add all

.gitattributes

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+*.7z filter=lfs diff=lfs merge=lfs -text
+*.arrow filter=lfs diff=lfs merge=lfs -text
+*.bin filter=lfs diff=lfs merge=lfs -text
+*.bz2 filter=lfs diff=lfs merge=lfs -text
+*.ckpt filter=lfs diff=lfs merge=lfs -text
+*.ftz filter=lfs diff=lfs merge=lfs -text
+*.gz filter=lfs diff=lfs merge=lfs -text
+*.h5 filter=lfs diff=lfs merge=lfs -text
+*.joblib filter=lfs diff=lfs merge=lfs -text
+*.lfs.* filter=lfs diff=lfs merge=lfs -text
+*.lz4 filter=lfs diff=lfs merge=lfs -text
+*.mlmodel filter=lfs diff=lfs merge=lfs -text
+*.model filter=lfs diff=lfs merge=lfs -text
+*.msgpack filter=lfs diff=lfs merge=lfs -text
+*.npy filter=lfs diff=lfs merge=lfs -text
+*.npz filter=lfs diff=lfs merge=lfs -text
+*.onnx filter=lfs diff=lfs merge=lfs -text
+*.ot filter=lfs diff=lfs merge=lfs -text
+*.parquet filter=lfs diff=lfs merge=lfs -text
+*.pb filter=lfs diff=lfs merge=lfs -text
+*.pickle filter=lfs diff=lfs merge=lfs -text
+*.pkl filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.pth filter=lfs diff=lfs merge=lfs -text
+*.rar filter=lfs diff=lfs merge=lfs -text
+*.safetensors filter=lfs diff=lfs merge=lfs -text
+saved_model/**/* filter=lfs diff=lfs merge=lfs -text
+*.tar.* filter=lfs diff=lfs merge=lfs -text
+*.tflite filter=lfs diff=lfs merge=lfs -text
+*.tgz filter=lfs diff=lfs merge=lfs -text
+*.wasm filter=lfs diff=lfs merge=lfs -text
+*.xz filter=lfs diff=lfs merge=lfs -text
+*.zip filter=lfs diff=lfs merge=lfs -text
+*.zst filter=lfs diff=lfs merge=lfs -text
+*tfevents* filter=lfs diff=lfs merge=lfs -text
+# Audio files - uncompressed
+*.pcm filter=lfs diff=lfs merge=lfs -text
+*.sam filter=lfs diff=lfs merge=lfs -text
+*.raw filter=lfs diff=lfs merge=lfs -text
+# Audio files - compressed
+*.aac filter=lfs diff=lfs merge=lfs -text
+*.flac filter=lfs diff=lfs merge=lfs -text
+*.mp3 filter=lfs diff=lfs merge=lfs -text
+*.ogg filter=lfs diff=lfs merge=lfs -text
+*.wav filter=lfs diff=lfs merge=lfs -text
+# Image files - uncompressed
+*.bmp filter=lfs diff=lfs merge=lfs -text
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.tiff filter=lfs diff=lfs merge=lfs -text
+# Image files - compressed
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.jpeg filter=lfs diff=lfs merge=lfs -text
+*.webp filter=lfs diff=lfs merge=lfs -text

