Upload stage2/log.txt with huggingface_hub

stage2/log.txt

@@ -0,0 +1,348 @@
+Config: configs/training/robot_gld.yaml
+Experiment dir: results/robot_gld/robot-gld-20260325-140444
+Loading Stage 1 checkpoint: /data/jisang/ETH/3DA_GLD/checkpoints/stage1/robot-20260321-150200/checkpoints/0096000.pt
+Stage 1 DA3 weights loaded
+Stage 1 action head loaded (frozen, monitoring only)
+RobotGLDDiT: 1677.8M total, 1676.6M trainable
+Computed action normalizer: q01=[-1.0, -1.0, -0.7850000262260437, -0.16099999845027924, -0.19300000369548798, -0.9779999852180481, -1.0], q99=[1.0, 1.0, 1.0, 0.16300000250339508, 0.22300000488758087, 0.9919999837875366, 1.0]
+Training: 500000 epochs, 32408 demos, 506 batches/epoch, total_view=14, cond_num=2
+[step=0000010] loss=4.7492 ref=4.8171 tgt=4.7379 s/step=23.0 lr=5.0e-05
+[step=0000020] loss=4.1542 ref=4.2361 tgt=4.1406 s/step=22.7 lr=5.0e-05
+[step=0000030] loss=3.0930 ref=3.1554 tgt=3.0826 s/step=22.2 lr=5.0e-05
+[step=0000040] loss=2.2934 ref=2.2967 tgt=2.2929 s/step=22.8 lr=5.0e-05
+[step=0000050] loss=2.1562 ref=2.0873 tgt=2.1677 s/step=23.1 lr=5.0e-05
+[step=0000060] loss=2.0803 ref=1.9591 tgt=2.1005 s/step=23.4 lr=5.0e-05
+[step=0000070] loss=2.0215 ref=1.8593 tgt=2.0485 s/step=22.6 lr=5.0e-05
+[step=0000080] loss=1.8893 ref=1.7603 tgt=1.9108 s/step=23.2 lr=5.0e-05
+[step=0000090] loss=1.7887 ref=1.6534 tgt=1.8112 s/step=23.0 lr=5.0e-05
+[step=0000100] loss=1.7318 ref=1.5675 tgt=1.7592 s/step=23.3 lr=5.0e-05
+[step=0000110] loss=1.6789 ref=1.5316 tgt=1.7035 s/step=24.3 lr=5.0e-05
+[step=0000120] loss=1.5402 ref=1.4608 tgt=1.5535 s/step=23.3 lr=5.0e-05
+[step=0000130] loss=1.4605 ref=1.4024 tgt=1.4701 s/step=22.9 lr=5.0e-05
+[step=0000140] loss=1.3306 ref=1.3241 tgt=1.3317 s/step=23.1 lr=5.0e-05
+[step=0000150] loss=1.2642 ref=1.2744 tgt=1.2625 s/step=22.3 lr=5.0e-05
+[step=0000160] loss=1.2029 ref=1.2201 tgt=1.2000 s/step=23.6 lr=5.0e-05
+[step=0000170] loss=1.1568 ref=1.1624 tgt=1.1559 s/step=22.3 lr=5.0e-05
+[step=0000180] loss=1.0929 ref=1.1116 tgt=1.0898 s/step=22.8 lr=5.0e-05
+[step=0000190] loss=1.0504 ref=1.0711 tgt=1.0470 s/step=22.9 lr=5.0e-05
+[step=0000200] loss=0.9775 ref=1.0036 tgt=0.9731 s/step=22.9 lr=5.0e-05
+[step=0000210] loss=0.9972 ref=0.9678 tgt=1.0021 s/step=22.2 lr=5.0e-05
+[step=0000220] loss=0.9256 ref=0.9102 tgt=0.9281 s/step=22.7 lr=5.0e-05
+[step=0000230] loss=0.8956 ref=0.8584 tgt=0.9018 s/step=23.2 lr=5.0e-05
+[step=0000240] loss=0.8217 ref=0.8042 tgt=0.8247 s/step=22.9 lr=5.0e-05
+[step=0000250] loss=0.8321 ref=0.7732 tgt=0.8419 s/step=22.4 lr=5.0e-05
+[step=0000260] loss=0.7696 ref=0.7007 tgt=0.7811 s/step=23.4 lr=5.0e-05
+[step=0000270] loss=0.7873 ref=0.7029 tgt=0.8014 s/step=23.0 lr=5.0e-05
+[step=0000280] loss=0.7522 ref=0.6551 tgt=0.7683 s/step=22.3 lr=5.0e-05
+[step=0000290] loss=0.7335 ref=0.6332 tgt=0.7502 s/step=22.5 lr=5.0e-05
+[step=0000300] loss=0.7304 ref=0.6019 tgt=0.7518 s/step=22.7 lr=5.0e-05
+[step=0000310] loss=0.6804 ref=0.5607 tgt=0.7003 s/step=23.1 lr=5.0e-05
+[step=0000320] loss=0.7316 ref=0.5924 tgt=0.7548 s/step=22.3 lr=5.0e-05
+[step=0000330] loss=0.6738 ref=0.5452 tgt=0.6952 s/step=21.8 lr=5.0e-05
+[step=0000340] loss=0.6468 ref=0.5066 tgt=0.6702 s/step=22.3 lr=5.0e-05
