| INFO 2026-05-14 10:51:39 cord_eef.py:339 {'dataset': {'encoder_queue_maxsize': 30, |
| 'encoder_threads': None, |
| 'episode_time_s': 30, |
| 'fps': 30, |
| 'num_episodes': 10, |
| 'num_image_writer_processes': 0, |
| 'num_image_writer_threads_per_camera': 4, |
| 'private': False, |
| 'push_to_hub': False, |
| 'repo_id': 'yanzy/Sort', |
| 'reset_time_s': 5, |
| 'root': None, |
| 'single_task': 'Put the pen in the box on the left and the eraser ' |
| 'in the box on the right', |
| 'streaming_encoding': False, |
| 'tags': None, |
| 'vcodec': 'libsvtav1', |
| 'video': True, |
| 'video_encoding_batch_size': 1}, |
| 'display_compressed_images': False, |
| 'display_data': True, |
| 'display_ip': None, |
| 'display_port': None, |
| 'eef': {'enabled': True, |
| 'ik_initial_guess_current_joints': True, |
| 'joint_names': None, |
| 'max_ee_step_m': 0.1, |
| 'replay_initial_guess_current_joints': False, |
| 'target_frame_name': 'gripper_frame_link', |
| 'urdf_path': '/mnt/data/YANzhuoyang/Project/CODE/Algorithm/DiTAE/lerobot_real_robot/urdf/so101_new_calib.urdf', |
| 'use_workspace_safety': True, |
| 'workspace_max': [1.0, 1.0, 1.0], |
| 'workspace_min': [-1.0, -1.0, -1.0]}, |
| 'play_sounds': True, |
| 'resume': False, |
| 'robot': {'calibration_dir': None, |
| 'cameras': {'top': {'backend': <Cv2Backends.ANY: 0>, |
| 'color_mode': <ColorMode.RGB: 'rgb'>, |
| 'fourcc': 'MJPG', |
| 'fps': 30, |
| 'height': 480, |
| 'index_or_path': 2, |
| 'rotation': <Cv2Rotation.NO_ROTATION: 0>, |
| 'warmup_s': 1, |
| 'width': 640}}, |
| 'disable_torque_on_disconnect': True, |
| 'id': 'so101_follower_arm', |
| 'max_relative_target': None, |
| 'port': '/dev/ttyACM1', |
| 'use_degrees': True}, |
| 'teleop': {'calibration_dir': None, |
| 'id': 'so101_leader_arm', |
| 'port': '/dev/ttyACM0', |
| 'use_degrees': True}} |
| INFO 2026-05-14 10:51:39 pipeline.py:151 Building robot EEF kinematics: urdf=/mnt/data/YANzhuoyang/Project/CODE/Algorithm/DiTAE/lerobot_real_robot/urdf/so101_new_calib.urdf target_frame=gripper_frame_link joints=['shoulder_pan', 'shoulder_lift', 'elbow_flex', 'wrist_flex', 'wrist_roll', 'gripper'] |
| WARNING: Robot has the following self collisions in neutral position: |
| -base_link_2 collides with shoulder_link_2 |
| -shoulder_link_0 collides with upper_arm_link_1 |
| -upper_arm_link_0 collides with lower_arm_link_0 |
| -lower_arm_link_2 collides with wrist_link_1 |
| -wrist_link_0 collides with gripper_link_1 |
| -gripper_link_0 collides with moving_jaw_so101_v1_link_0 |
| INFO 2026-05-14 10:51:41 eo_utils.py:109 Using video codec: libsvtav1 |
| INFO 2026-05-14 10:51:42 a_opencv.py:179 OpenCVCamera(2) connected. |
| INFO 2026-05-14 10:51:42 follower.py:105 so101_follower_arm SOFollower connected. |
| INFO 2026-05-14 10:51:42 so_leader.py:78 so101_leader_arm SOLeader connected. |
| INFO 2026-05-14 10:51:42 cord_eef.py:431 Streaming encoding is disabled. If you have capable hardware, consider enabling it for way faster episode saving. |
| INFO 2026-05-14 10:51:42 ls/utils.py:143 Recording episode 0 |
| INFO 2026-05-14 10:51:50 ls/utils.py:143 Reset the environment |
| INFO 2026-05-14 10:51:55 ls/utils.py:143 Re-record episode |
| INFO 2026-05-14 10:51:55 ls/utils.py:143 Recording episode 0 |
