Upload folder using huggingface_hub

.gitattributes

@@ -33,3 +33,6 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+lerobot-act_so101_test/wandb/run-20251231_131853-8ce8thqh/run-8ce8thqh.wandb filter=lfs diff=lfs merge=lfs -text
+lerobot_diffusion_model/wandb/run-20251231_105755-pkxhwzf2/run-pkxhwzf2.wandb filter=lfs diff=lfs merge=lfs -text
+lerobotact_so101_test/wandb/run-20251230_222124-umsnhs3c/run-umsnhs3c.wandb filter=lfs diff=lfs merge=lfs -text

act_so101_test/wandb/debug-internal.log

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act_so101_test/wandb/debug.log

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+2025-12-30 22:17:49,794 INFO    MainThread:2365002 [wandb_setup.py:_flush():81] Current SDK version is 0.21.4
+2025-12-30 22:17:49,794 INFO    MainThread:2365002 [wandb_setup.py:_flush():81] Configure stats pid to 2365002
+2025-12-30 22:17:49,794 INFO    MainThread:2365002 [wandb_setup.py:_flush():81] Loading settings from /home/zeux/.config/wandb/settings
+2025-12-30 22:17:49,794 INFO    MainThread:2365002 [wandb_setup.py:_flush():81] Loading settings from /home/zeux/wandb/settings
+2025-12-30 22:17:49,794 INFO    MainThread:2365002 [wandb_setup.py:_flush():81] Loading settings from environment variables
+2025-12-30 22:17:49,794 INFO    MainThread:2365002 [wandb_init.py:setup_run_log_directory():686] Logging user logs to outputs/train/act_so101_test/wandb/run-20251230_221749-q1o5aaw1/logs/debug.log
+2025-12-30 22:17:49,794 INFO    MainThread:2365002 [wandb_init.py:setup_run_log_directory():687] Logging internal logs to outputs/train/act_so101_test/wandb/run-20251230_221749-q1o5aaw1/logs/debug-internal.log
+2025-12-30 22:17:49,794 INFO    MainThread:2365002 [wandb_init.py:init():813] calling init triggers
+2025-12-30 22:17:49,794 INFO    MainThread:2365002 [wandb_init.py:init():818] wandb.init called with sweep_config: {}
+config: {'dataset': {'repo_id': 'lerobot-act', 'root': '/home/zeux/lerobot_shadow/lerobotact-dataset', '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]}}, 'affine': {'weight': 1.0, 'type': 'RandomAffine', 'kwargs': {'degrees': [-5.0, 5.0], 'translate': [0.05, 0.05]}}}}, 'revision': None, 'use_imagenet_stats': True, 'video_backend': 'pyav', 'streaming': False}, 'env': None, 'policy': {'type': 'act', 'n_obs_steps': 1, 'input_features': {}, 'output_features': {}, 'device': 'cuda', 'use_amp': True, 'push_to_hub': True, 'repo_id': 'local/act-so101-model', 'private': None, 'tags': None, 'license': None, 'pretrained_path': None, 'chunk_size': 100, 'n_action_steps': 100, 'normalization_mapping': {'VISUAL': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'STATE': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'ACTION': <NormalizationMode.MEAN_STD: 'MEAN_STD'>}, 'vision_backbone': 'resnet18', 'pretrained_backbone_weights': 'ResNet18_Weights.IMAGENET1K_V1', 'replace_final_stride_with_dilation': False, 'pre_norm': False, 'dim_model': 512, 'n_heads': 8, 'dim_feedforward': 3200, 'feedforward_activation': 'relu', 'n_encoder_layers': 4, 'n_decoder_layers': 1, 'use_vae': True, 'latent_dim': 32, 'n_vae_encoder_layers': 4, 'temporal_ensemble_coeff': None, 'dropout': 0.1, 'kl_weight': 10.0, 'optimizer_lr': 1e-05, 'optimizer_weight_decay': 0.0001, 'optimizer_lr_backbone': 1e-05}, 'output_dir': 'outputs/train/act_so101_test', 'job_name': 'act', 'resume': False, 'seed': 1000, 'num_workers': 1, 'batch_size': 8, 'steps': 20000, 'eval_freq': 20000, 'log_freq': 200, 'save_checkpoint': True, 'save_freq': 20000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adamw', 'lr': 1e-05, 'weight_decay': 0.0001, 'grad_clip_norm': 10.0, 'betas': [0.9, 0.999], 'eps': 1e-08}, 'scheduler': None, 'eval': {'n_episodes': 50, 'batch_size': 50, 'use_async_envs': False}, 'wandb': {'enable': True, 'disable_artifact': False, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': None, 'mode': None}, 'checkpoint_path': None, 'rename_map': {}, '_wandb': {}}
+2025-12-30 22:17:49,794 INFO    MainThread:2365002 [wandb_init.py:init():854] starting backend
+2025-12-30 22:17:49,996 INFO    MainThread:2365002 [wandb_init.py:init():857] sending inform_init request
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+2025-12-30 22:17:50,911 INFO    MainThread:2365002 [wandb_init.py:init():1049] run started, returning control to user process
+2025-12-30 22:18:28,195 INFO    wandb-AsyncioManager-main:2365002 [service_client.py:_forward_responses():84] Reached EOF.
+2025-12-30 22:18:28,195 INFO    wandb-AsyncioManager-main:2365002 [mailbox.py:close():137] Closing mailbox, abandoning 1 handles.
+2025-12-30 22:18:28,592 ERROR   wandb-AsyncioManager-main:2365002 [asyncio_manager.py:fn_wrap_exceptions():183] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  File "/home/zeux/.local/lib/python3.10/site-packages/wandb/sdk/lib/asyncio_manager.py", line 181, in fn_wrap_exceptions
+    await fn()
+  File "/home/zeux/.local/lib/python3.10/site-packages/wandb/sdk/lib/service/service_client.py", line 65, in _send_server_request
+    await self._writer.drain()
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/asyncio/streams.py", line 371, in drain
+    await self._protocol._drain_helper()
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/asyncio/streams.py", line 167, in _drain_helper
+    raise ConnectionResetError('Connection lost')
+ConnectionResetError: Connection lost
+2025-12-30 22:18:28,601 ERROR   wandb-AsyncioManager-main:2365002 [asyncio_manager.py:fn_wrap_exceptions():183] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  File "/home/zeux/.local/lib/python3.10/site-packages/wandb/sdk/lib/asyncio_manager.py", line 181, in fn_wrap_exceptions
+    await fn()
+  File "/home/zeux/.local/lib/python3.10/site-packages/wandb/sdk/lib/service/service_client.py", line 65, in _send_server_request
+    await self._writer.drain()
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/asyncio/streams.py", line 371, in drain
+    await self._protocol._drain_helper()
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/asyncio/streams.py", line 167, in _drain_helper
+    raise ConnectionResetError('Connection lost')
+ConnectionResetError: Connection lost
+2025-12-30 22:18:28,601 ERROR   wandb-AsyncioManager-main:2365002 [asyncio_manager.py:fn_wrap_exceptions():183] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  File "/home/zeux/.local/lib/python3.10/site-packages/wandb/sdk/lib/asyncio_manager.py", line 181, in fn_wrap_exceptions
+    await fn()
+  File "/home/zeux/.local/lib/python3.10/site-packages/wandb/sdk/lib/service/service_client.py", line 65, in _send_server_request
+    await self._writer.drain()
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/asyncio/streams.py", line 371, in drain
+    await self._protocol._drain_helper()
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/asyncio/streams.py", line 167, in _drain_helper
+    raise ConnectionResetError('Connection lost')
+ConnectionResetError: Connection lost