+[step=0000350] loss=0.6483 ref=0.4998 tgt=0.6731 s/step=22.2 lr=5.0e-05
+[step=0000360] loss=0.6589 ref=0.4988 tgt=0.6856 s/step=23.1 lr=5.0e-05
+[step=0000370] loss=0.6297 ref=0.4781 tgt=0.6549 s/step=22.3 lr=5.0e-05
+[step=0000380] loss=0.6272 ref=0.4452 tgt=0.6575 s/step=22.0 lr=5.0e-05
+[step=0000390] loss=0.6633 ref=0.4742 tgt=0.6949 s/step=22.8 lr=5.0e-05
+[step=0000400] loss=0.5993 ref=0.4328 tgt=0.6270 s/step=22.2 lr=5.0e-05
+[step=0000410] loss=0.5695 ref=0.4115 tgt=0.5959 s/step=23.6 lr=5.0e-05
+[step=0000420] loss=0.6235 ref=0.4403 tgt=0.6540 s/step=22.5 lr=5.0e-05
+[step=0000430] loss=0.6131 ref=0.4397 tgt=0.6420 s/step=22.3 lr=5.0e-05
+[step=0000440] loss=0.5333 ref=0.3768 tgt=0.5594 s/step=22.4 lr=5.0e-05
+[step=0000450] loss=0.5389 ref=0.3836 tgt=0.5648 s/step=22.4 lr=5.0e-05
+[step=0000460] loss=0.5314 ref=0.3800 tgt=0.5567 s/step=23.3 lr=5.0e-05
+[step=0000470] loss=0.5226 ref=0.3703 tgt=0.5480 s/step=22.9 lr=5.0e-05
+[step=0000480] loss=0.5283 ref=0.3809 tgt=0.5529 s/step=23.1 lr=5.0e-05
+[step=0000490] loss=0.4937 ref=0.3584 tgt=0.5163 s/step=22.9 lr=5.0e-05
+[step=0000500] loss=0.4696 ref=0.3387 tgt=0.4915 s/step=22.9 lr=5.0e-05
+[step=0000510] loss=0.4721 ref=0.3402 tgt=0.4940 s/step=24.2 lr=5.0e-05
+[step=0000520] loss=0.4586 ref=0.3322 tgt=0.4797 s/step=22.5 lr=5.0e-05
+[step=0000530] loss=0.4651 ref=0.3254 tgt=0.4884 s/step=22.6 lr=5.0e-05
+[step=0000540] loss=0.4832 ref=0.3329 tgt=0.5083 s/step=22.1 lr=5.0e-05
+[step=0000550] loss=0.4595 ref=0.3186 tgt=0.4830 s/step=22.2 lr=5.0e-05
+[step=0000560] loss=0.4386 ref=0.3053 tgt=0.4608 s/step=23.1 lr=5.0e-05
+[step=0000570] loss=0.4506 ref=0.3177 tgt=0.4727 s/step=22.9 lr=5.0e-05
+[step=0000580] loss=0.4617 ref=0.3181 tgt=0.4856 s/step=20.0 lr=5.0e-05
+[step=0000590] loss=0.4249 ref=0.2979 tgt=0.4461 s/step=20.8 lr=5.0e-05
+[step=0000600] loss=0.4522 ref=0.3125 tgt=0.4755 s/step=20.6 lr=5.0e-05
+[step=0000610] loss=0.4301 ref=0.2828 tgt=0.4546 s/step=22.0 lr=5.0e-05
+[step=0000620] loss=0.4395 ref=0.3069 tgt=0.4616 s/step=21.1 lr=5.0e-05
+[step=0000630] loss=0.4213 ref=0.2812 tgt=0.4446 s/step=21.9 lr=5.0e-05
+[step=0000640] loss=0.4364 ref=0.2901 tgt=0.4608 s/step=22.5 lr=5.0e-05
+[step=0000650] loss=0.4252 ref=0.2839 tgt=0.4488 s/step=21.8 lr=5.0e-05
+[step=0000660] loss=0.4193 ref=0.2794 tgt=0.4427 s/step=21.3 lr=5.0e-05
+[step=0000670] loss=0.4005 ref=0.2599 tgt=0.4240 s/step=19.8 lr=5.0e-05
+[step=0000680] loss=0.4186 ref=0.2744 tgt=0.4426 s/step=21.4 lr=5.0e-05
+[step=0000690] loss=0.3893 ref=0.2459 tgt=0.4132 s/step=22.1 lr=5.0e-05
+[step=0000700] loss=0.4090 ref=0.2587 tgt=0.4341 s/step=21.4 lr=5.0e-05
+[step=0000710] loss=0.3885 ref=0.2374 tgt=0.4136 s/step=23.6 lr=5.0e-05
+[step=0000720] loss=0.4091 ref=0.2514 tgt=0.4354 s/step=23.4 lr=5.0e-05
+[step=0000730] loss=0.4115 ref=0.2636 tgt=0.4362 s/step=22.9 lr=5.0e-05
+[step=0000740] loss=0.4017 ref=0.2579 tgt=0.4256 s/step=22.3 lr=5.0e-05
+[step=0000750] loss=0.4016 ref=0.2558 tgt=0.4259 s/step=23.2 lr=5.0e-05
+[step=0000760] loss=0.3912 ref=0.2362 tgt=0.4170 s/step=23.4 lr=5.0e-05
+[step=0000770] loss=0.3819 ref=0.2306 tgt=0.4071 s/step=22.8 lr=5.0e-05
