "epoch": 1.2643814086914063e-06, "step": 13258, "training_step_time": 17.608664989471436 }, { "epoch": 1.264476776123047e-06, "model_forward_time": 5.0994603633880615, "step": 13259 }, { "epoch": 1.264476776123047e-06, "step": 13259, "training_step_time": 17.597283124923706 }, { "epoch": 1.2645721435546876e-06, "grad_norm": 1.0502296686172485, "learning_rate": 9.47796348622795e-06, "loss": 0.0912, "step": 13260 }, { "epoch": 1.2645721435546876e-06, "model_forward_time": 5.099668979644775, "step": 13260 }, { "dynamics_loss_avg": 0.03946587610989809, "epoch": 1.2645721435546876e-06, "step": 13260 }, { "action_loss_avg": 0.042829588428139685, "epoch": 1.2645721435546876e-06, "step": 13260 }, { "arm_loss_avg": 0.09506700299680233, "epoch": 1.2645721435546876e-06, "step": 13260 }, { "ee_loss_avg": 0.07356243915855884, "epoch": 1.2645721435546876e-06, "step": 13260 }, { "aux_loss_avg": 0.004651586944237352, "epoch": 1.2645721435546876e-06, "step": 13260 }, { "epoch": 1.2645721435546876e-06, "step": 13260, "training_step_time": 17.580037832260132 }, { "epoch": 1.2646675109863282e-06, "model_forward_time": 5.0932652950286865, "step": 13261 }, { "epoch": 1.2646675109863282e-06, "step": 13261, "training_step_time": 17.576709508895874 }, { "epoch": 1.2647628784179688e-06, "model_forward_time": 5.093109130859375, "step": 13262 }, { "epoch": 1.2647628784179688e-06, "step": 13262, "training_step_time": 17.590173959732056 }, { "epoch": 1.2648582458496094e-06, "model_forward_time": 5.2882301807403564, "step": 13263 }, { "epoch": 1.2648582458496094e-06, "step": 13263, "training_step_time": 17.406820058822632 }, { "epoch": 1.26495361328125e-06, "model_forward_time": 5.093503952026367, "step": 13264 }, { "epoch": 1.26495361328125e-06, "step": 13264, "training_step_time": 17.509877681732178 }, { "epoch": 1.2650489807128906e-06, "model_forward_time": 5.091304063796997, "step": 13265 }, { "epoch": 1.2650489807128906e-06, "step": 13265, "training_step_time": 17.545644521713257 }, { "epoch": 1.2651443481445313e-06, "model_forward_time": 3.8536436557769775, "step": 13266 }, { "epoch": 1.2651443481445313e-06, "step": 13266, "training_step_time": 17.57130765914917 }, { "epoch": 1.2652397155761719e-06, "model_forward_time": 5.05436897277832, "step": 13267 }, { "epoch": 1.2652397155761719e-06, "step": 13267, "training_step_time": 17.5978786945343 }, { "epoch": 1.2653350830078125e-06, "model_forward_time": 5.303406476974487, "step": 13268 }, { "epoch": 1.2653350830078125e-06, "step": 13268, "training_step_time": 17.37702488899231 }, { "epoch": 1.265430450439453e-06, "model_forward_time": 5.072032690048218, "step": 13269 }, { "epoch": 1.265430450439453e-06, "step": 13269, "training_step_time": 17.52956199645996 }, { "epoch": 1.2655258178710937e-06, "grad_norm": 1.8558144569396973, "learning_rate": 9.47691214756754e-06, "loss": 0.1058, "step": 13270 }, { "epoch": 1.2655258178710937e-06, "model_forward_time": 5.079428672790527, "step": 13270 }, { "dynamics_loss_avg": 0.038776309508830306, "epoch": 1.2655258178710937e-06, "step": 13270 }, { "action_loss_avg": 0.044794180803000926, "epoch": 1.2655258178710937e-06, "step": 13270 }, { "arm_loss_avg": 0.08649257756769657, "epoch": 1.2655258178710937e-06, "step": 13270 }, { "ee_loss_avg": 0.0675109427422285, "epoch": 1.2655258178710937e-06, "step": 13270 }, { "aux_loss_avg": 0.0024313581350725146, "epoch": 1.2655258178710937e-06, "step": 13270 }, { "epoch": 1.2655258178710937e-06, "step": 13270, "training_step_time": 17.56846809387207 }, { "epoch": 1.2656211853027343e-06, "model_forward_time": 5.087366104125977, "step": 13271 }, { "epoch": 1.2656211853027343e-06, "step": 13271, "training_step_time": 17.611104726791382 }, { "epoch": 1.265716552734375e-06, "model_forward_time": 5.089433431625366, "step": 13272 }, { "epoch": 1.265716552734375e-06, "step": 13272, "training_step_time": 17.607967376708984 }, { "epoch": 1.2658119201660156e-06, "model_forward_time": 5.090352535247803, "step": 13273 }, { "epoch": 1.2658119201660156e-06, "step": 13273, "training_step_time": 17.84662413597107 }, { "epoch": 1.2659072875976562e-06, "model_forward_time": 3.8507301807403564, "step": 13274 }, { "epoch": 1.2659072875976562e-06, "step": 13274, "training_step_time": 17.61968445777893 }, { "epoch": 1.2660026550292968e-06, "model_forward_time": 5.0585997104644775, "step": 13275 }, { "epoch": 1.2660026550292968e-06, "step": 13275, "training_step_time": 17.62735652923584 }, { "epoch": 1.2660980224609374e-06, "model_forward_time": 5.069762229919434, "step": 13276 }, { "epoch": 1.2660980224609374e-06, "step": 13276, "training_step_time": 17.634522676467896 }, { "epoch": 1.2661933898925782e-06, "model_forward_time": 5.080154180526733, "step": 13277 }, { "epoch": 1.2661933898925782e-06, "step": 13277, "training_step_time": 17.617051362991333 }, { "epoch": 1.2662887573242188e-06, "model_forward_time": 5.0887696743011475, "step": 13278 }, { "epoch": 1.2662887573242188e-06, "step": 13278, "training_step_time": 17.823039770126343 }, { "epoch": 1.2663841247558595e-06, "model_forward_time": 5.091005802154541, "step": 13279 }, { "epoch": 1.2663841247558595e-06, "step": 13279, "training_step_time": 17.32855534553528 }, { "epoch": 1.2664794921875e-06, "grad_norm": 1.5904464721679688, "learning_rate": 9.475859809747175e-06, "loss": 0.1142, "step": 13280 }, { "epoch": 1.2664794921875e-06, "model_forward_time": 5.096167087554932, "step": 13280 }, { "dynamics_loss_avg": 0.053986935131251815, "epoch": 1.2664794921875e-06, "step": 13280 }, { "action_loss_avg": 0.051250874623656274, "epoch": 1.2664794921875e-06, "step": 13280 }, { "arm_loss_avg": 0.07611015401780605, "epoch": 1.2664794921875e-06, "step": 13280 }, { "ee_loss_avg": 0.07690389547497034, "epoch": 1.2664794921875e-06, "step": 13280 }, { "aux_loss_avg": 0.006084604864008724, "epoch": 1.2664794921875e-06, "step": 13280 }, { "epoch": 1.2664794921875e-06, "step": 13280, "training_step_time": 17.516050577163696 }, { "epoch": 1.2665748596191407e-06, "model_forward_time": 5.099259853363037, "step": 13281 }, { "epoch": 1.2665748596191407e-06, "step": 13281, "training_step_time": 17.55070948600769 }, { "epoch": 1.2666702270507813e-06, "model_forward_time": 5.285663604736328, "step": 13282 }, { "epoch": 1.2666702270507813e-06, "step": 13282, "training_step_time": 17.619853973388672 }, { "epoch": 1.266765594482422e-06, "model_forward_time": 5.0919108390808105, "step": 13283 }, { "epoch": 1.266765594482422e-06, "step": 13283, "training_step_time": 17.8124098777771 }, { "epoch": 1.2668609619140625e-06, "model_forward_time": 5.08764386177063, "step": 13284 }, { "epoch": 1.2668609619140625e-06, "step": 13284, "training_step_time": 17.320930242538452 }, { "epoch": 1.2669563293457031e-06, "model_forward_time": 5.090344667434692, "step": 13285 }, { "epoch": 1.2669563293457031e-06, "step": 13285, "training_step_time": 17.500614166259766 }, { "epoch": 1.2670516967773438e-06, "model_forward_time": 5.086199760437012, "step": 13286 }, { "epoch": 1.2670516967773438e-06, "step": 13286, "training_step_time": 17.631109952926636 }, { "epoch": 1.2671470642089844e-06, "model_forward_time": 5.33282208442688, "step": 13287 }, { "epoch": 1.2671470642089844e-06, "step": 13287, "training_step_time": 17.571728706359863 }, { "epoch": 1.267242431640625e-06, "model_forward_time": 5.087602376937866, "step": 13288 }, { "epoch": 1.267242431640625e-06, "step": 13288, "training_step_time": 17.787784576416016 }, { "epoch": 1.2673377990722656e-06, "model_forward_time": 3.8461546897888184, "step": 13289 }, { "epoch": 1.2673377990722656e-06, "step": 13289, "training_step_time": 17.609843730926514 }, { "epoch": 1.2674331665039062e-06, "grad_norm": 1.8571131229400635, "learning_rate": 9.474806473001722e-06, "loss": 0.1094, "step": 13290 }, { "epoch": 1.2674331665039062e-06, "model_forward_time": 5.061735153198242, "step": 13290 }, { "dynamics_loss_avg": 0.044310491904616355, "epoch": 1.2674331665039062e-06, "step": 13290 }, { "action_loss_avg": 0.0550402669236064, "epoch": 1.2674331665039062e-06, "step": 13290 }, { "arm_loss_avg": 0.10537524372339249, "epoch": 1.2674331665039062e-06, "step": 13290 }, { "ee_loss_avg": 0.06604539342224598, "epoch": 1.2674331665039062e-06, "step": 13290 }, { "aux_loss_avg": 0.0025265287957154216, "epoch": 1.2674331665039062e-06, "step": 13290 }, { "epoch": 1.2674331665039062e-06, "step": 13290, "training_step_time": 17.320645332336426 }, { "epoch": 1.2675285339355468e-06, "model_forward_time": 5.0681798458099365, "step": 13291 }, { "epoch": 1.2675285339355468e-06, "step": 13291, "training_step_time": 17.53439426422119 }, { "epoch": 1.2676239013671874e-06, "model_forward_time": 5.080449104309082, "step": 13292 }, { "epoch": 1.2676239013671874e-06, "step": 13292, "training_step_time": 17.56942057609558 }, { "epoch": 1.267719268798828e-06, "model_forward_time": 5.318044900894165, "step": 13293 }, { "epoch": 1.267719268798828e-06, "step": 13293, "training_step_time": 17.826390504837036 }, { "epoch": 1.2678146362304687e-06, "model_forward_time": 5.09337043762207, "step": 13294 }, { "epoch": 1.2678146362304687e-06, "step": 13294, "training_step_time": 17.59648633003235 }, { "epoch": 1.2679100036621093e-06, "model_forward_time": 5.099621772766113, "step": 13295 }, { "epoch": 1.2679100036621093e-06, "step": 13295, "training_step_time": 17.60416865348816 }, { "epoch": 1.26800537109375e-06, "model_forward_time": 5.100780725479126, "step": 13296 }, { "epoch": 1.26800537109375e-06, "step": 13296, "training_step_time": 17.445218563079834 }, { "epoch": 1.2681007385253907e-06, "model_forward_time": 5.101597547531128, "step": 13297 }, { "epoch": 1.2681007385253907e-06, "step": 13297, "training_step_time": 17.64407444000244 }, { "epoch": 1.2681961059570313e-06, "model_forward_time": 5.0968077182769775, "step": 13298 }, { "epoch": 1.2681961059570313e-06, "step": 13298, "training_step_time": 17.75386691093445 }, { "epoch": 1.268291473388672e-06, "model_forward_time": 5.094728231430054, "step": 13299 }, { "epoch": 1.268291473388672e-06, "step": 13299, "training_step_time": 17.59419894218445 }, { "epoch": 1.2683868408203126e-06, "grad_norm": 2.1373531818389893, "learning_rate": 9.473752137566256e-06, "loss": 0.1048, "step": 13300 }, { "epoch": 1.2683868408203126e-06, "model_forward_time": 5.091253757476807, "step": 13300 }, { "dynamics_loss_avg": 0.037450377084314826, "epoch": 1.2683868408203126e-06, "step": 13300 }, { "action_loss_avg": 0.04884576387703419, "epoch": 1.2683868408203126e-06, "step": 13300 }, { "arm_loss_avg": 0.10443170256912708, "epoch": 1.2683868408203126e-06, "step": 13300 }, { "ee_loss_avg": 0.07165370974689722, "epoch": 1.2683868408203126e-06, "step": 13300 }, { "aux_loss_avg": 0.001008423144230619, "epoch": 1.2683868408203126e-06, "step": 13300 }, { "epoch": 1.2683868408203126e-06, "step": 13300, "training_step_time": 17.608253955841064 }, { "epoch": 1.2684822082519532e-06, "model_forward_time": 5.090160846710205, "step": 13301 }, { "epoch": 1.2684822082519532e-06, "step": 13301, "training_step_time": 17.62913417816162 }, { "epoch": 1.2685775756835938e-06, "model_forward_time": 5.088758707046509, "step": 13302 }, { "epoch": 1.2685775756835938e-06, "step": 13302, "training_step_time": 17.63210964202881 }, { "epoch": 1.2686729431152344e-06, "model_forward_time": 3.848736047744751, "step": 13303 }, { "epoch": 1.2686729431152344e-06, "step": 13303, "training_step_time": 17.840018272399902 }, { "epoch": 1.268768310546875e-06, "model_forward_time": 5.065255641937256, "step": 13304 }, { "epoch": 1.268768310546875e-06, "step": 13304, "training_step_time": 17.619115114212036 }, { "epoch": 1.2688636779785156e-06, "model_forward_time": 5.068028926849365, "step": 13305 }, { "epoch": 1.2688636779785156e-06, "step": 13305, "training_step_time": 17.600545406341553 }, { "epoch": 1.2689590454101563e-06, "model_forward_time": 5.075012445449829, "step": 13306 }, { "epoch": 1.2689590454101563e-06, "step": 13306, "training_step_time": 17.581690788269043 }, { "epoch": 1.2690544128417969e-06, "model_forward_time": 5.08653450012207, "step": 13307 }, { "epoch": 1.2690544128417969e-06, "step": 13307, "training_step_time": 17.588061332702637 }, { "epoch": 1.2691497802734375e-06, "model_forward_time": 5.333331108093262, "step": 13308 }, { "epoch": 1.2691497802734375e-06, "step": 13308, "training_step_time": 17.65975856781006 }, { "epoch": 1.269245147705078e-06, "model_forward_time": 3.8577802181243896, "step": 13309 }, { "epoch": 1.269245147705078e-06, "step": 13309, "training_step_time": 17.510555505752563 }, { "epoch": 1.2693405151367187e-06, "grad_norm": 2.2868130207061768, "learning_rate": 9.472696803676094e-06, "loss": 0.1042, "step": 13310 }, { "epoch": 1.2693405151367187e-06, "model_forward_time": 5.062774419784546, "step": 13310 }, { "dynamics_loss_avg": 0.046210541389882565, "epoch": 1.2693405151367187e-06, "step": 13310 }, { "action_loss_avg": 0.0557985981926322, "epoch": 1.2693405151367187e-06, "step": 13310 }, { "arm_loss_avg": 0.09703996181488037, "epoch": 1.2693405151367187e-06, "step": 13310 }, { "ee_loss_avg": 0.05984677877277136, "epoch": 1.2693405151367187e-06, "step": 13310 }, { "aux_loss_avg": 0.005194014642620459, "epoch": 1.2693405151367187e-06, "step": 13310 }, { "epoch": 1.2693405151367187e-06, "step": 13310, "training_step_time": 17.542999744415283 }, { "epoch": 1.2694358825683593e-06, "model_forward_time": 5.072255849838257, "step": 13311 }, { "epoch": 1.2694358825683593e-06, "step": 13311, "training_step_time": 17.58805227279663 }, { "epoch": 1.26953125e-06, "model_forward_time": 5.084003925323486, "step": 13312 }, { "epoch": 1.26953125e-06, "step": 13312, "training_step_time": 17.57234215736389 }, { "epoch": 1.2696266174316406e-06, "model_forward_time": 5.290410757064819, "step": 13313 }, { "epoch": 1.2696266174316406e-06, "step": 13313, "training_step_time": 17.810784339904785 }, { "epoch": 1.2697219848632812e-06, "model_forward_time": 5.091369390487671, "step": 13314 }, { "epoch": 1.2697219848632812e-06, "step": 13314, "training_step_time": 17.585813760757446 }, { "epoch": 1.2698173522949218e-06, "model_forward_time": 5.098794460296631, "step": 13315 }, { "epoch": 1.2698173522949218e-06, "step": 13315, "training_step_time": 17.581247568130493 }, { "epoch": 1.2699127197265624e-06, "model_forward_time": 5.093777656555176, "step": 13316 }, { "epoch": 1.2699127197265624e-06, "step": 13316, "training_step_time": 17.595348358154297 }, { "epoch": 1.2700080871582032e-06, "model_forward_time": 5.0946879386901855, "step": 13317 }, { "epoch": 1.2700080871582032e-06, "step": 13317, "training_step_time": 17.58800983428955 }, { "epoch": 1.2701034545898438e-06, "model_forward_time": 5.322619199752808, "step": 13318 }, { "epoch": 1.2701034545898438e-06, "step": 13318, "training_step_time": 17.440998077392578 }, { "epoch": 1.2701988220214845e-06, "model_forward_time": 5.08953857421875, "step": 13319 }, { "epoch": 1.2701988220214845e-06, "step": 13319, "training_step_time": 17.502090454101562 }, { "epoch": 1.270294189453125e-06, "grad_norm": 2.069854974746704, "learning_rate": 9.471640471566762e-06, "loss": 0.1015, "step": 13320 }, { "epoch": 1.270294189453125e-06, "model_forward_time": 3.851140260696411, "step": 13320 }, { "dynamics_loss_avg": 0.0372796431183815, "epoch": 1.270294189453125e-06, "step": 13320 }, { "action_loss_avg": 0.04888481870293617, "epoch": 1.270294189453125e-06, "step": 13320 }, { "arm_loss_avg": 0.0826520211994648, "epoch": 1.270294189453125e-06, "step": 13320 }, { "ee_loss_avg": 0.04734930796548724, "epoch": 1.270294189453125e-06, "step": 13320 }, { "aux_loss_avg": 0.0009507215581834316, "epoch": 1.270294189453125e-06, "step": 13320 }, { "epoch": 1.270294189453125e-06, "step": 13320, "training_step_time": 17.54032015800476 }, { "epoch": 1.2703895568847657e-06, "model_forward_time": 5.056550741195679, "step": 13321 }, { "epoch": 1.2703895568847657e-06, "step": 13321, "training_step_time": 17.570509433746338 }, { "epoch": 1.2704849243164063e-06, "model_forward_time": 5.065984010696411, "step": 13322 }, { "epoch": 1.2704849243164063e-06, "step": 13322, "training_step_time": 17.579718828201294 }, { "epoch": 1.270580291748047e-06, "model_forward_time": 5.257508993148804, "step": 13323 }, { "epoch": 1.270580291748047e-06, "step": 13323, "training_step_time": 17.817023277282715 }, { "epoch": 1.2706756591796875e-06, "model_forward_time": 5.083664417266846, "step": 13324 }, { "epoch": 1.2706756591796875e-06, "step": 13324, "training_step_time": 17.297823667526245 }, { "epoch": 1.2707710266113281e-06, "model_forward_time": 5.091575384140015, "step": 13325 }, { "epoch": 1.2707710266113281e-06, "step": 13325, "training_step_time": 17.511133193969727 }, { "epoch": 1.2708663940429688e-06, "model_forward_time": 5.094057083129883, "step": 13326 }, { "epoch": 1.2708663940429688e-06, "step": 13326, "training_step_time": 17.372177124023438 }, { "epoch": 1.2709617614746094e-06, "model_forward_time": 5.0988640785217285, "step": 13327 }, { "epoch": 1.2709617614746094e-06, "step": 13327, "training_step_time": 17.626861095428467 }, { "epoch": 1.27105712890625e-06, "model_forward_time": 5.334685325622559, "step": 13328 }, { "epoch": 1.27105712890625e-06, "step": 13328, "training_step_time": 17.72853994369507 }, { "epoch": 1.2711524963378906e-06, "model_forward_time": 5.094258785247803, "step": 13329 }, { "epoch": 1.2711524963378906e-06, "step": 13329, "training_step_time": 17.58975315093994 }, { "epoch": 1.2712478637695312e-06, "grad_norm": 1.7083306312561035, "learning_rate": 9.470583141474012e-06, "loss": 0.1013, "step": 13330 }, { "epoch": 1.2712478637695312e-06, "model_forward_time": 5.089872360229492, "step": 13330 }, { "dynamics_loss_avg": 0.036413900647312404, "epoch": 1.2712478637695312e-06, "step": 13330 }, { "action_loss_avg": 0.049991748109459874, "epoch": 1.2712478637695312e-06, "step": 13330 }, { "arm_loss_avg": 0.08739519193768501, "epoch": 1.2712478637695312e-06, "step": 13330 }, { "ee_loss_avg": 0.057950951531529425, "epoch": 1.2712478637695312e-06, "step": 13330 }, { "aux_loss_avg": 0.0007746463525108993, "epoch": 1.2712478637695312e-06, "step": 13330 }, { "epoch": 1.2712478637695312e-06, "step": 13330, "training_step_time": 17.613464832305908 }, { "epoch": 1.2713432312011718e-06, "model_forward_time": 5.087412118911743, "step": 13331 }, { "epoch": 1.2713432312011718e-06, "step": 13331, "training_step_time": 17.612148761749268 }, { "epoch": 1.2714385986328124e-06, "model_forward_time": 5.086860418319702, "step": 13332 }, { "epoch": 1.2714385986328124e-06, "step": 13332, "training_step_time": 17.56903314590454 }, { "epoch": 1.271533966064453e-06, "model_forward_time": 5.085095167160034, "step": 13333 }, { "epoch": 1.271533966064453e-06, "step": 13333, "training_step_time": 17.394888639450073 }, { "epoch": 1.2716293334960937e-06, "model_forward_time": 5.085890054702759, "step": 13334 }, { "epoch": 1.2716293334960937e-06, "step": 13334, "training_step_time": 17.535375356674194 }, { "epoch": 1.2717247009277343e-06, "model_forward_time": 5.086037874221802, "step": 13335 }, { "epoch": 1.2717247009277343e-06, "step": 13335, "training_step_time": 17.584421634674072 }, { "epoch": 1.271820068359375e-06, "model_forward_time": 5.087085008621216, "step": 13336 }, { "epoch": 1.271820068359375e-06, "step": 13336, "training_step_time": 17.617201328277588 }, { "epoch": 1.2719154357910157e-06, "model_forward_time": 3.8502137660980225, "step": 13337 }, { "epoch": 1.2719154357910157e-06, "step": 13337, "training_step_time": 17.62128210067749 }, { "epoch": 1.2720108032226563e-06, "model_forward_time": 5.064974069595337, "step": 13338 }, { "epoch": 1.2720108032226563e-06, "step": 13338, "training_step_time": 17.815733671188354 }, { "epoch": 1.272106170654297e-06, "model_forward_time": 5.065642595291138, "step": 13339 }, { "epoch": 1.272106170654297e-06, "step": 13339, "training_step_time": 17.619187355041504 }, { "epoch": 1.2722015380859376e-06, "grad_norm": 2.7400102615356445, "learning_rate": 9.469524813633822e-06, "loss": 0.0997, "step": 13340 }, { "epoch": 1.2722015380859376e-06, "model_forward_time": 3.841862678527832, "step": 13340 }, { "dynamics_loss_avg": 0.04575780183076859, "epoch": 1.2722015380859376e-06, "step": 13340 }, { "action_loss_avg": 0.058357983455061914, "epoch": 1.2722015380859376e-06, "step": 13340 }, { "arm_loss_avg": 0.08665580488741398, "epoch": 1.2722015380859376e-06, "step": 13340 }, { "ee_loss_avg": 0.09156175777316093, "epoch": 1.2722015380859376e-06, "step": 13340 }, { "aux_loss_avg": 0.008342735838959925, "epoch": 1.2722015380859376e-06, "step": 13340 }, { "epoch": 1.2722015380859376e-06, "step": 13340, "training_step_time": 17.614689588546753 }, { "epoch": 1.2722969055175782e-06, "model_forward_time": 5.057414293289185, "step": 13341 }, { "epoch": 1.2722969055175782e-06, "step": 13341, "training_step_time": 17.607243299484253 }, { "epoch": 1.2723922729492188e-06, "model_forward_time": 5.078369617462158, "step": 13342 }, { "epoch": 1.2723922729492188e-06, "step": 13342, "training_step_time": 17.601475477218628 }, { "epoch": 1.2724876403808594e-06, "model_forward_time": 5.094024419784546, "step": 13343 }, { "epoch": 1.2724876403808594e-06, "step": 13343, "training_step_time": 17.82238268852234 }, { "epoch": 1.2725830078125e-06, "model_forward_time": 5.098611831665039, "step": 13344 }, { "epoch": 1.2725830078125e-06, "step": 13344, "training_step_time": 17.602320909500122 }, { "epoch": 1.2726783752441406e-06, "model_forward_time": 5.102470874786377, "step": 13345 }, { "epoch": 1.2726783752441406e-06, "step": 13345, "training_step_time": 17.422463178634644 }, { "epoch": 1.2727737426757813e-06, "model_forward_time": 5.106242656707764, "step": 13346 }, { "epoch": 1.2727737426757813e-06, "step": 13346, "training_step_time": 17.506628036499023 }, { "epoch": 1.2728691101074219e-06, "model_forward_time": 5.344672918319702, "step": 13347 }, { "epoch": 1.2728691101074219e-06, "step": 13347, "training_step_time": 17.639633417129517 }, { "epoch": 1.2729644775390625e-06, "model_forward_time": 5.099867582321167, "step": 13348 }, { "epoch": 1.2729644775390625e-06, "step": 13348, "training_step_time": 17.761987686157227 }, { "epoch": 1.273059844970703e-06, "model_forward_time": 5.093590497970581, "step": 13349 }, { "epoch": 1.273059844970703e-06, "step": 13349, "training_step_time": 17.597725868225098 }, { "epoch": 1.2731552124023437e-06, "grad_norm": 1.4437121152877808, "learning_rate": 9.468465488282388e-06, "loss": 0.1091, "step": 13350 }, { "epoch": 1.2731552124023437e-06, "model_forward_time": 3.8519515991210938, "step": 13350 }, { "dynamics_loss_avg": 0.04713717922568321, "epoch": 1.2731552124023437e-06, "step": 13350 }, { "action_loss_avg": 0.043243417702615264, "epoch": 1.2731552124023437e-06, "step": 13350 }, { "arm_loss_avg": 0.06384873930364847, "epoch": 1.2731552124023437e-06, "step": 13350 }, { "ee_loss_avg": 0.059932487271726134, "epoch": 1.2731552124023437e-06, "step": 13350 }, { "aux_loss_avg": 0.0012954337056726218, "epoch": 1.2731552124023437e-06, "step": 13350 }, { "epoch": 1.2731552124023437e-06, "step": 13350, "training_step_time": 17.61515188217163 }, { "epoch": 1.2732505798339843e-06, "model_forward_time": 5.055907487869263, "step": 13351 }, { "epoch": 1.2732505798339843e-06, "step": 13351, "training_step_time": 17.633342266082764 }, { "epoch": 1.273345947265625e-06, "model_forward_time": 5.06960129737854, "step": 13352 }, { "epoch": 1.273345947265625e-06, "step": 13352, "training_step_time": 17.63509178161621 }, { "epoch": 1.2734413146972656e-06, "model_forward_time": 4.0792481899261475, "step": 13353 }, { "epoch": 1.2734413146972656e-06, "step": 13353, "training_step_time": 17.8560950756073 }, { "epoch": 1.2735366821289062e-06, "model_forward_time": 5.056400775909424, "step": 13354 }, { "epoch": 1.2735366821289062e-06, "step": 13354, "training_step_time": 17.632169008255005 }, { "epoch": 1.2736320495605468e-06, "model_forward_time": 5.074067831039429, "step": 13355 }, { "epoch": 1.2736320495605468e-06, "step": 13355, "training_step_time": 17.61037588119507 }, { "epoch": 1.2737274169921874e-06, "model_forward_time": 5.096999883651733, "step": 13356 }, { "epoch": 1.2737274169921874e-06, "step": 13356, "training_step_time": 17.62972140312195 }, { "epoch": 1.2738227844238282e-06, "model_forward_time": 5.109295606613159, "step": 13357 }, { "epoch": 1.2738227844238282e-06, "step": 13357, "training_step_time": 17.624094009399414 }, { "epoch": 1.2739181518554688e-06, "model_forward_time": 5.3659632205963135, "step": 13358 }, { "epoch": 1.2739181518554688e-06, "step": 13358, "training_step_time": 17.832883596420288 }, { "epoch": 1.2740135192871095e-06, "model_forward_time": 5.123615503311157, "step": 13359 }, { "epoch": 1.2740135192871095e-06, "step": 13359, "training_step_time": 17.619574308395386 }, { "epoch": 1.27410888671875e-06, "grad_norm": 2.0317249298095703, "learning_rate": 9.467405165656131e-06, "loss": 0.1077, "step": 13360 }, { "epoch": 1.27410888671875e-06, "model_forward_time": 5.107710123062134, "step": 13360 }, { "dynamics_loss_avg": 0.04549705870449543, "epoch": 1.27410888671875e-06, "step": 13360 }, { "action_loss_avg": 0.04337832499295473, "epoch": 1.27410888671875e-06, "step": 13360 }, { "arm_loss_avg": 0.07290836870670318, "epoch": 1.27410888671875e-06, "step": 13360 }, { "ee_loss_avg": 0.05557881277054548, "epoch": 1.27410888671875e-06, "step": 13360 }, { "aux_loss_avg": 0.001716024085180834, "epoch": 1.27410888671875e-06, "step": 13360 }, { "epoch": 1.27410888671875e-06, "step": 13360, "training_step_time": 17.59859800338745 }, { "epoch": 1.2742042541503907e-06, "model_forward_time": 5.100633144378662, "step": 13361 }, { "epoch": 1.2742042541503907e-06, "step": 13361, "training_step_time": 17.60962724685669 }, { "epoch": 1.2742996215820313e-06, "model_forward_time": 5.099322080612183, "step": 13362 }, { "epoch": 1.2742996215820313e-06, "step": 13362, "training_step_time": 17.6207332611084 }, { "epoch": 1.274394989013672e-06, "model_forward_time": 5.092445611953735, "step": 13363 }, { "epoch": 1.274394989013672e-06, "step": 13363, "training_step_time": 17.842719554901123 }, { "epoch": 1.2744903564453125e-06, "model_forward_time": 5.083268404006958, "step": 13364 }, { "epoch": 1.2744903564453125e-06, "step": 13364, "training_step_time": 17.616121530532837 }, { "epoch": 1.2745857238769531e-06, "model_forward_time": 5.081883430480957, "step": 13365 }, { "epoch": 1.2745857238769531e-06, "step": 13365, "training_step_time": 17.627237558364868 }, { "epoch": 1.2746810913085938e-06, "model_forward_time": 5.083570718765259, "step": 13366 }, { "epoch": 1.2746810913085938e-06, "step": 13366, "training_step_time": 17.64555597305298 }, { "epoch": 1.2747764587402344e-06, "model_forward_time": 5.327627182006836, "step": 13367 }, { "epoch": 1.2747764587402344e-06, "step": 13367, "training_step_time": 17.621979236602783 }, { "epoch": 1.274871826171875e-06, "model_forward_time": 5.084076642990112, "step": 13368 }, { "epoch": 1.274871826171875e-06, "step": 13368, "training_step_time": 17.81063413619995 }, { "epoch": 1.2749671936035156e-06, "model_forward_time": 3.8514366149902344, "step": 13369 }, { "epoch": 1.2749671936035156e-06, "step": 13369, "training_step_time": 17.636826515197754 }, { "epoch": 1.2750625610351562e-06, "grad_norm": 1.7165206670761108, "learning_rate": 9.466343845991697e-06, "loss": 0.1098, "step": 13370 }, { "epoch": 1.2750625610351562e-06, "model_forward_time": 5.077017068862915, "step": 13370 }, { "dynamics_loss_avg": 0.05881381090730429, "epoch": 1.2750625610351562e-06, "step": 13370 }, { "action_loss_avg": 0.04833520315587521, "epoch": 1.2750625610351562e-06, "step": 13370 }, { "arm_loss_avg": 0.06977969668805599, "epoch": 1.2750625610351562e-06, "step": 13370 }, { "ee_loss_avg": 0.08177515491843224, "epoch": 1.2750625610351562e-06, "step": 13370 }, { "aux_loss_avg": 0.0010385288391262294, "epoch": 1.2750625610351562e-06, "step": 13370 }, { "epoch": 1.2750625610351562e-06, "step": 13370, "training_step_time": 17.641366720199585 }, { "epoch": 1.2751579284667968e-06, "model_forward_time": 5.07293176651001, "step": 13371 }, { "epoch": 1.2751579284667968e-06, "step": 13371, "training_step_time": 17.615898847579956 }, { "epoch": 1.2752532958984374e-06, "model_forward_time": 3.844674825668335, "step": 13372 }, { "epoch": 1.2752532958984374e-06, "step": 13372, "training_step_time": 17.61040472984314 }, { "epoch": 1.275348663330078e-06, "model_forward_time": 5.251263380050659, "step": 13373 }, { "epoch": 1.275348663330078e-06, "step": 13373, "training_step_time": 17.84300446510315 }, { "epoch": 1.2754440307617187e-06, "model_forward_time": 5.075326681137085, "step": 13374 }, { "epoch": 1.2754440307617187e-06, "step": 13374, "training_step_time": 17.59466814994812 }, { "epoch": 1.2755393981933593e-06, "model_forward_time": 5.086975812911987, "step": 13375 }, { "epoch": 1.2755393981933593e-06, "step": 13375, "training_step_time": 17.21111559867859 }, { "epoch": 1.275634765625e-06, "model_forward_time": 5.100972890853882, "step": 13376 }, { "epoch": 1.275634765625e-06, "step": 13376, "training_step_time": 17.523520469665527 }, { "epoch": 1.2757301330566405e-06, "model_forward_time": 3.8660192489624023, "step": 13377 }, { "epoch": 1.2757301330566405e-06, "step": 13377, "training_step_time": 17.552667379379272 }, { "epoch": 1.2758255004882813e-06, "model_forward_time": 5.313162326812744, "step": 13378 }, { "epoch": 1.2758255004882813e-06, "step": 13378, "training_step_time": 17.781890630722046 }, { "epoch": 1.275920867919922e-06, "model_forward_time": 3.850844144821167, "step": 13379 }, { "epoch": 1.275920867919922e-06, "step": 13379, "training_step_time": 17.606958150863647 }, { "epoch": 1.2760162353515626e-06, "grad_norm": 2.3446340560913086, "learning_rate": 9.465281529525949e-06, "loss": 0.1062, "step": 13380 }, { "epoch": 1.2760162353515626e-06, "model_forward_time": 3.8336944580078125, "step": 13380 }, { "dynamics_loss_avg": 0.045152027159929276, "epoch": 1.2760162353515626e-06, "step": 13380 }, { "action_loss_avg": 0.04987291283905506, "epoch": 1.2760162353515626e-06, "step": 13380 }, { "arm_loss_avg": 0.10303239412605762, "epoch": 1.2760162353515626e-06, "step": 13380 }, { "ee_loss_avg": 0.07821882646530867, "epoch": 1.2760162353515626e-06, "step": 13380 }, { "aux_loss_avg": 0.008481214015046135, "epoch": 1.2760162353515626e-06, "step": 13380 }, { "epoch": 1.2760162353515626e-06, "step": 13380, "training_step_time": 17.612772941589355 }, { "epoch": 1.2761116027832032e-06, "model_forward_time": 5.056277751922607, "step": 13381 }, { "epoch": 1.2761116027832032e-06, "step": 13381, "training_step_time": 17.60850977897644 }, { "epoch": 1.2762069702148438e-06, "model_forward_time": 5.071062326431274, "step": 13382 }, { "epoch": 1.2762069702148438e-06, "step": 13382, "training_step_time": 17.607593059539795 }, { "epoch": 1.2763023376464844e-06, "model_forward_time": 5.2769153118133545, "step": 13383 }, { "epoch": 1.2763023376464844e-06, "step": 13383, "training_step_time": 17.405191898345947 }, { "epoch": 1.276397705078125e-06, "model_forward_time": 5.10676646232605, "step": 13384 }, { "epoch": 1.276397705078125e-06, "step": 13384, "training_step_time": 17.50916290283203 }, { "epoch": 1.2764930725097656e-06, "model_forward_time": 5.111755847930908, "step": 13385 }, { "epoch": 1.2764930725097656e-06, "step": 13385, "training_step_time": 17.56160807609558 }, { "epoch": 1.2765884399414063e-06, "model_forward_time": 5.111482858657837, "step": 13386 }, { "epoch": 1.2765884399414063e-06, "step": 13386, "training_step_time": 17.594048500061035 }, { "epoch": 1.2766838073730469e-06, "model_forward_time": 5.102059364318848, "step": 13387 }, { "epoch": 1.2766838073730469e-06, "step": 13387, "training_step_time": 17.63683247566223 }, { "epoch": 1.2767791748046875e-06, "model_forward_time": 5.332723617553711, "step": 13388 }, { "epoch": 1.2767791748046875e-06, "step": 13388, "training_step_time": 17.854952812194824 }, { "epoch": 1.276874542236328e-06, "model_forward_time": 5.089257717132568, "step": 13389 }, { "epoch": 1.276874542236328e-06, "step": 13389, "training_step_time": 17.633081436157227 }, { "epoch": 1.2769699096679687e-06, "grad_norm": 1.6603480577468872, "learning_rate": 9.464218216495976e-06, "loss": 0.0941, "step": 13390 }, { "epoch": 1.2769699096679687e-06, "model_forward_time": 5.087290048599243, "step": 13390 }, { "dynamics_loss_avg": 0.03368082800880075, "epoch": 1.2769699096679687e-06, "step": 13390 }, { "action_loss_avg": 0.03333697393536568, "epoch": 1.2769699096679687e-06, "step": 13390 }, { "arm_loss_avg": 0.06956430077552796, "epoch": 1.2769699096679687e-06, "step": 13390 }, { "ee_loss_avg": 0.07395315878093242, "epoch": 1.2769699096679687e-06, "step": 13390 }, { "aux_loss_avg": 0.008462574030272663, "epoch": 1.2769699096679687e-06, "step": 13390 }, { "epoch": 1.2769699096679687e-06, "step": 13390, "training_step_time": 17.64753270149231 }, { "epoch": 1.2770652770996093e-06, "model_forward_time": 5.084491968154907, "step": 13391 }, { "epoch": 1.2770652770996093e-06, "step": 13391, "training_step_time": 17.65938115119934 }, { "epoch": 1.27716064453125e-06, "model_forward_time": 5.0854997634887695, "step": 13392 }, { "epoch": 1.27716064453125e-06, "step": 13392, "training_step_time": 17.6453914642334 }, { "epoch": 1.2772560119628906e-06, "model_forward_time": 5.2844696044921875, "step": 13393 }, { "epoch": 1.2772560119628906e-06, "step": 13393, "training_step_time": 17.86939024925232 }, { "epoch": 1.2773513793945312e-06, "model_forward_time": 5.084982633590698, "step": 13394 }, { "epoch": 1.2773513793945312e-06, "step": 13394, "training_step_time": 17.401928424835205 }, { "epoch": 1.2774467468261718e-06, "model_forward_time": 5.102627515792847, "step": 13395 }, { "epoch": 1.2774467468261718e-06, "step": 13395, "training_step_time": 17.535939931869507 }, { "epoch": 1.2775421142578124e-06, "model_forward_time": 5.105072021484375, "step": 13396 }, { "epoch": 1.2775421142578124e-06, "step": 13396, "training_step_time": 17.5765438079834 }, { "epoch": 1.277637481689453e-06, "model_forward_time": 5.096347093582153, "step": 13397 }, { "epoch": 1.277637481689453e-06, "step": 13397, "training_step_time": 17.65110206604004 }, { "epoch": 1.2777328491210938e-06, "model_forward_time": 5.34363579750061, "step": 13398 }, { "epoch": 1.2777328491210938e-06, "step": 13398, "training_step_time": 17.463098287582397 }, { "epoch": 1.2778282165527345e-06, "model_forward_time": 5.098209619522095, "step": 13399 }, { "epoch": 1.2778282165527345e-06, "step": 13399, "training_step_time": 17.710991382598877 }, { "epoch": 1.277923583984375e-06, "grad_norm": 1.6551313400268555, "learning_rate": 9.46315390713909e-06, "loss": 0.1065, "step": 13400 }, { "epoch": 1.277923583984375e-06, "model_forward_time": 5.099448204040527, "step": 13400 }, { "dynamics_loss_avg": 0.03436533398926258, "epoch": 1.277923583984375e-06, "step": 13400 }, { "action_loss_avg": 0.039874571934342386, "epoch": 1.277923583984375e-06, "step": 13400 }, { "arm_loss_avg": 0.06557169295847416, "epoch": 1.277923583984375e-06, "step": 13400 }, { "ee_loss_avg": 0.05370710417628288, "epoch": 1.277923583984375e-06, "step": 13400 }, { "aux_loss_avg": 0.0007753852347377688, "epoch": 1.277923583984375e-06, "step": 13400 }, { "epoch": 1.277923583984375e-06, "step": 13400, "training_step_time": 17.571430206298828 }, { "epoch": 1.2780189514160157e-06, "model_forward_time": 5.093186378479004, "step": 13401 }, { "epoch": 1.2780189514160157e-06, "step": 13401, "training_step_time": 17.60306191444397 }, { "epoch": 1.2781143188476563e-06, "model_forward_time": 5.093828916549683, "step": 13402 }, { "epoch": 1.2781143188476563e-06, "step": 13402, "training_step_time": 17.619039297103882 }, { "epoch": 1.278209686279297e-06, "model_forward_time": 5.287782430648804, "step": 13403 }, { "epoch": 1.278209686279297e-06, "step": 13403, "training_step_time": 17.634724617004395 }, { "epoch": 1.2783050537109375e-06, "model_forward_time": 5.0905139446258545, "step": 13404 }, { "epoch": 1.2783050537109375e-06, "step": 13404, "training_step_time": 17.859878063201904 }, { "epoch": 1.2784004211425781e-06, "model_forward_time": 5.0860068798065186, "step": 13405 }, { "epoch": 1.2784004211425781e-06, "step": 13405, "training_step_time": 17.62478494644165 }, { "epoch": 1.2784957885742188e-06, "model_forward_time": 5.0831239223480225, "step": 13406 }, { "epoch": 1.2784957885742188e-06, "step": 13406, "training_step_time": 17.62829327583313 }, { "epoch": 1.2785911560058594e-06, "model_forward_time": 5.087887287139893, "step": 13407 }, { "epoch": 1.2785911560058594e-06, "step": 13407, "training_step_time": 17.62681555747986 }, { "epoch": 1.2786865234375e-06, "model_forward_time": 5.086791276931763, "step": 13408 }, { "epoch": 1.2786865234375e-06, "step": 13408, "training_step_time": 17.6016628742218 }, { "epoch": 1.2787818908691406e-06, "model_forward_time": 5.086344003677368, "step": 13409 }, { "epoch": 1.2787818908691406e-06, "step": 13409, "training_step_time": 17.77334475517273 }, { "epoch": 1.2788772583007812e-06, "grad_norm": 1.57706880569458, "learning_rate": 9.462088601692823e-06, "loss": 0.0915, "step": 13410 }, { "epoch": 1.2788772583007812e-06, "model_forward_time": 5.088429689407349, "step": 13410 }, { "dynamics_loss_avg": 0.03589025605469942, "epoch": 1.2788772583007812e-06, "step": 13410 }, { "action_loss_avg": 0.03910035267472267, "epoch": 1.2788772583007812e-06, "step": 13410 }, { "arm_loss_avg": 0.08377852700650693, "epoch": 1.2788772583007812e-06, "step": 13410 }, { "ee_loss_avg": 0.04293704247102141, "epoch": 1.2788772583007812e-06, "step": 13410 }, { "aux_loss_avg": 0.0010935782513115555, "epoch": 1.2788772583007812e-06, "step": 13410 }, { "epoch": 1.2788772583007812e-06, "step": 13410, "training_step_time": 17.575977087020874 }, { "epoch": 1.2789726257324218e-06, "model_forward_time": 5.085597038269043, "step": 13411 }, { "epoch": 1.2789726257324218e-06, "step": 13411, "training_step_time": 17.56537127494812 }, { "epoch": 1.2790679931640625e-06, "model_forward_time": 5.295785665512085, "step": 13412 }, { "epoch": 1.2790679931640625e-06, "step": 13412, "training_step_time": 17.57450532913208 }, { "epoch": 1.279163360595703e-06, "model_forward_time": 5.086900472640991, "step": 13413 }, { "epoch": 1.279163360595703e-06, "step": 13413, "training_step_time": 17.404288291931152 }, { "epoch": 1.2792587280273437e-06, "model_forward_time": 5.093428134918213, "step": 13414 }, { "epoch": 1.2792587280273437e-06, "step": 13414, "training_step_time": 17.717529296875 }, { "epoch": 1.2793540954589843e-06, "model_forward_time": 3.8532509803771973, "step": 13415 }, { "epoch": 1.2793540954589843e-06, "step": 13415, "training_step_time": 17.51792860031128 }, { "epoch": 1.279449462890625e-06, "model_forward_time": 5.059537649154663, "step": 13416 }, { "epoch": 1.279449462890625e-06, "step": 13416, "training_step_time": 17.556232690811157 }, { "epoch": 1.2795448303222655e-06, "model_forward_time": 5.072648525238037, "step": 13417 }, { "epoch": 1.2795448303222655e-06, "step": 13417, "training_step_time": 17.591184377670288 }, { "epoch": 1.2796401977539063e-06, "model_forward_time": 5.353267669677734, "step": 13418 }, { "epoch": 1.2796401977539063e-06, "step": 13418, "training_step_time": 17.616300344467163 }, { "epoch": 1.279735565185547e-06, "model_forward_time": 5.105873107910156, "step": 13419 }, { "epoch": 1.279735565185547e-06, "step": 13419, "training_step_time": 17.860055685043335 }, { "epoch": 1.2798309326171876e-06, "grad_norm": 1.601193904876709, "learning_rate": 9.461022300394934e-06, "loss": 0.0894, "step": 13420 }, { "epoch": 1.2798309326171876e-06, "model_forward_time": 5.108480930328369, "step": 13420 }, { "dynamics_loss_avg": 0.044774650549516085, "epoch": 1.2798309326171876e-06, "step": 13420 }, { "action_loss_avg": 0.03894777814857662, "epoch": 1.2798309326171876e-06, "step": 13420 }, { "arm_loss_avg": 0.07866062074899674, "epoch": 1.2798309326171876e-06, "step": 13420 }, { "ee_loss_avg": 0.04626522557809949, "epoch": 1.2798309326171876e-06, "step": 13420 }, { "aux_loss_avg": 0.0012338133354205638, "epoch": 1.2798309326171876e-06, "step": 13420 }, { "epoch": 1.2798309326171876e-06, "step": 13420, "training_step_time": 17.61879873275757 }, { "epoch": 1.2799263000488282e-06, "model_forward_time": 5.095351934432983, "step": 13421 }, { "epoch": 1.2799263000488282e-06, "step": 13421, "training_step_time": 17.609192371368408 }, { "epoch": 1.2800216674804688e-06, "model_forward_time": 5.098515272140503, "step": 13422 }, { "epoch": 1.2800216674804688e-06, "step": 13422, "training_step_time": 17.613415718078613 }, { "epoch": 1.2801170349121094e-06, "model_forward_time": 5.298128843307495, "step": 13423 }, { "epoch": 1.2801170349121094e-06, "step": 13423, "training_step_time": 17.829020977020264 }, { "epoch": 1.28021240234375e-06, "model_forward_time": 5.103060483932495, "step": 13424 }, { "epoch": 1.28021240234375e-06, "step": 13424, "training_step_time": 17.614176034927368 }, { "epoch": 1.2803077697753907e-06, "model_forward_time": 5.097372531890869, "step": 13425 }, { "epoch": 1.2803077697753907e-06, "step": 13425, "training_step_time": 17.61377263069153 }, { "epoch": 1.2804031372070313e-06, "model_forward_time": 5.094829559326172, "step": 13426 }, { "epoch": 1.2804031372070313e-06, "step": 13426, "training_step_time": 17.605067491531372 }, { "epoch": 1.2804985046386719e-06, "model_forward_time": 5.093868732452393, "step": 13427 }, { "epoch": 1.2804985046386719e-06, "step": 13427, "training_step_time": 17.62808656692505 }, { "epoch": 1.2805938720703125e-06, "model_forward_time": 5.09242844581604, "step": 13428 }, { "epoch": 1.2805938720703125e-06, "step": 13428, "training_step_time": 17.8355872631073 }, { "epoch": 1.2806892395019531e-06, "model_forward_time": 5.0879905223846436, "step": 13429 }, { "epoch": 1.2806892395019531e-06, "step": 13429, "training_step_time": 17.599514961242676 }, { "epoch": 1.2807846069335937e-06, "grad_norm": 1.485556960105896, "learning_rate": 9.459955003483394e-06, "loss": 0.1064, "step": 13430 }, { "epoch": 1.2807846069335937e-06, "model_forward_time": 5.087774038314819, "step": 13430 }, { "dynamics_loss_avg": 0.050059627182781695, "epoch": 1.2807846069335937e-06, "step": 13430 }, { "action_loss_avg": 0.03761203456670046, "epoch": 1.2807846069335937e-06, "step": 13430 }, { "arm_loss_avg": 0.06074258890002966, "epoch": 1.2807846069335937e-06, "step": 13430 }, { "ee_loss_avg": 0.04553654547780752, "epoch": 1.2807846069335937e-06, "step": 13430 }, { "aux_loss_avg": 0.004408254096051678, "epoch": 1.2807846069335937e-06, "step": 13430 }, { "epoch": 1.2807846069335937e-06, "step": 13430, "training_step_time": 17.595979690551758 }, { "epoch": 1.2808799743652343e-06, "model_forward_time": 5.085728883743286, "step": 13431 }, { "epoch": 1.2808799743652343e-06, "step": 13431, "training_step_time": 17.60478711128235 }, { "epoch": 1.280975341796875e-06, "model_forward_time": 5.301633358001709, "step": 13432 }, { "epoch": 1.280975341796875e-06, "step": 13432, "training_step_time": 17.605343103408813 }, { "epoch": 1.2810707092285156e-06, "model_forward_time": 5.094115734100342, "step": 13433 }, { "epoch": 1.2810707092285156e-06, "step": 13433, "training_step_time": 17.83584499359131 }, { "epoch": 1.2811660766601562e-06, "model_forward_time": 5.090994834899902, "step": 13434 }, { "epoch": 1.2811660766601562e-06, "step": 13434, "training_step_time": 17.413461923599243 }, { "epoch": 1.2812614440917968e-06, "model_forward_time": 5.091806173324585, "step": 13435 }, { "epoch": 1.2812614440917968e-06, "step": 13435, "training_step_time": 17.52129364013672 }, { "epoch": 1.2813568115234374e-06, "model_forward_time": 5.106607675552368, "step": 13436 }, { "epoch": 1.2813568115234374e-06, "step": 13436, "training_step_time": 17.591881036758423 }, { "epoch": 1.281452178955078e-06, "model_forward_time": 5.11145544052124, "step": 13437 }, { "epoch": 1.281452178955078e-06, "step": 13437, "training_step_time": 17.654855489730835 }, { "epoch": 1.2815475463867189e-06, "model_forward_time": 5.114544153213501, "step": 13438 }, { "epoch": 1.2815475463867189e-06, "step": 13438, "training_step_time": 17.6307635307312 }, { "epoch": 1.2816429138183595e-06, "model_forward_time": 5.107991933822632, "step": 13439 }, { "epoch": 1.2816429138183595e-06, "step": 13439, "training_step_time": 17.907061338424683 }, { "epoch": 1.28173828125e-06, "grad_norm": 1.19744873046875, "learning_rate": 9.458886711196408e-06, "loss": 0.0952, "step": 13440 }, { "epoch": 1.28173828125e-06, "model_forward_time": 3.854050636291504, "step": 13440 }, { "dynamics_loss_avg": 0.034525996167212726, "epoch": 1.28173828125e-06, "step": 13440 }, { "action_loss_avg": 0.03647147230803967, "epoch": 1.28173828125e-06, "step": 13440 }, { "arm_loss_avg": 0.07351347748190165, "epoch": 1.28173828125e-06, "step": 13440 }, { "ee_loss_avg": 0.18902916368097067, "epoch": 1.28173828125e-06, "step": 13440 }, { "aux_loss_avg": 0.0026926440943498163, "epoch": 1.28173828125e-06, "step": 13440 }, { "epoch": 1.28173828125e-06, "step": 13440, "training_step_time": 17.634055614471436 }, { "epoch": 1.2818336486816407e-06, "model_forward_time": 5.064129114151001, "step": 13441 }, { "epoch": 1.2818336486816407e-06, "step": 13441, "training_step_time": 17.635485887527466 }, { "epoch": 1.2819290161132813e-06, "model_forward_time": 5.073789834976196, "step": 13442 }, { "epoch": 1.2819290161132813e-06, "step": 13442, "training_step_time": 17.64011263847351 }, { "epoch": 1.282024383544922e-06, "model_forward_time": 5.078603982925415, "step": 13443 }, { "epoch": 1.282024383544922e-06, "step": 13443, "training_step_time": 17.849512815475464 }, { "epoch": 1.2821197509765625e-06, "model_forward_time": 5.089337348937988, "step": 13444 }, { "epoch": 1.2821197509765625e-06, "step": 13444, "training_step_time": 17.629330158233643 }, { "epoch": 1.2822151184082032e-06, "model_forward_time": 5.092649221420288, "step": 13445 }, { "epoch": 1.2822151184082032e-06, "step": 13445, "training_step_time": 17.612319231033325 }, { "epoch": 1.2823104858398438e-06, "model_forward_time": 5.096940994262695, "step": 13446 }, { "epoch": 1.2823104858398438e-06, "step": 13446, "training_step_time": 17.603978872299194 }, { "epoch": 1.2824058532714844e-06, "model_forward_time": 5.345611810684204, "step": 13447 }, { "epoch": 1.2824058532714844e-06, "step": 13447, "training_step_time": 17.616615533828735 }, { "epoch": 1.282501220703125e-06, "model_forward_time": 5.095803499221802, "step": 13448 }, { "epoch": 1.282501220703125e-06, "step": 13448, "training_step_time": 17.37282919883728 }, { "epoch": 1.2825965881347656e-06, "model_forward_time": 5.097997665405273, "step": 13449 }, { "epoch": 1.2825965881347656e-06, "step": 13449, "training_step_time": 17.70358157157898 }, { "epoch": 1.2826919555664062e-06, "grad_norm": 1.2933672666549683, "learning_rate": 9.457817423772397e-06, "loss": 0.1019, "step": 13450 }, { "epoch": 1.2826919555664062e-06, "model_forward_time": 5.091148138046265, "step": 13450 }, { "dynamics_loss_avg": 0.04502139398828149, "epoch": 1.2826919555664062e-06, "step": 13450 }, { "action_loss_avg": 0.045035586785525085, "epoch": 1.2826919555664062e-06, "step": 13450 }, { "arm_loss_avg": 0.06827456224709749, "epoch": 1.2826919555664062e-06, "step": 13450 }, { "ee_loss_avg": 0.23053999189287425, "epoch": 1.2826919555664062e-06, "step": 13450 }, { "aux_loss_avg": 0.006169767479877919, "epoch": 1.2826919555664062e-06, "step": 13450 }, { "epoch": 1.2826919555664062e-06, "step": 13450, "training_step_time": 17.560725927352905 }, { "epoch": 1.2827873229980468e-06, "model_forward_time": 3.853644847869873, "step": 13451 }, { "epoch": 1.2827873229980468e-06, "step": 13451, "training_step_time": 17.580250024795532 }, { "epoch": 1.2828826904296875e-06, "model_forward_time": 3.834428548812866, "step": 13452 }, { "epoch": 1.2828826904296875e-06, "step": 13452, "training_step_time": 17.598531007766724 }, { "epoch": 1.282978057861328e-06, "model_forward_time": 5.244471549987793, "step": 13453 }, { "epoch": 1.282978057861328e-06, "step": 13453, "training_step_time": 17.841662883758545 }, { "epoch": 1.2830734252929687e-06, "model_forward_time": 5.062788963317871, "step": 13454 }, { "epoch": 1.2830734252929687e-06, "step": 13454, "training_step_time": 17.615174531936646 }, { "epoch": 1.2831687927246093e-06, "model_forward_time": 3.8459441661834717, "step": 13455 }, { "epoch": 1.2831687927246093e-06, "step": 13455, "training_step_time": 17.61441397666931 }, { "epoch": 1.28326416015625e-06, "model_forward_time": 5.063685417175293, "step": 13456 }, { "epoch": 1.28326416015625e-06, "step": 13456, "training_step_time": 17.61350965499878 }, { "epoch": 1.2833595275878905e-06, "model_forward_time": 5.093533992767334, "step": 13457 }, { "epoch": 1.2833595275878905e-06, "step": 13457, "training_step_time": 17.62148928642273 }, { "epoch": 1.2834548950195314e-06, "model_forward_time": 4.093461036682129, "step": 13458 }, { "epoch": 1.2834548950195314e-06, "step": 13458, "training_step_time": 17.82840919494629 }, { "epoch": 1.283550262451172e-06, "model_forward_time": 5.087433099746704, "step": 13459 }, { "epoch": 1.283550262451172e-06, "step": 13459, "training_step_time": 17.62029790878296 }, { "epoch": 1.2836456298828126e-06, "grad_norm": 1.2615087032318115, "learning_rate": 9.456747141450005e-06, "loss": 0.0869, "step": 13460 }, { "epoch": 1.2836456298828126e-06, "model_forward_time": 5.107725620269775, "step": 13460 }, { "dynamics_loss_avg": 0.035351851023733616, "epoch": 1.2836456298828126e-06, "step": 13460 }, { "action_loss_avg": 0.025988817866891622, "epoch": 1.2836456298828126e-06, "step": 13460 }, { "arm_loss_avg": 0.0472970949485898, "epoch": 1.2836456298828126e-06, "step": 13460 }, { "ee_loss_avg": 0.146608470659703, "epoch": 1.2836456298828126e-06, "step": 13460 }, { "aux_loss_avg": 0.0007202999840956181, "epoch": 1.2836456298828126e-06, "step": 13460 }, { "epoch": 1.2836456298828126e-06, "step": 13460, "training_step_time": 17.608078479766846 }, { "epoch": 1.2837409973144532e-06, "model_forward_time": 5.103278636932373, "step": 13461 }, { "epoch": 1.2837409973144532e-06, "step": 13461, "training_step_time": 17.5999116897583 }, { "epoch": 1.2838363647460938e-06, "model_forward_time": 5.10745096206665, "step": 13462 }, { "epoch": 1.2838363647460938e-06, "step": 13462, "training_step_time": 17.589958667755127 }, { "epoch": 1.2839317321777344e-06, "model_forward_time": 5.292571306228638, "step": 13463 }, { "epoch": 1.2839317321777344e-06, "step": 13463, "training_step_time": 17.817492246627808 }, { "epoch": 1.284027099609375e-06, "model_forward_time": 5.099029302597046, "step": 13464 }, { "epoch": 1.284027099609375e-06, "step": 13464, "training_step_time": 17.626227378845215 }, { "epoch": 1.2841224670410157e-06, "model_forward_time": 5.093252658843994, "step": 13465 }, { "epoch": 1.2841224670410157e-06, "step": 13465, "training_step_time": 17.614638090133667 }, { "epoch": 1.2842178344726563e-06, "model_forward_time": 3.8553128242492676, "step": 13466 }, { "epoch": 1.2842178344726563e-06, "step": 13466, "training_step_time": 17.617581605911255 }, { "epoch": 1.2843132019042969e-06, "model_forward_time": 5.06190299987793, "step": 13467 }, { "epoch": 1.2843132019042969e-06, "step": 13467, "training_step_time": 17.620424270629883 }, { "epoch": 1.2844085693359375e-06, "model_forward_time": 5.30557656288147, "step": 13468 }, { "epoch": 1.2844085693359375e-06, "step": 13468, "training_step_time": 17.790904998779297 }, { "epoch": 1.2845039367675781e-06, "model_forward_time": 3.8469104766845703, "step": 13469 }, { "epoch": 1.2845039367675781e-06, "step": 13469, "training_step_time": 17.602622270584106 }, { "epoch": 1.2845993041992187e-06, "grad_norm": 1.8376173973083496, "learning_rate": 9.455675864468099e-06, "loss": 0.091, "step": 13470 }, { "epoch": 1.2845993041992187e-06, "model_forward_time": 5.052910804748535, "step": 13470 }, { "dynamics_loss_avg": 0.030543622374534608, "epoch": 1.2845993041992187e-06, "step": 13470 }, { "action_loss_avg": 0.03399445796385407, "epoch": 1.2845993041992187e-06, "step": 13470 }, { "arm_loss_avg": 0.04278652472421527, "epoch": 1.2845993041992187e-06, "step": 13470 }, { "ee_loss_avg": 0.10894003333523869, "epoch": 1.2845993041992187e-06, "step": 13470 }, { "aux_loss_avg": 0.0007909270498203114, "epoch": 1.2845993041992187e-06, "step": 13470 }, { "epoch": 1.2845993041992187e-06, "step": 13470, "training_step_time": 17.604584217071533 }, { "epoch": 1.2846946716308593e-06, "model_forward_time": 5.071413040161133, "step": 13471 }, { "epoch": 1.2846946716308593e-06, "step": 13471, "training_step_time": 17.623103857040405 }, { "epoch": 1.2847900390625e-06, "model_forward_time": 5.08579683303833, "step": 13472 }, { "epoch": 1.2847900390625e-06, "step": 13472, "training_step_time": 17.605621099472046 }, { "epoch": 1.2848854064941406e-06, "model_forward_time": 5.285013437271118, "step": 13473 }, { "epoch": 1.2848854064941406e-06, "step": 13473, "training_step_time": 17.83917260169983 }, { "epoch": 1.2849807739257812e-06, "model_forward_time": 5.101620674133301, "step": 13474 }, { "epoch": 1.2849807739257812e-06, "step": 13474, "training_step_time": 17.596961975097656 }, { "epoch": 1.2850761413574218e-06, "model_forward_time": 3.8658640384674072, "step": 13475 }, { "epoch": 1.2850761413574218e-06, "step": 13475, "training_step_time": 17.375876665115356 }, { "epoch": 1.2851715087890624e-06, "model_forward_time": 5.073376178741455, "step": 13476 }, { "epoch": 1.2851715087890624e-06, "step": 13476, "training_step_time": 17.51540517807007 }, { "epoch": 1.285266876220703e-06, "model_forward_time": 5.087151527404785, "step": 13477 }, { "epoch": 1.285266876220703e-06, "step": 13477, "training_step_time": 17.616685390472412 }, { "epoch": 1.2853622436523439e-06, "model_forward_time": 5.321790456771851, "step": 13478 }, { "epoch": 1.2853622436523439e-06, "step": 13478, "training_step_time": 17.581976652145386 }, { "epoch": 1.2854576110839845e-06, "model_forward_time": 5.09273099899292, "step": 13479 }, { "epoch": 1.2854576110839845e-06, "step": 13479, "training_step_time": 17.837162256240845 }, { "epoch": 1.285552978515625e-06, "grad_norm": 1.4499424695968628, "learning_rate": 9.454603593065767e-06, "loss": 0.0847, "step": 13480 }, { "epoch": 1.285552978515625e-06, "model_forward_time": 5.099395751953125, "step": 13480 }, { "dynamics_loss_avg": 0.0328457934781909, "epoch": 1.285552978515625e-06, "step": 13480 }, { "action_loss_avg": 0.02283328827470541, "epoch": 1.285552978515625e-06, "step": 13480 }, { "arm_loss_avg": 0.04738054648041725, "epoch": 1.285552978515625e-06, "step": 13480 }, { "ee_loss_avg": 0.14325355254113675, "epoch": 1.285552978515625e-06, "step": 13480 }, { "aux_loss_avg": 0.0005887505249120295, "epoch": 1.285552978515625e-06, "step": 13480 }, { "epoch": 1.285552978515625e-06, "step": 13480, "training_step_time": 17.625551223754883 }, { "epoch": 1.2856483459472657e-06, "model_forward_time": 5.097208023071289, "step": 13481 }, { "epoch": 1.2856483459472657e-06, "step": 13481, "training_step_time": 17.634335041046143 }, { "epoch": 1.2857437133789063e-06, "model_forward_time": 3.86090087890625, "step": 13482 }, { "epoch": 1.2857437133789063e-06, "step": 13482, "training_step_time": 17.629265546798706 }, { "epoch": 1.285839080810547e-06, "model_forward_time": 5.2699360847473145, "step": 13483 }, { "epoch": 1.285839080810547e-06, "step": 13483, "training_step_time": 17.852381706237793 }, { "epoch": 1.2859344482421875e-06, "model_forward_time": 5.074061870574951, "step": 13484 }, { "epoch": 1.2859344482421875e-06, "step": 13484, "training_step_time": 17.413609504699707 }, { "epoch": 1.2860298156738282e-06, "model_forward_time": 3.8523507118225098, "step": 13485 }, { "epoch": 1.2860298156738282e-06, "step": 13485, "training_step_time": 17.52398157119751 }, { "epoch": 1.2861251831054688e-06, "model_forward_time": 5.070292949676514, "step": 13486 }, { "epoch": 1.2861251831054688e-06, "step": 13486, "training_step_time": 17.568848133087158 }, { "epoch": 1.2862205505371094e-06, "model_forward_time": 5.0777366161346436, "step": 13487 }, { "epoch": 1.2862205505371094e-06, "step": 13487, "training_step_time": 17.588659524917603 }, { "epoch": 1.28631591796875e-06, "model_forward_time": 5.34334135055542, "step": 13488 }, { "epoch": 1.28631591796875e-06, "step": 13488, "training_step_time": 17.607006311416626 }, { "epoch": 1.2864112854003906e-06, "model_forward_time": 5.100115776062012, "step": 13489 }, { "epoch": 1.2864112854003906e-06, "step": 13489, "training_step_time": 17.809505462646484 }, { "epoch": 1.2865066528320312e-06, "grad_norm": 1.5509568452835083, "learning_rate": 9.453530327482318e-06, "loss": 0.0853, "step": 13490 }, { "epoch": 1.2865066528320312e-06, "model_forward_time": 5.107093095779419, "step": 13490 }, { "dynamics_loss_avg": 0.03854108015075326, "epoch": 1.2865066528320312e-06, "step": 13490 }, { "action_loss_avg": 0.03002824876457453, "epoch": 1.2865066528320312e-06, "step": 13490 }, { "arm_loss_avg": 0.036819315049797297, "epoch": 1.2865066528320312e-06, "step": 13490 }, { "ee_loss_avg": 0.07039797334000468, "epoch": 1.2865066528320312e-06, "step": 13490 }, { "aux_loss_avg": 0.0010108647111337632, "epoch": 1.2865066528320312e-06, "step": 13490 }, { "epoch": 1.2865066528320312e-06, "step": 13490, "training_step_time": 17.616931676864624 }, { "epoch": 1.2866020202636718e-06, "model_forward_time": 5.100273847579956, "step": 13491 }, { "epoch": 1.2866020202636718e-06, "step": 13491, "training_step_time": 17.615753412246704 }, { "epoch": 1.2866973876953125e-06, "model_forward_time": 5.09501838684082, "step": 13492 }, { "epoch": 1.2866973876953125e-06, "step": 13492, "training_step_time": 17.624321222305298 }, { "epoch": 1.286792755126953e-06, "model_forward_time": 5.300784349441528, "step": 13493 }, { "epoch": 1.286792755126953e-06, "step": 13493, "training_step_time": 17.83187508583069 }, { "epoch": 1.2868881225585937e-06, "model_forward_time": 3.856351137161255, "step": 13494 }, { "epoch": 1.2868881225585937e-06, "step": 13494, "training_step_time": 17.404206037521362 }, { "epoch": 1.2869834899902343e-06, "model_forward_time": 5.057543992996216, "step": 13495 }, { "epoch": 1.2869834899902343e-06, "step": 13495, "training_step_time": 17.526288747787476 }, { "epoch": 1.287078857421875e-06, "model_forward_time": 3.8332223892211914, "step": 13496 }, { "epoch": 1.287078857421875e-06, "step": 13496, "training_step_time": 17.63335871696472 }, { "epoch": 1.2871742248535155e-06, "model_forward_time": 5.047421455383301, "step": 13497 }, { "epoch": 1.2871742248535155e-06, "step": 13497, "training_step_time": 17.584927320480347 }, { "epoch": 1.2872695922851564e-06, "model_forward_time": 5.062612295150757, "step": 13498 }, { "epoch": 1.2872695922851564e-06, "step": 13498, "training_step_time": 17.59964609146118 }, { "epoch": 1.287364959716797e-06, "model_forward_time": 5.3140528202056885, "step": 13499 }, { "epoch": 1.287364959716797e-06, "step": 13499, "training_step_time": 17.82026743888855 }, { "epoch": 1.2874603271484376e-06, "grad_norm": 1.3943793773651123, "learning_rate": 9.452456067957285e-06, "loss": 0.0977, "step": 13500 }, { "epoch": 1.2874603271484376e-06, "model_forward_time": 5.08996319770813, "step": 13500 }, { "dynamics_loss_avg": 0.03810794018208981, "epoch": 1.2874603271484376e-06, "step": 13500 }, { "action_loss_avg": 0.04075201544910669, "epoch": 1.2874603271484376e-06, "step": 13500 }, { "arm_loss_avg": 0.057716437801718715, "epoch": 1.2874603271484376e-06, "step": 13500 }, { "ee_loss_avg": 0.15764471869915725, "epoch": 1.2874603271484376e-06, "step": 13500 }, { "aux_loss_avg": 0.0064183466194663195, "epoch": 1.2874603271484376e-06, "step": 13500 }, { "epoch": 1.2874603271484376e-06, "step": 13500, "training_step_time": 17.3596613407135 }, { "epoch": 1.2875556945800782e-06, "model_forward_time": 5.10282039642334, "step": 13501 }, { "epoch": 1.2875556945800782e-06, "step": 13501, "training_step_time": 17.599274396896362 }, { "epoch": 1.2876510620117188e-06, "model_forward_time": 5.102114677429199, "step": 13502 }, { "epoch": 1.2876510620117188e-06, "step": 13502, "training_step_time": 17.569056749343872 }, { "epoch": 1.2877464294433594e-06, "model_forward_time": 3.8647384643554688, "step": 13503 }, { "epoch": 1.2877464294433594e-06, "step": 13503, "training_step_time": 17.58881974220276 }, { "epoch": 1.287841796875e-06, "model_forward_time": 5.252416372299194, "step": 13504 }, { "epoch": 1.287841796875e-06, "step": 13504, "training_step_time": 17.858856678009033 }, { "epoch": 1.2879371643066407e-06, "model_forward_time": 5.071008920669556, "step": 13505 }, { "epoch": 1.2879371643066407e-06, "step": 13505, "training_step_time": 17.61673665046692 }, { "epoch": 1.2880325317382813e-06, "model_forward_time": 5.078939199447632, "step": 13506 }, { "epoch": 1.2880325317382813e-06, "step": 13506, "training_step_time": 17.623760223388672 }, { "epoch": 1.2881278991699219e-06, "model_forward_time": 5.082176685333252, "step": 13507 }, { "epoch": 1.2881278991699219e-06, "step": 13507, "training_step_time": 17.612208127975464 }, { "epoch": 1.2882232666015625e-06, "model_forward_time": 5.083983421325684, "step": 13508 }, { "epoch": 1.2882232666015625e-06, "step": 13508, "training_step_time": 17.835597038269043 }, { "epoch": 1.2883186340332031e-06, "model_forward_time": 5.324788570404053, "step": 13509 }, { "epoch": 1.2883186340332031e-06, "step": 13509, "training_step_time": 17.603729963302612 }, { "epoch": 1.2884140014648437e-06, "grad_norm": 1.314427137374878, "learning_rate": 9.451380814730422e-06, "loss": 0.0906, "step": 13510 }, { "epoch": 1.2884140014648437e-06, "model_forward_time": 5.088462829589844, "step": 13510 }, { "dynamics_loss_avg": 0.04086824981495738, "epoch": 1.2884140014648437e-06, "step": 13510 }, { "action_loss_avg": 0.03257484994828701, "epoch": 1.2884140014648437e-06, "step": 13510 }, { "arm_loss_avg": 0.04317156486213207, "epoch": 1.2884140014648437e-06, "step": 13510 }, { "ee_loss_avg": 0.0728221932426095, "epoch": 1.2884140014648437e-06, "step": 13510 }, { "aux_loss_avg": 0.0015136029687710106, "epoch": 1.2884140014648437e-06, "step": 13510 }, { "epoch": 1.2884140014648437e-06, "step": 13510, "training_step_time": 17.595712423324585 }, { "epoch": 1.2885093688964843e-06, "model_forward_time": 5.083338499069214, "step": 13511 }, { "epoch": 1.2885093688964843e-06, "step": 13511, "training_step_time": 17.589412450790405 }, { "epoch": 1.288604736328125e-06, "model_forward_time": 5.083405256271362, "step": 13512 }, { "epoch": 1.288604736328125e-06, "step": 13512, "training_step_time": 17.586243152618408 }, { "epoch": 1.2887001037597656e-06, "model_forward_time": 5.083112716674805, "step": 13513 }, { "epoch": 1.2887001037597656e-06, "step": 13513, "training_step_time": 17.820695638656616 }, { "epoch": 1.2887954711914062e-06, "model_forward_time": 5.080897092819214, "step": 13514 }, { "epoch": 1.2887954711914062e-06, "step": 13514, "training_step_time": 17.571535110473633 }, { "epoch": 1.2888908386230468e-06, "model_forward_time": 5.079308748245239, "step": 13515 }, { "epoch": 1.2888908386230468e-06, "step": 13515, "training_step_time": 17.574934005737305 }, { "epoch": 1.2889862060546874e-06, "model_forward_time": 5.079739093780518, "step": 13516 }, { "epoch": 1.2889862060546874e-06, "step": 13516, "training_step_time": 17.570032596588135 }, { "epoch": 1.289081573486328e-06, "model_forward_time": 5.078848838806152, "step": 13517 }, { "epoch": 1.289081573486328e-06, "step": 13517, "training_step_time": 17.49559998512268 }, { "epoch": 1.2891769409179686e-06, "model_forward_time": 5.079699277877808, "step": 13518 }, { "epoch": 1.2891769409179686e-06, "step": 13518, "training_step_time": 17.52768564224243 }, { "epoch": 1.2892723083496095e-06, "model_forward_time": 5.078735113143921, "step": 13519 }, { "epoch": 1.2892723083496095e-06, "step": 13519, "training_step_time": 17.75989842414856 }, { "epoch": 1.28936767578125e-06, "grad_norm": 1.4782867431640625, "learning_rate": 9.450304568041703e-06, "loss": 0.0863, "step": 13520 }, { "epoch": 1.28936767578125e-06, "model_forward_time": 5.0805933475494385, "step": 13520 }, { "dynamics_loss_avg": 0.028934133891016244, "epoch": 1.28936767578125e-06, "step": 13520 }, { "action_loss_avg": 0.03222031844779849, "epoch": 1.28936767578125e-06, "step": 13520 }, { "arm_loss_avg": 0.06890174299478531, "epoch": 1.28936767578125e-06, "step": 13520 }, { "ee_loss_avg": 0.2424669091589749, "epoch": 1.28936767578125e-06, "step": 13520 }, { "aux_loss_avg": 0.0007049211562843993, "epoch": 1.28936767578125e-06, "step": 13520 }, { "epoch": 1.28936767578125e-06, "step": 13520, "training_step_time": 17.58590078353882 }, { "epoch": 1.2894630432128907e-06, "model_forward_time": 3.850066900253296, "step": 13521 }, { "epoch": 1.2894630432128907e-06, "step": 13521, "training_step_time": 17.605050802230835 }, { "epoch": 1.2895584106445313e-06, "model_forward_time": 5.062535762786865, "step": 13522 }, { "epoch": 1.2895584106445313e-06, "step": 13522, "training_step_time": 17.616034030914307 }, { "epoch": 1.289653778076172e-06, "model_forward_time": 5.067678689956665, "step": 13523 }, { "epoch": 1.289653778076172e-06, "step": 13523, "training_step_time": 17.850489139556885 }, { "epoch": 1.2897491455078125e-06, "model_forward_time": 5.270767450332642, "step": 13524 }, { "epoch": 1.2897491455078125e-06, "step": 13524, "training_step_time": 17.37356472015381 }, { "epoch": 1.2898445129394532e-06, "model_forward_time": 5.089634895324707, "step": 13525 }, { "epoch": 1.2898445129394532e-06, "step": 13525, "training_step_time": 17.528007984161377 }, { "epoch": 1.2899398803710938e-06, "model_forward_time": 5.095918416976929, "step": 13526 }, { "epoch": 1.2899398803710938e-06, "step": 13526, "training_step_time": 17.615556240081787 }, { "epoch": 1.2900352478027344e-06, "model_forward_time": 5.096399307250977, "step": 13527 }, { "epoch": 1.2900352478027344e-06, "step": 13527, "training_step_time": 17.50045371055603 }, { "epoch": 1.290130615234375e-06, "model_forward_time": 3.859713554382324, "step": 13528 }, { "epoch": 1.290130615234375e-06, "step": 13528, "training_step_time": 17.55203127861023 }, { "epoch": 1.2902259826660156e-06, "model_forward_time": 5.304133653640747, "step": 13529 }, { "epoch": 1.2902259826660156e-06, "step": 13529, "training_step_time": 17.77897834777832 }, { "epoch": 1.2903213500976562e-06, "grad_norm": 1.43948233127594, "learning_rate": 9.44922732813133e-06, "loss": 0.0933, "step": 13530 }, { "epoch": 1.2903213500976562e-06, "model_forward_time": 5.073567152023315, "step": 13530 }, { "dynamics_loss_avg": 0.036546565964818, "epoch": 1.2903213500976562e-06, "step": 13530 }, { "action_loss_avg": 0.037181732896715405, "epoch": 1.2903213500976562e-06, "step": 13530 }, { "arm_loss_avg": 0.05035145739093423, "epoch": 1.2903213500976562e-06, "step": 13530 }, { "ee_loss_avg": 0.1917112935334444, "epoch": 1.2903213500976562e-06, "step": 13530 }, { "aux_loss_avg": 0.0023925836780108512, "epoch": 1.2903213500976562e-06, "step": 13530 }, { "epoch": 1.2903213500976562e-06, "step": 13530, "training_step_time": 17.627416610717773 }, { "epoch": 1.2904167175292968e-06, "model_forward_time": 5.080230712890625, "step": 13531 }, { "epoch": 1.2904167175292968e-06, "step": 13531, "training_step_time": 17.630518913269043 }, { "epoch": 1.2905120849609375e-06, "model_forward_time": 3.8500494956970215, "step": 13532 }, { "epoch": 1.2905120849609375e-06, "step": 13532, "training_step_time": 17.63382053375244 }, { "epoch": 1.290607452392578e-06, "model_forward_time": 3.8301305770874023, "step": 13533 }, { "epoch": 1.290607452392578e-06, "step": 13533, "training_step_time": 17.63576054573059 }, { "epoch": 1.2907028198242187e-06, "model_forward_time": 5.238298177719116, "step": 13534 }, { "epoch": 1.2907028198242187e-06, "step": 13534, "training_step_time": 17.858126401901245 }, { "epoch": 1.2907981872558593e-06, "model_forward_time": 5.069106101989746, "step": 13535 }, { "epoch": 1.2907981872558593e-06, "step": 13535, "training_step_time": 17.612205266952515 }, { "epoch": 1.2908935546875e-06, "model_forward_time": 5.083840847015381, "step": 13536 }, { "epoch": 1.2908935546875e-06, "step": 13536, "training_step_time": 17.611398696899414 }, { "epoch": 1.2909889221191405e-06, "model_forward_time": 5.112313747406006, "step": 13537 }, { "epoch": 1.2909889221191405e-06, "step": 13537, "training_step_time": 17.659902811050415 }, { "epoch": 1.2910842895507811e-06, "model_forward_time": 5.11508321762085, "step": 13538 }, { "epoch": 1.2910842895507811e-06, "step": 13538, "training_step_time": 17.624586820602417 }, { "epoch": 1.291179656982422e-06, "model_forward_time": 5.35854697227478, "step": 13539 }, { "epoch": 1.291179656982422e-06, "step": 13539, "training_step_time": 17.870361328125 }, { "epoch": 1.2912750244140626e-06, "grad_norm": 1.25340735912323, "learning_rate": 9.448149095239716e-06, "loss": 0.0974, "step": 13540 }, { "epoch": 1.2912750244140626e-06, "model_forward_time": 5.109800338745117, "step": 13540 }, { "dynamics_loss_avg": 0.0479026710614562, "epoch": 1.2912750244140626e-06, "step": 13540 }, { "action_loss_avg": 0.040303907543420794, "epoch": 1.2912750244140626e-06, "step": 13540 }, { "arm_loss_avg": 0.07115755341947079, "epoch": 1.2912750244140626e-06, "step": 13540 }, { "ee_loss_avg": 0.07585762925446034, "epoch": 1.2912750244140626e-06, "step": 13540 }, { "aux_loss_avg": 0.012578309990931302, "epoch": 1.2912750244140626e-06, "step": 13540 }, { "epoch": 1.2912750244140626e-06, "step": 13540, "training_step_time": 17.625253200531006 }, { "epoch": 1.2913703918457032e-06, "model_forward_time": 5.093875169754028, "step": 13541 }, { "epoch": 1.2913703918457032e-06, "step": 13541, "training_step_time": 17.606144428253174 }, { "epoch": 1.2914657592773438e-06, "model_forward_time": 5.086698532104492, "step": 13542 }, { "epoch": 1.2914657592773438e-06, "step": 13542, "training_step_time": 17.61087203025818 }, { "epoch": 1.2915611267089844e-06, "model_forward_time": 5.08244776725769, "step": 13543 }, { "epoch": 1.2915611267089844e-06, "step": 13543, "training_step_time": 17.842803955078125 }, { "epoch": 1.291656494140625e-06, "model_forward_time": 5.263743877410889, "step": 13544 }, { "epoch": 1.291656494140625e-06, "step": 13544, "training_step_time": 17.620810747146606 }, { "epoch": 1.2917518615722657e-06, "model_forward_time": 5.080294609069824, "step": 13545 }, { "epoch": 1.2917518615722657e-06, "step": 13545, "training_step_time": 17.614299535751343 }, { "epoch": 1.2918472290039063e-06, "model_forward_time": 5.0793280601501465, "step": 13546 }, { "epoch": 1.2918472290039063e-06, "step": 13546, "training_step_time": 17.612778902053833 }, { "epoch": 1.2919425964355469e-06, "model_forward_time": 5.0784430503845215, "step": 13547 }, { "epoch": 1.2919425964355469e-06, "step": 13547, "training_step_time": 17.62520956993103 }, { "epoch": 1.2920379638671875e-06, "model_forward_time": 5.08052134513855, "step": 13548 }, { "epoch": 1.2920379638671875e-06, "step": 13548, "training_step_time": 17.848490953445435 }, { "epoch": 1.2921333312988281e-06, "model_forward_time": 5.311672210693359, "step": 13549 }, { "epoch": 1.2921333312988281e-06, "step": 13549, "training_step_time": 17.606907844543457 }, { "epoch": 1.2922286987304687e-06, "grad_norm": 2.0526983737945557, "learning_rate": 9.447069869607507e-06, "loss": 0.0916, "step": 13550 }, { "epoch": 1.2922286987304687e-06, "model_forward_time": 5.081550121307373, "step": 13550 }, { "dynamics_loss_avg": 0.033671713434159756, "epoch": 1.2922286987304687e-06, "step": 13550 }, { "action_loss_avg": 0.02464635847136378, "epoch": 1.2922286987304687e-06, "step": 13550 }, { "arm_loss_avg": 0.036058691516518596, "epoch": 1.2922286987304687e-06, "step": 13550 }, { "ee_loss_avg": 0.07005765940994024, "epoch": 1.2922286987304687e-06, "step": 13550 }, { "aux_loss_avg": 0.0006085210596211254, "epoch": 1.2922286987304687e-06, "step": 13550 }, { "epoch": 1.2922286987304687e-06, "step": 13550, "training_step_time": 17.606863498687744 }, { "epoch": 1.2923240661621093e-06, "model_forward_time": 5.093462944030762, "step": 13551 }, { "epoch": 1.2923240661621093e-06, "step": 13551, "training_step_time": 17.61112666130066 }, { "epoch": 1.29241943359375e-06, "model_forward_time": 5.087118625640869, "step": 13552 }, { "epoch": 1.29241943359375e-06, "step": 13552, "training_step_time": 17.598713874816895 }, { "epoch": 1.2925148010253906e-06, "model_forward_time": 5.087404012680054, "step": 13553 }, { "epoch": 1.2925148010253906e-06, "step": 13553, "training_step_time": 17.82849645614624 }, { "epoch": 1.2926101684570312e-06, "model_forward_time": 5.266183614730835, "step": 13554 }, { "epoch": 1.2926101684570312e-06, "step": 13554, "training_step_time": 17.587340831756592 }, { "epoch": 1.2927055358886718e-06, "model_forward_time": 5.087308645248413, "step": 13555 }, { "epoch": 1.2927055358886718e-06, "step": 13555, "training_step_time": 17.595480918884277 }, { "epoch": 1.2928009033203124e-06, "model_forward_time": 5.086210012435913, "step": 13556 }, { "epoch": 1.2928009033203124e-06, "step": 13556, "training_step_time": 17.5975284576416 }, { "epoch": 1.292896270751953e-06, "model_forward_time": 5.08636736869812, "step": 13557 }, { "epoch": 1.292896270751953e-06, "step": 13557, "training_step_time": 17.605079889297485 }, { "epoch": 1.2929916381835936e-06, "model_forward_time": 5.082212448120117, "step": 13558 }, { "epoch": 1.2929916381835936e-06, "step": 13558, "training_step_time": 17.804548263549805 }, { "epoch": 1.2930870056152345e-06, "model_forward_time": 5.3147971630096436, "step": 13559 }, { "epoch": 1.2930870056152345e-06, "step": 13559, "training_step_time": 17.604317903518677 }, { "epoch": 1.293182373046875e-06, "grad_norm": 1.4991345405578613, "learning_rate": 9.445989651475561e-06, "loss": 0.0846, "step": 13560 }, { "epoch": 1.293182373046875e-06, "model_forward_time": 5.099966526031494, "step": 13560 }, { "dynamics_loss_avg": 0.036634681094437835, "epoch": 1.293182373046875e-06, "step": 13560 }, { "action_loss_avg": 0.0310660018119961, "epoch": 1.293182373046875e-06, "step": 13560 }, { "arm_loss_avg": 0.0436288540251553, "epoch": 1.293182373046875e-06, "step": 13560 }, { "ee_loss_avg": 0.11123438333161176, "epoch": 1.293182373046875e-06, "step": 13560 }, { "aux_loss_avg": 0.0023518600064562634, "epoch": 1.293182373046875e-06, "step": 13560 }, { "epoch": 1.293182373046875e-06, "step": 13560, "training_step_time": 17.64325261116028 }, { "epoch": 1.2932777404785157e-06, "model_forward_time": 5.088494062423706, "step": 13561 }, { "epoch": 1.2932777404785157e-06, "step": 13561, "training_step_time": 17.618808269500732 }, { "epoch": 1.2933731079101563e-06, "model_forward_time": 5.089036464691162, "step": 13562 }, { "epoch": 1.2933731079101563e-06, "step": 13562, "training_step_time": 17.47315764427185 }, { "epoch": 1.293468475341797e-06, "model_forward_time": 5.08550238609314, "step": 13563 }, { "epoch": 1.293468475341797e-06, "step": 13563, "training_step_time": 17.530972957611084 }, { "epoch": 1.2935638427734375e-06, "model_forward_time": 5.275008678436279, "step": 13564 }, { "epoch": 1.2935638427734375e-06, "step": 13564, "training_step_time": 17.799793243408203 }, { "epoch": 1.2936592102050782e-06, "model_forward_time": 3.8563332557678223, "step": 13565 }, { "epoch": 1.2936592102050782e-06, "step": 13565, "training_step_time": 17.384575843811035 }, { "epoch": 1.2937545776367188e-06, "model_forward_time": 5.062758445739746, "step": 13566 }, { "epoch": 1.2937545776367188e-06, "step": 13566, "training_step_time": 17.520384550094604 }, { "epoch": 1.2938499450683594e-06, "model_forward_time": 5.072567939758301, "step": 13567 }, { "epoch": 1.2938499450683594e-06, "step": 13567, "training_step_time": 17.578249216079712 }, { "epoch": 1.2939453125e-06, "model_forward_time": 5.07981538772583, "step": 13568 }, { "epoch": 1.2939453125e-06, "step": 13568, "training_step_time": 17.604630708694458 }, { "epoch": 1.2940406799316406e-06, "model_forward_time": 5.323446035385132, "step": 13569 }, { "epoch": 1.2940406799316406e-06, "step": 13569, "training_step_time": 17.802268028259277 }, { "epoch": 1.2941360473632812e-06, "grad_norm": 1.4189201593399048, "learning_rate": 9.444908441084964e-06, "loss": 0.0955, "step": 13570 }, { "epoch": 1.2941360473632812e-06, "model_forward_time": 5.090978384017944, "step": 13570 }, { "dynamics_loss_avg": 0.035933430399745704, "epoch": 1.2941360473632812e-06, "step": 13570 }, { "action_loss_avg": 0.03169667841866612, "epoch": 1.2941360473632812e-06, "step": 13570 }, { "arm_loss_avg": 0.06780929397791624, "epoch": 1.2941360473632812e-06, "step": 13570 }, { "ee_loss_avg": 0.0857306808233261, "epoch": 1.2941360473632812e-06, "step": 13570 }, { "aux_loss_avg": 0.0013092416804283858, "epoch": 1.2941360473632812e-06, "step": 13570 }, { "epoch": 1.2941360473632812e-06, "step": 13570, "training_step_time": 17.6348979473114 }, { "epoch": 1.2942314147949218e-06, "model_forward_time": 5.096052408218384, "step": 13571 }, { "epoch": 1.2942314147949218e-06, "step": 13571, "training_step_time": 17.638007879257202 }, { "epoch": 1.2943267822265625e-06, "model_forward_time": 5.095252752304077, "step": 13572 }, { "epoch": 1.2943267822265625e-06, "step": 13572, "training_step_time": 17.63436770439148 }, { "epoch": 1.294422149658203e-06, "model_forward_time": 5.094225645065308, "step": 13573 }, { "epoch": 1.294422149658203e-06, "step": 13573, "training_step_time": 17.40824270248413 }, { "epoch": 1.2945175170898437e-06, "model_forward_time": 5.293703556060791, "step": 13574 }, { "epoch": 1.2945175170898437e-06, "step": 13574, "training_step_time": 17.767558574676514 }, { "epoch": 1.2946128845214843e-06, "model_forward_time": 5.095580339431763, "step": 13575 }, { "epoch": 1.2946128845214843e-06, "step": 13575, "training_step_time": 17.567214965820312 }, { "epoch": 1.294708251953125e-06, "model_forward_time": 5.090163946151733, "step": 13576 }, { "epoch": 1.294708251953125e-06, "step": 13576, "training_step_time": 17.59502148628235 }, { "epoch": 1.2948036193847655e-06, "model_forward_time": 5.08837366104126, "step": 13577 }, { "epoch": 1.2948036193847655e-06, "step": 13577, "training_step_time": 17.63532543182373 }, { "epoch": 1.2948989868164062e-06, "model_forward_time": 5.085958003997803, "step": 13578 }, { "epoch": 1.2948989868164062e-06, "step": 13578, "training_step_time": 17.629178762435913 }, { "epoch": 1.294994354248047e-06, "model_forward_time": 5.3214685916900635, "step": 13579 }, { "epoch": 1.294994354248047e-06, "step": 13579, "training_step_time": 17.816493272781372 }, { "epoch": 1.2950897216796876e-06, "grad_norm": 1.3641135692596436, "learning_rate": 9.44382623867702e-06, "loss": 0.0933, "step": 13580 }, { "epoch": 1.2950897216796876e-06, "model_forward_time": 5.088721990585327, "step": 13580 }, { "dynamics_loss_avg": 0.041057702526450156, "epoch": 1.2950897216796876e-06, "step": 13580 }, { "action_loss_avg": 0.03684078324586153, "epoch": 1.2950897216796876e-06, "step": 13580 }, { "arm_loss_avg": 0.04129156097769737, "epoch": 1.2950897216796876e-06, "step": 13580 }, { "ee_loss_avg": 0.1125650903210044, "epoch": 1.2950897216796876e-06, "step": 13580 }, { "aux_loss_avg": 0.002009461936540902, "epoch": 1.2950897216796876e-06, "step": 13580 }, { "epoch": 1.2950897216796876e-06, "step": 13580, "training_step_time": 17.633918523788452 }, { "epoch": 1.2951850891113282e-06, "model_forward_time": 5.084903717041016, "step": 13581 }, { "epoch": 1.2951850891113282e-06, "step": 13581, "training_step_time": 17.617636680603027 }, { "epoch": 1.2952804565429688e-06, "model_forward_time": 5.086617708206177, "step": 13582 }, { "epoch": 1.2952804565429688e-06, "step": 13582, "training_step_time": 17.622236251831055 }, { "epoch": 1.2953758239746094e-06, "model_forward_time": 5.087345123291016, "step": 13583 }, { "epoch": 1.2953758239746094e-06, "step": 13583, "training_step_time": 17.604962587356567 }, { "epoch": 1.29547119140625e-06, "model_forward_time": 5.278461933135986, "step": 13584 }, { "epoch": 1.29547119140625e-06, "step": 13584, "training_step_time": 17.836668491363525 }, { "epoch": 1.2955665588378907e-06, "model_forward_time": 5.088696718215942, "step": 13585 }, { "epoch": 1.2955665588378907e-06, "step": 13585, "training_step_time": 17.597593545913696 }, { "epoch": 1.2956619262695313e-06, "model_forward_time": 5.089903354644775, "step": 13586 }, { "epoch": 1.2956619262695313e-06, "step": 13586, "training_step_time": 17.61788845062256 }, { "epoch": 1.2957572937011719e-06, "model_forward_time": 5.090294599533081, "step": 13587 }, { "epoch": 1.2957572937011719e-06, "step": 13587, "training_step_time": 17.596259355545044 }, { "epoch": 1.2958526611328125e-06, "model_forward_time": 5.095063209533691, "step": 13588 }, { "epoch": 1.2958526611328125e-06, "step": 13588, "training_step_time": 17.59965682029724 }, { "epoch": 1.2959480285644531e-06, "model_forward_time": 5.329935789108276, "step": 13589 }, { "epoch": 1.2959480285644531e-06, "step": 13589, "training_step_time": 17.78391122817993 }, { "epoch": 1.2960433959960937e-06, "grad_norm": 1.675977110862732, "learning_rate": 9.442743044493258e-06, "loss": 0.1113, "step": 13590 }, { "epoch": 1.2960433959960937e-06, "model_forward_time": 5.088350772857666, "step": 13590 }, { "dynamics_loss_avg": 0.04132884722203016, "epoch": 1.2960433959960937e-06, "step": 13590 }, { "action_loss_avg": 0.03173667788505554, "epoch": 1.2960433959960937e-06, "step": 13590 }, { "arm_loss_avg": 0.041571885161101815, "epoch": 1.2960433959960937e-06, "step": 13590 }, { "ee_loss_avg": 0.09747068388387561, "epoch": 1.2960433959960937e-06, "step": 13590 }, { "aux_loss_avg": 0.001543633098481223, "epoch": 1.2960433959960937e-06, "step": 13590 }, { "epoch": 1.2960433959960937e-06, "step": 13590, "training_step_time": 17.59852123260498 }, { "epoch": 1.2961387634277344e-06, "model_forward_time": 5.08751916885376, "step": 13591 }, { "epoch": 1.2961387634277344e-06, "step": 13591, "training_step_time": 17.603925943374634 }, { "epoch": 1.296234130859375e-06, "model_forward_time": 5.087751865386963, "step": 13592 }, { "epoch": 1.296234130859375e-06, "step": 13592, "training_step_time": 17.598164081573486 }, { "epoch": 1.2963294982910156e-06, "model_forward_time": 5.098620653152466, "step": 13593 }, { "epoch": 1.2963294982910156e-06, "step": 13593, "training_step_time": 17.839589595794678 }, { "epoch": 1.2964248657226562e-06, "model_forward_time": 5.2761266231536865, "step": 13594 }, { "epoch": 1.2964248657226562e-06, "step": 13594, "training_step_time": 17.603838443756104 }, { "epoch": 1.2965202331542968e-06, "model_forward_time": 5.0848541259765625, "step": 13595 }, { "epoch": 1.2965202331542968e-06, "step": 13595, "training_step_time": 17.605156660079956 }, { "epoch": 1.2966156005859374e-06, "model_forward_time": 5.105588912963867, "step": 13596 }, { "epoch": 1.2966156005859374e-06, "step": 13596, "training_step_time": 17.666900634765625 }, { "epoch": 1.296710968017578e-06, "model_forward_time": 3.8784821033477783, "step": 13597 }, { "epoch": 1.296710968017578e-06, "step": 13597, "training_step_time": 17.68901228904724 }, { "epoch": 1.2968063354492187e-06, "model_forward_time": 5.078806400299072, "step": 13598 }, { "epoch": 1.2968063354492187e-06, "step": 13598, "training_step_time": 17.862455129623413 }, { "epoch": 1.2969017028808595e-06, "model_forward_time": 5.357211351394653, "step": 13599 }, { "epoch": 1.2969017028808595e-06, "step": 13599, "training_step_time": 17.634753942489624 }, { "epoch": 1.2969970703125e-06, "grad_norm": 1.0094815492630005, "learning_rate": 9.441658858775422e-06, "loss": 0.0982, "step": 13600 }, { "epoch": 1.2969970703125e-06, "model_forward_time": 5.084939002990723, "step": 13600 }, { "dynamics_loss_avg": 0.0427736995741725, "epoch": 1.2969970703125e-06, "step": 13600 }, { "action_loss_avg": 0.03312123939394951, "epoch": 1.2969970703125e-06, "step": 13600 }, { "arm_loss_avg": 0.05122149465605617, "epoch": 1.2969970703125e-06, "step": 13600 }, { "ee_loss_avg": 0.12638024054467678, "epoch": 1.2969970703125e-06, "step": 13600 }, { "aux_loss_avg": 0.0010951290489174426, "epoch": 1.2969970703125e-06, "step": 13600 }, { "epoch": 1.2969970703125e-06, "step": 13600, "training_step_time": 17.592777490615845 }, { "epoch": 1.2970924377441407e-06, "model_forward_time": 5.088776588439941, "step": 13601 }, { "epoch": 1.2970924377441407e-06, "step": 13601, "training_step_time": 17.611664295196533 }, { "epoch": 1.2971878051757813e-06, "model_forward_time": 5.092508792877197, "step": 13602 }, { "epoch": 1.2971878051757813e-06, "step": 13602, "training_step_time": 17.37834119796753 }, { "epoch": 1.297283172607422e-06, "model_forward_time": 5.098334789276123, "step": 13603 }, { "epoch": 1.297283172607422e-06, "step": 13603, "training_step_time": 17.49920105934143 }, { "epoch": 1.2973785400390626e-06, "model_forward_time": 3.8613297939300537, "step": 13604 }, { "epoch": 1.2973785400390626e-06, "step": 13604, "training_step_time": 17.7789044380188 }, { "epoch": 1.2974739074707032e-06, "model_forward_time": 5.273186922073364, "step": 13605 }, { "epoch": 1.2974739074707032e-06, "step": 13605, "training_step_time": 17.576132774353027 }, { "epoch": 1.2975692749023438e-06, "model_forward_time": 3.840705394744873, "step": 13606 }, { "epoch": 1.2975692749023438e-06, "step": 13606, "training_step_time": 17.64836597442627 }, { "epoch": 1.2976646423339844e-06, "model_forward_time": 5.058043479919434, "step": 13607 }, { "epoch": 1.2976646423339844e-06, "step": 13607, "training_step_time": 17.60335612297058 }, { "epoch": 1.297760009765625e-06, "model_forward_time": 5.071237564086914, "step": 13608 }, { "epoch": 1.297760009765625e-06, "step": 13608, "training_step_time": 17.5978045463562 }, { "epoch": 1.2978553771972656e-06, "model_forward_time": 5.085388660430908, "step": 13609 }, { "epoch": 1.2978553771972656e-06, "step": 13609, "training_step_time": 17.780450105667114 }, { "epoch": 1.2979507446289062e-06, "grad_norm": 0.8821392059326172, "learning_rate": 9.440573681765486e-06, "loss": 0.0788, "step": 13610 }, { "epoch": 1.2979507446289062e-06, "model_forward_time": 5.330595254898071, "step": 13610 }, { "dynamics_loss_avg": 0.04498222228139639, "epoch": 1.2979507446289062e-06, "step": 13610 }, { "action_loss_avg": 0.0319151877425611, "epoch": 1.2979507446289062e-06, "step": 13610 }, { "arm_loss_avg": 0.04893116038292646, "epoch": 1.2979507446289062e-06, "step": 13610 }, { "ee_loss_avg": 0.058194473199546334, "epoch": 1.2979507446289062e-06, "step": 13610 }, { "aux_loss_avg": 0.0015538147708866745, "epoch": 1.2979507446289062e-06, "step": 13610 }, { "epoch": 1.2979507446289062e-06, "step": 13610, "training_step_time": 17.596782207489014 }, { "epoch": 1.2980461120605469e-06, "model_forward_time": 5.101466178894043, "step": 13611 }, { "epoch": 1.2980461120605469e-06, "step": 13611, "training_step_time": 17.591358423233032 }, { "epoch": 1.2981414794921875e-06, "model_forward_time": 5.102680206298828, "step": 13612 }, { "epoch": 1.2981414794921875e-06, "step": 13612, "training_step_time": 17.592754125595093 }, { "epoch": 1.298236846923828e-06, "model_forward_time": 5.101498365402222, "step": 13613 }, { "epoch": 1.298236846923828e-06, "step": 13613, "training_step_time": 17.8144428730011 }, { "epoch": 1.2983322143554687e-06, "model_forward_time": 3.8599002361297607, "step": 13614 }, { "epoch": 1.2983322143554687e-06, "step": 13614, "training_step_time": 17.58997631072998 }, { "epoch": 1.2984275817871093e-06, "model_forward_time": 4.041202545166016, "step": 13615 }, { "epoch": 1.2984275817871093e-06, "step": 13615, "training_step_time": 17.591880559921265 }, { "epoch": 1.29852294921875e-06, "model_forward_time": 5.053309917449951, "step": 13616 }, { "epoch": 1.29852294921875e-06, "step": 13616, "training_step_time": 17.600088119506836 }, { "epoch": 1.2986183166503905e-06, "model_forward_time": 5.07451319694519, "step": 13617 }, { "epoch": 1.2986183166503905e-06, "step": 13617, "training_step_time": 17.61261510848999 }, { "epoch": 1.2987136840820312e-06, "model_forward_time": 5.092064619064331, "step": 13618 }, { "epoch": 1.2987136840820312e-06, "step": 13618, "training_step_time": 17.823806285858154 }, { "epoch": 1.298809051513672e-06, "model_forward_time": 3.8663957118988037, "step": 13619 }, { "epoch": 1.298809051513672e-06, "step": 13619, "training_step_time": 17.604394912719727 }, { "epoch": 1.2989044189453126e-06, "grad_norm": 1.2880252599716187, "learning_rate": 9.439487513705636e-06, "loss": 0.0869, "step": 13620 }, { "epoch": 1.2989044189453126e-06, "model_forward_time": 5.320815086364746, "step": 13620 }, { "dynamics_loss_avg": 0.04673950104042888, "epoch": 1.2989044189453126e-06, "step": 13620 }, { "action_loss_avg": 0.03716905377805233, "epoch": 1.2989044189453126e-06, "step": 13620 }, { "arm_loss_avg": 0.050302775017917155, "epoch": 1.2989044189453126e-06, "step": 13620 }, { "ee_loss_avg": 0.10805700710043312, "epoch": 1.2989044189453126e-06, "step": 13620 }, { "aux_loss_avg": 0.000967328081605956, "epoch": 1.2989044189453126e-06, "step": 13620 }, { "epoch": 1.2989044189453126e-06, "step": 13620, "training_step_time": 17.622278690338135 }, { "epoch": 1.2989997863769532e-06, "model_forward_time": 5.091124773025513, "step": 13621 }, { "epoch": 1.2989997863769532e-06, "step": 13621, "training_step_time": 17.600939750671387 }, { "epoch": 1.2990951538085938e-06, "model_forward_time": 5.09616494178772, "step": 13622 }, { "epoch": 1.2990951538085938e-06, "step": 13622, "training_step_time": 17.620989084243774 }, { "epoch": 1.2991905212402344e-06, "model_forward_time": 5.103584289550781, "step": 13623 }, { "epoch": 1.2991905212402344e-06, "step": 13623, "training_step_time": 17.469485998153687 }, { "epoch": 1.299285888671875e-06, "model_forward_time": 5.101700305938721, "step": 13624 }, { "epoch": 1.299285888671875e-06, "step": 13624, "training_step_time": 17.77519965171814 }, { "epoch": 1.2993812561035157e-06, "model_forward_time": 5.287581920623779, "step": 13625 }, { "epoch": 1.2993812561035157e-06, "step": 13625, "training_step_time": 17.582216262817383 }, { "epoch": 1.2994766235351563e-06, "model_forward_time": 5.09943413734436, "step": 13626 }, { "epoch": 1.2994766235351563e-06, "step": 13626, "training_step_time": 17.613224506378174 }, { "epoch": 1.299571990966797e-06, "model_forward_time": 5.093027114868164, "step": 13627 }, { "epoch": 1.299571990966797e-06, "step": 13627, "training_step_time": 17.6293888092041 }, { "epoch": 1.2996673583984375e-06, "model_forward_time": 3.852307081222534, "step": 13628 }, { "epoch": 1.2996673583984375e-06, "step": 13628, "training_step_time": 17.637118816375732 }, { "epoch": 1.2997627258300781e-06, "model_forward_time": 5.062476873397827, "step": 13629 }, { "epoch": 1.2997627258300781e-06, "step": 13629, "training_step_time": 17.34737992286682 }, { "epoch": 1.2998580932617187e-06, "grad_norm": 1.532024621963501, "learning_rate": 9.438400354838286e-06, "loss": 0.0903, "step": 13630 }, { "epoch": 1.2998580932617187e-06, "model_forward_time": 5.301732540130615, "step": 13630 }, { "dynamics_loss_avg": 0.03862495552748442, "epoch": 1.2998580932617187e-06, "step": 13630 }, { "action_loss_avg": 0.03438439816236496, "epoch": 1.2998580932617187e-06, "step": 13630 }, { "arm_loss_avg": 0.08201623130589723, "epoch": 1.2998580932617187e-06, "step": 13630 }, { "ee_loss_avg": 0.10088595929555595, "epoch": 1.2998580932617187e-06, "step": 13630 }, { "aux_loss_avg": 0.0012326818832661957, "epoch": 1.2998580932617187e-06, "step": 13630 }, { "epoch": 1.2998580932617187e-06, "step": 13630, "training_step_time": 17.551035165786743 }, { "epoch": 1.2999534606933594e-06, "model_forward_time": 5.076488256454468, "step": 13631 }, { "epoch": 1.2999534606933594e-06, "step": 13631, "training_step_time": 17.589276790618896 }, { "epoch": 1.300048828125e-06, "model_forward_time": 5.083397388458252, "step": 13632 }, { "epoch": 1.300048828125e-06, "step": 13632, "training_step_time": 17.59989047050476 }, { "epoch": 1.3001441955566406e-06, "model_forward_time": 5.091408729553223, "step": 13633 }, { "epoch": 1.3001441955566406e-06, "step": 13633, "training_step_time": 17.608078241348267 }, { "epoch": 1.3002395629882812e-06, "model_forward_time": 5.0942769050598145, "step": 13634 }, { "epoch": 1.3002395629882812e-06, "step": 13634, "training_step_time": 17.86179494857788 }, { "epoch": 1.3003349304199218e-06, "model_forward_time": 5.2785913944244385, "step": 13635 }, { "epoch": 1.3003349304199218e-06, "step": 13635, "training_step_time": 17.628135919570923 }, { "epoch": 1.3004302978515624e-06, "model_forward_time": 5.098020553588867, "step": 13636 }, { "epoch": 1.3004302978515624e-06, "step": 13636, "training_step_time": 17.63482666015625 }, { "epoch": 1.300525665283203e-06, "model_forward_time": 5.095703601837158, "step": 13637 }, { "epoch": 1.300525665283203e-06, "step": 13637, "training_step_time": 17.63018250465393 }, { "epoch": 1.3006210327148437e-06, "model_forward_time": 5.093804597854614, "step": 13638 }, { "epoch": 1.3006210327148437e-06, "step": 13638, "training_step_time": 17.84583330154419 }, { "epoch": 1.3007164001464843e-06, "model_forward_time": 5.09271764755249, "step": 13639 }, { "epoch": 1.3007164001464843e-06, "step": 13639, "training_step_time": 17.622828483581543 }, { "epoch": 1.300811767578125e-06, "grad_norm": 1.1954272985458374, "learning_rate": 9.437312205406069e-06, "loss": 0.0759, "step": 13640 }, { "epoch": 1.300811767578125e-06, "model_forward_time": 5.3348095417022705, "step": 13640 }, { "dynamics_loss_avg": 0.0366457361727953, "epoch": 1.300811767578125e-06, "step": 13640 }, { "action_loss_avg": 0.0409407889470458, "epoch": 1.300811767578125e-06, "step": 13640 }, { "arm_loss_avg": 0.06155265644192696, "epoch": 1.300811767578125e-06, "step": 13640 }, { "ee_loss_avg": 0.11508520264178515, "epoch": 1.300811767578125e-06, "step": 13640 }, { "aux_loss_avg": 0.0006769979721866548, "epoch": 1.300811767578125e-06, "step": 13640 }, { "epoch": 1.300811767578125e-06, "step": 13640, "training_step_time": 17.448150873184204 }, { "epoch": 1.3009071350097657e-06, "model_forward_time": 5.0939414501190186, "step": 13641 }, { "epoch": 1.3009071350097657e-06, "step": 13641, "training_step_time": 17.53246283531189 }, { "epoch": 1.3010025024414063e-06, "model_forward_time": 5.089685440063477, "step": 13642 }, { "epoch": 1.3010025024414063e-06, "step": 13642, "training_step_time": 17.57460904121399 }, { "epoch": 1.301097869873047e-06, "model_forward_time": 5.084610939025879, "step": 13643 }, { "epoch": 1.301097869873047e-06, "step": 13643, "training_step_time": 17.589332342147827 }, { "epoch": 1.3011932373046876e-06, "model_forward_time": 5.086613416671753, "step": 13644 }, { "epoch": 1.3011932373046876e-06, "step": 13644, "training_step_time": 17.854982614517212 }, { "epoch": 1.3012886047363282e-06, "model_forward_time": 5.278160810470581, "step": 13645 }, { "epoch": 1.3012886047363282e-06, "step": 13645, "training_step_time": 17.610551595687866 }, { "epoch": 1.3013839721679688e-06, "model_forward_time": 5.083260536193848, "step": 13646 }, { "epoch": 1.3013839721679688e-06, "step": 13646, "training_step_time": 17.614954710006714 }, { "epoch": 1.3014793395996094e-06, "model_forward_time": 5.084502935409546, "step": 13647 }, { "epoch": 1.3014793395996094e-06, "step": 13647, "training_step_time": 17.633721113204956 }, { "epoch": 1.30157470703125e-06, "model_forward_time": 5.082321405410767, "step": 13648 }, { "epoch": 1.30157470703125e-06, "step": 13648, "training_step_time": 17.85570526123047 }, { "epoch": 1.3016700744628906e-06, "model_forward_time": 5.085236310958862, "step": 13649 }, { "epoch": 1.3016700744628906e-06, "step": 13649, "training_step_time": 17.63067126274109 }, { "epoch": 1.3017654418945312e-06, "grad_norm": 1.174133062362671, "learning_rate": 9.436223065651837e-06, "loss": 0.0861, "step": 13650 }, { "epoch": 1.3017654418945312e-06, "model_forward_time": 5.089565992355347, "step": 13650 }, { "dynamics_loss_avg": 0.03889762330800295, "epoch": 1.3017654418945312e-06, "step": 13650 }, { "action_loss_avg": 0.04030887447297573, "epoch": 1.3017654418945312e-06, "step": 13650 }, { "arm_loss_avg": 0.10726501150056719, "epoch": 1.3017654418945312e-06, "step": 13650 }, { "ee_loss_avg": 0.21182144805788994, "epoch": 1.3017654418945312e-06, "step": 13650 }, { "aux_loss_avg": 0.0028122426301706582, "epoch": 1.3017654418945312e-06, "step": 13650 }, { "epoch": 1.3017654418945312e-06, "step": 13650, "training_step_time": 17.62232756614685 }, { "epoch": 1.3018608093261719e-06, "model_forward_time": 5.082347631454468, "step": 13651 }, { "epoch": 1.3018608093261719e-06, "step": 13651, "training_step_time": 17.6251323223114 }, { "epoch": 1.3019561767578125e-06, "model_forward_time": 5.088891506195068, "step": 13652 }, { "epoch": 1.3019561767578125e-06, "step": 13652, "training_step_time": 17.61370539665222 }, { "epoch": 1.302051544189453e-06, "model_forward_time": 5.090007543563843, "step": 13653 }, { "epoch": 1.302051544189453e-06, "step": 13653, "training_step_time": 17.87487292289734 }, { "epoch": 1.3021469116210937e-06, "model_forward_time": 5.281661033630371, "step": 13654 }, { "epoch": 1.3021469116210937e-06, "step": 13654, "training_step_time": 17.606804132461548 }, { "epoch": 1.3022422790527343e-06, "model_forward_time": 5.090352535247803, "step": 13655 }, { "epoch": 1.3022422790527343e-06, "step": 13655, "training_step_time": 17.390573024749756 }, { "epoch": 1.302337646484375e-06, "model_forward_time": 5.088471174240112, "step": 13656 }, { "epoch": 1.302337646484375e-06, "step": 13656, "training_step_time": 17.515541076660156 }, { "epoch": 1.3024330139160155e-06, "model_forward_time": 5.0898661613464355, "step": 13657 }, { "epoch": 1.3024330139160155e-06, "step": 13657, "training_step_time": 17.618778228759766 }, { "epoch": 1.3025283813476562e-06, "model_forward_time": 5.084472417831421, "step": 13658 }, { "epoch": 1.3025283813476562e-06, "step": 13658, "training_step_time": 17.599741458892822 }, { "epoch": 1.3026237487792968e-06, "model_forward_time": 5.08846378326416, "step": 13659 }, { "epoch": 1.3026237487792968e-06, "step": 13659, "training_step_time": 17.841862201690674 }, { "epoch": 1.3027191162109376e-06, "grad_norm": 1.2807644605636597, "learning_rate": 9.435132935818668e-06, "loss": 0.0911, "step": 13660 }, { "epoch": 1.3027191162109376e-06, "model_forward_time": 5.085825204849243, "step": 13660 }, { "dynamics_loss_avg": 0.03531190333887935, "epoch": 1.3027191162109376e-06, "step": 13660 }, { "action_loss_avg": 0.027449273876845835, "epoch": 1.3027191162109376e-06, "step": 13660 }, { "arm_loss_avg": 0.047117815166711804, "epoch": 1.3027191162109376e-06, "step": 13660 }, { "ee_loss_avg": 0.06488767694681882, "epoch": 1.3027191162109376e-06, "step": 13660 }, { "aux_loss_avg": 0.0008283024828415364, "epoch": 1.3027191162109376e-06, "step": 13660 }, { "epoch": 1.3027191162109376e-06, "step": 13660, "training_step_time": 17.625088214874268 }, { "epoch": 1.3028144836425782e-06, "model_forward_time": 5.087155103683472, "step": 13661 }, { "epoch": 1.3028144836425782e-06, "step": 13661, "training_step_time": 17.642157554626465 }, { "epoch": 1.3029098510742188e-06, "model_forward_time": 5.0876240730285645, "step": 13662 }, { "epoch": 1.3029098510742188e-06, "step": 13662, "training_step_time": 17.576178312301636 }, { "epoch": 1.3030052185058594e-06, "model_forward_time": 5.090184450149536, "step": 13663 }, { "epoch": 1.3030052185058594e-06, "step": 13663, "training_step_time": 17.550967693328857 }, { "epoch": 1.3031005859375e-06, "model_forward_time": 5.091501951217651, "step": 13664 }, { "epoch": 1.3031005859375e-06, "step": 13664, "training_step_time": 17.828710556030273 }, { "epoch": 1.3031959533691407e-06, "model_forward_time": 5.088151693344116, "step": 13665 }, { "epoch": 1.3031959533691407e-06, "step": 13665, "training_step_time": 17.605223417282104 }, { "epoch": 1.3032913208007813e-06, "model_forward_time": 5.089693307876587, "step": 13666 }, { "epoch": 1.3032913208007813e-06, "step": 13666, "training_step_time": 17.626981019973755 }, { "epoch": 1.303386688232422e-06, "model_forward_time": 5.104562759399414, "step": 13667 }, { "epoch": 1.303386688232422e-06, "step": 13667, "training_step_time": 18.95134162902832 }, { "epoch": 1.3034820556640625e-06, "model_forward_time": 5.085111618041992, "step": 13668 }, { "epoch": 1.3034820556640625e-06, "step": 13668, "training_step_time": 21.8265323638916 }, { "epoch": 1.3035774230957031e-06, "model_forward_time": 5.067116737365723, "step": 13669 }, { "epoch": 1.3035774230957031e-06, "step": 13669, "training_step_time": 21.84559655189514 }, { "epoch": 1.3036727905273437e-06, "grad_norm": 1.5602598190307617, "learning_rate": 9.434041816149854e-06, "loss": 0.0784, "step": 13670 }, { "epoch": 1.3036727905273437e-06, "model_forward_time": 5.06815505027771, "step": 13670 }, { "dynamics_loss_avg": 0.031307330308482054, "epoch": 1.3036727905273437e-06, "step": 13670 }, { "action_loss_avg": 0.02511510904878378, "epoch": 1.3036727905273437e-06, "step": 13670 }, { "arm_loss_avg": 0.05325174294412136, "epoch": 1.3036727905273437e-06, "step": 13670 }, { "ee_loss_avg": 0.08080749055370688, "epoch": 1.3036727905273437e-06, "step": 13670 }, { "aux_loss_avg": 0.0018356431770371272, "epoch": 1.3036727905273437e-06, "step": 13670 }, { "epoch": 1.3036727905273437e-06, "step": 13670, "training_step_time": 21.722753047943115 }, { "epoch": 1.3037681579589844e-06, "model_forward_time": 5.05657434463501, "step": 13671 }, { "epoch": 1.3037681579589844e-06, "step": 13671, "training_step_time": 22.042972803115845 }, { "epoch": 1.303863525390625e-06, "model_forward_time": 5.073723077774048, "step": 13672 }, { "epoch": 1.303863525390625e-06, "step": 13672, "training_step_time": 21.827322721481323 }, { "epoch": 1.3039588928222656e-06, "model_forward_time": 5.06267786026001, "step": 13673 }, { "epoch": 1.3039588928222656e-06, "step": 13673, "training_step_time": 21.82953977584839 }, { "epoch": 1.3040542602539062e-06, "model_forward_time": 5.259942054748535, "step": 13674 }, { "epoch": 1.3040542602539062e-06, "step": 13674, "training_step_time": 21.805609941482544 }, { "epoch": 1.3041496276855468e-06, "model_forward_time": 5.065373182296753, "step": 13675 }, { "epoch": 1.3041496276855468e-06, "step": 13675, "training_step_time": 21.783958196640015 }, { "epoch": 1.3042449951171874e-06, "model_forward_time": 5.072385311126709, "step": 13676 }, { "epoch": 1.3042449951171874e-06, "step": 13676, "training_step_time": 22.175642251968384 }, { "epoch": 1.304340362548828e-06, "model_forward_time": 5.078540802001953, "step": 13677 }, { "epoch": 1.304340362548828e-06, "step": 13677, "training_step_time": 21.876951456069946 }, { "epoch": 1.3044357299804687e-06, "model_forward_time": 5.087361574172974, "step": 13678 }, { "epoch": 1.3044357299804687e-06, "step": 13678, "training_step_time": 21.80502438545227 }, { "epoch": 1.3045310974121093e-06, "model_forward_time": 5.084900140762329, "step": 13679 }, { "epoch": 1.3045310974121093e-06, "step": 13679, "training_step_time": 21.76547360420227 }, { "epoch": 1.30462646484375e-06, "grad_norm": 1.1788194179534912, "learning_rate": 9.432949706888915e-06, "loss": 0.0837, "step": 13680 }, { "epoch": 1.30462646484375e-06, "model_forward_time": 5.088305950164795, "step": 13680 }, { "dynamics_loss_avg": 0.04739615265280008, "epoch": 1.30462646484375e-06, "step": 13680 }, { "action_loss_avg": 0.0298445001244545, "epoch": 1.30462646484375e-06, "step": 13680 }, { "arm_loss_avg": 0.04165076520293951, "epoch": 1.30462646484375e-06, "step": 13680 }, { "ee_loss_avg": 0.07742540892213583, "epoch": 1.30462646484375e-06, "step": 13680 }, { "aux_loss_avg": 0.0016141676576808095, "epoch": 1.30462646484375e-06, "step": 13680 }, { "epoch": 1.30462646484375e-06, "step": 13680, "training_step_time": 21.799620628356934 }, { "epoch": 1.3047218322753907e-06, "model_forward_time": 5.085647821426392, "step": 13681 }, { "epoch": 1.3047218322753907e-06, "step": 13681, "training_step_time": 22.024152278900146 }, { "epoch": 1.3048171997070313e-06, "model_forward_time": 3.8580522537231445, "step": 13682 }, { "epoch": 1.3048171997070313e-06, "step": 13682, "training_step_time": 21.912704706192017 }, { "epoch": 1.304912567138672e-06, "model_forward_time": 5.050817012786865, "step": 13683 }, { "epoch": 1.304912567138672e-06, "step": 13683, "training_step_time": 21.869768619537354 }, { "epoch": 1.3050079345703126e-06, "model_forward_time": 5.058856964111328, "step": 13684 }, { "epoch": 1.3050079345703126e-06, "step": 13684, "training_step_time": 17.824875354766846 }, { "epoch": 1.3051033020019532e-06, "model_forward_time": 5.303079605102539, "step": 13685 }, { "epoch": 1.3051033020019532e-06, "step": 13685, "training_step_time": 21.740771055221558 }, { "epoch": 1.3051986694335938e-06, "model_forward_time": 5.083286285400391, "step": 13686 }, { "epoch": 1.3051986694335938e-06, "step": 13686, "training_step_time": 22.090375661849976 }, { "epoch": 1.3052940368652344e-06, "model_forward_time": 5.076162338256836, "step": 13687 }, { "epoch": 1.3052940368652344e-06, "step": 13687, "training_step_time": 21.783974409103394 }, { "epoch": 1.305389404296875e-06, "model_forward_time": 3.842832326889038, "step": 13688 }, { "epoch": 1.305389404296875e-06, "step": 13688, "training_step_time": 21.79444122314453 }, { "epoch": 1.3054847717285156e-06, "model_forward_time": 3.8253324031829834, "step": 13689 }, { "epoch": 1.3054847717285156e-06, "step": 13689, "training_step_time": 17.213132858276367 }, { "epoch": 1.3055801391601562e-06, "grad_norm": 1.9997960329055786, "learning_rate": 9.431856608279586e-06, "loss": 0.0907, "step": 13690 }, { "epoch": 1.3055801391601562e-06, "model_forward_time": 5.282206058502197, "step": 13690 }, { "dynamics_loss_avg": 0.04668990531936288, "epoch": 1.3055801391601562e-06, "step": 13690 }, { "action_loss_avg": 0.029576250724494456, "epoch": 1.3055801391601562e-06, "step": 13690 }, { "arm_loss_avg": 0.05329079162329435, "epoch": 1.3055801391601562e-06, "step": 13690 }, { "ee_loss_avg": 0.10269084479659796, "epoch": 1.3055801391601562e-06, "step": 13690 }, { "aux_loss_avg": 0.00465978131396696, "epoch": 1.3055801391601562e-06, "step": 13690 }, { "epoch": 1.3055801391601562e-06, "step": 13690, "training_step_time": 21.876097679138184 }, { "epoch": 1.3056755065917969e-06, "model_forward_time": 5.059096813201904, "step": 13691 }, { "epoch": 1.3056755065917969e-06, "step": 13691, "training_step_time": 21.971941709518433 }, { "epoch": 1.3057708740234375e-06, "model_forward_time": 5.052922248840332, "step": 13692 }, { "epoch": 1.3057708740234375e-06, "step": 13692, "training_step_time": 17.478814363479614 }, { "epoch": 1.305866241455078e-06, "model_forward_time": 5.085963726043701, "step": 13693 }, { "epoch": 1.305866241455078e-06, "step": 13693, "training_step_time": 21.85719609260559 }, { "epoch": 1.3059616088867187e-06, "model_forward_time": 5.074984312057495, "step": 13694 }, { "epoch": 1.3059616088867187e-06, "step": 13694, "training_step_time": 17.847638845443726 }, { "epoch": 1.3060569763183593e-06, "model_forward_time": 5.297206163406372, "step": 13695 }, { "epoch": 1.3060569763183593e-06, "step": 13695, "training_step_time": 21.715433597564697 }, { "epoch": 1.30615234375e-06, "model_forward_time": 5.080760717391968, "step": 13696 }, { "epoch": 1.30615234375e-06, "step": 13696, "training_step_time": 17.66253137588501 }, { "epoch": 1.3062477111816405e-06, "model_forward_time": 5.093023300170898, "step": 13697 }, { "epoch": 1.3062477111816405e-06, "step": 13697, "training_step_time": 21.959678649902344 }, { "epoch": 1.3063430786132812e-06, "model_forward_time": 5.06788969039917, "step": 13698 }, { "epoch": 1.3063430786132812e-06, "step": 13698, "training_step_time": 21.886265993118286 }, { "epoch": 1.3064384460449218e-06, "model_forward_time": 5.060352087020874, "step": 13699 }, { "epoch": 1.3064384460449218e-06, "step": 13699, "training_step_time": 21.772010803222656 }, { "epoch": 1.3065338134765626e-06, "grad_norm": 1.2439666986465454, "learning_rate": 9.430762520565826e-06, "loss": 0.0926, "step": 13700 }, { "epoch": 1.3065338134765626e-06, "model_forward_time": 5.0570361614227295, "step": 13700 }, { "dynamics_loss_avg": 0.036292966455221176, "epoch": 1.3065338134765626e-06, "step": 13700 }, { "action_loss_avg": 0.024021961633116005, "epoch": 1.3065338134765626e-06, "step": 13700 }, { "arm_loss_avg": 0.04151059985160828, "epoch": 1.3065338134765626e-06, "step": 13700 }, { "ee_loss_avg": 0.083895761705935, "epoch": 1.3065338134765626e-06, "step": 13700 }, { "aux_loss_avg": 0.002191388380015269, "epoch": 1.3065338134765626e-06, "step": 13700 }, { "epoch": 1.3065338134765626e-06, "step": 13700, "training_step_time": 21.788047790527344 }, { "epoch": 1.3066291809082032e-06, "model_forward_time": 5.051477909088135, "step": 13701 }, { "epoch": 1.3066291809082032e-06, "step": 13701, "training_step_time": 21.877108812332153 }, { "epoch": 1.3067245483398438e-06, "model_forward_time": 5.05427098274231, "step": 13702 }, { "epoch": 1.3067245483398438e-06, "step": 13702, "training_step_time": 21.991240978240967 }, { "epoch": 1.3068199157714844e-06, "model_forward_time": 5.062509536743164, "step": 13703 }, { "epoch": 1.3068199157714844e-06, "step": 13703, "training_step_time": 21.817362785339355 }, { "epoch": 1.306915283203125e-06, "model_forward_time": 5.060467720031738, "step": 13704 }, { "epoch": 1.306915283203125e-06, "step": 13704, "training_step_time": 17.778499364852905 }, { "epoch": 1.3070106506347657e-06, "model_forward_time": 5.077512264251709, "step": 13705 }, { "epoch": 1.3070106506347657e-06, "step": 13705, "training_step_time": 21.791590690612793 }, { "epoch": 1.3071060180664063e-06, "model_forward_time": 5.071127653121948, "step": 13706 }, { "epoch": 1.3071060180664063e-06, "step": 13706, "training_step_time": 17.602657556533813 }, { "epoch": 1.307201385498047e-06, "model_forward_time": 5.092127084732056, "step": 13707 }, { "epoch": 1.307201385498047e-06, "step": 13707, "training_step_time": 22.046923875808716 }, { "epoch": 1.3072967529296875e-06, "model_forward_time": 5.082453966140747, "step": 13708 }, { "epoch": 1.3072967529296875e-06, "step": 13708, "training_step_time": 21.802658796310425 }, { "epoch": 1.3073921203613281e-06, "model_forward_time": 5.075369358062744, "step": 13709 }, { "epoch": 1.3073921203613281e-06, "step": 13709, "training_step_time": 21.839478254318237 }, { "epoch": 1.3074874877929687e-06, "grad_norm": 1.4712742567062378, "learning_rate": 9.429667443991815e-06, "loss": 0.0924, "step": 13710 }, { "epoch": 1.3074874877929687e-06, "model_forward_time": 4.088374137878418, "step": 13710 }, { "dynamics_loss_avg": 0.04364510979503393, "epoch": 1.3074874877929687e-06, "step": 13710 }, { "action_loss_avg": 0.033509033638983964, "epoch": 1.3074874877929687e-06, "step": 13710 }, { "arm_loss_avg": 0.04255618341267109, "epoch": 1.3074874877929687e-06, "step": 13710 }, { "ee_loss_avg": 0.0977668303065002, "epoch": 1.3074874877929687e-06, "step": 13710 }, { "aux_loss_avg": 0.00134377756039612, "epoch": 1.3074874877929687e-06, "step": 13710 }, { "epoch": 1.3074874877929687e-06, "step": 13710, "training_step_time": 21.810099124908447 }, { "epoch": 1.3075828552246094e-06, "model_forward_time": 5.047998428344727, "step": 13711 }, { "epoch": 1.3075828552246094e-06, "step": 13711, "training_step_time": 21.888561964035034 }, { "epoch": 1.30767822265625e-06, "model_forward_time": 3.828418493270874, "step": 13712 }, { "epoch": 1.30767822265625e-06, "step": 13712, "training_step_time": 21.941551685333252 }, { "epoch": 1.3077735900878906e-06, "model_forward_time": 5.042723178863525, "step": 13713 }, { "epoch": 1.3077735900878906e-06, "step": 13713, "training_step_time": 21.871933937072754 }, { "epoch": 1.3078689575195312e-06, "model_forward_time": 5.057952404022217, "step": 13714 }, { "epoch": 1.3078689575195312e-06, "step": 13714, "training_step_time": 21.880505084991455 }, { "epoch": 1.3079643249511718e-06, "model_forward_time": 5.238935708999634, "step": 13715 }, { "epoch": 1.3079643249511718e-06, "step": 13715, "training_step_time": 21.71294403076172 }, { "epoch": 1.3080596923828124e-06, "model_forward_time": 5.059415340423584, "step": 13716 }, { "epoch": 1.3080596923828124e-06, "step": 13716, "training_step_time": 21.816001415252686 }, { "epoch": 1.308155059814453e-06, "model_forward_time": 5.07021427154541, "step": 13717 }, { "epoch": 1.308155059814453e-06, "step": 13717, "training_step_time": 17.58806824684143 }, { "epoch": 1.3082504272460937e-06, "model_forward_time": 5.09921407699585, "step": 13718 }, { "epoch": 1.3082504272460937e-06, "step": 13718, "training_step_time": 21.770164728164673 }, { "epoch": 1.3083457946777343e-06, "model_forward_time": 5.092375040054321, "step": 13719 }, { "epoch": 1.3083457946777343e-06, "step": 13719, "training_step_time": 21.82818865776062 }, { "epoch": 1.308441162109375e-06, "grad_norm": 1.1689555644989014, "learning_rate": 9.428571378801954e-06, "loss": 0.0946, "step": 13720 }, { "epoch": 1.308441162109375e-06, "model_forward_time": 4.0853729248046875, "step": 13720 }, { "dynamics_loss_avg": 0.0445859688334167, "epoch": 1.308441162109375e-06, "step": 13720 }, { "action_loss_avg": 0.031220978777855634, "epoch": 1.308441162109375e-06, "step": 13720 }, { "arm_loss_avg": 0.05610826574265957, "epoch": 1.308441162109375e-06, "step": 13720 }, { "ee_loss_avg": 0.10180376293137669, "epoch": 1.308441162109375e-06, "step": 13720 }, { "aux_loss_avg": 0.006218875950435176, "epoch": 1.308441162109375e-06, "step": 13720 }, { "epoch": 1.308441162109375e-06, "step": 13720, "training_step_time": 21.895975828170776 }, { "epoch": 1.3085365295410157e-06, "model_forward_time": 5.050940275192261, "step": 13721 }, { "epoch": 1.3085365295410157e-06, "step": 13721, "training_step_time": 17.55786156654358 }, { "epoch": 1.3086318969726563e-06, "model_forward_time": 5.070745468139648, "step": 13722 }, { "epoch": 1.3086318969726563e-06, "step": 13722, "training_step_time": 22.071258068084717 }, { "epoch": 1.308727264404297e-06, "model_forward_time": 3.8371427059173584, "step": 13723 }, { "epoch": 1.308727264404297e-06, "step": 13723, "training_step_time": 21.764732837677002 }, { "epoch": 1.3088226318359376e-06, "model_forward_time": 5.0570573806762695, "step": 13724 }, { "epoch": 1.3088226318359376e-06, "step": 13724, "training_step_time": 21.888407230377197 }, { "epoch": 1.3089179992675782e-06, "model_forward_time": 5.243730306625366, "step": 13725 }, { "epoch": 1.3089179992675782e-06, "step": 13725, "training_step_time": 21.89456295967102 }, { "epoch": 1.3090133666992188e-06, "model_forward_time": 5.053091287612915, "step": 13726 }, { "epoch": 1.3090133666992188e-06, "step": 13726, "training_step_time": 21.89494514465332 }, { "epoch": 1.3091087341308594e-06, "model_forward_time": 5.074661731719971, "step": 13727 }, { "epoch": 1.3091087341308594e-06, "step": 13727, "training_step_time": 22.064382553100586 }, { "epoch": 1.3092041015625e-06, "model_forward_time": 5.061354875564575, "step": 13728 }, { "epoch": 1.3092041015625e-06, "step": 13728, "training_step_time": 17.53740119934082 }, { "epoch": 1.3092994689941406e-06, "model_forward_time": 5.093405246734619, "step": 13729 }, { "epoch": 1.3092994689941406e-06, "step": 13729, "training_step_time": 21.798275232315063 }, { "epoch": 1.3093948364257812e-06, "grad_norm": 1.0441203117370605, "learning_rate": 9.427474325240861e-06, "loss": 0.0868, "step": 13730 }, { "epoch": 1.3093948364257812e-06, "model_forward_time": 5.313208341598511, "step": 13730 }, { "dynamics_loss_avg": 0.038087697234004736, "epoch": 1.3093948364257812e-06, "step": 13730 }, { "action_loss_avg": 0.031002184376120567, "epoch": 1.3093948364257812e-06, "step": 13730 }, { "arm_loss_avg": 0.061263788118958475, "epoch": 1.3093948364257812e-06, "step": 13730 }, { "ee_loss_avg": 0.09513364415615796, "epoch": 1.3093948364257812e-06, "step": 13730 }, { "aux_loss_avg": 0.0007811078918166459, "epoch": 1.3093948364257812e-06, "step": 13730 }, { "epoch": 1.3093948364257812e-06, "step": 13730, "training_step_time": 21.84679388999939 }, { "epoch": 1.3094902038574219e-06, "model_forward_time": 5.070102691650391, "step": 13731 }, { "epoch": 1.3094902038574219e-06, "step": 13731, "training_step_time": 21.880150079727173 }, { "epoch": 1.3095855712890625e-06, "model_forward_time": 5.0593132972717285, "step": 13732 }, { "epoch": 1.3095855712890625e-06, "step": 13732, "training_step_time": 22.070191860198975 }, { "epoch": 1.309680938720703e-06, "model_forward_time": 5.057085037231445, "step": 13733 }, { "epoch": 1.309680938720703e-06, "step": 13733, "training_step_time": 21.929705381393433 }, { "epoch": 1.3097763061523437e-06, "model_forward_time": 3.8282663822174072, "step": 13734 }, { "epoch": 1.3097763061523437e-06, "step": 13734, "training_step_time": 21.860360622406006 }, { "epoch": 1.3098716735839843e-06, "model_forward_time": 5.2435126304626465, "step": 13735 }, { "epoch": 1.3098716735839843e-06, "step": 13735, "training_step_time": 21.899388313293457 }, { "epoch": 1.309967041015625e-06, "model_forward_time": 5.056504487991333, "step": 13736 }, { "epoch": 1.309967041015625e-06, "step": 13736, "training_step_time": 21.89664626121521 }, { "epoch": 1.3100624084472655e-06, "model_forward_time": 5.052509784698486, "step": 13737 }, { "epoch": 1.3100624084472655e-06, "step": 13737, "training_step_time": 22.161547899246216 }, { "epoch": 1.3101577758789062e-06, "model_forward_time": 5.058807373046875, "step": 13738 }, { "epoch": 1.3101577758789062e-06, "step": 13738, "training_step_time": 21.896989345550537 }, { "epoch": 1.3102531433105468e-06, "model_forward_time": 5.068672180175781, "step": 13739 }, { "epoch": 1.3102531433105468e-06, "step": 13739, "training_step_time": 21.9044771194458 }, { "epoch": 1.3103485107421876e-06, "grad_norm": 1.2532695531845093, "learning_rate": 9.426376283553377e-06, "loss": 0.0856, "step": 13740 }, { "epoch": 1.3103485107421876e-06, "model_forward_time": 5.308401584625244, "step": 13740 }, { "dynamics_loss_avg": 0.048831529915332794, "epoch": 1.3103485107421876e-06, "step": 13740 }, { "action_loss_avg": 0.029984098486602308, "epoch": 1.3103485107421876e-06, "step": 13740 }, { "arm_loss_avg": 0.049057720229029655, "epoch": 1.3103485107421876e-06, "step": 13740 }, { "ee_loss_avg": 0.07872211998328567, "epoch": 1.3103485107421876e-06, "step": 13740 }, { "aux_loss_avg": 0.0012535473331809043, "epoch": 1.3103485107421876e-06, "step": 13740 }, { "epoch": 1.3103485107421876e-06, "step": 13740, "training_step_time": 21.903220176696777 }, { "epoch": 1.3104438781738282e-06, "model_forward_time": 3.8405063152313232, "step": 13741 }, { "epoch": 1.3104438781738282e-06, "step": 13741, "training_step_time": 21.776679515838623 }, { "epoch": 1.3105392456054688e-06, "model_forward_time": 5.0491251945495605, "step": 13742 }, { "epoch": 1.3105392456054688e-06, "step": 13742, "training_step_time": 21.923505306243896 }, { "epoch": 1.3106346130371094e-06, "model_forward_time": 5.0562355518341064, "step": 13743 }, { "epoch": 1.3106346130371094e-06, "step": 13743, "training_step_time": 21.807281970977783 }, { "epoch": 1.31072998046875e-06, "model_forward_time": 5.065052032470703, "step": 13744 }, { "epoch": 1.31072998046875e-06, "step": 13744, "training_step_time": 21.779277324676514 }, { "epoch": 1.3108253479003907e-06, "model_forward_time": 4.077865123748779, "step": 13745 }, { "epoch": 1.3108253479003907e-06, "step": 13745, "training_step_time": 21.717604637145996 }, { "epoch": 1.3109207153320313e-06, "model_forward_time": 5.055841445922852, "step": 13746 }, { "epoch": 1.3109207153320313e-06, "step": 13746, "training_step_time": 21.866158962249756 }, { "epoch": 1.311016082763672e-06, "model_forward_time": 5.060251474380493, "step": 13747 }, { "epoch": 1.311016082763672e-06, "step": 13747, "training_step_time": 17.574700117111206 }, { "epoch": 1.3111114501953125e-06, "model_forward_time": 5.08864426612854, "step": 13748 }, { "epoch": 1.3111114501953125e-06, "step": 13748, "training_step_time": 21.848286390304565 }, { "epoch": 1.3112068176269531e-06, "model_forward_time": 5.0857110023498535, "step": 13749 }, { "epoch": 1.3112068176269531e-06, "step": 13749, "training_step_time": 21.68251633644104 }, { "epoch": 1.3113021850585938e-06, "grad_norm": 1.4514960050582886, "learning_rate": 9.425277253984569e-06, "loss": 0.0879, "step": 13750 }, { "epoch": 1.3113021850585938e-06, "model_forward_time": 5.3268959522247314, "step": 13750 }, { "dynamics_loss_avg": 0.04640757441520691, "epoch": 1.3113021850585938e-06, "step": 13750 }, { "action_loss_avg": 0.03273487091064453, "epoch": 1.3113021850585938e-06, "step": 13750 }, { "arm_loss_avg": 0.03906868398189545, "epoch": 1.3113021850585938e-06, "step": 13750 }, { "ee_loss_avg": 0.05132953366264701, "epoch": 1.3113021850585938e-06, "step": 13750 }, { "aux_loss_avg": 0.001605568389641121, "epoch": 1.3113021850585938e-06, "step": 13750 }, { "epoch": 1.3113021850585938e-06, "step": 13750, "training_step_time": 21.91050672531128 }, { "epoch": 1.3113975524902344e-06, "model_forward_time": 5.067789077758789, "step": 13751 }, { "epoch": 1.3113975524902344e-06, "step": 13751, "training_step_time": 21.86952829360962 }, { "epoch": 1.311492919921875e-06, "model_forward_time": 5.070954084396362, "step": 13752 }, { "epoch": 1.311492919921875e-06, "step": 13752, "training_step_time": 17.558717966079712 }, { "epoch": 1.3115882873535156e-06, "model_forward_time": 5.089053392410278, "step": 13753 }, { "epoch": 1.3115882873535156e-06, "step": 13753, "training_step_time": 21.897675037384033 }, { "epoch": 1.3116836547851562e-06, "model_forward_time": 5.078731060028076, "step": 13754 }, { "epoch": 1.3116836547851562e-06, "step": 13754, "training_step_time": 21.823258876800537 }, { "epoch": 1.3117790222167968e-06, "model_forward_time": 3.8371877670288086, "step": 13755 }, { "epoch": 1.3117790222167968e-06, "step": 13755, "training_step_time": 21.814587593078613 }, { "epoch": 1.3118743896484374e-06, "model_forward_time": 5.058568239212036, "step": 13756 }, { "epoch": 1.3118743896484374e-06, "step": 13756, "training_step_time": 21.919049739837646 }, { "epoch": 1.311969757080078e-06, "model_forward_time": 5.059181451797485, "step": 13757 }, { "epoch": 1.311969757080078e-06, "step": 13757, "training_step_time": 22.07014298439026 }, { "epoch": 1.3120651245117187e-06, "model_forward_time": 3.837742805480957, "step": 13758 }, { "epoch": 1.3120651245117187e-06, "step": 13758, "training_step_time": 21.817646503448486 }, { "epoch": 1.3121604919433593e-06, "model_forward_time": 5.049749135971069, "step": 13759 }, { "epoch": 1.3121604919433593e-06, "step": 13759, "training_step_time": 21.896486520767212 }, { "epoch": 1.312255859375e-06, "grad_norm": 1.8668019771575928, "learning_rate": 9.424177236779711e-06, "loss": 0.0904, "step": 13760 }, { "epoch": 1.312255859375e-06, "model_forward_time": 5.0509772300720215, "step": 13760 }, { "dynamics_loss_avg": 0.043267824407666924, "epoch": 1.312255859375e-06, "step": 13760 }, { "action_loss_avg": 0.03204324776306748, "epoch": 1.312255859375e-06, "step": 13760 }, { "arm_loss_avg": 0.05022573824971914, "epoch": 1.312255859375e-06, "step": 13760 }, { "ee_loss_avg": 0.09063878133893014, "epoch": 1.312255859375e-06, "step": 13760 }, { "aux_loss_avg": 0.0025815413682721555, "epoch": 1.312255859375e-06, "step": 13760 }, { "epoch": 1.312255859375e-06, "step": 13760, "training_step_time": 21.84218716621399 }, { "epoch": 1.3123512268066407e-06, "model_forward_time": 5.063081741333008, "step": 13761 }, { "epoch": 1.3123512268066407e-06, "step": 13761, "training_step_time": 21.822385549545288 }, { "epoch": 1.3124465942382813e-06, "model_forward_time": 5.067247629165649, "step": 13762 }, { "epoch": 1.3124465942382813e-06, "step": 13762, "training_step_time": 22.087844848632812 }, { "epoch": 1.312541961669922e-06, "model_forward_time": 5.071524381637573, "step": 13763 }, { "epoch": 1.312541961669922e-06, "step": 13763, "training_step_time": 21.82483458518982 }, { "epoch": 1.3126373291015626e-06, "model_forward_time": 5.071734189987183, "step": 13764 }, { "epoch": 1.3126373291015626e-06, "step": 13764, "training_step_time": 21.877668619155884 }, { "epoch": 1.3127326965332032e-06, "model_forward_time": 3.8439111709594727, "step": 13765 }, { "epoch": 1.3127326965332032e-06, "step": 13765, "training_step_time": 21.88578963279724 }, { "epoch": 1.3128280639648438e-06, "model_forward_time": 5.055258274078369, "step": 13766 }, { "epoch": 1.3128280639648438e-06, "step": 13766, "training_step_time": 21.757118225097656 }, { "epoch": 1.3129234313964844e-06, "model_forward_time": 5.062071084976196, "step": 13767 }, { "epoch": 1.3129234313964844e-06, "step": 13767, "training_step_time": 17.603203535079956 }, { "epoch": 1.313018798828125e-06, "model_forward_time": 5.090667724609375, "step": 13768 }, { "epoch": 1.313018798828125e-06, "step": 13768, "training_step_time": 21.826215028762817 }, { "epoch": 1.3131141662597656e-06, "model_forward_time": 5.082254648208618, "step": 13769 }, { "epoch": 1.3131141662597656e-06, "step": 13769, "training_step_time": 21.853150367736816 }, { "epoch": 1.3132095336914063e-06, "grad_norm": 0.7890098094940186, "learning_rate": 9.423076232184312e-06, "loss": 0.079, "step": 13770 }, { "epoch": 1.3132095336914063e-06, "model_forward_time": 5.077791452407837, "step": 13770 }, { "dynamics_loss_avg": 0.03696675430983305, "epoch": 1.3132095336914063e-06, "step": 13770 }, { "action_loss_avg": 0.025708009488880634, "epoch": 1.3132095336914063e-06, "step": 13770 }, { "arm_loss_avg": 0.03557492084801197, "epoch": 1.3132095336914063e-06, "step": 13770 }, { "ee_loss_avg": 0.05044854860752821, "epoch": 1.3132095336914063e-06, "step": 13770 }, { "aux_loss_avg": 0.0009891853900626303, "epoch": 1.3132095336914063e-06, "step": 13770 }, { "epoch": 1.3132095336914063e-06, "step": 13770, "training_step_time": 21.84229803085327 }, { "epoch": 1.3133049011230469e-06, "model_forward_time": 5.07732629776001, "step": 13771 }, { "epoch": 1.3133049011230469e-06, "step": 13771, "training_step_time": 21.904195308685303 }, { "epoch": 1.3134002685546875e-06, "model_forward_time": 5.066573619842529, "step": 13772 }, { "epoch": 1.3134002685546875e-06, "step": 13772, "training_step_time": 21.967655420303345 }, { "epoch": 1.313495635986328e-06, "model_forward_time": 5.06117844581604, "step": 13773 }, { "epoch": 1.313495635986328e-06, "step": 13773, "training_step_time": 21.91074514389038 }, { "epoch": 1.3135910034179687e-06, "model_forward_time": 5.060500144958496, "step": 13774 }, { "epoch": 1.3135910034179687e-06, "step": 13774, "training_step_time": 17.542272567749023 }, { "epoch": 1.3136863708496093e-06, "model_forward_time": 3.8458094596862793, "step": 13775 }, { "epoch": 1.3136863708496093e-06, "step": 13775, "training_step_time": 21.832520723342896 }, { "epoch": 1.31378173828125e-06, "model_forward_time": 5.250646591186523, "step": 13776 }, { "epoch": 1.31378173828125e-06, "step": 13776, "training_step_time": 21.792800903320312 }, { "epoch": 1.3138771057128906e-06, "model_forward_time": 5.061342000961304, "step": 13777 }, { "epoch": 1.3138771057128906e-06, "step": 13777, "training_step_time": 21.780648708343506 }, { "epoch": 1.3139724731445312e-06, "model_forward_time": 5.056413412094116, "step": 13778 }, { "epoch": 1.3139724731445312e-06, "step": 13778, "training_step_time": 21.97758984565735 }, { "epoch": 1.3140678405761718e-06, "model_forward_time": 5.060182809829712, "step": 13779 }, { "epoch": 1.3140678405761718e-06, "step": 13779, "training_step_time": 17.235162019729614 }, { "epoch": 1.3141632080078124e-06, "grad_norm": 1.625981092453003, "learning_rate": 9.42197424044409e-06, "loss": 0.0842, "step": 13780 }, { "epoch": 1.3141632080078124e-06, "model_forward_time": 5.082724332809448, "step": 13780 }, { "dynamics_loss_avg": 0.039868027251213786, "epoch": 1.3141632080078124e-06, "step": 13780 }, { "action_loss_avg": 0.024079534877091646, "epoch": 1.3141632080078124e-06, "step": 13780 }, { "arm_loss_avg": 0.06611579973250628, "epoch": 1.3141632080078124e-06, "step": 13780 }, { "ee_loss_avg": 0.10087232710793614, "epoch": 1.3141632080078124e-06, "step": 13780 }, { "aux_loss_avg": 0.0043889348016818985, "epoch": 1.3141632080078124e-06, "step": 13780 }, { "epoch": 1.3141632080078124e-06, "step": 13780, "training_step_time": 21.855857610702515 }, { "epoch": 1.3142585754394532e-06, "model_forward_time": 5.073679208755493, "step": 13781 }, { "epoch": 1.3142585754394532e-06, "step": 13781, "training_step_time": 21.87332797050476 }, { "epoch": 1.3143539428710938e-06, "model_forward_time": 5.066538572311401, "step": 13782 }, { "epoch": 1.3143539428710938e-06, "step": 13782, "training_step_time": 21.735036373138428 }, { "epoch": 1.3144493103027345e-06, "model_forward_time": 5.065689325332642, "step": 13783 }, { "epoch": 1.3144493103027345e-06, "step": 13783, "training_step_time": 17.490226984024048 }, { "epoch": 1.314544677734375e-06, "model_forward_time": 5.092130184173584, "step": 13784 }, { "epoch": 1.314544677734375e-06, "step": 13784, "training_step_time": 17.268268585205078 }, { "epoch": 1.3146400451660157e-06, "model_forward_time": 5.311420917510986, "step": 13785 }, { "epoch": 1.3146400451660157e-06, "step": 13785, "training_step_time": 21.824324131011963 }, { "epoch": 1.3147354125976563e-06, "model_forward_time": 5.082299709320068, "step": 13786 }, { "epoch": 1.3147354125976563e-06, "step": 13786, "training_step_time": 21.88344669342041 }, { "epoch": 1.314830780029297e-06, "model_forward_time": 5.070523262023926, "step": 13787 }, { "epoch": 1.314830780029297e-06, "step": 13787, "training_step_time": 21.91419744491577 }, { "epoch": 1.3149261474609375e-06, "model_forward_time": 5.068084478378296, "step": 13788 }, { "epoch": 1.3149261474609375e-06, "step": 13788, "training_step_time": 