diff --git a/logs/h100/real150_actbaseline_vt_20260727/insert_tube_train_config_actbaseline_real150_vision_tactile_16k_gpu0.log b/logs/h100/real150_actbaseline_vt_20260727/insert_tube_train_config_actbaseline_real150_vision_tactile_16k_gpu0.log
new file mode 100644
index 0000000000000000000000000000000000000000..8f945bd758edaac9f320418af42d3a9f6e143793
--- /dev/null
+++ b/logs/h100/real150_actbaseline_vt_20260727/insert_tube_train_config_actbaseline_real150_vision_tactile_16k_gpu0.log
@@ -0,0 +1,35 @@
+/dev/shm/muse/envs/vitacdreamer_prior512/lib/python3.10/site-packages/torchvision/models/_utils.py:208: UserWarning: The parameter 'pretrained' is deprecated since 0.13 and may be removed in the future, please use 'weights' instead.
+  warnings.warn(
+/dev/shm/muse/envs/vitacdreamer_prior512/lib/python3.10/site-packages/torchvision/models/_utils.py:223: UserWarning: Arguments other than a weight enum or `None` for 'weights' are deprecated since 0.13 and may be removed in the future. The current behavior is equivalent to passing `weights=ResNet18_Weights.IMAGENET1K_V1`. You can also use `weights=ResNet18_Weights.DEFAULT` to get the most up-to-date weights.
+  warnings.warn(msg)
+Downloading: "https://download.pytorch.org/models/resnet18-f37072fd.pth" to /inspire/hdd/global_user/yangyi-253108120173/inspire_shared/mount/advanced-machine-learning-and-deep-learning-applications/lzh/ksq/joshua/torch_cache/hub/checkpoints/resnet18-f37072fd.pth
+
+Data from: ./data/sim-insert_tube/real-150
+
+build_ACT_model_and_optimizer Namespace(lr=1e-05, lr_backbone=1e-05, batch_size=32, weight_decay=0.0001, epochs=300, lr_drop=200, clip_max_norm=0.1, dilation=False, pre_norm=False, vitacdreamer_cross_attn_layers='middle', masks=False, eval=False, onscreen_render=False, num_epochs=1, state_dim=8, kl_weight=7.5, chunk_size=15, hidden_dim=512, dim_feedforward=3200, temporal_agg=True, device='cuda:0', ckpt_dir='./act_ckpt/act-insert_tube/real-150/train_config_actbaseline_real150_vision_tactile_16k', policy_class='ACT', num_steps=16000, num_workers=4, save_freq=1000, position_embedding='sine', lr_vision_backbone=1e-05, backbone='resnet18', nheads=8, enc_layers=4, dec_layers=7, dropout=0.025, camera_names=['cam_high'], tactile_names=['tac_left', 'tac_right'], lr_tactile_backbone=1e-05, tactile_masks=False, tactile_backbone='resnet18', tactile_ckpt=None, tactile_dilation=False, use_vitacdreamer_feature=False, task_name='sim-insert_tube-real-150', config_path='./train_config_actbaseline_real150_vision_tactile_16k.yml', seed=0, distributed=False, rank=0, local_rank=0)
+Namespace(lr=1e-05, lr_backbone=1e-05, batch_size=32, weight_decay=0.0001, epochs=300, lr_drop=200, clip_max_norm=0.1, dilation=False, pre_norm=False, vitacdreamer_cross_attn_layers='middle', masks=False, eval=False, onscreen_render=False, num_epochs=1, state_dim=8, kl_weight=7.5, chunk_size=15, hidden_dim=512, dim_feedforward=3200, temporal_agg=True, device='cuda:0', ckpt_dir='./act_ckpt/act-insert_tube/real-150/train_config_actbaseline_real150_vision_tactile_16k', policy_class='ACT', num_steps=16000, num_workers=4, save_freq=1000, position_embedding='sine', lr_vision_backbone=1e-05, backbone='resnet18', nheads=8, enc_layers=4, dec_layers=7, dropout=0.025, camera_names=['cam_high'], tactile_names=['tac_left', 'tac_right'], lr_tactile_backbone=1e-05, tactile_masks=False, tactile_backbone='resnet18', tactile_ckpt=None, tactile_dilation=False, use_vitacdreamer_feature=False, task_name='sim-insert_tube-real-150', config_path='./train_config_actbaseline_real150_vision_tactile_16k.yml', seed=0, distributed=False, rank=0, local_rank=0)
+
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+number of parameters: 95.56M
+KL Weight 7.5
+
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 12%|█▏        | 1988/16000 [02:39<15:44, 14.84it/s, epoch=1, loss=0.362]
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 12%|█▏        | 1990/16000 [02:39<23:10, 10.08it/s, epoch=1, loss=0.366]
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 13%|█▎        | 2010/16000 [02:41<21:22, 10.91it/s, epoch=1, loss=0.364]
 13%|█▎        | 2010/16000 [02:41<21:22, 10.91it/s, epoch=1, loss=0.348]
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 13%|█▎        | 2012/16000 [02:41<19:39, 11.86it/s, epoch=1, loss=0.356]
 13%|█▎        | 2012/16000 [02:41<19:39, 11.86it/s, epoch=1, loss=0.359]