+[step=0000780] loss=0.4283 ref=0.2656 tgt=0.4554 s/step=23.2 lr=5.0e-05
+[step=0000790] loss=0.4127 ref=0.2521 tgt=0.4395 s/step=22.5 lr=5.0e-05
+[step=0000800] loss=0.3720 ref=0.2271 tgt=0.3962 s/step=23.0 lr=5.0e-05
+[step=0000810] loss=0.3908 ref=0.2451 tgt=0.4151 s/step=23.1 lr=5.0e-05
+[step=0000820] loss=0.3823 ref=0.2350 tgt=0.4069 s/step=22.6 lr=5.0e-05
+[step=0000830] loss=0.3671 ref=0.2298 tgt=0.3899 s/step=23.0 lr=5.0e-05
+[step=0000840] loss=0.3620 ref=0.1957 tgt=0.3897 s/step=22.3 lr=5.0e-05
+[step=0000850] loss=0.3710 ref=0.2149 tgt=0.3970 s/step=23.0 lr=5.0e-05
+[step=0000860] loss=0.3587 ref=0.1983 tgt=0.3854 s/step=23.9 lr=5.0e-05
+[step=0000870] loss=0.3630 ref=0.2097 tgt=0.3886 s/step=22.2 lr=5.0e-05
+[step=0000880] loss=0.3705 ref=0.2022 tgt=0.3986 s/step=22.4 lr=5.0e-05
+[step=0000890] loss=0.3646 ref=0.2114 tgt=0.3902 s/step=22.8 lr=5.0e-05
+[step=0000900] loss=0.3720 ref=0.2088 tgt=0.3992 s/step=22.9 lr=5.0e-05
+[step=0000910] loss=0.3595 ref=0.1941 tgt=0.3870 s/step=24.1 lr=5.0e-05
+[step=0000920] loss=0.3575 ref=0.1969 tgt=0.3843 s/step=23.3 lr=5.0e-05
+[step=0000930] loss=0.3532 ref=0.1956 tgt=0.3795 s/step=22.5 lr=5.0e-05
+[step=0000940] loss=0.3523 ref=0.1899 tgt=0.3794 s/step=23.0 lr=5.0e-05
+[step=0000950] loss=0.3611 ref=0.1986 tgt=0.3881 s/step=23.5 lr=5.0e-05
+[step=0000960] loss=0.3756 ref=0.2091 tgt=0.4034 s/step=23.9 lr=5.0e-05
+[step=0000970] loss=0.3543 ref=0.1961 tgt=0.3807 s/step=22.8 lr=5.0e-05
+[step=0000980] loss=0.3649 ref=0.1991 tgt=0.3925 s/step=22.9 lr=5.0e-05
+[step=0000990] loss=0.3505 ref=0.1939 tgt=0.3766 s/step=23.2 lr=5.0e-05
+[step=0001000] loss=0.3413 ref=0.1878 tgt=0.3669 s/step=23.1 lr=5.0e-05
+Saved checkpoint: results/robot_gld/robot-gld-20260325-140444/checkpoints/0001000.pt
+[step=0001010] loss=0.3547 ref=0.1951 tgt=0.3813 s/step=25.0 lr=5.0e-05
+[step=0001020] loss=0.3433 ref=0.1896 tgt=0.3689 s/step=23.6 lr=5.0e-05
+[step=0001030] loss=0.3706 ref=0.2060 tgt=0.3980 s/step=23.2 lr=5.0e-05
+[step=0001040] loss=0.3291 ref=0.1749 tgt=0.3549 s/step=23.2 lr=5.0e-05
+[step=0001050] loss=0.3428 ref=0.1724 tgt=0.3712 s/step=23.5 lr=5.0e-05
+[step=0001060] loss=0.3432 ref=0.1834 tgt=0.3698 s/step=24.1 lr=5.0e-05
+[step=0001070] loss=0.3460 ref=0.1826 tgt=0.3732 s/step=23.4 lr=5.0e-05
+[step=0001080] loss=0.3480 ref=0.1830 tgt=0.3754 s/step=23.3 lr=5.0e-05
+[step=0001090] loss=0.3342 ref=0.1709 tgt=0.3614 s/step=23.1 lr=5.0e-05
+[step=0001100] loss=0.3398 ref=0.1743 tgt=0.3674 s/step=23.0 lr=5.0e-05
+[step=0001110] loss=0.3332 ref=0.1745 tgt=0.3597 s/step=24.0 lr=5.0e-05
+[step=0001120] loss=0.3486 ref=0.1729 tgt=0.3779 s/step=23.2 lr=5.0e-05
+[step=0001130] loss=0.3177 ref=0.1570 tgt=0.3445 s/step=23.5 lr=5.0e-05
+[step=0001140] loss=0.3236 ref=0.1532 tgt=0.3520 s/step=23.3 lr=5.0e-05
+[step=0001150] loss=0.3478 ref=0.1731 tgt=0.3769 s/step=23.6 lr=5.0e-05
+[step=0001160] loss=0.3392 ref=0.1749 tgt=0.3666 s/step=24.3 lr=5.0e-05
+[step=0001170] loss=0.3313 ref=0.1546 tgt=0.3607 s/step=23.0 lr=5.0e-05
+[step=0001180] loss=0.3511 ref=0.1865 tgt=0.3785 s/step=23.4 lr=5.0e-05
+[step=0001190] loss=0.3277 ref=0.1587 tgt=0.3559 s/step=23.2 lr=5.0e-05
+[step=0001200] loss=0.3297 ref=0.1566 tgt=0.3585 s/step=22.8 lr=5.0e-05
