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-20251213_112024-hxte4s1l/run-hxte4s1l.wandb filter=lfs diff=lfs merge=lfs -text

checkpoints/003000/pretrained_model/config.json

@@ -0,0 +1,92 @@
+{
+    "type": "pi05",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                14
+            ]
+        },
+        "observation.images.context": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                360,
+                640
+            ]
+        },
+        "observation.images.right_wrist": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                360,
+                640
+            ]
+        },
+        "observation.images.left_wrist": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                360,
+                640
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                14
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "push_to_hub": false,
+    "repo_id": "local/pi05",
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": "lerobot/pi05_base",
+    "paligemma_variant": "gemma_2b",
+    "action_expert_variant": "gemma_300m",
+    "dtype": "bfloat16",
+    "chunk_size": 50,
+    "n_action_steps": 50,
+    "max_state_dim": 32,
+    "max_action_dim": 32,
+    "num_inference_steps": 10,
+    "time_sampling_beta_alpha": 1.5,
+    "time_sampling_beta_beta": 1.0,
+    "time_sampling_scale": 0.999,
+    "time_sampling_offset": 0.001,
+    "min_period": 0.004,
+    "max_period": 4.0,
+    "rtc_config": null,
+    "image_resolution": [
+        224,
+        224
+    ],
+    "empty_cameras": 0,
+    "tokenizer_max_length": 200,
+    "normalization_mapping": {
+        "VISUAL": "IDENTITY",
+        "STATE": "QUANTILES",
+        "ACTION": "QUANTILES"
+    },
+    "gradient_checkpointing": true,
+    "compile_model": false,
+    "compile_mode": "max-autotune",
+    "optimizer_lr": 2.5e-05,
+    "optimizer_betas": [
+        0.9,
+        0.95
+    ],
+    "optimizer_eps": 1e-08,
+    "optimizer_weight_decay": 0.01,
+    "optimizer_grad_clip_norm": 1.0,
+    "scheduler_warmup_steps": 1000,
+    "scheduler_decay_steps": 30000,
+    "scheduler_decay_lr": 2.5e-06
+}

checkpoints/003000/pretrained_model/model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ac4ff5a16df193bc4d79cdc12b2712e6fdb5ccd7ad351e4daf4a3172aa324d5
+size 7473096344

checkpoints/003000/pretrained_model/policy_postprocessor.json

@@ -0,0 +1,32 @@
+{
+  "name": "policy_postprocessor",
+  "steps": [
+    {
+      "registry_name": "unnormalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              14
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "IDENTITY",
+          "STATE": "QUANTILES",
+          "ACTION": "QUANTILES"
+        }
+      },
+      "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cpu",
+        "float_dtype": null
+      }
+    }
+  ]
+}

checkpoints/003000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f99aec40164823a2f22a0ec5032e767eaa10338e84e19744d066a2daef88c7d0
+size 9328

checkpoints/003000/pretrained_model/policy_preprocessor.json

@@ -0,0 +1,87 @@
+{
+  "name": "policy_preprocessor",
+  "steps": [
+    {
+      "registry_name": "rename_observations_processor",
+      "config": {
+        "rename_map": {}
+      }
+    },
+    {
+      "registry_name": "to_batch_processor",
+      "config": {}
+    },
+    {
+      "registry_name": "normalizer_processor",
+      "config": {
+        "eps": 1e-08,
+        "features": {
+          "observation.state": {
+            "type": "STATE",
+            "shape": [
+              14
+            ]
+          },
+          "observation.images.context": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              360,
+              640
+            ]
+          },
+          "observation.images.right_wrist": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              360,
+              640
+            ]
+          },
+          "observation.images.left_wrist": {
+            "type": "VISUAL",
+            "shape": [
+              3,
+              360,
+              640
+            ]
+          },
+          "action": {
+            "type": "ACTION",
+            "shape": [
+              14
+            ]
+          }
+        },
+        "norm_map": {
+          "VISUAL": "IDENTITY",
+          "STATE": "QUANTILES",
+          "ACTION": "QUANTILES"
+        }
+      },
+      "state_file": "policy_preprocessor_step_2_normalizer_processor.safetensors"
+    },
+    {
+      "registry_name": "pi05_prepare_state_tokenizer_processor_step",
+      "config": {}
+    },
+    {
+      "registry_name": "tokenizer_processor",
+      "config": {
+        "max_length": 200,
+        "task_key": "task",
+        "padding_side": "right",
+        "padding": "max_length",
+        "truncation": true,
+        "tokenizer_name": "google/paligemma-3b-pt-224"
+      }
+    },
+    {
+      "registry_name": "device_processor",
+      "config": {
+        "device": "cuda",
+        "float_dtype": null
+      }
+    }
+  ]
+}

checkpoints/003000/pretrained_model/policy_preprocessor_step_2_normalizer_processor.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f99aec40164823a2f22a0ec5032e767eaa10338e84e19744d066a2daef88c7d0
+size 9328

