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outputs/train/act_so101_test/wandb/debug-internal.log

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outputs/train/act_so101_test/wandb/debug.log

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+2025-11-22 19:11:19,224 INFO    MainThread:36097 [wandb_setup.py:_flush():81] Current SDK version is 0.21.4
+2025-11-22 19:11:19,224 INFO    MainThread:36097 [wandb_setup.py:_flush():81] Configure stats pid to 36097
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+2025-11-22 19:11:19,224 INFO    MainThread:36097 [wandb_setup.py:_flush():81] Loading settings from /home/robot/.cache/huggingface/lerobot/bdemada/wandb/settings
+2025-11-22 19:11:19,224 INFO    MainThread:36097 [wandb_setup.py:_flush():81] Loading settings from environment variables
+2025-11-22 19:11:19,224 INFO    MainThread:36097 [wandb_init.py:setup_run_log_directory():686] Logging user logs to outputs/train/act_so101_test/wandb/run-20251122_191119-4tdirx9g/logs/debug.log
+2025-11-22 19:11:19,224 INFO    MainThread:36097 [wandb_init.py:setup_run_log_directory():687] Logging internal logs to outputs/train/act_so101_test/wandb/run-20251122_191119-4tdirx9g/logs/debug-internal.log
+2025-11-22 19:11:19,224 INFO    MainThread:36097 [wandb_init.py:init():813] calling init triggers
+2025-11-22 19:11:19,224 INFO    MainThread:36097 [wandb_init.py:init():818] wandb.init called with sweep_config: {}
+config: {'dataset': {'repo_id': 'bdemada/lerobot', 'root': None, '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': 'cpu', 'use_amp': False, 'push_to_hub': True, 'repo_id': 'bdemada/my_policy', '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/act_so101_test', 'job_name': 'act_so101_test_brev', 'resume': False, 'seed': 1000, 'num_workers': 4, 'batch_size': 8, 'steps': 100000, 'eval_freq': 20000, 'log_freq': 200, '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}, 'checkpoint_path': None, 'rename_map': {}, '_wandb': {}}
+2025-11-22 19:11:19,224 INFO    MainThread:36097 [wandb_init.py:init():854] starting backend
+2025-11-22 19:11:19,430 INFO    MainThread:36097 [wandb_init.py:init():857] sending inform_init request
+2025-11-22 19:11:19,433 INFO    MainThread:36097 [wandb_init.py:init():865] backend started and connected
+2025-11-22 19:11:19,435 INFO    MainThread:36097 [wandb_init.py:init():936] updated telemetry
+2025-11-22 19:11:19,435 INFO    MainThread:36097 [wandb_init.py:init():960] communicating run to backend with 90.0 second timeout
+2025-11-22 19:11:20,137 INFO    MainThread:36097 [wandb_init.py:init():1011] starting run threads in backend
+2025-11-22 19:11:20,246 INFO    MainThread:36097 [wandb_run.py:_console_start():2506] atexit reg
+2025-11-22 19:11:20,247 INFO    MainThread:36097 [wandb_run.py:_redirect():2354] redirect: wrap_raw
+2025-11-22 19:11:20,247 INFO    MainThread:36097 [wandb_run.py:_redirect():2423] Wrapping output streams.
+2025-11-22 19:11:20,247 INFO    MainThread:36097 [wandb_run.py:_redirect():2446] Redirects installed.
+2025-11-22 19:11:20,249 INFO    MainThread:36097 [wandb_init.py:init():1049] run started, returning control to user process
+2025-11-22 19:11:20,407 INFO    wandb-AsyncioManager-main:36097 [service_client.py:_forward_responses():84] Reached EOF.
+2025-11-22 19:11:20,407 INFO    wandb-AsyncioManager-main:36097 [mailbox.py:close():137] Closing mailbox, abandoning 2 handles.

outputs/train/act_so101_test/wandb/run-20251122_191119-4tdirx9g/files/config.yaml

