Upload folder using huggingface_hub

.gitattributes

@@ -33,3 +33,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+wandb/run-20251225_070122-icrg7bac/run-icrg7bac.wandb filter=lfs diff=lfs merge=lfs -text

checkpoints/020000/pretrained_model/config.json

@@ -0,0 +1,80 @@
+{
+    "type": "groot",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                26
+            ]
+        },
+        "observation.images.cam_head": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                26
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "push_to_hub": false,
+    "repo_id": "ZUO66/groot_handover",
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": null,
+    "chunk_size": 50,
+    "n_action_steps": 50,
+    "max_state_dim": 64,
+    "max_action_dim": 32,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
+    "image_size": [
+        224,
+        224
+    ],
+    "base_model_path": "nvidia/GR00T-N1.5-3B",
+    "tokenizer_assets_repo": "lerobot/eagle2hg-processor-groot-n1p5",
+    "embodiment_tag": "new_embodiment",
+    "tune_llm": false,
+    "tune_visual": false,
+    "tune_projector": true,
+    "tune_diffusion_model": false,
+    "lora_rank": 0,
+    "lora_alpha": 16,
+    "lora_dropout": 0.1,
+    "lora_full_model": false,
+    "optimizer_lr": 0.0001,
+    "optimizer_betas": [
+        0.95,
+        0.999
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 1e-05,
+    "warmup_ratio": 0.05,
+    "use_bf16": true,
+    "video_backend": "decord",
+    "balance_dataset_weights": true,
+    "balance_trajectory_weights": true,
+    "dataset_paths": null,
+    "output_dir": "./tmp/gr00t",
+    "save_steps": 1000,
+    "max_steps": 10000,
+    "batch_size": 32,
+    "dataloader_num_workers": 8,
+    "report_to": "wandb",
+    "resume": false
+}

checkpoints/020000/pretrained_model/model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d84dde4edceef17529a82863369ec092046736b06b6285dc26572c03d78ccf3
+size 6964802952

checkpoints/020000/pretrained_model/policy_postprocessor.json

@@ -0,0 +1,20 @@
+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "groot_action_unpack_unnormalize_v1",
+      "config": {
+        "env_action_dim": 26,
+        "normalize_min_max": true
+      },
+      "state_file": "policy_postprocessor_step_0_groot_action_unpack_unnormalize_v1.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}

checkpoints/020000/pretrained_model/policy_postprocessor_step_0_groot_action_unpack_unnormalize_v1.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09940931688ce4ba835fd859207ae20653395a9cd7050ead48c393f9b0142789
+size 10320

checkpoints/020000/pretrained_model/policy_preprocessor.json

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

checkpoints/020000/pretrained_model/policy_preprocessor_step_2_groot_pack_inputs_v3.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09940931688ce4ba835fd859207ae20653395a9cd7050ead48c393f9b0142789
+size 10320

checkpoints/020000/pretrained_model/train_config.json

@@ -0,0 +1,209 @@
+{
+    "dataset": {
+        "repo_id": "ZUO66/handover_drinks",
+        "root": null,
+        "episodes": null,
+        "image_transforms": {
+            "enable": false,
+            "max_num_transforms": 3,
+            "random_order": false,
+            "tfs": {
+                "brightness": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "brightness": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "contrast": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "contrast": [
+                            0.8,
+                            1.2
+                        ]
+                    }
+                },
+                "saturation": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "saturation": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "hue": {
+                    "weight": 1.0,
+                    "type": "ColorJitter",
+                    "kwargs": {
+                        "hue": [
+                            -0.05,
+                            0.05
+                        ]
+                    }
+                },
+                "sharpness": {
+                    "weight": 1.0,
+                    "type": "SharpnessJitter",
+                    "kwargs": {
+                        "sharpness": [
+                            0.5,
+                            1.5
+                        ]
+                    }
+                },
+                "affine": {
+                    "weight": 1.0,
+                    "type": "RandomAffine",
+                    "kwargs": {
+                        "degrees": [
+                            -5.0,
+                            5.0
+                        ],
+                        "translate": [
+                            0.05,
+                            0.05
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec",
+        "streaming": false
+    },
+    "env": null,
+    "policy": {
+        "type": "groot",
+        "n_obs_steps": 1,
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    26
+                ]
+            },
+            "observation.images.cam_head": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    26
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "push_to_hub": false,
+        "repo_id": "ZUO66/groot_handover",
+        "private": null,
+        "tags": null,
+        "license": null,
+        "pretrained_path": null,
+        "chunk_size": 50,
+        "n_action_steps": 50,
+        "max_state_dim": 64,
+        "max_action_dim": 32,
+        "normalization_mapping": {
+            "VISUAL": "IDENTITY",
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
+        },
+        "image_size": [
+            224,
+            224
+        ],
+        "base_model_path": "nvidia/GR00T-N1.5-3B",
+        "tokenizer_assets_repo": "lerobot/eagle2hg-processor-groot-n1p5",
+        "embodiment_tag": "new_embodiment",
+        "tune_llm": false,
+        "tune_visual": false,
+        "tune_projector": true,
+        "tune_diffusion_model": false,
+        "lora_rank": 0,
+        "lora_alpha": 16,
+        "lora_dropout": 0.1,
+        "lora_full_model": false,
+        "optimizer_lr": 0.0001,
+        "optimizer_betas": [
+            0.95,
+            0.999
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 1e-05,
+        "warmup_ratio": 0.05,
+        "use_bf16": true,
+        "video_backend": "decord",
+        "balance_dataset_weights": true,
+        "balance_trajectory_weights": true,
+        "dataset_paths": null,
+        "output_dir": "./tmp/gr00t",
+        "save_steps": 1000,
+        "max_steps": 10000,
+        "batch_size": 32,
+        "dataloader_num_workers": 8,
+        "report_to": "wandb",
+        "resume": false
+    },
+    "output_dir": "outputs/train/groot_handover",
+    "job_name": "groot_training",
+    "resume": false,
+    "seed": 1000,
+    "num_workers": 4,
+    "batch_size": 256,
+    "steps": 200000,
+    "eval_freq": 20000,
+    "log_freq": 200,
+    "save_checkpoint": true,
+    "save_freq": 20000,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adamw",
+        "lr": 0.0001,
+        "weight_decay": 1e-05,
+        "grad_clip_norm": 10.0,
+        "betas": [
+            0.95,
+            0.999
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": {
+        "type": "cosine_decay_with_warmup",
+        "num_warmup_steps": 500,
+        "num_decay_steps": 10000,
+        "peak_lr": 0.0001,
+        "decay_lr": 1e-05
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": false
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": false,
+        "project": "zuo_handover",
+        "entity": null,
+        "notes": null,
+        "run_id": "icrg7bac",
+        "mode": null
+    },
+    "checkpoint_path": null,
+    "rename_map": {}
+}

