Upload folder using huggingface_hub

.gitattributes

@@ -57,3 +57,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+wandb/run-20250531_173201-w2kvrcjq/run-w2kvrcjq.wandb filter=lfs diff=lfs merge=lfs -text

checkpoints/020000/pretrained_model/config.json

@@ -0,0 +1,64 @@
+{
+    "type": "act",
+    "n_obs_steps": 1,
+    "normalization_mapping": {
+        "VISUAL": "MEAN_STD",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.laptop": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                6
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "chunk_size": 100,
+    "n_action_steps": 100,
+    "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": null,
+    "dropout": 0.1,
+    "kl_weight": 10.0,
+    "optimizer_lr": 1e-05,
+    "optimizer_weight_decay": 0.0001,
+    "optimizer_lr_backbone": 1e-05
+}

checkpoints/020000/pretrained_model/model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53463d5dd38eff00e68a2d4467ea670c341d1202d5f7782e7a5ccdd5eb711b81
+size 206701064

checkpoints/020000/pretrained_model/train_config.json

@@ -0,0 +1,170 @@
+{
+    "dataset": {
+        "repo_id": "meetrais/cube_in_the_box4",
+        "root": null,
+        "episodes": null,
+        "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
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec"
+    },
+    "env": null,
+    "policy": {
+        "type": "act",
+        "n_obs_steps": 1,
+        "normalization_mapping": {
+            "VISUAL": "MEAN_STD",
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
+        },
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    6
+                ]
+            },
+            "observation.images.top": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.laptop": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    6
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "chunk_size": 100,
+        "n_action_steps": 100,
+        "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": null,
+        "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_cube_in_the_box4",
+    "job_name": "act_cube_in_the_box4",
+    "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": null,
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": false
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": null,
+        "mode": null
+    }
+}

checkpoints/020000/training_state/optimizer_param_groups.json

@@ -0,0 +1,189 @@
+[
+    {
+        "lr": 1e-05,
+        "betas": [
+            0.9,
+            0.999
+        ],
+        "eps": 1e-08,
+        "weight_decay": 0.0001,
+        "amsgrad": false,
+        "foreach": null,
+        "maximize": false,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "params": [
+            0,
+            1,
+            2,
+            3,
+            4,
+            5,
+            6,
+            7,
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15,
+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25,
+            26,
+            27,
+            28,
+            29,
+            30,
+            31,
+            32,
+            33,
+            34,
+            35,
+            36,
+            37,
+            38,
+            39,
+            40,
+            41,
+            42,
+            43,
+            44,
+            45,
+            46,
+            47,
+            48,
+            49,
+            50,
+            51,
+            52,
+            53,
+            54,
+            55,
+            56,
+            57,
+            58,
+            59,
+            60,
+            61,
+            62,
+            63,
+            64,
+            65,
+            66,
+            67,
+            68,
+            69,
+            70,
+            71,
+            72,
+            73,
+            74,
+            75,
+            76,
+            77,
+            78,
+            79,
+            80,
+            81,
+            82,
+            83,
+            84,
+            85,
+            86,
+            87,
+            88,
+            89,
+            90,
+            91,
+            92,
+            93,
+            94,
+            95,
+            96,
+            97,
+            98,
+            99,
+            100,
+            101,
+            102,
+            103,
+            104,
+            105,
+            106,
+            107,
+            108,
+            109,
+            110,
+            111,
+            112,
+            113,
+            114,
+            115,
+            116,
+            117,
+            118,
+            119,
+            120,
+            121,
+            122,
+            123,
+            124,
+            125,
+            126,
+            127,
+            128,
+            129,
+            130,
+            131,
+            132
+        ]
+    },
+    {
+        "lr": 1e-05,
+        "betas": [
+            0.9,
+            0.999
+        ],
+        "eps": 1e-08,
+        "weight_decay": 0.0001,
+        "amsgrad": false,
+        "foreach": null,
+        "maximize": false,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "params": [
+            133,
+            134,
+            135,
+            136,
+            137,
+            138,
+            139,
+            140,
+            141,
+            142,
+            143,
+            144,
+            145,
+            146,
+            147,
+            148,
+            149,
+            150,
+            151,
+            152
+        ]
+    }
+]

checkpoints/020000/training_state/optimizer_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21591e0ffa9d2c8b7b019b569da88ba1064a30710f0c597c4b0b9c055581930c
+size 412817652

checkpoints/020000/training_state/rng_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65b98edb7783e1b61031b32e652d9412ac2a404fb47a0d2cfefd35691040a8a7
+size 15708

checkpoints/020000/training_state/training_step.json

@@ -0,0 +1,3 @@
+{
+    "step": 20000
+}

checkpoints/040000/pretrained_model/config.json

@@ -0,0 +1,64 @@
+{
+    "type": "act",
+    "n_obs_steps": 1,
+    "normalization_mapping": {
+        "VISUAL": "MEAN_STD",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.laptop": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                6
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "chunk_size": 100,
+    "n_action_steps": 100,
+    "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": null,
+    "dropout": 0.1,
+    "kl_weight": 10.0,
+    "optimizer_lr": 1e-05,
+    "optimizer_weight_decay": 0.0001,
+    "optimizer_lr_backbone": 1e-05
+}

checkpoints/040000/pretrained_model/model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9949eeceed2c25a44cb658291f176dcb4dcaace0d4c9c0e9006bb5c03257b202
+size 206701064

checkpoints/040000/pretrained_model/train_config.json

@@ -0,0 +1,170 @@
+{
+    "dataset": {
+        "repo_id": "meetrais/cube_in_the_box4",
+        "root": null,
+        "episodes": null,
+        "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
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec"
+    },
+    "env": null,
+    "policy": {
+        "type": "act",
+        "n_obs_steps": 1,
+        "normalization_mapping": {
+            "VISUAL": "MEAN_STD",
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
+        },
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    6
+                ]
+            },
+            "observation.images.top": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.laptop": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    6
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "chunk_size": 100,
+        "n_action_steps": 100,
+        "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": null,
+        "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_cube_in_the_box4",
+    "job_name": "act_cube_in_the_box4",
+    "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": null,
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": false
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": null,
+        "mode": null
+    }
+}

