[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