wandb: Using wandb-core as the SDK backend. Please refer to https://wandb.me/wandb-core for more information.
wandb: W&B API key is configured. Use `wandb login --relogin` to force relogin
wandb: - Waiting for wandb.init()...
wandb: \ Waiting for wandb.init()...
wandb: | Waiting for wandb.init()...
wandb: / Waiting for wandb.init()...
wandb: Tracking run with wandb version 0.18.3
wandb: Run data is saved locally in /home/zxn/Forewarn/wandb/run-20260408_153056-rzvoll81
wandb: Run `wandb offline` to turn off syncing.
wandb: Syncing run wm_stack_cups_bs16_bl2_0408_0408_153050
wandb: ⭐️ View project at https://wandb.ai/yukizhang0527-harbin-institute-of-technology/failure_prediction
wandb: 🚀 View run at https://wandb.ai/yukizhang0527-harbin-institute-of-technology/failure_prediction/runs/rzvoll81
['/home/zxn/Forewarn/scripts', '/home/zxn/Forewarn', '/home/zxn/Chain-of-Correction/policy/BridgeVLA', '/home/zxn/Chain-of-Correction/policy/BridgeVLA/finetune/Colosseum', '/home/zxn/anaconda3/envs/dreamer/lib/python310.zip', '/home/zxn/anaconda3/envs/dreamer/lib/python3.10', '/home/zxn/anaconda3/envs/dreamer/lib/python3.10/lib-dynload', '/home/zxn/anaconda3/envs/dreamer/lib/python3.10/site-packages', '/home/zxn/Forewarn', '/home/zxn/Forewarn/model_based_irl_torch', '/home/zxn/Forewarn/safety_rl']
ROBOMIMIC WARNING(
    No private macro file found!
    It is recommended to use a private macro file
    To setup, run: python /home/zxn/anaconda3/envs/dreamer/lib/python3.10/site-packages/robomimic/scripts/setup_macros.py
)
---------------------
Experiment name: 0408/153050
Task: stack_cups
Hybrid Training: True
Logging to: logs/dreamer_cont/stack_cups/0408/153050
---------------------
Logdir logs/dreamer_cont/stack_cups/0408/153050
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Loading validation buffer with 36 trajectories from /data/colosseum_dataset/wm_data/stack_cups_data/stack_cups_demo.hdf5

== Environment Information ==
env_name stack_cups_img
Action Space: Box(-1.0, 1.0, (8,), float32).
Updating the agent for 3200 every 100 env steps
Observation shapes: {'cam_front_view_image': (64, 64, 3), 'cam_wrist_view_image': (64, 64, 3), 'discount': (1,), 'is_first': (), 'is_last': (), 'is_terminal': (), 'state': (8,)}
Encoder CNN shapes: {'cam_front_view_image': (64, 64, 3), 'cam_wrist_view_image': (64, 64, 3)}
Encoder MLP shapes: {'state': (8,)}
Decoder CNN shapes: {'cam_front_view_image': (64, 64, 3), 'cam_wrist_view_image': (64, 64, 3)}
Decoder MLP shapes: {'state': (8,)}
Optimizer model_opt has 18626830 variables.
Freezing embeddings from encoder during training
Optimizer pretrain has 17410062 variables.
150000
Pretraining for config.pretrain_joint_steps=150000, config.pretrain_actor_steps=0

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  warnings.warn("non-inplace resize is deprecated")

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World Model pretraining:   1% 999/150000 [01:56<3:30:33, 11.79it/s][0] model_only_pretrain/pretrain_opt_loss 5373.2 / model_only_pretrain/pretrain_opt_grad_norm 23522.9 / model_only_pretrain/cam_front_view_image_loss 2612.8 / model_only_pretrain/cam_wrist_view_image_loss 2747.0 / model_only_pretrain/state_loss 6.5 / model_only_pretrain/kl_loss 6.8 / model_only_pretrain/dyn_loss 11.4 / model_only_pretrain/rep_loss 11.4 / model_only_pretrain/kl_value 11.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 48.1 / model_only_pretrain/post_ent 46.6 / model_only_pretrain/fps 0.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[1] eval_recon/cam_front_view_image 2559.7 / eval_recon/cam_wrist_view_image 2720.6 / train_recon/cam_front_view_image 2516.8 / train_recon/cam_wrist_view_image 2654.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[100] model_only_pretrain/pretrain_opt_loss 1441.3 / model_only_pretrain/pretrain_opt_grad_norm 2590.6 / model_only_pretrain/cam_front_view_image_loss 691.6 / model_only_pretrain/cam_wrist_view_image_loss 737.8 / model_only_pretrain/state_loss 1.4 / model_only_pretrain/kl_loss 10.5 / model_only_pretrain/dyn_loss 17.6 / model_only_pretrain/rep_loss 17.6 / model_only_pretrain/kl_value 17.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 39.5 / model_only_pretrain/post_ent 22.1 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[200] model_only_pretrain/pretrain_opt_loss 491.5 / model_only_pretrain/pretrain_opt_grad_norm 713.4 / model_only_pretrain/cam_front_view_image_loss 221.8 / model_only_pretrain/cam_wrist_view_image_loss 252.3 / model_only_pretrain/state_loss 0.5 / model_only_pretrain/kl_loss 17.0 / model_only_pretrain/dyn_loss 28.3 / model_only_pretrain/rep_loss 28.3 / model_only_pretrain/kl_value 28.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 39.6 / model_only_pretrain/post_ent 14.1 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[300] model_only_pretrain/pretrain_opt_loss 376.0 / model_only_pretrain/pretrain_opt_grad_norm 578.6 / model_only_pretrain/cam_front_view_image_loss 168.2 / model_only_pretrain/cam_wrist_view_image_loss 186.3 / model_only_pretrain/state_loss 0.3 / model_only_pretrain/kl_loss 21.1 / model_only_pretrain/dyn_loss 35.1 / model_only_pretrain/rep_loss 35.1 / model_only_pretrain/kl_value 35.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 45.8 / model_only_pretrain/post_ent 10.9 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[400] model_only_pretrain/pretrain_opt_loss 333.4 / model_only_pretrain/pretrain_opt_grad_norm 524.9 / model_only_pretrain/cam_front_view_image_loss 146.3 / model_only_pretrain/cam_wrist_view_image_loss 163.1 / model_only_pretrain/state_loss 0.2 / model_only_pretrain/kl_loss 23.8 / model_only_pretrain/dyn_loss 39.6 / model_only_pretrain/rep_loss 39.6 / model_only_pretrain/kl_value 39.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 43.7 / model_only_pretrain/post_ent 4.0 / model_only_pretrain/fps 9.5
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[499] eval_recon/cam_front_view_image 131.3 / eval_recon/cam_wrist_view_image 155.9 / train_recon/cam_front_view_image 112.3 / train_recon/cam_wrist_view_image 162.9 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[500] model_only_pretrain/pretrain_opt_loss 307.2 / model_only_pretrain/pretrain_opt_grad_norm 525.8 / model_only_pretrain/cam_front_view_image_loss 130.1 / model_only_pretrain/cam_wrist_view_image_loss 151.2 / model_only_pretrain/state_loss 0.2 / model_only_pretrain/kl_loss 25.8 / model_only_pretrain/dyn_loss 43.0 / model_only_pretrain/rep_loss 43.0 / model_only_pretrain/kl_value 43.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 41.3 / model_only_pretrain/post_ent -1.7 / model_only_pretrain/fps 8.3

[Checkpoint] Saving model at step 600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[600] model_only_pretrain/pretrain_opt_loss 287.1 / model_only_pretrain/pretrain_opt_grad_norm 484.7 / model_only_pretrain/cam_front_view_image_loss 119.1 / model_only_pretrain/cam_wrist_view_image_loss 140.3 / model_only_pretrain/state_loss 0.2 / model_only_pretrain/kl_loss 27.5 / model_only_pretrain/dyn_loss 45.8 / model_only_pretrain/rep_loss 45.8 / model_only_pretrain/kl_value 45.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 40.5 / model_only_pretrain/post_ent -5.5 / model_only_pretrain/fps 6.7

[Checkpoint] Saving model at step 700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[700] model_only_pretrain/pretrain_opt_loss 273.7 / model_only_pretrain/pretrain_opt_grad_norm 466.5 / model_only_pretrain/cam_front_view_image_loss 110.6 / model_only_pretrain/cam_wrist_view_image_loss 133.9 / model_only_pretrain/state_loss 0.2 / model_only_pretrain/kl_loss 29.0 / model_only_pretrain/dyn_loss 48.3 / model_only_pretrain/rep_loss 48.3 / model_only_pretrain/kl_value 48.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 39.5 / model_only_pretrain/post_ent -9.0 / model_only_pretrain/fps 6.9

[Checkpoint] Saving model at step 800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[800] model_only_pretrain/pretrain_opt_loss 265.6 / model_only_pretrain/pretrain_opt_grad_norm 441.4 / model_only_pretrain/cam_front_view_image_loss 106.4 / model_only_pretrain/cam_wrist_view_image_loss 129.3 / model_only_pretrain/state_loss 0.1 / model_only_pretrain/kl_loss 29.8 / model_only_pretrain/dyn_loss 49.7 / model_only_pretrain/rep_loss 49.7 / model_only_pretrain/kl_value 49.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 38.5 / model_only_pretrain/post_ent -11.3 / model_only_pretrain/fps 6.7

[Checkpoint] Saving model at step 900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[900] model_only_pretrain/pretrain_opt_loss 251.5 / model_only_pretrain/pretrain_opt_grad_norm 468.3 / model_only_pretrain/cam_front_view_image_loss 102.5 / model_only_pretrain/cam_wrist_view_image_loss 118.0 / model_only_pretrain/state_loss 0.1 / model_only_pretrain/kl_loss 30.8 / model_only_pretrain/dyn_loss 51.3 / model_only_pretrain/rep_loss 51.3 / model_only_pretrain/kl_value 51.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 38.2 / model_only_pretrain/post_ent -13.2 / model_only_pretrain/fps 7.5
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[999] eval_recon/cam_front_view_image 115.9 / eval_recon/cam_wrist_view_image 141.6 / train_recon/cam_front_view_image 89.0 / train_recon/cam_wrist_view_image 126.1 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 1000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:   1% 1999/150000 [03:37<3:54:14, 10.53it/s]model_only_pretrain/pretrain_opt_loss 237.9 / model_only_pretrain/pretrain_opt_grad_norm 434.8 / model_only_pretrain/cam_front_view_image_loss 97.9 / model_only_pretrain/cam_wrist_view_image_loss 108.2 / model_only_pretrain/state_loss 0.1 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 37.8 / model_only_pretrain/post_ent -15.1 / model_only_pretrain/fps 10.0

[Checkpoint] Saving model at step 1100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[1100] model_only_pretrain/pretrain_opt_loss 232.6 / model_only_pretrain/pretrain_opt_grad_norm 383.6 / model_only_pretrain/cam_front_view_image_loss 94.7 / model_only_pretrain/cam_wrist_view_image_loss 105.7 / model_only_pretrain/state_loss 0.1 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.6 / model_only_pretrain/rep_loss 53.6 / model_only_pretrain/kl_value 53.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 37.2 / model_only_pretrain/post_ent -16.4 / model_only_pretrain/fps 12.5

[Checkpoint] Saving model at step 1200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[1200] model_only_pretrain/pretrain_opt_loss 221.7 / model_only_pretrain/pretrain_opt_grad_norm 375.0 / model_only_pretrain/cam_front_view_image_loss 89.3 / model_only_pretrain/cam_wrist_view_image_loss 99.8 / model_only_pretrain/state_loss 0.1 / model_only_pretrain/kl_loss 32.5 / model_only_pretrain/dyn_loss 54.1 / model_only_pretrain/rep_loss 54.1 / model_only_pretrain/kl_value 54.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 36.8 / model_only_pretrain/post_ent -17.4 / model_only_pretrain/fps 8.9

[Checkpoint] Saving model at step 1300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[1300] model_only_pretrain/pretrain_opt_loss 217.2 / model_only_pretrain/pretrain_opt_grad_norm 356.7 / model_only_pretrain/cam_front_view_image_loss 86.4 / model_only_pretrain/cam_wrist_view_image_loss 98.0 / model_only_pretrain/state_loss 0.1 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.5 / model_only_pretrain/rep_loss 54.5 / model_only_pretrain/kl_value 54.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 36.1 / model_only_pretrain/post_ent -18.4 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 1400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[1400] model_only_pretrain/pretrain_opt_loss 217.0 / model_only_pretrain/pretrain_opt_grad_norm 392.0 / model_only_pretrain/cam_front_view_image_loss 85.5 / model_only_pretrain/cam_wrist_view_image_loss 98.3 / model_only_pretrain/state_loss 0.1 / model_only_pretrain/kl_loss 33.1 / model_only_pretrain/dyn_loss 55.1 / model_only_pretrain/rep_loss 55.1 / model_only_pretrain/kl_value 55.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 36.1 / model_only_pretrain/post_ent -19.0 / model_only_pretrain/fps 10.3
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[1499] eval_recon/cam_front_view_image 92.1 / eval_recon/cam_wrist_view_image 96.0 / train_recon/cam_front_view_image 69.2 / train_recon/cam_wrist_view_image 103.7 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 1500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[1500] model_only_pretrain/pretrain_opt_loss 210.0 / model_only_pretrain/pretrain_opt_grad_norm 368.4 / model_only_pretrain/cam_front_view_image_loss 83.5 / model_only_pretrain/cam_wrist_view_image_loss 93.2 / model_only_pretrain/state_loss 0.1 / model_only_pretrain/kl_loss 33.3 / model_only_pretrain/dyn_loss 55.5 / model_only_pretrain/rep_loss 55.5 / model_only_pretrain/kl_value 55.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 35.8 / model_only_pretrain/post_ent -19.6 / model_only_pretrain/fps 9.9

[Checkpoint] Saving model at step 1600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[1600] model_only_pretrain/pretrain_opt_loss 204.2 / model_only_pretrain/pretrain_opt_grad_norm 345.8 / model_only_pretrain/cam_front_view_image_loss 81.5 / model_only_pretrain/cam_wrist_view_image_loss 89.5 / model_only_pretrain/state_loss 0.1 / model_only_pretrain/kl_loss 33.2 / model_only_pretrain/dyn_loss 55.3 / model_only_pretrain/rep_loss 55.3 / model_only_pretrain/kl_value 55.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 35.1 / model_only_pretrain/post_ent -20.3 / model_only_pretrain/fps 9.8

[Checkpoint] Saving model at step 1700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[1700] model_only_pretrain/pretrain_opt_loss 201.5 / model_only_pretrain/pretrain_opt_grad_norm 341.9 / model_only_pretrain/cam_front_view_image_loss 80.1 / model_only_pretrain/cam_wrist_view_image_loss 87.6 / model_only_pretrain/state_loss 0.1 / model_only_pretrain/kl_loss 33.8 / model_only_pretrain/dyn_loss 56.4 / model_only_pretrain/rep_loss 56.4 / model_only_pretrain/kl_value 56.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 35.7 / model_only_pretrain/post_ent -20.6 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 1800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[1800] model_only_pretrain/pretrain_opt_loss 194.7 / model_only_pretrain/pretrain_opt_grad_norm 313.3 / model_only_pretrain/cam_front_view_image_loss 80.4 / model_only_pretrain/cam_wrist_view_image_loss 80.2 / model_only_pretrain/state_loss 0.1 / model_only_pretrain/kl_loss 34.0 / model_only_pretrain/dyn_loss 56.7 / model_only_pretrain/rep_loss 56.7 / model_only_pretrain/kl_value 56.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 35.7 / model_only_pretrain/post_ent -20.9 / model_only_pretrain/fps 9.4

[Checkpoint] Saving model at step 1900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[1900] model_only_pretrain/pretrain_opt_loss 184.4 / model_only_pretrain/pretrain_opt_grad_norm 311.0 / model_only_pretrain/cam_front_view_image_loss 75.9 / model_only_pretrain/cam_wrist_view_image_loss 74.4 / model_only_pretrain/state_loss 0.1 / model_only_pretrain/kl_loss 34.0 / model_only_pretrain/dyn_loss 56.7 / model_only_pretrain/rep_loss 56.7 / model_only_pretrain/kl_value 56.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 35.4 / model_only_pretrain/post_ent -21.4 / model_only_pretrain/fps 8.1
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[1999] eval_recon/cam_front_view_image 72.3 / eval_recon/cam_wrist_view_image 99.0 / train_recon/cam_front_view_image 78.3 / train_recon/cam_wrist_view_image 71.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 2000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[2000] 
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World Model pretraining:   2% 3000/150000 [05:18<14:07:11,  2.89it/s]model_only_pretrain/pretrain_opt_loss 184.3 / model_only_pretrain/pretrain_opt_grad_norm 335.2 / model_only_pretrain/cam_front_view_image_loss 76.0 / model_only_pretrain/cam_wrist_view_image_loss 73.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.4 / model_only_pretrain/dyn_loss 57.3 / model_only_pretrain/rep_loss 57.3 / model_only_pretrain/kl_value 57.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 35.5 / model_only_pretrain/post_ent -21.8 / model_only_pretrain/fps 9.1

[Checkpoint] Saving model at step 2100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[2100] model_only_pretrain/pretrain_opt_loss 179.2 / model_only_pretrain/pretrain_opt_grad_norm 313.0 / model_only_pretrain/cam_front_view_image_loss 74.1 / model_only_pretrain/cam_wrist_view_image_loss 70.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.5 / model_only_pretrain/dyn_loss 57.4 / model_only_pretrain/rep_loss 57.4 / model_only_pretrain/kl_value 57.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 35.0 / model_only_pretrain/post_ent -22.3 / model_only_pretrain/fps 10.4

[Checkpoint] Saving model at step 2200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[2200] model_only_pretrain/pretrain_opt_loss 174.6 / model_only_pretrain/pretrain_opt_grad_norm 299.4 / model_only_pretrain/cam_front_view_image_loss 71.2 / model_only_pretrain/cam_wrist_view_image_loss 69.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.4 / model_only_pretrain/dyn_loss 57.3 / model_only_pretrain/rep_loss 57.3 / model_only_pretrain/kl_value 57.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 34.6 / model_only_pretrain/post_ent -22.6 / model_only_pretrain/fps 10.0

[Checkpoint] Saving model at step 2300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[2300] model_only_pretrain/pretrain_opt_loss 174.2 / model_only_pretrain/pretrain_opt_grad_norm 324.8 / model_only_pretrain/cam_front_view_image_loss 70.2 / model_only_pretrain/cam_wrist_view_image_loss 69.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.5 / model_only_pretrain/dyn_loss 57.5 / model_only_pretrain/rep_loss 57.5 / model_only_pretrain/kl_value 57.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 34.9 / model_only_pretrain/post_ent -22.6 / model_only_pretrain/fps 10.4

[Checkpoint] Saving model at step 2400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[2400] model_only_pretrain/pretrain_opt_loss 171.6 / model_only_pretrain/pretrain_opt_grad_norm 285.4 / model_only_pretrain/cam_front_view_image_loss 69.6 / model_only_pretrain/cam_wrist_view_image_loss 67.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.6 / model_only_pretrain/dyn_loss 57.7 / model_only_pretrain/rep_loss 57.7 / model_only_pretrain/kl_value 57.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 34.7 / model_only_pretrain/post_ent -22.9 / model_only_pretrain/fps 9.5
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[2499] eval_recon/cam_front_view_image 78.2 / eval_recon/cam_wrist_view_image 94.1 / train_recon/cam_front_view_image 63.5 / train_recon/cam_wrist_view_image 127.6 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 2500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[2500] model_only_pretrain/pretrain_opt_loss 168.1 / model_only_pretrain/pretrain_opt_grad_norm 301.3 / model_only_pretrain/cam_front_view_image_loss 67.8 / model_only_pretrain/cam_wrist_view_image_loss 65.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.8 / model_only_pretrain/dyn_loss 57.9 / model_only_pretrain/rep_loss 57.9 / model_only_pretrain/kl_value 57.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 34.6 / model_only_pretrain/post_ent -23.1 / model_only_pretrain/fps 9.1

[Checkpoint] Saving model at step 2600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[2600] model_only_pretrain/pretrain_opt_loss 166.9 / model_only_pretrain/pretrain_opt_grad_norm 314.2 / model_only_pretrain/cam_front_view_image_loss 66.4 / model_only_pretrain/cam_wrist_view_image_loss 65.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.8 / model_only_pretrain/dyn_loss 57.9 / model_only_pretrain/rep_loss 57.9 / model_only_pretrain/kl_value 57.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 34.5 / model_only_pretrain/post_ent -23.5 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 2700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[2700] model_only_pretrain/pretrain_opt_loss 165.4 / model_only_pretrain/pretrain_opt_grad_norm 302.1 / model_only_pretrain/cam_front_view_image_loss 66.1 / model_only_pretrain/cam_wrist_view_image_loss 64.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.2 / model_only_pretrain/dyn_loss 58.6 / model_only_pretrain/rep_loss 58.6 / model_only_pretrain/kl_value 58.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 34.9 / model_only_pretrain/post_ent -23.6 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 2800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[2800] model_only_pretrain/pretrain_opt_loss 162.5 / model_only_pretrain/pretrain_opt_grad_norm 297.0 / model_only_pretrain/cam_front_view_image_loss 65.0 / model_only_pretrain/cam_wrist_view_image_loss 62.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.9 / model_only_pretrain/dyn_loss 58.2 / model_only_pretrain/rep_loss 58.2 / model_only_pretrain/kl_value 58.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 34.5 / model_only_pretrain/post_ent -23.8 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 2900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[2900] model_only_pretrain/pretrain_opt_loss 161.3 / model_only_pretrain/pretrain_opt_grad_norm 305.3 / model_only_pretrain/cam_front_view_image_loss 64.0 / model_only_pretrain/cam_wrist_view_image_loss 62.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.2 / model_only_pretrain/dyn_loss 58.7 / model_only_pretrain/rep_loss 58.7 / model_only_pretrain/kl_value 58.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 34.8 / model_only_pretrain/post_ent -23.9 / model_only_pretrain/fps 10.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[2999] eval_recon/cam_front_view_image 65.8 / eval_recon/cam_wrist_view_image 78.2 / train_recon/cam_front_view_image 55.9 / train_recon/cam_wrist_view_image 63.6 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 3000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:   3% 4000/150000 [07:08<20:35:11,  1.97it/s]model_only_pretrain/pretrain_opt_loss 153.5 / model_only_pretrain/pretrain_opt_grad_norm 286.2 / model_only_pretrain/cam_front_view_image_loss 60.6 / model_only_pretrain/cam_wrist_view_image_loss 58.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.7 / model_only_pretrain/dyn_loss 57.9 / model_only_pretrain/rep_loss 57.9 / model_only_pretrain/kl_value 57.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 33.8 / model_only_pretrain/post_ent -24.1 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 3100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[3100] model_only_pretrain/pretrain_opt_loss 156.7 / model_only_pretrain/pretrain_opt_grad_norm 265.3 / model_only_pretrain/cam_front_view_image_loss 61.4 / model_only_pretrain/cam_wrist_view_image_loss 60.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.2 / model_only_pretrain/dyn_loss 58.7 / model_only_pretrain/rep_loss 58.7 / model_only_pretrain/kl_value 58.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 34.6 / model_only_pretrain/post_ent -24.1 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 3200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[3200] model_only_pretrain/pretrain_opt_loss 155.1 / model_only_pretrain/pretrain_opt_grad_norm 287.7 / model_only_pretrain/cam_front_view_image_loss 59.9 / model_only_pretrain/cam_wrist_view_image_loss 60.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.2 / model_only_pretrain/dyn_loss 58.7 / model_only_pretrain/rep_loss 58.7 / model_only_pretrain/kl_value 58.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 34.3 / model_only_pretrain/post_ent -24.4 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 3300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[3300] model_only_pretrain/pretrain_opt_loss 156.1 / model_only_pretrain/pretrain_opt_grad_norm 307.6 / model_only_pretrain/cam_front_view_image_loss 60.2 / model_only_pretrain/cam_wrist_view_image_loss 60.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.3 / model_only_pretrain/dyn_loss 58.8 / model_only_pretrain/rep_loss 58.8 / model_only_pretrain/kl_value 58.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 34.3 / model_only_pretrain/post_ent -24.4 / model_only_pretrain/fps 8.9

[Checkpoint] Saving model at step 3400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[3400] model_only_pretrain/pretrain_opt_loss 151.7 / model_only_pretrain/pretrain_opt_grad_norm 278.5 / model_only_pretrain/cam_front_view_image_loss 59.2 / model_only_pretrain/cam_wrist_view_image_loss 57.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.1 / model_only_pretrain/dyn_loss 58.6 / model_only_pretrain/rep_loss 58.6 / model_only_pretrain/kl_value 58.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 34.0 / model_only_pretrain/post_ent -24.5 / model_only_pretrain/fps 8.6
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[3499] eval_recon/cam_front_view_image 52.7 / eval_recon/cam_wrist_view_image 69.1 / train_recon/cam_front_view_image 68.8 / train_recon/cam_wrist_view_image 77.4 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 3500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[3500] model_only_pretrain/pretrain_opt_loss 151.0 / model_only_pretrain/pretrain_opt_grad_norm 276.4 / model_only_pretrain/cam_front_view_image_loss 58.2 / model_only_pretrain/cam_wrist_view_image_loss 57.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.2 / model_only_pretrain/dyn_loss 58.6 / model_only_pretrain/rep_loss 58.6 / model_only_pretrain/kl_value 58.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 34.0 / model_only_pretrain/post_ent -24.6 / model_only_pretrain/fps 7.8

[Checkpoint] Saving model at step 3600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[3600] model_only_pretrain/pretrain_opt_loss 147.8 / model_only_pretrain/pretrain_opt_grad_norm 271.3 / model_only_pretrain/cam_front_view_image_loss 57.2 / model_only_pretrain/cam_wrist_view_image_loss 55.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.1 / model_only_pretrain/dyn_loss 58.5 / model_only_pretrain/rep_loss 58.5 / model_only_pretrain/kl_value 58.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 33.7 / model_only_pretrain/post_ent -24.7 / model_only_pretrain/fps 8.5

[Checkpoint] Saving model at step 3700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[3700] model_only_pretrain/pretrain_opt_loss 149.3 / model_only_pretrain/pretrain_opt_grad_norm 277.6 / model_only_pretrain/cam_front_view_image_loss 57.7 / model_only_pretrain/cam_wrist_view_image_loss 56.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.4 / model_only_pretrain/dyn_loss 59.0 / model_only_pretrain/rep_loss 59.0 / model_only_pretrain/kl_value 59.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 34.0 / model_only_pretrain/post_ent -24.8 / model_only_pretrain/fps 7.6

[Checkpoint] Saving model at step 3800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[3800] model_only_pretrain/pretrain_opt_loss 146.1 / model_only_pretrain/pretrain_opt_grad_norm 268.0 / model_only_pretrain/cam_front_view_image_loss 56.5 / model_only_pretrain/cam_wrist_view_image_loss 54.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.2 / model_only_pretrain/dyn_loss 58.7 / model_only_pretrain/rep_loss 58.7 / model_only_pretrain/kl_value 58.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 33.8 / model_only_pretrain/post_ent -24.9 / model_only_pretrain/fps 9.2

[Checkpoint] Saving model at step 3900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[3900] model_only_pretrain/pretrain_opt_loss 145.1 / model_only_pretrain/pretrain_opt_grad_norm 291.9 / model_only_pretrain/cam_front_view_image_loss 55.3 / model_only_pretrain/cam_wrist_view_image_loss 54.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.4 / model_only_pretrain/dyn_loss 59.0 / model_only_pretrain/rep_loss 59.0 / model_only_pretrain/kl_value 59.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 33.9 / model_only_pretrain/post_ent -25.0 / model_only_pretrain/fps 10.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[3999] eval_recon/cam_front_view_image 57.7 / eval_recon/cam_wrist_view_image 45.1 / train_recon/cam_front_view_image 52.2 / train_recon/cam_wrist_view_image 91.1 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 4000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[4000] 
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World Model pretraining:   3% 4999/150000 [08:46<2:49:52, 14.23it/s]model_only_pretrain/pretrain_opt_loss 144.6 / model_only_pretrain/pretrain_opt_grad_norm 288.0 / model_only_pretrain/cam_front_view_image_loss 54.6 / model_only_pretrain/cam_wrist_view_image_loss 54.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.5 / model_only_pretrain/dyn_loss 59.2 / model_only_pretrain/rep_loss 59.2 / model_only_pretrain/kl_value 59.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 33.9 / model_only_pretrain/post_ent -25.1 / model_only_pretrain/fps 9.7

[Checkpoint] Saving model at step 4100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[4100] model_only_pretrain/pretrain_opt_loss 143.0 / model_only_pretrain/pretrain_opt_grad_norm 289.7 / model_only_pretrain/cam_front_view_image_loss 54.2 / model_only_pretrain/cam_wrist_view_image_loss 53.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.4 / model_only_pretrain/dyn_loss 59.0 / model_only_pretrain/rep_loss 59.0 / model_only_pretrain/kl_value 59.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 33.8 / model_only_pretrain/post_ent -25.2 / model_only_pretrain/fps 7.8

[Checkpoint] Saving model at step 4200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[4200] model_only_pretrain/pretrain_opt_loss 141.9 / model_only_pretrain/pretrain_opt_grad_norm 271.1 / model_only_pretrain/cam_front_view_image_loss 53.8 / model_only_pretrain/cam_wrist_view_image_loss 52.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.5 / model_only_pretrain/dyn_loss 59.2 / model_only_pretrain/rep_loss 59.2 / model_only_pretrain/kl_value 59.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 33.8 / model_only_pretrain/post_ent -25.3 / model_only_pretrain/fps 8.1

[Checkpoint] Saving model at step 4300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[4300] model_only_pretrain/pretrain_opt_loss 141.0 / model_only_pretrain/pretrain_opt_grad_norm 274.3 / model_only_pretrain/cam_front_view_image_loss 53.3 / model_only_pretrain/cam_wrist_view_image_loss 52.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.5 / model_only_pretrain/dyn_loss 59.1 / model_only_pretrain/rep_loss 59.1 / model_only_pretrain/kl_value 59.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 33.6 / model_only_pretrain/post_ent -25.4 / model_only_pretrain/fps 8.0

[Checkpoint] Saving model at step 4400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[4400] model_only_pretrain/pretrain_opt_loss 141.8 / model_only_pretrain/pretrain_opt_grad_norm 286.2 / model_only_pretrain/cam_front_view_image_loss 52.9 / model_only_pretrain/cam_wrist_view_image_loss 53.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.5 / model_only_pretrain/dyn_loss 59.2 / model_only_pretrain/rep_loss 59.2 / model_only_pretrain/kl_value 59.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 33.6 / model_only_pretrain/post_ent -25.6 / model_only_pretrain/fps 10.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[4499] eval_recon/cam_front_view_image 59.8 / eval_recon/cam_wrist_view_image 68.5 / train_recon/cam_front_view_image 52.0 / train_recon/cam_wrist_view_image 92.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 4500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[4500] model_only_pretrain/pretrain_opt_loss 138.7 / model_only_pretrain/pretrain_opt_grad_norm 269.3 / model_only_pretrain/cam_front_view_image_loss 52.3 / model_only_pretrain/cam_wrist_view_image_loss 51.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.4 / model_only_pretrain/dyn_loss 59.0 / model_only_pretrain/rep_loss 59.0 / model_only_pretrain/kl_value 59.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 33.4 / model_only_pretrain/post_ent -25.6 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 4600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[4600] model_only_pretrain/pretrain_opt_loss 137.9 / model_only_pretrain/pretrain_opt_grad_norm 270.9 / model_only_pretrain/cam_front_view_image_loss 51.6 / model_only_pretrain/cam_wrist_view_image_loss 50.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.4 / model_only_pretrain/dyn_loss 59.1 / model_only_pretrain/rep_loss 59.1 / model_only_pretrain/kl_value 59.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 33.2 / model_only_pretrain/post_ent -25.7 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 4700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[4700] model_only_pretrain/pretrain_opt_loss 138.1 / model_only_pretrain/pretrain_opt_grad_norm 274.4 / model_only_pretrain/cam_front_view_image_loss 50.7 / model_only_pretrain/cam_wrist_view_image_loss 51.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.7 / model_only_pretrain/dyn_loss 59.5 / model_only_pretrain/rep_loss 59.5 / model_only_pretrain/kl_value 59.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 33.7 / model_only_pretrain/post_ent -25.8 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 4800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[4800] model_only_pretrain/pretrain_opt_loss 135.7 / model_only_pretrain/pretrain_opt_grad_norm 271.1 / model_only_pretrain/cam_front_view_image_loss 50.5 / model_only_pretrain/cam_wrist_view_image_loss 49.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.6 / model_only_pretrain/dyn_loss 59.3 / model_only_pretrain/rep_loss 59.3 / model_only_pretrain/kl_value 59.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 33.4 / model_only_pretrain/post_ent -25.8 / model_only_pretrain/fps 12.6

[Checkpoint] Saving model at step 4900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[4900] model_only_pretrain/pretrain_opt_loss 134.4 / model_only_pretrain/pretrain_opt_grad_norm 259.1 / model_only_pretrain/cam_front_view_image_loss 49.7 / model_only_pretrain/cam_wrist_view_image_loss 49.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.4 / model_only_pretrain/dyn_loss 59.1 / model_only_pretrain/rep_loss 59.1 / model_only_pretrain/kl_value 59.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 33.2 / model_only_pretrain/post_ent -25.8 / model_only_pretrain/fps 12.5
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[4999] eval_recon/cam_front_view_image 41.1 / eval_recon/cam_wrist_view_image 56.1 / train_recon/cam_front_view_image 54.5 / train_recon/cam_wrist_view_image 72.1 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 5000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[5000] 
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World Model pretraining:   4% 5999/150000 [10:16<2:26:20, 16.40it/s]model_only_pretrain/pretrain_opt_loss 134.5 / model_only_pretrain/pretrain_opt_grad_norm 262.3 / model_only_pretrain/cam_front_view_image_loss 49.1 / model_only_pretrain/cam_wrist_view_image_loss 50.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.4 / model_only_pretrain/dyn_loss 59.1 / model_only_pretrain/rep_loss 59.1 / model_only_pretrain/kl_value 59.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 33.1 / model_only_pretrain/post_ent -25.9 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 5100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[5100] model_only_pretrain/pretrain_opt_loss 135.4 / model_only_pretrain/pretrain_opt_grad_norm 272.3 / model_only_pretrain/cam_front_view_image_loss 49.6 / model_only_pretrain/cam_wrist_view_image_loss 50.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.6 / model_only_pretrain/dyn_loss 59.3 / model_only_pretrain/rep_loss 59.3 / model_only_pretrain/kl_value 59.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 33.2 / model_only_pretrain/post_ent -26.1 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 5200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[5200] model_only_pretrain/pretrain_opt_loss 132.9 / model_only_pretrain/pretrain_opt_grad_norm 252.7 / model_only_pretrain/cam_front_view_image_loss 48.3 / model_only_pretrain/cam_wrist_view_image_loss 49.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.5 / model_only_pretrain/dyn_loss 59.1 / model_only_pretrain/rep_loss 59.1 / model_only_pretrain/kl_value 59.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 33.0 / model_only_pretrain/post_ent -26.1 / model_only_pretrain/fps 12.1

[Checkpoint] Saving model at step 5300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[5300] model_only_pretrain/pretrain_opt_loss 132.3 / model_only_pretrain/pretrain_opt_grad_norm 268.0 / model_only_pretrain/cam_front_view_image_loss 48.6 / model_only_pretrain/cam_wrist_view_image_loss 48.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.7 / model_only_pretrain/dyn_loss 59.4 / model_only_pretrain/rep_loss 59.4 / model_only_pretrain/kl_value 59.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 33.2 / model_only_pretrain/post_ent -26.1 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 5400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[5400] model_only_pretrain/pretrain_opt_loss 131.0 / model_only_pretrain/pretrain_opt_grad_norm 266.8 / model_only_pretrain/cam_front_view_image_loss 47.8 / model_only_pretrain/cam_wrist_view_image_loss 47.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.6 / model_only_pretrain/dyn_loss 59.4 / model_only_pretrain/rep_loss 59.4 / model_only_pretrain/kl_value 59.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 33.1 / model_only_pretrain/post_ent -26.2 / model_only_pretrain/fps 11.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[5499] eval_recon/cam_front_view_image 45.1 / eval_recon/cam_wrist_view_image 41.3 / train_recon/cam_front_view_image 44.4 / train_recon/cam_wrist_view_image 91.4 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 5500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[5500] model_only_pretrain/pretrain_opt_loss 130.8 / model_only_pretrain/pretrain_opt_grad_norm 267.4 / model_only_pretrain/cam_front_view_image_loss 47.4 / model_only_pretrain/cam_wrist_view_image_loss 47.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.7 / model_only_pretrain/dyn_loss 59.4 / model_only_pretrain/rep_loss 59.4 / model_only_pretrain/kl_value 59.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 33.1 / model_only_pretrain/post_ent -26.2 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 5600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[5600] model_only_pretrain/pretrain_opt_loss 130.0 / model_only_pretrain/pretrain_opt_grad_norm 255.5 / model_only_pretrain/cam_front_view_image_loss 46.7 / model_only_pretrain/cam_wrist_view_image_loss 47.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.7 / model_only_pretrain/dyn_loss 59.5 / model_only_pretrain/rep_loss 59.5 / model_only_pretrain/kl_value 59.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 33.2 / model_only_pretrain/post_ent -26.3 / model_only_pretrain/fps 9.8

[Checkpoint] Saving model at step 5700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[5700] model_only_pretrain/pretrain_opt_loss 127.7 / model_only_pretrain/pretrain_opt_grad_norm 246.6 / model_only_pretrain/cam_front_view_image_loss 46.6 / model_only_pretrain/cam_wrist_view_image_loss 45.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.4 / model_only_pretrain/dyn_loss 59.1 / model_only_pretrain/rep_loss 59.1 / model_only_pretrain/kl_value 59.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 32.7 / model_only_pretrain/post_ent -26.3 / model_only_pretrain/fps 9.9

[Checkpoint] Saving model at step 5800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[5800] model_only_pretrain/pretrain_opt_loss 129.8 / model_only_pretrain/pretrain_opt_grad_norm 278.8 / model_only_pretrain/cam_front_view_image_loss 46.4 / model_only_pretrain/cam_wrist_view_image_loss 47.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.7 / model_only_pretrain/dyn_loss 59.6 / model_only_pretrain/rep_loss 59.6 / model_only_pretrain/kl_value 59.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 33.0 / model_only_pretrain/post_ent -26.4 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 5900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[5900] model_only_pretrain/pretrain_opt_loss 126.7 / model_only_pretrain/pretrain_opt_grad_norm 254.2 / model_only_pretrain/cam_front_view_image_loss 45.7 / model_only_pretrain/cam_wrist_view_image_loss 45.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.6 / model_only_pretrain/dyn_loss 59.3 / model_only_pretrain/rep_loss 59.3 / model_only_pretrain/kl_value 59.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 32.8 / model_only_pretrain/post_ent -26.4 / model_only_pretrain/fps 11.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[5999] eval_recon/cam_front_view_image 43.9 / eval_recon/cam_wrist_view_image 37.6 / train_recon/cam_front_view_image 50.5 / train_recon/cam_wrist_view_image 78.2 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 6000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:   5% 7000/150000 [11:45<17:23:04,  2.28it/s]model_only_pretrain/pretrain_opt_loss 126.3 / model_only_pretrain/pretrain_opt_grad_norm 250.7 / model_only_pretrain/cam_front_view_image_loss 45.0 / model_only_pretrain/cam_wrist_view_image_loss 45.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.5 / model_only_pretrain/dyn_loss 59.2 / model_only_pretrain/rep_loss 59.2 / model_only_pretrain/kl_value 59.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 32.7 / model_only_pretrain/post_ent -26.5 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 6100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[6100] model_only_pretrain/pretrain_opt_loss 125.8 / model_only_pretrain/pretrain_opt_grad_norm 249.7 / model_only_pretrain/cam_front_view_image_loss 44.9 / model_only_pretrain/cam_wrist_view_image_loss 45.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.6 / model_only_pretrain/dyn_loss 59.3 / model_only_pretrain/rep_loss 59.3 / model_only_pretrain/kl_value 59.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 32.6 / model_only_pretrain/post_ent -26.5 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 6200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[6200] model_only_pretrain/pretrain_opt_loss 125.6 / model_only_pretrain/pretrain_opt_grad_norm 259.9 / model_only_pretrain/cam_front_view_image_loss 44.4 / model_only_pretrain/cam_wrist_view_image_loss 45.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.6 / model_only_pretrain/dyn_loss 59.4 / model_only_pretrain/rep_loss 59.4 / model_only_pretrain/kl_value 59.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 32.8 / model_only_pretrain/post_ent -26.6 / model_only_pretrain/fps 12.4

[Checkpoint] Saving model at step 6300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[6300] model_only_pretrain/pretrain_opt_loss 123.0 / model_only_pretrain/pretrain_opt_grad_norm 262.2 / model_only_pretrain/cam_front_view_image_loss 43.6 / model_only_pretrain/cam_wrist_view_image_loss 43.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.6 / model_only_pretrain/dyn_loss 59.4 / model_only_pretrain/rep_loss 59.4 / model_only_pretrain/kl_value 59.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 32.7 / model_only_pretrain/post_ent -26.6 / model_only_pretrain/fps 12.4

[Checkpoint] Saving model at step 6400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[6400] model_only_pretrain/pretrain_opt_loss 125.3 / model_only_pretrain/pretrain_opt_grad_norm 251.2 / model_only_pretrain/cam_front_view_image_loss 44.2 / model_only_pretrain/cam_wrist_view_image_loss 45.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.8 / model_only_pretrain/dyn_loss 59.6 / model_only_pretrain/rep_loss 59.6 / model_only_pretrain/kl_value 59.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 33.0 / model_only_pretrain/post_ent -26.6 / model_only_pretrain/fps 12.1
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[6499] eval_recon/cam_front_view_image 49.1 / eval_recon/cam_wrist_view_image 85.9 / train_recon/cam_front_view_image 48.7 / train_recon/cam_wrist_view_image 46.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 6500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[6500] model_only_pretrain/pretrain_opt_loss 123.6 / model_only_pretrain/pretrain_opt_grad_norm 250.8 / model_only_pretrain/cam_front_view_image_loss 43.9 / model_only_pretrain/cam_wrist_view_image_loss 44.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.4 / model_only_pretrain/dyn_loss 59.0 / model_only_pretrain/rep_loss 59.0 / model_only_pretrain/kl_value 59.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 32.3 / model_only_pretrain/post_ent -26.7 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 6600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[6600] model_only_pretrain/pretrain_opt_loss 123.1 / model_only_pretrain/pretrain_opt_grad_norm 254.6 / model_only_pretrain/cam_front_view_image_loss 43.6 / model_only_pretrain/cam_wrist_view_image_loss 43.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.6 / model_only_pretrain/dyn_loss 59.3 / model_only_pretrain/rep_loss 59.3 / model_only_pretrain/kl_value 59.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 32.6 / model_only_pretrain/post_ent -26.7 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 6700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[6700] model_only_pretrain/pretrain_opt_loss 122.9 / model_only_pretrain/pretrain_opt_grad_norm 257.7 / model_only_pretrain/cam_front_view_image_loss 43.5 / model_only_pretrain/cam_wrist_view_image_loss 43.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.5 / model_only_pretrain/dyn_loss 59.2 / model_only_pretrain/rep_loss 59.2 / model_only_pretrain/kl_value 59.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 32.5 / model_only_pretrain/post_ent -26.7 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 6800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[6800] model_only_pretrain/pretrain_opt_loss 120.9 / model_only_pretrain/pretrain_opt_grad_norm 249.0 / model_only_pretrain/cam_front_view_image_loss 42.6 / model_only_pretrain/cam_wrist_view_image_loss 42.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.5 / model_only_pretrain/dyn_loss 59.1 / model_only_pretrain/rep_loss 59.1 / model_only_pretrain/kl_value 59.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 32.3 / model_only_pretrain/post_ent -26.7 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 6900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[6900] model_only_pretrain/pretrain_opt_loss 120.9 / model_only_pretrain/pretrain_opt_grad_norm 244.1 / model_only_pretrain/cam_front_view_image_loss 42.4 / model_only_pretrain/cam_wrist_view_image_loss 43.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.5 / model_only_pretrain/dyn_loss 59.2 / model_only_pretrain/rep_loss 59.2 / model_only_pretrain/kl_value 59.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 32.4 / model_only_pretrain/post_ent -26.7 / model_only_pretrain/fps 10.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[6999] eval_recon/cam_front_view_image 46.2 / eval_recon/cam_wrist_view_image 72.9 / train_recon/cam_front_view_image 39.4 / train_recon/cam_wrist_view_image 36.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 7000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:   5% 8000/150000 [13:13<15:58:47,  2.47it/s]model_only_pretrain/pretrain_opt_loss 120.8 / model_only_pretrain/pretrain_opt_grad_norm 246.0 / model_only_pretrain/cam_front_view_image_loss 42.2 / model_only_pretrain/cam_wrist_view_image_loss 43.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.6 / model_only_pretrain/dyn_loss 59.3 / model_only_pretrain/rep_loss 59.3 / model_only_pretrain/kl_value 59.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 32.4 / model_only_pretrain/post_ent -26.8 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 7100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[7100] model_only_pretrain/pretrain_opt_loss 116.8 / model_only_pretrain/pretrain_opt_grad_norm 247.5 / model_only_pretrain/cam_front_view_image_loss 40.8 / model_only_pretrain/cam_wrist_view_image_loss 40.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.3 / model_only_pretrain/dyn_loss 58.8 / model_only_pretrain/rep_loss 58.8 / model_only_pretrain/kl_value 58.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.9 / model_only_pretrain/post_ent -26.8 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 7200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[7200] model_only_pretrain/pretrain_opt_loss 118.8 / model_only_pretrain/pretrain_opt_grad_norm 258.0 / model_only_pretrain/cam_front_view_image_loss 41.3 / model_only_pretrain/cam_wrist_view_image_loss 42.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.3 / model_only_pretrain/dyn_loss 58.9 / model_only_pretrain/rep_loss 58.9 / model_only_pretrain/kl_value 58.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 32.0 / model_only_pretrain/post_ent -26.8 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 7300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[7300] model_only_pretrain/pretrain_opt_loss 120.5 / model_only_pretrain/pretrain_opt_grad_norm 248.8 / model_only_pretrain/cam_front_view_image_loss 41.5 / model_only_pretrain/cam_wrist_view_image_loss 43.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.5 / model_only_pretrain/dyn_loss 59.2 / model_only_pretrain/rep_loss 59.2 / model_only_pretrain/kl_value 59.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 32.3 / model_only_pretrain/post_ent -26.9 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 7400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[7400] model_only_pretrain/pretrain_opt_loss 117.5 / model_only_pretrain/pretrain_opt_grad_norm 236.8 / model_only_pretrain/cam_front_view_image_loss 40.6 / model_only_pretrain/cam_wrist_view_image_loss 41.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.4 / model_only_pretrain/dyn_loss 59.1 / model_only_pretrain/rep_loss 59.1 / model_only_pretrain/kl_value 59.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 32.1 / model_only_pretrain/post_ent -26.9 / model_only_pretrain/fps 11.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[7499] eval_recon/cam_front_view_image 44.8 / eval_recon/cam_wrist_view_image 48.6 / train_recon/cam_front_view_image 40.0 / train_recon/cam_wrist_view_image 33.6 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 7500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[7500] model_only_pretrain/pretrain_opt_loss 117.2 / model_only_pretrain/pretrain_opt_grad_norm 239.3 / model_only_pretrain/cam_front_view_image_loss 40.6 / model_only_pretrain/cam_wrist_view_image_loss 41.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.4 / model_only_pretrain/dyn_loss 59.0 / model_only_pretrain/rep_loss 59.0 / model_only_pretrain/kl_value 59.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.9 / model_only_pretrain/post_ent -26.9 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 7600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[7600] model_only_pretrain/pretrain_opt_loss 118.6 / model_only_pretrain/pretrain_opt_grad_norm 246.0 / model_only_pretrain/cam_front_view_image_loss 40.5 / model_only_pretrain/cam_wrist_view_image_loss 42.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.8 / model_only_pretrain/dyn_loss 59.6 / model_only_pretrain/rep_loss 59.6 / model_only_pretrain/kl_value 59.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 32.6 / model_only_pretrain/post_ent -26.9 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 7700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[7700] model_only_pretrain/pretrain_opt_loss 115.5 / model_only_pretrain/pretrain_opt_grad_norm 248.0 / model_only_pretrain/cam_front_view_image_loss 39.5 / model_only_pretrain/cam_wrist_view_image_loss 40.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.4 / model_only_pretrain/dyn_loss 59.0 / model_only_pretrain/rep_loss 59.0 / model_only_pretrain/kl_value 59.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.9 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 12.3

[Checkpoint] Saving model at step 7800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[7800] model_only_pretrain/pretrain_opt_loss 117.5 / model_only_pretrain/pretrain_opt_grad_norm 235.8 / model_only_pretrain/cam_front_view_image_loss 39.7 / model_only_pretrain/cam_wrist_view_image_loss 42.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.6 / model_only_pretrain/dyn_loss 59.3 / model_only_pretrain/rep_loss 59.3 / model_only_pretrain/kl_value 59.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 32.2 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 12.3

[Checkpoint] Saving model at step 7900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[7900] model_only_pretrain/pretrain_opt_loss 116.8 / model_only_pretrain/pretrain_opt_grad_norm 240.6 / model_only_pretrain/cam_front_view_image_loss 39.3 / model_only_pretrain/cam_wrist_view_image_loss 41.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.5 / model_only_pretrain/dyn_loss 59.1 / model_only_pretrain/rep_loss 59.1 / model_only_pretrain/kl_value 59.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 32.1 / model_only_pretrain/post_ent -26.9 / model_only_pretrain/fps 10.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[7999] eval_recon/cam_front_view_image 39.0 / eval_recon/cam_wrist_view_image 24.5 / train_recon/cam_front_view_image 45.7 / train_recon/cam_wrist_view_image 65.0 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 8000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:   6% 8999/150000 [14:42<2:37:32, 14.92it/s]model_only_pretrain/pretrain_opt_loss 115.0 / model_only_pretrain/pretrain_opt_grad_norm 259.7 / model_only_pretrain/cam_front_view_image_loss 39.3 / model_only_pretrain/cam_wrist_view_image_loss 40.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.4 / model_only_pretrain/dyn_loss 59.0 / model_only_pretrain/rep_loss 59.0 / model_only_pretrain/kl_value 59.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 32.0 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 8100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[8100] model_only_pretrain/pretrain_opt_loss 116.0 / model_only_pretrain/pretrain_opt_grad_norm 243.9 / model_only_pretrain/cam_front_view_image_loss 39.5 / model_only_pretrain/cam_wrist_view_image_loss 40.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.6 / model_only_pretrain/dyn_loss 59.3 / model_only_pretrain/rep_loss 59.3 / model_only_pretrain/kl_value 59.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 32.2 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 8200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[8200] model_only_pretrain/pretrain_opt_loss 114.9 / model_only_pretrain/pretrain_opt_grad_norm 234.2 / model_only_pretrain/cam_front_view_image_loss 39.0 / model_only_pretrain/cam_wrist_view_image_loss 40.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.5 / model_only_pretrain/dyn_loss 59.2 / model_only_pretrain/rep_loss 59.2 / model_only_pretrain/kl_value 59.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 32.1 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 8300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[8300] model_only_pretrain/pretrain_opt_loss 113.9 / model_only_pretrain/pretrain_opt_grad_norm 234.5 / model_only_pretrain/cam_front_view_image_loss 39.0 / model_only_pretrain/cam_wrist_view_image_loss 39.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.4 / model_only_pretrain/dyn_loss 59.1 / model_only_pretrain/rep_loss 59.1 / model_only_pretrain/kl_value 59.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.9 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 8400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[8400] model_only_pretrain/pretrain_opt_loss 113.4 / model_only_pretrain/pretrain_opt_grad_norm 241.0 / model_only_pretrain/cam_front_view_image_loss 38.5 / model_only_pretrain/cam_wrist_view_image_loss 39.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.4 / model_only_pretrain/dyn_loss 59.0 / model_only_pretrain/rep_loss 59.0 / model_only_pretrain/kl_value 59.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.9 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 10.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[8499] eval_recon/cam_front_view_image 40.8 / eval_recon/cam_wrist_view_image 66.5 / train_recon/cam_front_view_image 36.2 / train_recon/cam_wrist_view_image 76.5 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 8500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[8500] model_only_pretrain/pretrain_opt_loss 113.0 / model_only_pretrain/pretrain_opt_grad_norm 230.0 / model_only_pretrain/cam_front_view_image_loss 38.1 / model_only_pretrain/cam_wrist_view_image_loss 39.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.2 / model_only_pretrain/dyn_loss 58.7 / model_only_pretrain/rep_loss 58.7 / model_only_pretrain/kl_value 58.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.6 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 9.7

[Checkpoint] Saving model at step 8600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[8600] model_only_pretrain/pretrain_opt_loss 114.7 / model_only_pretrain/pretrain_opt_grad_norm 244.3 / model_only_pretrain/cam_front_view_image_loss 38.2 / model_only_pretrain/cam_wrist_view_image_loss 40.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.6 / model_only_pretrain/dyn_loss 59.4 / model_only_pretrain/rep_loss 59.4 / model_only_pretrain/kl_value 59.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 32.1 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 8700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[8700] model_only_pretrain/pretrain_opt_loss 113.7 / model_only_pretrain/pretrain_opt_grad_norm 248.4 / model_only_pretrain/cam_front_view_image_loss 38.4 / model_only_pretrain/cam_wrist_view_image_loss 40.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.4 / model_only_pretrain/dyn_loss 58.9 / model_only_pretrain/rep_loss 58.9 / model_only_pretrain/kl_value 58.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.7 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 8800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[8800] model_only_pretrain/pretrain_opt_loss 110.0 / model_only_pretrain/pretrain_opt_grad_norm 240.2 / model_only_pretrain/cam_front_view_image_loss 36.6 / model_only_pretrain/cam_wrist_view_image_loss 38.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.1 / model_only_pretrain/dyn_loss 58.5 / model_only_pretrain/rep_loss 58.5 / model_only_pretrain/kl_value 58.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.2 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 8900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[8900] model_only_pretrain/pretrain_opt_loss 113.1 / model_only_pretrain/pretrain_opt_grad_norm 241.3 / model_only_pretrain/cam_front_view_image_loss 37.6 / model_only_pretrain/cam_wrist_view_image_loss 40.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.3 / model_only_pretrain/dyn_loss 58.9 / model_only_pretrain/rep_loss 58.9 / model_only_pretrain/kl_value 58.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.6 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[8999] eval_recon/cam_front_view_image 35.3 / eval_recon/cam_wrist_view_image 81.7 / train_recon/cam_front_view_image 87.3 / train_recon/cam_wrist_view_image 87.4 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 9000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:   7% 9999/150000 [16:14<3:09:12, 12.33it/s]model_only_pretrain/pretrain_opt_loss 113.1 / model_only_pretrain/pretrain_opt_grad_norm 252.3 / model_only_pretrain/cam_front_view_image_loss 37.8 / model_only_pretrain/cam_wrist_view_image_loss 39.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.4 / model_only_pretrain/dyn_loss 59.1 / model_only_pretrain/rep_loss 59.1 / model_only_pretrain/kl_value 59.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.7 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 9100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[9100] model_only_pretrain/pretrain_opt_loss 110.0 / model_only_pretrain/pretrain_opt_grad_norm 233.1 / model_only_pretrain/cam_front_view_image_loss 36.7 / model_only_pretrain/cam_wrist_view_image_loss 38.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.3 / model_only_pretrain/dyn_loss 58.8 / model_only_pretrain/rep_loss 58.8 / model_only_pretrain/kl_value 58.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.7 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 9200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[9200] model_only_pretrain/pretrain_opt_loss 111.0 / model_only_pretrain/pretrain_opt_grad_norm 249.8 / model_only_pretrain/cam_front_view_image_loss 36.6 / model_only_pretrain/cam_wrist_view_image_loss 39.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.4 / model_only_pretrain/dyn_loss 59.0 / model_only_pretrain/rep_loss 59.0 / model_only_pretrain/kl_value 59.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.7 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 9300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[9300] model_only_pretrain/pretrain_opt_loss 111.0 / model_only_pretrain/pretrain_opt_grad_norm 238.4 / model_only_pretrain/cam_front_view_image_loss 36.9 / model_only_pretrain/cam_wrist_view_image_loss 38.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.4 / model_only_pretrain/dyn_loss 59.1 / model_only_pretrain/rep_loss 59.1 / model_only_pretrain/kl_value 59.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.7 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 9400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[9400] model_only_pretrain/pretrain_opt_loss 109.9 / model_only_pretrain/pretrain_opt_grad_norm 231.1 / model_only_pretrain/cam_front_view_image_loss 36.6 / model_only_pretrain/cam_wrist_view_image_loss 37.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.4 / model_only_pretrain/dyn_loss 59.1 / model_only_pretrain/rep_loss 59.1 / model_only_pretrain/kl_value 59.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.8 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[9499] eval_recon/cam_front_view_image 27.2 / eval_recon/cam_wrist_view_image 40.4 / train_recon/cam_front_view_image 31.6 / train_recon/cam_wrist_view_image 33.6 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 9500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[9500] model_only_pretrain/pretrain_opt_loss 110.3 / model_only_pretrain/pretrain_opt_grad_norm 252.4 / model_only_pretrain/cam_front_view_image_loss 36.7 / model_only_pretrain/cam_wrist_view_image_loss 38.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.5 / model_only_pretrain/dyn_loss 59.1 / model_only_pretrain/rep_loss 59.1 / model_only_pretrain/kl_value 59.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.7 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.4

[Checkpoint] Saving model at step 9600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[9600] model_only_pretrain/pretrain_opt_loss 110.4 / model_only_pretrain/pretrain_opt_grad_norm 232.8 / model_only_pretrain/cam_front_view_image_loss 36.0 / model_only_pretrain/cam_wrist_view_image_loss 39.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.4 / model_only_pretrain/dyn_loss 59.0 / model_only_pretrain/rep_loss 59.0 / model_only_pretrain/kl_value 59.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.6 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 9700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[9700] model_only_pretrain/pretrain_opt_loss 108.1 / model_only_pretrain/pretrain_opt_grad_norm 231.0 / model_only_pretrain/cam_front_view_image_loss 35.7 / model_only_pretrain/cam_wrist_view_image_loss 37.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.1 / model_only_pretrain/dyn_loss 58.4 / model_only_pretrain/rep_loss 58.4 / model_only_pretrain/kl_value 58.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.1 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 9800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[9800] model_only_pretrain/pretrain_opt_loss 108.4 / model_only_pretrain/pretrain_opt_grad_norm 225.0 / model_only_pretrain/cam_front_view_image_loss 35.4 / model_only_pretrain/cam_wrist_view_image_loss 37.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.3 / model_only_pretrain/dyn_loss 58.9 / model_only_pretrain/rep_loss 58.9 / model_only_pretrain/kl_value 58.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.5 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 9900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[9900] model_only_pretrain/pretrain_opt_loss 108.8 / model_only_pretrain/pretrain_opt_grad_norm 240.8 / model_only_pretrain/cam_front_view_image_loss 35.8 / model_only_pretrain/cam_wrist_view_image_loss 37.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.3 / model_only_pretrain/dyn_loss 58.8 / model_only_pretrain/rep_loss 58.8 / model_only_pretrain/kl_value 58.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.4 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[9999] eval_recon/cam_front_view_image 91.5 / eval_recon/cam_wrist_view_image 60.8 / train_recon/cam_front_view_image 41.5 / train_recon/cam_wrist_view_image 25.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 10000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:   7% 10999/150000 [17:57<2:36:49, 14.77it/s]model_only_pretrain/pretrain_opt_loss 108.8 / model_only_pretrain/pretrain_opt_grad_norm 234.9 / model_only_pretrain/cam_front_view_image_loss 35.7 / model_only_pretrain/cam_wrist_view_image_loss 37.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.4 / model_only_pretrain/dyn_loss 59.0 / model_only_pretrain/rep_loss 59.0 / model_only_pretrain/kl_value 59.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.6 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 10100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[10100] model_only_pretrain/pretrain_opt_loss 108.7 / model_only_pretrain/pretrain_opt_grad_norm 224.8 / model_only_pretrain/cam_front_view_image_loss 35.4 / model_only_pretrain/cam_wrist_view_image_loss 37.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.3 / model_only_pretrain/dyn_loss 58.9 / model_only_pretrain/rep_loss 58.9 / model_only_pretrain/kl_value 58.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.6 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 10200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[10200] model_only_pretrain/pretrain_opt_loss 107.9 / model_only_pretrain/pretrain_opt_grad_norm 237.7 / model_only_pretrain/cam_front_view_image_loss 35.3 / model_only_pretrain/cam_wrist_view_image_loss 37.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.2 / model_only_pretrain/dyn_loss 58.7 / model_only_pretrain/rep_loss 58.7 / model_only_pretrain/kl_value 58.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.3 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.4

[Checkpoint] Saving model at step 10300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[10300] model_only_pretrain/pretrain_opt_loss 108.0 / model_only_pretrain/pretrain_opt_grad_norm 230.2 / model_only_pretrain/cam_front_view_image_loss 35.5 / model_only_pretrain/cam_wrist_view_image_loss 37.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.3 / model_only_pretrain/dyn_loss 58.9 / model_only_pretrain/rep_loss 58.9 / model_only_pretrain/kl_value 58.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.4 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.1

[Checkpoint] Saving model at step 10400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[10400] model_only_pretrain/pretrain_opt_loss 107.8 / model_only_pretrain/pretrain_opt_grad_norm 237.2 / model_only_pretrain/cam_front_view_image_loss 34.9 / model_only_pretrain/cam_wrist_view_image_loss 37.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.4 / model_only_pretrain/dyn_loss 59.0 / model_only_pretrain/rep_loss 59.0 / model_only_pretrain/kl_value 59.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.6 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 9.3
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[10499] eval_recon/cam_front_view_image 30.9 / eval_recon/cam_wrist_view_image 29.9 / train_recon/cam_front_view_image 40.0 / train_recon/cam_wrist_view_image 44.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 10500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[10500] model_only_pretrain/pretrain_opt_loss 106.0 / model_only_pretrain/pretrain_opt_grad_norm 223.2 / model_only_pretrain/cam_front_view_image_loss 35.0 / model_only_pretrain/cam_wrist_view_image_loss 35.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.2 / model_only_pretrain/dyn_loss 58.6 / model_only_pretrain/rep_loss 58.6 / model_only_pretrain/kl_value 58.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.3 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.0

[Checkpoint] Saving model at step 10600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[10600] model_only_pretrain/pretrain_opt_loss 107.7 / model_only_pretrain/pretrain_opt_grad_norm 239.6 / model_only_pretrain/cam_front_view_image_loss 35.3 / model_only_pretrain/cam_wrist_view_image_loss 37.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.3 / model_only_pretrain/dyn_loss 58.8 / model_only_pretrain/rep_loss 58.8 / model_only_pretrain/kl_value 58.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.4 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 8.9

[Checkpoint] Saving model at step 10700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[10700] model_only_pretrain/pretrain_opt_loss 105.5 / model_only_pretrain/pretrain_opt_grad_norm 237.1 / model_only_pretrain/cam_front_view_image_loss 34.8 / model_only_pretrain/cam_wrist_view_image_loss 35.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.0 / model_only_pretrain/dyn_loss 58.3 / model_only_pretrain/rep_loss 58.3 / model_only_pretrain/kl_value 58.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.0 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 8.7

[Checkpoint] Saving model at step 10800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[10800] model_only_pretrain/pretrain_opt_loss 105.5 / model_only_pretrain/pretrain_opt_grad_norm 215.9 / model_only_pretrain/cam_front_view_image_loss 33.9 / model_only_pretrain/cam_wrist_view_image_loss 36.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.1 / model_only_pretrain/dyn_loss 58.5 / model_only_pretrain/rep_loss 58.5 / model_only_pretrain/kl_value 58.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.2 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.5

[Checkpoint] Saving model at step 10900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[10900] model_only_pretrain/pretrain_opt_loss 104.5 / model_only_pretrain/pretrain_opt_grad_norm 229.1 / model_only_pretrain/cam_front_view_image_loss 34.0 / model_only_pretrain/cam_wrist_view_image_loss 35.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.0 / model_only_pretrain/dyn_loss 58.4 / model_only_pretrain/rep_loss 58.4 / model_only_pretrain/kl_value 58.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.9 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.9
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[10999] eval_recon/cam_front_view_image 33.6 / eval_recon/cam_wrist_view_image 65.2 / train_recon/cam_front_view_image 33.6 / train_recon/cam_wrist_view_image 24.7 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 11000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:   8% 12000/150000 [19:38<23:00:50,  1.67it/s]model_only_pretrain/pretrain_opt_loss 105.5 / model_only_pretrain/pretrain_opt_grad_norm 221.4 / model_only_pretrain/cam_front_view_image_loss 34.2 / model_only_pretrain/cam_wrist_view_image_loss 36.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.3 / model_only_pretrain/dyn_loss 58.9 / model_only_pretrain/rep_loss 58.9 / model_only_pretrain/kl_value 58.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.5 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.4

[Checkpoint] Saving model at step 11100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[11100] model_only_pretrain/pretrain_opt_loss 104.0 / model_only_pretrain/pretrain_opt_grad_norm 214.4 / model_only_pretrain/cam_front_view_image_loss 33.6 / model_only_pretrain/cam_wrist_view_image_loss 35.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.1 / model_only_pretrain/dyn_loss 58.5 / model_only_pretrain/rep_loss 58.5 / model_only_pretrain/kl_value 58.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.0 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 11200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[11200] model_only_pretrain/pretrain_opt_loss 104.4 / model_only_pretrain/pretrain_opt_grad_norm 235.8 / model_only_pretrain/cam_front_view_image_loss 33.6 / model_only_pretrain/cam_wrist_view_image_loss 35.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.2 / model_only_pretrain/dyn_loss 58.6 / model_only_pretrain/rep_loss 58.6 / model_only_pretrain/kl_value 58.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.2 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.4

[Checkpoint] Saving model at step 11300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[11300] model_only_pretrain/pretrain_opt_loss 103.4 / model_only_pretrain/pretrain_opt_grad_norm 216.7 / model_only_pretrain/cam_front_view_image_loss 33.2 / model_only_pretrain/cam_wrist_view_image_loss 35.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.9 / model_only_pretrain/dyn_loss 58.2 / model_only_pretrain/rep_loss 58.2 / model_only_pretrain/kl_value 58.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.8 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 11400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[11400] model_only_pretrain/pretrain_opt_loss 104.5 / model_only_pretrain/pretrain_opt_grad_norm 232.5 / model_only_pretrain/cam_front_view_image_loss 33.5 / model_only_pretrain/cam_wrist_view_image_loss 35.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.2 / model_only_pretrain/dyn_loss 58.7 / model_only_pretrain/rep_loss 58.7 / model_only_pretrain/kl_value 58.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.1 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.9
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[11499] eval_recon/cam_front_view_image 28.1 / eval_recon/cam_wrist_view_image 31.8 / train_recon/cam_front_view_image 73.0 / train_recon/cam_wrist_view_image 66.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 11500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[11500] model_only_pretrain/pretrain_opt_loss 104.2 / model_only_pretrain/pretrain_opt_grad_norm 235.4 / model_only_pretrain/cam_front_view_image_loss 33.5 / model_only_pretrain/cam_wrist_view_image_loss 35.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.2 / model_only_pretrain/dyn_loss 58.7 / model_only_pretrain/rep_loss 58.7 / model_only_pretrain/kl_value 58.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.3 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 11600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[11600] model_only_pretrain/pretrain_opt_loss 104.4 / model_only_pretrain/pretrain_opt_grad_norm 224.0 / model_only_pretrain/cam_front_view_image_loss 33.4 / model_only_pretrain/cam_wrist_view_image_loss 35.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.1 / model_only_pretrain/dyn_loss 58.5 / model_only_pretrain/rep_loss 58.5 / model_only_pretrain/kl_value 58.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.1 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 11700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[11700] model_only_pretrain/pretrain_opt_loss 104.9 / model_only_pretrain/pretrain_opt_grad_norm 241.1 / model_only_pretrain/cam_front_view_image_loss 33.7 / model_only_pretrain/cam_wrist_view_image_loss 35.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.3 / model_only_pretrain/dyn_loss 58.8 / model_only_pretrain/rep_loss 58.8 / model_only_pretrain/kl_value 58.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.3 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 11800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[11800] model_only_pretrain/pretrain_opt_loss 104.3 / model_only_pretrain/pretrain_opt_grad_norm 228.6 / model_only_pretrain/cam_front_view_image_loss 33.2 / model_only_pretrain/cam_wrist_view_image_loss 35.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.3 / model_only_pretrain/dyn_loss 58.8 / model_only_pretrain/rep_loss 58.8 / model_only_pretrain/kl_value 58.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.3 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 11900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[11900] model_only_pretrain/pretrain_opt_loss 103.7 / model_only_pretrain/pretrain_opt_grad_norm 223.1 / model_only_pretrain/cam_front_view_image_loss 33.2 / model_only_pretrain/cam_wrist_view_image_loss 35.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.2 / model_only_pretrain/dyn_loss 58.6 / model_only_pretrain/rep_loss 58.6 / model_only_pretrain/kl_value 58.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.2 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.5
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[11999] eval_recon/cam_front_view_image 30.1 / eval_recon/cam_wrist_view_image 33.4 / train_recon/cam_front_view_image 27.9 / train_recon/cam_wrist_view_image 26.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 12000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[12000] 
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World Model pretraining:   9% 12999/150000 [21:06<2:25:51, 15.65it/s]model_only_pretrain/pretrain_opt_loss 102.1 / model_only_pretrain/pretrain_opt_grad_norm 226.3 / model_only_pretrain/cam_front_view_image_loss 32.4 / model_only_pretrain/cam_wrist_view_image_loss 34.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.0 / model_only_pretrain/dyn_loss 58.4 / model_only_pretrain/rep_loss 58.4 / model_only_pretrain/kl_value 58.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.9 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 12100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[12100] model_only_pretrain/pretrain_opt_loss 102.0 / model_only_pretrain/pretrain_opt_grad_norm 226.2 / model_only_pretrain/cam_front_view_image_loss 32.2 / model_only_pretrain/cam_wrist_view_image_loss 34.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.0 / model_only_pretrain/dyn_loss 58.3 / model_only_pretrain/rep_loss 58.3 / model_only_pretrain/kl_value 58.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.9 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 12200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[12200] model_only_pretrain/pretrain_opt_loss 102.3 / model_only_pretrain/pretrain_opt_grad_norm 235.5 / model_only_pretrain/cam_front_view_image_loss 32.3 / model_only_pretrain/cam_wrist_view_image_loss 35.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.1 / model_only_pretrain/dyn_loss 58.5 / model_only_pretrain/rep_loss 58.5 / model_only_pretrain/kl_value 58.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.1 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 12300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[12300] model_only_pretrain/pretrain_opt_loss 101.3 / model_only_pretrain/pretrain_opt_grad_norm 218.1 / model_only_pretrain/cam_front_view_image_loss 32.1 / model_only_pretrain/cam_wrist_view_image_loss 34.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.8 / model_only_pretrain/dyn_loss 58.0 / model_only_pretrain/rep_loss 58.0 / model_only_pretrain/kl_value 58.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.6 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 12400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[12400] model_only_pretrain/pretrain_opt_loss 102.1 / model_only_pretrain/pretrain_opt_grad_norm 229.4 / model_only_pretrain/cam_front_view_image_loss 32.6 / model_only_pretrain/cam_wrist_view_image_loss 34.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.0 / model_only_pretrain/dyn_loss 58.3 / model_only_pretrain/rep_loss 58.3 / model_only_pretrain/kl_value 58.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.8 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[12499] eval_recon/cam_front_view_image 27.0 / eval_recon/cam_wrist_view_image 27.5 / train_recon/cam_front_view_image 30.8 / train_recon/cam_wrist_view_image 88.2 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 12500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[12500] model_only_pretrain/pretrain_opt_loss 101.5 / model_only_pretrain/pretrain_opt_grad_norm 215.1 / model_only_pretrain/cam_front_view_image_loss 32.1 / model_only_pretrain/cam_wrist_view_image_loss 34.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.2 / model_only_pretrain/dyn_loss 58.6 / model_only_pretrain/rep_loss 58.6 / model_only_pretrain/kl_value 58.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.0 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 12.1

[Checkpoint] Saving model at step 12600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[12600] model_only_pretrain/pretrain_opt_loss 101.6 / model_only_pretrain/pretrain_opt_grad_norm 226.3 / model_only_pretrain/cam_front_view_image_loss 31.8 / model_only_pretrain/cam_wrist_view_image_loss 34.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.1 / model_only_pretrain/dyn_loss 58.6 / model_only_pretrain/rep_loss 58.6 / model_only_pretrain/kl_value 58.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.1 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 12700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[12700] model_only_pretrain/pretrain_opt_loss 101.0 / model_only_pretrain/pretrain_opt_grad_norm 223.3 / model_only_pretrain/cam_front_view_image_loss 31.8 / model_only_pretrain/cam_wrist_view_image_loss 34.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.0 / model_only_pretrain/dyn_loss 58.3 / model_only_pretrain/rep_loss 58.3 / model_only_pretrain/kl_value 58.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.0 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 12800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[12800] model_only_pretrain/pretrain_opt_loss 101.8 / model_only_pretrain/pretrain_opt_grad_norm 226.2 / model_only_pretrain/cam_front_view_image_loss 32.1 / model_only_pretrain/cam_wrist_view_image_loss 34.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.1 / model_only_pretrain/dyn_loss 58.5 / model_only_pretrain/rep_loss 58.5 / model_only_pretrain/kl_value 58.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.0 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.4