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 13%|█▎        | 2014/16000 [02:41<18:32, 12.57it/s, epoch=1, loss=0.344]
 13%|█▎        | 2014/16000 [02:41<18:32, 12.57it/s, epoch=1, loss=0.363]
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 13%|█▎        | 2018/16000 [02:42<17:12, 13.54it/s, epoch=1, loss=0.358]
 13%|█▎        | 2018/16000 [02:42<17:12, 13.54it/s, epoch=1, loss=0.373]
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 13%|█▎        | 2024/16000 [02:42<16:20, 14.25it/s, epoch=1, loss=0.371]
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 13%|█▎        | 2025/16000 [02:42<16:20, 14.25it/s, epoch=1, loss=0.394]
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 13%|█▎        | 2028/16000 [02:42<16:07, 14.45it/s, epoch=1, loss=0.356]
 13%|█▎        | 2028/16000 [02:42<16:07, 14.45it/s, epoch=1, loss=0.349]
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 13%|█▎        | 2030/16000 [02:42<16:06, 14.45it/s, epoch=1, loss=0.382]
 13%|█▎        | 2030/16000 [02:43<16:06, 14.45it/s, epoch=1, loss=0.369]
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 13%|█▎        | 2032/16000 [02:43<15:58, 14.57it/s, epoch=1, loss=0.349]
 13%|█▎        | 2032/16000 [02:43<15:58, 14.57it/s, epoch=1, loss=0.375]
 13%|█▎        | 2033/16000 [02:43<15:58, 14.57it/s, epoch=1, loss=0.394]
 13%|█▎        | 2034/16000 [02:43<15:56, 14.60it/s, epoch=1, loss=0.394]
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+  plt.figure()
+
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Saved plots to ./act_ckpt/act-insert_tube/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Saved plots to ./act_ckpt/act-insert_tube/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Saved plots to ./act_ckpt/act-insert_tube/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Saved plots to ./act_ckpt/act-insert_tube/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Saved plots to ./act_ckpt/act-insert_tube/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Saved plots to ./act_ckpt/act-insert_tube/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Saved plots to ./act_ckpt/act-insert_tube/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Saved plots to ./act_ckpt/act-insert_tube/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Saved plots to ./act_ckpt/act-insert_tube/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Saved plots to ./act_ckpt/act-insert_tube/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Saved plots to ./act_ckpt/act-insert_tube/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Saved plots to ./act_ckpt/act-insert_tube/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Saved plots to ./act_ckpt/act-insert_tube/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Saved plots to ./act_ckpt/act-insert_tube/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Saved plots to ./act_ckpt/act-insert_tube/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Training finished:
+Seed 0, val loss 0.057065 at epoch 11
+Saved plots to ./act_ckpt/act-insert_tube/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Best ckpt, val loss 0.057065 @ epoch11
diff --git a/logs/h100/real150_actbaseline_vt_20260727/wipe_board_train_config_actbaseline_real150_vision_tactile_16k_gpu1.log b/logs/h100/real150_actbaseline_vt_20260727/wipe_board_train_config_actbaseline_real150_vision_tactile_16k_gpu1.log
new file mode 100644
index 0000000000000000000000000000000000000000..1ce1cc9137d64719e73edaf989a56e6ced5f1ac4
--- /dev/null
+++ b/logs/h100/real150_actbaseline_vt_20260727/wipe_board_train_config_actbaseline_real150_vision_tactile_16k_gpu1.log
@@ -0,0 +1,35 @@
+/dev/shm/muse/envs/vitacdreamer_prior512/lib/python3.10/site-packages/torchvision/models/_utils.py:208: UserWarning: The parameter 'pretrained' is deprecated since 0.13 and may be removed in the future, please use 'weights' instead.
+  warnings.warn(
+/dev/shm/muse/envs/vitacdreamer_prior512/lib/python3.10/site-packages/torchvision/models/_utils.py:223: UserWarning: Arguments other than a weight enum or `None` for 'weights' are deprecated since 0.13 and may be removed in the future. The current behavior is equivalent to passing `weights=ResNet18_Weights.IMAGENET1K_V1`. You can also use `weights=ResNet18_Weights.DEFAULT` to get the most up-to-date weights.
