backup: complete sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5

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sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/config.yaml

@@ -1,217 +1,3 @@
-session_config:
-  output_path: /home/petko_petkov/experiments/vlams/control
-  tag: bridge_paraphrase_k5
-  metrics_config:
-    buckets:
-      wandb:
-        autoclass: barrel.train.core.trainer.metrics_buckets.wandb_metrics_bucket.WandbMetricsBucket
-        project: diffusion_vlams
-gpus: 8
-num_steps: 30000
-test_interval: 10000
-test_enabled: false
-training_module_config:
-  autoclass: barrel.train.pipes.vlams.pipe.vlam_training_module.VLAMTrainingModule
-  grad_accumulation_steps: 2
-  autocast_dtype: bfloat16
-  fsdp_config:
-    autoclass: barrel.train.core.common.torch_utils.fsdp.FSDP2
-    enabled: true
-    param_dtype: bfloat16
-  model_config:
-    autoclass: barrel.train.pipes.vlams.models.vlams.vlam.VLAM
-    processor_config:
-      autoclass: barrel.train.pipes.vlams.types.vlam_processors.PiZeroFlowMatchingProcessor
-      control_io_config:
-        future_controls_sequence_length: 5
-        future_controls_sequence_stride_sec: 0.2
-      rotation_format: quaternion
-      translation_obs_norm:
-        autoclass: barrel.train.components.normalization.normalizers.DatasetStatsNormalizer
-        component_name: translation
-        mode: bounds_q99
-        stats_filepath: barrel/train/pipes/vlams/types/observation_stats.yaml
-      rotation_obs_norm:
-        autoclass: barrel.train.components.normalization.normalizers.IdentityNormalizer
-      translation_control_norm:
-        autoclass: barrel.train.components.normalization.normalizers.BoundsNormalizer
-        low:
-        - -0.04
-        - -0.04
-        - -0.04
-        high:
-        - 0.04
-        - 0.04
-        - 0.04
-      rotation_control_norm:
-        autoclass: barrel.train.components.normalization.normalizers.RotationStereomapNormalizer
-        factor: 4.0
-      control_tokenizer_config:
-        autoclass: barrel.train.pipes.vlams.types.action_tokenizer.EmptyTokenizer
-      num_inference_steps: 10
-      r0_distribution: uniform
-      timestep_distribution: beta
-      distribution_hyperparams:
-        alpha: 1.5
-        beta: 1.0
-      sig_min: 0.001
-      image_resize: naive
-    vlm_config:
-      autoclass: barrel.train.pipes.vlams.models.vlms.paligemma.PaliGemmaVLM
-      model_id: google/paligemma-3b-mix-224
-      processor_config:
-        autoclass: barrel.train.pipes.vlams.types.vlm_processors.PaliGemmaProcessor
-        image_sizes:
-          main:
-            width: 224
-            height: 224
-        max_language_tokens: 64
-      pretrain_config:
-        trainable: true
-        frozen_dtype: bfloat16
-        state_dict:
-          checkpoint_path: PRETRAINED_MODULE
-    control_module_config:
-      autoclass: barrel.train.pipes.vlams.models.control.pizero_fm_module.PiZeroFlowMatchingModule
-      token_size: 1024
-      rotation_components: 4
-      noised_control_proj_config:
-        autoclass: barrel.train.pipes.vlams.models.control.token_proj.NoisedControlProjector
-        time_embed:
-          autoclass: barrel.train.components.nn.layers.fourier_features.FourierFeatures
-          num_features: 1024
-          layers: []
-          max_period: 10000.0
-        layers:
-        - 8
-        - 2048
-        - 1024
-        - 1024
-        activation: SiLU
-      robot_state_proj_config:
-        autoclass: barrel.train.pipes.vlams.models.control.token_proj.RobotStateProjector
-        layers:
-        - 8
-        - 1024
-        mode: ee_pose_gripper
-        activation: SiLU
-      control_decoder_config:
-        autoclass: barrel.train.pipes.vlams.models.control.pizero_fm_decoder.PiZeroFlowMatchingDecoder
-        num_blocks: 18
-        block_config:
-          autoclass: barrel.train.pipes.vlams.models.control.pizero_fm_decoder.PiZeroFlowMatchingDecoderBlock
-          feature_size: 1024
-          head_dim: 256
-          num_heads: 8
-          num_kv_heads: 1
-          hidden_size: 4096
-          activation: GELU
-          activation_kwargs:
-            approximate: tanh
-          attn_implementation: sdpa
-          position_embed_config:
-            autoclass: barrel.train.components.nn.layers.positional_encodings.RotaryPositionalEncoding
-            num_embeddings: 512
-            embedding_dim: 256
-            base: 10000
-  loss_config:
-    autoclass: barrel.train.pipes.vlams.losses.flow_matching_loss.FlowMatchingRoboticsLoss
-    discount: false
-    rotation_fm_loss: cosine_similarity
-    rotation_loss:
-      autoclass: barrel.train.pipes.vlams.losses.flow_matching_loss.FlowMatchingRotationLoss
-      method: integrate
-      step_size_range:
-      - 0.01
-      - 1.0
-      rotation_losses:
-        geodesic:
-          autoclass: barrel.train.pipes.vlams.losses.rotation_loss.RotationLoss
-          loss_format: geodesic
-          power: 2
-    llm_loss:
-      autoclass: barrel.train.pipes.vlams.losses.vlm_loss.VLMLoss
-    weights:
-      translation_loss: 1.0
-      rotation_loss: 1.0
-      gripper_loss: 1.0
-      llm_loss: 0.0
-      waypoints_loss: 1.0
-  optimizer_config:
-    optimizer:
-      autoclass: barrel.train.components.optimizers.optimizers.torch_optimizer.TorchOptimizer
-      torch_optimizer: torch.optim.AdamW
-      hyperparams:
-        lr: 5.0e-05
-        weight_decay: 0.0
-    scheduler:
-      autoclass: barrel.train.components.optimizers.schedulers.sequential_scheduler.SequentialScheduler
-      schedulers:
-        warmup:
-          autoclass: barrel.train.components.optimizers.schedulers.torch_scheduler.TorchScheduler
-          torch_scheduler: torch.optim.lr_scheduler.LinearLR
-          hyperparams:
-            start_factor: 0.0002
-            end_factor: 1.0
-            total_iters: 500
-        const:
-          autoclass: barrel.train.components.optimizers.schedulers.torch_scheduler.TorchScheduler
-          torch_scheduler: torch.optim.lr_scheduler.ConstantLR
-          hyperparams:
-            factor: 1.0
-            total_iters: 300000
-      milestones:
-      - 500
-    clip_grad_norm: 1.0
-data_module_config:
-  autoclass: barrel.train.pipes.vlams.pipe.oxe_data_module.OXEDataModule
-  dataset_configs:
-    bridge:
-      autoclass: barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset.RoboticsDataset
-      data_source_config:
-        autoclass: barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source.RoboticsDataSource
-        dataset_path: /home/petko_petkov/datasets/oxe/lerobot-video/bridge_paraphrase_k5
-      stacker_config:
-        remove_invalid_future_pointers: true
-  dataset_weights:
-    bridge: 1.0
-  batch_size: 1024
-callbacks_config:
-  callbacks:
-    params_callback:
-      autoclass: barrel.train.components.callbacks.params_callback.ParametersCallback
-    progressbar_callback:
-      autoclass: barrel.train.components.callbacks.progressbar_callback.ProgressbarCallback
-    print_callback:
-      autoclass: barrel.train.components.callbacks.trainer_monitor_callback.TrainerMonitorCallback
-      print_interval: 100
-    debug_nans_callback:
-      autoclass: barrel.train.components.callbacks.debug_nans_callback.DebugNansCallback
-      enabled: true
-    plot_grads_callback:
-      autoclass: barrel.train.components.callbacks.plot_grads_callback.PlotGradsCallback
-      plot_interval: 200
-      enabled: false
-    checkpoint_callback:
-      autoclass: barrel.train.components.callbacks.checkpoint_callback.CheckpointCallback
-      session_save_interval: 5000
-      keep_test_checkpoints: false
-      keep_trainer_steps: []
-      keep_model_steps:
-      - 25000
-      - 30000
-      ema_config:
-        enabled: true
-        decay: 0.99
-        interval: 1
-        start_step: 20000
-      keep_trainer_percent: []
-      keep_model_percent: []
-    visualization_callback:
-      autoclass: barrel.train.pipes.vlams.pipe.robotics_vis_callback.RoboticsVisualizationCallback
-      visualization_interval: 100
-    inference_export_callback:
-      autoclass: barrel.train.components.callbacks.inference_export_callback.InferenceExportCallback
-      model_name: pizero_fm_paligemma
-    test_callback:
-      autoclass: barrel.train.pipes.vlams.pipe.robotics_test_dataset_callback.RoboticsTestDatasetCallback
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sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/full_config.yaml