[Checkpoint] Saving model at step 12900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[12900] model_only_pretrain/pretrain_opt_loss 100.1 / model_only_pretrain/pretrain_opt_grad_norm 216.5 / model_only_pretrain/cam_front_view_image_loss 31.6 / model_only_pretrain/cam_wrist_view_image_loss 33.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.1 / model_only_pretrain/dyn_loss 58.4 / model_only_pretrain/rep_loss 58.4 / model_only_pretrain/kl_value 58.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.9 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[12999] eval_recon/cam_front_view_image 73.8 / eval_recon/cam_wrist_view_image 134.1 / train_recon/cam_front_view_image 31.3 / train_recon/cam_wrist_view_image 36.0 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 13000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:   9% 14000/150000 [22:44<19:31:35,  1.93it/s]model_only_pretrain/pretrain_opt_loss 101.9 / model_only_pretrain/pretrain_opt_grad_norm 220.8 / model_only_pretrain/cam_front_view_image_loss 31.7 / model_only_pretrain/cam_wrist_view_image_loss 35.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.1 / model_only_pretrain/dyn_loss 58.6 / model_only_pretrain/rep_loss 58.6 / model_only_pretrain/kl_value 58.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 31.1 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 13100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[13100] model_only_pretrain/pretrain_opt_loss 100.2 / model_only_pretrain/pretrain_opt_grad_norm 217.6 / model_only_pretrain/cam_front_view_image_loss 31.7 / model_only_pretrain/cam_wrist_view_image_loss 33.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.0 / model_only_pretrain/dyn_loss 58.4 / model_only_pretrain/rep_loss 58.4 / model_only_pretrain/kl_value 58.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.8 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 13200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[13200] model_only_pretrain/pretrain_opt_loss 99.8 / model_only_pretrain/pretrain_opt_grad_norm 222.0 / model_only_pretrain/cam_front_view_image_loss 31.5 / model_only_pretrain/cam_wrist_view_image_loss 33.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.0 / model_only_pretrain/dyn_loss 58.3 / model_only_pretrain/rep_loss 58.3 / model_only_pretrain/kl_value 58.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.9 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 13300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[13300] model_only_pretrain/pretrain_opt_loss 98.9 / model_only_pretrain/pretrain_opt_grad_norm 220.2 / model_only_pretrain/cam_front_view_image_loss 31.0 / model_only_pretrain/cam_wrist_view_image_loss 33.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.8 / model_only_pretrain/dyn_loss 58.1 / model_only_pretrain/rep_loss 58.1 / model_only_pretrain/kl_value 58.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.5 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 13400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[13400] model_only_pretrain/pretrain_opt_loss 100.0 / model_only_pretrain/pretrain_opt_grad_norm 215.7 / model_only_pretrain/cam_front_view_image_loss 31.4 / model_only_pretrain/cam_wrist_view_image_loss 33.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.9 / model_only_pretrain/dyn_loss 58.2 / model_only_pretrain/rep_loss 58.2 / model_only_pretrain/kl_value 58.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.7 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[13499] eval_recon/cam_front_view_image 32.7 / eval_recon/cam_wrist_view_image 77.4 / train_recon/cam_front_view_image 37.8 / train_recon/cam_wrist_view_image 104.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 13500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[13500] model_only_pretrain/pretrain_opt_loss 99.1 / model_only_pretrain/pretrain_opt_grad_norm 208.1 / model_only_pretrain/cam_front_view_image_loss 31.2 / model_only_pretrain/cam_wrist_view_image_loss 32.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.0 / model_only_pretrain/dyn_loss 58.3 / model_only_pretrain/rep_loss 58.3 / model_only_pretrain/kl_value 58.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.8 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.8

[Checkpoint] Saving model at step 13600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[13600] model_only_pretrain/pretrain_opt_loss 98.8 / model_only_pretrain/pretrain_opt_grad_norm 209.4 / model_only_pretrain/cam_front_view_image_loss 31.1 / model_only_pretrain/cam_wrist_view_image_loss 32.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.0 / model_only_pretrain/dyn_loss 58.3 / model_only_pretrain/rep_loss 58.3 / model_only_pretrain/kl_value 58.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.7 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.4

[Checkpoint] Saving model at step 13700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[13700] model_only_pretrain/pretrain_opt_loss 98.3 / model_only_pretrain/pretrain_opt_grad_norm 207.2 / model_only_pretrain/cam_front_view_image_loss 30.8 / model_only_pretrain/cam_wrist_view_image_loss 32.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.0 / model_only_pretrain/dyn_loss 58.3 / model_only_pretrain/rep_loss 58.3 / model_only_pretrain/kl_value 58.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.9 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.4

[Checkpoint] Saving model at step 13800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[13800] model_only_pretrain/pretrain_opt_loss 98.3 / model_only_pretrain/pretrain_opt_grad_norm 219.0 / model_only_pretrain/cam_front_view_image_loss 30.6 / model_only_pretrain/cam_wrist_view_image_loss 33.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.8 / model_only_pretrain/dyn_loss 57.9 / model_only_pretrain/rep_loss 57.9 / model_only_pretrain/kl_value 57.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.4 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 13900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[13900] model_only_pretrain/pretrain_opt_loss 98.0 / model_only_pretrain/pretrain_opt_grad_norm 207.1 / model_only_pretrain/cam_front_view_image_loss 30.6 / model_only_pretrain/cam_wrist_view_image_loss 32.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.9 / model_only_pretrain/dyn_loss 58.1 / model_only_pretrain/rep_loss 58.1 / model_only_pretrain/kl_value 58.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.5 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.1
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[13999] eval_recon/cam_front_view_image 37.4 / eval_recon/cam_wrist_view_image 119.0 / train_recon/cam_front_view_image 34.3 / train_recon/cam_wrist_view_image 74.7 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 14000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[14000] 
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World Model pretraining:  10% 15000/150000 [24:11<12:55:14,  2.90it/s]model_only_pretrain/pretrain_opt_loss 98.0 / model_only_pretrain/pretrain_opt_grad_norm 216.7 / model_only_pretrain/cam_front_view_image_loss 30.7 / model_only_pretrain/cam_wrist_view_image_loss 32.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.0 / model_only_pretrain/dyn_loss 58.3 / model_only_pretrain/rep_loss 58.3 / model_only_pretrain/kl_value 58.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.6 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.4

[Checkpoint] Saving model at step 14100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[14100] model_only_pretrain/pretrain_opt_loss 98.2 / model_only_pretrain/pretrain_opt_grad_norm 222.8 / model_only_pretrain/cam_front_view_image_loss 30.7 / model_only_pretrain/cam_wrist_view_image_loss 32.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.0 / model_only_pretrain/dyn_loss 58.3 / model_only_pretrain/rep_loss 58.3 / model_only_pretrain/kl_value 58.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.8 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 14200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[14200] model_only_pretrain/pretrain_opt_loss 97.9 / model_only_pretrain/pretrain_opt_grad_norm 220.4 / model_only_pretrain/cam_front_view_image_loss 30.4 / model_only_pretrain/cam_wrist_view_image_loss 32.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.0 / model_only_pretrain/dyn_loss 58.3 / model_only_pretrain/rep_loss 58.3 / model_only_pretrain/kl_value 58.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.7 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 14300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[14300] model_only_pretrain/pretrain_opt_loss 96.2 / model_only_pretrain/pretrain_opt_grad_norm 209.3 / model_only_pretrain/cam_front_view_image_loss 29.9 / model_only_pretrain/cam_wrist_view_image_loss 31.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.6 / model_only_pretrain/dyn_loss 57.7 / model_only_pretrain/rep_loss 57.7 / model_only_pretrain/kl_value 57.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.2 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 14400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[14400] model_only_pretrain/pretrain_opt_loss 97.6 / model_only_pretrain/pretrain_opt_grad_norm 206.4 / model_only_pretrain/cam_front_view_image_loss 30.3 / model_only_pretrain/cam_wrist_view_image_loss 32.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.0 / model_only_pretrain/dyn_loss 58.3 / model_only_pretrain/rep_loss 58.3 / model_only_pretrain/kl_value 58.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.7 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[14499] eval_recon/cam_front_view_image 67.4 / eval_recon/cam_wrist_view_image 77.4 / train_recon/cam_front_view_image 29.6 / train_recon/cam_wrist_view_image 82.5 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 14500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[14500] model_only_pretrain/pretrain_opt_loss 97.2 / model_only_pretrain/pretrain_opt_grad_norm 220.0 / model_only_pretrain/cam_front_view_image_loss 30.0 / model_only_pretrain/cam_wrist_view_image_loss 32.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.8 / model_only_pretrain/dyn_loss 58.0 / model_only_pretrain/rep_loss 58.0 / model_only_pretrain/kl_value 58.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.5 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 14600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[14600] model_only_pretrain/pretrain_opt_loss 97.5 / model_only_pretrain/pretrain_opt_grad_norm 217.1 / model_only_pretrain/cam_front_view_image_loss 30.3 / model_only_pretrain/cam_wrist_view_image_loss 32.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.9 / model_only_pretrain/dyn_loss 58.1 / model_only_pretrain/rep_loss 58.1 / model_only_pretrain/kl_value 58.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.7 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 14700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[14700] model_only_pretrain/pretrain_opt_loss 96.7 / model_only_pretrain/pretrain_opt_grad_norm 207.0 / model_only_pretrain/cam_front_view_image_loss 30.0 / model_only_pretrain/cam_wrist_view_image_loss 32.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.7 / model_only_pretrain/dyn_loss 57.8 / model_only_pretrain/rep_loss 57.8 / model_only_pretrain/kl_value 57.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.3 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 14800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[14800] model_only_pretrain/pretrain_opt_loss 97.1 / model_only_pretrain/pretrain_opt_grad_norm 211.4 / model_only_pretrain/cam_front_view_image_loss 29.9 / model_only_pretrain/cam_wrist_view_image_loss 32.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.9 / model_only_pretrain/dyn_loss 58.1 / model_only_pretrain/rep_loss 58.1 / model_only_pretrain/kl_value 58.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.5 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 14900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[14900] model_only_pretrain/pretrain_opt_loss 96.3 / model_only_pretrain/pretrain_opt_grad_norm 232.0 / model_only_pretrain/cam_front_view_image_loss 29.6 / model_only_pretrain/cam_wrist_view_image_loss 31.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.8 / model_only_pretrain/dyn_loss 58.0 / model_only_pretrain/rep_loss 58.0 / model_only_pretrain/kl_value 58.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.5 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[14999] eval_recon/cam_front_view_image 29.1 / eval_recon/cam_wrist_view_image 32.6 / train_recon/cam_front_view_image 26.3 / train_recon/cam_wrist_view_image 69.9 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 15000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  11% 15999/150000 [25:44<2:32:55, 14.60it/s]model_only_pretrain/pretrain_opt_loss 97.4 / model_only_pretrain/pretrain_opt_grad_norm 213.1 / model_only_pretrain/cam_front_view_image_loss 29.9 / model_only_pretrain/cam_wrist_view_image_loss 32.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.9 / model_only_pretrain/dyn_loss 58.2 / model_only_pretrain/rep_loss 58.2 / model_only_pretrain/kl_value 58.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.5 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 15100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[15100] model_only_pretrain/pretrain_opt_loss 97.0 / model_only_pretrain/pretrain_opt_grad_norm 212.5 / model_only_pretrain/cam_front_view_image_loss 30.0 / model_only_pretrain/cam_wrist_view_image_loss 32.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 35.0 / model_only_pretrain/dyn_loss 58.3 / model_only_pretrain/rep_loss 58.3 / model_only_pretrain/kl_value 58.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.8 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 15200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[15200] model_only_pretrain/pretrain_opt_loss 96.4 / model_only_pretrain/pretrain_opt_grad_norm 216.9 / model_only_pretrain/cam_front_view_image_loss 29.4 / model_only_pretrain/cam_wrist_view_image_loss 32.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.8 / model_only_pretrain/dyn_loss 58.0 / model_only_pretrain/rep_loss 58.0 / model_only_pretrain/kl_value 58.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.3 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 15300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[15300] model_only_pretrain/pretrain_opt_loss 96.5 / model_only_pretrain/pretrain_opt_grad_norm 224.4 / model_only_pretrain/cam_front_view_image_loss 29.6 / model_only_pretrain/cam_wrist_view_image_loss 32.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.7 / model_only_pretrain/dyn_loss 57.9 / model_only_pretrain/rep_loss 57.9 / model_only_pretrain/kl_value 57.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.3 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 15400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[15400] model_only_pretrain/pretrain_opt_loss 95.3 / model_only_pretrain/pretrain_opt_grad_norm 209.0 / model_only_pretrain/cam_front_view_image_loss 29.4 / model_only_pretrain/cam_wrist_view_image_loss 31.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.8 / model_only_pretrain/dyn_loss 57.9 / model_only_pretrain/rep_loss 57.9 / model_only_pretrain/kl_value 57.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.4 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.5
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[15499] eval_recon/cam_front_view_image 22.8 / eval_recon/cam_wrist_view_image 20.4 / train_recon/cam_front_view_image 28.3 / train_recon/cam_wrist_view_image 29.4 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 15500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[15500] model_only_pretrain/pretrain_opt_loss 96.2 / model_only_pretrain/pretrain_opt_grad_norm 211.2 / model_only_pretrain/cam_front_view_image_loss 29.3 / model_only_pretrain/cam_wrist_view_image_loss 32.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.7 / model_only_pretrain/dyn_loss 57.9 / model_only_pretrain/rep_loss 57.9 / model_only_pretrain/kl_value 57.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.3 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.7

[Checkpoint] Saving model at step 15600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[15600] model_only_pretrain/pretrain_opt_loss 95.8 / model_only_pretrain/pretrain_opt_grad_norm 200.2 / model_only_pretrain/cam_front_view_image_loss 29.4 / model_only_pretrain/cam_wrist_view_image_loss 31.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.9 / model_only_pretrain/dyn_loss 58.2 / model_only_pretrain/rep_loss 58.2 / model_only_pretrain/kl_value 58.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.7 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 15700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[15700] model_only_pretrain/pretrain_opt_loss 94.5 / model_only_pretrain/pretrain_opt_grad_norm 208.4 / model_only_pretrain/cam_front_view_image_loss 29.1 / model_only_pretrain/cam_wrist_view_image_loss 30.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.5 / model_only_pretrain/dyn_loss 57.6 / model_only_pretrain/rep_loss 57.6 / model_only_pretrain/kl_value 57.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.0 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 15800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[15800] model_only_pretrain/pretrain_opt_loss 96.0 / model_only_pretrain/pretrain_opt_grad_norm 208.4 / model_only_pretrain/cam_front_view_image_loss 29.0 / model_only_pretrain/cam_wrist_view_image_loss 32.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.9 / model_only_pretrain/dyn_loss 58.1 / model_only_pretrain/rep_loss 58.1 / model_only_pretrain/kl_value 58.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.7 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 15900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[15900] model_only_pretrain/pretrain_opt_loss 95.2 / model_only_pretrain/pretrain_opt_grad_norm 214.0 / model_only_pretrain/cam_front_view_image_loss 29.2 / model_only_pretrain/cam_wrist_view_image_loss 31.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.8 / model_only_pretrain/dyn_loss 58.0 / model_only_pretrain/rep_loss 58.0 / model_only_pretrain/kl_value 58.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.5 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.3
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[15999] eval_recon/cam_front_view_image 28.9 / eval_recon/cam_wrist_view_image 24.2 / train_recon/cam_front_view_image 30.6 / train_recon/cam_wrist_view_image 59.9 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 16000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[16000] 
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World Model pretraining:  11% 17000/150000 [27:20<15:17:07,  2.42it/s]model_only_pretrain/pretrain_opt_loss 95.6 / model_only_pretrain/pretrain_opt_grad_norm 213.5 / model_only_pretrain/cam_front_view_image_loss 29.2 / model_only_pretrain/cam_wrist_view_image_loss 31.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.8 / model_only_pretrain/dyn_loss 58.0 / model_only_pretrain/rep_loss 58.0 / model_only_pretrain/kl_value 58.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.6 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 16100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[16100] model_only_pretrain/pretrain_opt_loss 93.8 / model_only_pretrain/pretrain_opt_grad_norm 205.2 / model_only_pretrain/cam_front_view_image_loss 28.5 / model_only_pretrain/cam_wrist_view_image_loss 30.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.6 / model_only_pretrain/dyn_loss 57.7 / model_only_pretrain/rep_loss 57.7 / model_only_pretrain/kl_value 57.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.2 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 16200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[16200] model_only_pretrain/pretrain_opt_loss 94.6 / model_only_pretrain/pretrain_opt_grad_norm 206.0 / model_only_pretrain/cam_front_view_image_loss 28.9 / model_only_pretrain/cam_wrist_view_image_loss 31.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.7 / model_only_pretrain/dyn_loss 57.8 / model_only_pretrain/rep_loss 57.8 / model_only_pretrain/kl_value 57.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.2 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 16300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[16300] model_only_pretrain/pretrain_opt_loss 94.7 / model_only_pretrain/pretrain_opt_grad_norm 214.5 / model_only_pretrain/cam_front_view_image_loss 29.1 / model_only_pretrain/cam_wrist_view_image_loss 30.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.8 / model_only_pretrain/dyn_loss 58.0 / model_only_pretrain/rep_loss 58.0 / model_only_pretrain/kl_value 58.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.5 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 16400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[16400] model_only_pretrain/pretrain_opt_loss 94.5 / model_only_pretrain/pretrain_opt_grad_norm 216.9 / model_only_pretrain/cam_front_view_image_loss 28.9 / model_only_pretrain/cam_wrist_view_image_loss 30.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.7 / model_only_pretrain/dyn_loss 57.9 / model_only_pretrain/rep_loss 57.9 / model_only_pretrain/kl_value 57.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.4 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[16499] eval_recon/cam_front_view_image 25.2 / eval_recon/cam_wrist_view_image 29.3 / train_recon/cam_front_view_image 23.5 / train_recon/cam_wrist_view_image 37.0 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 16500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[16500] model_only_pretrain/pretrain_opt_loss 94.3 / model_only_pretrain/pretrain_opt_grad_norm 206.9 / model_only_pretrain/cam_front_view_image_loss 28.7 / model_only_pretrain/cam_wrist_view_image_loss 30.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.7 / model_only_pretrain/dyn_loss 57.9 / model_only_pretrain/rep_loss 57.9 / model_only_pretrain/kl_value 57.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.2 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 16600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[16600] model_only_pretrain/pretrain_opt_loss 92.6 / model_only_pretrain/pretrain_opt_grad_norm 205.8 / model_only_pretrain/cam_front_view_image_loss 28.4 / model_only_pretrain/cam_wrist_view_image_loss 29.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.4 / model_only_pretrain/dyn_loss 57.3 / model_only_pretrain/rep_loss 57.3 / model_only_pretrain/kl_value 57.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.8 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 16700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[16700] model_only_pretrain/pretrain_opt_loss 93.5 / model_only_pretrain/pretrain_opt_grad_norm 214.2 / model_only_pretrain/cam_front_view_image_loss 28.3 / model_only_pretrain/cam_wrist_view_image_loss 30.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.6 / model_only_pretrain/dyn_loss 57.6 / model_only_pretrain/rep_loss 57.6 / model_only_pretrain/kl_value 57.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.0 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 16800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[16800] model_only_pretrain/pretrain_opt_loss 93.7 / model_only_pretrain/pretrain_opt_grad_norm 206.8 / model_only_pretrain/cam_front_view_image_loss 28.3 / model_only_pretrain/cam_wrist_view_image_loss 30.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.6 / model_only_pretrain/dyn_loss 57.6 / model_only_pretrain/rep_loss 57.6 / model_only_pretrain/kl_value 57.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.1 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 16900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[16900] model_only_pretrain/pretrain_opt_loss 93.1 / model_only_pretrain/pretrain_opt_grad_norm 208.9 / model_only_pretrain/cam_front_view_image_loss 28.0 / model_only_pretrain/cam_wrist_view_image_loss 30.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.6 / model_only_pretrain/dyn_loss 57.6 / model_only_pretrain/rep_loss 57.6 / model_only_pretrain/kl_value 57.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.0 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[16999] eval_recon/cam_front_view_image 28.3 / eval_recon/cam_wrist_view_image 36.5 / train_recon/cam_front_view_image 29.9 / train_recon/cam_wrist_view_image 21.5 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 17000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[17000] 
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World Model pretraining:  12% 18000/150000 [28:54<21:13:57,  1.73it/s]model_only_pretrain/pretrain_opt_loss 93.3 / model_only_pretrain/pretrain_opt_grad_norm 199.9 / model_only_pretrain/cam_front_view_image_loss 28.2 / model_only_pretrain/cam_wrist_view_image_loss 30.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.6 / model_only_pretrain/dyn_loss 57.6 / model_only_pretrain/rep_loss 57.6 / model_only_pretrain/kl_value 57.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.0 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 17100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[17100] model_only_pretrain/pretrain_opt_loss 93.3 / model_only_pretrain/pretrain_opt_grad_norm 202.2 / model_only_pretrain/cam_front_view_image_loss 28.2 / model_only_pretrain/cam_wrist_view_image_loss 30.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.7 / model_only_pretrain/dyn_loss 57.9 / model_only_pretrain/rep_loss 57.9 / model_only_pretrain/kl_value 57.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.2 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 17200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[17200] model_only_pretrain/pretrain_opt_loss 92.9 / model_only_pretrain/pretrain_opt_grad_norm 200.9 / model_only_pretrain/cam_front_view_image_loss 28.2 / model_only_pretrain/cam_wrist_view_image_loss 30.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.6 / model_only_pretrain/dyn_loss 57.6 / model_only_pretrain/rep_loss 57.6 / model_only_pretrain/kl_value 57.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.1 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 17300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[17300] model_only_pretrain/pretrain_opt_loss 93.1 / model_only_pretrain/pretrain_opt_grad_norm 204.3 / model_only_pretrain/cam_front_view_image_loss 28.0 / model_only_pretrain/cam_wrist_view_image_loss 30.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.6 / model_only_pretrain/dyn_loss 57.7 / model_only_pretrain/rep_loss 57.7 / model_only_pretrain/kl_value 57.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.0 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 12.1

[Checkpoint] Saving model at step 17400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[17400] model_only_pretrain/pretrain_opt_loss 93.3 / model_only_pretrain/pretrain_opt_grad_norm 200.0 / model_only_pretrain/cam_front_view_image_loss 28.3 / model_only_pretrain/cam_wrist_view_image_loss 30.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.7 / model_only_pretrain/dyn_loss 57.8 / model_only_pretrain/rep_loss 57.8 / model_only_pretrain/kl_value 57.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.3 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[17499] eval_recon/cam_front_view_image 27.5 / eval_recon/cam_wrist_view_image 20.3 / train_recon/cam_front_view_image 28.1 / train_recon/cam_wrist_view_image 29.9 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 17500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[17500] model_only_pretrain/pretrain_opt_loss 93.1 / model_only_pretrain/pretrain_opt_grad_norm 200.0 / model_only_pretrain/cam_front_view_image_loss 28.0 / model_only_pretrain/cam_wrist_view_image_loss 30.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.6 / model_only_pretrain/dyn_loss 57.6 / model_only_pretrain/rep_loss 57.6 / model_only_pretrain/kl_value 57.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.0 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 12.6

[Checkpoint] Saving model at step 17600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[17600] model_only_pretrain/pretrain_opt_loss 93.4 / model_only_pretrain/pretrain_opt_grad_norm 197.7 / model_only_pretrain/cam_front_view_image_loss 27.9 / model_only_pretrain/cam_wrist_view_image_loss 30.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.6 / model_only_pretrain/dyn_loss 57.7 / model_only_pretrain/rep_loss 57.7 / model_only_pretrain/kl_value 57.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.1 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 17700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[17700] model_only_pretrain/pretrain_opt_loss 92.4 / model_only_pretrain/pretrain_opt_grad_norm 200.3 / model_only_pretrain/cam_front_view_image_loss 27.9 / model_only_pretrain/cam_wrist_view_image_loss 30.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.5 / model_only_pretrain/dyn_loss 57.5 / model_only_pretrain/rep_loss 57.5 / model_only_pretrain/kl_value 57.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.0 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 17800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[17800] model_only_pretrain/pretrain_opt_loss 92.7 / model_only_pretrain/pretrain_opt_grad_norm 209.1 / model_only_pretrain/cam_front_view_image_loss 27.9 / model_only_pretrain/cam_wrist_view_image_loss 30.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.6 / model_only_pretrain/dyn_loss 57.7 / model_only_pretrain/rep_loss 57.7 / model_only_pretrain/kl_value 57.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.1 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.7

[Checkpoint] Saving model at step 17900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[17900] model_only_pretrain/pretrain_opt_loss 91.8 / model_only_pretrain/pretrain_opt_grad_norm 201.6 / model_only_pretrain/cam_front_view_image_loss 27.6 / model_only_pretrain/cam_wrist_view_image_loss 29.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.6 / model_only_pretrain/dyn_loss 57.7 / model_only_pretrain/rep_loss 57.7 / model_only_pretrain/kl_value 57.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.1 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[17999] eval_recon/cam_front_view_image 28.6 / eval_recon/cam_wrist_view_image 38.5 / train_recon/cam_front_view_image 30.5 / train_recon/cam_wrist_view_image 62.5 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 18000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  13% 19000/150000 [30:31<14:56:41,  2.43it/s]model_only_pretrain/pretrain_opt_loss 91.7 / model_only_pretrain/pretrain_opt_grad_norm 207.6 / model_only_pretrain/cam_front_view_image_loss 27.5 / model_only_pretrain/cam_wrist_view_image_loss 29.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.4 / model_only_pretrain/dyn_loss 57.4 / model_only_pretrain/rep_loss 57.4 / model_only_pretrain/kl_value 57.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.9 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 8.9

[Checkpoint] Saving model at step 18100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[18100] model_only_pretrain/pretrain_opt_loss 92.8 / model_only_pretrain/pretrain_opt_grad_norm 217.2 / model_only_pretrain/cam_front_view_image_loss 27.6 / model_only_pretrain/cam_wrist_view_image_loss 30.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.6 / model_only_pretrain/dyn_loss 57.6 / model_only_pretrain/rep_loss 57.6 / model_only_pretrain/kl_value 57.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.1 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.7

[Checkpoint] Saving model at step 18200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[18200] model_only_pretrain/pretrain_opt_loss 91.5 / model_only_pretrain/pretrain_opt_grad_norm 196.6 / model_only_pretrain/cam_front_view_image_loss 27.3 / model_only_pretrain/cam_wrist_view_image_loss 29.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.3 / model_only_pretrain/dyn_loss 57.2 / model_only_pretrain/rep_loss 57.2 / model_only_pretrain/kl_value 57.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.6 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.0

[Checkpoint] Saving model at step 18300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[18300] model_only_pretrain/pretrain_opt_loss 91.5 / model_only_pretrain/pretrain_opt_grad_norm 199.9 / model_only_pretrain/cam_front_view_image_loss 27.2 / model_only_pretrain/cam_wrist_view_image_loss 29.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.6 / model_only_pretrain/dyn_loss 57.6 / model_only_pretrain/rep_loss 57.6 / model_only_pretrain/kl_value 57.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.2 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 9.5

[Checkpoint] Saving model at step 18400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[18400] model_only_pretrain/pretrain_opt_loss 91.3 / model_only_pretrain/pretrain_opt_grad_norm 205.9 / model_only_pretrain/cam_front_view_image_loss 27.2 / model_only_pretrain/cam_wrist_view_image_loss 29.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.5 / model_only_pretrain/dyn_loss 57.5 / model_only_pretrain/rep_loss 57.5 / model_only_pretrain/kl_value 57.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.9 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 8.9
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[18499] eval_recon/cam_front_view_image 29.0 / eval_recon/cam_wrist_view_image 48.7 / train_recon/cam_front_view_image 28.9 / train_recon/cam_wrist_view_image 34.4 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 18500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[18500] model_only_pretrain/pretrain_opt_loss 91.2 / model_only_pretrain/pretrain_opt_grad_norm 195.6 / model_only_pretrain/cam_front_view_image_loss 27.2 / model_only_pretrain/cam_wrist_view_image_loss 29.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.4 / model_only_pretrain/dyn_loss 57.3 / model_only_pretrain/rep_loss 57.3 / model_only_pretrain/kl_value 57.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.9 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.5

[Checkpoint] Saving model at step 18600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[18600] model_only_pretrain/pretrain_opt_loss 91.5 / model_only_pretrain/pretrain_opt_grad_norm 202.6 / model_only_pretrain/cam_front_view_image_loss 27.2 / model_only_pretrain/cam_wrist_view_image_loss 29.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.5 / model_only_pretrain/dyn_loss 57.4 / model_only_pretrain/rep_loss 57.4 / model_only_pretrain/kl_value 57.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.9 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 18700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[18700] model_only_pretrain/pretrain_opt_loss 91.7 / model_only_pretrain/pretrain_opt_grad_norm 205.8 / model_only_pretrain/cam_front_view_image_loss 27.2 / model_only_pretrain/cam_wrist_view_image_loss 30.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.5 / model_only_pretrain/dyn_loss 57.6 / model_only_pretrain/rep_loss 57.6 / model_only_pretrain/kl_value 57.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.0 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 18800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[18800] model_only_pretrain/pretrain_opt_loss 91.7 / model_only_pretrain/pretrain_opt_grad_norm 199.9 / model_only_pretrain/cam_front_view_image_loss 27.3 / model_only_pretrain/cam_wrist_view_image_loss 29.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.5 / model_only_pretrain/dyn_loss 57.5 / model_only_pretrain/rep_loss 57.5 / model_only_pretrain/kl_value 57.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.9 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 18900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[18900] model_only_pretrain/pretrain_opt_loss 91.2 / model_only_pretrain/pretrain_opt_grad_norm 201.1 / model_only_pretrain/cam_front_view_image_loss 27.2 / model_only_pretrain/cam_wrist_view_image_loss 29.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.5 / model_only_pretrain/dyn_loss 57.5 / model_only_pretrain/rep_loss 57.5 / model_only_pretrain/kl_value 57.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.9 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.2
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[18999] eval_recon/cam_front_view_image 22.9 / eval_recon/cam_wrist_view_image 33.8 / train_recon/cam_front_view_image 31.9 / train_recon/cam_wrist_view_image 64.2 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 19000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[19000] 
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World Model pretraining:  13% 19999/150000 [31:56<2:15:23, 16.00it/s]model_only_pretrain/pretrain_opt_loss 91.4 / model_only_pretrain/pretrain_opt_grad_norm 204.3 / model_only_pretrain/cam_front_view_image_loss 27.1 / model_only_pretrain/cam_wrist_view_image_loss 29.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.5 / model_only_pretrain/dyn_loss 57.6 / model_only_pretrain/rep_loss 57.6 / model_only_pretrain/kl_value 57.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.0 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 19100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[19100] model_only_pretrain/pretrain_opt_loss 90.3 / model_only_pretrain/pretrain_opt_grad_norm 197.7 / model_only_pretrain/cam_front_view_image_loss 26.9 / model_only_pretrain/cam_wrist_view_image_loss 29.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.4 / model_only_pretrain/dyn_loss 57.3 / model_only_pretrain/rep_loss 57.3 / model_only_pretrain/kl_value 57.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.7 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 19200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[19200] model_only_pretrain/pretrain_opt_loss 90.6 / model_only_pretrain/pretrain_opt_grad_norm 204.4 / model_only_pretrain/cam_front_view_image_loss 27.1 / model_only_pretrain/cam_wrist_view_image_loss 29.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.4 / model_only_pretrain/dyn_loss 57.3 / model_only_pretrain/rep_loss 57.3 / model_only_pretrain/kl_value 57.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.9 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 19300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[19300] model_only_pretrain/pretrain_opt_loss 90.4 / model_only_pretrain/pretrain_opt_grad_norm 201.1 / model_only_pretrain/cam_front_view_image_loss 26.6 / model_only_pretrain/cam_wrist_view_image_loss 29.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.4 / model_only_pretrain/dyn_loss 57.3 / model_only_pretrain/rep_loss 57.3 / model_only_pretrain/kl_value 57.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.8 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 19400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[19400] model_only_pretrain/pretrain_opt_loss 91.2 / model_only_pretrain/pretrain_opt_grad_norm 203.2 / model_only_pretrain/cam_front_view_image_loss 26.7 / model_only_pretrain/cam_wrist_view_image_loss 29.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.6 / model_only_pretrain/dyn_loss 57.6 / model_only_pretrain/rep_loss 57.6 / model_only_pretrain/kl_value 57.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 30.0 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.5
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[19499] eval_recon/cam_front_view_image 25.5 / eval_recon/cam_wrist_view_image 23.7 / train_recon/cam_front_view_image 29.3 / train_recon/cam_wrist_view_image 26.6 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 19500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[19500] model_only_pretrain/pretrain_opt_loss 90.5 / model_only_pretrain/pretrain_opt_grad_norm 204.9 / model_only_pretrain/cam_front_view_image_loss 26.6 / model_only_pretrain/cam_wrist_view_image_loss 29.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.4 / model_only_pretrain/dyn_loss 57.4 / model_only_pretrain/rep_loss 57.4 / model_only_pretrain/kl_value 57.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.9 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 19600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[19600] model_only_pretrain/pretrain_opt_loss 89.2 / model_only_pretrain/pretrain_opt_grad_norm 198.7 / model_only_pretrain/cam_front_view_image_loss 26.7 / model_only_pretrain/cam_wrist_view_image_loss 28.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.4 / model_only_pretrain/dyn_loss 57.3 / model_only_pretrain/rep_loss 57.3 / model_only_pretrain/kl_value 57.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.7 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 12.1

[Checkpoint] Saving model at step 19700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[19700] model_only_pretrain/pretrain_opt_loss 89.7 / model_only_pretrain/pretrain_opt_grad_norm 202.2 / model_only_pretrain/cam_front_view_image_loss 26.4 / model_only_pretrain/cam_wrist_view_image_loss 28.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.3 / model_only_pretrain/dyn_loss 57.2 / model_only_pretrain/rep_loss 57.2 / model_only_pretrain/kl_value 57.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.8 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 13.0

[Checkpoint] Saving model at step 19800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[19800] model_only_pretrain/pretrain_opt_loss 89.6 / model_only_pretrain/pretrain_opt_grad_norm 199.8 / model_only_pretrain/cam_front_view_image_loss 26.6 / model_only_pretrain/cam_wrist_view_image_loss 28.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.3 / model_only_pretrain/dyn_loss 57.2 / model_only_pretrain/rep_loss 57.2 / model_only_pretrain/kl_value 57.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.8 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 19900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[19900] model_only_pretrain/pretrain_opt_loss 89.8 / model_only_pretrain/pretrain_opt_grad_norm 214.7 / model_only_pretrain/cam_front_view_image_loss 26.4 / model_only_pretrain/cam_wrist_view_image_loss 29.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.4 / model_only_pretrain/dyn_loss 57.4 / model_only_pretrain/rep_loss 57.4 / model_only_pretrain/kl_value 57.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.8 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[19999] eval_recon/cam_front_view_image 26.7 / eval_recon/cam_wrist_view_image 60.1 / train_recon/cam_front_view_image 30.6 / train_recon/cam_wrist_view_image 36.6 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 20000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  14% 20999/150000 [33:30<2:35:39, 13.81it/s]model_only_pretrain/pretrain_opt_loss 89.1 / model_only_pretrain/pretrain_opt_grad_norm 194.6 / model_only_pretrain/cam_front_view_image_loss 26.2 / model_only_pretrain/cam_wrist_view_image_loss 28.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.4 / model_only_pretrain/dyn_loss 57.3 / model_only_pretrain/rep_loss 57.3 / model_only_pretrain/kl_value 57.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.8 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 20100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[20100] model_only_pretrain/pretrain_opt_loss 89.5 / model_only_pretrain/pretrain_opt_grad_norm 195.2 / model_only_pretrain/cam_front_view_image_loss 26.1 / model_only_pretrain/cam_wrist_view_image_loss 29.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.3 / model_only_pretrain/dyn_loss 57.1 / model_only_pretrain/rep_loss 57.1 / model_only_pretrain/kl_value 57.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.6 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 20200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[20200] model_only_pretrain/pretrain_opt_loss 89.5 / model_only_pretrain/pretrain_opt_grad_norm 193.1 / model_only_pretrain/cam_front_view_image_loss 26.3 / model_only_pretrain/cam_wrist_view_image_loss 28.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.3 / model_only_pretrain/dyn_loss 57.2 / model_only_pretrain/rep_loss 57.2 / model_only_pretrain/kl_value 57.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.6 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 20300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[20300] model_only_pretrain/pretrain_opt_loss 89.8 / model_only_pretrain/pretrain_opt_grad_norm 202.9 / model_only_pretrain/cam_front_view_image_loss 26.3 / model_only_pretrain/cam_wrist_view_image_loss 29.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.4 / model_only_pretrain/dyn_loss 57.4 / model_only_pretrain/rep_loss 57.4 / model_only_pretrain/kl_value 57.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.9 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 20400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[20400] model_only_pretrain/pretrain_opt_loss 89.2 / model_only_pretrain/pretrain_opt_grad_norm 196.4 / model_only_pretrain/cam_front_view_image_loss 26.3 / model_only_pretrain/cam_wrist_view_image_loss 28.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.3 / model_only_pretrain/dyn_loss 57.1 / model_only_pretrain/rep_loss 57.1 / model_only_pretrain/kl_value 57.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.7 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[20499] eval_recon/cam_front_view_image 34.9 / eval_recon/cam_wrist_view_image 28.3 / train_recon/cam_front_view_image 23.5 / train_recon/cam_wrist_view_image 20.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 20500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[20500] model_only_pretrain/pretrain_opt_loss 88.8 / model_only_pretrain/pretrain_opt_grad_norm 192.4 / model_only_pretrain/cam_front_view_image_loss 26.2 / model_only_pretrain/cam_wrist_view_image_loss 28.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.3 / model_only_pretrain/dyn_loss 57.2 / model_only_pretrain/rep_loss 57.2 / model_only_pretrain/kl_value 57.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.7 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 20600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[20600] model_only_pretrain/pretrain_opt_loss 88.6 / model_only_pretrain/pretrain_opt_grad_norm 195.6 / model_only_pretrain/cam_front_view_image_loss 25.8 / model_only_pretrain/cam_wrist_view_image_loss 28.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.3 / model_only_pretrain/dyn_loss 57.1 / model_only_pretrain/rep_loss 57.1 / model_only_pretrain/kl_value 57.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.5 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.0

[Checkpoint] Saving model at step 20700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[20700] model_only_pretrain/pretrain_opt_loss 88.5 / model_only_pretrain/pretrain_opt_grad_norm 195.8 / model_only_pretrain/cam_front_view_image_loss 25.8 / model_only_pretrain/cam_wrist_view_image_loss 28.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.2 / model_only_pretrain/dyn_loss 57.0 / model_only_pretrain/rep_loss 57.0 / model_only_pretrain/kl_value 57.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.6 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 20800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[20800] model_only_pretrain/pretrain_opt_loss 89.6 / model_only_pretrain/pretrain_opt_grad_norm 202.3 / model_only_pretrain/cam_front_view_image_loss 26.2 / model_only_pretrain/cam_wrist_view_image_loss 28.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.5 / model_only_pretrain/dyn_loss 57.5 / model_only_pretrain/rep_loss 57.5 / model_only_pretrain/kl_value 57.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.9 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 20900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[20900] model_only_pretrain/pretrain_opt_loss 90.0 / model_only_pretrain/pretrain_opt_grad_norm 222.8 / model_only_pretrain/cam_front_view_image_loss 26.4 / model_only_pretrain/cam_wrist_view_image_loss 29.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.5 / model_only_pretrain/dyn_loss 57.5 / model_only_pretrain/rep_loss 57.5 / model_only_pretrain/kl_value 57.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.9 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[20999] eval_recon/cam_front_view_image 25.2 / eval_recon/cam_wrist_view_image 25.5 / train_recon/cam_front_view_image 24.4 / train_recon/cam_wrist_view_image 61.1 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 21000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[21000] 
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World Model pretraining:  15% 22000/150000 [35:07<19:34:40,  1.82it/s]model_only_pretrain/pretrain_opt_loss 88.5 / model_only_pretrain/pretrain_opt_grad_norm 198.7 / model_only_pretrain/cam_front_view_image_loss 26.0 / model_only_pretrain/cam_wrist_view_image_loss 28.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.4 / model_only_pretrain/dyn_loss 57.4 / model_only_pretrain/rep_loss 57.4 / model_only_pretrain/kl_value 57.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.9 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 21100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[21100] model_only_pretrain/pretrain_opt_loss 88.5 / model_only_pretrain/pretrain_opt_grad_norm 197.7 / model_only_pretrain/cam_front_view_image_loss 26.1 / model_only_pretrain/cam_wrist_view_image_loss 28.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.3 / model_only_pretrain/dyn_loss 57.1 / model_only_pretrain/rep_loss 57.1 / model_only_pretrain/kl_value 57.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.6 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 21200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[21200] model_only_pretrain/pretrain_opt_loss 88.3 / model_only_pretrain/pretrain_opt_grad_norm 193.4 / model_only_pretrain/cam_front_view_image_loss 25.6 / model_only_pretrain/cam_wrist_view_image_loss 28.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.2 / model_only_pretrain/dyn_loss 57.0 / model_only_pretrain/rep_loss 57.0 / model_only_pretrain/kl_value 57.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.5 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 8.8

[Checkpoint] Saving model at step 21300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[21300] model_only_pretrain/pretrain_opt_loss 89.3 / model_only_pretrain/pretrain_opt_grad_norm 195.7 / model_only_pretrain/cam_front_view_image_loss 25.8 / model_only_pretrain/cam_wrist_view_image_loss 29.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.4 / model_only_pretrain/dyn_loss 57.4 / model_only_pretrain/rep_loss 57.4 / model_only_pretrain/kl_value 57.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.8 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.0

[Checkpoint] Saving model at step 21400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[21400] model_only_pretrain/pretrain_opt_loss 89.0 / model_only_pretrain/pretrain_opt_grad_norm 190.2 / model_only_pretrain/cam_front_view_image_loss 25.9 / model_only_pretrain/cam_wrist_view_image_loss 28.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.3 / model_only_pretrain/dyn_loss 57.2 / model_only_pretrain/rep_loss 57.2 / model_only_pretrain/kl_value 57.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.7 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.3
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[21499] eval_recon/cam_front_view_image 30.0 / eval_recon/cam_wrist_view_image 24.9 / train_recon/cam_front_view_image 48.7 / train_recon/cam_wrist_view_image 79.6 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 21500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[21500] model_only_pretrain/pretrain_opt_loss 88.9 / model_only_pretrain/pretrain_opt_grad_norm 200.3 / model_only_pretrain/cam_front_view_image_loss 26.1 / model_only_pretrain/cam_wrist_view_image_loss 28.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.3 / model_only_pretrain/dyn_loss 57.1 / model_only_pretrain/rep_loss 57.1 / model_only_pretrain/kl_value 57.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.6 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 21600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[21600] model_only_pretrain/pretrain_opt_loss 89.3 / model_only_pretrain/pretrain_opt_grad_norm 191.0 / model_only_pretrain/cam_front_view_image_loss 26.1 / model_only_pretrain/cam_wrist_view_image_loss 28.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.4 / model_only_pretrain/dyn_loss 57.3 / model_only_pretrain/rep_loss 57.3 / model_only_pretrain/kl_value 57.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.7 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 21700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[21700] model_only_pretrain/pretrain_opt_loss 88.0 / model_only_pretrain/pretrain_opt_grad_norm 190.3 / model_only_pretrain/cam_front_view_image_loss 25.6 / model_only_pretrain/cam_wrist_view_image_loss 28.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.3 / model_only_pretrain/dyn_loss 57.1 / model_only_pretrain/rep_loss 57.1 / model_only_pretrain/kl_value 57.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.6 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 21800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[21800] model_only_pretrain/pretrain_opt_loss 87.6 / model_only_pretrain/pretrain_opt_grad_norm 193.6 / model_only_pretrain/cam_front_view_image_loss 25.5 / model_only_pretrain/cam_wrist_view_image_loss 27.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.3 / model_only_pretrain/dyn_loss 57.1 / model_only_pretrain/rep_loss 57.1 / model_only_pretrain/kl_value 57.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.5 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 21900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[21900] model_only_pretrain/pretrain_opt_loss 86.8 / model_only_pretrain/pretrain_opt_grad_norm 190.8 / model_only_pretrain/cam_front_view_image_loss 25.1 / model_only_pretrain/cam_wrist_view_image_loss 27.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.1 / model_only_pretrain/dyn_loss 56.9 / model_only_pretrain/rep_loss 56.9 / model_only_pretrain/kl_value 56.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.5 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.2
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[21999] eval_recon/cam_front_view_image 68.4 / eval_recon/cam_wrist_view_image 63.2 / train_recon/cam_front_view_image 37.6 / train_recon/cam_wrist_view_image 132.6 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 22000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  15% 22999/150000 [36:38<2:27:37, 14.34it/s]model_only_pretrain/pretrain_opt_loss 88.1 / model_only_pretrain/pretrain_opt_grad_norm 193.7 / model_only_pretrain/cam_front_view_image_loss 25.5 / model_only_pretrain/cam_wrist_view_image_loss 28.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.3 / model_only_pretrain/dyn_loss 57.1 / model_only_pretrain/rep_loss 57.1 / model_only_pretrain/kl_value 57.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.6 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 22100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[22100] model_only_pretrain/pretrain_opt_loss 87.7 / model_only_pretrain/pretrain_opt_grad_norm 198.3 / model_only_pretrain/cam_front_view_image_loss 25.5 / model_only_pretrain/cam_wrist_view_image_loss 27.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.2 / model_only_pretrain/dyn_loss 57.0 / model_only_pretrain/rep_loss 57.0 / model_only_pretrain/kl_value 57.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.5 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 22200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[22200] model_only_pretrain/pretrain_opt_loss 88.6 / model_only_pretrain/pretrain_opt_grad_norm 196.8 / model_only_pretrain/cam_front_view_image_loss 25.9 / model_only_pretrain/cam_wrist_view_image_loss 28.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.5 / model_only_pretrain/dyn_loss 57.4 / model_only_pretrain/rep_loss 57.4 / model_only_pretrain/kl_value 57.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.9 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 22300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[22300] model_only_pretrain/pretrain_opt_loss 86.8 / model_only_pretrain/pretrain_opt_grad_norm 198.6 / model_only_pretrain/cam_front_view_image_loss 25.1 / model_only_pretrain/cam_wrist_view_image_loss 27.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.1 / model_only_pretrain/dyn_loss 56.8 / model_only_pretrain/rep_loss 56.8 / model_only_pretrain/kl_value 56.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.3 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 22400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[22400] model_only_pretrain/pretrain_opt_loss 87.2 / model_only_pretrain/pretrain_opt_grad_norm 191.4 / model_only_pretrain/cam_front_view_image_loss 25.6 / model_only_pretrain/cam_wrist_view_image_loss 27.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.2 / model_only_pretrain/dyn_loss 57.1 / model_only_pretrain/rep_loss 57.1 / model_only_pretrain/kl_value 57.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.6 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 10.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[22499] eval_recon/cam_front_view_image 20.5 / eval_recon/cam_wrist_view_image 27.5 / train_recon/cam_front_view_image 23.9 / train_recon/cam_wrist_view_image 86.5 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 22500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[22500] model_only_pretrain/pretrain_opt_loss 88.0 / model_only_pretrain/pretrain_opt_grad_norm 215.4 / model_only_pretrain/cam_front_view_image_loss 25.6 / model_only_pretrain/cam_wrist_view_image_loss 28.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.4 / model_only_pretrain/dyn_loss 57.3 / model_only_pretrain/rep_loss 57.3 / model_only_pretrain/kl_value 57.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.8 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.0

[Checkpoint] Saving model at step 22600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[22600] model_only_pretrain/pretrain_opt_loss 87.7 / model_only_pretrain/pretrain_opt_grad_norm 209.9 / model_only_pretrain/cam_front_view_image_loss 25.5 / model_only_pretrain/cam_wrist_view_image_loss 27.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.3 / model_only_pretrain/dyn_loss 57.2 / model_only_pretrain/rep_loss 57.2 / model_only_pretrain/kl_value 57.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.7 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 9.7

[Checkpoint] Saving model at step 22700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[22700] model_only_pretrain/pretrain_opt_loss 85.7 / model_only_pretrain/pretrain_opt_grad_norm 188.4 / model_only_pretrain/cam_front_view_image_loss 24.8 / model_only_pretrain/cam_wrist_view_image_loss 27.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.0 / model_only_pretrain/dyn_loss 56.6 / model_only_pretrain/rep_loss 56.6 / model_only_pretrain/kl_value 56.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.1 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 22800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[22800] model_only_pretrain/pretrain_opt_loss 87.1 / model_only_pretrain/pretrain_opt_grad_norm 193.9 / model_only_pretrain/cam_front_view_image_loss 25.1 / model_only_pretrain/cam_wrist_view_image_loss 27.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.1 / model_only_pretrain/dyn_loss 56.8 / model_only_pretrain/rep_loss 56.8 / model_only_pretrain/kl_value 56.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.3 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 22900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[22900] model_only_pretrain/pretrain_opt_loss 86.0 / model_only_pretrain/pretrain_opt_grad_norm 188.0 / model_only_pretrain/cam_front_view_image_loss 24.8 / model_only_pretrain/cam_wrist_view_image_loss 27.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.0 / model_only_pretrain/dyn_loss 56.7 / model_only_pretrain/rep_loss 56.7 / model_only_pretrain/kl_value 56.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.1 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[22999] eval_recon/cam_front_view_image 17.5 / eval_recon/cam_wrist_view_image 15.7 / train_recon/cam_front_view_image 25.5 / train_recon/cam_wrist_view_image 25.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 23000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  16% 23999/150000 [38:15<2:29:01, 14.09it/s]model_only_pretrain/pretrain_opt_loss 86.8 / model_only_pretrain/pretrain_opt_grad_norm 195.6 / model_only_pretrain/cam_front_view_image_loss 25.1 / model_only_pretrain/cam_wrist_view_image_loss 27.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.0 / model_only_pretrain/dyn_loss 56.7 / model_only_pretrain/rep_loss 56.7 / model_only_pretrain/kl_value 56.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.2 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 23100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[23100] model_only_pretrain/pretrain_opt_loss 86.8 / model_only_pretrain/pretrain_opt_grad_norm 191.1 / model_only_pretrain/cam_front_view_image_loss 24.9 / model_only_pretrain/cam_wrist_view_image_loss 27.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.2 / model_only_pretrain/dyn_loss 57.0 / model_only_pretrain/rep_loss 57.0 / model_only_pretrain/kl_value 57.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.6 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 23200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[23200] model_only_pretrain/pretrain_opt_loss 85.7 / model_only_pretrain/pretrain_opt_grad_norm 186.9 / model_only_pretrain/cam_front_view_image_loss 24.7 / model_only_pretrain/cam_wrist_view_image_loss 27.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.0 / model_only_pretrain/dyn_loss 56.6 / model_only_pretrain/rep_loss 56.6 / model_only_pretrain/kl_value 56.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.1 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.4

[Checkpoint] Saving model at step 23300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[23300] model_only_pretrain/pretrain_opt_loss 85.7 / model_only_pretrain/pretrain_opt_grad_norm 189.1 / model_only_pretrain/cam_front_view_image_loss 24.7 / model_only_pretrain/cam_wrist_view_image_loss 26.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.0 / model_only_pretrain/dyn_loss 56.7 / model_only_pretrain/rep_loss 56.7 / model_only_pretrain/kl_value 56.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.2 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 23400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[23400] model_only_pretrain/pretrain_opt_loss 86.2 / model_only_pretrain/pretrain_opt_grad_norm 189.0 / model_only_pretrain/cam_front_view_image_loss 24.8 / model_only_pretrain/cam_wrist_view_image_loss 27.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.0 / model_only_pretrain/dyn_loss 56.7 / model_only_pretrain/rep_loss 56.7 / model_only_pretrain/kl_value 56.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.2 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 9.5
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[23499] eval_recon/cam_front_view_image 28.9 / eval_recon/cam_wrist_view_image 23.0 / train_recon/cam_front_view_image 21.6 / train_recon/cam_wrist_view_image 53.9 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 23500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[23500] model_only_pretrain/pretrain_opt_loss 85.9 / model_only_pretrain/pretrain_opt_grad_norm 182.2 / model_only_pretrain/cam_front_view_image_loss 24.7 / model_only_pretrain/cam_wrist_view_image_loss 27.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.1 / model_only_pretrain/dyn_loss 56.8 / model_only_pretrain/rep_loss 56.8 / model_only_pretrain/kl_value 56.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.3 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 8.6

[Checkpoint] Saving model at step 23600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[23600] model_only_pretrain/pretrain_opt_loss 85.0 / model_only_pretrain/pretrain_opt_grad_norm 185.3 / model_only_pretrain/cam_front_view_image_loss 24.3 / model_only_pretrain/cam_wrist_view_image_loss 26.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.9 / model_only_pretrain/dyn_loss 56.4 / model_only_pretrain/rep_loss 56.4 / model_only_pretrain/kl_value 56.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.0 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 23700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[23700] model_only_pretrain/pretrain_opt_loss 87.1 / model_only_pretrain/pretrain_opt_grad_norm 199.6 / model_only_pretrain/cam_front_view_image_loss 24.8 / model_only_pretrain/cam_wrist_view_image_loss 28.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.2 / model_only_pretrain/dyn_loss 57.0 / model_only_pretrain/rep_loss 57.0 / model_only_pretrain/kl_value 57.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.3 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.4

[Checkpoint] Saving model at step 23800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[23800] model_only_pretrain/pretrain_opt_loss 86.1 / model_only_pretrain/pretrain_opt_grad_norm 199.1 / model_only_pretrain/cam_front_view_image_loss 24.5 / model_only_pretrain/cam_wrist_view_image_loss 27.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.9 / model_only_pretrain/dyn_loss 56.6 / model_only_pretrain/rep_loss 56.6 / model_only_pretrain/kl_value 56.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.1 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 23900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[23900] model_only_pretrain/pretrain_opt_loss 85.6 / model_only_pretrain/pretrain_opt_grad_norm 193.0 / model_only_pretrain/cam_front_view_image_loss 24.6 / model_only_pretrain/cam_wrist_view_image_loss 27.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.9 / model_only_pretrain/dyn_loss 56.6 / model_only_pretrain/rep_loss 56.6 / model_only_pretrain/kl_value 56.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.2 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.3
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[23999] eval_recon/cam_front_view_image 23.5 / eval_recon/cam_wrist_view_image 31.0 / train_recon/cam_front_view_image 21.3 / train_recon/cam_wrist_view_image 20.6 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 24000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[24000] 
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World Model pretraining:  17% 24999/150000 [39:49<1:51:51, 18.63it/s]model_only_pretrain/pretrain_opt_loss 85.5 / model_only_pretrain/pretrain_opt_grad_norm 179.5 / model_only_pretrain/cam_front_view_image_loss 24.5 / model_only_pretrain/cam_wrist_view_image_loss 27.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.0 / model_only_pretrain/dyn_loss 56.7 / model_only_pretrain/rep_loss 56.7 / model_only_pretrain/kl_value 56.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.1 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 24100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[24100] model_only_pretrain/pretrain_opt_loss 86.1 / model_only_pretrain/pretrain_opt_grad_norm 183.2 / model_only_pretrain/cam_front_view_image_loss 24.4 / model_only_pretrain/cam_wrist_view_image_loss 27.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.1 / model_only_pretrain/dyn_loss 56.8 / model_only_pretrain/rep_loss 56.8 / model_only_pretrain/kl_value 56.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.2 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 24200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[24200] model_only_pretrain/pretrain_opt_loss 85.0 / model_only_pretrain/pretrain_opt_grad_norm 183.8 / model_only_pretrain/cam_front_view_image_loss 24.2 / model_only_pretrain/cam_wrist_view_image_loss 26.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.0 / model_only_pretrain/dyn_loss 56.7 / model_only_pretrain/rep_loss 56.7 / model_only_pretrain/kl_value 56.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.4 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 10.4

[Checkpoint] Saving model at step 24300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[24300] model_only_pretrain/pretrain_opt_loss 85.7 / model_only_pretrain/pretrain_opt_grad_norm 189.4 / model_only_pretrain/cam_front_view_image_loss 24.5 / model_only_pretrain/cam_wrist_view_image_loss 27.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.1 / model_only_pretrain/dyn_loss 56.8 / model_only_pretrain/rep_loss 56.8 / model_only_pretrain/kl_value 56.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.2 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 9.4

[Checkpoint] Saving model at step 24400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[24400] model_only_pretrain/pretrain_opt_loss 86.3 / model_only_pretrain/pretrain_opt_grad_norm 189.7 / model_only_pretrain/cam_front_view_image_loss 24.6 / model_only_pretrain/cam_wrist_view_image_loss 27.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.2 / model_only_pretrain/dyn_loss 56.9 / model_only_pretrain/rep_loss 56.9 / model_only_pretrain/kl_value 56.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.5 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 9.2
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[24499] eval_recon/cam_front_view_image 25.0 / eval_recon/cam_wrist_view_image 66.7 / train_recon/cam_front_view_image 20.2 / train_recon/cam_wrist_view_image 19.1 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 24500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[24500] model_only_pretrain/pretrain_opt_loss 85.5 / model_only_pretrain/pretrain_opt_grad_norm 213.0 / model_only_pretrain/cam_front_view_image_loss 24.7 / model_only_pretrain/cam_wrist_view_image_loss 26.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.9 / model_only_pretrain/dyn_loss 56.5 / model_only_pretrain/rep_loss 56.5 / model_only_pretrain/kl_value 56.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.1 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 9.8

[Checkpoint] Saving model at step 24600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[24600] model_only_pretrain/pretrain_opt_loss 85.3 / model_only_pretrain/pretrain_opt_grad_norm 189.9 / model_only_pretrain/cam_front_view_image_loss 24.3 / model_only_pretrain/cam_wrist_view_image_loss 27.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.9 / model_only_pretrain/dyn_loss 56.5 / model_only_pretrain/rep_loss 56.5 / model_only_pretrain/kl_value 56.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.1 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 24700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[24700] model_only_pretrain/pretrain_opt_loss 85.1 / model_only_pretrain/pretrain_opt_grad_norm 192.8 / model_only_pretrain/cam_front_view_image_loss 24.0 / model_only_pretrain/cam_wrist_view_image_loss 27.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.0 / model_only_pretrain/dyn_loss 56.7 / model_only_pretrain/rep_loss 56.7 / model_only_pretrain/kl_value 56.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.2 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 24800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[24800] model_only_pretrain/pretrain_opt_loss 85.3 / model_only_pretrain/pretrain_opt_grad_norm 191.3 / model_only_pretrain/cam_front_view_image_loss 24.4 / model_only_pretrain/cam_wrist_view_image_loss 27.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.9 / model_only_pretrain/dyn_loss 56.5 / model_only_pretrain/rep_loss 56.5 / model_only_pretrain/kl_value 56.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.0 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 24900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[24900] model_only_pretrain/pretrain_opt_loss 85.4 / model_only_pretrain/pretrain_opt_grad_norm 185.5 / model_only_pretrain/cam_front_view_image_loss 24.2 / model_only_pretrain/cam_wrist_view_image_loss 27.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.0 / model_only_pretrain/dyn_loss 56.7 / model_only_pretrain/rep_loss 56.7 / model_only_pretrain/kl_value 56.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.2 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.9
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[24999] eval_recon/cam_front_view_image 19.9 / eval_recon/cam_wrist_view_image 19.2 / train_recon/cam_front_view_image 22.4 / train_recon/cam_wrist_view_image 23.1 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 25000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  17% 26000/150000 [41:35<17:57:24,  1.92it/s]model_only_pretrain/pretrain_opt_loss 85.2 / model_only_pretrain/pretrain_opt_grad_norm 196.8 / model_only_pretrain/cam_front_view_image_loss 24.2 / model_only_pretrain/cam_wrist_view_image_loss 27.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.9 / model_only_pretrain/dyn_loss 56.6 / model_only_pretrain/rep_loss 56.6 / model_only_pretrain/kl_value 56.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.1 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 9.8

[Checkpoint] Saving model at step 25100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[25100] model_only_pretrain/pretrain_opt_loss 85.7 / model_only_pretrain/pretrain_opt_grad_norm 191.3 / model_only_pretrain/cam_front_view_image_loss 24.6 / model_only_pretrain/cam_wrist_view_image_loss 27.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.1 / model_only_pretrain/dyn_loss 56.8 / model_only_pretrain/rep_loss 56.8 / model_only_pretrain/kl_value 56.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.4 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 8.8

[Checkpoint] Saving model at step 25200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[25200] model_only_pretrain/pretrain_opt_loss 84.9 / model_only_pretrain/pretrain_opt_grad_norm 186.7 / model_only_pretrain/cam_front_view_image_loss 24.1 / model_only_pretrain/cam_wrist_view_image_loss 26.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.0 / model_only_pretrain/dyn_loss 56.7 / model_only_pretrain/rep_loss 56.7 / model_only_pretrain/kl_value 56.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.2 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 8.2

[Checkpoint] Saving model at step 25300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[25300] model_only_pretrain/pretrain_opt_loss 84.9 / model_only_pretrain/pretrain_opt_grad_norm 188.7 / model_only_pretrain/cam_front_view_image_loss 24.1 / model_only_pretrain/cam_wrist_view_image_loss 26.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.1 / model_only_pretrain/dyn_loss 56.8 / model_only_pretrain/rep_loss 56.8 / model_only_pretrain/kl_value 56.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.3 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 9.3

[Checkpoint] Saving model at step 25400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[25400] model_only_pretrain/pretrain_opt_loss 84.5 / model_only_pretrain/pretrain_opt_grad_norm 189.5 / model_only_pretrain/cam_front_view_image_loss 24.0 / model_only_pretrain/cam_wrist_view_image_loss 26.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.0 / model_only_pretrain/dyn_loss 56.6 / model_only_pretrain/rep_loss 56.6 / model_only_pretrain/kl_value 56.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.2 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 8.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[25499] eval_recon/cam_front_view_image 21.0 / eval_recon/cam_wrist_view_image 71.4 / train_recon/cam_front_view_image 27.1 / train_recon/cam_wrist_view_image 29.5 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 25500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[25500] model_only_pretrain/pretrain_opt_loss 84.5 / model_only_pretrain/pretrain_opt_grad_norm 178.5 / model_only_pretrain/cam_front_view_image_loss 24.2 / model_only_pretrain/cam_wrist_view_image_loss 26.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.0 / model_only_pretrain/dyn_loss 56.7 / model_only_pretrain/rep_loss 56.7 / model_only_pretrain/kl_value 56.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.3 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 8.8

[Checkpoint] Saving model at step 25600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[25600] model_only_pretrain/pretrain_opt_loss 83.9 / model_only_pretrain/pretrain_opt_grad_norm 183.9 / model_only_pretrain/cam_front_view_image_loss 23.9 / model_only_pretrain/cam_wrist_view_image_loss 26.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.8 / model_only_pretrain/dyn_loss 56.4 / model_only_pretrain/rep_loss 56.4 / model_only_pretrain/kl_value 56.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.0 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 25700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[25700] model_only_pretrain/pretrain_opt_loss 84.2 / model_only_pretrain/pretrain_opt_grad_norm 189.0 / model_only_pretrain/cam_front_view_image_loss 24.0 / model_only_pretrain/cam_wrist_view_image_loss 26.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.8 / model_only_pretrain/dyn_loss 56.3 / model_only_pretrain/rep_loss 56.3 / model_only_pretrain/kl_value 56.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.9 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 25800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[25800] model_only_pretrain/pretrain_opt_loss 83.9 / model_only_pretrain/pretrain_opt_grad_norm 180.8 / model_only_pretrain/cam_front_view_image_loss 23.6 / model_only_pretrain/cam_wrist_view_image_loss 26.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.8 / model_only_pretrain/dyn_loss 56.3 / model_only_pretrain/rep_loss 56.3 / model_only_pretrain/kl_value 56.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.8 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 25900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[25900] model_only_pretrain/pretrain_opt_loss 84.6 / model_only_pretrain/pretrain_opt_grad_norm 191.2 / model_only_pretrain/cam_front_view_image_loss 23.9 / model_only_pretrain/cam_wrist_view_image_loss 26.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.9 / model_only_pretrain/dyn_loss 56.6 / model_only_pretrain/rep_loss 56.6 / model_only_pretrain/kl_value 56.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.1 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 12.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[25999] eval_recon/cam_front_view_image 25.2 / eval_recon/cam_wrist_view_image 76.2 / train_recon/cam_front_view_image 46.5 / train_recon/cam_wrist_view_image 39.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 26000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  18% 26999/150000 [43:07<2:11:00, 15.65it/s]model_only_pretrain/pretrain_opt_loss 84.3 / model_only_pretrain/pretrain_opt_grad_norm 188.1 / model_only_pretrain/cam_front_view_image_loss 23.8 / model_only_pretrain/cam_wrist_view_image_loss 26.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.9 / model_only_pretrain/dyn_loss 56.6 / model_only_pretrain/rep_loss 56.6 / model_only_pretrain/kl_value 56.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.1 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 10.4

[Checkpoint] Saving model at step 26100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[26100] model_only_pretrain/pretrain_opt_loss 83.8 / model_only_pretrain/pretrain_opt_grad_norm 183.7 / model_only_pretrain/cam_front_view_image_loss 23.8 / model_only_pretrain/cam_wrist_view_image_loss 26.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.8 / model_only_pretrain/dyn_loss 56.3 / model_only_pretrain/rep_loss 56.3 / model_only_pretrain/kl_value 56.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.0 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 9.3

[Checkpoint] Saving model at step 26200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[26200] model_only_pretrain/pretrain_opt_loss 84.2 / model_only_pretrain/pretrain_opt_grad_norm 184.9 / model_only_pretrain/cam_front_view_image_loss 23.8 / model_only_pretrain/cam_wrist_view_image_loss 26.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.9 / model_only_pretrain/dyn_loss 56.5 / model_only_pretrain/rep_loss 56.5 / model_only_pretrain/kl_value 56.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.0 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 9.7

[Checkpoint] Saving model at step 26300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[26300] model_only_pretrain/pretrain_opt_loss 84.0 / model_only_pretrain/pretrain_opt_grad_norm 182.5 / model_only_pretrain/cam_front_view_image_loss 23.5 / model_only_pretrain/cam_wrist_view_image_loss 26.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.8 / model_only_pretrain/dyn_loss 56.3 / model_only_pretrain/rep_loss 56.3 / model_only_pretrain/kl_value 56.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.9 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 26400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[26400] model_only_pretrain/pretrain_opt_loss 84.2 / model_only_pretrain/pretrain_opt_grad_norm 189.7 / model_only_pretrain/cam_front_view_image_loss 23.7 / model_only_pretrain/cam_wrist_view_image_loss 26.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.9 / model_only_pretrain/dyn_loss 56.5 / model_only_pretrain/rep_loss 56.5 / model_only_pretrain/kl_value 56.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.0 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.5
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[26499] eval_recon/cam_front_view_image 59.4 / eval_recon/cam_wrist_view_image 93.5 / train_recon/cam_front_view_image 19.0 / train_recon/cam_wrist_view_image 22.6 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 26500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[26500] model_only_pretrain/pretrain_opt_loss 84.3 / model_only_pretrain/pretrain_opt_grad_norm 190.1 / model_only_pretrain/cam_front_view_image_loss 23.6 / model_only_pretrain/cam_wrist_view_image_loss 26.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.0 / model_only_pretrain/dyn_loss 56.6 / model_only_pretrain/rep_loss 56.6 / model_only_pretrain/kl_value 56.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.2 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 26600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[26600] model_only_pretrain/pretrain_opt_loss 83.7 / model_only_pretrain/pretrain_opt_grad_norm 187.7 / model_only_pretrain/cam_front_view_image_loss 23.8 / model_only_pretrain/cam_wrist_view_image_loss 25.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.9 / model_only_pretrain/dyn_loss 56.6 / model_only_pretrain/rep_loss 56.6 / model_only_pretrain/kl_value 56.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.0 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 12.2

[Checkpoint] Saving model at step 26700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[26700] model_only_pretrain/pretrain_opt_loss 83.8 / model_only_pretrain/pretrain_opt_grad_norm 183.0 / model_only_pretrain/cam_front_view_image_loss 23.6 / model_only_pretrain/cam_wrist_view_image_loss 26.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.9 / model_only_pretrain/dyn_loss 56.6 / model_only_pretrain/rep_loss 56.6 / model_only_pretrain/kl_value 56.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.1 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 26800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[26800] model_only_pretrain/pretrain_opt_loss 82.7 / model_only_pretrain/pretrain_opt_grad_norm 186.5 / model_only_pretrain/cam_front_view_image_loss 23.2 / model_only_pretrain/cam_wrist_view_image_loss 25.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.8 / model_only_pretrain/dyn_loss 56.3 / model_only_pretrain/rep_loss 56.3 / model_only_pretrain/kl_value 56.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.9 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 26900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[26900] model_only_pretrain/pretrain_opt_loss 83.4 / model_only_pretrain/pretrain_opt_grad_norm 180.4 / model_only_pretrain/cam_front_view_image_loss 23.5 / model_only_pretrain/cam_wrist_view_image_loss 26.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.9 / model_only_pretrain/dyn_loss 56.5 / model_only_pretrain/rep_loss 56.5 / model_only_pretrain/kl_value 56.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.0 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 9.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[26999] eval_recon/cam_front_view_image 16.8 / eval_recon/cam_wrist_view_image 17.8 / train_recon/cam_front_view_image 26.0 / train_recon/cam_wrist_view_image 28.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 27000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  19% 28000/150000 [44:52<12:35:10,  2.69it/s]model_only_pretrain/pretrain_opt_loss 83.8 / model_only_pretrain/pretrain_opt_grad_norm 182.4 / model_only_pretrain/cam_front_view_image_loss 23.7 / model_only_pretrain/cam_wrist_view_image_loss 26.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.9 / model_only_pretrain/dyn_loss 56.4 / model_only_pretrain/rep_loss 56.4 / model_only_pretrain/kl_value 56.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.0 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 9.9

[Checkpoint] Saving model at step 27100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[27100] model_only_pretrain/pretrain_opt_loss 82.9 / model_only_pretrain/pretrain_opt_grad_norm 184.5 / model_only_pretrain/cam_front_view_image_loss 23.4 / model_only_pretrain/cam_wrist_view_image_loss 25.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.8 / model_only_pretrain/dyn_loss 56.4 / model_only_pretrain/rep_loss 56.4 / model_only_pretrain/kl_value 56.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.9 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 27200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[27200] model_only_pretrain/pretrain_opt_loss 83.2 / model_only_pretrain/pretrain_opt_grad_norm 187.0 / model_only_pretrain/cam_front_view_image_loss 23.4 / model_only_pretrain/cam_wrist_view_image_loss 25.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.9 / model_only_pretrain/dyn_loss 56.6 / model_only_pretrain/rep_loss 56.6 / model_only_pretrain/kl_value 56.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.1 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 9.4

[Checkpoint] Saving model at step 27300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[27300] model_only_pretrain/pretrain_opt_loss 83.4 / model_only_pretrain/pretrain_opt_grad_norm 187.7 / model_only_pretrain/cam_front_view_image_loss 23.5 / model_only_pretrain/cam_wrist_view_image_loss 26.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.8 / model_only_pretrain/dyn_loss 56.4 / model_only_pretrain/rep_loss 56.4 / model_only_pretrain/kl_value 56.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.9 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 8.8

[Checkpoint] Saving model at step 27400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[27400] model_only_pretrain/pretrain_opt_loss 83.4 / model_only_pretrain/pretrain_opt_grad_norm 182.8 / model_only_pretrain/cam_front_view_image_loss 23.5 / model_only_pretrain/cam_wrist_view_image_loss 26.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.9 / model_only_pretrain/dyn_loss 56.4 / model_only_pretrain/rep_loss 56.4 / model_only_pretrain/kl_value 56.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.9 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 8.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[27499] eval_recon/cam_front_view_image 27.0 / eval_recon/cam_wrist_view_image 48.7 / train_recon/cam_front_view_image 17.2 / train_recon/cam_wrist_view_image 31.4 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 27500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[27500] model_only_pretrain/pretrain_opt_loss 83.3 / model_only_pretrain/pretrain_opt_grad_norm 181.5 / model_only_pretrain/cam_front_view_image_loss 23.2 / model_only_pretrain/cam_wrist_view_image_loss 26.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.9 / model_only_pretrain/dyn_loss 56.5 / model_only_pretrain/rep_loss 56.5 / model_only_pretrain/kl_value 56.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.1 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.3

[Checkpoint] Saving model at step 27600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[27600] model_only_pretrain/pretrain_opt_loss 83.0 / model_only_pretrain/pretrain_opt_grad_norm 179.0 / model_only_pretrain/cam_front_view_image_loss 23.4 / model_only_pretrain/cam_wrist_view_image_loss 25.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.8 / model_only_pretrain/dyn_loss 56.3 / model_only_pretrain/rep_loss 56.3 / model_only_pretrain/kl_value 56.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.8 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 9.1