.hydra/config.yaml

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+callbacks:
+  checkpoint:
+    _target_: pytorch_lightning.callbacks.ModelCheckpoint
+    save_top_k: -1
+    verbose: true
+    dirpath: saved_models
+    filename: '{epoch}'
+  kl_schedule:
+    _target_: hulc.utils.kl_callbacks.KLConstantSchedule
+  shm_signal:
+    _target_: hulc.datasets.utils.shared_memory_utils.SignalCallback
+datamodule:
+  datasets:
+    vision_dataset:
+      _target_: hulc.datasets.shm_dataset.ShmDataset
+      key: vis
+      batch_size: 32
+      min_window_size: 20
+      max_window_size: 32
+      proprio_state: ${datamodule.proprioception_dims}
+      obs_space: ${datamodule.observation_space}
+      pad: true
+      lang_folder: lang_paraphrase-MiniLM-L3-v2
+      num_workers: 4
+    lang_dataset:
+      _target_: hulc.datasets.shm_dataset.ShmDataset
+      key: lang
+      batch_size: 32
+      min_window_size: 20
+      max_window_size: 32
+      proprio_state: ${datamodule.proprioception_dims}
+      obs_space: ${datamodule.observation_space}
+      pad: true
+      lang_folder: lang_paraphrase-MiniLM-L3-v2
+      aux_lang_loss_window: 8
+      num_workers: 4
+  transforms:
+    train:
+      rgb_static:
+      - _target_: torchvision.transforms.Resize
+        size: 200
+      - _target_: hulc.utils.transforms.RandomShiftsAug
+        pad: 10
+      - _target_: hulc.utils.transforms.ScaleImageTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        std:
+        - 0.5
+      rgb_gripper:
+      - _target_: torchvision.transforms.Resize
+        size: 84
+      - _target_: hulc.utils.transforms.RandomShiftsAug
+        pad: 4
+      - _target_: hulc.utils.transforms.ScaleImageTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        std:
+        - 0.5
+      depth_static:
+      - _target_: torchvision.transforms.Resize
+        size: 200
+      - _target_: hulc.utils.transforms.AddDepthNoise
+        shape:
+        - 1000.0
+        rate:
+        - 1000.0
+      depth_gripper:
+      - _target_: torchvision.transforms.Resize
+        size: 84
+      - _target_: hulc.utils.transforms.AddGaussianNoise
+        mean:
+        - 0.0
+        std:
+        - 0.01
+      rgb_tactile:
+      - _target_: torchvision.transforms.Resize
+        size: 70
+      - _target_: torchvision.transforms.RandomCrop
+        size: 64
+      - _target_: hulc.utils.transforms.ScaleImageTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        std:
+        - 0.5
+      depth_tactile:
+      - _target_: torchvision.transforms.Resize
+        size: 64
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.1
+        std:
+        - 0.2
+      robot_obs:
+      - _target_: hulc.utils.transforms.NormalizeVector
+      scene_obs:
+      - _target_: hulc.utils.transforms.NormalizeVector
+    val:
+      rgb_static:
+      - _target_: torchvision.transforms.Resize
+        size: 200
+      - _target_: hulc.utils.transforms.ScaleImageTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        std:
+        - 0.5
+      rgb_gripper:
+      - _target_: torchvision.transforms.Resize
+        size: 84
+      - _target_: hulc.utils.transforms.ScaleImageTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        std:
+        - 0.5
+      depth_static:
+      - _target_: torchvision.transforms.Resize
+        size: 200
+      depth_gripper:
+      - _target_: torchvision.transforms.Resize
+        size: 84
+      rgb_tactile:
+      - _target_: torchvision.transforms.Resize
+        size: 70
+      - _target_: torchvision.transforms.RandomCrop
+        size: 64
+      - _target_: hulc.utils.transforms.ScaleImageTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        std:
+        - 0.5
+      depth_tactile:
+      - _target_: torchvision.transforms.Resize
+        size: 64
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.1
+        std:
+        - 0.2
+      robot_obs:
+      - _target_: hulc.utils.transforms.NormalizeVector
+      scene_obs:
+      - _target_: hulc.utils.transforms.NormalizeVector
+  proprioception_dims:
+    n_state_obs: 8
+    keep_indices:
+    - - 0
+      - 7
+    - - 14
+      - 15
+    robot_orientation_idx:
+    - 3
+    - 6
+    normalize: true
+    normalize_robot_orientation: true
+  observation_space:
+    rgb_obs:
+    - rgb_static
+    - rgb_gripper
+    depth_obs: []
+    state_obs:
+    - robot_obs
+    actions:
+    - rel_actions
+    language:
+    - language
+  _target_: hulc.datasets.hulc_data_module.HulcDataModule
+  _recursive_: false
+  root_data_dir: /mnt/edward/data2/eddie/calvin/task_D_D
+  action_space: 7
+  action_max:
+  - 1.0
+  - 1.0
+  - 1.0
+  - 1.0
+  - 1.0
+  - 1.0
+  - 1.0
+  action_min:
+  - -1.0
+  - -1.0
+  - -1.0
+  - -1.0
+  - -1.0
+  - -1.0
+  - -1
+  shuffle_val: false
+  model: ${model._target_}
+model:
+  perceptual_encoder:
+    rgb_static:
+      _target_: hulc.models.perceptual_encoders.vision_network.VisionNetwork
+      input_width: 200
+      input_height: 200
+      activation_function: ReLU
+      dropout_vis_fc: 0.0
+      l2_normalize_output: false
+      visual_features: 64
+      num_c: 3
+      use_sinusoid: false
+      spatial_softmax_temp: 1.0
+    rgb_gripper:
+      _target_: hulc.models.perceptual_encoders.vision_network_gripper.VisionNetwork
+      input_width: 84
+      input_height: 84
+      activation_function: ReLU
+      dropout_vis_fc: 0.0
+      l2_normalize_output: false
+      visual_features: 64
+      conv_encoder: nature_cnn
+      num_c: 3
+    depth_static: {}
+    depth_gripper: {}
+    proprio: {}
+    tactile: {}
+    _target_: hulc.models.perceptual_encoders.concat_encoders.ConcatEncoders
+    _recursive_: false
+  plan_proposal:
+    _target_: hulc.models.plan_encoders.plan_proposal_net.PlanProposalNetwork
+    perceptual_features: ???
+    latent_goal_features: ${model.visual_goal.latent_goal_features}
