{"phase": "datasets_ready", "train_samples": 9426, "val_samples": 1037}
/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True
  self.cross_view_transformer = nn.TransformerEncoder(
{"phase": "training_start", "epochs": 4}
{"phase": "epoch_complete", "epoch": 0, "train_total": 0.01745892923475259, "val_total": 0.09288312419966767, "best_val_total": 0.09288312419966767, "best_checkpoint_updated": true, "epoch_seconds": 52.788121938705444}
{"phase": "epoch_complete", "epoch": 1, "train_total": 0.00313741604292418, "val_total": 0.08913456219968131, "best_val_total": 0.08913456219968131, "best_checkpoint_updated": true, "epoch_seconds": 49.54125690460205}
{"phase": "epoch_complete", "epoch": 2, "train_total": 0.002474825539610396, "val_total": 0.08298475654781655, "best_val_total": 0.08298475654781655, "best_checkpoint_updated": true, "epoch_seconds": 50.042465686798096}
{"phase": "epoch_complete", "epoch": 3, "train_total": 0.001929562073200941, "val_total": 0.1011313672748987, "best_val_total": 0.08298475654781655, "best_checkpoint_updated": false, "epoch_seconds": 50.351279497146606}
{
  "experiment_name": "rlbench_dual_push_backbone_only_clip_chunk8_weighted_seed17",
  "device": "cuda",
  "best_checkpoint": "/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_chunk8_weighted_seed17/checkpoint_best.pt",
  "final_train_total": 0.001929562073200941,
  "final_val_total": 0.1011313672748987,
  "train_dataset": {
    "dataset_root": "/workspace/data/rlbench2_subset3",
    "tasks": [
      "bimanual_dual_push_buttons"
    ],
    "episode_indices": [
      0,
      1,
      2,
      3,
      4,
      5,
      6,
      7,
      8,
      9,
      10,
      11,
      12,
      13,
      14,
      15,
      16,
      17,
      18,
      19,
      20,
      21,
      22,
      23,
      24,
      25,
      26,
      27,
      28,
      29,
      30,
      31,
      32,
      33,
      34,
      35,
      36,
      37,
      38,
      39,
      40,
      41,
      42,
      43,
      44,
      45,
      46,
      47,
      48,
      49,
      50,
      51,
      52,
      53,
      54,
      55,
      56,
      57,
      58,
      59,
      60,
      61,
      62,
      63,
      64,
      65,
      66,
      67,
      68,
      69,
      70,
      71,
      72,
      73,
      74,
      75,
      76,
      77,
      78,
      79,
      80,
      81,
      82,
      83,
      84,
      85,
      86,
      87,
      88,
      89
    ],
    "num_episodes": 90,
    "num_samples": 9426,
    "resolution": 256,
    "chunk_size": 8,
    "proprio_dim": 32,
    "history_steps": 2,
    "supervise_action_steps": 8,
    "action_norm_mean": 0.09223783761262894,
    "action_norm_p90": 0.048376915976405144
  },
  "val_dataset": {
    "dataset_root": "/workspace/data/rlbench2_subset3",
    "tasks": [
      "bimanual_dual_push_buttons"
    ],
    "episode_indices": [
      90,
      91,
      92,
      93,
      94,
      95,
      96,
      97,
      98,
      99
    ],
    "num_episodes": 10,
    "num_samples": 1037,
    "resolution": 256,
    "chunk_size": 8,
    "proprio_dim": 32,
    "history_steps": 2,
    "supervise_action_steps": 8,
    "action_norm_mean": 0.09317709505558014,
    "action_norm_p90": 0.04960222616791725
  },
  "init_info": {
    "path": "/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_weighted_seed17/checkpoint_best.pt",
    "loaded_keys": 658,
    "skipped_shape_mismatch_keys": [],
    "missing_keys": [],
    "unexpected_keys": []
  },
  "planner_mode": "trainable",
  "plan_enabled_for_train": false,
  "plan_enabled_for_eval": false,
  "frozen_modules": [],
  "trainable_parameter_prefixes": [],
  "trainable_parameter_names": [],
  "train_seconds": 206.01950120925903
}