checkpoints/040000/training_state/optimizer_param_groups.json

@@ -0,0 +1,189 @@
+[
+    {
+        "lr": 1e-05,
+        "betas": [
+            0.9,
+            0.999
+        ],
+        "eps": 1e-08,
+        "weight_decay": 0.0001,
+        "amsgrad": false,
+        "foreach": null,
+        "maximize": false,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "params": [
+            0,
+            1,
+            2,
+            3,
+            4,
+            5,
+            6,
+            7,
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15,
+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25,
+            26,
+            27,
+            28,
+            29,
+            30,
+            31,
+            32,
+            33,
+            34,
+            35,
+            36,
+            37,
+            38,
+            39,
+            40,
+            41,
+            42,
+            43,
+            44,
+            45,
+            46,
+            47,
+            48,
+            49,
+            50,
+            51,
+            52,
+            53,
+            54,
+            55,
+            56,
+            57,
+            58,
+            59,
+            60,
+            61,
+            62,
+            63,
+            64,
+            65,
+            66,
+            67,
+            68,
+            69,
+            70,
+            71,
+            72,
+            73,
+            74,
+            75,
+            76,
+            77,
+            78,
+            79,
+            80,
+            81,
+            82,
+            83,
+            84,
+            85,
+            86,
+            87,
+            88,
+            89,
+            90,
+            91,
+            92,
+            93,
+            94,
+            95,
+            96,
+            97,
+            98,
+            99,
+            100,
+            101,
+            102,
+            103,
+            104,
+            105,
+            106,
+            107,
+            108,
+            109,
+            110,
+            111,
+            112,
+            113,
+            114,
+            115,
+            116,
+            117,
+            118,
+            119,
+            120,
+            121,
+            122,
+            123,
+            124,
+            125,
+            126,
+            127,
+            128,
+            129,
+            130,
+            131,
+            132
+        ]
+    },
+    {
+        "lr": 1e-05,
+        "betas": [
+            0.9,
+            0.999
+        ],
+        "eps": 1e-08,
+        "weight_decay": 0.0001,
+        "amsgrad": false,
+        "foreach": null,
+        "maximize": false,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "params": [
+            133,
+            134,
+            135,
+            136,
+            137,
+            138,
+            139,
+            140,
+            141,
+            142,
+            143,
+            144,
+            145,
+            146,
+            147,
+            148,
+            149,
+            150,
+            151,
+            152
+        ]
+    }
+]

checkpoints/040000/training_state/optimizer_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0e44078e94ddd90331992a0d8340b55fe1b9676232315b9e4e1cd5a21fe9344
+size 412817652

checkpoints/040000/training_state/rng_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c7b2252baa635bfd4b689625cc251d7216ba22d715e62c5b62f692ca02418e8
+size 15708

checkpoints/040000/training_state/training_step.json

@@ -0,0 +1,3 @@
+{
+    "step": 40000
+}

checkpoints/060000/pretrained_model/config.json

@@ -0,0 +1,64 @@
+{
+    "type": "act",
+    "n_obs_steps": 1,
+    "normalization_mapping": {
+        "VISUAL": "MEAN_STD",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.laptop": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                6
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "chunk_size": 100,
+    "n_action_steps": 100,
+    "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": null,
+    "dropout": 0.1,
+    "kl_weight": 10.0,
+    "optimizer_lr": 1e-05,
+    "optimizer_weight_decay": 0.0001,
+    "optimizer_lr_backbone": 1e-05
+}

checkpoints/060000/pretrained_model/model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94328cb1c0a21c720a4fcfa9da958134e42b41d85205a7a7b982f79d132dba79
+size 206701064

checkpoints/060000/pretrained_model/train_config.json

@@ -0,0 +1,170 @@
+{
+    "dataset": {
+        "repo_id": "meetrais/cube_in_the_box4",
+        "root": null,
+        "episodes": null,
+        "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
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec"
+    },
+    "env": null,
+    "policy": {
+        "type": "act",
+        "n_obs_steps": 1,
+        "normalization_mapping": {
+            "VISUAL": "MEAN_STD",
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
+        },
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    6
+                ]
+            },
+            "observation.images.top": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.laptop": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    6
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "chunk_size": 100,
+        "n_action_steps": 100,
+        "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": null,
+        "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_cube_in_the_box4",
+    "job_name": "act_cube_in_the_box4",
+    "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": null,
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": false
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": null,
+        "mode": null
+    }
+}

checkpoints/060000/training_state/optimizer_param_groups.json

@@ -0,0 +1,189 @@
+[
+    {
+        "lr": 1e-05,
+        "betas": [
+            0.9,
+            0.999
+        ],
+        "eps": 1e-08,
+        "weight_decay": 0.0001,
+        "amsgrad": false,
+        "foreach": null,
+        "maximize": false,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "params": [
+            0,
+            1,
+            2,
+            3,
+            4,
+            5,
+            6,
+            7,
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15,
+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25,
+            26,
+            27,
+            28,
+            29,
+            30,
+            31,
+            32,
+            33,
+            34,
+            35,
+            36,
+            37,
+            38,
+            39,
+            40,
+            41,
+            42,
+            43,
+            44,
+            45,
+            46,
+            47,
+            48,
+            49,
+            50,
+            51,
+            52,
+            53,
+            54,
+            55,
+            56,
+            57,
+            58,
+            59,
+            60,
+            61,
+            62,
+            63,
+            64,
+            65,
+            66,
+            67,
+            68,
+            69,
+            70,
+            71,
+            72,
+            73,
+            74,
+            75,
+            76,
+            77,
+            78,
+            79,
+            80,
+            81,
+            82,
+            83,
+            84,
+            85,
+            86,
+            87,
+            88,
+            89,
+            90,
+            91,
+            92,
+            93,
+            94,
+            95,
+            96,
+            97,
+            98,
+            99,
+            100,
+            101,
+            102,
+            103,
+            104,
+            105,
+            106,
+            107,
+            108,
+            109,
+            110,
+            111,
+            112,
+            113,
+            114,
+            115,
+            116,
+            117,
+            118,
+            119,
+            120,
+            121,
+            122,
+            123,
+            124,
+            125,
+            126,
+            127,
+            128,
+            129,
+            130,
+            131,
+            132
+        ]
+    },
+    {
+        "lr": 1e-05,
+        "betas": [
+            0.9,
+            0.999
+        ],
+        "eps": 1e-08,
+        "weight_decay": 0.0001,
+        "amsgrad": false,
+        "foreach": null,
+        "maximize": false,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "params": [
+            133,
+            134,
+            135,
+            136,
+            137,
+            138,
+            139,
+            140,
+            141,
+            142,
+            143,
+            144,
+            145,
+            146,
+            147,
+            148,
+            149,
+            150,
+            151,
+            152
+        ]
+    }
+]

checkpoints/060000/training_state/optimizer_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ef79ab15898bfe89faa22660b58866e729e3faecbc39005394623a5a07be127
+size 412817652