act_so101_test/wandb/run-20251230_221749-q1o5aaw1/files/config.yaml

@@ -0,0 +1,225 @@
+_wandb:
+    value:
+        cli_version: 0.21.4
+        e:
+            jldifxu3qy62ax4zkqe4sl8faxnhsjg9:
+                args:
+                    - --dataset.repo_id=lerobot-act
+                    - --dataset.root=/home/zeux/lerobot_shadow/lerobotact-dataset
+                    - --dataset.video_backend=pyav
+                    - --policy.type=act
+                    - --policy.repo_id=local/act-so101-model
+                    - --output_dir=outputs/train/act_so101_test
+                    - --policy.device=cuda
+                    - --policy.use_amp=true
+                    - --batch_size=8
+                    - --num_workers=1
+                    - --steps=20000
+                    - --wandb.enable=true
+                codePath: miniconda3/envs/lerobot/bin/lerobot-train
+                codePathLocal: miniconda3/envs/lerobot/bin/lerobot-train
+                cpu_count: 24
+                cpu_count_logical: 24
+                cudaVersion: "13.0"
+                disk:
+                    /:
+                        total: "200449576960"
+                        used: "34402668544"
+                executable: /home/zeux/miniconda3/envs/lerobot/bin/python3.10
+                gpu: NVIDIA RTX PRO 6000 Blackwell Workstation Edition
+                gpu_count: 1
+                gpu_nvidia:
+                    - architecture: Blackwell
+                      cudaCores: 24064
+                      memoryTotal: "102641958912"
+                      name: NVIDIA RTX PRO 6000 Blackwell Workstation Edition
+                      uuid: GPU-8c66f3c4-00c8-00a6-e5ff-633c5558ec8e
+                host: zeux
+                memory:
+                    total: "134489886720"
+                os: Linux-6.8.0-90-generic-x86_64-with-glibc2.35
+                program: /home/zeux/miniconda3/envs/lerobot/bin/lerobot-train
+                python: CPython 3.10.19
+                root: outputs/train/act_so101_test
+                startedAt: "2025-12-30T16:47:49.793724Z"
+                writerId: jldifxu3qy62ax4zkqe4sl8faxnhsjg9
+        m: []
+        python_version: 3.10.19
+        t:
+            "1":
+                - 1
+                - 11
+                - 41
+                - 49
+                - 51
+                - 71
+                - 83
+            "2":
+                - 1
+                - 11
+                - 41
+                - 49
+                - 51
+                - 71
+                - 83
+            "3":
+                - 13
+                - 15
+                - 16
+            "4": 3.10.19
+            "5": 0.21.4
+            "6": 4.57.3
+            "10":
+                - 21
+            "12": 0.21.4
+            "13": linux-x86_64
+batch_size:
+    value: 8
+checkpoint_path:
+    value: null
+dataset:
+    value:
+        episodes: null
+        image_transforms:
+            enable: false
+            max_num_transforms: 3
+            random_order: false
+            tfs:
+                affine:
+                    kwargs:
+                        degrees:
+                            - -5
+                            - 5
+                        translate:
+                            - 0.05
+                            - 0.05
+                    type: RandomAffine
+                    weight: 1
+                brightness:
+                    kwargs:
+                        brightness:
+                            - 0.8
+                            - 1.2
+                    type: ColorJitter
+                    weight: 1
+                contrast:
+                    kwargs:
+                        contrast:
+                            - 0.8
+                            - 1.2
+                    type: ColorJitter
+                    weight: 1
+                hue:
+                    kwargs:
+                        hue:
+                            - -0.05
+                            - 0.05
+                    type: ColorJitter
+                    weight: 1
+                saturation:
+                    kwargs:
+                        saturation:
+                            - 0.5
+                            - 1.5
+                    type: ColorJitter
+                    weight: 1
+                sharpness:
+                    kwargs:
+                        sharpness:
+                            - 0.5
+                            - 1.5
+                    type: SharpnessJitter
+                    weight: 1
+        repo_id: lerobot-act
+        revision: null
+        root: /home/zeux/lerobot_shadow/lerobotact-dataset
+        streaming: false
+        use_imagenet_stats: true
+        video_backend: pyav
+env:
+    value: null
+eval:
+    value:
+        batch_size: 50
+        n_episodes: 50
+        use_async_envs: false
+eval_freq:
+    value: 20000
+job_name:
+    value: act
+log_freq:
+    value: 200
+num_workers:
+    value: 1
+optimizer:
+    value:
+        betas:
+            - 0.9
+            - 0.999
+        eps: 1e-08
+        grad_clip_norm: 10
+        lr: 1e-05
+        type: adamw
+        weight_decay: 0.0001
+output_dir:
+    value: outputs/train/act_so101_test
+policy:
+    value:
+        chunk_size: 100
+        device: cuda
+        dim_feedforward: 3200
+        dim_model: 512
+        dropout: 0.1
+        feedforward_activation: relu
+        kl_weight: 10
+        latent_dim: 32
+        license: null
+        n_action_steps: 100
+        n_decoder_layers: 1
+        n_encoder_layers: 4
+        n_heads: 8
+        n_obs_steps: 1
+        n_vae_encoder_layers: 4
+        normalization_mapping:
+            ACTION: MEAN_STD
+            STATE: MEAN_STD
+            VISUAL: MEAN_STD
+        optimizer_lr: 1e-05
+        optimizer_lr_backbone: 1e-05
+        optimizer_weight_decay: 0.0001
+        pre_norm: false
+        pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1
+        pretrained_path: null
+        private: null
+        push_to_hub: true
+        replace_final_stride_with_dilation: false
+        repo_id: local/act-so101-model
+        tags: null
+        temporal_ensemble_coeff: null
+        type: act
+        use_amp: true
+        use_vae: true
+        vision_backbone: resnet18
+resume:
+    value: false
+save_checkpoint:
+    value: true
+save_freq:
+    value: 20000
+scheduler:
+    value: null
+seed:
+    value: 1000
+steps:
+    value: 20000
+use_policy_training_preset:
+    value: true
+wandb:
+    value:
+        disable_artifact: false
+        enable: true
+        entity: null
+        mode: null
+        notes: null
+        project: lerobot
+        run_id: null