@@ -1,497 +1,3 @@
-backend: nccl
-callbacks_config:
-  callbacks:
-    params_callback:
-      autoclass: barrel.train.components.callbacks.params_callback.ParametersCallback
-      enabled: true
-    progressbar_callback:
-      autoclass: barrel.train.components.callbacks.progressbar_callback.ProgressbarCallback
-      enabled: true
-    print_callback:
-      autoclass: barrel.train.components.callbacks.trainer_monitor_callback.TrainerMonitorCallback
-      print_interval: 100
-    debug_nans_callback:
-      autoclass: barrel.train.components.callbacks.debug_nans_callback.DebugNansCallback
-      check_batch: false
-      check_grads: false
-      check_loss: true
-      check_output: false
-      check_params: false
-      drop_to_pdb: false
-      enabled: true
-    plot_grads_callback:
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-      enabled: false
-      names: []
-      plot_interval: 200
-    checkpoint_callback:
-      autoclass: barrel.train.components.callbacks.checkpoint_callback.CheckpointCallback
-      ema_config:
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-        enabled: true
-        interval: 1
-        start_step: 20000
-      enabled: true
-      keep_model_percent: []
-      keep_model_steps:
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-      - 30000
-      keep_test_checkpoints: false
-      keep_trainer_percent: []
-      keep_trainer_steps: []
-      save_at_init: false
-      separate_model: true
-      session_save_interval: 5000
-    visualization_callback:
-      autoclass: barrel.train.pipes.vlams.pipe.robotics_vis_callback.RoboticsVisualizationCallback
-      plot_table: false
-      token_accuracy_metrics: false
-      visualization_interval: 100
-    inference_export_callback:
-      autoclass: barrel.train.components.callbacks.inference_export_callback.InferenceExportCallback
-      databib_enabled: true
-      enabled: true
-      model_name: pizero_fm_paligemma
-    test_callback:
-      autoclass: barrel.train.pipes.vlams.pipe.robotics_test_dataset_callback.RoboticsTestDatasetCallback
-      batch_size: null
-      dataloader_workers: 2
-      dataset_configs: {}
-      enabled: true
-      max_batches: null
-data_module_config:
-  autoclass: barrel.train.pipes.vlams.pipe.oxe_data_module.OXEDataModule
-  batch_size: 1024
-  dataloader_workers: 2
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-    bridge:
-      augment_kwargs:
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-          color_jitter:
-            brightness:
-            - 0.9
-            - 1.1
-            contrast:
-            - 0.9
-            - 1.1
-            saturation:
-            - 0.9
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-            hue: 0.05
-          resize:
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-            - 0.8
-            - 1.0
-            ratio:
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-            - 0.1
-        wrist:
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-            - 0.9
-            - 1.1
-            contrast:
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-            - 1.1
-            saturation:
-            - 0.9
-            - 1.1
-            hue: 0.05
-          resize:
-            scale:
-            - 0.8
-            - 1.0
-            ratio:
-            - 0.1
-            - 0.1
-      autoclass: barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset.RoboticsDataset
-      axes_augment_prob: 0.0
-      balancer_config: null
-      control_augment_config:
-        future_controls_augment_window: null
-        future_frames_augment_window: null
-        past_frames_augment_window: null
-        past_scalars_augment_window: null
-      corrective_augment_prob: 0.0
-      data_source_config:
-        autoclass: barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source.RoboticsDataSource
-        dataset_path: /home/petko_petkov/datasets/oxe/lerobot-video/bridge_paraphrase_k5
-        df_transform_config:
-          drop_columns: []
-          episode_length_threshold: null
-          filter_static_ee_frames: true
-          gripper_threshold: auto
-          min_episode_displacement_m: 0.05
-          remap_columns:
-            observation.images.image_0: observation.images.main_image
-            observation.images.image_3: observation.images.wrist_image
-          rotation_threshold_deg: 1.0
-          transform_kwargs:
-            augment: false
-            env_regex: ''
-          translation_threshold_m: 0.005
-        skip_no_language: true
-        split: train[:100%]
-      dataset_mode: train
-      num_image_reader_threads: 2
-      stacker_config:
-        future_controls_shift_sec: 0.0
-        future_frames_shift_sec: 0.0
-        min_future_horizon_sec: null
-        min_past_horizon_sec: null
-        past_frames_shift_sec: 0.0
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-        remove_invalid_future_pointers: true
-        remove_invalid_past_pointers: true
-        row_skip_offset: 0
-        row_skip_stride: 1
-        timestamp_max_gap_sec: 0.04
-        timestamp_precision_sec: 0.005
-        total_rows: -1
-  dataset_weights:
-    bridge: 1.0
-debug_mode: false
-deterministic: false
-gpus: 8
-num_steps: 30000
-seed: 80975760
-session_config:
-  config_path: barrel/train/pipes/vlams/configs/control/pizero_fm_paligemma_bridge_paraphrase_k5.yaml
-  extra_command_line_args: {}
-  metrics_config:
-    buckets:
-      wandb:
-        autoclass: barrel.train.core.trainer.metrics_buckets.wandb_metrics_bucket.WandbMetricsBucket
-        enabled: true
-        fork_from: ''
-        project: diffusion_vlams
-        tags: []
-    enabled: true
-    tags: []
-  output_path: /home/petko_petkov/experiments/vlams/control
-  restore_path: null
-  session_name: sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5
-  session_path: /home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5
-  tag: bridge_paraphrase_k5
-test_enabled: false
-test_interval: 10000
-training_module_config:
-  autocast_dtype: bfloat16
-  autocast_enabled: true
-  autoclass: barrel.train.pipes.vlams.pipe.vlam_training_module.VLAMTrainingModule
-  fsdp_config:
-    autoclass: barrel.train.core.common.torch_utils.fsdp.FSDP2
-    cast_forward_inputs: true
-    enabled: true
-    output_dtype: null
-    param_dtype: bfloat16
-    reduce_dtype: float32
-    reshard_after_forward: true
-  grad_accumulation_steps: 2
-  loss_config:
-    autoclass: barrel.train.pipes.vlams.losses.flow_matching_loss.FlowMatchingRoboticsLoss
-    discount: false
-    discount_scale_param: 1
-    discount_shape_param: 1
-    gripper_fm_loss: mse_loss
-    llm_loss:
-      autoclass: barrel.train.pipes.vlams.losses.vlm_loss.VLMLoss
-      weight: 1.0
-      weight_ids: null
-    num_timesteps: null
-    rotation_fm_loss: cosine_similarity
-    rotation_loss:
-      autoclass: barrel.train.pipes.vlams.losses.flow_matching_loss.FlowMatchingRotationLoss
-      method: integrate
-      rotation_losses:
-        geodesic:
-          autoclass: barrel.train.pipes.vlams.losses.rotation_loss.RotationLoss
-          loss_format: geodesic
-          power: 2
-          rotation_format: ''
-      step_size_range:
-      - 0.01
-      - 1.0
-    time_delta_sec: null
-    translation_fm_loss: mse_loss
-    weights:
-      translation_loss: 1.0
-      rotation_loss: 1.0
-      gripper_loss: 1.0
-      llm_loss: 0.0
-      waypoints_loss: 1.0
-  model_config:
-    autoclass: barrel.train.pipes.vlams.models.vlams.vlam.VLAM
-    control_module_config:
-      autoclass: barrel.train.pipes.vlams.models.control.pizero_fm_module.PiZeroFlowMatchingModule
-      control_decoder_config:
-        autoclass: barrel.train.pipes.vlams.models.control.pizero_fm_decoder.PiZeroFlowMatchingDecoder
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-          activation_kwargs:
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-          attn_implementation: sdpa
-          autoclass: barrel.train.pipes.vlams.models.control.pizero_fm_decoder.PiZeroFlowMatchingDecoderBlock
-          dropout: 0.0
-          feature_size: 1024
-          head_dim: 256
-          hidden_size: 4096
-          norm: RMSNorm
-          num_heads: 8
-          num_kv_heads: 1
-          position_embed_config:
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-            base: 10000
-            cached: true
-            embedding_dim: 256
-            num_embeddings: 512
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-        autoclass: barrel.train.pipes.vlams.models.control.token_proj.RobotStateProjector
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-        layers:
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-        - 1024
-        mode: ee_pose_gripper
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-      control_io_config:
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-        future_controls_sequence_length: 5
-        future_controls_sequence_stride_sec: 0.2
-        future_frames_sequence_length: 1
-        future_frames_sequence_stride_sec: null
-        past_frames_sequence_length: 1
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-        past_scalars_sequence_length: 1
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-        sequence_frames: 1
-        sequence_frames_stride_sec: null
-      control_tokenizer_config:
-        autoclass: barrel.train.pipes.vlams.types.action_tokenizer.EmptyTokenizer
-      distribution_hyperparams:
-        alpha: 1.5
-        beta: 1.0
-      image_resize: naive
-      joints_obs_norm:
-        autoclass: barrel.train.components.normalization.normalizers.BoundsNormalizer
-        high:
-        - 3.141592653589793
-        - 3.141592653589793
-        - 3.141592653589793
-        - 3.141592653589793
-        - 3.141592653589793
-        - 3.141592653589793
-        - 3.141592653589793
-        low:
-        - -3.141592653589793
-        - -3.141592653589793
-        - -3.141592653589793
-        - -3.141592653589793
-        - -3.141592653589793
-        - -3.141592653589793
-        - -3.141592653589793
-      num_inference_steps: 10
-      r0_distribution: uniform
-      rotation_control_frame: eef_delta
-      rotation_control_norm:
-        autoclass: barrel.train.components.normalization.normalizers.RotationStereomapNormalizer
-        factor: 4.0
-      rotation_format: quaternion
-      rotation_obs_frame: robot_base
-      rotation_obs_norm:
-        autoclass: barrel.train.components.normalization.normalizers.IdentityNormalizer
-      sig_min: 0.001
-      timestep_distribution: beta
-      translation_control_frame: robot_base_delta
-      translation_control_norm:
-        autoclass: barrel.train.components.normalization.normalizers.BoundsNormalizer
-        high:
-        - 0.04
-        - 0.04
-        - 0.04
-        low:
-        - -0.04
-        - -0.04
-        - -0.04
-      translation_obs_frame: robot_base
-      translation_obs_norm:
-        autoclass: barrel.train.components.normalization.normalizers.DatasetStatsNormalizer
-        component_name: translation
-        mode: bounds_q99
-        stats_filepath: barrel/train/pipes/vlams/types/observation_stats.yaml
-        stats_key: ''
-    vlm_config:
-      attn_implementation: flash_attention_2
-      autoclass: barrel.train.pipes.vlams.models.vlms.paligemma.PaliGemmaVLM
-      depth_tokens: 0
-      lm_head: false
-      mean_resizing: false
-      model_id: google/paligemma-3b-mix-224
-      paligemma_3d_config: {}
-      pretrain_config:
-        exclude_modules: []
-        fine_tuneable_modules: []
-        frozen_dtype: bfloat16
-        state_dict:
-          checkpoint_path: PRETRAINED_MODULE
-          drop_keys: []
-          hf_filename: null
-          hf_hub_repo: null
-          load_key: ''
-          remap_keys: {}
-        trainable: true
-      processor_config:
-        autoclass: barrel.train.pipes.vlams.types.vlm_processors.PaliGemmaProcessor
-        image_sizes:
-          main:
-            height: 224
-            width: 224
-        image_token: <image>
-        max_language_tokens: 64
-      train_only_depth_tokens: false
-  optimizer_config:
-    clip_grad_norm: 1.0
-    grad_scaler:
-      enabled: false
-    optimizer:
-      autoclass: barrel.train.components.optimizers.optimizers.torch_optimizer.TorchOptimizer
-      hyperparams:
-        lr: 5.0e-05
-        weight_decay: 0.0
-      param_groups: {}
-      torch_optimizer: torch.optim.AdamW
-    scheduler:
-      autoclass: barrel.train.components.optimizers.schedulers.sequential_scheduler.SequentialScheduler
-      milestones:
-      - 500
-      schedulers:
-        warmup:
-          autoclass: barrel.train.components.optimizers.schedulers.torch_scheduler.TorchScheduler
-          hyperparams:
-            start_factor: 0.0002
-            end_factor: 1.0
-            total_iters: 500
-          torch_scheduler: torch.optim.lr_scheduler.LinearLR
-        const:
-          autoclass: barrel.train.components.optimizers.schedulers.torch_scheduler.TorchScheduler
-          hyperparams:
-            factor: 1.0
-            total_iters: 300000
-          torch_scheduler: torch.optim.lr_scheduler.ConstantLR
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a7818de3caac9356cea77a6203b2136569d008ead3dfd65fa578e1c24450dca
+size 16030

sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/hf_export/fiery-rabbit-gray/src/format.log