checkpoints/020000/training_state/optimizer_param_groups.json

@@ -0,0 +1,919 @@
+[
+    {
+        "lr": 1e-05,
+        "betas": [
+            0.95,
+            0.999
+        ],
+        "eps": 1e-08,
+        "weight_decay": 1e-05,
+        "amsgrad": false,
+        "maximize": false,
+        "foreach": null,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "decoupled_weight_decay": true,
+        "initial_lr": 0.0001,
+        "params": [
+            0,
+            1,
+            2,
+            3,
+            4,
+            5,
+            6,
+            7,
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15,
+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25,
+            26,
+            27,
+            28,
+            29,
+            30,
+            31,
+            32,
+            33,
+            34,
+            35,
+            36,
+            37,
+            38,
+            39,
+            40,
+            41,
+            42,
+            43,
+            44,
+            45,
+            46,
+            47,
+            48,
+            49,
+            50,
+            51,
+            52,
+            53,
+            54,
+            55,
+            56,
+            57,
+            58,
+            59,
+            60,
+            61,
+            62,
+            63,
+            64,
+            65,
+            66,
+            67,
+            68,
+            69,
+            70,
+            71,
+            72,
+            73,
+            74,
+            75,
+            76,
+            77,
+            78,
+            79,
+            80,
+            81,
+            82,
+            83,
+            84,
+            85,
+            86,
+            87,
+            88,
+            89,
+            90,
+            91,
+            92,
+            93,
+            94,
+            95,
+            96,
+            97,
+            98,
+            99,
+            100,
+            101,
+            102,
+            103,
+            104,
+            105,
+            106,
+            107,
+            108,
+            109,
+            110,
+            111,
+            112,
+            113,
+            114,
+            115,
+            116,
+            117,
+            118,
+            119,
+            120,
+            121,
+            122,
+            123,
+            124,
+            125,
+            126,
+            127,
+            128,
+            129,
+            130,
+            131,
+            132,
+            133,
+            134,
+            135,
+            136,
+            137,
+            138,
+            139,
+            140,
+            141,
+            142,
+            143,
+            144,
+            145,
+            146,
+            147,
+            148,
+            149,
+            150,
+            151,
+            152,
+            153,
+            154,
+            155,
+            156,
+            157,
+            158,
+            159,
+            160,
+            161,
+            162,
+            163,
+            164,
+            165,
+            166,
+            167,
+            168,
+            169,
+            170,
+            171,
+            172,
+            173,
+            174,
+            175,
+            176,
+            177,
+            178,
+            179,
+            180,
+            181,
+            182,
+            183,
+            184,
+            185,
+            186,
+            187,
+            188,
+            189,
+            190,
+            191,
+            192,
+            193,
+            194,
+            195,
+            196,
+            197,
+            198,
+            199,
+            200,
+            201,
+            202,
+            203,
+            204,
+            205,
+            206,
+            207,
+            208,
+            209,
+            210,
+            211,
+            212,
+            213,
+            214,
+            215,
+            216,
+            217,
+            218,
+            219,
+            220,
+            221,
+            222,
+            223,
+            224,
+            225,
+            226,
+            227,
+            228,
+            229,
+            230,
+            231,
+            232,
+            233,
+            234,
+            235,
+            236,
+            237,
+            238,
+            239,
+            240,
+            241,
+            242,
+            243,
+            244,
+            245,
+            246,
+            247,
+            248,
+            249,
+            250,
+            251,
+            252,
+            253,
+            254,
+            255,
+            256,
+            257,
+            258,
+            259,
+            260,
+            261,
+            262,
+            263,
+            264,
+            265,
+            266,
+            267,
+            268,
+            269,
+            270,
+            271,
+            272,
+            273,
+            274,
+            275,
+            276,
+            277,
+            278,
+            279,
+            280,
+            281,
+            282,
+            283,
+            284,
+            285,
+            286,
+            287,
+            288,
+            289,
+            290,
+            291,
+            292,
+            293,
+            294,
+            295,
+            296,
+            297,
+            298,
+            299,
+            300,
+            301,
+            302,
+            303,
+            304,
+            305,
+            306,
+            307,
+            308,
+            309,
+            310,
+            311,
+            312,
+            313,
+            314,
+            315,
+            316,
+            317,
+            318,
+            319,
+            320,
+            321,
+            322,
+            323,
+            324,
+            325,
+            326,
+            327,
+            328,
+            329,
+            330,
+            331,
+            332,
+            333,
+            334,
+            335,
+            336,
+            337,
+            338,
+            339,
+            340,
+            341,
+            342,
+            343,
+            344,
+            345,
+            346,
+            347,
+            348,
+            349,
+            350,
+            351,
+            352,
+            353,
+            354,
+            355,
+            356,
+            357,
+            358,
+            359,
+            360,
+            361,
+            362,
+            363,
+            364,
+            365,
+            366,
+            367,
+            368,
+            369,
+            370,
+            371,
+            372,
+            373,
+            374,
+            375,
+            376,
+            377,
+            378,
+            379,
+            380,
+            381,
+            382,
+            383,
+            384,
+            385,
+            386,
+            387,
+            388,
+            389,
+            390,
+            391,
+            392,
+            393,
+            394,
+            395,
+            396,
+            397,
+            398,
+            399,
+            400,
+            401,
+            402,
+            403,
+            404,
+            405,
+            406,
+            407,
+            408,
+            409,
+            410,
+            411,
+            412,
+            413,
+            414,
+            415,
+            416,
+            417,
+            418,
+            419,
+            420,
+            421,
+            422,
+            423,
+            424,
+            425,
+            426,
+            427,
+            428,
+            429,
+            430,
+            431,
+            432,
+            433,
+            434,
+            435,
+            436,
+            437,
+            438,
+            439,
+            440,
+            441,
+            442,
+            443,
+            444,
+            445,
+            446,
+            447,
+            448,
+            449,
+            450,
+            451,
+            452,
+            453,
+            454,
+            455,
+            456,
+            457,
+            458,
+            459,
+            460,
+            461,
+            462,
+            463,
+            464,
+            465,
+            466,
+            467,
+            468,
+            469,
+            470,
+            471,
+            472,
+            473,
+            474,
+            475,
+            476,
+            477,
+            478,
+            479,
+            480,
+            481,
+            482,
+            483,
+            484,
+            485,
+            486,
+            487,
+            488,
+            489,
+            490,
+            491,
+            492,
+            493,
+            494,
+            495,
+            496,
+            497,
+            498,
+            499,
+            500,
+            501,
+            502,
+            503,
+            504,
+            505,
+            506,
+            507,
+            508,
+            509,
+            510,
+            511,
+            512,
+            513,
+            514,
+            515,
+            516,
+            517,
+            518,
+            519,
+            520,
+            521,
+            522,
+            523,
+            524,
+            525,
+            526,
+            527,
+            528,
+            529,
+            530,
+            531,
+            532,
+            533,
+            534,
+            535,
+            536,
+            537,
+            538,
+            539,
+            540,
+            541,
+            542,
+            543,
+            544,
+            545,
+            546,
+            547,
+            548,
+            549,
+            550,
+            551,
+            552,
+            553,
+            554,
+            555,
+            556,
+            557,
+            558,
+            559,
+            560,
+            561,
+            562,
+            563,
+            564,
+            565,
+            566,
+            567,
+            568,
+            569,
+            570,
+            571,
+            572,
+            573,
+            574,
+            575,
+            576,
+            577,
+            578,
+            579,
+            580,
+            581,
+            582,
+            583,
+            584,
+            585,
+            586,
+            587,
+            588,
+            589,
+            590,
+            591,
+            592,
+            593,
+            594,
+            595,
+            596,
+            597,
+            598,
+            599,
+            600,
+            601,
+            602,
+            603,
+            604,
+            605,
+            606,
+            607,
+            608,
+            609,
+            610,
+            611,
+            612,
+            613,
+            614,
+            615,
+            616,
+            617,
+            618,
+            619,
+            620,
+            621,
+            622,
+            623,
+            624,
+            625,
+            626,
+            627,
+            628,
+            629,
+            630,
+            631,
+            632,
+            633,
+            634,
+            635,
+            636,
+            637,
+            638,
+            639,
+            640,
+            641,
+            642,
+            643,
+            644,
+            645,
+            646,
+            647,
+            648,
+            649,
+            650,
+            651,
+            652,
+            653,
+            654,
+            655,
+            656,
+            657,
+            658,
+            659,
+            660,
+            661,
+            662,
+            663,
+            664,
+            665,
+            666,
+            667,
+            668,
+            669,
+            670,
+            671,
+            672,
+            673,
+            674,
+            675,
+            676,
+            677,
+            678,
+            679,
+            680,
+            681,
+            682,
+            683,
+            684,
+            685,
+            686,
+            687,
+            688,
+            689,
+            690,
+            691,
+            692,
+            693,
+            694,
+            695,
+            696,
+            697,
+            698,
+            699,
+            700,
+            701,
+            702,
+            703,
+            704,
+            705,
+            706,
+            707,
+            708,
+            709,
+            710,
+            711,
+            712,
+            713,
+            714,
+            715,
+            716,
+            717,
+            718,
+            719,
+            720,
+            721,
+            722,
+            723,
+            724,
+            725,
+            726,
+            727,
+            728,
+            729,
+            730,
+            731,
+            732,
+            733,
+            734,
+            735,
+            736,
+            737,
+            738,
+            739,
+            740,
+            741,
+            742,
+            743,
+            744,
+            745,
+            746,
+            747,
+            748,
+            749,
+            750,
+            751,
+            752,
+            753,
+            754,
+            755,
+            756,
+            757,
+            758,
+            759,
+            760,
+            761,
+            762,
+            763,
+            764,
+            765,
+            766,
+            767,
+            768,
+            769,
+            770,
+            771,
+            772,
+            773,
+            774,
+            775,
+            776,
+            777,
+            778,
+            779,
+            780,
+            781,
+            782,
+            783,
+            784,
+            785,
+            786,
+            787,
+            788,
+            789,
+            790,
+            791,
+            792,
+            793,
+            794,
+            795,
+            796,
+            797,
+            798,
+            799,
+            800,
+            801,
+            802,
+            803,
+            804,
+            805,
+            806,
+            807,
+            808,
+            809,
+            810,
+            811,
+            812,
+            813,
+            814,
+            815,
+            816,
+            817,
+            818,
+            819,
+            820,
+            821,
+            822,
+            823,
+            824,
+            825,
+            826,
+            827,
+            828,
+            829,
+            830,
+            831,
+            832,
+            833,
+            834,
+            835,
+            836,
+            837,
+            838,
+            839,
+            840,
+            841,
+            842,
+            843,
+            844,
+            845,
+            846,
+            847,
+            848,
+            849,
+            850,
+            851,
+            852,
+            853,
+            854,
+            855,
+            856,
+            857,
+            858,
+            859,
+            860,
+            861,
+            862,
+            863,
+            864,
+            865,
+            866,
+            867,
+            868,
+            869,
+            870,
+            871,
+            872,
+            873,
+            874,
+            875,
+            876,
+            877,
+            878,
+            879,
+            880,
+            881,
+            882,
+            883,
+            884,
+            885,
+            886,
+            887,
+            888,
+            889,
+            890,
+            891,
+            892,
+            893,
+            894,
+            895,
+            896,
+            897
+        ]
+    }
+]

checkpoints/020000/training_state/optimizer_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fda01ea1146a838e4b7317d83018f5f7e517e3a96972f5ad6a5851d907fc0ba2
+size 4147378136

checkpoints/020000/training_state/rng_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67972e67b3cdcd5f9778d5155d64a1fec7263dbd3e0e81d53c59b42ea20750f2
+size 15708

checkpoints/020000/training_state/scheduler_state.json

@@ -0,0 +1,14 @@
+{
+    "base_lrs": [
+        0.0001
+    ],
+    "last_epoch": 20000,
+    "_step_count": 20001,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        1e-05
+    ],
+    "lr_lambdas": [
+        null
+    ]
+}

checkpoints/020000/training_state/training_step.json

@@ -0,0 +1,3 @@
+{
+    "step": 20000
+}

wandb/debug-internal.log

@@ -0,0 +1,11 @@
+{"time":"2025-12-25T07:01:22.370509287Z","level":"INFO","msg":"stream: starting","core version":"0.21.4"}
+{"time":"2025-12-25T07:01:22.734171749Z","level":"INFO","msg":"stream: created new stream","id":"icrg7bac"}
+{"time":"2025-12-25T07:01:22.734206214Z","level":"INFO","msg":"stream: started","id":"icrg7bac"}
+{"time":"2025-12-25T07:01:22.734358515Z","level":"INFO","msg":"handler: started","stream_id":"icrg7bac"}
+{"time":"2025-12-25T07:01:22.734396507Z","level":"INFO","msg":"sender: started","stream_id":"icrg7bac"}
+{"time":"2025-12-25T07:01:22.734420642Z","level":"INFO","msg":"writer: started","stream_id":"icrg7bac"}
+{"time":"2025-12-26T13:05:05.336330258Z","level":"INFO","msg":"stream: closing","id":"icrg7bac"}
+{"time":"2025-12-26T13:05:05.710387245Z","level":"INFO","msg":"fileTransfer: Close: file transfer manager closed"}
+{"time":"2025-12-26T13:05:05.87520904Z","level":"INFO","msg":"handler: closed","stream_id":"icrg7bac"}
+{"time":"2025-12-26T13:05:05.875362447Z","level":"INFO","msg":"sender: closed","stream_id":"icrg7bac"}
+{"time":"2025-12-26T13:05:05.875387605Z","level":"INFO","msg":"stream: closed","id":"icrg7bac"}