21.943217277526855 }, { "epoch": 1.3150215148925781e-06, "model_forward_time": 5.0721142292022705, "step": 13789 }, { "epoch": 1.3150215148925781e-06, "step": 13789, "training_step_time": 21.939414024353027 }, { "epoch": 1.3151168823242188e-06, "grad_norm": 1.4900333881378174, "learning_rate": 9.420871261804991e-06, "loss": 0.0813, "step": 13790 }, { "epoch": 1.3151168823242188e-06, "model_forward_time": 5.059759855270386, "step": 13790 }, { "dynamics_loss_avg": 0.04252154091373086, "epoch": 1.3151168823242188e-06, "step": 13790 }, { "action_loss_avg": 0.028927543479949237, "epoch": 1.3151168823242188e-06, "step": 13790 }, { "arm_loss_avg": 0.047169361263513565, "epoch": 1.3151168823242188e-06, "step": 13790 }, { "ee_loss_avg": 0.05466883108019829, "epoch": 1.3151168823242188e-06, "step": 13790 }, { "aux_loss_avg": 0.0014723971136845649, "epoch": 1.3151168823242188e-06, "step": 13790 }, { "epoch": 1.3151168823242188e-06, "step": 13790, "training_step_time": 21.9275221824646 }, { "epoch": 1.3152122497558594e-06, "model_forward_time": 5.064445972442627, "step": 13791 }, { "epoch": 1.3152122497558594e-06, "step": 13791, "training_step_time": 21.906541109085083 }, { "epoch": 1.3153076171875e-06, "model_forward_time": 5.059834718704224, "step": 13792 }, { "epoch": 1.3153076171875e-06, "step": 13792, "training_step_time": 21.77096176147461 }, { "epoch": 1.3154029846191406e-06, "model_forward_time": 5.066501140594482, "step": 13793 }, { "epoch": 1.3154029846191406e-06, "step": 13793, "training_step_time": 22.072251319885254 }, { "epoch": 1.3154983520507812e-06, "model_forward_time": 5.070169925689697, "step": 13794 }, { "epoch": 1.3154983520507812e-06, "step": 13794, "training_step_time": 21.852383136749268 }, { "epoch": 1.3155937194824218e-06, "model_forward_time": 5.2670392990112305, "step": 13795 }, { "epoch": 1.3155937194824218e-06, "step": 13795, "training_step_time": 21.71495485305786 }, { "epoch": 1.3156890869140624e-06, "model_forward_time": 5.073733329772949, "step": 13796 }, { "epoch": 1.3156890869140624e-06, "step": 13796, "training_step_time": 17.571598529815674 }, { "epoch": 1.315784454345703e-06, "model_forward_time": 5.098806381225586, "step": 13797 }, { "epoch": 1.315784454345703e-06, "step": 13797, "training_step_time": 21.809043645858765 }, { "epoch": 1.3158798217773437e-06, "model_forward_time": 5.0875890254974365, "step": 13798 }, { "epoch": 1.3158798217773437e-06, "step": 13798, "training_step_time": 22.027974128723145 }, { "epoch": 1.3159751892089843e-06, "model_forward_time": 3.849233388900757, "step": 13799 }, { "epoch": 1.3159751892089843e-06, "step": 13799, "training_step_time": 21.83526921272278 }, { "epoch": 1.316070556640625e-06, "grad_norm": 0.9291433691978455, "learning_rate": 9.419767296513177e-06, "loss": 0.085, "step": 13800 }, { "epoch": 1.316070556640625e-06, "model_forward_time": 3.8306310176849365, "step": 13800 }, { "dynamics_loss_avg": 0.045918815210461615, "epoch": 1.316070556640625e-06, "step": 13800 }, { "action_loss_avg": 0.033089734986424445, "epoch": 1.316070556640625e-06, "step": 13800 }, { "arm_loss_avg": 0.0745453031733632, "epoch": 1.316070556640625e-06, "step": 13800 }, { "ee_loss_avg": 0.13350568106397986, "epoch": 1.316070556640625e-06, "step": 13800 }, { "aux_loss_avg": 0.01975746305542998, "epoch": 1.316070556640625e-06, "step": 13800 }, { "epoch": 1.316070556640625e-06, "step": 13800, "training_step_time": 21.840951442718506 }, { "epoch": 1.3161659240722657e-06, "model_forward_time": 5.289018392562866, "step": 13801 }, { "epoch": 1.3161659240722657e-06, "step": 13801, "training_step_time": 21.851041078567505 }, { "epoch": 1.3162612915039063e-06, "model_forward_time": 5.0617334842681885, "step": 13802 }, { "epoch": 1.3162612915039063e-06, "step": 13802, "training_step_time": 21.81394124031067 }, { "epoch": 1.316356658935547e-06, "model_forward_time": 5.055990695953369, "step": 13803 }, { "epoch": 1.316356658935547e-06, "step": 13803, "training_step_time": 17.541371822357178 }, { "epoch": 1.3164520263671876e-06, "model_forward_time": 5.083465576171875, "step": 13804 }, { "epoch": 1.3164520263671876e-06, "step": 13804, "training_step_time": 21.706629037857056 }, { "epoch": 1.3165473937988282e-06, "model_forward_time": 5.0808796882629395, "step": 13805 }, { "epoch": 1.3165473937988282e-06, "step": 13805, "training_step_time": 21.79808807373047 }, { "epoch": 1.3166427612304688e-06, "model_forward_time": 5.07672381401062, "step": 13806 }, { "epoch": 1.3166427612304688e-06, "step": 13806, "training_step_time": 21.882120609283447 }, { "epoch": 1.3167381286621094e-06, "model_forward_time": 5.077326536178589, "step": 13807 }, { "epoch": 1.3167381286621094e-06, "step": 13807, "training_step_time": 21.896255016326904 }, { "epoch": 1.31683349609375e-06, "model_forward_time": 5.077842950820923, "step": 13808 }, { "epoch": 1.31683349609375e-06, "step": 13808, "training_step_time": 21.985726833343506 }, { "epoch": 1.3169288635253906e-06, "model_forward_time": 5.080140829086304, "step": 13809 }, { "epoch": 1.3169288635253906e-06, "step": 13809, "training_step_time": 21.854048490524292 }, { "epoch": 1.3170242309570313e-06, "grad_norm": 1.3006888628005981, "learning_rate": 9.418662344815035e-06, "loss": 0.0661, "step": 13810 }, { "epoch": 1.3170242309570313e-06, "model_forward_time": 5.067070007324219, "step": 13810 }, { "dynamics_loss_avg": 0.030104166269302367, "epoch": 1.3170242309570313e-06, "step": 13810 }, { "action_loss_avg": 0.03150706309825182, "epoch": 1.3170242309570313e-06, "step": 13810 }, { "arm_loss_avg": 0.0530867051333189, "epoch": 1.3170242309570313e-06, "step": 13810 }, { "ee_loss_avg": 0.14048090018332005, "epoch": 1.3170242309570313e-06, "step": 13810 }, { "aux_loss_avg": 0.001260691706556827, "epoch": 1.3170242309570313e-06, "step": 13810 }, { "epoch": 1.3170242309570313e-06, "step": 13810, "training_step_time": 21.835723400115967 }, { "epoch": 1.3171195983886719e-06, "model_forward_time": 5.07539701461792, "step": 13811 }, { "epoch": 1.3171195983886719e-06, "step": 13811, "training_step_time": 21.84607219696045 }, { "epoch": 1.3172149658203125e-06, "model_forward_time": 5.0813963413238525, "step": 13812 }, { "epoch": 1.3172149658203125e-06, "step": 13812, "training_step_time": 22.128167152404785 }, { "epoch": 1.317310333251953e-06, "model_forward_time": 5.072153329849243, "step": 13813 }, { "epoch": 1.317310333251953e-06, "step": 13813, "training_step_time": 21.813249826431274 }, { "epoch": 1.3174057006835937e-06, "model_forward_time": 5.076517343521118, "step": 13814 }, { "epoch": 1.3174057006835937e-06, "step": 13814, "training_step_time": 21.796656847000122 }, { "epoch": 1.3175010681152343e-06, "model_forward_time": 5.07215142250061, "step": 13815 }, { "epoch": 1.3175010681152343e-06, "step": 13815, "training_step_time": 21.895240545272827 }, { "epoch": 1.317596435546875e-06, "model_forward_time": 5.071892976760864, "step": 13816 }, { "epoch": 1.317596435546875e-06, "step": 13816, "training_step_time": 21.923850059509277 }, { "epoch": 1.3176918029785156e-06, "model_forward_time": 3.8413121700286865, "step": 13817 }, { "epoch": 1.3176918029785156e-06, "step": 13817, "training_step_time": 21.949064254760742 }, { "epoch": 1.3177871704101562e-06, "model_forward_time": 5.050692081451416, "step": 13818 }, { "epoch": 1.3177871704101562e-06, "step": 13818, "training_step_time": 21.905296802520752 }, { "epoch": 1.3178825378417968e-06, "model_forward_time": 5.057796001434326, "step": 13819 }, { "epoch": 1.3178825378417968e-06, "step": 13819, "training_step_time": 21.791363954544067 }, { "epoch": 1.3179779052734374e-06, "grad_norm": 1.591021180152893, "learning_rate": 9.417556406957165e-06, "loss": 0.0865, "step": 13820 }, { "epoch": 1.3179779052734374e-06, "model_forward_time": 5.0655834674835205, "step": 13820 }, { "dynamics_loss_avg": 0.047991981543600556, "epoch": 1.3179779052734374e-06, "step": 13820 }, { "action_loss_avg": 0.03748676087707281, "epoch": 1.3179779052734374e-06, "step": 13820 }, { "arm_loss_avg": 0.06202958263456822, "epoch": 1.3179779052734374e-06, "step": 13820 }, { "ee_loss_avg": 0.07935161720961333, "epoch": 1.3179779052734374e-06, "step": 13820 }, { "aux_loss_avg": 0.0031069014163222163, "epoch": 1.3179779052734374e-06, "step": 13820 }, { "epoch": 1.3179779052734374e-06, "step": 13820, "training_step_time": 21.826302766799927 }, { "epoch": 1.3180732727050782e-06, "model_forward_time": 5.075973987579346, "step": 13821 }, { "epoch": 1.3180732727050782e-06, "step": 13821, "training_step_time": 17.548991918563843 }, { "epoch": 1.3181686401367188e-06, "model_forward_time": 3.870962142944336, "step": 13822 }, { "epoch": 1.3181686401367188e-06, "step": 13822, "training_step_time": 21.868927001953125 }, { "epoch": 1.3182640075683595e-06, "model_forward_time": 5.061002731323242, "step": 13823 }, { "epoch": 1.3182640075683595e-06, "step": 13823, "training_step_time": 22.00077533721924 }, { "epoch": 1.318359375e-06, "model_forward_time": 3.8370087146759033, "step": 13824 }, { "epoch": 1.318359375e-06, "step": 13824, "training_step_time": 21.86376404762268 }, { "epoch": 1.3184547424316407e-06, "model_forward_time": 3.8280961513519287, "step": 13825 }, { "epoch": 1.3184547424316407e-06, "step": 13825, "training_step_time": 21.89083194732666 }, { "epoch": 1.3185501098632813e-06, "model_forward_time": 5.227892160415649, "step": 13826 }, { "epoch": 1.3185501098632813e-06, "step": 13826, "training_step_time": 21.7630774974823 }, { "epoch": 1.318645477294922e-06, "model_forward_time": 5.053677558898926, "step": 13827 }, { "epoch": 1.318645477294922e-06, "step": 13827, "training_step_time": 22.030623197555542 }, { "epoch": 1.3187408447265625e-06, "model_forward_time": 5.057937860488892, "step": 13828 }, { "epoch": 1.3187408447265625e-06, "step": 13828, "training_step_time": 21.908583164215088 }, { "epoch": 1.3188362121582031e-06, "model_forward_time": 5.061251640319824, "step": 13829 }, { "epoch": 1.3188362121582031e-06, "step": 13829, "training_step_time": 21.913782119750977 }, { "epoch": 1.3189315795898438e-06, "grad_norm": 1.6366089582443237, "learning_rate": 9.416449483186391e-06, "loss": 0.0791, "step": 13830 }, { "epoch": 1.3189315795898438e-06, "model_forward_time": 5.068696737289429, "step": 13830 }, { "dynamics_loss_avg": 0.04432233506813645, "epoch": 1.3189315795898438e-06, "step": 13830 }, { "action_loss_avg": 0.027147679030895232, "epoch": 1.3189315795898438e-06, "step": 13830 }, { "arm_loss_avg": 0.04407231342047453, "epoch": 1.3189315795898438e-06, "step": 13830 }, { "ee_loss_avg": 0.08929430693387985, "epoch": 1.3189315795898438e-06, "step": 13830 }, { "aux_loss_avg": 0.0015458242793101817, "epoch": 1.3189315795898438e-06, "step": 13830 }, { "epoch": 1.3189315795898438e-06, "step": 13830, "training_step_time": 21.73796582221985 }, { "epoch": 1.3190269470214844e-06, "model_forward_time": 5.3157265186309814, "step": 13831 }, { "epoch": 1.3190269470214844e-06, "step": 13831, "training_step_time": 21.85244846343994 }, { "epoch": 1.319122314453125e-06, "model_forward_time": 5.073070049285889, "step": 13832 }, { "epoch": 1.319122314453125e-06, "step": 13832, "training_step_time": 21.918359756469727 }, { "epoch": 1.3192176818847656e-06, "model_forward_time": 5.08047342300415, "step": 13833 }, { "epoch": 1.3192176818847656e-06, "step": 13833, "training_step_time": 21.884648323059082 }, { "epoch": 1.3193130493164062e-06, "model_forward_time": 5.085026502609253, "step": 13834 }, { "epoch": 1.3193130493164062e-06, "step": 13834, "training_step_time": 21.851006269454956 }, { "epoch": 1.3194084167480468e-06, "model_forward_time": 5.081809759140015, "step": 13835 }, { "epoch": 1.3194084167480468e-06, "step": 13835, "training_step_time": 21.77062463760376 }, { "epoch": 1.3195037841796874e-06, "model_forward_time": 5.271554708480835, "step": 13836 }, { "epoch": 1.3195037841796874e-06, "step": 13836, "training_step_time": 21.850077629089355 }, { "epoch": 1.319599151611328e-06, "model_forward_time": 5.089226484298706, "step": 13837 }, { "epoch": 1.319599151611328e-06, "step": 13837, "training_step_time": 22.08593201637268 }, { "epoch": 1.3196945190429687e-06, "model_forward_time": 5.088843822479248, "step": 13838 }, { "epoch": 1.3196945190429687e-06, "step": 13838, "training_step_time": 21.91773247718811 }, { "epoch": 1.3197898864746093e-06, "model_forward_time": 5.086464881896973, "step": 13839 }, { "epoch": 1.3197898864746093e-06, "step": 13839, "training_step_time": 21.92427110671997 }, { "epoch": 1.31988525390625e-06, "grad_norm": 1.394576072692871, "learning_rate": 9.41534157374976e-06, "loss": 0.0768, "step": 13840 }, { "epoch": 1.31988525390625e-06, "model_forward_time": 5.0740416049957275, "step": 13840 }, { "dynamics_loss_avg": 0.03681450933218002, "epoch": 1.31988525390625e-06, "step": 13840 }, { "action_loss_avg": 0.024500851053744555, "epoch": 1.31988525390625e-06, "step": 13840 }, { "arm_loss_avg": 0.053788400068879125, "epoch": 1.31988525390625e-06, "step": 13840 }, { "ee_loss_avg": 0.06291033597663045, "epoch": 1.31988525390625e-06, "step": 13840 }, { "aux_loss_avg": 0.001159085426479578, "epoch": 1.31988525390625e-06, "step": 13840 }, { "epoch": 1.31988525390625e-06, "step": 13840, "training_step_time": 21.850427389144897 }, { "epoch": 1.3199806213378907e-06, "model_forward_time": 5.316540956497192, "step": 13841 }, { "epoch": 1.3199806213378907e-06, "step": 13841, "training_step_time": 21.801881313323975 }, { "epoch": 1.3200759887695313e-06, "model_forward_time": 5.0797202587127686, "step": 13842 }, { "epoch": 1.3200759887695313e-06, "step": 13842, "training_step_time": 22.077479600906372 }, { "epoch": 1.320171356201172e-06, "model_forward_time": 5.072708368301392, "step": 13843 }, { "epoch": 1.320171356201172e-06, "step": 13843, "training_step_time": 21.804940223693848 }, { "epoch": 1.3202667236328126e-06, "model_forward_time": 5.078739643096924, "step": 13844 }, { "epoch": 1.3202667236328126e-06, "step": 13844, "training_step_time": 21.91766881942749 }, { "epoch": 1.3203620910644532e-06, "model_forward_time": 5.071593523025513, "step": 13845 }, { "epoch": 1.3203620910644532e-06, "step": 13845, "training_step_time": 21.922182083129883 }, { "epoch": 1.3204574584960938e-06, "model_forward_time": 5.297199726104736, "step": 13846 }, { "epoch": 1.3204574584960938e-06, "step": 13846, "training_step_time": 21.914538383483887 }, { "epoch": 1.3205528259277344e-06, "model_forward_time": 5.075223684310913, "step": 13847 }, { "epoch": 1.3205528259277344e-06, "step": 13847, "training_step_time": 22.095713138580322 }, { "epoch": 1.320648193359375e-06, "model_forward_time": 5.072115898132324, "step": 13848 }, { "epoch": 1.320648193359375e-06, "step": 13848, "training_step_time": 21.898680210113525 }, { "epoch": 1.3207435607910156e-06, "model_forward_time": 3.848832368850708, "step": 13849 }, { "epoch": 1.3207435607910156e-06, "step": 13849, "training_step_time": 21.88496685028076 }, { "epoch": 1.3208389282226563e-06, "grad_norm": 1.5916181802749634, "learning_rate": 9.414232678894533e-06, "loss": 0.0907, "step": 13850 }, { "epoch": 1.3208389282226563e-06, "model_forward_time": 5.052441358566284, "step": 13850 }, { "dynamics_loss_avg": 0.041195500269532205, "epoch": 1.3208389282226563e-06, "step": 13850 }, { "action_loss_avg": 0.04641652051359415, "epoch": 1.3208389282226563e-06, "step": 13850 }, { "arm_loss_avg": 0.08336089365184307, "epoch": 1.3208389282226563e-06, "step": 13850 }, { "ee_loss_avg": 0.16963316090404987, "epoch": 1.3208389282226563e-06, "step": 13850 }, { "aux_loss_avg": 0.020687991462182254, "epoch": 1.3208389282226563e-06, "step": 13850 }, { "epoch": 1.3208389282226563e-06, "step": 13850, "training_step_time": 21.743298768997192 }, { "epoch": 1.3209342956542969e-06, "model_forward_time": 5.29656720161438, "step": 13851 }, { "epoch": 1.3209342956542969e-06, "step": 13851, "training_step_time": 21.850492238998413 }, { "epoch": 1.3210296630859375e-06, "model_forward_time": 3.8355798721313477, "step": 13852 }, { "epoch": 1.3210296630859375e-06, "step": 13852, "training_step_time": 21.9413321018219 }, { "epoch": 1.321125030517578e-06, "model_forward_time": 5.052183628082275, "step": 13853 }, { "epoch": 1.321125030517578e-06, "step": 13853, "training_step_time": 21.852444887161255 }, { "epoch": 1.3212203979492187e-06, "model_forward_time": 5.057039022445679, "step": 13854 }, { "epoch": 1.3212203979492187e-06, "step": 13854, "training_step_time": 21.836212396621704 }, { "epoch": 1.3213157653808593e-06, "model_forward_time": 5.060961961746216, "step": 13855 }, { "epoch": 1.3213157653808593e-06, "step": 13855, "training_step_time": 21.693772315979004 }, { "epoch": 1.3214111328125e-06, "model_forward_time": 5.248129844665527, "step": 13856 }, { "epoch": 1.3214111328125e-06, "step": 13856, "training_step_time": 21.855632066726685 }, { "epoch": 1.3215065002441406e-06, "model_forward_time": 5.061877727508545, "step": 13857 }, { "epoch": 1.3215065002441406e-06, "step": 13857, "training_step_time": 22.00625729560852 }, { "epoch": 1.3216018676757812e-06, "model_forward_time": 5.064582109451294, "step": 13858 }, { "epoch": 1.3216018676757812e-06, "step": 13858, "training_step_time": 21.823185443878174 }, { "epoch": 1.3216972351074218e-06, "model_forward_time": 5.062011003494263, "step": 13859 }, { "epoch": 1.3216972351074218e-06, "step": 13859, "training_step_time": 21.836570501327515 }, { "epoch": 1.3217926025390624e-06, "grad_norm": 1.5038186311721802, "learning_rate": 9.413122798868196e-06, "loss": 0.0737, "step": 13860 }, { "epoch": 1.3217926025390624e-06, "model_forward_time": 5.062513589859009, "step": 13860 }, { "dynamics_loss_avg": 0.03280280437320471, "epoch": 1.3217926025390624e-06, "step": 13860 }, { "action_loss_avg": 0.0244927535764873, "epoch": 1.3217926025390624e-06, "step": 13860 }, { "arm_loss_avg": 0.0362479442730546, "epoch": 1.3217926025390624e-06, "step": 13860 }, { "ee_loss_avg": 0.06821983372792602, "epoch": 1.3217926025390624e-06, "step": 13860 }, { "aux_loss_avg": 0.0033806440071202813, "epoch": 1.3217926025390624e-06, "step": 13860 }, { "epoch": 1.3217926025390624e-06, "step": 13860, "training_step_time": 21.72839069366455 }, { "epoch": 1.3218879699707032e-06, "model_forward_time": 5.305498361587524, "step": 13861 }, { "epoch": 1.3218879699707032e-06, "step": 13861, "training_step_time": 21.852602243423462 }, { "epoch": 1.3219833374023438e-06, "model_forward_time": 5.06462550163269, "step": 13862 }, { "epoch": 1.3219833374023438e-06, "step": 13862, "training_step_time": 22.04873037338257 }, { "epoch": 1.3220787048339845e-06, "model_forward_time": 5.065442085266113, "step": 13863 }, { "epoch": 1.3220787048339845e-06, "step": 13863, "training_step_time": 21.8063907623291 }, { "epoch": 1.322174072265625e-06, "model_forward_time": 5.060982704162598, "step": 13864 }, { "epoch": 1.322174072265625e-06, "step": 13864, "training_step_time": 17.532469987869263 }, { "epoch": 1.3222694396972657e-06, "model_forward_time": 5.087026834487915, "step": 13865 }, { "epoch": 1.3222694396972657e-06, "step": 13865, "training_step_time": 21.810944080352783 }, { "epoch": 1.3223648071289063e-06, "model_forward_time": 5.076350212097168, "step": 13866 }, { "epoch": 1.3223648071289063e-06, "step": 13866, "training_step_time": 21.918118953704834 }, { "epoch": 1.322460174560547e-06, "model_forward_time": 5.073740720748901, "step": 13867 }, { "epoch": 1.322460174560547e-06, "step": 13867, "training_step_time": 17.558061122894287 }, { "epoch": 1.3225555419921875e-06, "model_forward_time": 5.099018573760986, "step": 13868 }, { "epoch": 1.3225555419921875e-06, "step": 13868, "training_step_time": 22.09447193145752 }, { "epoch": 1.3226509094238281e-06, "model_forward_time": 5.08902907371521, "step": 13869 }, { "epoch": 1.3226509094238281e-06, "step": 13869, "training_step_time": 17.49443793296814 }, { "epoch": 1.3227462768554688e-06, "grad_norm": 1.671937346458435, "learning_rate": 9.41201193391845e-06, "loss": 0.0855, "step": 13870 }, { "epoch": 1.3227462768554688e-06, "model_forward_time": 5.097142457962036, "step": 13870 }, { "dynamics_loss_avg": 0.04505687728524208, "epoch": 1.3227462768554688e-06, "step": 13870 }, { "action_loss_avg": 0.035100171156227586, "epoch": 1.3227462768554688e-06, "step": 13870 }, { "arm_loss_avg": 0.0453620046377182, "epoch": 1.3227462768554688e-06, "step": 13870 }, { "ee_loss_avg": 0.0820560104213655, "epoch": 1.3227462768554688e-06, "step": 13870 }, { "aux_loss_avg": 0.006387808645376936, "epoch": 1.3227462768554688e-06, "step": 13870 }, { "epoch": 1.3227462768554688e-06, "step": 13870, "training_step_time": 17.571147680282593 }, { "epoch": 1.3228416442871094e-06, "model_forward_time": 5.102140426635742, "step": 13871 }, { "epoch": 1.3228416442871094e-06, "step": 13871, "training_step_time": 17.312095165252686 }, { "epoch": 1.32293701171875e-06, "model_forward_time": 5.109222888946533, "step": 13872 }, { "epoch": 1.32293701171875e-06, "step": 13872, "training_step_time": 21.813762187957764 }, { "epoch": 1.3230323791503906e-06, "model_forward_time": 3.84228515625, "step": 13873 }, { "epoch": 1.3230323791503906e-06, "step": 13873, "training_step_time": 22.153679609298706 }, { "epoch": 1.3231277465820312e-06, "model_forward_time": 5.047234535217285, "step": 13874 }, { "epoch": 1.3231277465820312e-06, "step": 13874, "training_step_time": 17.549370288848877 }, { "epoch": 1.3232231140136718e-06, "model_forward_time": 5.060681343078613, "step": 13875 }, { "epoch": 1.3232231140136718e-06, "step": 13875, "training_step_time": 21.90587282180786 }, { "epoch": 1.3233184814453124e-06, "model_forward_time": 5.286553859710693, "step": 13876 }, { "epoch": 1.3233184814453124e-06, "step": 13876, "training_step_time": 21.77210545539856 }, { "epoch": 1.323413848876953e-06, "model_forward_time": 5.067075252532959, "step": 13877 }, { "epoch": 1.323413848876953e-06, "step": 13877, "training_step_time": 21.85299301147461 }, { "epoch": 1.3235092163085937e-06, "model_forward_time": 5.069029808044434, "step": 13878 }, { "epoch": 1.3235092163085937e-06, "step": 13878, "training_step_time": 22.192870616912842 }, { "epoch": 1.3236045837402343e-06, "model_forward_time": 5.064901828765869, "step": 13879 }, { "epoch": 1.3236045837402343e-06, "step": 13879, "training_step_time": 21.793718814849854 }, { "epoch": 1.323699951171875e-06, "grad_norm": 1.2829419374465942, "learning_rate": 9.41090008429322e-06, "loss": 0.0748, "step": 13880 }, { "epoch": 1.323699951171875e-06, "model_forward_time": 5.0686047077178955, "step": 13880 }, { "dynamics_loss_avg": 0.032517578825354575, "epoch": 1.323699951171875e-06, "step": 13880 }, { "action_loss_avg": 0.025920544937252998, "epoch": 1.323699951171875e-06, "step": 13880 }, { "arm_loss_avg": 0.0830379355698824, "epoch": 1.323699951171875e-06, "step": 13880 }, { "ee_loss_avg": 0.1609953406266868, "epoch": 1.323699951171875e-06, "step": 13880 }, { "aux_loss_avg": 0.017512120900209992, "epoch": 1.323699951171875e-06, "step": 13880 }, { "epoch": 1.323699951171875e-06, "step": 13880, "training_step_time": 17.76177406311035 }, { "epoch": 1.3237953186035155e-06, "model_forward_time": 5.090924263000488, "step": 13881 }, { "epoch": 1.3237953186035155e-06, "step": 13881, "training_step_time": 21.8404278755188 }, { "epoch": 1.3238906860351563e-06, "model_forward_time": 5.080627202987671, "step": 13882 }, { "epoch": 1.3238906860351563e-06, "step": 13882, "training_step_time": 21.77847957611084 }, { "epoch": 1.323986053466797e-06, "model_forward_time": 5.073419570922852, "step": 13883 }, { "epoch": 1.323986053466797e-06, "step": 13883, "training_step_time": 21.980488538742065 }, { "epoch": 1.3240814208984376e-06, "model_forward_time": 5.074247360229492, "step": 13884 }, { "epoch": 1.3240814208984376e-06, "step": 13884, "training_step_time": 21.75087809562683 }, { "epoch": 1.3241767883300782e-06, "model_forward_time": 5.27483057975769, "step": 13885 }, { "epoch": 1.3241767883300782e-06, "step": 13885, "training_step_time": 21.828612327575684 }, { "epoch": 1.3242721557617188e-06, "model_forward_time": 5.068874835968018, "step": 13886 }, { "epoch": 1.3242721557617188e-06, "step": 13886, "training_step_time": 21.815640449523926 }, { "epoch": 1.3243675231933594e-06, "model_forward_time": 5.072760105133057, "step": 13887 }, { "epoch": 1.3243675231933594e-06, "step": 13887, "training_step_time": 21.750439167022705 }, { "epoch": 1.324462890625e-06, "model_forward_time": 5.076464653015137, "step": 13888 }, { "epoch": 1.324462890625e-06, "step": 13888, "training_step_time": 22.051862239837646 }, { "epoch": 1.3245582580566406e-06, "model_forward_time": 5.0711829662323, "step": 13889 }, { "epoch": 1.3245582580566406e-06, "step": 13889, "training_step_time": 21.84976053237915 }, { "epoch": 1.3246536254882813e-06, "grad_norm": 1.6657664775848389, "learning_rate": 9.40978725024065e-06, "loss": 0.0767, "step": 13890 }, { "epoch": 1.3246536254882813e-06, "model_forward_time": 5.075946092605591, "step": 13890 }, { "dynamics_loss_avg": 0.03690109634771943, "epoch": 1.3246536254882813e-06, "step": 13890 }, { "action_loss_avg": 0.028135017259046435, "epoch": 1.3246536254882813e-06, "step": 13890 }, { "arm_loss_avg": 0.04604654312133789, "epoch": 1.3246536254882813e-06, "step": 13890 }, { "ee_loss_avg": 0.07412742953747511, "epoch": 1.3246536254882813e-06, "step": 13890 }, { "aux_loss_avg": 0.002167847362579778, "epoch": 1.3246536254882813e-06, "step": 13890 }, { "epoch": 1.3246536254882813e-06, "step": 13890, "training_step_time": 21.912972927093506 }, { "epoch": 1.3247489929199219e-06, "model_forward_time": 5.071894884109497, "step": 13891 }, { "epoch": 1.3247489929199219e-06, "step": 13891, "training_step_time": 21.849822282791138 }, { "epoch": 1.3248443603515625e-06, "model_forward_time": 3.8403117656707764, "step": 13892 }, { "epoch": 1.3248443603515625e-06, "step": 13892, "training_step_time": 21.831347703933716 }, { "epoch": 1.324939727783203e-06, "model_forward_time": 5.056655406951904, "step": 13893 }, { "epoch": 1.324939727783203e-06, "step": 13893, "training_step_time": 22.134682178497314 }, { "epoch": 1.3250350952148437e-06, "model_forward_time": 5.049651384353638, "step": 13894 }, { "epoch": 1.3250350952148437e-06, "step": 13894, "training_step_time": 21.770504236221313 }, { "epoch": 1.3251304626464843e-06, "model_forward_time": 5.057663679122925, "step": 13895 }, { "epoch": 1.3251304626464843e-06, "step": 13895, "training_step_time": 21.841055393218994 }, { "epoch": 1.325225830078125e-06, "model_forward_time": 5.065004348754883, "step": 13896 }, { "epoch": 1.325225830078125e-06, "step": 13896, "training_step_time": 21.923820734024048 }, { "epoch": 1.3253211975097656e-06, "model_forward_time": 5.06588339805603, "step": 13897 }, { "epoch": 1.3253211975097656e-06, "step": 13897, "training_step_time": 21.78422999382019 }, { "epoch": 1.3254165649414062e-06, "model_forward_time": 5.078558921813965, "step": 13898 }, { "epoch": 1.3254165649414062e-06, "step": 13898, "training_step_time": 22.074559926986694 }, { "epoch": 1.3255119323730468e-06, "model_forward_time": 5.07186222076416, "step": 13899 }, { "epoch": 1.3255119323730468e-06, "step": 13899, "training_step_time": 21.833471536636353 }, { "epoch": 1.3256072998046874e-06, "grad_norm": 0.8761053681373596, "learning_rate": 9.408673432009103e-06, "loss": 0.0791, "step": 13900 }, { "epoch": 1.3256072998046874e-06, "model_forward_time": 5.324012279510498, "step": 13900 }, { "dynamics_loss_avg": 0.04178552087396383, "epoch": 1.3256072998046874e-06, "step": 13900 }, { "action_loss_avg": 0.03335015657357872, "epoch": 1.3256072998046874e-06, "step": 13900 }, { "arm_loss_avg": 0.054043160378932954, "epoch": 1.3256072998046874e-06, "step": 13900 }, { "ee_loss_avg": 0.12931279223412276, "epoch": 1.3256072998046874e-06, "step": 13900 }, { "aux_loss_avg": 0.001310759352054447, "epoch": 1.3256072998046874e-06, "step": 13900 }, { "epoch": 1.3256072998046874e-06, "step": 13900, "training_step_time": 21.81870985031128 }, { "epoch": 1.325702667236328e-06, "model_forward_time": 5.076885938644409, "step": 13901 }, { "epoch": 1.325702667236328e-06, "step": 13901, "training_step_time": 21.73344111442566 }, { "epoch": 1.3257980346679688e-06, "model_forward_time": 5.0831458568573, "step": 13902 }, { "epoch": 1.3257980346679688e-06, "step": 13902, "training_step_time": 21.901942014694214 }, { "epoch": 1.3258934020996095e-06, "model_forward_time": 5.0827531814575195, "step": 13903 }, { "epoch": 1.3258934020996095e-06, "step": 13903, "training_step_time": 21.911388874053955 }, { "epoch": 1.32598876953125e-06, "model_forward_time": 5.078344345092773, "step": 13904 }, { "epoch": 1.32598876953125e-06, "step": 13904, "training_step_time": 21.906964778900146 }, { "epoch": 1.3260841369628907e-06, "model_forward_time": 5.290473937988281, "step": 13905 }, { "epoch": 1.3260841369628907e-06, "step": 13905, "training_step_time": 21.864511489868164 }, { "epoch": 1.3261795043945313e-06, "model_forward_time": 5.074011325836182, "step": 13906 }, { "epoch": 1.3261795043945313e-06, "step": 13906, "training_step_time": 21.830957174301147 }, { "epoch": 1.326274871826172e-06, "model_forward_time": 5.072488069534302, "step": 13907 }, { "epoch": 1.326274871826172e-06, "step": 13907, "training_step_time": 22.159438371658325 }, { "epoch": 1.3263702392578125e-06, "model_forward_time": 5.068948268890381, "step": 13908 }, { "epoch": 1.3263702392578125e-06, "step": 13908, "training_step_time": 21.84836506843567 }, { "epoch": 1.3264656066894531e-06, "model_forward_time": 5.07261061668396, "step": 13909 }, { "epoch": 1.3264656066894531e-06, "step": 13909, "training_step_time": 21.918250560760498 }, { "epoch": 1.3265609741210938e-06, "grad_norm": 1.2807884216308594, "learning_rate": 9.40755862984716e-06, "loss": 0.0669, "step": 13910 }, { "epoch": 1.3265609741210938e-06, "model_forward_time": 3.8487861156463623, "step": 13910 }, { "dynamics_loss_avg": 0.03512298874557018, "epoch": 1.3265609741210938e-06, "step": 13910 }, { "action_loss_avg": 0.024730713479220866, "epoch": 1.3265609741210938e-06, "step": 13910 }, { "arm_loss_avg": 0.04416292477399111, "epoch": 1.3265609741210938e-06, "step": 13910 }, { "ee_loss_avg": 0.042156657483428714, "epoch": 1.3265609741210938e-06, "step": 13910 }, { "aux_loss_avg": 0.0008434691932052374, "epoch": 1.3265609741210938e-06, "step": 13910 }, { "epoch": 1.3265609741210938e-06, "step": 13910, "training_step_time": 21.906104564666748 }, { "epoch": 1.3266563415527344e-06, "model_forward_time": 5.290960788726807, "step": 13911 }, { "epoch": 1.3266563415527344e-06, "step": 13911, "training_step_time": 21.93198871612549 }, { "epoch": 1.326751708984375e-06, "model_forward_time": 3.827929973602295, "step": 13912 }, { "epoch": 1.326751708984375e-06, "step": 13912, "training_step_time": 21.991132259368896 }, { "epoch": 1.3268470764160156e-06, "model_forward_time": 5.048003911972046, "step": 13913 }, { "epoch": 1.3268470764160156e-06, "step": 13913, "training_step_time": 21.91322135925293 }, { "epoch": 1.3269424438476562e-06, "model_forward_time": 5.055429697036743, "step": 13914 }, { "epoch": 1.3269424438476562e-06, "step": 13914, "training_step_time": 21.931666374206543 }, { "epoch": 1.3270378112792968e-06, "model_forward_time": 5.059613227844238, "step": 13915 }, { "epoch": 1.3270378112792968e-06, "step": 13915, "training_step_time": 21.77316427230835 }, { "epoch": 1.3271331787109375e-06, "model_forward_time": 5.264761447906494, "step": 13916 }, { "epoch": 1.3271331787109375e-06, "step": 13916, "training_step_time": 21.847906827926636 }, { "epoch": 1.327228546142578e-06, "model_forward_time": 5.082051753997803, "step": 13917 }, { "epoch": 1.327228546142578e-06, "step": 13917, "training_step_time": 22.084356784820557 }, { "epoch": 1.3273239135742187e-06, "model_forward_time": 5.075598239898682, "step": 13918 }, { "epoch": 1.3273239135742187e-06, "step": 13918, "training_step_time": 21.718958139419556 }, { "epoch": 1.3274192810058593e-06, "model_forward_time": 5.079834938049316, "step": 13919 }, { "epoch": 1.3274192810058593e-06, "step": 13919, "training_step_time": 21.87046480178833 }, { "epoch": 1.3275146484375e-06, "grad_norm": 2.2972347736358643, "learning_rate": 9.406442844003624e-06, "loss": 0.0814, "step": 13920 }, { "epoch": 1.3275146484375e-06, "model_forward_time": 3.845428705215454, "step": 13920 }, { "dynamics_loss_avg": 0.04359162896871567, "epoch": 1.3275146484375e-06, "step": 13920 }, { "action_loss_avg": 0.029055631160736083, "epoch": 1.3275146484375e-06, "step": 13920 }, { "arm_loss_avg": 0.0598758602514863, "epoch": 1.3275146484375e-06, "step": 13920 }, { "ee_loss_avg": 0.06783673847094178, "epoch": 1.3275146484375e-06, "step": 13920 }, { "aux_loss_avg": 0.00785420144093223, "epoch": 1.3275146484375e-06, "step": 13920 }, { "epoch": 1.3275146484375e-06, "step": 13920, "training_step_time": 21.733704090118408 }, { "epoch": 1.3276100158691405e-06, "model_forward_time": 5.298985719680786, "step": 13921 }, { "epoch": 1.3276100158691405e-06, "step": 13921, "training_step_time": 17.563612937927246 }, { "epoch": 1.3277053833007813e-06, "model_forward_time": 5.089064598083496, "step": 13922 }, { "epoch": 1.3277053833007813e-06, "step": 13922, "training_step_time": 21.85363006591797 }, { "epoch": 1.327800750732422e-06, "model_forward_time": 5.08566951751709, "step": 13923 }, { "epoch": 1.327800750732422e-06, "step": 13923, "training_step_time": 21.975454330444336 }, { "epoch": 1.3278961181640626e-06, "model_forward_time": 5.080152988433838, "step": 13924 }, { "epoch": 1.3278961181640626e-06, "step": 13924, "training_step_time": 21.913249969482422 }, { "epoch": 1.3279914855957032e-06, "model_forward_time": 3.847588539123535, "step": 13925 }, { "epoch": 1.3279914855957032e-06, "step": 13925, "training_step_time": 21.841644287109375 }, { "epoch": 1.3280868530273438e-06, "model_forward_time": 5.242225408554077, "step": 13926 }, { "epoch": 1.3280868530273438e-06, "step": 13926, "training_step_time": 21.781426429748535 }, { "epoch": 1.3281822204589844e-06, "model_forward_time": 5.06107497215271, "step": 13927 }, { "epoch": 1.3281822204589844e-06, "step": 13927, "training_step_time": 22.089259386062622 }, { "epoch": 1.328277587890625e-06, "model_forward_time": 5.064263820648193, "step": 13928 }, { "epoch": 1.328277587890625e-06, "step": 13928, "training_step_time": 21.73398518562317 }, { "epoch": 1.3283729553222657e-06, "model_forward_time": 3.8335418701171875, "step": 13929 }, { "epoch": 1.3283729553222657e-06, "step": 13929, "training_step_time": 21.882877588272095 }, { "epoch": 1.3284683227539063e-06, "grad_norm": 1.5106122493743896, "learning_rate": 9.405326074727517e-06, "loss": 0.0678, "step": 13930 }, { "epoch": 1.3284683227539063e-06, "model_forward_time": 5.050469636917114, "step": 13930 }, { "dynamics_loss_avg": 0.03437990318052471, "epoch": 1.3284683227539063e-06, "step": 13930 }, { "action_loss_avg": 0.024803562741726636, "epoch": 1.3284683227539063e-06, "step": 13930 }, { "arm_loss_avg": 0.0653240691870451, "epoch": 1.3284683227539063e-06, "step": 13930 }, { "ee_loss_avg": 0.10043190363794566, "epoch": 1.3284683227539063e-06, "step": 13930 }, { "aux_loss_avg": 0.006396691442932934, "epoch": 1.3284683227539063e-06, "step": 13930 }, { "epoch": 1.3284683227539063e-06, "step": 13930, "training_step_time": 21.839093923568726 }, { "epoch": 1.3285636901855469e-06, "model_forward_time": 5.293521881103516, "step": 13931 }, { "epoch": 1.3285636901855469e-06, "step": 13931, "training_step_time": 21.78099536895752 }, { "epoch": 1.3286590576171875e-06, "model_forward_time": 5.057223796844482, "step": 13932 }, { "epoch": 1.3286590576171875e-06, "step": 13932, "training_step_time": 21.95078158378601 }, { "epoch": 1.3287544250488281e-06, "model_forward_time": 5.065667390823364, "step": 13933 }, { "epoch": 1.3287544250488281e-06, "step": 13933, "training_step_time": 21.8640239238739 }, { "epoch": 1.3288497924804687e-06, "model_forward_time": 5.060630559921265, "step": 13934 }, { "epoch": 1.3288497924804687e-06, "step": 13934, "training_step_time": 21.881267547607422 }, { "epoch": 1.3289451599121093e-06, "model_forward_time": 5.0620176792144775, "step": 13935 }, { "epoch": 1.3289451599121093e-06, "step": 13935, "training_step_time": 21.856054544448853 }, { "epoch": 1.32904052734375e-06, "model_forward_time": 5.255147218704224, "step": 13936 }, { "epoch": 1.32904052734375e-06, "step": 13936, "training_step_time": 21.70822262763977 }, { "epoch": 1.3291358947753906e-06, "model_forward_time": 5.064814329147339, "step": 13937 }, { "epoch": 1.3291358947753906e-06, "step": 13937, "training_step_time": 22.052093744277954 }, { "epoch": 1.3292312622070312e-06, "model_forward_time": 5.067127704620361, "step": 13938 }, { "epoch": 1.3292312622070312e-06, "step": 13938, "training_step_time": 21.73956322669983 }, { "epoch": 1.3293266296386718e-06, "model_forward_time": 3.835838794708252, "step": 13939 }, { "epoch": 1.3293266296386718e-06, "step": 13939, "training_step_time": 21.818073272705078 }, { "epoch": 1.3294219970703124e-06, "grad_norm": 1.2524895668029785, "learning_rate": 9.40420832226808e-06, "loss": 0.0832, "step": 13940 }, { "epoch": 1.3294219970703124e-06, "model_forward_time": 5.050452470779419, "step": 13940 }, { "dynamics_loss_avg": 0.035905604530125854, "epoch": 1.3294219970703124e-06, "step": 13940 }, { "action_loss_avg": 0.030042993370443583, "epoch": 1.3294219970703124e-06, "step": 13940 }, { "arm_loss_avg": 0.05478751640766859, "epoch": 1.3294219970703124e-06, "step": 13940 }, { "ee_loss_avg": 0.13980322042480112, "epoch": 1.3294219970703124e-06, "step": 13940 }, { "aux_loss_avg": 0.0036130147404037417, "epoch": 1.3294219970703124e-06, "step": 13940 }, { "epoch": 1.3294219970703124e-06, "step": 13940, "training_step_time": 17.81698775291443 }, { "epoch": 1.329517364501953e-06, "model_forward_time": 5.3019185066223145, "step": 13941 }, { "epoch": 1.329517364501953e-06, "step": 13941, "training_step_time": 17.64167809486389 }, { "epoch": 1.3296127319335939e-06, "model_forward_time": 5.086716890335083, "step": 13942 }, { "epoch": 1.3296127319335939e-06, "step": 13942, "training_step_time": 21.77594804763794 }, { "epoch": 1.3297080993652345e-06, "model_forward_time": 5.081892967224121, "step": 13943 }, { "epoch": 1.3297080993652345e-06, "step": 13943, "training_step_time": 21.939584255218506 }, { "epoch": 1.329803466796875e-06, "model_forward_time": 5.072345018386841, "step": 13944 }, { "epoch": 1.329803466796875e-06, "step": 13944, "training_step_time": 21.886858224868774 }, { "epoch": 1.3298988342285157e-06, "model_forward_time": 5.073882818222046, "step": 13945 }, { "epoch": 1.3298988342285157e-06, "step": 13945, "training_step_time": 21.873690843582153 }, { "epoch": 1.3299942016601563e-06, "model_forward_time": 4.081286668777466, "step": 13946 }, { "epoch": 1.3299942016601563e-06, "step": 13946, "training_step_time": 21.835012197494507 }, { "epoch": 1.330089569091797e-06, "model_forward_time": 5.060526609420776, "step": 13947 }, { "epoch": 1.330089569091797e-06, "step": 13947, "training_step_time": 21.917673349380493 }, { "epoch": 1.3301849365234375e-06, "model_forward_time": 5.052373886108398, "step": 13948 }, { "epoch": 1.3301849365234375e-06, "step": 13948, "training_step_time": 22.027063608169556 }, { "epoch": 1.3302803039550782e-06, "model_forward_time": 5.05931544303894, "step": 13949 }, { "epoch": 1.3302803039550782e-06, "step": 13949, "training_step_time": 21.865944862365723 }, { "epoch": 1.3303756713867188e-06, "grad_norm": 1.622509479522705, "learning_rate": 9.403089586874773e-06, "loss": 0.0895, "step": 13950 }, { "epoch": 1.3303756713867188e-06, "model_forward_time": 5.061199903488159, "step": 13950 }, { "dynamics_loss_avg": 0.043480658531188966, "epoch": 1.3303756713867188e-06, "step": 13950 }, { "action_loss_avg": 0.023896900983527303, "epoch": 1.3303756713867188e-06, "step": 13950 }, { "arm_loss_avg": 0.032619301415979865, "epoch": 1.3303756713867188e-06, "step": 13950 }, { "ee_loss_avg": 0.0379884815774858, "epoch": 1.3303756713867188e-06, "step": 13950 }, { "aux_loss_avg": 0.001044129324145615, "epoch": 1.3303756713867188e-06, "step": 13950 }, { "epoch": 1.3303756713867188e-06, "step": 13950, "training_step_time": 21.88400626182556 }, { "epoch": 1.3304710388183594e-06, "model_forward_time": 5.056988477706909, "step": 13951 }, { "epoch": 1.3304710388183594e-06, "step": 13951, "training_step_time": 21.84549832344055 }, { "epoch": 1.33056640625e-06, "model_forward_time": 5.071463584899902, "step": 13952 }, { "epoch": 1.33056640625e-06, "step": 13952, "training_step_time": 21.978442668914795 }, { "epoch": 1.3306617736816406e-06, "model_forward_time": 5.06318211555481, "step": 13953 }, { "epoch": 1.3306617736816406e-06, "step": 13953, "training_step_time": 21.86580491065979 }, { "epoch": 1.3307571411132812e-06, "model_forward_time": 5.0661351680755615, "step": 13954 }, { "epoch": 1.3307571411132812e-06, "step": 13954, "training_step_time": 21.874759912490845 }, { "epoch": 1.3308525085449218e-06, "model_forward_time": 5.065474033355713, "step": 13955 }, { "epoch": 1.3308525085449218e-06, "step": 13955, "training_step_time": 21.734663724899292 }, { "epoch": 1.3309478759765625e-06, "model_forward_time": 5.090063571929932, "step": 13956 }, { "epoch": 1.3309478759765625e-06, "step": 13956, "training_step_time": 17.870877981185913 }, { "epoch": 1.331043243408203e-06, "model_forward_time": 5.112409591674805, "step": 13957 }, { "epoch": 1.331043243408203e-06, "step": 13957, "training_step_time": 21.775723218917847 }, { "epoch": 1.3311386108398437e-06, "model_forward_time": 5.1019628047943115, "step": 13958 }, { "epoch": 1.3311386108398437e-06, "step": 13958, "training_step_time": 22.21148657798767 }, { "epoch": 1.3312339782714843e-06, "model_forward_time": 5.080881357192993, "step": 13959 }, { "epoch": 1.3312339782714843e-06, "step": 13959, "training_step_time": 21.898218154907227 }, { "epoch": 1.331329345703125e-06, "grad_norm": 1.1840343475341797, "learning_rate": 9.401969868797279e-06, "loss": 0.0897, "step": 13960 }, { "epoch": 1.331329345703125e-06, "model_forward_time": 5.061080694198608, "step": 13960 }, { "dynamics_loss_avg": 0.04454561974853277, "epoch": 1.331329345703125e-06, "step": 13960 }, { "action_loss_avg": 0.03173331748694182, "epoch": 1.331329345703125e-06, "step": 13960 }, { "arm_loss_avg": 0.04001736957579851, "epoch": 1.331329345703125e-06, "step": 13960 }, { "ee_loss_avg": 0.06841421937569976, "epoch": 1.331329345703125e-06, "step": 13960 }, { "aux_loss_avg": 0.0016355258878320456, "epoch": 1.331329345703125e-06, "step": 13960 }, { "epoch": 1.331329345703125e-06, "step": 13960, "training_step_time": 21.800610065460205 }, { "epoch": 1.3314247131347655e-06, "model_forward_time": 5.05460000038147, "step": 13961 }, { "epoch": 1.3314247131347655e-06, "step": 13961, "training_step_time": 21.91176438331604 }, { "epoch": 1.3315200805664064e-06, "model_forward_time": 3.8281400203704834, "step": 13962 }, { "epoch": 1.3315200805664064e-06, "step": 13962, "training_step_time": 22.1896071434021 }, { "epoch": 1.331615447998047e-06, "model_forward_time": 5.043684482574463, "step": 13963 }, { "epoch": 1.331615447998047e-06, "step": 13963, "training_step_time": 21.821879386901855 }, { "epoch": 1.3317108154296876e-06, "model_forward_time": 5.0466086864471436, "step": 13964 }, { "epoch": 1.3317108154296876e-06, "step": 13964, "training_step_time": 21.815090656280518 }, { "epoch": 1.3318061828613282e-06, "model_forward_time": 3.8267927169799805, "step": 13965 }, { "epoch": 1.3318061828613282e-06, "step": 13965, "training_step_time": 21.884297609329224 }, { "epoch": 1.3319015502929688e-06, "model_forward_time": 5.044595956802368, "step": 13966 }, { "epoch": 1.3319015502929688e-06, "step": 13966, "training_step_time": 21.90088701248169 }, { "epoch": 1.3319969177246094e-06, "model_forward_time": 5.268072605133057, "step": 13967 }, { "epoch": 1.3319969177246094e-06, "step": 13967, "training_step_time": 21.950636863708496 }, { "epoch": 1.33209228515625e-06, "model_forward_time": 5.0555806159973145, "step": 13968 }, { "epoch": 1.33209228515625e-06, "step": 13968, "training_step_time": 17.563692808151245 }, { "epoch": 1.3321876525878907e-06, "model_forward_time": 5.092838764190674, "step": 13969 }, { "epoch": 1.3321876525878907e-06, "step": 13969, "training_step_time": 21.82513117790222 }, { "epoch": 1.3322830200195313e-06, "grad_norm": 1.2065390348434448, "learning_rate": 9.400849168285493e-06, "loss": 0.0841, "step": 13970 }, { "epoch": 1.3322830200195313e-06, "model_forward_time": 5.077544927597046, "step": 13970 }, { "dynamics_loss_avg": 0.026961287250742316, "epoch": 1.3322830200195313e-06, "step": 13970 }, { "action_loss_avg": 0.06661427170038223, "epoch": 1.3322830200195313e-06, "step": 13970 }, { "arm_loss_avg": 0.1237980842590332, "epoch": 1.3322830200195313e-06, "step": 13970 }, { "ee_loss_avg": 0.06393290692940354, "epoch": 1.3322830200195313e-06, "step": 13970 }, { "aux_loss_avg": 0.0008588947530370206, "epoch": 1.3322830200195313e-06, "step": 13970 }, { "epoch": 1.3322830200195313e-06, "step": 13970, "training_step_time": 21.876267433166504 }, { "epoch": 1.3323783874511719e-06, "model_forward_time": 5.082700252532959, "step": 13971 }, { "epoch": 1.3323783874511719e-06, "step": 13971, "training_step_time": 21.812710762023926 }, { "epoch": 1.3324737548828125e-06, "model_forward_time": 5.326816558837891, "step": 13972 }, { "epoch": 1.3324737548828125e-06, "step": 13972, "training_step_time": 22.057121992111206 }, { "epoch": 1.3325691223144531e-06, "model_forward_time": 5.067622661590576, "step": 13973 }, { "epoch": 1.3325691223144531e-06, "step": 13973, "training_step_time": 21.922111749649048 }, { "epoch": 1.3326644897460937e-06, "model_forward_time": 3.8373613357543945, "step": 13974 }, { "epoch": 1.3326644897460937e-06, "step": 13974, "training_step_time": 17.50602388381958 }, { "epoch": 1.3327598571777343e-06, "model_forward_time": 5.060331583023071, "step": 13975 }, { "epoch": 1.3327598571777343e-06, "step": 13975, "training_step_time": 17.808452606201172 }, { "epoch": 1.332855224609375e-06, "model_forward_time": 5.082681655883789, "step": 13976 }, { "epoch": 1.332855224609375e-06, "step": 13976, "training_step_time": 17.634402751922607 }, { "epoch": 1.3329505920410156e-06, "model_forward_time": 5.316792726516724, "step": 13977 }, { "epoch": 1.3329505920410156e-06, "step": 13977, "training_step_time": 17.69666624069214 }, { "epoch": 1.3330459594726562e-06, "model_forward_time": 5.120778322219849, "step": 13978 }, { "epoch": 1.3330459594726562e-06, "step": 13978, "training_step_time": 17.70419192314148 }, { "epoch": 1.3331413269042968e-06, "model_forward_time": 5.1211347579956055, "step": 13979 }, { "epoch": 1.3331413269042968e-06, "step": 13979, "training_step_time": 17.692309856414795 }, { "epoch": 1.3332366943359374e-06, "grad_norm": 1.5077507495880127, "learning_rate": 9.399727485589536e-06, "loss": 0.093, "step": 13980 }, { "epoch": 1.3332366943359374e-06, "model_forward_time": 5.107632398605347, "step": 13980 }, { "dynamics_loss_avg": 0.03681830959394574, "epoch": 1.3332366943359374e-06, "step": 13980 }, { "action_loss_avg": 0.04252922888845205, "epoch": 1.3332366943359374e-06, "step": 13980 }, { "arm_loss_avg": 0.10700923595577479, "epoch": 1.3332366943359374e-06, "step": 13980 }, { "ee_loss_avg": 0.04900913098827005, "epoch": 1.3332366943359374e-06, "step": 13980 }, { "aux_loss_avg": 0.0015509073331486435, "epoch": 1.3332366943359374e-06, "step": 13980 }, { "epoch": 1.3332366943359374e-06, "step": 13980, "training_step_time": 17.56936287879944 }, { "epoch": 1.333332061767578e-06, "model_forward_time": 5.091199636459351, "step": 13981 }, { "epoch": 1.333332061767578e-06, "step": 13981, "training_step_time": 17.554553747177124 }, { "epoch": 1.3334274291992189e-06, "model_forward_time": 5.085142612457275, "step": 13982 }, { "epoch": 1.3334274291992189e-06, "step": 13982, "training_step_time": 17.60008454322815 }, { "epoch": 1.3335227966308595e-06, "model_forward_time": 5.0836522579193115, "step": 13983 }, { "epoch": 1.3335227966308595e-06, "step": 13983, "training_step_time": 17.65090322494507 }, { "epoch": 1.3336181640625e-06, "model_forward_time": 5.079310417175293, "step": 13984 }, { "epoch": 1.3336181640625e-06, "step": 13984, "training_step_time": 17.63241171836853 }, { "epoch": 1.3337135314941407e-06, "model_forward_time": 5.080495595932007, "step": 13985 }, { "epoch": 1.3337135314941407e-06, "step": 13985, "training_step_time": 17.41862988471985 }, { "epoch": 1.3338088989257813e-06, "model_forward_time": 5.276066541671753, "step": 13986 }, { "epoch": 1.3338088989257813e-06, "step": 13986, "training_step_time": 17.785462379455566 }, { "epoch": 1.333904266357422e-06, "model_forward_time": 5.082078695297241, "step": 13987 }, { "epoch": 1.333904266357422e-06, "step": 13987, "training_step_time": 17.62698483467102 }, { "epoch": 1.3339996337890625e-06, "model_forward_time": 5.079967260360718, "step": 13988 }, { "epoch": 1.3339996337890625e-06, "step": 13988, "training_step_time": 17.606764316558838 }, { "epoch": 1.3340950012207032e-06, "model_forward_time": 5.082207202911377, "step": 13989 }, { "epoch": 1.3340950012207032e-06, "step": 13989, "training_step_time": 17.61593532562256 }, { "epoch": 1.3341903686523438e-06, "grad_norm": 2.620824098587036, "learning_rate": 9.398604820959746e-06, "loss": 0.0937, "step": 13990 }, { "epoch": 1.3341903686523438e-06, "model_forward_time": 5.0888378620147705, "step": 13990 }, { "dynamics_loss_avg": 0.038733741361647846, "epoch": 1.3341903686523438e-06, "step": 13990 }, { "action_loss_avg": 0.05599479842931032, "epoch": 1.3341903686523438e-06, "step": 13990 }, { "arm_loss_avg": 0.08388886228203773, "epoch": 1.3341903686523438e-06, "step": 13990 }, { "ee_loss_avg": 0.06736263390630484, "epoch": 1.3341903686523438e-06, "step": 13990 }, { "aux_loss_avg": 0.001029669726267457, "epoch": 1.3341903686523438e-06, "step": 13990 }, { "epoch": 1.3341903686523438e-06, "step": 13990, "training_step_time": 17.876141786575317 }, { "epoch": 1.3342857360839844e-06, "model_forward_time": 5.0884318351745605, "step": 13991 }, { "epoch": 1.3342857360839844e-06, "step": 13991, "training_step_time": 17.614060878753662 }, { "epoch": 1.334381103515625e-06, "model_forward_time": 5.088014841079712, "step": 13992 }, { "epoch": 1.334381103515625e-06, "step": 13992, "training_step_time": 17.623692750930786 }, { "epoch": 1.3344764709472656e-06, "model_forward_time": 5.088253021240234, "step": 13993 }, { "epoch": 1.3344764709472656e-06, "step": 13993, "training_step_time": 17.622814416885376 }, { "epoch": 1.3345718383789062e-06, "model_forward_time": 5.0872626304626465, "step": 13994 }, { "epoch": 1.3345718383789062e-06, "step": 13994, "training_step_time": 17.620476722717285 }, { "epoch": 1.3346672058105468e-06, "model_forward_time": 5.088637113571167, "step": 13995 }, { "epoch": 1.3346672058105468e-06, "step": 13995, "training_step_time": 17.609320878982544 }, { "epoch": 1.3347625732421875e-06, "model_forward_time": 5.095662832260132, "step": 13996 }, { "epoch": 1.3347625732421875e-06, "step": 13996, "training_step_time": 17.873300552368164 }, { "epoch": 1.334857940673828e-06, "model_forward_time": 5.098167181015015, "step": 13997 }, { "epoch": 1.334857940673828e-06, "step": 13997, "training_step_time": 17.68782615661621 }, { "epoch": 1.3349533081054687e-06, "model_forward_time": 5.094602823257446, "step": 13998 }, { "epoch": 1.3349533081054687e-06, "step": 13998, "training_step_time": 17.639230489730835 }, { "epoch": 1.3350486755371093e-06, "model_forward_time": 5.0889832973480225, "step": 13999 }, { "epoch": 1.3350486755371093e-06, "step": 13999, "training_step_time": 17.62389850616455 }, { "epoch": 1.33514404296875e-06, "grad_norm": 1.8606406450271606, "learning_rate": 9.39748117464668e-06, "loss": 0.0989, "step": 14000 }, { "epoch": 1.33514404296875e-06, "model_forward_time": 5.085545301437378, "step": 14000 }, { "dynamics_loss_avg": 0.044341620057821274, "epoch": 1.33514404296875e-06, "step": 14000 }, { "action_loss_avg": 0.06101104933768511, "epoch": 1.33514404296875e-06, "step": 14000 }, { "arm_loss_avg": 0.10845572128891945, "epoch": 1.33514404296875e-06, "step": 14000 }, { "ee_loss_avg": 0.11173776928335429, "epoch": 1.33514404296875e-06, "step": 14000 }, { "aux_loss_avg": 0.0025230735540390016, "epoch": 1.33514404296875e-06, "step": 14000 }, { "epoch": 1.33514404296875e-06, "step": 14000, "training_step_time": 17.826614379882812 }, { "epoch": 1.3352394104003905e-06, "model_forward_time": 5.084791898727417, "step": 14001 }, { "epoch": 1.3352394104003905e-06, "step": 14001, "training_step_time": 17.591439247131348 }, { "epoch": 1.3353347778320311e-06, "model_forward_time": 5.085400342941284, "step": 14002 }, { "epoch": 1.3353347778320311e-06, "step": 14002, "training_step_time": 17.62696886062622 }, { "epoch": 1.335430145263672e-06, "model_forward_time": 5.086177825927734, "step": 14003 }, { "epoch": 1.335430145263672e-06, "step": 14003, "training_step_time": 17.607239484786987 }, { "epoch": 1.3355255126953126e-06, "model_forward_time": 5.090465545654297, "step": 14004 }, { "epoch": 1.3355255126953126e-06, "step": 14004, "training_step_time": 17.605661630630493 }, { "epoch": 1.3356208801269532e-06, "model_forward_time": 5.087327241897583, "step": 14005 }, { "epoch": 1.3356208801269532e-06, "step": 14005, "training_step_time": 17.831421613693237 }, { "epoch": 1.3357162475585938e-06, "model_forward_time": 5.285890817642212, "step": 14006 }, { "epoch": 1.3357162475585938e-06, "step": 14006, "training_step_time": 17.395384073257446 }, { "epoch": 1.3358116149902344e-06, "model_forward_time": 5.090234279632568, "step": 14007 }, { "epoch": 1.3358116149902344e-06, "step": 14007, "training_step_time": 17.630930185317993 }, { "epoch": 1.335906982421875e-06, "model_forward_time": 5.087476491928101, "step": 14008 }, { "epoch": 1.335906982421875e-06, "step": 14008, "training_step_time": 17.46939253807068 }, { "epoch": 1.3360023498535157e-06, "model_forward_time": 3.849458932876587, "step": 14009 }, { "epoch": 1.3360023498535157e-06, "step": 14009, "training_step_time": 17.528226137161255 }, { "epoch": 1.3360977172851563e-06, "grad_norm": 2.8438384532928467, "learning_rate": 9.396356546901114e-06, "loss": 0.0979, "step": 14010 }, { "epoch": 1.3360977172851563e-06, "model_forward_time": 5.0609917640686035, "step": 14010 }, { "dynamics_loss_avg": 0.037789208255708216, "epoch": 1.3360977172851563e-06, "step": 14010 }, { "action_loss_avg": 0.07010850924998521, "epoch": 1.3360977172851563e-06, "step": 14010 }, { "arm_loss_avg": 0.10425441637635231, "epoch": 1.3360977172851563e-06, "step": 14010 }, { "ee_loss_avg": 0.08229595897719263, "epoch": 1.3360977172851563e-06, "step": 14010 }, { "aux_loss_avg": 0.0012818999879527838, "epoch": 1.3360977172851563e-06, "step": 14010 }, { "epoch": 1.3360977172851563e-06, "step": 14010, "training_step_time": 17.568081378936768 }, { "epoch": 1.3361930847167969e-06, "model_forward_time": 3.8375911712646484, "step": 14011 }, { "epoch": 1.3361930847167969e-06, "step": 14011, "training_step_time": 17.79299545288086 }, { "epoch": 1.3362884521484375e-06, "model_forward_time": 5.2923314571380615, "step": 14012 }, { "epoch": 1.3362884521484375e-06, "step": 14012, "training_step_time": 17.6230309009552 }, { "epoch": 1.3363838195800781e-06, "model_forward_time": 5.066989183425903, "step": 14013 }, { "epoch": 1.3363838195800781e-06, "step": 14013, "training_step_time": 17.621446132659912 }, { "epoch": 1.3364791870117187e-06, "model_forward_time": 5.082504749298096, "step": 14014 }, { "epoch": 1.3364791870117187e-06, "step": 14014, "training_step_time": 17.63834309577942 }, { "epoch": 1.3365745544433593e-06, "model_forward_time": 5.096431255340576, "step": 14015 }, { "epoch": 1.3365745544433593e-06, "step": 14015, "training_step_time": 17.628592491149902 }, { "epoch": 1.336669921875e-06, "model_forward_time": 5.100412368774414, "step": 14016 }, { "epoch": 1.336669921875e-06, "step": 14016, "training_step_time": 17.839874982833862 }, { "epoch": 1.3367652893066406e-06, "model_forward_time": 5.30357551574707, "step": 14017 }, { "epoch": 1.3367652893066406e-06, "step": 14017, "training_step_time": 17.604757070541382 }, { "epoch": 1.3368606567382812e-06, "model_forward_time": 5.101973533630371, "step": 14018 }, { "epoch": 1.3368606567382812e-06, "step": 14018, "training_step_time": 17.6013286113739 }, { "epoch": 1.3369560241699218e-06, "model_forward_time": 5.093898773193359, "step": 14019 }, { "epoch": 1.3369560241699218e-06, "step": 14019, "training_step_time": 17.44625735282898 }, { "epoch": 1.3370513916015624e-06, "grad_norm": 1.1931792497634888, "learning_rate": 9.395230937974041e-06, "loss": 0.1036, "step": 14020 }, { "epoch": 1.3370513916015624e-06, "model_forward_time": 5.093966245651245, "step": 14020 }, { "dynamics_loss_avg": 0.04316523475572467, "epoch": 1.3370513916015624e-06, "step": 14020 }, { "action_loss_avg": 0.050038474611938, "epoch": 1.3370513916015624e-06, "step": 14020 }, { "arm_loss_avg": 0.11496527753770351, "epoch": 1.3370513916015624e-06, "step": 14020 }, { "ee_loss_avg": 0.07124412208795547, "epoch": 1.3370513916015624e-06, "step": 14020 }, { "aux_loss_avg": 0.00645052429754287, "epoch": 1.3370513916015624e-06, "step": 14020 }, { "epoch": 1.3370513916015624e-06, "step": 14020, "training_step_time": 17.5054874420166 }, { "epoch": 1.337146759033203e-06, "model_forward_time": 5.08695125579834, "step": 14021 }, { "epoch": 1.337146759033203e-06, "step": 14021, "training_step_time": 17.710145950317383 }, { "epoch": 1.3372421264648436e-06, "model_forward_time": 5.083853006362915, "step": 14022 }, { "epoch": 1.3372421264648436e-06, "step": 14022, "training_step_time": 17.565536737442017 }, { "epoch": 1.3373374938964845e-06, "model_forward_time": 3.8465073108673096, "step": 14023 }, { "epoch": 1.3373374938964845e-06, "step": 14023, "training_step_time": 17.573076009750366 }, { "epoch": 1.337432861328125e-06, "model_forward_time": 5.056756019592285, "step": 14024 }, { "epoch": 1.337432861328125e-06, "step": 14024, "training_step_time": 17.591597318649292 }, { "epoch": 1.3375282287597657e-06, "model_forward_time": 5.061599493026733, "step": 14025 }, { "epoch": 1.3375282287597657e-06, "step": 14025, "training_step_time": 17.592970609664917 }, { "epoch": 1.3376235961914063e-06, "model_forward_time": 5.069561243057251, "step": 14026 }, { "epoch": 1.3376235961914063e-06, "step": 14026, "training_step_time": 17.832197189331055 }, { "epoch": 1.337718963623047e-06, "model_forward_time": 3.847500801086426, "step": 14027 }, { "epoch": 1.337718963623047e-06, "step": 14027, "training_step_time": 17.577704429626465 }, { "epoch": 1.3378143310546875e-06, "model_forward_time": 5.058594226837158, "step": 14028 }, { "epoch": 1.3378143310546875e-06, "step": 14028, "training_step_time": 17.633485555648804 }, { "epoch": 1.3379096984863282e-06, "model_forward_time": 5.075448989868164, "step": 14029 }, { "epoch": 1.3379096984863282e-06, "step": 14029, "training_step_time": 17.591806411743164 }, { "epoch": 1.3380050659179688e-06, "grad_norm": 1.6344785690307617, "learning_rate": 9.394104348116678e-06, "loss": 0.1004, "step": 14030 }, { "epoch": 1.3380050659179688e-06, "model_forward_time": 5.087500810623169, "step": 14030 }, { "dynamics_loss_avg": 0.03107887301594019, "epoch": 1.3380050659179688e-06, "step": 14030 }, { "action_loss_avg": 0.059965014830231665, "epoch": 1.3380050659179688e-06, "step": 14030 }, { "arm_loss_avg": 0.12000292483717204, "epoch": 1.3380050659179688e-06, "step": 14030 }, { "ee_loss_avg": 0.10536784827709197, "epoch": 1.3380050659179688e-06, "step": 14030 }, { "aux_loss_avg": 0.0013187554315663875, "epoch": 1.3380050659179688e-06, "step": 14030 }, { "epoch": 1.3380050659179688e-06, "step": 14030, "training_step_time": 17.585496425628662 }, { "epoch": 1.3381004333496094e-06, "model_forward_time": 5.09776759147644, "step": 14031 }, { "epoch": 1.3381004333496094e-06, "step": 14031, "training_step_time": 17.797985792160034 }, { "epoch": 1.33819580078125e-06, "model_forward_time": 5.3363354206085205, "step": 14032 }, { "epoch": 1.33819580078125e-06, "step": 14032, "training_step_time": 17.612001180648804 }, { "epoch": 1.3382911682128906e-06, "model_forward_time": 5.102630138397217, "step": 14033 }, { "epoch": 1.3382911682128906e-06, "step": 14033, "training_step_time": 17.600829362869263 }, { "epoch": 1.3383865356445312e-06, "model_forward_time": 5.099385976791382, "step": 14034 }, { "epoch": 1.3383865356445312e-06, "step": 14034, "training_step_time": 17.600342750549316 }, { "epoch": 1.3384819030761718e-06, "model_forward_time": 5.096318006515503, "step": 14035 }, { "epoch": 1.3384819030761718e-06, "step": 14035, "training_step_time": 17.817060470581055 }, { "epoch": 1.3385772705078125e-06, "model_forward_time": 5.0880749225616455, "step": 14036 }, { "epoch": 1.3385772705078125e-06, "step": 14036, "training_step_time": 17.597069025039673 }, { "epoch": 1.338672637939453e-06, "model_forward_time": 5.096665382385254, "step": 14037 }, { "epoch": 1.338672637939453e-06, "step": 14037, "training_step_time": 17.655035972595215 }, { "epoch": 1.3387680053710937e-06, "model_forward_time": 5.1034111976623535, "step": 14038 }, { "epoch": 1.3387680053710937e-06, "step": 14038, "training_step_time": 17.643933534622192 }, { "epoch": 1.3388633728027343e-06, "model_forward_time": 5.103349924087524, "step": 14039 }, { "epoch": 1.3388633728027343e-06, "step": 14039, "training_step_time": 17.62946081161499 }, { "epoch": 1.338958740234375e-06, "grad_norm": 1.760189175605774, "learning_rate": 9.392976777580458e-06, "loss": 0.1067, "step": 14040 }, { "epoch": 1.338958740234375e-06, "model_forward_time": 5.103577136993408, "step": 14040 }, { "dynamics_loss_avg": 0.043315351288765666, "epoch": 1.338958740234375e-06, "step": 14040 }, { "action_loss_avg": 0.04849834041669965, "epoch": 1.338958740234375e-06, "step": 14040 }, { "arm_loss_avg": 0.08232610858976841, "epoch": 1.338958740234375e-06, "step": 14040 }, { "ee_loss_avg": 0.048874170426279305, "epoch": 1.338958740234375e-06, "step": 14040 }, { "aux_loss_avg": 0.002656928380019963, "epoch": 1.338958740234375e-06, "step": 14040 }, { "epoch": 1.338958740234375e-06, "step": 14040, "training_step_time": 17.830896377563477 }, { "epoch": 1.3390541076660155e-06, "model_forward_time": 5.085671901702881, "step": 14041 }, { "epoch": 1.3390541076660155e-06, "step": 14041, "training_step_time": 17.613341093063354 }, { "epoch": 1.3391494750976561e-06, "model_forward_time": 3.848773717880249, "step": 14042 }, { "epoch": 1.3391494750976561e-06, "step": 14042, "training_step_time": 17.616865634918213 }, { "epoch": 1.339244842529297e-06, "model_forward_time": 5.056188583374023, "step": 14043 }, { "epoch": 1.339244842529297e-06, "step": 14043, "training_step_time": 17.600550651550293 }, { "epoch": 1.3393402099609376e-06, "model_forward_time": 5.069797992706299, "step": 14044 }, { "epoch": 1.3393402099609376e-06, "step": 14044, "training_step_time": 17.60664439201355 }, { "epoch": 1.3394355773925782e-06, "model_forward_time": 5.078646421432495, "step": 14045 }, { "epoch": 1.3394355773925782e-06, "step": 14045, "training_step_time": 17.835224628448486 }, { "epoch": 1.3395309448242188e-06, "model_forward_time": 5.091928005218506, "step": 14046 }, { "epoch": 1.3395309448242188e-06, "step": 14046, "training_step_time": 17.593048572540283 }, { "epoch": 1.3396263122558594e-06, "model_forward_time": 5.328197956085205, "step": 14047 }, { "epoch": 1.3396263122558594e-06, "step": 14047, "training_step_time": 17.59637951850891 }, { "epoch": 1.3397216796875e-06, "model_forward_time": 5.097579479217529, "step": 14048 }, { "epoch": 1.3397216796875e-06, "step": 14048, "training_step_time": 17.63418412208557 }, { "epoch": 1.3398170471191407e-06, "model_forward_time": 5.100151300430298, "step": 14049 }, { "epoch": 1.3398170471191407e-06, "step": 14049, "training_step_time": 17.601523399353027 }, { "epoch": 1.3399124145507813e-06, "grad_norm": 2.0883054733276367, "learning_rate": 9.391848226617028e-06, "loss": 0.1401, "step": 14050 }, { "epoch": 1.3399124145507813e-06, "model_forward_time": 5.097989320755005, "step": 14050 }, { "dynamics_loss_avg": 0.054518886283040045, "epoch": 1.3399124145507813e-06, "step": 14050 }, { "action_loss_avg": 0.06297457534819842, "epoch": 1.3399124145507813e-06, "step": 14050 }, { "arm_loss_avg": 0.0826900664716959, "epoch": 1.3399124145507813e-06, "step": 14050 }, { "ee_loss_avg": 0.08162044123746455, "epoch": 1.3399124145507813e-06, "step": 14050 }, { "aux_loss_avg": 0.0009692851919680834, "epoch": 1.3399124145507813e-06, "step": 14050 }, { "epoch": 1.3399124145507813e-06, "step": 14050, "training_step_time": 17.79301905632019 }, { "epoch": 1.3400077819824219e-06, "model_forward_time": 5.094558000564575, "step": 14051 }, { "epoch": 1.3400077819824219e-06, "step": 14051, "training_step_time": 17.474316596984863 }, { "epoch": 1.3401031494140625e-06, "model_forward_time": 5.092754602432251, "step": 14052 }, { "epoch": 1.3401031494140625e-06, "step": 14052, "training_step_time": 17.654987812042236 }, { "epoch": 1.3401985168457031e-06, "model_forward_time": 5.087260961532593, "step": 14053 }, { "epoch": 1.3401985168457031e-06, "step": 14053, "training_step_time": 17.556153059005737 }, { "epoch": 1.3402938842773437e-06, "model_forward_time": 5.0853493213653564, "step": 14054 }, { "epoch": 1.3402938842773437e-06, "step": 14054, "training_step_time": 17.585160493850708 }, { "epoch": 1.3403892517089843e-06, "model_forward_time": 5.0841264724731445, "step": 14055 }, { "epoch": 1.3403892517089843e-06, "step": 14055, "training_step_time": 17.406177282333374 }, { "epoch": 1.340484619140625e-06, "model_forward_time": 5.081920385360718, "step": 14056 }, { "epoch": 1.340484619140625e-06, "step": 14056, "training_step_time": 17.765402793884277 }, { "epoch": 1.3405799865722656e-06, "model_forward_time": 5.083277225494385, "step": 14057 }, { "epoch": 1.3405799865722656e-06, "step": 14057, "training_step_time": 17.623926401138306 }, { "epoch": 1.3406753540039062e-06, "model_forward_time": 5.079695224761963, "step": 14058 }, { "epoch": 1.3406753540039062e-06, "step": 14058, "training_step_time": 17.389514923095703 }, { "epoch": 1.3407707214355468e-06, "model_forward_time": 5.085052013397217, "step": 14059 }, { "epoch": 1.3407707214355468e-06, "step": 14059, "training_step_time": 17.541847705841064 }, { "epoch": 1.3408660888671874e-06, "grad_norm": 2.770475387573242, "learning_rate": 9.390718695478266e-06, "loss": 0.1204, "step": 14060 }, { "epoch": 1.3408660888671874e-06, "model_forward_time": 5.080987215042114, "step": 14060 }, { "dynamics_loss_avg": 0.03850125391036272, "epoch": 1.3408660888671874e-06, "step": 14060 }, { "action_loss_avg": 0.043791902251541615, "epoch": 1.3408660888671874e-06, "step": 14060 }, { "arm_loss_avg": 0.10013424679636955, "epoch": 1.3408660888671874e-06, "step": 14060 }, { "ee_loss_avg": 0.03872540416195989, "epoch": 1.3408660888671874e-06, "step": 14060 }, { "aux_loss_avg": 0.0009305464045610279, "epoch": 1.3408660888671874e-06, "step": 14060 }, { "epoch": 1.3408660888671874e-06, "step": 14060, "training_step_time": 17.471330642700195 }, { "epoch": 1.340961456298828e-06, "model_forward_time": 5.3291168212890625, "step": 14061 }, { "epoch": 1.340961456298828e-06, "step": 14061, "training_step_time": 17.714022636413574 }, { "epoch": 1.3410568237304686e-06, "model_forward_time": 5.0830981731414795, "step": 14062 }, { "epoch": 1.3410568237304686e-06, "step": 14062, "training_step_time": 17.590296983718872 }, { "epoch": 1.3411521911621095e-06, "model_forward_time": 5.086703300476074, "step": 14063 }, { "epoch": 1.3411521911621095e-06, "step": 14063, "training_step_time": 17.618753910064697 }, { "epoch": 1.34124755859375e-06, "model_forward_time": 5.084953784942627, "step": 14064 }, { "epoch": 1.34124755859375e-06, "step": 14064, "training_step_time": 17.636961936950684 }, { "epoch": 1.3413429260253907e-06, "model_forward_time": 5.086654424667358, "step": 14065 }, { "epoch": 1.3413429260253907e-06, "step": 14065, "training_step_time": 17.661763191223145 }, { "epoch": 1.3414382934570313e-06, "model_forward_time": 5.287818670272827, "step": 14066 }, { "epoch": 1.3414382934570313e-06, "step": 14066, "training_step_time": 17.889203786849976 }, { "epoch": 1.341533660888672e-06, "model_forward_time": 5.082167387008667, "step": 14067 }, { "epoch": 1.341533660888672e-06, "step": 14067, "training_step_time": 17.64753222465515 }, { "epoch": 1.3416290283203125e-06, "model_forward_time": 3.8490145206451416, "step": 14068 }, { "epoch": 1.3416290283203125e-06, "step": 14068, "training_step_time": 17.64072322845459 }, { "epoch": 1.3417243957519532e-06, "model_forward_time": 5.055704355239868, "step": 14069 }, { "epoch": 1.3417243957519532e-06, "step": 14069, "training_step_time": 17.63263177871704 }, { "epoch": 1.3418197631835938e-06, "grad_norm": 1.3267008066177368, "learning_rate": 9.389588184416257e-06, "loss": 0.1048, "step": 14070 }, { "epoch": 1.3418197631835938e-06, "model_forward_time": 3.8379313945770264, "step": 14070 }, { "dynamics_loss_avg": 0.04064448662102223, "epoch": 1.3418197631835938e-06, "step": 14070 }, { "action_loss_avg": 0.04835439119488001, "epoch": 1.3418197631835938e-06, "step": 14070 }, { "arm_loss_avg": 0.09650895614176988, "epoch": 1.3418197631835938e-06, "step": 14070 }, { "ee_loss_avg": 0.07093914318829775, "epoch": 1.3418197631835938e-06, "step": 14070 }, { "aux_loss_avg": 0.0021979444078169762, "epoch": 1.3418197631835938e-06, "step": 14070 }, { "epoch": 1.3418197631835938e-06, "step": 14070, "training_step_time": 17.628308534622192 }, { "epoch": 1.3419151306152344e-06, "model_forward_time": 5.055875062942505, "step": 14071 }, { "epoch": 1.3419151306152344e-06, "step": 14071, "training_step_time": 17.81932806968689 }, { "epoch": 1.342010498046875e-06, "model_forward_time": 5.30403208732605, "step": 14072 }, { "epoch": 1.342010498046875e-06, "step": 14072, "training_step_time": 17.608645915985107 }, { "epoch": 1.3421058654785156e-06, "model_forward_time": 5.0875959396362305, "step": 14073 }, { "epoch": 1.3421058654785156e-06, "step": 14073, "training_step_time": 17.600245714187622 }, { "epoch": 1.3422012329101562e-06, "model_forward_time": 3.8561923503875732, "step": 14074 }, { "epoch": 1.3422012329101562e-06, "step": 14074, "training_step_time": 17.387410640716553 }, { "epoch": 1.3422966003417968e-06, "model_forward_time": 5.0683605670928955, "step": 14075 }, { "epoch": 1.3422966003417968e-06, "step": 14075, "training_step_time": 17.500277280807495 }, { "epoch": 1.3423919677734375e-06, "model_forward_time": 5.0878236293792725, "step": 14076 }, { "epoch": 1.3423919677734375e-06, "step": 14076, "training_step_time": 17.78574824333191 }, { "epoch": 1.342487335205078e-06, "model_forward_time": 5.276833534240723, "step": 14077 }, { "epoch": 1.342487335205078e-06, "step": 14077, "training_step_time": 17.61418581008911 }, { "epoch": 1.3425827026367187e-06, "model_forward_time": 5.095866680145264, "step": 14078 }, { "epoch": 1.3425827026367187e-06, "step": 14078, "training_step_time": 17.603902339935303 }, { "epoch": 1.3426780700683593e-06, "model_forward_time": 5.0954062938690186, "step": 14079 }, { "epoch": 1.3426780700683593e-06, "step": 14079, "training_step_time": 17.619774103164673 }, { "epoch": 1.3427734375e-06, "grad_norm": 1.5402143001556396, "learning_rate": 9.388456693683309e-06, "loss": 0.1134, "step": 14080 }, { "epoch": 1.3427734375e-06, "model_forward_time": 5.097167015075684, "step": 14080 }, { "dynamics_loss_avg": 0.05030934680253267, "epoch": 1.3427734375e-06, "step": 14080 }, { "action_loss_avg": 0.06155308801680803, "epoch": 1.3427734375e-06, "step": 14080 }, { "arm_loss_avg": 0.10797124858945609, "epoch": 1.3427734375e-06, "step": 14080 }, { "ee_loss_avg": 0.06101719401776791, "epoch": 1.3427734375e-06, "step": 14080 }, { "aux_loss_avg": 0.0038849170203320684, "epoch": 1.3427734375e-06, "step": 14080 }, { "epoch": 1.3427734375e-06, "step": 14080, "training_step_time": 17.863800525665283 }, { "epoch": 1.3428688049316405e-06, "model_forward_time": 3.855710506439209, "step": 14081 }, { "epoch": 1.3428688049316405e-06, "step": 14081, "training_step_time": 17.632555961608887 }, { "epoch": 1.3429641723632812e-06, "model_forward_time": 5.290540933609009, "step": 14082 }, { "epoch": 1.3429641723632812e-06, "step": 14082, "training_step_time": 17.647019147872925 }, { "epoch": 1.343059539794922e-06, "model_forward_time": 5.065418720245361, "step": 14083 }, { "epoch": 1.343059539794922e-06, "step": 14083, "training_step_time": 17.63926601409912 }, { "epoch": 1.3431549072265626e-06, "model_forward_time": 5.077388763427734, "step": 14084 }, { "epoch": 1.3431549072265626e-06, "step": 14084, "training_step_time": 17.62281084060669 }, { "epoch": 1.3432502746582032e-06, "model_forward_time": 5.086361646652222, "step": 14085 }, { "epoch": 1.3432502746582032e-06, "step": 14085, "training_step_time": 17.839163064956665 }, { "epoch": 1.3433456420898438e-06, "model_forward_time": 5.085821866989136, "step": 14086 }, { "epoch": 1.3433456420898438e-06, "step": 14086, "training_step_time": 17.60277223587036 }, { "epoch": 1.3434410095214844e-06, "model_forward_time": 5.2891457080841064, "step": 14087 }, { "epoch": 1.3434410095214844e-06, "step": 14087, "training_step_time": 17.59363842010498 }, { "epoch": 1.343536376953125e-06, "model_forward_time": 5.093799591064453, "step": 14088 }, { "epoch": 1.343536376953125e-06, "step": 14088, "training_step_time": 17.626758575439453 }, { "epoch": 1.3436317443847657e-06, "model_forward_time": 5.093209981918335, "step": 14089 }, { "epoch": 1.3436317443847657e-06, "step": 14089, "training_step_time": 17.59722328186035 }, { "epoch": 1.3437271118164063e-06, "grad_norm": 1.5039937496185303, "learning_rate": 9.387324223531949e-06, "loss": 0.1195, "step": 14090 }, { "epoch": 1.3437271118164063e-06, "model_forward_time": 5.092663526535034, "step": 14090 }, { "dynamics_loss_avg": 0.048682772926986216, "epoch": 1.3437271118164063e-06, "step": 14090 }, { "action_loss_avg": 0.05005668606609106, "epoch": 1.3437271118164063e-06, "step": 14090 }, { "arm_loss_avg": 0.08830791376531125, "epoch": 1.3437271118164063e-06, "step": 14090 }, { "ee_loss_avg": 0.11295635923743248, "epoch": 1.3437271118164063e-06, "step": 14090 }, { "aux_loss_avg": 0.00228258651914075, "epoch": 1.3437271118164063e-06, "step": 14090 }, { "epoch": 1.3437271118164063e-06, "step": 14090, "training_step_time": 17.820209980010986 }, { "epoch": 1.3438224792480469e-06, "model_forward_time": 5.086590528488159, "step": 14091 }, { "epoch": 1.3438224792480469e-06, "step": 14091, "training_step_time": 17.600926876068115 }, { "epoch": 1.3439178466796875e-06, "model_forward_time": 5.326091051101685, "step": 14092 }, { "epoch": 1.3439178466796875e-06, "step": 14092, "training_step_time": 17.644346714019775 }, { "epoch": 1.3440132141113281e-06, "model_forward_time": 5.0849449634552, "step": 14093 }, { "epoch": 1.3440132141113281e-06, "step": 14093, "training_step_time": 17.51246452331543 }, { "epoch": 1.3441085815429687e-06, "model_forward_time": 5.084288597106934, "step": 14094 }, { "epoch": 1.3441085815429687e-06, "step": 14094, "training_step_time": 17.5591299533844 }, { "epoch": 1.3442039489746094e-06, "model_forward_time": 5.085559129714966, "step": 14095 }, { "epoch": 1.3442039489746094e-06, "step": 14095, "training_step_time": 17.587796211242676 }, { "epoch": 1.34429931640625e-06, "model_forward_time": 5.097074508666992, "step": 14096 }, { "epoch": 1.34429931640625e-06, "step": 14096, "training_step_time": 17.876667737960815 }, { "epoch": 1.3443946838378906e-06, "model_forward_time": 5.089613914489746, "step": 14097 }, { "epoch": 1.3443946838378906e-06, "step": 14097, "training_step_time": 17.639451503753662 }, { "epoch": 1.3444900512695312e-06, "model_forward_time": 5.086759090423584, "step": 14098 }, { "epoch": 1.3444900512695312e-06, "step": 14098, "training_step_time": 17.670490264892578 }, { "epoch": 1.3445854187011718e-06, "model_forward_time": 3.853916645050049, "step": 14099 }, { "epoch": 1.3445854187011718e-06, "step": 14099, "training_step_time": 17.626262664794922 }, { "epoch": 1.3446807861328124e-06, "grad_norm": 1.8571192026138306, "learning_rate": 9.386190774214925e-06, "loss": 0.1175, "step": 14100 }, { "epoch": 1.3446807861328124e-06, "model_forward_time": 5.061342716217041, "step": 14100 }, { "dynamics_loss_avg": 0.036258068028837444, "epoch": 1.3446807861328124e-06, "step": 14100 }, { "action_loss_avg": 0.060593802109360696, "epoch": 1.3446807861328124e-06, "step": 14100 }, { "arm_loss_avg": 0.11981576383113861, "epoch": 1.3446807861328124e-06, "step": 14100 }, { "ee_loss_avg": 0.04999193167313933, "epoch": 1.3446807861328124e-06, "step": 14100 }, { "aux_loss_avg": 0.0009135834814514964, "epoch": 1.3446807861328124e-06, "step": 14100 }, { "epoch": 1.3446807861328124e-06, "step": 14100, "training_step_time": 17.529799222946167 }, { "epoch": 1.344776153564453e-06, "model_forward_time": 3.836427688598633, "step": 14101 }, { "epoch": 1.344776153564453e-06, "step": 14101, "training_step_time": 17.394527196884155 }, { "epoch": 1.3448715209960937e-06, "model_forward_time": 5.2817161083221436, "step": 14102 }, { "epoch": 1.3448715209960937e-06, "step": 14102, "training_step_time": 17.631505250930786 }, { "epoch": 1.3449668884277345e-06, "model_forward_time": 5.068493604660034, "step": 14103 }, { "epoch": 1.3449668884277345e-06, "step": 14103, "training_step_time": 17.534428358078003 }, { "epoch": 1.345062255859375e-06, "model_forward_time": 3.8473196029663086, "step": 14104 }, { "epoch": 1.345062255859375e-06, "step": 14104, "training_step_time": 17.55280637741089 }, { "epoch": 1.3451576232910157e-06, "model_forward_time": 5.065000295639038, "step": 14105 }, { "epoch": 1.3451576232910157e-06, "step": 14105, "training_step_time": 17.5754873752594 }, { "epoch": 1.3452529907226563e-06, "model_forward_time": 5.080415487289429, "step": 14106 }, { "epoch": 1.3452529907226563e-06, "step": 14106, "training_step_time": 17.815788507461548 }, { "epoch": 1.345348358154297e-06, "model_forward_time": 5.274846315383911, "step": 14107 }, { "epoch": 1.345348358154297e-06, "step": 14107, "training_step_time": 17.574309587478638 }, { "epoch": 1.3454437255859376e-06, "model_forward_time": 5.09494423866272, "step": 14108 }, { "epoch": 1.3454437255859376e-06, "step": 14108, "training_step_time": 17.500622272491455 }, { "epoch": 1.3455390930175782e-06, "model_forward_time": 5.096370458602905, "step": 14109 }, { "epoch": 1.3455390930175782e-06, "step": 14109, "training_step_time": 17.53937339782715 }, { "epoch": 1.3456344604492188e-06, "grad_norm": 1.7782814502716064, "learning_rate": 9.385056345985199e-06, "loss": 0.1199, "step": 14110 }, { "epoch": 1.3456344604492188e-06, "model_forward_time": 3.85695481300354, "step": 14110 }, { "dynamics_loss_avg": 0.0459655505605042, "epoch": 1.3456344604492188e-06, "step": 14110 }, { "action_loss_avg": 0.08638540115207434, "epoch": 1.3456344604492188e-06, "step": 14110 }, { "arm_loss_avg": 0.14500251039862633, "epoch": 1.3456344604492188e-06, "step": 14110 }, { "ee_loss_avg": 0.13501073913648726, "epoch": 1.3456344604492188e-06, "step": 14110 }, { "aux_loss_avg": 0.0007613435795065015, "epoch": 1.3456344604492188e-06, "step": 14110 }, { "epoch": 1.3456344604492188e-06, "step": 14110, "training_step_time": 17.577545166015625 }, { "epoch": 1.3457298278808594e-06, "model_forward_time": 5.0563108921051025, "step": 14111 }, { "epoch": 1.3457298278808594e-06, "step": 14111, "training_step_time": 17.791008949279785 }, { "epoch": 1.3458251953125e-06, "model_forward_time": 5.295782089233398, "step": 14112 }, { "epoch": 1.3458251953125e-06, "step": 14112, "training_step_time": 17.607874393463135 }, { "epoch": 1.3459205627441406e-06, "model_forward_time": 5.073951244354248, "step": 14113 }, { "epoch": 1.3459205627441406e-06, "step": 14113, "training_step_time": 17.61656665802002 }, { "epoch": 1.3460159301757812e-06, "model_forward_time": 5.075819730758667, "step": 14114 }, { "epoch": 1.3460159301757812e-06, "step": 14114, "training_step_time": 17.413349866867065 }, { "epoch": 1.3461112976074219e-06, "model_forward_time": 5.081970691680908, "step": 14115 }, { "epoch": 1.3461112976074219e-06, "step": 14115, "training_step_time": 17.520575046539307 }, { "epoch": 1.3462066650390625e-06, "model_forward_time": 5.0873003005981445, "step": 14116 }, { "epoch": 1.3462066650390625e-06, "step": 14116, "training_step_time": 17.80012798309326 }, { "epoch": 1.346302032470703e-06, "model_forward_time": 5.272961139678955, "step": 14117 }, { "epoch": 1.346302032470703e-06, "step": 14117, "training_step_time": 17.59720492362976 }, { "epoch": 1.3463973999023437e-06, "model_forward_time": 5.087947130203247, "step": 14118 }, { "epoch": 1.3463973999023437e-06, "step": 14118, "training_step_time": 17.59811043739319 }, { "epoch": 1.3464927673339843e-06, "model_forward_time": 5.088212251663208, "step": 14119 }, { "epoch": 1.3464927673339843e-06, "step": 14119, "training_step_time": 17.611247062683105 }, { "epoch": 1.346588134765625e-06, "grad_norm": 3.1908388137817383, "learning_rate": 9.383920939095952e-06, "loss": 0.131, "step": 14120 }, { "epoch": 1.346588134765625e-06, "model_forward_time": 5.087576389312744, "step": 14120 }, { "dynamics_loss_avg": 0.05508743561804295, "epoch": 1.346588134765625e-06, "step": 14120 }, { "action_loss_avg": 0.0921831838786602, "epoch": 1.346588134765625e-06, "step": 14120 }, { "arm_loss_avg": 0.1296176552772522, "epoch": 1.346588134765625e-06, "step": 14120 }, { "ee_loss_avg": 0.14623666666448115, "epoch": 1.346588134765625e-06, "step": 14120 }, { "aux_loss_avg": 0.0008091360912658274, "epoch": 1.346588134765625e-06, "step": 14120 }, { "epoch": 1.346588134765625e-06, "step": 14120, "training_step_time": 17.611582040786743 }, { "epoch": 1.3466835021972655e-06, "model_forward_time": 5.083079814910889, "step": 14121 }, { "epoch": 1.3466835021972655e-06, "step": 14121, "training_step_time": 17.792951345443726 }, { "epoch": 1.3467788696289062e-06, "model_forward_time": 5.309750080108643, "step": 14122 }, { "epoch": 1.3467788696289062e-06, "step": 14122, "training_step_time": 17.57413601875305 }, { "epoch": 1.346874237060547e-06, "model_forward_time": 5.0828328132629395, "step": 14123 }, { "epoch": 1.346874237060547e-06, "step": 14123, "training_step_time": 17.52163553237915 }, { "epoch": 1.3469696044921876e-06, "model_forward_time": 5.082546949386597, "step": 14124 }, { "epoch": 1.3469696044921876e-06, "step": 14124, "training_step_time": 17.569451570510864 }, { "epoch": 1.3470649719238282e-06, "model_forward_time": 5.084122180938721, "step": 14125 }, { "epoch": 1.3470649719238282e-06, "step": 14125, "training_step_time": 17.582547664642334 }, { "epoch": 1.3471603393554688e-06, "model_forward_time": 5.082265853881836, "step": 14126 }, { "epoch": 1.3471603393554688e-06, "step": 14126, "training_step_time": 17.826302528381348 }, { "epoch": 1.3472557067871094e-06, "model_forward_time": 4.083715915679932, "step": 14127 }, { "epoch": 1.3472557067871094e-06, "step": 14127, "training_step_time": 17.603538513183594 }, { "epoch": 1.34735107421875e-06, "model_forward_time": 5.061790704727173, "step": 14128 }, { "epoch": 1.34735107421875e-06, "step": 14128, "training_step_time": 17.61569333076477 }, { "epoch": 1.3474464416503907e-06, "model_forward_time": 5.065658092498779, "step": 14129 }, { "epoch": 1.3474464416503907e-06, "step": 14129, "training_step_time": 17.60922145843506 }, { "epoch": 1.3475418090820313e-06, "grad_norm": 2.8645505905151367, "learning_rate": 9.382784553800587e-06, "loss": 0.1291, "step": 14130 }, { "epoch": 1.3475418090820313e-06, "model_forward_time": 5.075129747390747, "step": 14130 }, { "dynamics_loss_avg": 0.05534489899873733, "epoch": 1.3475418090820313e-06, "step": 14130 }, { "action_loss_avg": 0.08718342073261738, "epoch": 1.3475418090820313e-06, "step": 14130 }, { "arm_loss_avg": 0.12575313597917556, "epoch": 1.3475418090820313e-06, "step": 14130 }, { "ee_loss_avg": 0.16297788750380277, "epoch": 1.3475418090820313e-06, "step": 14130 }, { "aux_loss_avg": 0.004872392932884395, "epoch": 1.3475418090820313e-06, "step": 14130 }, { "epoch": 1.3475418090820313e-06, "step": 14130, "training_step_time": 17.320963382720947 }, { "epoch": 1.347637176513672e-06, "model_forward_time": 5.089858531951904, "step": 14131 }, { "epoch": 1.347637176513672e-06, "step": 14131, "training_step_time": 17.71662473678589 }, { "epoch": 1.3477325439453125e-06, "model_forward_time": 4.075523853302002, "step": 14132 }, { "epoch": 1.3477325439453125e-06, "step": 14132, "training_step_time": 17.570218801498413 }, { "epoch": 1.3478279113769531e-06, "model_forward_time": 5.067643642425537, "step": 14133 }, { "epoch": 1.3478279113769531e-06, "step": 14133, "training_step_time": 17.601449489593506 }, { "epoch": 1.3479232788085937e-06, "model_forward_time": 5.0806708335876465, "step": 14134 }, { "epoch": 1.3479232788085937e-06, "step": 14134, "training_step_time": 17.611090660095215 }, { "epoch": 1.3480186462402344e-06, "model_forward_time": 5.088810443878174, "step": 14135 }, { "epoch": 1.3480186462402344e-06, "step": 14135, "training_step_time": 17.615599393844604 }, { "epoch": 1.348114013671875e-06, "model_forward_time": 5.1104819774627686, "step": 14136 }, { "epoch": 1.348114013671875e-06, "step": 14136, "training_step_time": 17.897310495376587 }, { "epoch": 1.3482093811035156e-06, "model_forward_time": 5.307860851287842, "step": 14137 }, { "epoch": 1.3482093811035156e-06, "step": 14137, "training_step_time": 17.672823190689087 }, { "epoch": 1.3483047485351562e-06, "model_forward_time": 5.114760637283325, "step": 14138 }, { "epoch": 1.3483047485351562e-06, "step": 14138, "training_step_time": 17.65432047843933 }, { "epoch": 1.3484001159667968e-06, "model_forward_time": 5.116939067840576, "step": 14139 }, { "epoch": 1.3484001159667968e-06, "step": 14139, "training_step_time": 17.64726710319519 }, { "epoch": 1.3484954833984374e-06, "grad_norm": 2.6873388290405273, "learning_rate": 9.381647190352722e-06, "loss": 0.1264, "step": 14140 }, { "epoch": 1.3484954833984374e-06, "model_forward_time": 5.10328483581543, "step": 14140 }, { "dynamics_loss_avg": 0.052075231447815895, "epoch": 1.3484954833984374e-06, "step": 14140 }, { "action_loss_avg": 0.08735678419470787, "epoch": 1.3484954833984374e-06, "step": 14140 }, { "arm_loss_avg": 0.13816827684640884, "epoch": 1.3484954833984374e-06, "step": 14140 }, { "ee_loss_avg": 0.13873652778565884, "epoch": 1.3484954833984374e-06, "step": 14140 }, { "aux_loss_avg": 0.00175236213253811, "epoch": 1.3484954833984374e-06, "step": 14140 }, { "epoch": 1.3484954833984374e-06, "step": 14140, "training_step_time": 17.61427927017212 }, { "epoch": 1.348590850830078e-06, "model_forward_time": 5.09117865562439, "step": 14141 }, { "epoch": 1.348590850830078e-06, "step": 14141, "training_step_time": 17.801867246627808 }, { "epoch": 1.3486862182617187e-06, "model_forward_time": 5.323288679122925, "step": 14142 }, { "epoch": 1.3486862182617187e-06, "step": 14142, "training_step_time": 17.42699122428894 }, { "epoch": 1.3487815856933593e-06, "model_forward_time": 3.848989486694336, "step": 14143 }, { "epoch": 1.3487815856933593e-06, "step": 14143, "training_step_time": 17.58220624923706 }, { "epoch": 1.348876953125e-06, "model_forward_time": 3.8283791542053223, "step": 14144 }, { "epoch": 1.348876953125e-06, "step": 14144, "training_step_time": 17.566170692443848 }, { "epoch": 1.3489723205566407e-06, "model_forward_time": 5.0442214012146, "step": 14145 }, { "epoch": 1.3489723205566407e-06, "step": 14145, "training_step_time": 17.586145639419556 }, { "epoch": 1.3490676879882813e-06, "model_forward_time": 3.825606346130371, "step": 14146 }, { "epoch": 1.3490676879882813e-06, "step": 14146, "training_step_time": 17.81529664993286 }, { "epoch": 1.349163055419922e-06, "model_forward_time": 5.24289870262146, "step": 14147 }, { "epoch": 1.349163055419922e-06, "step": 14147, "training_step_time": 17.604543924331665 }, { "epoch": 1.3492584228515626e-06, "model_forward_time": 5.06904411315918, "step": 14148 }, { "epoch": 1.3492584228515626e-06, "step": 14148, "training_step_time": 17.59710431098938 }, { "epoch": 1.3493537902832032e-06, "model_forward_time": 5.089088678359985, "step": 14149 }, { "epoch": 1.3493537902832032e-06, "step": 14149, "training_step_time": 17.604694366455078 }, { "epoch": 1.3494491577148438e-06, "grad_norm": 2.430145025253296, "learning_rate": 9.380508849006195e-06, "loss": 0.1426, "step": 14150 }, { "epoch": 1.3494491577148438e-06, "model_forward_time": 5.106961250305176, "step": 14150 }, { "dynamics_loss_avg": 0.05618478506803513, "epoch": 1.3494491577148438e-06, "step": 14150 }, { "action_loss_avg": 0.1036438874900341, "epoch": 1.3494491577148438e-06, "step": 14150 }, { "arm_loss_avg": 0.15365415513515474, "epoch": 1.3494491577148438e-06, "step": 14150 }, { "ee_loss_avg": 0.2018448829650879, "epoch": 1.3494491577148438e-06, "step": 14150 }, { "aux_loss_avg": 0.026832483854377642, "epoch": 1.3494491577148438e-06, "step": 14150 }, { "epoch": 1.3494491577148438e-06, "step": 14150, "training_step_time": 17.610931396484375 }, { "epoch": 1.3495445251464844e-06, "model_forward_time": 5.106443643569946, "step": 14151 }, { "epoch": 1.3495445251464844e-06, "step": 14151, "training_step_time": 17.7824387550354 }, { "epoch": 1.349639892578125e-06, "model_forward_time": 5.097746133804321, "step": 14152 }, { "epoch": 1.349639892578125e-06, "step": 14152, "training_step_time": 17.633671522140503 }, { "epoch": 1.3497352600097656e-06, "model_forward_time": 5.09456205368042, "step": 14153 }, { "epoch": 1.3497352600097656e-06, "step": 14153, "training_step_time": 17.62419867515564 }, { "epoch": 1.3498306274414062e-06, "model_forward_time": 5.0856969356536865, "step": 14154 }, { "epoch": 1.3498306274414062e-06, "step": 14154, "training_step_time": 17.62160348892212 }, { "epoch": 1.3499259948730469e-06, "model_forward_time": 5.085659503936768, "step": 14155 }, { "epoch": 1.3499259948730469e-06, "step": 14155, "training_step_time": 17.614760160446167 }, { "epoch": 1.3500213623046875e-06, "model_forward_time": 5.089494705200195, "step": 14156 }, { "epoch": 1.3500213623046875e-06, "step": 14156, "training_step_time": 17.88279914855957 }, { "epoch": 1.350116729736328e-06, "model_forward_time": 5.094458103179932, "step": 14157 }, { "epoch": 1.350116729736328e-06, "step": 14157, "training_step_time": 17.645561933517456 }, { "epoch": 1.3502120971679687e-06, "model_forward_time": 5.0905139446258545, "step": 14158 }, { "epoch": 1.3502120971679687e-06, "step": 14158, "training_step_time": 17.652574062347412 }, { "epoch": 1.3503074645996093e-06, "model_forward_time": 5.097280263900757, "step": 14159 }, { "epoch": 1.3503074645996093e-06, "step": 14159, "training_step_time": 17.63059949874878 }, { "epoch": 1.35040283203125e-06, "grad_norm": 1.2558101415634155, "learning_rate": 9.379369530015062e-06, "loss": 0.1371, "step": 14160 }, { "epoch": 1.35040283203125e-06, "model_forward_time": 3.84659743309021, "step": 14160 }, { "dynamics_loss_avg": 0.05516887120902538, "epoch": 1.35040283203125e-06, "step": 14160 }, { "action_loss_avg": 0.07335581909865141, "epoch": 1.35040283203125e-06, "step": 14160 }, { "arm_loss_avg": 0.12095599360764027, "epoch": 1.35040283203125e-06, "step": 14160 }, { "ee_loss_avg": 0.07631298690102994, "epoch": 1.35040283203125e-06, "step": 14160 }, { "aux_loss_avg": 0.0020299759227782486, "epoch": 1.35040283203125e-06, "step": 14160 }, { "epoch": 1.35040283203125e-06, "step": 14160, "training_step_time": 17.393513917922974 }, { "epoch": 1.3504981994628905e-06, "model_forward_time": 5.054523468017578, "step": 14161 }, { "epoch": 1.3504981994628905e-06, "step": 14161, "training_step_time": 17.696386575698853 }, { "epoch": 1.3505935668945312e-06, "model_forward_time": 5.065550327301025, "step": 14162 }, { "epoch": 1.3505935668945312e-06, "step": 14162, "training_step_time": 17.629464387893677 }, { "epoch": 1.3506889343261718e-06, "model_forward_time": 5.309690713882446, "step": 14163 }, { "epoch": 1.3506889343261718e-06, "step": 14163, "training_step_time": 17.559919118881226 }, { "epoch": 1.3507843017578126e-06, "model_forward_time": 5.086153745651245, "step": 14164 }, { "epoch": 1.3507843017578126e-06, "step": 14164, "training_step_time": 17.58155131340027 }, { "epoch": 1.3508796691894532e-06, "model_forward_time": 3.855635166168213, "step": 14165 }, { "epoch": 1.3508796691894532e-06, "step": 14165, "training_step_time": 17.595859050750732 }, { "epoch": 1.3509750366210938e-06, "model_forward_time": 5.064558267593384, "step": 14166 }, { "epoch": 1.3509750366210938e-06, "step": 14166, "training_step_time": 17.843485355377197 }, { "epoch": 1.3510704040527344e-06, "model_forward_time": 5.074608325958252, "step": 14167 }, { "epoch": 1.3510704040527344e-06, "step": 14167, "training_step_time": 17.610915422439575 }, { "epoch": 1.351165771484375e-06, "model_forward_time": 5.282152891159058, "step": 14168 }, { "epoch": 1.351165771484375e-06, "step": 14168, "training_step_time": 17.608774185180664 }, { "epoch": 1.3512611389160157e-06, "model_forward_time": 5.090734958648682, "step": 14169 }, { "epoch": 1.3512611389160157e-06, "step": 14169, "training_step_time": 17.61757755279541 }, { "epoch": 1.3513565063476563e-06, "grad_norm": 1.9432355165481567, "learning_rate": 9.378229233633595e-06, "loss": 0.1288, "step": 14170 }, { "epoch": 1.3513565063476563e-06, "model_forward_time": 5.09592080116272, "step": 14170 }, { "dynamics_loss_avg": 0.04777151364833117, "epoch": 1.3513565063476563e-06, "step": 14170 }, { "action_loss_avg": 0.07512568570673465, "epoch": 1.3513565063476563e-06, "step": 14170 }, { "arm_loss_avg": 0.13069390803575515, "epoch": 1.3513565063476563e-06, "step": 14170 }, { "ee_loss_avg": 0.04777292348444462, "epoch": 1.3513565063476563e-06, "step": 14170 }, { "aux_loss_avg": 0.0009845382941421122, "epoch": 1.3513565063476563e-06, "step": 14170 }, { "epoch": 1.3513565063476563e-06, "step": 14170, "training_step_time": 17.613154888153076 }, { "epoch": 1.351451873779297e-06, "model_forward_time": 5.092884540557861, "step": 14171 }, { "epoch": 1.351451873779297e-06, "step": 14171, "training_step_time": 17.811853170394897 }, { "epoch": 1.3515472412109375e-06, "model_forward_time": 5.096001863479614, "step": 14172 }, { "epoch": 1.3515472412109375e-06, "step": 14172, "training_step_time": 17.602126121520996 }, { "epoch": 1.3516426086425781e-06, "model_forward_time": 5.095515251159668, "step": 14173 }, { "epoch": 1.3516426086425781e-06, "step": 14173, "training_step_time": 17.603435277938843 }, { "epoch": 1.3517379760742187e-06, "model_forward_time": 5.092121601104736, "step": 14174 }, { "epoch": 1.3517379760742187e-06, "step": 14174, "training_step_time": 17.59322953224182 }, { "epoch": 1.3518333435058594e-06, "model_forward_time": 5.087891101837158, "step": 14175 }, { "epoch": 1.3518333435058594e-06, "step": 14175, "training_step_time": 17.805152416229248 }, { "epoch": 1.3519287109375e-06, "model_forward_time": 5.086457967758179, "step": 14176 }, { "epoch": 1.3519287109375e-06, "step": 14176, "training_step_time": 17.585885524749756 }, { "epoch": 1.3520240783691406e-06, "model_forward_time": 5.09415864944458, "step": 14177 }, { "epoch": 1.3520240783691406e-06, "step": 14177, "training_step_time": 17.610110998153687 }, { "epoch": 1.3521194458007812e-06, "model_forward_time": 5.096944808959961, "step": 14178 }, { "epoch": 1.3521194458007812e-06, "step": 14178, "training_step_time": 17.607951402664185 }, { "epoch": 1.3522148132324218e-06, "model_forward_time": 5.093877553939819, "step": 14179 }, { "epoch": 1.3522148132324218e-06, "step": 14179, "training_step_time": 17.598445892333984 }, { "epoch": 1.3523101806640624e-06, "grad_norm": 2.357487916946411, "learning_rate": 9.377087960116289e-06, "loss": 0.1432, "step": 14180 }, { "epoch": 1.3523101806640624e-06, "model_forward_time": 5.086946725845337, "step": 14180 }, { "dynamics_loss_avg": 0.058257866837084296, "epoch": 1.3523101806640624e-06, "step": 14180 }, { "action_loss_avg": 0.06997374594211578, "epoch": 1.3523101806640624e-06, "step": 14180 }, { "arm_loss_avg": 0.11805406585335732, "epoch": 1.3523101806640624e-06, "step": 14180 }, { "ee_loss_avg": 0.08460425212979317, "epoch": 1.3523101806640624e-06, "step": 14180 }, { "aux_loss_avg": 0.0028801803768146784, "epoch": 1.3523101806640624e-06, "step": 14180 }, { "epoch": 1.3523101806640624e-06, "step": 14180, "training_step_time": 17.793910264968872 }, { "epoch": 1.352405548095703e-06, "model_forward_time": 5.082475900650024, "step": 14181 }, { "epoch": 1.352405548095703e-06, "step": 14181, "training_step_time": 17.566977977752686 }, { "epoch": 1.3525009155273437e-06, "model_forward_time": 5.0732269287109375, "step": 14182 }, { "epoch": 1.3525009155273437e-06, "step": 14182, "training_step_time": 17.568433046340942 }, { "epoch": 1.3525962829589843e-06, "model_forward_time": 5.322720527648926, "step": 14183 }, { "epoch": 1.3525962829589843e-06, "step": 14183, "training_step_time": 17.608349084854126 }, { "epoch": 1.352691650390625e-06, "model_forward_time": 5.079717636108398, "step": 14184 }, { "epoch": 1.352691650390625e-06, "step": 14184, "training_step_time": 17.581268310546875 }, { "epoch": 1.3527870178222657e-06, "model_forward_time": 5.075570821762085, "step": 14185 }, { "epoch": 1.3527870178222657e-06, "step": 14185, "training_step_time": 17.8256995677948 }, { "epoch": 1.3528823852539063e-06, "model_forward_time": 5.074105262756348, "step": 14186 }, { "epoch": 1.3528823852539063e-06, "step": 14186, "training_step_time": 17.41558051109314 }, { "epoch": 1.352977752685547e-06, "model_forward_time": 5.075020790100098, "step": 14187 }, { "epoch": 1.352977752685547e-06, "step": 14187, "training_step_time": 17.502223253250122 }, { "epoch": 1.3530731201171876e-06, "model_forward_time": 5.078243970870972, "step": 14188 }, { "epoch": 1.3530731201171876e-06, "step": 14188, "training_step_time": 17.616905212402344 }, { "epoch": 1.3531684875488282e-06, "model_forward_time": 5.074344635009766, "step": 14189 }, { "epoch": 1.3531684875488282e-06, "step": 14189, "training_step_time": 17.55717706680298 }, { "epoch": 1.3532638549804688e-06, "grad_norm": 1.7997112274169922, "learning_rate": 9.37594570971785e-06, "loss": 0.1142, "step": 14190 }, { "epoch": 1.3532638549804688e-06, "model_forward_time": 5.0815348625183105, "step": 14190 }, { "dynamics_loss_avg": 0.050372593104839325, "epoch": 1.3532638549804688e-06, "step": 14190 }, { "action_loss_avg": 0.07072114013135433, "epoch": 1.3532638549804688e-06, "step": 14190 }, { "arm_loss_avg": 0.15416627004742622, "epoch": 1.3532638549804688e-06, "step": 14190 }, { "ee_loss_avg": 0.11171395014971494, "epoch": 1.3532638549804688e-06, "step": 14190 }, { "aux_loss_avg": 0.00556381149799563, "epoch": 1.3532638549804688e-06, "step": 14190 }, { "epoch": 1.3532638549804688e-06, "step": 14190, "training_step_time": 17.8244526386261 }, { "epoch": 1.3533592224121094e-06, "model_forward_time": 5.077264070510864, "step": 14191 }, { "epoch": 1.3533592224121094e-06, "step": 14191, "training_step_time": 17.5960795879364 }, { "epoch": 1.35345458984375e-06, "model_forward_time": 5.075333833694458, "step": 14192 }, { "epoch": 1.35345458984375e-06, "step": 14192, "training_step_time": 17.600528478622437 }, { "epoch": 1.3535499572753906e-06, "model_forward_time": 3.8452794551849365, "step": 14193 }, { "epoch": 1.3535499572753906e-06, "step": 14193, "training_step_time": 17.60517191886902 }, { "epoch": 1.3536453247070312e-06, "model_forward_time": 5.04793119430542, "step": 14194 }, { "epoch": 1.3536453247070312e-06, "step": 14194, "training_step_time": 17.27331042289734 }, { "epoch": 1.3537406921386719e-06, "model_forward_time": 5.065119743347168, "step": 14195 }, { "epoch": 1.3537406921386719e-06, "step": 14195, "training_step_time": 17.51522135734558 }, { "epoch": 1.3538360595703125e-06, "model_forward_time": 5.071546316146851, "step": 14196 }, { "epoch": 1.3538360595703125e-06, "step": 14196, "training_step_time": 17.76097559928894 }, { "epoch": 1.353931427001953e-06, "model_forward_time": 3.8486480712890625, "step": 14197 }, { "epoch": 1.353931427001953e-06, "step": 14197, "training_step_time": 17.553643465042114 }, { "epoch": 1.3540267944335937e-06, "model_forward_time": 5.2545554637908936, "step": 14198 }, { "epoch": 1.3540267944335937e-06, "step": 14198, "training_step_time": 17.612370491027832 }, { "epoch": 1.3541221618652343e-06, "model_forward_time": 5.074649095535278, "step": 14199 }, { "epoch": 1.3541221618652343e-06, "step": 14199, "training_step_time": 17.57049298286438 }, { "epoch": 1.354217529296875e-06, "grad_norm": 2.7829315662384033, "learning_rate": 9.374802482693212e-06, "loss": 0.1366, "step": 14200 }, { "epoch": 1.354217529296875e-06, "model_forward_time": 5.089455604553223, "step": 14200 }, { "dynamics_loss_avg": 0.05343323294073343, "epoch": 1.354217529296875e-06, "step": 14200 }, { "action_loss_avg": 0.09410892464220524, "epoch": 1.354217529296875e-06, "step": 14200 }, { "arm_loss_avg": 0.11850581467151641, "epoch": 1.354217529296875e-06, "step": 14200 }, { "ee_loss_avg": 0.11554830567911267, "epoch": 1.354217529296875e-06, "step": 14200 }, { "aux_loss_avg": 0.0023536102555226533, "epoch": 1.354217529296875e-06, "step": 14200 }, { "epoch": 1.354217529296875e-06, "step": 14200, "training_step_time": 17.576865911483765 }, { "epoch": 1.3543128967285155e-06, "model_forward_time": 3.8539626598358154, "step": 14201 }, { "epoch": 1.3543128967285155e-06, "step": 14201, "training_step_time": 17.771790027618408 }, { "epoch": 1.3544082641601562e-06, "model_forward_time": 5.069150447845459, "step": 14202 }, { "epoch": 1.3544082641601562e-06, "step": 14202, "training_step_time": 17.587522983551025 }, { "epoch": 1.3545036315917968e-06, "model_forward_time": 5.31152606010437, "step": 14203 }, { "epoch": 1.3545036315917968e-06, "step": 14203, "training_step_time": 17.595510005950928 }, { "epoch": 1.3545989990234376e-06, "model_forward_time": 5.091517210006714, "step": 14204 }, { "epoch": 1.3545989990234376e-06, "step": 14204, "training_step_time": 17.592268228530884 }, { "epoch": 1.3546943664550782e-06, "model_forward_time": 5.095580339431763, "step": 14205 }, { "epoch": 1.3546943664550782e-06, "step": 14205, "training_step_time": 17.598088264465332 }, { "epoch": 1.3547897338867188e-06, "model_forward_time": 5.0960471630096436, "step": 14206 }, { "epoch": 1.3547897338867188e-06, "step": 14206, "training_step_time": 17.839428186416626 }, { "epoch": 1.3548851013183594e-06, "model_forward_time": 5.0904381275177, "step": 14207 }, { "epoch": 1.3548851013183594e-06, "step": 14207, "training_step_time": 17.630314350128174 }, { "epoch": 1.35498046875e-06, "model_forward_time": 5.277407169342041, "step": 14208 }, { "epoch": 1.35498046875e-06, "step": 14208, "training_step_time": 17.599919319152832 }, { "epoch": 1.3550758361816407e-06, "model_forward_time": 5.091871023178101, "step": 14209 }, { "epoch": 1.3550758361816407e-06, "step": 14209, "training_step_time": 17.597161769866943 }, { "epoch": 1.3551712036132813e-06, "grad_norm": 2.064953565597534, "learning_rate": 9.373658279297515e-06, "loss": 0.1454, "step": 14210 }, { "epoch": 1.3551712036132813e-06, "model_forward_time": 5.091779470443726, "step": 14210 }, { "dynamics_loss_avg": 0.052908623870462176, "epoch": 1.3551712036132813e-06, "step": 14210 }, { "action_loss_avg": 0.06827530637383461, "epoch": 1.3551712036132813e-06, "step": 14210 }, { "arm_loss_avg": 0.1445956990122795, "epoch": 1.3551712036132813e-06, "step": 14210 }, { "ee_loss_avg": 0.08354126922786236, "epoch": 1.3551712036132813e-06, "step": 14210 }, { "aux_loss_avg": 0.0016737668716814368, "epoch": 1.3551712036132813e-06, "step": 14210 }, { "epoch": 1.3551712036132813e-06, "step": 14210, "training_step_time": 17.846282482147217 }, { "epoch": 1.355266571044922e-06, "model_forward_time": 5.086521148681641, "step": 14211 }, { "epoch": 1.355266571044922e-06, "step": 14211, "training_step_time": 17.592125177383423 }, { "epoch": 1.3553619384765625e-06, "model_forward_time": 5.085194826126099, "step": 14212 }, { "epoch": 1.3553619384765625e-06, "step": 14212, "training_step_time": 17.588533639907837 }, { "epoch": 1.3554573059082031e-06, "model_forward_time": 5.32517147064209, "step": 14213 }, { "epoch": 1.3554573059082031e-06, "step": 14213, "training_step_time": 17.584593296051025 }, { "epoch": 1.3555526733398437e-06, "model_forward_time": 5.082631826400757, "step": 14214 }, { "epoch": 1.3555526733398437e-06, "step": 14214, "training_step_time": 17.578922986984253 }, { "epoch": 1.3556480407714844e-06, "model_forward_time": 5.082273960113525, "step": 14215 }, { "epoch": 1.3556480407714844e-06, "step": 14215, "training_step_time": 17.589000940322876 }, { "epoch": 1.355743408203125e-06, "model_forward_time": 5.0790181159973145, "step": 14216 }, { "epoch": 1.355743408203125e-06, "step": 14216, "training_step_time": 17.820281267166138 }, { "epoch": 1.3558387756347656e-06, "model_forward_time": 5.081074237823486, "step": 14217 }, { "epoch": 1.3558387756347656e-06, "step": 14217, "training_step_time": 17.651869535446167 }, { "epoch": 1.3559341430664062e-06, "model_forward_time": 5.2907068729400635, "step": 14218 }, { "epoch": 1.3559341430664062e-06, "step": 14218, "training_step_time": 17.57679796218872 }, { "epoch": 1.3560295104980468e-06, "model_forward_time": 5.084143400192261, "step": 14219 }, { "epoch": 1.3560295104980468e-06, "step": 14219, "training_step_time": 17.59217929840088 }, { "epoch": 1.3561248779296874e-06, "grad_norm": 1.9418622255325317, "learning_rate": 9.372513099786129e-06, "loss": 0.1567, "step": 14220 }, { "epoch": 1.3561248779296874e-06, "model_forward_time": 5.083446264266968, "step": 14220 }, { "dynamics_loss_avg": 0.05883586890995503, "epoch": 1.3561248779296874e-06, "step": 14220 }, { "action_loss_avg": 0.08658122420310974, "epoch": 1.3561248779296874e-06, "step": 14220 }, { "arm_loss_avg": 0.11824245229363442, "epoch": 1.3561248779296874e-06, "step": 14220 }, { "ee_loss_avg": 0.08338551679626108, "epoch": 1.3561248779296874e-06, "step": 14220 }, { "aux_loss_avg": 0.0018207474902737885, "epoch": 1.3561248779296874e-06, "step": 14220 }, { "epoch": 1.3561248779296874e-06, "step": 14220, "training_step_time": 17.81614112854004 }, { "epoch": 1.356220245361328e-06, "model_forward_time": 5.084169149398804, "step": 14221 }, { "epoch": 1.356220245361328e-06, "step": 14221, "training_step_time": 17.460338830947876 }, { "epoch": 1.3563156127929687e-06, "model_forward_time": 5.087150812149048, "step": 14222 }, { "epoch": 1.3563156127929687e-06, "step": 14222, "training_step_time": 17.61939549446106 }, { "epoch": 1.3564109802246093e-06, "model_forward_time": 5.090529918670654, "step": 14223 }, { "epoch": 1.3564109802246093e-06, "step": 14223, "training_step_time": 17.40442419052124 }, { "epoch": 1.35650634765625e-06, "model_forward_time": 5.0859081745147705, "step": 14224 }, { "epoch": 1.35650634765625e-06, "step": 14224, "training_step_time": 17.4950749874115 }, { "epoch": 1.3566017150878907e-06, "model_forward_time": 5.084989786148071, "step": 14225 }, { "epoch": 1.3566017150878907e-06, "step": 14225, "training_step_time": 17.548842191696167 }, { "epoch": 1.3566970825195313e-06, "model_forward_time": 5.085169315338135, "step": 14226 }, { "epoch": 1.3566970825195313e-06, "step": 14226, "training_step_time": 17.825697898864746 }, { "epoch": 1.356792449951172e-06, "model_forward_time": 5.283164739608765, "step": 14227 }, { "epoch": 1.356792449951172e-06, "step": 14227, "training_step_time": 17.61942958831787 }, { "epoch": 1.3568878173828126e-06, "model_forward_time": 5.087439060211182, "step": 14228 }, { "epoch": 1.3568878173828126e-06, "step": 14228, "training_step_time": 17.647754192352295 }, { "epoch": 1.3569831848144532e-06, "model_forward_time": 3.8492798805236816, "step": 14229 }, { "epoch": 1.3569831848144532e-06, "step": 14229, "training_step_time": 17.634448528289795 }, { "epoch": 1.3570785522460938e-06, "grad_norm": 2.369405746459961, "learning_rate": 9.37136694441463e-06, "loss": 0.15, "step": 14230 }, { "epoch": 1.3570785522460938e-06, "model_forward_time": 3.8284847736358643, "step": 14230 }, { "dynamics_loss_avg": 0.057758713886141774, "epoch": 1.3570785522460938e-06, "step": 14230 }, { "action_loss_avg": 0.07858600430190563, "epoch": 1.3570785522460938e-06, "step": 14230 }, { "arm_loss_avg": 0.1343556560575962, "epoch": 1.3570785522460938e-06, "step": 14230 }, { "ee_loss_avg": 0.09675150625407695, "epoch": 1.3570785522460938e-06, "step": 14230 }, { "aux_loss_avg": 0.0020711469929665326, "epoch": 1.3570785522460938e-06, "step": 14230 }, { "epoch": 1.3570785522460938e-06, "step": 14230, "training_step_time": 17.464158296585083 }, { "epoch": 1.3571739196777344e-06, "model_forward_time": 5.050844430923462, "step": 14231 }, { "epoch": 1.3571739196777344e-06, "step": 14231, "training_step_time": 17.731581687927246 }, { "epoch": 1.357269287109375e-06, "model_forward_time": 5.065864562988281, "step": 14232 }, { "epoch": 1.357269287109375e-06, "step": 14232, "training_step_time": 17.581040143966675 }, { "epoch": 1.3573646545410156e-06, "model_forward_time": 5.332764625549316, "step": 14233 }, { "epoch": 1.3573646545410156e-06, "step": 14233, "training_step_time": 17.574936628341675 }, { "epoch": 1.3574600219726562e-06, "model_forward_time": 5.099274158477783, "step": 14234 }, { "epoch": 1.3574600219726562e-06, "step": 14234, "training_step_time": 17.404595375061035 }, { "epoch": 1.3575553894042969e-06, "model_forward_time": 5.1072893142700195, "step": 14235 }, { "epoch": 1.3575553894042969e-06, "step": 14235, "training_step_time": 17.506441593170166 }, { "epoch": 1.3576507568359375e-06, "model_forward_time": 5.107563495635986, "step": 14236 }, { "epoch": 1.3576507568359375e-06, "step": 14236, "training_step_time": 17.791569709777832 }, { "epoch": 1.357746124267578e-06, "model_forward_time": 5.105725049972534, "step": 14237 }, { "epoch": 1.357746124267578e-06, "step": 14237, "training_step_time": 17.64582085609436 }, { "epoch": 1.3578414916992187e-06, "model_forward_time": 5.305225849151611, "step": 14238 }, { "epoch": 1.3578414916992187e-06, "step": 14238, "training_step_time": 17.615234851837158 }, { "epoch": 1.3579368591308593e-06, "model_forward_time": 5.095280647277832, "step": 14239 }, { "epoch": 1.3579368591308593e-06, "step": 14239, "training_step_time": 17.623401641845703 }, { "epoch": 1.3580322265625e-06, "grad_norm": 2.0683529376983643, "learning_rate": 9.37021981343882e-06, "loss": 0.1228, "step": 14240 }, { "epoch": 1.3580322265625e-06, "model_forward_time": 3.8540942668914795, "step": 14240 }, { "dynamics_loss_avg": 0.04223564420826733, "epoch": 1.3580322265625e-06, "step": 14240 }, { "action_loss_avg": 0.06259600222110748, "epoch": 1.3580322265625e-06, "step": 14240 }, { "arm_loss_avg": 0.1087856836616993, "epoch": 1.3580322265625e-06, "step": 14240 }, { "ee_loss_avg": 0.08572159078903496, "epoch": 1.3580322265625e-06, "step": 14240 }, { "aux_loss_avg": 0.0008988944580778479, "epoch": 1.3580322265625e-06, "step": 14240 }, { "epoch": 1.3580322265625e-06, "step": 14240, "training_step_time": 17.398695707321167 }, { "epoch": 1.3581275939941406e-06, "model_forward_time": 5.060875415802002, "step": 14241 }, { "epoch": 1.3581275939941406e-06, "step": 14241, "training_step_time": 17.732282161712646 }, { "epoch": 1.3582229614257812e-06, "model_forward_time": 5.068493366241455, "step": 14242 }, { "epoch": 1.3582229614257812e-06, "step": 14242, "training_step_time": 17.615087747573853 }, { "epoch": 1.3583183288574218e-06, "model_forward_time": 5.312285900115967, "step": 14243 }, { "epoch": 1.3583183288574218e-06, "step": 14243, "training_step_time": 17.591938495635986 }, { "epoch": 1.3584136962890626e-06, "model_forward_time": 5.087533473968506, "step": 14244 }, { "epoch": 1.3584136962890626e-06, "step": 14244, "training_step_time": 17.60444664955139 }, { "epoch": 1.3585090637207032e-06, "model_forward_time": 5.095980167388916, "step": 14245 }, { "epoch": 1.3585090637207032e-06, "step": 14245, "training_step_time": 17.612492084503174 }, { "epoch": 1.3586044311523438e-06, "model_forward_time": 5.098928689956665, "step": 14246 }, { "epoch": 1.3586044311523438e-06, "step": 14246, "training_step_time": 17.841309785842896 }, { "epoch": 1.3586997985839844e-06, "model_forward_time": 5.095072269439697, "step": 14247 }, { "epoch": 1.3586997985839844e-06, "step": 14247, "training_step_time": 17.603533506393433 }, { "epoch": 1.358795166015625e-06, "model_forward_time": 5.094887018203735, "step": 14248 }, { "epoch": 1.358795166015625e-06, "step": 14248, "training_step_time": 17.626227855682373 }, { "epoch": 1.3588905334472657e-06, "model_forward_time": 5.095661640167236, "step": 14249 }, { "epoch": 1.3588905334472657e-06, "step": 14249, "training_step_time": 17.60557794570923 }, { "epoch": 1.3589859008789063e-06, "grad_norm": 1.6214964389801025, "learning_rate": 9.36907170711472e-06, "loss": 0.1094, "step": 14250 }, { "epoch": 1.3589859008789063e-06, "model_forward_time": 3.855433225631714, "step": 14250 }, { "dynamics_loss_avg": 0.04336601803079247, "epoch": 1.3589859008789063e-06, "step": 14250 }, { "action_loss_avg": 0.07035237308591605, "epoch": 1.3589859008789063e-06, "step": 14250 }, { "arm_loss_avg": 0.13927845805883407, "epoch": 1.3589859008789063e-06, "step": 14250 }, { "ee_loss_avg": 0.10371587881818414, "epoch": 1.3589859008789063e-06, "step": 14250 }, { "aux_loss_avg": 0.00127081090467982, "epoch": 1.3589859008789063e-06, "step": 14250 }, { "epoch": 1.3589859008789063e-06, "step": 14250, "training_step_time": 17.60452890396118 }, { "epoch": 1.359081268310547e-06, "model_forward_time": 5.059020280838013, "step": 14251 }, { "epoch": 1.359081268310547e-06, "step": 14251, "training_step_time": 17.79198932647705 }, { "epoch": 1.3591766357421875e-06, "model_forward_time": 5.07020378112793, "step": 14252 }, { "epoch": 1.3591766357421875e-06, "step": 14252, "training_step_time": 17.632091999053955 }, { "epoch": 1.3592720031738281e-06, "model_forward_time": 5.319946050643921, "step": 14253 }, { "epoch": 1.3592720031738281e-06, "step": 14253, "training_step_time": 17.600576400756836 }, { "epoch": 1.3593673706054688e-06, "model_forward_time": 5.088414669036865, "step": 14254 }, { "epoch": 1.3593673706054688e-06, "step": 14254, "training_step_time": 17.600403785705566 }, { "epoch": 1.3594627380371094e-06, "model_forward_time": 5.092189788818359, "step": 14255 }, { "epoch": 1.3594627380371094e-06, "step": 14255, "training_step_time": 17.59148931503296 }, { "epoch": 1.35955810546875e-06, "model_forward_time": 5.0932042598724365, "step": 14256 }, { "epoch": 1.35955810546875e-06, "step": 14256, "training_step_time": 17.82784366607666 }, { "epoch": 1.3596534729003906e-06, "model_forward_time": 5.101532936096191, "step": 14257 }, { "epoch": 1.3596534729003906e-06, "step": 14257, "training_step_time": 17.62819814682007 }, { "epoch": 1.3597488403320312e-06, "model_forward_time": 5.328601360321045, "step": 14258 }, { "epoch": 1.3597488403320312e-06, "step": 14258, "training_step_time": 17.64267873764038 }, { "epoch": 1.3598442077636718e-06, "model_forward_time": 5.1036975383758545, "step": 14259 }, { "epoch": 1.3598442077636718e-06, "step": 14259, "training_step_time": 17.630063772201538 }, { "epoch": 1.3599395751953124e-06, "grad_norm": 1.7812831401824951, "learning_rate": 9.367922625698558e-06, "loss": 0.1461, "step": 14260 }, { "epoch": 1.3599395751953124e-06, "model_forward_time": 5.104097127914429, "step": 14260 }, { "dynamics_loss_avg": 0.0517748836427927, "epoch": 1.3599395751953124e-06, "step": 14260 }, { "action_loss_avg": 0.08897402184084058, "epoch": 1.3599395751953124e-06, "step": 14260 }, { "arm_loss_avg": 0.1516370952129364, "epoch": 1.3599395751953124e-06, "step": 14260 }, { "ee_loss_avg": 0.07639638371765614, "epoch": 1.3599395751953124e-06, "step": 14260 }, { "aux_loss_avg": 0.0015380261524114759, "epoch": 1.3599395751953124e-06, "step": 14260 }, { "epoch": 1.3599395751953124e-06, "step": 14260, "training_step_time": 17.603962421417236 }, { "epoch": 1.360034942626953e-06, "model_forward_time": 5.088428497314453, "step": 14261 }, { "epoch": 1.360034942626953e-06, "step": 14261, "training_step_time": 17.259902715682983 }, { "epoch": 1.3601303100585937e-06, "model_forward_time": 5.0877602100372314, "step": 14262 }, { "epoch": 1.3601303100585937e-06, "step": 14262, "training_step_time": 17.509031772613525 }, { "epoch": 1.3602256774902343e-06, "model_forward_time": 3.849985122680664, "step": 14263 }, { "epoch": 1.3602256774902343e-06, "step": 14263, "training_step_time": 17.537081956863403 }, { "epoch": 1.360321044921875e-06, "model_forward_time": 5.060504198074341, "step": 14264 }, { "epoch": 1.360321044921875e-06, "step": 14264, "training_step_time": 17.520434856414795 }, { "epoch": 1.3604164123535157e-06, "model_forward_time": 5.060810327529907, "step": 14265 }, { "epoch": 1.3604164123535157e-06, "step": 14265, "training_step_time": 17.564567804336548 }, { "epoch": 1.3605117797851563e-06, "model_forward_time": 5.070859432220459, "step": 14266 }, { "epoch": 1.3605117797851563e-06, "step": 14266, "training_step_time": 17.825328826904297 }, { "epoch": 1.360607147216797e-06, "model_forward_time": 5.0716423988342285, "step": 14267 }, { "epoch": 1.360607147216797e-06, "step": 14267, "training_step_time": 17.410855531692505 }, { "epoch": 1.3607025146484376e-06, "model_forward_time": 5.083491325378418, "step": 14268 }, { "epoch": 1.3607025146484376e-06, "step": 14268, "training_step_time": 17.641172409057617 }, { "epoch": 1.3607978820800782e-06, "model_forward_time": 5.086154460906982, "step": 14269 }, { "epoch": 1.3607978820800782e-06, "step": 14269, "training_step_time": 17.542802333831787 }, { "epoch": 1.3608932495117188e-06, "grad_norm": 2.037116050720215, "learning_rate": 9.366772569446791e-06, "loss": 0.1274, "step": 14270 }, { "epoch": 1.3608932495117188e-06, "model_forward_time": 5.085322856903076, "step": 14270 }, { "dynamics_loss_avg": 0.04799351096153259, "epoch": 1.3608932495117188e-06, "step": 14270 }, { "action_loss_avg": 0.05119573511183262, "epoch": 1.3608932495117188e-06, "step": 14270 }, { "arm_loss_avg": 0.08740309961140155, "epoch": 1.3608932495117188e-06, "step": 14270 }, { "ee_loss_avg": 0.12034194506704807, "epoch": 1.3608932495117188e-06, "step": 14270 }, { "aux_loss_avg": 0.0012644400063436478, "epoch": 1.3608932495117188e-06, "step": 14270 }, { "epoch": 1.3608932495117188e-06, "step": 14270, "training_step_time": 17.569803476333618 }, { "epoch": 1.3609886169433594e-06, "model_forward_time": 5.086603879928589, "step": 14271 }, { "epoch": 1.3609886169433594e-06, "step": 14271, "training_step_time": 17.794209241867065 }, { "epoch": 1.361083984375e-06, "model_forward_time": 5.084973335266113, "step": 14272 }, { "epoch": 1.361083984375e-06, "step": 14272, "training_step_time": 17.60804557800293 }, { "epoch": 1.3611793518066406e-06, "model_forward_time": 5.082652568817139, "step": 14273 }, { "epoch": 1.3611793518066406e-06, "step": 14273, "training_step_time": 17.618801832199097 }, { "epoch": 1.3612747192382813e-06, "model_forward_time": 3.8469152450561523, "step": 14274 }, { "epoch": 1.3612747192382813e-06, "step": 14274, "training_step_time": 17.608903884887695 }, { "epoch": 1.3613700866699219e-06, "model_forward_time": 3.832096815109253, "step": 14275 }, { "epoch": 1.3613700866699219e-06, "step": 14275, "training_step_time": 17.609155416488647 }, { "epoch": 1.3614654541015625e-06, "model_forward_time": 5.0501179695129395, "step": 14276 }, { "epoch": 1.3614654541015625e-06, "step": 14276, "training_step_time": 17.833183765411377 }, { "epoch": 1.361560821533203e-06, "model_forward_time": 5.055506467819214, "step": 14277 }, { "epoch": 1.361560821533203e-06, "step": 14277, "training_step_time": 17.579949855804443 }, { "epoch": 1.3616561889648437e-06, "model_forward_time": 5.266258001327515, "step": 14278 }, { "epoch": 1.3616561889648437e-06, "step": 14278, "training_step_time": 17.606343507766724 }, { "epoch": 1.3617515563964843e-06, "model_forward_time": 5.090924024581909, "step": 14279 }, { "epoch": 1.3617515563964843e-06, "step": 14279, "training_step_time": 17.57466959953308 }, { "epoch": 1.361846923828125e-06, "grad_norm": 1.7503331899642944, "learning_rate": 9.365621538616089e-06, "loss": 0.1297, "step": 14280 }, { "epoch": 1.361846923828125e-06, "model_forward_time": 5.099245071411133, "step": 14280 }, { "dynamics_loss_avg": 0.046251705707982184, "epoch": 1.361846923828125e-06, "step": 14280 }, { "action_loss_avg": 0.04255537735298276, "epoch": 1.361846923828125e-06, "step": 14280 }, { "arm_loss_avg": 0.08097637891769409, "epoch": 1.361846923828125e-06, "step": 14280 }, { "ee_loss_avg": 0.047006877791136506, "epoch": 1.361846923828125e-06, "step": 14280 }, { "aux_loss_avg": 0.0031993824231904, "epoch": 1.361846923828125e-06, "step": 14280 }, { "epoch": 1.361846923828125e-06, "step": 14280, "training_step_time": 17.566959857940674 }, { "epoch": 1.3619422912597656e-06, "model_forward_time": 5.102813482284546, "step": 14281 }, { "epoch": 1.3619422912597656e-06, "step": 14281, "training_step_time": 17.770288467407227 }, { "epoch": 1.3620376586914062e-06, "model_forward_time": 5.099791526794434, "step": 14282 }, { "epoch": 1.3620376586914062e-06, "step": 14282, "training_step_time": 17.58146071434021 }, { "epoch": 1.3621330261230468e-06, "model_forward_time": 5.329775333404541, "step": 14283 }, { "epoch": 1.3621330261230468e-06, "step": 14283, "training_step_time": 17.590446710586548 }, { "epoch": 1.3622283935546874e-06, "model_forward_time": 5.0925211906433105, "step": 14284 }, { "epoch": 1.3622283935546874e-06, "step": 14284, "training_step_time": 17.3801748752594 }, { "epoch": 1.3623237609863282e-06, "model_forward_time": 5.087069034576416, "step": 14285 }, { "epoch": 1.3623237609863282e-06, "step": 14285, "training_step_time": 17.51370096206665 }, { "epoch": 1.3624191284179688e-06, "model_forward_time": 5.081859350204468, "step": 14286 }, { "epoch": 1.3624191284179688e-06, "step": 14286, "training_step_time": 17.572837829589844 }, { "epoch": 1.3625144958496095e-06, "model_forward_time": 3.8447604179382324, "step": 14287 }, { "epoch": 1.3625144958496095e-06, "step": 14287, "training_step_time": 17.83140540122986 }, { "epoch": 1.36260986328125e-06, "model_forward_time": 5.2419798374176025, "step": 14288 }, { "epoch": 1.36260986328125e-06, "step": 14288, "training_step_time": 17.606745719909668 }, { "epoch": 1.3627052307128907e-06, "model_forward_time": 5.063998460769653, "step": 14289 }, { "epoch": 1.3627052307128907e-06, "step": 14289, "training_step_time": 17.61441445350647 }, { "epoch": 1.3628005981445313e-06, "grad_norm": 2.589170217514038, "learning_rate": 9.364469533463339e-06, "loss": 0.1296, "step": 14290 }, { "epoch": 1.3628005981445313e-06, "model_forward_time": 3.839806318283081, "step": 14290 }, { "dynamics_loss_avg": 0.042502802424132825, "epoch": 1.3628005981445313e-06, "step": 14290 }, { "action_loss_avg": 0.046347278729081155, "epoch": 1.3628005981445313e-06, "step": 14290 }, { "arm_loss_avg": 0.08816863410174847, "epoch": 1.3628005981445313e-06, "step": 14290 }, { "ee_loss_avg": 0.05484206266701221, "epoch": 1.3628005981445313e-06, "step": 14290 }, { "aux_loss_avg": 0.0009761641907971352, "epoch": 1.3628005981445313e-06, "step": 14290 }, { "epoch": 1.3628005981445313e-06, "step": 14290, "training_step_time": 17.611714124679565 }, { "epoch": 1.362895965576172e-06, "model_forward_time": 5.053631782531738, "step": 14291 }, { "epoch": 1.362895965576172e-06, "step": 14291, "training_step_time": 17.822197675704956 }, { "epoch": 1.3629913330078125e-06, "model_forward_time": 5.075414419174194, "step": 14292 }, { "epoch": 1.3629913330078125e-06, "step": 14292, "training_step_time": 17.61555314064026 }, { "epoch": 1.3630867004394531e-06, "model_forward_time": 5.317741632461548, "step": 14293 }, { "epoch": 1.3630867004394531e-06, "step": 14293, "training_step_time": 17.616114377975464 }, { "epoch": 1.3631820678710938e-06, "model_forward_time": 3.867633581161499, "step": 14294 }, { "epoch": 1.3631820678710938e-06, "step": 14294, "training_step_time": 17.611971139907837 }, { "epoch": 1.3632774353027344e-06, "model_forward_time": 5.074105262756348, "step": 14295 }, { "epoch": 1.3632774353027344e-06, "step": 14295, "training_step_time": 17.612567901611328 }, { "epoch": 1.363372802734375e-06, "model_forward_time": 5.088984489440918, "step": 14296 }, { "epoch": 1.363372802734375e-06, "step": 14296, "training_step_time": 17.833744764328003 }, { "epoch": 1.3634681701660156e-06, "model_forward_time": 5.103477239608765, "step": 14297 }, { "epoch": 1.3634681701660156e-06, "step": 14297, "training_step_time": 17.627885103225708 }, { "epoch": 1.3635635375976562e-06, "model_forward_time": 5.310258865356445, "step": 14298 }, { "epoch": 1.3635635375976562e-06, "step": 14298, "training_step_time": 17.6224365234375 }, { "epoch": 1.3636589050292968e-06, "model_forward_time": 5.114831924438477, "step": 14299 }, { "epoch": 1.3636589050292968e-06, "step": 14299, "training_step_time": 17.529919385910034 }, { "epoch": 1.3637542724609374e-06, "grad_norm": 1.81997811794281, "learning_rate": 9.363316554245648e-06, "loss": 0.1424, "step": 14300 }, { "epoch": 1.3637542724609374e-06, "model_forward_time": 5.120474100112915, "step": 14300 }, { "dynamics_loss_avg": 0.05767182745039463, "epoch": 1.3637542724609374e-06, "step": 14300 }, { "action_loss_avg": 0.06149970144033432, "epoch": 1.3637542724609374e-06, "step": 14300 }, { "arm_loss_avg": 0.09065230414271355, "epoch": 1.3637542724609374e-06, "step": 14300 }, { "ee_loss_avg": 0.08233697405084968, "epoch": 1.3637542724609374e-06, "step": 14300 }, { "aux_loss_avg": 0.0031744872801937165, "epoch": 1.3637542724609374e-06, "step": 14300 }, { "epoch": 1.3637542724609374e-06, "step": 14300, "training_step_time": 17.581711292266846 }, { "epoch": 1.363849639892578e-06, "model_forward_time": 5.098318576812744, "step": 14301 }, { "epoch": 1.363849639892578e-06, "step": 14301, "training_step_time": 17.458239555358887 }, { "epoch": 1.3639450073242187e-06, "model_forward_time": 5.095122337341309, "step": 14302 }, { "epoch": 1.3639450073242187e-06, "step": 14302, "training_step_time": 17.703280210494995 }, { "epoch": 1.3640403747558593e-06, "model_forward_time": 5.316041707992554, "step": 14303 }, { "epoch": 1.3640403747558593e-06, "step": 14303, "training_step_time": 17.563770055770874 }, { "epoch": 1.3641357421875e-06, "model_forward_time": 5.086307048797607, "step": 14304 }, { "epoch": 1.3641357421875e-06, "step": 14304, "training_step_time": 17.603840351104736 }, { "epoch": 1.3642311096191407e-06, "model_forward_time": 3.8486247062683105, "step": 14305 }, { "epoch": 1.3642311096191407e-06, "step": 14305, "training_step_time": 17.626317739486694 }, { "epoch": 1.3643264770507813e-06, "model_forward_time": 5.061964273452759, "step": 14306 }, { "epoch": 1.3643264770507813e-06, "step": 14306, "training_step_time": 17.877341270446777 }, { "epoch": 1.364421844482422e-06, "model_forward_time": 5.060003280639648, "step": 14307 }, { "epoch": 1.364421844482422e-06, "step": 14307, "training_step_time": 17.637985229492188 }, { "epoch": 1.3645172119140626e-06, "model_forward_time": 5.264411687850952, "step": 14308 }, { "epoch": 1.3645172119140626e-06, "step": 14308, "training_step_time": 17.647350072860718 }, { "epoch": 1.3646125793457032e-06, "model_forward_time": 5.0824949741363525, "step": 14309 }, { "epoch": 1.3646125793457032e-06, "step": 14309, "training_step_time": 17.63298487663269 }, { "epoch": 1.3647079467773438e-06, "grad_norm": 1.995322585105896, "learning_rate": 9.362162601220336e-06, "loss": 0.1259, "step": 14310 }, { "epoch": 1.3647079467773438e-06, "model_forward_time": 5.089840888977051, "step": 14310 }, { "dynamics_loss_avg": 0.041003096103668216, "epoch": 1.3647079467773438e-06, "step": 14310 }, { "action_loss_avg": 0.05028438325971365, "epoch": 1.3647079467773438e-06, "step": 14310 }, { "arm_loss_avg": 0.08979235701262951, "epoch": 1.3647079467773438e-06, "step": 14310 }, { "ee_loss_avg": 0.08841713480651378, "epoch": 1.3647079467773438e-06, "step": 14310 }, { "aux_loss_avg": 0.0006276513304328546, "epoch": 1.3647079467773438e-06, "step": 14310 }, { "epoch": 1.3647079467773438e-06, "step": 14310, "training_step_time": 17.62805962562561 }, { "epoch": 1.3648033142089844e-06, "model_forward_time": 3.8615567684173584, "step": 14311 }, { "epoch": 1.3648033142089844e-06, "step": 14311, "training_step_time": 17.81982970237732 }, { "epoch": 1.364898681640625e-06, "model_forward_time": 5.0674521923065186, "step": 14312 }, { "epoch": 1.364898681640625e-06, "step": 14312, "training_step_time": 17.613343477249146 }, { "epoch": 1.3649940490722656e-06, "model_forward_time": 5.313253402709961, "step": 14313 }, { "epoch": 1.3649940490722656e-06, "step": 14313, "training_step_time": 17.600852489471436 }, { "epoch": 1.3650894165039063e-06, "model_forward_time": 5.086614370346069, "step": 14314 }, { "epoch": 1.3650894165039063e-06, "step": 14314, "training_step_time": 17.389962196350098 }, { "epoch": 1.3651847839355469e-06, "model_forward_time": 5.094230651855469, "step": 14315 }, { "epoch": 1.3651847839355469e-06, "step": 14315, "training_step_time": 17.507006645202637 }, { "epoch": 1.3652801513671875e-06, "model_forward_time": 5.09755802154541, "step": 14316 }, { "epoch": 1.3652801513671875e-06, "step": 14316, "training_step_time": 17.547869205474854 }, { "epoch": 1.365375518798828e-06, "model_forward_time": 5.099702596664429, "step": 14317 }, { "epoch": 1.365375518798828e-06, "step": 14317, "training_step_time": 17.8009614944458 }, { "epoch": 1.3654708862304687e-06, "model_forward_time": 5.278604507446289, "step": 14318 }, { "epoch": 1.3654708862304687e-06, "step": 14318, "training_step_time": 17.591816186904907 }, { "epoch": 1.3655662536621093e-06, "model_forward_time": 