checkpoints/060000/training_state/rng_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b16021075dc6c0c8921ec8ebf749c3fa50554a4f9a1051954e1da84fb0526745
+size 15708

checkpoints/060000/training_state/training_step.json

@@ -0,0 +1,3 @@
+{
+    "step": 60000
+}

checkpoints/080000/pretrained_model/config.json

@@ -0,0 +1,64 @@
+{
+    "type": "act",
+    "n_obs_steps": 1,
+    "normalization_mapping": {
+        "VISUAL": "MEAN_STD",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.laptop": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                6
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "chunk_size": 100,
+    "n_action_steps": 100,
+    "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": null,
+    "dropout": 0.1,
+    "kl_weight": 10.0,
+    "optimizer_lr": 1e-05,
+    "optimizer_weight_decay": 0.0001,
+    "optimizer_lr_backbone": 1e-05
+}

checkpoints/080000/pretrained_model/model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de97fc60810661abd33b5833a8069dff2851a01007e486f5a2b4cfe1f6077e56
+size 206701064

checkpoints/080000/pretrained_model/train_config.json

@@ -0,0 +1,170 @@
+{
+    "dataset": {
+        "repo_id": "meetrais/cube_in_the_box4",
+        "root": null,
+        "episodes": null,
+        "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
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec"
+    },
+    "env": null,
+    "policy": {
+        "type": "act",
+        "n_obs_steps": 1,
+        "normalization_mapping": {
+            "VISUAL": "MEAN_STD",
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
+        },
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    6
+                ]
+            },
+            "observation.images.top": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.laptop": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    6
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "chunk_size": 100,
+        "n_action_steps": 100,
+        "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": null,
+        "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_cube_in_the_box4",
+    "job_name": "act_cube_in_the_box4",
+    "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": null,
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": false
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": null,
+        "mode": null
+    }
+}

checkpoints/080000/training_state/optimizer_param_groups.json

@@ -0,0 +1,189 @@
+[
+    {
+        "lr": 1e-05,
+        "betas": [
+            0.9,
+            0.999
+        ],
+        "eps": 1e-08,
+        "weight_decay": 0.0001,
+        "amsgrad": false,
+        "foreach": null,
+        "maximize": false,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "params": [
+            0,
+            1,
+            2,
+            3,
+            4,
+            5,
+            6,
+            7,
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15,
+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25,
+            26,
+            27,
+            28,
+            29,
+            30,
+            31,
+            32,
+            33,
+            34,
+            35,
+            36,
+            37,
+            38,
+            39,
+            40,
+            41,
+            42,
+            43,
+            44,
+            45,
+            46,
+            47,
+            48,
+            49,
+            50,
+            51,
+            52,
+            53,
+            54,
+            55,
+            56,
+            57,
+            58,
+            59,
+            60,
+            61,
+            62,
+            63,
+            64,
+            65,
+            66,
+            67,
+            68,
+            69,
+            70,
+            71,
+            72,
+            73,
+            74,
+            75,
+            76,
+            77,
+            78,
+            79,
+            80,
+            81,
+            82,
+            83,
+            84,
+            85,
+            86,
+            87,
+            88,
+            89,
+            90,
+            91,
+            92,
+            93,
+            94,
+            95,
+            96,
+            97,
+            98,
+            99,
+            100,
+            101,
+            102,
+            103,
+            104,
+            105,
+            106,
+            107,
+            108,
+            109,
+            110,
+            111,
+            112,
+            113,
+            114,
+            115,
+            116,
+            117,
+            118,
+            119,
+            120,
+            121,
+            122,
+            123,
+            124,
+            125,
+            126,
+            127,
+            128,
+            129,
+            130,
+            131,
+            132
+        ]
+    },
+    {
+        "lr": 1e-05,
+        "betas": [
+            0.9,
+            0.999
+        ],
+        "eps": 1e-08,
+        "weight_decay": 0.0001,
+        "amsgrad": false,
+        "foreach": null,
+        "maximize": false,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "params": [
+            133,
+            134,
+            135,
+            136,
+            137,
+            138,
+            139,
+            140,
+            141,
+            142,
+            143,
+            144,
+            145,
+            146,
+            147,
+            148,
+            149,
+            150,
+            151,
+            152
+        ]
+    }
+]

checkpoints/080000/training_state/optimizer_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ec471435e3205a3cc0e3892eb16aec8a1e65e89042cf5063feab32f6af7b690
+size 412817652

checkpoints/080000/training_state/rng_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e537c8ebe2ae23fe2ff3665b676a703550003eeb646641ce206ac12413751cc1
+size 15708

checkpoints/080000/training_state/training_step.json

@@ -0,0 +1,3 @@
+{
+    "step": 80000
+}

checkpoints/100000/pretrained_model/config.json

@@ -0,0 +1,64 @@
+{
+    "type": "act",
+    "n_obs_steps": 1,
+    "normalization_mapping": {
+        "VISUAL": "MEAN_STD",
+        "STATE": "MEAN_STD",
+        "ACTION": "MEAN_STD"
+    },
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.laptop": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                6
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": false,
+    "chunk_size": 100,
+    "n_action_steps": 100,
+    "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": null,
+    "dropout": 0.1,
+    "kl_weight": 10.0,
+    "optimizer_lr": 1e-05,
+    "optimizer_weight_decay": 0.0001,
+    "optimizer_lr_backbone": 1e-05
+}

checkpoints/100000/pretrained_model/model.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21cf9bc9b9b615fe1380506a301d4c78d467e50eea53c14066de63c5abcf7911
+size 206701064

checkpoints/100000/pretrained_model/train_config.json

@@ -0,0 +1,170 @@
+{
+    "dataset": {
+        "repo_id": "meetrais/cube_in_the_box4",
+        "root": null,
+        "episodes": null,
+        "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
+                        ]
+                    }
+                }
+            }
+        },
+        "revision": null,
+        "use_imagenet_stats": true,
+        "video_backend": "torchcodec"
+    },
+    "env": null,
+    "policy": {
+        "type": "act",
+        "n_obs_steps": 1,
+        "normalization_mapping": {
+            "VISUAL": "MEAN_STD",
+            "STATE": "MEAN_STD",
+            "ACTION": "MEAN_STD"
+        },
+        "input_features": {
+            "observation.state": {
+                "type": "STATE",
+                "shape": [
+                    6
+                ]
+            },
+            "observation.images.top": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            },
+            "observation.images.laptop": {
+                "type": "VISUAL",
+                "shape": [
+                    3,
+                    480,
+                    640
+                ]
+            }
+        },
+        "output_features": {
+            "action": {
+                "type": "ACTION",
+                "shape": [
+                    6
+                ]
+            }
+        },
+        "device": "cuda",
+        "use_amp": false,
+        "chunk_size": 100,
+        "n_action_steps": 100,
+        "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": null,
+        "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_cube_in_the_box4",
+    "job_name": "act_cube_in_the_box4",
+    "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": null,
+    "eval": {
+        "n_episodes": 50,
+        "batch_size": 50,
+        "use_async_envs": false
+    },
+    "wandb": {
+        "enable": true,
+        "disable_artifact": false,
+        "project": "lerobot",
+        "entity": null,
+        "notes": null,
+        "run_id": null,
+        "mode": null
+    }
+}