+[step=0001210] loss=0.3454 ref=0.1690 tgt=0.3748 s/step=24.3 lr=5.0e-05
+[step=0001220] loss=0.3342 ref=0.1619 tgt=0.3630 s/step=23.1 lr=5.0e-05
+[step=0001230] loss=0.3114 ref=0.1445 tgt=0.3392 s/step=23.7 lr=5.0e-05
+[step=0001240] loss=0.3360 ref=0.1619 tgt=0.3650 s/step=23.3 lr=5.0e-05
+[step=0001250] loss=0.3350 ref=0.1693 tgt=0.3627 s/step=23.0 lr=5.0e-05
+[step=0001260] loss=0.3316 ref=0.1522 tgt=0.3615 s/step=24.1 lr=5.0e-05
+[step=0001270] loss=0.3192 ref=0.1526 tgt=0.3469 s/step=23.3 lr=5.0e-05
+[step=0001280] loss=0.3168 ref=0.1468 tgt=0.3452 s/step=23.0 lr=5.0e-05
+[step=0001290] loss=0.3302 ref=0.1589 tgt=0.3588 s/step=23.3 lr=5.0e-05
+[step=0001300] loss=0.3170 ref=0.1516 tgt=0.3446 s/step=23.4 lr=5.0e-05
+[step=0001310] loss=0.3113 ref=0.1503 tgt=0.3382 s/step=24.2 lr=5.0e-05
+[step=0001320] loss=0.3291 ref=0.1543 tgt=0.3583 s/step=22.8 lr=5.0e-05
+[step=0001330] loss=0.3457 ref=0.1732 tgt=0.3745 s/step=22.8 lr=5.0e-05
+[step=0001340] loss=0.3271 ref=0.1524 tgt=0.3562 s/step=22.4 lr=5.0e-05
+[step=0001350] loss=0.3146 ref=0.1463 tgt=0.3427 s/step=22.7 lr=5.0e-05
+[step=0001360] loss=0.3277 ref=0.1488 tgt=0.3576 s/step=23.3 lr=5.0e-05
+[step=0001370] loss=0.3208 ref=0.1407 tgt=0.3508 s/step=23.6 lr=5.0e-05
+[step=0001380] loss=0.3290 ref=0.1549 tgt=0.3580 s/step=23.0 lr=5.0e-05
+[step=0001390] loss=0.3130 ref=0.1422 tgt=0.3415 s/step=23.0 lr=5.0e-05
+[step=0001400] loss=0.3220 ref=0.1374 tgt=0.3528 s/step=23.2 lr=5.0e-05
+[step=0001410] loss=0.3081 ref=0.1287 tgt=0.3380 s/step=23.7 lr=5.0e-05
+[step=0001420] loss=0.3159 ref=0.1558 tgt=0.3426 s/step=22.5 lr=5.0e-05
+[step=0001430] loss=0.3388 ref=0.1546 tgt=0.3695 s/step=23.3 lr=5.0e-05
+[step=0001440] loss=0.3104 ref=0.1547 tgt=0.3363 s/step=23.0 lr=5.0e-05
+[step=0001450] loss=0.3297 ref=0.1545 tgt=0.3589 s/step=23.0 lr=5.0e-05
+[step=0001460] loss=0.2976 ref=0.1356 tgt=0.3246 s/step=23.3 lr=5.0e-05
+[step=0001470] loss=0.3142 ref=0.1280 tgt=0.3452 s/step=22.7 lr=5.0e-05
+[step=0001480] loss=0.3581 ref=0.1898 tgt=0.3862 s/step=22.4 lr=5.0e-05
+[step=0001490] loss=0.3081 ref=0.1360 tgt=0.3368 s/step=22.8 lr=5.0e-05
+[step=0001500] loss=0.3257 ref=0.1426 tgt=0.3562 s/step=22.9 lr=5.0e-05
+[step=0001510] loss=0.3345 ref=0.1614 tgt=0.3634 s/step=23.9 lr=5.0e-05
+[step=0001520] loss=0.3297 ref=0.1473 tgt=0.3601 s/step=22.8 lr=5.0e-05
+[step=0001530] loss=0.3123 ref=0.1312 tgt=0.3425 s/step=23.2 lr=5.0e-05
+[step=0001540] loss=0.3054 ref=0.1298 tgt=0.3347 s/step=23.0 lr=5.0e-05
+[step=0001550] loss=0.3175 ref=0.1228 tgt=0.3500 s/step=22.6 lr=5.0e-05
+[step=0001560] loss=0.3174 ref=0.1315 tgt=0.3484 s/step=23.8 lr=5.0e-05
+[step=0001570] loss=0.3003 ref=0.1347 tgt=0.3279 s/step=23.1 lr=5.0e-05
+[step=0001580] loss=0.3109 ref=0.1318 tgt=0.3407 s/step=23.3 lr=5.0e-05
+[step=0001590] loss=0.3207 ref=0.1329 tgt=0.3520 s/step=23.6 lr=5.0e-05
+[step=0001600] loss=0.2974 ref=0.1241 tgt=0.3263 s/step=23.4 lr=5.0e-05
+[step=0001610] loss=0.3217 ref=0.1496 tgt=0.3504 s/step=23.7 lr=5.0e-05
+[step=0001620] loss=0.3092 ref=0.1332 tgt=0.3386 s/step=23.2 lr=5.0e-05
+[step=0001630] loss=0.3193 ref=0.1282 tgt=0.3511 s/step=23.4 lr=5.0e-05
+[step=0001640] loss=0.2978 ref=0.1248 tgt=0.3267 s/step=23.0 lr=5.0e-05