[Checkpoint] Saving model at step 27700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[27700] model_only_pretrain/pretrain_opt_loss 82.9 / model_only_pretrain/pretrain_opt_grad_norm 175.9 / model_only_pretrain/cam_front_view_image_loss 23.3 / model_only_pretrain/cam_wrist_view_image_loss 25.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.7 / model_only_pretrain/dyn_loss 56.1 / model_only_pretrain/rep_loss 56.1 / model_only_pretrain/kl_value 56.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.6 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 27800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[27800] model_only_pretrain/pretrain_opt_loss 82.8 / model_only_pretrain/pretrain_opt_grad_norm 190.3 / model_only_pretrain/cam_front_view_image_loss 23.2 / model_only_pretrain/cam_wrist_view_image_loss 25.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.8 / model_only_pretrain/dyn_loss 56.3 / model_only_pretrain/rep_loss 56.3 / model_only_pretrain/kl_value 56.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.9 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 27900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[27900] model_only_pretrain/pretrain_opt_loss 83.2 / model_only_pretrain/pretrain_opt_grad_norm 183.2 / model_only_pretrain/cam_front_view_image_loss 23.1 / model_only_pretrain/cam_wrist_view_image_loss 26.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.9 / model_only_pretrain/dyn_loss 56.4 / model_only_pretrain/rep_loss 56.4 / model_only_pretrain/kl_value 56.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.0 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 10.5
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[27999] eval_recon/cam_front_view_image 21.0 / eval_recon/cam_wrist_view_image 26.6 / train_recon/cam_front_view_image 89.6 / train_recon/cam_wrist_view_image 166.7 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 28000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  19% 28999/150000 [46:19<2:11:14, 15.37it/s]model_only_pretrain/pretrain_opt_loss 83.0 / model_only_pretrain/pretrain_opt_grad_norm 197.5 / model_only_pretrain/cam_front_view_image_loss 23.2 / model_only_pretrain/cam_wrist_view_image_loss 26.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.7 / model_only_pretrain/dyn_loss 56.2 / model_only_pretrain/rep_loss 56.2 / model_only_pretrain/kl_value 56.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.9 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 28100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[28100] model_only_pretrain/pretrain_opt_loss 83.3 / model_only_pretrain/pretrain_opt_grad_norm 179.1 / model_only_pretrain/cam_front_view_image_loss 23.5 / model_only_pretrain/cam_wrist_view_image_loss 25.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 34.0 / model_only_pretrain/dyn_loss 56.6 / model_only_pretrain/rep_loss 56.6 / model_only_pretrain/kl_value 56.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.1 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 28200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[28200] model_only_pretrain/pretrain_opt_loss 83.0 / model_only_pretrain/pretrain_opt_grad_norm 188.1 / model_only_pretrain/cam_front_view_image_loss 23.0 / model_only_pretrain/cam_wrist_view_image_loss 26.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.7 / model_only_pretrain/dyn_loss 56.2 / model_only_pretrain/rep_loss 56.2 / model_only_pretrain/kl_value 56.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.7 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 28300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[28300] model_only_pretrain/pretrain_opt_loss 82.1 / model_only_pretrain/pretrain_opt_grad_norm 180.1 / model_only_pretrain/cam_front_view_image_loss 22.9 / model_only_pretrain/cam_wrist_view_image_loss 25.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.8 / model_only_pretrain/dyn_loss 56.4 / model_only_pretrain/rep_loss 56.4 / model_only_pretrain/kl_value 56.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.0 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 28400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[28400] model_only_pretrain/pretrain_opt_loss 82.7 / model_only_pretrain/pretrain_opt_grad_norm 181.6 / model_only_pretrain/cam_front_view_image_loss 23.2 / model_only_pretrain/cam_wrist_view_image_loss 25.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.8 / model_only_pretrain/dyn_loss 56.4 / model_only_pretrain/rep_loss 56.4 / model_only_pretrain/kl_value 56.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.8 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.5
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[28499] eval_recon/cam_front_view_image 25.4 / eval_recon/cam_wrist_view_image 31.4 / train_recon/cam_front_view_image 25.4 / train_recon/cam_wrist_view_image 25.0 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 28500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[28500] model_only_pretrain/pretrain_opt_loss 82.4 / model_only_pretrain/pretrain_opt_grad_norm 186.3 / model_only_pretrain/cam_front_view_image_loss 23.1 / model_only_pretrain/cam_wrist_view_image_loss 25.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.8 / model_only_pretrain/dyn_loss 56.3 / model_only_pretrain/rep_loss 56.3 / model_only_pretrain/kl_value 56.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.8 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 28600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[28600] model_only_pretrain/pretrain_opt_loss 83.5 / model_only_pretrain/pretrain_opt_grad_norm 191.5 / model_only_pretrain/cam_front_view_image_loss 23.3 / model_only_pretrain/cam_wrist_view_image_loss 26.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.9 / model_only_pretrain/dyn_loss 56.5 / model_only_pretrain/rep_loss 56.5 / model_only_pretrain/kl_value 56.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.0 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 28700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[28700] model_only_pretrain/pretrain_opt_loss 82.5 / model_only_pretrain/pretrain_opt_grad_norm 178.5 / model_only_pretrain/cam_front_view_image_loss 23.1 / model_only_pretrain/cam_wrist_view_image_loss 25.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.8 / model_only_pretrain/dyn_loss 56.3 / model_only_pretrain/rep_loss 56.3 / model_only_pretrain/kl_value 56.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.8 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 28800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[28800] model_only_pretrain/pretrain_opt_loss 82.6 / model_only_pretrain/pretrain_opt_grad_norm 189.7 / model_only_pretrain/cam_front_view_image_loss 22.9 / model_only_pretrain/cam_wrist_view_image_loss 25.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.8 / model_only_pretrain/dyn_loss 56.4 / model_only_pretrain/rep_loss 56.4 / model_only_pretrain/kl_value 56.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.9 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 28900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[28900] model_only_pretrain/pretrain_opt_loss 81.4 / model_only_pretrain/pretrain_opt_grad_norm 177.1 / model_only_pretrain/cam_front_view_image_loss 22.8 / model_only_pretrain/cam_wrist_view_image_loss 24.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.7 / model_only_pretrain/dyn_loss 56.2 / model_only_pretrain/rep_loss 56.2 / model_only_pretrain/kl_value 56.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.8 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[28999] eval_recon/cam_front_view_image 14.9 / eval_recon/cam_wrist_view_image 15.6 / train_recon/cam_front_view_image 21.7 / train_recon/cam_wrist_view_image 34.2 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 29000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  20% 29999/150000 [47:47<2:08:37, 15.55it/s]model_only_pretrain/pretrain_opt_loss 81.7 / model_only_pretrain/pretrain_opt_grad_norm 181.1 / model_only_pretrain/cam_front_view_image_loss 22.8 / model_only_pretrain/cam_wrist_view_image_loss 25.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.6 / model_only_pretrain/dyn_loss 56.0 / model_only_pretrain/rep_loss 56.0 / model_only_pretrain/kl_value 56.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.5 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 29100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[29100] model_only_pretrain/pretrain_opt_loss 81.6 / model_only_pretrain/pretrain_opt_grad_norm 177.9 / model_only_pretrain/cam_front_view_image_loss 22.7 / model_only_pretrain/cam_wrist_view_image_loss 25.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.7 / model_only_pretrain/dyn_loss 56.2 / model_only_pretrain/rep_loss 56.2 / model_only_pretrain/kl_value 56.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.7 / model_only_pretrain/post_ent -26.9 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 29200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[29200] model_only_pretrain/pretrain_opt_loss 81.4 / model_only_pretrain/pretrain_opt_grad_norm 179.2 / model_only_pretrain/cam_front_view_image_loss 22.8 / model_only_pretrain/cam_wrist_view_image_loss 24.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.6 / model_only_pretrain/dyn_loss 56.0 / model_only_pretrain/rep_loss 56.0 / model_only_pretrain/kl_value 56.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.6 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 12.2

[Checkpoint] Saving model at step 29300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[29300] model_only_pretrain/pretrain_opt_loss 81.9 / model_only_pretrain/pretrain_opt_grad_norm 181.4 / model_only_pretrain/cam_front_view_image_loss 22.8 / model_only_pretrain/cam_wrist_view_image_loss 25.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.8 / model_only_pretrain/dyn_loss 56.4 / model_only_pretrain/rep_loss 56.4 / model_only_pretrain/kl_value 56.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 29.1 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 29400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[29400] model_only_pretrain/pretrain_opt_loss 82.3 / model_only_pretrain/pretrain_opt_grad_norm 173.6 / model_only_pretrain/cam_front_view_image_loss 22.8 / model_only_pretrain/cam_wrist_view_image_loss 25.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.7 / model_only_pretrain/dyn_loss 56.2 / model_only_pretrain/rep_loss 56.2 / model_only_pretrain/kl_value 56.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.7 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[29499] eval_recon/cam_front_view_image 20.6 / eval_recon/cam_wrist_view_image 63.9 / train_recon/cam_front_view_image 23.2 / train_recon/cam_wrist_view_image 49.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 29500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[29500] model_only_pretrain/pretrain_opt_loss 80.8 / model_only_pretrain/pretrain_opt_grad_norm 170.7 / model_only_pretrain/cam_front_view_image_loss 22.4 / model_only_pretrain/cam_wrist_view_image_loss 24.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.6 / model_only_pretrain/dyn_loss 56.0 / model_only_pretrain/rep_loss 56.0 / model_only_pretrain/kl_value 56.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.6 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 29600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[29600] model_only_pretrain/pretrain_opt_loss 81.3 / model_only_pretrain/pretrain_opt_grad_norm 179.0 / model_only_pretrain/cam_front_view_image_loss 22.4 / model_only_pretrain/cam_wrist_view_image_loss 25.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.5 / model_only_pretrain/dyn_loss 55.9 / model_only_pretrain/rep_loss 55.9 / model_only_pretrain/kl_value 55.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.5 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 29700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[29700] model_only_pretrain/pretrain_opt_loss 81.6 / model_only_pretrain/pretrain_opt_grad_norm 183.6 / model_only_pretrain/cam_front_view_image_loss 22.7 / model_only_pretrain/cam_wrist_view_image_loss 25.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.6 / model_only_pretrain/dyn_loss 56.1 / model_only_pretrain/rep_loss 56.1 / model_only_pretrain/kl_value 56.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.7 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 29800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[29800] model_only_pretrain/pretrain_opt_loss 81.6 / model_only_pretrain/pretrain_opt_grad_norm 174.2 / model_only_pretrain/cam_front_view_image_loss 22.6 / model_only_pretrain/cam_wrist_view_image_loss 25.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.6 / model_only_pretrain/dyn_loss 56.1 / model_only_pretrain/rep_loss 56.1 / model_only_pretrain/kl_value 56.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.6 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 29900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[29900] model_only_pretrain/pretrain_opt_loss 81.7 / model_only_pretrain/pretrain_opt_grad_norm 171.1 / model_only_pretrain/cam_front_view_image_loss 22.6 / model_only_pretrain/cam_wrist_view_image_loss 25.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.6 / model_only_pretrain/dyn_loss 56.0 / model_only_pretrain/rep_loss 56.0 / model_only_pretrain/kl_value 56.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.7 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[29999] eval_recon/cam_front_view_image 24.8 / eval_recon/cam_wrist_view_image 39.3 / train_recon/cam_front_view_image 18.3 / train_recon/cam_wrist_view_image 27.0 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 30000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  21% 30999/150000 [49:14<1:57:36, 16.86it/s]model_only_pretrain/pretrain_opt_loss 81.8 / model_only_pretrain/pretrain_opt_grad_norm 179.2 / model_only_pretrain/cam_front_view_image_loss 22.7 / model_only_pretrain/cam_wrist_view_image_loss 25.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.8 / model_only_pretrain/dyn_loss 56.3 / model_only_pretrain/rep_loss 56.3 / model_only_pretrain/kl_value 56.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.8 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 30100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[30100] model_only_pretrain/pretrain_opt_loss 81.9 / model_only_pretrain/pretrain_opt_grad_norm 186.2 / model_only_pretrain/cam_front_view_image_loss 22.9 / model_only_pretrain/cam_wrist_view_image_loss 25.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.6 / model_only_pretrain/dyn_loss 56.0 / model_only_pretrain/rep_loss 56.0 / model_only_pretrain/kl_value 56.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.5 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 30200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[30200] model_only_pretrain/pretrain_opt_loss 80.7 / model_only_pretrain/pretrain_opt_grad_norm 180.8 / model_only_pretrain/cam_front_view_image_loss 22.3 / model_only_pretrain/cam_wrist_view_image_loss 24.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.6 / model_only_pretrain/dyn_loss 56.0 / model_only_pretrain/rep_loss 56.0 / model_only_pretrain/kl_value 56.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.5 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 12.4

[Checkpoint] Saving model at step 30300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[30300] model_only_pretrain/pretrain_opt_loss 81.9 / model_only_pretrain/pretrain_opt_grad_norm 187.0 / model_only_pretrain/cam_front_view_image_loss 22.9 / model_only_pretrain/cam_wrist_view_image_loss 25.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.7 / model_only_pretrain/dyn_loss 56.2 / model_only_pretrain/rep_loss 56.2 / model_only_pretrain/kl_value 56.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.8 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 30400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[30400] model_only_pretrain/pretrain_opt_loss 81.4 / model_only_pretrain/pretrain_opt_grad_norm 180.6 / model_only_pretrain/cam_front_view_image_loss 22.3 / model_only_pretrain/cam_wrist_view_image_loss 25.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.6 / model_only_pretrain/dyn_loss 56.0 / model_only_pretrain/rep_loss 56.0 / model_only_pretrain/kl_value 56.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.5 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 12.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[30499] eval_recon/cam_front_view_image 21.4 / eval_recon/cam_wrist_view_image 72.4 / train_recon/cam_front_view_image 18.9 / train_recon/cam_wrist_view_image 27.9 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 30500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[30500] model_only_pretrain/pretrain_opt_loss 82.4 / model_only_pretrain/pretrain_opt_grad_norm 180.7 / model_only_pretrain/cam_front_view_image_loss 22.8 / model_only_pretrain/cam_wrist_view_image_loss 25.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.7 / model_only_pretrain/dyn_loss 56.1 / model_only_pretrain/rep_loss 56.1 / model_only_pretrain/kl_value 56.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.7 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 30600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[30600] model_only_pretrain/pretrain_opt_loss 80.8 / model_only_pretrain/pretrain_opt_grad_norm 184.6 / model_only_pretrain/cam_front_view_image_loss 22.1 / model_only_pretrain/cam_wrist_view_image_loss 25.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.5 / model_only_pretrain/dyn_loss 55.9 / model_only_pretrain/rep_loss 55.9 / model_only_pretrain/kl_value 55.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.4 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 30700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[30700] model_only_pretrain/pretrain_opt_loss 81.8 / model_only_pretrain/pretrain_opt_grad_norm 180.3 / model_only_pretrain/cam_front_view_image_loss 22.7 / model_only_pretrain/cam_wrist_view_image_loss 25.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.7 / model_only_pretrain/dyn_loss 56.1 / model_only_pretrain/rep_loss 56.1 / model_only_pretrain/kl_value 56.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.6 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 30800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[30800] model_only_pretrain/pretrain_opt_loss 80.4 / model_only_pretrain/pretrain_opt_grad_norm 172.4 / model_only_pretrain/cam_front_view_image_loss 22.0 / model_only_pretrain/cam_wrist_view_image_loss 24.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.5 / model_only_pretrain/dyn_loss 55.9 / model_only_pretrain/rep_loss 55.9 / model_only_pretrain/kl_value 55.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.4 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 30900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[30900] model_only_pretrain/pretrain_opt_loss 80.8 / model_only_pretrain/pretrain_opt_grad_norm 181.7 / model_only_pretrain/cam_front_view_image_loss 22.3 / model_only_pretrain/cam_wrist_view_image_loss 24.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.6 / model_only_pretrain/dyn_loss 56.0 / model_only_pretrain/rep_loss 56.0 / model_only_pretrain/kl_value 56.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.5 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[30999] eval_recon/cam_front_view_image 32.6 / eval_recon/cam_wrist_view_image 74.4 / train_recon/cam_front_view_image 18.6 / train_recon/cam_wrist_view_image 30.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 31000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[31000] 
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World Model pretraining:  21% 32000/150000 [50:48<17:38:42,  1.86it/s]model_only_pretrain/pretrain_opt_loss 81.2 / model_only_pretrain/pretrain_opt_grad_norm 176.5 / model_only_pretrain/cam_front_view_image_loss 22.6 / model_only_pretrain/cam_wrist_view_image_loss 24.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.7 / model_only_pretrain/dyn_loss 56.1 / model_only_pretrain/rep_loss 56.1 / model_only_pretrain/kl_value 56.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.7 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 31100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[31100] model_only_pretrain/pretrain_opt_loss 79.9 / model_only_pretrain/pretrain_opt_grad_norm 177.7 / model_only_pretrain/cam_front_view_image_loss 21.9 / model_only_pretrain/cam_wrist_view_image_loss 24.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.4 / model_only_pretrain/dyn_loss 55.7 / model_only_pretrain/rep_loss 55.7 / model_only_pretrain/kl_value 55.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.2 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 31200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[31200] model_only_pretrain/pretrain_opt_loss 80.6 / model_only_pretrain/pretrain_opt_grad_norm 172.5 / model_only_pretrain/cam_front_view_image_loss 22.2 / model_only_pretrain/cam_wrist_view_image_loss 24.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.6 / model_only_pretrain/dyn_loss 56.0 / model_only_pretrain/rep_loss 56.0 / model_only_pretrain/kl_value 56.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.6 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 31300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[31300] model_only_pretrain/pretrain_opt_loss 81.2 / model_only_pretrain/pretrain_opt_grad_norm 180.2 / model_only_pretrain/cam_front_view_image_loss 22.4 / model_only_pretrain/cam_wrist_view_image_loss 25.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.7 / model_only_pretrain/dyn_loss 56.1 / model_only_pretrain/rep_loss 56.1 / model_only_pretrain/kl_value 56.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.7 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 31400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[31400] model_only_pretrain/pretrain_opt_loss 80.5 / model_only_pretrain/pretrain_opt_grad_norm 178.6 / model_only_pretrain/cam_front_view_image_loss 22.1 / model_only_pretrain/cam_wrist_view_image_loss 24.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.5 / model_only_pretrain/dyn_loss 55.9 / model_only_pretrain/rep_loss 55.9 / model_only_pretrain/kl_value 55.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.4 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[31499] eval_recon/cam_front_view_image 21.5 / eval_recon/cam_wrist_view_image 23.9 / train_recon/cam_front_view_image 20.7 / train_recon/cam_wrist_view_image 24.7 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 31500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[31500] model_only_pretrain/pretrain_opt_loss 80.6 / model_only_pretrain/pretrain_opt_grad_norm 186.7 / model_only_pretrain/cam_front_view_image_loss 22.5 / model_only_pretrain/cam_wrist_view_image_loss 24.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.6 / model_only_pretrain/dyn_loss 56.0 / model_only_pretrain/rep_loss 56.0 / model_only_pretrain/kl_value 56.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.7 / model_only_pretrain/post_ent -26.9 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 31600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[31600] model_only_pretrain/pretrain_opt_loss 80.5 / model_only_pretrain/pretrain_opt_grad_norm 171.6 / model_only_pretrain/cam_front_view_image_loss 22.2 / model_only_pretrain/cam_wrist_view_image_loss 24.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.5 / model_only_pretrain/dyn_loss 55.8 / model_only_pretrain/rep_loss 55.8 / model_only_pretrain/kl_value 55.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.3 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 31700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[31700] model_only_pretrain/pretrain_opt_loss 79.9 / model_only_pretrain/pretrain_opt_grad_norm 174.1 / model_only_pretrain/cam_front_view_image_loss 22.0 / model_only_pretrain/cam_wrist_view_image_loss 24.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.5 / model_only_pretrain/dyn_loss 55.8 / model_only_pretrain/rep_loss 55.8 / model_only_pretrain/kl_value 55.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.5 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 31800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[31800] model_only_pretrain/pretrain_opt_loss 79.0 / model_only_pretrain/pretrain_opt_grad_norm 169.1 / model_only_pretrain/cam_front_view_image_loss 21.8 / model_only_pretrain/cam_wrist_view_image_loss 23.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.4 / model_only_pretrain/dyn_loss 55.6 / model_only_pretrain/rep_loss 55.6 / model_only_pretrain/kl_value 55.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.3 / model_only_pretrain/post_ent -26.9 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 31900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[31900] model_only_pretrain/pretrain_opt_loss 80.0 / model_only_pretrain/pretrain_opt_grad_norm 171.0 / model_only_pretrain/cam_front_view_image_loss 22.1 / model_only_pretrain/cam_wrist_view_image_loss 24.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.5 / model_only_pretrain/dyn_loss 55.8 / model_only_pretrain/rep_loss 55.8 / model_only_pretrain/kl_value 55.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.4 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[31999] eval_recon/cam_front_view_image 19.7 / eval_recon/cam_wrist_view_image 118.0 / train_recon/cam_front_view_image 23.0 / train_recon/cam_wrist_view_image 28.5 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 32000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  22% 32999/150000 [52:19<2:12:53, 14.67it/s]model_only_pretrain/pretrain_opt_loss 80.1 / model_only_pretrain/pretrain_opt_grad_norm 177.0 / model_only_pretrain/cam_front_view_image_loss 22.3 / model_only_pretrain/cam_wrist_view_image_loss 24.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.4 / model_only_pretrain/dyn_loss 55.6 / model_only_pretrain/rep_loss 55.6 / model_only_pretrain/kl_value 55.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.2 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.8

[Checkpoint] Saving model at step 32100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[32100] model_only_pretrain/pretrain_opt_loss 80.5 / model_only_pretrain/pretrain_opt_grad_norm 176.1 / model_only_pretrain/cam_front_view_image_loss 21.9 / model_only_pretrain/cam_wrist_view_image_loss 25.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.5 / model_only_pretrain/dyn_loss 55.9 / model_only_pretrain/rep_loss 55.9 / model_only_pretrain/kl_value 55.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.4 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 32200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[32200] model_only_pretrain/pretrain_opt_loss 80.4 / model_only_pretrain/pretrain_opt_grad_norm 178.9 / model_only_pretrain/cam_front_view_image_loss 22.3 / model_only_pretrain/cam_wrist_view_image_loss 24.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.6 / model_only_pretrain/dyn_loss 55.9 / model_only_pretrain/rep_loss 55.9 / model_only_pretrain/kl_value 55.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.5 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 32300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[32300] model_only_pretrain/pretrain_opt_loss 80.7 / model_only_pretrain/pretrain_opt_grad_norm 179.1 / model_only_pretrain/cam_front_view_image_loss 22.1 / model_only_pretrain/cam_wrist_view_image_loss 24.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.7 / model_only_pretrain/dyn_loss 56.2 / model_only_pretrain/rep_loss 56.2 / model_only_pretrain/kl_value 56.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.8 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 32400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[32400] model_only_pretrain/pretrain_opt_loss 80.5 / model_only_pretrain/pretrain_opt_grad_norm 171.9 / model_only_pretrain/cam_front_view_image_loss 22.1 / model_only_pretrain/cam_wrist_view_image_loss 24.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.6 / model_only_pretrain/dyn_loss 56.1 / model_only_pretrain/rep_loss 56.1 / model_only_pretrain/kl_value 56.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.6 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.6
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[32499] eval_recon/cam_front_view_image 15.6 / eval_recon/cam_wrist_view_image 17.3 / train_recon/cam_front_view_image 21.3 / train_recon/cam_wrist_view_image 34.2 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 32500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[32500] model_only_pretrain/pretrain_opt_loss 79.9 / model_only_pretrain/pretrain_opt_grad_norm 174.1 / model_only_pretrain/cam_front_view_image_loss 21.8 / model_only_pretrain/cam_wrist_view_image_loss 24.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.5 / model_only_pretrain/dyn_loss 55.8 / model_only_pretrain/rep_loss 55.8 / model_only_pretrain/kl_value 55.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.3 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 32600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[32600] model_only_pretrain/pretrain_opt_loss 79.7 / model_only_pretrain/pretrain_opt_grad_norm 169.8 / model_only_pretrain/cam_front_view_image_loss 21.8 / model_only_pretrain/cam_wrist_view_image_loss 24.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.4 / model_only_pretrain/dyn_loss 55.7 / model_only_pretrain/rep_loss 55.7 / model_only_pretrain/kl_value 55.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.5 / model_only_pretrain/post_ent -26.9 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 32700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[32700] model_only_pretrain/pretrain_opt_loss 79.4 / model_only_pretrain/pretrain_opt_grad_norm 171.9 / model_only_pretrain/cam_front_view_image_loss 21.7 / model_only_pretrain/cam_wrist_view_image_loss 24.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.4 / model_only_pretrain/dyn_loss 55.7 / model_only_pretrain/rep_loss 55.7 / model_only_pretrain/kl_value 55.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.2 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.4

[Checkpoint] Saving model at step 32800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[32800] model_only_pretrain/pretrain_opt_loss 80.6 / model_only_pretrain/pretrain_opt_grad_norm 175.0 / model_only_pretrain/cam_front_view_image_loss 22.3 / model_only_pretrain/cam_wrist_view_image_loss 24.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.5 / model_only_pretrain/dyn_loss 55.9 / model_only_pretrain/rep_loss 55.9 / model_only_pretrain/kl_value 55.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.4 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 32900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[32900] model_only_pretrain/pretrain_opt_loss 78.3 / model_only_pretrain/pretrain_opt_grad_norm 165.0 / model_only_pretrain/cam_front_view_image_loss 21.5 / model_only_pretrain/cam_wrist_view_image_loss 23.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.2 / model_only_pretrain/dyn_loss 55.3 / model_only_pretrain/rep_loss 55.3 / model_only_pretrain/kl_value 55.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.0 / model_only_pretrain/post_ent -26.9 / model_only_pretrain/fps 11.6
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[32999] eval_recon/cam_front_view_image 37.8 / eval_recon/cam_wrist_view_image 68.3 / train_recon/cam_front_view_image 15.7 / train_recon/cam_wrist_view_image 24.9 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 33000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  23% 34000/150000 [54:05<15:58:21,  2.02it/s]model_only_pretrain/pretrain_opt_loss 78.7 / model_only_pretrain/pretrain_opt_grad_norm 171.9 / model_only_pretrain/cam_front_view_image_loss 21.4 / model_only_pretrain/cam_wrist_view_image_loss 24.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.2 / model_only_pretrain/dyn_loss 55.4 / model_only_pretrain/rep_loss 55.4 / model_only_pretrain/kl_value 55.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.0 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 12.5

[Checkpoint] Saving model at step 33100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[33100] model_only_pretrain/pretrain_opt_loss 79.1 / model_only_pretrain/pretrain_opt_grad_norm 171.3 / model_only_pretrain/cam_front_view_image_loss 21.6 / model_only_pretrain/cam_wrist_view_image_loss 24.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.4 / model_only_pretrain/dyn_loss 55.7 / model_only_pretrain/rep_loss 55.7 / model_only_pretrain/kl_value 55.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.2 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 33200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[33200] model_only_pretrain/pretrain_opt_loss 79.9 / model_only_pretrain/pretrain_opt_grad_norm 179.7 / model_only_pretrain/cam_front_view_image_loss 21.7 / model_only_pretrain/cam_wrist_view_image_loss 24.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.6 / model_only_pretrain/dyn_loss 56.1 / model_only_pretrain/rep_loss 56.1 / model_only_pretrain/kl_value 56.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.6 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 33300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[33300] model_only_pretrain/pretrain_opt_loss 78.6 / model_only_pretrain/pretrain_opt_grad_norm 171.2 / model_only_pretrain/cam_front_view_image_loss 21.7 / model_only_pretrain/cam_wrist_view_image_loss 23.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.4 / model_only_pretrain/dyn_loss 55.7 / model_only_pretrain/rep_loss 55.7 / model_only_pretrain/kl_value 55.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.3 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.1

[Checkpoint] Saving model at step 33400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[33400] model_only_pretrain/pretrain_opt_loss 79.7 / model_only_pretrain/pretrain_opt_grad_norm 182.8 / model_only_pretrain/cam_front_view_image_loss 21.9 / model_only_pretrain/cam_wrist_view_image_loss 24.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.4 / model_only_pretrain/dyn_loss 55.7 / model_only_pretrain/rep_loss 55.7 / model_only_pretrain/kl_value 55.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.3 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 8.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[33499] eval_recon/cam_front_view_image 30.3 / eval_recon/cam_wrist_view_image 28.1 / train_recon/cam_front_view_image 17.1 / train_recon/cam_wrist_view_image 17.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 33500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[33500] model_only_pretrain/pretrain_opt_loss 79.7 / model_only_pretrain/pretrain_opt_grad_norm 177.2 / model_only_pretrain/cam_front_view_image_loss 21.6 / model_only_pretrain/cam_wrist_view_image_loss 24.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.5 / model_only_pretrain/dyn_loss 55.8 / model_only_pretrain/rep_loss 55.8 / model_only_pretrain/kl_value 55.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.3 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 8.4

[Checkpoint] Saving model at step 33600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[33600] model_only_pretrain/pretrain_opt_loss 79.3 / model_only_pretrain/pretrain_opt_grad_norm 172.6 / model_only_pretrain/cam_front_view_image_loss 21.6 / model_only_pretrain/cam_wrist_view_image_loss 24.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.4 / model_only_pretrain/dyn_loss 55.7 / model_only_pretrain/rep_loss 55.7 / model_only_pretrain/kl_value 55.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.3 / model_only_pretrain/post_ent -26.9 / model_only_pretrain/fps 9.5

[Checkpoint] Saving model at step 33700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[33700] model_only_pretrain/pretrain_opt_loss 79.8 / model_only_pretrain/pretrain_opt_grad_norm 182.3 / model_only_pretrain/cam_front_view_image_loss 21.9 / model_only_pretrain/cam_wrist_view_image_loss 24.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.5 / model_only_pretrain/dyn_loss 55.8 / model_only_pretrain/rep_loss 55.8 / model_only_pretrain/kl_value 55.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.3 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.2

[Checkpoint] Saving model at step 33800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[33800] model_only_pretrain/pretrain_opt_loss 79.6 / model_only_pretrain/pretrain_opt_grad_norm 172.8 / model_only_pretrain/cam_front_view_image_loss 21.7 / model_only_pretrain/cam_wrist_view_image_loss 24.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.4 / model_only_pretrain/dyn_loss 55.7 / model_only_pretrain/rep_loss 55.7 / model_only_pretrain/kl_value 55.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.2 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 33900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[33900] model_only_pretrain/pretrain_opt_loss 79.3 / model_only_pretrain/pretrain_opt_grad_norm 174.3 / model_only_pretrain/cam_front_view_image_loss 21.5 / model_only_pretrain/cam_wrist_view_image_loss 24.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.4 / model_only_pretrain/dyn_loss 55.6 / model_only_pretrain/rep_loss 55.6 / model_only_pretrain/kl_value 55.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.2 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.2
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[33999] eval_recon/cam_front_view_image 84.4 / eval_recon/cam_wrist_view_image 267.3 / train_recon/cam_front_view_image 16.3 / train_recon/cam_wrist_view_image 18.5 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 34000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  23% 35000/150000 [55:39<15:33:49,  2.05it/s]model_only_pretrain/pretrain_opt_loss 80.3 / model_only_pretrain/pretrain_opt_grad_norm 172.7 / model_only_pretrain/cam_front_view_image_loss 22.1 / model_only_pretrain/cam_wrist_view_image_loss 24.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.7 / model_only_pretrain/dyn_loss 56.1 / model_only_pretrain/rep_loss 56.1 / model_only_pretrain/kl_value 56.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.6 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 34100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[34100] model_only_pretrain/pretrain_opt_loss 79.2 / model_only_pretrain/pretrain_opt_grad_norm 166.0 / model_only_pretrain/cam_front_view_image_loss 21.7 / model_only_pretrain/cam_wrist_view_image_loss 24.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.3 / model_only_pretrain/dyn_loss 55.5 / model_only_pretrain/rep_loss 55.5 / model_only_pretrain/kl_value 55.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.1 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 34200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[34200] model_only_pretrain/pretrain_opt_loss 79.7 / model_only_pretrain/pretrain_opt_grad_norm 174.7 / model_only_pretrain/cam_front_view_image_loss 21.7 / model_only_pretrain/cam_wrist_view_image_loss 24.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.6 / model_only_pretrain/dyn_loss 56.0 / model_only_pretrain/rep_loss 56.0 / model_only_pretrain/kl_value 56.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.5 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 34300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[34300] model_only_pretrain/pretrain_opt_loss 79.8 / model_only_pretrain/pretrain_opt_grad_norm 178.4 / model_only_pretrain/cam_front_view_image_loss 21.6 / model_only_pretrain/cam_wrist_view_image_loss 24.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.5 / model_only_pretrain/dyn_loss 55.9 / model_only_pretrain/rep_loss 55.9 / model_only_pretrain/kl_value 55.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.5 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 34400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[34400] model_only_pretrain/pretrain_opt_loss 79.2 / model_only_pretrain/pretrain_opt_grad_norm 177.8 / model_only_pretrain/cam_front_view_image_loss 21.6 / model_only_pretrain/cam_wrist_view_image_loss 24.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.5 / model_only_pretrain/dyn_loss 55.8 / model_only_pretrain/rep_loss 55.8 / model_only_pretrain/kl_value 55.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.3 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.9
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[34499] eval_recon/cam_front_view_image 17.4 / eval_recon/cam_wrist_view_image 42.8 / train_recon/cam_front_view_image 23.7 / train_recon/cam_wrist_view_image 58.7 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 34500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[34500] model_only_pretrain/pretrain_opt_loss 80.2 / model_only_pretrain/pretrain_opt_grad_norm 173.5 / model_only_pretrain/cam_front_view_image_loss 21.7 / model_only_pretrain/cam_wrist_view_image_loss 25.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.6 / model_only_pretrain/dyn_loss 55.9 / model_only_pretrain/rep_loss 55.9 / model_only_pretrain/kl_value 55.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.5 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 34600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[34600] model_only_pretrain/pretrain_opt_loss 79.2 / model_only_pretrain/pretrain_opt_grad_norm 168.0 / model_only_pretrain/cam_front_view_image_loss 21.4 / model_only_pretrain/cam_wrist_view_image_loss 24.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.4 / model_only_pretrain/dyn_loss 55.7 / model_only_pretrain/rep_loss 55.7 / model_only_pretrain/kl_value 55.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.3 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 34700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[34700] model_only_pretrain/pretrain_opt_loss 79.1 / model_only_pretrain/pretrain_opt_grad_norm 173.8 / model_only_pretrain/cam_front_view_image_loss 21.6 / model_only_pretrain/cam_wrist_view_image_loss 24.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.3 / model_only_pretrain/dyn_loss 55.6 / model_only_pretrain/rep_loss 55.6 / model_only_pretrain/kl_value 55.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.1 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 34800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[34800] model_only_pretrain/pretrain_opt_loss 78.0 / model_only_pretrain/pretrain_opt_grad_norm 158.7 / model_only_pretrain/cam_front_view_image_loss 21.1 / model_only_pretrain/cam_wrist_view_image_loss 23.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.2 / model_only_pretrain/dyn_loss 55.4 / model_only_pretrain/rep_loss 55.4 / model_only_pretrain/kl_value 55.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.9 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 34900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[34900] model_only_pretrain/pretrain_opt_loss 79.5 / model_only_pretrain/pretrain_opt_grad_norm 178.6 / model_only_pretrain/cam_front_view_image_loss 21.8 / model_only_pretrain/cam_wrist_view_image_loss 24.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.6 / model_only_pretrain/dyn_loss 55.9 / model_only_pretrain/rep_loss 55.9 / model_only_pretrain/kl_value 55.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.4 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.1
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[34999] eval_recon/cam_front_view_image 18.2 / eval_recon/cam_wrist_view_image 22.0 / train_recon/cam_front_view_image 16.7 / train_recon/cam_wrist_view_image 28.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 35000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  24% 35999/150000 [57:09<2:07:29, 14.90it/s]model_only_pretrain/pretrain_opt_loss 79.5 / model_only_pretrain/pretrain_opt_grad_norm 176.3 / model_only_pretrain/cam_front_view_image_loss 21.5 / model_only_pretrain/cam_wrist_view_image_loss 24.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.4 / model_only_pretrain/dyn_loss 55.7 / model_only_pretrain/rep_loss 55.7 / model_only_pretrain/kl_value 55.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.4 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 35100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[35100] model_only_pretrain/pretrain_opt_loss 78.9 / model_only_pretrain/pretrain_opt_grad_norm 168.9 / model_only_pretrain/cam_front_view_image_loss 21.7 / model_only_pretrain/cam_wrist_view_image_loss 23.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.4 / model_only_pretrain/dyn_loss 55.6 / model_only_pretrain/rep_loss 55.6 / model_only_pretrain/kl_value 55.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.1 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 35200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[35200] model_only_pretrain/pretrain_opt_loss 78.4 / model_only_pretrain/pretrain_opt_grad_norm 173.5 / model_only_pretrain/cam_front_view_image_loss 21.4 / model_only_pretrain/cam_wrist_view_image_loss 23.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.3 / model_only_pretrain/dyn_loss 55.6 / model_only_pretrain/rep_loss 55.6 / model_only_pretrain/kl_value 55.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.1 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 35300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[35300] model_only_pretrain/pretrain_opt_loss 79.2 / model_only_pretrain/pretrain_opt_grad_norm 176.2 / model_only_pretrain/cam_front_view_image_loss 21.5 / model_only_pretrain/cam_wrist_view_image_loss 24.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.5 / model_only_pretrain/dyn_loss 55.8 / model_only_pretrain/rep_loss 55.8 / model_only_pretrain/kl_value 55.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.3 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 35400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[35400] model_only_pretrain/pretrain_opt_loss 77.7 / model_only_pretrain/pretrain_opt_grad_norm 169.6 / model_only_pretrain/cam_front_view_image_loss 20.9 / model_only_pretrain/cam_wrist_view_image_loss 23.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.1 / model_only_pretrain/dyn_loss 55.2 / model_only_pretrain/rep_loss 55.2 / model_only_pretrain/kl_value 55.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.8 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[35499] eval_recon/cam_front_view_image 19.1 / eval_recon/cam_wrist_view_image 24.4 / train_recon/cam_front_view_image 17.0 / train_recon/cam_wrist_view_image 24.4 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 35500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[35500] model_only_pretrain/pretrain_opt_loss 79.2 / model_only_pretrain/pretrain_opt_grad_norm 168.3 / model_only_pretrain/cam_front_view_image_loss 21.6 / model_only_pretrain/cam_wrist_view_image_loss 24.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.4 / model_only_pretrain/dyn_loss 55.7 / model_only_pretrain/rep_loss 55.7 / model_only_pretrain/kl_value 55.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.1 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 35600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[35600] model_only_pretrain/pretrain_opt_loss 79.1 / model_only_pretrain/pretrain_opt_grad_norm 169.8 / model_only_pretrain/cam_front_view_image_loss 21.5 / model_only_pretrain/cam_wrist_view_image_loss 24.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.5 / model_only_pretrain/dyn_loss 55.8 / model_only_pretrain/rep_loss 55.8 / model_only_pretrain/kl_value 55.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.4 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 35700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[35700] model_only_pretrain/pretrain_opt_loss 79.0 / model_only_pretrain/pretrain_opt_grad_norm 174.1 / model_only_pretrain/cam_front_view_image_loss 21.5 / model_only_pretrain/cam_wrist_view_image_loss 24.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.6 / model_only_pretrain/dyn_loss 55.9 / model_only_pretrain/rep_loss 55.9 / model_only_pretrain/kl_value 55.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.5 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 35800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[35800] model_only_pretrain/pretrain_opt_loss 78.9 / model_only_pretrain/pretrain_opt_grad_norm 172.5 / model_only_pretrain/cam_front_view_image_loss 21.3 / model_only_pretrain/cam_wrist_view_image_loss 24.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.4 / model_only_pretrain/dyn_loss 55.7 / model_only_pretrain/rep_loss 55.7 / model_only_pretrain/kl_value 55.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.2 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 35900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[35900] model_only_pretrain/pretrain_opt_loss 77.9 / model_only_pretrain/pretrain_opt_grad_norm 167.8 / model_only_pretrain/cam_front_view_image_loss 21.1 / model_only_pretrain/cam_wrist_view_image_loss 23.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.1 / model_only_pretrain/dyn_loss 55.2 / model_only_pretrain/rep_loss 55.2 / model_only_pretrain/kl_value 55.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.8 / model_only_pretrain/post_ent -26.9 / model_only_pretrain/fps 10.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[35999] eval_recon/cam_front_view_image 16.6 / eval_recon/cam_wrist_view_image 28.7 / train_recon/cam_front_view_image 21.3 / train_recon/cam_wrist_view_image 26.9 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 36000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[36000] 
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World Model pretraining:  25% 37000/150000 [58:44<17:18:57,  1.81it/s]model_only_pretrain/pretrain_opt_loss 78.5 / model_only_pretrain/pretrain_opt_grad_norm 170.6 / model_only_pretrain/cam_front_view_image_loss 21.5 / model_only_pretrain/cam_wrist_view_image_loss 23.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.4 / model_only_pretrain/dyn_loss 55.6 / model_only_pretrain/rep_loss 55.6 / model_only_pretrain/kl_value 55.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.1 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 36100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[36100] model_only_pretrain/pretrain_opt_loss 79.4 / model_only_pretrain/pretrain_opt_grad_norm 182.2 / model_only_pretrain/cam_front_view_image_loss 21.4 / model_only_pretrain/cam_wrist_view_image_loss 24.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.4 / model_only_pretrain/dyn_loss 55.7 / model_only_pretrain/rep_loss 55.7 / model_only_pretrain/kl_value 55.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.2 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 36200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[36200] model_only_pretrain/pretrain_opt_loss 78.3 / model_only_pretrain/pretrain_opt_grad_norm 172.9 / model_only_pretrain/cam_front_view_image_loss 21.3 / model_only_pretrain/cam_wrist_view_image_loss 23.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.3 / model_only_pretrain/dyn_loss 55.5 / model_only_pretrain/rep_loss 55.5 / model_only_pretrain/kl_value 55.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.1 / model_only_pretrain/post_ent -26.9 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 36300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[36300] model_only_pretrain/pretrain_opt_loss 77.9 / model_only_pretrain/pretrain_opt_grad_norm 160.5 / model_only_pretrain/cam_front_view_image_loss 20.9 / model_only_pretrain/cam_wrist_view_image_loss 23.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.3 / model_only_pretrain/dyn_loss 55.5 / model_only_pretrain/rep_loss 55.5 / model_only_pretrain/kl_value 55.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.0 / model_only_pretrain/post_ent -26.9 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 36400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[36400] model_only_pretrain/pretrain_opt_loss 78.1 / model_only_pretrain/pretrain_opt_grad_norm 169.0 / model_only_pretrain/cam_front_view_image_loss 21.1 / model_only_pretrain/cam_wrist_view_image_loss 23.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.3 / model_only_pretrain/dyn_loss 55.6 / model_only_pretrain/rep_loss 55.6 / model_only_pretrain/kl_value 55.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.2 / model_only_pretrain/post_ent -26.9 / model_only_pretrain/fps 11.1
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[36499] eval_recon/cam_front_view_image 20.2 / eval_recon/cam_wrist_view_image 22.8 / train_recon/cam_front_view_image 27.6 / train_recon/cam_wrist_view_image 25.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 36500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[36500] model_only_pretrain/pretrain_opt_loss 78.1 / model_only_pretrain/pretrain_opt_grad_norm 166.9 / model_only_pretrain/cam_front_view_image_loss 21.2 / model_only_pretrain/cam_wrist_view_image_loss 23.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.3 / model_only_pretrain/dyn_loss 55.5 / model_only_pretrain/rep_loss 55.5 / model_only_pretrain/kl_value 55.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.1 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 36600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[36600] model_only_pretrain/pretrain_opt_loss 78.2 / model_only_pretrain/pretrain_opt_grad_norm 174.3 / model_only_pretrain/cam_front_view_image_loss 21.0 / model_only_pretrain/cam_wrist_view_image_loss 23.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.2 / model_only_pretrain/dyn_loss 55.4 / model_only_pretrain/rep_loss 55.4 / model_only_pretrain/kl_value 55.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.9 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 36700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[36700] model_only_pretrain/pretrain_opt_loss 78.0 / model_only_pretrain/pretrain_opt_grad_norm 171.2 / model_only_pretrain/cam_front_view_image_loss 21.1 / model_only_pretrain/cam_wrist_view_image_loss 23.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.4 / model_only_pretrain/dyn_loss 55.6 / model_only_pretrain/rep_loss 55.6 / model_only_pretrain/kl_value 55.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.2 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 36800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[36800] model_only_pretrain/pretrain_opt_loss 78.4 / model_only_pretrain/pretrain_opt_grad_norm 178.9 / model_only_pretrain/cam_front_view_image_loss 21.2 / model_only_pretrain/cam_wrist_view_image_loss 23.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.3 / model_only_pretrain/dyn_loss 55.6 / model_only_pretrain/rep_loss 55.6 / model_only_pretrain/kl_value 55.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.1 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 36900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[36900] model_only_pretrain/pretrain_opt_loss 77.8 / model_only_pretrain/pretrain_opt_grad_norm 185.3 / model_only_pretrain/cam_front_view_image_loss 21.0 / model_only_pretrain/cam_wrist_view_image_loss 23.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.2 / model_only_pretrain/dyn_loss 55.4 / model_only_pretrain/rep_loss 55.4 / model_only_pretrain/kl_value 55.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.9 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.3
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[36999] eval_recon/cam_front_view_image 17.9 / eval_recon/cam_wrist_view_image 17.9 / train_recon/cam_front_view_image 58.7 / train_recon/cam_wrist_view_image 33.7 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 37000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  25% 37999/150000 [1:00:12<2:08:11, 14.56it/s]model_only_pretrain/pretrain_opt_loss 77.3 / model_only_pretrain/pretrain_opt_grad_norm 165.6 / model_only_pretrain/cam_front_view_image_loss 21.0 / model_only_pretrain/cam_wrist_view_image_loss 23.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.1 / model_only_pretrain/dyn_loss 55.1 / model_only_pretrain/rep_loss 55.1 / model_only_pretrain/kl_value 55.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.8 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.9

[Checkpoint] Saving model at step 37100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[37100] model_only_pretrain/pretrain_opt_loss 78.4 / model_only_pretrain/pretrain_opt_grad_norm 179.1 / model_only_pretrain/cam_front_view_image_loss 20.9 / model_only_pretrain/cam_wrist_view_image_loss 24.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.3 / model_only_pretrain/dyn_loss 55.5 / model_only_pretrain/rep_loss 55.5 / model_only_pretrain/kl_value 55.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.9 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 37200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[37200] model_only_pretrain/pretrain_opt_loss 78.1 / model_only_pretrain/pretrain_opt_grad_norm 171.2 / model_only_pretrain/cam_front_view_image_loss 21.1 / model_only_pretrain/cam_wrist_view_image_loss 23.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.3 / model_only_pretrain/dyn_loss 55.5 / model_only_pretrain/rep_loss 55.5 / model_only_pretrain/kl_value 55.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.0 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 37300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[37300] model_only_pretrain/pretrain_opt_loss 78.2 / model_only_pretrain/pretrain_opt_grad_norm 169.9 / model_only_pretrain/cam_front_view_image_loss 21.0 / model_only_pretrain/cam_wrist_view_image_loss 23.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.3 / model_only_pretrain/dyn_loss 55.4 / model_only_pretrain/rep_loss 55.4 / model_only_pretrain/kl_value 55.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.0 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 37400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[37400] model_only_pretrain/pretrain_opt_loss 77.5 / model_only_pretrain/pretrain_opt_grad_norm 164.2 / model_only_pretrain/cam_front_view_image_loss 20.9 / model_only_pretrain/cam_wrist_view_image_loss 23.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.2 / model_only_pretrain/dyn_loss 55.4 / model_only_pretrain/rep_loss 55.4 / model_only_pretrain/kl_value 55.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.9 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[37499] eval_recon/cam_front_view_image 17.1 / eval_recon/cam_wrist_view_image 67.1 / train_recon/cam_front_view_image 16.4 / train_recon/cam_wrist_view_image 21.4 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 37500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[37500] model_only_pretrain/pretrain_opt_loss 77.6 / model_only_pretrain/pretrain_opt_grad_norm 166.3 / model_only_pretrain/cam_front_view_image_loss 21.0 / model_only_pretrain/cam_wrist_view_image_loss 23.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.3 / model_only_pretrain/dyn_loss 55.5 / model_only_pretrain/rep_loss 55.5 / model_only_pretrain/kl_value 55.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.0 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 37600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[37600] model_only_pretrain/pretrain_opt_loss 77.0 / model_only_pretrain/pretrain_opt_grad_norm 163.5 / model_only_pretrain/cam_front_view_image_loss 20.7 / model_only_pretrain/cam_wrist_view_image_loss 23.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.1 / model_only_pretrain/dyn_loss 55.2 / model_only_pretrain/rep_loss 55.2 / model_only_pretrain/kl_value 55.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.8 / model_only_pretrain/post_ent -26.9 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 37700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[37700] model_only_pretrain/pretrain_opt_loss 77.5 / model_only_pretrain/pretrain_opt_grad_norm 178.9 / model_only_pretrain/cam_front_view_image_loss 20.7 / model_only_pretrain/cam_wrist_view_image_loss 23.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.1 / model_only_pretrain/dyn_loss 55.2 / model_only_pretrain/rep_loss 55.2 / model_only_pretrain/kl_value 55.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.7 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 12.2

[Checkpoint] Saving model at step 37800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[37800] model_only_pretrain/pretrain_opt_loss 77.8 / model_only_pretrain/pretrain_opt_grad_norm 174.3 / model_only_pretrain/cam_front_view_image_loss 21.1 / model_only_pretrain/cam_wrist_view_image_loss 23.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.3 / model_only_pretrain/dyn_loss 55.5 / model_only_pretrain/rep_loss 55.5 / model_only_pretrain/kl_value 55.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.0 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 37900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[37900] model_only_pretrain/pretrain_opt_loss 77.2 / model_only_pretrain/pretrain_opt_grad_norm 162.5 / model_only_pretrain/cam_front_view_image_loss 20.7 / model_only_pretrain/cam_wrist_view_image_loss 23.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.2 / model_only_pretrain/dyn_loss 55.4 / model_only_pretrain/rep_loss 55.4 / model_only_pretrain/kl_value 55.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.9 / model_only_pretrain/post_ent -26.9 / model_only_pretrain/fps 11.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[37999] eval_recon/cam_front_view_image 21.1 / eval_recon/cam_wrist_view_image 24.8 / train_recon/cam_front_view_image 16.4 / train_recon/cam_wrist_view_image 16.9 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 38000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  26% 38999/150000 [1:01:50<1:56:43, 15.85it/s]model_only_pretrain/pretrain_opt_loss 77.4 / model_only_pretrain/pretrain_opt_grad_norm 167.3 / model_only_pretrain/cam_front_view_image_loss 20.8 / model_only_pretrain/cam_wrist_view_image_loss 23.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.2 / model_only_pretrain/dyn_loss 55.3 / model_only_pretrain/rep_loss 55.3 / model_only_pretrain/kl_value 55.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.9 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 38100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[38100] model_only_pretrain/pretrain_opt_loss 77.2 / model_only_pretrain/pretrain_opt_grad_norm 159.9 / model_only_pretrain/cam_front_view_image_loss 20.8 / model_only_pretrain/cam_wrist_view_image_loss 23.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.2 / model_only_pretrain/dyn_loss 55.3 / model_only_pretrain/rep_loss 55.3 / model_only_pretrain/kl_value 55.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.8 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 38200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[38200] model_only_pretrain/pretrain_opt_loss 78.1 / model_only_pretrain/pretrain_opt_grad_norm 166.5 / model_only_pretrain/cam_front_view_image_loss 20.9 / model_only_pretrain/cam_wrist_view_image_loss 23.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.3 / model_only_pretrain/dyn_loss 55.6 / model_only_pretrain/rep_loss 55.6 / model_only_pretrain/kl_value 55.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.9 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 38300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[38300] model_only_pretrain/pretrain_opt_loss 77.2 / model_only_pretrain/pretrain_opt_grad_norm 158.8 / model_only_pretrain/cam_front_view_image_loss 20.8 / model_only_pretrain/cam_wrist_view_image_loss 23.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.2 / model_only_pretrain/dyn_loss 55.4 / model_only_pretrain/rep_loss 55.4 / model_only_pretrain/kl_value 55.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.9 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 38400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[38400] model_only_pretrain/pretrain_opt_loss 77.8 / model_only_pretrain/pretrain_opt_grad_norm 167.0 / model_only_pretrain/cam_front_view_image_loss 21.0 / model_only_pretrain/cam_wrist_view_image_loss 23.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.3 / model_only_pretrain/dyn_loss 55.4 / model_only_pretrain/rep_loss 55.4 / model_only_pretrain/kl_value 55.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.9 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[38499] eval_recon/cam_front_view_image 16.0 / eval_recon/cam_wrist_view_image 12.6 / train_recon/cam_front_view_image 24.8 / train_recon/cam_wrist_view_image 48.5 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 38500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[38500] model_only_pretrain/pretrain_opt_loss 77.4 / model_only_pretrain/pretrain_opt_grad_norm 172.2 / model_only_pretrain/cam_front_view_image_loss 20.8 / model_only_pretrain/cam_wrist_view_image_loss 23.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.1 / model_only_pretrain/dyn_loss 55.2 / model_only_pretrain/rep_loss 55.2 / model_only_pretrain/kl_value 55.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.8 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 38600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[38600] model_only_pretrain/pretrain_opt_loss 77.8 / model_only_pretrain/pretrain_opt_grad_norm 169.9 / model_only_pretrain/cam_front_view_image_loss 20.9 / model_only_pretrain/cam_wrist_view_image_loss 23.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.4 / model_only_pretrain/dyn_loss 55.7 / model_only_pretrain/rep_loss 55.7 / model_only_pretrain/kl_value 55.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.0 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 38700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[38700] model_only_pretrain/pretrain_opt_loss 77.1 / model_only_pretrain/pretrain_opt_grad_norm 162.3 / model_only_pretrain/cam_front_view_image_loss 20.9 / model_only_pretrain/cam_wrist_view_image_loss 22.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.2 / model_only_pretrain/dyn_loss 55.3 / model_only_pretrain/rep_loss 55.3 / model_only_pretrain/kl_value 55.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.8 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 38800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[38800] model_only_pretrain/pretrain_opt_loss 76.9 / model_only_pretrain/pretrain_opt_grad_norm 163.6 / model_only_pretrain/cam_front_view_image_loss 20.6 / model_only_pretrain/cam_wrist_view_image_loss 23.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.1 / model_only_pretrain/dyn_loss 55.2 / model_only_pretrain/rep_loss 55.2 / model_only_pretrain/kl_value 55.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.7 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 38900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[38900] model_only_pretrain/pretrain_opt_loss 77.1 / model_only_pretrain/pretrain_opt_grad_norm 165.5 / model_only_pretrain/cam_front_view_image_loss 20.6 / model_only_pretrain/cam_wrist_view_image_loss 23.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.1 / model_only_pretrain/dyn_loss 55.2 / model_only_pretrain/rep_loss 55.2 / model_only_pretrain/kl_value 55.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.6 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 8.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[38999] eval_recon/cam_front_view_image 16.9 / eval_recon/cam_wrist_view_image 17.1 / train_recon/cam_front_view_image 18.8 / train_recon/cam_wrist_view_image 35.2 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 39000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  27% 40000/150000 [1:03:21<12:54:27,  2.37it/s]model_only_pretrain/pretrain_opt_loss 78.4 / model_only_pretrain/pretrain_opt_grad_norm 171.0 / model_only_pretrain/cam_front_view_image_loss 21.1 / model_only_pretrain/cam_wrist_view_image_loss 23.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.4 / model_only_pretrain/dyn_loss 55.7 / model_only_pretrain/rep_loss 55.7 / model_only_pretrain/kl_value 55.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.1 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.2

[Checkpoint] Saving model at step 39100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[39100] model_only_pretrain/pretrain_opt_loss 77.7 / model_only_pretrain/pretrain_opt_grad_norm 167.4 / model_only_pretrain/cam_front_view_image_loss 20.9 / model_only_pretrain/cam_wrist_view_image_loss 23.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.3 / model_only_pretrain/dyn_loss 55.5 / model_only_pretrain/rep_loss 55.5 / model_only_pretrain/kl_value 55.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.0 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 39200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[39200] model_only_pretrain/pretrain_opt_loss 77.2 / model_only_pretrain/pretrain_opt_grad_norm 184.7 / model_only_pretrain/cam_front_view_image_loss 20.7 / model_only_pretrain/cam_wrist_view_image_loss 23.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.2 / model_only_pretrain/dyn_loss 55.4 / model_only_pretrain/rep_loss 55.4 / model_only_pretrain/kl_value 55.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.0 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 39300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[39300] model_only_pretrain/pretrain_opt_loss 76.4 / model_only_pretrain/pretrain_opt_grad_norm 163.9 / model_only_pretrain/cam_front_view_image_loss 20.5 / model_only_pretrain/cam_wrist_view_image_loss 22.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.1 / model_only_pretrain/dyn_loss 55.2 / model_only_pretrain/rep_loss 55.2 / model_only_pretrain/kl_value 55.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.7 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 12.3

[Checkpoint] Saving model at step 39400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[39400] model_only_pretrain/pretrain_opt_loss 77.1 / model_only_pretrain/pretrain_opt_grad_norm 159.5 / model_only_pretrain/cam_front_view_image_loss 20.6 / model_only_pretrain/cam_wrist_view_image_loss 23.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.2 / model_only_pretrain/dyn_loss 55.4 / model_only_pretrain/rep_loss 55.4 / model_only_pretrain/kl_value 55.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.9 / model_only_pretrain/post_ent -26.9 / model_only_pretrain/fps 11.9
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[39499] eval_recon/cam_front_view_image 17.8 / eval_recon/cam_wrist_view_image 19.0 / train_recon/cam_front_view_image 17.8 / train_recon/cam_wrist_view_image 25.5 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 39500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[39500] model_only_pretrain/pretrain_opt_loss 77.9 / model_only_pretrain/pretrain_opt_grad_norm 173.1 / model_only_pretrain/cam_front_view_image_loss 20.8 / model_only_pretrain/cam_wrist_view_image_loss 23.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.3 / model_only_pretrain/dyn_loss 55.6 / model_only_pretrain/rep_loss 55.6 / model_only_pretrain/kl_value 55.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.0 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 12.2

[Checkpoint] Saving model at step 39600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[39600] model_only_pretrain/pretrain_opt_loss 78.5 / model_only_pretrain/pretrain_opt_grad_norm 164.8 / model_only_pretrain/cam_front_view_image_loss 21.3 / model_only_pretrain/cam_wrist_view_image_loss 23.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.4 / model_only_pretrain/dyn_loss 55.7 / model_only_pretrain/rep_loss 55.7 / model_only_pretrain/kl_value 55.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 28.1 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 12.4

[Checkpoint] Saving model at step 39700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[39700] model_only_pretrain/pretrain_opt_loss 76.3 / model_only_pretrain/pretrain_opt_grad_norm 154.8 / model_only_pretrain/cam_front_view_image_loss 20.6 / model_only_pretrain/cam_wrist_view_image_loss 22.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.1 / model_only_pretrain/dyn_loss 55.2 / model_only_pretrain/rep_loss 55.2 / model_only_pretrain/kl_value 55.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.7 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 12.2

[Checkpoint] Saving model at step 39800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[39800] model_only_pretrain/pretrain_opt_loss 77.2 / model_only_pretrain/pretrain_opt_grad_norm 163.5 / model_only_pretrain/cam_front_view_image_loss 20.7 / model_only_pretrain/cam_wrist_view_image_loss 23.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.3 / model_only_pretrain/dyn_loss 55.4 / model_only_pretrain/rep_loss 55.4 / model_only_pretrain/kl_value 55.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.9 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 39900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[39900] model_only_pretrain/pretrain_opt_loss 77.3 / model_only_pretrain/pretrain_opt_grad_norm 163.3 / model_only_pretrain/cam_front_view_image_loss 20.6 / model_only_pretrain/cam_wrist_view_image_loss 23.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.2 / model_only_pretrain/dyn_loss 55.3 / model_only_pretrain/rep_loss 55.3 / model_only_pretrain/kl_value 55.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.8 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[39999] eval_recon/cam_front_view_image 14.9 / eval_recon/cam_wrist_view_image 18.4 / train_recon/cam_front_view_image 16.6 / train_recon/cam_wrist_view_image 27.4 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 40000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[40000] 
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World Model pretraining:  27% 40999/150000 [1:04:56<1:56:58, 15.53it/s]model_only_pretrain/pretrain_opt_loss 77.0 / model_only_pretrain/pretrain_opt_grad_norm 174.9 / model_only_pretrain/cam_front_view_image_loss 20.6 / model_only_pretrain/cam_wrist_view_image_loss 23.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.2 / model_only_pretrain/dyn_loss 55.3 / model_only_pretrain/rep_loss 55.3 / model_only_pretrain/kl_value 55.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.8 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 40100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[40100] model_only_pretrain/pretrain_opt_loss 77.4 / model_only_pretrain/pretrain_opt_grad_norm 162.0 / model_only_pretrain/cam_front_view_image_loss 20.7 / model_only_pretrain/cam_wrist_view_image_loss 23.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.3 / model_only_pretrain/dyn_loss 55.5 / model_only_pretrain/rep_loss 55.5 / model_only_pretrain/kl_value 55.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.9 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 40200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[40200] model_only_pretrain/pretrain_opt_loss 76.6 / model_only_pretrain/pretrain_opt_grad_norm 160.6 / model_only_pretrain/cam_front_view_image_loss 20.4 / model_only_pretrain/cam_wrist_view_image_loss 23.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.2 / model_only_pretrain/dyn_loss 55.3 / model_only_pretrain/rep_loss 55.3 / model_only_pretrain/kl_value 55.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.9 / model_only_pretrain/post_ent -26.9 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 40300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[40300] model_only_pretrain/pretrain_opt_loss 76.8 / model_only_pretrain/pretrain_opt_grad_norm 166.5 / model_only_pretrain/cam_front_view_image_loss 20.4 / model_only_pretrain/cam_wrist_view_image_loss 23.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.1 / model_only_pretrain/dyn_loss 55.1 / model_only_pretrain/rep_loss 55.1 / model_only_pretrain/kl_value 55.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.7 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.9

[Checkpoint] Saving model at step 40400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[40400] model_only_pretrain/pretrain_opt_loss 77.2 / model_only_pretrain/pretrain_opt_grad_norm 167.4 / model_only_pretrain/cam_front_view_image_loss 20.5 / model_only_pretrain/cam_wrist_view_image_loss 23.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.1 / model_only_pretrain/dyn_loss 55.2 / model_only_pretrain/rep_loss 55.2 / model_only_pretrain/kl_value 55.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.7 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.6
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[40499] eval_recon/cam_front_view_image 16.5 / eval_recon/cam_wrist_view_image 23.0 / train_recon/cam_front_view_image 40.1 / train_recon/cam_wrist_view_image 124.6 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 40500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[40500] model_only_pretrain/pretrain_opt_loss 76.7 / model_only_pretrain/pretrain_opt_grad_norm 163.6 / model_only_pretrain/cam_front_view_image_loss 20.4 / model_only_pretrain/cam_wrist_view_image_loss 23.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.2 / model_only_pretrain/dyn_loss 55.3 / model_only_pretrain/rep_loss 55.3 / model_only_pretrain/kl_value 55.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.7 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.3

[Checkpoint] Saving model at step 40600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[40600] model_only_pretrain/pretrain_opt_loss 76.5 / model_only_pretrain/pretrain_opt_grad_norm 164.3 / model_only_pretrain/cam_front_view_image_loss 20.4 / model_only_pretrain/cam_wrist_view_image_loss 22.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.2 / model_only_pretrain/dyn_loss 55.3 / model_only_pretrain/rep_loss 55.3 / model_only_pretrain/kl_value 55.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.7 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.8

[Checkpoint] Saving model at step 40700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[40700] model_only_pretrain/pretrain_opt_loss 76.1 / model_only_pretrain/pretrain_opt_grad_norm 164.6 / model_only_pretrain/cam_front_view_image_loss 20.1 / model_only_pretrain/cam_wrist_view_image_loss 23.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.0 / model_only_pretrain/dyn_loss 55.0 / model_only_pretrain/rep_loss 55.0 / model_only_pretrain/kl_value 55.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.6 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 40800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[40800] model_only_pretrain/pretrain_opt_loss 76.3 / model_only_pretrain/pretrain_opt_grad_norm 166.1 / model_only_pretrain/cam_front_view_image_loss 20.3 / model_only_pretrain/cam_wrist_view_image_loss 23.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.0 / model_only_pretrain/dyn_loss 54.9 / model_only_pretrain/rep_loss 54.9 / model_only_pretrain/kl_value 54.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.4 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 12.2

[Checkpoint] Saving model at step 40900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[40900] model_only_pretrain/pretrain_opt_loss 76.4 / model_only_pretrain/pretrain_opt_grad_norm 162.9 / model_only_pretrain/cam_front_view_image_loss 20.3 / model_only_pretrain/cam_wrist_view_image_loss 22.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.2 / model_only_pretrain/dyn_loss 55.3 / model_only_pretrain/rep_loss 55.3 / model_only_pretrain/kl_value 55.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.7 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[40999] eval_recon/cam_front_view_image 40.9 / eval_recon/cam_wrist_view_image 68.1 / train_recon/cam_front_view_image 17.4 / train_recon/cam_wrist_view_image 71.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 41000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  28% 41999/150000 [1:06:30<1:59:15, 15.09it/s]model_only_pretrain/pretrain_opt_loss 76.1 / model_only_pretrain/pretrain_opt_grad_norm 158.2 / model_only_pretrain/cam_front_view_image_loss 20.3 / model_only_pretrain/cam_wrist_view_image_loss 22.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.2 / model_only_pretrain/dyn_loss 55.3 / model_only_pretrain/rep_loss 55.3 / model_only_pretrain/kl_value 55.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.7 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 41100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[41100] model_only_pretrain/pretrain_opt_loss 75.7 / model_only_pretrain/pretrain_opt_grad_norm 163.1 / model_only_pretrain/cam_front_view_image_loss 20.3 / model_only_pretrain/cam_wrist_view_image_loss 22.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.0 / model_only_pretrain/dyn_loss 55.0 / model_only_pretrain/rep_loss 55.0 / model_only_pretrain/kl_value 55.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.6 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 41200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[41200] model_only_pretrain/pretrain_opt_loss 76.6 / model_only_pretrain/pretrain_opt_grad_norm 163.4 / model_only_pretrain/cam_front_view_image_loss 20.3 / model_only_pretrain/cam_wrist_view_image_loss 23.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.3 / model_only_pretrain/dyn_loss 55.4 / model_only_pretrain/rep_loss 55.4 / model_only_pretrain/kl_value 55.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.9 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 41300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[41300] model_only_pretrain/pretrain_opt_loss 76.6 / model_only_pretrain/pretrain_opt_grad_norm 156.9 / model_only_pretrain/cam_front_view_image_loss 20.5 / model_only_pretrain/cam_wrist_view_image_loss 22.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.2 / model_only_pretrain/dyn_loss 55.3 / model_only_pretrain/rep_loss 55.3 / model_only_pretrain/kl_value 55.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.7 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.4

[Checkpoint] Saving model at step 41400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[41400] model_only_pretrain/pretrain_opt_loss 75.8 / model_only_pretrain/pretrain_opt_grad_norm 157.2 / model_only_pretrain/cam_front_view_image_loss 20.2 / model_only_pretrain/cam_wrist_view_image_loss 22.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.0 / model_only_pretrain/dyn_loss 55.0 / model_only_pretrain/rep_loss 55.0 / model_only_pretrain/kl_value 55.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.5 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 8.2
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[41499] eval_recon/cam_front_view_image 64.5 / eval_recon/cam_wrist_view_image 148.7 / train_recon/cam_front_view_image 24.6 / train_recon/cam_wrist_view_image 23.7 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 41500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[41500] model_only_pretrain/pretrain_opt_loss 76.1 / model_only_pretrain/pretrain_opt_grad_norm 164.6 / model_only_pretrain/cam_front_view_image_loss 20.2 / model_only_pretrain/cam_wrist_view_image_loss 22.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.0 / model_only_pretrain/dyn_loss 55.1 / model_only_pretrain/rep_loss 55.1 / model_only_pretrain/kl_value 55.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.6 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 8.8

[Checkpoint] Saving model at step 41600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[41600] model_only_pretrain/pretrain_opt_loss 76.7 / model_only_pretrain/pretrain_opt_grad_norm 170.9 / model_only_pretrain/cam_front_view_image_loss 20.5 / model_only_pretrain/cam_wrist_view_image_loss 23.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.2 / model_only_pretrain/dyn_loss 55.3 / model_only_pretrain/rep_loss 55.3 / model_only_pretrain/kl_value 55.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.8 / model_only_pretrain/post_ent -26.9 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 41700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[41700] model_only_pretrain/pretrain_opt_loss 76.7 / model_only_pretrain/pretrain_opt_grad_norm 158.7 / model_only_pretrain/cam_front_view_image_loss 20.2 / model_only_pretrain/cam_wrist_view_image_loss 23.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.2 / model_only_pretrain/dyn_loss 55.4 / model_only_pretrain/rep_loss 55.4 / model_only_pretrain/kl_value 55.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.8 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 41800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[41800] model_only_pretrain/pretrain_opt_loss 76.2 / model_only_pretrain/pretrain_opt_grad_norm 160.1 / model_only_pretrain/cam_front_view_image_loss 20.4 / model_only_pretrain/cam_wrist_view_image_loss 22.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.0 / model_only_pretrain/dyn_loss 55.0 / model_only_pretrain/rep_loss 55.0 / model_only_pretrain/kl_value 55.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.5 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 12.3

[Checkpoint] Saving model at step 41900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[41900] model_only_pretrain/pretrain_opt_loss 76.2 / model_only_pretrain/pretrain_opt_grad_norm 157.1 / model_only_pretrain/cam_front_view_image_loss 20.4 / model_only_pretrain/cam_wrist_view_image_loss 22.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.1 / model_only_pretrain/dyn_loss 55.2 / model_only_pretrain/rep_loss 55.2 / model_only_pretrain/kl_value 55.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.7 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.9
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[41999] eval_recon/cam_front_view_image 16.2 / eval_recon/cam_wrist_view_image 22.9 / train_recon/cam_front_view_image 15.6 / train_recon/cam_wrist_view_image 16.5 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 42000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[42000] 
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World Model pretraining:  29% 43000/150000 [1:08:14<20:39:33,  1.44it/s]model_only_pretrain/pretrain_opt_loss 76.1 / model_only_pretrain/pretrain_opt_grad_norm 159.2 / model_only_pretrain/cam_front_view_image_loss 20.1 / model_only_pretrain/cam_wrist_view_image_loss 22.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.0 / model_only_pretrain/dyn_loss 55.1 / model_only_pretrain/rep_loss 55.1 / model_only_pretrain/kl_value 55.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.5 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 42100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[42100] model_only_pretrain/pretrain_opt_loss 75.7 / model_only_pretrain/pretrain_opt_grad_norm 159.5 / model_only_pretrain/cam_front_view_image_loss 20.2 / model_only_pretrain/cam_wrist_view_image_loss 22.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.0 / model_only_pretrain/dyn_loss 55.0 / model_only_pretrain/rep_loss 55.0 / model_only_pretrain/kl_value 55.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.5 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 42200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[42200] model_only_pretrain/pretrain_opt_loss 75.1 / model_only_pretrain/pretrain_opt_grad_norm 165.2 / model_only_pretrain/cam_front_view_image_loss 19.9 / model_only_pretrain/cam_wrist_view_image_loss 22.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.9 / model_only_pretrain/dyn_loss 54.9 / model_only_pretrain/rep_loss 54.9 / model_only_pretrain/kl_value 54.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.4 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.0

[Checkpoint] Saving model at step 42300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[42300] model_only_pretrain/pretrain_opt_loss 76.8 / model_only_pretrain/pretrain_opt_grad_norm 167.0 / model_only_pretrain/cam_front_view_image_loss 20.3 / model_only_pretrain/cam_wrist_view_image_loss 23.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.1 / model_only_pretrain/dyn_loss 55.2 / model_only_pretrain/rep_loss 55.2 / model_only_pretrain/kl_value 55.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.6 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 42400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[42400] model_only_pretrain/pretrain_opt_loss 76.5 / model_only_pretrain/pretrain_opt_grad_norm 174.5 / model_only_pretrain/cam_front_view_image_loss 20.3 / model_only_pretrain/cam_wrist_view_image_loss 23.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.0 / model_only_pretrain/dyn_loss 55.0 / model_only_pretrain/rep_loss 55.0 / model_only_pretrain/kl_value 55.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.4 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 10.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[42499] eval_recon/cam_front_view_image 30.5 / eval_recon/cam_wrist_view_image 153.8 / train_recon/cam_front_view_image 77.3 / train_recon/cam_wrist_view_image 82.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 42500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[42500] model_only_pretrain/pretrain_opt_loss 76.4 / model_only_pretrain/pretrain_opt_grad_norm 161.4 / model_only_pretrain/cam_front_view_image_loss 20.3 / model_only_pretrain/cam_wrist_view_image_loss 23.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.1 / model_only_pretrain/dyn_loss 55.1 / model_only_pretrain/rep_loss 55.1 / model_only_pretrain/kl_value 55.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.5 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.3

[Checkpoint] Saving model at step 42600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[42600] model_only_pretrain/pretrain_opt_loss 74.6 / model_only_pretrain/pretrain_opt_grad_norm 157.0 / model_only_pretrain/cam_front_view_image_loss 19.7 / model_only_pretrain/cam_wrist_view_image_loss 22.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.8 / model_only_pretrain/dyn_loss 54.7 / model_only_pretrain/rep_loss 54.7 / model_only_pretrain/kl_value 54.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.2 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 7.5

[Checkpoint] Saving model at step 42700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[42700] model_only_pretrain/pretrain_opt_loss 76.2 / model_only_pretrain/pretrain_opt_grad_norm 162.4 / model_only_pretrain/cam_front_view_image_loss 20.2 / model_only_pretrain/cam_wrist_view_image_loss 23.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.0 / model_only_pretrain/dyn_loss 55.0 / model_only_pretrain/rep_loss 55.0 / model_only_pretrain/kl_value 55.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.4 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 42800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[42800] model_only_pretrain/pretrain_opt_loss 76.2 / model_only_pretrain/pretrain_opt_grad_norm 157.6 / model_only_pretrain/cam_front_view_image_loss 20.4 / model_only_pretrain/cam_wrist_view_image_loss 22.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.1 / model_only_pretrain/dyn_loss 55.2 / model_only_pretrain/rep_loss 55.2 / model_only_pretrain/kl_value 55.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.7 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 42900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[42900] model_only_pretrain/pretrain_opt_loss 75.6 / model_only_pretrain/pretrain_opt_grad_norm 158.6 / model_only_pretrain/cam_front_view_image_loss 20.1 / model_only_pretrain/cam_wrist_view_image_loss 22.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.0 / model_only_pretrain/dyn_loss 55.0 / model_only_pretrain/rep_loss 55.0 / model_only_pretrain/kl_value 55.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.5 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[42999] eval_recon/cam_front_view_image 16.7 / eval_recon/cam_wrist_view_image 18.7 / train_recon/cam_front_view_image 20.9 / train_recon/cam_wrist_view_image 19.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 43000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  29% 43999/150000 [1:09:57<1:52:05, 15.76it/s]model_only_pretrain/pretrain_opt_loss 75.6 / model_only_pretrain/pretrain_opt_grad_norm 162.7 / model_only_pretrain/cam_front_view_image_loss 20.0 / model_only_pretrain/cam_wrist_view_image_loss 22.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.1 / model_only_pretrain/dyn_loss 55.1 / model_only_pretrain/rep_loss 55.1 / model_only_pretrain/kl_value 55.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.5 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.5