@@ -0,0 +1,206 @@
+_wandb:
+    value:
+        cli_version: 0.21.4
+        e:
+            6j8aklol14d5eop0him1i3klwcea1adp:
+                args:
+                    - --dataset.repo_id=bdemada/lerobot
+                    - --policy.type=act
+                    - --output_dir=outputs/train/act_so101_test
+                    - --job_name=act_so101_test_brev
+                    - --policy.device=cuda
+                    - --wandb.enable=true
+                    - --policy.repo_id=bdemada/my_policy
+                cpu_count: 16
+                cpu_count_logical: 22
+                disk:
+                    /:
+                        total: "1006996336640"
+                        used: "32707125248"
+                executable: /home/robot/miniforge3/envs/lerobot/bin/python3.10
+                host: robot-camp
+                memory:
+                    total: "33296289792"
+                os: Linux-6.8.0-87-generic-x86_64-with-glibc2.35
+                program: /home/robot/miniforge3/envs/lerobot/bin/lerobot-train
+                python: CPython 3.10.19
+                root: outputs/train/act_so101_test
+                startedAt: "2025-11-22T18:11:19.223832Z"
+                writerId: 6j8aklol14d5eop0him1i3klwcea1adp
+        m: []
+        python_version: 3.10.19
+        t:
+            "1":
+                - 1
+                - 41
+                - 49
+                - 51
+                - 71
+                - 83
+            "2":
+                - 1
+                - 41
+                - 49
+                - 51
+                - 71
+                - 83
+            "3":
+                - 13
+                - 15
+                - 16
+            "4": 3.10.19
+            "5": 0.21.4
+            "10":
+                - 21
+            "12": 0.21.4
+            "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: bdemada/lerobot
+        revision: null
+        root: null
+        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_so101_test_brev
+log_freq:
+    value: 200
+num_workers:
+    value: 4
+optimizer:
+    value:
+        betas:
+            - 0.9
+            - 0.999
+        eps: 1e-08
+        grad_clip_norm: 10
+        lr: 1e-05
+        type: adamw
+        weight_decay: 0.0001
+output_dir:
+    value: outputs/train/act_so101_test
+policy:
+    value:
+        chunk_size: 100
+        device: cpu
+        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: bdemada/my_policy
+        tags: null
+        temporal_ensemble_coeff: null
+        type: act
+        use_amp: false
+        use_vae: true
+        vision_backbone: resnet18
+resume:
+    value: false
+save_checkpoint:
+    value: true
+save_freq:
+    value: 20000
+scheduler:
+    value: null
+seed:
+    value: 1000
+steps:
+    value: 100000
+use_policy_training_preset:
+    value: true
+wandb:
+    value:
+        disable_artifact: false
+        enable: true
+        entity: null
+        mode: null
+        notes: null
+        project: lerobot
+        run_id: null

