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+ Fetching 9 files: 100%|███████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 9/9 [00:17<00:00, 1.92s/it]
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+ INFO 2025-10-19 01:57:18 ot_train.py:202 Creating policy
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+ INFO 2025-10-19 01:57:18 ot_train.py:255 Output dir: outputs/train/act_so101_test_1019
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+ INFO 2025-10-19 01:57:18 ot_train.py:258 cfg.steps=100000 (100K)
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+ INFO 2025-10-19 01:57:18 ot_train.py:260 dataset.num_episodes=10
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+ INFO 2025-10-19 01:57:18 ot_train.py:263 Effective batch size: 8 x 1 = 8
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24
+ INFO 2025-10-19 01:57:18 ot_train.py:320 Start offline training on a fixed dataset
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+ INFO 2025-10-19 01:57:21 ils/spawn.py:77 gcc -pthread -B /root/miniconda3/compiler_compat -DNDEBUG -fwrapv -O2 -Wall -fPIC -O2 -isystem /root/miniconda3/include -fPIC -O2 -isystem /root/miniconda3/include -fPIC -c /tmp/tmplxoqxkcr/test.c -o /tmp/tmplxoqxkcr/test.o
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+ INFO 2025-10-19 01:57:40 ot_train.py:347 step:200 smpl:2K ep:8 epch:0.82 loss:6.292 grdn:147.517 lr:1.0e-05 updt_s:0.102 data_s:0.007
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+ INFO 2025-10-19 01:57:59 ot_train.py:347 step:400 smpl:3K ep:16 epch:1.65 loss:2.849 grdn:86.121 lr:1.0e-05 updt_s:0.090 data_s:0.006
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+ INFO 2025-10-19 01:58:18 ot_train.py:347 step:600 smpl:5K ep:25 epch:2.47 loss:2.325 grdn:75.822 lr:1.0e-05 updt_s:0.089 data_s:0.006
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+ INFO 2025-10-19 01:58:37 ot_train.py:347 step:800 smpl:6K ep:33 epch:3.29 loss:2.023 grdn:71.635 lr:1.0e-05 updt_s:0.088 data_s:0.006
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+ INFO 2025-10-19 01:59:14 ot_train.py:347 step:1K smpl:10K ep:49 epch:4.94 loss:1.634 grdn:63.441 lr:1.0e-05 updt_s:0.088 data_s:0.003
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+ INFO 2025-10-19 01:59:33 ot_train.py:347 step:1K smpl:11K ep:58 epch:5.76 loss:1.487 grdn:60.922 lr:1.0e-05 updt_s:0.088 data_s:0.006
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+ INFO 2025-10-19 01:59:52 ot_train.py:347 step:2K smpl:13K ep:66 epch:6.58 loss:1.331 grdn:57.513 lr:1.0e-05 updt_s:0.088 data_s:0.006
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+ INFO 2025-10-19 02:28:42 ot_train.py:357 Checkpoint policy after step 20000
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+ {"time":"2025-10-19T02:28:54.585982714Z","level":"ERROR","msg":"request failed","error":"Put \"https://storage.googleapis.com/wandb-artifacts-prod/wandb_artifacts/772246861/2151413094/4ad0efbdf9402be9768bc9eaeab14ea8?X-Goog-Algorithm=GOOG4-RSA-SHA256&X-Goog-Credential=gorilla-files-url-signer-man%40wandb-production.iam.gserviceaccount.com%2F20251019%2Fauto%2Fstorage%2Fgoog4_request&X-Goog-Date=20251019T022846Z&X-Goog-Expires=86399&X-Goog-Signature=34241a597c8c0192f8195b8693ff20371d3ecc6d85343e15255502555e5a5f072d64a6d2aa2f16cb50314bd41540a5b27258206e7339da02e6a000ab41fbd3c9a718781bd7a96b1b88ea8835dbb92fac919b29de4a60174c2f85e1fd8de1e2548614c4b95f447ef47cef2618697f57d79335963d8792fd1a0d81d1daec259763f74bce2ca515f20177290108a0941191916eb1d512f9dabcf501c1bdc84337d2f41566efa3a902343e53c195666003022294529192694ce040b5a840ff005f6f1466162986c65829cb822a15da46dcfb64063b36b625481f69afd09e8e08bbbb7152a6600119ad7e210c747f59ede30ad28ea63a56e8541c8116921d45eafef9&X-Goog-SignedHeaders=content-md5%3Bcontent-type%3Bhost&X-User=qing-lian\": Gateway