+    plan_features: ???
+    activation_function: ReLU
+    hidden_size: 2048
+  plan_recognition:
+    _target_: hulc.models.plan_encoders.plan_recognition_net.PlanRecognitionTransformersNetwork
+    num_heads: 8
+    num_layers: 2
+    encoder_hidden_size: 2048
+    fc_hidden_size: 4096
+    in_features: ??
+    plan_features: ???
+    action_space: ${datamodule.action_space}
+    dropout_p: 0.1
+    encoder_normalize: false
+    positional_normalize: false
+    position_embedding: true
+    max_position_embeddings: ${datamodule.datasets.lang_dataset.max_window_size}
+  distribution:
+    _target_: hulc.utils.distributions.Distribution
+    dist: discrete
+    category_size: 32
+    class_size: 32
+  visual_goal:
+    _target_: hulc.models.encoders.goal_encoders.VisualGoalEncoder
+    in_features: ???
+    hidden_size: 2048
+    latent_goal_features: 32
+    l2_normalize_goal_embeddings: false
+    activation_function: ReLU
+  language_goal:
+    _target_: hulc.models.encoders.goal_encoders.LanguageGoalEncoder
+    in_features: 384
+    hidden_size: 2048
+    latent_goal_features: 32
+    l2_normalize_goal_embeddings: false
+    activation_function: ReLU
+    word_dropout_p: 0.0
+  action_decoder:
+    _target_: hulc.models.decoders.logistic_decoder_rnn.LogisticDecoderRNN
+    n_mixtures: 10
+    hidden_size: 2048
+    out_features: ${datamodule.action_space}
+    log_scale_min: -7.0
+    act_max_bound: ${datamodule.action_max}
+    act_min_bound: ${datamodule.action_min}
+    dataset_dir: ${datamodule.root_data_dir}
+    load_action_bounds: false
+    num_classes: 10
+    latent_goal_features: ${model.visual_goal.latent_goal_features}
+    plan_features: ???
+    perceptual_features: ???
+    gripper_alpha: 1.0
+    perceptual_emb_slice:
+    - 64
+    - 128
+    policy_rnn_dropout_p: 0.0
+    num_layers: 2
+    rnn_model: rnn_decoder
+    gripper_control: true
+    discrete_gripper: true
+  optimizer:
+    _target_: torch.optim.Adam
+    lr: ${training.lr}
+  lr_scheduler:
+    _target_: transformers.get_constant_schedule
+  bc_z_lang_decoder: {}
+  mia_lang_discriminator: {}
+  proj_vis_lang:
+    _target_: hulc.models.auxiliary_loss_networks.proj_vis_lang.ProjVisLang
+    im_dim: ${model.plan_recognition.fc_hidden_size}
+    lang_dim: ${model.language_goal.latent_goal_features}
+    output_dim: ${model.language_goal.latent_goal_features}
+    proj_lang: true
+  val_instructions:
+    rotate_red_block_right:
+    - take the red block and rotate it to the right
+    rotate_red_block_left:
+    - take the red block and rotate it to the left
+    rotate_blue_block_right:
+    - take the blue block and rotate it to the right
+    rotate_blue_block_left:
+    - take the blue block and rotate it to the left
+    rotate_pink_block_right:
+    - take the pink block and rotate it to the right
+    rotate_pink_block_left:
+    - take the pink block and rotate it to the left
+    push_red_block_right:
+    - go push the red block right
+    push_red_block_left:
+    - go push the red block left
+    push_blue_block_right:
+    - go push the blue block right
+    push_blue_block_left:
+    - go push the blue block left
+    push_pink_block_right:
+    - go push the pink block right
+    push_pink_block_left:
+    - go push the pink block left
+    move_slider_left:
+    - push the sliding door to the left side
+    move_slider_right:
+    - push the sliding door to the right side
+    open_drawer:
+    - pull the handle to open the drawer
+    close_drawer:
+    - push the handle to close the drawer
+    lift_red_block_table:
+    - grasp and lift the red block
+    lift_blue_block_table:
+    - grasp and lift the blue block
+    lift_pink_block_table:
+    - grasp and lift the pink block
+    lift_red_block_slider:
+    - lift the red block from the sliding cabinet
+    lift_blue_block_slider:
+    - lift the blue block from the sliding cabinet
+    lift_pink_block_slider:
+    - lift the pink block from the sliding cabinet
+    lift_red_block_drawer:
+    - Take the red block from the drawer
+    lift_blue_block_drawer:
+    - Take the blue block from the drawer
+    lift_pink_block_drawer:
+    - Take the pink block from the drawer
+    place_in_slider:
+    - store the grasped block in the sliding cabinet
+    place_in_drawer:
+    - store the grasped block in the drawer
+    push_into_drawer:
+    - slide the block that it falls into the drawer
+    stack_block:
+    - stack the grasped block
+    unstack_block:
+    - remove the stacked block
+    turn_on_lightbulb:
+    - use the switch to turn on the light bulb
+    turn_off_lightbulb:
+    - use the switch to turn off the light bulb
+    turn_on_led:
+    - press the button to turn on the led light
+    turn_off_led:
+    - press the button to turn off the led light
+  _target_: hulc.models.hulc.Hulc
+  _recursive_: false
+  kl_beta: ${loss.kl_beta}
+  kl_balancing_mix: ${loss.kl_balancing_mix}
+  state_recons: false
+  state_recon_beta: ${loss.state_recon_beta}
+  use_bc_z_auxiliary_loss: false
+  bc_z_auxiliary_loss_beta: ${loss.bc_z_auxiliary_loss_beta}
+  use_mia_auxiliary_loss: false
+  mia_auxiliary_loss_beta: ${loss.mia_auxiliary_loss_beta}
+  replan_freq: 30
+  use_clip_auxiliary_loss: true
+  clip_auxiliary_loss_beta: ${loss.clip_auxiliary_loss_beta}
+loss:
+  kl_beta: 0.01
+  state_recon_beta: 0.5
+  kl_balancing_mix: 0.8
+  bc_z_auxiliary_loss_beta: 1.0
+  mia_auxiliary_loss_beta: 1.0
+  clip_auxiliary_loss_beta: 3.0
+training:
+  lr: 0.0002
+trainer:
+  gpus: -1
+  precision: 16
+  val_check_interval: 1.0
+  max_epochs: 100
+  sync_batchnorm: false
+logger:
+  _target_: pytorch_lightning.loggers.WandbLogger
+  save_dir: .
+  name: play_lmp
+  group: play_lmp
+  log_model: false
+  project: baseline_reproduction
+  entity: lang-diffusion
+  id: ???
+seed: 42
+log_dir: ../
+slurm: false