| INFO 2026-05-14 10:52:24 ls/utils.py:143 Reset the environment |
| INFO 2026-05-14 10:52:29 ls/utils.py:143 Re-record episode |
| INFO 2026-05-14 10:52:29 ls/utils.py:143 Recording episode 0 |
| INFO 2026-05-14 10:52:38 ls/utils.py:143 Reset the environment |
| INFO 2026-05-14 10:52:43 ls/utils.py:143 Re-record episode |
| INFO 2026-05-14 10:52:43 ls/utils.py:143 Recording episode 0 |
| INFO 2026-05-14 10:53:13 ls/utils.py:143 Reset the environment |
| INFO 2026-05-14 10:53:16 ls/utils.py:143 Re-record episode |
| INFO 2026-05-14 10:53:16 ls/utils.py:143 Recording episode 0 |
| INFO 2026-05-14 10:53:26 ls/utils.py:143 Reset the environment |
| INFO 2026-05-14 10:53:31 ls/utils.py:143 Re-record episode |
| INFO 2026-05-14 10:53:31 ls/utils.py:143 Recording episode 0 |
| INFO 2026-05-14 10:54:01 ls/utils.py:143 Reset the environment |
| Left arrow key pressed. Exiting loop and rerecord the last episode... |
| Left arrow key pressed. Exiting loop and rerecord the last episode... |
| Left arrow key pressed. Exiting loop and rerecord the last episode... |
| Left arrow key pressed. Exiting loop and rerecord the last episode... |
| Left arrow key pressed. Exiting loop and rerecord the last episode... |
| Right arrow key pressed. Exiting loop... |
|
Map: 0%| | 0/892 [00:00<?, ? examples/s]
Map: 50%|████▉ | 443/892 [00:00<00:00, 4399.85 examples/s]
Map: 99%|█████████▉| 886/892 [00:00<00:00, 4411.69 examples/s]
Map: 100%|██████████| 892/892 [00:00<00:00, 4243.37 examples/s] |
| INFO 2026-05-14 10:54:07 eo_utils.py:109 Using video codec: libsvtav1 |
| Svt[info]: |
| Svt[info]: SVT [version]: SVT-AV1 Encoder Lib v3.0.0 |
| Svt[info]: SVT [build] : GCC 14.2.1 20250110 (Red Hat 14.2.1-7) 64 bit |
| Svt[info]: LIB Build date: Jul 3 2025 03:14:07 |
| Svt[info]: |
| Svt[warn]: Preset M12 is mapped to M10. |
| Svt[info]: Level of Parallelism: 5 |
| Svt[info]: Number of PPCS 76 |
| Svt[info]: [asm level on system : up to avx2] |
| Svt[info]: [asm level selected : up to avx2] |
| Svt[info]: |
| Svt[info]: SVT [config]: main profile tier (auto) level (auto) |
| Svt[info]: SVT [config]: width / height / fps numerator / fps denominator : 640 / 480 / 30 / 1 |
| Svt[info]: SVT [config]: bit-depth / color format : 8 / YUV420 |
| Svt[info]: SVT [config]: preset / tune / pred struct : 10 / PSNR / random access |
| Svt[info]: SVT [config]: gop size / mini-gop size / key-frame type : 2 / 16 / key frame |
| Svt[info]: SVT [config]: BRC mode / rate factor : CRF / 30 |
| Svt[info]: SVT [config]: AQ mode / variance boost : 2 / 0 |
| Svt[info]: SVT [config]: sharpness / luminance-based QP bias : 0 / 0 |
| Svt[info]: Svt[info]: |
| INFO 2026-05-14 10:54:11 ls/utils.py:143 Recording episode 1 |
| INFO 2026-05-14 10:54:40 ls/utils.py:143 Reset the environment |
| Right arrow key pressed. Exiting loop... |
|
Map: 0%| | 0/871 [00:00<?, ? examples/s]
Map: 52%|█████▏ | 449/871 [00:00<00:00, 4450.11 examples/s]
Map: 100%|██████████| 871/871 [00:00<00:00, 4300.80 examples/s] |
| INFO 2026-05-14 10:54:47 eo_utils.py:109 Using video codec: libsvtav1 |
| Svt[info]: |
| Svt[info]: SVT [version]: SVT-AV1 Encoder Lib v3.0.0 |
| Svt[info]: SVT [build] : GCC 14.2.1 20250110 (Red Hat 14.2.1-7) 64 bit |