wandb/debug.log

@@ -0,0 +1,89 @@
+2025-12-25 07:01:22,156 INFO    MainThread:10525 [wandb_setup.py:_flush():81] Current SDK version is 0.21.4
+2025-12-25 07:01:22,156 INFO    MainThread:10525 [wandb_setup.py:_flush():81] Configure stats pid to 10525
+2025-12-25 07:01:22,156 INFO    MainThread:10525 [wandb_setup.py:_flush():81] Loading settings from /home/zkj/.config/wandb/settings
+2025-12-25 07:01:22,156 INFO    MainThread:10525 [wandb_setup.py:_flush():81] Loading settings from /mars_data/zuo/unitree_IL_lerobot/unitree_lerobot/lerobot/wandb/settings
+2025-12-25 07:01:22,156 INFO    MainThread:10525 [wandb_setup.py:_flush():81] Loading settings from environment variables
+2025-12-25 07:01:22,156 INFO    MainThread:10525 [wandb_init.py:setup_run_log_directory():686] Logging user logs to outputs/train/groot_handover/wandb/run-20251225_070122-icrg7bac/logs/debug.log
+2025-12-25 07:01:22,156 INFO    MainThread:10525 [wandb_init.py:setup_run_log_directory():687] Logging internal logs to outputs/train/groot_handover/wandb/run-20251225_070122-icrg7bac/logs/debug-internal.log
+2025-12-25 07:01:22,156 INFO    MainThread:10525 [wandb_init.py:init():813] calling init triggers
+2025-12-25 07:01:22,156 INFO    MainThread:10525 [wandb_init.py:init():818] wandb.init called with sweep_config: {}
+config: {'dataset': {'repo_id': 'ZUO66/handover_drinks', 'root': None, 'episodes': None, 'image_transforms': {'enable': False, 'max_num_transforms': 3, 'random_order': False, 'tfs': {'brightness': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'brightness': [0.8, 1.2]}}, 'contrast': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'contrast': [0.8, 1.2]}}, 'saturation': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'saturation': [0.5, 1.5]}}, 'hue': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'hue': [-0.05, 0.05]}}, 'sharpness': {'weight': 1.0, 'type': 'SharpnessJitter', 'kwargs': {'sharpness': [0.5, 1.5]}}, 'affine': {'weight': 1.0, 'type': 'RandomAffine', 'kwargs': {'degrees': [-5.0, 5.0], 'translate': [0.05, 0.05]}}}}, 'revision': None, 'use_imagenet_stats': True, 'video_backend': 'torchcodec', 'streaming': False}, 'env': None, 'policy': {'type': 'groot', 'n_obs_steps': 1, 'input_features': {}, 'output_features': {}, 'device': 'cuda', 'use_amp': False, 'push_to_hub': False, 'repo_id': 'ZUO66/groot_handover', 'private': None, 'tags': None, 'license': None, 'pretrained_path': None, 'chunk_size': 50, 'n_action_steps': 50, 'max_state_dim': 64, 'max_action_dim': 32, 'normalization_mapping': {'VISUAL': <NormalizationMode.IDENTITY: 'IDENTITY'>, 'STATE': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'ACTION': <NormalizationMode.MEAN_STD: 'MEAN_STD'>}, 'image_size': [224, 224], 'base_model_path': 'nvidia/GR00T-N1.5-3B', 'tokenizer_assets_repo': 'lerobot/eagle2hg-processor-groot-n1p5', 'embodiment_tag': 'new_embodiment', 'tune_llm': False, 'tune_visual': False, 'tune_projector': True, 'tune_diffusion_model': False, 'lora_rank': 0, 'lora_alpha': 16, 'lora_dropout': 0.1, 'lora_full_model': False, 'optimizer_lr': 0.0001, 'optimizer_betas': [0.95, 0.999], 'optimizer_eps': 1e-08, 'optimizer_weight_decay': 1e-05, 'warmup_ratio': 0.05, 'use_bf16': True, 'video_backend': 'decord', 'balance_dataset_weights': True, 'balance_trajectory_weights': True, 'dataset_paths': None, 'output_dir': './tmp/gr00t', 'save_steps': 1000, 'max_steps': 10000, 'batch_size': 32, 'dataloader_num_workers': 8, 'report_to': 'wandb', 'resume': False}, 'output_dir': 'outputs/train/groot_handover', 'job_name': 'groot_training', 'resume': False, 'seed': 1000, 'num_workers': 4, 'batch_size': 256, 'steps': 200000, 'eval_freq': 20000, 'log_freq': 200, 'save_checkpoint': True, 'save_freq': 20000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adamw', 'lr': 0.0001, 'weight_decay': 1e-05, 'grad_clip_norm': 10.0, 'betas': [0.95, 0.999], 'eps': 1e-08}, 'scheduler': {'type': 'cosine_decay_with_warmup', 'num_warmup_steps': 500, 'num_decay_steps': 10000, 'peak_lr': 0.0001, 'decay_lr': 1e-05}, 'eval': {'n_episodes': 50, 'batch_size': 50, 'use_async_envs': False}, 'wandb': {'enable': True, 'disable_artifact': False, 'project': 'zuo_handover', 'entity': None, 'notes': None, 'run_id': None, 'mode': None}, 'checkpoint_path': None, 'rename_map': {}, '_wandb': {}}
+2025-12-25 07:01:22,157 INFO    MainThread:10525 [wandb_init.py:init():854] starting backend
+2025-12-25 07:01:22,362 INFO    MainThread:10525 [wandb_init.py:init():857] sending inform_init request
+2025-12-25 07:01:22,366 INFO    MainThread:10525 [wandb_init.py:init():865] backend started and connected
+2025-12-25 07:01:22,368 INFO    MainThread:10525 [wandb_init.py:init():936] updated telemetry
+2025-12-25 07:01:22,374 INFO    MainThread:10525 [wandb_init.py:init():960] communicating run to backend with 90.0 second timeout
+2025-12-25 07:01:23,010 INFO    MainThread:10525 [wandb_init.py:init():1011] starting run threads in backend
+2025-12-25 07:01:23,113 INFO    MainThread:10525 [wandb_run.py:_console_start():2506] atexit reg
+2025-12-25 07:01:23,114 INFO    MainThread:10525 [wandb_run.py:_redirect():2354] redirect: wrap_raw
+2025-12-25 07:01:23,114 INFO    MainThread:10525 [wandb_run.py:_redirect():2423] Wrapping output streams.
+2025-12-25 07:01:23,114 INFO    MainThread:10525 [wandb_run.py:_redirect():2446] Redirects installed.
+2025-12-25 07:01:23,118 INFO    MainThread:10525 [wandb_init.py:init():1049] run started, returning control to user process
+2025-12-26 13:05:05,336 INFO    wandb-AsyncioManager-main:10525 [service_client.py:_forward_responses():84] Reached EOF.
+2025-12-26 13:05:05,336 INFO    wandb-AsyncioManager-main:10525 [mailbox.py:close():137] Closing mailbox, abandoning 2 handles.
+2025-12-26 13:05:05,884 ERROR   wandb-AsyncioManager-main:10525 [asyncio_manager.py:fn_wrap_exceptions():183] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/site-packages/wandb/sdk/lib/asyncio_manager.py", line 181, in fn_wrap_exceptions
+    await fn()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/site-packages/wandb/sdk/lib/service/service_client.py", line 65, in _send_server_request
+    await self._writer.drain()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/asyncio/streams.py", line 371, in drain
+    await self._protocol._drain_helper()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/asyncio/streams.py", line 167, in _drain_helper
+    raise ConnectionResetError('Connection lost')
+ConnectionResetError: Connection lost
+2025-12-26 13:05:05,886 ERROR   wandb-AsyncioManager-main:10525 [asyncio_manager.py:fn_wrap_exceptions():183] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/site-packages/wandb/sdk/lib/asyncio_manager.py", line 181, in fn_wrap_exceptions
+    await fn()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/site-packages/wandb/sdk/lib/service/service_client.py", line 65, in _send_server_request
+    await self._writer.drain()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/asyncio/streams.py", line 371, in drain
+    await self._protocol._drain_helper()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/asyncio/streams.py", line 167, in _drain_helper
+    raise ConnectionResetError('Connection lost')
+ConnectionResetError: Connection lost
+2025-12-26 13:05:05,886 ERROR   wandb-AsyncioManager-main:10525 [asyncio_manager.py:fn_wrap_exceptions():183] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/site-packages/wandb/sdk/lib/asyncio_manager.py", line 181, in fn_wrap_exceptions
+    await fn()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/site-packages/wandb/sdk/lib/service/service_client.py", line 65, in _send_server_request
+    await self._writer.drain()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/asyncio/streams.py", line 371, in drain
+    await self._protocol._drain_helper()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/asyncio/streams.py", line 167, in _drain_helper
+    raise ConnectionResetError('Connection lost')
+ConnectionResetError: Connection lost
+2025-12-26 13:05:05,887 ERROR   wandb-AsyncioManager-main:10525 [asyncio_manager.py:fn_wrap_exceptions():183] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/site-packages/wandb/sdk/lib/asyncio_manager.py", line 181, in fn_wrap_exceptions
+    await fn()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/site-packages/wandb/sdk/lib/service/service_client.py", line 65, in _send_server_request
+    await self._writer.drain()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/asyncio/streams.py", line 371, in drain
+    await self._protocol._drain_helper()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/asyncio/streams.py", line 167, in _drain_helper
+    raise ConnectionResetError('Connection lost')
+ConnectionResetError: Connection lost
+2025-12-26 13:05:05,887 ERROR   wandb-AsyncioManager-main:10525 [asyncio_manager.py:fn_wrap_exceptions():183] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/site-packages/wandb/sdk/lib/asyncio_manager.py", line 181, in fn_wrap_exceptions
+    await fn()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/site-packages/wandb/sdk/lib/service/service_client.py", line 65, in _send_server_request
+    await self._writer.drain()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/asyncio/streams.py", line 371, in drain
+    await self._protocol._drain_helper()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/asyncio/streams.py", line 167, in _drain_helper
+    raise ConnectionResetError('Connection lost')
+ConnectionResetError: Connection lost
+2025-12-26 13:05:05,889 ERROR   wandb-AsyncioManager-main:10525 [asyncio_manager.py:fn_wrap_exceptions():183] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/site-packages/wandb/sdk/lib/asyncio_manager.py", line 181, in fn_wrap_exceptions
+    await fn()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/site-packages/wandb/sdk/lib/service/service_client.py", line 65, in _send_server_request
+    await self._writer.drain()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/asyncio/streams.py", line 371, in drain
+    await self._protocol._drain_helper()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/asyncio/streams.py", line 167, in _drain_helper
+    raise ConnectionResetError('Connection lost')
+ConnectionResetError: Connection lost

wandb/run-20251225_070122-icrg7bac/files/config.yaml

@@ -0,0 +1,252 @@
+_wandb:
+    value:
+        cli_version: 0.21.4
+        e:
+            jwnifu8elm3l78p0yqg1xmxltlir0nrp:
+                args:
+                    - --dataset.repo_id=ZUO66/handover_drinks
+                    - --policy.type=groot
+                    - --policy.repo_id=ZUO66/groot_handover
+                    - --policy.push_to_hub=false
+                    - --policy.tune_diffusion_model=false
+                    - --output_dir=outputs/train/groot_handover
+                    - --steps=200000
+                    - --batch_size=256
+                    - --num_workers=4
+                    - --save_freq=20000
+                    - --wandb.enable=true
+                    - --wandb.project=zuo_handover
+                    - --job_name=groot_training
+                codePath: src/lerobot/scripts/lerobot_train.py
+                codePathLocal: src/lerobot/scripts/lerobot_train.py
+                cpu_count: 24
+                cpu_count_logical: 24
+                cudaVersion: "13.0"
+                disk:
+                    /:
+                        total: "133003395072"
+                        used: "85148712960"
+                executable: /home/zkj/miniconda3/envs/unitree_groot/bin/python
+                git:
+                    commit: a5b29d430105f5235eb05bbf2db5a0d747a869d6
+                    remote: https://github.com/huggingface/lerobot
+                gpu: NVIDIA A100 80GB PCIe
+                gpu_count: 1
+                gpu_nvidia:
+                    - architecture: Ampere
+                      cudaCores: 6912
+                      memoryTotal: "85899345920"
+                      name: NVIDIA A100 80GB PCIe
+                      uuid: GPU-832485e3-d8d0-5e70-e283-e0c82bba7b75
+                host: A100-001
+                memory:
+                    total: "232157089792"
+                os: Linux-6.8.0-1044-azure-x86_64-with-glibc2.35
+                program: /mars_data/zuo/unitree_IL_lerobot/unitree_lerobot/lerobot/src/lerobot/scripts/lerobot_train.py
+                python: CPython 3.10.19
+                root: outputs/train/groot_handover
+                startedAt: "2025-12-25T07:01:22.155419Z"
+                writerId: jwnifu8elm3l78p0yqg1xmxltlir0nrp
+        m: []
+        python_version: 3.10.19
+        t:
+            "1":
+                - 1
+                - 11
+                - 41
+                - 49
+                - 51
+                - 71
+                - 83
+            "2":
+                - 1
+                - 11
+                - 41
+                - 49
+                - 51
+                - 71
+                - 83
+                - 98
+            "3":
+                - 13
+                - 15
+                - 16
+                - 61
+            "4": 3.10.19
+            "5": 0.21.4
+            "6": 4.57.3
+            "10":
+                - 21
+            "12": 0.21.4
+            "13": linux-x86_64
+batch_size:
+    value: 256
+checkpoint_path:
+    value: null
+dataset:
+    value:
+        episodes: null
+        image_transforms:
+            enable: false
+            max_num_transforms: 3
+            random_order: false
+            tfs:
+                affine:
+                    kwargs:
+                        degrees:
+                            - -5
+                            - 5
+                        translate:
+                            - 0.05
+                            - 0.05
+                    type: RandomAffine
+                    weight: 1
+                brightness:
+                    kwargs:
+                        brightness:
+                            - 0.8
+                            - 1.2
+                    type: ColorJitter
+                    weight: 1
+                contrast:
+                    kwargs:
+                        contrast:
+                            - 0.8
+                            - 1.2
+                    type: ColorJitter
+                    weight: 1
+                hue:
+                    kwargs:
+                        hue:
+                            - -0.05
+                            - 0.05
+                    type: ColorJitter
+                    weight: 1
+                saturation:
+                    kwargs:
+                        saturation:
+                            - 0.5
+                            - 1.5
+                    type: ColorJitter
+                    weight: 1
+                sharpness:
+                    kwargs:
+                        sharpness:
+                            - 0.5
+                            - 1.5
+                    type: SharpnessJitter
+                    weight: 1
+        repo_id: ZUO66/handover_drinks
+        revision: null
+        root: null
+        streaming: false
+        use_imagenet_stats: true
+        video_backend: torchcodec
+env:
+    value: null
+eval:
+    value:
+        batch_size: 50
+        n_episodes: 50
+        use_async_envs: false
+eval_freq:
+    value: 20000
+job_name:
+    value: groot_training
+log_freq:
+    value: 200
+num_workers:
+    value: 4
+optimizer:
+    value:
+        betas:
+            - 0.95
+            - 0.999
+        eps: 1e-08
+        grad_clip_norm: 10
+        lr: 0.0001
+        type: adamw
+        weight_decay: 1e-05
+output_dir:
+    value: outputs/train/groot_handover
+policy:
+    value:
+        balance_dataset_weights: true
+        balance_trajectory_weights: true
+        base_model_path: nvidia/GR00T-N1.5-3B
+        batch_size: 32
+        chunk_size: 50
+        dataloader_num_workers: 8
+        dataset_paths: null
+        device: cuda
+        embodiment_tag: new_embodiment
+        image_size:
+            - 224
+            - 224
+        license: null
+        lora_alpha: 16
+        lora_dropout: 0.1
+        lora_full_model: false
+        lora_rank: 0
+        max_action_dim: 32
+        max_state_dim: 64
+        max_steps: 10000
+        n_action_steps: 50
+        n_obs_steps: 1
+        normalization_mapping:
+            ACTION: MEAN_STD
+            STATE: MEAN_STD
+            VISUAL: IDENTITY
+        optimizer_betas:
+            - 0.95
+            - 0.999
+        optimizer_eps: 1e-08
+        optimizer_lr: 0.0001
+        optimizer_weight_decay: 1e-05
+        output_dir: ./tmp/gr00t
+        pretrained_path: null
+        private: null
+        push_to_hub: false
+        repo_id: ZUO66/groot_handover
+        report_to: wandb
+        resume: false
+        save_steps: 1000
+        tags: null
+        tokenizer_assets_repo: lerobot/eagle2hg-processor-groot-n1p5
+        tune_diffusion_model: false
+        tune_llm: false
+        tune_projector: true
+        tune_visual: false
+        type: groot
+        use_amp: false
+        use_bf16: true
+        video_backend: decord
+        warmup_ratio: 0.05
+resume:
+    value: false
+save_checkpoint:
+    value: true
+save_freq:
+    value: 20000
+scheduler:
+    value:
+        decay_lr: 1e-05
+        num_decay_steps: 10000
+        num_warmup_steps: 500
+        peak_lr: 0.0001
+        type: cosine_decay_with_warmup
+seed:
+    value: 1000
+steps:
+    value: 200000
+use_policy_training_preset:
+    value: true
+wandb:
+    value:
+        disable_artifact: false
+        enable: true
+        entity: null
+        mode: null
+        notes: null
+        project: zuo_handover
+        run_id: null