+[step=0001650] loss=0.3113 ref=0.1268 tgt=0.3421 s/step=23.3 lr=5.0e-05
+[step=0001660] loss=0.3105 ref=0.1252 tgt=0.3414 s/step=23.6 lr=5.0e-05
+[step=0001670] loss=0.3169 ref=0.1365 tgt=0.3470 s/step=23.5 lr=5.0e-05
+[step=0001680] loss=0.2896 ref=0.1236 tgt=0.3173 s/step=23.3 lr=5.0e-05
+[step=0001690] loss=0.3056 ref=0.1297 tgt=0.3349 s/step=23.3 lr=5.0e-05
+[step=0001700] loss=0.3100 ref=0.1189 tgt=0.3419 s/step=23.3 lr=5.0e-05
+[step=0001710] loss=0.3022 ref=0.1194 tgt=0.3326 s/step=23.6 lr=5.0e-05
+[step=0001720] loss=0.3160 ref=0.1374 tgt=0.3457 s/step=23.0 lr=5.0e-05
+[step=0001730] loss=0.2980 ref=0.1319 tgt=0.3257 s/step=22.9 lr=5.0e-05
+[step=0001740] loss=0.2921 ref=0.1149 tgt=0.3216 s/step=23.5 lr=5.0e-05
+[step=0001750] loss=0.3224 ref=0.1435 tgt=0.3523 s/step=23.5 lr=5.0e-05
+[step=0001760] loss=0.3042 ref=0.1279 tgt=0.3336 s/step=23.6 lr=5.0e-05
+[step=0001770] loss=0.3113 ref=0.1406 tgt=0.3397 s/step=23.4 lr=5.0e-05
+[step=0001780] loss=0.2774 ref=0.1102 tgt=0.3053 s/step=23.2 lr=5.0e-05
+[step=0001790] loss=0.2838 ref=0.1145 tgt=0.3120 s/step=22.9 lr=5.0e-05
+[step=0001800] loss=0.3102 ref=0.1305 tgt=0.3401 s/step=23.1 lr=5.0e-05
+[step=0001810] loss=0.2952 ref=0.1144 tgt=0.3253 s/step=24.1 lr=5.0e-05
+[step=0001820] loss=0.2987 ref=0.1313 tgt=0.3266 s/step=23.3 lr=5.0e-05
+[step=0001830] loss=0.2988 ref=0.1204 tgt=0.3285 s/step=23.3 lr=5.0e-05
+[step=0001840] loss=0.3013 ref=0.1248 tgt=0.3308 s/step=23.6 lr=5.0e-05
+[step=0001850] loss=0.2942 ref=0.1200 tgt=0.3233 s/step=23.3 lr=5.0e-05
+[step=0001860] loss=0.3152 ref=0.1302 tgt=0.3460 s/step=24.0 lr=5.0e-05
+[step=0001870] loss=0.2937 ref=0.1187 tgt=0.3229 s/step=23.2 lr=5.0e-05
+[step=0001880] loss=0.2938 ref=0.1048 tgt=0.3253 s/step=23.4 lr=5.0e-05
+[step=0001890] loss=0.2931 ref=0.1123 tgt=0.3232 s/step=23.0 lr=5.0e-05
+[step=0001900] loss=0.5389 ref=0.1336 tgt=0.6065 s/step=23.3 lr=5.0e-05
+[step=0001910] loss=0.5753 ref=0.1665 tgt=0.6434 s/step=23.8 lr=5.0e-05
+[step=0001920] loss=0.4868 ref=0.1597 tgt=0.5413 s/step=22.8 lr=5.0e-05
+[step=0001930] loss=0.4288 ref=0.1677 tgt=0.4723 s/step=23.3 lr=5.0e-05
+[step=0001940] loss=0.3858 ref=0.1847 tgt=0.4193 s/step=23.2 lr=5.0e-05
+[step=0001950] loss=0.3148 ref=0.1395 tgt=0.3441 s/step=22.7 lr=5.0e-05
+[step=0001960] loss=0.3181 ref=0.1293 tgt=0.3495 s/step=24.0 lr=5.0e-05
+[step=0001970] loss=0.3161 ref=0.1265 tgt=0.3477 s/step=22.9 lr=5.0e-05
+[step=0001980] loss=0.3057 ref=0.1342 tgt=0.3343 s/step=23.2 lr=5.0e-05
+[step=0001990] loss=0.3023 ref=0.1208 tgt=0.3325 s/step=23.3 lr=5.0e-05
+[step=0002000] loss=0.2883 ref=0.1171 tgt=0.3169 s/step=23.0 lr=5.0e-05
+[step=0002000] EVAL loss=0.3167 (50 batches)
+Saved checkpoint: results/robot_gld/robot-gld-20260325-140444/checkpoints/0002000.pt
+[step=0002010] loss=0.3077 ref=0.1161 tgt=0.3396 s/step=38.2 lr=5.0e-05
+[step=0002020] loss=0.2978 ref=0.1121 tgt=0.3287 s/step=23.4 lr=5.0e-05
+[step=0002030] loss=0.3204 ref=0.1283 tgt=0.3525 s/step=22.7 lr=5.0e-05
+[step=0002040] loss=0.3132 ref=0.1298 tgt=0.3438 s/step=23.6 lr=5.0e-05
+[step=0002050] loss=0.2769 ref=0.1083 tgt=0.3051 s/step=23.3 lr=5.0e-05
+[step=0002060] loss=0.2922 ref=0.1048 tgt=0.3234 s/step=24.0 lr=5.0e-05
