Upload folder using huggingface_hub

training_summary.json

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+{
+  "task": "pull-v3",
+  "policy": "ACT",
+  "training_steps": 50000,
+  "batch_size": 32,
+  "timestamp": "2025-12-23T20:27:20.840911",
+  "phase": "Phase 1 - Single Task Learning",
+  "project": "Inter-IIT Tech Meet 14.0"
+}

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wandb/debug.log

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wandb/run-20251223_172647-ofestyta/files/config.yaml

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+                    - --policy.repo_id=act-pull-v3-baseline
+                    - --policy.device=cuda
+                    - --policy.push_to_hub=false
+                    - --env.type=metaworld
+                    - --env.task=pull-v3
+                    - --dataset.repo_id=lerobot/pull-v3
+                    - --dataset.root=data
+                    - --output_dir=outputs/train/act_pull_v3
+                    - --steps=50000
+                    - --batch_size=32
+                    - --eval_freq=10000
+                    - --save_freq=10000
+                    - --log_freq=200
+                    - --wandb.enable=true
+                    - --wandb.project=act_metaworld_interiit
+                codePath: src/lerobot/scripts/lerobot_train.py
+                codePathLocal: src/lerobot/scripts/lerobot_train.py
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+                git:
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+                    remote: https://github.com/huggingface/lerobot.git
+                gpu: Tesla T4
+                gpu_count: 1
+                gpu_nvidia:
+                    - architecture: Turing
+                      cudaCores: 2560
+                      memoryTotal: "16106127360"
+                      name: Tesla T4
+                      uuid: GPU-ba180f3e-9ed4-d409-a683-51d0af784c2d
+                host: 4f263b5ee6eb
+                memory:
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+                os: Linux-6.6.105+-x86_64-with-glibc2.35
+                program: /content/lerobot/src/lerobot/scripts/lerobot_train.py
+                python: CPython 3.12.12
+                root: outputs/train/act_pull_v3
+                startedAt: "2025-12-23T17:26:47.191612Z"
+                writerId: 26t8hwbo6cxb833l82yhef4gwtgu5uu3
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+checkpoint_path:
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+dataset:
+    value:
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+        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
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+                    weight: 1
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+                        hue:
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+                            - 0.05
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+                    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: lerobot/pull-v3
+        revision: null
+        root: data
+        streaming: false
+        use_imagenet_stats: true
+        video_backend: torchcodec
+env:
+    value:
+        disable_env_checker: true
+        episode_length: 400
+        features:
+            action:
+                shape:
+                    - 4
+                type: ACTION
+            agent_pos:
+                shape:
+                    - 4
+                type: STATE
+            pixels/top:
+                shape:
+                    - 480
+                    - 480
+                    - 3
+                type: VISUAL
+        features_map:
+            action: action
+            agent_pos: observation.state
+            pixels/top: observation.image
+            top: observation.image
+        fps: 80
+        max_parallel_tasks: 1
+        multitask_eval: true
+        obs_type: pixels_agent_pos
+        render_mode: rgb_array
+        task: pull-v3
+        type: metaworld
+eval:
+    value:
+        batch_size: 50
+        n_episodes: 50
+        use_async_envs: false
+eval_freq:
+    value: 10000
+job_name:
+    value: metaworld_act
+log_freq:
+    value: 200
+num_workers:
+    value: 4
+optimizer:
+    value:
+        betas:
+            - 0.9
+            - 0.999
+        eps: 1e-08
+        grad_clip_norm: 10
+        lr: 1e-05
+        type: adamw
+        weight_decay: 0.0001
+output_dir:
+    value: outputs/train/act_pull_v3
+policy:
+    value:
+        chunk_size: 100
+        device: cuda
+        dim_feedforward: 3200
+        dim_model: 512
+        dropout: 0.1
+        feedforward_activation: relu
+        kl_weight: 10
+        latent_dim: 32
+        license: null
+        n_action_steps: 100
+        n_decoder_layers: 1
+        n_encoder_layers: 4
+        n_heads: 8
+        n_obs_steps: 1
+        n_vae_encoder_layers: 4
+        normalization_mapping:
+            ACTION: MEAN_STD
+            STATE: MEAN_STD
+            VISUAL: MEAN_STD
+        optimizer_lr: 1e-05
+        optimizer_lr_backbone: 1e-05
+        optimizer_weight_decay: 0.0001
+        pre_norm: false
+        pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1
+        pretrained_path: null
+        private: null
+        push_to_hub: false
+        replace_final_stride_with_dilation: false
+        repo_id: act-pull-v3-baseline
+        tags: null
+        temporal_ensemble_coeff: null
+        type: act
+        use_amp: false
+        use_vae: true
+        vision_backbone: resnet18
+rabc_epsilon:
+    value: 1e-06
+rabc_head_mode:
+    value: sparse
+rabc_kappa:
+    value: 0.01
+rabc_progress_path:
+    value: null
+resume:
+    value: false
+save_checkpoint:
+    value: true
+save_freq:
+    value: 10000
+scheduler:
+    value: null
+seed:
+    value: 1000
+steps:
+    value: 50000
+tolerance_s:
+    value: 0.0001
+use_policy_training_preset:
+    value: true
+use_rabc:
+    value: false
+wandb:
+    value:
+        disable_artifact: false
+        enable: true
+        entity: null
+        mode: null
+        notes: null
+        project: act_metaworld_interiit
+        run_id: null