checkpoints/100000/training_state/optimizer_param_groups.json

@@ -0,0 +1,189 @@
+[
+    {
+        "lr": 1e-05,
+        "betas": [
+            0.9,
+            0.999
+        ],
+        "eps": 1e-08,
+        "weight_decay": 0.0001,
+        "amsgrad": false,
+        "foreach": null,
+        "maximize": false,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "params": [
+            0,
+            1,
+            2,
+            3,
+            4,
+            5,
+            6,
+            7,
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15,
+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25,
+            26,
+            27,
+            28,
+            29,
+            30,
+            31,
+            32,
+            33,
+            34,
+            35,
+            36,
+            37,
+            38,
+            39,
+            40,
+            41,
+            42,
+            43,
+            44,
+            45,
+            46,
+            47,
+            48,
+            49,
+            50,
+            51,
+            52,
+            53,
+            54,
+            55,
+            56,
+            57,
+            58,
+            59,
+            60,
+            61,
+            62,
+            63,
+            64,
+            65,
+            66,
+            67,
+            68,
+            69,
+            70,
+            71,
+            72,
+            73,
+            74,
+            75,
+            76,
+            77,
+            78,
+            79,
+            80,
+            81,
+            82,
+            83,
+            84,
+            85,
+            86,
+            87,
+            88,
+            89,
+            90,
+            91,
+            92,
+            93,
+            94,
+            95,
+            96,
+            97,
+            98,
+            99,
+            100,
+            101,
+            102,
+            103,
+            104,
+            105,
+            106,
+            107,
+            108,
+            109,
+            110,
+            111,
+            112,
+            113,
+            114,
+            115,
+            116,
+            117,
+            118,
+            119,
+            120,
+            121,
+            122,
+            123,
+            124,
+            125,
+            126,
+            127,
+            128,
+            129,
+            130,
+            131,
+            132
+        ]
+    },
+    {
+        "lr": 1e-05,
+        "betas": [
+            0.9,
+            0.999
+        ],
+        "eps": 1e-08,
+        "weight_decay": 0.0001,
+        "amsgrad": false,
+        "foreach": null,
+        "maximize": false,
+        "capturable": false,
+        "differentiable": false,
+        "fused": null,
+        "params": [
+            133,
+            134,
+            135,
+            136,
+            137,
+            138,
+            139,
+            140,
+            141,
+            142,
+            143,
+            144,
+            145,
+            146,
+            147,
+            148,
+            149,
+            150,
+            151,
+            152
+        ]
+    }
+]

checkpoints/100000/training_state/optimizer_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b2fb34f216eeedcc7d7a272e45b65ead59a1b83a769f03d15681c9e587ef77f
+size 412817652

checkpoints/100000/training_state/rng_state.safetensors

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e52e82cbdd991e9c5e814300753187680694abbffe36fb2f8af1a9dfcccc65f
+size 15708

checkpoints/100000/training_state/training_step.json

@@ -0,0 +1,3 @@
+{
+    "step": 100000
+}

wandb/debug-internal.log

@@ -0,0 +1,16 @@
+{"time":"2025-05-31T17:32:01.243163981Z","level":"INFO","msg":"stream: starting","core version":"0.19.11","symlink path":"outputs/train/act_cube_in_the_box4/wandb/run-20250531_173201-w2kvrcjq/logs/debug-core.log"}
+{"time":"2025-05-31T17:32:01.424237124Z","level":"INFO","msg":"created new stream","id":"w2kvrcjq"}
+{"time":"2025-05-31T17:32:01.424306296Z","level":"INFO","msg":"stream: started","id":"w2kvrcjq"}
+{"time":"2025-05-31T17:32:01.424381428Z","level":"INFO","msg":"writer: Do: started","stream_id":"w2kvrcjq"}
+{"time":"2025-05-31T17:32:01.424418539Z","level":"INFO","msg":"handler: started","stream_id":"w2kvrcjq"}
+{"time":"2025-05-31T17:32:01.424396268Z","level":"INFO","msg":"sender: started","stream_id":"w2kvrcjq"}
+{"time":"2025-05-31T17:32:01.593119205Z","level":"INFO","msg":"Starting system monitor"}
+{"time":"2025-05-31T19:29:01.969286212Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": read tcp 10.192.12.245:50944->35.186.228.49:443: read: connection reset by peer"}
+{"time":"2025-05-31T19:47:10.256379243Z","level":"INFO","msg":"stream: closing","id":"w2kvrcjq"}
+{"time":"2025-05-31T19:47:10.256620409Z","level":"INFO","msg":"Stopping system monitor"}
+{"time":"2025-05-31T19:47:10.256770123Z","level":"INFO","msg":"Stopped system monitor"}
+{"time":"2025-05-31T19:47:12.889215074Z","level":"INFO","msg":"fileTransfer: Close: file transfer manager closed"}
+{"time":"2025-05-31T19:47:12.991725142Z","level":"INFO","msg":"handler: closed","stream_id":"w2kvrcjq"}
+{"time":"2025-05-31T19:47:12.991820805Z","level":"INFO","msg":"writer: Close: closed","stream_id":"w2kvrcjq"}
+{"time":"2025-05-31T19:47:12.991850896Z","level":"INFO","msg":"sender: closed","stream_id":"w2kvrcjq"}
+{"time":"2025-05-31T19:47:12.992202444Z","level":"INFO","msg":"stream: closed","id":"w2kvrcjq"}