5.095937490463257, "step": 14319 }, { "epoch": 1.3655662536621093e-06, "step": 14319, "training_step_time": 17.60488796234131 }, { "epoch": 1.36566162109375e-06, "grad_norm": 1.5378831624984741, "learning_rate": 9.361007674644946e-06, "loss": 0.1243, "step": 14320 }, { "epoch": 1.36566162109375e-06, "model_forward_time": 5.088212251663208, "step": 14320 }, { "dynamics_loss_avg": 0.06035372894257307, "epoch": 1.36566162109375e-06, "step": 14320 }, { "action_loss_avg": 0.06139122825115919, "epoch": 1.36566162109375e-06, "step": 14320 }, { "arm_loss_avg": 0.08537313044071197, "epoch": 1.36566162109375e-06, "step": 14320 }, { "ee_loss_avg": 0.08608919195830822, "epoch": 1.36566162109375e-06, "step": 14320 }, { "aux_loss_avg": 0.002849217297625728, "epoch": 1.36566162109375e-06, "step": 14320 }, { "epoch": 1.36566162109375e-06, "step": 14320, "training_step_time": 17.614573001861572 }, { "epoch": 1.3657569885253906e-06, "model_forward_time": 5.089978933334351, "step": 14321 }, { "epoch": 1.3657569885253906e-06, "step": 14321, "training_step_time": 17.610066413879395 }, { "epoch": 1.3658523559570312e-06, "model_forward_time": 5.082393169403076, "step": 14322 }, { "epoch": 1.3658523559570312e-06, "step": 14322, "training_step_time": 17.810593843460083 }, { "epoch": 1.3659477233886718e-06, "model_forward_time": 5.31475567817688, "step": 14323 }, { "epoch": 1.3659477233886718e-06, "step": 14323, "training_step_time": 17.6420636177063 }, { "epoch": 1.3660430908203124e-06, "model_forward_time": 5.079077482223511, "step": 14324 }, { "epoch": 1.3660430908203124e-06, "step": 14324, "training_step_time": 17.618751525878906 }, { "epoch": 1.3661384582519532e-06, "model_forward_time": 5.084208011627197, "step": 14325 }, { "epoch": 1.3661384582519532e-06, "step": 14325, "training_step_time": 17.608973026275635 }, { "epoch": 1.3662338256835938e-06, "model_forward_time": 5.084747552871704, "step": 14326 }, { "epoch": 1.3662338256835938e-06, "step": 14326, "training_step_time": 17.827614784240723 }, { "epoch": 1.3663291931152345e-06, "model_forward_time": 5.082812309265137, "step": 14327 }, { "epoch": 1.3663291931152345e-06, "step": 14327, "training_step_time": 17.602559328079224 }, { "epoch": 1.366424560546875e-06, "model_forward_time": 4.030110836029053, "step": 14328 }, { "epoch": 1.366424560546875e-06, "step": 14328, "training_step_time": 17.612709522247314 }, { "epoch": 1.3665199279785157e-06, "model_forward_time": 5.0604307651519775, "step": 14329 }, { "epoch": 1.3665199279785157e-06, "step": 14329, "training_step_time": 17.60464119911194 }, { "epoch": 1.3666152954101563e-06, "grad_norm": 1.7852199077606201, "learning_rate": 9.359851774777231e-06, "loss": 0.1134, "step": 14330 }, { "epoch": 1.3666152954101563e-06, "model_forward_time": 5.071306467056274, "step": 14330 }, { "dynamics_loss_avg": 0.05143021000549197, "epoch": 1.3666152954101563e-06, "step": 14330 }, { "action_loss_avg": 0.05539470016956329, "epoch": 1.3666152954101563e-06, "step": 14330 }, { "arm_loss_avg": 0.06761374697089195, "epoch": 1.3666152954101563e-06, "step": 14330 }, { "ee_loss_avg": 0.07558715082705021, "epoch": 1.3666152954101563e-06, "step": 14330 }, { "aux_loss_avg": 0.0008944878150941804, "epoch": 1.3666152954101563e-06, "step": 14330 }, { "epoch": 1.3666152954101563e-06, "step": 14330, "training_step_time": 17.601840496063232 }, { "epoch": 1.366710662841797e-06, "model_forward_time": 5.083533048629761, "step": 14331 }, { "epoch": 1.366710662841797e-06, "step": 14331, "training_step_time": 17.80151605606079 }, { "epoch": 1.3668060302734375e-06, "model_forward_time": 5.090229749679565, "step": 14332 }, { "epoch": 1.3668060302734375e-06, "step": 14332, "training_step_time": 17.593348026275635 }, { "epoch": 1.3669013977050781e-06, "model_forward_time": 5.336432933807373, "step": 14333 }, { "epoch": 1.3669013977050781e-06, "step": 14333, "training_step_time": 17.5949490070343 }, { "epoch": 1.3669967651367188e-06, "model_forward_time": 5.10062050819397, "step": 14334 }, { "epoch": 1.3669967651367188e-06, "step": 14334, "training_step_time": 17.589601755142212 }, { "epoch": 1.3670921325683594e-06, "model_forward_time": 5.0997912883758545, "step": 14335 }, { "epoch": 1.3670921325683594e-06, "step": 14335, "training_step_time": 17.58553433418274 }, { "epoch": 1.3671875e-06, "model_forward_time": 5.097978830337524, "step": 14336 }, { "epoch": 1.3671875e-06, "step": 14336, "training_step_time": 17.459882020950317 }, { "epoch": 1.3672828674316406e-06, "model_forward_time": 5.105291128158569, "step": 14337 }, { "epoch": 1.3672828674316406e-06, "step": 14337, "training_step_time": 17.4214870929718 }, { "epoch": 1.3673782348632812e-06, "model_forward_time": 5.317272901535034, "step": 14338 }, { "epoch": 1.3673782348632812e-06, "step": 14338, "training_step_time": 17.678669452667236 }, { "epoch": 1.3674736022949218e-06, "model_forward_time": 5.106794595718384, "step": 14339 }, { "epoch": 1.3674736022949218e-06, "step": 14339, "training_step_time": 17.56935429573059 }, { "epoch": 1.3675689697265624e-06, "grad_norm": 1.3827316761016846, "learning_rate": 9.358694901875169e-06, "loss": 0.128, "step": 14340 }, { "epoch": 1.3675689697265624e-06, "model_forward_time": 5.0987255573272705, "step": 14340 }, { "dynamics_loss_avg": 0.05594802163541317, "epoch": 1.3675689697265624e-06, "step": 14340 }, { "action_loss_avg": 0.04846505895256996, "epoch": 1.3675689697265624e-06, "step": 14340 }, { "arm_loss_avg": 0.08137411326169967, "epoch": 1.3675689697265624e-06, "step": 14340 }, { "ee_loss_avg": 0.07038577953353524, "epoch": 1.3675689697265624e-06, "step": 14340 }, { "aux_loss_avg": 0.0016603635158389807, "epoch": 1.3675689697265624e-06, "step": 14340 }, { "epoch": 1.3675689697265624e-06, "step": 14340, "training_step_time": 17.593130111694336 }, { "epoch": 1.367664337158203e-06, "model_forward_time": 5.088791847229004, "step": 14341 }, { "epoch": 1.367664337158203e-06, "step": 14341, "training_step_time": 17.614452838897705 }, { "epoch": 1.3677597045898437e-06, "model_forward_time": 3.8446550369262695, "step": 14342 }, { "epoch": 1.3677597045898437e-06, "step": 14342, "training_step_time": 17.811434745788574 }, { "epoch": 1.3678550720214843e-06, "model_forward_time": 5.055840969085693, "step": 14343 }, { "epoch": 1.3678550720214843e-06, "step": 14343, "training_step_time": 17.630187034606934 }, { "epoch": 1.367950439453125e-06, "model_forward_time": 5.065924406051636, "step": 14344 }, { "epoch": 1.367950439453125e-06, "step": 14344, "training_step_time": 17.623510360717773 }, { "epoch": 1.3680458068847657e-06, "model_forward_time": 3.8378303050994873, "step": 14345 }, { "epoch": 1.3680458068847657e-06, "step": 14345, "training_step_time": 17.617583513259888 }, { "epoch": 1.3681411743164063e-06, "model_forward_time": 5.0580244064331055, "step": 14346 }, { "epoch": 1.3681411743164063e-06, "step": 14346, "training_step_time": 17.59960389137268 }, { "epoch": 1.368236541748047e-06, "model_forward_time": 5.073261499404907, "step": 14347 }, { "epoch": 1.368236541748047e-06, "step": 14347, "training_step_time": 17.831228971481323 }, { "epoch": 1.3683319091796876e-06, "model_forward_time": 5.08060097694397, "step": 14348 }, { "epoch": 1.3683319091796876e-06, "step": 14348, "training_step_time": 17.57966113090515 }, { "epoch": 1.3684272766113282e-06, "model_forward_time": 5.292544841766357, "step": 14349 }, { "epoch": 1.3684272766113282e-06, "step": 14349, "training_step_time": 17.60012698173523 }, { "epoch": 1.3685226440429688e-06, "grad_norm": 1.1139543056488037, "learning_rate": 9.35753705619695e-06, "loss": 0.1176, "step": 14350 }, { "epoch": 1.3685226440429688e-06, "model_forward_time": 5.103830575942993, "step": 14350 }, { "dynamics_loss_avg": 0.04529210878536105, "epoch": 1.3685226440429688e-06, "step": 14350 }, { "action_loss_avg": 0.0445669911801815, "epoch": 1.3685226440429688e-06, "step": 14350 }, { "arm_loss_avg": 0.07629285603761674, "epoch": 1.3685226440429688e-06, "step": 14350 }, { "ee_loss_avg": 0.12333089224994183, "epoch": 1.3685226440429688e-06, "step": 14350 }, { "aux_loss_avg": 0.00206328293425031, "epoch": 1.3685226440429688e-06, "step": 14350 }, { "epoch": 1.3685226440429688e-06, "step": 14350, "training_step_time": 17.56625008583069 }, { "epoch": 1.3686180114746094e-06, "model_forward_time": 5.100021600723267, "step": 14351 }, { "epoch": 1.3686180114746094e-06, "step": 14351, "training_step_time": 17.37840223312378 }, { "epoch": 1.36871337890625e-06, "model_forward_time": 5.102269411087036, "step": 14352 }, { "epoch": 1.36871337890625e-06, "step": 14352, "training_step_time": 17.684865951538086 }, { "epoch": 1.3688087463378906e-06, "model_forward_time": 5.091529846191406, "step": 14353 }, { "epoch": 1.3688087463378906e-06, "step": 14353, "training_step_time": 17.542025566101074 }, { "epoch": 1.3689041137695313e-06, "model_forward_time": 5.087024211883545, "step": 14354 }, { "epoch": 1.3689041137695313e-06, "step": 14354, "training_step_time": 17.56311821937561 }, { "epoch": 1.3689994812011719e-06, "model_forward_time": 5.0823259353637695, "step": 14355 }, { "epoch": 1.3689994812011719e-06, "step": 14355, "training_step_time": 17.579218864440918 }, { "epoch": 1.3690948486328125e-06, "model_forward_time": 5.0842604637146, "step": 14356 }, { "epoch": 1.3690948486328125e-06, "step": 14356, "training_step_time": 17.622764587402344 }, { "epoch": 1.369190216064453e-06, "model_forward_time": 5.0906291007995605, "step": 14357 }, { "epoch": 1.369190216064453e-06, "step": 14357, "training_step_time": 17.875630617141724 }, { "epoch": 1.3692855834960937e-06, "model_forward_time": 5.323927640914917, "step": 14358 }, { "epoch": 1.3692855834960937e-06, "step": 14358, "training_step_time": 17.64041233062744 }, { "epoch": 1.3693809509277343e-06, "model_forward_time": 3.863713264465332, "step": 14359 }, { "epoch": 1.3693809509277343e-06, "step": 14359, "training_step_time": 17.628010988235474 }, { "epoch": 1.369476318359375e-06, "grad_norm": 1.4359345436096191, "learning_rate": 9.356378238000985e-06, "loss": 0.1276, "step": 14360 }, { "epoch": 1.369476318359375e-06, "model_forward_time": 3.8362598419189453, "step": 14360 }, { "dynamics_loss_avg": 0.0525236988440156, "epoch": 1.369476318359375e-06, "step": 14360 }, { "action_loss_avg": 0.06568106412887573, "epoch": 1.369476318359375e-06, "step": 14360 }, { "arm_loss_avg": 0.09889063239097595, "epoch": 1.369476318359375e-06, "step": 14360 }, { "ee_loss_avg": 0.0887082003057003, "epoch": 1.369476318359375e-06, "step": 14360 }, { "aux_loss_avg": 0.0015017072757473216, "epoch": 1.369476318359375e-06, "step": 14360 }, { "epoch": 1.369476318359375e-06, "step": 14360, "training_step_time": 17.605810403823853 }, { "epoch": 1.3695716857910156e-06, "model_forward_time": 5.048476457595825, "step": 14361 }, { "epoch": 1.3695716857910156e-06, "step": 14361, "training_step_time": 17.59566879272461 }, { "epoch": 1.3696670532226562e-06, "model_forward_time": 5.063971042633057, "step": 14362 }, { "epoch": 1.3696670532226562e-06, "step": 14362, "training_step_time": 17.77403736114502 }, { "epoch": 1.3697624206542968e-06, "model_forward_time": 5.082299470901489, "step": 14363 }, { "epoch": 1.3697624206542968e-06, "step": 14363, "training_step_time": 17.58836555480957 }, { "epoch": 1.3698577880859374e-06, "model_forward_time": 5.331603765487671, "step": 14364 }, { "epoch": 1.3698577880859374e-06, "step": 14364, "training_step_time": 17.574118614196777 }, { "epoch": 1.3699531555175782e-06, "model_forward_time": 5.109162330627441, "step": 14365 }, { "epoch": 1.3699531555175782e-06, "step": 14365, "training_step_time": 17.57905149459839 }, { "epoch": 1.3700485229492188e-06, "model_forward_time": 5.107515573501587, "step": 14366 }, { "epoch": 1.3700485229492188e-06, "step": 14366, "training_step_time": 17.809441566467285 }, { "epoch": 1.3701438903808595e-06, "model_forward_time": 3.8605728149414062, "step": 14367 }, { "epoch": 1.3701438903808595e-06, "step": 14367, "training_step_time": 17.585139989852905 }, { "epoch": 1.3702392578125e-06, "model_forward_time": 5.062727689743042, "step": 14368 }, { "epoch": 1.3702392578125e-06, "step": 14368, "training_step_time": 17.603883028030396 }, { "epoch": 1.3703346252441407e-06, "model_forward_time": 5.257524728775024, "step": 14369 }, { "epoch": 1.3703346252441407e-06, "step": 14369, "training_step_time": 17.600608348846436 }, { "epoch": 1.3704299926757813e-06, "grad_norm": 1.0596133470535278, "learning_rate": 9.355218447545894e-06, "loss": 0.098, "step": 14370 }, { "epoch": 1.3704299926757813e-06, "model_forward_time": 5.078238487243652, "step": 14370 }, { "dynamics_loss_avg": 0.04836733769625425, "epoch": 1.3704299926757813e-06, "step": 14370 }, { "action_loss_avg": 0.04974245484918356, "epoch": 1.3704299926757813e-06, "step": 14370 }, { "arm_loss_avg": 0.075476760789752, "epoch": 1.3704299926757813e-06, "step": 14370 }, { "ee_loss_avg": 0.08796635903418064, "epoch": 1.3704299926757813e-06, "step": 14370 }, { "aux_loss_avg": 0.0008457954274490476, "epoch": 1.3704299926757813e-06, "step": 14370 }, { "epoch": 1.3704299926757813e-06, "step": 14370, "training_step_time": 17.599027633666992 }, { "epoch": 1.370525360107422e-06, "model_forward_time": 5.081946134567261, "step": 14371 }, { "epoch": 1.370525360107422e-06, "step": 14371, "training_step_time": 17.799089431762695 }, { "epoch": 1.3706207275390625e-06, "model_forward_time": 5.090234041213989, "step": 14372 }, { "epoch": 1.3706207275390625e-06, "step": 14372, "training_step_time": 17.609495639801025 }, { "epoch": 1.3707160949707031e-06, "model_forward_time": 5.087029457092285, "step": 14373 }, { "epoch": 1.3707160949707031e-06, "step": 14373, "training_step_time": 17.607410192489624 }, { "epoch": 1.3708114624023438e-06, "model_forward_time": 5.34050726890564, "step": 14374 }, { "epoch": 1.3708114624023438e-06, "step": 14374, "training_step_time": 17.615310430526733 }, { "epoch": 1.3709068298339844e-06, "model_forward_time": 5.094777584075928, "step": 14375 }, { "epoch": 1.3709068298339844e-06, "step": 14375, "training_step_time": 17.616424083709717 }, { "epoch": 1.371002197265625e-06, "model_forward_time": 5.093574047088623, "step": 14376 }, { "epoch": 1.371002197265625e-06, "step": 14376, "training_step_time": 17.821030616760254 }, { "epoch": 1.3710975646972656e-06, "model_forward_time": 5.095325231552124, "step": 14377 }, { "epoch": 1.3710975646972656e-06, "step": 14377, "training_step_time": 17.608742475509644 }, { "epoch": 1.3711929321289062e-06, "model_forward_time": 5.091806173324585, "step": 14378 }, { "epoch": 1.3711929321289062e-06, "step": 14378, "training_step_time": 17.59468412399292 }, { "epoch": 1.3712882995605468e-06, "model_forward_time": 5.089930057525635, "step": 14379 }, { "epoch": 1.3712882995605468e-06, "step": 14379, "training_step_time": 17.37781023979187 }, { "epoch": 1.3713836669921874e-06, "grad_norm": 0.8612960577011108, "learning_rate": 9.354057685090527e-06, "loss": 0.1106, "step": 14380 }, { "epoch": 1.3713836669921874e-06, "model_forward_time": 5.088773727416992, "step": 14380 }, { "dynamics_loss_avg": 0.05447522159665823, "epoch": 1.3713836669921874e-06, "step": 14380 }, { "action_loss_avg": 0.05446456149220467, "epoch": 1.3713836669921874e-06, "step": 14380 }, { "arm_loss_avg": 0.0725602637976408, "epoch": 1.3713836669921874e-06, "step": 14380 }, { "ee_loss_avg": 0.0756030384451151, "epoch": 1.3713836669921874e-06, "step": 14380 }, { "aux_loss_avg": 0.0016474324307637288, "epoch": 1.3713836669921874e-06, "step": 14380 }, { "epoch": 1.3713836669921874e-06, "step": 14380, "training_step_time": 17.468663930892944 }, { "epoch": 1.371479034423828e-06, "model_forward_time": 5.088805198669434, "step": 14381 }, { "epoch": 1.371479034423828e-06, "step": 14381, "training_step_time": 17.53962755203247 }, { "epoch": 1.3715744018554687e-06, "model_forward_time": 3.8516480922698975, "step": 14382 }, { "epoch": 1.3715744018554687e-06, "step": 14382, "training_step_time": 17.770461320877075 }, { "epoch": 1.3716697692871093e-06, "model_forward_time": 5.066435098648071, "step": 14383 }, { "epoch": 1.3716697692871093e-06, "step": 14383, "training_step_time": 17.616949319839478 }, { "epoch": 1.37176513671875e-06, "model_forward_time": 5.070269823074341, "step": 14384 }, { "epoch": 1.37176513671875e-06, "step": 14384, "training_step_time": 17.52055859565735 }, { "epoch": 1.3718605041503905e-06, "model_forward_time": 5.076087474822998, "step": 14385 }, { "epoch": 1.3718605041503905e-06, "step": 14385, "training_step_time": 17.553790807724 }, { "epoch": 1.3719558715820313e-06, "model_forward_time": 5.087263107299805, "step": 14386 }, { "epoch": 1.3719558715820313e-06, "step": 14386, "training_step_time": 17.37566828727722 }, { "epoch": 1.372051239013672e-06, "model_forward_time": 5.096538543701172, "step": 14387 }, { "epoch": 1.372051239013672e-06, "step": 14387, "training_step_time": 17.397352695465088 }, { "epoch": 1.3721466064453126e-06, "model_forward_time": 5.29817271232605, "step": 14388 }, { "epoch": 1.3721466064453126e-06, "step": 14388, "training_step_time": 17.499736309051514 }, { "epoch": 1.3722419738769532e-06, "model_forward_time": 5.101349115371704, "step": 14389 }, { "epoch": 1.3722419738769532e-06, "step": 14389, "training_step_time": 17.585081577301025 }, { "epoch": 1.3723373413085938e-06, "grad_norm": 1.2923691272735596, "learning_rate": 9.352895950893938e-06, "loss": 0.1055, "step": 14390 }, { "epoch": 1.3723373413085938e-06, "model_forward_time": 5.097200870513916, "step": 14390 }, { "dynamics_loss_avg": 0.04660699274390936, "epoch": 1.3723373413085938e-06, "step": 14390 }, { "action_loss_avg": 0.05519870035350323, "epoch": 1.3723373413085938e-06, "step": 14390 }, { "arm_loss_avg": 0.09898770563304424, "epoch": 1.3723373413085938e-06, "step": 14390 }, { "ee_loss_avg": 0.10069567784667015, "epoch": 1.3723373413085938e-06, "step": 14390 }, { "aux_loss_avg": 0.001020252041053027, "epoch": 1.3723373413085938e-06, "step": 14390 }, { "epoch": 1.3723373413085938e-06, "step": 14390, "training_step_time": 17.625452995300293 }, { "epoch": 1.3724327087402344e-06, "model_forward_time": 5.096357107162476, "step": 14391 }, { "epoch": 1.3724327087402344e-06, "step": 14391, "training_step_time": 17.653257608413696 }, { "epoch": 1.372528076171875e-06, "model_forward_time": 3.856170177459717, "step": 14392 }, { "epoch": 1.372528076171875e-06, "step": 14392, "training_step_time": 17.846972227096558 }, { "epoch": 1.3726234436035156e-06, "model_forward_time": 5.063544750213623, "step": 14393 }, { "epoch": 1.3726234436035156e-06, "step": 14393, "training_step_time": 17.663466215133667 }, { "epoch": 1.3727188110351563e-06, "model_forward_time": 5.3173089027404785, "step": 14394 }, { "epoch": 1.3727188110351563e-06, "step": 14394, "training_step_time": 17.648969650268555 }, { "epoch": 1.3728141784667969e-06, "model_forward_time": 5.079561710357666, "step": 14395 }, { "epoch": 1.3728141784667969e-06, "step": 14395, "training_step_time": 17.463733673095703 }, { "epoch": 1.3729095458984375e-06, "model_forward_time": 5.091603994369507, "step": 14396 }, { "epoch": 1.3729095458984375e-06, "step": 14396, "training_step_time": 17.540791749954224 }, { "epoch": 1.373004913330078e-06, "model_forward_time": 5.1038572788238525, "step": 14397 }, { "epoch": 1.373004913330078e-06, "step": 14397, "training_step_time": 17.446682691574097 }, { "epoch": 1.3731002807617187e-06, "model_forward_time": 5.350140571594238, "step": 14398 }, { "epoch": 1.3731002807617187e-06, "step": 14398, "training_step_time": 17.68852710723877 }, { "epoch": 1.3731956481933593e-06, "model_forward_time": 5.110742807388306, "step": 14399 }, { "epoch": 1.3731956481933593e-06, "step": 14399, "training_step_time": 17.599685430526733 }, { "epoch": 1.373291015625e-06, "grad_norm": 1.7377972602844238, "learning_rate": 9.351733245215407e-06, "loss": 0.0989, "step": 14400 }, { "epoch": 1.373291015625e-06, "model_forward_time": 5.1087870597839355, "step": 14400 }, { "dynamics_loss_avg": 0.05053462274372578, "epoch": 1.373291015625e-06, "step": 14400 }, { "action_loss_avg": 0.05370292440056801, "epoch": 1.373291015625e-06, "step": 14400 }, { "arm_loss_avg": 0.08577278144657612, "epoch": 1.373291015625e-06, "step": 14400 }, { "ee_loss_avg": 0.08771266397088766, "epoch": 1.373291015625e-06, "step": 14400 }, { "aux_loss_avg": 0.0014495671493932605, "epoch": 1.373291015625e-06, "step": 14400 }, { "epoch": 1.373291015625e-06, "step": 14400, "training_step_time": 17.62999439239502 }, { "epoch": 1.3733863830566406e-06, "model_forward_time": 5.095201015472412, "step": 14401 }, { "epoch": 1.3733863830566406e-06, "step": 14401, "training_step_time": 17.632110595703125 }, { "epoch": 1.3734817504882812e-06, "model_forward_time": 5.091562271118164, "step": 14402 }, { "epoch": 1.3734817504882812e-06, "step": 14402, "training_step_time": 17.823116540908813 }, { "epoch": 1.3735771179199218e-06, "model_forward_time": 5.091536283493042, "step": 14403 }, { "epoch": 1.3735771179199218e-06, "step": 14403, "training_step_time": 17.645923852920532 }, { "epoch": 1.3736724853515624e-06, "model_forward_time": 5.090460777282715, "step": 14404 }, { "epoch": 1.3736724853515624e-06, "step": 14404, "training_step_time": 17.652878999710083 }, { "epoch": 1.373767852783203e-06, "model_forward_time": 5.086916923522949, "step": 14405 }, { "epoch": 1.373767852783203e-06, "step": 14405, "training_step_time": 17.403517484664917 }, { "epoch": 1.3738632202148438e-06, "model_forward_time": 3.8517653942108154, "step": 14406 }, { "epoch": 1.3738632202148438e-06, "step": 14406, "training_step_time": 17.557348251342773 }, { "epoch": 1.3739585876464845e-06, "model_forward_time": 5.06260347366333, "step": 14407 }, { "epoch": 1.3739585876464845e-06, "step": 14407, "training_step_time": 17.835660934448242 }, { "epoch": 1.374053955078125e-06, "model_forward_time": 5.0701539516448975, "step": 14408 }, { "epoch": 1.374053955078125e-06, "step": 14408, "training_step_time": 17.600841760635376 }, { "epoch": 1.3741493225097657e-06, "model_forward_time": 5.08349609375, "step": 14409 }, { "epoch": 1.3741493225097657e-06, "step": 14409, "training_step_time": 17.613452672958374 }, { "epoch": 1.3742446899414063e-06, "grad_norm": 1.1563388109207153, "learning_rate": 9.350569568314427e-06, "loss": 0.0984, "step": 14410 }, { "epoch": 1.3742446899414063e-06, "model_forward_time": 5.090862989425659, "step": 14410 }, { "dynamics_loss_avg": 0.049966348242014645, "epoch": 1.3742446899414063e-06, "step": 14410 }, { "action_loss_avg": 0.05213744603097439, "epoch": 1.3742446899414063e-06, "step": 14410 }, { "arm_loss_avg": 0.09455698020756245, "epoch": 1.3742446899414063e-06, "step": 14410 }, { "ee_loss_avg": 0.08590900003910065, "epoch": 1.3742446899414063e-06, "step": 14410 }, { "aux_loss_avg": 0.0020927990204654633, "epoch": 1.3742446899414063e-06, "step": 14410 }, { "epoch": 1.3742446899414063e-06, "step": 14410, "training_step_time": 17.613844871520996 }, { "epoch": 1.374340057373047e-06, "model_forward_time": 5.096766233444214, "step": 14411 }, { "epoch": 1.374340057373047e-06, "step": 14411, "training_step_time": 17.624406814575195 }, { "epoch": 1.3744354248046875e-06, "model_forward_time": 5.098871469497681, "step": 14412 }, { "epoch": 1.3744354248046875e-06, "step": 14412, "training_step_time": 17.822407484054565 }, { "epoch": 1.3745307922363281e-06, "model_forward_time": 5.343691825866699, "step": 14413 }, { "epoch": 1.3745307922363281e-06, "step": 14413, "training_step_time": 17.62500286102295 }, { "epoch": 1.3746261596679688e-06, "model_forward_time": 5.101155519485474, "step": 14414 }, { "epoch": 1.3746261596679688e-06, "step": 14414, "training_step_time": 17.62621831893921 }, { "epoch": 1.3747215270996094e-06, "model_forward_time": 5.095646619796753, "step": 14415 }, { "epoch": 1.3747215270996094e-06, "step": 14415, "training_step_time": 17.627679347991943 }, { "epoch": 1.37481689453125e-06, "model_forward_time": 5.103708505630493, "step": 14416 }, { "epoch": 1.37481689453125e-06, "step": 14416, "training_step_time": 17.64562726020813 }, { "epoch": 1.3749122619628906e-06, "model_forward_time": 5.10750150680542, "step": 14417 }, { "epoch": 1.3749122619628906e-06, "step": 14417, "training_step_time": 17.876079320907593 }, { "epoch": 1.3750076293945312e-06, "model_forward_time": 5.32644510269165, "step": 14418 }, { "epoch": 1.3750076293945312e-06, "step": 14418, "training_step_time": 17.701485633850098 }, { "epoch": 1.3751029968261718e-06, "model_forward_time": 5.104291915893555, "step": 14419 }, { "epoch": 1.3751029968261718e-06, "step": 14419, "training_step_time": 17.637404918670654 }, { "epoch": 1.3751983642578125e-06, "grad_norm": 0.7431644797325134, "learning_rate": 9.349404920450704e-06, "loss": 0.1039, "step": 14420 }, { "epoch": 1.3751983642578125e-06, "model_forward_time": 5.085458993911743, "step": 14420 }, { "dynamics_loss_avg": 0.046567680314183235, "epoch": 1.3751983642578125e-06, "step": 14420 }, { "action_loss_avg": 0.04662562310695648, "epoch": 1.3751983642578125e-06, "step": 14420 }, { "arm_loss_avg": 0.0896426036953926, "epoch": 1.3751983642578125e-06, "step": 14420 }, { "ee_loss_avg": 0.09235763642936945, "epoch": 1.3751983642578125e-06, "step": 14420 }, { "aux_loss_avg": 0.0025956815778044985, "epoch": 1.3751983642578125e-06, "step": 14420 }, { "epoch": 1.3751983642578125e-06, "step": 14420, "training_step_time": 17.617164850234985 }, { "epoch": 1.375293731689453e-06, "model_forward_time": 5.082679033279419, "step": 14421 }, { "epoch": 1.375293731689453e-06, "step": 14421, "training_step_time": 17.623722076416016 }, { "epoch": 1.3753890991210937e-06, "model_forward_time": 5.080745458602905, "step": 14422 }, { "epoch": 1.3753890991210937e-06, "step": 14422, "training_step_time": 17.843788146972656 }, { "epoch": 1.3754844665527343e-06, "model_forward_time": 5.082221269607544, "step": 14423 }, { "epoch": 1.3754844665527343e-06, "step": 14423, "training_step_time": 17.616103410720825 }, { "epoch": 1.375579833984375e-06, "model_forward_time": 5.084996938705444, "step": 14424 }, { "epoch": 1.375579833984375e-06, "step": 14424, "training_step_time": 17.599910974502563 }, { "epoch": 1.3756752014160155e-06, "model_forward_time": 5.079744577407837, "step": 14425 }, { "epoch": 1.3756752014160155e-06, "step": 14425, "training_step_time": 17.59093141555786 }, { "epoch": 1.3757705688476563e-06, "model_forward_time": 5.079927921295166, "step": 14426 }, { "epoch": 1.3757705688476563e-06, "step": 14426, "training_step_time": 17.590176343917847 }, { "epoch": 1.375865936279297e-06, "model_forward_time": 5.081021547317505, "step": 14427 }, { "epoch": 1.375865936279297e-06, "step": 14427, "training_step_time": 17.810022830963135 }, { "epoch": 1.3759613037109376e-06, "model_forward_time": 5.2754967212677, "step": 14428 }, { "epoch": 1.3759613037109376e-06, "step": 14428, "training_step_time": 17.579931497573853 }, { "epoch": 1.3760566711425782e-06, "model_forward_time": 5.079343318939209, "step": 14429 }, { "epoch": 1.3760566711425782e-06, "step": 14429, "training_step_time": 17.583268404006958 }, { "epoch": 1.3761520385742188e-06, "grad_norm": 1.4005125761032104, "learning_rate": 9.348239301884172e-06, "loss": 0.0923, "step": 14430 }, { "epoch": 1.3761520385742188e-06, "model_forward_time": 5.079664468765259, "step": 14430 }, { "dynamics_loss_avg": 0.05239090286195278, "epoch": 1.3761520385742188e-06, "step": 14430 }, { "action_loss_avg": 0.058055194281041625, "epoch": 1.3761520385742188e-06, "step": 14430 }, { "arm_loss_avg": 0.0881103154271841, "epoch": 1.3761520385742188e-06, "step": 14430 }, { "ee_loss_avg": 0.07636201502755284, "epoch": 1.3761520385742188e-06, "step": 14430 }, { "aux_loss_avg": 0.0007741908193565905, "epoch": 1.3761520385742188e-06, "step": 14430 }, { "epoch": 1.3761520385742188e-06, "step": 14430, "training_step_time": 17.57691788673401 }, { "epoch": 1.3762474060058594e-06, "model_forward_time": 5.080862998962402, "step": 14431 }, { "epoch": 1.3762474060058594e-06, "step": 14431, "training_step_time": 17.573896646499634 }, { "epoch": 1.3763427734375e-06, "model_forward_time": 5.079926252365112, "step": 14432 }, { "epoch": 1.3763427734375e-06, "step": 14432, "training_step_time": 17.759703397750854 }, { "epoch": 1.3764381408691407e-06, "model_forward_time": 5.332319498062134, "step": 14433 }, { "epoch": 1.3764381408691407e-06, "step": 14433, "training_step_time": 17.568748474121094 }, { "epoch": 1.3765335083007813e-06, "model_forward_time": 5.082734823226929, "step": 14434 }, { "epoch": 1.3765335083007813e-06, "step": 14434, "training_step_time": 17.582773208618164 }, { "epoch": 1.3766288757324219e-06, "model_forward_time": 5.077249050140381, "step": 14435 }, { "epoch": 1.3766288757324219e-06, "step": 14435, "training_step_time": 17.575345277786255 }, { "epoch": 1.3767242431640625e-06, "model_forward_time": 5.08206033706665, "step": 14436 }, { "epoch": 1.3767242431640625e-06, "step": 14436, "training_step_time": 17.578904628753662 }, { "epoch": 1.3768196105957031e-06, "model_forward_time": 5.083102703094482, "step": 14437 }, { "epoch": 1.3768196105957031e-06, "step": 14437, "training_step_time": 17.804373025894165 }, { "epoch": 1.3769149780273437e-06, "model_forward_time": 5.2876527309417725, "step": 14438 }, { "epoch": 1.3769149780273437e-06, "step": 14438, "training_step_time": 17.582283973693848 }, { "epoch": 1.3770103454589843e-06, "model_forward_time": 5.081712961196899, "step": 14439 }, { "epoch": 1.3770103454589843e-06, "step": 14439, "training_step_time": 17.591061115264893 }, { "epoch": 1.377105712890625e-06, "grad_norm": 1.4764317274093628, "learning_rate": 9.347072712874967e-06, "loss": 0.1017, "step": 14440 }, { "epoch": 1.377105712890625e-06, "model_forward_time": 5.081863641738892, "step": 14440 }, { "dynamics_loss_avg": 0.04958139266818762, "epoch": 1.377105712890625e-06, "step": 14440 }, { "action_loss_avg": 0.04440316967666149, "epoch": 1.377105712890625e-06, "step": 14440 }, { "arm_loss_avg": 0.09366309307515622, "epoch": 1.377105712890625e-06, "step": 14440 }, { "ee_loss_avg": 0.07986640743911266, "epoch": 1.377105712890625e-06, "step": 14440 }, { "aux_loss_avg": 0.013702280339202844, "epoch": 1.377105712890625e-06, "step": 14440 }, { "epoch": 1.377105712890625e-06, "step": 14440, "training_step_time": 17.588974237442017 }, { "epoch": 1.3772010803222656e-06, "model_forward_time": 5.078808784484863, "step": 14441 }, { "epoch": 1.3772010803222656e-06, "step": 14441, "training_step_time": 17.47407865524292 }, { "epoch": 1.3772964477539062e-06, "model_forward_time": 5.083048343658447, "step": 14442 }, { "epoch": 1.3772964477539062e-06, "step": 14442, "training_step_time": 17.514501333236694 }, { "epoch": 1.3773918151855468e-06, "model_forward_time": 3.848698616027832, "step": 14443 }, { "epoch": 1.3773918151855468e-06, "step": 14443, "training_step_time": 17.385387420654297 }, { "epoch": 1.3774871826171874e-06, "model_forward_time": 5.2935497760772705, "step": 14444 }, { "epoch": 1.3774871826171874e-06, "step": 14444, "training_step_time": 17.611220359802246 }, { "epoch": 1.377582550048828e-06, "model_forward_time": 5.070629596710205, "step": 14445 }, { "epoch": 1.377582550048828e-06, "step": 14445, "training_step_time": 17.551289796829224 }, { "epoch": 1.3776779174804689e-06, "model_forward_time": 5.075582504272461, "step": 14446 }, { "epoch": 1.3776779174804689e-06, "step": 14446, "training_step_time": 17.5889413356781 }, { "epoch": 1.3777732849121095e-06, "model_forward_time": 5.0849831104278564, "step": 14447 }, { "epoch": 1.3777732849121095e-06, "step": 14447, "training_step_time": 17.62354326248169 }, { "epoch": 1.37786865234375e-06, "model_forward_time": 5.093735456466675, "step": 14448 }, { "epoch": 1.37786865234375e-06, "step": 14448, "training_step_time": 17.887143850326538 }, { "epoch": 1.3779640197753907e-06, "model_forward_time": 5.279629707336426, "step": 14449 }, { "epoch": 1.3779640197753907e-06, "step": 14449, "training_step_time": 17.64970326423645 }, { "epoch": 1.3780593872070313e-06, "grad_norm": 1.3598763942718506, "learning_rate": 9.345905153683454e-06, "loss": 0.1112, "step": 14450 }, { "epoch": 1.3780593872070313e-06, "model_forward_time": 5.093889236450195, "step": 14450 }, { "dynamics_loss_avg": 0.0393332228064537, "epoch": 1.3780593872070313e-06, "step": 14450 }, { "action_loss_avg": 0.04829185307025909, "epoch": 1.3780593872070313e-06, "step": 14450 }, { "arm_loss_avg": 0.10702598951756954, "epoch": 1.3780593872070313e-06, "step": 14450 }, { "ee_loss_avg": 0.09857211709022522, "epoch": 1.3780593872070313e-06, "step": 14450 }, { "aux_loss_avg": 0.004176013561664149, "epoch": 1.3780593872070313e-06, "step": 14450 }, { "epoch": 1.3780593872070313e-06, "step": 14450, "training_step_time": 17.64309024810791 }, { "epoch": 1.378154754638672e-06, "model_forward_time": 5.09448766708374, "step": 14451 }, { "epoch": 1.378154754638672e-06, "step": 14451, "training_step_time": 17.656771183013916 }, { "epoch": 1.3782501220703125e-06, "model_forward_time": 5.091955900192261, "step": 14452 }, { "epoch": 1.3782501220703125e-06, "step": 14452, "training_step_time": 17.87081027030945 }, { "epoch": 1.3783454895019532e-06, "model_forward_time": 5.086566209793091, "step": 14453 }, { "epoch": 1.3783454895019532e-06, "step": 14453, "training_step_time": 17.63584804534912 }, { "epoch": 1.3784408569335938e-06, "model_forward_time": 5.0907323360443115, "step": 14454 }, { "epoch": 1.3784408569335938e-06, "step": 14454, "training_step_time": 17.62855339050293 }, { "epoch": 1.3785362243652344e-06, "model_forward_time": 5.090104341506958, "step": 14455 }, { "epoch": 1.3785362243652344e-06, "step": 14455, "training_step_time": 17.611937761306763 }, { "epoch": 1.378631591796875e-06, "model_forward_time": 5.086613893508911, "step": 14456 }, { "epoch": 1.378631591796875e-06, "step": 14456, "training_step_time": 17.611207962036133 }, { "epoch": 1.3787269592285156e-06, "model_forward_time": 5.088217735290527, "step": 14457 }, { "epoch": 1.3787269592285156e-06, "step": 14457, "training_step_time": 17.83005928993225 }, { "epoch": 1.3788223266601562e-06, "model_forward_time": 5.2978835105896, "step": 14458 }, { "epoch": 1.3788223266601562e-06, "step": 14458, "training_step_time": 17.600080966949463 }, { "epoch": 1.3789176940917968e-06, "model_forward_time": 3.854074239730835, "step": 14459 }, { "epoch": 1.3789176940917968e-06, "step": 14459, "training_step_time": 17.59678030014038 }, { "epoch": 1.3790130615234375e-06, "grad_norm": 1.385162353515625, "learning_rate": 9.344736624570209e-06, "loss": 0.1072, "step": 14460 }, { "epoch": 1.3790130615234375e-06, "model_forward_time": 5.068162679672241, "step": 14460 }, { "dynamics_loss_avg": 0.060532708652317524, "epoch": 1.3790130615234375e-06, "step": 14460 }, { "action_loss_avg": 0.04617664720863104, "epoch": 1.3790130615234375e-06, "step": 14460 }, { "arm_loss_avg": 0.08403373472392558, "epoch": 1.3790130615234375e-06, "step": 14460 }, { "ee_loss_avg": 0.07667870484292508, "epoch": 1.3790130615234375e-06, "step": 14460 }, { "aux_loss_avg": 0.003675811633002013, "epoch": 1.3790130615234375e-06, "step": 14460 }, { "epoch": 1.3790130615234375e-06, "step": 14460, "training_step_time": 17.600852489471436 }, { "epoch": 1.379108428955078e-06, "model_forward_time": 5.075509309768677, "step": 14461 }, { "epoch": 1.379108428955078e-06, "step": 14461, "training_step_time": 17.60268545150757 }, { "epoch": 1.3792037963867187e-06, "model_forward_time": 5.083330869674683, "step": 14462 }, { "epoch": 1.3792037963867187e-06, "step": 14462, "training_step_time": 17.474463939666748 }, { "epoch": 1.3792991638183593e-06, "model_forward_time": 3.857619524002075, "step": 14463 }, { "epoch": 1.3792991638183593e-06, "step": 14463, "training_step_time": 17.695449352264404 }, { "epoch": 1.37939453125e-06, "model_forward_time": 5.302984237670898, "step": 14464 }, { "epoch": 1.37939453125e-06, "step": 14464, "training_step_time": 17.557965993881226 }, { "epoch": 1.3794898986816405e-06, "model_forward_time": 5.082666635513306, "step": 14465 }, { "epoch": 1.3794898986816405e-06, "step": 14465, "training_step_time": 17.585225820541382 }, { "epoch": 1.3795852661132814e-06, "model_forward_time": 5.092836618423462, "step": 14466 }, { "epoch": 1.3795852661132814e-06, "step": 14466, "training_step_time": 17.417368412017822 }, { "epoch": 1.379680633544922e-06, "model_forward_time": 5.100855350494385, "step": 14467 }, { "epoch": 1.379680633544922e-06, "step": 14467, "training_step_time": 17.49164652824402 }, { "epoch": 1.3797760009765626e-06, "model_forward_time": 5.100955963134766, "step": 14468 }, { "epoch": 1.3797760009765626e-06, "step": 14468, "training_step_time": 17.826780319213867 }, { "epoch": 1.3798713684082032e-06, "model_forward_time": 5.293632745742798, "step": 14469 }, { "epoch": 1.3798713684082032e-06, "step": 14469, "training_step_time": 17.617756843566895 }, { "epoch": 1.3799667358398438e-06, "grad_norm": 1.308481216430664, "learning_rate": 9.343567125796022e-06, "loss": 0.1049, "step": 14470 }, { "epoch": 1.3799667358398438e-06, "model_forward_time": 5.101133584976196, "step": 14470 }, { "dynamics_loss_avg": 0.05949005559086799, "epoch": 1.3799667358398438e-06, "step": 14470 }, { "action_loss_avg": 0.057185336202383044, "epoch": 1.3799667358398438e-06, "step": 14470 }, { "arm_loss_avg": 0.07647725641727447, "epoch": 1.3799667358398438e-06, "step": 14470 }, { "ee_loss_avg": 0.07426501028239726, "epoch": 1.3799667358398438e-06, "step": 14470 }, { "aux_loss_avg": 0.001410486234817654, "epoch": 1.3799667358398438e-06, "step": 14470 }, { "epoch": 1.3799667358398438e-06, "step": 14470, "training_step_time": 17.631905794143677 }, { "epoch": 1.3800621032714844e-06, "model_forward_time": 5.097311973571777, "step": 14471 }, { "epoch": 1.3800621032714844e-06, "step": 14471, "training_step_time": 17.649622678756714 }, { "epoch": 1.380157470703125e-06, "model_forward_time": 5.094895362854004, "step": 14472 }, { "epoch": 1.380157470703125e-06, "step": 14472, "training_step_time": 17.880560159683228 }, { "epoch": 1.3802528381347657e-06, "model_forward_time": 5.086517572402954, "step": 14473 }, { "epoch": 1.3802528381347657e-06, "step": 14473, "training_step_time": 17.638843774795532 }, { "epoch": 1.3803482055664063e-06, "model_forward_time": 5.086174249649048, "step": 14474 }, { "epoch": 1.3803482055664063e-06, "step": 14474, "training_step_time": 17.642501831054688 }, { "epoch": 1.3804435729980469e-06, "model_forward_time": 5.084126710891724, "step": 14475 }, { "epoch": 1.3804435729980469e-06, "step": 14475, "training_step_time": 17.635900020599365 }, { "epoch": 1.3805389404296875e-06, "model_forward_time": 3.850053310394287, "step": 14476 }, { "epoch": 1.3805389404296875e-06, "step": 14476, "training_step_time": 17.618281364440918 }, { "epoch": 1.3806343078613281e-06, "model_forward_time": 5.070033550262451, "step": 14477 }, { "epoch": 1.3806343078613281e-06, "step": 14477, "training_step_time": 17.882007837295532 }, { "epoch": 1.3807296752929687e-06, "model_forward_time": 5.077171564102173, "step": 14478 }, { "epoch": 1.3807296752929687e-06, "step": 14478, "training_step_time": 17.6445209980011 }, { "epoch": 1.3808250427246093e-06, "model_forward_time": 5.08678674697876, "step": 14479 }, { "epoch": 1.3808250427246093e-06, "step": 14479, "training_step_time": 17.301106214523315 }, { "epoch": 1.38092041015625e-06, "grad_norm": 1.3742625713348389, "learning_rate": 9.342396657621906e-06, "loss": 0.1051, "step": 14480 }, { "epoch": 1.38092041015625e-06, "model_forward_time": 5.106243848800659, "step": 14480 }, { "dynamics_loss_avg": 0.05346273574978113, "epoch": 1.38092041015625e-06, "step": 14480 }, { "action_loss_avg": 0.048794453591108324, "epoch": 1.38092041015625e-06, "step": 14480 }, { "arm_loss_avg": 0.07285040877759456, "epoch": 1.38092041015625e-06, "step": 14480 }, { "ee_loss_avg": 0.06586965378373862, "epoch": 1.38092041015625e-06, "step": 14480 }, { "aux_loss_avg": 0.001714186032768339, "epoch": 1.38092041015625e-06, "step": 14480 }, { "epoch": 1.38092041015625e-06, "step": 14480, "training_step_time": 17.527955293655396 }, { "epoch": 1.3810157775878906e-06, "model_forward_time": 3.861576795578003, "step": 14481 }, { "epoch": 1.3810157775878906e-06, "step": 14481, "training_step_time": 17.368773221969604 }, { "epoch": 1.3811111450195312e-06, "model_forward_time": 5.064150810241699, "step": 14482 }, { "epoch": 1.3811111450195312e-06, "step": 14482, "training_step_time": 17.474421739578247 }, { "epoch": 1.3812065124511718e-06, "model_forward_time": 5.083656549453735, "step": 14483 }, { "epoch": 1.3812065124511718e-06, "step": 14483, "training_step_time": 17.71923279762268 }, { "epoch": 1.3813018798828124e-06, "model_forward_time": 5.330957412719727, "step": 14484 }, { "epoch": 1.3813018798828124e-06, "step": 14484, "training_step_time": 17.575318098068237 }, { "epoch": 1.381397247314453e-06, "model_forward_time": 3.8575150966644287, "step": 14485 }, { "epoch": 1.381397247314453e-06, "step": 14485, "training_step_time": 17.602397918701172 }, { "epoch": 1.3814926147460939e-06, "model_forward_time": 3.8331592082977295, "step": 14486 }, { "epoch": 1.3814926147460939e-06, "step": 14486, "training_step_time": 17.631840467453003 }, { "epoch": 1.3815879821777345e-06, "model_forward_time": 3.8281023502349854, "step": 14487 }, { "epoch": 1.3815879821777345e-06, "step": 14487, "training_step_time": 17.65531086921692 }, { "epoch": 1.381683349609375e-06, "model_forward_time": 5.0547802448272705, "step": 14488 }, { "epoch": 1.381683349609375e-06, "step": 14488, "training_step_time": 17.884777545928955 }, { "epoch": 1.3817787170410157e-06, "model_forward_time": 5.256944179534912, "step": 14489 }, { "epoch": 1.3817787170410157e-06, "step": 14489, "training_step_time": 17.64318823814392 }, { "epoch": 1.3818740844726563e-06, "grad_norm": 0.6977502107620239, "learning_rate": 9.341225220309087e-06, "loss": 0.103, "step": 14490 }, { "epoch": 1.3818740844726563e-06, "model_forward_time": 5.096735239028931, "step": 14490 }, { "dynamics_loss_avg": 0.0431719021871686, "epoch": 1.3818740844726563e-06, "step": 14490 }, { "action_loss_avg": 0.0685142956674099, "epoch": 1.3818740844726563e-06, "step": 14490 }, { "arm_loss_avg": 0.11687640137970448, "epoch": 1.3818740844726563e-06, "step": 14490 }, { "ee_loss_avg": 0.06373674124479294, "epoch": 1.3818740844726563e-06, "step": 14490 }, { "aux_loss_avg": 0.0010409547219751402, "epoch": 1.3818740844726563e-06, "step": 14490 }, { "epoch": 1.3818740844726563e-06, "step": 14490, "training_step_time": 17.626809120178223 }, { "epoch": 1.381969451904297e-06, "model_forward_time": 5.110541343688965, "step": 14491 }, { "epoch": 1.381969451904297e-06, "step": 14491, "training_step_time": 17.622020959854126 }, { "epoch": 1.3820648193359375e-06, "model_forward_time": 5.1089560985565186, "step": 14492 }, { "epoch": 1.3820648193359375e-06, "step": 14492, "training_step_time": 17.499754905700684 }, { "epoch": 1.3821601867675782e-06, "model_forward_time": 5.1057469844818115, "step": 14493 }, { "epoch": 1.3821601867675782e-06, "step": 14493, "training_step_time": 17.717509269714355 }, { "epoch": 1.3822555541992188e-06, "model_forward_time": 5.330158233642578, "step": 14494 }, { "epoch": 1.3822555541992188e-06, "step": 14494, "training_step_time": 17.568312883377075 }, { "epoch": 1.3823509216308594e-06, "model_forward_time": 5.090071439743042, "step": 14495 }, { "epoch": 1.3823509216308594e-06, "step": 14495, "training_step_time": 17.598973751068115 }, { "epoch": 1.3824462890625e-06, "model_forward_time": 5.086344957351685, "step": 14496 }, { "epoch": 1.3824462890625e-06, "step": 14496, "training_step_time": 17.605015754699707 }, { "epoch": 1.3825416564941406e-06, "model_forward_time": 3.849269151687622, "step": 14497 }, { "epoch": 1.3825416564941406e-06, "step": 14497, "training_step_time": 17.45248579978943 }, { "epoch": 1.3826370239257812e-06, "model_forward_time": 5.059077978134155, "step": 14498 }, { "epoch": 1.3826370239257812e-06, "step": 14498, "training_step_time": 17.767589807510376 }, { "epoch": 1.3827323913574218e-06, "model_forward_time": 5.248491287231445, "step": 14499 }, { "epoch": 1.3827323913574218e-06, "step": 14499, "training_step_time": 17.651196241378784 }, { "epoch": 1.3828277587890625e-06, "grad_norm": 1.8047960996627808, "learning_rate": 9.340052814119001e-06, "loss": 0.1001, "step": 14500 }, { "epoch": 1.3828277587890625e-06, "model_forward_time": 5.07114315032959, "step": 14500 }, { "dynamics_loss_avg": 0.04844403155148029, "epoch": 1.3828277587890625e-06, "step": 14500 }, { "action_loss_avg": 0.05563291553407908, "epoch": 1.3828277587890625e-06, "step": 14500 }, { "arm_loss_avg": 0.10085316188633442, "epoch": 1.3828277587890625e-06, "step": 14500 }, { "ee_loss_avg": 0.12756680082529784, "epoch": 1.3828277587890625e-06, "step": 14500 }, { "aux_loss_avg": 0.001387632096884772, "epoch": 1.3828277587890625e-06, "step": 14500 }, { "epoch": 1.3828277587890625e-06, "step": 14500, "training_step_time": 17.50003671646118 }, { "epoch": 1.382923126220703e-06, "model_forward_time": 5.07616925239563, "step": 14501 }, { "epoch": 1.382923126220703e-06, "step": 14501, "training_step_time": 17.557257413864136 }, { "epoch": 1.3830184936523437e-06, "model_forward_time": 3.848423480987549, "step": 14502 }, { "epoch": 1.3830184936523437e-06, "step": 14502, "training_step_time": 17.59328532218933 }, { "epoch": 1.3831138610839843e-06, "model_forward_time": 5.061779499053955, "step": 14503 }, { "epoch": 1.3831138610839843e-06, "step": 14503, "training_step_time": 17.80046510696411 }, { "epoch": 1.383209228515625e-06, "model_forward_time": 5.305011510848999, "step": 14504 }, { "epoch": 1.383209228515625e-06, "step": 14504, "training_step_time": 17.618775367736816 }, { "epoch": 1.3833045959472655e-06, "model_forward_time": 5.086191654205322, "step": 14505 }, { "epoch": 1.3833045959472655e-06, "step": 14505, "training_step_time": 17.62553596496582 }, { "epoch": 1.3833999633789061e-06, "model_forward_time": 5.089778423309326, "step": 14506 }, { "epoch": 1.3833999633789061e-06, "step": 14506, "training_step_time": 17.61625385284424 }, { "epoch": 1.383495330810547e-06, "model_forward_time": 5.094097375869751, "step": 14507 }, { "epoch": 1.383495330810547e-06, "step": 14507, "training_step_time": 17.62051486968994 }, { "epoch": 1.3835906982421876e-06, "model_forward_time": 5.094647169113159, "step": 14508 }, { "epoch": 1.3835906982421876e-06, "step": 14508, "training_step_time": 17.845513105392456 }, { "epoch": 1.3836860656738282e-06, "model_forward_time": 5.277648448944092, "step": 14509 }, { "epoch": 1.3836860656738282e-06, "step": 14509, "training_step_time": 17.607037782669067 }, { "epoch": 1.3837814331054688e-06, "grad_norm": 1.3367180824279785, "learning_rate": 9.338879439313313e-06, "loss": 0.1002, "step": 14510 }, { "epoch": 1.3837814331054688e-06, "model_forward_time": 5.091443061828613, "step": 14510 }, { "dynamics_loss_avg": 0.050693202205002307, "epoch": 1.3837814331054688e-06, "step": 14510 }, { "action_loss_avg": 0.06977520361542702, "epoch": 1.3837814331054688e-06, "step": 14510 }, { "arm_loss_avg": 0.16124598905444146, "epoch": 1.3837814331054688e-06, "step": 14510 }, { "ee_loss_avg": 0.09082824643701315, "epoch": 1.3837814331054688e-06, "step": 14510 }, { "aux_loss_avg": 0.005090387025848031, "epoch": 1.3837814331054688e-06, "step": 14510 }, { "epoch": 1.3837814331054688e-06, "step": 14510, "training_step_time": 17.59189510345459 }, { "epoch": 1.3838768005371094e-06, "model_forward_time": 5.08790135383606, "step": 14511 }, { "epoch": 1.3838768005371094e-06, "step": 14511, "training_step_time": 17.586957931518555 }, { "epoch": 1.38397216796875e-06, "model_forward_time": 5.0836021900177, "step": 14512 }, { "epoch": 1.38397216796875e-06, "step": 14512, "training_step_time": 17.80238103866577 }, { "epoch": 1.3840675354003907e-06, "model_forward_time": 5.08070969581604, "step": 14513 }, { "epoch": 1.3840675354003907e-06, "step": 14513, "training_step_time": 17.585532665252686 }, { "epoch": 1.3841629028320313e-06, "model_forward_time": 5.3151891231536865, "step": 14514 }, { "epoch": 1.3841629028320313e-06, "step": 14514, "training_step_time": 17.570758819580078 }, { "epoch": 1.3842582702636719e-06, "model_forward_time": 5.0800933837890625, "step": 14515 }, { "epoch": 1.3842582702636719e-06, "step": 14515, "training_step_time": 17.573764324188232 }, { "epoch": 1.3843536376953125e-06, "model_forward_time": 5.079834699630737, "step": 14516 }, { "epoch": 1.3843536376953125e-06, "step": 14516, "training_step_time": 17.567034006118774 }, { "epoch": 1.3844490051269531e-06, "model_forward_time": 5.09320330619812, "step": 14517 }, { "epoch": 1.3844490051269531e-06, "step": 14517, "training_step_time": 17.832804203033447 }, { "epoch": 1.3845443725585937e-06, "model_forward_time": 5.104354381561279, "step": 14518 }, { "epoch": 1.3845443725585937e-06, "step": 14518, "training_step_time": 17.61461591720581 }, { "epoch": 1.3846397399902343e-06, "model_forward_time": 5.303044080734253, "step": 14519 }, { "epoch": 1.3846397399902343e-06, "step": 14519, "training_step_time": 17.588444709777832 }, { "epoch": 1.384735107421875e-06, "grad_norm": 2.429891586303711, "learning_rate": 9.337705096153897e-06, "loss": 0.104, "step": 14520 }, { "epoch": 1.384735107421875e-06, "model_forward_time": 5.111927270889282, "step": 14520 }, { "dynamics_loss_avg": 0.04408152922987938, "epoch": 1.384735107421875e-06, "step": 14520 }, { "action_loss_avg": 0.07054164111614228, "epoch": 1.384735107421875e-06, "step": 14520 }, { "arm_loss_avg": 0.10804426930844784, "epoch": 1.384735107421875e-06, "step": 14520 }, { "ee_loss_avg": 0.06787124387919903, "epoch": 1.384735107421875e-06, "step": 14520 }, { "aux_loss_avg": 0.000834907335229218, "epoch": 1.384735107421875e-06, "step": 14520 }, { "epoch": 1.384735107421875e-06, "step": 14520, "training_step_time": 17.595340490341187 }, { "epoch": 1.3848304748535156e-06, "model_forward_time": 5.089500427246094, "step": 14521 }, { "epoch": 1.3848304748535156e-06, "step": 14521, "training_step_time": 17.57865071296692 }, { "epoch": 1.3849258422851562e-06, "model_forward_time": 5.089613437652588, "step": 14522 }, { "epoch": 1.3849258422851562e-06, "step": 14522, "training_step_time": 17.81034517288208 }, { "epoch": 1.3850212097167968e-06, "model_forward_time": 5.0856404304504395, "step": 14523 }, { "epoch": 1.3850212097167968e-06, "step": 14523, "training_step_time": 17.586095333099365 }, { "epoch": 1.3851165771484374e-06, "model_forward_time": 5.325737714767456, "step": 14524 }, { "epoch": 1.3851165771484374e-06, "step": 14524, "training_step_time": 17.587197065353394 }, { "epoch": 1.385211944580078e-06, "model_forward_time": 5.098556280136108, "step": 14525 }, { "epoch": 1.385211944580078e-06, "step": 14525, "training_step_time": 17.59786868095398 }, { "epoch": 1.3853073120117186e-06, "model_forward_time": 5.088048458099365, "step": 14526 }, { "epoch": 1.3853073120117186e-06, "step": 14526, "training_step_time": 17.60488533973694 }, { "epoch": 1.3854026794433595e-06, "model_forward_time": 5.090198755264282, "step": 14527 }, { "epoch": 1.3854026794433595e-06, "step": 14527, "training_step_time": 17.441105842590332 }, { "epoch": 1.385498046875e-06, "model_forward_time": 5.087992191314697, "step": 14528 }, { "epoch": 1.385498046875e-06, "step": 14528, "training_step_time": 17.76361346244812 }, { "epoch": 1.3855934143066407e-06, "model_forward_time": 5.281660795211792, "step": 14529 }, { "epoch": 1.3855934143066407e-06, "step": 14529, "training_step_time": 17.63983917236328 }, { "epoch": 1.3856887817382813e-06, "grad_norm": 1.1947215795516968, "learning_rate": 9.336529784902839e-06, "loss": 0.1132, "step": 14530 }, { "epoch": 1.3856887817382813e-06, "model_forward_time": 5.091215372085571, "step": 14530 }, { "dynamics_loss_avg": 0.05513543970882893, "epoch": 1.3856887817382813e-06, "step": 14530 }, { "action_loss_avg": 0.062094596773386, "epoch": 1.3856887817382813e-06, "step": 14530 }, { "arm_loss_avg": 0.10276518650352955, "epoch": 1.3856887817382813e-06, "step": 14530 }, { "ee_loss_avg": 0.05270933508872986, "epoch": 1.3856887817382813e-06, "step": 14530 }, { "aux_loss_avg": 0.002672415447887033, "epoch": 1.3856887817382813e-06, "step": 14530 }, { "epoch": 1.3856887817382813e-06, "step": 14530, "training_step_time": 17.581693172454834 }, { "epoch": 1.385784149169922e-06, "model_forward_time": 5.088860034942627, "step": 14531 }, { "epoch": 1.385784149169922e-06, "step": 14531, "training_step_time": 17.61799168586731 }, { "epoch": 1.3858795166015625e-06, "model_forward_time": 5.0862250328063965, "step": 14532 }, { "epoch": 1.3858795166015625e-06, "step": 14532, "training_step_time": 17.856746912002563 }, { "epoch": 1.3859748840332032e-06, "model_forward_time": 5.083795785903931, "step": 14533 }, { "epoch": 1.3859748840332032e-06, "step": 14533, "training_step_time": 17.634222269058228 }, { "epoch": 1.3860702514648438e-06, "model_forward_time": 5.323853254318237, "step": 14534 }, { "epoch": 1.3860702514648438e-06, "step": 14534, "training_step_time": 17.56650733947754 }, { "epoch": 1.3861656188964844e-06, "model_forward_time": 3.856015920639038, "step": 14535 }, { "epoch": 1.3861656188964844e-06, "step": 14535, "training_step_time": 17.53579592704773 }, { "epoch": 1.386260986328125e-06, "model_forward_time": 5.058296203613281, "step": 14536 }, { "epoch": 1.386260986328125e-06, "step": 14536, "training_step_time": 17.574034214019775 }, { "epoch": 1.3863563537597656e-06, "model_forward_time": 5.072920083999634, "step": 14537 }, { "epoch": 1.3863563537597656e-06, "step": 14537, "training_step_time": 17.602540016174316 }, { "epoch": 1.3864517211914062e-06, "model_forward_time": 5.079046726226807, "step": 14538 }, { "epoch": 1.3864517211914062e-06, "step": 14538, "training_step_time": 17.83492922782898 }, { "epoch": 1.3865470886230468e-06, "model_forward_time": 5.289663314819336, "step": 14539 }, { "epoch": 1.3865470886230468e-06, "step": 14539, "training_step_time": 17.611385107040405 }, { "epoch": 1.3866424560546875e-06, "grad_norm": 1.034287691116333, "learning_rate": 9.33535350582245e-06, "loss": 0.1067, "step": 14540 }, { "epoch": 1.3866424560546875e-06, "model_forward_time": 5.0894975662231445, "step": 14540 }, { "dynamics_loss_avg": 0.052953346818685534, "epoch": 1.3866424560546875e-06, "step": 14540 }, { "action_loss_avg": 0.07158934157341719, "epoch": 1.3866424560546875e-06, "step": 14540 }, { "arm_loss_avg": 0.1259325250983238, "epoch": 1.3866424560546875e-06, "step": 14540 }, { "ee_loss_avg": 0.10435673780739307, "epoch": 1.3866424560546875e-06, "step": 14540 }, { "aux_loss_avg": 0.0037747764436062425, "epoch": 1.3866424560546875e-06, "step": 14540 }, { "epoch": 1.3866424560546875e-06, "step": 14540, "training_step_time": 17.615934133529663 }, { "epoch": 1.386737823486328e-06, "model_forward_time": 5.094449281692505, "step": 14541 }, { "epoch": 1.386737823486328e-06, "step": 14541, "training_step_time": 17.60686731338501 }, { "epoch": 1.3868331909179687e-06, "model_forward_time": 5.0979530811309814, "step": 14542 }, { "epoch": 1.3868331909179687e-06, "step": 14542, "training_step_time": 17.61268186569214 }, { "epoch": 1.3869285583496093e-06, "model_forward_time": 5.100370645523071, "step": 14543 }, { "epoch": 1.3869285583496093e-06, "step": 14543, "training_step_time": 17.803662538528442 }, { "epoch": 1.38702392578125e-06, "model_forward_time": 5.09622859954834, "step": 14544 }, { "epoch": 1.38702392578125e-06, "step": 14544, "training_step_time": 17.613529682159424 }, { "epoch": 1.3871192932128905e-06, "model_forward_time": 5.095463752746582, "step": 14545 }, { "epoch": 1.3871192932128905e-06, "step": 14545, "training_step_time": 17.62040948867798 }, { "epoch": 1.3872146606445311e-06, "model_forward_time": 3.8514204025268555, "step": 14546 }, { "epoch": 1.3872146606445311e-06, "step": 14546, "training_step_time": 17.61412739753723 }, { "epoch": 1.387310028076172e-06, "model_forward_time": 5.062158584594727, "step": 14547 }, { "epoch": 1.387310028076172e-06, "step": 14547, "training_step_time": 17.83464765548706 }, { "epoch": 1.3874053955078126e-06, "model_forward_time": 5.072094678878784, "step": 14548 }, { "epoch": 1.3874053955078126e-06, "step": 14548, "training_step_time": 17.593785285949707 }, { "epoch": 1.3875007629394532e-06, "model_forward_time": 5.081458806991577, "step": 14549 }, { "epoch": 1.3875007629394532e-06, "step": 14549, "training_step_time": 17.633782386779785 }, { "epoch": 1.3875961303710938e-06, "grad_norm": 1.3091754913330078, "learning_rate": 9.334176259175252e-06, "loss": 0.1161, "step": 14550 }, { "epoch": 1.3875961303710938e-06, "model_forward_time": 4.095612287521362, "step": 14550 }, { "dynamics_loss_avg": 0.041259389743208884, "epoch": 1.3875961303710938e-06, "step": 14550 }, { "action_loss_avg": 0.07174567803740502, "epoch": 1.3875961303710938e-06, "step": 14550 }, { "arm_loss_avg": 0.17355992048978805, "epoch": 1.3875961303710938e-06, "step": 14550 }, { "ee_loss_avg": 0.19828468654304743, "epoch": 1.3875961303710938e-06, "step": 14550 }, { "aux_loss_avg": 0.02989200745942071, "epoch": 1.3875961303710938e-06, "step": 14550 }, { "epoch": 1.3875961303710938e-06, "step": 14550, "training_step_time": 17.59242010116577 }, { "epoch": 1.3876914978027344e-06, "model_forward_time": 5.064582586288452, "step": 14551 }, { "epoch": 1.3876914978027344e-06, "step": 14551, "training_step_time": 17.596532344818115 }, { "epoch": 1.387786865234375e-06, "model_forward_time": 3.848637580871582, "step": 14552 }, { "epoch": 1.387786865234375e-06, "step": 14552, "training_step_time": 17.469411373138428 }, { "epoch": 1.3878822326660157e-06, "model_forward_time": 5.064621925354004, "step": 14553 }, { "epoch": 1.3878822326660157e-06, "step": 14553, "training_step_time": 17.49752974510193 }, { "epoch": 1.3879776000976563e-06, "model_forward_time": 3.8489127159118652, "step": 14554 }, { "epoch": 1.3879776000976563e-06, "step": 14554, "training_step_time": 17.575554847717285 }, { "epoch": 1.3880729675292969e-06, "model_forward_time": 5.299194097518921, "step": 14555 }, { "epoch": 1.3880729675292969e-06, "step": 14555, "training_step_time": 17.556363821029663 }, { "epoch": 1.3881683349609375e-06, "model_forward_time": 5.083540201187134, "step": 14556 }, { "epoch": 1.3881683349609375e-06, "step": 14556, "training_step_time": 17.564675092697144 }, { "epoch": 1.3882637023925781e-06, "model_forward_time": 5.113899230957031, "step": 14557 }, { "epoch": 1.3882637023925781e-06, "step": 14557, "training_step_time": 17.891453981399536 }, { "epoch": 1.3883590698242187e-06, "model_forward_time": 5.125391244888306, "step": 14558 }, { "epoch": 1.3883590698242187e-06, "step": 14558, "training_step_time": 17.626647472381592 }, { "epoch": 1.3884544372558593e-06, "model_forward_time": 5.125399589538574, "step": 14559 }, { "epoch": 1.3884544372558593e-06, "step": 14559, "training_step_time": 17.664942741394043 }, { "epoch": 1.3885498046875e-06, "grad_norm": 2.0591986179351807, "learning_rate": 9.332998045223982e-06, "loss": 0.11, "step": 14560 }, { "epoch": 1.3885498046875e-06, "model_forward_time": 4.121779680252075, "step": 14560 }, { "dynamics_loss_avg": 0.05093693807721138, "epoch": 1.3885498046875e-06, "step": 14560 }, { "action_loss_avg": 0.07362824976444245, "epoch": 1.3885498046875e-06, "step": 14560 }, { "arm_loss_avg": 0.11338260620832444, "epoch": 1.3885498046875e-06, "step": 14560 }, { "ee_loss_avg": 0.15305597260594367, "epoch": 1.3885498046875e-06, "step": 14560 }, { "aux_loss_avg": 0.0010182268917560578, "epoch": 1.3885498046875e-06, "step": 14560 }, { "epoch": 1.3885498046875e-06, "step": 14560, "training_step_time": 17.43694257736206 }, { "epoch": 1.3886451721191406e-06, "model_forward_time": 5.076510906219482, "step": 14561 }, { "epoch": 1.3886451721191406e-06, "step": 14561, "training_step_time": 17.978347539901733 }, { "epoch": 1.3887405395507812e-06, "model_forward_time": 5.075491905212402, "step": 14562 }, { "epoch": 1.3887405395507812e-06, "step": 14562, "training_step_time": 17.5761775970459 }, { "epoch": 1.3888359069824218e-06, "model_forward_time": 5.082221984863281, "step": 14563 }, { "epoch": 1.3888359069824218e-06, "step": 14563, "training_step_time": 17.792969942092896 }, { "epoch": 1.3889312744140624e-06, "model_forward_time": 5.090912103652954, "step": 14564 }, { "epoch": 1.3889312744140624e-06, "step": 14564, "training_step_time": 17.622093677520752 }, { "epoch": 1.389026641845703e-06, "model_forward_time": 5.3250908851623535, "step": 14565 }, { "epoch": 1.389026641845703e-06, "step": 14565, "training_step_time": 17.628020763397217 }, { "epoch": 1.3891220092773436e-06, "model_forward_time": 5.096107006072998, "step": 14566 }, { "epoch": 1.3891220092773436e-06, "step": 14566, "training_step_time": 17.225252151489258 }, { "epoch": 1.3892173767089845e-06, "model_forward_time": 5.103878736495972, "step": 14567 }, { "epoch": 1.3892173767089845e-06, "step": 14567, "training_step_time": 17.54807710647583 }, { "epoch": 1.389312744140625e-06, "model_forward_time": 5.102157831192017, "step": 14568 }, { "epoch": 1.389312744140625e-06, "step": 14568, "training_step_time": 17.824657678604126 }, { "epoch": 1.3894081115722657e-06, "model_forward_time": 5.09511399269104, "step": 14569 }, { "epoch": 1.3894081115722657e-06, "step": 14569, "training_step_time": 17.599686861038208 }, { "epoch": 1.3895034790039063e-06, "grad_norm": 1.4963593482971191, "learning_rate": 9.331818864231596e-06, "loss": 0.1248, "step": 14570 }, { "epoch": 1.3895034790039063e-06, "model_forward_time": 5.279695272445679, "step": 14570 }, { "dynamics_loss_avg": 0.05164142120629549, "epoch": 1.3895034790039063e-06, "step": 14570 }, { "action_loss_avg": 0.0678301751613617, "epoch": 1.3895034790039063e-06, "step": 14570 }, { "arm_loss_avg": 0.09906971585005522, "epoch": 1.3895034790039063e-06, "step": 14570 }, { "ee_loss_avg": 0.07001659674569964, "epoch": 1.3895034790039063e-06, "step": 14570 }, { "aux_loss_avg": 0.001076725492021069, "epoch": 1.3895034790039063e-06, "step": 14570 }, { "epoch": 1.3895034790039063e-06, "step": 14570, "training_step_time": 17.515941381454468 }, { "epoch": 1.389598846435547e-06, "model_forward_time": 5.092360973358154, "step": 14571 }, { "epoch": 1.389598846435547e-06, "step": 14571, "training_step_time": 17.57442569732666 }, { "epoch": 1.3896942138671875e-06, "model_forward_time": 5.092451333999634, "step": 14572 }, { "epoch": 1.3896942138671875e-06, "step": 14572, "training_step_time": 17.60688543319702 }, { "epoch": 1.3897895812988282e-06, "model_forward_time": 5.0868353843688965, "step": 14573 }, { "epoch": 1.3897895812988282e-06, "step": 14573, "training_step_time": 17.81456708908081 }, { "epoch": 1.3898849487304688e-06, "model_forward_time": 5.086435794830322, "step": 14574 }, { "epoch": 1.3898849487304688e-06, "step": 14574, "training_step_time": 17.627867937088013 }, { "epoch": 1.3899803161621094e-06, "model_forward_time": 5.3153605461120605, "step": 14575 }, { "epoch": 1.3899803161621094e-06, "step": 14575, "training_step_time": 17.640024662017822 }, { "epoch": 1.39007568359375e-06, "model_forward_time": 5.0821919441223145, "step": 14576 }, { "epoch": 1.39007568359375e-06, "step": 14576, "training_step_time": 17.629329204559326 }, { "epoch": 1.3901710510253906e-06, "model_forward_time": 5.083801984786987, "step": 14577 }, { "epoch": 1.3901710510253906e-06, "step": 14577, "training_step_time": 17.618849277496338 }, { "epoch": 1.3902664184570312e-06, "model_forward_time": 5.083150386810303, "step": 14578 }, { "epoch": 1.3902664184570312e-06, "step": 14578, "training_step_time": 17.865684032440186 }, { "epoch": 1.3903617858886718e-06, "model_forward_time": 5.078233003616333, "step": 14579 }, { "epoch": 1.3903617858886718e-06, "step": 14579, "training_step_time": 17.656271934509277 }, { "epoch": 1.3904571533203125e-06, "grad_norm": 2.126162528991699, "learning_rate": 9.330638716461262e-06, "loss": 0.1219, "step": 14580 }, { "epoch": 1.3904571533203125e-06, "model_forward_time": 5.267955541610718, "step": 14580 }, { "dynamics_loss_avg": 0.06384844593703747, "epoch": 1.3904571533203125e-06, "step": 14580 }, { "action_loss_avg": 0.07700522150844336, "epoch": 1.3904571533203125e-06, "step": 14580 }, { "arm_loss_avg": 0.09592438079416751, "epoch": 1.3904571533203125e-06, "step": 14580 }, { "ee_loss_avg": 0.05789343640208244, "epoch": 1.3904571533203125e-06, "step": 14580 }, { "aux_loss_avg": 0.0010593100218102337, "epoch": 1.3904571533203125e-06, "step": 14580 }, { "epoch": 1.3904571533203125e-06, "step": 14580, "training_step_time": 17.42927861213684 }, { "epoch": 1.390552520751953e-06, "model_forward_time": 5.086982488632202, "step": 14581 }, { "epoch": 1.390552520751953e-06, "step": 14581, "training_step_time": 17.51050591468811 }, { "epoch": 1.3906478881835937e-06, "model_forward_time": 5.0802648067474365, "step": 14582 }, { "epoch": 1.3906478881835937e-06, "step": 14582, "training_step_time": 17.547118425369263 }, { "epoch": 1.3907432556152343e-06, "model_forward_time": 5.084376811981201, "step": 14583 }, { "epoch": 1.3907432556152343e-06, "step": 14583, "training_step_time": 17.75828242301941 }, { "epoch": 1.390838623046875e-06, "model_forward_time": 5.080915927886963, "step": 14584 }, { "epoch": 1.390838623046875e-06, "step": 14584, "training_step_time": 17.58598017692566 }, { "epoch": 1.3909339904785155e-06, "model_forward_time": 4.045800685882568, "step": 14585 }, { "epoch": 1.3909339904785155e-06, "step": 14585, "training_step_time": 17.599480152130127 }, { "epoch": 1.3910293579101562e-06, "model_forward_time": 3.8239521980285645, "step": 14586 }, { "epoch": 1.3910293579101562e-06, "step": 14586, "training_step_time": 17.600197792053223 }, { "epoch": 1.391124725341797e-06, "model_forward_time": 5.047359943389893, "step": 14587 }, { "epoch": 1.391124725341797e-06, "step": 14587, "training_step_time": 17.822126388549805 }, { "epoch": 1.3912200927734376e-06, "model_forward_time": 5.061493396759033, "step": 14588 }, { "epoch": 1.3912200927734376e-06, "step": 14588, "training_step_time": 17.36331343650818 }, { "epoch": 1.3913154602050782e-06, "model_forward_time": 5.077507972717285, "step": 14589 }, { "epoch": 1.3913154602050782e-06, "step": 14589, "training_step_time": 17.587925910949707 }, { "epoch": 1.3914108276367188e-06, "grad_norm": 1.6942331790924072, "learning_rate": 9.32945760217637e-06, "loss": 0.1043, "step": 14590 }, { "epoch": 1.3914108276367188e-06, "model_forward_time": 5.28478217124939, "step": 14590 }, { "dynamics_loss_avg": 0.03315098695456982, "epoch": 1.3914108276367188e-06, "step": 14590 }, { "action_loss_avg": 0.05897482559084892, "epoch": 1.3914108276367188e-06, "step": 14590 }, { "arm_loss_avg": 0.13764018788933755, "epoch": 1.3914108276367188e-06, "step": 14590 }, { "ee_loss_avg": 0.09256311058998108, "epoch": 1.3914108276367188e-06, "step": 14590 }, { "aux_loss_avg": 0.0018999094900209457, "epoch": 1.3914108276367188e-06, "step": 14590 }, { "epoch": 1.3914108276367188e-06, "step": 14590, "training_step_time": 17.52303433418274 }, { "epoch": 1.3915061950683594e-06, "model_forward_time": 5.106058597564697, "step": 14591 }, { "epoch": 1.3915061950683594e-06, "step": 14591, "training_step_time": 17.559197664260864 }, { "epoch": 1.3916015625e-06, "model_forward_time": 5.103383541107178, "step": 14592 }, { "epoch": 1.3916015625e-06, "step": 14592, "training_step_time": 17.79960346221924 }, { "epoch": 1.3916969299316407e-06, "model_forward_time": 5.09936261177063, "step": 14593 }, { "epoch": 1.3916969299316407e-06, "step": 14593, "training_step_time": 17.58934450149536 }, { "epoch": 1.3917922973632813e-06, "model_forward_time": 5.096479892730713, "step": 14594 }, { "epoch": 1.3917922973632813e-06, "step": 14594, "training_step_time": 17.60782289505005 }, { "epoch": 1.3918876647949219e-06, "model_forward_time": 5.3277506828308105, "step": 14595 }, { "epoch": 1.3918876647949219e-06, "step": 14595, "training_step_time": 17.60975670814514 }, { "epoch": 1.3919830322265625e-06, "model_forward_time": 5.088115930557251, "step": 14596 }, { "epoch": 1.3919830322265625e-06, "step": 14596, "training_step_time": 17.61854124069214 }, { "epoch": 1.3920783996582031e-06, "model_forward_time": 5.0812764167785645, "step": 14597 }, { "epoch": 1.3920783996582031e-06, "step": 14597, "training_step_time": 17.842573165893555 }, { "epoch": 1.3921737670898437e-06, "model_forward_time": 3.8437578678131104, "step": 14598 }, { "epoch": 1.3921737670898437e-06, "step": 14598, "training_step_time": 17.612248420715332 }, { "epoch": 1.3922691345214844e-06, "model_forward_time": 5.050542593002319, "step": 14599 }, { "epoch": 1.3922691345214844e-06, "step": 14599, "training_step_time": 17.63000988960266 }, { "epoch": 1.392364501953125e-06, "grad_norm": 1.888580083847046, "learning_rate": 9.328275521640518e-06, "loss": 0.0936, "step": 14600 }, { "epoch": 1.392364501953125e-06, "model_forward_time": 5.26233983039856, "step": 14600 }, { "dynamics_loss_avg": 0.03637299351394176, "epoch": 1.392364501953125e-06, "step": 14600 }, { "action_loss_avg": 0.05855989558622241, "epoch": 1.392364501953125e-06, "step": 14600 }, { "arm_loss_avg": 0.11078059896826745, "epoch": 1.392364501953125e-06, "step": 14600 }, { "ee_loss_avg": 0.13644118928350507, "epoch": 1.392364501953125e-06, "step": 14600 }, { "aux_loss_avg": 0.001089403691003099, "epoch": 1.392364501953125e-06, "step": 14600 }, { "epoch": 1.392364501953125e-06, "step": 14600, "training_step_time": 17.609874725341797 }, { "epoch": 1.3924598693847656e-06, "model_forward_time": 5.075902462005615, "step": 14601 }, { "epoch": 1.3924598693847656e-06, "step": 14601, "training_step_time": 17.61023497581482 }, { "epoch": 1.3925552368164062e-06, "model_forward_time": 5.085965394973755, "step": 14602 }, { "epoch": 1.3925552368164062e-06, "step": 14602, "training_step_time": 17.83295512199402 }, { "epoch": 1.3926506042480468e-06, "model_forward_time": 5.090123891830444, "step": 14603 }, { "epoch": 1.3926506042480468e-06, "step": 14603, "training_step_time": 17.657898664474487 }, { "epoch": 1.3927459716796874e-06, "model_forward_time": 5.096110820770264, "step": 14604 }, { "epoch": 1.3927459716796874e-06, "step": 14604, "training_step_time": 17.60449767112732 }, { "epoch": 1.392841339111328e-06, "model_forward_time": 3.862429141998291, "step": 14605 }, { "epoch": 1.392841339111328e-06, "step": 14605, "training_step_time": 17.60147738456726 }, { "epoch": 1.3929367065429687e-06, "model_forward_time": 5.309762239456177, "step": 14606 }, { "epoch": 1.3929367065429687e-06, "step": 14606, "training_step_time": 17.60875105857849 }, { "epoch": 1.3930320739746095e-06, "model_forward_time": 5.082193851470947, "step": 14607 }, { "epoch": 1.3930320739746095e-06, "step": 14607, "training_step_time": 17.82055163383484 }, { "epoch": 1.39312744140625e-06, "model_forward_time": 3.8507208824157715, "step": 14608 }, { "epoch": 1.39312744140625e-06, "step": 14608, "training_step_time": 17.614312171936035 }, { "epoch": 1.3932228088378907e-06, "model_forward_time": 5.061650991439819, "step": 14609 }, { "epoch": 1.3932228088378907e-06, "step": 14609, "training_step_time": 17.596157789230347 }, { "epoch": 1.3933181762695313e-06, "grad_norm": 1.6211174726486206, "learning_rate": 9.327092475117525e-06, "loss": 0.0975, "step": 14610 }, { "epoch": 1.3933181762695313e-06, "model_forward_time": 5.080571413040161, "step": 14610 }, { "dynamics_loss_avg": 0.02868474293500185, "epoch": 1.3933181762695313e-06, "step": 14610 }, { "action_loss_avg": 0.03943609306588769, "epoch": 1.3933181762695313e-06, "step": 14610 }, { "arm_loss_avg": 0.10181140415370464, "epoch": 1.3933181762695313e-06, "step": 14610 }, { "ee_loss_avg": 0.10764543395489454, "epoch": 1.3933181762695313e-06, "step": 14610 }, { "aux_loss_avg": 0.002735494775697589, "epoch": 1.3933181762695313e-06, "step": 14610 }, { "epoch": 1.3933181762695313e-06, "step": 14610, "training_step_time": 17.593543767929077 }, { "epoch": 1.393413543701172e-06, "model_forward_time": 5.089243650436401, "step": 14611 }, { "epoch": 1.393413543701172e-06, "step": 14611, "training_step_time": 17.60233211517334 }, { "epoch": 1.3935089111328126e-06, "model_forward_time": 5.095983505249023, "step": 14612 }, { "epoch": 1.3935089111328126e-06, "step": 14612, "training_step_time": 17.800376176834106 }, { "epoch": 1.3936042785644532e-06, "model_forward_time": 5.09834885597229, "step": 14613 }, { "epoch": 1.3936042785644532e-06, "step": 14613, "training_step_time": 17.603246212005615 }, { "epoch": 1.3936996459960938e-06, "model_forward_time": 5.103717088699341, "step": 14614 }, { "epoch": 1.3936996459960938e-06, "step": 14614, "training_step_time": 17.607216835021973 }, { "epoch": 1.3937950134277344e-06, "model_forward_time": 5.096170902252197, "step": 14615 }, { "epoch": 1.3937950134277344e-06, "step": 14615, "training_step_time": 17.609873056411743 }, { "epoch": 1.393890380859375e-06, "model_forward_time": 5.108962535858154, "step": 14616 }, { "epoch": 1.393890380859375e-06, "step": 14616, "training_step_time": 17.43090057373047 }, { "epoch": 1.3939857482910156e-06, "model_forward_time": 5.120564222335815, "step": 14617 }, { "epoch": 1.3939857482910156e-06, "step": 14617, "training_step_time": 17.502307415008545 }, { "epoch": 1.3940811157226562e-06, "model_forward_time": 5.102211952209473, "step": 14618 }, { "epoch": 1.3940811157226562e-06, "step": 14618, "training_step_time": 17.734455823898315 }, { "epoch": 1.3941764831542969e-06, "model_forward_time": 5.109450578689575, "step": 14619 }, { "epoch": 1.3941764831542969e-06, "step": 14619, "training_step_time": 17.563820362091064 }, { "epoch": 1.3942718505859375e-06, "grad_norm": 1.3714640140533447, "learning_rate": 9.325908462871425e-06, "loss": 0.1224, "step": 14620 }, { "epoch": 1.3942718505859375e-06, "model_forward_time": 5.29434871673584, "step": 14620 }, { "dynamics_loss_avg": 0.05493125095963478, "epoch": 1.3942718505859375e-06, "step": 14620 }, { "action_loss_avg": 0.0709872655570507, "epoch": 1.3942718505859375e-06, "step": 14620 }, { "arm_loss_avg": 0.10611235722899437, "epoch": 1.3942718505859375e-06, "step": 14620 }, { "ee_loss_avg": 0.061631920374929906, "epoch": 1.3942718505859375e-06, "step": 14620 }, { "aux_loss_avg": 0.0013155285792890935, "epoch": 1.3942718505859375e-06, "step": 14620 }, { "epoch": 1.3942718505859375e-06, "step": 14620, "training_step_time": 17.589320182800293 }, { "epoch": 1.394367218017578e-06, "model_forward_time": 5.0886170864105225, "step": 14621 }, { "epoch": 1.394367218017578e-06, "step": 14621, "training_step_time": 17.622573375701904 }, { "epoch": 1.3944625854492187e-06, "model_forward_time": 5.087711572647095, "step": 14622 }, { "epoch": 1.3944625854492187e-06, "step": 14622, "training_step_time": 17.647343158721924 }, { "epoch": 1.3945579528808593e-06, "model_forward_time": 5.085618257522583, "step": 14623 }, { "epoch": 1.3945579528808593e-06, "step": 14623, "training_step_time": 17.834346771240234 }, { "epoch": 1.3946533203125e-06, "model_forward_time": 5.083980321884155, "step": 14624 }, { "epoch": 1.3946533203125e-06, "step": 14624, "training_step_time": 17.639682292938232 }, { "epoch": 1.3947486877441405e-06, "model_forward_time": 5.085344314575195, "step": 14625 }, { "epoch": 1.3947486877441405e-06, "step": 14625, "training_step_time": 17.638927221298218 }, { "epoch": 1.3948440551757812e-06, "model_forward_time": 5.0896828174591064, "step": 14626 }, { "epoch": 1.3948440551757812e-06, "step": 14626, "training_step_time": 17.6319260597229 }, { "epoch": 1.3949394226074218e-06, "model_forward_time": 5.090376138687134, "step": 14627 }, { "epoch": 1.3949394226074218e-06, "step": 14627, "training_step_time": 17.844148635864258 }, { "epoch": 1.3950347900390626e-06, "model_forward_time": 5.0906360149383545, "step": 14628 }, { "epoch": 1.3950347900390626e-06, "step": 14628, "training_step_time": 17.612667083740234 }, { "epoch": 1.3951301574707032e-06, "model_forward_time": 5.092840194702148, "step": 14629 }, { "epoch": 1.3951301574707032e-06, "step": 14629, "training_step_time": 17.665874481201172 }, { "epoch": 1.3952255249023438e-06, "grad_norm": 2.012371301651001, "learning_rate": 9.324723485166464e-06, "loss": 0.1379, "step": 14630 }, { "epoch": 1.3952255249023438e-06, "model_forward_time": 5.092970848083496, "step": 14630 }, { "dynamics_loss_avg": 0.05514528769999742, "epoch": 1.3952255249023438e-06, "step": 14630 }, { "action_loss_avg": 0.06851795464754104, "epoch": 1.3952255249023438e-06, "step": 14630 }, { "arm_loss_avg": 0.1064907230436802, "epoch": 1.3952255249023438e-06, "step": 14630 }, { "ee_loss_avg": 0.08740689903497696, "epoch": 1.3952255249023438e-06, "step": 14630 }, { "aux_loss_avg": 0.002141488599590957, "epoch": 1.3952255249023438e-06, "step": 14630 }, { "epoch": 1.3952255249023438e-06, "step": 14630, "training_step_time": 17.606414079666138 }, { "epoch": 1.3953208923339844e-06, "model_forward_time": 5.097277641296387, "step": 14631 }, { "epoch": 1.3953208923339844e-06, "step": 14631, "training_step_time": 17.60967254638672 }, { "epoch": 1.395416259765625e-06, "model_forward_time": 5.094483375549316, "step": 14632 }, { "epoch": 1.395416259765625e-06, "step": 14632, "training_step_time": 17.81110191345215 }, { "epoch": 1.3955116271972657e-06, "model_forward_time": 5.0911948680877686, "step": 14633 }, { "epoch": 1.3955116271972657e-06, "step": 14633, "training_step_time": 17.61185050010681 }, { "epoch": 1.3956069946289063e-06, "model_forward_time": 5.091959238052368, "step": 14634 }, { "epoch": 1.3956069946289063e-06, "step": 14634, "training_step_time": 17.60966682434082 }, { "epoch": 1.395702362060547e-06, "model_forward_time": 5.094741582870483, "step": 14635 }, { "epoch": 1.395702362060547e-06, "step": 14635, "training_step_time": 17.4427433013916 }, { "epoch": 1.3957977294921875e-06, "model_forward_time": 5.096292734146118, "step": 14636 }, { "epoch": 1.3957977294921875e-06, "step": 14636, "training_step_time": 17.518014192581177 }, { "epoch": 1.3958930969238281e-06, "model_forward_time": 5.097086668014526, "step": 14637 }, { "epoch": 1.3958930969238281e-06, "step": 14637, "training_step_time": 17.561887741088867 }, { "epoch": 1.3959884643554687e-06, "model_forward_time": 5.090433359146118, "step": 14638 }, { "epoch": 1.3959884643554687e-06, "step": 14638, "training_step_time": 17.83007788658142 }, { "epoch": 1.3960838317871094e-06, "model_forward_time": 5.090104818344116, "step": 14639 }, { "epoch": 1.3960838317871094e-06, "step": 14639, "training_step_time": 17.61586618423462 }, { "epoch": 1.39617919921875e-06, "grad_norm": 1.4580124616622925, "learning_rate": 9.323537542267109e-06, "loss": 0.1117, "step": 14640 }, { "epoch": 1.39617919921875e-06, "model_forward_time": 5.291833400726318, "step": 14640 }, { "dynamics_loss_avg": 0.04117701146751642, "epoch": 1.39617919921875e-06, "step": 14640 }, { "action_loss_avg": 0.06632802821695805, "epoch": 1.39617919921875e-06, "step": 14640 }, { "arm_loss_avg": 0.13489380218088626, "epoch": 1.39617919921875e-06, "step": 14640 }, { "ee_loss_avg": 0.05342777483165264, "epoch": 1.39617919921875e-06, "step": 14640 }, { "aux_loss_avg": 0.00320630538626574, "epoch": 1.39617919921875e-06, "step": 14640 }, { "epoch": 1.39617919921875e-06, "step": 14640, "training_step_time": 17.620763778686523 }, { "epoch": 1.3962745666503906e-06, "model_forward_time": 5.093531370162964, "step": 14641 }, { "epoch": 1.3962745666503906e-06, "step": 14641, "training_step_time": 17.63716459274292 }, { "epoch": 1.3963699340820312e-06, "model_forward_time": 5.092696905136108, "step": 14642 }, { "epoch": 1.3963699340820312e-06, "step": 14642, "training_step_time": 17.631546020507812 }, { "epoch": 1.3964653015136718e-06, "model_forward_time": 5.090346574783325, "step": 14643 }, { "epoch": 1.3964653015136718e-06, "step": 14643, "training_step_time": 17.82086706161499 }, { "epoch": 1.3965606689453124e-06, "model_forward_time": 5.090772390365601, "step": 14644 }, { "epoch": 1.3965606689453124e-06, "step": 14644, "training_step_time": 17.64078640937805 }, { "epoch": 1.396656036376953e-06, "model_forward_time": 5.09380316734314, "step": 14645 }, { "epoch": 1.396656036376953e-06, "step": 14645, "training_step_time": 17.621371507644653 }, { "epoch": 1.3967514038085937e-06, "model_forward_time": 5.093899488449097, "step": 14646 }, { "epoch": 1.3967514038085937e-06, "step": 14646, "training_step_time": 17.626089811325073 }, { "epoch": 1.3968467712402343e-06, "model_forward_time": 5.092944383621216, "step": 14647 }, { "epoch": 1.3968467712402343e-06, "step": 14647, "training_step_time": 17.841504096984863 }, { "epoch": 1.396942138671875e-06, "model_forward_time": 5.0912792682647705, "step": 14648 }, { "epoch": 1.396942138671875e-06, "step": 14648, "training_step_time": 17.627195358276367 }, { "epoch": 1.3970375061035157e-06, "model_forward_time": 5.091106414794922, "step": 14649 }, { "epoch": 1.3970375061035157e-06, "step": 14649, "training_step_time": 17.602253675460815 }, { "epoch": 1.3971328735351563e-06, "grad_norm": 2.333034038543701, "learning_rate": 9.322350634438037e-06, "loss": 0.1252, "step": 14650 }, { "epoch": 1.3971328735351563e-06, "model_forward_time": 3.8585364818573, "step": 14650 }, { "dynamics_loss_avg": 0.047041768115013836, "epoch": 1.3971328735351563e-06, "step": 14650 }, { "action_loss_avg": 0.07577052637934685, "epoch": 1.3971328735351563e-06, "step": 14650 }, { "arm_loss_avg": 0.12005379870533943, "epoch": 1.3971328735351563e-06, "step": 14650 }, { "ee_loss_avg": 0.11058372594416141, "epoch": 1.3971328735351563e-06, "step": 14650 }, { "aux_loss_avg": 0.000866800855146721, "epoch": 1.3971328735351563e-06, "step": 14650 }, { "epoch": 1.3971328735351563e-06, "step": 14650, "training_step_time": 17.6065936088562 }, { "epoch": 1.397228240966797e-06, "model_forward_time": 4.077279567718506, "step": 14651 }, { "epoch": 1.397228240966797e-06, "step": 14651, "training_step_time": 17.60206890106201 }, { "epoch": 1.3973236083984376e-06, "model_forward_time": 5.0520782470703125, "step": 14652 }, { "epoch": 1.3973236083984376e-06, "step": 14652, "training_step_time": 17.119497776031494 }, { "epoch": 1.3974189758300782e-06, "model_forward_time": 3.8359475135803223, "step": 14653 }, { "epoch": 1.3974189758300782e-06, "step": 14653, "training_step_time": 17.50117564201355 }, { "epoch": 1.3975143432617188e-06, "model_forward_time": 5.060222148895264, "step": 14654 }, { "epoch": 1.3975143432617188e-06, "step": 14654, "training_step_time": 17.537835359573364 }, { "epoch": 1.3976097106933594e-06, "model_forward_time": 5.07989501953125, "step": 14655 }, { "epoch": 1.3976097106933594e-06, "step": 14655, "training_step_time": 17.538783311843872 }, { "epoch": 1.397705078125e-06, "model_forward_time": 4.113995790481567, "step": 14656 }, { "epoch": 1.397705078125e-06, "step": 14656, "training_step_time": 17.422889709472656 }, { "epoch": 1.3978004455566406e-06, "model_forward_time": 3.859710454940796, "step": 14657 }, { "epoch": 1.3978004455566406e-06, "step": 14657, "training_step_time": 17.54264545440674 }, { "epoch": 1.3978958129882812e-06, "model_forward_time": 5.087486267089844, "step": 14658 }, { "epoch": 1.3978958129882812e-06, "step": 14658, "training_step_time": 17.820730447769165 }, { "epoch": 1.3979911804199219e-06, "model_forward_time": 5.103441476821899, "step": 14659 }, { "epoch": 1.3979911804199219e-06, "step": 14659, "training_step_time": 17.596678972244263 }, { "epoch": 1.3980865478515625e-06, "grad_norm": 1.8989379405975342, "learning_rate": 9.321162761944145e-06, "loss": 0.1258, "step": 14660 }, { "epoch": 1.3980865478515625e-06, "model_forward_time": 3.8652710914611816, "step": 14660 }, { "dynamics_loss_avg": 0.055383260175585744, "epoch": 1.3980865478515625e-06, "step": 14660 }, { "action_loss_avg": 0.06924144513905048, "epoch": 1.3980865478515625e-06, "step": 14660 }, { "arm_loss_avg": 0.1115188255906105, "epoch": 1.3980865478515625e-06, "step": 14660 }, { "ee_loss_avg": 0.07834656999912112, "epoch": 1.3980865478515625e-06, "step": 14660 }, { "aux_loss_avg": 0.004188382218126207, "epoch": 1.3980865478515625e-06, "step": 14660 }, { "epoch": 1.3980865478515625e-06, "step": 14660, "training_step_time": 17.58073616027832 }, { "epoch": 1.398181915283203e-06, "model_forward_time": 5.267486810684204, "step": 14661 }, { "epoch": 1.398181915283203e-06, "step": 14661, "training_step_time": 17.614909410476685 }, { "epoch": 1.3982772827148437e-06, "model_forward_time": 5.093148708343506, "step": 14662 }, { "epoch": 1.3982772827148437e-06, "step": 14662, "training_step_time": 17.840387105941772 }, { "epoch": 1.3983726501464843e-06, "model_forward_time": 5.094204664230347, "step": 14663 }, { "epoch": 1.3983726501464843e-06, "step": 14663, "training_step_time": 17.65214776992798 }, { "epoch": 1.398468017578125e-06, "model_forward_time": 3.8648195266723633, "step": 14664 }, { "epoch": 1.398468017578125e-06, "step": 14664, "training_step_time": 17.616984605789185 }, { "epoch": 1.3985633850097655e-06, "model_forward_time": 5.074352741241455, "step": 14665 }, { "epoch": 1.3985633850097655e-06, "step": 14665, "training_step_time": 17.614680290222168 }, { "epoch": 1.3986587524414062e-06, "model_forward_time": 5.3285534381866455, "step": 14666 }, { "epoch": 1.3986587524414062e-06, "step": 14666, "training_step_time": 17.601244688034058 }, { "epoch": 1.3987541198730468e-06, "model_forward_time": 5.092694044113159, "step": 14667 }, { "epoch": 1.3987541198730468e-06, "step": 14667, "training_step_time": 17.82286286354065 }, { "epoch": 1.3988494873046876e-06, "model_forward_time": 5.093555450439453, "step": 14668 }, { "epoch": 1.3988494873046876e-06, "step": 14668, "training_step_time": 17.60501456260681 }, { "epoch": 1.3989448547363282e-06, "model_forward_time": 5.101511240005493, "step": 14669 }, { "epoch": 1.3989448547363282e-06, "step": 14669, "training_step_time": 17.58140730857849 }, { "epoch": 1.3990402221679688e-06, "grad_norm": 1.1640974283218384, "learning_rate": 9.319973925050541e-06, "loss": 0.134, "step": 14670 }, { "epoch": 1.3990402221679688e-06, "model_forward_time": 5.09907603263855, "step": 14670 }, { "dynamics_loss_avg": 0.05965142510831356, "epoch": 1.3990402221679688e-06, "step": 14670 }, { "action_loss_avg": 0.07345833703875541, "epoch": 1.3990402221679688e-06, "step": 14670 }, { "arm_loss_avg": 0.10501832962036133, "epoch": 1.3990402221679688e-06, "step": 14670 }, { "ee_loss_avg": 0.11185847166925669, "epoch": 1.3990402221679688e-06, "step": 14670 }, { "aux_loss_avg": 0.00800444750348106, "epoch": 1.3990402221679688e-06, "step": 14670 }, { "epoch": 1.3990402221679688e-06, "step": 14670, "training_step_time": 17.586528301239014 }, { "epoch": 1.3991355895996094e-06, "model_forward_time": 5.2945005893707275, "step": 14671 }, { "epoch": 1.3991355895996094e-06, "step": 14671, "training_step_time": 17.587573528289795 }, { "epoch": 1.39923095703125e-06, "model_forward_time": 5.096461772918701, "step": 14672 }, { "epoch": 1.39923095703125e-06, "step": 14672, "training_step_time": 17.777803897857666 }, { "epoch": 1.3993263244628907e-06, "model_forward_time": 5.092264652252197, "step": 14673 }, { "epoch": 1.3993263244628907e-06, "step": 14673, "training_step_time": 17.577461004257202 }, { "epoch": 1.3994216918945313e-06, "model_forward_time": 5.095671892166138, "step": 14674 }, { "epoch": 1.3994216918945313e-06, "step": 14674, "training_step_time": 17.584741353988647 }, { "epoch": 1.399517059326172e-06, "model_forward_time": 5.093570709228516, "step": 14675 }, { "epoch": 1.399517059326172e-06, "step": 14675, "training_step_time": 17.58855390548706 }, { "epoch": 1.3996124267578125e-06, "model_forward_time": 5.089064598083496, "step": 14676 }, { "epoch": 1.3996124267578125e-06, "step": 14676, "training_step_time": 17.439907789230347 }, { "epoch": 1.3997077941894531e-06, "model_forward_time": 5.102406978607178, "step": 14677 }, { "epoch": 1.3997077941894531e-06, "step": 14677, "training_step_time": 17.522900342941284 }, { "epoch": 1.3998031616210937e-06, "model_forward_time": 5.104440927505493, "step": 14678 }, { "epoch": 1.3998031616210937e-06, "step": 14678, "training_step_time": 17.8228702545166 }, { "epoch": 1.3998985290527344e-06, "model_forward_time": 5.100564002990723, "step": 14679 }, { "epoch": 1.3998985290527344e-06, "step": 14679, "training_step_time": 17.675756216049194 }, { "epoch": 1.399993896484375e-06, "grad_norm": 2.7307515144348145, "learning_rate": 9.318784124022553e-06, "loss": 0.1224, "step": 14680 }, { "epoch": 1.399993896484375e-06, "model_forward_time": 3.859971284866333, "step": 14680 }, { "dynamics_loss_avg": 0.046203453466296195, "epoch": 1.399993896484375e-06, "step": 14680 }, { "action_loss_avg": 0.08050767853856086, "epoch": 1.399993896484375e-06, "step": 14680 }, { "arm_loss_avg": 0.11509431526064873, "epoch": 1.399993896484375e-06, "step": 14680 }, { "ee_loss_avg": 0.08671721331775188, "epoch": 1.399993896484375e-06, "step": 14680 }, { "aux_loss_avg": 0.0031301622570026667, "epoch": 1.399993896484375e-06, "step": 14680 }, { "epoch": 1.399993896484375e-06, "step": 14680, "training_step_time": 17.6152126789093 }, { "epoch": 1.4000892639160156e-06, "model_forward_time": 5.070724248886108, "step": 14681 }, { "epoch": 1.4000892639160156e-06, "step": 14681, "training_step_time": 17.611686944961548 }, { "epoch": 1.4001846313476562e-06, "model_forward_time": 5.270141124725342, "step": 14682 }, { "epoch": 1.4001846313476562e-06, "step": 14682, "training_step_time": 17.623764991760254 }, { "epoch": 1.4002799987792968e-06, "model_forward_time": 5.084806680679321, "step": 14683 }, { "epoch": 1.4002799987792968e-06, "step": 14683, "training_step_time": 17.815784215927124 }, { "epoch": 1.4003753662109374e-06, "model_forward_time": 5.091501474380493, "step": 14684 }, { "epoch": 1.4003753662109374e-06, "step": 14684, "training_step_time": 17.62402868270874 }, { "epoch": 1.400470733642578e-06, "model_forward_time": 5.099269151687622, "step": 14685 }, { "epoch": 1.400470733642578e-06, "step": 14685, "training_step_time": 17.621822357177734 }, { "epoch": 1.4005661010742187e-06, "model_forward_time": 5.106614351272583, "step": 14686 }, { "epoch": 1.4005661010742187e-06, "step": 14686, "training_step_time": 17.619492053985596 }, { "epoch": 1.4006614685058593e-06, "model_forward_time": 5.1084911823272705, "step": 14687 }, { "epoch": 1.4006614685058593e-06, "step": 14687, "training_step_time": 17.826539516448975 }, { "epoch": 1.4007568359375e-06, "model_forward_time": 5.103286266326904, "step": 14688 }, { "epoch": 1.4007568359375e-06, "step": 14688, "training_step_time": 17.6112642288208 }, { "epoch": 1.4008522033691407e-06, "model_forward_time": 3.860408067703247, "step": 14689 }, { "epoch": 1.4008522033691407e-06, "step": 14689, "training_step_time": 17.652941703796387 }, { "epoch": 1.4009475708007813e-06, "grad_norm": 2.2223780155181885, "learning_rate": 9.317593359125718e-06, "loss": 0.1219, "step": 14690 }, { "epoch": 1.4009475708007813e-06, "model_forward_time": 5.070091962814331, "step": 14690 }, { "dynamics_loss_avg": 0.05561868697404861, "epoch": 1.4009475708007813e-06, "step": 14690 }, { "action_loss_avg": 0.05049227718263864, "epoch": 1.4009475708007813e-06, "step": 14690 }, { "arm_loss_avg": 0.06367706097662448, "epoch": 1.4009475708007813e-06, "step": 14690 }, { "ee_loss_avg": 0.06245080418884754, "epoch": 1.4009475708007813e-06, "step": 14690 }, { "aux_loss_avg": 0.0012394104967825114, "epoch": 1.4009475708007813e-06, "step": 14690 }, { "epoch": 1.4009475708007813e-06, "step": 14690, "training_step_time": 17.524003744125366 }, { "epoch": 1.401042938232422e-06, "model_forward_time": 5.081072092056274, "step": 14691 }, { "epoch": 1.401042938232422e-06, "step": 14691, "training_step_time": 17.563534021377563 }, { "epoch": 1.4011383056640626e-06, "model_forward_time": 3.851682662963867, "step": 14692 }, { "epoch": 1.4011383056640626e-06, "step": 14692, "training_step_time": 17.81606149673462 }, { "epoch": 1.4012336730957032e-06, "model_forward_time": 5.067275762557983, "step": 14693 }, { "epoch": 1.4012336730957032e-06, "step": 14693, "training_step_time": 17.612534046173096 }, { "epoch": 1.4013290405273438e-06, "model_forward_time": 5.076481580734253, "step": 14694 }, { "epoch": 1.4013290405273438e-06, "step": 14694, "training_step_time": 17.62231469154358 }, { "epoch": 1.4014244079589844e-06, "model_forward_time": 5.0905420780181885, "step": 14695 }, { "epoch": 1.4014244079589844e-06, "step": 14695, "training_step_time": 17.628535509109497 }, { "epoch": 1.401519775390625e-06, "model_forward_time": 5.101497650146484, "step": 14696 }, { "epoch": 1.401519775390625e-06, "step": 14696, "training_step_time": 17.61865782737732 }, { "epoch": 1.4016151428222656e-06, "model_forward_time": 5.1102294921875, "step": 14697 }, { "epoch": 1.4016151428222656e-06, "step": 14697, "training_step_time": 17.838441848754883 }, { "epoch": 1.4017105102539062e-06, "model_forward_time": 5.106841564178467, "step": 14698 }, { "epoch": 1.4017105102539062e-06, "step": 14698, "training_step_time": 17.61563515663147 }, { "epoch": 1.4018058776855469e-06, "model_forward_time": 5.109853506088257, "step": 14699 }, { "epoch": 1.4018058776855469e-06, "step": 14699, "training_step_time": 17.653756856918335 }, { "epoch": 1.4019012451171875e-06, "grad_norm": 1.017956018447876, "learning_rate": 9.316401630625794e-06, "loss": 0.1119, "step": 14700 }, { "epoch": 1.4019012451171875e-06, "model_forward_time": 5.1067445278167725, "step": 14700 }, { "dynamics_loss_avg": 0.05679840072989464, "epoch": 1.4019012451171875e-06, "step": 14700 }, { "action_loss_avg": 0.05346201471984387, "epoch": 1.4019012451171875e-06, "step": 14700 }, { "arm_loss_avg": 0.08520491197705268, "epoch": 1.4019012451171875e-06, "step": 14700 }, { "ee_loss_avg": 0.10360119231045246, "epoch": 1.4019012451171875e-06, "step": 14700 }, { "aux_loss_avg": 0.0022249750036280602, "epoch": 1.4019012451171875e-06, "step": 14700 }, { "epoch": 1.4019012451171875e-06, "step": 14700, "training_step_time": 17.610920667648315 }, { "epoch": 1.401996612548828e-06, "model_forward_time": 5.301487684249878, "step": 14701 }, { "epoch": 1.401996612548828e-06, "step": 14701, "training_step_time": 17.43438172340393 }, { "epoch": 1.4020919799804687e-06, "model_forward_time": 5.098682641983032, "step": 14702 }, { "epoch": 1.4020919799804687e-06, "step": 14702, "training_step_time": 17.529757261276245 }, { "epoch": 1.4021873474121093e-06, "model_forward_time": 5.0945634841918945, "step": 14703 }, { "epoch": 1.4021873474121093e-06, "step": 14703, "training_step_time": 17.746140480041504 }, { "epoch": 1.40228271484375e-06, "model_forward_time": 5.088979482650757, "step": 14704 }, { "epoch": 1.40228271484375e-06, "step": 14704, "training_step_time": 17.598029136657715 }, { "epoch": 1.4023780822753905e-06, "model_forward_time": 5.09038519859314, "step": 14705 }, { "epoch": 1.4023780822753905e-06, "step": 14705, "training_step_time": 17.576863527297974 }, { "epoch": 1.4024734497070312e-06, "model_forward_time": 5.331098556518555, "step": 14706 }, { "epoch": 1.4024734497070312e-06, "step": 14706, "training_step_time": 17.62061619758606 }, { "epoch": 1.4025688171386718e-06, "model_forward_time": 5.0878143310546875, "step": 14707 }, { "epoch": 1.4025688171386718e-06, "step": 14707, "training_step_time": 17.83881950378418 }, { "epoch": 1.4026641845703126e-06, "model_forward_time": 3.8503921031951904, "step": 14708 }, { "epoch": 1.4026641845703126e-06, "step": 14708, "training_step_time": 17.627933979034424 }, { "epoch": 1.4027595520019532e-06, "model_forward_time": 5.061109781265259, "step": 14709 }, { "epoch": 1.4027595520019532e-06, "step": 14709, "training_step_time": 17.618471384048462 }, { "epoch": 1.4028549194335938e-06, "grad_norm": 1.6206966638565063, "learning_rate": 9.31520893878875e-06, "loss": 0.1211, "step": 14710 }, { "epoch": 1.4028549194335938e-06, "model_forward_time": 5.073492050170898, "step": 14710 }, { "dynamics_loss_avg": 0.048049891646951434, "epoch": 1.4028549194335938e-06, "step": 14710 }, { "action_loss_avg": 0.04229014441370964, "epoch": 1.4028549194335938e-06, "step": 14710 }, { "arm_loss_avg": 0.0863652691245079, "epoch": 1.4028549194335938e-06, "step": 14710 }, { "ee_loss_avg": 0.10463788211345673, "epoch": 1.4028549194335938e-06, "step": 14710 }, { "aux_loss_avg": 0.008447424281621351, "epoch": 1.4028549194335938e-06, "step": 14710 }, { "epoch": 1.4028549194335938e-06, "step": 14710, "training_step_time": 17.607710599899292 }, { "epoch": 1.4029502868652344e-06, "model_forward_time": 5.088169097900391, "step": 14711 }, { "epoch": 1.4029502868652344e-06, "step": 14711, "training_step_time": 17.599810123443604 }, { "epoch": 1.403045654296875e-06, "model_forward_time": 5.325041770935059, "step": 14712 }, { "epoch": 1.403045654296875e-06, "step": 14712, "training_step_time": 17.79677104949951 }, { "epoch": 1.4031410217285157e-06, "model_forward_time": 5.102617979049683, "step": 14713 }, { "epoch": 1.4031410217285157e-06, "step": 14713, "training_step_time": 17.598861932754517 }, { "epoch": 1.4032363891601563e-06, "model_forward_time": 3.863391637802124, "step": 14714 }, { "epoch": 1.4032363891601563e-06, "step": 14714, "training_step_time": 17.59726357460022 }, { "epoch": 1.403331756591797e-06, "model_forward_time": 5.0725860595703125, "step": 14715 }, { "epoch": 1.403331756591797e-06, "step": 14715, "training_step_time": 17.602816104888916 }, { "epoch": 1.4034271240234375e-06, "model_forward_time": 3.850649356842041, "step": 14716 }, { "epoch": 1.4034271240234375e-06, "step": 14716, "training_step_time": 17.591904163360596 }, { "epoch": 1.4035224914550781e-06, "model_forward_time": 5.299762725830078, "step": 14717 }, { "epoch": 1.4035224914550781e-06, "step": 14717, "training_step_time": 17.815675258636475 }, { "epoch": 1.4036178588867187e-06, "model_forward_time": 5.084256410598755, "step": 14718 }, { "epoch": 1.4036178588867187e-06, "step": 14718, "training_step_time": 17.644210815429688 }, { "epoch": 1.4037132263183594e-06, "model_forward_time": 5.092175006866455, "step": 14719 }, { "epoch": 1.4037132263183594e-06, "step": 14719, "training_step_time": 17.584132194519043 }, { "epoch": 1.40380859375e-06, "grad_norm": 1.4566060304641724, "learning_rate": 9.314015283880775e-06, "loss": 0.1311, "step": 14720 }, { "epoch": 1.40380859375e-06, "model_forward_time": 5.099586009979248, "step": 14720 }, { "dynamics_loss_avg": 0.053853615559637545, "epoch": 1.40380859375e-06, "step": 14720 }, { "action_loss_avg": 0.0698904674500227, "epoch": 1.40380859375e-06, "step": 14720 }, { "arm_loss_avg": 0.08959952611476182, "epoch": 1.40380859375e-06, "step": 14720 }, { "ee_loss_avg": 0.12782098641619086, "epoch": 1.40380859375e-06, "step": 14720 }, { "aux_loss_avg": 0.002047185937408358, "epoch": 1.40380859375e-06, "step": 14720 }, { "epoch": 1.40380859375e-06, "step": 14720, "training_step_time": 17.57978868484497 }, { "epoch": 1.4039039611816406e-06, "model_forward_time": 5.105346441268921, "step": 14721 }, { "epoch": 1.4039039611816406e-06, "step": 14721, "training_step_time": 17.59541368484497 }, { "epoch": 1.4039993286132812e-06, "model_forward_time": 4.103252649307251, "step": 14722 }, { "epoch": 1.4039993286132812e-06, "step": 14722, "training_step_time": 17.817513465881348 }, { "epoch": 1.4040946960449218e-06, "model_forward_time": 5.0716001987457275, "step": 14723 }, { "epoch": 1.4040946960449218e-06, "step": 14723, "training_step_time": 17.581636428833008 }, { "epoch": 1.4041900634765624e-06, "model_forward_time": 5.080214023590088, "step": 14724 }, { "epoch": 1.4041900634765624e-06, "step": 14724, "training_step_time": 17.592819213867188 }, { "epoch": 1.404285430908203e-06, "model_forward_time": 5.088598966598511, "step": 14725 }, { "epoch": 1.404285430908203e-06, "step": 14725, "training_step_time": 17.39449167251587 }, { "epoch": 1.4043807983398437e-06, "model_forward_time": 5.08962869644165, "step": 14726 }, { "epoch": 1.4043807983398437e-06, "step": 14726, "training_step_time": 17.48119044303894 }, { "epoch": 1.4044761657714843e-06, "model_forward_time": 5.322705984115601, "step": 14727 }, { "epoch": 1.4044761657714843e-06, "step": 14727, "training_step_time": 17.523163080215454 }, { "epoch": 1.404571533203125e-06, "model_forward_time": 5.0915937423706055, "step": 14728 }, { "epoch": 1.404571533203125e-06, "step": 14728, "training_step_time": 17.784958362579346 }, { "epoch": 1.4046669006347657e-06, "model_forward_time": 5.090903997421265, "step": 14729 }, { "epoch": 1.4046669006347657e-06, "step": 14729, "training_step_time": 17.561856985092163 }, { "epoch": 1.4047622680664063e-06, "grad_norm": 2.533919334411621, "learning_rate": 9.312820666168267e-06, "loss": 0.1171, "step": 14730 }, { "epoch": 1.4047622680664063e-06, "model_forward_time": 3.852177143096924, "step": 14730 }, { "dynamics_loss_avg": 0.05177900912240148, "epoch": 1.4047622680664063e-06, "step": 14730 }, { "action_loss_avg": 0.05378689467906952, "epoch": 1.4047622680664063e-06, "step": 14730 }, { "arm_loss_avg": 0.08504409044981003, "epoch": 1.4047622680664063e-06, "step": 14730 }, { "ee_loss_avg": 0.055313395848497746, "epoch": 1.4047622680664063e-06, "step": 14730 }, { "aux_loss_avg": 0.0014139193459413945, "epoch": 1.4047622680664063e-06, "step": 14730 }, { "epoch": 1.4047622680664063e-06, "step": 14730, "training_step_time": 17.584950923919678 }, { "epoch": 1.404857635498047e-06, "model_forward_time": 5.062310457229614, "step": 14731 }, { "epoch": 1.404857635498047e-06, "step": 14731, "training_step_time": 17.3600754737854 }, { "epoch": 1.4049530029296876e-06, "model_forward_time": 4.0822038650512695, "step": 14732 }, { "epoch": 1.4049530029296876e-06, "step": 14732, "training_step_time": 17.504586219787598 }, { "epoch": 1.4050483703613282e-06, "model_forward_time": 5.053666830062866, "step": 14733 }, { "epoch": 1.4050483703613282e-06, "step": 14733, "training_step_time": 17.73265027999878 }, { "epoch": 1.4051437377929688e-06, "model_forward_time": 3.8354296684265137, "step": 14734 }, { "epoch": 1.4051437377929688e-06, "step": 14734, "training_step_time": 17.554388523101807 }, { "epoch": 1.4052391052246094e-06, "model_forward_time": 5.058027982711792, "step": 14735 }, { "epoch": 1.4052391052246094e-06, "step": 14735, "training_step_time": 17.568929433822632 }, { "epoch": 1.40533447265625e-06, "model_forward_time": 5.07627272605896, "step": 14736 }, { "epoch": 1.40533447265625e-06, "step": 14736, "training_step_time": 17.571038484573364 }, { "epoch": 1.4054298400878906e-06, "model_forward_time": 4.0903730392456055, "step": 14737 }, { "epoch": 1.4054298400878906e-06, "step": 14737, "training_step_time": 17.564183712005615 }, { "epoch": 1.4055252075195312e-06, "model_forward_time": 5.076819896697998, "step": 14738 }, { "epoch": 1.4055252075195312e-06, "step": 14738, "training_step_time": 17.36759090423584 }, { "epoch": 1.4056205749511719e-06, "model_forward_time": 5.10003137588501, "step": 14739 }, { "epoch": 1.4056205749511719e-06, "step": 14739, "training_step_time": 17.497472524642944 }, { "epoch": 1.4057159423828125e-06, "grad_norm": 1.2199686765670776, "learning_rate": 9.311625085917843e-06, "loss": 0.1119, "step": 14740 }, { "epoch": 1.4057159423828125e-06, "model_forward_time": 5.107426643371582, "step": 14740 }, { "dynamics_loss_avg": 0.034519565384835006, "epoch": 1.4057159423828125e-06, "step": 14740 }, { "action_loss_avg": 0.04420161377638578, "epoch": 1.4057159423828125e-06, "step": 14740 }, { "arm_loss_avg": 0.09000924993306399, "epoch": 1.4057159423828125e-06, "step": 14740 }, { "ee_loss_avg": 0.09324859641492367, "epoch": 1.4057159423828125e-06, "step": 14740 }, { "aux_loss_avg": 0.0012439750193152578, "epoch": 1.4057159423828125e-06, "step": 14740 }, { "epoch": 1.4057159423828125e-06, "step": 14740, "training_step_time": 17.53708291053772 }, { "epoch": 1.405811309814453e-06, "model_forward_time": 3.8674352169036865, "step": 14741 }, { "epoch": 1.405811309814453e-06, "step": 14741, "training_step_time": 17.554473638534546 }, { "epoch": 1.4059066772460937e-06, "model_forward_time": 5.2635273933410645, "step": 14742 }, { "epoch": 1.4059066772460937e-06, "step": 14742, "training_step_time": 17.590832948684692 }, { "epoch": 1.4060020446777343e-06, "model_forward_time": 5.080185651779175, "step": 14743 }, { "epoch": 1.4060020446777343e-06, "step": 14743, "training_step_time": 17.796698808670044 }, { "epoch": 1.406097412109375e-06, "model_forward_time": 5.086852550506592, "step": 14744 }, { "epoch": 1.406097412109375e-06, "step": 14744, "training_step_time": 17.611552953720093 }, { "epoch": 1.4061927795410156e-06, "model_forward_time": 5.091677904129028, "step": 14745 }, { "epoch": 1.4061927795410156e-06, "step": 14745, "training_step_time": 17.618929862976074 }, { "epoch": 1.4062881469726562e-06, "model_forward_time": 5.096220016479492, "step": 14746 }, { "epoch": 1.4062881469726562e-06, "step": 14746, "training_step_time": 17.61034846305847 }, { "epoch": 1.4063835144042968e-06, "model_forward_time": 5.328474521636963, "step": 14747 }, { "epoch": 1.4063835144042968e-06, "step": 14747, "training_step_time": 17.452215909957886 }, { "epoch": 1.4064788818359376e-06, "model_forward_time": 5.098619222640991, "step": 14748 }, { "epoch": 1.4064788818359376e-06, "step": 14748, "training_step_time": 17.751786470413208 }, { "epoch": 1.4065742492675782e-06, "model_forward_time": 5.0950539112091064, "step": 14749 }, { "epoch": 1.4065742492675782e-06, "step": 14749, "training_step_time": 17.5662362575531 }, { "epoch": 1.4066696166992188e-06, "grad_norm": 1.9002351760864258, "learning_rate": 9.31042854339633e-06, "loss": 0.113, "step": 14750 }, { "epoch": 1.4066696166992188e-06, "model_forward_time": 5.094769716262817, "step": 14750 }, { "dynamics_loss_avg": 0.05396120548248291, "epoch": 1.4066696166992188e-06, "step": 14750 }, { "action_loss_avg": 0.03889215793460608, "epoch": 1.4066696166992188e-06, "step": 14750 }, { "arm_loss_avg": 0.055421283841133116, "epoch": 1.4066696166992188e-06, "step": 14750 }, { "ee_loss_avg": 0.09121952727437019, "epoch": 1.4066696166992188e-06, "step": 14750 }, { "aux_loss_avg": 0.0028787850576918574, "epoch": 1.4066696166992188e-06, "step": 14750 }, { "epoch": 1.4066696166992188e-06, "step": 14750, "training_step_time": 17.582431077957153 }, { "epoch": 1.4067649841308594e-06, "model_forward_time": 5.090297222137451, "step": 14751 }, { "epoch": 1.4067649841308594e-06, "step": 14751, "training_step_time": 17.60220956802368 }, { "epoch": 1.4068603515625e-06, "model_forward_time": 4.090471267700195, "step": 14752 }, { "epoch": 1.4068603515625e-06, "step": 14752, "training_step_time": 17.508882761001587 }, { "epoch": 1.4069557189941407e-06, "model_forward_time": 5.060831785202026, "step": 14753 }, { "epoch": 1.4069557189941407e-06, "step": 14753, "training_step_time": 17.72869634628296 }, { "epoch": 1.4070510864257813e-06, "model_forward_time": 5.072270393371582, "step": 14754 }, { "epoch": 1.4070510864257813e-06, "step": 14754, "training_step_time": 17.575668334960938 }, { "epoch": 1.407146453857422e-06, "model_forward_time": 5.081595182418823, "step": 14755 }, { "epoch": 1.407146453857422e-06, "step": 14755, "training_step_time": 17.5889151096344 }, { "epoch": 1.4072418212890625e-06, "model_forward_time": 5.0889670848846436, "step": 14756 }, { "epoch": 1.4072418212890625e-06, "step": 14756, "training_step_time": 17.610472917556763 }, { "epoch": 1.4073371887207031e-06, "model_forward_time": 5.333354473114014, "step": 14757 }, { "epoch": 1.4073371887207031e-06, "step": 14757, "training_step_time": 17.636045694351196 }, { "epoch": 1.4074325561523438e-06, "model_forward_time": 5.10309910774231, "step": 14758 }, { "epoch": 1.4074325561523438e-06, "step": 14758, "training_step_time": 17.870654344558716 }, { "epoch": 1.4075279235839844e-06, "model_forward_time": 5.1025331020355225, "step": 14759 }, { "epoch": 1.4075279235839844e-06, "step": 14759, "training_step_time": 17.625325441360474 }, { "epoch": 1.407623291015625e-06, "grad_norm": 2.0057833194732666, "learning_rate": 9.309231038870776e-06, "loss": 0.1063, "step": 14760 }, { "epoch": 1.407623291015625e-06, "model_forward_time": 5.0998215675354, "step": 14760 }, { "dynamics_loss_avg": 0.05168847870081663, "epoch": 1.407623291015625e-06, "step": 14760 }, { "action_loss_avg": 0.04986398592591286, "epoch": 1.407623291015625e-06, "step": 14760 }, { "arm_loss_avg": 0.08589913845062255, "epoch": 1.407623291015625e-06, "step": 14760 }, { "ee_loss_avg": 0.11703027347102761, "epoch": 1.407623291015625e-06, "step": 14760 }, { "aux_loss_avg": 0.004141800542129204, "epoch": 1.407623291015625e-06, "step": 14760 }, { "epoch": 1.407623291015625e-06, "step": 14760, "training_step_time": 17.624358654022217 }, { "epoch": 1.4077186584472656e-06, "model_forward_time": 5.098452091217041, "step": 14761 }, { "epoch": 1.4077186584472656e-06, "step": 14761, "training_step_time": 17.621387720108032 }, { "epoch": 1.4078140258789062e-06, "model_forward_time": 5.292375564575195, "step": 14762 }, { "epoch": 1.4078140258789062e-06, "step": 14762, "training_step_time": 17.841338634490967 }, { "epoch": 1.4079093933105468e-06, "model_forward_time": 5.09424901008606, "step": 14763 }, { "epoch": 1.4079093933105468e-06, "step": 14763, "training_step_time": 17.60126781463623 }, { "epoch": 1.4080047607421874e-06, "model_forward_time": 5.093425750732422, "step": 14764 }, { "epoch": 1.4080047607421874e-06, "step": 14764, "training_step_time": 17.609485387802124 }, { "epoch": 1.408100128173828e-06, "model_forward_time": 5.092737913131714, "step": 14765 }, { "epoch": 1.408100128173828e-06, "step": 14765, "training_step_time": 17.602407932281494 }, { "epoch": 1.4081954956054687e-06, "model_forward_time": 5.093043088912964, "step": 14766 }, { "epoch": 1.4081954956054687e-06, "step": 14766, "training_step_time": 17.604844093322754 }, { "epoch": 1.4082908630371093e-06, "model_forward_time": 5.330902576446533, "step": 14767 }, { "epoch": 1.4082908630371093e-06, "step": 14767, "training_step_time": 17.82614827156067 }, { "epoch": 1.40838623046875e-06, "model_forward_time": 5.091209650039673, "step": 14768 }, { "epoch": 1.40838623046875e-06, "step": 14768, "training_step_time": 17.664178609848022 }, { "epoch": 1.4084815979003907e-06, "model_forward_time": 5.089086532592773, "step": 14769 }, { "epoch": 1.4084815979003907e-06, "step": 14769, "training_step_time": 17.510446071624756 }, { "epoch": 1.4085769653320313e-06, "grad_norm": 1.57644522190094, "learning_rate": 9.30803257260844e-06, "loss": 0.1177, "step": 14770 }, { "epoch": 1.4085769653320313e-06, "model_forward_time": 3.8526358604431152, "step": 14770 }, { "dynamics_loss_avg": 0.055926709249615666, "epoch": 1.4085769653320313e-06, "step": 14770 }, { "action_loss_avg": 0.04569298718124628, "epoch": 1.4085769653320313e-06, "step": 14770 }, { "arm_loss_avg": 0.06587948445230722, "epoch": 1.4085769653320313e-06, "step": 14770 }, { "ee_loss_avg": 0.08739787386730313, "epoch": 1.4085769653320313e-06, "step": 14770 }, { "aux_loss_avg": 0.0012881830334663391, "epoch": 1.4085769653320313e-06, "step": 14770 }, { "epoch": 1.4085769653320313e-06, "step": 14770, "training_step_time": 17.551593780517578 }, { "epoch": 1.408672332763672e-06, "model_forward_time": 5.060525417327881, "step": 14771 }, { "epoch": 1.408672332763672e-06, "step": 14771, "training_step_time": 17.588124990463257 }, { "epoch": 1.4087677001953126e-06, "model_forward_time": 5.0762412548065186, "step": 14772 }, { "epoch": 1.4087677001953126e-06, "step": 14772, "training_step_time": 17.609354972839355 }, { "epoch": 1.4088630676269532e-06, "model_forward_time": 5.311841726303101, "step": 14773 }, { "epoch": 1.4088630676269532e-06, "step": 14773, "training_step_time": 17.84916853904724 }, { "epoch": 1.4089584350585938e-06, "model_forward_time": 5.090033292770386, "step": 14774 }, { "epoch": 1.4089584350585938e-06, "step": 14774, "training_step_time": 17.617261171340942 }, { "epoch": 1.4090538024902344e-06, "model_forward_time": 5.10001277923584, "step": 14775 }, { "epoch": 1.4090538024902344e-06, "step": 14775, "training_step_time": 17.6208233833313 }, { "epoch": 1.409149169921875e-06, "model_forward_time": 5.113872528076172, "step": 14776 }, { "epoch": 1.409149169921875e-06, "step": 14776, "training_step_time": 17.64262866973877 }, { "epoch": 1.4092445373535156e-06, "model_forward_time": 5.112615346908569, "step": 14777 }, { "epoch": 1.4092445373535156e-06, "step": 14777, "training_step_time": 17.9326274394989 }, { "epoch": 1.4093399047851563e-06, "model_forward_time": 5.109813451766968, "step": 14778 }, { "epoch": 1.4093399047851563e-06, "step": 14778, "training_step_time": 17.659841775894165 }, { "epoch": 1.4094352722167969e-06, "model_forward_time": 5.111269950866699, "step": 14779 }, { "epoch": 1.4094352722167969e-06, "step": 14779, "training_step_time": 17.63251256942749 }, { "epoch": 1.4095306396484375e-06, "grad_norm": 1.4740347862243652, "learning_rate": 9.306833144876797e-06, "loss": 0.1078, "step": 14780 }, { "epoch": 1.4095306396484375e-06, "model_forward_time": 3.860259532928467, "step": 14780 }, { "dynamics_loss_avg": 0.03852661941200495, "epoch": 1.4095306396484375e-06, "step": 14780 }, { "action_loss_avg": 0.033382765203714374, "epoch": 1.4095306396484375e-06, "step": 14780 }, { "arm_loss_avg": 0.08324268143624067, "epoch": 1.4095306396484375e-06, "step": 14780 }, { "ee_loss_avg": 0.1335696753114462, "epoch": 1.4095306396484375e-06, "step": 14780 }, { "aux_loss_avg": 0.016314209706615658, "epoch": 1.4095306396484375e-06, "step": 14780 }, { "epoch": 1.4095306396484375e-06, "step": 14780, "training_step_time": 17.621701955795288 }, { "epoch": 1.409626007080078e-06, "model_forward_time": 5.061364412307739, "step": 14781 }, { "epoch": 1.409626007080078e-06, "step": 14781, "training_step_time": 17.6159348487854 }, { "epoch": 1.4097213745117187e-06, "model_forward_time": 5.076908111572266, "step": 14782 }, { "epoch": 1.4097213745117187e-06, "step": 14782, "training_step_time": 17.81682825088501 }, { "epoch": 1.4098167419433593e-06, "model_forward_time": 4.089946746826172, "step": 14783 }, { "epoch": 1.4098167419433593e-06, "step": 14783, "training_step_time": 17.639225959777832 }, { "epoch": 1.409912109375e-06, "model_forward_time": 5.059062480926514, "step": 14784 }, { "epoch": 1.409912109375e-06, "step": 14784, "training_step_time": 17.404993534088135 }, { "epoch": 1.4100074768066406e-06, "model_forward_time": 5.077006578445435, "step": 14785 }, { "epoch": 1.4100074768066406e-06, "step": 14785, "training_step_time": 17.459124088287354 }, { "epoch": 1.4101028442382812e-06, "model_forward_time": 5.091571807861328, "step": 14786 }, { "epoch": 1.4101028442382812e-06, "step": 14786, "training_step_time": 17.51014995574951 }, { "epoch": 1.4101982116699218e-06, "model_forward_time": 5.098613023757935, "step": 14787 }, { "epoch": 1.4101982116699218e-06, "step": 14787, "training_step_time": 17.441240549087524 }, { "epoch": 1.4102935791015624e-06, "model_forward_time": 5.346379041671753, "step": 14788 }, { "epoch": 1.4102935791015624e-06, "step": 14788, "training_step_time": 17.741862535476685 }, { "epoch": 1.4103889465332032e-06, "model_forward_time": 5.107779026031494, "step": 14789 }, { "epoch": 1.4103889465332032e-06, "step": 14789, "training_step_time": 17.585606813430786 }, { "epoch": 1.4104843139648438e-06, "grad_norm": 1.3579325675964355, "learning_rate": 9.305632755943536e-06, "loss": 0.1, "step": 14790 }, { "epoch": 1.4104843139648438e-06, "model_forward_time": 5.1040778160095215, "step": 14790 }, { "dynamics_loss_avg": 0.05796734523028135, "epoch": 1.4104843139648438e-06, "step": 14790 }, { "action_loss_avg": 0.03900439366698265, "epoch": 1.4104843139648438e-06, "step": 14790 }, { "arm_loss_avg": 0.07470897436141968, "epoch": 1.4104843139648438e-06, "step": 14790 }, { "ee_loss_avg": 0.07687987964600325, "epoch": 1.4104843139648438e-06, "step": 14790 }, { "aux_loss_avg": 0.010706203209701925, "epoch": 1.4104843139648438e-06, "step": 14790 }, { "epoch": 1.4104843139648438e-06, "step": 14790, "training_step_time": 17.634214401245117 }, { "epoch": 1.4105796813964845e-06, "model_forward_time": 5.0999414920806885, "step": 14791 }, { "epoch": 1.4105796813964845e-06, "step": 14791, "training_step_time": 17.66074228286743 }, { "epoch": 1.410675048828125e-06, "model_forward_time": 5.0937395095825195, "step": 14792 }, { "epoch": 1.410675048828125e-06, "step": 14792, "training_step_time": 17.662423372268677 }, { "epoch": 1.4107704162597657e-06, "model_forward_time": 5.088110685348511, "step": 14793 }, { "epoch": 1.4107704162597657e-06, "step": 14793, "training_step_time": 17.843403816223145 }, { "epoch": 1.4108657836914063e-06, "model_forward_time": 5.08451771736145, "step": 14794 }, { "epoch": 1.4108657836914063e-06, "step": 14794, "training_step_time": 17.37346911430359 }, { "epoch": 1.410961151123047e-06, "model_forward_time": 5.084900617599487, "step": 14795 }, { "epoch": 1.410961151123047e-06, "step": 14795, "training_step_time": 17.54067039489746 }, { "epoch": 1.4110565185546875e-06, "model_forward_time": 5.0883190631866455, "step": 14796 }, { "epoch": 1.4110565185546875e-06, "step": 14796, "training_step_time": 17.576430559158325 }, { "epoch": 1.4111518859863281e-06, "model_forward_time": 5.092186450958252, "step": 14797 }, { "epoch": 1.4111518859863281e-06, "step": 14797, "training_step_time": 17.60905361175537 }, { "epoch": 1.4112472534179688e-06, "model_forward_time": 5.107680559158325, "step": 14798 }, { "epoch": 1.4112472534179688e-06, "step": 14798, "training_step_time": 17.864057302474976 }, { "epoch": 1.4113426208496094e-06, "model_forward_time": 5.100788354873657, "step": 14799 }, { "epoch": 1.4113426208496094e-06, "step": 14799, "training_step_time": 17.619823932647705 }, { "epoch": 1.41143798828125e-06, "grad_norm": 1.8660153150558472, "learning_rate": 9.30443140607656e-06, "loss": 0.1059, "step": 14800 }, { "epoch": 1.41143798828125e-06, "model_forward_time": 5.1084606647491455, "step": 14800 }, { "dynamics_loss_avg": 0.06034062709659338, "epoch": 1.41143798828125e-06, "step": 14800 }, { "action_loss_avg": 0.04078238271176815, "epoch": 1.41143798828125e-06, "step": 14800 }, { "arm_loss_avg": 0.06843557134270668, "epoch": 1.41143798828125e-06, "step": 14800 }, { "ee_loss_avg": 0.061025877203792336, "epoch": 1.41143798828125e-06, "step": 14800 }, { "aux_loss_avg": 0.0012021814764011651, "epoch": 1.41143798828125e-06, "step": 14800 }, { "epoch": 1.41143798828125e-06, "step": 14800, "training_step_time": 17.619896411895752 }, { "epoch": 1.4115333557128906e-06, "model_forward_time": 5.085478782653809, "step": 14801 }, { "epoch": 1.4115333557128906e-06, "step": 14801, "training_step_time": 17.707213401794434 }, { "epoch": 1.4116287231445312e-06, "model_forward_time": 5.081553220748901, "step": 14802 }, { "epoch": 1.4116287231445312e-06, "step": 14802, "training_step_time": 17.58088994026184 }, { "epoch": 1.4117240905761718e-06, "model_forward_time": 5.084670305252075, "step": 14803 }, { "epoch": 1.4117240905761718e-06, "step": 14803, "training_step_time": 17.770634174346924 }, { "epoch": 1.4118194580078124e-06, "model_forward_time": 5.0850911140441895, "step": 14804 }, { "epoch": 1.4118194580078124e-06, "step": 14804, "training_step_time": 17.575763940811157 }, { "epoch": 1.411914825439453e-06, "model_forward_time": 5.082141637802124, "step": 14805 }, { "epoch": 1.411914825439453e-06, "step": 14805, "training_step_time": 17.58211398124695 }, { "epoch": 1.4120101928710937e-06, "model_forward_time": 5.085489511489868, "step": 14806 }, { "epoch": 1.4120101928710937e-06, "step": 14806, "training_step_time": 17.384392261505127 }, { "epoch": 1.4121055603027343e-06, "model_forward_time": 5.085180997848511, "step": 14807 }, { "epoch": 1.4121055603027343e-06, "step": 14807, "training_step_time": 17.49112820625305 }, { "epoch": 1.412200927734375e-06, "model_forward_time": 5.08376932144165, "step": 14808 }, { "epoch": 1.412200927734375e-06, "step": 14808, "training_step_time": 17.599080085754395 }, { "epoch": 1.4122962951660157e-06, "model_forward_time": 5.083619117736816, "step": 14809 }, { "epoch": 1.4122962951660157e-06, "step": 14809, "training_step_time": 17.472978830337524 }, { "epoch": 1.4123916625976563e-06, "grad_norm": 1.6906940937042236, "learning_rate": 9.303229095543987e-06, "loss": 0.1081, "step": 14810 }, { "epoch": 1.4123916625976563e-06, "model_forward_time": 5.086858034133911, "step": 14810 }, { "dynamics_loss_avg": 0.053805894963443276, "epoch": 1.4123916625976563e-06, "step": 14810 }, { "action_loss_avg": 0.03773498460650444, "epoch": 1.4123916625976563e-06, "step": 14810 }, { "arm_loss_avg": 0.0868656536564231, "epoch": 1.4123916625976563e-06, "step": 14810 }, { "ee_loss_avg": 0.0752982028760016, "epoch": 1.4123916625976563e-06, "step": 14810 }, { "aux_loss_avg": 0.0016440502600744366, "epoch": 1.4123916625976563e-06, "step": 14810 }, { "epoch": 1.4123916625976563e-06, "step": 14810, "training_step_time": 17.53724765777588 }, { "epoch": 1.412487030029297e-06, "model_forward_time": 5.083627700805664, "step": 14811 }, { "epoch": 1.412487030029297e-06, "step": 14811, "training_step_time": 17.566823720932007 }, { "epoch": 1.4125823974609376e-06, "model_forward_time": 5.284549951553345, "step": 14812 }, { "epoch": 1.4125823974609376e-06, "step": 14812, "training_step_time": 17.605252027511597 }, { "epoch": 1.4126777648925782e-06, "model_forward_time": 5.088142395019531, "step": 14813 }, { "epoch": 1.4126777648925782e-06, "step": 14813, "training_step_time": 17.809171438217163 }, { "epoch": 1.4127731323242188e-06, "model_forward_time": 5.085232973098755, "step": 14814 }, { "epoch": 1.4127731323242188e-06, "step": 14814, "training_step_time": 17.62266778945923 }, { "epoch": 1.4128684997558594e-06, "model_forward_time": 5.083198308944702, "step": 14815 }, { "epoch": 1.4128684997558594e-06, "step": 14815, "training_step_time": 17.626590251922607 }, { "epoch": 1.4129638671875e-06, "model_forward_time": 3.848098039627075, "step": 14816 }, { "epoch": 1.4129638671875e-06, "step": 14816, "training_step_time": 17.613718271255493 }, { "epoch": 1.4130592346191406e-06, "model_forward_time": 5.062371492385864, "step": 14817 }, { "epoch": 1.4130592346191406e-06, "step": 14817, "training_step_time": 17.616012573242188 }, { "epoch": 1.4131546020507813e-06, "model_forward_time": 5.302323579788208, "step": 14818 }, { "epoch": 1.4131546020507813e-06, "step": 14818, "training_step_time": 17.84663701057434 }, { "epoch": 1.4132499694824219e-06, "model_forward_time": 5.08281683921814, "step": 14819 }, { "epoch": 1.4132499694824219e-06, "step": 14819, "training_step_time": 17.607216358184814 }, { "epoch": 1.4133453369140625e-06, "grad_norm": 3.096876859664917, "learning_rate": 9.302025824614149e-06, "loss": 0.1066, "step": 14820 }, { "epoch": 1.4133453369140625e-06, "model_forward_time": 5.092545747756958, "step": 14820 }, { "dynamics_loss_avg": 0.04604610111564398, "epoch": 1.4133453369140625e-06, "step": 14820 }, { "action_loss_avg": 0.047603306174278257, "epoch": 1.4133453369140625e-06, "step": 14820 }, { "arm_loss_avg": 0.10077537894248963, "epoch": 1.4133453369140625e-06, "step": 14820 }, { "ee_loss_avg": 0.09604888707399369, "epoch": 1.4133453369140625e-06, "step": 14820 }, { "aux_loss_avg": 0.013193019182654097, "epoch": 1.4133453369140625e-06, "step": 14820 }, { "epoch": 1.4133453369140625e-06, "step": 14820, "training_step_time": 17.604758977890015 }, { "epoch": 1.413440704345703e-06, "model_forward_time": 5.0978734493255615, "step": 14821 }, { "epoch": 1.413440704345703e-06, "step": 14821, "training_step_time": 17.599363088607788 }, { "epoch": 1.4135360717773437e-06, "model_forward_time": 5.099285364151001, "step": 14822 }, { "epoch": 1.4135360717773437e-06, "step": 14822, "training_step_time": 17.81285524368286 }, { "epoch": 1.4136314392089843e-06, "model_forward_time": 4.111905813217163, "step": 14823 }, { "epoch": 1.4136314392089843e-06, "step": 14823, "training_step_time": 17.58982801437378 }, { "epoch": 1.413726806640625e-06, "model_forward_time": 5.069998502731323, "step": 14824 }, { "epoch": 1.413726806640625e-06, "step": 14824, "training_step_time": 17.59869122505188 }, { "epoch": 1.4138221740722656e-06, "model_forward_time": 5.078531742095947, "step": 14825 }, { "epoch": 1.4138221740722656e-06, "step": 14825, "training_step_time": 17.609004259109497 }, { "epoch": 1.4139175415039062e-06, "model_forward_time": 3.8519885540008545, "step": 14826 }, { "epoch": 1.4139175415039062e-06, "step": 14826, "training_step_time": 17.592318534851074 }, { "epoch": 1.4140129089355468e-06, "model_forward_time": 5.067245960235596, "step": 14827 }, { "epoch": 1.4140129089355468e-06, "step": 14827, "training_step_time": 17.835636138916016 }, { "epoch": 1.4141082763671874e-06, "model_forward_time": 5.306652784347534, "step": 14828 }, { "epoch": 1.4141082763671874e-06, "step": 14828, "training_step_time": 17.644670009613037 }, { "epoch": 1.4142036437988282e-06, "model_forward_time": 5.0903098583221436, "step": 14829 }, { "epoch": 1.4142036437988282e-06, "step": 14829, "training_step_time": 17.60335397720337 }, { "epoch": 1.4142990112304688e-06, "grad_norm": 1.2730345726013184, "learning_rate": 9.300821593555593e-06, "loss": 0.1022, "step": 14830 }, { "epoch": 1.4142990112304688e-06, "model_forward_time": 3.863518476486206, "step": 14830 }, { "dynamics_loss_avg": 0.035332359839230776, "epoch": 1.4142990112304688e-06, "step": 14830 }, { "action_loss_avg": 0.05783027913421392, "epoch": 1.4142990112304688e-06, "step": 14830 }, { "arm_loss_avg": 0.08085513897240162, "epoch": 1.4142990112304688e-06, "step": 14830 }, { "ee_loss_avg": 0.11163669601082801, "epoch": 1.4142990112304688e-06, "step": 14830 }, { "aux_loss_avg": 0.0009919330303091555, "epoch": 1.4142990112304688e-06, "step": 14830 }, { "epoch": 1.4142990112304688e-06, "step": 14830, "training_step_time": 17.595563650131226 }, { "epoch": 1.4143943786621095e-06, "model_forward_time": 5.073277950286865, "step": 14831 }, { "epoch": 1.4143943786621095e-06, "step": 14831, "training_step_time": 17.603841066360474 }, { "epoch": 1.41448974609375e-06, "model_forward_time": 5.090444564819336, "step": 14832 }, { "epoch": 1.41448974609375e-06, "step": 14832, "training_step_time": 17.792227506637573 }, { "epoch": 1.4145851135253907e-06, "model_forward_time": 5.278461694717407, "step": 14833 }, { "epoch": 1.4145851135253907e-06, "step": 14833, "training_step_time": 17.416117668151855 }, { "epoch": 1.4146804809570313e-06, "model_forward_time": 5.105869770050049, "step": 14834 }, { "epoch": 1.4146804809570313e-06, "step": 14834, "training_step_time": 17.627870798110962 }, { "epoch": 1.414775848388672e-06, "model_forward_time": 5.101603746414185, "step": 14835 }, { "epoch": 1.414775848388672e-06, "step": 14835, "training_step_time": 17.53697896003723 }, { "epoch": 1.4148712158203125e-06, "model_forward_time": 5.101452112197876, "step": 14836 }, { "epoch": 1.4148712158203125e-06, "step": 14836, "training_step_time": 17.568070888519287 }, { "epoch": 1.4149665832519531e-06, "model_forward_time": 5.100955486297607, "step": 14837 }, { "epoch": 1.4149665832519531e-06, "step": 14837, "training_step_time": 17.59074330329895 }, { "epoch": 1.4150619506835938e-06, "model_forward_time": 5.327498912811279, "step": 14838 }, { "epoch": 1.4150619506835938e-06, "step": 14838, "training_step_time": 17.839134216308594 }, { "epoch": 1.4151573181152344e-06, "model_forward_time": 5.091365814208984, "step": 14839 }, { "epoch": 1.4151573181152344e-06, "step": 14839, "training_step_time": 17.62562370300293 }, { "epoch": 1.415252685546875e-06, "grad_norm": 1.8852148056030273, "learning_rate": 9.299616402637081e-06, "loss": 0.1077, "step": 14840 }, { "epoch": 1.415252685546875e-06, "model_forward_time": 3.8557374477386475, "step": 14840 }, { "dynamics_loss_avg": 0.0503579331561923, "epoch": 1.415252685546875e-06, "step": 14840 }, { "action_loss_avg": 0.0423051917925477, "epoch": 1.415252685546875e-06, "step": 14840 }, { "arm_loss_avg": 0.09132731407880783, "epoch": 1.415252685546875e-06, "step": 14840 }, { "ee_loss_avg": 0.07967952843755484, "epoch": 1.415252685546875e-06, "step": 14840 }, { "aux_loss_avg": 0.011880900053074583, "epoch": 1.415252685546875e-06, "step": 14840 }, { "epoch": 1.415252685546875e-06, "step": 14840, "training_step_time": 17.628926038742065 }, { "epoch": 1.4153480529785156e-06, "model_forward_time": 3.833418130874634, "step": 14841 }, { "epoch": 1.4153480529785156e-06, "step": 14841, "training_step_time": 17.62968873977661 }, { "epoch": 1.4154434204101562e-06, "model_forward_time": 5.0540289878845215, "step": 14842 }, { "epoch": 1.4154434204101562e-06, "step": 14842, "training_step_time": 17.63097858428955 }, { "epoch": 1.4155387878417968e-06, "model_forward_time": 5.255282878875732, "step": 14843 }, { "epoch": 1.4155387878417968e-06, "step": 14843, "training_step_time": 17.810115098953247 }, { "epoch": 1.4156341552734374e-06, "model_forward_time": 5.0844385623931885, "step": 14844 }, { "epoch": 1.4156341552734374e-06, "step": 14844, "training_step_time": 17.592675924301147 }, { "epoch": 1.415729522705078e-06, "model_forward_time": 5.098507881164551, "step": 14845 }, { "epoch": 1.415729522705078e-06, "step": 14845, "training_step_time": 17.606383085250854 }, { "epoch": 1.4158248901367187e-06, "model_forward_time": 5.108622789382935, "step": 14846 }, { "epoch": 1.4158248901367187e-06, "step": 14846, "training_step_time": 17.587900638580322 }, { "epoch": 1.4159202575683593e-06, "model_forward_time": 5.115224599838257, "step": 14847 }, { "epoch": 1.4159202575683593e-06, "step": 14847, "training_step_time": 17.813438653945923 }, { "epoch": 1.416015625e-06, "model_forward_time": 5.34878396987915, "step": 14848 }, { "epoch": 1.416015625e-06, "step": 14848, "training_step_time": 17.589396715164185 }, { "epoch": 1.4161109924316407e-06, "model_forward_time": 5.112062215805054, "step": 14849 }, { "epoch": 1.4161109924316407e-06, "step": 14849, "training_step_time": 