outputs/train/act_so101_test/wandb/run-20251122_191119-4tdirx9g/files/output.log

@@ -0,0 +1,71 @@
+INFO 2025-11-22 19:11:20 db_utils.py:102 Logs will be synced with wandb.
+INFO 2025-11-22 19:11:20 db_utils.py:103 Track this run --> https://wandb.ai/bmadaleza-research/lerobot/runs/4tdirx9g
+INFO 2025-11-22 19:11:20 ot_train.py:183 Creating dataset
+Traceback (most recent call last):
+  File "/home/robot/miniforge3/envs/lerobot/bin/lerobot-train", line 7, in <module>
+    sys.exit(main())
+  File "/home/robot/lerobot/src/lerobot/scripts/lerobot_train.py", line 449, in main
+    train()
+  File "/home/robot/lerobot/src/lerobot/configs/parser.py", line 233, in wrapper_inner
+    response = fn(cfg, *args, **kwargs)
+  File "/home/robot/lerobot/src/lerobot/scripts/lerobot_train.py", line 184, in train
+    dataset = make_dataset(cfg)
+  File "/home/robot/lerobot/src/lerobot/datasets/factory.py", line 88, in make_dataset
+    ds_meta = LeRobotDatasetMetadata(
+  File "/home/robot/lerobot/src/lerobot/datasets/lerobot_dataset.py", line 102, in __init__
+    self.load_metadata()
+  File "/home/robot/lerobot/src/lerobot/datasets/lerobot_dataset.py", line 163, in load_metadata
+    self.episodes = load_episodes(self.root)
+  File "/home/robot/lerobot/src/lerobot/datasets/utils.py", line 379, in load_episodes
+    episodes = load_nested_dataset(local_dir / EPISODES_DIR)
+  File "/home/robot/lerobot/src/lerobot/datasets/utils.py", line 127, in load_nested_dataset
+    return Dataset.from_parquet([str(path) for path in paths], features=features)
+  File "/home/robot/miniforge3/envs/lerobot/lib/python3.10/site-packages/datasets/arrow_dataset.py", line 1294, in from_parquet
+    return ParquetDatasetReader(
+  File "/home/robot/miniforge3/envs/lerobot/lib/python3.10/site-packages/datasets/io/parquet.py", line 42, in __init__
+    self.builder = Parquet(
+  File "/home/robot/miniforge3/envs/lerobot/lib/python3.10/site-packages/datasets/builder.py", line 414, in __init__
+    extend_dataset_builder_for_streaming(self)
+  File "/home/robot/miniforge3/envs/lerobot/lib/python3.10/site-packages/datasets/streaming.py", line 118, in extend_dataset_builder_for_streaming
+    extend_module_for_streaming(builder.__module__, download_config=download_config)
+  File "/home/robot/miniforge3/envs/lerobot/lib/python3.10/site-packages/datasets/streaming.py", line 101, in extend_module_for_streaming
+    patch_submodule(module, "scipy.io.loadmat", wrap_auth(xsio_loadmat), attrs=["__version__"]).start()
+  File "/home/robot/miniforge3/envs/lerobot/lib/python3.10/site-packages/datasets/utils/patching.py", line 108, in start
+    self.__enter__()
+  File "/home/robot/miniforge3/envs/lerobot/lib/python3.10/site-packages/datasets/utils/patching.py", line 57, in __enter__
+    submodule = import_module(".".join(submodules[: i + 1]))
+  File "/home/robot/miniforge3/envs/lerobot/lib/python3.10/importlib/__init__.py", line 126, in import_module
+    return _bootstrap._gcd_import(name[level:], package, level)
+  File "<frozen importlib._bootstrap>", line 1050, in _gcd_import
+  File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
+  File "<frozen importlib._bootstrap>", line 1006, in _find_and_load_unlocked
+  File "<frozen importlib._bootstrap>", line 688, in _load_unlocked
+  File "<frozen importlib._bootstrap_external>", line 883, in exec_module
+  File "<frozen importlib._bootstrap>", line 241, in _call_with_frames_removed
+  File "/home/robot/miniforge3/envs/lerobot/lib/python3.10/site-packages/scipy/io/__init__.py", line 97, in <module>
+    from .matlab import loadmat, savemat, whosmat
+  File "/home/robot/miniforge3/envs/lerobot/lib/python3.10/site-packages/scipy/io/matlab/__init__.py", line 46, in <module>
+    from ._mio import loadmat, savemat, whosmat
+  File "/home/robot/miniforge3/envs/lerobot/lib/python3.10/site-packages/scipy/io/matlab/_mio.py", line 9, in <module>
+    from ._mio4 import MatFile4Reader, MatFile4Writer
+  File "/home/robot/miniforge3/envs/lerobot/lib/python3.10/site-packages/scipy/io/matlab/_mio4.py", line 10, in <module>
+    import scipy.sparse
+  File "/home/robot/miniforge3/envs/lerobot/lib/python3.10/site-packages/scipy/sparse/__init__.py", line 315, in <module>
+    from . import csgraph
+  File "/home/robot/miniforge3/envs/lerobot/lib/python3.10/site-packages/scipy/sparse/csgraph/__init__.py", line 187, in <module>
+    from ._laplacian import laplacian
+  File "/home/robot/miniforge3/envs/lerobot/lib/python3.10/site-packages/scipy/sparse/csgraph/_laplacian.py", line 7, in <module>
+    from scipy.sparse.linalg import LinearOperator
+  File "/home/robot/miniforge3/envs/lerobot/lib/python3.10/site-packages/scipy/sparse/linalg/__init__.py", line 131, in <module>
+    from ._isolve import *
+  File "/home/robot/miniforge3/envs/lerobot/lib/python3.10/site-packages/scipy/sparse/linalg/_isolve/__init__.py", line 6, in <module>
+    from .lgmres import lgmres
+  File "/home/robot/miniforge3/envs/lerobot/lib/python3.10/site-packages/scipy/sparse/linalg/_isolve/lgmres.py", line 10, in <module>
+    from ._gcrotmk import _fgmres
+  File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
+  File "<frozen importlib._bootstrap>", line 1006, in _find_and_load_unlocked
+  File "<frozen importlib._bootstrap>", line 688, in _load_unlocked
+  File "<frozen importlib._bootstrap_external>", line 879, in exec_module
+  File "<frozen importlib._bootstrap_external>", line 975, in get_code
+  File "<frozen importlib._bootstrap_external>", line 1074, in get_data
+KeyboardInterrupt