| Svt[info]: LIB Build date: Jul 3 2025 03:14:07 |
| Svt[info]: |
| Svt[warn]: Preset M12 is mapped to M10. |
| Svt[info]: Level of Parallelism: 5 |
| Svt[info]: Number of PPCS 76 |
| Svt[info]: [asm level on system : up to avx2] |
| Svt[info]: [asm level selected : up to avx2] |
| Svt[info]: |
| Svt[info]: SVT [config]: main profile tier (auto) level (auto) |
| Svt[info]: SVT [config]: width / height / fps numerator / fps denominator : 640 / 480 / 30 / 1 |
| Svt[info]: SVT [config]: bit-depth / color format : 8 / YUV420 |
| Svt[info]: SVT [config]: preset / tune / pred struct : 10 / PSNR / random access |
| Svt[info]: SVT [config]: gop size / mini-gop size / key-frame type : 2 / 16 / key frame |
| Svt[info]: SVT [config]: BRC mode / rate factor : CRF / 30 |
| Svt[info]: SVT [config]: AQ mode / variance boost : 2 / 0 |
| Svt[info]: SVT [config]: sharpness / luminance-based QP bias : 0 / 0 |
| Svt[info]: Svt[info]: |
| [mp4 @ 0x4c7d98c0] Starting second pass: moving the moov atom to the beginning of the file |
| INFO 2026-05-14 10:54:51 ls/utils.py:143 Recording episode 2 |
| INFO 2026-05-14 10:55:19 ls/utils.py:143 Reset the environment |
| INFO 2026-05-14 10:55:24 ls/utils.py:143 Re-record episode |
| INFO 2026-05-14 10:55:24 ls/utils.py:143 Recording episode 2 |
| INFO 2026-05-14 10:55:27 ls/utils.py:143 Reset the environment |
| INFO 2026-05-14 10:55:32 ls/utils.py:143 Re-record episode |
| INFO 2026-05-14 10:55:32 ls/utils.py:143 Recording episode 2 |
| INFO 2026-05-14 10:56:01 ls/utils.py:143 Reset the environment |
| Left arrow key pressed. Exiting loop and rerecord the last episode... |
| Left arrow key pressed. Exiting loop and rerecord the last episode... |
| Right arrow key pressed. Exiting loop... |
|
Map: 0%| | 0/874 [00:00<?, ? examples/s]
Map: 50%|█████ | 439/874 [00:00<00:00, 4363.31 examples/s]
Map: 100%|██████████| 874/874 [00:00<00:00, 4182.28 examples/s] |
| INFO 2026-05-14 10:56:07 eo_utils.py:109 Using video codec: libsvtav1 |
| Svt[info]: |
| Svt[info]: SVT [version]: SVT-AV1 Encoder Lib v3.0.0 |
| Svt[info]: SVT [build] : GCC 14.2.1 20250110 (Red Hat 14.2.1-7) 64 bit |
| Svt[info]: LIB Build date: Jul 3 2025 03:14:07 |
| Svt[info]: |
| Svt[warn]: Preset M12 is mapped to M10. |
| Svt[info]: Level of Parallelism: 5 |
| Svt[info]: Number of PPCS 76 |
| Svt[info]: [asm level on system : up to avx2] |
| Svt[info]: [asm level selected : up to avx2] |
| Svt[info]: |
| Svt[info]: SVT [config]: main profile tier (auto) level (auto) |
| Svt[info]: SVT [config]: width / height / fps numerator / fps denominator : 640 / 480 / 30 / 1 |
| Svt[info]: SVT [config]: bit-depth / color format : 8 / YUV420 |
| Svt[info]: SVT [config]: preset / tune / pred struct : 10 / PSNR / random access |
| Svt[info]: SVT [config]: gop size / mini-gop size / key-frame type : 2 / 16 / key frame |
| Svt[info]: SVT [config]: BRC mode / rate factor : CRF / 30 |
| Svt[info]: SVT [config]: AQ mode / variance boost : 2 / 0 |
| Svt[info]: SVT [config]: sharpness / luminance-based QP bias : 0 / 0 |
| Svt[info]: Svt[info]: |
| [mp4 @ 0x4df5a600] Starting second pass: moving the moov atom to the beginning of the file |
