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outputs/train/260216_act_postit-plate/wandb/debug-internal.log

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outputs/train/260216_act_postit-plate/wandb/debug.log

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+2026-02-16 11:56:16,880 INFO    MainThread:80020 [wandb_setup.py:_flush():81] Current SDK version is 0.24.1
+2026-02-16 11:56:16,880 INFO    MainThread:80020 [wandb_setup.py:_flush():81] Configure stats pid to 80020
+2026-02-16 11:56:16,880 INFO    MainThread:80020 [wandb_setup.py:_flush():81] Loading settings from environment variables
+2026-02-16 11:56:16,880 INFO    MainThread:80020 [wandb_init.py:setup_run_log_directory():717] Logging user logs to outputs/train/260216_act_postit-plate/wandb/run-20260216_115616-i44y31t8/logs/debug.log
+2026-02-16 11:56:16,880 INFO    MainThread:80020 [wandb_init.py:setup_run_log_directory():718] Logging internal logs to outputs/train/260216_act_postit-plate/wandb/run-20260216_115616-i44y31t8/logs/debug-internal.log
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+2026-02-16 11:56:16,881 INFO    MainThread:80020 [wandb_init.py:init():849] wandb.init called with sweep_config: {}
+config: {'dataset': {'repo_id': 'jan-kahle/postit-plate', 'root': '/home/tni/.cache/huggingface/lerobot/jankahle/postit-plate', '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', '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': True, 'repo_id': 'jan-kahle/260216_act_postit-plate', 'private': None, 'tags': None, 'license': None, 'pretrained_path': None, 'chunk_size': 100, 'n_action_steps': 100, 'normalization_mapping': {'VISUAL': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'STATE': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'ACTION': <NormalizationMode.MEAN_STD: 'MEAN_STD'>}, 'vision_backbone': 'resnet18', 'pretrained_backbone_weights': 'ResNet18_Weights.IMAGENET1K_V1', 'replace_final_stride_with_dilation': False, 'pre_norm': False, 'dim_model': 512, 'n_heads': 8, 'dim_feedforward': 3200, 'feedforward_activation': 'relu', 'n_encoder_layers': 4, '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}, 'output_dir': 'outputs/train/260216_act_postit-plate', 'job_name': 'act_postit-plate', 'resume': False, 'seed': 1000, 'num_workers': 4, 'batch_size': 8, 'steps': 100000, 'eval_freq': 20000, 'log_freq': 200, 'tolerance_s': 0.0001, 'save_checkpoint': True, 'save_freq': 20000, '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': 50, 'use_async_envs': False}, 'wandb': {'enable': True, 'disable_artifact': False, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': None, 'mode': None}, 'peft': None, 'use_rabc': False, 'rabc_progress_path': None, 'rabc_kappa': 0.01, 'rabc_epsilon': 1e-06, 'rabc_head_mode': 'sparse', 'rename_map': {}, 'checkpoint_path': None, '_wandb': {}}
+2026-02-16 11:56:16,881 INFO    MainThread:80020 [wandb_init.py:init():892] starting backend
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outputs/train/260216_act_postit-plate/wandb/run-20260216_115616-i44y31t8/files/config.yaml