outputs/train/act_so101_test/wandb/run-20251122_191119-4tdirx9g/files/requirements.txt

@@ -0,0 +1,136 @@
+pyparsing==3.2.5
+smmap==5.0.2
+nvidia-cuda-runtime-cu12==12.6.77
+certifi==2025.11.12
+datasets==4.1.1
+nvidia-cusolver-cu12==11.7.1.2
+python-dateutil==2.9.0.post0
+aiohttp==3.13.2
+psutil==7.1.3
+av==15.1.0
+pygame==2.6.1
+torch==2.7.1
+typing-inspect==0.9.0
+nvidia-cublas-cu12==12.6.4.1
+jsonlines==4.0.0
+huggingface-hub==0.35.3
+importlib_resources==6.5.2
+annotated-types==0.7.0
+setuptools==80.9.0
+pytz==2025.2
+etils==1.13.0
+torchcodec==0.5
+pillow==12.0.0
+lazy_loader==0.4
+inquirerpy==0.3.4
+regex==2025.11.3
+nvidia-nccl-cu12==2.26.2
+nvidia-cudnn-cu12==9.5.1.17
+shapely==2.1.2
+python-xlib==0.33
+multiprocess==0.70.16
+attrs==25.4.0
+packaging==25.0
+tifffile==2025.5.10
+safetensors==0.7.0
+cloudpickle==3.1.2
+cffi==2.0.0
+absl-py==2.3.1
+networkx==3.4.2
+charset-normalizer==3.4.4
+scipy==1.15.3
+nvidia-cusparselt-cu12==0.6.3
+nvidia-nvjitlink-cu12==12.6.85
+imageio-ffmpeg==0.6.0
+PyYAML==6.0.3
+xxhash==3.6.0
+gym-pusht==0.1.6
+nvidia-cusparse-cu12==12.5.4.2
+prompt_toolkit==3.0.52
+lxml==6.0.2
+frozenlist==1.8.0
+mujoco==3.3.7
+aiohappyeyeballs==2.6.1
+nvidia-cufile-cu12==1.11.1.6
+zipp==3.23.0
+idna==3.11
+tqdm==4.67.1
+cmake==4.1.3
+Farama-Notifications==0.0.4
+torchvision==0.22.1
+dm-tree==0.1.9
+aiosignal==1.4.0
+typing_extensions==4.15.0
+wheel==0.45.1
+pip==25.3
+lerobot==0.4.2
+nvidia-cufft-cu12==11.3.0.4
+feetech-servo-sdk==1.0.0
+pydantic_core==2.41.5
+opencv-python-headless==4.12.0.88
+ImageIO==2.37.2
+pymunk==6.11.1
+multidict==6.7.0
+pyarrow==22.0.0
+orderly-set==5.5.0
+hf_transfer==0.1.9
+pydantic==2.12.4
+importlib_metadata==8.7.0
+protobuf==6.33.1
+nvidia-cuda-nvrtc-cu12==12.6.77
+gym-aloha==0.1.3
+filelock==3.20.0
+scikit-image==0.25.2
+glfw==2.10.0
+draccus==0.10.0
+pfzy==0.3.4
+wcwidth==0.2.14
+urllib3==2.5.0
+diffusers==0.35.2
+mypy_extensions==1.1.0
+requests==2.32.5
+evdev==1.9.2
+labmaze==1.0.6
+numpy==2.2.6
+GitPython==3.1.45
+pynput==1.8.1
+async-timeout==5.0.1
+nvidia-cuda-cupti-cu12==12.6.80
+accelerate==1.12.0
+pycparser==2.23
+Jinja2==3.1.6
+pandas==2.3.3
+einops==0.8.1
+sympy==1.14.0
+MarkupSafe==3.0.3
+rerun-sdk==0.26.2
+nvidia-curand-cu12==10.3.7.77
+toml==0.10.2
+pyserial==3.5
+propcache==0.4.1
+wrapt==2.0.1
+pyyaml-include==1.4.1
+six==1.17.0
+typing-inspection==0.4.2
+opencv-python==4.12.0.88
+gitdb==4.0.12
+platformdirs==4.5.0
+dill==0.4.0
+mpmath==1.3.0
+triton==3.3.1
+dm_control==1.0.34
+nvidia-nvtx-cu12==12.6.77
+click==8.3.1
+mergedeep==1.3.4
+hf-xet==1.2.0
+tzdata==2025.2
+sentry-sdk==2.45.0
+dm-env==1.6
+gymnasium==1.2.2
+termcolor==3.2.0
+yarl==1.22.0
+fsspec==2025.9.0
+deepdiff==8.6.1
+wandb==0.21.4
+PyOpenGL==3.1.10
+lerobot==0.4.2