+  warnings.warn(msg)
+Downloading: "https://download.pytorch.org/models/resnet18-f37072fd.pth" to /inspire/hdd/global_user/yangyi-253108120173/inspire_shared/mount/advanced-machine-learning-and-deep-learning-applications/lzh/ksq/joshua/torch_cache/hub/checkpoints/resnet18-f37072fd.pth
+
+Data from: ./data/sim-wipe_board/real-150
+
+build_ACT_model_and_optimizer Namespace(lr=1e-05, lr_backbone=1e-05, batch_size=32, weight_decay=0.0001, epochs=300, lr_drop=200, clip_max_norm=0.1, dilation=False, pre_norm=False, vitacdreamer_cross_attn_layers='middle', masks=False, eval=False, onscreen_render=False, num_epochs=1, state_dim=8, kl_weight=7.5, chunk_size=15, hidden_dim=512, dim_feedforward=3200, temporal_agg=True, device='cuda:0', ckpt_dir='./act_ckpt/act-wipe_board/real-150/train_config_actbaseline_real150_vision_tactile_16k', policy_class='ACT', num_steps=16000, num_workers=4, save_freq=1000, position_embedding='sine', lr_vision_backbone=1e-05, backbone='resnet18', nheads=8, enc_layers=4, dec_layers=7, dropout=0.025, camera_names=['cam_high'], tactile_names=['tac_left', 'tac_right'], lr_tactile_backbone=1e-05, tactile_masks=False, tactile_backbone='resnet18', tactile_ckpt=None, tactile_dilation=False, use_vitacdreamer_feature=False, task_name='sim-wipe_board-real-150', config_path='./train_config_actbaseline_real150_vision_tactile_16k.yml', seed=0, distributed=False, rank=0, local_rank=0)
+Namespace(lr=1e-05, lr_backbone=1e-05, batch_size=32, weight_decay=0.0001, epochs=300, lr_drop=200, clip_max_norm=0.1, dilation=False, pre_norm=False, vitacdreamer_cross_attn_layers='middle', masks=False, eval=False, onscreen_render=False, num_epochs=1, state_dim=8, kl_weight=7.5, chunk_size=15, hidden_dim=512, dim_feedforward=3200, temporal_agg=True, device='cuda:0', ckpt_dir='./act_ckpt/act-wipe_board/real-150/train_config_actbaseline_real150_vision_tactile_16k', policy_class='ACT', num_steps=16000, num_workers=4, save_freq=1000, position_embedding='sine', lr_vision_backbone=1e-05, backbone='resnet18', nheads=8, enc_layers=4, dec_layers=7, dropout=0.025, camera_names=['cam_high'], tactile_names=['tac_left', 'tac_right'], lr_tactile_backbone=1e-05, tactile_masks=False, tactile_backbone='resnet18', tactile_ckpt=None, tactile_dilation=False, use_vitacdreamer_feature=False, task_name='sim-wipe_board-real-150', config_path='./train_config_actbaseline_real150_vision_tactile_16k.yml', seed=0, distributed=False, rank=0, local_rank=0)
+
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+number of parameters: 95.56M
+KL Weight 7.5
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  7%|▋         | 1107/16000 [01:17<16:24, 15.13it/s, epoch=0, loss=0.485]Saved plots to ./act_ckpt/act-wipe_board/real-150/train_config_actbaseline_real150_vision_tactile_16k
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 12%|█▏        | 1921/16000 [02:33<16:01, 14.65it/s, epoch=1, loss=0.389]
 12%|█▏        | 1922/16000 [02:33<16:00, 14.65it/s, epoch=1, loss=0.386]
 12%|█▏        | 1923/16000 [02:33<16:12, 14.48it/s, epoch=1, loss=0.386]
 12%|█▏        | 1923/16000 [02:33<16:12, 14.48it/s, epoch=1, loss=0.381]
 12%|█▏        | 1924/16000 [02:33<16:12, 14.48it/s, epoch=1, loss=0.377]