wandb/run-20251225_070122-icrg7bac/files/output.log

@@ -0,0 +1,179 @@
+INFO 2025-12-25 07:01:23 db_utils.py:102 Logs will be synced with wandb.
+INFO 2025-12-25 07:01:23 db_utils.py:103 Track this run --> https://wandb.ai/kuangji-nanyang-technological-university-singapore/zuo_handover/runs/icrg7bac
+INFO 2025-12-25 07:01:23 ot_train.py:183 Creating dataset
+INFO 2025-12-25 07:01:23 ot_train.py:202 Creating policy
+[GROOT] Flash Attention version: 2.7.4.post1
+Loading pretrained dual brain from nvidia/GR00T-N1.5-3B
+Tune backbone vision tower: False
+Tune backbone LLM: False
+Tune action head projector: True
+Tune action head DiT: False
+Fetching 13 files: 100%|█████████████████████████████████████████████████████████████████████████████| 13/13 [00:00<00:00, 9776.93it/s]
+`torch_dtype` is deprecated! Use `dtype` instead!
+[GROOT] Copying vendor Eagle files to cache: /mars_data/zuo/unitree_IL_lerobot/unitree_lerobot/lerobot/src/lerobot/policies/groot/eagle2_hg_model -> /home/zkj/.cache/huggingface/lerobot/lerobot/eagle2hg-processor-groot-n1p5
+[GROOT] Assets repo: lerobot/eagle2hg-processor-groot-n1p5
+ Cache dir: /home/zkj/.cache/huggingface/lerobot/lerobot/eagle2hg-processor-groot-n1p5
+INFO 2025-12-25 07:01:23 le2_5_vl.py:105 min_dynamic_tiles: 1
+INFO 2025-12-25 07:01:23 le2_5_vl.py:106 max_dynamic_tiles: 12
+INFO 2025-12-25 07:01:23 gle2_5_vl.py:64 vision_config is None. Initializing the InternVisionConfig with default values.
+INFO 2025-12-25 07:01:23 gle2_5_vl.py:68 text_config is None. Initializing the LlamaConfig config with default values (`LlamaConfig`).
+INFO 2025-12-25 07:01:23 le2_5_vl.py:105 min_dynamic_tiles: 1
+INFO 2025-12-25 07:01:23 le2_5_vl.py:106 max_dynamic_tiles: 6
+INFO 2025-12-25 07:01:23 le2_5_vl.py:101 num_image_token: 256
+INFO 2025-12-25 07:01:23 le2_5_vl.py:102 mlp_checkpoint: False
+Tune backbone llm: False
+Tune backbone visual: True
+Total number of DiT parameters:  550386688
+Total number of SelfAttentionTransformer parameters:  201433088
+Tune action head projector: True
+Tune action head diffusion model: True
+Loading checkpoint shards: 100%|█████████████████████████████████████████████████████████████████████████| 3/3 [00:01<00:00,  1.81it/s]
+Tune backbone llm: False
+Tune backbone visual: False
+Warning: No backbone trainable parameters found.
+Tune action head projector: True
+Tune action head diffusion model: False
+INFO 2025-12-25 07:01:28 ot_train.py:247 Creating optimizer and scheduler
+INFO 2025-12-25 07:01:28 ot_train.py:259 Output dir: outputs/train/groot_handover
+INFO 2025-12-25 07:01:28 ot_train.py:262 cfg.steps=200000 (200K)
+INFO 2025-12-25 07:01:28 ot_train.py:263 dataset.num_frames=389852 (390K)
+INFO 2025-12-25 07:01:28 ot_train.py:264 dataset.num_episodes=592
+INFO 2025-12-25 07:01:28 ot_train.py:267 Effective batch size: 256 x 1 = 256
+INFO 2025-12-25 07:01:28 ot_train.py:268 num_learnable_params=518419456 (518M)
+INFO 2025-12-25 07:01:28 ot_train.py:269 num_total_params=2413522880 (2B)
+INFO 2025-12-25 07:01:28 ot_train.py:324 Start offline training on a fixed dataset
+`use_fast` is set to `True` but the image processor class does not have a fast version.  Falling back to the slow version.
+The tokenizer you are loading from '/home/zkj/.cache/huggingface/lerobot/lerobot/eagle2hg-processor-groot-n1p5' with an incorrect regex pattern: https://huggingface.co/mistralai/Mistral-Small-3.1-24B-Instruct-2503/discussions/84#69121093e8b480e709447d5e. This will lead to incorrect tokenization. You should set the `fix_mistral_regex=True` flag when loading this tokenizer to fix this issue.
+The tokenizer you are loading from '/home/zkj/.cache/huggingface/lerobot/lerobot/eagle2hg-processor-groot-n1p5' with an incorrect regex pattern: https://huggingface.co/mistralai/Mistral-Small-3.1-24B-Instruct-2503/discussions/84#69121093e8b480e709447d5e. This will lead to incorrect tokenization. You should set the `fix_mistral_regex=True` flag when loading this tokenizer to fix this issue.
+INFO 2025-12-25 07:02:01 ils/spawn.py:77 gcc -pthread -B /home/zkj/miniconda3/envs/unitree_groot/compiler_compat -Wno-unused-result -Wsign-compare -DNDEBUG -fwrapv -O2 -Wall -fPIC -O2 -isystem /home/zkj/miniconda3/envs/unitree_groot/include -fPIC -O2 -isystem /home/zkj/miniconda3/envs/unitree_groot/include -fPIC -c /tmp/tmpozjcnmqa/test.c -o /tmp/tmpozjcnmqa/test.o
+INFO 2025-12-25 07:02:01 ils/spawn.py:77 gcc -pthread -B /home/zkj/miniconda3/envs/unitree_groot/compiler_compat /tmp/tmpozjcnmqa/test.o -laio -o /tmp/tmpozjcnmqa/a.out
+INFO 2025-12-25 07:02:02 ils/spawn.py:77 gcc -pthread -B /home/zkj/miniconda3/envs/unitree_groot/compiler_compat -Wno-unused-result -Wsign-compare -DNDEBUG -fwrapv -O2 -Wall -fPIC -O2 -isystem /home/zkj/miniconda3/envs/unitree_groot/include -fPIC -O2 -isystem /home/zkj/miniconda3/envs/unitree_groot/include -fPIC -c /tmp/tmp92_1aqym/test.c -o /tmp/tmp92_1aqym/test.o
+INFO 2025-12-25 07:02:02 ils/spawn.py:77 gcc -pthread -B /home/zkj/miniconda3/envs/unitree_groot/compiler_compat /tmp/tmp92_1aqym/test.o -L/usr/local/cuda -L/usr/local/cuda/lib64 -lcufile -o /tmp/tmp92_1aqym/a.out
+INFO 2025-12-25 07:02:02 ils/spawn.py:77 gcc -pthread -B /home/zkj/miniconda3/envs/unitree_groot/compiler_compat -Wno-unused-result -Wsign-compare -DNDEBUG -fwrapv -O2 -Wall -fPIC -O2 -isystem /home/zkj/miniconda3/envs/unitree_groot/include -fPIC -O2 -isystem /home/zkj/miniconda3/envs/unitree_groot/include -fPIC -c /tmp/tmp36gpd3s8/test.c -o /tmp/tmp36gpd3s8/test.o
+INFO 2025-12-25 07:02:02 ils/spawn.py:77 gcc -pthread -B /home/zkj/miniconda3/envs/unitree_groot/compiler_compat /tmp/tmp36gpd3s8/test.o -laio -o /tmp/tmp36gpd3s8/a.out
+INFO 2025-12-25 07:19:59 ot_train.py:351 step:200 smpl:51K ep:78 epch:0.13 loss:0.254 grdn:1.041 lr:2.0e-05 updt_s:2.385 data_s:3.172
+INFO 2025-12-25 07:37:32 ot_train.py:351 step:400 smpl:102K ep:155 epch:0.26 loss:0.043 grdn:0.228 lr:6.0e-05 updt_s:2.374 data_s:2.889
+INFO 2025-12-25 07:55:40 ot_train.py:351 step:600 smpl:154K ep:233 epch:0.39 loss:0.027 grdn:0.216 lr:9.5e-05 updt_s:2.373 data_s:3.069
+INFO 2025-12-25 08:13:17 ot_train.py:351 step:800 smpl:205K ep:311 epch:0.53 loss:0.021 grdn:0.178 lr:9.9e-05 updt_s:2.374 data_s:2.908
+INFO 2025-12-25 08:31:12 ot_train.py:351 step:1K smpl:256K ep:389 epch:0.66 loss:0.018 grdn:0.172 lr:9.8e-05 updt_s:2.374 data_s:3.004
+INFO 2025-12-25 08:48:41 ot_train.py:351 step:1K smpl:307K ep:466 epch:0.79 loss:0.016 grdn:0.154 lr:9.7e-05 updt_s:2.374 data_s:2.867
+INFO 2025-12-25 09:06:22 ot_train.py:351 step:1K smpl:358K ep:544 epch:0.92 loss:0.014 grdn:0.148 lr:9.6e-05 updt_s:2.374 data_s:2.930
+INFO 2025-12-25 09:23:42 ot_train.py:351 step:2K smpl:410K ep:622 epch:1.05 loss:0.014 grdn:0.149 lr:9.5e-05 updt_s:2.376 data_s:2.826
+INFO 2025-12-25 09:41:15 ot_train.py:351 step:2K smpl:461K ep:700 epch:1.18 loss:0.013 grdn:0.141 lr:9.4e-05 updt_s:2.374 data_s:2.890
+INFO 2025-12-25 09:58:58 ot_train.py:351 step:2K smpl:512K ep:777 epch:1.31 loss:0.012 grdn:0.141 lr:9.2e-05 updt_s:2.374 data_s:2.942