+[step=0002070] loss=0.2989 ref=0.1103 tgt=0.3303 s/step=23.2 lr=5.0e-05
+[step=0002080] loss=0.3084 ref=0.1214 tgt=0.3395 s/step=22.9 lr=5.0e-05
+[step=0002090] loss=0.2913 ref=0.1042 tgt=0.3225 s/step=23.4 lr=5.0e-05
+[step=0002100] loss=0.2703 ref=0.1055 tgt=0.2978 s/step=22.9 lr=5.0e-05
+[step=0002110] loss=0.3014 ref=0.1286 tgt=0.3302 s/step=24.6 lr=5.0e-05
+[step=0002120] loss=0.2935 ref=0.1033 tgt=0.3252 s/step=23.2 lr=5.0e-05
+[step=0002130] loss=0.2901 ref=0.1133 tgt=0.3195 s/step=23.3 lr=5.0e-05
+[step=0002140] loss=0.2789 ref=0.1076 tgt=0.3075 s/step=23.6 lr=5.0e-05
+[step=0002150] loss=0.3120 ref=0.1202 tgt=0.3440 s/step=23.5 lr=5.0e-05
+[step=0002160] loss=0.2751 ref=0.1014 tgt=0.3040 s/step=24.3 lr=5.0e-05
+[step=0002170] loss=0.3098 ref=0.1164 tgt=0.3420 s/step=22.8 lr=5.0e-05
+[step=0002180] loss=0.2943 ref=0.1174 tgt=0.3238 s/step=23.2 lr=5.0e-05
+[step=0002190] loss=0.2884 ref=0.1136 tgt=0.3175 s/step=23.2 lr=5.0e-05
+[step=0002200] loss=0.2740 ref=0.1017 tgt=0.3027 s/step=23.3 lr=5.0e-05
+[step=0002210] loss=0.2879 ref=0.1061 tgt=0.3182 s/step=24.1 lr=5.0e-05
+[step=0002220] loss=0.2653 ref=0.0970 tgt=0.2934 s/step=23.3 lr=5.0e-05
+[step=0002230] loss=0.3221 ref=0.1414 tgt=0.3522 s/step=23.3 lr=5.0e-05
+[step=0002240] loss=0.2736 ref=0.1030 tgt=0.3020 s/step=22.7 lr=5.0e-05
+[step=0002250] loss=0.2950 ref=0.1182 tgt=0.3245 s/step=23.3 lr=5.0e-05
+[step=0002260] loss=0.2942 ref=0.1153 tgt=0.3241 s/step=24.5 lr=5.0e-05
+[step=0002270] loss=0.2772 ref=0.1093 tgt=0.3051 s/step=23.8 lr=5.0e-05
+[step=0002280] loss=0.2913 ref=0.1130 tgt=0.3210 s/step=23.6 lr=5.0e-05
+[step=0002290] loss=0.2819 ref=0.1011 tgt=0.3120 s/step=23.6 lr=5.0e-05
+[step=0002300] loss=0.2962 ref=0.1165 tgt=0.3261 s/step=23.1 lr=5.0e-05
+[step=0002310] loss=0.3087 ref=0.1303 tgt=0.3384 s/step=23.7 lr=5.0e-05
+[step=0002320] loss=0.2888 ref=0.1007 tgt=0.3202 s/step=23.4 lr=5.0e-05
+[step=0002330] loss=0.2846 ref=0.1027 tgt=0.3149 s/step=23.3 lr=5.0e-05
+[step=0002340] loss=0.2794 ref=0.1037 tgt=0.3087 s/step=23.4 lr=5.0e-05
+[step=0002350] loss=0.2708 ref=0.1108 tgt=0.2975 s/step=23.5 lr=5.0e-05
+[step=0002360] loss=0.2821 ref=0.1011 tgt=0.3123 s/step=23.9 lr=5.0e-05
+[step=0002370] loss=0.2631 ref=0.0973 tgt=0.2907 s/step=23.4 lr=5.0e-05
+[step=0002380] loss=0.2730 ref=0.0978 tgt=0.3022 s/step=23.7 lr=5.0e-05
+[step=0002390] loss=0.2904 ref=0.1064 tgt=0.3210 s/step=23.7 lr=5.0e-05
+[step=0002400] loss=0.3071 ref=0.1196 tgt=0.3383 s/step=23.2 lr=5.0e-05
+[step=0002410] loss=0.2798 ref=0.1151 tgt=0.3073 s/step=24.0 lr=5.0e-05
+[step=0002420] loss=0.2808 ref=0.0991 tgt=0.3111 s/step=22.9 lr=5.0e-05
+[step=0002430] loss=0.3028 ref=0.1262 tgt=0.3322 s/step=23.4 lr=5.0e-05
+[step=0002440] loss=0.2921 ref=0.1069 tgt=0.3230 s/step=23.2 lr=5.0e-05
+[step=0002450] loss=0.2877 ref=0.1101 tgt=0.3173 s/step=23.5 lr=5.0e-05
+[step=0002460] loss=0.2786 ref=0.1062 tgt=0.3074 s/step=24.2 lr=5.0e-05
+[step=0002470] loss=0.2884 ref=0.1180 tgt=0.3168 s/step=23.1 lr=5.0e-05
+[step=0002480] loss=0.3047 ref=0.1202 tgt=0.3354 s/step=22.8 lr=5.0e-05
+[step=0002490] loss=0.2889 ref=0.1113 tgt=0.3185 s/step=23.5 lr=5.0e-05
+[step=0002500] loss=0.2802 ref=0.1067 tgt=0.3092 s/step=23.3 lr=5.0e-05
