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policy_checkpoints/NutAssemblySquare/v0/wandb/debug.log
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2024-11-11 21:30:35,111 INFO MainThread:3849900 [wandb_setup.py:_flush():79] Current SDK version is 0.18.6
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2024-11-11 21:30:35,111 INFO MainThread:3849900 [wandb_setup.py:_flush():79] Configure stats pid to 3849900
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2024-11-11 21:30:35,111 INFO MainThread:3849900 [wandb_setup.py:_flush():79] Loading settings from /home/thankyou/.config/wandb/settings
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2024-11-11 21:30:35,111 INFO MainThread:3849900 [wandb_setup.py:_flush():79] Loading settings from /home/thankyou/autom/AdaFlow/wandb/settings
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2024-11-11 21:30:35,111 INFO MainThread:3849900 [wandb_setup.py:_flush():79] Loading settings from environment variables: {}
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2024-11-11 21:30:35,111 INFO MainThread:3849900 [wandb_setup.py:_flush():79] Applying setup settings: {'mode': 'online', '_disable_service': None}
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2024-11-11 21:30:35,111 INFO MainThread:3849900 [wandb_setup.py:_flush():79] Inferring run settings from compute environment: {'program_relpath': 'train.py', 'program_abspath': '/home/thankyou/autom/AdaFlow/train.py', 'program': '/home/thankyou/autom/AdaFlow/train.py'}
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2024-11-11 21:30:35,111 INFO MainThread:3849900 [wandb_setup.py:_flush():79] Applying login settings: {}
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2024-11-11 21:30:35,111 INFO MainThread:3849900 [wandb_init.py:_log_setup():533] Logging user logs to /home/thankyou/autom/AdaFlow/exps/outputs/2024.11.11/21.30.01_train_diffusion_unet_image_square_image_ph/wandb/run-20241111_213035-kyr0wjsm/logs/debug.log
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2024-11-11 21:30:35,111 INFO MainThread:3849900 [wandb_init.py:_log_setup():534] Logging internal logs to /home/thankyou/autom/AdaFlow/exps/outputs/2024.11.11/21.30.01_train_diffusion_unet_image_square_image_ph/wandb/run-20241111_213035-kyr0wjsm/logs/debug-internal.log
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2024-11-11 21:30:35,111 INFO MainThread:3849900 [wandb_init.py:init():619] calling init triggers
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2024-11-11 21:30:35,111 INFO MainThread:3849900 [wandb_init.py:init():626] wandb.init called with sweep_config: {}
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config: {'name': 'train_diffusion_unet_image', '_target_': 'adaflow.workspace.train_diffusion_unet_image_workspace.TrainDiffusionUnetImageWorkspace', 'task_name': 'square_image', 'dataset_type': 'ph', 'shape_meta': {'obs': {'agentview_image': {'shape': [3, 84, 84], 'type': 'rgb'}, 'robot0_eye_in_hand_image': {'shape': [3, 84, 84], 'type': 'rgb'}, 'robot0_eef_pos': {'shape': [3]}, 'robot0_eef_quat': {'shape': [4]}, 'robot0_gripper_qpos': {'shape': [2]}}, 'action': {'shape': [10]}}, 'exp_name': 'default', 'horizon': 16, 'n_obs_steps': 2, 'n_action_steps': 8, 'n_latency_steps': 0, 'dataset_obs_steps': 2, 'past_action_visible': False, 'keypoint_visible_rate': 1.0, 'obs_as_global_cond': True, 'policy': {'_target_': 'adaflow.policy.diffusion_unet_image_policy.DiffusionUnetImagePolicy', 'shape_meta': {'obs': {'agentview_image': {'shape': [3, 84, 84], 'type': 'rgb'}, 'robot0_eye_in_hand_image': {'shape': [3, 84, 84], 'type': 'rgb'}, 'robot0_eef_pos': {'shape': [3]}, 'robot0_eef_quat': {'shape': [4]}, 