[Checkpoint] Saving model at step 43100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[43100] model_only_pretrain/pretrain_opt_loss 75.5 / model_only_pretrain/pretrain_opt_grad_norm 155.1 / model_only_pretrain/cam_front_view_image_loss 19.8 / model_only_pretrain/cam_wrist_view_image_loss 22.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.0 / model_only_pretrain/dyn_loss 55.0 / model_only_pretrain/rep_loss 55.0 / model_only_pretrain/kl_value 55.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.4 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 8.9

[Checkpoint] Saving model at step 43200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[43200] model_only_pretrain/pretrain_opt_loss 75.9 / model_only_pretrain/pretrain_opt_grad_norm 164.5 / model_only_pretrain/cam_front_view_image_loss 20.2 / model_only_pretrain/cam_wrist_view_image_loss 22.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.0 / model_only_pretrain/dyn_loss 55.0 / model_only_pretrain/rep_loss 55.0 / model_only_pretrain/kl_value 55.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.4 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 8.6

[Checkpoint] Saving model at step 43300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[43300] model_only_pretrain/pretrain_opt_loss 76.0 / model_only_pretrain/pretrain_opt_grad_norm 155.9 / model_only_pretrain/cam_front_view_image_loss 20.0 / model_only_pretrain/cam_wrist_view_image_loss 22.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.1 / model_only_pretrain/dyn_loss 55.1 / model_only_pretrain/rep_loss 55.1 / model_only_pretrain/kl_value 55.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.6 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 8.5

[Checkpoint] Saving model at step 43400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[43400] model_only_pretrain/pretrain_opt_loss 75.1 / model_only_pretrain/pretrain_opt_grad_norm 160.4 / model_only_pretrain/cam_front_view_image_loss 19.8 / model_only_pretrain/cam_wrist_view_image_loss 22.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.0 / model_only_pretrain/dyn_loss 55.0 / model_only_pretrain/rep_loss 55.0 / model_only_pretrain/kl_value 55.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.5 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[43499] eval_recon/cam_front_view_image 17.4 / eval_recon/cam_wrist_view_image 16.3 / train_recon/cam_front_view_image 14.4 / train_recon/cam_wrist_view_image 42.2 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 43500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[43500] model_only_pretrain/pretrain_opt_loss 75.3 / model_only_pretrain/pretrain_opt_grad_norm 159.9 / model_only_pretrain/cam_front_view_image_loss 19.9 / model_only_pretrain/cam_wrist_view_image_loss 22.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.9 / model_only_pretrain/dyn_loss 54.8 / model_only_pretrain/rep_loss 54.8 / model_only_pretrain/kl_value 54.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.3 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 43600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[43600] model_only_pretrain/pretrain_opt_loss 75.8 / model_only_pretrain/pretrain_opt_grad_norm 161.5 / model_only_pretrain/cam_front_view_image_loss 20.2 / model_only_pretrain/cam_wrist_view_image_loss 22.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.1 / model_only_pretrain/dyn_loss 55.2 / model_only_pretrain/rep_loss 55.2 / model_only_pretrain/kl_value 55.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.6 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.0

[Checkpoint] Saving model at step 43700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[43700] model_only_pretrain/pretrain_opt_loss 75.6 / model_only_pretrain/pretrain_opt_grad_norm 163.4 / model_only_pretrain/cam_front_view_image_loss 19.9 / model_only_pretrain/cam_wrist_view_image_loss 22.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.1 / model_only_pretrain/dyn_loss 55.2 / model_only_pretrain/rep_loss 55.2 / model_only_pretrain/kl_value 55.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.6 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.7

[Checkpoint] Saving model at step 43800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[43800] model_only_pretrain/pretrain_opt_loss 75.9 / model_only_pretrain/pretrain_opt_grad_norm 165.6 / model_only_pretrain/cam_front_view_image_loss 20.0 / model_only_pretrain/cam_wrist_view_image_loss 22.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.1 / model_only_pretrain/dyn_loss 55.2 / model_only_pretrain/rep_loss 55.2 / model_only_pretrain/kl_value 55.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.6 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.8

[Checkpoint] Saving model at step 43900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[43900] model_only_pretrain/pretrain_opt_loss 75.7 / model_only_pretrain/pretrain_opt_grad_norm 160.7 / model_only_pretrain/cam_front_view_image_loss 19.9 / model_only_pretrain/cam_wrist_view_image_loss 22.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.0 / model_only_pretrain/dyn_loss 55.0 / model_only_pretrain/rep_loss 55.0 / model_only_pretrain/kl_value 55.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.4 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[43999] eval_recon/cam_front_view_image 66.3 / eval_recon/cam_wrist_view_image 129.9 / train_recon/cam_front_view_image 36.1 / train_recon/cam_wrist_view_image 82.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 44000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  30% 45000/150000 [1:11:35<13:24:35,  2.18it/s]model_only_pretrain/pretrain_opt_loss 75.1 / model_only_pretrain/pretrain_opt_grad_norm 157.5 / model_only_pretrain/cam_front_view_image_loss 19.8 / model_only_pretrain/cam_wrist_view_image_loss 22.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.9 / model_only_pretrain/dyn_loss 54.9 / model_only_pretrain/rep_loss 54.9 / model_only_pretrain/kl_value 54.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.4 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 44100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[44100] model_only_pretrain/pretrain_opt_loss 75.2 / model_only_pretrain/pretrain_opt_grad_norm 161.2 / model_only_pretrain/cam_front_view_image_loss 19.8 / model_only_pretrain/cam_wrist_view_image_loss 22.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.9 / model_only_pretrain/dyn_loss 54.9 / model_only_pretrain/rep_loss 54.9 / model_only_pretrain/kl_value 54.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.4 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.5

[Checkpoint] Saving model at step 44200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[44200] model_only_pretrain/pretrain_opt_loss 74.7 / model_only_pretrain/pretrain_opt_grad_norm 160.3 / model_only_pretrain/cam_front_view_image_loss 19.8 / model_only_pretrain/cam_wrist_view_image_loss 22.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.8 / model_only_pretrain/dyn_loss 54.7 / model_only_pretrain/rep_loss 54.7 / model_only_pretrain/kl_value 54.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.2 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.3

[Checkpoint] Saving model at step 44300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[44300] model_only_pretrain/pretrain_opt_loss 74.5 / model_only_pretrain/pretrain_opt_grad_norm 158.5 / model_only_pretrain/cam_front_view_image_loss 19.7 / model_only_pretrain/cam_wrist_view_image_loss 21.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.9 / model_only_pretrain/dyn_loss 54.9 / model_only_pretrain/rep_loss 54.9 / model_only_pretrain/kl_value 54.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.4 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 44400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[44400] model_only_pretrain/pretrain_opt_loss 75.5 / model_only_pretrain/pretrain_opt_grad_norm 168.3 / model_only_pretrain/cam_front_view_image_loss 19.8 / model_only_pretrain/cam_wrist_view_image_loss 22.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.0 / model_only_pretrain/dyn_loss 55.0 / model_only_pretrain/rep_loss 55.0 / model_only_pretrain/kl_value 55.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.3 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[44499] eval_recon/cam_front_view_image 15.4 / eval_recon/cam_wrist_view_image 18.5 / train_recon/cam_front_view_image 24.0 / train_recon/cam_wrist_view_image 26.1 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 44500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[44500] model_only_pretrain/pretrain_opt_loss 75.6 / model_only_pretrain/pretrain_opt_grad_norm 162.5 / model_only_pretrain/cam_front_view_image_loss 20.0 / model_only_pretrain/cam_wrist_view_image_loss 22.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.1 / model_only_pretrain/dyn_loss 55.2 / model_only_pretrain/rep_loss 55.2 / model_only_pretrain/kl_value 55.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.6 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 44600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[44600] model_only_pretrain/pretrain_opt_loss 75.3 / model_only_pretrain/pretrain_opt_grad_norm 150.5 / model_only_pretrain/cam_front_view_image_loss 19.9 / model_only_pretrain/cam_wrist_view_image_loss 22.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.0 / model_only_pretrain/dyn_loss 55.0 / model_only_pretrain/rep_loss 55.0 / model_only_pretrain/kl_value 55.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.4 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 44700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[44700] model_only_pretrain/pretrain_opt_loss 74.9 / model_only_pretrain/pretrain_opt_grad_norm 158.0 / model_only_pretrain/cam_front_view_image_loss 19.7 / model_only_pretrain/cam_wrist_view_image_loss 22.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.0 / model_only_pretrain/dyn_loss 54.9 / model_only_pretrain/rep_loss 54.9 / model_only_pretrain/kl_value 54.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.3 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.9

[Checkpoint] Saving model at step 44800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[44800] model_only_pretrain/pretrain_opt_loss 74.9 / model_only_pretrain/pretrain_opt_grad_norm 154.5 / model_only_pretrain/cam_front_view_image_loss 19.7 / model_only_pretrain/cam_wrist_view_image_loss 22.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.9 / model_only_pretrain/dyn_loss 54.8 / model_only_pretrain/rep_loss 54.8 / model_only_pretrain/kl_value 54.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.3 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 44900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[44900] model_only_pretrain/pretrain_opt_loss 74.8 / model_only_pretrain/pretrain_opt_grad_norm 155.0 / model_only_pretrain/cam_front_view_image_loss 19.5 / model_only_pretrain/cam_wrist_view_image_loss 22.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.8 / model_only_pretrain/dyn_loss 54.7 / model_only_pretrain/rep_loss 54.7 / model_only_pretrain/kl_value 54.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.1 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.9
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[44999] eval_recon/cam_front_view_image 15.7 / eval_recon/cam_wrist_view_image 26.9 / train_recon/cam_front_view_image 17.1 / train_recon/cam_wrist_view_image 17.4 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 45000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  31% 45999/150000 [1:13:07<1:47:18, 16.15it/s]model_only_pretrain/pretrain_opt_loss 75.7 / model_only_pretrain/pretrain_opt_grad_norm 155.9 / model_only_pretrain/cam_front_view_image_loss 20.1 / model_only_pretrain/cam_wrist_view_image_loss 22.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.2 / model_only_pretrain/dyn_loss 55.3 / model_only_pretrain/rep_loss 55.3 / model_only_pretrain/kl_value 55.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.7 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 45100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[45100] model_only_pretrain/pretrain_opt_loss 75.0 / model_only_pretrain/pretrain_opt_grad_norm 156.9 / model_only_pretrain/cam_front_view_image_loss 19.5 / model_only_pretrain/cam_wrist_view_image_loss 22.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.0 / model_only_pretrain/dyn_loss 55.0 / model_only_pretrain/rep_loss 55.0 / model_only_pretrain/kl_value 55.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.4 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 45200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[45200] model_only_pretrain/pretrain_opt_loss 76.0 / model_only_pretrain/pretrain_opt_grad_norm 161.3 / model_only_pretrain/cam_front_view_image_loss 20.3 / model_only_pretrain/cam_wrist_view_image_loss 22.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.1 / model_only_pretrain/dyn_loss 55.2 / model_only_pretrain/rep_loss 55.2 / model_only_pretrain/kl_value 55.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.5 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 45300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[45300] model_only_pretrain/pretrain_opt_loss 75.2 / model_only_pretrain/pretrain_opt_grad_norm 159.3 / model_only_pretrain/cam_front_view_image_loss 19.6 / model_only_pretrain/cam_wrist_view_image_loss 22.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.0 / model_only_pretrain/dyn_loss 55.0 / model_only_pretrain/rep_loss 55.0 / model_only_pretrain/kl_value 55.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.4 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 45400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[45400] model_only_pretrain/pretrain_opt_loss 75.4 / model_only_pretrain/pretrain_opt_grad_norm 161.4 / model_only_pretrain/cam_front_view_image_loss 19.7 / model_only_pretrain/cam_wrist_view_image_loss 22.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.0 / model_only_pretrain/dyn_loss 55.0 / model_only_pretrain/rep_loss 55.0 / model_only_pretrain/kl_value 55.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.5 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[45499] eval_recon/cam_front_view_image 23.4 / eval_recon/cam_wrist_view_image 27.7 / train_recon/cam_front_view_image 15.5 / train_recon/cam_wrist_view_image 17.9 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 45500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[45500] model_only_pretrain/pretrain_opt_loss 73.9 / model_only_pretrain/pretrain_opt_grad_norm 155.8 / model_only_pretrain/cam_front_view_image_loss 19.6 / model_only_pretrain/cam_wrist_view_image_loss 21.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.6 / model_only_pretrain/rep_loss 54.6 / model_only_pretrain/kl_value 54.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.1 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.2

[Checkpoint] Saving model at step 45600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[45600] model_only_pretrain/pretrain_opt_loss 74.7 / model_only_pretrain/pretrain_opt_grad_norm 154.1 / model_only_pretrain/cam_front_view_image_loss 19.7 / model_only_pretrain/cam_wrist_view_image_loss 22.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.9 / model_only_pretrain/dyn_loss 54.9 / model_only_pretrain/rep_loss 54.9 / model_only_pretrain/kl_value 54.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.2 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.4

[Checkpoint] Saving model at step 45700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[45700] model_only_pretrain/pretrain_opt_loss 74.2 / model_only_pretrain/pretrain_opt_grad_norm 158.5 / model_only_pretrain/cam_front_view_image_loss 19.5 / model_only_pretrain/cam_wrist_view_image_loss 21.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.8 / model_only_pretrain/dyn_loss 54.7 / model_only_pretrain/rep_loss 54.7 / model_only_pretrain/kl_value 54.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.2 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 45800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[45800] model_only_pretrain/pretrain_opt_loss 75.3 / model_only_pretrain/pretrain_opt_grad_norm 161.4 / model_only_pretrain/cam_front_view_image_loss 19.8 / model_only_pretrain/cam_wrist_view_image_loss 22.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.1 / model_only_pretrain/dyn_loss 55.2 / model_only_pretrain/rep_loss 55.2 / model_only_pretrain/kl_value 55.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.4 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 12.2

[Checkpoint] Saving model at step 45900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[45900] model_only_pretrain/pretrain_opt_loss 74.2 / model_only_pretrain/pretrain_opt_grad_norm 161.4 / model_only_pretrain/cam_front_view_image_loss 19.5 / model_only_pretrain/cam_wrist_view_image_loss 21.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.9 / model_only_pretrain/dyn_loss 54.9 / model_only_pretrain/rep_loss 54.9 / model_only_pretrain/kl_value 54.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.3 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[45999] eval_recon/cam_front_view_image 13.7 / eval_recon/cam_wrist_view_image 20.1 / train_recon/cam_front_view_image 14.1 / train_recon/cam_wrist_view_image 19.7 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 46000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  31% 47000/150000 [1:14:49<16:20:08,  1.75it/s]model_only_pretrain/pretrain_opt_loss 75.7 / model_only_pretrain/pretrain_opt_grad_norm 160.9 / model_only_pretrain/cam_front_view_image_loss 19.8 / model_only_pretrain/cam_wrist_view_image_loss 22.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.0 / model_only_pretrain/dyn_loss 54.9 / model_only_pretrain/rep_loss 54.9 / model_only_pretrain/kl_value 54.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.3 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 46100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[46100] model_only_pretrain/pretrain_opt_loss 74.4 / model_only_pretrain/pretrain_opt_grad_norm 151.7 / model_only_pretrain/cam_front_view_image_loss 19.4 / model_only_pretrain/cam_wrist_view_image_loss 22.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.8 / model_only_pretrain/dyn_loss 54.7 / model_only_pretrain/rep_loss 54.7 / model_only_pretrain/kl_value 54.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.2 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 46200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[46200] model_only_pretrain/pretrain_opt_loss 73.8 / model_only_pretrain/pretrain_opt_grad_norm 157.7 / model_only_pretrain/cam_front_view_image_loss 19.2 / model_only_pretrain/cam_wrist_view_image_loss 21.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.8 / model_only_pretrain/dyn_loss 54.6 / model_only_pretrain/rep_loss 54.6 / model_only_pretrain/kl_value 54.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.0 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 46300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[46300] model_only_pretrain/pretrain_opt_loss 75.9 / model_only_pretrain/pretrain_opt_grad_norm 158.9 / model_only_pretrain/cam_front_view_image_loss 19.9 / model_only_pretrain/cam_wrist_view_image_loss 22.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.2 / model_only_pretrain/dyn_loss 55.4 / model_only_pretrain/rep_loss 55.4 / model_only_pretrain/kl_value 55.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.7 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 46400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[46400] model_only_pretrain/pretrain_opt_loss 74.8 / model_only_pretrain/pretrain_opt_grad_norm 160.3 / model_only_pretrain/cam_front_view_image_loss 19.7 / model_only_pretrain/cam_wrist_view_image_loss 22.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.9 / model_only_pretrain/dyn_loss 54.9 / model_only_pretrain/rep_loss 54.9 / model_only_pretrain/kl_value 54.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.3 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 10.3
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[46499] eval_recon/cam_front_view_image 15.7 / eval_recon/cam_wrist_view_image 49.3 / train_recon/cam_front_view_image 18.7 / train_recon/cam_wrist_view_image 27.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 46500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[46500] model_only_pretrain/pretrain_opt_loss 74.9 / model_only_pretrain/pretrain_opt_grad_norm 165.9 / model_only_pretrain/cam_front_view_image_loss 19.6 / model_only_pretrain/cam_wrist_view_image_loss 22.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.1 / model_only_pretrain/dyn_loss 55.2 / model_only_pretrain/rep_loss 55.2 / model_only_pretrain/kl_value 55.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.5 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.1

[Checkpoint] Saving model at step 46600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[46600] model_only_pretrain/pretrain_opt_loss 74.5 / model_only_pretrain/pretrain_opt_grad_norm 159.3 / model_only_pretrain/cam_front_view_image_loss 19.3 / model_only_pretrain/cam_wrist_view_image_loss 22.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.8 / model_only_pretrain/dyn_loss 54.6 / model_only_pretrain/rep_loss 54.6 / model_only_pretrain/kl_value 54.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.1 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 9.0

[Checkpoint] Saving model at step 46700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[46700] model_only_pretrain/pretrain_opt_loss 74.6 / model_only_pretrain/pretrain_opt_grad_norm 156.4 / model_only_pretrain/cam_front_view_image_loss 19.5 / model_only_pretrain/cam_wrist_view_image_loss 22.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.8 / model_only_pretrain/dyn_loss 54.7 / model_only_pretrain/rep_loss 54.7 / model_only_pretrain/kl_value 54.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.2 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 8.7

[Checkpoint] Saving model at step 46800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[46800] model_only_pretrain/pretrain_opt_loss 74.9 / model_only_pretrain/pretrain_opt_grad_norm 158.3 / model_only_pretrain/cam_front_view_image_loss 19.6 / model_only_pretrain/cam_wrist_view_image_loss 22.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.0 / model_only_pretrain/dyn_loss 54.9 / model_only_pretrain/rep_loss 54.9 / model_only_pretrain/kl_value 54.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.2 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.4

[Checkpoint] Saving model at step 46900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[46900] model_only_pretrain/pretrain_opt_loss 75.6 / model_only_pretrain/pretrain_opt_grad_norm 160.9 / model_only_pretrain/cam_front_view_image_loss 19.8 / model_only_pretrain/cam_wrist_view_image_loss 22.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.1 / model_only_pretrain/dyn_loss 55.1 / model_only_pretrain/rep_loss 55.1 / model_only_pretrain/kl_value 55.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.4 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[46999] eval_recon/cam_front_view_image 16.9 / eval_recon/cam_wrist_view_image 55.5 / train_recon/cam_front_view_image 25.1 / train_recon/cam_wrist_view_image 33.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 47000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  32% 47999/150000 [1:16:15<1:46:51, 15.91it/s]model_only_pretrain/pretrain_opt_loss 74.6 / model_only_pretrain/pretrain_opt_grad_norm 153.4 / model_only_pretrain/cam_front_view_image_loss 19.6 / model_only_pretrain/cam_wrist_view_image_loss 22.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.9 / model_only_pretrain/dyn_loss 54.8 / model_only_pretrain/rep_loss 54.8 / model_only_pretrain/kl_value 54.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.2 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.8

[Checkpoint] Saving model at step 47100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[47100] model_only_pretrain/pretrain_opt_loss 74.7 / model_only_pretrain/pretrain_opt_grad_norm 163.5 / model_only_pretrain/cam_front_view_image_loss 19.6 / model_only_pretrain/cam_wrist_view_image_loss 22.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.9 / model_only_pretrain/dyn_loss 54.8 / model_only_pretrain/rep_loss 54.8 / model_only_pretrain/kl_value 54.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.3 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 47200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[47200] model_only_pretrain/pretrain_opt_loss 74.9 / model_only_pretrain/pretrain_opt_grad_norm 164.1 / model_only_pretrain/cam_front_view_image_loss 19.7 / model_only_pretrain/cam_wrist_view_image_loss 22.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.9 / model_only_pretrain/dyn_loss 54.9 / model_only_pretrain/rep_loss 54.9 / model_only_pretrain/kl_value 54.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.2 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 9.2

[Checkpoint] Saving model at step 47300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[47300] model_only_pretrain/pretrain_opt_loss 74.4 / model_only_pretrain/pretrain_opt_grad_norm 156.8 / model_only_pretrain/cam_front_view_image_loss 19.2 / model_only_pretrain/cam_wrist_view_image_loss 22.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.9 / model_only_pretrain/dyn_loss 54.8 / model_only_pretrain/rep_loss 54.8 / model_only_pretrain/kl_value 54.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.0 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 47400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[47400] model_only_pretrain/pretrain_opt_loss 75.0 / model_only_pretrain/pretrain_opt_grad_norm 162.8 / model_only_pretrain/cam_front_view_image_loss 19.6 / model_only_pretrain/cam_wrist_view_image_loss 22.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.9 / model_only_pretrain/dyn_loss 54.9 / model_only_pretrain/rep_loss 54.9 / model_only_pretrain/kl_value 54.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.2 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[47499] eval_recon/cam_front_view_image 20.4 / eval_recon/cam_wrist_view_image 18.0 / train_recon/cam_front_view_image 52.6 / train_recon/cam_wrist_view_image 416.2 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 47500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[47500] model_only_pretrain/pretrain_opt_loss 75.1 / model_only_pretrain/pretrain_opt_grad_norm 152.7 / model_only_pretrain/cam_front_view_image_loss 19.9 / model_only_pretrain/cam_wrist_view_image_loss 22.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.9 / model_only_pretrain/dyn_loss 54.9 / model_only_pretrain/rep_loss 54.9 / model_only_pretrain/kl_value 54.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.3 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 12.3

[Checkpoint] Saving model at step 47600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[47600] model_only_pretrain/pretrain_opt_loss 75.3 / model_only_pretrain/pretrain_opt_grad_norm 162.7 / model_only_pretrain/cam_front_view_image_loss 19.6 / model_only_pretrain/cam_wrist_view_image_loss 22.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.0 / model_only_pretrain/dyn_loss 55.0 / model_only_pretrain/rep_loss 55.0 / model_only_pretrain/kl_value 55.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.3 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 12.5

[Checkpoint] Saving model at step 47700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[47700] model_only_pretrain/pretrain_opt_loss 73.9 / model_only_pretrain/pretrain_opt_grad_norm 154.8 / model_only_pretrain/cam_front_view_image_loss 19.2 / model_only_pretrain/cam_wrist_view_image_loss 21.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.6 / model_only_pretrain/rep_loss 54.6 / model_only_pretrain/kl_value 54.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.0 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 47800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[47800] model_only_pretrain/pretrain_opt_loss 74.3 / model_only_pretrain/pretrain_opt_grad_norm 172.4 / model_only_pretrain/cam_front_view_image_loss 19.3 / model_only_pretrain/cam_wrist_view_image_loss 22.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.8 / model_only_pretrain/dyn_loss 54.7 / model_only_pretrain/rep_loss 54.7 / model_only_pretrain/kl_value 54.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.1 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 47900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[47900] model_only_pretrain/pretrain_opt_loss 74.4 / model_only_pretrain/pretrain_opt_grad_norm 160.3 / model_only_pretrain/cam_front_view_image_loss 19.4 / model_only_pretrain/cam_wrist_view_image_loss 22.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.9 / model_only_pretrain/dyn_loss 54.9 / model_only_pretrain/rep_loss 54.9 / model_only_pretrain/kl_value 54.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.1 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.2
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[47999] eval_recon/cam_front_view_image 32.7 / eval_recon/cam_wrist_view_image 36.1 / train_recon/cam_front_view_image 15.3 / train_recon/cam_wrist_view_image 41.5 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 48000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  33% 48999/150000 [1:17:47<1:38:01, 17.17it/s]model_only_pretrain/pretrain_opt_loss 74.7 / model_only_pretrain/pretrain_opt_grad_norm 158.6 / model_only_pretrain/cam_front_view_image_loss 19.6 / model_only_pretrain/cam_wrist_view_image_loss 22.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.0 / model_only_pretrain/dyn_loss 54.9 / model_only_pretrain/rep_loss 54.9 / model_only_pretrain/kl_value 54.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.2 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 48100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[48100] model_only_pretrain/pretrain_opt_loss 73.9 / model_only_pretrain/pretrain_opt_grad_norm 152.1 / model_only_pretrain/cam_front_view_image_loss 19.1 / model_only_pretrain/cam_wrist_view_image_loss 22.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.8 / model_only_pretrain/dyn_loss 54.7 / model_only_pretrain/rep_loss 54.7 / model_only_pretrain/kl_value 54.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.0 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 8.8

[Checkpoint] Saving model at step 48200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[48200] model_only_pretrain/pretrain_opt_loss 73.9 / model_only_pretrain/pretrain_opt_grad_norm 148.9 / model_only_pretrain/cam_front_view_image_loss 19.2 / model_only_pretrain/cam_wrist_view_image_loss 21.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.8 / model_only_pretrain/dyn_loss 54.7 / model_only_pretrain/rep_loss 54.7 / model_only_pretrain/kl_value 54.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.1 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 48300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[48300] model_only_pretrain/pretrain_opt_loss 73.5 / model_only_pretrain/pretrain_opt_grad_norm 152.3 / model_only_pretrain/cam_front_view_image_loss 19.3 / model_only_pretrain/cam_wrist_view_image_loss 21.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.5 / model_only_pretrain/rep_loss 54.5 / model_only_pretrain/kl_value 54.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.0 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 48400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[48400] model_only_pretrain/pretrain_opt_loss 74.3 / model_only_pretrain/pretrain_opt_grad_norm 147.6 / model_only_pretrain/cam_front_view_image_loss 19.4 / model_only_pretrain/cam_wrist_view_image_loss 22.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.9 / model_only_pretrain/dyn_loss 54.8 / model_only_pretrain/rep_loss 54.8 / model_only_pretrain/kl_value 54.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.1 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[48499] eval_recon/cam_front_view_image 17.3 / eval_recon/cam_wrist_view_image 24.8 / train_recon/cam_front_view_image 21.9 / train_recon/cam_wrist_view_image 79.7 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 48500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[48500] model_only_pretrain/pretrain_opt_loss 74.8 / model_only_pretrain/pretrain_opt_grad_norm 159.1 / model_only_pretrain/cam_front_view_image_loss 19.5 / model_only_pretrain/cam_wrist_view_image_loss 22.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.0 / model_only_pretrain/dyn_loss 54.9 / model_only_pretrain/rep_loss 54.9 / model_only_pretrain/kl_value 54.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.1 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 48600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[48600] model_only_pretrain/pretrain_opt_loss 74.0 / model_only_pretrain/pretrain_opt_grad_norm 161.4 / model_only_pretrain/cam_front_view_image_loss 19.1 / model_only_pretrain/cam_wrist_view_image_loss 22.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.9 / model_only_pretrain/dyn_loss 54.8 / model_only_pretrain/rep_loss 54.8 / model_only_pretrain/kl_value 54.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.2 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 12.2

[Checkpoint] Saving model at step 48700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[48700] model_only_pretrain/pretrain_opt_loss 73.5 / model_only_pretrain/pretrain_opt_grad_norm 156.1 / model_only_pretrain/cam_front_view_image_loss 19.0 / model_only_pretrain/cam_wrist_view_image_loss 21.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.6 / model_only_pretrain/rep_loss 54.6 / model_only_pretrain/kl_value 54.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.9 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 12.2

[Checkpoint] Saving model at step 48800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[48800] model_only_pretrain/pretrain_opt_loss 73.8 / model_only_pretrain/pretrain_opt_grad_norm 150.8 / model_only_pretrain/cam_front_view_image_loss 19.3 / model_only_pretrain/cam_wrist_view_image_loss 21.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.8 / model_only_pretrain/dyn_loss 54.7 / model_only_pretrain/rep_loss 54.7 / model_only_pretrain/kl_value 54.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.0 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 48900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[48900] model_only_pretrain/pretrain_opt_loss 73.6 / model_only_pretrain/pretrain_opt_grad_norm 158.1 / model_only_pretrain/cam_front_view_image_loss 19.1 / model_only_pretrain/cam_wrist_view_image_loss 21.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.5 / model_only_pretrain/rep_loss 54.5 / model_only_pretrain/kl_value 54.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.9 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[48999] eval_recon/cam_front_view_image 17.0 / eval_recon/cam_wrist_view_image 13.3 / train_recon/cam_front_view_image 18.3 / train_recon/cam_wrist_view_image 18.7 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 49000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[49000] 
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World Model pretraining:  33% 50000/150000 [1:19:28<9:35:39,  2.90it/s]model_only_pretrain/pretrain_opt_loss 73.7 / model_only_pretrain/pretrain_opt_grad_norm 156.6 / model_only_pretrain/cam_front_view_image_loss 19.4 / model_only_pretrain/cam_wrist_view_image_loss 21.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.9 / model_only_pretrain/dyn_loss 54.8 / model_only_pretrain/rep_loss 54.8 / model_only_pretrain/kl_value 54.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.2 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 49100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[49100] model_only_pretrain/pretrain_opt_loss 73.4 / model_only_pretrain/pretrain_opt_grad_norm 168.9 / model_only_pretrain/cam_front_view_image_loss 18.9 / model_only_pretrain/cam_wrist_view_image_loss 21.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.5 / model_only_pretrain/rep_loss 54.5 / model_only_pretrain/kl_value 54.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.8 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 49200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[49200] model_only_pretrain/pretrain_opt_loss 73.6 / model_only_pretrain/pretrain_opt_grad_norm 158.3 / model_only_pretrain/cam_front_view_image_loss 19.0 / model_only_pretrain/cam_wrist_view_image_loss 21.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.8 / model_only_pretrain/dyn_loss 54.6 / model_only_pretrain/rep_loss 54.6 / model_only_pretrain/kl_value 54.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.0 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.8

[Checkpoint] Saving model at step 49300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[49300] model_only_pretrain/pretrain_opt_loss 73.3 / model_only_pretrain/pretrain_opt_grad_norm 153.6 / model_only_pretrain/cam_front_view_image_loss 19.2 / model_only_pretrain/cam_wrist_view_image_loss 21.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.5 / model_only_pretrain/rep_loss 54.5 / model_only_pretrain/kl_value 54.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.0 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.1

[Checkpoint] Saving model at step 49400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[49400] model_only_pretrain/pretrain_opt_loss 74.4 / model_only_pretrain/pretrain_opt_grad_norm 154.4 / model_only_pretrain/cam_front_view_image_loss 19.4 / model_only_pretrain/cam_wrist_view_image_loss 22.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.9 / model_only_pretrain/dyn_loss 54.8 / model_only_pretrain/rep_loss 54.8 / model_only_pretrain/kl_value 54.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.2 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 9.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[49499] eval_recon/cam_front_view_image 15.8 / eval_recon/cam_wrist_view_image 24.1 / train_recon/cam_front_view_image 17.3 / train_recon/cam_wrist_view_image 29.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 49500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[49500] model_only_pretrain/pretrain_opt_loss 74.4 / model_only_pretrain/pretrain_opt_grad_norm 156.1 / model_only_pretrain/cam_front_view_image_loss 19.2 / model_only_pretrain/cam_wrist_view_image_loss 22.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.9 / model_only_pretrain/dyn_loss 54.9 / model_only_pretrain/rep_loss 54.9 / model_only_pretrain/kl_value 54.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.2 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 9.4

[Checkpoint] Saving model at step 49600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[49600] model_only_pretrain/pretrain_opt_loss 74.1 / model_only_pretrain/pretrain_opt_grad_norm 150.2 / model_only_pretrain/cam_front_view_image_loss 19.1 / model_only_pretrain/cam_wrist_view_image_loss 22.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.8 / model_only_pretrain/dyn_loss 54.7 / model_only_pretrain/rep_loss 54.7 / model_only_pretrain/kl_value 54.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.1 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 49700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[49700] model_only_pretrain/pretrain_opt_loss 74.0 / model_only_pretrain/pretrain_opt_grad_norm 151.6 / model_only_pretrain/cam_front_view_image_loss 19.0 / model_only_pretrain/cam_wrist_view_image_loss 22.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.5 / model_only_pretrain/rep_loss 54.5 / model_only_pretrain/kl_value 54.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.9 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 9.8

[Checkpoint] Saving model at step 49800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[49800] model_only_pretrain/pretrain_opt_loss 74.2 / model_only_pretrain/pretrain_opt_grad_norm 160.8 / model_only_pretrain/cam_front_view_image_loss 19.3 / model_only_pretrain/cam_wrist_view_image_loss 21.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.0 / model_only_pretrain/dyn_loss 55.0 / model_only_pretrain/rep_loss 55.0 / model_only_pretrain/kl_value 55.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.3 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 49900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[49900] model_only_pretrain/pretrain_opt_loss 74.4 / model_only_pretrain/pretrain_opt_grad_norm 152.6 / model_only_pretrain/cam_front_view_image_loss 19.4 / model_only_pretrain/cam_wrist_view_image_loss 22.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 33.0 / model_only_pretrain/dyn_loss 55.0 / model_only_pretrain/rep_loss 55.0 / model_only_pretrain/kl_value 55.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.3 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[49999] eval_recon/cam_front_view_image 20.4 / eval_recon/cam_wrist_view_image 19.7 / train_recon/cam_front_view_image 18.7 / train_recon/cam_wrist_view_image 18.5 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 50000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  34% 51000/150000 [1:21:06<16:36:09,  1.66it/s]model_only_pretrain/pretrain_opt_loss 72.5 / model_only_pretrain/pretrain_opt_grad_norm 151.8 / model_only_pretrain/cam_front_view_image_loss 18.7 / model_only_pretrain/cam_wrist_view_image_loss 21.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.3 / model_only_pretrain/rep_loss 54.3 / model_only_pretrain/kl_value 54.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.8 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 50100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[50100] model_only_pretrain/pretrain_opt_loss 73.2 / model_only_pretrain/pretrain_opt_grad_norm 154.0 / model_only_pretrain/cam_front_view_image_loss 19.0 / model_only_pretrain/cam_wrist_view_image_loss 21.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.5 / model_only_pretrain/rep_loss 54.5 / model_only_pretrain/kl_value 54.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.0 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 13.6

[Checkpoint] Saving model at step 50200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[50200] model_only_pretrain/pretrain_opt_loss 72.8 / model_only_pretrain/pretrain_opt_grad_norm 158.5 / model_only_pretrain/cam_front_view_image_loss 18.8 / model_only_pretrain/cam_wrist_view_image_loss 21.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.4 / model_only_pretrain/rep_loss 54.4 / model_only_pretrain/kl_value 54.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.8 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 50300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[50300] model_only_pretrain/pretrain_opt_loss 73.8 / model_only_pretrain/pretrain_opt_grad_norm 155.7 / model_only_pretrain/cam_front_view_image_loss 19.2 / model_only_pretrain/cam_wrist_view_image_loss 21.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.8 / model_only_pretrain/dyn_loss 54.7 / model_only_pretrain/rep_loss 54.7 / model_only_pretrain/kl_value 54.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.0 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 50400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[50400] model_only_pretrain/pretrain_opt_loss 73.5 / model_only_pretrain/pretrain_opt_grad_norm 153.0 / model_only_pretrain/cam_front_view_image_loss 19.0 / model_only_pretrain/cam_wrist_view_image_loss 21.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.8 / model_only_pretrain/dyn_loss 54.7 / model_only_pretrain/rep_loss 54.7 / model_only_pretrain/kl_value 54.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.1 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 9.5
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[50499] eval_recon/cam_front_view_image 77.3 / eval_recon/cam_wrist_view_image 173.6 / train_recon/cam_front_view_image 16.0 / train_recon/cam_wrist_view_image 18.2 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 50500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[50500] model_only_pretrain/pretrain_opt_loss 74.1 / model_only_pretrain/pretrain_opt_grad_norm 152.3 / model_only_pretrain/cam_front_view_image_loss 19.2 / model_only_pretrain/cam_wrist_view_image_loss 22.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.8 / model_only_pretrain/dyn_loss 54.7 / model_only_pretrain/rep_loss 54.7 / model_only_pretrain/kl_value 54.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.0 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 9.2

[Checkpoint] Saving model at step 50600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[50600] model_only_pretrain/pretrain_opt_loss 74.0 / model_only_pretrain/pretrain_opt_grad_norm 155.8 / model_only_pretrain/cam_front_view_image_loss 19.2 / model_only_pretrain/cam_wrist_view_image_loss 22.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.8 / model_only_pretrain/dyn_loss 54.7 / model_only_pretrain/rep_loss 54.7 / model_only_pretrain/kl_value 54.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.0 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 9.5

[Checkpoint] Saving model at step 50700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[50700] model_only_pretrain/pretrain_opt_loss 73.1 / model_only_pretrain/pretrain_opt_grad_norm 149.9 / model_only_pretrain/cam_front_view_image_loss 19.1 / model_only_pretrain/cam_wrist_view_image_loss 21.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.5 / model_only_pretrain/rep_loss 54.5 / model_only_pretrain/kl_value 54.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.0 / model_only_pretrain/post_ent -27.0 / model_only_pretrain/fps 9.8

[Checkpoint] Saving model at step 50800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[50800] model_only_pretrain/pretrain_opt_loss 73.7 / model_only_pretrain/pretrain_opt_grad_norm 151.1 / model_only_pretrain/cam_front_view_image_loss 19.2 / model_only_pretrain/cam_wrist_view_image_loss 21.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.8 / model_only_pretrain/dyn_loss 54.7 / model_only_pretrain/rep_loss 54.7 / model_only_pretrain/kl_value 54.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.9 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 50900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[50900] model_only_pretrain/pretrain_opt_loss 74.0 / model_only_pretrain/pretrain_opt_grad_norm 155.9 / model_only_pretrain/cam_front_view_image_loss 19.3 / model_only_pretrain/cam_wrist_view_image_loss 21.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.8 / model_only_pretrain/dyn_loss 54.7 / model_only_pretrain/rep_loss 54.7 / model_only_pretrain/kl_value 54.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.0 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 10.3
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[50999] eval_recon/cam_front_view_image 19.0 / eval_recon/cam_wrist_view_image 22.5 / train_recon/cam_front_view_image 15.7 / train_recon/cam_wrist_view_image 21.0 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 51000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[51000] 
World Model pretraining:  34% 51002/150000 [1:21:06<12:25:00,  2.21it/s]
World Model pretraining:  34% 51004/150000 [1:21:06<9:15:47,  2.97it/s] 
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World Model pretraining:  34% 51010/150000 [1:21:07<4:19:21,  6.36it/s]
World Model pretraining:  34% 51012/150000 [1:21:07<3:33:21,  7.73it/s]
World Model pretraining:  34% 51014/150000 [1:21:07<3:01:38,  9.08it/s]
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World Model pretraining:  34% 51024/150000 [1:21:08<1:56:05, 14.21it/s]
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World Model pretraining:  34% 51078/150000 [1:21:11<1:39:15, 16.61it/s]
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World Model pretraining:  34% 51082/150000 [1:21:12<1:42:26, 16.09it/s]
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World Model pretraining:  34% 51100/150000 [1:21:16<13:43:26,  2.00it/s]
World Model pretraining:  34% 51102/150000 [1:21:16<10:10:56,  2.70it/s]
World Model pretraining:  34% 51104/150000 [1:21:16<7:37:03,  3.61it/s] 
World Model pretraining:  34% 51106/150000 [1:21:16<5:51:44,  4.69it/s]
World Model pretraining:  34% 51108/150000 [1:21:16<4:39:43,  5.89it/s]
World Model pretraining:  34% 51110/150000 [1:21:16<3:53:24,  7.06it/s]
World Model pretraining:  34% 51112/150000 [1:21:16<3:13:39,  8.51it/s]
World Model pretraining:  34% 51114/150000 [1:21:17<2:47:16,  9.85it/s]
World Model pretraining:  34% 51116/150000 [1:21:17<2:28:17, 11.11it/s]
World Model pretraining:  34% 51118/150000 [1:21:17<2:17:03, 12.02it/s]
World Model pretraining:  34% 51120/150000 [1:21:17<2:08:41, 12.81it/s]
World Model pretraining:  34% 51122/150000 [1:21:17<2:04:31, 13.23it/s]
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World Model pretraining:  34% 51128/150000 [1:21:17<1:53:51, 14.47it/s]
World Model pretraining:  34% 51130/150000 [1:21:18<1:55:11, 14.31it/s]
World Model pretraining:  34% 51132/150000 [1:21:18<1:50:22, 14.93it/s]
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World Model pretraining:  34% 51142/150000 [1:21:18<1:44:28, 15.77it/s]
World Model pretraining:  34% 51144/150000 [1:21:19<1:50:50, 14.86it/s]
World Model pretraining:  34% 51146/150000 [1:21:19<1:56:52, 14.10it/s]
World Model pretraining:  34% 51148/150000 [1:21:19<2:11:20, 12.54it/s]
World Model pretraining:  34% 51150/150000 [1:21:19<2:06:38, 13.01it/s]
World Model pretraining:  34% 51152/150000 [1:21:19<2:05:11, 13.16it/s]
World Model pretraining:  34% 51154/150000 [1:21:19<1:56:17, 14.17it/s]
World Model pretraining:  34% 51156/150000 [1:21:19<1:54:04, 14.44it/s]
World Model pretraining:  34% 51158/150000 [1:21:20<1:53:22, 14.53it/s]
World Model pretraining:  34% 51160/150000 [1:21:20<2:00:24, 13.68it/s]
World Model pretraining:  34% 51162/150000 [1:21:20<2:03:40, 13.32it/s]
World Model pretraining:  34% 51164/150000 [1:21:20<2:01:24, 13.57it/s]
World Model pretraining:  34% 51166/150000 [1:21:20<1:51:06, 14.83it/s]
World Model pretraining:  34% 51168/150000 [1:21:20<1:46:05, 15.53it/s]
World Model pretraining:  34% 51170/150000 [1:21:20<1:50:35, 14.89it/s]
World Model pretraining:  34% 51172/150000 [1:21:21<1:43:23, 15.93it/s]
World Model pretraining:  34% 51174/150000 [1:21:21<1:42:08, 16.13it/s]
World Model pretraining:  34% 51176/150000 [1:21:21<1:41:53, 16.17it/s]
World Model pretraining:  34% 51178/150000 [1:21:21<1:45:54, 15.55it/s]
World Model pretraining:  34% 51180/150000 [1:21:21<1:48:46, 15.14it/s]
World Model pretraining:  34% 51182/150000 [1:21:21<1:47:50, 15.27it/s]
World Model pretraining:  34% 51184/150000 [1:21:21<1:48:02, 15.24it/s]
World Model pretraining:  34% 51186/150000 [1:21:21<1:48:20, 15.20it/s]
World Model pretraining:  34% 51188/150000 [1:21:22<2:03:13, 13.36it/s]
World Model pretraining:  34% 51190/150000 [1:21:22<2:09:03, 12.76it/s]
World Model pretraining:  34% 51192/150000 [1:21:22<2:05:06, 13.16it/s]
World Model pretraining:  34% 51194/150000 [1:21:22<2:04:56, 13.18it/s]
World Model pretraining:  34% 51196/150000 [1:21:22<1:53:27, 14.51it/s]
World Model pretraining:  34% 51198/150000 [1:21:22<1:49:01, 15.10it/s]
World Model pretraining:  34% 51200/150000 [1:21:24<10:10:03,  2.70it/s]
World Model pretraining:  34% 51202/150000 [1:21:25<7:40:37,  3.57it/s] 
World Model pretraining:  34% 51204/150000 [1:21:25<6:06:22,  4.49it/s]
World Model pretraining:  34% 51206/150000 [1:21:25<4:43:23,  5.81it/s]
World Model pretraining:  34% 51208/150000 [1:21:25<3:48:57,  7.19it/s]
World Model pretraining:  34% 51210/150000 [1:21:25<3:12:36,  8.55it/s]
World Model pretraining:  34% 51212/150000 [1:21:25<2:46:40,  9.88it/s]
World Model pretraining:  34% 51214/150000 [1:21:25<2:31:47, 10.85it/s]
World Model pretraining:  34% 51216/150000 [1:21:26<2:20:13, 11.74it/s]
World Model pretraining:  34% 51218/150000 [1:21:26<2:09:37, 12.70it/s]
World Model pretraining:  34% 51220/150000 [1:21:26<2:02:45, 13.41it/s]
World Model pretraining:  34% 51222/150000 [1:21:26<1:58:23, 13.91it/s]
World Model pretraining:  34% 51224/150000 [1:21:26<1:57:14, 14.04it/s]
World Model pretraining:  34% 51226/150000 [1:21:26<1:54:47, 14.34it/s]
World Model pretraining:  34% 51228/150000 [1:21:26<1:52:04, 14.69it/s]
World Model pretraining:  34% 51230/150000 [1:21:26<1:51:18, 14.79it/s]
World Model pretraining:  34% 51232/150000 [1:21:27<1:49:44, 15.00it/s]
World Model pretraining:  34% 51234/150000 [1:21:27<1:50:32, 14.89it/s]
World Model pretraining:  34% 51236/150000 [1:21:27<1:50:54, 14.84it/s]
World Model pretraining:  34% 51238/150000 [1:21:27<1:45:57, 15.53it/s]
World Model pretraining:  34% 51240/150000 [1:21:27<1:47:10, 15.36it/s]
World Model pretraining:  34% 51242/150000 [1:21:27<1:49:04, 15.09it/s]
World Model pretraining:  34% 51244/150000 [1:21:27<1:52:22, 14.65it/s]
World Model pretraining:  34% 51246/150000 [1:21:28<1:51:50, 14.72it/s]
World Model pretraining:  34% 51248/150000 [1:21:28<1:49:10, 15.08it/s]
World Model pretraining:  34% 51250/150000 [1:21:28<1:47:38, 15.29it/s]
World Model pretraining:  34% 51252/150000 [1:21:28<1:49:03, 15.09it/s]
World Model pretraining:  34% 51254/150000 [1:21:28<1:48:19, 15.19it/s]
World Model pretraining:  34% 51256/150000 [1:21:28<1:52:40, 14.61it/s]
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World Model pretraining:  34% 51260/150000 [1:21:28<1:43:03, 15.97it/s]
World Model pretraining:  34% 51262/150000 [1:21:29<1:44:42, 15.72it/s]
World Model pretraining:  34% 51264/150000 [1:21:29<1:40:09, 16.43it/s]
World Model pretraining:  34% 51266/150000 [1:21:29<1:55:30, 14.25it/s]
World Model pretraining:  34% 51268/150000 [1:21:29<1:50:13, 14.93it/s]
World Model pretraining:  34% 51270/150000 [1:21:29<1:48:14, 15.20it/s]
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World Model pretraining:  34% 51274/150000 [1:21:29<1:48:42, 15.14it/s]
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World Model pretraining:  34% 51278/150000 [1:21:30<1:44:09, 15.80it/s]
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World Model pretraining:  34% 51294/150000 [1:21:31<1:42:16, 16.09it/s]
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World Model pretraining:  34% 51300/150000 [1:21:33<11:17:01,  2.43it/s]
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World Model pretraining:  34% 51304/150000 [1:21:34<6:22:51,  4.30it/s]
World Model pretraining:  34% 51306/150000 [1:21:34<4:57:58,  5.52it/s]
World Model pretraining:  34% 51309/150000 [1:21:34<3:34:39,  7.66it/s]
World Model pretraining:  34% 51311/150000 [1:21:34<3:09:59,  8.66it/s]
World Model pretraining:  34% 51313/150000 [1:21:34<2:44:06, 10.02it/s]
World Model pretraining:  34% 51315/150000 [1:21:34<2:27:40, 11.14it/s]
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World Model pretraining:  35% 52000/150000 [1:22:44<13:59:57,  1.94it/s]model_only_pretrain/pretrain_opt_loss 73.7 / model_only_pretrain/pretrain_opt_grad_norm 155.9 / model_only_pretrain/cam_front_view_image_loss 19.1 / model_only_pretrain/cam_wrist_view_image_loss 21.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.9 / model_only_pretrain/dyn_loss 54.8 / model_only_pretrain/rep_loss 54.8 / model_only_pretrain/kl_value 54.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.0 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 9.5

[Checkpoint] Saving model at step 51100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[51100] model_only_pretrain/pretrain_opt_loss 73.5 / model_only_pretrain/pretrain_opt_grad_norm 149.3 / model_only_pretrain/cam_front_view_image_loss 19.0 / model_only_pretrain/cam_wrist_view_image_loss 21.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.9 / model_only_pretrain/dyn_loss 54.8 / model_only_pretrain/rep_loss 54.8 / model_only_pretrain/kl_value 54.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.0 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 51200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[51200] model_only_pretrain/pretrain_opt_loss 73.9 / model_only_pretrain/pretrain_opt_grad_norm 154.1 / model_only_pretrain/cam_front_view_image_loss 19.1 / model_only_pretrain/cam_wrist_view_image_loss 21.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.9 / model_only_pretrain/dyn_loss 54.9 / model_only_pretrain/rep_loss 54.9 / model_only_pretrain/kl_value 54.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.1 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 51300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[51300] model_only_pretrain/pretrain_opt_loss 72.8 / model_only_pretrain/pretrain_opt_grad_norm 156.4 / model_only_pretrain/cam_front_view_image_loss 18.9 / model_only_pretrain/cam_wrist_view_image_loss 21.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.4 / model_only_pretrain/rep_loss 54.4 / model_only_pretrain/kl_value 54.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.8 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 51400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[51400] model_only_pretrain/pretrain_opt_loss 73.4 / model_only_pretrain/pretrain_opt_grad_norm 158.1 / model_only_pretrain/cam_front_view_image_loss 19.1 / model_only_pretrain/cam_wrist_view_image_loss 21.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.5 / model_only_pretrain/rep_loss 54.5 / model_only_pretrain/kl_value 54.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.9 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[51499] eval_recon/cam_front_view_image 18.9 / eval_recon/cam_wrist_view_image 18.4 / train_recon/cam_front_view_image 18.5 / train_recon/cam_wrist_view_image 55.7 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 51500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[51500] model_only_pretrain/pretrain_opt_loss 73.0 / model_only_pretrain/pretrain_opt_grad_norm 150.8 / model_only_pretrain/cam_front_view_image_loss 18.9 / model_only_pretrain/cam_wrist_view_image_loss 21.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.5 / model_only_pretrain/rep_loss 54.5 / model_only_pretrain/kl_value 54.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.8 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 51600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[51600] model_only_pretrain/pretrain_opt_loss 74.1 / model_only_pretrain/pretrain_opt_grad_norm 155.3 / model_only_pretrain/cam_front_view_image_loss 19.2 / model_only_pretrain/cam_wrist_view_image_loss 22.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.9 / model_only_pretrain/dyn_loss 54.8 / model_only_pretrain/rep_loss 54.8 / model_only_pretrain/kl_value 54.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.1 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 9.2

[Checkpoint] Saving model at step 51700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[51700] model_only_pretrain/pretrain_opt_loss 73.1 / model_only_pretrain/pretrain_opt_grad_norm 153.7 / model_only_pretrain/cam_front_view_image_loss 18.8 / model_only_pretrain/cam_wrist_view_image_loss 21.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.5 / model_only_pretrain/rep_loss 54.5 / model_only_pretrain/kl_value 54.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.8 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 9.0

[Checkpoint] Saving model at step 51800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[51800] model_only_pretrain/pretrain_opt_loss 72.8 / model_only_pretrain/pretrain_opt_grad_norm 152.4 / model_only_pretrain/cam_front_view_image_loss 18.8 / model_only_pretrain/cam_wrist_view_image_loss 21.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.3 / model_only_pretrain/rep_loss 54.3 / model_only_pretrain/kl_value 54.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.6 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 9.1

[Checkpoint] Saving model at step 51900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[51900] model_only_pretrain/pretrain_opt_loss 73.5 / model_only_pretrain/pretrain_opt_grad_norm 148.9 / model_only_pretrain/cam_front_view_image_loss 19.0 / model_only_pretrain/cam_wrist_view_image_loss 21.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.8 / model_only_pretrain/dyn_loss 54.6 / model_only_pretrain/rep_loss 54.6 / model_only_pretrain/kl_value 54.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.8 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.6
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[51999] eval_recon/cam_front_view_image 13.6 / eval_recon/cam_wrist_view_image 14.6 / train_recon/cam_front_view_image 25.1 / train_recon/cam_wrist_view_image 65.2 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 52000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  35% 52999/150000 [1:24:09<1:54:30, 14.12it/s]model_only_pretrain/pretrain_opt_loss 72.8 / model_only_pretrain/pretrain_opt_grad_norm 147.0 / model_only_pretrain/cam_front_view_image_loss 18.9 / model_only_pretrain/cam_wrist_view_image_loss 21.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.5 / model_only_pretrain/rep_loss 54.5 / model_only_pretrain/kl_value 54.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.8 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 52100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[52100] model_only_pretrain/pretrain_opt_loss 72.8 / model_only_pretrain/pretrain_opt_grad_norm 143.6 / model_only_pretrain/cam_front_view_image_loss 18.9 / model_only_pretrain/cam_wrist_view_image_loss 21.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.5 / model_only_pretrain/rep_loss 54.5 / model_only_pretrain/kl_value 54.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.7 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 52200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[52200] model_only_pretrain/pretrain_opt_loss 73.4 / model_only_pretrain/pretrain_opt_grad_norm 148.4 / model_only_pretrain/cam_front_view_image_loss 18.9 / model_only_pretrain/cam_wrist_view_image_loss 21.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.8 / model_only_pretrain/dyn_loss 54.7 / model_only_pretrain/rep_loss 54.7 / model_only_pretrain/kl_value 54.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.9 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 52300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[52300] model_only_pretrain/pretrain_opt_loss 72.7 / model_only_pretrain/pretrain_opt_grad_norm 148.9 / model_only_pretrain/cam_front_view_image_loss 18.8 / model_only_pretrain/cam_wrist_view_image_loss 21.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.5 / model_only_pretrain/dyn_loss 54.2 / model_only_pretrain/rep_loss 54.2 / model_only_pretrain/kl_value 54.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.6 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 12.1

[Checkpoint] Saving model at step 52400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[52400] model_only_pretrain/pretrain_opt_loss 73.0 / model_only_pretrain/pretrain_opt_grad_norm 152.3 / model_only_pretrain/cam_front_view_image_loss 18.6 / model_only_pretrain/cam_wrist_view_image_loss 21.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.5 / model_only_pretrain/rep_loss 54.5 / model_only_pretrain/kl_value 54.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.7 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.9
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[52499] eval_recon/cam_front_view_image 16.9 / eval_recon/cam_wrist_view_image 17.5 / train_recon/cam_front_view_image 18.1 / train_recon/cam_wrist_view_image 20.0 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 52500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[52500] model_only_pretrain/pretrain_opt_loss 72.1 / model_only_pretrain/pretrain_opt_grad_norm 150.3 / model_only_pretrain/cam_front_view_image_loss 18.6 / model_only_pretrain/cam_wrist_view_image_loss 21.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.5 / model_only_pretrain/dyn_loss 54.2 / model_only_pretrain/rep_loss 54.2 / model_only_pretrain/kl_value 54.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.6 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 52600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[52600] model_only_pretrain/pretrain_opt_loss 73.0 / model_only_pretrain/pretrain_opt_grad_norm 145.6 / model_only_pretrain/cam_front_view_image_loss 18.7 / model_only_pretrain/cam_wrist_view_image_loss 21.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.8 / model_only_pretrain/dyn_loss 54.7 / model_only_pretrain/rep_loss 54.7 / model_only_pretrain/kl_value 54.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.0 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 12.1

[Checkpoint] Saving model at step 52700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[52700] model_only_pretrain/pretrain_opt_loss 72.7 / model_only_pretrain/pretrain_opt_grad_norm 148.8 / model_only_pretrain/cam_front_view_image_loss 18.6 / model_only_pretrain/cam_wrist_view_image_loss 21.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.5 / model_only_pretrain/rep_loss 54.5 / model_only_pretrain/kl_value 54.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.7 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 52800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[52800] model_only_pretrain/pretrain_opt_loss 72.9 / model_only_pretrain/pretrain_opt_grad_norm 155.9 / model_only_pretrain/cam_front_view_image_loss 18.7 / model_only_pretrain/cam_wrist_view_image_loss 21.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.8 / model_only_pretrain/dyn_loss 54.7 / model_only_pretrain/rep_loss 54.7 / model_only_pretrain/kl_value 54.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.8 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 52900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[52900] model_only_pretrain/pretrain_opt_loss 72.9 / model_only_pretrain/pretrain_opt_grad_norm 147.4 / model_only_pretrain/cam_front_view_image_loss 18.9 / model_only_pretrain/cam_wrist_view_image_loss 21.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.6 / model_only_pretrain/rep_loss 54.6 / model_only_pretrain/kl_value 54.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.8 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 10.3
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[52999] eval_recon/cam_front_view_image 16.0 / eval_recon/cam_wrist_view_image 71.9 / train_recon/cam_front_view_image 13.8 / train_recon/cam_wrist_view_image 48.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 53000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  36% 54000/150000 [1:25:41<8:46:44,  3.04it/s]model_only_pretrain/pretrain_opt_loss 73.6 / model_only_pretrain/pretrain_opt_grad_norm 153.7 / model_only_pretrain/cam_front_view_image_loss 19.0 / model_only_pretrain/cam_wrist_view_image_loss 21.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.8 / model_only_pretrain/dyn_loss 54.7 / model_only_pretrain/rep_loss 54.7 / model_only_pretrain/kl_value 54.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.9 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 53100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[53100] model_only_pretrain/pretrain_opt_loss 72.9 / model_only_pretrain/pretrain_opt_grad_norm 154.2 / model_only_pretrain/cam_front_view_image_loss 18.8 / model_only_pretrain/cam_wrist_view_image_loss 21.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.4 / model_only_pretrain/rep_loss 54.4 / model_only_pretrain/kl_value 54.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.7 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 53200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[53200] model_only_pretrain/pretrain_opt_loss 72.6 / model_only_pretrain/pretrain_opt_grad_norm 148.6 / model_only_pretrain/cam_front_view_image_loss 18.6 / model_only_pretrain/cam_wrist_view_image_loss 21.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.4 / model_only_pretrain/rep_loss 54.4 / model_only_pretrain/kl_value 54.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.7 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.4

[Checkpoint] Saving model at step 53300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[53300] model_only_pretrain/pretrain_opt_loss 73.1 / model_only_pretrain/pretrain_opt_grad_norm 159.9 / model_only_pretrain/cam_front_view_image_loss 18.7 / model_only_pretrain/cam_wrist_view_image_loss 21.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.5 / model_only_pretrain/rep_loss 54.5 / model_only_pretrain/kl_value 54.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.7 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 53400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[53400] model_only_pretrain/pretrain_opt_loss 72.6 / model_only_pretrain/pretrain_opt_grad_norm 146.0 / model_only_pretrain/cam_front_view_image_loss 18.8 / model_only_pretrain/cam_wrist_view_image_loss 21.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.4 / model_only_pretrain/rep_loss 54.4 / model_only_pretrain/kl_value 54.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.8 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 12.2
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[53499] eval_recon/cam_front_view_image 18.3 / eval_recon/cam_wrist_view_image 22.2 / train_recon/cam_front_view_image 16.3 / train_recon/cam_wrist_view_image 17.6 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 53500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[53500] model_only_pretrain/pretrain_opt_loss 72.4 / model_only_pretrain/pretrain_opt_grad_norm 153.3 / model_only_pretrain/cam_front_view_image_loss 18.7 / model_only_pretrain/cam_wrist_view_image_loss 21.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.5 / model_only_pretrain/rep_loss 54.5 / model_only_pretrain/kl_value 54.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.7 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 53600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[53600] model_only_pretrain/pretrain_opt_loss 72.6 / model_only_pretrain/pretrain_opt_grad_norm 150.0 / model_only_pretrain/cam_front_view_image_loss 18.7 / model_only_pretrain/cam_wrist_view_image_loss 21.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.4 / model_only_pretrain/rep_loss 54.4 / model_only_pretrain/kl_value 54.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.7 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 10.4

[Checkpoint] Saving model at step 53700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[53700] model_only_pretrain/pretrain_opt_loss 72.7 / model_only_pretrain/pretrain_opt_grad_norm 147.2 / model_only_pretrain/cam_front_view_image_loss 18.6 / model_only_pretrain/cam_wrist_view_image_loss 21.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.4 / model_only_pretrain/rep_loss 54.4 / model_only_pretrain/kl_value 54.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.7 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 53800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[53800] model_only_pretrain/pretrain_opt_loss 72.9 / model_only_pretrain/pretrain_opt_grad_norm 150.9 / model_only_pretrain/cam_front_view_image_loss 18.7 / model_only_pretrain/cam_wrist_view_image_loss 21.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.4 / model_only_pretrain/rep_loss 54.4 / model_only_pretrain/kl_value 54.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.6 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 53900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[53900] model_only_pretrain/pretrain_opt_loss 73.0 / model_only_pretrain/pretrain_opt_grad_norm 151.1 / model_only_pretrain/cam_front_view_image_loss 18.8 / model_only_pretrain/cam_wrist_view_image_loss 21.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.5 / model_only_pretrain/rep_loss 54.5 / model_only_pretrain/kl_value 54.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.8 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[53999] eval_recon/cam_front_view_image 19.0 / eval_recon/cam_wrist_view_image 16.7 / train_recon/cam_front_view_image 17.9 / train_recon/cam_wrist_view_image 19.5 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 54000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  37% 55000/150000 [1:27:15<15:02:11,  1.75it/s]model_only_pretrain/pretrain_opt_loss 72.7 / model_only_pretrain/pretrain_opt_grad_norm 153.4 / model_only_pretrain/cam_front_view_image_loss 18.4 / model_only_pretrain/cam_wrist_view_image_loss 21.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.4 / model_only_pretrain/rep_loss 54.4 / model_only_pretrain/kl_value 54.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.7 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 12.6

[Checkpoint] Saving model at step 54100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[54100] model_only_pretrain/pretrain_opt_loss 72.3 / model_only_pretrain/pretrain_opt_grad_norm 151.0 / model_only_pretrain/cam_front_view_image_loss 18.6 / model_only_pretrain/cam_wrist_view_image_loss 21.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.3 / model_only_pretrain/rep_loss 54.3 / model_only_pretrain/kl_value 54.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.6 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 54200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[54200] model_only_pretrain/pretrain_opt_loss 72.3 / model_only_pretrain/pretrain_opt_grad_norm 155.1 / model_only_pretrain/cam_front_view_image_loss 18.6 / model_only_pretrain/cam_wrist_view_image_loss 21.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.3 / model_only_pretrain/rep_loss 54.3 / model_only_pretrain/kl_value 54.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.5 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 54300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[54300] model_only_pretrain/pretrain_opt_loss 73.0 / model_only_pretrain/pretrain_opt_grad_norm 148.5 / model_only_pretrain/cam_front_view_image_loss 18.9 / model_only_pretrain/cam_wrist_view_image_loss 21.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.8 / model_only_pretrain/dyn_loss 54.7 / model_only_pretrain/rep_loss 54.7 / model_only_pretrain/kl_value 54.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.8 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 54400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[54400] model_only_pretrain/pretrain_opt_loss 72.7 / model_only_pretrain/pretrain_opt_grad_norm 147.0 / model_only_pretrain/cam_front_view_image_loss 18.7 / model_only_pretrain/cam_wrist_view_image_loss 21.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.3 / model_only_pretrain/rep_loss 54.3 / model_only_pretrain/kl_value 54.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.7 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[54499] eval_recon/cam_front_view_image 15.0 / eval_recon/cam_wrist_view_image 23.1 / train_recon/cam_front_view_image 14.6 / train_recon/cam_wrist_view_image 18.1 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 54500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[54500] model_only_pretrain/pretrain_opt_loss 72.5 / model_only_pretrain/pretrain_opt_grad_norm 147.0 / model_only_pretrain/cam_front_view_image_loss 18.8 / model_only_pretrain/cam_wrist_view_image_loss 21.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.4 / model_only_pretrain/rep_loss 54.4 / model_only_pretrain/kl_value 54.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.5 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 54600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[54600] model_only_pretrain/pretrain_opt_loss 73.2 / model_only_pretrain/pretrain_opt_grad_norm 160.1 / model_only_pretrain/cam_front_view_image_loss 18.7 / model_only_pretrain/cam_wrist_view_image_loss 21.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.8 / model_only_pretrain/dyn_loss 54.7 / model_only_pretrain/rep_loss 54.7 / model_only_pretrain/kl_value 54.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 27.0 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 54700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[54700] model_only_pretrain/pretrain_opt_loss 72.6 / model_only_pretrain/pretrain_opt_grad_norm 145.2 / model_only_pretrain/cam_front_view_image_loss 18.6 / model_only_pretrain/cam_wrist_view_image_loss 21.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.8 / model_only_pretrain/dyn_loss 54.6 / model_only_pretrain/rep_loss 54.6 / model_only_pretrain/kl_value 54.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.8 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 54800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[54800] model_only_pretrain/pretrain_opt_loss 72.2 / model_only_pretrain/pretrain_opt_grad_norm 148.3 / model_only_pretrain/cam_front_view_image_loss 18.3 / model_only_pretrain/cam_wrist_view_image_loss 21.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.4 / model_only_pretrain/rep_loss 54.4 / model_only_pretrain/kl_value 54.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.5 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 9.2

[Checkpoint] Saving model at step 54900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[54900] model_only_pretrain/pretrain_opt_loss 72.3 / model_only_pretrain/pretrain_opt_grad_norm 145.0 / model_only_pretrain/cam_front_view_image_loss 18.6 / model_only_pretrain/cam_wrist_view_image_loss 21.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.3 / model_only_pretrain/rep_loss 54.3 / model_only_pretrain/kl_value 54.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.5 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 9.5
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[54999] eval_recon/cam_front_view_image 17.0 / eval_recon/cam_wrist_view_image 20.7 / train_recon/cam_front_view_image 16.0 / train_recon/cam_wrist_view_image 16.4 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 55000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  37% 55999/150000 [1:28:50<1:34:48, 16.53it/s]model_only_pretrain/pretrain_opt_loss 72.7 / model_only_pretrain/pretrain_opt_grad_norm 148.9 / model_only_pretrain/cam_front_view_image_loss 18.8 / model_only_pretrain/cam_wrist_view_image_loss 21.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.4 / model_only_pretrain/rep_loss 54.4 / model_only_pretrain/kl_value 54.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.7 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 55100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[55100] model_only_pretrain/pretrain_opt_loss 72.1 / model_only_pretrain/pretrain_opt_grad_norm 162.0 / model_only_pretrain/cam_front_view_image_loss 18.4 / model_only_pretrain/cam_wrist_view_image_loss 21.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.4 / model_only_pretrain/rep_loss 54.4 / model_only_pretrain/kl_value 54.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.6 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 55200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[55200] model_only_pretrain/pretrain_opt_loss 72.5 / model_only_pretrain/pretrain_opt_grad_norm 148.9 / model_only_pretrain/cam_front_view_image_loss 18.5 / model_only_pretrain/cam_wrist_view_image_loss 21.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.5 / model_only_pretrain/rep_loss 54.5 / model_only_pretrain/kl_value 54.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.7 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 55300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[55300] model_only_pretrain/pretrain_opt_loss 72.8 / model_only_pretrain/pretrain_opt_grad_norm 147.5 / model_only_pretrain/cam_front_view_image_loss 18.6 / model_only_pretrain/cam_wrist_view_image_loss 21.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.8 / model_only_pretrain/dyn_loss 54.7 / model_only_pretrain/rep_loss 54.7 / model_only_pretrain/kl_value 54.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.9 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 55400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[55400] model_only_pretrain/pretrain_opt_loss 71.9 / model_only_pretrain/pretrain_opt_grad_norm 150.0 / model_only_pretrain/cam_front_view_image_loss 18.5 / model_only_pretrain/cam_wrist_view_image_loss 20.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.5 / model_only_pretrain/dyn_loss 54.2 / model_only_pretrain/rep_loss 54.2 / model_only_pretrain/kl_value 54.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.5 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 12.3
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[55499] eval_recon/cam_front_view_image 12.5 / eval_recon/cam_wrist_view_image 14.2 / train_recon/cam_front_view_image 48.8 / train_recon/cam_wrist_view_image 92.7 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 55500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[55500] model_only_pretrain/pretrain_opt_loss 72.2 / model_only_pretrain/pretrain_opt_grad_norm 143.8 / model_only_pretrain/cam_front_view_image_loss 18.5 / model_only_pretrain/cam_wrist_view_image_loss 21.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.3 / model_only_pretrain/rep_loss 54.3 / model_only_pretrain/kl_value 54.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.5 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 55600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[55600] model_only_pretrain/pretrain_opt_loss 72.0 / model_only_pretrain/pretrain_opt_grad_norm 153.9 / model_only_pretrain/cam_front_view_image_loss 18.3 / model_only_pretrain/cam_wrist_view_image_loss 21.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.3 / model_only_pretrain/rep_loss 54.3 / model_only_pretrain/kl_value 54.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.5 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 55700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[55700] model_only_pretrain/pretrain_opt_loss 72.7 / model_only_pretrain/pretrain_opt_grad_norm 151.8 / model_only_pretrain/cam_front_view_image_loss 18.4 / model_only_pretrain/cam_wrist_view_image_loss 21.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.3 / model_only_pretrain/rep_loss 54.3 / model_only_pretrain/kl_value 54.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.4 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 9.0

[Checkpoint] Saving model at step 55800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[55800] model_only_pretrain/pretrain_opt_loss 72.1 / model_only_pretrain/pretrain_opt_grad_norm 145.0 / model_only_pretrain/cam_front_view_image_loss 18.3 / model_only_pretrain/cam_wrist_view_image_loss 21.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.5 / model_only_pretrain/rep_loss 54.5 / model_only_pretrain/kl_value 54.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.7 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 8.3

[Checkpoint] Saving model at step 55900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[55900] model_only_pretrain/pretrain_opt_loss 71.7 / model_only_pretrain/pretrain_opt_grad_norm 144.3 / model_only_pretrain/cam_front_view_image_loss 18.2 / model_only_pretrain/cam_wrist_view_image_loss 21.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.5 / model_only_pretrain/dyn_loss 54.1 / model_only_pretrain/rep_loss 54.1 / model_only_pretrain/kl_value 54.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.4 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 9.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[55999] eval_recon/cam_front_view_image 20.4 / eval_recon/cam_wrist_view_image 37.6 / train_recon/cam_front_view_image 22.4 / train_recon/cam_wrist_view_image 90.2 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 56000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  38% 56999/150000 [1:30:26<1:43:39, 14.95it/s]model_only_pretrain/pretrain_opt_loss 72.1 / model_only_pretrain/pretrain_opt_grad_norm 153.8 / model_only_pretrain/cam_front_view_image_loss 18.4 / model_only_pretrain/cam_wrist_view_image_loss 21.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.4 / model_only_pretrain/rep_loss 54.4 / model_only_pretrain/kl_value 54.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.5 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 9.7

[Checkpoint] Saving model at step 56100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[56100] model_only_pretrain/pretrain_opt_loss 72.4 / model_only_pretrain/pretrain_opt_grad_norm 151.9 / model_only_pretrain/cam_front_view_image_loss 18.5 / model_only_pretrain/cam_wrist_view_image_loss 21.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.5 / model_only_pretrain/rep_loss 54.5 / model_only_pretrain/kl_value 54.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.6 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 56200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[56200] model_only_pretrain/pretrain_opt_loss 71.6 / model_only_pretrain/pretrain_opt_grad_norm 145.4 / model_only_pretrain/cam_front_view_image_loss 18.5 / model_only_pretrain/cam_wrist_view_image_loss 20.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.1 / model_only_pretrain/rep_loss 54.1 / model_only_pretrain/kl_value 54.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.3 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 56300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[56300] model_only_pretrain/pretrain_opt_loss 71.7 / model_only_pretrain/pretrain_opt_grad_norm 154.6 / model_only_pretrain/cam_front_view_image_loss 18.3 / model_only_pretrain/cam_wrist_view_image_loss 20.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.5 / model_only_pretrain/dyn_loss 54.2 / model_only_pretrain/rep_loss 54.2 / model_only_pretrain/kl_value 54.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.4 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 56400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[56400] model_only_pretrain/pretrain_opt_loss 71.7 / model_only_pretrain/pretrain_opt_grad_norm 151.0 / model_only_pretrain/cam_front_view_image_loss 18.2 / model_only_pretrain/cam_wrist_view_image_loss 20.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.3 / model_only_pretrain/rep_loss 54.3 / model_only_pretrain/kl_value 54.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.6 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.2
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[56499] eval_recon/cam_front_view_image 14.5 / eval_recon/cam_wrist_view_image 19.3 / train_recon/cam_front_view_image 15.0 / train_recon/cam_wrist_view_image 19.7 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 56500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[56500] model_only_pretrain/pretrain_opt_loss 72.6 / model_only_pretrain/pretrain_opt_grad_norm 146.4 / model_only_pretrain/cam_front_view_image_loss 18.5 / model_only_pretrain/cam_wrist_view_image_loss 21.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.4 / model_only_pretrain/rep_loss 54.4 / model_only_pretrain/kl_value 54.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.6 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 56600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[56600] model_only_pretrain/pretrain_opt_loss 71.6 / model_only_pretrain/pretrain_opt_grad_norm 150.0 / model_only_pretrain/cam_front_view_image_loss 18.3 / model_only_pretrain/cam_wrist_view_image_loss 20.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.4 / model_only_pretrain/rep_loss 54.4 / model_only_pretrain/kl_value 54.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.5 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 56700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[56700] model_only_pretrain/pretrain_opt_loss 71.7 / model_only_pretrain/pretrain_opt_grad_norm 144.9 / model_only_pretrain/cam_front_view_image_loss 18.4 / model_only_pretrain/cam_wrist_view_image_loss 20.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.3 / model_only_pretrain/rep_loss 54.3 / model_only_pretrain/kl_value 54.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.5 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 9.9