17.274758100509644 }, { "epoch": 1.4162063598632813e-06, "grad_norm": 1.6106626987457275, "learning_rate": 9.298410252127588e-06, "loss": 0.1072, "step": 14850 }, { "epoch": 1.4162063598632813e-06, "model_forward_time": 5.10528302192688, "step": 14850 }, { "dynamics_loss_avg": 0.05842103771865368, "epoch": 1.4162063598632813e-06, "step": 14850 }, { "action_loss_avg": 0.045581922959536315, "epoch": 1.4162063598632813e-06, "step": 14850 }, { "arm_loss_avg": 0.06157440505921841, "epoch": 1.4162063598632813e-06, "step": 14850 }, { "ee_loss_avg": 0.066160121653229, "epoch": 1.4162063598632813e-06, "step": 14850 }, { "aux_loss_avg": 0.0006893350597238168, "epoch": 1.4162063598632813e-06, "step": 14850 }, { "epoch": 1.4162063598632813e-06, "step": 14850, "training_step_time": 17.517693758010864 }, { "epoch": 1.416301727294922e-06, "model_forward_time": 5.098934888839722, "step": 14851 }, { "epoch": 1.416301727294922e-06, "step": 14851, "training_step_time": 17.543995141983032 }, { "epoch": 1.4163970947265626e-06, "model_forward_time": 5.096446514129639, "step": 14852 }, { "epoch": 1.4163970947265626e-06, "step": 14852, "training_step_time": 17.8104031085968 }, { "epoch": 1.4164924621582032e-06, "model_forward_time": 5.284801244735718, "step": 14853 }, { "epoch": 1.4164924621582032e-06, "step": 14853, "training_step_time": 17.598012447357178 }, { "epoch": 1.4165878295898438e-06, "model_forward_time": 5.087498188018799, "step": 14854 }, { "epoch": 1.4165878295898438e-06, "step": 14854, "training_step_time": 17.632673740386963 }, { "epoch": 1.4166831970214844e-06, "model_forward_time": 5.090953588485718, "step": 14855 }, { "epoch": 1.4166831970214844e-06, "step": 14855, "training_step_time": 17.541369438171387 }, { "epoch": 1.416778564453125e-06, "model_forward_time": 3.8553273677825928, "step": 14856 }, { "epoch": 1.416778564453125e-06, "step": 14856, "training_step_time": 17.587136030197144 }, { "epoch": 1.4168739318847656e-06, "model_forward_time": 5.067346572875977, "step": 14857 }, { "epoch": 1.4168739318847656e-06, "step": 14857, "training_step_time": 17.618208408355713 }, { "epoch": 1.4169692993164063e-06, "model_forward_time": 5.3205249309539795, "step": 14858 }, { "epoch": 1.4169692993164063e-06, "step": 14858, "training_step_time": 17.861298084259033 }, { "epoch": 1.4170646667480469e-06, "model_forward_time": 5.085806131362915, "step": 14859 }, { "epoch": 1.4170646667480469e-06, "step": 14859, "training_step_time": 17.639554262161255 }, { "epoch": 1.4171600341796875e-06, "grad_norm": 1.85196053981781, "learning_rate": 9.2972031422963e-06, "loss": 0.1081, "step": 14860 }, { "epoch": 1.4171600341796875e-06, "model_forward_time": 5.0941832065582275, "step": 14860 }, { "dynamics_loss_avg": 0.0548419089987874, "epoch": 1.4171600341796875e-06, "step": 14860 }, { "action_loss_avg": 0.050994055718183516, "epoch": 1.4171600341796875e-06, "step": 14860 }, { "arm_loss_avg": 0.07592641692608595, "epoch": 1.4171600341796875e-06, "step": 14860 }, { "ee_loss_avg": 0.08470059223473073, "epoch": 1.4171600341796875e-06, "step": 14860 }, { "aux_loss_avg": 0.00074685336148832, "epoch": 1.4171600341796875e-06, "step": 14860 }, { "epoch": 1.4171600341796875e-06, "step": 14860, "training_step_time": 17.633289575576782 }, { "epoch": 1.417255401611328e-06, "model_forward_time": 5.098619222640991, "step": 14861 }, { "epoch": 1.417255401611328e-06, "step": 14861, "training_step_time": 17.62524104118347 }, { "epoch": 1.4173507690429687e-06, "model_forward_time": 5.104313850402832, "step": 14862 }, { "epoch": 1.4173507690429687e-06, "step": 14862, "training_step_time": 17.46867299079895 }, { "epoch": 1.4174461364746093e-06, "model_forward_time": 5.298037528991699, "step": 14863 }, { "epoch": 1.4174461364746093e-06, "step": 14863, "training_step_time": 17.714036464691162 }, { "epoch": 1.41754150390625e-06, "model_forward_time": 5.102717161178589, "step": 14864 }, { "epoch": 1.41754150390625e-06, "step": 14864, "training_step_time": 17.557032585144043 }, { "epoch": 1.4176368713378906e-06, "model_forward_time": 5.098185062408447, "step": 14865 }, { "epoch": 1.4176368713378906e-06, "step": 14865, "training_step_time": 17.37261962890625 }, { "epoch": 1.4177322387695312e-06, "model_forward_time": 5.094440698623657, "step": 14866 }, { "epoch": 1.4177322387695312e-06, "step": 14866, "training_step_time": 17.504422187805176 }, { "epoch": 1.4178276062011718e-06, "model_forward_time": 5.09135103225708, "step": 14867 }, { "epoch": 1.4178276062011718e-06, "step": 14867, "training_step_time": 17.54707407951355 }, { "epoch": 1.4179229736328124e-06, "model_forward_time": 5.32840895652771, "step": 14868 }, { "epoch": 1.4179229736328124e-06, "step": 14868, "training_step_time": 17.809679985046387 }, { "epoch": 1.4180183410644532e-06, "model_forward_time": 5.079519748687744, "step": 14869 }, { "epoch": 1.4180183410644532e-06, "step": 14869, "training_step_time": 17.58846688270569 }, { "epoch": 1.4181137084960938e-06, "grad_norm": 1.0715100765228271, "learning_rate": 9.295995073412625e-06, "loss": 0.1021, "step": 14870 }, { "epoch": 1.4181137084960938e-06, "model_forward_time": 5.078487396240234, "step": 14870 }, { "dynamics_loss_avg": 0.044615907967090605, "epoch": 1.4181137084960938e-06, "step": 14870 }, { "action_loss_avg": 0.03826316352933645, "epoch": 1.4181137084960938e-06, "step": 14870 }, { "arm_loss_avg": 0.06386397406458855, "epoch": 1.4181137084960938e-06, "step": 14870 }, { "ee_loss_avg": 0.07143024764955044, "epoch": 1.4181137084960938e-06, "step": 14870 }, { "aux_loss_avg": 0.0009419389854883776, "epoch": 1.4181137084960938e-06, "step": 14870 }, { "epoch": 1.4181137084960938e-06, "step": 14870, "training_step_time": 17.598161935806274 }, { "epoch": 1.4182090759277345e-06, "model_forward_time": 5.0779948234558105, "step": 14871 }, { "epoch": 1.4182090759277345e-06, "step": 14871, "training_step_time": 17.599420070648193 }, { "epoch": 1.418304443359375e-06, "model_forward_time": 3.8444957733154297, "step": 14872 }, { "epoch": 1.418304443359375e-06, "step": 14872, "training_step_time": 17.60601830482483 }, { "epoch": 1.4183998107910157e-06, "model_forward_time": 5.062990665435791, "step": 14873 }, { "epoch": 1.4183998107910157e-06, "step": 14873, "training_step_time": 17.795341730117798 }, { "epoch": 1.4184951782226563e-06, "model_forward_time": 5.073564291000366, "step": 14874 }, { "epoch": 1.4184951782226563e-06, "step": 14874, "training_step_time": 17.60722064971924 }, { "epoch": 1.418590545654297e-06, "model_forward_time": 3.843367099761963, "step": 14875 }, { "epoch": 1.418590545654297e-06, "step": 14875, "training_step_time": 17.573632955551147 }, { "epoch": 1.4186859130859375e-06, "model_forward_time": 5.056535243988037, "step": 14876 }, { "epoch": 1.4186859130859375e-06, "step": 14876, "training_step_time": 17.573221445083618 }, { "epoch": 1.4187812805175781e-06, "model_forward_time": 5.076740741729736, "step": 14877 }, { "epoch": 1.4187812805175781e-06, "step": 14877, "training_step_time": 17.56237483024597 }, { "epoch": 1.4188766479492188e-06, "model_forward_time": 5.0914223194122314, "step": 14878 }, { "epoch": 1.4188766479492188e-06, "step": 14878, "training_step_time": 17.800744771957397 }, { "epoch": 1.4189720153808594e-06, "model_forward_time": 5.100392580032349, "step": 14879 }, { "epoch": 1.4189720153808594e-06, "step": 14879, "training_step_time": 17.560368299484253 }, { "epoch": 1.4190673828125e-06, "grad_norm": 1.7024070024490356, "learning_rate": 9.29478604574618e-06, "loss": 0.1033, "step": 14880 }, { "epoch": 1.4190673828125e-06, "model_forward_time": 3.8616530895233154, "step": 14880 }, { "dynamics_loss_avg": 0.04615976484492421, "epoch": 1.4190673828125e-06, "step": 14880 }, { "action_loss_avg": 0.05440073795616627, "epoch": 1.4190673828125e-06, "step": 14880 }, { "arm_loss_avg": 0.09010684806853533, "epoch": 1.4190673828125e-06, "step": 14880 }, { "ee_loss_avg": 0.15029731718823314, "epoch": 1.4190673828125e-06, "step": 14880 }, { "aux_loss_avg": 0.004797406250145286, "epoch": 1.4190673828125e-06, "step": 14880 }, { "epoch": 1.4190673828125e-06, "step": 14880, "training_step_time": 17.37311315536499 }, { "epoch": 1.4191627502441406e-06, "model_forward_time": 5.0758843421936035, "step": 14881 }, { "epoch": 1.4191627502441406e-06, "step": 14881, "training_step_time": 17.49568462371826 }, { "epoch": 1.4192581176757812e-06, "model_forward_time": 5.090220212936401, "step": 14882 }, { "epoch": 1.4192581176757812e-06, "step": 14882, "training_step_time": 17.5288245677948 }, { "epoch": 1.4193534851074218e-06, "model_forward_time": 5.094679117202759, "step": 14883 }, { "epoch": 1.4193534851074218e-06, "step": 14883, "training_step_time": 17.762442111968994 }, { "epoch": 1.4194488525390624e-06, "model_forward_time": 5.315026521682739, "step": 14884 }, { "epoch": 1.4194488525390624e-06, "step": 14884, "training_step_time": 17.444872856140137 }, { "epoch": 1.419544219970703e-06, "model_forward_time": 5.096267461776733, "step": 14885 }, { "epoch": 1.419544219970703e-06, "step": 14885, "training_step_time": 17.526271104812622 }, { "epoch": 1.4196395874023437e-06, "model_forward_time": 5.099483966827393, "step": 14886 }, { "epoch": 1.4196395874023437e-06, "step": 14886, "training_step_time": 17.58451199531555 }, { "epoch": 1.4197349548339843e-06, "model_forward_time": 5.093511343002319, "step": 14887 }, { "epoch": 1.4197349548339843e-06, "step": 14887, "training_step_time": 17.61243987083435 }, { "epoch": 1.419830322265625e-06, "model_forward_time": 5.092182874679565, "step": 14888 }, { "epoch": 1.419830322265625e-06, "step": 14888, "training_step_time": 17.8764066696167 }, { "epoch": 1.4199256896972655e-06, "model_forward_time": 5.091912031173706, "step": 14889 }, { "epoch": 1.4199256896972655e-06, "step": 14889, "training_step_time": 17.649080276489258 }, { "epoch": 1.4200210571289063e-06, "grad_norm": 1.7927945852279663, "learning_rate": 9.293576059566795e-06, "loss": 0.1132, "step": 14890 }, { "epoch": 1.4200210571289063e-06, "model_forward_time": 5.096101760864258, "step": 14890 }, { "dynamics_loss_avg": 0.06314790192991496, "epoch": 1.4200210571289063e-06, "step": 14890 }, { "action_loss_avg": 0.05030281152576208, "epoch": 1.4200210571289063e-06, "step": 14890 }, { "arm_loss_avg": 0.08915943503379822, "epoch": 1.4200210571289063e-06, "step": 14890 }, { "ee_loss_avg": 0.12434574346989394, "epoch": 1.4200210571289063e-06, "step": 14890 }, { "aux_loss_avg": 0.007958276325371116, "epoch": 1.4200210571289063e-06, "step": 14890 }, { "epoch": 1.4200210571289063e-06, "step": 14890, "training_step_time": 17.643033027648926 }, { "epoch": 1.420116424560547e-06, "model_forward_time": 5.09373664855957, "step": 14891 }, { "epoch": 1.420116424560547e-06, "step": 14891, "training_step_time": 17.640371322631836 }, { "epoch": 1.4202117919921876e-06, "model_forward_time": 5.089200496673584, "step": 14892 }, { "epoch": 1.4202117919921876e-06, "step": 14892, "training_step_time": 17.86007285118103 }, { "epoch": 1.4203071594238282e-06, "model_forward_time": 5.284698247909546, "step": 14893 }, { "epoch": 1.4203071594238282e-06, "step": 14893, "training_step_time": 17.620127201080322 }, { "epoch": 1.4204025268554688e-06, "model_forward_time": 5.086062431335449, "step": 14894 }, { "epoch": 1.4204025268554688e-06, "step": 14894, "training_step_time": 17.62359356880188 }, { "epoch": 1.4204978942871094e-06, "model_forward_time": 5.089831352233887, "step": 14895 }, { "epoch": 1.4204978942871094e-06, "step": 14895, "training_step_time": 17.617284774780273 }, { "epoch": 1.42059326171875e-06, "model_forward_time": 5.0904858112335205, "step": 14896 }, { "epoch": 1.42059326171875e-06, "step": 14896, "training_step_time": 17.603480339050293 }, { "epoch": 1.4206886291503906e-06, "model_forward_time": 5.088104248046875, "step": 14897 }, { "epoch": 1.4206886291503906e-06, "step": 14897, "training_step_time": 17.39818048477173 }, { "epoch": 1.4207839965820313e-06, "model_forward_time": 5.092171907424927, "step": 14898 }, { "epoch": 1.4207839965820313e-06, "step": 14898, "training_step_time": 17.75397229194641 }, { "epoch": 1.4208793640136719e-06, "model_forward_time": 5.089884996414185, "step": 14899 }, { "epoch": 1.4208793640136719e-06, "step": 14899, "training_step_time": 17.54105544090271 }, { "epoch": 1.4209747314453125e-06, "grad_norm": 1.1604089736938477, "learning_rate": 9.292365115144516e-06, "loss": 0.1106, "step": 14900 }, { "epoch": 1.4209747314453125e-06, "model_forward_time": 5.091665744781494, "step": 14900 }, { "dynamics_loss_avg": 0.045391150563955304, "epoch": 1.4209747314453125e-06, "step": 14900 }, { "action_loss_avg": 0.04253633711487055, "epoch": 1.4209747314453125e-06, "step": 14900 }, { "arm_loss_avg": 0.07159177586436272, "epoch": 1.4209747314453125e-06, "step": 14900 }, { "ee_loss_avg": 0.08811121638864279, "epoch": 1.4209747314453125e-06, "step": 14900 }, { "aux_loss_avg": 0.0010552107472904027, "epoch": 1.4209747314453125e-06, "step": 14900 }, { "epoch": 1.4209747314453125e-06, "step": 14900, "training_step_time": 17.570800065994263 }, { "epoch": 1.4210700988769531e-06, "model_forward_time": 5.087409734725952, "step": 14901 }, { "epoch": 1.4210700988769531e-06, "step": 14901, "training_step_time": 17.59710144996643 }, { "epoch": 1.4211654663085937e-06, "model_forward_time": 5.090773820877075, "step": 14902 }, { "epoch": 1.4211654663085937e-06, "step": 14902, "training_step_time": 17.831721782684326 }, { "epoch": 1.4212608337402343e-06, "model_forward_time": 5.089242696762085, "step": 14903 }, { "epoch": 1.4212608337402343e-06, "step": 14903, "training_step_time": 17.626846313476562 }, { "epoch": 1.421356201171875e-06, "model_forward_time": 5.09204626083374, "step": 14904 }, { "epoch": 1.421356201171875e-06, "step": 14904, "training_step_time": 17.623035430908203 }, { "epoch": 1.4214515686035156e-06, "model_forward_time": 5.08889365196228, "step": 14905 }, { "epoch": 1.4214515686035156e-06, "step": 14905, "training_step_time": 17.619556188583374 }, { "epoch": 1.4215469360351562e-06, "model_forward_time": 5.090893507003784, "step": 14906 }, { "epoch": 1.4215469360351562e-06, "step": 14906, "training_step_time": 17.422662019729614 }, { "epoch": 1.4216423034667968e-06, "model_forward_time": 5.093132495880127, "step": 14907 }, { "epoch": 1.4216423034667968e-06, "step": 14907, "training_step_time": 17.527645111083984 }, { "epoch": 1.4217376708984374e-06, "model_forward_time": 5.091871976852417, "step": 14908 }, { "epoch": 1.4217376708984374e-06, "step": 14908, "training_step_time": 17.80471420288086 }, { "epoch": 1.421833038330078e-06, "model_forward_time": 5.091222763061523, "step": 14909 }, { "epoch": 1.421833038330078e-06, "step": 14909, "training_step_time": 17.589184761047363 }, { "epoch": 1.4219284057617188e-06, "grad_norm": 1.1565659046173096, "learning_rate": 9.291153212749602e-06, "loss": 0.1057, "step": 14910 }, { "epoch": 1.4219284057617188e-06, "model_forward_time": 5.08965277671814, "step": 14910 }, { "dynamics_loss_avg": 0.04373552212491631, "epoch": 1.4219284057617188e-06, "step": 14910 }, { "action_loss_avg": 0.043273895233869555, "epoch": 1.4219284057617188e-06, "step": 14910 }, { "arm_loss_avg": 0.07790466398000717, "epoch": 1.4219284057617188e-06, "step": 14910 }, { "ee_loss_avg": 0.09019256718456745, "epoch": 1.4219284057617188e-06, "step": 14910 }, { "aux_loss_avg": 0.0019221451017074286, "epoch": 1.4219284057617188e-06, "step": 14910 }, { "epoch": 1.4219284057617188e-06, "step": 14910, "training_step_time": 17.605881452560425 }, { "epoch": 1.4220237731933595e-06, "model_forward_time": 5.090860366821289, "step": 14911 }, { "epoch": 1.4220237731933595e-06, "step": 14911, "training_step_time": 17.620989084243774 }, { "epoch": 1.422119140625e-06, "model_forward_time": 3.8504748344421387, "step": 14912 }, { "epoch": 1.422119140625e-06, "step": 14912, "training_step_time": 17.85138750076294 }, { "epoch": 1.4222145080566407e-06, "model_forward_time": 5.060874938964844, "step": 14913 }, { "epoch": 1.4222145080566407e-06, "step": 14913, "training_step_time": 17.63387417793274 }, { "epoch": 1.4223098754882813e-06, "model_forward_time": 5.07377815246582, "step": 14914 }, { "epoch": 1.4223098754882813e-06, "step": 14914, "training_step_time": 17.623366355895996 }, { "epoch": 1.422405242919922e-06, "model_forward_time": 5.084746360778809, "step": 14915 }, { "epoch": 1.422405242919922e-06, "step": 14915, "training_step_time": 17.6264488697052 }, { "epoch": 1.4225006103515625e-06, "model_forward_time": 3.8610684871673584, "step": 14916 }, { "epoch": 1.4225006103515625e-06, "step": 14916, "training_step_time": 17.64438223838806 }, { "epoch": 1.4225959777832031e-06, "model_forward_time": 5.080329418182373, "step": 14917 }, { "epoch": 1.4225959777832031e-06, "step": 14917, "training_step_time": 17.882230281829834 }, { "epoch": 1.4226913452148438e-06, "model_forward_time": 5.0988287925720215, "step": 14918 }, { "epoch": 1.4226913452148438e-06, "step": 14918, "training_step_time": 17.629403114318848 }, { "epoch": 1.4227867126464844e-06, "model_forward_time": 4.10291051864624, "step": 14919 }, { "epoch": 1.4227867126464844e-06, "step": 14919, "training_step_time": 17.670291662216187 }, { "epoch": 1.422882080078125e-06, "grad_norm": 1.2697350978851318, "learning_rate": 9.289940352652525e-06, "loss": 0.1071, "step": 14920 }, { "epoch": 1.422882080078125e-06, "model_forward_time": 5.06644344329834, "step": 14920 }, { "dynamics_loss_avg": 0.055328670609742406, "epoch": 1.422882080078125e-06, "step": 14920 }, { "action_loss_avg": 0.0447483504191041, "epoch": 1.422882080078125e-06, "step": 14920 }, { "arm_loss_avg": 0.06416356991976499, "epoch": 1.422882080078125e-06, "step": 14920 }, { "ee_loss_avg": 0.08644679207354784, "epoch": 1.422882080078125e-06, "step": 14920 }, { "aux_loss_avg": 0.0020082386618014425, "epoch": 1.422882080078125e-06, "step": 14920 }, { "epoch": 1.422882080078125e-06, "step": 14920, "training_step_time": 17.581969261169434 }, { "epoch": 1.4229774475097656e-06, "model_forward_time": 5.087349891662598, "step": 14921 }, { "epoch": 1.4229774475097656e-06, "step": 14921, "training_step_time": 17.577274799346924 }, { "epoch": 1.4230728149414062e-06, "model_forward_time": 5.096644401550293, "step": 14922 }, { "epoch": 1.4230728149414062e-06, "step": 14922, "training_step_time": 17.81380343437195 }, { "epoch": 1.4231681823730468e-06, "model_forward_time": 5.103577136993408, "step": 14923 }, { "epoch": 1.4231681823730468e-06, "step": 14923, "training_step_time": 17.607146978378296 }, { "epoch": 1.4232635498046875e-06, "model_forward_time": 5.1075439453125, "step": 14924 }, { "epoch": 1.4232635498046875e-06, "step": 14924, "training_step_time": 17.59007239341736 }, { "epoch": 1.423358917236328e-06, "model_forward_time": 5.101205110549927, "step": 14925 }, { "epoch": 1.423358917236328e-06, "step": 14925, "training_step_time": 17.592687845230103 }, { "epoch": 1.4234542846679687e-06, "model_forward_time": 5.10292649269104, "step": 14926 }, { "epoch": 1.4234542846679687e-06, "step": 14926, "training_step_time": 17.59091877937317 }, { "epoch": 1.4235496520996093e-06, "model_forward_time": 5.096779823303223, "step": 14927 }, { "epoch": 1.4235496520996093e-06, "step": 14927, "training_step_time": 17.822083473205566 }, { "epoch": 1.42364501953125e-06, "model_forward_time": 5.087449789047241, "step": 14928 }, { "epoch": 1.42364501953125e-06, "step": 14928, "training_step_time": 17.6432843208313 }, { "epoch": 1.4237403869628905e-06, "model_forward_time": 5.0839715003967285, "step": 14929 }, { "epoch": 1.4237403869628905e-06, "step": 14929, "training_step_time": 17.60464358329773 }, { "epoch": 1.4238357543945313e-06, "grad_norm": 1.2161833047866821, "learning_rate": 9.288726535123973e-06, "loss": 0.0906, "step": 14930 }, { "epoch": 1.4238357543945313e-06, "model_forward_time": 5.082168340682983, "step": 14930 }, { "dynamics_loss_avg": 0.05116800190880895, "epoch": 1.4238357543945313e-06, "step": 14930 }, { "action_loss_avg": 0.035611876472830775, "epoch": 1.4238357543945313e-06, "step": 14930 }, { "arm_loss_avg": 0.07147167138755321, "epoch": 1.4238357543945313e-06, "step": 14930 }, { "ee_loss_avg": 0.05325922081246972, "epoch": 1.4238357543945313e-06, "step": 14930 }, { "aux_loss_avg": 0.0008311174926348031, "epoch": 1.4238357543945313e-06, "step": 14930 }, { "epoch": 1.4238357543945313e-06, "step": 14930, "training_step_time": 17.609020709991455 }, { "epoch": 1.423931121826172e-06, "model_forward_time": 5.083263397216797, "step": 14931 }, { "epoch": 1.423931121826172e-06, "step": 14931, "training_step_time": 17.600666284561157 }, { "epoch": 1.4240264892578126e-06, "model_forward_time": 5.081421613693237, "step": 14932 }, { "epoch": 1.4240264892578126e-06, "step": 14932, "training_step_time": 17.194128036499023 }, { "epoch": 1.4241218566894532e-06, "model_forward_time": 5.2861247062683105, "step": 14933 }, { "epoch": 1.4241218566894532e-06, "step": 14933, "training_step_time": 17.506261348724365 }, { "epoch": 1.4242172241210938e-06, "model_forward_time": 5.085917711257935, "step": 14934 }, { "epoch": 1.4242172241210938e-06, "step": 14934, "training_step_time": 17.534122228622437 }, { "epoch": 1.4243125915527344e-06, "model_forward_time": 5.084451198577881, "step": 14935 }, { "epoch": 1.4243125915527344e-06, "step": 14935, "training_step_time": 17.555492162704468 }, { "epoch": 1.424407958984375e-06, "model_forward_time": 3.848780393600464, "step": 14936 }, { "epoch": 1.424407958984375e-06, "step": 14936, "training_step_time": 17.565529584884644 }, { "epoch": 1.4245033264160157e-06, "model_forward_time": 5.05859112739563, "step": 14937 }, { "epoch": 1.4245033264160157e-06, "step": 14937, "training_step_time": 17.823695182800293 }, { "epoch": 1.4245986938476563e-06, "model_forward_time": 5.064367294311523, "step": 14938 }, { "epoch": 1.4245986938476563e-06, "step": 14938, "training_step_time": 17.409045934677124 }, { "epoch": 1.4246940612792969e-06, "model_forward_time": 5.32094931602478, "step": 14939 }, { "epoch": 1.4246940612792969e-06, "step": 14939, "training_step_time": 17.671202659606934 }, { "epoch": 1.4247894287109375e-06, "grad_norm": 1.417742133140564, "learning_rate": 9.287511760434849e-06, "loss": 0.0977, "step": 14940 }, { "epoch": 1.4247894287109375e-06, "model_forward_time": 5.081585168838501, "step": 14940 }, { "dynamics_loss_avg": 0.05078256316483021, "epoch": 1.4247894287109375e-06, "step": 14940 }, { "action_loss_avg": 0.05070125944912433, "epoch": 1.4247894287109375e-06, "step": 14940 }, { "arm_loss_avg": 0.08911500014364719, "epoch": 1.4247894287109375e-06, "step": 14940 }, { "ee_loss_avg": 0.08601652774959803, "epoch": 1.4247894287109375e-06, "step": 14940 }, { "aux_loss_avg": 0.0009392277046572417, "epoch": 1.4247894287109375e-06, "step": 14940 }, { "epoch": 1.4247894287109375e-06, "step": 14940, "training_step_time": 17.452419996261597 }, { "epoch": 1.4248847961425781e-06, "model_forward_time": 5.087308168411255, "step": 14941 }, { "epoch": 1.4248847961425781e-06, "step": 14941, "training_step_time": 17.51193356513977 }, { "epoch": 1.4249801635742187e-06, "model_forward_time": 5.092057466506958, "step": 14942 }, { "epoch": 1.4249801635742187e-06, "step": 14942, "training_step_time": 17.553887367248535 }, { "epoch": 1.4250755310058593e-06, "model_forward_time": 5.095249652862549, "step": 14943 }, { "epoch": 1.4250755310058593e-06, "step": 14943, "training_step_time": 17.77544593811035 }, { "epoch": 1.4251708984375e-06, "model_forward_time": 5.0937840938568115, "step": 14944 }, { "epoch": 1.4251708984375e-06, "step": 14944, "training_step_time": 17.61679434776306 }, { "epoch": 1.4252662658691406e-06, "model_forward_time": 5.090656280517578, "step": 14945 }, { "epoch": 1.4252662658691406e-06, "step": 14945, "training_step_time": 17.640071630477905 }, { "epoch": 1.4253616333007812e-06, "model_forward_time": 3.8569395542144775, "step": 14946 }, { "epoch": 1.4253616333007812e-06, "step": 14946, "training_step_time": 17.63449192047119 }, { "epoch": 1.4254570007324218e-06, "model_forward_time": 5.061260938644409, "step": 14947 }, { "epoch": 1.4254570007324218e-06, "step": 14947, "training_step_time": 17.632760286331177 }, { "epoch": 1.4255523681640624e-06, "model_forward_time": 5.069399118423462, "step": 14948 }, { "epoch": 1.4255523681640624e-06, "step": 14948, "training_step_time": 17.855698585510254 }, { "epoch": 1.425647735595703e-06, "model_forward_time": 5.306550979614258, "step": 14949 }, { "epoch": 1.425647735595703e-06, "step": 14949, "training_step_time": 17.61283302307129 }, { "epoch": 1.4257431030273439e-06, "grad_norm": 1.0128631591796875, "learning_rate": 9.286296028856263e-06, "loss": 0.0899, "step": 14950 }, { "epoch": 1.4257431030273439e-06, "model_forward_time": 5.0838587284088135, "step": 14950 }, { "dynamics_loss_avg": 0.0521817478351295, "epoch": 1.4257431030273439e-06, "step": 14950 }, { "action_loss_avg": 0.03774234177544713, "epoch": 1.4257431030273439e-06, "step": 14950 }, { "arm_loss_avg": 0.0879424825310707, "epoch": 1.4257431030273439e-06, "step": 14950 }, { "ee_loss_avg": 0.09833343513309956, "epoch": 1.4257431030273439e-06, "step": 14950 }, { "aux_loss_avg": 0.0059933039243333045, "epoch": 1.4257431030273439e-06, "step": 14950 }, { "epoch": 1.4257431030273439e-06, "step": 14950, "training_step_time": 17.594646453857422 }, { "epoch": 1.4258384704589845e-06, "model_forward_time": 5.094179391860962, "step": 14951 }, { "epoch": 1.4258384704589845e-06, "step": 14951, "training_step_time": 17.58973979949951 }, { "epoch": 1.425933837890625e-06, "model_forward_time": 5.098487615585327, "step": 14952 }, { "epoch": 1.425933837890625e-06, "step": 14952, "training_step_time": 17.81065607070923 }, { "epoch": 1.4260292053222657e-06, "model_forward_time": 3.8577287197113037, "step": 14953 }, { "epoch": 1.4260292053222657e-06, "step": 14953, "training_step_time": 17.60633397102356 }, { "epoch": 1.4261245727539063e-06, "model_forward_time": 4.026420831680298, "step": 14954 }, { "epoch": 1.4261245727539063e-06, "step": 14954, "training_step_time": 17.584298372268677 }, { "epoch": 1.426219940185547e-06, "model_forward_time": 3.8232696056365967, "step": 14955 }, { "epoch": 1.426219940185547e-06, "step": 14955, "training_step_time": 17.591583251953125 }, { "epoch": 1.4263153076171875e-06, "model_forward_time": 5.05024790763855, "step": 14956 }, { "epoch": 1.4263153076171875e-06, "step": 14956, "training_step_time": 17.603731155395508 }, { "epoch": 1.4264106750488282e-06, "model_forward_time": 5.0662689208984375, "step": 14957 }, { "epoch": 1.4264106750488282e-06, "step": 14957, "training_step_time": 17.339815378189087 }, { "epoch": 1.4265060424804688e-06, "model_forward_time": 3.85644268989563, "step": 14958 }, { "epoch": 1.4265060424804688e-06, "step": 14958, "training_step_time": 17.36710023880005 }, { "epoch": 1.4266014099121094e-06, "model_forward_time": 5.310667991638184, "step": 14959 }, { "epoch": 1.4266014099121094e-06, "step": 14959, "training_step_time": 17.63974952697754 }, { "epoch": 1.42669677734375e-06, "grad_norm": 2.475815773010254, "learning_rate": 9.285079340659546e-06, "loss": 0.1009, "step": 14960 }, { "epoch": 1.42669677734375e-06, "model_forward_time": 5.098079204559326, "step": 14960 }, { "dynamics_loss_avg": 0.04446127619594335, "epoch": 1.42669677734375e-06, "step": 14960 }, { "action_loss_avg": 0.042543409205973146, "epoch": 1.42669677734375e-06, "step": 14960 }, { "arm_loss_avg": 0.08498464226722717, "epoch": 1.42669677734375e-06, "step": 14960 }, { "ee_loss_avg": 0.10705456603318453, "epoch": 1.42669677734375e-06, "step": 14960 }, { "aux_loss_avg": 0.01688146298401989, "epoch": 1.42669677734375e-06, "step": 14960 }, { "epoch": 1.42669677734375e-06, "step": 14960, "training_step_time": 17.51824927330017 }, { "epoch": 1.4267921447753906e-06, "model_forward_time": 5.107377052307129, "step": 14961 }, { "epoch": 1.4267921447753906e-06, "step": 14961, "training_step_time": 17.561579942703247 }, { "epoch": 1.4268875122070312e-06, "model_forward_time": 5.10845160484314, "step": 14962 }, { "epoch": 1.4268875122070312e-06, "step": 14962, "training_step_time": 17.60616159439087 }, { "epoch": 1.4269828796386718e-06, "model_forward_time": 5.103167772293091, "step": 14963 }, { "epoch": 1.4269828796386718e-06, "step": 14963, "training_step_time": 17.81567120552063 }, { "epoch": 1.4270782470703125e-06, "model_forward_time": 5.2854413986206055, "step": 14964 }, { "epoch": 1.4270782470703125e-06, "step": 14964, "training_step_time": 17.645262479782104 }, { "epoch": 1.427173614501953e-06, "model_forward_time": 3.856926918029785, "step": 14965 }, { "epoch": 1.427173614501953e-06, "step": 14965, "training_step_time": 17.64588689804077 }, { "epoch": 1.4272689819335937e-06, "model_forward_time": 5.063384771347046, "step": 14966 }, { "epoch": 1.4272689819335937e-06, "step": 14966, "training_step_time": 17.659849166870117 }, { "epoch": 1.4273643493652343e-06, "model_forward_time": 3.8362512588500977, "step": 14967 }, { "epoch": 1.4273643493652343e-06, "step": 14967, "training_step_time": 17.856173276901245 }, { "epoch": 1.427459716796875e-06, "model_forward_time": 5.060432195663452, "step": 14968 }, { "epoch": 1.427459716796875e-06, "step": 14968, "training_step_time": 17.5574893951416 }, { "epoch": 1.4275550842285155e-06, "model_forward_time": 5.071295499801636, "step": 14969 }, { "epoch": 1.4275550842285155e-06, "step": 14969, "training_step_time": 17.52770161628723 }, { "epoch": 1.4276504516601564e-06, "grad_norm": 0.9581130146980286, "learning_rate": 9.283861696116236e-06, "loss": 0.0803, "step": 14970 }, { "epoch": 1.4276504516601564e-06, "model_forward_time": 5.08649754524231, "step": 14970 }, { "dynamics_loss_avg": 0.04346241010352969, "epoch": 1.4276504516601564e-06, "step": 14970 }, { "action_loss_avg": 0.0312930628657341, "epoch": 1.4276504516601564e-06, "step": 14970 }, { "arm_loss_avg": 0.048797992058098316, "epoch": 1.4276504516601564e-06, "step": 14970 }, { "ee_loss_avg": 0.05543035995215177, "epoch": 1.4276504516601564e-06, "step": 14970 }, { "aux_loss_avg": 0.0015973956818925218, "epoch": 1.4276504516601564e-06, "step": 14970 }, { "epoch": 1.4276504516601564e-06, "step": 14970, "training_step_time": 17.555949211120605 }, { "epoch": 1.427745819091797e-06, "model_forward_time": 5.099075555801392, "step": 14971 }, { "epoch": 1.427745819091797e-06, "step": 14971, "training_step_time": 17.567493438720703 }, { "epoch": 1.4278411865234376e-06, "model_forward_time": 5.107729911804199, "step": 14972 }, { "epoch": 1.4278411865234376e-06, "step": 14972, "training_step_time": 17.81142258644104 }, { "epoch": 1.4279365539550782e-06, "model_forward_time": 3.8667080402374268, "step": 14973 }, { "epoch": 1.4279365539550782e-06, "step": 14973, "training_step_time": 17.603235244750977 }, { "epoch": 1.4280319213867188e-06, "model_forward_time": 5.069119215011597, "step": 14974 }, { "epoch": 1.4280319213867188e-06, "step": 14974, "training_step_time": 17.614651203155518 }, { "epoch": 1.4281272888183594e-06, "model_forward_time": 5.2758142948150635, "step": 14975 }, { "epoch": 1.4281272888183594e-06, "step": 14975, "training_step_time": 17.605003595352173 }, { "epoch": 1.42822265625e-06, "model_forward_time": 5.086866140365601, "step": 14976 }, { "epoch": 1.42822265625e-06, "step": 14976, "training_step_time": 17.609269380569458 }, { "epoch": 1.4283180236816407e-06, "model_forward_time": 5.093532562255859, "step": 14977 }, { "epoch": 1.4283180236816407e-06, "step": 14977, "training_step_time": 17.8228497505188 }, { "epoch": 1.4284133911132813e-06, "model_forward_time": 5.095667839050293, "step": 14978 }, { "epoch": 1.4284133911132813e-06, "step": 14978, "training_step_time": 17.418042421340942 }, { "epoch": 1.4285087585449219e-06, "model_forward_time": 5.094405174255371, "step": 14979 }, { "epoch": 1.4285087585449219e-06, "step": 14979, "training_step_time": 17.680934190750122 }, { "epoch": 1.4286041259765625e-06, "grad_norm": 1.3625743389129639, "learning_rate": 9.28264309549809e-06, "loss": 0.084, "step": 14980 }, { "epoch": 1.4286041259765625e-06, "model_forward_time": 5.0966198444366455, "step": 14980 }, { "dynamics_loss_avg": 0.05037398673593998, "epoch": 1.4286041259765625e-06, "step": 14980 }, { "action_loss_avg": 0.04706384902819991, "epoch": 1.4286041259765625e-06, "step": 14980 }, { "arm_loss_avg": 0.07656734623014927, "epoch": 1.4286041259765625e-06, "step": 14980 }, { "ee_loss_avg": 0.08085035905241966, "epoch": 1.4286041259765625e-06, "step": 14980 }, { "aux_loss_avg": 0.00243730423389934, "epoch": 1.4286041259765625e-06, "step": 14980 }, { "epoch": 1.4286041259765625e-06, "step": 14980, "training_step_time": 17.55200171470642 }, { "epoch": 1.4286994934082031e-06, "model_forward_time": 5.094428539276123, "step": 14981 }, { "epoch": 1.4286994934082031e-06, "step": 14981, "training_step_time": 17.58899760246277 }, { "epoch": 1.4287948608398437e-06, "model_forward_time": 5.095340251922607, "step": 14982 }, { "epoch": 1.4287948608398437e-06, "step": 14982, "training_step_time": 17.616915941238403 }, { "epoch": 1.4288902282714843e-06, "model_forward_time": 5.090710401535034, "step": 14983 }, { "epoch": 1.4288902282714843e-06, "step": 14983, "training_step_time": 17.81863570213318 }, { "epoch": 1.428985595703125e-06, "model_forward_time": 5.295342445373535, "step": 14984 }, { "epoch": 1.428985595703125e-06, "step": 14984, "training_step_time": 17.639273643493652 }, { "epoch": 1.4290809631347656e-06, "model_forward_time": 5.088123798370361, "step": 14985 }, { "epoch": 1.4290809631347656e-06, "step": 14985, "training_step_time": 17.639381408691406 }, { "epoch": 1.4291763305664062e-06, "model_forward_time": 5.087991952896118, "step": 14986 }, { "epoch": 1.4291763305664062e-06, "step": 14986, "training_step_time": 17.653294801712036 }, { "epoch": 1.4292716979980468e-06, "model_forward_time": 5.085456132888794, "step": 14987 }, { "epoch": 1.4292716979980468e-06, "step": 14987, "training_step_time": 17.869580507278442 }, { "epoch": 1.4293670654296874e-06, "model_forward_time": 3.84816312789917, "step": 14988 }, { "epoch": 1.4293670654296874e-06, "step": 14988, "training_step_time": 17.62668776512146 }, { "epoch": 1.429462432861328e-06, "model_forward_time": 5.054952144622803, "step": 14989 }, { "epoch": 1.429462432861328e-06, "step": 14989, "training_step_time": 17.635709524154663 }, { "epoch": 1.4295578002929689e-06, "grad_norm": 1.0778450965881348, "learning_rate": 9.281423539077075e-06, "loss": 0.0889, "step": 14990 }, { "epoch": 1.4295578002929689e-06, "model_forward_time": 5.304748058319092, "step": 14990 }, { "dynamics_loss_avg": 0.04733381569385529, "epoch": 1.4295578002929689e-06, "step": 14990 }, { "action_loss_avg": 0.05382396839559078, "epoch": 1.4295578002929689e-06, "step": 14990 }, { "arm_loss_avg": 0.08082072176039219, "epoch": 1.4295578002929689e-06, "step": 14990 }, { "ee_loss_avg": 0.09915510695427657, "epoch": 1.4295578002929689e-06, "step": 14990 }, { "aux_loss_avg": 0.0014322400267701596, "epoch": 1.4295578002929689e-06, "step": 14990 }, { "epoch": 1.4295578002929689e-06, "step": 14990, "training_step_time": 17.614848375320435 }, { "epoch": 1.4296531677246095e-06, "model_forward_time": 5.0827202796936035, "step": 14991 }, { "epoch": 1.4296531677246095e-06, "step": 14991, "training_step_time": 17.38871932029724 }, { "epoch": 1.42974853515625e-06, "model_forward_time": 3.8554983139038086, "step": 14992 }, { "epoch": 1.42974853515625e-06, "step": 14992, "training_step_time": 17.734155654907227 }, { "epoch": 1.4298439025878907e-06, "model_forward_time": 5.063844680786133, "step": 14993 }, { "epoch": 1.4298439025878907e-06, "step": 14993, "training_step_time": 17.46651554107666 }, { "epoch": 1.4299392700195313e-06, "model_forward_time": 5.082524061203003, "step": 14994 }, { "epoch": 1.4299392700195313e-06, "step": 14994, "training_step_time": 17.471108198165894 }, { "epoch": 1.430034637451172e-06, "model_forward_time": 5.278962135314941, "step": 14995 }, { "epoch": 1.430034637451172e-06, "step": 14995, "training_step_time": 17.54540491104126 }, { "epoch": 1.4301300048828125e-06, "model_forward_time": 5.10632848739624, "step": 14996 }, { "epoch": 1.4301300048828125e-06, "step": 14996, "training_step_time": 17.60964322090149 }, { "epoch": 1.4302253723144532e-06, "model_forward_time": 3.8696494102478027, "step": 14997 }, { "epoch": 1.4302253723144532e-06, "step": 14997, "training_step_time": 17.640668153762817 }, { "epoch": 1.4303207397460938e-06, "model_forward_time": 5.093536853790283, "step": 14998 }, { "epoch": 1.4303207397460938e-06, "step": 14998, "training_step_time": 17.91848349571228 }, { "epoch": 1.4304161071777344e-06, "model_forward_time": 5.089656114578247, "step": 14999 }, { "epoch": 1.4304161071777344e-06, "step": 14999, "training_step_time": 17.429038047790527 }, { "epoch": 1.430511474609375e-06, "grad_norm": 1.7682527303695679, "learning_rate": 9.280203027125374e-06, "loss": 0.0946, "step": 15000 }, { "epoch": 1.430511474609375e-06, "model_forward_time": 5.319272994995117, "step": 15000 }, { "dynamics_loss_avg": 0.055502665834501384, "epoch": 1.430511474609375e-06, "step": 15000 }, { "action_loss_avg": 0.04858504142612219, "epoch": 1.430511474609375e-06, "step": 15000 }, { "arm_loss_avg": 0.09341373071074485, "epoch": 1.430511474609375e-06, "step": 15000 }, { "ee_loss_avg": 0.10664189886301756, "epoch": 1.430511474609375e-06, "step": 15000 }, { "aux_loss_avg": 0.0021056592056993397, "epoch": 1.430511474609375e-06, "step": 15000 }, { "epoch": 1.430511474609375e-06, "step": 15000, "training_step_time": 17.547887325286865 }, { "epoch": 1.4306068420410156e-06, "model_forward_time": 5.091420888900757, "step": 15001 }, { "epoch": 1.4306068420410156e-06, "step": 15001, "training_step_time": 17.591867208480835 }, { "epoch": 1.4307022094726562e-06, "model_forward_time": 5.093699216842651, "step": 15002 }, { "epoch": 1.4307022094726562e-06, "step": 15002, "training_step_time": 17.6157329082489 }, { "epoch": 1.4307975769042968e-06, "model_forward_time": 5.09409236907959, "step": 15003 }, { "epoch": 1.4307975769042968e-06, "step": 15003, "training_step_time": 17.81742548942566 }, { "epoch": 1.4308929443359375e-06, "model_forward_time": 5.08953595161438, "step": 15004 }, { "epoch": 1.4308929443359375e-06, "step": 15004, "training_step_time": 17.627448081970215 }, { "epoch": 1.430988311767578e-06, "model_forward_time": 5.2810750007629395, "step": 15005 }, { "epoch": 1.430988311767578e-06, "step": 15005, "training_step_time": 17.62894868850708 }, { "epoch": 1.4310836791992187e-06, "model_forward_time": 5.084729909896851, "step": 15006 }, { "epoch": 1.4310836791992187e-06, "step": 15006, "training_step_time": 17.613651275634766 }, { "epoch": 1.4311790466308593e-06, "model_forward_time": 5.083652496337891, "step": 15007 }, { "epoch": 1.4311790466308593e-06, "step": 15007, "training_step_time": 17.408620357513428 }, { "epoch": 1.4312744140625e-06, "model_forward_time": 5.081665754318237, "step": 15008 }, { "epoch": 1.4312744140625e-06, "step": 15008, "training_step_time": 17.755536794662476 }, { "epoch": 1.4313697814941405e-06, "model_forward_time": 5.079655170440674, "step": 15009 }, { "epoch": 1.4313697814941405e-06, "step": 15009, "training_step_time": 17.548925399780273 }, { "epoch": 1.4314651489257811e-06, "grad_norm": 1.3204256296157837, "learning_rate": 9.278981559915378e-06, "loss": 0.0874, "step": 15010 }, { "epoch": 1.4314651489257811e-06, "model_forward_time": 5.306493759155273, "step": 15010 }, { "dynamics_loss_avg": 0.04268300626426935, "epoch": 1.4314651489257811e-06, "step": 15010 }, { "action_loss_avg": 0.04693376123905182, "epoch": 1.4314651489257811e-06, "step": 15010 }, { "arm_loss_avg": 0.07340321689844131, "epoch": 1.4314651489257811e-06, "step": 15010 }, { "ee_loss_avg": 0.06906231157481671, "epoch": 1.4314651489257811e-06, "step": 15010 }, { "aux_loss_avg": 0.0016756499302573503, "epoch": 1.4314651489257811e-06, "step": 15010 }, { "epoch": 1.4314651489257811e-06, "step": 15010, "training_step_time": 17.557738304138184 }, { "epoch": 1.431560516357422e-06, "model_forward_time": 5.077078819274902, "step": 15011 }, { "epoch": 1.431560516357422e-06, "step": 15011, "training_step_time": 17.580317497253418 }, { "epoch": 1.4316558837890626e-06, "model_forward_time": 5.078514337539673, "step": 15012 }, { "epoch": 1.4316558837890626e-06, "step": 15012, "training_step_time": 17.81808638572693 }, { "epoch": 1.4317512512207032e-06, "model_forward_time": 5.0763163566589355, "step": 15013 }, { "epoch": 1.4317512512207032e-06, "step": 15013, "training_step_time": 17.588709831237793 }, { "epoch": 1.4318466186523438e-06, "model_forward_time": 5.079368352890015, "step": 15014 }, { "epoch": 1.4318466186523438e-06, "step": 15014, "training_step_time": 17.596978425979614 }, { "epoch": 1.4319419860839844e-06, "model_forward_time": 5.273710012435913, "step": 15015 }, { "epoch": 1.4319419860839844e-06, "step": 15015, "training_step_time": 17.38485550880432 }, { "epoch": 1.432037353515625e-06, "model_forward_time": 5.0849528312683105, "step": 15016 }, { "epoch": 1.432037353515625e-06, "step": 15016, "training_step_time": 17.501930713653564 }, { "epoch": 1.4321327209472657e-06, "model_forward_time": 5.083655118942261, "step": 15017 }, { "epoch": 1.4321327209472657e-06, "step": 15017, "training_step_time": 17.547202587127686 }, { "epoch": 1.4322280883789063e-06, "model_forward_time": 5.08798623085022, "step": 15018 }, { "epoch": 1.4322280883789063e-06, "step": 15018, "training_step_time": 17.81541109085083 }, { "epoch": 1.4323234558105469e-06, "model_forward_time": 5.084158897399902, "step": 15019 }, { "epoch": 1.4323234558105469e-06, "step": 15019, "training_step_time": 17.591813802719116 }, { "epoch": 1.4324188232421875e-06, "grad_norm": 1.7753829956054688, "learning_rate": 9.277759137719699e-06, "loss": 0.0962, "step": 15020 }, { "epoch": 1.4324188232421875e-06, "model_forward_time": 5.085150718688965, "step": 15020 }, { "dynamics_loss_avg": 0.04822826366871595, "epoch": 1.4324188232421875e-06, "step": 15020 }, { "action_loss_avg": 0.04988126158714294, "epoch": 1.4324188232421875e-06, "step": 15020 }, { "arm_loss_avg": 0.0913223410025239, "epoch": 1.4324188232421875e-06, "step": 15020 }, { "ee_loss_avg": 0.09583997977897525, "epoch": 1.4324188232421875e-06, "step": 15020 }, { "aux_loss_avg": 0.012578138607204891, "epoch": 1.4324188232421875e-06, "step": 15020 }, { "epoch": 1.4324188232421875e-06, "step": 15020, "training_step_time": 17.59749460220337 }, { "epoch": 1.4325141906738281e-06, "model_forward_time": 5.083773851394653, "step": 15021 }, { "epoch": 1.4325141906738281e-06, "step": 15021, "training_step_time": 17.606446266174316 }, { "epoch": 1.4326095581054687e-06, "model_forward_time": 5.084730863571167, "step": 15022 }, { "epoch": 1.4326095581054687e-06, "step": 15022, "training_step_time": 17.8352153301239 }, { "epoch": 1.4327049255371093e-06, "model_forward_time": 5.0871264934539795, "step": 15023 }, { "epoch": 1.4327049255371093e-06, "step": 15023, "training_step_time": 17.609681844711304 }, { "epoch": 1.43280029296875e-06, "model_forward_time": 5.29420018196106, "step": 15024 }, { "epoch": 1.43280029296875e-06, "step": 15024, "training_step_time": 17.63906693458557 }, { "epoch": 1.4328956604003906e-06, "model_forward_time": 5.088944435119629, "step": 15025 }, { "epoch": 1.4328956604003906e-06, "step": 15025, "training_step_time": 17.613988161087036 }, { "epoch": 1.4329910278320312e-06, "model_forward_time": 5.086742639541626, "step": 15026 }, { "epoch": 1.4329910278320312e-06, "step": 15026, "training_step_time": 17.61280608177185 }, { "epoch": 1.4330863952636718e-06, "model_forward_time": 5.089937448501587, "step": 15027 }, { "epoch": 1.4330863952636718e-06, "step": 15027, "training_step_time": 17.83591103553772 }, { "epoch": 1.4331817626953124e-06, "model_forward_time": 5.085363388061523, "step": 15028 }, { "epoch": 1.4331817626953124e-06, "step": 15028, "training_step_time": 17.607695817947388 }, { "epoch": 1.433277130126953e-06, "model_forward_time": 5.087631940841675, "step": 15029 }, { "epoch": 1.433277130126953e-06, "step": 15029, "training_step_time": 17.601040840148926 }, { "epoch": 1.4333724975585936e-06, "grad_norm": 0.898266613483429, "learning_rate": 9.276535760811155e-06, "loss": 0.0932, "step": 15030 }, { "epoch": 1.4333724975585936e-06, "model_forward_time": 5.087870359420776, "step": 15030 }, { "dynamics_loss_avg": 0.05457952506840229, "epoch": 1.4333724975585936e-06, "step": 15030 }, { "action_loss_avg": 0.04119031056761742, "epoch": 1.4333724975585936e-06, "step": 15030 }, { "arm_loss_avg": 0.05985029749572277, "epoch": 1.4333724975585936e-06, "step": 15030 }, { "ee_loss_avg": 0.04790275366976857, "epoch": 1.4333724975585936e-06, "step": 15030 }, { "aux_loss_avg": 0.001452662769588642, "epoch": 1.4333724975585936e-06, "step": 15030 }, { "epoch": 1.4333724975585936e-06, "step": 15030, "training_step_time": 17.604143619537354 }, { "epoch": 1.4334678649902345e-06, "model_forward_time": 5.084773778915405, "step": 15031 }, { "epoch": 1.4334678649902345e-06, "step": 15031, "training_step_time": 17.602233171463013 }, { "epoch": 1.433563232421875e-06, "model_forward_time": 5.0910484790802, "step": 15032 }, { "epoch": 1.433563232421875e-06, "step": 15032, "training_step_time": 17.80107855796814 }, { "epoch": 1.4336585998535157e-06, "model_forward_time": 5.086797475814819, "step": 15033 }, { "epoch": 1.4336585998535157e-06, "step": 15033, "training_step_time": 17.592879056930542 }, { "epoch": 1.4337539672851563e-06, "model_forward_time": 5.284296274185181, "step": 15034 }, { "epoch": 1.4337539672851563e-06, "step": 15034, "training_step_time": 17.602504014968872 }, { "epoch": 1.433849334716797e-06, "model_forward_time": 5.091339588165283, "step": 15035 }, { "epoch": 1.433849334716797e-06, "step": 15035, "training_step_time": 17.599377870559692 }, { "epoch": 1.4339447021484375e-06, "model_forward_time": 5.091614484786987, "step": 15036 }, { "epoch": 1.4339447021484375e-06, "step": 15036, "training_step_time": 17.594663381576538 }, { "epoch": 1.4340400695800782e-06, "model_forward_time": 5.103971242904663, "step": 15037 }, { "epoch": 1.4340400695800782e-06, "step": 15037, "training_step_time": 17.861106157302856 }, { "epoch": 1.4341354370117188e-06, "model_forward_time": 5.101543188095093, "step": 15038 }, { "epoch": 1.4341354370117188e-06, "step": 15038, "training_step_time": 17.67737340927124 }, { "epoch": 1.4342308044433594e-06, "model_forward_time": 5.362526893615723, "step": 15039 }, { "epoch": 1.4342308044433594e-06, "step": 15039, "training_step_time": 17.553391218185425 }, { "epoch": 1.434326171875e-06, "grad_norm": 1.8740642070770264, "learning_rate": 9.275311429462783e-06, "loss": 0.0865, "step": 15040 }, { "epoch": 1.434326171875e-06, "model_forward_time": 5.1024439334869385, "step": 15040 }, { "dynamics_loss_avg": 0.05736457128077745, "epoch": 1.434326171875e-06, "step": 15040 }, { "action_loss_avg": 0.04223865605890751, "epoch": 1.434326171875e-06, "step": 15040 }, { "arm_loss_avg": 0.05949002057313919, "epoch": 1.434326171875e-06, "step": 15040 }, { "ee_loss_avg": 0.09108972828835249, "epoch": 1.434326171875e-06, "step": 15040 }, { "aux_loss_avg": 0.001467382360715419, "epoch": 1.434326171875e-06, "step": 15040 }, { "epoch": 1.434326171875e-06, "step": 15040, "training_step_time": 17.5770480632782 }, { "epoch": 1.4344215393066406e-06, "model_forward_time": 5.092949628829956, "step": 15041 }, { "epoch": 1.4344215393066406e-06, "step": 15041, "training_step_time": 17.600181579589844 }, { "epoch": 1.4345169067382812e-06, "model_forward_time": 5.090142250061035, "step": 15042 }, { "epoch": 1.4345169067382812e-06, "step": 15042, "training_step_time": 17.621270895004272 }, { "epoch": 1.4346122741699218e-06, "model_forward_time": 3.860105514526367, "step": 15043 }, { "epoch": 1.4346122741699218e-06, "step": 15043, "training_step_time": 17.81519341468811 }, { "epoch": 1.4347076416015625e-06, "model_forward_time": 5.057111501693726, "step": 15044 }, { "epoch": 1.4347076416015625e-06, "step": 15044, "training_step_time": 17.626578092575073 }, { "epoch": 1.434803009033203e-06, "model_forward_time": 5.298141717910767, "step": 15045 }, { "epoch": 1.434803009033203e-06, "step": 15045, "training_step_time": 17.62255573272705 }, { "epoch": 1.4348983764648437e-06, "model_forward_time": 5.084439039230347, "step": 15046 }, { "epoch": 1.4348983764648437e-06, "step": 15046, "training_step_time": 17.630902767181396 }, { "epoch": 1.4349937438964843e-06, "model_forward_time": 5.094492435455322, "step": 15047 }, { "epoch": 1.4349937438964843e-06, "step": 15047, "training_step_time": 17.854131937026978 }, { "epoch": 1.435089111328125e-06, "model_forward_time": 5.0976104736328125, "step": 15048 }, { "epoch": 1.435089111328125e-06, "step": 15048, "training_step_time": 17.62256669998169 }, { "epoch": 1.4351844787597655e-06, "model_forward_time": 5.102893829345703, "step": 15049 }, { "epoch": 1.4351844787597655e-06, "step": 15049, "training_step_time": 17.626785278320312 }, { "epoch": 1.4352798461914061e-06, "grad_norm": 1.4922266006469727, "learning_rate": 9.274086143947827e-06, "loss": 0.0841, "step": 15050 }, { "epoch": 1.4352798461914061e-06, "model_forward_time": 5.099992752075195, "step": 15050 }, { "dynamics_loss_avg": 0.05103939715772867, "epoch": 1.4352798461914061e-06, "step": 15050 }, { "action_loss_avg": 0.04086319319903851, "epoch": 1.4352798461914061e-06, "step": 15050 }, { "arm_loss_avg": 0.0733173094689846, "epoch": 1.4352798461914061e-06, "step": 15050 }, { "ee_loss_avg": 0.055634322203695775, "epoch": 1.4352798461914061e-06, "step": 15050 }, { "aux_loss_avg": 0.0015976297145243734, "epoch": 1.4352798461914061e-06, "step": 15050 }, { "epoch": 1.4352798461914061e-06, "step": 15050, "training_step_time": 17.618123054504395 }, { "epoch": 1.435375213623047e-06, "model_forward_time": 5.101219892501831, "step": 15051 }, { "epoch": 1.435375213623047e-06, "step": 15051, "training_step_time": 17.612468004226685 }, { "epoch": 1.4354705810546876e-06, "model_forward_time": 5.100273847579956, "step": 15052 }, { "epoch": 1.4354705810546876e-06, "step": 15052, "training_step_time": 17.806559562683105 }, { "epoch": 1.4355659484863282e-06, "model_forward_time": 3.8586790561676025, "step": 15053 }, { "epoch": 1.4355659484863282e-06, "step": 15053, "training_step_time": 17.59955644607544 }, { "epoch": 1.4356613159179688e-06, "model_forward_time": 5.063239336013794, "step": 15054 }, { "epoch": 1.4356613159179688e-06, "step": 15054, "training_step_time": 17.496395111083984 }, { "epoch": 1.4357566833496094e-06, "model_forward_time": 5.266861438751221, "step": 15055 }, { "epoch": 1.4357566833496094e-06, "step": 15055, "training_step_time": 17.495805025100708 }, { "epoch": 1.43585205078125e-06, "model_forward_time": 5.08283257484436, "step": 15056 }, { "epoch": 1.43585205078125e-06, "step": 15056, "training_step_time": 17.54919981956482 }, { "epoch": 1.4359474182128907e-06, "model_forward_time": 5.09044623374939, "step": 15057 }, { "epoch": 1.4359474182128907e-06, "step": 15057, "training_step_time": 17.574018001556396 }, { "epoch": 1.4360427856445313e-06, "model_forward_time": 5.095909118652344, "step": 15058 }, { "epoch": 1.4360427856445313e-06, "step": 15058, "training_step_time": 17.82245135307312 }, { "epoch": 1.4361381530761719e-06, "model_forward_time": 5.092418670654297, "step": 15059 }, { "epoch": 1.4361381530761719e-06, "step": 15059, "training_step_time": 17.6026508808136 }, { "epoch": 1.4362335205078125e-06, "grad_norm": 1.7889798879623413, "learning_rate": 9.272859904539749e-06, "loss": 0.0843, "step": 15060 }, { "epoch": 1.4362335205078125e-06, "model_forward_time": 5.096447229385376, "step": 15060 }, { "dynamics_loss_avg": 0.04767400920391083, "epoch": 1.4362335205078125e-06, "step": 15060 }, { "action_loss_avg": 0.04276241380721331, "epoch": 1.4362335205078125e-06, "step": 15060 }, { "arm_loss_avg": 0.07985419109463691, "epoch": 1.4362335205078125e-06, "step": 15060 }, { "ee_loss_avg": 0.10204257247969509, "epoch": 1.4362335205078125e-06, "step": 15060 }, { "aux_loss_avg": 0.0008797336486168206, "epoch": 1.4362335205078125e-06, "step": 15060 }, { "epoch": 1.4362335205078125e-06, "step": 15060, "training_step_time": 17.611547708511353 }, { "epoch": 1.4363288879394531e-06, "model_forward_time": 5.097702503204346, "step": 15061 }, { "epoch": 1.4363288879394531e-06, "step": 15061, "training_step_time": 17.618372440338135 }, { "epoch": 1.4364242553710937e-06, "model_forward_time": 5.096725940704346, "step": 15062 }, { "epoch": 1.4364242553710937e-06, "step": 15062, "training_step_time": 17.619588613510132 }, { "epoch": 1.4365196228027343e-06, "model_forward_time": 5.094783544540405, "step": 15063 }, { "epoch": 1.4365196228027343e-06, "step": 15063, "training_step_time": 17.810545921325684 }, { "epoch": 1.436614990234375e-06, "model_forward_time": 5.296881914138794, "step": 15064 }, { "epoch": 1.436614990234375e-06, "step": 15064, "training_step_time": 17.60633134841919 }, { "epoch": 1.4367103576660156e-06, "model_forward_time": 5.092064380645752, "step": 15065 }, { "epoch": 1.4367103576660156e-06, "step": 15065, "training_step_time": 17.610657691955566 }, { "epoch": 1.4368057250976562e-06, "model_forward_time": 5.087632656097412, "step": 15066 }, { "epoch": 1.4368057250976562e-06, "step": 15066, "training_step_time": 17.61467218399048 }, { "epoch": 1.4369010925292968e-06, "model_forward_time": 5.0887932777404785, "step": 15067 }, { "epoch": 1.4369010925292968e-06, "step": 15067, "training_step_time": 17.828582525253296 }, { "epoch": 1.4369964599609374e-06, "model_forward_time": 5.0863258838653564, "step": 15068 }, { "epoch": 1.4369964599609374e-06, "step": 15068, "training_step_time": 17.61191463470459 }, { "epoch": 1.437091827392578e-06, "model_forward_time": 5.088397026062012, "step": 15069 }, { "epoch": 1.437091827392578e-06, "step": 15069, "training_step_time": 17.59672737121582 }, { "epoch": 1.4371871948242187e-06, "grad_norm": 1.1744403839111328, "learning_rate": 9.271632711512218e-06, "loss": 0.0805, "step": 15070 }, { "epoch": 1.4371871948242187e-06, "model_forward_time": 5.084033489227295, "step": 15070 }, { "dynamics_loss_avg": 0.03815543334931135, "epoch": 1.4371871948242187e-06, "step": 15070 }, { "action_loss_avg": 0.034258211962878704, "epoch": 1.4371871948242187e-06, "step": 15070 }, { "arm_loss_avg": 0.08556956108659505, "epoch": 1.4371871948242187e-06, "step": 15070 }, { "ee_loss_avg": 0.11087108328938484, "epoch": 1.4371871948242187e-06, "step": 15070 }, { "aux_loss_avg": 0.0007226984831504524, "epoch": 1.4371871948242187e-06, "step": 15070 }, { "epoch": 1.4371871948242187e-06, "step": 15070, "training_step_time": 17.609058141708374 }, { "epoch": 1.4372825622558595e-06, "model_forward_time": 3.8505563735961914, "step": 15071 }, { "epoch": 1.4372825622558595e-06, "step": 15071, "training_step_time": 17.59802269935608 }, { "epoch": 1.4373779296875e-06, "model_forward_time": 5.062362194061279, "step": 15072 }, { "epoch": 1.4373779296875e-06, "step": 15072, "training_step_time": 17.247414588928223 }, { "epoch": 1.4374732971191407e-06, "model_forward_time": 5.06792688369751, "step": 15073 }, { "epoch": 1.4374732971191407e-06, "step": 15073, "training_step_time": 17.514225959777832 }, { "epoch": 1.4375686645507813e-06, "model_forward_time": 5.080522298812866, "step": 15074 }, { "epoch": 1.4375686645507813e-06, "step": 15074, "training_step_time": 17.546679496765137 }, { "epoch": 1.437664031982422e-06, "model_forward_time": 5.086066484451294, "step": 15075 }, { "epoch": 1.437664031982422e-06, "step": 15075, "training_step_time": 17.565015077590942 }, { "epoch": 1.4377593994140625e-06, "model_forward_time": 5.089311361312866, "step": 15076 }, { "epoch": 1.4377593994140625e-06, "step": 15076, "training_step_time": 17.569217443466187 }, { "epoch": 1.4378547668457032e-06, "model_forward_time": 5.091383934020996, "step": 15077 }, { "epoch": 1.4378547668457032e-06, "step": 15077, "training_step_time": 17.342907190322876 }, { "epoch": 1.4379501342773438e-06, "model_forward_time": 5.093233585357666, "step": 15078 }, { "epoch": 1.4379501342773438e-06, "step": 15078, "training_step_time": 17.74058723449707 }, { "epoch": 1.4380455017089844e-06, "model_forward_time": 5.329094409942627, "step": 15079 }, { "epoch": 1.4380455017089844e-06, "step": 15079, "training_step_time": 17.614949703216553 }, { "epoch": 1.438140869140625e-06, "grad_norm": 1.1331331729888916, "learning_rate": 9.270404565139123e-06, "loss": 0.093, "step": 15080 }, { "epoch": 1.438140869140625e-06, "model_forward_time": 5.085792064666748, "step": 15080 }, { "dynamics_loss_avg": 0.058464244939386845, "epoch": 1.438140869140625e-06, "step": 15080 }, { "action_loss_avg": 0.04590332955121994, "epoch": 1.438140869140625e-06, "step": 15080 }, { "arm_loss_avg": 0.08203174583613873, "epoch": 1.438140869140625e-06, "step": 15080 }, { "ee_loss_avg": 0.07452981127426028, "epoch": 1.438140869140625e-06, "step": 15080 }, { "aux_loss_avg": 0.010961026954464614, "epoch": 1.438140869140625e-06, "step": 15080 }, { "epoch": 1.438140869140625e-06, "step": 15080, "training_step_time": 17.56736707687378 }, { "epoch": 1.4382362365722656e-06, "model_forward_time": 3.8467578887939453, "step": 15081 }, { "epoch": 1.4382362365722656e-06, "step": 15081, "training_step_time": 17.39529323577881 }, { "epoch": 1.4383316040039062e-06, "model_forward_time": 3.828307867050171, "step": 15082 }, { "epoch": 1.4383316040039062e-06, "step": 15082, "training_step_time": 17.5246684551239 }, { "epoch": 1.4384269714355469e-06, "model_forward_time": 3.8189799785614014, "step": 15083 }, { "epoch": 1.4384269714355469e-06, "step": 15083, "training_step_time": 17.75847816467285 }, { "epoch": 1.4385223388671875e-06, "model_forward_time": 5.037903785705566, "step": 15084 }, { "epoch": 1.4385223388671875e-06, "step": 15084, "training_step_time": 17.589200735092163 }, { "epoch": 1.438617706298828e-06, "model_forward_time": 5.243353366851807, "step": 15085 }, { "epoch": 1.438617706298828e-06, "step": 15085, "training_step_time": 17.598641872406006 }, { "epoch": 1.4387130737304687e-06, "model_forward_time": 5.076150894165039, "step": 15086 }, { "epoch": 1.4387130737304687e-06, "step": 15086, "training_step_time": 17.607927322387695 }, { "epoch": 1.4388084411621093e-06, "model_forward_time": 5.095252752304077, "step": 15087 }, { "epoch": 1.4388084411621093e-06, "step": 15087, "training_step_time": 17.828816175460815 }, { "epoch": 1.43890380859375e-06, "model_forward_time": 5.103295803070068, "step": 15088 }, { "epoch": 1.43890380859375e-06, "step": 15088, "training_step_time": 17.601234436035156 }, { "epoch": 1.4389991760253905e-06, "model_forward_time": 5.100914001464844, "step": 15089 }, { "epoch": 1.4389991760253905e-06, "step": 15089, "training_step_time": 17.610220432281494 }, { "epoch": 1.4390945434570312e-06, "grad_norm": 1.1578006744384766, "learning_rate": 9.269175465694565e-06, "loss": 0.0965, "step": 15090 }, { "epoch": 1.4390945434570312e-06, "model_forward_time": 5.330807209014893, "step": 15090 }, { "dynamics_loss_avg": 0.04968291129916906, "epoch": 1.4390945434570312e-06, "step": 15090 }, { "action_loss_avg": 0.05058503225445747, "epoch": 1.4390945434570312e-06, "step": 15090 }, { "arm_loss_avg": 0.08510175570845604, "epoch": 1.4390945434570312e-06, "step": 15090 }, { "ee_loss_avg": 0.0746612349525094, "epoch": 1.4390945434570312e-06, "step": 15090 }, { "aux_loss_avg": 0.006848438357701525, "epoch": 1.4390945434570312e-06, "step": 15090 }, { "epoch": 1.4390945434570312e-06, "step": 15090, "training_step_time": 17.458425760269165 }, { "epoch": 1.439189910888672e-06, "model_forward_time": 5.093517303466797, "step": 15091 }, { "epoch": 1.439189910888672e-06, "step": 15091, "training_step_time": 17.523160457611084 }, { "epoch": 1.4392852783203126e-06, "model_forward_time": 5.087881803512573, "step": 15092 }, { "epoch": 1.4392852783203126e-06, "step": 15092, "training_step_time": 17.784887075424194 }, { "epoch": 1.4393806457519532e-06, "model_forward_time": 5.07659649848938, "step": 15093 }, { "epoch": 1.4393806457519532e-06, "step": 15093, "training_step_time": 17.573821544647217 }, { "epoch": 1.4394760131835938e-06, "model_forward_time": 5.078425168991089, "step": 15094 }, { "epoch": 1.4394760131835938e-06, "step": 15094, "training_step_time": 17.3932945728302 }, { "epoch": 1.4395713806152344e-06, "model_forward_time": 5.266621828079224, "step": 15095 }, { "epoch": 1.4395713806152344e-06, "step": 15095, "training_step_time": 17.52767539024353 }, { "epoch": 1.439666748046875e-06, "model_forward_time": 5.081601619720459, "step": 15096 }, { "epoch": 1.439666748046875e-06, "step": 15096, "training_step_time": 17.568142652511597 }, { "epoch": 1.4397621154785157e-06, "model_forward_time": 5.0801637172698975, "step": 15097 }, { "epoch": 1.4397621154785157e-06, "step": 15097, "training_step_time": 17.40425443649292 }, { "epoch": 1.4398574829101563e-06, "model_forward_time": 5.082013368606567, "step": 15098 }, { "epoch": 1.4398574829101563e-06, "step": 15098, "training_step_time": 17.768813133239746 }, { "epoch": 1.4399528503417969e-06, "model_forward_time": 5.0794126987457275, "step": 15099 }, { "epoch": 1.4399528503417969e-06, "step": 15099, "training_step_time": 17.58727264404297 }, { "epoch": 1.4400482177734375e-06, "grad_norm": 1.1373646259307861, "learning_rate": 9.26794541345285e-06, "loss": 0.0786, "step": 15100 }, { "epoch": 1.4400482177734375e-06, "model_forward_time": 4.083163022994995, "step": 15100 }, { "dynamics_loss_avg": 0.04201184930279851, "epoch": 1.4400482177734375e-06, "step": 15100 }, { "action_loss_avg": 0.03867285773158073, "epoch": 1.4400482177734375e-06, "step": 15100 }, { "arm_loss_avg": 0.08848992958664895, "epoch": 1.4400482177734375e-06, "step": 15100 }, { "ee_loss_avg": 0.07297635897994041, "epoch": 1.4400482177734375e-06, "step": 15100 }, { "aux_loss_avg": 0.006353907246375456, "epoch": 1.4400482177734375e-06, "step": 15100 }, { "epoch": 1.4400482177734375e-06, "step": 15100, "training_step_time": 17.600647687911987 }, { "epoch": 1.4401435852050781e-06, "model_forward_time": 5.055229902267456, "step": 15101 }, { "epoch": 1.4401435852050781e-06, "step": 15101, "training_step_time": 17.641457319259644 }, { "epoch": 1.4402389526367187e-06, "model_forward_time": 5.073954820632935, "step": 15102 }, { "epoch": 1.4402389526367187e-06, "step": 15102, "training_step_time": 17.62973690032959 }, { "epoch": 1.4403343200683594e-06, "model_forward_time": 5.07845401763916, "step": 15103 }, { "epoch": 1.4403343200683594e-06, "step": 15103, "training_step_time": 17.836827516555786 }, { "epoch": 1.4404296875e-06, "model_forward_time": 3.8531253337860107, "step": 15104 }, { "epoch": 1.4404296875e-06, "step": 15104, "training_step_time": 17.626569032669067 }, { "epoch": 1.4405250549316406e-06, "model_forward_time": 5.25455379486084, "step": 15105 }, { "epoch": 1.4405250549316406e-06, "step": 15105, "training_step_time": 17.62678623199463 }, { "epoch": 1.4406204223632812e-06, "model_forward_time": 5.0883119106292725, "step": 15106 }, { "epoch": 1.4406204223632812e-06, "step": 15106, "training_step_time": 17.56900644302368 }, { "epoch": 1.4407157897949218e-06, "model_forward_time": 5.096452713012695, "step": 15107 }, { "epoch": 1.4407157897949218e-06, "step": 15107, "training_step_time": 17.827401876449585 }, { "epoch": 1.4408111572265624e-06, "model_forward_time": 5.102897644042969, "step": 15108 }, { "epoch": 1.4408111572265624e-06, "step": 15108, "training_step_time": 17.600793838500977 }, { "epoch": 1.440906524658203e-06, "model_forward_time": 5.1073338985443115, "step": 15109 }, { "epoch": 1.440906524658203e-06, "step": 15109, "training_step_time": 17.378223180770874 }, { "epoch": 1.4410018920898437e-06, "grad_norm": 1.949378252029419, "learning_rate": 9.266714408688503e-06, "loss": 0.0888, "step": 15110 }, { "epoch": 1.4410018920898437e-06, "model_forward_time": 5.347438097000122, "step": 15110 }, { "dynamics_loss_avg": 0.04683866742998362, "epoch": 1.4410018920898437e-06, "step": 15110 }, { "action_loss_avg": 0.035042536072432996, "epoch": 1.4410018920898437e-06, "step": 15110 }, { "arm_loss_avg": 0.08621616661548615, "epoch": 1.4410018920898437e-06, "step": 15110 }, { "ee_loss_avg": 0.07809600904583931, "epoch": 1.4410018920898437e-06, "step": 15110 }, { "aux_loss_avg": 0.012577546387910843, "epoch": 1.4410018920898437e-06, "step": 15110 }, { "epoch": 1.4410018920898437e-06, "step": 15110, "training_step_time": 17.515286922454834 }, { "epoch": 1.4410972595214845e-06, "model_forward_time": 5.106910228729248, "step": 15111 }, { "epoch": 1.4410972595214845e-06, "step": 15111, "training_step_time": 17.54882001876831 }, { "epoch": 1.441192626953125e-06, "model_forward_time": 5.102784156799316, "step": 15112 }, { "epoch": 1.441192626953125e-06, "step": 15112, "training_step_time": 17.806573152542114 }, { "epoch": 1.4412879943847657e-06, "model_forward_time": 5.096127510070801, "step": 15113 }, { "epoch": 1.4412879943847657e-06, "step": 15113, "training_step_time": 17.228426694869995 }, { "epoch": 1.4413833618164063e-06, "model_forward_time": 5.097277879714966, "step": 15114 }, { "epoch": 1.4413833618164063e-06, "step": 15114, "training_step_time": 17.526121377944946 }, { "epoch": 1.441478729248047e-06, "model_forward_time": 5.282278299331665, "step": 15115 }, { "epoch": 1.441478729248047e-06, "step": 15115, "training_step_time": 17.577011346817017 }, { "epoch": 1.4415740966796876e-06, "model_forward_time": 5.093656539916992, "step": 15116 }, { "epoch": 1.4415740966796876e-06, "step": 15116, "training_step_time": 17.601067781448364 }, { "epoch": 1.4416694641113282e-06, "model_forward_time": 5.092262268066406, "step": 15117 }, { "epoch": 1.4416694641113282e-06, "step": 15117, "training_step_time": 17.624190092086792 }, { "epoch": 1.4417648315429688e-06, "model_forward_time": 5.084639310836792, "step": 15118 }, { "epoch": 1.4417648315429688e-06, "step": 15118, "training_step_time": 17.869770765304565 }, { "epoch": 1.4418601989746094e-06, "model_forward_time": 5.086782217025757, "step": 15119 }, { "epoch": 1.4418601989746094e-06, "step": 15119, "training_step_time": 17.441495656967163 }, { "epoch": 1.44195556640625e-06, "grad_norm": 1.1169739961624146, "learning_rate": 9.265482451676264e-06, "loss": 0.0922, "step": 15120 }, { "epoch": 1.44195556640625e-06, "model_forward_time": 5.324976444244385, "step": 15120 }, { "dynamics_loss_avg": 0.05124784838408232, "epoch": 1.44195556640625e-06, "step": 15120 }, { "action_loss_avg": 0.05292091742157936, "epoch": 1.44195556640625e-06, "step": 15120 }, { "arm_loss_avg": 0.10106292963027955, "epoch": 1.44195556640625e-06, "step": 15120 }, { "ee_loss_avg": 0.11008451767265796, "epoch": 1.44195556640625e-06, "step": 15120 }, { "aux_loss_avg": 0.015921435359632596, "epoch": 1.44195556640625e-06, "step": 15120 }, { "epoch": 1.44195556640625e-06, "step": 15120, "training_step_time": 17.542320251464844 }, { "epoch": 1.4420509338378906e-06, "model_forward_time": 5.087862730026245, "step": 15121 }, { "epoch": 1.4420509338378906e-06, "step": 15121, "training_step_time": 17.58120632171631 }, { "epoch": 1.4421463012695312e-06, "model_forward_time": 5.089895248413086, "step": 15122 }, { "epoch": 1.4421463012695312e-06, "step": 15122, "training_step_time": 17.60280728340149 }, { "epoch": 1.4422416687011719e-06, "model_forward_time": 5.092949628829956, "step": 15123 }, { "epoch": 1.4422416687011719e-06, "step": 15123, "training_step_time": 17.79986333847046 }, { "epoch": 1.4423370361328125e-06, "model_forward_time": 5.08881139755249, "step": 15124 }, { "epoch": 1.4423370361328125e-06, "step": 15124, "training_step_time": 17.62182354927063 }, { "epoch": 1.442432403564453e-06, "model_forward_time": 4.095767974853516, "step": 15125 }, { "epoch": 1.442432403564453e-06, "step": 15125, "training_step_time": 17.624926567077637 }, { "epoch": 1.4425277709960937e-06, "model_forward_time": 5.0623390674591064, "step": 15126 }, { "epoch": 1.4425277709960937e-06, "step": 15126, "training_step_time": 17.63568615913391 }, { "epoch": 1.4426231384277343e-06, "model_forward_time": 5.071759462356567, "step": 15127 }, { "epoch": 1.4426231384277343e-06, "step": 15127, "training_step_time": 17.848401308059692 }, { "epoch": 1.442718505859375e-06, "model_forward_time": 5.085918664932251, "step": 15128 }, { "epoch": 1.442718505859375e-06, "step": 15128, "training_step_time": 17.61150622367859 }, { "epoch": 1.4428138732910155e-06, "model_forward_time": 5.093188047409058, "step": 15129 }, { "epoch": 1.4428138732910155e-06, "step": 15129, "training_step_time": 17.40179204940796 }, { "epoch": 1.4429092407226562e-06, "grad_norm": 1.2392313480377197, "learning_rate": 9.264249542691078e-06, "loss": 0.0874, "step": 15130 }, { "epoch": 1.4429092407226562e-06, "model_forward_time": 3.862905263900757, "step": 15130 }, { "dynamics_loss_avg": 0.04819890111684799, "epoch": 1.4429092407226562e-06, "step": 15130 }, { "action_loss_avg": 0.03831094447523355, "epoch": 1.4429092407226562e-06, "step": 15130 }, { "arm_loss_avg": 0.06122719850391149, "epoch": 1.4429092407226562e-06, "step": 15130 }, { "ee_loss_avg": 0.1144553603604436, "epoch": 1.4429092407226562e-06, "step": 15130 }, { "aux_loss_avg": 0.002366400253959, "epoch": 1.4429092407226562e-06, "step": 15130 }, { "epoch": 1.4429092407226562e-06, "step": 15130, "training_step_time": 17.444085121154785 }, { "epoch": 1.4430046081542968e-06, "model_forward_time": 3.8401317596435547, "step": 15131 }, { "epoch": 1.4430046081542968e-06, "step": 15131, "training_step_time": 17.411444664001465 }, { "epoch": 1.4430999755859376e-06, "model_forward_time": 5.068555116653442, "step": 15132 }, { "epoch": 1.4430999755859376e-06, "step": 15132, "training_step_time": 17.44632577896118 }, { "epoch": 1.4431953430175782e-06, "model_forward_time": 3.8456552028656006, "step": 15133 }, { "epoch": 1.4431953430175782e-06, "step": 15133, "training_step_time": 17.698145151138306 }, { "epoch": 1.4432907104492188e-06, "model_forward_time": 5.0686259269714355, "step": 15134 }, { "epoch": 1.4432907104492188e-06, "step": 15134, "training_step_time": 17.570945262908936 }, { "epoch": 1.4433860778808594e-06, "model_forward_time": 5.0825114250183105, "step": 15135 }, { "epoch": 1.4433860778808594e-06, "step": 15135, "training_step_time": 17.611429452896118 }, { "epoch": 1.4434814453125e-06, "model_forward_time": 5.289364576339722, "step": 15136 }, { "epoch": 1.4434814453125e-06, "step": 15136, "training_step_time": 17.641438722610474 }, { "epoch": 1.4435768127441407e-06, "model_forward_time": 5.115749359130859, "step": 15137 }, { "epoch": 1.4435768127441407e-06, "step": 15137, "training_step_time": 17.669798851013184 }, { "epoch": 1.4436721801757813e-06, "model_forward_time": 5.131721019744873, "step": 15138 }, { "epoch": 1.4436721801757813e-06, "step": 15138, "training_step_time": 17.9360933303833 }, { "epoch": 1.443767547607422e-06, "model_forward_time": 3.8827481269836426, "step": 15139 }, { "epoch": 1.443767547607422e-06, "step": 15139, "training_step_time": 17.67900538444519 }, { "epoch": 1.4438629150390625e-06, "grad_norm": 1.7165966033935547, "learning_rate": 9.263015682008105e-06, "loss": 0.089, "step": 15140 }, { "epoch": 1.4438629150390625e-06, "model_forward_time": 5.083373785018921, "step": 15140 }, { "dynamics_loss_avg": 0.05204907264560461, "epoch": 1.4438629150390625e-06, "step": 15140 }, { "action_loss_avg": 0.03630969263613224, "epoch": 1.4438629150390625e-06, "step": 15140 }, { "arm_loss_avg": 0.060963606275618074, "epoch": 1.4438629150390625e-06, "step": 15140 }, { "ee_loss_avg": 0.08965166509151459, "epoch": 1.4438629150390625e-06, "step": 15140 }, { "aux_loss_avg": 0.001419814780820161, "epoch": 1.4438629150390625e-06, "step": 15140 }, { "epoch": 1.4438629150390625e-06, "step": 15140, "training_step_time": 17.655290365219116 }, { "epoch": 1.4439582824707031e-06, "model_forward_time": 5.305980443954468, "step": 15141 }, { "epoch": 1.4439582824707031e-06, "step": 15141, "training_step_time": 17.628018856048584 }, { "epoch": 1.4440536499023437e-06, "model_forward_time": 5.079967260360718, "step": 15142 }, { "epoch": 1.4440536499023437e-06, "step": 15142, "training_step_time": 17.604614973068237 }, { "epoch": 1.4441490173339844e-06, "model_forward_time": 5.080007076263428, "step": 15143 }, { "epoch": 1.4441490173339844e-06, "step": 15143, "training_step_time": 17.77469778060913 }, { "epoch": 1.444244384765625e-06, "model_forward_time": 5.08548378944397, "step": 15144 }, { "epoch": 1.444244384765625e-06, "step": 15144, "training_step_time": 17.57283043861389 }, { "epoch": 1.4443397521972656e-06, "model_forward_time": 5.084857225418091, "step": 15145 }, { "epoch": 1.4443397521972656e-06, "step": 15145, "training_step_time": 17.55704402923584 }, { "epoch": 1.4444351196289062e-06, "model_forward_time": 5.28039026260376, "step": 15146 }, { "epoch": 1.4444351196289062e-06, "step": 15146, "training_step_time": 17.561258792877197 }, { "epoch": 1.4445304870605468e-06, "model_forward_time": 5.086323022842407, "step": 15147 }, { "epoch": 1.4445304870605468e-06, "step": 15147, "training_step_time": 17.551185846328735 }, { "epoch": 1.4446258544921874e-06, "model_forward_time": 5.087572813034058, "step": 15148 }, { "epoch": 1.4446258544921874e-06, "step": 15148, "training_step_time": 17.790760040283203 }, { "epoch": 1.444721221923828e-06, "model_forward_time": 5.081786632537842, "step": 15149 }, { "epoch": 1.444721221923828e-06, "step": 15149, "training_step_time": 17.568552494049072 }, { "epoch": 1.4448165893554687e-06, "grad_norm": 1.9057447910308838, "learning_rate": 9.261780869902725e-06, "loss": 0.0894, "step": 15150 }, { "epoch": 1.4448165893554687e-06, "model_forward_time": 5.080899000167847, "step": 15150 }, { "dynamics_loss_avg": 0.039903072314336895, "epoch": 1.4448165893554687e-06, "step": 15150 }, { "action_loss_avg": 0.05706871524453163, "epoch": 1.4448165893554687e-06, "step": 15150 }, { "arm_loss_avg": 0.1009286291897297, "epoch": 1.4448165893554687e-06, "step": 15150 }, { "ee_loss_avg": 0.05116306953132153, "epoch": 1.4448165893554687e-06, "step": 15150 }, { "aux_loss_avg": 0.0012478805554565042, "epoch": 1.4448165893554687e-06, "step": 15150 }, { "epoch": 1.4448165893554687e-06, "step": 15150, "training_step_time": 17.563335418701172 }, { "epoch": 1.4449119567871093e-06, "model_forward_time": 5.3107335567474365, "step": 15151 }, { "epoch": 1.4449119567871093e-06, "step": 15151, "training_step_time": 17.57795214653015 }, { "epoch": 1.44500732421875e-06, "model_forward_time": 5.082559108734131, "step": 15152 }, { "epoch": 1.44500732421875e-06, "step": 15152, "training_step_time": 17.571922063827515 }, { "epoch": 1.4451026916503907e-06, "model_forward_time": 5.083571672439575, "step": 15153 }, { "epoch": 1.4451026916503907e-06, "step": 15153, "training_step_time": 17.748271703720093 }, { "epoch": 1.4451980590820313e-06, "model_forward_time": 5.078050136566162, "step": 15154 }, { "epoch": 1.4451980590820313e-06, "step": 15154, "training_step_time": 17.588587999343872 }, { "epoch": 1.445293426513672e-06, "model_forward_time": 3.8493261337280273, "step": 15155 }, { "epoch": 1.445293426513672e-06, "step": 15155, "training_step_time": 17.586459398269653 }, { "epoch": 1.4453887939453126e-06, "model_forward_time": 5.269536018371582, "step": 15156 }, { "epoch": 1.4453887939453126e-06, "step": 15156, "training_step_time": 17.634896993637085 }, { "epoch": 1.4454841613769532e-06, "model_forward_time": 3.8468425273895264, "step": 15157 }, { "epoch": 1.4454841613769532e-06, "step": 15157, "training_step_time": 17.63025426864624 }, { "epoch": 1.4455795288085938e-06, "model_forward_time": 5.06977915763855, "step": 15158 }, { "epoch": 1.4455795288085938e-06, "step": 15158, "training_step_time": 17.871414184570312 }, { "epoch": 1.4456748962402344e-06, "model_forward_time": 5.091007947921753, "step": 15159 }, { "epoch": 1.4456748962402344e-06, "step": 15159, "training_step_time": 17.621496438980103 }, { "epoch": 1.445770263671875e-06, "grad_norm": 1.6639094352722168, "learning_rate": 9.260545106650518e-06, "loss": 0.0855, "step": 15160 }, { "epoch": 1.445770263671875e-06, "model_forward_time": 5.093142986297607, "step": 15160 }, { "dynamics_loss_avg": 0.03953434219583869, "epoch": 1.445770263671875e-06, "step": 15160 }, { "action_loss_avg": 0.051850357092916965, "epoch": 1.445770263671875e-06, "step": 15160 }, { "arm_loss_avg": 0.09969352893531322, "epoch": 1.445770263671875e-06, "step": 15160 }, { "ee_loss_avg": 0.06613620389252901, "epoch": 1.445770263671875e-06, "step": 15160 }, { "aux_loss_avg": 0.0009186008130200208, "epoch": 1.445770263671875e-06, "step": 15160 }, { "epoch": 1.445770263671875e-06, "step": 15160, "training_step_time": 17.591696977615356 }, { "epoch": 1.4458656311035156e-06, "model_forward_time": 5.3404176235198975, "step": 15161 }, { "epoch": 1.4458656311035156e-06, "step": 15161, "training_step_time": 17.59476399421692 }, { "epoch": 1.4459609985351562e-06, "model_forward_time": 5.1111061573028564, "step": 15162 }, { "epoch": 1.4459609985351562e-06, "step": 15162, "training_step_time": 17.59836721420288 }, { "epoch": 1.4460563659667969e-06, "model_forward_time": 5.1069560050964355, "step": 15163 }, { "epoch": 1.4460563659667969e-06, "step": 15163, "training_step_time": 17.792369604110718 }, { "epoch": 1.4461517333984375e-06, "model_forward_time": 3.8617348670959473, "step": 15164 }, { "epoch": 1.4461517333984375e-06, "step": 15164, "training_step_time": 17.60134744644165 }, { "epoch": 1.446247100830078e-06, "model_forward_time": 5.06601881980896, "step": 15165 }, { "epoch": 1.446247100830078e-06, "step": 15165, "training_step_time": 17.61499524116516 }, { "epoch": 1.4463424682617187e-06, "model_forward_time": 5.270103931427002, "step": 15166 }, { "epoch": 1.4463424682617187e-06, "step": 15166, "training_step_time": 17.605273008346558 }, { "epoch": 1.4464378356933593e-06, "model_forward_time": 5.08240270614624, "step": 15167 }, { "epoch": 1.4464378356933593e-06, "step": 15167, "training_step_time": 17.598555326461792 }, { "epoch": 1.446533203125e-06, "model_forward_time": 5.094822406768799, "step": 15168 }, { "epoch": 1.446533203125e-06, "step": 15168, "training_step_time": 17.833091259002686 }, { "epoch": 1.4466285705566405e-06, "model_forward_time": 5.090684175491333, "step": 15169 }, { "epoch": 1.4466285705566405e-06, "step": 15169, "training_step_time": 17.636096239089966 }, { "epoch": 1.4467239379882812e-06, "grad_norm": 1.5837163925170898, "learning_rate": 9.259308392527287e-06, "loss": 0.1014, "step": 15170 }, { "epoch": 1.4467239379882812e-06, "model_forward_time": 5.09464693069458, "step": 15170 }, { "dynamics_loss_avg": 0.04830289678648114, "epoch": 1.4467239379882812e-06, "step": 15170 }, { "action_loss_avg": 0.09836409091949463, "epoch": 1.4467239379882812e-06, "step": 15170 }, { "arm_loss_avg": 0.13667410016059875, "epoch": 1.4467239379882812e-06, "step": 15170 }, { "ee_loss_avg": 0.11527009140700102, "epoch": 1.4467239379882812e-06, "step": 15170 }, { "aux_loss_avg": 0.0019854441314237194, "epoch": 1.4467239379882812e-06, "step": 15170 }, { "epoch": 1.4467239379882812e-06, "step": 15170, "training_step_time": 17.429668426513672 }, { "epoch": 1.4468193054199218e-06, "model_forward_time": 5.340235233306885, "step": 15171 }, { "epoch": 1.4468193054199218e-06, "step": 15171, "training_step_time": 17.4674289226532 }, { "epoch": 1.4469146728515626e-06, "model_forward_time": 5.099719762802124, "step": 15172 }, { "epoch": 1.4469146728515626e-06, "step": 15172, "training_step_time": 17.44070267677307 }, { "epoch": 1.4470100402832032e-06, "model_forward_time": 5.0989837646484375, "step": 15173 }, { "epoch": 1.4470100402832032e-06, "step": 15173, "training_step_time": 17.715641498565674 }, { "epoch": 1.4471054077148438e-06, "model_forward_time": 5.094665765762329, "step": 15174 }, { "epoch": 1.4471054077148438e-06, "step": 15174, "training_step_time": 17.600755214691162 }, { "epoch": 1.4472007751464844e-06, "model_forward_time": 5.094470739364624, "step": 15175 }, { "epoch": 1.4472007751464844e-06, "step": 15175, "training_step_time": 17.495805740356445 }, { "epoch": 1.447296142578125e-06, "model_forward_time": 5.0893874168396, "step": 15176 }, { "epoch": 1.447296142578125e-06, "step": 15176, "training_step_time": 17.578819751739502 }, { "epoch": 1.4473915100097657e-06, "model_forward_time": 5.09189772605896, "step": 15177 }, { "epoch": 1.4473915100097657e-06, "step": 15177, "training_step_time": 17.645169973373413 }, { "epoch": 1.4474868774414063e-06, "model_forward_time": 5.086797475814819, "step": 15178 }, { "epoch": 1.4474868774414063e-06, "step": 15178, "training_step_time": 17.902229070663452 }, { "epoch": 1.447582244873047e-06, "model_forward_time": 5.086802959442139, "step": 15179 }, { "epoch": 1.447582244873047e-06, "step": 15179, "training_step_time": 17.667279720306396 }, { "epoch": 1.4476776123046875e-06, "grad_norm": 2.2757725715637207, "learning_rate": 9.258070727809038e-06, "loss": 0.0976, "step": 15180 }, { "epoch": 1.4476776123046875e-06, "model_forward_time": 3.851111650466919, "step": 15180 }, { "dynamics_loss_avg": 0.03713709996081889, "epoch": 1.4476776123046875e-06, "step": 15180 }, { "action_loss_avg": 0.07735200375318527, "epoch": 1.4476776123046875e-06, "step": 15180 }, { "arm_loss_avg": 0.1573699053376913, "epoch": 1.4476776123046875e-06, "step": 15180 }, { "ee_loss_avg": 0.0855193354189396, "epoch": 1.4476776123046875e-06, "step": 15180 }, { "aux_loss_avg": 0.003090193387470208, "epoch": 1.4476776123046875e-06, "step": 15180 }, { "epoch": 1.4476776123046875e-06, "step": 15180, "training_step_time": 17.65451955795288 }, { "epoch": 1.4477729797363281e-06, "model_forward_time": 5.306751251220703, "step": 15181 }, { "epoch": 1.4477729797363281e-06, "step": 15181, "training_step_time": 17.654905796051025 }, { "epoch": 1.4478683471679687e-06, "model_forward_time": 5.070205211639404, "step": 15182 }, { "epoch": 1.4478683471679687e-06, "step": 15182, "training_step_time": 17.635267972946167 }, { "epoch": 1.4479637145996094e-06, "model_forward_time": 5.083993911743164, "step": 15183 }, { "epoch": 1.4479637145996094e-06, "step": 15183, "training_step_time": 17.85983633995056 }, { "epoch": 1.44805908203125e-06, "model_forward_time": 5.0879127979278564, "step": 15184 }, { "epoch": 1.44805908203125e-06, "step": 15184, "training_step_time": 17.607794046401978 }, { "epoch": 1.4481544494628906e-06, "model_forward_time": 5.095961570739746, "step": 15185 }, { "epoch": 1.4481544494628906e-06, "step": 15185, "training_step_time": 17.598092794418335 }, { "epoch": 1.4482498168945312e-06, "model_forward_time": 5.098899602890015, "step": 15186 }, { "epoch": 1.4482498168945312e-06, "step": 15186, "training_step_time": 17.332403659820557 }, { "epoch": 1.4483451843261718e-06, "model_forward_time": 5.103090047836304, "step": 15187 }, { "epoch": 1.4483451843261718e-06, "step": 15187, "training_step_time": 17.51170563697815 }, { "epoch": 1.4484405517578124e-06, "model_forward_time": 5.101240873336792, "step": 15188 }, { "epoch": 1.4484405517578124e-06, "step": 15188, "training_step_time": 17.543045043945312 }, { "epoch": 1.448535919189453e-06, "model_forward_time": 5.0963969230651855, "step": 15189 }, { "epoch": 1.448535919189453e-06, "step": 15189, "training_step_time": 17.80727219581604 }, { "epoch": 1.4486312866210937e-06, "grad_norm": 1.0131983757019043, "learning_rate": 9.256832112771998e-06, "loss": 0.0807, "step": 15190 }, { "epoch": 1.4486312866210937e-06, "model_forward_time": 3.857895612716675, "step": 15190 }, { "dynamics_loss_avg": 0.03633860470727086, "epoch": 1.4486312866210937e-06, "step": 15190 }, { "action_loss_avg": 0.07239195760339498, "epoch": 1.4486312866210937e-06, "step": 15190 }, { "arm_loss_avg": 0.10140738114714623, "epoch": 1.4486312866210937e-06, "step": 15190 }, { "ee_loss_avg": 0.10884510017931462, "epoch": 1.4486312866210937e-06, "step": 15190 }, { "aux_loss_avg": 0.0011902198137249797, "epoch": 1.4486312866210937e-06, "step": 15190 }, { "epoch": 1.4486312866210937e-06, "step": 15190, "training_step_time": 17.587706327438354 }, { "epoch": 1.4487266540527343e-06, "model_forward_time": 5.295942783355713, "step": 15191 }, { "epoch": 1.4487266540527343e-06, "step": 15191, "training_step_time": 17.61536169052124 }, { "epoch": 1.448822021484375e-06, "model_forward_time": 5.071809530258179, "step": 15192 }, { "epoch": 1.448822021484375e-06, "step": 15192, "training_step_time": 17.619208812713623 }, { "epoch": 1.4489173889160157e-06, "model_forward_time": 5.0791075229644775, "step": 15193 }, { "epoch": 1.4489173889160157e-06, "step": 15193, "training_step_time": 17.855554819107056 }, { "epoch": 1.4490127563476563e-06, "model_forward_time": 5.088158369064331, "step": 15194 }, { "epoch": 1.4490127563476563e-06, "step": 15194, "training_step_time": 17.62421154975891 }, { "epoch": 1.449108123779297e-06, "model_forward_time": 5.095062732696533, "step": 15195 }, { "epoch": 1.449108123779297e-06, "step": 15195, "training_step_time": 17.615655183792114 }, { "epoch": 1.4492034912109376e-06, "model_forward_time": 5.101162433624268, "step": 15196 }, { "epoch": 1.4492034912109376e-06, "step": 15196, "training_step_time": 17.626809120178223 }, { "epoch": 1.4492988586425782e-06, "model_forward_time": 5.100545883178711, "step": 15197 }, { "epoch": 1.4492988586425782e-06, "step": 15197, "training_step_time": 17.62691879272461 }, { "epoch": 1.4493942260742188e-06, "model_forward_time": 3.862334966659546, "step": 15198 }, { "epoch": 1.4493942260742188e-06, "step": 15198, "training_step_time": 17.838809967041016 }, { "epoch": 1.4494895935058594e-06, "model_forward_time": 5.065888166427612, "step": 15199 }, { "epoch": 1.4494895935058594e-06, "step": 15199, "training_step_time": 17.607989072799683 }, { "epoch": 1.4495849609375e-06, "grad_norm": 2.301196575164795, "learning_rate": 9.2555925476926e-06, "loss": 0.1008, "step": 15200 }, { "epoch": 1.4495849609375e-06, "model_forward_time": 5.0762879848480225, "step": 15200 }, { "dynamics_loss_avg": 0.03833464216440916, "epoch": 1.4495849609375e-06, "step": 15200 }, { "action_loss_avg": 0.07953270152211189, "epoch": 1.4495849609375e-06, "step": 15200 }, { "arm_loss_avg": 0.11732987798750401, "epoch": 1.4495849609375e-06, "step": 15200 }, { "ee_loss_avg": 0.06080288253724575, "epoch": 1.4495849609375e-06, "step": 15200 }, { "aux_loss_avg": 0.0007412190025206655, "epoch": 1.4495849609375e-06, "step": 15200 }, { "epoch": 1.4495849609375e-06, "step": 15200, "training_step_time": 17.59500026702881 }, { "epoch": 1.4496803283691406e-06, "model_forward_time": 5.322151184082031, "step": 15201 }, { "epoch": 1.4496803283691406e-06, "step": 15201, "training_step_time": 17.59446120262146 }, { "epoch": 1.4497756958007812e-06, "model_forward_time": 5.091700077056885, "step": 15202 }, { "epoch": 1.4497756958007812e-06, "step": 15202, "training_step_time": 17.57952046394348 }, { "epoch": 1.4498710632324219e-06, "model_forward_time": 5.094956874847412, "step": 15203 }, { "epoch": 1.4498710632324219e-06, "step": 15203, "training_step_time": 17.802216291427612 }, { "epoch": 1.4499664306640625e-06, "model_forward_time": 5.096242427825928, "step": 15204 }, { "epoch": 1.4499664306640625e-06, "step": 15204, "training_step_time": 17.573728561401367 }, { "epoch": 1.450061798095703e-06, "model_forward_time": 5.092350482940674, "step": 15205 }, { "epoch": 1.450061798095703e-06, "step": 15205, "training_step_time": 17.434544563293457 }, { "epoch": 1.4501571655273437e-06, "model_forward_time": 5.094778060913086, "step": 15206 }, { "epoch": 1.4501571655273437e-06, "step": 15206, "training_step_time": 17.48374605178833 }, { "epoch": 1.4502525329589843e-06, "model_forward_time": 5.092675685882568, "step": 15207 }, { "epoch": 1.4502525329589843e-06, "step": 15207, "training_step_time": 17.532620429992676 }, { "epoch": 1.450347900390625e-06, "model_forward_time": 5.091736078262329, "step": 15208 }, { "epoch": 1.450347900390625e-06, "step": 15208, "training_step_time": 17.56134843826294 }, { "epoch": 1.4504432678222655e-06, "model_forward_time": 5.087223529815674, "step": 15209 }, { "epoch": 1.4504432678222655e-06, "step": 15209, "training_step_time": 17.815190076828003 }, { "epoch": 1.4505386352539062e-06, "grad_norm": 1.231058120727539, "learning_rate": 9.254352032847492e-06, "loss": 0.082, "step": 15210 }, { "epoch": 1.4505386352539062e-06, "model_forward_time": 5.082782030105591, "step": 15210 }, { "dynamics_loss_avg": 0.040402741823345426, "epoch": 1.4505386352539062e-06, "step": 15210 }, { "action_loss_avg": 0.06660324335098267, "epoch": 1.4505386352539062e-06, "step": 15210 }, { "arm_loss_avg": 0.11058262474834919, "epoch": 1.4505386352539062e-06, "step": 15210 }, { "ee_loss_avg": 0.04377426812425256, "epoch": 1.4505386352539062e-06, "step": 15210 }, { "aux_loss_avg": 0.001123938971431926, "epoch": 1.4505386352539062e-06, "step": 15210 }, { "epoch": 1.4505386352539062e-06, "step": 15210, "training_step_time": 17.587570905685425 }, { "epoch": 1.4506340026855468e-06, "model_forward_time": 5.085618495941162, "step": 15211 }, { "epoch": 1.4506340026855468e-06, "step": 15211, "training_step_time": 17.600794553756714 }, { "epoch": 1.4507293701171876e-06, "model_forward_time": 5.084669828414917, "step": 15212 }, { "epoch": 1.4507293701171876e-06, "step": 15212, "training_step_time": 17.340068101882935 }, { "epoch": 1.4508247375488282e-06, "model_forward_time": 5.087143659591675, "step": 15213 }, { "epoch": 1.4508247375488282e-06, "step": 15213, "training_step_time": 17.502394199371338 }, { "epoch": 1.4509201049804688e-06, "model_forward_time": 5.086432933807373, "step": 15214 }, { "epoch": 1.4509201049804688e-06, "step": 15214, "training_step_time": 17.499556064605713 }, { "epoch": 1.4510154724121094e-06, "model_forward_time": 5.089081048965454, "step": 15215 }, { "epoch": 1.4510154724121094e-06, "step": 15215, "training_step_time": 17.47642755508423 }, { "epoch": 1.45111083984375e-06, "model_forward_time": 5.087214469909668, "step": 15216 }, { "epoch": 1.45111083984375e-06, "step": 15216, "training_step_time": 17.52648162841797 }, { "epoch": 1.4512062072753907e-06, "model_forward_time": 5.092536687850952, "step": 15217 }, { "epoch": 1.4512062072753907e-06, "step": 15217, "training_step_time": 17.575679540634155 }, { "epoch": 1.4513015747070313e-06, "model_forward_time": 5.097666501998901, "step": 15218 }, { "epoch": 1.4513015747070313e-06, "step": 15218, "training_step_time": 17.60936164855957 }, { "epoch": 1.451396942138672e-06, "model_forward_time": 5.099848747253418, "step": 15219 }, { "epoch": 1.451396942138672e-06, "step": 15219, "training_step_time": 17.865588426589966 }, { "epoch": 1.4514923095703125e-06, "grad_norm": 1.0469532012939453, "learning_rate": 9.253110568513529e-06, "loss": 0.0836, "step": 15220 }, { "epoch": 1.4514923095703125e-06, "model_forward_time": 3.8639914989471436, "step": 15220 }, { "dynamics_loss_avg": 0.0325088694691658, "epoch": 1.4514923095703125e-06, "step": 15220 }, { "action_loss_avg": 0.07395712155848741, "epoch": 1.4514923095703125e-06, "step": 15220 }, { "arm_loss_avg": 0.12444286420941353, "epoch": 1.4514923095703125e-06, "step": 15220 }, { "ee_loss_avg": 0.07144777444191278, "epoch": 1.4514923095703125e-06, "step": 15220 }, { "aux_loss_avg": 0.0033941705012694003, "epoch": 1.4514923095703125e-06, "step": 15220 }, { "epoch": 1.4514923095703125e-06, "step": 15220, "training_step_time": 17.611900806427002 }, { "epoch": 1.4515876770019531e-06, "model_forward_time": 5.305299758911133, "step": 15221 }, { "epoch": 1.4515876770019531e-06, "step": 15221, "training_step_time": 17.614041328430176 }, { "epoch": 1.4516830444335937e-06, "model_forward_time": 5.073055982589722, "step": 15222 }, { "epoch": 1.4516830444335937e-06, "step": 15222, "training_step_time": 17.416748046875 }, { "epoch": 1.4517784118652344e-06, "model_forward_time": 5.07971715927124, "step": 15223 }, { "epoch": 1.4517784118652344e-06, "step": 15223, "training_step_time": 17.518412590026855 }, { "epoch": 1.451873779296875e-06, "model_forward_time": 3.8546857833862305, "step": 15224 }, { "epoch": 1.451873779296875e-06, "step": 15224, "training_step_time": 17.735849380493164 }, { "epoch": 1.4519691467285156e-06, "model_forward_time": 5.068939685821533, "step": 15225 }, { "epoch": 1.4519691467285156e-06, "step": 15225, "training_step_time": 17.573654890060425 }, { "epoch": 1.4520645141601562e-06, "model_forward_time": 5.276620149612427, "step": 15226 }, { "epoch": 1.4520645141601562e-06, "step": 15226, "training_step_time": 17.58511781692505 }, { "epoch": 1.4521598815917968e-06, "model_forward_time": 5.09378981590271, "step": 15227 }, { "epoch": 1.4521598815917968e-06, "step": 15227, "training_step_time": 17.421653032302856 }, { "epoch": 1.4522552490234374e-06, "model_forward_time": 5.1034486293792725, "step": 15228 }, { "epoch": 1.4522552490234374e-06, "step": 15228, "training_step_time": 17.510422468185425 }, { "epoch": 1.452350616455078e-06, "model_forward_time": 5.1046764850616455, "step": 15229 }, { "epoch": 1.452350616455078e-06, "step": 15229, "training_step_time": 17.795785665512085 }, { "epoch": 1.4524459838867187e-06, "grad_norm": 1.9839041233062744, "learning_rate": 9.251868154967786e-06, "loss": 0.0969, "step": 15230 }, { "epoch": 1.4524459838867187e-06, "model_forward_time": 5.105017423629761, "step": 15230 }, { "dynamics_loss_avg": 0.037484890595078466, "epoch": 1.4524459838867187e-06, "step": 15230 }, { "action_loss_avg": 0.06991384774446488, "epoch": 1.4524459838867187e-06, "step": 15230 }, { "arm_loss_avg": 0.11968927048146724, "epoch": 1.4524459838867187e-06, "step": 15230 }, { "ee_loss_avg": 0.07195438574999571, "epoch": 1.4524459838867187e-06, "step": 15230 }, { "aux_loss_avg": 0.0035389439959544688, "epoch": 1.4524459838867187e-06, "step": 15230 }, { "epoch": 1.4524459838867187e-06, "step": 15230, "training_step_time": 17.465551137924194 }, { "epoch": 1.4525413513183593e-06, "model_forward_time": 5.348342418670654, "step": 15231 }, { "epoch": 1.4525413513183593e-06, "step": 15231, "training_step_time": 17.522212028503418 }, { "epoch": 1.45263671875e-06, "model_forward_time": 5.101786136627197, "step": 15232 }, { "epoch": 1.45263671875e-06, "step": 15232, "training_step_time": 17.57689666748047 }, { "epoch": 1.4527320861816407e-06, "model_forward_time": 3.8575785160064697, "step": 15233 }, { "epoch": 1.4527320861816407e-06, "step": 15233, "training_step_time": 17.59345769882202 }, { "epoch": 1.4528274536132813e-06, "model_forward_time": 5.065269231796265, "step": 15234 }, { "epoch": 1.4528274536132813e-06, "step": 15234, "training_step_time": 17.804728746414185 }, { "epoch": 1.452922821044922e-06, "model_forward_time": 5.0729124546051025, "step": 15235 }, { "epoch": 1.452922821044922e-06, "step": 15235, "training_step_time": 17.625497817993164 }, { "epoch": 1.4530181884765626e-06, "model_forward_time": 5.278778553009033, "step": 15236 }, { "epoch": 1.4530181884765626e-06, "step": 15236, "training_step_time": 17.626134395599365 }, { "epoch": 1.4531135559082032e-06, "model_forward_time": 5.1001152992248535, "step": 15237 }, { "epoch": 1.4531135559082032e-06, "step": 15237, "training_step_time": 17.64001178741455 }, { "epoch": 1.4532089233398438e-06, "model_forward_time": 5.107522487640381, "step": 15238 }, { "epoch": 1.4532089233398438e-06, "step": 15238, "training_step_time": 17.64110565185547 }, { "epoch": 1.4533042907714844e-06, "model_forward_time": 5.113832712173462, "step": 15239 }, { "epoch": 1.4533042907714844e-06, "step": 15239, "training_step_time": 17.88587760925293 }, { "epoch": 1.453399658203125e-06, "grad_norm": 1.2357600927352905, "learning_rate": 9.250624792487544e-06, "loss": 0.0893, "step": 15240 }, { "epoch": 1.453399658203125e-06, "model_forward_time": 5.120617628097534, "step": 15240 }, { "dynamics_loss_avg": 0.04400608711875975, "epoch": 1.453399658203125e-06, "step": 15240 }, { "action_loss_avg": 0.06210570838302374, "epoch": 1.453399658203125e-06, "step": 15240 }, { "arm_loss_avg": 0.11487572751939297, "epoch": 1.453399658203125e-06, "step": 15240 }, { "ee_loss_avg": 0.06786015285179019, "epoch": 1.453399658203125e-06, "step": 15240 }, { "aux_loss_avg": 0.005325880242162384, "epoch": 1.453399658203125e-06, "step": 15240 }, { "epoch": 1.453399658203125e-06, "step": 15240, "training_step_time": 17.62268090248108 }, { "epoch": 1.4534950256347656e-06, "model_forward_time": 5.107700824737549, "step": 15241 }, { "epoch": 1.4534950256347656e-06, "step": 15241, "training_step_time": 17.59339213371277 }, { "epoch": 1.4535903930664062e-06, "model_forward_time": 5.102760314941406, "step": 15242 }, { "epoch": 1.4535903930664062e-06, "step": 15242, "training_step_time": 17.590107440948486 }, { "epoch": 1.4536857604980469e-06, "model_forward_time": 5.099987030029297, "step": 15243 }, { "epoch": 1.4536857604980469e-06, "step": 15243, "training_step_time": 17.593067169189453 }, { "epoch": 1.4537811279296875e-06, "model_forward_time": 5.0979743003845215, "step": 15244 }, { "epoch": 1.4537811279296875e-06, "step": 15244, "training_step_time": 17.772467851638794 }, { "epoch": 1.453876495361328e-06, "model_forward_time": 5.291985034942627, "step": 15245 }, { "epoch": 1.453876495361328e-06, "step": 15245, "training_step_time": 17.59308433532715 }, { "epoch": 1.4539718627929687e-06, "model_forward_time": 5.092507362365723, "step": 15246 }, { "epoch": 1.4539718627929687e-06, "step": 15246, "training_step_time": 17.604858875274658 }, { "epoch": 1.4540672302246093e-06, "model_forward_time": 5.089475870132446, "step": 15247 }, { "epoch": 1.4540672302246093e-06, "step": 15247, "training_step_time": 17.591384887695312 }, { "epoch": 1.45416259765625e-06, "model_forward_time": 5.09180760383606, "step": 15248 }, { "epoch": 1.45416259765625e-06, "step": 15248, "training_step_time": 17.601791381835938 }, { "epoch": 1.4542579650878906e-06, "model_forward_time": 5.089078426361084, "step": 15249 }, { "epoch": 1.4542579650878906e-06, "step": 15249, "training_step_time": 17.825833082199097 }, { "epoch": 1.4543533325195312e-06, "grad_norm": 1.955458164215088, "learning_rate": 9.249380481350296e-06, "loss": 0.0942, "step": 15250 }, { "epoch": 1.4543533325195312e-06, "model_forward_time": 5.090048551559448, "step": 15250 }, { "dynamics_loss_avg": 0.03131220154464245, "epoch": 1.4543533325195312e-06, "step": 15250 }, { "action_loss_avg": 0.07157661858946085, "epoch": 1.4543533325195312e-06, "step": 15250 }, { "arm_loss_avg": 0.12142010144889355, "epoch": 1.4543533325195312e-06, "step": 15250 }, { "ee_loss_avg": 0.08874009405262769, "epoch": 1.4543533325195312e-06, "step": 15250 }, { "aux_loss_avg": 0.0009131265891483053, "epoch": 1.4543533325195312e-06, "step": 15250 }, { "epoch": 1.4543533325195312e-06, "step": 15250, "training_step_time": 17.593430757522583 }, { "epoch": 1.4544486999511718e-06, "model_forward_time": 5.086290121078491, "step": 15251 }, { "epoch": 1.4544486999511718e-06, "step": 15251, "training_step_time": 17.584280490875244 }, { "epoch": 1.4545440673828124e-06, "model_forward_time": 3.852212905883789, "step": 15252 }, { "epoch": 1.4545440673828124e-06, "step": 15252, "training_step_time": 17.58652925491333 }, { "epoch": 1.4546394348144532e-06, "model_forward_time": 5.0650317668914795, "step": 15253 }, { "epoch": 1.4546394348144532e-06, "step": 15253, "training_step_time": 17.59409809112549 }, { "epoch": 1.4547348022460938e-06, "model_forward_time": 5.073806047439575, "step": 15254 }, { "epoch": 1.4547348022460938e-06, "step": 15254, "training_step_time": 17.77719235420227 }, { "epoch": 1.4548301696777344e-06, "model_forward_time": 3.849931240081787, "step": 15255 }, { "epoch": 1.4548301696777344e-06, "step": 15255, "training_step_time": 17.407145738601685 }, { "epoch": 1.454925537109375e-06, "model_forward_time": 5.2676403522491455, "step": 15256 }, { "epoch": 1.454925537109375e-06, "step": 15256, "training_step_time": 17.531464099884033 }, { "epoch": 1.4550209045410157e-06, "model_forward_time": 5.091983795166016, "step": 15257 }, { "epoch": 1.4550209045410157e-06, "step": 15257, "training_step_time": 17.55789589881897 }, { "epoch": 1.4551162719726563e-06, "model_forward_time": 5.10824179649353, "step": 15258 }, { "epoch": 1.4551162719726563e-06, "step": 15258, "training_step_time": 17.596779584884644 }, { "epoch": 1.455211639404297e-06, "model_forward_time": 5.117835760116577, "step": 15259 }, { "epoch": 1.455211639404297e-06, "step": 15259, "training_step_time": 17.853204250335693 }, { "epoch": 1.4553070068359375e-06, "grad_norm": 1.6167851686477661, "learning_rate": 9.248135221833753e-06, "loss": 0.0888, "step": 15260 }, { "epoch": 1.4553070068359375e-06, "model_forward_time": 5.103292226791382, "step": 15260 }, { "dynamics_loss_avg": 0.03721899073570967, "epoch": 1.4553070068359375e-06, "step": 15260 }, { "action_loss_avg": 0.06533397063612938, "epoch": 1.4553070068359375e-06, "step": 15260 }, { "arm_loss_avg": 0.11172006912529468, "epoch": 1.4553070068359375e-06, "step": 15260 }, { "ee_loss_avg": 0.0943841278553009, "epoch": 1.4553070068359375e-06, "step": 15260 }, { "aux_loss_avg": 0.0011148856749059633, "epoch": 1.4553070068359375e-06, "step": 15260 }, { "epoch": 1.4553070068359375e-06, "step": 15260, "training_step_time": 17.63337254524231 }, { "epoch": 1.4554023742675781e-06, "model_forward_time": 5.342408657073975, "step": 15261 }, { "epoch": 1.4554023742675781e-06, "step": 15261, "training_step_time": 17.598468542099 }, { "epoch": 1.4554977416992188e-06, "model_forward_time": 5.100100994110107, "step": 15262 }, { "epoch": 1.4554977416992188e-06, "step": 15262, "training_step_time": 17.608903646469116 }, { "epoch": 1.4555931091308594e-06, "model_forward_time": 5.094238996505737, "step": 15263 }, { "epoch": 1.4555931091308594e-06, "step": 15263, "training_step_time": 17.6089289188385 }, { "epoch": 1.4556884765625e-06, "model_forward_time": 5.0898120403289795, "step": 15264 }, { "epoch": 1.4556884765625e-06, "step": 15264, "training_step_time": 17.800034523010254 }, { "epoch": 1.4557838439941406e-06, "model_forward_time": 5.083113670349121, "step": 15265 }, { "epoch": 1.4557838439941406e-06, "step": 15265, "training_step_time": 17.60790252685547 }, { "epoch": 1.4558792114257812e-06, "model_forward_time": 5.08516526222229, "step": 15266 }, { "epoch": 1.4558792114257812e-06, "step": 15266, "training_step_time": 17.59706711769104 }, { "epoch": 1.4559745788574218e-06, "model_forward_time": 5.081511497497559, "step": 15267 }, { "epoch": 1.4559745788574218e-06, "step": 15267, "training_step_time": 17.601977348327637 }, { "epoch": 1.4560699462890624e-06, "model_forward_time": 5.0824809074401855, "step": 15268 }, { "epoch": 1.4560699462890624e-06, "step": 15268, "training_step_time": 17.59288001060486 }, { "epoch": 1.456165313720703e-06, "model_forward_time": 5.077707052230835, "step": 15269 }, { "epoch": 1.456165313720703e-06, "step": 15269, "training_step_time": 17.823432445526123 }, { "epoch": 1.4562606811523437e-06, "grad_norm": 2.3021981716156006, "learning_rate": 9.246889014215828e-06, "loss": 0.0985, "step": 15270 }, { "epoch": 1.4562606811523437e-06, "model_forward_time": 5.08089280128479, "step": 15270 }, { "dynamics_loss_avg": 0.044712656922638414, "epoch": 1.4562606811523437e-06, "step": 15270 }, { "action_loss_avg": 0.07440934404730797, "epoch": 1.4562606811523437e-06, "step": 15270 }, { "arm_loss_avg": 0.11850194446742535, "epoch": 1.4562606811523437e-06, "step": 15270 }, { "ee_loss_avg": 0.07962083583697677, "epoch": 1.4562606811523437e-06, "step": 15270 }, { "aux_loss_avg": 0.007389461161801591, "epoch": 1.4562606811523437e-06, "step": 15270 }, { "epoch": 1.4562606811523437e-06, "step": 15270, "training_step_time": 17.581050872802734 }, { "epoch": 1.4563560485839843e-06, "model_forward_time": 5.083008527755737, "step": 15271 }, { "epoch": 1.4563560485839843e-06, "step": 15271, "training_step_time": 17.578630685806274 }, { "epoch": 1.456451416015625e-06, "model_forward_time": 5.080743789672852, "step": 15272 }, { "epoch": 1.456451416015625e-06, "step": 15272, "training_step_time": 17.57490062713623 }, { "epoch": 1.4565467834472657e-06, "model_forward_time": 5.081733226776123, "step": 15273 }, { "epoch": 1.4565467834472657e-06, "step": 15273, "training_step_time": 17.578820943832397 }, { "epoch": 1.4566421508789063e-06, "model_forward_time": 5.081835508346558, "step": 15274 }, { "epoch": 1.4566421508789063e-06, "step": 15274, "training_step_time": 17.7944598197937 }, { "epoch": 1.456737518310547e-06, "model_forward_time": 5.079362392425537, "step": 15275 }, { "epoch": 1.456737518310547e-06, "step": 15275, "training_step_time": 17.60010862350464 }, { "epoch": 1.4568328857421876e-06, "model_forward_time": 5.085211277008057, "step": 15276 }, { "epoch": 1.4568328857421876e-06, "step": 15276, "training_step_time": 17.56680417060852 }, { "epoch": 1.4569282531738282e-06, "model_forward_time": 5.084487438201904, "step": 15277 }, { "epoch": 1.4569282531738282e-06, "step": 15277, "training_step_time": 17.57064437866211 }, { "epoch": 1.4570236206054688e-06, "model_forward_time": 5.084074258804321, "step": 15278 }, { "epoch": 1.4570236206054688e-06, "step": 15278, "training_step_time": 17.372173070907593 }, { "epoch": 1.4571189880371094e-06, "model_forward_time": 3.8494491577148438, "step": 15279 }, { "epoch": 1.4571189880371094e-06, "step": 15279, "training_step_time": 17.69824504852295 }, { "epoch": 1.45721435546875e-06, "grad_norm": 1.6741995811462402, "learning_rate": 9.24564185877465e-06, "loss": 0.1112, "step": 15280 }, { "epoch": 1.45721435546875e-06, "model_forward_time": 5.060112953186035, "step": 15280 }, { "dynamics_loss_avg": 0.03725564340129495, "epoch": 1.45721435546875e-06, "step": 15280 }, { "action_loss_avg": 0.08959158025681972, "epoch": 1.45721435546875e-06, "step": 15280 }, { "arm_loss_avg": 0.1332604620605707, "epoch": 1.45721435546875e-06, "step": 15280 }, { "ee_loss_avg": 0.12150216260924936, "epoch": 1.45721435546875e-06, "step": 15280 }, { "aux_loss_avg": 0.0008669898204971104, "epoch": 1.45721435546875e-06, "step": 15280 }, { "epoch": 1.45721435546875e-06, "step": 15280, "training_step_time": 17.52652382850647 }, { "epoch": 1.4573097229003906e-06, "model_forward_time": 5.310309886932373, "step": 15281 }, { "epoch": 1.4573097229003906e-06, "step": 15281, "training_step_time": 17.55063247680664 }, { "epoch": 1.4574050903320313e-06, "model_forward_time": 5.076500177383423, "step": 15282 }, { "epoch": 1.4574050903320313e-06, "step": 15282, "training_step_time": 17.57966685295105 }, { "epoch": 1.4575004577636719e-06, "model_forward_time": 3.850308895111084, "step": 15283 }, { "epoch": 1.4575004577636719e-06, "step": 15283, "training_step_time": 17.420521020889282 }, { "epoch": 1.4575958251953125e-06, "model_forward_time": 5.059985637664795, "step": 15284 }, { "epoch": 1.4575958251953125e-06, "step": 15284, "training_step_time": 17.618216276168823 }, { "epoch": 1.457691192626953e-06, "model_forward_time": 5.078219890594482, "step": 15285 }, { "epoch": 1.457691192626953e-06, "step": 15285, "training_step_time": 17.65955686569214 }, { "epoch": 1.4577865600585937e-06, "model_forward_time": 5.283526420593262, "step": 15286 }, { "epoch": 1.4577865600585937e-06, "step": 15286, "training_step_time": 17.541386365890503 }, { "epoch": 1.4578819274902343e-06, "model_forward_time": 5.096708297729492, "step": 15287 }, { "epoch": 1.4578819274902343e-06, "step": 15287, "training_step_time": 17.58905601501465 }, { "epoch": 1.457977294921875e-06, "model_forward_time": 5.09823203086853, "step": 15288 }, { "epoch": 1.457977294921875e-06, "step": 15288, "training_step_time": 17.628679037094116 }, { "epoch": 1.4580726623535156e-06, "model_forward_time": 5.10099720954895, "step": 15289 }, { "epoch": 1.4580726623535156e-06, "step": 15289, "training_step_time": 17.622915506362915 }, { "epoch": 1.4581680297851562e-06, "grad_norm": 2.4573071002960205, "learning_rate": 9.244393755788563e-06, "loss": 0.1054, "step": 15290 }, { "epoch": 1.4581680297851562e-06, "model_forward_time": 5.099442958831787, "step": 15290 }, { "dynamics_loss_avg": 0.03882236462086439, "epoch": 1.4581680297851562e-06, "step": 15290 }, { "action_loss_avg": 0.10490793362259865, "epoch": 1.4581680297851562e-06, "step": 15290 }, { "arm_loss_avg": 0.15071254931390285, "epoch": 1.4581680297851562e-06, "step": 15290 }, { "ee_loss_avg": 0.13432140555232763, "epoch": 1.4581680297851562e-06, "step": 15290 }, { "aux_loss_avg": 0.001799130259314552, "epoch": 1.4581680297851562e-06, "step": 15290 }, { "epoch": 1.4581680297851562e-06, "step": 15290, "training_step_time": 17.80415987968445 }, { "epoch": 1.4582633972167968e-06, "model_forward_time": 5.334499359130859, "step": 15291 }, { "epoch": 1.4582633972167968e-06, "step": 15291, "training_step_time": 17.605542421340942 }, { "epoch": 1.4583587646484374e-06, "model_forward_time": 5.092538356781006, "step": 15292 }, { "epoch": 1.4583587646484374e-06, "step": 15292, "training_step_time": 17.402589797973633 }, { "epoch": 1.4584541320800782e-06, "model_forward_time": 5.087616682052612, "step": 15293 }, { "epoch": 1.4584541320800782e-06, "step": 15293, "training_step_time": 17.553306579589844 }, { "epoch": 1.4585494995117188e-06, "model_forward_time": 5.088010549545288, "step": 15294 }, { "epoch": 1.4585494995117188e-06, "step": 15294, "training_step_time": 17.603237628936768 }, { "epoch": 1.4586448669433595e-06, "model_forward_time": 5.086663007736206, "step": 15295 }, { "epoch": 1.4586448669433595e-06, "step": 15295, "training_step_time": 17.797773838043213 }, { "epoch": 1.458740234375e-06, "model_forward_time": 3.857327461242676, "step": 15296 }, { "epoch": 1.458740234375e-06, "step": 15296, "training_step_time": 17.664828062057495 }, { "epoch": 1.4588356018066407e-06, "model_forward_time": 5.073634386062622, "step": 15297 }, { "epoch": 1.4588356018066407e-06, "step": 15297, "training_step_time": 17.694278240203857 }, { "epoch": 1.4589309692382813e-06, "model_forward_time": 5.079829216003418, "step": 15298 }, { "epoch": 1.4589309692382813e-06, "step": 15298, "training_step_time": 17.670584201812744 }, { "epoch": 1.459026336669922e-06, "model_forward_time": 5.089924573898315, "step": 15299 }, { "epoch": 1.459026336669922e-06, "step": 15299, "training_step_time": 17.68765687942505 }, { "epoch": 1.4591217041015625e-06, "grad_norm": 1.5832067728042603, "learning_rate": 9.24314470553612e-06, "loss": 0.1041, "step": 15300 }, { "epoch": 1.4591217041015625e-06, "model_forward_time": 5.08699369430542, "step": 15300 }, { "dynamics_loss_avg": 0.04112918358296156, "epoch": 1.4591217041015625e-06, "step": 15300 }, { "action_loss_avg": 0.07144467737525702, "epoch": 1.4591217041015625e-06, "step": 15300 }, { "arm_loss_avg": 0.13378241509199143, "epoch": 1.4591217041015625e-06, "step": 15300 }, { "ee_loss_avg": 0.12452270090579987, "epoch": 1.4591217041015625e-06, "step": 15300 }, { "aux_loss_avg": 0.0008102677529677749, "epoch": 1.4591217041015625e-06, "step": 15300 }, { "epoch": 1.4591217041015625e-06, "step": 15300, "training_step_time": 17.868696689605713 }, { "epoch": 1.4592170715332031e-06, "model_forward_time": 5.33072566986084, "step": 15301 }, { "epoch": 1.4592170715332031e-06, "step": 15301, "training_step_time": 17.610787391662598 }, { "epoch": 1.4593124389648438e-06, "model_forward_time": 5.100104570388794, "step": 15302 }, { "epoch": 1.4593124389648438e-06, "step": 15302, "training_step_time": 17.614279985427856 }, { "epoch": 1.4594078063964844e-06, "model_forward_time": 5.100628614425659, "step": 15303 }, { "epoch": 1.4594078063964844e-06, "step": 15303, "training_step_time": 17.600526809692383 }, { "epoch": 1.459503173828125e-06, "model_forward_time": 5.099362373352051, "step": 15304 }, { "epoch": 1.459503173828125e-06, "step": 15304, "training_step_time": 17.620022773742676 }, { "epoch": 1.4595985412597656e-06, "model_forward_time": 5.097409963607788, "step": 15305 }, { "epoch": 1.4595985412597656e-06, "step": 15305, "training_step_time": 17.83011221885681 }, { "epoch": 1.4596939086914062e-06, "model_forward_time": 5.0924413204193115, "step": 15306 }, { "epoch": 1.4596939086914062e-06, "step": 15306, "training_step_time": 17.601420879364014 }, { "epoch": 1.4597892761230468e-06, "model_forward_time": 5.091021537780762, "step": 15307 }, { "epoch": 1.4597892761230468e-06, "step": 15307, "training_step_time": 17.608171939849854 }, { "epoch": 1.4598846435546874e-06, "model_forward_time": 3.853036403656006, "step": 15308 }, { "epoch": 1.4598846435546874e-06, "step": 15308, "training_step_time": 17.60991883277893 }, { "epoch": 1.459980010986328e-06, "model_forward_time": 5.057793855667114, "step": 15309 }, { "epoch": 1.459980010986328e-06, "step": 15309, "training_step_time": 17.834689140319824 }, { "epoch": 1.4600753784179687e-06, "grad_norm": 1.741079330444336, "learning_rate": 9.24189470829608e-06, "loss": 0.1256, "step": 15310 }, { "epoch": 1.4600753784179687e-06, "model_forward_time": 5.068401098251343, "step": 15310 }, { "dynamics_loss_avg": 0.0411816087551415, "epoch": 1.4600753784179687e-06, "step": 15310 }, { "action_loss_avg": 0.08367057293653488, "epoch": 1.4600753784179687e-06, "step": 15310 }, { "arm_loss_avg": 0.12425828129053115, "epoch": 1.4600753784179687e-06, "step": 15310 }, { "ee_loss_avg": 0.05160509366542101, "epoch": 1.4600753784179687e-06, "step": 15310 }, { "aux_loss_avg": 0.0060300510260276495, "epoch": 1.4600753784179687e-06, "step": 15310 }, { "epoch": 1.4600753784179687e-06, "step": 15310, "training_step_time": 17.59505009651184 }, { "epoch": 1.4601707458496093e-06, "model_forward_time": 5.311075687408447, "step": 15311 }, { "epoch": 1.4601707458496093e-06, "step": 15311, "training_step_time": 17.60084843635559 }, { "epoch": 1.46026611328125e-06, "model_forward_time": 5.087912321090698, "step": 15312 }, { "epoch": 1.46026611328125e-06, "step": 15312, "training_step_time": 17.60831880569458 }, { "epoch": 1.4603614807128907e-06, "model_forward_time": 5.0943450927734375, "step": 15313 }, { "epoch": 1.4603614807128907e-06, "step": 15313, "training_step_time": 17.60145854949951 }, { "epoch": 1.4604568481445313e-06, "model_forward_time": 5.098491668701172, "step": 15314 }, { "epoch": 1.4604568481445313e-06, "step": 15314, "training_step_time": 17.825979232788086 }, { "epoch": 1.460552215576172e-06, "model_forward_time": 3.8579301834106445, "step": 15315 }, { "epoch": 1.460552215576172e-06, "step": 15315, "training_step_time": 17.624189376831055 }, { "epoch": 1.4606475830078126e-06, "model_forward_time": 5.259521961212158, "step": 15316 }, { "epoch": 1.4606475830078126e-06, "step": 15316, "training_step_time": 17.34509825706482 }, { "epoch": 1.4607429504394532e-06, "model_forward_time": 3.853736639022827, "step": 15317 }, { "epoch": 1.4607429504394532e-06, "step": 15317, "training_step_time": 17.51604914665222 }, { "epoch": 1.4608383178710938e-06, "model_forward_time": 5.064695358276367, "step": 15318 }, { "epoch": 1.4608383178710938e-06, "step": 15318, "training_step_time": 17.551174640655518 }, { "epoch": 1.4609336853027344e-06, "model_forward_time": 5.075003385543823, "step": 15319 }, { "epoch": 1.4609336853027344e-06, "step": 15319, "training_step_time": 17.577033042907715 }, { "epoch": 1.461029052734375e-06, "grad_norm": 1.0039782524108887, "learning_rate": 9.240643764347424e-06, "loss": 0.1155, "step": 15320 }, { "epoch": 1.461029052734375e-06, "model_forward_time": 5.091660737991333, "step": 15320 }, { "dynamics_loss_avg": 0.039111938513815406, "epoch": 1.461029052734375e-06, "step": 15320 }, { "action_loss_avg": 0.08181043360382319, "epoch": 1.461029052734375e-06, "step": 15320 }, { "arm_loss_avg": 0.15573512986302376, "epoch": 1.461029052734375e-06, "step": 15320 }, { "ee_loss_avg": 0.08327368637546897, "epoch": 1.461029052734375e-06, "step": 15320 }, { "aux_loss_avg": 0.006071401515509933, "epoch": 1.461029052734375e-06, "step": 15320 }, { "epoch": 1.461029052734375e-06, "step": 15320, "training_step_time": 17.82596445083618 }, { "epoch": 1.4611244201660156e-06, "model_forward_time": 5.334251880645752, "step": 15321 }, { "epoch": 1.4611244201660156e-06, "step": 15321, "training_step_time": 17.603420734405518 }, { "epoch": 1.4612197875976563e-06, "model_forward_time": 5.100604295730591, "step": 15322 }, { "epoch": 1.4612197875976563e-06, "step": 15322, "training_step_time": 17.604356288909912 }, { "epoch": 1.4613151550292969e-06, "model_forward_time": 3.8630597591400146, "step": 15323 }, { "epoch": 1.4613151550292969e-06, "step": 15323, "training_step_time": 17.616077661514282 }, { "epoch": 1.4614105224609375e-06, "model_forward_time": 5.069690465927124, "step": 15324 }, { "epoch": 1.4614105224609375e-06, "step": 15324, "training_step_time": 17.84898543357849 }, { "epoch": 1.461505889892578e-06, "model_forward_time": 5.076562881469727, "step": 15325 }, { "epoch": 1.461505889892578e-06, "step": 15325, "training_step_time": 17.6275372505188 }, { "epoch": 1.4616012573242187e-06, "model_forward_time": 5.286916494369507, "step": 15326 }, { "epoch": 1.4616012573242187e-06, "step": 15326, "training_step_time": 17.61468505859375 }, { "epoch": 1.4616966247558593e-06, "model_forward_time": 5.087292194366455, "step": 15327 }, { "epoch": 1.4616966247558593e-06, "step": 15327, "training_step_time": 17.622445106506348 }, { "epoch": 1.4617919921875e-06, "model_forward_time": 3.8549842834472656, "step": 15328 }, { "epoch": 1.4617919921875e-06, "step": 15328, "training_step_time": 17.607279062271118 }, { "epoch": 1.4618873596191406e-06, "model_forward_time": 5.0613462924957275, "step": 15329 }, { "epoch": 1.4618873596191406e-06, "step": 15329, "training_step_time": 17.83916711807251 }, { "epoch": 1.4619827270507812e-06, "grad_norm": 1.7814680337905884, "learning_rate": 9.239391873969332e-06, "loss": 0.1021, "step": 15330 }, { "epoch": 1.4619827270507812e-06, "model_forward_time": 5.0687785148620605, "step": 15330 }, { "dynamics_loss_avg": 0.034949895832687615, "epoch": 1.4619827270507812e-06, "step": 15330 }, { "action_loss_avg": 0.06469041500240565, "epoch": 1.4619827270507812e-06, "step": 15330 }, { "arm_loss_avg": 0.10943162702023983, "epoch": 1.4619827270507812e-06, "step": 15330 }, { "ee_loss_avg": 0.06377783501520753, "epoch": 1.4619827270507812e-06, "step": 15330 }, { "aux_loss_avg": 0.003814184572547674, "epoch": 1.4619827270507812e-06, "step": 15330 }, { "epoch": 1.4619827270507812e-06, "step": 15330, "training_step_time": 17.63597059249878 }, { "epoch": 1.4620780944824218e-06, "model_forward_time": 5.32421350479126, "step": 15331 }, { "epoch": 1.4620780944824218e-06, "step": 15331, "training_step_time": 17.581769227981567 }, { "epoch": 1.4621734619140624e-06, "model_forward_time": 5.084895610809326, "step": 15332 }, { "epoch": 1.4621734619140624e-06, "step": 15332, "training_step_time": 17.585386276245117 }, { "epoch": 1.4622688293457032e-06, "model_forward_time": 3.85398530960083, "step": 15333 }, { "epoch": 1.4622688293457032e-06, "step": 15333, "training_step_time": 17.583760023117065 }, { "epoch": 1.4623641967773438e-06, "model_forward_time": 5.0600128173828125, "step": 15334 }, { "epoch": 1.4623641967773438e-06, "step": 15334, "training_step_time": 17.81721329689026 }, { "epoch": 1.4624595642089845e-06, "model_forward_time": 5.071223735809326, "step": 15335 }, { "epoch": 1.4624595642089845e-06, "step": 15335, "training_step_time": 17.623305320739746 }, { "epoch": 1.462554931640625e-06, "model_forward_time": 5.272495269775391, "step": 15336 }, { "epoch": 1.462554931640625e-06, "step": 15336, "training_step_time": 17.576695919036865 }, { "epoch": 1.4626502990722657e-06, "model_forward_time": 5.0863752365112305, "step": 15337 }, { "epoch": 1.4626502990722657e-06, "step": 15337, "training_step_time": 17.576273441314697 }, { "epoch": 1.4627456665039063e-06, "model_forward_time": 5.089918613433838, "step": 15338 }, { "epoch": 1.4627456665039063e-06, "step": 15338, "training_step_time": 17.579649209976196 }, { "epoch": 1.462841033935547e-06, "model_forward_time": 5.091722726821899, "step": 15339 }, { "epoch": 1.462841033935547e-06, "step": 15339, "training_step_time": 17.83012342453003 }, { "epoch": 1.4629364013671875e-06, "grad_norm": 1.1744086742401123, "learning_rate": 9.238139037441206e-06, "loss": 0.0955, "step": 15340 }, { "epoch": 1.4629364013671875e-06, "model_forward_time": 5.090379953384399, "step": 15340 }, { "dynamics_loss_avg": 0.033730447525158525, "epoch": 1.4629364013671875e-06, "step": 15340 }, { "action_loss_avg": 0.059389603324234486, "epoch": 1.4629364013671875e-06, "step": 15340 }, { "arm_loss_avg": 0.10568398796021938, "epoch": 1.4629364013671875e-06, "step": 15340 }, { "ee_loss_avg": 0.09962923955172301, "epoch": 1.4629364013671875e-06, "step": 15340 }, { "aux_loss_avg": 0.0008013053913600743, "epoch": 1.4629364013671875e-06, "step": 15340 }, { "epoch": 1.4629364013671875e-06, "step": 15340, "training_step_time": 17.632488489151 }, { "epoch": 1.4630317687988281e-06, "model_forward_time": 5.324754238128662, "step": 15341 }, { "epoch": 1.4630317687988281e-06, "step": 15341, "training_step_time": 17.58756732940674 }, { "epoch": 1.4631271362304688e-06, "model_forward_time": 5.085668087005615, "step": 15342 }, { "epoch": 1.4631271362304688e-06, "step": 15342, "training_step_time": 17.59117817878723 }, { "epoch": 1.4632225036621094e-06, "model_forward_time": 5.084763288497925, "step": 15343 }, { "epoch": 1.4632225036621094e-06, "step": 15343, "training_step_time": 17.586200952529907 }, { "epoch": 1.46331787109375e-06, "model_forward_time": 5.07915735244751, "step": 15344 }, { "epoch": 1.46331787109375e-06, "step": 15344, "training_step_time": 17.79194450378418 }, { "epoch": 1.4634132385253906e-06, "model_forward_time": 5.0788984298706055, "step": 15345 }, { "epoch": 1.4634132385253906e-06, "step": 15345, "training_step_time": 17.589898347854614 }, { "epoch": 1.4635086059570312e-06, "model_forward_time": 5.0816802978515625, "step": 15346 }, { "epoch": 1.4635086059570312e-06, "step": 15346, "training_step_time": 17.585928201675415 }, { "epoch": 1.4636039733886718e-06, "model_forward_time": 5.079909563064575, "step": 15347 }, { "epoch": 1.4636039733886718e-06, "step": 15347, "training_step_time": 17.591038703918457 }, { "epoch": 1.4636993408203124e-06, "model_forward_time": 5.079521179199219, "step": 15348 }, { "epoch": 1.4636993408203124e-06, "step": 15348, "training_step_time": 17.58578896522522 }, { "epoch": 1.463794708251953e-06, "model_forward_time": 5.079347610473633, "step": 15349 }, { "epoch": 1.463794708251953e-06, "step": 15349, "training_step_time": 17.796395540237427 }, { "epoch": 1.4638900756835937e-06, "grad_norm": 1.9881635904312134, "learning_rate": 9.236885255042656e-06, "loss": 0.1203, "step": 15350 }, { "epoch": 1.4638900756835937e-06, "model_forward_time": 5.084132432937622, "step": 15350 }, { "dynamics_loss_avg": 0.0407090880908072, "epoch": 1.4638900756835937e-06, "step": 15350 }, { "action_loss_avg": 0.08288161586970091, "epoch": 1.4638900756835937e-06, "step": 15350 }, { "arm_loss_avg": 0.12310330495238304, "epoch": 1.4638900756835937e-06, "step": 15350 }, { "ee_loss_avg": 0.04422523202374577, "epoch": 1.4638900756835937e-06, "step": 15350 }, { "aux_loss_avg": 0.0014293480548076332, "epoch": 1.4638900756835937e-06, "step": 15350 }, { "epoch": 1.4638900756835937e-06, "step": 15350, "training_step_time": 17.62459683418274 }, { "epoch": 1.4639854431152343e-06, "model_forward_time": 5.080069303512573, "step": 15351 }, { "epoch": 1.4639854431152343e-06, "step": 15351, "training_step_time": 17.59288239479065 }, { "epoch": 1.464080810546875e-06, "model_forward_time": 5.0847930908203125, "step": 15352 }, { "epoch": 1.464080810546875e-06, "step": 15352, "training_step_time": 17.588074207305908 }, { "epoch": 1.4641761779785157e-06, "model_forward_time": 3.8516340255737305, "step": 15353 }, { "epoch": 1.4641761779785157e-06, "step": 15353, "training_step_time": 17.592913389205933 }, { "epoch": 1.4642715454101563e-06, "model_forward_time": 5.059224843978882, "step": 15354 }, { "epoch": 1.4642715454101563e-06, "step": 15354, "training_step_time": 17.799439668655396 }, { "epoch": 1.464366912841797e-06, "model_forward_time": 5.067696809768677, "step": 15355 }, { "epoch": 1.464366912841797e-06, "step": 15355, "training_step_time": 17.596832513809204 }, { "epoch": 1.4644622802734376e-06, "model_forward_time": 5.276258230209351, "step": 15356 }, { "epoch": 1.4644622802734376e-06, "step": 15356, "training_step_time": 17.600658893585205 }, { "epoch": 1.4645576477050782e-06, "model_forward_time": 3.8507497310638428, "step": 15357 }, { "epoch": 1.4645576477050782e-06, "step": 15357, "training_step_time": 17.596516132354736 }, { "epoch": 1.4646530151367188e-06, "model_forward_time": 5.064450979232788, "step": 15358 }, { "epoch": 1.4646530151367188e-06, "step": 15358, "training_step_time": 17.600542783737183 }, { "epoch": 1.4647483825683594e-06, "model_forward_time": 5.077778100967407, "step": 15359 }, { "epoch": 1.4647483825683594e-06, "step": 15359, "training_step_time": 17.841620683670044 }, { "epoch": 1.46484375e-06, "grad_norm": 1.6408096551895142, "learning_rate": 9.235630527053499e-06, "loss": 0.1005, "step": 15360 }, { "epoch": 1.46484375e-06, "model_forward_time": 5.085974454879761, "step": 15360 }, { "dynamics_loss_avg": 0.03635855042375624, "epoch": 1.46484375e-06, "step": 15360 }, { "action_loss_avg": 0.06653406633995473, "epoch": 1.46484375e-06, "step": 15360 }, { "arm_loss_avg": 0.1264729741960764, "epoch": 1.46484375e-06, "step": 15360 }, { "ee_loss_avg": 0.061578032281249764, "epoch": 1.46484375e-06, "step": 15360 }, { "aux_loss_avg": 0.0019297390535939485, "epoch": 1.46484375e-06, "step": 15360 }, { "epoch": 1.46484375e-06, "step": 15360, "training_step_time": 17.59386396408081 }, { "epoch": 1.4649391174316406e-06, "model_forward_time": 5.334575653076172, "step": 15361 }, { "epoch": 1.4649391174316406e-06, "step": 15361, "training_step_time": 17.599174737930298 }, { "epoch": 1.4650344848632813e-06, "model_forward_time": 5.100960731506348, "step": 15362 }, { "epoch": 1.4650344848632813e-06, "step": 15362, "training_step_time": 17.612603902816772 }, { "epoch": 1.4651298522949219e-06, "model_forward_time": 5.102174520492554, "step": 15363 }, { "epoch": 1.4651298522949219e-06, "step": 15363, "training_step_time": 17.619853496551514 }, { "epoch": 1.4652252197265625e-06, "model_forward_time": 5.100332260131836, "step": 15364 }, { "epoch": 1.4652252197265625e-06, "step": 15364, "training_step_time": 17.823270320892334 }, { "epoch": 1.465320587158203e-06, "model_forward_time": 5.094926834106445, "step": 15365 }, { "epoch": 1.465320587158203e-06, "step": 15365, "training_step_time": 17.614072561264038 }, { "epoch": 1.4654159545898437e-06, "model_forward_time": 5.0961267948150635, "step": 15366 }, { "epoch": 1.4654159545898437e-06, "step": 15366, "training_step_time": 17.62126612663269 }, { "epoch": 1.4655113220214843e-06, "model_forward_time": 5.089942216873169, "step": 15367 }, { "epoch": 1.4655113220214843e-06, "step": 15367, "training_step_time": 17.623916625976562 }, { "epoch": 1.465606689453125e-06, "model_forward_time": 5.087219476699829, "step": 15368 }, { "epoch": 1.465606689453125e-06, "step": 15368, "training_step_time": 17.619823455810547 }, { "epoch": 1.4657020568847656e-06, "model_forward_time": 3.8490307331085205, "step": 15369 }, { "epoch": 1.4657020568847656e-06, "step": 15369, "training_step_time": 17.82843017578125 }, { "epoch": 1.4657974243164062e-06, "grad_norm": 0.8739044666290283, "learning_rate": 9.234374853753766e-06, "loss": 0.1102, "step": 15370 }, { "epoch": 1.4657974243164062e-06, "model_forward_time": 5.061358451843262, "step": 15370 }, { "dynamics_loss_avg": 0.04365654615685344, "epoch": 1.4657974243164062e-06, "step": 15370 }, { "action_loss_avg": 0.06943186093121767, "epoch": 1.4657974243164062e-06, "step": 15370 }, { "arm_loss_avg": 0.10869442410767079, "epoch": 1.4657974243164062e-06, "step": 15370 }, { "ee_loss_avg": 0.0727912588045001, "epoch": 1.4657974243164062e-06, "step": 15370 }, { "aux_loss_avg": 0.002205131555092521, "epoch": 1.4657974243164062e-06, "step": 15370 }, { "epoch": 1.4657974243164062e-06, "step": 15370, "training_step_time": 17.614184617996216 }, { "epoch": 1.4658927917480468e-06, "model_forward_time": 5.307943105697632, "step": 15371 }, { "epoch": 1.4658927917480468e-06, "step": 15371, "training_step_time": 17.61336636543274 }, { "epoch": 1.4659881591796874e-06, "model_forward_time": 5.0801661014556885, "step": 15372 }, { "epoch": 1.4659881591796874e-06, "step": 15372, "training_step_time": 17.610865831375122 }, { "epoch": 1.4660835266113282e-06, "model_forward_time": 5.087291955947876, "step": 15373 }, { "epoch": 1.4660835266113282e-06, "step": 15373, "training_step_time": 17.387447595596313 }, { "epoch": 1.4661788940429688e-06, "model_forward_time": 3.8586363792419434, "step": 15374 }, { "epoch": 1.4661788940429688e-06, "step": 15374, "training_step_time": 17.740057706832886 }, { "epoch": 1.4662742614746095e-06, "model_forward_time": 5.067077398300171, "step": 15375 }, { "epoch": 1.4662742614746095e-06, "step": 15375, "training_step_time": 17.653931379318237 }, { "epoch": 1.46636962890625e-06, "model_forward_time": 5.28697943687439, "step": 15376 }, { "epoch": 1.46636962890625e-06, "step": 15376, "training_step_time": 17.59975290298462 }, { "epoch": 1.4664649963378907e-06, "model_forward_time": 5.108439683914185, "step": 15377 }, { "epoch": 1.4664649963378907e-06, "step": 15377, "training_step_time": 17.62151789665222 }, { "epoch": 1.4665603637695313e-06, "model_forward_time": 5.116762161254883, "step": 15378 }, { "epoch": 1.4665603637695313e-06, "step": 15378, "training_step_time": 17.648168802261353 }, { "epoch": 1.466655731201172e-06, "model_forward_time": 5.111738204956055, "step": 15379 }, { "epoch": 1.466655731201172e-06, "step": 15379, "training_step_time": 17.89903450012207 }, { "epoch": 1.4667510986328125e-06, "grad_norm": 1.596841812133789, "learning_rate": 9.2331182354237e-06, "loss": 