'robot0_gripper_qpos': {'shape': [2]}}, 'action': {'shape': [10]}}, 'noise_scheduler': {'_target_': 'diffusers.schedulers.scheduling_ddpm.DDPMScheduler', 'num_train_timesteps': 100, 'beta_start': 0.0001, 'beta_end': 0.02, 'beta_schedule': 'squaredcos_cap_v2', 'variance_type': 'fixed_small', 'clip_sample': True, 'prediction_type': 'epsilon'}, 'obs_encoder': {'_target_': 'adaflow.model.vision.multi_image_obs_encoder.MultiImageObsEncoder', 'shape_meta': {'obs': {'agentview_image': {'shape': [3, 84, 84], 'type': 'rgb'}, 'robot0_eye_in_hand_image': {'shape': [3, 84, 84], 'type': 'rgb'}, 'robot0_eef_pos': {'shape': [3]}, 'robot0_eef_quat': {'shape': [4]}, 'robot0_gripper_qpos': {'shape': [2]}}, 'action': {'shape': [10]}}, 'rgb_model': {'_target_': 'adaflow.model.vision.model_getter.get_resnet', 'name': 'resnet18', 'weights': None}, 'resize_shape': None, 'crop_shape': [76, 76], 'random_crop': True, 'use_group_norm': True, 'share_rgb_model': False, 'imagenet_norm': True}, 'horizon': 16, 'n_action_steps': 8, 'n_obs_steps': 2, 'num_inference_steps': 100, 'obs_as_global_cond': True, 'diffusion_step_embed_dim': 128, 'down_dims': [512, 1024, 2048], 'kernel_size': 5, 'n_groups': 8, 'cond_predict_scale': True}, 'ema': {'_target_': 'adaflow.model.diffusion.ema_model.EMAModel', 'update_after_step': 0, 'inv_gamma': 1.0, 'power': 0.75, 'min_value': 0.0, 'max_value': 0.9999}, 'dataloader': {'batch_size': 64, 'num_workers': 4, 'shuffle': True, 'pin_memory': True, 'persistent_workers': False}, 'val_dataloader': {'batch_size': 64, 'num_workers': 8, 'shuffle': False, 'pin_memory': True, 'persistent_workers': False}, 'optimizer': {'_target_': 'torch.optim.AdamW', 'lr': 0.0001, 'betas': [0.95, 0.999], 'eps': 1e-08, 'weight_decay': 1e-06}, 'training': {'device': 'cuda:0', 'seed': 42, 'debug': False, 'resume': True, 'resume_dir': None, 'lr_scheduler': 'cosine', 'lr_warmup_steps': 500, 'num_epochs': 600, 'gradient_accumulate_every': 1, 'use_ema': True, 'freeze_encoder': False, 'rollout_every': 20, 'checkpoint_every': 20, 'val_every': 5, 'sample_every': 5, 'max_train_steps': None, 'max_val_steps': None, 'tqdm_interval_sec': 1.0, 'pretrained_ckpt': None}, 'logging': {'project': 'adaflow', 'resume': True, 'mode': 'online', 'name': '2024.11.11-21.30.01_train_diffusion_unet_image_square_image', 'tags': ['train_diffusion_unet_image', 'square_image', 'default'], 'id': None, 'group': None}, 'checkpoint': {'topk': {'monitor_key': 'test_mean_score', 'mode': 'max', 'k': 1, 'format_str': 'epoch={epoch:04d}-test_mean_score={test_mean_score:.3f}.ckpt'}, 'save_last_ckpt': True, 'save_last_snapshot': False}, 'multi_run': {'run_dir': 'exps/outputs/2024.11.11/21.30.01_train_diffusion_unet_image_square_image_ph', 'wandb_name_base': '2024.11.11-21.30.01_train_diffusion_unet_image_square_image_ph'}, 'task': {'name': 'square_image', 'shape_meta': {'obs': {'agentview_image': {'shape': [3, 84, 84], 'type': 'rgb'}, 'robot0_eye_in_hand_image': {'shape': [3, 84, 84], 'type': 'rgb'}, 'robot0_eef_pos': {'shape': [3]}, 'robot0_eef_quat': {'shape': [4]}, 'robot0_gripper_qpos': {'shape': [2]}}, 'action': {'shape': [10]}}, 'task_name': 'square', 'dataset_type': 'ph', 'dataset_path': '/home/thankyou/autom/demo-aug/datasets/generated/NutAssemblySquare/2024-11-11-merged-cpgen-naive-env-reset/18-24-49-175405_99demos_199demos_with_obs.hdf5', 'abs_action': True, 'env_runner': {'_target_': 'adaflow.env_runner.robomimic_image_runner.RobomimicImageRunner', 'dataset_path': '/home/thankyou/autom/demo-aug/datasets/generated/NutAssemblySquare/2024-11-11-merged-cpgen-naive-env-reset/18-24-49-175405_99demos_199demos_with_obs.hdf5', 'shape_meta': {'obs': {'agentview_image': {'shape': [3, 84, 84], 'type': 'rgb'}, 