 12%|█▏        | 1925/16000 [02:33<15:58, 14.68it/s, epoch=1, loss=0.377]
 12%|█▏        | 1925/16000 [02:33<15:58, 14.68it/s, epoch=1, loss=0.421]
 12%|█▏        | 1926/16000 [02:33<15:58, 14.68it/s, epoch=1, loss=0.397]
 12%|█▏        | 1927/16000 [02:33<16:12, 14.47it/s, epoch=1, loss=0.397]
 12%|█▏        | 1927/16000 [02:34<16:12, 14.47it/s, epoch=1, loss=0.395]
 12%|█▏        | 1928/16000 [02:34<16:12, 14.47it/s, epoch=1, loss=0.406]
 12%|█▏        | 1929/16000 [02:34<15:59, 14.66it/s, epoch=1, loss=0.406]
 12%|█▏        | 1929/16000 [02:34<15:59, 14.66it/s, epoch=1, loss=0.38] 
 12%|█▏        | 1930/16000 [02:34<15:59, 14.66it/s, epoch=1, loss=0.378]
 12%|█▏        | 1931/16000 [02:34<16:13, 14.46it/s, epoch=1, loss=0.378]
 12%|█▏        | 1931/16000 [02:34<16:13, 14.46it/s, epoch=1, loss=0.397]
 12%|█▏        | 1932/16000 [02:34<16:13, 14.46it/s, epoch=1, loss=0.376]
 12%|█▏        | 1933/16000 [02:34<15:59, 14.65it/s, epoch=1, loss=0.376]
 12%|█▏        | 1933/16000 [02:34<15:59, 14.65it/s, epoch=1, loss=0.375]
 12%|█▏        | 1934/16000 [02:34<15:59, 14.65it/s, epoch=1, loss=0.412]
 12%|█▏        | 1935/16000 [02:34<16:05, 14.57it/s, epoch=1, loss=0.412]
 12%|█▏        | 1935/16000 [02:34<16:05, 14.57it/s, epoch=1, loss=0.404]
 12%|█▏        | 1936/16000 [02:34<16:05, 14.57it/s, epoch=1, loss=0.41] 
 12%|█▏        | 1937/16000 [02:34<15:54, 14.74it/s, epoch=1, loss=0.41]
 12%|█▏        | 1937/16000 [02:34<15:54, 14.74it/s, epoch=1, loss=0.382]
 12%|█▏        | 1938/16000 [02:34<15:54, 14.74it/s, epoch=1, loss=0.364]
 12%|█▏        | 1939/16000 [02:34<16:09, 14.50it/s, epoch=1, loss=0.364]
 12%|█▏        | 1939/16000 [02:34<16:09, 14.50it/s, epoch=1, loss=0.363]
 12%|█▏        | 1940/16000 [02:34<16:09, 14.50it/s, epoch=1, loss=0.387]
 12%|█▏        | 1941/16000 [02:34<15:57, 14.68it/s, epoch=1, loss=0.387]
 12%|█▏        | 1941/16000 [02:35<15:57, 14.68it/s, epoch=1, loss=0.403]
 12%|█▏        | 1942/16000 [02:35<15:57, 14.68it/s, epoch=1, loss=0.383]
 12%|█▏        | 1943/16000 [02:35<16:07, 14.53it/s, epoch=1, loss=0.383]
 12%|█▏        | 1943/16000 [02:35<16:07, 14.53it/s, epoch=1, loss=0.384]
 12%|█▏        | 1944/16000 [02:35<16:07, 14.53it/s, epoch=1, loss=0.374]
 12%|█▏        | 1945/16000 [02:35<15:55, 14.70it/s, epoch=1, loss=0.374]
 12%|█▏        | 1945/16000 [02:35<15:55, 14.70it/s, epoch=1, loss=0.406]
 12%|█▏        | 1946/16000 [02:35<15:55, 14.70it/s, epoch=1, loss=0.372]
 12%|█▏        | 1947/16000 [02:35<16:09, 14.49it/s, epoch=1, loss=0.372]
 12%|█▏        | 1947/16000 [02:35<16:09, 14.49it/s, epoch=1, loss=0.382]
 12%|█▏        | 1948/16000 [02:35<16:09, 14.49it/s, epoch=1, loss=0.398]
 12%|█▏        | 1949/16000 [02:35<15:57, 14.67it/s, epoch=1, loss=0.398]
 12%|█▏        | 1949/16000 [02:35<15:57, 14.67it/s, epoch=1, loss=0.388]
 12%|█▏        | 1950/16000 [02:35<15:57, 14.67it/s, epoch=1, loss=0.395]
 12%|█▏        | 1951/16000 [02:35<16:06, 14.53it/s, epoch=1, loss=0.395]
 12%|█▏        | 1951/16000 [02:35<16:06, 14.53it/s, epoch=1, loss=0.367]
 12%|█▏        | 1952/16000 [02:35<16:06, 14.53it/s, epoch=1, loss=0.389]
 12%|█▏        | 1953/16000 [02:35<15:55, 14.71it/s, epoch=1, loss=0.389]
 12%|█▏        | 1953/16000 [02:35<15:55, 14.71it/s, epoch=1, loss=0.388]
