=== TRAIN WRAPPER START === RUN_ID=87493717 RUN_DIR=/opt/train-runs/87493717 FAST_ROOT=/mnt/localssd/train-runs FAST_RUN_DIR=/mnt/localssd/train-runs/87493717 DATASET_DIR=/mnt/localssd/train-runs/87493717/dataset OUTPUT_DIR=/mnt/localssd/train-runs/87493717/outputs TRAIN_LOG=/opt/train-runs/87493717/train.log PROGRESS_JSON=/opt/train-runs/87493717/progress.json RESULT_JSON=/opt/train-runs/87493717/result.json CONFIG_PATH=/opt/train-runs/87493717/train_xvla.yaml DATASET_REPO=carrot-fever/tl_ts_prompted_merged_image_v3_smoke_ep0 DATASET_SUBDIR= MODEL_REPO=carrot-fever/smoke-test-diff JOB_NAME=96a5bba7-faf3c438-2a9b411f-87493717 STEPS=20 BATCH_SIZE=4 SAVE_FREQ=10 NUM_WORKERS=12 DATALOADER_PREFETCH_FACTOR=2 LOG_FREQ=1000 LEROBOT_ROOT=/opt/lerobot_v2 PYTHON=/opt/lerobot_v2/.venv/bin/python HF_HOME=/mnt/localssd/hf HF_LEROBOT_HOME=/mnt/localssd/hf HUGGINGFACE_HUB_CACHE=/mnt/localssd/hf/hub HF_DATASETS_CACHE=/mnt/localssd/hf/datasets TMPDIR=/mnt/localssd/tmp WANDB_DIR=/mnt/localssd/wandb =========================== Fetching 7 files: 0%| | 0/7 [00:00}, 'observation.images.image2': {'shape': [3, 480, 640], 'type': }, 'observation.images.image3': {'shape': [3, 480, 640], 'type': }, 'observation.state': {'shape': [12], 'type': }}, 'kernel_size': 5, 'license': None, 'n_action_steps': 8, 'n_groups': 8, 'n_obs_steps': 2, 'noise_scheduler_type': 'DDPM', 'normalization_mapping': {'ACTION': , 'STATE': , 'VISUAL': }, 'num_inference_steps': None, 'num_train_timesteps': 100, 'optimizer_betas': [0.95, 0.999], 'optimizer_eps': 1e-08, 'optimizer_lr': 0.0001, 'optimizer_weight_decay': 1e-06, 'output_features': {'action': {'shape': [12], 'type': }}, 'prediction_type': 'epsilon', 'pretrained_backbone_weights': None, 'pretrained_path': '/opt/lerobot_v2/policy_seeds/diffusion_3cam12d', 'private': None, 'push_to_hub': False, 'repo_id': 'carrot-fever/smoke-test-diff', 'resize_shape': [224, 224], 'scheduler_name': 'cosine', 'scheduler_warmup_steps': 500, 'spatial_softmax_num_keypoints': 32, 'tags': None, 'type': 'diffusion', 'use_amp': True, 'use_film_scale_modulation': True, 'use_group_norm': True, 'use_peft': False, 'use_separate_rgb_encoder_per_camera': False, 'vision_backbone': 'resnet18'}, 'rabc_epsilon': 1e-06, 'rabc_head_mode': 'sparse', 'rabc_kappa': 0.01, 'rabc_progress_path': None, 'rename_map': {'observation.images.left_rgb': 'observation.images.image2', 'observation.images.right_rgb': 'observation.images.image3', 'observation.images.top_rgb': 'observation.images.image'}, 'require_localssd': False, 'resume': False, 'save_checkpoint': True, 'save_freq': 10, 'scheduler': {'name': 'cosine', 'num_warmup_steps': 500, 'type': 'diffuser'}, 'seed': 1000, 'steps': 20, 'tolerance_s': 0.0001, 'use_policy_training_preset': True, 'use_rabc': False, 'wandb': {'add_tags': True, 'disable_artifact': False, 'enable': False, 'entity': None, 'mode': None, 'notes': None, 'project': 'lerobot', 'run_id': None}} INFO 2026-04-20 20:08:43 ot_train.py:275 Logs will be saved locally. INFO 2026-04-20 20:08:43 ot_train.py:291 Creating dataset INFO 2026-04-20 20:08:44 eo_utils.py:111 Using video codec: libsvtav1 INFO 2026-04-20 20:08:44 ot_train.py:309 Creating policy INFO 2026-04-20 20:08:49 ot_train.py:376 Creating optimizer and scheduler INFO 2026-04-20 20:08:49 ot_train.py:411 Output dir: /mnt/localssd/train-runs/87493717/outputs INFO 2026-04-20 20:08:49 ot_train.py:418 cfg.steps=20 (20) INFO 2026-04-20 20:08:49 ot_train.py:419 dataset.num_frames=315 (315) INFO 2026-04-20 20:08:49 ot_train.py:420 dataset.num_episodes=1 INFO 2026-04-20 20:08:49 ot_train.py:423 Effective batch size: 4 x 1 = 4 INFO 2026-04-20 20:08:49 ot_train.py:424 num_learnable_params=270658348 (271M) INFO 2026-04-20 20:08:49 ot_train.py:425 num_total_params=270658348 (271M) Loading weights from local directory Training: 0%| | 0/20 [00:00