+INFO 2025-12-25 10:16:31 ot_train.py:351 step:2K smpl:563K ep:855 epch:1.44 loss:0.012 grdn:0.136 lr:9.1e-05 updt_s:2.375 data_s:2.886
+INFO 2025-12-25 10:34:03 ot_train.py:351 step:2K smpl:614K ep:933 epch:1.58 loss:0.011 grdn:0.127 lr:8.9e-05 updt_s:2.374 data_s:2.887
+INFO 2025-12-25 10:51:35 ot_train.py:351 step:3K smpl:666K ep:1K epch:1.71 loss:0.011 grdn:0.126 lr:8.7e-05 updt_s:2.374 data_s:2.884
+INFO 2025-12-25 11:09:08 ot_train.py:351 step:3K smpl:717K ep:1K epch:1.84 loss:0.010 grdn:0.125 lr:8.5e-05 updt_s:2.374 data_s:2.892
+INFO 2025-12-25 11:26:42 ot_train.py:351 step:3K smpl:768K ep:1K epch:1.97 loss:0.010 grdn:0.119 lr:8.3e-05 updt_s:2.374 data_s:2.893
+INFO 2025-12-25 11:44:04 ot_train.py:351 step:3K smpl:819K ep:1K epch:2.10 loss:0.010 grdn:0.118 lr:8.0e-05 updt_s:2.373 data_s:2.841
+INFO 2025-12-25 12:01:37 ot_train.py:351 step:3K smpl:870K ep:1K epch:2.23 loss:0.009 grdn:0.112 lr:7.8e-05 updt_s:2.374 data_s:2.890
+INFO 2025-12-25 12:19:10 ot_train.py:351 step:4K smpl:922K ep:1K epch:2.36 loss:0.009 grdn:0.114 lr:7.5e-05 updt_s:2.374 data_s:2.887
+INFO 2025-12-25 12:36:42 ot_train.py:351 step:4K smpl:973K ep:1K epch:2.50 loss:0.009 grdn:0.114 lr:7.3e-05 updt_s:2.374 data_s:2.886
+INFO 2025-12-25 12:54:17 ot_train.py:351 step:4K smpl:1M ep:2K epch:2.63 loss:0.009 grdn:0.110 lr:7.0e-05 updt_s:2.374 data_s:2.904
+INFO 2025-12-25 13:11:53 ot_train.py:351 step:4K smpl:1M ep:2K epch:2.76 loss:0.009 grdn:0.104 lr:6.8e-05 updt_s:2.374 data_s:2.904
+INFO 2025-12-25 13:29:26 ot_train.py:351 step:4K smpl:1M ep:2K epch:2.89 loss:0.008 grdn:0.103 lr:6.5e-05 updt_s:2.374 data_s:2.891
+INFO 2025-12-25 13:46:55 ot_train.py:351 step:5K smpl:1M ep:2K epch:3.02 loss:0.008 grdn:0.099 lr:6.2e-05 updt_s:2.372 data_s:2.872
+INFO 2025-12-25 14:04:29 ot_train.py:351 step:5K smpl:1M ep:2K epch:3.15 loss:0.008 grdn:0.103 lr:5.9e-05 updt_s:2.374 data_s:2.896
+INFO 2025-12-25 14:22:05 ot_train.py:351 step:5K smpl:1M ep:2K epch:3.28 loss:0.008 grdn:0.099 lr:5.6e-05 updt_s:2.373 data_s:2.905
+INFO 2025-12-25 14:39:40 ot_train.py:351 step:5K smpl:1M ep:2K epch:3.41 loss:0.007 grdn:0.097 lr:5.4e-05 updt_s:2.373 data_s:2.902
+INFO 2025-12-25 14:57:18 ot_train.py:351 step:5K smpl:1M ep:2K epch:3.55 loss:0.007 grdn:0.097 lr:5.1e-05 updt_s:2.374 data_s:2.916
+INFO 2025-12-25 15:14:51 ot_train.py:351 step:6K smpl:1M ep:2K epch:3.68 loss:0.007 grdn:0.090 lr:4.8e-05 updt_s:2.374 data_s:2.889
+INFO 2025-12-25 15:32:26 ot_train.py:351 step:6K smpl:1M ep:2K epch:3.81 loss:0.007 grdn:0.093 lr:4.5e-05 updt_s:2.374 data_s:2.901
+INFO 2025-12-25 15:49:58 ot_train.py:351 step:6K smpl:2M ep:2K epch:3.94 loss:0.007 grdn:0.086 lr:4.2e-05 updt_s:2.373 data_s:2.886
+INFO 2025-12-25 16:07:28 ot_train.py:351 step:6K smpl:2M ep:2K epch:4.07 loss:0.007 grdn:0.083 lr:4.0e-05 updt_s:2.372 data_s:2.879
+INFO 2025-12-25 16:25:04 ot_train.py:351 step:6K smpl:2M ep:2K epch:4.20 loss:0.006 grdn:0.082 lr:3.7e-05 updt_s:2.373 data_s:2.905
+INFO 2025-12-25 16:42:38 ot_train.py:351 step:7K smpl:2M ep:3K epch:4.33 loss:0.006 grdn:0.084 lr:3.5e-05 updt_s:2.373 data_s:2.897
+INFO 2025-12-25 17:00:16 ot_train.py:351 step:7K smpl:2M ep:3K epch:4.47 loss:0.006 grdn:0.077 lr:3.2e-05 updt_s:2.373 data_s:2.914
+INFO 2025-12-25 17:17:51 ot_train.py:351 step:7K smpl:2M ep:3K epch:4.60 loss:0.006 grdn:0.079 lr:3.0e-05 updt_s:2.373 data_s:2.904
+INFO 2025-12-25 17:35:23 ot_train.py:351 step:7K smpl:2M ep:3K epch:4.73 loss:0.006 grdn:0.076 lr:2.7e-05 updt_s:2.373 data_s:2.885
+INFO 2025-12-25 17:52:56 ot_train.py:351 step:7K smpl:2M ep:3K epch:4.86 loss:0.006 grdn:0.072 lr:2.5e-05 updt_s:2.373 data_s:2.889
+INFO 2025-12-25 18:10:30 ot_train.py:351 step:8K smpl:2M ep:3K epch:4.99 loss:0.006 grdn:0.073 lr:2.3e-05 updt_s:2.373 data_s:2.900
+INFO 2025-12-25 18:28:01 ot_train.py:351 step:8K smpl:2M ep:3K epch:5.12 loss:0.006 grdn:0.073 lr:2.1e-05 updt_s:2.372 data_s:2.879
+INFO 2025-12-25 18:45:36 ot_train.py:351 step:8K smpl:2M ep:3K epch:5.25 loss:0.005 grdn:0.071 lr:1.9e-05 updt_s:2.373 data_s:2.905
+INFO 2025-12-25 19:03:08 ot_train.py:351 step:8K smpl:2M ep:3K epch:5.38 loss:0.005 grdn:0.068 lr:1.8e-05 updt_s:2.373 data_s:2.884
+INFO 2025-12-25 19:20:41 ot_train.py:351 step:8K smpl:2M ep:3K epch:5.52 loss:0.005 grdn:0.066 lr:1.6e-05 updt_s:2.373 data_s:2.895
+INFO 2025-12-25 19:38:13 ot_train.py:351 step:9K smpl:2M ep:3K epch:5.65 loss:0.005 grdn:0.064 lr:1.5e-05 updt_s:2.374 data_s:2.883
+INFO 2025-12-25 19:55:44 ot_train.py:351 step:9K smpl:2M ep:3K epch:5.78 loss:0.005 grdn:0.063 lr:1.4e-05 updt_s:2.373 data_s:2.885
+INFO 2025-12-25 20:13:12 ot_train.py:351 step:9K smpl:2M ep:3K epch:5.91 loss:0.005 grdn:0.061 lr:1.3e-05 updt_s:2.374 data_s:2.862
+INFO 2025-12-25 20:30:36 ot_train.py:351 step:9K smpl:2M ep:4K epch:6.04 loss:0.005 grdn:0.062 lr:1.2e-05 updt_s:2.373 data_s:2.847
+INFO 2025-12-25 20:48:12 ot_train.py:351 step:9K smpl:2M ep:4K epch:6.17 loss:0.005 grdn:0.061 lr:1.1e-05 updt_s:2.373 data_s:2.910
+INFO 2025-12-25 21:05:49 ot_train.py:351 step:10K smpl:2M ep:4K epch:6.30 loss:0.005 grdn:0.062 lr:1.1e-05 updt_s:2.373 data_s:2.907
+INFO 2025-12-25 21:23:24 ot_train.py:351 step:10K smpl:3M ep:4K epch:6.44 loss:0.005 grdn:0.062 lr:1.0e-05 updt_s:2.372 data_s:2.904
+INFO 2025-12-25 21:41:02 ot_train.py:351 step:10K smpl:3M ep:4K epch:6.57 loss:0.005 grdn:0.059 lr:1.0e-05 updt_s:2.372 data_s:2.915
+INFO 2025-12-25 21:58:35 ot_train.py:351 step:10K smpl:3M ep:4K epch:6.70 loss:0.005 grdn:0.061 lr:1.0e-05 updt_s:2.373 data_s:2.893
+INFO 2025-12-25 22:16:11 ot_train.py:351 step:10K smpl:3M ep:4K epch:6.83 loss:0.005 grdn:0.060 lr:1.0e-05 updt_s:2.373 data_s:2.908
+INFO 2025-12-25 22:33:46 ot_train.py:351 step:11K smpl:3M ep:4K epch:6.96 loss:0.005 grdn:0.062 lr:1.0e-05 updt_s:2.373 data_s:2.899
+INFO 2025-12-25 22:51:11 ot_train.py:351 step:11K smpl:3M ep:4K epch:7.09 loss:0.005 grdn:0.060 lr:1.0e-05 updt_s:2.372 data_s:2.856
+INFO 2025-12-25 23:08:42 ot_train.py:351 step:11K smpl:3M ep:4K epch:7.22 loss:0.005 grdn:0.060 lr:1.0e-05 updt_s:2.373 data_s:2.878
+INFO 2025-12-25 23:26:15 ot_train.py:351 step:11K smpl:3M ep:4K epch:7.35 loss:0.005 grdn:0.061 lr:1.0e-05 updt_s:2.372 data_s:2.894
+INFO 2025-12-25 23:43:45 ot_train.py:351 step:11K smpl:3M ep:4K epch:7.49 loss:0.005 grdn:0.062 lr:1.0e-05 updt_s:2.374 data_s:2.875
+INFO 2025-12-26 00:01:16 ot_train.py:351 step:12K smpl:3M ep:5K epch:7.62 loss:0.005 grdn:0.061 lr:1.0e-05 updt_s:2.374 data_s:2.882
+INFO 2025-12-26 00:18:46 ot_train.py:351 step:12K smpl:3M ep:5K epch:7.75 loss:0.005 grdn:0.060 lr:1.0e-05 updt_s:2.374 data_s:2.873
+INFO 2025-12-26 00:36:16 ot_train.py:351 step:12K smpl:3M ep:5K epch:7.88 loss:0.005 grdn:0.061 lr:1.0e-05 updt_s:2.374 data_s:2.875
+INFO 2025-12-26 00:53:35 ot_train.py:351 step:12K smpl:3M ep:5K epch:8.01 loss:0.005 grdn:0.061 lr:1.0e-05 updt_s:2.372 data_s:2.826
+INFO 2025-12-26 01:11:10 ot_train.py:351 step:12K smpl:3M ep:5K epch:8.14 loss:0.005 grdn:0.061 lr:1.0e-05 updt_s:2.373 data_s:2.897