checkpoints/003000/pretrained_model/train_config.json

@@ -0,0 +1,221 @@
+{
+    "dataset": {
+        "repo_id": "Zasha01/cube_transfer_final",
+        "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": "pi05",
+        "n_obs_steps": 1,
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    14
+                ]
+            },
+            "observation.images.context": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    360,
+                    640
+                ]
+            },
+            "observation.images.right_wrist": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    360,
+                    640
+                ]
+            },
+            "observation.images.left_wrist": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    360,
+                    640
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    14
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "push_to_hub": false,
+        "repo_id": "local/pi05",
+        "private": null,
+        "tags": null,
+        "license": null,
+        "pretrained_path": "lerobot/pi05_base",
+        "paligemma_variant": "gemma_2b",
+        "action_expert_variant": "gemma_300m",
+        "dtype": "bfloat16",
+        "chunk_size": 50,
+        "n_action_steps": 50,
+        "max_state_dim": 32,
+        "max_action_dim": 32,
+        "num_inference_steps": 10,
+        "time_sampling_beta_alpha": 1.5,
+        "time_sampling_beta_beta": 1.0,
+        "time_sampling_scale": 0.999,
+        "time_sampling_offset": 0.001,
+        "min_period": 0.004,
+        "max_period": 4.0,
+        "rtc_config": null,
+        "image_resolution": [
+            224,
+            224
+        ],
+        "empty_cameras": 0,
+        "tokenizer_max_length": 200,
+        "normalization_mapping": {
+            "VISUAL": "IDENTITY",
+            "STATE": "QUANTILES",
+            "ACTION": "QUANTILES"
+        },
+        "gradient_checkpointing": true,
+        "compile_model": false,
+        "compile_mode": "max-autotune",
+        "optimizer_lr": 2.5e-05,
+        "optimizer_betas": [
+            0.9,
+            0.95
+        ],
+        "optimizer_eps": 1e-08,
+        "optimizer_weight_decay": 0.01,
+        "optimizer_grad_clip_norm": 1.0,
+        "scheduler_warmup_steps": 1000,
+        "scheduler_decay_steps": 30000,
+        "scheduler_decay_lr": 2.5e-06
+    },
+    "output_dir": "/workspace/outputs/pi05",
+    "job_name": "pi05_cube_transfer_final",
+    "resume": false,
+    "seed": 1000,
+    "num_workers": 4,
+    "batch_size": 16,
+    "steps": 3000,
+    "eval_freq": 20000,
+    "log_freq": 200,
+    "save_checkpoint": true,
+    "save_freq": 20000,
+    "use_policy_training_preset": true,
+    "optimizer": {
+        "type": "adamw",
+        "lr": 2.5e-05,
+        "weight_decay": 0.01,
+        "grad_clip_norm": 1.0,
+        "betas": [
+            0.9,
+            0.95
+        ],
+        "eps": 1e-08
+    },
+    "scheduler": {
+        "type": "cosine_decay_with_warmup",
+        "num_warmup_steps": 1000,
+        "num_decay_steps": 30000,
+        "peak_lr": 2.5e-05,
+        "decay_lr": 2.5e-06
+    },
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": false
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": "hxte4s1l",
+        "mode": null
+    },
+    "checkpoint_path": null,
+    "rename_map": {}
+}

checkpoints/003000/training_state/optimizer_param_groups.json

@@ -0,0 +1,833 @@
+[
+    {
+        "lr": 2.5e-06,
+        "betas": [
+            0.9,
+            0.95
+        ],
+        "eps": 1e-08,
+        "weight_decay": 0.01,
+        "amsgrad": false,
+        "maximize": false,
+        "foreach": null,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "decoupled_weight_decay": true,
+        "initial_lr": 2.5e-05,
+        "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
+        ]
+    }
+]

checkpoints/003000/training_state/optimizer_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84e56969a0090cae0cf3323e17e839ac6c995aea77da3bb3339b835deab094d6
+size 13473373724

checkpoints/003000/training_state/rng_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:214b4688be9687b08db35cdc95addd3d85ac9286d6bfdb079fc5e07f171a7709
+size 15708

checkpoints/003000/training_state/scheduler_state.json

@@ -0,0 +1,14 @@
+{
+    "base_lrs": [
+        2.5e-05
+    ],
+    "last_epoch": 3000,
+    "_step_count": 3001,
+    "_get_lr_called_within_step": false,
+    "_last_lr": [
+        2.5e-06
+    ],
+    "lr_lambdas": [
+        null
+    ]
+}

checkpoints/003000/training_state/training_step.json

@@ -0,0 +1,3 @@
+{
+    "step": 3000
+}

wandb/debug-internal.log

@@ -0,0 +1,12 @@
+{"time":"2025-12-13T11:20:24.459784868Z","level":"INFO","msg":"stream: starting","core version":"0.21.4"}
+{"time":"2025-12-13T11:20:24.698837605Z","level":"INFO","msg":"stream: created new stream","id":"hxte4s1l"}
+{"time":"2025-12-13T11:20:24.698877505Z","level":"INFO","msg":"stream: started","id":"hxte4s1l"}
+{"time":"2025-12-13T11:20:24.698902182Z","level":"INFO","msg":"writer: started","stream_id":"hxte4s1l"}
+{"time":"2025-12-13T11:20:24.698971295Z","level":"INFO","msg":"sender: started","stream_id":"hxte4s1l"}
+{"time":"2025-12-13T11:20:24.699023033Z","level":"INFO","msg":"handler: started","stream_id":"hxte4s1l"}
+{"time":"2025-12-13T12:50:49.694367446Z","level":"INFO","msg":"stream: closing","id":"hxte4s1l"}
+{"time":"2025-12-13T12:51:00.022925337Z","level":"ERROR","msg":"error adding file to cache","err":"write /root/.cache/wandb/artifacts/tmp/4043578555: no space left on device"}
+{"time":"2025-12-13T12:54:15.718798587Z","level":"INFO","msg":"fileTransfer: Close: file transfer manager closed"}
+{"time":"2025-12-13T12:54:15.849607597Z","level":"INFO","msg":"handler: closed","stream_id":"hxte4s1l"}
+{"time":"2025-12-13T12:54:15.849760457Z","level":"INFO","msg":"sender: closed","stream_id":"hxte4s1l"}
+{"time":"2025-12-13T12:54:15.849774167Z","level":"INFO","msg":"stream: closed","id":"hxte4s1l"}