| INFO 2026-05-14 10:56:11 ls/utils.py:143 Recording episode 3 |
| INFO 2026-05-14 10:56:16 ls/utils.py:143 Reset the environment |
| INFO 2026-05-14 10:56:21 ls/utils.py:143 Re-record episode |
| INFO 2026-05-14 10:56:21 ls/utils.py:143 Recording episode 3 |
| INFO 2026-05-14 10:56:24 ls/utils.py:143 Reset the environment |
| INFO 2026-05-14 10:56:29 ls/utils.py:143 Re-record episode |
| INFO 2026-05-14 10:56:29 ls/utils.py:143 Recording episode 3 |
| INFO 2026-05-14 10:56:58 ls/utils.py:143 Reset the environment |
| Left arrow key pressed. Exiting loop and rerecord the last episode... |
| Left arrow key pressed. Exiting loop and rerecord the last episode... |
| Right arrow key pressed. Exiting loop... |
|
Map: 0%| | 0/874 [00:00<?, ? examples/s]
Map: 51%|█████ | 445/874 [00:00<00:00, 4426.19 examples/s]
Map: 100%|██████████| 874/874 [00:00<00:00, 4293.12 examples/s] |
| INFO 2026-05-14 10:57:05 eo_utils.py:109 Using video codec: libsvtav1 |
| Svt[info]: |
| Svt[info]: SVT [version]: SVT-AV1 Encoder Lib v3.0.0 |
| Svt[info]: SVT [build] : GCC 14.2.1 20250110 (Red Hat 14.2.1-7) 64 bit |
| Svt[info]: LIB Build date: Jul 3 2025 03:14:07 |
| Svt[info]: |
| Svt[warn]: Preset M12 is mapped to M10. |
| Svt[info]: Level of Parallelism: 5 |
| Svt[info]: Number of PPCS 76 |
| Svt[info]: [asm level on system : up to avx2] |
| Svt[info]: [asm level selected : up to avx2] |
| Svt[info]: |
| Svt[info]: SVT [config]: main profile tier (auto) level (auto) |
| Svt[info]: SVT [config]: width / height / fps numerator / fps denominator : 640 / 480 / 30 / 1 |
| Svt[info]: SVT [config]: bit-depth / color format : 8 / YUV420 |
| Svt[info]: SVT [config]: preset / tune / pred struct : 10 / PSNR / random access |
| Svt[info]: SVT [config]: gop size / mini-gop size / key-frame type : 2 / 16 / key frame |
| Svt[info]: SVT [config]: BRC mode / rate factor : CRF / 30 |
| Svt[info]: SVT [config]: AQ mode / variance boost : 2 / 0 |
| Svt[info]: SVT [config]: sharpness / luminance-based QP bias : 0 / 0 |
| Svt[info]: Svt[info]: |
| [mp4 @ 0x4f544280] Starting second pass: moving the moov atom to the beginning of the file |
| INFO 2026-05-14 10:57:09 ls/utils.py:143 Recording episode 4 |
| INFO 2026-05-14 10:57:38 ls/utils.py:143 Reset the environment |
| Right arrow key pressed. Exiting loop... |
|
Map: 0%| | 0/885 [00:00<?, ? examples/s]
Map: 50%|█████ | 443/885 [00:00<00:00, 4398.73 examples/s]
Map: 100%|██████████| 885/885 [00:00<00:00, 4288.68 examples/s]
Map: 100%|██████████| 885/885 [00:00<00:00, 4284.61 examples/s] |
| INFO 2026-05-14 10:57:45 eo_utils.py:109 Using video codec: libsvtav1 |
| Svt[info]: |
| Svt[info]: SVT [version]: SVT-AV1 Encoder Lib v3.0.0 |
| Svt[info]: SVT [build] : GCC 14.2.1 20250110 (Red Hat 14.2.1-7) 64 bit |
| Svt[info]: LIB Build date: Jul 3 2025 03:14:07 |
| Svt[info]: |
| Svt[warn]: Preset M12 is mapped to M10. |
| Svt[info]: Level of Parallelism: 5 |
| Svt[info]: Number of PPCS 76 |
| Svt[info]: [asm level on system : up to avx2] |
| Svt[info]: [asm level selected : up to avx2] |
| Svt[info]: |
| Svt[info]: SVT [config]: main profile tier (auto) level (auto) |
| Svt[info]: SVT [config]: width / height / fps numerator / fps denominator : 640 / 480 / 30 / 1 |
