diff --git a/.gitattributes b/.gitattributes index 13bd4458ced00fcda8d6af8509b9df96841ed5ca..c489555d02b2cd3d56d1d604dc2bc8ebc56d9399 100644 --- a/.gitattributes +++ b/.gitattributes @@ -69,3 +69,4 @@ outputs/train/act_arch_wide_192_hil/wandb/run-20260506_052429-ti2bq7kx/run-ti2bq outputs/train/act_arch_wide_192_hil_finetune/wandb/run-20260506_052414-w35lf9br/run-w35lf9br.wandb filter=lfs diff=lfs merge=lfs -text outputs/train/act_arch_wide_deep_192/wandb/run-20260504_014240-bx0s55us/run-bx0s55us.wandb filter=lfs diff=lfs merge=lfs -text outputs/train/act_so101_lcc/wandb/run-20260503_034843-kyzs2v28/run-kyzs2v28.wandb filter=lfs diff=lfs merge=lfs -text +outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/run-vyoeaf3a.wandb filter=lfs diff=lfs merge=lfs -text diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/pretrained_model/config.json b/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..d653bf9d81ffa05c6f972b210947f17e7f89ba64 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/pretrained_model/config.json @@ -0,0 +1,79 @@ +{ + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.side": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.wrist": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": "outputs/train/act_arch_deep_3l/checkpoints/last/pretrained_model", + "chunk_size": 40, + "n_action_steps": 15, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 128, + "n_heads": 4, + "dim_feedforward": 256, + "feedforward_activation": "relu", + "n_encoder_layers": 3, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/pretrained_model/model.safetensors b/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..dd2cc67afcacc00b15793800a308972e8884e3bc --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55f2d447ee3b8fccfc0c3fb1a2f10c61aa51f21ec22836de5793f4114e509dba +size 49643736 diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/pretrained_model/policy_postprocessor.json b/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..9ccb342474cecbf2bdbb034d27169a351ad96d2a --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/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": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..e5ba3590b22686fad2628b06e82f5c210afa24e4 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:461a6d5a90ee95aebeda4ae0ef4db8a6d59881053263443d3f44e83c8a085ae1 +size 8536 diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/pretrained_model/policy_preprocessor.json b/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..0abee99a295468bfd517ea5c70874263f89866f7 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/pretrained_model/policy_preprocessor.json @@ -0,0 +1,72 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.side": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.wrist": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..e5ba3590b22686fad2628b06e82f5c210afa24e4 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:461a6d5a90ee95aebeda4ae0ef4db8a6d59881053263443d3f44e83c8a085ae1 +size 8536 diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/pretrained_model/train_config.json b/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..b640473b203b11316e3704598fa80f4b833bcf6d --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/pretrained_model/train_config.json @@ -0,0 +1,211 @@ +{ + "dataset": { + "repo_id": "Jainam03/hil_corrections_only_merged", + "root": "/home/jjdh222/.cache/huggingface/lerobot/Jainam03/hil_corrections_only_merged", + "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", + "return_uint8": false, + "streaming": false + }, + "env": null, + "policy": { + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.side": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.wrist": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": "outputs/train/act_arch_deep_3l/checkpoints/last/pretrained_model", + "chunk_size": 40, + "n_action_steps": 15, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 128, + "n_heads": 4, + "dim_feedforward": 256, + "feedforward_activation": "relu", + "n_encoder_layers": 3, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 + }, + "reward_model": null, + "output_dir": "outputs/train/act_arch_deep_3l_finetune", + "job_name": "act_arch_deep_3l_finetune", + "resume": false, + "seed": 1000, + "cudnn_deterministic": false, + "num_workers": 4, + "batch_size": 96, + "prefetch_factor": 4, + "persistent_workers": true, + "steps": 5000, + "eval_freq": 20000, + "log_freq": 50, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 1000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adamw", + "lr": 1e-05, + "weight_decay": 0.0001, + "grad_clip_norm": 10.0, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": null, + "eval": { + "n_episodes": 50, + "batch_size": 39, + "use_async_envs": true + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "vyoeaf3a", + "mode": null, + "add_tags": true + }, + "peft": null, + "sample_weighting": null, + "rename_map": {}, + "checkpoint_path": null +} \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/training_state/optimizer_param_groups.json b/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..a33227fa206fd39d747cf03dc1c5435bb67c2b26 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/training_state/optimizer_param_groups.json @@ -0,0 +1,179 @@ +[ + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "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 + ] + }, + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140 + ] + } +] \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/training_state/optimizer_state.safetensors b/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..673a90b443b1cac9284948ac3c5336fe80bb2b48 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:faf5446602ef6ae2b7064980975ec571891a3f87b603257c9abe1db758dd2cf4 +size 99079420 diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/training_state/rng_state.safetensors b/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..e4a582d51caa45b8b8490e145b210afb54dfa01a --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc1f2feb688d76419e22c439f201d6c8f5ee7e4fb4c64cd3f3948bc0dd55608c +size 15708 diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/training_state/training_step.json b/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..d98c94f5b78238bf495ac68b9f9fb446cfac5c07 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/001000/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 1000 +} \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/pretrained_model/config.json b/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..d653bf9d81ffa05c6f972b210947f17e7f89ba64 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/pretrained_model/config.json @@ -0,0 +1,79 @@ +{ + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.side": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.wrist": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": "outputs/train/act_arch_deep_3l/checkpoints/last/pretrained_model", + "chunk_size": 40, + "n_action_steps": 15, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 128, + "n_heads": 4, + "dim_feedforward": 256, + "feedforward_activation": "relu", + "n_encoder_layers": 3, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/pretrained_model/model.safetensors b/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..9332ab00249719cf71c27435c9a401bbcb28e359 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0222d016f993345580c074ca36811dbed71bceb3b9920d1cf9da5e8f4d54dbac +size 49643736 diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/pretrained_model/policy_postprocessor.json b/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..9ccb342474cecbf2bdbb034d27169a351ad96d2a --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/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": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..e5ba3590b22686fad2628b06e82f5c210afa24e4 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:461a6d5a90ee95aebeda4ae0ef4db8a6d59881053263443d3f44e83c8a085ae1 +size 8536 diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/pretrained_model/policy_preprocessor.json b/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..0abee99a295468bfd517ea5c70874263f89866f7 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/pretrained_model/policy_preprocessor.json @@ -0,0 +1,72 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.side": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.wrist": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..e5ba3590b22686fad2628b06e82f5c210afa24e4 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:461a6d5a90ee95aebeda4ae0ef4db8a6d59881053263443d3f44e83c8a085ae1 +size 8536 diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/pretrained_model/train_config.json b/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..b640473b203b11316e3704598fa80f4b833bcf6d --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/pretrained_model/train_config.json @@ -0,0 +1,211 @@ +{ + "dataset": { + "repo_id": "Jainam03/hil_corrections_only_merged", + "root": "/home/jjdh222/.cache/huggingface/lerobot/Jainam03/hil_corrections_only_merged", + "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", + "return_uint8": false, + "streaming": false + }, + "env": null, + "policy": { + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.side": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.wrist": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": "outputs/train/act_arch_deep_3l/checkpoints/last/pretrained_model", + "chunk_size": 