[Checkpoint] Saving model at step 56800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[56800] model_only_pretrain/pretrain_opt_loss 71.9 / model_only_pretrain/pretrain_opt_grad_norm 152.3 / model_only_pretrain/cam_front_view_image_loss 18.3 / model_only_pretrain/cam_wrist_view_image_loss 21.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.3 / model_only_pretrain/rep_loss 54.3 / model_only_pretrain/kl_value 54.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.4 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 56900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[56900] model_only_pretrain/pretrain_opt_loss 72.2 / model_only_pretrain/pretrain_opt_grad_norm 150.2 / model_only_pretrain/cam_front_view_image_loss 18.4 / model_only_pretrain/cam_wrist_view_image_loss 21.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.5 / model_only_pretrain/rep_loss 54.5 / model_only_pretrain/kl_value 54.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.7 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 9.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[56999] eval_recon/cam_front_view_image 28.2 / eval_recon/cam_wrist_view_image 63.1 / train_recon/cam_front_view_image 11.5 / train_recon/cam_wrist_view_image 40.0 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 57000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  39% 57999/150000 [1:32:10<1:40:06, 15.32it/s]model_only_pretrain/pretrain_opt_loss 71.6 / model_only_pretrain/pretrain_opt_grad_norm 142.4 / model_only_pretrain/cam_front_view_image_loss 18.2 / model_only_pretrain/cam_wrist_view_image_loss 20.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.5 / model_only_pretrain/dyn_loss 54.1 / model_only_pretrain/rep_loss 54.1 / model_only_pretrain/kl_value 54.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.3 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 9.8

[Checkpoint] Saving model at step 57100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[57100] model_only_pretrain/pretrain_opt_loss 72.2 / model_only_pretrain/pretrain_opt_grad_norm 146.2 / model_only_pretrain/cam_front_view_image_loss 18.5 / model_only_pretrain/cam_wrist_view_image_loss 21.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.5 / model_only_pretrain/dyn_loss 54.2 / model_only_pretrain/rep_loss 54.2 / model_only_pretrain/kl_value 54.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.4 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 57200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[57200] model_only_pretrain/pretrain_opt_loss 72.6 / model_only_pretrain/pretrain_opt_grad_norm 152.0 / model_only_pretrain/cam_front_view_image_loss 18.6 / model_only_pretrain/cam_wrist_view_image_loss 21.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.5 / model_only_pretrain/rep_loss 54.5 / model_only_pretrain/kl_value 54.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.6 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 8.5

[Checkpoint] Saving model at step 57300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[57300] model_only_pretrain/pretrain_opt_loss 71.8 / model_only_pretrain/pretrain_opt_grad_norm 143.8 / model_only_pretrain/cam_front_view_image_loss 18.5 / model_only_pretrain/cam_wrist_view_image_loss 20.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.5 / model_only_pretrain/dyn_loss 54.1 / model_only_pretrain/rep_loss 54.1 / model_only_pretrain/kl_value 54.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.4 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 8.3

[Checkpoint] Saving model at step 57400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[57400] model_only_pretrain/pretrain_opt_loss 72.0 / model_only_pretrain/pretrain_opt_grad_norm 146.6 / model_only_pretrain/cam_front_view_image_loss 18.5 / model_only_pretrain/cam_wrist_view_image_loss 20.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.5 / model_only_pretrain/dyn_loss 54.2 / model_only_pretrain/rep_loss 54.2 / model_only_pretrain/kl_value 54.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.4 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 8.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[57499] eval_recon/cam_front_view_image 16.6 / eval_recon/cam_wrist_view_image 56.2 / train_recon/cam_front_view_image 48.3 / train_recon/cam_wrist_view_image 55.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 57500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[57500] model_only_pretrain/pretrain_opt_loss 72.1 / model_only_pretrain/pretrain_opt_grad_norm 142.2 / model_only_pretrain/cam_front_view_image_loss 18.4 / model_only_pretrain/cam_wrist_view_image_loss 21.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.4 / model_only_pretrain/rep_loss 54.4 / model_only_pretrain/kl_value 54.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.6 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 8.7

[Checkpoint] Saving model at step 57600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[57600] model_only_pretrain/pretrain_opt_loss 71.7 / model_only_pretrain/pretrain_opt_grad_norm 144.7 / model_only_pretrain/cam_front_view_image_loss 18.4 / model_only_pretrain/cam_wrist_view_image_loss 20.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.3 / model_only_pretrain/rep_loss 54.3 / model_only_pretrain/kl_value 54.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.4 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 9.3

[Checkpoint] Saving model at step 57700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[57700] model_only_pretrain/pretrain_opt_loss 71.9 / model_only_pretrain/pretrain_opt_grad_norm 146.8 / model_only_pretrain/cam_front_view_image_loss 18.2 / model_only_pretrain/cam_wrist_view_image_loss 21.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.3 / model_only_pretrain/rep_loss 54.3 / model_only_pretrain/kl_value 54.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.4 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 57800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[57800] model_only_pretrain/pretrain_opt_loss 72.0 / model_only_pretrain/pretrain_opt_grad_norm 143.9 / model_only_pretrain/cam_front_view_image_loss 18.5 / model_only_pretrain/cam_wrist_view_image_loss 20.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.5 / model_only_pretrain/rep_loss 54.5 / model_only_pretrain/kl_value 54.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.6 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 57900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[57900] model_only_pretrain/pretrain_opt_loss 71.6 / model_only_pretrain/pretrain_opt_grad_norm 146.4 / model_only_pretrain/cam_front_view_image_loss 18.1 / model_only_pretrain/cam_wrist_view_image_loss 20.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.4 / model_only_pretrain/rep_loss 54.4 / model_only_pretrain/kl_value 54.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.5 / model_only_pretrain/post_ent -27.1 / model_only_pretrain/fps 11.6
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[57999] eval_recon/cam_front_view_image 15.2 / eval_recon/cam_wrist_view_image 45.8 / train_recon/cam_front_view_image 25.8 / train_recon/cam_wrist_view_image 35.0 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 58000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  39% 58999/150000 [1:33:40<1:29:53, 16.87it/s]model_only_pretrain/pretrain_opt_loss 72.2 / model_only_pretrain/pretrain_opt_grad_norm 151.3 / model_only_pretrain/cam_front_view_image_loss 18.5 / model_only_pretrain/cam_wrist_view_image_loss 21.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.4 / model_only_pretrain/rep_loss 54.4 / model_only_pretrain/kl_value 54.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.5 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 58100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[58100] model_only_pretrain/pretrain_opt_loss 71.7 / model_only_pretrain/pretrain_opt_grad_norm 152.6 / model_only_pretrain/cam_front_view_image_loss 18.1 / model_only_pretrain/cam_wrist_view_image_loss 20.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.3 / model_only_pretrain/rep_loss 54.3 / model_only_pretrain/kl_value 54.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.5 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 58200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[58200] model_only_pretrain/pretrain_opt_loss 72.3 / model_only_pretrain/pretrain_opt_grad_norm 145.0 / model_only_pretrain/cam_front_view_image_loss 18.1 / model_only_pretrain/cam_wrist_view_image_loss 21.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.6 / model_only_pretrain/rep_loss 54.6 / model_only_pretrain/kl_value 54.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.5 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 12.2

[Checkpoint] Saving model at step 58300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[58300] model_only_pretrain/pretrain_opt_loss 71.5 / model_only_pretrain/pretrain_opt_grad_norm 152.8 / model_only_pretrain/cam_front_view_image_loss 18.2 / model_only_pretrain/cam_wrist_view_image_loss 20.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.3 / model_only_pretrain/rep_loss 54.3 / model_only_pretrain/kl_value 54.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.5 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 12.1

[Checkpoint] Saving model at step 58400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[58400] model_only_pretrain/pretrain_opt_loss 70.9 / model_only_pretrain/pretrain_opt_grad_norm 148.2 / model_only_pretrain/cam_front_view_image_loss 18.0 / model_only_pretrain/cam_wrist_view_image_loss 20.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.5 / model_only_pretrain/dyn_loss 54.1 / model_only_pretrain/rep_loss 54.1 / model_only_pretrain/kl_value 54.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.3 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.3
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[58499] eval_recon/cam_front_view_image 15.4 / eval_recon/cam_wrist_view_image 19.6 / train_recon/cam_front_view_image 31.8 / train_recon/cam_wrist_view_image 39.9 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 58500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[58500] model_only_pretrain/pretrain_opt_loss 72.0 / model_only_pretrain/pretrain_opt_grad_norm 160.2 / model_only_pretrain/cam_front_view_image_loss 18.1 / model_only_pretrain/cam_wrist_view_image_loss 21.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.4 / model_only_pretrain/rep_loss 54.4 / model_only_pretrain/kl_value 54.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.5 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 58600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[58600] model_only_pretrain/pretrain_opt_loss 71.0 / model_only_pretrain/pretrain_opt_grad_norm 142.2 / model_only_pretrain/cam_front_view_image_loss 17.9 / model_only_pretrain/cam_wrist_view_image_loss 20.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.5 / model_only_pretrain/dyn_loss 54.1 / model_only_pretrain/rep_loss 54.1 / model_only_pretrain/kl_value 54.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.3 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 58700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[58700] model_only_pretrain/pretrain_opt_loss 71.4 / model_only_pretrain/pretrain_opt_grad_norm 156.9 / model_only_pretrain/cam_front_view_image_loss 18.3 / model_only_pretrain/cam_wrist_view_image_loss 20.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.4 / model_only_pretrain/rep_loss 54.4 / model_only_pretrain/kl_value 54.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.5 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 58800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[58800] model_only_pretrain/pretrain_opt_loss 71.5 / model_only_pretrain/pretrain_opt_grad_norm 148.7 / model_only_pretrain/cam_front_view_image_loss 18.2 / model_only_pretrain/cam_wrist_view_image_loss 20.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.0 / model_only_pretrain/rep_loss 54.0 / model_only_pretrain/kl_value 54.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.2 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 58900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[58900] model_only_pretrain/pretrain_opt_loss 71.8 / model_only_pretrain/pretrain_opt_grad_norm 149.5 / model_only_pretrain/cam_front_view_image_loss 18.3 / model_only_pretrain/cam_wrist_view_image_loss 20.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.3 / model_only_pretrain/rep_loss 54.3 / model_only_pretrain/kl_value 54.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.4 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 9.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[58999] eval_recon/cam_front_view_image 64.9 / eval_recon/cam_wrist_view_image 104.4 / train_recon/cam_front_view_image 15.8 / train_recon/cam_wrist_view_image 18.6 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 59000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  40% 60000/150000 [1:35:14<14:27:21,  1.73it/s]model_only_pretrain/pretrain_opt_loss 71.6 / model_only_pretrain/pretrain_opt_grad_norm 146.2 / model_only_pretrain/cam_front_view_image_loss 18.1 / model_only_pretrain/cam_wrist_view_image_loss 20.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.4 / model_only_pretrain/rep_loss 54.4 / model_only_pretrain/kl_value 54.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.4 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 8.9

[Checkpoint] Saving model at step 59100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[59100] model_only_pretrain/pretrain_opt_loss 72.3 / model_only_pretrain/pretrain_opt_grad_norm 151.2 / model_only_pretrain/cam_front_view_image_loss 18.3 / model_only_pretrain/cam_wrist_view_image_loss 21.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.4 / model_only_pretrain/rep_loss 54.4 / model_only_pretrain/kl_value 54.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.5 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 59200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[59200] model_only_pretrain/pretrain_opt_loss 71.7 / model_only_pretrain/pretrain_opt_grad_norm 147.5 / model_only_pretrain/cam_front_view_image_loss 18.3 / model_only_pretrain/cam_wrist_view_image_loss 20.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.5 / model_only_pretrain/dyn_loss 54.2 / model_only_pretrain/rep_loss 54.2 / model_only_pretrain/kl_value 54.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.3 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 59300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[59300] model_only_pretrain/pretrain_opt_loss 71.5 / model_only_pretrain/pretrain_opt_grad_norm 143.5 / model_only_pretrain/cam_front_view_image_loss 18.0 / model_only_pretrain/cam_wrist_view_image_loss 20.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.3 / model_only_pretrain/rep_loss 54.3 / model_only_pretrain/kl_value 54.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.4 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 59400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[59400] model_only_pretrain/pretrain_opt_loss 71.4 / model_only_pretrain/pretrain_opt_grad_norm 143.1 / model_only_pretrain/cam_front_view_image_loss 18.1 / model_only_pretrain/cam_wrist_view_image_loss 20.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.5 / model_only_pretrain/dyn_loss 54.2 / model_only_pretrain/rep_loss 54.2 / model_only_pretrain/kl_value 54.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.3 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.9
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[59499] eval_recon/cam_front_view_image 17.2 / eval_recon/cam_wrist_view_image 16.0 / train_recon/cam_front_view_image 15.3 / train_recon/cam_wrist_view_image 15.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 59500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[59500] model_only_pretrain/pretrain_opt_loss 71.7 / model_only_pretrain/pretrain_opt_grad_norm 143.7 / model_only_pretrain/cam_front_view_image_loss 18.2 / model_only_pretrain/cam_wrist_view_image_loss 20.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.3 / model_only_pretrain/rep_loss 54.3 / model_only_pretrain/kl_value 54.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.3 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 59600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[59600] model_only_pretrain/pretrain_opt_loss 72.0 / model_only_pretrain/pretrain_opt_grad_norm 149.9 / model_only_pretrain/cam_front_view_image_loss 18.4 / model_only_pretrain/cam_wrist_view_image_loss 21.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.3 / model_only_pretrain/rep_loss 54.3 / model_only_pretrain/kl_value 54.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.4 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 59700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[59700] model_only_pretrain/pretrain_opt_loss 72.0 / model_only_pretrain/pretrain_opt_grad_norm 144.1 / model_only_pretrain/cam_front_view_image_loss 18.2 / model_only_pretrain/cam_wrist_view_image_loss 21.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.4 / model_only_pretrain/rep_loss 54.4 / model_only_pretrain/kl_value 54.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.5 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 59800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[59800] model_only_pretrain/pretrain_opt_loss 71.7 / model_only_pretrain/pretrain_opt_grad_norm 146.2 / model_only_pretrain/cam_front_view_image_loss 18.1 / model_only_pretrain/cam_wrist_view_image_loss 21.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.3 / model_only_pretrain/rep_loss 54.3 / model_only_pretrain/kl_value 54.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.4 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 59900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[59900] model_only_pretrain/pretrain_opt_loss 70.9 / model_only_pretrain/pretrain_opt_grad_norm 149.4 / model_only_pretrain/cam_front_view_image_loss 17.8 / model_only_pretrain/cam_wrist_view_image_loss 20.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.9 / model_only_pretrain/rep_loss 53.9 / model_only_pretrain/kl_value 53.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.0 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.2
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[59999] eval_recon/cam_front_view_image 19.3 / eval_recon/cam_wrist_view_image 18.9 / train_recon/cam_front_view_image 15.0 / train_recon/cam_wrist_view_image 15.5 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 60000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[60000] 
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World Model pretraining:  41% 60999/150000 [1:36:38<1:41:28, 14.62it/s]model_only_pretrain/pretrain_opt_loss 71.0 / model_only_pretrain/pretrain_opt_grad_norm 142.1 / model_only_pretrain/cam_front_view_image_loss 18.0 / model_only_pretrain/cam_wrist_view_image_loss 20.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.5 / model_only_pretrain/dyn_loss 54.1 / model_only_pretrain/rep_loss 54.1 / model_only_pretrain/kl_value 54.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.2 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 60100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[60100] model_only_pretrain/pretrain_opt_loss 71.1 / model_only_pretrain/pretrain_opt_grad_norm 146.5 / model_only_pretrain/cam_front_view_image_loss 18.1 / model_only_pretrain/cam_wrist_view_image_loss 20.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.5 / model_only_pretrain/dyn_loss 54.1 / model_only_pretrain/rep_loss 54.1 / model_only_pretrain/kl_value 54.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.2 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 60200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[60200] model_only_pretrain/pretrain_opt_loss 71.7 / model_only_pretrain/pretrain_opt_grad_norm 146.6 / model_only_pretrain/cam_front_view_image_loss 18.2 / model_only_pretrain/cam_wrist_view_image_loss 20.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.3 / model_only_pretrain/rep_loss 54.3 / model_only_pretrain/kl_value 54.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.2 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 60300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[60300] model_only_pretrain/pretrain_opt_loss 71.2 / model_only_pretrain/pretrain_opt_grad_norm 148.2 / model_only_pretrain/cam_front_view_image_loss 18.1 / model_only_pretrain/cam_wrist_view_image_loss 20.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.5 / model_only_pretrain/dyn_loss 54.1 / model_only_pretrain/rep_loss 54.1 / model_only_pretrain/kl_value 54.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.2 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 60400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[60400] model_only_pretrain/pretrain_opt_loss 71.1 / model_only_pretrain/pretrain_opt_grad_norm 142.0 / model_only_pretrain/cam_front_view_image_loss 17.9 / model_only_pretrain/cam_wrist_view_image_loss 20.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.5 / model_only_pretrain/dyn_loss 54.2 / model_only_pretrain/rep_loss 54.2 / model_only_pretrain/kl_value 54.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.2 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 12.1
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[60499] eval_recon/cam_front_view_image 28.5 / eval_recon/cam_wrist_view_image 57.2 / train_recon/cam_front_view_image 28.5 / train_recon/cam_wrist_view_image 68.0 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 60500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[60500] model_only_pretrain/pretrain_opt_loss 70.6 / model_only_pretrain/pretrain_opt_grad_norm 143.2 / model_only_pretrain/cam_front_view_image_loss 18.0 / model_only_pretrain/cam_wrist_view_image_loss 20.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.0 / model_only_pretrain/rep_loss 54.0 / model_only_pretrain/kl_value 54.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.2 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 60600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[60600] model_only_pretrain/pretrain_opt_loss 71.5 / model_only_pretrain/pretrain_opt_grad_norm 146.8 / model_only_pretrain/cam_front_view_image_loss 18.3 / model_only_pretrain/cam_wrist_view_image_loss 20.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.3 / model_only_pretrain/rep_loss 54.3 / model_only_pretrain/kl_value 54.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.4 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 60700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[60700] model_only_pretrain/pretrain_opt_loss 70.7 / model_only_pretrain/pretrain_opt_grad_norm 148.9 / model_only_pretrain/cam_front_view_image_loss 17.8 / model_only_pretrain/cam_wrist_view_image_loss 20.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.0 / model_only_pretrain/rep_loss 54.0 / model_only_pretrain/kl_value 54.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.1 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 60800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[60800] model_only_pretrain/pretrain_opt_loss 71.0 / model_only_pretrain/pretrain_opt_grad_norm 145.9 / model_only_pretrain/cam_front_view_image_loss 17.8 / model_only_pretrain/cam_wrist_view_image_loss 20.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.1 / model_only_pretrain/rep_loss 54.1 / model_only_pretrain/kl_value 54.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.2 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 60900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[60900] model_only_pretrain/pretrain_opt_loss 71.1 / model_only_pretrain/pretrain_opt_grad_norm 141.8 / model_only_pretrain/cam_front_view_image_loss 17.9 / model_only_pretrain/cam_wrist_view_image_loss 20.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.3 / model_only_pretrain/rep_loss 54.3 / model_only_pretrain/kl_value 54.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.3 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.9
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[60999] eval_recon/cam_front_view_image 14.1 / eval_recon/cam_wrist_view_image 51.7 / train_recon/cam_front_view_image 15.1 / train_recon/cam_wrist_view_image 19.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 61000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  41% 62000/150000 [1:38:13<16:07:02,  1.52it/s]model_only_pretrain/pretrain_opt_loss 71.8 / model_only_pretrain/pretrain_opt_grad_norm 148.6 / model_only_pretrain/cam_front_view_image_loss 18.2 / model_only_pretrain/cam_wrist_view_image_loss 21.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.4 / model_only_pretrain/rep_loss 54.4 / model_only_pretrain/kl_value 54.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.4 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 61100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[61100] model_only_pretrain/pretrain_opt_loss 71.6 / model_only_pretrain/pretrain_opt_grad_norm 147.8 / model_only_pretrain/cam_front_view_image_loss 18.2 / model_only_pretrain/cam_wrist_view_image_loss 20.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.3 / model_only_pretrain/rep_loss 54.3 / model_only_pretrain/kl_value 54.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.4 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 61200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[61200] model_only_pretrain/pretrain_opt_loss 71.9 / model_only_pretrain/pretrain_opt_grad_norm 150.3 / model_only_pretrain/cam_front_view_image_loss 18.2 / model_only_pretrain/cam_wrist_view_image_loss 21.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.7 / model_only_pretrain/dyn_loss 54.5 / model_only_pretrain/rep_loss 54.5 / model_only_pretrain/kl_value 54.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.5 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 61300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[61300] model_only_pretrain/pretrain_opt_loss 71.0 / model_only_pretrain/pretrain_opt_grad_norm 144.8 / model_only_pretrain/cam_front_view_image_loss 17.9 / model_only_pretrain/cam_wrist_view_image_loss 20.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.5 / model_only_pretrain/dyn_loss 54.1 / model_only_pretrain/rep_loss 54.1 / model_only_pretrain/kl_value 54.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.1 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 61400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[61400] model_only_pretrain/pretrain_opt_loss 71.6 / model_only_pretrain/pretrain_opt_grad_norm 146.7 / model_only_pretrain/cam_front_view_image_loss 18.1 / model_only_pretrain/cam_wrist_view_image_loss 20.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.4 / model_only_pretrain/rep_loss 54.4 / model_only_pretrain/kl_value 54.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.4 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.3
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[61499] eval_recon/cam_front_view_image 13.8 / eval_recon/cam_wrist_view_image 12.7 / train_recon/cam_front_view_image 19.0 / train_recon/cam_wrist_view_image 16.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 61500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[61500] model_only_pretrain/pretrain_opt_loss 71.2 / model_only_pretrain/pretrain_opt_grad_norm 146.4 / model_only_pretrain/cam_front_view_image_loss 17.9 / model_only_pretrain/cam_wrist_view_image_loss 20.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.5 / model_only_pretrain/dyn_loss 54.2 / model_only_pretrain/rep_loss 54.2 / model_only_pretrain/kl_value 54.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.3 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 61600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[61600] model_only_pretrain/pretrain_opt_loss 71.0 / model_only_pretrain/pretrain_opt_grad_norm 145.9 / model_only_pretrain/cam_front_view_image_loss 17.9 / model_only_pretrain/cam_wrist_view_image_loss 20.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.0 / model_only_pretrain/rep_loss 54.0 / model_only_pretrain/kl_value 54.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.0 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 61700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[61700] model_only_pretrain/pretrain_opt_loss 70.9 / model_only_pretrain/pretrain_opt_grad_norm 144.6 / model_only_pretrain/cam_front_view_image_loss 18.2 / model_only_pretrain/cam_wrist_view_image_loss 20.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.5 / model_only_pretrain/dyn_loss 54.1 / model_only_pretrain/rep_loss 54.1 / model_only_pretrain/kl_value 54.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.3 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 61800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[61800] model_only_pretrain/pretrain_opt_loss 70.9 / model_only_pretrain/pretrain_opt_grad_norm 146.4 / model_only_pretrain/cam_front_view_image_loss 18.0 / model_only_pretrain/cam_wrist_view_image_loss 20.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.5 / model_only_pretrain/dyn_loss 54.2 / model_only_pretrain/rep_loss 54.2 / model_only_pretrain/kl_value 54.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.1 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 61900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[61900] model_only_pretrain/pretrain_opt_loss 72.0 / model_only_pretrain/pretrain_opt_grad_norm 144.9 / model_only_pretrain/cam_front_view_image_loss 18.3 / model_only_pretrain/cam_wrist_view_image_loss 21.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.4 / model_only_pretrain/rep_loss 54.4 / model_only_pretrain/kl_value 54.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.4 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[61999] eval_recon/cam_front_view_image 17.0 / eval_recon/cam_wrist_view_image 63.1 / train_recon/cam_front_view_image 15.7 / train_recon/cam_wrist_view_image 18.0 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 62000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  42% 62999/150000 [1:39:56<1:47:31, 13.49it/s]model_only_pretrain/pretrain_opt_loss 70.4 / model_only_pretrain/pretrain_opt_grad_norm 134.8 / model_only_pretrain/cam_front_view_image_loss 17.8 / model_only_pretrain/cam_wrist_view_image_loss 20.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 53.9 / model_only_pretrain/rep_loss 53.9 / model_only_pretrain/kl_value 53.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.0 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 9.3

[Checkpoint] Saving model at step 62100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[62100] model_only_pretrain/pretrain_opt_loss 70.8 / model_only_pretrain/pretrain_opt_grad_norm 144.0 / model_only_pretrain/cam_front_view_image_loss 18.0 / model_only_pretrain/cam_wrist_view_image_loss 20.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.5 / model_only_pretrain/dyn_loss 54.1 / model_only_pretrain/rep_loss 54.1 / model_only_pretrain/kl_value 54.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.2 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.0

[Checkpoint] Saving model at step 62200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[62200] model_only_pretrain/pretrain_opt_loss 71.4 / model_only_pretrain/pretrain_opt_grad_norm 139.7 / model_only_pretrain/cam_front_view_image_loss 18.2 / model_only_pretrain/cam_wrist_view_image_loss 20.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.3 / model_only_pretrain/rep_loss 54.3 / model_only_pretrain/kl_value 54.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.3 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 62300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[62300] model_only_pretrain/pretrain_opt_loss 70.4 / model_only_pretrain/pretrain_opt_grad_norm 139.6 / model_only_pretrain/cam_front_view_image_loss 17.7 / model_only_pretrain/cam_wrist_view_image_loss 20.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.0 / model_only_pretrain/rep_loss 54.0 / model_only_pretrain/kl_value 54.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.1 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.8

[Checkpoint] Saving model at step 62400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[62400] model_only_pretrain/pretrain_opt_loss 70.4 / model_only_pretrain/pretrain_opt_grad_norm 142.5 / model_only_pretrain/cam_front_view_image_loss 17.7 / model_only_pretrain/cam_wrist_view_image_loss 20.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.1 / model_only_pretrain/rep_loss 54.1 / model_only_pretrain/kl_value 54.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.2 / model_only_pretrain/post_ent -27.2 / model_only_pretrain/fps 9.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[62499] eval_recon/cam_front_view_image 15.1 / eval_recon/cam_wrist_view_image 42.5 / train_recon/cam_front_view_image 23.5 / train_recon/cam_wrist_view_image 28.0 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 62500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[62500] model_only_pretrain/pretrain_opt_loss 71.2 / model_only_pretrain/pretrain_opt_grad_norm 147.2 / model_only_pretrain/cam_front_view_image_loss 17.9 / model_only_pretrain/cam_wrist_view_image_loss 20.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.5 / model_only_pretrain/dyn_loss 54.2 / model_only_pretrain/rep_loss 54.2 / model_only_pretrain/kl_value 54.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.1 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 8.8

[Checkpoint] Saving model at step 62600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[62600] model_only_pretrain/pretrain_opt_loss 70.3 / model_only_pretrain/pretrain_opt_grad_norm 144.4 / model_only_pretrain/cam_front_view_image_loss 17.8 / model_only_pretrain/cam_wrist_view_image_loss 20.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.0 / model_only_pretrain/rep_loss 54.0 / model_only_pretrain/kl_value 54.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.1 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 8.6

[Checkpoint] Saving model at step 62700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[62700] model_only_pretrain/pretrain_opt_loss 71.7 / model_only_pretrain/pretrain_opt_grad_norm 143.1 / model_only_pretrain/cam_front_view_image_loss 18.1 / model_only_pretrain/cam_wrist_view_image_loss 21.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.1 / model_only_pretrain/rep_loss 54.1 / model_only_pretrain/kl_value 54.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.1 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.1

[Checkpoint] Saving model at step 62800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[62800] model_only_pretrain/pretrain_opt_loss 70.6 / model_only_pretrain/pretrain_opt_grad_norm 148.2 / model_only_pretrain/cam_front_view_image_loss 17.8 / model_only_pretrain/cam_wrist_view_image_loss 20.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.1 / model_only_pretrain/rep_loss 54.1 / model_only_pretrain/kl_value 54.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.1 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.8

[Checkpoint] Saving model at step 62900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[62900] model_only_pretrain/pretrain_opt_loss 71.0 / model_only_pretrain/pretrain_opt_grad_norm 142.5 / model_only_pretrain/cam_front_view_image_loss 18.0 / model_only_pretrain/cam_wrist_view_image_loss 20.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.5 / model_only_pretrain/dyn_loss 54.2 / model_only_pretrain/rep_loss 54.2 / model_only_pretrain/kl_value 54.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.1 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[62999] eval_recon/cam_front_view_image 15.3 / eval_recon/cam_wrist_view_image 16.9 / train_recon/cam_front_view_image 19.9 / train_recon/cam_wrist_view_image 69.9 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 63000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  43% 63999/150000 [1:41:34<1:36:25, 14.86it/s]model_only_pretrain/pretrain_opt_loss 70.8 / model_only_pretrain/pretrain_opt_grad_norm 142.4 / model_only_pretrain/cam_front_view_image_loss 17.8 / model_only_pretrain/cam_wrist_view_image_loss 20.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.0 / model_only_pretrain/rep_loss 54.0 / model_only_pretrain/kl_value 54.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.0 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 63100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[63100] model_only_pretrain/pretrain_opt_loss 69.8 / model_only_pretrain/pretrain_opt_grad_norm 140.9 / model_only_pretrain/cam_front_view_image_loss 17.6 / model_only_pretrain/cam_wrist_view_image_loss 19.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.0 / model_only_pretrain/rep_loss 54.0 / model_only_pretrain/kl_value 54.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.0 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 12.1

[Checkpoint] Saving model at step 63200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[63200] model_only_pretrain/pretrain_opt_loss 70.8 / model_only_pretrain/pretrain_opt_grad_norm 145.7 / model_only_pretrain/cam_front_view_image_loss 17.8 / model_only_pretrain/cam_wrist_view_image_loss 20.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.0 / model_only_pretrain/rep_loss 54.0 / model_only_pretrain/kl_value 54.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.1 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 63300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[63300] model_only_pretrain/pretrain_opt_loss 70.7 / model_only_pretrain/pretrain_opt_grad_norm 143.5 / model_only_pretrain/cam_front_view_image_loss 17.8 / model_only_pretrain/cam_wrist_view_image_loss 20.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.0 / model_only_pretrain/rep_loss 54.0 / model_only_pretrain/kl_value 54.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.1 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 63400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[63400] model_only_pretrain/pretrain_opt_loss 71.3 / model_only_pretrain/pretrain_opt_grad_norm 143.3 / model_only_pretrain/cam_front_view_image_loss 18.1 / model_only_pretrain/cam_wrist_view_image_loss 20.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.5 / model_only_pretrain/dyn_loss 54.1 / model_only_pretrain/rep_loss 54.1 / model_only_pretrain/kl_value 54.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.1 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[63499] eval_recon/cam_front_view_image 16.0 / eval_recon/cam_wrist_view_image 77.1 / train_recon/cam_front_view_image 14.7 / train_recon/cam_wrist_view_image 10.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 63500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[63500] model_only_pretrain/pretrain_opt_loss 70.6 / model_only_pretrain/pretrain_opt_grad_norm 146.0 / model_only_pretrain/cam_front_view_image_loss 17.9 / model_only_pretrain/cam_wrist_view_image_loss 20.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.5 / model_only_pretrain/dyn_loss 54.1 / model_only_pretrain/rep_loss 54.1 / model_only_pretrain/kl_value 54.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.1 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.5

[Checkpoint] Saving model at step 63600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[63600] model_only_pretrain/pretrain_opt_loss 70.3 / model_only_pretrain/pretrain_opt_grad_norm 139.5 / model_only_pretrain/cam_front_view_image_loss 17.8 / model_only_pretrain/cam_wrist_view_image_loss 20.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.1 / model_only_pretrain/rep_loss 54.1 / model_only_pretrain/kl_value 54.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.1 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.8

[Checkpoint] Saving model at step 63700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[63700] model_only_pretrain/pretrain_opt_loss 70.3 / model_only_pretrain/pretrain_opt_grad_norm 143.3 / model_only_pretrain/cam_front_view_image_loss 17.8 / model_only_pretrain/cam_wrist_view_image_loss 20.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.9 / model_only_pretrain/rep_loss 53.9 / model_only_pretrain/kl_value 53.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.9 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.5

[Checkpoint] Saving model at step 63800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[63800] model_only_pretrain/pretrain_opt_loss 70.5 / model_only_pretrain/pretrain_opt_grad_norm 140.6 / model_only_pretrain/cam_front_view_image_loss 17.6 / model_only_pretrain/cam_wrist_view_image_loss 20.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.0 / model_only_pretrain/rep_loss 54.0 / model_only_pretrain/kl_value 54.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.1 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.1

[Checkpoint] Saving model at step 63900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[63900] model_only_pretrain/pretrain_opt_loss 70.7 / model_only_pretrain/pretrain_opt_grad_norm 145.2 / model_only_pretrain/cam_front_view_image_loss 17.7 / model_only_pretrain/cam_wrist_view_image_loss 20.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.1 / model_only_pretrain/rep_loss 54.1 / model_only_pretrain/kl_value 54.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.1 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 8.5
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[63999] eval_recon/cam_front_view_image 14.4 / eval_recon/cam_wrist_view_image 12.9 / train_recon/cam_front_view_image 16.1 / train_recon/cam_wrist_view_image 15.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 64000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  43% 64999/150000 [1:43:09<1:36:00, 14.76it/s]model_only_pretrain/pretrain_opt_loss 71.1 / model_only_pretrain/pretrain_opt_grad_norm 138.9 / model_only_pretrain/cam_front_view_image_loss 18.0 / model_only_pretrain/cam_wrist_view_image_loss 20.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.3 / model_only_pretrain/rep_loss 54.3 / model_only_pretrain/kl_value 54.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.2 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 8.1

[Checkpoint] Saving model at step 64100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[64100] model_only_pretrain/pretrain_opt_loss 69.9 / model_only_pretrain/pretrain_opt_grad_norm 138.1 / model_only_pretrain/cam_front_view_image_loss 17.5 / model_only_pretrain/cam_wrist_view_image_loss 20.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.9 / model_only_pretrain/rep_loss 53.9 / model_only_pretrain/kl_value 53.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.9 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.5

[Checkpoint] Saving model at step 64200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[64200] model_only_pretrain/pretrain_opt_loss 70.4 / model_only_pretrain/pretrain_opt_grad_norm 137.9 / model_only_pretrain/cam_front_view_image_loss 17.7 / model_only_pretrain/cam_wrist_view_image_loss 20.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.0 / model_only_pretrain/rep_loss 54.0 / model_only_pretrain/kl_value 54.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.1 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 12.9

[Checkpoint] Saving model at step 64300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[64300] model_only_pretrain/pretrain_opt_loss 70.0 / model_only_pretrain/pretrain_opt_grad_norm 141.8 / model_only_pretrain/cam_front_view_image_loss 17.6 / model_only_pretrain/cam_wrist_view_image_loss 20.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.9 / model_only_pretrain/rep_loss 53.9 / model_only_pretrain/kl_value 53.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.0 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 12.5

[Checkpoint] Saving model at step 64400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[64400] model_only_pretrain/pretrain_opt_loss 70.7 / model_only_pretrain/pretrain_opt_grad_norm 142.8 / model_only_pretrain/cam_front_view_image_loss 17.7 / model_only_pretrain/cam_wrist_view_image_loss 20.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.5 / model_only_pretrain/dyn_loss 54.1 / model_only_pretrain/rep_loss 54.1 / model_only_pretrain/kl_value 54.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.1 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[64499] eval_recon/cam_front_view_image 16.9 / eval_recon/cam_wrist_view_image 23.2 / train_recon/cam_front_view_image 15.8 / train_recon/cam_wrist_view_image 14.4 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 64500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[64500] model_only_pretrain/pretrain_opt_loss 70.4 / model_only_pretrain/pretrain_opt_grad_norm 143.9 / model_only_pretrain/cam_front_view_image_loss 17.7 / model_only_pretrain/cam_wrist_view_image_loss 20.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.0 / model_only_pretrain/rep_loss 54.0 / model_only_pretrain/kl_value 54.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.0 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 64600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[64600] model_only_pretrain/pretrain_opt_loss 71.3 / model_only_pretrain/pretrain_opt_grad_norm 150.7 / model_only_pretrain/cam_front_view_image_loss 18.1 / model_only_pretrain/cam_wrist_view_image_loss 20.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.3 / model_only_pretrain/rep_loss 54.3 / model_only_pretrain/kl_value 54.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.4 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 64700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[64700] model_only_pretrain/pretrain_opt_loss 71.0 / model_only_pretrain/pretrain_opt_grad_norm 143.8 / model_only_pretrain/cam_front_view_image_loss 17.9 / model_only_pretrain/cam_wrist_view_image_loss 20.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.0 / model_only_pretrain/rep_loss 54.0 / model_only_pretrain/kl_value 54.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.0 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.3

[Checkpoint] Saving model at step 64800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[64800] model_only_pretrain/pretrain_opt_loss 71.2 / model_only_pretrain/pretrain_opt_grad_norm 142.7 / model_only_pretrain/cam_front_view_image_loss 17.8 / model_only_pretrain/cam_wrist_view_image_loss 20.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.3 / model_only_pretrain/rep_loss 54.3 / model_only_pretrain/kl_value 54.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.2 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 64900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[64900] model_only_pretrain/pretrain_opt_loss 70.3 / model_only_pretrain/pretrain_opt_grad_norm 141.7 / model_only_pretrain/cam_front_view_image_loss 17.6 / model_only_pretrain/cam_wrist_view_image_loss 20.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.0 / model_only_pretrain/rep_loss 54.0 / model_only_pretrain/kl_value 54.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.0 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.1
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[64999] eval_recon/cam_front_view_image 39.3 / eval_recon/cam_wrist_view_image 155.2 / train_recon/cam_front_view_image 12.2 / train_recon/cam_wrist_view_image 14.4 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 65000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  44% 66000/150000 [1:44:46<14:55:33,  1.56it/s]model_only_pretrain/pretrain_opt_loss 70.4 / model_only_pretrain/pretrain_opt_grad_norm 141.3 / model_only_pretrain/cam_front_view_image_loss 17.8 / model_only_pretrain/cam_wrist_view_image_loss 20.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 53.9 / model_only_pretrain/rep_loss 53.9 / model_only_pretrain/kl_value 53.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.0 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 65100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[65100] model_only_pretrain/pretrain_opt_loss 70.5 / model_only_pretrain/pretrain_opt_grad_norm 137.9 / model_only_pretrain/cam_front_view_image_loss 17.5 / model_only_pretrain/cam_wrist_view_image_loss 20.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 53.9 / model_only_pretrain/rep_loss 53.9 / model_only_pretrain/kl_value 53.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.9 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 12.2

[Checkpoint] Saving model at step 65200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[65200] model_only_pretrain/pretrain_opt_loss 70.2 / model_only_pretrain/pretrain_opt_grad_norm 136.1 / model_only_pretrain/cam_front_view_image_loss 17.7 / model_only_pretrain/cam_wrist_view_image_loss 20.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.8 / model_only_pretrain/rep_loss 53.8 / model_only_pretrain/kl_value 53.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.8 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 65300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[65300] model_only_pretrain/pretrain_opt_loss 70.4 / model_only_pretrain/pretrain_opt_grad_norm 137.7 / model_only_pretrain/cam_front_view_image_loss 17.9 / model_only_pretrain/cam_wrist_view_image_loss 20.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.1 / model_only_pretrain/rep_loss 54.1 / model_only_pretrain/kl_value 54.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.0 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 65400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[65400] model_only_pretrain/pretrain_opt_loss 69.7 / model_only_pretrain/pretrain_opt_grad_norm 135.8 / model_only_pretrain/cam_front_view_image_loss 17.5 / model_only_pretrain/cam_wrist_view_image_loss 19.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.8 / model_only_pretrain/rep_loss 53.8 / model_only_pretrain/kl_value 53.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.9 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.1
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[65499] eval_recon/cam_front_view_image 19.2 / eval_recon/cam_wrist_view_image 13.6 / train_recon/cam_front_view_image 16.0 / train_recon/cam_wrist_view_image 17.1 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 65500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[65500] model_only_pretrain/pretrain_opt_loss 70.6 / model_only_pretrain/pretrain_opt_grad_norm 138.4 / model_only_pretrain/cam_front_view_image_loss 17.7 / model_only_pretrain/cam_wrist_view_image_loss 20.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.6 / model_only_pretrain/dyn_loss 54.3 / model_only_pretrain/rep_loss 54.3 / model_only_pretrain/kl_value 54.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.2 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 65600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[65600] model_only_pretrain/pretrain_opt_loss 70.3 / model_only_pretrain/pretrain_opt_grad_norm 144.5 / model_only_pretrain/cam_front_view_image_loss 17.6 / model_only_pretrain/cam_wrist_view_image_loss 20.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.9 / model_only_pretrain/rep_loss 53.9 / model_only_pretrain/kl_value 53.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.9 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.5

[Checkpoint] Saving model at step 65700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[65700] model_only_pretrain/pretrain_opt_loss 70.2 / model_only_pretrain/pretrain_opt_grad_norm 140.6 / model_only_pretrain/cam_front_view_image_loss 17.6 / model_only_pretrain/cam_wrist_view_image_loss 20.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.9 / model_only_pretrain/rep_loss 53.9 / model_only_pretrain/kl_value 53.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.9 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.5

[Checkpoint] Saving model at step 65800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[65800] model_only_pretrain/pretrain_opt_loss 70.8 / model_only_pretrain/pretrain_opt_grad_norm 144.7 / model_only_pretrain/cam_front_view_image_loss 17.7 / model_only_pretrain/cam_wrist_view_image_loss 20.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.0 / model_only_pretrain/rep_loss 54.0 / model_only_pretrain/kl_value 54.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.0 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 65900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[65900] model_only_pretrain/pretrain_opt_loss 69.9 / model_only_pretrain/pretrain_opt_grad_norm 142.1 / model_only_pretrain/cam_front_view_image_loss 17.6 / model_only_pretrain/cam_wrist_view_image_loss 20.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.8 / model_only_pretrain/rep_loss 53.8 / model_only_pretrain/kl_value 53.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.9 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[65999] eval_recon/cam_front_view_image 34.4 / eval_recon/cam_wrist_view_image 76.5 / train_recon/cam_front_view_image 13.9 / train_recon/cam_wrist_view_image 58.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 66000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  45% 67000/150000 [1:46:34<16:41:15,  1.38it/s]model_only_pretrain/pretrain_opt_loss 69.9 / model_only_pretrain/pretrain_opt_grad_norm 134.6 / model_only_pretrain/cam_front_view_image_loss 17.5 / model_only_pretrain/cam_wrist_view_image_loss 20.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.9 / model_only_pretrain/rep_loss 53.9 / model_only_pretrain/kl_value 53.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.9 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.3

[Checkpoint] Saving model at step 66100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[66100] model_only_pretrain/pretrain_opt_loss 70.5 / model_only_pretrain/pretrain_opt_grad_norm 144.8 / model_only_pretrain/cam_front_view_image_loss 17.6 / model_only_pretrain/cam_wrist_view_image_loss 20.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.0 / model_only_pretrain/rep_loss 54.0 / model_only_pretrain/kl_value 54.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.0 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.0

[Checkpoint] Saving model at step 66200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[66200] model_only_pretrain/pretrain_opt_loss 69.6 / model_only_pretrain/pretrain_opt_grad_norm 140.1 / model_only_pretrain/cam_front_view_image_loss 17.4 / model_only_pretrain/cam_wrist_view_image_loss 19.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.7 / model_only_pretrain/rep_loss 53.7 / model_only_pretrain/kl_value 53.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.8 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.3

[Checkpoint] Saving model at step 66300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[66300] model_only_pretrain/pretrain_opt_loss 69.8 / model_only_pretrain/pretrain_opt_grad_norm 148.8 / model_only_pretrain/cam_front_view_image_loss 17.6 / model_only_pretrain/cam_wrist_view_image_loss 19.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.9 / model_only_pretrain/rep_loss 53.9 / model_only_pretrain/kl_value 53.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.9 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 8.1

[Checkpoint] Saving model at step 66400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[66400] model_only_pretrain/pretrain_opt_loss 70.0 / model_only_pretrain/pretrain_opt_grad_norm 143.4 / model_only_pretrain/cam_front_view_image_loss 17.5 / model_only_pretrain/cam_wrist_view_image_loss 20.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.0 / model_only_pretrain/rep_loss 54.0 / model_only_pretrain/kl_value 54.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.0 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 8.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[66499] eval_recon/cam_front_view_image 14.0 / eval_recon/cam_wrist_view_image 25.3 / train_recon/cam_front_view_image 13.9 / train_recon/cam_wrist_view_image 36.1 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 66500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[66500] model_only_pretrain/pretrain_opt_loss 70.1 / model_only_pretrain/pretrain_opt_grad_norm 140.2 / model_only_pretrain/cam_front_view_image_loss 17.6 / model_only_pretrain/cam_wrist_view_image_loss 20.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.8 / model_only_pretrain/rep_loss 53.8 / model_only_pretrain/kl_value 53.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.8 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 66600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[66600] model_only_pretrain/pretrain_opt_loss 71.2 / model_only_pretrain/pretrain_opt_grad_norm 147.6 / model_only_pretrain/cam_front_view_image_loss 17.7 / model_only_pretrain/cam_wrist_view_image_loss 21.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.5 / model_only_pretrain/dyn_loss 54.2 / model_only_pretrain/rep_loss 54.2 / model_only_pretrain/kl_value 54.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.1 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 66700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[66700] model_only_pretrain/pretrain_opt_loss 70.3 / model_only_pretrain/pretrain_opt_grad_norm 143.2 / model_only_pretrain/cam_front_view_image_loss 17.6 / model_only_pretrain/cam_wrist_view_image_loss 20.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.0 / model_only_pretrain/rep_loss 54.0 / model_only_pretrain/kl_value 54.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.1 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.5

[Checkpoint] Saving model at step 66800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[66800] model_only_pretrain/pretrain_opt_loss 70.7 / model_only_pretrain/pretrain_opt_grad_norm 141.6 / model_only_pretrain/cam_front_view_image_loss 17.7 / model_only_pretrain/cam_wrist_view_image_loss 20.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.5 / model_only_pretrain/dyn_loss 54.2 / model_only_pretrain/rep_loss 54.2 / model_only_pretrain/kl_value 54.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.1 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.3

[Checkpoint] Saving model at step 66900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[66900] model_only_pretrain/pretrain_opt_loss 70.3 / model_only_pretrain/pretrain_opt_grad_norm 138.1 / model_only_pretrain/cam_front_view_image_loss 17.6 / model_only_pretrain/cam_wrist_view_image_loss 20.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.0 / model_only_pretrain/rep_loss 54.0 / model_only_pretrain/kl_value 54.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.0 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.1
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[66999] eval_recon/cam_front_view_image 13.8 / eval_recon/cam_wrist_view_image 18.8 / train_recon/cam_front_view_image 17.8 / train_recon/cam_wrist_view_image 18.1 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 67000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[67000] 
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World Model pretraining:  45% 68000/150000 [1:48:06<16:38:37,  1.37it/s]model_only_pretrain/pretrain_opt_loss 69.4 / model_only_pretrain/pretrain_opt_grad_norm 134.8 / model_only_pretrain/cam_front_view_image_loss 17.7 / model_only_pretrain/cam_wrist_view_image_loss 19.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.8 / model_only_pretrain/rep_loss 53.8 / model_only_pretrain/kl_value 53.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.8 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.2

[Checkpoint] Saving model at step 67100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[67100] model_only_pretrain/pretrain_opt_loss 70.2 / model_only_pretrain/pretrain_opt_grad_norm 138.8 / model_only_pretrain/cam_front_view_image_loss 17.6 / model_only_pretrain/cam_wrist_view_image_loss 20.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.0 / model_only_pretrain/rep_loss 54.0 / model_only_pretrain/kl_value 54.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.0 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.9

[Checkpoint] Saving model at step 67200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[67200] model_only_pretrain/pretrain_opt_loss 70.0 / model_only_pretrain/pretrain_opt_grad_norm 138.8 / model_only_pretrain/cam_front_view_image_loss 17.5 / model_only_pretrain/cam_wrist_view_image_loss 20.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.8 / model_only_pretrain/rep_loss 53.8 / model_only_pretrain/kl_value 53.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.8 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 67300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[67300] model_only_pretrain/pretrain_opt_loss 69.4 / model_only_pretrain/pretrain_opt_grad_norm 135.6 / model_only_pretrain/cam_front_view_image_loss 17.4 / model_only_pretrain/cam_wrist_view_image_loss 19.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.8 / model_only_pretrain/rep_loss 53.8 / model_only_pretrain/kl_value 53.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.8 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 67400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[67400] model_only_pretrain/pretrain_opt_loss 69.0 / model_only_pretrain/pretrain_opt_grad_norm 132.8 / model_only_pretrain/cam_front_view_image_loss 17.2 / model_only_pretrain/cam_wrist_view_image_loss 19.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.7 / model_only_pretrain/rep_loss 53.7 / model_only_pretrain/kl_value 53.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.8 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.6
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[67499] eval_recon/cam_front_view_image 17.1 / eval_recon/cam_wrist_view_image 55.7 / train_recon/cam_front_view_image 16.0 / train_recon/cam_wrist_view_image 19.9 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 67500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[67500] model_only_pretrain/pretrain_opt_loss 70.3 / model_only_pretrain/pretrain_opt_grad_norm 137.9 / model_only_pretrain/cam_front_view_image_loss 17.7 / model_only_pretrain/cam_wrist_view_image_loss 20.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.1 / model_only_pretrain/rep_loss 54.1 / model_only_pretrain/kl_value 54.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.0 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 67600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[67600] model_only_pretrain/pretrain_opt_loss 69.8 / model_only_pretrain/pretrain_opt_grad_norm 140.2 / model_only_pretrain/cam_front_view_image_loss 17.5 / model_only_pretrain/cam_wrist_view_image_loss 20.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.8 / model_only_pretrain/rep_loss 53.8 / model_only_pretrain/kl_value 53.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.7 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 67700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[67700] model_only_pretrain/pretrain_opt_loss 70.4 / model_only_pretrain/pretrain_opt_grad_norm 138.7 / model_only_pretrain/cam_front_view_image_loss 17.7 / model_only_pretrain/cam_wrist_view_image_loss 20.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.1 / model_only_pretrain/rep_loss 54.1 / model_only_pretrain/kl_value 54.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.1 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 67800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[67800] model_only_pretrain/pretrain_opt_loss 69.8 / model_only_pretrain/pretrain_opt_grad_norm 138.2 / model_only_pretrain/cam_front_view_image_loss 17.4 / model_only_pretrain/cam_wrist_view_image_loss 20.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.8 / model_only_pretrain/rep_loss 53.8 / model_only_pretrain/kl_value 53.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.8 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 67900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[67900] model_only_pretrain/pretrain_opt_loss 70.3 / model_only_pretrain/pretrain_opt_grad_norm 142.8 / model_only_pretrain/cam_front_view_image_loss 17.5 / model_only_pretrain/cam_wrist_view_image_loss 20.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.5 / model_only_pretrain/dyn_loss 54.1 / model_only_pretrain/rep_loss 54.1 / model_only_pretrain/kl_value 54.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.0 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.3
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[67999] eval_recon/cam_front_view_image 13.3 / eval_recon/cam_wrist_view_image 15.1 / train_recon/cam_front_view_image 15.4 / train_recon/cam_wrist_view_image 14.6 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 68000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  46% 68999/150000 [1:49:35<1:28:17, 15.29it/s]model_only_pretrain/pretrain_opt_loss 70.1 / model_only_pretrain/pretrain_opt_grad_norm 137.2 / model_only_pretrain/cam_front_view_image_loss 17.6 / model_only_pretrain/cam_wrist_view_image_loss 20.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.1 / model_only_pretrain/rep_loss 54.1 / model_only_pretrain/kl_value 54.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.0 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.1

[Checkpoint] Saving model at step 68100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[68100] model_only_pretrain/pretrain_opt_loss 69.9 / model_only_pretrain/pretrain_opt_grad_norm 140.8 / model_only_pretrain/cam_front_view_image_loss 17.4 / model_only_pretrain/cam_wrist_view_image_loss 20.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.7 / model_only_pretrain/rep_loss 53.7 / model_only_pretrain/kl_value 53.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.7 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 68200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[68200] model_only_pretrain/pretrain_opt_loss 69.1 / model_only_pretrain/pretrain_opt_grad_norm 135.5 / model_only_pretrain/cam_front_view_image_loss 17.1 / model_only_pretrain/cam_wrist_view_image_loss 19.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.7 / model_only_pretrain/rep_loss 53.7 / model_only_pretrain/kl_value 53.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.7 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 68300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[68300] model_only_pretrain/pretrain_opt_loss 69.8 / model_only_pretrain/pretrain_opt_grad_norm 138.6 / model_only_pretrain/cam_front_view_image_loss 17.4 / model_only_pretrain/cam_wrist_view_image_loss 20.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.9 / model_only_pretrain/rep_loss 53.9 / model_only_pretrain/kl_value 53.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.8 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 12.2

[Checkpoint] Saving model at step 68400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[68400] model_only_pretrain/pretrain_opt_loss 70.0 / model_only_pretrain/pretrain_opt_grad_norm 146.0 / model_only_pretrain/cam_front_view_image_loss 17.5 / model_only_pretrain/cam_wrist_view_image_loss 20.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.7 / model_only_pretrain/rep_loss 53.7 / model_only_pretrain/kl_value 53.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.6 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.9
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[68499] eval_recon/cam_front_view_image 14.3 / eval_recon/cam_wrist_view_image 13.3 / train_recon/cam_front_view_image 16.2 / train_recon/cam_wrist_view_image 18.1 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 68500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[68500] model_only_pretrain/pretrain_opt_loss 70.5 / model_only_pretrain/pretrain_opt_grad_norm 141.6 / model_only_pretrain/cam_front_view_image_loss 17.5 / model_only_pretrain/cam_wrist_view_image_loss 20.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.1 / model_only_pretrain/rep_loss 54.1 / model_only_pretrain/kl_value 54.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.0 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 68600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[68600] model_only_pretrain/pretrain_opt_loss 69.6 / model_only_pretrain/pretrain_opt_grad_norm 145.8 / model_only_pretrain/cam_front_view_image_loss 17.4 / model_only_pretrain/cam_wrist_view_image_loss 19.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.8 / model_only_pretrain/rep_loss 53.8 / model_only_pretrain/kl_value 53.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.7 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.4

[Checkpoint] Saving model at step 68700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[68700] model_only_pretrain/pretrain_opt_loss 69.0 / model_only_pretrain/pretrain_opt_grad_norm 133.3 / model_only_pretrain/cam_front_view_image_loss 17.2 / model_only_pretrain/cam_wrist_view_image_loss 19.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.7 / model_only_pretrain/rep_loss 53.7 / model_only_pretrain/kl_value 53.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.7 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 68800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[68800] model_only_pretrain/pretrain_opt_loss 70.0 / model_only_pretrain/pretrain_opt_grad_norm 142.3 / model_only_pretrain/cam_front_view_image_loss 17.5 / model_only_pretrain/cam_wrist_view_image_loss 20.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 53.9 / model_only_pretrain/rep_loss 53.9 / model_only_pretrain/kl_value 53.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.8 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.9

[Checkpoint] Saving model at step 68900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[68900] model_only_pretrain/pretrain_opt_loss 69.4 / model_only_pretrain/pretrain_opt_grad_norm 141.5 / model_only_pretrain/cam_front_view_image_loss 17.5 / model_only_pretrain/cam_wrist_view_image_loss 19.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.9 / model_only_pretrain/rep_loss 53.9 / model_only_pretrain/kl_value 53.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.9 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[68999] eval_recon/cam_front_view_image 14.8 / eval_recon/cam_wrist_view_image 14.7 / train_recon/cam_front_view_image 15.6 / train_recon/cam_wrist_view_image 53.7 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 69000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  47% 70000/150000 [1:51:15<11:19:14,  1.96it/s]model_only_pretrain/pretrain_opt_loss 69.8 / model_only_pretrain/pretrain_opt_grad_norm 142.5 / model_only_pretrain/cam_front_view_image_loss 17.4 / model_only_pretrain/cam_wrist_view_image_loss 20.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.9 / model_only_pretrain/rep_loss 53.9 / model_only_pretrain/kl_value 53.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.7 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 69100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[69100] model_only_pretrain/pretrain_opt_loss 70.2 / model_only_pretrain/pretrain_opt_grad_norm 138.9 / model_only_pretrain/cam_front_view_image_loss 17.4 / model_only_pretrain/cam_wrist_view_image_loss 20.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 53.9 / model_only_pretrain/rep_loss 53.9 / model_only_pretrain/kl_value 53.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.8 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 12.2

[Checkpoint] Saving model at step 69200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[69200] model_only_pretrain/pretrain_opt_loss 68.5 / model_only_pretrain/pretrain_opt_grad_norm 143.1 / model_only_pretrain/cam_front_view_image_loss 17.0 / model_only_pretrain/cam_wrist_view_image_loss 19.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.5 / model_only_pretrain/rep_loss 53.5 / model_only_pretrain/kl_value 53.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.7 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 69300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[69300] model_only_pretrain/pretrain_opt_loss 70.3 / model_only_pretrain/pretrain_opt_grad_norm 149.9 / model_only_pretrain/cam_front_view_image_loss 17.7 / model_only_pretrain/cam_wrist_view_image_loss 20.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.9 / model_only_pretrain/rep_loss 53.9 / model_only_pretrain/kl_value 53.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.8 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 69400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[69400] model_only_pretrain/pretrain_opt_loss 70.4 / model_only_pretrain/pretrain_opt_grad_norm 136.4 / model_only_pretrain/cam_front_view_image_loss 17.5 / model_only_pretrain/cam_wrist_view_image_loss 20.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.1 / model_only_pretrain/rep_loss 54.1 / model_only_pretrain/kl_value 54.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 26.0 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.6
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[69499] eval_recon/cam_front_view_image 41.6 / eval_recon/cam_wrist_view_image 76.8 / train_recon/cam_front_view_image 26.0 / train_recon/cam_wrist_view_image 56.6 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 69500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[69500] model_only_pretrain/pretrain_opt_loss 69.2 / model_only_pretrain/pretrain_opt_grad_norm 135.8 / model_only_pretrain/cam_front_view_image_loss 17.3 / model_only_pretrain/cam_wrist_view_image_loss 19.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.7 / model_only_pretrain/rep_loss 53.7 / model_only_pretrain/kl_value 53.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.6 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 69600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[69600] model_only_pretrain/pretrain_opt_loss 69.5 / model_only_pretrain/pretrain_opt_grad_norm 137.4 / model_only_pretrain/cam_front_view_image_loss 17.3 / model_only_pretrain/cam_wrist_view_image_loss 19.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.7 / model_only_pretrain/rep_loss 53.7 / model_only_pretrain/kl_value 53.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.7 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.3

[Checkpoint] Saving model at step 69700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[69700] model_only_pretrain/pretrain_opt_loss 70.1 / model_only_pretrain/pretrain_opt_grad_norm 139.1 / model_only_pretrain/cam_front_view_image_loss 17.5 / model_only_pretrain/cam_wrist_view_image_loss 20.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.8 / model_only_pretrain/rep_loss 53.8 / model_only_pretrain/kl_value 53.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.7 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 8.2

[Checkpoint] Saving model at step 69800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[69800] model_only_pretrain/pretrain_opt_loss 70.3 / model_only_pretrain/pretrain_opt_grad_norm 139.2 / model_only_pretrain/cam_front_view_image_loss 17.5 / model_only_pretrain/cam_wrist_view_image_loss 20.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.0 / model_only_pretrain/rep_loss 54.0 / model_only_pretrain/kl_value 54.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.9 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.3

[Checkpoint] Saving model at step 69900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[69900] model_only_pretrain/pretrain_opt_loss 69.5 / model_only_pretrain/pretrain_opt_grad_norm 135.0 / model_only_pretrain/cam_front_view_image_loss 17.3 / model_only_pretrain/cam_wrist_view_image_loss 19.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.8 / model_only_pretrain/rep_loss 53.8 / model_only_pretrain/kl_value 53.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.7 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[69999] eval_recon/cam_front_view_image 16.7 / eval_recon/cam_wrist_view_image 12.3 / train_recon/cam_front_view_image 13.4 / train_recon/cam_wrist_view_image 60.2 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 70000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  47% 70999/150000 [1:52:46<1:25:53, 15.33it/s]model_only_pretrain/pretrain_opt_loss 69.9 / model_only_pretrain/pretrain_opt_grad_norm 135.9 / model_only_pretrain/cam_front_view_image_loss 17.6 / model_only_pretrain/cam_wrist_view_image_loss 20.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 53.9 / model_only_pretrain/rep_loss 53.9 / model_only_pretrain/kl_value 53.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.8 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 70100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[70100] model_only_pretrain/pretrain_opt_loss 69.1 / model_only_pretrain/pretrain_opt_grad_norm 139.5 / model_only_pretrain/cam_front_view_image_loss 17.0 / model_only_pretrain/cam_wrist_view_image_loss 19.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.8 / model_only_pretrain/rep_loss 53.8 / model_only_pretrain/kl_value 53.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.7 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 70200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[70200] model_only_pretrain/pretrain_opt_loss 69.2 / model_only_pretrain/pretrain_opt_grad_norm 139.4 / model_only_pretrain/cam_front_view_image_loss 17.2 / model_only_pretrain/cam_wrist_view_image_loss 19.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.6 / model_only_pretrain/rep_loss 53.6 / model_only_pretrain/kl_value 53.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.6 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 70300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[70300] model_only_pretrain/pretrain_opt_loss 68.3 / model_only_pretrain/pretrain_opt_grad_norm 134.9 / model_only_pretrain/cam_front_view_image_loss 17.0 / model_only_pretrain/cam_wrist_view_image_loss 19.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.5 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 70400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[70400] model_only_pretrain/pretrain_opt_loss 68.7 / model_only_pretrain/pretrain_opt_grad_norm 134.9 / model_only_pretrain/cam_front_view_image_loss 17.0 / model_only_pretrain/cam_wrist_view_image_loss 19.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.5 / model_only_pretrain/rep_loss 53.5 / model_only_pretrain/kl_value 53.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.5 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[70499] eval_recon/cam_front_view_image 14.7 / eval_recon/cam_wrist_view_image 13.5 / train_recon/cam_front_view_image 13.5 / train_recon/cam_wrist_view_image 14.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 70500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[70500] model_only_pretrain/pretrain_opt_loss 68.4 / model_only_pretrain/pretrain_opt_grad_norm 137.3 / model_only_pretrain/cam_front_view_image_loss 17.0 / model_only_pretrain/cam_wrist_view_image_loss 19.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.5 / model_only_pretrain/rep_loss 53.5 / model_only_pretrain/kl_value 53.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.4 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 70600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[70600] model_only_pretrain/pretrain_opt_loss 68.4 / model_only_pretrain/pretrain_opt_grad_norm 134.8 / model_only_pretrain/cam_front_view_image_loss 17.0 / model_only_pretrain/cam_wrist_view_image_loss 19.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.6 / model_only_pretrain/rep_loss 53.6 / model_only_pretrain/kl_value 53.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.6 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 70700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[70700] model_only_pretrain/pretrain_opt_loss 69.5 / model_only_pretrain/pretrain_opt_grad_norm 139.4 / model_only_pretrain/cam_front_view_image_loss 17.3 / model_only_pretrain/cam_wrist_view_image_loss 20.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.8 / model_only_pretrain/rep_loss 53.8 / model_only_pretrain/kl_value 53.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.7 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.1

[Checkpoint] Saving model at step 70800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[70800] model_only_pretrain/pretrain_opt_loss 69.1 / model_only_pretrain/pretrain_opt_grad_norm 136.8 / model_only_pretrain/cam_front_view_image_loss 17.1 / model_only_pretrain/cam_wrist_view_image_loss 19.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.5 / model_only_pretrain/rep_loss 53.5 / model_only_pretrain/kl_value 53.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.4 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 70900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[70900] model_only_pretrain/pretrain_opt_loss 69.5 / model_only_pretrain/pretrain_opt_grad_norm 134.8 / model_only_pretrain/cam_front_view_image_loss 17.4 / model_only_pretrain/cam_wrist_view_image_loss 19.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.8 / model_only_pretrain/rep_loss 53.8 / model_only_pretrain/kl_value 53.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.7 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.1
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[70999] eval_recon/cam_front_view_image 56.0 / eval_recon/cam_wrist_view_image 90.7 / train_recon/cam_front_view_image 13.7 / train_recon/cam_wrist_view_image 14.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 71000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  48% 71999/150000 [1:54:18<1:21:28, 15.96it/s]model_only_pretrain/pretrain_opt_loss 69.8 / model_only_pretrain/pretrain_opt_grad_norm 143.9 / model_only_pretrain/cam_front_view_image_loss 17.5 / model_only_pretrain/cam_wrist_view_image_loss 20.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.8 / model_only_pretrain/rep_loss 53.8 / model_only_pretrain/kl_value 53.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.6 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.8

[Checkpoint] Saving model at step 71100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[71100] model_only_pretrain/pretrain_opt_loss 69.4 / model_only_pretrain/pretrain_opt_grad_norm 138.3 / model_only_pretrain/cam_front_view_image_loss 17.3 / model_only_pretrain/cam_wrist_view_image_loss 19.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.8 / model_only_pretrain/rep_loss 53.8 / model_only_pretrain/kl_value 53.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.7 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 71200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[71200] model_only_pretrain/pretrain_opt_loss 69.3 / model_only_pretrain/pretrain_opt_grad_norm 148.6 / model_only_pretrain/cam_front_view_image_loss 17.2 / model_only_pretrain/cam_wrist_view_image_loss 19.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.6 / model_only_pretrain/rep_loss 53.6 / model_only_pretrain/kl_value 53.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.6 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 71300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[71300] model_only_pretrain/pretrain_opt_loss 69.3 / model_only_pretrain/pretrain_opt_grad_norm 144.6 / model_only_pretrain/cam_front_view_image_loss 17.1 / model_only_pretrain/cam_wrist_view_image_loss 20.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.6 / model_only_pretrain/rep_loss 53.6 / model_only_pretrain/kl_value 53.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.6 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 71400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[71400] model_only_pretrain/pretrain_opt_loss 69.7 / model_only_pretrain/pretrain_opt_grad_norm 138.2 / model_only_pretrain/cam_front_view_image_loss 17.3 / model_only_pretrain/cam_wrist_view_image_loss 20.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.0 / model_only_pretrain/rep_loss 54.0 / model_only_pretrain/kl_value 54.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.8 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.1
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[71499] eval_recon/cam_front_view_image 13.5 / eval_recon/cam_wrist_view_image 17.6 / train_recon/cam_front_view_image 16.0 / train_recon/cam_wrist_view_image 21.5 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 71500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[71500] model_only_pretrain/pretrain_opt_loss 69.4 / model_only_pretrain/pretrain_opt_grad_norm 135.9 / model_only_pretrain/cam_front_view_image_loss 17.1 / model_only_pretrain/cam_wrist_view_image_loss 19.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.0 / model_only_pretrain/rep_loss 54.0 / model_only_pretrain/kl_value 54.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.9 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 71600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[71600] model_only_pretrain/pretrain_opt_loss 69.9 / model_only_pretrain/pretrain_opt_grad_norm 141.7 / model_only_pretrain/cam_front_view_image_loss 17.4 / model_only_pretrain/cam_wrist_view_image_loss 20.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 54.0 / model_only_pretrain/rep_loss 54.0 / model_only_pretrain/kl_value 54.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.8 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 71700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[71700] model_only_pretrain/pretrain_opt_loss 69.4 / model_only_pretrain/pretrain_opt_grad_norm 134.6 / model_only_pretrain/cam_front_view_image_loss 17.1 / model_only_pretrain/cam_wrist_view_image_loss 20.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.8 / model_only_pretrain/rep_loss 53.8 / model_only_pretrain/kl_value 53.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.7 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 8.8

[Checkpoint] Saving model at step 71800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[71800] model_only_pretrain/pretrain_opt_loss 69.3 / model_only_pretrain/pretrain_opt_grad_norm 136.9 / model_only_pretrain/cam_front_view_image_loss 17.2 / model_only_pretrain/cam_wrist_view_image_loss 19.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.8 / model_only_pretrain/rep_loss 53.8 / model_only_pretrain/kl_value 53.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.7 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 71900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[71900] model_only_pretrain/pretrain_opt_loss 69.1 / model_only_pretrain/pretrain_opt_grad_norm 134.0 / model_only_pretrain/cam_front_view_image_loss 17.2 / model_only_pretrain/cam_wrist_view_image_loss 19.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.6 / model_only_pretrain/rep_loss 53.6 / model_only_pretrain/kl_value 53.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.5 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.9
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[71999] eval_recon/cam_front_view_image 14.7 / eval_recon/cam_wrist_view_image 34.3 / train_recon/cam_front_view_image 15.8 / train_recon/cam_wrist_view_image 14.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 72000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[72000] 
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World Model pretraining:  49% 72999/150000 [1:55:47<1:37:51, 13.11it/s]model_only_pretrain/pretrain_opt_loss 69.0 / model_only_pretrain/pretrain_opt_grad_norm 139.9 / model_only_pretrain/cam_front_view_image_loss 17.2 / model_only_pretrain/cam_wrist_view_image_loss 19.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.5 / model_only_pretrain/rep_loss 53.5 / model_only_pretrain/kl_value 53.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.4 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 72100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[72100] model_only_pretrain/pretrain_opt_loss 68.6 / model_only_pretrain/pretrain_opt_grad_norm 137.1 / model_only_pretrain/cam_front_view_image_loss 16.9 / model_only_pretrain/cam_wrist_view_image_loss 19.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.6 / model_only_pretrain/rep_loss 53.6 / model_only_pretrain/kl_value 53.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.4 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 12.1

[Checkpoint] Saving model at step 72200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[72200] model_only_pretrain/pretrain_opt_loss 69.5 / model_only_pretrain/pretrain_opt_grad_norm 141.0 / model_only_pretrain/cam_front_view_image_loss 17.1 / model_only_pretrain/cam_wrist_view_image_loss 20.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.8 / model_only_pretrain/rep_loss 53.8 / model_only_pretrain/kl_value 53.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.6 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 72300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[72300] model_only_pretrain/pretrain_opt_loss 69.4 / model_only_pretrain/pretrain_opt_grad_norm 140.5 / model_only_pretrain/cam_front_view_image_loss 17.0 / model_only_pretrain/cam_wrist_view_image_loss 20.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.7 / model_only_pretrain/rep_loss 53.7 / model_only_pretrain/kl_value 53.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.6 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 12.2

[Checkpoint] Saving model at step 72400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[72400] model_only_pretrain/pretrain_opt_loss 69.1 / model_only_pretrain/pretrain_opt_grad_norm 133.7 / model_only_pretrain/cam_front_view_image_loss 17.2 / model_only_pretrain/cam_wrist_view_image_loss 19.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.7 / model_only_pretrain/rep_loss 53.7 / model_only_pretrain/kl_value 53.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.7 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[72499] eval_recon/cam_front_view_image 14.2 / eval_recon/cam_wrist_view_image 18.2 / train_recon/cam_front_view_image 16.0 / train_recon/cam_wrist_view_image 20.1 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 72500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[72500] model_only_pretrain/pretrain_opt_loss 69.5 / model_only_pretrain/pretrain_opt_grad_norm 138.9 / model_only_pretrain/cam_front_view_image_loss 17.3 / model_only_pretrain/cam_wrist_view_image_loss 19.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.8 / model_only_pretrain/rep_loss 53.8 / model_only_pretrain/kl_value 53.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.6 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 72600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[72600] model_only_pretrain/pretrain_opt_loss 69.2 / model_only_pretrain/pretrain_opt_grad_norm 134.2 / model_only_pretrain/cam_front_view_image_loss 17.0 / model_only_pretrain/cam_wrist_view_image_loss 20.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.7 / model_only_pretrain/rep_loss 53.7 / model_only_pretrain/kl_value 53.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.7 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 72700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[72700] model_only_pretrain/pretrain_opt_loss 69.0 / model_only_pretrain/pretrain_opt_grad_norm 140.6 / model_only_pretrain/cam_front_view_image_loss 17.1 / model_only_pretrain/cam_wrist_view_image_loss 19.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.7 / model_only_pretrain/rep_loss 53.7 / model_only_pretrain/kl_value 53.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.6 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 72800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[72800] model_only_pretrain/pretrain_opt_loss 69.3 / model_only_pretrain/pretrain_opt_grad_norm 136.2 / model_only_pretrain/cam_front_view_image_loss 17.2 / model_only_pretrain/cam_wrist_view_image_loss 19.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.8 / model_only_pretrain/rep_loss 53.8 / model_only_pretrain/kl_value 53.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.7 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 72900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[72900] model_only_pretrain/pretrain_opt_loss 68.9 / model_only_pretrain/pretrain_opt_grad_norm 136.7 / model_only_pretrain/cam_front_view_image_loss 17.1 / model_only_pretrain/cam_wrist_view_image_loss 19.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.6 / model_only_pretrain/rep_loss 53.6 / model_only_pretrain/kl_value 53.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.5 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.6
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[72999] eval_recon/cam_front_view_image 16.2 / eval_recon/cam_wrist_view_image 13.7 / train_recon/cam_front_view_image 15.9 / train_recon/cam_wrist_view_image 22.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 73000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  49% 74000/150000 [1:57:23<8:25:43,  2.50it/s]model_only_pretrain/pretrain_opt_loss 68.8 / model_only_pretrain/pretrain_opt_grad_norm 133.1 / model_only_pretrain/cam_front_view_image_loss 17.1 / model_only_pretrain/cam_wrist_view_image_loss 19.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.7 / model_only_pretrain/rep_loss 53.7 / model_only_pretrain/kl_value 53.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.6 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 73100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[73100] model_only_pretrain/pretrain_opt_loss 69.3 / model_only_pretrain/pretrain_opt_grad_norm 141.8 / model_only_pretrain/cam_front_view_image_loss 17.2 / model_only_pretrain/cam_wrist_view_image_loss 20.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.6 / model_only_pretrain/rep_loss 53.6 / model_only_pretrain/kl_value 53.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.5 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 12.3