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+                    - --policy.device=cuda
+                    - --wandb.enable=true
+                    - --policy.repo_id=jan-kahle/260216_act_postit-plate
+                    - --dataset.root=/home/tni/.cache/huggingface/lerobot/jankahle/postit-plate
+                cpu_count: 6
+                cpu_count_logical: 12
+                cudaVersion: "13.1"
+                disk:
+                    /:
+                        total: "501809635328"
+                        used: "274548039680"
+                executable: /home/tni/miniforge3/envs/lerobot/bin/python3.10
+                gpu: NVIDIA GeForce RTX 5090
+                gpu_count: 1
+                gpu_nvidia:
+                    - architecture: Blackwell
+                      cudaCores: 21760
+                      memoryTotal: "34190917632"
+                      name: NVIDIA GeForce RTX 5090
+                      uuid: GPU-f61baaba-253e-2b64-9e08-c3af67fce2ac
+                host: tni-workstation
+                memory:
+                    total: "33584533504"
+                os: Linux-6.17.0-14-generic-x86_64-with-glibc2.39
+                program: /home/tni/miniforge3/envs/lerobot/bin/lerobot-train
+                python: CPython 3.10.19
+                root: outputs/train/260216_act_postit-plate
+                startedAt: "2026-02-16T10:56:16.879829Z"
+                writerId: 1t3rhitd53zwecxp0w5yiu1zloww4ni3
+        m: []
+        python_version: 3.10.19
+        t:
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+            "6": 4.57.6
+            "10":
+                - 21
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+            "13": linux-x86_64
+batch_size:
+    value: 8
+checkpoint_path:
+    value: null
+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: jan-kahle/postit-plate
+        revision: null
+        root: /home/tni/.cache/huggingface/lerobot/jankahle/postit-plate
+        streaming: false
+        use_imagenet_stats: true
+        video_backend: torchcodec
+env:
+    value: null
+eval:
+    value:
+        batch_size: 50
+        n_episodes: 50
+        use_async_envs: false
+eval_freq:
+    value: 20000
+job_name:
+    value: act_postit-plate
+log_freq:
+    value: 200
+num_workers:
+    value: 4
+optimizer:
+    value:
+        betas:
+            - 0.9
+            - 0.999
+        eps: 1e-08
+        grad_clip_norm: 10
+        lr: 1e-05
+        type: adamw
+        weight_decay: 0.0001
+output_dir:
+    value: outputs/train/260216_act_postit-plate
+peft:
+    value: null
+policy:
+    value:
+        chunk_size: 100
+        device: cuda
+        dim_feedforward: 3200
+        dim_model: 512
+        dropout: 0.1
+        feedforward_activation: relu
+        kl_weight: 10
+        latent_dim: 32
+        license: null
+        n_action_steps: 100
+        n_decoder_layers: 1
+        n_encoder_layers: 4
+        n_heads: 8
+        n_obs_steps: 1
+        n_vae_encoder_layers: 4
+        normalization_mapping:
+            ACTION: MEAN_STD
+            STATE: MEAN_STD
+            VISUAL: MEAN_STD
+        optimizer_lr: 1e-05
+        optimizer_lr_backbone: 1e-05
+        optimizer_weight_decay: 0.0001
+        pre_norm: false
+        pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1
+        pretrained_path: null
+        private: null
+        push_to_hub: true
+        replace_final_stride_with_dilation: false
+        repo_id: jan-kahle/260216_act_postit-plate
+        tags: null
+        temporal_ensemble_coeff: null
+        type: act
+        use_amp: false
+        use_peft: false
+        use_vae: true
+        vision_backbone: resnet18
+rabc_epsilon:
+    value: 1e-06
+rabc_head_mode:
+    value: sparse
+rabc_kappa:
+    value: 0.01
+rabc_progress_path:
+    value: null
+resume:
+    value: false
+save_checkpoint:
+    value: true
+save_freq:
+    value: 20000
+scheduler:
+    value: null
+seed:
+    value: 1000
+steps:
+    value: 100000
+tolerance_s:
+    value: 0.0001
+use_policy_training_preset:
+    value: true
+use_rabc:
+    value: false
+wandb:
+    value:
+        disable_artifact: false
+        enable: true
+        entity: null
+        mode: null
+        notes: null
+        project: lerobot
+        run_id: null

outputs/train/260216_act_postit-plate/wandb/run-20260216_115616-i44y31t8/files/output.log