outputs/train/act_so101_test/wandb/run-20251122_191119-4tdirx9g/files/wandb-metadata.json

@@ -0,0 +1,30 @@
+{
+  "os":  "Linux-6.8.0-87-generic-x86_64-with-glibc2.35",
+  "python":  "CPython 3.10.19",
+  "startedAt":  "2025-11-22T18:11:19.223832Z",
+  "args":  [
+    "--dataset.repo_id=bdemada/lerobot",
+    "--policy.type=act",
+    "--output_dir=outputs/train/act_so101_test",
+    "--job_name=act_so101_test_brev",
+    "--policy.device=cuda",
+    "--wandb.enable=true",
+    "--policy.repo_id=bdemada/my_policy"
+  ],
+  "program":  "/home/robot/miniforge3/envs/lerobot/bin/lerobot-train",
+  "root":  "outputs/train/act_so101_test",
+  "host":  "robot-camp",
+  "executable":  "/home/robot/miniforge3/envs/lerobot/bin/python3.10",
+  "cpu_count":  16,
+  "cpu_count_logical":  22,
+  "disk":  {
+    "/":  {
+      "total":  "1006996336640",
+      "used":  "32707125248"
+    }
+  },
+  "memory":  {
+    "total":  "33296289792"
+  },
+  "writerId":  "6j8aklol14d5eop0him1i3klwcea1adp"
+}

outputs/train/act_so101_test/wandb/run-20251122_191119-4tdirx9g/files/wandb-summary.json

@@ -0,0 +1 @@
+{"_runtime":0,"_wandb":{"runtime":0}}

outputs/train/act_so101_test/wandb/run-20251122_191119-4tdirx9g/logs/debug-core.log