[Checkpoint] Saving model at step 73200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[73200] model_only_pretrain/pretrain_opt_loss 69.5 / model_only_pretrain/pretrain_opt_grad_norm 141.1 / model_only_pretrain/cam_front_view_image_loss 17.1 / model_only_pretrain/cam_wrist_view_image_loss 20.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.8 / model_only_pretrain/rep_loss 53.8 / model_only_pretrain/kl_value 53.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.5 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 73300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[73300] model_only_pretrain/pretrain_opt_loss 68.9 / model_only_pretrain/pretrain_opt_grad_norm 138.4 / model_only_pretrain/cam_front_view_image_loss 17.2 / model_only_pretrain/cam_wrist_view_image_loss 19.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.6 / model_only_pretrain/rep_loss 53.6 / model_only_pretrain/kl_value 53.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.5 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 8.5

[Checkpoint] Saving model at step 73400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[73400] model_only_pretrain/pretrain_opt_loss 69.2 / model_only_pretrain/pretrain_opt_grad_norm 134.8 / model_only_pretrain/cam_front_view_image_loss 17.3 / model_only_pretrain/cam_wrist_view_image_loss 19.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.6 / model_only_pretrain/rep_loss 53.6 / model_only_pretrain/kl_value 53.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.6 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[73499] eval_recon/cam_front_view_image 12.7 / eval_recon/cam_wrist_view_image 14.4 / train_recon/cam_front_view_image 14.4 / train_recon/cam_wrist_view_image 17.1 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 73500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[73500] model_only_pretrain/pretrain_opt_loss 69.3 / model_only_pretrain/pretrain_opt_grad_norm 138.9 / model_only_pretrain/cam_front_view_image_loss 17.3 / model_only_pretrain/cam_wrist_view_image_loss 19.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.4 / model_only_pretrain/dyn_loss 53.9 / model_only_pretrain/rep_loss 53.9 / model_only_pretrain/kl_value 53.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.8 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 73600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[73600] model_only_pretrain/pretrain_opt_loss 68.7 / model_only_pretrain/pretrain_opt_grad_norm 134.7 / model_only_pretrain/cam_front_view_image_loss 16.9 / model_only_pretrain/cam_wrist_view_image_loss 19.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.7 / model_only_pretrain/rep_loss 53.7 / model_only_pretrain/kl_value 53.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.6 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 73700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[73700] model_only_pretrain/pretrain_opt_loss 68.9 / model_only_pretrain/pretrain_opt_grad_norm 143.5 / model_only_pretrain/cam_front_view_image_loss 17.0 / model_only_pretrain/cam_wrist_view_image_loss 19.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.6 / model_only_pretrain/rep_loss 53.6 / model_only_pretrain/kl_value 53.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.6 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 73800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[73800] model_only_pretrain/pretrain_opt_loss 68.9 / model_only_pretrain/pretrain_opt_grad_norm 137.1 / model_only_pretrain/cam_front_view_image_loss 17.1 / model_only_pretrain/cam_wrist_view_image_loss 19.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.5 / model_only_pretrain/rep_loss 53.5 / model_only_pretrain/kl_value 53.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.4 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 73900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[73900] model_only_pretrain/pretrain_opt_loss 69.2 / model_only_pretrain/pretrain_opt_grad_norm 140.3 / model_only_pretrain/cam_front_view_image_loss 17.2 / model_only_pretrain/cam_wrist_view_image_loss 19.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.6 / model_only_pretrain/rep_loss 53.6 / model_only_pretrain/kl_value 53.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.5 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.3
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[73999] eval_recon/cam_front_view_image 32.0 / eval_recon/cam_wrist_view_image 167.3 / train_recon/cam_front_view_image 12.5 / train_recon/cam_wrist_view_image 57.6 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 74000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  50% 74999/150000 [1:58:59<1:22:41, 15.12it/s]model_only_pretrain/pretrain_opt_loss 68.8 / model_only_pretrain/pretrain_opt_grad_norm 142.7 / model_only_pretrain/cam_front_view_image_loss 17.1 / model_only_pretrain/cam_wrist_view_image_loss 19.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.7 / model_only_pretrain/rep_loss 53.7 / model_only_pretrain/kl_value 53.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.6 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 74100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[74100] model_only_pretrain/pretrain_opt_loss 68.6 / model_only_pretrain/pretrain_opt_grad_norm 138.8 / model_only_pretrain/cam_front_view_image_loss 16.8 / model_only_pretrain/cam_wrist_view_image_loss 19.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.6 / model_only_pretrain/rep_loss 53.6 / model_only_pretrain/kl_value 53.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.4 / model_only_pretrain/post_ent -27.3 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 74200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[74200] model_only_pretrain/pretrain_opt_loss 68.1 / model_only_pretrain/pretrain_opt_grad_norm 133.9 / model_only_pretrain/cam_front_view_image_loss 16.8 / model_only_pretrain/cam_wrist_view_image_loss 19.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.4 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 74300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[74300] model_only_pretrain/pretrain_opt_loss 68.3 / model_only_pretrain/pretrain_opt_grad_norm 137.4 / model_only_pretrain/cam_front_view_image_loss 16.9 / model_only_pretrain/cam_wrist_view_image_loss 19.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.5 / model_only_pretrain/rep_loss 53.5 / model_only_pretrain/kl_value 53.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.4 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 74400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[74400] model_only_pretrain/pretrain_opt_loss 68.5 / model_only_pretrain/pretrain_opt_grad_norm 131.7 / model_only_pretrain/cam_front_view_image_loss 17.1 / model_only_pretrain/cam_wrist_view_image_loss 19.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.6 / model_only_pretrain/rep_loss 53.6 / model_only_pretrain/kl_value 53.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.5 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.2
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[74499] eval_recon/cam_front_view_image 17.7 / eval_recon/cam_wrist_view_image 36.7 / train_recon/cam_front_view_image 13.5 / train_recon/cam_wrist_view_image 16.6 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 74500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[74500] model_only_pretrain/pretrain_opt_loss 68.8 / model_only_pretrain/pretrain_opt_grad_norm 134.1 / model_only_pretrain/cam_front_view_image_loss 17.1 / model_only_pretrain/cam_wrist_view_image_loss 19.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.7 / model_only_pretrain/rep_loss 53.7 / model_only_pretrain/kl_value 53.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.5 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 74600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[74600] model_only_pretrain/pretrain_opt_loss 69.1 / model_only_pretrain/pretrain_opt_grad_norm 136.0 / model_only_pretrain/cam_front_view_image_loss 17.2 / model_only_pretrain/cam_wrist_view_image_loss 19.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.6 / model_only_pretrain/rep_loss 53.6 / model_only_pretrain/kl_value 53.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.5 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.9

[Checkpoint] Saving model at step 74700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[74700] model_only_pretrain/pretrain_opt_loss 69.1 / model_only_pretrain/pretrain_opt_grad_norm 137.7 / model_only_pretrain/cam_front_view_image_loss 17.0 / model_only_pretrain/cam_wrist_view_image_loss 19.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.7 / model_only_pretrain/rep_loss 53.7 / model_only_pretrain/kl_value 53.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.5 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 8.6

[Checkpoint] Saving model at step 74800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[74800] model_only_pretrain/pretrain_opt_loss 69.3 / model_only_pretrain/pretrain_opt_grad_norm 135.2 / model_only_pretrain/cam_front_view_image_loss 17.2 / model_only_pretrain/cam_wrist_view_image_loss 19.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.7 / model_only_pretrain/rep_loss 53.7 / model_only_pretrain/kl_value 53.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.6 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 8.9

[Checkpoint] Saving model at step 74900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[74900] model_only_pretrain/pretrain_opt_loss 69.6 / model_only_pretrain/pretrain_opt_grad_norm 132.3 / model_only_pretrain/cam_front_view_image_loss 17.1 / model_only_pretrain/cam_wrist_view_image_loss 20.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.7 / model_only_pretrain/rep_loss 53.7 / model_only_pretrain/kl_value 53.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.5 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.5
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[74999] eval_recon/cam_front_view_image 14.9 / eval_recon/cam_wrist_view_image 47.5 / train_recon/cam_front_view_image 15.6 / train_recon/cam_wrist_view_image 14.6 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 75000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  51% 75999/150000 [2:00:29<1:16:46, 16.07it/s]model_only_pretrain/pretrain_opt_loss 68.5 / model_only_pretrain/pretrain_opt_grad_norm 138.2 / model_only_pretrain/cam_front_view_image_loss 17.0 / model_only_pretrain/cam_wrist_view_image_loss 19.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.3 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 75100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[75100] model_only_pretrain/pretrain_opt_loss 68.1 / model_only_pretrain/pretrain_opt_grad_norm 133.5 / model_only_pretrain/cam_front_view_image_loss 17.1 / model_only_pretrain/cam_wrist_view_image_loss 19.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.4 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 75200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[75200] model_only_pretrain/pretrain_opt_loss 68.9 / model_only_pretrain/pretrain_opt_grad_norm 133.4 / model_only_pretrain/cam_front_view_image_loss 17.1 / model_only_pretrain/cam_wrist_view_image_loss 19.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.7 / model_only_pretrain/rep_loss 53.7 / model_only_pretrain/kl_value 53.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.5 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 12.2

[Checkpoint] Saving model at step 75300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[75300] model_only_pretrain/pretrain_opt_loss 68.4 / model_only_pretrain/pretrain_opt_grad_norm 135.8 / model_only_pretrain/cam_front_view_image_loss 17.0 / model_only_pretrain/cam_wrist_view_image_loss 19.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.5 / model_only_pretrain/rep_loss 53.5 / model_only_pretrain/kl_value 53.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.4 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 75400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[75400] model_only_pretrain/pretrain_opt_loss 68.2 / model_only_pretrain/pretrain_opt_grad_norm 134.4 / model_only_pretrain/cam_front_view_image_loss 16.8 / model_only_pretrain/cam_wrist_view_image_loss 19.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.3 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.6
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[75499] eval_recon/cam_front_view_image 12.7 / eval_recon/cam_wrist_view_image 65.1 / train_recon/cam_front_view_image 13.0 / train_recon/cam_wrist_view_image 54.5 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 75500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[75500] model_only_pretrain/pretrain_opt_loss 68.7 / model_only_pretrain/pretrain_opt_grad_norm 141.1 / model_only_pretrain/cam_front_view_image_loss 16.8 / model_only_pretrain/cam_wrist_view_image_loss 19.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.6 / model_only_pretrain/rep_loss 53.6 / model_only_pretrain/kl_value 53.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.4 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 75600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[75600] model_only_pretrain/pretrain_opt_loss 69.2 / model_only_pretrain/pretrain_opt_grad_norm 133.9 / model_only_pretrain/cam_front_view_image_loss 17.1 / model_only_pretrain/cam_wrist_view_image_loss 19.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.7 / model_only_pretrain/rep_loss 53.7 / model_only_pretrain/kl_value 53.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.4 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 75700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[75700] model_only_pretrain/pretrain_opt_loss 68.4 / model_only_pretrain/pretrain_opt_grad_norm 139.8 / model_only_pretrain/cam_front_view_image_loss 16.7 / model_only_pretrain/cam_wrist_view_image_loss 19.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.5 / model_only_pretrain/rep_loss 53.5 / model_only_pretrain/kl_value 53.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.5 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 75800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[75800] model_only_pretrain/pretrain_opt_loss 68.4 / model_only_pretrain/pretrain_opt_grad_norm 135.0 / model_only_pretrain/cam_front_view_image_loss 17.0 / model_only_pretrain/cam_wrist_view_image_loss 19.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.3 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 75900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[75900] model_only_pretrain/pretrain_opt_loss 68.8 / model_only_pretrain/pretrain_opt_grad_norm 137.9 / model_only_pretrain/cam_front_view_image_loss 17.1 / model_only_pretrain/cam_wrist_view_image_loss 19.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.7 / model_only_pretrain/rep_loss 53.7 / model_only_pretrain/kl_value 53.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.6 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[75999] eval_recon/cam_front_view_image 14.8 / eval_recon/cam_wrist_view_image 22.6 / train_recon/cam_front_view_image 17.2 / train_recon/cam_wrist_view_image 13.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 76000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  51% 77000/150000 [2:02:15<9:48:17,  2.07it/s]model_only_pretrain/pretrain_opt_loss 68.1 / model_only_pretrain/pretrain_opt_grad_norm 141.0 / model_only_pretrain/cam_front_view_image_loss 16.8 / model_only_pretrain/cam_wrist_view_image_loss 19.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.3 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 76100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[76100] model_only_pretrain/pretrain_opt_loss 68.8 / model_only_pretrain/pretrain_opt_grad_norm 134.4 / model_only_pretrain/cam_front_view_image_loss 17.2 / model_only_pretrain/cam_wrist_view_image_loss 19.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.7 / model_only_pretrain/rep_loss 53.7 / model_only_pretrain/kl_value 53.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.5 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 76200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[76200] model_only_pretrain/pretrain_opt_loss 67.8 / model_only_pretrain/pretrain_opt_grad_norm 134.6 / model_only_pretrain/cam_front_view_image_loss 16.7 / model_only_pretrain/cam_wrist_view_image_loss 19.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.2 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.0

[Checkpoint] Saving model at step 76300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[76300] model_only_pretrain/pretrain_opt_loss 67.8 / model_only_pretrain/pretrain_opt_grad_norm 130.8 / model_only_pretrain/cam_front_view_image_loss 16.6 / model_only_pretrain/cam_wrist_view_image_loss 19.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.3 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.9

[Checkpoint] Saving model at step 76400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[76400] model_only_pretrain/pretrain_opt_loss 69.0 / model_only_pretrain/pretrain_opt_grad_norm 136.5 / model_only_pretrain/cam_front_view_image_loss 17.0 / model_only_pretrain/cam_wrist_view_image_loss 19.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.6 / model_only_pretrain/rep_loss 53.6 / model_only_pretrain/kl_value 53.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.4 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[76499] eval_recon/cam_front_view_image 16.6 / eval_recon/cam_wrist_view_image 24.9 / train_recon/cam_front_view_image 47.8 / train_recon/cam_wrist_view_image 103.6 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 76500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[76500] model_only_pretrain/pretrain_opt_loss 68.6 / model_only_pretrain/pretrain_opt_grad_norm 133.7 / model_only_pretrain/cam_front_view_image_loss 17.0 / model_only_pretrain/cam_wrist_view_image_loss 19.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.6 / model_only_pretrain/rep_loss 53.6 / model_only_pretrain/kl_value 53.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.5 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 8.8

[Checkpoint] Saving model at step 76600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[76600] model_only_pretrain/pretrain_opt_loss 68.8 / model_only_pretrain/pretrain_opt_grad_norm 142.3 / model_only_pretrain/cam_front_view_image_loss 16.9 / model_only_pretrain/cam_wrist_view_image_loss 19.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.7 / model_only_pretrain/rep_loss 53.7 / model_only_pretrain/kl_value 53.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.5 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 8.8

[Checkpoint] Saving model at step 76700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[76700] model_only_pretrain/pretrain_opt_loss 68.4 / model_only_pretrain/pretrain_opt_grad_norm 138.3 / model_only_pretrain/cam_front_view_image_loss 16.7 / model_only_pretrain/cam_wrist_view_image_loss 19.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.3 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.2

[Checkpoint] Saving model at step 76800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[76800] model_only_pretrain/pretrain_opt_loss 68.5 / model_only_pretrain/pretrain_opt_grad_norm 136.0 / model_only_pretrain/cam_front_view_image_loss 16.8 / model_only_pretrain/cam_wrist_view_image_loss 19.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.6 / model_only_pretrain/rep_loss 53.6 / model_only_pretrain/kl_value 53.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.4 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 76900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[76900] model_only_pretrain/pretrain_opt_loss 68.6 / model_only_pretrain/pretrain_opt_grad_norm 139.0 / model_only_pretrain/cam_front_view_image_loss 16.9 / model_only_pretrain/cam_wrist_view_image_loss 19.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.5 / model_only_pretrain/rep_loss 53.5 / model_only_pretrain/kl_value 53.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.4 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[76999] eval_recon/cam_front_view_image 17.0 / eval_recon/cam_wrist_view_image 16.5 / train_recon/cam_front_view_image 17.0 / train_recon/cam_wrist_view_image 22.5 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 77000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  52% 77999/150000 [2:03:50<1:23:20, 14.40it/s]model_only_pretrain/pretrain_opt_loss 68.7 / model_only_pretrain/pretrain_opt_grad_norm 135.1 / model_only_pretrain/cam_front_view_image_loss 16.8 / model_only_pretrain/cam_wrist_view_image_loss 19.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.6 / model_only_pretrain/rep_loss 53.6 / model_only_pretrain/kl_value 53.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.4 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 77100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[77100] model_only_pretrain/pretrain_opt_loss 68.4 / model_only_pretrain/pretrain_opt_grad_norm 129.1 / model_only_pretrain/cam_front_view_image_loss 16.8 / model_only_pretrain/cam_wrist_view_image_loss 19.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.3 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 77200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[77200] model_only_pretrain/pretrain_opt_loss 68.5 / model_only_pretrain/pretrain_opt_grad_norm 129.2 / model_only_pretrain/cam_front_view_image_loss 16.9 / model_only_pretrain/cam_wrist_view_image_loss 19.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.6 / model_only_pretrain/rep_loss 53.6 / model_only_pretrain/kl_value 53.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.3 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 77300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[77300] model_only_pretrain/pretrain_opt_loss 67.9 / model_only_pretrain/pretrain_opt_grad_norm 134.9 / model_only_pretrain/cam_front_view_image_loss 16.9 / model_only_pretrain/cam_wrist_view_image_loss 19.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.2 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 77400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[77400] model_only_pretrain/pretrain_opt_loss 68.8 / model_only_pretrain/pretrain_opt_grad_norm 141.2 / model_only_pretrain/cam_front_view_image_loss 16.8 / model_only_pretrain/cam_wrist_view_image_loss 19.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.6 / model_only_pretrain/rep_loss 53.6 / model_only_pretrain/kl_value 53.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.4 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 12.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[77499] eval_recon/cam_front_view_image 15.3 / eval_recon/cam_wrist_view_image 11.8 / train_recon/cam_front_view_image 11.9 / train_recon/cam_wrist_view_image 11.1 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 77500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[77500] model_only_pretrain/pretrain_opt_loss 68.2 / model_only_pretrain/pretrain_opt_grad_norm 131.3 / model_only_pretrain/cam_front_view_image_loss 16.9 / model_only_pretrain/cam_wrist_view_image_loss 19.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.5 / model_only_pretrain/rep_loss 53.5 / model_only_pretrain/kl_value 53.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.4 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 77600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[77600] model_only_pretrain/pretrain_opt_loss 68.2 / model_only_pretrain/pretrain_opt_grad_norm 131.6 / model_only_pretrain/cam_front_view_image_loss 16.7 / model_only_pretrain/cam_wrist_view_image_loss 19.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.4 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 77700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[77700] model_only_pretrain/pretrain_opt_loss 67.9 / model_only_pretrain/pretrain_opt_grad_norm 133.9 / model_only_pretrain/cam_front_view_image_loss 16.7 / model_only_pretrain/cam_wrist_view_image_loss 19.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.3 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.1

[Checkpoint] Saving model at step 77800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[77800] model_only_pretrain/pretrain_opt_loss 69.0 / model_only_pretrain/pretrain_opt_grad_norm 134.0 / model_only_pretrain/cam_front_view_image_loss 16.8 / model_only_pretrain/cam_wrist_view_image_loss 20.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.7 / model_only_pretrain/rep_loss 53.7 / model_only_pretrain/kl_value 53.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.4 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.3

[Checkpoint] Saving model at step 77900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[77900] model_only_pretrain/pretrain_opt_loss 68.3 / model_only_pretrain/pretrain_opt_grad_norm 134.1 / model_only_pretrain/cam_front_view_image_loss 16.9 / model_only_pretrain/cam_wrist_view_image_loss 19.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.5 / model_only_pretrain/rep_loss 53.5 / model_only_pretrain/kl_value 53.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.4 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 8.9
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[77999] eval_recon/cam_front_view_image 14.6 / eval_recon/cam_wrist_view_image 24.1 / train_recon/cam_front_view_image 17.3 / train_recon/cam_wrist_view_image 13.7 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 78000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  53% 78999/150000 [2:05:37<1:29:29, 13.22it/s]model_only_pretrain/pretrain_opt_loss 68.4 / model_only_pretrain/pretrain_opt_grad_norm 137.5 / model_only_pretrain/cam_front_view_image_loss 16.7 / model_only_pretrain/cam_wrist_view_image_loss 19.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.3 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 8.4

[Checkpoint] Saving model at step 78100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[78100] model_only_pretrain/pretrain_opt_loss 68.5 / model_only_pretrain/pretrain_opt_grad_norm 139.7 / model_only_pretrain/cam_front_view_image_loss 16.9 / model_only_pretrain/cam_wrist_view_image_loss 19.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.5 / model_only_pretrain/rep_loss 53.5 / model_only_pretrain/kl_value 53.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.2 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 8.8

[Checkpoint] Saving model at step 78200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[78200] model_only_pretrain/pretrain_opt_loss 68.6 / model_only_pretrain/pretrain_opt_grad_norm 144.2 / model_only_pretrain/cam_front_view_image_loss 16.9 / model_only_pretrain/cam_wrist_view_image_loss 19.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.6 / model_only_pretrain/rep_loss 53.6 / model_only_pretrain/kl_value 53.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.3 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.2

[Checkpoint] Saving model at step 78300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[78300] model_only_pretrain/pretrain_opt_loss 67.7 / model_only_pretrain/pretrain_opt_grad_norm 132.8 / model_only_pretrain/cam_front_view_image_loss 16.6 / model_only_pretrain/cam_wrist_view_image_loss 19.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.2 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.5

[Checkpoint] Saving model at step 78400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[78400] model_only_pretrain/pretrain_opt_loss 67.0 / model_only_pretrain/pretrain_opt_grad_norm 132.1 / model_only_pretrain/cam_front_view_image_loss 16.4 / model_only_pretrain/cam_wrist_view_image_loss 18.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.1 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.1
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[78499] eval_recon/cam_front_view_image 20.8 / eval_recon/cam_wrist_view_image 23.1 / train_recon/cam_front_view_image 14.3 / train_recon/cam_wrist_view_image 47.9 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 78500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[78500] model_only_pretrain/pretrain_opt_loss 69.0 / model_only_pretrain/pretrain_opt_grad_norm 132.9 / model_only_pretrain/cam_front_view_image_loss 17.0 / model_only_pretrain/cam_wrist_view_image_loss 19.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.7 / model_only_pretrain/rep_loss 53.7 / model_only_pretrain/kl_value 53.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.3 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 78600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[78600] model_only_pretrain/pretrain_opt_loss 67.9 / model_only_pretrain/pretrain_opt_grad_norm 141.2 / model_only_pretrain/cam_front_view_image_loss 16.7 / model_only_pretrain/cam_wrist_view_image_loss 19.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.3 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.3

[Checkpoint] Saving model at step 78700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[78700] model_only_pretrain/pretrain_opt_loss 68.4 / model_only_pretrain/pretrain_opt_grad_norm 132.5 / model_only_pretrain/cam_front_view_image_loss 16.8 / model_only_pretrain/cam_wrist_view_image_loss 19.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.6 / model_only_pretrain/rep_loss 53.6 / model_only_pretrain/kl_value 53.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.4 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.1

[Checkpoint] Saving model at step 78800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[78800] model_only_pretrain/pretrain_opt_loss 68.1 / model_only_pretrain/pretrain_opt_grad_norm 130.6 / model_only_pretrain/cam_front_view_image_loss 16.8 / model_only_pretrain/cam_wrist_view_image_loss 19.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.2 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.9

[Checkpoint] Saving model at step 78900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[78900] model_only_pretrain/pretrain_opt_loss 68.4 / model_only_pretrain/pretrain_opt_grad_norm 137.8 / model_only_pretrain/cam_front_view_image_loss 16.7 / model_only_pretrain/cam_wrist_view_image_loss 19.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.5 / model_only_pretrain/rep_loss 53.5 / model_only_pretrain/kl_value 53.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.3 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.2
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[78999] eval_recon/cam_front_view_image 41.3 / eval_recon/cam_wrist_view_image 347.7 / train_recon/cam_front_view_image 12.9 / train_recon/cam_wrist_view_image 54.0 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 79000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[79000] 
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World Model pretraining:  53% 79999/150000 [2:07:11<1:16:40, 15.22it/s]model_only_pretrain/pretrain_opt_loss 68.7 / model_only_pretrain/pretrain_opt_grad_norm 138.9 / model_only_pretrain/cam_front_view_image_loss 17.0 / model_only_pretrain/cam_wrist_view_image_loss 19.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.7 / model_only_pretrain/rep_loss 53.7 / model_only_pretrain/kl_value 53.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.4 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 79100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[79100] model_only_pretrain/pretrain_opt_loss 68.0 / model_only_pretrain/pretrain_opt_grad_norm 128.7 / model_only_pretrain/cam_front_view_image_loss 16.7 / model_only_pretrain/cam_wrist_view_image_loss 19.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.5 / model_only_pretrain/rep_loss 53.5 / model_only_pretrain/kl_value 53.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.3 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 79200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[79200] model_only_pretrain/pretrain_opt_loss 68.9 / model_only_pretrain/pretrain_opt_grad_norm 133.9 / model_only_pretrain/cam_front_view_image_loss 17.0 / model_only_pretrain/cam_wrist_view_image_loss 19.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.3 / model_only_pretrain/dyn_loss 53.8 / model_only_pretrain/rep_loss 53.8 / model_only_pretrain/kl_value 53.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.5 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 79300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[79300] model_only_pretrain/pretrain_opt_loss 68.2 / model_only_pretrain/pretrain_opt_grad_norm 133.1 / model_only_pretrain/cam_front_view_image_loss 16.7 / model_only_pretrain/cam_wrist_view_image_loss 19.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.5 / model_only_pretrain/rep_loss 53.5 / model_only_pretrain/kl_value 53.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.4 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 79400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[79400] model_only_pretrain/pretrain_opt_loss 67.6 / model_only_pretrain/pretrain_opt_grad_norm 134.6 / model_only_pretrain/cam_front_view_image_loss 16.7 / model_only_pretrain/cam_wrist_view_image_loss 18.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.2 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[79499] eval_recon/cam_front_view_image 15.8 / eval_recon/cam_wrist_view_image 14.6 / train_recon/cam_front_view_image 15.3 / train_recon/cam_wrist_view_image 17.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 79500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[79500] model_only_pretrain/pretrain_opt_loss 68.8 / model_only_pretrain/pretrain_opt_grad_norm 132.7 / model_only_pretrain/cam_front_view_image_loss 17.0 / model_only_pretrain/cam_wrist_view_image_loss 19.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.6 / model_only_pretrain/rep_loss 53.6 / model_only_pretrain/kl_value 53.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.4 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.7

[Checkpoint] Saving model at step 79600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[79600] model_only_pretrain/pretrain_opt_loss 68.0 / model_only_pretrain/pretrain_opt_grad_norm 129.2 / model_only_pretrain/cam_front_view_image_loss 16.6 / model_only_pretrain/cam_wrist_view_image_loss 19.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.5 / model_only_pretrain/rep_loss 53.5 / model_only_pretrain/kl_value 53.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.4 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 8.9

[Checkpoint] Saving model at step 79700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[79700] model_only_pretrain/pretrain_opt_loss 68.4 / model_only_pretrain/pretrain_opt_grad_norm 136.0 / model_only_pretrain/cam_front_view_image_loss 16.7 / model_only_pretrain/cam_wrist_view_image_loss 19.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.6 / model_only_pretrain/rep_loss 53.6 / model_only_pretrain/kl_value 53.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.4 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.3

[Checkpoint] Saving model at step 79800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[79800] model_only_pretrain/pretrain_opt_loss 68.2 / model_only_pretrain/pretrain_opt_grad_norm 135.0 / model_only_pretrain/cam_front_view_image_loss 16.7 / model_only_pretrain/cam_wrist_view_image_loss 19.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.2 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 79900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[79900] model_only_pretrain/pretrain_opt_loss 68.0 / model_only_pretrain/pretrain_opt_grad_norm 136.3 / model_only_pretrain/cam_front_view_image_loss 16.6 / model_only_pretrain/cam_wrist_view_image_loss 19.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.1 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[79999] eval_recon/cam_front_view_image 14.4 / eval_recon/cam_wrist_view_image 27.9 / train_recon/cam_front_view_image 25.0 / train_recon/cam_wrist_view_image 98.7 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 80000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  54% 81000/150000 [2:08:53<8:55:53,  2.15it/s]model_only_pretrain/pretrain_opt_loss 68.3 / model_only_pretrain/pretrain_opt_grad_norm 132.5 / model_only_pretrain/cam_front_view_image_loss 16.9 / model_only_pretrain/cam_wrist_view_image_loss 19.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.2 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 80100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[80100] model_only_pretrain/pretrain_opt_loss 67.6 / model_only_pretrain/pretrain_opt_grad_norm 127.4 / model_only_pretrain/cam_front_view_image_loss 16.5 / model_only_pretrain/cam_wrist_view_image_loss 19.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.2 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 80200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[80200] model_only_pretrain/pretrain_opt_loss 68.5 / model_only_pretrain/pretrain_opt_grad_norm 131.7 / model_only_pretrain/cam_front_view_image_loss 17.0 / model_only_pretrain/cam_wrist_view_image_loss 19.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.6 / model_only_pretrain/rep_loss 53.6 / model_only_pretrain/kl_value 53.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.4 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.8

[Checkpoint] Saving model at step 80300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[80300] model_only_pretrain/pretrain_opt_loss 67.5 / model_only_pretrain/pretrain_opt_grad_norm 136.9 / model_only_pretrain/cam_front_view_image_loss 16.5 / model_only_pretrain/cam_wrist_view_image_loss 19.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.2 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.1

[Checkpoint] Saving model at step 80400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[80400] model_only_pretrain/pretrain_opt_loss 68.0 / model_only_pretrain/pretrain_opt_grad_norm 131.2 / model_only_pretrain/cam_front_view_image_loss 16.7 / model_only_pretrain/cam_wrist_view_image_loss 19.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.2 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.1
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[80499] eval_recon/cam_front_view_image 43.5 / eval_recon/cam_wrist_view_image 104.7 / train_recon/cam_front_view_image 12.6 / train_recon/cam_wrist_view_image 14.5 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 80500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[80500] model_only_pretrain/pretrain_opt_loss 67.8 / model_only_pretrain/pretrain_opt_grad_norm 135.2 / model_only_pretrain/cam_front_view_image_loss 16.5 / model_only_pretrain/cam_wrist_view_image_loss 19.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.1 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 8.5

[Checkpoint] Saving model at step 80600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[80600] model_only_pretrain/pretrain_opt_loss 67.9 / model_only_pretrain/pretrain_opt_grad_norm 132.2 / model_only_pretrain/cam_front_view_image_loss 16.8 / model_only_pretrain/cam_wrist_view_image_loss 19.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.2 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.8

[Checkpoint] Saving model at step 80700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[80700] model_only_pretrain/pretrain_opt_loss 68.2 / model_only_pretrain/pretrain_opt_grad_norm 130.7 / model_only_pretrain/cam_front_view_image_loss 16.7 / model_only_pretrain/cam_wrist_view_image_loss 19.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.5 / model_only_pretrain/rep_loss 53.5 / model_only_pretrain/kl_value 53.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.2 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 80800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[80800] model_only_pretrain/pretrain_opt_loss 68.0 / model_only_pretrain/pretrain_opt_grad_norm 130.9 / model_only_pretrain/cam_front_view_image_loss 16.8 / model_only_pretrain/cam_wrist_view_image_loss 19.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.3 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 80900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[80900] model_only_pretrain/pretrain_opt_loss 67.0 / model_only_pretrain/pretrain_opt_grad_norm 127.2 / model_only_pretrain/cam_front_view_image_loss 16.5 / model_only_pretrain/cam_wrist_view_image_loss 18.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.2 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 12.1
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[80999] eval_recon/cam_front_view_image 22.7 / eval_recon/cam_wrist_view_image 23.4 / train_recon/cam_front_view_image 29.4 / train_recon/cam_wrist_view_image 65.4 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 81000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  55% 82000/150000 [2:10:28<6:48:45,  2.77it/s]model_only_pretrain/pretrain_opt_loss 68.0 / model_only_pretrain/pretrain_opt_grad_norm 129.0 / model_only_pretrain/cam_front_view_image_loss 16.7 / model_only_pretrain/cam_wrist_view_image_loss 19.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.5 / model_only_pretrain/rep_loss 53.5 / model_only_pretrain/kl_value 53.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.2 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 81100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[81100] model_only_pretrain/pretrain_opt_loss 67.7 / model_only_pretrain/pretrain_opt_grad_norm 135.1 / model_only_pretrain/cam_front_view_image_loss 16.8 / model_only_pretrain/cam_wrist_view_image_loss 18.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.2 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 81200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[81200] model_only_pretrain/pretrain_opt_loss 68.6 / model_only_pretrain/pretrain_opt_grad_norm 133.6 / model_only_pretrain/cam_front_view_image_loss 16.9 / model_only_pretrain/cam_wrist_view_image_loss 19.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.6 / model_only_pretrain/rep_loss 53.6 / model_only_pretrain/kl_value 53.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.4 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 81300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[81300] model_only_pretrain/pretrain_opt_loss 67.8 / model_only_pretrain/pretrain_opt_grad_norm 130.8 / model_only_pretrain/cam_front_view_image_loss 16.5 / model_only_pretrain/cam_wrist_view_image_loss 19.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.1 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.4

[Checkpoint] Saving model at step 81400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[81400] model_only_pretrain/pretrain_opt_loss 68.1 / model_only_pretrain/pretrain_opt_grad_norm 136.9 / model_only_pretrain/cam_front_view_image_loss 16.8 / model_only_pretrain/cam_wrist_view_image_loss 19.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.2 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[81499] eval_recon/cam_front_view_image 13.6 / eval_recon/cam_wrist_view_image 21.2 / train_recon/cam_front_view_image 12.0 / train_recon/cam_wrist_view_image 55.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 81500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[81500] model_only_pretrain/pretrain_opt_loss 67.4 / model_only_pretrain/pretrain_opt_grad_norm 127.1 / model_only_pretrain/cam_front_view_image_loss 16.5 / model_only_pretrain/cam_wrist_view_image_loss 19.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.1 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 81600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[81600] model_only_pretrain/pretrain_opt_loss 67.9 / model_only_pretrain/pretrain_opt_grad_norm 134.4 / model_only_pretrain/cam_front_view_image_loss 16.8 / model_only_pretrain/cam_wrist_view_image_loss 19.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.1 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 81700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[81700] model_only_pretrain/pretrain_opt_loss 67.4 / model_only_pretrain/pretrain_opt_grad_norm 134.1 / model_only_pretrain/cam_front_view_image_loss 16.5 / model_only_pretrain/cam_wrist_view_image_loss 19.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.1 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 81800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[81800] model_only_pretrain/pretrain_opt_loss 67.8 / model_only_pretrain/pretrain_opt_grad_norm 132.7 / model_only_pretrain/cam_front_view_image_loss 16.4 / model_only_pretrain/cam_wrist_view_image_loss 19.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.1 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 81900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[81900] model_only_pretrain/pretrain_opt_loss 67.3 / model_only_pretrain/pretrain_opt_grad_norm 131.5 / model_only_pretrain/cam_front_view_image_loss 16.5 / model_only_pretrain/cam_wrist_view_image_loss 18.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.1 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.9
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[81999] eval_recon/cam_front_view_image 18.2 / eval_recon/cam_wrist_view_image 18.5 / train_recon/cam_front_view_image 14.8 / train_recon/cam_wrist_view_image 18.7 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 82000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  55% 82999/150000 [2:12:06<1:15:00, 14.89it/s]model_only_pretrain/pretrain_opt_loss 67.4 / model_only_pretrain/pretrain_opt_grad_norm 129.6 / model_only_pretrain/cam_front_view_image_loss 16.5 / model_only_pretrain/cam_wrist_view_image_loss 19.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.0 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 82100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[82100] model_only_pretrain/pretrain_opt_loss 67.5 / model_only_pretrain/pretrain_opt_grad_norm 135.1 / model_only_pretrain/cam_front_view_image_loss 16.4 / model_only_pretrain/cam_wrist_view_image_loss 19.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.0 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 82200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[82200] model_only_pretrain/pretrain_opt_loss 68.2 / model_only_pretrain/pretrain_opt_grad_norm 133.7 / model_only_pretrain/cam_front_view_image_loss 16.8 / model_only_pretrain/cam_wrist_view_image_loss 19.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.5 / model_only_pretrain/rep_loss 53.5 / model_only_pretrain/kl_value 53.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.2 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 82300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[82300] model_only_pretrain/pretrain_opt_loss 67.9 / model_only_pretrain/pretrain_opt_grad_norm 133.7 / model_only_pretrain/cam_front_view_image_loss 16.6 / model_only_pretrain/cam_wrist_view_image_loss 19.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.2 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 82400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[82400] model_only_pretrain/pretrain_opt_loss 67.9 / model_only_pretrain/pretrain_opt_grad_norm 133.1 / model_only_pretrain/cam_front_view_image_loss 16.7 / model_only_pretrain/cam_wrist_view_image_loss 19.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.2 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.6
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[82499] eval_recon/cam_front_view_image 12.7 / eval_recon/cam_wrist_view_image 14.4 / train_recon/cam_front_view_image 15.3 / train_recon/cam_wrist_view_image 21.5 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 82500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[82500] model_only_pretrain/pretrain_opt_loss 68.4 / model_only_pretrain/pretrain_opt_grad_norm 137.7 / model_only_pretrain/cam_front_view_image_loss 16.9 / model_only_pretrain/cam_wrist_view_image_loss 19.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.6 / model_only_pretrain/rep_loss 53.6 / model_only_pretrain/kl_value 53.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.4 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 8.7

[Checkpoint] Saving model at step 82600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[82600] model_only_pretrain/pretrain_opt_loss 67.8 / model_only_pretrain/pretrain_opt_grad_norm 127.7 / model_only_pretrain/cam_front_view_image_loss 16.6 / model_only_pretrain/cam_wrist_view_image_loss 19.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.1 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.3

[Checkpoint] Saving model at step 82700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[82700] model_only_pretrain/pretrain_opt_loss 66.8 / model_only_pretrain/pretrain_opt_grad_norm 126.3 / model_only_pretrain/cam_front_view_image_loss 16.4 / model_only_pretrain/cam_wrist_view_image_loss 18.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.0 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 8.7

[Checkpoint] Saving model at step 82800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[82800] model_only_pretrain/pretrain_opt_loss 67.7 / model_only_pretrain/pretrain_opt_grad_norm 141.5 / model_only_pretrain/cam_front_view_image_loss 16.4 / model_only_pretrain/cam_wrist_view_image_loss 19.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.2 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 8.7

[Checkpoint] Saving model at step 82900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[82900] model_only_pretrain/pretrain_opt_loss 67.4 / model_only_pretrain/pretrain_opt_grad_norm 137.9 / model_only_pretrain/cam_front_view_image_loss 16.5 / model_only_pretrain/cam_wrist_view_image_loss 18.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.0 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.5
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[82999] eval_recon/cam_front_view_image 15.4 / eval_recon/cam_wrist_view_image 95.4 / train_recon/cam_front_view_image 17.0 / train_recon/cam_wrist_view_image 18.2 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 83000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  56% 83999/150000 [2:13:41<1:12:27, 15.18it/s]model_only_pretrain/pretrain_opt_loss 67.8 / model_only_pretrain/pretrain_opt_grad_norm 135.5 / model_only_pretrain/cam_front_view_image_loss 16.7 / model_only_pretrain/cam_wrist_view_image_loss 19.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.1 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 83100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[83100] model_only_pretrain/pretrain_opt_loss 67.9 / model_only_pretrain/pretrain_opt_grad_norm 136.4 / model_only_pretrain/cam_front_view_image_loss 16.4 / model_only_pretrain/cam_wrist_view_image_loss 19.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.1 / model_only_pretrain/rep_loss 53.1 / model_only_pretrain/kl_value 53.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.9 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 83200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[83200] model_only_pretrain/pretrain_opt_loss 67.5 / model_only_pretrain/pretrain_opt_grad_norm 128.0 / model_only_pretrain/cam_front_view_image_loss 16.5 / model_only_pretrain/cam_wrist_view_image_loss 18.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.1 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 83300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[83300] model_only_pretrain/pretrain_opt_loss 67.4 / model_only_pretrain/pretrain_opt_grad_norm 126.4 / model_only_pretrain/cam_front_view_image_loss 16.4 / model_only_pretrain/cam_wrist_view_image_loss 18.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.0 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 83400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[83400] model_only_pretrain/pretrain_opt_loss 67.7 / model_only_pretrain/pretrain_opt_grad_norm 130.6 / model_only_pretrain/cam_front_view_image_loss 16.4 / model_only_pretrain/cam_wrist_view_image_loss 19.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.0 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.2
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[83499] eval_recon/cam_front_view_image 12.4 / eval_recon/cam_wrist_view_image 15.0 / train_recon/cam_front_view_image 9.9 / train_recon/cam_wrist_view_image 15.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 83500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[83500] model_only_pretrain/pretrain_opt_loss 67.2 / model_only_pretrain/pretrain_opt_grad_norm 135.1 / model_only_pretrain/cam_front_view_image_loss 16.4 / model_only_pretrain/cam_wrist_view_image_loss 18.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.1 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 83600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[83600] model_only_pretrain/pretrain_opt_loss 67.7 / model_only_pretrain/pretrain_opt_grad_norm 127.7 / model_only_pretrain/cam_front_view_image_loss 16.6 / model_only_pretrain/cam_wrist_view_image_loss 19.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.1 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 83700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[83700] model_only_pretrain/pretrain_opt_loss 67.4 / model_only_pretrain/pretrain_opt_grad_norm 127.2 / model_only_pretrain/cam_front_view_image_loss 16.6 / model_only_pretrain/cam_wrist_view_image_loss 18.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.1 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.0

[Checkpoint] Saving model at step 83800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[83800] model_only_pretrain/pretrain_opt_loss 67.0 / model_only_pretrain/pretrain_opt_grad_norm 128.4 / model_only_pretrain/cam_front_view_image_loss 16.3 / model_only_pretrain/cam_wrist_view_image_loss 18.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.1 / model_only_pretrain/rep_loss 53.1 / model_only_pretrain/kl_value 53.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.9 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 83900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[83900] model_only_pretrain/pretrain_opt_loss 66.8 / model_only_pretrain/pretrain_opt_grad_norm 128.0 / model_only_pretrain/cam_front_view_image_loss 16.3 / model_only_pretrain/cam_wrist_view_image_loss 18.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.0 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.1
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[83999] eval_recon/cam_front_view_image 14.2 / eval_recon/cam_wrist_view_image 37.9 / train_recon/cam_front_view_image 46.1 / train_recon/cam_wrist_view_image 66.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 84000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[84000] 
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World Model pretraining:  57% 85000/150000 [2:15:20<11:53:39,  1.52it/s]model_only_pretrain/pretrain_opt_loss 66.8 / model_only_pretrain/pretrain_opt_grad_norm 130.2 / model_only_pretrain/cam_front_view_image_loss 16.4 / model_only_pretrain/cam_wrist_view_image_loss 18.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.1 / model_only_pretrain/rep_loss 53.1 / model_only_pretrain/kl_value 53.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.9 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 84100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[84100] model_only_pretrain/pretrain_opt_loss 67.1 / model_only_pretrain/pretrain_opt_grad_norm 132.8 / model_only_pretrain/cam_front_view_image_loss 16.4 / model_only_pretrain/cam_wrist_view_image_loss 18.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.1 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.4

[Checkpoint] Saving model at step 84200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[84200] model_only_pretrain/pretrain_opt_loss 67.4 / model_only_pretrain/pretrain_opt_grad_norm 127.2 / model_only_pretrain/cam_front_view_image_loss 16.6 / model_only_pretrain/cam_wrist_view_image_loss 18.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.0 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 84300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[84300] model_only_pretrain/pretrain_opt_loss 67.3 / model_only_pretrain/pretrain_opt_grad_norm 124.2 / model_only_pretrain/cam_front_view_image_loss 16.3 / model_only_pretrain/cam_wrist_view_image_loss 19.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.0 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.0

[Checkpoint] Saving model at step 84400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[84400] model_only_pretrain/pretrain_opt_loss 67.6 / model_only_pretrain/pretrain_opt_grad_norm 128.1 / model_only_pretrain/cam_front_view_image_loss 16.7 / model_only_pretrain/cam_wrist_view_image_loss 19.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.1 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.3
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[84499] eval_recon/cam_front_view_image 10.3 / eval_recon/cam_wrist_view_image 11.9 / train_recon/cam_front_view_image 16.8 / train_recon/cam_wrist_view_image 20.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 84500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[84500] model_only_pretrain/pretrain_opt_loss 67.5 / model_only_pretrain/pretrain_opt_grad_norm 131.5 / model_only_pretrain/cam_front_view_image_loss 16.6 / model_only_pretrain/cam_wrist_view_image_loss 19.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.9 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 84600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[84600] model_only_pretrain/pretrain_opt_loss 68.1 / model_only_pretrain/pretrain_opt_grad_norm 141.2 / model_only_pretrain/cam_front_view_image_loss 16.5 / model_only_pretrain/cam_wrist_view_image_loss 19.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.5 / model_only_pretrain/rep_loss 53.5 / model_only_pretrain/kl_value 53.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.2 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 84700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[84700] model_only_pretrain/pretrain_opt_loss 67.6 / model_only_pretrain/pretrain_opt_grad_norm 131.7 / model_only_pretrain/cam_front_view_image_loss 16.5 / model_only_pretrain/cam_wrist_view_image_loss 19.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.1 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 84800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[84800] model_only_pretrain/pretrain_opt_loss 67.4 / model_only_pretrain/pretrain_opt_grad_norm 129.2 / model_only_pretrain/cam_front_view_image_loss 16.5 / model_only_pretrain/cam_wrist_view_image_loss 18.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.1 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 84900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[84900] model_only_pretrain/pretrain_opt_loss 67.6 / model_only_pretrain/pretrain_opt_grad_norm 129.9 / model_only_pretrain/cam_front_view_image_loss 16.6 / model_only_pretrain/cam_wrist_view_image_loss 19.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.1 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[84999] eval_recon/cam_front_view_image 14.5 / eval_recon/cam_wrist_view_image 42.8 / train_recon/cam_front_view_image 18.1 / train_recon/cam_wrist_view_image 18.7 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 85000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  57% 86000/150000 [2:16:51<10:00:37,  1.78it/s]model_only_pretrain/pretrain_opt_loss 67.2 / model_only_pretrain/pretrain_opt_grad_norm 135.7 / model_only_pretrain/cam_front_view_image_loss 16.2 / model_only_pretrain/cam_wrist_view_image_loss 19.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.9 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.3

[Checkpoint] Saving model at step 85100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[85100] model_only_pretrain/pretrain_opt_loss 67.0 / model_only_pretrain/pretrain_opt_grad_norm 135.7 / model_only_pretrain/cam_front_view_image_loss 16.4 / model_only_pretrain/cam_wrist_view_image_loss 18.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.0 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.8

[Checkpoint] Saving model at step 85200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[85200] model_only_pretrain/pretrain_opt_loss 67.2 / model_only_pretrain/pretrain_opt_grad_norm 129.9 / model_only_pretrain/cam_front_view_image_loss 16.3 / model_only_pretrain/cam_wrist_view_image_loss 18.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.1 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.4

[Checkpoint] Saving model at step 85300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[85300] model_only_pretrain/pretrain_opt_loss 67.5 / model_only_pretrain/pretrain_opt_grad_norm 136.7 / model_only_pretrain/cam_front_view_image_loss 16.6 / model_only_pretrain/cam_wrist_view_image_loss 18.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.2 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 85400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[85400] model_only_pretrain/pretrain_opt_loss 67.4 / model_only_pretrain/pretrain_opt_grad_norm 129.6 / model_only_pretrain/cam_front_view_image_loss 16.3 / model_only_pretrain/cam_wrist_view_image_loss 19.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.2 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[85499] eval_recon/cam_front_view_image 11.7 / eval_recon/cam_wrist_view_image 13.5 / train_recon/cam_front_view_image 15.2 / train_recon/cam_wrist_view_image 17.0 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 85500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[85500] model_only_pretrain/pretrain_opt_loss 67.4 / model_only_pretrain/pretrain_opt_grad_norm 127.6 / model_only_pretrain/cam_front_view_image_loss 16.3 / model_only_pretrain/cam_wrist_view_image_loss 19.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.2 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 12.4

[Checkpoint] Saving model at step 85600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[85600] model_only_pretrain/pretrain_opt_loss 67.3 / model_only_pretrain/pretrain_opt_grad_norm 126.5 / model_only_pretrain/cam_front_view_image_loss 16.5 / model_only_pretrain/cam_wrist_view_image_loss 19.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.1 / model_only_pretrain/rep_loss 53.1 / model_only_pretrain/kl_value 53.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.9 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 12.1

[Checkpoint] Saving model at step 85700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[85700] model_only_pretrain/pretrain_opt_loss 66.9 / model_only_pretrain/pretrain_opt_grad_norm 132.0 / model_only_pretrain/cam_front_view_image_loss 16.3 / model_only_pretrain/cam_wrist_view_image_loss 18.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.1 / model_only_pretrain/rep_loss 53.1 / model_only_pretrain/kl_value 53.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.9 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 85800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[85800] model_only_pretrain/pretrain_opt_loss 67.4 / model_only_pretrain/pretrain_opt_grad_norm 130.9 / model_only_pretrain/cam_front_view_image_loss 16.4 / model_only_pretrain/cam_wrist_view_image_loss 19.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.1 / model_only_pretrain/rep_loss 53.1 / model_only_pretrain/kl_value 53.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.9 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 85900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[85900] model_only_pretrain/pretrain_opt_loss 67.5 / model_only_pretrain/pretrain_opt_grad_norm 133.7 / model_only_pretrain/cam_front_view_image_loss 16.4 / model_only_pretrain/cam_wrist_view_image_loss 19.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.9 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.5
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[85999] eval_recon/cam_front_view_image 15.7 / eval_recon/cam_wrist_view_image 23.7 / train_recon/cam_front_view_image 13.4 / train_recon/cam_wrist_view_image 14.1 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 86000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  58% 87000/150000 [2:18:26<10:33:19,  1.66it/s]model_only_pretrain/pretrain_opt_loss 67.1 / model_only_pretrain/pretrain_opt_grad_norm 136.1 / model_only_pretrain/cam_front_view_image_loss 16.3 / model_only_pretrain/cam_wrist_view_image_loss 18.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.0 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.4

[Checkpoint] Saving model at step 86100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[86100] model_only_pretrain/pretrain_opt_loss 67.7 / model_only_pretrain/pretrain_opt_grad_norm 139.3 / model_only_pretrain/cam_front_view_image_loss 16.4 / model_only_pretrain/cam_wrist_view_image_loss 19.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.0 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 86200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[86200] model_only_pretrain/pretrain_opt_loss 67.0 / model_only_pretrain/pretrain_opt_grad_norm 130.2 / model_only_pretrain/cam_front_view_image_loss 16.2 / model_only_pretrain/cam_wrist_view_image_loss 18.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.0 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 86300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[86300] model_only_pretrain/pretrain_opt_loss 67.2 / model_only_pretrain/pretrain_opt_grad_norm 132.3 / model_only_pretrain/cam_front_view_image_loss 16.3 / model_only_pretrain/cam_wrist_view_image_loss 19.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.0 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 86400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[86400] model_only_pretrain/pretrain_opt_loss 68.4 / model_only_pretrain/pretrain_opt_grad_norm 139.4 / model_only_pretrain/cam_front_view_image_loss 16.5 / model_only_pretrain/cam_wrist_view_image_loss 19.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.2 / model_only_pretrain/dyn_loss 53.7 / model_only_pretrain/rep_loss 53.7 / model_only_pretrain/kl_value 53.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.2 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 12.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[86499] eval_recon/cam_front_view_image 14.3 / eval_recon/cam_wrist_view_image 10.2 / train_recon/cam_front_view_image 11.0 / train_recon/cam_wrist_view_image 13.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 86500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[86500] model_only_pretrain/pretrain_opt_loss 66.9 / model_only_pretrain/pretrain_opt_grad_norm 127.2 / model_only_pretrain/cam_front_view_image_loss 16.2 / model_only_pretrain/cam_wrist_view_image_loss 18.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.1 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 12.2

[Checkpoint] Saving model at step 86600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[86600] model_only_pretrain/pretrain_opt_loss 67.7 / model_only_pretrain/pretrain_opt_grad_norm 126.8 / model_only_pretrain/cam_front_view_image_loss 16.6 / model_only_pretrain/cam_wrist_view_image_loss 19.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.1 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 86700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[86700] model_only_pretrain/pretrain_opt_loss 67.3 / model_only_pretrain/pretrain_opt_grad_norm 130.6 / model_only_pretrain/cam_front_view_image_loss 16.5 / model_only_pretrain/cam_wrist_view_image_loss 18.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.0 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.5

[Checkpoint] Saving model at step 86800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[86800] model_only_pretrain/pretrain_opt_loss 67.4 / model_only_pretrain/pretrain_opt_grad_norm 129.1 / model_only_pretrain/cam_front_view_image_loss 16.4 / model_only_pretrain/cam_wrist_view_image_loss 19.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.0 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.4

[Checkpoint] Saving model at step 86900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[86900] model_only_pretrain/pretrain_opt_loss 67.0 / model_only_pretrain/pretrain_opt_grad_norm 128.0 / model_only_pretrain/cam_front_view_image_loss 16.4 / model_only_pretrain/cam_wrist_view_image_loss 18.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.9 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 9.9
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[86999] eval_recon/cam_front_view_image 12.7 / eval_recon/cam_wrist_view_image 19.0 / train_recon/cam_front_view_image 13.6 / train_recon/cam_wrist_view_image 15.2 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 87000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  59% 88000/150000 [2:19:58<6:45:59,  2.55it/s]model_only_pretrain/pretrain_opt_loss 67.1 / model_only_pretrain/pretrain_opt_grad_norm 125.6 / model_only_pretrain/cam_front_view_image_loss 16.3 / model_only_pretrain/cam_wrist_view_image_loss 18.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.9 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.7

[Checkpoint] Saving model at step 87100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[87100] model_only_pretrain/pretrain_opt_loss 66.7 / model_only_pretrain/pretrain_opt_grad_norm 127.5 / model_only_pretrain/cam_front_view_image_loss 16.2 / model_only_pretrain/cam_wrist_view_image_loss 18.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.8 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.8

[Checkpoint] Saving model at step 87200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[87200] model_only_pretrain/pretrain_opt_loss 67.1 / model_only_pretrain/pretrain_opt_grad_norm 128.0 / model_only_pretrain/cam_front_view_image_loss 16.3 / model_only_pretrain/cam_wrist_view_image_loss 18.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.8 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.2

[Checkpoint] Saving model at step 87300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[87300] model_only_pretrain/pretrain_opt_loss 67.4 / model_only_pretrain/pretrain_opt_grad_norm 124.2 / model_only_pretrain/cam_front_view_image_loss 16.4 / model_only_pretrain/cam_wrist_view_image_loss 19.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.8 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 87400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[87400] model_only_pretrain/pretrain_opt_loss 66.4 / model_only_pretrain/pretrain_opt_grad_norm 130.2 / model_only_pretrain/cam_front_view_image_loss 16.2 / model_only_pretrain/cam_wrist_view_image_loss 18.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.7 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.2
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[87499] eval_recon/cam_front_view_image 14.6 / eval_recon/cam_wrist_view_image 14.7 / train_recon/cam_front_view_image 16.9 / train_recon/cam_wrist_view_image 20.6 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 87500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[87500] model_only_pretrain/pretrain_opt_loss 67.8 / model_only_pretrain/pretrain_opt_grad_norm 134.9 / model_only_pretrain/cam_front_view_image_loss 16.5 / model_only_pretrain/cam_wrist_view_image_loss 19.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.1 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.1 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 87600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[87600] model_only_pretrain/pretrain_opt_loss 67.1 / model_only_pretrain/pretrain_opt_grad_norm 128.5 / model_only_pretrain/cam_front_view_image_loss 16.3 / model_only_pretrain/cam_wrist_view_image_loss 18.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.9 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 87700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[87700] model_only_pretrain/pretrain_opt_loss 67.4 / model_only_pretrain/pretrain_opt_grad_norm 125.8 / model_only_pretrain/cam_front_view_image_loss 16.3 / model_only_pretrain/cam_wrist_view_image_loss 19.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.0 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 87800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[87800] model_only_pretrain/pretrain_opt_loss 67.0 / model_only_pretrain/pretrain_opt_grad_norm 130.0 / model_only_pretrain/cam_front_view_image_loss 16.3 / model_only_pretrain/cam_wrist_view_image_loss 18.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.9 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 87900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[87900] model_only_pretrain/pretrain_opt_loss 67.3 / model_only_pretrain/pretrain_opt_grad_norm 129.8 / model_only_pretrain/cam_front_view_image_loss 16.3 / model_only_pretrain/cam_wrist_view_image_loss 19.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.0 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.2
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[87999] eval_recon/cam_front_view_image 14.6 / eval_recon/cam_wrist_view_image 19.2 / train_recon/cam_front_view_image 14.0 / train_recon/cam_wrist_view_image 14.2 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 88000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  59% 89000/150000 [2:21:32<13:05:52,  1.29it/s]model_only_pretrain/pretrain_opt_loss 67.4 / model_only_pretrain/pretrain_opt_grad_norm 129.8 / model_only_pretrain/cam_front_view_image_loss 16.3 / model_only_pretrain/cam_wrist_view_image_loss 19.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.0 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 88100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[88100] model_only_pretrain/pretrain_opt_loss 67.5 / model_only_pretrain/pretrain_opt_grad_norm 134.5 / model_only_pretrain/cam_front_view_image_loss 16.2 / model_only_pretrain/cam_wrist_view_image_loss 19.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.8 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 88200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[88200] model_only_pretrain/pretrain_opt_loss 67.7 / model_only_pretrain/pretrain_opt_grad_norm 133.0 / model_only_pretrain/cam_front_view_image_loss 16.5 / model_only_pretrain/cam_wrist_view_image_loss 19.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.1 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 88300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[88300] model_only_pretrain/pretrain_opt_loss 67.0 / model_only_pretrain/pretrain_opt_grad_norm 134.3 / model_only_pretrain/cam_front_view_image_loss 16.1 / model_only_pretrain/cam_wrist_view_image_loss 18.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.0 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 88400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[88400] model_only_pretrain/pretrain_opt_loss 67.3 / model_only_pretrain/pretrain_opt_grad_norm 133.3 / model_only_pretrain/cam_front_view_image_loss 16.3 / model_only_pretrain/cam_wrist_view_image_loss 19.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.9 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.9
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[88499] eval_recon/cam_front_view_image 16.5 / eval_recon/cam_wrist_view_image 9.8 / train_recon/cam_front_view_image 12.9 / train_recon/cam_wrist_view_image 14.1 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 88500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[88500] model_only_pretrain/pretrain_opt_loss 67.1 / model_only_pretrain/pretrain_opt_grad_norm 124.5 / model_only_pretrain/cam_front_view_image_loss 16.3 / model_only_pretrain/cam_wrist_view_image_loss 18.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.9 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 88600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[88600] model_only_pretrain/pretrain_opt_loss 66.8 / model_only_pretrain/pretrain_opt_grad_norm 127.4 / model_only_pretrain/cam_front_view_image_loss 16.3 / model_only_pretrain/cam_wrist_view_image_loss 18.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.9 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 88700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[88700] model_only_pretrain/pretrain_opt_loss 67.0 / model_only_pretrain/pretrain_opt_grad_norm 128.4 / model_only_pretrain/cam_front_view_image_loss 16.3 / model_only_pretrain/cam_wrist_view_image_loss 18.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.1 / model_only_pretrain/rep_loss 53.1 / model_only_pretrain/kl_value 53.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.8 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 88800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[88800] model_only_pretrain/pretrain_opt_loss 66.7 / model_only_pretrain/pretrain_opt_grad_norm 125.7 / model_only_pretrain/cam_front_view_image_loss 16.5 / model_only_pretrain/cam_wrist_view_image_loss 18.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.1 / model_only_pretrain/rep_loss 53.1 / model_only_pretrain/kl_value 53.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.9 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.5

[Checkpoint] Saving model at step 88900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[88900] model_only_pretrain/pretrain_opt_loss 66.4 / model_only_pretrain/pretrain_opt_grad_norm 127.4 / model_only_pretrain/cam_front_view_image_loss 16.2 / model_only_pretrain/cam_wrist_view_image_loss 18.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.8 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.1
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[88999] eval_recon/cam_front_view_image 14.1 / eval_recon/cam_wrist_view_image 14.8 / train_recon/cam_front_view_image 11.8 / train_recon/cam_wrist_view_image 17.4 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 89000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  60% 90000/150000 [2:23:12<8:08:10,  2.05it/s]model_only_pretrain/pretrain_opt_loss 66.8 / model_only_pretrain/pretrain_opt_grad_norm 125.6 / model_only_pretrain/cam_front_view_image_loss 16.3 / model_only_pretrain/cam_wrist_view_image_loss 18.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.1 / model_only_pretrain/rep_loss 53.1 / model_only_pretrain/kl_value 53.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.9 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 8.8

[Checkpoint] Saving model at step 89100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[89100] model_only_pretrain/pretrain_opt_loss 66.8 / model_only_pretrain/pretrain_opt_grad_norm 130.4 / model_only_pretrain/cam_front_view_image_loss 16.3 / model_only_pretrain/cam_wrist_view_image_loss 18.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.1 / model_only_pretrain/rep_loss 53.1 / model_only_pretrain/kl_value 53.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.8 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.4

[Checkpoint] Saving model at step 89200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[89200] model_only_pretrain/pretrain_opt_loss 66.4 / model_only_pretrain/pretrain_opt_grad_norm 129.6 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 18.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.1 / model_only_pretrain/rep_loss 53.1 / model_only_pretrain/kl_value 53.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.9 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.1

[Checkpoint] Saving model at step 89300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[89300] model_only_pretrain/pretrain_opt_loss 67.3 / model_only_pretrain/pretrain_opt_grad_norm 132.0 / model_only_pretrain/cam_front_view_image_loss 16.2 / model_only_pretrain/cam_wrist_view_image_loss 19.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.0 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 8.3

[Checkpoint] Saving model at step 89400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[89400] model_only_pretrain/pretrain_opt_loss 66.5 / model_only_pretrain/pretrain_opt_grad_norm 139.1 / model_only_pretrain/cam_front_view_image_loss 16.1 / model_only_pretrain/cam_wrist_view_image_loss 18.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.7 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 8.9
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[89499] eval_recon/cam_front_view_image 15.2 / eval_recon/cam_wrist_view_image 17.3 / train_recon/cam_front_view_image 14.5 / train_recon/cam_wrist_view_image 13.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 89500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[89500] model_only_pretrain/pretrain_opt_loss 67.0 / model_only_pretrain/pretrain_opt_grad_norm 130.5 / model_only_pretrain/cam_front_view_image_loss 16.3 / model_only_pretrain/cam_wrist_view_image_loss 18.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.9 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.8

[Checkpoint] Saving model at step 89600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[89600] model_only_pretrain/pretrain_opt_loss 66.7 / model_only_pretrain/pretrain_opt_grad_norm 124.9 / model_only_pretrain/cam_front_view_image_loss 16.1 / model_only_pretrain/cam_wrist_view_image_loss 18.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.1 / model_only_pretrain/rep_loss 53.1 / model_only_pretrain/kl_value 53.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.8 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.0

[Checkpoint] Saving model at step 89700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[89700] model_only_pretrain/pretrain_opt_loss 67.0 / model_only_pretrain/pretrain_opt_grad_norm 126.7 / model_only_pretrain/cam_front_view_image_loss 16.3 / model_only_pretrain/cam_wrist_view_image_loss 18.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.8 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 89800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[89800] model_only_pretrain/pretrain_opt_loss 67.3 / model_only_pretrain/pretrain_opt_grad_norm 126.6 / model_only_pretrain/cam_front_view_image_loss 16.3 / model_only_pretrain/cam_wrist_view_image_loss 19.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.0 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 12.7

[Checkpoint] Saving model at step 89900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[89900] model_only_pretrain/pretrain_opt_loss 66.5 / model_only_pretrain/pretrain_opt_grad_norm 132.0 / model_only_pretrain/cam_front_view_image_loss 16.2 / model_only_pretrain/cam_wrist_view_image_loss 18.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.1 / model_only_pretrain/rep_loss 53.1 / model_only_pretrain/kl_value 53.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.9 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.5
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[89999] eval_recon/cam_front_view_image 13.6 / eval_recon/cam_wrist_view_image 16.9 / train_recon/cam_front_view_image 13.0 / train_recon/cam_wrist_view_image 18.4 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 90000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  61% 90999/150000 [2:24:43<55:06, 17.84it/s]model_only_pretrain/pretrain_opt_loss 67.0 / model_only_pretrain/pretrain_opt_grad_norm 132.0 / model_only_pretrain/cam_front_view_image_loss 16.2 / model_only_pretrain/cam_wrist_view_image_loss 18.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.7 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 90100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[90100] model_only_pretrain/pretrain_opt_loss 66.7 / model_only_pretrain/pretrain_opt_grad_norm 127.3 / model_only_pretrain/cam_front_view_image_loss 16.0 / model_only_pretrain/cam_wrist_view_image_loss 18.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.7 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 90200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[90200] model_only_pretrain/pretrain_opt_loss 66.9 / model_only_pretrain/pretrain_opt_grad_norm 131.5 / model_only_pretrain/cam_front_view_image_loss 16.3 / model_only_pretrain/cam_wrist_view_image_loss 18.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.1 / model_only_pretrain/rep_loss 53.1 / model_only_pretrain/kl_value 53.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.8 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 90300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[90300] model_only_pretrain/pretrain_opt_loss 66.7 / model_only_pretrain/pretrain_opt_grad_norm 130.8 / model_only_pretrain/cam_front_view_image_loss 16.3 / model_only_pretrain/cam_wrist_view_image_loss 18.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.8 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 90400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[90400] model_only_pretrain/pretrain_opt_loss 67.5 / model_only_pretrain/pretrain_opt_grad_norm 133.5 / model_only_pretrain/cam_front_view_image_loss 16.4 / model_only_pretrain/cam_wrist_view_image_loss 19.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.0 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[90499] eval_recon/cam_front_view_image 14.3 / eval_recon/cam_wrist_view_image 14.2 / train_recon/cam_front_view_image 39.3 / train_recon/cam_wrist_view_image 117.6 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 90500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[90500] model_only_pretrain/pretrain_opt_loss 66.9 / model_only_pretrain/pretrain_opt_grad_norm 133.0 / model_only_pretrain/cam_front_view_image_loss 16.3 / model_only_pretrain/cam_wrist_view_image_loss 18.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.8 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.9

[Checkpoint] Saving model at step 90600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[90600] model_only_pretrain/pretrain_opt_loss 66.6 / model_only_pretrain/pretrain_opt_grad_norm 126.4 / model_only_pretrain/cam_front_view_image_loss 16.0 / model_only_pretrain/cam_wrist_view_image_loss 18.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.7 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 90700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[90700] model_only_pretrain/pretrain_opt_loss 67.2 / model_only_pretrain/pretrain_opt_grad_norm 129.7 / model_only_pretrain/cam_front_view_image_loss 16.4 / model_only_pretrain/cam_wrist_view_image_loss 18.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.0 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 12.1

[Checkpoint] Saving model at step 90800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[90800] model_only_pretrain/pretrain_opt_loss 66.6 / model_only_pretrain/pretrain_opt_grad_norm 122.3 / model_only_pretrain/cam_front_view_image_loss 16.2 / model_only_pretrain/cam_wrist_view_image_loss 18.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.1 / model_only_pretrain/rep_loss 53.1 / model_only_pretrain/kl_value 53.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.9 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 90900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[90900] model_only_pretrain/pretrain_opt_loss 66.8 / model_only_pretrain/pretrain_opt_grad_norm 124.7 / model_only_pretrain/cam_front_view_image_loss 16.2 / model_only_pretrain/cam_wrist_view_image_loss 18.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.1 / model_only_pretrain/rep_loss 53.1 / model_only_pretrain/kl_value 53.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.8 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[90999] eval_recon/cam_front_view_image 10.1 / eval_recon/cam_wrist_view_image 10.6 / train_recon/cam_front_view_image 13.1 / train_recon/cam_wrist_view_image 15.7 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 91000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  61% 92000/150000 [2:26:21<6:25:32,  2.51it/s]model_only_pretrain/pretrain_opt_loss 66.3 / model_only_pretrain/pretrain_opt_grad_norm 131.8 / model_only_pretrain/cam_front_view_image_loss 16.1 / model_only_pretrain/cam_wrist_view_image_loss 18.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.8 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 8.6

[Checkpoint] Saving model at step 91100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[91100] model_only_pretrain/pretrain_opt_loss 66.3 / model_only_pretrain/pretrain_opt_grad_norm 130.2 / model_only_pretrain/cam_front_view_image_loss 16.1 / model_only_pretrain/cam_wrist_view_image_loss 18.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.7 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.0

[Checkpoint] Saving model at step 91200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[91200] model_only_pretrain/pretrain_opt_loss 66.8 / model_only_pretrain/pretrain_opt_grad_norm 127.3 / model_only_pretrain/cam_front_view_image_loss 16.0 / model_only_pretrain/cam_wrist_view_image_loss 18.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.8 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 8.9

[Checkpoint] Saving model at step 91300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[91300] model_only_pretrain/pretrain_opt_loss 66.1 / model_only_pretrain/pretrain_opt_grad_norm 124.2 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 18.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.8 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.8

[Checkpoint] Saving model at step 91400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[91400] model_only_pretrain/pretrain_opt_loss 66.5 / model_only_pretrain/pretrain_opt_grad_norm 126.2 / model_only_pretrain/cam_front_view_image_loss 16.0 / model_only_pretrain/cam_wrist_view_image_loss 18.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.7 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.5
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[91499] eval_recon/cam_front_view_image 14.8 / eval_recon/cam_wrist_view_image 21.7 / train_recon/cam_front_view_image 11.9 / train_recon/cam_wrist_view_image 12.6 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 91500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[91500] model_only_pretrain/pretrain_opt_loss 66.5 / model_only_pretrain/pretrain_opt_grad_norm 127.9 / model_only_pretrain/cam_front_view_image_loss 16.0 / model_only_pretrain/cam_wrist_view_image_loss 18.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.7 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 91600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[91600] model_only_pretrain/pretrain_opt_loss 67.2 / model_only_pretrain/pretrain_opt_grad_norm 129.2 / model_only_pretrain/cam_front_view_image_loss 16.2 / model_only_pretrain/cam_wrist_view_image_loss 19.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.9 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 12.4

[Checkpoint] Saving model at step 91700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[91700] model_only_pretrain/pretrain_opt_loss 66.6 / model_only_pretrain/pretrain_opt_grad_norm 131.4 / model_only_pretrain/cam_front_view_image_loss 16.3 / model_only_pretrain/cam_wrist_view_image_loss 18.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.8 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 12.2

[Checkpoint] Saving model at step 91800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[91800] model_only_pretrain/pretrain_opt_loss 66.4 / model_only_pretrain/pretrain_opt_grad_norm 130.1 / model_only_pretrain/cam_front_view_image_loss 16.0 / model_only_pretrain/cam_wrist_view_image_loss 18.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.1 / model_only_pretrain/rep_loss 53.1 / model_only_pretrain/kl_value 53.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.7 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 12.1

[Checkpoint] Saving model at step 91900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[91900] model_only_pretrain/pretrain_opt_loss 66.2 / model_only_pretrain/pretrain_opt_grad_norm 122.5 / model_only_pretrain/cam_front_view_image_loss 16.0 / model_only_pretrain/cam_wrist_view_image_loss 18.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[91999] eval_recon/cam_front_view_image 15.1 / eval_recon/cam_wrist_view_image 20.3 / train_recon/cam_front_view_image 20.7 / train_recon/cam_wrist_view_image 23.1 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 92000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  62% 92999/150000 [2:27:55<58:36, 16.21it/s]model_only_pretrain/pretrain_opt_loss 66.1 / model_only_pretrain/pretrain_opt_grad_norm 124.3 / model_only_pretrain/cam_front_view_image_loss 16.2 / model_only_pretrain/cam_wrist_view_image_loss 18.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 92100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[92100] model_only_pretrain/pretrain_opt_loss 65.9 / model_only_pretrain/pretrain_opt_grad_norm 120.1 / model_only_pretrain/cam_front_view_image_loss 16.0 / model_only_pretrain/cam_wrist_view_image_loss 18.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 92200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[92200] model_only_pretrain/pretrain_opt_loss 67.2 / model_only_pretrain/pretrain_opt_grad_norm 127.4 / model_only_pretrain/cam_front_view_image_loss 16.4 / model_only_pretrain/cam_wrist_view_image_loss 19.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.1 / model_only_pretrain/rep_loss 53.1 / model_only_pretrain/kl_value 53.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 92300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[92300] model_only_pretrain/pretrain_opt_loss 67.1 / model_only_pretrain/pretrain_opt_grad_norm 132.2 / model_only_pretrain/cam_front_view_image_loss 16.3 / model_only_pretrain/cam_wrist_view_image_loss 18.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.9 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 92400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[92400] model_only_pretrain/pretrain_opt_loss 66.5 / model_only_pretrain/pretrain_opt_grad_norm 130.3 / model_only_pretrain/cam_front_view_image_loss 16.1 / model_only_pretrain/cam_wrist_view_image_loss 18.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.7 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.6
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[92499] eval_recon/cam_front_view_image 28.4 / eval_recon/cam_wrist_view_image 33.2 / train_recon/cam_front_view_image 13.2 / train_recon/cam_wrist_view_image 12.4 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 92500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[92500] model_only_pretrain/pretrain_opt_loss 66.6 / model_only_pretrain/pretrain_opt_grad_norm 124.8 / model_only_pretrain/cam_front_view_image_loss 16.2 / model_only_pretrain/cam_wrist_view_image_loss 18.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.7 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 92600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[92600] model_only_pretrain/pretrain_opt_loss 67.1 / model_only_pretrain/pretrain_opt_grad_norm 130.3 / model_only_pretrain/cam_front_view_image_loss 16.3 / model_only_pretrain/cam_wrist_view_image_loss 18.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.9 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.0