+INFO 2025-12-26 01:28:41 ot_train.py:351 step:13K smpl:3M ep:5K epch:8.27 loss:0.005 grdn:0.059 lr:1.0e-05 updt_s:2.373 data_s:2.882
+INFO 2025-12-26 01:46:17 ot_train.py:351 step:13K smpl:3M ep:5K epch:8.41 loss:0.005 grdn:0.060 lr:1.0e-05 updt_s:2.372 data_s:2.909
+INFO 2025-12-26 02:03:56 ot_train.py:351 step:13K smpl:3M ep:5K epch:8.54 loss:0.005 grdn:0.059 lr:1.0e-05 updt_s:2.372 data_s:2.922
+INFO 2025-12-26 02:21:33 ot_train.py:351 step:13K smpl:3M ep:5K epch:8.67 loss:0.005 grdn:0.062 lr:1.0e-05 updt_s:2.372 data_s:2.914
+INFO 2025-12-26 02:39:10 ot_train.py:351 step:13K smpl:3M ep:5K epch:8.80 loss:0.005 grdn:0.061 lr:1.0e-05 updt_s:2.373 data_s:2.909
+INFO 2025-12-26 02:56:48 ot_train.py:351 step:14K smpl:3M ep:5K epch:8.93 loss:0.004 grdn:0.058 lr:1.0e-05 updt_s:2.373 data_s:2.917
+INFO 2025-12-26 03:14:17 ot_train.py:351 step:14K smpl:4M ep:5K epch:9.06 loss:0.005 grdn:0.061 lr:1.0e-05 updt_s:2.372 data_s:2.872
+INFO 2025-12-26 03:31:52 ot_train.py:351 step:14K smpl:4M ep:5K epch:9.19 loss:0.005 grdn:0.062 lr:1.0e-05 updt_s:2.373 data_s:2.901
+INFO 2025-12-26 03:49:24 ot_train.py:351 step:14K smpl:4M ep:6K epch:9.32 loss:0.004 grdn:0.061 lr:1.0e-05 updt_s:2.373 data_s:2.891
+INFO 2025-12-26 04:06:55 ot_train.py:351 step:14K smpl:4M ep:6K epch:9.46 loss:0.004 grdn:0.058 lr:1.0e-05 updt_s:2.373 data_s:2.880
+INFO 2025-12-26 04:24:29 ot_train.py:351 step:15K smpl:4M ep:6K epch:9.59 loss:0.004 grdn:0.060 lr:1.0e-05 updt_s:2.375 data_s:2.892
+INFO 2025-12-26 04:42:00 ot_train.py:351 step:15K smpl:4M ep:6K epch:9.72 loss:0.004 grdn:0.059 lr:1.0e-05 updt_s:2.379 data_s:2.876
+INFO 2025-12-26 04:59:51 ot_train.py:351 step:15K smpl:4M ep:6K epch:9.85 loss:0.004 grdn:0.059 lr:1.0e-05 updt_s:2.377 data_s:2.980
+INFO 2025-12-26 05:17:57 ot_train.py:351 step:15K smpl:4M ep:6K epch:9.98 loss:0.004 grdn:0.063 lr:1.0e-05 updt_s:2.378 data_s:3.048
+INFO 2025-12-26 05:35:54 ot_train.py:351 step:15K smpl:4M ep:6K epch:10.11 loss:0.004 grdn:0.059 lr:1.0e-05 updt_s:2.378 data_s:3.008
+INFO 2025-12-26 05:53:55 ot_train.py:351 step:16K smpl:4M ep:6K epch:10.24 loss:0.004 grdn:0.060 lr:1.0e-05 updt_s:2.375 data_s:3.030
+INFO 2025-12-26 06:11:58 ot_train.py:351 step:16K smpl:4M ep:6K epch:10.38 loss:0.004 grdn:0.060 lr:1.0e-05 updt_s:2.373 data_s:3.044
+INFO 2025-12-26 06:30:03 ot_train.py:351 step:16K smpl:4M ep:6K epch:10.51 loss:0.004 grdn:0.061 lr:1.0e-05 updt_s:2.372 data_s:3.050
+INFO 2025-12-26 06:48:04 ot_train.py:351 step:16K smpl:4M ep:6K epch:10.64 loss:0.004 grdn:0.060 lr:1.0e-05 updt_s:2.372 data_s:3.032
+INFO 2025-12-26 07:06:06 ot_train.py:351 step:16K smpl:4M ep:6K epch:10.77 loss:0.004 grdn:0.060 lr:1.0e-05 updt_s:2.373 data_s:3.036
+INFO 2025-12-26 07:24:10 ot_train.py:351 step:17K smpl:4M ep:6K epch:10.90 loss:0.004 grdn:0.061 lr:1.0e-05 updt_s:2.372 data_s:3.049
+INFO 2025-12-26 07:42:07 ot_train.py:351 step:17K smpl:4M ep:7K epch:11.03 loss:0.004 grdn:0.059 lr:1.0e-05 updt_s:2.374 data_s:3.012
+INFO 2025-12-26 08:00:12 ot_train.py:351 step:17K smpl:4M ep:7K epch:11.16 loss:0.004 grdn:0.061 lr:1.0e-05 updt_s:2.373 data_s:3.053
+INFO 2025-12-26 08:18:16 ot_train.py:351 step:17K smpl:4M ep:7K epch:11.29 loss:0.004 grdn:0.061 lr:1.0e-05 updt_s:2.372 data_s:3.047
+INFO 2025-12-26 08:36:16 ot_train.py:351 step:17K smpl:4M ep:7K epch:11.43 loss:0.004 grdn:0.061 lr:1.0e-05 updt_s:2.375 data_s:3.023
+INFO 2025-12-26 08:54:19 ot_train.py:351 step:18K smpl:5M ep:7K epch:11.56 loss:0.004 grdn:0.060 lr:1.0e-05 updt_s:2.374 data_s:3.042
+INFO 2025-12-26 09:12:23 ot_train.py:351 step:18K smpl:5M ep:7K epch:11.69 loss:0.004 grdn:0.060 lr:1.0e-05 updt_s:2.372 data_s:3.046
+INFO 2025-12-26 09:30:25 ot_train.py:351 step:18K smpl:5M ep:7K epch:11.82 loss:0.004 grdn:0.060 lr:1.0e-05 updt_s:2.373 data_s:3.040
+INFO 2025-12-26 09:48:28 ot_train.py:351 step:18K smpl:5M ep:7K epch:11.95 loss:0.004 grdn:0.057 lr:1.0e-05 updt_s:2.373 data_s:3.038
+INFO 2025-12-26 10:06:25 ot_train.py:351 step:18K smpl:5M ep:7K epch:12.08 loss:0.004 grdn:0.061 lr:1.0e-05 updt_s:2.373 data_s:3.010
+INFO 2025-12-26 10:24:26 ot_train.py:351 step:19K smpl:5M ep:7K epch:12.21 loss:0.004 grdn:0.060 lr:1.0e-05 updt_s:2.373 data_s:3.036
+INFO 2025-12-26 10:42:30 ot_train.py:351 step:19K smpl:5M ep:7K epch:12.35 loss:0.004 grdn:0.059 lr:1.0e-05 updt_s:2.373 data_s:3.046
+INFO 2025-12-26 11:00:31 ot_train.py:351 step:19K smpl:5M ep:7K epch:12.48 loss:0.004 grdn:0.061 lr:1.0e-05 updt_s:2.373 data_s:3.030
+INFO 2025-12-26 11:18:42 ot_train.py:351 step:19K smpl:5M ep:7K epch:12.61 loss:0.004 grdn:0.059 lr:1.0e-05 updt_s:2.374 data_s:3.083
+INFO 2025-12-26 11:36:44 ot_train.py:351 step:19K smpl:5M ep:8K epch:12.74 loss:0.004 grdn:0.059 lr:1.0e-05 updt_s:2.378 data_s:3.030
+INFO 2025-12-26 11:54:43 ot_train.py:351 step:20K smpl:5M ep:8K epch:12.87 loss:0.004 grdn:0.056 lr:1.0e-05 updt_s:2.383 data_s:3.013
+INFO 2025-12-26 12:12:17 ot_train.py:351 step:20K smpl:5M ep:8K epch:13.00 loss:0.004 grdn:0.061 lr:1.0e-05 updt_s:2.381 data_s:2.889
+INFO 2025-12-26 12:29:58 ot_train.py:351 step:20K smpl:5M ep:8K epch:13.13 loss:0.004 grdn:0.065 lr:1.0e-05 updt_s:2.383 data_s:2.921
+INFO 2025-12-26 12:29:58 ot_train.py:361 Checkpoint policy after step 20000
+INFO 2025-12-26 12:49:18 ot_train.py:351 step:20K smpl:5M ep:8K epch:13.26 loss:0.004 grdn:0.062 lr:1.0e-05 updt_s:2.379 data_s:3.007
+Traceback (most recent call last):
+  File "/mars_data/zuo/unitree_IL_lerobot/unitree_lerobot/lerobot/src/lerobot/scripts/lerobot_train.py", line 448, in <module>
+    main()
+  File "/mars_data/zuo/unitree_IL_lerobot/unitree_lerobot/lerobot/src/lerobot/scripts/lerobot_train.py", line 444, in main
+    train()
+  File "/mars_data/zuo/unitree_IL_lerobot/unitree_lerobot/lerobot/src/lerobot/configs/parser.py", line 233, in wrapper_inner
+    response = fn(cfg, *args, **kwargs)
+  File "/mars_data/zuo/unitree_IL_lerobot/unitree_lerobot/lerobot/src/lerobot/scripts/lerobot_train.py", line 332, in train
+    train_tracker, output_dict = update_policy(
+  File "/mars_data/zuo/unitree_IL_lerobot/unitree_lerobot/lerobot/src/lerobot/scripts/lerobot_train.py", line 119, in update_policy
+    train_metrics.loss = loss.item()
+KeyboardInterrupt
+Traceback (most recent call last):
+  File "/mars_data/zuo/unitree_IL_lerobot/unitree_lerobot/lerobot/src/lerobot/scripts/lerobot_train.py", line 448, in <module>
+    main()
+  File "/mars_data/zuo/unitree_IL_lerobot/unitree_lerobot/lerobot/src/lerobot/scripts/lerobot_train.py", line 444, in main
+    train()
+  File "/mars_data/zuo/unitree_IL_lerobot/unitree_lerobot/lerobot/src/lerobot/configs/parser.py", line 233, in wrapper_inner
+    response = fn(cfg, *args, **kwargs)
+  File "/mars_data/zuo/unitree_IL_lerobot/unitree_lerobot/lerobot/src/lerobot/scripts/lerobot_train.py", line 332, in train
+    train_tracker, output_dict = update_policy(
+  File "/mars_data/zuo/unitree_IL_lerobot/unitree_lerobot/lerobot/src/lerobot/scripts/lerobot_train.py", line 119, in update_policy
+    train_metrics.loss = loss.item()
+KeyboardInterrupt