+[step=0002510] loss=0.2742 ref=0.1015 tgt=0.3030 s/step=23.8 lr=5.0e-05
+[step=0002520] loss=0.2844 ref=0.1014 tgt=0.3149 s/step=23.0 lr=5.0e-05
+[step=0002530] loss=0.2887 ref=0.1001 tgt=0.3201 s/step=23.2 lr=5.0e-05
+[step=0002540] loss=0.2806 ref=0.0932 tgt=0.3118 s/step=23.2 lr=5.0e-05
+[step=0002550] loss=0.2732 ref=0.0956 tgt=0.3027 s/step=23.2 lr=5.0e-05
+[step=0002560] loss=0.2764 ref=0.0942 tgt=0.3068 s/step=24.1 lr=5.0e-05
+[step=0002570] loss=0.2832 ref=0.1130 tgt=0.3116 s/step=23.5 lr=5.0e-05
+[step=0002580] loss=0.2894 ref=0.1216 tgt=0.3174 s/step=23.4 lr=5.0e-05
+[step=0002590] loss=0.2831 ref=0.1136 tgt=0.3113 s/step=23.5 lr=5.0e-05
+[step=0002600] loss=0.2925 ref=0.1124 tgt=0.3226 s/step=23.3 lr=5.0e-05
+[step=0002610] loss=0.2722 ref=0.0989 tgt=0.3010 s/step=24.0 lr=5.0e-05
+[step=0002620] loss=0.2611 ref=0.0897 tgt=0.2897 s/step=23.2 lr=5.0e-05
+[step=0002630] loss=0.2825 ref=0.1028 tgt=0.3124 s/step=23.3 lr=5.0e-05
+[step=0002640] loss=0.2841 ref=0.1066 tgt=0.3137 s/step=23.2 lr=5.0e-05
+[step=0002650] loss=0.2832 ref=0.1070 tgt=0.3126 s/step=23.3 lr=5.0e-05
+[step=0002660] loss=0.2864 ref=0.0959 tgt=0.3181 s/step=23.9 lr=5.0e-05
+[step=0002670] loss=0.2883 ref=0.1090 tgt=0.3182 s/step=23.3 lr=5.0e-05
+[step=0002680] loss=0.2732 ref=0.0960 tgt=0.3027 s/step=22.8 lr=5.0e-05
+[step=0002690] loss=0.2645 ref=0.0917 tgt=0.2932 s/step=23.4 lr=5.0e-05
+[step=0002700] loss=0.2802 ref=0.0995 tgt=0.3103 s/step=23.4 lr=5.0e-05
+[step=0002710] loss=0.2748 ref=0.0970 tgt=0.3044 s/step=24.3 lr=5.0e-05
+[step=0002720] loss=0.2779 ref=0.0970 tgt=0.3080 s/step=23.4 lr=5.0e-05
+[step=0002730] loss=0.2613 ref=0.0984 tgt=0.2885 s/step=23.2 lr=5.0e-05
+[step=0002740] loss=0.2935 ref=0.1072 tgt=0.3245 s/step=22.4 lr=5.0e-05
+[step=0002750] loss=0.2726 ref=0.0950 tgt=0.3022 s/step=23.1 lr=5.0e-05
+[step=0002760] loss=0.2837 ref=0.1028 tgt=0.3139 s/step=23.6 lr=5.0e-05
+[step=0002770] loss=0.2903 ref=0.1180 tgt=0.3190 s/step=23.4 lr=5.0e-05
+[step=0002780] loss=0.2698 ref=0.0962 tgt=0.2988 s/step=22.3 lr=5.0e-05
+[step=0002790] loss=0.2995 ref=0.1229 tgt=0.3290 s/step=22.9 lr=5.0e-05
+[step=0002800] loss=0.2780 ref=0.0976 tgt=0.3081 s/step=23.6 lr=5.0e-05
+[step=0002810] loss=0.2850 ref=0.1031 tgt=0.3154 s/step=24.0 lr=5.0e-05
+[step=0002820] loss=0.2757 ref=0.0906 tgt=0.3065 s/step=23.0 lr=5.0e-05
+[step=0002830] loss=0.2653 ref=0.0892 tgt=0.2946 s/step=23.5 lr=5.0e-05
+[step=0002840] loss=0.2815 ref=0.0994 tgt=0.3118 s/step=22.8 lr=5.0e-05
+[step=0002850] loss=0.2733 ref=0.1053 tgt=0.3013 s/step=23.3 lr=5.0e-05
+[step=0002860] loss=0.2768 ref=0.0947 tgt=0.3071 s/step=23.9 lr=5.0e-05
+[step=0002870] loss=0.2965 ref=0.1185 tgt=0.3262 s/step=23.0 lr=5.0e-05
+[step=0002880] loss=0.2625 ref=0.0926 tgt=0.2909 s/step=23.0 lr=5.0e-05
+[step=0002890] loss=0.2492 ref=0.0874 tgt=0.2761 s/step=23.1 lr=5.0e-05
+[step=0002900] loss=0.2710 ref=0.0893 tgt=0.3013 s/step=23.3 lr=5.0e-05
+[step=0002910] loss=0.2763 ref=0.0876 tgt=0.3078 s/step=24.1 lr=5.0e-05
+[step=0002920] loss=0.2785 ref=0.1095 tgt=0.3067 s/step=23.2 lr=5.0e-05
+[step=0002930] loss=0.2672 ref=0.0969 tgt=0.2956 s/step=23.0 lr=5.0e-05