.hydra/hydra.yaml

@@ -0,0 +1,189 @@
+hydra:
+  run:
+    dir: /home/eddie/git/lad/runs/2023-02-02/10-47-26
+  sweep:
+    dir: ${log_dir}/runs/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.override_dirname}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    root:
+      level: ERROR
+    disable_existing_loggers: true
+  job_logging:
+    version: 1
+    root:
+      level: ERROR
+    disable_existing_loggers: true
+  env: {}
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.run.dir="/home/eddie/git/lad/runs/2023-02-02/10-47-26"
+    - hydra/hydra_logging=disabled
+    - hydra/job_logging=disabled
+    - hydra.run.dir="/home/eddie/git/lad/runs/2023-02-02/10-47-26"
+    - hydra.job.name=train_ddp_process_1
+    - hydra.run.dir="/home/eddie/git/lad/runs/2023-02-02/10-47-26"
+    - hydra.job.name=train_ddp_process_2
+    - hydra.run.dir="/home/eddie/git/lad/runs/2023-02-02/10-47-26"
+    - hydra.job.name=train_ddp_process_3
+    - hydra.run.dir="/home/eddie/git/lad/runs/2023-02-02/10-47-26"
+    - hydra.job.name=train_ddp_process_4
+    - hydra.run.dir="/home/eddie/git/lad/runs/2023-02-02/10-47-26"
+    - hydra.job.name=train_ddp_process_5
+    - hydra.run.dir="/home/eddie/git/lad/runs/2023-02-02/10-47-26"
+    - hydra.job.name=train_ddp_process_6
+    - hydra.run.dir="/home/eddie/git/lad/runs/2023-02-02/10-47-26"
+    - hydra.job.name=train_ddp_process_7
+    task:
+    - trainer.gpus=-1
+    - datamodule.root_data_dir=/mnt/edward/data2/eddie/calvin/task_D_D
+    - ~callbacks.rollout_lh
+  job:
+    name: train_ddp_process_7
+    override_dirname: ~callbacks.rollout_lh
+    id: ???
+    num: ???
+    config_name: config
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys:
+        - log_dir
+        - datamodule.root_data_dir
+        - trainer.gpus
+        - model.tsne_plot
+        - datamodule.num_workers
+        - trainer.limit_train_batches
+        - trainer.limit_val_batches
+        - model.action_decoder.load_action_bounds
+  runtime:
+    version: 1.1.1
+    cwd: /home/eddie/git/lad/vanilla-hulc-icml-baseline
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /home/eddie/git/lad/vanilla-hulc-icml-baseline/conf
+      schema: file
+      provider: main
+    - path: hydra_plugins.hydra_colorlog.conf
+      schema: pkg
+      provider: hydra-colorlog
+    - path: ''
+      schema: structured
+      provider: schema
+    choices:
+      logger: wandb
+      trainer: play_trainer
+      training: default_training
+      loss: default
+      model: hulc
+      annotations@model.val_instructions: new_playtable_validation
+      model/proj_vis_lang: default
+      model/mia_lang_discriminator: none
+      model/bc_z_lang_decoder: none
+      model/lr_scheduler: constant
+      model/optimizer: adam
+      model/action_decoder: hulc_default
+      model/language_goal: default
+      model/visual_goal: default
+      model/distribution: discrete
+      model/plan_recognition: transformers
+      model/plan_proposal: default
+      model/perceptual_encoder: gripper_cam
+      model/perceptual_encoder/tactile: none
+      model/perceptual_encoder/proprio: none
+      model/perceptual_encoder/depth_gripper: none
+      model/perceptual_encoder/depth_static: none
+      model/perceptual_encoder/rgb_gripper: default
+      model/perceptual_encoder/rgb_static: default
+      datamodule: default
+      datamodule/observation_space: lang_rgb_static_gripper_rel_act
+      datamodule/proprioception_dims: robot_no_joints
+      datamodule/transforms: rand_shift
+      datamodule/datasets: vision_lang_shm
+      datamodule/datasets/lang_dataset: lang_shm
+      datamodule/datasets/vision_dataset: vision_shm
+      callbacks: default
+      callbacks/shm_signal: default
+      callbacks/kl_schedule: constant
+      callbacks/checkpoint: all
+      callbacks/rollout_lh: default
+      annotations@callbacks.rollout_lh.val_annotations: new_playtable_validation
+      callbacks/rollout/tasks@callbacks.rollout_lh.tasks: new_playtable_tasks
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: disabled
+      hydra/hydra_logging: disabled
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