act_so101_test/wandb/run-20251230_221749-q1o5aaw1/files/output.log

@@ -0,0 +1,53 @@
+INFO 2025-12-30 22:17:50 db_utils.py:102 Logs will be synced with wandb.
+INFO 2025-12-30 22:17:50 db_utils.py:103 Track this run --> https://wandb.ai/nwaves-ai-nwaves/lerobot/runs/q1o5aaw1
+INFO 2025-12-30 22:17:50 ot_train.py:183 Creating dataset
+INFO 2025-12-30 22:17:50 ot_train.py:202 Creating policy
+INFO 2025-12-30 22:17:51 ot_train.py:247 Creating optimizer and scheduler
+INFO 2025-12-30 22:17:51 ot_train.py:259 Output dir: outputs/train/act_so101_test
+INFO 2025-12-30 22:17:51 ot_train.py:264 cfg.steps=20000 (20K)
+INFO 2025-12-30 22:17:51 ot_train.py:265 dataset.num_frames=17774 (18K)
+INFO 2025-12-30 22:17:51 ot_train.py:266 dataset.num_episodes=20
+INFO 2025-12-30 22:17:51 ot_train.py:269 Effective batch size: 8 x 1 = 8
+INFO 2025-12-30 22:17:51 ot_train.py:270 num_learnable_params=51597190 (52M)
+INFO 2025-12-30 22:17:51 ot_train.py:271 num_total_params=51597190 (52M)
+INFO 2025-12-30 22:17:51 ot_train.py:327 Start offline training on a fixed dataset
+Traceback (most recent call last):
+  File "/home/zeux/miniconda3/envs/lerobot/bin/lerobot-train", line 7, in <module>
+    sys.exit(main())
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/site-packages/lerobot/scripts/lerobot_train.py", line 449, in main
+    train()
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/site-packages/lerobot/configs/parser.py", line 233, in wrapper_inner
+    response = fn(cfg, *args, **kwargs)
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/site-packages/lerobot/scripts/lerobot_train.py", line 335, in train
+    train_tracker, output_dict = update_policy(
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/site-packages/lerobot/scripts/lerobot_train.py", line 95, in update_policy
+    accelerator.backward(loss)
+  File "/home/zeux/.local/lib/python3.10/site-packages/accelerate/accelerator.py", line 2852, in backward
+    loss.backward(**kwargs)
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/_tensor.py", line 625, in backward
+    torch.autograd.backward(
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/autograd/__init__.py", line 354, in backward
+    _engine_run_backward(
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/autograd/graph.py", line 841, in _engine_run_backward
+    return Variable._execution_engine.run_backward(  # Calls into the C++ engine to run the backward pass
+KeyboardInterrupt
+Traceback (most recent call last):
+  File "/home/zeux/miniconda3/envs/lerobot/bin/lerobot-train", line 7, in <module>
+    sys.exit(main())
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/site-packages/lerobot/scripts/lerobot_train.py", line 449, in main
+    train()
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/site-packages/lerobot/configs/parser.py", line 233, in wrapper_inner
+    response = fn(cfg, *args, **kwargs)
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/site-packages/lerobot/scripts/lerobot_train.py", line 335, in train
+    train_tracker, output_dict = update_policy(
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/site-packages/lerobot/scripts/lerobot_train.py", line 95, in update_policy
+    accelerator.backward(loss)
+  File "/home/zeux/.local/lib/python3.10/site-packages/accelerate/accelerator.py", line 2852, in backward
+    loss.backward(**kwargs)
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/_tensor.py", line 625, in backward
+    torch.autograd.backward(
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/autograd/__init__.py", line 354, in backward
+    _engine_run_backward(
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/site-packages/torch/autograd/graph.py", line 841, in _engine_run_backward
+    return Variable._execution_engine.run_backward(  # Calls into the C++ engine to run the backward pass
+KeyboardInterrupt