 12%|█▏        | 1954/16000 [02:35<15:55, 14.71it/s, epoch=1, loss=0.39] 
 12%|█▏        | 1955/16000 [02:35<16:01, 14.61it/s, epoch=1, loss=0.39]
 12%|█▏        | 1955/16000 [02:35<16:01, 14.61it/s, epoch=1, loss=0.398]
 12%|█▏        | 1956/16000 [02:36<16:01, 14.61it/s, epoch=1, loss=0.394]
 12%|█▏        | 1957/16000 [02:36<15:50, 14.77it/s, epoch=1, loss=0.394]
 12%|█▏        | 1957/16000 [02:36<15:50, 14.77it/s, epoch=1, loss=0.413]
 12%|█▏        | 1958/16000 [02:36<15:50, 14.77it/s, epoch=1, loss=0.383]
 12%|█▏        | 1959/16000 [02:36<16:05, 14.54it/s, epoch=1, loss=0.383]
 12%|█▏        | 1959/16000 [02:36<16:05, 14.54it/s, epoch=1, loss=0.371]
 12%|█▏        | 1960/16000 [02:36<16:05, 14.54it/s, epoch=1, loss=0.346]
 12%|█▏        | 1961/16000 [02:36<15:53, 14.72it/s, epoch=1, loss=0.346]
 12%|█▏        | 1961/16000 [02:36<15:53, 14.72it/s, epoch=1, loss=0.37] 
 12%|█▏        | 1962/16000 [02:36<15:53, 14.72it/s, epoch=1, loss=0.391]
 12%|█▏        | 1963/16000 [02:36<16:07, 14.50it/s, epoch=1, loss=0.391]
 12%|█▏        | 1963/16000 [02:36<16:07, 14.50it/s, epoch=1, loss=0.399]
 12%|█▏        | 1964/16000 [02:36<16:07, 14.50it/s, epoch=1, loss=0.411]
 12%|█▏        | 1965/16000 [02:36<15:55, 14.69it/s, epoch=1, loss=0.411]
 12%|█▏        | 1965/16000 [02:36<15:55, 14.69it/s, epoch=1, loss=0.388]
 12%|█▏        | 1966/16000 [02:36<15:55, 14.69it/s, epoch=1, loss=0.379]
 12%|█▏        | 1967/16000 [02:36<16:05, 14.53it/s, epoch=1, loss=0.379]
 12%|█▏        | 1967/16000 [02:36<16:05, 14.53it/s, epoch=1, loss=0.403]
 12%|█▏        | 1968/16000 [02:36<16:05, 14.53it/s, epoch=1, loss=0.386]
 12%|█▏        | 1969/16000 [02:36<15:53, 14.71it/s, epoch=1, loss=0.386]
 12%|█▏        | 1969/16000 [02:36<15:53, 14.71it/s, epoch=1, loss=0.426]
 12%|█▏        | 1970/16000 [02:36<15:53, 14.71it/s, epoch=1, loss=0.396]
 12%|█▏        | 1971/16000 [02:36<16:04, 14.54it/s, epoch=1, loss=0.396]
 12%|█▏        | 1971/16000 [02:37<16:04, 14.54it/s, epoch=1, loss=0.375]
 12%|█▏        | 1972/16000 [02:37<16:04, 14.54it/s, epoch=1, loss=0.387]
 12%|█▏        | 1973/16000 [02:37<15:52, 14.72it/s, epoch=1, loss=0.387]
 12%|█▏        | 1973/16000 [02:37<15:52, 14.72it/s, epoch=1, loss=0.394]
 12%|█▏        | 1974/16000 [02:37<15:52, 14.72it/s, epoch=1, loss=0.398]
 12%|█▏        | 1975/16000 [02:37<16:05, 14.53it/s, epoch=1, loss=0.398]
 12%|█▏        | 1975/16000 [02:37<16:05, 14.53it/s, epoch=1, loss=0.37] 
 12%|█▏        | 1976/16000 [02:37<16:05, 14.53it/s, epoch=1, loss=0.374]
 12%|█▏        | 1977/16000 [02:37<15:53, 14.71it/s, epoch=1, loss=0.374]
 12%|█▏        | 1977/16000 [02:37<15:53, 14.71it/s, epoch=1, loss=0.389]
 12%|█▏        | 1978/16000 [02:37<15:53, 14.71it/s, epoch=1, loss=0.379]
 12%|█▏        | 1979/16000 [02:37<16:07, 14.49it/s, epoch=1, loss=0.379]
 12%|█▏        | 1979/16000 [02:37<16:07, 14.49it/s, epoch=1, loss=0.416]
 12%|█▏        | 1980/16000 [02:37<16:07, 14.49it/s, epoch=1, loss=0.386]
 12%|█▏        | 1981/16000 [02:37<15:55, 14.67it/s, epoch=1, loss=0.386]
 12%|█▏        | 1981/16000 [02:37<15:55, 14.67it/s, epoch=1, loss=0.389]
 12%|█▏        | 1982/16000 [02:37<15:55, 14.67it/s, epoch=1, loss=0.359]