wandb/debug.log

@@ -0,0 +1,23 @@
+2025-05-31 17:32:01,233 INFO    MainThread:7178 [wandb_setup.py:_flush():70] Current SDK version is 0.19.11
+2025-05-31 17:32:01,233 INFO    MainThread:7178 [wandb_setup.py:_flush():70] Configure stats pid to 7178
+2025-05-31 17:32:01,233 INFO    MainThread:7178 [wandb_setup.py:_flush():70] Loading settings from /teamspace/studios/this_studio/.config/wandb/settings
+2025-05-31 17:32:01,233 INFO    MainThread:7178 [wandb_setup.py:_flush():70] Loading settings from /teamspace/studios/this_studio/lerobot/wandb/settings
+2025-05-31 17:32:01,233 INFO    MainThread:7178 [wandb_setup.py:_flush():70] Loading settings from environment variables
+2025-05-31 17:32:01,233 INFO    MainThread:7178 [wandb_init.py:setup_run_log_directory():724] Logging user logs to outputs/train/act_cube_in_the_box4/wandb/run-20250531_173201-w2kvrcjq/logs/debug.log
+2025-05-31 17:32:01,233 INFO    MainThread:7178 [wandb_init.py:setup_run_log_directory():725] Logging internal logs to outputs/train/act_cube_in_the_box4/wandb/run-20250531_173201-w2kvrcjq/logs/debug-internal.log
+2025-05-31 17:32:01,233 INFO    MainThread:7178 [wandb_init.py:init():852] calling init triggers
+2025-05-31 17:32:01,233 INFO    MainThread:7178 [wandb_init.py:init():857] wandb.init called with sweep_config: {}
+config: {'dataset': {'repo_id': 'meetrais/cube_in_the_box4', '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]}}}}, 'revision': None, 'use_imagenet_stats': True, 'video_backend': 'torchcodec'}, 'env': None, 'policy': {'type': 'act', 'n_obs_steps': 1, 'normalization_mapping': {'VISUAL': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'STATE': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'ACTION': <NormalizationMode.MEAN_STD: 'MEAN_STD'>}, 'input_features': {}, 'output_features': {}, 'device': 'cuda', 'use_amp': False, 'chunk_size': 100, 'n_action_steps': 100, '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_cube_in_the_box4', 'job_name': 'act_cube_in_the_box4', '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}, '_wandb': {}}
+2025-05-31 17:32:01,233 INFO    MainThread:7178 [wandb_init.py:init():893] starting backend
+2025-05-31 17:32:01,233 INFO    MainThread:7178 [wandb_init.py:init():897] sending inform_init request
+2025-05-31 17:32:01,239 INFO    MainThread:7178 [backend.py:_multiprocessing_setup():101] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
+2025-05-31 17:32:01,239 INFO    MainThread:7178 [wandb_init.py:init():907] backend started and connected
+2025-05-31 17:32:01,240 INFO    MainThread:7178 [wandb_init.py:init():1005] updated telemetry
+2025-05-31 17:32:01,249 INFO    MainThread:7178 [wandb_init.py:init():1029] communicating run to backend with 90.0 second timeout
+2025-05-31 17:32:01,590 INFO    MainThread:7178 [wandb_init.py:init():1104] starting run threads in backend
+2025-05-31 17:32:01,752 INFO    MainThread:7178 [wandb_run.py:_console_start():2573] atexit reg
+2025-05-31 17:32:01,753 INFO    MainThread:7178 [wandb_run.py:_redirect():2421] redirect: wrap_raw
+2025-05-31 17:32:01,753 INFO    MainThread:7178 [wandb_run.py:_redirect():2490] Wrapping output streams.
+2025-05-31 17:32:01,753 INFO    MainThread:7178 [wandb_run.py:_redirect():2513] Redirects installed.
+2025-05-31 17:32:01,754 INFO    MainThread:7178 [wandb_init.py:init():1150] run started, returning control to user process
+2025-05-31 19:47:10,255 INFO    MsgRouterThr:7178 [mailbox.py:close():129] [no run ID] Closing mailbox, abandoning 2 handles.

wandb/run-20250531_173201-w2kvrcjq/files/config.yaml

@@ -0,0 +1,164 @@
+_wandb:
+    value:
+        cli_version: 0.19.11
+        m: []
+        python_version: 3.10.16
+        t:
+            "1":
+                - 1
+                - 41
+                - 49
+                - 51
+                - 55
+            "2":
+                - 1
+                - 41
+                - 49
+                - 51
+                - 55
+            "3":
+                - 13
+                - 15
+                - 16
+                - 23
+                - 55
+                - 61
+            "4": 3.10.16
+            "5": 0.19.11
+            "8":
+                - 5
+            "10":
+                - 21
+            "12": 0.19.11
+            "13": linux-x86_64
+batch_size:
+    value: 8
+dataset:
+    value:
+        episodes: null
+        image_transforms:
+            enable: false
+            max_num_transforms: 3
+            random_order: false
+            tfs:
+                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: meetrais/cube_in_the_box4
+        revision: null
+        root: null
+        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_cube_in_the_box4
+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_cube_in_the_box4
+policy:
+    value:
+        chunk_size: 100
+        device: cuda
+        dim_feedforward: 3200
+        dim_model: 512
+        dropout: 0.1
+        feedforward_activation: relu
+        kl_weight: 10
+        latent_dim: 32
+        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
+        replace_final_stride_with_dilation: false
+        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