@@ -1,24 +1,3 @@
-/scratch/petko_petkov/.cache/bazel/_bazel_petko_petkov/e534278fe244a0db19bf3b7c5ecfa723/execroot/_main/bazel-out/k8-opt-ST-4fb24e704967/bin/barrel/train/pipes/vlams/train.runfiles/_main/barrel/train/pipes/vlams/_train.venv/bin/python3 -m autoflake --in-place --remove-all-unused-imports /home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/hf_export/fiery-rabbit-gray/src/modeling_pizero_fm_paligemma.py /home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/hf_export/fiery-rabbit-gray/src/configuration_pizero_fm_paligemma.py /home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/hf_export/fiery-rabbit-gray/src/common_pizero_fm_paligemma.py /home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/hf_export/fiery-rabbit-gray/src/processing_pizero_fm_paligemma.py
-/scratch/petko_petkov/.cache/bazel/_bazel_petko_petkov/e534278fe244a0db19bf3b7c5ecfa723/execroot/_main/bazel-out/k8-opt-ST-4fb24e704967/bin/barrel/train/pipes/vlams/train.runfiles/_main/barrel/train/pipes/vlams/_train.venv/bin/python3 -m isort /home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/hf_export/fiery-rabbit-gray/src/modeling_pizero_fm_paligemma.py /home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/hf_export/fiery-rabbit-gray/src/configuration_pizero_fm_paligemma.py /home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/hf_export/fiery-rabbit-gray/src/common_pizero_fm_paligemma.py /home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/hf_export/fiery-rabbit-gray/src/processing_pizero_fm_paligemma.py
-/scratch/petko_petkov/.cache/bazel/_bazel_petko_petkov/e534278fe244a0db19bf3b7c5ecfa723/execroot/_main/bazel-out/k8-opt-ST-4fb24e704967/bin/barrel/train/pipes/vlams/train.runfiles/_main/barrel/train/pipes/vlams/_train.venv/bin/python3 -m black --config /home/petko_petkov/barrel/.claude/worktrees/bridge-tread-qwen/pyproject.toml /home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/hf_export/fiery-rabbit-gray/src/modeling_pizero_fm_paligemma.py /home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/hf_export/fiery-rabbit-gray/src/configuration_pizero_fm_paligemma.py /home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/hf_export/fiery-rabbit-gray/src/common_pizero_fm_paligemma.py /home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/hf_export/fiery-rabbit-gray/src/processing_pizero_fm_paligemma.py
-
-
-Fixing /home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/hf_export/fiery-rabbit-gray/src/modeling_pizero_fm_paligemma.py
-Fixing /home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/hf_export/fiery-rabbit-gray/src/configuration_pizero_fm_paligemma.py
-Fixing /home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/hf_export/fiery-rabbit-gray/src/common_pizero_fm_paligemma.py
-Fixing /home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/hf_export/fiery-rabbit-gray/src/processing_pizero_fm_paligemma.py
-
-reformatted /home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/hf_export/fiery-rabbit-gray/src/configuration_pizero_fm_paligemma.py
-reformatted /home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/hf_export/fiery-rabbit-gray/src/common_pizero_fm_paligemma.py
-reformatted /home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/hf_export/fiery-rabbit-gray/src/processing_pizero_fm_paligemma.py
-reformatted /home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/hf_export/fiery-rabbit-gray/src/modeling_pizero_fm_paligemma.py
-
-All done! ✨ 🍰 ✨
-4 files reformatted.
-
-
-TO RERUN:
-
-bazel run //tools:autoflake -- /scratch/petko_petkov/.cache/bazel/_bazel_petko_petkov/e534278fe244a0db19bf3b7c5ecfa723/execroot/_main/bazel-out/k8-opt-ST-4fb24e704967/bin/barrel/train/pipes/vlams/train.runfiles/_main/barrel/train/pipes/vlams/_train.venv/bin/python3 -m autoflake
-bazel run //tools:isort -- /scratch/petko_petkov/.cache/bazel/_bazel_petko_petkov/e534278fe244a0db19bf3b7c5ecfa723/execroot/_main/bazel-out/k8-opt-ST-4fb24e704967/bin/barrel/train/pipes/vlams/train.runfiles/_main/barrel/train/pipes/vlams/_train.venv/bin/python3 -m isort
-bazel run //tools:black -- /scratch/petko_petkov/.cache/bazel/_bazel_petko_petkov/e534278fe244a0db19bf3b7c5ecfa723/execroot/_main/bazel-out/k8-opt-ST-4fb24e704967/bin/barrel/train/pipes/vlams/train.runfiles/_main/barrel/train/pipes/vlams/_train.venv/bin/python3 -m black
+version https://git-lfs.github.com/spec/v1
+oid sha256:78746221ad869e9ab39bca8a1683aa8845ea1627932516812eb6f1126cba632e
+size 5344

sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/hf_export/fiery-rabbit-gray/src/model_config.yaml

@@ -1,120 +1,3 @@
-control_module_config:
-  control_decoder_config:
-    block_config:
-      activation: GELU
-      activation_kwargs:
-        approximate: tanh
-      attn_implementation: sdpa
-      dropout: 0.0
-      feature_size: 1024
-      head_dim: 256
-      hidden_size: 4096
-      norm: RMSNorm
-      num_heads: 8
-      num_kv_heads: 1
-      position_embed_config:
-        base: 10000
-        cached: true
-        embedding_dim: 256
-        num_embeddings: 512
-    num_blocks: 18
-  noised_control_proj_config:
-    activation: SiLU
-    layers:
-    - 8
-    - 2048
-    - 1024
-    - 1024
-    norm: null
-    time_embed:
-      activation: SiLU
-      layers: []
-      learnable_features: false
-      max_period: 10000.0
-      norm: null
-      num_features: 1024
-  robot_state_proj_config:
-    activation: SiLU
-    fourier: false
-    layers:
-    - 8
-    - 1024
-    mode: ee_pose_gripper
-  rotation_components: 4
-  token_size: 1024
-processor_config:
-  control_io_config:
-    future_control_offset_sec: 0.0
-    future_controls_sequence_length: 5
-    future_controls_sequence_stride_sec: 0.2
-    future_frames_sequence_length: 1
-    future_frames_sequence_stride_sec: null
-    past_frames_sequence_length: 1
-    past_frames_stride_sec: null
-    past_scalars_sequence_length: 1
-    past_scalars_stride_sec: null
-    sequence_frames: 1
-    sequence_frames_stride_sec: null
-  control_tokenizer_config: {}
-  distribution_hyperparams:
-    alpha: 1.5
-    beta: 1.0
-  image_resize: naive
-  joints_obs_norm:
-    high:
-    - 3.141592653589793
-    - 3.141592653589793
-    - 3.141592653589793
-    - 3.141592653589793
-    - 3.141592653589793
-    - 3.141592653589793
-    - 3.141592653589793
-    low:
-    - -3.141592653589793
-    - -3.141592653589793
-    - -3.141592653589793
-    - -3.141592653589793
-    - -3.141592653589793
-    - -3.141592653589793
-    - -3.141592653589793
-  num_inference_steps: 10
-  r0_distribution: uniform
-  rotation_control_frame: eef_delta
-  rotation_control_norm:
-    factor: 4.0
-  rotation_format: quaternion
-  rotation_obs_frame: robot_base
-  rotation_obs_norm: {}
-  sig_min: 0.001
-  timestep_distribution: beta
-  translation_control_frame: robot_base_delta
-  translation_control_norm:
-    high:
-    - 0.04
-    - 0.04
-    - 0.04
-    low:
-    - -0.04
-    - -0.04
-    - -0.04
-  translation_obs_frame: robot_base
-  translation_obs_norm:
-    component_name: translation
-    mode: bounds_q99
-    stats_filepath: barrel/train/pipes/vlams/types/observation_stats.yaml
-    stats_key: ''
-vlm_config:
-  attn_implementation: sdpa
-  depth_tokens: 0
-  lm_head: false
-  mean_resizing: false
-  model_id: google/paligemma-3b-mix-224
-  paligemma_3d_config: {}
-  processor_config:
-    image_sizes:
-      main:
-        height: 224
-        width: 224
-    image_token: <image>
-    max_language_tokens: 64
-  train_only_depth_tokens: false
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+size 2806

sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/language_results.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a5bd1c07b3fb4d4be00a0e54746a1b19b72641aeeec15dc283ccbae58a8bcae
+size 543037

sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/model_config.yaml

@@ -1,137 +1,3 @@
-autoclass: barrel.train.pipes.vlams.models.vlams.vlam.VLAM
-control_module_config:
-  autoclass: barrel.train.pipes.vlams.models.control.pizero_fm_module.PiZeroFlowMatchingModule
-  control_decoder_config:
-    autoclass: barrel.train.pipes.vlams.models.control.pizero_fm_decoder.PiZeroFlowMatchingDecoder
-    block_config:
-      activation: GELU
-      activation_kwargs:
-        approximate: tanh
-      attn_implementation: sdpa
-      autoclass: barrel.train.pipes.vlams.models.control.pizero_fm_decoder.PiZeroFlowMatchingDecoderBlock
-      dropout: 0.0
-      feature_size: 1024
-      head_dim: 256
-      hidden_size: 4096
-      norm: RMSNorm
-      num_heads: 8
-      num_kv_heads: 1
-      position_embed_config:
-        autoclass: barrel.train.components.nn.layers.positional_encodings.RotaryPositionalEncoding
-        base: 10000
-        cached: true
-        embedding_dim: 256
-        num_embeddings: 512
-    num_blocks: 18
-  noised_control_proj_config:
-    activation: SiLU
-    autoclass: barrel.train.pipes.vlams.models.control.token_proj.NoisedControlProjector
-    layers:
-    - 8
-    - 2048
-    - 1024
-    - 1024
-    norm: null
-    time_embed:
-      activation: SiLU
-      autoclass: barrel.train.components.nn.layers.fourier_features.FourierFeatures
-      layers: []
-      learnable_features: false
-      max_period: 10000.0
-      norm: null
-      num_features: 1024
-  robot_state_proj_config:
-    activation: SiLU
-    autoclass: barrel.train.pipes.vlams.models.control.token_proj.RobotStateProjector
-    fourier: false
-    layers:
-    - 8
-    - 1024
-    mode: ee_pose_gripper
-  rotation_components: 4
-  token_size: 1024
-processor_config:
-  autoclass: barrel.train.pipes.vlams.types.vlam_processors.PiZeroFlowMatchingProcessor
-  control_io_config:
-    future_control_offset_sec: 0.0
-    future_controls_sequence_length: 5
-    future_controls_sequence_stride_sec: 0.2
-    future_frames_sequence_length: 1
-    future_frames_sequence_stride_sec: null
-    past_frames_sequence_length: 1
-    past_frames_stride_sec: null
-    past_scalars_sequence_length: 1
-    past_scalars_stride_sec: null
-    sequence_frames: 1
-    sequence_frames_stride_sec: null
-  control_tokenizer_config:
-    autoclass: barrel.train.pipes.vlams.types.action_tokenizer.EmptyTokenizer
-  distribution_hyperparams:
-    alpha: 1.5
-    beta: 1.0
-  image_resize: naive
-  joints_obs_norm:
-    autoclass: barrel.train.components.normalization.normalizers.BoundsNormalizer
-    high:
-    - 3.141592653589793
-    - 3.141592653589793
-    - 3.141592653589793
-    - 3.141592653589793
-    - 3.141592653589793
-    - 3.141592653589793
-    - 3.141592653589793
-    low:
-    - -3.141592653589793
-    - -3.141592653589793
-    - -3.141592653589793
-    - -3.141592653589793
-    - -3.141592653589793
-    - -3.141592653589793
-    - -3.141592653589793
-  num_inference_steps: 10
-  r0_distribution: uniform
-  rotation_control_frame: eef_delta
-  rotation_control_norm:
-    autoclass: barrel.train.components.normalization.normalizers.RotationStereomapNormalizer
-    factor: 4.0
-  rotation_format: quaternion
-  rotation_obs_frame: robot_base
-  rotation_obs_norm:
-    autoclass: barrel.train.components.normalization.normalizers.IdentityNormalizer
-  sig_min: 0.001
-  timestep_distribution: beta
-  translation_control_frame: robot_base_delta
-  translation_control_norm:
-    autoclass: barrel.train.components.normalization.normalizers.BoundsNormalizer
-    high:
-    - 0.04
-    - 0.04
-    - 0.04
-    low:
-    - -0.04
-    - -0.04
-    - -0.04
-  translation_obs_frame: robot_base
-  translation_obs_norm:
-    autoclass: barrel.train.components.normalization.normalizers.DatasetStatsNormalizer
-    component_name: translation
-    mode: bounds_q99
-    stats_filepath: barrel/train/pipes/vlams/types/observation_stats.yaml
-    stats_key: ''
-vlm_config:
-  attn_implementation: flash_attention_2
-  autoclass: barrel.train.pipes.vlams.models.vlms.paligemma.PaliGemmaVLM
-  depth_tokens: 0
-  lm_head: false
-  mean_resizing: false
-  model_id: google/paligemma-3b-mix-224
-  paligemma_3d_config: {}
-  processor_config:
-    autoclass: barrel.train.pipes.vlams.types.vlm_processors.PaliGemmaProcessor
-    image_sizes:
-      main:
-        height: 224
-        width: 224
-    image_token: <image>
-    max_language_tokens: 64
-  train_only_depth_tokens: false
+version https://git-lfs.github.com/spec/v1
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+size 4278

sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/raw_config.yaml

@@ -1,16 +1,3 @@
-import: pizero_fm_paligemma_bridge.yaml
-
-session_config:
-  tag: bridge_paraphrase_k5
-
-training_module_config:
-  model_config:
-    vlm_config:
-      processor_config:
-        max_language_tokens: 64
-
-data_module_config:
-  dataset_configs:
-    bridge:
-      data_source_config:
-        dataset_path: /home/$USER/datasets/oxe/lerobot-video/bridge_paraphrase_k5
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+oid sha256:9fc86f6d6f98f35b8b6a51340fc887a9c0f78616ae1c591e7fbbcd4dc763749a
+size 358

sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/session.log

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eea360379f144121d8e553d5fcf0c76d95a5642404918a71abeab926fdcda2af
+size 874280

sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/session_info.json

@@ -1 +1,3 @@
-{"batch_size": 1024, "command": "/scratch/petko_petkov/.cache/bazel/_bazel_petko_petkov/e534278fe244a0db19bf3b7c5ecfa723/execroot/_main/bazel-out/k8-opt-ST-4fb24e704967/bin/barrel/train/pipes/vlams/train.runfiles/_main/barrel/train/components/scripts/train/train.py --config barrel/train/pipes/vlams/configs/control/pizero_fm_paligemma_bridge_paraphrase_k5.yaml", "docker_image": "no-docker-image-detected", "git_branch": "worktree-bridge-tread-qwen", "git_hash": "0d09dc2c2ac847058dcacf1bf838091557f3e380", "gpu_type": "NVIDIA H200", "hostname": "msp3-1", "launched": "Wednesday, 01 April 2026 at 14:09:30 UTC", "num_gpus": 8, "num_nodes": 1, "num_steps": 30000, "platform": "slurm", "session_name": "sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5", "session_path": "/home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5", "username": "petko_petkov"}
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sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/session_rank_1.log

@@ -1,348 +1,3 @@
-INFO     2026-04-01 14:09:44,655 barrel.train.components.optimizers.optimizer_module init_optimizer rank=1, num_tensors=766, groups={'default': 766}, optimizer=TorchOptimizerConfig(
-  autoclass='barrel.train.components.optimizers.optimizers.torch_optimizer.TorchOptimizer',
-  hyperparams=ConfigDict[typing.Any](
-    lr=5e-05,
-    weight_decay=0.0,
-  ),
-  param_groups=ConfigDict[typing.Dict[str, typing.Any]](),
-  torch_optimizer='torch.optim.AdamW',
-), scheduler=SequentialSchedulerConfig(
-  autoclass='barrel.train.components.optimizers.schedulers.sequential_scheduler.SequentialScheduler',
-  milestones=ConfigList[int](
-    500,
-  ),
-  schedulers=ConfigDict[AutoConfig[SchedulerConfig]](
-    warmup=TorchSchedulerConfig(
-      autoclass='barrel.train.components.optimizers.schedulers.torch_scheduler.TorchScheduler',
-      hyperparams=ConfigDict[typing.Any](
-        start_factor=0.0002,
-        end_factor=1.0,
-        total_iters=500,
-      ),
-      torch_scheduler='torch.optim.lr_scheduler.LinearLR',
-    ),
-    const=TorchSchedulerConfig(
-      autoclass='barrel.train.components.optimizers.schedulers.torch_scheduler.TorchScheduler',
-      hyperparams=ConfigDict[typing.Any](
-        factor=1.0,
-        total_iters=300000,
-      ),
-      torch_scheduler='torch.optim.lr_scheduler.ConstantLR',
-    ),
-  ),
-)
-INFO     2026-04-01 14:09:44,657 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-01 14:09:45,527 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-01 14:09:55,022 barrel.train.pipes.vlams.data.robotics.hf.utils.transforms TREAD columns detected in dataset, will replace language instructions dataset_name=bridge_paraphrase_k5
-INFO     2026-04-01 14:10:04,844 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source Filtered episodes with no movement dataset_name=bridge_paraphrase_k5, size_before=1524249, size_after=1517010, keep_pct=99.53%
-INFO     2026-04-01 14:10:09,126 barrel.train.pipes.vlams.data.robotics.hf.utils.filter Filtered frames with no movement dataset_name=bridge_paraphrase_k5, size_before=1517010, size_after=1466050, keep_pct=96.64%
-INFO     2026-04-01 14:10:09,126 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=23599.0, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-01 14:10:09,165 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source Sharded dataset dataset_name=bridge_paraphrase_k5, size_before=1466050, size_after=183254, rank=1
-INFO     2026-04-01 14:10:09,972 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge_paraphrase_k5 rank=1, status=start
-INFO     2026-04-01 14:10:10,010 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Data pointers for bridge_paraphrase_k5 dataframe_size=183254, num_data_pointers=156074, pct=85.17%, rank=1, status=success
-INFO     2026-04-01 14:10:10,013 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=25356.100000000002
-INFO     2026-04-01 14:10:31,828 barrel.train.core.trainer.trainer session_init status=success, rank=1
-INFO     2026-04-01 14:10:31,831 barrel.train.core.trainer.trainer start_training rank=1, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5
-INFO     2026-04-01 14:10:31,879 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=1, hostname=msp3-1, worker_pid=3856287, parent_pid=3853419, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-01 14:10:31,895 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=1, hostname=msp3-1, worker_pid=3856299, parent_pid=3853419, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-01 14:13:37,866 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:16:34,500 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:19:31,833 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:22:29,837 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:25:23,089 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:28:18,412 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:31:14,096 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:34:08,911 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:37:02,814 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:39:57,593 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:42:52,704 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:45:47,907 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:48:41,990 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:51:36,145 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:54:29,873 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:57:23,222 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:00:17,780 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:03:10,410 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:06:04,203 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:08:58,340 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:11:52,700 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:14:46,404 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:17:43,540 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:20:38,241 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:23:31,298 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:26:25,689 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:29:19,668 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:32:12,952 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:35:07,367 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:38:01,495 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:40:54,244 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:43:48,177 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:46:41,985 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-01 16:01:12,239 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-01 16:21:26,128 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:24:19,027 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-01 16:29:59,186 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-01 16:39:07,262 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-01 16:47:42,564 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:50:33,465 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:53:25,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 04:52:40,788 barrel.train.core.trainer.trainer training_finished session_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5, rank=1
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sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/session_rank_2.log

@@ -1,348 +1,3 @@
-INFO     2026-04-01 14:09:44,632 barrel.train.components.optimizers.optimizer_module init_optimizer rank=2, num_tensors=766, groups={'default': 766}, optimizer=TorchOptimizerConfig(
-  autoclass='barrel.train.components.optimizers.optimizers.torch_optimizer.TorchOptimizer',
-  hyperparams=ConfigDict[typing.Any](
-    lr=5e-05,
-    weight_decay=0.0,
-  ),
-  param_groups=ConfigDict[typing.Dict[str, typing.Any]](),
-  torch_optimizer='torch.optim.AdamW',
-), scheduler=SequentialSchedulerConfig(
-  autoclass='barrel.train.components.optimizers.schedulers.sequential_scheduler.SequentialScheduler',
-  milestones=ConfigList[int](
-    500,
-  ),
-  schedulers=ConfigDict[AutoConfig[SchedulerConfig]](
-    warmup=TorchSchedulerConfig(
-      autoclass='barrel.train.components.optimizers.schedulers.torch_scheduler.TorchScheduler',
-      hyperparams=ConfigDict[typing.Any](
-        start_factor=0.0002,
-        end_factor=1.0,
-        total_iters=500,
-      ),
-      torch_scheduler='torch.optim.lr_scheduler.LinearLR',
-    ),
-    const=TorchSchedulerConfig(
-      autoclass='barrel.train.components.optimizers.schedulers.torch_scheduler.TorchScheduler',
-      hyperparams=ConfigDict[typing.Any](
-        factor=1.0,
-        total_iters=300000,
-      ),
-      torch_scheduler='torch.optim.lr_scheduler.ConstantLR',
-    ),
-  ),
-)
-INFO     2026-04-01 14:09:44,633 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-01 14:09:45,269 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-01 14:09:53,530 barrel.train.pipes.vlams.data.robotics.hf.utils.transforms TREAD columns detected in dataset, will replace language instructions dataset_name=bridge_paraphrase_k5
-INFO     2026-04-01 14:09:57,927 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source Filtered episodes with no movement dataset_name=bridge_paraphrase_k5, size_before=1524249, size_after=1517010, keep_pct=99.53%
-INFO     2026-04-01 14:10:01,730 barrel.train.pipes.vlams.data.robotics.hf.utils.filter Filtered frames with no movement dataset_name=bridge_paraphrase_k5, size_before=1517010, size_after=1466050, keep_pct=96.64%
-INFO     2026-04-01 14:10:01,731 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=16461.7, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-01 14:10:01,770 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source Sharded dataset dataset_name=bridge_paraphrase_k5, size_before=1466050, size_after=183271, rank=2
-INFO     2026-04-01 14:10:02,586 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge_paraphrase_k5 rank=2, status=start
-INFO     2026-04-01 14:10:02,624 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Data pointers for bridge_paraphrase_k5 dataframe_size=183271, num_data_pointers=166095, pct=90.63%, rank=2, status=success
-INFO     2026-04-01 14:10:02,625 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=17992.6
-INFO     2026-04-01 14:10:31,828 barrel.train.core.trainer.trainer session_init status=success, rank=2
-INFO     2026-04-01 14:10:31,831 barrel.train.core.trainer.trainer start_training rank=2, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5
-INFO     2026-04-01 14:10:31,872 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=2, hostname=msp3-1, worker_pid=3856283, parent_pid=3853420, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-01 14:10:31,892 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=2, hostname=msp3-1, worker_pid=3856291, parent_pid=3853420, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-01 14:13:37,866 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:16:34,500 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:19:31,833 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:22:29,837 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:25:23,089 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:28:18,412 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:31:14,096 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:34:08,910 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:37:02,815 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:39:57,593 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:42:52,704 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:45:47,907 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:48:41,990 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:51:36,145 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:54:29,873 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:57:23,222 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:00:17,781 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:03:10,410 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:06:04,203 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:08:58,341 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:11:52,700 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:14:46,404 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:17:43,540 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:20:38,241 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:23:31,298 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:26:25,689 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:29:19,668 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:32:12,952 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:35:07,367 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:38:01,495 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:40:54,244 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:43:48,177 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:46:41,985 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:49:36,627 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:52:30,069 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:55:23,663 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:58:18,103 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:01:12,239 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:04:05,583 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:06:59,595 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:09:53,051 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:12:46,744 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:15:40,848 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:18:32,267 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:21:26,128 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:24:19,028 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:27:09,622 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:29:59,186 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:32:50,723 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:35:55,086 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:39:07,262 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:41:58,436 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:44:50,118 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:47:42,564 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:50:33,465 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:53:25,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:56:16,449 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:59:08,222 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:02:00,683 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:04:51,954 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:07:43,158 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:10:35,162 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:13:26,058 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:16:17,271 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:19:09,913 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:22:01,164 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:24:52,981 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:27:44,952 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:30:36,798 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:33:28,295 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:36:19,659 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:39:11,532 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:42:01,981 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:44:54,824 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:47:45,961 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:50:36,858 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:53:29,344 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:56:20,431 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:59:12,637 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:02:04,722 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:04:56,556 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:07:48,379 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:10:39,783 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:13:30,457 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:16:21,386 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:19:12,218 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:22:03,202 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:24:54,632 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:27:45,751 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:30:37,409 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:33:27,995 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:36:18,452 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:39:09,063 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:42:00,415 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:44:51,113 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:47:42,226 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:50:33,328 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:53:24,297 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:56:15,769 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:59:19,723 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:02:34,327 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:05:26,686 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:08:18,829 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:11:11,097 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:14:01,895 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:16:54,464 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:19:46,421 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:22:39,326 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:25:31,009 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:28:23,235 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:31:14,170 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:34:06,536 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:36:57,514 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:39:48,599 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:42:40,897 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:45:31,585 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:48:22,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:51:13,691 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:54:04,905 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:56:55,804 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:59:47,462 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:02:40,944 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:05:35,339 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:08:28,688 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:11:23,340 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:14:16,853 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:17:10,050 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:20:01,307 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:22:52,697 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:25:44,466 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:28:35,233 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:31:27,568 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:34:20,976 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:37:12,405 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:40:04,334 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:42:56,661 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:45:47,434 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:48:39,277 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:51:29,776 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:54:21,484 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:57:13,019 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:00:04,393 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:02:55,437 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:05:48,338 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:08:40,147 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:11:32,711 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:14:25,677 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-01 21:54:54,548 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:57:45,764 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-01 22:09:06,004 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-01 22:17:36,651 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-01 23:00:26,134 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:03:17,058 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:06:07,161 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:08:57,058 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:11:46,923 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-01 23:17:26,771 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-01 23:26:00,163 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 04:27:26,670 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 04:33:31,631 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 04:39:35,787 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 04:51:57,806 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 04:52:40,788 barrel.train.core.trainer.trainer training_finished session_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5, rank=2
+version https://git-lfs.github.com/spec/v1
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+size 46284

sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/session_rank_3.log

@@ -1,348 +1,3 @@
-INFO     2026-04-01 14:09:44,653 barrel.train.components.optimizers.optimizer_module init_optimizer rank=3, num_tensors=766, groups={'default': 766}, optimizer=TorchOptimizerConfig(
-  autoclass='barrel.train.components.optimizers.optimizers.torch_optimizer.TorchOptimizer',
-  hyperparams=ConfigDict[typing.Any](
-    lr=5e-05,
-    weight_decay=0.0,
-  ),
-  param_groups=ConfigDict[typing.Dict[str, typing.Any]](),
-  torch_optimizer='torch.optim.AdamW',
-), scheduler=SequentialSchedulerConfig(
-  autoclass='barrel.train.components.optimizers.schedulers.sequential_scheduler.SequentialScheduler',
-  milestones=ConfigList[int](
-    500,
-  ),
-  schedulers=ConfigDict[AutoConfig[SchedulerConfig]](
-    warmup=TorchSchedulerConfig(
-      autoclass='barrel.train.components.optimizers.schedulers.torch_scheduler.TorchScheduler',
-      hyperparams=ConfigDict[typing.Any](
-        start_factor=0.0002,
-        end_factor=1.0,
-        total_iters=500,
-      ),
-      torch_scheduler='torch.optim.lr_scheduler.LinearLR',
-    ),
-    const=TorchSchedulerConfig(
-      autoclass='barrel.train.components.optimizers.schedulers.torch_scheduler.TorchScheduler',
-      hyperparams=ConfigDict[typing.Any](
-        factor=1.0,
-        total_iters=300000,
-      ),
-      torch_scheduler='torch.optim.lr_scheduler.ConstantLR',
-    ),
-  ),
-)
-INFO     2026-04-01 14:09:44,654 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-01 14:09:45,451 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-01 14:09:54,063 barrel.train.pipes.vlams.data.robotics.hf.utils.transforms TREAD columns detected in dataset, will replace language instructions dataset_name=bridge_paraphrase_k5
-INFO     2026-04-01 14:09:58,613 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source Filtered episodes with no movement dataset_name=bridge_paraphrase_k5, size_before=1524249, size_after=1517010, keep_pct=99.53%
-INFO     2026-04-01 14:10:02,759 barrel.train.pipes.vlams.data.robotics.hf.utils.filter Filtered frames with no movement dataset_name=bridge_paraphrase_k5, size_before=1517010, size_after=1466050, keep_pct=96.64%
-INFO     2026-04-01 14:10:02,759 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=17308.2, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-01 14:10:02,800 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source Sharded dataset dataset_name=bridge_paraphrase_k5, size_before=1466050, size_after=183231, rank=3
-INFO     2026-04-01 14:10:03,654 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge_paraphrase_k5 rank=3, status=start
-INFO     2026-04-01 14:10:03,693 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Data pointers for bridge_paraphrase_k5 dataframe_size=183231, num_data_pointers=160835, pct=87.78%, rank=3, status=success
-INFO     2026-04-01 14:10:03,695 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=19041.2
-INFO     2026-04-01 14:10:31,828 barrel.train.core.trainer.trainer session_init status=success, rank=3
-INFO     2026-04-01 14:10:31,831 barrel.train.core.trainer.trainer start_training rank=3, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5
-INFO     2026-04-01 14:10:31,876 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=3, hostname=msp3-1, worker_pid=3856288, parent_pid=3853421, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-01 14:10:31,903 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=3, hostname=msp3-1, worker_pid=3856301, parent_pid=3853421, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-01 14:13:37,866 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:16:34,500 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:19:31,833 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:22:29,837 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:25:23,089 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:28:18,412 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:31:14,096 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:34:08,911 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:37:02,814 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:39:57,593 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:42:52,704 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:45:47,907 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:48:41,990 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:51:36,145 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:54:29,873 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:57:23,222 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:00:17,780 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:03:10,410 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:06:04,203 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:08:58,340 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:11:52,700 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:14:46,404 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:17:43,540 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:20:38,241 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:23:31,298 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:26:25,689 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:29:19,668 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:32:12,952 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:35:07,367 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:38:01,495 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:40:54,244 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:43:48,177 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:46:41,985 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:49:36,627 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:52:30,069 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:55:23,663 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:58:18,103 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:01:12,239 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:04:05,583 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:06:59,595 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:09:53,051 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:12:46,744 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:15:40,848 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:18:32,267 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:21:26,128 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:24:19,028 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:27:09,622 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:29:59,187 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:32:50,723 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:35:55,388 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:39:07,262 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:41:58,436 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:44:50,118 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:47:42,564 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:50:33,465 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:53:25,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:56:16,449 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:59:08,222 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:02:00,683 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:04:51,954 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:07:43,158 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:10:35,162 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:13:26,058 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:16:17,271 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:19:09,913 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:22:01,164 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:24:52,981 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:27:44,952 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:30:36,798 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:33:28,295 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:36:19,659 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:39:11,532 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:42:01,981 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:44:54,824 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:47:45,961 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:50:36,858 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:53:29,344 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:56:20,431 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:59:12,637 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:02:04,722 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:04:56,556 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:07:48,379 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:10:39,783 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:13:30,457 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:16:21,386 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:19:12,218 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:22:03,202 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:24:54,632 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:27:45,751 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:30:37,410 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:33:27,995 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:36:18,452 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:39:09,063 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:42:00,414 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:44:51,113 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:47:42,226 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:50:33,328 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:53:24,297 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:56:15,770 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:59:20,099 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:02:34,327 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:05:26,686 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:08:18,829 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:11:11,097 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:14:01,895 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:16:54,464 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:19:46,421 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:22:39,326 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:25:31,009 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:28:23,235 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:31:14,170 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:34:06,536 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:36:57,514 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:39:48,599 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:42:40,897 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:45:31,585 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:48:22,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:51:13,691 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:54:04,905 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:56:55,804 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:59:47,462 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:02:40,944 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:05:35,339 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:08:28,688 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:11:23,340 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:14:16,853 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:17:10,050 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:20:01,307 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:22:52,697 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:25:44,466 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:28:35,233 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:31:27,568 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:34:20,976 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:37:12,405 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:40:04,334 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:42:56,662 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:45:47,434 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:48:39,277 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:51:29,776 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:54:21,484 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:57:13,019 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:00:04,393 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:02:55,437 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:05:48,338 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:08:40,147 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:11:32,711 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:14:25,677 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:17:16,866 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:20:06,980 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:23:11,282 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:26:22,266 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:29:12,931 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:32:03,809 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:34:55,929 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:37:45,807 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:40:37,646 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:43:28,973 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:46:21,457 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:49:12,947 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:52:04,058 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:54:54,548 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:57:45,764 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:00:35,368 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:03:25,977 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:06:16,379 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:09:06,004 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:11:55,555 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:14:45,946 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:17:36,652 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:20:32,556 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:23:24,856 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:26:15,548 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:29:05,927 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:31:57,206 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:34:47,918 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:37:38,077 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:40:29,707 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:43:20,339 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:46:10,387 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:49:02,390 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:51:53,118 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:54:43,625 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:57:35,664 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:00:26,134 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:03:17,058 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:06:07,161 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:08:57,058 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:11:46,923 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:14:37,215 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:17:26,771 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:20:18,061 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:23:08,161 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:26:00,163 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:28:51,860 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:31:41,774 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:34:33,065 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:37:25,255 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-01 23:49:36,561 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:52:39,203 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-01 23:58:44,906 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:01:48,552 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 00:07:54,255 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:10:57,467 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:14:00,853 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:17:04,246 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 00:23:09,357 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:26:11,359 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 04:24:23,639 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 04:27:26,671 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 04:30:28,827 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 04:33:31,647 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 04:36:33,657 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 04:39:35,649 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 04:42:38,573 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 04:45:40,430 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 04:48:43,613 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 04:51:57,813 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 04:52:40,788 barrel.train.core.trainer.trainer training_finished session_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5, rank=3
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+size 46284

sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/session_rank_4.log

@@ -1,348 +1,3 @@
-INFO     2026-04-01 14:09:44,626 barrel.train.components.optimizers.optimizer_module init_optimizer rank=4, num_tensors=766, groups={'default': 766}, optimizer=TorchOptimizerConfig(
-  autoclass='barrel.train.components.optimizers.optimizers.torch_optimizer.TorchOptimizer',
-  hyperparams=ConfigDict[typing.Any](
-    lr=5e-05,
-    weight_decay=0.0,
-  ),
-  param_groups=ConfigDict[typing.Dict[str, typing.Any]](),
-  torch_optimizer='torch.optim.AdamW',
-), scheduler=SequentialSchedulerConfig(
-  autoclass='barrel.train.components.optimizers.schedulers.sequential_scheduler.SequentialScheduler',
-  milestones=ConfigList[int](
-    500,
-  ),
-  schedulers=ConfigDict[AutoConfig[SchedulerConfig]](
-    warmup=TorchSchedulerConfig(
-      autoclass='barrel.train.components.optimizers.schedulers.torch_scheduler.TorchScheduler',
-      hyperparams=ConfigDict[typing.Any](
-        start_factor=0.0002,
-        end_factor=1.0,
-        total_iters=500,
-      ),
-      torch_scheduler='torch.optim.lr_scheduler.LinearLR',
-    ),
-    const=TorchSchedulerConfig(
-      autoclass='barrel.train.components.optimizers.schedulers.torch_scheduler.TorchScheduler',
-      hyperparams=ConfigDict[typing.Any](
-        factor=1.0,
-        total_iters=300000,
-      ),
-      torch_scheduler='torch.optim.lr_scheduler.ConstantLR',
-    ),
-  ),
-)
-INFO     2026-04-01 14:09:44,626 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-01 14:09:45,235 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-01 14:09:54,709 barrel.train.pipes.vlams.data.robotics.hf.utils.transforms TREAD columns detected in dataset, will replace language instructions dataset_name=bridge_paraphrase_k5
-INFO     2026-04-01 14:10:03,612 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source Filtered episodes with no movement dataset_name=bridge_paraphrase_k5, size_before=1524249, size_after=1517010, keep_pct=99.53%
-INFO     2026-04-01 14:10:07,983 barrel.train.pipes.vlams.data.robotics.hf.utils.filter Filtered frames with no movement dataset_name=bridge_paraphrase_k5, size_before=1517010, size_after=1466050, keep_pct=96.64%
-INFO     2026-04-01 14:10:07,984 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=22748.2, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-01 14:10:08,023 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source Sharded dataset dataset_name=bridge_paraphrase_k5, size_before=1466050, size_after=183262, rank=4
-INFO     2026-04-01 14:10:08,861 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge_paraphrase_k5 rank=4, status=start
-INFO     2026-04-01 14:10:08,900 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Data pointers for bridge_paraphrase_k5 dataframe_size=183262, num_data_pointers=164614, pct=89.82%, rank=4, status=success
-INFO     2026-04-01 14:10:08,901 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=24274.7
-INFO     2026-04-01 14:10:31,828 barrel.train.core.trainer.trainer session_init status=success, rank=4
-INFO     2026-04-01 14:10:31,831 barrel.train.core.trainer.trainer start_training rank=4, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5
-INFO     2026-04-01 14:10:31,872 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=4, hostname=msp3-1, worker_pid=3856284, parent_pid=3853422, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-01 14:10:31,892 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=4, hostname=msp3-1, worker_pid=3856293, parent_pid=3853422, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-01 14:13:37,866 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:16:34,500 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:19:31,833 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:22:29,837 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:25:23,089 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:28:18,412 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:31:14,097 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:34:08,911 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:37:02,814 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:39:57,593 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:42:52,704 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:45:47,907 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:48:41,991 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:51:36,145 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:54:29,873 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:57:23,222 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:00:17,780 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:03:10,410 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:06:04,203 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:08:58,340 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:11:52,700 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:14:46,404 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:17:43,540 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:20:38,241 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:23:31,298 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:26:25,689 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:29:19,668 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:32:12,952 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:35:07,367 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:38:01,495 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:40:54,244 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:43:48,177 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:46:41,985 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:49:36,627 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:52:30,069 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:55:23,663 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:58:18,103 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:01:12,239 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:04:05,583 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:06:59,595 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:09:53,051 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:12:46,744 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:15:40,848 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:18:32,267 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:21:26,128 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:24:19,028 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:27:09,622 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:29:59,186 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:32:50,723 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:35:55,415 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:39:07,262 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:41:58,436 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:44:50,118 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:47:42,564 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:50:33,465 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:53:25,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:56:16,449 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:59:08,222 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:02:00,683 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:04:51,954 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:07:43,158 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:10:35,162 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:13:26,058 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:16:17,271 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:19:09,913 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:22:01,164 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:24:52,982 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:27:44,953 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:30:36,798 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:33:28,295 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:36:19,659 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:39:11,532 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:42:01,981 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:44:54,824 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:47:45,961 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:50:36,858 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:53:29,344 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:56:20,431 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:59:12,637 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:02:04,722 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:04:56,556 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:07:48,379 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:10:39,783 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:13:30,457 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:16:21,386 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:19:12,218 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:22:03,202 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:24:54,632 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:27:45,751 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:30:37,410 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:33:27,994 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:36:18,452 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:39:09,063 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:42:00,415 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:44:51,113 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:47:42,226 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:50:33,328 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:53:24,297 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:56:15,770 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:59:20,036 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:02:34,326 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:05:26,686 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:08:18,829 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:11:11,097 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:14:01,895 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:16:54,464 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:19:46,421 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:22:39,326 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:25:31,009 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:28:23,235 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:31:14,170 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:34:06,536 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:36:57,514 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:39:48,599 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:42:40,897 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:45:31,585 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:48:22,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:51:13,691 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:54:04,905 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:56:55,804 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:59:47,463 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:02:40,944 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:05:35,339 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:08:28,689 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:11:23,340 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:14:16,853 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:17:10,050 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:20:01,307 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:22:52,697 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:25:44,466 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:28:35,233 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:31:27,568 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:34:20,976 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:37:12,405 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:40:04,334 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:42:56,661 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:45:47,434 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:48:39,277 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:51:29,776 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:54:21,484 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:57:13,019 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:00:04,394 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:02:55,437 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:05:48,338 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:08:40,147 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:11:32,711 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:14:25,677 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:17:16,866 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:20:06,980 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:23:11,190 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:26:22,266 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:29:12,931 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:32:03,809 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:34:55,929 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:37:45,807 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:40:37,646 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:43:28,973 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:46:21,457 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:49:12,947 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:52:04,058 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:54:54,548 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:57:45,764 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:00:35,368 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:03:25,977 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:06:16,379 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:09:06,004 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:11:55,555 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:14:45,946 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:17:36,651 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:20:32,556 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:23:24,856 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:26:15,548 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:29:05,927 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:31:57,206 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:34:47,918 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:37:38,077 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:40:29,707 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:43:20,339 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-01 22:49:02,390 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:51:53,118 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:54:43,625 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-01 23:00:26,134 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:03:17,058 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:06:07,161 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:08:57,058 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:11:46,923 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:14:37,215 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:17:26,771 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:20:18,061 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:23:08,161 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:26:00,164 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:28:51,860 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:31:41,774 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:34:33,065 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:37:25,255 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-01 23:49:36,555 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:52:39,197 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:55:42,021 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:58:44,901 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:01:48,546 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 00:10:57,459 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:14:00,845 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:17:04,238 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 00:23:09,348 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:26:11,352 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:29:14,403 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 00:35:18,495 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:38:21,604 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:41:24,511 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:44:27,528 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:47:29,975 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:50:33,273 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 01:02:42,399 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 01:11:51,426 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 01:14:53,014 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 01:20:57,274 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 01:48:26,724 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 01:54:33,247 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 02:00:38,595 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 02:03:43,588 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 02:09:54,153 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 02:12:56,483 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 02:15:59,921 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 02:19:17,048 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 02:22:51,703 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 02:25:55,243 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 02:28:59,428 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 02:38:09,044 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 02:53:20,109 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 03:02:27,905 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 03:14:36,752 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 03:17:38,267 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 03:20:39,496 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 03:26:45,429 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 03:29:47,157 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 03:38:52,072 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 03:41:54,005 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 03:44:56,237 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 03:47:58,095 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 03:51:01,128 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 04:06:11,670 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 04:09:13,897 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 04:24:23,630 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 04:27:26,666 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 04:33:31,625 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 04:36:33,654 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 04:39:35,635 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 04:42:38,567 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 04:48:43,607 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 04:51:57,663 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 04:52:40,788 barrel.train.core.trainer.trainer training_finished session_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5, rank=4
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sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/session_rank_5.log