.hydra/overrides.yaml

@@ -0,0 +1,3 @@
+- trainer.gpus=-1
+- datamodule.root_data_dir=/mnt/edward/data2/eddie/calvin/task_D_D
+- ~callbacks.rollout_lh

saved_models/seed=0.ckpt

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+oid sha256:71c821d1e03f6933b1f137b0c98ffa616d793d5f3e47dde5f96d549bd8d3517e
+size 564795457

saved_models/seed=12.ckpt

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+oid sha256:0107c1ddd4f7df2bba3d05a62a428dce5dd9c2d1364b4be44c4dfd5ed3ed1c08
+size 564818153

saved_models/seed=42.ckpt

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+oid sha256:cbffb19a2b9a9ea390c236327bc3bcc415356291b3c82816728efefac9d48911
+size 564789309

training.log

@@ -0,0 +1,562 @@
+[2023-02-25 13:13:40,146][__main__][INFO] - Training with the following config:
+callbacks:
+  checkpoint:
+    _target_: pytorch_lightning.callbacks.ModelCheckpoint
+    save_top_k: -1
+    verbose: true
+    dirpath: saved_models
+    filename: '{epoch}'
+  kl_schedule:
+    _target_: hulc.utils.kl_callbacks.KLConstantSchedule
+  shm_signal:
+    _target_: hulc.datasets.utils.shared_memory_utils.SignalCallback
+datamodule:
+  datasets:
+    vision_dataset:
+      _target_: hulc.datasets.shm_dataset.ShmDataset
+      key: vis
+      batch_size: 32
+      min_window_size: 20
+      max_window_size: 32
+      proprio_state: ${datamodule.proprioception_dims}
+      obs_space: ${datamodule.observation_space}
+      pad: true
+      lang_folder: lang_paraphrase-MiniLM-L3-v2
+      num_workers: 4
+    lang_dataset:
+      _target_: hulc.datasets.shm_dataset.ShmDataset
+      key: lang
+      batch_size: 32
+      min_window_size: 20
+      max_window_size: 32
+      proprio_state: ${datamodule.proprioception_dims}
+      obs_space: ${datamodule.observation_space}
+      pad: true
+      lang_folder: lang_paraphrase-MiniLM-L3-v2
+      aux_lang_loss_window: 8
+      num_workers: 4
+  transforms:
+    train:
+      rgb_static:
+      - _target_: torchvision.transforms.Resize
+        size: 200
+      - _target_: hulc.utils.transforms.RandomShiftsAug
+        pad: 10
+      - _target_: hulc.utils.transforms.ScaleImageTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        std:
+        - 0.5
+      rgb_gripper:
+      - _target_: torchvision.transforms.Resize
+        size: 84
+      - _target_: hulc.utils.transforms.RandomShiftsAug
+        pad: 4
+      - _target_: hulc.utils.transforms.ScaleImageTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        std:
+        - 0.5
+      depth_static:
+      - _target_: torchvision.transforms.Resize
+        size: 200
+      - _target_: hulc.utils.transforms.AddDepthNoise
+        shape:
+        - 1000.0
+        rate:
+        - 1000.0
+      depth_gripper:
+      - _target_: torchvision.transforms.Resize
+        size: 84
+      - _target_: hulc.utils.transforms.AddGaussianNoise
+        mean:
+        - 0.0
+        std:
+        - 0.01
+      rgb_tactile:
+      - _target_: torchvision.transforms.Resize
+        size: 70
+      - _target_: torchvision.transforms.RandomCrop
+        size: 64
+      - _target_: hulc.utils.transforms.ScaleImageTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        std:
+        - 0.5
+      depth_tactile:
+      - _target_: torchvision.transforms.Resize
+        size: 64
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.1
+        std:
+        - 0.2
+      robot_obs:
+      - _target_: hulc.utils.transforms.NormalizeVector
+      scene_obs:
+      - _target_: hulc.utils.transforms.NormalizeVector
+    val:
+      rgb_static:
+      - _target_: torchvision.transforms.Resize
+        size: 200
+      - _target_: hulc.utils.transforms.ScaleImageTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        std:
+        - 0.5
+      rgb_gripper:
+      - _target_: torchvision.transforms.Resize
+        size: 84
+      - _target_: hulc.utils.transforms.ScaleImageTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        std:
+        - 0.5
+      depth_static:
+      - _target_: torchvision.transforms.Resize
+        size: 200
+      depth_gripper:
+      - _target_: torchvision.transforms.Resize
+        size: 84
+      rgb_tactile:
+      - _target_: torchvision.transforms.Resize
+        size: 70
+      - _target_: torchvision.transforms.RandomCrop
+        size: 64
+      - _target_: hulc.utils.transforms.ScaleImageTensor
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.5
+        std:
+        - 0.5
+      depth_tactile:
+      - _target_: torchvision.transforms.Resize
+        size: 64
+      - _target_: torchvision.transforms.Normalize
+        mean:
+        - 0.1
+        std:
+        - 0.2
+      robot_obs:
+      - _target_: hulc.utils.transforms.NormalizeVector
+      scene_obs:
+      - _target_: hulc.utils.transforms.NormalizeVector
+  proprioception_dims:
+    n_state_obs: 8
+    keep_indices:
+    - - 0
+      - 7
+    - - 14
+      - 15
+    robot_orientation_idx:
+    - 3
+    - 6
+    normalize: true
+    normalize_robot_orientation: true
+  observation_space:
+    rgb_obs:
+    - rgb_static
+    - rgb_gripper
+    depth_obs: []
+    state_obs:
+    - robot_obs
+    actions:
+    - rel_actions
+    language:
+    - language
+  _target_: hulc.datasets.hulc_data_module.HulcDataModule
+  _recursive_: false
+  root_data_dir: /data5/eddie/calvin/task_D_D/
+  action_space: 7
+  action_max:
+  - 1.0
+  - 1.0
+  - 1.0
+  - 1.0
+  - 1.0
+  - 1.0
+  - 1.0
+  action_min:
+  - -1.0
+  - -1.0
+  - -1.0
+  - -1.0
+  - -1.0
+  - -1.0
+  - -1
+  shuffle_val: false
+  model: ${model._target_}
+model:
+  perceptual_encoder:
+    rgb_static:
+      _target_: hulc.models.perceptual_encoders.vision_network.VisionNetwork
+      input_width: 200
+      input_height: 200
+      activation_function: ReLU
+      dropout_vis_fc: 0.0
+      l2_normalize_output: false
+      visual_features: 64
+      num_c: 3
+      use_sinusoid: false
+      spatial_softmax_temp: 1.0
+    rgb_gripper:
+      _target_: hulc.models.perceptual_encoders.vision_network_gripper.VisionNetwork