0.115, "step": 15380 }, { "epoch": 1.4667510986328125e-06, "model_forward_time": 5.100468397140503, "step": 15380 }, { "dynamics_loss_avg": 0.052828473970294, "epoch": 1.4667510986328125e-06, "step": 15380 }, { "action_loss_avg": 0.06999178249388933, "epoch": 1.4667510986328125e-06, "step": 15380 }, { "arm_loss_avg": 0.09657615944743156, "epoch": 1.4667510986328125e-06, "step": 15380 }, { "ee_loss_avg": 0.07217744514346122, "epoch": 1.4667510986328125e-06, "step": 15380 }, { "aux_loss_avg": 0.000911302660824731, "epoch": 1.4667510986328125e-06, "step": 15380 }, { "epoch": 1.4667510986328125e-06, "step": 15380, "training_step_time": 17.622650146484375 }, { "epoch": 1.4668464660644531e-06, "model_forward_time": 5.1030213832855225, "step": 15381 }, { "epoch": 1.4668464660644531e-06, "step": 15381, "training_step_time": 17.632766008377075 }, { "epoch": 1.4669418334960938e-06, "model_forward_time": 5.100480794906616, "step": 15382 }, { "epoch": 1.4669418334960938e-06, "step": 15382, "training_step_time": 17.638737678527832 }, { "epoch": 1.4670372009277344e-06, "model_forward_time": 5.097967624664307, "step": 15383 }, { "epoch": 1.4670372009277344e-06, "step": 15383, "training_step_time": 17.636215925216675 }, { "epoch": 1.467132568359375e-06, "model_forward_time": 5.09044337272644, "step": 15384 }, { "epoch": 1.467132568359375e-06, "step": 15384, "training_step_time": 17.83421516418457 }, { "epoch": 1.4672279357910156e-06, "model_forward_time": 5.288548231124878, "step": 15385 }, { "epoch": 1.4672279357910156e-06, "step": 15385, "training_step_time": 17.60895347595215 }, { "epoch": 1.4673233032226562e-06, "model_forward_time": 5.088008403778076, "step": 15386 }, { "epoch": 1.4673233032226562e-06, "step": 15386, "training_step_time": 17.603735208511353 }, { "epoch": 1.4674186706542968e-06, "model_forward_time": 5.082727432250977, "step": 15387 }, { "epoch": 1.4674186706542968e-06, "step": 15387, "training_step_time": 17.60078263282776 }, { "epoch": 1.4675140380859374e-06, "model_forward_time": 5.08514404296875, "step": 15388 }, { "epoch": 1.4675140380859374e-06, "step": 15388, "training_step_time": 17.40313982963562 }, { "epoch": 1.467609405517578e-06, "model_forward_time": 5.082711935043335, "step": 15389 }, { "epoch": 1.467609405517578e-06, "step": 15389, "training_step_time": 17.631016731262207 }, { "epoch": 1.4677047729492187e-06, "grad_norm": 1.5268018245697021, "learning_rate": 9.231860672343753e-06, "loss": 0.1026, "step": 15390 }, { "epoch": 1.4677047729492187e-06, "model_forward_time": 5.085457801818848, "step": 15390 }, { "dynamics_loss_avg": 0.03852512608282268, "epoch": 1.4677047729492187e-06, "step": 15390 }, { "action_loss_avg": 0.04876792058348656, "epoch": 1.4677047729492187e-06, "step": 15390 }, { "arm_loss_avg": 0.08802711367607116, "epoch": 1.4677047729492187e-06, "step": 15390 }, { "ee_loss_avg": 0.0574367115739733, "epoch": 1.4677047729492187e-06, "step": 15390 }, { "aux_loss_avg": 0.0017453890293836593, "epoch": 1.4677047729492187e-06, "step": 15390 }, { "epoch": 1.4677047729492187e-06, "step": 15390, "training_step_time": 17.782613277435303 }, { "epoch": 1.4678001403808593e-06, "model_forward_time": 5.082150936126709, "step": 15391 }, { "epoch": 1.4678001403808593e-06, "step": 15391, "training_step_time": 17.559162855148315 }, { "epoch": 1.4678955078125e-06, "model_forward_time": 5.084949254989624, "step": 15392 }, { "epoch": 1.4678955078125e-06, "step": 15392, "training_step_time": 17.585304260253906 }, { "epoch": 1.4679908752441405e-06, "model_forward_time": 5.08211350440979, "step": 15393 }, { "epoch": 1.4679908752441405e-06, "step": 15393, "training_step_time": 17.586101055145264 }, { "epoch": 1.4680862426757813e-06, "model_forward_time": 5.085855960845947, "step": 15394 }, { "epoch": 1.4680862426757813e-06, "step": 15394, "training_step_time": 17.604050874710083 }, { "epoch": 1.468181610107422e-06, "model_forward_time": 3.849646806716919, "step": 15395 }, { "epoch": 1.468181610107422e-06, "step": 15395, "training_step_time": 17.792081594467163 }, { "epoch": 1.4682769775390626e-06, "model_forward_time": 5.2652528285980225, "step": 15396 }, { "epoch": 1.4682769775390626e-06, "step": 15396, "training_step_time": 17.598774433135986 }, { "epoch": 1.4683723449707032e-06, "model_forward_time": 5.070866107940674, "step": 15397 }, { "epoch": 1.4683723449707032e-06, "step": 15397, "training_step_time": 17.59079384803772 }, { "epoch": 1.4684677124023438e-06, "model_forward_time": 5.07696008682251, "step": 15398 }, { "epoch": 1.4684677124023438e-06, "step": 15398, "training_step_time": 17.594452619552612 }, { "epoch": 1.4685630798339844e-06, "model_forward_time": 5.084894418716431, "step": 15399 }, { "epoch": 1.4685630798339844e-06, "step": 15399, "training_step_time": 17.805505514144897 }, { "epoch": 1.468658447265625e-06, "grad_norm": 2.217132329940796, "learning_rate": 9.23060216479459e-06, "loss": 0.1048, "step": 15400 }, { "epoch": 1.468658447265625e-06, "model_forward_time": 5.090352296829224, "step": 15400 }, { "dynamics_loss_avg": 0.03345916159451008, "epoch": 1.468658447265625e-06, "step": 15400 }, { "action_loss_avg": 0.043538259156048295, "epoch": 1.468658447265625e-06, "step": 15400 }, { "arm_loss_avg": 0.07784310914576054, "epoch": 1.468658447265625e-06, "step": 15400 }, { "ee_loss_avg": 0.054946054331958295, "epoch": 1.468658447265625e-06, "step": 15400 }, { "aux_loss_avg": 0.0016916614142246545, "epoch": 1.468658447265625e-06, "step": 15400 }, { "epoch": 1.468658447265625e-06, "step": 15400, "training_step_time": 17.578831672668457 }, { "epoch": 1.4687538146972656e-06, "model_forward_time": 5.098165988922119, "step": 15401 }, { "epoch": 1.4687538146972656e-06, "step": 15401, "training_step_time": 17.58295965194702 }, { "epoch": 1.4688491821289063e-06, "model_forward_time": 5.092792987823486, "step": 15402 }, { "epoch": 1.4688491821289063e-06, "step": 15402, "training_step_time": 17.57724952697754 }, { "epoch": 1.4689445495605469e-06, "model_forward_time": 5.091092824935913, "step": 15403 }, { "epoch": 1.4689445495605469e-06, "step": 15403, "training_step_time": 17.578381538391113 }, { "epoch": 1.4690399169921875e-06, "model_forward_time": 5.0957653522491455, "step": 15404 }, { "epoch": 1.4690399169921875e-06, "step": 15404, "training_step_time": 17.773526191711426 }, { "epoch": 1.4691352844238281e-06, "model_forward_time": 5.285951614379883, "step": 15405 }, { "epoch": 1.4691352844238281e-06, "step": 15405, "training_step_time": 17.60897731781006 }, { "epoch": 1.4692306518554687e-06, "model_forward_time": 5.090194940567017, "step": 15406 }, { "epoch": 1.4692306518554687e-06, "step": 15406, "training_step_time": 17.48364496231079 }, { "epoch": 1.4693260192871093e-06, "model_forward_time": 3.848576545715332, "step": 15407 }, { "epoch": 1.4693260192871093e-06, "step": 15407, "training_step_time": 17.53548240661621 }, { "epoch": 1.46942138671875e-06, "model_forward_time": 5.064228773117065, "step": 15408 }, { "epoch": 1.46942138671875e-06, "step": 15408, "training_step_time": 17.568582773208618 }, { "epoch": 1.4695167541503906e-06, "model_forward_time": 5.064217567443848, "step": 15409 }, { "epoch": 1.4695167541503906e-06, "step": 15409, "training_step_time": 17.580546140670776 }, { "epoch": 1.4696121215820312e-06, "grad_norm": 1.7932382822036743, "learning_rate": 9.229342713057083e-06, "loss": 0.1122, "step": 15410 }, { "epoch": 1.4696121215820312e-06, "model_forward_time": 5.075012445449829, "step": 15410 }, { "dynamics_loss_avg": 0.04189698891714215, "epoch": 1.4696121215820312e-06, "step": 15410 }, { "action_loss_avg": 0.052027023211121556, "epoch": 1.4696121215820312e-06, "step": 15410 }, { "arm_loss_avg": 0.08268237598240376, "epoch": 1.4696121215820312e-06, "step": 15410 }, { "ee_loss_avg": 0.06601341164205224, "epoch": 1.4696121215820312e-06, "step": 15410 }, { "aux_loss_avg": 0.0020088721823412923, "epoch": 1.4696121215820312e-06, "step": 15410 }, { "epoch": 1.4696121215820312e-06, "step": 15410, "training_step_time": 17.83220934867859 }, { "epoch": 1.4697074890136718e-06, "model_forward_time": 5.3235719203948975, "step": 15411 }, { "epoch": 1.4697074890136718e-06, "step": 15411, "training_step_time": 17.604768991470337 }, { "epoch": 1.4698028564453124e-06, "model_forward_time": 5.093713998794556, "step": 15412 }, { "epoch": 1.4698028564453124e-06, "step": 15412, "training_step_time": 17.609682321548462 }, { "epoch": 1.469898223876953e-06, "model_forward_time": 5.099919319152832, "step": 15413 }, { "epoch": 1.469898223876953e-06, "step": 15413, "training_step_time": 17.614486694335938 }, { "epoch": 1.4699935913085938e-06, "model_forward_time": 5.09882926940918, "step": 15414 }, { "epoch": 1.4699935913085938e-06, "step": 15414, "training_step_time": 17.629940509796143 }, { "epoch": 1.4700889587402345e-06, "model_forward_time": 5.101379632949829, "step": 15415 }, { "epoch": 1.4700889587402345e-06, "step": 15415, "training_step_time": 17.820294618606567 }, { "epoch": 1.470184326171875e-06, "model_forward_time": 5.290822982788086, "step": 15416 }, { "epoch": 1.470184326171875e-06, "step": 15416, "training_step_time": 17.626672506332397 }, { "epoch": 1.4702796936035157e-06, "model_forward_time": 5.094580173492432, "step": 15417 }, { "epoch": 1.4702796936035157e-06, "step": 15417, "training_step_time": 17.418371438980103 }, { "epoch": 1.4703750610351563e-06, "model_forward_time": 5.095759153366089, "step": 15418 }, { "epoch": 1.4703750610351563e-06, "step": 15418, "training_step_time": 17.539600133895874 }, { "epoch": 1.470470428466797e-06, "model_forward_time": 5.091966152191162, "step": 15419 }, { "epoch": 1.470470428466797e-06, "step": 15419, "training_step_time": 17.583070039749146 }, { "epoch": 1.4705657958984375e-06, "grad_norm": 1.7241889238357544, "learning_rate": 9.228082317412322e-06, "loss": 0.1112, "step": 15420 }, { "epoch": 1.4705657958984375e-06, "model_forward_time": 5.092024087905884, "step": 15420 }, { "dynamics_loss_avg": 0.04530012290924788, "epoch": 1.4705657958984375e-06, "step": 15420 }, { "action_loss_avg": 0.04620581176131964, "epoch": 1.4705657958984375e-06, "step": 15420 }, { "arm_loss_avg": 0.07220371197909117, "epoch": 1.4705657958984375e-06, "step": 15420 }, { "ee_loss_avg": 0.045196675974875686, "epoch": 1.4705657958984375e-06, "step": 15420 }, { "aux_loss_avg": 0.0030717832647496834, "epoch": 1.4705657958984375e-06, "step": 15420 }, { "epoch": 1.4705657958984375e-06, "step": 15420, "training_step_time": 17.841660976409912 }, { "epoch": 1.4706611633300782e-06, "model_forward_time": 5.088197946548462, "step": 15421 }, { "epoch": 1.4706611633300782e-06, "step": 15421, "training_step_time": 17.61029052734375 }, { "epoch": 1.4707565307617188e-06, "model_forward_time": 5.083648443222046, "step": 15422 }, { "epoch": 1.4707565307617188e-06, "step": 15422, "training_step_time": 17.630411386489868 }, { "epoch": 1.4708518981933594e-06, "model_forward_time": 5.082651853561401, "step": 15423 }, { "epoch": 1.4708518981933594e-06, "step": 15423, "training_step_time": 17.632781267166138 }, { "epoch": 1.470947265625e-06, "model_forward_time": 5.08639931678772, "step": 15424 }, { "epoch": 1.470947265625e-06, "step": 15424, "training_step_time": 17.646880865097046 }, { "epoch": 1.4710426330566406e-06, "model_forward_time": 5.2825682163238525, "step": 15425 }, { "epoch": 1.4710426330566406e-06, "step": 15425, "training_step_time": 17.871538400650024 }, { "epoch": 1.4711380004882812e-06, "model_forward_time": 5.08885931968689, "step": 15426 }, { "epoch": 1.4711380004882812e-06, "step": 15426, "training_step_time": 17.425106048583984 }, { "epoch": 1.4712333679199218e-06, "model_forward_time": 5.087131977081299, "step": 15427 }, { "epoch": 1.4712333679199218e-06, "step": 15427, "training_step_time": 17.55241894721985 }, { "epoch": 1.4713287353515625e-06, "model_forward_time": 5.093322277069092, "step": 15428 }, { "epoch": 1.4713287353515625e-06, "step": 15428, "training_step_time": 17.594873905181885 }, { "epoch": 1.471424102783203e-06, "model_forward_time": 3.8544604778289795, "step": 15429 }, { "epoch": 1.471424102783203e-06, "step": 15429, "training_step_time": 17.61943221092224 }, { "epoch": 1.4715194702148437e-06, "grad_norm": 1.5056473016738892, "learning_rate": 9.226820978141597e-06, "loss": 0.0802, "step": 15430 }, { "epoch": 1.4715194702148437e-06, "model_forward_time": 5.065721750259399, "step": 15430 }, { "dynamics_loss_avg": 0.023962459387257697, "epoch": 1.4715194702148437e-06, "step": 15430 }, { "action_loss_avg": 0.03107666806317866, "epoch": 1.4715194702148437e-06, "step": 15430 }, { "arm_loss_avg": 0.06565317492932081, "epoch": 1.4715194702148437e-06, "step": 15430 }, { "ee_loss_avg": 0.05125116296112538, "epoch": 1.4715194702148437e-06, "step": 15430 }, { "aux_loss_avg": 0.0018730925366980955, "epoch": 1.4715194702148437e-06, "step": 15430 }, { "epoch": 1.4715194702148437e-06, "step": 15430, "training_step_time": 17.877235889434814 }, { "epoch": 1.4716148376464843e-06, "model_forward_time": 5.312545537948608, "step": 15431 }, { "epoch": 1.4716148376464843e-06, "step": 15431, "training_step_time": 17.64717721939087 }, { "epoch": 1.471710205078125e-06, "model_forward_time": 5.085356712341309, "step": 15432 }, { "epoch": 1.471710205078125e-06, "step": 15432, "training_step_time": 17.645386934280396 }, { "epoch": 1.4718055725097655e-06, "model_forward_time": 5.094508409500122, "step": 15433 }, { "epoch": 1.4718055725097655e-06, "step": 15433, "training_step_time": 17.659606218338013 }, { "epoch": 1.4719009399414064e-06, "model_forward_time": 5.098974704742432, "step": 15434 }, { "epoch": 1.4719009399414064e-06, "step": 15434, "training_step_time": 17.869946002960205 }, { "epoch": 1.471996307373047e-06, "model_forward_time": 5.098376512527466, "step": 15435 }, { "epoch": 1.471996307373047e-06, "step": 15435, "training_step_time": 17.640956163406372 }, { "epoch": 1.4720916748046876e-06, "model_forward_time": 5.289276123046875, "step": 15436 }, { "epoch": 1.4720916748046876e-06, "step": 15436, "training_step_time": 17.42321228981018 }, { "epoch": 1.4721870422363282e-06, "model_forward_time": 5.102588891983032, "step": 15437 }, { "epoch": 1.4721870422363282e-06, "step": 15437, "training_step_time": 17.54357624053955 }, { "epoch": 1.4722824096679688e-06, "model_forward_time": 5.1016457080841064, "step": 15438 }, { "epoch": 1.4722824096679688e-06, "step": 15438, "training_step_time": 17.583251237869263 }, { "epoch": 1.4723777770996094e-06, "model_forward_time": 5.096299409866333, "step": 15439 }, { "epoch": 1.4723777770996094e-06, "step": 15439, "training_step_time": 17.61547350883484 }, { "epoch": 1.47247314453125e-06, "grad_norm": 1.5837424993515015, "learning_rate": 9.225558695526417e-06, "loss": 0.1049, "step": 15440 }, { "epoch": 1.47247314453125e-06, "model_forward_time": 5.095932722091675, "step": 15440 }, { "dynamics_loss_avg": 0.04047465045005083, "epoch": 1.47247314453125e-06, "step": 15440 }, { "action_loss_avg": 0.05136191416531801, "epoch": 1.47247314453125e-06, "step": 15440 }, { "arm_loss_avg": 0.07922837175428868, "epoch": 1.47247314453125e-06, "step": 15440 }, { "ee_loss_avg": 0.035340387094765904, "epoch": 1.47247314453125e-06, "step": 15440 }, { "aux_loss_avg": 0.0007161765126511455, "epoch": 1.47247314453125e-06, "step": 15440 }, { "epoch": 1.47247314453125e-06, "step": 15440, "training_step_time": 17.648462772369385 }, { "epoch": 1.4725685119628907e-06, "model_forward_time": 5.092125415802002, "step": 15441 }, { "epoch": 1.4725685119628907e-06, "step": 15441, "training_step_time": 17.553342580795288 }, { "epoch": 1.4726638793945313e-06, "model_forward_time": 5.090224742889404, "step": 15442 }, { "epoch": 1.4726638793945313e-06, "step": 15442, "training_step_time": 17.606351375579834 }, { "epoch": 1.4727592468261719e-06, "model_forward_time": 5.090483903884888, "step": 15443 }, { "epoch": 1.4727592468261719e-06, "step": 15443, "training_step_time": 17.63357162475586 }, { "epoch": 1.4728546142578125e-06, "model_forward_time": 5.088508367538452, "step": 15444 }, { "epoch": 1.4728546142578125e-06, "step": 15444, "training_step_time": 17.865036725997925 }, { "epoch": 1.4729499816894531e-06, "model_forward_time": 5.28512167930603, "step": 15445 }, { "epoch": 1.4729499816894531e-06, "step": 15445, "training_step_time": 17.64423966407776 }, { "epoch": 1.4730453491210937e-06, "model_forward_time": 3.8543128967285156, "step": 15446 }, { "epoch": 1.4730453491210937e-06, "step": 15446, "training_step_time": 17.63455104827881 }, { "epoch": 1.4731407165527343e-06, "model_forward_time": 5.06644344329834, "step": 15447 }, { "epoch": 1.4731407165527343e-06, "step": 15447, "training_step_time": 17.635392904281616 }, { "epoch": 1.473236083984375e-06, "model_forward_time": 5.0708818435668945, "step": 15448 }, { "epoch": 1.473236083984375e-06, "step": 15448, "training_step_time": 17.63377547264099 }, { "epoch": 1.4733314514160156e-06, "model_forward_time": 5.080244302749634, "step": 15449 }, { "epoch": 1.4733314514160156e-06, "step": 15449, "training_step_time": 17.846655130386353 }, { "epoch": 1.4734268188476562e-06, "grad_norm": 1.5303823947906494, "learning_rate": 9.2242954698485e-06, "loss": 0.0955, "step": 15450 }, { "epoch": 1.4734268188476562e-06, "model_forward_time": 3.8528542518615723, "step": 15450 }, { "dynamics_loss_avg": 0.03370085395872593, "epoch": 1.4734268188476562e-06, "step": 15450 }, { "action_loss_avg": 0.04069761727005243, "epoch": 1.4734268188476562e-06, "step": 15450 }, { "arm_loss_avg": 0.0696829006075859, "epoch": 1.4734268188476562e-06, "step": 15450 }, { "ee_loss_avg": 0.06457700515165925, "epoch": 1.4734268188476562e-06, "step": 15450 }, { "aux_loss_avg": 0.0011843602667795494, "epoch": 1.4734268188476562e-06, "step": 15450 }, { "epoch": 1.4734268188476562e-06, "step": 15450, "training_step_time": 17.65038824081421 }, { "epoch": 1.4735221862792968e-06, "model_forward_time": 5.304321527481079, "step": 15451 }, { "epoch": 1.4735221862792968e-06, "step": 15451, "training_step_time": 17.595507860183716 }, { "epoch": 1.4736175537109374e-06, "model_forward_time": 5.085838317871094, "step": 15452 }, { "epoch": 1.4736175537109374e-06, "step": 15452, "training_step_time": 17.584042072296143 }, { "epoch": 1.473712921142578e-06, "model_forward_time": 5.095259189605713, "step": 15453 }, { "epoch": 1.473712921142578e-06, "step": 15453, "training_step_time": 17.5829815864563 }, { "epoch": 1.4738082885742189e-06, "model_forward_time": 5.102672100067139, "step": 15454 }, { "epoch": 1.4738082885742189e-06, "step": 15454, "training_step_time": 17.78340172767639 }, { "epoch": 1.4739036560058595e-06, "model_forward_time": 5.104575157165527, "step": 15455 }, { "epoch": 1.4739036560058595e-06, "step": 15455, "training_step_time": 17.589383363723755 }, { "epoch": 1.4739990234375e-06, "model_forward_time": 5.294161558151245, "step": 15456 }, { "epoch": 1.4739990234375e-06, "step": 15456, "training_step_time": 17.58592915534973 }, { "epoch": 1.4740943908691407e-06, "model_forward_time": 5.102544784545898, "step": 15457 }, { "epoch": 1.4740943908691407e-06, "step": 15457, "training_step_time": 17.59416103363037 }, { "epoch": 1.4741897583007813e-06, "model_forward_time": 5.1012115478515625, "step": 15458 }, { "epoch": 1.4741897583007813e-06, "step": 15458, "training_step_time": 17.592703580856323 }, { "epoch": 1.474285125732422e-06, "model_forward_time": 5.09451961517334, "step": 15459 }, { "epoch": 1.474285125732422e-06, "step": 15459, "training_step_time": 17.423619508743286 }, { "epoch": 1.4743804931640625e-06, "grad_norm": 3.0177321434020996, "learning_rate": 9.223031301389774e-06, "loss": 0.1067, "step": 15460 }, { "epoch": 1.4743804931640625e-06, "model_forward_time": 5.088007688522339, "step": 15460 }, { "dynamics_loss_avg": 0.03777995612472296, "epoch": 1.4743804931640625e-06, "step": 15460 }, { "action_loss_avg": 0.053019102569669484, "epoch": 1.4743804931640625e-06, "step": 15460 }, { "arm_loss_avg": 0.1081184845417738, "epoch": 1.4743804931640625e-06, "step": 15460 }, { "ee_loss_avg": 0.047715355176478624, "epoch": 1.4743804931640625e-06, "step": 15460 }, { "aux_loss_avg": 0.0014645256364019589, "epoch": 1.4743804931640625e-06, "step": 15460 }, { "epoch": 1.4743804931640625e-06, "step": 15460, "training_step_time": 17.747597694396973 }, { "epoch": 1.4744758605957032e-06, "model_forward_time": 5.084446668624878, "step": 15461 }, { "epoch": 1.4744758605957032e-06, "step": 15461, "training_step_time": 17.54818034172058 }, { "epoch": 1.4745712280273438e-06, "model_forward_time": 5.080801963806152, "step": 15462 }, { "epoch": 1.4745712280273438e-06, "step": 15462, "training_step_time": 17.579883098602295 }, { "epoch": 1.4746665954589844e-06, "model_forward_time": 5.08024787902832, "step": 15463 }, { "epoch": 1.4746665954589844e-06, "step": 15463, "training_step_time": 17.596646547317505 }, { "epoch": 1.474761962890625e-06, "model_forward_time": 5.080560207366943, "step": 15464 }, { "epoch": 1.474761962890625e-06, "step": 15464, "training_step_time": 17.388561248779297 }, { "epoch": 1.4748573303222656e-06, "model_forward_time": 5.282626152038574, "step": 15465 }, { "epoch": 1.4748573303222656e-06, "step": 15465, "training_step_time": 17.558879375457764 }, { "epoch": 1.4749526977539062e-06, "model_forward_time": 5.084044933319092, "step": 15466 }, { "epoch": 1.4749526977539062e-06, "step": 15466, "training_step_time": 17.566726684570312 }, { "epoch": 1.4750480651855468e-06, "model_forward_time": 5.081892728805542, "step": 15467 }, { "epoch": 1.4750480651855468e-06, "step": 15467, "training_step_time": 17.596852779388428 }, { "epoch": 1.4751434326171875e-06, "model_forward_time": 5.082742214202881, "step": 15468 }, { "epoch": 1.4751434326171875e-06, "step": 15468, "training_step_time": 17.620028257369995 }, { "epoch": 1.475238800048828e-06, "model_forward_time": 5.085510969161987, "step": 15469 }, { "epoch": 1.475238800048828e-06, "step": 15469, "training_step_time": 17.393833875656128 }, { "epoch": 1.4753341674804687e-06, "grad_norm": 2.434628486633301, "learning_rate": 9.221766190432376e-06, "loss": 0.1143, "step": 15470 }, { "epoch": 1.4753341674804687e-06, "model_forward_time": 5.092719078063965, "step": 15470 }, { "dynamics_loss_avg": 0.04621352283284068, "epoch": 1.4753341674804687e-06, "step": 15470 }, { "action_loss_avg": 0.05848693437874317, "epoch": 1.4753341674804687e-06, "step": 15470 }, { "arm_loss_avg": 0.10690876785665751, "epoch": 1.4753341674804687e-06, "step": 15470 }, { "ee_loss_avg": 0.1055044762790203, "epoch": 1.4753341674804687e-06, "step": 15470 }, { "aux_loss_avg": 0.0008384454587940127, "epoch": 1.4753341674804687e-06, "step": 15470 }, { "epoch": 1.4753341674804687e-06, "step": 15470, "training_step_time": 17.77502942085266 }, { "epoch": 1.4754295349121093e-06, "model_forward_time": 3.855727434158325, "step": 15471 }, { "epoch": 1.4754295349121093e-06, "step": 15471, "training_step_time": 17.58790135383606 }, { "epoch": 1.47552490234375e-06, "model_forward_time": 5.058166742324829, "step": 15472 }, { "epoch": 1.47552490234375e-06, "step": 15472, "training_step_time": 17.402214288711548 }, { "epoch": 1.4756202697753905e-06, "model_forward_time": 5.071448087692261, "step": 15473 }, { "epoch": 1.4756202697753905e-06, "step": 15473, "training_step_time": 17.53496217727661 }, { "epoch": 1.4757156372070314e-06, "model_forward_time": 5.080707788467407, "step": 15474 }, { "epoch": 1.4757156372070314e-06, "step": 15474, "training_step_time": 17.26129722595215 }, { "epoch": 1.475811004638672e-06, "model_forward_time": 5.091132402420044, "step": 15475 }, { "epoch": 1.475811004638672e-06, "step": 15475, "training_step_time": 17.707635402679443 }, { "epoch": 1.4759063720703126e-06, "model_forward_time": 5.2916340827941895, "step": 15476 }, { "epoch": 1.4759063720703126e-06, "step": 15476, "training_step_time": 17.58722233772278 }, { "epoch": 1.4760017395019532e-06, "model_forward_time": 5.1118810176849365, "step": 15477 }, { "epoch": 1.4760017395019532e-06, "step": 15477, "training_step_time": 17.64601755142212 }, { "epoch": 1.4760971069335938e-06, "model_forward_time": 3.8777873516082764, "step": 15478 }, { "epoch": 1.4760971069335938e-06, "step": 15478, "training_step_time": 17.667552947998047 }, { "epoch": 1.4761924743652344e-06, "model_forward_time": 5.075669765472412, "step": 15479 }, { "epoch": 1.4761924743652344e-06, "step": 15479, "training_step_time": 17.697543144226074 }, { "epoch": 1.476287841796875e-06, "grad_norm": 1.1369242668151855, "learning_rate": 9.220500137258651e-06, "loss": 0.1089, "step": 15480 }, { "epoch": 1.476287841796875e-06, "model_forward_time": 5.08156418800354, "step": 15480 }, { "dynamics_loss_avg": 0.042604648508131504, "epoch": 1.476287841796875e-06, "step": 15480 }, { "action_loss_avg": 0.03391686044633389, "epoch": 1.476287841796875e-06, "step": 15480 }, { "arm_loss_avg": 0.06392330937087536, "epoch": 1.476287841796875e-06, "step": 15480 }, { "ee_loss_avg": 0.05294867930933833, "epoch": 1.476287841796875e-06, "step": 15480 }, { "aux_loss_avg": 0.0115140038280515, "epoch": 1.476287841796875e-06, "step": 15480 }, { "epoch": 1.476287841796875e-06, "step": 15480, "training_step_time": 17.906203985214233 }, { "epoch": 1.4763832092285157e-06, "model_forward_time": 5.317612409591675, "step": 15481 }, { "epoch": 1.4763832092285157e-06, "step": 15481, "training_step_time": 17.649064540863037 }, { "epoch": 1.4764785766601563e-06, "model_forward_time": 5.092163562774658, "step": 15482 }, { "epoch": 1.4764785766601563e-06, "step": 15482, "training_step_time": 17.643950939178467 }, { "epoch": 1.4765739440917969e-06, "model_forward_time": 5.092465400695801, "step": 15483 }, { "epoch": 1.4765739440917969e-06, "step": 15483, "training_step_time": 17.63493824005127 }, { "epoch": 1.4766693115234375e-06, "model_forward_time": 5.097385883331299, "step": 15484 }, { "epoch": 1.4766693115234375e-06, "step": 15484, "training_step_time": 17.63458275794983 }, { "epoch": 1.4767646789550781e-06, "model_forward_time": 5.096026182174683, "step": 15485 }, { "epoch": 1.4767646789550781e-06, "step": 15485, "training_step_time": 17.85185432434082 }, { "epoch": 1.4768600463867187e-06, "model_forward_time": 5.092549085617065, "step": 15486 }, { "epoch": 1.4768600463867187e-06, "step": 15486, "training_step_time": 17.620805740356445 }, { "epoch": 1.4769554138183593e-06, "model_forward_time": 5.0906713008880615, "step": 15487 }, { "epoch": 1.4769554138183593e-06, "step": 15487, "training_step_time": 17.606940984725952 }, { "epoch": 1.47705078125e-06, "model_forward_time": 5.089172601699829, "step": 15488 }, { "epoch": 1.47705078125e-06, "step": 15488, "training_step_time": 17.61219620704651 }, { "epoch": 1.4771461486816406e-06, "model_forward_time": 5.08658242225647, "step": 15489 }, { "epoch": 1.4771461486816406e-06, "step": 15489, "training_step_time": 17.83368968963623 }, { "epoch": 1.4772415161132812e-06, "grad_norm": 2.2983264923095703, "learning_rate": 9.21923314215116e-06, "loss": 0.1094, "step": 15490 }, { "epoch": 1.4772415161132812e-06, "model_forward_time": 5.086135149002075, "step": 15490 }, { "dynamics_loss_avg": 0.04277964159846306, "epoch": 1.4772415161132812e-06, "step": 15490 }, { "action_loss_avg": 0.05352042466402054, "epoch": 1.4772415161132812e-06, "step": 15490 }, { "arm_loss_avg": 0.11407310497015714, "epoch": 1.4772415161132812e-06, "step": 15490 }, { "ee_loss_avg": 0.08329842239618301, "epoch": 1.4772415161132812e-06, "step": 15490 }, { "aux_loss_avg": 0.003839768818579614, "epoch": 1.4772415161132812e-06, "step": 15490 }, { "epoch": 1.4772415161132812e-06, "step": 15490, "training_step_time": 17.602295398712158 }, { "epoch": 1.4773368835449218e-06, "model_forward_time": 5.083869934082031, "step": 15491 }, { "epoch": 1.4773368835449218e-06, "step": 15491, "training_step_time": 17.434499263763428 }, { "epoch": 1.4774322509765624e-06, "model_forward_time": 5.083489656448364, "step": 15492 }, { "epoch": 1.4774322509765624e-06, "step": 15492, "training_step_time": 17.410937070846558 }, { "epoch": 1.477527618408203e-06, "model_forward_time": 5.085557699203491, "step": 15493 }, { "epoch": 1.477527618408203e-06, "step": 15493, "training_step_time": 17.476820707321167 }, { "epoch": 1.4776229858398439e-06, "model_forward_time": 5.090723991394043, "step": 15494 }, { "epoch": 1.4776229858398439e-06, "step": 15494, "training_step_time": 17.620177507400513 }, { "epoch": 1.4777183532714845e-06, "model_forward_time": 5.08370041847229, "step": 15495 }, { "epoch": 1.4777183532714845e-06, "step": 15495, "training_step_time": 17.76251769065857 }, { "epoch": 1.477813720703125e-06, "model_forward_time": 5.085663795471191, "step": 15496 }, { "epoch": 1.477813720703125e-06, "step": 15496, "training_step_time": 17.41992163658142 }, { "epoch": 1.4779090881347657e-06, "model_forward_time": 5.084409236907959, "step": 15497 }, { "epoch": 1.4779090881347657e-06, "step": 15497, "training_step_time": 17.547883987426758 }, { "epoch": 1.4780044555664063e-06, "model_forward_time": 5.086688756942749, "step": 15498 }, { "epoch": 1.4780044555664063e-06, "step": 15498, "training_step_time": 17.60813045501709 }, { "epoch": 1.478099822998047e-06, "model_forward_time": 3.852113962173462, "step": 15499 }, { "epoch": 1.478099822998047e-06, "step": 15499, "training_step_time": 17.640350818634033 }, { "epoch": 1.4781951904296875e-06, "grad_norm": 3.1160497665405273, "learning_rate": 9.217965205392676e-06, "loss": 0.1205, "step": 15500 }, { "epoch": 1.4781951904296875e-06, "model_forward_time": 5.0616536140441895, "step": 15500 }, { "dynamics_loss_avg": 0.05200564377009868, "epoch": 1.4781951904296875e-06, "step": 15500 }, { "action_loss_avg": 0.05558202099055052, "epoch": 1.4781951904296875e-06, "step": 15500 }, { "arm_loss_avg": 0.08110577743500472, "epoch": 1.4781951904296875e-06, "step": 15500 }, { "ee_loss_avg": 0.07275888100266456, "epoch": 1.4781951904296875e-06, "step": 15500 }, { "aux_loss_avg": 0.002311933078453876, "epoch": 1.4781951904296875e-06, "step": 15500 }, { "epoch": 1.4781951904296875e-06, "step": 15500, "training_step_time": 17.874311685562134 }, { "epoch": 1.4782905578613282e-06, "model_forward_time": 5.302155494689941, "step": 15501 }, { "epoch": 1.4782905578613282e-06, "step": 15501, "training_step_time": 17.650840044021606 }, { "epoch": 1.4783859252929688e-06, "model_forward_time": 5.078688859939575, "step": 15502 }, { "epoch": 1.4783859252929688e-06, "step": 15502, "training_step_time": 17.650148630142212 }, { "epoch": 1.4784812927246094e-06, "model_forward_time": 5.088039398193359, "step": 15503 }, { "epoch": 1.4784812927246094e-06, "step": 15503, "training_step_time": 17.643951654434204 }, { "epoch": 1.47857666015625e-06, "model_forward_time": 3.8584272861480713, "step": 15504 }, { "epoch": 1.47857666015625e-06, "step": 15504, "training_step_time": 17.63965940475464 }, { "epoch": 1.4786720275878906e-06, "model_forward_time": 5.070285081863403, "step": 15505 }, { "epoch": 1.4786720275878906e-06, "step": 15505, "training_step_time": 17.80562996864319 }, { "epoch": 1.4787673950195312e-06, "model_forward_time": 5.279556751251221, "step": 15506 }, { "epoch": 1.4787673950195312e-06, "step": 15506, "training_step_time": 17.61415958404541 }, { "epoch": 1.4788627624511718e-06, "model_forward_time": 5.089929103851318, "step": 15507 }, { "epoch": 1.4788627624511718e-06, "step": 15507, "training_step_time": 17.58700442314148 }, { "epoch": 1.4789581298828125e-06, "model_forward_time": 5.091151714324951, "step": 15508 }, { "epoch": 1.4789581298828125e-06, "step": 15508, "training_step_time": 17.588002681732178 }, { "epoch": 1.479053497314453e-06, "model_forward_time": 5.0940515995025635, "step": 15509 }, { "epoch": 1.479053497314453e-06, "step": 15509, "training_step_time": 17.584518432617188 }, { "epoch": 1.4791488647460937e-06, "grad_norm": 2.225490093231201, "learning_rate": 9.21669632726617e-06, "loss": 0.1175, "step": 15510 }, { "epoch": 1.4791488647460937e-06, "model_forward_time": 5.091679811477661, "step": 15510 }, { "dynamics_loss_avg": 0.058773680962622164, "epoch": 1.4791488647460937e-06, "step": 15510 }, { "action_loss_avg": 0.07574231401085854, "epoch": 1.4791488647460937e-06, "step": 15510 }, { "arm_loss_avg": 0.08886904679238797, "epoch": 1.4791488647460937e-06, "step": 15510 }, { "ee_loss_avg": 0.08663815706968307, "epoch": 1.4791488647460937e-06, "step": 15510 }, { "aux_loss_avg": 0.0011958853807300328, "epoch": 1.4791488647460937e-06, "step": 15510 }, { "epoch": 1.4791488647460937e-06, "step": 15510, "training_step_time": 17.800606966018677 }, { "epoch": 1.4792442321777343e-06, "model_forward_time": 5.324707508087158, "step": 15511 }, { "epoch": 1.4792442321777343e-06, "step": 15511, "training_step_time": 17.468812465667725 }, { "epoch": 1.479339599609375e-06, "model_forward_time": 3.8530619144439697, "step": 15512 }, { "epoch": 1.479339599609375e-06, "step": 15512, "training_step_time": 17.498239994049072 }, { "epoch": 1.4794349670410155e-06, "model_forward_time": 5.057673215866089, "step": 15513 }, { "epoch": 1.4794349670410155e-06, "step": 15513, "training_step_time": 17.54233407974243 }, { "epoch": 1.4795303344726561e-06, "model_forward_time": 5.067705392837524, "step": 15514 }, { "epoch": 1.4795303344726561e-06, "step": 15514, "training_step_time": 17.678699731826782 }, { "epoch": 1.479625701904297e-06, "model_forward_time": 5.070812940597534, "step": 15515 }, { "epoch": 1.479625701904297e-06, "step": 15515, "training_step_time": 17.448766469955444 }, { "epoch": 1.4797210693359376e-06, "model_forward_time": 5.271637201309204, "step": 15516 }, { "epoch": 1.4797210693359376e-06, "step": 15516, "training_step_time": 17.51609754562378 }, { "epoch": 1.4798164367675782e-06, "model_forward_time": 5.08132266998291, "step": 15517 }, { "epoch": 1.4798164367675782e-06, "step": 15517, "training_step_time": 17.564159631729126 }, { "epoch": 1.4799118041992188e-06, "model_forward_time": 5.086641073226929, "step": 15518 }, { "epoch": 1.4799118041992188e-06, "step": 15518, "training_step_time": 17.601033210754395 }, { "epoch": 1.4800071716308594e-06, "model_forward_time": 5.088943004608154, "step": 15519 }, { "epoch": 1.4800071716308594e-06, "step": 15519, "training_step_time": 17.644257307052612 }, { "epoch": 1.4801025390625e-06, "grad_norm": 1.9742366075515747, "learning_rate": 9.215426508054837e-06, "loss": 0.1187, "step": 15520 }, { "epoch": 1.4801025390625e-06, "model_forward_time": 5.086694240570068, "step": 15520 }, { "dynamics_loss_avg": 0.055783876404166224, "epoch": 1.4801025390625e-06, "step": 15520 }, { "action_loss_avg": 0.07924415245652199, "epoch": 1.4801025390625e-06, "step": 15520 }, { "arm_loss_avg": 0.10272717103362083, "epoch": 1.4801025390625e-06, "step": 15520 }, { "ee_loss_avg": 0.1271779406350106, "epoch": 1.4801025390625e-06, "step": 15520 }, { "aux_loss_avg": 0.0024947548168711363, "epoch": 1.4801025390625e-06, "step": 15520 }, { "epoch": 1.4801025390625e-06, "step": 15520, "training_step_time": 17.769927501678467 }, { "epoch": 1.4801979064941407e-06, "model_forward_time": 5.087301969528198, "step": 15521 }, { "epoch": 1.4801979064941407e-06, "step": 15521, "training_step_time": 17.57647705078125 }, { "epoch": 1.4802932739257813e-06, "model_forward_time": 5.084965705871582, "step": 15522 }, { "epoch": 1.4802932739257813e-06, "step": 15522, "training_step_time": 17.60635495185852 }, { "epoch": 1.4803886413574219e-06, "model_forward_time": 5.08655858039856, "step": 15523 }, { "epoch": 1.4803886413574219e-06, "step": 15523, "training_step_time": 17.62627649307251 }, { "epoch": 1.4804840087890625e-06, "model_forward_time": 5.082571983337402, "step": 15524 }, { "epoch": 1.4804840087890625e-06, "step": 15524, "training_step_time": 17.62245774269104 }, { "epoch": 1.4805793762207031e-06, "model_forward_time": 5.2986369132995605, "step": 15525 }, { "epoch": 1.4805793762207031e-06, "step": 15525, "training_step_time": 17.801523685455322 }, { "epoch": 1.4806747436523437e-06, "model_forward_time": 5.077157258987427, "step": 15526 }, { "epoch": 1.4806747436523437e-06, "step": 15526, "training_step_time": 17.611900806427002 }, { "epoch": 1.4807701110839843e-06, "model_forward_time": 5.079905986785889, "step": 15527 }, { "epoch": 1.4807701110839843e-06, "step": 15527, "training_step_time": 17.60646891593933 }, { "epoch": 1.480865478515625e-06, "model_forward_time": 5.081612825393677, "step": 15528 }, { "epoch": 1.480865478515625e-06, "step": 15528, "training_step_time": 17.599483013153076 }, { "epoch": 1.4809608459472656e-06, "model_forward_time": 5.084851026535034, "step": 15529 }, { "epoch": 1.4809608459472656e-06, "step": 15529, "training_step_time": 17.22814130783081 }, { "epoch": 1.4810562133789062e-06, "grad_norm": 1.1413694620132446, "learning_rate": 9.214155748042073e-06, "loss": 0.1007, "step": 15530 }, { "epoch": 1.4810562133789062e-06, "model_forward_time": 5.091770887374878, "step": 15530 }, { "dynamics_loss_avg": 0.04118310501798987, "epoch": 1.4810562133789062e-06, "step": 15530 }, { "action_loss_avg": 0.05410989704541862, "epoch": 1.4810562133789062e-06, "step": 15530 }, { "arm_loss_avg": 0.17642799131572245, "epoch": 1.4810562133789062e-06, "step": 15530 }, { "ee_loss_avg": 0.08563073929399252, "epoch": 1.4810562133789062e-06, "step": 15530 }, { "aux_loss_avg": 0.01188586998905521, "epoch": 1.4810562133789062e-06, "step": 15530 }, { "epoch": 1.4810562133789062e-06, "step": 15530, "training_step_time": 17.747084379196167 }, { "epoch": 1.4811515808105468e-06, "model_forward_time": 5.0876405239105225, "step": 15531 }, { "epoch": 1.4811515808105468e-06, "step": 15531, "training_step_time": 17.549546480178833 }, { "epoch": 1.4812469482421874e-06, "model_forward_time": 5.0868823528289795, "step": 15532 }, { "epoch": 1.4812469482421874e-06, "step": 15532, "training_step_time": 17.573639392852783 }, { "epoch": 1.481342315673828e-06, "model_forward_time": 5.086292266845703, "step": 15533 }, { "epoch": 1.481342315673828e-06, "step": 15533, "training_step_time": 17.596189737319946 }, { "epoch": 1.4814376831054686e-06, "model_forward_time": 5.089416027069092, "step": 15534 }, { "epoch": 1.4814376831054686e-06, "step": 15534, "training_step_time": 17.634629011154175 }, { "epoch": 1.4815330505371095e-06, "model_forward_time": 5.08637261390686, "step": 15535 }, { "epoch": 1.4815330505371095e-06, "step": 15535, "training_step_time": 17.810466766357422 }, { "epoch": 1.48162841796875e-06, "model_forward_time": 5.094121694564819, "step": 15536 }, { "epoch": 1.48162841796875e-06, "step": 15536, "training_step_time": 17.523319244384766 }, { "epoch": 1.4817237854003907e-06, "model_forward_time": 5.095324277877808, "step": 15537 }, { "epoch": 1.4817237854003907e-06, "step": 15537, "training_step_time": 17.56730341911316 }, { "epoch": 1.4818191528320313e-06, "model_forward_time": 5.094437837600708, "step": 15538 }, { "epoch": 1.4818191528320313e-06, "step": 15538, "training_step_time": 17.627047777175903 }, { "epoch": 1.481914520263672e-06, "model_forward_time": 5.095332622528076, "step": 15539 }, { "epoch": 1.481914520263672e-06, "step": 15539, "training_step_time": 17.630656957626343 }, { "epoch": 1.4820098876953125e-06, "grad_norm": 1.2264549732208252, "learning_rate": 9.212884047511488e-06, "loss": 0.1139, "step": 15540 }, { "epoch": 1.4820098876953125e-06, "model_forward_time": 5.0842273235321045, "step": 15540 }, { "dynamics_loss_avg": 0.04994537904858589, "epoch": 1.4820098876953125e-06, "step": 15540 }, { "action_loss_avg": 0.07226126492023469, "epoch": 1.4820098876953125e-06, "step": 15540 }, { "arm_loss_avg": 0.13703749775886537, "epoch": 1.4820098876953125e-06, "step": 15540 }, { "ee_loss_avg": 0.07206165622919798, "epoch": 1.4820098876953125e-06, "step": 15540 }, { "aux_loss_avg": 0.0013664773694472387, "epoch": 1.4820098876953125e-06, "step": 15540 }, { "epoch": 1.4820098876953125e-06, "step": 15540, "training_step_time": 17.88238549232483 }, { "epoch": 1.4821052551269532e-06, "model_forward_time": 5.0822083950042725, "step": 15541 }, { "epoch": 1.4821052551269532e-06, "step": 15541, "training_step_time": 17.452582120895386 }, { "epoch": 1.4822006225585938e-06, "model_forward_time": 5.088767766952515, "step": 15542 }, { "epoch": 1.4822006225585938e-06, "step": 15542, "training_step_time": 17.539345264434814 }, { "epoch": 1.4822959899902344e-06, "model_forward_time": 5.084764003753662, "step": 15543 }, { "epoch": 1.4822959899902344e-06, "step": 15543, "training_step_time": 17.58927011489868 }, { "epoch": 1.482391357421875e-06, "model_forward_time": 5.086371421813965, "step": 15544 }, { "epoch": 1.482391357421875e-06, "step": 15544, "training_step_time": 17.647746801376343 }, { "epoch": 1.4824867248535156e-06, "model_forward_time": 3.8477604389190674, "step": 15545 }, { "epoch": 1.4824867248535156e-06, "step": 15545, "training_step_time": 17.62233805656433 }, { "epoch": 1.4825820922851562e-06, "model_forward_time": 5.05417537689209, "step": 15546 }, { "epoch": 1.4825820922851562e-06, "step": 15546, "training_step_time": 17.86194157600403 }, { "epoch": 1.4826774597167968e-06, "model_forward_time": 5.065685510635376, "step": 15547 }, { "epoch": 1.4826774597167968e-06, "step": 15547, "training_step_time": 17.630897998809814 }, { "epoch": 1.4827728271484375e-06, "model_forward_time": 5.073443412780762, "step": 15548 }, { "epoch": 1.4827728271484375e-06, "step": 15548, "training_step_time": 17.640969276428223 }, { "epoch": 1.482868194580078e-06, "model_forward_time": 5.084130048751831, "step": 15549 }, { "epoch": 1.482868194580078e-06, "step": 15549, "training_step_time": 17.654847860336304 }, { "epoch": 1.4829635620117187e-06, "grad_norm": 2.089491844177246, "learning_rate": 9.2116114067469e-06, "loss": 0.1156, "step": 15550 }, { "epoch": 1.4829635620117187e-06, "model_forward_time": 5.0929811000823975, "step": 15550 }, { "dynamics_loss_avg": 0.05246802754700184, "epoch": 1.4829635620117187e-06, "step": 15550 }, { "action_loss_avg": 0.06522649470716715, "epoch": 1.4829635620117187e-06, "step": 15550 }, { "arm_loss_avg": 0.11069183181971312, "epoch": 1.4829635620117187e-06, "step": 15550 }, { "ee_loss_avg": 0.07757085342891515, "epoch": 1.4829635620117187e-06, "step": 15550 }, { "aux_loss_avg": 0.0008262487448519096, "epoch": 1.4829635620117187e-06, "step": 15550 }, { "epoch": 1.4829635620117187e-06, "step": 15550, "training_step_time": 17.868910551071167 }, { "epoch": 1.4830589294433593e-06, "model_forward_time": 5.091766595840454, "step": 15551 }, { "epoch": 1.4830589294433593e-06, "step": 15551, "training_step_time": 17.613866806030273 }, { "epoch": 1.483154296875e-06, "model_forward_time": 5.095584154129028, "step": 15552 }, { "epoch": 1.483154296875e-06, "step": 15552, "training_step_time": 17.611273288726807 }, { "epoch": 1.4832496643066405e-06, "model_forward_time": 5.096496105194092, "step": 15553 }, { "epoch": 1.4832496643066405e-06, "step": 15553, "training_step_time": 17.599185943603516 }, { "epoch": 1.4833450317382811e-06, "model_forward_time": 5.090907573699951, "step": 15554 }, { "epoch": 1.4833450317382811e-06, "step": 15554, "training_step_time": 17.595512628555298 }, { "epoch": 1.483440399169922e-06, "model_forward_time": 5.0897228717803955, "step": 15555 }, { "epoch": 1.483440399169922e-06, "step": 15555, "training_step_time": 17.8197078704834 }, { "epoch": 1.4835357666015626e-06, "model_forward_time": 5.088817119598389, "step": 15556 }, { "epoch": 1.4835357666015626e-06, "step": 15556, "training_step_time": 17.601669788360596 }, { "epoch": 1.4836311340332032e-06, "model_forward_time": 5.083190202713013, "step": 15557 }, { "epoch": 1.4836311340332032e-06, "step": 15557, "training_step_time": 17.596020460128784 }, { "epoch": 1.4837265014648438e-06, "model_forward_time": 5.083003997802734, "step": 15558 }, { "epoch": 1.4837265014648438e-06, "step": 15558, "training_step_time": 17.5937283039093 }, { "epoch": 1.4838218688964844e-06, "model_forward_time": 5.082089185714722, "step": 15559 }, { "epoch": 1.4838218688964844e-06, "step": 15559, "training_step_time": 17.669735193252563 }, { "epoch": 1.483917236328125e-06, "grad_norm": 1.4154821634292603, "learning_rate": 9.210337826032341e-06, "loss": 0.1095, "step": 15560 }, { "epoch": 1.483917236328125e-06, "model_forward_time": 5.325689315795898, "step": 15560 }, { "dynamics_loss_avg": 0.04967516288161278, "epoch": 1.483917236328125e-06, "step": 15560 }, { "action_loss_avg": 0.06932127494364977, "epoch": 1.483917236328125e-06, "step": 15560 }, { "arm_loss_avg": 0.12939688395708798, "epoch": 1.483917236328125e-06, "step": 15560 }, { "ee_loss_avg": 0.0843205620534718, "epoch": 1.483917236328125e-06, "step": 15560 }, { "aux_loss_avg": 0.0030264377128332853, "epoch": 1.483917236328125e-06, "step": 15560 }, { "epoch": 1.483917236328125e-06, "step": 15560, "training_step_time": 17.83270001411438 }, { "epoch": 1.4840126037597657e-06, "model_forward_time": 5.082326889038086, "step": 15561 }, { "epoch": 1.4840126037597657e-06, "step": 15561, "training_step_time": 17.592898845672607 }, { "epoch": 1.4841079711914063e-06, "model_forward_time": 5.082428455352783, "step": 15562 }, { "epoch": 1.4841079711914063e-06, "step": 15562, "training_step_time": 17.6031174659729 }, { "epoch": 1.4842033386230469e-06, "model_forward_time": 5.083480358123779, "step": 15563 }, { "epoch": 1.4842033386230469e-06, "step": 15563, "training_step_time": 17.610034942626953 }, { "epoch": 1.4842987060546875e-06, "model_forward_time": 5.08368444442749, "step": 15564 }, { "epoch": 1.4842987060546875e-06, "step": 15564, "training_step_time": 17.6070613861084 }, { "epoch": 1.4843940734863281e-06, "model_forward_time": 5.289776563644409, "step": 15565 }, { "epoch": 1.4843940734863281e-06, "step": 15565, "training_step_time": 17.796563625335693 }, { "epoch": 1.4844894409179687e-06, "model_forward_time": 5.081954479217529, "step": 15566 }, { "epoch": 1.4844894409179687e-06, "step": 15566, "training_step_time": 17.585066080093384 }, { "epoch": 1.4845848083496093e-06, "model_forward_time": 5.079472541809082, "step": 15567 }, { "epoch": 1.4845848083496093e-06, "step": 15567, "training_step_time": 17.367476224899292 }, { "epoch": 1.48468017578125e-06, "model_forward_time": 5.081140756607056, "step": 15568 }, { "epoch": 1.48468017578125e-06, "step": 15568, "training_step_time": 17.497356176376343 }, { "epoch": 1.4847755432128906e-06, "model_forward_time": 5.082417964935303, "step": 15569 }, { "epoch": 1.4847755432128906e-06, "step": 15569, "training_step_time": 17.539462089538574 }, { "epoch": 1.4848709106445312e-06, "grad_norm": 1.572760820388794, "learning_rate": 9.209063305652044e-06, "loss": 0.0969, "step": 15570 }, { "epoch": 1.4848709106445312e-06, "model_forward_time": 5.084848165512085, "step": 15570 }, { "dynamics_loss_avg": 0.04059960730373859, "epoch": 1.4848709106445312e-06, "step": 15570 }, { "action_loss_avg": 0.06755932942032813, "epoch": 1.4848709106445312e-06, "step": 15570 }, { "arm_loss_avg": 0.1700825797393918, "epoch": 1.4848709106445312e-06, "step": 15570 }, { "ee_loss_avg": 0.10389595199376345, "epoch": 1.4848709106445312e-06, "step": 15570 }, { "aux_loss_avg": 0.007564796478254721, "epoch": 1.4848709106445312e-06, "step": 15570 }, { "epoch": 1.4848709106445312e-06, "step": 15570, "training_step_time": 17.666370630264282 }, { "epoch": 1.4849662780761718e-06, "model_forward_time": 5.081326484680176, "step": 15571 }, { "epoch": 1.4849662780761718e-06, "step": 15571, "training_step_time": 17.81449007987976 }, { "epoch": 1.4850616455078124e-06, "model_forward_time": 3.843258857727051, "step": 15572 }, { "epoch": 1.4850616455078124e-06, "step": 15572, "training_step_time": 17.589890241622925 }, { "epoch": 1.485157012939453e-06, "model_forward_time": 5.0563976764678955, "step": 15573 }, { "epoch": 1.485157012939453e-06, "step": 15573, "training_step_time": 17.60203790664673 }, { "epoch": 1.4852523803710937e-06, "model_forward_time": 5.061194181442261, "step": 15574 }, { "epoch": 1.4852523803710937e-06, "step": 15574, "training_step_time": 17.643020629882812 }, { "epoch": 1.4853477478027345e-06, "model_forward_time": 5.076708793640137, "step": 15575 }, { "epoch": 1.4853477478027345e-06, "step": 15575, "training_step_time": 17.605887174606323 }, { "epoch": 1.485443115234375e-06, "model_forward_time": 5.277715444564819, "step": 15576 }, { "epoch": 1.485443115234375e-06, "step": 15576, "training_step_time": 17.790557384490967 }, { "epoch": 1.4855384826660157e-06, "model_forward_time": 5.084122180938721, "step": 15577 }, { "epoch": 1.4855384826660157e-06, "step": 15577, "training_step_time": 17.586703062057495 }, { "epoch": 1.4856338500976563e-06, "model_forward_time": 5.083642244338989, "step": 15578 }, { "epoch": 1.4856338500976563e-06, "step": 15578, "training_step_time": 17.582493782043457 }, { "epoch": 1.485729217529297e-06, "model_forward_time": 5.084631443023682, "step": 15579 }, { "epoch": 1.485729217529297e-06, "step": 15579, "training_step_time": 17.588406801223755 }, { "epoch": 1.4858245849609375e-06, "grad_norm": 1.8458707332611084, "learning_rate": 9.207787845890462e-06, "loss": 0.11, "step": 15580 }, { "epoch": 1.4858245849609375e-06, "model_forward_time": 5.085856914520264, "step": 15580 }, { "dynamics_loss_avg": 0.0416566900908947, "epoch": 1.4858245849609375e-06, "step": 15580 }, { "action_loss_avg": 0.06114339102059603, "epoch": 1.4858245849609375e-06, "step": 15580 }, { "arm_loss_avg": 0.11724817864596844, "epoch": 1.4858245849609375e-06, "step": 15580 }, { "ee_loss_avg": 0.10308882649987935, "epoch": 1.4858245849609375e-06, "step": 15580 }, { "aux_loss_avg": 0.0013538266939576715, "epoch": 1.4858245849609375e-06, "step": 15580 }, { "epoch": 1.4858245849609375e-06, "step": 15580, "training_step_time": 17.79108428955078 }, { "epoch": 1.4859199523925782e-06, "model_forward_time": 5.08439826965332, "step": 15581 }, { "epoch": 1.4859199523925782e-06, "step": 15581, "training_step_time": 17.577880382537842 }, { "epoch": 1.4860153198242188e-06, "model_forward_time": 5.0805580615997314, "step": 15582 }, { "epoch": 1.4860153198242188e-06, "step": 15582, "training_step_time": 17.564247608184814 }, { "epoch": 1.4861106872558594e-06, "model_forward_time": 5.078908681869507, "step": 15583 }, { "epoch": 1.4861106872558594e-06, "step": 15583, "training_step_time": 17.573094129562378 }, { "epoch": 1.4862060546875e-06, "model_forward_time": 5.080122470855713, "step": 15584 }, { "epoch": 1.4862060546875e-06, "step": 15584, "training_step_time": 17.597241640090942 }, { "epoch": 1.4863014221191406e-06, "model_forward_time": 5.282871246337891, "step": 15585 }, { "epoch": 1.4863014221191406e-06, "step": 15585, "training_step_time": 17.396230459213257 }, { "epoch": 1.4863967895507812e-06, "model_forward_time": 5.079426050186157, "step": 15586 }, { "epoch": 1.4863967895507812e-06, "step": 15586, "training_step_time": 17.473984718322754 }, { "epoch": 1.4864921569824219e-06, "model_forward_time": 5.076947927474976, "step": 15587 }, { "epoch": 1.4864921569824219e-06, "step": 15587, "training_step_time": 17.516273260116577 }, { "epoch": 1.4865875244140625e-06, "model_forward_time": 5.078800439834595, "step": 15588 }, { "epoch": 1.4865875244140625e-06, "step": 15588, "training_step_time": 17.54533314704895 }, { "epoch": 1.486682891845703e-06, "model_forward_time": 5.077799558639526, "step": 15589 }, { "epoch": 1.486682891845703e-06, "step": 15589, "training_step_time": 17.566011667251587 }, { "epoch": 1.4867782592773437e-06, "grad_norm": 2.0166664123535156, "learning_rate": 9.206511447032252e-06, "loss": 0.1126, "step": 15590 }, { "epoch": 1.4867782592773437e-06, "model_forward_time": 5.079089879989624, "step": 15590 }, { "dynamics_loss_avg": 0.055631858110427854, "epoch": 1.4867782592773437e-06, "step": 15590 }, { "action_loss_avg": 0.06385125722736121, "epoch": 1.4867782592773437e-06, "step": 15590 }, { "arm_loss_avg": 0.08149132132530212, "epoch": 1.4867782592773437e-06, "step": 15590 }, { "ee_loss_avg": 0.09741114778444171, "epoch": 1.4867782592773437e-06, "step": 15590 }, { "aux_loss_avg": 0.0007947713718749582, "epoch": 1.4867782592773437e-06, "step": 15590 }, { "epoch": 1.4867782592773437e-06, "step": 15590, "training_step_time": 17.82517147064209 }, { "epoch": 1.4868736267089843e-06, "model_forward_time": 5.0806238651275635, "step": 15591 }, { "epoch": 1.4868736267089843e-06, "step": 15591, "training_step_time": 17.182673931121826 }, { "epoch": 1.486968994140625e-06, "model_forward_time": 5.083344221115112, "step": 15592 }, { "epoch": 1.486968994140625e-06, "step": 15592, "training_step_time": 17.511731147766113 }, { "epoch": 1.4870643615722655e-06, "model_forward_time": 3.85317063331604, "step": 15593 }, { "epoch": 1.4870643615722655e-06, "step": 15593, "training_step_time": 17.554387092590332 }, { "epoch": 1.4871597290039062e-06, "model_forward_time": 5.056920289993286, "step": 15594 }, { "epoch": 1.4871597290039062e-06, "step": 15594, "training_step_time": 17.5827739238739 }, { "epoch": 1.487255096435547e-06, "model_forward_time": 5.068585395812988, "step": 15595 }, { "epoch": 1.487255096435547e-06, "step": 15595, "training_step_time": 17.61260199546814 }, { "epoch": 1.4873504638671876e-06, "model_forward_time": 5.283785104751587, "step": 15596 }, { "epoch": 1.4873504638671876e-06, "step": 15596, "training_step_time": 17.537402868270874 }, { "epoch": 1.4874458312988282e-06, "model_forward_time": 5.098268032073975, "step": 15597 }, { "epoch": 1.4874458312988282e-06, "step": 15597, "training_step_time": 17.568313121795654 }, { "epoch": 1.4875411987304688e-06, "model_forward_time": 5.100909471511841, "step": 15598 }, { "epoch": 1.4875411987304688e-06, "step": 15598, "training_step_time": 17.61550784111023 }, { "epoch": 1.4876365661621094e-06, "model_forward_time": 5.105420351028442, "step": 15599 }, { "epoch": 1.4876365661621094e-06, "step": 15599, "training_step_time": 17.673778295516968 }, { "epoch": 1.48773193359375e-06, "grad_norm": 1.7586681842803955, "learning_rate": 9.205234109362278e-06, "loss": 0.1136, "step": 15600 }, { "epoch": 1.48773193359375e-06, "model_forward_time": 5.098034620285034, "step": 15600 }, { "dynamics_loss_avg": 0.050827736780047414, "epoch": 1.48773193359375e-06, "step": 15600 }, { "action_loss_avg": 0.08070068024098873, "epoch": 1.48773193359375e-06, "step": 15600 }, { "arm_loss_avg": 0.1366965239867568, "epoch": 1.48773193359375e-06, "step": 15600 }, { "ee_loss_avg": 0.067579204775393, "epoch": 1.48773193359375e-06, "step": 15600 }, { "aux_loss_avg": 0.0011611781432293356, "epoch": 1.48773193359375e-06, "step": 15600 }, { "epoch": 1.48773193359375e-06, "step": 15600, "training_step_time": 17.44971799850464 }, { "epoch": 1.4878273010253907e-06, "model_forward_time": 3.8591344356536865, "step": 15601 }, { "epoch": 1.4878273010253907e-06, "step": 15601, "training_step_time": 17.77589249610901 }, { "epoch": 1.4879226684570313e-06, "model_forward_time": 5.061097621917725, "step": 15602 }, { "epoch": 1.4879226684570313e-06, "step": 15602, "training_step_time": 17.6026029586792 }, { "epoch": 1.488018035888672e-06, "model_forward_time": 5.071584939956665, "step": 15603 }, { "epoch": 1.488018035888672e-06, "step": 15603, "training_step_time": 17.62380051612854 }, { "epoch": 1.4881134033203125e-06, "model_forward_time": 5.079396486282349, "step": 15604 }, { "epoch": 1.4881134033203125e-06, "step": 15604, "training_step_time": 17.612464904785156 }, { "epoch": 1.4882087707519531e-06, "model_forward_time": 5.08786678314209, "step": 15605 }, { "epoch": 1.4882087707519531e-06, "step": 15605, "training_step_time": 17.557596445083618 }, { "epoch": 1.4883041381835937e-06, "model_forward_time": 5.092508316040039, "step": 15606 }, { "epoch": 1.4883041381835937e-06, "step": 15606, "training_step_time": 17.782665252685547 }, { "epoch": 1.4883995056152344e-06, "model_forward_time": 5.092401027679443, "step": 15607 }, { "epoch": 1.4883995056152344e-06, "step": 15607, "training_step_time": 17.61841344833374 }, { "epoch": 1.488494873046875e-06, "model_forward_time": 5.0976176261901855, "step": 15608 }, { "epoch": 1.488494873046875e-06, "step": 15608, "training_step_time": 17.634772062301636 }, { "epoch": 1.4885902404785156e-06, "model_forward_time": 5.094460487365723, "step": 15609 }, { "epoch": 1.4885902404785156e-06, "step": 15609, "training_step_time": 17.621288776397705 }, { "epoch": 1.4886856079101562e-06, "grad_norm": 2.281827926635742, "learning_rate": 9.203955833165621e-06, "loss": 0.1162, "step": 15610 }, { "epoch": 1.4886856079101562e-06, "model_forward_time": 5.091885328292847, "step": 15610 }, { "dynamics_loss_avg": 0.05106214731931687, "epoch": 1.4886856079101562e-06, "step": 15610 }, { "action_loss_avg": 0.06938655208796263, "epoch": 1.4886856079101562e-06, "step": 15610 }, { "arm_loss_avg": 0.09835297167301178, "epoch": 1.4886856079101562e-06, "step": 15610 }, { "ee_loss_avg": 0.06129992939531803, "epoch": 1.4886856079101562e-06, "step": 15610 }, { "aux_loss_avg": 0.004197738779475912, "epoch": 1.4886856079101562e-06, "step": 15610 }, { "epoch": 1.4886856079101562e-06, "step": 15610, "training_step_time": 17.558656454086304 }, { "epoch": 1.4887809753417968e-06, "model_forward_time": 5.090458631515503, "step": 15611 }, { "epoch": 1.4887809753417968e-06, "step": 15611, "training_step_time": 17.825720071792603 }, { "epoch": 1.4888763427734374e-06, "model_forward_time": 5.090301990509033, "step": 15612 }, { "epoch": 1.4888763427734374e-06, "step": 15612, "training_step_time": 17.61658525466919 }, { "epoch": 1.488971710205078e-06, "model_forward_time": 5.089809894561768, "step": 15613 }, { "epoch": 1.488971710205078e-06, "step": 15613, "training_step_time": 17.624897003173828 }, { "epoch": 1.4890670776367187e-06, "model_forward_time": 5.087450265884399, "step": 15614 }, { "epoch": 1.4890670776367187e-06, "step": 15614, "training_step_time": 17.632419109344482 }, { "epoch": 1.4891624450683595e-06, "model_forward_time": 5.084448575973511, "step": 15615 }, { "epoch": 1.4891624450683595e-06, "step": 15615, "training_step_time": 17.630152463912964 }, { "epoch": 1.4892578125e-06, "model_forward_time": 5.083142518997192, "step": 15616 }, { "epoch": 1.4892578125e-06, "step": 15616, "training_step_time": 17.83020281791687 }, { "epoch": 1.4893531799316407e-06, "model_forward_time": 5.08243727684021, "step": 15617 }, { "epoch": 1.4893531799316407e-06, "step": 15617, "training_step_time": 17.614951848983765 }, { "epoch": 1.4894485473632813e-06, "model_forward_time": 5.082705974578857, "step": 15618 }, { "epoch": 1.4894485473632813e-06, "step": 15618, "training_step_time": 17.61430025100708 }, { "epoch": 1.489543914794922e-06, "model_forward_time": 5.086278676986694, "step": 15619 }, { "epoch": 1.489543914794922e-06, "step": 15619, "training_step_time": 17.676952838897705 }, { "epoch": 1.4896392822265626e-06, "grad_norm": 1.9942444562911987, "learning_rate": 9.202676618727566e-06, "loss": 0.1237, "step": 15620 }, { "epoch": 1.4896392822265626e-06, "model_forward_time": 3.8491110801696777, "step": 15620 }, { "dynamics_loss_avg": 0.05346192382276058, "epoch": 1.4896392822265626e-06, "step": 15620 }, { "action_loss_avg": 0.09015764771029353, "epoch": 1.4896392822265626e-06, "step": 15620 }, { "arm_loss_avg": 0.13625586964190006, "epoch": 1.4896392822265626e-06, "step": 15620 }, { "ee_loss_avg": 0.09042733432725072, "epoch": 1.4896392822265626e-06, "step": 15620 }, { "aux_loss_avg": 0.002017060143407434, "epoch": 1.4896392822265626e-06, "step": 15620 }, { "epoch": 1.4896392822265626e-06, "step": 15620, "training_step_time": 17.61201548576355 }, { "epoch": 1.4897346496582032e-06, "model_forward_time": 5.297495603561401, "step": 15621 }, { "epoch": 1.4897346496582032e-06, "step": 15621, "training_step_time": 17.851860284805298 }, { "epoch": 1.4898300170898438e-06, "model_forward_time": 5.067431449890137, "step": 15622 }, { "epoch": 1.4898300170898438e-06, "step": 15622, "training_step_time": 17.605608701705933 }, { "epoch": 1.4899253845214844e-06, "model_forward_time": 3.8436501026153564, "step": 15623 }, { "epoch": 1.4899253845214844e-06, "step": 15623, "training_step_time": 17.58997631072998 }, { "epoch": 1.490020751953125e-06, "model_forward_time": 5.058184385299683, "step": 15624 }, { "epoch": 1.490020751953125e-06, "step": 15624, "training_step_time": 17.60004448890686 }, { "epoch": 1.4901161193847656e-06, "model_forward_time": 5.073857069015503, "step": 15625 }, { "epoch": 1.4901161193847656e-06, "step": 15625, "training_step_time": 17.57256531715393 }, { "epoch": 1.4902114868164062e-06, "model_forward_time": 5.26984167098999, "step": 15626 }, { "epoch": 1.4902114868164062e-06, "step": 15626, "training_step_time": 17.77532720565796 }, { "epoch": 1.4903068542480469e-06, "model_forward_time": 5.094846248626709, "step": 15627 }, { "epoch": 1.4903068542480469e-06, "step": 15627, "training_step_time": 17.5736563205719 }, { "epoch": 1.4904022216796875e-06, "model_forward_time": 5.098255157470703, "step": 15628 }, { "epoch": 1.4904022216796875e-06, "step": 15628, "training_step_time": 17.57555365562439 }, { "epoch": 1.490497589111328e-06, "model_forward_time": 5.097759485244751, "step": 15629 }, { "epoch": 1.490497589111328e-06, "step": 15629, "training_step_time": 17.643638849258423 }, { "epoch": 1.4905929565429687e-06, "grad_norm": 1.2244536876678467, "learning_rate": 9.20139646633361e-06, "loss": 0.0977, "step": 15630 }, { "epoch": 1.4905929565429687e-06, "model_forward_time": 5.098103046417236, "step": 15630 }, { "dynamics_loss_avg": 0.04634166806936264, "epoch": 1.4905929565429687e-06, "step": 15630 }, { "action_loss_avg": 0.06796505777165293, "epoch": 1.4905929565429687e-06, "step": 15630 }, { "arm_loss_avg": 0.12523500621318817, "epoch": 1.4905929565429687e-06, "step": 15630 }, { "ee_loss_avg": 0.06516216471791267, "epoch": 1.4905929565429687e-06, "step": 15630 }, { "aux_loss_avg": 0.0008926266804337501, "epoch": 1.4905929565429687e-06, "step": 15630 }, { "epoch": 1.4905929565429687e-06, "step": 15630, "training_step_time": 17.57619547843933 }, { "epoch": 1.4906883239746093e-06, "model_forward_time": 5.33563232421875, "step": 15631 }, { "epoch": 1.4906883239746093e-06, "step": 15631, "training_step_time": 17.819268226623535 }, { "epoch": 1.49078369140625e-06, "model_forward_time": 5.087032079696655, "step": 15632 }, { "epoch": 1.49078369140625e-06, "step": 15632, "training_step_time": 17.575653314590454 }, { "epoch": 1.4908790588378905e-06, "model_forward_time": 5.08098840713501, "step": 15633 }, { "epoch": 1.4908790588378905e-06, "step": 15633, "training_step_time": 17.565667867660522 }, { "epoch": 1.4909744262695312e-06, "model_forward_time": 5.077472925186157, "step": 15634 }, { "epoch": 1.4909744262695312e-06, "step": 15634, "training_step_time": 17.569221019744873 }, { "epoch": 1.4910697937011718e-06, "model_forward_time": 5.081109523773193, "step": 15635 }, { "epoch": 1.4910697937011718e-06, "step": 15635, "training_step_time": 17.591189861297607 }, { "epoch": 1.4911651611328126e-06, "model_forward_time": 5.076581239700317, "step": 15636 }, { "epoch": 1.4911651611328126e-06, "step": 15636, "training_step_time": 17.75986409187317 }, { "epoch": 1.4912605285644532e-06, "model_forward_time": 5.0730743408203125, "step": 15637 }, { "epoch": 1.4912605285644532e-06, "step": 15637, "training_step_time": 17.500986099243164 }, { "epoch": 1.4913558959960938e-06, "model_forward_time": 5.073519468307495, "step": 15638 }, { "epoch": 1.4913558959960938e-06, "step": 15638, "training_step_time": 17.482797622680664 }, { "epoch": 1.4914512634277344e-06, "model_forward_time": 5.0767741203308105, "step": 15639 }, { "epoch": 1.4914512634277344e-06, "step": 15639, "training_step_time": 17.53399133682251 }, { "epoch": 1.491546630859375e-06, "grad_norm": 1.2854586839675903, "learning_rate": 9.200115376269455e-06, "loss": 0.1032, "step": 15640 }, { "epoch": 1.491546630859375e-06, "model_forward_time": 5.080207109451294, "step": 15640 }, { "dynamics_loss_avg": 0.0520065407268703, "epoch": 1.491546630859375e-06, "step": 15640 }, { "action_loss_avg": 0.07017015032470227, "epoch": 1.491546630859375e-06, "step": 15640 }, { "arm_loss_avg": 0.11363915838301182, "epoch": 1.491546630859375e-06, "step": 15640 }, { "ee_loss_avg": 0.07566673411056399, "epoch": 1.491546630859375e-06, "step": 15640 }, { "aux_loss_avg": 0.0012456947704777121, "epoch": 1.491546630859375e-06, "step": 15640 }, { "epoch": 1.491546630859375e-06, "step": 15640, "training_step_time": 17.658212661743164 }, { "epoch": 1.4916419982910157e-06, "model_forward_time": 5.084306955337524, "step": 15641 }, { "epoch": 1.4916419982910157e-06, "step": 15641, "training_step_time": 17.80097985267639 }, { "epoch": 1.4917373657226563e-06, "model_forward_time": 5.082825660705566, "step": 15642 }, { "epoch": 1.4917373657226563e-06, "step": 15642, "training_step_time": 17.5938720703125 }, { "epoch": 1.491832733154297e-06, "model_forward_time": 5.080264091491699, "step": 15643 }, { "epoch": 1.491832733154297e-06, "step": 15643, "training_step_time": 17.407530307769775 }, { "epoch": 1.4919281005859375e-06, "model_forward_time": 5.083200931549072, "step": 15644 }, { "epoch": 1.4919281005859375e-06, "step": 15644, "training_step_time": 17.609923601150513 }, { "epoch": 1.4920234680175781e-06, "model_forward_time": 5.282231092453003, "step": 15645 }, { "epoch": 1.4920234680175781e-06, "step": 15645, "training_step_time": 17.567941188812256 }, { "epoch": 1.4921188354492187e-06, "model_forward_time": 5.081949234008789, "step": 15646 }, { "epoch": 1.4921188354492187e-06, "step": 15646, "training_step_time": 17.821776390075684 }, { "epoch": 1.4922142028808594e-06, "model_forward_time": 3.843930959701538, "step": 15647 }, { "epoch": 1.4922142028808594e-06, "step": 15647, "training_step_time": 17.592486143112183 }, { "epoch": 1.4923095703125e-06, "model_forward_time": 5.053898572921753, "step": 15648 }, { "epoch": 1.4923095703125e-06, "step": 15648, "training_step_time": 17.605868339538574 }, { "epoch": 1.4924049377441406e-06, "model_forward_time": 5.066465139389038, "step": 15649 }, { "epoch": 1.4924049377441406e-06, "step": 15649, "training_step_time": 17.612008094787598 }, { "epoch": 1.4925003051757812e-06, "grad_norm": 0.9326708316802979, "learning_rate": 9.19883334882102e-06, "loss": 0.0946, "step": 15650 }, { "epoch": 1.4925003051757812e-06, "model_forward_time": 5.073166370391846, "step": 15650 }, { "dynamics_loss_avg": 0.0428162437863648, "epoch": 1.4925003051757812e-06, "step": 15650 }, { "action_loss_avg": 0.04719323311001063, "epoch": 1.4925003051757812e-06, "step": 15650 }, { "arm_loss_avg": 0.10409144684672356, "epoch": 1.4925003051757812e-06, "step": 15650 }, { "ee_loss_avg": 0.061189926136285065, "epoch": 1.4925003051757812e-06, "step": 15650 }, { "aux_loss_avg": 0.0011325634957756847, "epoch": 1.4925003051757812e-06, "step": 15650 }, { "epoch": 1.4925003051757812e-06, "step": 15650, "training_step_time": 17.604772090911865 }, { "epoch": 1.4925956726074218e-06, "model_forward_time": 5.317969560623169, "step": 15651 }, { "epoch": 1.4925956726074218e-06, "step": 15651, "training_step_time": 17.428810596466064 }, { "epoch": 1.4926910400390624e-06, "model_forward_time": 3.856398820877075, "step": 15652 }, { "epoch": 1.4926910400390624e-06, "step": 15652, "training_step_time": 17.446520566940308 }, { "epoch": 1.492786407470703e-06, "model_forward_time": 5.064533233642578, "step": 15653 }, { "epoch": 1.492786407470703e-06, "step": 15653, "training_step_time": 17.469372510910034 }, { "epoch": 1.4928817749023437e-06, "model_forward_time": 5.075061559677124, "step": 15654 }, { "epoch": 1.4928817749023437e-06, "step": 15654, "training_step_time": 17.525158166885376 }, { "epoch": 1.4929771423339843e-06, "model_forward_time": 5.088904142379761, "step": 15655 }, { "epoch": 1.4929771423339843e-06, "step": 15655, "training_step_time": 17.574828147888184 }, { "epoch": 1.493072509765625e-06, "model_forward_time": 5.281869411468506, "step": 15656 }, { "epoch": 1.493072509765625e-06, "step": 15656, "training_step_time": 17.586536407470703 }, { "epoch": 1.4931678771972657e-06, "model_forward_time": 5.094782829284668, "step": 15657 }, { "epoch": 1.4931678771972657e-06, "step": 15657, "training_step_time": 17.79346203804016 }, { "epoch": 1.4932632446289063e-06, "model_forward_time": 5.097240924835205, "step": 15658 }, { "epoch": 1.4932632446289063e-06, "step": 15658, "training_step_time": 17.24063229560852 }, { "epoch": 1.493358612060547e-06, "model_forward_time": 5.104532480239868, "step": 15659 }, { "epoch": 1.493358612060547e-06, "step": 15659, "training_step_time": 17.547473669052124 }, { "epoch": 1.4934539794921876e-06, "grad_norm": 1.744975209236145, "learning_rate": 9.197550384274423e-06, "loss": 0.1107, "step": 15660 }, { "epoch": 1.4934539794921876e-06, "model_forward_time": 5.0922017097473145, "step": 15660 }, { "dynamics_loss_avg": 0.06363148465752602, "epoch": 1.4934539794921876e-06, "step": 15660 }, { "action_loss_avg": 0.06995412986725569, "epoch": 1.4934539794921876e-06, "step": 15660 }, { "arm_loss_avg": 0.10523167457431555, "epoch": 1.4934539794921876e-06, "step": 15660 }, { "ee_loss_avg": 0.09545903969556094, "epoch": 1.4934539794921876e-06, "step": 15660 }, { "aux_loss_avg": 0.003101965965470299, "epoch": 1.4934539794921876e-06, "step": 15660 }, { "epoch": 1.4934539794921876e-06, "step": 15660, "training_step_time": 17.63046145439148 }, { "epoch": 1.4935493469238282e-06, "model_forward_time": 5.3332977294921875, "step": 15661 }, { "epoch": 1.4935493469238282e-06, "step": 15661, "training_step_time": 17.468801975250244 }, { "epoch": 1.4936447143554688e-06, "model_forward_time": 5.097228288650513, "step": 15662 }, { "epoch": 1.4936447143554688e-06, "step": 15662, "training_step_time": 17.770519733428955 }, { "epoch": 1.4937400817871094e-06, "model_forward_time": 5.087777614593506, "step": 15663 }, { "epoch": 1.4937400817871094e-06, "step": 15663, "training_step_time": 17.593806505203247 }, { "epoch": 1.49383544921875e-06, "model_forward_time": 5.085198640823364, "step": 15664 }, { "epoch": 1.49383544921875e-06, "step": 15664, "training_step_time": 17.624767303466797 }, { "epoch": 1.4939308166503906e-06, "model_forward_time": 5.086463212966919, "step": 15665 }, { "epoch": 1.4939308166503906e-06, "step": 15665, "training_step_time": 17.65067458152771 }, { "epoch": 1.4940261840820312e-06, "model_forward_time": 5.089482307434082, "step": 15666 }, { "epoch": 1.4940261840820312e-06, "step": 15666, "training_step_time": 17.64519214630127 }, { "epoch": 1.4941215515136719e-06, "model_forward_time": 5.0857086181640625, "step": 15667 }, { "epoch": 1.4941215515136719e-06, "step": 15667, "training_step_time": 17.83122992515564 }, { "epoch": 1.4942169189453125e-06, "model_forward_time": 5.088522672653198, "step": 15668 }, { "epoch": 1.4942169189453125e-06, "step": 15668, "training_step_time": 17.64241862297058 }, { "epoch": 1.494312286376953e-06, "model_forward_time": 5.088332414627075, "step": 15669 }, { "epoch": 1.494312286376953e-06, "step": 15669, "training_step_time": 17.623676300048828 }, { "epoch": 1.4944076538085937e-06, "grad_norm": 2.314192056655884, "learning_rate": 9.196266482916001e-06, "loss": 0.1002, "step": 15670 }, { "epoch": 1.4944076538085937e-06, "model_forward_time": 5.087975740432739, "step": 15670 }, { "dynamics_loss_avg": 0.0564848430454731, "epoch": 1.4944076538085937e-06, "step": 15670 }, { "action_loss_avg": 0.0596257884055376, "epoch": 1.4944076538085937e-06, "step": 15670 }, { "arm_loss_avg": 0.10799550004303456, "epoch": 1.4944076538085937e-06, "step": 15670 }, { "ee_loss_avg": 0.06989765563048422, "epoch": 1.4944076538085937e-06, "step": 15670 }, { "aux_loss_avg": 0.001294226647587493, "epoch": 1.4944076538085937e-06, "step": 15670 }, { "epoch": 1.4944076538085937e-06, "step": 15670, "training_step_time": 17.613152265548706 }, { "epoch": 1.4945030212402343e-06, "model_forward_time": 5.085901737213135, "step": 15671 }, { "epoch": 1.4945030212402343e-06, "step": 15671, "training_step_time": 17.61797547340393 }, { "epoch": 1.494598388671875e-06, "model_forward_time": 5.0886454582214355, "step": 15672 }, { "epoch": 1.494598388671875e-06, "step": 15672, "training_step_time": 17.84636878967285 }, { "epoch": 1.4946937561035155e-06, "model_forward_time": 5.090139389038086, "step": 15673 }, { "epoch": 1.4946937561035155e-06, "step": 15673, "training_step_time": 17.60296392440796 }, { "epoch": 1.4947891235351562e-06, "model_forward_time": 5.091567516326904, "step": 15674 }, { "epoch": 1.4947891235351562e-06, "step": 15674, "training_step_time": 17.605133295059204 }, { "epoch": 1.4948844909667968e-06, "model_forward_time": 5.093339681625366, "step": 15675 }, { "epoch": 1.4948844909667968e-06, "step": 15675, "training_step_time": 17.658519983291626 }, { "epoch": 1.4949798583984376e-06, "model_forward_time": 5.094031095504761, "step": 15676 }, { "epoch": 1.4949798583984376e-06, "step": 15676, "training_step_time": 17.5182101726532 }, { "epoch": 1.4950752258300782e-06, "model_forward_time": 5.09181547164917, "step": 15677 }, { "epoch": 1.4950752258300782e-06, "step": 15677, "training_step_time": 17.74470806121826 }, { "epoch": 1.4951705932617188e-06, "model_forward_time": 5.087486743927002, "step": 15678 }, { "epoch": 1.4951705932617188e-06, "step": 15678, "training_step_time": 17.584575653076172 }, { "epoch": 1.4952659606933594e-06, "model_forward_time": 5.091680526733398, "step": 15679 }, { "epoch": 1.4952659606933594e-06, "step": 15679, "training_step_time": 17.610148906707764 }, { "epoch": 1.495361328125e-06, "grad_norm": 1.4227737188339233, "learning_rate": 9.194981645032297e-06, "loss": 0.1035, "step": 15680 }, { "epoch": 1.495361328125e-06, "model_forward_time": 5.0886876583099365, "step": 15680 }, { "dynamics_loss_avg": 0.0498015851713717, "epoch": 1.495361328125e-06, "step": 15680 }, { "action_loss_avg": 0.07358885314315558, "epoch": 1.495361328125e-06, "step": 15680 }, { "arm_loss_avg": 0.1264968790113926, "epoch": 1.495361328125e-06, "step": 15680 }, { "ee_loss_avg": 0.07379583977162837, "epoch": 1.495361328125e-06, "step": 15680 }, { "aux_loss_avg": 0.0038558775384444745, "epoch": 1.495361328125e-06, "step": 15680 }, { "epoch": 1.495361328125e-06, "step": 15680, "training_step_time": 17.652726888656616 }, { "epoch": 1.4954566955566407e-06, "model_forward_time": 5.0836169719696045, "step": 15681 }, { "epoch": 1.4954566955566407e-06, "step": 15681, "training_step_time": 17.41854166984558 }, { "epoch": 1.4955520629882813e-06, "model_forward_time": 5.0852484703063965, "step": 15682 }, { "epoch": 1.4955520629882813e-06, "step": 15682, "training_step_time": 17.46058177947998 }, { "epoch": 1.495647430419922e-06, "model_forward_time": 5.085140943527222, "step": 15683 }, { "epoch": 1.495647430419922e-06, "step": 15683, "training_step_time": 17.49337363243103 }, { "epoch": 1.4957427978515625e-06, "model_forward_time": 3.8524997234344482, "step": 15684 }, { "epoch": 1.4957427978515625e-06, "step": 15684, "training_step_time": 17.54694175720215 }, { "epoch": 1.4958381652832031e-06, "model_forward_time": 5.059693098068237, "step": 15685 }, { "epoch": 1.4958381652832031e-06, "step": 15685, "training_step_time": 17.573662042617798 }, { "epoch": 1.4959335327148437e-06, "model_forward_time": 3.8376095294952393, "step": 15686 }, { "epoch": 1.4959335327148437e-06, "step": 15686, "training_step_time": 17.511884212493896 }, { "epoch": 1.4960289001464844e-06, "model_forward_time": 3.825521230697632, "step": 15687 }, { "epoch": 1.4960289001464844e-06, "step": 15687, "training_step_time": 17.7601580619812 }, { "epoch": 1.496124267578125e-06, "model_forward_time": 5.04782772064209, "step": 15688 }, { "epoch": 1.496124267578125e-06, "step": 15688, "training_step_time": 17.591647386550903 }, { "epoch": 1.4962196350097656e-06, "model_forward_time": 5.065320014953613, "step": 15689 }, { "epoch": 1.4962196350097656e-06, "step": 15689, "training_step_time": 17.597259521484375 }, { "epoch": 1.4963150024414062e-06, "grad_norm": 1.6651920080184937, "learning_rate": 9.193695870910058e-06, "loss": 0.1169, "step": 15690 }, { "epoch": 1.4963150024414062e-06, "model_forward_time": 5.0871663093566895, "step": 15690 }, { "dynamics_loss_avg": 0.051157398335635665, "epoch": 1.4963150024414062e-06, "step": 15690 }, { "action_loss_avg": 0.08012204207479953, "epoch": 1.4963150024414062e-06, "step": 15690 }, { "arm_loss_avg": 0.12615754138678312, "epoch": 1.4963150024414062e-06, "step": 15690 }, { "ee_loss_avg": 0.1226258110255003, "epoch": 1.4963150024414062e-06, "step": 15690 }, { "aux_loss_avg": 0.002527192496927455, "epoch": 1.4963150024414062e-06, "step": 15690 }, { "epoch": 1.4963150024414062e-06, "step": 15690, "training_step_time": 17.626758813858032 }, { "epoch": 1.4964103698730468e-06, "model_forward_time": 5.3403284549713135, "step": 15691 }, { "epoch": 1.4964103698730468e-06, "step": 15691, "training_step_time": 17.615583419799805 }, { "epoch": 1.4965057373046874e-06, "model_forward_time": 5.109702825546265, "step": 15692 }, { "epoch": 1.4965057373046874e-06, "step": 15692, "training_step_time": 17.864795207977295 }, { "epoch": 1.496601104736328e-06, "model_forward_time": 5.103807687759399, "step": 15693 }, { "epoch": 1.496601104736328e-06, "step": 15693, "training_step_time": 17.606608867645264 }, { "epoch": 1.4966964721679687e-06, "model_forward_time": 5.093916654586792, "step": 15694 }, { "epoch": 1.4966964721679687e-06, "step": 15694, "training_step_time": 17.604408979415894 }, { "epoch": 1.4967918395996093e-06, "model_forward_time": 5.087535858154297, "step": 15695 }, { "epoch": 1.4967918395996093e-06, "step": 15695, "training_step_time": 17.600252628326416 }, { "epoch": 1.49688720703125e-06, "model_forward_time": 5.275742053985596, "step": 15696 }, { "epoch": 1.49688720703125e-06, "step": 15696, "training_step_time": 17.599526166915894 }, { "epoch": 1.4969825744628907e-06, "model_forward_time": 3.8613479137420654, "step": 15697 }, { "epoch": 1.4969825744628907e-06, "step": 15697, "training_step_time": 17.830474138259888 }, { "epoch": 1.4970779418945313e-06, "model_forward_time": 3.842930555343628, "step": 15698 }, { "epoch": 1.4970779418945313e-06, "step": 15698, "training_step_time": 17.628549337387085 }, { "epoch": 1.497173309326172e-06, "model_forward_time": 5.059844255447388, "step": 15699 }, { "epoch": 1.497173309326172e-06, "step": 15699, "training_step_time": 17.608831882476807 }, { "epoch": 1.4972686767578126e-06, "grad_norm": 2.067068576812744, "learning_rate": 9.192409160836246e-06, "loss": 0.1116, "step": 15700 }, { "epoch": 1.4972686767578126e-06, "model_forward_time": 5.086891174316406, "step": 15700 }, { "dynamics_loss_avg": 0.05611670706421137, "epoch": 1.4972686767578126e-06, "step": 15700 }, { "action_loss_avg": 0.06449020765721798, "epoch": 1.4972686767578126e-06, "step": 15700 }, { "arm_loss_avg": 0.11150621138513088, "epoch": 1.4972686767578126e-06, "step": 15700 }, { "ee_loss_avg": 0.0682805330492556, "epoch": 1.4972686767578126e-06, "step": 15700 }, { "aux_loss_avg": 0.003217009681975469, "epoch": 1.4972686767578126e-06, "step": 15700 }, { "epoch": 1.4972686767578126e-06, "step": 15700, "training_step_time": 17.6644504070282 }, { "epoch": 1.4973640441894532e-06, "model_forward_time": 5.319861888885498, "step": 15701 }, { "epoch": 1.4973640441894532e-06, "step": 15701, "training_step_time": 18.064061403274536 }, { "epoch": 1.4974594116210938e-06, "model_forward_time": 5.091502666473389, "step": 15702 }, { "epoch": 1.4974594116210938e-06, "step": 15702, "training_step_time": 17.77432346343994 }, { "epoch": 1.4975547790527344e-06, "model_forward_time": 5.10115647315979, "step": 15703 }, { "epoch": 1.4975547790527344e-06, "step": 15703, "training_step_time": 17.31648540496826 }, { "epoch": 1.497650146484375e-06, "model_forward_time": 5.105108022689819, "step": 15704 }, { "epoch": 1.497650146484375e-06, "step": 15704, "training_step_time": 17.460164546966553 }, { "epoch": 1.4977455139160156e-06, "model_forward_time": 5.103039741516113, "step": 15705 }, { "epoch": 1.4977455139160156e-06, "step": 15705, "training_step_time": 17.571227312088013 }, { "epoch": 1.4978408813476562e-06, "model_forward_time": 5.291086673736572, "step": 15706 }, { "epoch": 1.4978408813476562e-06, "step": 15706, "training_step_time": 17.550278186798096 }, { "epoch": 1.4979362487792969e-06, "model_forward_time": 5.092390298843384, "step": 15707 }, { "epoch": 1.4979362487792969e-06, "step": 15707, "training_step_time": 17.777448177337646 }, { "epoch": 1.4980316162109375e-06, "model_forward_time": 5.087863922119141, "step": 15708 }, { "epoch": 1.4980316162109375e-06, "step": 15708, "training_step_time": 17.59402084350586 }, { "epoch": 1.498126983642578e-06, "model_forward_time": 3.852313995361328, "step": 15709 }, { "epoch": 1.498126983642578e-06, "step": 15709, "training_step_time": 17.610573053359985 }, { "epoch": 1.4982223510742187e-06, "grad_norm": 1.728298544883728, "learning_rate": 9.19112151509803e-06, "loss": 0.1054, "step": 15710 }, { "epoch": 1.4982223510742187e-06, "model_forward_time": 5.066859006881714, "step": 15710 }, { "dynamics_loss_avg": 0.05517501384019852, "epoch": 1.4982223510742187e-06, "step": 15710 }, { "action_loss_avg": 0.06330916360020637, "epoch": 1.4982223510742187e-06, "step": 15710 }, { "arm_loss_avg": 0.11242293901741504, "epoch": 1.4982223510742187e-06, "step": 15710 }, { "ee_loss_avg": 0.07456710478290915, "epoch": 1.4982223510742187e-06, "step": 15710 }, { "aux_loss_avg": 0.001505365635966882, "epoch": 1.4982223510742187e-06, "step": 15710 }, { "epoch": 1.4982223510742187e-06, "step": 15710, "training_step_time": 17.384523630142212 }, { "epoch": 1.4983177185058593e-06, "model_forward_time": 5.311378479003906, "step": 15711 }, { "epoch": 1.4983177185058593e-06, "step": 15711, "training_step_time": 17.530563354492188 }, { "epoch": 1.4984130859375e-06, "model_forward_time": 5.0785439014434814, "step": 15712 }, { "epoch": 1.4984130859375e-06, "step": 15712, "training_step_time": 17.57101845741272 }, { "epoch": 1.4985084533691405e-06, "model_forward_time": 5.088552474975586, "step": 15713 }, { "epoch": 1.4985084533691405e-06, "step": 15713, "training_step_time": 17.83771061897278 }, { "epoch": 1.4986038208007812e-06, "model_forward_time": 5.0902581214904785, "step": 15714 }, { "epoch": 1.4986038208007812e-06, "step": 15714, "training_step_time": 17.607824563980103 }, { "epoch": 1.4986991882324218e-06, "model_forward_time": 5.098099946975708, "step": 15715 }, { "epoch": 1.4986991882324218e-06, "step": 15715, "training_step_time": 17.608906507492065 }, { "epoch": 1.4987945556640626e-06, "model_forward_time": 4.108428955078125, "step": 15716 }, { "epoch": 1.4987945556640626e-06, "step": 15716, "training_step_time": 17.622986555099487 }, { "epoch": 1.4988899230957032e-06, "model_forward_time": 5.070535898208618, "step": 15717 }, { "epoch": 1.4988899230957032e-06, "step": 15717, "training_step_time": 17.81589126586914 }, { "epoch": 1.4989852905273438e-06, "model_forward_time": 3.8480987548828125, "step": 15718 }, { "epoch": 1.4989852905273438e-06, "step": 15718, "training_step_time": 17.615936517715454 }, { "epoch": 1.4990806579589844e-06, "model_forward_time": 5.057815313339233, "step": 15719 }, { "epoch": 1.4990806579589844e-06, "step": 15719, "training_step_time": 17.623417139053345 }, { "epoch": 1.499176025390625e-06, "grad_norm": 1.3631906509399414, "learning_rate": 9.189832933982786e-06, "loss": 0.1005, "step": 15720 }, { "epoch": 1.499176025390625e-06, "model_forward_time": 5.075336694717407, "step": 15720 }, { "dynamics_loss_avg": 0.049377126060426234, "epoch": 1.499176025390625e-06, "step": 15720 }, { "action_loss_avg": 0.046676610969007014, "epoch": 1.499176025390625e-06, "step": 15720 }, { "arm_loss_avg": 0.11607015896588564, "epoch": 1.499176025390625e-06, "step": 15720 }, { "ee_loss_avg": 0.08361268974840641, "epoch": 1.499176025390625e-06, "step": 15720 }, { "aux_loss_avg": 0.002641215198673308, "epoch": 1.499176025390625e-06, "step": 15720 }, { "epoch": 1.499176025390625e-06, "step": 15720, "training_step_time": 17.660563468933105 }, { "epoch": 1.4992713928222657e-06, "model_forward_time": 5.315774440765381, "step": 15721 }, { "epoch": 1.4992713928222657e-06, "step": 15721, "training_step_time": 17.59654474258423 }, { "epoch": 1.4993667602539063e-06, "model_forward_time": 5.100237607955933, "step": 15722 }, { "epoch": 1.4993667602539063e-06, "step": 15722, "training_step_time": 17.819329261779785 }, { "epoch": 1.499462127685547e-06, "model_forward_time": 5.105920076370239, "step": 15723 }, { "epoch": 1.499462127685547e-06, "step": 15723, "training_step_time": 17.59895896911621 }, { "epoch": 1.4995574951171875e-06, "model_forward_time": 5.104741096496582, "step": 15724 }, { "epoch": 1.4995574951171875e-06, "step": 15724, "training_step_time": 17.59466791152954 }, { "epoch": 1.4996528625488281e-06, "model_forward_time": 5.1020166873931885, "step": 15725 }, { "epoch": 1.4996528625488281e-06, "step": 15725, "training_step_time": 17.638320207595825 }, { "epoch": 1.4997482299804687e-06, "model_forward_time": 5.286779403686523, "step": 15726 }, { "epoch": 1.4997482299804687e-06, "step": 15726, "training_step_time": 17.422837495803833 }, { "epoch": 1.4998435974121094e-06, "model_forward_time": 5.09464168548584, "step": 15727 }, { "epoch": 1.4998435974121094e-06, "step": 15727, "training_step_time": 17.73733878135681 }, { "epoch": 1.49993896484375e-06, "model_forward_time": 5.089825391769409, "step": 15728 }, { "epoch": 1.49993896484375e-06, "step": 15728, "training_step_time": 17.552652597427368 }, { "epoch": 1.5000343322753906e-06, "model_forward_time": 5.091068983078003, "step": 15729 }, { "epoch": 1.5000343322753906e-06, "step": 15729, "training_step_time": 17.586843013763428 }, { "epoch": 1.5001296997070312e-06, "grad_norm": 2.0945212841033936, "learning_rate": 9.1885434177781e-06, "loss": 0.1022, "step": 15730 }, { "epoch": 1.5001296997070312e-06, "model_forward_time": 3.8541269302368164, "step": 15730 }, { "dynamics_loss_avg": 0.04584341589361429, "epoch": 1.5001296997070312e-06, "step": 15730 }, { "action_loss_avg": 0.07406552964821458, "epoch": 1.5001296997070312e-06, "step": 15730 }, { "arm_loss_avg": 0.1296680301427841, "epoch": 1.5001296997070312e-06, "step": 15730 }, { "ee_loss_avg": 0.08060959484428168, "epoch": 1.5001296997070312e-06, "step": 15730 }, { "aux_loss_avg": 0.014334988535847516, "epoch": 1.5001296997070312e-06, "step": 15730 }, { "epoch": 1.5001296997070312e-06, "step": 15730, "training_step_time": 17.669743299484253 }, { "epoch": 1.5002250671386718e-06, "model_forward_time": 4.039306163787842, "step": 15731 }, { "epoch": 1.5002250671386718e-06, "step": 15731, "training_step_time": 17.61456298828125 }, { "epoch": 1.5003204345703124e-06, "model_forward_time": 5.047440052032471, "step": 15732 }, { "epoch": 1.5003204345703124e-06, "step": 15732, "training_step_time": 17.86403512954712 }, { "epoch": 1.500415802001953e-06, "model_forward_time": 5.060731887817383, "step": 15733 }, { "epoch": 1.500415802001953e-06, "step": 15733, "training_step_time": 17.61924409866333 }, { "epoch": 1.5005111694335937e-06, "model_forward_time": 5.080977439880371, "step": 15734 }, { "epoch": 1.5005111694335937e-06, "step": 15734, "training_step_time": 17.613839864730835 }, { "epoch": 1.5006065368652343e-06, "model_forward_time": 5.097584962844849, "step": 15735 }, { "epoch": 1.5006065368652343e-06, "step": 15735, "training_step_time": 17.6246395111084 }, { "epoch": 1.500701904296875e-06, "model_forward_time": 5.368673086166382, "step": 15736 }, { "epoch": 1.500701904296875e-06, "step": 15736, "training_step_time": 17.629881858825684 }, { "epoch": 1.5007972717285157e-06, "model_forward_time": 5.1303136348724365, "step": 15737 }, { "epoch": 1.5007972717285157e-06, "step": 15737, "training_step_time": 17.54164147377014 }, { "epoch": 1.5008926391601563e-06, "model_forward_time": 5.121349334716797, "step": 15738 }, { "epoch": 1.5008926391601563e-06, "step": 15738, "training_step_time": 17.834774494171143 }, { "epoch": 1.500988006591797e-06, "model_forward_time": 5.11262059211731, "step": 15739 }, { "epoch": 1.500988006591797e-06, "step": 15739, "training_step_time": 17.620577096939087 }, { "epoch": 1.5010833740234376e-06, "grad_norm": 1.563286542892456, "learning_rate": 9.187252966771769e-06, "loss": 0.0916, "step": 15740 }, { "epoch": 1.5010833740234376e-06, "model_forward_time": 3.8676633834838867, "step": 15740 }, { "dynamics_loss_avg": 0.05312193278223276, "epoch": 1.5010833740234376e-06, "step": 15740 }, { "action_loss_avg": 0.06854805834591389, "epoch": 1.5010833740234376e-06, "step": 15740 }, { "arm_loss_avg": 0.12671297183260322, "epoch": 1.5010833740234376e-06, "step": 15740 }, { "ee_loss_avg": 0.08414304256439209, "epoch": 1.5010833740234376e-06, "step": 15740 }, { "aux_loss_avg": 0.0016076788655482233, "epoch": 1.5010833740234376e-06, "step": 15740 }, { "epoch": 1.5010833740234376e-06, "step": 15740, "training_step_time": 17.612183332443237 }, { "epoch": 1.5011787414550782e-06, "model_forward_time": 5.296115875244141, "step": 15741 }, { "epoch": 1.5011787414550782e-06, "step": 15741, "training_step_time": 17.653650522232056 }, { "epoch": 1.5012741088867188e-06, "model_forward_time": 5.0701892375946045, "step": 15742 }, { "epoch": 1.5012741088867188e-06, "step": 15742, "training_step_time": 17.8571879863739 }, { "epoch": 1.5013694763183594e-06, "model_forward_time": 3.842059850692749, "step": 15743 }, { "epoch": 1.5013694763183594e-06, "step": 15743, "training_step_time": 17.623429775238037 }, { "epoch": 1.50146484375e-06, "model_forward_time": 5.05810022354126, "step": 15744 }, { "epoch": 1.50146484375e-06, "step": 15744, "training_step_time": 17.62196922302246 }, { "epoch": 1.5015602111816406e-06, "model_forward_time": 5.069966554641724, "step": 15745 }, { "epoch": 1.5015602111816406e-06, "step": 15745, "training_step_time": 17.65686345100403 }, { "epoch": 1.5016555786132812e-06, "model_forward_time": 5.269000291824341, "step": 15746 }, { "epoch": 1.5016555786132812e-06, "step": 15746, "training_step_time": 17.60924506187439 }, { "epoch": 1.5017509460449219e-06, "model_forward_time": 5.0956079959869385, "step": 15747 }, { "epoch": 1.5017509460449219e-06, "step": 15747, "training_step_time": 17.821813583374023 }, { "epoch": 1.5018463134765625e-06, "model_forward_time": 5.099440097808838, "step": 15748 }, { "epoch": 1.5018463134765625e-06, "step": 15748, "training_step_time": 17.594138145446777 }, { "epoch": 1.501941680908203e-06, "model_forward_time": 5.103663444519043, "step": 15749 }, { "epoch": 1.501941680908203e-06, "step": 15749, "training_step_time": 17.58791160583496 }, { "epoch": 1.5020370483398437e-06, "grad_norm": 1.6370837688446045, "learning_rate": 9.185961581251796e-06, "loss": 0.1128, "step": 15750 }, { "epoch": 1.5020370483398437e-06, "model_forward_time": 3.861767292022705, "step": 15750 }, { "dynamics_loss_avg": 0.046354645676910874, "epoch": 1.5020370483398437e-06, "step": 15750 }, { "action_loss_avg": 0.06899182107299566, "epoch": 1.5020370483398437e-06, "step": 15750 }, { "arm_loss_avg": 0.11205696817487479, "epoch": 1.5020370483398437e-06, "step": 15750 }, { "ee_loss_avg": 0.07362365275621414, "epoch": 1.5020370483398437e-06, "step": 15750 }, { "aux_loss_avg": 0.0008069823408732191, "epoch": 1.5020370483398437e-06, "step": 15750 }, { "epoch": 1.5020370483398437e-06, "step": 15750, "training_step_time": 17.581499576568604 }, { "epoch": 1.5021324157714843e-06, "model_forward_time": 5.299907445907593, "step": 15751 }, { "epoch": 1.5021324157714843e-06, "step": 15751, "training_step_time": 17.60354232788086 }, { "epoch": 1.502227783203125e-06, "model_forward_time": 5.077813625335693, "step": 15752 }, { "epoch": 1.502227783203125e-06, "step": 15752, "training_step_time": 17.82258415222168 }, { "epoch": 1.5023231506347656e-06, "model_forward_time": 5.080218315124512, "step": 15753 }, { "epoch": 1.5023231506347656e-06, "step": 15753, "training_step_time": 17.58162546157837 }, { "epoch": 1.5024185180664062e-06, "model_forward_time": 5.085122346878052, "step": 15754 }, { "epoch": 1.5024185180664062e-06, "step": 15754, "training_step_time": 17.573449850082397 }, { "epoch": 1.5025138854980468e-06, "model_forward_time": 5.0883705615997314, "step": 15755 }, { "epoch": 1.5025138854980468e-06, "step": 15755, "training_step_time": 17.623101234436035 }, { "epoch": 1.5026092529296874e-06, "model_forward_time": 5.2727813720703125, "step": 15756 }, { "epoch": 1.5026092529296874e-06, "step": 15756, "training_step_time": 17.5701425075531 }, { "epoch": 1.5027046203613282e-06, "model_forward_time": 5.088637590408325, "step": 15757 }, { "epoch": 1.5027046203613282e-06, "step": 15757, "training_step_time": 17.777513027191162 }, { "epoch": 1.5027999877929688e-06, "model_forward_time": 5.084312677383423, "step": 15758 }, { "epoch": 1.5027999877929688e-06, "step": 15758, "training_step_time": 17.57893180847168 }, { "epoch": 1.5028953552246094e-06, "model_forward_time": 5.086552381515503, "step": 15759 }, { "epoch": 1.5028953552246094e-06, "step": 15759, "training_step_time": 17.582063674926758 }, { "epoch": 1.50299072265625e-06, "grad_norm": 1.7325063943862915, "learning_rate": 9.184669261506393e-06, "loss": 0.1189, "step": 15760 }, { "epoch": 1.50299072265625e-06, "model_forward_time": 3.848334312438965, "step": 15760 }, { "dynamics_loss_avg": 0.056549434550106525, "epoch": 1.50299072265625e-06, "step": 15760 }, { "action_loss_avg": 0.04843143969774246, "epoch": 1.50299072265625e-06, "step": 15760 }, { "arm_loss_avg": 0.10665287896990776, "epoch": 1.50299072265625e-06, "step": 15760 }, { "ee_loss_avg": 0.07884042663499713, "epoch": 1.50299072265625e-06, "step": 15760 }, { "aux_loss_avg": 0.0021521456248592584, "epoch": 1.50299072265625e-06, "step": 15760 }, { "epoch": 1.50299072265625e-06, "step": 15760, "training_step_time": 17.628390073776245 }, { "epoch": 1.5030860900878907e-06, "model_forward_time": 5.286221027374268, "step": 15761 }, { "epoch": 1.5030860900878907e-06, "step": 15761, "training_step_time": 17.58470058441162 }, { "epoch": 1.5031814575195313e-06, "model_forward_time": 5.067760705947876, "step": 15762 }, { "epoch": 1.5031814575195313e-06, "step": 15762, "training_step_time": 17.801109313964844 }, { "epoch": 1.503276824951172e-06, "model_forward_time": 5.072801828384399, "step": 15763 }, { "epoch": 1.503276824951172e-06, "step": 15763, "training_step_time": 17.57262349128723 }, { "epoch": 1.5033721923828125e-06, "model_forward_time": 5.082424640655518, "step": 15764 }, { "epoch": 1.5033721923828125e-06, "step": 15764, "training_step_time": 17.580211400985718 }, { "epoch": 1.5034675598144531e-06, "model_forward_time": 5.084343194961548, "step": 15765 }, { "epoch": 1.5034675598144531e-06, "step": 15765, "training_step_time": 17.579541206359863 }, { "epoch": 1.5035629272460938e-06, "model_forward_time": 5.278514862060547, "step": 15766 }, { "epoch": 1.5035629272460938e-06, "step": 15766, "training_step_time": 17.583808660507202 }, { "epoch": 1.5036582946777344e-06, "model_forward_time": 5.093873739242554, "step": 15767 }, { "epoch": 1.5036582946777344e-06, "step": 15767, "training_step_time": 17.779959678649902 }, { "epoch": 1.503753662109375e-06, "model_forward_time": 5.089117527008057, "step": 15768 }, { "epoch": 1.503753662109375e-06, "step": 15768, "training_step_time": 17.589746236801147 }, { "epoch": 1.5038490295410156e-06, "model_forward_time": 5.089401483535767, "step": 15769 }, { "epoch": 1.5038490295410156e-06, "step": 15769, "training_step_time": 17.59237837791443 }, { "epoch": 1.5039443969726562e-06, "grad_norm": 1.275489091873169, "learning_rate": 9.183376007823983e-06, "loss": 0.0942, "step": 15770 }, { "epoch": 1.5039443969726562e-06, "model_forward_time": 5.092555999755859, "step": 15770 }, { "dynamics_loss_avg": 0.03993136193603277, "epoch": 1.5039443969726562e-06, "step": 15770 }, { "action_loss_avg": 0.055462125409394505, "epoch": 1.5039443969726562e-06, "step": 15770 }, { "arm_loss_avg": 0.10373469963669776, "epoch": 1.5039443969726562e-06, "step": 15770 }, { "ee_loss_avg": 0.0568131797015667, "epoch": 1.5039443969726562e-06, "step": 15770 }, { "aux_loss_avg": 0.001335460797417909, "epoch": 1.5039443969726562e-06, "step": 15770 }, { "epoch": 1.5039443969726562e-06, "step": 15770, "training_step_time": 17.64674973487854 }, { "epoch": 1.5040397644042968e-06, "model_forward_time": 5.326601028442383, "step": 15771 }, { "epoch": 1.5040397644042968e-06, "step": 15771, "training_step_time": 17.60377836227417 }, { "epoch": 1.5041351318359374e-06, "model_forward_time": 5.093092918395996, "step": 15772 }, { "epoch": 1.5041351318359374e-06, "step": 15772, "training_step_time": 17.862131595611572 }, { "epoch": 1.504230499267578e-06, "model_forward_time": 3.850245714187622, "step": 15773 }, { "epoch": 1.504230499267578e-06, "step": 15773, "training_step_time": 17.61138367652893 }, { "epoch": 1.5043258666992187e-06, "model_forward_time": 5.0628180503845215, "step": 15774 }, { "epoch": 1.5043258666992187e-06, "step": 15774, "training_step_time": 17.61034059524536 }, { "epoch": 1.5044212341308593e-06, "model_forward_time": 5.06722617149353, "step": 15775 }, { "epoch": 1.5044212341308593e-06, "step": 15775, "training_step_time": 17.638182878494263 }, { "epoch": 1.5045166015625e-06, "model_forward_time": 3.842364549636841, "step": 15776 }, { "epoch": 1.5045166015625e-06, "step": 15776, "training_step_time": 17.591087102890015 }, { "epoch": 1.5046119689941407e-06, "model_forward_time": 5.057673931121826, "step": 15777 }, { "epoch": 1.5046119689941407e-06, "step": 15777, "training_step_time": 17.78774905204773 }, { "epoch": 1.5047073364257813e-06, "model_forward_time": 5.073502063751221, "step": 15778 }, { "epoch": 1.5047073364257813e-06, "step": 15778, "training_step_time": 17.39962911605835 }, { "epoch": 1.504802703857422e-06, "model_forward_time": 5.096465587615967, "step": 15779 }, { "epoch": 1.504802703857422e-06, "step": 15779, "training_step_time": 17.5043625831604 }, { "epoch": 1.5048980712890626e-06, "grad_norm": 1.7837250232696533, "learning_rate": 9.182081820493189e-06, "loss": 0.0986, "step": 15780 }, { "epoch": 1.5048980712890626e-06, "model_forward_time": 5.102742910385132, "step": 15780 }, { "dynamics_loss_avg": 0.04953853730112314, "epoch": 1.5048980712890626e-06, "step": 15780 }, { "action_loss_avg": 0.054546907730400565, "epoch": 1.5048980712890626e-06, "step": 15780 }, { "arm_loss_avg": 0.12020787075161934, "epoch": 1.5048980712890626e-06, "step": 15780 }, { "ee_loss_avg": 0.08763743890449405, "epoch": 1.5048980712890626e-06, "step": 15780 }, { "aux_loss_avg": 0.007378534215968102, "epoch": 1.5048980712890626e-06, "step": 15780 }, { "epoch": 1.5048980712890626e-06, "step": 15780, "training_step_time": 17.634551525115967 }, { "epoch": 1.5049934387207032e-06, "model_forward_time": 5.104033470153809, "step": 15781 }, { "epoch": 1.5049934387207032e-06, "step": 15781, "training_step_time": 17.576467275619507 }, { "epoch": 1.5050888061523438e-06, "model_forward_time": 5.106533050537109, "step": 15782 }, { "epoch": 1.5050888061523438e-06, "step": 15782, "training_step_time": 17.592355966567993 }, { "epoch": 1.5051841735839844e-06, "model_forward_time": 5.104038238525391, "step": 15783 }, { "epoch": 1.5051841735839844e-06, "step": 15783, "training_step_time": 17.84748864173889 }, { "epoch": 1.505279541015625e-06, "model_forward_time": 5.0958147048950195, "step": 15784 }, { "epoch": 1.505279541015625e-06, "step": 15784, "training_step_time": 17.615792751312256 }, { "epoch": 1.5053749084472656e-06, "model_forward_time": 3.8571724891662598, "step": 15785 }, { "epoch": 1.5053749084472656e-06, "step": 15785, "training_step_time": 17.62471628189087 }, { "epoch": 1.5054702758789063e-06, "model_forward_time": 5.265352964401245, "step": 15786 }, { "epoch": 1.5054702758789063e-06, "step": 15786, "training_step_time": 17.620001077651978 }, { "epoch": 1.5055656433105469e-06, "model_forward_time": 5.073702335357666, "step": 15787 }, { "epoch": 1.5055656433105469e-06, "step": 15787, "training_step_time": 17.626760482788086 }, { "epoch": 1.5056610107421875e-06, "model_forward_time": 5.081648349761963, "step": 15788 }, { "epoch": 1.5056610107421875e-06, "step": 15788, "training_step_time": 17.805710077285767 }, { "epoch": 1.505756378173828e-06, "model_forward_time": 5.090237379074097, "step": 15789 }, { "epoch": 1.505756378173828e-06, "step": 15789, "training_step_time": 17.62265396118164 }, { "epoch": 1.5058517456054687e-06, "grad_norm": 1.6387608051300049, "learning_rate": 9.180786699802855e-06, "loss": 0.1225, "step": 15790 }, { "epoch": 1.5058517456054687e-06, "model_forward_time": 3.8571853637695312, "step": 15790 }, { "dynamics_loss_avg": 0.06350489631295204, "epoch": 1.5058517456054687e-06, "step": 15790 }, { "action_loss_avg": 0.06879447009414434, "epoch": 1.5058517456054687e-06, "step": 15790 }, { "arm_loss_avg": 0.10221472345292568, "epoch": 1.5058517456054687e-06, "step": 15790 }, { "ee_loss_avg": 0.05949121592566371, "epoch": 1.5058517456054687e-06, "step": 15790 }, { "aux_loss_avg": 0.008219852703041397, "epoch": 1.5058517456054687e-06, "step": 15790 }, { "epoch": 1.5058517456054687e-06, "step": 15790, "training_step_time": 17.60674285888672 }, { "epoch": 1.5059471130371093e-06, "model_forward_time": 5.064236640930176, "step": 15791 }, { "epoch": 1.5059471130371093e-06, "step": 15791, "training_step_time": 17.6601619720459 }, { "epoch": 1.50604248046875e-06, "model_forward_time": 5.321882486343384, "step": 15792 }, { "epoch": 1.50604248046875e-06, "step": 15792, "training_step_time": 17.502628087997437 }, { "epoch": 1.5061378479003906e-06, "model_forward_time": 5.093085527420044, "step": 15793 }, { "epoch": 1.5061378479003906e-06, "step": 15793, "training_step_time": 17.77708387374878 }, { "epoch": 1.5062332153320312e-06, "model_forward_time": 5.093777894973755, "step": 15794 }, { "epoch": 1.5062332153320312e-06, "step": 15794, "training_step_time": 17.57475519180298 }, { "epoch": 1.5063285827636718e-06, "model_forward_time": 3.8629159927368164, "step": 15795 }, { "epoch": 1.5063285827636718e-06, "step": 15795, "training_step_time": 17.59343385696411 }, { "epoch": 1.5064239501953124e-06, "model_forward_time": 3.841339349746704, "step": 15796 }, { "epoch": 1.5064239501953124e-06, "step": 15796, "training_step_time": 17.621168851852417 }, { "epoch": 1.5065193176269532e-06, "model_forward_time": 4.067068338394165, "step": 15797 }, { "epoch": 1.5065193176269532e-06, "step": 15797, "training_step_time": 17.843189239501953 }, { "epoch": 1.5066146850585938e-06, "model_forward_time": 5.050577163696289, "step": 15798 }, { "epoch": 1.5066146850585938e-06, "step": 15798, "training_step_time": 17.407989501953125 }, { "epoch": 1.5067100524902345e-06, "model_forward_time": 5.072901248931885, "step": 15799 }, { "epoch": 1.5067100524902345e-06, "step": 15799, "training_step_time": 17.530855178833008 }, { "epoch": 1.506805419921875e-06, "grad_norm": 1.8820559978485107, "learning_rate": 9.179490646042024e-06, "loss": 0.1118, "step": 15800 }, { "epoch": 1.506805419921875e-06, "model_forward_time": 5.090160846710205, "step": 15800 }, { "dynamics_loss_avg": 0.05104396268725395, "epoch": 1.506805419921875e-06, "step": 15800 }, { "action_loss_avg": 0.07584347203373909, "epoch": 1.506805419921875e-06, "step": 15800 }, { "arm_loss_avg": 0.1095730310305953, "epoch": 1.506805419921875e-06, "step": 15800 }, { "ee_loss_avg": 0.11563504291698337, "epoch": 1.506805419921875e-06, "step": 15800 }, { "aux_loss_avg": 0.0014424114138819276, "epoch": 1.506805419921875e-06, "step": 15800 }, { "epoch": 1.506805419921875e-06, "step": 15800, "training_step_time": 17.55555820465088 }, { "epoch": 1.5069007873535157e-06, "model_forward_time": 5.108699321746826, "step": 15801 }, { "epoch": 1.5069007873535157e-06, "step": 15801, "training_step_time": 17.63869857788086 }, { "epoch": 1.5069961547851563e-06, "model_forward_time": 5.344424724578857, "step": 15802 }, { "epoch": 1.5069961547851563e-06, "step": 15802, "training_step_time": 17.505693912506104 }, { "epoch": 1.507091522216797e-06, "model_forward_time": 3.866436243057251, "step": 15803 }, { "epoch": 1.507091522216797e-06, "step": 15803, "training_step_time": 17.795892238616943 }, { "epoch": 1.5071868896484375e-06, "model_forward_time": 3.835691452026367, "step": 15804 }, { "epoch": 1.5071868896484375e-06, "step": 15804, "training_step_time": 17.593281030654907 }, { "epoch": 1.5072822570800781e-06, "model_forward_time": 5.057369232177734, "step": 15805 }, { "epoch": 1.5072822570800781e-06, "step": 15805, "training_step_time": 17.625511169433594 }, { "epoch": 1.5073776245117188e-06, "model_forward_time": 5.066570043563843, "step": 15806 }, { "epoch": 1.5073776245117188e-06, "step": 15806, "training_step_time": 17.627841234207153 }, { "epoch": 1.5074729919433594e-06, "model_forward_time": 5.26822829246521, "step": 15807 }, { "epoch": 1.5074729919433594e-06, "step": 15807, "training_step_time": 17.634446620941162 }, { "epoch": 1.507568359375e-06, "model_forward_time": 5.090228319168091, "step": 15808 }, { "epoch": 1.507568359375e-06, "step": 15808, "training_step_time": 17.818058490753174 }, { "epoch": 1.5076637268066406e-06, "model_forward_time": 5.09512996673584, "step": 15809 }, { "epoch": 1.5076637268066406e-06, "step": 15809, "training_step_time": 17.399338483810425 }, { "epoch": 1.5077590942382812e-06, "grad_norm": 1.677790880203247, "learning_rate": 9.17819365949995e-06, "loss": 0.1192, "step": 15810 }, { "epoch": 1.5077590942382812e-06, "model_forward_time": 5.098183631896973, "step": 15810 }, { "dynamics_loss_avg": 0.05233387984335423, "epoch": 1.5077590942382812e-06, "step": 15810 }, { "action_loss_avg": 0.08577352538704872, "epoch": 1.5077590942382812e-06, "step": 15810 }, { "arm_loss_avg": 0.11143131237477064, "epoch": 1.5077590942382812e-06, "step": 15810 }, { "ee_loss_avg": 0.08205861728638411, "epoch": 1.5077590942382812e-06, "step": 15810 }, { "aux_loss_avg": 0.0008409582136664539, "epoch": 1.5077590942382812e-06, "step": 15810 }, { "epoch": 1.5077590942382812e-06, "step": 15810, "training_step_time": 17.625760793685913 }, { "epoch": 1.5078544616699218e-06, "model_forward_time": 5.096416234970093, "step": 15811 }, { "epoch": 1.5078544616699218e-06, "step": 15811, "training_step_time": 17.57005023956299 }, { "epoch": 1.5079498291015624e-06, "model_forward_time": 5.3312718868255615, "step": 15812 }, { "epoch": 1.5079498291015624e-06, "step": 15812, "training_step_time": 17.59162425994873 }, { "epoch": 1.508045196533203e-06, "model_forward_time": 5.090487957000732, "step": 15813 }, { "epoch": 1.508045196533203e-06, "step": 15813, "training_step_time": 17.836059093475342 }, { "epoch": 1.5081405639648437e-06, "model_forward_time": 5.08276629447937, "step": 15814 }, { "epoch": 1.5081405639648437e-06, "step": 15814, "training_step_time": 17.6096134185791 }, { "epoch": 1.5082359313964843e-06, "model_forward_time": 5.0804078578948975, "step": 15815 }, { "epoch": 1.5082359313964843e-06, "step": 15815, "training_step_time": 17.60827112197876 }, { "epoch": 1.508331298828125e-06, "model_forward_time": 5.077353477478027, "step": 15816 }, { "epoch": 1.508331298828125e-06, "step": 15816, "training_step_time": 17.595517873764038 }, { "epoch": 1.5084266662597657e-06, "model_forward_time": 5.264627456665039, "step": 15817 }, { "epoch": 1.5084266662597657e-06, "step": 15817, "training_step_time": 17.591232299804688 }, { "epoch": 1.5085220336914063e-06, "model_forward_time": 5.07651948928833, "step": 15818 }, { "epoch": 1.5085220336914063e-06, "step": 15818, "training_step_time": 17.826332330703735 }, { "epoch": 1.508617401123047e-06, "model_forward_time": 3.8453609943389893, "step": 15819 }, { "epoch": 1.508617401123047e-06, "step": 15819, "training_step_time": 17.590206623077393 }, { "epoch": 1.5087127685546876e-06, "grad_norm": 1.4949917793273926, "learning_rate": 9.176895740466096e-06, "loss": 0.1161, "step": 15820 }, { "epoch": 1.5087127685546876e-06, "model_forward_time": 5.051457405090332, "step": 15820 }, { "dynamics_loss_avg": 0.05429844446480274, "epoch": 1.5087127685546876e-06, "step": 15820 }, { "action_loss_avg": 0.057218774035573, "epoch": 1.5087127685546876e-06, "step": 15820 }, { "arm_loss_avg": 0.09985491409897804, "epoch": 1.5087127685546876e-06, "step": 15820 }, { "ee_loss_avg": 0.04032626580446959, "epoch": 1.5087127685546876e-06, "step": 15820 }, { "aux_loss_avg": 0.0009112805826589465, "epoch": 1.5087127685546876e-06, "step": 15820 }, { "epoch": 1.5087127685546876e-06, "step": 15820, "training_step_time": 17.581772804260254 }, { "epoch": 1.5088081359863282e-06, "model_forward_time": 3.832700252532959, "step": 15821 }, { "epoch": 1.5088081359863282e-06, "step": 15821, "training_step_time": 17.575039386749268 }, { "epoch": 1.5089035034179688e-06, "model_forward_time": 5.049967288970947, "step": 15822 }, { "epoch": 1.5089035034179688e-06, "step": 15822, "training_step_time": 17.81239104270935 }, { "epoch": 1.5089988708496094e-06, "model_forward_time": 5.065493583679199, "step": 15823 }, { "epoch": 1.5089988708496094e-06, "step": 15823, "training_step_time": 17.567035675048828 }, { "epoch": 1.50909423828125e-06, "model_forward_time": 5.082869052886963, "step": 15824 }, { "epoch": 1.50909423828125e-06, "step": 15824, "training_step_time": 17.558387756347656 }, { "epoch": 1.5091896057128906e-06, "model_forward_time": 5.092732906341553, "step": 15825 }, { "epoch": 1.5091896057128906e-06, "step": 15825, "training_step_time": 17.560413599014282 }, { "epoch": 1.5092849731445313e-06, "model_forward_time": 5.100738763809204, "step": 15826 }, { "epoch": 1.5092849731445313e-06, "step": 15826, "training_step_time": 17.593367099761963 }, { "epoch": 1.5093803405761719e-06, "model_forward_time": 5.104675531387329, "step": 15827 }, { "epoch": 1.5093803405761719e-06, "step": 15827, "training_step_time": 17.80858087539673 }, { "epoch": 1.5094757080078125e-06, "model_forward_time": 5.097688913345337, "step": 15828 }, { "epoch": 1.5094757080078125e-06, "step": 15828, "training_step_time": 17.592422485351562 }, { "epoch": 1.509571075439453e-06, "model_forward_time": 5.092753887176514, "step": 15829 }, { "epoch": 1.509571075439453e-06, "step": 15829, "training_step_time": 17.602373123168945 }, { "epoch": 1.5096664428710937e-06, "grad_norm": 1.220202922821045, "learning_rate": 9.175596889230131e-06, "loss": 0.1048, "step": 15830 }, { "epoch": 1.5096664428710937e-06, "model_forward_time": 5.0893425941467285, "step": 15830 }, { "dynamics_loss_avg": 0.0408362090587616, "epoch": 1.5096664428710937e-06, "step": 15830 }, { "action_loss_avg": 0.0652018348686397, "epoch": 1.5096664428710937e-06, "step": 15830 }, { "arm_loss_avg": 0.12104316353797913, "epoch": 1.5096664428710937e-06, "step": 15830 }, { "ee_loss_avg": 0.08169826818630099, "epoch": 1.5096664428710937e-06, "step": 15830 }, { "aux_loss_avg": 0.0007394324289634824, "epoch": 1.5096664428710937e-06, "step": 15830 }, { "epoch": 1.5096664428710937e-06, "step": 15830, "training_step_time": 17.406487703323364 }, { "epoch": 1.5097618103027343e-06, "model_forward_time": 5.088930606842041, "step": 15831 }, { "epoch": 1.5097618103027343e-06, "step": 15831, "training_step_time": 17.646320819854736 }, { "epoch": 1.509857177734375e-06, "model_forward_time": 5.322749614715576, "step": 15832 }, { "epoch": 1.509857177734375e-06, "step": 15832, "training_step_time": 17.477001190185547 }, { "epoch": 1.5099525451660156e-06, "model_forward_time": 5.081970930099487, "step": 15833 }, { "epoch": 1.5099525451660156e-06, "step": 15833, "training_step_time": 17.741373538970947 }, { "epoch": 1.5100479125976562e-06, "model_forward_time": 5.082242727279663, "step": 15834 }, { "epoch": 1.5100479125976562e-06, "step": 15834, "training_step_time": 17.563619375228882 }, { "epoch": 1.5101432800292968e-06, "model_forward_time": 5.08048939704895, "step": 15835 }, { "epoch": 1.5101432800292968e-06, "step": 15835, "training_step_time": 17.604742527008057 }, { "epoch": 1.5102386474609374e-06, "model_forward_time": 5.082463502883911, "step": 15836 }, { "epoch": 1.5102386474609374e-06, "step": 15836, "training_step_time": 17.623334407806396 }, { "epoch": 1.5103340148925782e-06, "model_forward_time": 5.284491300582886, "step": 15837 }, { "epoch": 1.5103340148925782e-06, "step": 15837, "training_step_time": 17.64482069015503 }, { "epoch": 1.5104293823242188e-06, "model_forward_time": 5.085263729095459, "step": 15838 }, { "epoch": 1.5104293823242188e-06, "step": 15838, "training_step_time": 17.881956100463867 }, { "epoch": 1.5105247497558595e-06, "model_forward_time": 5.0820324420928955, "step": 15839 }, { "epoch": 1.5105247497558595e-06, "step": 15839, "training_step_time": 17.657334327697754 }, { "epoch": 1.5106201171875e-06, "grad_norm": 1.3917086124420166, "learning_rate": 9.174297106081933e-06, "loss": 0.1139, "step": 15840 }, { "epoch": 1.5106201171875e-06, "model_forward_time": 5.08411717414856, "step": 15840 }, { "dynamics_loss_avg": 0.056210173293948174, "epoch": 1.5106201171875e-06, "step": 15840 }, { "action_loss_avg": 0.06660880539566279, "epoch": 1.5106201171875e-06, "step": 15840 }, { "arm_loss_avg": 0.09002275504171849, "epoch": 1.5106201171875e-06, "step": 15840 }, { "ee_loss_avg": 0.04937999807298184, "epoch": 1.5106201171875e-06, "step": 15840 }, { "aux_loss_avg": 0.0014477909076958894, "epoch": 1.5106201171875e-06, "step": 15840 }, { "epoch": 1.5106201171875e-06, "step": 15840, "training_step_time": 17.629911184310913 }, { "epoch": 1.5107154846191407e-06, "model_forward_time": 5.086406469345093, "step": 15841 }, { "epoch": 1.5107154846191407e-06, "step": 15841, "training_step_time": 17.64277696609497 }, { "epoch": 1.5108108520507813e-06, "model_forward_time": 5.088130235671997, "step": 15842 }, { "epoch": 1.5108108520507813e-06, "step": 15842, "training_step_time": 17.851203203201294 }, { "epoch": 1.510906219482422e-06, "model_forward_time": 5.0891618728637695, "step": 15843 }, { "epoch": 1.510906219482422e-06, "step": 15843, "training_step_time": 17.62208390235901 }, { "epoch": 1.5110015869140625e-06, "model_forward_time": 5.090070724487305, "step": 15844 }, { "epoch": 1.5110015869140625e-06, "step": 15844, "training_step_time": 17.619312047958374 }, { "epoch": 1.5110969543457031e-06, "model_forward_time": 5.089264869689941, "step": 15845 }, { "epoch": 1.5110969543457031e-06, "step": 15845, "training_step_time": 17.664668560028076 }, { "epoch": 1.5111923217773438e-06, "model_forward_time": 5.088689088821411, "step": 15846 }, { "epoch": 1.5111923217773438e-06, "step": 15846, "training_step_time": 17.528223276138306 }, { "epoch": 1.5112876892089844e-06, "model_forward_time": 5.286531925201416, "step": 15847 }, { "epoch": 1.5112876892089844e-06, "step": 15847, "training_step_time": 17.55985379219055 }, { "epoch": 1.511383056640625e-06, "model_forward_time": 5.090030908584595, "step": 15848 }, { "epoch": 1.511383056640625e-06, "step": 15848, "training_step_time": 17.787564277648926 }, { "epoch": 1.5114784240722656e-06, "model_forward_time": 5.0849363803863525, "step": 15849 }, { "epoch": 1.5114784240722656e-06, "step": 15849, "training_step_time": 17.616039276123047 }, { "epoch": 1.5115737915039062e-06, "grad_norm": 1.490966558456421, "learning_rate": 9.172996391311592e-06, "loss": 0.1087, "step": 15850 }, { "epoch": 1.5115737915039062e-06, "model_forward_time": 5.086384534835815, "step": 15850 }, { "dynamics_loss_avg": 0.052924252673983575, "epoch": 1.5115737915039062e-06, "step": 15850 }, { "action_loss_avg": 0.06437484882771968, "epoch": 1.5115737915039062e-06, "step": 15850 }, { "arm_loss_avg": 0.10771286971867085, "epoch": 1.5115737915039062e-06, "step": 15850 }, { "ee_loss_avg": 0.07972402460873126, "epoch": 1.5115737915039062e-06, "step": 15850 }, { "aux_loss_avg": 0.0009902111196424812, "epoch": 1.5115737915039062e-06, "step": 15850 }, { "epoch": 1.5115737915039062e-06, "step": 15850, "training_step_time": 17.63562536239624 }, { "epoch": 1.5116691589355468e-06, "model_forward_time": 5.081552267074585, "step": 15851 }, { "epoch": 1.5116691589355468e-06, "step": 15851, "training_step_time": 17.64199709892273 }, { "epoch": 1.5117645263671874e-06, "model_forward_time": 5.3295018672943115, "step": 15852 }, { "epoch": 1.5117645263671874e-06, "step": 15852, "training_step_time": 17.87695813179016 }, { "epoch": 1.511859893798828e-06, "model_forward_time": 5.084818601608276, "step": 15853 }, { "epoch": 1.511859893798828e-06, "step": 15853, "training_step_time": 17.403854608535767 }, { "epoch": 1.5119552612304687e-06, "model_forward_time": 5.083250045776367, "step": 15854 }, { "epoch": 1.5119552612304687e-06, "step": 15854, "training_step_time": 17.55428647994995 }, { "epoch": 1.5120506286621093e-06, "model_forward_time": 5.086611032485962, "step": 15855 }, { "epoch": 1.5120506286621093e-06, "step": 15855, "training_step_time": 17.59629225730896 }, { "epoch": 1.51214599609375e-06, "model_forward_time": 3.8527820110321045, "step": 15856 }, { "epoch": 1.51214599609375e-06, "step": 15856, "training_step_time": 17.613402366638184 }, { "epoch": 1.5122413635253907e-06, "model_forward_time": 5.067156076431274, "step": 15857 }, { "epoch": 1.5122413635253907e-06, "step": 15857, "training_step_time": 17.653631687164307 }, { "epoch": 1.5123367309570313e-06, "model_forward_time": 5.343104362487793, "step": 15858 }, { "epoch": 1.5123367309570313e-06, "step": 15858, "training_step_time": 17.885373830795288 }, { "epoch": 1.512432098388672e-06, "model_forward_time": 3.8538455963134766, "step": 15859 }, { "epoch": 1.512432098388672e-06, "step": 15859, "training_step_time": 17.668522119522095 }, { "epoch": 1.5125274658203126e-06, "grad_norm": 1.3489793539047241, "learning_rate": 9.171694745209398e-06, "loss": 0.1161, "step": 15860 }, { "epoch": 1.5125274658203126e-06, "model_forward_time": 5.071364164352417, "step": 15860 }, { "dynamics_loss_avg": 0.0514749888330698, "epoch": 1.5125274658203126e-06, "step": 15860 }, { "action_loss_avg": 0.0511233476921916, "epoch": 1.5125274658203126e-06, "step": 15860 }, { "arm_loss_avg": 0.08965276144444942, "epoch": 1.5125274658203126e-06, "step": 15860 }, { "ee_loss_avg": 0.0648278934881091, "epoch": 1.5125274658203126e-06, "step": 15860 }, { "aux_loss_avg": 0.0019297173246741294, "epoch": 1.5125274658203126e-06, "step": 15860 }, { "epoch": 1.5125274658203126e-06, "step": 15860, "training_step_time": 17.64255690574646 }, { "epoch": 1.5126228332519532e-06, "model_forward_time": 5.074106931686401, "step": 15861 }, { "epoch": 1.5126228332519532e-06, "step": 15861, "training_step_time": 17.642247915267944 }, { "epoch": 1.5127182006835938e-06, "model_forward_time": 3.852705240249634, "step": 15862 }, { "epoch": 1.5127182006835938e-06, "step": 15862, "training_step_time": 17.842110872268677 }, { "epoch": 1.5128135681152344e-06, "model_forward_time": 5.297008991241455, "step": 15863 }, { "epoch": 1.5128135681152344e-06, "step": 15863, "training_step_time": 17.61986756324768 }, { "epoch": 1.512908935546875e-06, "model_forward_time": 5.0808939933776855, "step": 15864 }, { "epoch": 1.512908935546875e-06, "step": 15864, "training_step_time": 17.603227138519287 }, { "epoch": 1.5130043029785156e-06, "model_forward_time": 5.093057632446289, "step": 15865 }, { "epoch": 1.5130043029785156e-06, "step": 15865, "training_step_time": 17.604967832565308 }, { "epoch": 1.5130996704101563e-06, "model_forward_time": 5.096955060958862, "step": 15866 }, { "epoch": 1.5130996704101563e-06, "step": 15866, "training_step_time": 17.604559421539307 }, { "epoch": 1.5131950378417969e-06, "model_forward_time": 3.86322021484375, "step": 15867 }, { "epoch": 1.5131950378417969e-06, "step": 15867, "training_step_time": 17.82903289794922 }, { "epoch": 1.5132904052734375e-06, "model_forward_time": 5.253133773803711, "step": 15868 }, { "epoch": 1.5132904052734375e-06, "step": 15868, "training_step_time": 17.42315983772278 }, { "epoch": 1.513385772705078e-06, "model_forward_time": 5.077057361602783, "step": 15869 }, { "epoch": 1.513385772705078e-06, "step": 15869, "training_step_time": 17.42712664604187 }, { "epoch": 1.5134811401367187e-06, "grad_norm": 1.7071070671081543, "learning_rate": 9.170392168065858e-06, "loss": 0.1102, "step": 15870 }, { "epoch": 1.5134811401367187e-06, "model_forward_time": 5.083897829055786, "step": 15870 }, { "dynamics_loss_avg": 0.04032579306513071, "epoch": 1.5134811401367187e-06, "step": 15870 }, { "action_loss_avg": 0.04172102324664593, "epoch": 1.5134811401367187e-06, "step": 15870 }, { "arm_loss_avg": 0.10234689321368932, "epoch": 1.5134811401367187e-06, "step": 15870 }, { "ee_loss_avg": 0.07559118280187249, "epoch": 1.5134811401367187e-06, "step": 15870 }, { "aux_loss_avg": 0.00908287990023382, "epoch": 1.5134811401367187e-06, "step": 15870 }, { "epoch": 1.5134811401367187e-06, "step": 15870, "training_step_time": 17.418667793273926 }, { "epoch": 1.5135765075683593e-06, "model_forward_time": 5.085748910903931, "step": 15871 }, { "epoch": 1.5135765075683593e-06, "step": 15871, "training_step_time": 17.430617332458496 }, { "epoch": 1.513671875e-06, "model_forward_time": 5.085867881774902, "step": 15872 }, { "epoch": 1.513671875e-06, "step": 15872, "training_step_time": 17.514431953430176 }, { "epoch": 1.5137672424316406e-06, "model_forward_time": 5.324817657470703, "step": 15873 }, { "epoch": 1.5137672424316406e-06, "step": 15873, "training_step_time": 17.427186727523804 }, { "epoch": 1.5138626098632812e-06, "model_forward_time": 5.0855872631073, "step": 15874 }, { "epoch": 1.5138626098632812e-06, "step": 15874, "training_step_time": 17.5237398147583 }, { "epoch": 1.5139579772949218e-06, "model_forward_time": 5.090514421463013, "step": 15875 }, { "epoch": 1.5139579772949218e-06, "step": 15875, "training_step_time": 17.586925268173218 }, { "epoch": 1.5140533447265624e-06, "model_forward_time": 5.078732967376709, "step": 15876 }, { "epoch": 1.5140533447265624e-06, "step": 15876, "training_step_time": 17.62667179107666 }, { "epoch": 1.514148712158203e-06, "model_forward_time": 5.092384338378906, "step": 15877 }, { "epoch": 1.514148712158203e-06, "step": 15877, "training_step_time": 17.68056583404541 }, { "epoch": 1.5142440795898438e-06, "model_forward_time": 5.088765859603882, "step": 15878 }, { "epoch": 1.5142440795898438e-06, "step": 15878, "training_step_time": 17.87530493736267 }, { "epoch": 1.5143394470214845e-06, "model_forward_time": 5.102168560028076, "step": 15879 }, { "epoch": 1.5143394470214845e-06, "step": 15879, "training_step_time": 17.67106318473816 }, { "epoch": 1.514434814453125e-06, "grad_norm": 1.112302541732788, "learning_rate": 9.169088660171677e-06, "loss": 0.0894, "step": 15880 }, { "epoch": 1.514434814453125e-06, "model_forward_time": 5.093003749847412, "step": 15880 }, { "dynamics_loss_avg": 0.04669152796268463, "epoch": 1.514434814453125e-06, "step": 15880 }, { "action_loss_avg": 0.055802155286073685, "epoch": 1.514434814453125e-06, "step": 15880 }, { "arm_loss_avg": 0.0786586157977581, "epoch": 1.514434814453125e-06, "step": 15880 }, { "ee_loss_avg": 0.0439889132976532, "epoch": 1.514434814453125e-06, "step": 15880 }, { "aux_loss_avg": 0.0018483457039110362, "epoch": 1.514434814453125e-06, "step": 15880 }, { "epoch": 1.514434814453125e-06, "step": 15880, "training_step_time": 17.64223623275757 }, { "epoch": 1.5145301818847657e-06, "model_forward_time": 5.081982612609863, "step": 15881 }, { "epoch": 1.5145301818847657e-06, "step": 15881, "training_step_time": 17.52910590171814 }, { "epoch": 1.5146255493164063e-06, "model_forward_time": 5.081995487213135, "step": 15882 }, { "epoch": 1.5146255493164063e-06, "step": 15882, "training_step_time": 17.558218002319336 }, { "epoch": 1.514720916748047e-06, "model_forward_time": 5.083745002746582, "step": 15883 }, { "epoch": 1.514720916748047e-06, "step": 15883, "training_step_time": 17.806486129760742 }, { "epoch": 1.5148162841796875e-06, "model_forward_time": 5.079531908035278, "step": 15884 }, { "epoch": 1.5148162841796875e-06, "step": 15884, "training_step_time": 17.583001375198364 }, { "epoch": 1.5149116516113281e-06, "model_forward_time": 5.085358381271362, "step": 15885 }, { "epoch": 1.5149116516113281e-06, "step": 15885, "training_step_time": 17.608627796173096 }, { "epoch": 1.5150070190429688e-06, "model_forward_time": 5.084655046463013, "step": 15886 }, { "epoch": 1.5150070190429688e-06, "step": 15886, "training_step_time": 17.593477487564087 }, { "epoch": 1.5151023864746094e-06, "model_forward_time": 5.083427667617798, "step": 15887 }, { "epoch": 1.5151023864746094e-06, "step": 15887, "training_step_time": 17.589197874069214 }, { "epoch": 1.51519775390625e-06, "model_forward_time": 5.082113742828369, "step": 15888 }, { "epoch": 1.51519775390625e-06, "step": 15888, "training_step_time": 17.7756450176239 }, { "epoch": 1.5152931213378906e-06, "model_forward_time": 5.083309888839722, "step": 15889 }, { "epoch": 1.5152931213378906e-06, "step": 15889, "training_step_time": 17.589232921600342 }, { "epoch": 1.5153884887695312e-06, "grad_norm": 0.930580735206604, "learning_rate": 9.167784221817773e-06, "loss": 0.0933, "step": 15890 }, { "epoch": 1.5153884887695312e-06, "model_forward_time": 5.085798025131226, "step": 15890 }, { "dynamics_loss_avg": 0.04252445884048939, "epoch": 1.5153884887695312e-06, "step": 15890 }, { "action_loss_avg": 0.050215915963053706, "epoch": 1.5153884887695312e-06, "step": 15890 }, { "arm_loss_avg": 0.08697796631604433, "epoch": 1.5153884887695312e-06, "step": 15890 }, { "ee_loss_avg": 0.04487139508128166, "epoch": 1.5153884887695312e-06, "step": 15890 }, { "aux_loss_avg": 0.0008108393521979451, "epoch": 1.5153884887695312e-06, "step": 15890 }, { "epoch": 1.5153884887695312e-06, "step": 15890, "training_step_time": 17.605246782302856 }, { "epoch": 1.5154838562011718e-06, "model_forward_time": 5.083081960678101, "step": 15891 }, { "epoch": 1.5154838562011718e-06, "step": 15891, "training_step_time": 17.386961460113525 }, { "epoch": 1.5155792236328124e-06, "model_forward_time": 5.33298921585083, "step": 15892 }, { "epoch": 1.5155792236328124e-06, "step": 15892, "training_step_time": 17.496711492538452 }, { "epoch": 1.515674591064453e-06, "model_forward_time": 5.087727069854736, "step": 15893 }, { "epoch": 1.515674591064453e-06, "step": 15893, "training_step_time": 17.7796368598938 }, { "epoch": 1.5157699584960937e-06, "model_forward_time": 5.082772970199585, "step": 15894 }, { "epoch": 1.5157699584960937e-06, "step": 15894, "training_step_time": 17.565886974334717 }, { "epoch": 1.5158653259277343e-06, "model_forward_time": 5.0848307609558105, "step": 15895 }, { "epoch": 1.5158653259277343e-06, "step": 15895, "training_step_time": 17.615907669067383 }, { "epoch": 1.515960693359375e-06, "model_forward_time": 3.8481297492980957, "step": 15896 }, { "epoch": 1.515960693359375e-06, "step": 15896, "training_step_time": 17.60462474822998 }, { "epoch": 1.5160560607910155e-06, "model_forward_time": 5.0554234981536865, "step": 15897 }, { "epoch": 1.5160560607910155e-06, "step": 15897, "training_step_time": 17.627147674560547 }, { "epoch": 1.5161514282226563e-06, "model_forward_time": 5.297464609146118, "step": 15898 }, { "epoch": 1.5161514282226563e-06, "step": 15898, "training_step_time": 17.394663333892822 }, { "epoch": 1.516246795654297e-06, "model_forward_time": 5.080960035324097, "step": 15899 }, { "epoch": 1.516246795654297e-06, "step": 15899, "training_step_time": 17.541374444961548 }, { "epoch": 1.5163421630859376e-06, "grad_norm": 1.7084205150604248, "learning_rate": 9.166478853295274e-06, "loss": 0.1033, "step": 15900 }, { "epoch": 1.5163421630859376e-06, "model_forward_time": 3.850640296936035, "step": 15900 }, { "dynamics_loss_avg": 0.05521611981093884, "epoch": 1.5163421630859376e-06, "step": 15900 }, { "action_loss_avg": 0.05418162159621716, "epoch": 1.5163421630859376e-06, "step": 15900 }, { "arm_loss_avg": 0.08060016296803951, "epoch": 1.5163421630859376e-06, "step": 15900 }, { "ee_loss_avg": 0.029852232756093146, "epoch": 1.5163421630859376e-06, "step": 15900 }, { "aux_loss_avg": 0.0025334829289931802, "epoch": 1.5163421630859376e-06, "step": 15900 }, { "epoch": 1.5163421630859376e-06, "step": 15900, "training_step_time": 17.650635242462158 }, { "epoch": 1.5164375305175782e-06, "model_forward_time": 5.064582824707031, "step": 15901 }, { "epoch": 1.5164375305175782e-06, "step": 15901, "training_step_time": 17.46239185333252 }, { "epoch": 1.5165328979492188e-06, "model_forward_time": 3.844095468521118, "step": 15902 }, { "epoch": 1.5165328979492188e-06, "step": 15902, "training_step_time": 17.511692762374878 }, { "epoch": 1.5166282653808594e-06, "model_forward_time": 5.2935731410980225, "step": 15903 }, { "epoch": 1.5166282653808594e-06, "step": 15903, "training_step_time": 17.57685661315918 }, { "epoch": 1.5167236328125e-06, "model_forward_time": 5.082714796066284, "step": 15904 }, { "epoch": 1.5167236328125e-06, "step": 15904, "training_step_time": 17.846208810806274 }, { "epoch": 1.5168190002441406e-06, "model_forward_time": 5.092178821563721, "step": 15905 }, { "epoch": 1.5168190002441406e-06, "step": 15905, "training_step_time": 17.61909818649292 }, { "epoch": 1.5169143676757813e-06, "model_forward_time": 5.103326797485352, "step": 15906 }, { "epoch": 1.5169143676757813e-06, "step": 15906, "training_step_time": 17.632107496261597 }, { "epoch": 1.5170097351074219e-06, "model_forward_time": 5.10728907585144, "step": 15907 }, { "epoch": 1.5170097351074219e-06, "step": 15907, "training_step_time": 17.64293909072876 }, { "epoch": 1.5171051025390625e-06, "model_forward_time": 5.300613641738892, "step": 15908 }, { "epoch": 1.5171051025390625e-06, "step": 15908, "training_step_time": 17.868783473968506 }, { "epoch": 1.5172004699707031e-06, "model_forward_time": 5.103079557418823, "step": 15909 }, { "epoch": 1.5172004699707031e-06, "step": 15909, "training_step_time": 17.6429545879364 }, { "epoch": 1.5172958374023437e-06, "grad_norm": 2.802347183227539, "learning_rate": 9.165172554895514e-06, "loss": 0.1012, "step": 15910 }, { "epoch": 1.5172958374023437e-06, "model_forward_time": 5.0949108600616455, "step": 