@@ -1,348 +1,3 @@
-INFO     2026-04-01 14:09:44,653 barrel.train.components.optimizers.optimizer_module init_optimizer rank=5, num_tensors=766, groups={'default': 766}, optimizer=TorchOptimizerConfig(
-  autoclass='barrel.train.components.optimizers.optimizers.torch_optimizer.TorchOptimizer',
-  hyperparams=ConfigDict[typing.Any](
-    lr=5e-05,
-    weight_decay=0.0,
-  ),
-  param_groups=ConfigDict[typing.Dict[str, typing.Any]](),
-  torch_optimizer='torch.optim.AdamW',
-), scheduler=SequentialSchedulerConfig(
-  autoclass='barrel.train.components.optimizers.schedulers.sequential_scheduler.SequentialScheduler',
-  milestones=ConfigList[int](
-    500,
-  ),
-  schedulers=ConfigDict[AutoConfig[SchedulerConfig]](
-    warmup=TorchSchedulerConfig(
-      autoclass='barrel.train.components.optimizers.schedulers.torch_scheduler.TorchScheduler',
-      hyperparams=ConfigDict[typing.Any](
-        start_factor=0.0002,
-        end_factor=1.0,
-        total_iters=500,
-      ),
-      torch_scheduler='torch.optim.lr_scheduler.LinearLR',
-    ),
-    const=TorchSchedulerConfig(
-      autoclass='barrel.train.components.optimizers.schedulers.torch_scheduler.TorchScheduler',
-      hyperparams=ConfigDict[typing.Any](
-        factor=1.0,
-        total_iters=300000,
-      ),
-      torch_scheduler='torch.optim.lr_scheduler.ConstantLR',
-    ),
-  ),
-)
-INFO     2026-04-01 14:09:44,654 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-01 14:09:45,348 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-01 14:09:53,703 barrel.train.pipes.vlams.data.robotics.hf.utils.transforms TREAD columns detected in dataset, will replace language instructions dataset_name=bridge_paraphrase_k5
-INFO     2026-04-01 14:09:58,189 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source Filtered episodes with no movement dataset_name=bridge_paraphrase_k5, size_before=1524249, size_after=1517010, keep_pct=99.53%
-INFO     2026-04-01 14:10:02,328 barrel.train.pipes.vlams.data.robotics.hf.utils.filter Filtered frames with no movement dataset_name=bridge_paraphrase_k5, size_before=1517010, size_after=1466050, keep_pct=96.64%
-INFO     2026-04-01 14:10:02,329 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=16980.8, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-01 14:10:02,367 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source Sharded dataset dataset_name=bridge_paraphrase_k5, size_before=1466050, size_after=183239, rank=5
-INFO     2026-04-01 14:10:03,211 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge_paraphrase_k5 rank=5, status=start
-INFO     2026-04-01 14:10:03,250 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Data pointers for bridge_paraphrase_k5 dataframe_size=183239, num_data_pointers=165383, pct=90.26%, rank=5, status=success
-INFO     2026-04-01 14:10:03,252 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=18597.5
-INFO     2026-04-01 14:10:31,828 barrel.train.core.trainer.trainer session_init status=success, rank=5
-INFO     2026-04-01 14:10:31,831 barrel.train.core.trainer.trainer start_training rank=5, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5
-INFO     2026-04-01 14:10:31,874 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=5, hostname=msp3-1, worker_pid=3856285, parent_pid=3853423, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-01 14:10:31,904 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=5, hostname=msp3-1, worker_pid=3856295, parent_pid=3853423, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-01 14:13:37,866 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:16:34,500 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:19:31,833 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:22:29,837 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:25:23,089 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:28:18,412 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:31:14,096 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:34:08,910 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:37:02,814 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:39:57,593 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:42:52,704 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:45:47,907 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:48:41,991 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:51:36,145 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:54:29,873 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:57:23,222 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:00:17,781 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:03:10,410 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:06:04,203 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:08:58,340 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:11:52,700 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:14:46,404 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:17:43,540 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:20:38,241 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:23:31,298 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:26:25,689 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:29:19,668 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:32:12,952 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:35:07,367 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:38:01,495 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:40:54,244 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:43:48,177 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:46:41,985 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:49:36,627 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:52:30,069 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:55:23,663 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:58:18,103 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:01:12,239 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:04:05,583 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:06:59,595 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:09:53,051 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:12:46,744 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:15:40,848 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:18:32,267 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:21:26,128 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:24:19,028 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:27:09,622 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:29:59,186 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:32:50,723 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:35:55,359 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:39:07,262 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:41:58,436 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:44:50,118 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:47:42,563 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:50:33,465 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:53:25,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:56:16,449 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:59:08,222 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:02:00,683 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:04:51,954 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:07:43,158 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:10:35,161 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:13:26,058 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:16:17,271 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:19:09,913 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:22:01,164 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:24:52,981 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:27:44,952 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:30:36,798 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:33:28,295 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:36:19,659 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:39:11,532 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:42:01,981 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:44:54,824 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:47:45,961 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:50:36,858 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:53:29,344 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:56:20,431 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:59:12,637 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:02:04,722 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:04:56,556 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:07:48,379 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:10:39,783 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:13:30,457 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:16:21,386 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:19:12,218 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:22:03,202 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:24:54,632 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:27:45,751 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:30:37,410 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:33:27,995 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:36:18,452 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:39:09,063 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:42:00,414 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:44:51,113 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:47:42,225 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:50:33,328 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:53:24,297 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:56:15,770 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:59:20,041 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:02:34,327 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:05:26,686 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:08:18,829 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:11:11,097 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:14:01,895 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:16:54,464 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:19:46,421 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:22:39,326 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:25:31,009 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:28:23,235 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:31:14,170 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:34:06,536 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:36:57,514 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:39:48,599 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:42:40,897 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:45:31,585 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:48:22,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:51:13,691 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:54:04,905 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:56:55,804 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:59:47,462 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:02:40,944 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:05:35,339 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:08:28,688 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:11:23,340 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:14:16,853 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:17:10,050 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:20:01,307 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:22:52,697 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:25:44,466 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:28:35,233 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:31:27,568 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:34:20,976 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:37:12,405 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:40:04,334 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:42:56,661 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:45:47,434 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:48:39,277 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:51:29,776 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:54:21,484 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:57:13,019 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:00:04,393 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:02:55,437 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:05:48,338 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:08:40,147 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:11:32,711 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:14:25,677 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:17:16,866 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:20:06,980 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:23:11,162 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:26:22,266 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:29:12,931 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:32:03,809 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:34:55,929 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:37:45,807 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:40:37,646 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:43:28,973 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:46:21,457 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:49:12,947 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:52:04,058 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:54:54,548 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:57:45,764 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:00:35,368 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:03:25,977 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:06:16,379 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:09:06,004 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:11:55,555 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:14:45,946 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:17:36,651 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:20:32,555 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:23:24,856 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:26:15,548 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:29:05,927 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:31:57,206 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:34:47,918 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:37:38,077 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:40:29,707 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:43:20,339 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:46:10,387 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:49:02,389 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:51:53,118 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:54:43,625 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:57:35,664 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:00:26,134 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:03:17,058 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:06:07,161 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:08:57,058 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:11:46,923 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:14:37,215 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:17:26,771 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:20:18,061 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:23:08,161 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:26:00,163 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:28:51,860 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:31:41,774 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:34:33,065 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:37:25,255 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-01 23:43:05,532 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:46:10,818 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:49:36,560 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:52:39,201 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:55:42,025 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:58:44,908 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:01:48,551 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 00:07:54,234 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:10:57,463 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:14:00,850 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:17:04,243 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 00:23:09,359 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:26:11,360 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 00:38:21,609 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:41:24,517 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 00:47:29,977 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 01:02:42,402 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 01:05:45,748 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 01:11:51,430 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 01:20:57,281 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 01:48:26,730 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 01:54:33,251 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 02:00:38,600 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 02:03:43,590 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 02:12:56,489 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 03:26:45,436 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 04:27:26,671 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 04:39:35,641 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 04:42:38,574 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 04:45:40,430 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 04:48:43,614 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 04:51:57,763 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 04:52:40,788 barrel.train.core.trainer.trainer training_finished session_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5, rank=5
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sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/session_rank_6.log

@@ -1,348 +1,3 @@
-INFO     2026-04-01 14:09:44,650 barrel.train.components.optimizers.optimizer_module init_optimizer rank=6, num_tensors=766, groups={'default': 766}, optimizer=TorchOptimizerConfig(
-  autoclass='barrel.train.components.optimizers.optimizers.torch_optimizer.TorchOptimizer',
-  hyperparams=ConfigDict[typing.Any](
-    lr=5e-05,
-    weight_decay=0.0,
-  ),
-  param_groups=ConfigDict[typing.Dict[str, typing.Any]](),
-  torch_optimizer='torch.optim.AdamW',
-), scheduler=SequentialSchedulerConfig(
-  autoclass='barrel.train.components.optimizers.schedulers.sequential_scheduler.SequentialScheduler',
-  milestones=ConfigList[int](
-    500,
-  ),
-  schedulers=ConfigDict[AutoConfig[SchedulerConfig]](
-    warmup=TorchSchedulerConfig(
-      autoclass='barrel.train.components.optimizers.schedulers.torch_scheduler.TorchScheduler',
-      hyperparams=ConfigDict[typing.Any](
-        start_factor=0.0002,
-        end_factor=1.0,
-        total_iters=500,
-      ),
-      torch_scheduler='torch.optim.lr_scheduler.LinearLR',
-    ),
-    const=TorchSchedulerConfig(
-      autoclass='barrel.train.components.optimizers.schedulers.torch_scheduler.TorchScheduler',
-      hyperparams=ConfigDict[typing.Any](
-        factor=1.0,
-        total_iters=300000,
-      ),
-      torch_scheduler='torch.optim.lr_scheduler.ConstantLR',
-    ),
-  ),
-)
-INFO     2026-04-01 14:09:44,651 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-01 14:09:45,358 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-01 14:09:53,966 barrel.train.pipes.vlams.data.robotics.hf.utils.transforms TREAD columns detected in dataset, will replace language instructions dataset_name=bridge_paraphrase_k5
-INFO     2026-04-01 14:09:58,490 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source Filtered episodes with no movement dataset_name=bridge_paraphrase_k5, size_before=1524249, size_after=1517010, keep_pct=99.53%
-INFO     2026-04-01 14:10:02,597 barrel.train.pipes.vlams.data.robotics.hf.utils.filter Filtered frames with no movement dataset_name=bridge_paraphrase_k5, size_before=1517010, size_after=1466050, keep_pct=96.64%
-INFO     2026-04-01 14:10:02,598 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=17239.2, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-01 14:10:02,637 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source Sharded dataset dataset_name=bridge_paraphrase_k5, size_before=1466050, size_after=183295, rank=6
-INFO     2026-04-01 14:10:03,500 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge_paraphrase_k5 rank=6, status=start
-INFO     2026-04-01 14:10:03,539 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Data pointers for bridge_paraphrase_k5 dataframe_size=183295, num_data_pointers=164055, pct=89.50%, rank=6, status=success
-INFO     2026-04-01 14:10:03,541 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=18889.9
-INFO     2026-04-01 14:10:31,828 barrel.train.core.trainer.trainer session_init status=success, rank=6
-INFO     2026-04-01 14:10:31,831 barrel.train.core.trainer.trainer start_training rank=6, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5
-INFO     2026-04-01 14:10:31,874 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=6, hostname=msp3-1, worker_pid=3856286, parent_pid=3853424, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-01 14:10:31,893 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=6, hostname=msp3-1, worker_pid=3856294, parent_pid=3853424, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-01 14:13:37,866 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:16:34,500 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:19:31,833 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:22:29,837 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:25:23,089 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:28:18,412 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:31:14,096 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:34:08,910 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:37:02,814 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:39:57,593 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:42:52,704 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:45:47,907 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:48:41,990 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:51:36,145 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:54:29,873 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:57:23,222 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:00:17,781 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:03:10,410 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:06:04,203 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:08:58,340 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:11:52,700 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:14:46,404 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:17:43,540 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:20:38,241 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:23:31,298 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:26:25,689 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:29:19,668 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:32:12,952 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:35:07,368 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:38:01,495 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:40:54,244 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:43:48,177 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:46:41,985 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:49:36,627 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:52:30,069 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:55:23,663 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:58:18,103 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:01:12,239 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:04:05,583 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:06:59,595 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:09:53,051 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:12:46,744 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:15:40,848 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:18:32,267 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:21:26,128 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:24:19,028 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:27:09,622 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:29:59,186 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:32:50,723 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:35:55,411 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:39:07,262 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:41:58,436 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:44:50,118 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:47:42,564 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:50:33,465 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:53:25,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:56:16,449 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:59:08,222 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:02:00,683 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:04:51,954 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:07:43,158 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:10:35,162 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:13:26,058 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:16:17,271 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:19:09,913 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:22:01,164 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:24:52,982 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:27:44,952 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:30:36,798 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:33:28,295 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:36:19,659 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:39:11,532 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:42:01,981 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:44:54,824 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:47:45,961 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:50:36,858 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:53:29,344 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:56:20,431 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:59:12,637 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:02:04,722 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:04:56,556 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:07:48,379 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:10:39,783 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:13:30,457 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:16:21,386 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:19:12,218 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:22:03,202 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:24:54,632 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:27:45,751 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:30:37,410 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:33:27,995 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:36:18,452 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:39:09,063 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:42:00,415 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:44:51,113 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:47:42,226 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:50:33,328 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:53:24,297 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:56:15,770 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:59:19,780 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:02:34,326 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:05:26,686 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:08:18,829 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:11:11,097 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:14:01,895 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:16:54,464 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:19:46,421 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:22:39,326 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:25:31,009 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:28:23,235 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:31:14,170 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:34:06,536 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:36:57,514 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:39:48,599 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:42:40,897 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:45:31,585 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:48:22,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:51:13,691 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:54:04,905 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:56:55,804 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:59:47,462 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:02:40,944 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:05:35,339 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:08:28,688 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:11:23,340 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:14:16,853 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:17:10,050 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:20:01,307 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:22:52,697 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:25:44,466 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:28:35,233 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:31:27,568 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:34:20,976 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:37:12,405 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:40:04,334 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:42:56,661 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:45:47,434 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:48:39,277 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:51:29,776 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:54:21,484 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:57:13,019 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:00:04,393 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:02:55,437 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:05:48,338 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:08:40,146 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:11:32,711 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:14:25,677 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:17:16,866 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:20:06,980 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:23:11,106 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:26:22,266 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:29:12,931 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:32:03,809 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:34:55,929 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:37:45,807 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:40:37,646 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:43:28,973 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:46:21,457 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:49:12,947 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:52:04,058 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:54:54,548 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:57:45,764 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:00:35,368 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:03:25,977 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:06:16,379 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:09:06,004 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:11:55,555 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:14:45,946 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:17:36,651 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:20:32,556 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:23:24,856 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:26:15,548 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:29:05,927 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:31:57,206 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:34:47,918 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:37:38,077 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:40:29,707 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:43:20,340 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:46:10,387 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:49:02,390 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:51:53,118 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:54:43,625 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:57:35,664 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:00:26,134 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:03:17,058 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:06:07,161 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:08:57,058 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:11:46,923 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:14:37,215 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:17:26,771 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:20:18,061 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:23:08,161 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:26:00,163 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:28:51,860 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:31:41,774 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:34:33,065 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:37:25,255 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:40:15,653 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:43:05,532 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:46:10,795 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:49:36,558 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:52:39,199 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:55:42,023 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:58:44,905 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:01:48,549 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:04:51,242 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:07:54,239 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:10:57,462 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:14:00,849 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:17:04,240 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:20:06,513 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:23:09,353 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:26:11,358 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:29:14,406 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 00:35:18,498 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:38:21,613 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:41:24,515 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:44:27,531 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:47:29,973 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 00:50:33,275 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 01:02:42,404 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 01:05:45,745 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 01:08:47,873 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 01:11:51,427 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 01:14:53,006 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 01:20:57,274 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 01:36:09,803 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 01:39:12,846 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 01:45:21,992 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 01:48:26,728 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 01:54:33,250 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 01:57:36,156 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 02:00:38,595 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 02:03:43,586 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 02:06:48,190 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 02:09:53,988 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 02:12:56,485 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 02:15:59,922 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 02:19:17,115 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 02:22:51,707 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 02:25:55,237 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 02:28:59,433 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 02:32:02,463 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 02:38:09,046 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 02:53:20,111 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 03:02:27,909 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 03:26:45,432 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 03:35:50,424 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 03:38:52,076 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 03:41:54,008 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 03:44:56,242 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 03:47:58,098 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 03:51:01,129 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 03:54:02,455 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 04:09:13,899 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 04:27:26,668 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 04:39:35,640 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 04:42:38,570 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 04:45:40,426 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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-INFO     2026-04-02 04:51:57,822 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-02 04:52:40,788 barrel.train.core.trainer.trainer training_finished session_path=/home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5, rank=6
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sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5/session_rank_7.log