| Svt[info]: SVT [config]: bit-depth / color format : 8 / YUV420 |
| Svt[info]: SVT [config]: preset / tune / pred struct : 10 / PSNR / random access |
| Svt[info]: SVT [config]: gop size / mini-gop size / key-frame type : 2 / 16 / key frame |
| Svt[info]: SVT [config]: BRC mode / rate factor : CRF / 30 |
| Svt[info]: SVT [config]: AQ mode / variance boost : 2 / 0 |
| Svt[info]: SVT [config]: sharpness / luminance-based QP bias : 0 / 0 |
| Svt[info]: Svt[info]: |
| [mp4 @ 0x4c7d1340] Starting second pass: moving the moov atom to the beginning of the file |
| INFO 2026-05-14 10:57:49 ls/utils.py:143 Recording episode 5 |
| INFO 2026-05-14 10:58:16 ls/utils.py:143 Reset the environment |
| Right arrow key pressed. Exiting loop... |
|
Map: 0%| | 0/803 [00:00<?, ? examples/s]
Map: 52%|█████▏ | 421/803 [00:00<00:00, 4179.25 examples/s]
Map: 100%|██████████| 803/803 [00:00<00:00, 4064.92 examples/s] |
| INFO 2026-05-14 10:58:22 eo_utils.py:109 Using video codec: libsvtav1 |
| Svt[info]: |
| Svt[info]: SVT [version]: SVT-AV1 Encoder Lib v3.0.0 |
| Svt[info]: SVT [build] : GCC 14.2.1 20250110 (Red Hat 14.2.1-7) 64 bit |
| Svt[info]: LIB Build date: Jul 3 2025 03:14:07 |
| Svt[info]: |
| Svt[warn]: Preset M12 is mapped to M10. |
| Svt[info]: Level of Parallelism: 5 |
| Svt[info]: Number of PPCS 76 |
| Svt[info]: [asm level on system : up to avx2] |
| Svt[info]: [asm level selected : up to avx2] |
| Svt[info]: |
| Svt[info]: SVT [config]: main profile tier (auto) level (auto) |
| Svt[info]: SVT [config]: width / height / fps numerator / fps denominator : 640 / 480 / 30 / 1 |
| Svt[info]: SVT [config]: bit-depth / color format : 8 / YUV420 |
| Svt[info]: SVT [config]: preset / tune / pred struct : 10 / PSNR / random access |
| Svt[info]: SVT [config]: gop size / mini-gop size / key-frame type : 2 / 16 / key frame |
| Svt[info]: SVT [config]: BRC mode / rate factor : CRF / 30 |
| Svt[info]: SVT [config]: AQ mode / variance boost : 2 / 0 |
| Svt[info]: SVT [config]: sharpness / luminance-based QP bias : 0 / 0 |
| Svt[info]: Svt[info]: |
| [mp4 @ 0x4feb5d00] Starting second pass: moving the moov atom to the beginning of the file |
| INFO 2026-05-14 10:58:26 ls/utils.py:143 Recording episode 6 |
| INFO 2026-05-14 10:58:54 ls/utils.py:143 Reset the environment |
| Right arrow key pressed. Exiting loop... |
|
Map: 0%| | 0/838 [00:00<?, ? examples/s]
Map: 53%|█████▎ | 440/838 [00:00<00:00, 4381.25 examples/s]
Map: 100%|██████████| 838/838 [00:00<00:00, 4236.85 examples/s] |
| INFO 2026-05-14 10:59:00 eo_utils.py:109 Using video codec: libsvtav1 |
| Svt[info]: |
| Svt[info]: SVT [version]: SVT-AV1 Encoder Lib v3.0.0 |
| Svt[info]: SVT [build] : GCC 14.2.1 20250110 (Red Hat 14.2.1-7) 64 bit |
| Svt[info]: LIB Build date: Jul 3 2025 03:14:07 |
| Svt[info]: |
| Svt[warn]: Preset M12 is mapped to M10. |
| Svt[info]: Level of Parallelism: 5 |
| Svt[info]: Number of PPCS 76 |
| Svt[info]: [asm level on system : up to avx2] |
| Svt[info]: [asm level selected : up to avx2] |
| Svt[info]: |
| Svt[info]: SVT [config]: main profile tier (auto) level (auto) |
| Svt[info]: SVT [config]: width / height / fps numerator / fps denominator : 640 / 480 / 30 / 1 |