40, + "n_action_steps": 15, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 128, + "n_heads": 4, + "dim_feedforward": 256, + "feedforward_activation": "relu", + "n_encoder_layers": 3, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 + }, + "reward_model": null, + "output_dir": "outputs/train/act_arch_deep_3l_finetune", + "job_name": "act_arch_deep_3l_finetune", + "resume": false, + "seed": 1000, + "cudnn_deterministic": false, + "num_workers": 4, + "batch_size": 96, + "prefetch_factor": 4, + "persistent_workers": true, + "steps": 5000, + "eval_freq": 20000, + "log_freq": 50, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 1000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adamw", + "lr": 1e-05, + "weight_decay": 0.0001, + "grad_clip_norm": 10.0, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": null, + "eval": { + "n_episodes": 50, + "batch_size": 39, + "use_async_envs": true + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "vyoeaf3a", + "mode": null, + "add_tags": true + }, + "peft": null, + "sample_weighting": null, + "rename_map": {}, + "checkpoint_path": null +} \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/training_state/optimizer_param_groups.json b/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..a33227fa206fd39d747cf03dc1c5435bb67c2b26 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/training_state/optimizer_param_groups.json @@ -0,0 +1,179 @@ +[ + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "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 + ] + }, + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140 + ] + } +] \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/training_state/optimizer_state.safetensors b/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..39d518127e05bc169ff14e3f049c10cf8e18aabf --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c43aa8bea90560155a394282f5a751394867a75894ab34206d2ca0bebef90776 +size 99079420 diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/training_state/rng_state.safetensors b/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..30768e27a0a33e0ff7509868c70b2f674350c0cc --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:838b14c73d53a81964ca04b0d7be3490e07bbb0b819e5edb275a9d251d815255 +size 15708 diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/training_state/training_step.json b/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..39090bbb986edb821e1602990d19357dcdb5d2ae --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/002000/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 2000 +} \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/pretrained_model/config.json b/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..d653bf9d81ffa05c6f972b210947f17e7f89ba64 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/pretrained_model/config.json @@ -0,0 +1,79 @@ +{ + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.side": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.wrist": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": "outputs/train/act_arch_deep_3l/checkpoints/last/pretrained_model", + "chunk_size": 40, + "n_action_steps": 15, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 128, + "n_heads": 4, + "dim_feedforward": 256, + "feedforward_activation": "relu", + "n_encoder_layers": 3, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/pretrained_model/model.safetensors b/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..300a61c47e91f8bb19eea3c5e44e6d001dc8030e --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5eb70eefddd91bc8093e9cc8de136889cfa704948fbd6da7649e9bdcb31cc12e +size 49643736 diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/pretrained_model/policy_postprocessor.json b/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..9ccb342474cecbf2bdbb034d27169a351ad96d2a --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/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": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..e5ba3590b22686fad2628b06e82f5c210afa24e4 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:461a6d5a90ee95aebeda4ae0ef4db8a6d59881053263443d3f44e83c8a085ae1 +size 8536 diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/pretrained_model/policy_preprocessor.json b/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..0abee99a295468bfd517ea5c70874263f89866f7 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/pretrained_model/policy_preprocessor.json @@ -0,0 +1,72 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.side": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.wrist": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..e5ba3590b22686fad2628b06e82f5c210afa24e4 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:461a6d5a90ee95aebeda4ae0ef4db8a6d59881053263443d3f44e83c8a085ae1 +size 8536 diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/pretrained_model/train_config.json b/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..b640473b203b11316e3704598fa80f4b833bcf6d --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/pretrained_model/train_config.json @@ -0,0 +1,211 @@ +{ + "dataset": { + "repo_id": "Jainam03/hil_corrections_only_merged", + "root": "/home/jjdh222/.cache/huggingface/lerobot/Jainam03/hil_corrections_only_merged", + "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", + "return_uint8": false, + "streaming": false + }, + "env": null, + "policy": { + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.side": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.wrist": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": "outputs/train/act_arch_deep_3l/checkpoints/last/pretrained_model", + "chunk_size": 40, + "n_action_steps": 15, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 128, + "n_heads": 4, + "dim_feedforward": 256, + "feedforward_activation": "relu", + "n_encoder_layers": 3, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 + }, + "reward_model": null, + "output_dir": "outputs/train/act_arch_deep_3l_finetune", + "job_name": "act_arch_deep_3l_finetune", + "resume": false, + "seed": 1000, + "cudnn_deterministic": false, + "num_workers": 4, + "batch_size": 96, + "prefetch_factor": 4, + "persistent_workers": true, + "steps": 5000, + "eval_freq": 20000, + "log_freq": 50, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 1000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adamw", + "lr": 1e-05, + "weight_decay": 0.0001, + "grad_clip_norm": 10.0, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": null, + "eval": { + "n_episodes": 50, + "batch_size": 39, + "use_async_envs": true + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "vyoeaf3a", + "mode": null, + "add_tags": true + }, + "peft": null, + "sample_weighting": null, + "rename_map": {}, + "checkpoint_path": null +} \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/training_state/optimizer_param_groups.json b/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..a33227fa206fd39d747cf03dc1c5435bb67c2b26 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/training_state/optimizer_param_groups.json @@ -0,0 +1,179 @@ +[ + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "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 + ] + }, + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140 + ] + } +] \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/training_state/optimizer_state.safetensors b/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..e499f0e08a59fc370c309e3c7f0ba2d4e5c14bf3 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:842b0ef79f1de9b2260cf0babca4de654e9ad70004e0abe0b297c04db4a34dbc +size 99079420 diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/training_state/rng_state.safetensors b/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..b863529edf839e76c35415ce2ff14c219cd32e53 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:142b82fa097b2814286dd40a0dc1f2f5272da384544133d0334ca717600e3a84 +size 15708 diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/training_state/training_step.json b/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..c1a44127b7dfea653fd776d529fa83c55d32081c --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/003000/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 3000 +} \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/pretrained_model/config.json b/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..d653bf9d81ffa05c6f972b210947f17e7f89ba64 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/pretrained_model/config.json @@ -0,0 +1,79 @@ +{ + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.side": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.wrist": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": "outputs/train/act_arch_deep_3l/checkpoints/last/pretrained_model", + "chunk_size": 40, + "n_action_steps": 15, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 128, + "n_heads": 4, + "dim_feedforward": 256, + "feedforward_activation": "relu", + "n_encoder_layers": 3, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/pretrained_model/model.safetensors b/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..14aceefa821db93a7fdf2f7a4617507c521c8931 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94d128bf5eb6d432897671ecb29465d468f5e5236c1f73e36b8e1bc321625584 +size 49643736 diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/pretrained_model/policy_postprocessor.json b/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..9ccb342474cecbf2bdbb034d27169a351ad96d2a --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/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": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..e5ba3590b22686fad2628b06e82f5c210afa24e4 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:461a6d5a90ee95aebeda4ae0ef4db8a6d59881053263443d3f44e83c8a085ae1 +size 8536 diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/pretrained_model/policy_preprocessor.json b/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..0abee99a295468bfd517ea5c70874263f89866f7 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/pretrained_model/policy_preprocessor.json @@ -0,0 +1,72 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.side": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.wrist": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..e5ba3590b22686fad2628b06e82f5c210afa24e4 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:461a6d5a90ee95aebeda4ae0ef4db8a6d59881053263443d3f44e83c8a085ae1 +size 8536 diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/pretrained_model/train_config.json b/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..b640473b203b11316e3704598fa80f4b833bcf6d --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/pretrained_model/train_config.json @@ -0,0 +1,211 @@ +{ + "dataset": { + "repo_id": "Jainam03/hil_corrections_only_merged", + "root": "/home/jjdh222/.cache/huggingface/lerobot/Jainam03/hil_corrections_only_merged", + "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", + "return_uint8": false, + "streaming": false + }, + "env": null, + "policy": { + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.side": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.wrist": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": "outputs/train/act_arch_deep_3l/checkpoints/last/pretrained_model", + "chunk_size": 40, + "n_action_steps": 15, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 128, + "n_heads": 4, + "dim_feedforward": 256, + "feedforward_activation": "relu", + "n_encoder_layers": 3, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 + }, + "reward_model": null, + "output_dir": "outputs/train/act_arch_deep_3l_finetune", + "job_name": "act_arch_deep_3l_finetune", + "resume": false, + "seed": 1000, + "cudnn_deterministic": false, + "num_workers": 4, + "batch_size": 96, + "prefetch_factor": 4, + "persistent_workers": true, + "steps": 5000, + "eval_freq": 20000, + "log_freq": 50, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 1000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adamw", + "lr": 1e-05, + "weight_decay": 0.0001, + "grad_clip_norm": 10.0, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": null, + "eval": { + "n_episodes": 50, + "batch_size": 39, + "use_async_envs": true + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "vyoeaf3a", + "mode": null, + "add_tags": true + }, + "peft": null, + "sample_weighting": null, + "rename_map": {}, + "checkpoint_path": null +} \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/training_state/optimizer_param_groups.json b/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..a33227fa206fd39d747cf03dc1c5435bb67c2b26 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/training_state/optimizer_param_groups.json @@ -0,0 +1,179 @@ +[ + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "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 + ] + }, + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140 + ] + } +] \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/training_state/optimizer_state.safetensors b/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..07b93596bb184a6a2a1eb1ffb6ac3ce934136168 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7006c15f2999e0b7530f414ef340f0c8857f6b441d6d7bb35f3aa0f7a2b8747 +size 99079420 diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/training_state/rng_state.safetensors b/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..ed32bc7b87bb8eb7c0d4860b8b5d8c9bc0f559d0 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b8cfc4413c96c92a4f2692431c2557c32fd336304b0d2ab722ed77e59bf2ccf +size 15708 diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/training_state/training_step.json b/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..75d870521c191f77dd9eaa4d83486eab6e768f69 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/004000/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 4000 +} \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/pretrained_model/config.json b/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/pretrained_model/config.json new file mode 100644 index 0000000000000000000000000000000000000000..d653bf9d81ffa05c6f972b210947f17e7f89ba64 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/pretrained_model/config.json @@ -0,0 +1,79 @@ +{ + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.side": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.wrist": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": "outputs/train/act_arch_deep_3l/checkpoints/last/pretrained_model", + "chunk_size": 40, + "n_action_steps": 15, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 128, + "n_heads": 4, + "dim_feedforward": 256, + "feedforward_activation": "relu", + "n_encoder_layers": 3, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 +} \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/pretrained_model/model.safetensors b/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/pretrained_model/model.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..9c4a9ff466e81643ff31b19edade429f5f38cb8e --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/pretrained_model/model.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3f166a3ceac0d96e41264b8956fc56de1087528f67e800dfdee3a82f8b96994 +size 49643736 diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/pretrained_model/policy_postprocessor.json b/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/pretrained_model/policy_postprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..9ccb342474cecbf2bdbb034d27169a351ad96d2a --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/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": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_postprocessor_step_0_unnormalizer_processor.safetensors" + }, + { + "registry_name": "device_processor", + "config": { + "device": "cpu", + "float_dtype": null + } + } + ] +} \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors b/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..e5ba3590b22686fad2628b06e82f5c210afa24e4 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/pretrained_model/policy_postprocessor_step_0_unnormalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:461a6d5a90ee95aebeda4ae0ef4db8a6d59881053263443d3f44e83c8a085ae1 +size 8536 diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/pretrained_model/policy_preprocessor.json b/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/pretrained_model/policy_preprocessor.json new file mode 100644 index 0000000000000000000000000000000000000000..0abee99a295468bfd517ea5c70874263f89866f7 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/pretrained_model/policy_preprocessor.json @@ -0,0 +1,72 @@ +{ + "name": "policy_preprocessor", + "steps": [ + { + "registry_name": "rename_observations_processor", + "config": { + "rename_map": {} + } + }, + { + "registry_name": "to_batch_processor", + "config": {} + }, + { + "registry_name": "device_processor", + "config": { + "device": "cuda", + "float_dtype": null + } + }, + { + "registry_name": "normalizer_processor", + "config": { + "eps": 1e-08, + "features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.side": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.wrist": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "norm_map": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + } + }, + "state_file": "policy_preprocessor_step_3_normalizer_processor.safetensors" + } + ] +} \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors b/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..e5ba3590b22686fad2628b06e82f5c210afa24e4 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/pretrained_model/policy_preprocessor_step_3_normalizer_processor.