+      input_width: 84
+      input_height: 84
+      activation_function: ReLU
+      dropout_vis_fc: 0.0
+      l2_normalize_output: false
+      visual_features: 64
+      conv_encoder: nature_cnn
+      num_c: 3
+    depth_static: {}
+    depth_gripper: {}
+    proprio: {}
+    tactile: {}
+    _target_: hulc.models.perceptual_encoders.concat_encoders.ConcatEncoders
+    _recursive_: false
+  plan_proposal:
+    _target_: hulc.models.plan_encoders.plan_proposal_net.PlanProposalNetwork
+    perceptual_features: ???
+    latent_goal_features: ${model.visual_goal.latent_goal_features}
+    plan_features: ???
+    activation_function: ReLU
+    hidden_size: 2048
+  plan_recognition:
+    _target_: hulc.models.plan_encoders.plan_recognition_net.PlanRecognitionTransformersNetwork
+    num_heads: 8
+    num_layers: 2
+    encoder_hidden_size: 2048
+    fc_hidden_size: 4096
+    in_features: ??
+    plan_features: ???
+    action_space: ${datamodule.action_space}
+    dropout_p: 0.1
+    encoder_normalize: false
+    positional_normalize: false
+    position_embedding: true
+    max_position_embeddings: ${datamodule.datasets.lang_dataset.max_window_size}
+  distribution:
+    _target_: hulc.utils.distributions.Distribution
+    dist: discrete
+    category_size: 32
+    class_size: 32
+  visual_goal:
+    _target_: hulc.models.encoders.goal_encoders.VisualGoalEncoder
+    in_features: ???
+    hidden_size: 2048
+    latent_goal_features: 32
+    l2_normalize_goal_embeddings: false
+    activation_function: ReLU
+  language_goal:
+    _target_: hulc.models.encoders.goal_encoders.LanguageGoalEncoder
+    in_features: 384
+    hidden_size: 2048
+    latent_goal_features: 32
+    l2_normalize_goal_embeddings: false
+    activation_function: ReLU
+    word_dropout_p: 0.0
+  action_decoder:
+    _target_: hulc.models.decoders.logistic_decoder_rnn.LogisticDecoderRNN
+    n_mixtures: 10
+    hidden_size: 2048
+    out_features: ${datamodule.action_space}
+    log_scale_min: -7.0
+    act_max_bound: ${datamodule.action_max}
+    act_min_bound: ${datamodule.action_min}
+    dataset_dir: ${datamodule.root_data_dir}
+    load_action_bounds: false
+    num_classes: 10
+    latent_goal_features: ${model.visual_goal.latent_goal_features}
+    plan_features: ???
+    perceptual_features: ???
+    gripper_alpha: 1.0
+    perceptual_emb_slice:
+    - 64
+    - 128
+    policy_rnn_dropout_p: 0.0
+    num_layers: 2
+    rnn_model: rnn_decoder
+    gripper_control: true
+    discrete_gripper: true
+  optimizer:
+    _target_: torch.optim.Adam
+    lr: ${training.lr}
+  lr_scheduler:
+    _target_: transformers.get_constant_schedule
+  bc_z_lang_decoder: {}
+  mia_lang_discriminator: {}
+  proj_vis_lang:
+    _target_: hulc.models.auxiliary_loss_networks.proj_vis_lang.ProjVisLang
+    im_dim: ${model.plan_recognition.fc_hidden_size}
+    lang_dim: ${model.language_goal.latent_goal_features}
+    output_dim: ${model.language_goal.latent_goal_features}
+    proj_lang: true
+  val_instructions:
+    rotate_red_block_right:
+    - take the red block and rotate it to the right
+    rotate_red_block_left:
+    - take the red block and rotate it to the left
+    rotate_blue_block_right:
+    - take the blue block and rotate it to the right
+    rotate_blue_block_left:
+    - take the blue block and rotate it to the left
+    rotate_pink_block_right:
+    - take the pink block and rotate it to the right
+    rotate_pink_block_left:
+    - take the pink block and rotate it to the left
+    push_red_block_right:
+    - go push the red block right
+    push_red_block_left:
+    - go push the red block left
+    push_blue_block_right:
+    - go push the blue block right
+    push_blue_block_left:
+    - go push the blue block left
+    push_pink_block_right:
+    - go push the pink block right
+    push_pink_block_left:
+    - go push the pink block left
+    move_slider_left:
+    - push the sliding door to the left side
+    move_slider_right:
+    - push the sliding door to the right side
+    open_drawer:
+    - pull the handle to open the drawer
+    close_drawer:
+    - push the handle to close the drawer
+    lift_red_block_table:
+    - grasp and lift the red block
+    lift_blue_block_table:
+    - grasp and lift the blue block
+    lift_pink_block_table:
+    - grasp and lift the pink block
+    lift_red_block_slider:
+    - lift the red block from the sliding cabinet
+    lift_blue_block_slider:
+    - lift the blue block from the sliding cabinet
+    lift_pink_block_slider:
+    - lift the pink block from the sliding cabinet
+    lift_red_block_drawer:
+    - Take the red block from the drawer
+    lift_blue_block_drawer:
+    - Take the blue block from the drawer
+    lift_pink_block_drawer:
+    - Take the pink block from the drawer
+    place_in_slider:
+    - store the grasped block in the sliding cabinet
+    place_in_drawer:
+    - store the grasped block in the drawer
+    push_into_drawer:
+    - slide the block that it falls into the drawer
+    stack_block:
+    - stack the grasped block
+    unstack_block:
+    - remove the stacked block
+    turn_on_lightbulb:
+    - use the switch to turn on the light bulb
+    turn_off_lightbulb:
+    - use the switch to turn off the light bulb
+    turn_on_led:
+    - press the button to turn on the led light
+    turn_off_led:
+    - press the button to turn off the led light
+  _target_: hulc.models.hulc.Hulc
+  _recursive_: false
+  kl_beta: ${loss.kl_beta}
+  kl_balancing_mix: ${loss.kl_balancing_mix}
+  state_recons: false
+  state_recon_beta: ${loss.state_recon_beta}
+  use_bc_z_auxiliary_loss: false
+  bc_z_auxiliary_loss_beta: ${loss.bc_z_auxiliary_loss_beta}
+  use_mia_auxiliary_loss: false
+  mia_auxiliary_loss_beta: ${loss.mia_auxiliary_loss_beta}
+  replan_freq: 30
+  use_clip_auxiliary_loss: true
+  clip_auxiliary_loss_beta: ${loss.clip_auxiliary_loss_beta}
+loss:
+  kl_beta: 0.01
+  state_recon_beta: 0.5
+  kl_balancing_mix: 0.8