@@ -0,0 +1,15 @@
+{"time":"2025-11-22T19:11:19.237691818+01:00","level":"INFO","msg":"main: starting server","port-filename":"/tmp/tmp84_wpijd/port-36097.txt","pid":36097,"log-level":0,"disable-analytics":false,"shutdown-on-parent-exit":false,"enable-dcgm-profiling":false}
+{"time":"2025-11-22T19:11:19.238144659+01:00","level":"INFO","msg":"server: will exit if parent process dies","ppid":36097}
+{"time":"2025-11-22T19:11:19.238113393+01:00","level":"INFO","msg":"server: accepting connections","addr":{"Name":"/tmp/wandb-36097-36136-36818472/socket","Net":"unix"}}
+{"time":"2025-11-22T19:11:19.430155923+01:00","level":"INFO","msg":"connection: ManageConnectionData: new connection created","id":"1(@)"}
+{"time":"2025-11-22T19:11:19.435125937+01:00","level":"INFO","msg":"handleInformInit: received","streamId":"4tdirx9g","id":"1(@)"}
+{"time":"2025-11-22T19:11:19.751443834+01:00","level":"INFO","msg":"handleInformInit: stream started","streamId":"4tdirx9g","id":"1(@)"}
+{"time":"2025-11-22T19:11:20.406770702+01:00","level":"INFO","msg":"handleInformTeardown: server teardown initiated","id":"1(@)"}
+{"time":"2025-11-22T19:11:20.406917334+01:00","level":"INFO","msg":"connection: closing","id":"1(@)"}
+{"time":"2025-11-22T19:11:20.406961492+01:00","level":"INFO","msg":"connection: closed successfully","id":"1(@)"}
+{"time":"2025-11-22T19:11:20.406967709+01:00","level":"INFO","msg":"server is shutting down"}
+{"time":"2025-11-22T19:11:20.407017826+01:00","level":"INFO","msg":"server: listener closed","addr":{"Name":"/tmp/wandb-36097-36136-36818472/socket","Net":"unix"}}
+{"time":"2025-11-22T19:11:20.498405738+01:00","level":"ERROR","msg":"processOutgoingData: flush error","error":"write unix /tmp/wandb-36097-36136-36818472/socket->@: use of closed network connection","id":"1(@)"}
+{"time":"2025-11-22T19:11:21.57611859+01:00","level":"INFO","msg":"handleInformTeardown: server shutdown complete","id":"1(@)"}
+{"time":"2025-11-22T19:11:21.576149717+01:00","level":"INFO","msg":"connection: ManageConnectionData: connection closed","id":"1(@)"}
+{"time":"2025-11-22T19:11:21.576165796+01:00","level":"INFO","msg":"server is closed"}

outputs/train/act_so101_test/wandb/run-20251122_191119-4tdirx9g/logs/debug-internal.log

@@ -0,0 +1,11 @@
+{"time":"2025-11-22T19:11:19.43520957+01:00","level":"INFO","msg":"stream: starting","core version":"0.21.4"}
+{"time":"2025-11-22T19:11:19.751407401+01:00","level":"INFO","msg":"stream: created new stream","id":"4tdirx9g"}
+{"time":"2025-11-22T19:11:19.751439836+01:00","level":"INFO","msg":"stream: started","id":"4tdirx9g"}
+{"time":"2025-11-22T19:11:19.751448708+01:00","level":"INFO","msg":"writer: started","stream_id":"4tdirx9g"}
+{"time":"2025-11-22T19:11:19.751448708+01:00","level":"INFO","msg":"handler: started","stream_id":"4tdirx9g"}
+{"time":"2025-11-22T19:11:19.751476411+01:00","level":"INFO","msg":"sender: started","stream_id":"4tdirx9g"}
+{"time":"2025-11-22T19:11:20.406837109+01:00","level":"INFO","msg":"stream: closing","id":"4tdirx9g"}
+{"time":"2025-11-22T19:11:21.264322954+01:00","level":"INFO","msg":"fileTransfer: Close: file transfer manager closed"}
+{"time":"2025-11-22T19:11:21.570760872+01:00","level":"INFO","msg":"handler: closed","stream_id":"4tdirx9g"}
+{"time":"2025-11-22T19:11:21.570871608+01:00","level":"INFO","msg":"sender: closed","stream_id":"4tdirx9g"}
+{"time":"2025-11-22T19:11:21.57088518+01:00","level":"INFO","msg":"stream: closed","id":"4tdirx9g"}