15910 }, { "dynamics_loss_avg": 0.0372729318216443, "epoch": 1.5172958374023437e-06, "step": 15910 }, { "action_loss_avg": 0.06117038670927286, "epoch": 1.5172958374023437e-06, "step": 15910 }, { "arm_loss_avg": 0.1293615994043648, "epoch": 1.5172958374023437e-06, "step": 15910 }, { "ee_loss_avg": 0.06975689041428268, "epoch": 1.5172958374023437e-06, "step": 15910 }, { "aux_loss_avg": 0.014513264875859022, "epoch": 1.5172958374023437e-06, "step": 15910 }, { "epoch": 1.5172958374023437e-06, "step": 15910, "training_step_time": 17.645199298858643 }, { "epoch": 1.5173912048339843e-06, "model_forward_time": 5.091716051101685, "step": 15911 }, { "epoch": 1.5173912048339843e-06, "step": 15911, "training_step_time": 17.626861095428467 }, { "epoch": 1.517486572265625e-06, "model_forward_time": 5.090491056442261, "step": 15912 }, { "epoch": 1.517486572265625e-06, "step": 15912, "training_step_time": 17.626271724700928 }, { "epoch": 1.5175819396972656e-06, "model_forward_time": 5.088939428329468, "step": 15913 }, { "epoch": 1.5175819396972656e-06, "step": 15913, "training_step_time": 17.84009575843811 }, { "epoch": 1.5176773071289062e-06, "model_forward_time": 5.082675218582153, "step": 15914 }, { "epoch": 1.5176773071289062e-06, "step": 15914, "training_step_time": 17.601377964019775 }, { "epoch": 1.5177726745605468e-06, "model_forward_time": 5.085744380950928, "step": 15915 }, { "epoch": 1.5177726745605468e-06, "step": 15915, "training_step_time": 17.595656156539917 }, { "epoch": 1.5178680419921874e-06, "model_forward_time": 5.086285829544067, "step": 15916 }, { "epoch": 1.5178680419921874e-06, "step": 15916, "training_step_time": 17.59711980819702 }, { "epoch": 1.517963409423828e-06, "model_forward_time": 5.2933080196380615, "step": 15917 }, { "epoch": 1.517963409423828e-06, "step": 15917, "training_step_time": 17.594667673110962 }, { "epoch": 1.5180587768554688e-06, "model_forward_time": 5.091858148574829, "step": 15918 }, { "epoch": 1.5180587768554688e-06, "step": 15918, "training_step_time": 17.792837858200073 }, { "epoch": 1.5181541442871095e-06, "model_forward_time": 5.087986469268799, "step": 15919 }, { "epoch": 1.5181541442871095e-06, "step": 15919, "training_step_time": 17.608657360076904 }, { "epoch": 1.51824951171875e-06, "grad_norm": 2.1503841876983643, "learning_rate": 9.163865326910031e-06, "loss": 0.1121, "step": 15920 }, { "epoch": 1.51824951171875e-06, "model_forward_time": 5.088857412338257, "step": 15920 }, { "dynamics_loss_avg": 0.04517749194055796, "epoch": 1.51824951171875e-06, "step": 15920 }, { "action_loss_avg": 0.06283738994970918, "epoch": 1.51824951171875e-06, "step": 15920 }, { "arm_loss_avg": 0.10195572935044765, "epoch": 1.51824951171875e-06, "step": 15920 }, { "ee_loss_avg": 0.07354419026523829, "epoch": 1.51824951171875e-06, "step": 15920 }, { "aux_loss_avg": 0.00111447325325571, "epoch": 1.51824951171875e-06, "step": 15920 }, { "epoch": 1.51824951171875e-06, "step": 15920, "training_step_time": 17.60715675354004 }, { "epoch": 1.5183448791503907e-06, "model_forward_time": 5.092160940170288, "step": 15921 }, { "epoch": 1.5183448791503907e-06, "step": 15921, "training_step_time": 17.63610577583313 }, { "epoch": 1.5184402465820313e-06, "model_forward_time": 5.086643218994141, "step": 15922 }, { "epoch": 1.5184402465820313e-06, "step": 15922, "training_step_time": 17.44339370727539 }, { "epoch": 1.518535614013672e-06, "model_forward_time": 5.090222358703613, "step": 15923 }, { "epoch": 1.518535614013672e-06, "step": 15923, "training_step_time": 17.51442241668701 }, { "epoch": 1.5186309814453125e-06, "model_forward_time": 5.087599754333496, "step": 15924 }, { "epoch": 1.5186309814453125e-06, "step": 15924, "training_step_time": 17.798219680786133 }, { "epoch": 1.5187263488769532e-06, "model_forward_time": 5.080965042114258, "step": 15925 }, { "epoch": 1.5187263488769532e-06, "step": 15925, "training_step_time": 17.579213857650757 }, { "epoch": 1.5188217163085938e-06, "model_forward_time": 5.085120439529419, "step": 15926 }, { "epoch": 1.5188217163085938e-06, "step": 15926, "training_step_time": 17.61262011528015 }, { "epoch": 1.5189170837402344e-06, "model_forward_time": 5.271282196044922, "step": 15927 }, { "epoch": 1.5189170837402344e-06, "step": 15927, "training_step_time": 17.612228870391846 }, { "epoch": 1.519012451171875e-06, "model_forward_time": 5.082317352294922, "step": 15928 }, { "epoch": 1.519012451171875e-06, "step": 15928, "training_step_time": 17.617405891418457 }, { "epoch": 1.5191078186035156e-06, "model_forward_time": 5.083544015884399, "step": 15929 }, { "epoch": 1.5191078186035156e-06, "step": 15929, "training_step_time": 17.812968969345093 }, { "epoch": 1.5192031860351562e-06, "grad_norm": 1.8980660438537598, "learning_rate": 9.162557169630572e-06, "loss": 0.0949, "step": 15930 }, { "epoch": 1.5192031860351562e-06, "model_forward_time": 5.080315589904785, "step": 15930 }, { "dynamics_loss_avg": 0.037203219905495646, "epoch": 1.5192031860351562e-06, "step": 15930 }, { "action_loss_avg": 0.04056410733610392, "epoch": 1.5192031860351562e-06, "step": 15930 }, { "arm_loss_avg": 0.10337260868400336, "epoch": 1.5192031860351562e-06, "step": 15930 }, { "ee_loss_avg": 0.02901104628108442, "epoch": 1.5192031860351562e-06, "step": 15930 }, { "aux_loss_avg": 0.0013733708125073462, "epoch": 1.5192031860351562e-06, "step": 15930 }, { "epoch": 1.5192031860351562e-06, "step": 15930, "training_step_time": 17.61652946472168 }, { "epoch": 1.5192985534667968e-06, "model_forward_time": 5.079192876815796, "step": 15931 }, { "epoch": 1.5192985534667968e-06, "step": 15931, "training_step_time": 17.615390300750732 }, { "epoch": 1.5193939208984375e-06, "model_forward_time": 5.3242387771606445, "step": 15932 }, { "epoch": 1.5193939208984375e-06, "step": 15932, "training_step_time": 17.607688903808594 }, { "epoch": 1.519489288330078e-06, "model_forward_time": 5.084856986999512, "step": 15933 }, { "epoch": 1.519489288330078e-06, "step": 15933, "training_step_time": 17.812143087387085 }, { "epoch": 1.5195846557617187e-06, "model_forward_time": 5.083117485046387, "step": 15934 }, { "epoch": 1.5195846557617187e-06, "step": 15934, "training_step_time": 17.585227012634277 }, { "epoch": 1.5196800231933593e-06, "model_forward_time": 3.8471553325653076, "step": 15935 }, { "epoch": 1.5196800231933593e-06, "step": 15935, "training_step_time": 17.591742038726807 }, { "epoch": 1.519775390625e-06, "model_forward_time": 5.063786745071411, "step": 15936 }, { "epoch": 1.519775390625e-06, "step": 15936, "training_step_time": 17.5882887840271 }, { "epoch": 1.5198707580566405e-06, "model_forward_time": 5.070087432861328, "step": 15937 }, { "epoch": 1.5198707580566405e-06, "step": 15937, "training_step_time": 17.568520069122314 }, { "epoch": 1.5199661254882814e-06, "model_forward_time": 5.30716872215271, "step": 15938 }, { "epoch": 1.5199661254882814e-06, "step": 15938, "training_step_time": 17.756825923919678 }, { "epoch": 1.520061492919922e-06, "model_forward_time": 3.8525784015655518, "step": 15939 }, { "epoch": 1.520061492919922e-06, "step": 15939, "training_step_time": 17.5561842918396 }, { "epoch": 1.5201568603515626e-06, "grad_norm": 1.105019450187683, "learning_rate": 9.161248083349095e-06, "loss": 0.0901, "step": 15940 }, { "epoch": 1.5201568603515626e-06, "model_forward_time": 5.061597108840942, "step": 15940 }, { "dynamics_loss_avg": 0.04328374769538641, "epoch": 1.5201568603515626e-06, "step": 15940 }, { "action_loss_avg": 0.06216989867389202, "epoch": 1.5201568603515626e-06, "step": 15940 }, { "arm_loss_avg": 0.13966440968215466, "epoch": 1.5201568603515626e-06, "step": 15940 }, { "ee_loss_avg": 0.05495257759466767, "epoch": 1.5201568603515626e-06, "step": 15940 }, { "aux_loss_avg": 0.020530276431236415, "epoch": 1.5201568603515626e-06, "step": 15940 }, { "epoch": 1.5201568603515626e-06, "step": 15940, "training_step_time": 17.55340266227722 }, { "epoch": 1.5202522277832032e-06, "model_forward_time": 5.076482534408569, "step": 15941 }, { "epoch": 1.5202522277832032e-06, "step": 15941, "training_step_time": 17.556771278381348 }, { "epoch": 1.5203475952148438e-06, "model_forward_time": 5.0871946811676025, "step": 15942 }, { "epoch": 1.5203475952148438e-06, "step": 15942, "training_step_time": 17.444716930389404 }, { "epoch": 1.5204429626464844e-06, "model_forward_time": 5.3348352909088135, "step": 15943 }, { "epoch": 1.5204429626464844e-06, "step": 15943, "training_step_time": 17.469538927078247 }, { "epoch": 1.520538330078125e-06, "model_forward_time": 5.09885573387146, "step": 15944 }, { "epoch": 1.520538330078125e-06, "step": 15944, "training_step_time": 17.74898409843445 }, { "epoch": 1.5206336975097657e-06, "model_forward_time": 5.093824148178101, "step": 15945 }, { "epoch": 1.5206336975097657e-06, "step": 15945, "training_step_time": 17.63677430152893 }, { "epoch": 1.5207290649414063e-06, "model_forward_time": 5.091742515563965, "step": 15946 }, { "epoch": 1.5207290649414063e-06, "step": 15946, "training_step_time": 17.483478784561157 }, { "epoch": 1.5208244323730469e-06, "model_forward_time": 5.089123725891113, "step": 15947 }, { "epoch": 1.5208244323730469e-06, "step": 15947, "training_step_time": 17.540117263793945 }, { "epoch": 1.5209197998046875e-06, "model_forward_time": 5.086819648742676, "step": 15948 }, { "epoch": 1.5209197998046875e-06, "step": 15948, "training_step_time": 17.58322525024414 }, { "epoch": 1.5210151672363281e-06, "model_forward_time": 5.084543228149414, "step": 15949 }, { "epoch": 1.5210151672363281e-06, "step": 15949, "training_step_time": 17.8066987991333 }, { "epoch": 1.5211105346679687e-06, "grad_norm": 1.8135801553726196, "learning_rate": 9.15993806835776e-06, "loss": 0.1033, "step": 15950 }, { "epoch": 1.5211105346679687e-06, "model_forward_time": 5.076571226119995, "step": 15950 }, { "dynamics_loss_avg": 0.04126322697848082, "epoch": 1.5211105346679687e-06, "step": 15950 }, { "action_loss_avg": 0.06501600241754205, "epoch": 1.5211105346679687e-06, "step": 15950 }, { "arm_loss_avg": 0.10063882060348987, "epoch": 1.5211105346679687e-06, "step": 15950 }, { "ee_loss_avg": 0.03016008441336453, "epoch": 1.5211105346679687e-06, "step": 15950 }, { "aux_loss_avg": 0.0011552811542060227, "epoch": 1.5211105346679687e-06, "step": 15950 }, { "epoch": 1.5211105346679687e-06, "step": 15950, "training_step_time": 17.591581344604492 }, { "epoch": 1.5212059020996093e-06, "model_forward_time": 5.082459211349487, "step": 15951 }, { "epoch": 1.5212059020996093e-06, "step": 15951, "training_step_time": 17.379263401031494 }, { "epoch": 1.52130126953125e-06, "model_forward_time": 5.32841682434082, "step": 15952 }, { "epoch": 1.52130126953125e-06, "step": 15952, "training_step_time": 17.49837303161621 }, { "epoch": 1.5213966369628906e-06, "model_forward_time": 5.085866451263428, "step": 15953 }, { "epoch": 1.5213966369628906e-06, "step": 15953, "training_step_time": 17.56684923171997 }, { "epoch": 1.5214920043945312e-06, "model_forward_time": 5.085878133773804, "step": 15954 }, { "epoch": 1.5214920043945312e-06, "step": 15954, "training_step_time": 17.833131074905396 }, { "epoch": 1.5215873718261718e-06, "model_forward_time": 5.088686227798462, "step": 15955 }, { "epoch": 1.5215873718261718e-06, "step": 15955, "training_step_time": 17.621490716934204 }, { "epoch": 1.5216827392578124e-06, "model_forward_time": 5.086702823638916, "step": 15956 }, { "epoch": 1.5216827392578124e-06, "step": 15956, "training_step_time": 17.54859209060669 }, { "epoch": 1.521778106689453e-06, "model_forward_time": 5.290555000305176, "step": 15957 }, { "epoch": 1.521778106689453e-06, "step": 15957, "training_step_time": 17.598673582077026 }, { "epoch": 1.5218734741210939e-06, "model_forward_time": 5.088121175765991, "step": 15958 }, { "epoch": 1.5218734741210939e-06, "step": 15958, "training_step_time": 17.632421016693115 }, { "epoch": 1.5219688415527345e-06, "model_forward_time": 5.0881898403167725, "step": 15959 }, { "epoch": 1.5219688415527345e-06, "step": 15959, "training_step_time": 17.832276105880737 }, { "epoch": 1.522064208984375e-06, "grad_norm": 1.151441216468811, "learning_rate": 9.15862712494894e-06, "loss": 0.1014, "step": 15960 }, { "epoch": 1.522064208984375e-06, "model_forward_time": 5.087122440338135, "step": 15960 }, { "dynamics_loss_avg": 0.04089248180389404, "epoch": 1.522064208984375e-06, "step": 15960 }, { "action_loss_avg": 0.05154519900679588, "epoch": 1.522064208984375e-06, "step": 15960 }, { "arm_loss_avg": 0.08120805881917477, "epoch": 1.522064208984375e-06, "step": 15960 }, { "ee_loss_avg": 0.050093457102775574, "epoch": 1.522064208984375e-06, "step": 15960 }, { "aux_loss_avg": 0.0013661089062225074, "epoch": 1.522064208984375e-06, "step": 15960 }, { "epoch": 1.522064208984375e-06, "step": 15960, "training_step_time": 17.644163846969604 }, { "epoch": 1.5221595764160157e-06, "model_forward_time": 3.8530259132385254, "step": 15961 }, { "epoch": 1.5221595764160157e-06, "step": 15961, "training_step_time": 17.644195079803467 }, { "epoch": 1.5222549438476563e-06, "model_forward_time": 5.058514833450317, "step": 15962 }, { "epoch": 1.5222549438476563e-06, "step": 15962, "training_step_time": 17.64232110977173 }, { "epoch": 1.522350311279297e-06, "model_forward_time": 4.0354955196380615, "step": 15963 }, { "epoch": 1.522350311279297e-06, "step": 15963, "training_step_time": 17.632436513900757 }, { "epoch": 1.5224456787109375e-06, "model_forward_time": 5.057276248931885, "step": 15964 }, { "epoch": 1.5224456787109375e-06, "step": 15964, "training_step_time": 17.865512371063232 }, { "epoch": 1.5225410461425782e-06, "model_forward_time": 5.067842960357666, "step": 15965 }, { "epoch": 1.5225410461425782e-06, "step": 15965, "training_step_time": 17.617279291152954 }, { "epoch": 1.5226364135742188e-06, "model_forward_time": 5.087321758270264, "step": 15966 }, { "epoch": 1.5226364135742188e-06, "step": 15966, "training_step_time": 17.59961199760437 }, { "epoch": 1.5227317810058594e-06, "model_forward_time": 5.1009297370910645, "step": 15967 }, { "epoch": 1.5227317810058594e-06, "step": 15967, "training_step_time": 17.60843777656555 }, { "epoch": 1.5228271484375e-06, "model_forward_time": 5.296000957489014, "step": 15968 }, { "epoch": 1.5228271484375e-06, "step": 15968, "training_step_time": 17.599416255950928 }, { "epoch": 1.5229225158691406e-06, "model_forward_time": 5.112380504608154, "step": 15969 }, { "epoch": 1.5229225158691406e-06, "step": 15969, "training_step_time": 17.791432857513428 }, { "epoch": 1.5230178833007812e-06, "grad_norm": 1.6163146495819092, "learning_rate": 9.15731525341521e-06, "loss": 0.1019, "step": 15970 }, { "epoch": 1.5230178833007812e-06, "model_forward_time": 5.104785919189453, "step": 15970 }, { "dynamics_loss_avg": 0.046392621286213395, "epoch": 1.5230178833007812e-06, "step": 15970 }, { "action_loss_avg": 0.04634320102632046, "epoch": 1.5230178833007812e-06, "step": 15970 }, { "arm_loss_avg": 0.10248182155191898, "epoch": 1.5230178833007812e-06, "step": 15970 }, { "ee_loss_avg": 0.03193851709365845, "epoch": 1.5230178833007812e-06, "step": 15970 }, { "aux_loss_avg": 0.0009247703885193915, "epoch": 1.5230178833007812e-06, "step": 15970 }, { "epoch": 1.5230178833007812e-06, "step": 15970, "training_step_time": 17.65118718147278 }, { "epoch": 1.5231132507324218e-06, "model_forward_time": 3.8625569343566895, "step": 15971 }, { "epoch": 1.5231132507324218e-06, "step": 15971, "training_step_time": 17.60815954208374 }, { "epoch": 1.5232086181640625e-06, "model_forward_time": 5.063524961471558, "step": 15972 }, { "epoch": 1.5232086181640625e-06, "step": 15972, "training_step_time": 17.620079040527344 }, { "epoch": 1.523303985595703e-06, "model_forward_time": 5.303961515426636, "step": 15973 }, { "epoch": 1.523303985595703e-06, "step": 15973, "training_step_time": 17.61332392692566 }, { "epoch": 1.5233993530273437e-06, "model_forward_time": 5.07958197593689, "step": 15974 }, { "epoch": 1.5233993530273437e-06, "step": 15974, "training_step_time": 17.8391273021698 }, { "epoch": 1.5234947204589843e-06, "model_forward_time": 5.0861029624938965, "step": 15975 }, { "epoch": 1.5234947204589843e-06, "step": 15975, "training_step_time": 17.619020700454712 }, { "epoch": 1.523590087890625e-06, "model_forward_time": 5.089934349060059, "step": 15976 }, { "epoch": 1.523590087890625e-06, "step": 15976, "training_step_time": 17.612066507339478 }, { "epoch": 1.5236854553222655e-06, "model_forward_time": 5.101917266845703, "step": 15977 }, { "epoch": 1.5236854553222655e-06, "step": 15977, "training_step_time": 17.63001823425293 }, { "epoch": 1.5237808227539064e-06, "model_forward_time": 5.317960739135742, "step": 15978 }, { "epoch": 1.5237808227539064e-06, "step": 15978, "training_step_time": 17.665932416915894 }, { "epoch": 1.523876190185547e-06, "model_forward_time": 5.108661651611328, "step": 15979 }, { "epoch": 1.523876190185547e-06, "step": 15979, "training_step_time": 17.852790594100952 }, { "epoch": 1.5239715576171876e-06, "grad_norm": 2.1982264518737793, "learning_rate": 9.156002454049356e-06, "loss": 0.1077, "step": 15980 }, { "epoch": 1.5239715576171876e-06, "model_forward_time": 5.107506990432739, "step": 15980 }, { "dynamics_loss_avg": 0.05759090464562178, "epoch": 1.5239715576171876e-06, "step": 15980 }, { "action_loss_avg": 0.05623839758336544, "epoch": 1.5239715576171876e-06, "step": 15980 }, { "arm_loss_avg": 0.1003610759973526, "epoch": 1.5239715576171876e-06, "step": 15980 }, { "ee_loss_avg": 0.06366000259295106, "epoch": 1.5239715576171876e-06, "step": 15980 }, { "aux_loss_avg": 0.011045124754309655, "epoch": 1.5239715576171876e-06, "step": 15980 }, { "epoch": 1.5239715576171876e-06, "step": 15980, "training_step_time": 17.65029501914978 }, { "epoch": 1.5240669250488282e-06, "model_forward_time": 3.8560776710510254, "step": 15981 }, { "epoch": 1.5240669250488282e-06, "step": 15981, "training_step_time": 17.61091661453247 }, { "epoch": 1.5241622924804688e-06, "model_forward_time": 5.063431739807129, "step": 15982 }, { "epoch": 1.5241622924804688e-06, "step": 15982, "training_step_time": 17.626202821731567 }, { "epoch": 1.5242576599121094e-06, "model_forward_time": 5.308725118637085, "step": 15983 }, { "epoch": 1.5242576599121094e-06, "step": 15983, "training_step_time": 17.61362338066101 }, { "epoch": 1.52435302734375e-06, "model_forward_time": 5.08152961730957, "step": 15984 }, { "epoch": 1.52435302734375e-06, "step": 15984, "training_step_time": 17.240715742111206 }, { "epoch": 1.5244483947753907e-06, "model_forward_time": 5.090324878692627, "step": 15985 }, { "epoch": 1.5244483947753907e-06, "step": 15985, "training_step_time": 17.554343700408936 }, { "epoch": 1.5245437622070313e-06, "model_forward_time": 5.091425895690918, "step": 15986 }, { "epoch": 1.5245437622070313e-06, "step": 15986, "training_step_time": 17.56672215461731 }, { "epoch": 1.5246391296386719e-06, "model_forward_time": 5.094718933105469, "step": 15987 }, { "epoch": 1.5246391296386719e-06, "step": 15987, "training_step_time": 17.58918309211731 }, { "epoch": 1.5247344970703125e-06, "model_forward_time": 4.095802068710327, "step": 15988 }, { "epoch": 1.5247344970703125e-06, "step": 15988, "training_step_time": 17.590739250183105 }, { "epoch": 1.5248298645019531e-06, "model_forward_time": 5.057121992111206, "step": 15989 }, { "epoch": 1.5248298645019531e-06, "step": 15989, "training_step_time": 17.797173738479614 }, { "epoch": 1.5249252319335937e-06, "grad_norm": 1.5268442630767822, "learning_rate": 9.154688727144366e-06, "loss": 0.0947, "step": 15990 }, { "epoch": 1.5249252319335937e-06, "model_forward_time": 5.069415807723999, "step": 15990 }, { "dynamics_loss_avg": 0.03290870701894164, "epoch": 1.5249252319335937e-06, "step": 15990 }, { "action_loss_avg": 0.05593558177351952, "epoch": 1.5249252319335937e-06, "step": 15990 }, { "arm_loss_avg": 0.0923651922494173, "epoch": 1.5249252319335937e-06, "step": 15990 }, { "ee_loss_avg": 0.04374909661710262, "epoch": 1.5249252319335937e-06, "step": 15990 }, { "aux_loss_avg": 0.001064076041802764, "epoch": 1.5249252319335937e-06, "step": 15990 }, { "epoch": 1.5249252319335937e-06, "step": 15990, "training_step_time": 17.643882513046265 }, { "epoch": 1.5250205993652343e-06, "model_forward_time": 5.076955318450928, "step": 15991 }, { "epoch": 1.5250205993652343e-06, "step": 15991, "training_step_time": 17.608620643615723 }, { "epoch": 1.525115966796875e-06, "model_forward_time": 5.084430456161499, "step": 15992 }, { "epoch": 1.525115966796875e-06, "step": 15992, "training_step_time": 17.615952968597412 }, { "epoch": 1.5252113342285156e-06, "model_forward_time": 4.090659856796265, "step": 15993 }, { "epoch": 1.5252113342285156e-06, "step": 15993, "training_step_time": 17.6055645942688 }, { "epoch": 1.5253067016601562e-06, "model_forward_time": 5.062712669372559, "step": 15994 }, { "epoch": 1.5253067016601562e-06, "step": 15994, "training_step_time": 17.841781616210938 }, { "epoch": 1.5254020690917968e-06, "model_forward_time": 5.069791078567505, "step": 15995 }, { "epoch": 1.5254020690917968e-06, "step": 15995, "training_step_time": 17.607471466064453 }, { "epoch": 1.5254974365234374e-06, "model_forward_time": 5.079782962799072, "step": 15996 }, { "epoch": 1.5254974365234374e-06, "step": 15996, "training_step_time": 17.581337928771973 }, { "epoch": 1.525592803955078e-06, "model_forward_time": 5.087601184844971, "step": 15997 }, { "epoch": 1.525592803955078e-06, "step": 15997, "training_step_time": 17.380327224731445 }, { "epoch": 1.5256881713867189e-06, "model_forward_time": 5.292656183242798, "step": 15998 }, { "epoch": 1.5256881713867189e-06, "step": 15998, "training_step_time": 17.490525245666504 }, { "epoch": 1.5257835388183595e-06, "model_forward_time": 5.096727609634399, "step": 15999 }, { "epoch": 1.5257835388183595e-06, "step": 15999, "training_step_time": 17.74813151359558 }, { "epoch": 1.52587890625e-06, "grad_norm": 1.8563159704208374, "learning_rate": 9.15337407299344e-06, "loss": 0.103, "step": 16000 }, { "epoch": 1.52587890625e-06, "model_forward_time": 5.093047857284546, "step": 16000 }, { "dynamics_loss_avg": 0.04060295280069113, "epoch": 1.52587890625e-06, "step": 16000 }, { "action_loss_avg": 0.05399295557290316, "epoch": 1.52587890625e-06, "step": 16000 }, { "arm_loss_avg": 0.09824648462235927, "epoch": 1.52587890625e-06, "step": 16000 }, { "ee_loss_avg": 0.05674424702301621, "epoch": 1.52587890625e-06, "step": 16000 }, { "aux_loss_avg": 0.0012047619791701436, "epoch": 1.52587890625e-06, "step": 16000 }, { "epoch": 1.52587890625e-06, "step": 16000, "training_step_time": 17.282626390457153 }, { "epoch": 1.5259742736816407e-06, "model_forward_time": 5.092631816864014, "step": 16001 }, { "epoch": 1.5259742736816407e-06, "step": 16001, "training_step_time": 17.498022079467773 }, { "epoch": 1.5260696411132813e-06, "model_forward_time": 5.083688497543335, "step": 16002 }, { "epoch": 1.5260696411132813e-06, "step": 16002, "training_step_time": 17.54390025138855 }, { "epoch": 1.526165008544922e-06, "model_forward_time": 5.314995288848877, "step": 16003 }, { "epoch": 1.526165008544922e-06, "step": 16003, "training_step_time": 17.58028793334961 }, { "epoch": 1.5262603759765625e-06, "model_forward_time": 5.079898118972778, "step": 16004 }, { "epoch": 1.5262603759765625e-06, "step": 16004, "training_step_time": 17.821856021881104 }, { "epoch": 1.5263557434082032e-06, "model_forward_time": 5.074162721633911, "step": 16005 }, { "epoch": 1.5263557434082032e-06, "step": 16005, "training_step_time": 17.60522770881653 }, { "epoch": 1.5264511108398438e-06, "model_forward_time": 5.07175612449646, "step": 16006 }, { "epoch": 1.5264511108398438e-06, "step": 16006, "training_step_time": 17.626423597335815 }, { "epoch": 1.5265464782714844e-06, "model_forward_time": 5.071011781692505, "step": 16007 }, { "epoch": 1.5265464782714844e-06, "step": 16007, "training_step_time": 17.622543573379517 }, { "epoch": 1.526641845703125e-06, "model_forward_time": 5.263135194778442, "step": 16008 }, { "epoch": 1.526641845703125e-06, "step": 16008, "training_step_time": 17.62301254272461 }, { "epoch": 1.5267372131347656e-06, "model_forward_time": 3.8442392349243164, "step": 16009 }, { "epoch": 1.5267372131347656e-06, "step": 16009, "training_step_time": 17.866342306137085 }, { "epoch": 1.5268325805664062e-06, "grad_norm": 1.3549836874008179, "learning_rate": 9.152058491889986e-06, "loss": 0.093, "step": 16010 }, { "epoch": 1.5268325805664062e-06, "model_forward_time": 3.8266708850860596, "step": 16010 }, { "dynamics_loss_avg": 0.047946672327816485, "epoch": 1.5268325805664062e-06, "step": 16010 }, { "action_loss_avg": 0.04989168746396899, "epoch": 1.5268325805664062e-06, "step": 16010 }, { "arm_loss_avg": 0.07989475019276142, "epoch": 1.5268325805664062e-06, "step": 16010 }, { "ee_loss_avg": 0.02419115852098912, "epoch": 1.5268325805664062e-06, "step": 16010 }, { "aux_loss_avg": 0.0018584967183414847, "epoch": 1.5268325805664062e-06, "step": 16010 }, { "epoch": 1.5268325805664062e-06, "step": 16010, "training_step_time": 17.611510515213013 }, { "epoch": 1.5269279479980468e-06, "model_forward_time": 5.045427560806274, "step": 16011 }, { "epoch": 1.5269279479980468e-06, "step": 16011, "training_step_time": 17.6058247089386 }, { "epoch": 1.5270233154296875e-06, "model_forward_time": 3.833246946334839, "step": 16012 }, { "epoch": 1.5270233154296875e-06, "step": 16012, "training_step_time": 17.586333513259888 }, { "epoch": 1.527118682861328e-06, "model_forward_time": 5.285357475280762, "step": 16013 }, { "epoch": 1.527118682861328e-06, "step": 16013, "training_step_time": 17.57616353034973 }, { "epoch": 1.5272140502929687e-06, "model_forward_time": 5.0768046379089355, "step": 16014 }, { "epoch": 1.5272140502929687e-06, "step": 16014, "training_step_time": 17.56131625175476 }, { "epoch": 1.5273094177246093e-06, "model_forward_time": 5.095328330993652, "step": 16015 }, { "epoch": 1.5273094177246093e-06, "step": 16015, "training_step_time": 17.79038643836975 }, { "epoch": 1.52740478515625e-06, "model_forward_time": 5.098153829574585, "step": 16016 }, { "epoch": 1.52740478515625e-06, "step": 16016, "training_step_time": 17.602848529815674 }, { "epoch": 1.5275001525878905e-06, "model_forward_time": 5.1014299392700195, "step": 16017 }, { "epoch": 1.5275001525878905e-06, "step": 16017, "training_step_time": 17.570573091506958 }, { "epoch": 1.5275955200195311e-06, "model_forward_time": 5.2797229290008545, "step": 16018 }, { "epoch": 1.5275955200195311e-06, "step": 16018, "training_step_time": 17.588924646377563 }, { "epoch": 1.527690887451172e-06, "model_forward_time": 5.09068489074707, "step": 16019 }, { "epoch": 1.527690887451172e-06, "step": 16019, "training_step_time": 17.82732057571411 }, { "epoch": 1.5277862548828126e-06, "grad_norm": 1.5861952304840088, "learning_rate": 9.15074198412761e-06, "loss": 0.105, "step": 16020 }, { "epoch": 1.5277862548828126e-06, "model_forward_time": 5.081369876861572, "step": 16020 }, { "dynamics_loss_avg": 0.05785384885966778, "epoch": 1.5277862548828126e-06, "step": 16020 }, { "action_loss_avg": 0.04701835010200739, "epoch": 1.5277862548828126e-06, "step": 16020 }, { "arm_loss_avg": 0.08182260999456048, "epoch": 1.5277862548828126e-06, "step": 16020 }, { "ee_loss_avg": 0.035724497959017755, "epoch": 1.5277862548828126e-06, "step": 16020 }, { "aux_loss_avg": 0.0009360823314636946, "epoch": 1.5277862548828126e-06, "step": 16020 }, { "epoch": 1.5277862548828126e-06, "step": 16020, "training_step_time": 17.65423011779785 }, { "epoch": 1.5278816223144532e-06, "model_forward_time": 5.080743074417114, "step": 16021 }, { "epoch": 1.5278816223144532e-06, "step": 16021, "training_step_time": 17.60956573486328 }, { "epoch": 1.5279769897460938e-06, "model_forward_time": 5.082473993301392, "step": 16022 }, { "epoch": 1.5279769897460938e-06, "step": 16022, "training_step_time": 17.619354724884033 }, { "epoch": 1.5280723571777344e-06, "model_forward_time": 5.316503286361694, "step": 16023 }, { "epoch": 1.5280723571777344e-06, "step": 16023, "training_step_time": 17.609922409057617 }, { "epoch": 1.528167724609375e-06, "model_forward_time": 5.083909034729004, "step": 16024 }, { "epoch": 1.528167724609375e-06, "step": 16024, "training_step_time": 17.839614629745483 }, { "epoch": 1.5282630920410157e-06, "model_forward_time": 5.081570625305176, "step": 16025 }, { "epoch": 1.5282630920410157e-06, "step": 16025, "training_step_time": 17.602614641189575 }, { "epoch": 1.5283584594726563e-06, "model_forward_time": 5.084584951400757, "step": 16026 }, { "epoch": 1.5283584594726563e-06, "step": 16026, "training_step_time": 17.31389546394348 }, { "epoch": 1.5284538269042969e-06, "model_forward_time": 5.087531328201294, "step": 16027 }, { "epoch": 1.5284538269042969e-06, "step": 16027, "training_step_time": 17.517709255218506 }, { "epoch": 1.5285491943359375e-06, "model_forward_time": 5.277244806289673, "step": 16028 }, { "epoch": 1.5285491943359375e-06, "step": 16028, "training_step_time": 17.554713010787964 }, { "epoch": 1.5286445617675781e-06, "model_forward_time": 5.090681076049805, "step": 16029 }, { "epoch": 1.5286445617675781e-06, "step": 16029, "training_step_time": 17.56871247291565 }, { "epoch": 1.5287399291992187e-06, "grad_norm": 1.1690804958343506, "learning_rate": 9.14942455000014e-06, "loss": 0.0901, "step": 16030 }, { "epoch": 1.5287399291992187e-06, "model_forward_time": 5.091580629348755, "step": 16030 }, { "dynamics_loss_avg": 0.03916918188333511, "epoch": 1.5287399291992187e-06, "step": 16030 }, { "action_loss_avg": 0.04830801337957382, "epoch": 1.5287399291992187e-06, "step": 16030 }, { "arm_loss_avg": 0.09006265550851822, "epoch": 1.5287399291992187e-06, "step": 16030 }, { "ee_loss_avg": 0.038875609170645475, "epoch": 1.5287399291992187e-06, "step": 16030 }, { "aux_loss_avg": 0.0007372897351160645, "epoch": 1.5287399291992187e-06, "step": 16030 }, { "epoch": 1.5287399291992187e-06, "step": 16030, "training_step_time": 17.65940260887146 }, { "epoch": 1.5288352966308593e-06, "model_forward_time": 5.091548919677734, "step": 16031 }, { "epoch": 1.5288352966308593e-06, "step": 16031, "training_step_time": 17.410659551620483 }, { "epoch": 1.5289306640625e-06, "model_forward_time": 5.089078903198242, "step": 16032 }, { "epoch": 1.5289306640625e-06, "step": 16032, "training_step_time": 17.474892616271973 }, { "epoch": 1.5290260314941406e-06, "model_forward_time": 5.321662425994873, "step": 16033 }, { "epoch": 1.5290260314941406e-06, "step": 16033, "training_step_time": 17.54759979248047 }, { "epoch": 1.5291213989257812e-06, "model_forward_time": 5.08821964263916, "step": 16034 }, { "epoch": 1.5291213989257812e-06, "step": 16034, "training_step_time": 17.606789588928223 }, { "epoch": 1.5292167663574218e-06, "model_forward_time": 5.085126876831055, "step": 16035 }, { "epoch": 1.5292167663574218e-06, "step": 16035, "training_step_time": 17.864579916000366 }, { "epoch": 1.5293121337890624e-06, "model_forward_time": 5.08359432220459, "step": 16036 }, { "epoch": 1.5293121337890624e-06, "step": 16036, "training_step_time": 17.645049571990967 }, { "epoch": 1.529407501220703e-06, "model_forward_time": 5.083689212799072, "step": 16037 }, { "epoch": 1.529407501220703e-06, "step": 16037, "training_step_time": 17.659362316131592 }, { "epoch": 1.5295028686523436e-06, "model_forward_time": 5.272552967071533, "step": 16038 }, { "epoch": 1.5295028686523436e-06, "step": 16038, "training_step_time": 17.662415742874146 }, { "epoch": 1.5295982360839845e-06, "model_forward_time": 5.089127540588379, "step": 16039 }, { "epoch": 1.5295982360839845e-06, "step": 16039, "training_step_time": 17.66028904914856 }, { "epoch": 1.529693603515625e-06, "grad_norm": 1.1336544752120972, "learning_rate": 9.148106189801594e-06, "loss": 0.1081, "step": 16040 }, { "epoch": 1.529693603515625e-06, "model_forward_time": 5.089071750640869, "step": 16040 }, { "dynamics_loss_avg": 0.05613144524395466, "epoch": 1.529693603515625e-06, "step": 16040 }, { "action_loss_avg": 0.060739573650062086, "epoch": 1.529693603515625e-06, "step": 16040 }, { "arm_loss_avg": 0.10480109788477421, "epoch": 1.529693603515625e-06, "step": 16040 }, { "ee_loss_avg": 0.06510089049115778, "epoch": 1.529693603515625e-06, "step": 16040 }, { "aux_loss_avg": 0.004741011484293267, "epoch": 1.529693603515625e-06, "step": 16040 }, { "epoch": 1.529693603515625e-06, "step": 16040, "training_step_time": 17.638152360916138 }, { "epoch": 1.5297889709472657e-06, "model_forward_time": 5.089916467666626, "step": 16041 }, { "epoch": 1.5297889709472657e-06, "step": 16041, "training_step_time": 17.538438320159912 }, { "epoch": 1.5298843383789063e-06, "model_forward_time": 5.087303638458252, "step": 16042 }, { "epoch": 1.5298843383789063e-06, "step": 16042, "training_step_time": 17.30293869972229 }, { "epoch": 1.529979705810547e-06, "model_forward_time": 5.327834844589233, "step": 16043 }, { "epoch": 1.529979705810547e-06, "step": 16043, "training_step_time": 17.501435041427612 }, { "epoch": 1.5300750732421875e-06, "model_forward_time": 5.083960294723511, "step": 16044 }, { "epoch": 1.5300750732421875e-06, "step": 16044, "training_step_time": 17.53669834136963 }, { "epoch": 1.5301704406738282e-06, "model_forward_time": 5.079854488372803, "step": 16045 }, { "epoch": 1.5301704406738282e-06, "step": 16045, "training_step_time": 17.80268120765686 }, { "epoch": 1.5302658081054688e-06, "model_forward_time": 5.0786638259887695, "step": 16046 }, { "epoch": 1.5302658081054688e-06, "step": 16046, "training_step_time": 17.257831573486328 }, { "epoch": 1.5303611755371094e-06, "model_forward_time": 5.081505537033081, "step": 16047 }, { "epoch": 1.5303611755371094e-06, "step": 16047, "training_step_time": 17.51956343650818 }, { "epoch": 1.53045654296875e-06, "model_forward_time": 5.271331071853638, "step": 16048 }, { "epoch": 1.53045654296875e-06, "step": 16048, "training_step_time": 17.50521969795227 }, { "epoch": 1.5305519104003906e-06, "model_forward_time": 5.081506252288818, "step": 16049 }, { "epoch": 1.5305519104003906e-06, "step": 16049, "training_step_time": 17.50780701637268 }, { "epoch": 1.5306472778320312e-06, "grad_norm": 2.166684865951538, "learning_rate": 9.146786903826208e-06, "loss": 0.1031, "step": 16050 }, { "epoch": 1.5306472778320312e-06, "model_forward_time": 5.0778844356536865, "step": 16050 }, { "dynamics_loss_avg": 0.0440129604190588, "epoch": 1.5306472778320312e-06, "step": 16050 }, { "action_loss_avg": 0.05089131370186806, "epoch": 1.5306472778320312e-06, "step": 16050 }, { "arm_loss_avg": 0.09686721060425044, "epoch": 1.5306472778320312e-06, "step": 16050 }, { "ee_loss_avg": 0.029914872348308565, "epoch": 1.5306472778320312e-06, "step": 16050 }, { "aux_loss_avg": 0.0010941306594759227, "epoch": 1.5306472778320312e-06, "step": 16050 }, { "epoch": 1.5306472778320312e-06, "step": 16050, "training_step_time": 17.737834692001343 }, { "epoch": 1.5307426452636718e-06, "model_forward_time": 5.070136070251465, "step": 16051 }, { "epoch": 1.5307426452636718e-06, "step": 16051, "training_step_time": 17.59218716621399 }, { "epoch": 1.5308380126953125e-06, "model_forward_time": 5.0738465785980225, "step": 16052 }, { "epoch": 1.5308380126953125e-06, "step": 16052, "training_step_time": 17.609933853149414 }, { "epoch": 1.530933380126953e-06, "model_forward_time": 5.316179990768433, "step": 16053 }, { "epoch": 1.530933380126953e-06, "step": 16053, "training_step_time": 17.613500118255615 }, { "epoch": 1.5310287475585937e-06, "model_forward_time": 3.847308397293091, "step": 16054 }, { "epoch": 1.5310287475585937e-06, "step": 16054, "training_step_time": 17.611528396606445 }, { "epoch": 1.5311241149902343e-06, "model_forward_time": 5.056751251220703, "step": 16055 }, { "epoch": 1.5311241149902343e-06, "step": 16055, "training_step_time": 17.389310121536255 }, { "epoch": 1.531219482421875e-06, "model_forward_time": 3.836778402328491, "step": 16056 }, { "epoch": 1.531219482421875e-06, "step": 16056, "training_step_time": 17.58478808403015 }, { "epoch": 1.5313148498535155e-06, "model_forward_time": 5.047579765319824, "step": 16057 }, { "epoch": 1.5313148498535155e-06, "step": 16057, "training_step_time": 17.56183171272278 }, { "epoch": 1.5314102172851561e-06, "model_forward_time": 5.066627264022827, "step": 16058 }, { "epoch": 1.5314102172851561e-06, "step": 16058, "training_step_time": 17.562198877334595 }, { "epoch": 1.531505584716797e-06, "model_forward_time": 5.08039402961731, "step": 16059 }, { "epoch": 1.531505584716797e-06, "step": 16059, "training_step_time": 17.579781770706177 }, { "epoch": 1.5316009521484376e-06, "grad_norm": 0.9650107622146606, "learning_rate": 9.145466692368418e-06, "loss": 0.0965, "step": 16060 }, { "epoch": 1.5316009521484376e-06, "model_forward_time": 5.087849855422974, "step": 16060 }, { "dynamics_loss_avg": 0.04636522103101015, "epoch": 1.5316009521484376e-06, "step": 16060 }, { "action_loss_avg": 0.06855466365814208, "epoch": 1.5316009521484376e-06, "step": 16060 }, { "arm_loss_avg": 0.09941317457705737, "epoch": 1.5316009521484376e-06, "step": 16060 }, { "ee_loss_avg": 0.03813847075216472, "epoch": 1.5316009521484376e-06, "step": 16060 }, { "aux_loss_avg": 0.0011001655599102377, "epoch": 1.5316009521484376e-06, "step": 16060 }, { "epoch": 1.5316009521484376e-06, "step": 16060, "training_step_time": 17.781083583831787 }, { "epoch": 1.5316963195800782e-06, "model_forward_time": 5.095299243927002, "step": 16061 }, { "epoch": 1.5316963195800782e-06, "step": 16061, "training_step_time": 17.631847143173218 }, { "epoch": 1.5317916870117188e-06, "model_forward_time": 3.8581748008728027, "step": 16062 }, { "epoch": 1.5317916870117188e-06, "step": 16062, "training_step_time": 17.491572380065918 }, { "epoch": 1.5318870544433594e-06, "model_forward_time": 3.8340063095092773, "step": 16063 }, { "epoch": 1.5318870544433594e-06, "step": 16063, "training_step_time": 17.54649305343628 }, { "epoch": 1.531982421875e-06, "model_forward_time": 4.032121896743774, "step": 16064 }, { "epoch": 1.531982421875e-06, "step": 16064, "training_step_time": 17.369268894195557 }, { "epoch": 1.5320777893066407e-06, "model_forward_time": 5.048309803009033, "step": 16065 }, { "epoch": 1.5320777893066407e-06, "step": 16065, "training_step_time": 17.576067686080933 }, { "epoch": 1.5321731567382813e-06, "model_forward_time": 5.0605738162994385, "step": 16066 }, { "epoch": 1.5321731567382813e-06, "step": 16066, "training_step_time": 17.69101047515869 }, { "epoch": 1.5322685241699219e-06, "model_forward_time": 5.078800201416016, "step": 16067 }, { "epoch": 1.5322685241699219e-06, "step": 16067, "training_step_time": 17.503531455993652 }, { "epoch": 1.5323638916015625e-06, "model_forward_time": 5.094603538513184, "step": 16068 }, { "epoch": 1.5323638916015625e-06, "step": 16068, "training_step_time": 17.561731338500977 }, { "epoch": 1.5324592590332031e-06, "model_forward_time": 5.289915561676025, "step": 16069 }, { "epoch": 1.5324592590332031e-06, "step": 16069, "training_step_time": 17.60054039955139 }, { "epoch": 1.5325546264648437e-06, "grad_norm": 2.0244290828704834, "learning_rate": 9.144145555722874e-06, "loss": 0.1002, "step": 16070 }, { "epoch": 1.5325546264648437e-06, "model_forward_time": 5.104479551315308, "step": 16070 }, { "dynamics_loss_avg": 0.048255988582968715, "epoch": 1.5325546264648437e-06, "step": 16070 }, { "action_loss_avg": 0.05741465725004673, "epoch": 1.5325546264648437e-06, "step": 16070 }, { "arm_loss_avg": 0.09905369803309441, "epoch": 1.5325546264648437e-06, "step": 16070 }, { "ee_loss_avg": 0.03713561599142849, "epoch": 1.5325546264648437e-06, "step": 16070 }, { "aux_loss_avg": 0.0021102142345625907, "epoch": 1.5325546264648437e-06, "step": 16070 }, { "epoch": 1.5325546264648437e-06, "step": 16070, "training_step_time": 17.63724422454834 }, { "epoch": 1.5326499938964843e-06, "model_forward_time": 5.097534894943237, "step": 16071 }, { "epoch": 1.5326499938964843e-06, "step": 16071, "training_step_time": 17.874875783920288 }, { "epoch": 1.532745361328125e-06, "model_forward_time": 5.0936150550842285, "step": 16072 }, { "epoch": 1.532745361328125e-06, "step": 16072, "training_step_time": 17.657808303833008 }, { "epoch": 1.5328407287597656e-06, "model_forward_time": 5.089637041091919, "step": 16073 }, { "epoch": 1.5328407287597656e-06, "step": 16073, "training_step_time": 17.646374940872192 }, { "epoch": 1.5329360961914062e-06, "model_forward_time": 5.322399616241455, "step": 16074 }, { "epoch": 1.5329360961914062e-06, "step": 16074, "training_step_time": 17.43066954612732 }, { "epoch": 1.5330314636230468e-06, "model_forward_time": 5.086483716964722, "step": 16075 }, { "epoch": 1.5330314636230468e-06, "step": 16075, "training_step_time": 17.534486293792725 }, { "epoch": 1.5331268310546874e-06, "model_forward_time": 5.0847556591033936, "step": 16076 }, { "epoch": 1.5331268310546874e-06, "step": 16076, "training_step_time": 17.80723810195923 }, { "epoch": 1.533222198486328e-06, "model_forward_time": 5.07988166809082, "step": 16077 }, { "epoch": 1.533222198486328e-06, "step": 16077, "training_step_time": 17.577455520629883 }, { "epoch": 1.5333175659179687e-06, "model_forward_time": 5.078688621520996, "step": 16078 }, { "epoch": 1.5333175659179687e-06, "step": 16078, "training_step_time": 17.592223644256592 }, { "epoch": 1.5334129333496095e-06, "model_forward_time": 5.085081577301025, "step": 16079 }, { "epoch": 1.5334129333496095e-06, "step": 16079, "training_step_time": 17.588038206100464 }, { "epoch": 1.53350830078125e-06, "grad_norm": 1.5993640422821045, "learning_rate": 9.142823494184427e-06, "loss": 0.0985, "step": 16080 }, { "epoch": 1.53350830078125e-06, "model_forward_time": 3.849266767501831, "step": 16080 }, { "dynamics_loss_avg": 0.051263172551989554, "epoch": 1.53350830078125e-06, "step": 16080 }, { "action_loss_avg": 0.07658860050141811, "epoch": 1.53350830078125e-06, "step": 16080 }, { "arm_loss_avg": 0.10625967010855675, "epoch": 1.53350830078125e-06, "step": 16080 }, { "ee_loss_avg": 0.09075933638960124, "epoch": 1.53350830078125e-06, "step": 16080 }, { "aux_loss_avg": 0.0012821573822293431, "epoch": 1.53350830078125e-06, "step": 16080 }, { "epoch": 1.53350830078125e-06, "step": 16080, "training_step_time": 17.829721927642822 }, { "epoch": 1.5336036682128907e-06, "model_forward_time": 5.057172775268555, "step": 16081 }, { "epoch": 1.5336036682128907e-06, "step": 16081, "training_step_time": 17.632461071014404 }, { "epoch": 1.5336990356445313e-06, "model_forward_time": 5.068431615829468, "step": 16082 }, { "epoch": 1.5336990356445313e-06, "step": 16082, "training_step_time": 17.61121654510498 }, { "epoch": 1.533794403076172e-06, "model_forward_time": 5.077215194702148, "step": 16083 }, { "epoch": 1.533794403076172e-06, "step": 16083, "training_step_time": 17.600703477859497 }, { "epoch": 1.5338897705078125e-06, "model_forward_time": 4.058018445968628, "step": 16084 }, { "epoch": 1.5338897705078125e-06, "step": 16084, "training_step_time": 17.605375051498413 }, { "epoch": 1.5339851379394532e-06, "model_forward_time": 5.065113544464111, "step": 16085 }, { "epoch": 1.5339851379394532e-06, "step": 16085, "training_step_time": 17.847707986831665 }, { "epoch": 1.5340805053710938e-06, "model_forward_time": 5.0786707401275635, "step": 16086 }, { "epoch": 1.5340805053710938e-06, "step": 16086, "training_step_time": 17.606428623199463 }, { "epoch": 1.5341758728027344e-06, "model_forward_time": 3.8551340103149414, "step": 16087 }, { "epoch": 1.5341758728027344e-06, "step": 16087, "training_step_time": 17.604238986968994 }, { "epoch": 1.534271240234375e-06, "model_forward_time": 3.83713960647583, "step": 16088 }, { "epoch": 1.534271240234375e-06, "step": 16088, "training_step_time": 17.61445951461792 }, { "epoch": 1.5343666076660156e-06, "model_forward_time": 5.248674392700195, "step": 16089 }, { "epoch": 1.5343666076660156e-06, "step": 16089, "training_step_time": 17.611155033111572 }, { "epoch": 1.5344619750976562e-06, "grad_norm": 1.6959551572799683, "learning_rate": 9.141500508048131e-06, "loss": 0.0941, "step": 16090 }, { "epoch": 1.5344619750976562e-06, "model_forward_time": 5.07812762260437, "step": 16090 }, { "dynamics_loss_avg": 0.04274770296178758, "epoch": 1.5344619750976562e-06, "step": 16090 }, { "action_loss_avg": 0.0540501850657165, "epoch": 1.5344619750976562e-06, "step": 16090 }, { "arm_loss_avg": 0.11344960164278746, "epoch": 1.5344619750976562e-06, "step": 16090 }, { "ee_loss_avg": 0.029152082465589046, "epoch": 1.5344619750976562e-06, "step": 16090 }, { "aux_loss_avg": 0.004988233189214953, "epoch": 1.5344619750976562e-06, "step": 16090 }, { "epoch": 1.5344619750976562e-06, "step": 16090, "training_step_time": 17.808632850646973 }, { "epoch": 1.5345573425292969e-06, "model_forward_time": 5.095988988876343, "step": 16091 }, { "epoch": 1.5345573425292969e-06, "step": 16091, "training_step_time": 17.5668044090271 }, { "epoch": 1.5346527099609375e-06, "model_forward_time": 5.103834390640259, "step": 16092 }, { "epoch": 1.5346527099609375e-06, "step": 16092, "training_step_time": 17.508962392807007 }, { "epoch": 1.534748077392578e-06, "model_forward_time": 5.102450609207153, "step": 16093 }, { "epoch": 1.534748077392578e-06, "step": 16093, "training_step_time": 17.553546905517578 }, { "epoch": 1.5348434448242187e-06, "model_forward_time": 5.338717937469482, "step": 16094 }, { "epoch": 1.5348434448242187e-06, "step": 16094, "training_step_time": 17.581624031066895 }, { "epoch": 1.5349388122558593e-06, "model_forward_time": 5.098165988922119, "step": 16095 }, { "epoch": 1.5349388122558593e-06, "step": 16095, "training_step_time": 17.622050046920776 }, { "epoch": 1.5350341796875e-06, "model_forward_time": 5.10201358795166, "step": 16096 }, { "epoch": 1.5350341796875e-06, "step": 16096, "training_step_time": 17.902964115142822 }, { "epoch": 1.5351295471191405e-06, "model_forward_time": 3.856457471847534, "step": 16097 }, { "epoch": 1.5351295471191405e-06, "step": 16097, "training_step_time": 17.440036296844482 }, { "epoch": 1.5352249145507812e-06, "model_forward_time": 5.069292306900024, "step": 16098 }, { "epoch": 1.5352249145507812e-06, "step": 16098, "training_step_time": 17.573914051055908 }, { "epoch": 1.535320281982422e-06, "model_forward_time": 5.289941072463989, "step": 16099 }, { "epoch": 1.535320281982422e-06, "step": 16099, "training_step_time": 17.61398935317993 }, { "epoch": 1.5354156494140626e-06, "grad_norm": 1.250029444694519, "learning_rate": 9.140176597609256e-06, "loss": 0.0859, "step": 16100 }, { "epoch": 1.5354156494140626e-06, "model_forward_time": 5.073801040649414, "step": 16100 }, { "dynamics_loss_avg": 0.04632612466812134, "epoch": 1.5354156494140626e-06, "step": 16100 }, { "action_loss_avg": 0.05822194013744593, "epoch": 1.5354156494140626e-06, "step": 16100 }, { "arm_loss_avg": 0.13234483301639557, "epoch": 1.5354156494140626e-06, "step": 16100 }, { "ee_loss_avg": 0.053782214783132075, "epoch": 1.5354156494140626e-06, "step": 16100 }, { "aux_loss_avg": 0.0022481763211544604, "epoch": 1.5354156494140626e-06, "step": 16100 }, { "epoch": 1.5354156494140626e-06, "step": 16100, "training_step_time": 17.173924684524536 }, { "epoch": 1.5355110168457032e-06, "model_forward_time": 5.088148355484009, "step": 16101 }, { "epoch": 1.5355110168457032e-06, "step": 16101, "training_step_time": 17.79935646057129 }, { "epoch": 1.5356063842773438e-06, "model_forward_time": 5.092420816421509, "step": 16102 }, { "epoch": 1.5356063842773438e-06, "step": 16102, "training_step_time": 17.62900972366333 }, { "epoch": 1.5357017517089844e-06, "model_forward_time": 5.0888144969940186, "step": 16103 }, { "epoch": 1.5357017517089844e-06, "step": 16103, "training_step_time": 17.643600702285767 }, { "epoch": 1.535797119140625e-06, "model_forward_time": 5.328413724899292, "step": 16104 }, { "epoch": 1.535797119140625e-06, "step": 16104, "training_step_time": 17.4540855884552 }, { "epoch": 1.5358924865722657e-06, "model_forward_time": 5.096534252166748, "step": 16105 }, { "epoch": 1.5358924865722657e-06, "step": 16105, "training_step_time": 17.568704843521118 }, { "epoch": 1.5359878540039063e-06, "model_forward_time": 5.0913310050964355, "step": 16106 }, { "epoch": 1.5359878540039063e-06, "step": 16106, "training_step_time": 17.793750524520874 }, { "epoch": 1.536083221435547e-06, "model_forward_time": 5.09025239944458, "step": 16107 }, { "epoch": 1.536083221435547e-06, "step": 16107, "training_step_time": 17.573888540267944 }, { "epoch": 1.5361785888671875e-06, "model_forward_time": 5.082202672958374, "step": 16108 }, { "epoch": 1.5361785888671875e-06, "step": 16108, "training_step_time": 17.5921368598938 }, { "epoch": 1.5362739562988281e-06, "model_forward_time": 5.275878429412842, "step": 16109 }, { "epoch": 1.5362739562988281e-06, "step": 16109, "training_step_time": 17.600353717803955 }, { "epoch": 1.5363693237304687e-06, "grad_norm": 1.1396515369415283, "learning_rate": 9.138851763163273e-06, "loss": 0.1102, "step": 16110 }, { "epoch": 1.5363693237304687e-06, "model_forward_time": 3.8500030040740967, "step": 16110 }, { "dynamics_loss_avg": 0.04545227959752083, "epoch": 1.5363693237304687e-06, "step": 16110 }, { "action_loss_avg": 0.0990669272840023, "epoch": 1.5363693237304687e-06, "step": 16110 }, { "arm_loss_avg": 0.16998175010085106, "epoch": 1.5363693237304687e-06, "step": 16110 }, { "ee_loss_avg": 0.13203216660767794, "epoch": 1.5363693237304687e-06, "step": 16110 }, { "aux_loss_avg": 0.0020372394734295084, "epoch": 1.5363693237304687e-06, "step": 16110 }, { "epoch": 1.5363693237304687e-06, "step": 16110, "training_step_time": 17.62950849533081 }, { "epoch": 1.5364646911621094e-06, "model_forward_time": 5.060505628585815, "step": 16111 }, { "epoch": 1.5364646911621094e-06, "step": 16111, "training_step_time": 17.800700426101685 }, { "epoch": 1.53656005859375e-06, "model_forward_time": 3.8316750526428223, "step": 16112 }, { "epoch": 1.53656005859375e-06, "step": 16112, "training_step_time": 17.598633766174316 }, { "epoch": 1.5366554260253906e-06, "model_forward_time": 5.049854755401611, "step": 16113 }, { "epoch": 1.5366554260253906e-06, "step": 16113, "training_step_time": 17.596996784210205 }, { "epoch": 1.5367507934570312e-06, "model_forward_time": 5.069244146347046, "step": 16114 }, { "epoch": 1.5367507934570312e-06, "step": 16114, "training_step_time": 17.575552940368652 }, { "epoch": 1.5368461608886718e-06, "model_forward_time": 5.0817437171936035, "step": 16115 }, { "epoch": 1.5368461608886718e-06, "step": 16115, "training_step_time": 17.620580434799194 }, { "epoch": 1.5369415283203124e-06, "model_forward_time": 5.097680330276489, "step": 16116 }, { "epoch": 1.5369415283203124e-06, "step": 16116, "training_step_time": 17.79391598701477 }, { "epoch": 1.537036895751953e-06, "model_forward_time": 5.111700057983398, "step": 16117 }, { "epoch": 1.537036895751953e-06, "step": 16117, "training_step_time": 17.603519201278687 }, { "epoch": 1.5371322631835937e-06, "model_forward_time": 5.113775968551636, "step": 16118 }, { "epoch": 1.5371322631835937e-06, "step": 16118, "training_step_time": 17.410709619522095 }, { "epoch": 1.5372276306152345e-06, "model_forward_time": 5.329646587371826, "step": 16119 }, { "epoch": 1.5372276306152345e-06, "step": 16119, "training_step_time": 17.509777069091797 }, { "epoch": 1.537322998046875e-06, "grad_norm": 1.4842454195022583, "learning_rate": 9.137526005005854e-06, "loss": 0.1098, "step": 16120 }, { "epoch": 1.537322998046875e-06, "model_forward_time": 5.112677812576294, "step": 16120 }, { "dynamics_loss_avg": 0.04453647751361132, "epoch": 1.537322998046875e-06, "step": 16120 }, { "action_loss_avg": 0.089860182069242, "epoch": 1.537322998046875e-06, "step": 16120 }, { "arm_loss_avg": 0.1588156394660473, "epoch": 1.537322998046875e-06, "step": 16120 }, { "ee_loss_avg": 0.1122777030337602, "epoch": 1.537322998046875e-06, "step": 16120 }, { "aux_loss_avg": 0.0023440727294655518, "epoch": 1.537322998046875e-06, "step": 16120 }, { "epoch": 1.537322998046875e-06, "step": 16120, "training_step_time": 17.667088270187378 }, { "epoch": 1.5374183654785157e-06, "model_forward_time": 5.089205741882324, "step": 16121 }, { "epoch": 1.5374183654785157e-06, "step": 16121, "training_step_time": 17.758121252059937 }, { "epoch": 1.5375137329101563e-06, "model_forward_time": 5.082210302352905, "step": 16122 }, { "epoch": 1.5375137329101563e-06, "step": 16122, "training_step_time": 17.584980487823486 }, { "epoch": 1.537609100341797e-06, "model_forward_time": 5.076866626739502, "step": 16123 }, { "epoch": 1.537609100341797e-06, "step": 16123, "training_step_time": 17.605374813079834 }, { "epoch": 1.5377044677734376e-06, "model_forward_time": 5.0753538608551025, "step": 16124 }, { "epoch": 1.5377044677734376e-06, "step": 16124, "training_step_time": 17.60098910331726 }, { "epoch": 1.5377998352050782e-06, "model_forward_time": 5.076762914657593, "step": 16125 }, { "epoch": 1.5377998352050782e-06, "step": 16125, "training_step_time": 17.608804941177368 }, { "epoch": 1.5378952026367188e-06, "model_forward_time": 5.072804689407349, "step": 16126 }, { "epoch": 1.5378952026367188e-06, "step": 16126, "training_step_time": 17.847044706344604 }, { "epoch": 1.5379905700683594e-06, "model_forward_time": 3.8441624641418457, "step": 16127 }, { "epoch": 1.5379905700683594e-06, "step": 16127, "training_step_time": 17.609984159469604 }, { "epoch": 1.5380859375e-06, "model_forward_time": 3.8300118446350098, "step": 16128 }, { "epoch": 1.5380859375e-06, "step": 16128, "training_step_time": 17.602708339691162 }, { "epoch": 1.5381813049316406e-06, "model_forward_time": 5.050626516342163, "step": 16129 }, { "epoch": 1.5381813049316406e-06, "step": 16129, "training_step_time": 17.60086703300476 }, { "epoch": 1.5382766723632812e-06, "grad_norm": 1.8098809719085693, "learning_rate": 9.136199323432888e-06, "loss": 0.1151, "step": 16130 }, { "epoch": 1.5382766723632812e-06, "model_forward_time": 5.254387140274048, "step": 16130 }, { "dynamics_loss_avg": 0.04940412947908044, "epoch": 1.5382766723632812e-06, "step": 16130 }, { "action_loss_avg": 0.08351190946996212, "epoch": 1.5382766723632812e-06, "step": 16130 }, { "arm_loss_avg": 0.12309091091156006, "epoch": 1.5382766723632812e-06, "step": 16130 }, { "ee_loss_avg": 0.08329696110449732, "epoch": 1.5382766723632812e-06, "step": 16130 }, { "aux_loss_avg": 0.000763500906759873, "epoch": 1.5382766723632812e-06, "step": 16130 }, { "epoch": 1.5382766723632812e-06, "step": 16130, "training_step_time": 17.588226318359375 }, { "epoch": 1.5383720397949219e-06, "model_forward_time": 5.083786964416504, "step": 16131 }, { "epoch": 1.5383720397949219e-06, "step": 16131, "training_step_time": 17.807825088500977 }, { "epoch": 1.5384674072265625e-06, "model_forward_time": 3.8593013286590576, "step": 16132 }, { "epoch": 1.5384674072265625e-06, "step": 16132, "training_step_time": 17.578477144241333 }, { "epoch": 1.538562774658203e-06, "model_forward_time": 5.0721635818481445, "step": 16133 }, { "epoch": 1.538562774658203e-06, "step": 16133, "training_step_time": 17.576191663742065 }, { "epoch": 1.5386581420898437e-06, "model_forward_time": 5.088978290557861, "step": 16134 }, { "epoch": 1.5386581420898437e-06, "step": 16134, "training_step_time": 17.42698621749878 }, { "epoch": 1.5387535095214843e-06, "model_forward_time": 5.333056926727295, "step": 16135 }, { "epoch": 1.5387535095214843e-06, "step": 16135, "training_step_time": 17.49492359161377 }, { "epoch": 1.538848876953125e-06, "model_forward_time": 5.107404947280884, "step": 16136 }, { "epoch": 1.538848876953125e-06, "step": 16136, "training_step_time": 17.790951013565063 }, { "epoch": 1.5389442443847655e-06, "model_forward_time": 3.8610615730285645, "step": 16137 }, { "epoch": 1.5389442443847655e-06, "step": 16137, "training_step_time": 17.582404136657715 }, { "epoch": 1.5390396118164062e-06, "model_forward_time": 5.069779634475708, "step": 16138 }, { "epoch": 1.5390396118164062e-06, "step": 16138, "training_step_time": 17.613942861557007 }, { "epoch": 1.5391349792480468e-06, "model_forward_time": 5.076422452926636, "step": 16139 }, { "epoch": 1.5391349792480468e-06, "step": 16139, "training_step_time": 17.633220195770264 }, { "epoch": 1.5392303466796876e-06, "grad_norm": 1.5171369314193726, "learning_rate": 9.134871718740463e-06, "loss": 0.1128, "step": 16140 }, { "epoch": 1.5392303466796876e-06, "model_forward_time": 5.268845081329346, "step": 16140 }, { "dynamics_loss_avg": 0.0480463519692421, "epoch": 1.5392303466796876e-06, "step": 16140 }, { "action_loss_avg": 0.08355110362172127, "epoch": 1.5392303466796876e-06, "step": 16140 }, { "arm_loss_avg": 0.13319616615772248, "epoch": 1.5392303466796876e-06, "step": 16140 }, { "ee_loss_avg": 0.06392706902697683, "epoch": 1.5392303466796876e-06, "step": 16140 }, { "aux_loss_avg": 0.003671312518417835, "epoch": 1.5392303466796876e-06, "step": 16140 }, { "epoch": 1.5392303466796876e-06, "step": 16140, "training_step_time": 17.85448694229126 }, { "epoch": 1.5393257141113282e-06, "model_forward_time": 5.090126037597656, "step": 16141 }, { "epoch": 1.5393257141113282e-06, "step": 16141, "training_step_time": 17.644121408462524 }, { "epoch": 1.5394210815429688e-06, "model_forward_time": 5.08898663520813, "step": 16142 }, { "epoch": 1.5394210815429688e-06, "step": 16142, "training_step_time": 17.63607358932495 }, { "epoch": 1.5395164489746094e-06, "model_forward_time": 5.095419883728027, "step": 16143 }, { "epoch": 1.5395164489746094e-06, "step": 16143, "training_step_time": 17.64625906944275 }, { "epoch": 1.53961181640625e-06, "model_forward_time": 5.094836711883545, "step": 16144 }, { "epoch": 1.53961181640625e-06, "step": 16144, "training_step_time": 17.64000940322876 }, { "epoch": 1.5397071838378907e-06, "model_forward_time": 5.330759763717651, "step": 16145 }, { "epoch": 1.5397071838378907e-06, "step": 16145, "training_step_time": 17.895632028579712 }, { "epoch": 1.5398025512695313e-06, "model_forward_time": 3.855966567993164, "step": 16146 }, { "epoch": 1.5398025512695313e-06, "step": 16146, "training_step_time": 17.6135151386261 }, { "epoch": 1.539897918701172e-06, "model_forward_time": 5.055602312088013, "step": 16147 }, { "epoch": 1.539897918701172e-06, "step": 16147, "training_step_time": 17.40179705619812 }, { "epoch": 1.5399932861328125e-06, "model_forward_time": 5.072748184204102, "step": 16148 }, { "epoch": 1.5399932861328125e-06, "step": 16148, "training_step_time": 17.513819932937622 }, { "epoch": 1.5400886535644531e-06, "model_forward_time": 5.081939935684204, "step": 16149 }, { "epoch": 1.5400886535644531e-06, "step": 16149, "training_step_time": 17.55816078186035 }, { "epoch": 1.5401840209960937e-06, "grad_norm": 1.4992541074752808, "learning_rate": 9.133543191224873e-06, "loss": 0.1186, "step": 16150 }, { "epoch": 1.5401840209960937e-06, "model_forward_time": 5.278767108917236, "step": 16150 }, { "dynamics_loss_avg": 0.05358514804393053, "epoch": 1.5401840209960937e-06, "step": 16150 }, { "action_loss_avg": 0.11660575121641159, "epoch": 1.5401840209960937e-06, "step": 16150 }, { "arm_loss_avg": 0.14650436937808992, "epoch": 1.5401840209960937e-06, "step": 16150 }, { "ee_loss_avg": 0.08468968272209168, "epoch": 1.5401840209960937e-06, "step": 16150 }, { "aux_loss_avg": 0.0008621832879725843, "epoch": 1.5401840209960937e-06, "step": 16150 }, { "epoch": 1.5401840209960937e-06, "step": 16150, "training_step_time": 17.621489763259888 }, { "epoch": 1.5402793884277344e-06, "model_forward_time": 3.8627967834472656, "step": 16151 }, { "epoch": 1.5402793884277344e-06, "step": 16151, "training_step_time": 17.826624631881714 }, { "epoch": 1.540374755859375e-06, "model_forward_time": 5.062561511993408, "step": 16152 }, { "epoch": 1.540374755859375e-06, "step": 16152, "training_step_time": 17.60225820541382 }, { "epoch": 1.5404701232910156e-06, "model_forward_time": 5.077842473983765, "step": 16153 }, { "epoch": 1.5404701232910156e-06, "step": 16153, "training_step_time": 17.389920234680176 }, { "epoch": 1.5405654907226562e-06, "model_forward_time": 5.0922651290893555, "step": 16154 }, { "epoch": 1.5405654907226562e-06, "step": 16154, "training_step_time": 17.527451753616333 }, { "epoch": 1.5406608581542968e-06, "model_forward_time": 5.3384850025177, "step": 16155 }, { "epoch": 1.5406608581542968e-06, "step": 16155, "training_step_time": 17.570637702941895 }, { "epoch": 1.5407562255859374e-06, "model_forward_time": 5.09979248046875, "step": 16156 }, { "epoch": 1.5407562255859374e-06, "step": 16156, "training_step_time": 17.52267050743103 }, { "epoch": 1.540851593017578e-06, "model_forward_time": 5.110058784484863, "step": 16157 }, { "epoch": 1.540851593017578e-06, "step": 16157, "training_step_time": 17.559977054595947 }, { "epoch": 1.5409469604492187e-06, "model_forward_time": 3.8791871070861816, "step": 16158 }, { "epoch": 1.5409469604492187e-06, "step": 16158, "training_step_time": 17.41758704185486 }, { "epoch": 1.5410423278808593e-06, "model_forward_time": 5.088032245635986, "step": 16159 }, { "epoch": 1.5410423278808593e-06, "step": 16159, "training_step_time": 17.550789833068848 }, { "epoch": 1.5411376953125e-06, "grad_norm": 1.6967922449111938, "learning_rate": 9.132213741182622e-06, "loss": 0.1141, "step": 16160 }, { "epoch": 1.5411376953125e-06, "model_forward_time": 5.097671031951904, "step": 16160 }, { "dynamics_loss_avg": 0.046781170181930065, "epoch": 1.5411376953125e-06, "step": 16160 }, { "action_loss_avg": 0.08477276898920535, "epoch": 1.5411376953125e-06, "step": 16160 }, { "arm_loss_avg": 0.1681444115936756, "epoch": 1.5411376953125e-06, "step": 16160 }, { "ee_loss_avg": 0.07797445170581341, "epoch": 1.5411376953125e-06, "step": 16160 }, { "aux_loss_avg": 0.0017438122944440694, "epoch": 1.5411376953125e-06, "step": 16160 }, { "epoch": 1.5411376953125e-06, "step": 16160, "training_step_time": 17.651954174041748 }, { "epoch": 1.5412330627441407e-06, "model_forward_time": 3.8483023643493652, "step": 16161 }, { "epoch": 1.5412330627441407e-06, "step": 16161, "training_step_time": 17.803882598876953 }, { "epoch": 1.5413284301757813e-06, "model_forward_time": 5.057086706161499, "step": 16162 }, { "epoch": 1.5413284301757813e-06, "step": 16162, "training_step_time": 17.63747549057007 }, { "epoch": 1.541423797607422e-06, "model_forward_time": 3.8414063453674316, "step": 16163 }, { "epoch": 1.541423797607422e-06, "step": 16163, "training_step_time": 17.651320934295654 }, { "epoch": 1.5415191650390626e-06, "model_forward_time": 5.056543827056885, "step": 16164 }, { "epoch": 1.5415191650390626e-06, "step": 16164, "training_step_time": 17.66041111946106 }, { "epoch": 1.5416145324707032e-06, "model_forward_time": 5.07563328742981, "step": 16165 }, { "epoch": 1.5416145324707032e-06, "step": 16165, "training_step_time": 17.646300792694092 }, { "epoch": 1.5417098999023438e-06, "model_forward_time": 5.333682537078857, "step": 16166 }, { "epoch": 1.5417098999023438e-06, "step": 16166, "training_step_time": 17.867085933685303 }, { "epoch": 1.5418052673339844e-06, "model_forward_time": 5.102505445480347, "step": 16167 }, { "epoch": 1.5418052673339844e-06, "step": 16167, "training_step_time": 17.389642000198364 }, { "epoch": 1.541900634765625e-06, "model_forward_time": 5.107335805892944, "step": 16168 }, { "epoch": 1.541900634765625e-06, "step": 16168, "training_step_time": 17.52314805984497 }, { "epoch": 1.5419960021972656e-06, "model_forward_time": 5.10634708404541, "step": 16169 }, { "epoch": 1.5419960021972656e-06, "step": 16169, "training_step_time": 17.563068866729736 }, { "epoch": 1.5420913696289062e-06, "grad_norm": 2.034402370452881, "learning_rate": 9.130883368910417e-06, "loss": 0.1159, "step": 16170 }, { "epoch": 1.5420913696289062e-06, "model_forward_time": 5.105053901672363, "step": 16170 }, { "dynamics_loss_avg": 0.05352558018639684, "epoch": 1.5420913696289062e-06, "step": 16170 }, { "action_loss_avg": 0.11100211702287197, "epoch": 1.5420913696289062e-06, "step": 16170 }, { "arm_loss_avg": 0.1615367740392685, "epoch": 1.5420913696289062e-06, "step": 16170 }, { "ee_loss_avg": 0.142906429246068, "epoch": 1.5420913696289062e-06, "step": 16170 }, { "aux_loss_avg": 0.002173384724301286, "epoch": 1.5420913696289062e-06, "step": 16170 }, { "epoch": 1.5420913696289062e-06, "step": 16170, "training_step_time": 17.609610080718994 }, { "epoch": 1.5421867370605469e-06, "model_forward_time": 5.091838836669922, "step": 16171 }, { "epoch": 1.5421867370605469e-06, "step": 16171, "training_step_time": 17.775630474090576 }, { "epoch": 1.5422821044921875e-06, "model_forward_time": 5.084219217300415, "step": 16172 }, { "epoch": 1.5422821044921875e-06, "step": 16172, "training_step_time": 17.60562038421631 }, { "epoch": 1.542377471923828e-06, "model_forward_time": 5.085130929946899, "step": 16173 }, { "epoch": 1.542377471923828e-06, "step": 16173, "training_step_time": 17.608482122421265 }, { "epoch": 1.5424728393554687e-06, "model_forward_time": 5.081773519515991, "step": 16174 }, { "epoch": 1.5424728393554687e-06, "step": 16174, "training_step_time": 17.606741666793823 }, { "epoch": 1.5425682067871093e-06, "model_forward_time": 5.077814817428589, "step": 16175 }, { "epoch": 1.5425682067871093e-06, "step": 16175, "training_step_time": 17.597626209259033 }, { "epoch": 1.54266357421875e-06, "model_forward_time": 5.0812602043151855, "step": 16176 }, { "epoch": 1.54266357421875e-06, "step": 16176, "training_step_time": 17.736059427261353 }, { "epoch": 1.5427589416503905e-06, "model_forward_time": 5.096438407897949, "step": 16177 }, { "epoch": 1.5427589416503905e-06, "step": 16177, "training_step_time": 17.56628966331482 }, { "epoch": 1.5428543090820312e-06, "model_forward_time": 5.10520076751709, "step": 16178 }, { "epoch": 1.5428543090820312e-06, "step": 16178, "training_step_time": 17.592111825942993 }, { "epoch": 1.5429496765136718e-06, "model_forward_time": 5.093883275985718, "step": 16179 }, { "epoch": 1.5429496765136718e-06, "step": 16179, "training_step_time": 17.619615077972412 }, { "epoch": 1.5430450439453126e-06, "grad_norm": 1.7512519359588623, "learning_rate": 9.12955207470517e-06, "loss": 0.0971, "step": 16180 }, { "epoch": 1.5430450439453126e-06, "model_forward_time": 5.095995903015137, "step": 16180 }, { "dynamics_loss_avg": 0.044333440437912944, "epoch": 1.5430450439453126e-06, "step": 16180 }, { "action_loss_avg": 0.08714903630316258, "epoch": 1.5430450439453126e-06, "step": 16180 }, { "arm_loss_avg": 0.16749873459339143, "epoch": 1.5430450439453126e-06, "step": 16180 }, { "ee_loss_avg": 0.12868928238749505, "epoch": 1.5430450439453126e-06, "step": 16180 }, { "aux_loss_avg": 0.0009143371949903667, "epoch": 1.5430450439453126e-06, "step": 16180 }, { "epoch": 1.5430450439453126e-06, "step": 16180, "training_step_time": 17.65030002593994 }, { "epoch": 1.5431404113769532e-06, "model_forward_time": 5.084919691085815, "step": 16181 }, { "epoch": 1.5431404113769532e-06, "step": 16181, "training_step_time": 17.780858993530273 }, { "epoch": 1.5432357788085938e-06, "model_forward_time": 5.0832743644714355, "step": 16182 }, { "epoch": 1.5432357788085938e-06, "step": 16182, "training_step_time": 17.59430742263794 }, { "epoch": 1.5433311462402344e-06, "model_forward_time": 3.8526675701141357, "step": 16183 }, { "epoch": 1.5433311462402344e-06, "step": 16183, "training_step_time": 17.59247088432312 }, { "epoch": 1.543426513671875e-06, "model_forward_time": 5.069778680801392, "step": 16184 }, { "epoch": 1.543426513671875e-06, "step": 16184, "training_step_time": 17.592201471328735 }, { "epoch": 1.5435218811035157e-06, "model_forward_time": 3.8372621536254883, "step": 16185 }, { "epoch": 1.5435218811035157e-06, "step": 16185, "training_step_time": 17.81002640724182 }, { "epoch": 1.5436172485351563e-06, "model_forward_time": 5.297033309936523, "step": 16186 }, { "epoch": 1.5436172485351563e-06, "step": 16186, "training_step_time": 17.587422609329224 }, { "epoch": 1.543712615966797e-06, "model_forward_time": 5.068335294723511, "step": 16187 }, { "epoch": 1.543712615966797e-06, "step": 16187, "training_step_time": 17.57706880569458 }, { "epoch": 1.5438079833984375e-06, "model_forward_time": 5.084712743759155, "step": 16188 }, { "epoch": 1.5438079833984375e-06, "step": 16188, "training_step_time": 17.569688081741333 }, { "epoch": 1.5439033508300781e-06, "model_forward_time": 5.098295211791992, "step": 16189 }, { "epoch": 1.5439033508300781e-06, "step": 16189, "training_step_time": 17.58487892150879 }, { "epoch": 1.5439987182617187e-06, "grad_norm": 1.730628490447998, "learning_rate": 9.128219858864e-06, "loss": 0.0903, "step": 16190 }, { "epoch": 1.5439987182617187e-06, "model_forward_time": 5.102268695831299, "step": 16190 }, { "dynamics_loss_avg": 0.03749301359057426, "epoch": 1.5439987182617187e-06, "step": 16190 }, { "action_loss_avg": 0.07989232316613197, "epoch": 1.5439987182617187e-06, "step": 16190 }, { "arm_loss_avg": 0.18366879522800444, "epoch": 1.5439987182617187e-06, "step": 16190 }, { "ee_loss_avg": 0.13427102463319898, "epoch": 1.5439987182617187e-06, "step": 16190 }, { "aux_loss_avg": 0.030546852119732647, "epoch": 1.5439987182617187e-06, "step": 16190 }, { "epoch": 1.5439987182617187e-06, "step": 16190, "training_step_time": 17.777321815490723 }, { "epoch": 1.5440940856933594e-06, "model_forward_time": 5.105867147445679, "step": 16191 }, { "epoch": 1.5440940856933594e-06, "step": 16191, "training_step_time": 17.588860034942627 }, { "epoch": 1.544189453125e-06, "model_forward_time": 5.101838827133179, "step": 16192 }, { "epoch": 1.544189453125e-06, "step": 16192, "training_step_time": 17.59415340423584 }, { "epoch": 1.5442848205566406e-06, "model_forward_time": 5.094888210296631, "step": 16193 }, { "epoch": 1.5442848205566406e-06, "step": 16193, "training_step_time": 17.3364155292511 }, { "epoch": 1.5443801879882812e-06, "model_forward_time": 5.09420108795166, "step": 16194 }, { "epoch": 1.5443801879882812e-06, "step": 16194, "training_step_time": 17.528515815734863 }, { "epoch": 1.5444755554199218e-06, "model_forward_time": 5.094287395477295, "step": 16195 }, { "epoch": 1.5444755554199218e-06, "step": 16195, "training_step_time": 17.537192583084106 }, { "epoch": 1.5445709228515624e-06, "model_forward_time": 5.104835033416748, "step": 16196 }, { "epoch": 1.5445709228515624e-06, "step": 16196, "training_step_time": 17.863555669784546 }, { "epoch": 1.544666290283203e-06, "model_forward_time": 5.094372987747192, "step": 16197 }, { "epoch": 1.544666290283203e-06, "step": 16197, "training_step_time": 17.65462040901184 }, { "epoch": 1.5447616577148437e-06, "model_forward_time": 5.103423357009888, "step": 16198 }, { "epoch": 1.5447616577148437e-06, "step": 16198, "training_step_time": 17.6631863117218 }, { "epoch": 1.5448570251464843e-06, "model_forward_time": 5.091001033782959, "step": 16199 }, { "epoch": 1.5448570251464843e-06, "step": 16199, "training_step_time": 17.684582948684692 }, { "epoch": 1.544952392578125e-06, "grad_norm": 2.1203649044036865, "learning_rate": 9.126886721684233e-06, "loss": 0.1063, "step": 16200 }, { "epoch": 1.544952392578125e-06, "model_forward_time": 5.087792634963989, "step": 16200 }, { "dynamics_loss_avg": 0.04532381799072027, "epoch": 1.544952392578125e-06, "step": 16200 }, { "action_loss_avg": 0.11393744535744191, "epoch": 1.544952392578125e-06, "step": 16200 }, { "arm_loss_avg": 0.1514182172715664, "epoch": 1.544952392578125e-06, "step": 16200 }, { "ee_loss_avg": 0.14297978561371566, "epoch": 1.544952392578125e-06, "step": 16200 }, { "aux_loss_avg": 0.0009055774542503058, "epoch": 1.544952392578125e-06, "step": 16200 }, { "epoch": 1.544952392578125e-06, "step": 16200, "training_step_time": 18.40526819229126 }, { "epoch": 1.5450477600097657e-06, "model_forward_time": 5.07982063293457, "step": 16201 }, { "epoch": 1.5450477600097657e-06, "step": 16201, "training_step_time": 17.845858335494995 }, { "epoch": 1.5451431274414063e-06, "model_forward_time": 5.083039283752441, "step": 16202 }, { "epoch": 1.5451431274414063e-06, "step": 16202, "training_step_time": 17.34995698928833 }, { "epoch": 1.545238494873047e-06, "model_forward_time": 5.090141534805298, "step": 16203 }, { "epoch": 1.545238494873047e-06, "step": 16203, "training_step_time": 17.552613019943237 }, { "epoch": 1.5453338623046876e-06, "model_forward_time": 5.0903096199035645, "step": 16204 }, { "epoch": 1.5453338623046876e-06, "step": 16204, "training_step_time": 17.584723711013794 }, { "epoch": 1.5454292297363282e-06, "model_forward_time": 5.334269762039185, "step": 16205 }, { "epoch": 1.5454292297363282e-06, "step": 16205, "training_step_time": 17.59943723678589 }, { "epoch": 1.5455245971679688e-06, "model_forward_time": 5.093510389328003, "step": 16206 }, { "epoch": 1.5455245971679688e-06, "step": 16206, "training_step_time": 17.58325719833374 }, { "epoch": 1.5456199645996094e-06, "model_forward_time": 5.08997368812561, "step": 16207 }, { "epoch": 1.5456199645996094e-06, "step": 16207, "training_step_time": 17.547691822052002 }, { "epoch": 1.54571533203125e-06, "model_forward_time": 5.090090274810791, "step": 16208 }, { "epoch": 1.54571533203125e-06, "step": 16208, "training_step_time": 17.584930181503296 }, { "epoch": 1.5458106994628906e-06, "model_forward_time": 5.0900280475616455, "step": 16209 }, { "epoch": 1.5458106994628906e-06, "step": 16209, "training_step_time": 17.619982481002808 }, { "epoch": 1.5459060668945312e-06, "grad_norm": 1.7158074378967285, "learning_rate": 9.1255526634634e-06, "loss": 0.1107, "step": 16210 }, { "epoch": 1.5459060668945312e-06, "model_forward_time": 5.293637275695801, "step": 16210 }, { "dynamics_loss_avg": 0.06153757367283106, "epoch": 1.5459060668945312e-06, "step": 16210 }, { "action_loss_avg": 0.09876872673630714, "epoch": 1.5459060668945312e-06, "step": 16210 }, { "arm_loss_avg": 0.16867285817861558, "epoch": 1.5459060668945312e-06, "step": 16210 }, { "ee_loss_avg": 0.1249841483309865, "epoch": 1.5459060668945312e-06, "step": 16210 }, { "aux_loss_avg": 0.004923669731942937, "epoch": 1.5459060668945312e-06, "step": 16210 }, { "epoch": 1.5459060668945312e-06, "step": 16210, "training_step_time": 17.63140058517456 }, { "epoch": 1.5460014343261719e-06, "model_forward_time": 5.087366342544556, "step": 16211 }, { "epoch": 1.5460014343261719e-06, "step": 16211, "training_step_time": 17.843210458755493 }, { "epoch": 1.5460968017578125e-06, "model_forward_time": 5.084904909133911, "step": 16212 }, { "epoch": 1.5460968017578125e-06, "step": 16212, "training_step_time": 17.382721185684204 }, { "epoch": 1.546192169189453e-06, "model_forward_time": 5.086241960525513, "step": 16213 }, { "epoch": 1.546192169189453e-06, "step": 16213, "training_step_time": 17.566908836364746 }, { "epoch": 1.5462875366210937e-06, "model_forward_time": 3.852902889251709, "step": 16214 }, { "epoch": 1.5462875366210937e-06, "step": 16214, "training_step_time": 17.60898447036743 }, { "epoch": 1.5463829040527343e-06, "model_forward_time": 5.061548233032227, "step": 16215 }, { "epoch": 1.5463829040527343e-06, "step": 16215, "training_step_time": 17.62894058227539 }, { "epoch": 1.546478271484375e-06, "model_forward_time": 5.3046956062316895, "step": 16216 }, { "epoch": 1.546478271484375e-06, "step": 16216, "training_step_time": 17.87417459487915 }, { "epoch": 1.5465736389160155e-06, "model_forward_time": 3.848280191421509, "step": 16217 }, { "epoch": 1.5465736389160155e-06, "step": 16217, "training_step_time": 17.64117980003357 }, { "epoch": 1.5466690063476562e-06, "model_forward_time": 5.062933444976807, "step": 16218 }, { "epoch": 1.5466690063476562e-06, "step": 16218, "training_step_time": 17.632110118865967 }, { "epoch": 1.5467643737792968e-06, "model_forward_time": 5.080386161804199, "step": 16219 }, { "epoch": 1.5467643737792968e-06, "step": 16219, "training_step_time": 17.434592247009277 }, { "epoch": 1.5468597412109376e-06, "grad_norm": 1.2207826375961304, "learning_rate": 9.124217684499235e-06, "loss": 0.0944, "step": 16220 }, { "epoch": 1.5468597412109376e-06, "model_forward_time": 5.09556770324707, "step": 16220 }, { "dynamics_loss_avg": 0.04565846142359078, "epoch": 1.5468597412109376e-06, "step": 16220 }, { "action_loss_avg": 0.07793317046016454, "epoch": 1.5468597412109376e-06, "step": 16220 }, { "arm_loss_avg": 0.14365245029330254, "epoch": 1.5468597412109376e-06, "step": 16220 }, { "ee_loss_avg": 0.06407533288002014, "epoch": 1.5468597412109376e-06, "step": 16220 }, { "aux_loss_avg": 0.00509815567638725, "epoch": 1.5468597412109376e-06, "step": 16220 }, { "epoch": 1.5468597412109376e-06, "step": 16220, "training_step_time": 17.534846782684326 }, { "epoch": 1.5469551086425782e-06, "model_forward_time": 5.2917280197143555, "step": 16221 }, { "epoch": 1.5469551086425782e-06, "step": 16221, "training_step_time": 17.75875234603882 }, { "epoch": 1.5470504760742188e-06, "model_forward_time": 3.8693699836730957, "step": 16222 }, { "epoch": 1.5470504760742188e-06, "step": 16222, "training_step_time": 17.60184335708618 }, { "epoch": 1.5471458435058594e-06, "model_forward_time": 5.076614856719971, "step": 16223 }, { "epoch": 1.5471458435058594e-06, "step": 16223, "training_step_time": 17.629292726516724 }, { "epoch": 1.5472412109375e-06, "model_forward_time": 5.087156057357788, "step": 16224 }, { "epoch": 1.5472412109375e-06, "step": 16224, "training_step_time": 17.629951000213623 }, { "epoch": 1.5473365783691407e-06, "model_forward_time": 5.093099594116211, "step": 16225 }, { "epoch": 1.5473365783691407e-06, "step": 16225, "training_step_time": 17.63663601875305 }, { "epoch": 1.5474319458007813e-06, "model_forward_time": 5.3242528438568115, "step": 16226 }, { "epoch": 1.5474319458007813e-06, "step": 16226, "training_step_time": 17.869243144989014 }, { "epoch": 1.547527313232422e-06, "model_forward_time": 5.094736337661743, "step": 16227 }, { "epoch": 1.547527313232422e-06, "step": 16227, "training_step_time": 17.631224155426025 }, { "epoch": 1.5476226806640625e-06, "model_forward_time": 5.091325044631958, "step": 16228 }, { "epoch": 1.5476226806640625e-06, "step": 16228, "training_step_time": 17.636086463928223 }, { "epoch": 1.5477180480957031e-06, "model_forward_time": 5.091726779937744, "step": 16229 }, { "epoch": 1.5477180480957031e-06, "step": 16229, "training_step_time": 17.398518323898315 }, { "epoch": 1.5478134155273437e-06, "grad_norm": 1.4021610021591187, "learning_rate": 9.122881785089679e-06, "loss": 0.0961, "step": 16230 }, { "epoch": 1.5478134155273437e-06, "model_forward_time": 3.8547749519348145, "step": 16230 }, { "dynamics_loss_avg": 0.046374593209475276, "epoch": 1.5478134155273437e-06, "step": 16230 }, { "action_loss_avg": 0.09152528010308743, "epoch": 1.5478134155273437e-06, "step": 16230 }, { "arm_loss_avg": 0.17294850647449495, "epoch": 1.5478134155273437e-06, "step": 16230 }, { "ee_loss_avg": 0.0718852872028947, "epoch": 1.5478134155273437e-06, "step": 16230 }, { "aux_loss_avg": 0.0009955869347322733, "epoch": 1.5478134155273437e-06, "step": 16230 }, { "epoch": 1.5478134155273437e-06, "step": 16230, "training_step_time": 17.52571702003479 }, { "epoch": 1.5479087829589844e-06, "model_forward_time": 5.248827695846558, "step": 16231 }, { "epoch": 1.5479087829589844e-06, "step": 16231, "training_step_time": 17.75389075279236 }, { "epoch": 1.548004150390625e-06, "model_forward_time": 5.075091600418091, "step": 16232 }, { "epoch": 1.548004150390625e-06, "step": 16232, "training_step_time": 17.21692991256714 }, { "epoch": 1.5480995178222656e-06, "model_forward_time": 5.077866554260254, "step": 16233 }, { "epoch": 1.5480995178222656e-06, "step": 16233, "training_step_time": 17.50402569770813 }, { "epoch": 1.5481948852539062e-06, "model_forward_time": 5.084832429885864, "step": 16234 }, { "epoch": 1.5481948852539062e-06, "step": 16234, "training_step_time": 17.559513807296753 }, { "epoch": 1.5482902526855468e-06, "model_forward_time": 5.0916643142700195, "step": 16235 }, { "epoch": 1.5482902526855468e-06, "step": 16235, "training_step_time": 17.58541202545166 }, { "epoch": 1.5483856201171874e-06, "model_forward_time": 5.344340562820435, "step": 16236 }, { "epoch": 1.5483856201171874e-06, "step": 16236, "training_step_time": 17.865655660629272 }, { "epoch": 1.548480987548828e-06, "model_forward_time": 5.1161887645721436, "step": 16237 }, { "epoch": 1.548480987548828e-06, "step": 16237, "training_step_time": 17.639688968658447 }, { "epoch": 1.5485763549804687e-06, "model_forward_time": 5.108423471450806, "step": 16238 }, { "epoch": 1.5485763549804687e-06, "step": 16238, "training_step_time": 17.645509243011475 }, { "epoch": 1.5486717224121093e-06, "model_forward_time": 5.098034143447876, "step": 16239 }, { "epoch": 1.5486717224121093e-06, "step": 16239, "training_step_time": 17.660257577896118 }, { "epoch": 1.54876708984375e-06, "grad_norm": 1.526105523109436, "learning_rate": 9.121544965532881e-06, "loss": 0.1, "step": 16240 }, { "epoch": 1.54876708984375e-06, "model_forward_time": 5.092106580734253, "step": 16240 }, { "dynamics_loss_avg": 0.040225826855748895, "epoch": 1.54876708984375e-06, "step": 16240 }, { "action_loss_avg": 0.09217237606644631, "epoch": 1.54876708984375e-06, "step": 16240 }, { "arm_loss_avg": 0.1846981391310692, "epoch": 1.54876708984375e-06, "step": 16240 }, { "ee_loss_avg": 0.1749760739505291, "epoch": 1.54876708984375e-06, "step": 16240 }, { "aux_loss_avg": 0.0009422595088835805, "epoch": 1.54876708984375e-06, "step": 16240 }, { "epoch": 1.54876708984375e-06, "step": 16240, "training_step_time": 17.62062120437622 }, { "epoch": 1.5488624572753907e-06, "model_forward_time": 5.271643877029419, "step": 16241 }, { "epoch": 1.5488624572753907e-06, "step": 16241, "training_step_time": 17.801846742630005 }, { "epoch": 1.5489578247070313e-06, "model_forward_time": 5.0843260288238525, "step": 16242 }, { "epoch": 1.5489578247070313e-06, "step": 16242, "training_step_time": 17.394381046295166 }, { "epoch": 1.549053192138672e-06, "model_forward_time": 3.851100444793701, "step": 16243 }, { "epoch": 1.549053192138672e-06, "step": 16243, "training_step_time": 17.51131820678711 }, { "epoch": 1.5491485595703126e-06, "model_forward_time": 5.063592910766602, "step": 16244 }, { "epoch": 1.5491485595703126e-06, "step": 16244, "training_step_time": 17.5535945892334 }, { "epoch": 1.5492439270019532e-06, "model_forward_time": 5.068878889083862, "step": 16245 }, { "epoch": 1.5492439270019532e-06, "step": 16245, "training_step_time": 17.56516170501709 }, { "epoch": 1.5493392944335938e-06, "model_forward_time": 5.3111748695373535, "step": 16246 }, { "epoch": 1.5493392944335938e-06, "step": 16246, "training_step_time": 17.813342332839966 }, { "epoch": 1.5494346618652344e-06, "model_forward_time": 3.8471786975860596, "step": 16247 }, { "epoch": 1.5494346618652344e-06, "step": 16247, "training_step_time": 17.594157695770264 }, { "epoch": 1.549530029296875e-06, "model_forward_time": 5.058354139328003, "step": 16248 }, { "epoch": 1.549530029296875e-06, "step": 16248, "training_step_time": 17.60408353805542 }, { "epoch": 1.5496253967285156e-06, "model_forward_time": 5.077151775360107, "step": 16249 }, { "epoch": 1.5496253967285156e-06, "step": 16249, "training_step_time": 17.599251985549927 }, { "epoch": 1.5497207641601562e-06, "grad_norm": 1.6901437044143677, "learning_rate": 9.120207226127192e-06, "loss": 0.1088, "step": 16250 }, { "epoch": 1.5497207641601562e-06, "model_forward_time": 5.088508129119873, "step": 16250 }, { "dynamics_loss_avg": 0.05014498177915812, "epoch": 1.5497207641601562e-06, "step": 16250 }, { "action_loss_avg": 0.1034561526030302, "epoch": 1.5497207641601562e-06, "step": 16250 }, { "arm_loss_avg": 0.1687667615711689, "epoch": 1.5497207641601562e-06, "step": 16250 }, { "ee_loss_avg": 0.07177963647991419, "epoch": 1.5497207641601562e-06, "step": 16250 }, { "aux_loss_avg": 0.0029794485366437585, "epoch": 1.5497207641601562e-06, "step": 16250 }, { "epoch": 1.5497207641601562e-06, "step": 16250, "training_step_time": 17.64207363128662 }, { "epoch": 1.5498161315917969e-06, "model_forward_time": 5.282474756240845, "step": 16251 }, { "epoch": 1.5498161315917969e-06, "step": 16251, "training_step_time": 17.829941034317017 }, { "epoch": 1.5499114990234375e-06, "model_forward_time": 5.10032320022583, "step": 16252 }, { "epoch": 1.5499114990234375e-06, "step": 16252, "training_step_time": 17.614839792251587 }, { "epoch": 1.550006866455078e-06, "model_forward_time": 5.101939678192139, "step": 16253 }, { "epoch": 1.550006866455078e-06, "step": 16253, "training_step_time": 17.61485981941223 }, { "epoch": 1.5501022338867187e-06, "model_forward_time": 5.102762937545776, "step": 16254 }, { "epoch": 1.5501022338867187e-06, "step": 16254, "training_step_time": 17.620923042297363 }, { "epoch": 1.5501976013183593e-06, "model_forward_time": 5.0957324504852295, "step": 16255 }, { "epoch": 1.5501976013183593e-06, "step": 16255, "training_step_time": 17.844667434692383 }, { "epoch": 1.55029296875e-06, "model_forward_time": 4.0924718379974365, "step": 16256 }, { "epoch": 1.55029296875e-06, "step": 16256, "training_step_time": 17.611194372177124 }, { "epoch": 1.5503883361816406e-06, "model_forward_time": 3.8310513496398926, "step": 16257 }, { "epoch": 1.5503883361816406e-06, "step": 16257, "training_step_time": 17.623010873794556 }, { "epoch": 1.5504837036132812e-06, "model_forward_time": 5.052775621414185, "step": 16258 }, { "epoch": 1.5504837036132812e-06, "step": 16258, "training_step_time": 17.620628833770752 }, { "epoch": 1.5505790710449218e-06, "model_forward_time": 5.063765048980713, "step": 16259 }, { "epoch": 1.5505790710449218e-06, "step": 16259, "training_step_time": 17.617169618606567 }, { "epoch": 1.5506744384765624e-06, "grad_norm": 0.9287070631980896, "learning_rate": 9.11886856717117e-06, "loss": 0.104, "step": 16260 }, { "epoch": 1.5506744384765624e-06, "model_forward_time": 5.078032970428467, "step": 16260 }, { "dynamics_loss_avg": 0.04838428758084774, "epoch": 1.5506744384765624e-06, "step": 16260 }, { "action_loss_avg": 0.10811135023832322, "epoch": 1.5506744384765624e-06, "step": 16260 }, { "arm_loss_avg": 0.17115021049976348, "epoch": 1.5506744384765624e-06, "step": 16260 }, { "ee_loss_avg": 0.12448182329535484, "epoch": 1.5506744384765624e-06, "step": 16260 }, { "aux_loss_avg": 0.0018478915328159929, "epoch": 1.5506744384765624e-06, "step": 16260 }, { "epoch": 1.5506744384765624e-06, "step": 16260, "training_step_time": 17.835279941558838 }, { "epoch": 1.5507698059082032e-06, "model_forward_time": 5.2842912673950195, "step": 16261 }, { "epoch": 1.5507698059082032e-06, "step": 16261, "training_step_time": 17.650893211364746 }, { "epoch": 1.5508651733398438e-06, "model_forward_time": 3.8638463020324707, "step": 16262 }, { "epoch": 1.5508651733398438e-06, "step": 16262, "training_step_time": 17.612261533737183 }, { "epoch": 1.5509605407714845e-06, "model_forward_time": 5.080492734909058, "step": 16263 }, { "epoch": 1.5509605407714845e-06, "step": 16263, "training_step_time": 17.608500242233276 }, { "epoch": 1.551055908203125e-06, "model_forward_time": 5.093112468719482, "step": 16264 }, { "epoch": 1.551055908203125e-06, "step": 16264, "training_step_time": 17.604294061660767 }, { "epoch": 1.5511512756347657e-06, "model_forward_time": 5.1005847454071045, "step": 16265 }, { "epoch": 1.5511512756347657e-06, "step": 16265, "training_step_time": 17.82574439048767 }, { "epoch": 1.5512466430664063e-06, "model_forward_time": 5.105371713638306, "step": 16266 }, { "epoch": 1.5512466430664063e-06, "step": 16266, "training_step_time": 17.599628448486328 }, { "epoch": 1.551342010498047e-06, "model_forward_time": 5.354466438293457, "step": 16267 }, { "epoch": 1.551342010498047e-06, "step": 16267, "training_step_time": 17.599348068237305 }, { "epoch": 1.5514373779296875e-06, "model_forward_time": 5.0998523235321045, "step": 16268 }, { "epoch": 1.5514373779296875e-06, "step": 16268, "training_step_time": 17.342034578323364 }, { "epoch": 1.5515327453613281e-06, "model_forward_time": 5.103372097015381, "step": 16269 }, { "epoch": 1.5515327453613281e-06, "step": 16269, "training_step_time": 17.518792867660522 }, { "epoch": 1.5516281127929688e-06, "grad_norm": 1.2731090784072876, "learning_rate": 9.117528988963577e-06, "loss": 0.1127, "step": 16270 }, { "epoch": 1.5516281127929688e-06, "model_forward_time": 5.095470905303955, "step": 16270 }, { "dynamics_loss_avg": 0.05822876002639532, "epoch": 1.5516281127929688e-06, "step": 16270 }, { "action_loss_avg": 0.08692558668553829, "epoch": 1.5516281127929688e-06, "step": 16270 }, { "arm_loss_avg": 0.1493619441986084, "epoch": 1.5516281127929688e-06, "step": 16270 }, { "ee_loss_avg": 0.0853439288213849, "epoch": 1.5516281127929688e-06, "step": 16270 }, { "aux_loss_avg": 0.0020369917212519793, "epoch": 1.5516281127929688e-06, "step": 16270 }, { "epoch": 1.5516281127929688e-06, "step": 16270, "training_step_time": 17.556158304214478 }, { "epoch": 1.5517234802246094e-06, "model_forward_time": 5.285943508148193, "step": 16271 }, { "epoch": 1.5517234802246094e-06, "step": 16271, "training_step_time": 17.81417965888977 }, { "epoch": 1.55181884765625e-06, "model_forward_time": 5.087590217590332, "step": 16272 }, { "epoch": 1.55181884765625e-06, "step": 16272, "training_step_time": 17.61271572113037 }, { "epoch": 1.5519142150878906e-06, "model_forward_time": 3.8503506183624268, "step": 16273 }, { "epoch": 1.5519142150878906e-06, "step": 16273, "training_step_time": 17.62284016609192 }, { "epoch": 1.5520095825195312e-06, "model_forward_time": 5.055344104766846, "step": 16274 }, { "epoch": 1.5520095825195312e-06, "step": 16274, "training_step_time": 17.63185477256775 }, { "epoch": 1.5521049499511718e-06, "model_forward_time": 5.0716352462768555, "step": 16275 }, { "epoch": 1.5521049499511718e-06, "step": 16275, "training_step_time": 17.857622861862183 }, { "epoch": 1.5522003173828124e-06, "model_forward_time": 5.0752928256988525, "step": 16276 }, { "epoch": 1.5522003173828124e-06, "step": 16276, "training_step_time": 17.630274295806885 }, { "epoch": 1.552295684814453e-06, "model_forward_time": 5.089045524597168, "step": 16277 }, { "epoch": 1.552295684814453e-06, "step": 16277, "training_step_time": 17.413452863693237 }, { "epoch": 1.5523910522460937e-06, "model_forward_time": 5.094709873199463, "step": 16278 }, { "epoch": 1.5523910522460937e-06, "step": 16278, "training_step_time": 17.53229570388794 }, { "epoch": 1.5524864196777343e-06, "model_forward_time": 5.099755048751831, "step": 16279 }, { "epoch": 1.5524864196777343e-06, "step": 16279, "training_step_time": 17.57316279411316 }, { "epoch": 1.552581787109375e-06, "grad_norm": 1.7119523286819458, "learning_rate": 9.116188491803382e-06, "loss": 0.106, "step": 16280 }, { "epoch": 1.552581787109375e-06, "model_forward_time": 3.8649518489837646, "step": 16280 }, { "dynamics_loss_avg": 0.04423836506903171, "epoch": 1.552581787109375e-06, "step": 16280 }, { "action_loss_avg": 0.08225918579846621, "epoch": 1.552581787109375e-06, "step": 16280 }, { "arm_loss_avg": 0.14346891045570373, "epoch": 1.552581787109375e-06, "step": 16280 }, { "ee_loss_avg": 0.0954488430172205, "epoch": 1.552581787109375e-06, "step": 16280 }, { "aux_loss_avg": 0.001188576000276953, "epoch": 1.552581787109375e-06, "step": 16280 }, { "epoch": 1.552581787109375e-06, "step": 16280, "training_step_time": 17.62705707550049 }, { "epoch": 1.5526771545410157e-06, "model_forward_time": 5.069468021392822, "step": 16281 }, { "epoch": 1.5526771545410157e-06, "step": 16281, "training_step_time": 17.799172401428223 }, { "epoch": 1.5527725219726563e-06, "model_forward_time": 5.278589248657227, "step": 16282 }, { "epoch": 1.5527725219726563e-06, "step": 16282, "training_step_time": 17.630062103271484 }, { "epoch": 1.552867889404297e-06, "model_forward_time": 5.087990045547485, "step": 16283 }, { "epoch": 1.552867889404297e-06, "step": 16283, "training_step_time": 17.62286067008972 }, { "epoch": 1.5529632568359376e-06, "model_forward_time": 5.092008829116821, "step": 16284 }, { "epoch": 1.5529632568359376e-06, "step": 16284, "training_step_time": 17.407110929489136 }, { "epoch": 1.5530586242675782e-06, "model_forward_time": 3.8594489097595215, "step": 16285 }, { "epoch": 1.5530586242675782e-06, "step": 16285, "training_step_time": 17.542927503585815 }, { "epoch": 1.5531539916992188e-06, "model_forward_time": 5.06489372253418, "step": 16286 }, { "epoch": 1.5531539916992188e-06, "step": 16286, "training_step_time": 17.808558702468872 }, { "epoch": 1.5532493591308594e-06, "model_forward_time": 5.3179402351379395, "step": 16287 }, { "epoch": 1.5532493591308594e-06, "step": 16287, "training_step_time": 17.573750972747803 }, { "epoch": 1.5533447265625e-06, "model_forward_time": 5.0879292488098145, "step": 16288 }, { "epoch": 1.5533447265625e-06, "step": 16288, "training_step_time": 17.288037061691284 }, { "epoch": 1.5534400939941406e-06, "model_forward_time": 5.089288711547852, "step": 16289 }, { "epoch": 1.5534400939941406e-06, "step": 16289, "training_step_time": 17.504242420196533 }, { "epoch": 1.5535354614257813e-06, "grad_norm": 1.3823765516281128, "learning_rate": 9.114847075989755e-06, "loss": 0.1054, "step": 16290 }, { "epoch": 1.5535354614257813e-06, "model_forward_time": 5.095369815826416, "step": 16290 }, { "dynamics_loss_avg": 0.04161977237090468, "epoch": 1.5535354614257813e-06, "step": 16290 }, { "action_loss_avg": 0.08356455415487289, "epoch": 1.5535354614257813e-06, "step": 16290 }, { "arm_loss_avg": 0.16608496978878975, "epoch": 1.5535354614257813e-06, "step": 16290 }, { "ee_loss_avg": 0.10856022648513317, "epoch": 1.5535354614257813e-06, "step": 16290 }, { "aux_loss_avg": 0.0015518167754635214, "epoch": 1.5535354614257813e-06, "step": 16290 }, { "epoch": 1.5535354614257813e-06, "step": 16290, "training_step_time": 17.58673596382141 }, { "epoch": 1.5536308288574219e-06, "model_forward_time": 5.095704555511475, "step": 16291 }, { "epoch": 1.5536308288574219e-06, "step": 16291, "training_step_time": 17.76325297355652 }, { "epoch": 1.5537261962890625e-06, "model_forward_time": 5.090123176574707, "step": 16292 }, { "epoch": 1.5537261962890625e-06, "step": 16292, "training_step_time": 17.5914568901062 }, { "epoch": 1.553821563720703e-06, "model_forward_time": 5.086956977844238, "step": 16293 }, { "epoch": 1.553821563720703e-06, "step": 16293, "training_step_time": 17.602362871170044 }, { "epoch": 1.5539169311523437e-06, "model_forward_time": 5.08875298500061, "step": 16294 }, { "epoch": 1.5539169311523437e-06, "step": 16294, "training_step_time": 17.613574028015137 }, { "epoch": 1.5540122985839843e-06, "model_forward_time": 5.08332896232605, "step": 16295 }, { "epoch": 1.5540122985839843e-06, "step": 16295, "training_step_time": 17.61812472343445 }, { "epoch": 1.554107666015625e-06, "model_forward_time": 5.080927848815918, "step": 16296 }, { "epoch": 1.554107666015625e-06, "step": 16296, "training_step_time": 17.838396072387695 }, { "epoch": 1.5542030334472656e-06, "model_forward_time": 5.077664375305176, "step": 16297 }, { "epoch": 1.5542030334472656e-06, "step": 16297, "training_step_time": 17.606172561645508 }, { "epoch": 1.5542984008789062e-06, "model_forward_time": 5.078364133834839, "step": 16298 }, { "epoch": 1.5542984008789062e-06, "step": 16298, "training_step_time": 17.596476793289185 }, { "epoch": 1.5543937683105468e-06, "model_forward_time": 5.080148458480835, "step": 16299 }, { "epoch": 1.5543937683105468e-06, "step": 16299, "training_step_time": 17.590861320495605 }, { "epoch": 1.5544891357421874e-06, "grad_norm": 1.5561480522155762, "learning_rate": 9.11350474182208e-06, "loss": 0.1054, "step": 16300 }, { "epoch": 1.5544891357421874e-06, "model_forward_time": 5.08115816116333, "step": 16300 }, { "dynamics_loss_avg": 0.051305500278249386, "epoch": 1.5544891357421874e-06, "step": 16300 }, { "action_loss_avg": 0.09542469270527362, "epoch": 1.5544891357421874e-06, "step": 16300 }, { "arm_loss_avg": 0.1784555047750473, "epoch": 1.5544891357421874e-06, "step": 16300 }, { "ee_loss_avg": 0.1063665084540844, "epoch": 1.5544891357421874e-06, "step": 16300 }, { "aux_loss_avg": 0.0028021951438859105, "epoch": 1.5544891357421874e-06, "step": 16300 }, { "epoch": 1.5544891357421874e-06, "step": 16300, "training_step_time": 17.626996994018555 }, { "epoch": 1.5545845031738282e-06, "model_forward_time": 5.081655740737915, "step": 16301 }, { "epoch": 1.5545845031738282e-06, "step": 16301, "training_step_time": 17.477431058883667 }, { "epoch": 1.5546798706054688e-06, "model_forward_time": 5.088090658187866, "step": 16302 }, { "epoch": 1.5546798706054688e-06, "step": 16302, "training_step_time": 17.50765895843506 }, { "epoch": 1.5547752380371095e-06, "model_forward_time": 5.081846475601196, "step": 16303 }, { "epoch": 1.5547752380371095e-06, "step": 16303, "training_step_time": 17.390939950942993 }, { "epoch": 1.55487060546875e-06, "model_forward_time": 5.084178686141968, "step": 16304 }, { "epoch": 1.55487060546875e-06, "step": 16304, "training_step_time": 17.48566174507141 }, { "epoch": 1.5549659729003907e-06, "model_forward_time": 5.082455158233643, "step": 16305 }, { "epoch": 1.5549659729003907e-06, "step": 16305, "training_step_time": 17.576607942581177 }, { "epoch": 1.5550613403320313e-06, "model_forward_time": 5.081346035003662, "step": 16306 }, { "epoch": 1.5550613403320313e-06, "step": 16306, "training_step_time": 17.80975914001465 }, { "epoch": 1.555156707763672e-06, "model_forward_time": 5.077876091003418, "step": 16307 }, { "epoch": 1.555156707763672e-06, "step": 16307, "training_step_time": 17.607867002487183 }, { "epoch": 1.5552520751953125e-06, "model_forward_time": 5.0819456577301025, "step": 16308 }, { "epoch": 1.5552520751953125e-06, "step": 16308, "training_step_time": 17.631563663482666 }, { "epoch": 1.5553474426269531e-06, "model_forward_time": 3.848691940307617, "step": 16309 }, { "epoch": 1.5553474426269531e-06, "step": 16309, "training_step_time": 17.654417276382446 }, { "epoch": 1.5554428100585938e-06, "grad_norm": 1.4262125492095947, "learning_rate": 9.112161489599932e-06, "loss": 0.1263, "step": 16310 }, { "epoch": 1.5554428100585938e-06, "model_forward_time": 5.059858322143555, "step": 16310 }, { "dynamics_loss_avg": 0.05785244144499302, "epoch": 1.5554428100585938e-06, "step": 16310 }, { "action_loss_avg": 0.12611207365989685, "epoch": 1.5554428100585938e-06, "step": 16310 }, { "arm_loss_avg": 0.1623729258775711, "epoch": 1.5554428100585938e-06, "step": 16310 }, { "ee_loss_avg": 0.15878087622113526, "epoch": 1.5554428100585938e-06, "step": 16310 }, { "aux_loss_avg": 0.003388623404316604, "epoch": 1.5554428100585938e-06, "step": 16310 }, { "epoch": 1.5554428100585938e-06, "step": 16310, "training_step_time": 17.645700931549072 }, { "epoch": 1.5555381774902344e-06, "model_forward_time": 5.065762281417847, "step": 16311 }, { "epoch": 1.5555381774902344e-06, "step": 16311, "training_step_time": 17.8292715549469 }, { "epoch": 1.555633544921875e-06, "model_forward_time": 5.304481506347656, "step": 16312 }, { "epoch": 1.555633544921875e-06, "step": 16312, "training_step_time": 17.630006551742554 }, { "epoch": 1.5557289123535156e-06, "model_forward_time": 5.083770990371704, "step": 16313 }, { "epoch": 1.5557289123535156e-06, "step": 16313, "training_step_time": 17.61295509338379 }, { "epoch": 1.5558242797851562e-06, "model_forward_time": 5.093716382980347, "step": 16314 }, { "epoch": 1.5558242797851562e-06, "step": 16314, "training_step_time": 17.615809202194214 }, { "epoch": 1.5559196472167968e-06, "model_forward_time": 5.0976481437683105, "step": 16315 }, { "epoch": 1.5559196472167968e-06, "step": 16315, "training_step_time": 17.60949182510376 }, { "epoch": 1.5560150146484374e-06, "model_forward_time": 5.099870920181274, "step": 16316 }, { "epoch": 1.5560150146484374e-06, "step": 16316, "training_step_time": 17.84099316596985 }, { "epoch": 1.556110382080078e-06, "model_forward_time": 3.859525442123413, "step": 16317 }, { "epoch": 1.556110382080078e-06, "step": 16317, "training_step_time": 17.60621213912964 }, { "epoch": 1.5562057495117187e-06, "model_forward_time": 5.063512325286865, "step": 16318 }, { "epoch": 1.5562057495117187e-06, "step": 16318, "training_step_time": 17.422837018966675 }, { "epoch": 1.5563011169433593e-06, "model_forward_time": 5.075288534164429, "step": 16319 }, { "epoch": 1.5563011169433593e-06, "step": 16319, "training_step_time": 17.525078773498535 }, { "epoch": 1.556396484375e-06, "grad_norm": 1.0278140306472778, "learning_rate": 9.110817319623104e-06, "loss": 0.0945, "step": 16320 }, { "epoch": 1.556396484375e-06, "model_forward_time": 5.086243629455566, "step": 16320 }, { "dynamics_loss_avg": 0.039543965458869935, "epoch": 1.556396484375e-06, "step": 16320 }, { "action_loss_avg": 0.08663978651165963, "epoch": 1.556396484375e-06, "step": 16320 }, { "arm_loss_avg": 0.1588110603392124, "epoch": 1.556396484375e-06, "step": 16320 }, { "ee_loss_avg": 0.10810491926968098, "epoch": 1.556396484375e-06, "step": 16320 }, { "aux_loss_avg": 0.002085692289983854, "epoch": 1.556396484375e-06, "step": 16320 }, { "epoch": 1.556396484375e-06, "step": 16320, "training_step_time": 17.617445468902588 }, { "epoch": 1.5564918518066407e-06, "model_forward_time": 5.088646173477173, "step": 16321 }, { "epoch": 1.5564918518066407e-06, "step": 16321, "training_step_time": 17.782079935073853 }, { "epoch": 1.5565872192382813e-06, "model_forward_time": 5.292187690734863, "step": 16322 }, { "epoch": 1.5565872192382813e-06, "step": 16322, "training_step_time": 17.618049383163452 }, { "epoch": 1.556682586669922e-06, "model_forward_time": 5.094735383987427, "step": 16323 }, { "epoch": 1.556682586669922e-06, "step": 16323, "training_step_time": 17.630714893341064 }, { "epoch": 1.5567779541015626e-06, "model_forward_time": 5.095428943634033, "step": 16324 }, { "epoch": 1.5567779541015626e-06, "step": 16324, "training_step_time": 17.644294023513794 }, { "epoch": 1.5568733215332032e-06, "model_forward_time": 5.092976093292236, "step": 16325 }, { "epoch": 1.5568733215332032e-06, "step": 16325, "training_step_time": 17.579368114471436 }, { "epoch": 1.5569686889648438e-06, "model_forward_time": 5.093797922134399, "step": 16326 }, { "epoch": 1.5569686889648438e-06, "step": 16326, "training_step_time": 17.778773307800293 }, { "epoch": 1.5570640563964844e-06, "model_forward_time": 3.8546626567840576, "step": 16327 }, { "epoch": 1.5570640563964844e-06, "step": 16327, "training_step_time": 17.589444875717163 }, { "epoch": 1.557159423828125e-06, "model_forward_time": 5.067412614822388, "step": 16328 }, { "epoch": 1.557159423828125e-06, "step": 16328, "training_step_time": 17.613303661346436 }, { "epoch": 1.5572547912597656e-06, "model_forward_time": 5.071723222732544, "step": 16329 }, { "epoch": 1.5572547912597656e-06, "step": 16329, "training_step_time": 17.62457776069641 }, { "epoch": 1.5573501586914063e-06, "grad_norm": 1.6361719369888306, "learning_rate": 9.10947223219159e-06, "loss": 0.097, "step": 16330 }, { "epoch": 1.5573501586914063e-06, "model_forward_time": 5.081254720687866, "step": 16330 }, { "dynamics_loss_avg": 0.040468428563326594, "epoch": 1.5573501586914063e-06, "step": 16330 }, { "action_loss_avg": 0.08390433434396982, "epoch": 1.5573501586914063e-06, "step": 16330 }, { "arm_loss_avg": 0.1795451119542122, "epoch": 1.5573501586914063e-06, "step": 16330 }, { "ee_loss_avg": 0.05378296873532236, "epoch": 1.5573501586914063e-06, "step": 16330 }, { "aux_loss_avg": 0.0020376498461700974, "epoch": 1.5573501586914063e-06, "step": 16330 }, { "epoch": 1.5573501586914063e-06, "step": 16330, "training_step_time": 17.637609004974365 }, { "epoch": 1.5574455261230469e-06, "model_forward_time": 5.0870912075042725, "step": 16331 }, { "epoch": 1.5574455261230469e-06, "step": 16331, "training_step_time": 17.84731149673462 }, { "epoch": 1.5575408935546875e-06, "model_forward_time": 3.857065200805664, "step": 16332 }, { "epoch": 1.5575408935546875e-06, "step": 16332, "training_step_time": 17.634277820587158 }, { "epoch": 1.557636260986328e-06, "model_forward_time": 5.064640760421753, "step": 16333 }, { "epoch": 1.557636260986328e-06, "step": 16333, "training_step_time": 17.63775134086609 }, { "epoch": 1.5577316284179687e-06, "model_forward_time": 5.081642150878906, "step": 16334 }, { "epoch": 1.5577316284179687e-06, "step": 16334, "training_step_time": 17.618179082870483 }, { "epoch": 1.5578269958496093e-06, "model_forward_time": 5.090778112411499, "step": 16335 }, { "epoch": 1.5578269958496093e-06, "step": 16335, "training_step_time": 17.61553168296814 }, { "epoch": 1.55792236328125e-06, "model_forward_time": 5.097042798995972, "step": 16336 }, { "epoch": 1.55792236328125e-06, "step": 16336, "training_step_time": 17.838627815246582 }, { "epoch": 1.5580177307128906e-06, "model_forward_time": 5.348724365234375, "step": 16337 }, { "epoch": 1.5580177307128906e-06, "step": 16337, "training_step_time": 17.634257555007935 }, { "epoch": 1.5581130981445312e-06, "model_forward_time": 5.123689651489258, "step": 16338 }, { "epoch": 1.5581130981445312e-06, "step": 16338, "training_step_time": 17.641276121139526 }, { "epoch": 1.5582084655761718e-06, "model_forward_time": 5.1104724407196045, "step": 16339 }, { "epoch": 1.5582084655761718e-06, "step": 16339, "training_step_time": 17.657238245010376 }, { "epoch": 1.5583038330078124e-06, "grad_norm": 1.5642058849334717, "learning_rate": 9.108126227605582e-06, "loss": 0.096, "step": 16340 }, { "epoch": 1.5583038330078124e-06, "model_forward_time": 5.108829736709595, "step": 16340 }, { "dynamics_loss_avg": 0.037752154283225536, "epoch": 1.5583038330078124e-06, "step": 16340 }, { "action_loss_avg": 0.0783851057291031, "epoch": 1.5583038330078124e-06, "step": 16340 }, { "arm_loss_avg": 0.15084545090794563, "epoch": 1.5583038330078124e-06, "step": 16340 }, { "ee_loss_avg": 0.12976136533543467, "epoch": 1.5583038330078124e-06, "step": 16340 }, { "aux_loss_avg": 0.0006654100609011949, "epoch": 1.5583038330078124e-06, "step": 16340 }, { "epoch": 1.5583038330078124e-06, "step": 16340, "training_step_time": 17.675628900527954 }, { "epoch": 1.5583992004394532e-06, "model_forward_time": 5.092684507369995, "step": 16341 }, { "epoch": 1.5583992004394532e-06, "step": 16341, "training_step_time": 17.826378345489502 }, { "epoch": 1.5584945678710938e-06, "model_forward_time": 5.089415073394775, "step": 16342 }, { "epoch": 1.5584945678710938e-06, "step": 16342, "training_step_time": 17.632864236831665 }, { "epoch": 1.5585899353027345e-06, "model_forward_time": 5.087403297424316, "step": 16343 }, { "epoch": 1.5585899353027345e-06, "step": 16343, "training_step_time": 17.651447534561157 }, { "epoch": 1.558685302734375e-06, "model_forward_time": 5.090245246887207, "step": 16344 }, { "epoch": 1.558685302734375e-06, "step": 16344, "training_step_time": 17.64238405227661 }, { "epoch": 1.5587806701660157e-06, "model_forward_time": 5.089200735092163, "step": 16345 }, { "epoch": 1.5587806701660157e-06, "step": 16345, "training_step_time": 17.861665725708008 }, { "epoch": 1.5588760375976563e-06, "model_forward_time": 5.08308744430542, "step": 16346 }, { "epoch": 1.5588760375976563e-06, "step": 16346, "training_step_time": 17.63017463684082 }, { "epoch": 1.558971405029297e-06, "model_forward_time": 5.081972360610962, "step": 16347 }, { "epoch": 1.558971405029297e-06, "step": 16347, "training_step_time": 17.621315002441406 }, { "epoch": 1.5590667724609375e-06, "model_forward_time": 5.086456298828125, "step": 16348 }, { "epoch": 1.5590667724609375e-06, "step": 16348, "training_step_time": 17.618558168411255 }, { "epoch": 1.5591621398925781e-06, "model_forward_time": 5.084717273712158, "step": 16349 }, { "epoch": 1.5591621398925781e-06, "step": 16349, "training_step_time": 17.619872331619263 }, { "epoch": 1.5592575073242188e-06, "grad_norm": 1.0747371912002563, "learning_rate": 9.106779306165488e-06, "loss": 0.1166, "step": 16350 }, { "epoch": 1.5592575073242188e-06, "model_forward_time": 5.083775997161865, "step": 16350 }, { "dynamics_loss_avg": 0.04364979211241007, "epoch": 1.5592575073242188e-06, "step": 16350 }, { "action_loss_avg": 0.077735760435462, "epoch": 1.5592575073242188e-06, "step": 16350 }, { "arm_loss_avg": 0.1353925347328186, "epoch": 1.5592575073242188e-06, "step": 16350 }, { "ee_loss_avg": 0.07653198670595884, "epoch": 1.5592575073242188e-06, "step": 16350 }, { "aux_loss_avg": 0.0008875411818735302, "epoch": 1.5592575073242188e-06, "step": 16350 }, { "epoch": 1.5592575073242188e-06, "step": 16350, "training_step_time": 17.39157772064209 }, { "epoch": 1.5593528747558594e-06, "model_forward_time": 5.289281368255615, "step": 16351 }, { "epoch": 1.5593528747558594e-06, "step": 16351, "training_step_time": 17.71855330467224 }, { "epoch": 1.5594482421875e-06, "model_forward_time": 5.082415342330933, "step": 16352 }, { "epoch": 1.5594482421875e-06, "step": 16352, "training_step_time": 17.541391134262085 }, { "epoch": 1.5595436096191406e-06, "model_forward_time": 5.084982633590698, "step": 16353 }, { "epoch": 1.5595436096191406e-06, "step": 16353, "training_step_time": 17.56021475791931 }, { "epoch": 1.5596389770507812e-06, "model_forward_time": 5.084837913513184, "step": 16354 }, { "epoch": 1.5596389770507812e-06, "step": 16354, "training_step_time": 17.582226037979126 }, { "epoch": 1.5597343444824218e-06, "model_forward_time": 5.0812294483184814, "step": 16355 }, { "epoch": 1.5597343444824218e-06, "step": 16355, "training_step_time": 17.822144508361816 }, { "epoch": 1.5598297119140624e-06, "model_forward_time": 5.079335451126099, "step": 16356 }, { "epoch": 1.5598297119140624e-06, "step": 16356, "training_step_time": 17.60613512992859 }, { "epoch": 1.559925079345703e-06, "model_forward_time": 5.077914714813232, "step": 16357 }, { "epoch": 1.559925079345703e-06, "step": 16357, "training_step_time": 17.608033657073975 }, { "epoch": 1.5600204467773437e-06, "model_forward_time": 5.081700086593628, "step": 16358 }, { "epoch": 1.5600204467773437e-06, "step": 16358, "training_step_time": 17.60911750793457 }, { "epoch": 1.5601158142089843e-06, "model_forward_time": 5.0793092250823975, "step": 16359 }, { "epoch": 1.5601158142089843e-06, "step": 16359, "training_step_time": 17.6086905002594 }, { "epoch": 1.560211181640625e-06, "grad_norm": 1.920497179031372, "learning_rate": 9.10543146817191e-06, "loss": 0.1166, "step": 16360 }, { "epoch": 1.560211181640625e-06, "model_forward_time": 5.079145193099976, "step": 16360 }, { "dynamics_loss_avg": 0.04192621000111103, "epoch": 1.560211181640625e-06, "step": 16360 }, { "action_loss_avg": 0.08347504548728465, "epoch": 1.560211181640625e-06, "step": 16360 }, { "arm_loss_avg": 0.15878718495368957, "epoch": 1.560211181640625e-06, "step": 16360 }, { "ee_loss_avg": 0.06289411620236933, "epoch": 1.560211181640625e-06, "step": 16360 }, { "aux_loss_avg": 0.0008239905757363886, "epoch": 1.560211181640625e-06, "step": 16360 }, { "epoch": 1.560211181640625e-06, "step": 16360, "training_step_time": 17.831871509552002 }, { "epoch": 1.5603065490722657e-06, "model_forward_time": 5.07938814163208, "step": 16361 }, { "epoch": 1.5603065490722657e-06, "step": 16361, "training_step_time": 17.58627152442932 }, { "epoch": 1.5604019165039063e-06, "model_forward_time": 5.086743354797363, "step": 16362 }, { "epoch": 1.5604019165039063e-06, "step": 16362, "training_step_time": 17.59615421295166 }, { "epoch": 1.560497283935547e-06, "model_forward_time": 5.084921598434448, "step": 16363 }, { "epoch": 1.560497283935547e-06, "step": 16363, "training_step_time": 17.591753005981445 }, { "epoch": 1.5605926513671876e-06, "model_forward_time": 5.0824244022369385, "step": 16364 }, { "epoch": 1.5605926513671876e-06, "step": 16364, "training_step_time": 17.58884072303772 }, { "epoch": 1.5606880187988282e-06, "model_forward_time": 5.0841965675354, "step": 16365 }, { "epoch": 1.5606880187988282e-06, "step": 16365, "training_step_time": 17.808793783187866 }, { "epoch": 1.5607833862304688e-06, "model_forward_time": 5.079975605010986, "step": 16366 }, { "epoch": 1.5607833862304688e-06, "step": 16366, "training_step_time": 17.575143575668335 }, { "epoch": 1.5608787536621094e-06, "model_forward_time": 5.0805299282073975, "step": 16367 }, { "epoch": 1.5608787536621094e-06, "step": 16367, "training_step_time": 17.578882932662964 }, { "epoch": 1.56097412109375e-06, "model_forward_time": 3.8491344451904297, "step": 16368 }, { "epoch": 1.56097412109375e-06, "step": 16368, "training_step_time": 17.583916425704956 }, { "epoch": 1.5610694885253906e-06, "model_forward_time": 5.05949854850769, "step": 16369 }, { "epoch": 1.5610694885253906e-06, "step": 16369, "training_step_time": 17.59406566619873 }, { "epoch": 1.5611648559570313e-06, "grad_norm": 1.3951895236968994, "learning_rate": 9.104082713925662e-06, "loss": 0.1116, "step": 16370 }, { "epoch": 1.5611648559570313e-06, "model_forward_time": 5.069265842437744, "step": 16370 }, { "dynamics_loss_avg": 0.03862849958240986, "epoch": 1.5611648559570313e-06, "step": 16370 }, { "action_loss_avg": 0.08713188506662846, "epoch": 1.5611648559570313e-06, "step": 16370 }, { "arm_loss_avg": 0.1732160598039627, "epoch": 1.5611648559570313e-06, "step": 16370 }, { "ee_loss_avg": 0.12551775192841888, "epoch": 1.5611648559570313e-06, "step": 16370 }, { "aux_loss_avg": 0.0015648579981643706, "epoch": 1.5611648559570313e-06, "step": 16370 }, { "epoch": 1.5611648559570313e-06, "step": 16370, "training_step_time": 17.788333415985107 }, { "epoch": 1.5612602233886719e-06, "model_forward_time": 5.073438405990601, "step": 16371 }, { "epoch": 1.5612602233886719e-06, "step": 16371, "training_step_time": 17.586845874786377 }, { "epoch": 1.5613555908203125e-06, "model_forward_time": 5.085986375808716, "step": 16372 }, { "epoch": 1.5613555908203125e-06, "step": 16372, "training_step_time": 17.593491077423096 }, { "epoch": 1.561450958251953e-06, "model_forward_time": 5.088483572006226, "step": 16373 }, { "epoch": 1.561450958251953e-06, "step": 16373, "training_step_time": 17.593485593795776 }, { "epoch": 1.5615463256835937e-06, "model_forward_time": 5.095804214477539, "step": 16374 }, { "epoch": 1.5615463256835937e-06, "step": 16374, "training_step_time": 17.59931516647339 }, { "epoch": 1.5616416931152343e-06, "model_forward_time": 3.859105348587036, "step": 16375 }, { "epoch": 1.5616416931152343e-06, "step": 16375, "training_step_time": 17.815572023391724 }, { "epoch": 1.561737060546875e-06, "model_forward_time": 5.0622642040252686, "step": 16376 }, { "epoch": 1.561737060546875e-06, "step": 16376, "training_step_time": 17.61314368247986 }, { "epoch": 1.5618324279785156e-06, "model_forward_time": 5.0773606300354, "step": 16377 }, { "epoch": 1.5618324279785156e-06, "step": 16377, "training_step_time": 17.613341331481934 }, { "epoch": 1.5619277954101562e-06, "model_forward_time": 5.086174488067627, "step": 16378 }, { "epoch": 1.5619277954101562e-06, "step": 16378, "training_step_time": 17.25027298927307 }, { "epoch": 1.5620231628417968e-06, "model_forward_time": 5.090970993041992, "step": 16379 }, { "epoch": 1.5620231628417968e-06, "step": 16379, "training_step_time": 17.531123638153076 }, { "epoch": 1.5621185302734374e-06, "grad_norm": 1.2969785928726196, "learning_rate": 9.10273304372776e-06, "loss": 0.1085, "step": 16380 }, { "epoch": 1.5621185302734374e-06, "model_forward_time": 3.857267379760742, "step": 16380 }, { "dynamics_loss_avg": 0.03902746327221394, "epoch": 1.5621185302734374e-06, "step": 16380 }, { "action_loss_avg": 0.07983463928103447, "epoch": 1.5621185302734374e-06, "step": 16380 }, { "arm_loss_avg": 0.16042890325188636, "epoch": 1.5621185302734374e-06, "step": 16380 }, { "ee_loss_avg": 0.08274930156767368, "epoch": 1.5621185302734374e-06, "step": 16380 }, { "aux_loss_avg": 0.002681765056331642, "epoch": 1.5621185302734374e-06, "step": 16380 }, { "epoch": 1.5621185302734374e-06, "step": 16380, "training_step_time": 17.78388524055481 }, { "epoch": 1.562213897705078e-06, "model_forward_time": 5.062327861785889, "step": 16381 }, { "epoch": 1.562213897705078e-06, "step": 16381, "training_step_time": 17.627038955688477 }, { "epoch": 1.5623092651367188e-06, "model_forward_time": 5.078947067260742, "step": 16382 }, { "epoch": 1.5623092651367188e-06, "step": 16382, "training_step_time": 17.609633207321167 }, { "epoch": 1.5624046325683595e-06, "model_forward_time": 5.084262132644653, "step": 16383 }, { "epoch": 1.5624046325683595e-06, "step": 16383, "training_step_time": 17.619806051254272 }, { "epoch": 1.5625e-06, "model_forward_time": 5.091256141662598, "step": 16384 }, { "epoch": 1.5625e-06, "step": 16384, "training_step_time": 17.63364577293396 }, { "epoch": 1.5625953674316407e-06, "model_forward_time": 5.098063707351685, "step": 16385 }, { "epoch": 1.5625953674316407e-06, "step": 16385, "training_step_time": 17.63292384147644 }, { "epoch": 1.5626907348632813e-06, "model_forward_time": 5.34027624130249, "step": 16386 }, { "epoch": 1.5626907348632813e-06, "step": 16386, "training_step_time": 17.539050102233887 }, { "epoch": 1.562786102294922e-06, "model_forward_time": 5.096492528915405, "step": 16387 }, { "epoch": 1.562786102294922e-06, "step": 16387, "training_step_time": 17.404982566833496 }, { "epoch": 1.5628814697265625e-06, "model_forward_time": 5.098397731781006, "step": 16388 }, { "epoch": 1.5628814697265625e-06, "step": 16388, "training_step_time": 17.524802207946777 }, { "epoch": 1.5629768371582031e-06, "model_forward_time": 5.096309185028076, "step": 16389 }, { "epoch": 1.5629768371582031e-06, "step": 16389, "training_step_time": 17.58703851699829 }, { "epoch": 1.5630722045898438e-06, "grad_norm": 1.2907960414886475, "learning_rate": 9.101382457879423e-06, "loss": 0.1135, "step": 16390 }, { "epoch": 1.5630722045898438e-06, "model_forward_time": 5.090739011764526, "step": 16390 }, { "dynamics_loss_avg": 0.049916067626327276, "epoch": 1.5630722045898438e-06, "step": 16390 }, { "action_loss_avg": 0.0859508454799652, "epoch": 1.5630722045898438e-06, "step": 16390 }, { "arm_loss_avg": 0.15604592859745026, "epoch": 1.5630722045898438e-06, "step": 16390 }, { "ee_loss_avg": 0.054550744220614435, "epoch": 1.5630722045898438e-06, "step": 16390 }, { "aux_loss_avg": 0.0013183094502892344, "epoch": 1.5630722045898438e-06, "step": 16390 }, { "epoch": 1.5630722045898438e-06, "step": 16390, "training_step_time": 17.82453966140747 }, { "epoch": 1.5631675720214844e-06, "model_forward_time": 5.287727117538452, "step": 16391 }, { "epoch": 1.5631675720214844e-06, "step": 16391, "training_step_time": 17.61586833000183 }, { "epoch": 1.563262939453125e-06, "model_forward_time": 5.082343578338623, "step": 16392 }, { "epoch": 1.563262939453125e-06, "step": 16392, "training_step_time": 17.628057956695557 }, { "epoch": 1.5633583068847656e-06, "model_forward_time": 5.082974910736084, "step": 16393 }, { "epoch": 1.5633583068847656e-06, "step": 16393, "training_step_time": 17.37653875350952 }, { "epoch": 1.5634536743164062e-06, "model_forward_time": 5.084907054901123, "step": 16394 }, { "epoch": 1.5634536743164062e-06, "step": 16394, "training_step_time": 17.535667657852173 }, { "epoch": 1.5635490417480468e-06, "model_forward_time": 5.082757949829102, "step": 16395 }, { "epoch": 1.5635490417480468e-06, "step": 16395, "training_step_time": 17.59586501121521 }, { "epoch": 1.5636444091796874e-06, "model_forward_time": 5.100591659545898, "step": 16396 }, { "epoch": 1.5636444091796874e-06, "step": 16396, "training_step_time": 17.8844096660614 }, { "epoch": 1.563739776611328e-06, "model_forward_time": 5.0993852615356445, "step": 16397 }, { "epoch": 1.563739776611328e-06, "step": 16397, "training_step_time": 17.66347599029541 }, { "epoch": 1.5638351440429687e-06, "model_forward_time": 5.108160972595215, "step": 16398 }, { "epoch": 1.5638351440429687e-06, "step": 16398, "training_step_time": 17.65270209312439 }, { "epoch": 1.5639305114746093e-06, "model_forward_time": 5.099690675735474, "step": 16399 }, { "epoch": 1.5639305114746093e-06, "step": 16399, "training_step_time": 17.65175437927246 }, { "epoch": 1.56402587890625e-06, "grad_norm": 1.5154377222061157, "learning_rate": 9.100030956682073e-06, "loss": 0.1251, "step": 16400 }, { "epoch": 1.56402587890625e-06, "model_forward_time": 5.086252450942993, "step": 16400 }, { "dynamics_loss_avg": 0.051163213700056075, "epoch": 1.56402587890625e-06, "step": 16400 }, { "action_loss_avg": 0.07773443832993507, "epoch": 1.56402587890625e-06, "step": 16400 }, { "arm_loss_avg": 0.13776494115591048, "epoch": 1.56402587890625e-06, "step": 16400 }, { "ee_loss_avg": 0.0693524548318237, "epoch": 1.56402587890625e-06, "step": 16400 }, { "aux_loss_avg": 0.0021363557782024143, "epoch": 1.56402587890625e-06, "step": 16400 }, { "epoch": 1.56402587890625e-06, "step": 16400, "training_step_time": 17.848865032196045 }, { "epoch": 1.5641212463378905e-06, "model_forward_time": 5.086517810821533, "step": 16401 }, { "epoch": 1.5641212463378905e-06, "step": 16401, "training_step_time": 17.61633324623108 }, { "epoch": 1.5642166137695313e-06, "model_forward_time": 5.087541341781616, "step": 16402 }, { "epoch": 1.5642166137695313e-06, "step": 16402, "training_step_time": 17.348581075668335 }, { "epoch": 1.564311981201172e-06, "model_forward_time": 5.0878496170043945, "step": 16403 }, { "epoch": 1.564311981201172e-06, "step": 16403, "training_step_time": 17.51802396774292 }, { "epoch": 1.5644073486328126e-06, "model_forward_time": 3.8567872047424316, "step": 16404 }, { "epoch": 1.5644073486328126e-06, "step": 16404, "training_step_time": 17.339275121688843 }, { "epoch": 1.5645027160644532e-06, "model_forward_time": 5.061561822891235, "step": 16405 }, { "epoch": 1.5645027160644532e-06, "step": 16405, "training_step_time": 17.490192413330078 }, { "epoch": 1.5645980834960938e-06, "model_forward_time": 5.073731184005737, "step": 16406 }, { "epoch": 1.5645980834960938e-06, "step": 16406, "training_step_time": 17.783284425735474 }, { "epoch": 1.5646934509277344e-06, "model_forward_time": 5.32190465927124, "step": 16407 }, { "epoch": 1.5646934509277344e-06, "step": 16407, "training_step_time": 17.572983741760254 }, { "epoch": 1.564788818359375e-06, "model_forward_time": 5.085913896560669, "step": 16408 }, { "epoch": 1.564788818359375e-06, "step": 16408, "training_step_time": 17.611149549484253 }, { "epoch": 1.5648841857910156e-06, "model_forward_time": 5.088173151016235, "step": 16409 }, { "epoch": 1.5648841857910156e-06, "step": 16409, "training_step_time": 17.623281002044678 }, { "epoch": 1.5649795532226563e-06, "grad_norm": 1.6547669172286987, "learning_rate": 9.098678540437344e-06, "loss": 0.1184, "step": 16410 }, { "epoch": 1.5649795532226563e-06, "model_forward_time": 5.0936806201934814, "step": 16410 }, { "dynamics_loss_avg": 0.057058819383382794, "epoch": 1.5649795532226563e-06, "step": 16410 }, { "action_loss_avg": 0.09212196692824363, "epoch": 1.5649795532226563e-06, "step": 16410 }, { "arm_loss_avg": 0.1842033289372921, "epoch": 1.5649795532226563e-06, "step": 16410 }, { "ee_loss_avg": 0.1082257505506277, "epoch": 1.5649795532226563e-06, "step": 16410 }, { "aux_loss_avg": 0.0017813200189266353, "epoch": 1.5649795532226563e-06, "step": 16410 }, { "epoch": 1.5649795532226563e-06, "step": 16410, "training_step_time": 17.867907524108887 }, { "epoch": 1.5650749206542969e-06, "model_forward_time": 5.095634937286377, "step": 16411 }, { "epoch": 1.5650749206542969e-06, "step": 16411, "training_step_time": 17.649015188217163 }, { "epoch": 1.5651702880859375e-06, "model_forward_time": 5.094423294067383, "step": 16412 }, { "epoch": 1.5651702880859375e-06, "step": 16412, "training_step_time": 17.64392328262329 }, { "epoch": 1.5652656555175781e-06, "model_forward_time": 5.096067667007446, "step": 16413 }, { "epoch": 1.5652656555175781e-06, "step": 16413, "training_step_time": 17.64695119857788 }, { "epoch": 1.5653610229492187e-06, "model_forward_time": 5.093369722366333, "step": 16414 }, { "epoch": 1.5653610229492187e-06, "step": 16414, "training_step_time": 17.634082078933716 }, { "epoch": 1.5654563903808593e-06, "model_forward_time": 5.092043876647949, "step": 16415 }, { "epoch": 1.5654563903808593e-06, "step": 16415, "training_step_time": 17.397833108901978 }, { "epoch": 1.5655517578125e-06, "model_forward_time": 5.091529607772827, "step": 16416 }, { "epoch": 1.5655517578125e-06, "step": 16416, "training_step_time": 17.531083822250366 }, { "epoch": 1.5656471252441406e-06, "model_forward_time": 5.084918737411499, "step": 16417 }, { "epoch": 1.5656471252441406e-06, "step": 16417, "training_step_time": 17.561487436294556 }, { "epoch": 1.5657424926757812e-06, "model_forward_time": 5.082725763320923, "step": 16418 }, { "epoch": 1.5657424926757812e-06, "step": 16418, "training_step_time": 17.566248178482056 }, { "epoch": 1.5658378601074218e-06, "model_forward_time": 5.079463005065918, "step": 16419 }, { "epoch": 1.5658378601074218e-06, "step": 16419, "training_step_time": 17.577637434005737 }, { "epoch": 1.5659332275390624e-06, "grad_norm": 1.406384825706482, "learning_rate": 9.097325209447067e-06, "loss": 0.1066, "step": 16420 }, { "epoch": 1.5659332275390624e-06, "model_forward_time": 5.080314636230469, "step": 16420 }, { "dynamics_loss_avg": 0.047842695377767086, "epoch": 1.5659332275390624e-06, "step": 16420 }, { "action_loss_avg": 0.07071075364947318, "epoch": 1.5659332275390624e-06, "step": 16420 }, { "arm_loss_avg": 0.1520220570266247, "epoch": 1.5659332275390624e-06, "step": 16420 }, { "ee_loss_avg": 0.08697993746027351, "epoch": 1.5659332275390624e-06, "step": 16420 }, { "aux_loss_avg": 0.00107266228296794, "epoch": 1.5659332275390624e-06, "step": 16420 }, { "epoch": 1.5659332275390624e-06, "step": 16420, "training_step_time": 17.78553342819214 }, { "epoch": 1.566028594970703e-06, "model_forward_time": 5.079227924346924, "step": 16421 }, { "epoch": 1.566028594970703e-06, "step": 16421, "training_step_time": 17.60457181930542 }, { "epoch": 1.5661239624023438e-06, "model_forward_time": 5.079334735870361, "step": 16422 }, { "epoch": 1.5661239624023438e-06, "step": 16422, "training_step_time": 17.584132432937622 }, { "epoch": 1.5662193298339845e-06, "model_forward_time": 5.079758167266846, "step": 16423 }, { "epoch": 1.5662193298339845e-06, "step": 16423, "training_step_time": 17.588958024978638 }, { "epoch": 1.566314697265625e-06, "model_forward_time": 5.077899217605591, "step": 16424 }, { "epoch": 1.566314697265625e-06, "step": 16424, "training_step_time": 17.582580089569092 }, { "epoch": 1.5664100646972657e-06, "model_forward_time": 5.099817276000977, "step": 16425 }, { "epoch": 1.5664100646972657e-06, "step": 16425, "training_step_time": 17.857513427734375 }, { "epoch": 1.5665054321289063e-06, "model_forward_time": 5.07985782623291, "step": 16426 }, { "epoch": 1.5665054321289063e-06, "step": 16426, "training_step_time": 17.57762384414673 }, { "epoch": 1.566600799560547e-06, "model_forward_time": 5.082329273223877, "step": 16427 }, { "epoch": 1.566600799560547e-06, "step": 16427, "training_step_time": 17.56473445892334 }, { "epoch": 1.5666961669921875e-06, "model_forward_time": 5.081448316574097, "step": 16428 }, { "epoch": 1.5666961669921875e-06, "step": 16428, "training_step_time": 17.571317195892334 }, { "epoch": 1.5667915344238282e-06, "model_forward_time": 5.094382286071777, "step": 16429 }, { "epoch": 1.5667915344238282e-06, "step": 16429, "training_step_time": 17.575233459472656 }, { "epoch": 1.5668869018554688e-06, "grad_norm": 1.9176841974258423, "learning_rate": 9.095970964013278e-06, "loss": 0.0987, "step": 16430 }, { "epoch": 1.5668869018554688e-06, "model_forward_time": 5.102123260498047, "step": 16430 }, { "dynamics_loss_avg": 0.045294895954430106, "epoch": 1.5668869018554688e-06, "step": 16430 }, { "action_loss_avg": 0.08586288765072822, "epoch": 1.5668869018554688e-06, "step": 16430 }, { "arm_loss_avg": 0.1583288975059986, "epoch": 1.5668869018554688e-06, "step": 16430 }, { "ee_loss_avg": 0.0976016629487276, "epoch": 1.5668869018554688e-06, "step": 16430 }, { "aux_loss_avg": 0.0012942697328981012, "epoch": 1.5668869018554688e-06, "step": 16430 }, { "epoch": 1.5668869018554688e-06, "step": 16430, "training_step_time": 17.7970073223114 }, { "epoch": 1.5669822692871094e-06, "model_forward_time": 5.2895286083221436, "step": 16431 }, { "epoch": 1.5669822692871094e-06, "step": 16431, "training_step_time": 17.560426473617554 }, { "epoch": 1.56707763671875e-06, "model_forward_time": 3.849822998046875, "step": 16432 }, { "epoch": 1.56707763671875e-06, "step": 16432, "training_step_time": 17.55589199066162 }, { "epoch": 1.5671730041503906e-06, "model_forward_time": 5.055511713027954, "step": 16433 }, { "epoch": 1.5671730041503906e-06, "step": 16433, "training_step_time": 17.277508974075317 }, { "epoch": 1.5672683715820312e-06, "model_forward_time": 5.071451425552368, "step": 16434 }, { "epoch": 1.5672683715820312e-06, "step": 16434, "training_step_time": 17.480247497558594 }, { "epoch": 1.5673637390136718e-06, "model_forward_time": 5.077451229095459, "step": 16435 }, { "epoch": 1.5673637390136718e-06, "step": 16435, "training_step_time": 17.37742280960083 }, { "epoch": 1.5674591064453125e-06, "model_forward_time": 5.086238861083984, "step": 16436 }, { "epoch": 1.5674591064453125e-06, "step": 16436, "training_step_time": 17.68185257911682 }, { "epoch": 1.567554473876953e-06, "model_forward_time": 5.327226638793945, "step": 16437 }, { "epoch": 1.567554473876953e-06, "step": 16437, "training_step_time": 17.51373052597046 }, { "epoch": 1.5676498413085937e-06, "model_forward_time": 3.8605635166168213, "step": 16438 }, { "epoch": 1.5676498413085937e-06, "step": 16438, "training_step_time": 17.55934190750122 }, { "epoch": 1.5677452087402343e-06, "model_forward_time": 5.068852663040161, "step": 16439 }, { "epoch": 1.5677452087402343e-06, "step": 16439, "training_step_time": 17.606984615325928 }, { "epoch": 1.567840576171875e-06, "grad_norm": 1.1974139213562012, "learning_rate": 9.094615804438219e-06, "loss": 0.1397, "step": 16440 }, { "epoch": 1.567840576171875e-06, "model_forward_time": 5.077932596206665, "step": 16440 }, { "dynamics_loss_avg": 0.06339514888823032, "epoch": 1.567840576171875e-06, "step": 16440 }, { "action_loss_avg": 