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:461a6d5a90ee95aebeda4ae0ef4db8a6d59881053263443d3f44e83c8a085ae1 +size 8536 diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/pretrained_model/train_config.json b/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/pretrained_model/train_config.json new file mode 100644 index 0000000000000000000000000000000000000000..b640473b203b11316e3704598fa80f4b833bcf6d --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/pretrained_model/train_config.json @@ -0,0 +1,211 @@ +{ + "dataset": { + "repo_id": "Jainam03/hil_corrections_only_merged", + "root": "/home/jjdh222/.cache/huggingface/lerobot/Jainam03/hil_corrections_only_merged", + "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", + "return_uint8": false, + "streaming": false + }, + "env": null, + "policy": { + "type": "act", + "n_obs_steps": 1, + "input_features": { + "observation.state": { + "type": "STATE", + "shape": [ + 6 + ] + }, + "observation.images.front": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.side": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + }, + "observation.images.wrist": { + "type": "VISUAL", + "shape": [ + 3, + 480, + 640 + ] + } + }, + "output_features": { + "action": { + "type": "ACTION", + "shape": [ + 6 + ] + } + }, + "device": "cuda", + "use_amp": false, + "use_peft": false, + "push_to_hub": false, + "repo_id": null, + "private": null, + "tags": null, + "license": null, + "pretrained_path": "outputs/train/act_arch_deep_3l/checkpoints/last/pretrained_model", + "chunk_size": 40, + "n_action_steps": 15, + "normalization_mapping": { + "VISUAL": "MEAN_STD", + "STATE": "MEAN_STD", + "ACTION": "MEAN_STD" + }, + "vision_backbone": "resnet18", + "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1", + "replace_final_stride_with_dilation": false, + "pre_norm": false, + "dim_model": 128, + "n_heads": 4, + "dim_feedforward": 256, + "feedforward_activation": "relu", + "n_encoder_layers": 3, + "n_decoder_layers": 1, + "use_vae": true, + "latent_dim": 32, + "n_vae_encoder_layers": 4, + "temporal_ensemble_coeff": null, + "dropout": 0.1, + "kl_weight": 10.0, + "optimizer_lr": 1e-05, + "optimizer_weight_decay": 0.0001, + "optimizer_lr_backbone": 1e-05 + }, + "reward_model": null, + "output_dir": "outputs/train/act_arch_deep_3l_finetune", + "job_name": "act_arch_deep_3l_finetune", + "resume": false, + "seed": 1000, + "cudnn_deterministic": false, + "num_workers": 4, + "batch_size": 96, + "prefetch_factor": 4, + "persistent_workers": true, + "steps": 5000, + "eval_freq": 20000, + "log_freq": 50, + "tolerance_s": 0.0001, + "save_checkpoint": true, + "save_freq": 1000, + "use_policy_training_preset": true, + "optimizer": { + "type": "adamw", + "lr": 1e-05, + "weight_decay": 0.0001, + "grad_clip_norm": 10.0, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08 + }, + "scheduler": null, + "eval": { + "n_episodes": 50, + "batch_size": 39, + "use_async_envs": true + }, + "wandb": { + "enable": true, + "disable_artifact": false, + "project": "lerobot", + "entity": null, + "notes": null, + "run_id": "vyoeaf3a", + "mode": null, + "add_tags": true + }, + "peft": null, + "sample_weighting": null, + "rename_map": {}, + "checkpoint_path": null +} \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/training_state/optimizer_param_groups.json b/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/training_state/optimizer_param_groups.json new file mode 100644 index 0000000000000000000000000000000000000000..a33227fa206fd39d747cf03dc1c5435bb67c2b26 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/training_state/optimizer_param_groups.json @@ -0,0 +1,179 @@ +[ + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "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 + ] + }, + { + "lr": 1e-05, + "betas": [ + 0.9, + 0.999 + ], + "eps": 1e-08, + "weight_decay": 0.0001, + "amsgrad": false, + "maximize": false, + "foreach": null, + "capturable": false, + "differentiable": false, + "fused": null, + "decoupled_weight_decay": true, + "params": [ + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140 + ] + } +] \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/training_state/optimizer_state.safetensors b/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/training_state/optimizer_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..cde5f63454600c370288ac6ec9f56674b932ad59 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/training_state/optimizer_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1058db7ae94a977906dd4bd3714d0899fd507d0d0f98c86110505b9721dd23e +size 99079420 diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/training_state/rng_state.safetensors b/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/training_state/rng_state.safetensors new file mode 100644 index 0000000000000000000000000000000000000000..d31fdcc329fb5d626d5803e771777e6a09502494 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/training_state/rng_state.safetensors @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e84c0628ef20069c6d3da1500ef0cf4faccec44980e53f9ede83db54e2d3c818 +size 15708 diff --git a/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/training_state/training_step.json b/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/training_state/training_step.json new file mode 100644 index 0000000000000000000000000000000000000000..592449d3fc8b35c30c604eb1dabe60537e8224a0 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/checkpoints/005000/training_state/training_step.json @@ -0,0 +1,3 @@ +{ + "step": 5000 +} \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/wandb/debug-internal.log b/outputs/train/act_arch_deep_3l_finetune/wandb/debug-internal.log new file mode 100644 index 0000000000000000000000000000000000000000..e3cea6a466f5f8da35d1c7abc5e15b9a08a23d43 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/wandb/debug-internal.log @@ -0,0 +1,11 @@ +{"time":"2026-05-07T10:36:45.390174953-04:00","level":"INFO","msg":"stream: starting","core version":"0.24.2"} +{"time":"2026-05-07T10:36:46.117545531-04:00","level":"INFO","msg":"stream: created new stream","id":"vyoeaf3a"} +{"time":"2026-05-07T10:36:46.117754751-04:00","level":"INFO","msg":"handler: started","stream_id":"vyoeaf3a"} +{"time":"2026-05-07T10:36:46.11837033-04:00","level":"INFO","msg":"stream: started","id":"vyoeaf3a"} +{"time":"2026-05-07T10:36:46.118389169-04:00","level":"INFO","msg":"writer: started","stream_id":"vyoeaf3a"} +{"time":"2026-05-07T10:36:46.118406785-04:00","level":"INFO","msg":"sender: started","stream_id":"vyoeaf3a"} +{"time":"2026-05-07T11:58:03.956401192-04:00","level":"INFO","msg":"stream: closing","id":"vyoeaf3a"} +{"time":"2026-05-07T11:58:05.093207788-04:00","level":"INFO","msg":"fileTransfer: Close: file transfer manager closed"} +{"time":"2026-05-07T11:58:05.332784127-04:00","level":"INFO","msg":"handler: closed","stream_id":"vyoeaf3a"} +{"time":"2026-05-07T11:58:05.333494174-04:00","level":"INFO","msg":"sender: closed","stream_id":"vyoeaf3a"} +{"time":"2026-05-07T11:58:05.333525323-04:00","level":"INFO","msg":"stream: closed","id":"vyoeaf3a"} diff --git a/outputs/train/act_arch_deep_3l_finetune/wandb/debug.log b/outputs/train/act_arch_deep_3l_finetune/wandb/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..7edd04832598574a79716a5d5e74aedf2fb929a7 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/wandb/debug.log @@ -0,0 +1,21 @@ +2026-05-07 10:36:43,586 INFO MainThread:28798 [wandb_setup.py:_flush():81] Current SDK version is 0.24.2 +2026-05-07 10:36:43,586 INFO MainThread:28798 [wandb_setup.py:_flush():81] Configure stats pid to 28798 +2026-05-07 10:36:43,586 INFO MainThread:28798 [wandb_setup.py:_flush():81] Loading settings from environment variables +2026-05-07 10:36:43,586 INFO MainThread:28798 [wandb_init.py:setup_run_log_directory():717] Logging user logs to outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/logs/debug.log +2026-05-07 10:36:43,586 INFO MainThread:28798 [wandb_init.py:setup_run_log_directory():718] Logging internal logs to outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/logs/debug-internal.log +2026-05-07 10:36:43,586 INFO MainThread:28798 [wandb_init.py:init():844] calling init triggers +2026-05-07 10:36:43,586 INFO MainThread:28798 [wandb_init.py:init():849] wandb.init called with sweep_config: {} +config: {'dataset': {'repo_id': 'Jainam03/hil_corrections_only_merged', 'root': '/home/jjdh222/.cache/huggingface/lerobot/Jainam03/hil_corrections_only_merged', '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', 'return_uint8': False, 'streaming': False}, 'env': None, 'policy': {'type': 'act', 'n_obs_steps': 1, 'input_features': {}, 'output_features': {}, 'device': 'cuda', 'use_amp': False, 'use_peft': False, 'push_to_hub': False, 'repo_id': None, 'private': None, 'tags': None, 'license': None, 'pretrained_path': 'outputs/train/act_arch_deep_3l/checkpoints/last/pretrained_model', 'chunk_size': 40, 'n_action_steps': 15, 'normalization_mapping': {'VISUAL': , 'STATE': , 'ACTION': }, 'vision_backbone': 'resnet18', 'pretrained_backbone_weights': 'ResNet18_Weights.IMAGENET1K_V1', 'replace_final_stride_with_dilation': False, 'pre_norm': False, 'dim_model': 128, 'n_heads': 4, 'dim_feedforward': 256, 'feedforward_activation': 'relu', 'n_encoder_layers': 3, 'n_decoder_layers': 1, 'use_vae': True, 'latent_dim': 32, 'n_vae_encoder_layers': 4, 'temporal_ensemble_coeff': None, 'dropout': 0.1, 'kl_weight': 10.0, 'optimizer_lr': 1e-05, 'optimizer_weight_decay': 0.0001, 'optimizer_lr_backbone': 1e-05}, 'reward_model': None, 'output_dir': 'outputs/train/act_arch_deep_3l_finetune', 'job_name': 'act_arch_deep_3l_finetune', 'resume': False, 'seed': 1000, 'cudnn_deterministic': False, 'num_workers': 4, 'batch_size': 96, 'prefetch_factor': 4, 'persistent_workers': True, 'steps': 5000, 'eval_freq': 20000, 'log_freq': 50, 'tolerance_s': 0.0001, 'save_checkpoint': True, 'save_freq': 1000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adamw', 'lr': 1e-05, 'weight_decay': 0.0001, 'grad_clip_norm': 10.0, 'betas': [0.9, 0.999], 'eps': 1e-08}, 'scheduler': None, 'eval': {'n_episodes': 50, 'batch_size': 39, 'use_async_envs': True}, 'wandb': {'enable': True, 'disable_artifact': False, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': None, 'mode': None, 'add_tags': True}, 'peft': None, 'sample_weighting': None, 'rename_map': {}, 'checkpoint_path': None, '_wandb': {}} +2026-05-07 10:36:43,587 INFO MainThread:28798 [wandb_init.py:init():892] starting backend +2026-05-07 10:36:45,233 INFO MainThread:28798 [wandb_init.py:init():895] sending inform_init request +2026-05-07 10:36:45,384 INFO MainThread:28798 [wandb_init.py:init():903] backend started and connected +2026-05-07 10:36:45,387 INFO MainThread:28798 [wandb_init.py:init():973] updated telemetry +2026-05-07 10:36:45,388 INFO MainThread:28798 [wandb_init.py:init():997] communicating run to backend with 90.0 second timeout +2026-05-07 10:36:46,916 INFO MainThread:28798 [wandb_init.py:init():1042] starting run threads in backend +2026-05-07 10:36:47,046 INFO MainThread:28798 [wandb_run.py:_console_start():2529] atexit reg +2026-05-07 10:36:47,046 INFO MainThread:28798 [wandb_run.py:_redirect():2377] redirect: wrap_raw +2026-05-07 10:36:47,047 INFO MainThread:28798 [wandb_run.py:_redirect():2446] Wrapping output streams. +2026-05-07 10:36:47,047 INFO MainThread:28798 [wandb_run.py:_redirect():2469] Redirects installed. +2026-05-07 10:36:47,054 INFO MainThread:28798 [wandb_init.py:init():1082] run started, returning control to user process +2026-05-07 11:58:03,956 INFO wandb-AsyncioManager-main:28798 [service_client.py:_forward_responses():94] Reached EOF. +2026-05-07 11:58:03,970 INFO wandb-AsyncioManager-main:28798 [mailbox.py:close():154] Closing mailbox, abandoning 2 handles. diff --git a/outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/files/config.yaml b/outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/files/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..22c7e96a3c160a51b893ec6d32de7c68bf99eb16 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/files/config.yaml @@ -0,0 +1,283 @@ +_wandb: + value: + cli_version: 0.24.2 + e: + 6eful27wo8dik7d1r9z2des4ymsdf5d2: + args: + - --dataset.repo_id=Jainam03/hil_corrections_only_merged + - --dataset.root=/home/jjdh222/.cache/huggingface/lerobot/Jainam03/hil_corrections_only_merged + - --output_dir=outputs/train/act_arch_deep_3l_finetune + - --job_name=act_arch_deep_3l_finetune + - --policy.device=cuda + - --wandb.enable=true + - --policy.push_to_hub=false + - --steps=5000 + - --batch_size=96 + - --log_freq=50 + - --save_freq=1000 + - --policy.type=act + - --policy.chunk_size=40 + - --policy.n_action_steps=15 + - --policy.n_decoder_layers=1 + - --policy.dim_model=128 + - --policy.dim_feedforward=256 + - --policy.n_encoder_layers=3 + - --policy.n_heads=4 + - --policy.pretrained_path=outputs/train/act_arch_deep_3l/checkpoints/last/pretrained_model + cpu_count: 56 + cpu_count_logical: 56 + cudaVersion: "12.4" + disk: + /: + total: "16777216" + used: "12288" + executable: /mnt/gpfs2_4m/scratch/jjdh222/conda_envs/lerobot/bin/python + gpu: NVIDIA A100 80GB PCIe + gpu_count: 1 + gpu_nvidia: + - architecture: Ampere + cudaCores: 6912 + memoryTotal: "85899345920" + name: NVIDIA A100 80GB PCIe + uuid: GPU-dce67dd2-6f21-b9cd-e12e-8c66134cfc08 + host: ganode003 + memory: + total: "270162341888" + os: Linux-3.10.0-957.21.3.el7.x86_64-x86_64-with-glibc2.34 + program: /mnt/gpfs2_4m/scratch/jjdh222/conda_envs/lerobot/bin/lerobot-train + python: CPython 3.12.13 + root: outputs/train/act_arch_deep_3l_finetune + slurm: + checkpoint_image_dir: /var/slurm/checkpoint + cluster_name: lcc + cpus_on_node: "4" + cpus_per_task: "4" + gtids: "0" + job_account: gol_ssi273_uksr + job_cpus_per_node: "4" + job_gid: "100" + job_gpus: "1" + job_id: "5280860" + job_name: act_arch_deep_3l_finetune + job_nodelist: ganode003 + job_num_nodes: "1" + job_partition: A2V80_ICE56M256_L + job_qos: sl2 + job_uid: "3397" + job_user: jjdh222 + jobid: "5280860" + localid: "0" + mem_per_cpu: "4480" + nnodes: "1" + node_aliases: (null) + nodeid: "0" + nodelist: ganode003 + prio_process: "0" + procid: "0" + submit_dir: /project/ssi273_uksr/jjdh222/robotics/slurm/hil_sweep + submit_host: gvnode001 + task_pid: "28635" + tasks_per_node: "1" + topology_addr: ganode003 + topology_addr_pattern: node + working_cluster: lcc:lcc-services:6817:8448 + startedAt: "2026-05-07T14:36:43.570503Z" + writerId: 6eful27wo8dik7d1r9z2des4ymsdf5d2 + m: [] + python_version: 3.12.13 + t: + "1": + - 1 + - 11 + - 41 + - 49 + - 51 + - 71 + - 83 + "2": + - 1 + - 11 + - 41 + - 49 + - 51 + - 71 + - 83 + "3": + - 13 + - 15 + - 16 + - 61 + "4": 3.12.13 + "5": 0.24.2 + "6": 5.3.0 + "10": + - 21 + "12": 0.24.2 + "13": linux-x86_64 +batch_size: + value: 96 +checkpoint_path: + value: null +cudnn_deterministic: + value: false +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: Jainam03/hil_corrections_only_merged + return_uint8: false + revision: null + root: /home/jjdh222/.cache/huggingface/lerobot/Jainam03/hil_corrections_only_merged + streaming: false + use_imagenet_stats: true + video_backend: torchcodec +env: + value: null +eval: + value: + batch_size: 39 + n_episodes: 50 + use_async_envs: true +eval_freq: + value: 20000 +job_name: + value: act_arch_deep_3l_finetune +log_freq: + value: 50 +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_arch_deep_3l_finetune +peft: + value: null +persistent_workers: + value: true +policy: + value: + chunk_size: 40 + device: cuda + dim_feedforward: 256 + dim_model: 128 + dropout: 0.1 + feedforward_activation: relu + kl_weight: 10 + latent_dim: 32 + license: null + n_action_steps: 15 + n_decoder_layers: 1 + n_encoder_layers: 3 + n_heads: 4 + 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: outputs/train/act_arch_deep_3l/checkpoints/last/pretrained_model + private: null + push_to_hub: false + replace_final_stride_with_dilation: false + repo_id: null + tags: null + temporal_ensemble_coeff: null + type: act + use_amp: false + use_peft: false + use_vae: true + vision_backbone: resnet18 +prefetch_factor: + value: 4 +resume: + value: false +reward_model: + value: null +sample_weighting: + value: null +save_checkpoint: + value: true +save_freq: + value: 1000 +scheduler: + value: null +seed: + value: 1000 +steps: + value: 5000 +tolerance_s: + value: 0.0001 +use_policy_training_preset: + value: true +wandb: + value: + add_tags: true + disable_artifact: false + enable: true + entity: null + mode: null + notes: null + project: lerobot + run_id: null diff --git a/outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/files/output.log b/outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/files/output.log new file mode 100644 index 0000000000000000000000000000000000000000..3225be11ffaa15b9a7dcc90feafa8ffdc3b7792d --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/files/output.log @@ -0,0 +1,121 @@ +INFO 2026-05-07 10:36:47 db_utils.py:121 Logs will be synced with wandb. +INFO 2026-05-07 10:36:47 db_utils.py:122 Track this run --> https://wandb.ai/jainam-dhruva-university-of-kentucky/lerobot/runs/vyoeaf3a +INFO 2026-05-07 10:36:47 ot_train.py:236 Creating dataset +INFO 2026-05-07 10:36:47 eo_utils.py:110 Using video codec: libsvtav1 +INFO 2026-05-07 10:36:47 ot_train.py:270 Creating policy +Loading weights from local directory +INFO 2026-05-07 10:36:49 ot_train.py:342 Creating optimizer and scheduler +INFO 2026-05-07 10:36:49 ot_train.py:369 Output dir: outputs/train/act_arch_deep_3l_finetune +INFO 2026-05-07 10:36:49 ot_train.py:376 cfg.steps=5000 (5K) +INFO 2026-05-07 10:36:49 ot_train.py:377 dataset.num_frames=14486 (14K) +INFO 2026-05-07 10:36:49 ot_train.py:378 dataset.num_episodes=36 +INFO 2026-05-07 10:36:49 ot_train.py:381 Effective batch size: 96 x 1 = 96 +INFO 2026-05-07 10:36:49 ot_train.py:382 num_learnable_params=12380422 (12M) +INFO 2026-05-07 10:36:49 ot_train.py:383 num_total_params=12380422 (12M) +INFO 2026-05-07 10:36:49 ot_train.py:448 Start offline training on a fixed dataset, with effective batch size: 96 +INFO 2026-05-07 10:37:51 ot_train.py:483 step:50 smpl:5K ep:12 epch:0.33 loss:0.400 grdn:17.039 lr:1.0e-05 updt_s:0.877 data_s:0.362 +INFO 2026-05-07 10:38:40 ot_train.py:483 step:100 smpl:10K ep:24 epch:0.66 loss:0.249 grdn:11.308 lr:1.0e-05 updt_s:0.623 data_s:0.361 +INFO 2026-05-07 10:39:28 ot_train.py:483 step:150 smpl:14K ep:36 epch:0.99 loss:0.207 grdn:11.819 lr:1.0e-05 updt_s:0.615 data_s:0.329 +INFO 2026-05-07 10:40:21 ot_train.py:483 step:200 smpl:19K ep:48 epch:1.33 loss:0.187 grdn:11.717 lr:1.0e-05 updt_s:0.651 data_s:0.407 +INFO 2026-05-07 10:41:08 ot_train.py:483 step:250 smpl:24K ep:60 epch:1.66 loss:0.174 grdn:9.906 lr:1.0e-05 updt_s:0.616 data_s:0.329 +INFO 2026-05-07 10:41:55 ot_train.py:483 step:300 smpl:29K ep:72 epch:1.99 loss:0.167 grdn:11.115 lr:1.0e-05 updt_s:0.617 data_s:0.324 +INFO 2026-05-07 10:42:46 ot_train.py:483 step:350 smpl:34K ep:84 epch:2.32 loss:0.156 grdn:10.446 lr:1.0e-05 updt_s:0.617 data_s:0.406 +INFO 2026-05-07 10:43:34 ot_train.py:483 step:400 smpl:38K ep:95 epch:2.65 loss:0.151 grdn:8.611 lr:1.0e-05 updt_s:0.619 data_s:0.328 +INFO 2026-05-07 10:44:22 ot_train.py:483 step:450 smpl:43K ep:107 epch:2.98 loss:0.147 grdn:10.798 lr:1.0e-05 updt_s:0.617 data_s:0.338 +INFO 2026-05-07 10:45:12 ot_train.py:483 step:500 smpl:48K ep:119 epch:3.31 loss:0.139 grdn:10.077 lr:1.0e-05 updt_s:0.614 data_s:0.387 +INFO 2026-05-07 10:46:00 ot_train.py:483 step:550 smpl:53K ep:131 epch:3.64 loss:0.139 grdn:9.853 lr:1.0e-05 updt_s:0.616 data_s:0.349 +INFO 2026-05-07 10:46:48 ot_train.py:483 step:600 smpl:58K ep:143 epch:3.98 loss:0.135 grdn:8.301 lr:1.0e-05 updt_s:0.614 data_s:0.337 +INFO 2026-05-07 10:47:39 ot_train.py:483 step:650 smpl:62K ep:155 epch:4.31 loss:0.130 grdn:10.016 lr:1.0e-05 updt_s:0.615 data_s:0.402 +INFO 2026-05-07 10:48:25 ot_train.py:483 step:700 smpl:67K ep:167 epch:4.64 loss:0.129 grdn:7.983 lr:1.0e-05 updt_s:0.616 data_s:0.304 +INFO 2026-05-07 10:49:12 ot_train.py:483 step:750 smpl:72K ep:179 epch:4.97 loss:0.127 grdn:9.197 lr:1.0e-05 updt_s:0.613 data_s:0.325 +INFO 2026-05-07 10:50:03 ot_train.py:483 step:800 smpl:77K ep:191 epch:5.30 loss:0.123 grdn:8.781 lr:1.0e-05 updt_s:0.616 data_s:0.401 +INFO 2026-05-07 10:50:51 ot_train.py:483 step:850 smpl:82K ep:203 epch:5.63 loss:0.121 grdn:8.575 lr:1.0e-05 updt_s:0.623 data_s:0.336 +INFO 2026-05-07 10:51:40 ot_train.py:483 step:900 smpl:86K ep:215 epch:5.96 loss:0.121 