[Checkpoint] Saving model at step 92700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[92700] model_only_pretrain/pretrain_opt_loss 66.8 / model_only_pretrain/pretrain_opt_grad_norm 128.6 / model_only_pretrain/cam_front_view_image_loss 16.1 / model_only_pretrain/cam_wrist_view_image_loss 18.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.8 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 8.9

[Checkpoint] Saving model at step 92800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[92800] model_only_pretrain/pretrain_opt_loss 66.3 / model_only_pretrain/pretrain_opt_grad_norm 127.6 / model_only_pretrain/cam_front_view_image_loss 16.0 / model_only_pretrain/cam_wrist_view_image_loss 18.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.7 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.7

[Checkpoint] Saving model at step 92900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[92900] model_only_pretrain/pretrain_opt_loss 66.8 / model_only_pretrain/pretrain_opt_grad_norm 123.0 / model_only_pretrain/cam_front_view_image_loss 16.0 / model_only_pretrain/cam_wrist_view_image_loss 18.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.0 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[92999] eval_recon/cam_front_view_image 15.8 / eval_recon/cam_wrist_view_image 16.7 / train_recon/cam_front_view_image 11.3 / train_recon/cam_wrist_view_image 14.6 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 93000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  63% 94000/150000 [2:29:27<5:55:55,  2.62it/s]model_only_pretrain/pretrain_opt_loss 66.3 / model_only_pretrain/pretrain_opt_grad_norm 118.4 / model_only_pretrain/cam_front_view_image_loss 16.0 / model_only_pretrain/cam_wrist_view_image_loss 18.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.7 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 93100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[93100] model_only_pretrain/pretrain_opt_loss 65.4 / model_only_pretrain/pretrain_opt_grad_norm 119.6 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 93200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[93200] model_only_pretrain/pretrain_opt_loss 66.9 / model_only_pretrain/pretrain_opt_grad_norm 126.7 / model_only_pretrain/cam_front_view_image_loss 16.1 / model_only_pretrain/cam_wrist_view_image_loss 18.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.8 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 93300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[93300] model_only_pretrain/pretrain_opt_loss 67.4 / model_only_pretrain/pretrain_opt_grad_norm 138.5 / model_only_pretrain/cam_front_view_image_loss 16.2 / model_only_pretrain/cam_wrist_view_image_loss 19.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.4 / model_only_pretrain/rep_loss 53.4 / model_only_pretrain/kl_value 53.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.9 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.0

[Checkpoint] Saving model at step 93400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[93400] model_only_pretrain/pretrain_opt_loss 66.0 / model_only_pretrain/pretrain_opt_grad_norm 120.0 / model_only_pretrain/cam_front_view_image_loss 16.0 / model_only_pretrain/cam_wrist_view_image_loss 18.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.8 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[93499] eval_recon/cam_front_view_image 15.7 / eval_recon/cam_wrist_view_image 23.4 / train_recon/cam_front_view_image 14.3 / train_recon/cam_wrist_view_image 16.1 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 93500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[93500] model_only_pretrain/pretrain_opt_loss 65.8 / model_only_pretrain/pretrain_opt_grad_norm 124.7 / model_only_pretrain/cam_front_view_image_loss 15.8 / model_only_pretrain/cam_wrist_view_image_loss 18.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 93600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[93600] model_only_pretrain/pretrain_opt_loss 66.6 / model_only_pretrain/pretrain_opt_grad_norm 132.9 / model_only_pretrain/cam_front_view_image_loss 16.0 / model_only_pretrain/cam_wrist_view_image_loss 18.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 93700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[93700] model_only_pretrain/pretrain_opt_loss 66.3 / model_only_pretrain/pretrain_opt_grad_norm 121.8 / model_only_pretrain/cam_front_view_image_loss 16.1 / model_only_pretrain/cam_wrist_view_image_loss 18.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.7 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 93800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[93800] model_only_pretrain/pretrain_opt_loss 66.5 / model_only_pretrain/pretrain_opt_grad_norm 127.6 / model_only_pretrain/cam_front_view_image_loss 16.1 / model_only_pretrain/cam_wrist_view_image_loss 18.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.7 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 12.5

[Checkpoint] Saving model at step 93900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[93900] model_only_pretrain/pretrain_opt_loss 66.1 / model_only_pretrain/pretrain_opt_grad_norm 127.7 / model_only_pretrain/cam_front_view_image_loss 15.8 / model_only_pretrain/cam_wrist_view_image_loss 18.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 12.3
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[93999] eval_recon/cam_front_view_image 15.5 / eval_recon/cam_wrist_view_image 15.5 / train_recon/cam_front_view_image 13.6 / train_recon/cam_wrist_view_image 18.5 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 94000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  63% 95000/150000 [2:31:02<5:30:09,  2.78it/s]model_only_pretrain/pretrain_opt_loss 66.2 / model_only_pretrain/pretrain_opt_grad_norm 124.6 / model_only_pretrain/cam_front_view_image_loss 16.0 / model_only_pretrain/cam_wrist_view_image_loss 18.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.7 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 94100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[94100] model_only_pretrain/pretrain_opt_loss 65.9 / model_only_pretrain/pretrain_opt_grad_norm 121.2 / model_only_pretrain/cam_front_view_image_loss 15.8 / model_only_pretrain/cam_wrist_view_image_loss 18.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 94200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[94200] model_only_pretrain/pretrain_opt_loss 65.7 / model_only_pretrain/pretrain_opt_grad_norm 124.3 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 18.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.3

[Checkpoint] Saving model at step 94300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[94300] model_only_pretrain/pretrain_opt_loss 67.0 / model_only_pretrain/pretrain_opt_grad_norm 127.1 / model_only_pretrain/cam_front_view_image_loss 16.1 / model_only_pretrain/cam_wrist_view_image_loss 18.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.8 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 94400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[94400] model_only_pretrain/pretrain_opt_loss 66.3 / model_only_pretrain/pretrain_opt_grad_norm 129.0 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 18.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.5
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[94499] eval_recon/cam_front_view_image 12.7 / eval_recon/cam_wrist_view_image 12.6 / train_recon/cam_front_view_image 11.3 / train_recon/cam_wrist_view_image 55.1 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 94500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[94500] model_only_pretrain/pretrain_opt_loss 66.0 / model_only_pretrain/pretrain_opt_grad_norm 126.1 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 18.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 94600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[94600] model_only_pretrain/pretrain_opt_loss 66.3 / model_only_pretrain/pretrain_opt_grad_norm 138.6 / model_only_pretrain/cam_front_view_image_loss 16.1 / model_only_pretrain/cam_wrist_view_image_loss 18.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 94700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[94700] model_only_pretrain/pretrain_opt_loss 66.8 / model_only_pretrain/pretrain_opt_grad_norm 129.9 / model_only_pretrain/cam_front_view_image_loss 16.1 / model_only_pretrain/cam_wrist_view_image_loss 18.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.1 / model_only_pretrain/rep_loss 53.1 / model_only_pretrain/kl_value 53.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.8 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 94800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[94800] model_only_pretrain/pretrain_opt_loss 66.6 / model_only_pretrain/pretrain_opt_grad_norm 131.7 / model_only_pretrain/cam_front_view_image_loss 16.0 / model_only_pretrain/cam_wrist_view_image_loss 18.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.1 / model_only_pretrain/rep_loss 53.1 / model_only_pretrain/kl_value 53.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.7 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 94900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[94900] model_only_pretrain/pretrain_opt_loss 66.8 / model_only_pretrain/pretrain_opt_grad_norm 131.5 / model_only_pretrain/cam_front_view_image_loss 16.0 / model_only_pretrain/cam_wrist_view_image_loss 18.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 32.0 / model_only_pretrain/dyn_loss 53.3 / model_only_pretrain/rep_loss 53.3 / model_only_pretrain/kl_value 53.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 25.0 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[94999] eval_recon/cam_front_view_image 12.4 / eval_recon/cam_wrist_view_image 17.3 / train_recon/cam_front_view_image 13.0 / train_recon/cam_wrist_view_image 17.9 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 95000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[95000] 
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World Model pretraining:  64% 95999/150000 [2:32:37<57:22, 15.68it/s]model_only_pretrain/pretrain_opt_loss 66.3 / model_only_pretrain/pretrain_opt_grad_norm 122.6 / model_only_pretrain/cam_front_view_image_loss 16.1 / model_only_pretrain/cam_wrist_view_image_loss 18.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.9 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 95100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[95100] model_only_pretrain/pretrain_opt_loss 65.8 / model_only_pretrain/pretrain_opt_grad_norm 119.6 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 18.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 12.3

[Checkpoint] Saving model at step 95200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[95200] model_only_pretrain/pretrain_opt_loss 65.9 / model_only_pretrain/pretrain_opt_grad_norm 126.1 / model_only_pretrain/cam_front_view_image_loss 15.8 / model_only_pretrain/cam_wrist_view_image_loss 18.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.4 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 95300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[95300] model_only_pretrain/pretrain_opt_loss 66.3 / model_only_pretrain/pretrain_opt_grad_norm 123.2 / model_only_pretrain/cam_front_view_image_loss 16.0 / model_only_pretrain/cam_wrist_view_image_loss 18.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.0

[Checkpoint] Saving model at step 95400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[95400] model_only_pretrain/pretrain_opt_loss 66.0 / model_only_pretrain/pretrain_opt_grad_norm 136.6 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 18.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.3
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[95499] eval_recon/cam_front_view_image 14.4 / eval_recon/cam_wrist_view_image 10.3 / train_recon/cam_front_view_image 18.6 / train_recon/cam_wrist_view_image 17.9 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 95500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[95500] model_only_pretrain/pretrain_opt_loss 66.4 / model_only_pretrain/pretrain_opt_grad_norm 128.6 / model_only_pretrain/cam_front_view_image_loss 15.8 / model_only_pretrain/cam_wrist_view_image_loss 18.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.4

[Checkpoint] Saving model at step 95600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[95600] model_only_pretrain/pretrain_opt_loss 66.0 / model_only_pretrain/pretrain_opt_grad_norm 130.2 / model_only_pretrain/cam_front_view_image_loss 16.0 / model_only_pretrain/cam_wrist_view_image_loss 18.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.7 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 95700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[95700] model_only_pretrain/pretrain_opt_loss 66.0 / model_only_pretrain/pretrain_opt_grad_norm 123.3 / model_only_pretrain/cam_front_view_image_loss 15.8 / model_only_pretrain/cam_wrist_view_image_loss 18.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.7 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.4

[Checkpoint] Saving model at step 95800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[95800] model_only_pretrain/pretrain_opt_loss 66.4 / model_only_pretrain/pretrain_opt_grad_norm 126.3 / model_only_pretrain/cam_front_view_image_loss 16.0 / model_only_pretrain/cam_wrist_view_image_loss 18.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.1 / model_only_pretrain/rep_loss 53.1 / model_only_pretrain/kl_value 53.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.7 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 8.4

[Checkpoint] Saving model at step 95900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[95900] model_only_pretrain/pretrain_opt_loss 66.2 / model_only_pretrain/pretrain_opt_grad_norm 126.6 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 18.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[95999] eval_recon/cam_front_view_image 16.1 / eval_recon/cam_wrist_view_image 12.2 / train_recon/cam_front_view_image 13.3 / train_recon/cam_wrist_view_image 100.4 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 96000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  65% 97000/150000 [2:34:07<8:05:03,  1.82it/s]model_only_pretrain/pretrain_opt_loss 66.6 / model_only_pretrain/pretrain_opt_grad_norm 128.7 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 18.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.7 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 96100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[96100] model_only_pretrain/pretrain_opt_loss 65.8 / model_only_pretrain/pretrain_opt_grad_norm 123.0 / model_only_pretrain/cam_front_view_image_loss 15.8 / model_only_pretrain/cam_wrist_view_image_loss 18.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.7 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 96200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[96200] model_only_pretrain/pretrain_opt_loss 65.8 / model_only_pretrain/pretrain_opt_grad_norm 118.4 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 18.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 12.1

[Checkpoint] Saving model at step 96300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[96300] model_only_pretrain/pretrain_opt_loss 65.9 / model_only_pretrain/pretrain_opt_grad_norm 127.5 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 18.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 12.5

[Checkpoint] Saving model at step 96400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[96400] model_only_pretrain/pretrain_opt_loss 65.8 / model_only_pretrain/pretrain_opt_grad_norm 119.7 / model_only_pretrain/cam_front_view_image_loss 15.7 / model_only_pretrain/cam_wrist_view_image_loss 18.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.2
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[96499] eval_recon/cam_front_view_image 11.8 / eval_recon/cam_wrist_view_image 10.9 / train_recon/cam_front_view_image 12.5 / train_recon/cam_wrist_view_image 13.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 96500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[96500] model_only_pretrain/pretrain_opt_loss 65.7 / model_only_pretrain/pretrain_opt_grad_norm 123.0 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 18.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 96600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[96600] model_only_pretrain/pretrain_opt_loss 66.3 / model_only_pretrain/pretrain_opt_grad_norm 125.0 / model_only_pretrain/cam_front_view_image_loss 15.8 / model_only_pretrain/cam_wrist_view_image_loss 18.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.2

[Checkpoint] Saving model at step 96700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[96700] model_only_pretrain/pretrain_opt_loss 66.1 / model_only_pretrain/pretrain_opt_grad_norm 122.3 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 18.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 96800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[96800] model_only_pretrain/pretrain_opt_loss 65.7 / model_only_pretrain/pretrain_opt_grad_norm 131.9 / model_only_pretrain/cam_front_view_image_loss 15.7 / model_only_pretrain/cam_wrist_view_image_loss 18.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 96900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[96900] model_only_pretrain/pretrain_opt_loss 66.4 / model_only_pretrain/pretrain_opt_grad_norm 124.5 / model_only_pretrain/cam_front_view_image_loss 16.0 / model_only_pretrain/cam_wrist_view_image_loss 18.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.5
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[96999] eval_recon/cam_front_view_image 11.7 / eval_recon/cam_wrist_view_image 12.7 / train_recon/cam_front_view_image 13.1 / train_recon/cam_wrist_view_image 51.6 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 97000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[97000] 
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World Model pretraining:  65% 98000/150000 [2:35:39<5:11:13,  2.78it/s]model_only_pretrain/pretrain_opt_loss 66.4 / model_only_pretrain/pretrain_opt_grad_norm 132.8 / model_only_pretrain/cam_front_view_image_loss 16.1 / model_only_pretrain/cam_wrist_view_image_loss 18.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 97100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[97100] model_only_pretrain/pretrain_opt_loss 65.9 / model_only_pretrain/pretrain_opt_grad_norm 124.9 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 18.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.9

[Checkpoint] Saving model at step 97200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[97200] model_only_pretrain/pretrain_opt_loss 65.9 / model_only_pretrain/pretrain_opt_grad_norm 127.3 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 18.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 97300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[97300] model_only_pretrain/pretrain_opt_loss 66.0 / model_only_pretrain/pretrain_opt_grad_norm 127.4 / model_only_pretrain/cam_front_view_image_loss 15.7 / model_only_pretrain/cam_wrist_view_image_loss 18.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.9

[Checkpoint] Saving model at step 97400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[97400] model_only_pretrain/pretrain_opt_loss 66.2 / model_only_pretrain/pretrain_opt_grad_norm 122.0 / model_only_pretrain/cam_front_view_image_loss 16.0 / model_only_pretrain/cam_wrist_view_image_loss 18.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.1 / model_only_pretrain/rep_loss 53.1 / model_only_pretrain/kl_value 53.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.7 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[97499] eval_recon/cam_front_view_image 13.9 / eval_recon/cam_wrist_view_image 69.3 / train_recon/cam_front_view_image 14.4 / train_recon/cam_wrist_view_image 49.7 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 97500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[97500] model_only_pretrain/pretrain_opt_loss 65.6 / model_only_pretrain/pretrain_opt_grad_norm 127.2 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 18.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.4

[Checkpoint] Saving model at step 97600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[97600] model_only_pretrain/pretrain_opt_loss 65.9 / model_only_pretrain/pretrain_opt_grad_norm 124.7 / model_only_pretrain/cam_front_view_image_loss 15.8 / model_only_pretrain/cam_wrist_view_image_loss 18.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 97700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[97700] model_only_pretrain/pretrain_opt_loss 65.2 / model_only_pretrain/pretrain_opt_grad_norm 123.7 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 18.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.4 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 12.1

[Checkpoint] Saving model at step 97800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[97800] model_only_pretrain/pretrain_opt_loss 66.0 / model_only_pretrain/pretrain_opt_grad_norm 130.0 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 18.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.7 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 97900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[97900] model_only_pretrain/pretrain_opt_loss 66.0 / model_only_pretrain/pretrain_opt_grad_norm 129.5 / model_only_pretrain/cam_front_view_image_loss 15.6 / model_only_pretrain/cam_wrist_view_image_loss 18.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[97999] eval_recon/cam_front_view_image 11.7 / eval_recon/cam_wrist_view_image 17.2 / train_recon/cam_front_view_image 10.8 / train_recon/cam_wrist_view_image 59.0 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 98000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  66% 98999/150000 [2:37:06<51:57, 16.36it/s]model_only_pretrain/pretrain_opt_loss 65.9 / model_only_pretrain/pretrain_opt_grad_norm 125.5 / model_only_pretrain/cam_front_view_image_loss 15.7 / model_only_pretrain/cam_wrist_view_image_loss 18.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 98100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[98100] model_only_pretrain/pretrain_opt_loss 66.4 / model_only_pretrain/pretrain_opt_grad_norm 132.9 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 18.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.1 / model_only_pretrain/rep_loss 53.1 / model_only_pretrain/kl_value 53.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 98200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[98200] model_only_pretrain/pretrain_opt_loss 65.9 / model_only_pretrain/pretrain_opt_grad_norm 128.1 / model_only_pretrain/cam_front_view_image_loss 15.8 / model_only_pretrain/cam_wrist_view_image_loss 18.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 98300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[98300] model_only_pretrain/pretrain_opt_loss 66.1 / model_only_pretrain/pretrain_opt_grad_norm 130.1 / model_only_pretrain/cam_front_view_image_loss 16.0 / model_only_pretrain/cam_wrist_view_image_loss 18.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.4

[Checkpoint] Saving model at step 98400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[98400] model_only_pretrain/pretrain_opt_loss 65.8 / model_only_pretrain/pretrain_opt_grad_norm 123.1 / model_only_pretrain/cam_front_view_image_loss 15.7 / model_only_pretrain/cam_wrist_view_image_loss 18.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[98499] eval_recon/cam_front_view_image 29.9 / eval_recon/cam_wrist_view_image 77.8 / train_recon/cam_front_view_image 19.2 / train_recon/cam_wrist_view_image 24.1 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 98500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[98500] model_only_pretrain/pretrain_opt_loss 65.0 / model_only_pretrain/pretrain_opt_grad_norm 122.4 / model_only_pretrain/cam_front_view_image_loss 15.6 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.3 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 98600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[98600] model_only_pretrain/pretrain_opt_loss 66.2 / model_only_pretrain/pretrain_opt_grad_norm 126.9 / model_only_pretrain/cam_front_view_image_loss 16.0 / model_only_pretrain/cam_wrist_view_image_loss 18.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 98700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[98700] model_only_pretrain/pretrain_opt_loss 66.0 / model_only_pretrain/pretrain_opt_grad_norm 122.1 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 18.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 12.3

[Checkpoint] Saving model at step 98800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[98800] model_only_pretrain/pretrain_opt_loss 65.8 / model_only_pretrain/pretrain_opt_grad_norm 125.1 / model_only_pretrain/cam_front_view_image_loss 15.8 / model_only_pretrain/cam_wrist_view_image_loss 18.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 98900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[98900] model_only_pretrain/pretrain_opt_loss 66.0 / model_only_pretrain/pretrain_opt_grad_norm 130.4 / model_only_pretrain/cam_front_view_image_loss 15.8 / model_only_pretrain/cam_wrist_view_image_loss 18.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.9
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[98999] eval_recon/cam_front_view_image 12.3 / eval_recon/cam_wrist_view_image 15.7 / train_recon/cam_front_view_image 11.9 / train_recon/cam_wrist_view_image 16.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 99000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  67% 99999/150000 [2:38:34<51:44, 16.11it/s]model_only_pretrain/pretrain_opt_loss 65.8 / model_only_pretrain/pretrain_opt_grad_norm 123.4 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 18.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 99100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[99100] model_only_pretrain/pretrain_opt_loss 66.0 / model_only_pretrain/pretrain_opt_grad_norm 133.6 / model_only_pretrain/cam_front_view_image_loss 15.6 / model_only_pretrain/cam_wrist_view_image_loss 18.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 99200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[99200] model_only_pretrain/pretrain_opt_loss 65.9 / model_only_pretrain/pretrain_opt_grad_norm 124.7 / model_only_pretrain/cam_front_view_image_loss 16.0 / model_only_pretrain/cam_wrist_view_image_loss 18.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.2

[Checkpoint] Saving model at step 99300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[99300] model_only_pretrain/pretrain_opt_loss 66.5 / model_only_pretrain/pretrain_opt_grad_norm 121.8 / model_only_pretrain/cam_front_view_image_loss 16.1 / model_only_pretrain/cam_wrist_view_image_loss 18.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.1

[Checkpoint] Saving model at step 99400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[99400] model_only_pretrain/pretrain_opt_loss 65.9 / model_only_pretrain/pretrain_opt_grad_norm 129.4 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 18.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[99499] eval_recon/cam_front_view_image 31.3 / eval_recon/cam_wrist_view_image 93.5 / train_recon/cam_front_view_image 15.1 / train_recon/cam_wrist_view_image 40.4 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 99500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[99500] model_only_pretrain/pretrain_opt_loss 65.6 / model_only_pretrain/pretrain_opt_grad_norm 126.6 / model_only_pretrain/cam_front_view_image_loss 15.7 / model_only_pretrain/cam_wrist_view_image_loss 18.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 99600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[99600] model_only_pretrain/pretrain_opt_loss 65.9 / model_only_pretrain/pretrain_opt_grad_norm 125.6 / model_only_pretrain/cam_front_view_image_loss 15.7 / model_only_pretrain/cam_wrist_view_image_loss 18.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 99700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[99700] model_only_pretrain/pretrain_opt_loss 66.2 / model_only_pretrain/pretrain_opt_grad_norm 127.3 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 18.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 99800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[99800] model_only_pretrain/pretrain_opt_loss 66.2 / model_only_pretrain/pretrain_opt_grad_norm 134.4 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 18.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 99900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[99900] model_only_pretrain/pretrain_opt_loss 66.2 / model_only_pretrain/pretrain_opt_grad_norm 125.8 / model_only_pretrain/cam_front_view_image_loss 16.0 / model_only_pretrain/cam_wrist_view_image_loss 18.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.9
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[99999] eval_recon/cam_front_view_image 15.1 / eval_recon/cam_wrist_view_image 12.9 / train_recon/cam_front_view_image 12.6 / train_recon/cam_wrist_view_image 14.7 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 100000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[100000] 
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World Model pretraining:  67% 101000/150000 [2:40:19<6:41:32,  2.03it/s]model_only_pretrain/pretrain_opt_loss 66.1 / model_only_pretrain/pretrain_opt_grad_norm 123.8 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 18.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 100100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[100100] model_only_pretrain/pretrain_opt_loss 65.6 / model_only_pretrain/pretrain_opt_grad_norm 123.9 / model_only_pretrain/cam_front_view_image_loss 15.7 / model_only_pretrain/cam_wrist_view_image_loss 18.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 100200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[100200] model_only_pretrain/pretrain_opt_loss 66.6 / model_only_pretrain/pretrain_opt_grad_norm 123.2 / model_only_pretrain/cam_front_view_image_loss 15.8 / model_only_pretrain/cam_wrist_view_image_loss 19.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 100300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[100300] model_only_pretrain/pretrain_opt_loss 65.4 / model_only_pretrain/pretrain_opt_grad_norm 120.7 / model_only_pretrain/cam_front_view_image_loss 15.6 / model_only_pretrain/cam_wrist_view_image_loss 18.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.4 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 100400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[100400] model_only_pretrain/pretrain_opt_loss 65.1 / model_only_pretrain/pretrain_opt_grad_norm 119.4 / model_only_pretrain/cam_front_view_image_loss 15.6 / model_only_pretrain/cam_wrist_view_image_loss 18.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.3
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[100499] eval_recon/cam_front_view_image 11.5 / eval_recon/cam_wrist_view_image 15.6 / train_recon/cam_front_view_image 27.8 / train_recon/cam_wrist_view_image 62.7 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 100500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[100500] model_only_pretrain/pretrain_opt_loss 66.3 / model_only_pretrain/pretrain_opt_grad_norm 126.5 / model_only_pretrain/cam_front_view_image_loss 15.8 / model_only_pretrain/cam_wrist_view_image_loss 18.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.0

[Checkpoint] Saving model at step 100600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[100600] model_only_pretrain/pretrain_opt_loss 66.0 / model_only_pretrain/pretrain_opt_grad_norm 119.9 / model_only_pretrain/cam_front_view_image_loss 15.8 / model_only_pretrain/cam_wrist_view_image_loss 18.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.9

[Checkpoint] Saving model at step 100700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[100700] model_only_pretrain/pretrain_opt_loss 66.1 / model_only_pretrain/pretrain_opt_grad_norm 120.8 / model_only_pretrain/cam_front_view_image_loss 15.8 / model_only_pretrain/cam_wrist_view_image_loss 18.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.0

[Checkpoint] Saving model at step 100800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[100800] model_only_pretrain/pretrain_opt_loss 65.7 / model_only_pretrain/pretrain_opt_grad_norm 125.2 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.1 / model_only_pretrain/rep_loss 53.1 / model_only_pretrain/kl_value 53.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.0

[Checkpoint] Saving model at step 100900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[100900] model_only_pretrain/pretrain_opt_loss 66.1 / model_only_pretrain/pretrain_opt_grad_norm 121.3 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 18.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.1 / model_only_pretrain/rep_loss 53.1 / model_only_pretrain/kl_value 53.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.9
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[100999] eval_recon/cam_front_view_image 13.0 / eval_recon/cam_wrist_view_image 12.8 / train_recon/cam_front_view_image 15.2 / train_recon/cam_wrist_view_image 13.0 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 101000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[101000] 
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World Model pretraining:  68% 101999/150000 [2:41:46<53:17, 15.01it/s]model_only_pretrain/pretrain_opt_loss 66.1 / model_only_pretrain/pretrain_opt_grad_norm 125.5 / model_only_pretrain/cam_front_view_image_loss 15.8 / model_only_pretrain/cam_wrist_view_image_loss 18.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 101100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[101100] model_only_pretrain/pretrain_opt_loss 65.8 / model_only_pretrain/pretrain_opt_grad_norm 122.8 / model_only_pretrain/cam_front_view_image_loss 15.8 / model_only_pretrain/cam_wrist_view_image_loss 18.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.4

[Checkpoint] Saving model at step 101200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[101200] model_only_pretrain/pretrain_opt_loss 65.8 / model_only_pretrain/pretrain_opt_grad_norm 125.9 / model_only_pretrain/cam_front_view_image_loss 15.7 / model_only_pretrain/cam_wrist_view_image_loss 18.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.7

[Checkpoint] Saving model at step 101300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[101300] model_only_pretrain/pretrain_opt_loss 65.9 / model_only_pretrain/pretrain_opt_grad_norm 123.3 / model_only_pretrain/cam_front_view_image_loss 15.7 / model_only_pretrain/cam_wrist_view_image_loss 18.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.5

[Checkpoint] Saving model at step 101400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[101400] model_only_pretrain/pretrain_opt_loss 66.3 / model_only_pretrain/pretrain_opt_grad_norm 122.8 / model_only_pretrain/cam_front_view_image_loss 15.8 / model_only_pretrain/cam_wrist_view_image_loss 18.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.1 / model_only_pretrain/rep_loss 53.1 / model_only_pretrain/kl_value 53.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[101499] eval_recon/cam_front_view_image 14.7 / eval_recon/cam_wrist_view_image 18.9 / train_recon/cam_front_view_image 13.4 / train_recon/cam_wrist_view_image 19.6 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 101500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[101500] model_only_pretrain/pretrain_opt_loss 65.7 / model_only_pretrain/pretrain_opt_grad_norm 120.2 / model_only_pretrain/cam_front_view_image_loss 15.7 / model_only_pretrain/cam_wrist_view_image_loss 18.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 101600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[101600] model_only_pretrain/pretrain_opt_loss 66.7 / model_only_pretrain/pretrain_opt_grad_norm 126.3 / model_only_pretrain/cam_front_view_image_loss 16.1 / model_only_pretrain/cam_wrist_view_image_loss 18.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.9 / model_only_pretrain/dyn_loss 53.2 / model_only_pretrain/rep_loss 53.2 / model_only_pretrain/kl_value 53.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.3

[Checkpoint] Saving model at step 101700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[101700] model_only_pretrain/pretrain_opt_loss 65.9 / model_only_pretrain/pretrain_opt_grad_norm 122.9 / model_only_pretrain/cam_front_view_image_loss 15.8 / model_only_pretrain/cam_wrist_view_image_loss 18.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 101800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[101800] model_only_pretrain/pretrain_opt_loss 65.9 / model_only_pretrain/pretrain_opt_grad_norm 126.6 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 18.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 101900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[101900] model_only_pretrain/pretrain_opt_loss 65.5 / model_only_pretrain/pretrain_opt_grad_norm 128.4 / model_only_pretrain/cam_front_view_image_loss 15.6 / model_only_pretrain/cam_wrist_view_image_loss 18.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 13.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[101999] eval_recon/cam_front_view_image 13.5 / eval_recon/cam_wrist_view_image 10.5 / train_recon/cam_front_view_image 11.5 / train_recon/cam_wrist_view_image 11.5 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 102000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[102000] 
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World Model pretraining:  69% 103000/150000 [2:43:24<4:22:32,  2.98it/s]model_only_pretrain/pretrain_opt_loss 65.9 / model_only_pretrain/pretrain_opt_grad_norm 127.3 / model_only_pretrain/cam_front_view_image_loss 15.6 / model_only_pretrain/cam_wrist_view_image_loss 18.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 102100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[102100] model_only_pretrain/pretrain_opt_loss 65.7 / model_only_pretrain/pretrain_opt_grad_norm 123.4 / model_only_pretrain/cam_front_view_image_loss 15.7 / model_only_pretrain/cam_wrist_view_image_loss 18.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.4 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.8

[Checkpoint] Saving model at step 102200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[102200] model_only_pretrain/pretrain_opt_loss 65.8 / model_only_pretrain/pretrain_opt_grad_norm 121.8 / model_only_pretrain/cam_front_view_image_loss 15.7 / model_only_pretrain/cam_wrist_view_image_loss 18.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.4

[Checkpoint] Saving model at step 102300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[102300] model_only_pretrain/pretrain_opt_loss 65.7 / model_only_pretrain/pretrain_opt_grad_norm 122.6 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 18.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.4 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 102400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[102400] model_only_pretrain/pretrain_opt_loss 65.8 / model_only_pretrain/pretrain_opt_grad_norm 122.9 / model_only_pretrain/cam_front_view_image_loss 15.8 / model_only_pretrain/cam_wrist_view_image_loss 18.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.2
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[102499] eval_recon/cam_front_view_image 14.2 / eval_recon/cam_wrist_view_image 13.9 / train_recon/cam_front_view_image 14.2 / train_recon/cam_wrist_view_image 16.1 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 102500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[102500] model_only_pretrain/pretrain_opt_loss 64.6 / model_only_pretrain/pretrain_opt_grad_norm 122.3 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.3

[Checkpoint] Saving model at step 102600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[102600] model_only_pretrain/pretrain_opt_loss 65.8 / model_only_pretrain/pretrain_opt_grad_norm 122.1 / model_only_pretrain/cam_front_view_image_loss 15.8 / model_only_pretrain/cam_wrist_view_image_loss 18.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.7

[Checkpoint] Saving model at step 102700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[102700] model_only_pretrain/pretrain_opt_loss 65.9 / model_only_pretrain/pretrain_opt_grad_norm 126.7 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 18.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 102800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[102800] model_only_pretrain/pretrain_opt_loss 65.0 / model_only_pretrain/pretrain_opt_grad_norm 126.8 / model_only_pretrain/cam_front_view_image_loss 15.6 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 102900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[102900] model_only_pretrain/pretrain_opt_loss 65.6 / model_only_pretrain/pretrain_opt_grad_norm 123.3 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 18.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[102999] eval_recon/cam_front_view_image 12.0 / eval_recon/cam_wrist_view_image 19.1 / train_recon/cam_front_view_image 12.6 / train_recon/cam_wrist_view_image 17.1 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 103000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  69% 104000/150000 [2:44:53<4:42:11,  2.72it/s]model_only_pretrain/pretrain_opt_loss 65.6 / model_only_pretrain/pretrain_opt_grad_norm 124.1 / model_only_pretrain/cam_front_view_image_loss 15.6 / model_only_pretrain/cam_wrist_view_image_loss 18.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.1

[Checkpoint] Saving model at step 103100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[103100] model_only_pretrain/pretrain_opt_loss 65.6 / model_only_pretrain/pretrain_opt_grad_norm 123.9 / model_only_pretrain/cam_front_view_image_loss 15.8 / model_only_pretrain/cam_wrist_view_image_loss 18.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 103200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[103200] model_only_pretrain/pretrain_opt_loss 65.2 / model_only_pretrain/pretrain_opt_grad_norm 127.6 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 18.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.3 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 103300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[103300] model_only_pretrain/pretrain_opt_loss 64.9 / model_only_pretrain/pretrain_opt_grad_norm 124.0 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 18.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.3 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 103400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[103400] model_only_pretrain/pretrain_opt_loss 66.0 / model_only_pretrain/pretrain_opt_grad_norm 125.6 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 18.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.6
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[103499] eval_recon/cam_front_view_image 12.3 / eval_recon/cam_wrist_view_image 23.2 / train_recon/cam_front_view_image 12.9 / train_recon/cam_wrist_view_image 19.0 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 103500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[103500] model_only_pretrain/pretrain_opt_loss 65.5 / model_only_pretrain/pretrain_opt_grad_norm 122.0 / model_only_pretrain/cam_front_view_image_loss 15.6 / model_only_pretrain/cam_wrist_view_image_loss 18.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 103600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[103600] model_only_pretrain/pretrain_opt_loss 65.7 / model_only_pretrain/pretrain_opt_grad_norm 123.0 / model_only_pretrain/cam_front_view_image_loss 15.7 / model_only_pretrain/cam_wrist_view_image_loss 18.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 103700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[103700] model_only_pretrain/pretrain_opt_loss 64.5 / model_only_pretrain/pretrain_opt_grad_norm 123.2 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 103800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[103800] model_only_pretrain/pretrain_opt_loss 65.8 / model_only_pretrain/pretrain_opt_grad_norm 130.0 / model_only_pretrain/cam_front_view_image_loss 15.7 / model_only_pretrain/cam_wrist_view_image_loss 18.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.4 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 103900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[103900] model_only_pretrain/pretrain_opt_loss 65.4 / model_only_pretrain/pretrain_opt_grad_norm 118.4 / model_only_pretrain/cam_front_view_image_loss 15.6 / model_only_pretrain/cam_wrist_view_image_loss 18.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[103999] eval_recon/cam_front_view_image 10.8 / eval_recon/cam_wrist_view_image 14.4 / train_recon/cam_front_view_image 13.6 / train_recon/cam_wrist_view_image 14.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 104000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[104000] 
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World Model pretraining:  70% 105000/150000 [2:46:23<7:30:24,  1.67it/s]model_only_pretrain/pretrain_opt_loss 65.3 / model_only_pretrain/pretrain_opt_grad_norm 120.0 / model_only_pretrain/cam_front_view_image_loss 15.6 / model_only_pretrain/cam_wrist_view_image_loss 18.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 104100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[104100] model_only_pretrain/pretrain_opt_loss 65.5 / model_only_pretrain/pretrain_opt_grad_norm 124.8 / model_only_pretrain/cam_front_view_image_loss 15.7 / model_only_pretrain/cam_wrist_view_image_loss 18.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 104200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[104200] model_only_pretrain/pretrain_opt_loss 65.9 / model_only_pretrain/pretrain_opt_grad_norm 126.9 / model_only_pretrain/cam_front_view_image_loss 15.9 / model_only_pretrain/cam_wrist_view_image_loss 18.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.7

[Checkpoint] Saving model at step 104300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[104300] model_only_pretrain/pretrain_opt_loss 65.1 / model_only_pretrain/pretrain_opt_grad_norm 122.4 / model_only_pretrain/cam_front_view_image_loss 15.6 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.3 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 104400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[104400] model_only_pretrain/pretrain_opt_loss 65.7 / model_only_pretrain/pretrain_opt_grad_norm 122.9 / model_only_pretrain/cam_front_view_image_loss 15.7 / model_only_pretrain/cam_wrist_view_image_loss 18.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.2
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[104499] eval_recon/cam_front_view_image 14.9 / eval_recon/cam_wrist_view_image 21.1 / train_recon/cam_front_view_image 16.1 / train_recon/cam_wrist_view_image 62.4 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 104500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[104500] model_only_pretrain/pretrain_opt_loss 65.4 / model_only_pretrain/pretrain_opt_grad_norm 127.5 / model_only_pretrain/cam_front_view_image_loss 15.7 / model_only_pretrain/cam_wrist_view_image_loss 18.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 104600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[104600] model_only_pretrain/pretrain_opt_loss 65.5 / model_only_pretrain/pretrain_opt_grad_norm 124.2 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 18.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 104700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[104700] model_only_pretrain/pretrain_opt_loss 66.0 / model_only_pretrain/pretrain_opt_grad_norm 130.7 / model_only_pretrain/cam_front_view_image_loss 15.7 / model_only_pretrain/cam_wrist_view_image_loss 18.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 104800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[104800] model_only_pretrain/pretrain_opt_loss 65.0 / model_only_pretrain/pretrain_opt_grad_norm 128.3 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 104900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[104900] model_only_pretrain/pretrain_opt_loss 64.7 / model_only_pretrain/pretrain_opt_grad_norm 117.4 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[104999] eval_recon/cam_front_view_image 18.1 / eval_recon/cam_wrist_view_image 22.2 / train_recon/cam_front_view_image 13.2 / train_recon/cam_wrist_view_image 22.7 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 105000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  71% 105999/150000 [2:48:00<47:30, 15.44it/s]model_only_pretrain/pretrain_opt_loss 65.5 / model_only_pretrain/pretrain_opt_grad_norm 127.7 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 18.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.9

[Checkpoint] Saving model at step 105100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[105100] model_only_pretrain/pretrain_opt_loss 65.3 / model_only_pretrain/pretrain_opt_grad_norm 127.6 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 18.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.0

[Checkpoint] Saving model at step 105200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[105200] model_only_pretrain/pretrain_opt_loss 64.8 / model_only_pretrain/pretrain_opt_grad_norm 118.9 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.0

[Checkpoint] Saving model at step 105300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[105300] model_only_pretrain/pretrain_opt_loss 64.5 / model_only_pretrain/pretrain_opt_grad_norm 121.1 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 17.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 8.3

[Checkpoint] Saving model at step 105400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[105400] model_only_pretrain/pretrain_opt_loss 64.9 / model_only_pretrain/pretrain_opt_grad_norm 117.4 / model_only_pretrain/cam_front_view_image_loss 15.6 / model_only_pretrain/cam_wrist_view_image_loss 17.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[105499] eval_recon/cam_front_view_image 11.5 / eval_recon/cam_wrist_view_image 57.9 / train_recon/cam_front_view_image 15.0 / train_recon/cam_wrist_view_image 20.0 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 105500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[105500] model_only_pretrain/pretrain_opt_loss 65.2 / model_only_pretrain/pretrain_opt_grad_norm 114.3 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 18.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.3

[Checkpoint] Saving model at step 105600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[105600] model_only_pretrain/pretrain_opt_loss 64.8 / model_only_pretrain/pretrain_opt_grad_norm 124.4 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 105700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[105700] model_only_pretrain/pretrain_opt_loss 65.6 / model_only_pretrain/pretrain_opt_grad_norm 124.9 / model_only_pretrain/cam_front_view_image_loss 15.7 / model_only_pretrain/cam_wrist_view_image_loss 18.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 105800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[105800] model_only_pretrain/pretrain_opt_loss 65.1 / model_only_pretrain/pretrain_opt_grad_norm 122.7 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 18.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 105900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[105900] model_only_pretrain/pretrain_opt_loss 65.1 / model_only_pretrain/pretrain_opt_grad_norm 118.2 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 18.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[105999] eval_recon/cam_front_view_image 12.0 / eval_recon/cam_wrist_view_image 59.8 / train_recon/cam_front_view_image 12.6 / train_recon/cam_wrist_view_image 10.6 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 106000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  71% 107000/150000 [2:49:34<5:19:01,  2.25it/s]model_only_pretrain/pretrain_opt_loss 65.0 / model_only_pretrain/pretrain_opt_grad_norm 120.8 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 106100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[106100] model_only_pretrain/pretrain_opt_loss 65.7 / model_only_pretrain/pretrain_opt_grad_norm 123.7 / model_only_pretrain/cam_front_view_image_loss 15.7 / model_only_pretrain/cam_wrist_view_image_loss 18.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 106200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[106200] model_only_pretrain/pretrain_opt_loss 65.1 / model_only_pretrain/pretrain_opt_grad_norm 119.4 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 18.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 106300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[106300] model_only_pretrain/pretrain_opt_loss 65.0 / model_only_pretrain/pretrain_opt_grad_norm 120.9 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 106400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[106400] model_only_pretrain/pretrain_opt_loss 64.2 / model_only_pretrain/pretrain_opt_grad_norm 120.0 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.6
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[106499] eval_recon/cam_front_view_image 12.9 / eval_recon/cam_wrist_view_image 57.5 / train_recon/cam_front_view_image 14.7 / train_recon/cam_wrist_view_image 14.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 106500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[106500] model_only_pretrain/pretrain_opt_loss 65.4 / model_only_pretrain/pretrain_opt_grad_norm 127.2 / model_only_pretrain/cam_front_view_image_loss 15.6 / model_only_pretrain/cam_wrist_view_image_loss 18.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 106600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[106600] model_only_pretrain/pretrain_opt_loss 65.4 / model_only_pretrain/pretrain_opt_grad_norm 123.5 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 18.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 106700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[106700] model_only_pretrain/pretrain_opt_loss 65.2 / model_only_pretrain/pretrain_opt_grad_norm 119.5 / model_only_pretrain/cam_front_view_image_loss 15.6 / model_only_pretrain/cam_wrist_view_image_loss 18.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 106800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[106800] model_only_pretrain/pretrain_opt_loss 65.2 / model_only_pretrain/pretrain_opt_grad_norm 123.4 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 18.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 106900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[106900] model_only_pretrain/pretrain_opt_loss 65.6 / model_only_pretrain/pretrain_opt_grad_norm 119.6 / model_only_pretrain/cam_front_view_image_loss 15.6 / model_only_pretrain/cam_wrist_view_image_loss 18.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.6
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[106999] eval_recon/cam_front_view_image 11.5 / eval_recon/cam_wrist_view_image 10.8 / train_recon/cam_front_view_image 12.5 / train_recon/cam_wrist_view_image 12.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 107000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  72% 107999/150000 [2:51:03<46:27, 15.07it/s]model_only_pretrain/pretrain_opt_loss 65.0 / model_only_pretrain/pretrain_opt_grad_norm 121.4 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 107100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[107100] model_only_pretrain/pretrain_opt_loss 65.9 / model_only_pretrain/pretrain_opt_grad_norm 122.8 / model_only_pretrain/cam_front_view_image_loss 15.8 / model_only_pretrain/cam_wrist_view_image_loss 18.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 107200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[107200] model_only_pretrain/pretrain_opt_loss 64.8 / model_only_pretrain/pretrain_opt_grad_norm 117.4 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 107300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[107300] model_only_pretrain/pretrain_opt_loss 64.9 / model_only_pretrain/pretrain_opt_grad_norm 123.3 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 17.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.8

[Checkpoint] Saving model at step 107400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[107400] model_only_pretrain/pretrain_opt_loss 65.0 / model_only_pretrain/pretrain_opt_grad_norm 125.1 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 18.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[107499] eval_recon/cam_front_view_image 70.3 / eval_recon/cam_wrist_view_image 171.5 / train_recon/cam_front_view_image 9.8 / train_recon/cam_wrist_view_image 12.4 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 107500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[107500] model_only_pretrain/pretrain_opt_loss 64.9 / model_only_pretrain/pretrain_opt_grad_norm 126.6 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.3 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.9

[Checkpoint] Saving model at step 107600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[107600] model_only_pretrain/pretrain_opt_loss 64.5 / model_only_pretrain/pretrain_opt_grad_norm 122.2 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 17.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 107700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[107700] model_only_pretrain/pretrain_opt_loss 65.2 / model_only_pretrain/pretrain_opt_grad_norm 122.9 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 18.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 107800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[107800] model_only_pretrain/pretrain_opt_loss 66.0 / model_only_pretrain/pretrain_opt_grad_norm 118.9 / model_only_pretrain/cam_front_view_image_loss 15.7 / model_only_pretrain/cam_wrist_view_image_loss 18.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 107900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[107900] model_only_pretrain/pretrain_opt_loss 65.2 / model_only_pretrain/pretrain_opt_grad_norm 122.7 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 18.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.4 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[107999] eval_recon/cam_front_view_image 11.8 / eval_recon/cam_wrist_view_image 14.3 / train_recon/cam_front_view_image 10.3 / train_recon/cam_wrist_view_image 11.9 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 108000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[108000] 
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World Model pretraining:  73% 108999/150000 [2:52:54<44:11, 15.46it/s]model_only_pretrain/pretrain_opt_loss 64.9 / model_only_pretrain/pretrain_opt_grad_norm 121.8 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 108100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[108100] model_only_pretrain/pretrain_opt_loss 64.6 / model_only_pretrain/pretrain_opt_grad_norm 123.8 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 17.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.7

[Checkpoint] Saving model at step 108200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[108200] model_only_pretrain/pretrain_opt_loss 65.5 / model_only_pretrain/pretrain_opt_grad_norm 119.6 / model_only_pretrain/cam_front_view_image_loss 15.6 / model_only_pretrain/cam_wrist_view_image_loss 18.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.8

[Checkpoint] Saving model at step 108300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[108300] model_only_pretrain/pretrain_opt_loss 64.5 / model_only_pretrain/pretrain_opt_grad_norm 116.5 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.3

[Checkpoint] Saving model at step 108400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[108400] model_only_pretrain/pretrain_opt_loss 64.7 / model_only_pretrain/pretrain_opt_grad_norm 118.2 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 17.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.1
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[108499] eval_recon/cam_front_view_image 11.8 / eval_recon/cam_wrist_view_image 12.7 / train_recon/cam_front_view_image 10.4 / train_recon/cam_wrist_view_image 16.5 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 108500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[108500] model_only_pretrain/pretrain_opt_loss 65.0 / model_only_pretrain/pretrain_opt_grad_norm 115.8 / model_only_pretrain/cam_front_view_image_loss 15.6 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.3

[Checkpoint] Saving model at step 108600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[108600] model_only_pretrain/pretrain_opt_loss 64.5 / model_only_pretrain/pretrain_opt_grad_norm 118.2 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 9.0

[Checkpoint] Saving model at step 108700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[108700] model_only_pretrain/pretrain_opt_loss 65.0 / model_only_pretrain/pretrain_opt_grad_norm 124.7 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.5

[Checkpoint] Saving model at step 108800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[108800] model_only_pretrain/pretrain_opt_loss 64.7 / model_only_pretrain/pretrain_opt_grad_norm 122.3 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.7

[Checkpoint] Saving model at step 108900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[108900] model_only_pretrain/pretrain_opt_loss 64.9 / model_only_pretrain/pretrain_opt_grad_norm 120.2 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[108999] eval_recon/cam_front_view_image 19.2 / eval_recon/cam_wrist_view_image 16.3 / train_recon/cam_front_view_image 13.1 / train_recon/cam_wrist_view_image 11.9 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 109000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  73% 110000/150000 [2:54:36<8:29:01,  1.31it/s]model_only_pretrain/pretrain_opt_loss 65.0 / model_only_pretrain/pretrain_opt_grad_norm 126.1 / model_only_pretrain/cam_front_view_image_loss 15.6 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.1

[Checkpoint] Saving model at step 109100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[109100] model_only_pretrain/pretrain_opt_loss 65.6 / model_only_pretrain/pretrain_opt_grad_norm 119.9 / model_only_pretrain/cam_front_view_image_loss 15.6 / model_only_pretrain/cam_wrist_view_image_loss 18.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.5

[Checkpoint] Saving model at step 109200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[109200] model_only_pretrain/pretrain_opt_loss 64.9 / model_only_pretrain/pretrain_opt_grad_norm 123.0 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.9

[Checkpoint] Saving model at step 109300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[109300] model_only_pretrain/pretrain_opt_loss 64.8 / model_only_pretrain/pretrain_opt_grad_norm 122.0 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 18.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 109400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[109400] model_only_pretrain/pretrain_opt_loss 64.8 / model_only_pretrain/pretrain_opt_grad_norm 123.1 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[109499] eval_recon/cam_front_view_image 15.0 / eval_recon/cam_wrist_view_image 60.7 / train_recon/cam_front_view_image 24.8 / train_recon/cam_wrist_view_image 19.2 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 109500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[109500] model_only_pretrain/pretrain_opt_loss 64.9 / model_only_pretrain/pretrain_opt_grad_norm 118.3 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 109600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[109600] model_only_pretrain/pretrain_opt_loss 65.3 / model_only_pretrain/pretrain_opt_grad_norm 125.1 / model_only_pretrain/cam_front_view_image_loss 15.6 / model_only_pretrain/cam_wrist_view_image_loss 18.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 109700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[109700] model_only_pretrain/pretrain_opt_loss 64.9 / model_only_pretrain/pretrain_opt_grad_norm 120.4 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 18.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 109800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[109800] model_only_pretrain/pretrain_opt_loss 65.1 / model_only_pretrain/pretrain_opt_grad_norm 124.6 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 18.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.0

[Checkpoint] Saving model at step 109900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[109900] model_only_pretrain/pretrain_opt_loss 65.4 / model_only_pretrain/pretrain_opt_grad_norm 127.3 / model_only_pretrain/cam_front_view_image_loss 15.6 / model_only_pretrain/cam_wrist_view_image_loss 18.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[109999] eval_recon/cam_front_view_image 10.1 / eval_recon/cam_wrist_view_image 56.1 / train_recon/cam_front_view_image 13.4 / train_recon/cam_wrist_view_image 20.4 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 110000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  74% 110999/150000 [2:56:01<44:30, 14.60it/s]model_only_pretrain/pretrain_opt_loss 64.8 / model_only_pretrain/pretrain_opt_grad_norm 126.6 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.7

[Checkpoint] Saving model at step 110100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[110100] model_only_pretrain/pretrain_opt_loss 64.7 / model_only_pretrain/pretrain_opt_grad_norm 116.7 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 110200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[110200] model_only_pretrain/pretrain_opt_loss 64.9 / model_only_pretrain/pretrain_opt_grad_norm 124.6 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 110300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[110300] model_only_pretrain/pretrain_opt_loss 65.0 / model_only_pretrain/pretrain_opt_grad_norm 142.1 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 18.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 110400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[110400] model_only_pretrain/pretrain_opt_loss 64.6 / model_only_pretrain/pretrain_opt_grad_norm 123.6 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 17.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.5
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[110499] eval_recon/cam_front_view_image 12.8 / eval_recon/cam_wrist_view_image 9.7 / train_recon/cam_front_view_image 12.3 / train_recon/cam_wrist_view_image 41.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 110500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[110500] model_only_pretrain/pretrain_opt_loss 65.0 / model_only_pretrain/pretrain_opt_grad_norm 122.1 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 110600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[110600] model_only_pretrain/pretrain_opt_loss 64.8 / model_only_pretrain/pretrain_opt_grad_norm 120.2 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 17.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.5

[Checkpoint] Saving model at step 110700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[110700] model_only_pretrain/pretrain_opt_loss 64.3 / model_only_pretrain/pretrain_opt_grad_norm 116.4 / model_only_pretrain/cam_front_view_image_loss 15.2 / model_only_pretrain/cam_wrist_view_image_loss 17.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.3

[Checkpoint] Saving model at step 110800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[110800] model_only_pretrain/pretrain_opt_loss 65.2 / model_only_pretrain/pretrain_opt_grad_norm 117.3 / model_only_pretrain/cam_front_view_image_loss 15.6 / model_only_pretrain/cam_wrist_view_image_loss 18.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 110900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[110900] model_only_pretrain/pretrain_opt_loss 64.9 / model_only_pretrain/pretrain_opt_grad_norm 116.4 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[110999] eval_recon/cam_front_view_image 11.4 / eval_recon/cam_wrist_view_image 13.3 / train_recon/cam_front_view_image 13.0 / train_recon/cam_wrist_view_image 17.0 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 111000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  75% 111999/150000 [2:57:33<39:53, 15.88it/s]model_only_pretrain/pretrain_opt_loss 64.2 / model_only_pretrain/pretrain_opt_grad_norm 119.2 / model_only_pretrain/cam_front_view_image_loss 15.2 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 111100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[111100] model_only_pretrain/pretrain_opt_loss 65.1 / model_only_pretrain/pretrain_opt_grad_norm 119.9 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 18.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 111200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[111200] model_only_pretrain/pretrain_opt_loss 64.8 / model_only_pretrain/pretrain_opt_grad_norm 127.8 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.7

[Checkpoint] Saving model at step 111300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[111300] model_only_pretrain/pretrain_opt_loss 64.7 / model_only_pretrain/pretrain_opt_grad_norm 121.2 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.1

[Checkpoint] Saving model at step 111400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[111400] model_only_pretrain/pretrain_opt_loss 65.1 / model_only_pretrain/pretrain_opt_grad_norm 121.3 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 18.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.3
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[111499] eval_recon/cam_front_view_image 11.5 / eval_recon/cam_wrist_view_image 13.3 / train_recon/cam_front_view_image 12.3 / train_recon/cam_wrist_view_image 22.1 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 111500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[111500] model_only_pretrain/pretrain_opt_loss 64.9 / model_only_pretrain/pretrain_opt_grad_norm 125.1 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 18.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 111600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[111600] model_only_pretrain/pretrain_opt_loss 65.3 / model_only_pretrain/pretrain_opt_grad_norm 119.8 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 18.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.9 / model_only_pretrain/rep_loss 52.9 / model_only_pretrain/kl_value 52.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.2

[Checkpoint] Saving model at step 111700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[111700] model_only_pretrain/pretrain_opt_loss 64.4 / model_only_pretrain/pretrain_opt_grad_norm 118.7 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 111800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[111800] model_only_pretrain/pretrain_opt_loss 64.6 / model_only_pretrain/pretrain_opt_grad_norm 119.9 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 111900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[111900] model_only_pretrain/pretrain_opt_loss 64.1 / model_only_pretrain/pretrain_opt_grad_norm 119.2 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.3
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[111999] eval_recon/cam_front_view_image 11.5 / eval_recon/cam_wrist_view_image 10.9 / train_recon/cam_front_view_image 36.2 / train_recon/cam_wrist_view_image 116.0 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 112000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  75% 113000/150000 [2:59:17<6:40:36,  1.54it/s]model_only_pretrain/pretrain_opt_loss 64.1 / model_only_pretrain/pretrain_opt_grad_norm 126.1 / model_only_pretrain/cam_front_view_image_loss 15.2 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 112100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[112100] model_only_pretrain/pretrain_opt_loss 65.8 / model_only_pretrain/pretrain_opt_grad_norm 134.2 / model_only_pretrain/cam_front_view_image_loss 15.7 / model_only_pretrain/cam_wrist_view_image_loss 18.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.8 / model_only_pretrain/dyn_loss 53.0 / model_only_pretrain/rep_loss 53.0 / model_only_pretrain/kl_value 53.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 112200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[112200] model_only_pretrain/pretrain_opt_loss 64.2 / model_only_pretrain/pretrain_opt_grad_norm 119.1 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 112300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[112300] model_only_pretrain/pretrain_opt_loss 65.3 / model_only_pretrain/pretrain_opt_grad_norm 122.4 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 18.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.1

[Checkpoint] Saving model at step 112400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[112400] model_only_pretrain/pretrain_opt_loss 64.7 / model_only_pretrain/pretrain_opt_grad_norm 116.1 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[112499] eval_recon/cam_front_view_image 14.0 / eval_recon/cam_wrist_view_image 21.0 / train_recon/cam_front_view_image 12.5 / train_recon/cam_wrist_view_image 18.4 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 112500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[112500] model_only_pretrain/pretrain_opt_loss 64.2 / model_only_pretrain/pretrain_opt_grad_norm 117.3 / model_only_pretrain/cam_front_view_image_loss 15.2 / model_only_pretrain/cam_wrist_view_image_loss 17.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.4

[Checkpoint] Saving model at step 112600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[112600] model_only_pretrain/pretrain_opt_loss 64.5 / model_only_pretrain/pretrain_opt_grad_norm 115.9 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 17.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 112700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[112700] model_only_pretrain/pretrain_opt_loss 64.2 / model_only_pretrain/pretrain_opt_grad_norm 115.8 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 112800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[112800] model_only_pretrain/pretrain_opt_loss 64.5 / model_only_pretrain/pretrain_opt_grad_norm 120.6 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 17.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.8

[Checkpoint] Saving model at step 112900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[112900] model_only_pretrain/pretrain_opt_loss 64.4 / model_only_pretrain/pretrain_opt_grad_norm 118.3 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[112999] eval_recon/cam_front_view_image 12.1 / eval_recon/cam_wrist_view_image 11.2 / train_recon/cam_front_view_image 13.3 / train_recon/cam_wrist_view_image 13.5 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 113000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  76% 114000/150000 [3:00:52<6:31:03,  1.53it/s]model_only_pretrain/pretrain_opt_loss 64.6 / model_only_pretrain/pretrain_opt_grad_norm 117.0 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 17.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.4

[Checkpoint] Saving model at step 113100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[113100] model_only_pretrain/pretrain_opt_loss 65.2 / model_only_pretrain/pretrain_opt_grad_norm 124.1 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 18.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 113200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[113200] model_only_pretrain/pretrain_opt_loss 65.3 / model_only_pretrain/pretrain_opt_grad_norm 124.5 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 18.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.7 / model_only_pretrain/dyn_loss 52.8 / model_only_pretrain/rep_loss 52.8 / model_only_pretrain/kl_value 52.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 113300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[113300] model_only_pretrain/pretrain_opt_loss 64.6 / model_only_pretrain/pretrain_opt_grad_norm 123.7 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 17.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 113400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[113400] model_only_pretrain/pretrain_opt_loss 64.5 / model_only_pretrain/pretrain_opt_grad_norm 122.7 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 17.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 11.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[113499] eval_recon/cam_front_view_image 12.8 / eval_recon/cam_wrist_view_image 14.1 / train_recon/cam_front_view_image 11.5 / train_recon/cam_wrist_view_image 20.0 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 113500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[113500] model_only_pretrain/pretrain_opt_loss 64.8 / model_only_pretrain/pretrain_opt_grad_norm 123.4 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 113600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[113600] model_only_pretrain/pretrain_opt_loss 64.7 / model_only_pretrain/pretrain_opt_grad_norm 124.4 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 18.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 113700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[113700] model_only_pretrain/pretrain_opt_loss 64.6 / model_only_pretrain/pretrain_opt_grad_norm 122.9 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 113800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[113800] model_only_pretrain/pretrain_opt_loss 64.3 / model_only_pretrain/pretrain_opt_grad_norm 118.4 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 113900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[113900] model_only_pretrain/pretrain_opt_loss 64.6 / model_only_pretrain/pretrain_opt_grad_norm 119.6 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 17.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.1
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[113999] eval_recon/cam_front_view_image 9.4 / eval_recon/cam_wrist_view_image 47.2 / train_recon/cam_front_view_image 9.1 / train_recon/cam_wrist_view_image 10.9 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 114000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  77% 115000/150000 [3:02:22<3:54:16,  2.49it/s]model_only_pretrain/pretrain_opt_loss 64.8 / model_only_pretrain/pretrain_opt_grad_norm 119.6 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.8

[Checkpoint] Saving model at step 114100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[114100] model_only_pretrain/pretrain_opt_loss 64.5 / model_only_pretrain/pretrain_opt_grad_norm 120.0 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 17.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 114200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[114200] model_only_pretrain/pretrain_opt_loss 65.0 / model_only_pretrain/pretrain_opt_grad_norm 121.2 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 18.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.9

[Checkpoint] Saving model at step 114300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[114300] model_only_pretrain/pretrain_opt_loss 64.4 / model_only_pretrain/pretrain_opt_grad_norm 119.9 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.8

[Checkpoint] Saving model at step 114400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[114400] model_only_pretrain/pretrain_opt_loss 64.4 / model_only_pretrain/pretrain_opt_grad_norm 118.6 / model_only_pretrain/cam_front_view_image_loss 15.2 / model_only_pretrain/cam_wrist_view_image_loss 17.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.1
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[114499] eval_recon/cam_front_view_image 11.0 / eval_recon/cam_wrist_view_image 12.7 / train_recon/cam_front_view_image 15.2 / train_recon/cam_wrist_view_image 14.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 114500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[114500] model_only_pretrain/pretrain_opt_loss 64.2 / model_only_pretrain/pretrain_opt_grad_norm 124.2 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 114600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[114600] model_only_pretrain/pretrain_opt_loss 64.5 / model_only_pretrain/pretrain_opt_grad_norm 122.2 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 114700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[114700] model_only_pretrain/pretrain_opt_loss 64.4 / model_only_pretrain/pretrain_opt_grad_norm 125.3 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.7

[Checkpoint] Saving model at step 114800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[114800] model_only_pretrain/pretrain_opt_loss 64.8 / model_only_pretrain/pretrain_opt_grad_norm 117.4 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 17.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.5

[Checkpoint] Saving model at step 114900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[114900] model_only_pretrain/pretrain_opt_loss 64.5 / model_only_pretrain/pretrain_opt_grad_norm 119.2 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[114999] eval_recon/cam_front_view_image 11.0 / eval_recon/cam_wrist_view_image 14.0 / train_recon/cam_front_view_image 12.6 / train_recon/cam_wrist_view_image 13.0 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 115000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  77% 115999/150000 [3:03:59<35:52, 15.80it/s]model_only_pretrain/pretrain_opt_loss 64.4 / model_only_pretrain/pretrain_opt_grad_norm 116.6 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 17.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 115100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[115100] model_only_pretrain/pretrain_opt_loss 63.9 / model_only_pretrain/pretrain_opt_grad_norm 116.6 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 115200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[115200] model_only_pretrain/pretrain_opt_loss 64.7 / model_only_pretrain/pretrain_opt_grad_norm 127.6 / model_only_pretrain/cam_front_view_image_loss 15.2 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 115300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[115300] model_only_pretrain/pretrain_opt_loss 64.9 / model_only_pretrain/pretrain_opt_grad_norm 118.7 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 18.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 115400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[115400] model_only_pretrain/pretrain_opt_loss 64.7 / model_only_pretrain/pretrain_opt_grad_norm 120.1 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[115499] eval_recon/cam_front_view_image 10.0 / eval_recon/cam_wrist_view_image 34.1 / train_recon/cam_front_view_image 40.9 / train_recon/cam_wrist_view_image 77.7 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 115500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[115500] model_only_pretrain/pretrain_opt_loss 64.1 / model_only_pretrain/pretrain_opt_grad_norm 118.1 / model_only_pretrain/cam_front_view_image_loss 15.2 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.5

[Checkpoint] Saving model at step 115600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[115600] model_only_pretrain/pretrain_opt_loss 63.8 / model_only_pretrain/pretrain_opt_grad_norm 120.2 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.0

[Checkpoint] Saving model at step 115700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[115700] model_only_pretrain/pretrain_opt_loss 63.8 / model_only_pretrain/pretrain_opt_grad_norm 113.2 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.5 / model_only_pretrain/fps 8.7

[Checkpoint] Saving model at step 115800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[115800] model_only_pretrain/pretrain_opt_loss 63.9 / model_only_pretrain/pretrain_opt_grad_norm 120.8 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.8

[Checkpoint] Saving model at step 115900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[115900] model_only_pretrain/pretrain_opt_loss 64.3 / model_only_pretrain/pretrain_opt_grad_norm 120.5 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[115999] eval_recon/cam_front_view_image 11.1 / eval_recon/cam_wrist_view_image 15.6 / train_recon/cam_front_view_image 14.8 / train_recon/cam_wrist_view_image 22.4 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 116000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  78% 116999/150000 [3:05:28<34:07, 16.12it/s]model_only_pretrain/pretrain_opt_loss 64.6 / model_only_pretrain/pretrain_opt_grad_norm 122.9 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.4

[Checkpoint] Saving model at step 116100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[116100] model_only_pretrain/pretrain_opt_loss 64.8 / model_only_pretrain/pretrain_opt_grad_norm 116.5 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 17.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 116200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[116200] model_only_pretrain/pretrain_opt_loss 64.7 / model_only_pretrain/pretrain_opt_grad_norm 124.5 / model_only_pretrain/cam_front_view_image_loss 15.2 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 116300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[116300] model_only_pretrain/pretrain_opt_loss 64.0 / model_only_pretrain/pretrain_opt_grad_norm 120.4 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.2

[Checkpoint] Saving model at step 116400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[116400] model_only_pretrain/pretrain_opt_loss 64.3 / model_only_pretrain/pretrain_opt_grad_norm 118.2 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.1
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[116499] eval_recon/cam_front_view_image 16.3 / eval_recon/cam_wrist_view_image 51.2 / train_recon/cam_front_view_image 12.1 / train_recon/cam_wrist_view_image 11.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 116500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[116500] model_only_pretrain/pretrain_opt_loss 64.5 / model_only_pretrain/pretrain_opt_grad_norm 115.1 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.3

[Checkpoint] Saving model at step 116600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[116600] model_only_pretrain/pretrain_opt_loss 64.7 / model_only_pretrain/pretrain_opt_grad_norm 121.9 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 17.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.9

[Checkpoint] Saving model at step 116700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[116700] model_only_pretrain/pretrain_opt_loss 64.5 / model_only_pretrain/pretrain_opt_grad_norm 122.4 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 17.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 116800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[116800] model_only_pretrain/pretrain_opt_loss 63.8 / model_only_pretrain/pretrain_opt_grad_norm 119.9 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.4

[Checkpoint] Saving model at step 116900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[116900] model_only_pretrain/pretrain_opt_loss 64.7 / model_only_pretrain/pretrain_opt_grad_norm 123.5 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[116999] eval_recon/cam_front_view_image 13.9 / eval_recon/cam_wrist_view_image 20.4 / train_recon/cam_front_view_image 12.1 / train_recon/cam_wrist_view_image 70.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 117000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[117000] 
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World Model pretraining:  79% 118000/150000 [3:07:12<5:43:35,  1.55it/s]model_only_pretrain/pretrain_opt_loss 64.5 / model_only_pretrain/pretrain_opt_grad_norm 124.5 / model_only_pretrain/cam_front_view_image_loss 15.5 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.4

[Checkpoint] Saving model at step 117100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[117100] model_only_pretrain/pretrain_opt_loss 64.3 / model_only_pretrain/pretrain_opt_grad_norm 126.3 / model_only_pretrain/cam_front_view_image_loss 15.2 / model_only_pretrain/cam_wrist_view_image_loss 17.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 117200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[117200] model_only_pretrain/pretrain_opt_loss 64.6 / model_only_pretrain/pretrain_opt_grad_norm 121.9 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 117300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[117300] model_only_pretrain/pretrain_opt_loss 64.5 / model_only_pretrain/pretrain_opt_grad_norm 124.2 / model_only_pretrain/cam_front_view_image_loss 15.2 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 117400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[117400] model_only_pretrain/pretrain_opt_loss 64.0 / model_only_pretrain/pretrain_opt_grad_norm 122.1 / model_only_pretrain/cam_front_view_image_loss 15.2 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[117499] eval_recon/cam_front_view_image 10.0 / eval_recon/cam_wrist_view_image 16.1 / train_recon/cam_front_view_image 13.3 / train_recon/cam_wrist_view_image 14.6 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 117500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[117500] model_only_pretrain/pretrain_opt_loss 64.5 / model_only_pretrain/pretrain_opt_grad_norm 120.1 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 17.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.1

[Checkpoint] Saving model at step 117600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[117600] model_only_pretrain/pretrain_opt_loss 64.1 / model_only_pretrain/pretrain_opt_grad_norm 115.8 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.6

[Checkpoint] Saving model at step 117700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[117700] model_only_pretrain/pretrain_opt_loss 64.5 / model_only_pretrain/pretrain_opt_grad_norm 121.3 / model_only_pretrain/cam_front_view_image_loss 15.2 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 117800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[117800] model_only_pretrain/pretrain_opt_loss 65.0 / model_only_pretrain/pretrain_opt_grad_norm 118.6 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.6

[Checkpoint] Saving model at step 117900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[117900] model_only_pretrain/pretrain_opt_loss 64.0 / model_only_pretrain/pretrain_opt_grad_norm 122.0 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.6
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[117999] eval_recon/cam_front_view_image 10.7 / eval_recon/cam_wrist_view_image 16.2 / train_recon/cam_front_view_image 16.7 / train_recon/cam_wrist_view_image 15.9 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 118000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[118000] 
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World Model pretraining:  79% 118999/150000 [3:08:44<34:11, 15.11it/s]model_only_pretrain/pretrain_opt_loss 64.2 / model_only_pretrain/pretrain_opt_grad_norm 118.9 / model_only_pretrain/cam_front_view_image_loss 15.2 / model_only_pretrain/cam_wrist_view_image_loss 17.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 118100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[118100] model_only_pretrain/pretrain_opt_loss 63.7 / model_only_pretrain/pretrain_opt_grad_norm 118.0 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 118200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[118200] model_only_pretrain/pretrain_opt_loss 64.9 / model_only_pretrain/pretrain_opt_grad_norm 132.4 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 118300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[118300] model_only_pretrain/pretrain_opt_loss 64.6 / model_only_pretrain/pretrain_opt_grad_norm 120.6 / model_only_pretrain/cam_front_view_image_loss 15.2 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 118400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[118400] model_only_pretrain/pretrain_opt_loss 64.5 / model_only_pretrain/pretrain_opt_grad_norm 119.0 / model_only_pretrain/cam_front_view_image_loss 15.2 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.3
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[118499] eval_recon/cam_front_view_image 11.5 / eval_recon/cam_wrist_view_image 64.7 / train_recon/cam_front_view_image 12.7 / train_recon/cam_wrist_view_image 16.9 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 118500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[118500] model_only_pretrain/pretrain_opt_loss 64.5 / model_only_pretrain/pretrain_opt_grad_norm 120.5 / model_only_pretrain/cam_front_view_image_loss 15.2 / model_only_pretrain/cam_wrist_view_image_loss 17.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.2 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.3

[Checkpoint] Saving model at step 118600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[118600] model_only_pretrain/pretrain_opt_loss 64.7 / model_only_pretrain/pretrain_opt_grad_norm 117.6 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 118700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[118700] model_only_pretrain/pretrain_opt_loss 63.9 / model_only_pretrain/pretrain_opt_grad_norm 117.0 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 118800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[118800] model_only_pretrain/pretrain_opt_loss 64.2 / model_only_pretrain/pretrain_opt_grad_norm 117.3 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.1

[Checkpoint] Saving model at step 118900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[118900] model_only_pretrain/pretrain_opt_loss 64.0 / model_only_pretrain/pretrain_opt_grad_norm 122.1 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.9
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[118999] eval_recon/cam_front_view_image 14.1 / eval_recon/cam_wrist_view_image 10.5 / train_recon/cam_front_view_image 12.2 / train_recon/cam_wrist_view_image 16.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 119000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[119000] 
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World Model pretraining:  80% 119999/150000 [3:10:12<30:50, 16.21it/s]model_only_pretrain/pretrain_opt_loss 63.9 / model_only_pretrain/pretrain_opt_grad_norm 116.8 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 119100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[119100] model_only_pretrain/pretrain_opt_loss 64.5 / model_only_pretrain/pretrain_opt_grad_norm 119.6 / model_only_pretrain/cam_front_view_image_loss 15.2 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.4

[Checkpoint] Saving model at step 119200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[119200] model_only_pretrain/pretrain_opt_loss 64.7 / model_only_pretrain/pretrain_opt_grad_norm 117.6 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 119300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[119300] model_only_pretrain/pretrain_opt_loss 64.0 / model_only_pretrain/pretrain_opt_grad_norm 117.3 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 119400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[119400] model_only_pretrain/pretrain_opt_loss 64.3 / model_only_pretrain/pretrain_opt_grad_norm 126.0 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[119499] eval_recon/cam_front_view_image 12.4 / eval_recon/cam_wrist_view_image 14.8 / train_recon/cam_front_view_image 12.2 / train_recon/cam_wrist_view_image 17.9 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 119500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[119500] model_only_pretrain/pretrain_opt_loss 64.2 / model_only_pretrain/pretrain_opt_grad_norm 115.6 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 119600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[119600] model_only_pretrain/pretrain_opt_loss 64.9 / model_only_pretrain/pretrain_opt_grad_norm 115.4 / model_only_pretrain/cam_front_view_image_loss 15.4 / model_only_pretrain/cam_wrist_view_image_loss 18.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.4

[Checkpoint] Saving model at step 119700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[119700] model_only_pretrain/pretrain_opt_loss 64.4 / model_only_pretrain/pretrain_opt_grad_norm 115.6 / model_only_pretrain/cam_front_view_image_loss 15.2 / model_only_pretrain/cam_wrist_view_image_loss 17.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 119800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[119800] model_only_pretrain/pretrain_opt_loss 64.6 / model_only_pretrain/pretrain_opt_grad_norm 122.8 / model_only_pretrain/cam_front_view_image_loss 15.2 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 119900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[119900] model_only_pretrain/pretrain_opt_loss 63.8 / model_only_pretrain/pretrain_opt_grad_norm 115.7 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.6
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[119999] eval_recon/cam_front_view_image 13.9 / eval_recon/cam_wrist_view_image 16.9 / train_recon/cam_front_view_image 18.3 / train_recon/cam_wrist_view_image 16.9 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 120000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  81% 120999/150000 [3:11:40<33:07, 14.59it/s]model_only_pretrain/pretrain_opt_loss 64.1 / model_only_pretrain/pretrain_opt_grad_norm 117.3 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 120100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[120100] model_only_pretrain/pretrain_opt_loss 64.5 / model_only_pretrain/pretrain_opt_grad_norm 116.9 / model_only_pretrain/cam_front_view_image_loss 15.2 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 120200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[120200] model_only_pretrain/pretrain_opt_loss 64.0 / model_only_pretrain/pretrain_opt_grad_norm 126.4 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 120300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[120300] model_only_pretrain/pretrain_opt_loss 63.8 / model_only_pretrain/pretrain_opt_grad_norm 113.5 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 120400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[120400] model_only_pretrain/pretrain_opt_loss 63.8 / model_only_pretrain/pretrain_opt_grad_norm 123.6 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[120499] eval_recon/cam_front_view_image 12.3 / eval_recon/cam_wrist_view_image 13.4 / train_recon/cam_front_view_image 14.9 / train_recon/cam_wrist_view_image 18.7 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 120500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[120500] model_only_pretrain/pretrain_opt_loss 64.4 / model_only_pretrain/pretrain_opt_grad_norm 115.9 / model_only_pretrain/cam_front_view_image_loss 15.2 / model_only_pretrain/cam_wrist_view_image_loss 17.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 120600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[120600] model_only_pretrain/pretrain_opt_loss 63.7 / model_only_pretrain/pretrain_opt_grad_norm 112.6 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.2