wandb/run-20250531_173201-w2kvrcjq/files/requirements.txt

@@ -0,0 +1,277 @@
+pyarrow==20.0.0
+rsa==4.9.1
+pyzmq==26.4.0
+python-dateutil==2.9.0.post0
+contourpy==1.3.2
+prompt_toolkit==3.0.51
+nvidia-nvtx-cu12==12.4.127
+fsspec==2025.3.0
+google-auth==2.40.1
+yarl==1.20.0
+nvidia-cusparselt-cu12==0.6.2
+boto3==1.38.15
+cloudpickle==3.1.1
+llvmlite==0.44.0
+websocket-client==1.8.0
+Send2Trash==1.8.3
+terminado==0.18.1
+decorator==5.2.1
+blinker==1.9.0
+nvidia-cublas-cu12==12.4.5.8
+arrow==1.3.0
+nbclient==0.10.2
+gitdb==4.0.12
+jupyterlab_server==2.27.3
+pytorch-lightning==2.5.1.post0
+pandas==2.2.3
+lightning_sdk==0.2.12
+Pygments==2.19.1
+lightning-utilities==0.14.3
+pyasn1==0.6.1
+argon2-cffi==23.1.0
+packaging==24.2
+python-xlib==0.33
+cachetools==5.5.2
+triton==3.2.0
+litdata==0.2.45
+matplotlib==3.8.2
+matplotlib-inline==0.1.7
+wheel==0.45.1
+safetensors==0.5.3
+tqdm==4.67.1
+gdown==5.2.0
+Jinja2==3.1.6
+httpcore==1.0.9
+nvidia-cufft-cu12==11.2.1.3
+mpmath==1.3.0
+pyyaml-include==1.4.1
+json5==0.12.0
+bleach==6.2.0
+numba==0.61.2
+websockets==15.0.1
+fasteners==0.19
+threadpoolctl==3.6.0
+stack-data==0.6.3
+httptools==0.6.4
+multidict==6.4.3
+aiohttp==3.11.18
+joblib==1.5.0
+cycler==0.12.1
+markdown-it-py==3.0.0
+jsonschema-specifications==2025.4.1
+orderly-set==5.4.1
+jupyter-events==0.12.0
+pydantic==2.11.4
+rich==14.0.0
+aiosignal==1.3.2
+sentry-sdk==2.29.1
+tinycss2==1.4.0
+networkx==3.4.2
+tornado==6.4.2
+dill==0.3.8
+prometheus_client==0.21.1
+omegaconf==2.3.0
+torchvision==0.21.0
+pillow==11.2.1
+clip==1.0
+jupyterlab_widgets==3.0.15
+regex==2023.10.3
+importlib_metadata==8.7.0
+torchaudio==2.3.1+cu121
+typing-inspection==0.4.0
+pyparsing==3.2.3
+zarr==2.18.3
+defusedxml==0.7.1
+ipywidgets==8.1.1
+parso==0.8.4
+python-multipart==0.0.20
+xxhash==3.5.0
+torchmetrics==1.3.1
+PyYAML==6.0.2
+watchfiles==1.0.5
+Flask==3.1.1
+pandocfilters==1.5.1
+jsonschema==4.23.0
+frozenlist==1.6.0
+pexpect==4.9.0
+setproctitle==1.3.6
+nvidia-cuda-nvrtc-cu12==12.4.127
+nest-asyncio==1.6.0
+rpds-py==0.24.0
+beautifulsoup4==4.13.4
+uvicorn==0.34.2
+overrides==7.7.0
+filelock==3.18.0
+nbformat==5.10.4
+jupyterlab==4.2.0
+TorchCodec==0.2.1
+docker==7.1.0
+notebook_shim==0.2.4
+nvidia-cuda-runtime-cu12==12.4.127
+async-lru==2.0.5
+jupyter_server_terminals==0.5.3
+PyJWT==2.10.1
+annotated-types==0.7.0
+gymnasium==0.29.1
+einops==0.8.1
+lightning==2.5.1.post0
+psutil==7.0.0
+jsonpointer==3.0.0
+pyserial==3.5
+toml==0.10.2
+lerobot==0.1.0
+pydantic_core==2.33.2
+platformdirs==4.3.8
+imageio==2.37.0
+widgetsnbextension==4.0.14
+nvidia-cusolver-cu12==11.6.1.9
+antlr4-python3-runtime==4.9.3
+Markdown==3.8
+nvidia-nccl-cu12==2.21.5
+requests==2.32.3
+docker-pycreds==0.4.0
+sympy==1.13.1
+kiwisolver==1.4.8
+deepdiff==8.5.0
+click==8.2.0
+draccus==0.10.0
+certifi==2025.4.26
+traitlets==5.14.3
+litserve==0.2.10
+babel==2.17.0
+jupyter_server==2.16.0
+types-python-dateutil==2.9.0.20241206
+ftfy==6.1.3
+jupyter_client==8.6.3
+nvidia-cuda-cupti-cu12==12.4.127
+cmake==4.0.2
+httpx==0.28.1
+imageio-ffmpeg==0.6.0
+pymunk==6.11.1
+pyasn1_modules==0.4.2
+opencv-python-headless==4.11.0.86
+charset-normalizer==3.4.2
+grpcio==1.71.0
+scikit-learn==1.3.2
+pynput==1.8.1
+wandb==0.19.11
+async-timeout==5.0.1
+oauthlib==3.2.2
+scipy==1.11.4
+tzdata==2025.2
+rfc3986-validator==0.1.1
+isoduration==20.11.0
+typing_extensions==4.13.2
+PySocks==1.7.1
+executing==2.2.0
+referencing==0.36.2
+pure_eval==0.2.3
+s3transfer==0.12.0
+backoff==2.2.1
+GitPython==3.1.44
+h11==0.16.0
+multiprocess==0.70.16
+hf_transfer==0.1.9
+xgboost==2.0.2
+python-dotenv==1.1.0
+ipython==8.17.2
+smmap==5.0.2
+mergedeep==1.3.4
+rfc3339-validator==0.1.4
+typing-inspect==0.9.0
+Farama-Notifications==0.0.4
+termcolor==3.1.0
+python-json-logger==3.3.0
+av==14.4.0
+sniffio==1.3.1
+ptyprocess==0.7.0
+requests-oauthlib==2.0.0
+tifffile==2025.5.10
+tensorboard-data-server==0.7.2
+feetech-servo-sdk==1.0.0
+simple-term-menu==1.6.6
+asciitree==0.3.3
+jmespath==1.0.1
+nvidia-cudnn-cu12==9.1.0.70
+wcwidth==0.2.13
+fqdn==1.5.1
+nbconvert==7.16.6
+exceptiongroup==1.3.0
+tensorboard==2.15.1
+mypy_extensions==1.1.0
+asttokens==3.0.0
+jedi==0.19.2
+pycparser==2.22
+uvloop==0.21.0
+uri-template==1.3.0
+datasets==3.6.0
+starlette==0.46.2
+webencodings==0.5.1
+cffi==1.17.1
+soupsieve==2.7
+torch==2.6.0
+aiohappyeyeballs==2.6.1
+nvidia-cusparse-cu12==12.3.1.170
+numpy==1.26.4
+protobuf==4.23.4
+huggingface-hub==0.32.0
+jupyterlab_pygments==0.3.0
+rerun-sdk==0.23.2
+lightning-cloud==0.5.70
+fastapi==0.115.12
+pip==25.1.1
+anyio==4.9.0
+urllib3==2.4.0
+botocore==1.38.15
+itsdangerous==2.2.0
+google-auth-oauthlib==1.2.2
+numcodecs==0.13.1
+jupyter-lsp==2.2.5
+inquirerpy==0.3.4
+idna==3.10
+jupyter_core==5.7.2
+pfzy==0.3.4
+argon2-cffi-bindings==21.2.0
+tomli==2.2.1
+Werkzeug==3.1.3
+comm==0.2.2
+propcache==0.3.1
+wget==3.2
+nvidia-nvjitlink-cu12==12.4.127
+setuptools==78.1.1
+fastjsonschema==2.21.1
+jsonlines==4.0.0
+hf-xet==1.1.2
+evdev==1.9.2
+zipp==3.21.0
+nvidia-cufile-cu12==1.11.1.6
+six==1.17.0
+ipykernel==6.26.0
+absl-py==2.2.2
+attrs==25.3.0
+h5py==3.13.0
+webcolors==24.11.1
+mistune==3.1.3
+nvidia-curand-cu12==10.3.5.147
+diffusers==0.33.1
+mdurl==0.1.2
+MarkupSafe==3.0.2
+fonttools==4.58.0
+pytz==2025.2
+debugpy==1.8.14
+jaraco.context==5.3.0
+zipp==3.19.2
+typing_extensions==4.12.2
+more-itertools==10.3.0
+packaging==24.2
+platformdirs==4.2.2
+typeguard==4.3.0
+jaraco.collections==5.1.0
+inflect==7.3.1
+importlib_metadata==8.0.0
+tomli==2.0.1
+jaraco.functools==4.0.1
+jaraco.text==3.12.1
+autocommand==2.2.2
+backports.tarfile==1.2.0
+wheel==0.45.1