+  bc_z_auxiliary_loss_beta: 1.0
+  mia_auxiliary_loss_beta: 1.0
+  clip_auxiliary_loss_beta: 3.0
+training:
+  lr: 0.0002
+trainer:
+  gpus: 6
+  precision: 16
+  val_check_interval: 1.0
+  max_epochs: 30
+  sync_batchnorm: false
+logger:
+  _target_: pytorch_lightning.loggers.WandbLogger
+  save_dir: .
+  name: play_lmp
+  group: play_lmp
+  log_model: false
+  project: baseline_reproduction
+  entity: lang-diffusion
+  id: ???
+seed: 13
+log_dir: data/
+slurm: false
+
+[2023-02-25 13:13:40,279][__main__][INFO] - Repo commit hash: 90eece5f4e2a029488602b74cb4603c06c5a9147
+[2023-02-25 13:13:40,368][__main__][INFO] - * CUDA:
+	- GPU:
+		- NVIDIA TITAN RTX
+		- NVIDIA TITAN RTX
+		- NVIDIA TITAN RTX
+		- NVIDIA TITAN RTX
+		- NVIDIA TITAN RTX
+		- NVIDIA TITAN RTX
+		- NVIDIA TITAN RTX
+		- NVIDIA TITAN RTX
+	- available:         True
+	- version:           10.2
+* Packages:
+	- numpy:             1.23.5
+	- pyTorch_debug:     False
+	- pyTorch_version:   1.10.0+cu102
+	- pytorch-lightning: 1.5.9
+	- tqdm:              4.64.1
+[2023-02-25 13:13:43,752][hulc.datasets.utils.shared_memory_utils][INFO] - Using existing shared memory without reloading it.
+[2023-02-25 13:13:43,868][hulc.datasets.utils.shared_memory_utils][INFO] - Using existing shared memory without reloading it.
+[2023-02-25 13:14:06,753][torch.distributed.distributed_c10d][INFO] - Added key: store_based_barrier_key:1 to store for rank: 0
+[2023-02-25 13:14:06,755][torch.distributed.distributed_c10d][INFO] - Rank 0: Completed store-based barrier for key:store_based_barrier_key:1 with 6 nodes.
+[2023-02-25 13:14:12,677][hulc.datasets.base_dataset][INFO] - loading dataset at /data5/eddie/calvin/task_D_D/training
+[2023-02-25 13:14:12,678][hulc.datasets.base_dataset][INFO] - finished loading dataset
+[2023-02-25 13:14:12,686][hulc.datasets.base_dataset][INFO] - loading dataset at /data5/eddie/calvin/task_D_D/validation
+[2023-02-25 13:14:12,686][hulc.datasets.base_dataset][INFO] - finished loading dataset
+[2023-02-25 13:14:12,851][hulc.datasets.base_dataset][INFO] - loading dataset at /data5/eddie/calvin/task_D_D/training
+[2023-02-25 13:14:12,851][hulc.datasets.base_dataset][INFO] - finished loading dataset
+[2023-02-25 13:14:12,859][hulc.datasets.base_dataset][INFO] - loading dataset at /data5/eddie/calvin/task_D_D/validation
+[2023-02-25 13:14:12,859][hulc.datasets.base_dataset][INFO] - finished loading dataset
+[2023-02-25 13:14:20,179][hulc.models.hulc][INFO] - Start validation epoch 0
+[2023-02-25 13:14:38,041][hulc.models.hulc][INFO] - Finished validation epoch 0
+[2023-02-25 13:14:38,688][hulc.models.hulc][INFO] - Start training epoch 0
+[2023-02-25 14:36:35,736][hulc.models.hulc][INFO] - Start validation epoch 0
+[2023-02-25 14:46:24,236][hulc.models.hulc][INFO] - Finished validation epoch 0
+[2023-02-25 14:46:29,392][hulc.models.hulc][INFO] - Finished training epoch 0
+[2023-02-25 14:46:29,398][hulc.models.hulc][INFO] - Start training epoch 1
+[2023-02-25 16:07:39,761][hulc.models.hulc][INFO] - Start validation epoch 1
+[2023-02-25 16:17:14,999][hulc.models.hulc][INFO] - Finished validation epoch 1
+[2023-02-25 16:17:31,023][hulc.models.hulc][INFO] - Finished training epoch 1
+[2023-02-25 16:17:31,039][hulc.models.hulc][INFO] - Start training epoch 2
+[2023-02-25 17:38:19,528][hulc.models.hulc][INFO] - Start validation epoch 2
+[2023-02-25 17:48:01,980][hulc.models.hulc][INFO] - Finished validation epoch 2
+[2023-02-25 17:48:14,324][hulc.models.hulc][INFO] - Finished training epoch 2
+[2023-02-25 17:48:14,333][hulc.models.hulc][INFO] - Start training epoch 3
+[2023-02-25 19:09:14,769][hulc.models.hulc][INFO] - Start validation epoch 3
+[2023-02-25 19:18:57,810][hulc.models.hulc][INFO] - Finished validation epoch 3
+[2023-02-25 19:19:08,907][hulc.models.hulc][INFO] - Finished training epoch 3
+[2023-02-25 19:19:08,914][hulc.models.hulc][INFO] - Start training epoch 4
+[2023-02-25 20:40:20,494][hulc.models.hulc][INFO] - Start validation epoch 4
+[2023-02-25 20:49:55,839][hulc.models.hulc][INFO] - Finished validation epoch 4
+[2023-02-25 20:50:12,375][hulc.models.hulc][INFO] - Finished training epoch 4
+[2023-02-25 20:50:12,383][hulc.models.hulc][INFO] - Start training epoch 5
+[2023-02-25 22:10:53,557][hulc.models.hulc][INFO] - Start validation epoch 5
+[2023-02-25 22:20:23,114][hulc.models.hulc][INFO] - Finished validation epoch 5
+[2023-02-25 22:20:42,636][hulc.models.hulc][INFO] - Finished training epoch 5
+[2023-02-25 22:20:42,643][hulc.models.hulc][INFO] - Start training epoch 6
+[2023-02-25 23:41:31,739][hulc.models.hulc][INFO] - Start validation epoch 6
+[2023-02-25 23:51:16,946][hulc.models.hulc][INFO] - Finished validation epoch 6
+[2023-02-25 23:51:28,163][hulc.models.hulc][INFO] - Finished training epoch 6
+[2023-02-25 23:51:28,171][hulc.models.hulc][INFO] - Start training epoch 7
+[2023-02-26 01:11:57,513][hulc.models.hulc][INFO] - Start validation epoch 7
+[2023-02-26 01:21:32,658][hulc.models.hulc][INFO] - Finished validation epoch 7
+[2023-02-26 01:21:51,347][hulc.models.hulc][INFO] - Finished training epoch 7
+[2023-02-26 01:21:51,353][hulc.models.hulc][INFO] - Start training epoch 8
+[2023-02-26 02:42:40,009][hulc.models.hulc][INFO] - Start validation epoch 8
+[2023-02-26 02:52:24,581][hulc.models.hulc][INFO] - Finished validation epoch 8
+[2023-02-26 02:52:34,549][hulc.models.hulc][INFO] - Finished training epoch 8
+[2023-02-26 02:52:34,556][hulc.models.hulc][INFO] - Start training epoch 9
+[2023-02-26 04:13:15,139][hulc.models.hulc][INFO] - Start validation epoch 9
+[2023-02-26 04:23:04,598][hulc.models.hulc][INFO] - Finished validation epoch 9
+[2023-02-26 04:23:13,911][hulc.models.hulc][INFO] - Finished training epoch 9
+[2023-02-26 04:23:13,917][hulc.models.hulc][INFO] - Start training epoch 10
+[2023-02-26 05:43:51,655][hulc.models.hulc][INFO] - Start validation epoch 10
+[2023-02-26 05:53:29,125][hulc.models.hulc][INFO] - Finished validation epoch 10
+[2023-02-26 05:53:42,563][hulc.models.hulc][INFO] - Finished training epoch 10