wandb/debug.log

@@ -0,0 +1,23 @@
+2025-12-13 11:20:24,248 INFO    MainThread:139 [wandb_setup.py:_flush():81] Current SDK version is 0.21.4
+2025-12-13 11:20:24,248 INFO    MainThread:139 [wandb_setup.py:_flush():81] Configure stats pid to 139
+2025-12-13 11:20:24,248 INFO    MainThread:139 [wandb_setup.py:_flush():81] Loading settings from /root/.config/wandb/settings
+2025-12-13 11:20:24,248 INFO    MainThread:139 [wandb_setup.py:_flush():81] Loading settings from /workspace/wandb/settings
+2025-12-13 11:20:24,248 INFO    MainThread:139 [wandb_setup.py:_flush():81] Loading settings from environment variables
+2025-12-13 11:20:24,248 INFO    MainThread:139 [wandb_init.py:setup_run_log_directory():686] Logging user logs to /workspace/outputs/pi05/wandb/run-20251213_112024-hxte4s1l/logs/debug.log
+2025-12-13 11:20:24,248 INFO    MainThread:139 [wandb_init.py:setup_run_log_directory():687] Logging internal logs to /workspace/outputs/pi05/wandb/run-20251213_112024-hxte4s1l/logs/debug-internal.log
+2025-12-13 11:20:24,248 INFO    MainThread:139 [wandb_init.py:init():813] calling init triggers
+2025-12-13 11:20:24,248 INFO    MainThread:139 [wandb_init.py:init():818] wandb.init called with sweep_config: {}
+config: {'dataset': {'repo_id': 'Zasha01/cube_transfer_final', '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': 'pi05', 'n_obs_steps': 1, 'input_features': {}, 'output_features': {}, 'device': 'cuda', 'use_amp': False, 'push_to_hub': False, 'repo_id': 'local/pi05', 'private': None, 'tags': None, 'license': None, 'pretrained_path': 'lerobot/pi05_base', 'paligemma_variant': 'gemma_2b', 'action_expert_variant': 'gemma_300m', 'dtype': 'bfloat16', 'chunk_size': 50, 'n_action_steps': 50, 'max_state_dim': 32, 'max_action_dim': 32, 'num_inference_steps': 10, 'time_sampling_beta_alpha': 1.5, 'time_sampling_beta_beta': 1.0, 'time_sampling_scale': 0.999, 'time_sampling_offset': 0.001, 'min_period': 0.004, 'max_period': 4.0, 'rtc_config': None, 'image_resolution': [224, 224], 'empty_cameras': 0, 'tokenizer_max_length': 200, 'normalization_mapping': {'VISUAL': <NormalizationMode.IDENTITY: 'IDENTITY'>, 'STATE': <NormalizationMode.QUANTILES: 'QUANTILES'>, 'ACTION': <NormalizationMode.QUANTILES: 'QUANTILES'>}, 'gradient_checkpointing': True, 'compile_model': False, 'compile_mode': 'max-autotune', 'optimizer_lr': 2.5e-05, 'optimizer_betas': [0.9, 0.95], 'optimizer_eps': 1e-08, 'optimizer_weight_decay': 0.01, 'optimizer_grad_clip_norm': 1.0, 'scheduler_warmup_steps': 1000, 'scheduler_decay_steps': 30000, 'scheduler_decay_lr': 2.5e-06}, 'output_dir': '/workspace/outputs/pi05', 'job_name': 'pi05_cube_transfer_final', 'resume': False, 'seed': 1000, 'num_workers': 4, 'batch_size': 16, 'steps': 3000, 'eval_freq': 20000, 'log_freq': 200, 'save_checkpoint': True, 'save_freq': 20000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adamw', 'lr': 2.5e-05, 'weight_decay': 0.01, 'grad_clip_norm': 1.0, 'betas': [0.9, 0.95], 'eps': 1e-08}, 'scheduler': {'type': 'cosine_decay_with_warmup', 'num_warmup_steps': 1000, 'num_decay_steps': 30000, 'peak_lr': 2.5e-05, 'decay_lr': 2.5e-06}, 'eval': {'n_episodes': 50, 'batch_size': 50, 'use_async_envs': False}, 'wandb': {'enable': True, 'disable_artifact': False, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': None, 'mode': None}, 'checkpoint_path': None, 'rename_map': {}, '_wandb': {}}
+2025-12-13 11:20:24,248 INFO    MainThread:139 [wandb_init.py:init():854] starting backend
+2025-12-13 11:20:24,453 INFO    MainThread:139 [wandb_init.py:init():857] sending inform_init request
+2025-12-13 11:20:24,456 INFO    MainThread:139 [wandb_init.py:init():865] backend started and connected
+2025-12-13 11:20:24,457 INFO    MainThread:139 [wandb_init.py:init():936] updated telemetry
+2025-12-13 11:20:24,461 INFO    MainThread:139 [wandb_init.py:init():960] communicating run to backend with 90.0 second timeout
+2025-12-13 11:20:24,949 INFO    MainThread:139 [wandb_init.py:init():1011] starting run threads in backend
+2025-12-13 11:20:25,016 INFO    MainThread:139 [wandb_run.py:_console_start():2506] atexit reg
+2025-12-13 11:20:25,016 INFO    MainThread:139 [wandb_run.py:_redirect():2354] redirect: wrap_raw
+2025-12-13 11:20:25,016 INFO    MainThread:139 [wandb_run.py:_redirect():2423] Wrapping output streams.
+2025-12-13 11:20:25,016 INFO    MainThread:139 [wandb_run.py:_redirect():2446] Redirects installed.
+2025-12-13 11:20:25,018 INFO    MainThread:139 [wandb_init.py:init():1049] run started, returning control to user process
+2025-12-13 12:50:49,695 INFO    wandb-AsyncioManager-main:139 [service_client.py:_forward_responses():84] Reached EOF.
+2025-12-13 12:50:49,695 INFO    wandb-AsyncioManager-main:139 [mailbox.py:close():137] Closing mailbox, abandoning 2 handles.