wandb/run-20250531_173201-w2kvrcjq/files/wandb-metadata.json

@@ -0,0 +1,49 @@
+{
+  "os": "Linux-5.15.0-1084-aws-x86_64-with-glibc2.31",
+  "python": "CPython 3.10.16",
+  "startedAt": "2025-05-31T17:32:01.239419Z",
+  "args": [
+    "--dataset.repo_id=meetrais/cube_in_the_box4",
+    "--policy.type=act",
+    "--output_dir=outputs/train/act_cube_in_the_box4",
+    "--job_name=act_cube_in_the_box4",
+    "--policy.device=cuda",
+    "--wandb.enable=true"
+  ],
+  "program": "/teamspace/studios/this_studio/lerobot/lerobot/scripts/train.py",
+  "codePath": "lerobot/scripts/train.py",
+  "git": {
+    "remote": "https://github.com/meetrais/lerobot.git",
+    "commit": "561c0e530a53b1770d8bd116641e73c8306ccd69"
+  },
+  "root": "outputs/train/act_cube_in_the_box4",
+  "host": "ip-10-192-12-245",
+  "executable": "/home/zeus/miniconda3/envs/cloudspace/bin/python",
+  "codePathLocal": "lerobot/scripts/train.py",
+  "cpu_count": 8,
+  "cpu_count_logical": 16,
+  "gpu": "NVIDIA L40S",
+  "gpu_count": 1,
+  "disk": {
+    "/": {
+      "total": "589427720192",
+      "used": "45399834624"
+    }
+  },
+  "memory": {
+    "total": "133270241280"
+  },
+  "cpu": {
+    "count": 8,
+    "countLogical": 16
+  },
+  "gpu_nvidia": [
+    {
+      "name": "NVIDIA L40S",
+      "memoryTotal": "48305799168",
+      "cudaCores": 18176,
+      "architecture": "Ada"
+    }
+  ],
+  "cudaVersion": "12.2"
+}

wandb/run-20250531_173201-w2kvrcjq/files/wandb-summary.json

@@ -0,0 +1 @@
+{"train/kld_loss":7.301941514015198e-05,"train/dataloading_s":0.0002901902699613856,"_runtime":8109.017042675,"train/steps":100000,"train/grad_norm":3.9317062318325045,"train/loss":0.04882145526818931,"train/samples":800000,"train/epochs":27.422616803208445,"_wandb":{"runtime":8109},"train/lr":1.0000000000000021e-05,"train/l1_loss":0.042320556938648224,"_step":100000,"_timestamp":1.7487208281557786e+09,"train/episodes":1371.1308401604222,"train/update_s":0.08046832630991048}

wandb/run-20250531_173201-w2kvrcjq/logs/debug-core.log

@@ -0,0 +1,14 @@
+{"time":"2025-05-31T17:32:01.102790684Z","level":"INFO","msg":"main: starting server","port-filename":"/tmp/tmpbg_tlfbe/port-7178.txt","pid":7178,"log-level":0,"disable-analytics":false,"shutdown-on-parent-exit":false,"enable-dcgm-profiling":false}
+{"time":"2025-05-31T17:32:01.104696Z","level":"INFO","msg":"Will exit if parent process dies.","ppid":7178}
+{"time":"2025-05-31T17:32:01.105037468Z","level":"INFO","msg":"server is running","addr":{"IP":"127.0.0.1","Port":50153,"Zone":""}}
+{"time":"2025-05-31T17:32:01.230470976Z","level":"INFO","msg":"connection: ManageConnectionData: new connection created","id":"127.0.0.1:50054"}
+{"time":"2025-05-31T17:32:01.242423543Z","level":"INFO","msg":"handleInformInit: received","streamId":"w2kvrcjq","id":"127.0.0.1:50054"}
+{"time":"2025-05-31T17:32:01.424328406Z","level":"INFO","msg":"handleInformInit: stream started","streamId":"w2kvrcjq","id":"127.0.0.1:50054"}
+{"time":"2025-05-31T19:47:10.256104556Z","level":"INFO","msg":"handleInformTeardown: server teardown initiated","id":"127.0.0.1:50054"}
+{"time":"2025-05-31T19:47:10.256440725Z","level":"INFO","msg":"server is shutting down"}
+{"time":"2025-05-31T19:47:10.256433055Z","level":"INFO","msg":"connection: closing","id":"127.0.0.1:50054"}
+{"time":"2025-05-31T19:47:10.256556068Z","level":"INFO","msg":"connection: closed successfully","id":"127.0.0.1:50054"}
+{"time":"2025-05-31T19:47:12.838335364Z","level":"ERROR","msg":"processOutgoingData: flush error","error":"write tcp 127.0.0.1:50153->127.0.0.1:50054: use of closed network connection","id":"127.0.0.1:50054"}
+{"time":"2025-05-31T19:47:12.992257036Z","level":"INFO","msg":"handleInformTeardown: server shutdown complete","id":"127.0.0.1:50054"}
+{"time":"2025-05-31T19:47:12.992309357Z","level":"INFO","msg":"connection: ManageConnectionData: connection closed","id":"127.0.0.1:50054"}
+{"time":"2025-05-31T19:47:12.992359108Z","level":"INFO","msg":"server is closed"}