wandb/run-20251225_070122-icrg7bac/files/requirements.txt

@@ -0,0 +1,163 @@
+termcolor==3.2.0
+propcache==0.4.1
+nvidia-nccl-cu12==2.26.2
+orderly-set==5.5.0
+nvidia-cuda-nvrtc-cu12==12.6.77
+certifi==2025.11.12
+importlib_metadata==8.7.0
+ninja==1.13.0
+nvidia-cuda-cupti-cu12==12.6.80
+markdown-it-py==4.0.0
+mergedeep==1.3.4
+opencv-python-headless==4.12.0.88
+wrapt==2.0.1
+setuptools==80.9.0
+traitlets==5.14.3
+transformers==4.57.3
+torchvision==0.22.1
+charset-normalizer==3.4.4
+wcwidth==0.2.14
+prompt_toolkit==3.0.52
+Pygments==2.19.2
+deepspeed==0.17.6
+multiprocess==0.70.16
+executing==2.2.1
+PyYAML==6.0.3
+filelock==3.20.1
+pytz==2025.2
+aiohappyeyeballs==2.6.1
+pyyaml-include==1.4.1
+pillow==12.0.0
+frozenlist==1.8.0
+hf_transfer==0.1.9
+fsspec==2025.9.0
+typer-slim==0.20.1
+nvidia-cuda-runtime-cu12==12.6.77
+safetensors==0.7.0
+wheel==0.45.1
+nvidia-cusolver-cu12==11.7.1.2
+httpx==0.28.1
+click==8.3.1
+aiohttp==3.13.2
+nvidia-nvjitlink-cu12==12.6.85
+smmap==5.0.2
+logging-mp==0.1.6
+urllib3==2.6.2
+Jinja2==3.1.6
+annotated-types==0.7.0
+cmake==4.1.3
+stack-data==0.6.3
+mdurl==0.1.2
+nvidia-cusparselt-cu12==0.6.3
+pyzmq==27.1.0
+matplotlib==3.10.8
+lerobot==0.4.1
+pip==25.3
+u-msgpack-python==2.8.0
+sentry-sdk==2.48.0
+jsonlines==4.0.0
+async-timeout==5.0.1
+typeguard==4.4.4
+h11==0.16.0
+torchcodec==0.5
+psutil==7.1.3
+python-dateutil==2.9.0.post0
+huggingface-hub==0.35.3
+wandb==0.21.4
+diffusers==0.35.2
+msgpack==1.1.2
+requests==2.32.5
+MarkupSafe==3.0.3
+typing_extensions==4.15.0
+protobuf==6.33.2
+deepdiff==8.6.1
+nvidia-curand-cu12==10.3.7.77
+cloudpickle==3.1.2
+draccus==0.10.0
+nvidia-cusparse-cu12==12.5.4.2
+sympy==1.14.0
+Farama-Notifications==0.0.4
+parso==0.8.5
+pydantic==2.12.5
+mpmath==1.3.0
+ptyprocess==0.7.0
+idna==3.11
+accelerate==1.12.0
+nvidia-ml-py==13.590.44
+pyserial==3.5
+nvidia-cudnn-cu12==9.5.1.17
+toml==0.10.2
+zipp==3.23.0
+dill==0.4.0
+imageio-ffmpeg==0.6.0
+anyio==4.12.0
+evdev==1.9.2
+py-cpuinfo==9.0.0
+nvidia-cufile-cu12==1.11.1.6
+triton==3.3.1
+tokenizers==0.22.1
+cycler==0.12.1
+pexpect==4.9.0
+matplotlib-inline==0.2.1
+casadi==3.7.0
+tyro==1.0.2
+networkx==3.4.2
+numpy==2.2.6
+regex==2025.11.3
+pyngrok==7.5.0
+tornado==6.5.4
+ipython==8.37.0
+pynput==1.8.1
+gymnasium==1.2.3
+pydantic_core==2.41.5
+nvidia-nvtx-cu12==12.6.77
+meshcat==0.3.2
+multidict==6.7.0
+pfzy==0.3.4
+kiwisolver==1.4.9
+pyarrow==22.0.0
+unitree_lerobot==0.3.0
+typing-inspection==0.4.2
+fonttools==4.61.1
+ImageIO==2.37.2
+datasets==4.1.1
+rich==14.2.0
+flash_attn==2.7.4.post1
+jedi==0.19.2
+torch==2.7.1
+pyparsing==3.2.5
+absl-py==2.3.1
+aiosignal==1.4.0
+nvidia-cublas-cu12==12.6.4.1
+xxhash==3.6.0
+einops==0.8.1
+dm-tree==0.1.9
+python-xlib==0.33
+shellingham==1.5.4
+pure_eval==0.2.3
+inquirerpy==0.3.4
+httpcore==1.0.9
+attrs==25.4.0
+hjson==3.1.0
+docstring_parser==0.17.0
+platformdirs==4.5.1
+asttokens==3.0.1
+GitPython==3.1.45
+scipy==1.15.2
+tqdm==4.67.1
+hf-xet==1.2.0
+gitdb==4.0.12
+yarl==1.22.0
+typing-inspect==0.9.0
+decorator==5.2.1
+tzdata==2025.3
+av==15.1.0
+nvidia-cufft-cu12==11.3.0.4
+pandas==2.3.3
+peft==0.18.0
+contourpy==1.3.2
+exceptiongroup==1.3.1
+packaging==25.0
+mypy_extensions==1.1.0
+six==1.17.0
+rerun-sdk==0.26.2

wandb/run-20251225_070122-icrg7bac/files/wandb-metadata.json

@@ -0,0 +1,54 @@
+{
+  "os":  "Linux-6.8.0-1044-azure-x86_64-with-glibc2.35",
+  "python":  "CPython 3.10.19",
+  "startedAt":  "2025-12-25T07:01:22.155419Z",
+  "args":  [
+    "--dataset.repo_id=ZUO66/handover_drinks",
+    "--policy.type=groot",
+    "--policy.repo_id=ZUO66/groot_handover",
+    "--policy.push_to_hub=false",
+    "--policy.tune_diffusion_model=false",
+    "--output_dir=outputs/train/groot_handover",
+    "--steps=200000",
+    "--batch_size=256",
+    "--num_workers=4",
+    "--save_freq=20000",
+    "--wandb.enable=true",
+    "--wandb.project=zuo_handover",
+    "--job_name=groot_training"
+  ],
+  "program":  "/mars_data/zuo/unitree_IL_lerobot/unitree_lerobot/lerobot/src/lerobot/scripts/lerobot_train.py",
+  "codePath":  "src/lerobot/scripts/lerobot_train.py",
+  "codePathLocal":  "src/lerobot/scripts/lerobot_train.py",
+  "git":  {
+    "remote":  "https://github.com/huggingface/lerobot",
+    "commit":  "a5b29d430105f5235eb05bbf2db5a0d747a869d6"
+  },
+  "root":  "outputs/train/groot_handover",
+  "host":  "A100-001",
+  "executable":  "/home/zkj/miniconda3/envs/unitree_groot/bin/python",
+  "cpu_count":  24,
+  "cpu_count_logical":  24,
+  "gpu":  "NVIDIA A100 80GB PCIe",
+  "gpu_count":  1,
+  "disk":  {
+    "/":  {
+      "total":  "133003395072",
+      "used":  "85148712960"
+    }
+  },
+  "memory":  {
+    "total":  "232157089792"
+  },
+  "gpu_nvidia":  [
+    {
+      "name":  "NVIDIA A100 80GB PCIe",
+      "memoryTotal":  "85899345920",
+      "cudaCores":  6912,
+      "architecture":  "Ampere",
+      "uuid":  "GPU-832485e3-d8d0-5e70-e283-e0c82bba7b75"
+    }
+  ],
+  "cudaVersion":  "13.0",
+  "writerId":  "jwnifu8elm3l78p0yqg1xmxltlir0nrp"
+}

wandb/run-20251225_070122-icrg7bac/files/wandb-summary.json

@@ -0,0 +1 @@
+{"_step":20200,"train/grad_norm":0.062366594709455964,"_wandb":{"runtime":108222},"train/epochs":13.264520895108912,"train/lr":1.0000000000000021e-05,"_timestamp":1.7667533585842483e+09,"train/loss":0.005282584112137556,"train/samples":5171200,"train/dataloading_s":3.0068831166699237,"_runtime":108222.324645603,"train/update_s":2.379020489744653,"train/episodes":7852.596369904477,"train/steps":20200}

wandb/run-20251225_070122-icrg7bac/logs/debug-core.log

@@ -0,0 +1,15 @@
+{"time":"2025-12-25T07:01:22.173763078Z","level":"INFO","msg":"main: starting server","port-filename":"/tmp/tmprd56xvt4/port-10525.txt","pid":10525,"log-level":0,"disable-analytics":false,"shutdown-on-parent-exit":false,"enable-dcgm-profiling":false}
+{"time":"2025-12-25T07:01:22.174353473Z","level":"INFO","msg":"server: will exit if parent process dies","ppid":10525}
+{"time":"2025-12-25T07:01:22.17427193Z","level":"INFO","msg":"server: accepting connections","addr":{"Name":"/tmp/wandb-10525-10593-2209125537/socket","Net":"unix"}}
+{"time":"2025-12-25T07:01:22.362506867Z","level":"INFO","msg":"connection: ManageConnectionData: new connection created","id":"1(@)"}
+{"time":"2025-12-25T07:01:22.37039906Z","level":"INFO","msg":"handleInformInit: received","streamId":"icrg7bac","id":"1(@)"}
+{"time":"2025-12-25T07:01:22.734213117Z","level":"INFO","msg":"handleInformInit: stream started","streamId":"icrg7bac","id":"1(@)"}
+{"time":"2025-12-26T13:05:05.336268811Z","level":"INFO","msg":"handleInformTeardown: server teardown initiated","id":"1(@)"}
+{"time":"2025-12-26T13:05:05.336356503Z","level":"INFO","msg":"connection: closing","id":"1(@)"}
+{"time":"2025-12-26T13:05:05.336378069Z","level":"INFO","msg":"server is shutting down"}
+{"time":"2025-12-26T13:05:05.336407881Z","level":"INFO","msg":"connection: closed successfully","id":"1(@)"}
+{"time":"2025-12-26T13:05:05.336489982Z","level":"INFO","msg":"server: listener closed","addr":{"Name":"/tmp/wandb-10525-10593-2209125537/socket","Net":"unix"}}
+{"time":"2025-12-26T13:05:05.356548493Z","level":"ERROR","msg":"processOutgoingData: flush error","error":"write unix /tmp/wandb-10525-10593-2209125537/socket->@: use of closed network connection","id":"1(@)"}
+{"time":"2025-12-26T13:05:05.883219074Z","level":"INFO","msg":"handleInformTeardown: server shutdown complete","id":"1(@)"}
+{"time":"2025-12-26T13:05:05.883267726Z","level":"INFO","msg":"connection: ManageConnectionData: connection closed","id":"1(@)"}
+{"time":"2025-12-26T13:05:05.883279789Z","level":"INFO","msg":"server is closed"}

wandb/run-20251225_070122-icrg7bac/logs/debug-internal.log

@@ -0,0 +1,11 @@
+{"time":"2025-12-25T07:01:22.370509287Z","level":"INFO","msg":"stream: starting","core version":"0.21.4"}
+{"time":"2025-12-25T07:01:22.734171749Z","level":"INFO","msg":"stream: created new stream","id":"icrg7bac"}
+{"time":"2025-12-25T07:01:22.734206214Z","level":"INFO","msg":"stream: started","id":"icrg7bac"}
+{"time":"2025-12-25T07:01:22.734358515Z","level":"INFO","msg":"handler: started","stream_id":"icrg7bac"}
+{"time":"2025-12-25T07:01:22.734396507Z","level":"INFO","msg":"sender: started","stream_id":"icrg7bac"}
+{"time":"2025-12-25T07:01:22.734420642Z","level":"INFO","msg":"writer: started","stream_id":"icrg7bac"}
+{"time":"2025-12-26T13:05:05.336330258Z","level":"INFO","msg":"stream: closing","id":"icrg7bac"}
+{"time":"2025-12-26T13:05:05.710387245Z","level":"INFO","msg":"fileTransfer: Close: file transfer manager closed"}
+{"time":"2025-12-26T13:05:05.87520904Z","level":"INFO","msg":"handler: closed","stream_id":"icrg7bac"}
+{"time":"2025-12-26T13:05:05.875362447Z","level":"INFO","msg":"sender: closed","stream_id":"icrg7bac"}
+{"time":"2025-12-26T13:05:05.875387605Z","level":"INFO","msg":"stream: closed","id":"icrg7bac"}

