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pour_coke_static_perturbation_diffusion

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+ INFO 2026-02-01 10:36:50 db_utils.py:102 Logs will be synced with wandb.
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+ INFO 2026-02-01 10:36:50 db_utils.py:103 Track this run --> https://wandb.ai/anjalidhabaria-n-a/lerobot/runs/ndxmae9e
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+ INFO 2026-02-01 10:36:50 ot_train.py:216 Creating dataset
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+ INFO 2026-02-01 10:36:51 ot_train.py:234 Creating policy
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+ INFO 2026-02-01 10:36:55 ot_train.py:289 Creating optimizer and scheduler
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+ INFO 2026-02-01 10:36:55 ot_train.py:324 Output dir: outputs/train/2026-02-01/10-36-49_pour_static_perturbation_diffusion
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+ INFO 2026-02-01 10:36:55 ot_train.py:331 cfg.steps=100000 (100K)
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+ INFO 2026-02-01 10:36:55 ot_train.py:332 dataset.num_frames=53644 (54K)
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+ INFO 2026-02-01 10:36:55 ot_train.py:333 dataset.num_episodes=90
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+ INFO 2026-02-01 10:36:55 ot_train.py:336 Effective batch size: 32 x 1 = 32
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+ INFO 2026-02-01 10:36:55 ot_train.py:337 num_learnable_params=323011430 (323M)
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+ INFO 2026-02-01 10:36:55 ot_train.py:338 num_total_params=323011430 (323M)
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+ INFO 2026-02-01 10:36:55 ot_train.py:394 Start offline training on a fixed dataset, with effective batch size: 32
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+ INFO 2026-02-01 10:39:33 ot_train.py:424 step:200 smpl:6K ep:11 epch:0.12 loss:0.579 grdn:4.039 lr:2.0e-05 updt_s:0.705 data_s:0.085
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+ INFO 2026-02-01 10:54:36 ot_train.py:424 step:1K smpl:45K ep:75 epch:0.84 loss:0.035 grdn:0.747 lr:1.0e-04 updt_s:0.687 data_s:0.065
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+ INFO 2026-02-01 11:07:15 ot_train.py:424 step:2K smpl:77K ep:129 epch:1.43 loss:0.028 grdn:0.541 lr:1.0e-04 updt_s:0.687 data_s:0.065
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+ INFO 2026-02-01 11:09:45 ot_train.py:424 step:3K smpl:83K ep:140 epch:1.55 loss:0.028 grdn:0.572 lr:1.0e-04 updt_s:0.687 data_s:0.065
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+ INFO 2026-02-01 11:12:16 ot_train.py:424 step:3K smpl:90K ep:150 epch:1.67 loss:0.027 grdn:0.469 lr:1.0e-04 updt_s:0.687 data_s:0.065
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+ INFO 2026-02-01 11:14:46 ot_train.py:424 step:3K smpl:96K ep:161 epch:1.79 loss:0.026 grdn:0.484 lr:1.0e-04 updt_s:0.687 data_s:0.065
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+ INFO 2026-02-01 11:17:17 ot_train.py:424 step:3K smpl:102K ep:172 epch:1.91 loss:0.026 grdn:0.486 lr:1.0e-04 updt_s:0.687 data_s:0.065
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+ INFO 2026-02-01 11:19:51 ot_train.py:424 step:3K smpl:109K ep:183 epch:2.03 loss:0.026 grdn:0.497 lr:1.0e-04 updt_s:0.687 data_s:0.082
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+ INFO 2026-02-01 11:22:22 ot_train.py:424 step:4K smpl:115K ep:193 epch:2.15 loss:0.026 grdn:0.463 lr:1.0e-04 updt_s:0.687 data_s:0.066
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+ INFO 2026-02-01 11:24:53 ot_train.py:424 step:4K smpl:122K ep:204 epch:2.27 loss:0.025 grdn:0.456 lr:1.0e-04 updt_s:0.687 data_s:0.066
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+ INFO 2026-02-01 11:27:23 ot_train.py:424 step:4K smpl:128K ep:215 epch:2.39 loss:0.025 grdn:0.462 lr:1.0e-04 updt_s:0.687 data_s:0.066
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+ INFO 2026-02-01 11:29:54 ot_train.py:424 step:4K smpl:134K ep:225 epch:2.51 loss:0.024 grdn:0.418 lr:1.0e-04 updt_s:0.687 data_s:0.066
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+ INFO 2026-02-01 11:32:25 ot_train.py:424 step:4K smpl:141K ep:236 epch:2.62 loss:0.024 grdn:0.415 lr:1.0e-04 updt_s:0.687 data_s:0.065
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+ INFO 2026-02-01 11:34:55 ot_train.py:424 step:5K smpl:147K ep:247 epch:2.74 loss:0.024 grdn:0.408 lr:1.0e-04 updt_s:0.687 data_s:0.065
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+ INFO 2026-02-01 11:37:26 ot_train.py:424 step:5K smpl:154K ep:258 epch:2.86 loss:0.023 grdn:0.411 lr:1.0e-04 updt_s:0.688 data_s:0.065