'robot0_eye_in_hand_image': {'shape': [3, 84, 84], 'type': 'rgb'}, 'robot0_eef_pos': {'shape': [3]}, 'robot0_eef_quat': {'shape': [4]}, 'robot0_gripper_qpos': {'shape': [2]}}, 'action': {'shape': [10]}}, 'n_train': 8, 'n_train_vis': 4, 'train_start_idx': 0, 'n_test': 50, 'n_test_vis': 10, 'test_start_seed': 100000, 'max_steps': 400, 'n_obs_steps': 2, 'n_action_steps': 8, 'render_obs_key': 'agentview_image', 'fps': 10, 'crf': 22, 'past_action': False, 'abs_action': True, 'tqdm_interval_sec': 1.0, 'n_envs': 28}, 'dataset': {'_target_': 'adaflow.dataset.robomimic_replay_image_dataset.RobomimicReplayImageDataset', 'shape_meta': {'obs': {'agentview_image': {'shape': [3, 84, 84], 'type': 'rgb'}, 'robot0_eye_in_hand_image': {'shape': [3, 84, 84], 'type': 'rgb'}, 'robot0_eef_pos': {'shape': [3]}, 'robot0_eef_quat': {'shape': [4]}, 'robot0_gripper_qpos': {'shape': [2]}}, 'action': {'shape': [10]}}, 'dataset_path': '/home/thankyou/autom/demo-aug/datasets/generated/NutAssemblySquare/2024-11-11-merged-cpgen-naive-env-reset/18-24-49-175405_99demos_199demos_with_obs.hdf5', 'horizon': 16, 'pad_before': 1, 'pad_after': 7, 'n_obs_steps': 2, 'abs_action': True, 'rotation_rep': 'rotation_6d', 'use_legacy_normalizer': False, 'use_cache': True, 'seed': 42, 'val_ratio': 0.02}}}
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2024-11-11 21:30:35,111 INFO MainThread:3849900 [wandb_init.py:init():669] starting backend
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2024-11-11 21:30:35,111 INFO MainThread:3849900 [wandb_init.py:init():673] sending inform_init request
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2024-11-11 21:30:35,112 INFO MainThread:3849900 [backend.py:_multiprocessing_setup():104] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
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2024-11-11 21:30:35,112 INFO MainThread:3849900 [wandb_init.py:init():686] backend started and connected
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2024-11-11 21:30:35,117 INFO MainThread:3849900 [wandb_init.py:init():781] updated telemetry
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2024-11-11 21:30:35,120 INFO MainThread:3849900 [wandb_init.py:init():814] communicating run to backend with 90.0 second timeout
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2024-11-11 21:30:35,518 INFO MainThread:3849900 [wandb_init.py:init():867] starting run threads in backend
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2024-11-11 21:30:35,590 INFO MainThread:3849900 [wandb_run.py:_console_start():2451] atexit reg
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2024-11-11 21:30:35,591 INFO MainThread:3849900 [wandb_run.py:_redirect():2299] redirect: wrap_raw
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2024-11-11 21:30:35,591 INFO MainThread:3849900 [wandb_run.py:_redirect():2364] Wrapping output streams.
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2024-11-11 21:30:35,591 INFO MainThread:3849900 [wandb_run.py:_redirect():2389] Redirects installed.
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2024-11-11 21:30:35,592 INFO MainThread:3849900 [wandb_init.py:init():911] run started, returning control to user process
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2024-11-11 21:30:35,592 INFO MainThread:3849900 [wandb_run.py:_config_callback():1389] config_cb None None {'output_dir': '/home/thankyou/autom/AdaFlow/exps/outputs/2024.11.11/21.30.01_train_diffusion_unet_image_square_image_ph'}
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2024-11-12 05:40:13,379 WARNING MsgRouterThr:3849900 [router.py:message_loop():75] message_loop has been closed
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