+[step=0002940] loss=0.2611 ref=0.0875 tgt=0.2901 s/step=22.9 lr=5.0e-05
+[step=0002950] loss=0.2668 ref=0.0918 tgt=0.2960 s/step=23.2 lr=5.0e-05
+[step=0002960] loss=0.2472 ref=0.0818 tgt=0.2748 s/step=24.2 lr=5.0e-05
+[step=0002970] loss=0.2815 ref=0.1028 tgt=0.3112 s/step=23.0 lr=5.0e-05
+[step=0002980] loss=0.2877 ref=0.1065 tgt=0.3179 s/step=23.3 lr=5.0e-05
+[step=0002990] loss=0.2780 ref=0.0978 tgt=0.3080 s/step=22.8 lr=5.0e-05
+[step=0003000] loss=0.2772 ref=0.1051 tgt=0.3059 s/step=23.2 lr=5.0e-05
+Saved checkpoint: results/robot_gld/robot-gld-20260325-140444/checkpoints/0003000.pt
+[step=0003010] loss=0.2681 ref=0.0922 tgt=0.2974 s/step=23.8 lr=5.0e-05
+[step=0003020] loss=0.2631 ref=0.0855 tgt=0.2927 s/step=21.2 lr=5.0e-05
+[step=0003030] loss=0.2645 ref=0.1071 tgt=0.2908 s/step=21.7 lr=5.0e-05
+[step=0003040] loss=0.2583 ref=0.0904 tgt=0.2863 s/step=21.8 lr=5.0e-05
+[step=0003050] loss=0.2810 ref=0.1064 tgt=0.3102 s/step=23.4 lr=5.0e-05
+[step=0003060] loss=0.2623 ref=0.0839 tgt=0.2920 s/step=23.3 lr=5.0e-05
+[step=0003070] loss=0.2721 ref=0.0978 tgt=0.3011 s/step=23.3 lr=5.0e-05
+[step=0003080] loss=0.2577 ref=0.0836 tgt=0.2867 s/step=22.8 lr=5.0e-05
+[step=0003090] loss=0.2547 ref=0.0811 tgt=0.2837 s/step=23.0 lr=5.0e-05
+[step=0003100] loss=0.2586 ref=0.0856 tgt=0.2875 s/step=23.1 lr=5.0e-05
+[step=0003110] loss=0.3037 ref=0.1316 tgt=0.3324 s/step=24.4 lr=5.0e-05
+[step=0003120] loss=0.2656 ref=0.1027 tgt=0.2928 s/step=23.3 lr=5.0e-05
+[step=0003130] loss=0.2817 ref=0.0933 tgt=0.3131 s/step=23.6 lr=5.0e-05
+[step=0003140] loss=0.2716 ref=0.0943 tgt=0.3012 s/step=23.5 lr=5.0e-05
+[step=0003150] loss=0.2851 ref=0.1015 tgt=0.3156 s/step=23.2 lr=5.0e-05
+[step=0003160] loss=0.2597 ref=0.0870 tgt=0.2885 s/step=23.7 lr=5.0e-05
+[step=0003170] loss=0.2641 ref=0.0867 tgt=0.2937 s/step=23.2 lr=5.0e-05
+[step=0003180] loss=0.2706 ref=0.0900 tgt=0.3007 s/step=23.8 lr=5.0e-05
+[step=0003190] loss=0.2642 ref=0.0863 tgt=0.2938 s/step=23.5 lr=5.0e-05
+[step=0003200] loss=0.2640 ref=0.0951 tgt=0.2921 s/step=23.2 lr=5.0e-05
+[step=0003210] loss=0.2512 ref=0.0838 tgt=0.2791 s/step=23.6 lr=5.0e-05
+[step=0003220] loss=0.2773 ref=0.0968 tgt=0.3074 s/step=23.4 lr=5.0e-05
+[step=0003230] loss=0.2615 ref=0.0922 tgt=0.2897 s/step=23.1 lr=5.0e-05
+[step=0003240] loss=0.2587 ref=0.0903 tgt=0.2868 s/step=22.8 lr=5.0e-05
+[step=0003250] loss=0.2544 ref=0.0872 tgt=0.2822 s/step=23.5 lr=5.0e-05
+[step=0003260] loss=0.2752 ref=0.1023 tgt=0.3041 s/step=24.2 lr=5.0e-05
+[step=0003270] loss=0.2693 ref=0.0823 tgt=0.3005 s/step=23.4 lr=5.0e-05
+[step=0003280] loss=0.2459 ref=0.0794 tgt=0.2736 s/step=23.6 lr=5.0e-05
+[step=0003290] loss=0.2767 ref=0.1057 tgt=0.3052 s/step=23.1 lr=5.0e-05
+[step=0003300] loss=0.2522 ref=0.0803 tgt=0.2809 s/step=21.6 lr=5.0e-05
+[step=0003310] loss=0.2615 ref=0.0956 tgt=0.2892 s/step=20.9 lr=5.0e-05
+[step=0003320] loss=0.2843 ref=0.0942 tgt=0.3160 s/step=20.3 lr=5.0e-05
+[step=0003330] loss=0.2563 ref=0.0819 tgt=0.2854 s/step=21.0 lr=5.0e-05
+[step=0003340] loss=0.2859 ref=0.1032 tgt=0.3163 s/step=19.9 lr=5.0e-05
+[step=0003350] loss=0.2485 ref=0.0896 tgt=0.2750 s/step=21.1 lr=5.0e-05
+[step=0003360] loss=0.2547 ref=0.0784 tgt=0.2841 s/step=20.9 lr=5.0e-05