@@ -0,0 +1,42 @@
+INFO 2026-02-16 11:56:18 db_utils.py:117 Logs will be synced with wandb.
+INFO 2026-02-16 11:56:18 db_utils.py:118 Track this run --> https://wandb.ai/inpro-electric/lerobot/runs/i44y31t8
+INFO 2026-02-16 11:56:18 ot_train.py:215 Creating dataset
+INFO 2026-02-16 11:56:18 ot_train.py:233 Creating policy
+/home/tni/miniforge3/envs/lerobot/lib/python3.10/site-packages/torch/cuda/__init__.py:287: UserWarning:
+NVIDIA GeForce RTX 5090 with CUDA capability sm_120 is not compatible with the current PyTorch installation.
+The current PyTorch install supports CUDA capabilities sm_50 sm_60 sm_70 sm_75 sm_80 sm_86 sm_90.
+If you want to use the NVIDIA GeForce RTX 5090 GPU with PyTorch, please check the instructions at https://pytorch.org/get-started/locally/
+
+  warnings.warn(
+INFO 2026-02-16 11:56:19 ot_train.py:288 Creating optimizer and scheduler
+INFO 2026-02-16 11:56:19 ot_train.py:323 Output dir: outputs/train/260216_act_postit-plate
+INFO 2026-02-16 11:56:19 ot_train.py:330 cfg.steps=100000 (100K)
+INFO 2026-02-16 11:56:19 ot_train.py:331 dataset.num_frames=27635 (28K)
+INFO 2026-02-16 11:56:19 ot_train.py:332 dataset.num_episodes=50
+INFO 2026-02-16 11:56:19 ot_train.py:335 Effective batch size: 8 x 1 = 8
+INFO 2026-02-16 11:56:19 ot_train.py:336 num_learnable_params=51597190 (52M)
+INFO 2026-02-16 11:56:19 ot_train.py:337 num_total_params=51597190 (52M)
+INFO 2026-02-16 11:56:19 ot_train.py:393 Start offline training on a fixed dataset, with effective batch size: 8
+Traceback (most recent call last):
+  File "/home/tni/miniforge3/envs/lerobot/bin/lerobot-train", line 6, in <module>
+    sys.exit(main())
+  File "/home/tni/lerobot/src/lerobot/scripts/lerobot_train.py", line 532, in main
+    train()
+  File "/home/tni/lerobot/src/lerobot/configs/parser.py", line 233, in wrapper_inner
+    response = fn(cfg, *args, **kwargs)
+  File "/home/tni/lerobot/src/lerobot/scripts/lerobot_train.py", line 400, in train
+    batch = preprocessor(batch)
+  File "/home/tni/lerobot/src/lerobot/processor/pipeline.py", line 294, in __call__
+    transformed_transition = self._forward(transition)
+  File "/home/tni/lerobot/src/lerobot/processor/pipeline.py", line 311, in _forward
+    transition = processor_step(transition)
+  File "/home/tni/lerobot/src/lerobot/processor/normalize_processor.py", line 451, in __call__
+    new_transition[TransitionKey.OBSERVATION] = self._normalize_observation(
+  File "/home/tni/lerobot/src/lerobot/processor/normalize_processor.py", line 260, in _normalize_observation
+    new_observation[key] = self._apply_transform(tensor, key, feature.type, inverse=inverse)
+  File "/home/tni/lerobot/src/lerobot/processor/normalize_processor.py", line 335, in _apply_transform
+    denom = std + self.eps
+RuntimeError: CUDA error: no kernel image is available for execution on the device
+CUDA kernel errors might be asynchronously reported at some other API call, so the stacktrace below might be incorrect.
+For debugging consider passing CUDA_LAUNCH_BLOCKING=1
+Compile with `TORCH_USE_CUDA_DSA` to enable device-side assertions.

outputs/train/260216_act_postit-plate/wandb/run-20260216_115616-i44y31t8/files/requirements.txt

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outputs/train/260216_act_postit-plate/wandb/run-20260216_115616-i44y31t8/files/wandb-metadata.json