0.09744805991649627, "epoch": 1.567840576171875e-06, "step": 16440 }, { "arm_loss_avg": 0.13592071533203126, "epoch": 1.567840576171875e-06, "step": 16440 }, { "ee_loss_avg": 0.08985897973179817, "epoch": 1.567840576171875e-06, "step": 16440 }, { "aux_loss_avg": 0.005078784545185044, "epoch": 1.567840576171875e-06, "step": 16440 }, { "epoch": 1.567840576171875e-06, "step": 16440, "training_step_time": 17.62556266784668 }, { "epoch": 1.5679359436035155e-06, "model_forward_time": 3.8502602577209473, "step": 16441 }, { "epoch": 1.5679359436035155e-06, "step": 16441, "training_step_time": 17.819995403289795 }, { "epoch": 1.5680313110351564e-06, "model_forward_time": 5.244426250457764, "step": 16442 }, { "epoch": 1.5680313110351564e-06, "step": 16442, "training_step_time": 17.646052598953247 }, { "epoch": 1.568126678466797e-06, "model_forward_time": 5.07977819442749, "step": 16443 }, { "epoch": 1.568126678466797e-06, "step": 16443, "training_step_time": 17.637425184249878 }, { "epoch": 1.5682220458984376e-06, "model_forward_time": 5.088484525680542, "step": 16444 }, { "epoch": 1.5682220458984376e-06, "step": 16444, "training_step_time": 17.626747608184814 }, { "epoch": 1.5683174133300782e-06, "model_forward_time": 5.099704742431641, "step": 16445 }, { "epoch": 1.5683174133300782e-06, "step": 16445, "training_step_time": 17.84237003326416 }, { "epoch": 1.5684127807617188e-06, "model_forward_time": 3.861462116241455, "step": 16446 }, { "epoch": 1.5684127807617188e-06, "step": 16446, "training_step_time": 17.611406087875366 }, { "epoch": 1.5685081481933594e-06, "model_forward_time": 5.305588006973267, "step": 16447 }, { "epoch": 1.5685081481933594e-06, "step": 16447, "training_step_time": 17.544005870819092 }, { "epoch": 1.568603515625e-06, "model_forward_time": 5.083874940872192, "step": 16448 }, { "epoch": 1.568603515625e-06, "step": 16448, "training_step_time": 17.509791612625122 }, { "epoch": 1.5686988830566407e-06, "model_forward_time": 5.0878379344940186, "step": 16449 }, { "epoch": 1.5686988830566407e-06, "step": 16449, "training_step_time": 17.546038150787354 }, { "epoch": 1.5687942504882813e-06, "grad_norm": 1.3267678022384644, "learning_rate": 9.093259731024336e-06, "loss": 0.1053, "step": 16450 }, { "epoch": 1.5687942504882813e-06, "model_forward_time": 5.0972278118133545, "step": 16450 }, { "dynamics_loss_avg": 0.0553097128868103, "epoch": 1.5687942504882813e-06, "step": 16450 }, { "action_loss_avg": 0.07722323201596737, "epoch": 1.5687942504882813e-06, "step": 16450 }, { "arm_loss_avg": 0.1485532432794571, "epoch": 1.5687942504882813e-06, "step": 16450 }, { "ee_loss_avg": 0.13190606757998466, "epoch": 1.5687942504882813e-06, "step": 16450 }, { "aux_loss_avg": 0.005537980864755809, "epoch": 1.5687942504882813e-06, "step": 16450 }, { "epoch": 1.5687942504882813e-06, "step": 16450, "training_step_time": 17.77781391143799 }, { "epoch": 1.5688896179199219e-06, "model_forward_time": 5.099023342132568, "step": 16451 }, { "epoch": 1.5688896179199219e-06, "step": 16451, "training_step_time": 17.65222454071045 }, { "epoch": 1.5689849853515625e-06, "model_forward_time": 5.288673162460327, "step": 16452 }, { "epoch": 1.5689849853515625e-06, "step": 16452, "training_step_time": 17.418999910354614 }, { "epoch": 1.5690803527832031e-06, "model_forward_time": 5.0979087352752686, "step": 16453 }, { "epoch": 1.5690803527832031e-06, "step": 16453, "training_step_time": 17.52800726890564 }, { "epoch": 1.5691757202148437e-06, "model_forward_time": 5.098095178604126, "step": 16454 }, { "epoch": 1.5691757202148437e-06, "step": 16454, "training_step_time": 17.574995279312134 }, { "epoch": 1.5692710876464843e-06, "model_forward_time": 5.095189332962036, "step": 16455 }, { "epoch": 1.5692710876464843e-06, "step": 16455, "training_step_time": 17.604787588119507 }, { "epoch": 1.569366455078125e-06, "model_forward_time": 5.092703580856323, "step": 16456 }, { "epoch": 1.569366455078125e-06, "step": 16456, "training_step_time": 17.86075496673584 }, { "epoch": 1.5694618225097656e-06, "model_forward_time": 5.344191074371338, "step": 16457 }, { "epoch": 1.5694618225097656e-06, "step": 16457, "training_step_time": 17.66069531440735 }, { "epoch": 1.5695571899414062e-06, "model_forward_time": 5.099948883056641, "step": 16458 }, { "epoch": 1.5695571899414062e-06, "step": 16458, "training_step_time": 17.668625831604004 }, { "epoch": 1.5696525573730468e-06, "model_forward_time": 5.101951360702515, "step": 16459 }, { "epoch": 1.5696525573730468e-06, "step": 16459, "training_step_time": 17.65537405014038 }, { "epoch": 1.5697479248046874e-06, "grad_norm": 2.033057451248169, "learning_rate": 9.091902744074279e-06, "loss": 0.1059, "step": 16460 }, { "epoch": 1.5697479248046874e-06, "model_forward_time": 3.8601815700531006, "step": 16460 }, { "dynamics_loss_avg": 0.03865562081336975, "epoch": 1.5697479248046874e-06, "step": 16460 }, { "action_loss_avg": 0.08846852891147136, "epoch": 1.5697479248046874e-06, "step": 16460 }, { "arm_loss_avg": 0.1865137942135334, "epoch": 1.5697479248046874e-06, "step": 16460 }, { "ee_loss_avg": 0.11705346629023552, "epoch": 1.5697479248046874e-06, "step": 16460 }, { "aux_loss_avg": 0.0008196549431886524, "epoch": 1.5697479248046874e-06, "step": 16460 }, { "epoch": 1.5697479248046874e-06, "step": 16460, "training_step_time": 17.87687039375305 }, { "epoch": 1.569843292236328e-06, "model_forward_time": 3.8312623500823975, "step": 16461 }, { "epoch": 1.569843292236328e-06, "step": 16461, "training_step_time": 17.64078664779663 }, { "epoch": 1.5699386596679689e-06, "model_forward_time": 5.050946474075317, "step": 16462 }, { "epoch": 1.5699386596679689e-06, "step": 16462, "training_step_time": 17.62367534637451 }, { "epoch": 1.5700340270996095e-06, "model_forward_time": 3.8367228507995605, "step": 16463 }, { "epoch": 1.5700340270996095e-06, "step": 16463, "training_step_time": 17.60627770423889 }, { "epoch": 1.57012939453125e-06, "model_forward_time": 5.057142972946167, "step": 16464 }, { "epoch": 1.57012939453125e-06, "step": 16464, "training_step_time": 17.605205059051514 }, { "epoch": 1.5702247619628907e-06, "model_forward_time": 5.083824634552002, "step": 16465 }, { "epoch": 1.5702247619628907e-06, "step": 16465, "training_step_time": 17.83284306526184 }, { "epoch": 1.5703201293945313e-06, "model_forward_time": 3.861266851425171, "step": 16466 }, { "epoch": 1.5703201293945313e-06, "step": 16466, "training_step_time": 17.574084520339966 }, { "epoch": 1.570415496826172e-06, "model_forward_time": 5.08122992515564, "step": 16467 }, { "epoch": 1.570415496826172e-06, "step": 16467, "training_step_time": 17.579225778579712 }, { "epoch": 1.5705108642578125e-06, "model_forward_time": 5.328007221221924, "step": 16468 }, { "epoch": 1.5705108642578125e-06, "step": 16468, "training_step_time": 17.57569432258606 }, { "epoch": 1.5706062316894532e-06, "model_forward_time": 5.105391263961792, "step": 16469 }, { "epoch": 1.5706062316894532e-06, "step": 16469, "training_step_time": 17.59508728981018 }, { "epoch": 1.5707015991210938e-06, "grad_norm": 1.4148765802383423, "learning_rate": 9.090544843890898e-06, "loss": 0.1164, "step": 16470 }, { "epoch": 1.5707015991210938e-06, "model_forward_time": 5.107962131500244, "step": 16470 }, { "dynamics_loss_avg": 0.04417220051400363, "epoch": 1.5707015991210938e-06, "step": 16470 }, { "action_loss_avg": 0.0897762518376112, "epoch": 1.5707015991210938e-06, "step": 16470 }, { "arm_loss_avg": 0.1791490264236927, "epoch": 1.5707015991210938e-06, "step": 16470 }, { "ee_loss_avg": 0.07202259264886379, "epoch": 1.5707015991210938e-06, "step": 16470 }, { "aux_loss_avg": 0.0006872572528664022, "epoch": 1.5707015991210938e-06, "step": 16470 }, { "epoch": 1.5707015991210938e-06, "step": 16470, "training_step_time": 17.79477024078369 }, { "epoch": 1.5707969665527344e-06, "model_forward_time": 5.106242895126343, "step": 16471 }, { "epoch": 1.5707969665527344e-06, "step": 16471, "training_step_time": 17.66644525527954 }, { "epoch": 1.570892333984375e-06, "model_forward_time": 5.098631858825684, "step": 16472 }, { "epoch": 1.570892333984375e-06, "step": 16472, "training_step_time": 17.599584817886353 }, { "epoch": 1.5709877014160156e-06, "model_forward_time": 5.287317991256714, "step": 16473 }, { "epoch": 1.5709877014160156e-06, "step": 16473, "training_step_time": 17.605043172836304 }, { "epoch": 1.5710830688476562e-06, "model_forward_time": 5.093011379241943, "step": 16474 }, { "epoch": 1.5710830688476562e-06, "step": 16474, "training_step_time": 17.617910623550415 }, { "epoch": 1.5711784362792968e-06, "model_forward_time": 5.086154937744141, "step": 16475 }, { "epoch": 1.5711784362792968e-06, "step": 16475, "training_step_time": 17.83346128463745 }, { "epoch": 1.5712738037109375e-06, "model_forward_time": 5.083545207977295, "step": 16476 }, { "epoch": 1.5712738037109375e-06, "step": 16476, "training_step_time": 17.6455979347229 }, { "epoch": 1.571369171142578e-06, "model_forward_time": 5.082422971725464, "step": 16477 }, { "epoch": 1.571369171142578e-06, "step": 16477, "training_step_time": 17.622082948684692 }, { "epoch": 1.5714645385742187e-06, "model_forward_time": 5.083306550979614, "step": 16478 }, { "epoch": 1.5714645385742187e-06, "step": 16478, "training_step_time": 17.414201259613037 }, { "epoch": 1.5715599060058593e-06, "model_forward_time": 5.086574077606201, "step": 16479 }, { "epoch": 1.5715599060058593e-06, "step": 16479, "training_step_time": 17.532116174697876 }, { "epoch": 1.5716552734375e-06, "grad_norm": 1.9913336038589478, "learning_rate": 9.089186030777253e-06, "loss": 0.1177, "step": 16480 }, { "epoch": 1.5716552734375e-06, "model_forward_time": 5.087488412857056, "step": 16480 }, { "dynamics_loss_avg": 0.048674239031970504, "epoch": 1.5716552734375e-06, "step": 16480 }, { "action_loss_avg": 0.09611051455140114, "epoch": 1.5716552734375e-06, "step": 16480 }, { "arm_loss_avg": 0.12138209156692029, "epoch": 1.5716552734375e-06, "step": 16480 }, { "ee_loss_avg": 0.06798983756452799, "epoch": 1.5716552734375e-06, "step": 16480 }, { "aux_loss_avg": 0.0007270180096384138, "epoch": 1.5716552734375e-06, "step": 16480 }, { "epoch": 1.5716552734375e-06, "step": 16480, "training_step_time": 17.781834363937378 }, { "epoch": 1.5717506408691405e-06, "model_forward_time": 5.084876775741577, "step": 16481 }, { "epoch": 1.5717506408691405e-06, "step": 16481, "training_step_time": 17.632502555847168 }, { "epoch": 1.5718460083007814e-06, "model_forward_time": 5.091106414794922, "step": 16482 }, { "epoch": 1.5718460083007814e-06, "step": 16482, "training_step_time": 17.602287530899048 }, { "epoch": 1.571941375732422e-06, "model_forward_time": 5.0868237018585205, "step": 16483 }, { "epoch": 1.571941375732422e-06, "step": 16483, "training_step_time": 17.612634420394897 }, { "epoch": 1.5720367431640626e-06, "model_forward_time": 5.08703351020813, "step": 16484 }, { "epoch": 1.5720367431640626e-06, "step": 16484, "training_step_time": 17.203293800354004 }, { "epoch": 1.5721321105957032e-06, "model_forward_time": 5.0895562171936035, "step": 16485 }, { "epoch": 1.5721321105957032e-06, "step": 16485, "training_step_time": 17.762000560760498 }, { "epoch": 1.5722274780273438e-06, "model_forward_time": 5.0892653465271, "step": 16486 }, { "epoch": 1.5722274780273438e-06, "step": 16486, "training_step_time": 17.56551218032837 }, { "epoch": 1.5723228454589844e-06, "model_forward_time": 3.850756883621216, "step": 16487 }, { "epoch": 1.5723228454589844e-06, "step": 16487, "training_step_time": 17.583510637283325 }, { "epoch": 1.572418212890625e-06, "model_forward_time": 5.287418365478516, "step": 16488 }, { "epoch": 1.572418212890625e-06, "step": 16488, "training_step_time": 17.600494384765625 }, { "epoch": 1.5725135803222657e-06, "model_forward_time": 5.068863868713379, "step": 16489 }, { "epoch": 1.5725135803222657e-06, "step": 16489, "training_step_time": 17.602274179458618 }, { "epoch": 1.5726089477539063e-06, "grad_norm": 1.3075515031814575, "learning_rate": 9.087826305036604e-06, "loss": 0.1032, "step": 16490 }, { "epoch": 1.5726089477539063e-06, "model_forward_time": 5.07236647605896, "step": 16490 }, { "dynamics_loss_avg": 0.03302639359608293, "epoch": 1.5726089477539063e-06, "step": 16490 }, { "action_loss_avg": 0.06270169056951999, "epoch": 1.5726089477539063e-06, "step": 16490 }, { "arm_loss_avg": 0.15564804822206496, "epoch": 1.5726089477539063e-06, "step": 16490 }, { "ee_loss_avg": 0.05442127324640751, "epoch": 1.5726089477539063e-06, "step": 16490 }, { "aux_loss_avg": 0.0009423319424968213, "epoch": 1.5726089477539063e-06, "step": 16490 }, { "epoch": 1.5726089477539063e-06, "step": 16490, "training_step_time": 17.79588770866394 }, { "epoch": 1.5727043151855469e-06, "model_forward_time": 5.079020023345947, "step": 16491 }, { "epoch": 1.5727043151855469e-06, "step": 16491, "training_step_time": 17.639461278915405 }, { "epoch": 1.5727996826171875e-06, "model_forward_time": 3.8529884815216064, "step": 16492 }, { "epoch": 1.5727996826171875e-06, "step": 16492, "training_step_time": 17.59369707107544 }, { "epoch": 1.5728950500488281e-06, "model_forward_time": 5.2439563274383545, "step": 16493 }, { "epoch": 1.5728950500488281e-06, "step": 16493, "training_step_time": 17.593048572540283 }, { "epoch": 1.5729904174804687e-06, "model_forward_time": 3.8463706970214844, "step": 16494 }, { "epoch": 1.5729904174804687e-06, "step": 16494, "training_step_time": 17.576475620269775 }, { "epoch": 1.5730857849121093e-06, "model_forward_time": 5.061992645263672, "step": 16495 }, { "epoch": 1.5730857849121093e-06, "step": 16495, "training_step_time": 17.80030870437622 }, { "epoch": 1.57318115234375e-06, "model_forward_time": 5.090507745742798, "step": 16496 }, { "epoch": 1.57318115234375e-06, "step": 16496, "training_step_time": 17.643594980239868 }, { "epoch": 1.5732765197753906e-06, "model_forward_time": 5.109122037887573, "step": 16497 }, { "epoch": 1.5732765197753906e-06, "step": 16497, "training_step_time": 17.59075403213501 }, { "epoch": 1.5733718872070312e-06, "model_forward_time": 5.351108551025391, "step": 16498 }, { "epoch": 1.5733718872070312e-06, "step": 16498, "training_step_time": 17.5852952003479 }, { "epoch": 1.5734672546386718e-06, "model_forward_time": 5.1180126667022705, "step": 16499 }, { "epoch": 1.5734672546386718e-06, "step": 16499, "training_step_time": 17.578121662139893 }, { "epoch": 1.5735626220703124e-06, "grad_norm": 1.506238341331482, "learning_rate": 9.086465666972416e-06, "loss": 0.103, "step": 16500 }, { "epoch": 1.5735626220703124e-06, "model_forward_time": 5.106372833251953, "step": 16500 }, { "dynamics_loss_avg": 0.037018234562128785, "epoch": 1.5735626220703124e-06, "step": 16500 }, { "action_loss_avg": 0.09312848765403033, "epoch": 1.5735626220703124e-06, "step": 16500 }, { "arm_loss_avg": 0.13318224772810935, "epoch": 1.5735626220703124e-06, "step": 16500 }, { "ee_loss_avg": 0.06516927517950535, "epoch": 1.5735626220703124e-06, "step": 16500 }, { "aux_loss_avg": 0.0007725354720605537, "epoch": 1.5735626220703124e-06, "step": 16500 }, { "epoch": 1.5735626220703124e-06, "step": 16500, "training_step_time": 17.763898849487305 }, { "epoch": 1.573657989501953e-06, "model_forward_time": 5.09930419921875, "step": 16501 }, { "epoch": 1.573657989501953e-06, "step": 16501, "training_step_time": 17.587348222732544 }, { "epoch": 1.5737533569335936e-06, "model_forward_time": 5.0960516929626465, "step": 16502 }, { "epoch": 1.5737533569335936e-06, "step": 16502, "training_step_time": 17.59057927131653 }, { "epoch": 1.5738487243652345e-06, "model_forward_time": 4.092589855194092, "step": 16503 }, { "epoch": 1.5738487243652345e-06, "step": 16503, "training_step_time": 17.562164783477783 }, { "epoch": 1.573944091796875e-06, "model_forward_time": 5.063332557678223, "step": 16504 }, { "epoch": 1.573944091796875e-06, "step": 16504, "training_step_time": 17.579477548599243 }, { "epoch": 1.5740394592285157e-06, "model_forward_time": 5.067709684371948, "step": 16505 }, { "epoch": 1.5740394592285157e-06, "step": 16505, "training_step_time": 17.816998958587646 }, { "epoch": 1.5741348266601563e-06, "model_forward_time": 5.074490785598755, "step": 16506 }, { "epoch": 1.5741348266601563e-06, "step": 16506, "training_step_time": 17.579890727996826 }, { "epoch": 1.574230194091797e-06, "model_forward_time": 3.847503185272217, "step": 16507 }, { "epoch": 1.574230194091797e-06, "step": 16507, "training_step_time": 17.572452545166016 }, { "epoch": 1.5743255615234375e-06, "model_forward_time": 5.291322231292725, "step": 16508 }, { "epoch": 1.5743255615234375e-06, "step": 16508, "training_step_time": 17.58199453353882 }, { "epoch": 1.5744209289550782e-06, "model_forward_time": 5.079997301101685, "step": 16509 }, { "epoch": 1.5744209289550782e-06, "step": 16509, "training_step_time": 17.577417612075806 }, { "epoch": 1.5745162963867188e-06, "grad_norm": 1.293906807899475, "learning_rate": 9.085104116888354e-06, "loss": 0.0926, "step": 16510 }, { "epoch": 1.5745162963867188e-06, "model_forward_time": 5.093289136886597, "step": 16510 }, { "dynamics_loss_avg": 0.042172540072351695, "epoch": 1.5745162963867188e-06, "step": 16510 }, { "action_loss_avg": 0.08333519734442234, "epoch": 1.5745162963867188e-06, "step": 16510 }, { "arm_loss_avg": 0.13506515510380268, "epoch": 1.5745162963867188e-06, "step": 16510 }, { "ee_loss_avg": 0.06552541311830282, "epoch": 1.5745162963867188e-06, "step": 16510 }, { "aux_loss_avg": 0.0008574464358389377, "epoch": 1.5745162963867188e-06, "step": 16510 }, { "epoch": 1.5745162963867188e-06, "step": 16510, "training_step_time": 17.7757728099823 }, { "epoch": 1.5746116638183594e-06, "model_forward_time": 5.096936225891113, "step": 16511 }, { "epoch": 1.5746116638183594e-06, "step": 16511, "training_step_time": 17.64036226272583 }, { "epoch": 1.57470703125e-06, "model_forward_time": 5.101150274276733, "step": 16512 }, { "epoch": 1.57470703125e-06, "step": 16512, "training_step_time": 17.404633045196533 }, { "epoch": 1.5748023986816406e-06, "model_forward_time": 5.29065728187561, "step": 16513 }, { "epoch": 1.5748023986816406e-06, "step": 16513, "training_step_time": 17.505582571029663 }, { "epoch": 1.5748977661132812e-06, "model_forward_time": 5.102304458618164, "step": 16514 }, { "epoch": 1.5748977661132812e-06, "step": 16514, "training_step_time": 17.406461000442505 }, { "epoch": 1.5749931335449218e-06, "model_forward_time": 5.099519968032837, "step": 16515 }, { "epoch": 1.5749931335449218e-06, "step": 16515, "training_step_time": 17.4875168800354 }, { "epoch": 1.5750885009765625e-06, "model_forward_time": 5.099994897842407, "step": 16516 }, { "epoch": 1.5750885009765625e-06, "step": 16516, "training_step_time": 17.77835202217102 }, { "epoch": 1.575183868408203e-06, "model_forward_time": 5.089586973190308, "step": 16517 }, { "epoch": 1.575183868408203e-06, "step": 16517, "training_step_time": 17.589174032211304 }, { "epoch": 1.5752792358398437e-06, "model_forward_time": 5.334362506866455, "step": 16518 }, { "epoch": 1.5752792358398437e-06, "step": 16518, "training_step_time": 17.62093734741211 }, { "epoch": 1.5753746032714843e-06, "model_forward_time": 5.08153772354126, "step": 16519 }, { "epoch": 1.5753746032714843e-06, "step": 16519, "training_step_time": 17.403398513793945 }, { "epoch": 1.575469970703125e-06, "grad_norm": 2.010739326477051, "learning_rate": 9.083741655088293e-06, "loss": 0.0938, "step": 16520 }, { "epoch": 1.575469970703125e-06, "model_forward_time": 5.087907314300537, "step": 16520 }, { "dynamics_loss_avg": 0.03463949412107468, "epoch": 1.575469970703125e-06, "step": 16520 }, { "action_loss_avg": 0.06071191821247339, "epoch": 1.575469970703125e-06, "step": 16520 }, { "arm_loss_avg": 0.1429596483707428, "epoch": 1.575469970703125e-06, "step": 16520 }, { "ee_loss_avg": 0.07157060140743851, "epoch": 1.575469970703125e-06, "step": 16520 }, { "aux_loss_avg": 0.0012229687825310975, "epoch": 1.575469970703125e-06, "step": 16520 }, { "epoch": 1.575469970703125e-06, "step": 16520, "training_step_time": 17.563291311264038 }, { "epoch": 1.5755653381347655e-06, "model_forward_time": 5.083320617675781, "step": 16521 }, { "epoch": 1.5755653381347655e-06, "step": 16521, "training_step_time": 17.630906105041504 }, { "epoch": 1.5756607055664061e-06, "model_forward_time": 5.0838782787323, "step": 16522 }, { "epoch": 1.5756607055664061e-06, "step": 16522, "training_step_time": 17.522389888763428 }, { "epoch": 1.575756072998047e-06, "model_forward_time": 5.294157266616821, "step": 16523 }, { "epoch": 1.575756072998047e-06, "step": 16523, "training_step_time": 17.569894313812256 }, { "epoch": 1.5758514404296876e-06, "model_forward_time": 5.090945482254028, "step": 16524 }, { "epoch": 1.5758514404296876e-06, "step": 16524, "training_step_time": 17.60993790626526 }, { "epoch": 1.5759468078613282e-06, "model_forward_time": 3.8511157035827637, "step": 16525 }, { "epoch": 1.5759468078613282e-06, "step": 16525, "training_step_time": 17.623878717422485 }, { "epoch": 1.5760421752929688e-06, "model_forward_time": 5.059029579162598, "step": 16526 }, { "epoch": 1.5760421752929688e-06, "step": 16526, "training_step_time": 17.86310887336731 }, { "epoch": 1.5761375427246094e-06, "model_forward_time": 5.067873239517212, "step": 16527 }, { "epoch": 1.5761375427246094e-06, "step": 16527, "training_step_time": 17.630982875823975 }, { "epoch": 1.57623291015625e-06, "model_forward_time": 5.320878028869629, "step": 16528 }, { "epoch": 1.57623291015625e-06, "step": 16528, "training_step_time": 17.61792302131653 }, { "epoch": 1.5763282775878907e-06, "model_forward_time": 5.093627214431763, "step": 16529 }, { "epoch": 1.5763282775878907e-06, "step": 16529, "training_step_time": 17.619953870773315 }, { "epoch": 1.5764236450195313e-06, "grad_norm": 1.2826443910598755, "learning_rate": 9.082378281876308e-06, "loss": 0.1118, "step": 16530 }, { "epoch": 1.5764236450195313e-06, "model_forward_time": 3.862217426300049, "step": 16530 }, { "dynamics_loss_avg": 0.04886914510279894, "epoch": 1.5764236450195313e-06, "step": 16530 }, { "action_loss_avg": 0.07243179827928543, "epoch": 1.5764236450195313e-06, "step": 16530 }, { "arm_loss_avg": 0.11910140812397003, "epoch": 1.5764236450195313e-06, "step": 16530 }, { "ee_loss_avg": 0.09403048902750015, "epoch": 1.5764236450195313e-06, "step": 16530 }, { "aux_loss_avg": 0.005130624718731269, "epoch": 1.5764236450195313e-06, "step": 16530 }, { "epoch": 1.5764236450195313e-06, "step": 16530, "training_step_time": 17.60709500312805 }, { "epoch": 1.5765190124511719e-06, "model_forward_time": 5.067894220352173, "step": 16531 }, { "epoch": 1.5765190124511719e-06, "step": 16531, "training_step_time": 17.784183502197266 }, { "epoch": 1.5766143798828125e-06, "model_forward_time": 5.084403038024902, "step": 16532 }, { "epoch": 1.5766143798828125e-06, "step": 16532, "training_step_time": 17.678265810012817 }, { "epoch": 1.5767097473144531e-06, "model_forward_time": 5.278650522232056, "step": 16533 }, { "epoch": 1.5767097473144531e-06, "step": 16533, "training_step_time": 17.590142250061035 }, { "epoch": 1.5768051147460937e-06, "model_forward_time": 5.104734182357788, "step": 16534 }, { "epoch": 1.5768051147460937e-06, "step": 16534, "training_step_time": 17.59501600265503 }, { "epoch": 1.5769004821777343e-06, "model_forward_time": 5.104629993438721, "step": 16535 }, { "epoch": 1.5769004821777343e-06, "step": 16535, "training_step_time": 17.595930814743042 }, { "epoch": 1.576995849609375e-06, "model_forward_time": 5.1056318283081055, "step": 16536 }, { "epoch": 1.576995849609375e-06, "step": 16536, "training_step_time": 17.83181118965149 }, { "epoch": 1.5770912170410156e-06, "model_forward_time": 5.099710464477539, "step": 16537 }, { "epoch": 1.5770912170410156e-06, "step": 16537, "training_step_time": 17.608762502670288 }, { "epoch": 1.5771865844726562e-06, "model_forward_time": 5.096055507659912, "step": 16538 }, { "epoch": 1.5771865844726562e-06, "step": 16538, "training_step_time": 17.527058601379395 }, { "epoch": 1.5772819519042968e-06, "model_forward_time": 5.095123529434204, "step": 16539 }, { "epoch": 1.5772819519042968e-06, "step": 16539, "training_step_time": 17.566258668899536 }, { "epoch": 1.5773773193359374e-06, "grad_norm": 1.4258813858032227, "learning_rate": 9.081013997556674e-06, "loss": 0.1031, "step": 16540 }, { "epoch": 1.5773773193359374e-06, "model_forward_time": 5.090883255004883, "step": 16540 }, { "dynamics_loss_avg": 0.04679509103298187, "epoch": 1.5773773193359374e-06, "step": 16540 }, { "action_loss_avg": 0.07126751188188792, "epoch": 1.5773773193359374e-06, "step": 16540 }, { "arm_loss_avg": 0.1411345787346363, "epoch": 1.5773773193359374e-06, "step": 16540 }, { "ee_loss_avg": 0.07737124525010586, "epoch": 1.5773773193359374e-06, "step": 16540 }, { "aux_loss_avg": 0.011854819097789005, "epoch": 1.5773773193359374e-06, "step": 16540 }, { "epoch": 1.5773773193359374e-06, "step": 16540, "training_step_time": 17.584885835647583 }, { "epoch": 1.577472686767578e-06, "model_forward_time": 5.088984727859497, "step": 16541 }, { "epoch": 1.577472686767578e-06, "step": 16541, "training_step_time": 17.794423580169678 }, { "epoch": 1.5775680541992186e-06, "model_forward_time": 5.087490558624268, "step": 16542 }, { "epoch": 1.5775680541992186e-06, "step": 16542, "training_step_time": 17.61710548400879 }, { "epoch": 1.5776634216308595e-06, "model_forward_time": 5.081298351287842, "step": 16543 }, { "epoch": 1.5776634216308595e-06, "step": 16543, "training_step_time": 17.63429021835327 }, { "epoch": 1.5777587890625e-06, "model_forward_time": 5.082590341567993, "step": 16544 }, { "epoch": 1.5777587890625e-06, "step": 16544, "training_step_time": 17.6257381439209 }, { "epoch": 1.5778541564941407e-06, "model_forward_time": 5.082321405410767, "step": 16545 }, { "epoch": 1.5778541564941407e-06, "step": 16545, "training_step_time": 17.62151074409485 }, { "epoch": 1.5779495239257813e-06, "model_forward_time": 5.084406614303589, "step": 16546 }, { "epoch": 1.5779495239257813e-06, "step": 16546, "training_step_time": 17.867483615875244 }, { "epoch": 1.578044891357422e-06, "model_forward_time": 3.846989393234253, "step": 16547 }, { "epoch": 1.578044891357422e-06, "step": 16547, "training_step_time": 17.325774669647217 }, { "epoch": 1.5781402587890625e-06, "model_forward_time": 5.2891526222229, "step": 16548 }, { "epoch": 1.5781402587890625e-06, "step": 16548, "training_step_time": 17.36361861228943 }, { "epoch": 1.5782356262207032e-06, "model_forward_time": 3.8435215950012207, "step": 16549 }, { "epoch": 1.5782356262207032e-06, "step": 16549, "training_step_time": 17.47144627571106 }, { "epoch": 1.5783309936523438e-06, "grad_norm": 2.124241590499878, "learning_rate": 9.079648802433876e-06, "loss": 0.1013, "step": 16550 }, { "epoch": 1.5783309936523438e-06, "model_forward_time": 5.062560319900513, "step": 16550 }, { "dynamics_loss_avg": 0.05403430499136448, "epoch": 1.5783309936523438e-06, "step": 16550 }, { "action_loss_avg": 0.08283227235078812, "epoch": 1.5783309936523438e-06, "step": 16550 }, { "arm_loss_avg": 0.14673859477043152, "epoch": 1.5783309936523438e-06, "step": 16550 }, { "ee_loss_avg": 0.06366957761347294, "epoch": 1.5783309936523438e-06, "step": 16550 }, { "aux_loss_avg": 0.0013549801311455666, "epoch": 1.5783309936523438e-06, "step": 16550 }, { "epoch": 1.5783309936523438e-06, "step": 16550, "training_step_time": 17.52400827407837 }, { "epoch": 1.5784263610839844e-06, "model_forward_time": 3.843262195587158, "step": 16551 }, { "epoch": 1.5784263610839844e-06, "step": 16551, "training_step_time": 17.754916191101074 }, { "epoch": 1.578521728515625e-06, "model_forward_time": 5.05637001991272, "step": 16552 }, { "epoch": 1.578521728515625e-06, "step": 16552, "training_step_time": 17.63979744911194 }, { "epoch": 1.5786170959472656e-06, "model_forward_time": 5.2661192417144775, "step": 16553 }, { "epoch": 1.5786170959472656e-06, "step": 16553, "training_step_time": 17.408408403396606 }, { "epoch": 1.5787124633789062e-06, "model_forward_time": 5.1027257442474365, "step": 16554 }, { "epoch": 1.5787124633789062e-06, "step": 16554, "training_step_time": 17.55735468864441 }, { "epoch": 1.5788078308105468e-06, "model_forward_time": 5.119761228561401, "step": 16555 }, { "epoch": 1.5788078308105468e-06, "step": 16555, "training_step_time": 17.589834213256836 }, { "epoch": 1.5789031982421875e-06, "model_forward_time": 3.869187831878662, "step": 16556 }, { "epoch": 1.5789031982421875e-06, "step": 16556, "training_step_time": 17.850643396377563 }, { "epoch": 1.578998565673828e-06, "model_forward_time": 5.070700645446777, "step": 16557 }, { "epoch": 1.578998565673828e-06, "step": 16557, "training_step_time": 17.634106159210205 }, { "epoch": 1.5790939331054687e-06, "model_forward_time": 5.312637805938721, "step": 16558 }, { "epoch": 1.5790939331054687e-06, "step": 16558, "training_step_time": 17.638350009918213 }, { "epoch": 1.5791893005371093e-06, "model_forward_time": 5.082243204116821, "step": 16559 }, { "epoch": 1.5791893005371093e-06, "step": 16559, "training_step_time": 17.632973432540894 }, { "epoch": 1.57928466796875e-06, "grad_norm": 1.0190112590789795, "learning_rate": 9.078282696812598e-06, "loss": 0.1055, "step": 16560 }, { "epoch": 1.57928466796875e-06, "model_forward_time": 5.091997146606445, "step": 16560 }, { "dynamics_loss_avg": 0.04901697281748056, "epoch": 1.57928466796875e-06, "step": 16560 }, { "action_loss_avg": 0.0903022650629282, "epoch": 1.57928466796875e-06, "step": 16560 }, { "arm_loss_avg": 0.15632724314928054, "epoch": 1.57928466796875e-06, "step": 16560 }, { "ee_loss_avg": 0.09503494105301798, "epoch": 1.57928466796875e-06, "step": 16560 }, { "aux_loss_avg": 0.0009000912483315915, "epoch": 1.57928466796875e-06, "step": 16560 }, { "epoch": 1.57928466796875e-06, "step": 16560, "training_step_time": 17.629732131958008 }, { "epoch": 1.5793800354003905e-06, "model_forward_time": 5.0889246463775635, "step": 16561 }, { "epoch": 1.5793800354003905e-06, "step": 16561, "training_step_time": 17.807215452194214 }, { "epoch": 1.5794754028320311e-06, "model_forward_time": 5.0897910594940186, "step": 16562 }, { "epoch": 1.5794754028320311e-06, "step": 16562, "training_step_time": 17.613767385482788 }, { "epoch": 1.579570770263672e-06, "model_forward_time": 4.088818311691284, "step": 16563 }, { "epoch": 1.579570770263672e-06, "step": 16563, "training_step_time": 17.59847640991211 }, { "epoch": 1.5796661376953126e-06, "model_forward_time": 5.062854528427124, "step": 16564 }, { "epoch": 1.5796661376953126e-06, "step": 16564, "training_step_time": 17.596862316131592 }, { "epoch": 1.5797615051269532e-06, "model_forward_time": 3.839298963546753, "step": 16565 }, { "epoch": 1.5797615051269532e-06, "step": 16565, "training_step_time": 17.57234287261963 }, { "epoch": 1.5798568725585938e-06, "model_forward_time": 5.060056447982788, "step": 16566 }, { "epoch": 1.5798568725585938e-06, "step": 16566, "training_step_time": 17.79848289489746 }, { "epoch": 1.5799522399902344e-06, "model_forward_time": 5.067031383514404, "step": 16567 }, { "epoch": 1.5799522399902344e-06, "step": 16567, "training_step_time": 17.554891347885132 }, { "epoch": 1.580047607421875e-06, "model_forward_time": 5.3249125480651855, "step": 16568 }, { "epoch": 1.580047607421875e-06, "step": 16568, "training_step_time": 17.52715802192688 }, { "epoch": 1.5801429748535157e-06, "model_forward_time": 5.096195697784424, "step": 16569 }, { "epoch": 1.5801429748535157e-06, "step": 16569, "training_step_time": 17.242690801620483 }, { "epoch": 1.5802383422851563e-06, "grad_norm": 1.2061221599578857, "learning_rate": 9.076915680997727e-06, "loss": 0.0914, "step": 16570 }, { "epoch": 1.5802383422851563e-06, "model_forward_time": 3.8658056259155273, "step": 16570 }, { "dynamics_loss_avg": 0.04249233789741993, "epoch": 1.5802383422851563e-06, "step": 16570 }, { "action_loss_avg": 0.06942963674664497, "epoch": 1.5802383422851563e-06, "step": 16570 }, { "arm_loss_avg": 0.12169631160795688, "epoch": 1.5802383422851563e-06, "step": 16570 }, { "ee_loss_avg": 0.09948288998566568, "epoch": 1.5802383422851563e-06, "step": 16570 }, { "aux_loss_avg": 0.0018559323274530471, "epoch": 1.5802383422851563e-06, "step": 16570 }, { "epoch": 1.5802383422851563e-06, "step": 16570, "training_step_time": 17.46656322479248 }, { "epoch": 1.5803337097167969e-06, "model_forward_time": 5.073406934738159, "step": 16571 }, { "epoch": 1.5803337097167969e-06, "step": 16571, "training_step_time": 17.715450525283813 }, { "epoch": 1.5804290771484375e-06, "model_forward_time": 5.07944655418396, "step": 16572 }, { "epoch": 1.5804290771484375e-06, "step": 16572, "training_step_time": 17.546595811843872 }, { "epoch": 1.5805244445800781e-06, "model_forward_time": 5.085840702056885, "step": 16573 }, { "epoch": 1.5805244445800781e-06, "step": 16573, "training_step_time": 17.563664436340332 }, { "epoch": 1.5806198120117187e-06, "model_forward_time": 5.096575975418091, "step": 16574 }, { "epoch": 1.5806198120117187e-06, "step": 16574, "training_step_time": 17.57577157020569 }, { "epoch": 1.5807151794433593e-06, "model_forward_time": 5.095122575759888, "step": 16575 }, { "epoch": 1.5807151794433593e-06, "step": 16575, "training_step_time": 17.59253478050232 }, { "epoch": 1.580810546875e-06, "model_forward_time": 5.094051837921143, "step": 16576 }, { "epoch": 1.580810546875e-06, "step": 16576, "training_step_time": 17.847891330718994 }, { "epoch": 1.5809059143066406e-06, "model_forward_time": 5.0924742221832275, "step": 16577 }, { "epoch": 1.5809059143066406e-06, "step": 16577, "training_step_time": 17.599612712860107 }, { "epoch": 1.5810012817382812e-06, "model_forward_time": 5.348098039627075, "step": 16578 }, { "epoch": 1.5810012817382812e-06, "step": 16578, "training_step_time": 17.607921361923218 }, { "epoch": 1.5810966491699218e-06, "model_forward_time": 5.089345216751099, "step": 16579 }, { "epoch": 1.5810966491699218e-06, "step": 16579, "training_step_time": 17.599990844726562 }, { "epoch": 1.5811920166015624e-06, "grad_norm": 1.7398617267608643, "learning_rate": 9.075547755294358e-06, "loss": 0.1071, "step": 16580 }, { "epoch": 1.5811920166015624e-06, "model_forward_time": 3.8597769737243652, "step": 16580 }, { "dynamics_loss_avg": 0.047823045682162044, "epoch": 1.5811920166015624e-06, "step": 16580 }, { "action_loss_avg": 0.10074329897761344, "epoch": 1.5811920166015624e-06, "step": 16580 }, { "arm_loss_avg": 0.12390156984329223, "epoch": 1.5811920166015624e-06, "step": 16580 }, { "ee_loss_avg": 0.09420797154307366, "epoch": 1.5811920166015624e-06, "step": 16580 }, { "aux_loss_avg": 0.0016543093312066048, "epoch": 1.5811920166015624e-06, "step": 16580 }, { "epoch": 1.5811920166015624e-06, "step": 16580, "training_step_time": 17.60060691833496 }, { "epoch": 1.581287384033203e-06, "model_forward_time": 5.062157154083252, "step": 16581 }, { "epoch": 1.581287384033203e-06, "step": 16581, "training_step_time": 17.322962522506714 }, { "epoch": 1.5813827514648437e-06, "model_forward_time": 5.075397968292236, "step": 16582 }, { "epoch": 1.5813827514648437e-06, "step": 16582, "training_step_time": 17.714288473129272 }, { "epoch": 1.5814781188964845e-06, "model_forward_time": 5.082329988479614, "step": 16583 }, { "epoch": 1.5814781188964845e-06, "step": 16583, "training_step_time": 17.549332857131958 }, { "epoch": 1.581573486328125e-06, "model_forward_time": 5.3210554122924805, "step": 16584 }, { "epoch": 1.581573486328125e-06, "step": 16584, "training_step_time": 17.57460117340088 }, { "epoch": 1.5816688537597657e-06, "model_forward_time": 3.859795570373535, "step": 16585 }, { "epoch": 1.5816688537597657e-06, "step": 16585, "training_step_time": 17.58360004425049 }, { "epoch": 1.5817642211914063e-06, "model_forward_time": 5.065487861633301, "step": 16586 }, { "epoch": 1.5817642211914063e-06, "step": 16586, "training_step_time": 17.810256719589233 }, { "epoch": 1.581859588623047e-06, "model_forward_time": 5.079406499862671, "step": 16587 }, { "epoch": 1.581859588623047e-06, "step": 16587, "training_step_time": 17.60592532157898 }, { "epoch": 1.5819549560546875e-06, "model_forward_time": 5.0890586376190186, "step": 16588 }, { "epoch": 1.5819549560546875e-06, "step": 16588, "training_step_time": 17.621140956878662 }, { "epoch": 1.5820503234863282e-06, "model_forward_time": 5.337328910827637, "step": 16589 }, { "epoch": 1.5820503234863282e-06, "step": 16589, "training_step_time": 17.61013674736023 }, { "epoch": 1.5821456909179688e-06, "grad_norm": 1.4783765077590942, "learning_rate": 9.074178920007783e-06, "loss": 0.1124, "step": 16590 }, { "epoch": 1.5821456909179688e-06, "model_forward_time": 5.10175347328186, "step": 16590 }, { "dynamics_loss_avg": 0.04643634203821421, "epoch": 1.5821456909179688e-06, "step": 16590 }, { "action_loss_avg": 0.06955688688904046, "epoch": 1.5821456909179688e-06, "step": 16590 }, { "arm_loss_avg": 0.10745917297899724, "epoch": 1.5821456909179688e-06, "step": 16590 }, { "ee_loss_avg": 0.08705042703077197, "epoch": 1.5821456909179688e-06, "step": 16590 }, { "aux_loss_avg": 0.0017777881992515176, "epoch": 1.5821456909179688e-06, "step": 16590 }, { "epoch": 1.5821456909179688e-06, "step": 16590, "training_step_time": 17.40083885192871 }, { "epoch": 1.5822410583496094e-06, "model_forward_time": 5.104288339614868, "step": 16591 }, { "epoch": 1.5822410583496094e-06, "step": 16591, "training_step_time": 17.75082278251648 }, { "epoch": 1.58233642578125e-06, "model_forward_time": 5.101189613342285, "step": 16592 }, { "epoch": 1.58233642578125e-06, "step": 16592, "training_step_time": 17.57097554206848 }, { "epoch": 1.5824317932128906e-06, "model_forward_time": 5.096616744995117, "step": 16593 }, { "epoch": 1.5824317932128906e-06, "step": 16593, "training_step_time": 17.5750150680542 }, { "epoch": 1.5825271606445312e-06, "model_forward_time": 5.093164443969727, "step": 16594 }, { "epoch": 1.5825271606445312e-06, "step": 16594, "training_step_time": 17.596017837524414 }, { "epoch": 1.5826225280761719e-06, "model_forward_time": 5.0881125926971436, "step": 16595 }, { "epoch": 1.5826225280761719e-06, "step": 16595, "training_step_time": 17.6110258102417 }, { "epoch": 1.5827178955078125e-06, "model_forward_time": 5.088205575942993, "step": 16596 }, { "epoch": 1.5827178955078125e-06, "step": 16596, "training_step_time": 17.863046169281006 }, { "epoch": 1.582813262939453e-06, "model_forward_time": 5.08182954788208, "step": 16597 }, { "epoch": 1.582813262939453e-06, "step": 16597, "training_step_time": 17.61137628555298 }, { "epoch": 1.5829086303710937e-06, "model_forward_time": 5.329832315444946, "step": 16598 }, { "epoch": 1.5829086303710937e-06, "step": 16598, "training_step_time": 17.615435123443604 }, { "epoch": 1.5830039978027343e-06, "model_forward_time": 5.0859375, "step": 16599 }, { "epoch": 1.5830039978027343e-06, "step": 16599, "training_step_time": 17.60445523262024 }, { "epoch": 1.583099365234375e-06, "grad_norm": 1.3554458618164062, "learning_rate": 9.0728091754435e-06, "loss": 0.0895, "step": 16600 }, { "epoch": 1.583099365234375e-06, "model_forward_time": 5.085672378540039, "step": 16600 }, { "dynamics_loss_avg": 0.048759926948696374, "epoch": 1.583099365234375e-06, "step": 16600 }, { "action_loss_avg": 0.061883687227964404, "epoch": 1.583099365234375e-06, "step": 16600 }, { "arm_loss_avg": 0.10661815628409385, "epoch": 1.583099365234375e-06, "step": 16600 }, { "ee_loss_avg": 0.04542978210374713, "epoch": 1.583099365234375e-06, "step": 16600 }, { "aux_loss_avg": 0.00069798260810785, "epoch": 1.583099365234375e-06, "step": 16600 }, { "epoch": 1.583099365234375e-06, "step": 16600, "training_step_time": 17.601995944976807 }, { "epoch": 1.5831947326660155e-06, "model_forward_time": 5.086641311645508, "step": 16601 }, { "epoch": 1.5831947326660155e-06, "step": 16601, "training_step_time": 17.803070783615112 }, { "epoch": 1.5832901000976562e-06, "model_forward_time": 5.08868932723999, "step": 16602 }, { "epoch": 1.5832901000976562e-06, "step": 16602, "training_step_time": 17.590632915496826 }, { "epoch": 1.583385467529297e-06, "model_forward_time": 5.294346332550049, "step": 16603 }, { "epoch": 1.583385467529297e-06, "step": 16603, "training_step_time": 17.580278635025024 }, { "epoch": 1.5834808349609376e-06, "model_forward_time": 5.0926899909973145, "step": 16604 }, { "epoch": 1.5834808349609376e-06, "step": 16604, "training_step_time": 17.586124420166016 }, { "epoch": 1.5835762023925782e-06, "model_forward_time": 5.09359884262085, "step": 16605 }, { "epoch": 1.5835762023925782e-06, "step": 16605, "training_step_time": 17.58972978591919 }, { "epoch": 1.5836715698242188e-06, "model_forward_time": 5.089727401733398, "step": 16606 }, { "epoch": 1.5836715698242188e-06, "step": 16606, "training_step_time": 17.825855016708374 }, { "epoch": 1.5837669372558594e-06, "model_forward_time": 5.0887768268585205, "step": 16607 }, { "epoch": 1.5837669372558594e-06, "step": 16607, "training_step_time": 17.578299283981323 }, { "epoch": 1.5838623046875e-06, "model_forward_time": 5.089038848876953, "step": 16608 }, { "epoch": 1.5838623046875e-06, "step": 16608, "training_step_time": 17.58388352394104 }, { "epoch": 1.5839576721191407e-06, "model_forward_time": 5.0929296016693115, "step": 16609 }, { "epoch": 1.5839576721191407e-06, "step": 16609, "training_step_time": 17.581740379333496 }, { "epoch": 1.5840530395507813e-06, "grad_norm": 0.8689093589782715, "learning_rate": 9.071438521907207e-06, "loss": 0.0839, "step": 16610 }, { "epoch": 1.5840530395507813e-06, "model_forward_time": 3.8561689853668213, "step": 16610 }, { "dynamics_loss_avg": 0.039952213689684865, "epoch": 1.5840530395507813e-06, "step": 16610 }, { "action_loss_avg": 0.07527958936989307, "epoch": 1.5840530395507813e-06, "step": 16610 }, { "arm_loss_avg": 0.13766966201364994, "epoch": 1.5840530395507813e-06, "step": 16610 }, { "ee_loss_avg": 0.0685393214225769, "epoch": 1.5840530395507813e-06, "step": 16610 }, { "aux_loss_avg": 0.001975840632803738, "epoch": 1.5840530395507813e-06, "step": 16610 }, { "epoch": 1.5840530395507813e-06, "step": 16610, "training_step_time": 17.569474697113037 }, { "epoch": 1.584148406982422e-06, "model_forward_time": 5.060222148895264, "step": 16611 }, { "epoch": 1.584148406982422e-06, "step": 16611, "training_step_time": 17.776453733444214 }, { "epoch": 1.5842437744140625e-06, "model_forward_time": 5.070535182952881, "step": 16612 }, { "epoch": 1.5842437744140625e-06, "step": 16612, "training_step_time": 17.451266288757324 }, { "epoch": 1.5843391418457031e-06, "model_forward_time": 5.077123165130615, "step": 16613 }, { "epoch": 1.5843391418457031e-06, "step": 16613, "training_step_time": 17.480592727661133 }, { "epoch": 1.5844345092773437e-06, "model_forward_time": 5.092854976654053, "step": 16614 }, { "epoch": 1.5844345092773437e-06, "step": 16614, "training_step_time": 17.540046215057373 }, { "epoch": 1.5845298767089844e-06, "model_forward_time": 5.09163236618042, "step": 16615 }, { "epoch": 1.5845298767089844e-06, "step": 16615, "training_step_time": 17.566888093948364 }, { "epoch": 1.584625244140625e-06, "model_forward_time": 5.099856376647949, "step": 16616 }, { "epoch": 1.584625244140625e-06, "step": 16616, "training_step_time": 17.625776767730713 }, { "epoch": 1.5847206115722656e-06, "model_forward_time": 5.112525224685669, "step": 16617 }, { "epoch": 1.5847206115722656e-06, "step": 16617, "training_step_time": 17.90628218650818 }, { "epoch": 1.5848159790039062e-06, "model_forward_time": 5.3742029666900635, "step": 16618 }, { "epoch": 1.5848159790039062e-06, "step": 16618, "training_step_time": 17.644623041152954 }, { "epoch": 1.5849113464355468e-06, "model_forward_time": 5.105587959289551, "step": 16619 }, { "epoch": 1.5849113464355468e-06, "step": 16619, "training_step_time": 17.661944150924683 }, { "epoch": 1.5850067138671874e-06, "grad_norm": 1.8196451663970947, "learning_rate": 9.070066959704813e-06, "loss": 0.108, "step": 16620 }, { "epoch": 1.5850067138671874e-06, "model_forward_time": 5.1096203327178955, "step": 16620 }, { "dynamics_loss_avg": 0.05069331396371126, "epoch": 1.5850067138671874e-06, "step": 16620 }, { "action_loss_avg": 0.0713456591591239, "epoch": 1.5850067138671874e-06, "step": 16620 }, { "arm_loss_avg": 0.13618339002132415, "epoch": 1.5850067138671874e-06, "step": 16620 }, { "ee_loss_avg": 0.07580777183175087, "epoch": 1.5850067138671874e-06, "step": 16620 }, { "aux_loss_avg": 0.0033445836772443725, "epoch": 1.5850067138671874e-06, "step": 16620 }, { "epoch": 1.5850067138671874e-06, "step": 16620, "training_step_time": 17.427906036376953 }, { "epoch": 1.585102081298828e-06, "model_forward_time": 5.092054128646851, "step": 16621 }, { "epoch": 1.585102081298828e-06, "step": 16621, "training_step_time": 17.623153924942017 }, { "epoch": 1.5851974487304687e-06, "model_forward_time": 5.091796159744263, "step": 16622 }, { "epoch": 1.5851974487304687e-06, "step": 16622, "training_step_time": 17.73866844177246 }, { "epoch": 1.5852928161621095e-06, "model_forward_time": 5.2952024936676025, "step": 16623 }, { "epoch": 1.5852928161621095e-06, "step": 16623, "training_step_time": 17.574681997299194 }, { "epoch": 1.58538818359375e-06, "model_forward_time": 5.087456226348877, "step": 16624 }, { "epoch": 1.58538818359375e-06, "step": 16624, "training_step_time": 17.413589000701904 }, { "epoch": 1.5854835510253907e-06, "model_forward_time": 3.8563191890716553, "step": 16625 }, { "epoch": 1.5854835510253907e-06, "step": 16625, "training_step_time": 17.510075092315674 }, { "epoch": 1.5855789184570313e-06, "model_forward_time": 5.065019369125366, "step": 16626 }, { "epoch": 1.5855789184570313e-06, "step": 16626, "training_step_time": 17.565496683120728 }, { "epoch": 1.585674285888672e-06, "model_forward_time": 5.0729570388793945, "step": 16627 }, { "epoch": 1.585674285888672e-06, "step": 16627, "training_step_time": 17.82161045074463 }, { "epoch": 1.5857696533203126e-06, "model_forward_time": 5.077770233154297, "step": 16628 }, { "epoch": 1.5857696533203126e-06, "step": 16628, "training_step_time": 17.601890563964844 }, { "epoch": 1.5858650207519532e-06, "model_forward_time": 5.318753957748413, "step": 16629 }, { "epoch": 1.5858650207519532e-06, "step": 16629, "training_step_time": 17.609538078308105 }, { "epoch": 1.5859603881835938e-06, "grad_norm": 1.8980603218078613, "learning_rate": 9.068694489142418e-06, "loss": 0.1026, "step": 16630 }, { "epoch": 1.5859603881835938e-06, "model_forward_time": 5.097598552703857, "step": 16630 }, { "dynamics_loss_avg": 0.05374257881194353, "epoch": 1.5859603881835938e-06, "step": 16630 }, { "action_loss_avg": 0.07544070333242417, "epoch": 1.5859603881835938e-06, "step": 16630 }, { "arm_loss_avg": 0.10402950942516327, "epoch": 1.5859603881835938e-06, "step": 16630 }, { "ee_loss_avg": 0.07527121175080538, "epoch": 1.5859603881835938e-06, "step": 16630 }, { "aux_loss_avg": 0.0019264267175458372, "epoch": 1.5859603881835938e-06, "step": 16630 }, { "epoch": 1.5859603881835938e-06, "step": 16630, "training_step_time": 17.611445426940918 }, { "epoch": 1.5860557556152344e-06, "model_forward_time": 5.0971410274505615, "step": 16631 }, { "epoch": 1.5860557556152344e-06, "step": 16631, "training_step_time": 17.60569930076599 }, { "epoch": 1.586151123046875e-06, "model_forward_time": 5.09829568862915, "step": 16632 }, { "epoch": 1.586151123046875e-06, "step": 16632, "training_step_time": 17.796266555786133 }, { "epoch": 1.5862464904785156e-06, "model_forward_time": 5.093451499938965, "step": 16633 }, { "epoch": 1.5862464904785156e-06, "step": 16633, "training_step_time": 17.590028047561646 }, { "epoch": 1.5863418579101562e-06, "model_forward_time": 5.279584884643555, "step": 16634 }, { "epoch": 1.5863418579101562e-06, "step": 16634, "training_step_time": 17.39533042907715 }, { "epoch": 1.5864372253417969e-06, "model_forward_time": 3.856600284576416, "step": 16635 }, { "epoch": 1.5864372253417969e-06, "step": 16635, "training_step_time": 17.343708038330078 }, { "epoch": 1.5865325927734375e-06, "model_forward_time": 5.057661056518555, "step": 16636 }, { "epoch": 1.5865325927734375e-06, "step": 16636, "training_step_time": 17.60827326774597 }, { "epoch": 1.586627960205078e-06, "model_forward_time": 5.072814702987671, "step": 16637 }, { "epoch": 1.586627960205078e-06, "step": 16637, "training_step_time": 17.771868467330933 }, { "epoch": 1.5867233276367187e-06, "model_forward_time": 5.083171844482422, "step": 16638 }, { "epoch": 1.5867233276367187e-06, "step": 16638, "training_step_time": 17.571051836013794 }, { "epoch": 1.5868186950683593e-06, "model_forward_time": 5.3381407260894775, "step": 16639 }, { "epoch": 1.5868186950683593e-06, "step": 16639, "training_step_time": 17.451202392578125 }, { "epoch": 1.5869140625e-06, "grad_norm": 1.3408926725387573, "learning_rate": 9.067321110526332e-06, "loss": 0.1036, "step": 16640 }, { "epoch": 1.5869140625e-06, "model_forward_time": 3.8664965629577637, "step": 16640 }, { "dynamics_loss_avg": 0.04334054728969931, "epoch": 1.5869140625e-06, "step": 16640 }, { "action_loss_avg": 0.08646942488849163, "epoch": 1.5869140625e-06, "step": 16640 }, { "arm_loss_avg": 0.12289480045437813, "epoch": 1.5869140625e-06, "step": 16640 }, { "ee_loss_avg": 0.10173271521925926, "epoch": 1.5869140625e-06, "step": 16640 }, { "aux_loss_avg": 0.01134543701482471, "epoch": 1.5869140625e-06, "step": 16640 }, { "epoch": 1.5869140625e-06, "step": 16640, "training_step_time": 17.495805263519287 }, { "epoch": 1.5870094299316405e-06, "model_forward_time": 5.057440996170044, "step": 16641 }, { "epoch": 1.5870094299316405e-06, "step": 16641, "training_step_time": 17.6624698638916 }, { "epoch": 1.5871047973632812e-06, "model_forward_time": 5.070300579071045, "step": 16642 }, { "epoch": 1.5871047973632812e-06, "step": 16642, "training_step_time": 17.778159141540527 }, { "epoch": 1.5872001647949218e-06, "model_forward_time": 5.0805206298828125, "step": 16643 }, { "epoch": 1.5872001647949218e-06, "step": 16643, "training_step_time": 17.59804344177246 }, { "epoch": 1.5872955322265626e-06, "model_forward_time": 5.28652286529541, "step": 16644 }, { "epoch": 1.5872955322265626e-06, "step": 16644, "training_step_time": 17.607795000076294 }, { "epoch": 1.5873908996582032e-06, "model_forward_time": 3.855586051940918, "step": 16645 }, { "epoch": 1.5873908996582032e-06, "step": 16645, "training_step_time": 17.606046199798584 }, { "epoch": 1.5874862670898438e-06, "model_forward_time": 5.06423020362854, "step": 16646 }, { "epoch": 1.5874862670898438e-06, "step": 16646, "training_step_time": 17.60789203643799 }, { "epoch": 1.5875816345214844e-06, "model_forward_time": 5.077771902084351, "step": 16647 }, { "epoch": 1.5875816345214844e-06, "step": 16647, "training_step_time": 17.8233003616333 }, { "epoch": 1.587677001953125e-06, "model_forward_time": 5.083373785018921, "step": 16648 }, { "epoch": 1.587677001953125e-06, "step": 16648, "training_step_time": 17.578615427017212 }, { "epoch": 1.5877723693847657e-06, "model_forward_time": 5.329885005950928, "step": 16649 }, { "epoch": 1.5877723693847657e-06, "step": 16649, "training_step_time": 17.578768968582153 }, { "epoch": 1.5878677368164063e-06, "grad_norm": 1.3404635190963745, "learning_rate": 9.065946824163071e-06, "loss": 0.106, "step": 16650 }, { "epoch": 1.5878677368164063e-06, "model_forward_time": 5.095038652420044, "step": 16650 }, { "dynamics_loss_avg": 0.04533779788762331, "epoch": 1.5878677368164063e-06, "step": 16650 }, { "action_loss_avg": 0.06543401405215263, "epoch": 1.5878677368164063e-06, "step": 16650 }, { "arm_loss_avg": 0.11237512566149235, "epoch": 1.5878677368164063e-06, "step": 16650 }, { "ee_loss_avg": 0.057694578915834425, "epoch": 1.5878677368164063e-06, "step": 16650 }, { "aux_loss_avg": 0.0010587241733446718, "epoch": 1.5878677368164063e-06, "step": 16650 }, { "epoch": 1.5878677368164063e-06, "step": 16650, "training_step_time": 17.578781843185425 }, { "epoch": 1.587963104248047e-06, "model_forward_time": 5.100026607513428, "step": 16651 }, { "epoch": 1.587963104248047e-06, "step": 16651, "training_step_time": 17.626705408096313 }, { "epoch": 1.5880584716796875e-06, "model_forward_time": 5.098988771438599, "step": 16652 }, { "epoch": 1.5880584716796875e-06, "step": 16652, "training_step_time": 17.765583992004395 }, { "epoch": 1.5881538391113281e-06, "model_forward_time": 5.090147495269775, "step": 16653 }, { "epoch": 1.5881538391113281e-06, "step": 16653, "training_step_time": 17.577024698257446 }, { "epoch": 1.5882492065429687e-06, "model_forward_time": 5.28629994392395, "step": 16654 }, { "epoch": 1.5882492065429687e-06, "step": 16654, "training_step_time": 17.582459926605225 }, { "epoch": 1.5883445739746094e-06, "model_forward_time": 5.089845657348633, "step": 16655 }, { "epoch": 1.5883445739746094e-06, "step": 16655, "training_step_time": 17.593461275100708 }, { "epoch": 1.58843994140625e-06, "model_forward_time": 5.086085557937622, "step": 16656 }, { "epoch": 1.58843994140625e-06, "step": 16656, "training_step_time": 17.652594089508057 }, { "epoch": 1.5885353088378906e-06, "model_forward_time": 5.085339784622192, "step": 16657 }, { "epoch": 1.5885353088378906e-06, "step": 16657, "training_step_time": 17.819382429122925 }, { "epoch": 1.5886306762695312e-06, "model_forward_time": 5.0871970653533936, "step": 16658 }, { "epoch": 1.5886306762695312e-06, "step": 16658, "training_step_time": 17.41804075241089 }, { "epoch": 1.5887260437011718e-06, "model_forward_time": 3.852759599685669, "step": 16659 }, { "epoch": 1.5887260437011718e-06, "step": 16659, "training_step_time": 17.488176345825195 }, { "epoch": 1.5888214111328124e-06, "grad_norm": 2.2969675064086914, "learning_rate": 9.064571630359345e-06, "loss": 0.1064, "step": 16660 }, { "epoch": 1.5888214111328124e-06, "model_forward_time": 5.063283205032349, "step": 16660 }, { "dynamics_loss_avg": 0.04421984786167741, "epoch": 1.5888214111328124e-06, "step": 16660 }, { "action_loss_avg": 0.07990525849163532, "epoch": 1.5888214111328124e-06, "step": 16660 }, { "arm_loss_avg": 0.14937244579195977, "epoch": 1.5888214111328124e-06, "step": 16660 }, { "ee_loss_avg": 0.05827911831438541, "epoch": 1.5888214111328124e-06, "step": 16660 }, { "aux_loss_avg": 0.0020269266737159342, "epoch": 1.5888214111328124e-06, "step": 16660 }, { "epoch": 1.5888214111328124e-06, "step": 16660, "training_step_time": 17.53081250190735 }, { "epoch": 1.588916778564453e-06, "model_forward_time": 5.069768667221069, "step": 16661 }, { "epoch": 1.588916778564453e-06, "step": 16661, "training_step_time": 17.559524536132812 }, { "epoch": 1.5890121459960937e-06, "model_forward_time": 5.078672885894775, "step": 16662 }, { "epoch": 1.5890121459960937e-06, "step": 16662, "training_step_time": 17.76645851135254 }, { "epoch": 1.5891075134277343e-06, "model_forward_time": 5.085727691650391, "step": 16663 }, { "epoch": 1.5891075134277343e-06, "step": 16663, "training_step_time": 17.598719596862793 }, { "epoch": 1.589202880859375e-06, "model_forward_time": 5.092259883880615, "step": 16664 }, { "epoch": 1.589202880859375e-06, "step": 16664, "training_step_time": 17.59564781188965 }, { "epoch": 1.5892982482910157e-06, "model_forward_time": 5.098240613937378, "step": 16665 }, { "epoch": 1.5892982482910157e-06, "step": 16665, "training_step_time": 17.595337867736816 }, { "epoch": 1.5893936157226563e-06, "model_forward_time": 5.0964014530181885, "step": 16666 }, { "epoch": 1.5893936157226563e-06, "step": 16666, "training_step_time": 17.60850167274475 }, { "epoch": 1.589488983154297e-06, "model_forward_time": 5.093371629714966, "step": 16667 }, { "epoch": 1.589488983154297e-06, "step": 16667, "training_step_time": 17.84381413459778 }, { "epoch": 1.5895843505859376e-06, "model_forward_time": 5.0905046463012695, "step": 16668 }, { "epoch": 1.5895843505859376e-06, "step": 16668, "training_step_time": 17.591997861862183 }, { "epoch": 1.5896797180175782e-06, "model_forward_time": 5.09046483039856, "step": 16669 }, { "epoch": 1.5896797180175782e-06, "step": 16669, "training_step_time": 17.602482318878174 }, { "epoch": 1.5897750854492188e-06, "grad_norm": 1.5425562858581543, "learning_rate": 9.063195529422072e-06, "loss": 0.1123, "step": 16670 }, { "epoch": 1.5897750854492188e-06, "model_forward_time": 5.090005159378052, "step": 16670 }, { "dynamics_loss_avg": 0.04827129170298576, "epoch": 1.5897750854492188e-06, "step": 16670 }, { "action_loss_avg": 0.08016874939203263, "epoch": 1.5897750854492188e-06, "step": 16670 }, { "arm_loss_avg": 0.14543806351721286, "epoch": 1.5897750854492188e-06, "step": 16670 }, { "ee_loss_avg": 0.04510705852881074, "epoch": 1.5897750854492188e-06, "step": 16670 }, { "aux_loss_avg": 0.0014415176206966861, "epoch": 1.5897750854492188e-06, "step": 16670 }, { "epoch": 1.5897750854492188e-06, "step": 16670, "training_step_time": 17.594876527786255 }, { "epoch": 1.5898704528808594e-06, "model_forward_time": 5.087417840957642, "step": 16671 }, { "epoch": 1.5898704528808594e-06, "step": 16671, "training_step_time": 17.577513933181763 }, { "epoch": 1.5899658203125e-06, "model_forward_time": 5.088420152664185, "step": 16672 }, { "epoch": 1.5899658203125e-06, "step": 16672, "training_step_time": 17.76828670501709 }, { "epoch": 1.5900611877441406e-06, "model_forward_time": 5.083427906036377, "step": 16673 }, { "epoch": 1.5900611877441406e-06, "step": 16673, "training_step_time": 17.57136106491089 }, { "epoch": 1.5901565551757812e-06, "model_forward_time": 5.085031509399414, "step": 16674 }, { "epoch": 1.5901565551757812e-06, "step": 16674, "training_step_time": 17.43820071220398 }, { "epoch": 1.5902519226074219e-06, "model_forward_time": 5.086067199707031, "step": 16675 }, { "epoch": 1.5902519226074219e-06, "step": 16675, "training_step_time": 17.478037357330322 }, { "epoch": 1.5903472900390625e-06, "model_forward_time": 5.1023876667022705, "step": 16676 }, { "epoch": 1.5903472900390625e-06, "step": 16676, "training_step_time": 17.56433606147766 }, { "epoch": 1.590442657470703e-06, "model_forward_time": 5.110476970672607, "step": 16677 }, { "epoch": 1.590442657470703e-06, "step": 16677, "training_step_time": 17.66693663597107 }, { "epoch": 1.5905380249023437e-06, "model_forward_time": 5.38104248046875, "step": 16678 }, { "epoch": 1.5905380249023437e-06, "step": 16678, "training_step_time": 17.78808093070984 }, { "epoch": 1.5906333923339843e-06, "model_forward_time": 5.11682915687561, "step": 16679 }, { "epoch": 1.5906333923339843e-06, "step": 16679, "training_step_time": 17.610297203063965 }, { "epoch": 1.590728759765625e-06, "grad_norm": 2.787405014038086, "learning_rate": 9.061818521658369e-06, "loss": 0.1116, "step": 16680 }, { "epoch": 1.590728759765625e-06, "model_forward_time": 5.110593795776367, "step": 16680 }, { "dynamics_loss_avg": 0.04773250669240951, "epoch": 1.590728759765625e-06, "step": 16680 }, { "action_loss_avg": 0.07516441643238067, "epoch": 1.590728759765625e-06, "step": 16680 }, { "arm_loss_avg": 0.12588886842131614, "epoch": 1.590728759765625e-06, "step": 16680 }, { "ee_loss_avg": 0.07324542030692101, "epoch": 1.590728759765625e-06, "step": 16680 }, { "aux_loss_avg": 0.00410369080491364, "epoch": 1.590728759765625e-06, "step": 16680 }, { "epoch": 1.590728759765625e-06, "step": 16680, "training_step_time": 17.6267671585083 }, { "epoch": 1.5908241271972655e-06, "model_forward_time": 5.090356111526489, "step": 16681 }, { "epoch": 1.5908241271972655e-06, "step": 16681, "training_step_time": 17.633485555648804 }, { "epoch": 1.5909194946289062e-06, "model_forward_time": 5.090130090713501, "step": 16682 }, { "epoch": 1.5909194946289062e-06, "step": 16682, "training_step_time": 17.64124035835266 }, { "epoch": 1.5910148620605468e-06, "model_forward_time": 5.296834468841553, "step": 16683 }, { "epoch": 1.5910148620605468e-06, "step": 16683, "training_step_time": 17.84737753868103 }, { "epoch": 1.5911102294921876e-06, "model_forward_time": 5.0872814655303955, "step": 16684 }, { "epoch": 1.5911102294921876e-06, "step": 16684, "training_step_time": 17.63930583000183 }, { "epoch": 1.5912055969238282e-06, "model_forward_time": 5.089365243911743, "step": 16685 }, { "epoch": 1.5912055969238282e-06, "step": 16685, "training_step_time": 17.61648917198181 }, { "epoch": 1.5913009643554688e-06, "model_forward_time": 5.092821836471558, "step": 16686 }, { "epoch": 1.5913009643554688e-06, "step": 16686, "training_step_time": 17.616318225860596 }, { "epoch": 1.5913963317871094e-06, "model_forward_time": 5.092804908752441, "step": 16687 }, { "epoch": 1.5913963317871094e-06, "step": 16687, "training_step_time": 17.58730173110962 }, { "epoch": 1.59149169921875e-06, "model_forward_time": 5.090070486068726, "step": 16688 }, { "epoch": 1.59149169921875e-06, "step": 16688, "training_step_time": 17.742321968078613 }, { "epoch": 1.5915870666503907e-06, "model_forward_time": 5.087913274765015, "step": 16689 }, { "epoch": 1.5915870666503907e-06, "step": 16689, "training_step_time": 17.54424548149109 }, { "epoch": 1.5916824340820313e-06, "grad_norm": 2.9468276500701904, "learning_rate": 9.06044060737556e-06, "loss": 0.1219, "step": 16690 }, { "epoch": 1.5916824340820313e-06, "model_forward_time": 5.083109378814697, "step": 16690 }, { "dynamics_loss_avg": 0.04125152742490172, "epoch": 1.5916824340820313e-06, "step": 16690 }, { "action_loss_avg": 0.07361429892480373, "epoch": 1.5916824340820313e-06, "step": 16690 }, { "arm_loss_avg": 0.09961475059390068, "epoch": 1.5916824340820313e-06, "step": 16690 }, { "ee_loss_avg": 0.05351858949288726, "epoch": 1.5916824340820313e-06, "step": 16690 }, { "aux_loss_avg": 0.0032865511311683804, "epoch": 1.5916824340820313e-06, "step": 16690 }, { "epoch": 1.5916824340820313e-06, "step": 16690, "training_step_time": 17.56400442123413 }, { "epoch": 1.591777801513672e-06, "model_forward_time": 5.084941148757935, "step": 16691 }, { "epoch": 1.591777801513672e-06, "step": 16691, "training_step_time": 17.582148790359497 }, { "epoch": 1.5918731689453125e-06, "model_forward_time": 5.087968587875366, "step": 16692 }, { "epoch": 1.5918731689453125e-06, "step": 16692, "training_step_time": 17.819154977798462 }, { "epoch": 1.5919685363769531e-06, "model_forward_time": 5.283198833465576, "step": 16693 }, { "epoch": 1.5919685363769531e-06, "step": 16693, "training_step_time": 17.593920469284058 }, { "epoch": 1.5920639038085937e-06, "model_forward_time": 5.091583490371704, "step": 16694 }, { "epoch": 1.5920639038085937e-06, "step": 16694, "training_step_time": 17.607236862182617 }, { "epoch": 1.5921592712402344e-06, "model_forward_time": 5.088218688964844, "step": 16695 }, { "epoch": 1.5921592712402344e-06, "step": 16695, "training_step_time": 17.589011430740356 }, { "epoch": 1.592254638671875e-06, "model_forward_time": 3.8511717319488525, "step": 16696 }, { "epoch": 1.592254638671875e-06, "step": 16696, "training_step_time": 17.59790849685669 }, { "epoch": 1.5923500061035156e-06, "model_forward_time": 5.062195777893066, "step": 16697 }, { "epoch": 1.5923500061035156e-06, "step": 16697, "training_step_time": 17.814350843429565 }, { "epoch": 1.5924453735351562e-06, "model_forward_time": 5.06720757484436, "step": 16698 }, { "epoch": 1.5924453735351562e-06, "step": 16698, "training_step_time": 17.59333562850952 }, { "epoch": 1.5925407409667968e-06, "model_forward_time": 5.320319652557373, "step": 16699 }, { "epoch": 1.5925407409667968e-06, "step": 16699, "training_step_time": 17.58974289894104 }, { "epoch": 1.5926361083984374e-06, "grad_norm": 2.652076482772827, "learning_rate": 9.059061786881168e-06, "loss": 0.0942, "step": 16700 }, { "epoch": 1.5926361083984374e-06, "model_forward_time": 5.086383819580078, "step": 16700 }, { "dynamics_loss_avg": 0.03510202467441559, "epoch": 1.5926361083984374e-06, "step": 16700 }, { "action_loss_avg": 0.05680049583315849, "epoch": 1.5926361083984374e-06, "step": 16700 }, { "arm_loss_avg": 0.11182931512594223, "epoch": 1.5926361083984374e-06, "step": 16700 }, { "ee_loss_avg": 0.032681175810284915, "epoch": 1.5926361083984374e-06, "step": 16700 }, { "aux_loss_avg": 0.0007512418465921656, "epoch": 1.5926361083984374e-06, "step": 16700 }, { "epoch": 1.5926361083984374e-06, "step": 16700, "training_step_time": 17.592002391815186 }, { "epoch": 1.592731475830078e-06, "model_forward_time": 5.096344947814941, "step": 16701 }, { "epoch": 1.592731475830078e-06, "step": 16701, "training_step_time": 17.5912446975708 }, { "epoch": 1.5928268432617187e-06, "model_forward_time": 5.100589752197266, "step": 16702 }, { "epoch": 1.5928268432617187e-06, "step": 16702, "training_step_time": 17.809234380722046 }, { "epoch": 1.5929222106933593e-06, "model_forward_time": 5.304839849472046, "step": 16703 }, { "epoch": 1.5929222106933593e-06, "step": 16703, "training_step_time": 17.433375120162964 }, { "epoch": 1.593017578125e-06, "model_forward_time": 5.10043478012085, "step": 16704 }, { "epoch": 1.593017578125e-06, "step": 16704, "training_step_time": 17.498045206069946 }, { "epoch": 1.5931129455566407e-06, "model_forward_time": 5.100415468215942, "step": 16705 }, { "epoch": 1.5931129455566407e-06, "step": 16705, "training_step_time": 17.5507493019104 }, { "epoch": 1.5932083129882813e-06, "model_forward_time": 5.094735860824585, "step": 16706 }, { "epoch": 1.5932083129882813e-06, "step": 16706, "training_step_time": 17.578616857528687 }, { "epoch": 1.593303680419922e-06, "model_forward_time": 3.855931043624878, "step": 16707 }, { "epoch": 1.593303680419922e-06, "step": 16707, "training_step_time": 17.608272314071655 }, { "epoch": 1.5933990478515626e-06, "model_forward_time": 5.059549331665039, "step": 16708 }, { "epoch": 1.5933990478515626e-06, "step": 16708, "training_step_time": 17.851772785186768 }, { "epoch": 1.5934944152832032e-06, "model_forward_time": 5.302203416824341, "step": 16709 }, { "epoch": 1.5934944152832032e-06, "step": 16709, "training_step_time": 17.616233587265015 }, { "epoch": 1.5935897827148438e-06, "grad_norm": 1.8273288011550903, "learning_rate": 9.057682060482917e-06, "loss": 0.1071, "step": 16710 }, { "epoch": 1.5935897827148438e-06, "model_forward_time": 5.079739332199097, "step": 16710 }, { "dynamics_loss_avg": 0.044481095112860206, "epoch": 1.5935897827148438e-06, "step": 16710 }, { "action_loss_avg": 0.07317371182143688, "epoch": 1.5935897827148438e-06, "step": 16710 }, { "arm_loss_avg": 0.09756739735603333, "epoch": 1.5935897827148438e-06, "step": 16710 }, { "ee_loss_avg": 0.05118654319085181, "epoch": 1.5935897827148438e-06, "step": 16710 }, { "aux_loss_avg": 0.0009450474928598851, "epoch": 1.5935897827148438e-06, "step": 16710 }, { "epoch": 1.5935897827148438e-06, "step": 16710, "training_step_time": 17.57488775253296 }, { "epoch": 1.5936851501464844e-06, "model_forward_time": 5.08063817024231, "step": 16711 }, { "epoch": 1.5936851501464844e-06, "step": 16711, "training_step_time": 17.614269256591797 }, { "epoch": 1.593780517578125e-06, "model_forward_time": 5.087961196899414, "step": 16712 }, { "epoch": 1.593780517578125e-06, "step": 16712, "training_step_time": 17.846967458724976 }, { "epoch": 1.5938758850097656e-06, "model_forward_time": 5.08793306350708, "step": 16713 }, { "epoch": 1.5938758850097656e-06, "step": 16713, "training_step_time": 17.601431369781494 }, { "epoch": 1.5939712524414062e-06, "model_forward_time": 5.283204078674316, "step": 16714 }, { "epoch": 1.5939712524414062e-06, "step": 16714, "training_step_time": 17.592069149017334 }, { "epoch": 1.5940666198730469e-06, "model_forward_time": 5.09162712097168, "step": 16715 }, { "epoch": 1.5940666198730469e-06, "step": 16715, "training_step_time": 17.59170961380005 }, { "epoch": 1.5941619873046875e-06, "model_forward_time": 3.8631327152252197, "step": 16716 }, { "epoch": 1.5941619873046875e-06, "step": 16716, "training_step_time": 17.617473125457764 }, { "epoch": 1.594257354736328e-06, "model_forward_time": 3.8411664962768555, "step": 16717 }, { "epoch": 1.594257354736328e-06, "step": 16717, "training_step_time": 17.804477214813232 }, { "epoch": 1.5943527221679687e-06, "model_forward_time": 3.8406221866607666, "step": 16718 }, { "epoch": 1.5943527221679687e-06, "step": 16718, "training_step_time": 17.595049142837524 }, { "epoch": 1.5944480895996093e-06, "model_forward_time": 5.291921377182007, "step": 16719 }, { "epoch": 1.5944480895996093e-06, "step": 16719, "training_step_time": 17.578667879104614 }, { "epoch": 1.59454345703125e-06, "grad_norm": 1.3143585920333862, "learning_rate": 9.056301428488738e-06, "loss": 0.0915, "step": 16720 }, { "epoch": 1.59454345703125e-06, "model_forward_time": 5.0718913078308105, "step": 16720 }, { "dynamics_loss_avg": 0.03535565907368436, "epoch": 1.59454345703125e-06, "step": 16720 }, { "action_loss_avg": 0.05891846856102347, "epoch": 1.59454345703125e-06, "step": 16720 }, { "arm_loss_avg": 0.12081606537103654, "epoch": 1.59454345703125e-06, "step": 16720 }, { "ee_loss_avg": 0.059961815271526574, "epoch": 1.59454345703125e-06, "step": 16720 }, { "aux_loss_avg": 0.005478300078539178, "epoch": 1.59454345703125e-06, "step": 16720 }, { "epoch": 1.59454345703125e-06, "step": 16720, "training_step_time": 17.55399775505066 }, { "epoch": 1.5946388244628905e-06, "model_forward_time": 5.079835891723633, "step": 16721 }, { "epoch": 1.5946388244628905e-06, "step": 16721, "training_step_time": 17.593101501464844 }, { "epoch": 1.5947341918945312e-06, "model_forward_time": 5.097439765930176, "step": 16722 }, { "epoch": 1.5947341918945312e-06, "step": 16722, "training_step_time": 17.74022650718689 }, { "epoch": 1.5948295593261718e-06, "model_forward_time": 3.8637278079986572, "step": 16723 }, { "epoch": 1.5948295593261718e-06, "step": 16723, "training_step_time": 17.54624605178833 }, { "epoch": 1.5949249267578126e-06, "model_forward_time": 5.254421949386597, "step": 16724 }, { "epoch": 1.5949249267578126e-06, "step": 16724, "training_step_time": 17.560051441192627 }, { "epoch": 1.5950202941894532e-06, "model_forward_time": 5.077660083770752, "step": 16725 }, { "epoch": 1.5950202941894532e-06, "step": 16725, "training_step_time": 17.576910257339478 }, { "epoch": 1.5951156616210938e-06, "model_forward_time": 5.08130145072937, "step": 16726 }, { "epoch": 1.5951156616210938e-06, "step": 16726, "training_step_time": 17.565897703170776 }, { "epoch": 1.5952110290527344e-06, "model_forward_time": 5.0839807987213135, "step": 16727 }, { "epoch": 1.5952110290527344e-06, "step": 16727, "training_step_time": 17.79127788543701 }, { "epoch": 1.595306396484375e-06, "model_forward_time": 5.077990293502808, "step": 16728 }, { "epoch": 1.595306396484375e-06, "step": 16728, "training_step_time": 17.570120334625244 }, { "epoch": 1.5954017639160157e-06, "model_forward_time": 5.315511703491211, "step": 16729 }, { "epoch": 1.5954017639160157e-06, "step": 16729, "training_step_time": 17.422156810760498 }, { "epoch": 1.5954971313476563e-06, "grad_norm": 2.768991708755493, "learning_rate": 9.05491989120676e-06, "loss": 0.1028, "step": 16730 }, { "epoch": 1.5954971313476563e-06, "model_forward_time": 5.087245225906372, "step": 16730 }, { "dynamics_loss_avg": 0.03367469636723399, "epoch": 1.5954971313476563e-06, "step": 16730 }, { "action_loss_avg": 0.06734644714742899, "epoch": 1.5954971313476563e-06, "step": 16730 }, { "arm_loss_avg": 0.1362111609429121, "epoch": 1.5954971313476563e-06, "step": 16730 }, { "ee_loss_avg": 0.058466838439926505, "epoch": 1.5954971313476563e-06, "step": 16730 }, { "aux_loss_avg": 0.005138561900821514, "epoch": 1.5954971313476563e-06, "step": 16730 }, { "epoch": 1.5954971313476563e-06, "step": 16730, "training_step_time": 17.502475261688232 }, { "epoch": 1.595592498779297e-06, "model_forward_time": 5.088723421096802, "step": 16731 }, { "epoch": 1.595592498779297e-06, "step": 16731, "training_step_time": 17.635900735855103 }, { "epoch": 1.5956878662109375e-06, "model_forward_time": 3.848769426345825, "step": 16732 }, { "epoch": 1.5956878662109375e-06, "step": 16732, "training_step_time": 17.793982982635498 }, { "epoch": 1.5957832336425781e-06, "model_forward_time": 3.8258183002471924, "step": 16733 }, { "epoch": 1.5957832336425781e-06, "step": 16733, "training_step_time": 17.581178426742554 }, { "epoch": 1.5958786010742187e-06, "model_forward_time": 5.241720914840698, "step": 16734 }, { "epoch": 1.5958786010742187e-06, "step": 16734, "training_step_time": 17.6081645488739 }, { "epoch": 1.5959739685058594e-06, "model_forward_time": 5.063413858413696, "step": 16735 }, { "epoch": 1.5959739685058594e-06, "step": 16735, "training_step_time": 17.610236167907715 }, { "epoch": 1.5960693359375e-06, "model_forward_time": 5.078954696655273, "step": 16736 }, { "epoch": 1.5960693359375e-06, "step": 16736, "training_step_time": 17.614334106445312 }, { "epoch": 1.5961647033691406e-06, "model_forward_time": 5.0937340259552, "step": 16737 }, { "epoch": 1.5961647033691406e-06, "step": 16737, "training_step_time": 17.84001326560974 }, { "epoch": 1.5962600708007812e-06, "model_forward_time": 5.101608514785767, "step": 16738 }, { "epoch": 1.5962600708007812e-06, "step": 16738, "training_step_time": 17.600995540618896 }, { "epoch": 1.5963554382324218e-06, "model_forward_time": 5.344031810760498, "step": 16739 }, { "epoch": 1.5963554382324218e-06, "step": 16739, "training_step_time": 17.61017394065857 }, { "epoch": 1.5964508056640624e-06, "grad_norm": 1.6828511953353882, "learning_rate": 9.053537448945313e-06, "loss": 0.0934, "step": 16740 }, { "epoch": 1.5964508056640624e-06, "model_forward_time": 5.1023640632629395, "step": 16740 }, { "dynamics_loss_avg": 0.025752231199294328, "epoch": 1.5964508056640624e-06, "step": 16740 }, { "action_loss_avg": 0.0591962281614542, "epoch": 1.5964508056640624e-06, "step": 16740 }, { "arm_loss_avg": 0.14934369325637817, "epoch": 1.5964508056640624e-06, "step": 16740 }, { "ee_loss_avg": 0.07045663276221603, "epoch": 1.5964508056640624e-06, "step": 16740 }, { "aux_loss_avg": 0.032433903182391075, "epoch": 1.5964508056640624e-06, "step": 16740 }, { "epoch": 1.5964508056640624e-06, "step": 16740, "training_step_time": 17.604273080825806 }, { "epoch": 1.596546173095703e-06, "model_forward_time": 5.0960540771484375, "step": 16741 }, { "epoch": 1.596546173095703e-06, "step": 16741, "training_step_time": 17.609358072280884 }, { "epoch": 1.5966415405273437e-06, "model_forward_time": 5.094820976257324, "step": 16742 }, { "epoch": 1.5966415405273437e-06, "step": 16742, "training_step_time": 17.83921504020691 }, { "epoch": 1.5967369079589843e-06, "model_forward_time": 5.088898658752441, "step": 16743 }, { "epoch": 1.5967369079589843e-06, "step": 16743, "training_step_time": 17.60021162033081 }, { "epoch": 1.596832275390625e-06, "model_forward_time": 4.087208271026611, "step": 16744 }, { "epoch": 1.596832275390625e-06, "step": 16744, "training_step_time": 17.60762882232666 }, { "epoch": 1.5969276428222657e-06, "model_forward_time": 5.063042402267456, "step": 16745 }, { "epoch": 1.5969276428222657e-06, "step": 16745, "training_step_time": 17.60846972465515 }, { "epoch": 1.5970230102539063e-06, "model_forward_time": 5.063844919204712, "step": 16746 }, { "epoch": 1.5970230102539063e-06, "step": 16746, "training_step_time": 17.60071897506714 }, { "epoch": 1.597118377685547e-06, "model_forward_time": 5.073196649551392, "step": 16747 }, { "epoch": 1.597118377685547e-06, "step": 16747, "training_step_time": 17.813604593276978 }, { "epoch": 1.5972137451171876e-06, "model_forward_time": 3.8454463481903076, "step": 16748 }, { "epoch": 1.5972137451171876e-06, "step": 16748, "training_step_time": 17.42334747314453 }, { "epoch": 1.5973091125488282e-06, "model_forward_time": 5.057708263397217, "step": 16749 }, { "epoch": 1.5973091125488282e-06, "step": 16749, "training_step_time": 17.49002504348755 }, { "epoch": 1.5974044799804688e-06, "grad_norm": 1.5545775890350342, "learning_rate": 9.052154102012937e-06, "loss": 0.0998, "step": 16750 }, { "epoch": 1.5974044799804688e-06, "model_forward_time": 3.8426594734191895, "step": 16750 }, { "dynamics_loss_avg": 0.040167569741606714, "epoch": 1.5974044799804688e-06, "step": 16750 }, { "action_loss_avg": 0.06529155150055885, "epoch": 1.5974044799804688e-06, "step": 16750 }, { "arm_loss_avg": 0.117350222915411, "epoch": 1.5974044799804688e-06, "step": 16750 }, { "ee_loss_avg": 0.04242206858471036, "epoch": 1.5974044799804688e-06, "step": 16750 }, { "aux_loss_avg": 0.0009627701132558286, "epoch": 1.5974044799804688e-06, "step": 16750 }, { "epoch": 1.5974044799804688e-06, "step": 16750, "training_step_time": 17.530614376068115 }, { "epoch": 1.5974998474121094e-06, "model_forward_time": 5.057157516479492, "step": 16751 }, { "epoch": 1.5974998474121094e-06, "step": 16751, "training_step_time": 17.56307339668274 }, { "epoch": 1.59759521484375e-06, "model_forward_time": 5.0779128074646, "step": 16752 }, { "epoch": 1.59759521484375e-06, "step": 16752, "training_step_time": 17.814887523651123 }, { "epoch": 1.5976905822753906e-06, "model_forward_time": 5.089278936386108, "step": 16753 }, { "epoch": 1.5976905822753906e-06, "step": 16753, "training_step_time": 17.592172861099243 }, { "epoch": 1.5977859497070313e-06, "model_forward_time": 5.101417303085327, "step": 16754 }, { "epoch": 1.5977859497070313e-06, "step": 16754, "training_step_time": 17.602970123291016 }, { "epoch": 1.5978813171386719e-06, "model_forward_time": 5.296634197235107, "step": 16755 }, { "epoch": 1.5978813171386719e-06, "step": 16755, "training_step_time": 17.615774393081665 }, { "epoch": 1.5979766845703125e-06, "model_forward_time": 5.103454351425171, "step": 16756 }, { "epoch": 1.5979766845703125e-06, "step": 16756, "training_step_time": 17.624993562698364 }, { "epoch": 1.598072052001953e-06, "model_forward_time": 5.097895383834839, "step": 16757 }, { "epoch": 1.598072052001953e-06, "step": 16757, "training_step_time": 17.861891508102417 }, { "epoch": 1.5981674194335937e-06, "model_forward_time": 5.0947105884552, "step": 16758 }, { "epoch": 1.5981674194335937e-06, "step": 16758, "training_step_time": 17.623878479003906 }, { "epoch": 1.5982627868652343e-06, "model_forward_time": 5.090659141540527, "step": 16759 }, { "epoch": 1.5982627868652343e-06, "step": 16759, "training_step_time": 17.629079341888428 }, { "epoch": 1.598358154296875e-06, "grad_norm": 1.2621445655822754, "learning_rate": 9.050769850718364e-06, "loss": 0.0926, "step": 16760 }, { "epoch": 1.598358154296875e-06, "model_forward_time": 5.08014988899231, "step": 16760 }, { "dynamics_loss_avg": 0.038086938485503194, "epoch": 1.598358154296875e-06, "step": 16760 }, { "action_loss_avg": 0.06765718162059783, "epoch": 1.598358154296875e-06, "step": 16760 }, { "arm_loss_avg": 0.12304350212216378, "epoch": 1.598358154296875e-06, "step": 16760 }, { "ee_loss_avg": 0.03207258069887757, "epoch": 1.598358154296875e-06, "step": 16760 }, { "aux_loss_avg": 0.001647883845726028, "epoch": 1.598358154296875e-06, "step": 16760 }, { "epoch": 1.598358154296875e-06, "step": 16760, "training_step_time": 17.631097078323364 }, { "epoch": 1.5984535217285156e-06, "model_forward_time": 5.0821685791015625, "step": 16761 }, { "epoch": 1.5984535217285156e-06, "step": 16761, "training_step_time": 17.619195699691772 }, { "epoch": 1.5985488891601562e-06, "model_forward_time": 5.082575559616089, "step": 16762 }, { "epoch": 1.5985488891601562e-06, "step": 16762, "training_step_time": 17.658342599868774 }, { "epoch": 1.5986442565917968e-06, "model_forward_time": 5.082048654556274, "step": 16763 }, { "epoch": 1.5986442565917968e-06, "step": 16763, "training_step_time": 17.726409912109375 }, { "epoch": 1.5987396240234374e-06, "model_forward_time": 5.276544809341431, "step": 16764 }, { "epoch": 1.5987396240234374e-06, "step": 16764, "training_step_time": 17.549330711364746 }, { "epoch": 1.5988349914550782e-06, "model_forward_time": 5.079387664794922, "step": 16765 }, { "epoch": 1.5988349914550782e-06, "step": 16765, "training_step_time": 17.413050651550293 }, { "epoch": 1.5989303588867188e-06, "model_forward_time": 5.082490682601929, "step": 16766 }, { "epoch": 1.5989303588867188e-06, "step": 16766, "training_step_time": 17.51385998725891 }, { "epoch": 1.5990257263183595e-06, "model_forward_time": 5.081656455993652, "step": 16767 }, { "epoch": 1.5990257263183595e-06, "step": 16767, "training_step_time": 17.57379651069641 }, { "epoch": 1.59912109375e-06, "model_forward_time": 5.081646919250488, "step": 16768 }, { "epoch": 1.59912109375e-06, "step": 16768, "training_step_time": 17.836455821990967 }, { "epoch": 1.5992164611816407e-06, "model_forward_time": 3.8502776622772217, "step": 16769 }, { "epoch": 1.5992164611816407e-06, "step": 16769, "training_step_time": 17.619704723358154 }, { "epoch": 1.5993118286132813e-06, "grad_norm": 2.2316808700561523, "learning_rate": 9.049384695370534e-06, "loss": 0.0932, "step": 16770 }, { "epoch": 1.5993118286132813e-06, "model_forward_time": 5.300596237182617, "step": 16770 }, { "dynamics_loss_avg": 0.036303960252553225, "epoch": 1.5993118286132813e-06, "step": 16770 }, { "action_loss_avg": 0.05602754727005958, "epoch": 1.5993118286132813e-06, "step": 16770 }, { "arm_loss_avg": 0.1028537206351757, "epoch": 1.5993118286132813e-06, "step": 16770 }, { "ee_loss_avg": 0.038157393643632534, "epoch": 1.5993118286132813e-06, "step": 16770 }, { "aux_loss_avg": 0.0013256333128083496, "epoch": 1.5993118286132813e-06, "step": 16770 }, { "epoch": 1.5993118286132813e-06, "step": 16770, "training_step_time": 17.637757539749146 }, { "epoch": 1.599407196044922e-06, "model_forward_time": 5.070312976837158, "step": 16771 }, { "epoch": 1.599407196044922e-06, "step": 16771, "training_step_time": 17.64426016807556 }, { "epoch": 1.5995025634765625e-06, "model_forward_time": 3.8479180335998535, "step": 16772 }, { "epoch": 1.5995025634765625e-06, "step": 16772, "training_step_time": 17.875080108642578 }, { "epoch": 1.5995979309082031e-06, "model_forward_time": 5.05543851852417, "step": 16773 }, { "epoch": 1.5995979309082031e-06, "step": 16773, "training_step_time": 17.639148712158203 }, { "epoch": 1.5996932983398438e-06, "model_forward_time": 3.839827299118042, "step": 16774 }, { "epoch": 1.5996932983398438e-06, "step": 16774, "training_step_time": 17.611310243606567 }, { "epoch": 1.5997886657714844e-06, "model_forward_time": 5.246169090270996, "step": 16775 }, { "epoch": 1.5997886657714844e-06, "step": 16775, "training_step_time": 17.613497734069824 }, { "epoch": 1.599884033203125e-06, "model_forward_time": 5.08167839050293, "step": 16776 }, { "epoch": 1.599884033203125e-06, "step": 16776, "training_step_time": 17.600443601608276 }, { "epoch": 1.5999794006347656e-06, "model_forward_time": 5.095505237579346, "step": 16777 }, { "epoch": 1.5999794006347656e-06, "step": 16777, "training_step_time": 17.819823026657104 }, { "epoch": 1.6000747680664062e-06, "model_forward_time": 3.866039276123047, "step": 16778 }, { "epoch": 1.6000747680664062e-06, "step": 16778, "training_step_time": 17.586272478103638 }, { "epoch": 1.6001701354980468e-06, "model_forward_time": 5.074074029922485, "step": 16779 }, { "epoch": 1.6001701354980468e-06, "step": 16779, "training_step_time": 17.60651397705078 }, { "epoch": 1.6002655029296874e-06, "grad_norm": 2.577829122543335, "learning_rate": 9.047998636278583e-06, "loss": 0.0996, "step": 16780 }, { "epoch": 1.6002655029296874e-06, "model_forward_time": 4.09158182144165, "step": 16780 }, { "dynamics_loss_avg": 0.03718913230113685, "epoch": 1.6002655029296874e-06, "step": 16780 }, { "action_loss_avg": 0.06520106382668019, "epoch": 1.6002655029296874e-06, "step": 16780 }, { "arm_loss_avg": 0.10105115361511707, "epoch": 1.6002655029296874e-06, "step": 16780 }, { "ee_loss_avg": 0.07414987878873944, "epoch": 1.6002655029296874e-06, "step": 16780 }, { "aux_loss_avg": 0.0022925288358237594, "epoch": 1.6002655029296874e-06, "step": 16780 }, { "epoch": 1.6002655029296874e-06, "step": 16780, "training_step_time": 17.598811626434326 }, { "epoch": 1.600360870361328e-06, "model_forward_time": 5.0663347244262695, "step": 16781 }, { "epoch": 1.600360870361328e-06, "step": 16781, "training_step_time": 17.634036779403687 }, { "epoch": 1.6004562377929687e-06, "model_forward_time": 5.080004930496216, "step": 16782 }, { "epoch": 1.6004562377929687e-06, "step": 16782, "training_step_time": 17.51090979576111 }, { "epoch": 1.6005516052246093e-06, "model_forward_time": 5.090657949447632, "step": 16783 }, { "epoch": 1.6005516052246093e-06, "step": 16783, "training_step_time": 17.740813970565796 }, { "epoch": 1.60064697265625e-06, "model_forward_time": 5.095240116119385, "step": 16784 }, { "epoch": 1.60064697265625e-06, "step": 16784, "training_step_time": 17.576210737228394 }, { "epoch": 1.6007423400878907e-06, "model_forward_time": 5.28791618347168, "step": 16785 }, { "epoch": 1.6007423400878907e-06, "step": 16785, "training_step_time": 17.431912660598755 }, { "epoch": 1.6008377075195313e-06, "model_forward_time": 5.107840538024902, "step": 16786 }, { "epoch": 1.6008377075195313e-06, "step": 16786, "training_step_time": 17.619291305541992 }, { "epoch": 1.600933074951172e-06, "model_forward_time": 5.101743936538696, "step": 16787 }, { "epoch": 1.600933074951172e-06, "step": 16787, "training_step_time": 17.582615613937378 }, { "epoch": 1.6010284423828126e-06, "model_forward_time": 5.099058628082275, "step": 16788 }, { "epoch": 1.6010284423828126e-06, "step": 16788, "training_step_time": 17.435341596603394 }, { "epoch": 1.6011238098144532e-06, "model_forward_time": 5.0922417640686035, "step": 16789 }, { "epoch": 1.6011238098144532e-06, "step": 16789, "training_step_time": 17.540381908416748 }, { "epoch": 1.6012191772460938e-06, "grad_norm": 1.148800015449524, "learning_rate": 9.046611673751857e-06, "loss": 0.0977, "step": 16790 }, { "epoch": 1.6012191772460938e-06, "model_forward_time": 5.3241705894470215, "step": 16790 }, { "dynamics_loss_avg": 0.04541748473420739, "epoch": 1.6012191772460938e-06, "step": 16790 }, { "action_loss_avg": 0.07443935349583626, "epoch": 1.6012191772460938e-06, "step": 16790 }, { "arm_loss_avg": 0.1151441402733326, "epoch": 1.6012191772460938e-06, "step": 16790 }, { "ee_loss_avg": 0.05738566415384412, "epoch": 1.6012191772460938e-06, "step": 16790 }, { "aux_loss_avg": 0.0018936851643957197, "epoch": 1.6012191772460938e-06, "step": 16790 }, { "epoch": 1.6012191772460938e-06, "step": 16790, "training_step_time": 17.58455777168274 }, { "epoch": 1.6013145446777344e-06, "model_forward_time": 5.083678722381592, "step": 16791 }, { "epoch": 1.6013145446777344e-06, "step": 16791, "training_step_time": 17.651798009872437 }, { "epoch": 1.601409912109375e-06, "model_forward_time": 5.080964803695679, "step": 16792 }, { "epoch": 1.601409912109375e-06, "step": 16792, "training_step_time": 17.635292053222656 }, { "epoch": 1.6015052795410156e-06, "model_forward_time": 5.079845905303955, "step": 16793 }, { "epoch": 1.6015052795410156e-06, "step": 16793, "training_step_time": 17.822267055511475 }, { "epoch": 1.6016006469726563e-06, "model_forward_time": 5.077869892120361, "step": 16794 }, { "epoch": 1.6016006469726563e-06, "step": 16794, "training_step_time": 17.317886352539062 }, { "epoch": 1.6016960144042969e-06, "model_forward_time": 4.071879863739014, "step": 16795 }, { "epoch": 1.6016960144042969e-06, "step": 16795, "training_step_time": 17.52871036529541 }, { "epoch": 1.6017913818359375e-06, "model_forward_time": 5.057324171066284, "step": 16796 }, { "epoch": 1.6017913818359375e-06, "step": 16796, "training_step_time": 17.562599420547485 }, { "epoch": 1.601886749267578e-06, "model_forward_time": 5.063478231430054, "step": 16797 }, { "epoch": 1.601886749267578e-06, "step": 16797, "training_step_time": 17.58444309234619 }, { "epoch": 1.6019821166992187e-06, "model_forward_time": 5.073122978210449, "step": 16798 }, { "epoch": 1.6019821166992187e-06, "step": 16798, "training_step_time": 17.80760169029236 }, { "epoch": 1.6020774841308593e-06, "model_forward_time": 5.080321788787842, "step": 16799 }, { "epoch": 1.6020774841308593e-06, "step": 16799, "training_step_time": 17.578344583511353 }, { "epoch": 1.6021728515625e-06, "grad_norm": 2.3312032222747803, "learning_rate": 9.045223808099898e-06, "loss": 0.1058, "step": 16800 }, { "epoch": 1.6021728515625e-06, "model_forward_time": 4.093039512634277, "step": 16800 }, { "dynamics_loss_avg": 0.038002468273043634, "epoch": 1.6021728515625e-06, "step": 16800 }, { "action_loss_avg": 0.07432840391993523, "epoch": 1.6021728515625e-06, "step": 16800 }, { "arm_loss_avg": 0.11584319323301315, "epoch": 1.6021728515625e-06, "step": 16800 }, { "ee_loss_avg": 0.06933143977075815, "epoch": 1.6021728515625e-06, "step": 16800 }, { "aux_loss_avg": 0.0034894249052740633, "epoch": 1.6021728515625e-06, "step": 16800 }, { "epoch": 1.6021728515625e-06, "step": 16800, "training_step_time": 17.582531452178955 }, { "epoch": 1.6022682189941406e-06, "model_forward_time": 5.063403844833374, "step": 16801 }, { "epoch": 1.6022682189941406e-06, "step": 16801, "training_step_time": 17.575088024139404 }, { "epoch": 1.6023635864257812e-06, "model_forward_time": 5.076773643493652, "step": 16802 }, { "epoch": 1.6023635864257812e-06, "step": 16802, "training_step_time": 17.575381755828857 }, { "epoch": 1.6024589538574218e-06, "model_forward_time": 5.089702129364014, "step": 16803 }, { "epoch": 1.6024589538574218e-06, "step": 16803, "training_step_time": 17.783531188964844 }, { "epoch": 1.6025543212890624e-06, "model_forward_time": 5.0871593952178955, "step": 16804 }, { "epoch": 1.6025543212890624e-06, "step": 16804, "training_step_time": 17.572603940963745 }, { "epoch": 1.6026496887207032e-06, "model_forward_time": 5.289146423339844, "step": 16805 }, { "epoch": 1.6026496887207032e-06, "step": 16805, "training_step_time": 17.56541872024536 }, { "epoch": 1.6027450561523438e-06, "model_forward_time": 5.095836877822876, "step": 16806 }, { "epoch": 1.6027450561523438e-06, "step": 16806, "training_step_time": 17.5683536529541 }, { "epoch": 1.6028404235839845e-06, "model_forward_time": 5.0890953540802, "step": 16807 }, { "epoch": 1.6028404235839845e-06, "step": 16807, "training_step_time": 17.78760814666748 }, { "epoch": 1.602935791015625e-06, "model_forward_time": 5.087531328201294, "step": 16808 }, { "epoch": 1.602935791015625e-06, "step": 16808, "training_step_time": 17.560465097427368 }, { "epoch": 1.6030311584472657e-06, "model_forward_time": 5.0859694480896, "step": 16809 }, { "epoch": 1.6030311584472657e-06, "step": 16809, "training_step_time": 17.570364713668823 }, { "epoch": 1.6031265258789063e-06, "grad_norm": 2.393512487411499, "learning_rate": 9.043835039632448e-06, "loss": 0.1008, "step": 16810 }, { "epoch": 1.6031265258789063e-06, "model_forward_time": 5.083003759384155, "step": 16810 }, { "dynamics_loss_avg": 0.03519656211137771, "epoch": 1.6031265258789063e-06, "step": 16810 }, { "action_loss_avg": 0.06083883102983236, "epoch": 1.6031265258789063e-06, "step": 16810 }, { "arm_loss_avg": 0.11421053558588028, "epoch": 1.6031265258789063e-06, "step": 16810 }, { "ee_loss_avg": 0.04336507096886635, "epoch": 1.6031265258789063e-06, "step": 16810 }, { "aux_loss_avg": 0.0021838502085302024, "epoch": 1.6031265258789063e-06, "step": 16810 }, { "epoch": 1.6031265258789063e-06, "step": 16810, "training_step_time": 17.575609922409058 }, { "epoch": 1.603221893310547e-06, "model_forward_time": 5.0813376903533936, "step": 16811 }, { "epoch": 1.603221893310547e-06, "step": 16811, "training_step_time": 17.582828283309937 }, { "epoch": 1.6033172607421875e-06, "model_forward_time": 5.081303596496582, "step": 16812 }, { "epoch": 1.6033172607421875e-06, "step": 16812, "training_step_time": 17.777841567993164 }, { "epoch": 1.6034126281738281e-06, "model_forward_time": 5.076128959655762, "step": 16813 }, { "epoch": 1.6034126281738281e-06, "step": 16813, "training_step_time": 17.582332134246826 }, { "epoch": 1.6035079956054688e-06, "model_forward_time": 5.0770158767700195, "step": 16814 }, { "epoch": 1.6035079956054688e-06, "step": 16814, "training_step_time": 17.58876371383667 }, { "epoch": 1.6036033630371094e-06, "model_forward_time": 5.079087257385254, "step": 16815 }, { "epoch": 1.6036033630371094e-06, "step": 16815, "training_step_time": 17.593966245651245 }, { "epoch": 1.60369873046875e-06, "model_forward_time": 5.080273389816284, "step": 16816 }, { "epoch": 1.60369873046875e-06, "step": 16816, "training_step_time": 17.427733659744263 }, { "epoch": 1.6037940979003906e-06, "model_forward_time": 5.079442024230957, "step": 16817 }, { "epoch": 1.6037940979003906e-06, "step": 16817, "training_step_time": 17.752827644348145 }, { "epoch": 1.6038894653320312e-06, "model_forward_time": 5.085753917694092, "step": 16818 }, { "epoch": 1.6038894653320312e-06, "step": 16818, "training_step_time": 17.552414417266846 }, { "epoch": 1.6039848327636718e-06, "model_forward_time": 5.086115837097168, "step": 16819 }, { "epoch": 1.6039848327636718e-06, "step": 16819, "training_step_time": 17.58795690536499 }, { "epoch": 1.6040802001953124e-06, "grad_norm": 1.0791053771972656, "learning_rate": 9.042445368659459e-06, "loss": 0.0968, "step": 16820 }, { "epoch": 1.6040802001953124e-06, "model_forward_time": 3.850794792175293, "step": 16820 }, { "dynamics_loss_avg": 0.035649465210735795, "epoch": 1.6040802001953124e-06, "step": 16820 }, { "action_loss_avg": 0.06014238242059946, "epoch": 1.6040802001953124e-06, "step": 16820 }, { "arm_loss_avg": 0.11033675707876682, "epoch": 1.6040802001953124e-06, "step": 16820 }, { "ee_loss_avg": 0.02512692864984274, "epoch": 1.6040802001953124e-06, "step": 16820 }, { "aux_loss_avg": 0.0019711027620360256, "epoch": 1.6040802001953124e-06, "step": 16820 }, { "epoch": 1.6040802001953124e-06, "step": 16820, "training_step_time": 17.368770360946655 }, { "epoch": 1.604175567626953e-06, "model_forward_time": 5.3039140701293945, "step": 16821 }, { "epoch": 1.604175567626953e-06, "step": 16821, "training_step_time": 17.44095230102539 }, { "epoch": 1.6042709350585937e-06, "model_forward_time": 5.072317361831665, "step": 16822 }, { "epoch": 1.6042709350585937e-06, "step": 16822, "training_step_time": 17.571102142333984 }, { "epoch": 1.6043663024902343e-06, "model_forward_time": 5.080678462982178, "step": 16823 }, { "epoch": 1.6043663024902343e-06, "step": 16823, "training_step_time": 17.80749821662903 }, { "epoch": 1.604461669921875e-06, "model_forward_time": 5.082679033279419, "step": 16824 }, { "epoch": 1.604461669921875e-06, "step": 16824, "training_step_time": 17.618863105773926 }, { "epoch": 1.6045570373535157e-06, "model_forward_time": 5.088989973068237, "step": 16825 }, { "epoch": 1.6045570373535157e-06, "step": 16825, "training_step_time": 17.628578662872314 }, { "epoch": 1.6046524047851563e-06, "model_forward_time": 5.096201658248901, "step": 16826 }, { "epoch": 1.6046524047851563e-06, "step": 16826, "training_step_time": 17.626476049423218 }, { "epoch": 1.604747772216797e-06, "model_forward_time": 5.098982095718384, "step": 16827 }, { "epoch": 1.604747772216797e-06, "step": 16827, "training_step_time": 17.845338344573975 }, { "epoch": 1.6048431396484376e-06, "model_forward_time": 5.0939836502075195, "step": 16828 }, { "epoch": 1.6048431396484376e-06, "step": 16828, "training_step_time": 17.62804412841797 }, { "epoch": 1.6049385070800782e-06, "model_forward_time": 5.09610915184021, "step": 16829 }, { "epoch": 1.6049385070800782e-06, "step": 16829, "training_step_time": 17.61609721183777 }, { "epoch": 1.6050338745117188e-06, "grad_norm": 1.781512975692749, "learning_rate": 9.041054795491073e-06, "loss": 0.1018, "step": 16830 }, { "epoch": 1.6050338745117188e-06, "model_forward_time": 5.09125018119812, "step": 16830 }, { "dynamics_loss_avg": 0.03663985189050436, "epoch": 1.6050338745117188e-06, "step": 16830 }, { "action_loss_avg": 0.06853386126458645, "epoch": 1.6050338745117188e-06, "step": 16830 }, { "arm_loss_avg": 0.11979517377912999, "epoch": 1.6050338745117188e-06, "step": 16830 }, { "ee_loss_avg": 0.030889796279370784, "epoch": 1.6050338745117188e-06, "step": 16830 }, { "aux_loss_avg": 0.0008254118176409975, "epoch": 1.6050338745117188e-06, "step": 16830 }, { "epoch": 1.6050338745117188e-06, "step": 16830, "training_step_time": 17.617857933044434 }, { "epoch": 1.6051292419433594e-06, "model_forward_time": 5.090988874435425, "step": 16831 }, { "epoch": 1.6051292419433594e-06, "step": 16831, "training_step_time": 17.632620573043823 }, { "epoch": 1.605224609375e-06, "model_forward_time": 5.0878846645355225, "step": 16832 }, { "epoch": 1.605224609375e-06, "step": 16832, "training_step_time": 17.79736876487732 }, { "epoch": 1.6053199768066406e-06, "model_forward_time": 5.0884034633636475, "step": 16833 }, { "epoch": 1.6053199768066406e-06, "step": 16833, "training_step_time": 17.613043546676636 }, { "epoch": 1.6054153442382813e-06, "model_forward_time": 5.088486194610596, "step": 16834 }, { "epoch": 1.6054153442382813e-06, "step": 16834, "training_step_time": 17.609719038009644 }, { "epoch": 1.6055107116699219e-06, "model_forward_time": 3.8497438430786133, "step": 16835 }, { "epoch": 1.6055107116699219e-06, "step": 16835, "training_step_time": 17.60885000228882 }, { "epoch": 1.6056060791015625e-06, "model_forward_time": 5.269711494445801, "step": 16836 }, { "epoch": 1.6056060791015625e-06, "step": 16836, "training_step_time": 17.66098642349243 }, { "epoch": 1.605701446533203e-06, "model_forward_time": 5.07027530670166, "step": 16837 }, { "epoch": 1.605701446533203e-06, "step": 16837, "training_step_time": 17.83774757385254 }, { "epoch": 1.6057968139648437e-06, "model_forward_time": 5.077085971832275, "step": 16838 }, { "epoch": 1.6057968139648437e-06, "step": 16838, "training_step_time": 17.594080209732056 }, { "epoch": 1.6058921813964843e-06, "model_forward_time": 5.089605331420898, "step": 16839 }, { "epoch": 1.6058921813964843e-06, "step": 16839, "training_step_time": 17.594666957855225 }, { "epoch": 1.605987548828125e-06, "grad_norm": 1.7888243198394775, "learning_rate": 9.039663320437639e-06, "loss": 0.1047, "step": 16840 }, { "epoch": 1.605987548828125e-06, "model_forward_time": 5.0921101570129395, "step": 16840 }, { "dynamics_loss_avg": 0.030928780604153872, "epoch": 1.605987548828125e-06, "step": 16840 }, { "action_loss_avg": 0.060964717995375395, "epoch": 1.605987548828125e-06, "step": 16840 }, { "arm_loss_avg": 0.0987667452543974, "epoch": 1.605987548828125e-06, "step": 16840 }, { "ee_loss_avg": 0.03086420213803649, "epoch": 1.605987548828125e-06, "step": 16840 }, { "aux_loss_avg": 0.0006964456872083247, "epoch": 1.605987548828125e-06, "step": 16840 }, { "epoch": 1.605987548828125e-06, "step": 16840, "training_step_time": 17.5825092792511 }, { "epoch": 1.6060829162597656e-06, "model_forward_time": 5.1029393672943115, "step": 16841 }, { "epoch": 1.6060829162597656e-06, "step": 16841, "training_step_time": 17.597715139389038 }, { "epoch": 1.6061782836914062e-06, "model_forward_time": 5.099060297012329, "step": 16842 }, { "epoch": 1.6061782836914062e-06, "step": 16842, "training_step_time": 17.783694982528687 }, { "epoch": 1.6062736511230468e-06, "model_forward_time": 5.099365711212158, "step": 16843 }, { "epoch": 1.6062736511230468e-06, "step": 16843, "training_step_time": 17.589088916778564 }, { "epoch": 1.6063690185546874e-06, "model_forward_time": 5.100043773651123, "step": 16844 }, { "epoch": 1.6063690185546874e-06, "step": 16844, "training_step_time": 17.58993101119995 }, { "epoch": 1.6064643859863282e-06, "model_forward_time": 5.284924745559692, "step": 16845 }, { "epoch": 1.6064643859863282e-06, "step": 16845, "training_step_time": 17.59514331817627 }, { "epoch": 1.6065597534179688e-06, "model_forward_time": 5.094417572021484, "step": 16846 }, { "epoch": 1.6065597534179688e-06, "step": 16846, "training_step_time": 17.59607219696045 }, { "epoch": 1.6066551208496095e-06, "model_forward_time": 5.090810060501099, "step": 16847 }, { "epoch": 1.6066551208496095e-06, "step": 16847, "training_step_time": 17.47741985321045 }, { "epoch": 1.60675048828125e-06, "model_forward_time": 5.088910102844238, "step": 16848 }, { "epoch": 1.60675048828125e-06, "step": 16848, "training_step_time": 17.512985467910767 }, { "epoch": 1.6068458557128907e-06, "model_forward_time": 5.089171886444092, "step": 16849 }, { "epoch": 1.6068458557128907e-06, "step": 16849, "training_step_time": 17.55462622642517 }, { "epoch": 1.6069412231445313e-06, "grad_norm": 2.998072624206543, "learning_rate": 9.038270943809711e-06, "loss": 0.1137, "step": 16850 }, { "epoch": 1.6069412231445313e-06, "model_forward_time": 4.036802291870117, "step": 16850 }, { "dynamics_loss_avg": 0.03822387149557471, "epoch": 1.6069412231445313e-06, "step": 16850 }, { "action_loss_avg": 0.06070508472621441, "epoch": 1.6069412231445313e-06, "step": 16850 }, { "arm_loss_avg": 0.10053901039063931, "epoch": 1.6069412231445313e-06, "step": 16850 }, { "ee_loss_avg": 0.04535743184387684, "epoch": 1.6069412231445313e-06, "step": 16850 }, { "aux_loss_avg": 0.002691765280906111, "epoch": 1.6069412231445313e-06, "step": 16850 }, { "epoch": 1.6069412231445313e-06, "step": 16850, "training_step_time": 17.57945442199707 }, { "epoch": 1.607036590576172e-06, "model_forward_time": 5.056896448135376, "step": 16851 }, { "epoch": 1.607036590576172e-06, "step": 16851, "training_step_time": 17.605060577392578 }, { "epoch": 1.6071319580078125e-06, "model_forward_time": 3.838047504425049, "step": 16852 }, { "epoch": 1.6071319580078125e-06, "step": 16852, "training_step_time": 17.81914758682251 }, { "epoch": 1.6072273254394531e-06, "model_forward_time": 3.826680898666382, "step": 16853 }, { "epoch": 1.6072273254394531e-06, "step": 16853, "training_step_time": 17.61421251296997 }, { "epoch": 1.6073226928710938e-06, "model_forward_time": 5.050521612167358, "step": 16854 }, { "epoch": 1.6073226928710938e-06, "step": 16854, "training_step_time": 17.60594344139099 }, { "epoch": 1.6074180603027344e-06, "model_forward_time": 3.8382816314697266, "step": 16855 }, { "epoch": 1.6074180603027344e-06, "step": 16855, "training_step_time": 17.380727529525757 }, { "epoch": 1.607513427734375e-06, "model_forward_time": 5.245344877243042, "step": 16856 }, { "epoch": 1.607513427734375e-06, "step": 16856, "training_step_time": 17.634494304656982 }, { "epoch": 1.6076087951660156e-06, "model_forward_time": 5.088319301605225, "step": 16857 }, { "epoch": 1.6076087951660156e-06, "step": 16857, "training_step_time": 17.5266330242157 }, { "epoch": 1.6077041625976562e-06, "model_forward_time": 5.1103715896606445, "step": 16858 }, { "epoch": 1.6077041625976562e-06, "step": 16858, "training_step_time": 17.790197610855103 }, { "epoch": 1.6077995300292968e-06, "model_forward_time": 5.108339548110962, "step": 16859 }, { "epoch": 1.6077995300292968e-06, "step": 16859, "training_step_time": 17.58621335029602 }, { "epoch": 1.6078948974609374e-06, "grad_norm": 2.172091007232666, "learning_rate": 9.036877665918038e-06, "loss": 0.1139, "step": 16860 }, { "epoch": 1.6078948974609374e-06, "model_forward_time": 5.101670742034912, "step": 16860 }, { "dynamics_loss_avg": 0.037776209972798826, "epoch": 1.6078948974609374e-06, "step": 16860 }, { "action_loss_avg": 0.05394748877733946, "epoch": 1.6078948974609374e-06, "step": 16860 }, { "arm_loss_avg": 0.09192784354090691, "epoch": 1.6078948974609374e-06, "step": 16860 }, { "ee_loss_avg": 0.04162019733339548, "epoch": 1.6078948974609374e-06, "step": 16860 }, { "aux_loss_avg": 0.004771578271174803, "epoch": 1.6078948974609374e-06, "step": 16860 }, { "epoch": 1.6078948974609374e-06, "step": 16860, "training_step_time": 17.600171089172363 }, { "epoch": 1.607990264892578e-06, "model_forward_time": 5.3237926959991455, "step": 16861 }, { "epoch": 1.607990264892578e-06, "step": 16861, "training_step_time": 17.623300313949585 }, { "epoch": 1.6080856323242187e-06, "model_forward_time": 5.092871904373169, "step": 16862 }, { "epoch": 1.6080856323242187e-06, "step": 16862, "training_step_time": 17.53968358039856 }, { "epoch": 1.6081809997558593e-06, "model_forward_time": 5.089481353759766, "step": 16863 }, { "epoch": 1.6081809997558593e-06, "step": 16863, "training_step_time": 17.78085494041443 }, { "epoch": 1.6082763671875e-06, "model_forward_time": 5.082542657852173, "step": 16864 }, { "epoch": 1.6082763671875e-06, "step": 16864, "training_step_time": 17.622122049331665 }, { "epoch": 1.6083717346191407e-06, "model_forward_time": 5.083845615386963, "step": 16865 }, { "epoch": 1.6083717346191407e-06, "step": 16865, "training_step_time": 17.210983514785767 }, { "epoch": 1.6084671020507813e-06, "model_forward_time": 5.267951965332031, "step": 16866 }, { "epoch": 1.6084671020507813e-06, "step": 16866, "training_step_time": 17.558868408203125 }, { "epoch": 1.608562469482422e-06, "model_forward_time": 5.088542938232422, "step": 16867 }, { "epoch": 1.608562469482422e-06, "step": 16867, "training_step_time": 17.592931509017944 }, { "epoch": 1.6086578369140626e-06, "model_forward_time": 5.086055755615234, "step": 16868 }, { "epoch": 1.6086578369140626e-06, "step": 16868, "training_step_time": 17.844704627990723 }, { "epoch": 1.6087532043457032e-06, "model_forward_time": 5.083571672439575, "step": 16869 }, { "epoch": 1.6087532043457032e-06, "step": 16869, "training_step_time": 17.618227005004883 }, { "epoch": 1.6088485717773438e-06, "grad_norm": 1.2281467914581299, "learning_rate": 9.035483487073576e-06, "loss": 0.0877, "step": 16870 }, { "epoch": 1.6088485717773438e-06, "model_forward_time": 5.085835933685303, "step": 16870 }, { "dynamics_loss_avg": 0.03669611606746912, "epoch": 1.6088485717773438e-06, "step": 16870 }, { "action_loss_avg": 0.0627179816365242, "epoch": 1.6088485717773438e-06, "step": 16870 }, { "arm_loss_avg": 0.0967957191169262, "epoch": 1.6088485717773438e-06, "step": 16870 }, { "ee_loss_avg": 0.025467980233952404, "epoch": 1.6088485717773438e-06, "step": 16870 }, { "aux_loss_avg": 0.0010021766793215647, "epoch": 1.6088485717773438e-06, "step": 16870 }, { "epoch": 1.6088485717773438e-06, "step": 16870, "training_step_time": 17.617610454559326 }, { "epoch": 1.6089439392089844e-06, "model_forward_time": 5.326921701431274, "step": 16871 }, { "epoch": 1.6089439392089844e-06, "step": 16871, "training_step_time": 17.623067140579224 }, { "epoch": 1.609039306640625e-06, "model_forward_time": 5.087628126144409, "step": 16872 }, { "epoch": 1.609039306640625e-06, "step": 16872, "training_step_time": 17.638582706451416 }, { "epoch": 1.6091346740722656e-06, "model_forward_time": 5.087809085845947, "step": 16873 }, { "epoch": 1.6091346740722656e-06, "step": 16873, "training_step_time": 17.812588691711426 }, { "epoch": 1.6092300415039063e-06, "model_forward_time": 5.083467721939087, "step": 16874 }, { "epoch": 1.6092300415039063e-06, "step": 16874, "training_step_time": 17.597748041152954 }, { "epoch": 1.6093254089355469e-06, "model_forward_time": 5.08494234085083, "step": 16875 }, { "epoch": 1.6093254089355469e-06, "step": 16875, "training_step_time": 17.60836172103882 }, { "epoch": 1.6094207763671875e-06, "model_forward_time": 5.29412579536438, "step": 16876 }, { "epoch": 1.6094207763671875e-06, "step": 16876, "training_step_time": 17.66018557548523 }, { "epoch": 1.609516143798828e-06, "model_forward_time": 5.091594934463501, "step": 16877 }, { "epoch": 1.609516143798828e-06, "step": 16877, "training_step_time": 17.614745140075684 }, { "epoch": 1.6096115112304687e-06, "model_forward_time": 3.859215497970581, "step": 16878 }, { "epoch": 1.6096115112304687e-06, "step": 16878, "training_step_time": 17.86188554763794 }, { "epoch": 1.6097068786621093e-06, "model_forward_time": 5.071699142456055, "step": 16879 }, { "epoch": 1.6097068786621093e-06, "step": 16879, "training_step_time": 17.601866483688354 }, { "epoch": 1.60980224609375e-06, "grad_norm": 1.9762802124023438, "learning_rate": 9.034088407587471e-06, "loss": 0.0928, "step": 16880 }, { "epoch": 1.60980224609375e-06, "model_forward_time": 3.84440541267395, "step": 16880 }, { "dynamics_loss_avg": 0.030618594493716955, "epoch": 1.60980224609375e-06, "step": 16880 }, { "action_loss_avg": 0.04947790913283825, "epoch": 1.60980224609375e-06, "step": 16880 }, { "arm_loss_avg": 0.09614608734846115, "epoch": 1.60980224609375e-06, "step": 16880 }, { "ee_loss_avg": 0.03755177957937121, "epoch": 1.60980224609375e-06, "step": 16880 }, { "aux_loss_avg": 0.0015203054354060441, "epoch": 1.60980224609375e-06, "step": 16880 }, { "epoch": 1.60980224609375e-06, "step": 16880, "training_step_time": 17.594902515411377 }, { "epoch": 1.6098976135253906e-06, "model_forward_time": 5.2929298877716064, "step": 16881 }, { "epoch": 1.6098976135253906e-06, "step": 16881, "training_step_time": 17.605626344680786 }, { "epoch": 1.6099929809570312e-06, "model_forward_time": 5.070739030838013, "step": 16882 }, { "epoch": 1.6099929809570312e-06, "step": 16882, "training_step_time": 17.557093858718872 }, { "epoch": 1.6100883483886718e-06, "model_forward_time": 5.087283134460449, "step": 16883 }, { "epoch": 1.6100883483886718e-06, "step": 16883, "training_step_time": 17.75576138496399 }, { "epoch": 1.6101837158203124e-06, "model_forward_time": 5.095877647399902, "step": 16884 }, { "epoch": 1.6101837158203124e-06, "step": 16884, "training_step_time": 17.554917335510254 }, { "epoch": 1.610279083251953e-06, "model_forward_time": 5.103780508041382, "step": 16885 }, { "epoch": 1.610279083251953e-06, "step": 16885, "training_step_time": 17.547175884246826 }, { "epoch": 1.6103744506835938e-06, "model_forward_time": 5.288066387176514, "step": 16886 }, { "epoch": 1.6103744506835938e-06, "step": 16886, "training_step_time": 17.554076433181763 }, { "epoch": 1.6104698181152345e-06, "model_forward_time": 5.100588321685791, "step": 16887 }, { "epoch": 1.6104698181152345e-06, "step": 16887, "training_step_time": 17.781193733215332 }, { "epoch": 1.610565185546875e-06, "model_forward_time": 5.097484827041626, "step": 16888 }, { "epoch": 1.610565185546875e-06, "step": 16888, "training_step_time": 17.55698537826538 }, { "epoch": 1.6106605529785157e-06, "model_forward_time": 5.090091943740845, "step": 16889 }, { "epoch": 1.6106605529785157e-06, "step": 16889, "training_step_time": 17.48315167427063 }, { "epoch": 1.6107559204101563e-06, "grad_norm": 1.4280874729156494, "learning_rate": 9.032692427771085e-06, "loss": 0.0913, "step": 16890 }, { "epoch": 1.6107559204101563e-06, "model_forward_time": 3.857146739959717, "step": 16890 }, { "dynamics_loss_avg": 0.031304951896890996, "epoch": 1.6107559204101563e-06, "step": 16890 }, { "action_loss_avg": 0.057097452506422994, "epoch": 1.6107559204101563e-06, "step": 16890 }, { "arm_loss_avg": 0.10947951264679431, "epoch": 1.6107559204101563e-06, "step": 16890 }, { "ee_loss_avg": 0.03480846844613552, "epoch": 1.6107559204101563e-06, "step": 16890 }, { "aux_loss_avg": 0.0008439183176960797, "epoch": 1.6107559204101563e-06, "step": 16890 }, { "epoch": 1.6107559204101563e-06, "step": 16890, "training_step_time": 17.487109661102295 }, { "epoch": 1.610851287841797e-06, "model_forward_time": 5.293872594833374, "step": 16891 }, { "epoch": 1.610851287841797e-06, "step": 16891, "training_step_time": 17.629865407943726 }, { "epoch": 1.6109466552734375e-06, "model_forward_time": 5.06766676902771, "step": 16892 }, { "epoch": 1.6109466552734375e-06, "step": 16892, "training_step_time": 17.754093408584595 }, { "epoch": 1.6110420227050781e-06, "model_forward_time": 5.071392297744751, "step": 16893 }, { "epoch": 1.6110420227050781e-06, "step": 16893, "training_step_time": 17.593443870544434 }, { "epoch": 1.6111373901367188e-06, "model_forward_time": 5.08439040184021, "step": 16894 }, { "epoch": 1.6111373901367188e-06, "step": 16894, "training_step_time": 17.480677366256714 }, { "epoch": 1.6112327575683594e-06, "model_forward_time": 5.090198040008545, "step": 16895 }, { "epoch": 1.6112327575683594e-06, "step": 16895, "training_step_time": 17.491397380828857 }, { "epoch": 1.611328125e-06, "model_forward_time": 5.31561279296875, "step": 16896 }, { "epoch": 1.611328125e-06, "step": 16896, "training_step_time": 17.583454370498657 }, { "epoch": 1.6114234924316406e-06, "model_forward_time": 5.097909927368164, "step": 16897 }, { "epoch": 1.6114234924316406e-06, "step": 16897, "training_step_time": 17.599249124526978 }, { "epoch": 1.6115188598632812e-06, "model_forward_time": 5.101084470748901, "step": 16898 }, { "epoch": 1.6115188598632812e-06, "step": 16898, "training_step_time": 17.852388381958008 }, { "epoch": 1.6116142272949218e-06, "model_forward_time": 5.092936038970947, "step": 16899 }, { "epoch": 1.6116142272949218e-06, "step": 16899, "training_step_time": 17.407615900039673 }, { "epoch": 1.6117095947265624e-06, "grad_norm": 1.99476158618927, "learning_rate": 9.031295547935972e-06, "loss": 0.0993, "step": 16900 }, { "epoch": 1.6117095947265624e-06, "model_forward_time": 5.097077131271362, "step": 16900 }, { "dynamics_loss_avg": 0.035179195925593376, "epoch": 1.6117095947265624e-06, "step": 16900 }, { "action_loss_avg": 0.0656219732016325, "epoch": 1.6117095947265624e-06, "step": 16900 }, { "arm_loss_avg": 0.11271585524082184, "epoch": 1.6117095947265624e-06, "step": 16900 }, { "ee_loss_avg": 0.048619541060179475, "epoch": 1.6117095947265624e-06, "step": 16900 }, { "aux_loss_avg": 0.003323766254470684, "epoch": 1.6117095947265624e-06, "step": 16900 }, { "epoch": 1.6117095947265624e-06, "step": 16900, "training_step_time": 17.545199871063232 }, { "epoch": 1.611804962158203e-06, "model_forward_time": 5.095473051071167, "step": 16901 }, { "epoch": 1.611804962158203e-06, "step": 16901, "training_step_time": 17.649611473083496 }, { "epoch": 1.6119003295898437e-06, "model_forward_time": 5.0907042026519775, "step": 16902 }, { "epoch": 1.6119003295898437e-06, "step": 16902, "training_step_time": 17.600322484970093 }, { "epoch": 1.6119956970214843e-06, "model_forward_time": 5.090747833251953, "step": 16903 }, { "epoch": 1.6119956970214843e-06, "step": 16903, "training_step_time": 17.813734769821167 }, { "epoch": 1.612091064453125e-06, "model_forward_time": 5.083747625350952, "step": 16904 }, { "epoch": 1.612091064453125e-06, "step": 16904, "training_step_time": 17.621668100357056 }, { "epoch": 1.6121864318847655e-06, "model_forward_time": 5.275828123092651, "step": 16905 }, { "epoch": 1.6121864318847655e-06, "step": 16905, "training_step_time": 17.62730598449707 }, { "epoch": 1.6122817993164063e-06, "model_forward_time": 5.084845066070557, "step": 16906 }, { "epoch": 1.6122817993164063e-06, "step": 16906, "training_step_time": 17.603942155838013 }, { "epoch": 1.612377166748047e-06, "model_forward_time": 5.088231801986694, "step": 16907 }, { "epoch": 1.612377166748047e-06, "step": 16907, "training_step_time": 17.532642602920532 }, { "epoch": 1.6124725341796876e-06, "model_forward_time": 5.091252088546753, "step": 16908 }, { "epoch": 1.6124725341796876e-06, "step": 16908, "training_step_time": 17.80134153366089 }, { "epoch": 1.6125679016113282e-06, "model_forward_time": 5.08593487739563, "step": 16909 }, { "epoch": 1.6125679016113282e-06, "step": 16909, "training_step_time": 17.59090805053711 }, { "epoch": 1.6126632690429688e-06, "grad_norm": 2.045924663543701, "learning_rate": 9.029897768393887e-06, "loss": 0.0855, "step": 16910 }, { "epoch": 1.6126632690429688e-06, "model_forward_time": 5.325794458389282, "step": 16910 }, { "dynamics_loss_avg": 0.0303626649081707, "epoch": 1.6126632690429688e-06, "step": 16910 }, { "action_loss_avg": 0.05105600673705339, "epoch": 1.6126632690429688e-06, "step": 16910 }, { "arm_loss_avg": 0.12563377805054188, "epoch": 1.6126632690429688e-06, "step": 16910 }, { "ee_loss_avg": 0.022253419738262892, "epoch": 1.6126632690429688e-06, "step": 16910 }, { "aux_loss_avg": 0.0010250908235320821, "epoch": 1.6126632690429688e-06, "step": 16910 }, { "epoch": 1.6126632690429688e-06, "step": 16910, "training_step_time": 17.60283136367798 }, { "epoch": 1.6127586364746094e-06, "model_forward_time": 5.09077525138855, "step": 16911 }, { "epoch": 1.6127586364746094e-06, "step": 16911, "training_step_time": 17.638155221939087 }, { "epoch": 1.61285400390625e-06, "model_forward_time": 5.088451385498047, "step": 16912 }, { "epoch": 1.61285400390625e-06, "step": 16912, "training_step_time": 17.84978747367859 }, { "epoch": 1.6129493713378906e-06, "model_forward_time": 3.8557920455932617, "step": 16913 }, { "epoch": 1.6129493713378906e-06, "step": 16913, "training_step_time": 17.617555618286133 }, { "epoch": 1.6130447387695313e-06, "model_forward_time": 5.066200494766235, "step": 16914 }, { "epoch": 1.6130447387695313e-06, "step": 16914, "training_step_time": 17.40692138671875 }, { "epoch": 1.6131401062011719e-06, "model_forward_time": 5.074480295181274, "step": 16915 }, { "epoch": 1.6131401062011719e-06, "step": 16915, "training_step_time": 17.52869415283203 }, { "epoch": 1.6132354736328125e-06, "model_forward_time": 5.090370178222656, "step": 16916 }, { "epoch": 1.6132354736328125e-06, "step": 16916, "training_step_time": 17.668736696243286 }, { "epoch": 1.6133308410644531e-06, "model_forward_time": 5.102403402328491, "step": 16917 }, { "epoch": 1.6133308410644531e-06, "step": 16917, "training_step_time": 17.524462699890137 }, { "epoch": 1.6134262084960937e-06, "model_forward_time": 5.115424156188965, "step": 16918 }, { "epoch": 1.6134262084960937e-06, "step": 16918, "training_step_time": 17.833831310272217 }, { "epoch": 1.6135215759277343e-06, "model_forward_time": 5.111290454864502, "step": 16919 }, { "epoch": 1.6135215759277343e-06, "step": 16919, "training_step_time": 17.611388444900513 }, { "epoch": 1.613616943359375e-06, "grad_norm": 2.5549843311309814, "learning_rate": 9.028499089456787e-06, "loss": 0.0898, "step": 16920 }, { "epoch": 1.613616943359375e-06, "model_forward_time": 5.105050563812256, "step": 16920 }, { "dynamics_loss_avg": 0.03462924743071198, "epoch": 1.613616943359375e-06, "step": 16920 }, { "action_loss_avg": 0.05332493055611849, "epoch": 1.613616943359375e-06, "step": 16920 }, { "arm_loss_avg": 0.11519320532679558, "epoch": 1.613616943359375e-06, "step": 16920 }, { "ee_loss_avg": 0.05969704799354077, "epoch": 1.613616943359375e-06, "step": 16920 }, { "aux_loss_avg": 0.0025636840873630717, "epoch": 1.613616943359375e-06, "step": 16920 }, { "epoch": 1.613616943359375e-06, "step": 16920, "training_step_time": 17.612836360931396 }, { "epoch": 1.6137123107910156e-06, "model_forward_time": 5.335720062255859, "step": 16921 }, { "epoch": 1.6137123107910156e-06, "step": 16921, "training_step_time": 17.63203716278076 }, { "epoch": 1.6138076782226562e-06, "model_forward_time": 5.098116397857666, "step": 16922 }, { "epoch": 1.6138076782226562e-06, "step": 16922, "training_step_time": 17.389347791671753 }, { "epoch": 1.6139030456542968e-06, "model_forward_time": 5.095353126525879, "step": 16923 }, { "epoch": 1.6139030456542968e-06, "step": 16923, "training_step_time": 17.74526047706604 }, { "epoch": 1.6139984130859374e-06, "model_forward_time": 5.088568687438965, "step": 16924 }, { "epoch": 1.6139984130859374e-06, "step": 16924, "training_step_time": 17.59750747680664 }, { "epoch": 1.614093780517578e-06, "model_forward_time": 5.088002920150757, "step": 16925 }, { "epoch": 1.614093780517578e-06, "step": 16925, "training_step_time": 17.610446453094482 }, { "epoch": 1.6141891479492188e-06, "model_forward_time": 5.084722280502319, "step": 16926 }, { "epoch": 1.6141891479492188e-06, "step": 16926, "training_step_time": 17.616981983184814 }, { "epoch": 1.6142845153808595e-06, "model_forward_time": 5.085052251815796, "step": 16927 }, { "epoch": 1.6142845153808595e-06, "step": 16927, "training_step_time": 17.632480144500732 }, { "epoch": 1.6143798828125e-06, "model_forward_time": 5.086250066757202, "step": 16928 }, { "epoch": 1.6143798828125e-06, "step": 16928, "training_step_time": 17.39587378501892 }, { "epoch": 1.6144752502441407e-06, "model_forward_time": 5.0861265659332275, "step": 16929 }, { "epoch": 1.6144752502441407e-06, "step": 16929, "training_step_time": 17.535934448242188 }, { "epoch": 1.6145706176757813e-06, "grad_norm": 1.2262356281280518, "learning_rate": 9.027099511436831e-06, "loss": 0.0975, "step": 16930 }, { "epoch": 1.6145706176757813e-06, "model_forward_time": 5.0896992683410645, "step": 16930 }, { "dynamics_loss_avg": 0.041036774311214684, "epoch": 1.6145706176757813e-06, "step": 16930 }, { "action_loss_avg": 0.052103478275239465, "epoch": 1.6145706176757813e-06, "step": 16930 }, { "arm_loss_avg": 0.10697143040597439, "epoch": 1.6145706176757813e-06, "step": 16930 }, { "ee_loss_avg": 0.02531845704652369, "epoch": 1.6145706176757813e-06, "step": 16930 }, { "aux_loss_avg": 0.0008086067595286295, "epoch": 1.6145706176757813e-06, "step": 16930 }, { "epoch": 1.6145706176757813e-06, "step": 16930, "training_step_time": 17.566174507141113 }, { "epoch": 1.614665985107422e-06, "model_forward_time": 5.0889880657196045, "step": 16931 }, { "epoch": 1.614665985107422e-06, "step": 16931, "training_step_time": 17.639752626419067 }, { "epoch": 1.6147613525390625e-06, "model_forward_time": 5.090372562408447, "step": 16932 }, { "epoch": 1.6147613525390625e-06, "step": 16932, "training_step_time": 17.60973334312439 }, { "epoch": 1.6148567199707032e-06, "model_forward_time": 5.091875076293945, "step": 16933 }, { "epoch": 1.6148567199707032e-06, "step": 16933, "training_step_time": 17.792462825775146 }, { "epoch": 1.6149520874023438e-06, "model_forward_time": 5.0874223709106445, "step": 16934 }, { "epoch": 1.6149520874023438e-06, "step": 16934, "training_step_time": 17.619403839111328 }, { "epoch": 1.6150474548339844e-06, "model_forward_time": 5.0896172523498535, "step": 16935 }, { "epoch": 1.6150474548339844e-06, "step": 16935, "training_step_time": 17.61111617088318 }, { "epoch": 1.615142822265625e-06, "model_forward_time": 5.093545913696289, "step": 16936 }, { "epoch": 1.615142822265625e-06, "step": 16936, "training_step_time": 17.261613368988037 }, { "epoch": 1.6152381896972656e-06, "model_forward_time": 5.090737581253052, "step": 16937 }, { "epoch": 1.6152381896972656e-06, "step": 16937, "training_step_time": 17.558855772018433 }, { "epoch": 1.6153335571289062e-06, "model_forward_time": 5.091027736663818, "step": 16938 }, { "epoch": 1.6153335571289062e-06, "step": 16938, "training_step_time": 17.793408393859863 }, { "epoch": 1.6154289245605468e-06, "model_forward_time": 5.087341547012329, "step": 16939 }, { "epoch": 1.6154289245605468e-06, "step": 16939, "training_step_time": 17.390016555786133 }, { "epoch": 1.6155242919921875e-06, "grad_norm": 2.238168954849243, "learning_rate": 9.025699034646378e-06, "loss": 0.1073, "step": 16940 }, { "epoch": 1.6155242919921875e-06, "model_forward_time": 5.0902910232543945, "step": 16940 }, { "dynamics_loss_avg": 0.03796977875754237, "epoch": 1.6155242919921875e-06, "step": 16940 }, { "action_loss_avg": 0.07036157324910164, "epoch": 1.6155242919921875e-06, "step": 16940 }, { "arm_loss_avg": 0.15486200675368308, "epoch": 1.6155242919921875e-06, "step": 16940 }, { "ee_loss_avg": 0.0767247857293114, "epoch": 1.6155242919921875e-06, "step": 16940 }, { "aux_loss_avg": 0.006068986083846539, "epoch": 1.6155242919921875e-06, "step": 16940 }, { "epoch": 1.6155242919921875e-06, "step": 16940, "training_step_time": 17.50489115715027 }, { "epoch": 1.615619659423828e-06, "model_forward_time": 5.09187650680542, "step": 16941 }, { "epoch": 1.615619659423828e-06, "step": 16941, "training_step_time": 17.639244079589844 }, { "epoch": 1.6157150268554687e-06, "model_forward_time": 5.087551116943359, "step": 16942 }, { "epoch": 1.6157150268554687e-06, "step": 16942, "training_step_time": 17.58405566215515 }, { "epoch": 1.6158103942871093e-06, "model_forward_time": 5.083468198776245, "step": 16943 }, { "epoch": 1.6158103942871093e-06, "step": 16943, "training_step_time": 17.801018238067627 }, { "epoch": 1.61590576171875e-06, "model_forward_time": 5.0847251415252686, "step": 16944 }, { "epoch": 1.61590576171875e-06, "step": 16944, "training_step_time": 17.6156268119812 }, { "epoch": 1.6160011291503905e-06, "model_forward_time": 5.279904365539551, "step": 16945 }, { "epoch": 1.6160011291503905e-06, "step": 16945, "training_step_time": 17.633009672164917 }, { "epoch": 1.6160964965820314e-06, "model_forward_time": 5.085888147354126, "step": 16946 }, { "epoch": 1.6160964965820314e-06, "step": 16946, "training_step_time": 17.647976875305176 }, { "epoch": 1.616191864013672e-06, "model_forward_time": 5.084402322769165, "step": 16947 }, { "epoch": 1.616191864013672e-06, "step": 16947, "training_step_time": 17.629924535751343 }, { "epoch": 1.6162872314453126e-06, "model_forward_time": 5.08530068397522, "step": 16948 }, { "epoch": 1.6162872314453126e-06, "step": 16948, "training_step_time": 17.859545946121216 }, { "epoch": 1.6163825988769532e-06, "model_forward_time": 5.084718465805054, "step": 16949 }, { "epoch": 1.6163825988769532e-06, "step": 16949, "training_step_time": 17.607835054397583 }, { "epoch": 1.6164779663085938e-06, "grad_norm": 2.0613300800323486, "learning_rate": 9.024297659397986e-06, "loss": 0.0947, "step": 16950 }, { "epoch": 1.6164779663085938e-06, "model_forward_time": 5.092015504837036, "step": 16950 }, { "dynamics_loss_avg": 0.036432415898889306, "epoch": 1.6164779663085938e-06, "step": 16950 }, { "action_loss_avg": 0.08205518163740635, "epoch": 1.6164779663085938e-06, "step": 16950 }, { "arm_loss_avg": 0.11443699225783348, "epoch": 1.6164779663085938e-06, "step": 16950 }, { "ee_loss_avg": 0.039674080442637205, "epoch": 1.6164779663085938e-06, "step": 16950 }, { "aux_loss_avg": 0.0015761766640935092, "epoch": 1.6164779663085938e-06, "step": 16950 }, { "epoch": 1.6164779663085938e-06, "step": 16950, "training_step_time": 17.612908840179443 }, { "epoch": 1.6165733337402344e-06, "model_forward_time": 5.088045597076416, "step": 16951 }, { "epoch": 1.6165733337402344e-06, "step": 16951, "training_step_time": 17.662736177444458 }, { "epoch": 1.616668701171875e-06, "model_forward_time": 3.852545976638794, "step": 16952 }, { "epoch": 1.616668701171875e-06, "step": 16952, "training_step_time": 17.594110012054443 }, { "epoch": 1.6167640686035157e-06, "model_forward_time": 5.057281255722046, "step": 16953 }, { "epoch": 1.6167640686035157e-06, "step": 16953, "training_step_time": 17.79010558128357 }, { "epoch": 1.6168594360351563e-06, "model_forward_time": 5.0630528926849365, "step": 16954 }, { "epoch": 1.6168594360351563e-06, "step": 16954, "training_step_time": 17.59854245185852 }, { "epoch": 1.6169548034667969e-06, "model_forward_time": 5.077098846435547, "step": 16955 }, { "epoch": 1.6169548034667969e-06, "step": 16955, "training_step_time": 17.59038519859314 }, { "epoch": 1.6170501708984375e-06, "model_forward_time": 4.089770317077637, "step": 16956 }, { "epoch": 1.6170501708984375e-06, "step": 16956, "training_step_time": 17.58100700378418 }, { "epoch": 1.6171455383300781e-06, "model_forward_time": 5.060591220855713, "step": 16957 }, { "epoch": 1.6171455383300781e-06, "step": 16957, "training_step_time": 17.581188678741455 }, { "epoch": 1.6172409057617187e-06, "model_forward_time": 5.077114582061768, "step": 16958 }, { "epoch": 1.6172409057617187e-06, "step": 16958, "training_step_time": 17.814969778060913 }, { "epoch": 1.6173362731933593e-06, "model_forward_time": 5.084107160568237, "step": 16959 }, { "epoch": 1.6173362731933593e-06, "step": 16959, "training_step_time": 17.574025630950928 }, { "epoch": 1.617431640625e-06, "grad_norm": 1.7498825788497925, "learning_rate": 9.022895386004418e-06, "loss": 0.1064, "step": 16960 }, { "epoch": 1.617431640625e-06, "model_forward_time": 5.090807199478149, "step": 16960 }, { "dynamics_loss_avg": 0.026965488254791125, "epoch": 1.617431640625e-06, "step": 16960 }, { "action_loss_avg": 0.05471431352198124, "epoch": 1.617431640625e-06, "step": 16960 }, { "arm_loss_avg": 0.12313840612769127, "epoch": 1.617431640625e-06, "step": 16960 }, { "ee_loss_avg": 0.018487072363495827, "epoch": 1.617431640625e-06, "step": 16960 }, { "aux_loss_avg": 0.000722986925393343, "epoch": 1.617431640625e-06, "step": 16960 }, { "epoch": 1.617431640625e-06, "step": 16960, "training_step_time": 17.56693959236145 }, { "epoch": 1.6175270080566406e-06, "model_forward_time": 5.339804172515869, "step": 16961 }, { "epoch": 1.6175270080566406e-06, "step": 16961, "training_step_time": 17.576526880264282 }, { "epoch": 1.6176223754882812e-06, "model_forward_time": 5.09936261177063, "step": 16962 }, { "epoch": 1.6176223754882812e-06, "step": 16962, "training_step_time": 17.622509002685547 }, { "epoch": 1.6177177429199218e-06, "model_forward_time": 5.097412824630737, "step": 16963 }, { "epoch": 1.6177177429199218e-06, "step": 16963, "training_step_time": 17.779917240142822 }, { "epoch": 1.6178131103515624e-06, "model_forward_time": 5.097281217575073, "step": 16964 }, { "epoch": 1.6178131103515624e-06, "step": 16964, "training_step_time": 17.590720415115356 }, { "epoch": 1.617908477783203e-06, "model_forward_time": 5.102363109588623, "step": 16965 }, { "epoch": 1.617908477783203e-06, "step": 16965, "training_step_time": 17.610549926757812 }, { "epoch": 1.6180038452148439e-06, "model_forward_time": 3.863355875015259, "step": 16966 }, { "epoch": 1.6180038452148439e-06, "step": 16966, "training_step_time": 17.607250213623047 }, { "epoch": 1.6180992126464845e-06, "model_forward_time": 5.0564186573028564, "step": 16967 }, { "epoch": 1.6180992126464845e-06, "step": 16967, "training_step_time": 17.80973982810974 }, { "epoch": 1.618194580078125e-06, "model_forward_time": 5.060745716094971, "step": 16968 }, { "epoch": 1.618194580078125e-06, "step": 16968, "training_step_time": 17.599276542663574 }, { "epoch": 1.6182899475097657e-06, "model_forward_time": 5.071043491363525, "step": 16969 }, { "epoch": 1.6182899475097657e-06, "step": 16969, "training_step_time": 17.585181713104248 }, { "epoch": 1.6183853149414063e-06, "grad_norm": 1.8332473039627075, "learning_rate": 9.021492214778629e-06, "loss": 0.0974, "step": 16970 }, { "epoch": 1.6183853149414063e-06, "model_forward_time": 5.085750102996826, "step": 16970 }, { "dynamics_loss_avg": 0.034734880179166795, "epoch": 1.6183853149414063e-06, "step": 16970 }, { "action_loss_avg": 0.06121506541967392, "epoch": 1.6183853149414063e-06, "step": 16970 }, { "arm_loss_avg": 0.10649378523230553, "epoch": 