wandb/run-20251213_112024-hxte4s1l/files/config.yaml

@@ -0,0 +1,245 @@
+_wandb:
+    value:
+        cli_version: 0.21.4
+        e:
+            kudd1msmjkuf2t5u1uuhaqdaw70qdzvr:
+                args:
+                    - --dataset.repo_id=Zasha01/cube_transfer_final
+                    - --policy.type=pi05
+                    - --output_dir=/workspace/outputs/pi05
+                    - --job_name=pi05_cube_transfer_final
+                    - --policy.repo_id=local/pi05
+                    - --policy.push_to_hub=false
+                    - --policy.pretrained_path=lerobot/pi05_base
+                    - --policy.compile_model=false
+                    - --policy.gradient_checkpointing=true
+                    - --wandb.enable=true
+                    - --policy.dtype=bfloat16
+                    - --steps=3000
+                    - --policy.device=cuda
+                    - --batch_size=16
+                cpu_count: 28
+                cpu_count_logical: 28
+                cudaVersion: "12.8"
+                disk:
+                    /:
+                        total: "103865303040"
+                        used: "52151582720"
+                executable: /usr/bin/python3
+                git:
+                    remote: https://github.com/Manufex/vla-launchables
+                gpu: NVIDIA H100 PCIe
+                gpu_count: 1
+                gpu_nvidia:
+                    - architecture: Hopper
+                      cudaCores: 14592
+                      memoryTotal: "85520809984"
+                      name: NVIDIA H100 PCIe
+                      uuid: GPU-610ede60-6f89-0fa7-06b2-87bb3ed58374
+                host: brev-e9tf75hch
+                memory:
+                    total: "190128013312"
+                os: Linux-6.8.0-64-generic-x86_64-with-glibc2.35
+                program: /opt/lerobot/src/lerobot/scripts/lerobot_train.py
+                python: CPython 3.10.12
+                root: /workspace/outputs/pi05
+                startedAt: "2025-12-13T11:20:24.247192Z"
+                writerId: kudd1msmjkuf2t5u1uuhaqdaw70qdzvr
+        m: []
+        python_version: 3.10.12
+        t:
+            "1":
+                - 1
+                - 11
+                - 41
+                - 49
+                - 51
+                - 71
+                - 83
+            "2":
+                - 1
+                - 11
+                - 41
+                - 49
+                - 51
+                - 71
+                - 83
+            "3":
+                - 13
+                - 15
+                - 16
+                - 61
+            "4": 3.10.12
+            "5": 0.21.4
+            "6": 4.53.3
+            "10":
+                - 21
+            "12": 0.21.4
+            "13": linux-x86_64
+batch_size:
+    value: 16
+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: Zasha01/cube_transfer_final
+        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: pi05_cube_transfer_final
+log_freq:
+    value: 200
+num_workers:
+    value: 4
+optimizer:
+    value:
+        betas:
+            - 0.9
+            - 0.95
+        eps: 1e-08
+        grad_clip_norm: 1
+        lr: 2.5e-05
+        type: adamw
+        weight_decay: 0.01
+output_dir:
+    value: /workspace/outputs/pi05
+policy:
+    value:
+        action_expert_variant: gemma_300m
+        chunk_size: 50
+        compile_mode: max-autotune
+        compile_model: false
+        device: cuda
+        dtype: bfloat16
+        empty_cameras: 0
+        gradient_checkpointing: true
+        image_resolution:
+            - 224
+            - 224
+        license: null
+        max_action_dim: 32
+        max_period: 4
+        max_state_dim: 32
+        min_period: 0.004
+        n_action_steps: 50
+        n_obs_steps: 1
+        normalization_mapping:
+            ACTION: QUANTILES
+            STATE: QUANTILES
+            VISUAL: IDENTITY
+        num_inference_steps: 10
+        optimizer_betas:
+            - 0.9
+            - 0.95
+        optimizer_eps: 1e-08
+        optimizer_grad_clip_norm: 1
+        optimizer_lr: 2.5e-05
+        optimizer_weight_decay: 0.01
+        paligemma_variant: gemma_2b
+        pretrained_path: lerobot/pi05_base
+        private: null
+        push_to_hub: false
+        repo_id: local/pi05
+        rtc_config: null
+        scheduler_decay_lr: 2.5e-06
+        scheduler_decay_steps: 30000
+        scheduler_warmup_steps: 1000
+        tags: null
+        time_sampling_beta_alpha: 1.5
+        time_sampling_beta_beta: 1
+        time_sampling_offset: 0.001
+        time_sampling_scale: 0.999
+        tokenizer_max_length: 200
+        type: pi05
+        use_amp: false
+resume:
+    value: false
+save_checkpoint:
+    value: true
+save_freq:
+    value: 20000
+scheduler:
+    value:
+        decay_lr: 2.5e-06
+        num_decay_steps: 30000
+        num_warmup_steps: 1000
+        peak_lr: 2.5e-05
+        type: cosine_decay_with_warmup
+seed:
+    value: 1000
+steps:
+    value: 3000
+use_policy_training_preset:
+    value: true
+wandb:
+    value:
+        disable_artifact: false
+        enable: true
+        entity: null
+        mode: null
+        notes: null
+        project: lerobot
+        run_id: null