 12%|█▏        | 1983/16000 [02:37<16:06, 14.50it/s, epoch=1, loss=0.359]
 12%|█▏        | 1983/16000 [02:37<16:06, 14.50it/s, epoch=1, loss=0.403]
 12%|█▏        | 1984/16000 [02:37<16:06, 14.50it/s, epoch=1, loss=0.39] 
 12%|█▏        | 1985/16000 [02:37<15:55, 14.67it/s, epoch=1, loss=0.39]
 12%|█▏        | 1985/16000 [02:38<15:55, 14.67it/s, epoch=1, loss=0.371]
 12%|█▏        | 1986/16000 [02:38<15:55, 14.67it/s, epoch=1, loss=0.413]
 12%|█▏        | 1987/16000 [02:38<16:08, 14.47it/s, epoch=1, loss=0.413]
 12%|█▏        | 1987/16000 [02:38<16:08, 14.47it/s, epoch=1, loss=0.364]
 12%|█▏        | 1988/16000 [02:38<16:08, 14.47it/s, epoch=1, loss=0.381]
 12%|█▏        | 1989/16000 [02:38<15:56, 14.65it/s, epoch=1, loss=0.381]
 12%|█▏        | 1989/16000 [02:38<15:56, 14.65it/s, epoch=1, loss=0.374]
 12%|█▏        | 1990/16000 [02:38<15:56, 14.65it/s, epoch=1, loss=0.401]
 12%|█▏        | 1991/16000 [02:38<16:07, 14.49it/s, epoch=1, loss=0.401]
 12%|█▏        | 1991/16000 [02:38<16:07, 14.49it/s, epoch=1, loss=0.383]
 12%|█▏        | 1992/16000 [02:38<16:06, 14.49it/s, epoch=1, loss=0.378]
 12%|█▏        | 1993/16000 [02:38<15:55, 14.67it/s, epoch=1, loss=0.378]
 12%|█▏        | 1993/16000 [02:38<15:55, 14.67it/s, epoch=1, loss=0.389]
 12%|█▏        | 1994/16000 [02:38<15:54, 14.67it/s, epoch=1, loss=0.382]
 12%|█▏        | 1995/16000 [02:38<16:06, 14.49it/s, epoch=1, loss=0.382]
 12%|█▏        | 1995/16000 [02:38<16:06, 14.49it/s, epoch=1, loss=0.381]
 12%|█▏        | 1996/16000 [02:38<16:06, 14.49it/s, epoch=1, loss=0.379]
 12%|█▏        | 1997/16000 [02:38<15:55, 14.66it/s, epoch=1, loss=0.379]
 12%|█▏        | 1997/16000 [02:38<15:55, 14.66it/s, epoch=1, loss=0.358]
 12%|█▏        | 1998/16000 [02:38<15:55, 14.66it/s, epoch=1, loss=0.38] 
 12%|█▏        | 1999/16000 [02:38<16:05, 14.50it/s, epoch=1, loss=0.38]
 12%|█▏        | 1999/16000 [02:38<16:05, 14.50it/s, epoch=1, loss=0.383]
 12%|█▎        | 2000/16000 [02:39<16:05, 14.50it/s, epoch=1, loss=0.366]
 13%|█▎        | 2001/16000 [02:39<39:05,  5.97it/s, epoch=1, loss=0.366]
 13%|█▎        | 2001/16000 [02:39<39:05,  5.97it/s, epoch=1, loss=0.394]
 13%|█▎        | 2002/16000 [02:39<39:05,  5.97it/s, epoch=1, loss=0.389]
 13%|█▎        | 2003/16000 [02:39<31:47,  7.34it/s, epoch=1, loss=0.389]
 13%|█▎        | 2003/16000 [02:39<31:47,  7.34it/s, epoch=1, loss=0.425]
 13%|█▎        | 2004/16000 [02:39<31:47,  7.34it/s, epoch=1, loss=0.392]
 13%|█▎        | 2005/16000 [02:39<26:49,  8.69it/s, epoch=1, loss=0.392]
 13%|█▎        | 2005/16000 [02:40<26:49,  8.69it/s, epoch=1, loss=0.43] 
 13%|█▎        | 2006/16000 [02:40<26:49,  8.69it/s, epoch=1, loss=0.362]
 13%|█▎        | 2007/16000 [02:40<23:24,  9.96it/s, epoch=1, loss=0.362]
 13%|█▎        | 2007/16000 [02:40<23:24,  9.96it/s, epoch=1, loss=0.367]
 13%|█▎        | 2008/16000 [02:40<23:24,  9.96it/s, epoch=1, loss=0.366]
 13%|█▎        | 2009/16000 [02:40<21:02, 11.09it/s, epoch=1, loss=0.366]
 13%|█▎        | 2009/16000 [02:40<21:02, 11.09it/s, epoch=1, loss=0.4]  
 13%|█▎        | 2010/16000 [02:40<21:02, 11.09it/s, epoch=1, loss=0.373]
 13%|█▎        | 2011/16000 [02:40<19:20, 12.05it/s, epoch=1, loss=0.373]
 13%|█▎        | 2011/16000 [02:40<19:20, 12.05it/s, epoch=1, loss=0.376]