grdn:8.205 lr:1.0e-05 updt_s:0.614 data_s:0.365 +INFO 2026-05-07 10:52:30 ot_train.py:483 step:950 smpl:91K ep:227 epch:6.30 loss:0.118 grdn:8.359 lr:1.0e-05 updt_s:0.613 data_s:0.399 +INFO 2026-05-07 10:53:18 ot_train.py:483 step:1K smpl:96K ep:239 epch:6.63 loss:0.117 grdn:7.989 lr:1.0e-05 updt_s:0.616 data_s:0.328 +INFO 2026-05-07 10:53:18 ot_train.py:497 Checkpoint policy after step 1000 +INFO 2026-05-07 10:54:06 ot_train.py:483 step:1K smpl:101K ep:251 epch:6.96 loss:0.116 grdn:8.729 lr:1.0e-05 updt_s:0.620 data_s:0.293 +INFO 2026-05-07 10:54:55 ot_train.py:483 step:1K smpl:106K ep:262 epch:7.29 loss:0.113 grdn:7.814 lr:1.0e-05 updt_s:0.612 data_s:0.373 +INFO 2026-05-07 10:55:45 ot_train.py:483 step:1K smpl:110K ep:274 epch:7.62 loss:0.112 grdn:9.840 lr:1.0e-05 updt_s:0.615 data_s:0.366 +INFO 2026-05-07 10:56:33 ot_train.py:483 step:1K smpl:115K ep:286 epch:7.95 loss:0.113 grdn:7.342 lr:1.0e-05 updt_s:0.625 data_s:0.334 +INFO 2026-05-07 10:57:23 ot_train.py:483 step:1K smpl:120K ep:298 epch:8.28 loss:0.109 grdn:7.931 lr:1.0e-05 updt_s:0.614 data_s:0.387 +INFO 2026-05-07 10:58:12 ot_train.py:483 step:1K smpl:125K ep:310 epch:8.62 loss:0.109 grdn:8.582 lr:1.0e-05 updt_s:0.615 data_s:0.374 +INFO 2026-05-07 10:59:00 ot_train.py:483 step:1K smpl:130K ep:322 epch:8.95 loss:0.109 grdn:7.956 lr:1.0e-05 updt_s:0.615 data_s:0.340 +INFO 2026-05-07 10:59:50 ot_train.py:483 step:1K smpl:134K ep:334 epch:9.28 loss:0.107 grdn:7.606 lr:1.0e-05 updt_s:0.612 data_s:0.394 +INFO 2026-05-07 11:00:39 ot_train.py:483 step:1K smpl:139K ep:346 epch:9.61 loss:0.107 grdn:8.466 lr:1.0e-05 updt_s:0.616 data_s:0.344 +INFO 2026-05-07 11:01:27 ot_train.py:483 step:2K smpl:144K ep:358 epch:9.94 loss:0.107 grdn:10.651 lr:1.0e-05 updt_s:0.621 data_s:0.346 +INFO 2026-05-07 11:02:17 ot_train.py:483 step:2K smpl:149K ep:370 epch:10.27 loss:0.105 grdn:9.599 lr:1.0e-05 updt_s:0.614 data_s:0.390 +INFO 2026-05-07 11:03:05 ot_train.py:483 step:2K smpl:154K ep:382 epch:10.60 loss:0.103 grdn:7.866 lr:1.0e-05 updt_s:0.617 data_s:0.329 +INFO 2026-05-07 11:03:53 ot_train.py:483 step:2K smpl:158K ep:394 epch:10.93 loss:0.104 grdn:7.713 lr:1.0e-05 updt_s:0.616 data_s:0.354 +INFO 2026-05-07 11:04:43 ot_train.py:483 step:2K smpl:163K ep:406 epch:11.27 loss:0.102 grdn:6.642 lr:1.0e-05 updt_s:0.612 data_s:0.380 +INFO 2026-05-07 11:05:32 ot_train.py:483 step:2K smpl:168K ep:418 epch:11.60 loss:0.102 grdn:7.951 lr:1.0e-05 updt_s:0.612 data_s:0.370 +INFO 2026-05-07 11:06:19 ot_train.py:483 step:2K smpl:173K ep:429 epch:11.93 loss:0.101 grdn:7.294 lr:1.0e-05 updt_s:0.617 data_s:0.328 +INFO 2026-05-07 11:07:09 ot_train.py:483 step:2K smpl:178K ep:441 epch:12.26 loss:0.100 grdn:7.503 lr:1.0e-05 updt_s:0.615 data_s:0.377 +INFO 2026-05-07 11:07:58 ot_train.py:483 step:2K smpl:182K ep:453 epch:12.59 loss:0.100 grdn:8.911 lr:1.0e-05 updt_s:0.621 data_s:0.353 +INFO 2026-05-07 11:08:45 ot_train.py:483 step:2K smpl:187K ep:465 epch:12.92 loss:0.099 grdn:6.786 lr:1.0e-05 updt_s:0.617 data_s:0.327 +INFO 2026-05-07 11:09:35 ot_train.py:483 step:2K smpl:192K ep:477 epch:13.25 loss:0.098 grdn:6.071 lr:1.0e-05 updt_s:0.620 data_s:0.377 +INFO 2026-05-07 11:09:35 ot_train.py:497 Checkpoint policy after step 2000 +INFO 2026-05-07 11:10:16 ot_train.py:483 step:2K smpl:197K ep:489 epch:13.59 loss:0.098 grdn:7.302 lr:1.0e-05 updt_s:0.614 data_s:0.183 +INFO 2026-05-07 11:11:05 ot_train.py:483 step:2K smpl:202K ep:501 epch:13.92 loss:0.097 grdn:8.183 lr:1.0e-05 updt_s:0.616 data_s:0.370 +INFO 2026-05-07 11:11:55 ot_train.py:483 step:2K smpl:206K ep:513 epch:14.25 loss:0.097 grdn:8.799 lr:1.0e-05 updt_s:0.614 data_s:0.391 +INFO 2026-05-07 11:12:44 ot_train.py:483 step:2K smpl:211K ep:525 epch:14.58 loss:0.097 grdn:7.730 lr:1.0e-05 updt_s:0.616 data_s:0.347 +INFO 2026-05-07 11:13:33 ot_train.py:483 step:2K smpl:216K ep:537 epch:14.91 loss:0.095 grdn:7.925 lr:1.0e-05 updt_s:0.618 data_s:0.376 +INFO 2026-05-07 11:14:22 ot_train.py:483 step:2K smpl:221K ep:549 epch:15.24 loss:0.095 grdn:6.305 lr:1.0e-05 updt_s:0.614 data_s:0.353 +INFO 2026-05-07 11:15:11 ot_train.py:483 step:2K smpl:226K ep:561 epch:15.57 loss:0.095 grdn:7.681 lr:1.0e-05 updt_s:0.619 data_s:0.367 +INFO 2026-05-07 11:15:59 ot_train.py:483 step:2K smpl:230K ep:573 epch:15.91 loss:0.095 grdn:7.803 lr:1.0e-05 updt_s:0.614 data_s:0.344 +INFO 2026-05-07 11:16:49 ot_train.py:483 step:2K smpl:235K ep:585 epch:16.24 loss:0.094 grdn:7.891 lr:1.0e-05 updt_s:0.619 data_s:0.386 +INFO 2026-05-07 11:17:39 ot_train.py:483 step:2K smpl:240K ep:596 epch:16.57 loss:0.093 grdn:7.551 lr:1.0e-05 updt_s:0.615 data_s:0.364 +INFO 2026-05-07 11:18:26 ot_train.py:483 step:3K smpl:245K ep:608 epch:16.90 loss:0.093 grdn:8.027 lr:1.0e-05 updt_s:0.617 data_s:0.339 +INFO 2026-05-07 11:19:16 ot_train.py:483 step:3K smpl:250K ep:620 epch:17.23 loss:0.092 grdn:6.666 lr:1.0e-05 updt_s:0.615 data_s:0.367 +INFO 2026-05-07 11:20:03 ot_train.py:483 step:3K smpl:254K ep:632 epch:17.56 loss:0.092 grdn:7.471 lr:1.0e-05 updt_s:0.615 data_s:0.329 +INFO 2026-05-07 11:20:51 ot_train.py:483 step:3K smpl:259K ep:644 epch:17.89 loss:0.091 grdn:6.365 lr:1.0e-05 updt_s:0.617 data_s:0.356 +INFO 2026-05-07 11:21:42 ot_train.py:483 step:3K smpl:264K ep:656 epch:18.22 loss:0.091 grdn:6.269 lr:1.0e-05 updt_s:0.617 data_s:0.383 +INFO 2026-05-07 11:22:29 ot_train.py:483 step:3K smpl:269K ep:668 epch:18.56 loss:0.090 grdn:5.817 lr:1.0e-05 updt_s:0.618 data_s:0.323 +INFO 2026-05-07 11:23:17 ot_train.py:483 step:3K smpl:274K ep:680 epch:18.89 loss:0.091 grdn:7.609 lr:1.0e-05 updt_s:0.616 data_s:0.339 +INFO 2026-05-07 11:24:06 ot_train.py:483 step:3K smpl:278K ep:692 epch:19.22 loss:0.090 grdn:7.094 lr:1.0e-05 updt_s:0.613 data_s:0.374 +INFO 2026-05-07 11:24:55 ot_train.py:483 step:3K smpl:283K ep:704 epch:19.55 loss:0.090 grdn:7.957 lr:1.0e-05 updt_s:0.613 data_s:0.365 +INFO 2026-05-07 11:25:42 ot_train.py:483 step:3K smpl:288K ep:716 epch:19.88 loss:0.088 grdn:7.719 lr:1.0e-05 updt_s:0.616 data_s:0.329 +INFO 2026-05-07 11:25:42 ot_train.py:497 Checkpoint policy after step 3000 +INFO 2026-05-07 11:26:33 ot_train.py:483 step:3K smpl:293K ep:728 epch:20.21 loss:0.089 grdn:7.500 lr:1.0e-05 updt_s:0.611 data_s:0.381 +INFO 2026-05-07 11:27:22 ot_train.py:483 step:3K smpl:298K ep:740 epch:20.54 loss:0.087 grdn:6.825 lr:1.0e-05 updt_s:0.614 data_s:0.370 +INFO 2026-05-07 11:28:10 ot_train.py:483 step:3K smpl:302K ep:752 epch:20.88 loss:0.088 grdn:5.695 lr:1.0e-05 updt_s:0.619 data_s:0.343 +INFO 2026-05-07 11:28:59 ot_train.py:483 step:3K smpl:307K ep:763 epch:21.21 loss:0.087 grdn:6.595 lr:1.0e-05 updt_s:0.625 data_s:0.358 +INFO 2026-05-07 11:29:47 ot_train.py:483 step:3K smpl:312K ep:775 epch:21.54 loss:0.086 grdn:6.465 lr:1.0e-05 updt_s:0.617 data_s:0.337 +INFO 2026-05-07 11:30:35 ot_train.py:483 step:3K smpl:317K ep:787 epch:21.87 loss:0.087 grdn:7.184 lr:1.0e-05 updt_s:0.618 data_s:0.337 +INFO 2026-05-07 11:31:26 ot_train.py:483 step:3K smpl:322K ep:799 epch:22.20 loss:0.087 grdn:8.466 lr:1.0e-05 updt_s:0.613 data_s:0.396 +INFO 2026-05-07 11:32:12 ot_train.py:483 step:3K smpl:326K ep:811 epch:22.53 loss:0.086 grdn:7.399 lr:1.0e-05 updt_s:0.614 data_s:0.321 +INFO 2026-05-07 11:33:00 ot_train.py:483 step:3K smpl:331K ep:823 epch:22.86 loss:0.086 grdn:6.506 lr:1.0e-05 updt_s:0.616 data_s:0.335 +INFO 2026-05-07 11:33:49 ot_train.py:483 step:4K smpl:336K ep:835 epch:23.19 loss:0.086 grdn:7.367 lr:1.0e-05 updt_s:0.615 data_s:0.367 +INFO 2026-05-07 11:34:37 ot_train.py:483 step:4K smpl:341K ep:847 epch:23.53 loss:0.085 grdn:6.472 lr:1.0e-05 updt_s:0.614 data_s:0.345 +INFO 2026-05-07 11:35:25 ot_train.py:483 step:4K smpl:346K ep:859 epch:23.86 loss:0.085 grdn:7.709 lr:1.0e-05 updt_s:0.614 data_s:0.337 +INFO 2026-05-07 11:36:15 ot_train.py:483 step:4K smpl:350K ep:871 epch:24.19 loss:0.084 grdn:7.666 lr:1.0e-05 updt_s:0.630 data_s:0.369 +INFO 2026-05-07 11:37:03 ot_train.py:483 step:4K smpl:355K ep:883 epch:24.52 loss:0.084 grdn:7.961 lr:1.0e-05 updt_s:0.615 data_s:0.350 +INFO 2026-05-07 11:37:51 ot_train.py:483 step:4K smpl:360K ep:895 epch:24.85 loss:0.084 grdn:6.892 lr:1.0e-05 updt_s:0.618 data_s:0.333 +INFO 2026-05-07 11:38:40 ot_train.py:483 step:4K smpl:365K ep:907 epch:25.18 loss:0.083 grdn:5.895 lr:1.0e-05 updt_s:0.613 data_s:0.374 +INFO 2026-05-07 11:39:28 ot_train.py:483 step:4K smpl:370K ep:919 epch:25.51 loss:0.084 grdn:5.860 lr:1.0e-05 updt_s:0.615 data_s:0.341 +INFO 2026-05-07 11:40:16 ot_train.py:483 step:4K smpl:374K ep:930 epch:25.85 loss:0.084 grdn:6.200 lr:1.0e-05 updt_s:0.613 data_s:0.356 +INFO 2026-05-07 11:41:06 ot_train.py:483 step:4K smpl:379K ep:942 epch:26.18 loss:0.082 grdn:6.743 lr:1.0e-05 updt_s:0.613 data_s:0.383 +INFO 2026-05-07 11:41:50 ot_train.py:483 step:4K smpl:384K ep:954 epch:26.51 loss:0.083 grdn:6.937 lr:1.0e-05 updt_s:0.613 data_s:0.261 +INFO 2026-05-07 11:41:50 ot_train.py:497 Checkpoint policy after step 4000 +INFO 2026-05-07 11:42:38 ot_train.py:483 step:4K smpl:389K ep:966 epch:26.84 loss:0.082 grdn:5.356 lr:1.0e-05 updt_s:0.614 data_s:0.326 +INFO 2026-05-07 11:43:28 ot_train.py:483 step:4K smpl:394K ep:978 epch:27.17 loss:0.083 grdn:6.801 lr:1.0e-05 updt_s:0.616 data_s:0.375 +INFO 2026-05-07 11:44:16 ot_train.py:483 step:4K smpl:398K ep:990 epch:27.50 loss:0.081 grdn:6.497 lr:1.0e-05 updt_s:0.617 data_s:0.360 +INFO 2026-05-07 11:45:03 ot_train.py:483 step:4K smpl:403K ep:1K epch:27.83 loss:0.081 grdn:7.328 lr:1.0e-05 updt_s:0.618 data_s:0.314 +INFO 2026-05-07 11:45:54 ot_train.py:483 step:4K smpl:408K ep:1K epch:28.17 loss:0.082 grdn:5.429 lr:1.0e-05 updt_s:0.623 data_s:0.392 +INFO 2026-05-07 11:46:43 ot_train.py:483 step:4K