wandb/run-20251223_172647-ofestyta/files/output.log

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+INFO 2025-12-23 17:26:49 db_utils.py:102 Logs will be synced with wandb.
+INFO 2025-12-23 17:26:49 db_utils.py:103 Track this run --> https://wandb.ai/a-jacked-nerd-iit-madras/act_metaworld_interiit/runs/ofestyta
+INFO 2025-12-23 17:26:49 ot_train.py:207 Creating dataset
+INFO 2025-12-23 17:26:49 ot_train.py:222 Creating env
+INFO 2025-12-23 17:26:49 tesupport.py:24 No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate'
+Creating Meta-World envs | task_groups=['pull-v3'] | n_envs(per task)=50
+Building vec env | group=pull-v3 | task_id=0 | task=pull-v3
+Traceback (most recent call last):
+  File "/content/lerobot/src/lerobot/scripts/lerobot_train.py", line 520, in <module>
+    main()
+  File "/content/lerobot/src/lerobot/scripts/lerobot_train.py", line 516, in main
+    train()
+  File "/content/lerobot/src/lerobot/configs/parser.py", line 233, in wrapper_inner
+    response = fn(cfg, *args, **kwargs)
+               ^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/content/lerobot/src/lerobot/scripts/lerobot_train.py", line 223, in train
+    eval_env = make_env(cfg.env, n_envs=cfg.eval.batch_size, use_async_envs=cfg.eval.use_async_envs)
+               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/content/lerobot/src/lerobot/envs/factory.py", line 155, in make_env
+    return create_metaworld_envs(
+           ^^^^^^^^^^^^^^^^^^^^^^
+  File "/content/lerobot/src/lerobot/envs/metaworld.py", line 310, in create_metaworld_envs
+    out[group][tid] = env_cls(fns)
+                      ^^^^^^^^^^^^
+  File "/usr/local/lib/python3.12/dist-packages/gymnasium/vector/sync_vector_env.py", line 97, in __init__
+    self.envs = [env_fn() for env_fn in env_fns]
+                 ^^^^^^^^
+  File "/content/lerobot/src/lerobot/envs/metaworld.py", line 308, in <lambda>
+    fns = [(lambda tn=task_name: MetaworldEnv(task=tn, **gym_kwargs)) for _ in range(n_envs)]
+                                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/content/lerobot/src/lerobot/envs/metaworld.py", line 98, in __init__
+    self._env = self._make_envs_task(self.task)
+                ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/content/lerobot/src/lerobot/envs/metaworld.py", line 151, in _make_envs_task
+    mt1 = metaworld.MT1(env_name, seed=42)
+          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+  File "/usr/local/lib/python3.12/dist-packages/metaworld/__init__.py", line 196, in __init__
+    raise ValueError(f"{env_name} is not a V3 environment")
+ValueError: pull-v3 is not a V3 environment

wandb/run-20251223_172647-ofestyta/files/requirements.txt

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