 13%|█▎        | 2012/16000 [02:40<19:20, 12.05it/s, epoch=1, loss=0.38] 
 13%|█▎        | 2013/16000 [02:40<18:03, 12.91it/s, epoch=1, loss=0.38]
 13%|█▎        | 2013/16000 [02:40<18:03, 12.91it/s, epoch=1, loss=0.397]
 13%|█▎        | 2014/16000 [02:40<18:03, 12.91it/s, epoch=1, loss=0.406]
 13%|█▎        | 2015/16000 [02:40<17:04, 13.64it/s, epoch=1, loss=0.406]
 13%|█▎        | 2015/16000 [02:40<17:04, 13.64it/s, epoch=1, loss=0.392]
 13%|█▎        | 2016/16000 [02:40<17:04, 13.64it/s, epoch=1, loss=0.398]
 13%|█▎        | 2017/16000 [02:40<16:21, 14.24it/s, epoch=1, loss=0.398]
 13%|█▎        | 2017/16000 [02:40<16:21, 14.24it/s, epoch=1, loss=0.408]
 13%|█▎        | 2018/16000 [02:40<16:21, 14.24it/s, epoch=1, loss=0.379]
 13%|█▎        | 2019/16000 [02:40<15:49, 14.72it/s, epoch=1, loss=0.379]
 13%|█▎        | 2019/16000 [02:40<15:49, 14.72it/s, epoch=1, loss=0.378]
 13%|█▎        | 2020/16000 [02:40<15:49, 14.72it/s, epoch=1, loss=0.382]
 13%|█▎        | 2021/16000 [02:40<15:28, 15.06it/s, epoch=1, loss=0.382]
 13%|█▎        | 2021/16000 [02:41<15:28, 15.06it/s, epoch=1, loss=0.403]
 13%|█▎        | 2022/16000 [02:41<15:28, 15.06it/s, epoch=1, loss=0.397]
 13%|█▎        | 2023/16000 [02:41<15:16, 15.24it/s, epoch=1, loss=0.397]
 13%|█▎        | 2023/16000 [02:41<15:16, 15.24it/s, epoch=1, loss=0.368]
 13%|█▎        | 2024/16000 [02:41<15:16, 15.24it/s, epoch=1, loss=0.376]
 13%|█▎        | 2025/16000 [02:41<15:17, 15.24it/s, epoch=1, loss=0.376]
 13%|█▎        | 2025/16000 [02:41<15:17, 15.24it/s, epoch=1, loss=0.384]
 13%|█▎        | 2026/16000 [02:41<15:16, 15.24it/s, epoch=1, loss=0.373]
 13%|█▎        | 2027/16000 [02:41<15:21, 15.16it/s, epoch=1, loss=0.373]
 13%|█▎        | 2027/16000 [02:41<15:21, 15.16it/s, epoch=1, loss=0.382]
 13%|█▎        | 2028/16000 [02:41<15:21, 15.16it/s, epoch=1, loss=0.388]
 13%|█▎        | 2029/16000 [02:41<15:24, 15.11it/s, epoch=1, loss=0.388]
 13%|█▎        | 2029/16000 [02:41<15:24, 15.11it/s, epoch=1, loss=0.38] 
 13%|█▎        | 2030/16000 [02:41<15:24, 15.11it/s, epoch=1, loss=0.364]
 13%|█▎        | 2031/16000 [02:41<15:26, 15.08it/s, epoch=1, loss=0.364]
 13%|█▎        | 2031/16000 [02:41<15:26, 15.08it/s, epoch=1, loss=0.407]
 13%|█▎        | 2032/16000 [02:41<15:26, 15.08it/s, epoch=1, loss=0.378]
 13%|█▎        | 2033/16000 [02:41<15:27, 15.05it/s, epoch=1, loss=0.378]
 13%|█▎        | 2033/16000 [02:41<15:27, 15.05it/s, epoch=1, loss=0.412]
 13%|█▎        | 2034/16000 [02:41<15:27, 15.05it/s, epoch=1, loss=0.401]
 13%|█▎        | 2035/16000 [02:41<15:28, 15.04it/s, epoch=1, loss=0.401]
 13%|█▎        | 2035/16000 [02:41<15:28, 15.04it/s, epoch=1, loss=0.394]
 13%|█▎        | 2036/16000 [02:42<15:28, 15.04it/s, epoch=1, loss=0.393]
 13%|█▎        | 2037/16000 [02:42<15:31, 15.00it/s, epoch=1, loss=0.393]
 13%|█▎        | 2037/16000 [02:42<15:31, 15.00it/s, epoch=1, loss=0.394]
 13%|█▎        | 2038/16000 [02:42<15:30, 15.00it/s, epoch=1, loss=0.385]
 13%|█▎        | 2039/16000 [02:42<15:30, 15.00it/s, epoch=1, loss=0.385]
 13%|█▎        | 2039/16000 [02:42<15:30, 15.00it/s, epoch=1, loss=0.378]
 13%|█▎        | 2040/16000 [02:42<15:30, 15.00it/s, epoch=1, loss=0.331]