wandb/run-20251213_112024-hxte4s1l/files/output.log

@@ -0,0 +1,88 @@
+INFO 2025-12-13 11:20:25 db_utils.py:102 Logs will be synced with wandb.
+INFO 2025-12-13 11:20:25 db_utils.py:103 Track this run --> https://wandb.ai/z-sharfeddine-technical-university-of-munich/lerobot/runs/hxte4s1l
+INFO 2025-12-13 11:20:25 ot_train.py:184 Creating dataset
+meta/episodes/chunk-000/file-000.parquet: 100%|█| 307k/307k [00:00<00:00, 1.07MB
+info.json: 4.49kB [00:00, 7.97MB/s]
+stats.json: 20.9kB [00:00, 37.7MB/s]
+meta/tasks.parquet: 100%|██████████████████| 2.29k/2.29k [00:00<00:00, 6.37kB/s]
+.gitattributes: 2.46kB [00:00, 6.96MB/s]
+README.md: 4.98kB [00:00, 9.28MB/s]
+data/chunk-000/file-000.parquet: 100%|█████| 2.66M/2.66M [00:00<00:00, 16.7MB/s]
+videos/observation.images.context/chunk-(…): 100%|█| 511M/511M [00:01<00:00, 274
+videos/observation.images.context/chunk-(…): 100%|█| 202M/202M [00:01<00:00, 107
+videos/observation.images.left_wrist/chu(…): 100%|█| 514M/514M [00:01<00:00, 307
+videos/observation.images.left_wrist/chu(…): 100%|█| 115M/115M [00:01<00:00, 81.
+videos/observation.images.right_wrist/ch(…): 100%|█| 512M/512M [00:01<00:00, 288
+videos/observation.images.right_wrist/ch(…): 100%|█| 27.0M/27.0M [00:00<00:00, 9
+INFO 2025-12-13 11:20:37 ot_train.py:203 Creating policy
+The PI05 model is a direct port of the OpenPI implementation.
+This implementation follows the original OpenPI structure for compatibility.
+Original implementation: https://github.com/Physical-Intelligence/openpi
+INFO 2025-12-13 11:21:22 ing_pi05.py:568 Enabled gradient checkpointing for PI05Pytorch model
+Loading model from: lerobot/pi05_base
+model.safetensors: 100%|███████████████████| 14.5G/14.5G [00:12<00:00, 1.17GB/s]
+✓ Loaded state dict from model.safetensors
+WARNING 2025-12-13 11:21:38 ng_pi05.py:1074 Vision embedding key might need handling: paligemma_with_expert.paligemma.model.vision_tower.vision_model.embeddings.patch_embedding.bias
+WARNING 2025-12-13 11:21:38 ng_pi05.py:1074 Vision embedding key might need handling: paligemma_with_expert.paligemma.model.vision_tower.vision_model.embeddings.patch_embedding.weight
+Remapped: action_in_proj.bias -> model.action_in_proj.bias
+Remapped: action_in_proj.weight -> model.action_in_proj.weight
+Remapped: action_out_proj.bias -> model.action_out_proj.bias
+Remapped: action_out_proj.weight -> model.action_out_proj.weight
+Remapped: paligemma_with_expert.gemma_expert.lm_head.weight -> model.paligemma_with_expert.gemma_expert.lm_head.weight
+Remapped: paligemma_with_expert.gemma_expert.model.layers.0.input_layernorm.dense.bias -> model.paligemma_with_expert.gemma_expert.model.layers.0.input_layernorm.dense.bias
+Remapped: paligemma_with_expert.gemma_expert.model.layers.0.input_layernorm.dense.weight -> model.paligemma_with_expert.gemma_expert.model.layers.0.input_layernorm.dense.weight
+Remapped: paligemma_with_expert.gemma_expert.model.layers.0.mlp.down_proj.weight -> model.paligemma_with_expert.gemma_expert.model.layers.0.mlp.down_proj.weight
+Remapped: paligemma_with_expert.gemma_expert.model.layers.0.mlp.gate_proj.weight -> model.paligemma_with_expert.gemma_expert.model.layers.0.mlp.gate_proj.weight
+Remapped: paligemma_with_expert.gemma_expert.model.layers.0.mlp.up_proj.weight -> model.paligemma_with_expert.gemma_expert.model.layers.0.mlp.up_proj.weight
+Remapped 812 state dict keys
+Warning: Could not remap state dict keys: Error(s) in loading state_dict for PI05Policy:
+	Missing key(s) in state_dict: "model.paligemma_with_expert.paligemma.model.language_model.embed_tokens.weight".
+policy_preprocessor.json: 1.03kB [00:00, 2.39MB/s]
+tokenizer_config.json: 100%|███████████████| 40.0k/40.0k [00:00<00:00, 67.6MB/s]
+tokenizer.model: 100%|█████████████████████| 4.26M/4.26M [00:00<00:00, 10.3MB/s]
+tokenizer.json: 100%|██████████████████████| 17.5M/17.5M [00:00<00:00, 44.9MB/s]
+added_tokens.json: 100%|██████████████████████| 24.0/24.0 [00:00<00:00, 187kB/s]
+special_tokens_map.json: 100%|█████████████████| 607/607 [00:00<00:00, 4.37MB/s]
+policy_postprocessor.json: 100%|███████████████| 450/450 [00:00<00:00, 3.50MB/s]
+INFO 2025-12-13 11:21:46 ot_train.py:248 Creating optimizer and scheduler
+INFO 2025-12-13 11:21:46 hedulers.py:105 Auto-scaling LR scheduler: num_training_steps (3000) < num_decay_steps (30000). Scaling warmup: 1000 → 100, decay: 30000 → 3000 (scale factor: 0.100)
+INFO 2025-12-13 11:21:46 ot_train.py:260 Output dir: /workspace/outputs/pi05
+INFO 2025-12-13 11:21:46 ot_train.py:267 cfg.steps=3000 (3K)
+INFO 2025-12-13 11:21:46 ot_train.py:268 dataset.num_frames=27217 (27K)
+INFO 2025-12-13 11:21:46 ot_train.py:269 dataset.num_episodes=47
+INFO 2025-12-13 11:21:46 ot_train.py:272 Effective batch size: 16 x 1 = 16
+INFO 2025-12-13 11:21:46 ot_train.py:273 num_learnable_params=3616757520 (4B)
+INFO 2025-12-13 11:21:46 ot_train.py:274 num_total_params=3616757520 (4B)
+INFO 2025-12-13 11:21:46 ot_train.py:330 Start offline training on a fixed dataset
+INFO 2025-12-13 11:27:43 ot_train.py:357 step:200 smpl:3K ep:6 epch:0.12 loss:0.127 grdn:1.447 lr:1.9e-05 updt_s:1.732 data_s:0.050
+WARNING 2025-12-13 11:27:43 db_utils.py:141 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+INFO 2025-12-13 11:33:39 ot_train.py:357 step:400 smpl:6K ep:11 epch:0.24 loss:0.079 grdn:0.940 lr:2.4e-05 updt_s:1.733 data_s:0.041
+WARNING 2025-12-13 11:33:39 db_utils.py:141 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+INFO 2025-12-13 11:39:34 ot_train.py:357 step:600 smpl:10K ep:17 epch:0.35 loss:0.067 grdn:0.855 lr:2.3e-05 updt_s:1.732 data_s:0.041
+WARNING 2025-12-13 11:39:34 db_utils.py:141 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+INFO 2025-12-13 11:45:28 ot_train.py:357 step:800 smpl:13K ep:22 epch:0.47 loss:0.061 grdn:0.829 lr:2.2e-05 updt_s:1.725 data_s:0.041
+WARNING 2025-12-13 11:45:28 db_utils.py:141 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+INFO 2025-12-13 11:51:20 ot_train.py:357 step:1K smpl:16K ep:28 epch:0.59 loss:0.057 grdn:0.805 lr:2.0e-05 updt_s:1.718 data_s:0.041
+WARNING 2025-12-13 11:51:20 db_utils.py:141 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+INFO 2025-12-13 11:57:11 ot_train.py:357 step:1K smpl:19K ep:33 epch:0.71 loss:0.051 grdn:0.813 lr:1.8e-05 updt_s:1.710 data_s:0.041
+WARNING 2025-12-13 11:57:11 db_utils.py:141 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+INFO 2025-12-13 12:03:02 ot_train.py:357 step:1K smpl:22K ep:39 epch:0.82 loss:0.046 grdn:0.758 lr:1.6e-05 updt_s:1.710 data_s:0.041
+WARNING 2025-12-13 12:03:02 db_utils.py:141 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+INFO 2025-12-13 12:08:54 ot_train.py:357 step:2K smpl:26K ep:44 epch:0.94 loss:0.044 grdn:0.787 lr:1.4e-05 updt_s:1.710 data_s:0.046
+WARNING 2025-12-13 12:08:54 db_utils.py:141 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+INFO 2025-12-13 12:14:45 ot_train.py:357 step:2K smpl:29K ep:50 epch:1.06 loss:0.041 grdn:0.771 lr:1.1e-05 updt_s:1.707 data_s:0.048
+WARNING 2025-12-13 12:14:45 db_utils.py:141 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+INFO 2025-12-13 12:20:37 ot_train.py:357 step:2K smpl:32K ep:55 epch:1.18 loss:0.036 grdn:0.693 lr:9.2e-06 updt_s:1.713 data_s:0.041
+WARNING 2025-12-13 12:20:37 db_utils.py:141 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+INFO 2025-12-13 12:26:29 ot_train.py:357 step:2K smpl:35K ep:61 epch:1.29 loss:0.035 grdn:0.691 lr:7.1e-06 updt_s:1.715 data_s:0.041
+WARNING 2025-12-13 12:26:29 db_utils.py:141 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+INFO 2025-12-13 12:32:20 ot_train.py:357 step:2K smpl:38K ep:66 epch:1.41 loss:0.036 grdn:0.748 lr:5.4e-06 updt_s:1.713 data_s:0.041
+WARNING 2025-12-13 12:32:20 db_utils.py:141 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+INFO 2025-12-13 12:38:11 ot_train.py:357 step:3K smpl:42K ep:72 epch:1.53 loss:0.035 grdn:0.767 lr:4.0e-06 updt_s:1.708 data_s:0.041
+WARNING 2025-12-13 12:38:11 db_utils.py:141 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+INFO 2025-12-13 12:44:02 ot_train.py:357 step:3K smpl:45K ep:77 epch:1.65 loss:0.033 grdn:0.726 lr:3.1e-06 updt_s:1.712 data_s:0.041
+WARNING 2025-12-13 12:44:02 db_utils.py:141 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+INFO 2025-12-13 12:49:53 ot_train.py:357 step:3K smpl:48K ep:83 epch:1.76 loss:0.034 grdn:0.740 lr:2.6e-06 updt_s:1.710 data_s:0.041
+WARNING 2025-12-13 12:49:53 db_utils.py:141 WandB logging of key "loss_per_dim" was ignored as its type "<class 'list'>" is not handled by this wrapper.
+INFO 2025-12-13 12:49:53 ot_train.py:367 Checkpoint policy after step 3000
+INFO 2025-12-13 12:50:49 ot_train.py:438 End of training