| Svt[info]: SVT [config]: bit-depth / color format : 8 / YUV420 |
| Svt[info]: SVT [config]: preset / tune / pred struct : 10 / PSNR / random access |
| Svt[info]: SVT [config]: gop size / mini-gop size / key-frame type : 2 / 16 / key frame |
| Svt[info]: SVT [config]: BRC mode / rate factor : CRF / 30 |
| Svt[info]: SVT [config]: AQ mode / variance boost : 2 / 0 |
| Svt[info]: SVT [config]: sharpness / luminance-based QP bias : 0 / 0 |
| Svt[info]: Svt[info]: |
| [mp4 @ 0x5a098bc0] Starting second pass: moving the moov atom to the beginning of the file |
| INFO 2026-05-14 10:59:04 ls/utils.py:143 Recording episode 7 |
| INFO 2026-05-14 10:59:28 ls/utils.py:143 Reset the environment |
| Right arrow key pressed. Exiting loop... |
|
Map: 0%| | 0/727 [00:00<?, ? examples/s]
Map: 59%|█████▉ | 429/727 [00:00<00:00, 4250.78 examples/s]
Map: 100%|██████████| 727/727 [00:00<00:00, 4135.27 examples/s] |
| INFO 2026-05-14 10:59:34 eo_utils.py:109 Using video codec: libsvtav1 |
| Svt[info]: |
| Svt[info]: SVT [version]: SVT-AV1 Encoder Lib v3.0.0 |
| Svt[info]: SVT [build] : GCC 14.2.1 20250110 (Red Hat 14.2.1-7) 64 bit |
| Svt[info]: LIB Build date: Jul 3 2025 03:14:07 |
| Svt[info]: |
| Svt[warn]: Preset M12 is mapped to M10. |
| Svt[info]: Level of Parallelism: 5 |
| Svt[info]: Number of PPCS 76 |
| Svt[info]: [asm level on system : up to avx2] |
| Svt[info]: [asm level selected : up to avx2] |
| Svt[info]: |
| Svt[info]: SVT [config]: main profile tier (auto) level (auto) |
| Svt[info]: SVT [config]: width / height / fps numerator / fps denominator : 640 / 480 / 30 / 1 |
| Svt[info]: SVT [config]: bit-depth / color format : 8 / YUV420 |
| Svt[info]: SVT [config]: preset / tune / pred struct : 10 / PSNR / random access |
| Svt[info]: SVT [config]: gop size / mini-gop size / key-frame type : 2 / 16 / key frame |
| Svt[info]: SVT [config]: BRC mode / rate factor : CRF / 30 |
| Svt[info]: SVT [config]: AQ mode / variance boost : 2 / 0 |
| Svt[info]: SVT [config]: sharpness / luminance-based QP bias : 0 / 0 |
| Svt[info]: Svt[info]: |
| [mp4 @ 0x5d8cea00] Starting second pass: moving the moov atom to the beginning of the file |
| INFO 2026-05-14 10:59:38 ls/utils.py:143 Recording episode 8 |
| INFO 2026-05-14 10:59:44 ls/utils.py:143 Reset the environment |
| INFO 2026-05-14 10:59:49 ls/utils.py:143 Re-record episode |
| INFO 2026-05-14 10:59:49 ls/utils.py:143 Recording episode 8 |
| INFO 2026-05-14 10:59:55 ls/utils.py:143 Reset the environment |
| INFO 2026-05-14 11:00:00 ls/utils.py:143 Re-record episode |
| INFO 2026-05-14 11:00:00 ls/utils.py:143 Recording episode 8 |
| INFO 2026-05-14 11:00:10 ls/utils.py:143 Reset the environment |
| INFO 2026-05-14 11:00:15 ls/utils.py:143 Re-record episode |
| INFO 2026-05-14 11:00:15 ls/utils.py:143 Recording episode 8 |
| INFO 2026-05-14 11:00:43 ls/utils.py:143 Reset the environment |
| Left arrow key pressed. Exiting loop and rerecord the last episode... |
| Left arrow key pressed. Exiting loop and rerecord the last episode... |
| Left arrow key pressed. Exiting loop and rerecord the last episode... |
| Right arrow key pressed. Exiting loop... |
|
Map: 0%| | 0/845 [00:00<?, ? examples/s]
Map: 51%|█████ | 432/845 [00:00<00:00, 4297.42 examples/s]
