2025-11-18 01:38:27,856 INFO    MainThread:2405533 [wandb_setup.py:_flush():67] Current SDK version is 0.19.9
2025-11-18 01:38:27,857 INFO    MainThread:2405533 [wandb_setup.py:_flush():67] Configure stats pid to 2405533
2025-11-18 01:38:27,857 INFO    MainThread:2405533 [wandb_setup.py:_flush():67] Loading settings from /home/euijinrnd/.config/wandb/settings
2025-11-18 01:38:27,857 INFO    MainThread:2405533 [wandb_setup.py:_flush():67] Loading settings from /home/euijinrnd/workspace/lerobot/wandb/settings
2025-11-18 01:38:27,857 INFO    MainThread:2405533 [wandb_setup.py:_flush():67] Loading settings from environment variables
2025-11-18 01:38:27,857 INFO    MainThread:2405533 [wandb_init.py:setup_run_log_directory():662] Logging user logs to outputs/train/2025-11-18/01-38-26_diffusion/wandb/run-20251118_013827-yx7en6s6/logs/debug.log
2025-11-18 01:38:27,857 INFO    MainThread:2405533 [wandb_init.py:setup_run_log_directory():663] Logging internal logs to outputs/train/2025-11-18/01-38-26_diffusion/wandb/run-20251118_013827-yx7en6s6/logs/debug-internal.log
2025-11-18 01:38:27,857 INFO    MainThread:2405533 [wandb_init.py:init():781] calling init triggers
2025-11-18 01:38:27,857 INFO    MainThread:2405533 [wandb_init.py:init():786] wandb.init called with sweep_config: {}
config: {'dataset': {'repo_id': 'anubis_put_into_pot__lerobot', 'root': '/data1/euijinrnd/hf_home_euijin/lerobot/lerobot/anubis_put_into_pot__lerobot', 'episodes': None, 'image_transforms': {'enable': False, 'max_num_transforms': 3, 'random_order': False, 'tfs': {'brightness': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'brightness': [0.8, 1.2]}}, 'contrast': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'contrast': [0.8, 1.2]}}, 'saturation': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'saturation': [0.5, 1.5]}}, 'hue': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'hue': [-0.05, 0.05]}}, 'sharpness': {'weight': 1.0, 'type': 'SharpnessJitter', 'kwargs': {'sharpness': [0.5, 1.5]}}}}, 'revision': None, 'use_imagenet_stats': True, 'video_backend': 'torchcodec'}, 'env': None, 'policy': {'type': 'diffusion', 'n_obs_steps': 2, 'normalization_mapping': {'VISUAL': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'STATE': <NormalizationMode.MIN_MAX: 'MIN_MAX'>, 'ACTION': <NormalizationMode.MIN_MAX: 'MIN_MAX'>}, 'input_features': {}, 'output_features': {}, 'device': 'cuda', 'use_amp': False, 'horizon': 16, 'n_action_steps': 8, 'drop_n_last_frames': 7, 'vision_backbone': 'resnet18', 'crop_shape': [84, 84], 'crop_is_random': True, 'pretrained_backbone_weights': None, 'use_group_norm': True, 'spatial_softmax_num_keypoints': 32, 'use_separate_rgb_encoder_per_camera': False, 'down_dims': [512, 1024, 2048], 'kernel_size': 5, 'n_groups': 8, 'diffusion_step_embed_dim': 128, 'use_film_scale_modulation': True, 'noise_scheduler_type': 'DDPM', 'num_train_timesteps': 100, 'beta_schedule': 'squaredcos_cap_v2', 'beta_start': 0.0001, 'beta_end': 0.02, 'prediction_type': 'epsilon', 'clip_sample': True, 'clip_sample_range': 1.0, 'num_inference_steps': None, 'do_mask_loss_for_padding': False, 'optimizer_lr': 0.0001, 'optimizer_betas': [0.95, 0.999], 'optimizer_eps': 1e-08, 'optimizer_weight_decay': 1e-06, 'scheduler_name': 'cosine', 'scheduler_warmup_steps': 500}, 'output_dir': 'outputs/train/2025-11-18/01-38-26_diffusion', 'job_name': 'diffusion', 'resume': False, 'seed': 1000, 'num_workers': 2, 'batch_size': 8, 'steps': 100000, 'eval_freq': 20000, 'log_freq': 200, 'save_checkpoint': True, 'save_freq': 20000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adam', 'lr': 0.0001, 'weight_decay': 1e-06, 'grad_clip_norm': 10.0, 'betas': [0.95, 0.999], 'eps': 1e-08}, 'scheduler': {'type': 'diffuser', 'num_warmup_steps': 500, 'name': 'cosine'}, 'eval': {'n_episodes': 50, 'batch_size': 50, 'use_async_envs': False}, 'wandb': {'enable': True, 'disable_artifact': True, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': None, 'mode': None}, '_wandb': {}}
2025-11-18 01:38:27,857 INFO    MainThread:2405533 [wandb_init.py:init():809] starting backend
2025-11-18 01:38:27,857 INFO    MainThread:2405533 [wandb_init.py:init():813] sending inform_init request
2025-11-18 01:38:27,860 INFO    MainThread:2405533 [backend.py:_multiprocessing_setup():101] multiprocessing start_methods=fork,spawn,forkserver, using: spawn
2025-11-18 01:38:27,860 INFO    MainThread:2405533 [wandb_init.py:init():823] backend started and connected
2025-11-18 01:38:27,863 INFO    MainThread:2405533 [wandb_init.py:init():915] updated telemetry
2025-11-18 01:38:27,924 INFO    MainThread:2405533 [wandb_init.py:init():939] communicating run to backend with 90.0 second timeout
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2025-11-18 01:38:29,207 INFO    MainThread:2405533 [wandb_run.py:_redirect():2371] Wrapping output streams.
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2025-11-18 01:38:29,209 INFO    MainThread:2405533 [wandb_init.py:init():1056] run started, returning control to user process
2025-11-18 04:13:54,474 INFO    MsgRouterThr:2405533 [mailbox.py:close():129] [no run ID] Closing mailbox, abandoning 1 handles.