wandb/run-20251213_112024-hxte4s1l/files/requirements.txt

@@ -0,0 +1,123 @@
+inquirerpy==0.3.4
+deepdiff==8.6.1
+xxhash==3.6.0
+dill==0.4.0
+lerobot==0.4.3
+attrs==25.4.0
+tokenizers==0.21.4
+accelerate==1.12.0
+ImageIO==2.37.2
+nvidia-cusparselt-cu12==0.6.3
+safetensors==0.7.0
+imageio-ffmpeg==0.6.0
+Farama-Notifications==0.0.4
+wcwidth==0.2.14
+pyyaml-include==1.4.1
+python-xlib==0.33
+yarl==1.22.0
+nvidia-cusolver-cu12==11.7.1.2
+aiosignal==1.4.0
+nvidia-cusparse-cu12==12.5.4.2
+wandb==0.21.4
+nvidia-cufile-cu12==1.11.1.6
+nvidia-cuda-runtime-cu12==12.6.77
+nvidia-nvjitlink-cu12==12.6.85
+six==1.17.0
+triton==3.3.1
+nvidia-nvtx-cu12==12.6.77
+nvidia-curand-cu12==10.3.7.77
+nvidia-cuda-nvrtc-cu12==12.6.77
+nvidia-cufft-cu12==11.3.0.4
+rerun-sdk==0.26.2
+evdev==1.9.2
+torch==2.7.1
+opencv-python-headless==4.12.0.88
+huggingface-hub==0.35.3
+importlib_metadata==8.7.0
+psutil==7.1.3
+av==15.1.0
+pfzy==0.3.4
+cmake==4.1.3
+tzdata==2025.2
+typing-inspect==0.9.0
+datasets==4.1.1
+pandas==2.3.3
+torchcodec==0.5
+sympy==1.14.0
+nvidia-cudnn-cu12==9.5.1.17
+draccus==0.10.0
+hf_transfer==0.1.9
+pyarrow==22.0.0
+pytz==2025.2
+multiprocess==0.70.16
+python-dateutil==2.9.0.post0
+nvidia-cuda-cupti-cu12==12.6.80
+aiohappyeyeballs==2.6.1
+pyserial==3.5
+cloudpickle==3.1.2
+mypy_extensions==1.1.0
+einops==0.8.1
+torchvision==0.22.1
+aiohttp==3.13.2
+frozenlist==1.8.0
+mergedeep==1.3.4
+regex==2025.11.3
+jsonlines==4.0.0
+prompt_toolkit==3.0.52
+transformers==4.53.3
+toml==0.10.2
+zipp==3.23.0
+nvidia-cublas-cu12==12.6.4.1
+propcache==0.4.1
+diffusers==0.35.2
+nvidia-nccl-cu12==2.26.2
+termcolor==3.2.0
+async-timeout==5.0.1
+gymnasium==1.2.2
+pynput==1.8.1
+multidict==6.7.0
+orderly-set==5.5.0
+GitPython==3.1.45
+pydantic_core==2.41.5
+shellingham==1.5.4
+requests==2.32.5
+httpcore==1.0.9
+gitdb==4.0.12
+typer-slim==0.20.0
+smmap==5.0.2
+anyio==4.12.0
+packaging==25.0
+tqdm==4.67.1
+PyYAML==6.0.3
+pydantic==2.12.5
+h11==0.16.0
+certifi==2025.11.12
+urllib3==2.6.2
+click==8.3.1
+idna==3.11
+typing-inspection==0.4.2
+httpx==0.28.1
+protobuf==6.33.2
+annotated-types==0.7.0
+charset-normalizer==3.4.4
+sentry-sdk==2.47.0
+platformdirs==4.5.1
+exceptiongroup==1.3.1
+hf-xet==1.2.0
+networkx==3.3
+mpmath==1.3.0
+numpy==2.1.2
+pip==25.3
+Jinja2==3.1.6
+pillow==11.3.0
+MarkupSafe==2.1.5
+setuptools==80.9.0
+filelock==3.19.1
+torchaudio==2.5.1+cu121
+fsspec==2025.9.0
+typing_extensions==4.15.0
+wheel==0.45.1
+lerobot==0.4.3
+setuptools==59.6.0
+pip==22.0.2
+wheel==0.37.1