Map: 100%|██████████| 845/845 [00:00<00:00, 4207.97 examples/s] |
| INFO 2026-05-14 11:00:49 eo_utils.py:109 Using video codec: libsvtav1 |
| Svt[info]: |
| Svt[info]: SVT [version]: SVT-AV1 Encoder Lib v3.0.0 |
| Svt[info]: SVT [build] : GCC 14.2.1 20250110 (Red Hat 14.2.1-7) 64 bit |
| Svt[info]: LIB Build date: Jul 3 2025 03:14:07 |
| Svt[info]: |
| Svt[warn]: Preset M12 is mapped to M10. |
| Svt[info]: Level of Parallelism: 5 |
| Svt[info]: Number of PPCS 76 |
| Svt[info]: [asm level on system : up to avx2] |
| Svt[info]: [asm level selected : up to avx2] |
| Svt[info]: |
| Svt[info]: SVT [config]: main profile tier (auto) level (auto) |
| Svt[info]: SVT [config]: width / height / fps numerator / fps denominator : 640 / 480 / 30 / 1 |
| Svt[info]: SVT [config]: bit-depth / color format : 8 / YUV420 |
| Svt[info]: SVT [config]: preset / tune / pred struct : 10 / PSNR / random access |
| Svt[info]: SVT [config]: gop size / mini-gop size / key-frame type : 2 / 16 / key frame |
| Svt[info]: SVT [config]: BRC mode / rate factor : CRF / 30 |
| Svt[info]: SVT [config]: AQ mode / variance boost : 2 / 0 |
| Svt[info]: SVT [config]: sharpness / luminance-based QP bias : 0 / 0 |
| Svt[info]: Svt[info]: |
| [mp4 @ 0x53d0b680] Starting second pass: moving the moov atom to the beginning of the file |
| INFO 2026-05-14 11:00:53 ls/utils.py:143 Recording episode 9 |
| Right arrow key pressed. Exiting loop... |
|
Map: 0%| | 0/773 [00:00<?, ? examples/s]
Map: 57%|█████▋ | 439/773 [00:00<00:00, 4367.53 examples/s]
Map: 100%|██████████| 773/773 [00:00<00:00, 4233.04 examples/s] |
| INFO 2026-05-14 11:01:20 eo_utils.py:109 Using video codec: libsvtav1 |
| Svt[info]: |
| Svt[info]: SVT [version]: SVT-AV1 Encoder Lib v3.0.0 |
| Svt[info]: SVT [build] : GCC 14.2.1 20250110 (Red Hat 14.2.1-7) 64 bit |
| Svt[info]: LIB Build date: Jul 3 2025 03:14:07 |
| Svt[info]: |
| Svt[warn]: Preset M12 is mapped to M10. |
| Svt[info]: Level of Parallelism: 5 |
| Svt[info]: Number of PPCS 76 |
| Svt[info]: [asm level on system : up to avx2] |
| Svt[info]: [asm level selected : up to avx2] |
| Svt[info]: |
| Svt[info]: SVT [config]: main profile tier (auto) level (auto) |
| Svt[info]: SVT [config]: width / height / fps numerator / fps denominator : 640 / 480 / 30 / 1 |
| Svt[info]: SVT [config]: bit-depth / color format : 8 / YUV420 |
| Svt[info]: SVT [config]: preset / tune / pred struct : 10 / PSNR / random access |
| Svt[info]: SVT [config]: gop size / mini-gop size / key-frame type : 2 / 16 / key frame |
| Svt[info]: SVT [config]: BRC mode / rate factor : CRF / 30 |
| Svt[info]: SVT [config]: AQ mode / variance boost : 2 / 0 |
| Svt[info]: SVT [config]: sharpness / luminance-based QP bias : 0 / 0 |
| Svt[info]: Svt[info]: |
| [mp4 @ 0x53d0b680] Starting second pass: moving the moov atom to the beginning of the file |
| INFO 2026-05-14 11:01:24 ls/utils.py:143 Stop recording |
| INFO 2026-05-14 11:01:26 a_opencv.py:592 OpenCVCamera(2) disconnected. |
| INFO 2026-05-14 11:01:26 follower.py:229 so101_follower_arm SOFollower disconnected. |
| INFO 2026-05-14 11:01:26 o_leader.py:163 so101_leader_arm SOLeader disconnected. |
| INFO 2026-05-14 11:01:26 ls/utils.py:143 Exiting |
|
|