act_so101_test/wandb/run-20251230_221749-q1o5aaw1/files/requirements.txt

@@ -0,0 +1,237 @@
+nvidia-cusolver==12.0.3.29
+nvidia-curand==10.4.0.35
+anyio==4.12.0
+yarl==1.22.0
+comfyui-workflow-templates-media-other==0.3.15
+tomlkit==0.13.3
+cloudpickle==3.1.2
+typing_extensions==4.15.0
+sentry-sdk==2.48.0
+semver==3.0.4
+mpmath==1.3.0
+draccus==0.10.0
+multidict==6.7.0
+nvidia-cufile-cu12==1.11.1.6
+tokenizers==0.22.1
+GitPython==3.1.45
+datasets==4.1.1
+PySide6_Essentials==6.10.1
+comfyui-workflow-templates-media-image==0.3.17
+Pygments==2.19.2
+aiohappyeyeballs==2.6.1
+protobuf==6.33.2
+PySide6==6.10.1
+comfyui-workflow-templates-core==0.3.12
+PySide2==5.15.2.1
+pyserial==3.5
+accelerate==1.12.0
+pfzy==0.3.4
+scipy==1.15.3
+frozenlist==1.8.0
+nvidia-nvshmem-cu13==3.3.24
+transformers==4.57.3
+typing-inspection==0.4.2
+einops==0.8.1
+shellingham==1.5.4
+Farama-Notifications==0.0.4
+psutil==7.1.3
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act_so101_test/wandb/run-20251230_221749-q1o5aaw1/logs/debug.log

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+2025-12-30 22:17:49,794 INFO    MainThread:2365002 [wandb_init.py:init():818] wandb.init called with sweep_config: {}
+config: {'dataset': {'repo_id': 'lerobot-act', 'root': '/home/zeux/lerobot_shadow/lerobotact-dataset', '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]}}, 'affine': {'weight': 1.0, 'type': 'RandomAffine', 'kwargs': {'degrees': [-5.0, 5.0], 'translate': [0.05, 0.05]}}}}, 'revision': None, 'use_imagenet_stats': True, 'video_backend': 'pyav', 'streaming': False}, 'env': None, 'policy': {'type': 'act', 'n_obs_steps': 1, 'input_features': {}, 'output_features': {}, 'device': 'cuda', 'use_amp': True, 'push_to_hub': True, 'repo_id': 'local/act-so101-model', 'private': None, 'tags': None, 'license': None, 'pretrained_path': None, 'chunk_size': 100, 'n_action_steps': 100, 'normalization_mapping': {'VISUAL': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'STATE': <NormalizationMode.MEAN_STD: 'MEAN_STD'>, 'ACTION': <NormalizationMode.MEAN_STD: 'MEAN_STD'>}, 'vision_backbone': 'resnet18', 'pretrained_backbone_weights': 'ResNet18_Weights.IMAGENET1K_V1', 'replace_final_stride_with_dilation': False, 'pre_norm': False, 'dim_model': 512, 'n_heads': 8, 'dim_feedforward': 3200, 'feedforward_activation': 'relu', 'n_encoder_layers': 4, 'n_decoder_layers': 1, 'use_vae': True, 'latent_dim': 32, 'n_vae_encoder_layers': 4, 'temporal_ensemble_coeff': None, 'dropout': 0.1, 'kl_weight': 10.0, 'optimizer_lr': 1e-05, 'optimizer_weight_decay': 0.0001, 'optimizer_lr_backbone': 1e-05}, 'output_dir': 'outputs/train/act_so101_test', 'job_name': 'act', 'resume': False, 'seed': 1000, 'num_workers': 1, 'batch_size': 8, 'steps': 20000, 'eval_freq': 20000, 'log_freq': 200, 'save_checkpoint': True, 'save_freq': 20000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adamw', 'lr': 1e-05, 'weight_decay': 0.0001, 'grad_clip_norm': 10.0, 'betas': [0.9, 0.999], 'eps': 1e-08}, 'scheduler': None, 'eval': {'n_episodes': 50, 'batch_size': 50, 'use_async_envs': False}, 'wandb': {'enable': True, 'disable_artifact': False, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': None, 'mode': None}, 'checkpoint_path': None, 'rename_map': {}, '_wandb': {}}
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+2025-12-30 22:18:28,592 ERROR   wandb-AsyncioManager-main:2365002 [asyncio_manager.py:fn_wrap_exceptions():183] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  File "/home/zeux/.local/lib/python3.10/site-packages/wandb/sdk/lib/asyncio_manager.py", line 181, in fn_wrap_exceptions
+    await fn()
+  File "/home/zeux/.local/lib/python3.10/site-packages/wandb/sdk/lib/service/service_client.py", line 65, in _send_server_request
+    await self._writer.drain()
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/asyncio/streams.py", line 371, in drain
+    await self._protocol._drain_helper()
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/asyncio/streams.py", line 167, in _drain_helper
+    raise ConnectionResetError('Connection lost')
+ConnectionResetError: Connection lost
+2025-12-30 22:18:28,601 ERROR   wandb-AsyncioManager-main:2365002 [asyncio_manager.py:fn_wrap_exceptions():183] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  File "/home/zeux/.local/lib/python3.10/site-packages/wandb/sdk/lib/asyncio_manager.py", line 181, in fn_wrap_exceptions
+    await fn()
+  File "/home/zeux/.local/lib/python3.10/site-packages/wandb/sdk/lib/service/service_client.py", line 65, in _send_server_request
+    await self._writer.drain()
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/asyncio/streams.py", line 371, in drain
+    await self._protocol._drain_helper()
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/asyncio/streams.py", line 167, in _drain_helper
+    raise ConnectionResetError('Connection lost')
+ConnectionResetError: Connection lost
+2025-12-30 22:18:28,601 ERROR   wandb-AsyncioManager-main:2365002 [asyncio_manager.py:fn_wrap_exceptions():183] Uncaught exception in run_soon callback.
+Traceback (most recent call last):
+  File "/home/zeux/.local/lib/python3.10/site-packages/wandb/sdk/lib/asyncio_manager.py", line 181, in fn_wrap_exceptions
+    await fn()
+  File "/home/zeux/.local/lib/python3.10/site-packages/wandb/sdk/lib/service/service_client.py", line 65, in _send_server_request
+    await self._writer.drain()
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/asyncio/streams.py", line 371, in drain
+    await self._protocol._drain_helper()
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/asyncio/streams.py", line 167, in _drain_helper
+    raise ConnectionResetError('Connection lost')
+ConnectionResetError: Connection lost