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+ INFO 2026-02-01 11:40:00 ot_train.py:424 step:5K smpl:160K ep:268 epch:2.98 loss:0.023 grdn:0.373 lr:1.0e-04 updt_s:0.687 data_s:0.083
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+ INFO 2026-02-01 11:42:31 ot_train.py:424 step:5K smpl:166K ep:279 epch:3.10 loss:0.023 grdn:0.429 lr:9.9e-05 updt_s:0.688 data_s:0.065
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+ INFO 2026-02-01 11:45:02 ot_train.py:424 step:5K smpl:173K ep:290 epch:3.22 loss:0.023 grdn:0.370 lr:9.9e-05 updt_s:0.687 data_s:0.066
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+ INFO 2026-02-01 11:47:33 ot_train.py:424 step:6K smpl:179K ep:301 epch:3.34 loss:0.023 grdn:0.380 lr:9.9e-05 updt_s:0.688 data_s:0.066
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+ INFO 2026-02-01 11:50:04 ot_train.py:424 step:6K smpl:186K ep:311 epch:3.46 loss:0.022 grdn:0.354 lr:9.9e-05 updt_s:0.687 data_s:0.066
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+ INFO 2026-02-01 11:52:34 ot_train.py:424 step:6K smpl:192K ep:322 epch:3.58 loss:0.022 grdn:0.351 lr:9.9e-05 updt_s:0.687 data_s:0.066
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+ INFO 2026-02-01 11:55:05 ot_train.py:424 step:6K smpl:198K ep:333 epch:3.70 loss:0.022 grdn:0.359 lr:9.9e-05 updt_s:0.688 data_s:0.066
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+ INFO 2026-02-01 11:57:36 ot_train.py:424 step:6K smpl:205K ep:344 epch:3.82 loss:0.023 grdn:0.351 lr:9.9e-05 updt_s:0.687 data_s:0.065
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+ INFO 2026-02-01 12:00:07 ot_train.py:424 step:7K smpl:211K ep:354 epch:3.94 loss:0.022 grdn:0.329 lr:9.9e-05 updt_s:0.687 data_s:0.065
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+ INFO 2026-02-01 12:02:40 ot_train.py:424 step:7K smpl:218K ep:365 epch:4.06 loss:0.022 grdn:0.351 lr:9.9e-05 updt_s:0.687 data_s:0.079
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+ INFO 2026-02-01 12:05:10 ot_train.py:424 step:7K smpl:224K ep:376 epch:4.18 loss:0.022 grdn:0.324 lr:9.9e-05 updt_s:0.687 data_s:0.065
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+ INFO 2026-02-01 12:07:41 ot_train.py:424 step:7K smpl:230K ep:387 epch:4.29 loss:0.023 grdn:0.355 lr:9.9e-05 updt_s:0.687 data_s:0.065
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+ INFO 2026-02-01 12:10:12 ot_train.py:424 step:7K smpl:237K ep:397 epch:4.41 loss:0.021 grdn:0.325 lr:9.9e-05 updt_s:0.687 data_s:0.065
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+ INFO 2026-02-01 12:12:42 ot_train.py:424 step:8K smpl:243K ep:408 epch:4.53 loss:0.022 grdn:0.323 lr:9.9e-05 updt_s:0.687 data_s:0.065
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+ INFO 2026-02-01 12:15:13 ot_train.py:424 step:8K smpl:250K ep:419 epch:4.65 loss:0.021 grdn:0.311 lr:9.9e-05 updt_s:0.687 data_s:0.065
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+ INFO 2026-02-01 12:20:14 ot_train.py:424 step:8K smpl:262K ep:440 epch:4.89 loss:0.020 grdn:0.308 lr:9.9e-05 updt_s:0.687 data_s:0.065
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+ INFO 2026-02-01 12:25:19 ot_train.py:424 step:9K smpl:275K ep:462 epch:5.13 loss:0.021 grdn:0.308 lr:9.8e-05 updt_s:0.687 data_s:0.066
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+ INFO 2026-02-01 12:32:51 ot_train.py:424 step:9K smpl:294K ep:494 epch:5.49 loss:0.020 grdn:0.306 lr:9.8e-05 updt_s:0.687 data_s:0.066
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+ INFO 2026-02-01 12:35:22 ot_train.py:424 step:9K smpl:301K ep:505 epch:5.61 loss:0.020 grdn:0.288 lr:9.8e-05 updt_s:0.687 data_s:0.066
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+ INFO 2026-02-01 12:37:52 ot_train.py:424 step:10K smpl:307K ep:515 epch:5.73 loss:0.020 grdn:0.316 lr:9.8e-05 updt_s:0.687 data_s:0.066
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+ INFO 2026-02-01 12:40:23 ot_train.py:424 step:10K smpl:314K ep:526 epch:5.85 loss:0.019 grdn:0.285 lr:9.8e-05 updt_s:0.687 data_s:0.066
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+ INFO 2026-02-01 12:42:57 ot_train.py:424 step:10K smpl:320K ep:537 epch:5.97 loss:0.020 grdn:0.293 lr:9.8e-05 updt_s:0.686 data_s:0.081
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+ INFO 2026-02-01 12:42:57 ot_train.py:444 Checkpoint policy after step 10000
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+ WARNING 2026-02-01 12:43:15 ot_train.py:475 Failed to upload checkpoint to hub: 401 Client Error: Unauthorized for url: https://huggingface.co/api/repos/create (Request ID: Root=1-697f4a63-20ae81be53584b5b33bebb51;42ecebe4-b81d-4bd7-8e06-f6ee0ee737f2)
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+ INFO 2026-02-01 12:45:46 ot_train.py:424 step:10K smpl:326K ep:548 epch:6.08 loss:0.019 grdn:0.280 lr:9.8e-05 updt_s:0.686 data_s:0.065
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