wandb/run-20250531_173201-w2kvrcjq/logs/debug-internal.log

@@ -0,0 +1,16 @@
+{"time":"2025-05-31T17:32:01.243163981Z","level":"INFO","msg":"stream: starting","core version":"0.19.11","symlink path":"outputs/train/act_cube_in_the_box4/wandb/run-20250531_173201-w2kvrcjq/logs/debug-core.log"}
+{"time":"2025-05-31T17:32:01.424237124Z","level":"INFO","msg":"created new stream","id":"w2kvrcjq"}
+{"time":"2025-05-31T17:32:01.424306296Z","level":"INFO","msg":"stream: started","id":"w2kvrcjq"}
+{"time":"2025-05-31T17:32:01.424381428Z","level":"INFO","msg":"writer: Do: started","stream_id":"w2kvrcjq"}
+{"time":"2025-05-31T17:32:01.424418539Z","level":"INFO","msg":"handler: started","stream_id":"w2kvrcjq"}
+{"time":"2025-05-31T17:32:01.424396268Z","level":"INFO","msg":"sender: started","stream_id":"w2kvrcjq"}
+{"time":"2025-05-31T17:32:01.593119205Z","level":"INFO","msg":"Starting system monitor"}
+{"time":"2025-05-31T19:29:01.969286212Z","level":"INFO","msg":"api: retrying error","error":"Post \"https://api.wandb.ai/graphql\": read tcp 10.192.12.245:50944->35.186.228.49:443: read: connection reset by peer"}
+{"time":"2025-05-31T19:47:10.256379243Z","level":"INFO","msg":"stream: closing","id":"w2kvrcjq"}
+{"time":"2025-05-31T19:47:10.256620409Z","level":"INFO","msg":"Stopping system monitor"}
+{"time":"2025-05-31T19:47:10.256770123Z","level":"INFO","msg":"Stopped system monitor"}
+{"time":"2025-05-31T19:47:12.889215074Z","level":"INFO","msg":"fileTransfer: Close: file transfer manager closed"}
+{"time":"2025-05-31T19:47:12.991725142Z","level":"INFO","msg":"handler: closed","stream_id":"w2kvrcjq"}
+{"time":"2025-05-31T19:47:12.991820805Z","level":"INFO","msg":"writer: Close: closed","stream_id":"w2kvrcjq"}
+{"time":"2025-05-31T19:47:12.991850896Z","level":"INFO","msg":"sender: closed","stream_id":"w2kvrcjq"}
+{"time":"2025-05-31T19:47:12.992202444Z","level":"INFO","msg":"stream: closed","id":"w2kvrcjq"}

wandb/run-20250531_173201-w2kvrcjq/logs/debug.log

@@ -0,0 +1,23 @@
+2025-05-31 17:32:01,233 INFO    MainThread:7178 [wandb_setup.py:_flush():70] Current SDK version is 0.19.11
+2025-05-31 17:32:01,233 INFO    MainThread:7178 [wandb_setup.py:_flush():70] Configure stats pid to 7178
+2025-05-31 17:32:01,233 INFO    MainThread:7178 [wandb_setup.py:_flush():70] Loading settings from /teamspace/studios/this_studio/.config/wandb/settings
+2025-05-31 17:32:01,233 INFO    MainThread:7178 [wandb_setup.py:_flush():70] Loading settings from /teamspace/studios/this_studio/lerobot/wandb/settings
+2025-05-31 17:32:01,233 INFO    MainThread:7178 [wandb_setup.py:_flush():70] Loading settings from environment variables
+2025-05-31 17:32:01,233 INFO    MainThread:7178 [wandb_init.py:setup_run_log_directory():724] Logging user logs to outputs/train/act_cube_in_the_box4/wandb/run-20250531_173201-w2kvrcjq/logs/debug.log
+2025-05-31 17:32:01,233 INFO    MainThread:7178 [wandb_init.py:setup_run_log_directory():725] Logging internal logs to outputs/train/act_cube_in_the_box4/wandb/run-20250531_173201-w2kvrcjq/logs/debug-internal.log
+2025-05-31 17:32:01,233 INFO    MainThread:7178 [wandb_init.py:init():852] calling init triggers
+2025-05-31 17:32:01,233 INFO    MainThread:7178 [wandb_init.py:init():857] wandb.init called with sweep_config: {}
+config: {'dataset': {'repo_id': 'meetrais/cube_in_the_box4', '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]}}}}, 'revision': None, 'use_imagenet_stats': True, 'video_backend': 'torchcodec'}, 'env': None, 'policy': {'type': 'act', 'n_obs_steps': 1, 'normalization_mapping': {'VISUAL': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'STATE': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'ACTION': <NormalizationMode.MEAN_STD: 'MEAN_STD'>}, 'input_features': {}, 'output_features': {}, 'device': 'cuda', 'use_amp': False, 'chunk_size': 100, 'n_action_steps': 100, '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_cube_in_the_box4', 'job_name': 'act_cube_in_the_box4', '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}, '_wandb': {}}
+2025-05-31 17:32:01,233 INFO    MainThread:7178 [wandb_init.py:init():893] starting backend
+2025-05-31 17:32:01,233 INFO    MainThread:7178 [wandb_init.py:init():897] sending inform_init request
+2025-05-31 17:32:01,239 INFO    MainThread:7178 [backend.py:_multiprocessing_setup():101] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
+2025-05-31 17:32:01,239 INFO    MainThread:7178 [wandb_init.py:init():907] backend started and connected
+2025-05-31 17:32:01,240 INFO    MainThread:7178 [wandb_init.py:init():1005] updated telemetry
+2025-05-31 17:32:01,249 INFO    MainThread:7178 [wandb_init.py:init():1029] communicating run to backend with 90.0 second timeout
+2025-05-31 17:32:01,590 INFO    MainThread:7178 [wandb_init.py:init():1104] starting run threads in backend
+2025-05-31 17:32:01,752 INFO    MainThread:7178 [wandb_run.py:_console_start():2573] atexit reg
+2025-05-31 17:32:01,753 INFO    MainThread:7178 [wandb_run.py:_redirect():2421] redirect: wrap_raw
+2025-05-31 17:32:01,753 INFO    MainThread:7178 [wandb_run.py:_redirect():2490] Wrapping output streams.
+2025-05-31 17:32:01,753 INFO    MainThread:7178 [wandb_run.py:_redirect():2513] Redirects installed.
+2025-05-31 17:32:01,754 INFO    MainThread:7178 [wandb_init.py:init():1150] run started, returning control to user process
+2025-05-31 19:47:10,255 INFO    MsgRouterThr:7178 [mailbox.py:close():129] [no run ID] Closing mailbox, abandoning 2 handles.

wandb/run-20250531_173201-w2kvrcjq/run-w2kvrcjq.wandb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53f2aef0d53b9df2b3deb603da132c52e811f16fa4d2d479c2404b948ec9cd89
+size 1207903