1.6183853149414063e-06, "step": 16970 }, { "ee_loss_avg": 0.03398985238745809, "epoch": 1.6183853149414063e-06, "step": 16970 }, { "aux_loss_avg": 0.0024668010097229852, "epoch": 1.6183853149414063e-06, "step": 16970 }, { "epoch": 1.6183853149414063e-06, "step": 16970, "training_step_time": 17.406618356704712 }, { "epoch": 1.618480682373047e-06, "model_forward_time": 5.328248739242554, "step": 16971 }, { "epoch": 1.618480682373047e-06, "step": 16971, "training_step_time": 17.499145030975342 }, { "epoch": 1.6185760498046875e-06, "model_forward_time": 5.097516059875488, "step": 16972 }, { "epoch": 1.6185760498046875e-06, "step": 16972, "training_step_time": 17.552677869796753 }, { "epoch": 1.6186714172363282e-06, "model_forward_time": 5.095746755599976, "step": 16973 }, { "epoch": 1.6186714172363282e-06, "step": 16973, "training_step_time": 17.34562873840332 }, { "epoch": 1.6187667846679688e-06, "model_forward_time": 5.0977489948272705, "step": 16974 }, { "epoch": 1.6187667846679688e-06, "step": 16974, "training_step_time": 17.45147204399109 }, { "epoch": 1.6188621520996094e-06, "model_forward_time": 5.096234321594238, "step": 16975 }, { "epoch": 1.6188621520996094e-06, "step": 16975, "training_step_time": 17.540133953094482 }, { "epoch": 1.61895751953125e-06, "model_forward_time": 5.312734603881836, "step": 16976 }, { "epoch": 1.61895751953125e-06, "step": 16976, "training_step_time": 17.590561866760254 }, { "epoch": 1.6190528869628906e-06, "model_forward_time": 3.8549888134002686, "step": 16977 }, { "epoch": 1.6190528869628906e-06, "step": 16977, "training_step_time": 17.63432788848877 }, { "epoch": 1.6191482543945312e-06, "model_forward_time": 5.063396215438843, "step": 16978 }, { "epoch": 1.6191482543945312e-06, "step": 16978, "training_step_time": 17.89138627052307 }, { "epoch": 1.6192436218261718e-06, "model_forward_time": 5.066849708557129, "step": 16979 }, { "epoch": 1.6192436218261718e-06, "step": 16979, "training_step_time": 17.671288013458252 }, { "epoch": 1.6193389892578125e-06, "grad_norm": 1.65817391872406, "learning_rate": 9.020088146033783e-06, "loss": 0.1167, "step": 16980 }, { "epoch": 1.6193389892578125e-06, "model_forward_time": 5.071475505828857, "step": 16980 }, { "dynamics_loss_avg": 0.04433065503835678, "epoch": 1.6193389892578125e-06, "step": 16980 }, { "action_loss_avg": 0.06318559162318707, "epoch": 1.6193389892578125e-06, "step": 16980 }, { "arm_loss_avg": 0.11994897350668907, "epoch": 1.6193389892578125e-06, "step": 16980 }, { "ee_loss_avg": 0.04497604053467512, "epoch": 1.6193389892578125e-06, "step": 16980 }, { "aux_loss_avg": 0.002449197554960847, "epoch": 1.6193389892578125e-06, "step": 16980 }, { "epoch": 1.6193389892578125e-06, "step": 16980, "training_step_time": 17.655359745025635 }, { "epoch": 1.619434356689453e-06, "model_forward_time": 5.319403171539307, "step": 16981 }, { "epoch": 1.619434356689453e-06, "step": 16981, "training_step_time": 17.644875526428223 }, { "epoch": 1.6195297241210937e-06, "model_forward_time": 5.094329595565796, "step": 16982 }, { "epoch": 1.6195297241210937e-06, "step": 16982, "training_step_time": 17.662407875061035 }, { "epoch": 1.6196250915527343e-06, "model_forward_time": 5.097174882888794, "step": 16983 }, { "epoch": 1.6196250915527343e-06, "step": 16983, "training_step_time": 17.715221405029297 }, { "epoch": 1.619720458984375e-06, "model_forward_time": 5.103801965713501, "step": 16984 }, { "epoch": 1.619720458984375e-06, "step": 16984, "training_step_time": 17.56862211227417 }, { "epoch": 1.6198158264160155e-06, "model_forward_time": 5.098590612411499, "step": 16985 }, { "epoch": 1.6198158264160155e-06, "step": 16985, "training_step_time": 17.576905488967896 }, { "epoch": 1.6199111938476564e-06, "model_forward_time": 5.0968873500823975, "step": 16986 }, { "epoch": 1.6199111938476564e-06, "step": 16986, "training_step_time": 17.59256386756897 }, { "epoch": 1.620006561279297e-06, "model_forward_time": 3.8558993339538574, "step": 16987 }, { "epoch": 1.620006561279297e-06, "step": 16987, "training_step_time": 17.607244729995728 }, { "epoch": 1.6201019287109376e-06, "model_forward_time": 5.0659706592559814, "step": 16988 }, { "epoch": 1.6201019287109376e-06, "step": 16988, "training_step_time": 17.844085693359375 }, { "epoch": 1.6201972961425782e-06, "model_forward_time": 5.072560548782349, "step": 16989 }, { "epoch": 1.6201972961425782e-06, "step": 16989, "training_step_time": 17.614768505096436 }, { "epoch": 1.6202926635742188e-06, "grad_norm": 1.7878780364990234, "learning_rate": 9.01868318008324e-06, "loss": 0.0978, "step": 16990 }, { "epoch": 1.6202926635742188e-06, "model_forward_time": 3.847841501235962, "step": 16990 }, { "dynamics_loss_avg": 0.03759070015512407, "epoch": 1.6202926635742188e-06, "step": 16990 }, { "action_loss_avg": 0.05593983978033066, "epoch": 1.6202926635742188e-06, "step": 16990 }, { "arm_loss_avg": 0.1388066329061985, "epoch": 1.6202926635742188e-06, "step": 16990 }, { "ee_loss_avg": 0.056159119377844034, "epoch": 1.6202926635742188e-06, "step": 16990 }, { "aux_loss_avg": 0.0008031010394915939, "epoch": 1.6202926635742188e-06, "step": 16990 }, { "epoch": 1.6202926635742188e-06, "step": 16990, "training_step_time": 17.450194120407104 }, { "epoch": 1.6203880310058594e-06, "model_forward_time": 5.313594818115234, "step": 16991 }, { "epoch": 1.6203880310058594e-06, "step": 16991, "training_step_time": 17.417062520980835 }, { "epoch": 1.6204833984375e-06, "model_forward_time": 5.080010652542114, "step": 16992 }, { "epoch": 1.6204833984375e-06, "step": 16992, "training_step_time": 17.63712191581726 }, { "epoch": 1.6205787658691407e-06, "model_forward_time": 5.092567443847656, "step": 16993 }, { "epoch": 1.6205787658691407e-06, "step": 16993, "training_step_time": 17.40964150428772 }, { "epoch": 1.6206741333007813e-06, "model_forward_time": 5.099941730499268, "step": 16994 }, { "epoch": 1.6206741333007813e-06, "step": 16994, "training_step_time": 17.492178916931152 }, { "epoch": 1.6207695007324219e-06, "model_forward_time": 5.105758428573608, "step": 16995 }, { "epoch": 1.6207695007324219e-06, "step": 16995, "training_step_time": 17.567269563674927 }, { "epoch": 1.6208648681640625e-06, "model_forward_time": 5.322124481201172, "step": 16996 }, { "epoch": 1.6208648681640625e-06, "step": 16996, "training_step_time": 17.609678030014038 }, { "epoch": 1.6209602355957031e-06, "model_forward_time": 5.113930702209473, "step": 16997 }, { "epoch": 1.6209602355957031e-06, "step": 16997, "training_step_time": 17.67400312423706 }, { "epoch": 1.6210556030273437e-06, "model_forward_time": 5.1194963455200195, "step": 16998 }, { "epoch": 1.6210556030273437e-06, "step": 16998, "training_step_time": 17.399205207824707 }, { "epoch": 1.6211509704589843e-06, "model_forward_time": 5.119543075561523, "step": 16999 }, { "epoch": 1.6211509704589843e-06, "step": 16999, "training_step_time": 17.597042560577393 }, { "epoch": 1.621246337890625e-06, "grad_norm": 1.7112516164779663, "learning_rate": 9.017277317240564e-06, "loss": 0.1095, "step": 17000 }, { "epoch": 1.621246337890625e-06, "model_forward_time": 5.111246824264526, "step": 17000 }, { "dynamics_loss_avg": 0.0405858488753438, "epoch": 1.621246337890625e-06, "step": 17000 }, { "action_loss_avg": 0.07094824835658073, "epoch": 1.621246337890625e-06, "step": 17000 }, { "arm_loss_avg": 0.13087486401200293, "epoch": 1.621246337890625e-06, "step": 17000 }, { "ee_loss_avg": 0.03952378476969898, "epoch": 1.621246337890625e-06, "step": 17000 }, { "aux_loss_avg": 0.002122151548974216, "epoch": 1.621246337890625e-06, "step": 17000 }, { "epoch": 1.621246337890625e-06, "step": 17000, "training_step_time": 17.63480043411255 }, { "epoch": 1.6213417053222656e-06, "model_forward_time": 3.855327606201172, "step": 17001 }, { "epoch": 1.6213417053222656e-06, "step": 17001, "training_step_time": 18.33771276473999 }, { "epoch": 1.6214370727539062e-06, "model_forward_time": 5.058283805847168, "step": 17002 }, { "epoch": 1.6214370727539062e-06, "step": 17002, "training_step_time": 17.624099254608154 }, { "epoch": 1.6215324401855468e-06, "model_forward_time": 5.06408429145813, "step": 17003 }, { "epoch": 1.6215324401855468e-06, "step": 17003, "training_step_time": 17.81482481956482 }, { "epoch": 1.6216278076171874e-06, "model_forward_time": 5.0737690925598145, "step": 17004 }, { "epoch": 1.6216278076171874e-06, "step": 17004, "training_step_time": 17.61720848083496 }, { "epoch": 1.621723175048828e-06, "model_forward_time": 5.084045648574829, "step": 17005 }, { "epoch": 1.621723175048828e-06, "step": 17005, "training_step_time": 17.612647533416748 }, { "epoch": 1.6218185424804686e-06, "model_forward_time": 5.095157623291016, "step": 17006 }, { "epoch": 1.6218185424804686e-06, "step": 17006, "training_step_time": 17.61772632598877 }, { "epoch": 1.6219139099121095e-06, "model_forward_time": 5.098252534866333, "step": 17007 }, { "epoch": 1.6219139099121095e-06, "step": 17007, "training_step_time": 17.604541063308716 }, { "epoch": 1.62200927734375e-06, "model_forward_time": 5.102717638015747, "step": 17008 }, { "epoch": 1.62200927734375e-06, "step": 17008, "training_step_time": 17.84598469734192 }, { "epoch": 1.6221046447753907e-06, "model_forward_time": 5.099509000778198, "step": 17009 }, { "epoch": 1.6221046447753907e-06, "step": 17009, "training_step_time": 17.600756406784058 }, { "epoch": 1.6222000122070313e-06, "grad_norm": 2.307542085647583, "learning_rate": 9.015870557819513e-06, "loss": 0.1013, "step": 17010 }, { "epoch": 1.6222000122070313e-06, "model_forward_time": 5.100198268890381, "step": 17010 }, { "dynamics_loss_avg": 0.028298233263194562, "epoch": 1.6222000122070313e-06, "step": 17010 }, { "action_loss_avg": 0.056877820566296575, "epoch": 1.6222000122070313e-06, "step": 17010 }, { "arm_loss_avg": 0.12044691741466522, "epoch": 1.6222000122070313e-06, "step": 17010 }, { "ee_loss_avg": 0.04153582421131432, "epoch": 1.6222000122070313e-06, "step": 17010 }, { "aux_loss_avg": 0.0031059238506713884, "epoch": 1.6222000122070313e-06, "step": 17010 }, { "epoch": 1.6222000122070313e-06, "step": 17010, "training_step_time": 17.467861652374268 }, { "epoch": 1.622295379638672e-06, "model_forward_time": 5.097938537597656, "step": 17011 }, { "epoch": 1.622295379638672e-06, "step": 17011, "training_step_time": 17.50721573829651 }, { "epoch": 1.6223907470703125e-06, "model_forward_time": 5.093326091766357, "step": 17012 }, { "epoch": 1.6223907470703125e-06, "step": 17012, "training_step_time": 17.65155601501465 }, { "epoch": 1.6224861145019532e-06, "model_forward_time": 5.0917277336120605, "step": 17013 }, { "epoch": 1.6224861145019532e-06, "step": 17013, "training_step_time": 17.573224782943726 }, { "epoch": 1.6225814819335938e-06, "model_forward_time": 5.090302467346191, "step": 17014 }, { "epoch": 1.6225814819335938e-06, "step": 17014, "training_step_time": 17.78814673423767 }, { "epoch": 1.6226768493652344e-06, "model_forward_time": 5.087433576583862, "step": 17015 }, { "epoch": 1.6226768493652344e-06, "step": 17015, "training_step_time": 17.61295771598816 }, { "epoch": 1.622772216796875e-06, "model_forward_time": 5.086611032485962, "step": 17016 }, { "epoch": 1.622772216796875e-06, "step": 17016, "training_step_time": 17.617887496948242 }, { "epoch": 1.6228675842285156e-06, "model_forward_time": 5.085752964019775, "step": 17017 }, { "epoch": 1.6228675842285156e-06, "step": 17017, "training_step_time": 17.617910385131836 }, { "epoch": 1.6229629516601562e-06, "model_forward_time": 5.085739374160767, "step": 17018 }, { "epoch": 1.6229629516601562e-06, "step": 17018, "training_step_time": 17.850085735321045 }, { "epoch": 1.6230583190917968e-06, "model_forward_time": 5.085059881210327, "step": 17019 }, { "epoch": 1.6230583190917968e-06, "step": 17019, "training_step_time": 17.61808156967163 }, { "epoch": 1.6231536865234375e-06, "grad_norm": 1.7981771230697632, "learning_rate": 9.014462902134047e-06, "loss": 0.0988, "step": 17020 }, { "epoch": 1.6231536865234375e-06, "model_forward_time": 5.0863354206085205, "step": 17020 }, { "dynamics_loss_avg": 0.04637270402163267, "epoch": 1.6231536865234375e-06, "step": 17020 }, { "action_loss_avg": 0.06772256400436164, "epoch": 1.6231536865234375e-06, "step": 17020 }, { "arm_loss_avg": 0.1277676157653332, "epoch": 1.6231536865234375e-06, "step": 17020 }, { "ee_loss_avg": 0.04232036988250911, "epoch": 1.6231536865234375e-06, "step": 17020 }, { "aux_loss_avg": 0.0013625779945868998, "epoch": 1.6231536865234375e-06, "step": 17020 }, { "epoch": 1.6231536865234375e-06, "step": 17020, "training_step_time": 17.6185302734375 }, { "epoch": 1.623249053955078e-06, "model_forward_time": 5.088626384735107, "step": 17021 }, { "epoch": 1.623249053955078e-06, "step": 17021, "training_step_time": 17.61640167236328 }, { "epoch": 1.6233444213867187e-06, "model_forward_time": 5.0869128704071045, "step": 17022 }, { "epoch": 1.6233444213867187e-06, "step": 17022, "training_step_time": 17.647159814834595 }, { "epoch": 1.6234397888183593e-06, "model_forward_time": 5.089935064315796, "step": 17023 }, { "epoch": 1.6234397888183593e-06, "step": 17023, "training_step_time": 17.795992136001587 }, { "epoch": 1.62353515625e-06, "model_forward_time": 5.088568210601807, "step": 17024 }, { "epoch": 1.62353515625e-06, "step": 17024, "training_step_time": 17.60182237625122 }, { "epoch": 1.6236305236816405e-06, "model_forward_time": 3.855567455291748, "step": 17025 }, { "epoch": 1.6236305236816405e-06, "step": 17025, "training_step_time": 17.598825693130493 }, { "epoch": 1.6237258911132811e-06, "model_forward_time": 5.063694000244141, "step": 17026 }, { "epoch": 1.6237258911132811e-06, "step": 17026, "training_step_time": 17.616272687911987 }, { "epoch": 1.623821258544922e-06, "model_forward_time": 5.076408863067627, "step": 17027 }, { "epoch": 1.623821258544922e-06, "step": 17027, "training_step_time": 17.602267026901245 }, { "epoch": 1.6239166259765626e-06, "model_forward_time": 5.087524890899658, "step": 17028 }, { "epoch": 1.6239166259765626e-06, "step": 17028, "training_step_time": 17.825913190841675 }, { "epoch": 1.6240119934082032e-06, "model_forward_time": 5.088079214096069, "step": 17029 }, { "epoch": 1.6240119934082032e-06, "step": 17029, "training_step_time": 17.598140954971313 }, { "epoch": 1.6241073608398438e-06, "grad_norm": 2.2198452949523926, "learning_rate": 9.013054350498331e-06, "loss": 0.1052, "step": 17030 }, { "epoch": 1.6241073608398438e-06, "model_forward_time": 5.351132154464722, "step": 17030 }, { "dynamics_loss_avg": 0.03677303600125015, "epoch": 1.6241073608398438e-06, "step": 17030 }, { "action_loss_avg": 0.07428209036588669, "epoch": 1.6241073608398438e-06, "step": 17030 }, { "arm_loss_avg": 0.13551210537552832, "epoch": 1.6241073608398438e-06, "step": 17030 }, { "ee_loss_avg": 0.05367454146035015, "epoch": 1.6241073608398438e-06, "step": 17030 }, { "aux_loss_avg": 0.004216417591669597, "epoch": 1.6241073608398438e-06, "step": 17030 }, { "epoch": 1.6241073608398438e-06, "step": 17030, "training_step_time": 17.59432339668274 }, { "epoch": 1.6242027282714844e-06, "model_forward_time": 5.097477197647095, "step": 17031 }, { "epoch": 1.6242027282714844e-06, "step": 17031, "training_step_time": 17.398380517959595 }, { "epoch": 1.624298095703125e-06, "model_forward_time": 5.101649761199951, "step": 17032 }, { "epoch": 1.624298095703125e-06, "step": 17032, "training_step_time": 17.64327073097229 }, { "epoch": 1.6243934631347657e-06, "model_forward_time": 5.096481084823608, "step": 17033 }, { "epoch": 1.6243934631347657e-06, "step": 17033, "training_step_time": 17.45577597618103 }, { "epoch": 1.6244888305664063e-06, "model_forward_time": 5.09932017326355, "step": 17034 }, { "epoch": 1.6244888305664063e-06, "step": 17034, "training_step_time": 17.72877788543701 }, { "epoch": 1.6245841979980469e-06, "model_forward_time": 5.096238613128662, "step": 17035 }, { "epoch": 1.6245841979980469e-06, "step": 17035, "training_step_time": 17.573201656341553 }, { "epoch": 1.6246795654296875e-06, "model_forward_time": 5.091490983963013, "step": 17036 }, { "epoch": 1.6246795654296875e-06, "step": 17036, "training_step_time": 17.605178117752075 }, { "epoch": 1.6247749328613281e-06, "model_forward_time": 5.084088563919067, "step": 17037 }, { "epoch": 1.6247749328613281e-06, "step": 17037, "training_step_time": 17.593242645263672 }, { "epoch": 1.6248703002929687e-06, "model_forward_time": 5.0830206871032715, "step": 17038 }, { "epoch": 1.6248703002929687e-06, "step": 17038, "training_step_time": 17.550243377685547 }, { "epoch": 1.6249656677246093e-06, "model_forward_time": 5.0828797817230225, "step": 17039 }, { "epoch": 1.6249656677246093e-06, "step": 17039, "training_step_time": 17.424015522003174 }, { "epoch": 1.62506103515625e-06, "grad_norm": 2.5915584564208984, "learning_rate": 9.011644903226726e-06, "loss": 0.0996, "step": 17040 }, { "epoch": 1.62506103515625e-06, "model_forward_time": 5.084058523178101, "step": 17040 }, { "dynamics_loss_avg": 0.03196498607285321, "epoch": 1.62506103515625e-06, "step": 17040 }, { "action_loss_avg": 0.055851446092128755, "epoch": 1.62506103515625e-06, "step": 17040 }, { "arm_loss_avg": 0.10976609177887439, "epoch": 1.62506103515625e-06, "step": 17040 }, { "ee_loss_avg": 0.06460797116160392, "epoch": 1.62506103515625e-06, "step": 17040 }, { "aux_loss_avg": 0.000800653814803809, "epoch": 1.62506103515625e-06, "step": 17040 }, { "epoch": 1.62506103515625e-06, "step": 17040, "training_step_time": 17.546870470046997 }, { "epoch": 1.6251564025878906e-06, "model_forward_time": 3.8533289432525635, "step": 17041 }, { "epoch": 1.6251564025878906e-06, "step": 17041, "training_step_time": 17.591004133224487 }, { "epoch": 1.6252517700195312e-06, "model_forward_time": 5.053773641586304, "step": 17042 }, { "epoch": 1.6252517700195312e-06, "step": 17042, "training_step_time": 17.65085530281067 }, { "epoch": 1.6253471374511718e-06, "model_forward_time": 5.067441940307617, "step": 17043 }, { "epoch": 1.6253471374511718e-06, "step": 17043, "training_step_time": 17.640505075454712 }, { "epoch": 1.6254425048828124e-06, "model_forward_time": 5.075263261795044, "step": 17044 }, { "epoch": 1.6254425048828124e-06, "step": 17044, "training_step_time": 17.83031177520752 }, { "epoch": 1.625537872314453e-06, "model_forward_time": 5.085006237030029, "step": 17045 }, { "epoch": 1.625537872314453e-06, "step": 17045, "training_step_time": 17.631991624832153 }, { "epoch": 1.6256332397460936e-06, "model_forward_time": 5.08754563331604, "step": 17046 }, { "epoch": 1.6256332397460936e-06, "step": 17046, "training_step_time": 17.59346914291382 }, { "epoch": 1.6257286071777345e-06, "model_forward_time": 5.0925610065460205, "step": 17047 }, { "epoch": 1.6257286071777345e-06, "step": 17047, "training_step_time": 17.613396883010864 }, { "epoch": 1.625823974609375e-06, "model_forward_time": 5.090301036834717, "step": 17048 }, { "epoch": 1.625823974609375e-06, "step": 17048, "training_step_time": 17.324360847473145 }, { "epoch": 1.6259193420410157e-06, "model_forward_time": 5.089634418487549, "step": 17049 }, { "epoch": 1.6259193420410157e-06, "step": 17049, "training_step_time": 17.736773014068604 }, { "epoch": 1.6260147094726563e-06, "grad_norm": 1.234037160873413, "learning_rate": 9.01023456063379e-06, "loss": 0.0991, "step": 17050 }, { "epoch": 1.6260147094726563e-06, "model_forward_time": 5.084749460220337, "step": 17050 }, { "dynamics_loss_avg": 0.05048732347786426, "epoch": 1.6260147094726563e-06, "step": 17050 }, { "action_loss_avg": 0.06059650219976902, "epoch": 1.6260147094726563e-06, "step": 17050 }, { "arm_loss_avg": 0.1217463344335556, "epoch": 1.6260147094726563e-06, "step": 17050 }, { "ee_loss_avg": 0.05022555142641068, "epoch": 1.6260147094726563e-06, "step": 17050 }, { "aux_loss_avg": 0.0060395071399398145, "epoch": 1.6260147094726563e-06, "step": 17050 }, { "epoch": 1.6260147094726563e-06, "step": 17050, "training_step_time": 17.53601908683777 }, { "epoch": 1.626110076904297e-06, "model_forward_time": 5.082433462142944, "step": 17051 }, { "epoch": 1.626110076904297e-06, "step": 17051, "training_step_time": 17.54528522491455 }, { "epoch": 1.6262054443359375e-06, "model_forward_time": 5.081723928451538, "step": 17052 }, { "epoch": 1.6262054443359375e-06, "step": 17052, "training_step_time": 17.58523678779602 }, { "epoch": 1.6263008117675782e-06, "model_forward_time": 3.8463919162750244, "step": 17053 }, { "epoch": 1.6263008117675782e-06, "step": 17053, "training_step_time": 17.326784133911133 }, { "epoch": 1.6263961791992188e-06, "model_forward_time": 5.054656028747559, "step": 17054 }, { "epoch": 1.6263961791992188e-06, "step": 17054, "training_step_time": 17.69502019882202 }, { "epoch": 1.6264915466308594e-06, "model_forward_time": 5.061119079589844, "step": 17055 }, { "epoch": 1.6264915466308594e-06, "step": 17055, "training_step_time": 17.458150148391724 }, { "epoch": 1.6265869140625e-06, "model_forward_time": 5.282853841781616, "step": 17056 }, { "epoch": 1.6265869140625e-06, "step": 17056, "training_step_time": 17.475747108459473 }, { "epoch": 1.6266822814941406e-06, "model_forward_time": 3.8466668128967285, "step": 17057 }, { "epoch": 1.6266822814941406e-06, "step": 17057, "training_step_time": 17.532146215438843 }, { "epoch": 1.6267776489257812e-06, "model_forward_time": 3.8298258781433105, "step": 17058 }, { "epoch": 1.6267776489257812e-06, "step": 17058, "training_step_time": 17.578983545303345 }, { "epoch": 1.6268730163574218e-06, "model_forward_time": 5.056216478347778, "step": 17059 }, { "epoch": 1.6268730163574218e-06, "step": 17059, "training_step_time": 17.837854385375977 }, { "epoch": 1.6269683837890625e-06, "grad_norm": 1.8626378774642944, "learning_rate": 9.008823323034289e-06, "loss": 0.1114, "step": 17060 }, { "epoch": 1.6269683837890625e-06, "model_forward_time": 5.065088748931885, "step": 17060 }, { "dynamics_loss_avg": 0.037132730893790725, "epoch": 1.6269683837890625e-06, "step": 17060 }, { "action_loss_avg": 0.05903361905366182, "epoch": 1.6269683837890625e-06, "step": 17060 }, { "arm_loss_avg": 0.10869971476495266, "epoch": 1.6269683837890625e-06, "step": 17060 }, { "ee_loss_avg": 0.03186583977658301, "epoch": 1.6269683837890625e-06, "step": 17060 }, { "aux_loss_avg": 0.0010446299071190878, "epoch": 1.6269683837890625e-06, "step": 17060 }, { "epoch": 1.6269683837890625e-06, "step": 17060, "training_step_time": 17.607959508895874 }, { "epoch": 1.627063751220703e-06, "model_forward_time": 5.313483476638794, "step": 17061 }, { "epoch": 1.627063751220703e-06, "step": 17061, "training_step_time": 17.618881464004517 }, { "epoch": 1.6271591186523437e-06, "model_forward_time": 5.102781295776367, "step": 17062 }, { "epoch": 1.6271591186523437e-06, "step": 17062, "training_step_time": 17.62004590034485 }, { "epoch": 1.6272544860839843e-06, "model_forward_time": 5.106072902679443, "step": 17063 }, { "epoch": 1.6272544860839843e-06, "step": 17063, "training_step_time": 17.619093894958496 }, { "epoch": 1.627349853515625e-06, "model_forward_time": 5.103901624679565, "step": 17064 }, { "epoch": 1.627349853515625e-06, "step": 17064, "training_step_time": 17.810482263565063 }, { "epoch": 1.6274452209472655e-06, "model_forward_time": 5.097518444061279, "step": 17065 }, { "epoch": 1.6274452209472655e-06, "step": 17065, "training_step_time": 17.616079568862915 }, { "epoch": 1.6275405883789061e-06, "model_forward_time": 4.063748359680176, "step": 17066 }, { "epoch": 1.6275405883789061e-06, "step": 17066, "training_step_time": 17.617729902267456 }, { "epoch": 1.627635955810547e-06, "model_forward_time": 5.060626029968262, "step": 17067 }, { "epoch": 1.627635955810547e-06, "step": 17067, "training_step_time": 17.617087602615356 }, { "epoch": 1.6277313232421876e-06, "model_forward_time": 5.067964315414429, "step": 17068 }, { "epoch": 1.6277313232421876e-06, "step": 17068, "training_step_time": 17.60856533050537 }, { "epoch": 1.6278266906738282e-06, "model_forward_time": 3.8436543941497803, "step": 17069 }, { "epoch": 1.6278266906738282e-06, "step": 17069, "training_step_time": 17.83350372314453 }, { "epoch": 1.6279220581054688e-06, "grad_norm": 1.4088343381881714, "learning_rate": 9.007411190743181e-06, "loss": 0.0995, "step": 17070 }, { "epoch": 1.6279220581054688e-06, "model_forward_time": 5.056637287139893, "step": 17070 }, { "dynamics_loss_avg": 0.039488124661147594, "epoch": 1.6279220581054688e-06, "step": 17070 }, { "action_loss_avg": 0.054688576981425284, "epoch": 1.6279220581054688e-06, "step": 17070 }, { "arm_loss_avg": 0.10685185939073563, "epoch": 1.6279220581054688e-06, "step": 17070 }, { "ee_loss_avg": 0.03705258602276444, "epoch": 1.6279220581054688e-06, "step": 17070 }, { "aux_loss_avg": 0.0023241166782099754, "epoch": 1.6279220581054688e-06, "step": 17070 }, { "epoch": 1.6279220581054688e-06, "step": 17070, "training_step_time": 17.41724419593811 }, { "epoch": 1.6280174255371094e-06, "model_forward_time": 5.301721811294556, "step": 17071 }, { "epoch": 1.6280174255371094e-06, "step": 17071, "training_step_time": 17.492550373077393 }, { "epoch": 1.62811279296875e-06, "model_forward_time": 5.087784767150879, "step": 17072 }, { "epoch": 1.62811279296875e-06, "step": 17072, "training_step_time": 17.53263521194458 }, { "epoch": 1.6282081604003907e-06, "model_forward_time": 5.094943284988403, "step": 17073 }, { "epoch": 1.6282081604003907e-06, "step": 17073, "training_step_time": 17.57485270500183 }, { "epoch": 1.6283035278320313e-06, "model_forward_time": 3.8639869689941406, "step": 17074 }, { "epoch": 1.6283035278320313e-06, "step": 17074, "training_step_time": 17.375961780548096 }, { "epoch": 1.6283988952636719e-06, "model_forward_time": 5.067678689956665, "step": 17075 }, { "epoch": 1.6283988952636719e-06, "step": 17075, "training_step_time": 17.50665855407715 }, { "epoch": 1.6284942626953125e-06, "model_forward_time": 5.269430160522461, "step": 17076 }, { "epoch": 1.6284942626953125e-06, "step": 17076, "training_step_time": 17.56085968017578 }, { "epoch": 1.6285896301269531e-06, "model_forward_time": 5.101035833358765, "step": 17077 }, { "epoch": 1.6285896301269531e-06, "step": 17077, "training_step_time": 17.676317930221558 }, { "epoch": 1.6286849975585937e-06, "model_forward_time": 5.1105334758758545, "step": 17078 }, { "epoch": 1.6286849975585937e-06, "step": 17078, "training_step_time": 17.670995473861694 }, { "epoch": 1.6287803649902343e-06, "model_forward_time": 5.106383323669434, "step": 17079 }, { "epoch": 1.6287803649902343e-06, "step": 17079, "training_step_time": 17.913675785064697 }, { "epoch": 1.628875732421875e-06, "grad_norm": 1.369861125946045, "learning_rate": 9.005998164075626e-06, "loss": 0.1071, "step": 17080 }, { "epoch": 1.628875732421875e-06, "model_forward_time": 5.102035760879517, "step": 17080 }, { "dynamics_loss_avg": 0.027205058373510838, "epoch": 1.628875732421875e-06, "step": 17080 }, { "action_loss_avg": 0.0625016426667571, "epoch": 1.628875732421875e-06, "step": 17080 }, { "arm_loss_avg": 0.10168555565178394, "epoch": 1.628875732421875e-06, "step": 17080 }, { "ee_loss_avg": 0.02324545504525304, "epoch": 1.628875732421875e-06, "step": 17080 }, { "aux_loss_avg": 0.0006896599661558867, "epoch": 1.628875732421875e-06, "step": 17080 }, { "epoch": 1.628875732421875e-06, "step": 17080, "training_step_time": 17.442003965377808 }, { "epoch": 1.6289710998535156e-06, "model_forward_time": 5.324653387069702, "step": 17081 }, { "epoch": 1.6289710998535156e-06, "step": 17081, "training_step_time": 17.565470218658447 }, { "epoch": 1.6290664672851562e-06, "model_forward_time": 5.095273733139038, "step": 17082 }, { "epoch": 1.6290664672851562e-06, "step": 17082, "training_step_time": 17.649321794509888 }, { "epoch": 1.6291618347167968e-06, "model_forward_time": 5.08974552154541, "step": 17083 }, { "epoch": 1.6291618347167968e-06, "step": 17083, "training_step_time": 17.616035223007202 }, { "epoch": 1.6292572021484374e-06, "model_forward_time": 5.087242126464844, "step": 17084 }, { "epoch": 1.6292572021484374e-06, "step": 17084, "training_step_time": 17.81786847114563 }, { "epoch": 1.629352569580078e-06, "model_forward_time": 5.082497835159302, "step": 17085 }, { "epoch": 1.629352569580078e-06, "step": 17085, "training_step_time": 17.640236616134644 }, { "epoch": 1.6294479370117187e-06, "model_forward_time": 5.262009143829346, "step": 17086 }, { "epoch": 1.6294479370117187e-06, "step": 17086, "training_step_time": 17.634514808654785 }, { "epoch": 1.6295433044433595e-06, "model_forward_time": 5.082654237747192, "step": 17087 }, { "epoch": 1.6295433044433595e-06, "step": 17087, "training_step_time": 17.63986611366272 }, { "epoch": 1.629638671875e-06, "model_forward_time": 5.085565805435181, "step": 17088 }, { "epoch": 1.629638671875e-06, "step": 17088, "training_step_time": 17.629464149475098 }, { "epoch": 1.6297340393066407e-06, "model_forward_time": 5.083543539047241, "step": 17089 }, { "epoch": 1.6297340393066407e-06, "step": 17089, "training_step_time": 17.8530011177063 }, { "epoch": 1.6298294067382813e-06, "grad_norm": 2.3416340351104736, "learning_rate": 9.004584243346985e-06, "loss": 0.0991, "step": 17090 }, { "epoch": 1.6298294067382813e-06, "model_forward_time": 5.080377578735352, "step": 17090 }, { "dynamics_loss_avg": 0.03941290555521846, "epoch": 1.6298294067382813e-06, "step": 17090 }, { "action_loss_avg": 0.05867441240698099, "epoch": 1.6298294067382813e-06, "step": 17090 }, { "arm_loss_avg": 0.10768627934157848, "epoch": 1.6298294067382813e-06, "step": 17090 }, { "ee_loss_avg": 0.03292698798468337, "epoch": 1.6298294067382813e-06, "step": 17090 }, { "aux_loss_avg": 0.002089408479514532, "epoch": 1.6298294067382813e-06, "step": 17090 }, { "epoch": 1.6298294067382813e-06, "step": 17090, "training_step_time": 17.612346410751343 }, { "epoch": 1.629924774169922e-06, "model_forward_time": 5.320951461791992, "step": 17091 }, { "epoch": 1.629924774169922e-06, "step": 17091, "training_step_time": 17.611581802368164 }, { "epoch": 1.6300201416015626e-06, "model_forward_time": 5.086814641952515, "step": 17092 }, { "epoch": 1.6300201416015626e-06, "step": 17092, "training_step_time": 17.65778160095215 }, { "epoch": 1.6301155090332032e-06, "model_forward_time": 5.085153579711914, "step": 17093 }, { "epoch": 1.6301155090332032e-06, "step": 17093, "training_step_time": 17.61374306678772 }, { "epoch": 1.6302108764648438e-06, "model_forward_time": 5.087846040725708, "step": 17094 }, { "epoch": 1.6302108764648438e-06, "step": 17094, "training_step_time": 17.787196159362793 }, { "epoch": 1.6303062438964844e-06, "model_forward_time": 5.086019039154053, "step": 17095 }, { "epoch": 1.6303062438964844e-06, "step": 17095, "training_step_time": 17.600064754486084 }, { "epoch": 1.630401611328125e-06, "model_forward_time": 5.296621084213257, "step": 17096 }, { "epoch": 1.630401611328125e-06, "step": 17096, "training_step_time": 17.418217420578003 }, { "epoch": 1.6304969787597656e-06, "model_forward_time": 5.09859037399292, "step": 17097 }, { "epoch": 1.6304969787597656e-06, "step": 17097, "training_step_time": 17.680147886276245 }, { "epoch": 1.6305923461914062e-06, "model_forward_time": 5.1087799072265625, "step": 17098 }, { "epoch": 1.6305923461914062e-06, "step": 17098, "training_step_time": 17.59593653678894 }, { "epoch": 1.6306877136230469e-06, "model_forward_time": 5.099785566329956, "step": 17099 }, { "epoch": 1.6306877136230469e-06, "step": 17099, "training_step_time": 17.852832317352295 }, { "epoch": 1.6307830810546875e-06, "grad_norm": 0.9650217294692993, "learning_rate": 9.003169428872818e-06, "loss": 0.091, "step": 17100 }, { "epoch": 1.6307830810546875e-06, "model_forward_time": 5.097994089126587, "step": 17100 }, { "dynamics_loss_avg": 0.03510890705510974, "epoch": 1.6307830810546875e-06, "step": 17100 }, { "action_loss_avg": 0.04602843970060348, "epoch": 1.6307830810546875e-06, "step": 17100 }, { "arm_loss_avg": 0.12844917178153992, "epoch": 1.6307830810546875e-06, "step": 17100 }, { "ee_loss_avg": 0.03524596164934337, "epoch": 1.6307830810546875e-06, "step": 17100 }, { "aux_loss_avg": 0.006854804634349421, "epoch": 1.6307830810546875e-06, "step": 17100 }, { "epoch": 1.6307830810546875e-06, "step": 17100, "training_step_time": 17.624115705490112 }, { "epoch": 1.630878448486328e-06, "model_forward_time": 5.08733606338501, "step": 17101 }, { "epoch": 1.630878448486328e-06, "step": 17101, "training_step_time": 17.28354287147522 }, { "epoch": 1.6309738159179687e-06, "model_forward_time": 5.086313486099243, "step": 17102 }, { "epoch": 1.6309738159179687e-06, "step": 17102, "training_step_time": 17.615848064422607 }, { "epoch": 1.6310691833496093e-06, "model_forward_time": 5.0858635902404785, "step": 17103 }, { "epoch": 1.6310691833496093e-06, "step": 17103, "training_step_time": 17.6481192111969 }, { "epoch": 1.63116455078125e-06, "model_forward_time": 5.087327480316162, "step": 17104 }, { "epoch": 1.63116455078125e-06, "step": 17104, "training_step_time": 17.207703113555908 }, { "epoch": 1.6312599182128905e-06, "model_forward_time": 5.284463167190552, "step": 17105 }, { "epoch": 1.6312599182128905e-06, "step": 17105, "training_step_time": 17.53698205947876 }, { "epoch": 1.6313552856445312e-06, "model_forward_time": 5.088829040527344, "step": 17106 }, { "epoch": 1.6313552856445312e-06, "step": 17106, "training_step_time": 17.57254672050476 }, { "epoch": 1.631450653076172e-06, "model_forward_time": 5.084343671798706, "step": 17107 }, { "epoch": 1.631450653076172e-06, "step": 17107, "training_step_time": 17.595637559890747 }, { "epoch": 1.6315460205078126e-06, "model_forward_time": 5.084622144699097, "step": 17108 }, { "epoch": 1.6315460205078126e-06, "step": 17108, "training_step_time": 17.606611728668213 }, { "epoch": 1.6316413879394532e-06, "model_forward_time": 3.850214958190918, "step": 17109 }, { "epoch": 1.6316413879394532e-06, "step": 17109, "training_step_time": 17.843801975250244 }, { "epoch": 1.6317367553710938e-06, "grad_norm": 2.1705496311187744, "learning_rate": 9.001753720968883e-06, "loss": 0.1067, "step": 17110 }, { "epoch": 1.6317367553710938e-06, "model_forward_time": 5.053360462188721, "step": 17110 }, { "dynamics_loss_avg": 0.048716375650838015, "epoch": 1.6317367553710938e-06, "step": 17110 }, { "action_loss_avg": 0.07727446034550667, "epoch": 1.6317367553710938e-06, "step": 17110 }, { "arm_loss_avg": 0.10353156365454197, "epoch": 1.6317367553710938e-06, "step": 17110 }, { "ee_loss_avg": 0.05092170825228095, "epoch": 1.6317367553710938e-06, "step": 17110 }, { "aux_loss_avg": 0.0022252194059547035, "epoch": 1.6317367553710938e-06, "step": 17110 }, { "epoch": 1.6317367553710938e-06, "step": 17110, "training_step_time": 17.61064839363098 }, { "epoch": 1.6318321228027344e-06, "model_forward_time": 5.310308218002319, "step": 17111 }, { "epoch": 1.6318321228027344e-06, "step": 17111, "training_step_time": 17.406643867492676 }, { "epoch": 1.631927490234375e-06, "model_forward_time": 5.0772905349731445, "step": 17112 }, { "epoch": 1.631927490234375e-06, "step": 17112, "training_step_time": 17.646658420562744 }, { "epoch": 1.6320228576660157e-06, "model_forward_time": 5.089593410491943, "step": 17113 }, { "epoch": 1.6320228576660157e-06, "step": 17113, "training_step_time": 17.565083980560303 }, { "epoch": 1.6321182250976563e-06, "model_forward_time": 5.092818260192871, "step": 17114 }, { "epoch": 1.6321182250976563e-06, "step": 17114, "training_step_time": 17.788344860076904 }, { "epoch": 1.632213592529297e-06, "model_forward_time": 5.09665584564209, "step": 17115 }, { "epoch": 1.632213592529297e-06, "step": 17115, "training_step_time": 17.47318720817566 }, { "epoch": 1.6323089599609375e-06, "model_forward_time": 5.095925569534302, "step": 17116 }, { "epoch": 1.6323089599609375e-06, "step": 17116, "training_step_time": 17.53293228149414 }, { "epoch": 1.6324043273925781e-06, "model_forward_time": 5.095240592956543, "step": 17117 }, { "epoch": 1.6324043273925781e-06, "step": 17117, "training_step_time": 17.60168766975403 }, { "epoch": 1.6324996948242187e-06, "model_forward_time": 5.091883897781372, "step": 17118 }, { "epoch": 1.6324996948242187e-06, "step": 17118, "training_step_time": 17.626598596572876 }, { "epoch": 1.6325950622558594e-06, "model_forward_time": 5.090146780014038, "step": 17119 }, { "epoch": 1.6325950622558594e-06, "step": 17119, "training_step_time": 17.63311743736267 }, { "epoch": 1.6326904296875e-06, "grad_norm": 1.0528913736343384, "learning_rate": 9.00033711995114e-06, "loss": 0.0881, "step": 17120 }, { "epoch": 1.6326904296875e-06, "model_forward_time": 5.089504241943359, "step": 17120 }, { "dynamics_loss_avg": 0.037074941024184224, "epoch": 1.6326904296875e-06, "step": 17120 }, { "action_loss_avg": 0.06240559294819832, "epoch": 1.6326904296875e-06, "step": 17120 }, { "arm_loss_avg": 0.10083376690745353, "epoch": 1.6326904296875e-06, "step": 17120 }, { "ee_loss_avg": 0.05308997863903642, "epoch": 1.6326904296875e-06, "step": 17120 }, { "aux_loss_avg": 0.0006590436794795095, "epoch": 1.6326904296875e-06, "step": 17120 }, { "epoch": 1.6326904296875e-06, "step": 17120, "training_step_time": 17.88893723487854 }, { "epoch": 1.6327857971191406e-06, "model_forward_time": 5.315494060516357, "step": 17121 }, { "epoch": 1.6327857971191406e-06, "step": 17121, "training_step_time": 17.639357805252075 }, { "epoch": 1.6328811645507812e-06, "model_forward_time": 5.082974195480347, "step": 17122 }, { "epoch": 1.6328811645507812e-06, "step": 17122, "training_step_time": 17.640228509902954 }, { "epoch": 1.6329765319824218e-06, "model_forward_time": 5.087094783782959, "step": 17123 }, { "epoch": 1.6329765319824218e-06, "step": 17123, "training_step_time": 17.64217209815979 }, { "epoch": 1.6330718994140624e-06, "model_forward_time": 5.084733963012695, "step": 17124 }, { "epoch": 1.6330718994140624e-06, "step": 17124, "training_step_time": 17.830164670944214 }, { "epoch": 1.633167266845703e-06, "model_forward_time": 5.085654258728027, "step": 17125 }, { "epoch": 1.633167266845703e-06, "step": 17125, "training_step_time": 17.495003700256348 }, { "epoch": 1.6332626342773437e-06, "model_forward_time": 5.0852155685424805, "step": 17126 }, { "epoch": 1.6332626342773437e-06, "step": 17126, "training_step_time": 17.522278547286987 }, { "epoch": 1.6333580017089843e-06, "model_forward_time": 5.0864410400390625, "step": 17127 }, { "epoch": 1.6333580017089843e-06, "step": 17127, "training_step_time": 17.5658221244812 }, { "epoch": 1.633453369140625e-06, "model_forward_time": 5.089685440063477, "step": 17128 }, { "epoch": 1.633453369140625e-06, "step": 17128, "training_step_time": 17.57076859474182 }, { "epoch": 1.6335487365722657e-06, "model_forward_time": 5.090048789978027, "step": 17129 }, { "epoch": 1.6335487365722657e-06, "step": 17129, "training_step_time": 17.840239763259888 }, { "epoch": 1.6336441040039063e-06, "grad_norm": 1.5565756559371948, "learning_rate": 8.998919626135747e-06, "loss": 0.1071, "step": 17130 }, { "epoch": 1.6336441040039063e-06, "model_forward_time": 5.086007356643677, "step": 17130 }, { "dynamics_loss_avg": 0.052283883653581144, "epoch": 1.6336441040039063e-06, "step": 17130 }, { "action_loss_avg": 0.07316811233758927, "epoch": 1.6336441040039063e-06, "step": 17130 }, { "arm_loss_avg": 0.1084251780062914, "epoch": 1.6336441040039063e-06, "step": 17130 }, { "ee_loss_avg": 0.040283113811165096, "epoch": 1.6336441040039063e-06, "step": 17130 }, { "aux_loss_avg": 0.001686285639880225, "epoch": 1.6336441040039063e-06, "step": 17130 }, { "epoch": 1.6336441040039063e-06, "step": 17130, "training_step_time": 17.59605836868286 }, { "epoch": 1.633739471435547e-06, "model_forward_time": 5.086480140686035, "step": 17131 }, { "epoch": 1.633739471435547e-06, "step": 17131, "training_step_time": 17.61556077003479 }, { "epoch": 1.6338348388671876e-06, "model_forward_time": 5.08766508102417, "step": 17132 }, { "epoch": 1.6338348388671876e-06, "step": 17132, "training_step_time": 17.663440704345703 }, { "epoch": 1.6339302062988282e-06, "model_forward_time": 5.083638429641724, "step": 17133 }, { "epoch": 1.6339302062988282e-06, "step": 17133, "training_step_time": 17.62018084526062 }, { "epoch": 1.6340255737304688e-06, "model_forward_time": 5.084837913513184, "step": 17134 }, { "epoch": 1.6340255737304688e-06, "step": 17134, "training_step_time": 17.83749556541443 }, { "epoch": 1.6341209411621094e-06, "model_forward_time": 5.08077597618103, "step": 17135 }, { "epoch": 1.6341209411621094e-06, "step": 17135, "training_step_time": 17.614879369735718 }, { "epoch": 1.63421630859375e-06, "model_forward_time": 5.082812309265137, "step": 17136 }, { "epoch": 1.63421630859375e-06, "step": 17136, "training_step_time": 17.610480546951294 }, { "epoch": 1.6343116760253906e-06, "model_forward_time": 5.083406209945679, "step": 17137 }, { "epoch": 1.6343116760253906e-06, "step": 17137, "training_step_time": 17.593690633773804 }, { "epoch": 1.6344070434570312e-06, "model_forward_time": 5.084716081619263, "step": 17138 }, { "epoch": 1.6344070434570312e-06, "step": 17138, "training_step_time": 17.4981529712677 }, { "epoch": 1.6345024108886719e-06, "model_forward_time": 5.085594892501831, "step": 17139 }, { "epoch": 1.6345024108886719e-06, "step": 17139, "training_step_time": 17.19230079650879 }, { "epoch": 1.6345977783203125e-06, "grad_norm": 1.4377245903015137, "learning_rate": 8.997501239839059e-06, "loss": 0.1003, "step": 17140 }, { "epoch": 1.6345977783203125e-06, "model_forward_time": 5.084442615509033, "step": 17140 }, { "dynamics_loss_avg": 0.04047238985076547, "epoch": 1.6345977783203125e-06, "step": 17140 }, { "action_loss_avg": 0.053387200273573396, "epoch": 1.6345977783203125e-06, "step": 17140 }, { "arm_loss_avg": 0.1038021557033062, "epoch": 1.6345977783203125e-06, "step": 17140 }, { "ee_loss_avg": 0.054114725720137355, "epoch": 1.6345977783203125e-06, "step": 17140 }, { "aux_loss_avg": 0.0011288601264823229, "epoch": 1.6345977783203125e-06, "step": 17140 }, { "epoch": 1.6345977783203125e-06, "step": 17140, "training_step_time": 17.716779232025146 }, { "epoch": 1.634693145751953e-06, "model_forward_time": 5.080651044845581, "step": 17141 }, { "epoch": 1.634693145751953e-06, "step": 17141, "training_step_time": 17.518894910812378 }, { "epoch": 1.6347885131835937e-06, "model_forward_time": 5.078920125961304, "step": 17142 }, { "epoch": 1.6347885131835937e-06, "step": 17142, "training_step_time": 17.548615217208862 }, { "epoch": 1.6348838806152343e-06, "model_forward_time": 5.07705020904541, "step": 17143 }, { "epoch": 1.6348838806152343e-06, "step": 17143, "training_step_time": 17.571346521377563 }, { "epoch": 1.634979248046875e-06, "model_forward_time": 5.075885772705078, "step": 17144 }, { "epoch": 1.634979248046875e-06, "step": 17144, "training_step_time": 17.809711933135986 }, { "epoch": 1.6350746154785155e-06, "model_forward_time": 5.274637699127197, "step": 17145 }, { "epoch": 1.6350746154785155e-06, "step": 17145, "training_step_time": 17.588944911956787 }, { "epoch": 1.6351699829101562e-06, "model_forward_time": 5.080345869064331, "step": 17146 }, { "epoch": 1.6351699829101562e-06, "step": 17146, "training_step_time": 17.605553150177002 }, { "epoch": 1.6352653503417968e-06, "model_forward_time": 5.082160234451294, "step": 17147 }, { "epoch": 1.6352653503417968e-06, "step": 17147, "training_step_time": 17.624260902404785 }, { "epoch": 1.6353607177734376e-06, "model_forward_time": 3.8458092212677, "step": 17148 }, { "epoch": 1.6353607177734376e-06, "step": 17148, "training_step_time": 17.592495918273926 }, { "epoch": 1.6354560852050782e-06, "model_forward_time": 5.062680959701538, "step": 17149 }, { "epoch": 1.6354560852050782e-06, "step": 17149, "training_step_time": 17.81707215309143 }, { "epoch": 1.6355514526367188e-06, "grad_norm": 1.794921636581421, "learning_rate": 8.996081961377635e-06, "loss": 0.1, "step": 17150 }, { "epoch": 1.6355514526367188e-06, "model_forward_time": 5.062695503234863, "step": 17150 }, { "dynamics_loss_avg": 0.043789382092654705, "epoch": 1.6355514526367188e-06, "step": 17150 }, { "action_loss_avg": 0.06362349949777127, "epoch": 1.6355514526367188e-06, "step": 17150 }, { "arm_loss_avg": 0.11112906485795974, "epoch": 1.6355514526367188e-06, "step": 17150 }, { "ee_loss_avg": 0.03825469487346709, "epoch": 1.6355514526367188e-06, "step": 17150 }, { "aux_loss_avg": 0.0020534318959107623, "epoch": 1.6355514526367188e-06, "step": 17150 }, { "epoch": 1.6355514526367188e-06, "step": 17150, "training_step_time": 17.57697057723999 }, { "epoch": 1.6356468200683594e-06, "model_forward_time": 5.331114053726196, "step": 17151 }, { "epoch": 1.6356468200683594e-06, "step": 17151, "training_step_time": 17.576924800872803 }, { "epoch": 1.6357421875e-06, "model_forward_time": 5.0846474170684814, "step": 17152 }, { "epoch": 1.6357421875e-06, "step": 17152, "training_step_time": 17.64541268348694 }, { "epoch": 1.6358375549316407e-06, "model_forward_time": 5.095476150512695, "step": 17153 }, { "epoch": 1.6358375549316407e-06, "step": 17153, "training_step_time": 17.58865976333618 }, { "epoch": 1.6359329223632813e-06, "model_forward_time": 5.097721815109253, "step": 17154 }, { "epoch": 1.6359329223632813e-06, "step": 17154, "training_step_time": 17.819909811019897 }, { "epoch": 1.636028289794922e-06, "model_forward_time": 5.096330404281616, "step": 17155 }, { "epoch": 1.636028289794922e-06, "step": 17155, "training_step_time": 17.569791555404663 }, { "epoch": 1.6361236572265625e-06, "model_forward_time": 5.107396841049194, "step": 17156 }, { "epoch": 1.6361236572265625e-06, "step": 17156, "training_step_time": 17.606486797332764 }, { "epoch": 1.6362190246582031e-06, "model_forward_time": 5.11042857170105, "step": 17157 }, { "epoch": 1.6362190246582031e-06, "step": 17157, "training_step_time": 17.609615802764893 }, { "epoch": 1.6363143920898437e-06, "model_forward_time": 5.103672504425049, "step": 17158 }, { "epoch": 1.6363143920898437e-06, "step": 17158, "training_step_time": 17.62070322036743 }, { "epoch": 1.6364097595214844e-06, "model_forward_time": 5.110973834991455, "step": 17159 }, { "epoch": 1.6364097595214844e-06, "step": 17159, "training_step_time": 17.82734704017639 }, { "epoch": 1.636505126953125e-06, "grad_norm": 1.9626706838607788, "learning_rate": 8.994661791068227e-06, "loss": 0.103, "step": 17160 }, { "epoch": 1.636505126953125e-06, "model_forward_time": 5.085636615753174, "step": 17160 }, { "dynamics_loss_avg": 0.03447051960974932, "epoch": 1.636505126953125e-06, "step": 17160 }, { "action_loss_avg": 0.06462452448904514, "epoch": 1.636505126953125e-06, "step": 17160 }, { "arm_loss_avg": 0.1550039764493704, "epoch": 1.636505126953125e-06, "step": 17160 }, { "ee_loss_avg": 0.0386364228092134, "epoch": 1.636505126953125e-06, "step": 17160 }, { "aux_loss_avg": 0.0010283089708536864, "epoch": 1.636505126953125e-06, "step": 17160 }, { "epoch": 1.636505126953125e-06, "step": 17160, "training_step_time": 17.5791118144989 }, { "epoch": 1.6366004943847656e-06, "model_forward_time": 5.3252644538879395, "step": 17161 }, { "epoch": 1.6366004943847656e-06, "step": 17161, "training_step_time": 17.499865770339966 }, { "epoch": 1.6366958618164062e-06, "model_forward_time": 5.082813262939453, "step": 17162 }, { "epoch": 1.6366958618164062e-06, "step": 17162, "training_step_time": 17.639591455459595 }, { "epoch": 1.6367912292480468e-06, "model_forward_time": 5.084422826766968, "step": 17163 }, { "epoch": 1.6367912292480468e-06, "step": 17163, "training_step_time": 17.56491208076477 }, { "epoch": 1.6368865966796874e-06, "model_forward_time": 5.078165054321289, "step": 17164 }, { "epoch": 1.6368865966796874e-06, "step": 17164, "training_step_time": 17.490846395492554 }, { "epoch": 1.636981964111328e-06, "model_forward_time": 5.0853917598724365, "step": 17165 }, { "epoch": 1.636981964111328e-06, "step": 17165, "training_step_time": 17.706790685653687 }, { "epoch": 1.6370773315429687e-06, "model_forward_time": 5.084911346435547, "step": 17166 }, { "epoch": 1.6370773315429687e-06, "step": 17166, "training_step_time": 17.564330577850342 }, { "epoch": 1.6371726989746093e-06, "model_forward_time": 5.0838611125946045, "step": 17167 }, { "epoch": 1.6371726989746093e-06, "step": 17167, "training_step_time": 17.588475942611694 }, { "epoch": 1.63726806640625e-06, "model_forward_time": 5.0856709480285645, "step": 17168 }, { "epoch": 1.63726806640625e-06, "step": 17168, "training_step_time": 17.609665870666504 }, { "epoch": 1.6373634338378907e-06, "model_forward_time": 3.853999376296997, "step": 17169 }, { "epoch": 1.6373634338378907e-06, "step": 17169, "training_step_time": 17.61931347846985 }, { "epoch": 1.6374588012695313e-06, "grad_norm": 1.5550265312194824, "learning_rate": 8.993240729227793e-06, "loss": 0.0959, "step": 17170 }, { "epoch": 1.6374588012695313e-06, "model_forward_time": 5.058913230895996, "step": 17170 }, { "dynamics_loss_avg": 0.034857282787561415, "epoch": 1.6374588012695313e-06, "step": 17170 }, { "action_loss_avg": 0.06358435098081827, "epoch": 1.6374588012695313e-06, "step": 17170 }, { "arm_loss_avg": 0.12126492559909821, "epoch": 1.6374588012695313e-06, "step": 17170 }, { "ee_loss_avg": 0.028725356329232454, "epoch": 1.6374588012695313e-06, "step": 17170 }, { "aux_loss_avg": 0.0017390509456163272, "epoch": 1.6374588012695313e-06, "step": 17170 }, { "epoch": 1.6374588012695313e-06, "step": 17170, "training_step_time": 17.866686820983887 }, { "epoch": 1.637554168701172e-06, "model_forward_time": 5.301522493362427, "step": 17171 }, { "epoch": 1.637554168701172e-06, "step": 17171, "training_step_time": 17.618001222610474 }, { "epoch": 1.6376495361328126e-06, "model_forward_time": 3.847294330596924, "step": 17172 }, { "epoch": 1.6376495361328126e-06, "step": 17172, "training_step_time": 17.64093804359436 }, { "epoch": 1.6377449035644532e-06, "model_forward_time": 5.070305585861206, "step": 17173 }, { "epoch": 1.6377449035644532e-06, "step": 17173, "training_step_time": 17.637978315353394 }, { "epoch": 1.6378402709960938e-06, "model_forward_time": 5.086900234222412, "step": 17174 }, { "epoch": 1.6378402709960938e-06, "step": 17174, "training_step_time": 17.868473291397095 }, { "epoch": 1.6379356384277344e-06, "model_forward_time": 3.858842372894287, "step": 17175 }, { "epoch": 1.6379356384277344e-06, "step": 17175, "training_step_time": 17.62067174911499 }, { "epoch": 1.638031005859375e-06, "model_forward_time": 5.255511045455933, "step": 17176 }, { "epoch": 1.638031005859375e-06, "step": 17176, "training_step_time": 17.59987711906433 }, { "epoch": 1.6381263732910156e-06, "model_forward_time": 5.087299585342407, "step": 17177 }, { "epoch": 1.6381263732910156e-06, "step": 17177, "training_step_time": 17.582167387008667 }, { "epoch": 1.6382217407226562e-06, "model_forward_time": 5.1021647453308105, "step": 17178 }, { "epoch": 1.6382217407226562e-06, "step": 17178, "training_step_time": 17.596356868743896 }, { "epoch": 1.6383171081542969e-06, "model_forward_time": 3.865163564682007, "step": 17179 }, { "epoch": 1.6383171081542969e-06, "step": 17179, "training_step_time": 17.79909086227417 }, { "epoch": 1.6384124755859375e-06, "grad_norm": 1.9782179594039917, "learning_rate": 8.991818776173485e-06, "loss": 0.0941, "step": 17180 }, { "epoch": 1.6384124755859375e-06, "model_forward_time": 5.075904846191406, "step": 17180 }, { "dynamics_loss_avg": 0.042354621551930906, "epoch": 1.6384124755859375e-06, "step": 17180 }, { "action_loss_avg": 0.06382252499461175, "epoch": 1.6384124755859375e-06, "step": 17180 }, { "arm_loss_avg": 0.11730528995394707, "epoch": 1.6384124755859375e-06, "step": 17180 }, { "ee_loss_avg": 0.04283583303913474, "epoch": 1.6384124755859375e-06, "step": 17180 }, { "aux_loss_avg": 0.0007484192261472345, "epoch": 1.6384124755859375e-06, "step": 17180 }, { "epoch": 1.6384124755859375e-06, "step": 17180, "training_step_time": 17.583228588104248 }, { "epoch": 1.638507843017578e-06, "model_forward_time": 5.318599224090576, "step": 17181 }, { "epoch": 1.638507843017578e-06, "step": 17181, "training_step_time": 17.57246208190918 }, { "epoch": 1.6386032104492187e-06, "model_forward_time": 5.0917747020721436, "step": 17182 }, { "epoch": 1.6386032104492187e-06, "step": 17182, "training_step_time": 17.58785653114319 }, { "epoch": 1.6386985778808593e-06, "model_forward_time": 5.091780424118042, "step": 17183 }, { "epoch": 1.6386985778808593e-06, "step": 17183, "training_step_time": 17.63240146636963 }, { "epoch": 1.6387939453125e-06, "model_forward_time": 5.093871593475342, "step": 17184 }, { "epoch": 1.6387939453125e-06, "step": 17184, "training_step_time": 17.774161100387573 }, { "epoch": 1.6388893127441405e-06, "model_forward_time": 5.093908786773682, "step": 17185 }, { "epoch": 1.6388893127441405e-06, "step": 17185, "training_step_time": 17.572876453399658 }, { "epoch": 1.6389846801757812e-06, "model_forward_time": 5.287165641784668, "step": 17186 }, { "epoch": 1.6389846801757812e-06, "step": 17186, "training_step_time": 17.58509659767151 }, { "epoch": 1.6390800476074218e-06, "model_forward_time": 5.091072082519531, "step": 17187 }, { "epoch": 1.6390800476074218e-06, "step": 17187, "training_step_time": 17.389037609100342 }, { "epoch": 1.6391754150390626e-06, "model_forward_time": 5.096494436264038, "step": 17188 }, { "epoch": 1.6391754150390626e-06, "step": 17188, "training_step_time": 17.598344087600708 }, { "epoch": 1.6392707824707032e-06, "model_forward_time": 3.8523125648498535, "step": 17189 }, { "epoch": 1.6392707824707032e-06, "step": 17189, "training_step_time": 17.18753743171692 }, { "epoch": 1.6393661499023438e-06, "grad_norm": 1.8151118755340576, "learning_rate": 8.990395932222657e-06, "loss": 0.0966, "step": 17190 }, { "epoch": 1.6393661499023438e-06, "model_forward_time": 5.061097145080566, "step": 17190 }, { "dynamics_loss_avg": 0.04528237478807569, "epoch": 1.6393661499023438e-06, "step": 17190 }, { "action_loss_avg": 0.05738082453608513, "epoch": 1.6393661499023438e-06, "step": 17190 }, { "arm_loss_avg": 0.11112321019172669, "epoch": 1.6393661499023438e-06, "step": 17190 }, { "ee_loss_avg": 0.04677505050785839, "epoch": 1.6393661499023438e-06, "step": 17190 }, { "aux_loss_avg": 0.0009162176953395829, "epoch": 1.6393661499023438e-06, "step": 17190 }, { "epoch": 1.6393661499023438e-06, "step": 17190, "training_step_time": 17.726786375045776 }, { "epoch": 1.6394615173339844e-06, "model_forward_time": 5.310287714004517, "step": 17191 }, { "epoch": 1.6394615173339844e-06, "step": 17191, "training_step_time": 17.529239177703857 }, { "epoch": 1.639556884765625e-06, "model_forward_time": 5.07727575302124, "step": 17192 }, { "epoch": 1.639556884765625e-06, "step": 17192, "training_step_time": 17.568791389465332 }, { "epoch": 1.6396522521972657e-06, "model_forward_time": 5.08205246925354, "step": 17193 }, { "epoch": 1.6396522521972657e-06, "step": 17193, "training_step_time": 17.64304256439209 }, { "epoch": 1.6397476196289063e-06, "model_forward_time": 5.089838266372681, "step": 17194 }, { "epoch": 1.6397476196289063e-06, "step": 17194, "training_step_time": 17.61409091949463 }, { "epoch": 1.639842987060547e-06, "model_forward_time": 5.092769622802734, "step": 17195 }, { "epoch": 1.639842987060547e-06, "step": 17195, "training_step_time": 17.511252641677856 }, { "epoch": 1.6399383544921875e-06, "model_forward_time": 5.293089151382446, "step": 17196 }, { "epoch": 1.6399383544921875e-06, "step": 17196, "training_step_time": 17.54950523376465 }, { "epoch": 1.6400337219238281e-06, "model_forward_time": 3.8639705181121826, "step": 17197 }, { "epoch": 1.6400337219238281e-06, "step": 17197, "training_step_time": 17.63481044769287 }, { "epoch": 1.6401290893554687e-06, "model_forward_time": 3.8376286029815674, "step": 17198 }, { "epoch": 1.6401290893554687e-06, "step": 17198, "training_step_time": 17.623515129089355 }, { "epoch": 1.6402244567871094e-06, "model_forward_time": 5.054017782211304, "step": 17199 }, { "epoch": 1.6402244567871094e-06, "step": 17199, "training_step_time": 17.424599170684814 }, { "epoch": 1.64031982421875e-06, "grad_norm": 1.081063985824585, "learning_rate": 8.988972197692857e-06, "loss": 0.0967, "step": 17200 }, { "epoch": 1.64031982421875e-06, "model_forward_time": 5.0679771900177, "step": 17200 }, { "dynamics_loss_avg": 0.035633609816432, "epoch": 1.64031982421875e-06, "step": 17200 }, { "action_loss_avg": 0.046045173145830634, "epoch": 1.64031982421875e-06, "step": 17200 }, { "arm_loss_avg": 0.09410121887922288, "epoch": 1.64031982421875e-06, "step": 17200 }, { "ee_loss_avg": 0.03520767539739609, "epoch": 1.64031982421875e-06, "step": 17200 }, { "aux_loss_avg": 0.004217076682834886, "epoch": 1.64031982421875e-06, "step": 17200 }, { "epoch": 1.64031982421875e-06, "step": 17200, "training_step_time": 17.775147438049316 }, { "epoch": 1.6404151916503906e-06, "model_forward_time": 5.080114841461182, "step": 17201 }, { "epoch": 1.6404151916503906e-06, "step": 17201, "training_step_time": 17.57742428779602 }, { "epoch": 1.6405105590820312e-06, "model_forward_time": 4.068451642990112, "step": 17202 }, { "epoch": 1.6405105590820312e-06, "step": 17202, "training_step_time": 17.634138822555542 }, { "epoch": 1.6406059265136718e-06, "model_forward_time": 5.0701916217803955, "step": 17203 }, { "epoch": 1.6406059265136718e-06, "step": 17203, "training_step_time": 17.606257677078247 }, { "epoch": 1.6407012939453124e-06, "model_forward_time": 5.089276313781738, "step": 17204 }, { "epoch": 1.6407012939453124e-06, "step": 17204, "training_step_time": 17.633741855621338 }, { "epoch": 1.640796661376953e-06, "model_forward_time": 5.098083257675171, "step": 17205 }, { "epoch": 1.640796661376953e-06, "step": 17205, "training_step_time": 17.812448978424072 }, { "epoch": 1.6408920288085937e-06, "model_forward_time": 5.105457067489624, "step": 17206 }, { "epoch": 1.6408920288085937e-06, "step": 17206, "training_step_time": 17.61886978149414 }, { "epoch": 1.6409873962402343e-06, "model_forward_time": 5.300547361373901, "step": 17207 }, { "epoch": 1.6409873962402343e-06, "step": 17207, "training_step_time": 17.61433506011963 }, { "epoch": 1.641082763671875e-06, "model_forward_time": 5.105239391326904, "step": 17208 }, { "epoch": 1.641082763671875e-06, "step": 17208, "training_step_time": 17.61445188522339 }, { "epoch": 1.6411781311035157e-06, "model_forward_time": 5.0989439487457275, "step": 17209 }, { "epoch": 1.6411781311035157e-06, "step": 17209, "training_step_time": 17.609187364578247 }, { "epoch": 1.6412734985351563e-06, "grad_norm": 1.5995432138442993, "learning_rate": 8.987547572901835e-06, "loss": 0.0942, "step": 17210 }, { "epoch": 1.6412734985351563e-06, "model_forward_time": 5.0959861278533936, "step": 17210 }, { "dynamics_loss_avg": 0.044447787664830686, "epoch": 1.6412734985351563e-06, "step": 17210 }, { "action_loss_avg": 0.06080019325017929, "epoch": 1.6412734985351563e-06, "step": 17210 }, { "arm_loss_avg": 0.10146073251962662, "epoch": 1.6412734985351563e-06, "step": 17210 }, { "ee_loss_avg": 0.038273653900250795, "epoch": 1.6412734985351563e-06, "step": 17210 }, { "aux_loss_avg": 0.001785641413880512, "epoch": 1.6412734985351563e-06, "step": 17210 }, { "epoch": 1.6412734985351563e-06, "step": 17210, "training_step_time": 17.842410564422607 }, { "epoch": 1.641368865966797e-06, "model_forward_time": 5.08834433555603, "step": 17211 }, { "epoch": 1.641368865966797e-06, "step": 17211, "training_step_time": 17.605276346206665 }, { "epoch": 1.6414642333984376e-06, "model_forward_time": 5.0869879722595215, "step": 17212 }, { "epoch": 1.6414642333984376e-06, "step": 17212, "training_step_time": 17.657429933547974 }, { "epoch": 1.6415596008300782e-06, "model_forward_time": 5.08655571937561, "step": 17213 }, { "epoch": 1.6415596008300782e-06, "step": 17213, "training_step_time": 17.60721230506897 }, { "epoch": 1.6416549682617188e-06, "model_forward_time": 5.083709716796875, "step": 17214 }, { "epoch": 1.6416549682617188e-06, "step": 17214, "training_step_time": 17.824686288833618 }, { "epoch": 1.6417503356933594e-06, "model_forward_time": 5.081546306610107, "step": 17215 }, { "epoch": 1.6417503356933594e-06, "step": 17215, "training_step_time": 17.60135531425476 }, { "epoch": 1.641845703125e-06, "model_forward_time": 5.329338073730469, "step": 17216 }, { "epoch": 1.641845703125e-06, "step": 17216, "training_step_time": 17.627536058425903 }, { "epoch": 1.6419410705566406e-06, "model_forward_time": 5.104459524154663, "step": 17217 }, { "epoch": 1.6419410705566406e-06, "step": 17217, "training_step_time": 17.65768599510193 }, { "epoch": 1.6420364379882812e-06, "model_forward_time": 5.103851079940796, "step": 17218 }, { "epoch": 1.6420364379882812e-06, "step": 17218, "training_step_time": 17.62516713142395 }, { "epoch": 1.6421318054199219e-06, "model_forward_time": 5.098496437072754, "step": 17219 }, { "epoch": 1.6421318054199219e-06, "step": 17219, "training_step_time": 17.892950534820557 }, { "epoch": 1.6422271728515625e-06, "grad_norm": 2.0854058265686035, "learning_rate": 8.986122058167542e-06, "loss": 0.0958, "step": 17220 }, { "epoch": 1.6422271728515625e-06, "model_forward_time": 5.088335037231445, "step": 17220 }, { "dynamics_loss_avg": 0.03527579298242926, "epoch": 1.6422271728515625e-06, "step": 17220 }, { "action_loss_avg": 0.06744543928653002, "epoch": 1.6422271728515625e-06, "step": 17220 }, { "arm_loss_avg": 0.1357430897653103, "epoch": 1.6422271728515625e-06, "step": 17220 }, { "ee_loss_avg": 0.04214120153337717, "epoch": 1.6422271728515625e-06, "step": 17220 }, { "aux_loss_avg": 0.0075055791472550485, "epoch": 1.6422271728515625e-06, "step": 17220 }, { "epoch": 1.6422271728515625e-06, "step": 17220, "training_step_time": 17.687415599822998 }, { "epoch": 1.642322540283203e-06, "model_forward_time": 3.8538055419921875, "step": 17221 }, { "epoch": 1.642322540283203e-06, "step": 17221, "training_step_time": 17.615657806396484 }, { "epoch": 1.6424179077148437e-06, "model_forward_time": 5.296050786972046, "step": 17222 }, { "epoch": 1.6424179077148437e-06, "step": 17222, "training_step_time": 17.60565996170044 }, { "epoch": 1.6425132751464843e-06, "model_forward_time": 5.070578575134277, "step": 17223 }, { "epoch": 1.6425132751464843e-06, "step": 17223, "training_step_time": 17.6027512550354 }, { "epoch": 1.642608642578125e-06, "model_forward_time": 5.0804643630981445, "step": 17224 }, { "epoch": 1.642608642578125e-06, "step": 17224, "training_step_time": 17.786524057388306 }, { "epoch": 1.6427040100097655e-06, "model_forward_time": 5.084686040878296, "step": 17225 }, { "epoch": 1.6427040100097655e-06, "step": 17225, "training_step_time": 17.6012761592865 }, { "epoch": 1.6427993774414062e-06, "model_forward_time": 5.090579032897949, "step": 17226 }, { "epoch": 1.6427993774414062e-06, "step": 17226, "training_step_time": 17.5882625579834 }, { "epoch": 1.6428947448730468e-06, "model_forward_time": 5.288793563842773, "step": 17227 }, { "epoch": 1.6428947448730468e-06, "step": 17227, "training_step_time": 17.602798223495483 }, { "epoch": 1.6429901123046876e-06, "model_forward_time": 5.099216461181641, "step": 17228 }, { "epoch": 1.6429901123046876e-06, "step": 17228, "training_step_time": 17.587063789367676 }, { "epoch": 1.6430854797363282e-06, "model_forward_time": 5.0996339321136475, "step": 17229 }, { "epoch": 1.6430854797363282e-06, "step": 17229, "training_step_time": 17.811017274856567 }, { "epoch": 1.6431808471679688e-06, "grad_norm": 2.168513298034668, "learning_rate": 8.984695653808124e-06, "loss": 0.0983, "step": 17230 }, { "epoch": 1.6431808471679688e-06, "model_forward_time": 5.091655254364014, "step": 17230 }, { "dynamics_loss_avg": 0.043956009484827516, "epoch": 1.6431808471679688e-06, "step": 17230 }, { "action_loss_avg": 0.0604957178235054, "epoch": 1.6431808471679688e-06, "step": 17230 }, { "arm_loss_avg": 0.09273634366691112, "epoch": 1.6431808471679688e-06, "step": 17230 }, { "ee_loss_avg": 0.0639600564725697, "epoch": 1.6431808471679688e-06, "step": 17230 }, { "aux_loss_avg": 0.002882794989272952, "epoch": 1.6431808471679688e-06, "step": 17230 }, { "epoch": 1.6431808471679688e-06, "step": 17230, "training_step_time": 17.572140216827393 }, { "epoch": 1.6432762145996094e-06, "model_forward_time": 5.093395948410034, "step": 17231 }, { "epoch": 1.6432762145996094e-06, "step": 17231, "training_step_time": 17.586760997772217 }, { "epoch": 1.64337158203125e-06, "model_forward_time": 5.088640451431274, "step": 17232 }, { "epoch": 1.64337158203125e-06, "step": 17232, "training_step_time": 17.588072776794434 }, { "epoch": 1.6434669494628907e-06, "model_forward_time": 5.083001613616943, "step": 17233 }, { "epoch": 1.6434669494628907e-06, "step": 17233, "training_step_time": 17.63949990272522 }, { "epoch": 1.6435623168945313e-06, "model_forward_time": 3.8478970527648926, "step": 17234 }, { "epoch": 1.6435623168945313e-06, "step": 17234, "training_step_time": 17.81829810142517 }, { "epoch": 1.643657684326172e-06, "model_forward_time": 5.05361795425415, "step": 17235 }, { "epoch": 1.643657684326172e-06, "step": 17235, "training_step_time": 17.58047580718994 }, { "epoch": 1.6437530517578125e-06, "model_forward_time": 5.065167188644409, "step": 17236 }, { "epoch": 1.6437530517578125e-06, "step": 17236, "training_step_time": 17.584012269973755 }, { "epoch": 1.6438484191894531e-06, "model_forward_time": 5.071859121322632, "step": 17237 }, { "epoch": 1.6438484191894531e-06, "step": 17237, "training_step_time": 17.620344400405884 }, { "epoch": 1.6439437866210937e-06, "model_forward_time": 3.84735107421875, "step": 17238 }, { "epoch": 1.6439437866210937e-06, "step": 17238, "training_step_time": 17.559149265289307 }, { "epoch": 1.6440391540527344e-06, "model_forward_time": 5.059768199920654, "step": 17239 }, { "epoch": 1.6440391540527344e-06, "step": 17239, "training_step_time": 17.791971445083618 }, { "epoch": 1.644134521484375e-06, "grad_norm": 1.5704877376556396, "learning_rate": 8.98326836014193e-06, "loss": 0.1051, "step": 17240 }, { "epoch": 1.644134521484375e-06, "model_forward_time": 5.074242830276489, "step": 17240 }, { "dynamics_loss_avg": 0.04187631253153086, "epoch": 1.644134521484375e-06, "step": 17240 }, { "action_loss_avg": 0.06705646626651288, "epoch": 1.644134521484375e-06, "step": 17240 }, { "arm_loss_avg": 0.09881886728107929, "epoch": 1.644134521484375e-06, "step": 17240 }, { "ee_loss_avg": 0.049618435697630046, "epoch": 1.644134521484375e-06, "step": 17240 }, { "aux_loss_avg": 0.002976751679670997, "epoch": 1.644134521484375e-06, "step": 17240 }, { "epoch": 1.644134521484375e-06, "step": 17240, "training_step_time": 17.55496907234192 }, { "epoch": 1.6442298889160156e-06, "model_forward_time": 5.088744163513184, "step": 17241 }, { "epoch": 1.6442298889160156e-06, "step": 17241, "training_step_time": 17.417901515960693 }, { "epoch": 1.6443252563476562e-06, "model_forward_time": 5.095283269882202, "step": 17242 }, { "epoch": 1.6443252563476562e-06, "step": 17242, "training_step_time": 17.61732244491577 }, { "epoch": 1.6444206237792968e-06, "model_forward_time": 5.09650731086731, "step": 17243 }, { "epoch": 1.6444206237792968e-06, "step": 17243, "training_step_time": 17.52461290359497 }, { "epoch": 1.6445159912109374e-06, "model_forward_time": 5.100811958312988, "step": 17244 }, { "epoch": 1.6445159912109374e-06, "step": 17244, "training_step_time": 17.78598141670227 }, { "epoch": 1.644611358642578e-06, "model_forward_time": 5.098788261413574, "step": 17245 }, { "epoch": 1.644611358642578e-06, "step": 17245, "training_step_time": 17.5708110332489 }, { "epoch": 1.6447067260742187e-06, "model_forward_time": 5.289253234863281, "step": 17246 }, { "epoch": 1.6447067260742187e-06, "step": 17246, "training_step_time": 17.601706981658936 }, { "epoch": 1.6448020935058593e-06, "model_forward_time": 5.090708017349243, "step": 17247 }, { "epoch": 1.6448020935058593e-06, "step": 17247, "training_step_time": 17.614668369293213 }, { "epoch": 1.6448974609375e-06, "model_forward_time": 5.08673620223999, "step": 17248 }, { "epoch": 1.6448974609375e-06, "step": 17248, "training_step_time": 17.6218683719635 }, { "epoch": 1.6449928283691407e-06, "model_forward_time": 5.0864527225494385, "step": 17249 }, { "epoch": 1.6449928283691407e-06, "step": 17249, "training_step_time": 17.84793210029602 }, { "epoch": 1.6450881958007813e-06, "grad_norm": 1.4146652221679688, "learning_rate": 8.981840177487498e-06, "loss": 0.0919, "step": 17250 }, { "epoch": 1.6450881958007813e-06, "model_forward_time": 5.084456443786621, "step": 17250 }, { "dynamics_loss_avg": 0.03663199879229069, "epoch": 1.6450881958007813e-06, "step": 17250 }, { "action_loss_avg": 0.05050498554483056, "epoch": 1.6450881958007813e-06, "step": 17250 }, { "arm_loss_avg": 0.0981706578284502, "epoch": 1.6450881958007813e-06, "step": 17250 }, { "ee_loss_avg": 0.04157673479057848, "epoch": 1.6450881958007813e-06, "step": 17250 }, { "aux_loss_avg": 0.0014134499069768935, "epoch": 1.6450881958007813e-06, "step": 17250 }, { "epoch": 1.6450881958007813e-06, "step": 17250, "training_step_time": 17.61385178565979 }, { "epoch": 1.645183563232422e-06, "model_forward_time": 5.330845594406128, "step": 17251 }, { "epoch": 1.645183563232422e-06, "step": 17251, "training_step_time": 17.425193309783936 }, { "epoch": 1.6452789306640626e-06, "model_forward_time": 5.08603310585022, "step": 17252 }, { "epoch": 1.6452789306640626e-06, "step": 17252, "training_step_time": 17.636000633239746 }, { "epoch": 1.6453742980957032e-06, "model_forward_time": 5.08466362953186, "step": 17253 }, { "epoch": 1.6453742980957032e-06, "step": 17253, "training_step_time": 17.549065589904785 }, { "epoch": 1.6454696655273438e-06, "model_forward_time": 5.086731910705566, "step": 17254 }, { "epoch": 1.6454696655273438e-06, "step": 17254, "training_step_time": 17.585597276687622 }, { "epoch": 1.6455650329589844e-06, "model_forward_time": 3.851639747619629, "step": 17255 }, { "epoch": 1.6455650329589844e-06, "step": 17255, "training_step_time": 17.777368307113647 }, { "epoch": 1.645660400390625e-06, "model_forward_time": 5.05564022064209, "step": 17256 }, { "epoch": 1.645660400390625e-06, "step": 17256, "training_step_time": 17.59879779815674 }, { "epoch": 1.6457557678222656e-06, "model_forward_time": 5.2919299602508545, "step": 17257 }, { "epoch": 1.6457557678222656e-06, "step": 17257, "training_step_time": 17.60575556755066 }, { "epoch": 1.6458511352539063e-06, "model_forward_time": 5.08049464225769, "step": 17258 }, { "epoch": 1.6458511352539063e-06, "step": 17258, "training_step_time": 17.617844343185425 }, { "epoch": 1.6459465026855469e-06, "model_forward_time": 5.089939117431641, "step": 17259 }, { "epoch": 1.6459465026855469e-06, "step": 17259, "training_step_time": 17.827937841415405 }, { "epoch": 1.6460418701171875e-06, "grad_norm": 2.01861572265625, "learning_rate": 8.980411106163574e-06, "loss": 0.1041, "step": 17260 }, { "epoch": 1.6460418701171875e-06, "model_forward_time": 5.094724893569946, "step": 17260 }, { "dynamics_loss_avg": 0.036705000698566435, "epoch": 1.6460418701171875e-06, "step": 17260 }, { "action_loss_avg": 0.05917460303753615, "epoch": 1.6460418701171875e-06, "step": 17260 }, { "arm_loss_avg": 0.09893348067998886, "epoch": 1.6460418701171875e-06, "step": 17260 }, { "ee_loss_avg": 0.03770914766937494, "epoch": 1.6460418701171875e-06, "step": 17260 }, { "aux_loss_avg": 0.0008839907124638558, "epoch": 1.6460418701171875e-06, "step": 17260 }, { "epoch": 1.6460418701171875e-06, "step": 17260, "training_step_time": 17.614545345306396 }, { "epoch": 1.646137237548828e-06, "model_forward_time": 5.101159334182739, "step": 17261 }, { "epoch": 1.646137237548828e-06, "step": 17261, "training_step_time": 17.610358953475952 }, { "epoch": 1.6462326049804687e-06, "model_forward_time": 5.103865385055542, "step": 17262 }, { "epoch": 1.6462326049804687e-06, "step": 17262, "training_step_time": 17.609875202178955 }, { "epoch": 1.6463279724121093e-06, "model_forward_time": 5.103647232055664, "step": 17263 }, { "epoch": 1.6463279724121093e-06, "step": 17263, "training_step_time": 17.60621666908264 }, { "epoch": 1.64642333984375e-06, "model_forward_time": 5.097423553466797, "step": 17264 }, { "epoch": 1.64642333984375e-06, "step": 17264, "training_step_time": 17.792263746261597 }, { "epoch": 1.6465187072753906e-06, "model_forward_time": 5.097184896469116, "step": 17265 }, { "epoch": 1.6465187072753906e-06, "step": 17265, "training_step_time": 17.60643172264099 }, { "epoch": 1.6466140747070312e-06, "model_forward_time": 5.0941033363342285, "step": 17266 }, { "epoch": 1.6466140747070312e-06, "step": 17266, "training_step_time": 17.594822645187378 }, { "epoch": 1.6467094421386718e-06, "model_forward_time": 5.094475746154785, "step": 17267 }, { "epoch": 1.6467094421386718e-06, "step": 17267, "training_step_time": 17.645001888275146 }, { "epoch": 1.6468048095703124e-06, "model_forward_time": 5.089753150939941, "step": 17268 }, { "epoch": 1.6468048095703124e-06, "step": 17268, "training_step_time": 17.595999717712402 }, { "epoch": 1.6469001770019532e-06, "model_forward_time": 5.091948747634888, "step": 17269 }, { "epoch": 1.6469001770019532e-06, "step": 17269, "training_step_time": 17.819071292877197 }, { "epoch": 1.6469955444335938e-06, "grad_norm": 1.798988699913025, "learning_rate": 8.978981146489101e-06, "loss": 0.0881, "step": 17270 }, { "epoch": 1.6469955444335938e-06, "model_forward_time": 5.085962772369385, "step": 17270 }, { "dynamics_loss_avg": 0.03490016385912895, "epoch": 1.6469955444335938e-06, "step": 17270 }, { "action_loss_avg": 0.042951865447685124, "epoch": 1.6469955444335938e-06, "step": 17270 }, { "arm_loss_avg": 0.10082287043333053, "epoch": 1.6469955444335938e-06, "step": 17270 }, { "ee_loss_avg": 0.03981669708155096, "epoch": 1.6469955444335938e-06, "step": 17270 }, { "aux_loss_avg": 0.0014462014893069862, "epoch": 1.6469955444335938e-06, "step": 17270 }, { "epoch": 1.6469955444335938e-06, "step": 17270, "training_step_time": 17.59987473487854 }, { "epoch": 1.6470909118652345e-06, "model_forward_time": 5.329816818237305, "step": 17271 }, { "epoch": 1.6470909118652345e-06, "step": 17271, "training_step_time": 17.603142023086548 }, { "epoch": 1.647186279296875e-06, "model_forward_time": 3.8526012897491455, "step": 17272 }, { "epoch": 1.647186279296875e-06, "step": 17272, "training_step_time": 17.657861709594727 }, { "epoch": 1.6472816467285157e-06, "model_forward_time": 5.064013242721558, "step": 17273 }, { "epoch": 1.6472816467285157e-06, "step": 17273, "training_step_time": 17.610897302627563 }, { "epoch": 1.6473770141601563e-06, "model_forward_time": 5.074601173400879, "step": 17274 }, { "epoch": 1.6473770141601563e-06, "step": 17274, "training_step_time": 17.838289260864258 }, { "epoch": 1.647472381591797e-06, "model_forward_time": 5.081948757171631, "step": 17275 }, { "epoch": 1.647472381591797e-06, "step": 17275, "training_step_time": 17.590881824493408 }, { "epoch": 1.6475677490234375e-06, "model_forward_time": 3.854545831680298, "step": 17276 }, { "epoch": 1.6475677490234375e-06, "step": 17276, "training_step_time": 17.596542358398438 }, { "epoch": 1.6476631164550781e-06, "model_forward_time": 5.278478145599365, "step": 17277 }, { "epoch": 1.6476631164550781e-06, "step": 17277, "training_step_time": 17.587606191635132 }, { "epoch": 1.6477584838867188e-06, "model_forward_time": 5.084578037261963, "step": 17278 }, { "epoch": 1.6477584838867188e-06, "step": 17278, "training_step_time": 17.598889589309692 }, { "epoch": 1.6478538513183594e-06, "model_forward_time": 3.8576478958129883, "step": 17279 }, { "epoch": 1.6478538513183594e-06, "step": 17279, "training_step_time": 17.799532890319824 }, { "epoch": 1.64794921875e-06, "grad_norm": 1.0187638998031616, "learning_rate": 8.977550298783215e-06, "loss": 0.1014, "step": 17280 }, { "epoch": 1.64794921875e-06, "model_forward_time": 5.074066400527954, "step": 17280 }, { "dynamics_loss_avg": 0.03777249921113253, "epoch": 1.64794921875e-06, "step": 17280 }, { "action_loss_avg": 0.06303285751491786, "epoch": 1.64794921875e-06, "step": 17280 }, { "arm_loss_avg": 0.08960946947336197, "epoch": 1.64794921875e-06, "step": 17280 }, { "ee_loss_avg": 0.03467069808393717, "epoch": 1.64794921875e-06, "step": 17280 }, { "aux_loss_avg": 0.000973550562048331, "epoch": 1.64794921875e-06, "step": 17280 }, { "epoch": 1.64794921875e-06, "step": 17280, "training_step_time": 17.582014083862305 }, { "epoch": 1.6480445861816406e-06, "model_forward_time": 5.092189311981201, "step": 17281 }, { "epoch": 1.6480445861816406e-06, "step": 17281, "training_step_time": 17.577319145202637 }, { "epoch": 1.6481399536132812e-06, "model_forward_time": 5.3340349197387695, "step": 17282 }, { "epoch": 1.6481399536132812e-06, "step": 17282, "training_step_time": 17.64366126060486 }, { "epoch": 1.6482353210449218e-06, "model_forward_time": 5.104050397872925, "step": 17283 }, { "epoch": 1.6482353210449218e-06, "step": 17283, "training_step_time": 17.58678889274597 }, { "epoch": 1.6483306884765624e-06, "model_forward_time": 5.10722279548645, "step": 17284 }, { "epoch": 1.6483306884765624e-06, "step": 17284, "training_step_time": 17.795156955718994 }, { "epoch": 1.648426055908203e-06, "model_forward_time": 5.1053667068481445, "step": 17285 }, { "epoch": 1.648426055908203e-06, "step": 17285, "training_step_time": 17.60452151298523 }, { "epoch": 1.6485214233398437e-06, "model_forward_time": 5.103166341781616, "step": 17286 }, { "epoch": 1.6485214233398437e-06, "step": 17286, "training_step_time": 17.603817462921143 }, { "epoch": 1.6486167907714843e-06, "model_forward_time": 5.2871623039245605, "step": 17287 }, { "epoch": 1.6486167907714843e-06, "step": 17287, "training_step_time": 17.637166500091553 }, { "epoch": 1.648712158203125e-06, "model_forward_time": 5.09624457359314, "step": 17288 }, { "epoch": 1.648712158203125e-06, "step": 17288, "training_step_time": 17.622469425201416 }, { "epoch": 1.6488075256347657e-06, "model_forward_time": 5.091089248657227, "step": 17289 }, { "epoch": 1.6488075256347657e-06, "step": 17289, "training_step_time": 17.847886323928833 }, { "epoch": 1.6489028930664063e-06, "grad_norm": 2.801347255706787, "learning_rate": 8.976118563365255e-06, "loss": 0.0992, "step": 17290 }, { "epoch": 1.6489028930664063e-06, "model_forward_time": 5.090883255004883, "step": 17290 }, { "dynamics_loss_avg": 0.047254160046577454, "epoch": 1.6489028930664063e-06, "step": 17290 }, { "action_loss_avg": 0.057885071448981765, "epoch": 1.6489028930664063e-06, "step": 17290 }, { "arm_loss_avg": 0.10955187343060971, "epoch": 1.6489028930664063e-06, "step": 17290 }, { "ee_loss_avg": 0.053480430878698824, "epoch": 1.6489028930664063e-06, "step": 17290 }, { "aux_loss_avg": 0.001764223334612325, "epoch": 1.6489028930664063e-06, "step": 17290 }, { "epoch": 1.6489028930664063e-06, "step": 17290, "training_step_time": 17.620357990264893 }, { "epoch": 1.648998260498047e-06, "model_forward_time": 3.8536336421966553, "step": 17291 }, { "epoch": 1.648998260498047e-06, "step": 17291, "training_step_time": 17.618577003479004 }, { "epoch": 1.6490936279296876e-06, "model_forward_time": 5.304715871810913, "step": 17292 }, { "epoch": 1.6490936279296876e-06, "step": 17292, "training_step_time": 17.642672061920166 }, { "epoch": 1.6491889953613282e-06, "model_forward_time": 5.0720508098602295, "step": 17293 }, { "epoch": 1.6491889953613282e-06, "step": 17293, "training_step_time": 17.61127543449402 }, { "epoch": 1.6492843627929688e-06, "model_forward_time": 5.081789016723633, "step": 17294 }, { "epoch": 1.6492843627929688e-06, "step": 17294, "training_step_time": 17.839945793151855 }, { "epoch": 1.6493797302246094e-06, "model_forward_time": 5.089621305465698, "step": 17295 }, { "epoch": 1.6493797302246094e-06, "step": 17295, "training_step_time": 17.601786375045776 }, { "epoch": 1.64947509765625e-06, "model_forward_time": 5.097970247268677, "step": 17296 }, { "epoch": 1.64947509765625e-06, "step": 17296, "training_step_time": 17.601375579833984 }, { "epoch": 1.6495704650878906e-06, "model_forward_time": 5.102251291275024, "step": 17297 }, { "epoch": 1.6495704650878906e-06, "step": 17297, "training_step_time": 17.605536460876465 }, { "epoch": 1.6496658325195313e-06, "model_forward_time": 5.10107946395874, "step": 17298 }, { "epoch": 1.6496658325195313e-06, "step": 17298, "training_step_time": 17.607588291168213 }, { "epoch": 1.6497611999511719e-06, "model_forward_time": 5.103973388671875, "step": 17299 }, { "epoch": 1.6497611999511719e-06, "step": 17299, "training_step_time": 17.826624631881714 }, { "epoch": 1.6498565673828125e-06, "grad_norm": 2.2815845012664795, "learning_rate": 8.974685940554758e-06, "loss": 0.1004, "step": 17300 }, { "epoch": 1.6498565673828125e-06, "model_forward_time": 5.097672939300537, "step": 17300 }, { "dynamics_loss_avg": 0.04508508481085301, "epoch": 1.6498565673828125e-06, "step": 17300 }, { "action_loss_avg": 0.06402044724673032, "epoch": 1.6498565673828125e-06, "step": 17300 }, { "arm_loss_avg": 0.12395205125212669, "epoch": 1.6498565673828125e-06, "step": 17300 }, { "ee_loss_avg": 0.036558229196816686, "epoch": 1.6498565673828125e-06, "step": 17300 }, { "aux_loss_avg": 0.0008230144158005714, "epoch": 1.6498565673828125e-06, "step": 17300 }, { "epoch": 1.6498565673828125e-06, "step": 17300, "training_step_time": 17.603880882263184 }, { "epoch": 1.649951934814453e-06, "model_forward_time": 3.858774423599243, "step": 17301 }, { "epoch": 1.649951934814453e-06, "step": 17301, "training_step_time": 17.593249082565308 }, { "epoch": 1.6500473022460937e-06, "model_forward_time": 5.0633392333984375, "step": 17302 }, { "epoch": 1.6500473022460937e-06, "step": 17302, "training_step_time": 17.608373880386353 }, { "epoch": 1.6501426696777343e-06, "model_forward_time": 5.074383020401001, "step": 17303 }, { "epoch": 1.6501426696777343e-06, "step": 17303, "training_step_time": 17.61159920692444 }, { "epoch": 1.650238037109375e-06, "model_forward_time": 5.075740814208984, "step": 17304 }, { "epoch": 1.650238037109375e-06, "step": 17304, "training_step_time": 17.790342807769775 }, { "epoch": 1.6503334045410156e-06, "model_forward_time": 5.086626052856445, "step": 17305 }, { "epoch": 1.6503334045410156e-06, "step": 17305, "training_step_time": 17.600440979003906 }, { "epoch": 1.6504287719726562e-06, "model_forward_time": 5.292057991027832, "step": 17306 }, { "epoch": 1.6504287719726562e-06, "step": 17306, "training_step_time": 17.598971128463745 }, { "epoch": 1.6505241394042968e-06, "model_forward_time": 5.099433898925781, "step": 17307 }, { "epoch": 1.6505241394042968e-06, "step": 17307, "training_step_time": 17.415143251419067 }, { "epoch": 1.6506195068359374e-06, "model_forward_time": 5.099496126174927, "step": 17308 }, { "epoch": 1.6506195068359374e-06, "step": 17308, "training_step_time": 17.619654893875122 }, { "epoch": 1.6507148742675782e-06, "model_forward_time": 5.101173162460327, "step": 17309 }, { "epoch": 1.6507148742675782e-06, "step": 17309, "training_step_time": 17.553638458251953 }, { "epoch": 1.6508102416992188e-06, "grad_norm": 1.7250378131866455, "learning_rate": 8.973252430671454e-06, "loss": 0.0933, "step": 17310 }, { "epoch": 1.6508102416992188e-06, "model_forward_time": 5.099673271179199, "step": 17310 }, { "dynamics_loss_avg": 0.03333073784597218, "epoch": 1.6508102416992188e-06, "step": 17310 }, { "action_loss_avg": 0.05141155794262886, "epoch": 1.6508102416992188e-06, "step": 17310 }, { "arm_loss_avg": 0.0920256745070219, "epoch": 1.6508102416992188e-06, "step": 17310 }, { "ee_loss_avg": 0.021057048812508583, "epoch": 1.6508102416992188e-06, "step": 17310 }, { "aux_loss_avg": 0.0008421909587923437, "epoch": 1.6508102416992188e-06, "step": 17310 }, { "epoch": 1.6508102416992188e-06, "step": 17310, "training_step_time": 17.8356773853302 }, { "epoch": 1.6509056091308595e-06, "model_forward_time": 5.342372894287109, "step": 17311 }, { "epoch": 1.6509056091308595e-06, "step": 17311, "training_step_time": 17.60906219482422 }, { "epoch": 1.6510009765625e-06, "model_forward_time": 5.093353271484375, "step": 17312 }, { "epoch": 1.6510009765625e-06, "step": 17312, "training_step_time": 17.646222591400146 }, { "epoch": 1.6510963439941407e-06, "model_forward_time": 5.092739582061768, "step": 17313 }, { "epoch": 1.6510963439941407e-06, "step": 17313, "training_step_time": 17.642520666122437 }, { "epoch": 1.6511917114257813e-06, "model_forward_time": 5.086664438247681, "step": 17314 }, { "epoch": 1.6511917114257813e-06, "step": 17314, "training_step_time": 17.411609888076782 }, { "epoch": 1.651287078857422e-06, "model_forward_time": 5.088855266571045, "step": 17315 }, { "epoch": 1.651287078857422e-06, "step": 17315, "training_step_time": 17.726799964904785 }, { "epoch": 1.6513824462890625e-06, "model_forward_time": 5.292710542678833, "step": 17316 }, { "epoch": 1.6513824462890625e-06, "step": 17316, "training_step_time": 17.578949213027954 }, { "epoch": 1.6514778137207031e-06, "model_forward_time": 5.097644805908203, "step": 17317 }, { "epoch": 1.6514778137207031e-06, "step": 17317, "training_step_time": 17.625521659851074 }, { "epoch": 1.6515731811523438e-06, "model_forward_time": 5.115213871002197, "step": 17318 }, { "epoch": 1.6515731811523438e-06, "step": 17318, "training_step_time": 17.621501445770264 }, { "epoch": 1.6516685485839844e-06, "model_forward_time": 3.8607375621795654, "step": 17319 }, { "epoch": 1.6516685485839844e-06, "step": 17319, "training_step_time": 17.560819149017334 }, { "epoch": 1.651763916015625e-06, "grad_norm": 2.4195525646209717, "learning_rate": 8.971818034035275e-06, "loss": 0.099, "step": 17320 }, { "epoch": 1.651763916015625e-06, "model_forward_time": 3.835897922515869, "step": 17320 }, { "dynamics_loss_avg": 0.04705200344324112, "epoch": 1.651763916015625e-06, "step": 17320 }, { "action_loss_avg": 0.05419127307832241, "epoch": 1.651763916015625e-06, "step": 17320 }, { "arm_loss_avg": 0.11831434667110444, "epoch": 1.651763916015625e-06, "step": 17320 }, { "ee_loss_avg": 0.03933443170972169, "epoch": 1.651763916015625e-06, "step": 17320 }, { "aux_loss_avg": 0.003923332353588193, "epoch": 1.651763916015625e-06, "step": 17320 }, { "epoch": 1.651763916015625e-06, "step": 17320, "training_step_time": 17.846553564071655 }, { "epoch": 1.6518592834472656e-06, "model_forward_time": 5.05197811126709, "step": 17321 }, { "epoch": 1.6518592834472656e-06, "step": 17321, "training_step_time": 17.595661163330078 }, { "epoch": 1.6519546508789062e-06, "model_forward_time": 5.291474103927612, "step": 17322 }, { "epoch": 1.6519546508789062e-06, "step": 17322, "training_step_time": 17.60973334312439 }, { "epoch": 1.6520500183105468e-06, "model_forward_time": 5.0806920528411865, "step": 17323 }, { "epoch": 1.6520500183105468e-06, "step": 17323, "training_step_time": 17.63514804840088 }, { "epoch": 1.6521453857421874e-06, "model_forward_time": 3.8610727787017822, "step": 17324 }, { "epoch": 1.6521453857421874e-06, "step": 17324, "training_step_time": 17.614379405975342 }, { "epoch": 1.652240753173828e-06, "model_forward_time": 5.071813106536865, "step": 17325 }, { "epoch": 1.652240753173828e-06, "step": 17325, "training_step_time": 17.80018424987793 }, { "epoch": 1.6523361206054687e-06, "model_forward_time": 5.088494777679443, "step": 17326 }, { "epoch": 1.6523361206054687e-06, "step": 17326, "training_step_time": 17.60982632637024 }, { "epoch": 1.6524314880371093e-06, "model_forward_time": 5.2888970375061035, "step": 17327 }, { "epoch": 1.6524314880371093e-06, "step": 17327, "training_step_time": 17.58920693397522 }, { "epoch": 1.65252685546875e-06, "model_forward_time": 5.101928234100342, "step": 17328 }, { "epoch": 1.65252685546875e-06, "step": 17328, "training_step_time": 17.598982095718384 }, { "epoch": 1.6526222229003907e-06, "model_forward_time": 5.106504201889038, "step": 17329 }, { "epoch": 1.6526222229003907e-06, "step": 17329, "training_step_time": 17.599215745925903 }, { "epoch": 1.6527175903320313e-06, "grad_norm": 2.05721116065979, "learning_rate": 8.970382750966355e-06, "loss": 0.091, "step": 17330 }, { "epoch": 1.6527175903320313e-06, "model_forward_time": 5.104236364364624, "step": 17330 }, { "dynamics_loss_avg": 0.03976037753745913, "epoch": 1.6527175903320313e-06, "step": 17330 }, { "action_loss_avg": 0.04874587450176478, "epoch": 1.6527175903320313e-06, "step": 17330 }, { "arm_loss_avg": 0.11535969972610474, "epoch": 1.6527175903320313e-06, "step": 17330 }, { "ee_loss_avg": 0.04234541207551956, "epoch": 1.6527175903320313e-06, "step": 17330 }, { "aux_loss_avg": 0.003793740808032453, "epoch": 1.6527175903320313e-06, "step": 17330 }, { "epoch": 1.6527175903320313e-06, "step": 17330, "training_step_time": 17.862677574157715 }, { "epoch": 1.652812957763672e-06, "model_forward_time": 5.095157623291016, "step": 17331 }, { "epoch": 1.652812957763672e-06, "step": 17331, "training_step_time": 17.593473434448242 }, { "epoch": 1.6529083251953126e-06, "model_forward_time": 5.335397005081177, "step": 17332 }, { "epoch": 1.6529083251953126e-06, "step": 17332, "training_step_time": 17.620460510253906 }, { "epoch": 1.6530036926269532e-06, "model_forward_time": 5.0918495655059814, "step": 17333 }, { "epoch": 1.6530036926269532e-06, "step": 17333, "training_step_time": 17.59477186203003 }, { "epoch": 1.6530990600585938e-06, "model_forward_time": 5.083600044250488, "step": 17334 }, { "epoch": 1.6530990600585938e-06, "step": 17334, "training_step_time": 17.821892499923706 }, { "epoch": 1.6531944274902344e-06, "model_forward_time": 5.080961227416992, "step": 17335 }, { "epoch": 1.6531944274902344e-06, "step": 17335, "training_step_time": 17.581461668014526 }, { "epoch": 1.653289794921875e-06, "model_forward_time": 5.088286638259888, "step": 17336 }, { "epoch": 1.653289794921875e-06, "step": 17336, "training_step_time": 17.60636878013611 }, { "epoch": 1.6533851623535156e-06, "model_forward_time": 5.096490144729614, "step": 17337 }, { "epoch": 1.6533851623535156e-06, "step": 17337, "training_step_time": 17.621174335479736 }, { "epoch": 1.6534805297851563e-06, "model_forward_time": 5.10002064704895, "step": 17338 }, { "epoch": 1.6534805297851563e-06, "step": 17338, "training_step_time": 17.619043350219727 }, { "epoch": 1.6535758972167969e-06, "model_forward_time": 5.098058223724365, "step": 17339 }, { "epoch": 1.6535758972167969e-06, "step": 17339, "training_step_time": 17.83290934562683 }, { "epoch": 1.6536712646484375e-06, "grad_norm": 1.5249968767166138, "learning_rate": 8.968946581785018e-06, "loss": 0.1113, "step": 17340 }, { "epoch": 1.6536712646484375e-06, "model_forward_time": 5.086531162261963, "step": 17340 }, { "dynamics_loss_avg": 0.04113560970872641, "epoch": 1.6536712646484375e-06, "step": 17340 }, { "action_loss_avg": 0.05751519277691841, "epoch": 1.6536712646484375e-06, "step": 17340 }, { "arm_loss_avg": 0.1094387449324131, "epoch": 1.6536712646484375e-06, "step": 17340 }, { "ee_loss_avg": 0.03696148982271552, "epoch": 1.6536712646484375e-06, "step": 17340 }, { "aux_loss_avg": 0.0034511462843511255, "epoch": 1.6536712646484375e-06, "step": 17340 }, { "epoch": 1.6536712646484375e-06, "step": 17340, "training_step_time": 17.572613954544067 }, { "epoch": 1.653766632080078e-06, "model_forward_time": 5.0823304653167725, "step": 17341 }, { "epoch": 1.653766632080078e-06, "step": 17341, "training_step_time": 17.581562757492065 }, { "epoch": 1.6538619995117187e-06, "model_forward_time": 5.089699745178223, "step": 17342 }, { "epoch": 1.6538619995117187e-06, "step": 17342, "training_step_time": 17.59409761428833 }, { "epoch": 1.6539573669433593e-06, "model_forward_time": 5.091055154800415, "step": 17343 }, { "epoch": 1.6539573669433593e-06, "step": 17343, "training_step_time": 17.647849082946777 }, { "epoch": 1.654052734375e-06, "model_forward_time": 5.091713190078735, "step": 17344 }, { "epoch": 1.654052734375e-06, "step": 17344, "training_step_time": 17.818777799606323 }, { "epoch": 1.6541481018066406e-06, "model_forward_time": 5.091306924819946, "step": 17345 }, { "epoch": 1.6541481018066406e-06, "step": 17345, "training_step_time": 17.594480991363525 }, { "epoch": 1.6542434692382812e-06, "model_forward_time": 5.088132858276367, "step": 17346 }, { "epoch": 1.6542434692382812e-06, "step": 17346, "training_step_time": 17.61276650428772 }, { "epoch": 1.6543388366699218e-06, "model_forward_time": 5.099293947219849, "step": 17347 }, { "epoch": 1.6543388366699218e-06, "step": 17347, "training_step_time": 17.643124103546143 }, { "epoch": 1.6544342041015624e-06, "model_forward_time": 5.08873724937439, "step": 17348 }, { "epoch": 1.6544342041015624e-06, "step": 17348, "training_step_time": 17.614153623580933 }, { "epoch": 1.6545295715332032e-06, "model_forward_time": 5.089373826980591, "step": 17349 }, { "epoch": 1.6545295715332032e-06, "step": 17349, "training_step_time": 17.82723879814148 }, { "epoch": 1.6546249389648438e-06, "grad_norm": 2.230034828186035, "learning_rate": 8.967509526811789e-06, "loss": 0.1176, "step": 17350 }, { "epoch": 1.6546249389648438e-06, "model_forward_time": 5.087689161300659, "step": 17350 }, { "dynamics_loss_avg": 0.060643645189702514, "epoch": 1.6546249389648438e-06, "step": 17350 }, { "action_loss_avg": 0.08887848816812038, "epoch": 1.6546249389648438e-06, "step": 17350 }, { "arm_loss_avg": 0.13592129349708557, "epoch": 1.6546249389648438e-06, "step": 17350 }, { "ee_loss_avg": 0.09069672226905823, "epoch": 1.6546249389648438e-06, "step": 17350 }, { "aux_loss_avg": 0.021781221922719852, "epoch": 1.6546249389648438e-06, "step": 17350 }, { "epoch": 1.6546249389648438e-06, "step": 17350, "training_step_time": 17.61061716079712 }, { "epoch": 1.6547203063964845e-06, "model_forward_time": 5.329231023788452, "step": 17351 }, { "epoch": 1.6547203063964845e-06, "step": 17351, "training_step_time": 17.595863103866577 }, { "epoch": 1.654815673828125e-06, "model_forward_time": 5.085449457168579, "step": 17352 }, { "epoch": 1.654815673828125e-06, "step": 17352, "training_step_time": 17.65394425392151 }, { "epoch": 1.6549110412597657e-06, "model_forward_time": 5.088129997253418, "step": 17353 }, { "epoch": 1.6549110412597657e-06, "step": 17353, "training_step_time": 17.507346630096436 }, { "epoch": 1.6550064086914063e-06, "model_forward_time": 5.088721752166748, "step": 17354 }, { "epoch": 1.6550064086914063e-06, "step": 17354, "training_step_time": 17.55672860145569 }, { "epoch": 1.655101776123047e-06, "model_forward_time": 5.085391283035278, "step": 17355 }, { "epoch": 1.655101776123047e-06, "step": 17355, "training_step_time": 17.760907411575317 }, { "epoch": 1.6551971435546875e-06, "model_forward_time": 3.8510069847106934, "step": 17356 }, { "epoch": 1.6551971435546875e-06, "step": 17356, "training_step_time": 17.493709802627563 }, { "epoch": 1.6552925109863281e-06, "model_forward_time": 5.305366516113281, "step": 17357 }, { "epoch": 1.6552925109863281e-06, "step": 17357, "training_step_time": 17.385371923446655 }, { "epoch": 1.6553878784179688e-06, "model_forward_time": 5.0703535079956055, "step": 17358 }, { "epoch": 1.6553878784179688e-06, "step": 17358, "training_step_time": 17.598220109939575 }, { "epoch": 1.6554832458496094e-06, "model_forward_time": 3.8458404541015625, "step": 17359 }, { "epoch": 1.6554832458496094e-06, "step": 17359, "training_step_time": 17.52795648574829 }, { "epoch": 1.65557861328125e-06, "grad_norm": 2.0368611812591553, "learning_rate": 8.96607158636739e-06, "loss": 0.1122, "step": 17360 }, { "epoch": 1.65557861328125e-06, "model_forward_time": 5.0620996952056885, "step": 17360 }, { "dynamics_loss_avg": 0.0449855599552393, "epoch": 1.65557861328125e-06, "step": 17360 }, { "action_loss_avg": 0.05929148234426975, "epoch": 1.65557861328125e-06, "step": 17360 }, { "arm_loss_avg": 0.11884911954402924, "epoch": 1.65557861328125e-06, "step": 17360 }, { "ee_loss_avg": 0.05482815355062485, "epoch": 1.65557861328125e-06, "step": 17360 }, { "aux_loss_avg": 0.001154607388889417, "epoch": 1.65557861328125e-06, "step": 17360 }, { "epoch": 1.65557861328125e-06, "step": 17360, "training_step_time": 17.813152313232422 }, { "epoch": 1.6556739807128906e-06, "model_forward_time": 5.083817720413208, "step": 17361 }, { "epoch": 1.6556739807128906e-06, "step": 17361, "training_step_time": 17.46175742149353 }, { "epoch": 1.6557693481445312e-06, "model_forward_time": 5.342028379440308, "step": 17362 }, { "epoch": 1.6557693481445312e-06, "step": 17362, "training_step_time": 17.551220178604126 }, { "epoch": 1.6558647155761718e-06, "model_forward_time": 5.102071046829224, "step": 17363 }, { "epoch": 1.6558647155761718e-06, "step": 17363, "training_step_time": 17.7031569480896 }, { "epoch": 1.6559600830078124e-06, "model_forward_time": 3.86777663230896, "step": 17364 }, { "epoch": 1.6559600830078124e-06, "step": 17364, "training_step_time": 17.6452796459198 }, { "epoch": 1.656055450439453e-06, "model_forward_time": 5.080592393875122, "step": 17365 }, { "epoch": 1.656055450439453e-06, "step": 17365, "training_step_time": 17.441765546798706 }, { "epoch": 1.6561508178710937e-06, "model_forward_time": 5.0986549854278564, "step": 17366 }, { "epoch": 1.6561508178710937e-06, "step": 17366, "training_step_time": 17.57006335258484 }, { "epoch": 1.6562461853027343e-06, "model_forward_time": 5.291881322860718, "step": 17367 }, { "epoch": 1.6562461853027343e-06, "step": 17367, "training_step_time": 17.654155015945435 }, { "epoch": 1.656341552734375e-06, "model_forward_time": 5.10551905632019, "step": 17368 }, { "epoch": 1.656341552734375e-06, "step": 17368, "training_step_time": 17.623966217041016 }, { "epoch": 1.6564369201660157e-06, "model_forward_time": 3.8664135932922363, "step": 17369 }, { "epoch": 1.6564369201660157e-06, "step": 17369, "training_step_time": 17.643690824508667 }, { "epoch": 1.6565322875976563e-06, "grad_norm": 1.6941217184066772, "learning_rate": 8.964632760772745e-06, "loss": 0.1155, "step": 17370 }, { "epoch": 1.6565322875976563e-06, "model_forward_time": 5.07692813873291, "step": 17370 }, { "dynamics_loss_avg": 0.06251862365752459, "epoch": 1.6565322875976563e-06, "step": 17370 }, { "action_loss_avg": 0.09276464879512787, "epoch": 1.6565322875976563e-06, "step": 17370 }, { "arm_loss_avg": 0.17162751033902168, "epoch": 1.6565322875976563e-06, "step": 17370 }, { "ee_loss_avg": 0.1458376482129097, "epoch": 1.6565322875976563e-06, "step": 17370 }, { "aux_loss_avg": 0.007804620504612103, "epoch": 1.6565322875976563e-06, "step": 17370 }, { "epoch": 1.6565322875976563e-06, "step": 17370, "training_step_time": 17.87912106513977 }, { "epoch": 1.656627655029297e-06, "model_forward_time": 5.086021423339844, "step": 17371 }, { "epoch": 1.656627655029297e-06, "step": 17371, "training_step_time": 17.4977068901062 }, { "epoch": 1.6567230224609376e-06, "model_forward_time": 5.32652735710144, "step": 17372 }, { "epoch": 1.6567230224609376e-06, "step": 17372, "training_step_time": 17.665038108825684 }, { "epoch": 1.6568183898925782e-06, "model_forward_time": 5.092930316925049, "step": 17373 }, { "epoch": 1.6568183898925782e-06, "step": 17373, "training_step_time": 17.57254981994629 }, { "epoch": 1.6569137573242188e-06, "model_forward_time": 5.097237586975098, "step": 17374 }, { "epoch": 1.6569137573242188e-06, "step": 17374, "training_step_time": 17.605621099472046 }, { "epoch": 1.6570091247558594e-06, "model_forward_time": 5.096810340881348, "step": 17375 }, { "epoch": 1.6570091247558594e-06, "step": 17375, "training_step_time": 17.790513277053833 }, { "epoch": 1.6571044921875e-06, "model_forward_time": 5.0971105098724365, "step": 17376 }, { "epoch": 1.6571044921875e-06, "step": 17376, "training_step_time": 17.61162567138672 }, { "epoch": 1.6571998596191406e-06, "model_forward_time": 5.102669954299927, "step": 17377 }, { "epoch": 1.6571998596191406e-06, "step": 17377, "training_step_time": 17.65269899368286 }, { "epoch": 1.6572952270507813e-06, "model_forward_time": 3.8747458457946777, "step": 17378 }, { "epoch": 1.6572952270507813e-06, "step": 17378, "training_step_time": 17.636019945144653 }, { "epoch": 1.6573905944824219e-06, "model_forward_time": 5.074569225311279, "step": 17379 }, { "epoch": 1.6573905944824219e-06, "step": 17379, "training_step_time": 17.65252947807312 }, { "epoch": 1.6574859619140625e-06, "grad_norm": 1.9107049703598022, "learning_rate": 8.963193050348967e-06, "loss": 0.1077, "step": 17380 }, { "epoch": 1.6574859619140625e-06, "model_forward_time": 5.089057207107544, "step": 17380 }, { "dynamics_loss_avg": 0.04479182185605168, "epoch": 1.6574859619140625e-06, "step": 17380 }, { "action_loss_avg": 0.07056670859456063, "epoch": 1.6574859619140625e-06, "step": 17380 }, { "arm_loss_avg": 0.11612316146492958, "epoch": 1.6574859619140625e-06, "step": 17380 }, { "ee_loss_avg": 0.08062752634286881, "epoch": 1.6574859619140625e-06, "step": 17380 }, { "aux_loss_avg": 0.003784186957636848, "epoch": 1.6574859619140625e-06, "step": 17380 }, { "epoch": 1.6574859619140625e-06, "step": 17380, "training_step_time": 17.901788473129272 }, { "epoch": 1.657581329345703e-06, "model_forward_time": 5.084575414657593, "step": 17381 }, { "epoch": 1.657581329345703e-06, "step": 17381, "training_step_time": 17.43073272705078 }, { "epoch": 1.6576766967773437e-06, "model_forward_time": 5.102234840393066, "step": 17382 }, { "epoch": 1.6576766967773437e-06, "step": 17382, "training_step_time": 17.63773250579834 }, { "epoch": 1.6577720642089843e-06, "model_forward_time": 5.1056296825408936, "step": 17383 }, { "epoch": 1.6577720642089843e-06, "step": 17383, "training_step_time": 17.608089923858643 }, { "epoch": 1.657867431640625e-06, "model_forward_time": 5.109271049499512, "step": 17384 }, { "epoch": 1.657867431640625e-06, "step": 17384, "training_step_time": 17.61397886276245 }, { "epoch": 1.6579627990722656e-06, "model_forward_time": 5.108097076416016, "step": 17385 }, { "epoch": 1.6579627990722656e-06, "step": 17385, "training_step_time": 17.8247332572937 }, { "epoch": 1.6580581665039062e-06, "model_forward_time": 5.310917615890503, "step": 17386 }, { "epoch": 1.6580581665039062e-06, "step": 17386, "training_step_time": 17.61110234260559 }, { "epoch": 1.6581535339355468e-06, "model_forward_time": 3.866152048110962, "step": 17387 }, { "epoch": 1.6581535339355468e-06, "step": 17387, "training_step_time": 17.61744737625122 }, { "epoch": 1.6582489013671874e-06, "model_forward_time": 5.076658010482788, "step": 17388 }, { "epoch": 1.6582489013671874e-06, "step": 17388, "training_step_time": 17.612342596054077 }, { "epoch": 1.658344268798828e-06, "model_forward_time": 5.0783233642578125, "step": 17389 }, { "epoch": 1.658344268798828e-06, "step": 17389, "training_step_time": 17.605070114135742 }, { "epoch": 1.6584396362304688e-06, "grad_norm": 2.5777127742767334, "learning_rate": 8.961752455417376e-06, "loss": 0.1164, "step": 17390 }, { "epoch": 1.6584396362304688e-06, "model_forward_time": 5.084846496582031, "step": 17390 }, { "dynamics_loss_avg": 0.05083734001964331, "epoch": 1.6584396362304688e-06, "step": 17390 }, { "action_loss_avg": 0.08470361493527889, "epoch": 1.6584396362304688e-06, "step": 17390 }, { "arm_loss_avg": 0.15721116364002227, "epoch": 1.6584396362304688e-06, "step": 17390 }, { "ee_loss_avg": 0.0939913323149085, "epoch": 1.6584396362304688e-06, "step": 17390 }, { "aux_loss_avg": 0.0030417190690059217, "epoch": 1.6584396362304688e-06, "step": 17390 }, { "epoch": 1.6584396362304688e-06, "step": 17390, "training_step_time": 17.834516763687134 }, { "epoch": 1.6585350036621095e-06, "model_forward_time": 5.090946435928345, "step": 17391 }, { "epoch": 1.6585350036621095e-06, "step": 17391, "training_step_time": 17.60306453704834 }, { "epoch": 1.65863037109375e-06, "model_forward_time": 5.343876361846924, "step": 17392 }, { "epoch": 1.65863037109375e-06, "step": 17392, "training_step_time": 17.654109716415405 }, { "epoch": 1.6587257385253907e-06, "model_forward_time": 5.1008994579315186, "step": 17393 }, { "epoch": 1.6587257385253907e-06, "step": 17393, "training_step_time": 17.585575580596924 }, { "epoch": 1.6588211059570313e-06, "model_forward_time": 5.101785659790039, "step": 17394 }, { "epoch": 1.6588211059570313e-06, "step": 17394, "training_step_time": 17.595133543014526 }, { "epoch": 1.658916473388672e-06, "model_forward_time": 3.8620481491088867, "step": 17395 }, { "epoch": 1.658916473388672e-06, "step": 17395, "training_step_time": 17.79159164428711 }, { "epoch": 1.6590118408203125e-06, "model_forward_time": 5.06811785697937, "step": 17396 }, { "epoch": 1.6590118408203125e-06, "step": 17396, "training_step_time": 17.606705904006958 }, { "epoch": 1.6591072082519531e-06, "model_forward_time": 5.077568292617798, "step": 17397 }, { "epoch": 1.6591072082519531e-06, "step": 17397, "training_step_time": 17.60436177253723 }, { "epoch": 1.6592025756835938e-06, "model_forward_time": 5.086218595504761, "step": 17398 }, { "epoch": 1.6592025756835938e-06, "step": 17398, "training_step_time": 17.588815689086914 }, { "epoch": 1.6592979431152344e-06, "model_forward_time": 5.09603214263916, "step": 17399 }, { "epoch": 1.6592979431152344e-06, "step": 17399, "training_step_time": 17.408815622329712 }, { "epoch": 1.659393310546875e-06, "grad_norm": 2.373598098754883, "learning_rate": 8.960310976299482e-06, "loss": 0.1081, "step": 17400 }, { "epoch": 1.659393310546875e-06, "model_forward_time": 5.097716569900513, "step": 17400 }, { "dynamics_loss_avg": 0.044198384322226045, "epoch": 1.659393310546875e-06, "step": 17400 }, { "action_loss_avg": 0.06429575514048338, "epoch": 1.659393310546875e-06, "step": 17400 }, { "arm_loss_avg": 0.11491471640765667, "epoch": 1.659393310546875e-06, "step": 17400 }, { "ee_loss_avg": 0.05440570218488574, "epoch": 1.659393310546875e-06, "step": 17400 }, { "aux_loss_avg": 0.001904076710343361, "epoch": 1.659393310546875e-06, "step": 17400 }, { "epoch": 1.659393310546875e-06, "step": 17400, "training_step_time": 17.730087995529175 }, { "epoch": 1.6594886779785156e-06, "model_forward_time": 5.097944498062134, "step": 17401 }, { "epoch": 1.6594886779785156e-06, "step": 17401, "training_step_time": 17.548205614089966 }, { "epoch": 1.6595840454101562e-06, "model_forward_time": 5.104072570800781, "step": 17402 }, { "epoch": 1.6595840454101562e-06, "step": 17402, "training_step_time": 17.62516164779663 }, { "epoch": 1.6596794128417968e-06, "model_forward_time": 5.0977113246917725, "step": 17403 }, { "epoch": 1.6596794128417968e-06, "step": 17403, "training_step_time": 17.608341932296753 }, { "epoch": 1.6597747802734374e-06, "model_forward_time": 3.8569138050079346, "step": 17404 }, { "epoch": 1.6597747802734374e-06, "step": 17404, "training_step_time": 17.61422300338745 }, { "epoch": 1.659870147705078e-06, "model_forward_time": 3.8360307216644287, "step": 17405 }, { "epoch": 1.659870147705078e-06, "step": 17405, "training_step_time": 17.82171106338501 }, { "epoch": 1.6599655151367187e-06, "model_forward_time": 5.056682825088501, "step": 17406 }, { "epoch": 1.6599655151367187e-06, "step": 17406, "training_step_time": 17.62820863723755 }, { "epoch": 1.6600608825683593e-06, "model_forward_time": 5.262305021286011, "step": 17407 }, { "epoch": 1.6600608825683593e-06, "step": 17407, "training_step_time": 17.58463954925537 }, { "epoch": 1.66015625e-06, "model_forward_time": 5.084566354751587, "step": 17408 }, { "epoch": 1.66015625e-06, "step": 17408, "training_step_time": 17.401070594787598 }, { "epoch": 1.6602516174316405e-06, "model_forward_time": 5.098397970199585, "step": 17409 }, { "epoch": 1.6602516174316405e-06, "step": 17409, "training_step_time": 17.478568077087402 }, { "epoch": 1.6603469848632813e-06, "grad_norm": 1.7062058448791504, "learning_rate": 8.958868613316996e-06, "loss": 0.1174, "step": 17410 }, { "epoch": 1.6603469848632813e-06, "model_forward_time": 5.1142897605896, "step": 17410 }, { "dynamics_loss_avg": 0.059946876391768454, "epoch": 1.6603469848632813e-06, "step": 17410 }, { "action_loss_avg": 0.09639880955219268, "epoch": 1.6603469848632813e-06, "step": 17410 }, { "arm_loss_avg": 0.12832359038293362, "epoch": 1.6603469848632813e-06, "step": 17410 }, { "ee_loss_avg": 0.1105629375204444, "epoch": 1.6603469848632813e-06, "step": 17410 }, { "aux_loss_avg": 0.003069435531506315, "epoch": 1.6603469848632813e-06, "step": 17410 }, { "epoch": 1.6603469848632813e-06, "step": 17410, "training_step_time": 17.549627780914307 }, { "epoch": 1.660442352294922e-06, "model_forward_time": 5.109793663024902, "step": 17411 }, { "epoch": 1.660442352294922e-06, "step": 17411, "training_step_time": 17.818961143493652 }, { "epoch": 1.6605377197265626e-06, "model_forward_time": 3.869335174560547, "step": 17412 }, { "epoch": 1.6605377197265626e-06, "step": 17412, "training_step_time": 17.637969493865967 }, { "epoch": 1.6606330871582032e-06, "model_forward_time": 5.072328805923462, "step": 17413 }, { "epoch": 1.6606330871582032e-06, "step": 17413, "training_step_time": 17.549938678741455 }, { "epoch": 1.6607284545898438e-06, "model_forward_time": 5.077896356582642, "step": 17414 }, { "epoch": 1.6607284545898438e-06, "step": 17414, "training_step_time": 17.613306045532227 }, { "epoch": 1.6608238220214844e-06, "model_forward_time": 3.8525657653808594, "step": 17415 }, { "epoch": 1.6608238220214844e-06, "step": 17415, "training_step_time": 17.637772798538208 }, { "epoch": 1.660919189453125e-06, "model_forward_time": 5.065240383148193, "step": 17416 }, { "epoch": 1.660919189453125e-06, "step": 17416, "training_step_time": 17.84368324279785 }, { "epoch": 1.6610145568847656e-06, "model_forward_time": 5.267704010009766, "step": 17417 }, { "epoch": 1.6610145568847656e-06, "step": 17417, "training_step_time": 17.65311884880066 }, { "epoch": 1.6611099243164063e-06, "model_forward_time": 3.8538389205932617, "step": 17418 }, { "epoch": 1.6611099243164063e-06, "step": 17418, "training_step_time": 17.646872758865356 }, { "epoch": 1.6612052917480469e-06, "model_forward_time": 5.068662166595459, "step": 17419 }, { "epoch": 1.6612052917480469e-06, "step": 17419, "training_step_time": 17.650694131851196 }, { "epoch": 1.6613006591796875e-06, "grad_norm": 1.7418781518936157, "learning_rate": 8.957425366791827e-06, "loss": 0.1181, "step": 17420 }, { "epoch": 1.6613006591796875e-06, "model_forward_time": 5.084370374679565, "step": 17420 }, { "dynamics_loss_avg": 0.05708394758403301, "epoch": 1.6613006591796875e-06, "step": 17420 }, { "action_loss_avg": 0.07020691707730294, "epoch": 1.6613006591796875e-06, "step": 17420 }, { "arm_loss_avg": 0.12543111220002173, "epoch": 1.6613006591796875e-06, "step": 17420 }, { "ee_loss_avg": 0.10358849242329597, "epoch": 1.6613006591796875e-06, "step": 17420 }, { "aux_loss_avg": 0.0038222371425945313, "epoch": 1.6613006591796875e-06, "step": 17420 }, { "epoch": 1.6613006591796875e-06, "step": 17420, "training_step_time": 17.419795513153076 }, { "epoch": 1.6613960266113281e-06, "model_forward_time": 5.1004040241241455, "step": 17421 }, { "epoch": 1.6613960266113281e-06, "step": 17421, "training_step_time": 17.77128267288208 }, { "epoch": 1.6614913940429687e-06, "model_forward_time": 5.344424724578857, "step": 17422 }, { "epoch": 1.6614913940429687e-06, "step": 17422, "training_step_time": 17.564247608184814 }, { "epoch": 1.6615867614746093e-06, "model_forward_time": 5.1158881187438965, "step": 17423 }, { "epoch": 1.6615867614746093e-06, "step": 17423, "training_step_time": 17.571040391921997 }, { "epoch": 1.66168212890625e-06, "model_forward_time": 5.112650156021118, "step": 17424 }, { "epoch": 1.66168212890625e-06, "step": 17424, "training_step_time": 17.589625120162964 }, { "epoch": 1.6617774963378906e-06, "model_forward_time": 5.102611541748047, "step": 17425 }, { "epoch": 1.6617774963378906e-06, "step": 17425, "training_step_time": 17.59338068962097 }, { "epoch": 1.6618728637695312e-06, "model_forward_time": 5.099946737289429, "step": 17426 }, { "epoch": 1.6618728637695312e-06, "step": 17426, "training_step_time": 17.784311294555664 }, { "epoch": 1.6619682312011718e-06, "model_forward_time": 5.279286623001099, "step": 17427 }, { "epoch": 1.6619682312011718e-06, "step": 17427, "training_step_time": 17.492628812789917 }, { "epoch": 1.6620635986328124e-06, "model_forward_time": 5.092720031738281, "step": 17428 }, { "epoch": 1.6620635986328124e-06, "step": 17428, "training_step_time": 17.62127161026001 }, { "epoch": 1.662158966064453e-06, "model_forward_time": 5.0841124057769775, "step": 17429 }, { "epoch": 1.662158966064453e-06, "step": 17429, "training_step_time": 17.553661823272705 }, { "epoch": 1.6622543334960938e-06, "grad_norm": 2.3161773681640625, "learning_rate": 8.955981237046077e-06, "loss": 0.1088, "step": 17430 }, { "epoch": 1.6622543334960938e-06, "model_forward_time": 5.081395387649536, "step": 17430 }, { "dynamics_loss_avg": 0.04685008618980646, "epoch": 1.6622543334960938e-06, "step": 17430 }, { "action_loss_avg": 0.0691241728141904, "epoch": 1.6622543334960938e-06, "step": 17430 }, { "arm_loss_avg": 0.11884233765304089, "epoch": 1.6622543334960938e-06, "step": 17430 }, { "ee_loss_avg": 0.06881226496770979, "epoch": 1.6622543334960938e-06, "step": 17430 }, { "aux_loss_avg": 0.0012494973139837383, "epoch": 1.6622543334960938e-06, "step": 17430 }, { "epoch": 1.6622543334960938e-06, "step": 17430, "training_step_time": 17.582442045211792 }, { "epoch": 1.6623497009277345e-06, "model_forward_time": 3.8502919673919678, "step": 17431 }, { "epoch": 1.6623497009277345e-06, "step": 17431, "training_step_time": 17.821080207824707 }, { "epoch": 1.662445068359375e-06, "model_forward_time": 5.308257102966309, "step": 17432 }, { "epoch": 1.662445068359375e-06, "step": 17432, "training_step_time": 17.608436822891235 }, { "epoch": 1.6625404357910157e-06, "model_forward_time": 5.065873861312866, "step": 17433 }, { "epoch": 1.6625404357910157e-06, "step": 17433, "training_step_time": 17.65906572341919 }, { "epoch": 1.6626358032226563e-06, "model_forward_time": 5.082903623580933, "step": 17434 }, { "epoch": 1.6626358032226563e-06, "step": 17434, "training_step_time": 17.614372968673706 }, { "epoch": 1.662731170654297e-06, "model_forward_time": 3.8499014377593994, "step": 17435 }, { "epoch": 1.662731170654297e-06, "step": 17435, "training_step_time": 17.61474847793579 }, { "epoch": 1.6628265380859375e-06, "model_forward_time": 3.83882212638855, "step": 17436 }, { "epoch": 1.6628265380859375e-06, "step": 17436, "training_step_time": 17.825731992721558 }, { "epoch": 1.6629219055175782e-06, "model_forward_time": 5.2668561935424805, "step": 17437 }, { "epoch": 1.6629219055175782e-06, "step": 17437, "training_step_time": 17.628498315811157 }, { "epoch": 1.6630172729492188e-06, "model_forward_time": 5.099417686462402, "step": 17438 }, { "epoch": 1.6630172729492188e-06, "step": 17438, "training_step_time": 17.62148690223694 }, { "epoch": 1.6631126403808594e-06, "model_forward_time": 5.104409456253052, "step": 17439 }, { "epoch": 1.6631126403808594e-06, "step": 17439, "training_step_time": 17.59610605239868 }, { "epoch": 1.6632080078125e-06, "grad_norm": 2.139522075653076, "learning_rate": 8.954536224402049e-06, "loss": 0.0994, "step": 17440 }, { "epoch": 1.6632080078125e-06, "model_forward_time": 5.110295057296753, "step": 17440 }, { "dynamics_loss_avg": 0.04753439007326961, "epoch": 1.6632080078125e-06, "step": 17440 }, { "action_loss_avg": 0.06928871530108154, "epoch": 1.6632080078125e-06, "step": 17440 }, { "arm_loss_avg": 0.14222156628966331, "epoch": 1.6632080078125e-06, "step": 17440 }, { "ee_loss_avg": 0.059281418146565554, "epoch": 1.6632080078125e-06, "step": 17440 }, { "aux_loss_avg": 0.0007986005628481507, "epoch": 1.6632080078125e-06, "step": 17440 }, { "epoch": 1.6632080078125e-06, "step": 17440, "training_step_time": 17.565918684005737 }, { "epoch": 1.6633033752441406e-06, "model_forward_time": 5.108130931854248, "step": 17441 }, { "epoch": 1.6633033752441406e-06, "step": 17441, "training_step_time": 17.800574779510498 }, { "epoch": 1.6633987426757812e-06, "model_forward_time": 5.332376003265381, "step": 17442 }, { "epoch": 1.6633987426757812e-06, "step": 17442, "training_step_time": 17.46562170982361 }, { "epoch": 1.6634941101074218e-06, "model_forward_time": 5.098613977432251, "step": 17443 }, { "epoch": 1.6634941101074218e-06, "step": 17443, "training_step_time": 17.55677103996277 }, { "epoch": 1.6635894775390625e-06, "model_forward_time": 5.091205596923828, "step": 17444 }, { "epoch": 1.6635894775390625e-06, "step": 17444, "training_step_time": 17.540453672409058 }, { "epoch": 1.663684844970703e-06, "model_forward_time": 5.0879881381988525, "step": 17445 }, { "epoch": 1.663684844970703e-06, "step": 17445, "training_step_time": 17.558568716049194 }, { "epoch": 1.6637802124023437e-06, "model_forward_time": 5.086545467376709, "step": 17446 }, { "epoch": 1.6637802124023437e-06, "step": 17446, "training_step_time": 17.770647525787354 }, { "epoch": 1.6638755798339843e-06, "model_forward_time": 5.273461580276489, "step": 17447 }, { "epoch": 1.6638755798339843e-06, "step": 17447, "training_step_time": 17.59978938102722 }, { "epoch": 1.663970947265625e-06, "model_forward_time": 5.0860209465026855, "step": 17448 }, { "epoch": 1.663970947265625e-06, "step": 17448, "training_step_time": 17.612996101379395 }, { "epoch": 1.6640663146972655e-06, "model_forward_time": 3.8511996269226074, "step": 17449 }, { "epoch": 1.6640663146972655e-06, "step": 17449, "training_step_time": 17.619544982910156 }, { "epoch": 1.6641616821289064e-06, "grad_norm": 1.1730797290802002, "learning_rate": 8.953090329182243e-06, "loss": 0.0904, "step": 17450 }, { "epoch": 1.6641616821289064e-06, "model_forward_time": 5.0641162395477295, "step": 17450 }, { "dynamics_loss_avg": 0.04461280982941389, "epoch": 1.6641616821289064e-06, "step": 17450 }, { "action_loss_avg": 0.051352026872336864, "epoch": 1.6641616821289064e-06, "step": 17450 }, { "arm_loss_avg": 0.10451290719211101, "epoch": 1.6641616821289064e-06, "step": 17450 }, { "ee_loss_avg": 0.07346018962562084, "epoch": 1.6641616821289064e-06, "step": 17450 }, { "aux_loss_avg": 0.0010166115360334515, "epoch": 1.6641616821289064e-06, "step": 17450 }, { "epoch": 1.6641616821289064e-06, "step": 17450, "training_step_time": 17.61635184288025 }, { "epoch": 1.664257049560547e-06, "model_forward_time": 3.8398520946502686, "step": 17451 }, { "epoch": 1.664257049560547e-06, "step": 17451, "training_step_time": 17.843679904937744 }, { "epoch": 1.6643524169921876e-06, "model_forward_time": 5.298504590988159, "step": 17452 }, { "epoch": 1.6643524169921876e-06, "step": 17452, "training_step_time": 17.62156915664673 }, { "epoch": 1.6644477844238282e-06, "model_forward_time": 5.077953338623047, "step": 17453 }, { "epoch": 1.6644477844238282e-06, "step": 17453, "training_step_time": 17.654219150543213 }, { "epoch": 1.6645431518554688e-06, "model_forward_time": 5.096681356430054, "step": 17454 }, { "epoch": 1.6645431518554688e-06, "step": 17454, "training_step_time": 17.594652891159058 }, { "epoch": 1.6646385192871094e-06, "model_forward_time": 5.107019662857056, "step": 17455 }, { "epoch": 1.6646385192871094e-06, "step": 17455, "training_step_time": 17.42236042022705 }, { "epoch": 1.66473388671875e-06, "model_forward_time": 5.111656188964844, "step": 17456 }, { "epoch": 1.66473388671875e-06, "step": 17456, "training_step_time": 17.472774505615234 }, { "epoch": 1.6648292541503907e-06, "model_forward_time": 5.32743239402771, "step": 17457 }, { "epoch": 1.6648292541503907e-06, "step": 17457, "training_step_time": 17.476048707962036 }, { "epoch": 1.6649246215820313e-06, "model_forward_time": 5.10631799697876, "step": 17458 }, { "epoch": 1.6649246215820313e-06, "step": 17458, "training_step_time": 17.588804483413696 }, { "epoch": 1.6650199890136719e-06, "model_forward_time": 5.101987361907959, "step": 17459 }, { "epoch": 1.6650199890136719e-06, "step": 17459, "training_step_time": 17.588537216186523 }, { "epoch": 1.6651153564453125e-06, "grad_norm": 1.9567214250564575, "learning_rate": 8.951643551709352e-06, "loss": 0.1151, "step": 17460 }, { "epoch": 1.6651153564453125e-06, "model_forward_time": 3.8547303676605225, "step": 17460 }, { "dynamics_loss_avg": 0.050513156596571206, "epoch": 1.6651153564453125e-06, "step": 17460 }, { "action_loss_avg": 0.07123907450586557, "epoch": 1.6651153564453125e-06, "step": 17460 }, { "arm_loss_avg": 0.1262607354670763, "epoch": 1.6651153564453125e-06, "step": 17460 }, { "ee_loss_avg": 0.09962492119520902, "epoch": 1.6651153564453125e-06, "step": 17460 }, { "aux_loss_avg": 0.0006267275573918595, "epoch": 1.6651153564453125e-06, "step": 17460 }, { "epoch": 1.6651153564453125e-06, "step": 17460, "training_step_time": 17.62262272834778 }, { "epoch": 1.6652107238769531e-06, "model_forward_time": 5.067250967025757, "step": 17461 }, { "epoch": 1.6652107238769531e-06, "step": 17461, "training_step_time": 17.87088894844055 }, { "epoch": 1.6653060913085937e-06, "model_forward_time": 5.307723522186279, "step": 17462 }, { "epoch": 1.6653060913085937e-06, "step": 17462, "training_step_time": 17.39981698989868 }, { "epoch": 1.6654014587402343e-06, "model_forward_time": 5.081200361251831, "step": 17463 }, { "epoch": 1.6654014587402343e-06, "step": 17463, "training_step_time": 17.59844398498535 }, { "epoch": 1.665496826171875e-06, "model_forward_time": 5.092315673828125, "step": 17464 }, { "epoch": 1.665496826171875e-06, "step": 17464, "training_step_time": 17.5801739692688 }, { "epoch": 1.6655921936035156e-06, "model_forward_time": 5.09689474105835, "step": 17465 }, { "epoch": 1.6655921936035156e-06, "step": 17465, "training_step_time": 17.407164573669434 }, { "epoch": 1.6656875610351562e-06, "model_forward_time": 5.099623680114746, "step": 17466 }, { "epoch": 1.6656875610351562e-06, "step": 17466, "training_step_time": 17.724326133728027 }, { "epoch": 1.6657829284667968e-06, "model_forward_time": 3.864230155944824, "step": 17467 }, { "epoch": 1.6657829284667968e-06, "step": 17467, "training_step_time": 17.414979934692383 }, { "epoch": 1.6658782958984374e-06, "model_forward_time": 5.069156646728516, "step": 17468 }, { "epoch": 1.6658782958984374e-06, "step": 17468, "training_step_time": 17.60958766937256 }, { "epoch": 1.665973663330078e-06, "model_forward_time": 5.083002805709839, "step": 17469 }, { "epoch": 1.665973663330078e-06, "step": 17469, "training_step_time": 17.569963932037354 }, { "epoch": 1.6660690307617189e-06, "grad_norm": 1.358429193496704, "learning_rate": 8.950195892306271e-06, "loss": 0.1067, "step": 17470 }, { "epoch": 1.6660690307617189e-06, "model_forward_time": 5.092814922332764, "step": 17470 }, { "dynamics_loss_avg": 0.04901593681424856, "epoch": 1.6660690307617189e-06, "step": 17470 }, { "action_loss_avg": 0.05939986109733582, "epoch": 1.6660690307617189e-06, "step": 17470 }, { "arm_loss_avg": 0.12332857400178909, "epoch": 1.6660690307617189e-06, "step": 17470 }, { "ee_loss_avg": 0.08893060404807329, "epoch": 1.6660690307617189e-06, "step": 17470 }, { "aux_loss_avg": 0.015436313289683312, "epoch": 1.6660690307617189e-06, "step": 17470 }, { "epoch": 1.6660690307617189e-06, "step": 17470, "training_step_time": 17.599242687225342 }, { "epoch": 1.6661643981933595e-06, "model_forward_time": 5.090893030166626, "step": 17471 }, { "epoch": 1.6661643981933595e-06, "step": 17471, "training_step_time": 17.87479829788208 }, { "epoch": 1.666259765625e-06, "model_forward_time": 5.098175048828125, "step": 17472 }, { "epoch": 1.666259765625e-06, "step": 17472, "training_step_time": 17.64438486099243 }, { "epoch": 1.6663551330566407e-06, "model_forward_time": 5.0941126346588135, "step": 17473 }, { "epoch": 1.6663551330566407e-06, "step": 17473, "training_step_time": 17.641226053237915 }, { "epoch": 1.6664505004882813e-06, "model_forward_time": 5.098173141479492, "step": 17474 }, { "epoch": 1.6664505004882813e-06, "step": 17474, "training_step_time": 17.64720869064331 }, { "epoch": 1.666545867919922e-06, "model_forward_time": 3.85908579826355, "step": 17475 }, { "epoch": 1.666545867919922e-06, "step": 17475, "training_step_time": 17.63859748840332 }, { "epoch": 1.6666412353515625e-06, "model_forward_time": 5.073796987533569, "step": 17476 }, { "epoch": 1.6666412353515625e-06, "step": 17476, "training_step_time": 17.373520135879517 }, { "epoch": 1.6667366027832032e-06, "model_forward_time": 5.094178676605225, "step": 17477 }, { "epoch": 1.6667366027832032e-06, "step": 17477, "training_step_time": 17.525897979736328 }, { "epoch": 1.6668319702148438e-06, "model_forward_time": 5.343299627304077, "step": 17478 }, { "epoch": 1.6668319702148438e-06, "step": 17478, "training_step_time": 17.523454427719116 }, { "epoch": 1.6669273376464844e-06, "model_forward_time": 5.115175724029541, "step": 17479 }, { "epoch": 1.6669273376464844e-06, "step": 17479, "training_step_time": 17.390679836273193 }, { "epoch": 1.667022705078125e-06, "grad_norm": 2.848249912261963, "learning_rate": 8.948747351296088e-06, "loss": 0.1186, "step": 17480 }, { "epoch": 1.667022705078125e-06, "model_forward_time": 5.098746299743652, "step": 17480 }, { "dynamics_loss_avg": 0.05671624420210719, "epoch": 1.667022705078125e-06, "step": 17480 }, { "action_loss_avg": 0.08670451752841472, "epoch": 1.667022705078125e-06, "step": 17480 }, { "arm_loss_avg": 0.16662174165248872, "epoch": 1.667022705078125e-06, "step": 17480 }, { "ee_loss_avg": 0.06803586254827679, "epoch": 1.667022705078125e-06, "step": 17480 }, { "aux_loss_avg": 0.007392992998939007, "epoch": 1.667022705078125e-06, "step": 17480 }, { "epoch": 1.667022705078125e-06, "step": 17480, "training_step_time": 17.479297637939453 }, { "epoch": 1.6671180725097656e-06, "model_forward_time": 5.098919630050659, "step": 17481 }, { "epoch": 1.6671180725097656e-06, "step": 17481, "training_step_time": 17.544419527053833 }, { "epoch": 1.6672134399414062e-06, "model_forward_time": 5.096795082092285, "step": 17482 }, { "epoch": 1.6672134399414062e-06, "step": 17482, "training_step_time": 17.831976652145386 }, { "epoch": 1.6673088073730468e-06, "model_forward_time": 5.097513914108276, "step": 17483 }, { "epoch": 1.6673088073730468e-06, "step": 17483, "training_step_time": 17.655876398086548 }, { "epoch": 1.6674041748046875e-06, "model_forward_time": 5.0944414138793945, "step": 17484 }, { "epoch": 1.6674041748046875e-06, "step": 17484, "training_step_time": 17.432103157043457 }, { "epoch": 1.667499542236328e-06, "model_forward_time": 5.09196662902832, "step": 17485 }, { "epoch": 1.667499542236328e-06, "step": 17485, "training_step_time": 17.571983575820923 }, { "epoch": 1.6675949096679687e-06, "model_forward_time": 5.094798803329468, "step": 17486 }, { "epoch": 1.6675949096679687e-06, "step": 17486, "training_step_time": 17.430248022079468 }, { "epoch": 1.6676902770996093e-06, "model_forward_time": 5.094815015792847, "step": 17487 }, { "epoch": 1.6676902770996093e-06, "step": 17487, "training_step_time": 17.734126091003418 }, { "epoch": 1.66778564453125e-06, "model_forward_time": 5.093738555908203, "step": 17488 }, { "epoch": 1.66778564453125e-06, "step": 17488, "training_step_time": 17.602461576461792 }, { "epoch": 1.6678810119628905e-06, "model_forward_time": 5.091585874557495, "step": 17489 }, { "epoch": 1.6678810119628905e-06, "step": 17489, "training_step_time": 17.627097368240356 }, { "epoch": 1.6679763793945314e-06, "grad_norm": 2.1611039638519287, "learning_rate": 8.94729792900209e-06, "loss": 0.1017, "step": 17490 }, { "epoch": 1.6679763793945314e-06, "model_forward_time": 5.089213848114014, "step": 17490 }, { "dynamics_loss_avg": 0.05335178207606077, "epoch": 1.6679763793945314e-06, "step": 17490 }, { "action_loss_avg": 0.06990062445402145, "epoch": 1.6679763793945314e-06, "step": 17490 }, { "arm_loss_avg": 0.14413851909339429, "epoch": 1.6679763793945314e-06, "step": 17490 }, { "ee_loss_avg": 0.08872568793594837, "epoch": 1.6679763793945314e-06, "step": 17490 }, { "aux_loss_avg": 0.0012550094979815185, "epoch": 1.6679763793945314e-06, "step": 17490 }, { "epoch": 1.6679763793945314e-06, "step": 17490, "training_step_time": 17.643526792526245 }, { "epoch": 1.668071746826172e-06, "model_forward_time": 5.087693452835083, "step": 17491 }, { "epoch": 1.668071746826172e-06, "step": 17491, "training_step_time": 17.639879941940308 }, { "epoch": 1.6681671142578126e-06, "model_forward_time": 5.3339972496032715, "step": 17492 }, { "epoch": 1.6681671142578126e-06, "step": 17492, "training_step_time": 17.882471561431885 }, { "epoch": 1.6682624816894532e-06, "model_forward_time": 5.089273452758789, "step": 17493 }, { "epoch": 1.6682624816894532e-06, "step": 17493, "training_step_time": 17.63022494316101 }, { "epoch": 1.6683578491210938e-06, "model_forward_time": 3.856963634490967, "step": 17494 }, { "epoch": 1.6683578491210938e-06, "step": 17494, "training_step_time": 17.6195285320282 }, { "epoch": 1.6684532165527344e-06, "model_forward_time": 5.062852621078491, "step": 17495 }, { "epoch": 1.6684532165527344e-06, "step": 17495, "training_step_time": 17.62011408805847 }, { "epoch": 1.668548583984375e-06, "model_forward_time": 5.076037883758545, "step": 17496 }, { "epoch": 1.668548583984375e-06, "step": 17496, "training_step_time": 17.612285375595093 }, { "epoch": 1.6686439514160157e-06, "model_forward_time": 5.084022283554077, "step": 17497 }, { "epoch": 1.6686439514160157e-06, "step": 17497, "training_step_time": 17.498124599456787 }, { "epoch": 1.6687393188476563e-06, "model_forward_time": 5.326884746551514, "step": 17498 }, { "epoch": 1.6687393188476563e-06, "step": 17498, "training_step_time": 17.58612370491028 }, { "epoch": 1.6688346862792969e-06, "model_forward_time": 5.096896409988403, "step": 17499 }, { "epoch": 1.6688346862792969e-06, "step": 17499, "training_step_time": 17.54579210281372 }, { "epoch": 1.6689300537109375e-06, "grad_norm": 3.141605854034424, "learning_rate": 8.94584762574776e-06, "loss": 0.1184, "step": 17500 } ], "logging_steps": 10, "max_steps": 70000, "num_input_tokens_seen": 0, "num_train_epochs": 1, "save_steps": 8750, "stateful_callbacks": { "TrainerControl": { "args": { "should_epoch_stop": false, "should_evaluate": false, "should_log": false, "should_save": true, "should_training_stop": false }, "attributes": {} } }, "total_flos": 0.0, "train_batch_size": 1, "trial_name": null, "trial_params": null }