Time-out","method":"PUT","url":"https://storage.googleapis.com/wandb-artifacts-prod/wandb_artifacts/772246861/2151413094/4ad0efbdf9402be9768bc9eaeab14ea8?X-Goog-Algorithm=GOOG4-RSA-SHA256&X-Goog-Credential=gorilla-files-url-signer-man%40wandb-production.iam.gserviceaccount.com%2F20251019%2Fauto%2Fstorage%2Fgoog4_request&X-Goog-Date=20251019T022846Z&X-Goog-Expires=86399&X-Goog-Signature=34241a597c8c0192f8195b8693ff20371d3ecc6d85343e15255502555e5a5f072d64a6d2aa2f16cb50314bd41540a5b27258206e7339da02e6a000ab41fbd3c9a718781bd7a96b1b88ea8835dbb92fac919b29de4a60174c2f85e1fd8de1e2548614c4b95f447ef47cef2618697f57d79335963d8792fd1a0d81d1daec259763f74bce2ca515f20177290108a0941191916eb1d512f9dabcf501c1bdc84337d2f41566efa3a902343e53c195666003022294529192694ce040b5a840ff005f6f1466162986c65829cb822a15da46dcfb64063b36b625481f69afd09e8e08bbbb7152a6600119ad7e210c747f59ede30ad28ea63a56e8541c8116921d45eafef9&X-Goog-SignedHeaders=content-md5%3Bcontent-type%3Bhost&X-User=qing-lian"}
9
+ {"time":"2025-10-19T02:29:01.765465587Z","level":"ERROR","msg":"request failed","error":"Put \"https://storage.googleapis.com/wandb-artifacts-prod/wandb_artifacts/772246861/2151413094/4ad0efbdf9402be9768bc9eaeab14ea8?X-Goog-Algorithm=GOOG4-RSA-SHA256&X-Goog-Credential=gorilla-files-url-signer-man%40wandb-production.iam.gserviceaccount.com%2F20251019%2Fauto%2Fstorage%2Fgoog4_request&X-Goog-Date=20251019T022846Z&X-Goog-Expires=86399&X-Goog-Signature=34241a597c8c0192f8195b8693ff20371d3ecc6d85343e15255502555e5a5f072d64a6d2aa2f16cb50314bd41540a5b27258206e7339da02e6a000ab41fbd3c9a718781bd7a96b1b88ea8835dbb92fac919b29de4a60174c2f85e1fd8de1e2548614c4b95f447ef47cef2618697f57d79335963d8792fd1a0d81d1daec259763f74bce2ca515f20177290108a0941191916eb1d512f9dabcf501c1bdc84337d2f41566efa3a902343e53c195666003022294529192694ce040b5a840ff005f6f1466162986c65829cb822a15da46dcfb64063b36b625481f69afd09e8e08bbbb7152a6600119ad7e210c747f59ede30ad28ea63a56e8541c8116921d45eafef9&X-Goog-SignedHeaders=content-md5%3Bcontent-type%3Bhost&X-User=qing-lian\": Gateway Time-out","method":"PUT","url":"https://storage.googleapis.com/wandb-artifacts-prod/wandb_artifacts/772246861/2151413094/4ad0efbdf9402be9768bc9eaeab14ea8?X-Goog-Algorithm=GOOG4-RSA-SHA256&X-Goog-Credential=gorilla-files-url-signer-man%40wandb-production.iam.gserviceaccount.com%2F20251019%2Fauto%2Fstorage%2Fgoog4_request&X-Goog-Date=20251019T022846Z&X-Goog-Expires=86399&X-Goog-Signature=34241a597c8c0192f8195b8693ff20371d3ecc6d85343e15255502555e5a5f072d64a6d2aa2f16cb50314bd41540a5b27258206e7339da02e6a000ab41fbd3c9a718781bd7a96b1b88ea8835dbb92fac919b29de4a60174c2f85e1fd8de1e2548614c4b95f447ef47cef2618697f57d79335963d8792fd1a0d81d1daec259763f74bce2ca515f20177290108a0941191916eb1d512f9dabcf501c1bdc84337d2f41566efa3a902343e53c195666003022294529192694ce040b5a840ff005f6f1466162986c65829cb822a15da46dcfb64063b36b625481f69afd09e8e08bbbb7152a6600119ad7e210c747f59ede30ad28ea63a56e8541c8116921d45eafef9&X-Goog-SignedHeaders=content-md5%3Bcontent-type%3Bhost&X-User=qing-lian"}
wandb/run-20251019_015653-7o4vh9ml/logs/debug.log ADDED
@@ -0,0 +1,21 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 2025-10-19 01:56:53,095 INFO MainThread:3882804 [wandb_setup.py:_flush():81] Current SDK version is 0.21.4
2
+ 2025-10-19 01:56:53,095 INFO MainThread:3882804 [wandb_setup.py:_flush():81] Configure stats pid to 3882804
3
+ 2025-10-19 01:56:53,095 INFO MainThread:3882804 [wandb_setup.py:_flush():81] Loading settings from /root/.config/wandb/settings
4
+ 2025-10-19 01:56:53,095 INFO MainThread:3882804 [wandb_setup.py:_flush():81] Loading settings from /VLA-Data/scripts/lianqing/projects/vla/lerobot/wandb/settings
5
+ 2025-10-19 01:56:53,095 INFO MainThread:3882804 [wandb_setup.py:_flush():81] Loading settings from environment variables
6