smpl:413K ep:1K epch:28.50 loss:0.081 grdn:5.874 lr:1.0e-05 updt_s:0.615 data_s:0.354 +INFO 2026-05-07 11:47:30 ot_train.py:483 step:4K smpl:418K ep:1K epch:28.83 loss:0.081 grdn:6.666 lr:1.0e-05 updt_s:0.617 data_s:0.328 +INFO 2026-05-07 11:48:20 ot_train.py:483 step:4K smpl:422K ep:1K epch:29.16 loss:0.080 grdn:6.103 lr:1.0e-05 updt_s:0.616 data_s:0.392 +INFO 2026-05-07 11:49:08 ot_train.py:483 step:4K smpl:427K ep:1K epch:29.49 loss:0.080 grdn:6.877 lr:1.0e-05 updt_s:0.614 data_s:0.328 +INFO 2026-05-07 11:49:56 ot_train.py:483 step:4K smpl:432K ep:1K epch:29.82 loss:0.080 grdn:7.110 lr:1.0e-05 updt_s:0.619 data_s:0.357 +INFO 2026-05-07 11:50:47 ot_train.py:483 step:5K smpl:437K ep:1K epch:30.15 loss:0.080 grdn:6.725 lr:1.0e-05 updt_s:0.612 data_s:0.397 +INFO 2026-05-07 11:51:35 ot_train.py:483 step:5K smpl:442K ep:1K epch:30.48 loss:0.079 grdn:7.118 lr:1.0e-05 updt_s:0.615 data_s:0.344 +INFO 2026-05-07 11:52:23 ot_train.py:483 step:5K smpl:446K ep:1K epch:30.82 loss:0.080 grdn:6.354 lr:1.0e-05 updt_s:0.617 data_s:0.350 +INFO 2026-05-07 11:53:13 ot_train.py:483 step:5K smpl:451K ep:1K epch:31.15 loss:0.079 grdn:6.843 lr:1.0e-05 updt_s:0.612 data_s:0.371 +INFO 2026-05-07 11:54:01 ot_train.py:483 step:5K smpl:456K ep:1K epch:31.48 loss:0.079 grdn:6.760 lr:1.0e-05 updt_s:0.621 data_s:0.336 +INFO 2026-05-07 11:54:48 ot_train.py:483 step:5K smpl:461K ep:1K epch:31.81 loss:0.078 grdn:5.295 lr:1.0e-05 updt_s:0.621 data_s:0.326 +INFO 2026-05-07 11:55:38 ot_train.py:483 step:5K smpl:466K ep:1K epch:32.14 loss:0.079 grdn:5.330 lr:1.0e-05 updt_s:0.616 data_s:0.384 +INFO 2026-05-07 11:56:27 ot_train.py:483 step:5K smpl:470K ep:1K epch:32.47 loss:0.078 grdn:6.283 lr:1.0e-05 updt_s:0.615 data_s:0.354 +INFO 2026-05-07 11:57:10 ot_train.py:483 step:5K smpl:475K ep:1K epch:32.80 loss:0.078 grdn:7.661 lr:1.0e-05 updt_s:0.618 data_s:0.253 +INFO 2026-05-07 11:58:01 ot_train.py:483 step:5K smpl:480K ep:1K epch:33.14 loss:0.078 grdn:5.919 lr:1.0e-05 updt_s:0.615 data_s:0.401 +INFO 2026-05-07 11:58:01 ot_train.py:497 Checkpoint policy after step 5000 +INFO 2026-05-07 11:58:02 ot_train.py:571 End of training diff --git a/outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/files/requirements.txt b/outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/files/requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..2a7c3ba75740bf0ea5f50be22b8f10719c23e42e --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/files/requirements.txt @@ -0,0 +1,111 @@ +annotated-doc==0.0.4 +triton==3.6.0 +tqdm==4.67.3 +attrs==26.1.0 +idna==3.13 +nvidia-cuda-runtime-cu12==12.8.90 +filelock==3.29.0 +hf-xet==1.4.3 +sentry-sdk==2.58.0 +pandas==2.3.3 +sympy==1.14.0 +httpcore==1.0.9 +protobuf==6.33.6 +datasets==4.8.5 +xxhash==3.7.0 +Jinja2==3.1.6 +gitdb==4.0.12 +aiosignal==1.4.0 +nvidia-cufft-cu12==11.3.3.83 +aiohttp==3.13.5 +importlib_metadata==9.0.0 +click==8.3.3 +frozenlist==1.8.0 +jsonlines==4.0.0 +psutil==7.2.2 +accelerate==1.13.0 +nvidia-cublas-cu12==12.8.4.1 +pillow==12.2.0 +annotated-types==0.7.0 +typing-inspect==0.9.0 +nvidia-nvjitlink-cu12==12.8.93 +dill==0.4.1 +certifi==2026.4.22 +wheel==0.47.0 +tzdata==2026.2 +six==1.17.0 +nvidia-curand-cu12==10.3.9.90 +cmake==4.1.3 +h11==0.16.0 +lerobot==0.5.2 +typing-inspection==0.4.2 +huggingface_hub==1.13.0 +propcache==0.4.1 +Farama-Notifications==0.0.6 +wandb==0.24.2 +typing_extensions==4.15.0 +nvidia-cusparse-cu12==12.5.8.93 +pydantic_core==2.46.3 +mdurl==0.1.2 +torchvision==0.25.0 +rich==15.0.0 +transformers==5.3.0 +nvidia-cusolver-cu12==11.7.3.90 +charset-normalizer==3.4.7 +pyarrow==24.0.0 +nvidia-nccl-cu12==2.27.5 +anyio==4.13.0 +safetensors==0.7.0 +av==15.1.0 +mypy_extensions==1.1.0 +pip==26.0.1 +setuptools==80.10.2 +einops==0.8.2 +multiprocess==0.70.19 +typer==0.25.1 +yarl==1.23.0 +packaging==25.0 +gymnasium==1.3.0 +termcolor==3.3.0 +PyYAML==6.0.3 +nvidia-cuda-cupti-cu12==12.8.90 +tokenizers==0.22.2 +numpy==2.2.6 +mpmath==1.3.0 +urllib3==2.6.3 +networkx==3.6.1 +nvidia-nvtx-cu12==12.8.90 +zipp==3.23.1 +cuda-pathfinder==1.5.4 +nvidia-cufile-cu12==1.13.1.3 +diffusers==0.35.2 +markdown-it-py==4.0.0 +cloudpickle==3.1.2 +pyyaml-include==1.4.1 +opencv-python-headless==4.13.0.92 +smmap==5.0.3 +MarkupSafe==3.0.3 +pytz==2026.1.post1 +torchcodec==0.10.0 +fsspec==2026.2.0 +platformdirs==4.9.6 +multidict==6.7.1 +torch==2.10.0 +requests==2.33.1 +pydantic==2.13.3 +regex==2026.4.4 +draccus==0.10.0 +mergedeep==1.3.4 +nvidia-cuda-nvrtc-cu12==12.8.93 +GitPython==3.1.49 +aiohappyeyeballs==2.6.1 +nvidia-nvshmem-cu12==3.4.5 +python-dateutil==2.9.0.post0 +toml==0.10.2 +shellingham==1.5.4 +httpx==0.28.1 +cuda-bindings==12.9.4 +nvidia-cusparselt-cu12==0.7.1 +Pygments==2.20.0 +nvidia-cudnn-cu12==9.10.2.21 +lerobot==0.5.2 diff --git a/outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/files/wandb-metadata.json b/outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/files/wandb-metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..19b2bd5199d86647a441c42efa249afd1bf36ab5 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/files/wandb-metadata.json @@ -0,0 +1,90 @@ +{ + "os": "Linux-3.10.0-957.21.3.el7.x86_64-x86_64-with-glibc2.34", + "python": "CPython 3.12.13", + "startedAt": "2026-05-07T14:36:43.570503Z", + "args": [ + "--dataset.repo_id=Jainam03/hil_corrections_only_merged", + "--dataset.root=/home/jjdh222/.cache/huggingface/lerobot/Jainam03/hil_corrections_only_merged", + "--output_dir=outputs/train/act_arch_deep_3l_finetune", + "--job_name=act_arch_deep_3l_finetune", + "--policy.device=cuda", + "--wandb.enable=true", + "--policy.push_to_hub=false", + "--steps=5000", + "--batch_size=96", + "--log_freq=50", + "--save_freq=1000", + "--policy.type=act", + "--policy.chunk_size=40", + "--policy.n_action_steps=15", + "--policy.n_decoder_layers=1", + "--policy.dim_model=128", + "--policy.dim_feedforward=256", + "--policy.n_encoder_layers=3", + "--policy.n_heads=4", + "--policy.pretrained_path=outputs/train/act_arch_deep_3l/checkpoints/last/pretrained_model" + ], + "program": "/mnt/gpfs2_4m/scratch/jjdh222/conda_envs/lerobot/bin/lerobot-train", + "root": "outputs/train/act_arch_deep_3l_finetune", + "host": "ganode003", + "executable": "/mnt/gpfs2_4m/scratch/jjdh222/conda_envs/lerobot/bin/python", + "cpu_count": 56, + "cpu_count_logical": 56, + "gpu": "NVIDIA A100 80GB PCIe", + "gpu_count": 1, + "disk": { + "/": { + "total": "16777216", + "used": "12288" + } + }, + "memory": { + "total": "270162341888" + }, + "gpu_nvidia": [ + { + "name": "NVIDIA A100 80GB PCIe", + "memoryTotal": "85899345920", + "cudaCores": 6912, + "architecture": "Ampere", + "uuid": "GPU-dce67dd2-6f21-b9cd-e12e-8c66134cfc08" + } + ], + "cudaVersion": "12.4", + "slurm": { + "checkpoint_image_dir": "/var/slurm/checkpoint", + "cluster_name": "lcc", + "cpus_on_node": "4", + "cpus_per_task": "4", + "gtids": "0", + "job_account": "gol_ssi273_uksr", + "job_cpus_per_node": "4", + "job_gid": "100", + "job_gpus": "1", + "job_id": "5280860", + "job_name": "act_arch_deep_3l_finetune", + "job_nodelist": "ganode003", + "job_num_nodes": "1", + "job_partition": "A2V80_ICE56M256_L", + "job_qos": "sl2", + "job_uid": "3397", + "job_user": "jjdh222", + "jobid": "5280860", + "localid": "0", + "mem_per_cpu": "4480", + "nnodes": "1", + "node_aliases": "(null)", + "nodeid": "0", + "nodelist": "ganode003", + "prio_process": "0", + "procid": "0", + "submit_dir": "/project/ssi273_uksr/jjdh222/robotics/slurm/hil_sweep", + "submit_host": "gvnode001", + "task_pid": "28635", + "tasks_per_node": "1", + "topology_addr": "ganode003", + "topology_addr_pattern": "node", + "working_cluster": "lcc:lcc-services:6817:8448" + }, + "writerId": "6eful27wo8dik7d1r9z2des4ymsdf5d2" +} \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/files/wandb-summary.json b/outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/files/wandb-summary.json new file mode 100644 index 0000000000000000000000000000000000000000..55f175bbac0f05ccc331f86ee5746bb79c2c62c7 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/files/wandb-summary.json @@ -0,0 +1 @@ +{"train/lr":1.0000000000000013e-05,"train/samples":480000,"train/epochs":33.13544111555985,"_wandb":{"runtime":4877},"train/grad_norm":5.91851402759552,"train/update_s":0.6147557308524847,"_timestamp":1.778169481553303e+09,"train/dataloading_s":0.40140686370432377,"_step":5000,"_runtime":4877.039131595,"train/l1_loss":0.07672996819019318,"train/steps":5000,"train/loss":0.07827308714389801,"train/episodes":1192.8758801601546,"train/kld_loss":0.00040995143353939056} \ No newline at end of file diff --git a/outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/logs/debug-core.log b/outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/logs/debug-core.log new file mode 100644 index 0000000000000000000000000000000000000000..168571ae345395bd59d2bf2f1f4126fea0e87662 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/logs/debug-core.log @@ -0,0 +1,23 @@ +{"time":"2026-05-07T10:36:45.180132648-04:00","level":"INFO","msg":"main: starting server","port-filename":"/tmp/tmphhs4ckvo/port-28798.txt","pid":28798,"log-level":0,"disable-analytics":false,"shutdown-on-parent-exit":false,"enable-dcgm-profiling":false} +{"time":"2026-05-07T10:36:45.181295069-04:00","level":"INFO","msg":"server: will exit if parent process dies","ppid":28798} +{"time":"2026-05-07T10:36:45.18129088-04:00","level":"INFO","msg":"server: accepting connections","addr":{"Name":"/tmp/wandb-28798-29079-2733780570/socket","Net":"unix"}} +{"time":"2026-05-07T10:36:45.198734751-04:00","level":"INFO","msg":"main: starting