outputs/train/act_so101_test/wandb/run-20251122_191119-4tdirx9g/logs/debug.log

@@ -0,0 +1,23 @@
+2025-11-22 19:11:19,224 INFO    MainThread:36097 [wandb_setup.py:_flush():81] Current SDK version is 0.21.4
+2025-11-22 19:11:19,224 INFO    MainThread:36097 [wandb_setup.py:_flush():81] Configure stats pid to 36097
+2025-11-22 19:11:19,224 INFO    MainThread:36097 [wandb_setup.py:_flush():81] Loading settings from /home/robot/.config/wandb/settings
+2025-11-22 19:11:19,224 INFO    MainThread:36097 [wandb_setup.py:_flush():81] Loading settings from /home/robot/.cache/huggingface/lerobot/bdemada/wandb/settings
+2025-11-22 19:11:19,224 INFO    MainThread:36097 [wandb_setup.py:_flush():81] Loading settings from environment variables
+2025-11-22 19:11:19,224 INFO    MainThread:36097 [wandb_init.py:setup_run_log_directory():686] Logging user logs to outputs/train/act_so101_test/wandb/run-20251122_191119-4tdirx9g/logs/debug.log
+2025-11-22 19:11:19,224 INFO    MainThread:36097 [wandb_init.py:setup_run_log_directory():687] Logging internal logs to outputs/train/act_so101_test/wandb/run-20251122_191119-4tdirx9g/logs/debug-internal.log
+2025-11-22 19:11:19,224 INFO    MainThread:36097 [wandb_init.py:init():813] calling init triggers
+2025-11-22 19:11:19,224 INFO    MainThread:36097 [wandb_init.py:init():818] wandb.init called with sweep_config: {}
+config: {'dataset': {'repo_id': 'bdemada/lerobot', 'root': None, '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': 'cpu', 'use_amp': False, 'push_to_hub': True, 'repo_id': 'bdemada/my_policy', '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/act_so101_test', 'job_name': 'act_so101_test_brev', 'resume': False, 'seed': 1000, 'num_workers': 4, 'batch_size': 8, 'steps': 100000, 'eval_freq': 20000, 'log_freq': 200, '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}, 'checkpoint_path': None, 'rename_map': {}, '_wandb': {}}
+2025-11-22 19:11:19,224 INFO    MainThread:36097 [wandb_init.py:init():854] starting backend
+2025-11-22 19:11:19,430 INFO    MainThread:36097 [wandb_init.py:init():857] sending inform_init request
+2025-11-22 19:11:19,433 INFO    MainThread:36097 [wandb_init.py:init():865] backend started and connected
+2025-11-22 19:11:19,435 INFO    MainThread:36097 [wandb_init.py:init():936] updated telemetry
+2025-11-22 19:11:19,435 INFO    MainThread:36097 [wandb_init.py:init():960] communicating run to backend with 90.0 second timeout
+2025-11-22 19:11:20,137 INFO    MainThread:36097 [wandb_init.py:init():1011] starting run threads in backend
+2025-11-22 19:11:20,246 INFO    MainThread:36097 [wandb_run.py:_console_start():2506] atexit reg
+2025-11-22 19:11:20,247 INFO    MainThread:36097 [wandb_run.py:_redirect():2354] redirect: wrap_raw
+2025-11-22 19:11:20,247 INFO    MainThread:36097 [wandb_run.py:_redirect():2423] Wrapping output streams.
+2025-11-22 19:11:20,247 INFO    MainThread:36097 [wandb_run.py:_redirect():2446] Redirects installed.
+2025-11-22 19:11:20,249 INFO    MainThread:36097 [wandb_init.py:init():1049] run started, returning control to user process
+2025-11-22 19:11:20,407 INFO    wandb-AsyncioManager-main:36097 [service_client.py:_forward_responses():84] Reached EOF.
+2025-11-22 19:11:20,407 INFO    wandb-AsyncioManager-main:36097 [mailbox.py:close():137] Closing mailbox, abandoning 2 handles.

record-test/meta/info.json

@@ -0,0 +1,92 @@
+{
+    "codebase_version": "v3.0",
+    "robot_type": "so101_follower",
+    "total_episodes": 0,
+    "total_frames": 0,
+    "total_tasks": 0,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 500,
+    "fps": 30,
+    "splits": {},
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "names": [
+                "shoulder_pan.pos",
+                "shoulder_lift.pos",
+                "elbow_flex.pos",
+                "wrist_flex.pos",
+                "wrist_roll.pos",
+                "gripper.pos"
+            ],
+            "shape": [
+                6
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "names": [
+                "shoulder_pan.pos",
+                "shoulder_lift.pos",
+                "elbow_flex.pos",
+                "wrist_flex.pos",
+                "wrist_roll.pos",
+                "gripper.pos"
+            ],
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.front": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}