+[2023-02-26 05:53:42,567][hulc.models.hulc][INFO] - Start training epoch 11
+[2023-02-26 07:14:35,841][hulc.models.hulc][INFO] - Start validation epoch 11
+[2023-02-26 07:24:24,454][hulc.models.hulc][INFO] - Finished validation epoch 11
+[2023-02-26 07:24:31,004][hulc.models.hulc][INFO] - Finished training epoch 11
+[2023-02-26 07:24:31,011][hulc.models.hulc][INFO] - Start training epoch 12
+[2023-02-26 08:45:34,715][hulc.models.hulc][INFO] - Start validation epoch 12
+[2023-02-26 08:55:17,309][hulc.models.hulc][INFO] - Finished validation epoch 12
+[2023-02-26 08:55:27,728][hulc.models.hulc][INFO] - Finished training epoch 12
+[2023-02-26 08:55:27,736][hulc.models.hulc][INFO] - Start training epoch 13
+[2023-02-26 10:16:11,570][hulc.models.hulc][INFO] - Start validation epoch 13
+[2023-02-26 10:25:56,102][hulc.models.hulc][INFO] - Finished validation epoch 13
+[2023-02-26 10:26:02,927][hulc.models.hulc][INFO] - Finished training epoch 13
+[2023-02-26 10:26:02,932][hulc.models.hulc][INFO] - Start training epoch 14
+[2023-02-26 11:47:05,373][hulc.models.hulc][INFO] - Start validation epoch 14
+[2023-02-26 11:56:50,091][hulc.models.hulc][INFO] - Finished validation epoch 14
+[2023-02-26 11:56:58,973][hulc.models.hulc][INFO] - Finished training epoch 14
+[2023-02-26 11:56:58,980][hulc.models.hulc][INFO] - Start training epoch 15
+[2023-02-26 13:17:48,999][hulc.models.hulc][INFO] - Start validation epoch 15
+[2023-02-26 13:27:36,239][hulc.models.hulc][INFO] - Finished validation epoch 15
+[2023-02-26 13:27:42,922][hulc.models.hulc][INFO] - Finished training epoch 15
+[2023-02-26 13:27:42,929][hulc.models.hulc][INFO] - Start training epoch 16
+[2023-02-26 14:48:40,367][hulc.models.hulc][INFO] - Start validation epoch 16
+[2023-02-26 14:58:26,494][hulc.models.hulc][INFO] - Finished validation epoch 16
+[2023-02-26 14:58:31,503][hulc.models.hulc][INFO] - Finished training epoch 16
+[2023-02-26 14:58:31,508][hulc.models.hulc][INFO] - Start training epoch 17
+[2023-02-26 16:19:44,001][hulc.models.hulc][INFO] - Start validation epoch 17
+[2023-02-26 16:29:31,531][hulc.models.hulc][INFO] - Finished validation epoch 17
+[2023-02-26 16:29:36,848][hulc.models.hulc][INFO] - Finished training epoch 17
+[2023-02-26 16:29:36,858][hulc.models.hulc][INFO] - Start training epoch 18
+[2023-02-26 17:50:20,135][hulc.models.hulc][INFO] - Start validation epoch 18
+[2023-02-26 17:59:59,250][hulc.models.hulc][INFO] - Finished validation epoch 18
+[2023-02-26 18:00:12,060][hulc.models.hulc][INFO] - Finished training epoch 18
+[2023-02-26 18:00:12,066][hulc.models.hulc][INFO] - Start training epoch 19
+[2023-02-26 19:20:31,427][hulc.models.hulc][INFO] - Start validation epoch 19
+[2023-02-26 19:30:17,952][hulc.models.hulc][INFO] - Finished validation epoch 19
+[2023-02-26 19:30:26,030][hulc.models.hulc][INFO] - Finished training epoch 19
+[2023-02-26 19:30:26,037][hulc.models.hulc][INFO] - Start training epoch 20
+[2023-02-26 20:51:05,184][hulc.models.hulc][INFO] - Start validation epoch 20
+[2023-02-26 21:00:52,206][hulc.models.hulc][INFO] - Finished validation epoch 20
+[2023-02-26 21:00:58,192][hulc.models.hulc][INFO] - Finished training epoch 20
+[2023-02-26 21:00:58,199][hulc.models.hulc][INFO] - Start training epoch 21
+[2023-02-26 22:21:36,629][hulc.models.hulc][INFO] - Start validation epoch 21
+[2023-02-26 22:31:27,207][hulc.models.hulc][INFO] - Finished validation epoch 21
+[2023-02-26 22:31:31,935][hulc.models.hulc][INFO] - Finished training epoch 21
+[2023-02-26 22:31:31,942][hulc.models.hulc][INFO] - Start training epoch 22
+[2023-02-26 23:52:29,149][hulc.models.hulc][INFO] - Start validation epoch 22
+[2023-02-27 00:02:17,823][hulc.models.hulc][INFO] - Finished validation epoch 22
+[2023-02-27 00:02:25,147][hulc.models.hulc][INFO] - Finished training epoch 22
+[2023-02-27 00:02:25,153][hulc.models.hulc][INFO] - Start training epoch 23
+[2023-02-27 01:24:01,296][hulc.models.hulc][INFO] - Start validation epoch 23
+[2023-02-27 01:33:52,506][hulc.models.hulc][INFO] - Finished validation epoch 23
+[2023-02-27 01:34:01,632][hulc.models.hulc][INFO] - Finished training epoch 23
+[2023-02-27 01:34:01,637][hulc.models.hulc][INFO] - Start training epoch 24
+[2023-02-27 02:55:10,627][hulc.models.hulc][INFO] - Start validation epoch 24
+[2023-02-27 03:05:01,938][hulc.models.hulc][INFO] - Finished validation epoch 24
+[2023-02-27 03:05:06,920][hulc.models.hulc][INFO] - Finished training epoch 24
+[2023-02-27 03:05:06,928][hulc.models.hulc][INFO] - Start training epoch 25
+[2023-02-27 04:26:14,952][hulc.models.hulc][INFO] - Start validation epoch 25
+[2023-02-27 04:36:00,120][hulc.models.hulc][INFO] - Finished validation epoch 25
+[2023-02-27 04:36:08,330][hulc.models.hulc][INFO] - Finished training epoch 25
+[2023-02-27 04:36:08,338][hulc.models.hulc][INFO] - Start training epoch 26
+[2023-02-27 05:57:11,639][hulc.models.hulc][INFO] - Start validation epoch 26
+[2023-02-27 06:07:04,203][hulc.models.hulc][INFO] - Finished validation epoch 26
+[2023-02-27 06:07:08,431][hulc.models.hulc][INFO] - Finished training epoch 26
+[2023-02-27 06:07:08,443][hulc.models.hulc][INFO] - Start training epoch 27
+[2023-02-27 07:27:44,056][hulc.models.hulc][INFO] - Start validation epoch 27
+[2023-02-27 07:37:37,842][hulc.models.hulc][INFO] - Finished validation epoch 27
+[2023-02-27 07:37:41,981][hulc.models.hulc][INFO] - Finished training epoch 27
+[2023-02-27 07:37:41,987][hulc.models.hulc][INFO] - Start training epoch 28
+[2023-02-27 08:58:28,784][hulc.models.hulc][INFO] - Start validation epoch 28
+[2023-02-27 09:07:13,691][hulc.models.hulc][INFO] - Finished validation epoch 28
+[2023-02-27 09:08:52,426][hulc.models.hulc][INFO] - Finished training epoch 28
+[2023-02-27 09:08:52,431][hulc.models.hulc][INFO] - Start training epoch 29
+[2023-02-27 10:30:16,714][hulc.models.hulc][INFO] - Start validation epoch 29
+[2023-02-27 10:39:06,125][hulc.models.hulc][INFO] - Finished validation epoch 29
+[2023-02-27 10:40:41,071][hulc.models.hulc][INFO] - Finished training epoch 29