lerobot-act_so101_test/checkpoints/020000/pretrained_model/config.json

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+{
+    "type": "act",
+    "n_obs_steps": 1,
+    "input_features": {
+        "observation.state": {
+            "type": "STATE",
+            "shape": [
+                6
+            ]
+        },
+        "observation.images.top": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        },
+        "observation.images.side": {
+            "type": "VISUAL",
+            "shape": [
+                3,
+                480,
+                640
+            ]
+        }
+    },
+    "output_features": {
+        "action": {
+            "type": "ACTION",
+            "shape": [
+                6
+            ]
+        }
+    },
+    "device": "cuda",
+    "use_amp": true,
+    "push_to_hub": true,
+    "repo_id": "local/lerobot-act-so101-model",
+    "private": null,
+    "tags": null,
+    "license": null,
+    "pretrained_path": null,
+    "chunk_size": 100,
+    "n_action_steps": 100,
+    "normalization_mapping": {
+        "VISUAL": "MEAN_STD",
+        "STATE": "MEAN_STD",
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+INFO 2025-12-31 15:24:36 ot_train.py:364 Checkpoint policy after step 20000
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+INFO 2025-12-31 15:34:41 ot_train.py:354 step:22K smpl:1M ep:2K epch:38.81 loss:0.055 grdn:6.297 lr:1.0e-05 updt_s:0.356 data_s:0.015
+INFO 2025-12-31 15:35:58 ot_train.py:354 step:22K smpl:1M ep:2K epch:39.17 loss:0.056 grdn:6.978 lr:1.0e-05 updt_s:0.354 data_s:0.031
+INFO 2025-12-31 15:37:13 ot_train.py:354 step:22K smpl:1M ep:2K epch:39.53 loss:0.054 grdn:6.632 lr:1.0e-05 updt_s:0.356 data_s:0.015
+INFO 2025-12-31 15:38:27 ot_train.py:354 step:22K smpl:1M ep:2K epch:39.89 loss:0.055 grdn:6.527 lr:1.0e-05 updt_s:0.356 data_s:0.015
+INFO 2025-12-31 15:39:44 ot_train.py:354 step:22K smpl:1M ep:2K epch:40.25 loss:0.053 grdn:6.137 lr:1.0e-05 updt_s:0.354 data_s:0.031
+INFO 2025-12-31 15:40:58 ot_train.py:354 step:23K smpl:1M ep:2K epch:40.61 loss:0.054 grdn:6.441 lr:1.0e-05 updt_s:0.357 data_s:0.015
+INFO 2025-12-31 15:42:13 ot_train.py:354 step:23K smpl:1M ep:2K epch:40.97 loss:0.054 grdn:6.459 lr:1.0e-05 updt_s:0.355 data_s:0.015
+INFO 2025-12-31 15:43:30 ot_train.py:354 step:23K smpl:1M ep:2K epch:41.33 loss:0.053 grdn:6.023 lr:1.0e-05 updt_s:0.355 data_s:0.032
+INFO 2025-12-31 15:44:44 ot_train.py:354 step:23K smpl:1M ep:2K epch:41.69 loss:0.053 grdn:6.146 lr:1.0e-05 updt_s:0.356 data_s:0.015
+INFO 2025-12-31 15:46:02 ot_train.py:354 step:23K smpl:1M ep:2K epch:42.05 loss:0.053 grdn:6.212 lr:1.0e-05 updt_s:0.355 data_s:0.031
+INFO 2025-12-31 15:47:16 ot_train.py:354 step:24K smpl:2M ep:2K epch:42.41 loss:0.052 grdn:6.566 lr:1.0e-05 updt_s:0.355 data_s:0.015
+INFO 2025-12-31 15:48:30 ot_train.py:354 step:24K smpl:2M ep:2K epch:42.76 loss:0.052 grdn:6.177 lr:1.0e-05 updt_s:0.356 data_s:0.015
+INFO 2025-12-31 15:49:47 ot_train.py:354 step:24K smpl:2M ep:2K epch:43.12 loss:0.052 grdn:6.439 lr:1.0e-05 updt_s:0.354 data_s:0.031
+INFO 2025-12-31 15:51:01 ot_train.py:354 step:24K smpl:2M ep:2K epch:43.48 loss:0.052 grdn:6.557 lr:1.0e-05 updt_s:0.356 data_s:0.015
+INFO 2025-12-31 15:52:16 ot_train.py:354 step:24K smpl:2M ep:2K epch:43.84 loss:0.051 grdn:5.968 lr:1.0e-05 updt_s:0.357 data_s:0.015
+INFO 2025-12-31 15:53:33 ot_train.py:354 step:25K smpl:2M ep:2K epch:44.20 loss:0.052 grdn:6.389 lr:1.0e-05 updt_s:0.354 data_s:0.031
+INFO 2025-12-31 15:54:47 ot_train.py:354 step:25K smpl:2M ep:2K epch:44.56 loss:0.050 grdn:5.622 lr:1.0e-05 updt_s:0.356 data_s:0.015
+INFO 2025-12-31 15:56:02 ot_train.py:354 step:25K smpl:2M ep:2K epch:44.92 loss:0.051 grdn:6.066 lr:1.0e-05 updt_s:0.356 data_s:0.015
+INFO 2025-12-31 15:57:19 ot_train.py:354 step:25K smpl:2M ep:2K epch:45.28 loss:0.051 grdn:6.150 lr:1.0e-05 updt_s:0.354 data_s:0.031
+INFO 2025-12-31 15:58:33 ot_train.py:354 step:25K smpl:2M ep:2K epch:45.64 loss:0.050 grdn:6.133 lr:1.0e-05 updt_s:0.357 data_s:0.015
+INFO 2025-12-31 15:59:48 ot_train.py:354 step:26K smpl:2M ep:2K epch:46.00 loss:0.050 grdn:5.844 lr:1.0e-05 updt_s:0.355 data_s:0.016
+INFO 2025-12-31 16:01:06 ot_train.py:354 step:26K smpl:2M ep:2K epch:46.36 loss:0.050 grdn:6.100 lr:1.0e-05 updt_s:0.355 data_s:0.034
+INFO 2025-12-31 16:02:20 ot_train.py:354 step:26K smpl:2M ep:2K epch:46.72 loss:0.051 grdn:6.424 lr:1.0e-05 updt_s:0.356 data_s:0.015
+INFO 2025-12-31 16:03:38 ot_train.py:354 step:26K smpl:2M ep:2K epch:47.08 loss:0.049 grdn:5.945 lr:1.0e-05 updt_s:0.355 data_s:0.035
+INFO 2025-12-31 16:04:52 ot_train.py:354 step:26K smpl:2M ep:2K epch:47.44 loss:0.049 grdn:6.103 lr:1.0e-05 updt_s:0.356 data_s:0.016
+INFO 2025-12-31 16:06:07 ot_train.py:354 step:27K smpl:2M ep:2K epch:47.80 loss:0.049 grdn:5.937 lr:1.0e-05 updt_s:0.356 data_s:0.017
+INFO 2025-12-31 16:07:24 ot_train.py:354 step:27K smpl:2M ep:2K epch:48.16 loss:0.049 grdn:5.822 lr:1.0e-05 updt_s:0.354 data_s:0.032
+INFO 2025-12-31 16:08:38 ot_train.py:354 step:27K smpl:2M ep:2K epch:48.51 loss:0.049 grdn:6.268 lr:1.0e-05 updt_s:0.357 data_s:0.015