[Checkpoint] Saving model at step 120700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[120700] model_only_pretrain/pretrain_opt_loss 64.0 / model_only_pretrain/pretrain_opt_grad_norm 118.2 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.1

[Checkpoint] Saving model at step 120800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[120800] model_only_pretrain/pretrain_opt_loss 63.7 / model_only_pretrain/pretrain_opt_grad_norm 123.1 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 120900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[120900] model_only_pretrain/pretrain_opt_loss 64.3 / model_only_pretrain/pretrain_opt_grad_norm 120.1 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[120999] eval_recon/cam_front_view_image 13.1 / eval_recon/cam_wrist_view_image 20.0 / train_recon/cam_front_view_image 12.0 / train_recon/cam_wrist_view_image 42.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 121000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[121000] 
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World Model pretraining:  81% 122000/150000 [3:13:23<6:51:51,  1.13it/s]model_only_pretrain/pretrain_opt_loss 64.3 / model_only_pretrain/pretrain_opt_grad_norm 119.6 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 121100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[121100] model_only_pretrain/pretrain_opt_loss 64.0 / model_only_pretrain/pretrain_opt_grad_norm 118.1 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 121200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[121200] model_only_pretrain/pretrain_opt_loss 64.2 / model_only_pretrain/pretrain_opt_grad_norm 117.4 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.1 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 121300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[121300] model_only_pretrain/pretrain_opt_loss 63.8 / model_only_pretrain/pretrain_opt_grad_norm 114.4 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 121400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[121400] model_only_pretrain/pretrain_opt_loss 64.2 / model_only_pretrain/pretrain_opt_grad_norm 114.3 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.1
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[121499] eval_recon/cam_front_view_image 15.1 / eval_recon/cam_wrist_view_image 35.2 / train_recon/cam_front_view_image 14.0 / train_recon/cam_wrist_view_image 16.6 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 121500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[121500] model_only_pretrain/pretrain_opt_loss 64.7 / model_only_pretrain/pretrain_opt_grad_norm 123.1 / model_only_pretrain/cam_front_view_image_loss 15.2 / model_only_pretrain/cam_wrist_view_image_loss 17.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.7 / model_only_pretrain/rep_loss 52.7 / model_only_pretrain/kl_value 52.7 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 121600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[121600] model_only_pretrain/pretrain_opt_loss 64.0 / model_only_pretrain/pretrain_opt_grad_norm 121.3 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 121700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[121700] model_only_pretrain/pretrain_opt_loss 64.5 / model_only_pretrain/pretrain_opt_grad_norm 122.7 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 9.5

[Checkpoint] Saving model at step 121800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[121800] model_only_pretrain/pretrain_opt_loss 64.4 / model_only_pretrain/pretrain_opt_grad_norm 118.5 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.1

[Checkpoint] Saving model at step 121900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[121900] model_only_pretrain/pretrain_opt_loss 64.2 / model_only_pretrain/pretrain_opt_grad_norm 117.2 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 8.6
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[121999] eval_recon/cam_front_view_image 11.5 / eval_recon/cam_wrist_view_image 13.6 / train_recon/cam_front_view_image 16.6 / train_recon/cam_wrist_view_image 24.7 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 122000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  82% 122999/150000 [3:15:08<43:54, 10.25it/s]model_only_pretrain/pretrain_opt_loss 63.9 / model_only_pretrain/pretrain_opt_grad_norm 116.8 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.3

[Checkpoint] Saving model at step 122100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[122100] model_only_pretrain/pretrain_opt_loss 64.3 / model_only_pretrain/pretrain_opt_grad_norm 122.8 / model_only_pretrain/cam_front_view_image_loss 15.2 / model_only_pretrain/cam_wrist_view_image_loss 17.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.9

[Checkpoint] Saving model at step 122200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[122200] model_only_pretrain/pretrain_opt_loss 64.2 / model_only_pretrain/pretrain_opt_grad_norm 120.5 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 122300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[122300] model_only_pretrain/pretrain_opt_loss 63.8 / model_only_pretrain/pretrain_opt_grad_norm 118.0 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 122400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[122400] model_only_pretrain/pretrain_opt_loss 63.6 / model_only_pretrain/pretrain_opt_grad_norm 118.3 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.1
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[122499] eval_recon/cam_front_view_image 10.5 / eval_recon/cam_wrist_view_image 10.4 / train_recon/cam_front_view_image 12.5 / train_recon/cam_wrist_view_image 30.1 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 122500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[122500] model_only_pretrain/pretrain_opt_loss 64.4 / model_only_pretrain/pretrain_opt_grad_norm 121.9 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 9.2

[Checkpoint] Saving model at step 122600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[122600] model_only_pretrain/pretrain_opt_loss 64.4 / model_only_pretrain/pretrain_opt_grad_norm 122.9 / model_only_pretrain/cam_front_view_image_loss 15.3 / model_only_pretrain/cam_wrist_view_image_loss 17.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.8

[Checkpoint] Saving model at step 122700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[122700] model_only_pretrain/pretrain_opt_loss 64.0 / model_only_pretrain/pretrain_opt_grad_norm 114.0 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.5

[Checkpoint] Saving model at step 122800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[122800] model_only_pretrain/pretrain_opt_loss 63.9 / model_only_pretrain/pretrain_opt_grad_norm 119.4 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.9

[Checkpoint] Saving model at step 122900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[122900] model_only_pretrain/pretrain_opt_loss 64.0 / model_only_pretrain/pretrain_opt_grad_norm 118.5 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.3
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[122999] eval_recon/cam_front_view_image 42.6 / eval_recon/cam_wrist_view_image 104.4 / train_recon/cam_front_view_image 14.3 / train_recon/cam_wrist_view_image 14.4 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 123000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[123000] 
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World Model pretraining:  83% 124000/150000 [3:16:48<3:17:25,  2.19it/s]model_only_pretrain/pretrain_opt_loss 63.5 / model_only_pretrain/pretrain_opt_grad_norm 115.4 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.4

[Checkpoint] Saving model at step 123100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[123100] model_only_pretrain/pretrain_opt_loss 63.8 / model_only_pretrain/pretrain_opt_grad_norm 114.7 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.7

[Checkpoint] Saving model at step 123200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[123200] model_only_pretrain/pretrain_opt_loss 63.9 / model_only_pretrain/pretrain_opt_grad_norm 120.5 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.7

[Checkpoint] Saving model at step 123300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[123300] model_only_pretrain/pretrain_opt_loss 63.5 / model_only_pretrain/pretrain_opt_grad_norm 114.2 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.0

[Checkpoint] Saving model at step 123400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[123400] model_only_pretrain/pretrain_opt_loss 63.8 / model_only_pretrain/pretrain_opt_grad_norm 119.1 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.9
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[123499] eval_recon/cam_front_view_image 11.2 / eval_recon/cam_wrist_view_image 15.3 / train_recon/cam_front_view_image 12.4 / train_recon/cam_wrist_view_image 26.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 123500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[123500] model_only_pretrain/pretrain_opt_loss 63.3 / model_only_pretrain/pretrain_opt_grad_norm 111.4 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.0

[Checkpoint] Saving model at step 123600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[123600] model_only_pretrain/pretrain_opt_loss 64.3 / model_only_pretrain/pretrain_opt_grad_norm 113.0 / model_only_pretrain/cam_front_view_image_loss 15.2 / model_only_pretrain/cam_wrist_view_image_loss 17.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 123700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[123700] model_only_pretrain/pretrain_opt_loss 63.8 / model_only_pretrain/pretrain_opt_grad_norm 120.0 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 123800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[123800] model_only_pretrain/pretrain_opt_loss 64.4 / model_only_pretrain/pretrain_opt_grad_norm 124.4 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.6 / model_only_pretrain/dyn_loss 52.6 / model_only_pretrain/rep_loss 52.6 / model_only_pretrain/kl_value 52.6 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 123900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[123900] model_only_pretrain/pretrain_opt_loss 63.9 / model_only_pretrain/pretrain_opt_grad_norm 113.5 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[123999] eval_recon/cam_front_view_image 9.7 / eval_recon/cam_wrist_view_image 16.0 / train_recon/cam_front_view_image 9.0 / train_recon/cam_wrist_view_image 14.7 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 124000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  83% 124999/150000 [3:18:29<29:43, 14.02it/s]model_only_pretrain/pretrain_opt_loss 63.8 / model_only_pretrain/pretrain_opt_grad_norm 122.5 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 124100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[124100] model_only_pretrain/pretrain_opt_loss 64.1 / model_only_pretrain/pretrain_opt_grad_norm 118.5 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.4

[Checkpoint] Saving model at step 124200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[124200] model_only_pretrain/pretrain_opt_loss 63.8 / model_only_pretrain/pretrain_opt_grad_norm 117.2 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.7

[Checkpoint] Saving model at step 124300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[124300] model_only_pretrain/pretrain_opt_loss 63.6 / model_only_pretrain/pretrain_opt_grad_norm 109.8 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.9

[Checkpoint] Saving model at step 124400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[124400] model_only_pretrain/pretrain_opt_loss 63.4 / model_only_pretrain/pretrain_opt_grad_norm 116.9 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.9
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[124499] eval_recon/cam_front_view_image 14.7 / eval_recon/cam_wrist_view_image 9.6 / train_recon/cam_front_view_image 9.9 / train_recon/cam_wrist_view_image 13.5 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 124500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[124500] model_only_pretrain/pretrain_opt_loss 64.0 / model_only_pretrain/pretrain_opt_grad_norm 115.8 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.8

[Checkpoint] Saving model at step 124600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[124600] model_only_pretrain/pretrain_opt_loss 63.9 / model_only_pretrain/pretrain_opt_grad_norm 116.4 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.4

[Checkpoint] Saving model at step 124700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[124700] model_only_pretrain/pretrain_opt_loss 63.9 / model_only_pretrain/pretrain_opt_grad_norm 124.0 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 124800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[124800] model_only_pretrain/pretrain_opt_loss 63.3 / model_only_pretrain/pretrain_opt_grad_norm 117.6 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.1

[Checkpoint] Saving model at step 124900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[124900] model_only_pretrain/pretrain_opt_loss 64.1 / model_only_pretrain/pretrain_opt_grad_norm 120.4 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.1
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[124999] eval_recon/cam_front_view_image 13.3 / eval_recon/cam_wrist_view_image 43.5 / train_recon/cam_front_view_image 13.9 / train_recon/cam_wrist_view_image 43.5 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 125000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[125000] 
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World Model pretraining:  84% 125999/150000 [3:19:57<24:58, 16.02it/s]model_only_pretrain/pretrain_opt_loss 64.1 / model_only_pretrain/pretrain_opt_grad_norm 118.1 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 24.0 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 125100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[125100] model_only_pretrain/pretrain_opt_loss 63.6 / model_only_pretrain/pretrain_opt_grad_norm 115.4 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.5

[Checkpoint] Saving model at step 125200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[125200] model_only_pretrain/pretrain_opt_loss 63.7 / model_only_pretrain/pretrain_opt_grad_norm 117.8 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 125300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[125300] model_only_pretrain/pretrain_opt_loss 63.3 / model_only_pretrain/pretrain_opt_grad_norm 112.8 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 125400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[125400] model_only_pretrain/pretrain_opt_loss 63.7 / model_only_pretrain/pretrain_opt_grad_norm 123.7 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.9
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[125499] eval_recon/cam_front_view_image 15.0 / eval_recon/cam_wrist_view_image 15.0 / train_recon/cam_front_view_image 16.4 / train_recon/cam_wrist_view_image 22.9 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 125500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[125500] model_only_pretrain/pretrain_opt_loss 64.0 / model_only_pretrain/pretrain_opt_grad_norm 120.6 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 125600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[125600] model_only_pretrain/pretrain_opt_loss 63.9 / model_only_pretrain/pretrain_opt_grad_norm 118.0 / model_only_pretrain/cam_front_view_image_loss 15.2 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 125700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[125700] model_only_pretrain/pretrain_opt_loss 64.0 / model_only_pretrain/pretrain_opt_grad_norm 113.6 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 125800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[125800] model_only_pretrain/pretrain_opt_loss 63.9 / model_only_pretrain/pretrain_opt_grad_norm 116.6 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 125900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[125900] model_only_pretrain/pretrain_opt_loss 64.0 / model_only_pretrain/pretrain_opt_grad_norm 117.2 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[125999] eval_recon/cam_front_view_image 12.3 / eval_recon/cam_wrist_view_image 79.1 / train_recon/cam_front_view_image 11.8 / train_recon/cam_wrist_view_image 17.5 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 126000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  85% 126999/150000 [3:21:31<27:42, 13.83it/s]model_only_pretrain/pretrain_opt_loss 63.0 / model_only_pretrain/pretrain_opt_grad_norm 115.1 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 126100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[126100] model_only_pretrain/pretrain_opt_loss 63.7 / model_only_pretrain/pretrain_opt_grad_norm 115.1 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.1

[Checkpoint] Saving model at step 126200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[126200] model_only_pretrain/pretrain_opt_loss 63.5 / model_only_pretrain/pretrain_opt_grad_norm 115.8 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 126300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[126300] model_only_pretrain/pretrain_opt_loss 64.2 / model_only_pretrain/pretrain_opt_grad_norm 117.9 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.7

[Checkpoint] Saving model at step 126400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[126400] model_only_pretrain/pretrain_opt_loss 63.7 / model_only_pretrain/pretrain_opt_grad_norm 114.3 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.5
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[126499] eval_recon/cam_front_view_image 12.8 / eval_recon/cam_wrist_view_image 62.4 / train_recon/cam_front_view_image 10.4 / train_recon/cam_wrist_view_image 12.2 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 126500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[126500] model_only_pretrain/pretrain_opt_loss 63.7 / model_only_pretrain/pretrain_opt_grad_norm 117.9 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.9

[Checkpoint] Saving model at step 126600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[126600] model_only_pretrain/pretrain_opt_loss 63.8 / model_only_pretrain/pretrain_opt_grad_norm 118.5 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 126700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[126700] model_only_pretrain/pretrain_opt_loss 63.5 / model_only_pretrain/pretrain_opt_grad_norm 113.5 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 9.9

[Checkpoint] Saving model at step 126800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[126800] model_only_pretrain/pretrain_opt_loss 63.7 / model_only_pretrain/pretrain_opt_grad_norm 114.5 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.4

[Checkpoint] Saving model at step 126900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[126900] model_only_pretrain/pretrain_opt_loss 64.0 / model_only_pretrain/pretrain_opt_grad_norm 116.4 / model_only_pretrain/cam_front_view_image_loss 15.2 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[126999] eval_recon/cam_front_view_image 10.9 / eval_recon/cam_wrist_view_image 11.8 / train_recon/cam_front_view_image 14.1 / train_recon/cam_wrist_view_image 15.5 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 127000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[127000] 
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World Model pretraining:  85% 127999/150000 [3:23:06<23:42, 15.47it/s]model_only_pretrain/pretrain_opt_loss 63.7 / model_only_pretrain/pretrain_opt_grad_norm 121.5 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 127100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[127100] model_only_pretrain/pretrain_opt_loss 64.1 / model_only_pretrain/pretrain_opt_grad_norm 115.1 / model_only_pretrain/cam_front_view_image_loss 15.2 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 12.7

[Checkpoint] Saving model at step 127200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[127200] model_only_pretrain/pretrain_opt_loss 63.4 / model_only_pretrain/pretrain_opt_grad_norm 116.4 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.3

[Checkpoint] Saving model at step 127300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[127300] model_only_pretrain/pretrain_opt_loss 63.8 / model_only_pretrain/pretrain_opt_grad_norm 119.3 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 127400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[127400] model_only_pretrain/pretrain_opt_loss 63.3 / model_only_pretrain/pretrain_opt_grad_norm 112.4 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.6
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[127499] eval_recon/cam_front_view_image 12.0 / eval_recon/cam_wrist_view_image 12.0 / train_recon/cam_front_view_image 12.5 / train_recon/cam_wrist_view_image 14.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 127500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[127500] model_only_pretrain/pretrain_opt_loss 63.4 / model_only_pretrain/pretrain_opt_grad_norm 113.3 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 127600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[127600] model_only_pretrain/pretrain_opt_loss 63.4 / model_only_pretrain/pretrain_opt_grad_norm 118.2 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.3

[Checkpoint] Saving model at step 127700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[127700] model_only_pretrain/pretrain_opt_loss 63.0 / model_only_pretrain/pretrain_opt_grad_norm 111.5 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 16.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.2

[Checkpoint] Saving model at step 127800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[127800] model_only_pretrain/pretrain_opt_loss 63.8 / model_only_pretrain/pretrain_opt_grad_norm 115.8 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.2

[Checkpoint] Saving model at step 127900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[127900] model_only_pretrain/pretrain_opt_loss 63.5 / model_only_pretrain/pretrain_opt_grad_norm 113.1 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.1
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[127999] eval_recon/cam_front_view_image 11.6 / eval_recon/cam_wrist_view_image 13.4 / train_recon/cam_front_view_image 9.4 / train_recon/cam_wrist_view_image 11.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 128000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  86% 128999/150000 [3:24:54<23:23, 14.96it/s]model_only_pretrain/pretrain_opt_loss 63.6 / model_only_pretrain/pretrain_opt_grad_norm 121.2 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.7

[Checkpoint] Saving model at step 128100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[128100] model_only_pretrain/pretrain_opt_loss 64.0 / model_only_pretrain/pretrain_opt_grad_norm 129.3 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.4

[Checkpoint] Saving model at step 128200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[128200] model_only_pretrain/pretrain_opt_loss 63.1 / model_only_pretrain/pretrain_opt_grad_norm 118.1 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.1

[Checkpoint] Saving model at step 128300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[128300] model_only_pretrain/pretrain_opt_loss 63.5 / model_only_pretrain/pretrain_opt_grad_norm 118.0 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 128400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[128400] model_only_pretrain/pretrain_opt_loss 63.5 / model_only_pretrain/pretrain_opt_grad_norm 118.8 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[128499] eval_recon/cam_front_view_image 10.9 / eval_recon/cam_wrist_view_image 14.4 / train_recon/cam_front_view_image 14.7 / train_recon/cam_wrist_view_image 58.4 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 128500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[128500] model_only_pretrain/pretrain_opt_loss 63.8 / model_only_pretrain/pretrain_opt_grad_norm 119.2 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.9

[Checkpoint] Saving model at step 128600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[128600] model_only_pretrain/pretrain_opt_loss 62.8 / model_only_pretrain/pretrain_opt_grad_norm 114.7 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.3

[Checkpoint] Saving model at step 128700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[128700] model_only_pretrain/pretrain_opt_loss 64.0 / model_only_pretrain/pretrain_opt_grad_norm 115.4 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.6

[Checkpoint] Saving model at step 128800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[128800] model_only_pretrain/pretrain_opt_loss 63.8 / model_only_pretrain/pretrain_opt_grad_norm 120.4 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.4

[Checkpoint] Saving model at step 128900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[128900] model_only_pretrain/pretrain_opt_loss 63.9 / model_only_pretrain/pretrain_opt_grad_norm 125.3 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.1
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[128999] eval_recon/cam_front_view_image 10.9 / eval_recon/cam_wrist_view_image 15.5 / train_recon/cam_front_view_image 13.4 / train_recon/cam_wrist_view_image 52.9 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 129000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[129000] 
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World Model pretraining:  87% 129999/150000 [3:26:27<23:27, 14.21it/s]model_only_pretrain/pretrain_opt_loss 63.4 / model_only_pretrain/pretrain_opt_grad_norm 119.5 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 129100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[129100] model_only_pretrain/pretrain_opt_loss 63.7 / model_only_pretrain/pretrain_opt_grad_norm 115.9 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 129200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[129200] model_only_pretrain/pretrain_opt_loss 63.2 / model_only_pretrain/pretrain_opt_grad_norm 110.3 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 16.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 129300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[129300] model_only_pretrain/pretrain_opt_loss 63.9 / model_only_pretrain/pretrain_opt_grad_norm 117.0 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 129400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[129400] model_only_pretrain/pretrain_opt_loss 62.9 / model_only_pretrain/pretrain_opt_grad_norm 112.5 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 17.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[129499] eval_recon/cam_front_view_image 12.7 / eval_recon/cam_wrist_view_image 71.2 / train_recon/cam_front_view_image 10.8 / train_recon/cam_wrist_view_image 64.6 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 129500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[129500] model_only_pretrain/pretrain_opt_loss 63.6 / model_only_pretrain/pretrain_opt_grad_norm 122.3 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 129600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[129600] model_only_pretrain/pretrain_opt_loss 63.7 / model_only_pretrain/pretrain_opt_grad_norm 119.4 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.3

[Checkpoint] Saving model at step 129700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[129700] model_only_pretrain/pretrain_opt_loss 63.5 / model_only_pretrain/pretrain_opt_grad_norm 117.8 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 129800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[129800] model_only_pretrain/pretrain_opt_loss 63.6 / model_only_pretrain/pretrain_opt_grad_norm 121.5 / model_only_pretrain/cam_front_view_image_loss 15.1 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 129900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[129900] model_only_pretrain/pretrain_opt_loss 63.7 / model_only_pretrain/pretrain_opt_grad_norm 112.1 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.1
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[129999] eval_recon/cam_front_view_image 13.2 / eval_recon/cam_wrist_view_image 27.2 / train_recon/cam_front_view_image 11.8 / train_recon/cam_wrist_view_image 17.4 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 130000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  87% 130999/150000 [3:27:54<21:56, 14.43it/s]model_only_pretrain/pretrain_opt_loss 62.9 / model_only_pretrain/pretrain_opt_grad_norm 114.0 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 130100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[130100] model_only_pretrain/pretrain_opt_loss 63.7 / model_only_pretrain/pretrain_opt_grad_norm 117.9 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 130200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[130200] model_only_pretrain/pretrain_opt_loss 63.4 / model_only_pretrain/pretrain_opt_grad_norm 118.7 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.1

[Checkpoint] Saving model at step 130300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[130300] model_only_pretrain/pretrain_opt_loss 63.4 / model_only_pretrain/pretrain_opt_grad_norm 119.3 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 130400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[130400] model_only_pretrain/pretrain_opt_loss 63.3 / model_only_pretrain/pretrain_opt_grad_norm 115.0 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[130499] eval_recon/cam_front_view_image 9.7 / eval_recon/cam_wrist_view_image 11.7 / train_recon/cam_front_view_image 50.7 / train_recon/cam_wrist_view_image 128.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 130500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[130500] model_only_pretrain/pretrain_opt_loss 63.4 / model_only_pretrain/pretrain_opt_grad_norm 113.0 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 130600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[130600] model_only_pretrain/pretrain_opt_loss 63.3 / model_only_pretrain/pretrain_opt_grad_norm 114.3 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 130700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[130700] model_only_pretrain/pretrain_opt_loss 63.2 / model_only_pretrain/pretrain_opt_grad_norm 114.4 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 130800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[130800] model_only_pretrain/pretrain_opt_loss 64.0 / model_only_pretrain/pretrain_opt_grad_norm 125.0 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 130900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[130900] model_only_pretrain/pretrain_opt_loss 63.3 / model_only_pretrain/pretrain_opt_grad_norm 112.9 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.6
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[130999] eval_recon/cam_front_view_image 15.6 / eval_recon/cam_wrist_view_image 39.9 / train_recon/cam_front_view_image 20.6 / train_recon/cam_wrist_view_image 44.0 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 131000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[131000] 
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World Model pretraining:  88% 132000/150000 [3:29:23<1:58:32,  2.53it/s]model_only_pretrain/pretrain_opt_loss 63.4 / model_only_pretrain/pretrain_opt_grad_norm 113.8 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 131100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[131100] model_only_pretrain/pretrain_opt_loss 63.0 / model_only_pretrain/pretrain_opt_grad_norm 111.9 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 131200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[131200] model_only_pretrain/pretrain_opt_loss 63.2 / model_only_pretrain/pretrain_opt_grad_norm 117.0 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 131300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[131300] model_only_pretrain/pretrain_opt_loss 63.5 / model_only_pretrain/pretrain_opt_grad_norm 114.6 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 131400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[131400] model_only_pretrain/pretrain_opt_loss 63.9 / model_only_pretrain/pretrain_opt_grad_norm 117.3 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.9
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[131499] eval_recon/cam_front_view_image 14.9 / eval_recon/cam_wrist_view_image 13.3 / train_recon/cam_front_view_image 11.0 / train_recon/cam_wrist_view_image 8.7 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 131500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[131500] model_only_pretrain/pretrain_opt_loss 63.2 / model_only_pretrain/pretrain_opt_grad_norm 116.4 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 131600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[131600] model_only_pretrain/pretrain_opt_loss 63.4 / model_only_pretrain/pretrain_opt_grad_norm 111.2 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 131700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[131700] model_only_pretrain/pretrain_opt_loss 63.0 / model_only_pretrain/pretrain_opt_grad_norm 119.4 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.3

[Checkpoint] Saving model at step 131800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[131800] model_only_pretrain/pretrain_opt_loss 63.1 / model_only_pretrain/pretrain_opt_grad_norm 115.5 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 131900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[131900] model_only_pretrain/pretrain_opt_loss 63.5 / model_only_pretrain/pretrain_opt_grad_norm 114.4 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.5
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[131999] eval_recon/cam_front_view_image 11.5 / eval_recon/cam_wrist_view_image 14.2 / train_recon/cam_front_view_image 14.8 / train_recon/cam_wrist_view_image 19.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 132000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[132000] 
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World Model pretraining:  89% 132999/150000 [3:30:52<19:34, 14.47it/s]model_only_pretrain/pretrain_opt_loss 63.6 / model_only_pretrain/pretrain_opt_grad_norm 117.2 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.9 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 132100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[132100] model_only_pretrain/pretrain_opt_loss 63.1 / model_only_pretrain/pretrain_opt_grad_norm 118.2 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 132200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[132200] model_only_pretrain/pretrain_opt_loss 64.0 / model_only_pretrain/pretrain_opt_grad_norm 117.8 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 132300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[132300] model_only_pretrain/pretrain_opt_loss 63.0 / model_only_pretrain/pretrain_opt_grad_norm 113.6 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 132400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[132400] model_only_pretrain/pretrain_opt_loss 63.2 / model_only_pretrain/pretrain_opt_grad_norm 110.9 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.5
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[132499] eval_recon/cam_front_view_image 13.2 / eval_recon/cam_wrist_view_image 14.0 / train_recon/cam_front_view_image 14.7 / train_recon/cam_wrist_view_image 74.0 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 132500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[132500] model_only_pretrain/pretrain_opt_loss 63.4 / model_only_pretrain/pretrain_opt_grad_norm 118.5 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 132600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[132600] model_only_pretrain/pretrain_opt_loss 63.4 / model_only_pretrain/pretrain_opt_grad_norm 114.2 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 132700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[132700] model_only_pretrain/pretrain_opt_loss 63.4 / model_only_pretrain/pretrain_opt_grad_norm 114.7 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 132800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[132800] model_only_pretrain/pretrain_opt_loss 63.5 / model_only_pretrain/pretrain_opt_grad_norm 130.0 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 132900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[132900] model_only_pretrain/pretrain_opt_loss 63.3 / model_only_pretrain/pretrain_opt_grad_norm 118.7 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.6
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[132999] eval_recon/cam_front_view_image 12.7 / eval_recon/cam_wrist_view_image 11.7 / train_recon/cam_front_view_image 12.3 / train_recon/cam_wrist_view_image 73.2 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 133000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[133000] 
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World Model pretraining:  89% 133999/150000 [3:32:34<19:52, 13.41it/s]model_only_pretrain/pretrain_opt_loss 62.8 / model_only_pretrain/pretrain_opt_grad_norm 115.3 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 16.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.3

[Checkpoint] Saving model at step 133100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[133100] model_only_pretrain/pretrain_opt_loss 63.6 / model_only_pretrain/pretrain_opt_grad_norm 115.3 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 9.2

[Checkpoint] Saving model at step 133200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[133200] model_only_pretrain/pretrain_opt_loss 63.2 / model_only_pretrain/pretrain_opt_grad_norm 118.8 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 9.0

[Checkpoint] Saving model at step 133300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[133300] model_only_pretrain/pretrain_opt_loss 63.5 / model_only_pretrain/pretrain_opt_grad_norm 117.7 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.7

[Checkpoint] Saving model at step 133400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[133400] model_only_pretrain/pretrain_opt_loss 63.6 / model_only_pretrain/pretrain_opt_grad_norm 116.4 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[133499] eval_recon/cam_front_view_image 12.6 / eval_recon/cam_wrist_view_image 26.7 / train_recon/cam_front_view_image 11.4 / train_recon/cam_wrist_view_image 21.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 133500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[133500] model_only_pretrain/pretrain_opt_loss 63.6 / model_only_pretrain/pretrain_opt_grad_norm 116.4 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 8.9

[Checkpoint] Saving model at step 133600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[133600] model_only_pretrain/pretrain_opt_loss 63.6 / model_only_pretrain/pretrain_opt_grad_norm 119.6 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.4 / model_only_pretrain/rep_loss 52.4 / model_only_pretrain/kl_value 52.4 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 133700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[133700] model_only_pretrain/pretrain_opt_loss 63.3 / model_only_pretrain/pretrain_opt_grad_norm 115.8 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 133800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[133800] model_only_pretrain/pretrain_opt_loss 63.2 / model_only_pretrain/pretrain_opt_grad_norm 113.1 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 133900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[133900] model_only_pretrain/pretrain_opt_loss 63.3 / model_only_pretrain/pretrain_opt_grad_norm 119.9 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.5
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[133999] eval_recon/cam_front_view_image 11.7 / eval_recon/cam_wrist_view_image 17.7 / train_recon/cam_front_view_image 11.8 / train_recon/cam_wrist_view_image 16.2 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 134000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[134000] 
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World Model pretraining:  90% 134999/150000 [3:34:05<17:43, 14.11it/s]model_only_pretrain/pretrain_opt_loss 63.4 / model_only_pretrain/pretrain_opt_grad_norm 118.5 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 12.3

[Checkpoint] Saving model at step 134100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[134100] model_only_pretrain/pretrain_opt_loss 63.4 / model_only_pretrain/pretrain_opt_grad_norm 117.6 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 12.1

[Checkpoint] Saving model at step 134200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[134200] model_only_pretrain/pretrain_opt_loss 62.7 / model_only_pretrain/pretrain_opt_grad_norm 113.3 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 16.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 134300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[134300] model_only_pretrain/pretrain_opt_loss 63.1 / model_only_pretrain/pretrain_opt_grad_norm 122.0 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.2

[Checkpoint] Saving model at step 134400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[134400] model_only_pretrain/pretrain_opt_loss 63.3 / model_only_pretrain/pretrain_opt_grad_norm 113.9 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.2
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[134499] eval_recon/cam_front_view_image 11.6 / eval_recon/cam_wrist_view_image 14.2 / train_recon/cam_front_view_image 59.7 / train_recon/cam_wrist_view_image 81.2 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 134500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[134500] model_only_pretrain/pretrain_opt_loss 63.0 / model_only_pretrain/pretrain_opt_grad_norm 111.6 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 134600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[134600] model_only_pretrain/pretrain_opt_loss 63.5 / model_only_pretrain/pretrain_opt_grad_norm 116.5 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 134700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[134700] model_only_pretrain/pretrain_opt_loss 63.0 / model_only_pretrain/pretrain_opt_grad_norm 112.7 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 134800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[134800] model_only_pretrain/pretrain_opt_loss 62.8 / model_only_pretrain/pretrain_opt_grad_norm 108.6 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 17.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.9

[Checkpoint] Saving model at step 134900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[134900] model_only_pretrain/pretrain_opt_loss 63.2 / model_only_pretrain/pretrain_opt_grad_norm 111.8 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 9.6
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[134999] eval_recon/cam_front_view_image 13.4 / eval_recon/cam_wrist_view_image 13.1 / train_recon/cam_front_view_image 10.1 / train_recon/cam_wrist_view_image 45.2 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 135000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  91% 136000/150000 [3:35:48<2:49:39,  1.38it/s]model_only_pretrain/pretrain_opt_loss 64.1 / model_only_pretrain/pretrain_opt_grad_norm 118.7 / model_only_pretrain/cam_front_view_image_loss 15.0 / model_only_pretrain/cam_wrist_view_image_loss 17.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.5 / model_only_pretrain/dyn_loss 52.5 / model_only_pretrain/rep_loss 52.5 / model_only_pretrain/kl_value 52.5 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.8 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 9.7

[Checkpoint] Saving model at step 135100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[135100] model_only_pretrain/pretrain_opt_loss 63.2 / model_only_pretrain/pretrain_opt_grad_norm 125.7 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 135200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[135200] model_only_pretrain/pretrain_opt_loss 63.4 / model_only_pretrain/pretrain_opt_grad_norm 114.8 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 135300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[135300] model_only_pretrain/pretrain_opt_loss 63.1 / model_only_pretrain/pretrain_opt_grad_norm 110.8 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 12.1

[Checkpoint] Saving model at step 135400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[135400] model_only_pretrain/pretrain_opt_loss 62.9 / model_only_pretrain/pretrain_opt_grad_norm 119.4 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 16.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 10.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[135499] eval_recon/cam_front_view_image 12.9 / eval_recon/cam_wrist_view_image 51.2 / train_recon/cam_front_view_image 14.2 / train_recon/cam_wrist_view_image 24.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 135500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[135500] model_only_pretrain/pretrain_opt_loss 63.2 / model_only_pretrain/pretrain_opt_grad_norm 118.4 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 135600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[135600] model_only_pretrain/pretrain_opt_loss 63.3 / model_only_pretrain/pretrain_opt_grad_norm 116.4 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.4

[Checkpoint] Saving model at step 135700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[135700] model_only_pretrain/pretrain_opt_loss 62.9 / model_only_pretrain/pretrain_opt_grad_norm 119.3 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 17.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.5

[Checkpoint] Saving model at step 135800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[135800] model_only_pretrain/pretrain_opt_loss 62.8 / model_only_pretrain/pretrain_opt_grad_norm 112.1 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 16.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.8

[Checkpoint] Saving model at step 135900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[135900] model_only_pretrain/pretrain_opt_loss 63.4 / model_only_pretrain/pretrain_opt_grad_norm 116.6 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 8.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[135999] eval_recon/cam_front_view_image 13.7 / eval_recon/cam_wrist_view_image 15.8 / train_recon/cam_front_view_image 13.5 / train_recon/cam_wrist_view_image 12.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 136000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[136000] 
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World Model pretraining:  91% 136999/150000 [3:37:12<13:59, 15.49it/s]model_only_pretrain/pretrain_opt_loss 63.2 / model_only_pretrain/pretrain_opt_grad_norm 118.2 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 17.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 9.1

[Checkpoint] Saving model at step 136100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[136100] model_only_pretrain/pretrain_opt_loss 62.9 / model_only_pretrain/pretrain_opt_grad_norm 115.2 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 136200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[136200] model_only_pretrain/pretrain_opt_loss 63.5 / model_only_pretrain/pretrain_opt_grad_norm 113.7 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 136300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[136300] model_only_pretrain/pretrain_opt_loss 62.6 / model_only_pretrain/pretrain_opt_grad_norm 108.6 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 136400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[136400] model_only_pretrain/pretrain_opt_loss 63.0 / model_only_pretrain/pretrain_opt_grad_norm 113.6 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.3
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[136499] eval_recon/cam_front_view_image 12.8 / eval_recon/cam_wrist_view_image 9.5 / train_recon/cam_front_view_image 13.5 / train_recon/cam_wrist_view_image 13.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 136500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[136500] model_only_pretrain/pretrain_opt_loss 63.0 / model_only_pretrain/pretrain_opt_grad_norm 117.1 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 12.3

[Checkpoint] Saving model at step 136600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[136600] model_only_pretrain/pretrain_opt_loss 63.0 / model_only_pretrain/pretrain_opt_grad_norm 117.0 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 16.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 136700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[136700] model_only_pretrain/pretrain_opt_loss 63.5 / model_only_pretrain/pretrain_opt_grad_norm 115.2 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 136800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[136800] model_only_pretrain/pretrain_opt_loss 63.1 / model_only_pretrain/pretrain_opt_grad_norm 113.9 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 136900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[136900] model_only_pretrain/pretrain_opt_loss 63.2 / model_only_pretrain/pretrain_opt_grad_norm 111.5 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.9
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[136999] eval_recon/cam_front_view_image 12.6 / eval_recon/cam_wrist_view_image 11.0 / train_recon/cam_front_view_image 12.8 / train_recon/cam_wrist_view_image 13.4 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 137000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  92% 137999/150000 [3:38:58<13:37, 14.68it/s]model_only_pretrain/pretrain_opt_loss 62.8 / model_only_pretrain/pretrain_opt_grad_norm 113.1 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 16.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 137100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[137100] model_only_pretrain/pretrain_opt_loss 62.8 / model_only_pretrain/pretrain_opt_grad_norm 120.6 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.8

[Checkpoint] Saving model at step 137200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[137200] model_only_pretrain/pretrain_opt_loss 62.8 / model_only_pretrain/pretrain_opt_grad_norm 110.9 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 17.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 137300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[137300] model_only_pretrain/pretrain_opt_loss 63.1 / model_only_pretrain/pretrain_opt_grad_norm 124.7 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.7

[Checkpoint] Saving model at step 137400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[137400] model_only_pretrain/pretrain_opt_loss 62.9 / model_only_pretrain/pretrain_opt_grad_norm 121.4 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.1
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[137499] eval_recon/cam_front_view_image 13.8 / eval_recon/cam_wrist_view_image 13.1 / train_recon/cam_front_view_image 9.5 / train_recon/cam_wrist_view_image 13.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 137500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[137500] model_only_pretrain/pretrain_opt_loss 63.0 / model_only_pretrain/pretrain_opt_grad_norm 112.6 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.7

[Checkpoint] Saving model at step 137600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[137600] model_only_pretrain/pretrain_opt_loss 63.1 / model_only_pretrain/pretrain_opt_grad_norm 115.0 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.9

[Checkpoint] Saving model at step 137700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[137700] model_only_pretrain/pretrain_opt_loss 62.8 / model_only_pretrain/pretrain_opt_grad_norm 107.8 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.8

[Checkpoint] Saving model at step 137800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[137800] model_only_pretrain/pretrain_opt_loss 63.3 / model_only_pretrain/pretrain_opt_grad_norm 113.8 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.9

[Checkpoint] Saving model at step 137900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[137900] model_only_pretrain/pretrain_opt_loss 63.0 / model_only_pretrain/pretrain_opt_grad_norm 133.3 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 8.9
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[137999] eval_recon/cam_front_view_image 12.0 / eval_recon/cam_wrist_view_image 13.8 / train_recon/cam_front_view_image 12.5 / train_recon/cam_wrist_view_image 13.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 138000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[138000] 
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World Model pretraining:  93% 139000/150000 [3:40:30<1:01:42,  2.97it/s]model_only_pretrain/pretrain_opt_loss 62.8 / model_only_pretrain/pretrain_opt_grad_norm 115.0 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 9.8

[Checkpoint] Saving model at step 138100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[138100] model_only_pretrain/pretrain_opt_loss 62.9 / model_only_pretrain/pretrain_opt_grad_norm 114.5 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 138200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[138200] model_only_pretrain/pretrain_opt_loss 62.2 / model_only_pretrain/pretrain_opt_grad_norm 113.4 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 16.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 138300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[138300] model_only_pretrain/pretrain_opt_loss 62.8 / model_only_pretrain/pretrain_opt_grad_norm 112.7 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 138400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[138400] model_only_pretrain/pretrain_opt_loss 62.8 / model_only_pretrain/pretrain_opt_grad_norm 109.5 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.1
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[138499] eval_recon/cam_front_view_image 20.0 / eval_recon/cam_wrist_view_image 21.6 / train_recon/cam_front_view_image 11.3 / train_recon/cam_wrist_view_image 14.1 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 138500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[138500] model_only_pretrain/pretrain_opt_loss 63.3 / model_only_pretrain/pretrain_opt_grad_norm 115.6 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 138600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[138600] model_only_pretrain/pretrain_opt_loss 63.2 / model_only_pretrain/pretrain_opt_grad_norm 114.5 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 138700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[138700] model_only_pretrain/pretrain_opt_loss 63.0 / model_only_pretrain/pretrain_opt_grad_norm 118.6 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 138800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[138800] model_only_pretrain/pretrain_opt_loss 62.5 / model_only_pretrain/pretrain_opt_grad_norm 114.2 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 16.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 51.9 / model_only_pretrain/rep_loss 51.9 / model_only_pretrain/kl_value 51.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 138900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[138900] model_only_pretrain/pretrain_opt_loss 62.9 / model_only_pretrain/pretrain_opt_grad_norm 116.4 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 16.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[138999] eval_recon/cam_front_view_image 12.1 / eval_recon/cam_wrist_view_image 16.0 / train_recon/cam_front_view_image 10.1 / train_recon/cam_wrist_view_image 15.7 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 139000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  93% 139999/150000 [3:41:57<11:03, 15.07it/s]model_only_pretrain/pretrain_opt_loss 62.9 / model_only_pretrain/pretrain_opt_grad_norm 112.1 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 16.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 139100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[139100] model_only_pretrain/pretrain_opt_loss 62.0 / model_only_pretrain/pretrain_opt_grad_norm 111.6 / model_only_pretrain/cam_front_view_image_loss 14.3 / model_only_pretrain/cam_wrist_view_image_loss 16.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 51.9 / model_only_pretrain/rep_loss 51.9 / model_only_pretrain/kl_value 51.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 139200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[139200] model_only_pretrain/pretrain_opt_loss 62.4 / model_only_pretrain/pretrain_opt_grad_norm 114.8 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 16.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 139300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[139300] model_only_pretrain/pretrain_opt_loss 63.0 / model_only_pretrain/pretrain_opt_grad_norm 117.9 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 139400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[139400] model_only_pretrain/pretrain_opt_loss 63.1 / model_only_pretrain/pretrain_opt_grad_norm 117.4 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 16.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[139499] eval_recon/cam_front_view_image 14.6 / eval_recon/cam_wrist_view_image 14.0 / train_recon/cam_front_view_image 28.2 / train_recon/cam_wrist_view_image 80.8 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 139500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[139500] model_only_pretrain/pretrain_opt_loss 63.0 / model_only_pretrain/pretrain_opt_grad_norm 111.1 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 139600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[139600] model_only_pretrain/pretrain_opt_loss 62.7 / model_only_pretrain/pretrain_opt_grad_norm 110.6 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 139700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[139700] model_only_pretrain/pretrain_opt_loss 63.1 / model_only_pretrain/pretrain_opt_grad_norm 115.6 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 139800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[139800] model_only_pretrain/pretrain_opt_loss 63.0 / model_only_pretrain/pretrain_opt_grad_norm 112.0 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 139900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[139900] model_only_pretrain/pretrain_opt_loss 63.0 / model_only_pretrain/pretrain_opt_grad_norm 125.8 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 10.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[139999] eval_recon/cam_front_view_image 12.6 / eval_recon/cam_wrist_view_image 40.5 / train_recon/cam_front_view_image 12.6 / train_recon/cam_wrist_view_image 9.9 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 140000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  94% 141000/150000 [3:43:34<1:10:37,  2.12it/s]model_only_pretrain/pretrain_opt_loss 62.6 / model_only_pretrain/pretrain_opt_grad_norm 118.9 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.3

[Checkpoint] Saving model at step 140100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[140100] model_only_pretrain/pretrain_opt_loss 62.9 / model_only_pretrain/pretrain_opt_grad_norm 116.2 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 17.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 140200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[140200] model_only_pretrain/pretrain_opt_loss 63.4 / model_only_pretrain/pretrain_opt_grad_norm 111.6 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 140300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[140300] model_only_pretrain/pretrain_opt_loss 62.8 / model_only_pretrain/pretrain_opt_grad_norm 117.4 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 17.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 140400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[140400] model_only_pretrain/pretrain_opt_loss 63.3 / model_only_pretrain/pretrain_opt_grad_norm 110.1 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.2
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[140499] eval_recon/cam_front_view_image 14.7 / eval_recon/cam_wrist_view_image 16.3 / train_recon/cam_front_view_image 12.9 / train_recon/cam_wrist_view_image 17.2 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 140500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[140500] model_only_pretrain/pretrain_opt_loss 62.8 / model_only_pretrain/pretrain_opt_grad_norm 109.8 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 16.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 140600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[140600] model_only_pretrain/pretrain_opt_loss 63.4 / model_only_pretrain/pretrain_opt_grad_norm 111.3 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 140700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[140700] model_only_pretrain/pretrain_opt_loss 62.7 / model_only_pretrain/pretrain_opt_grad_norm 114.9 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 17.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 51.9 / model_only_pretrain/rep_loss 51.9 / model_only_pretrain/kl_value 51.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 140800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[140800] model_only_pretrain/pretrain_opt_loss 62.9 / model_only_pretrain/pretrain_opt_grad_norm 114.3 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 16.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 140900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[140900] model_only_pretrain/pretrain_opt_loss 63.2 / model_only_pretrain/pretrain_opt_grad_norm 112.1 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.8
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[140999] eval_recon/cam_front_view_image 8.3 / eval_recon/cam_wrist_view_image 14.0 / train_recon/cam_front_view_image 11.3 / train_recon/cam_wrist_view_image 12.1 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 141000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[141000] 
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World Model pretraining:  95% 142000/150000 [3:45:04<1:20:50,  1.65it/s]model_only_pretrain/pretrain_opt_loss 63.2 / model_only_pretrain/pretrain_opt_grad_norm 116.1 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 141100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[141100] model_only_pretrain/pretrain_opt_loss 62.7 / model_only_pretrain/pretrain_opt_grad_norm 116.6 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 17.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 141200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[141200] model_only_pretrain/pretrain_opt_loss 63.4 / model_only_pretrain/pretrain_opt_grad_norm 116.7 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 141300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[141300] model_only_pretrain/pretrain_opt_loss 63.1 / model_only_pretrain/pretrain_opt_grad_norm 114.3 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 141400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[141400] model_only_pretrain/pretrain_opt_loss 62.9 / model_only_pretrain/pretrain_opt_grad_norm 108.9 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 17.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.7 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[141499] eval_recon/cam_front_view_image 14.4 / eval_recon/cam_wrist_view_image 16.9 / train_recon/cam_front_view_image 14.0 / train_recon/cam_wrist_view_image 11.1 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 141500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[141500] model_only_pretrain/pretrain_opt_loss 63.0 / model_only_pretrain/pretrain_opt_grad_norm 113.6 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 141600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[141600] model_only_pretrain/pretrain_opt_loss 63.4 / model_only_pretrain/pretrain_opt_grad_norm 111.9 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 10.0

[Checkpoint] Saving model at step 141700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[141700] model_only_pretrain/pretrain_opt_loss 62.5 / model_only_pretrain/pretrain_opt_grad_norm 112.2 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 141800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[141800] model_only_pretrain/pretrain_opt_loss 62.2 / model_only_pretrain/pretrain_opt_grad_norm 108.0 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 16.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 51.9 / model_only_pretrain/rep_loss 51.9 / model_only_pretrain/kl_value 51.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 13.0

[Checkpoint] Saving model at step 141900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[141900] model_only_pretrain/pretrain_opt_loss 62.5 / model_only_pretrain/pretrain_opt_grad_norm 112.4 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 16.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.3
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[141999] eval_recon/cam_front_view_image 13.9 / eval_recon/cam_wrist_view_image 14.9 / train_recon/cam_front_view_image 25.1 / train_recon/cam_wrist_view_image 70.0 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 142000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  95% 143000/150000 [3:46:38<53:06,  2.20it/s]model_only_pretrain/pretrain_opt_loss 62.8 / model_only_pretrain/pretrain_opt_grad_norm 119.9 / model_only_pretrain/cam_front_view_image_loss 14.4 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 9.8

[Checkpoint] Saving model at step 142100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[142100] model_only_pretrain/pretrain_opt_loss 63.2 / model_only_pretrain/pretrain_opt_grad_norm 121.5 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 9.3

[Checkpoint] Saving model at step 142200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[142200] model_only_pretrain/pretrain_opt_loss 62.3 / model_only_pretrain/pretrain_opt_grad_norm 110.4 / model_only_pretrain/cam_front_view_image_loss 14.3 / model_only_pretrain/cam_wrist_view_image_loss 16.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.1 / model_only_pretrain/dyn_loss 51.8 / model_only_pretrain/rep_loss 51.8 / model_only_pretrain/kl_value 51.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 9.0

[Checkpoint] Saving model at step 142300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[142300] model_only_pretrain/pretrain_opt_loss 62.3 / model_only_pretrain/pretrain_opt_grad_norm 113.2 / model_only_pretrain/cam_front_view_image_loss 14.4 / model_only_pretrain/cam_wrist_view_image_loss 16.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 142400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[142400] model_only_pretrain/pretrain_opt_loss 62.6 / model_only_pretrain/pretrain_opt_grad_norm 112.3 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 16.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.1
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[142499] eval_recon/cam_front_view_image 13.8 / eval_recon/cam_wrist_view_image 29.8 / train_recon/cam_front_view_image 11.8 / train_recon/cam_wrist_view_image 10.9 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 142500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[142500] model_only_pretrain/pretrain_opt_loss 63.1 / model_only_pretrain/pretrain_opt_grad_norm 115.4 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 142600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[142600] model_only_pretrain/pretrain_opt_loss 62.7 / model_only_pretrain/pretrain_opt_grad_norm 111.3 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 16.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 142700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[142700] model_only_pretrain/pretrain_opt_loss 62.5 / model_only_pretrain/pretrain_opt_grad_norm 112.6 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.3 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 142800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[142800] model_only_pretrain/pretrain_opt_loss 62.4 / model_only_pretrain/pretrain_opt_grad_norm 110.6 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 16.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 142900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[142900] model_only_pretrain/pretrain_opt_loss 62.0 / model_only_pretrain/pretrain_opt_grad_norm 109.2 / model_only_pretrain/cam_front_view_image_loss 14.4 / model_only_pretrain/cam_wrist_view_image_loss 16.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.1 / model_only_pretrain/dyn_loss 51.8 / model_only_pretrain/rep_loss 51.8 / model_only_pretrain/kl_value 51.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.6
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[142999] eval_recon/cam_front_view_image 9.9 / eval_recon/cam_wrist_view_image 10.8 / train_recon/cam_front_view_image 11.9 / train_recon/cam_wrist_view_image 24.4 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 143000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[143000] 
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World Model pretraining:  96% 143999/150000 [3:48:09<07:21, 13.60it/s]model_only_pretrain/pretrain_opt_loss 62.9 / model_only_pretrain/pretrain_opt_grad_norm 110.3 / model_only_pretrain/cam_front_view_image_loss 14.4 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 143100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[143100] model_only_pretrain/pretrain_opt_loss 62.8 / model_only_pretrain/pretrain_opt_grad_norm 111.0 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 17.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 143200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[143200] model_only_pretrain/pretrain_opt_loss 63.1 / model_only_pretrain/pretrain_opt_grad_norm 109.4 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 143300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[143300] model_only_pretrain/pretrain_opt_loss 62.5 / model_only_pretrain/pretrain_opt_grad_norm 111.5 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.2

[Checkpoint] Saving model at step 143400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[143400] model_only_pretrain/pretrain_opt_loss 62.5 / model_only_pretrain/pretrain_opt_grad_norm 107.7 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.9
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[143499] eval_recon/cam_front_view_image 13.4 / eval_recon/cam_wrist_view_image 34.6 / train_recon/cam_front_view_image 11.8 / train_recon/cam_wrist_view_image 13.2 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 143500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[143500] model_only_pretrain/pretrain_opt_loss 62.1 / model_only_pretrain/pretrain_opt_grad_norm 110.4 / model_only_pretrain/cam_front_view_image_loss 14.4 / model_only_pretrain/cam_wrist_view_image_loss 16.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 51.9 / model_only_pretrain/rep_loss 51.9 / model_only_pretrain/kl_value 51.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.0

[Checkpoint] Saving model at step 143600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[143600] model_only_pretrain/pretrain_opt_loss 62.3 / model_only_pretrain/pretrain_opt_grad_norm 113.3 / model_only_pretrain/cam_front_view_image_loss 14.4 / model_only_pretrain/cam_wrist_view_image_loss 16.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 143700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[143700] model_only_pretrain/pretrain_opt_loss 62.5 / model_only_pretrain/pretrain_opt_grad_norm 109.6 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 16.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 51.9 / model_only_pretrain/rep_loss 51.9 / model_only_pretrain/kl_value 51.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.3 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 143800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[143800] model_only_pretrain/pretrain_opt_loss 62.9 / model_only_pretrain/pretrain_opt_grad_norm 111.1 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 17.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 143900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[143900] model_only_pretrain/pretrain_opt_loss 62.8 / model_only_pretrain/pretrain_opt_grad_norm 115.4 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 17.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[143999] eval_recon/cam_front_view_image 11.2 / eval_recon/cam_wrist_view_image 13.7 / train_recon/cam_front_view_image 11.2 / train_recon/cam_wrist_view_image 17.6 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 144000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  97% 145000/150000 [3:49:44<50:33,  1.65it/s]model_only_pretrain/pretrain_opt_loss 62.7 / model_only_pretrain/pretrain_opt_grad_norm 113.4 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 16.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 144100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[144100] model_only_pretrain/pretrain_opt_loss 62.4 / model_only_pretrain/pretrain_opt_grad_norm 115.7 / model_only_pretrain/cam_front_view_image_loss 14.4 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.1 / model_only_pretrain/dyn_loss 51.9 / model_only_pretrain/rep_loss 51.9 / model_only_pretrain/kl_value 51.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.6

[Checkpoint] Saving model at step 144200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[144200] model_only_pretrain/pretrain_opt_loss 62.4 / model_only_pretrain/pretrain_opt_grad_norm 110.3 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 16.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 51.9 / model_only_pretrain/rep_loss 51.9 / model_only_pretrain/kl_value 51.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.3

[Checkpoint] Saving model at step 144300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[144300] model_only_pretrain/pretrain_opt_loss 62.4 / model_only_pretrain/pretrain_opt_grad_norm 107.3 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 16.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 12.3

[Checkpoint] Saving model at step 144400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[144400] model_only_pretrain/pretrain_opt_loss 62.4 / model_only_pretrain/pretrain_opt_grad_norm 112.2 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 16.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[144499] eval_recon/cam_front_view_image 10.4 / eval_recon/cam_wrist_view_image 58.7 / train_recon/cam_front_view_image 13.0 / train_recon/cam_wrist_view_image 17.4 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 144500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[144500] model_only_pretrain/pretrain_opt_loss 63.0 / model_only_pretrain/pretrain_opt_grad_norm 115.6 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.3 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 144600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[144600] model_only_pretrain/pretrain_opt_loss 62.7 / model_only_pretrain/pretrain_opt_grad_norm 115.7 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 17.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 144700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[144700] model_only_pretrain/pretrain_opt_loss 62.6 / model_only_pretrain/pretrain_opt_grad_norm 109.6 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 16.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 144800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[144800] model_only_pretrain/pretrain_opt_loss 62.7 / model_only_pretrain/pretrain_opt_grad_norm 110.3 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 144900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[144900] model_only_pretrain/pretrain_opt_loss 62.8 / model_only_pretrain/pretrain_opt_grad_norm 111.5 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 16.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 10.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[144999] eval_recon/cam_front_view_image 11.8 / eval_recon/cam_wrist_view_image 79.0 / train_recon/cam_front_view_image 113.0 / train_recon/cam_wrist_view_image 84.2 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 145000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[145000] 
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World Model pretraining:  97% 146000/150000 [3:51:18<27:39,  2.41it/s]model_only_pretrain/pretrain_opt_loss 62.7 / model_only_pretrain/pretrain_opt_grad_norm 109.3 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 16.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.9

[Checkpoint] Saving model at step 145100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[145100] model_only_pretrain/pretrain_opt_loss 62.9 / model_only_pretrain/pretrain_opt_grad_norm 114.2 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.2

[Checkpoint] Saving model at step 145200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[145200] model_only_pretrain/pretrain_opt_loss 63.2 / model_only_pretrain/pretrain_opt_grad_norm 119.8 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.2 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.6

[Checkpoint] Saving model at step 145300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[145300] model_only_pretrain/pretrain_opt_loss 62.5 / model_only_pretrain/pretrain_opt_grad_norm 123.8 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.3

[Checkpoint] Saving model at step 145400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[145400] model_only_pretrain/pretrain_opt_loss 63.6 / model_only_pretrain/pretrain_opt_grad_norm 114.0 / model_only_pretrain/cam_front_view_image_loss 14.9 / model_only_pretrain/cam_wrist_view_image_loss 17.3 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.4 / model_only_pretrain/dyn_loss 52.3 / model_only_pretrain/rep_loss 52.3 / model_only_pretrain/kl_value 52.3 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 9.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[145499] eval_recon/cam_front_view_image 14.6 / eval_recon/cam_wrist_view_image 11.5 / train_recon/cam_front_view_image 13.6 / train_recon/cam_wrist_view_image 12.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 145500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[145500] model_only_pretrain/pretrain_opt_loss 63.2 / model_only_pretrain/pretrain_opt_grad_norm 116.9 / model_only_pretrain/cam_front_view_image_loss 14.8 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.6 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.2

[Checkpoint] Saving model at step 145600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[145600] model_only_pretrain/pretrain_opt_loss 62.3 / model_only_pretrain/pretrain_opt_grad_norm 117.2 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 16.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 51.9 / model_only_pretrain/rep_loss 51.9 / model_only_pretrain/kl_value 51.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.3

[Checkpoint] Saving model at step 145700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[145700] model_only_pretrain/pretrain_opt_loss 62.6 / model_only_pretrain/pretrain_opt_grad_norm 114.7 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 145800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[145800] model_only_pretrain/pretrain_opt_loss 62.0 / model_only_pretrain/pretrain_opt_grad_norm 109.5 / model_only_pretrain/cam_front_view_image_loss 14.2 / model_only_pretrain/cam_wrist_view_image_loss 16.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.1 / model_only_pretrain/dyn_loss 51.9 / model_only_pretrain/rep_loss 51.9 / model_only_pretrain/kl_value 51.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 145900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[145900] model_only_pretrain/pretrain_opt_loss 63.0 / model_only_pretrain/pretrain_opt_grad_norm 113.8 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.4
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[145999] eval_recon/cam_front_view_image 12.0 / eval_recon/cam_wrist_view_image 10.8 / train_recon/cam_front_view_image 12.0 / train_recon/cam_wrist_view_image 15.1 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 146000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  98% 147000/150000 [3:52:50<22:41,  2.20it/s]model_only_pretrain/pretrain_opt_loss 62.7 / model_only_pretrain/pretrain_opt_grad_norm 112.2 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 17.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 146100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[146100] model_only_pretrain/pretrain_opt_loss 62.3 / model_only_pretrain/pretrain_opt_grad_norm 116.3 / model_only_pretrain/cam_front_view_image_loss 14.4 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 146200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[146200] model_only_pretrain/pretrain_opt_loss 62.4 / model_only_pretrain/pretrain_opt_grad_norm 112.8 / model_only_pretrain/cam_front_view_image_loss 14.4 / model_only_pretrain/cam_wrist_view_image_loss 16.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.7

[Checkpoint] Saving model at step 146300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[146300] model_only_pretrain/pretrain_opt_loss 62.3 / model_only_pretrain/pretrain_opt_grad_norm 108.2 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 16.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.1 / model_only_pretrain/dyn_loss 51.9 / model_only_pretrain/rep_loss 51.9 / model_only_pretrain/kl_value 51.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.3

[Checkpoint] Saving model at step 146400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[146400] model_only_pretrain/pretrain_opt_loss 62.5 / model_only_pretrain/pretrain_opt_grad_norm 114.6 / model_only_pretrain/cam_front_view_image_loss 14.4 / model_only_pretrain/cam_wrist_view_image_loss 16.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.2
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[146499] eval_recon/cam_front_view_image 9.6 / eval_recon/cam_wrist_view_image 12.8 / train_recon/cam_front_view_image 10.8 / train_recon/cam_wrist_view_image 9.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 146500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[146500] model_only_pretrain/pretrain_opt_loss 62.6 / model_only_pretrain/pretrain_opt_grad_norm 115.2 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.5

[Checkpoint] Saving model at step 146600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[146600] model_only_pretrain/pretrain_opt_loss 62.5 / model_only_pretrain/pretrain_opt_grad_norm 113.2 / model_only_pretrain/cam_front_view_image_loss 14.3 / model_only_pretrain/cam_wrist_view_image_loss 17.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.4

[Checkpoint] Saving model at step 146700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[146700] model_only_pretrain/pretrain_opt_loss 62.4 / model_only_pretrain/pretrain_opt_grad_norm 111.1 / model_only_pretrain/cam_front_view_image_loss 14.4 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 146800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[146800] model_only_pretrain/pretrain_opt_loss 62.3 / model_only_pretrain/pretrain_opt_grad_norm 118.0 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 16.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.1 / model_only_pretrain/dyn_loss 51.9 / model_only_pretrain/rep_loss 51.9 / model_only_pretrain/kl_value 51.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.3 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 146900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[146900] model_only_pretrain/pretrain_opt_loss 62.4 / model_only_pretrain/pretrain_opt_grad_norm 114.3 / model_only_pretrain/cam_front_view_image_loss 14.4 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.2
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[146999] eval_recon/cam_front_view_image 15.1 / eval_recon/cam_wrist_view_image 11.2 / train_recon/cam_front_view_image 10.8 / train_recon/cam_wrist_view_image 9.9 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 147000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[147000] 
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World Model pretraining:  99% 148000/150000 [3:54:17<11:54,  2.80it/s]model_only_pretrain/pretrain_opt_loss 62.4 / model_only_pretrain/pretrain_opt_grad_norm 116.0 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 16.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.8

[Checkpoint] Saving model at step 147100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[147100] model_only_pretrain/pretrain_opt_loss 62.6 / model_only_pretrain/pretrain_opt_grad_norm 112.8 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 16.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 147200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[147200] model_only_pretrain/pretrain_opt_loss 62.2 / model_only_pretrain/pretrain_opt_grad_norm 111.5 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 16.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.1 / model_only_pretrain/dyn_loss 51.8 / model_only_pretrain/rep_loss 51.8 / model_only_pretrain/kl_value 51.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 147300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[147300] model_only_pretrain/pretrain_opt_loss 62.7 / model_only_pretrain/pretrain_opt_grad_norm 108.5 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 17.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.7

[Checkpoint] Saving model at step 147400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[147400] model_only_pretrain/pretrain_opt_loss 62.1 / model_only_pretrain/pretrain_opt_grad_norm 114.3 / model_only_pretrain/cam_front_view_image_loss 14.3 / model_only_pretrain/cam_wrist_view_image_loss 16.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.1 / model_only_pretrain/dyn_loss 51.8 / model_only_pretrain/rep_loss 51.8 / model_only_pretrain/kl_value 51.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.6
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[147499] eval_recon/cam_front_view_image 30.9 / eval_recon/cam_wrist_view_image 70.3 / train_recon/cam_front_view_image 10.3 / train_recon/cam_wrist_view_image 11.0 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 147500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[147500] model_only_pretrain/pretrain_opt_loss 62.4 / model_only_pretrain/pretrain_opt_grad_norm 111.9 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 16.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 147600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[147600] model_only_pretrain/pretrain_opt_loss 62.5 / model_only_pretrain/pretrain_opt_grad_norm 113.1 / model_only_pretrain/cam_front_view_image_loss 14.4 / model_only_pretrain/cam_wrist_view_image_loss 17.0 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.9

[Checkpoint] Saving model at step 147700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[147700] model_only_pretrain/pretrain_opt_loss 62.2 / model_only_pretrain/pretrain_opt_grad_norm 109.7 / model_only_pretrain/cam_front_view_image_loss 14.3 / model_only_pretrain/cam_wrist_view_image_loss 16.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.1 / model_only_pretrain/dyn_loss 51.9 / model_only_pretrain/rep_loss 51.9 / model_only_pretrain/kl_value 51.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.3 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 12.1

[Checkpoint] Saving model at step 147800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[147800] model_only_pretrain/pretrain_opt_loss 62.4 / model_only_pretrain/pretrain_opt_grad_norm 109.9 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 51.9 / model_only_pretrain/rep_loss 51.9 / model_only_pretrain/kl_value 51.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 147900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[147900] model_only_pretrain/pretrain_opt_loss 62.1 / model_only_pretrain/pretrain_opt_grad_norm 113.9 / model_only_pretrain/cam_front_view_image_loss 14.4 / model_only_pretrain/cam_wrist_view_image_loss 16.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.1 / model_only_pretrain/dyn_loss 51.9 / model_only_pretrain/rep_loss 51.9 / model_only_pretrain/kl_value 51.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.3 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.1
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[147999] eval_recon/cam_front_view_image 11.8 / eval_recon/cam_wrist_view_image 13.6 / train_recon/cam_front_view_image 11.7 / train_recon/cam_wrist_view_image 12.0 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 148000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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World Model pretraining:  99% 149000/150000 [3:55:46<07:14,  2.30it/s]model_only_pretrain/pretrain_opt_loss 62.5 / model_only_pretrain/pretrain_opt_grad_norm 111.2 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 16.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 148100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[148100] model_only_pretrain/pretrain_opt_loss 62.7 / model_only_pretrain/pretrain_opt_grad_norm 120.8 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.2 / model_only_pretrain/rep_loss 52.2 / model_only_pretrain/kl_value 52.2 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.2

[Checkpoint] Saving model at step 148200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[148200] model_only_pretrain/pretrain_opt_loss 62.6 / model_only_pretrain/pretrain_opt_grad_norm 112.6 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 16.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.5 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 10.0

[Checkpoint] Saving model at step 148300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[148300] model_only_pretrain/pretrain_opt_loss 62.9 / model_only_pretrain/pretrain_opt_grad_norm 114.3 / model_only_pretrain/cam_front_view_image_loss 14.7 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.1 / model_only_pretrain/dyn_loss 51.9 / model_only_pretrain/rep_loss 51.9 / model_only_pretrain/kl_value 51.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 10.9

[Checkpoint] Saving model at step 148400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[148400] model_only_pretrain/pretrain_opt_loss 62.4 / model_only_pretrain/pretrain_opt_grad_norm 111.9 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.1 / model_only_pretrain/dyn_loss 51.9 / model_only_pretrain/rep_loss 51.9 / model_only_pretrain/kl_value 51.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 12.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[148499] eval_recon/cam_front_view_image 8.9 / eval_recon/cam_wrist_view_image 36.0 / train_recon/cam_front_view_image 10.6 / train_recon/cam_wrist_view_image 52.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 148500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[148500] model_only_pretrain/pretrain_opt_loss 62.1 / model_only_pretrain/pretrain_opt_grad_norm 111.8 / model_only_pretrain/cam_front_view_image_loss 14.3 / model_only_pretrain/cam_wrist_view_image_loss 16.6 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 51.9 / model_only_pretrain/rep_loss 51.9 / model_only_pretrain/kl_value 51.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 148600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[148600] model_only_pretrain/pretrain_opt_loss 62.6 / model_only_pretrain/pretrain_opt_grad_norm 121.1 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 16.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 148700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[148700] model_only_pretrain/pretrain_opt_loss 62.3 / model_only_pretrain/pretrain_opt_grad_norm 110.1 / model_only_pretrain/cam_front_view_image_loss 14.4 / model_only_pretrain/cam_wrist_view_image_loss 16.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.1 / model_only_pretrain/dyn_loss 51.8 / model_only_pretrain/rep_loss 51.8 / model_only_pretrain/kl_value 51.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.3 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 12.0

[Checkpoint] Saving model at step 148800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[148800] model_only_pretrain/pretrain_opt_loss 62.4 / model_only_pretrain/pretrain_opt_grad_norm 112.2 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 51.9 / model_only_pretrain/rep_loss 51.9 / model_only_pretrain/kl_value 51.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 148900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[148900] model_only_pretrain/pretrain_opt_loss 63.0 / model_only_pretrain/pretrain_opt_grad_norm 116.4 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 17.1 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.3 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[148999] eval_recon/cam_front_view_image 55.0 / eval_recon/cam_wrist_view_image 61.0 / train_recon/cam_front_view_image 59.5 / train_recon/cam_wrist_view_image 142.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 149000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
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model_only_pretrain/pretrain_opt_loss 62.0 / model_only_pretrain/pretrain_opt_grad_norm 117.3 / model_only_pretrain/cam_front_view_image_loss 14.3 / model_only_pretrain/cam_wrist_view_image_loss 16.5 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.1 / model_only_pretrain/dyn_loss 51.9 / model_only_pretrain/rep_loss 51.9 / model_only_pretrain/kl_value 51.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.3 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.0

[Checkpoint] Saving model at step 149100...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[149100] model_only_pretrain/pretrain_opt_loss 62.5 / model_only_pretrain/pretrain_opt_grad_norm 114.0 / model_only_pretrain/cam_front_view_image_loss 14.4 / model_only_pretrain/cam_wrist_view_image_loss 16.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 11.1

[Checkpoint] Saving model at step 149200...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[149200] model_only_pretrain/pretrain_opt_loss 62.2 / model_only_pretrain/pretrain_opt_grad_norm 123.6 / model_only_pretrain/cam_front_view_image_loss 14.3 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 51.9 / model_only_pretrain/rep_loss 51.9 / model_only_pretrain/kl_value 51.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 9.7

[Checkpoint] Saving model at step 149300...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[149300] model_only_pretrain/pretrain_opt_loss 62.3 / model_only_pretrain/pretrain_opt_grad_norm 109.0 / model_only_pretrain/cam_front_view_image_loss 14.4 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.3 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 10.1

[Checkpoint] Saving model at step 149400...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[149400] model_only_pretrain/pretrain_opt_loss 61.9 / model_only_pretrain/pretrain_opt_grad_norm 108.9 / model_only_pretrain/cam_front_view_image_loss 14.1 / model_only_pretrain/cam_wrist_view_image_loss 16.7 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.1 / model_only_pretrain/dyn_loss 51.9 / model_only_pretrain/rep_loss 51.9 / model_only_pretrain/kl_value 51.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.3 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 10.0
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[149499] eval_recon/cam_front_view_image 12.0 / eval_recon/cam_wrist_view_image 51.4 / train_recon/cam_front_view_image 13.2 / train_recon/cam_wrist_view_image 13.5 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 149500...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[149500] model_only_pretrain/pretrain_opt_loss 61.7 / model_only_pretrain/pretrain_opt_grad_norm 110.5 / model_only_pretrain/cam_front_view_image_loss 14.3 / model_only_pretrain/cam_wrist_view_image_loss 16.4 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.1 / model_only_pretrain/dyn_loss 51.8 / model_only_pretrain/rep_loss 51.8 / model_only_pretrain/kl_value 51.8 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.3 / model_only_pretrain/post_ent -27.6 / model_only_pretrain/fps 10.6

[Checkpoint] Saving model at step 149600...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[149600] model_only_pretrain/pretrain_opt_loss 62.6 / model_only_pretrain/pretrain_opt_grad_norm 116.6 / model_only_pretrain/cam_front_view_image_loss 14.6 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.1 / model_only_pretrain/rep_loss 52.1 / model_only_pretrain/kl_value 52.1 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.5

[Checkpoint] Saving model at step 149700...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[149700] model_only_pretrain/pretrain_opt_loss 62.3 / model_only_pretrain/pretrain_opt_grad_norm 113.4 / model_only_pretrain/cam_front_view_image_loss 14.3 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.3 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.8

[Checkpoint] Saving model at step 149800...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[149800] model_only_pretrain/pretrain_opt_loss 62.4 / model_only_pretrain/pretrain_opt_grad_norm 114.4 / model_only_pretrain/cam_front_view_image_loss 14.4 / model_only_pretrain/cam_wrist_view_image_loss 16.9 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 52.0 / model_only_pretrain/rep_loss 52.0 / model_only_pretrain/kl_value 52.0 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 12.1

[Checkpoint] Saving model at step 149900...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
[149900] model_only_pretrain/pretrain_opt_loss 62.5 / model_only_pretrain/pretrain_opt_grad_norm 113.3 / model_only_pretrain/cam_front_view_image_loss 14.5 / model_only_pretrain/cam_wrist_view_image_loss 16.8 / model_only_pretrain/state_loss 0.0 / model_only_pretrain/kl_loss 31.2 / model_only_pretrain/dyn_loss 51.9 / model_only_pretrain/rep_loss 51.9 / model_only_pretrain/kl_value 51.9 / model_only_pretrain/recon_weight 1.0 / model_only_pretrain/prior_ent 23.4 / model_only_pretrain/post_ent -27.7 / model_only_pretrain/fps 11.7
eval
Evaluating for Seeds: 50 and Evals per seed: 1
[149999] eval_recon/cam_front_view_image 11.2 / eval_recon/cam_wrist_view_image 11.1 / train_recon/cam_front_view_image 12.2 / train_recon/cam_wrist_view_image 37.3 / pretrain/eval_episodes 50.0

[Checkpoint] Saving model at step 150000...
Saved last model to  logs/dreamer_cont/stack_cups/0408/153050/pretrain_joint.pt
Saved best model to  logs/dreamer_cont/stack_cups/0408/153050/best_pretrain_joint_0_00.pt
wandb: 🚀 View run wm_stack_cups_bs16_bl2_0408_0408_153050 at: https://wandb.ai/yukizhang0527-harbin-institute-of-technology/failure_prediction/runs/rzvoll81
wandb: Find logs at: wandb/run-20260408_153056-rzvoll81/logs