wandb/run-20251213_112024-hxte4s1l/files/wandb-metadata.json

@@ -0,0 +1,52 @@
+{
+  "os":  "Linux-6.8.0-64-generic-x86_64-with-glibc2.35",
+  "python":  "CPython 3.10.12",
+  "startedAt":  "2025-12-13T11:20:24.247192Z",
+  "args":  [
+    "--dataset.repo_id=Zasha01/cube_transfer_final",
+    "--policy.type=pi05",
+    "--output_dir=/workspace/outputs/pi05",
+    "--job_name=pi05_cube_transfer_final",
+    "--policy.repo_id=local/pi05",
+    "--policy.push_to_hub=false",
+    "--policy.pretrained_path=lerobot/pi05_base",
+    "--policy.compile_model=false",
+    "--policy.gradient_checkpointing=true",
+    "--wandb.enable=true",
+    "--policy.dtype=bfloat16",
+    "--steps=3000",
+    "--policy.device=cuda",
+    "--batch_size=16"
+  ],
+  "program":  "/opt/lerobot/src/lerobot/scripts/lerobot_train.py",
+  "git":  {
+    "remote":  "https://github.com/Manufex/vla-launchables"
+  },
+  "root":  "/workspace/outputs/pi05",
+  "host":  "brev-e9tf75hch",
+  "executable":  "/usr/bin/python3",
+  "cpu_count":  28,
+  "cpu_count_logical":  28,
+  "gpu":  "NVIDIA H100 PCIe",
+  "gpu_count":  1,
+  "disk":  {
+    "/":  {
+      "total":  "103865303040",
+      "used":  "52151582720"
+    }
+  },
+  "memory":  {
+    "total":  "190128013312"
+  },
+  "gpu_nvidia":  [
+    {
+      "name":  "NVIDIA H100 PCIe",
+      "memoryTotal":  "85520809984",
+      "cudaCores":  14592,
+      "architecture":  "Hopper",
+      "uuid":  "GPU-610ede60-6f89-0fa7-06b2-87bb3ed58374"
+    }
+  ],
+  "cudaVersion":  "12.8",
+  "writerId":  "kudd1msmjkuf2t5u1uuhaqdaw70qdzvr"
+}

wandb/run-20251213_112024-hxte4s1l/files/wandb-summary.json

@@ -0,0 +1 @@
+{"_timestamp":1.7656301934634764e+09,"train/update_s":1.709934723770034,"train/dataloading_s":0.041204123439974864,"train/steps":3000,"_wandb":{"runtime":5424},"train/loss":0.02786409668624401,"train/samples":48000,"train/epochs":1.7636036300841387,"train/episodes":82.88937061395451,"_runtime":5424.744288297,"train/grad_norm":0.7404379284381867,"train/lr":2.5814529262737084e-06,"_step":3000}

wandb/run-20251213_112024-hxte4s1l/logs/debug-internal.log

@@ -0,0 +1,12 @@
+{"time":"2025-12-13T11:20:24.459784868Z","level":"INFO","msg":"stream: starting","core version":"0.21.4"}
+{"time":"2025-12-13T11:20:24.698837605Z","level":"INFO","msg":"stream: created new stream","id":"hxte4s1l"}
+{"time":"2025-12-13T11:20:24.698877505Z","level":"INFO","msg":"stream: started","id":"hxte4s1l"}
+{"time":"2025-12-13T11:20:24.698902182Z","level":"INFO","msg":"writer: started","stream_id":"hxte4s1l"}
+{"time":"2025-12-13T11:20:24.698971295Z","level":"INFO","msg":"sender: started","stream_id":"hxte4s1l"}
+{"time":"2025-12-13T11:20:24.699023033Z","level":"INFO","msg":"handler: started","stream_id":"hxte4s1l"}
+{"time":"2025-12-13T12:50:49.694367446Z","level":"INFO","msg":"stream: closing","id":"hxte4s1l"}
+{"time":"2025-12-13T12:51:00.022925337Z","level":"ERROR","msg":"error adding file to cache","err":"write /root/.cache/wandb/artifacts/tmp/4043578555: no space left on device"}
+{"time":"2025-12-13T12:54:15.718798587Z","level":"INFO","msg":"fileTransfer: Close: file transfer manager closed"}
+{"time":"2025-12-13T12:54:15.849607597Z","level":"INFO","msg":"handler: closed","stream_id":"hxte4s1l"}
+{"time":"2025-12-13T12:54:15.849760457Z","level":"INFO","msg":"sender: closed","stream_id":"hxte4s1l"}
+{"time":"2025-12-13T12:54:15.849774167Z","level":"INFO","msg":"stream: closed","id":"hxte4s1l"}