server","port-filename":"/tmp/tmpe9dqp3zu/port-53999.txt","pid":53999,"log-level":0,"disable-analytics":false,"shutdown-on-parent-exit":false,"enable-dcgm-profiling":false} +{"time":"2026-05-07T10:36:45.203475794-04:00","level":"INFO","msg":"server: will exit if parent process dies","ppid":53999} +{"time":"2026-05-07T10:36:45.203330348-04:00","level":"INFO","msg":"server: accepting connections","addr":{"Name":"/tmp/wandb-53999-54168-3203015120/socket","Net":"unix"}} +{"time":"2026-05-07T10:36:45.233041213-04:00","level":"INFO","msg":"connection: ManageConnectionData: new connection created","id":"1(@)"} +{"time":"2026-05-07T10:36:45.234649724-04:00","level":"INFO","msg":"connection: ManageConnectionData: new connection created","id":"1(@)"} +{"time":"2026-05-07T10:36:45.387232054-04:00","level":"INFO","msg":"handleInformInit: received","streamId":"vyoeaf3a","id":"1(@)"} +{"time":"2026-05-07T10:36:45.392386497-04:00","level":"INFO","msg":"handleInformInit: received","streamId":"8ajiayf7","id":"1(@)"} +{"time":"2026-05-07T10:36:46.031985487-04:00","level":"INFO","msg":"handleInformInit: stream started","streamId":"8ajiayf7","id":"1(@)"} +{"time":"2026-05-07T10:36:46.11838528-04:00","level":"INFO","msg":"handleInformInit: stream started","streamId":"vyoeaf3a","id":"1(@)"} +{"time":"2026-05-07T10:36:51.789485396-04:00","level":"INFO","msg":"connection: cancelling request","id":"1(@)","requestId":"fhnalshsthrz"} +{"time":"2026-05-07T10:36:52.052932853-04:00","level":"INFO","msg":"connection: cancelling request","id":"1(@)","requestId":"7udfr6qi9xvn"} +{"time":"2026-05-07T11:58:03.955969892-04:00","level":"INFO","msg":"handleInformTeardown: server teardown initiated","id":"1(@)"} +{"time":"2026-05-07T11:58:03.956383322-04:00","level":"INFO","msg":"connection: closing","id":"1(@)"} +{"time":"2026-05-07T11:58:03.956473473-04:00","level":"INFO","msg":"connection: closed successfully","id":"1(@)"} +{"time":"2026-05-07T11:58:03.956426787-04:00","level":"INFO","msg":"server is shutting down"} +{"time":"2026-05-07T11:58:03.956573307-04:00","level":"INFO","msg":"server: listener closed","addr":{"Name":"/tmp/wandb-28798-29079-2733780570/socket","Net":"unix"}} +{"time":"2026-05-07T11:58:04.794730197-04:00","level":"ERROR","msg":"processOutgoingData: flush error","error":"write unix /tmp/wandb-28798-29079-2733780570/socket->@: use of closed network connection","id":"1(@)"} +{"time":"2026-05-07T11:58:05.334161707-04:00","level":"INFO","msg":"handleInformTeardown: server shutdown complete","id":"1(@)"} +{"time":"2026-05-07T11:58:05.334201723-04:00","level":"INFO","msg":"connection: ManageConnectionData: connection closed","id":"1(@)"} +{"time":"2026-05-07T11:58:05.334217287-04:00","level":"INFO","msg":"server is closed"} diff --git a/outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/logs/debug-internal.log b/outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/logs/debug-internal.log new file mode 100644 index 0000000000000000000000000000000000000000..e3cea6a466f5f8da35d1c7abc5e15b9a08a23d43 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/logs/debug-internal.log @@ -0,0 +1,11 @@ +{"time":"2026-05-07T10:36:45.390174953-04:00","level":"INFO","msg":"stream: starting","core version":"0.24.2"} +{"time":"2026-05-07T10:36:46.117545531-04:00","level":"INFO","msg":"stream: created new stream","id":"vyoeaf3a"} +{"time":"2026-05-07T10:36:46.117754751-04:00","level":"INFO","msg":"handler: started","stream_id":"vyoeaf3a"} +{"time":"2026-05-07T10:36:46.11837033-04:00","level":"INFO","msg":"stream: started","id":"vyoeaf3a"} +{"time":"2026-05-07T10:36:46.118389169-04:00","level":"INFO","msg":"writer: started","stream_id":"vyoeaf3a"} +{"time":"2026-05-07T10:36:46.118406785-04:00","level":"INFO","msg":"sender: started","stream_id":"vyoeaf3a"} +{"time":"2026-05-07T11:58:03.956401192-04:00","level":"INFO","msg":"stream: closing","id":"vyoeaf3a"} +{"time":"2026-05-07T11:58:05.093207788-04:00","level":"INFO","msg":"fileTransfer: Close: file transfer manager closed"} +{"time":"2026-05-07T11:58:05.332784127-04:00","level":"INFO","msg":"handler: closed","stream_id":"vyoeaf3a"} +{"time":"2026-05-07T11:58:05.333494174-04:00","level":"INFO","msg":"sender: closed","stream_id":"vyoeaf3a"} +{"time":"2026-05-07T11:58:05.333525323-04:00","level":"INFO","msg":"stream: closed","id":"vyoeaf3a"} diff --git a/outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/logs/debug.log b/outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/logs/debug.log new file mode 100644 index 0000000000000000000000000000000000000000..7edd04832598574a79716a5d5e74aedf2fb929a7 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/logs/debug.log @@ -0,0 +1,21 @@ +2026-05-07 10:36:43,586 INFO MainThread:28798 [wandb_setup.py:_flush():81] Current SDK version is 0.24.2 +2026-05-07 10:36:43,586 INFO MainThread:28798 [wandb_setup.py:_flush():81] Configure stats pid to 28798 +2026-05-07 10:36:43,586 INFO MainThread:28798 [wandb_setup.py:_flush():81] Loading settings from environment variables +2026-05-07 10:36:43,586 INFO MainThread:28798 [wandb_init.py:setup_run_log_directory():717] Logging user logs to outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/logs/debug.log +2026-05-07 10:36:43,586 INFO MainThread:28798 [wandb_init.py:setup_run_log_directory():718] Logging internal logs to outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/logs/debug-internal.log +2026-05-07 10:36:43,586 INFO MainThread:28798 [wandb_init.py:init():844] calling init triggers +2026-05-07 10:36:43,586 INFO MainThread:28798 [wandb_init.py:init():849] wandb.init called with sweep_config: {} +config: {'dataset': {'repo_id': 'Jainam03/hil_corrections_only_merged', 'root': '/home/jjdh222/.cache/huggingface/lerobot/Jainam03/hil_corrections_only_merged', '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', 'return_uint8': False, 'streaming': False}, 'env': None, 'policy': {'type': 'act', 'n_obs_steps': 1, 'input_features': {}, 'output_features': {}, 'device': 'cuda', 'use_amp': False, 'use_peft': False, 'push_to_hub': False, 'repo_id': None, 'private': None, 'tags': None, 'license': None, 'pretrained_path': 'outputs/train/act_arch_deep_3l/checkpoints/last/pretrained_model', 'chunk_size': 40, 'n_action_steps': 15, 'normalization_mapping': {'VISUAL': , 'STATE': , 'ACTION': }, 'vision_backbone': 'resnet18', 'pretrained_backbone_weights': 'ResNet18_Weights.IMAGENET1K_V1', 'replace_final_stride_with_dilation': False, 'pre_norm': False, 'dim_model': 128, 'n_heads': 4, 'dim_feedforward': 256, 'feedforward_activation': 'relu', 'n_encoder_layers': 3, 'n_decoder_layers': 1, 'use_vae': True, 'latent_dim': 32, 'n_vae_encoder_layers': 4, 'temporal_ensemble_coeff': None, 'dropout': 0.1, 'kl_weight': 10.0, 'optimizer_lr': 1e-05, 'optimizer_weight_decay': 0.0001, 'optimizer_lr_backbone': 1e-05}, 'reward_model': None, 'output_dir': 'outputs/train/act_arch_deep_3l_finetune', 'job_name': 'act_arch_deep_3l_finetune', 'resume': False, 'seed': 1000, 'cudnn_deterministic': False, 'num_workers': 4, 'batch_size': 96, 'prefetch_factor': 4, 'persistent_workers': True, 'steps': 5000, 'eval_freq': 20000, 'log_freq': 50, 'tolerance_s': 0.0001, 'save_checkpoint': True, 'save_freq': 1000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adamw', 'lr': 1e-05, 'weight_decay': 0.0001, 'grad_clip_norm': 10.0, 'betas': [0.9, 0.999], 'eps': 1e-08}, 'scheduler': None, 'eval': {'n_episodes': 50, 'batch_size': 39, 'use_async_envs': True}, 'wandb': {'enable': True, 'disable_artifact': False, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': None, 'mode': None, 'add_tags': True}, 'peft': None, 'sample_weighting': None, 'rename_map': {}, 'checkpoint_path': None, '_wandb': {}} +2026-05-07 10:36:43,587 INFO MainThread:28798 [wandb_init.py:init():892] starting backend +2026-05-07 10:36:45,233 INFO MainThread:28798 [wandb_init.py:init():895] sending inform_init request +2026-05-07 10:36:45,384 INFO MainThread:28798 [wandb_init.py:init():903] backend started and connected +2026-05-07 10:36:45,387 INFO MainThread:28798 [wandb_init.py:init():973] updated telemetry +2026-05-07 10:36:45,388 INFO MainThread:28798 [wandb_init.py:init():997] communicating run to backend with 90.0 second timeout +2026-05-07 10:36:46,916 INFO MainThread:28798 [wandb_init.py:init():1042] starting run threads in backend +2026-05-07 10:36:47,046 INFO MainThread:28798 [wandb_run.py:_console_start():2529] atexit reg +2026-05-07 10:36:47,046 INFO MainThread:28798 [wandb_run.py:_redirect():2377] redirect: wrap_raw +2026-05-07 10:36:47,047 INFO MainThread:28798 [wandb_run.py:_redirect():2446] Wrapping output streams. +2026-05-07 10:36:47,047 INFO MainThread:28798 [wandb_run.py:_redirect():2469] Redirects installed. +2026-05-07 10:36:47,054 INFO MainThread:28798 [wandb_init.py:init():1082] run started, returning control to user process +2026-05-07 11:58:03,956 INFO wandb-AsyncioManager-main:28798 [service_client.py:_forward_responses():94] Reached EOF. +2026-05-07 11:58:03,970 INFO wandb-AsyncioManager-main:28798 [mailbox.py:close():154] Closing mailbox, abandoning 2 handles. diff --git a/outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/run-vyoeaf3a.wandb b/outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/run-vyoeaf3a.wandb new file mode 100644 index 0000000000000000000000000000000000000000..8d171386e03195cecee4bcc9434845b6be3a0160 --- /dev/null +++ b/outputs/train/act_arch_deep_3l_finetune/wandb/run-20260507_103643-vyoeaf3a/run-vyoeaf3a.wandb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:67ce69b5282fa2975ff9c81b0c44d0c789cd3272d163e9ee917cba06688103b3 +size 412421