+ 2025-10-19 01:56:53,095 INFO MainThread:3882804 [wandb_init.py:setup_run_log_directory():686] Logging user logs to outputs/train/act_so101_test_1019/wandb/run-20251019_015653-7o4vh9ml/logs/debug.log
7
+ 2025-10-19 01:56:53,095 INFO MainThread:3882804 [wandb_init.py:setup_run_log_directory():687] Logging internal logs to outputs/train/act_so101_test_1019/wandb/run-20251019_015653-7o4vh9ml/logs/debug-internal.log
8
+ 2025-10-19 01:56:53,095 INFO MainThread:3882804 [wandb_init.py:init():813] calling init triggers
9
+ 2025-10-19 01:56:53,095 INFO MainThread:3882804 [wandb_init.py:init():818] wandb.init called with sweep_config: {}
10
+ config: {'dataset': {'repo_id': 'lianqing11/record-train_1019v2_middle', 'root': None, 'episodes': None, 'image_transforms': {'enable': False, 'max_num_transforms': 3, 'random_order': False, 'tfs': {'brightness': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'brightness': [0.8, 1.2]}}, 'contrast': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'contrast': [0.8, 1.2]}}, 'saturation': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'saturation': [0.5, 1.5]}}, 'hue': {'weight': 1.0, 'type': 'ColorJitter', 'kwargs': {'hue': [-0.05, 0.05]}}, 'sharpness': {'weight': 1.0, 'type': 'SharpnessJitter', 'kwargs': {'sharpness': [0.5, 1.5]}}}}, 'revision': None, 'use_imagenet_stats': True, 'video_backend': 'torchcodec', 'streaming': False}, 'env': None, 'policy': {'type': 'act', 'n_obs_steps': 1, 'input_features': {}, 'output_features': {}, 'device': 'cuda', 'use_amp': False, 'push_to_hub': True, 'repo_id': 'lianqing11/act_so101_test_1019', '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_1019', 'job_name': 'act_so101_test_1019', 'resume': False, 'seed': 1000, 'num_workers': 4, 'batch_size': 8, 'steps': 100000, 'eval_freq': 20000, 'log_freq': 200, 'save_checkpoint': True, 'save_freq': 20000, 'use_policy_training_preset': True, 'optimizer': {'type': 'adamw', 'lr': 1e-05, 'weight_decay': 0.0001, 'grad_clip_norm': 10.0, 'betas': [0.9, 0.999], 'eps': 1e-08}, 'scheduler': None, 'eval': {'n_episodes': 50, 'batch_size': 50, 'use_async_envs': False}, 'wandb': {'enable': True, 'disable_artifact': False, 'project': 'lerobot', 'entity': None, 'notes': None, 'run_id': None, 'mode': None}, '_wandb': {}}
11
+ 2025-10-19 01:56:53,095 INFO MainThread:3882804 [wandb_init.py:init():854] starting backend
12
+ 2025-10-19 01:56:53,300 INFO MainThread:3882804 [wandb_init.py:init():857] sending inform_init request
13
+ 2025-10-19 01:56:53,302 INFO MainThread:3882804 [wandb_init.py:init():865] backend started and connected
14
+ 2025-10-19 01:56:53,304 INFO MainThread:3882804 [wandb_init.py:init():936] updated telemetry
15
+ 2025-10-19 01:56:53,309 INFO MainThread:3882804 [wandb_init.py:init():960] communicating run to backend with 90.0 second timeout
16
+ 2025-10-19 01:56:54,341 INFO MainThread:3882804 [wandb_init.py:init():1011] starting run threads in backend
17
+ 2025-10-19 01:56:54,443 INFO MainThread:3882804 [wandb_run.py:_console_start():2506] atexit reg
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+ 2025-10-19 01:56:54,443 INFO MainThread:3882804 [wandb_run.py:_redirect():2354] redirect: wrap_raw
19
+ 2025-10-19 01:56:54,443 INFO MainThread:3882804 [wandb_run.py:_redirect():2423] Wrapping output streams.
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+ 2025-10-19 01:56:54,443 INFO MainThread:3882804 [wandb_run.py:_redirect():2446] Redirects installed.
21
+ 2025-10-19 01:56:54,445 INFO MainThread:3882804 [wandb_init.py:init():1049] run started, returning control to user process
wandb/run-20251019_015653-7o4vh9ml/run-7o4vh9ml.wandb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:28bc2b255a5e6067eacc11816221c73cd220f0c0de5e794710e7eb3ca7d6c9c5
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+ size 294912