wandb/run-20251213_112024-hxte4s1l/logs/debug.log

@@ -0,0 +1,23 @@
+2025-12-13 11:20:24,248 INFO    MainThread:139 [wandb_setup.py:_flush():81] Current SDK version is 0.21.4
+2025-12-13 11:20:24,248 INFO    MainThread:139 [wandb_setup.py:_flush():81] Configure stats pid to 139
+2025-12-13 11:20:24,248 INFO    MainThread:139 [wandb_setup.py:_flush():81] Loading settings from /root/.config/wandb/settings
+2025-12-13 11:20:24,248 INFO    MainThread:139 [wandb_setup.py:_flush():81] Loading settings from /workspace/wandb/settings
+2025-12-13 11:20:24,248 INFO    MainThread:139 [wandb_setup.py:_flush():81] Loading settings from environment variables
+2025-12-13 11:20:24,248 INFO    MainThread:139 [wandb_init.py:setup_run_log_directory():686] Logging user logs to /workspace/outputs/pi05/wandb/run-20251213_112024-hxte4s1l/logs/debug.log
+2025-12-13 11:20:24,248 INFO    MainThread:139 [wandb_init.py:setup_run_log_directory():687] Logging internal logs to /workspace/outputs/pi05/wandb/run-20251213_112024-hxte4s1l/logs/debug-internal.log
+2025-12-13 11:20:24,248 INFO    MainThread:139 [wandb_init.py:init():813] calling init triggers
+2025-12-13 11:20:24,248 INFO    MainThread:139 [wandb_init.py:init():818] wandb.init called with sweep_config: {}
+config: {'dataset': {'repo_id': 'Zasha01/cube_transfer_final', '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': 'pi05', 'n_obs_steps': 1, 'input_features': {}, 'output_features': {}, 'device': 'cuda', 'use_amp': False, 'push_to_hub': False, 'repo_id': 'local/pi05', 'private': None, 'tags': None, 'license': None, 'pretrained_path': 'lerobot/pi05_base', 'paligemma_variant': 'gemma_2b', 'action_expert_variant': 'gemma_300m', 'dtype': 'bfloat16', 'chunk_size': 50, 'n_action_steps': 50, 'max_state_dim': 32, 'max_action_dim': 32, 'num_inference_steps': 10, 'time_sampling_beta_alpha': 1.5, 'time_sampling_beta_beta': 1.0, 'time_sampling_scale': 0.999, 'time_sampling_offset': 0.001, 'min_period': 0.004, 'max_period': 4.0, 'rtc_config': None, 'image_resolution': [224, 224], 'empty_cameras': 0, 'tokenizer_max_length': 200, 'normalization_mapping': {'VISUAL': <NormalizationMode.IDENTITY: 'IDENTITY'>, 'STATE': <NormalizationMode.QUANTILES: 'QUANTILES'>, 'ACTION': <NormalizationMode.QUANTILES: 'QUANTILES'>}, 'gradient_checkpointing': True, 'compile_model': False, 'compile_mode': 'max-autotune', 'optimizer_lr': 2.5e-05, 'optimizer_betas': [0.9, 0.95], 'optimizer_eps': 1e-08, 'optimizer_weight_decay': 0.01, 'optimizer_grad_clip_norm': 1.0, 'scheduler_warmup_steps': 1000, 'scheduler_decay_steps': 30000, 'scheduler_decay_lr': 2.5e-06}, 'output_dir': '/workspace/outputs/pi05', 'job_name': 'pi05_cube_transfer_final', 'resume': False, 'seed': 1000, 'num_workers': 4, 'batch_size': 16, 'steps': 3000, 'eval_freq': 20000, 'log_freq': 200, 'save_checkpoint': True, 'save_freq': 20000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adamw', 'lr': 2.5e-05, 'weight_decay': 0.01, 'grad_clip_norm': 1.0, 'betas': [0.9, 0.95], 'eps': 1e-08}, 'scheduler': {'type': 'cosine_decay_with_warmup', 'num_warmup_steps': 1000, 'num_decay_steps': 30000, 'peak_lr': 2.5e-05, 'decay_lr': 2.5e-06}, 'eval': {'n_episodes': 50, 'batch_size': 50, 'use_async_envs': False}, 'wandb': {'enable': True, 'disable_artifact': False, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': None, 'mode': None}, 'checkpoint_path': None, 'rename_map': {}, '_wandb': {}}
+2025-12-13 11:20:24,248 INFO    MainThread:139 [wandb_init.py:init():854] starting backend
+2025-12-13 11:20:24,453 INFO    MainThread:139 [wandb_init.py:init():857] sending inform_init request
+2025-12-13 11:20:24,456 INFO    MainThread:139 [wandb_init.py:init():865] backend started and connected
+2025-12-13 11:20:24,457 INFO    MainThread:139 [wandb_init.py:init():936] updated telemetry
+2025-12-13 11:20:24,461 INFO    MainThread:139 [wandb_init.py:init():960] communicating run to backend with 90.0 second timeout
+2025-12-13 11:20:24,949 INFO    MainThread:139 [wandb_init.py:init():1011] starting run threads in backend
+2025-12-13 11:20:25,016 INFO    MainThread:139 [wandb_run.py:_console_start():2506] atexit reg
+2025-12-13 11:20:25,016 INFO    MainThread:139 [wandb_run.py:_redirect():2354] redirect: wrap_raw
+2025-12-13 11:20:25,016 INFO    MainThread:139 [wandb_run.py:_redirect():2423] Wrapping output streams.
+2025-12-13 11:20:25,016 INFO    MainThread:139 [wandb_run.py:_redirect():2446] Redirects installed.
+2025-12-13 11:20:25,018 INFO    MainThread:139 [wandb_init.py:init():1049] run started, returning control to user process
+2025-12-13 12:50:49,695 INFO    wandb-AsyncioManager-main:139 [service_client.py:_forward_responses():84] Reached EOF.
+2025-12-13 12:50:49,695 INFO    wandb-AsyncioManager-main:139 [mailbox.py:close():137] Closing mailbox, abandoning 2 handles.

wandb/run-20251213_112024-hxte4s1l/run-hxte4s1l.wandb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dac77113b716bd466d8565f9dff2953d2a3d15295ec9e005ee61e70fecf357e
+size 367178