+INFO 2025-12-31 16:09:53 ot_train.py:354 step:27K smpl:2M ep:2K epch:48.87 loss:0.048 grdn:5.491 lr:1.0e-05 updt_s:0.356 data_s:0.015
+INFO 2025-12-31 16:11:10 ot_train.py:354 step:27K smpl:2M ep:2K epch:49.23 loss:0.049 grdn:5.944 lr:1.0e-05 updt_s:0.354 data_s:0.032
+INFO 2025-12-31 16:12:25 ot_train.py:354 step:28K smpl:2M ep:2K epch:49.59 loss:0.048 grdn:5.436 lr:1.0e-05 updt_s:0.356 data_s:0.016
+INFO 2025-12-31 16:13:39 ot_train.py:354 step:28K smpl:2M ep:2K epch:49.95 loss:0.047 grdn:5.470 lr:1.0e-05 updt_s:0.356 data_s:0.015
+INFO 2025-12-31 16:14:56 ot_train.py:354 step:28K smpl:2M ep:2K epch:50.31 loss:0.048 grdn:6.592 lr:1.0e-05 updt_s:0.355 data_s:0.032
+INFO 2025-12-31 16:16:11 ot_train.py:354 step:28K smpl:2M ep:2K epch:50.67 loss:0.047 grdn:5.629 lr:1.0e-05 updt_s:0.356 data_s:0.015
+INFO 2025-12-31 16:17:25 ot_train.py:354 step:28K smpl:2M ep:2K epch:51.03 loss:0.047 grdn:5.651 lr:1.0e-05 updt_s:0.355 data_s:0.015
+INFO 2025-12-31 16:18:42 ot_train.py:354 step:29K smpl:2M ep:2K epch:51.39 loss:0.048 grdn:5.836 lr:1.0e-05 updt_s:0.355 data_s:0.032
+INFO 2025-12-31 16:19:57 ot_train.py:354 step:29K smpl:2M ep:2K epch:51.75 loss:0.047 grdn:5.715 lr:1.0e-05 updt_s:0.357 data_s:0.015
+INFO 2025-12-31 16:21:14 ot_train.py:354 step:29K smpl:2M ep:2K epch:52.11 loss:0.048 grdn:5.874 lr:1.0e-05 updt_s:0.354 data_s:0.033
+INFO 2025-12-31 16:22:28 ot_train.py:354 step:29K smpl:2M ep:2K epch:52.47 loss:0.046 grdn:5.131 lr:1.0e-05 updt_s:0.356 data_s:0.015
+INFO 2025-12-31 16:23:43 ot_train.py:354 step:29K smpl:2M ep:2K epch:52.83 loss:0.046 grdn:5.731 lr:1.0e-05 updt_s:0.356 data_s:0.015
+INFO 2025-12-31 16:25:00 ot_train.py:354 step:30K smpl:2M ep:2K epch:53.19 loss:0.047 grdn:5.571 lr:1.0e-05 updt_s:0.354 data_s:0.031
+INFO 2025-12-31 16:26:14 ot_train.py:354 step:30K smpl:2M ep:2K epch:53.55 loss:0.047 grdn:5.913 lr:1.0e-05 updt_s:0.357 data_s:0.015
+INFO 2025-12-31 16:27:29 ot_train.py:354 step:30K smpl:2M ep:2K epch:53.91 loss:0.047 grdn:5.821 lr:1.0e-05 updt_s:0.356 data_s:0.015
+INFO 2025-12-31 16:28:46 ot_train.py:354 step:30K smpl:2M ep:2K epch:54.26 loss:0.046 grdn:5.620 lr:1.0e-05 updt_s:0.354 data_s:0.033
+INFO 2025-12-31 16:30:01 ot_train.py:354 step:30K smpl:2M ep:2K epch:54.62 loss:0.045 grdn:5.175 lr:1.0e-05 updt_s:0.356 data_s:0.015
+INFO 2025-12-31 16:31:15 ot_train.py:354 step:31K smpl:2M ep:2K epch:54.98 loss:0.044 grdn:4.907 lr:1.0e-05 updt_s:0.356 data_s:0.015
+INFO 2025-12-31 16:32:32 ot_train.py:354 step:31K smpl:2M ep:2K epch:55.34 loss:0.045 grdn:5.579 lr:1.0e-05 updt_s:0.355 data_s:0.031
+INFO 2025-12-31 16:33:47 ot_train.py:354 step:31K smpl:2M ep:2K epch:55.70 loss:0.045 grdn:5.493 lr:1.0e-05 updt_s:0.356 data_s:0.015
+INFO 2025-12-31 16:35:04 ot_train.py:354 step:31K smpl:2M ep:2K epch:56.06 loss:0.045 grdn:5.320 lr:1.0e-05 updt_s:0.355 data_s:0.031
+INFO 2025-12-31 16:36:18 ot_train.py:354 step:31K smpl:2M ep:2K epch:56.42 loss:0.044 grdn:5.413 lr:1.0e-05 updt_s:0.356 data_s:0.015
+INFO 2025-12-31 16:37:33 ot_train.py:354 step:32K smpl:2M ep:2K epch:56.78 loss:0.044 grdn:5.496 lr:1.0e-05 updt_s:0.357 data_s:0.015
+INFO 2025-12-31 16:38:50 ot_train.py:354 step:32K smpl:2M ep:2K epch:57.14 loss:0.045 grdn:5.232 lr:1.0e-05 updt_s:0.354 data_s:0.033
+INFO 2025-12-31 16:40:04 ot_train.py:354 step:32K smpl:2M ep:2K epch:57.50 loss:0.044 grdn:5.274 lr:1.0e-05 updt_s:0.356 data_s:0.015
+INFO 2025-12-31 16:41:19 ot_train.py:354 step:32K smpl:2M ep:2K epch:57.86 loss:0.045 grdn:5.434 lr:1.0e-05 updt_s:0.356 data_s:0.016
+INFO 2025-12-31 16:42:36 ot_train.py:354 step:32K smpl:2M ep:2K epch:58.22 loss:0.044 grdn:5.135 lr:1.0e-05 updt_s:0.355 data_s:0.030
+INFO 2025-12-31 16:43:50 ot_train.py:354 step:33K smpl:2M ep:2K epch:58.58 loss:0.044 grdn:5.474 lr:1.0e-05 updt_s:0.356 data_s:0.015
+INFO 2025-12-31 16:45:05 ot_train.py:354 step:33K smpl:2M ep:2K epch:58.94 loss:0.044 grdn:5.560 lr:1.0e-05 updt_s:0.356 data_s:0.016
+INFO 2025-12-31 16:46:23 ot_train.py:354 step:33K smpl:2M ep:2K epch:59.30 loss:0.044 grdn:5.377 lr:1.0e-05 updt_s:0.355 data_s:0.035
+INFO 2025-12-31 16:47:37 ot_train.py:354 step:33K smpl:2M ep:2K epch:59.66 loss:0.044 grdn:5.795 lr:1.0e-05 updt_s:0.357 data_s:0.016
+INFO 2025-12-31 16:48:52 ot_train.py:354 step:33K smpl:2M ep:2K epch:60.01 loss:0.044 grdn:5.346 lr:1.0e-05 updt_s:0.355 data_s:0.016
+INFO 2025-12-31 16:50:09 ot_train.py:354 step:34K smpl:2M ep:2K epch:60.37 loss:0.043 grdn:5.306 lr:1.0e-05 updt_s:0.355 data_s:0.034
+INFO 2025-12-31 16:51:24 ot_train.py:354 step:34K smpl:2M ep:2K epch:60.73 loss:0.045 grdn:5.791 lr:1.0e-05 updt_s:0.356 data_s:0.016
+INFO 2025-12-31 16:52:42 ot_train.py:354 step:34K smpl:2M ep:2K epch:61.09 loss:0.042 grdn:5.182 lr:1.0e-05 updt_s:0.355 data_s:0.032
+INFO 2025-12-31 16:53:56 ot_train.py:354 step:34K smpl:2M ep:2K epch:61.45 loss:0.042 grdn:5.181 lr:1.0e-05 updt_s:0.356 data_s:0.015
+INFO 2025-12-31 16:55:10 ot_train.py:354 step:34K smpl:2M ep:2K epch:61.81 loss:0.042 grdn:5.000 lr:1.0e-05 updt_s:0.356 data_s:0.016