 13%|█▎        | 2041/16000 [02:42<15:35, 14.92it/s, epoch=1, loss=0.331]
 13%|█▎        | 2041/16000 [02:42<15:35, 14.92it/s, epoch=1, loss=0.377]
 13%|█▎        | 2042/16000 [02:42<15:35, 14.92it/s, epoch=1, loss=0.378]
 13%|█▎        | 2043/16000 [02:42<15:34, 14.93it/s, epoch=1, loss=0.378]
 13%|█▎        | 2043/16000 [02:42<15:34, 14.93it/s, epoch=1, loss=0.374]
 13%|█▎        | 2044/16000 [02:42<15:34, 14.93it/s, epoch=1, loss=0.393]
 13%|█▎        | 2045/16000 [02:42<15:34, 14.93it/s, epoch=1, loss=0.393]
 13%|█▎        | 2045/16000 [02:42<15:34, 14.93it/s, epoch=1, loss=0.381]
 13%|█▎        | 2046/16000 [02:42<15:34, 14.93it/s, epoch=1, loss=0.407]
 13%|█▎        | 2047/16000 [02:42<15:31, 14.98it/s, epoch=1, loss=0.407]
 13%|█▎        | 2047/16000 [02:42<15:31, 14.98it/s, epoch=1, loss=0.364]
 13%|█▎        | 2048/16000 [02:42<15:31, 14.98it/s, epoch=1, loss=0.372]
 13%|█▎        | 2049/16000 [02:42<15:30, 14.99it/s, epoch=1, loss=0.372]
 13%|█▎        | 2049/16000 [02:42<15:30, 14.99it/s, epoch=1, loss=0.392]
 13%|█▎        | 2050/16000 [02:42<15:30, 14.99it/s, epoch=1, loss=0.366]
 13%|█▎        | 2051/16000 [02:42<15:25, 15.07it/s, epoch=1, loss=0.366]
 13%|█▎        | 2051/16000 [02:43<15:25, 15.07it/s, epoch=1, loss=0.405]
 13%|█▎        | 2052/16000 [02:43<15:25, 15.07it/s, epoch=1, loss=0.373]
 13%|█▎        | 2053/16000 [02:43<15:25, 15.06it/s, epoch=1, loss=0.373]
 13%|█▎        | 2053/16000 [02:43<15:25, 15.06it/s, epoch=1, loss=0.371]
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+  plt.figure()
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Saved plots to ./act_ckpt/act-wipe_board/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Saved plots to ./act_ckpt/act-wipe_board/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Saved plots to ./act_ckpt/act-wipe_board/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Saved plots to ./act_ckpt/act-wipe_board/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Saved plots to ./act_ckpt/act-wipe_board/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Saved plots to ./act_ckpt/act-wipe_board/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Saved plots to ./act_ckpt/act-wipe_board/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Saved plots to ./act_ckpt/act-wipe_board/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Saved plots to ./act_ckpt/act-wipe_board/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Saved plots to ./act_ckpt/act-wipe_board/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Saved plots to ./act_ckpt/act-wipe_board/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Saved plots to ./act_ckpt/act-wipe_board/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Saved plots to ./act_ckpt/act-wipe_board/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Saved plots to ./act_ckpt/act-wipe_board/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Saved plots to ./act_ckpt/act-wipe_board/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Training finished:
+Seed 0, val loss 0.068152 at epoch 13
+Saved plots to ./act_ckpt/act-wipe_board/real-150/train_config_actbaseline_real150_vision_tactile_16k
+Best ckpt, val loss 0.068152 @ epoch13