@@ -1,348 +1,3 @@
-INFO     2026-04-01 14:09:44,619 barrel.train.components.optimizers.optimizer_module init_optimizer rank=7, num_tensors=766, groups={'default': 766}, optimizer=TorchOptimizerConfig(
-  autoclass='barrel.train.components.optimizers.optimizers.torch_optimizer.TorchOptimizer',
-  hyperparams=ConfigDict[typing.Any](
-    lr=5e-05,
-    weight_decay=0.0,
-  ),
-  param_groups=ConfigDict[typing.Dict[str, typing.Any]](),
-  torch_optimizer='torch.optim.AdamW',
-), scheduler=SequentialSchedulerConfig(
-  autoclass='barrel.train.components.optimizers.schedulers.sequential_scheduler.SequentialScheduler',
-  milestones=ConfigList[int](
-    500,
-  ),
-  schedulers=ConfigDict[AutoConfig[SchedulerConfig]](
-    warmup=TorchSchedulerConfig(
-      autoclass='barrel.train.components.optimizers.schedulers.torch_scheduler.TorchScheduler',
-      hyperparams=ConfigDict[typing.Any](
-        start_factor=0.0002,
-        end_factor=1.0,
-        total_iters=500,
-      ),
-      torch_scheduler='torch.optim.lr_scheduler.LinearLR',
-    ),
-    const=TorchSchedulerConfig(
-      autoclass='barrel.train.components.optimizers.schedulers.torch_scheduler.TorchScheduler',
-      hyperparams=ConfigDict[typing.Any](
-        factor=1.0,
-        total_iters=300000,
-      ),
-      torch_scheduler='torch.optim.lr_scheduler.ConstantLR',
-    ),
-  ),
-)
-INFO     2026-04-01 14:09:44,620 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=start
-INFO     2026-04-01 14:09:45,240 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=start, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-01 14:09:54,722 barrel.train.pipes.vlams.data.robotics.hf.utils.transforms TREAD columns detected in dataset, will replace language instructions dataset_name=bridge_paraphrase_k5
-INFO     2026-04-01 14:10:03,357 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source Filtered episodes with no movement dataset_name=bridge_paraphrase_k5, size_before=1524249, size_after=1517010, keep_pct=99.53%
-INFO     2026-04-01 14:10:07,797 barrel.train.pipes.vlams.data.robotics.hf.utils.filter Filtered frames with no movement dataset_name=bridge_paraphrase_k5, size_before=1517010, size_after=1466050, keep_pct=96.64%
-INFO     2026-04-01 14:10:07,797 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source apply_transforms status=success, duration_ms=22557.7, dataset_name=bridge_paraphrase_k5
-INFO     2026-04-01 14:10:07,838 barrel.train.pipes.vlams.data.robotics.hf.robotics_data_source Sharded dataset dataset_name=bridge_paraphrase_k5, size_before=1466050, size_after=183242, rank=7
-INFO     2026-04-01 14:10:08,670 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Computing data pointers for bridge_paraphrase_k5 rank=7, status=start
-INFO     2026-04-01 14:10:08,710 barrel.train.pipes.vlams.data.robotics.hf.robotics_dataset Data pointers for bridge_paraphrase_k5 dataframe_size=183242, num_data_pointers=160418, pct=87.54%, rank=7, status=success
-INFO     2026-04-01 14:10:08,711 barrel.train.pipes.vlams.pipe.oxe_data_module load_train_dataset status=success, duration_ms=24091.4
-INFO     2026-04-01 14:10:31,828 barrel.train.core.trainer.trainer session_init status=success, rank=7
-INFO     2026-04-01 14:10:31,831 barrel.train.core.trainer.trainer start_training rank=7, session_id=/home/petko_petkov/experiments/vlams/control/sess_2026_04_01_14_09_16_msp3-1_petko_petkov_bridge_paraphrase_k5
-INFO     2026-04-01 14:10:31,883 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=7, hostname=msp3-1, worker_pid=3856290, parent_pid=3853425, worker_id=0/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-01 14:10:31,906 barrel.train.components.data.torch_dataloader Starting dataloader worker rank=7, hostname=msp3-1, worker_pid=3856315, parent_pid=3853425, worker_id=1/2, cpu_affinity=0-31,48-79,96-127,144-175
-INFO     2026-04-01 14:13:37,866 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:16:34,500 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:19:31,833 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:22:29,837 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:25:23,089 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:28:18,412 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:31:14,096 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:34:08,911 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:37:02,814 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:39:57,593 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:42:52,704 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:45:47,907 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:48:41,991 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:51:36,145 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:54:29,873 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 14:57:23,222 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:00:17,781 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:03:10,410 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:06:04,203 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:08:58,340 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:11:52,700 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:14:46,404 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:17:43,540 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:20:38,241 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:23:31,298 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:26:25,689 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:29:19,668 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:32:12,952 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:35:07,367 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:38:01,495 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:40:54,244 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:43:48,177 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:46:41,985 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:49:36,627 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:52:30,069 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:55:23,663 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 15:58:18,103 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:01:12,239 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:04:05,583 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:06:59,595 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:09:53,052 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:12:46,744 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:15:40,848 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:18:32,267 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:21:26,128 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:24:19,028 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:27:09,622 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:29:59,186 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:32:50,723 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:35:55,374 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:39:07,262 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:41:58,436 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:44:50,118 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:47:42,564 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:50:33,465 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:53:25,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:56:16,449 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 16:59:08,222 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:02:00,683 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:04:51,954 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:07:43,158 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:10:35,162 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:13:26,058 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:16:17,271 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:19:09,913 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:22:01,164 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:24:52,982 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:27:44,953 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:30:36,798 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:33:28,295 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:36:19,659 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:39:11,533 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:42:01,981 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:44:54,825 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:47:45,961 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:50:36,858 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:53:29,344 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:56:20,431 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 17:59:12,638 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:02:04,722 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:04:56,555 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:07:48,379 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:10:39,783 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:13:30,457 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:16:21,386 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:19:12,218 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:22:03,202 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:24:54,632 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:27:45,751 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:30:37,410 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:33:27,995 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:36:18,452 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:39:09,063 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:42:00,415 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:44:51,113 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:47:42,226 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:50:33,328 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:53:24,297 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:56:15,770 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 18:59:20,097 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:02:34,327 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:05:26,686 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:08:18,829 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:11:11,097 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:14:01,895 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:16:54,464 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:19:46,421 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:22:39,326 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:25:31,009 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:28:23,235 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:31:14,170 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:34:06,536 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:36:57,514 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:39:48,599 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:42:40,897 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:45:31,585 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:48:22,644 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:51:13,691 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:54:04,905 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:56:55,804 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 19:59:47,462 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:02:40,944 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:05:35,339 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:08:28,688 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:11:23,340 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:14:16,853 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:17:10,050 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:20:01,307 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:22:52,697 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:25:44,466 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:28:35,233 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:31:27,568 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:34:20,976 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:37:12,405 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:40:04,334 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:42:56,662 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:45:47,434 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:48:39,278 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:51:29,776 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:54:21,484 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 20:57:13,019 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:00:04,393 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:02:55,438 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:05:48,338 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:08:40,147 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:11:32,711 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:14:25,677 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:17:16,866 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:20:06,980 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:23:11,281 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:26:22,266 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:29:12,931 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:32:03,809 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:34:55,929 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:37:45,808 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:40:37,646 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:43:28,973 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:46:21,457 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:49:12,947 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:52:04,058 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:54:54,548 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 21:57:45,764 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:00:35,368 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:03:25,978 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:06:16,379 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:09:06,004 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:11:55,555 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:14:45,946 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:17:36,651 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:20:32,556 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:23:24,856 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:26:15,548 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:29:05,927 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:31:57,206 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:34:47,918 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:37:38,077 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:40:29,707 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:43:20,340 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:46:10,387 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:49:02,390 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:51:53,118 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:54:43,625 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 22:57:35,664 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:00:26,134 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:03:17,058 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:06:07,161 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:08:57,058 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:11:46,923 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:14:37,215 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:17:26,771 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:20:18,062 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:23:08,161 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:26:00,164 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:28:51,860 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:31:41,774 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:34:33,065 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:37:25,255 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:40:15,653 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:43:05,532 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:46:10,817 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:49:36,563 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
-INFO     2026-04-01 23:52:39,201 barrel.train.pipes.vlams.pipe.robotics_vis_callback visualize_train_data status=model generate
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