+INFO 2025-12-31 16:56:29 ot_train.py:354 step:35K smpl:2M ep:2K epch:62.17 loss:0.042 grdn:5.466 lr:1.0e-05 updt_s:0.354 data_s:0.038
+INFO 2025-12-31 16:57:44 ot_train.py:354 step:35K smpl:2M ep:3K epch:62.53 loss:0.042 grdn:5.392 lr:1.0e-05 updt_s:0.357 data_s:0.016
+INFO 2025-12-31 16:58:58 ot_train.py:354 step:35K smpl:2M ep:3K epch:62.89 loss:0.043 grdn:5.261 lr:1.0e-05 updt_s:0.355 data_s:0.016
+INFO 2025-12-31 16:58:58 ot_train.py:364 Checkpoint policy after step 35000
+INFO 2025-12-31 16:59:00 ot_train.py:435 End of training
+Traceback (most recent call last):
+  File "/home/zeux/.local/lib/python3.10/site-packages/huggingface_hub/utils/_http.py", line 407, in hf_raise_for_status
+    response.raise_for_status()
+  File "/home/zeux/.local/lib/python3.10/site-packages/requests/models.py", line 1026, in raise_for_status
+    raise HTTPError(http_error_msg, response=self)
+requests.exceptions.HTTPError: 403 Client Error: Forbidden for url: https://huggingface.co/api/repos/create
+
+The above exception was the direct cause of the following exception:
+
+Traceback (most recent call last):
+  File "/home/zeux/miniconda3/envs/lerobot/bin/lerobot-train", line 7, in <module>
+    sys.exit(main())
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/site-packages/lerobot/scripts/lerobot_train.py", line 449, in main
+    train()
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/site-packages/lerobot/configs/parser.py", line 233, in wrapper_inner
+    response = fn(cfg, *args, **kwargs)
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/site-packages/lerobot/scripts/lerobot_train.py", line 439, in train
+    unwrapped_policy.push_model_to_hub(cfg)
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/site-packages/lerobot/policies/pretrained.py", line 211, in push_model_to_hub
+    repo_id = api.create_repo(
+  File "/home/zeux/.local/lib/python3.10/site-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
+    return fn(*args, **kwargs)
+  File "/home/zeux/.local/lib/python3.10/site-packages/huggingface_hub/hf_api.py", line 3779, in create_repo
+    raise err
+  File "/home/zeux/.local/lib/python3.10/site-packages/huggingface_hub/hf_api.py", line 3766, in create_repo
+    hf_raise_for_status(r)
+  File "/home/zeux/.local/lib/python3.10/site-packages/huggingface_hub/utils/_http.py", line 471, in hf_raise_for_status
+    raise _format(HfHubHTTPError, message, response) from e
+huggingface_hub.errors.HfHubHTTPError: (Request ID: Root=1-695508fc-3fbeb463197fb585233e2603;49958f1c-88b4-4567-919e-842ecfe126ab)
+
+403 Forbidden: You don't have the rights to create a model under the namespace "local".
+Cannot access content at: https://huggingface.co/api/repos/create.
+Make sure your token has the correct permissions.
+Traceback (most recent call last):
+  File "/home/zeux/.local/lib/python3.10/site-packages/huggingface_hub/utils/_http.py", line 407, in hf_raise_for_status
+    response.raise_for_status()
+  File "/home/zeux/.local/lib/python3.10/site-packages/requests/models.py", line 1026, in raise_for_status
+    raise HTTPError(http_error_msg, response=self)
+requests.exceptions.HTTPError: 403 Client Error: Forbidden for url: https://huggingface.co/api/repos/create
+
+The above exception was the direct cause of the following exception:
+
+Traceback (most recent call last):
+  File "/home/zeux/miniconda3/envs/lerobot/bin/lerobot-train", line 7, in <module>
+    sys.exit(main())
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/site-packages/lerobot/scripts/lerobot_train.py", line 449, in main
+    train()
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/site-packages/lerobot/configs/parser.py", line 233, in wrapper_inner
+    response = fn(cfg, *args, **kwargs)
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/site-packages/lerobot/scripts/lerobot_train.py", line 439, in train
+    unwrapped_policy.push_model_to_hub(cfg)
+  File "/home/zeux/miniconda3/envs/lerobot/lib/python3.10/site-packages/lerobot/policies/pretrained.py", line 211, in push_model_to_hub
+    repo_id = api.create_repo(
+  File "/home/zeux/.local/lib/python3.10/site-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
+    return fn(*args, **kwargs)
+  File "/home/zeux/.local/lib/python3.10/site-packages/huggingface_hub/hf_api.py", line 3779, in create_repo
+    raise err
+  File "/home/zeux/.local/lib/python3.10/site-packages/huggingface_hub/hf_api.py", line 3766, in create_repo
+    hf_raise_for_status(r)
+  File "/home/zeux/.local/lib/python3.10/site-packages/huggingface_hub/utils/_http.py", line 471, in hf_raise_for_status
+    raise _format(HfHubHTTPError, message, response) from e
+huggingface_hub.errors.HfHubHTTPError: (Request ID: Root=1-695508fc-3fbeb463197fb585233e2603;49958f1c-88b4-4567-919e-842ecfe126ab)
+
+403 Forbidden: You don't have the rights to create a model under the namespace "local".
+Cannot access content at: https://huggingface.co/api/repos/create.
+Make sure your token has the correct permissions.