@@ -0,0 +1,43 @@
+{
+  "os":  "Linux-6.17.0-14-generic-x86_64-with-glibc2.39",
+  "python":  "CPython 3.10.19",
+  "startedAt":  "2026-02-16T10:56:16.879829Z",
+  "args":  [
+    "--dataset.repo_id=jan-kahle/postit-plate",
+    "--policy.type=act",
+    "--output_dir=outputs/train/260216_act_postit-plate",
+    "--job_name=act_postit-plate",
+    "--policy.device=cuda",
+    "--wandb.enable=true",
+    "--policy.repo_id=jan-kahle/260216_act_postit-plate",
+    "--dataset.root=/home/tni/.cache/huggingface/lerobot/jankahle/postit-plate"
+  ],
+  "program":  "/home/tni/miniforge3/envs/lerobot/bin/lerobot-train",
+  "root":  "outputs/train/260216_act_postit-plate",
+  "host":  "tni-workstation",
+  "executable":  "/home/tni/miniforge3/envs/lerobot/bin/python3.10",
+  "cpu_count":  6,
+  "cpu_count_logical":  12,
+  "gpu":  "NVIDIA GeForce RTX 5090",
+  "gpu_count":  1,
+  "disk":  {
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+      "used":  "274548039680"
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+  "memory":  {
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+  "gpu_nvidia":  [
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+      "name":  "NVIDIA GeForce RTX 5090",
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+      "architecture":  "Blackwell",
+      "uuid":  "GPU-f61baaba-253e-2b64-9e08-c3af67fce2ac"
+    }
+  ],
+  "cudaVersion":  "13.1",
+  "writerId":  "1t3rhitd53zwecxp0w5yiu1zloww4ni3"
+}

outputs/train/260216_act_postit-plate/wandb/run-20260216_115616-i44y31t8/files/wandb-summary.json

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outputs/train/260216_act_postit-plate/wandb/run-20260216_115616-i44y31t8/logs/debug-core.log

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outputs/train/260216_act_postit-plate/wandb/run-20260216_115616-i44y31t8/logs/debug-internal.log

@@ -0,0 +1,11 @@
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outputs/train/260216_act_postit-plate/wandb/run-20260216_115616-i44y31t8/logs/debug.log

@@ -0,0 +1,21 @@
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+2026-02-16 11:56:16,880 INFO    MainThread:80020 [wandb_init.py:setup_run_log_directory():717] Logging user logs to outputs/train/260216_act_postit-plate/wandb/run-20260216_115616-i44y31t8/logs/debug.log
+2026-02-16 11:56:16,880 INFO    MainThread:80020 [wandb_init.py:setup_run_log_directory():718] Logging internal logs to outputs/train/260216_act_postit-plate/wandb/run-20260216_115616-i44y31t8/logs/debug-internal.log
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+2026-02-16 11:56:16,881 INFO    MainThread:80020 [wandb_init.py:init():849] wandb.init called with sweep_config: {}
+config: {'dataset': {'repo_id': 'jan-kahle/postit-plate', 'root': '/home/tni/.cache/huggingface/lerobot/jankahle/postit-plate', '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', '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': True, 'repo_id': 'jan-kahle/260216_act_postit-plate', 'private': None, 'tags': None, 'license': None, 'pretrained_path': None, 'chunk_size': 100, 'n_action_steps': 100, 'normalization_mapping': {'VISUAL': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'STATE': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'ACTION': <NormalizationMode.MEAN_STD: 'MEAN_STD'>}, 'vision_backbone': 'resnet18', 'pretrained_backbone_weights': 'ResNet18_Weights.IMAGENET1K_V1', 'replace_final_stride_with_dilation': False, 'pre_norm': False, 'dim_model': 512, 'n_heads': 8, 'dim_feedforward': 3200, 'feedforward_activation': 'relu', 'n_encoder_layers': 4, '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}, 'output_dir': 'outputs/train/260216_act_postit-plate', 'job_name': 'act_postit-plate', 'resume': False, 'seed': 1000, 'num_workers': 4, 'batch_size': 8, 'steps': 100000, 'eval_freq': 20000, 'log_freq': 200, 'tolerance_s': 0.0001, 'save_checkpoint': True, 'save_freq': 20000, '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': 50, 'use_async_envs': False}, 'wandb': {'enable': True, 'disable_artifact': False, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': None, 'mode': None}, 'peft': None, 'use_rabc': False, 'rabc_progress_path': None, 'rabc_kappa': 0.01, 'rabc_epsilon': 1e-06, 'rabc_head_mode': 'sparse', 'rename_map': {}, 'checkpoint_path': None, '_wandb': {}}
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