wandb/run-20251225_070122-icrg7bac/logs/debug.log

@@ -0,0 +1,89 @@
+2025-12-25 07:01:22,156 INFO    MainThread:10525 [wandb_setup.py:_flush():81] Current SDK version is 0.21.4
+2025-12-25 07:01:22,156 INFO    MainThread:10525 [wandb_setup.py:_flush():81] Configure stats pid to 10525
+2025-12-25 07:01:22,156 INFO    MainThread:10525 [wandb_setup.py:_flush():81] Loading settings from /home/zkj/.config/wandb/settings
+2025-12-25 07:01:22,156 INFO    MainThread:10525 [wandb_setup.py:_flush():81] Loading settings from /mars_data/zuo/unitree_IL_lerobot/unitree_lerobot/lerobot/wandb/settings
+2025-12-25 07:01:22,156 INFO    MainThread:10525 [wandb_setup.py:_flush():81] Loading settings from environment variables
+2025-12-25 07:01:22,156 INFO    MainThread:10525 [wandb_init.py:setup_run_log_directory():686] Logging user logs to outputs/train/groot_handover/wandb/run-20251225_070122-icrg7bac/logs/debug.log
+2025-12-25 07:01:22,156 INFO    MainThread:10525 [wandb_init.py:setup_run_log_directory():687] Logging internal logs to outputs/train/groot_handover/wandb/run-20251225_070122-icrg7bac/logs/debug-internal.log
+2025-12-25 07:01:22,156 INFO    MainThread:10525 [wandb_init.py:init():813] calling init triggers
+2025-12-25 07:01:22,156 INFO    MainThread:10525 [wandb_init.py:init():818] wandb.init called with sweep_config: {}
+config: {'dataset': {'repo_id': 'ZUO66/handover_drinks', 'root': None, 'episodes': None, 'image_transforms': {'enable': False, 'max_num_transforms': 3, 'random_order': False, 'tfs': {'brightness': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'brightness': [0.8, 1.2]}}, 'contrast': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'contrast': [0.8, 1.2]}}, 'saturation': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'saturation': [0.5, 1.5]}}, 'hue': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'hue': [-0.05, 0.05]}}, 'sharpness': {'weight': 1.0, 'type': 'SharpnessJitter', 'kwargs': {'sharpness': [0.5, 1.5]}}, 'affine': {'weight': 1.0, 'type': 'RandomAffine', 'kwargs': {'degrees': [-5.0, 5.0], 'translate': [0.05, 0.05]}}}}, 'revision': None, 'use_imagenet_stats': True, 'video_backend': 'torchcodec', 'streaming': False}, 'env': None, 'policy': {'type': 'groot', 'n_obs_steps': 1, 'input_features': {}, 'output_features': {}, 'device': 'cuda', 'use_amp': False, 'push_to_hub': False, 'repo_id': 'ZUO66/groot_handover', 'private': None, 'tags': None, 'license': None, 'pretrained_path': None, 'chunk_size': 50, 'n_action_steps': 50, 'max_state_dim': 64, 'max_action_dim': 32, 'normalization_mapping': {'VISUAL': <NormalizationMode.IDENTITY: 'IDENTITY'>, 'STATE': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'ACTION': <NormalizationMode.MEAN_STD: 'MEAN_STD'>}, 'image_size': [224, 224], 'base_model_path': 'nvidia/GR00T-N1.5-3B', 'tokenizer_assets_repo': 'lerobot/eagle2hg-processor-groot-n1p5', 'embodiment_tag': 'new_embodiment', 'tune_llm': False, 'tune_visual': False, 'tune_projector': True, 'tune_diffusion_model': False, 'lora_rank': 0, 'lora_alpha': 16, 'lora_dropout': 0.1, 'lora_full_model': False, 'optimizer_lr': 0.0001, 'optimizer_betas': [0.95, 0.999], 'optimizer_eps': 1e-08, 'optimizer_weight_decay': 1e-05, 'warmup_ratio': 0.05, 'use_bf16': True, 'video_backend': 'decord', 'balance_dataset_weights': True, 'balance_trajectory_weights': True, 'dataset_paths': None, 'output_dir': './tmp/gr00t', 'save_steps': 1000, 'max_steps': 10000, 'batch_size': 32, 'dataloader_num_workers': 8, 'report_to': 'wandb', 'resume': False}, 'output_dir': 'outputs/train/groot_handover', 'job_name': 'groot_training', 'resume': False, 'seed': 1000, 'num_workers': 4, 'batch_size': 256, 'steps': 200000, 'eval_freq': 20000, 'log_freq': 200, 'save_checkpoint': True, 'save_freq': 20000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adamw', 'lr': 0.0001, 'weight_decay': 1e-05, 'grad_clip_norm': 10.0, 'betas': [0.95, 0.999], 'eps': 1e-08}, 'scheduler': {'type': 'cosine_decay_with_warmup', 'num_warmup_steps': 500, 'num_decay_steps': 10000, 'peak_lr': 0.0001, 'decay_lr': 1e-05}, 'eval': {'n_episodes': 50, 'batch_size': 50, 'use_async_envs': False}, 'wandb': {'enable': True, 'disable_artifact': False, 'project': 'zuo_handover', 'entity': None, 'notes': None, 'run_id': None, 'mode': None}, 'checkpoint_path': None, 'rename_map': {}, '_wandb': {}}
+2025-12-25 07:01:22,157 INFO    MainThread:10525 [wandb_init.py:init():854] starting backend
+2025-12-25 07:01:22,362 INFO    MainThread:10525 [wandb_init.py:init():857] sending inform_init request
+2025-12-25 07:01:22,366 INFO    MainThread:10525 [wandb_init.py:init():865] backend started and connected
+2025-12-25 07:01:22,368 INFO    MainThread:10525 [wandb_init.py:init():936] updated telemetry
+2025-12-25 07:01:22,374 INFO    MainThread:10525 [wandb_init.py:init():960] communicating run to backend with 90.0 second timeout
+2025-12-25 07:01:23,010 INFO    MainThread:10525 [wandb_init.py:init():1011] starting run threads in backend
+2025-12-25 07:01:23,113 INFO    MainThread:10525 [wandb_run.py:_console_start():2506] atexit reg
+2025-12-25 07:01:23,114 INFO    MainThread:10525 [wandb_run.py:_redirect():2354] redirect: wrap_raw
+2025-12-25 07:01:23,114 INFO    MainThread:10525 [wandb_run.py:_redirect():2423] Wrapping output streams.
+2025-12-25 07:01:23,114 INFO    MainThread:10525 [wandb_run.py:_redirect():2446] Redirects installed.
+2025-12-25 07:01:23,118 INFO    MainThread:10525 [wandb_init.py:init():1049] run started, returning control to user process
+2025-12-26 13:05:05,336 INFO    wandb-AsyncioManager-main:10525 [service_client.py:_forward_responses():84] Reached EOF.
+2025-12-26 13:05:05,336 INFO    wandb-AsyncioManager-main:10525 [mailbox.py:close():137] Closing mailbox, abandoning 2 handles.
+2025-12-26 13:05:05,884 ERROR   wandb-AsyncioManager-main:10525 [asyncio_manager.py:fn_wrap_exceptions():183] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/site-packages/wandb/sdk/lib/asyncio_manager.py", line 181, in fn_wrap_exceptions
+    await fn()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/site-packages/wandb/sdk/lib/service/service_client.py", line 65, in _send_server_request
+    await self._writer.drain()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/asyncio/streams.py", line 371, in drain
+    await self._protocol._drain_helper()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/asyncio/streams.py", line 167, in _drain_helper
+    raise ConnectionResetError('Connection lost')
+ConnectionResetError: Connection lost
+2025-12-26 13:05:05,886 ERROR   wandb-AsyncioManager-main:10525 [asyncio_manager.py:fn_wrap_exceptions():183] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/site-packages/wandb/sdk/lib/asyncio_manager.py", line 181, in fn_wrap_exceptions
+    await fn()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/site-packages/wandb/sdk/lib/service/service_client.py", line 65, in _send_server_request
+    await self._writer.drain()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/asyncio/streams.py", line 371, in drain
+    await self._protocol._drain_helper()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/asyncio/streams.py", line 167, in _drain_helper
+    raise ConnectionResetError('Connection lost')
+ConnectionResetError: Connection lost
+2025-12-26 13:05:05,886 ERROR   wandb-AsyncioManager-main:10525 [asyncio_manager.py:fn_wrap_exceptions():183] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/site-packages/wandb/sdk/lib/asyncio_manager.py", line 181, in fn_wrap_exceptions
+    await fn()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/site-packages/wandb/sdk/lib/service/service_client.py", line 65, in _send_server_request
+    await self._writer.drain()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/asyncio/streams.py", line 371, in drain
+    await self._protocol._drain_helper()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/asyncio/streams.py", line 167, in _drain_helper
+    raise ConnectionResetError('Connection lost')
+ConnectionResetError: Connection lost
+2025-12-26 13:05:05,887 ERROR   wandb-AsyncioManager-main:10525 [asyncio_manager.py:fn_wrap_exceptions():183] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/site-packages/wandb/sdk/lib/asyncio_manager.py", line 181, in fn_wrap_exceptions
+    await fn()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/site-packages/wandb/sdk/lib/service/service_client.py", line 65, in _send_server_request
+    await self._writer.drain()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/asyncio/streams.py", line 371, in drain
+    await self._protocol._drain_helper()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/asyncio/streams.py", line 167, in _drain_helper
+    raise ConnectionResetError('Connection lost')
+ConnectionResetError: Connection lost
+2025-12-26 13:05:05,887 ERROR   wandb-AsyncioManager-main:10525 [asyncio_manager.py:fn_wrap_exceptions():183] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/site-packages/wandb/sdk/lib/asyncio_manager.py", line 181, in fn_wrap_exceptions
+    await fn()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/site-packages/wandb/sdk/lib/service/service_client.py", line 65, in _send_server_request
+    await self._writer.drain()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/asyncio/streams.py", line 371, in drain
+    await self._protocol._drain_helper()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/asyncio/streams.py", line 167, in _drain_helper
+    raise ConnectionResetError('Connection lost')
+ConnectionResetError: Connection lost
+2025-12-26 13:05:05,889 ERROR   wandb-AsyncioManager-main:10525 [asyncio_manager.py:fn_wrap_exceptions():183] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/site-packages/wandb/sdk/lib/asyncio_manager.py", line 181, in fn_wrap_exceptions
+    await fn()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/site-packages/wandb/sdk/lib/service/service_client.py", line 65, in _send_server_request
+    await self._writer.drain()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/asyncio/streams.py", line 371, in drain
+    await self._protocol._drain_helper()
+  File "/home/zkj/miniconda3/envs/unitree_groot/lib/python3.10/asyncio/streams.py", line 167, in _drain_helper
+    raise ConnectionResetError('Connection lost')
+ConnectionResetError: Connection lost

wandb/run-20251225_070122-icrg7bac/run-icrg7bac.wandb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:475fff0ea763eb569e49bf86704f6c7eb20d1a4cfa007711299758b78a96ee53
+size 6382405