lerobot-act_so101_test/wandb/run-20251231_131853-8ce8thqh/files/requirements.txt

@@ -0,0 +1,257 @@
+nvidia-cusolver==12.0.3.29
+nvidia-curand==10.4.0.35
+anyio==4.12.0
+yarl==1.22.0
+comfyui-workflow-templates-media-other==0.3.15
+tomlkit==0.13.3
+cloudpickle==3.1.2
+typing_extensions==4.15.0
+sentry-sdk==2.48.0
+semver==3.0.4
+mpmath==1.3.0
+draccus==0.10.0
+multidict==6.7.0
+nvidia-cufile-cu12==1.11.1.6
+tokenizers==0.22.1
+GitPython==3.1.45
+datasets==4.1.1
+PySide6_Essentials==6.10.1
+comfyui-workflow-templates-media-image==0.3.17
+Pygments==2.19.2
+aiohappyeyeballs==2.6.1
+protobuf==6.33.2
+PySide6==6.10.1
+comfyui-workflow-templates-core==0.3.12
+PySide2==5.15.2.1
+pyserial==3.5
+accelerate==1.12.0
+pfzy==0.3.4
+scipy==1.15.3
+frozenlist==1.8.0
+nvidia-nvshmem-cu13==3.3.24
+transformers==4.57.3
+typing-inspection==0.4.2
+einops==0.8.1
+shellingham==1.5.4
+Farama-Notifications==0.0.4
+psutil==7.1.3
+rerun-sdk==0.26.2
+PyYAML==6.0.3
+nvidia-cufft==12.0.0.15
+cookiecutter==2.6.0
+rich==14.2.0
+SQLAlchemy==2.0.44
+pydantic_core==2.41.5
+nvidia-nvjitlink==13.0.39
+questionary==2.1.1
+requests==2.32.5
+nvidia-cuda-nvrtc==13.0.48
+torchcodec==0.5
+PyOpenGL-accelerate==3.1.10
+comfyui_frontend_package==1.33.10
+networkx==3.4.2
+nvidia-nvtx==13.0.39
+setuptools==80.9.0
+trampoline==0.1.2
+pandas==2.3.3
+httpx==0.28.1
+av==15.1.0
+comfy-cli==1.5.3
+PyOpenGL==3.1.10
+tomli==2.3.0
+safetensors==0.7.0
+regex==2025.11.3
+wcwidth==0.2.14
+pyyaml-include==1.4.1
+kornia==0.8.2
+packaging==25.0
+nvidia-nccl-cu13==2.27.7
+pydantic==2.12.5
+mixpanel==5.0.0
+markdown-it-py==4.0.0
+multiprocess==0.70.16
+usd-exchange==2.1.0
+h11==0.16.0
+mergedeep==1.3.4
+shiboken6==6.10.1
+text-unidecode==1.3
+deepdiff==8.6.1
+toml==0.10.2
+aiosignal==1.4.0
+imageio-ffmpeg==0.6.0
+python-dateutil==2.9.0.post0
+uv==0.9.16
+jsonlines==4.0.0
+xxhash==3.6.0
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lerobot_diffusion_model/checkpoints/020000/pretrained_model/policy_preprocessor.json

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+}